adhoc

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"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3798, -0.0216, -0.0334, 0.9994, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.7709, 9.2923, 1.7558, -0.0122, 0.1783, -0.0708, -1.0325, -1.4564, 9.7983, 1.7314, -0.1001, -0.0024, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c2d87c3fe4f11900dc3b16fc63effba6f9e66247f94d5672e18c18b6e3ce13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ccbd30f5c6d8f3dc5f34bc8c1686fb93ded7016650a57e365fcab62fa62e43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b56a4e1c141dc4300ecad12e8da70c57497221cd120c9ba195adde2644242e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtC28u_yZKyeGjvOMvCPPkp-umUT0IZ1nwqhrEiP2gSq0g7jpdEUKEDtWMWYWQc1XwX1qNazv0hPsT35UZXDyh9uEeaklAt79a9gj2ZzUmqNL0j6HdkZ7qlUm5X2BEuDem6-LZcRqasLCC_klTe4Td07HVPz2uq-cNZMrWR0pX_zzk4IlQJg2S9KDXKPWGPdiaf7XlODFt81WqsdbAJHnjrMxvfrza2qBzkP9bQ91qmnVZuO6oJALbq11-8DhkF42-qyEzvbxvRWIRn0y0-K83CxdhEtrR6q3fIy3Li8_YG7bzkYJ1XdgYwhksl7Wt1rU6fA23mCFQ4oCLnzUAqz_Ts5_gExcmj2-YzwgNWmWw0LFj4I5ubZRDj2ofEb_Dr1Mmle7sXVFHXJKu_DDom3UYdWcHmOUB2sIUDahMZXIDQ1oyFP7IskOB2XcQfrb-LGzOSyCQWreULQbrvUAzoTlTT05-w6TAa2yfBd_1v426XlAp8iNv0UdghJ2VuyzKtBvUri5mH9_6b01qr1AkH-ARGlyK85HvFX_So5gFWrEiRB-DuYT34w1p1OWLtqL3zW2K8hTC2LvXtXBRI40lJ3PMkiiw_zih7FlHCUdaSYgipXv5RGgYjBGN2ePDiGipIIP1Fj3VAyZmptEAzL3P_C4GXB4k0aWa_OFYCd4mD1r0upZ1u5B-yHDBNZkVb4pYFjLg52SqnoBH2S_MR2P9wdcNoSuhh_1xfAUN6ob8a1m-KXtXv385_ECdaBgK7-r57A93pAEt_L_T8BiePdOKm7FdMCtodqzuXrRAypCX5iaVO4z0FNMhpAmWpiUMRscxCyO86qQTVhe-UxbBZq9ddjp6FZTJYWGMY7PZ3n3a1YMK1Rv5B626-yKuTonCBb2wuYzrM3lxkN8SNhAXw5ibBh-2ddJUyyDvtzGGeUtlS83tiGOHaAaBsVfoLuuhx1Mev1J_vHqZLudIRwbALUHIVD9QJsMqQ7gpzfea5nOm3nDo9YSFlPr9MirabaHdKjkoczH6T-oAbIcxIQQK6rcgEOT42u7KeKJ5mTh4iEP2lHDF1kFbRhFfK-yU0Sxlt6J7OPOJJIfiF9yswRE2hjNUHHotLNaS7aTsiwFbmd81Ym5eNc-Vx1WubqPffMbuVhY9hz7LPFZcqafS8e8L3P5ApHQ0Dy31ud2sZfnzrBn-QcYVjm38KwyZ1eQZ7yPTbr4igeEX_T7148QZ-CX9qUiVAJFVnkugBpepQJvp1npEckyZXj9r2iaOeJyHV-9uLkYdFwZHKYns23Htljnd35-CKUFn-kgy7wKdtVufQrqae2S2RDJJqtDV3nIa3WgOdjFDdyz3ojIoibaQCNZynWnmEBqPuoO4IuzBYXDfPNuuN_Z1rDQVMKSWXl8AsXFNj-PBqP2Caz3yDzSOg0L1zALUBNS9bWi_nDyD-O89C50nTEKnu_kTYrTp6hKjVQiLDi8d9pqVykBnN0BM5Hm4lQ2Z_V3OyDH0_qhEm6JGQs8zz8Om7IBxGoNkw7bt6iEKKR6R-sqVh-91rnkW3uOQi5f13xfUkVHGExU6zu2ZKjXUVPtrZCp4y9FDtF0NdI115tBVItJsTCl5_IfGABCoQRNyQI6Qu1Dg5XqfLuuptki2wmFzk46Viaj3seSDywy-0lBY3Nm5wnJyyetx1EwcsJV2gyeqF5495HuJHxwS12YoV6UVoAzp2ifx5Xsj0d4DCnf8bAMrQYp6GfFVVYc3ooV0r5w72qlNAEhiPWZF49OE21UTaHa0-f1rCzGFBnpDwmcH-bHRXPiFz1bSTJGjyHFML00tqUKf9dvzxD-bA6SajHyWc1WZHr46410WI1M9vAQpRhVr-RYvO7vJRoQsFO6zINNpk5RDq1lChkDsTMkov-PyP4xPNrnl487Cc45BmAsUBDyEuwlTaCnwhcN4p4se_iF5NIa2cMYaBkDo_hoKurl9eX_DruxEPDqwwpXKSKsxo11bWUB1f13qc8EA_vPBjqLy4u7Tvfzp_JWmRbs9TZYDTvK55AZo0vpXINMttce9dkuZLjSgiOpKTJ2CCdFdDuwUzSeazlMYnPp4fxAxT4CQXJQzC_CtSwQme7sfjyatTn42fVfDK28uUCI_aQ8TEMbNHURvVvl7wysKVqi1pwsnog_iMh6unbgEY6fJBzIn4krEz2b9mYjgWgSEK5-UNRLBjKBrbJ42Dye5uJfXuQSsZgVQZaBL3Mhr2mi1gTjJvwVjBkaXbdYSJ2JG_2OE5yhyr2xykPhnPJsIf3QRvzlq_UkrEEpJ0iQe8QPA7noMgyY2wg9rtGQNxoNHNUXFHNfaayvSfRQIIo48R_l8CysDLZBZuFZtVJVzUNOXMd98QghmROWGYwAtYqZYhH8YtyH-g_Jw7dSf6Y0KSrIJOD3BMtG2zNcbzn12K87NCTJ0QGX4H17Ja9IbONQlzLrwUUCCfzUopHkugjmKVHc2bAIEaghYEa4kWPvsR5Ieg8_83VsFJl3zA_bbPS3zsiFrcVVX5BcRoDKMZ3HTm-OPmdeADx6azRS55rgGfnAav-LaYGOR39xbxIG3cS12TOaqtBi82XcUDvqCHDavG2OPrFgUYk32oGGpRVmrlPgrkYNj2h0xheSjKFSTB7nQkt0LXj07EOyWdzDGhktMTWZCcVXpIZbqQDCdY0i-vhWMSYK8BL2boBbZhSMUvaRqyi27iGWULyixCQqKCVU0ONRrpFMrLV22mLNV4NZVDayInUeiwA966jk9xu_3rwtQ5lf7OFl8KHVFDEJ6D24vA1t23igmRRWy4ARhRr1Aq3Ij3o70rJpvC8YcqBjt20Y4Fgv9N_uL7RvQm4Bot2WOmZ-F7PBRctD2Os2dxQskh2hZmBM-XSiMZowC_3-FFfsd6JA4lEs5H4rX7GGLyQtsAq4fKZf2PMMLVTxbuRx7pnwInr76wmW7A-kni4SUhGQhYq2Fw6KXsp3GS8ULgAVgvDer4sfUl3ZsbiBHVusMNoSW6KS2-6lJ-XbUsESPrjcIFGcoRd7Lmb2W6HbeZMU1VWtf6WYp36HgRxeUVtT5HKA0ukS69VOKdr7NBwSrCORuMfx4Uq8FdokhoPr7PJUBsAS3eHy8SpRAYg0vb1_ZW_DDG5BBUeyJxkMzeuTRzQvH1iMsBivFAjZMfaZE4yItsItllw0283ioLGnpIh28sJxgpiUMIyDzx4JWfIs3WWKZyuCJOR0AmRzupTGKiWXeMaPuHtkZeZusFuxvXjnQ3l9pPmMPcXcvT5amtUJKbbKPmd4fG5sBnxwtIAV_0_1M4NoaSo0XpFxz1I=",
  "id": "rs_0ade5107ad8f7e87016ab42db67a0087d0a8377e96a03dc814",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.15},\"note\":\"The overhead view shows two empty blue baskets at the back and several small plush figures clustered in front. I’m bringing the left open gripper above the leftmost figure to identify and grasp it without disturbing the others.\"}",
  "call_id": "call_e6k1hkJi31T3xg9ETg4mqqzR",
  "id": "fc_0ade5107ad8f7e87016ab42dbb3dd887d0aea57dc74b6e8206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e6k1hkJi31T3xg9ETg4mqqzR",
  "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]: [-0.8608, 1.309, 0.7372, -0.2443, -0.6815, -0.577, 0.9994, -0.0193, 0.8005, 0.6086, -0.3775, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3037 left_y=-0.1771 left_z=0.134 left_yaw=-0.0152 left_pitch=-0.0391 left_roll=0.0271 left_gripper=0.9994 right_x=0.2961 right_y=-0.0001 right_z=0.1808 right_yaw=-0.0041 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -5.2171, 8.9641, 1.5214, -0.5006, -0.0464, -0.0171, 0.0752, -1.4427, 7.241, 1.7753, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8edcbe6a1d96dd1c5c7c7ed26dd0b337e8ca85aa7e1b79fddb690ee99cb6beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685c73cf7f247cb0ee2ce77c4ab0fdfb7cebd49be5b79694ec424b0335e5feab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a7c90a90646fbbe287acbbb9f19b51707aef6045cc50edcd5d73817e332cfe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3798, -0.0216, -0.0334, 0.9994, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.7709, 9.2923, 1.7558, -0.0122, 0.1783, -0.0708, -1.0325, -1.4564, 9.7983, 1.7314, -0.1001, -0.0024, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8608, 1.309, 0.7372, -0.2443, -0.6815, -0.577, 0.9994, -0.0193, 0.8005, 0.6086, -0.3775, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3037 left_y=-0.1771 left_z=0.134 left_yaw=-0.0152 left_pitch=-0.0391 left_roll=0.0271 left_gripper=0.9994 right_x=0.2961 right_y=-0.0001 right_z=0.1808 right_yaw=-0.0041 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -5.2171, 8.9641, 1.5214, -0.5006, -0.0464, -0.0171, 0.0752, -1.4427, 7.241, 1.7753, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8edcbe6a1d96dd1c5c7c7ed26dd0b337e8ca85aa7e1b79fddb690ee99cb6beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685c73cf7f247cb0ee2ce77c4ab0fdfb7cebd49be5b79694ec424b0335e5feab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a7c90a90646fbbe287acbbb9f19b51707aef6045cc50edcd5d73817e332cfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3EJdl9BasjPWY53lX2lSKbZ_6g_8B5d3zNmNOgZzUtnuhrV-MpUswgzNOZgzPDZDNe4fD90MHr8wy2lEUJkTM7GTqNeTBY0924Znnsksomf1fb1BDy2TPoMVbdXOP7D6I5kSCEkuky7vLfRPDRN9F7Ms0kyPKMm_Ay0guXowZTgz11QJZbiCvLTmAvqMMD3EN1BKmSbJUsmr2X6ytguqB1btzr943CgQfictSDpqp4BoMPKUJRcSzehOz0MATZL8lfTjf0fGbCXThkFTLUaKkJuCrxXYbR3bSijfXtMmKdahTbMaSLbZ0xZCLPwd7iQ2q6fs8apk8hq8L3nVymKK80n6kx4jjXkP3JfUEJHN9IexNzgXRDf_BVkJ1PS0a-2lzeS-nZ0Q5m6Tk6HAWNBVa3QK7qUXUmjj4UWOmsKnxIHlXzv4NVi3eodI77utRAwppUtlKvFZS0Rj53FbDnb1ZqHR8_WMGW6lIW5-LO5wGqiilN3aXxWCwzXWwAShCkugbk3jjNwlrWqZgLNU8OSIwhk29iI87LIJ791U_p-Op31V-xNxoQ1nzHRDSZJDhzIyXUBsxWoqtTWqFDHqRxIdWY1gInACuGrs8pMMwxmxislWeGFGGCEyrLBdElEflVGmtUYLDmDq7fiEcjrGG3zk6081Vi9l5YacAtNug-4h4Z6tIpykF2EhtdVUdonSdJwdTiOgR7wGWugr_YVO4lzsZUdW13HvFddMMB3oBmUMfgBXglPv6FDoU8cMz68BMGXZaH_glajttismUJuFxfGHZWjy5FzS-V3W6THIuhNj26xyLg_LHZN1v4HNlX4hepz4zmnq0cj3-NtTtfuiYbn0CMnNJPx5Ffy6iboiXhpkHRGNn7ZXd9SP358Zcf3NK5PJl4T_teHHiMwpTFcLJ3f73YwXfBmXkFdWVgifkxaTBOkgVfxPkcaN9IGXKvQ2ioHt2THo8hoSZmTfF164d1LnGNmembie901Hg4aUyoiTflnXtpi9n35jQsgO1EazH9mDi6afhn3Rn6ILOko4fSjP8aJHV2GCDi6obPERKz7Fq46riIe2tGZtp40fvD81ttiy6UuywP39vsuOWNDs6dkSOsyEPWAJ2TTNKDWMRgmeWaN0ptL6ehus0D0EwuqjfbJxqsQ5A3dDw-llorO2zrXeW9oEAf-WhprIAoNND6DzIVp2IVSS3JiWmwHAvYJnCu3f5nWqYts29yvgtiDEF3ZGy_E470pi_d-V_--LirkFhtXAjQdBGSNc7kGL7uL9jVZ_5tk6ede9Bb4xhXwO4R0szF7eIGYnQgv1jmC3xPR8lwduG3dQqAkSDYHkeWsop1x_M9YHKi5CmiGykNEMlUQ-VP8211qSsH_v3m4aIS9Zi8lGiRcIwt4h7J-kcKrCobbJq0zPtpQtPUSvi260844hHaFPiIwsqtmpm2sRPNArIPFp4KRnGHpN6GYI7jQGhQIvOf8Xlex3b90oUP7dzkK0aOGynJA942kROAQzVkFYLsauSucRCHk5z7PzwoQBFV0pZaysfq7hg-PppbS05CYizhOYCcxdtL4Wm05ogn5NRs6e4vOZimPI7BQoS8oldNXMIfYW6H6o3xKTmzzzW2rgWKxq0IdTIpj1nP4gdhfVUyAOgY_HMIZJs_B8GxIupPVc-37WYr0sf6nFHTMmUyGElSQ9Zo0Upt6_z0tcY89usvVU6G8vfp_PxFSdMTnFqoYO8LB08zRef70glv42MZx5gveG7mGYJAOrcUurwIG9UtjWDgfof-CeWY_wFrMZqTqCGMLXt6D4ygMNcOsxGVmlld6GQ9BkeVSVHdrP8_ngwIX8u4dMLHzXo1sLgNO078h3ssHdPxlxjx31D0Cyf9bgdWJqLjv29tgfcEsCi86vqnGktbgTzbKEa0r3kLxG2wH6qx-YWX1KoDzvt3nkRouMl7qrPCYKQAcy_TpznfhRfCyXjispq_h2SI_TgoKYNLtYFyVyqKZ_yPawYqvgMMB65aEuvqpz_YV82h4-kHsHjFjhIsxKWjfZxTgQ9xul68f7LC0a_5FClW1ZQpG81zB3UChTN98siQTYe3-oPF2UnuzxYMZqoDn1vmhaEvahD_UemLM5a0_0UA9WSfIpTWspvpon1tc5UlQIwyBoKKEXtuGfBTENjGDzhaEcwC-y-EqyTiAvz20hwGxALXmyysNmTqf4neFhIryJeYzyEwoGeDb7HabeJ4aXajcmD8Zvr136NT9cFnWo-u4VRaIC00L2ubKAkN93CmSug0ikg1sZq1fNhQMD6fmwXzfxgD0b_teWpaTtLtQAHFCwOWfn8x6jfMSQQhwlxzCA71Uc2aufl50Khcf9f8XfAkYT1eBFFusw9yE139gQKs7WOuv_od70xlAiUart-eIEnBG9C0wuc23a2HxazmOLee-qvmhWSuSIwxQWXrrxuyrt6yrjH5mk0bpVXmONTOGp8rXsiPJ_vahUyM92uIJDbo3dfnBEprLcyqQoHjaNXU4X5Xzmhc_2qz3ZO2t0ScomuzQLcq7m5fn3yMCK-SP0cZI9rVn8mphZ3mMazBqS2nOeufz86Tfkklp1H8Im4I7Ce1Hgy_xQVmhpnrwzcrNt_h3TByalROjHcxI836XePCj0i-kKNEBkkEU5dH4e9VzrsBYyB8eSfc5P4W7sBrIz_g1X6ezvBTuTBg_uvLvFkZBDRP1imZEmtnv_7RfJq6lsZ-jLlF_L5YssjEBt0S9uyq91zDFYFc6iHv2b0D2S8NIVSUKKIgZW4X4LXqlzhBS7yW5cctNGj9iqXD2rqTQnFR_GLQlcB6zZQsRbLqWI2bVx6jKN3PtURpcTm5b3oxWIAkbvWD-dNTsFY=",
  "id": "rs_0ade5107ad8f7e87016ab42dc14a3087d08fcbcd93c89fd400",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The left wrist view now shows a tan plush figure centered just beneath the jaws, with gray figures farther to the left. I’m lowering onto this tan figure at about its mid-height before closing the gripper.\"}",
  "call_id": "call_Ax5zUxYZDDU1On3E3PLuYwsi",
  "id": "fc_0ade5107ad8f7e87016ab42dc4247087d0907e836ebd9fb5ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ax5zUxYZDDU1On3E3PLuYwsi",
