adhoc

completed
2026-09-23T18:27:28.675745+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
224.2 s
total steps
403
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two turquoise baskets at the far end and gray and cream plush objects between the arms. I’ll position the left gripper over the nearest gray object to start sorting by type.
move_to
left_x0.2300left_y-0.1200left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7975, 0.6106, -0.374, -0.0124, -0.0254, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5949, -1.4427, 9.2513, 1.7705, -0.0366, 0.1636, -0.0562, -0.8684, -1.5658, 9.7709, 1.7314, -0.1099, 0.0757, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.23,"left_y":-0.12,"left_z":0.15},"note":"I see two turquoise baskets at the far end and gray and cream plush objects between the arms. I’ll position the left gripper over the nearest gray object to start sorting by type."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left wrist view shows a gray plush just left of the jaws, with its head farther forward. I’m shifting left and forward while lowering toward its body for a centered grasp.
move_to
left_x0.2700left_y-0.0600left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0103, 0.8696, 0.5442, -0.5613, -0.775, -0.7132, 0.9995, -0.0151, 0.7986, 0.6086, -0.3843, -0.0124, -0.0261, 0.9998] state[eef_state]: left_x=0.2274 left_y=-0.123 left_z=0.1403 left_yaw=-0.0279 left_pitch=-0.0258 left_roll=0.0126 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0011 right_pitch=-0.0137 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.0889, -1.7436, 8.1846, 1.2283, -0.5006, -0.105, -0.0171, -0.2256, -1.347, 7.2137, 1.8242, -0.0269, -0.0562, -0.0073] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.06,"left_z":0.09},"note":"The left wrist view shows a gray plush just left of the jaws, with its head farther forward. I’m shifting left and forward while lowering toward its body for a centered grasp."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe gray plush now fills the left wrist view beneath the open jaws, with its body crossing the grasp column. I’m descending to its mid-height before closing.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4686, 0.8154, 0.2794, -0.128, -0.3946, -0.2871, 0.9995, -0.0147, 0.8024, 0.6083, -0.3847, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2679 left_y=-0.0555 left_z=0.0871 left_yaw=-0.0024 left_pitch=-0.0442 left_roll=0.0199 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1786 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1846, -1.0872, 6.2701, 1.7656, -0.0708, 0.0317, -0.0122, -0.253, -1.4564, 7.0496, 1.7851, -0.0611, -0.0757, -0.0073] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The gray plush now fills the left wrist view beneath the open jaws, with its body crossing the grasp column. I’m descending to its mid-height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left gripper stopped near the gray plush at about 5.6 cm above the table, and the toy still spans the jaw opening. I’m closing on it now.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4686, 1.0279, 0.1314, 0.305, -0.4412, -0.2687, 0.9995, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9999] state[eef_state]: left_x=0.2805 left_y=-0.0534 left_z=0.0561 left_yaw=0.0255 left_pitch=0.0323 left_roll=0.0261 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0014 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9999 state[joint_eff]: [-0.1299, -0.9504, 4.1231, 1.3016, 0.2418, -0.232, -0.0073, -0.3897, -1.5111, 7.0496, 1.6923, -0.0464, -0.0855, -0.0073] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper stopped near the gray plush at about 5.6 cm above the table, and the toy still spans the jaw opening. I’m closing on it now."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe fully closed gripper reads nearly zero width, so it missed the plush. I’m reopening, advancing a few centimetres toward the visible gray body, and lowering to table-level grasp height.
move_to
left_x0.3150left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4667, 1.0203, 0.1349, 0.3386, -0.4671, -0.2665, 0.0155, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2858 left_y=-0.0509 left_z=0.067 left_yaw=0.0486 left_pitch=0.0781 left_roll=0.0187 left_gripper=0.0155 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0012 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.2376, 6.0376, 1.3846, 0.0611, -0.0171, 1.0281, -0.335, -1.3333, 7.0359, 1.7167, -0.0464, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_z":0.02,"left_gripper":1},"note":"The fully closed gripper reads nearly zero width, so it missed the plush. I’m reopening, advancing a few centimetres toward the visible gray body, and lowering to table-level grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe open gripper is now pressing gently into the gray plush and cannot descend farther; its body fills the space between the fingertips. I’m closing at this position for a second grasp attempt.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3931, 1.5764, 0.1345, 1.0611, -0.448, -0.1936, 0.9988, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3314 left_y=-0.0507 left_z=0.0557 left_yaw=0.0787 left_pitch=0.2195 left_roll=-0.0008 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.0012 right_pitch=-0.0267 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.0615, -2.4, 2.5778, 0.7253, 0.3297, -0.3346, -0.1392, -0.2256, -1.6889, 7.1043, 1.6923, -0.0415, 0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open gripper is now pressing gently into the gray plush and cannot descend farther; its body fills the space between the fingertips. I’m closing at this position for a second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe second close is also empty, and the wrist image shows the plush still off to the left of the jaw centre. I’m parking the left arm and clearing the overhead view before choosing a better approach.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3893, 1.5635, 0.1455, 1.0946, -0.4679, -0.194, 0.0141, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.3377 left_y=-0.0485 left_z=0.0708 left_yaw=0.1066 left_pitch=0.2737 left_roll=-0.0226 left_gripper=0.0141 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0014 right_pitch=-0.029 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3214, -3.3846, 2.8923, 1.453, 0.0415, -0.0122, 1.033, -0.3897, -1.5111, 7.1726, 1.6874, -0.0366, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_gripper":1},"note":"The second close is also empty, and the wrist image shows the plush still off to the left of the jaw centre. I’m parking the left arm and clearing the overhead view before choosing a better approach."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteWith the left arm clear, the overhead view shows several cream plush toys in the centre and gray ones on the left. I’m bringing the right arm across to the nearest cream toy, leaving the two baskets unobstructed.
move_to
right_x0.2550right_y0.2900right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6121, 0.2893, 0.0204, -0.2825, -0.1379, 0.9988, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2892 left_y=0.0044 left_z=0.1717 left_yaw=0.137 left_pitch=0.2712 left_roll=-0.0297 left_gripper=0.9988 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0014 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1026, -0.3761, 9.812, 1.7021, 0.1587, 0.1392, -0.1392, -0.1162, -1.7299, 7.1043, 1.7411, -0.0269, -0.0806, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.255,"right_y":0.29,"right_z":0.13},"note":"With the left arm clear, the overhead view shows several cream plush toys in the centre and gray ones on the left. I’m bringing the right arm across to the nearest cream toy, leaving the two baskets unobstructed."})
tool
executing move_to over 25 steps (2.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteA cream plush is directly ahead in the right wrist view but slightly left of the jaw centre. I’m shifting left and forward and lowering toward its torso rather than closing from the side.
move_to
right_x0.2900right_y0.3200right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6144, 0.2916, -0.0067, -0.2768, -0.139, 0.9983, 1.1889, 1.6375, 1.0321, -0.4816, 0.8558, 0.9184, 0.9998] state[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.166 left_yaw=0.1305 left_pitch=0.2448 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2545 right_y=0.2853 right_z=0.1209 right_yaw=0.0173 right_pitch=-0.0588 right_roll=-0.0217 right_gripper=0.9998 state[joint_eff]: [-0.0752, -0.0342, 7.1043, 2.2051, -0.1734, -0.022, -0.0659, 0.6496, -7.159, 8.3761, 0.8425, 0.5934, 0.2027, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.32,"right_z":0.055},"note":"A cream plush is directly ahead in the right wrist view but slightly left of the jaw centre. I’m shifting left and forward and lowering toward its torso rather than closing from the side."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe cream plush now lies centrally between the right fingertips, its torso filling the lower wrist view. I’m lowering slightly to get the jaws around the fabric rather than skimming above it.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0162, -0.2798, -0.139, 0.9983, 1.145, 1.8816, 1.0657, -0.1783, 0.8379, 0.8677, 0.9998] state[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1636 left_yaw=0.1324 left_pitch=0.2352 left_roll=-0.0201 left_gripper=0.9983 right_x=0.2877 right_y=0.3251 right_z=0.0683 right_yaw=0.0138 right_pitch=-0.0351 right_roll=0.0277 right_gripper=0.9998 state[joint_eff]: [-0.1162, 0.1983, 7.3368, 1.9707, -0.0855, -0.0513, -0.0269, -1.2103, -7.2137, 5.8872, 0.6716, 0.3785, -0.2271, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The cream plush now lies centrally between the right fingertips, its torso filling the lower wrist view. I’m lowering slightly to get the jaws around the fabric rather than skimming above it."})
tool
executing move_to over 3 steps (0.3s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe cream plush remains between the right jaws at about 5.5 cm above the table after the descent stalled against it. I’m closing the right gripper on its torso.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9465, 1.0271, 0.0372, 0.8467, 0.8757, 0.9998] state[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2954 right_y=0.3405 right_z=0.0548 right_yaw=0.006 right_pitch=0.0183 right_roll=0.1331 right_gripper=0.9998 state[joint_eff]: [-0.1573, -0.1436, 7.1316, 1.8779, -0.0757, -0.0122, -0.0122, -0.3487, -6.3795, 3.6855, 0.8034, 0.2222, -0.1343, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The cream plush remains between the right jaws at about 5.5 cm above the table after the descent stalled against it. I’m closing the right gripper on its torso."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe right gripper settled around 3.7 cm open, consistent with holding the plush. I’m lifting it to check that it comes off the table before moving toward the cream basket.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9461, 1.0275, 0.0727, 0.8486, 0.8764, 0.3879] state[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2977 right_y=0.345 right_z=0.0596 right_yaw=0.0035 right_pitch=0.0346 right_roll=0.1662 right_gripper=0.3879 state[joint_eff]: [-0.0342, -0.294, 7.1316, 1.873, -0.0659, -0.022, -0.0122, -0.294, -9.3744, 5.5043, 0.9988, 0.3199, -0.0317, 0.7839] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right gripper settled around 3.7 cm open, consistent with holding the plush. I’m lifting it to check that it comes off the table before moving toward the cream basket."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cream plush rose with the right gripper, confirming the grasp. I’m carrying it high toward the right-hand turquoise basket, keeping the gray toys assigned to the left basket.
move_to
right_x0.4300right_y0.1600right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.8019, 1.2156, -0.3145, 0.8158, 0.8719, 0.3894] state[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2939 right_y=0.3461 right_z=0.1337 right_yaw=0.0274 right_pitch=-0.0112 right_roll=0.1233 right_gripper=0.3894 state[joint_eff]: [-0.0205, -0.2667, 7.2, 1.8681, -0.0757, -0.0513, -0.0122, -0.2256, -11.9863, 9.347, 1.3358, 0.6569, 0.022, 0.149] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.16,"right_z":0.23},"note":"The cream plush rose with the right gripper, confirming the grasp. I’m carrying it high toward the right-hand turquoise basket, keeping the gray toys assigned to the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe carried cream plush is over the right basket but hangs toward its left rim. I’m nudging the grip point rightward and lowering into the open basket before release.
move_to
right_y0.1350right_z0.1150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0223, -0.2798, -0.1421, 0.9983, 0.4835, 1.552, 1.1828, -0.3149, 0.3252, 0.355, 0.3914] state[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1623 left_yaw=0.1336 left_pitch=0.2294 left_roll=-0.0212 left_gripper=0.9983 right_x=0.4224 right_y=0.1621 right_z=0.1935 right_yaw=0.0116 right_pitch=-0.0844 right_roll=0.0948 right_gripper=0.3914 state[joint_eff]: [-0.1573, -0.1709, 7.1726, 1.8681, -0.1245, -0.0513, -0.0122, -0.335, -9.7026, 10.865, 1.7167, 0.0366, 0.0024, 0.1978] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.135,"right_z":0.115},"note":"The carried cream plush is over the right basket but hangs toward its left rim. I’m nudging the grip point rightward and lowering into the open basket before release."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe descent stopped with the plush resting inside the right basket, and its head lies over the basket opening. I’m opening the jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0231, -0.2798, -0.1425, 0.9983, 0.4191, 1.5494, 0.9436, 0.0196, 0.2749, 0.3176, 0.393] state[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1621 left_yaw=0.1338 left_pitch=0.2286 left_roll=-0.0214 left_gripper=0.9983 right_x=0.4292 right_y=0.1426 right_z=0.1531 right_yaw=0.0106 right_pitch=-0.0063 right_roll=0.1329 right_gripper=0.393 state[joint_eff]: [0.0068, -0.0342, 7.241, 1.8291, -0.105, -0.0513, -0.0122, -0.8547, -3.4256, 4.2735, 0.9255, 0.0171, -0.0904, 0.149] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The descent stopped with the plush resting inside the right basket, and its head lies over the basket opening. I’m opening the jaws to release it."})
tool
executing move_to over 7 steps (0.7s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe right jaws are open over the basket, though the arm still obscures the landing. I’m withdrawing it to its home side so I can verify the drop and locate the remaining toys.
move_to
right_x0.2900right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0227, -0.2798, -0.1421, 0.9983, 0.4175, 1.5547, 0.9344, 0.0574, 0.2752, 0.3176, 0.9952] state[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1622 left_yaw=0.1336 left_pitch=0.229 left_roll=-0.0211 left_gripper=0.9983 right_x=0.4323 right_y=0.1432 right_z=0.1544 right_yaw=0.0087 right_pitch=0.0152 right_roll=0.1419 right_gripper=0.9952 state[joint_eff]: [-0.0479, -0.2803, 7.1316, 1.8779, -0.0904, -0.0317, -0.0122, -0.1299, -7.4872, 7.4462, 1.3748, 0.0366, -0.022, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.2},"note":"The right jaws are open over the basket, though the arm still obscures the landing. I’m withdrawing it to its home side so I can verify the drop and locate the remaining toys."})
tool
executing move_to over 12 steps (1.2s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe cream plush landed in front of the right basket rather than staying inside; the basket floor is visibly empty. I’m approaching the fallen toy again, planning a deeper placement past the basket’s front rim.
move_to
right_x0.2750right_y0.1600right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6205, 0.2916, -0.0231, -0.2802, -0.1421, 0.9983, -0.099, 0.7879, 0.6533, -0.3691, -0.115, 0.0788, 0.9964] state[eef_state]: left_x=0.2866 left_y=0.0045 left_z=0.1607 left_yaw=0.1335 left_pitch=0.2236 left_roll=-0.0192 left_gripper=0.9983 right_x=0.3008 right_y=-0.0059 right_z=0.2074 right_yaw=-0.0514 right_pitch=0.0547 right_roll=0.1402 right_gripper=0.9964 state[joint_eff]: [-0.1573, -0.4308, 7.2274, 1.8632, -0.0757, -0.0415, -0.0122, -0.1299, -0.9094, 7.1726, 1.7949, -0.1343, -0.0952, 0.1099] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.16,"right_z":0.11},"note":"The cream plush landed in front of the right basket rather than staying inside; the basket floor is visibly empty. I’m approaching the fallen toy again, planning a deeper placement past the basket’s front rim."})
tool
executing move_to over 14 steps (1.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe fallen cream plush sits left of the right jaws, with its torso just behind the basket. I’m shifting the right gripper left and lowering to capture the torso instead of its protruding head.
move_to
right_x0.2700right_y0.2150right_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6262, 0.2916, -0.0341, -0.2802, -0.1421, 0.9983, 0.8696, 1.1534, 0.4496, -0.0078, 0.667, 0.5995, 0.9965] state[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.1567 left_yaw=0.1324 left_pitch=0.2075 left_roll=-0.0141 left_gripper=0.9983 right_x=0.2723 right_y=0.1586 right_z=0.1043 right_yaw=-0.0016 right_pitch=0.0182 right_roll=0.1091 right_gripper=0.9965 state[joint_eff]: [-0.0752, -0.7316, 7.1316, 1.8974, -0.0952, -0.022, -0.0122, 0.253, -3.5487, 7.1863, 1.4383, 0.4518, 0.0269, 0.0024] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.215,"right_z":0.045},"note":"The fallen cream plush sits left of the right jaws, with its torso just behind the basket. I’m shifting the right gripper left and lowering to capture the torso instead of its protruding head."})
tool
executing move_to over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe wrist view shows the plush still well left of the jaw opening despite the last shift. I’m moving a further seven centimetres left over its midsection while maintaining a low grasp height.
move_to
right_y0.2850right_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6327, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.0073, 1.5246, 0.4919, 0.279, 0.7853, 0.7345, 0.9965] state[eef_state]: left_x=0.2859 left_y=0.0045 left_z=0.1542 left_yaw=0.1315 left_pitch=0.1977 left_roll=-0.0112 left_gripper=0.9983 right_x=0.2773 right_y=0.2118 right_z=0.0628 right_yaw=-0.0204 right_pitch=0.0491 right_roll=0.1458 right_gripper=0.9965 state[joint_eff]: [0.0479, -0.8547, 7.1179, 1.8584, -0.0904, -0.0269, -0.0122, 0.9641, -3.8085, 4.5607, 0.6129, 0.1392, -0.2515, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.285,"right_z":0.03},"note":"The wrist view shows the plush still well left of the jaw opening despite the last shift. I’m moving a further seven centimetres left over its midsection while maintaining a low grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteAt this low height the gripper has been nudging the plush left instead of passing over it. I’m lifting clear, then approaching from directly above its new position before descending.
move_to
right_y0.3800right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6353, 0.2916, -0.0383, -0.2798, -0.1421, 0.9983, 1.1156, 1.8107, 0.7277, 0.3546, 0.8959, 0.8722, 0.9965] state[eef_state]: left_x=0.286 left_y=0.0045 left_z=0.1534 left_yaw=0.1313 left_pitch=0.1948 left_roll=-0.0102 left_gripper=0.9983 right_x=0.29 right_y=0.287 right_z=0.0602 right_yaw=-0.0649 right_pitch=0.1127 right_roll=0.2571 right_gripper=0.9965 state[joint_eff]: [-0.1846, -0.4171, 7.3504, 1.7998, -0.0757, -0.0415, -0.0122, 1.2376, -4.6974, 4.3419, 0.6374, -0.0171, -0.1978, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.38,"right_z":0.17},"note":"At this low height the gripper has been nudging the plush left instead of passing over it. I’m lifting clear, then approaching from directly above its new position before descending."})
tool
executing move_to over 8 steps (0.8s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe right gripper is now above the cream plush rather than pushing it, and its body appears under the jaw column. I’m making a nearly vertical descent, with a small leftward correction.
move_to
right_y0.4000right_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1688, 0.6365, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.2079, 1.8595, 1.3006, -0.2134, 0.9394, 0.971, 0.9965] state[eef_state]: left_x=0.2861 left_y=0.0044 left_z=0.1532 left_yaw=0.1309 left_pitch=0.194 left_roll=-0.01 left_gripper=0.9983 right_x=0.2931 right_y=0.3804 right_z=0.1645 right_yaw=-0.0495 right_pitch=0.1112 right_roll=0.2947 right_gripper=0.9965 state[joint_eff]: [-0.1436, -0.4444, 7.159, 1.8339, -0.1001, -0.0269, -0.0171, 0.8274, -8.8, 7.8564, 1.0916, 0.6227, 0.1685, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.4,"right_z":0.045},"note":"The right gripper is now above the cream plush rather than pushing it, and its body appears under the jaw column. I’m making a nearly vertical descent, with a small leftward correction."})
tool
executing move_to over 8 steps (0.8s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe right fingertips are down around the cream plush’s body, which fills the wrist view between them. I’m closing to secure it for a deeper basket placement.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2137, 2.0876, 1.2076, 0.1295, 0.9874, 0.9737, 0.9965] state[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.153 left_yaw=0.1317 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3009 right_y=0.395 right_z=0.0769 right_yaw=-0.0814 right_pitch=0.1488 right_roll=0.3084 right_gripper=0.9965 state[joint_eff]: [-0.1709, -0.3761, 7.159, 1.8339, -0.1001, -0.0415, -0.0122, 0.7453, -6.7077, 4.2735, 1.1551, -0.232, 0.1294, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are down around the cream plush’s body, which fills the wrist view between them. I’m closing to secure it for a deeper basket placement."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe second close settled nearly shut, so this cream plush was missed and is now too far left for a clean right-arm approach. I’m withdrawing the right arm; the left arm has more lateral reach to the remaining pile.
move_to
right_x0.2900right_y0.0000right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1688, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2106, 2.0911, 1.2087, 0.1741, 1.0016, 0.971, 0.0391] state[eef_state]: left_x=0.286 left_y=0.0044 left_z=0.153 left_yaw=0.1314 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3047 right_y=0.397 right_z=0.0826 right_yaw=-0.0998 right_pitch=0.1696 right_roll=0.3448 right_gripper=0.0391 state[joint_eff]: [-0.1846, -0.3077, 7.1179, 1.7998, -0.1294, -0.0464, -0.0122, -0.1026, -11.3299, 5.5863, 0.9158, 0.149, -0.022, 0.9402] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.2,"right_gripper":1},"note":"The second close settled nearly shut, so this cream plush was missed and is now too far left for a clean right-arm approach. I’m withdrawing the right arm; the left arm has more lateral reach to the remaining pile."})
tool
executing move_to over 34 steps (3.4s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe cleared overhead view shows a gray plush by the left arm and two cream plushes closer to the centre. I’m bringing the left gripper above the gray plush first, staying high enough not to push it.
move_to
left_x0.3400left_y-0.0850left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1684, 0.6415, 0.2916, -0.0383, -0.2802, -0.1421, 0.9983, -0.1173, 0.6468, 0.4267, -0.1833, -0.1253, 0.2974, 0.9982] state[eef_state]: left_x=0.2862 left_y=0.0045 left_z=0.1518 left_yaw=0.1313 left_pitch=0.189 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2884 right_y=-0.0081 right_z=0.18 right_yaw=-0.1743 right_pitch=0.1277 right_roll=0.3409 right_gripper=0.9982 state[joint_eff]: [-0.1573, -0.7726, 7.1179, 1.8828, -0.0855, -0.022, -0.0171, -0.1299, -0.3761, 10.441, 1.9267, -0.3346, -0.0611, -0.0806] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.085,"left_z":0.17},"note":"The cleared overhead view shows a gray plush by the left arm and two cream plushes closer to the centre. I’m bringing the left gripper above the gray plush first, staying high enough not to push it."})
tool
executing move_to over 8 steps (0.8s)
step 247
assistant
agent noteThe left gripper is now over the gray plush’s torso in the overhead view. I’m descending vertically to get below the top of its fabric before closing.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5488, 1.1091, 0.5068, 0.0795, -0.5949, -0.3073, 0.9983, -0.1188, 0.6521, 0.4286, -0.1917, -0.1387, 0.2882, 0.9985] state[eef_state]: left_x=0.3316 left_y=-0.0825 left_z=0.1511 left_yaw=0.094 left_pitch=0.1345 left_roll=0.0234 left_gripper=0.9983 right_x=0.2881 right_y=-0.0062 right_z=0.1778 right_yaw=-0.1595 right_pitch=0.1172 right_roll=0.3373 right_gripper=0.9985 state[joint_eff]: [-0.3214, -3.4803, 8.7316, 1.9072, -0.3492, 0.0073, -0.0171, 0.0615, -0.5812, 7.0085, 1.8828, 0.0122, 0.0415, 0.0073] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The left gripper is now over the gray plush’s torso in the overhead view. I’m descending vertically to get below the top of its fabric before closing."})
tool
executing move_to over 8 steps (0.8s)
step 255
assistant
agent noteThe low wrist view shows the gray body left of the jaws and a cream head on their right, so my first descent was between toys. I’m lifting and shifting left to get squarely over the gray body.
move_to
left_x0.3600left_y-0.0100left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5518, 1.6077, 0.2615, 0.7795, -0.5999, -0.305, 0.9983, -0.1192, 0.6571, 0.4282, -0.1951, -0.1421, 0.2878, 0.9985] state[eef_state]: left_x=0.331 left_y=-0.0824 left_z=0.0346 left_yaw=0.0906 left_pitch=0.1009 left_roll=0.0541 left_gripper=0.9983 right_x=0.288 right_y=-0.0057 right_z=0.1755 right_yaw=-0.1567 right_pitch=0.1085 right_roll=0.338 right_gripper=0.9985 state[joint_eff]: [0.335, -5.6274, 2.8239, 1.7167, -0.2076, -0.0415, -0.0171, -0.1709, -0.6359, 7.3368, 1.8388, -0.0562, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.01,"left_z":0.15},"note":"The low wrist view shows the gray body left of the jaws and a cream head on their right, so my first descent was between toys. I’m lifting and shifting left to get squarely over the gray body."})
tool
executing move_to over 8 steps (0.8s)
step 263
assistant
agent noteThe gray plush is now centered in the left wrist camera, with its torso directly ahead of the jaws. I’m lowering in place to reach a secure grasp height.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1829, 1.1519, 0.4797, 0.207, -0.3225, -0.1364, 0.9982, -0.1192, 0.6613, 0.4282, -0.2012, -0.1421, 0.2878, 0.9985] state[eef_state]: left_x=0.3592 left_y=-0.0058 left_z=0.1411 left_yaw=0.1459 left_pitch=0.121 left_roll=0.038 left_gripper=0.9982 right_x=0.2877 right_y=-0.0056 right_z=0.173 right_yaw=-0.1566 right_pitch=0.0982 right_roll=0.3377 right_gripper=0.9985 state[joint_eff]: [0.1026, -4.3829, 8.6359, 1.7558, 0.0659, 0.1978, -0.0122, -0.1436, -0.6769, 7.159, 1.9121, -0.0904, -0.0708, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The gray plush is now centered in the left wrist camera, with its torso directly ahead of the jaws. I’m lowering in place to reach a secure grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 270
assistant
agent noteThe gray plush fills the space between the left fingertips at the low position, and descent has slowed against it. I’m closing around its torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1825, 1.5505, 0.2878, 0.8017, -0.3428, -0.1246, 0.9983, -0.1192, 0.6666, 0.4282, -0.2089, -0.1425, 0.2878, 0.9985] state[eef_state]: left_x=0.3635 left_y=-0.0031 left_z=0.0557 left_yaw=0.1572 left_pitch=0.1276 left_roll=0.056 left_gripper=0.9983 right_x=0.2872 right_y=-0.0055 right_z=0.1699 right_yaw=-0.1562 right_pitch=0.0852 right_roll=0.3373 right_gripper=0.9985 state[joint_eff]: [-0.0752, -4.1778, 2.8239, 1.1013, 0.1392, -0.1832, -0.0171, -0.212, -0.841, 7.1179, 1.9658, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush fills the space between the left fingertips at the low position, and descent has slowed against it. I’m closing around its torso."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe left gripper closed empty again: the plush is visibly ahead of the fingertips, despite filling the wrist image. I’m reopening and moving forward over its torso at a safe height rather than repeating the same close.
move_to
left_x0.4050left_y-0.0150left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1818, 1.5501, 0.2806, 0.8547, -0.3584, -0.1268, 0.0155, -0.1192, 0.6678, 0.4282, -0.2131, -0.1421, 0.2878, 0.9985] state[eef_state]: left_x=0.3662 left_y=-0.0007 left_z=0.0651 left_yaw=0.1748 left_pitch=0.1733 left_roll=0.0443 left_gripper=0.0155 right_x=0.2868 right_y=-0.0055 right_z=0.1687 right_yaw=-0.1566 right_pitch=0.0799 right_roll=0.337 right_gripper=0.9985 state[joint_eff]: [-0.1709, -4.6974, 5.1624, 1.2723, 0.0611, 0.0024, 0.6129, -0.1983, -0.3761, 7.1179, 1.8388, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.015,"left_z":0.13,"left_gripper":1},"note":"The left gripper closed empty again: the plush is visibly ahead of the fingertips, despite filling the wrist image. I’m reopening and moving forward over its torso at a safe height rather than repeating the same close."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe left gripper is now over the gray plush in the overhead image, with the plush aligned to the jaw column. I’m descending to near table level to get the jaws around its lower, thicker fabric.
move_to
left_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2058, 1.4509, 0.522, 0.4847, -0.3847, -0.149, 0.995, -0.1188, 0.6678, 0.4282, -0.2134, -0.1425, 0.2878, 0.9985] state[eef_state]: left_x=0.4004 left_y=-0.0122 left_z=0.1135 left_yaw=0.1832 left_pitch=0.1506 left_roll=0.0448 left_gripper=0.995 right_x=0.2868 right_y=-0.0054 right_z=0.1686 right_yaw=-0.1558 right_pitch=0.0795 right_roll=0.3371 right_gripper=0.9985 state[joint_eff]: [-0.4718, -7.665, 8.0479, 1.7314, -0.0415, 0.1343, 0.0415, -0.1026, -0.5538, 7.1179, 1.7998, -0.0708, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.005},"note":"The left gripper is now over the gray plush in the overhead image, with the plush aligned to the jaw column. I’m descending to near table level to get the jaws around its lower, thicker fabric."})
tool
executing move_to over 7 steps (0.7s)
step 297
assistant
agent noteThe gray plush is pressed against the left basket rim, which stopped the descent; I won’t force that contact. I’m retracting the left arm and approaching the unobstructed cream plush in the centre with the right arm instead.
move_to
left_x0.2900left_y0.0000left_z0.1900right_x0.2900right_y0.3200right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2062, 1.8923, 0.4526, 1.3304, -0.3851, -0.2218, 0.9967, -0.1188, 0.6724, 0.4282, -0.2287, -0.1425, 0.2878, 0.9985] state[eef_state]: left_x=0.4329 left_y=-0.0191 left_z=0.1022 left_yaw=0.2684 left_pitch=0.4535 left_roll=-0.1752 left_gripper=0.9967 right_x=0.2853 right_y=-0.0052 right_z=0.1641 right_yaw=-0.1558 right_pitch=0.0597 right_roll=0.3364 right_gripper=0.9985 state[joint_eff]: [0.0068, -0.8137, 0.0479, -1.8779, -0.0708, 0.8864, 0.1636, -0.0342, -0.7316, 7.1043, 1.9707, -0.0757, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"right_x":0.29,"right_y":0.32,"right_z":0.15},"note":"The gray plush is pressed against the left basket rim, which stopped the descent; I won’t force that contact. I’m retracting the left arm and approaching the unobstructed cream plush in the centre with the right arm instead."})
tool
executing move_to over 28 steps (2.8s)
step 325
assistant
agent noteThe cream plush is centered below the right wrist camera, with its torso near the open jaws. I’m moving a little toward its lower body and descending to the grasp height that worked on the first pickup.
move_to
right_x0.2750right_y0.3400right_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2886, 0.6327, 0.1646, 0.3843, -0.4553, -0.2359, 0.9968, 1.1477, 1.7077, 1.0706, -0.2279, 0.8944, 1.0794, 0.9985] state[eef_state]: left_x=0.2925 left_y=-0.0021 left_z=0.1923 left_yaw=0.2675 left_pitch=0.4778 left_roll=-0.1983 left_gripper=0.9968 right_x=0.289 right_y=0.315 right_z=0.1387 right_yaw=-0.1284 right_pitch=0.0349 right_roll=0.3117 right_gripper=0.9985 state[joint_eff]: [-0.4308, -0.1299, 8.253, 1.9316, -0.1587, -0.0317, 0.0024, 0.7316, -8.4171, 8.4034, 1.072, 0.6764, 0.1294, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.34,"right_z":0.05},"note":"The cream plush is centered below the right wrist camera, with its torso near the open jaws. I’m moving a little toward its lower body and descending to the grasp height that worked on the first pickup."})
tool
executing move_to over 6 steps (0.6s)
step 331
assistant
agent noteThe cream plush now fills the right jaw opening at low height, with its body beneath the fingertips. I’m closing around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2913, 0.6357, 0.1642, 0.3626, -0.4641, -0.2367, 0.9968, 1.1957, 1.9121, 1.0164, -0.0143, 0.9463, 1.1278, 0.9985] state[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1864 left_yaw=0.2669 left_pitch=0.4568 left_roll=-0.1835 left_gripper=0.9968 right_x=0.2819 right_y=0.3348 right_z=0.0703 right_yaw=-0.1353 right_pitch=0.0542 right_roll=0.2998 right_gripper=0.9985 state[joint_eff]: [0.1299, -0.4718, 7.0769, 2.0879, 0.0366, -0.022, -0.0122, 1.0735, -6.3248, 4.588, 1.1258, 0.0659, 0.3101, -0.0122] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The cream plush now fills the right jaw opening at low height, with its body beneath the fingertips. I’m closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 341
assistant
agent noteThe gripper stopped about a centimetre open rather than fully closing, suggesting it caught part of the plush. I’m lifting to verify whether the cream toy moves with it.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3599, -0.4648, -0.2367, 0.9968, 1.1961, 1.9038, 1.0172, 0.0208, 0.9791, 1.1191, 0.1114] state[eef_state]: left_x=0.2919 left_y=-0.0013 left_z=0.1858 left_yaw=0.2662 left_pitch=0.4545 left_roll=-0.1818 left_gripper=0.9968 right_x=0.2857 right_y=0.3357 right_z=0.0813 right_yaw=-0.1539 right_pitch=0.0905 right_roll=0.3294 right_gripper=0.1114 state[joint_eff]: [-0.0342, -0.2393, 7.0085, 1.8437, -0.0904, -0.0513, -0.0122, 0.0342, -8.6496, 5.4906, 0.9304, -0.0024, 0.0659, 0.8425] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The gripper stopped about a centimetre open rather than fully closing, suggesting it caught part of the plush. I’m lifting to verify whether the cream toy moves with it."})
tool
executing move_to over 8 steps (0.8s)
step 349
assistant
agent noteThe cream plush has lifted with the right gripper. I’m carrying it to the centre of the right basket, several centimetres deeper than the earlier drop that caught the front rim.
move_to
right_x0.4750right_y0.1450right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3595, -0.4644, -0.2367, 0.9968, 1.1965, 1.7756, 1.224, -0.3466, 0.9569, 1.1164, 0.1141] state[eef_state]: left_x=0.2919 left_y=-0.0014 left_z=0.1857 left_yaw=0.2658 left_pitch=0.4542 left_roll=-0.1816 left_gripper=0.9968 right_x=0.2849 right_y=0.3403 right_z=0.1589 right_yaw=-0.1359 right_pitch=0.0669 right_roll=0.2993 right_gripper=0.1141 state[joint_eff]: [-0.2256, -0.253, 7.0222, 1.8584, -0.0464, -0.0366, -0.0122, -0.3761, -12.3829, 8.9641, 1.1355, 0.5788, 0.0073, 0.2662] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.145,"right_z":0.24},"note":"The cream plush has lifted with the right gripper. I’m carrying it to the centre of the right basket, several centimetres deeper than the earlier drop that caught the front rim."})
tool
executing move_to over 17 steps (1.7s)
step 366
assistant
agent noteThe plush hangs behind and to the left of the grip point, near the right basket’s front-left rim. I’m moving the grasp point farther forward and right so the dangling toy, not just the gripper, is over the basket floor.
move_to
right_x0.4950right_y0.1100right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6369, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.4221, 1.6154, 1.2411, -0.181, 0.3538, 0.5133, 0.1163] state[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1854 left_yaw=0.2658 left_pitch=0.4533 left_roll=-0.1809 left_gripper=0.9968 right_x=0.4635 right_y=0.145 right_z=0.2179 right_yaw=-0.1545 right_pitch=0.0202 right_roll=0.2764 right_gripper=0.1163 state[joint_eff]: [-0.1436, -0.1709, 7.1726, 1.8144, -0.1245, -0.0464, -0.0122, -0.2803, -7.5556, 9.8256, 1.8681, 0.1245, -0.0464, 0.2125] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.11,"right_z":0.14},"note":"The plush hangs behind and to the left of the grip point, near the right basket’s front-left rim. I’m moving the grasp point farther forward and right so the dangling toy, not just the gripper, is over the basket floor."})
tool
executing move_to over 6 steps (0.6s)
step 372
assistant
agent noteThe cream plush now lies within the right basket opening instead of across its front edge, and the lowered arm has stopped at basket contact. I’m releasing it there.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6403, 0.1642, 0.3592, -0.4648, -0.2367, 0.9968, 0.3061, 1.7229, 1.1023, 0.123, 0.2699, 0.4595, 0.1184] state[eef_state]: left_x=0.2922 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4952 right_y=0.1109 right_z=0.1647 right_yaw=-0.1729 right_pitch=0.0568 right_roll=0.2953 right_gripper=0.1184 state[joint_eff]: [-0.0889, -0.5812, 7.4051, 1.8046, -0.0611, -0.0269, -0.0122, -0.2393, -6.6667, 5.4496, 1.5263, -0.1099, -0.1538, 0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The cream plush now lies within the right basket opening instead of across its front edge, and the lowered arm has stopped at basket contact. I’m releasing it there."})
tool
executing move_to over 9 steps (0.9s)
step 381
assistant
agent noteThe cream toy is caught on the basket’s left rim; the basket floor is still exposed. I’m lifting the right gripper away to see exactly where the toy settles before attempting to move it fully inside.
move_to
right_x0.3800right_y0.1600right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6407, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.3008, 1.7447, 1.0851, 0.1249, 0.2672, 0.4557, 0.9959] state[eef_state]: left_x=0.2923 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4933 right_y=0.1079 right_z=0.147 right_yaw=-0.1733 right_pitch=0.0238 right_roll=0.2762 right_gripper=0.9959 state[joint_eff]: [-0.0479, -0.2803, 7.0359, 1.8046, -0.0366, -0.0366, -0.0122, 0.212, -10.7282, 8.1162, 1.7558, 0.0464, -0.0171, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.16,"right_z":0.23},"note":"The cream toy is caught on the basket’s left rim; the basket floor is still exposed. I’m lifting the right gripper away to see exactly where the toy settles before attempting to move it fully inside."})
tool
executing move_to over 9 steps (0.9s)
step 390
assistant
agent noteThe cream plush is draped over the left side of the right basket, with one paw inside and most of its body outside. I’m approaching its exposed body from above to lift it over the rim rather than dragging it across.
move_to
right_x0.4550right_y0.2400right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6418, 0.1642, 0.3599, -0.4644, -0.2371, 0.9968, 0.5896, 1.4052, 1.0424, -0.2359, 0.4698, 0.5961, 0.9969] state[eef_state]: left_x=0.2924 left_y=-0.0015 left_z=0.1842 left_yaw=0.2645 left_pitch=0.4493 left_roll=-0.1787 left_gripper=0.9968 right_x=0.3874 right_y=0.1672 right_z=0.2134 right_yaw=-0.1254 right_pitch=0.0118 right_roll=0.2706 right_gripper=0.9969 state[joint_eff]: [-0.0752, 0.0205, 7.0632, 1.9023, -0.0464, -0.0513, -0.0122, 0.1573, -7.788, 10.0855, 1.6874, 0.4225, 0.1001, 0.0904] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.24,"right_z":0.16},"note":"The cream plush is draped over the left side of the right basket, with one paw inside and most of its body outside. I’m approaching its exposed body from above to lift it over the rim rather than dragging it across."})
tool
executing move_to over 7 steps (0.7s)
step 397
assistant
agent noteThe open right gripper is above the plush’s broad back on the basket’s left edge. I’m lowering onto the exposed torso to try a firmer hold.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.646, 0.1642, 0.3523, -0.4648, -0.2367, 0.9968, 0.6422, 1.7977, 1.2259, -0.0937, 0.498, 0.6186, 0.997] state[eef_state]: left_x=0.2924 left_y=-0.0015 left_z=0.1814 left_yaw=0.2617 left_pitch=0.4393 left_roll=-0.1713 left_gripper=0.9968 right_x=0.4449 right_y=0.2319 right_z=0.1482 right_yaw=-0.1077 right_pitch=-0.0296 right_roll=0.2325 right_gripper=0.997 state[joint_eff]: [-0.0889, -0.6222, 7.2, 1.873, -0.0952, -0.0366, -0.0122, 0.4444, -9.1145, 8.6769, 1.6532, 0.3834, 0.1294, -0.0024] camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The open right gripper is above the plush’s broad back on the basket’s left edge. I’m lowering onto the exposed torso to try a firmer hold."})
tool
executing move_to over 5 steps (0.5s)
step 402
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.292, 0.6472, 0.1642, 0.3519, -0.4648, -0.2371, 0.9968, 0.6415, 1.8732, 1.1118, 0.1242, 0.4866, 0.6212, 0.997] state[eef_state]: left_x=0.2925 left_y=-0.0015 left_z=0.181 left_yaw=0.2615 left_pitch=0.438 left_roll=-0.1709 left_gripper=0.9968 right_x=0.4474 right_y=0.2355 right_z=0.104 right_yaw=-0.1002 right_pitch=-0.0139 right_roll=0.259 right_gripper=0.997 state[joint_eff]: [-0.1026, -0.4034, 7.0085, 1.8437, -0.0757, -0.022, -0.0122, -0.2803, -7.8974, 5.135, 1.3504, 0.2662, -0.0659, -0.0073] camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.587 s
model
gpt-6-sol
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"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7975, 0.6106, -0.374, -0.0124, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4427, 9.2513, 1.7705, -0.0366, 0.1636, -0.0562, -0.8684, -1.5658, 9.7709, 1.7314, -0.1099, 0.0757, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86da8a5c32c0d4c76bf740a0ed868f4c3814f9b82191345dfeb37ba036f11755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d114dfd6b70eeaedc31b5c0de0d6724c1aafdbff804b2d1e6bd5a8d2f953b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb79c5d57d658bbfc8de9f349933fbaa40b9e1728a630cf594462170f55b4af9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.33 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_058c07f1deeb3086016ab41a1fad1087d09741ea196c5e62c9",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":-0.12,\"left_z\":0.15},\"note\":\"I see two turquoise baskets at the far end and gray and cream plush objects between the arms. I’ll position the left gripper over the nearest gray object to start sorting by type.\"}",
  "call_id": "call_tATzxn2ozatAj9R6V5LGetc3",
  "id": "fc_058c07f1deeb3086016ab41a248f5c87d0a697ba0b75eac76b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tATzxn2ozatAj9R6V5LGetc3",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 0.8696, 0.5442, -0.5613, -0.775, -0.7132, 0.9995, -0.0151, 0.7986, 0.6086, -0.3843, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2274 left_y=-0.123 left_z=0.1403 left_yaw=-0.0279 left_pitch=-0.0258 left_roll=0.0126 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0011 right_pitch=-0.0137 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7436, 8.1846, 1.2283, -0.5006, -0.105, -0.0171, -0.2256, -1.347, 7.2137, 1.8242, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375a860db61c57ae29d1acf3edb3d617b501887ee53faecfa5013ff60400ad14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0717535ab554cd402fb65a3381813efc1299704840f2535e1d6928b27b1f85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2773f44c78b70e9059f709670fcac9a23053528658b466d834dead367d428d49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.241 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7975, 0.6106, -0.374, -0.0124, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4427, 9.2513, 1.7705, -0.0366, 0.1636, -0.0562, -0.8684, -1.5658, 9.7709, 1.7314, -0.1099, 0.0757, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 0.8696, 0.5442, -0.5613, -0.775, -0.7132, 0.9995, -0.0151, 0.7986, 0.6086, -0.3843, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2274 left_y=-0.123 left_z=0.1403 left_yaw=-0.0279 left_pitch=-0.0258 left_roll=0.0126 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0011 right_pitch=-0.0137 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7436, 8.1846, 1.2283, -0.5006, -0.105, -0.0171, -0.2256, -1.347, 7.2137, 1.8242, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375a860db61c57ae29d1acf3edb3d617b501887ee53faecfa5013ff60400ad14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0717535ab554cd402fb65a3381813efc1299704840f2535e1d6928b27b1f85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2773f44c78b70e9059f709670fcac9a23053528658b466d834dead367d428d49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBosSAbu5cBVb6Y67-sLV2JdTGmrLwB7boY822nBkGAHa-Xsp1OeYqTBrb_pn7sqse8E9e8u0wu6ZFjwYTTPES2bEK0w6cwAUxV5QwE7jXs7jJjI4VSxnGJPfb558aiVHE1GGIn6_oMhXMwRczZYyeg-ASUcq8OP5pPeiB9M250YEjOCTMgbqvxB3nC1swkj6nBH-gXap86jBNm-Cur_Ph1bLjg2zisOTPkXWMUGKvFoo4hdrFf979f1hhbv5TrIfVavFjc3WA4xb3LW_wo2w33B7dpqem3h9M4Kel8SoYDK0gErMq3dlsGtte8LuXuby7KxauNiIHl2aRZQIh6yqsIMuZIoyoIsUhPlUJwBHbfcFNGaYwFyi8sn3B3DWO-gIO81bGs1R2ZxbehQDUlqOMkIOoedaaeX2k4bYBC8S4LYRGZqiUxlNNUxpboXO_SD0vEsjOEmb1gyAlfF-thikf41fAIJo8ZV1iOJip_QHp3rhkS7qTqtqYJPf8gRUt9uLsYspeY-Tl8LjygrAB7xLzHZTxGcjnfdqzoy78CmL3nKB8Jg0d7KjnTcy5tVyC1RGvZrsWqc5ZsQ9An105O6V6V7i3M_wX1bXIYTu4NH3v9TXWF8sQXYqFOgYGKlhVhCIdidhfEH-5P4M1dZ5feynNC-mkGeLxLgOzZemWy78n5aPBrJr4Ur4wqeCKGXQcPdkLEAOyeS_gwctqmcdorbNClreM_-EV2P4Q43GLFg9TPhpLvZlVA4VbhbrtKRsTqIUPPysWFFW874cV-6hhb0kQH20EnWO8EW4_xCGAtdbvMJXf60jPPUhi-RC9yEmfz04zXjOLCZrJmEIGVgP7rCASobkKXYQ4jC7VBwMbVynI4brPYSprmkB_KxXcyFwade9UMFoDRb8QP9V2H82S_EmWNWzEdJp5EBLaahc0AzqSW722IHLaUvSkVSvJ08L6DqxV5DZ4KTYJ43UYeUwgIC-RoSe8y9RMmwu7Epy5kRbGvC1SlTDijxVXPd2g73J1v4uavYC3M_N93U5SJ_30Pfi7IA-mfNxm8r_lhmUYTFQYhrV8O0rAI7BsQHDmQ84kgZt4gXC2v-V1j5FaoGt8tCVIh-sCDLN2s1Z9vuOfgVo43TA50tFw6dmvC2R57Uj5KEyBVd1Qj-3dEKHuSR4oVLXrsL0ZZS6EpcnlFmAjpeiRn9cyAAylkHtw1GJ2amO3b9zUgLUvWUnm-w_8ijbattlm7zx3hvh7KjZwfNMwRzyORThbQCGba80-sEwjTcCfhW1aJRbFDFqqSCAlAXip3x8XWh_NILfbXjk33K14FAl-JqbTgnAt0peFnqrVG1S05l7j8kXQh5_QikaV3ucL0zyDOz7STBy_2472RC9o8cjcgUZyflx5fycmuQVG_4aqIBjl6Aequ0vq_KAYIw6VGevhOtH1Y38cSRF8GiH1iiXCe5SWrr7_IRQOCQR19mrkJiwZmcpePyCE8UiHF6m1djo4ZF1iACK8DoL8akYBp3Rf5_XLmOyrFdouIcg9sCD21T36mnbNiKGbTA7yo0ed5nNqM_yPzIRB2jxSVwER-yk7R1ki9Ez3j8QsPBvxYj0FAs0DZPGyC8qJxPPjAFK7mmAm0BbLxiGN5losEnpGGGwe0D8AipCo4iom2iGBXoJaVwmcHfSiY8w2olmSBU0onRb_DlbJH2A_W5aEBWODmLTNBfTa2Bsey6zc-I5y3-hWmfi0VLaE45twBhoMuTDLdOeRxUoZ215cYuTGY54J1AfgXllKtChztO3REB9qgASKlKXAouQ6XL2ugVq4atp4PrRqAn4KOdFo-uz-1nGQEkQ5C1CMmcOrJTnTWeaUa4DpSAnK5EXJ65Sw_8djF17UXrD7TZkT8WH5fuZk51PrvZo-J6WOZhEEzNMvLhNmTukqd-OUZ_oQm2qNnrPdiyNTr6ElCuijniiNu2li0WZZ6yx9EzJFdoxUoFjrt8oW0FhhW6K3e1dQpTLUuMfLR4MTD4G00TytjkCJZwRmwYkvcd1bDHlzKzCVY1GBmB_95CUvs_iDk_Y5mG3WDfYNGFp7XGHvWPtWpKb4tLEipl2SZ-_t-ukgh2-Z3w-BR8SjHdWOKa2hbjjtRIC_7HyFIXlPv4XoCMgoOb0sEPHgzV21-sGsSPVLgjUQhQddN5So6mEH458rML0a6C6-FhuRFgHMA7eQRaqmDO5CLNMfjswT3Pi8pl2Dby_1x4FmFd19UPaxGeXeuARi9pvOouR2B8rkWEU6-Tf52tv5-HnPAjOgRx477bIT6k1oyAgD7BQYuq4tjd1OG9nSceNIbiiRCsBKF6nOp3LVPC_yWrMAKsrHXSqsHvkjNC9Y906TIpXKgb2ATyEERTmdKK-k0LliOd_vdnyYPsROz7N6-11haAT2NCx3GpUWPsTgySkSoH4kdiLMIDtncUS1I1PpFIKzH1ZYkWHKhlsPm5sJ5JbaIXrJ5Pn9vidA1fb9lE4wAzYzycW_E3PfkwOlji5mcL065TQHkyj59yLjhbJQotjH4SbZdluNSjl8WzL_LbSQYW7_QNDe6txcpODYzkAabcpMzSh6O3Ibsnw-q0ZNiPICs-cWb2TkhSBB7nzrxkaQIpBpQD8sfvA1duXFeLN7hXbe3E8rEzPgWblLISyl-hNqdz9wgBvZOWvPRGtAkxOgtD7dCJS6RMote6p1gnYDiLJ0SRMl-RA46omGvIX_e5J3d7FaptCgqV3Qg=",
  "id": "rs_058c07f1deeb3086016ab41a28fde887d0a2dc933376b624c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.06,\"left_z\":0.09},\"note\":\"The left wrist view shows a gray plush just left of the jaws, with its head farther forward. I’m shifting left and forward while lowering toward its body for a centered grasp.\"}",
  "call_id": "call_WtANDMqN6uZEab19RQ76gfcU",
  "id": "fc_058c07f1deeb3086016ab41a2b889c87d0b6e0f1e6e643358a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WtANDMqN6uZEab19RQ76gfcU",
  "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]: [-0.4686, 0.8154, 0.2794, -0.128, -0.3946, -0.2871, 0.9995, -0.0147, 0.8024, 0.6083, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0555 left_z=0.0871 left_yaw=-0.0024 left_pitch=-0.0442 left_roll=0.0199 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1786 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.0872, 6.2701, 1.7656, -0.0708, 0.0317, -0.0122, -0.253, -1.4564, 7.0496, 1.7851, -0.0611, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:675212697a5f73f240e2d28d86b4e93eb3c66266b843c2ae50ac1706922ab703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda8aaebccddcbaad92e975cb215aa1de90a0ef7d945d173ee301c7fe3630083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b38b8f35961bc45a7b7a59fe7e981cdf8545810b9436fef04fca9f1e4a7f843",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.03 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 0.8696, 0.5442, -0.5613, -0.775, -0.7132, 0.9995, -0.0151, 0.7986, 0.6086, -0.3843, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2274 left_y=-0.123 left_z=0.1403 left_yaw=-0.0279 left_pitch=-0.0258 left_roll=0.0126 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0011 right_pitch=-0.0137 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7436, 8.1846, 1.2283, -0.5006, -0.105, -0.0171, -0.2256, -1.347, 7.2137, 1.8242, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 0.8154, 0.2794, -0.128, -0.3946, -0.2871, 0.9995, -0.0147, 0.8024, 0.6083, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0555 left_z=0.0871 left_yaw=-0.0024 left_pitch=-0.0442 left_roll=0.0199 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1786 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.0872, 6.2701, 1.7656, -0.0708, 0.0317, -0.0122, -0.253, -1.4564, 7.0496, 1.7851, -0.0611, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:675212697a5f73f240e2d28d86b4e93eb3c66266b843c2ae50ac1706922ab703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda8aaebccddcbaad92e975cb215aa1de90a0ef7d945d173ee301c7fe3630083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b38b8f35961bc45a7b7a59fe7e981cdf8545810b9436fef04fca9f1e4a7f843",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBoxWiaqwwn9dG7HajfgGsKAfV2vTlRxKxd9b7Abnk2nUKLh5qRYZyABrIEPcw5ey4ufvluNMWoGgQX7qN4avnDRtomubIqWAplIzy0wES4fSEoWiuF1WBqc_VC0QFm7oTnULBTwWvopIwgQ4ENvuSoQaTX4YjpQI7prtjRwcsLGnscrRue9Ufw3h8LHdojtXG36QNzLhD2ZATkkXAFAmEpy3GmZepDgN4IlWgm7pebyx07Rah7PCv6Glew-XMMRE3PAaIcZOpVcJ1rdTpOhcevxZB2GsqZEZl3HiuwGmeiBv0ahr-EqzJsLzXkHyWjB6kjKE6eK01ebh1WfWfdlKcT6-ylGv_tpCPVjcLlojwGHra4IKUF9_O783Q9FCeHYKgx__Qo0wVYb_4tLJq72Z62ThTf_M2MnK48r4Fg0GwZCUhsjSTmRUHyl5mn0mCCWRTiFKOiEo-x0mGwTFzzbNvDqf9WAG0_cg7EihnAPddSMup3R0wNVuqRpf9MyclSQLLN5vp3gYmHsOBi_z1kXr7HvTQ7wE0hoEtoOPRa9XuZynMwwZCipMwHHJMw0edfMreUAaxmTA63yh3GH9r_l_9z6zSbDMW9FrcJZVd_tUbCd0AScRCF2iJOcUVyoRru_A5rBBFPpXGU44qG61dVCYXQB6UV3dy95VIK7lFOoWnC617KvUdahnlq8wPJlBgSWjYzglWKaEcvx5cuVKSf7so-DqjWVYvrQ4oC_D4q4rUhSxSa-WtYgPftlQ4QxUl94cQPwL5Z035Nt_OTYS7lQeB3Mqx_MtG0frqJc0dazt7IR7QXq2E2owS9JqKCreQoTJwBABGNR_uFVsNwVQy7r2by7Gl3MwRTx7PXgkCLVf4YvOHBQk9WlE9ocJYMaQ-QYk8Hdgnrkr28pRd73PN9VTUrzZYtSCNVg477qCaabU1XA-m6l64Mev_qerkz-5ArL3_1FmubDT2ezjgCkO-ez8LIBZnExOzN-8ozHZnDB6sTavmyC5wpq49K7CD0edrZSg-J88w5mimKXIXqCNRXErviCQogtadRT8w5lnT7wrb0g7pX7x0EvfRHcnU4ftHfyMh5O6a3Mnc0MtR4eWj6Hs1MNsMR_jJPI27XDl0KHP6Wv_kr91xg9lqTSYgtpU-w2KKgmeHe1wQHiWWzOt1k2NqkSq2nMYlIS4Wp19Wt-HYfXxpSJu9JnaiBD0_ImtMcpA3XGpMa7PbUIzjqRoauBN2YuhR6v6DLrpG8amIYBlEEjGPNDHySK5FwqPmOsuwiQmE8g6dEGeEIYQ2KqGSmTzQFj8HuiPm5J9E8yja4hDsXANxZw-EQ-FzkPTPejS3sbI-vMCuPay2-SLToAOPDLbzQCTbES1UEKiKG9p_Y4HzQBtLz0XRBgwVujV23MGIXTj9kLSKFsdYR3NvwGWJQPTCDgK0Icw2LuTZIiFLiQR-0DEG4XzXzY9FbA8A3mQGNYY9-uqRcm1InKZF0MdDDj5ouWmgiQJEjqKR2zMRMjI8HlsWBRR1RFx2mhNLm29Um6uh_bX4yP9GVygBGTGz1bjEKdhPfYWrCDNq8TzvXRSsSTWdugSOQ-9XUD7EZ6_ATJ3WVGv4vM_SnJGVf9_OB8fvk_kziI76lur_pxMsHu2t1BwoOrbYcupTYb8P9wOcL7EEcNv6Pl08BHnzPdUXSTybenDQVBzovZbdPur4BmvLRwfjmGoRhXdcmhswNLw8pZysl_EeViwsyZA2RD7lFCtokG7kOGNDnnKpjX6yuMHzsDpnQ7WcR9Gb58J5bAian3AAgyCNeM-m-4BRp5BOaLK9fSuC3y4bJbqGuNU_R5SmSReYXycUQL4nxIejV4cdz26QNaH68ZTCVSIFyiPeXJiO4JFRaik5Vj0dHKriPud77fIgxYw94a3qA2LmbqbOQuT-h8",
  "id": "rs_058c07f1deeb3086016ab41a2f2adc87d0b52cbaee3c850eed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The gray plush now fills the left wrist view beneath the open jaws, with its body crossing the grasp column. I’m descending to its mid-height before closing.\"}",
  "call_id": "call_wyjBGd62eBMV4tLvwPVdYen6",
  "id": "fc_058c07f1deeb3086016ab41a30e91c87d0a0ecf03d0ea45bf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wyjBGd62eBMV4tLvwPVdYen6",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 1.0279, 0.1314, 0.305, -0.4412, -0.2687, 0.9995, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9999]\nstate[eef_state]: left_x=0.2805 left_y=-0.0534 left_z=0.0561 left_yaw=0.0255 left_pitch=0.0323 left_roll=0.0261 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0014 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -0.9504, 4.1231, 1.3016, 0.2418, -0.232, -0.0073, -0.3897, -1.5111, 7.0496, 1.6923, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417d3ab0bff88ab72d8fb8bcdaf71f40cefe9b5dd5ef15d7a57e34ecdc2fbc81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afc4d07791c1cc64195b150811276b7ab2c44328a574f176b05b8d73a322f6d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2aeed16192b19489123771a5c8797e85be33cc3943467affadff9c5598e77a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.789 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7975, 0.6106, -0.374, -0.0124, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4427, 9.2513, 1.7705, -0.0366, 0.1636, -0.0562, -0.8684, -1.5658, 9.7709, 1.7314, -0.1099, 0.0757, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 0.8154, 0.2794, -0.128, -0.3946, -0.2871, 0.9995, -0.0147, 0.8024, 0.6083, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0555 left_z=0.0871 left_yaw=-0.0024 left_pitch=-0.0442 left_roll=0.0199 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1786 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.0872, 6.2701, 1.7656, -0.0708, 0.0317, -0.0122, -0.253, -1.4564, 7.0496, 1.7851, -0.0611, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 1.0279, 0.1314, 0.305, -0.4412, -0.2687, 0.9995, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9999]\nstate[eef_state]: left_x=0.2805 left_y=-0.0534 left_z=0.0561 left_yaw=0.0255 left_pitch=0.0323 left_roll=0.0261 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0014 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -0.9504, 4.1231, 1.3016, 0.2418, -0.232, -0.0073, -0.3897, -1.5111, 7.0496, 1.6923, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417d3ab0bff88ab72d8fb8bcdaf71f40cefe9b5dd5ef15d7a57e34ecdc2fbc81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afc4d07791c1cc64195b150811276b7ab2c44328a574f176b05b8d73a322f6d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2aeed16192b19489123771a5c8797e85be33cc3943467affadff9c5598e77a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBo0XOak2WJM8FNTE7UP-TwSx_HzUVpu9enbAuSWkdC84dfu6lECgzs3BWGd76LJUVHXLt5wezkMvW4CjSK5kGdxF0Px8Kw_vrMRTr05LGP1C0iPkZ8dbOGTmMSjpRczWntcf93ZUb8NVQCfcinCqJdu_WE6jNNokiY6ru8LjTntxZK0lp9oO74dscJNejSBXa8Vorpv2Gq1RY-N4FD3wU-bnuMfe32ud9e6hZGGnQgCiN1IL4NNOopNLe-k57Fx6_DDU8x8wud3oN0_GAX4L49TGIksXWM40ya9XAYsqz5VNOYfCpESWKLLFpqMMLBF7FJCHMglor1-_z9HcNqmpWjMTo6r1r2TQ018Pm9YMeeuH32mcQ-JMjqWuxuxfgTuHXzoLAKb3yk4zX21hpR1_TpGbsa7E361zv-Dr2mf8FU6pYf0qoHdiuQZTP2Tw56mVbTuUixcMMneXlBLhs8I-seZEYZeopr-A_8QkvRz0X7M4PZH2twOK7l9pMb9qy22pKzHGNaNTL0NA549XUhNjCiD-h7vaQqmcdCIJbcFim0Kgds-ukLHfmMR-CplL9_JB3sZAqBBu_qBWwtogYhYCKQsJKlXRufG5dIVEigFCiZtSme-6ZNYMTKBYZwzZg_aiYyHKUZv4BcbDhJQgYlD1R3HgPXdESl_ZqNWmz7cjF-DuT544nIMLg8jN_Z63BAVDx_hGh6BrtBL6wf-QxcgU1_DmKmKACwzEQ7YjCU5q2TC1JQV90E3hGn9htlkey3efcw65lhsHS2KxK6vyN2qI1d6MGyBEN3ISnMRCD6Ren-zt0AwsC_uATjjtsGqC9Juco2RfBHpT8A5vElYO0QtMIqPEe09I2MSgBZkP6w8HMAq9mppQzUOY9VFlE4sGIc2rwtIMzX6GPtkGNaHGUIv6RDlA-RORU86z9H5MxTnEfA-ciawEXU_KvLPmd6TKzrxShxEPvU2GXmimvehiLgjgAgJ619b1Ki3W9mXyrs1JpCXE2_Wvkfd3FVioXcI7gVLIGqI2KULyj1NHXHUklx9x6dr_gaY1ot5eKRCYy3EBVKwZBf6BvkwCWgHkUm773__eXT2gPmgel6ol2Xoh1L9GUwEou4jxKMjyAvx83OOLGnRawb4sjsSZAq6cRO8ITkOJ1_Q5_WLaZYoBerUdjrJRDzgq75AbSzHUrAHmVHBxukBnbX3JGWBGfJ8U0yYpzQrqj6qx03_IIkuBc3FKid9wuckeIgMn0S6BdoaC1HIxcHAyEOlSw8w4boHcvPGoicrBSzp",
  "id": "rs_058c07f1deeb3086016ab41a33d38887d08b10a2e56adffde5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped near the gray plush at about 5.6 cm above the table, and the toy still spans the jaw opening. I’m closing on it now.\"}",
  "call_id": "call_lQXnnl2a8TkDgCH27nSAVrEf",
  "id": "fc_058c07f1deeb3086016ab41a340f7c87d08478c7bcf4e2674c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lQXnnl2a8TkDgCH27nSAVrEf",
  "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]: [-0.4667, 1.0203, 0.1349, 0.3386, -0.4671, -0.2665, 0.0155, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2858 left_y=-0.0509 left_z=0.067 left_yaw=0.0486 left_pitch=0.0781 left_roll=0.0187 left_gripper=0.0155 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0012 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.2376, 6.0376, 1.3846, 0.0611, -0.0171, 1.0281, -0.335, -1.3333, 7.0359, 1.7167, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e695c50c66b2def64ec1c10e20f84b391a19d20a2c4253dd744e3b0804840d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4add6584eb902d58334f8fd97d5ebfc9dc99da321123f1e12303323e2ad56bee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124b12d9bc4bd32c3f886134cd5407899da7874453249ba1567e6b33879ce576",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 1.973 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 0.8696, 0.5442, -0.5613, -0.775, -0.7132, 0.9995, -0.0151, 0.7986, 0.6086, -0.3843, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2274 left_y=-0.123 left_z=0.1403 left_yaw=-0.0279 left_pitch=-0.0258 left_roll=0.0126 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0011 right_pitch=-0.0137 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7436, 8.1846, 1.2283, -0.5006, -0.105, -0.0171, -0.2256, -1.347, 7.2137, 1.8242, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 1.0279, 0.1314, 0.305, -0.4412, -0.2687, 0.9995, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9999]\nstate[eef_state]: left_x=0.2805 left_y=-0.0534 left_z=0.0561 left_yaw=0.0255 left_pitch=0.0323 left_roll=0.0261 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0014 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -0.9504, 4.1231, 1.3016, 0.2418, -0.232, -0.0073, -0.3897, -1.5111, 7.0496, 1.6923, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4667, 1.0203, 0.1349, 0.3386, -0.4671, -0.2665, 0.0155, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2858 left_y=-0.0509 left_z=0.067 left_yaw=0.0486 left_pitch=0.0781 left_roll=0.0187 left_gripper=0.0155 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0012 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.2376, 6.0376, 1.3846, 0.0611, -0.0171, 1.0281, -0.335, -1.3333, 7.0359, 1.7167, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e695c50c66b2def64ec1c10e20f84b391a19d20a2c4253dd744e3b0804840d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4add6584eb902d58334f8fd97d5ebfc9dc99da321123f1e12303323e2ad56bee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124b12d9bc4bd32c3f886134cd5407899da7874453249ba1567e6b33879ce576",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBo9HIjkSj8s79VqIcZ5It0eQA2w-O84Odjp1P3BX3UBWJfMJ68SqLl1XE6jB-8etQbxfyayML28Lbe66YXkZ2mBo1-sI13l4ovmeaIyDCqUeHSgPNlD9VAUlW_m0TPvp2ZQjQhVPRjgYj2TYR3Q1R6o4guRM83FY1vQM0KQbgvZMGTR3a3Arq9_aWbTmOQUnu4ZC0EsYwgNF1xOxkEgaouvt8ID3dJ1JBkpv_TVMxW7QRN5FytCLiYE75BGBSvVdteSpt1pl41SUxXYmDjD_vwjS9HgeGZ3CjqQhT-gbkSPjEvJNPmGp3tWMnQ3uxadopLKxoeC_IMZkgQNVbVO-QjNijxW5-8GcPZ0weItIGO9BtzXiO5gPVgZguJAS2ArJHAPfDXtUPXQzW62aJ4znG4kmtylky3oNIyvw1rf3qjGM7atBuSaPFO52JfbGuED-vFGi31UuC2UYbZ9a3fcn7WuisFIQ6APh4dj2G8nKb7vKbKZJNNUyv5piJ9rWrlSed-q1gLNG2IOEW6_pvDql3TAQTjq524P6YHh3sttD3dHGG6KYIZPDGYOq9YX9RcB1sEI01ptdSo2Nt_4WmZI0Inhn8zpq4dEmbP9H6fgICsgHoovIglf7laZFPjiKjwRIemQsVoXEgmEmmnqvplGrJgM6JT_Yc4-qiOXbV6Qe228JQhXRWe3mZjcMQBVSnuD9H7J967Yh_JQAl16ZohUc_SjnqKUWc8zT08pQRaoOccqG5AEJBlqq2v3ctNn926WmHOS6ynjgTRZPTiPU6Tju6gCzuCTvTihWVPCjA9EKJ-TvATrmv28Ma1w0rnyclpJwZV-fjMli9OyEsYClmMZvw6t4cA_RNxmsQBlBs9iPCXy1VOcX2p96hxom3yPO-_EQIt5x8aCBcuvOevdB_19XtyIBK0w9xG4RMII6cIGdlxR6qnxxcXDsAh2xGRcFb2KGzEl9IlBKI7kp_zBtQ0RuSAnI98Or-QeLgrfT2ABORbAI-_1TT43Q0VO-s8NSNtD0kNCh7YwEQXYFncWx9yEtPgaMDdUJvoJorRO1Ikutf3c6vHHywn-PDYFmt-IaafkQ9uBYQnJU9f_zYtBbVEW2pHEW2DGstY6R_bmL7tPgaDOeB74tCVE3pP8b4FM83hxFllUqEp4-i-EGdW8Gsf3D-dKIRooI7TU5r9dtK2BNgiB-iVqqVsawpmh2W3IbLKrhd-27zi-lTiwD1nPEFb8whqv5CUzi48l8f9DLTTVYTVtEKByjRN38xUmutaFsCNlj4XW7CsGrTI-EchF-VDGPn1YggRnKSSX43O62KhgIdYZQiYicF6pOBtIbKEd1Pmn-xnzJY-WeGr6u_hxVhQuGN6fhCkD9sSMB4dOy3qrF5fp2bt4OsZvXbUi5uXlaCCDtuB-2JYF_Ge9ZxmQcxl2gIgh_LflNz5MX_20oJu3DhqiFE4crpqsUL6g7EltRm5osrzCVgrlnDlKm-1jC24bnAT4wJQteOsopQoDFGjrhCcdfWMcx69RbrdoNoaQwK1Fy4BMa07rJHyItvlkC_TMS-aLdXHTkkqfM5aBFR7lZ4SJ9_ox2UKtTha8FwpO_BfSHUe2vMBG25TqXRsdODCNn1vBri_8Kcgb8EZUwo-WrJ9f6tNea_1lFxgPpw8K8b7XlpDbF6ZtpFXp45etTLMn52K3wXiF6zDYHRM2SDnk3PVyTNw8Qem4i5qoSz5LKhY_39r3lSmMeKwl1iUNc4zMIj862t8aQojUwqn9Is-VKCZAvOvE4JLhBdz51epqL4gZ_IMqILjCSVApGL6vOBDbgFoFxjjrhZXYwnWZ7DzmDbcDB5vv5GyU4qkRmLgC_o5FPqK2t-82jFN8pjweae7yVd7S0wRywXuozDFHy95bdrMo08SnWQSuAtoXYQ4nWfA7uRaYVol-z5gfGYkadf0rEcBxICjV07USaY5H5jpc4BDuXPupdrCz5CCed2mHYBj2WA8lBJkUE6WpSF4geTBOKctsVvYm76_Ia5UkqM_0GY2gR0iw7qNF2sMWloV3y6u3CXMyEjagNCk0J7A71aB84JHcnP9QAdfqeYJGu6MVKu_n4acNlan9Cyg3geKJaq8ZJK1aqbVL4zgsHHo7cLA0igDon28D3oKmG6zlEXMmV7oC6Y5Nsi_xNxAAs0geb47zVZKjAZu2aFrd0u6eEQs0G_0ocq2epSof7-31VcCBXPIceicnlnuIXR-X3A7HRgGJFregrlPCxxmTdiRTfTYHMLLlsvMUXqPPe98MBwDrVkKhZzuZvpU4wlZSS4XEh9jVRg2J1k4yHkxuISHmptwKFot5mpXGYKHkqvscQPgq6RIKKQXFITzQQOXIArt6UN-2eJeal3yyq7vsLYE60W9-o8eonBaO-bCKeXcWNJXCYHJZ9gt3ycSnhFbHDVHsXUTNvYJxmw_zLBALxzuDg1O1crnoQM90_7tiUvj8WhZD5K3pje2AtZUY-fhvLIG0sR27lADYrHLXxknWHei-9XFBmaYkiJMW1TlzNhDmRk7Bb_C-bZkUutXDagfaB22XcLQgYiMd48LoCzRbdSTji64dUprzL8Dp6uo2XI-yMe4ye7k2U1iM3njoL9RehXUw8HYdIUtS_Ot2nMteol3JN1MIgCUIk67DN6c8ojVdXCU2qXQiNfLlgl3SxezdtqLDoEYSdmHK29pJ7bcVWjJch4wgMoRz3M5lYmPm6wCEvQV6wrCM_D1rBNpJW7wlEyNlt-TKO-EOE1eZseeWfSKzzxSJMwwfaqUWB-IrTTLPb8P-D9DGI9yBxQ7I983hwQ1BVhIVPjBLdVmIdTQtMieI1kHt2V1i4nmjipGbQ99UI-4RfamBftF7rE8dp4y1sEvz2nkQ-985_Gqu7TwI2hafyf8yrVhjjz_s07SCaArLDCOFrZoj9uhNSCf_SgfyF88c7u5i0dZKYDCjOCtltUOBp4uCoOeEvw==",
  "id": "rs_058c07f1deeb3086016ab41a39463887d0bb98bb0657179858",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_z\":0.02,\"left_gripper\":1},\"note\":\"The fully closed gripper reads nearly zero width, so it missed the plush. I’m reopening, advancing a few centimetres toward the visible gray body, and lowering to table-level grasp height.\"}",
  "call_id": "call_dTg7P2TnAQxsAASEslGTKUlS",
  "id": "fc_058c07f1deeb3086016ab41a3c72dc87d0aa1b8840651b146e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dTg7P2TnAQxsAASEslGTKUlS",
  "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]: [-0.3931, 1.5764, 0.1345, 1.0611, -0.448, -0.1936, 0.9988, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3314 left_y=-0.0507 left_z=0.0557 left_yaw=0.0787 left_pitch=0.2195 left_roll=-0.0008 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.0012 right_pitch=-0.0267 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.4, 2.5778, 0.7253, 0.3297, -0.3346, -0.1392, -0.2256, -1.6889, 7.1043, 1.6923, -0.0415, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa270cb049efbf1942d867b6e3a8889562a62778b2ab7f5b19704589b76de423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f72658221c81af98855f68ccd4feedf198a17c4d739f8c904837e932d1ce612",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f0634fbd9fcc5ce43ea2b0a78aabd0d5fc3c7af6dfefe6c50ecd17bcd6a19f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 0.8154, 0.2794, -0.128, -0.3946, -0.2871, 0.9995, -0.0147, 0.8024, 0.6083, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2679 left_y=-0.0555 left_z=0.0871 left_yaw=-0.0024 left_pitch=-0.0442 left_roll=0.0199 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1786 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.0872, 6.2701, 1.7656, -0.0708, 0.0317, -0.0122, -0.253, -1.4564, 7.0496, 1.7851, -0.0611, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4667, 1.0203, 0.1349, 0.3386, -0.4671, -0.2665, 0.0155, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2858 left_y=-0.0509 left_z=0.067 left_yaw=0.0486 left_pitch=0.0781 left_roll=0.0187 left_gripper=0.0155 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0012 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.2376, 6.0376, 1.3846, 0.0611, -0.0171, 1.0281, -0.335, -1.3333, 7.0359, 1.7167, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3931, 1.5764, 0.1345, 1.0611, -0.448, -0.1936, 0.9988, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3314 left_y=-0.0507 left_z=0.0557 left_yaw=0.0787 left_pitch=0.2195 left_roll=-0.0008 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.0012 right_pitch=-0.0267 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.4, 2.5778, 0.7253, 0.3297, -0.3346, -0.1392, -0.2256, -1.6889, 7.1043, 1.6923, -0.0415, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa270cb049efbf1942d867b6e3a8889562a62778b2ab7f5b19704589b76de423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f72658221c81af98855f68ccd4feedf198a17c4d739f8c904837e932d1ce612",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f0634fbd9fcc5ce43ea2b0a78aabd0d5fc3c7af6dfefe6c50ecd17bcd6a19f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpF8201zEiHeCzxmVlgY61DkGb5chcZZlZaWaGIvfT4_V9OD68RoX4S459SjCXiwU10GhiugzPX_nd4Mey5Sy12n0Dw_9UExysLu22G44JxMfoI_CqdGLygy8otZhNdkVU0nbVh8wDNOe-XfU_m9aGcSZ5lgu7f8GU7mROdM_ubIvIGYp_vO0JQWhr3jyMwwDiGa_gMywih6xtq9_NCM0X1gjXI-yFgH0UA5MNV5jCGAj-dQncRlL124HTHi3hPOOmK7oZRre5CgGX3dliC9z9SD3F7N3numrP1lZM81FhdWC7GyWCZJ0HxeQdit3FYkn590sNCcpBHiLHAdXdm6eRwSfO4KkGhCz05k4Is4SKbhE_GPlRRPRRCV0pv1VOQjG3fTlH82d7Twftr_dL5-hREIRUtTm1KxGY3ojL0a_7p-5uotO8NikwnvHG07HxZBqspnyZY5IRSmLHPClgGjkxeet6zmS1EnvONliGkYuSHU5CT7sy1xr6qjIXgBU5KhO4p8LcJ_Fj-gb__lUaTcEEh1VknHUHth_XOL_BboUuLwOggX4EgY1cePRtktZcwaL4LabhBvHhxRadEwwaMWtAMbau4CVmQ7qvC7OqDsKOliD22JOc4P-UOvd1AtQ4o5xXrM7aSr3apLPLKQRtQPpVAhEoEk4Vn4YqVrFLxyO65PVaA6Df7Zmf_wIg77gizHew9yKVtMzdXCNVxGZwuHQb7jvQ4yw2Yh8t9zJgwXytMJgUvv-fSUAzw5GRxIUxyhh0dMvHT0pku67RVrPdLE-KvIyHXm5ea0w1-OfkXmDNoALw9xABiuxs3oz28mfbTvgmXzC5JGxRBlHbfIwPmtF63HXLfaZ92pCP7oQYD1gAXwmSCvC5UfAQ_6l7EvDnCXIwJlhXsJOafaqF9v5Hf-nHSPvEY9l7iSAmkQvXXbHpPGAKdbMu_FFxIxtvL6EJdzwkYnySa3wHuSgkG3ExDBXqE8lHiOMjTs_C73fVYo7SUgt_gqDQS1C8gDvp208jhslYsKJaHYVGe1JVjjXa87VgJ2GVepuKHhpOaVzNHWokRzgtIa9TpdU-s7E6ax3eNWPnc0qnhqMn1hVNKCRCGZ-G6szrgZJp0lPJ6L4Niw2Iywkw_qDPw0sq9pWsNQ2T8w74HVouMNkRXwBy0VbRyHTKsE-6p8mabbW7OOQphz-9P2SoEOVT4a9P7D3rNfHChP7Gj8jHEh50d17EM3KBjfYw4tv6YLEmbSByD3k5sTPay4K4BpZpPJ34iDU6NZ1zcoRHpzjDf8J8UuMwuaS-Xm-Cu074qfh4LFqh__o8MRSsbakFwEKUSSxHRq74WLSx0qHDne8AvcfS7LgKNCda5nq4QwAOEolj3SyXt4ghA6CeegAI7QdaYX3hzsuEMYdYQSL--zEUbgSgqse6YJRyzkiZ9bw==",
  "id": "rs_058c07f1deeb3086016ab41a44843887d08892b8ed1395d88f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open gripper is now pressing gently into the gray plush and cannot descend farther; its body fills the space between the fingertips. I’m closing at this position for a second grasp attempt.\"}",