  "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]: [-0.8604, 1.5848, 0.5022, 0.2493, -0.6811, -0.577, 0.9994, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.1761 left_z=0.0344 left_yaw=-0.0145 left_pitch=-0.0507 left_roll=0.0397 left_gripper=0.9994 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.0256, 4.7111, 1.453, -0.3346, -0.0513, -0.0122, -0.253, -1.4701, 7.0769, 1.7216, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf3b2927909306fb67e6e619bb91b36fdc12228a8f455119cfea47e9ad02a47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8760eeace7865a74a8486faab31582458403d43e899c0b79c0c506cc498e35e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a559cffb6cd8a1e4043bd66c41f0e84e127346c0412d37b1a6f4737f4b50c2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8608, 1.309, 0.7372, -0.2443, -0.6815, -0.577, 0.9994, -0.0193, 0.8005, 0.6086, -0.3775, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3037 left_y=-0.1771 left_z=0.134 left_yaw=-0.0152 left_pitch=-0.0391 left_roll=0.0271 left_gripper=0.9994 right_x=0.2961 right_y=-0.0001 right_z=0.1808 right_yaw=-0.0041 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -5.2171, 8.9641, 1.5214, -0.5006, -0.0464, -0.0171, 0.0752, -1.4427, 7.241, 1.7753, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8604, 1.5848, 0.5022, 0.2493, -0.6811, -0.577, 0.9994, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.1761 left_z=0.0344 left_yaw=-0.0145 left_pitch=-0.0507 left_roll=0.0397 left_gripper=0.9994 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.0256, 4.7111, 1.453, -0.3346, -0.0513, -0.0122, -0.253, -1.4701, 7.0769, 1.7216, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf3b2927909306fb67e6e619bb91b36fdc12228a8f455119cfea47e9ad02a47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8760eeace7865a74a8486faab31582458403d43e899c0b79c0c506cc498e35e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a559cffb6cd8a1e4043bd66c41f0e84e127346c0412d37b1a6f4737f4b50c2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Ix0c7-z6crgThWP68oQFRqCG0lisFi7nWJVXaGE5jFX-jl2xltwfBBejoVBiyyR58quBQDr-HvFT_V6ucB5MUICyMMgwDS2T4SQWSapvJN-Kl_2DMo6CH4Q-c_GxB_rxrzT_xjqN2OHvBpiksFPC4uyW6nNf2khX0ItT84c2e3-_C1jREl7ICpwbK5NBQgCEkuDwi1inwWD0bwcOiCeBCzyoR2tKskjKzJVQOD7begyfG0Urn2bt_i5goNGhsBgC00SbwusVNRzDRSV2mkSqlTQO1jqPoXuPPQhCYqCwEebejD_juDfvThEYuGRqDJhpUaeWXdn5_2rADscdzupkiH5D-p2AxjY9s0qI8U73_6PxYztNF2IE-aM3fuyhl7lB8POmXF8f8vwFVUx_kS6AyuapgFAIU0taWRPYpzjov8A-jPfHZiSBdOXsq1mT3_hix4LxDIApbaFHtay_b4wN7xCTmOVgnDubbIPgkRG5l9a0f4QZelWdMRZU_f4xmIiCjx55UWTzy0hTOZcvqMhDy9ompaJIMTZMzOUqyaG0UXbtsFjKqUiwcObZCW0ezovleNIXdyWbTx8oXhcAPn1IwF_rnge5cOon2M4QPXgkfj_Dj1soGsQBGkOnlyW-xOXMUWK3oeVsL06DAzn9CHox0GoMySJHjnyMSa8KAlxcCgBNFvHYqMJTdemUg8F0Gkn5uV50rcXRHwFNfgkHkRkcQ62zFeKN3ONlGHWN5hbezHB29lXL8a_1t0BEsjTOHmGUF3P_fWl9Tkby4UTobP6fqchtAp3J4vgL7vq1BFQ5_xfM-aLyUkhhL-5bVNteb4wCJx228NTMpGZTx_diMUJFjl1mlEZRPNSGnBt3aKUpZBRaazAUeS0JBU2yF5XJdKH93Ieprd-2pTEXNNpf-2B4bsBiem9RWFwFyJAFf4NNblah02XkpRG5lFpAAO6fijQ_HjWBsplNukGhyKOX-cbrVmeuwA9v20_7I5OMmQ5aB2aG3hDhUG-q-La9rO2NNlvb4jrQ2Rb2g3ebZEVmE9eHM7Dezl0WNBTziIzOXp9eHkaVFwKiDefqB2qofh21tsd_15Vf4a4oEo-bRh8SavO-6hqK2WOCEYjdKjPx0a-KwVi_BYAZc15-NT1bHkXqRTCbMvd9RDGsXlkYaKOC1ke33xdxOT627AeRLY4vbPAXwkOnRuhY9HmWEKB6o7kwZjzllOFjpkzogioHgQavtJxaejJ7nz7yeV78oRsdujj9QT5gfEHbO7SVFq2B6SS3jNE_InimlcS7DZxuD33WdKuHYH5CLZH8kK0UExqqUTGSgOrI=",
  "id": "rs_0ade5107ad8f7e87016ab42dc7adf487d0ac60bc478de8fce9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan plush is centered between the lowered jaws in the wrist camera. I’m closing the gripper around it, then I’ll check the grip before lifting.\"}",
  "call_id": "call_dYN7exVOGx8uyqBsbSiKYNiZ",
  "id": "fc_0ade5107ad8f7e87016ab42dc80c6c87d0935ed11a30e814ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYN7exVOGx8uyqBsbSiKYNiZ",
  "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]: [-0.8608, 1.5848, 0.4999, 0.2558, -0.6807, -0.577, 0.4098, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.1764 left_z=0.0346 left_yaw=-0.0153 left_pitch=-0.0481 left_roll=0.0364 left_gripper=0.4098 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 5.1487, 1.3602, -0.315, -0.0073, 1.0281, -0.3214, -1.1829, 7.0359, 1.7363, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a637ebc150f99e6dba31846025d037d8e5276436aa8f7bba1dc58f50b2adf2cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0060e2436e6e4b00e4ea91d75d1f78c0d5f6ca78bc32f83e9b33f096086b4494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f32a18a9031d16cf168fafd31d26c51302d9e7e29685bd8eac2208fc8cea1d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3798, -0.0216, -0.0334, 0.9994, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.7709, 9.2923, 1.7558, -0.0122, 0.1783, -0.0708, -1.0325, -1.4564, 9.7983, 1.7314, -0.1001, -0.0024, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8604, 1.5848, 0.5022, 0.2493, -0.6811, -0.577, 0.9994, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.1761 left_z=0.0344 left_yaw=-0.0145 left_pitch=-0.0507 left_roll=0.0397 left_gripper=0.9994 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.0256, 4.7111, 1.453, -0.3346, -0.0513, -0.0122, -0.253, -1.4701, 7.0769, 1.7216, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8608, 1.5848, 0.4999, 0.2558, -0.6807, -0.577, 0.4098, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.1764 left_z=0.0346 left_yaw=-0.0153 left_pitch=-0.0481 left_roll=0.0364 left_gripper=0.4098 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 5.1487, 1.3602, -0.315, -0.0073, 1.0281, -0.3214, -1.1829, 7.0359, 1.7363, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a637ebc150f99e6dba31846025d037d8e5276436aa8f7bba1dc58f50b2adf2cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0060e2436e6e4b00e4ea91d75d1f78c0d5f6ca78bc32f83e9b33f096086b4494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f32a18a9031d16cf168fafd31d26c51302d9e7e29685bd8eac2208fc8cea1d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3LMbYDltnOGNN7UPV-dSQgiXdCUK1hRyJsvuN3GuhOmvMTkRe-iynwOHj7XQUangEvYMjfg2df22C489BdaI-FA3qJT0F53pXjuBM2EXa_A0PbVI5q1iN_R0Z8yADfwCmwEOuBXxjaxcKbBs4oFRi2rs0xNRwp0JZk9lBikQ8MQSF8Pjrni_P7eLmQtn3RJJ9DBEDsh6rS2Gv-omtNjJdCRL21nj1Degc3dgMSPEr0UKel916SFrgW6hVJLy04-zWtezvlYLiAonAi-ddCu4mGvYX6YSJ8bs-iSdI_mOVGulOdljvSTfzcmESj7hVfQrNMRy1vvWeZtrJCkTDga8VkSnCxRnEyo2pZoGjFKq_zLwsM75JraoS0UHSjXneS4xgkXkBtpC-JXdkRoQLb4ZzLEZBUieG0dUyYLG79ylKUkKONFRjjib2LbFCp8WbzxQ8EFkLoTUh_NESq23TOJ_KrFgW1Wr-3eXh2ls_hShZtw6iuPmt6DSOtY0qGiMMEMZ6a8Zi8UyYq6pVCJY6xRR_60eYJporBGwlrYlxzx0865DWgtyJjy8bHctpbLXG-yCQk78iC3Jr1aHYNDw_8RfSvNiE8uuBvAHIWY2_ID7oguOz5IszpQ5k4g2XAfOUekGpp4Kxg5WUn7uxLGfsxnanjN0enBiGz8syZpx4oAAYPzo6s5rRjmIykuw0vfts4hXCD0B4kKvoP3hLv3b6OZkSO6N1mQ7CNluRJHqO6JLLquulJd9qdN_2MtLKq0e9KE6nAOuAQfyE8ORAUUomQuErbIbx6QS8Xe-8DjnfDiQl3FrgKK95i-ZxyJmHFJq4FzlL7p_qcym7vL6DTjuIFa3TsltErxwQH6dgMPijFjBKZjli5erTWlNzyshNEwMSlkpV5vBP3jvsZP0sjdf-Qv06ZQQshH4OzSIHslkWVLQqMnMJQJpieaN-vBgzw8vg8S9Inj7wDvLry7hixhpn6QhMDAKn4rlEHRg5lL6DtiqEAKadJK34QJ2KxqccxpG_m_SoIGvZky_DILQEGoezb5LmtHiLEhsW9tzU4cHcT5LpS_wS6Tr1Ah_mFCNsuIyM7g4Ue00XfYstLT4EwgBScUJW2OPx0GpDx-26CmeydK93__aXVvNRzBOxqPtCwiO5AhNXPntOiQEbLRWoZez8DRC4VelabAky3BTzqnOfNrRYXcm2OjAb3MU7HVn0eYyP3IRDZgRAhgTvZ7XgZFOHbBj_Oph7r5lH8vIlPFeXdv8olvQmr7WuEdlP6oKaScKNYYw4Nd2G-fxrbuolYybos7dnF3Z8AZWuBZ48zmP_-boB3gJayGTwTK_VWn_5SRIDb9mOr",
  "id": "rs_0ade5107ad8f7e87016ab42dca8bb887d09ef3a9709707722e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The closed gripper reads about 4 cm across, consistent with holding the tan plush rather than closing empty. I’m lifting it clear of the table to confirm it comes along.\"}",
  "call_id": "call_3VYYzxl5ExnoFuGLOJyWyuiv",
  "id": "fc_0ade5107ad8f7e87016ab42dcaddb887d0b01b74b7152dc2f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3VYYzxl5ExnoFuGLOJyWyuiv",
  "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]: [-0.8589, 1.2922, 0.8433, -0.395, -0.6739, -0.585, 0.4114, -0.02, 0.8062, 0.6083, -0.3847, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3034 left_y=-0.1774 left_z=0.1581 left_yaw=-0.0133 left_pitch=-0.0616 left_roll=0.0376 left_gripper=0.4114 right_x=0.2955 right_y=-0.0002 right_z=0.1776 right_yaw=-0.0046 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.0239, 8.6222, 1.3114, -0.4127, 0.0122, 0.1538, -0.1709, -1.4154, 7.0496, 1.7949, -0.0269, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e324c20ea09ea1d9c2a4983a07bd5171757afb077643bb1526eb1dedadac7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e170e16e4dd3a059332d8e32e76b6c28b29ff8efe44e3b2857a9801baab6d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f765e2cbdb3bd0155c200715d17821d539c989707ef172acb33611c84591e18e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8608, 1.309, 0.7372, -0.2443, -0.6815, -0.577, 0.9994, -0.0193, 0.8005, 0.6086, -0.3775, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3037 left_y=-0.1771 left_z=0.134 left_yaw=-0.0152 left_pitch=-0.0391 left_roll=0.0271 left_gripper=0.9994 right_x=0.2961 right_y=-0.0001 right_z=0.1808 right_yaw=-0.0041 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -5.2171, 8.9641, 1.5214, -0.5006, -0.0464, -0.0171, 0.0752, -1.4427, 7.241, 1.7753, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8608, 1.5848, 0.4999, 0.2558, -0.6807, -0.577, 0.4098, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.1764 left_z=0.0346 left_yaw=-0.0153 left_pitch=-0.0481 left_roll=0.0364 left_gripper=0.4098 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 5.1487, 1.3602, -0.315, -0.0073, 1.0281, -0.3214, -1.1829, 7.0359, 1.7363, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.2922, 0.8433, -0.395, -0.6739, -0.585, 0.4114, -0.02, 0.8062, 0.6083, -0.3847, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3034 left_y=-0.1774 left_z=0.1581 left_yaw=-0.0133 left_pitch=-0.0616 left_roll=0.0376 left_gripper=0.4114 right_x=0.2955 right_y=-0.0002 right_z=0.1776 right_yaw=-0.0046 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.0239, 8.6222, 1.3114, -0.4127, 0.0122, 0.1538, -0.1709, -1.4154, 7.0496, 1.7949, -0.0269, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e324c20ea09ea1d9c2a4983a07bd5171757afb077643bb1526eb1dedadac7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e170e16e4dd3a059332d8e32e76b6c28b29ff8efe44e3b2857a9801baab6d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f765e2cbdb3bd0155c200715d17821d539c989707ef172acb33611c84591e18e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3UmhwUWfmGn_DVy41aVuJylRg65R2gbMiz4barMIhBjPSpUt4O1l-gyn-2wjz8_btalxEGKJTfhYTRoiwbMJ-OGXtu3dtZXP_9TERZI7rA--29FWB7v6MhYerWF1JvdosJ50LYJDBKREEwzsfbNzz4OeY4vQOxhXe0bDahk5vOPSqFms2liCXHP4V_zzPhxzXd6tEAyZjpeD3goEmx4PUTJ1moFiMiJOwTUvQ4W0cFkBgSms4h2_8SGAs_goGgYzktW5QbhMAWlbHmOk1CB5StkEyBF6L-1LporImSoNujpa6eLFu7VT-J4ZQDo23BTfeIKf4cRcW7s5zLtXNaV7VxzHR4OtXSGKG14eripOSxYYQhbbusjLVUgOXZZLTkUz5ip9DWRa--MpA7GB06gU0nqusWGkNrCxHqucX3yNX2WkXz0LIpOQFQyni5S0iRHM6ELTlxZwisYov4sDBFmNM5Bh5yIwMf3r9E71PqPFb3MJ-ND9aCWGYmneI7zjYx-gzC6UDOyZfUxYNTdqine1D_v5Utfu-fwN_C24-6TdB2khSNlbDdrx9EAYolrFYf7AOWcM_R0uUwNPdKUA1O7DMszShdX4DVqq3lWuafXdNBGF0TB-KfX_VeBraVVYxStqX80J4Pyfv2ozal80W-OTWDHlM-rimiqteKIsOVOk_5PZf7bCn0aqupmTwBcEe2IWDKyGYbb_mX8dKigvBax-_jcV53mimfDeGXQ2jft5mibYPeMNfvbfF8xNzAsNvBUM-LB_r_nadDy0t70bZ9wd9qd1RZ_qaN0WeqYBRNB_TgU5qj4VwE5D5kzPRxKYXYXhqVwXpYr5MO6HRIixJwOaK8RJIh5VZkiQm73HM2EhwtjjI3A_BQwTkoCiVctznyXO6SHop-cwotvamsofQ7V-ah40KkpF1lHRuXFQJDnWG7BF5t_xNf0VMYT_-qILKEd5GAjyPrh_xEc_7a3LDXPUZvqBJE_dYQSOhPJhCCwKrn9axgvWBmCGngys4loCiKNvVxsjiBCPKnNXiNSr-oeGbpXg_G4CkjtMnKFx1VmKQFZR1p1lJLpsmTy0-edi9dR3wjE4P8Od3MH8Z-EMjiGNCB7XgN92Ea8EhCMGhaDrBZoqHKcCbg_KITFM097spuYGhtEsarGQVBkYO_bqRxejKmSPAOCL5bp80E3V-IFi8D7m777hmy4CaXJFCWhun6t0mjBX_SnyyGn9_RMEoM3OyPyVVBI7y7EJ2l2GzjR0d0kvV1Mslv1tzevl-voL-78QKUws9XzauZ70yB_FR9NxAVhhrpp18_8XoxQuGm6E5tmg9i6kJLak_FfsJnaGWpkEcBpr7aRkX5G03FYlUxBNYhSy-wLFrOwWnAlxsRdaqpJ0VGRUOFCx2Jeh6WlnRlbUztAzCCTZKfUWWH5V_awGCN_u8txdPWrfGwRdIqsB7DUyisccT6as9jHFZeY_vCLnNJyj5wpi1sSkKNGrWFSgbkxi8-4RH4ktdnu4g44Fv-mm5FnHGlw3uX1cc_FAfiq-FVMfjzj2j-SlMmD09CGHvKTznrmd4ho6WC4VOGKX1UomCbjGJK9SRtCAATEKZS5YhBGmj8MQNW_h8WY2iOqV-z5VtgIiVGF2SrqWuCfP-XBBagZQBPGIRrmXABBAliN_fGytFRlk7kmho0RYlCp7ByYbREiripDMt-KziNqLpDrDMrTr8NR3A-pGIzwWUpPhyLhKu77YhxZsT-Cph_WTobXaD1OKDUS7rU0Cib_0J8ACbdu0TNaxKYKgzz2dVzumkJ7pLgoLtDbduxsFTIn_t2SM9aE995C2l134378_IQJ_0WwceFpmaotoXvRS_FmXRBNgaMW40sPkJXRKoH9sjasrAwyEaU6aGd9UWXnOy0OU88CblY6zzj68YYH8M5FFKI7kJRzWNnfBJeUuMxHH-rQex580ZAXpcuhfmRrwNpBanvkPJ2rtqAHBCHaeo3ZMmiIW_uHi3v3T5RCuykISKCKfyjAChrdFJ_7qZEezYCnxMCzLUuNmtDe9TJs4YOLmR0XLac6DI-sVauGRKX9ZM6S_wQ46ppwLii3chgrb0Cg47Bj_8hSCXcbk3chZLd0KFHAL675u7jhhZyXORYOjAGhrEUTUkzcLUGRHFHKQd0Hme_Bt_2EVuQpFqKkfWq_F-ks5AnRxJ6w2za6QcVOzYuJ2nLwWUpy7OviptxnmnQ5uCtXCCcQBxxCaPCjdjzn188TcFKiX_5rZgv-4YuyGsfn_-qrJxhkYcsDJxN-lsKSEjiLGhguJGwqoDSZFnI23cedLBhFNvE_G8YXnAB9XIgK5UdAoeU7Jled7KTj5miVYdQ5iA0GHzu0ek9puT-i2d3a5DG57Fm4JzixfZ1-OZo5443QFVzJR96Jb7c6YSBzogN6G8BmmdazHjh0yGR5sz6aI02F0FndckTE39fpgejSBN3fwnRb27zBNrkTfqu2Up6cUYg9RUSRs4_cT-rY9IJFYRYDSlp4M8HsqAMHNdpnpQAKBGc4HZJMrE4CcTRVNsvGAdG1-LGzdaN_y3hz8R9G5_6zbqHkRpbnDqCBa0tlyXPo5desPbkByvWxecjoakC11nMYAoUvkW_TnU8teKf3dS5JSZ_2OIyGIzCdHBb1yWKZUeb4_KOArkptD0FxTfaXOfdYDlzS1hC7y42tIOSx5GXyyQoQO673j8gHpNknDTuDuf7zAdvCg_qtU0_lGNn1gQopC7IUnCt3hg6ZvhFzkGn9cnEWzTuiMolF7EaZvSoWKE7DBMzs7P9AyycY0Eln-vD5b-eMOqFO_KeY-34ZHDosxGW8VX_11RSludYTFSFkIbZ8WWprBMxmUm0QFJqNIeDhw9aMPOQ-SDQA-Ac8jW-R49zNzClEAKCCixhPTEDWJayB-Lx2mHfbOHfbSx91YpccvyO3dwgM1SJ0-VVg8I8EEfkkiZVDDJyFczEThfmwWVwjZ1--0_0ip4QzjqumiWSywBCT08vdF3UoHuQKez5FZ3EgJJBc_qnC_StP6vWs4xTUJ8djGELlx_O2WTsVvxUTJL9WhM31oN36KgqgkuXKPpHepSWBqFIXsXCFeGOgX9pCdz4dnKZCmjI6t1meDva93m2sXNF_rH-jWCGgzGwg0OJNxbOtjvSNSecEnA64a9yBwvhK1B9Yq90tJeapNXTX6ij5r6oMgWPcY1VAyKgHgThp-XlMzg3S3RO1LM1MeKmucNt3bTIrLxIH8yGm8v-fAKHsnmPpmhzlvsjXJydq9PHu_CNsLNGt-yLJtMec7yj3h0fDyYY9jSWYa1bCV574PYe48oncgKFCQWCzroM44Tj5WEt51JPIigSiP-m5GA_8J7qX0IO3BbxpPcVqmEpFt7RxZLqB0Gy90teKHKEocsdeYKa3pULpha6xB-ewdpdbuP196VnvAe9YFPAA3Lsb_KFsQh6St5tBltGPagnRMZtVXCZxfaa5LUqcXD5KGYXXDk9OBqrRs2jAEJD0sXZ4Lpm3am7Md1EgKUwfUtfA2kISy4Apf4ZxajoUAiQcoI2ircYNB_X73RmL--TGo20ceVl2k8mm4X9d68iP6VuVy6Hzq3YFAU53Cya1g==",