  "call_id": "call_WzY5imRpTMghEDpEzLbRxce1",
  "id": "fc_058c07f1deeb3086016ab41a44ec6c87d08ba615805eeb5cae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WzY5imRpTMghEDpEzLbRxce1",
  "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]: [-0.3893, 1.5635, 0.1455, 1.0946, -0.4679, -0.194, 0.0141, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=-0.0485 left_z=0.0708 left_yaw=0.1066 left_pitch=0.2737 left_roll=-0.0226 left_gripper=0.0141 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0014 right_pitch=-0.029 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.3846, 2.8923, 1.453, 0.0415, -0.0122, 1.033, -0.3897, -1.5111, 7.1726, 1.6874, -0.0366, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10646983ad6d89074f3adec24cc59601b4e26c1467267ae34b25d551e129762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805f4b8cf596b21e22f1ce9f0241787a11ca77996b092d11cfcc76dbaf1094fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b8bb8ce16c574c14cf15a38ec1ca38ba1c3bb70e78d17c37d856f4d8b42d75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.357 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4686, 1.0279, 0.1314, 0.305, -0.4412, -0.2687, 0.9995, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9999]\nstate[eef_state]: left_x=0.2805 left_y=-0.0534 left_z=0.0561 left_yaw=0.0255 left_pitch=0.0323 left_roll=0.0261 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0014 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -0.9504, 4.1231, 1.3016, 0.2418, -0.232, -0.0073, -0.3897, -1.5111, 7.0496, 1.6923, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3931, 1.5764, 0.1345, 1.0611, -0.448, -0.1936, 0.9988, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3314 left_y=-0.0507 left_z=0.0557 left_yaw=0.0787 left_pitch=0.2195 left_roll=-0.0008 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.0012 right_pitch=-0.0267 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.4, 2.5778, 0.7253, 0.3297, -0.3346, -0.1392, -0.2256, -1.6889, 7.1043, 1.6923, -0.0415, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.5635, 0.1455, 1.0946, -0.4679, -0.194, 0.0141, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=-0.0485 left_z=0.0708 left_yaw=0.1066 left_pitch=0.2737 left_roll=-0.0226 left_gripper=0.0141 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0014 right_pitch=-0.029 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.3846, 2.8923, 1.453, 0.0415, -0.0122, 1.033, -0.3897, -1.5111, 7.1726, 1.6874, -0.0366, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10646983ad6d89074f3adec24cc59601b4e26c1467267ae34b25d551e129762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805f4b8cf596b21e22f1ce9f0241787a11ca77996b092d11cfcc76dbaf1094fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b8bb8ce16c574c14cf15a38ec1ca38ba1c3bb70e78d17c37d856f4d8b42d75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBpOOzx1QIyKoQ6A69VM413Rkbgaj64B1pR8Sv7jnvTz8t1mzwEk0ok7hNtio7ta86pUCX0zS2Asve0DQjaHCLJIlBKERdS2soudd07fBRMQT__kTnB3h1kENvDRzTefZ6diV91pa1ufbgoQ8xaWU30tY-7cQucmuHI6dQRGOX-6YX8jQkRH2uuOBFYQP7vslE_2OkaOfT5zs7TpkzOPrnXYmmT-M3fC1saS-NWuogVqv-NdpAtWcEaVIgXaodeVxmNJvOavRy-Cb2IZ_BSnwb54A1-lvvWaIDSRHa0ThIcD2E6z7xERXgJtL4Xa_0Jgz9sjoZFWxkGPKhcA7e0uFktkF-P1doIS-hrk83DxSSjaxLidXDcZw8JPJw_ZoRHddrTaEUeFOyS_Sytt-flpVhpKQndlvdIgs3Sya51MBTEC8CRFzdQrvVjtLY_ghezJsmSoc3M_swYbv2kVL4Y6sndq-ZbRFXBYzbGdGpd9UCS-nQa_FcgmLB_Q6BkJx98ap2bWhEDokMCHJfJBH7T-aJtYd-JHoODYNx-7wrJlFOWvq87NK6Oo-KX7TI3BENZ7SCnPRjxP2iDh3ToB2ZylwHoydbvdEiF54k-XnJYfeXdDhbU1RmBgULH_DHIK-0kSl7frGcJUqIRDdMILjC9FWYU0J7MddkE48J2ioenYzX8FJsTKERF7dQOSAI5PjV0PII-5r23lNYZtzeR4l8jcCZ2irpbfZQcjS79v2XE5k6Pkk1XA-lZ6QwVdiArhjITzNyQoXssuLsWZBqW4jSg9yY2Us_hKIP15Jn0tmX_0uBzFZuwJQSqomscErh9wcBPlCVc-N46rTNN5J67Fbk7uEfDBCxq3G10x5XY-jIbG_bwwc0_jUKjdb-uPsVU5pFUuSwWGr2MTcwddZ-dP3wGVv8yWQ_B-J8MVe6TqEsHWuRFa4NuxfarrF9-n3iIoQuxR4eLi4jc6q922oavSq8didZ5ksICJ2ZdiMObSziK4FgGxAXjnh3bvoChT4npDQa3PjJNdFth_n_tJ0SnYStiM_iNB7QkjCg9vps2NxScrBeha_78yVRu-CTOMaikDrUZmCLv86bVdonvYB48KuGa4SDJ7toNGKiOx9CIdw-F7Y069sM4poYuPz3w0org1iUsomfoVrWULQS6_4cm2eYCzLvUKI7G5kGGbmxpU99PF2tzcQdzlpNGVs_JTwSvvWZaWLJ62liX5WM4Z3UguXhkV8grsd2Sd4TSJBYM5JcGttp-Hf2PjLTdP8hSBsdA21vIISZG0c0jxJ2d-elKQxyhsXNPjmolKnEt_MLT0wAgxhgq9vNWnH_jmTKGRJSv5yYUzEE_fG-G3yTzuV_VhhS-QqwBVzh1sDJMwnGuLhY47OtuFtJvPpAbSMuJ4QPW_wy_Wyr3hNJO6oTRq_d4BMJLtPxpxptVAJd8uH9c78gFJGc9OCrmtIUTeoKGLg04S-CLCEVbUsGTm8S4BsDLXjp2TRZ-zPxTsoT0Gf_ZvyxU9nM3_-S02YDdL27aswu0MVzoYBg8Z2zzIarEuf5lV1scQNfaIl81ge_kxkxK4TtiRxIFFTgmpXIu1YEPsSXDR7euCRTu4OxfLjsBWQE_lfOw9nl7HPwZShL72nacrNSAi6tsYaBcXs0YXwvbM0-fQqL0mHb7z5EcGMVdIori09dICkSZ5xVq2_11fIiMY2t9gGdTR1Xu9asFsW_KXgOeM7xl2nz5wMTLLAu8fO4qqPezPx9WiNAnc8tI_VUvxB4O2jcf27e4aCHcIvgPqM5jbgKOBE7hUXhY9FA8RiKlDE9LZy7IC5PwhrYJ80uNiYjDzHaHEVmCJvCVpBhrtvtLQSEYnAEjwot9MKVq6pYHe3kB6UPYNm-P1abecpAjgKWYCd_cWAJA=",
  "id": "rs_058c07f1deeb3086016ab41a4c487087d09dcf02f2315d7871",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The second close is also empty, and the wrist image shows the plush still off to the left of the jaw centre. I’m parking the left arm and clearing the overhead view before choosing a better approach.\"}",
  "call_id": "call_T5bWePQBEYAfImeqozb8KNKi",
  "id": "fc_058c07f1deeb3086016ab41a4dd66087d0968da89a1e3edcd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T5bWePQBEYAfImeqozb8KNKi",
  "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]: [-0.1684, 0.6121, 0.2893, 0.0204, -0.2825, -0.1379, 0.9988, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=0.0044 left_z=0.1717 left_yaw=0.137 left_pitch=0.2712 left_roll=-0.0297 left_gripper=0.9988 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0014 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -0.3761, 9.812, 1.7021, 0.1587, 0.1392, -0.1392, -0.1162, -1.7299, 7.1043, 1.7411, -0.0269, -0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcfa18531d67183ff3195a15a3ed4b2b04ebdce5dc84a3f07509968a7cbbb113",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dc2548af71ff6c3fc983244042cf5cc7d702d08703e29776340e414e3cf096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d558d82eb7a51b9b2c6707f0a5ee05c253984d4c0a385bfe0ea9c7732fc64fbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.697 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4667, 1.0203, 0.1349, 0.3386, -0.4671, -0.2665, 0.0155, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2858 left_y=-0.0509 left_z=0.067 left_yaw=0.0486 left_pitch=0.0781 left_roll=0.0187 left_gripper=0.0155 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0012 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.2376, 6.0376, 1.3846, 0.0611, -0.0171, 1.0281, -0.335, -1.3333, 7.0359, 1.7167, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.5635, 0.1455, 1.0946, -0.4679, -0.194, 0.0141, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=-0.0485 left_z=0.0708 left_yaw=0.1066 left_pitch=0.2737 left_roll=-0.0226 left_gripper=0.0141 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0014 right_pitch=-0.029 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.3846, 2.8923, 1.453, 0.0415, -0.0122, 1.033, -0.3897, -1.5111, 7.1726, 1.6874, -0.0366, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6121, 0.2893, 0.0204, -0.2825, -0.1379, 0.9988, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=0.0044 left_z=0.1717 left_yaw=0.137 left_pitch=0.2712 left_roll=-0.0297 left_gripper=0.9988 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0014 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -0.3761, 9.812, 1.7021, 0.1587, 0.1392, -0.1392, -0.1162, -1.7299, 7.1043, 1.7411, -0.0269, -0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcfa18531d67183ff3195a15a3ed4b2b04ebdce5dc84a3f07509968a7cbbb113",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dc2548af71ff6c3fc983244042cf5cc7d702d08703e29776340e414e3cf096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d558d82eb7a51b9b2c6707f0a5ee05c253984d4c0a385bfe0ea9c7732fc64fbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBpUushboCGNGwBkYESLPb0kEOebAPyr-0zPPi5t91v_D4DHBznHkynrqHGZZ_8n7u9jYBOiwnJOs5H2BEGIQWz2hZa6SqDGzQA1kifjh69OC_TTsRAg4BfFTgpFPYmO9XssrzEBeOK_wZcSCSZY6Yq-r8vWHG_1wu3x-MZ11ZyMNx1SQr_pHjCvFoYXgiEwjhV_W4nZ8ydvlTst6Wok3Y8FwSl5DedU66jxt9DEw_NJLG7ql1I2af6s6gkuSE9eJOH7c1HRnoVLO4mFDjEfqNxUVU-RCFyrnG4sDJfl70A1HhpjLV36LIV3VLPSFF7OXMn4biHdlsu8kKiTOHaaVS3I4-eIee6xi7qFxYhJN0zs2tv2Yznr6wTT57F_1D_wF8HgtgR9PrbYtblrmze4-9JgLG8aW1FYwrI3Je_HAkRbrgWFSd6-CkTiLttDW1jhj119Jbe-4CT7gGhDJ4QJLmoL9l43_HbjBh12RwmJCRUdJ3w2ApbKNEpOIzc8vqU6PH6jYeb2i60qOKjspm8wq3cwB1bcc_yOdyGZlneyjbI-9bsMlxia3ykHtaSipaA0YXp1Ezh7Sh5od7rgK1uxoHifbmkwcrYtM1He8_rkc5l5RLCglx7tFVSnUjdOeYla3CQO5-aK5BVVTWiuJSEzCh1TZWzehPg09cGe1zV1B7fAN_Gacodm9LV3aB5azVyzDmpUEbhHYVRbXGjkyrPXZxnmdQhKBbkaLKvfpKM8hjUgGFMfvMJnt9RM95Y09eOWEu-Q3GAt2afq3i50aACxNuP8fBrf65ls7MDbyce_-ZXWxdthQ6sqWKtlEBkORauHg00B84SOGZoCA0TymjN-Z2U3PnRsiGyJy2D1O6I62zvFce1ryfMokLtc77S87WqMZH5Z4SM82QYp-1cMrSQdRy-756o_RD3O6cNz4izEwCZcJdOgwTWRRfDjCEXbyyzLVDMOdRj5tU-6W_rOiPeq_4FLIMOUXvojosQ-08QKTRhDMzmyhdDLnyPL1QLWpkqsG8wKr-SL8NfX2EpQuqLCa2Sqv0Lk45bQvxuKO6psOBTwBWF0X1J4ql24-bO23WL6kZ6x9DzdPjDGq38gPX4LwojconpRrefVG522Yt1c2A1R3BEkogN8WICZ4QWGF4Y1VQFl7vu5kI01PPsJg1XXIuhKPHmB3VaG-GGLOeCJ3MGCvWsIFM8KImg2UIMpb3OzOfTD2r1cwqMbUNBo15ds9coe5z2pRUizHEvA4GDGrF-5OWm-tQUZMx5xJ4DVEK7mqks-0UYPxud2cYplx9uE1X-wS3i2pgrJYWxpZKCA37ZkWiKj-Hy4fp08PY_zzz--9MAxZs4iK74rWS6BGZJBQNLL04tsSwktd_s7z0HKK6RTzySrCD2m327QmTzl4HSCWs_0_Z7AdC0VnlhfCcgnmw_rsVXtW7sSik1meofADrvTYPLBkSCwOORn2JL0zALIsxftX1h0-rp6XCuS1svNPtP6pAjI1kdy8X7gTMbP2kJnOS3qhfV-WdMm--z0EKr-9MYT8lMo9KJtrNsdUW-KnzO7sz5x2oTvjHFbOGUJXBbHJAayJg2Lhd7gYwzh5FMd3lJZblr1H4axNJJ6dZ9-Dv4SLWEAT1PzDIU9NFEQUkWFS4q-5ZQNORWxh1h8WhewxGkdRn_pXA5CaDQ9nFMiuH_KgCEO1c-D1AAy62qTFyR7vv4FixXsQm-vHg2VGxy2wI7LbWiPGuSs9FsWZ0noL9-PUVa5Zi1iUsTZoxqrcUJs72Qho77HG2tGKpY2hM6b8XJQjrHYjgcLJaHo1lQ12EgynjDHzyugobP7Z5ApIYjiEpDDf9vz8N8O2_swmpuoVVoqGKs8Op-kxFbgk9HvL8wIWioG4t7FhkIMuwXcMgHkYZC0XDiflseCMCYP_vIiM-o7V0dPKb6pH8nLfdaM9VvaHpI1uPlRZb-FfVDesJP_iYuWq1o5Kiw6kuYB9V69bFrosr9SpyCWBe-2KTMk8UqrNF_2alC5HSW5ImNDItjfUFF61BcsXFijBexZvAWcz7_d",
  "id": "rs_058c07f1deeb3086016ab41a5257a887d08f15d1e31ab0d7f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.29,\"right_z\":0.13},\"note\":\"With the left arm clear, the overhead view shows several cream plush toys in the centre and gray ones on the left. I’m bringing the right arm across to the nearest cream toy, leaving the two baskets unobstructed.\"}",
  "call_id": "call_TAHlvYWMZ9uxPPntyTA3lx2O",
  "id": "fc_058c07f1deeb3086016ab41a53f40087d08fb55cdb8b63cba5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TAHlvYWMZ9uxPPntyTA3lx2O",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6144, 0.2916, -0.0067, -0.2768, -0.139, 0.9983, 1.1889, 1.6375, 1.0321, -0.4816, 0.8558, 0.9184, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.166 left_yaw=0.1305 left_pitch=0.2448 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2545 right_y=0.2853 right_z=0.1209 right_yaw=0.0173 right_pitch=-0.0588 right_roll=-0.0217 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -0.0342, 7.1043, 2.2051, -0.1734, -0.022, -0.0659, 0.6496, -7.159, 8.3761, 0.8425, 0.5934, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05dfc7af405cf78b4a8217229645d8d160b0804bb9f5dbf2c878ec43a2fe83d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93b17c496db8a60f5f3ff2caae2d5cd00bbd7f1622e2a7dc3dd9d2c0836aa64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f1404633013c31acea31495a9097d3e5604902a78cb6b0ae7c48315a2a21d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.294 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3931, 1.5764, 0.1345, 1.0611, -0.448, -0.1936, 0.9988, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3314 left_y=-0.0507 left_z=0.0557 left_yaw=0.0787 left_pitch=0.2195 left_roll=-0.0008 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.0012 right_pitch=-0.0267 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.4, 2.5778, 0.7253, 0.3297, -0.3346, -0.1392, -0.2256, -1.6889, 7.1043, 1.6923, -0.0415, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6121, 0.2893, 0.0204, -0.2825, -0.1379, 0.9988, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=0.0044 left_z=0.1717 left_yaw=0.137 left_pitch=0.2712 left_roll=-0.0297 left_gripper=0.9988 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0014 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -0.3761, 9.812, 1.7021, 0.1587, 0.1392, -0.1392, -0.1162, -1.7299, 7.1043, 1.7411, -0.0269, -0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6144, 0.2916, -0.0067, -0.2768, -0.139, 0.9983, 1.1889, 1.6375, 1.0321, -0.4816, 0.8558, 0.9184, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.166 left_yaw=0.1305 left_pitch=0.2448 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2545 right_y=0.2853 right_z=0.1209 right_yaw=0.0173 right_pitch=-0.0588 right_roll=-0.0217 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -0.0342, 7.1043, 2.2051, -0.1734, -0.022, -0.0659, 0.6496, -7.159, 8.3761, 0.8425, 0.5934, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05dfc7af405cf78b4a8217229645d8d160b0804bb9f5dbf2c878ec43a2fe83d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93b17c496db8a60f5f3ff2caae2d5cd00bbd7f1622e2a7dc3dd9d2c0836aa64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f1404633013c31acea31495a9097d3e5604902a78cb6b0ae7c48315a2a21d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpivoCRrwBLCWaO5se8NpmFB4CjCQjxhqXrHqOItGYQLzov2J8-qV9x-tSBvLPWQO3trFIlHgjsnTMF-raH14r2uifT7QZk3Goa3Utw8IHgIZNBQ0zbcTHuNLcn631Q1yaIYU7Nr4AG5ZtBaotQNVkDkltW7sy-mZoWvKdI2Yc9QyZMt8lgUjHPQ2KHinthRO0LWYfxX0JIB9zS0g563DYh0T7xpDZiAV2cB4Y3fjxQ1ja1Edl2jw-A40Pbo0M4OOnxV6FpuJLOTRO3Fj9ib1PiLezdG_FX1CLbaI8l0LnjNc-E8SAIYe05PpwipLuCa9Du3ZCcd8t4t1FUFw5NldmMMA_NEJXheZX9PpO3a0Ba-Gv-NB_YHDstgn_7cuR1Wwj8RixLL3gs_uhZ5lU1Mo3OEsHM_aKH-67B5x1qOCH1I1ILfX19XRYL8DBMh89lvvm2Q334J5ny1WRdfZC_uTMA6fey8VzHfdRaHHFgqfoBxaKDkjJTdv7MCpAdL1rKU_ZGzVD_ml55QadpH78PE_YAtSJwF4k8yrm4Te-93RX4TJqkMXHxCRkHMyJVssrYoLABRqN3hCGSXEWdZBY8rOCODvVAleHAXciHSsWZTbHmjjiPGb05LYQkDjl-K06mcP-pJGNc1viTpXsQo6ZNW0S-KHXqEV5-biRvp1Z2VR6hk294e5Bh4rpB5bAEXp_PFf9uuUXHsV4G2eeGsSt3-g_2USlKS4vgF_mg1gGGgn4kqwFHRoQ4Ze_TcF_3HGj7jL5bV44J1dtXgOtf5er-pUYuAsg_k2kpf0vZGy535ckH41cggA1VT5SD9OBe3GCCxKOhsuUmyHWFNHLj4ICcSIaTk6oCmC5sauN69MrCJ1u39IPr__L3T46PIjBaPzRcpaAEVQh0Zj37AoUQsCfob4FvNPGp9HJRWVPWBD3ySdViEcKsr2qf2_-XXNE6GfCdMHpBvNKbHiu-s7U8YiTxAok6tuv8_x91xqRlJR8q1hpapVGL2IWAzJSGM8jSDkwvwGKG5fCnDDWgetyMY5TLb_6iFMjUe8oCE1-cELkrulArhsqXlgjaoUhi7YIGjMcg_fKjVJQL42woIDZD7eQnMK7OiUYPJdc82JBkYzap1fuzepbeWpPf0G6TUAZtHKjnj_Mk0pYEPmJ7QYDph9ZRRU_U-RNoRsLnYOk0A4dkuE7wi4vU05lWGpwfjMoZ1SUA8PWh7n9POGWO5uj8eg0_FYxA-ne4mNQsOSfRrTya8MkwdOLUZFRg8YaDIUIadPNIf8Dh5gOefBXYVFnjMiRfUwusUZZ_0wmCxFlEAUdpy9eS5v7YRSb7EcdhCwsb70rTQbet89yNjumH5za94Niak2NiEvtDbi6E0XhR1jTgQmLquFwTOS60KD4xBHT8vmZkJ25NnIHsVh486-7H8-w76rwaj7oLaNeaAijKjidCC-rjkmK2IElo2t42DhlVNYz_1aSA95jVbZ33tN88SaiKctdInCKcTEhdNdezPECX-nKQwGm9tzLJ-3d-vWGR5ECDvEVaC0bYMyRqDtX2McnecwlCjcl3KzcIdlBm9LfVRzzQEt7AHlVH3nDWB8Mz-sX1Y9ajVwKbDrn6OwinLJ190gFWqQwyqNcJYYO2wQxTfiL8Lya0r0CbzLGODlsD0y6AVs_nDG4j_BWL3I1ScyCmMx_oaVmgl1JVd0cjEPKs4bdfo_KoJjnQe4Qwf8spp47qwxMtQGWHMaR7juHmmmIgiA7_wOhPm-Fqg6UAEkiQytQwsYK1scd3sfub6NFPsKbS3Cynkqz2QyuvMP0XhCn3dn7t63P_x0Ra3GSfGR5_MURiCTNyk5xW0fdHM0zxZnt0eQjfJeO6WLvZcizclQpPCv4KQfTmHN3m5zxxcnlgi7fZxkm3nYdrV25W7Zdwq6bsbT7gCePSxN-OHmJMFB0WB4EeyV_zEqZozSgFrACMbaWVhFJz3J4ca-AA3qVG9SV0_ivuPpOOYwvY7bgOj-heEmi10u5Ds9Ne8TQaSdNs3YvcIyb-IhkU1GbJwj2Pdf9fA6eAlW4XwIIi1YfDFnRe-T6_YCi4Wjcy0VpYAra8Mkjt_IsdRnlgZ6zJ0KS4ZvilQq0J",
  "id": "rs_058c07f1deeb3086016ab41a5f665487d092b2fce9bcd6759e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.32,\"right_z\":0.055},\"note\":\"A cream plush is directly ahead in the right wrist view but slightly left of the jaw centre. I’m shifting left and forward and lowering toward its torso rather than closing from the side.\"}",
  "call_id": "call_dYN6q7qSNUy2quctKByTfiOm",
  "id": "fc_058c07f1deeb3086016ab41a61be3c87d0ae4962517922e0cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dYN6q7qSNUy2quctKByTfiOm",
  "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]: [-0.1684, 0.6151, 0.2916, -0.0162, -0.2798, -0.139, 0.9983, 1.145, 1.8816, 1.0657, -0.1783, 0.8379, 0.8677, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1636 left_yaw=0.1324 left_pitch=0.2352 left_roll=-0.0201 left_gripper=0.9983 right_x=0.2877 right_y=0.3251 right_z=0.0683 right_yaw=0.0138 right_pitch=-0.0351 right_roll=0.0277 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.1983, 7.3368, 1.9707, -0.0855, -0.0513, -0.0269, -1.2103, -7.2137, 5.8872, 0.6716, 0.3785, -0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dacfd7d49f2ac4dc8a092aa67f442ef6ee5d19ca1b9f94700a65a31df8b1ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6666089b365b295ab9b3d46a8bd3dab8f5c049729879ed3cbfad0e8118e24af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca60bd88da7e85b14cbe1ad14dfc528436eca28ca95debfd93b8b81f185f5c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.469 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.5635, 0.1455, 1.0946, -0.4679, -0.194, 0.0141, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=-0.0485 left_z=0.0708 left_yaw=0.1066 left_pitch=0.2737 left_roll=-0.0226 left_gripper=0.0141 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0014 right_pitch=-0.029 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.3846, 2.8923, 1.453, 0.0415, -0.0122, 1.033, -0.3897, -1.5111, 7.1726, 1.6874, -0.0366, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6144, 0.2916, -0.0067, -0.2768, -0.139, 0.9983, 1.1889, 1.6375, 1.0321, -0.4816, 0.8558, 0.9184, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.166 left_yaw=0.1305 left_pitch=0.2448 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2545 right_y=0.2853 right_z=0.1209 right_yaw=0.0173 right_pitch=-0.0588 right_roll=-0.0217 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -0.0342, 7.1043, 2.2051, -0.1734, -0.022, -0.0659, 0.6496, -7.159, 8.3761, 0.8425, 0.5934, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0162, -0.2798, -0.139, 0.9983, 1.145, 1.8816, 1.0657, -0.1783, 0.8379, 0.8677, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1636 left_yaw=0.1324 left_pitch=0.2352 left_roll=-0.0201 left_gripper=0.9983 right_x=0.2877 right_y=0.3251 right_z=0.0683 right_yaw=0.0138 right_pitch=-0.0351 right_roll=0.0277 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.1983, 7.3368, 1.9707, -0.0855, -0.0513, -0.0269, -1.2103, -7.2137, 5.8872, 0.6716, 0.3785, -0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dacfd7d49f2ac4dc8a092aa67f442ef6ee5d19ca1b9f94700a65a31df8b1ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6666089b365b295ab9b3d46a8bd3dab8f5c049729879ed3cbfad0e8118e24af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca60bd88da7e85b14cbe1ad14dfc528436eca28ca95debfd93b8b81f185f5c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBpmzoykLQe9z0-mTvjxkXePDgUK2LZE9v1mCSu0Eu2fU_sTjofdlCWD0wdPfMh7hdcXHLMGNiH3PZF6T0ks3RHTJ0XUEpptGsRT9Eir3ZYUbama-uvaCInmNNPw5p09bmGBWCalKP8K5sCvuHfAHFVEMy1UISWI3xQuldYOm7C7jxg0IF7fA2dx-iRmJh0dP8LPIiYTkyq2CWOM1nR25ZijlJRLie7ea22nylEF3YiNcfMJRsGqw4mqlzBN4lCU6B39BGA6eoq4lmWk_kuNeK_wA9qSEcl5JedqF4UMP57zEWID2LQTJXqYB_uHccG2ekbtYz8_oq0-TiJ5DM5Qn8CQg3PHGzORwqVrf8dtXN-HKztyAti3giR98El57yAXddZmOitbMsQHXwJYWDEkR3bbcCLnep1yjvoaawSey4Ux6s3aWWLwa3iCbQzD6CVVir5rlMlPyjAXm4kxrtVJk4cL1PSIblRm_aLI4wi2K7dJkEyTKBzxdj_tTrC9gfwiNdP-T3rsuzoe0TXac8R14uNnSB7KB7EXqbi_NkjTlOrf8wPVFzHpDRP3Jzeco66EtVKuYHBI3fefuK3k9bUg8AKG3X2lphwq5txhuQUwbiMMqcFlyN4XlOXFhQNjjQ0qQESyq-AZ7iKfF2bGdGxcubl26Th1vnj-X_3sbhiO5-PsQwwYdr-VpMpyafzvKVXsPwSc8bwrBW4C_70T0fJgf930NrzDMwx75337rsV9nxj0d2WaL8n9IoX8Z6UjE6LhtmrvQAi7C3CYV-8crCq029R7SGkdoBqnSeLfxB4dabd7SQtzudt8xQPLsI0sry-udOM-q6F6dm3PrLtIPsF3kKw2Sk-BF49LCgS11wew7yHrY9qowcXk9jzbDHQ352Y4QcnHXTfCqV6rw9VGUvA7aZ1EMCJJnEGfNNHD6E9xsW8Ela0co35SrSu046Exs50tocpmIJPfqeCdQXMAlRsky1or7bsb9UN2_UHmxpf7twLiqHMzicIaj5pQG4tQxIgq1tvCNHVUciZq77FJ-SHiOR1IXySU_XyWGIVhxid-eYGwKpJw2VCjVExQxx8ciefCo2KGYlnbWML0NM-4Au9wPQnqgUMNZzWRq4BIKNOmILwIOsVHbD0qOXZHxaOlG4IlsPihEaskLdwgZ-5_B3OsM1l1AGw5ppHaQcjGIRUBq94hE4K4bEqgWZAgDui4TQITvXRETqzCcjyY4JC9Mz_ls72YwrEtZHHvtpHc0wo0yytPca7PpExT3JlcRklRP9AJ5kzp9aC-FAaCxC7gC9Pp_HpTPfPaqgpWQLSNJ1EfXxPx_CcPKr6tAnFw_bqxscMYQHyW",
  "id": "rs_058c07f1deeb3086016ab41a658aa887d0bb1c4896db201c48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The cream plush now lies centrally between the right fingertips, its torso filling the lower wrist view. I’m lowering slightly to get the jaws around the fabric rather than skimming above it.\"}",
  "call_id": "call_qPTcNRuT8eXsXu4ouFgdf0OF",
  "id": "fc_058c07f1deeb3086016ab41a65f55087d0a8bd22bdaeb20fd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qPTcNRuT8eXsXu4ouFgdf0OF",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9465, 1.0271, 0.0372, 0.8467, 0.8757, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2954 right_y=0.3405 right_z=0.0548 right_yaw=0.006 right_pitch=0.0183 right_roll=0.1331 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.1436, 7.1316, 1.8779, -0.0757, -0.0122, -0.0122, -0.3487, -6.3795, 3.6855, 0.8034, 0.2222, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c82550a8898acedfde8f0f7d319762df43606b85eeae571ad7fc069290546a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc25516985e13fa9ae5b6f0de27aeeb684287e2afd7b77c52e4d1dec657a2b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cace3decec50ede77dbb56e608554ba95ae01e4aac0cfc614eb1abaa7c24bad9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.335 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6121, 0.2893, 0.0204, -0.2825, -0.1379, 0.9988, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=0.0044 left_z=0.1717 left_yaw=0.137 left_pitch=0.2712 left_roll=-0.0297 left_gripper=0.9988 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0014 right_pitch=-0.0347 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -0.3761, 9.812, 1.7021, 0.1587, 0.1392, -0.1392, -0.1162, -1.7299, 7.1043, 1.7411, -0.0269, -0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0162, -0.2798, -0.139, 0.9983, 1.145, 1.8816, 1.0657, -0.1783, 0.8379, 0.8677, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1636 left_yaw=0.1324 left_pitch=0.2352 left_roll=-0.0201 left_gripper=0.9983 right_x=0.2877 right_y=0.3251 right_z=0.0683 right_yaw=0.0138 right_pitch=-0.0351 right_roll=0.0277 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.1983, 7.3368, 1.9707, -0.0855, -0.0513, -0.0269, -1.2103, -7.2137, 5.8872, 0.6716, 0.3785, -0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9465, 1.0271, 0.0372, 0.8467, 0.8757, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2954 right_y=0.3405 right_z=0.0548 right_yaw=0.006 right_pitch=0.0183 right_roll=0.1331 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.1436, 7.1316, 1.8779, -0.0757, -0.0122, -0.0122, -0.3487, -6.3795, 3.6855, 0.8034, 0.2222, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c82550a8898acedfde8f0f7d319762df43606b85eeae571ad7fc069290546a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc25516985e13fa9ae5b6f0de27aeeb684287e2afd7b77c52e4d1dec657a2b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cace3decec50ede77dbb56e608554ba95ae01e4aac0cfc614eb1abaa7c24bad9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpq5FLy2cQ7I5qb2Gcw8X_4xrWggibs9QotGga3j-FOLSEy0nekgTx_CJpd87FxFyh4XjwhLRDMFHShzldGqxSmgBO99tc0u351kM4VM_Um7U8h9j_3NjCzihZhEyCv7GpjdRU50vZWRcVYGaZE-qv5WUzFZ8Osi3OkfZpgbVdO2iSqoxsOoVvqvkrcfF8fnU9_N6JimbqBWCqf0qzO2gQrOIEWDfY_wYQSETDy3L5Ui5Yyhy3s8ManbrnU-QTUUon_cn7ShCbFPnvandW8Bvc2U8REFMO1R81Qv5uecWJH2xhZsP53tze9gFbBuV7pcSy3wFdtxg8FUIT17dKQx6AEKGNnWWwrjvuSh4Ppj3o9nK1qPNOBSebuUxSvDShSrEtnkAveJ868nCIRj9_F117hyS5YW8LPH2DKHJZFeV-EDl4LN3QGjlRR56yB044YpmNp4IsRg37GUE7cEWYOR3V_USFRZX3fq2hiOTJp7Vr4Z-H1TCg7TRm2wbmIPFyThefqSdQzYjJRMLAKByh02DBpRgSBA6Z4mLP_WUSFusGPJtNSoayLKG8VOkLxAKRCHhprmeqFf-yKrl2lT6bflFJlUm9l792QZRCafaNd5wjvnvYlcznzA_HIwz4Ei5o5fHrSiLLJnormdEjdOJml6k0WZUN6oWkzpCDI1K-KnBySYCdaqnVnFSAouuCzA2lj1P_lA1az09fSiKQY-ottSohUOpPoJLjZfijfVYGHfMFBFuhCXxsdzW4uG66hZgKs-VD9ObSBVAwctPmsMFrD0PaOEFBYCfkV8Z5E872GLKNutnsg5bst1T8n7bpxX2QEv-Q1bk62WeTmpmDVr2gej7vkZJIhUuShJy_8yXxBr-tPIkMMmbBioQlG-MXsAgTvh2AyPYqEtjkyMi5OIp6CHsTdfujfMIcLBJmxz9LRfQMg8WBsR6N2PWwHKbTAfUzKSncAvO-2rrSw0gSyCGWBDddP-mBojaEd2-Qk5qa0hALasReENUX1UE6NyJ6e2CZX5Cwn19J8H3mZ2ORjJvc6cu56ChCj_LPqB-Mg_x9UIsTeVGspY5PZQC5AjuideXUsqG1RhFzEg1KVOc3EduOTA6c1RzWt6ATEhz1c3tds9i5AFxqq88LUDfYQBpuDRXt0NcS0TZ_B_dJigPn6iKW9qpMi5Uz0y5dVzFEeFvHKcTeYwqk=",
  "id": "rs_058c07f1deeb3086016ab41a69ea1487d09d91f44e0c6a292f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream plush remains between the right jaws at about 5.5 cm above the table after the descent stalled against it. I’m closing the right gripper on its torso.\"}",
  "call_id": "call_G6FZpcNqJDhduRMUipJUMGcV",
  "id": "fc_058c07f1deeb3086016ab41a6a04a487d0ab8633c872c9f078",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G6FZpcNqJDhduRMUipJUMGcV",
  "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]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9461, 1.0275, 0.0727, 0.8486, 0.8764, 0.3879]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2977 right_y=0.345 right_z=0.0596 right_yaw=0.0035 right_pitch=0.0346 right_roll=0.1662 right_gripper=0.3879\nstate[joint_eff]: [-0.0342, -0.294, 7.1316, 1.873, -0.0659, -0.022, -0.0122, -0.294, -9.3744, 5.5043, 0.9988, 0.3199, -0.0317, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11aafa9fac12901c4e3518f4b7070847a3e52248ce622854f950b3a144774f37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b6ec055937b4c2391da88b687753b03c1b0dd0413071cf6e81d84cbc662e52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27d6a741179922a12910b0c8eb3364da22473c0a717e9f34edde7e385ed8d47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 5.41 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6144, 0.2916, -0.0067, -0.2768, -0.139, 0.9983, 1.1889, 1.6375, 1.0321, -0.4816, 0.8558, 0.9184, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=0.0037 left_z=0.166 left_yaw=0.1305 left_pitch=0.2448 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2545 right_y=0.2853 right_z=0.1209 right_yaw=0.0173 right_pitch=-0.0588 right_roll=-0.0217 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -0.0342, 7.1043, 2.2051, -0.1734, -0.022, -0.0659, 0.6496, -7.159, 8.3761, 0.8425, 0.5934, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9465, 1.0271, 0.0372, 0.8467, 0.8757, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2954 right_y=0.3405 right_z=0.0548 right_yaw=0.006 right_pitch=0.0183 right_roll=0.1331 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.1436, 7.1316, 1.8779, -0.0757, -0.0122, -0.0122, -0.3487, -6.3795, 3.6855, 0.8034, 0.2222, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9461, 1.0275, 0.0727, 0.8486, 0.8764, 0.3879]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2977 right_y=0.345 right_z=0.0596 right_yaw=0.0035 right_pitch=0.0346 right_roll=0.1662 right_gripper=0.3879\nstate[joint_eff]: [-0.0342, -0.294, 7.1316, 1.873, -0.0659, -0.022, -0.0122, -0.294, -9.3744, 5.5043, 0.9988, 0.3199, -0.0317, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11aafa9fac12901c4e3518f4b7070847a3e52248ce622854f950b3a144774f37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b6ec055937b4c2391da88b687753b03c1b0dd0413071cf6e81d84cbc662e52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27d6a741179922a12910b0c8eb3364da22473c0a717e9f34edde7e385ed8d47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBptA43cGrelxzRgHCvC_9aCkNqfqne3M-ThpwF2WAslSPPixH4fLMZvVXFnP-JbRniUg0dZwIcv3_8VnnLH3C79pZ0Jttp5SPNmH-kwaDh8SW6aqwcdkkFM7vBJHu8joO3KXqOYqYzuFlnNqwG_izyCR-fQCmAcUPpaGuu0Y05ZqFDuEpYgTTekehTK-bjUTRAYomWYmp7tq38PVUk7N15ICktBpK6pCaOH_stnKIdcKAlwHXZDDAg_I2UOrQle0102GVDtdbq29MBu4qRkvg3nNX-OTvOs3ws5sgc5g7F_6TLb4kq8fdFGI-r4sh2MhTSdaOGyANRZs2g0Jts5TS4xkwA1bLgD7fctji_QJjrMQvQig1D5ugEmbsiJsWFqShTPQW71iexTJgmqYJ1GhnXjrtHcv6VZhVqifb_QdKPceE7TTLW1ZC8nuY1oxxP5P-v6b5YauaVKMQy6rXa5WR9imRkU1Dp010-pDZbz7fYsaSxREEE4XHEEgUNp33w0wV1IP7ULsmf58cTiF0Ubxd0yBtDDyHbXqlhpzTBR9j-TiG5MIEtqQMBi5zlih_WseCjZdzr4LS0erHDMhYHtd8-dQfxdbgPnqIgOr6TPK95CdJ-JHEtVHrOUXduPI6oGBjkwkrycs8CIRg3QdvrghHhZP-8IKbN-iGKGQcILAkI1IYr6C8gjQguHM08ddFVEz8KSGOPJmZ3IAilUAgD7wOrW8LvDryDs9Vqiys3OqkcPPueJPeYmERU8qRxFI_V4nhI-OXWvsA5pv00H_HFftrVaWME78j6uFblHFBzZJQsOu7XXrblcqxZSnTFaF3XY7_S2JMVuVtdwY6Vie1JhpnoAyuFzx8g5cuouskysoL4iPQ_gei6dGiqh9U2X-KwEEb3lKI1In7KGivvBNLW7i7EoHNg9aHXWHplPmjLzhBPeXPUFikE8wRSU7jlu7H9iWaDunhzIDjAiff-gr6qj_BapMSzO4JQJXTUfoabkGABVk7vTnV1PvHr-F2hqoKJbAwcrhOm_r3_yLhe2LFmHwa5g4iDg-YUStsZnMFPQF1UOUYAUMWII3eweKuU8tLWULY4NLx-iy_cZB5KwKVO4QIgk7VMbDtYhR8oebtXQnR9E_YAJZP9EqXYx6K4mdgM8Aeji1fKV1r9bKubAhVV5JVNgJ0uCAzZI8dz7oxsWbBwic7ZSSSkRi_QVQQ7DIReI-HTbjOagsPMBqF3dXSCMbb5RHw==",
  "id": "rs_058c07f1deeb3086016ab41a6ca34c87d08425e74cc04544a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper settled around 3.7 cm open, consistent with holding the plush. I’m lifting it to check that it comes off the table before moving toward the cream basket.\"}",
  "call_id": "call_A4gWmOTMJKr8QEF9qA5aJ8JJ",
  "id": "fc_058c07f1deeb3086016ab41a6ceaa887d08cb313ba661ee3b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A4gWmOTMJKr8QEF9qA5aJ8JJ",
  "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]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.8019, 1.2156, -0.3145, 0.8158, 0.8719, 0.3894]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2939 right_y=0.3461 right_z=0.1337 right_yaw=0.0274 right_pitch=-0.0112 right_roll=0.1233 right_gripper=0.3894\nstate[joint_eff]: [-0.0205, -0.2667, 7.2, 1.8681, -0.0757, -0.0513, -0.0122, -0.2256, -11.9863, 9.347, 1.3358, 0.6569, 0.022, 0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0ed058052d4e282868dfe51112f54dd10d42b8760838d4a3ec4d10426a620c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872dc2d3afbfa81629bf57f577d35a6a89767004115f1be39a61330e40cdf7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d118161f00fbb7545bbf203373563e223b74e6568cdc4b7f6e2852da3029ed3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.836 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0162, -0.2798, -0.139, 0.9983, 1.145, 1.8816, 1.0657, -0.1783, 0.8379, 0.8677, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1636 left_yaw=0.1324 left_pitch=0.2352 left_roll=-0.0201 left_gripper=0.9983 right_x=0.2877 right_y=0.3251 right_z=0.0683 right_yaw=0.0138 right_pitch=-0.0351 right_roll=0.0277 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.1983, 7.3368, 1.9707, -0.0855, -0.0513, -0.0269, -1.2103, -7.2137, 5.8872, 0.6716, 0.3785, -0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9461, 1.0275, 0.0727, 0.8486, 0.8764, 0.3879]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2977 right_y=0.345 right_z=0.0596 right_yaw=0.0035 right_pitch=0.0346 right_roll=0.1662 right_gripper=0.3879\nstate[joint_eff]: [-0.0342, -0.294, 7.1316, 1.873, -0.0659, -0.022, -0.0122, -0.294, -9.3744, 5.5043, 0.9988, 0.3199, -0.0317, 0.7839]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.8019, 1.2156, -0.3145, 0.8158, 0.8719, 0.3894]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2939 right_y=0.3461 right_z=0.1337 right_yaw=0.0274 right_pitch=-0.0112 right_roll=0.1233 right_gripper=0.3894\nstate[joint_eff]: [-0.0205, -0.2667, 7.2, 1.8681, -0.0757, -0.0513, -0.0122, -0.2256, -11.9863, 9.347, 1.3358, 0.6569, 0.022, 0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0ed058052d4e282868dfe51112f54dd10d42b8760838d4a3ec4d10426a620c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872dc2d3afbfa81629bf57f577d35a6a89767004115f1be39a61330e40cdf7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d118161f00fbb7545bbf203373563e223b74e6568cdc4b7f6e2852da3029ed3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpzGIK6cclpzW7RvtinKD8180TGUSfBUoqg-RRDuZqRzSpldXb2rs8kUYtGGvbi4_Iyu6DVmTFUUZYvFSSp6zGy_RnFtuARkAifqtCeotpzy5fNbruHX9lnaoFnkrj_MYgk0XPBi4QyuslAcmUMlO6VVq6Nt-2oJ85atR24aJEM5qa_1qF6geSb2Y85d_Qk2MuCW6hU0Uu82yy8uN02m5-XEZddJv970Y00jhKk_4IpBmuRryY6xDqK1u5OG32vmZCbRJ0bn4po4rzC1Cn53CJgCPWj2jQdUAqY7xkNcAnrJDjlYZxMrXqpDZfRyYeSJII1L6CHSGpGAXV08IUshYMfjNU4ivUAMTTelvrtSlv-1aTpZdjkRxNq7XulG_G1pyJd8yy9_0UNo2IEEWYn_BzzfQChEC4ghiyKazhY_fbqNN-CDCXyoMrtTpaZyimhyMFGC7v3J_1V-YKE8N3zkqNdTxWf-vSXsj-WdrRjhwAKbrBboMVixrMS8o8KuUJ-VAJBdkEw5KobbV_5OmaS9yxflVFsFkQl59apXiqD8OmcgXtEWnmAGDmc_-d29cMPwKaiWM0xRgUxi8K0Um35VELNfiu5QBTrInyg4zNGS7vMaRBWrj3ix3MWkf6hPLLj-gsbm1crtmDrkWJHMISHkgCTzv-_4nedkQdNRLlK_PDF-CZ0IuQQ_hkW1dVUo96uBwnkh60pQFjT5P-fWlR56gyWXHxS_K15sjfyLFZ_xefDdWTWAlJnelryOWvRAB0AfshQrM229PbGWWodE1grL_K-EYD8-CLYijF53AX8Kw8dmpnyEmJ8Bc6uRvcixW4M3YmBfpZFopWJjPgaQejJuRaeiwzQb9v5YRsUMq9pwAnYfmUby7-cF-2Ath5sefFKlylSjO2SdtK4xWHdXRrHSPyh90qHUMPxV2Hw7AfpP24bfxDSp_sXOPbpc1oVoldiEAxLUqWEI1Hi043vIBw8jApFMa6H9mEBlY5Bc1ZzpPqrD1x9SKm1P6zgFMwTWzRBCX01QhWJELIC4_svquO4-HO4KRYLw2Tp7MyL0UWP2iD6o87-u2WN3hroY3GVkDXVo7mFKbnCB4n-zSHktGgFND8yVW2YFRSdhqLFnr91MfSyBKMvuMZz0iKukfMvQT0qHdgWv_GUYQp2oQYxkIOjZRLmgjxDHZPrHKBUFTWL7t4X_24rfBFadd-QX4EqIGyQy1pDKZqfwH2_Oc70ygNi0nROg9vumW7R6FWNsDZE8eW4euu1ry1Ki8jdhlxGjTMomONnEDO66Medkid6YVBkbPGnYk8axhM7PWoIlCp_6W5TCdmCjN-99lD2L15VWVuHXDWcCbFi7McZXqgVzRRchY1ZH-26BM39nwzjB9ip1VCBcfYFLZb3pTPsUlF62a2lHUTPvff57lYUxQcg_Nlu52_6zKo4APFjlimGSJ0oUk_FOElTGagpw7Lkg0xGjGEBfrOcfLbVb4tIIwaMr_UB1s5UuDJhcre8BSib80Hk_w9lYucrdSCVYzNc4wi0IH3_RZw7miYHr5lQs5_MVTcuSbKUtdl0eptoeR390x0WowIkf5D0cqaZiT_lAa6N2xDJgvVLIPWWRVFwVKbHGL29nGO2LI81DGF8KA8NKnVpOTQLHi9XcSHsqR7XNMqaJuWlQo92YjCMhJjaNNU0FIQCbpcfAUKjup4bKpYZSZVUdUvP04Mrl2s6qYfTGOG8KrurrD_dWKnHjsD7zFTPEMme6vgXdJNKaOdJiuPNvhfsEdlp5nzovN8xH9NT4BpMqIZrJRjEmyKUswt-8EQcAPMqrsqSFEaI-cDTqCEQsmfDUhU3-hVTQ5zsVB5ofnoCgLMLDkeLBykGKxLudsQyfm12-meaOL9XmawlQ-puWFLjyy5c29ehnJ1rZGlyNWk7EqtVVjh-WRA31aMAaeZr2rquEw0rzvRgk4bx_CJBjcLYNBWBJvosdqlarh03bBZ4dJW9HVPKSIE6aQEIWHF07vvRRFmp1PyopPNkT103eZELsWvBEMmfONWQBmt5NzQuyABm9BZhD_1m1rSnz4GDja1REc0oroRpmlvoD5Rxok3wsYbc4rBdsUSdxUw4Lmi96fGu5RlKpservvsKN23mBgHL5Z4a-qldkyKd5-ju1vLfw-s0hj5yIl7PtsaX-9GxXIUaAOi83YxJ_QqSH3-aBKef3RKYWnyb_VIy_rDq1SS-_4aWohLNroVJnf4mV1WZeIukQZrG7cdYE-qTZrxZjvNRgjTd-RC--GEgOZRSEJr9eJ5Au991qxJBUK6e1-6d2bR27lBhHtzlfHY-PmHvKUAEh96dg_ZoId8PhaNcpprynlCwwm_QgJhUqnGpCbeFyJPLBNiGu6yJfcB7u9fGDwRsmzAqVMitkB5x-NgQx_FxgUsomAXGjQyorJAKze6mTse493E8",
  "id": "rs_058c07f1deeb3086016ab41a6f961087d09a637147b101ca03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.16,\"right_z\":0.23},\"note\":\"The cream plush rose with the right gripper, confirming the grasp. I’m carrying it high toward the right-hand turquoise basket, keeping the gray toys assigned to the left basket.\"}",
  "call_id": "call_QT5rrQL7TbzNQnfc9g7Ym9PJ",
  "id": "fc_058c07f1deeb3086016ab41a73128087d0bfb6ab4d95385d18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QT5rrQL7TbzNQnfc9g7Ym9PJ",
  "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]: [-0.1684, 0.6151, 0.2916, -0.0223, -0.2798, -0.1421, 0.9983, 0.4835, 1.552, 1.1828, -0.3149, 0.3252, 0.355, 0.3914]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1623 left_yaw=0.1336 left_pitch=0.2294 left_roll=-0.0212 left_gripper=0.9983 right_x=0.4224 right_y=0.1621 right_z=0.1935 right_yaw=0.0116 right_pitch=-0.0844 right_roll=0.0948 right_gripper=0.3914\nstate[joint_eff]: [-0.1573, -0.1709, 7.1726, 1.8681, -0.1245, -0.0513, -0.0122, -0.335, -9.7026, 10.865, 1.7167, 0.0366, 0.0024, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2a920552ba2887fb7cd80287aaa0efdf2f5ccadf4c1dc8f6fe3c8d27273086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cea1247c4a87da0b7fad0ba6a83425d5dbdd13b8eab21741ab8cdbe83f60ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f9c60cd6c5761a70aed4394de25c4f5213b4dd06f20e245b76f71ab4b1c249",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.786 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9465, 1.0271, 0.0372, 0.8467, 0.8757, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2954 right_y=0.3405 right_z=0.0548 right_yaw=0.006 right_pitch=0.0183 right_roll=0.1331 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.1436, 7.1316, 1.8779, -0.0757, -0.0122, -0.0122, -0.3487, -6.3795, 3.6855, 0.8034, 0.2222, -0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.8019, 1.2156, -0.3145, 0.8158, 0.8719, 0.3894]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2939 right_y=0.3461 right_z=0.1337 right_yaw=0.0274 right_pitch=-0.0112 right_roll=0.1233 right_gripper=0.3894\nstate[joint_eff]: [-0.0205, -0.2667, 7.2, 1.8681, -0.0757, -0.0513, -0.0122, -0.2256, -11.9863, 9.347, 1.3358, 0.6569, 0.022, 0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0223, -0.2798, -0.1421, 0.9983, 0.4835, 1.552, 1.1828, -0.3149, 0.3252, 0.355, 0.3914]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1623 left_yaw=0.1336 left_pitch=0.2294 left_roll=-0.0212 left_gripper=0.9983 right_x=0.4224 right_y=0.1621 right_z=0.1935 right_yaw=0.0116 right_pitch=-0.0844 right_roll=0.0948 right_gripper=0.3914\nstate[joint_eff]: [-0.1573, -0.1709, 7.1726, 1.8681, -0.1245, -0.0513, -0.0122, -0.335, -9.7026, 10.865, 1.7167, 0.0366, 0.0024, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2a920552ba2887fb7cd80287aaa0efdf2f5ccadf4c1dc8f6fe3c8d27273086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cea1247c4a87da0b7fad0ba6a83425d5dbdd13b8eab21741ab8cdbe83f60ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f9c60cd6c5761a70aed4394de25c4f5213b4dd06f20e245b76f71ab4b1c249",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBp5zvJmSaO42-EFHpkCNjHyrmn5XVEus7-80hXXbIe5-NqBY87sfe-8rHwS1qPyM61oMv4TDAr7hHdSRHEZ5Cm6EHCZhsT1QyCZhkdFexqbuUm6uDT_zp7xPkrgLIaZ_Dr8748JUToy4ffIMalm9GpUsDFFnByFHVWQCy6qndgWs4XM_9jGm6fF5JgKC-9xU3TB3xTEzyR67Z-UqjS9vdkDoMyAWdzMtVpvexuBYE1J-ha7cQLz-2a4hJduKbACkK-BYgVV5N2Dhte7JY6rrjwRrp2GyZTfrNfg1sKxVIR2ZqnIZqTa4DziayybsceShtwhDNa1AhyINDRTaf2rax0wcfCt4M5z5z_5u0bnHLCp8L0S1aKznUY-6_tHZFcOR6M3qj59th9NX9E_N_0Wa1McLzXVdlp4Xdte5-caV0Eld1YQ7vQxvOAjvGngI71H--fD5MqFLOxj5GvhBd8kMm8DlUMPyGM0RIyQWgppXuhlq0N-fLDjgJPo0B7dPTr_ulITI9HrwTBqxly3Kt5Mbj5CkfC-qVcgbEUj_FzwuFQSSGGHJwpUNcAbafmrklNCh3ejGipyosWCZdjnZkpJ3W8AnkK9EbTVeGKy7IfuV47LZyV3gDxFc5nbkT3UJT4AR5NLk6IbcMLWOBiJHls5VCL2RF9Nc2_yJ8ofGZs1QcUwuvaxwQZ2eiEM_tjuj4jTV6kQxD5wUw3VhhLozm-UUGZ6TZ7KY4L7yoRsM8uTZt6bE6OPAtZrUcXF5G0Mf2vEk54t3aW179vNK3Ka7THcVoUB5d8qRRoiM1iz6CEqL1740xQZa51O6p1UHI3oGwz1BpRmgPeJ_9R2G0J38FFWjUr_TOSq9bfTYTy7KFTBlhPmtBqEfDMON1U_uN4BvDDA_dwGlWMMLSWAvfLfi2YB-xtLO6nLEeAYLuRJISyzcmSxeVExs1uG6hYi1Z1LuRrcSPaP39Q-BQfWbBZlt-pbTkKykc54nXMJggBQBGhtblZbB6kf5_WscpwKmiydNrtKPP4ajvvdLsBjoEs6hEcZKDERBVCwEoyT6mBY7bArMVaR__65aAlj1HiS6otgFHV20lxv83pgAx5Pt2pNWYSXVcwC-kn-2koaHfHzVsBbLdqKi8ZGw4vLZsqBH2m8odpRZFjlY0vW6_UwSxkaFGOtr7HSBYcU0S35WeLKHeR2Kg3JkEQkAJdfTh-tYKLXgHszJKCNATnEPjLX2V86bWRKWg4C7tU3n_gn5gAVAGltv6V1ZQfmpG1usnyXM83keyhfn52HTeY0TIN_hDcLGFX8UzEiMiwb9tEiLu6KY_1XGi5UitTdIlUtCHq3GSqjmGG0hbgU5ZHFf2Ukr3MZUGHhU9WwTovZ2Z40wKfsnG5bgpIfm5JFFvjR2cfFy7EwXVOPes5EGeN5Jc2eD3fMYoHjfuCH-zPL9p8lPNx3rj19zsnhaThlkQKEa0vSy7pMmb2A3GYi8PqAdVXwjlBQEJzW6M1vJM1PVqzk6s60BDHQEOpiUHxR2s8pELJv2GtunqO8JMcovM8C_hcPLQz886eamoJH5F2OI3oXcWuLYThFf0iDChb3vHnGSE8GwhScPzqePeELPyvWD8E4ZVO2ki4cw8OpDywO3wWsD_ADMRJ6ih0YA1sPr0tv53okQC8ixIa9Rd61mLi01S4QnUaB8yXv8c6To4CySwtUb9XKt1QJ48Mm5wMOhTtJJMG9Ctn-ZZpFn9iweYRaffahcQ7lR6GMV-hLbsjG-VYBY4tm6GGiF8zAV5ZZy66at3zplA2Imq4W1i4mrWZ3f8-2gnubqNBZnu847ubhTkCjQ3FmZIsbtqLxgSC_Eld5QWfGKrwU2SQ2hGEXehoBJ5c18xGTKcKN2BVLVnPacePVteH8hf4m1K-uKTCuAtjMyDPJJ-bX3RRmHk0qdFu0M7lKnMwxKzA6ksniimlp5Dii4yoWHF2spRmgFE_PINdGYwVSYG3qBSfv7yWqpn261kWcX_uSCnjzVCYd1kibm8QXEhhQQzi_vq3dQMgRaUwlFyqJCEt6XzObJzhxbpUM42Ez5bm-vsdFZqc_jnD-vVvPRHgKj05na865bfGVNg88_M2KPphKoY5JEMaysHS8U4TjveMN6r1c9SQMCf5ifDzww3FxuQ0aAqdhGm4EeQ4qj_cc0P0SdsKFCKEoaQuF3TJe1ewk5l97yecTpw==",
  "id": "rs_058c07f1deeb3086016ab41a76922887d0b7119038d640c361",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_z\":0.115},\"note\":\"The carried cream plush is over the right basket but hangs toward its left rim. I’m nudging the grip point rightward and lowering into the open basket before release.\"}",
  "call_id": "call_PmV1RW3XJAaCUW55smrouy8E",
  "id": "fc_058c07f1deeb3086016ab41a78779487d08a5d08096d71a73b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PmV1RW3XJAaCUW55smrouy8E",
  "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]: [-0.1684, 0.6151, 0.2916, -0.0231, -0.2798, -0.1425, 0.9983, 0.4191, 1.5494, 0.9436, 0.0196, 0.2749, 0.3176, 0.393]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1621 left_yaw=0.1338 left_pitch=0.2286 left_roll=-0.0214 left_gripper=0.9983 right_x=0.4292 right_y=0.1426 right_z=0.1531 right_yaw=0.0106 right_pitch=-0.0063 right_roll=0.1329 right_gripper=0.393\nstate[joint_eff]: [0.0068, -0.0342, 7.241, 1.8291, -0.105, -0.0513, -0.0122, -0.8547, -3.4256, 4.2735, 0.9255, 0.0171, -0.0904, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2334ecf4e0e0395d2b1a3d4ad0e36e6eff84fa7832b52982fbb40c28f8121a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1596c8d51dcd9e506eed863042624ccd0a8f81cfbe28d5176af0d326d63235ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba908faf95657f5ab7118cebe6a8ee09a491b2e1985793b5402dab59ee54515",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.182 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.9461, 1.0275, 0.0727, 0.8486, 0.8764, 0.3879]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2977 right_y=0.345 right_z=0.0596 right_yaw=0.0035 right_pitch=0.0346 right_roll=0.1662 right_gripper=0.3879\nstate[joint_eff]: [-0.0342, -0.294, 7.1316, 1.873, -0.0659, -0.022, -0.0122, -0.294, -9.3744, 5.5043, 0.9988, 0.3199, -0.0317, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0223, -0.2798, -0.1421, 0.9983, 0.4835, 1.552, 1.1828, -0.3149, 0.3252, 0.355, 0.3914]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1623 left_yaw=0.1336 left_pitch=0.2294 left_roll=-0.0212 left_gripper=0.9983 right_x=0.4224 right_y=0.1621 right_z=0.1935 right_yaw=0.0116 right_pitch=-0.0844 right_roll=0.0948 right_gripper=0.3914\nstate[joint_eff]: [-0.1573, -0.1709, 7.1726, 1.8681, -0.1245, -0.0513, -0.0122, -0.335, -9.7026, 10.865, 1.7167, 0.0366, 0.0024, 0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0231, -0.2798, -0.1425, 0.9983, 0.4191, 1.5494, 0.9436, 0.0196, 0.2749, 0.3176, 0.393]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1621 left_yaw=0.1338 left_pitch=0.2286 left_roll=-0.0214 left_gripper=0.9983 right_x=0.4292 right_y=0.1426 right_z=0.1531 right_yaw=0.0106 right_pitch=-0.0063 right_roll=0.1329 right_gripper=0.393\nstate[joint_eff]: [0.0068, -0.0342, 7.241, 1.8291, -0.105, -0.0513, -0.0122, -0.8547, -3.4256, 4.2735, 0.9255, 0.0171, -0.0904, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2334ecf4e0e0395d2b1a3d4ad0e36e6eff84fa7832b52982fbb40c28f8121a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1596c8d51dcd9e506eed863042624ccd0a8f81cfbe28d5176af0d326d63235ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba908faf95657f5ab7118cebe6a8ee09a491b2e1985793b5402dab59ee54515",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBp8E7DtBkLtkJWLRwtUzj6qEtTQP5Jv6c6NIA0B2A62SiguH45oSKCiJQJJTWw8ddFR79hgxMcDrNGKRL4-VeT63p32teJS2k79crYrKEnTUKGUtU1uwxfdBecXVjWbHR_cvFgDeIHwB_bztjTswKxdHbrixfVb14W95AsuVGvUI23ozrzu4AK9BGgxvYbs34WCcZwF1qK8bqOo6HsYkflTxUhVdU4oN82ro5-4xNafKcd0h7uaaozUFH0SNtgm2tk3kGeU_h04gM0Y5gOYaYfNaQiTKqzaLVXe2WNt4PQAxm-Ql0Dze703lBz7tRAXqwPrLZxLzcXlrfCe0g0QbTM1FkOkENSAUHov0xbpk0-IXGtinnGVqpFkJ5zKYSpOFcItJMjJ4EyH1OXJe6d2CCWxP1kNXkJZeYu9b7pID6DxAj5TrTbXiK0QSIPo3Tf38HPy_oFdCE-JoqxtTyXj6SCY7wNYhQNiw2EdE_wxdNpis0HgHqyP_XNd66Zvyq5xipuYc2LY2ZBvsILBuODAZjfjIDb-fXqqjHEPDK2tR8QotdfTynY2LSI1Fj6qDyryER4nHu0KbmGwmeLGfH8O8zjecPHvmeVX88u23JNsnlaNu63t_GrVe9S4iah1gZeOKAytrtdI0u_lpVo-9R5ITh5z5bs-feSnIjIRaNEiz-WWg-Ol_YkXqev_yf-OogiiO6HysU6PZqP5SoVU2ut48x1Zh3gKMOhiohKU1m2jgoC-0grJizrEYMhFL12J7J0qd4mnFeJEd7PDZxF5CCuidB8vmBVkpmKWUPE3dzjETN1VT_O3T5qg-j_E9jiV94hwfLcGjWeE5BafAc4YMxsciQTRqNpYKkCcNws7E3xMcrwKTm4p7E0s5iEMNIY6v7PY-FiA2Zas3zw6ooV3f8Jxmev9JSDToHXpjbomCy6D1NiJxtz27cYAmAawr83bmIXZBFUdQ_zfmd6OoBkz45-lx0wPsZ1y97Jy0YrGwfd8azvNoWBbWic6R6_Wf4iHUkbkL_RATw6bKAq_1RiZ-5khJ4VhLAwsYe_tz9OBZxy_fBVad1TRQO-TQG0MGSeQbeGdrOOsPZelATV9yysJ6RPQl-iuIdf6Ny8T8Fcksc7eXsDrqBU3pqiAdIp8zKEZ62C5LmDCbKrRh3qnAN2u6tneiabu84tLvyfO59IXhOmpioh44YCTLryAZwvCT_e1TidKRJiBMDyCVRnefJ_Lx-FT44_NbwFU8kcXqp2C9sXjYlICYPTNHmToVJtuqyfRUjvBqGhvRrkgVxR59HStfn9D9X_EB2zflj21Oa_T40so-ZBxZcbugSaQbk_Y6wA58AE9K_xi5ExCKt2PnGWUshsB9utyrs2vLHVW2PeH2lP9oNN9hc4gWpk9GvM9nms_V4kakBiDHDDGeg1RueYf0XSZhNyXnaImyczqak45kIpfO5ZhdSr1akbMFKAPrwIYYk7UHvshAzfUgWYkD8nR67SzFdGrJusSGyyUTzCW-03s8rkocT4v8PWg0XrwseLzoU2cs70fJPH2FOuec7OcMRLxWaPek5q19XO4KfH7KwjL6oC5z8k=",
  "id": "rs_058c07f1deeb3086016ab41a7aff8087d0bc56a110be7dff25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped with the plush resting inside the right basket, and its head lies over the basket opening. I’m opening the jaws to release it.\"}",
  "call_id": "call_ka61IS9KnoDrk0LNNMmd2F2q",
  "id": "fc_058c07f1deeb3086016ab41a7befb087d0aba3a6812fb7a7bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ka61IS9KnoDrk0LNNMmd2F2q",
  "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]: [-0.1684, 0.6151, 0.2916, -0.0227, -0.2798, -0.1421, 0.9983, 0.4175, 1.5547, 0.9344, 0.0574, 0.2752, 0.3176, 0.9952]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1622 left_yaw=0.1336 left_pitch=0.229 left_roll=-0.0211 left_gripper=0.9983 right_x=0.4323 right_y=0.1432 right_z=0.1544 right_yaw=0.0087 right_pitch=0.0152 right_roll=0.1419 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -0.2803, 7.1316, 1.8779, -0.0904, -0.0317, -0.0122, -0.1299, -7.4872, 7.4462, 1.3748, 0.0366, -0.022, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca6d4336d41f42dcb12c9194c558eddacba88522ae4d50c22baa94c84ef6b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1be358444122c842b7ce319a111781e0b90597272dfa6f09d26e5fa13b7fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47eb53ae0756d86a48013fd500cab186bc3d399d2592bb365f893a229a252d67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.383 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0158, -0.2798, -0.1421, 0.9983, 1.1458, 1.8019, 1.2156, -0.3145, 0.8158, 0.8719, 0.3894]\nstate[eef_state]: left_x=0.2869 left_y=0.0043 left_z=0.1637 left_yaw=0.1341 left_pitch=0.2356 left_roll=-0.0232 left_gripper=0.9983 right_x=0.2939 right_y=0.3461 right_z=0.1337 right_yaw=0.0274 right_pitch=-0.0112 right_roll=0.1233 right_gripper=0.3894\nstate[joint_eff]: [-0.0205, -0.2667, 7.2, 1.8681, -0.0757, -0.0513, -0.0122, -0.2256, -11.9863, 9.347, 1.3358, 0.6569, 0.022, 0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0231, -0.2798, -0.1425, 0.9983, 0.4191, 1.5494, 0.9436, 0.0196, 0.2749, 0.3176, 0.393]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1621 left_yaw=0.1338 left_pitch=0.2286 left_roll=-0.0214 left_gripper=0.9983 right_x=0.4292 right_y=0.1426 right_z=0.1531 right_yaw=0.0106 right_pitch=-0.0063 right_roll=0.1329 right_gripper=0.393\nstate[joint_eff]: [0.0068, -0.0342, 7.241, 1.8291, -0.105, -0.0513, -0.0122, -0.8547, -3.4256, 4.2735, 0.9255, 0.0171, -0.0904, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0227, -0.2798, -0.1421, 0.9983, 0.4175, 1.5547, 0.9344, 0.0574, 0.2752, 0.3176, 0.9952]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1622 left_yaw=0.1336 left_pitch=0.229 left_roll=-0.0211 left_gripper=0.9983 right_x=0.4323 right_y=0.1432 right_z=0.1544 right_yaw=0.0087 right_pitch=0.0152 right_roll=0.1419 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -0.2803, 7.1316, 1.8779, -0.0904, -0.0317, -0.0122, -0.1299, -7.4872, 7.4462, 1.3748, 0.0366, -0.022, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca6d4336d41f42dcb12c9194c558eddacba88522ae4d50c22baa94c84ef6b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1be358444122c842b7ce319a111781e0b90597272dfa6f09d26e5fa13b7fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47eb53ae0756d86a48013fd500cab186bc3d399d2592bb365f893a229a252d67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBp_DMJxzURiO4AlKXra2s_FPWz1WDMrMdz9hxy7eWN_C1g85tkPSDccOW8TBRajDOrWtC00R3UAKrPJVpVofBRB_49FwjpY1CC4p1qzMCt5ItTm0XA11o59vuMy3GVoSOSg-bGBQaI4vDzC5B39H4z7bBXEgIWA_cHfX1HIZGCFh8LYXhVnRWVY3FF_gZd6qJ2Tw_bCWPV3AOjd0NET7Hd1h98V0w4pY1NRI00Gn0GXWvILUZt3shkACtIOYCCeCejgOvHuwfn-X1WPBvvfxPqxAJBgp09PBJI2592VOOGNtXMLPRRYL56ce9hdVc3vE24XVfP3nWu6Cfl0ye1EbCXIt3XOymN95YnJJZ4tqX3gk5FP9Wv6EBiUNXYIndoZj7pibQ6fiU7i2w8QxwzEFJzXJnGRkkFshLehrHynVeESuqMNjVI7H9aQsw9FJoPDhZ_l_iAU1n_SKbNQkSQRe0JjpPhHlOnLy4_btiwQYpMClwgOJ6VCRPM2TMX6FAkfQz_F0YJ3erLuUHV2_ebgr_7TD7FEScKkFY-5dT1pUPNqBRzmwsbJn-nC5J6iqTm50AQuVtQKzjasnrdD72CrVKo1-1hTKy6bFAfkPw5742LJEiJfmbUj94UyTH__vVm21cDDDch6dInbJT9--U2lxu-xfZid6kdz2bTsAkdvqcrwuCUjrMGf1A2es2yb-aKkbt7-IaFuf3l7KpNCt-H1jcxjOle04jhYI1nAJbsfs2X5Lu2uxdwwlS7qvG1HFD_cMSFdn5CwL8gW3K9tZOFImKHhcmxA0FlZ_LfLk7VsBtXACwVrtq6UOOOfc4GVBl4F9HKgoCZjpjm-BymggfCPqhnQJ4IBtz-lkf86eXxD9acrWzetNAt0h1w0Mgwd9n0UXkMZITCd8Df8XVbaI8x82Rr8lzR7NS29bqB40NsR5bt0kY_yQn5xE5fd6b12ynqBTDcz_t7qY4UCg6HCHR9sA-E7j7Eg02d0mpCUzD_OxFNeisIxKTIrTmDOtqQn-CN5bWZsDjucxPXd8neJo6npGDJd-USjrRvKC3t_OtDiKLzda9bLwClRO2xprrerUs9-nQ1q3mQewrNThZv5PyeqjvVQu93jQmYWJZSx2qIsQpSNDQ7mk7h5jrGeRJcy_-UnQB5fbW2gfIJ3tuN2P9n0dvbDel1tGTB0m4V_s5TeBBGSI4cMXn9deTHKiu8pAyK1NyeT",
  "id": "rs_058c07f1deeb3086016ab41a7e7c3887d0a68eaf866275f0d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2},\"note\":\"The right jaws are open over the basket, though the arm still obscures the landing. I’m withdrawing it to its home side so I can verify the drop and locate the remaining toys.\"}",
  "call_id": "call_mp9XPhpvhXV7eYJVGI56Zjif",
  "id": "fc_058c07f1deeb3086016ab41a7e95e087d092805761cdf94e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mp9XPhpvhXV7eYJVGI56Zjif",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6205, 0.2916, -0.0231, -0.2802, -0.1421, 0.9983, -0.099, 0.7879, 0.6533, -0.3691, -0.115, 0.0788, 0.9964]\nstate[eef_state]: left_x=0.2866 left_y=0.0045 left_z=0.1607 left_yaw=0.1335 left_pitch=0.2236 left_roll=-0.0192 left_gripper=0.9983 right_x=0.3008 right_y=-0.0059 right_z=0.2074 right_yaw=-0.0514 right_pitch=0.0547 right_roll=0.1402 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -0.4308, 7.2274, 1.8632, -0.0757, -0.0415, -0.0122, -0.1299, -0.9094, 7.1726, 1.7949, -0.1343, -0.0952, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee325dd32d4bfe5da4ea823df5f26c3674fae5810fd8df6c709404ec85ea370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cec0a53efde3aa59df147741dfb3b986c5706e51a509f3e379bf76ea0f56cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74bc6270c50928e1ad374da4feda655cdc1e0f0e35150b3385ea65e1c7977bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.808 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0223, -0.2798, -0.1421, 0.9983, 0.4835, 1.552, 1.1828, -0.3149, 0.3252, 0.355, 0.3914]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1623 left_yaw=0.1336 left_pitch=0.2294 left_roll=-0.0212 left_gripper=0.9983 right_x=0.4224 right_y=0.1621 right_z=0.1935 right_yaw=0.0116 right_pitch=-0.0844 right_roll=0.0948 right_gripper=0.3914\nstate[joint_eff]: [-0.1573, -0.1709, 7.1726, 1.8681, -0.1245, -0.0513, -0.0122, -0.335, -9.7026, 10.865, 1.7167, 0.0366, 0.0024, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0227, -0.2798, -0.1421, 0.9983, 0.4175, 1.5547, 0.9344, 0.0574, 0.2752, 0.3176, 0.9952]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1622 left_yaw=0.1336 left_pitch=0.229 left_roll=-0.0211 left_gripper=0.9983 right_x=0.4323 right_y=0.1432 right_z=0.1544 right_yaw=0.0087 right_pitch=0.0152 right_roll=0.1419 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -0.2803, 7.1316, 1.8779, -0.0904, -0.0317, -0.0122, -0.1299, -7.4872, 7.4462, 1.3748, 0.0366, -0.022, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6205, 0.2916, -0.0231, -0.2802, -0.1421, 0.9983, -0.099, 0.7879, 0.6533, -0.3691, -0.115, 0.0788, 0.9964]\nstate[eef_state]: left_x=0.2866 left_y=0.0045 left_z=0.1607 left_yaw=0.1335 left_pitch=0.2236 left_roll=-0.0192 left_gripper=0.9983 right_x=0.3008 right_y=-0.0059 right_z=0.2074 right_yaw=-0.0514 right_pitch=0.0547 right_roll=0.1402 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -0.4308, 7.2274, 1.8632, -0.0757, -0.0415, -0.0122, -0.1299, -0.9094, 7.1726, 1.7949, -0.1343, -0.0952, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee325dd32d4bfe5da4ea823df5f26c3674fae5810fd8df6c709404ec85ea370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cec0a53efde3aa59df147741dfb3b986c5706e51a509f3e379bf76ea0f56cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74bc6270c50928e1ad374da4feda655cdc1e0f0e35150b3385ea65e1c7977bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_058c07f1deeb3086016ab41a81d26087d0a39c3df27607dfa1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.16,\"right_z\":0.11},\"note\":\"The cream plush landed in front of the right basket rather than staying inside; the basket floor is visibly empty. I’m approaching the fallen toy again, planning a deeper placement past the basket’s front rim.\"}",
  "call_id": "call_COBTX933U97xdJ1rvhAYII2t",
  "id": "fc_058c07f1deeb3086016ab41a85188087d09725fc62addd53b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_COBTX933U97xdJ1rvhAYII2t",
  "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]: [-0.1684, 0.6262, 0.2916, -0.0341, -0.2802, -0.1421, 0.9983, 0.8696, 1.1534, 0.4496, -0.0078, 0.667, 0.5995, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.1567 left_yaw=0.1324 left_pitch=0.2075 left_roll=-0.0141 left_gripper=0.9983 right_x=0.2723 right_y=0.1586 right_z=0.1043 right_yaw=-0.0016 right_pitch=0.0182 right_roll=0.1091 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -0.7316, 7.1316, 1.8974, -0.0952, -0.022, -0.0122, 0.253, -3.5487, 7.1863, 1.4383, 0.4518, 0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65eff10182d7b6eef64988c6092bf676e51f783c803cf6fdb981bbff618687ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3afcc8fec68db024a71301be7d513070467e95053cf0167625fba6fb12a339a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ca8df9c5c72805e54f8c3e0b0d6e7ae85684ae1cba5b724f66f11e7db41387",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.89 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0231, -0.2798, -0.1425, 0.9983, 0.4191, 1.5494, 0.9436, 0.0196, 0.2749, 0.3176, 0.393]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1621 left_yaw=0.1338 left_pitch=0.2286 left_roll=-0.0214 left_gripper=0.9983 right_x=0.4292 right_y=0.1426 right_z=0.1531 right_yaw=0.0106 right_pitch=-0.0063 right_roll=0.1329 right_gripper=0.393\nstate[joint_eff]: [0.0068, -0.0342, 7.241, 1.8291, -0.105, -0.0513, -0.0122, -0.8547, -3.4256, 4.2735, 0.9255, 0.0171, -0.0904, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6205, 0.2916, -0.0231, -0.2802, -0.1421, 0.9983, -0.099, 0.7879, 0.6533, -0.3691, -0.115, 0.0788, 0.9964]\nstate[eef_state]: left_x=0.2866 left_y=0.0045 left_z=0.1607 left_yaw=0.1335 left_pitch=0.2236 left_roll=-0.0192 left_gripper=0.9983 right_x=0.3008 right_y=-0.0059 right_z=0.2074 right_yaw=-0.0514 right_pitch=0.0547 right_roll=0.1402 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -0.4308, 7.2274, 1.8632, -0.0757, -0.0415, -0.0122, -0.1299, -0.9094, 7.1726, 1.7949, -0.1343, -0.0952, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6262, 0.2916, -0.0341, -0.2802, -0.1421, 0.9983, 0.8696, 1.1534, 0.4496, -0.0078, 0.667, 0.5995, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.1567 left_yaw=0.1324 left_pitch=0.2075 left_roll=-0.0141 left_gripper=0.9983 right_x=0.2723 right_y=0.1586 right_z=0.1043 right_yaw=-0.0016 right_pitch=0.0182 right_roll=0.1091 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -0.7316, 7.1316, 1.8974, -0.0952, -0.022, -0.0122, 0.253, -3.5487, 7.1863, 1.4383, 0.4518, 0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65eff10182d7b6eef64988c6092bf676e51f783c803cf6fdb981bbff618687ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3afcc8fec68db024a71301be7d513070467e95053cf0167625fba6fb12a339a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ca8df9c5c72805e54f8c3e0b0d6e7ae85684ae1cba5b724f66f11e7db41387",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBqK67y6rLB1icTHSjNJ8oMrDEVIsvqpYCTbMMOe3RBZ7VfuOL9jbtDD_Mfhg9D6T8HBQN9F_4fJRK5JN5VPSMZhuXZYthg5mo6sHdhHyM4ct7eeyUXJf1-sY38A3hrbiCIek5tOivQRNgrj2ZxE7Gf4iFPjKV3Ttn2VFV9PRa0ssb0JhHy4YP3kwsdtODpPGACD3DzPcUssPhLrP_OlyqAmuR88B_Hcup69fWlGcjlzs5XFbQXQOSbap6q6vfKrPVDvMrKbxPHgmKnm8gRVJOJMkJTN5WJmxgy1lSXTkU429_6-N826mpmXA9sDndZGSyCyoVP_sG4TijHL1BqPTu3hxYoOT6ZV8X_fx_kmpzsOIG0ufdDCZd95ugWgndat0cHbnpbH20aKcRdTDuWzesfPC-ausKUSautCq1cnL6yvyuplQQzlRrCk_SMBvsz9TuW1YIcmBDf2zU9Nv3-8jTJbSSjKM9kMP4b6JpW8hWa9Erba6gjELybrkG4QBpWUwMPfppnluOg9y74kGcD5q9paRpeAa7XeVAXu1q1V9RbifHCQ_1nhaUBkVQfIC4BL1Ed_qLw5amcwhdOTz4uZ2y1yn5uPngeziKg9cL6IzNgRZ-XciJT9Z16StTY3AUjfBPfsyGI4ldhbv9ZfvpPC2gtG2DYckUWsz1yfS6kgFD3EG9mxQ9u5L0xApPRwGVRo_x8T70h-fbT7ig5L87fpkx-uIq5XQzWbGkokxKUvIQ7WPZjLXQqLvV0F4JE5Mj0A_Af2V34hIKS_B-XHpG6nlN1Kk6Hh2XhROcGpjibtL3cme14iNnzHCqYOUkguACkfhWktFZfGkh6u4jbt-qtqlkCLREaAeKEw-RK3DITPaPRqs0eAISuq78-IewvL46GRH026h__GQyyjBqNBs330C3okQl7O_Mjq_he5Xj-8b3IO1HuOw37qwl0oHfdqxsDR0DnJbc-BmIQemTWdy-atgSWsIfnVLkJ7_W4JnN7XgnXclFdJW8O2CHFl2jV7XN7lzYJYuQftujoSpJQsmltY2ZHB0F1xTZtSS-p9UNZOw0eFVEhQgjJbbHvF_6y6mTN8xGhS01TN56vDEIvtK57sPSmFON2xPYCuC-4dAzscCvPnnLNtLpt6hqoZP06dap9rymW8Cc4raikN11G1tUteQZPVA_yRotWTkV7oJDrPZ3M1mAWCE7VYS-Cy9ntDjFAM8lydJtFgd-qZhd-eOwXX_Di3PJb_UVrzzLto_uI5MRVm70E3OblqUOn3qZlpCPTj-LFaupihex8Yz3E1xCKWA1ku7WqXC2F4l5NKaIEuGdD2slEruDdoh9kYxAQG68lj5454WOiCuz2HC8fb-PhPSFITwKKGVrc9bkAKxzYpYHR9KSjEwIG11mrRxl2QiiLHVQGQfd-CRstN9bazceJphBz8jynjlKQrtWCpzRLjbvTC_bKb_t2rDCS_nByFBM2c8Mx0ddQlhvFpCljBmPh6dq5s1rPJjYDQI-xyt0VJqThZgauGpiRbA64RqG8D1_inRZO7dYWpfxewCcafkFfPO18jRzh-aDB2Qx6x6Hbfuk4mdYn0pXdzOhT__l3OF-U3Rl6gDZMZz2ZzJzQqzWZTYoq15dh_Av7tzpiBWdjCmOOYXmY=",