  "id": "rs_0ade5107ad8f7e87016ab42dceea2c87d08509c3d1ad39707a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.15,\"left_z\":0.22},\"note\":\"The plush moved up with the left gripper, confirming the grasp; the remaining figures include gray and tan plush types. I’m assigning tan figures to the left basket and moving this one above its opening.\"}",
  "call_id": "call_RcaCUpBn50TewNQitfqtr1AS",
  "id": "fc_0ade5107ad8f7e87016ab42dd327d487d09e0a9939dae2eddf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RcaCUpBn50TewNQitfqtr1AS",
  "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]: [-0.5072, 1.5524, 1.2404, -0.4522, -0.4248, -0.3355, 0.412, -0.02, 0.8097, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.1438 left_z=0.1981 left_yaw=0.0138 left_pitch=-0.1206 left_roll=0.0466 left_gripper=0.412 right_x=0.2955 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0046 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.6786, 9.9487, 1.79, -0.1197, 0.2857, 0.0513, -0.1846, -1.6479, 7.2137, 1.7021, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedd90ea8da148885b66725b9fdb78ef07d066f2b7f226694e06ede280cc30c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06fbab73bcc54cd056e7da40652f30e5838271335306d5addc14cd24d4abd06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9834aba927cdac796c3b5df772ba53becd798d5644a69a99401cde72397070a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8604, 1.5848, 0.5022, 0.2493, -0.6811, -0.577, 0.9994, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.1761 left_z=0.0344 left_yaw=-0.0145 left_pitch=-0.0507 left_roll=0.0397 left_gripper=0.9994 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.0256, 4.7111, 1.453, -0.3346, -0.0513, -0.0122, -0.253, -1.4701, 7.0769, 1.7216, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.2922, 0.8433, -0.395, -0.6739, -0.585, 0.4114, -0.02, 0.8062, 0.6083, -0.3847, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3034 left_y=-0.1774 left_z=0.1581 left_yaw=-0.0133 left_pitch=-0.0616 left_roll=0.0376 left_gripper=0.4114 right_x=0.2955 right_y=-0.0002 right_z=0.1776 right_yaw=-0.0046 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.0239, 8.6222, 1.3114, -0.4127, 0.0122, 0.1538, -0.1709, -1.4154, 7.0496, 1.7949, -0.0269, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.5524, 1.2404, -0.4522, -0.4248, -0.3355, 0.412, -0.02, 0.8097, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.1438 left_z=0.1981 left_yaw=0.0138 left_pitch=-0.1206 left_roll=0.0466 left_gripper=0.412 right_x=0.2955 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0046 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.6786, 9.9487, 1.79, -0.1197, 0.2857, 0.0513, -0.1846, -1.6479, 7.2137, 1.7021, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedd90ea8da148885b66725b9fdb78ef07d066f2b7f226694e06ede280cc30c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06fbab73bcc54cd056e7da40652f30e5838271335306d5addc14cd24d4abd06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9834aba927cdac796c3b5df772ba53becd798d5644a69a99401cde72397070a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42dddbdd087d0af681b74453a38f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.10,\"left_z\":0.22},\"note\":\"The held tan figure is above the left basket, but the wrist view puts it near the basket’s near-right rim. I’m shifting a few centimeters forward and left to center the figure over the basket interior before releasing it.\"}",
  "call_id": "call_OmmLaLSd3AQNUm0mfYQkaG8I",
  "id": "fc_0ade5107ad8f7e87016ab42de12de887d085b772205904f73c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OmmLaLSd3AQNUm0mfYQkaG8I",
  "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]: [-0.337, 1.5955, 1.3205, -0.5308, -0.3126, -0.2501, 0.4121, -0.02, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.092 left_z=0.1954 left_yaw=0.05 left_pitch=-0.1955 left_roll=0.0579 left_gripper=0.4121 right_x=0.2956 right_y=-0.0002 right_z=0.1761 right_yaw=-0.0046 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.9385, 9.9761, 1.9365, -0.0562, 0.2906, -0.0024, -0.212, -1.1692, 7.2684, 1.7265, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa8a7c18d14481f954e3d063c9ea3234a26a8c0e3e821ec7c00e5d62c0150e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38ccf354a41fd07850e3b5593ba13b5064ab711ef19fb5d35ed8c566d06a1eac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067a425af70284a7d2332437c386da33d33709b2fced493b562e6c5af074b0a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8608, 1.5848, 0.4999, 0.2558, -0.6807, -0.577, 0.4098, -0.02, 0.8024, 0.6086, -0.3782, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.1764 left_z=0.0346 left_yaw=-0.0153 left_pitch=-0.0481 left_roll=0.0364 left_gripper=0.4098 right_x=0.2961 right_y=-0.0003 right_z=0.1801 right_yaw=-0.0049 right_pitch=-0.0137 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 5.1487, 1.3602, -0.315, -0.0073, 1.0281, -0.3214, -1.1829, 7.0359, 1.7363, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.5524, 1.2404, -0.4522, -0.4248, -0.3355, 0.412, -0.02, 0.8097, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.1438 left_z=0.1981 left_yaw=0.0138 left_pitch=-0.1206 left_roll=0.0466 left_gripper=0.412 right_x=0.2955 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0046 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.6786, 9.9487, 1.79, -0.1197, 0.2857, 0.0513, -0.1846, -1.6479, 7.2137, 1.7021, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.5955, 1.3205, -0.5308, -0.3126, -0.2501, 0.4121, -0.02, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.092 left_z=0.1954 left_yaw=0.05 left_pitch=-0.1955 left_roll=0.0579 left_gripper=0.4121 right_x=0.2956 right_y=-0.0002 right_z=0.1761 right_yaw=-0.0046 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.9385, 9.9761, 1.9365, -0.0562, 0.2906, -0.0024, -0.212, -1.1692, 7.2684, 1.7265, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa8a7c18d14481f954e3d063c9ea3234a26a8c0e3e821ec7c00e5d62c0150e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38ccf354a41fd07850e3b5593ba13b5064ab711ef19fb5d35ed8c566d06a1eac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067a425af70284a7d2332437c386da33d33709b2fced493b562e6c5af074b0a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3oG2e-Cf_5wKuSq1Vk_yVcntZEtMYxRav863aNOE8AUvtl8LNgnZ1V5YEZ95uGPMua-igHDDA1k0sW6Jc2j50G9D4xFyQAZeR8GW8Dol-MlLOVQTOIlKIiILzs7Jnab9qbIBaKRBsvWVl2jetXEQ1P3dLpXruKrUaIboCwRaN0NJMsLHt-KFFxbtjg3cBWZvF4gH7BUhzfc_NBFmJgEqcJqImo7LVa8UPQ-DPX4zRO9vNlafbYjIxLlgO4S34k5Kbp33cv4DR4kMCEoJoMIk3JvsA3FtCZ7J9hF8UufJLfXM_hGC0Q2JVt484G1akTp3Q4fdOLMnmeVTf4ZxOJr50sTjflXauLaMa_E0MHUlqMxHVBEqJ4wrlouZHers_4e-jbrSUD_H50Md6IvMNTgvMWUF8FTmKZtjQHWo2DdvgybDyGIgM_8pzPaR54T5jT4GQyhWn0b95ZUt7SnXpEFAQVN4d-WszmjunKZdGxXyf-LHZyz2JOda0Tvitx-r52FHgAjrbWmE9vpcLWmLSGX5CtXAtkEEsknSHteVlgtOrhNscCf5qcWtD3WRVT_n2UkFDJ1C4n8XBurrXJNyFyptxq7labsguhX8BtkZMb7Fawcoq9Vpiv6ySM-ajOvOnBoXa4XDP6eV5jwTia0o_wOaetU02CxWylqPw9s0qF2Os5ffuCZ_r8pyhDrHCvpBvkljyXFJrJoA1LBjBDX113g0lzeK2UG2qZNAoLPoHXoOSEvnpTwt9J1WjeubXiC1jL-nDHpSZAOu9H7bLo-hYqVEMiSIVT8G3qEax9M-a__TOuMpULBwXGWyQrT06NoEtcgU6iqw6uABXmzqUH5MmvkVw1i6LAxzZJulsbyuyha2L3FQ647RZimdla-amqs609RpBPBbu1c5_EA7-mTXv0TfK5JMjXxPK5mWbi9zAIECtMa25jFSvXp0JJU3mTmV1NHke7S_XWxh0g4eouif9UVQAnkNfwJt9spgqThx539X5LqAE7mBv9zMFP4Y0s6VXSxp-t6AYOzEa8DfTxb8LEI5oMddUKqs8SSHC2VlEX9NvtoqHqmv6PGQu446EZvYtJ4LLy9fBbY3QdnAS6jA0h8dMER1KULYA_1JggKvgNuk1435k4CfWgTxFgjh_SiAoPzm-PcsSdlquVsEQBVsfpcMMSS-O0462OEpxW7XbbDFZJv-6rXzOU3BmU-J_hqYl4up2y45R7Fgu3AA1HEEaAEpEu6MX_oCtZcjvZLZO7cElvdgEz03RiXDHtiLjvHaeCih74sj6N7pl6lfuUded45l6iQPIFIHmyDheI_AKqkULGaV3CerPP_Mq6nNmI6uYTXeZ8TqeYsPylJM8eBlLoP7JPHe3LBlOmQM3JHSRRqP43r1cy4yLy0dije7I0K9KLH0qkBwphuQeqrB_YPKJqJspUvnHGkIkorDccoHaWENcQZ7wWO5c365PHe92iub2yZvz5NCuYuSBAJeO9lqGmoRSEG4rga84jJ2Yy72Hqm1XV_ltDbj3G3oNABCtHWySdIyv9-jNlXH8dOT0XqkzTS3DiPkizfZ6EQ2fnyrsd6fmRgtOO4cz5H6ClCjeMOpyKu8E3oO4uvqDLNwbXYH1mMk6oRXk2H-CadBVCdEcoy4OiirugsttdYjUKua5SoOLPVLwnCC6S7jZpluDjPmOcGJSv9dgBNJajKEzCCcrs9JioEQnOp5FgTPePhNsL7mh0mtulIrqc8lCzdjoTnqDOshP1_TOXN8vm9oLXo_9UdHCXLcowX9rId0HWuMFPZQoe4_GTh428iirImV70YsEp-wlKT71eZoUI6HMR7H0LvOoA75j60lLdKbsi1uuHrut71phcvLuKivMd5PbcZBS-X1SWwA==",
  "id": "rs_0ade5107ad8f7e87016ab42de650dc87d09e9ea8c6ea74d024",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_z\":0.12},\"note\":\"The tan figure now lines up with the center of the left basket opening. I’m lowering it inside the rim, keeping the jaws closed until it is safely below the basket edge.\"}",
  "call_id": "call_d062huJmh67XyxGVo7FadFhs",
  "id": "fc_0ade5107ad8f7e87016ab42de793e887d0ab043de8cc5ed465",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d062huJmh67XyxGVo7FadFhs",