  "id": "rs_058c07f1deeb3086016ab41a8862ec87d0a62539a7a2c2c938",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.215,\"right_z\":0.045},\"note\":\"The fallen cream plush sits left of the right jaws, with its torso just behind the basket. I’m shifting the right gripper left and lowering to capture the torso instead of its protruding head.\"}",
  "call_id": "call_HrmVO6A4oFFy33neTJrlLHFq",
  "id": "fc_058c07f1deeb3086016ab41a89536487d0a14d154196a3ce9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HrmVO6A4oFFy33neTJrlLHFq",
  "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]: [-0.1684, 0.6327, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.0073, 1.5246, 0.4919, 0.279, 0.7853, 0.7345, 0.9965]\nstate[eef_state]: left_x=0.2859 left_y=0.0045 left_z=0.1542 left_yaw=0.1315 left_pitch=0.1977 left_roll=-0.0112 left_gripper=0.9983 right_x=0.2773 right_y=0.2118 right_z=0.0628 right_yaw=-0.0204 right_pitch=0.0491 right_roll=0.1458 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -0.8547, 7.1179, 1.8584, -0.0904, -0.0269, -0.0122, 0.9641, -3.8085, 4.5607, 0.6129, 0.1392, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51313acfe73b47a1a99ff904f52c82ba1f8124e158e26f1f13a09fdad22076d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6813e3ab47f1d19d7633276dd681b1ff868bcbbe109ef43a30e4733741a7e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d405a1123690b54b75e00e6df563b3e033aa0001cb8b87ca43036a9d9ec33cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.091 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6151, 0.2916, -0.0227, -0.2798, -0.1421, 0.9983, 0.4175, 1.5547, 0.9344, 0.0574, 0.2752, 0.3176, 0.9952]\nstate[eef_state]: left_x=0.2864 left_y=0.0044 left_z=0.1622 left_yaw=0.1336 left_pitch=0.229 left_roll=-0.0211 left_gripper=0.9983 right_x=0.4323 right_y=0.1432 right_z=0.1544 right_yaw=0.0087 right_pitch=0.0152 right_roll=0.1419 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -0.2803, 7.1316, 1.8779, -0.0904, -0.0317, -0.0122, -0.1299, -7.4872, 7.4462, 1.3748, 0.0366, -0.022, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6262, 0.2916, -0.0341, -0.2802, -0.1421, 0.9983, 0.8696, 1.1534, 0.4496, -0.0078, 0.667, 0.5995, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.1567 left_yaw=0.1324 left_pitch=0.2075 left_roll=-0.0141 left_gripper=0.9983 right_x=0.2723 right_y=0.1586 right_z=0.1043 right_yaw=-0.0016 right_pitch=0.0182 right_roll=0.1091 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -0.7316, 7.1316, 1.8974, -0.0952, -0.022, -0.0122, 0.253, -3.5487, 7.1863, 1.4383, 0.4518, 0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6327, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.0073, 1.5246, 0.4919, 0.279, 0.7853, 0.7345, 0.9965]\nstate[eef_state]: left_x=0.2859 left_y=0.0045 left_z=0.1542 left_yaw=0.1315 left_pitch=0.1977 left_roll=-0.0112 left_gripper=0.9983 right_x=0.2773 right_y=0.2118 right_z=0.0628 right_yaw=-0.0204 right_pitch=0.0491 right_roll=0.1458 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -0.8547, 7.1179, 1.8584, -0.0904, -0.0269, -0.0122, 0.9641, -3.8085, 4.5607, 0.6129, 0.1392, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51313acfe73b47a1a99ff904f52c82ba1f8124e158e26f1f13a09fdad22076d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6813e3ab47f1d19d7633276dd681b1ff868bcbbe109ef43a30e4733741a7e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d405a1123690b54b75e00e6df563b3e033aa0001cb8b87ca43036a9d9ec33cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqN8diPf48NbJJ5ePhpMQexbf_Kj5AefUxt2L1stdtMy9Wg0J0Pp_2Hl8X5SlgG07873y8IIt9sjyYOEUaH6pm56pnbDlfBPXmVH-lH63X3LndJxNhzn0ofPFSv81HFMIPQdCIFvU_HFK4SmPtV8gOO6WPDMSK7mYltEU-WlDow0sWDp-FTGln9jd4PYskp4tgkAjulxmYaFJIvRGIB9pAyRjcsZO7SC1hIkcBqi-U7n_ci9TKSf2B2YRqGuTcAUPUXk1iVzGD6co9l6QQwzqvSb9_IirN0gS96aJzCTkcBpa8hEc6hdrN59OGe5kyncs_5tPYj-UGhgZ0CKOQO_zeJ-KJl4D19P1IE2D-YyboAmrjhY8Ot2PhUPNQsfUGCw4RCPQGDb5u7PTw5F0iL6awXOmMLNQq8LBKyE_IO-JnX3bprZI1f7KrURCUCMSyGGcPdxcZB-zacesEKBOXn0xSVWPipfXx_UZSzAReev7o5U4LYlphK4wKzvsFyozPtbDtcgTMBNdVYZ2-pIjggIYTjgg7UU5gpxpUAwO5Tqe6GFrXLcUgYGPH1fFLDOIoyRoyk_UoZ33Z8JmqblUTaCqY7RyXjGvJccOaExhZIAfvN-DDNuYdgTrqxeU3EA_MQnn1khZHqph4icDGhA2cIgjQKstbf7jn7FEmAm9tJ2BX2_2XcSPg_MhnFB669zmqD67ldAjOAcLfdIQL0I2hwBX4X9zxreslv1uDJax6ueMLj8xqrInlOPDqoFRtAnLscFVqNPmB55jBA9zkM-X4PsZ3yn4FOpdZnYgNL8DAMIzpumcOCa86OV4b1H_v8r_PsU6dmvlm9DaSKT33LhufwFY1oyGPaXJvrE4Na84XsqoBgF5k-iexzHfUTpg3S3yq3s1bik6Ef9BGIdOY7aHywWl_RvyBDLHjudCwzkmp0Z6IygPxAIREl5TADb8mwti-mA1telj1eUDAlc6boj5ES295zMLGoInVmdph7yJ_Ql30myQEwe-x87JJW2B8HIpRYcUZjyMr7qDZYswh8nGX8A-lAKx1KVvTyJPV7s066AxijGspEtWXVga1M_CWmrkCF57Cv-EKWRUqqD39qQsmJ3MjitJCCOr4bHnirdxMisZDMpQ2eqGiixcrL-5Tg-ktGevMWxe-75NLu9isz3xnEG1qyDb-R8tH23VuS1y7B-7k43QCauk3MqGYPtnZxnrXKcVxkDhdgqrsn8bMiax6kkKsZ_fHzToAl2D-PzsVclQe5L2FlboAXUK9hY58u6HSJQfFPSpaN3sewTgaOQES12N5Z7769kFyFy9FboN3viMgRA2Y5PewrrV3Nf17kYjEtc2WTMrmKHM2IeUTuk6aaF8sYYyk6Dc6Yhuj8JTRCdvbrFGXdKZqdJsiqE4ZvuHn5Dg6GYcraGRnwgnDsypcC6RIhOf8gVQK9ELElLFYyh7zA5kDF2Zsp5bXUs1fmoXOI6L6Uqxg7fICh4dr0G-s2Oj9GR14O0cjADiaYXePqvuMmwSZGHVs9GBieY0iO_QUgmLOYQilQX7qBBT9R84qyeKMlXjSpjtZiczHRhmSQox4DApjnxYP49Knodgshi3XAs7XW",
  "id": "rs_058c07f1deeb3086016ab41a8bb7fc87d088098b7c23183956",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.285,\"right_z\":0.03},\"note\":\"The wrist view shows the plush still well left of the jaw opening despite the last shift. I’m moving a further seven centimetres left over its midsection while maintaining a low grasp height.\"}",
  "call_id": "call_qh2N9kfgzTnSV69GjQCR8KeT",
  "id": "fc_058c07f1deeb3086016ab41a8c847087d0921bd3c5d534d4a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qh2N9kfgzTnSV69GjQCR8KeT",
  "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]: [-0.1684, 0.6353, 0.2916, -0.0383, -0.2798, -0.1421, 0.9983, 1.1156, 1.8107, 0.7277, 0.3546, 0.8959, 0.8722, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0045 left_z=0.1534 left_yaw=0.1313 left_pitch=0.1948 left_roll=-0.0102 left_gripper=0.9983 right_x=0.29 right_y=0.287 right_z=0.0602 right_yaw=-0.0649 right_pitch=0.1127 right_roll=0.2571 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -0.4171, 7.3504, 1.7998, -0.0757, -0.0415, -0.0122, 1.2376, -4.6974, 4.3419, 0.6374, -0.0171, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbed736fa0e0bf995f54300da1ab62526a9b5814c46956d795c5cd02e45c3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608012926e5d2683ac1f0f0f432ea7c55ed41978debab51562dee579ea10d73d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3bac1c489fd10c7fbe07f88aa1e217a0ad351d15ae7efa650052248ca84de54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.893 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6205, 0.2916, -0.0231, -0.2802, -0.1421, 0.9983, -0.099, 0.7879, 0.6533, -0.3691, -0.115, 0.0788, 0.9964]\nstate[eef_state]: left_x=0.2866 left_y=0.0045 left_z=0.1607 left_yaw=0.1335 left_pitch=0.2236 left_roll=-0.0192 left_gripper=0.9983 right_x=0.3008 right_y=-0.0059 right_z=0.2074 right_yaw=-0.0514 right_pitch=0.0547 right_roll=0.1402 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -0.4308, 7.2274, 1.8632, -0.0757, -0.0415, -0.0122, -0.1299, -0.9094, 7.1726, 1.7949, -0.1343, -0.0952, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6327, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.0073, 1.5246, 0.4919, 0.279, 0.7853, 0.7345, 0.9965]\nstate[eef_state]: left_x=0.2859 left_y=0.0045 left_z=0.1542 left_yaw=0.1315 left_pitch=0.1977 left_roll=-0.0112 left_gripper=0.9983 right_x=0.2773 right_y=0.2118 right_z=0.0628 right_yaw=-0.0204 right_pitch=0.0491 right_roll=0.1458 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -0.8547, 7.1179, 1.8584, -0.0904, -0.0269, -0.0122, 0.9641, -3.8085, 4.5607, 0.6129, 0.1392, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6353, 0.2916, -0.0383, -0.2798, -0.1421, 0.9983, 1.1156, 1.8107, 0.7277, 0.3546, 0.8959, 0.8722, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0045 left_z=0.1534 left_yaw=0.1313 left_pitch=0.1948 left_roll=-0.0102 left_gripper=0.9983 right_x=0.29 right_y=0.287 right_z=0.0602 right_yaw=-0.0649 right_pitch=0.1127 right_roll=0.2571 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -0.4171, 7.3504, 1.7998, -0.0757, -0.0415, -0.0122, 1.2376, -4.6974, 4.3419, 0.6374, -0.0171, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbed736fa0e0bf995f54300da1ab62526a9b5814c46956d795c5cd02e45c3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608012926e5d2683ac1f0f0f432ea7c55ed41978debab51562dee579ea10d73d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3bac1c489fd10c7fbe07f88aa1e217a0ad351d15ae7efa650052248ca84de54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBqSLVRhan04qZ9xjMIhiIFoFG0oPRcBjvBCXkUMXbWxHt5yE_cTGJfjfDiw6aXKh4DkUo2rrhQaTte1q-MZB8adpMit1-vOXrbfX09X2MdQzXR5RjFv_PjGDmDNkG2H8bZHOW-dswjXXIig2Ub1pHvBHhsMHyssKeImYRvGsNf16mP6POSVlt435CP410w0rv8YA7lSuTfivprzro-QV6tn2w8BvjPwsALH-QIJqIs8yiBGebiURLlVlgzmW-cqbLYaVwvIJ27NVVLHJ1JQvbyQMJCNiN7njkDpRU8_sbsws5xe-VPBm3jxQjhBtZaQc5spIHjEALAWjcvRhAhS1jro8iX_v0scEpojwydIQpY8eevF_xMcHA_eBds9mVk4z4vfN28PwmDa_gOwNlhEyLyLyTGg592MVgpE6sn6NZyRbDIbhjC2u4-3l9WUdcTrpo1G3wxrxh4Jh9_duGKx2fwo08Tt0sPCvsndriPR2osmJ87kuX47MNwjxhOv_vOAmHskAsSkj8heeb8SOgcWFTaNCiF0O_1hLhPttGwmztiejaJgGIn69YETv6Oqq-q1aOgYff3wCBMxB-jNXjrTKWidjBahh2lVy7mS_MgS2HUEdoeEe61PaaFghV2ZadGpPG_-iOj1lEYXOgDBJnw1I9iYfbypw1zgqOt4iRoiYVZ4fl1dfVBgKC1CLk7_MsP5eni8jt8u7_WX9u7k2OVVnpviaGKhZ1H1Wn-4X6oJxY667d0pGIXGrvTsTmPy2v3gwjwvb9t6I3kZ1Wa8-YnFK3EPSy1xbfX6IRSZQ0ZwLdS26GEUtoa64pP8OBXmZvLoo8VX6byON6KjYDi-0Hb-o9Jehv3cmAFEBiZTfa3jGo59onvdxTu7hhPQvRxaoXju2BP7lAAQ4kNfDpFBz3pHZOU3NL_ofaATVekEApjxJXVd8Bv6qhaR-kX8zDMp1L4PkCzSgXoXffkCva5g95qlGPIeXqppm_oBZ1qwsaoU-HtOaGOrXQdEkB-GATSBJmJ80lqKxKBcVcIg8vFoLCxOg1DI3x5BfyXCXIDTVCBezzojJNXFaE5BrqI7ERrWh_PzvAfzEUX3WgDRD1AoKhqLQ2t23eDdWkK4qClzN9HVvz-F_0JyyLYO0OEs_co9bCE6NYcyTWlcvR2EYuyv5eYYsquSaAmGCqCRVw2k6YeNum5eiztYvXRK66XnMj2gm7EoyJ0lIt2u7whcv8fttOv8U4qWt0SHtMVBAZAqD5MX1ZP4wBkz4RdgcHMw7BVu6jbpBItlScJFmSeLYtA6oNXiSfQHf7w9T3NnH-lggORPHJcWupihy2UTIBUbG3amh0g4NX8QHpbgpFMOYJMJpwVC-Oq-kvVq-RIQwCaEJUbNUYbKjy_VMiFnL8Md-DCBBdxIy_ktUdj7sAsbVQPU73G7UEBecaQxkISdO3ROb-lA2OcKGWtzpwXV76c0d0wtWT_tyczJq4vAqGPRrqkGRqVP2fZ1imgTHHpVr1Z9pWAMiiX9Ot4mHRLU0Muz3toI5okabevjeoNPurWT76x6pX9H2HwuiklMkJOlv-K75lm9JwzxukDKwrHreLhz8MpBVqV5aub7t5ShxFi50fFw6WinI3_X9YEUWSiwxa5R9AU7vYuy9M8UFx4G2ZC6EwQRpboe3Fs8HE0gCL2I_Diy_q4lbzYxBn8LTUZ3W5glOACNwuslKyilRfRBVZ-ORmLUKYPSjAA5ZvHU63rGrvHIs1CwJWa1Sd5pfy9z6EaE_bAw07miqP4rphVLsVw2DnyqBDwKOs2TY1FK_4gJY519BT9ctcmEMC5ISc-yMix_wJFIvu3GZfpkBgLinm9PgpKbg123pEnr3Xs2iEDTv3UVxEq_kprWCMJHlAYwqizSz8INqv5K5rPVPy9DcH7vJm55sjsdsopwO3ge0zOk15HuOF-nTA2rbkSx5p1UIRCTVkt4FnhmB_i4FT1ql8pefaAknKpmNl1tLMzZm3_wZ7eBM2DJE7Y_BHk86JRW23DXzyo-o2zhq2Ig0b2AKh5hqtAdN81HQLeQkoD8NzumQrEdXlrJyWnOy4esiVvKgKClDHdf22pchFQ=",
  "id": "rs_058c07f1deeb3086016ab41a8f636087d084b55f02c4513052",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.38,\"right_z\":0.17},\"note\":\"At this low height the gripper has been nudging the plush left instead of passing over it. I’m lifting clear, then approaching from directly above its new position before descending.\"}",
  "call_id": "call_StxPaF3iDDZc3IcQxJDHvAqa",
  "id": "fc_058c07f1deeb3086016ab41a913a8087d08bf1c4ee587a6861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_StxPaF3iDDZc3IcQxJDHvAqa",
  "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]: [-0.1688, 0.6365, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.2079, 1.8595, 1.3006, -0.2134, 0.9394, 0.971, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=0.0044 left_z=0.1532 left_yaw=0.1309 left_pitch=0.194 left_roll=-0.01 left_gripper=0.9983 right_x=0.2931 right_y=0.3804 right_z=0.1645 right_yaw=-0.0495 right_pitch=0.1112 right_roll=0.2947 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.4444, 7.159, 1.8339, -0.1001, -0.0269, -0.0171, 0.8274, -8.8, 7.8564, 1.0916, 0.6227, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab8518233ef8d2d4bcddc59f4d0e18bc720222bd5f060154fb4becc8d3c077e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3508a0c8d2f33261af32fb140705c45a6e260da6bd3fa1cfe7c0ec988b8d1d20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1888e5ba69033f90f899575daa5a78182bcb3d922654072041867f50b4806cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 1.799 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6262, 0.2916, -0.0341, -0.2802, -0.1421, 0.9983, 0.8696, 1.1534, 0.4496, -0.0078, 0.667, 0.5995, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.1567 left_yaw=0.1324 left_pitch=0.2075 left_roll=-0.0141 left_gripper=0.9983 right_x=0.2723 right_y=0.1586 right_z=0.1043 right_yaw=-0.0016 right_pitch=0.0182 right_roll=0.1091 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -0.7316, 7.1316, 1.8974, -0.0952, -0.022, -0.0122, 0.253, -3.5487, 7.1863, 1.4383, 0.4518, 0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6353, 0.2916, -0.0383, -0.2798, -0.1421, 0.9983, 1.1156, 1.8107, 0.7277, 0.3546, 0.8959, 0.8722, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0045 left_z=0.1534 left_yaw=0.1313 left_pitch=0.1948 left_roll=-0.0102 left_gripper=0.9983 right_x=0.29 right_y=0.287 right_z=0.0602 right_yaw=-0.0649 right_pitch=0.1127 right_roll=0.2571 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -0.4171, 7.3504, 1.7998, -0.0757, -0.0415, -0.0122, 1.2376, -4.6974, 4.3419, 0.6374, -0.0171, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.6365, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.2079, 1.8595, 1.3006, -0.2134, 0.9394, 0.971, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=0.0044 left_z=0.1532 left_yaw=0.1309 left_pitch=0.194 left_roll=-0.01 left_gripper=0.9983 right_x=0.2931 right_y=0.3804 right_z=0.1645 right_yaw=-0.0495 right_pitch=0.1112 right_roll=0.2947 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.4444, 7.159, 1.8339, -0.1001, -0.0269, -0.0171, 0.8274, -8.8, 7.8564, 1.0916, 0.6227, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab8518233ef8d2d4bcddc59f4d0e18bc720222bd5f060154fb4becc8d3c077e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3508a0c8d2f33261af32fb140705c45a6e260da6bd3fa1cfe7c0ec988b8d1d20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1888e5ba69033f90f899575daa5a78182bcb3d922654072041867f50b4806cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqVm7u_jOUZq_uK_zAxNY4AORY-KdADsFOEuU13hbBF86UB2queX7CBTIr9QD6VXGWx3JfmWBX-bch74khWKEkiEqvVdvHJgfHwRaGw1vR-eoVewqoMrqrASldOvMjGAwZU-0wI3L0-8-wVxE4t_03uYD4KInrGla6rHHJHCNqGMl7emNMHLcFVrfNQhoScxqTlHPbXSpBPX6Gxyhj58tryiR2X_3gb2asmpKYz8Xu14py1sNV7dUkl3TBf-PRE0VWfUtR-I1V_EDVWeEEOFpLKJqz621pyKRl2uzCSof5btAiCP4rrv5Q98aPCrnRvLbafwGNdIRJvv7Z8UG9D45JRTagkjFsZ8jURmQ85MFm3DuTUwA9A5Nngs0vpSal91mQkM6tJPtSVR-4gxFR6Krl-fx3A-SgBKUJxb_rcYzAQ1D5OozZa8IfiNm9WMFbB9nzAiJhv_8BqbB8wEwGjZ1xf4nlCyU3gLI_CS8dXrHJxnvnex1tI-DeGs0HyIUnlcnQxxTT1IevXInUd0M9GD0dLQSSvIJGOsx5MkpUwMfpk2MKSYlCQVXqDR5ES15ewnxqbqWHSUdhdWal9fBiKa96d9ufL0xZ-gt9VGfYI_yh4Ih9xYRpXRwFxylF-M3y-X0reH8WdcF7dXZ5Z1CDf5XYY6Pp8lgWwNwcknp03EEh-pfCVcik_dEZqrlEbaFm2mQnyqynOtUvTJC95T8XoIMkeUi-1yNHPd7JWs4nh8dzO-O3fGJokB0e5J2ImItEK-sHR9-sQ_98U3jf-PtzlPdCogTBmXJjo7o6Vwy29LSvONC5RMu_M_pVD5dsxc8P2r_xwnmCkN8wos8b3kcIPaI_wH4B_ewNO_-7hTQuc9GTAigQZ2aw8hN3GviRpJ0ErnFy-yYODVaTC5LZrRoXlsNoV4RlZTBqQDHmyIU5BCdgVz6ox8iyBVQlXkHDD3tGsSmnq6z1zhSkdElassiuQPH96FhB09V_n49UeLKOk4imAm6ya1TTBF35LRwOJZzD0nTJQtDWSWbmym0PkX7IL2GdD51jTHP7pbkrKlAlXF3ESyu5j-QIwzHq5bkdDTg-_iCU7xOULlbQi4Tai4U0wu5Tg21d-p67_juklK9n0mUzkML1sECUGBLJVeFhm-SbDXyfMESdSe9Y3u9z7XXiZ42suhaetLpTHU94aidmCRh1vv2L2VYhKJ0AKBv9ZvCi-Ej7z3LQhkIHsARdjNQBRbcr4P_K1WpEstFurMMDc0xJaPtBybfjyD_uh3YDL_a4BjBf2GJZ19qCrk51wR1D4y7ct6i875PF1VBglSH9hQ5AFYsbYgjM9ldziaV7yXG_m_ba4Rgt_WZaDt6TKVq6LGZLVyTVxAEBCDOBo8vMYwCWFzqBLqhpIuc5q3N1Nk2S_WAov61eMue3OpRqRI3QGleMPw5icHiZUsF2iodvan3rh51LePh3q3qWKnnyMQ-0BLP5WDZ2kMp6QSGgIhTA8k_I1vHcWs5Oo30zYAS68ZmrZQbNoUwl1TO-pSd192v_dkO-0yB252rOQWKwo8iiuF3wUEC1M9Fc-dxxAxoLNW4Srig2fI0zOjrFn4Or530l62t1RIdrnwtR_nEpBEIhmTmOY3A==",
  "id": "rs_058c07f1deeb3086016ab41a93f00087d0908d31aaa7458b68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.4,\"right_z\":0.045},\"note\":\"The right gripper is now above the cream plush rather than pushing it, and its body appears under the jaw column. I’m making a nearly vertical descent, with a small leftward correction.\"}",
  "call_id": "call_TAwfuyzbBQoimf8Gv3VnhjT0",
  "id": "fc_058c07f1deeb3086016ab41a94ff5087d09c0894f1931eaa76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TAwfuyzbBQoimf8Gv3VnhjT0",
  "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]: [-0.1684, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2137, 2.0876, 1.2076, 0.1295, 0.9874, 0.9737, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.153 left_yaw=0.1317 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3009 right_y=0.395 right_z=0.0769 right_yaw=-0.0814 right_pitch=0.1488 right_roll=0.3084 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.3761, 7.159, 1.8339, -0.1001, -0.0415, -0.0122, 0.7453, -6.7077, 4.2735, 1.1551, -0.232, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef9e8defde5c78d9e85a3142292648ba6df7ad0db2d992522a979a878ff21ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7b4f781f3afd1ef4568ab7ffa5ba0614a25aec5902f5465222748aaf13b1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e7bb28ef55cb79af78098302b134541bf177dd8b791e86c4009a6f86081c09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.616 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6327, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.0073, 1.5246, 0.4919, 0.279, 0.7853, 0.7345, 0.9965]\nstate[eef_state]: left_x=0.2859 left_y=0.0045 left_z=0.1542 left_yaw=0.1315 left_pitch=0.1977 left_roll=-0.0112 left_gripper=0.9983 right_x=0.2773 right_y=0.2118 right_z=0.0628 right_yaw=-0.0204 right_pitch=0.0491 right_roll=0.1458 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -0.8547, 7.1179, 1.8584, -0.0904, -0.0269, -0.0122, 0.9641, -3.8085, 4.5607, 0.6129, 0.1392, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.6365, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.2079, 1.8595, 1.3006, -0.2134, 0.9394, 0.971, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=0.0044 left_z=0.1532 left_yaw=0.1309 left_pitch=0.194 left_roll=-0.01 left_gripper=0.9983 right_x=0.2931 right_y=0.3804 right_z=0.1645 right_yaw=-0.0495 right_pitch=0.1112 right_roll=0.2947 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.4444, 7.159, 1.8339, -0.1001, -0.0269, -0.0171, 0.8274, -8.8, 7.8564, 1.0916, 0.6227, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2137, 2.0876, 1.2076, 0.1295, 0.9874, 0.9737, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.153 left_yaw=0.1317 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3009 right_y=0.395 right_z=0.0769 right_yaw=-0.0814 right_pitch=0.1488 right_roll=0.3084 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.3761, 7.159, 1.8339, -0.1001, -0.0415, -0.0122, 0.7453, -6.7077, 4.2735, 1.1551, -0.232, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef9e8defde5c78d9e85a3142292648ba6df7ad0db2d992522a979a878ff21ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7b4f781f3afd1ef4568ab7ffa5ba0614a25aec5902f5465222748aaf13b1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e7bb28ef55cb79af78098302b134541bf177dd8b791e86c4009a6f86081c09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqYBmlymZvMEVVc_XBYB6gUNoUaArTVm3Vh1exgNIG1f6cYdaFPnFzni45VncEc_NwL1NtMU2GlDV12SrC8ZW_itvGijRWDqbSuPmuGGcMyRijaxGceUoWQgj4LMITYoO3uIckGswsnTIFRMcQ_FtszdTP1yff4wIJiRMJ-JPOmCS3_zgTMaDTwrPsRaPWY34mHpzsWddTaFUaYp-C2xOQc00S8Eq8jPOR_6if1q8YXT4XKcR9tQuCZ0TdipuEkM1LR4D1Z2NhkOVgq28lp0uveWlfWG6utTaQCOxRn3EPIVYtApbdiIc-Lq9Vvdv_YfU_mPKVuz437SLWkaBv_MOInhuRrP4mqrotnFw-BwtO1WoO9TqWtHgD96T0uhWtCN-Ot1RsmOwL1b_QC7NmfaJarnz_eyltMbyB2e8ihVUauAlLSYgpBeOfpbs97jE6AYWHQq8__rfBCvDTZEsS8Sk4s7oeCI9IU5xRekW0QS-27EVdy2kN3YjprybgIGKsBLhP5soUerglyPN-JQRTHMY6ehevuEytJmNNnFbH0vhtKSg44yNRg40KVy-0FGjyx-IVPjusK5AbfcNVU-vhVpVz08kfx-DW3qYok_E6yWoxqPwul9FprsmbIMhuIo8Ho6Ie8TX6UdLUEH27U4q25KOv4_klepMR8VqPrvmd1A4R_dbirV1CCEnEAuaC3ijmAPeBFNlGgKc_ZcxCp9XuojTH7btzPGrOb8MMbHf1JZK2WPK393e1LVHaejxMIUd818H2lLWwWDuarL7CBv4tzVnWKxs67Dzd77qB52xNavySvE7TmZ6thiefgr6xECSUQxT3y5XF9FdBG9Ah-yp6G3I7NT6x5PE1sF2RsGb5jPvG6kvaOJj5tKUkWbYv6hh47-DCe8Q5U-XNZ_CuB5nOdZjaZ8OFuoxhXWolKyvCMs6sEJu2Xk0MEHNN5h2hnF8atXiRmggmpDilubO2G2ha2zP7PE-0ZdW2tI_ZGUIQuJoaWxfk-QUuuwNWW8Z46XGnDw4RTNwddsXClYK0q8rKLnaTXF04vZpwaIagokPPbhCDzJy8AIno7AgXTZB1C0K1r_JRChyv27QGEGY5Szap0Uzf7V0MEcoFqTLpZA5EPcEoiWf4bA9dz-54YkbbdviK3UXt1D29FxqRZTXCzbs5DcMqq_bdm75bYnkwiFLj0T4S3M1QKRilGqWE_AxAfkGpCjD_U19IrGueyY9HCCAo-Vienag==",
  "id": "rs_058c07f1deeb3086016ab41a976a9c87d0bd1fa04fd2c3bdd3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are down around the cream plush’s body, which fills the wrist view between them. I’m closing to secure it for a deeper basket placement.\"}",
  "call_id": "call_szZcsqVInBwU9iz80Apl0mEW",
  "id": "fc_058c07f1deeb3086016ab41a97941c87d082e85b7a1e69e4bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_szZcsqVInBwU9iz80Apl0mEW",
  "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]: [-0.1688, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2106, 2.0911, 1.2087, 0.1741, 1.0016, 0.971, 0.0391]\nstate[eef_state]: left_x=0.286 left_y=0.0044 left_z=0.153 left_yaw=0.1314 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3047 right_y=0.397 right_z=0.0826 right_yaw=-0.0998 right_pitch=0.1696 right_roll=0.3448 right_gripper=0.0391\nstate[joint_eff]: [-0.1846, -0.3077, 7.1179, 1.7998, -0.1294, -0.0464, -0.0122, -0.1026, -11.3299, 5.5863, 0.9158, 0.149, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095fed48814d0a1b2665460e3b6c6cc944e56f368f80ec9db825a48ae3fb5fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff61190d29a9c5bdd2a7d2450b2b9706e3ea0ef9d289b346500632e3fee8159",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b06d2e0852ad216851b0989d8f83e5d16aff78919094bf7b8a5d3b9845015d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.378 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6353, 0.2916, -0.0383, -0.2798, -0.1421, 0.9983, 1.1156, 1.8107, 0.7277, 0.3546, 0.8959, 0.8722, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0045 left_z=0.1534 left_yaw=0.1313 left_pitch=0.1948 left_roll=-0.0102 left_gripper=0.9983 right_x=0.29 right_y=0.287 right_z=0.0602 right_yaw=-0.0649 right_pitch=0.1127 right_roll=0.2571 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -0.4171, 7.3504, 1.7998, -0.0757, -0.0415, -0.0122, 1.2376, -4.6974, 4.3419, 0.6374, -0.0171, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2137, 2.0876, 1.2076, 0.1295, 0.9874, 0.9737, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.153 left_yaw=0.1317 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3009 right_y=0.395 right_z=0.0769 right_yaw=-0.0814 right_pitch=0.1488 right_roll=0.3084 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.3761, 7.159, 1.8339, -0.1001, -0.0415, -0.0122, 0.7453, -6.7077, 4.2735, 1.1551, -0.232, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2106, 2.0911, 1.2087, 0.1741, 1.0016, 0.971, 0.0391]\nstate[eef_state]: left_x=0.286 left_y=0.0044 left_z=0.153 left_yaw=0.1314 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3047 right_y=0.397 right_z=0.0826 right_yaw=-0.0998 right_pitch=0.1696 right_roll=0.3448 right_gripper=0.0391\nstate[joint_eff]: [-0.1846, -0.3077, 7.1179, 1.7998, -0.1294, -0.0464, -0.0122, -0.1026, -11.3299, 5.5863, 0.9158, 0.149, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095fed48814d0a1b2665460e3b6c6cc944e56f368f80ec9db825a48ae3fb5fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff61190d29a9c5bdd2a7d2450b2b9706e3ea0ef9d289b346500632e3fee8159",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b06d2e0852ad216851b0989d8f83e5d16aff78919094bf7b8a5d3b9845015d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqd5SvUwiyvDgVpBVYkPD0FxWTMIQ16OrmflBj8dOOxDY4X1RV77ijy9-t5tAnuti76HPBnJcXAHq6t2lrCp7MT2D6AXRMQBo8ieSuCYMNLmESK8FD90QXBEb5m8aHAxYrkrRbTi59dgQOVcAX9rgLnPT5ssajAqUkJgW2aKBNZXSm5JPElHN0n3l7HPw-_dpflehpV7TvVNfmrCp_c02WZilYFB1GHh5TiAD-VNCHGqyQP_tmqkkWSQTi4AgzNgw6FSL4yRvj4N9nYAfQpO5hyqoCir4g6uxuFBQijQ58MFin-a5W9KSmNcKGCJNX8vY3O7F-MNF0IpGUWQwdnJJHEYOOQhK45IGtlNOMSmf_6GvTF3CXWYjxPWPAXsTk0tDav92DWLgrzqzrv5aL9BQhK1D3fQKjRPJK5MNciXNi1JyM0dbYYr65kG9T6SXPRMoEXh-61aRL2edpD4bP50ODiP0ri1R9l4inmdebXwBW0FFaqNjgxBd7sHpiKG4YWy__3fuVLwWb8OXnDZYPYfbL1Cm8VxJY8sbRyxnrB7OU7MRdkIqzgt7D-sxN7Y7UKBVmg4cyYE8HLiwQJ88kL-wLGoYAEDzWzH-31xfEONHoiw9hM8Rp8lrMeLu_ODRaXKnsS_pHqg-ZI5mO6suKrCK1Hw4tO5X64_-ENfqoG6DOJ_fsSIo42Rbej4jukXiuOcsTsn-PYDVDXcj96_ECFs3J_WdJECoTYXgzXZj6rE-VcZC2a5wr8KdIWCIw_R2v2tZpb5UQ7uEq-I1xFiGCO9MVsA9EuKqpsCRd2qwKOw4FTpmzue3O3CxxPja5LZWT756a7Ej88Ae-otLQvASHoat4_yZuozbg9YEriW36J0hJ23pg_FK7b8S0STX3R02_rjI-MMayByTy8T-Gw_Ou-nou6oTQOVwzRniRU5WUJRRiGheqz1nnGn6Med2jDVewI7yQr7Up0KrJ1KDOCZQJ0EPk2X_QUkQpDaPE8gRvY156uRoNJ_FWN4PI_hbLjCM_aPyNJzd8M1GcSDX2JzkTwikPy9wIFuvpq1dpdaIAZ6NUjj2N0EXNuYogvZk1BdZ4LIotWOs4hq77KPlNWFveDE2yEyuxBmV32-Z6vadnMbxfgYRwy2Vflp7rj1APFOq2hhmyQvxkHP4IOzG3miLA6BjDpqnGhl79mOHje8GsSAx529L3O-JJRNRjJlBGVW98WBUXHkTCVQishM-N3r2rpE-7sBNMIEsiTsMmzlxA81hLK4TS8BqvG4mCrq7-J1XzKEvvpGOARpyOQjeXN6aDiUx5bDq-XAXpXU63YukGPYQRZjpYkxKqSq27ran-r8QBQiUS0Jt5_vtPfxCejxZOE1MdKkBdqIbLc2PuYNkYCWFD59T71jCjUsr4KTiEdJyyHnu7GRqAm9ZPraIz8buiqMCbakY4Qz2vORaRk6jAWk8dbdvOIY4LpVQRwmi9utNBB6JUmjUWVUcJHF0LH4XHdhiOZ0cnO4HqkDqVyAus0EahBcJtc2dSWEht2StlWLtuPX5W_jjor6Hb491_EwdI3h4EIu1xPhrkqSnZNXth746DEByh1FNfuRqUt08GBKHkGFWULlLKKdnG78uU9-1Mwm-ixT9fwQEHIJDH7ysgCDGeokpqlbYnzmjoporirh1K40PdAkqQEZzeSAqOgxR--ZPy7fLgWyNUOrPAkMp6vyyO2_FsgtzyXL8I1KFnuScBRsoJ9DzoWe92mNAsl69UEzbCamHe0LUJR7WEXm1ZneNKB7ylJTXJL1FV8FZzm53VXg1KkZTw-1lajcIwVVApVbHT8iQrlxpfCGH-L0bOWoQXA7egxD3isCqYlbuwCNS0WP0H7_mlUJ-qfo-EOL3kR_2KW3ImkulqquHimBsIKUCJs0Y5dPpf8BySmLYAv0pyHTag05xCvc7Jtl-htRMiO3pCq8Dcf_GXZrZ3OpPFr4EGMYYK1hf78_7NU5JJ7tgpQdqEc6Xi3VrZXRg2hqcqj0ljO4X1Gk9VxdowpifIC867t87S44tLZX5HzKeZHa2VQIkU_2sKVjza9FwLvAjcramSYwB6RNDEM79NCso1HihpU42ziK9xI2Cb5e4ErBxk_IHnxVvEP2LwFfVwHyxXuxaMAXk6M3GPMLygUHM9sNL74BUF1NC3SaWKn61BORm1zmmcid-wqWKNZrVOuPgptWeLJpGxoI-bQ1OwTaZZhRjnek6MIzRmJxD8kDR64LBbpybF_h9d07D086w7arDQrGTt3GCwbKUiPshs_yOuYo-Hz_z0CTU2hQFKjivTKOje9VBryegvYuwGvPI29vPlcgHw1xgCcTv3kNFUcp1ypA32DAUfCBPHm10HENvBW_zcdR5mQB52ybsTxkUOsTMgV6_1DQKELzHIm4WR3-6FNeky_P7iLl7qeNy9rFgS0BCjD4RnY5x1LCPZOqXauNAnusKHLo5x3FKzQAWbrkQw3TFscGhqKNXj-qM40avOG0vndc3rhhUhDkL4lS3T90dja3PE9eQ==",
  "id": "rs_058c07f1deeb3086016ab41a9a512087d09a0278d356105eda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The second close settled nearly shut, so this cream plush was missed and is now too far left for a clean right-arm approach. I’m withdrawing the right arm; the left arm has more lateral reach to the remaining pile.\"}",
  "call_id": "call_ruiqMbGc4Hcla0phbs4xlKXU",
  "id": "fc_058c07f1deeb3086016ab41a9ce94c87d09743aca6b72a644e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ruiqMbGc4Hcla0phbs4xlKXU",
  "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]: [-0.1684, 0.6415, 0.2916, -0.0383, -0.2802, -0.1421, 0.9983, -0.1173, 0.6468, 0.4267, -0.1833, -0.1253, 0.2974, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.0045 left_z=0.1518 left_yaw=0.1313 left_pitch=0.189 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2884 right_y=-0.0081 right_z=0.18 right_yaw=-0.1743 right_pitch=0.1277 right_roll=0.3409 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -0.7726, 7.1179, 1.8828, -0.0855, -0.022, -0.0171, -0.1299, -0.3761, 10.441, 1.9267, -0.3346, -0.0611, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50938d52f8ff6b6aba2405b581251692a4fe835a2e9146581ea79f548fd977e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3086e43af0aa9fc13b8f39f217eae95138b45840f72256b636e025a1097e7a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1ad9ab7d06e614ded5a30367a13f4fb44efbd2b8d268ff47e2512cb36fa504",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.803 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.6365, 0.2916, -0.038, -0.2798, -0.1421, 0.9983, 1.2079, 1.8595, 1.3006, -0.2134, 0.9394, 0.971, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=0.0044 left_z=0.1532 left_yaw=0.1309 left_pitch=0.194 left_roll=-0.01 left_gripper=0.9983 right_x=0.2931 right_y=0.3804 right_z=0.1645 right_yaw=-0.0495 right_pitch=0.1112 right_roll=0.2947 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -0.4444, 7.159, 1.8339, -0.1001, -0.0269, -0.0171, 0.8274, -8.8, 7.8564, 1.0916, 0.6227, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2106, 2.0911, 1.2087, 0.1741, 1.0016, 0.971, 0.0391]\nstate[eef_state]: left_x=0.286 left_y=0.0044 left_z=0.153 left_yaw=0.1314 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3047 right_y=0.397 right_z=0.0826 right_yaw=-0.0998 right_pitch=0.1696 right_roll=0.3448 right_gripper=0.0391\nstate[joint_eff]: [-0.1846, -0.3077, 7.1179, 1.7998, -0.1294, -0.0464, -0.0122, -0.1026, -11.3299, 5.5863, 0.9158, 0.149, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6415, 0.2916, -0.0383, -0.2802, -0.1421, 0.9983, -0.1173, 0.6468, 0.4267, -0.1833, -0.1253, 0.2974, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.0045 left_z=0.1518 left_yaw=0.1313 left_pitch=0.189 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2884 right_y=-0.0081 right_z=0.18 right_yaw=-0.1743 right_pitch=0.1277 right_roll=0.3409 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -0.7726, 7.1179, 1.8828, -0.0855, -0.022, -0.0171, -0.1299, -0.3761, 10.441, 1.9267, -0.3346, -0.0611, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50938d52f8ff6b6aba2405b581251692a4fe835a2e9146581ea79f548fd977e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3086e43af0aa9fc13b8f39f217eae95138b45840f72256b636e025a1097e7a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1ad9ab7d06e614ded5a30367a13f4fb44efbd2b8d268ff47e2512cb36fa504",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqkt_C21Lqq38aO2mpUtEwW9bm5mQc8ZOBTf_FJXqweIIoBuH4TAHrUANRlZlymR0qv7F3EO8vkuQVgsF7NOF8MepPhqXvZtHGHqPky7s-QMB7Fm1x1r79UQ4v2h3tAtVMuCdQJQqRuyDdycNQRhEXi_GufvYkvuaZXDv-XOVX9sJDbB5Gg_veJEGlY_inXTmVI_8csdGDB9-ehtrfvySk4lfsQQJlap-AkX7d6hKJxRFuddCH89mwfSjtngV_UC86fdPexEfUhXjCdaNPZiLvAg-HTzKrGZKKjInnCyZAoVldzIF1ZnEEng81YjDcHQtrbcG83aryYMlZjYBsjF6qvMBN5USYh_DyrxUA1FGzCGdjtceETmjVb_tTP38LMyrIHe-pwlfW8at5y-GIj7Vaml_RYHk2CLOXV3eMs0ZSsA0Kwv5AlTz1Ppxb0WhzIRbqK_dRAJfWtcsaHL-VyKu3QayYeksNDG27O_85YxEc-d5kUOwrFjA8lgH8MIxogld7j4gfRsNc__7oRggcZXKfKY2_TPlSI5bsq9Iqqut1vRdXjjWOEfIYP9oOi_QsB0CgfvTOErTZEURJe9dtcBdVZojR3S7XdyRyezKlQbOVkfX-G9XRqp4Nog2eJDAnT83KuPkPDqx_aRTpZ_PU79PVsDYkvccP84S66GDEsr8FZXqj7-mAaXMPxnUvAM_LOgfzqyg2iCeABjagd35-oo8Fxhdaa8eNOcbx8iN1f_NUZajHqW08ZA8AZxBLQzgVpjNnWf66G1hQkJJNLOlESIl-cySBrTfEs7lvZCG4K8wtOv571ljK76Td1rfUESSDpGkhO4z06qlF3s3WUVSKayehJrO8DWqJh-0R-bIOkTbCqYnbDZuOTvKrB0644Il9v0whBJtlE3e6wORo0NFWx79Zf_DBnwMO2BpTUnaztUNCeNWUJkvhY-2GNO9C-LZbuoSzX2cLGlxHVG_BelbFHG2nu1C0i1jhu-gDPdE2lJriwiMeQWTD49hwX3tz4q9vi8_sBr9k5-aODEnWj_EZBo_zUAPzZ_dpwCuux4d8eGTE8L5SuHIEVHrf1yPvSKLX1ahQUPXAnitmi9RPJevD41gX7LNozDo1goivEXz6uzntRPX5yfJznsRdielJreD548lTAOgKloHTRmw2Q-UMzYuA1cXFB3fiBKBG07Fps0dOID3u5kTSKNlDmLYmD9Tez2NyBIS_DWAPqvNLU1Diuxf9OtBDpPK6qhBxhz6y55l5aG_5NTrhI95Og6DiSW432i619UuXZ98Z0qDWmYP_Udr4T6b-izG7rubgt8ad2AuFDnVVyAGq9XRmN2I0-OyydxYYPhTzkoOsR7MdWoyd9xj1kwyeXcjtodRHECXpo7NnHRTIz0rr0KOyyM9qWYIj0CTMMXiAS9knU2iKLMI7dT-Z-Wb4eiFnJA0TWGzRofidej8OWlr4Hi9_msbuOGgFq1REgmP7ritE7LwvwN3LsJeWHOBEb-HoRqCZgREJZTUBGavHGxygrheXo-9SVwGhAbp4mDtFbC_E6tMb3Snpk2_cF4TWxH2cZR8DQH_cNR8KbMUTSc5W2ZyBX_QckgqWi-rn8CBw4EFTJyYt7jYUifOtdknY1lECA4FEbXlt8fpeuDB8DmuqQPX7OjMHc3Bjl8B1pKHP2ZPdr4OWV9R_hZkKm5TVaIukLywc26T8PlZX_cRCRyveI7j_Se61Y6smxTQh_7izRo1RP5HPCea7F-KsuSej1O8BIzwHxD_HlzLPIl4MG5Z5uOk1XAqTr9ClKcdQb9l806Ux4LpDWNZIYAkHwqQ-ISOTlUcB2ybcczcVEOtMy72bdqGtjHGybr0ZUpIkKT8iHilycMRoMTtbk-i_tEnWVjoJHU-E3tJGrWT7Nv-2G5cuHeBr7sjn-gAttSPWQgfn6gNSqQwaKxh0qsUuqTs173BKTvJPL4blShxAGCdQ5y721ptFZa6VhZkAFtl9p",
  "id": "rs_058c07f1deeb3086016ab41aa23c8087d09e2a5613cb7a455b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.085,\"left_z\":0.17},\"note\":\"The cleared overhead view shows a gray plush by the left arm and two cream plushes closer to the centre. I’m bringing the left gripper above the gray plush first, staying high enough not to push it.\"}",
  "call_id": "call_yjR9SYlL2RYj70Sa2BRnArgt",
  "id": "fc_058c07f1deeb3086016ab41aa3a4ac87d087b5069d8b75cc13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yjR9SYlL2RYj70Sa2BRnArgt",
  "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]: [-0.5488, 1.1091, 0.5068, 0.0795, -0.5949, -0.3073, 0.9983, -0.1188, 0.6521, 0.4286, -0.1917, -0.1387, 0.2882, 0.9985]\nstate[eef_state]: left_x=0.3316 left_y=-0.0825 left_z=0.1511 left_yaw=0.094 left_pitch=0.1345 left_roll=0.0234 left_gripper=0.9983 right_x=0.2881 right_y=-0.0062 right_z=0.1778 right_yaw=-0.1595 right_pitch=0.1172 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -3.4803, 8.7316, 1.9072, -0.3492, 0.0073, -0.0171, 0.0615, -0.5812, 7.0085, 1.8828, 0.0122, 0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade4f0867701edbf28b9b3ed892f3292035bc0936b38881635687a70d6acbce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35efa6bd0d65d9b7bb40fad6c0775869b0362df47d05cdce2c103e2ede92b556",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad58cfe06a442d127edc2e96247dfd2a8ef2dfd21305ec488d0d614d67c6d3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.555 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2137, 2.0876, 1.2076, 0.1295, 0.9874, 0.9737, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=0.0046 left_z=0.153 left_yaw=0.1317 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3009 right_y=0.395 right_z=0.0769 right_yaw=-0.0814 right_pitch=0.1488 right_roll=0.3084 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.3761, 7.159, 1.8339, -0.1001, -0.0415, -0.0122, 0.7453, -6.7077, 4.2735, 1.1551, -0.232, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6415, 0.2916, -0.0383, -0.2802, -0.1421, 0.9983, -0.1173, 0.6468, 0.4267, -0.1833, -0.1253, 0.2974, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.0045 left_z=0.1518 left_yaw=0.1313 left_pitch=0.189 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2884 right_y=-0.0081 right_z=0.18 right_yaw=-0.1743 right_pitch=0.1277 right_roll=0.3409 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -0.7726, 7.1179, 1.8828, -0.0855, -0.022, -0.0171, -0.1299, -0.3761, 10.441, 1.9267, -0.3346, -0.0611, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.1091, 0.5068, 0.0795, -0.5949, -0.3073, 0.9983, -0.1188, 0.6521, 0.4286, -0.1917, -0.1387, 0.2882, 0.9985]\nstate[eef_state]: left_x=0.3316 left_y=-0.0825 left_z=0.1511 left_yaw=0.094 left_pitch=0.1345 left_roll=0.0234 left_gripper=0.9983 right_x=0.2881 right_y=-0.0062 right_z=0.1778 right_yaw=-0.1595 right_pitch=0.1172 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -3.4803, 8.7316, 1.9072, -0.3492, 0.0073, -0.0171, 0.0615, -0.5812, 7.0085, 1.8828, 0.0122, 0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade4f0867701edbf28b9b3ed892f3292035bc0936b38881635687a70d6acbce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35efa6bd0d65d9b7bb40fad6c0775869b0362df47d05cdce2c103e2ede92b556",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad58cfe06a442d127edc2e96247dfd2a8ef2dfd21305ec488d0d614d67c6d3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBqoItPiJOAVBKHJq-L089Gve7oR3VLm62y08d0pvJBwL73ysbuEJLaQiBBcT7a4v8vtOhnfTLR2CX7mD2qpdfVfQvE90RF8e8ekgZSf6fBQKWS3lNea1pcsws42GFPEzhsRGSjvv-AZp1E5EYPVMBox9X6QEyO4bl_tJVStGCMGMz0891jgtCe7lvGLyn3iJLRMWvxF81vqV0IODC4_EsL5BgIqLZBhceGZF8_du7NWRD8gu7LBHlU70S2YuHyz2YEBudkehY36dsxe4U_9ahJvpxrL-yn8GfHTEEqgyndk2SWGCaVziCjRCJPdUISc9_aIDmB5yKXb4tll3F-PrBdT6lYfKahD1yKDx1MQqe9b5LUWSgpYpeVfP8bhoiJuStxbzEojKemcTS5iOLkz6mUveYq-OfU0SfpL1UdnjF2j70x4rqmIT4RxbmNgR6UX_Pa_Ec_ZWiUbQW8NPRV6VOPL4ajimJCJLPZSogWgzlY_vwD2da847vYHRenX-kIWGvRVp3bmKe_aMfRMwWVCugOgEIWsG8uAzFLrDKI6ItrTPesvh9ZMayVjPD5_uV1tfjESCrULdNqrMn6obTd1gyCW5NdbwqOaVsljE77bPi_dAt1KpuMugM5NVTwze3qLWNFEYHSrRZh0JCATXmbhiJyT0wt-CFUwshQXCJeNuN0_HsR4-Vi30AkbAODilzwkq5Pe3_w0mpPLyGUujlpBT7IfQePqcifXBZR4hdp_e1kddWutmgAN4dBHDrxUzRicOzCiAw8lZ7qHfGERUeFNL6l1i-qZUUquVBWKHkAvch8hfVXoR-dxbX5UVA4_qrVbjVjCd4NznRnPx5PV6DhN11eX9nRfeHvLptVdwy2-abeHaqmmcygiodNDhB_-ihlXPxE5jXYpvuClpz60Imq-i4rF76Jsb72dntX7SV9LI-3S3GBKl05Jxow3yVa0txaBbPsEaIt3844eWIXzNKtU0HD3x9nagopgmCXMhPjsnbHefXt8aOS1qbnI82L_JWosVg7nwkCn-s5PbPfHahbti5YjwiIQWeaoy5cLDlmDJuZHEHxFTWtZrF1OZmAb0VRWtH7TGk5sgwJRsdbe1iNHQRIT5MPiVK_1-sCPRHChefMK5A2KnQDYaiDHY4rmOxLxGcbVpqIB80WOpE4U1FNys6jgk0JSBBBnkgW1yBKMx4ltM4k7l1WIhirylbleodiO8pOU75bmA0ekNscJIJDcB6jh8Q2T8VFC7_6h7YHuSi4T4yNUwwLQJBMd3pM8Vy8cOVcvdlhEMX48oqMaWcPoEq99dt_UrN_sINjOebzDdOTFuDtd1BlfM8ZS0OB96S0HoXY_BCMnkcKZe2F3wNcY7luxDy2JMDbHH9lvv54Era9l948i0T6SGIHmOxL4E2E6LVyD7fq9hIVZ2a4HD9keCfKDkLIEauQDYoLlcFTVABHDyYz5g6dC2Kn_M5IBxl_25IIuJqU4qPBGSYPe9knTXQTr1ObyYBRUH89DAcM0AUWJ5LBjNGdaT8V1yBovKf45COhKbG_cvREsahfIZR9vxL2MelmKdZyPyP91BJ9_V2zDSJNLiRlw72HWSPwKae0zZDO_UwWB7RNeJh-JqpAPFpGCuQ04wFW0GmCgGlftGnlzQVHIkumAgKTG3sPgbh_wGoZWZl6X7AkJPT9toCQkq1uLUElYZ5nw9klwD4tXB01kG8rZZaG0LHgBaYXSUDG7wQ3Rh2a4pj5Hbokq4eayWUqMcg2IN_YCkx33RxO5197KXMU=",
  "id": "rs_058c07f1deeb3086016ab41aa6562487d0bbb7694e1d40242b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The left gripper is now over the gray plush’s torso in the overhead view. I’m descending vertically to get below the top of its fabric before closing.\"}",
  "call_id": "call_8qAeQIKLwLV5XteEY6dnjmVy",
  "id": "fc_058c07f1deeb3086016ab41aa769f087d0b3173daf616b76fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8qAeQIKLwLV5XteEY6dnjmVy",
  "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]: [-0.5518, 1.6077, 0.2615, 0.7795, -0.5999, -0.305, 0.9983, -0.1192, 0.6571, 0.4282, -0.1951, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.331 left_y=-0.0824 left_z=0.0346 left_yaw=0.0906 left_pitch=0.1009 left_roll=0.0541 left_gripper=0.9983 right_x=0.288 right_y=-0.0057 right_z=0.1755 right_yaw=-0.1567 right_pitch=0.1085 right_roll=0.338 right_gripper=0.9985\nstate[joint_eff]: [0.335, -5.6274, 2.8239, 1.7167, -0.2076, -0.0415, -0.0171, -0.1709, -0.6359, 7.3368, 1.8388, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518f5939840f310219e1b9c6f72bf2301e616a7d8b77e08bf3fda479e6ec2a94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13a3c95e2fd28e51cf4c4bf930b2580f6ba42fbaebd6ddef647d8dc73fa05d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c69148158c8274d75c62797b7c14e0b4a44d6de947cc6e534d3a43798941fa7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.806 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1688, 0.6369, 0.2916, -0.0383, -0.2802, -0.1425, 0.9983, 1.2106, 2.0911, 1.2087, 0.1741, 1.0016, 0.971, 0.0391]\nstate[eef_state]: left_x=0.286 left_y=0.0044 left_z=0.153 left_yaw=0.1314 left_pitch=0.1933 left_roll=-0.01 left_gripper=0.9983 right_x=0.3047 right_y=0.397 right_z=0.0826 right_yaw=-0.0998 right_pitch=0.1696 right_roll=0.3448 right_gripper=0.0391\nstate[joint_eff]: [-0.1846, -0.3077, 7.1179, 1.7998, -0.1294, -0.0464, -0.0122, -0.1026, -11.3299, 5.5863, 0.9158, 0.149, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.1091, 0.5068, 0.0795, -0.5949, -0.3073, 0.9983, -0.1188, 0.6521, 0.4286, -0.1917, -0.1387, 0.2882, 0.9985]\nstate[eef_state]: left_x=0.3316 left_y=-0.0825 left_z=0.1511 left_yaw=0.094 left_pitch=0.1345 left_roll=0.0234 left_gripper=0.9983 right_x=0.2881 right_y=-0.0062 right_z=0.1778 right_yaw=-0.1595 right_pitch=0.1172 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -3.4803, 8.7316, 1.9072, -0.3492, 0.0073, -0.0171, 0.0615, -0.5812, 7.0085, 1.8828, 0.0122, 0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6077, 0.2615, 0.7795, -0.5999, -0.305, 0.9983, -0.1192, 0.6571, 0.4282, -0.1951, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.331 left_y=-0.0824 left_z=0.0346 left_yaw=0.0906 left_pitch=0.1009 left_roll=0.0541 left_gripper=0.9983 right_x=0.288 right_y=-0.0057 right_z=0.1755 right_yaw=-0.1567 right_pitch=0.1085 right_roll=0.338 right_gripper=0.9985\nstate[joint_eff]: [0.335, -5.6274, 2.8239, 1.7167, -0.2076, -0.0415, -0.0171, -0.1709, -0.6359, 7.3368, 1.8388, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518f5939840f310219e1b9c6f72bf2301e616a7d8b77e08bf3fda479e6ec2a94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13a3c95e2fd28e51cf4c4bf930b2580f6ba42fbaebd6ddef647d8dc73fa05d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c69148158c8274d75c62797b7c14e0b4a44d6de947cc6e534d3a43798941fa7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqvNwng0kz0YCQ66xA-uzZ2bQBI3w_LSoV08H3K5W4uFGbRzf3dgVmVZECmezkWmP7lkWRpPBQXZRg53qfwxF3-inBEBxLn1mG3aFrEBm7tXfXTCUmTpq_MujJHQqL1p9pRXg2Y7s8DHasApF2lbsCw9ZwJKWkhSMErliDTN0oHMvV4h7l9zf3-p8-iIzKMiYTAda0wBwvCBdstRTsHuz2s59VAwRTiTCiLhPQzqlvD1JVz9OZhBowVZqD18Us84MrDoTJcmx3N3hpSpzdasV7Q-M7O6oWv9CAzSDk4rtx0F8ZHvKvS5Y0NxGDG7v_GiNRNtukBx9Obbfy_xuWmH276qo549sLHV9IVhtrcXpu0uOGw3-_52IBtsLp44CgEr1f8LjUiJisfLwXfpSdkiEQ_thYgi1gYZiyBffv90_ohQXk5ynM62Abyqu-FUyQHHVrw0dtkKJG1croxbHDd9SeiYKE9IWsDW_-cekuEcG-6Gh37nJ5QvWhoySyelEsGBJ9qDM-36SHBlO_-1_My2iiB-TUyTUPSnJCUoFjQ20_iG_MyTxKT8KdjB0J4kq8b7WRdSTNRBZyAzRNf44cFIJwfxesfB4lDAcbJmiS1AN4AFL10XHrQseI2c_f1_m2gCE7R-SW36Neq3FLySbyUGc8YxCp-nM8hvKIHYSiYBDDHSJxInSPmGKkL3yMwm-jv1-fAZhR-xrDkJWIdnz6McH9T2ZWPA8vpNUA7f_FCDOGEXctuJ-sBltEDyRNXyBHYr3etpe-C7mvgqqLtXyGFk1GVl8g5s0nGbm9QqN32EgQlzF2ircSZLZV6BpbthmXVSQWZiRv2iQbF0eT9VWyCnFzRADhgZUepWde8q-jEtmbPTkeYn2R3ry9boeL0pvI4EYWqv8CL1WwRwqmKVlj1BkmYtYrq69JUZPLDD_U3GW1lAzWszuxK7I0la0bpYhgJqoMzAPNyCXUoKMwlBg-tN7oD9p0bcgI2rdJVmGSk1i8Q8p1vf-XWTCR8gCcD5JMJYNh34dDOzW0x1s6LT4WnyUWT2d7Tg06wYEVjWXdqxLwPsc43TyRkw-XVr6_ApPjrPn55Nq6ybY3flnPNzmyZvsiEpd3TRScMbIsnD5igzv8RgzIciTIUbyxo_bsEo6X0cx6io3bSiXjVQAyAMf2VW3rd9QyRKT2-1yk88NCQS94i1thXR2_SsOlCV_XnKF2M7PoBD6m5QAxgD0yGxDEPc2nX2ZW19l7CtfJVcYjO41u-F_Iro0BWkz1vN4GGzhiRrWYwcBk94R8RPf5hRzR7xIUlvs3nXs7VFVSjd8D7xAlJxvug5yK6jFqcpQGx6eaNSOBebWnvuk8BWyshM4EjJgSXuJQHOFJzBnaxcbuF2k4TS6DIuZ_oQLMiFtjairs99mtAbR4ZHmZsskTHyR9Th9DmYF4a9TC6NIFL_n9nFrq0_wbNSY5Q4B7-YQP832MKNHfv-ddjr79VzU1b7pOVxugGRxDjS1NSqsKX01DeKyMOWESfufb_3fce0wn-OM7wktioyHKVEKnAWPBXF0QXmWEvvxJQ3vXFEu3CXQ5qiFkC5H-bfZBYehIwhp82nGyh13QlLPodbVZk_Ui78gcPAsZFU-gdsgkqaBhhqHqvUF6z_g52HL2N55K_A3ODipoSKnnyknj-oBGJx4gvT3i1r7p8QhRdQoZ9veNgDRqHKQ8QXF7BUkCtCn-5Mev_nGa6gFMq52AdldrNVPPiiPA3jsgByNkVn52HmZWiWQPRRs0ezbvZn4_r0KLcXIZKHje-7nLNm7qeCS96Pr8EfjoPp_vsRMU5wAHK4qGpHaAWKfleqX3Cwl65ngbTKQ2wmA2UsrqHE91ifJIQi9KqRC05WtA4V-PVv16S5zab3HRj32Z_qpN-gWq4ZmLFQiyh84N4EowZsszo9a8MQoSDVntbsigPTtzotCrM4TqY1HGvMxK4ewvnWahYXJfAmfKSZQSVVG0lZSx-b9-CiwhHRyu1tzwP5WXfhSUr9HDWBo1xu-2O_RJ_1RCJmk5dpFH2TVfyEzNdLdCFVRS9eHTfy57Ht1e5fpL5ztOOYdNtXEwqetp4dSc=",
  "id": "rs_058c07f1deeb3086016ab41aaa20f087d08f1b5281ea7c1d41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.01,\"left_z\":0.15},\"note\":\"The low wrist view shows the gray body left of the jaws and a cream head on their right, so my first descent was between toys. I’m lifting and shifting left to get squarely over the gray body.\"}",
  "call_id": "call_9vEhCCVQIGLBHLpDhZ2FczdE",
  "id": "fc_058c07f1deeb3086016ab41aad448887d09ebb4ac6552c6d6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9vEhCCVQIGLBHLpDhZ2FczdE",
  "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]: [-0.1829, 1.1519, 0.4797, 0.207, -0.3225, -0.1364, 0.9982, -0.1192, 0.6613, 0.4282, -0.2012, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3592 left_y=-0.0058 left_z=0.1411 left_yaw=0.1459 left_pitch=0.121 left_roll=0.038 left_gripper=0.9982 right_x=0.2877 right_y=-0.0056 right_z=0.173 right_yaw=-0.1566 right_pitch=0.0982 right_roll=0.3377 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -4.3829, 8.6359, 1.7558, 0.0659, 0.1978, -0.0122, -0.1436, -0.6769, 7.159, 1.9121, -0.0904, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83245fc6b6cfe7925ab8f5b26dcb9343e98dd7be8453b1e7abdfd2bb6efbe05b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42cc4764f499b1fc4e589a0058d3b53b83a8ccfa8aab9712d14adf7c006d7456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a1c6b17b5d30dc220386654ab18900b73ab745fa84118e55bf43f09ef2033b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 2.833 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1684, 0.6415, 0.2916, -0.0383, -0.2802, -0.1421, 0.9983, -0.1173, 0.6468, 0.4267, -0.1833, -0.1253, 0.2974, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.0045 left_z=0.1518 left_yaw=0.1313 left_pitch=0.189 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2884 right_y=-0.0081 right_z=0.18 right_yaw=-0.1743 right_pitch=0.1277 right_roll=0.3409 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -0.7726, 7.1179, 1.8828, -0.0855, -0.022, -0.0171, -0.1299, -0.3761, 10.441, 1.9267, -0.3346, -0.0611, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6077, 0.2615, 0.7795, -0.5999, -0.305, 0.9983, -0.1192, 0.6571, 0.4282, -0.1951, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.331 left_y=-0.0824 left_z=0.0346 left_yaw=0.0906 left_pitch=0.1009 left_roll=0.0541 left_gripper=0.9983 right_x=0.288 right_y=-0.0057 right_z=0.1755 right_yaw=-0.1567 right_pitch=0.1085 right_roll=0.338 right_gripper=0.9985\nstate[joint_eff]: [0.335, -5.6274, 2.8239, 1.7167, -0.2076, -0.0415, -0.0171, -0.1709, -0.6359, 7.3368, 1.8388, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1829, 1.1519, 0.4797, 0.207, -0.3225, -0.1364, 0.9982, -0.1192, 0.6613, 0.4282, -0.2012, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3592 left_y=-0.0058 left_z=0.1411 left_yaw=0.1459 left_pitch=0.121 left_roll=0.038 left_gripper=0.9982 right_x=0.2877 right_y=-0.0056 right_z=0.173 right_yaw=-0.1566 right_pitch=0.0982 right_roll=0.3377 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -4.3829, 8.6359, 1.7558, 0.0659, 0.1978, -0.0122, -0.1436, -0.6769, 7.159, 1.9121, -0.0904, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83245fc6b6cfe7925ab8f5b26dcb9343e98dd7be8453b1e7abdfd2bb6efbe05b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42cc4764f499b1fc4e589a0058d3b53b83a8ccfa8aab9712d14adf7c006d7456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a1c6b17b5d30dc220386654ab18900b73ab745fa84118e55bf43f09ef2033b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqycJjUGFiKYBVk8GqXwmCDDbMgC_h1xEl1ZCyGxI7yJaIzwq4D4__-El593yhdynaZVvgH7MGcOwq6-XsyGJYsBlvRqNO8NYqB9WdRB-dq0xFPIqTEGkLkApuNSfgHwCSvN9ybbQLK53Xe4jBCKdXYOcFgecYcWRYibblYlNtkLo0eDHFj4H_kd7pv9kGP6jg09CGDe-bC07BedwuIPPGrn2SmXpuxwghM0GXaE2325QTWYBrBgOKpEA5nJo5EuKnw-V8mI9suPqth9I0CikduyVDNmKX6x-0aUx4v2eTTQ0h71qMMCEvARn1EfhoxWOaiB0VMhYaEu-y0O6qxeTW6JY0bGlRn2WsL154sPqJWF9rf-RIiksRtEt2mZYlFXVcrCGq7pfPQgoq2QYtfn1vDOZ49zyUSIa2GKwZvuy24JrmO1c78uRB1nxR6lVGn4F40-8lj0Cs_HpAECHMeGK22_dnEdnIApnYmTeuS3odgeF4kkQxdvke3KC6Q6I4FALXrlZB3CetKb1P453Qqj57-ejB2ytplfvE6W5hW7P2IkYx-UB7ekxt9aaj3VWJlu6eJyCyjcogmYPQrZsCfseWdgT_oMX-3GARbp6uY1FA4XN3HQFw3WnzSQrvXegzS1BMZLUWb03yFMOYlBzlJSSLTffAfTECakfe9EP2ju1vH1OGyElNmeO7K4RYWcao1JQjQc7mo5G2LNrOY0ENWfNGk-WxAsOiYoMtG6WLErjmDCVhoB-JUlW7Cb4CNJmW_Xbm9Ec2jAsTnUe8KY2ikPg_yOCzPEWQpjbBRgeLG6I1p1cipkS3PZacHdg5cryDJlKveF2rcl__U7N2rHB12G34Jcwpq83Ar9I57w-WIbyxYH0NF5RAFhzf3S2KFIPBTX9Ijj6ZTnIpzS8urvBkl4dr8XL1s68QggMQYZ7YGG8zkMieoFgkW6Qz9aMv-0FRVaq9LcQHd_DasbMLzFnPr8L7MpbogZbyDAG7tEw7RYKSSrNTBa7M9PNzITYS3rWQ50qPD5iBmgu-Sf_3yjRYNT1bnPeLodSnL5_ZMMRx4VK66KXnWvWEbqq-9RMrKYCnZEVPFUZ_ZkjlA0KCM_3pkIIQfnt8HQbrl14hCGh3JVkH-s5sWXgcd_tep9Vb2ZAh75jXoCw-6VabHyMHYSBeK4rnBnVhHW-63C1MYqHmfkK9yxD-u_1VygR_9tiRfK5sueqrhmuxJNqx8EFNbO-RGeDdPXWryiTbUwLGIWn0oqRVnBGKgYx-qVz-vsTu0pqK7_PDbG1FkZqkmoWPHv1cFU7YCmtGKXu4udKKJKGlw0MVnAEjqIb8woXLSF0m1zhcSm_UFuuMM7Vjkky-hXxwn7_mpAAk4bs5vTshvBpnv92P54S0QkqTWevPQOYFMbeAwk9I1D9hnXYIvYh2ZC7N-bbhaFobFJ0rFpEGWOuZSeit6NVnAQ0GqlHvucKlYQL03bOmUvcUdPpNL1muvGKJJ2q8AFXQ-SOHNMLr0nhduqW491Ov-82Pp0ZvqxxL5xtK5SMz9",
  "id": "rs_058c07f1deeb3086016ab41ab18b4c87d08c82f2034655da2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The gray plush is now centered in the left wrist camera, with its torso directly ahead of the jaws. I’m lowering in place to reach a secure grasp height.\"}",
  "call_id": "call_IRLVLFT2jdohJMphsYnkS5w6",
  "id": "fc_058c07f1deeb3086016ab41ab2268c87d09f55e5fed8f27543",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IRLVLFT2jdohJMphsYnkS5w6",
  "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]: [-0.1825, 1.5505, 0.2878, 0.8017, -0.3428, -0.1246, 0.9983, -0.1192, 0.6666, 0.4282, -0.2089, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3635 left_y=-0.0031 left_z=0.0557 left_yaw=0.1572 left_pitch=0.1276 left_roll=0.056 left_gripper=0.9983 right_x=0.2872 right_y=-0.0055 right_z=0.1699 right_yaw=-0.1562 right_pitch=0.0852 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -4.1778, 2.8239, 1.1013, 0.1392, -0.1832, -0.0171, -0.212, -0.841, 7.1179, 1.9658, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4bbcf30567a25020154b973b291911206e02125da5b66941a85b1a148852c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f433e6c8e964ac5005f08561b05465f41e2c84ab9663b63e2e0ff30ce86f93cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a79910522346ec8fe9510355adde31138eb6605aa5243b0ce74951a512755b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.479 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5488, 1.1091, 0.5068, 0.0795, -0.5949, -0.3073, 0.9983, -0.1188, 0.6521, 0.4286, -0.1917, -0.1387, 0.2882, 0.9985]\nstate[eef_state]: left_x=0.3316 left_y=-0.0825 left_z=0.1511 left_yaw=0.094 left_pitch=0.1345 left_roll=0.0234 left_gripper=0.9983 right_x=0.2881 right_y=-0.0062 right_z=0.1778 right_yaw=-0.1595 right_pitch=0.1172 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -3.4803, 8.7316, 1.9072, -0.3492, 0.0073, -0.0171, 0.0615, -0.5812, 7.0085, 1.8828, 0.0122, 0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1829, 1.1519, 0.4797, 0.207, -0.3225, -0.1364, 0.9982, -0.1192, 0.6613, 0.4282, -0.2012, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3592 left_y=-0.0058 left_z=0.1411 left_yaw=0.1459 left_pitch=0.121 left_roll=0.038 left_gripper=0.9982 right_x=0.2877 right_y=-0.0056 right_z=0.173 right_yaw=-0.1566 right_pitch=0.0982 right_roll=0.3377 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -4.3829, 8.6359, 1.7558, 0.0659, 0.1978, -0.0122, -0.1436, -0.6769, 7.159, 1.9121, -0.0904, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1825, 1.5505, 0.2878, 0.8017, -0.3428, -0.1246, 0.9983, -0.1192, 0.6666, 0.4282, -0.2089, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3635 left_y=-0.0031 left_z=0.0557 left_yaw=0.1572 left_pitch=0.1276 left_roll=0.056 left_gripper=0.9983 right_x=0.2872 right_y=-0.0055 right_z=0.1699 right_yaw=-0.1562 right_pitch=0.0852 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -4.1778, 2.8239, 1.1013, 0.1392, -0.1832, -0.0171, -0.212, -0.841, 7.1179, 1.9658, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4bbcf30567a25020154b973b291911206e02125da5b66941a85b1a148852c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f433e6c8e964ac5005f08561b05465f41e2c84ab9663b63e2e0ff30ce86f93cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a79910522346ec8fe9510355adde31138eb6605aa5243b0ce74951a512755b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBq2ty9vcJ6yj4YlpsPYtjHbAr8R5CuoM04DK-rhddFIY4R3O2fcXxoJM96ezkauuWpjhy9yT80b4PBWWjRTEAE3kOgS7XlWOrAFqfBoFt6USBpi6EoDcaB_tqxRbsdfJ2fhFt8Rr5hZl7r6BYnFYxNfFYqslHmK0O6aHAbiHyP_E696zMVdNQJSmpVGmxQorEmidvja-PeYZ4M9i9DEdfZfOvlZ5g5xKtV32b7fStXck9LiXBLPNSjAz9EVX2Nj4_WUGQ6BI8XxUrRCk86DJ28CQbyXMCK6RIcbrUGtx5KveF61QIce_jmY_C6ERFqjv47d4cjnz_7mM_ZLgfiYzRs2VPrlpF0Kt5eUfXR1ckd90h8tQsuYKznzK3pdeA0LewoJhbgWNLOzRYMTCL1mzmEWtCyKFbBRLhJLZZSdbOWjDqNhxO978HvoEOdPZxTr_1eZXRem48fYTlBWGJi-nO_h3KqKvrpVgRAImAuaf6NCsKK17cX07cieECSLfV-Ju4pZ0OVTZXxck4tFx8w-ilPKbsNLT-Nd7v8IrkrEXz-yE2tbNulZZGMSGf1PbOFFhJx1KmGwgO22QnBfPv8d_eysbfYf7VoQt8-wPVzeuo6tFMsCdGvUpeiPt_TGZEfQ7MpPTT9-DtCsFpL9jCRyghp08BrStpAZpEwgdzOyvnswdl3UP9z1ndesXZZMCUBIcwgBmXGYBVgpMNiGOAKpPdLYLcQRjbe61_VtYg9aPEp_luOkbWZSwr-LX0QJf_I8LFbfTNmwzIUoAzgqE8xuJf4NDYo_t1Vv53IdzL44wCmS9SddORfAk93h2VzoDIL70PrgQpF3jeHXFXMBn7Qj4MoozhAeD-s9m5JTRjMdLqQ81JLWoXA-YkhnPjrVHcUy2hvi-45MQPRP-CsrAgSNELqQu8zi_ioAlFJ7vTrBZPube8z5Hqd4IcejyUWuT9iy47TiNwVKiGfEQTxbDR-Ks8xzgzhpodEnXdAx5WeDrRX9Kt_a3d0niEhhd4Ikdyh6_0-YKsXbmwkzlC2RCpklqplyMGOSrIIgQXJl5G3_cpdrLR-ffj1eGdFll3gjZ26-gVo_qMwwOrmc6RIr6Kp8SGHAluS3zaiWq0TOMfoUzDuaT4uj8PmX8IQodOuSc0WG3GxJ5hB460Dbo3xRNxwSA6ENBJ9UApSA04nuvyyCbQ2lXxVhzhWaefGpyWeNeUnKxCh6POsh7OD0G95uOqqTzUO63_1aScNyy_1r5h9PwQ1Raa0=",
  "id": "rs_058c07f1deeb3086016ab41ab54cf887d086b2b57225c0341c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush fills the space between the left fingertips at the low position, and descent has slowed against it. I’m closing around its torso.\"}",
  "call_id": "call_lrz4NkoILD5jiWhszOLswXE6",
  "id": "fc_058c07f1deeb3086016ab41ab5732087d0afd40bd2bacb9ec7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lrz4NkoILD5jiWhszOLswXE6",
  "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]: [-0.1818, 1.5501, 0.2806, 0.8547, -0.3584, -0.1268, 0.0155, -0.1192, 0.6678, 0.4282, -0.2131, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3662 left_y=-0.0007 left_z=0.0651 left_yaw=0.1748 left_pitch=0.1733 left_roll=0.0443 left_gripper=0.0155 right_x=0.2868 right_y=-0.0055 right_z=0.1687 right_yaw=-0.1566 right_pitch=0.0799 right_roll=0.337 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -4.6974, 5.1624, 1.2723, 0.0611, 0.0024, 0.6129, -0.1983, -0.3761, 7.1179, 1.8388, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52faf20e11102d872ecc622b73a342c667d2f61ee3b06dda018b2dd4a2b6f5b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e58bd2e35f81e4c6355150414e86bac76b48eab31ad1ecf52b5f6b74b15325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1027e95bde9cb4af57ebe79b461fb7cacc3a95074f977d28ed150ee1674b9624",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.748 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6077, 0.2615, 0.7795, -0.5999, -0.305, 0.9983, -0.1192, 0.6571, 0.4282, -0.1951, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.331 left_y=-0.0824 left_z=0.0346 left_yaw=0.0906 left_pitch=0.1009 left_roll=0.0541 left_gripper=0.9983 right_x=0.288 right_y=-0.0057 right_z=0.1755 right_yaw=-0.1567 right_pitch=0.1085 right_roll=0.338 right_gripper=0.9985\nstate[joint_eff]: [0.335, -5.6274, 2.8239, 1.7167, -0.2076, -0.0415, -0.0171, -0.1709, -0.6359, 7.3368, 1.8388, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1825, 1.5505, 0.2878, 0.8017, -0.3428, -0.1246, 0.9983, -0.1192, 0.6666, 0.4282, -0.2089, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3635 left_y=-0.0031 left_z=0.0557 left_yaw=0.1572 left_pitch=0.1276 left_roll=0.056 left_gripper=0.9983 right_x=0.2872 right_y=-0.0055 right_z=0.1699 right_yaw=-0.1562 right_pitch=0.0852 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -4.1778, 2.8239, 1.1013, 0.1392, -0.1832, -0.0171, -0.212, -0.841, 7.1179, 1.9658, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1818, 1.5501, 0.2806, 0.8547, -0.3584, -0.1268, 0.0155, -0.1192, 0.6678, 0.4282, -0.2131, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3662 left_y=-0.0007 left_z=0.0651 left_yaw=0.1748 left_pitch=0.1733 left_roll=0.0443 left_gripper=0.0155 right_x=0.2868 right_y=-0.0055 right_z=0.1687 right_yaw=-0.1566 right_pitch=0.0799 right_roll=0.337 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -4.6974, 5.1624, 1.2723, 0.0611, 0.0024, 0.6129, -0.1983, -0.3761, 7.1179, 1.8388, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52faf20e11102d872ecc622b73a342c667d2f61ee3b06dda018b2dd4a2b6f5b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e58bd2e35f81e4c6355150414e86bac76b48eab31ad1ecf52b5f6b74b15325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1027e95bde9cb4af57ebe79b461fb7cacc3a95074f977d28ed150ee1674b9624",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBq7ftQDnLfn3vIk6mFNb4aFkLQ03zUOOM8oWb2oOIe1O18k2G2HR7Fvd0ProACVgj0K_9Lfw08FI9H_XfwN-8WaBbe9-bX8bIyqC_b0HB4zDdmhIL26z4YNYD8d2TtMH6UGy1ECVF3wQxMskPjCzhCtezLQLS2JdnFjZfxrIAPvWwg_BS4AicO2lQn3pVJuyXFd_nzeQEiCEAFFmuDFrh3fJ-TAzzwMnhVIRuNjeronS-g5y5etSxMGcIsCghoVnjfAMZsRjs1csteMvkkXuLBFFGc2xyRxnNTFjAi2n5moZmwgBSKdnN-Gsqu1QmidHJbq-JdoH7f9wEOdUm1jvhV8fJFjFV0rwkwGbvxxmeZ-sJ3tqJq5SGCGgpXsYmppL4q4CzYc2th9EmQJrZx1f6xEMjNC7kRw43WhGawGPTUym2wakbRZsBv09YaRAJtggC8ZgryEJ-haXJ7oWQWXQq0oK9wheFQMK_3ZWW13uPjhJ-cd1qCaRM0zhZ_lXfUOkYp1Aks3QQ-yHoqBoSKgd3cZ_wPj3IPqOhU0DuKFURd3BU8vYHGhCdRvy1quWJdDmU3CZZFVC5NUid6h1NPUGyOlYCTsutIDV0buHEYY7U1SE8RthXfIyVnqBN2i9UmYVrn5DoyeAcXjsQfiUE7ODG1Y-hzfV8QHAAUUmlHXPrU75EkdDSkv7fanu5DmsK1Rmiq4n1FIDs5vo_-X8Hozmxvm4b-yA3QVi1TSpEMgDkLuq82vpmu1S2HDz-HbWwUs-5ppwnRvFxp4PwgfXUEDJsWcUJL1A7jzjzkUl3O-4vz8EohFQXeUzb4OZL2FRCKp0Pthf8dIo0ILH7RggwAMu9XOYkQGuZWze5QZDgeYzG27ygmVyz3Wa2kyFr6t3Uhn2XcWVkyQyrNtNZUJYxDoJ67GawGL9dYR1o4UW28OM5GpZFpbD2gliYwjasNVA1U72cdKG5o4ItRYnMrw-vd6uthsg46ABU--5IQ_knh72kLBTqLKP5bKYvXeDIYukqsXoGD5uaCFdKAZ3A1HEPUwIcUF5sGoPfP_BNE7FFpdciY-q3TehInl3LFwqsdMP3z_psuzHEUSZ9XNC2uj0aHBtrOOKhmproe4Eo6xWUnkbaV3q1yZwj4Y2rl1_D4No51xYKgkzHJFwghCAvKXgcV3Df4tqQPGJWb3U_0De80oApsJKunYgm2jMTcTWwvNHFVQlEPDkupMsU1fTYS0QZL1EM5TjJvhofsJeYtqllAlpwck-dpLzOfdMjrvRkYocD7Bn0NQXCl4MOTx6qhoONJbdM9vRZUcBd6QM8KVOl-dojekUanhXjF0lVuLMxJxbs-9C0PXkHSn98cWQvE1GnPJf6r2yUeghrT0ithWcso3kDUcFWMSycnaYYk1sXm6Z52pqWsyqOQTwRfS4YpbW6XVJQNCbJ1bnGEFj1lZquWdXge7yAHHohvWQ1i5rZwJAnWEalR_V_ZO6uCkR7BqNkz2XTGvZX1An3_aoahRmVp78g-cvJPHdvAs--lXCgRE3kHQriZ5Fk7exl7kW14CAZ12mvDyiHygXoKgU8_jaqSJDW7UYTrDGikCNZeeAQyD81Z0E_5ryh35xsQmDuOaVAWawB-vFKQ8pZjMMKschwaEBGgBKW73XZXhxlkVD8jmgxwPrWVJWzLVmiAKcxSwegp4inbe4cG0gPcYDkUhDoOREb7hBPM_ujtmRJr_-jDCCHD8zjQwvYtHMhB_70Tk0I_sZqzkin1uWjaJFFuec-c24kD3pGmrw48pJ665uZJxLepIOtv4OKpwZXEe_XPPECjVQUbXkbubTVkEQQXFMXMmykM36bqYIVoE28gwb1Ljr-E-Ewv_5y14LHLEP6k7_HLQT1m8vKao5B03dP_9BCa5RbRsH8YRhJQ36ud3TCXHP4hydiJVEonYbQEvl0-yRb4lSC72vWqHahejJAcStDm-TbNHIo2vMGitQdfL4WEqSanrhPsNZo9xtveY4lyndMTYQHIDTO-IMnuBgPwhrMBS7pMu3T0iZralhbGClf0i_bKUORsLQpwv5Jie5eThIXp30-YIITVTs5Eyu8EwC8ZYfTLHCQKI_TeLmHa6VSA56FIvoJEkOZPk7T4nXtcheozE-4sG5PS_EYJR2kdsuHkcB77ILzf0JSNi9qXy_TZ4z3naPk0wVNSUKXTwVXYgEIAGCs88yUnZ_QZ_4iDa8uFrm3MgHU0HMuhnyFk289TygBEkKs7OXpQ6lQ9BlbZ-jgk9Pdr75abjo8PT8ePs8NTBzX4youJmDmhJPTYbW8IAiwcUpDcvpOHy5FkV2BAYhLFBPbL6gw==",