  "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]: [-0.3378, 1.5963, 1.3205, -0.5308, -0.3096, -0.2501, 0.4121, -0.02, 0.812, 0.6067, -0.3851, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.195 left_yaw=0.0467 left_pitch=-0.1971 left_roll=0.0561 left_gripper=0.4121 right_x=0.2956 right_y=-0.0003 right_z=0.1752 right_yaw=-0.0049 right_pitch=-0.032 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -8.0068, 10.0308, 1.917, -0.1294, 0.2857, -0.0122, -0.1573, -1.306, 7.0632, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cffce6c7429b18ab9a8e134078e056f589ea5f19a7f8710a9f70d1ef441b5d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bb256b6debc36803b40c9ccf2e0cb2a76f34d7dade615be14999b4c6ca04e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a829216bdd50218ab985e10e053177aba9595eccbface2d18faa2a01376b8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.2922, 0.8433, -0.395, -0.6739, -0.585, 0.4114, -0.02, 0.8062, 0.6083, -0.3847, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3034 left_y=-0.1774 left_z=0.1581 left_yaw=-0.0133 left_pitch=-0.0616 left_roll=0.0376 left_gripper=0.4114 right_x=0.2955 right_y=-0.0002 right_z=0.1776 right_yaw=-0.0046 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.0239, 8.6222, 1.3114, -0.4127, 0.0122, 0.1538, -0.1709, -1.4154, 7.0496, 1.7949, -0.0269, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.5955, 1.3205, -0.5308, -0.3126, -0.2501, 0.4121, -0.02, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.092 left_z=0.1954 left_yaw=0.05 left_pitch=-0.1955 left_roll=0.0579 left_gripper=0.4121 right_x=0.2956 right_y=-0.0002 right_z=0.1761 right_yaw=-0.0046 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.9385, 9.9761, 1.9365, -0.0562, 0.2906, -0.0024, -0.212, -1.1692, 7.2684, 1.7265, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3378, 1.5963, 1.3205, -0.5308, -0.3096, -0.2501, 0.4121, -0.02, 0.812, 0.6067, -0.3851, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.195 left_yaw=0.0467 left_pitch=-0.1971 left_roll=0.0561 left_gripper=0.4121 right_x=0.2956 right_y=-0.0003 right_z=0.1752 right_yaw=-0.0049 right_pitch=-0.032 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -8.0068, 10.0308, 1.917, -0.1294, 0.2857, -0.0122, -0.1573, -1.306, 7.0632, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cffce6c7429b18ab9a8e134078e056f589ea5f19a7f8710a9f70d1ef441b5d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bb256b6debc36803b40c9ccf2e0cb2a76f34d7dade615be14999b4c6ca04e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a829216bdd50218ab985e10e053177aba9595eccbface2d18faa2a01376b8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3x1QvxUVzq4RWGyzQu4hl-GlgRmwPJWgLcVk4zmfWnDhXeze6s4DpTzlseMyVHoi0MJAbx0TFVyx3IxshP6tz9GVrXNSnlK1HCQkJCNnq0K0TpyhgmWLAx7Ubv5ODfeohYZYuQoB1Sa_Rw-r-8MJBTXR8MFZxZo_9DY4Xe7WPZl23LKpvk8TqyxBwEF6x9WGqgfE6wzZ7v5Kjlkf7Ny1x47Td2-OiV_TONa_z_YKyTUyVKHLDJUQVt0LgRmi6cIx8qoJTk9S5JqLm1_k8wxrD2vuRJtP342Oqrc2-Xt0mC50jyb65wGcAouwyk02iP2maucQaK6urNBEPNZpbXNFC4GscUuY5cUwygc30Mwn_b0woemt7Tj_GmYO7rf2eCDJryZKGzsuI4CbSqwpePXNpZvZd1vhvxA3MluYl8K0llAjC_zx8oqOionGOK0Kyz82jOCZdco0jVBTF2o4ertcRfavQXvnd4gpkgGAjmOaGBXe87Fbg4KrExmLhKgE7kUk9UxVttPbWJRrzJgJYDaWQUwxqyA3aVTSuF1QEnqdONs28REjzPeLKP_stRKzPpjogOkw0zwee872rAOjnYhMZHnOHv1qQakJBBPMk073PwCgd5-MV8SckSoIJ2OreYvFpeslY5OArNuGod10NDC8I6PvjiHkhDltPY1pEEXJPBhIu2TBeUH18AAjR18xOEpckrNqtRxRHrjw7LQZNOifrhaCbUwJ5-iJogPeirRXXRlmFUUWOxyxxULGXGnWQbtpEtgByuVqosqSSuiTXcJEL0q7K6N77jlr_k3kZstAzFit-IUnfK-VfSMUtZRlYontS0WSfPq0ucwSb3xmlDW1y8RXt-ExtFfTf9uh_YKv4UKHEIlIZzmu5g6w5ez5TD55SwQkfUcSFioqvMtjXCpjDU20QUtYQyngDyfyW5qzHAvh23hg9OAHU_Luf-lrBVeb55_X0g_-ipRZP6n4Vw7i-Z8O2Ib2yvX2h4Edutq-8guL98CsrSq2UVEr--01NfaCaGZvywCieDnJxmXcYolZWSgMg3Wr441570gjLCr4L9cm6i1H3BQs8bu-2tYcKDu46GXk8HdgWHthbu9i32hI0ivs4tMFiKpuP6j1Zsbcvhtz_5CF8asE2Q6_27ReHbIS23tvrrlujqvReJR3bov4_xHucTB3qWXXuHm8sMI8-o4Di_Sq_Pzz68-8gttmTRpzSQpHDpCtvAcFmqZQzQ0i4m8cxRHXnQB0LWR-U7Yi-y6eLCIxKVQhnPl6LZOmEhqGne_YW-sYCKgdUtJfJFn-5yQIqjYDa8aHnhlek4Bho_svCqg7hwxyy0gKMGwWUAfj2U1u5zd7Z1wGUI9hohMFt7vz13RFY_7MbwbyuzQTqxdYRCdKMic_-DztNjHwOqgtZebfxzFo0VeaTbtvw4xA5e42kanKE_ia5r5KSAZTK-Y6hHjwwWmMGK3uWZ8MqzL7PPmNQqznM5BmZFjuUTXHKzJhlgqQHjPmipZRJNmvpEerpELDqRqGJQGnzq_HZQj-mahsDIZUBe1Y7RynkzaxQwm9PtsRIixdx2ihqNcx1Gtr-wtPidSclhhYwIQhB7rdC2rK5J2lV8Wr1oiWDsSYxuzYAcxHXljGBl_H0kyRxaNGTY_donTl0FIddwp2yRavt3GToVJeIRpbwYzymv0N9I-I8rmDCaaDMhjDzE0RUEQlYXe3qwdR_GsnjfkM3hAeSdUc9WlpskVesm43FMuzuTmIe_oZeg8cIgvDDDeEBKxN7i4NTRhDlhbAjNAzbo8fZxxRcOr4TM3R7xtYsJFEc275A9ByxOU56gj2hJ2JHaryzBKMvjGQNXOL94ECc8YfJZJLtCrc0jYH8jdIltng6r3XTSK0qoDvO0G8Fyun9M8ByB4cTggEyunHTiLmF9n-mdkblr_8gGI04lZcTQHq4aH1dD6mKWErWiqwORObd5U8teiocUtFJDvCK8ilY-ph-sSOBRca0Y7vCgKQ0TS1TGvIYSBtqM1Y0zJo5d6Kqyjaqy8oWlxbipq-iZBJy6ndzmEdoOZ_QRLCUtbGVWLikn34NC1gPQRZOzSRw8CERoL99kJiHqHYjYmBx40Jbsgs78YtFA0nlc2GPiCjvHpikMvs2tbXMt73e-9ob4RdP1SLfxy-JbBhV3pOkRU69lOnV5azzqqeDm9Svv1oG2UDtGjj6WlF2pQwNDXVsTZe6M6RDV-nUQSkyOs47yzdbwQY2zPny1VYCSOg6UTlz5VDfN2Wtm7P1LqZgzboHvmlxI1TljVcjTGkZYujg8a6UVl0AY5ydq7TyBFZgyLD_8_8yTGw==",
  "id": "rs_0ade5107ad8f7e87016ab42dee94dc87d095075a55cbc92359",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The arm stopped descending at this forward reach, but the tan figure remains centered above the basket opening and below its top edge in the wrist view. I’m opening the jaws to let it settle into the left basket.\"}",
  "call_id": "call_IHg7eajzk7yO5qoYEXv7q3Os",
  "id": "fc_0ade5107ad8f7e87016ab42df09b6c87d0b4a9011afc94d2d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IHg7eajzk7yO5qoYEXv7q3Os",
  "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]: [-0.3378, 1.5963, 1.3205, -0.5312, -0.3096, -0.2428, 0.9951, -0.02, 0.812, 0.6067, -0.3855, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.1949 left_yaw=0.0428 left_pitch=-0.1977 left_roll=0.0616 left_gripper=0.9951 right_x=0.2955 right_y=-0.0002 right_z=0.1751 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.0068, 9.9624, 1.9072, -0.1001, 0.2759, 0.1294, -0.0479, -1.306, 7.0496, 1.7021, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655244c1664783af9bd94185e76241a6fcf446f9782f9be1affa138cf00f8d89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0c6edc712d013619b87d2085cb4f6c7442a41fe0df5f8f16351fdb11b1990a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27072cf89d2e5a5e795396d0a5d2815583b904b75c90fbc0dc24526836fdc7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.5524, 1.2404, -0.4522, -0.4248, -0.3355, 0.412, -0.02, 0.8097, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.1438 left_z=0.1981 left_yaw=0.0138 left_pitch=-0.1206 left_roll=0.0466 left_gripper=0.412 right_x=0.2955 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0046 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.6786, 9.9487, 1.79, -0.1197, 0.2857, 0.0513, -0.1846, -1.6479, 7.2137, 1.7021, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3378, 1.5963, 1.3205, -0.5308, -0.3096, -0.2501, 0.4121, -0.02, 0.812, 0.6067, -0.3851, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.195 left_yaw=0.0467 left_pitch=-0.1971 left_roll=0.0561 left_gripper=0.4121 right_x=0.2956 right_y=-0.0003 right_z=0.1752 right_yaw=-0.0049 right_pitch=-0.032 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -8.0068, 10.0308, 1.917, -0.1294, 0.2857, -0.0122, -0.1573, -1.306, 7.0632, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3378, 1.5963, 1.3205, -0.5312, -0.3096, -0.2428, 0.9951, -0.02, 0.812, 0.6067, -0.3855, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.1949 left_yaw=0.0428 left_pitch=-0.1977 left_roll=0.0616 left_gripper=0.9951 right_x=0.2955 right_y=-0.0002 right_z=0.1751 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.0068, 9.9624, 1.9072, -0.1001, 0.2759, 0.1294, -0.0479, -1.306, 7.0496, 1.7021, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655244c1664783af9bd94185e76241a6fcf446f9782f9be1affa138cf00f8d89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0c6edc712d013619b87d2085cb4f6c7442a41fe0df5f8f16351fdb11b1990a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27072cf89d2e5a5e795396d0a5d2815583b904b75c90fbc0dc24526836fdc7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC33vdsuj311PXrnNTd_-xRP1ajpgaODfwQpr-YCUcCTv9t4fCiqx4FKIbxGJdL8t9wsberD8RwA3VuW2AYUNS6Ehws4wppG5eSZ-SXXuYIzwR1iijcGDs70c1WXww-sful8Q4t6bprgwgiEgUv4-g9unrqlBKKMoT5xB_EICpQ3MvKVFCs62FvAiIn3BrYnb7gpZCE0gJ6BHyT1JdwtgjmhPhStNX1RM-qiYsKAx_Vdm4v_S-UsJ4kAuiknvJcEd52G3ur7oRJFU_UNSBi6-3uwvfJxYqv15sqqIozRLCNGt9WiMX_VG2Es3d9xYrx6clS8CdQ-MPRk1O9nHIMiiQ1fy8tDiNXVwE9qmCy5xC2iukwp8nhY7TQbF-4JXmd1Y9uz_RkIN-klEPkunrdjymA3qAUOj67TgVzcynSwJ4J3KMt6HxUL7-4PNExK837Ut9TgqcRJMiiJx8S8QSO6J7LqH-5lQXWNW6XAlU7MMsG1UEqWuiua1BdjPBgvqcrUBYL66Ns6y1DCoGy1L2G4zQcB4soYgnkhohKb4OYseeYEWWpxqg5P_XGfgezjyP5BO4bwn8c9dQ9pDUuqebFC9hxJE2Q2YHXOzZpFtXj-hh0xAK8MKkcoVDjsnG5ul_LiL6HZ-KyC4eJkSrA7rKBIW17W7AETn7OxUB2B9LNNiEfiuhqx9dowr7BCkE2_6mvEhVMGNkC0gLxsCe2CZehDdO2J_IgDDkzUk_qjELaosmTHYY5ycyqo0lzNAO58JBBh-CDoiKwjFhcm04MhWKPYygTwVZJ6vLeYc7meSxyz1I0ew0hr2vnisn0Ve0u3FC2cx68-e6IDVtvxMsvFWlqr21B7DbeE29II7DyNpP39FXeDsngne81dRiEM1MtCevrcG-7ZcjboRe6NaUsh920cHjfy_EcYvf_8AkRmh8tJAi8mR3JCUEC7T9WpMsTSW2XKRlMfvyc1KV2bmmuXqBbyA1b8G_hsZC-AajNX9kVg9EPqcjM9o7jmgp9rMHL8IhQkssyAiZBb_vcrcHBCcCMUt9C1_BqVagetq4cPO7YWt_Q8ZWGAfeTmCDrOk6Nr9KiL4HXADB70KqI181kkVeDpMf0Uv3aIBTpVa-L1ddvGTftigt46_2-4cYbqJ1I7m_VXi0AaWPDC3H42rGUXudfF2cx2mqXpNBxvGCzWlgS0hr1uPrRZvxlPE47RLFaUO44jn5hKO9tIVBYm2Z-ULkeXmNZtana4GuMHpqP8HGDTiZTotvJAqCnGYgAXPnYdkPbbdHyLnHCo0eqFCKhffTUA-mhfoUETyix7eQ5xs5C3NEBcGr9qPl_TpeDqPDxcXNYWLKHMQrTfchnbc46qFBTEj7YEWvUA5Y-CSmVtuuoEZrmrYDpfoYSqchoGh_Qr5vKt68Edy2h8Dv1pTPsONaX3W3RFeAyIrv37uVjdJenuC2uRcxneHIEz2qgH-ZzxkPXgK5zdBp4s2ss-8FkOY83vAbFyTU3JFiUa3ShxMIQ8I4AHAPP_C2GaF--msGvnbNHQ0lsOkOlg9zddhu3Gcjjgvcp0yLtxKsrywwZk0_jEmCRU6t8iAOhBdqEtiBK18_6yFNkXY-aq2gzYL3cenaEyamnRGNU5qS9lsBhKtMm50nYYCcoJs0p_SdYZCU4KFnOU9OiyRmke64c3GXp5XMstPHEhs8u2VRITvWQnK-SyhdhE8bKQf1RR2UNvkK-p2wEeTtXofnZhGVPtatAJ8HXwzywQJ_ZiuyuyWnfFtHNm1Gh2XMorGphnpnEcbnGDRxDOpEP7USPqzrzHhPA9P0iOWy1i39RdxYfXo2soJlU_2ke0XEPz0aI4FGt0qGIclR-MP-y5eeP-a2tcPW16hnayEmsinFY3tAOznd7WN7ak2sBLhz-vehBb0AoQ2G_F-ND9vzEmQkS5-z1dd-8XSoPq-ayOWEua_b3ut-DIpdlePbjd4jue4p7LqNwzzt6aLf0o2OWilclcsXVZLIl2-8glg_LY15uQKMvjrqAZJ88unayxWZCANGkPqaHSymStxHia6Rnwop4SU19YdSzlvGuajQ8Xn0s216wn5c8mDL0Og38Kig6prb76HAIwPI9fTS4FWRSb0nUXd8EqNyHUoUTqZcW2pjgzDfjPZHC1wG0XwLcaTPs=",
  "id": "rs_0ade5107ad8f7e87016ab42df5854487d08f0027b6687719f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0,\"left_z\":0.185},\"note\":\"The tan-and-brown plush is visibly inside the left basket after release. I’m parking the left arm so the remaining figures and both basket openings are unobstructed before choosing the next type.\"}",
  "call_id": "call_RMqD4HHDx4H8HSfkdaqOPWh6",
  "id": "fc_0ade5107ad8f7e87016ab42df6b7e487d09128be2ad5f01239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RMqD4HHDx4H8HSfkdaqOPWh6",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1059, 0.9867, 0.8421, -0.6067, -0.1699, -0.102, 0.9966, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=0.0012 left_z=0.1898 left_yaw=0.0782 left_pitch=-0.1767 left_roll=0.0548 left_gripper=0.9966 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.0046 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.0991, 6.9128, 1.7509, 0.1099, 0.1929, 0.1392, -0.0615, -1.2513, 7.0222, 1.79, -0.0611, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b86c5d7cae57b85f94479cb2313c8dae5a26fd69a6f8bcd862a06bd2240a290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d4ccaa246b6ed7a4ea6c5c101d2fb8bab63d2fc40e2be288bbee9f14683bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d06a8134a73c63f4211f7f249d8073a74164cf992bee748260e4afdce34bc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.5955, 1.3205, -0.5308, -0.3126, -0.2501, 0.4121, -0.02, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.092 left_z=0.1954 left_yaw=0.05 left_pitch=-0.1955 left_roll=0.0579 left_gripper=0.4121 right_x=0.2956 right_y=-0.0002 right_z=0.1761 right_yaw=-0.0046 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.9385, 9.9761, 1.9365, -0.0562, 0.2906, -0.0024, -0.212, -1.1692, 7.2684, 1.7265, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3378, 1.5963, 1.3205, -0.5312, -0.3096, -0.2428, 0.9951, -0.02, 0.812, 0.6067, -0.3855, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.1949 left_yaw=0.0428 left_pitch=-0.1977 left_roll=0.0616 left_gripper=0.9951 right_x=0.2955 right_y=-0.0002 right_z=0.1751 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.0068, 9.9624, 1.9072, -0.1001, 0.2759, 0.1294, -0.0479, -1.306, 7.0496, 1.7021, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1059, 0.9867, 0.8421, -0.6067, -0.1699, -0.102, 0.9966, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=0.0012 left_z=0.1898 left_yaw=0.0782 left_pitch=-0.1767 left_roll=0.0548 left_gripper=0.9966 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.0046 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.0991, 6.9128, 1.7509, 0.1099, 0.1929, 0.1392, -0.0615, -1.2513, 7.0222, 1.79, -0.0611, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b86c5d7cae57b85f94479cb2313c8dae5a26fd69a6f8bcd862a06bd2240a290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d4ccaa246b6ed7a4ea6c5c101d2fb8bab63d2fc40e2be288bbee9f14683bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d06a8134a73c63f4211f7f249d8073a74164cf992bee748260e4afdce34bc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC38mXZiOIwg31dvkUgPPQ_zQBEK4NYUdXGykYRerziFWxvtvXUyd4sMHqN0OqWsq-NDSCTrtFtLrnImV7i-Fn9ycpzah9CbHFpoVfdqKxWbV9vwREwiJhbtJ_3dE6ryATHrq77XyPWDdcbsXG3QqwnVEfuajypImmgQashD3AUVsN7Xnz8fKns_tBWVPulvQ0bZAOSvNbhDcykSDGLVnCQaHDm4O8-y49gjW3FZUKt1RBX-g11QgHkUQAdRyPI3enC1ldO8bVF1XhDjrnRO_4nAjKmzTCOgJtiRXc_zUJy4DrEdRalmuOPejH2eFqRH7FGZgaG-ZfmrG_8R9ko7yH9nx8xtsvjHK8qSbqbegAy3-KXdfyejOcjX_fJD5TUq94Bh5hYk4SC2Vjdql4tzGsUlJrsUh7fST20_Y_KadhEkc4pELRASyhuBikdsF9OYxsXSfOobtWC5Okf_HNR0DpKaMEUnW9Hs6Cj-tN-MjR_Y471K_f4x7JC-Wt7rUtWAYERYLy-AqnDj8KyJqiyDfa5_ltCLZXz6zgM8-OGE-pzBe_rBs0SZ9ttxGlFx_r9mcNQ9sJ1-n2lT_L8--aNUJo3V4uoQPdYRCWcL0nx9O7ddamTYum88AHNr3SzACY0-bb2miHnTfIy4n-zu2PUWt3YYghoxHRQcuBTZ6aOmhVFZ4XgPm47N3uMZF-snczuArm4mRtIT4VgQXQuAwcwOBIIOkX7hVv40jaAj_8csU4jkKblIfDmblYvzuN45CykwFieJHwhCuhWFjMZyGnoLnh_kdYKWrLWSNDOueD0e2xaASU0npBHhwPH1tN3eQfr7lRCHkL0AWOcZ_QVIgI7o9hajXLny2YYxd52ljAcNUbyFRkBWPHuZuGIYTtzITNxzAR-C_HkI64E6Rcff_i4MSgkMdpEpoYKYKlEy2Pv5d_7s03GwANXqW19VsJSxpdcrz8Dk6MRcNRNUQpphA-ZYzMpSzz1PP5uhVfzqaNFoS_ypY8eiy1cVKvJFymcATVgLjgwNG6nQ19nTu5IfLpk_DFLT6G2Gdd-0kuHxQim9-H7fFtegI7txGPNfVwC1FSyP-JnIzKb7NFo2n1uxGd2Az2I4Vb3vq3Y4TlChQF4A-Awu6dT73drMkDRYbvvAc_HdbaVKz0mgl_2XWyyA3Rz--LaZuav3MsbUg-lbTTjJwoa9-egwMBueyw93JvNXD558clzDUOk0pJj0UERHB9uuvJ6rEOnxkJI_UFhXjDjRe68kLOfCS64bLpPj1ogcq_lE0hvFHoiauQ0oD5Mtjdq76bspwPoOAYHMgj7eOE1sD1uDu8Rdnce1PB4-yHFYJSjUFUBTRxCoRt5qh1lCY1kT2Il9_Zj0B3Fc8SNimpOjv6cKIbjc5max-Ma5i_2OeJebPFtQ32YhecBCrFuhNYdm6tbwI4-VVH1om4TrxxJsQ949iwAQBxw-0tV3EOhGez7l2ZF0xpWrYwxc6XFiQ5g5yCu4td_5jtIcQMs5E-6s5IQcVu_BIyJSpddb6IqVgrrnwRqlVehnQCpu041_kDwFiQgccSfpctiF90htZxbaT1EGHcB73OLLcDVa9iOQcXDhtR768jtNuVuITIcyTOd4bcc5nDx4C2xH3MXibLwllc4Agci-4sPtdsJ-BLYUuk7GCFWrxxNoQVTQtb5m6H_pSWlu_Uru54Rq7x4dfUhNLLvn3iQjzCwVFqUA1oKbPM0XUqDwdm-kqLrSBV6I59yXU7R7bUOtH_nlTELqZ14Zl_Kt311ClPNtHv6Tm_tpOKf5rc_TWocrpkOSfwEvC5aRRpzfpJ9ibQxpb0z7GdfKFpoH5CD2Az_HeubI9mdxET5Z81RR9JFgSZ5Zu9dAOEePpED06_bgzIkS0Qv9hprkwjh4s7Xw91kwKa08VQw7_dITkKpuolkQvFWSMfRCN5gmXeVKw_E_ncbO0_g5ThHbVfZmnqDs3TVABfu1UB21Juhfct6-Ohv_Tg75Yb6sWug746x75uhwEbYjEOptLTwh--ZfR4Tu9a9UcR9IHak81Z6uGiyThVhN1CmtzgLO_COCiQ_uUrZ0lXFVceM2CrcEwynjFlPzM7AZu3qetlxwqlNLBDaQDV4ELVWw2vKXT1DIenmZALTmcjp-u_PaR57YEclXUKcPl4eiltL93FrS0D3uTbBYyJTiszegC7Phx0qrYOE7kFBOx1tkMTP8e5cqoqHPRlJwwNrgQFwsaqJWokCQxEpMx3JmXMXtRU3xT5V-cP1t5HpCeZbwy8xM9o8jwJb12tnIoNzYjbIZdY8ot_qcwUHp",
  "id": "rs_0ade5107ad8f7e87016ab42df9d2cc87d086154006993916e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.255,\"right_z\":0.15},\"note\":\"With the left arm parked, I can see one gray figure on the left and three cream-colored figures near the middle, distinct from the brown-and-white one already placed. I’m moving the right gripper above the upper cream figure to inspect its shape and pick it without contacting the others.\"}",
  "call_id": "call_VxaMHCKRORq7gyb3YQcGpAj7",
  "id": "fc_0ade5107ad8f7e87016ab42dfbf17887d0a196c8e1a7d15dfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VxaMHCKRORq7gyb3YQcGpAj7",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.9939, 0.8261, -0.6144, -0.1604, -0.1047, 0.9967, 0.8421, 1.6608, 1.0866, -0.2565, 0.6395, 0.5335, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0003 left_z=0.1793 left_yaw=0.0722 left_pitch=-0.2082 left_roll=0.0519 left_gripper=0.9967 right_x=0.3589 right_y=0.2492 right_z=0.136 right_yaw=0.0285 right_pitch=-0.0762 right_roll=-0.0295 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.988, 8.2667, 1.5849, -0.1783, -0.0122, 0.0024, 0.3761, -8.1573, 8.7043, 1.3846, 0.5348, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a1486ea35832dad79681b8f043884f434efb29f15319e9429af9aaa0401b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518eca76380b2ebd0cce72e4e252723fce151a9894d21624fbc0ef03d45f8699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae882fe8e2ccdaa33c70390b6bbbefb12d1cfcd8ff0c4b9c0a53b2f60b9a946b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3378, 1.5963, 1.3205, -0.5308, -0.3096, -0.2501, 0.4121, -0.02, 0.812, 0.6067, -0.3851, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.195 left_yaw=0.0467 left_pitch=-0.1971 left_roll=0.0561 left_gripper=0.4121 right_x=0.2956 right_y=-0.0003 right_z=0.1752 right_yaw=-0.0049 right_pitch=-0.032 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -8.0068, 10.0308, 1.917, -0.1294, 0.2857, -0.0122, -0.1573, -1.306, 7.0632, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1059, 0.9867, 0.8421, -0.6067, -0.1699, -0.102, 0.9966, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=0.0012 left_z=0.1898 left_yaw=0.0782 left_pitch=-0.1767 left_roll=0.0548 left_gripper=0.9966 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.0046 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.0991, 6.9128, 1.7509, 0.1099, 0.1929, 0.1392, -0.0615, -1.2513, 7.0222, 1.79, -0.0611, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.9939, 0.8261, -0.6144, -0.1604, -0.1047, 0.9967, 0.8421, 1.6608, 1.0866, -0.2565, 0.6395, 0.5335, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0003 left_z=0.1793 left_yaw=0.0722 left_pitch=-0.2082 left_roll=0.0519 left_gripper=0.9967 right_x=0.3589 right_y=0.2492 right_z=0.136 right_yaw=0.0285 right_pitch=-0.0762 right_roll=-0.0295 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.988, 8.2667, 1.5849, -0.1783, -0.0122, 0.0024, 0.3761, -8.1573, 8.7043, 1.3846, 0.5348, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a1486ea35832dad79681b8f043884f434efb29f15319e9429af9aaa0401b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518eca76380b2ebd0cce72e4e252723fce151a9894d21624fbc0ef03d45f8699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae882fe8e2ccdaa33c70390b6bbbefb12d1cfcd8ff0c4b9c0a53b2f60b9a946b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4CopuuAt8vRMGdM2MQ96OUubHXBqDJ9zRKXVtYqUIJWNso1cKRnJ0G6On4TFwDN5LvIMDZHvmhi8KbmkZsE6rM4PbR10GimGCQArUv4Kw3tDoUa0Ohjd3YpVR8pZC0XIz_LWbJldDZVue6__Q232OYNoImNs9xJqt5BCJrbNQd3EFQBUQJ7PmWOyNZeMti4cQIawrTGhQVDdB2QYijCWBUH0FUfSyi3ED53gTIBjaLpeUG2-WHBLCco8aK0DSKUz8SejtzIKBprUWv8BbTqVzgDvJYcupbdSZ0iw_A9l--nsoMXzGyo_0b8n7dKsDkZLt2xVR1KfIEKFBioPwarNadSc0uKn4PnnCmMt07tCHq4YCKVsDSRvIUMyDM1FlTVkNheG5-llGHzDjfso216BRydphhH7HM-fNVLfFZfqoPcec9D_3YV-n5TxibQnkdUiS-_KWNRwaOh6K7BGZxWluWyGyLKY2-bs6R-01sqXtRw9G6809CWzt-thSJwTNQZK1LUrhWhBGsYzqlhP7leQ1Lptu44p01nvdURmJnIdD5MxA_GYuXosTY-UgywIvWR-Y_TxvB_QdyWNu-cRUPv_x0S3lGPraxQKfQRc98eXomhdqK8YEraPyNzD5EayAGvMxTfh9w7AH74ufeSz0knxpXz8nvY2qiyON3GvpYrY5EH8z7pICtUX9Mq1cM-TgRJ3W-kSGPWPPitB_cFgga9yUKW57zMk3_uerjNZFWFOQH5KJrGTFZzqJbmkohp9Nd4rE-hs_8Ic4TdzoaWsOjP5YzGTD7mTASRQwQa2l8VsSj9DBNEhWYk00XGQeJmkRFKEx3iISUqPo3giHSKoJzlKDQMNCv8KUsLESUA3beUzr_QLVVpL2__NJwMzbOBcdzBMzW3_KSlCous1IX1rmBb6aScX8JJz7aeBCg9YV24eMrPZVJaNpkWmXFVIP_qjZLjiTl_EA0ZyilnF4ETsiqc153U2M5kyHKrrrpZldPVrIbAx7xR3EzZgdG4hd2l_9TUO3gD9gi1PVqENid30os_5T8Vc26yC-N8xbDKdd78iPgUtBZYoFxiQvvuqkBz2NbtTdiaxkj84pJ41i6UarLs-8d0NTBuuEourMHRWI8lV3tC9fyXfWpf3FvB7yfkl8hLY0v1zaOHVzIiIUGq5lPFMsdhilNwXKtFn_dN-vitZ1UlmGFq24CfjbgdLsPHR3cQdG9NLHxN72O5Bw6sKXCCnolnlmEJA0fzEDYGChtC8kcXcottPay-Ljv2ffQgg70hYFJEL1t_p_uSCXqL5Ptz9w_DE3zBWyb1NGJr8IKJ1Ad0FEHSwOE4hWcG9_r2DTXCQM0XEdDlPG7O3DQL8ThS64ckVUeWBNNOnsoAkXmiLLLW_O2Iwr7qAZY2YpafVJgjBqjv5m-UhByh4rH77Jjnv0ahZ6692fl-aXUaEOHipH4T_6KZZYm4h7p9_Up9ka09KOmY1OkKK74DXqOVEgpo9_I4UdaxBeERiOicpKEOLYKcsMjp1QnrFKzM77np0DRN6r_K_jqN8MGG9XdUc6L1lCWiRFegVPJLMSgyHSywRt9iTDg8bww8ODJj3Kt_KdThGqGZiUdrrH-GA7KLlun3nsnzUG2QAac3gJmFWwRIUVQWgUIfVWzDD_BnuTqS4J1SvzcO0aYJbB2x9gqJ7mmPEJFrzb2ejHhDQh8GGRSkBhl86yyXwSv_7Qqc6ofXOJTMKA98YKKAZNEqwBHpUW8q7SEVnDRhOrsJoMOs8HldIua2pxkocEjBXLJhrbmianUOXPeWzDp5CJBtbVJNiEaL_uMDtlYD5tw5OX-hq0aCtLfi_6DU9-QIfMHQ2BrRTA8lEpceoJxws75-Fd8NpOOoupoa6CoImFUTtuCecchnL2TZHmgWl0LABE495zs6J9lawsqJGCQqO79A9ZsvIuwiyo1di329UEtLgd-3OZeKABzRVhvmpKyo4PBfiEFC1MHPYArt47P3VHNIeS5Fhh_8TeeEWRerMYPEYrqDgIRWe2H3M2GD5J4cxfooe5UjBmBlrZmXWvdaE8_F_CD1tI99D9flq_QIzElDV42IRVl0x4CSvab6JjYWov44JagoS5C1NKQw7NYvM-hwJXE_NrxvP9dvQ==",
  "id": "rs_0ade5107ad8f7e87016ab42dffd61c87d0aa038052836824fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.292},\"note\":\"The right wrist camera shows the cream figure immediately below the fingertips but about one jaw-width to the left. I’m shifting the open gripper toward it laterally before descending.\"}",
  "call_id": "call_qODdD4hB2T9XRylebMDVssQt",
  "id": "fc_0ade5107ad8f7e87016ab42e01ba3c87d090646a172f3c8bf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qODdD4hB2T9XRylebMDVssQt",
  "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]: [-0.107, 0.9943, 0.8261, -0.6144, -0.16, -0.1047, 0.9967, 0.9104, 1.779, 1.1988, -0.313, 0.659, 0.5777, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0006 left_z=0.1792 left_yaw=0.0711 left_pitch=-0.2086 left_roll=0.0517 left_gripper=0.9967 right_x=0.3549 right_y=0.2864 right_z=0.1229 right_yaw=0.0554 right_pitch=-0.1063 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.4821, 6.8444, 1.4921, -0.1197, -0.0513, -0.0122, 0.212, -8.9641, 9.2923, 1.243, 0.569, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9231024dbeb7bade8822ccda901c841330d7ff6789ddf169155e5af721b6faea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6836ea5ca15aae6d7114f78091bac9c6c0ad1fa886e7e5bf277755398d2bfd89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad0b3ced2a57b7a66f9ab0e100daa466010b965fdca7c2354c59ab187edb25a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3378, 1.5963, 1.3205, -0.5312, -0.3096, -0.2428, 0.9951, -0.02, 0.812, 0.6067, -0.3855, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.0929 left_z=0.1949 left_yaw=0.0428 left_pitch=-0.1977 left_roll=0.0616 left_gripper=0.9951 right_x=0.2955 right_y=-0.0002 right_z=0.1751 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.0068, 9.9624, 1.9072, -0.1001, 0.2759, 0.1294, -0.0479, -1.306, 7.0496, 1.7021, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.9939, 0.8261, -0.6144, -0.1604, -0.1047, 0.9967, 0.8421, 1.6608, 1.0866, -0.2565, 0.6395, 0.5335, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0003 left_z=0.1793 left_yaw=0.0722 left_pitch=-0.2082 left_roll=0.0519 left_gripper=0.9967 right_x=0.3589 right_y=0.2492 right_z=0.136 right_yaw=0.0285 right_pitch=-0.0762 right_roll=-0.0295 