  "id": "rs_058c07f1deeb3086016ab41ab87d8c87d0a3bc0d53feb7d9a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.015,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The left gripper closed empty again: the plush is visibly ahead of the fingertips, despite filling the wrist image. I’m reopening and moving forward over its torso at a safe height rather than repeating the same close.\"}",
  "call_id": "call_QvzU9VDbFDP41qFMNzVMwNwX",
  "id": "fc_058c07f1deeb3086016ab41abac59087d09bfbcbb1c51b747f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QvzU9VDbFDP41qFMNzVMwNwX",
  "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]: [-0.2058, 1.4509, 0.522, 0.4847, -0.3847, -0.149, 0.995, -0.1188, 0.6678, 0.4282, -0.2134, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4004 left_y=-0.0122 left_z=0.1135 left_yaw=0.1832 left_pitch=0.1506 left_roll=0.0448 left_gripper=0.995 right_x=0.2868 right_y=-0.0054 right_z=0.1686 right_yaw=-0.1558 right_pitch=0.0795 right_roll=0.3371 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -7.665, 8.0479, 1.7314, -0.0415, 0.1343, 0.0415, -0.1026, -0.5538, 7.1179, 1.7998, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af98caba335f5ae19f16a01f7ab73193f9288027414e8a9ff68e3534665deb2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337d1a7ab7a12ecdabed1fe81b95842c57c26cfc6e07c3639392f028653df8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42aaec3a956624faa14b7b904edcf54013e117e72a30abbe5a3245202046643a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 5.992 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1829, 1.1519, 0.4797, 0.207, -0.3225, -0.1364, 0.9982, -0.1192, 0.6613, 0.4282, -0.2012, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3592 left_y=-0.0058 left_z=0.1411 left_yaw=0.1459 left_pitch=0.121 left_roll=0.038 left_gripper=0.9982 right_x=0.2877 right_y=-0.0056 right_z=0.173 right_yaw=-0.1566 right_pitch=0.0982 right_roll=0.3377 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -4.3829, 8.6359, 1.7558, 0.0659, 0.1978, -0.0122, -0.1436, -0.6769, 7.159, 1.9121, -0.0904, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1818, 1.5501, 0.2806, 0.8547, -0.3584, -0.1268, 0.0155, -0.1192, 0.6678, 0.4282, -0.2131, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3662 left_y=-0.0007 left_z=0.0651 left_yaw=0.1748 left_pitch=0.1733 left_roll=0.0443 left_gripper=0.0155 right_x=0.2868 right_y=-0.0055 right_z=0.1687 right_yaw=-0.1566 right_pitch=0.0799 right_roll=0.337 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -4.6974, 5.1624, 1.2723, 0.0611, 0.0024, 0.6129, -0.1983, -0.3761, 7.1179, 1.8388, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2058, 1.4509, 0.522, 0.4847, -0.3847, -0.149, 0.995, -0.1188, 0.6678, 0.4282, -0.2134, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4004 left_y=-0.0122 left_z=0.1135 left_yaw=0.1832 left_pitch=0.1506 left_roll=0.0448 left_gripper=0.995 right_x=0.2868 right_y=-0.0054 right_z=0.1686 right_yaw=-0.1558 right_pitch=0.0795 right_roll=0.3371 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -7.665, 8.0479, 1.7314, -0.0415, 0.1343, 0.0415, -0.1026, -0.5538, 7.1179, 1.7998, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af98caba335f5ae19f16a01f7ab73193f9288027414e8a9ff68e3534665deb2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337d1a7ab7a12ecdabed1fe81b95842c57c26cfc6e07c3639392f028653df8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42aaec3a956624faa14b7b904edcf54013e117e72a30abbe5a3245202046643a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBq_vpEfkaW1Mkvq_l4M8EIHLmL-FUakNgKgX7c6u16J5rvOckHR1NUF45ZDgTpQvYlg-RmOwR9pvGTyXF9vp-bwml7P5oEIQT3I8-j9HNpZE9XEzRQK6s3uNNObD6fHKf1g_iPBMjsp7TKqGZfE4ri9tkep01ZySmLfjj01p3S7lSRlSHT1KTimwlDE0r3o68pfLMlNcWk9qrcWsv78beZ2uac94_2rDmofQ-z070UBiY-prc0Mpm1koxvJWR1HCX_xIxco0GqZNXh4Iz1PdXFOx80WOPL1sho7uvpI9pAW8aDVhY0lJ3qnXQzB5TgFD251Bm1-6V5-ONaBPTv6C-6MUPVM3JzvfJWPV9tqPBDgQPv9J1Knap50jkx3CnKBCiuTTDPj4b3C0SmIU1Gbdg0Fqotrvqu83to06zBFgM3ClNmCtYSSDVHytLJ_Anl-uxG8Way1su-U8qPy9lyn0d4Fhlnq6g0d7xYF71eiK_Y4dZHIJ2KMH7IFHTl-T0AYvtYjdj3ll3WTOYLFRFmvHkH3YGoddujDrwmlRHdWFKGtim5dHeFSOnL7hE1Xo3PizkHSnKGRxOvtjObvkbDMbhlA4X587_qwUV8gUOXu5P-kVDG9LaYDEHdWrM-eUhEXEsEJENskOYznGaBSFO_nFDXi8eAWS4fXTm5bm2sdz3CRAIoV5T-s2rn5u1fnU655R_loSydK2HzeGU4FHjzm90A1RGqo6iswwyK9q8vKS5k1PNDWatTkv2TI1K7aeOTgA2bGh_hffr2WnPqqbqMNtqfKUgIQJpsHtGZ1yxbhflFdPEqiMCG6WEJyKHugdGyjYkQQxCvOAfNwGnHozsRrJjhzqOjgs9xt8BttVPMOpX51k2xv1LK1vktVxYEbzmGXmoCpU2daOzcYMQkKAXTus_nB91Mope4cervRqWa38-zmfxjUIg67Dwwm7GWQV-TyJb6rWVQGLUelrv3CKts2UEpNBIihQtL6JO4O8OloxTiU7oN2IrCUsxlAgupDDDZPNMQb3JWL33-ki9sJYmAHUDDkxZ3FgW-qkVH1iTfWhVtA9pBDNXnQ90rslD9nnrR-8FfM2WPLmqXebBKRa2gTw0oUnKayj_W_IRhOj7Z66-vcIeY_NfF-fNQarf9lb1Q8mKVBBebiPFhb-rwiPiKY4WddAYYJ_aTRX9pEL-yRmyXQ3AhXM8kc-Dp1By77EchUBiAiFK9Bk347d7H8C58zWCh8Bo01a7-MoTpsDHFEMtdP4E8XV48T4B_c9grfQxVWDqA4k8V4D4GIAKJMOjDjY63sTEaWyut6DgX5T1EnkjUJ2TjlwL_h9TOQ_VbRmR-Pse1BnWoiQO6vaDuMNKLbmT1DzCOaIgoBkxLcAhjiUYWymrr777LnsVQSDtNWqmtvQPurl1oHEeM47cDg2ZWZXytbJjETyHzRlAs2wc7gwBGJUAaENu4NR8TBk39JPU9Vqt5T6V7gPXYWw8jq2lj4L6VS_JBH3lyDxL9YOc_6mQmWUP2G0gKAy7qBUP3TiySiy9LPlmyl1h0YvDTqzshIMMw4Fbdpq5Z_vVP-TGFQfCqgX3g=",
  "id": "rs_058c07f1deeb3086016ab41abdce3487d0957fa9722a6461a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005},\"note\":\"The left gripper is now over the gray plush in the overhead image, with the plush aligned to the jaw column. I’m descending to near table level to get the jaws around its lower, thicker fabric.\"}",
  "call_id": "call_9keSGENe0jnYrrasNVBwQV3p",
  "id": "fc_058c07f1deeb3086016ab41abeae1087d086c74ec0fab43c0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9keSGENe0jnYrrasNVBwQV3p",
  "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]: [-0.2062, 1.8923, 0.4526, 1.3304, -0.3851, -0.2218, 0.9967, -0.1188, 0.6724, 0.4282, -0.2287, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4329 left_y=-0.0191 left_z=0.1022 left_yaw=0.2684 left_pitch=0.4535 left_roll=-0.1752 left_gripper=0.9967 right_x=0.2853 right_y=-0.0052 right_z=0.1641 right_yaw=-0.1558 right_pitch=0.0597 right_roll=0.3364 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.8137, 0.0479, -1.8779, -0.0708, 0.8864, 0.1636, -0.0342, -0.7316, 7.1043, 1.9707, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9df63b991495adf853904b010b2898ba744e97144e6a9297fc2164545305437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7920d29904d31bb3acd1431b7cf6c9239088daf350f370eefecac4240ed36b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7bb2411a18e8d518ad24d7efd25c9c7448b9eba025675db6f4c3ec5dc68b4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1825, 1.5505, 0.2878, 0.8017, -0.3428, -0.1246, 0.9983, -0.1192, 0.6666, 0.4282, -0.2089, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3635 left_y=-0.0031 left_z=0.0557 left_yaw=0.1572 left_pitch=0.1276 left_roll=0.056 left_gripper=0.9983 right_x=0.2872 right_y=-0.0055 right_z=0.1699 right_yaw=-0.1562 right_pitch=0.0852 right_roll=0.3373 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -4.1778, 2.8239, 1.1013, 0.1392, -0.1832, -0.0171, -0.212, -0.841, 7.1179, 1.9658, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2058, 1.4509, 0.522, 0.4847, -0.3847, -0.149, 0.995, -0.1188, 0.6678, 0.4282, -0.2134, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4004 left_y=-0.0122 left_z=0.1135 left_yaw=0.1832 left_pitch=0.1506 left_roll=0.0448 left_gripper=0.995 right_x=0.2868 right_y=-0.0054 right_z=0.1686 right_yaw=-0.1558 right_pitch=0.0795 right_roll=0.3371 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -7.665, 8.0479, 1.7314, -0.0415, 0.1343, 0.0415, -0.1026, -0.5538, 7.1179, 1.7998, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.8923, 0.4526, 1.3304, -0.3851, -0.2218, 0.9967, -0.1188, 0.6724, 0.4282, -0.2287, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4329 left_y=-0.0191 left_z=0.1022 left_yaw=0.2684 left_pitch=0.4535 left_roll=-0.1752 left_gripper=0.9967 right_x=0.2853 right_y=-0.0052 right_z=0.1641 right_yaw=-0.1558 right_pitch=0.0597 right_roll=0.3364 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.8137, 0.0479, -1.8779, -0.0708, 0.8864, 0.1636, -0.0342, -0.7316, 7.1043, 1.9707, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9df63b991495adf853904b010b2898ba744e97144e6a9297fc2164545305437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7920d29904d31bb3acd1431b7cf6c9239088daf350f370eefecac4240ed36b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7bb2411a18e8d518ad24d7efd25c9c7448b9eba025675db6f4c3ec5dc68b4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrFe3Ysg6rPddBUTH4Q7rLFZ_e1IU-Qb9oAck_8awJ9krgfXjBvO9TeSPB7P5goItl2d58YDZZiVC5kixWEs0_Yt4QmlzqRqNA7HGNDYV3s12R0dCIroFvXAF1yDIlkkdwrEew1j4yJ-K3Dj9XBQByJdMG3YWaONSQSB5H9YT2PTp03b666f-fgJT1jh8ScMzXhGjG3Y5fSEPDRH7wDhOXiizb-wBaPQ0W13B7vpcUm-BhUycepUEejTLeMWCA44xm5fCnR9rS2SJkEXgRFs1cgSgBvaSWRNYT5ktRHgEudSfwu36pEQTXVGS6t4edp1T0RgZR4Dlv1sTt1sv-yC6R1U38c-HgdhjQc3yRfrB4Ss66yCfAgalC-9tJ8Noi2j_NC8gQT7cblmcn9HxegTxQu05CGvLNONAm0M8dsBTOkEXnFXkY-17OhZ1UuO-e4xfdectAykVMKBt-hu7aWM9UWYCGxFNPktHvRLgg9RUoXajccaE9RgZhHqu7xhnOydy9StjP2srS3b1yfbkSyGSM4dI0CPcyR8RaEfPk3g4mfdWqef_O8_N7V79hn_kT1jbEnF8lNng-kMHd51qI-WiwnBsn72-nJZjjnINX1jEpIOpmzn_RhpWHITQ9WAAt96auLRHaj0s8n324Vk7ZXe-Nay4_q6ca5OXiKcu132yDnLVk_RLJDaKP09HWOze4sT8Myv-uZOIDYgjA_i3UwWU9lmoD1-fCuvKdzhOh2PiGbw5IWjvhxBJOmZgktUKJCrlHE_uBlu3kbiKQV-cVcTUwSkcHVP1usHYdN-qKz8tHlnDiHsWz4JFe6nTEkJfJcrn6Uj6VrF9hNBFCHX7Xr-9xTaltHPNLUU169avtBERNwqHy4XBAZCNs91OWxVvVHZmRHQn782AXSbx6wdBj-hRXXQeK1-RRCNNG0MsMNwkRNICSTe4wXYD1JssSBn-btpqbUrBWEizg_DjuC_Y13zwQmdUjEGihInpqxeiSFXyMESjYbM-1dPG_TDH8_mhdYX6EMqDZl0PqhGTFZhod7TREBZTu7sI_jTIX-sCu8UxRgEhKr6ugh8GvYKXSSN6I3MjDDTT1wHwNhECFvdN-L9XNd1Adwel5QG3HEZ7Uf92GCRU2NexFeV8OSYD75E-x9WlgyaG3974lWo2au04L8tzHn_07T-rLaUOgyRulMZwx21dh9FivfDQLpg2_kPeP-36kDOBWLdHX10Iiu1msznL2GapZYtLhU-JAEubPv8myKN0wwf52vQHIY1WcrBJk9QD1UvMVgRExe0kP46lK2HT3YM00I5h3zwQenc_RTFWbM2NJf1mYbBZqbsw6_6-L3mnJ-pxDvBj5tOWc4NM1zh5of2ojzHej9zTZCsjtgLt5lw0wWQtABxqX8C_08OMKAbPXBPq9sXbpL0jWeeB-rk1WS9mMhhIq8VY88ta5LH2brvuzSa463YT4r9jINylR2cGL45sYvFrxezk6fQOfQsbP_GS-9xDfv8qFaY7xrc8PQ1vTk4SVj2-gC2oQvCcruf-rlYcy0pcvlRSdWXc6GwfzY6s9-urT24L16CBSQ82Xt7uMmA09WXttQlbTNlldkTrVD3373W10SfCd-BmAYugGPq1Dpbp6k8DElsxb1c1Mhlxk5W3vENvqI12CEG4X2nlqSSbERetl6hlX4FJV02lHxKuYQUe2li0Pw6uQHYHyD6pBHp6meir7sZMEco73llgbsR9Z5kHwkeIAaKb4pP8bRnWR8feXnWrUMmQ0EdpQsfVYfYvZEmoJcQq8pnV1WDwiQGhtdEMAcp9L4Ei-IoAVByAvbWwiJLLJhIDdDbrrgjh5Dy1Okw_jGoAX5021GaQ3JXh8pChGOhIICcMPC2jmg_iNubc5N2qgnwZKdnbzFceeRVwZZD9Aa7lGIjeFYMfYz1FsfwIun7dqXbRWrSzOvqoUfkh_IsAyy74KywiPlMHa-YsbxGLF86w2DV6KLZkaRJXgdz54ButemxVP2VvwX8qdWFp_CcbN3STB2sBwekKcNYu7qFv92MLAUbd1CjbgO4nr5tNeEhmnwtTWrxX8ikDwd_7xZ4Pyiyhi-SzrYqK5hVHsM5CFfiWKuJC36daecv8IR6sBBaHEv9u1cHebg34QyVDWANaoLWU9bstZhEACipkNX7PiPP2CJthRVPpdL3tQQV6EQDwucfFc7OQH_3hWOBTh6vtjiMnBv84hVOuzG_n2ppp1j9YWI0vPhXOmRxwRha6mbuq8aXRJ5n0KVmElhaPKF5l_kIwsWcqdWRSTRKk4as6OoRK1E3dKAgNOO_z1cpDyMrFAc_vdpnMqWzProJMk5dCjNavBhHVFdeyjUW7WBt9mjCVs3xF0fPIALYcTv3P1X8fEdgMzq9oP_k0w9iDVtRWKa4vhkUspbuG39Iz1Ufig84xaWoxziy8gheL20Ru_PEUz9HYflw0QBJqglmT9rJ-phvHz2xU7qTBl7XE2V5HZ90pfi0kqTj3j1VbQp8xSf-hmeGT6G7Wh_bSiHMBQgN4J2dEWlWT0iChqPNcmhiDZ3YGgp-2NtOFeyZQp9zrYjABDUkqpimgwRSR_stL2yxrosDWmwQJYgd4NVuKXSgILWwVGEa0zrEMToJOKKV2PzYlv1SCseNPI1zkMd37SbD4eBdZN3sTa_meG5PZf8kHMbGGm8G7d-ik4Tfi06RPmFn-HCmI-2WQtSY_HkWlWixy62UXtgA_YlHBVenx7XMYwEBNbsfPrVYCcaJWEK0jtcSrD4bjvFjjU-xjo_39xEBbRah13Rm3FXDm69xhnCSgyAt2InKz3zMNCoi1X0_OduyhTTSaqOQ0FuGzSiEht01U_fPbgwgMQ-Ogwy4XPiPlRN-5JVelTcbFVJvtdI6PMXK7l37MeopAJhyiNATyUEMCFiS0lLmwSOatE_08j6mGHKvc3vTz-qCe0Gc-SDFpqdbnmj8tplMlDunj7tRIfSSWLGZfb453DpXsPAPKl5cuJCk9dQqBpa30s-7WHMMTp6IDY9QfMuS9560tl3IlPAFqRI_i-LQKVowzdKlpUF1nAKMpnBrXDsYJhm8y_148w1nZxWHwgURVbrMQ==",
  "id": "rs_058c07f1deeb3086016ab41ac1117887d08a238ed0993d7b62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.29,\"right_y\":0.32,\"right_z\":0.15},\"note\":\"The gray plush is pressed against the left basket rim, which stopped the descent; I won’t force that contact. I’m retracting the left arm and approaching the unobstructed cream plush in the centre with the right arm instead.\"}",
  "call_id": "call_bdRPmVqQqvYLQ5SH3KsbHg5M",
  "id": "fc_058c07f1deeb3086016ab41ac42b7887d098373324e2461230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bdRPmVqQqvYLQ5SH3KsbHg5M",
  "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]: [-0.2886, 0.6327, 0.1646, 0.3843, -0.4553, -0.2359, 0.9968, 1.1477, 1.7077, 1.0706, -0.2279, 0.8944, 1.0794, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=-0.0021 left_z=0.1923 left_yaw=0.2675 left_pitch=0.4778 left_roll=-0.1983 left_gripper=0.9968 right_x=0.289 right_y=0.315 right_z=0.1387 right_yaw=-0.1284 right_pitch=0.0349 right_roll=0.3117 right_gripper=0.9985\nstate[joint_eff]: [-0.4308, -0.1299, 8.253, 1.9316, -0.1587, -0.0317, 0.0024, 0.7316, -8.4171, 8.4034, 1.072, 0.6764, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ed73f5fb877fda9aed51557e1d24bd03e6400e3a82034d4ab83b31a627a99f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1706a18a895b502d3bbc1e519f883902cf967fa46df2677374da4c590f98c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd55d527ba50aa25181effed851ce93f3791bfdfe1cce6b2e63d6c277fb0bb30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.147 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1818, 1.5501, 0.2806, 0.8547, -0.3584, -0.1268, 0.0155, -0.1192, 0.6678, 0.4282, -0.2131, -0.1421, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.3662 left_y=-0.0007 left_z=0.0651 left_yaw=0.1748 left_pitch=0.1733 left_roll=0.0443 left_gripper=0.0155 right_x=0.2868 right_y=-0.0055 right_z=0.1687 right_yaw=-0.1566 right_pitch=0.0799 right_roll=0.337 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -4.6974, 5.1624, 1.2723, 0.0611, 0.0024, 0.6129, -0.1983, -0.3761, 7.1179, 1.8388, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.8923, 0.4526, 1.3304, -0.3851, -0.2218, 0.9967, -0.1188, 0.6724, 0.4282, -0.2287, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4329 left_y=-0.0191 left_z=0.1022 left_yaw=0.2684 left_pitch=0.4535 left_roll=-0.1752 left_gripper=0.9967 right_x=0.2853 right_y=-0.0052 right_z=0.1641 right_yaw=-0.1558 right_pitch=0.0597 right_roll=0.3364 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.8137, 0.0479, -1.8779, -0.0708, 0.8864, 0.1636, -0.0342, -0.7316, 7.1043, 1.9707, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2886, 0.6327, 0.1646, 0.3843, -0.4553, -0.2359, 0.9968, 1.1477, 1.7077, 1.0706, -0.2279, 0.8944, 1.0794, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=-0.0021 left_z=0.1923 left_yaw=0.2675 left_pitch=0.4778 left_roll=-0.1983 left_gripper=0.9968 right_x=0.289 right_y=0.315 right_z=0.1387 right_yaw=-0.1284 right_pitch=0.0349 right_roll=0.3117 right_gripper=0.9985\nstate[joint_eff]: [-0.4308, -0.1299, 8.253, 1.9316, -0.1587, -0.0317, 0.0024, 0.7316, -8.4171, 8.4034, 1.072, 0.6764, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ed73f5fb877fda9aed51557e1d24bd03e6400e3a82034d4ab83b31a627a99f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1706a18a895b502d3bbc1e519f883902cf967fa46df2677374da4c590f98c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd55d527ba50aa25181effed851ce93f3791bfdfe1cce6b2e63d6c277fb0bb30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrOoxijC9fcKmyQlRhSvAZPN3j1KgOf4YwEUTANJiscYQOxQ5pgxSROsmRk5xJ7G1uQ9n_UVsT1pj1eLEbD0C2dOnzHH6mVllEYu-HbCQ36YfJarr_0HqUfph_crXioPBoRBAxfUTzy3ijJp1BBdFvhwEEWM7mJgrbuEvycq4m72H0rWP-LppZdwtft4zkigXtVnnKwTYphvD9XBJxWjY_QE4uYQVz4VOWvsLTvFIbqBC6aYNZTQEtZLJ-IoZwFJAiymSNulA4KHprCavasoRk56ZQXmQF_USomYxtJ01yJRyUsVTxl_CejrJRVWpXQ_Sof5CuKVTQ4ssp9Q2ff-m1SmJz2H8zyBv2csM5C3RCz9G2KT6sAP_pA3L_IX00Czg2esHivm25jAcxUEoTBOMG98-AEUEWEES3Ru3lvQR2FZQskLUGJkyXCngJRr_PbmtskOzrifIWnKi91L2GKZ1MFIZ2OUE9VlN6Kf-IPckoCKWC8W7y7S73ywxj1J22aPDZub-YuPcYGaYFZRfSyHZNLpPp-GXdcwuzIjlcnDsvCswvf4hHI6QpisH95YzdgStNMJs4D0oL-hqnwUec72RH11BmDkaNN3FExa2zxACZ0fhOPH_divC0j1QGv9Dk2ngOHw4G_FKgwHL1TGtR_GmkP_X2DYb5niVJjN4GPehLnC4hHgtx_wJ4vy4GQw9iTA_X8zgszGLdiS6cRhZzwDSCF3sHhCrZjyv-bcDPgfQY0OXjPsFLzkASmnbtnrq5f14MzaA8JBmGMmDxQvlMExJfJdcRln8PdUzyAGai8t74ziPEgfDkyaRVELduM0oVVIofAhhBLkAtk2TAIoCNsTp8HxTpDlttJkpSfSeuAJytgnLRbWW8q9WDuMfT10RyYMRQJ8MygErTjM5lfS_tq3fSxQ8RBjAquJducDwvbtLdIhsCTUiQILiJ_5KvXv8ybOyaU3PO2o9s7XIfQAWcu0NtXnh2YzDIF_PfScx13y92gT7xUcjy7LG63Qwfl0sErh_bU0zlHRSBQQ0hDlSvemHfVNm0sTo0YuNS1gsqkMRN2zHQciwa6m5LlWhGBYWN0HzScXeLPHHFV-mahLyDsBWvkIBJ8WGgxA7BqH5B6mCzrtbXJ7KLEBAv121A1GBU3o6vIljMdEGXOqXNwPmutS5QmlgoWCmTS6_ZtLKG_lpOb12rotJGH_xfgJ4_gBH0p34nqkktRSnSwrrBb0l6QLUJPFZ7Dl3ZJ-mJYyr2l_CRVvJkp2l7-hjdNr5PHaoz8sMhm5AjdQggeyEpxKc-LjulDvpT3rc1cLAB7D25uNKm5CTRp4JP4od8DtRy3m-UQ6BD2MrvfcxyU0fGc0bd7XbBmHnCY-T7vDyPO1tl2cuDJacC9lAkuUNDw1pF2n-TmvJZNrdWKzPw0f-I_BxVdsuPjYphyKHDizbYkIMGDe0VPeO9KyYG8qVmweznvLjD8w4k9JiOsfKj06Y40iD2aJ-Vx1KTiyykhxfSpL1-AyHx1v-8n9q5UFj4XV55aykDF9_BujK2tUbaKaHqG9FGIThSJz0Ja-OlPrxWOM9lpqE4RnuNu7vIwHpISWTzIqH-u7IoyI_lVpdgnbuNIQ5WdJsvsVw==",
  "id": "rs_058c07f1deeb3086016ab41acaa7c087d0aee7288c8d5fd71d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.34,\"right_z\":0.05},\"note\":\"The cream plush is centered below the right wrist camera, with its torso near the open jaws. I’m moving a little toward its lower body and descending to the grasp height that worked on the first pickup.\"}",
  "call_id": "call_UuSWG1mmpdpV6FAwIDznibcG",
  "id": "fc_058c07f1deeb3086016ab41accc9e887d0a3d6678141b0186a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UuSWG1mmpdpV6FAwIDznibcG",
  "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]: [-0.2913, 0.6357, 0.1642, 0.3626, -0.4641, -0.2367, 0.9968, 1.1957, 1.9121, 1.0164, -0.0143, 0.9463, 1.1278, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1864 left_yaw=0.2669 left_pitch=0.4568 left_roll=-0.1835 left_gripper=0.9968 right_x=0.2819 right_y=0.3348 right_z=0.0703 right_yaw=-0.1353 right_pitch=0.0542 right_roll=0.2998 right_gripper=0.9985\nstate[joint_eff]: [0.1299, -0.4718, 7.0769, 2.0879, 0.0366, -0.022, -0.0122, 1.0735, -6.3248, 4.588, 1.1258, 0.0659, 0.3101, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebd6a537dc5d1d6e767cb8abd9772ed4a86a55eacca2fd7ef8e6a2a3861c375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fc84d06b19d24a2fe5f1b5952a74240391d448b4cf85c0d08d71149b6c62df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c1ffba9612e293691408546d6b780621b5de3cdb6ca8a87b6ce722dfccf5d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 4.205 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2058, 1.4509, 0.522, 0.4847, -0.3847, -0.149, 0.995, -0.1188, 0.6678, 0.4282, -0.2134, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4004 left_y=-0.0122 left_z=0.1135 left_yaw=0.1832 left_pitch=0.1506 left_roll=0.0448 left_gripper=0.995 right_x=0.2868 right_y=-0.0054 right_z=0.1686 right_yaw=-0.1558 right_pitch=0.0795 right_roll=0.3371 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -7.665, 8.0479, 1.7314, -0.0415, 0.1343, 0.0415, -0.1026, -0.5538, 7.1179, 1.7998, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2886, 0.6327, 0.1646, 0.3843, -0.4553, -0.2359, 0.9968, 1.1477, 1.7077, 1.0706, -0.2279, 0.8944, 1.0794, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=-0.0021 left_z=0.1923 left_yaw=0.2675 left_pitch=0.4778 left_roll=-0.1983 left_gripper=0.9968 right_x=0.289 right_y=0.315 right_z=0.1387 right_yaw=-0.1284 right_pitch=0.0349 right_roll=0.3117 right_gripper=0.9985\nstate[joint_eff]: [-0.4308, -0.1299, 8.253, 1.9316, -0.1587, -0.0317, 0.0024, 0.7316, -8.4171, 8.4034, 1.072, 0.6764, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 0.6357, 0.1642, 0.3626, -0.4641, -0.2367, 0.9968, 1.1957, 1.9121, 1.0164, -0.0143, 0.9463, 1.1278, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1864 left_yaw=0.2669 left_pitch=0.4568 left_roll=-0.1835 left_gripper=0.9968 right_x=0.2819 right_y=0.3348 right_z=0.0703 right_yaw=-0.1353 right_pitch=0.0542 right_roll=0.2998 right_gripper=0.9985\nstate[joint_eff]: [0.1299, -0.4718, 7.0769, 2.0879, 0.0366, -0.022, -0.0122, 1.0735, -6.3248, 4.588, 1.1258, 0.0659, 0.3101, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebd6a537dc5d1d6e767cb8abd9772ed4a86a55eacca2fd7ef8e6a2a3861c375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fc84d06b19d24a2fe5f1b5952a74240391d448b4cf85c0d08d71149b6c62df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c1ffba9612e293691408546d6b780621b5de3cdb6ca8a87b6ce722dfccf5d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrQf2GGoEblpbVs3qQQSU0PdLYJEdsTzuba40Oa0nGz8IpS3LIO-7jlmlaxB69VKaxjVF5JRT-c4PEAec_5PIB9wJseHCZjtJn73umm7NiYCD9Gbj82pTHxWQetG2_l2--49hO4dOubRgVO1kIN91lGLaQCqHPWLbUue6sSuWTYjx3vU9y42ePu0IWDLJgVpncZZ4t5GWRoGk5rSM4Xw6ddTasEW7MtjO7w4kRdI0bE6oggNlajla__vjrNvJ9nhj81R0MeKP6gIinkxgdeugponTlJgjQfXsuC2BJ_cdPtmu4SZqmIhiArMbtLBQfU_DYCdMc-ayVshp-L6kfhWYCJhTLzo2PZb0XpsCZ4IZ2W85ydHl0Jy0O7dABSuo19gy9bhAs7Y_GJ8Lc9zvvbmEkObuOhSODYg35JBa-AanN1JTWf8hYMCkOgIVG8u8nRa7tnk-N2qM5pj7NV42yiEEXeKjEiH-u14vVLrvtGCNlUiuqF4qDF_0_-r0lJZHKGZQ_HzNxgXM1WMbD9raAiTRBDi0ePMYnj-tP-jl71PWmzN5o5olC981ha4ED2qDldhwWvV5GXYw6RMwMO5TH49kuYnpbk51RyToniRBqyE3hSrItIlyDHzJuUbLbvsuk3-n-uEKcDifhgPRUWcG3KyC4aAoU7YdC1afz044Nj6IaX2RJx9n1KDH1u5fYaVFV7GHOJIhpyCG0RQY9dYybPs-UgDXwoWIFQ8wPXrgsEypR10CAe94Iy7KDbs0DXoO-JM6B-B7RsTJaxSsi2Uixap0WutBBe91w4bzztrK_veb9BdzmSco2M1TuxDZKldIgo2YYQ_hV-KDg-whCCy7KSLfBHgneBUHK41vKuTeH3GZ0EwXJK2xG0T9ckl9Dimo4ekCL7L0Zm65szfNIocm4cXq9LLuVYvud3Wn3_WoFDX67BvJpQnt5bhOimAdDq2eX873yy8Vi9f_UuZJyAysJXcxlr9EJ68aphBMgrCI4aW4g5chvl0dlcxjBY4gwyVMDLDDq3mxwVcbLvvTM0EOOYIAd8QHggs2ebA7qPoQxtqglTVI2paUhReDNEQ1YvXkJXrki6pxrxLxt2ytDzKfJOVgnsyvmUCFcSjMfOiJej56-nNWSx7hDvmEnXWUr6Ld68BugxJIAxoJJKsRLA1MADuoyR_gnJb5f7Gb4kInrQqzRvEXIXZu5Sy1jZMm6tp_f3fzPuqc4lNEq4Txr7vYvCebH8UuHOTHK8BvXbV1uYNgq2tC0=",
  "id": "rs_058c07f1deeb3086016ab41ad0315487d0818c68fef0ae22dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream plush now fills the right jaw opening at low height, with its body beneath the fingertips. I’m closing around it.\"}",
  "call_id": "call_ncRCJkZzS8o3MZwFSA47ujr2",
  "id": "fc_058c07f1deeb3086016ab41ad05d8c87d083d04241bbb2b877",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ncRCJkZzS8o3MZwFSA47ujr2",
  "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]: [-0.292, 0.6357, 0.1642, 0.3599, -0.4648, -0.2367, 0.9968, 1.1961, 1.9038, 1.0172, 0.0208, 0.9791, 1.1191, 0.1114]\nstate[eef_state]: left_x=0.2919 left_y=-0.0013 left_z=0.1858 left_yaw=0.2662 left_pitch=0.4545 left_roll=-0.1818 left_gripper=0.9968 right_x=0.2857 right_y=0.3357 right_z=0.0813 right_yaw=-0.1539 right_pitch=0.0905 right_roll=0.3294 right_gripper=0.1114\nstate[joint_eff]: [-0.0342, -0.2393, 7.0085, 1.8437, -0.0904, -0.0513, -0.0122, 0.0342, -8.6496, 5.4906, 0.9304, -0.0024, 0.0659, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ee918beef0ade007ad71230a576a1edd0fd361ae787c3317c9da2606890ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208be71428bad49c5f3ed39fd8ea903517815323dc35482324016facbdbcfc2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45109cd9b73f99df4e927326be477392aef1a175382201770a90140dbd93c6e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.508 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.8923, 0.4526, 1.3304, -0.3851, -0.2218, 0.9967, -0.1188, 0.6724, 0.4282, -0.2287, -0.1425, 0.2878, 0.9985]\nstate[eef_state]: left_x=0.4329 left_y=-0.0191 left_z=0.1022 left_yaw=0.2684 left_pitch=0.4535 left_roll=-0.1752 left_gripper=0.9967 right_x=0.2853 right_y=-0.0052 right_z=0.1641 right_yaw=-0.1558 right_pitch=0.0597 right_roll=0.3364 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.8137, 0.0479, -1.8779, -0.0708, 0.8864, 0.1636, -0.0342, -0.7316, 7.1043, 1.9707, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 0.6357, 0.1642, 0.3626, -0.4641, -0.2367, 0.9968, 1.1957, 1.9121, 1.0164, -0.0143, 0.9463, 1.1278, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1864 left_yaw=0.2669 left_pitch=0.4568 left_roll=-0.1835 left_gripper=0.9968 right_x=0.2819 right_y=0.3348 right_z=0.0703 right_yaw=-0.1353 right_pitch=0.0542 right_roll=0.2998 right_gripper=0.9985\nstate[joint_eff]: [0.1299, -0.4718, 7.0769, 2.0879, 0.0366, -0.022, -0.0122, 1.0735, -6.3248, 4.588, 1.1258, 0.0659, 0.3101, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3599, -0.4648, -0.2367, 0.9968, 1.1961, 1.9038, 1.0172, 0.0208, 0.9791, 1.1191, 0.1114]\nstate[eef_state]: left_x=0.2919 left_y=-0.0013 left_z=0.1858 left_yaw=0.2662 left_pitch=0.4545 left_roll=-0.1818 left_gripper=0.9968 right_x=0.2857 right_y=0.3357 right_z=0.0813 right_yaw=-0.1539 right_pitch=0.0905 right_roll=0.3294 right_gripper=0.1114\nstate[joint_eff]: [-0.0342, -0.2393, 7.0085, 1.8437, -0.0904, -0.0513, -0.0122, 0.0342, -8.6496, 5.4906, 0.9304, -0.0024, 0.0659, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ee918beef0ade007ad71230a576a1edd0fd361ae787c3317c9da2606890ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208be71428bad49c5f3ed39fd8ea903517815323dc35482324016facbdbcfc2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45109cd9b73f99df4e927326be477392aef1a175382201770a90140dbd93c6e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrWukPrNwTwgBLgfr2vR_3GwvChJCAfAQWZVaUbdyOcOMem0iREstxqwP8ysyZzQkhwcF6Sq1s5eZG1QdKkGc70P-WYrz8xpG6oyEEgGHgXSRxMXP70QpcJzKv6uGUu9HoFOqmsOfp5vt5XPrrMPifQiTrLC_WB0pJupm0R75I21qDfRn_AzxoEU2sFSewieiqzU5NrlNF3RYlqDjUiPLZVTh-dX2ZNfOlmTTB9_SGGavDs010B4EiAs9mH2Y0wib20Zg91C_cZiRchwqIzexQRJznidpbc1elz9V5-jjK4EdL-p2ghwbeHQH7Y5dB8mgdPSl5bAdgbeXF0UZsWMeQBQzhD4nB_NU7mWRaWVuaVIJH1JhH8th9oeyf-F0gA-JtUjODUxmIKqmbQXuR_0K1_VO3-0wAYlWmk_TuCjYmo4RhEg-mFyfBjYvUlhHg7D5dCqjjjioH2lNKKzm-Oy44W5mghAHVX3eNpvOrXxJfNhUBMmm1F6tZddLwpED418BTL8UdLJ7DHKNNQueh-5IuGtg5iCGyYvLrFQc7yqRIpaR74sEwgMPs6TUxpIRfEwDL8ySHHUWZ1bt9Z1S24AykvQM11bUz66sN8q-ZkrrmHn1XUcHcj7WLLVyOl7HG7KfzZqe97Adv8Au_aAY-pXkOUpkL1lNLY0DeBKXxcHhkLKLwPAk0UHjXDBkahAXKTR6eKoTXGRF4nr-X20P3iGyL0LMsjGs9v3dJbcR7gn7dISouGdsCFL9JSoVeGu1t4kfdMLJ7go7gUrawtI7E1Rk-6E9oSuanpVouXHXO20-bZfgrdYdoQC1ky1mDbLW9AtQE08Ymou1pW07mr7C5yWV_ZA0VXg8L9jF64vIHdf70xD5yGotaUSf8LcltNREXDZ4kKKWx5lT-VR1G1wXW-2ZzpK-Cu8vGMctp3OL6E1YOwV3NoGNldojoqV9-2g0aTsplQolQSd_U-D7Ik10vNDTipjQCbO4vK3AF15ex-uRKB8XOwiWGcLXHru_woqXC5Y1-ILBeTGblVhyHpnR6BKjGmUoF6FWvaW5tJBdxyv573Ao6Hj2vIwuJ7_cKqg81Q4YYhsVtd3e9SdBGaRDLWpwZbhNqCQuYMlLuxCNShWyElTIOS1Ssdf5s11CqoYYkKNMfrArNYmN1gFJ9zOUAv6HCZKpPp6jLxvc4MTXIcgRV9u17vYdvZ5O3bOv8bCe_j-OIbDEntu1OR_Z_UZQd4fIkWlQ==",
  "id": "rs_058c07f1deeb3086016ab41ad50ba087d084fe2eedd52b1b50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The gripper stopped about a centimetre open rather than fully closing, suggesting it caught part of the plush. I’m lifting to verify whether the cream toy moves with it.\"}",