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.988, 8.2667, 1.5849, -0.1783, -0.0122, 0.0024, 0.3761, -8.1573, 8.7043, 1.3846, 0.5348, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9943, 0.8261, -0.6144, -0.16, -0.1047, 0.9967, 0.9104, 1.779, 1.1988, -0.313, 0.659, 0.5777, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0006 left_z=0.1792 left_yaw=0.0711 left_pitch=-0.2086 left_roll=0.0517 left_gripper=0.9967 right_x=0.3549 right_y=0.2864 right_z=0.1229 right_yaw=0.0554 right_pitch=-0.1063 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.4821, 6.8444, 1.4921, -0.1197, -0.0513, -0.0122, 0.212, -8.9641, 9.2923, 1.243, 0.569, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9231024dbeb7bade8822ccda901c841330d7ff6789ddf169155e5af721b6faea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6836ea5ca15aae6d7114f78091bac9c6c0ad1fa886e7e5bf277755398d2bfd89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad0b3ced2a57b7a66f9ab0e100daa466010b965fdca7c2354c59ab187edb25a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4G8WzeELNVnSaxtniZoEeNfxfVHxhF8s5ZE70zr9_QfWl_CbSD11FaCEhhIuhquyNZDa4pS6d4CJACBfpyPp3IshyZGN3luVNxHFL5iddMu75RjW5qs7HC4lWvrDG15ohZVxx_JUHoFS0UQtZW80bqXQPh7z4koTj6plKMy_J_S9rfd88LlJjY9HdzA0C2_OMRah5kL9CYckcMOumkQHMts4zMbf_KHwPw3SmHDbK8EN_MThJ8pf31HgJBTci9gv8YfXKUUL_3LgRuIhCW6A0sw65C0QYaZ0stn736HH56Ktgxho6vFbepK9S7PEc-ke4P9PXyzCmvy-Ee8_1oc0rwDLujw8py808abvjwG-T755acC5eHJyyM3de4N6dVcd9pOUtATyPshfl66-1z709NT772N9OY89bVcNZXrOsL7WrvQKsuoO6CFSyXJsdS0gOU4vdzx1h9pZL6Eva0ROj1bxVlTfo3grpoODPHrrGWITxk_v-jAf9EwYhi-7QKsuTUtlbMi293sOZtQ1yF_dv3Z_w24fU0gCkkWjxiZem5lXarD6Q-p7U97-wCMO2JRUqLWNz4o_tz_6UgKQXmGZ1WH4_DVqWDTJdm8xaHhRoSKy6xsRZKS0vBPS9jaK8ToEozxvSu3khdIgwHrCEmlbhJhSd60LbPkc_lzbakz3ZD_mvWIotKG1XmL-uubbjo_U7tHY8tmIM70rsXOAsQP-shY0hLWVEz57Ke-5-2Pj_TIiF7-cwH8qvjHanfKl5y1gqXFkvWTaVP-ohiQJCJhN9EfgXWtqBsFT0_rUm-jmCcExfUXiTaW1U6dVDvEKYgKxN9PA5q3hL7XYMkdiOuImWSl9unWvu5dDDs1tVD8TyRXW8x6A40ysHst3DKfIN9X7z65inGYlDvHfs65eUMMvAnWt4efuJZTYM0Abr9Jo7pKZWChRLMb6L9tMXVNaCan-2sBXjNgi7msZJDD6pNM-OkWCaAB2KObox_8o88CctHIIOqnVZZe7dl7C_JikqIQg0XCI9RFjThDKEW4c5EsNmOZF8dCY2yBNVl5T_835kGU0G_GtN2RSYyPm1ShXyGaBkk0oZSzNCUEHlreWBRhA0SfCBaksxMOb2cBSIUDAHI3YvOaehxVC7YIuMa_cM9V4xJWYSU_8ro29RYGP8wpXk5u6DiIfm6PrWG2y9NHwEmBughjNtIoSUbEUG5CszIqCMLwuY4byIf1nO14ndloxSg1Vi2T4SGwo-waeeOhqDgw16NuFgS9q41hb6HZdbaUhiWanFUBDZ-YYlZuf4HzpJLRXGJMC5iDGwDU7AY5hpAM_dwvhPpmEXA9o9st3hTqFeAdVy7JhvWWsu9tpmWt9Hxdcgb4-gYM2VPZc40Gx-HYC-VyqNXkFB8dUnK1tJ5PToppqerRFrXJqVu5na6XWo41u5TIoCSkKcw_OVAz9MypbRTGzPmmxXbA6zTLbZj-tG1VDNZE3ITOnrNW4_QSONp9OIFpn5sTSVvyzsM1Dnej51zpG35aQunDMc3bmqVrfyS-cPsrfed8QCdoO2rpV74EYUHX5R68cNP125fW7mFTuq-r4JGrSmKKa9DWk93WLwygjUaq8ShiYxwrwOj9S8uWNA5PqNLzM8lPjlORSoviqHe6e2LbgNqDlAgt4XkxlbYLdKxpAgKj11Tx2z7DxWxzhD07ODC8uA6QOEZNFnMQyAqfNTQ_SE8StIS7l6c_jWNXRoMIX7gNy_YuVdVPQn4YdcWuCpWv1KLt-5KFJkxam70C2U7Fs8gil3SaaZUddk2bAYUqfGcmoQV0VTyPUuhjiF3tHYPoP7JdyFW-UnZx6L6pmY8jGYFthGjjOyrNERCwfZfvqnf7W4cBOali5rDezTN-8n5Mx9YWfKPkNChI8LrX5nhrjdtk0C69nrll4b6NEZwPLDx5PIdHkhclU6gksFDjiiOLBs0KkvbQl7XTNIA0-BkdwVuCSQ-ppBbLN-qL54B-JmiR_l3Ha3S_wU5hOiXEBIRO6NUwd_2Ki4fqHCY2zwtGr8qjEtCIPBikBKa57cI-GLOgW63iE_opWuxGQMgRivWd6cF-IkME63M_EbqvzT6YIWIY8wKo0S6hjqQNJLc2ecsXeY54gYieK__3Q==",
  "id": "rs_0ade5107ad8f7e87016ab42e0459ec87d0a3796f03085dcf89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The cream figure’s face is now centered between the right gripper’s jaws. I’m lowering to its mid-height so the jaws can grip the soft body rather than slipping across its top.\"}",
  "call_id": "call_nDsmIGxJv7w8p71nWNOaKvly",
  "id": "fc_0ade5107ad8f7e87016ab42e05e2d487d091423acef92c41f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nDsmIGxJv7w8p71nWNOaKvly",
  "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]: [-0.107, 0.9951, 0.8261, -0.614, -0.16, -0.1047, 0.9967, 0.9218, 1.7908, 1.2175, -0.3321, 0.6662, 0.5919, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1791 left_yaw=0.0711 left_pitch=-0.209 left_roll=0.0517 left_gripper=0.9967 right_x=0.3531 right_y=0.2907 right_z=0.1229 right_yaw=0.0535 right_pitch=-0.1095 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5641, 7.0085, 1.5556, -0.1343, -0.0659, -0.0122, -0.1436, -9.2923, 8.6769, 1.2381, 0.4664, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d7b2dc66996eb16a241167b12341603e71250b76d31b4c2e081eb1229b2aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f807c50b570b4756f7f55ae7a19e9c133a7d4f656dae1d88ee0d28b31c1a5ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d559d1548b5a92bfca794a1c16587634dbd2e068d87c0af8d0cb854c43c7af5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1059, 0.9867, 0.8421, -0.6067, -0.1699, -0.102, 0.9966, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=0.0012 left_z=0.1898 left_yaw=0.0782 left_pitch=-0.1767 left_roll=0.0548 left_gripper=0.9966 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.0046 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.0991, 6.9128, 1.7509, 0.1099, 0.1929, 0.1392, -0.0615, -1.2513, 7.0222, 1.79, -0.0611, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9943, 0.8261, -0.6144, -0.16, -0.1047, 0.9967, 0.9104, 1.779, 1.1988, -0.313, 0.659, 0.5777, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0006 left_z=0.1792 left_yaw=0.0711 left_pitch=-0.2086 left_roll=0.0517 left_gripper=0.9967 right_x=0.3549 right_y=0.2864 right_z=0.1229 right_yaw=0.0554 right_pitch=-0.1063 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.4821, 6.8444, 1.4921, -0.1197, -0.0513, -0.0122, 0.212, -8.9641, 9.2923, 1.243, 0.569, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8261, -0.614, -0.16, -0.1047, 0.9967, 0.9218, 1.7908, 1.2175, -0.3321, 0.6662, 0.5919, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1791 left_yaw=0.0711 left_pitch=-0.209 left_roll=0.0517 left_gripper=0.9967 right_x=0.3531 right_y=0.2907 right_z=0.1229 right_yaw=0.0535 right_pitch=-0.1095 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5641, 7.0085, 1.5556, -0.1343, -0.0659, -0.0122, -0.1436, -9.2923, 8.6769, 1.2381, 0.4664, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d7b2dc66996eb16a241167b12341603e71250b76d31b4c2e081eb1229b2aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f807c50b570b4756f7f55ae7a19e9c133a7d4f656dae1d88ee0d28b31c1a5ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d559d1548b5a92bfca794a1c16587634dbd2e068d87c0af8d0cb854c43c7af5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42e08033887d0a15d8855427bbc1a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4O6seXBtYDYnLqEeyCaUq9Y4HlpQxw31ntEVzUvgBgC2-xWrKOJhA_-2AuOcR9HfgD-YbGO8b29UXjEovSKuAXV3kb4FEBEpVJ2M9fQDfv_q3FYkGQmdNYKWxxmTyznfPqCQ-9ljgJ9W10FYD7E5Ua426g7jTxhGlpZaxwFfUC726hG2CyaoV28G7hGSukLMGQumC9c341JDR5ZdLurbO8t77x9RDKXFSDFkIDBcy1lFHK6C7ElCfHZResSlGlMtuZ3s60F06sX5MfRHoxDCkIWqHV4tBhUeW_VU-NhpjiZOvXjNbqHsOOj4OAbSkr_Ogg3_I_wvW99o5yOAqyN1pihwRj4CthfB0exHrUL5xmM3K9-uRnslqJaoylHJjpOa_0NoQXhMn-0hDEojbMIrY66V3FXNkz-5LVyxgOu6zEb-y8tcNAFx5EcQk4rJENixwai5znPnHTkk9mGYBtKkAhi3-4HBZ00IMaK-dWMlRpXctiatE52bkuJJ5bJWn3MhNIyNbtCJqlvnJv3Y9_ijy462Ps2vZs0oRR3PJszSBlK4P4lHWoRohsa7j41ol2VxReSc-fYvoyrP9l2CV-Tzr-m68-XKMtW2GA__DbzkpIS5za5H0x5gU3QFDwa1pv-NUiRXTLoAeR3hZGe9kzIAk-oDU0n3Ml_wdMXGQGwgdX65B6Q1msur1QVVwhQxRRvrGMoc_PjD6_S9EaF7kWndQBEj6oyjTVKA-jroXYn8M4EE9SPWg5Med_LsbyAY_Akhsho9Oa7gxYsPaiXtD_Ygg7sv9Jl_-u5e0NjGXvjJP_I6P_xOZpiVdj0dCKYm_-3QyoBku2Su1ZgwjppBfWUq1CTjCJS729o0rPCqlWsRRCpHjhsiN5zgwAf71o3BNOG9KoGSwLzEV35-RYqd6I5T08cat9J1_-ih6HqJB2aKJE-PypWpO-ABJtn6xIUQ7Kd6CxsCTpxvI1od7Cx6WIOxl1eKkAYQ8UuUtP78o8y11j5u0pexplcYve7Q4sz0-PFz5eUtrA1wdW4c2FlnaYxjH0gP2dgHw5TfEYpT_twtJVKZa1zycWx8rslrh0VKIa-LcU8b6ADRW9sFqkqEfqYKmNAXR5c-h04FhNm1d_4ytkvyBVuQds54WkNecQB0UyqMGciwkPawaXgz328ruYPw1-qbw-dsDppa91lo2qg34GTxtRKlb3dYrQBn9W2KzkicZXLyBpHM8KB11_Z_jZm5v_5UyKIoh0jgvQm8SJwSKZZIpQ8KPCmN7Zf3Pcl25dZWPcLUKLNbgaHsaNH8esN6uwEj98EJDJwK0WeMvYNO0tEXIKeVyW2wUs8vI0Utj1gYJpM5LEKYFx0Q1pikp2hK9vpv7qvdbO17kLRw5_cRcKN-vs05_aZa1NNuAzPCmReyjRuUoifeILsPug3cEGUIJDmmoU6YzPNrqcq3ZE9qYNTaFipujB4F4jv-rvUp8ohZzkvcerlTj2bbKut9tTNg-9YNuheNog4s4R-7VzUIP450_faB_ZR6kWw2misTafCrdf6j5Xb4cIl3UHc6qSx7GN01J-KtoO1akZrb7--Ynq2tSS13Mzs-LsJXJyulIoKc5Xei0t4pQA1WPFgeWcnQ7qPx4A9algXxEzdZr5c6M7uB6Qc3xUdIDtFxSgDKvoWSI4oxZxPWLI5K7YCkgftDTdDJ8b6ypFaBMahZ31HfgO4e72zlAyUmMzXj97GeZm28Vekz9yR1uPtdVU0Tc13nLc8KCDypRl-rLwxiPbfWyw0HY=",
  "id": "rs_0ade5107ad8f7e87016ab42e0c8e5c87d09cf433c2ffb85c5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_z\":0.045},\"note\":\"The right arm stopped at about 12 cm high instead of reaching the requested grasp height, so closing now would be premature. I’m easing it a few centimeters back toward its base while lowering; this should avoid the extended-arm limit and keep the plush in view.\"}",
  "call_id": "call_DjcJeTjHr3GfMOC5FVDVxlvk",
  "id": "fc_0ade5107ad8f7e87016ab42e0e403c87d09deaf3727a094637",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DjcJeTjHr3GfMOC5FVDVxlvk",
  "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]: [-0.107, 0.9951, 0.8261, -0.6136, -0.157, -0.1051, 0.9967, 0.9546, 1.8019, 1.1301, -0.2123, 0.6968, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.0012 left_z=0.1791 left_yaw=0.0687 left_pitch=-0.209 left_roll=0.0492 left_gripper=0.9967 right_x=0.3438 right_y=0.2956 right_z=0.1046 right_yaw=0.0483 right_pitch=-0.0768 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -2.2632, 6.8308, 1.5849, -0.1245, -0.0317, -0.0122, 2.1675, -5.0667, 4.6291, 1.0476, 0.2808, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce981ea8603f6d885c147cc226fee63a0730df9671a314004ad7780651f46d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9499d2e9f084cd4fdc9a18e460690fa492f9a4946a5bb5a692a7b29c0e910c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00b8e16fc43b4ffcdf200e26346f24d2d5358d2efa37b422e556b9a8c91ceeb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.9939, 0.8261, -0.6144, -0.1604, -0.1047, 0.9967, 0.8421, 1.6608, 1.0866, -0.2565, 0.6395, 0.5335, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0003 left_z=0.1793 left_yaw=0.0722 left_pitch=-0.2082 left_roll=0.0519 left_gripper=0.9967 right_x=0.3589 right_y=0.2492 right_z=0.136 right_yaw=0.0285 right_pitch=-0.0762 right_roll=-0.0295 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.988, 8.2667, 1.5849, -0.1783, -0.0122, 0.0024, 0.3761, -8.1573, 8.7043, 1.3846, 0.5348, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8261, -0.614, -0.16, -0.1047, 0.9967, 0.9218, 1.7908, 1.2175, -0.3321, 0.6662, 0.5919, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1791 left_yaw=0.0711 left_pitch=-0.209 left_roll=0.0517 left_gripper=0.9967 right_x=0.3531 right_y=0.2907 right_z=0.1229 right_yaw=0.0535 right_pitch=-0.1095 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5641, 7.0085, 1.5556, -0.1343, -0.0659, -0.0122, -0.1436, -9.2923, 8.6769, 1.2381, 0.4664, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8261, -0.6136, -0.157, -0.1051, 0.9967, 0.9546, 1.8019, 1.1301, -0.2123, 0.6968, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.0012 left_z=0.1791 left_yaw=0.0687 left_pitch=-0.209 left_roll=0.0492 left_gripper=0.9967 right_x=0.3438 right_y=0.2956 right_z=0.1046 right_yaw=0.0483 right_pitch=-0.0768 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -2.2632, 6.8308, 1.5849, -0.1245, -0.0317, -0.0122, 2.1675, -5.0667, 4.6291, 1.0476, 0.2808, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce981ea8603f6d885c147cc226fee63a0730df9671a314004ad7780651f46d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9499d2e9f084cd4fdc9a18e460690fa492f9a4946a5bb5a692a7b29c0e910c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00b8e16fc43b4ffcdf200e26346f24d2d5358d2efa37b422e556b9a8c91ceeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4VYMUE33T21FwY89UIUU5WtVpc-ahja3tHg3i7r4u1C60Q2rClZ5zqmCyl2NNushXEXphJXNm5TYe9jO-ykcUx5TLAJw7yHwp-cuHrOuTjB9XuqVjxUtTRh-WDLq25sZ5ONAyLhExwKYtjKskBINj1zTakskpBKCEtItkMh8leadFS2Avsu29AAI-916OsKLVwo1BUCOBQVmRuSqw1QUQDOx1kj9UwB-8UFLD62lOd-teW8fGB8te505kEXtQiJOPHQBpXOxyKBxdjcQeVnumFVMOYKJU22UTpNu0xo9Sd382ZuCMF0ptlni_BPyDO3MhHGJMxKI3y6LXLG-JGnkDpHOpdlB3-NoNIetL8K6klMOlurPIufObGnJ9B4-hsSEE12rjCely_mm6HbBf788NNTtX_WiSY5djI0N_KTHFeQpYpMG5E3MKcqCKEKUg-X0COyi5cTnfgyI1LdwjZ09h5QCCj0k6yPxC3bR1R7-AD1tQ1NJM1D6PeE_Z_ohQAcqcw8xBwnkpre7g7yRjuA1D4F8ZfOWd8AvcHZc0xq_JJpd-2_yQOBUjW67nIdUcSUq3kOLl3CAiYRf176y5KywO_1ml9wxlHqR0wnQotxPzOHbtMJ5iuLf00_HdJycnewsNRfN7w_zUzlKmNM48Xx3-8SK-CYpgGGpb7KEprH6VSe8eJrBCy4GV4S9Xp8NlPxskXyoJrq4eFd7GoZ5Jd71Yy3Cgzt0V_VFA7uh2aGBcMN2IBxhsrPJ0X6vldEyMnjEH3rcG6-ORu8vbRFEQm7fRa2EvrDa-s3wYJsUATvQZA7KVE82BlmMXOKpYuM7u760xACnLlxTsWpjBwFP8BEn8GnXNFXBLJQI5_p1gWNhwRKn6lP-fw4VHCPvtHAvPDpVI1TAZ9UiOQumGXs885inZ-887da2yZghkVEbgs_ze1XqQjgN0FhEeqg1sXs-6w-xR74LZ6GauT9ShUFkWICziOaYEwIhluu0nltTpBczvYE8Fa-zWmWtqHC_fr1jUe-P6MW8VYjGccvpgnZ9YUfW2hbAYRuzAYAhD0RB0axznvr-fDHacb3_N19LfCUZT2REGjzqyjX71OuXnbvK6nb7GHSzkUNoBU04i9wQTlzh2WtbQWQHBbb8Zr4F-DAPzTMZ0jQObq4w9tuKktqHuojD2ZMiWlEWHZjmCrVPE_PHlRBeJZKQR4yPMlbWPIsviM87fMnCIvB1c1SA_TH-K6v4LqNeLzBLWa8nekXELDWWYrue-OkNH50u_h5DvuDe12UZBjYPrppAIUFzky9SCmUlmwxMP8_RpDSttjaEiPm0dhZ9spkUhR0aEdomm3igj7kBzAtVhW0o5hKp_UzBfSAoHXHZ0JPG_DMqRlZmtNVss1X3Wj1F237ss9BeK42MimcEeJDa9v9OCjEQ77FlGNRgunPKKZfbZflZ8zm6YV1FBEtSaYngw9p0A5dUTf-3qwCiq3AatZYRIYMHWFL-1DSSC6grZ0ORRXL-e7AGLjL85FDyWPWQ0Hbki6j7hRhH9inPI9BQ5hK8Zr9wQ5jWcY5_zA2bKlGzl4kg1iULWyTIcRDa2ioRdAcg8tef4bqQWOgzreqCBQFNw2Ncrdvh6hMRTI249H6jL4UDDoMHd5yznD1-aUfrdUsVsnt4oZ_ea85MQuAUzNS1C7Mwgtzbulg4CJsjNEjqYPl1rDBj8k9-A5Y5j5askYuvNgSz6YNul81HoxN2RTV6bqs28629TAkZyF5ek_aZKLC5y0WCn8JgBmnhN5fpqwelVa1ZG6SK8D0qAAs7p_N0Vn0Zi5NxwoNrHzMsJUlZREsNawwjA0BnZ5O-1ryIC_-ayeVM3JR1aNj4vp3Yi1p1Mt5MYpmMECHnLwliyLXc5bEhaYj0j0ogvvFH7sNMHo5Zmk1qBnE4OnWoSXikvq_uZn3mDn473D9GQ54BcbLK1lyxNb4ZGXNA7tQK4lhDIR8azOo8HMa8Wo87zzyIKckTlpA0ZPmxizP_mimNfn_SJDmRB79PoBIsXeZlMsnRpyxeO-QG9rm0LRhTD5gj3OYaCiLdYcsKK8UsNN6K5x7YdSTouSB29XGiIE8yoY4bVgXeZ4EJ2XOSKkiN8X4C01OZJBd5T9Res5Sb2Tj12WAAnWh-D7OQVWClBVTgsEJyn8T4UnRx6cEXKias_GfYkYnIP6Y-vVTWIz8omoTi5U2ktl-vjJ5cBPthBLNB7Vu_RSOuLcGje5jLowhD_u5UZ0QeAWV3EC_ZBPsR_q_SVp3SMiatJ5Q6id13YroyoPbUjOG0FmrIMxu_C8Imm2x31pIKKE35sBCfoyXwe7E2CNDvNBp8wFgkpUQx7ar6QPOxDXPEMzck4gW9nyGJW3SuwSItrj5Tk3SzQLMscuAVe7Jndj--DzuB-WBfnm7RcSpwoefxrvwDNrnSB_pazRs9X2ORby1qFZrZxdvXwBk4jc9iOhfBRlFEcMAcm9AA2bDxxIFBLm8iHc21iaLOMADC8sZWi4OXt9TXryqYBB15Y5tc2Umtq2LAKFHLqZ4dikT2ViFQp6y6M_Txv9FowPGiRqjw_FGOCMEndiRkmUtv8u86MH2hQTJBgqR6y4hCGpN9ygwI5ITkQ1OIPCzb80F6app8e0bvdPZktBmo71dL0pKms7dEyBQldo1I06RN2tT94Tl1DcFO8imXJTw7agtRk3X6xWcnxVx35U6b5nHVDjiwdtkvbXbZX4bpFMl15k7egqwVv85agNkpcGoW1pba59jEKxJdnPTv2V0pSnyEyScPi1rB6xp2WuC3jSZfSMKC5-8R3kboOQoYPo3oJ5KjjA4aPoHwYm57jDshi3G4teo6Mug9iEudjIuUh8HtZ29ooNaCP6Kp0E7x6-6zYzmA_uN9OOG38tQpX3LNoU03eS4VySxBuvS4JLAalzDqQ=",
  "id": "rs_0ade5107ad8f7e87016ab42e11343087d0aa234ce9088f933e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws have reached the top of the upright cream plush, and further descent appears to press into it. I’m closing at this height to see whether they can securely catch its head or upper body.\"}",
  "call_id": "call_SczHT0AjwyGcShEkS1jwwjuy",
  "id": "fc_0ade5107ad8f7e87016ab42e1447d087d0b06117be6ca827a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SczHT0AjwyGcShEkS1jwwjuy",
  "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]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9497, 1.8217, 1.1072, -0.2089, 0.6838, 0.6243, 0.291]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.3409 right_y=0.2908 right_z=0.0875 right_yaw=0.0509 right_pitch=-0.1092 right_roll=-0.0496 right_gripper=0.291\nstate[joint_eff]: [-0.1026, -2.4684, 7.0222, 1.5311, -0.1001, -0.0464, -0.0122, 0.335, -10.7009, 8.0889, 1.2332, 0.398, -0.0024, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a75f242471a147bedfa32a8c8457305c09182b4847970f8be2dc6579115243b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3adea98d6724b1e102f232446fd07588b638adb67c29466b9a8a6b020fc154df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad857bd27c4e06a77a181c3960432bbeeda8fb37a451da9ba3db79a25b297d7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9943, 0.8261, -0.6144, -0.16, -0.1047, 0.9967, 0.9104, 1.779, 1.1988, -0.313, 0.659, 0.5777, 0.9996]\nstate[eef_state]: left_x=0.3028 left_y=-0.0006 left_z=0.1792 left_yaw=0.0711 left_pitch=-0.2086 left_roll=0.0517 left_gripper=0.9967 right_x=0.3549 right_y=0.2864 right_z=0.1229 right_yaw=0.0554 right_pitch=-0.1063 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.4821, 6.8444, 1.4921, -0.1197, -0.0513, -0.0122, 0.212, -8.9641, 9.2923, 1.243, 0.569, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8261, -0.6136, -0.157, -0.1051, 0.9967, 0.9546, 1.8019, 1.1301, -0.2123, 0.6968, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.0012 left_z=0.1791 left_yaw=0.0687 left_pitch=-0.209 left_roll=0.0492 left_gripper=0.9967 right_x=0.3438 right_y=0.2956 right_z=0.1046 right_yaw=0.0483 right_pitch=-0.0768 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -2.2632, 6.8308, 1.5849, -0.1245, -0.0317, -0.0122, 2.1675, -5.0667, 4.6291, 1.0476, 0.2808, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9497, 1.8217, 1.1072, -0.2089, 0.6838, 0.6243, 0.291]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.3409 right_y=0.2908 right_z=0.0875 right_yaw=0.0509 right_pitch=-0.1092 right_roll=-0.0496 right_gripper=0.291\nstate[joint_eff]: [-0.1026, -2.4684, 7.0222, 1.5311, -0.1001, -0.0464, -0.0122, 0.335, -10.7009, 8.0889, 1.2332, 0.398, -0.0024, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a75f242471a147bedfa32a8c8457305c09182b4847970f8be2dc6579115243b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3adea98d6724b1e102f232446fd07588b638adb67c29466b9a8a6b020fc154df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad857bd27c4e06a77a181c3960432bbeeda8fb37a451da9ba3db79a25b297d7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4YBB7nXom4_NFVOBdf22g8F8fBGLBV1KUAUOw_k_dR80IWKV7UAAGPsxyfLIoNk9-UltzMMYRY8SVrEADkb-ODhufG3ysgLPtkQnGQS_1-Lr4wqHfXeGkJgYCvMCimOP4qfEhYludtqB3-EYouvT-NXyp---C2HZZw9Ka0sOPEjyQlm2RbunBO4_xRjBCDOEqfW3kUetZxeyu36fnnwuTfzcXX_FRaMEfhIAaImMaUsYhffNqFp3zI_fkh0DflVP13SQey3qWe19UIU7_wxLlmCKtX2u43Qlu0JITxAWNzrfXlgvJdoVwq9eo5fTDCuY3YVj719gEeNg71DccXVLjs5PY8ePNM1F9nsZTQnbVJFIUYVd4HLT5gRK9uTXWdrZPQv3S-0dcjyBqZfSYY9TkZ-389PKThkafszWrNqTZOC2yjATTwwyiZnIFHBATwzs9-KdSRcMWUaXUZHgDqx_QVPFHooTGtFfMlkFFFLtEd4PVChTrbOigzXERvSfMsOLYgtqKbmiH-5AIsRjDFiB3LJ4ar90x-Hmg9ox4WKMlAJLm_n8-vkycQTQpBLs9E88LQhKceleUayonxkliEu4RnE1OzuPt5i2r0qqLiwbFFCcQq-8uqCZIBN2AYz9mtoegyliKJC8JIr2WSc0Cra0YjWhiHm4mKZOTwwayTaRo2GWcIhJUsyGn0rzkuTa7sFZenwo9ZpPia-IQYOc1Jf6wP0e_PXvXeywRpevIj8jGQ68SwheRj8Hdmct7KeWxv7I7t4YvlQrl2rWHZ9Kgmu-ImzyCmtreFNCAeajvxU4mGkPeh3DZ1VHtMW3x4o5GH4GLoRg0RWsmp7qitu2yU8Fe3Xz3lzss4Kdjda78T_OYM-71pDs6OxsWzGHsUkSCbUq2tEN8M2GAXJZhDY7Q7fJGBou2N-89kpZfa5ZaOa5vrDT_fshM6ucka5lNuWOWBzcGMJ3RNS97A5fR_sDW-t3K9LRfs_Ci99MkuLUn6_wFOoOd3dsdupye1sMXWhE5qkVnwDUPaiHA3hTdHVaNxkNUmyCmT-qKdGjCYMZzxEB8vgWl3hH2ML--u_zl3v93o7AzNLOgxnov46cyUpGeUMS5tSD_TL-CBYHhy7RZz6euCXiwtwQnsTYqpPItkFz3ixuD7i2xQb9w6If_FVcCMHVozgD81VvIbmhyQjBiSV6wG-l_-EvlMxKBXGXW-0tcB3wCZTm4z1AUzQGTK2HzO3bV741WGj1KVEJsjRZ-Ax-NPXgHZKuROTb9Ojk5GMbBa8_d8iuVWWTbd_FK_WcHEABzxC0nxb1lp8zuHnoYo43JPHmYSi138piPm9PegRc_E3VOicmW3W1ThYSYNQuY-w_fLnDr4fCEPq8RnX5W4NbaL79nLvib37lfkEnd4oRz5dOILHNFLJA5uyLri_LqkVlZvWZpBQkAU6gKDmTvfXhuQ-0dmOJGr-G2RBKKkVMqftEZ1oSV2nnsbrK6gMmdb5evMa0aAR_qqx4UrvqCfxygWPK37zNvvleU6VI4tRMHgEo3E3Ho0kaFNSLPbLrC-EmhEtj80PCwHP2IpY0Wpwa5oLHI=",
  "id": "rs_0ade5107ad8f7e87016ab42e173aac87d0ad76f0195c2dba2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right gripper settled about 3 cm open, which may indicate a grip on the cream plush rather than an empty close. I’m lifting gently to verify that the whole figure comes off the tabletop.\"}",
  "call_id": "call_FyXJdh0v4CpWiztzvYWvNzck",
  "id": "fc_0ade5107ad8f7e87016ab42e17ee2087d0be207637a0c2cd0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FyXJdh0v4CpWiztzvYWvNzck",
  "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]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9493, 1.766, 1.317, -0.5014, 0.6693, 0.6209, 0.2934]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.342 right_y=0.2954 right_z=0.1491 right_yaw=0.0592 right_pitch=-0.1354 right_roll=-0.0663 right_gripper=0.2934\nstate[joint_eff]: [-0.1983, -2.359, 7.0359, 1.4872, -0.1197, -0.0317, -0.0122, -0.1983, -12.2051, 9.2513, 1.0769, 0.4274, -0.0024, 0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774d31f520ecf60073c58a6efd8a6c5a934e39001bf0b9a50e306fbeda197a9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990253e29f59b5307fd25aa73be9481dd8803a115302a0d5bf533c18d2fe4a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d2c05c41fb4a99321d6e12ea694f7699f602bb7e9456ab70adb53290f51542",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8261, -0.614, -0.16, -0.1047, 0.9967, 0.9218, 1.7908, 1.2175, -0.3321, 0.6662, 0.5919, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.0006 left_z=0.1791 left_yaw=0.0711 left_pitch=-0.209 left_roll=0.0517 left_gripper=0.9967 right_x=0.3531 right_y=0.2907 right_z=0.1229 right_yaw=0.0535 right_pitch=-0.1095 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5641, 7.0085, 1.5556, -0.1343, -0.0659, -0.0122, -0.1436, -9.2923, 8.6769, 1.2381, 0.4664, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9497, 1.8217, 1.1072, -0.2089, 0.6838, 0.6243, 0.291]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.3409 right_y=0.2908 right_z=0.0875 right_yaw=0.0509 right_pitch=-0.1092 right_roll=-0.0496 right_gripper=0.291\nstate[joint_eff]: [-0.1026, -2.4684, 7.0222, 1.5311, -0.1001, -0.0464, -0.0122, 0.335, -10.7009, 8.0889, 1.2332, 0.398, -0.0024, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9493, 1.766, 1.317, -0.5014, 0.6693, 0.6209, 0.2934]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.342 right_y=0.2954 right_z=0.1491 right_yaw=0.0592 right_pitch=-0.1354 right_roll=-0.0663 right_gripper=0.2934\nstate[joint_eff]: [-0.1983, -2.359, 7.0359, 1.4872, -0.1197, -0.0317, -0.0122, -0.1983, -12.2051, 9.2513, 1.0769, 0.4274, -0.0024, 