  "call_id": "call_1fosOIOCfAY1gmyM2ocJqa2s",
  "id": "fc_058c07f1deeb3086016ab41ad54d2487d08cabb458754df001",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1fosOIOCfAY1gmyM2ocJqa2s",
  "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]: [-0.292, 0.6357, 0.1642, 0.3595, -0.4644, -0.2367, 0.9968, 1.1965, 1.7756, 1.224, -0.3466, 0.9569, 1.1164, 0.1141]\nstate[eef_state]: left_x=0.2919 left_y=-0.0014 left_z=0.1857 left_yaw=0.2658 left_pitch=0.4542 left_roll=-0.1816 left_gripper=0.9968 right_x=0.2849 right_y=0.3403 right_z=0.1589 right_yaw=-0.1359 right_pitch=0.0669 right_roll=0.2993 right_gripper=0.1141\nstate[joint_eff]: [-0.2256, -0.253, 7.0222, 1.8584, -0.0464, -0.0366, -0.0122, -0.3761, -12.3829, 8.9641, 1.1355, 0.5788, 0.0073, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ed74ad30c295526d771873e4f8b98e3e6252a4112a9f658d9294b1264811e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23246690119f26578a706a74986278e9af5b11e077ad09b370510b3d002acfd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a35eb356a6a0091a76251ae7fd8a0f295f44db1a6b5779b3654584179f8667e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.774 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2886, 0.6327, 0.1646, 0.3843, -0.4553, -0.2359, 0.9968, 1.1477, 1.7077, 1.0706, -0.2279, 0.8944, 1.0794, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=-0.0021 left_z=0.1923 left_yaw=0.2675 left_pitch=0.4778 left_roll=-0.1983 left_gripper=0.9968 right_x=0.289 right_y=0.315 right_z=0.1387 right_yaw=-0.1284 right_pitch=0.0349 right_roll=0.3117 right_gripper=0.9985\nstate[joint_eff]: [-0.4308, -0.1299, 8.253, 1.9316, -0.1587, -0.0317, 0.0024, 0.7316, -8.4171, 8.4034, 1.072, 0.6764, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3599, -0.4648, -0.2367, 0.9968, 1.1961, 1.9038, 1.0172, 0.0208, 0.9791, 1.1191, 0.1114]\nstate[eef_state]: left_x=0.2919 left_y=-0.0013 left_z=0.1858 left_yaw=0.2662 left_pitch=0.4545 left_roll=-0.1818 left_gripper=0.9968 right_x=0.2857 right_y=0.3357 right_z=0.0813 right_yaw=-0.1539 right_pitch=0.0905 right_roll=0.3294 right_gripper=0.1114\nstate[joint_eff]: [-0.0342, -0.2393, 7.0085, 1.8437, -0.0904, -0.0513, -0.0122, 0.0342, -8.6496, 5.4906, 0.9304, -0.0024, 0.0659, 0.8425]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3595, -0.4644, -0.2367, 0.9968, 1.1965, 1.7756, 1.224, -0.3466, 0.9569, 1.1164, 0.1141]\nstate[eef_state]: left_x=0.2919 left_y=-0.0014 left_z=0.1857 left_yaw=0.2658 left_pitch=0.4542 left_roll=-0.1816 left_gripper=0.9968 right_x=0.2849 right_y=0.3403 right_z=0.1589 right_yaw=-0.1359 right_pitch=0.0669 right_roll=0.2993 right_gripper=0.1141\nstate[joint_eff]: [-0.2256, -0.253, 7.0222, 1.8584, -0.0464, -0.0366, -0.0122, -0.3761, -12.3829, 8.9641, 1.1355, 0.5788, 0.0073, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ed74ad30c295526d771873e4f8b98e3e6252a4112a9f658d9294b1264811e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23246690119f26578a706a74986278e9af5b11e077ad09b370510b3d002acfd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a35eb356a6a0091a76251ae7fd8a0f295f44db1a6b5779b3654584179f8667e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBraLifSB2xNtkCsRlBUcYQFde5gilY56TadqqdWtXFLQGSUsOaJ5EePg3Zx-Ph6zG2qlBzE_EQ1JXtgE_DX0wBC-1L-gDs94_yGyZhGDiXf8I24r9_nF7BHLbWamMr-bi-g5gmhNP1ndheeM0qbjd468UCqNY6KoTn8yEPPxBf12TrAHfv0GjL4Q988d5vscfel30akUGmSNqazVYixNaXgPtLE83lgRoR9lQaKVocTSRwKX1dNaJHgRC6pjoONKhDw2oJ10mM1Wx7w-aCD07JkE2FEX5Rl8BkPL48H6ZgHxMjV0NRnDHaHWfUWcam6pZySVsxrY8dbjCgujJrWYxmWlEdErJLMpBbdu_TFg0QE39chGNEzJhwCne4RYxyfi_ee7-KFMCnSKaMqqt1HQGecvH-uGuLRj9ZKa03q_J5ujuZGh_voq-pOBE6WKuQ2NuB1HYIE1EgsXYs1Lw4Yc0ft9iBAVYhKPIY_VkbIiJhA9IH7TsvZwYmc3j0Q4pxsSAopP1V4ZB_uLyzZFxu0l0ANuLef-g0cj2EZ8u553MXYF_Nf6iFlYwSrEd9flFDAXAskfFgD-GLJ2rcUbOtTdRQ6BAtK97Pju97tMHaaTyXF6VSYYT0W9WIg43HWZK6PV1kfh1qZp5-VNbG0FQaQFoXb42KnpENTlAwkRVP12l70y9WGBFLKFkiOb2gYUtSVijB1Cno5opEAcopVgKb5rN64uPnyULLp-FkUW_cmI-Lygb1oCqI7XKJKPU_gqjS6XRztMKezwVi3J2Qq6hKvCZQSSq0V7P6JgB4sVkwntZOIAhSKZKOWGIx25VoLQQWoHBuKKZl4xE8jNIzvFBYtH171jf7oOAG2GZqm1CHjTX1Cnm5jWFvBoKyqXCBFWlJhxTRQ4EktIYphcH8x8ZyLg-QVelbkB-7aQ40pq2rLB8fHKF659cXg_3aRftij7lY3OxFX1ADJtnNUDge9Qkm2YhADLGcCtjKhQAbP5V_TWEwwOm9honLrWVSRsSDzlwsQiKlnzxsRMsU3vL3gDa6BrmlZzdTkFQBXn6gREcxg3N8h06TvNloRZwSq5OdR7Nh2NDYIuUSKE-ki88oFIMHOxpI-7QJcmdIhsv7WejG8PL5xdVkLJGbNpNvAae5z1oJShryXQjmCpiYSOQHPqvzR6As9aISmwveb8eR3j-om-tzDg5zEjFlXNN22WS2ZxQ_Wlj2-o0it7Twernv0d1D7Gad0j86SWPeE-7DtlF34MqOK-aZSGGReMZTP6hjJdoRuwC1iQwsDVMa3rBSCBiGRRvMYZYQiAXeOyDZlsch-q7H944S25byqKH0fBYEW2TLW4eBx95SROS6srBytuxMyie073Y09VFYw4gxjRV22THeq-4O5P_2ZanaXukkeUSbOQq44F2mWlsOUkqYPdBuG_vXRV5DgsNxCNR4cmX0x9rThJcyZyPmkmMpZtgG0xi1VuAjkoLXbBeedvTtLoVoREsUlEfOlAtsD_EMubyE6FV681EUMEGnBk7yJ8lOYgopHVo4-61dtfu8230eECLX4i-DU3vk9oTlDMSP3mUeEVvqHi9iVfrwVvyrLU8Na5yUmkXFcD20sUR1oqHkcVDQ1CHsaoxwH76-N9rlbogQzHKh-jSX-oDUj6sIMs9unoM-DaTuHUGxnAw2dT418-05Mai9YKF5o-osC-bpQt7Kxl9OLgw9e2B01kcOS-KnSICZGAWuF1xJC29F3iOHl_t5kQQRGwGJK2rSBj_Bdcl8UTH7YN71M7ZwMD29n8m3eNENAhBNzWsFk6JggkCzCToCMM8w5Yssp3a_RO5wwFd8Yxv7Zw3pDZ0s1-gAV3nQdP0T8OSd2qe9Iu20mfOQdWa73nnxP0acnULehpgfn7bDxwpgWdXRkSwUX5y1xkZ0OnGh9RAkbXKXajj0lEDYspbZVPywctjPZf9TkYOJjUCikHy66WN3YcXIGNcQR9oxajDC7x9gjXWKh3Zv6Cnz3ZPbndoA4e5MZbXTjWnbcsn-0URKqFIJkkqMC85ybc-W06qYmBbsUXnks2loqTG7OASv535dpjw==",
  "id": "rs_058c07f1deeb3086016ab41ad7e48087d0a7480b8d953320b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.145,\"right_z\":0.24},\"note\":\"The cream plush has lifted with the right gripper. I’m carrying it to the centre of the right basket, several centimetres deeper than the earlier drop that caught the front rim.\"}",
  "call_id": "call_raiQlMDU1nwmYtHBtOdtKz2v",
  "id": "fc_058c07f1deeb3086016ab41ad96bcc87d088777a41c143c88b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_raiQlMDU1nwmYtHBtOdtKz2v",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6369, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.4221, 1.6154, 1.2411, -0.181, 0.3538, 0.5133, 0.1163]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1854 left_yaw=0.2658 left_pitch=0.4533 left_roll=-0.1809 left_gripper=0.9968 right_x=0.4635 right_y=0.145 right_z=0.2179 right_yaw=-0.1545 right_pitch=0.0202 right_roll=0.2764 right_gripper=0.1163\nstate[joint_eff]: [-0.1436, -0.1709, 7.1726, 1.8144, -0.1245, -0.0464, -0.0122, -0.2803, -7.5556, 9.8256, 1.8681, 0.1245, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4563f9efdcb8c7385631e53cc97824f9742fd3359deecdc430d04d173f262cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41bc8588ba9a8a37e2f3026c07ce03e5d4ad99780f5eb52e1faf068f75a2ecdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3da72134e825a0d3bf57e3857a231271ac039d1bbaf9be2954652fb15b23e2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 2.816 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 0.6357, 0.1642, 0.3626, -0.4641, -0.2367, 0.9968, 1.1957, 1.9121, 1.0164, -0.0143, 0.9463, 1.1278, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1864 left_yaw=0.2669 left_pitch=0.4568 left_roll=-0.1835 left_gripper=0.9968 right_x=0.2819 right_y=0.3348 right_z=0.0703 right_yaw=-0.1353 right_pitch=0.0542 right_roll=0.2998 right_gripper=0.9985\nstate[joint_eff]: [0.1299, -0.4718, 7.0769, 2.0879, 0.0366, -0.022, -0.0122, 1.0735, -6.3248, 4.588, 1.1258, 0.0659, 0.3101, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3595, -0.4644, -0.2367, 0.9968, 1.1965, 1.7756, 1.224, -0.3466, 0.9569, 1.1164, 0.1141]\nstate[eef_state]: left_x=0.2919 left_y=-0.0014 left_z=0.1857 left_yaw=0.2658 left_pitch=0.4542 left_roll=-0.1816 left_gripper=0.9968 right_x=0.2849 right_y=0.3403 right_z=0.1589 right_yaw=-0.1359 right_pitch=0.0669 right_roll=0.2993 right_gripper=0.1141\nstate[joint_eff]: [-0.2256, -0.253, 7.0222, 1.8584, -0.0464, -0.0366, -0.0122, -0.3761, -12.3829, 8.9641, 1.1355, 0.5788, 0.0073, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6369, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.4221, 1.6154, 1.2411, -0.181, 0.3538, 0.5133, 0.1163]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1854 left_yaw=0.2658 left_pitch=0.4533 left_roll=-0.1809 left_gripper=0.9968 right_x=0.4635 right_y=0.145 right_z=0.2179 right_yaw=-0.1545 right_pitch=0.0202 right_roll=0.2764 right_gripper=0.1163\nstate[joint_eff]: [-0.1436, -0.1709, 7.1726, 1.8144, -0.1245, -0.0464, -0.0122, -0.2803, -7.5556, 9.8256, 1.8681, 0.1245, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4563f9efdcb8c7385631e53cc97824f9742fd3359deecdc430d04d173f262cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41bc8588ba9a8a37e2f3026c07ce03e5d4ad99780f5eb52e1faf068f75a2ecdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3da72134e825a0d3bf57e3857a231271ac039d1bbaf9be2954652fb15b23e2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrfuU05nsqAFYYEhAuUVlyzlJMpPthEM51Vincx8SCrqbM_gNCartIsMiKZblgKgSMLpgRY2AM2SHzYDfegLmXUitX_qBZOhWFxCJFwKIzw4FgLOme8XC4NH6Db1LT2U-xajm892iApZ34F4f1efcf2w-aWabbi6XLwJbW1ZXUp8oHco8zwjSJTg91-zc_9oOJlTy0LUasOMkIwAmC8KBxU1U5eq8RvzFS4o1FBcN0SE7M1u_t8zdy_HwAMZxMRQng5O_k_hibYy7tFAPST_b5KaJf9Fj-Qkhvim8EniMQIeo9gFWdmo6fCDrjnHMzHZuSVVKcrHHesVuhKNlTFrZWVbQYplAyjaQZHgILY1HYdZkvm5mrUJRU3EQgR5wQ16OhxBe9n_AaZu4J6nZWDUUmssPLK3HriFHlWFBkGk8AlgHo9J8G-jw_DfWQqRlrQ7iX6t_C8-pVY1LAiayr_dC2YuzRjqKcj2n8exOhmYtnU1LiNOJ1GqceXwBDWr3mk6WpWKosvP1o6v3ePrrWqA8rnaoghmi17hGJuX2AfxnlrsTRglymZmEyWdAPhjJ57gpRkROSx9Ke5rd93yBza4QinGtM4YqhZQbD5KzDk7UDivpGM7RjEGZ-7P3AITgLDvXDHO__iyAiqKDLWnLbTh94g_Y3vXtO5SjlG74sVP-Ym_hjECcnI9phi2oECEbDtay4QXDeLR5kP7_yFGke5Xyqimq5kgLJjjXyGdvdA_DzLAc94FnrHP7cx7h8fI0eBbC9_YLaToMFKHVpBvmnF_5E0ZzQ9-8Yj6mS9pNtYe6cSK9nq8UY1E-wau1XMthXLakNgj1J_dxZci7d8yTUHv8kyVGD6l4kIA1UePyWGEZVUGhE8NjXJk9Wf3akKPMXZePLu2qqoNZZ2cMQajbA6dxngQgQDC96jQ1mOXMNxfgJMDB-NAstvjgd4RtYuEw3tXxCY-0zVPIIfCfGwSsx7U8Xjb1tEV2zHiBMbkouA4kce93PePuzYwgxnlLkNW5KVQQNB3Bhcagjjct60xCxoZfypVFeSHqutb08BdthTZJ4QWKpvxg9egmyLlDmkKeBniwzn5nRThjutKkqRS1NsgEwkCLgvGOSs3gR6V4J9zVJ2xnMynqgMV6-AQrs-6C29BvWrtEiSSDe8PH8kRZuEUWOteIDoKo3eb9P2b0DIdsTfjr9MCSy_GXE6nlJKzXKEw3h4SAdqxZR_lV6FsjLmQ_a3mL9gBHN52dNFd738agRc_dG_8X4OH9VzQcqEnPnQLazhFhDqA1V_r46gAP8-JPWQIRlcQF6WwzhrH0IdFP4AxTst064d4GsTO75Hpi_2Ly5TyS-q3iu2k6UUl_2t3V6usCrwRx00r7_SaaaWEWNAUgHnCi6pVq6V-sNOf5f25_pnravs5DaMh5ZR3FH7QgUa87c3BNEaSU3gVVNXl5XLLcS4g5rK10YwIdTSClhfnYPf4aZQV1pvSP6OoajMktplsxDV5gmOUB_N1HK_BhTjtOgbeLeSXRvgYZGlSGkBZhlPB_mr1s3JX-o4pc5guX8chgHh3apFkT_cYwwhc6rmfBInhUjvgLAbT1m6SUfsexyCA71taSLlo_u--HGv5qCCJIyPO8WdMccjoYY664RKOslyVyPeePe4kg-T6IWsv20bc_EH0Oadc6t3M5HVfhvdro95PnNptSLMvEbqxY1OXmej7qOBpxJ_OwBfA7E0dOmZPUipNEqhkfO2CFV9-mxXH3hj7Zc3_-y9ZkjVTvGH_v_77t4dt5mCKnmJGdc3_RDD57NupFXZ7xOg3xweU0gJqA7meHkEUV7EN1QACIJn9LthyQL5k5AuHeDq21nel9R-PHbWsWlnMrAVlQF3XFD-z3sJj5Rli637RwmCO7eiGsnaXlNAvtGCwZtCgqisr0jo879DIy46fQ3lsdVcNcUxrwmcIRQBTnD1peweQG2adCWY7YEYiIjtiheB02vt1ZD0m3Kn9H99K45GdyK-F3gb-t88h3JwqtYpiagPT2hwVck=",
  "id": "rs_058c07f1deeb3086016ab41add090087d09aa0120430a77832",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.11,\"right_z\":0.14},\"note\":\"The plush hangs behind and to the left of the grip point, near the right basket’s front-left rim. I’m moving the grasp point farther forward and right so the dangling toy, not just the gripper, is over the basket floor.\"}",
  "call_id": "call_ZGz4mMW4okdchFU1bfoBoNyE",
  "id": "fc_058c07f1deeb3086016ab41adec89087d09c25c4113664151c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZGz4mMW4okdchFU1bfoBoNyE",
  "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]: [-0.292, 0.6403, 0.1642, 0.3592, -0.4648, -0.2367, 0.9968, 0.3061, 1.7229, 1.1023, 0.123, 0.2699, 0.4595, 0.1184]\nstate[eef_state]: left_x=0.2922 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4952 right_y=0.1109 right_z=0.1647 right_yaw=-0.1729 right_pitch=0.0568 right_roll=0.2953 right_gripper=0.1184\nstate[joint_eff]: [-0.0889, -0.5812, 7.4051, 1.8046, -0.0611, -0.0269, -0.0122, -0.2393, -6.6667, 5.4496, 1.5263, -0.1099, -0.1538, 0.2076]\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:c2e65bb47a11f053d26db1ee629d5ea2965c9038ba5011711b0f01da60947ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3fe5a7a61e9a7561baafd08cf0c643beba77189abdd13e3049449a08d89fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b432eb78b60141e06c7259ec0c522672b3311555996eee56de2bc5e1c72c4c69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 6.956 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3599, -0.4648, -0.2367, 0.9968, 1.1961, 1.9038, 1.0172, 0.0208, 0.9791, 1.1191, 0.1114]\nstate[eef_state]: left_x=0.2919 left_y=-0.0013 left_z=0.1858 left_yaw=0.2662 left_pitch=0.4545 left_roll=-0.1818 left_gripper=0.9968 right_x=0.2857 right_y=0.3357 right_z=0.0813 right_yaw=-0.1539 right_pitch=0.0905 right_roll=0.3294 right_gripper=0.1114\nstate[joint_eff]: [-0.0342, -0.2393, 7.0085, 1.8437, -0.0904, -0.0513, -0.0122, 0.0342, -8.6496, 5.4906, 0.9304, -0.0024, 0.0659, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6369, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.4221, 1.6154, 1.2411, -0.181, 0.3538, 0.5133, 0.1163]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1854 left_yaw=0.2658 left_pitch=0.4533 left_roll=-0.1809 left_gripper=0.9968 right_x=0.4635 right_y=0.145 right_z=0.2179 right_yaw=-0.1545 right_pitch=0.0202 right_roll=0.2764 right_gripper=0.1163\nstate[joint_eff]: [-0.1436, -0.1709, 7.1726, 1.8144, -0.1245, -0.0464, -0.0122, -0.2803, -7.5556, 9.8256, 1.8681, 0.1245, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6403, 0.1642, 0.3592, -0.4648, -0.2367, 0.9968, 0.3061, 1.7229, 1.1023, 0.123, 0.2699, 0.4595, 0.1184]\nstate[eef_state]: left_x=0.2922 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4952 right_y=0.1109 right_z=0.1647 right_yaw=-0.1729 right_pitch=0.0568 right_roll=0.2953 right_gripper=0.1184\nstate[joint_eff]: [-0.0889, -0.5812, 7.4051, 1.8046, -0.0611, -0.0269, -0.0122, -0.2393, -6.6667, 5.4496, 1.5263, -0.1099, -0.1538, 0.2076]\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,$blob:c2e65bb47a11f053d26db1ee629d5ea2965c9038ba5011711b0f01da60947ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3fe5a7a61e9a7561baafd08cf0c643beba77189abdd13e3049449a08d89fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b432eb78b60141e06c7259ec0c522672b3311555996eee56de2bc5e1c72c4c69",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  "role": "user"
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{
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  "id": "rs_058c07f1deeb3086016ab41ae1510887d0b6ea3d3eec1b0787",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The cream plush now lies within the right basket opening instead of across its front edge, and the lowered arm has stopped at basket contact. I’m releasing it there.\"}",
  "call_id": "call_Y9SxdGBStuQYsLEGoAnnysxJ",
  "id": "fc_058c07f1deeb3086016ab41ae2397c87d0a74aaf819c3b466d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y9SxdGBStuQYsLEGoAnnysxJ",
  "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]: [-0.292, 0.6407, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.3008, 1.7447, 1.0851, 0.1249, 0.2672, 0.4557, 0.9959]\nstate[eef_state]: left_x=0.2923 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4933 right_y=0.1079 right_z=0.147 right_yaw=-0.1733 right_pitch=0.0238 right_roll=0.2762 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -0.2803, 7.0359, 1.8046, -0.0366, -0.0366, -0.0122, 0.212, -10.7282, 8.1162, 1.7558, 0.0464, -0.0171, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e3ca30353dc531078369acd463a6f9e751a53462f1b27bfad44bfe2b036060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8891f6c6b256ae267a952992d6e7c7017ec794b828e5450f06a4ecf29db1ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf4a159b8d4303b61989130cb88d147dc49b6903cf03bf902ca7f8fc24116e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 6.364 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6357, 0.1642, 0.3595, -0.4644, -0.2367, 0.9968, 1.1965, 1.7756, 1.224, -0.3466, 0.9569, 1.1164, 0.1141]\nstate[eef_state]: left_x=0.2919 left_y=-0.0014 left_z=0.1857 left_yaw=0.2658 left_pitch=0.4542 left_roll=-0.1816 left_gripper=0.9968 right_x=0.2849 right_y=0.3403 right_z=0.1589 right_yaw=-0.1359 right_pitch=0.0669 right_roll=0.2993 right_gripper=0.1141\nstate[joint_eff]: [-0.2256, -0.253, 7.0222, 1.8584, -0.0464, -0.0366, -0.0122, -0.3761, -12.3829, 8.9641, 1.1355, 0.5788, 0.0073, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6403, 0.1642, 0.3592, -0.4648, -0.2367, 0.9968, 0.3061, 1.7229, 1.1023, 0.123, 0.2699, 0.4595, 0.1184]\nstate[eef_state]: left_x=0.2922 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4952 right_y=0.1109 right_z=0.1647 right_yaw=-0.1729 right_pitch=0.0568 right_roll=0.2953 right_gripper=0.1184\nstate[joint_eff]: [-0.0889, -0.5812, 7.4051, 1.8046, -0.0611, -0.0269, -0.0122, -0.2393, -6.6667, 5.4496, 1.5263, -0.1099, -0.1538, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6407, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.3008, 1.7447, 1.0851, 0.1249, 0.2672, 0.4557, 0.9959]\nstate[eef_state]: left_x=0.2923 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4933 right_y=0.1079 right_z=0.147 right_yaw=-0.1733 right_pitch=0.0238 right_roll=0.2762 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -0.2803, 7.0359, 1.8046, -0.0366, -0.0366, -0.0122, 0.212, -10.7282, 8.1162, 1.7558, 0.0464, -0.0171, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e3ca30353dc531078369acd463a6f9e751a53462f1b27bfad44bfe2b036060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8891f6c6b256ae267a952992d6e7c7017ec794b828e5450f06a4ecf29db1ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf4a159b8d4303b61989130cb88d147dc49b6903cf03bf902ca7f8fc24116e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrqAfgwDhdN_BBgtGll8NkOQz0v0sTI50U6ARPaE2Jg_TFX_GeHNfl-thKfXFYAzJd-WsQuybLA0QPCbqOpAIgIYaro3xSISLwPq5liAXYjQiJAw_tYwmHmNQGz2zQWO2M7qbPtsJDmXTZy4foosUzv9Wpj1PypK1BchQdlKn2CMR2Kza0CLR8LqEYJU4LOd-mfotkfBZtzJrP3chukDg-JOdfUUFfZEtGNhOtyB27ynMSrRirxRrDDLp0N6pM4-bTcH7qGEsVcROwULqEb2MoaYC5ey8Z_xj9Jpp7R2OWdiQ013bmnEq8UYv9yIfIBNBOPxRSS5znOAs4Q7LDZTrY8ZmgEGqec-2LxzAWVij3YdUBgFtFYaP8UdD-C0pSmACtjPp5cE9nri8hyiGGozW-iR1jjkJhmYpgJkG5OajSme0rxSuCIa9h7Hv-fasa7fOqBI4tmFzzFXaor4JUrfmtX2OmGKKQ4oKUCpiupW9e-B2kzpWkNXWfOr6X30P9PdJq2SPaNPXxUHhZzARrJeo3LFlg1mePi7EkHrbVm1AA6CXXEd3p9TNY3fpBKhNw9F-9Y0qaQgqXTfDGGx2F6boIOcRo2SSGpnXH5CPSB62rNI5c4MCosyo4SjfiBsBfIz7ZCA0IiRFGQIYjb5fY4KvTzfqxL9BeNMKhFqaqkiv2GSY8Pk52ejozf_xygWYsxajZA3Ajqqz-V7QQEHNYrmc-tyhOSIPrA20vkUPTUk6JPqYYrjmuhNGgThUdzBk1JpEN8RuStTVzfV0A7Th4pqJE23VP4UqprV2aEuZ9XbXKN6IdDpb_xj7FJJe6oNuZrj4URvo6ZzWl2bnrkU0Uz_ud0buIxgMtiZ5qHGT-vlzz_y8JxOOTbrj2qGH-Zw8O-pmUron6RaItwfmOa9_2p_JEEjG2DW1EEIHWNx9_ZZ2hGZPmNWXnfTwMXzdD0oFOmoISqEC18UZsqP0RmIsIPnBTmSdKQvdvNd-kQ-Il58Ir940mSc4Zb612IQn8O2DbbWXLfMYXjzEhvgSR2S8dTxR72On4pUNMH7MnV7KOmz4Ad-jwE82V_ooENHacW4pmZtyym1HlvbuIQDgcSObroXwvgGeJhbCG1bbtvdVy-lreYzGlnjcUZKPu0qhgNRlTfIQbkOEqqkOrU6bxkR85mqqyP_tEa72ZPU1Hai-ydopSh-8Y9zGDGgSJ_hV0JLAcoNhU41XuDyg5IRdsA1XKXaIfqBc_PfINm7PU91UK2nOgIX0jaCRDx2j9e3vz5qRB58wGc9uRELBGqYWSe3foloE0Gpr8niZWQbWHYbeiQZtbFjvGvTVW5iHU8G_FHVnW1I_01XoVl3WgSjcKACaKu34swvEdub58JWn-ewh-3khGZMzF0RIpr8qWkgmjvAwIDFF1M0SxbYrX91F1rv5PLEtf6grwOwlxOgK0nTT1Z-a-RcVZjhJIpJVu-C-8wLKqv-xtdsagkSD7DW3-3Rne-WeqcfVRsIfR7pqrUTeuBubK9RRIQ306-vgHbyHQyCCq2TU2lXD9Je1GFD7wU1ReYFvTT4fj-_FB3m0ze4-ZeokXX2IJsV_B_74cUPIvIJhDxCb-uObdl23K_XFIESUrhpYf4wQ5DSbdFBOucsNGKiAmsBnphEZU4M5DLIVBma1PlS3KA-nYOf1R5RkyX8BuBRYQucVruirmn3VRhI2fT8KqFHLrrQvZ3uGFfduhFWOj_GJtT_Z5lAUVlyRFYlhLuz77EiawW6loTdske7eyKEy9wmGL7mfDa0g6eMzO47WQgxYKnqecLrkicaq6KNNN5JE4zTbJTeMX_jst1W9jeuJCAs3H2y6j8pcqW06VYVaICckoqbgPoyKvB0Ara2E9RW9yN4oYce1MexVgrj5A7uk3WmKG3ceC-4_0JgJkZYKWLpZ6QaFPzGOSp_7EYJwN2ySXk7E_CAapex-XbouQzNAC5Wxf6arGC1QQk3qaXSWDx5JUTaWNIOtMirCBLfZKzzORnK_Ggbgtl_nPlrfLXoo1K38VujOmYMz1K4qpn2on1VrmDZ178OPsIhLAOVG621rRhplFqmBL7yOq2jhklClMYUGjmo0KQH7Ot49bQaSgn8ytQHtmpFxbOTmZ4HYJf-Hn8rN9Cw5GBTyDmqlXnrD2bdAqwzaRgSyZhnx58oo3guzY8zBFVlOKkPefsA--UNvj6NV9A-dtN727rELfkWkU50uQUN8tRA7LzU27w1vB4Gdff1uocV9v5JJ2NA0gMJjXUp1DG641JiQczv-UAgD4_OQJHjuLIy4kNk2m1kRw3XFh-0lH11xMvVNH1EP30ZGgJybchhlFIqoYiAPa9a4CjbF8caX2d-zZGl51VAt_0oxffaMDYVwYYdbKcg3FTg9RKuqRbY2QxcJlTzCK_eIWkd5ez4OULYHwtABiOLuiPUZH9WqPs1A5cc559uFdABfQ2syK7VNCULzPVyiLiT9Od20VpMcVYsSxxvnoXJ53okogtmy3tQZe769cFBheVjO7fplHakZE_MfgDztBH6Wbpht8YyqKjtQPzHDmlAOh8LRTyVAdy4_di14aH7td-dp6UHImZSSTxbUKHhMuxjx_erYqnwvk9Ma678t1R94yFHPrqr2gqJ_T2C_cxt4LDOATZcoYG-m8Y2LogkBo3hW34HOxPoh7RdWLadKbOGuTVmWmbbcVnZ2yqNJMKXIj_M7rb6jiBfu3E5DVW2I16mvYEHgX6wKqDHKl2mEu4H_IKH_Vcn-92B5jLS_V3IB2OMl3BvsZ_AroJoLj27gXEVb18HOUhUHojMD4noLdNE9lD-R4o3th0QkXeQ3VzVTiapyZLmGT6X5mBWlXWqpJ8Ikk_pMQ5RzFCtCmEEJJvkqdYkhP5gZfz9_7eRG2kynafvzjq5q2WhgQdCnv1I7oLpIfQEmAqdmkM5M2KIRTPXOrjmH0jy3_sF0UkhjQNBIaw5L4YcSQy8ly1N89aqMhEUP0YwLIonCZiXyeay5fCiCIqManeUByS0LY6V3snL6RHiB24iDMDSFnJhCyP9-fSeLbmLHY0I6l9nANf4UJogKv953gIFpYPYgQCN7TBtHLIE43_gIJLHJb-ojvHBxmZepVtQfizBrwd9cUCuV8zgh5xsPK-9Z9bexDaYYVvHH4xij6f5amfEKe51GkaLfHdZq1te341hqKezu9-GINJdA_jqr9Qpq36EtpCWppS_BW3LQZBXx3OETdmHA94D04KYwxOMneX49fsl4fXj0hyeap7zBVu1i_4pjwXh-Fp786IBomIIm-8TjCSqKk6ImjqFIXwglD1qbc9XN675SDDwr7vsymOzlRmPua48ZPD7H-MudO4GgZrAukRtuJRC5-psKkp6pr4ZO7SY1RLvbaJpzrVLTYMqJB3XnRwhtnqEJInF7anV5ZysrBgjS_WGdNdo-KecEJUJIEybsn50fK8Ct-0EODYhzbdd0ju8v5tDCEMouTL9VlRbPL0D-N_YTCQcl6spup1YVHSwHB1F5iRY4-6dL1SJ4a5dcQ4eZaE31pVsn6sOGnSxRvL2SF2J2Kewx9-C5y3wh-vzn9zIN3q84Pgzh6-UVL6JKAZHIncehoq5EDqMyHLm5EKYbWV0B79AOalmi8TQxP11rIGczn35wU6Egs8",
  "id": "rs_058c07f1deeb3086016ab41ae578ec87d091db20a6906ac481",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.16,\"right_z\":0.23},\"note\":\"The cream toy is caught on the basket’s left rim; the basket floor is still exposed. I’m lifting the right gripper away to see exactly where the toy settles before attempting to move it fully inside.\"}",
  "call_id": "call_Kvaut9jIM85dshiDLW9Rth5Q",
  "id": "fc_058c07f1deeb3086016ab41ae9dd6087d09354968d790a56bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kvaut9jIM85dshiDLW9Rth5Q",
  "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]: [-0.292, 0.6418, 0.1642, 0.3599, -0.4644, -0.2371, 0.9968, 0.5896, 1.4052, 1.0424, -0.2359, 0.4698, 0.5961, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=-0.0015 left_z=0.1842 left_yaw=0.2645 left_pitch=0.4493 left_roll=-0.1787 left_gripper=0.9968 right_x=0.3874 right_y=0.1672 right_z=0.2134 right_yaw=-0.1254 right_pitch=0.0118 right_roll=0.2706 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, 0.0205, 7.0632, 1.9023, -0.0464, -0.0513, -0.0122, 0.1573, -7.788, 10.0855, 1.6874, 0.4225, 0.1001, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ffe42d6350083d17ad81e9071226f065eeb01e7ca7698288000889d05e2b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee9339c8517527c6a8eaafabc1c61de6cc717e41da58ee3e36be83711d129f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c6101d682915aaa18a42954027fee04ba2a4fe74832467c51d8c485c2acc61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 2.67 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6369, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.4221, 1.6154, 1.2411, -0.181, 0.3538, 0.5133, 0.1163]\nstate[eef_state]: left_x=0.292 left_y=-0.0013 left_z=0.1854 left_yaw=0.2658 left_pitch=0.4533 left_roll=-0.1809 left_gripper=0.9968 right_x=0.4635 right_y=0.145 right_z=0.2179 right_yaw=-0.1545 right_pitch=0.0202 right_roll=0.2764 right_gripper=0.1163\nstate[joint_eff]: [-0.1436, -0.1709, 7.1726, 1.8144, -0.1245, -0.0464, -0.0122, -0.2803, -7.5556, 9.8256, 1.8681, 0.1245, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6407, 0.1642, 0.3595, -0.4648, -0.2367, 0.9968, 0.3008, 1.7447, 1.0851, 0.1249, 0.2672, 0.4557, 0.9959]\nstate[eef_state]: left_x=0.2923 left_y=-0.0014 left_z=0.1844 left_yaw=0.2648 left_pitch=0.45 left_roll=-0.1787 left_gripper=0.9968 right_x=0.4933 right_y=0.1079 right_z=0.147 right_yaw=-0.1733 right_pitch=0.0238 right_roll=0.2762 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -0.2803, 7.0359, 1.8046, -0.0366, -0.0366, -0.0122, 0.212, -10.7282, 8.1162, 1.7558, 0.0464, -0.0171, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 0.6418, 0.1642, 0.3599, -0.4644, -0.2371, 0.9968, 0.5896, 1.4052, 1.0424, -0.2359, 0.4698, 0.5961, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=-0.0015 left_z=0.1842 left_yaw=0.2645 left_pitch=0.4493 left_roll=-0.1787 left_gripper=0.9968 right_x=0.3874 right_y=0.1672 right_z=0.2134 right_yaw=-0.1254 right_pitch=0.0118 right_roll=0.2706 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, 0.0205, 7.0632, 1.9023, -0.0464, -0.0513, -0.0122, 0.1573, -7.788, 10.0855, 1.6874, 0.4225, 0.1001, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ffe42d6350083d17ad81e9071226f065eeb01e7ca7698288000889d05e2b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee9339c8517527c6a8eaafabc1c61de6cc717e41da58ee3e36be83711d129f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c6101d682915aaa18a42954027fee04ba2a4fe74832467c51d8c485c2acc61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrx70pUhUDf3hMDdkzG9FXi4SON3TeqhItiWpklS-TmG5d8NJyjimw-u98K39IqvegdtUjgtgwM14t9ZKHYa_2a5iCrqejeeC28wN5Hb_ARDHk4Oa0Y8vWYF8iw-NhLY3Px6DviiL9YXIKqU1tXUb_NmTTj1__mThu0anw_EEuLcYIH7MxfvNaK_ItaohWsFq4e-lmH5OphWTmgwD-q0FjQDyNVhZ2O73irWnuhvJbTVEOjoDxJcSzA58CQmMDAuR1LkTS3itbCcIJyK7Espz13FmKad3sgXRHx7dQmdjeWDxiMiqtlK-tcnvFPUNcDo2C--sQ0-Fu_h77DjfM6XlhPZeR2vnlA8F18UjDLXgTMZ8vbYAuKFbMlwfxaKQjcsWD-mxR_v-eaTjV2kzCYWo6s1H08S0HqSGYfCVEi2JOaM2E6igSMrzCXH7FXOCwQp_MaVQ5CcKMY6gBTI8_7MwATjvgSkORjvF6lLDmFxVOUYPUgdFnjgy0fey-PtznI6kTp8ax4Xh-bXBFvAy_UCRNKgORNuAyRLSkGL6elg4ykvytibMXcOuVU4EUbxme0fYpTmYu4ajRsk9GBtjyZtDh2MOXwnPsPZV3NHuIFyRJAG3ePxA4kiJe796skUcAN2Og1m5M7NZ_gGGp_D7_3fNKWOx0SYNJ_jTjpZEqCE_lUgD72sYPUx3JwxMJWLpU9AKZwIbx62zvM-xqK2DVFpKC_VdQkL2TwEyHAPXBbbCamadEp3y2I4P9FxRE637lBn9POgTEdAGAU7UZKO36jGMpabqcQUW_l_fKQgpKe-7M2ahv3svjVUdbchhbzm8sCmNHU52LItgPtthczcFkUWUwCHGLPjcFliUHREkDlg0AuVGb1rrDn5qMzKp0RGakZt-T9JIjn_e-NlwqczHgVsbGpgQzElfNgb1-zUVm_D5FU6xQTJ_Y9GvFIkn9Os1JfIaiugNE6pNElpJbZlaELae-ytv7v6TWFZYoBfbrcohfdUatT4OHNNFCXqGtTDHBpN_zp3yGdhKKgEN1cuNtrBeKIXA7C7O1tNSZX-znHy8BdepQj-izO3O33HjCjAGC9Em28OBR-0o_NNlSR5LuyzW9EkkdZU5Bo3kgY3ccZX5G62jCttEPDGtIbGpBnUELzxhrcnajYxlyimtqSVaasxfG2C8oP2peU3doiuX7Y3k1gs0l0RU6yS9YSP89yru24u36Ow3AHDxivNpeIh3GAwEGerkH8k1gWIm1gUfd65-DAqzt8ggKZREytomYZpTxH1HqEjdmT_ob6Lt4aAWl4Puuxuqa-Ja-OrqtIPBE4QDuKqpu74ac3hOahDBhC-6vqFmTV3LvJtY9OjZBQimtnnuNmrshiAvlsnTh0mBfyrf4qzxabWRS4iJ-_XQ4u7EDKwTYfjiE1Sr3slW0yf1w4puF7MXiKzGUpXwPfB75AdAwG_fa1MbDEubLG-PsbSoKvJjK-lJaDuYA_8Q0EnQL5ebSjQcGd_XEE18xs-HHtYQzFii5AAWvXz08X4OCxPwEB4HEHY63FGrZgu6oUOQ35UXgXRdIvdXQyTItiPNE5G_lolItfBMKmVDYsNqxgTPBesDOXfReOiEVh0VVLniJBNRj1NVP0U5nEDQU59k3AQu5aSWxU3ZpqaSWwdqH86UgdsjIuAFNkYRQmKjCkJR277uFTaJUwXMWtjT-Qpyjf19puN3zc9Dtd6IKlgMYUMYijC88eHHCs8FWhRFV3w3N9_yPp0qeULR-0ZJhlpmZJhK58eo-Ak59uS_y4Svz4zAKRJ0ZcmCK2TBkO5MNYuA8Pgfl9HSSt-haaHFga6Ilvbt51j3GpbIMgZSLGAVGr0aqayV48OqiqMvHWYD1MMxx-5BECtNj9MlJ3SSf5HRHwfGgg45dMK9DkcvPor8LYXjaLt7PYMd_7BoEt63U42z_W2CbSZEvc1oPp8I5FirbJ786g0ix63yEIIqWeRLNG0__BoiWT05M6aWObwt6U8f2cQsnXXfJXniWlc7uhizXHM4wJNw9d5AbRtX9DorHQJcOjNdeqPVOSFlsoh-E-IPuEgLYMEJGtLN-Ziha35hkHJHhxNujB7vu55Qha3BE_c5o_wGxCIgFuRD2gRNWSBKoaCaX-mQ==",
  "id": "rs_058c07f1deeb3086016ab41aee6fe887d086b1bb8f9cdea070",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.24,\"right_z\":0.16},\"note\":\"The cream plush is draped over the left side of the right basket, with one paw inside and most of its body outside. I’m approaching its exposed body from above to lift it over the rim rather than dragging it across.\"}",
  "call_id": "call_lqQwOwwVitc3LOz0ngxN6ou1",
  "id": "fc_058c07f1deeb3086016ab41af1228887d09a863d0e3e10611a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lqQwOwwVitc3LOz0ngxN6ou1",
  "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]: [-0.292, 0.646, 0.1642, 0.3523, -0.4648, -0.2367, 0.9968, 0.6422, 1.7977, 1.2259, -0.0937, 0.498, 0.6186, 0.997]\nstate[eef_state]: left_x=0.2924 left_y=-0.0015 left_z=0.1814 left_yaw=0.2617 left_pitch=0.4393 left_roll=-0.1713 left_gripper=0.9968 right_x=0.4449 right_y=0.2319 right_z=0.1482 right_yaw=-0.1077 right_pitch=-0.0296 right_roll=0.2325 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -0.6222, 7.2, 1.873, -0.0952, -0.0366, -0.0122, 0.4444, -9.1145, 8.6769, 1.6532, 0.3834, 0.1294, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17761589c3295d219153e0cb0414def774640c669a3e855a5c68365077e7d28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee868abd00eea28f5a7425d587cb305c6f3aa3374d4ad91d94f7a1fa4a7fa7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
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