0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774d31f520ecf60073c58a6efd8a6c5a934e39001bf0b9a50e306fbeda197a9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990253e29f59b5307fd25aa73be9481dd8803a115302a0d5bf533c18d2fe4a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d2c05c41fb4a99321d6e12ea694f7699f602bb7e9456ab70adb53290f51542",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4dGPtQaa7GZ0gOL6P2VVrEA6VmjztkZSjzb7l5Sa71zeY-roI-6Cv4kpn6-6j50LdAUxgPzMAhs7Sh8ZlX1jARvIZ76DInbdWJ0-1ey1GGtEliv_obJOWdqBT3xpp3jIo-NxHF1Gw97DoNnq-Vavjpe7N_A10i8jBObROvuUPkimorkf2VQmGhCisjUDaUOAP-JqJHJ2wmHWD8uSjXqQqkSiqPXSEJjAs9ZI5rpXAAWq2_4jzF1s_N90xOPjX6X_OIJ-3R9CKpu_umGk2FAUqQ19b323iDDDQutD1SQtTbNZwEuAB_AgXxWNInbGS0FypXsgaBoLd-USFtcT4rZRtIwNcrFrw36AQG_8RdYxvY4Mhq8qFTBM6KzKT-h6pMM8LnAEuuyeDcy5c80dWSMfCVzpd-Ml6HsmRkM7PIx7a5CF_5GFCEgmCvgQz6yUQR0L1kNM4K67HWMrzSIUhuNzRLtuhGh6RQH6ZMt1d-pJSGKaPvBMMM7hyUT0sE1TXr54U92baLM-IhmiXwsEfC_osJ9IXrrmzRUVS6XhfbXQqs4l2QSSNNPyJAV0hw2WNrRceEvcX0UgeejCLP0jWVnXO5sxUzM0jLzLCvorvzWRAfnGelpPHAnCqe_xv9lrKafIk9SzMbleHlOzETkwUGNJ-oiG9S87q-hPkFbFRvJsDYv3SYdgG04OvTYzXHFfXio-U93ILSUEi7wQsbY3g5BvO8hxIjKCipZgNTaoi3KIiPVbMW3A_IwelMHMyPVDvSuDa5nPhvmQYAvHIkpsvkJHjGs8aNH05YaqQ7LSNXvi0BEbSfpNQCbQMz2-AHoYICsf_T2vLUYbfa13EB0H0L9ffGV0QmNTCMnInANZvloYfWsKLTIS0BS3i8Jexmj1lS27qyp_W2fzJlUyTPpI_Lxvr0oWBdejcYMe7FGMiJFHrdDRY-0pdEqPKBluam2kIsxx6KTz6XFJPUBER0TIvKNLrMQpJb9AqsuPhN696-SMFn-9xPpQVkeZpeD3U7C5Z2drliOS8VfZAUGM6G7JCk0PJQiyh9cPhjZ8rY6sGowpHlAI-ukvJkw9QC-jWZ7ClAMQ82o0-thfnZGvlz36TTUOVurmHaZ-dkKo4I0WL4CZvhPwuyUO5zZVAbzQ8tkuQGfXxwLfg7B41qyGdju93AG4ENLfWUE3h7H4NRDPjwSQgujE09xEGNsoD_P3iQY5WMd4okmq3rDOsbi2iYsmdMP0b92QpUJfSrd1IwZz58a66uYJrDfOu-2hEwSFSDPSNkVPw0ukHLZI02FLDcrI2QChhNs5RYsT4IZ65SvhglBjedwSIzUCOdHTghgWyFhk_peou1Gj-8ZwU8jx36Z9OtTS7Nm2KHga1vEa9zayZwVjfnajCBxo4ZmSm1boeGNsnV0p7jrPOZq9y3qmJHhrBtfz4cti6o_vM1hoGfX3O2HS2Wu909jc3pVc7bPNpjok0lcWlWZrE1Xya7ReqptgpkGFgC_tYT1NUf2sUlDKS2u6aYRTh7ahcU7zT4fJwQjhuJUVwOYi54ZB4mMygcb_Xr1rCWN7P0dH6iB8tGypzc2RWOK0GCXJDcg83Bw3VB0GmoG9d9OX9r00K3MlZ9ZcY0lOdsY8JHdc6JYC8EvVfyZWDQxgD83DaUEv7gNjXZgr1bhPqF6YbOhlaNtkgNKJTfoRK6VNlmU8aJE9GE048BOCnyKafTvV-QCh_zCJOMUd8V39BfQefBPAAu79m5rKWB3YhWILBscvHc-l1A5IypkB-taUi-q1zktd3kzIBA6deTdsfl5cLncAM2LLFjx7gmeuXklG4ku7_jzgL9a0vdR6H4F5RZ4W5cQVeHbEMttf5zWQAkSr6PuBz7mNmPsSFs3jpmolwjtehScWBvs8u_-McCM9t1QYLIx4XAo2lItFlPbykWZmTZ1K5UK_TzblVOI-NzaXrTFnXb_7eDBuJkuoX3pgfEIJ_8WZATGAVe_CaiGwNSAbxrAIJkjDJUIbZB1SU2yR_Liw6vL1Ae5ZGzRp_Lk3ba73FtOsgU6zKYslnQHtPa-Z410AxmyOo2gW_lcBr6GqiKHh9fHBr36H8u4iO7Lj8gToTv48IHdN8sTOQJDu4m-2oizxYMSquFG5a3TWU32uo9B0K9kv0m1j-D_3WtYg_AsZVeh07QTWW3JguF0dSpoWqD_6_RC5y6nwllxKorsFvmsiktzl7jwA0RAPFf9_hRgq-F00xdvo-TLmrMPeJU117eo_NDTYd3r2_O7KB4mpZzMlvSBbsr0aCLBsGFtDIpXwLCSaeJjzGvJoZuLvoM3WsMLxGR7i60x3tV4TBgq0YeD5WhE8H7VSgFzOs1ANor5ln0sqxeECEQDvLz26RdgXhV_xK0xQTN0CZzTSqZUzOMKNu4ppqGn6_xekG4lQZbzCoYx3vN4alQ091ZMCUPcjAysTmU0r-sgCh49_5qtA==",
  "id": "rs_0ade5107ad8f7e87016ab42e1a340c87d0bba5718991e6efd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.155,\"right_z\":0.23},\"note\":\"The cream plush rose with the right gripper. Its pale floppy ears and large brown muzzle differ from the dark-eared figure in the left basket, so I’m taking this type to the right basket.\"}",
  "call_id": "call_nEsk9bw5SALiuavCHpPSJT2I",
  "id": "fc_0ade5107ad8f7e87016ab42e1c5a9087d0bbf7a8c0af3ad22c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nEsk9bw5SALiuavCHpPSJT2I",
  "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]: [-0.107, 0.9951, 0.8238, -0.6144, -0.157, -0.1047, 0.9967, 0.4831, 1.6531, 1.3857, -0.5587, 0.3645, 0.2382, 0.2956]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.178 left_yaw=0.0686 left_pitch=-0.212 left_roll=0.05 left_gripper=0.9967 right_x=0.429 right_y=0.158 right_z=0.1955 right_yaw=0.0376 right_pitch=-0.2021 right_roll=-0.0902 right_gripper=0.2956\nstate[joint_eff]: [-0.0615, -2.4274, 6.8855, 1.5018, -0.1197, -0.0757, -0.0122, -0.3077, -10.865, 10.0991, 1.4286, 0.188, -0.0366, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3c19e81b46d797af336483209aeac0df512401c64b46712681ad74e92dbeb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fec81466655038404fc5270d92d15e7f89c906a9bc7f35236b6d3778a9c6483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9335da837eab07a8db3f806d3356bf5411505d45d27cfe90042560d63ea7ba72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8261, -0.6136, -0.157, -0.1051, 0.9967, 0.9546, 1.8019, 1.1301, -0.2123, 0.6968, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.303 left_y=-0.0012 left_z=0.1791 left_yaw=0.0687 left_pitch=-0.209 left_roll=0.0492 left_gripper=0.9967 right_x=0.3438 right_y=0.2956 right_z=0.1046 right_yaw=0.0483 right_pitch=-0.0768 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -2.2632, 6.8308, 1.5849, -0.1245, -0.0317, -0.0122, 2.1675, -5.0667, 4.6291, 1.0476, 0.2808, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9493, 1.766, 1.317, -0.5014, 0.6693, 0.6209, 0.2934]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.342 right_y=0.2954 right_z=0.1491 right_yaw=0.0592 right_pitch=-0.1354 right_roll=-0.0663 right_gripper=0.2934\nstate[joint_eff]: [-0.1983, -2.359, 7.0359, 1.4872, -0.1197, -0.0317, -0.0122, -0.1983, -12.2051, 9.2513, 1.0769, 0.4274, -0.0024, 0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8238, -0.6144, -0.157, -0.1047, 0.9967, 0.4831, 1.6531, 1.3857, -0.5587, 0.3645, 0.2382, 0.2956]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.178 left_yaw=0.0686 left_pitch=-0.212 left_roll=0.05 left_gripper=0.9967 right_x=0.429 right_y=0.158 right_z=0.1955 right_yaw=0.0376 right_pitch=-0.2021 right_roll=-0.0902 right_gripper=0.2956\nstate[joint_eff]: [-0.0615, -2.4274, 6.8855, 1.5018, -0.1197, -0.0757, -0.0122, -0.3077, -10.865, 10.0991, 1.4286, 0.188, -0.0366, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3c19e81b46d797af336483209aeac0df512401c64b46712681ad74e92dbeb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fec81466655038404fc5270d92d15e7f89c906a9bc7f35236b6d3778a9c6483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9335da837eab07a8db3f806d3356bf5411505d45d27cfe90042560d63ea7ba72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4ly-eyjLl3JLAYD2X_CTMShLl8yZIEV4lVMcS4OVqi7WXdedAEaWmmzqqPN-XPHWveKNlt3YpPA2jEAOyrZNcRPWthx-0E3u600dZPtvdpMoZgaMlnTszRrMPP1oZDp09D_HN2dw-bHcViLyR0YjZ4Yk71xPZaKSE1qC2irohqJH1ifi_Oxvl56cWs41ZspofqVuHnSm9-OcT4l0BztH44J96t6Y3HdUmgVa6y40zN4svbcxhHf_rXlvr2erg-aURdOC_NcQ_0qhKw-S6C4RcUBqI3H33gvaV-7A467WkLHARAKCQtV5nx4xaI8QsIUKmheqYBcXZSFb9XF5prZWPTqtOfI4This4VwqRJkPPjer5NqdXev6fFerKoDvlQjmYwMfd2B10TaS0mhLV9OtV1meCT1YnLEbTNCPe5YP-Ktzqr1Jpl2rcDCTGYtkWa5dpqLK7iTsLDvbdqLJeH18w3xZBCfNTzvTpjs0GWq_WONetcfI0nioZQ_Na1EGmvw5RFinZU97fj9uJl5VrwYO35R7b6YfOeeiIC7AR4xVuvJw2x5kiM7eBsFc-9_8nBhEQ0zEsljT4oHfIeWQRuwpT6tB1s4YCkR94CQVJUmtdlbbcv2ii5iLCF7Lig7q-nFDMVWG2VTu53pqT1nyHgXkGqIqDRlyGEv-Hn_FS6IsEYuzXmzWi8capDRib4IrKAb6QCz0CkVlwgtsiUuEp20XiH3KJJGb67Fv0wPClk4XdmkbtQxA8udx4m2L4G0PxumPU5jpVpSU3b_cLMo4C4U1G2-rQedVVoEohQTBOATgZs48ayUxSt1Y6_yxy7BPrlau7Ngey0cZd0NnrZ25NdP4p_Y2qenftogViqs7DZfEM7mQp734s-1dAaqEZrGPXPEo3tssEsPq4YEq3-lgjOis-Basff1WSYY2vCtyZM4yzqduyaQDXap3EALfd1d9Mk1PKTire47cZwgAq9j8JuclJKUb_uGQrNU7HV39n4_wvId9H6q9wEatl0Is7JYnF7NvgRe-Cy-gHnaqxonoQuJrnAtvdDdUx7gDOt9V5Sp7Lhmynzln0D-c1So7GgW1GtZB2s3yCrchExTCK6hiOVbr2TmAcJep0oc3XowFzOxBuMCAltaY8rn5UJv_AJpe9ExOjvdp08KzBhzHibK4NMmqIgyPOXuF52QsOWHgy0tbgz42wusfPsqpYgIXfVnEWvKC4deRqPrxrIKvFfXt5_Nni6Ab3kGi6ERPFH3FACcmNcm8edh9jxIjjuBYdVV1DPjmSFXu0ru3wCOIQtdwpBUShljvORd3OQAIg5SN0XmbnkFSFwyEJxHw7vyhpzfbIZAjaOc54Mo0TwSQohQWRAUeh_Nj4dOq2qyJu___eWR9l_A2yGsIUWkED8gZFZY2CZJetEpfx5y4GtHaI56kYMGcxUP2aRrS-HK4PDCI9y91sapQ_LW3nHFgxrmj4NWi0uNlrOXsP-ejY9g8QbkQNS_AtuNuBGuFrq7QBFhS9MDCWZc43Emno4gHdV3I0i9o7EuDw8D4BlhoBC7sLnQVpP0Gvtm5g8uwUclGWvsuZVfkQ4_ItV2o2qvF_ELzHej1diMKTAvY1m4ylUVXzvKppYodnQI0Cxk6Ain4pa04k9DTdgTtKrTR6nN0yK8_lxnIK81EKeDwpq4iVDPM0oX13lM44oPWFLArt6i2y0EArY6-C2rojY20ToQEGl3WgA-Nxl1X6hRYfjwnD-mgtZDwP9VMvdDlK9YJa3eaDRI-Kk5wQRa-Nlyu-SoMD667Flp3AdwBlR3vTmpVjO3g86FwOHY0Isw5Htx9-MwbT9kUAAnyg2JlSOodH4hx7AbMk-qyTxhlhrRMhmxsEOCR_fyJ_QfnNsP3chbUdBV4KQnuAklT8ilqrQ6FzAbUbNchdqXngfSNm_g-RRTtUAaEPBNmHKhiZ-eMxYO0U23JcuEWMbW74jcDUocqMyAjspDOwE-f-i1z1CaOQqMccG2O1nCzxdzllsYEjZjIF9RE_e5idLJmCeJPKwOA1BlojSEI1ZCLnzip6Nag1ZeIQyKSCkLc2zR5RE9p45-EkUFSYETkyf-KiFYk0OQ7Q2IN3yDbG3l8hFiBVCgWrHG5L2kcLFTk94EPDMvHYBRsPdImOFVFnOqVd5oR4zlBBQKPuZ5WZ91mZ4AdG4diK09pzd13bDPiPYJyoQ-1rX5a8N005HrUatj2Xw9BY1eAKGAK4OscXuhtChj5KDQcXr1QziZ-l892UVYSSAYP8iefs-ypgb7XtU6n4-njn6leNeLTdU8K2aquO73dKDFFGHydTHphEQgl8PrXXhjK3DoeOyqrKjQvd0LBU7gkI-_75QhSF5auVREVebk5R_uh0LD8ymz-QdVep26YLKp7QM6YPQudfGDs0v5wfzm_XjL3ntPYQpVDItSur_YgC2oYd2yd4_SZzJP1ZDaPtF0j7pz3QHVsX5fx27Z9cCMYBMYxURCrOWbKRG08ZE7waW-3XURHrUhZ7DlByETOjGFYCoLPh6Q1k5maJTkOtiT_Y-fs6CIFEuA_LKTFl6f5lFkkSqbNjtYgXXgklkhbNNIHMFIMkdz5KurBOYOec6Pxa2bP-l_FxvvvsfIXcBY9ZGMNxJY4sEqUrJ2qnvKLaFKqMsaguKNZ1rdS8BX6AhWaO8lCZuA7Ob5zJe2yNej5SZ1m__OieAmSqvcyisaimGHGxlNd-fIB8eQSgQTIIAwLpXy4-J4X8ASsGVceVyFuVUR4Sut-GeiPhwDb3ZZ9g1_WboThOXfq7HzoDWBWxAoT8uj0OOEIspwLgzWgNYN5EbKWObWnESFe46CNh9XVGELt0ydBDtgo5EZTJD6o3jetC6s-Q60NcFMUUj82FZuj5fe-gK2l9EDalwokfT6sMVkiuwiTy7AiayIIXPkzlvnVDdZhxqdEcmh5t3sQHn7rkeixJJXkIh4wtdSuFE4egVyniF1l1qWxHcX-lsZ62rl824t8IC4LAXIO8wp9mfhv18Ibh_FRQ3ECt3HeEZP2O26_5h8xoSp6QQuzdhhNltLr0WfuNS1YHX-sPcjibkxFqOX94YeZXqzzVbzrrkQfdWS_wGXOQ20qzW2z0bSuEbuKlsl7sTyTwSmwrNi0I4JG8w0o7zWqoJJ8jtdTiUYCjByw==",
  "id": "rs_0ade5107ad8f7e87016ab42e1f5b5887d0953375c0ef61cac3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.17,\"right_z\":0.22},\"note\":\"The pale plush is over the right basket but hangs close to its near rim. I’m nudging the gripper forward so the dangling figure will fall into the basket rather than against its front edge.\"}",
  "call_id": "call_RLuZnBWyWcIhSOnjk33cUErH",
  "id": "fc_0ade5107ad8f7e87016ab42e2344c887d09da749779c577990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RLuZnBWyWcIhSOnjk33cUErH",
  "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]: [-0.107, 0.9985, 0.8227, -0.6151, -0.157, -0.1047, 0.9967, 0.4644, 1.7878, 1.5856, -0.6426, 0.3382, 0.2096, 0.298]\nstate[eef_state]: left_x=0.3024 left_y=-0.0011 left_z=0.1764 left_yaw=0.0688 left_pitch=-0.2172 left_roll=0.051 left_gripper=0.9967 right_x=0.4593 right_y=0.1685 right_z=0.2025 right_yaw=0.0542 right_pitch=-0.2287 right_roll=-0.1009 right_gripper=0.298\nstate[joint_eff]: [-0.1983, -2.3043, 6.9402, 1.5165, -0.1294, -0.0513, -0.0122, -0.0889, -10.5641, 9.3197, 1.1013, 0.2271, 0.1148, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9c0f9b63ec243af03896946c07e2ebecc0ca92844eb19f9fd2a3c1a011607d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cec261751b68b66862d2203bd825d6af3355dc40beccab0fc3556d16a83b42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff6a4f7cfd374d30416f135bc9409932a94fda42d8351b564d2647faeae5158",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9497, 1.8217, 1.1072, -0.2089, 0.6838, 0.6243, 0.291]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.3409 right_y=0.2908 right_z=0.0875 right_yaw=0.0509 right_pitch=-0.1092 right_roll=-0.0496 right_gripper=0.291\nstate[joint_eff]: [-0.1026, -2.4684, 7.0222, 1.5311, -0.1001, -0.0464, -0.0122, 0.335, -10.7009, 8.0889, 1.2332, 0.398, -0.0024, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8238, -0.6144, -0.157, -0.1047, 0.9967, 0.4831, 1.6531, 1.3857, -0.5587, 0.3645, 0.2382, 0.2956]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.178 left_yaw=0.0686 left_pitch=-0.212 left_roll=0.05 left_gripper=0.9967 right_x=0.429 right_y=0.158 right_z=0.1955 right_yaw=0.0376 right_pitch=-0.2021 right_roll=-0.0902 right_gripper=0.2956\nstate[joint_eff]: [-0.0615, -2.4274, 6.8855, 1.5018, -0.1197, -0.0757, -0.0122, -0.3077, -10.865, 10.0991, 1.4286, 0.188, -0.0366, 0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9985, 0.8227, -0.6151, -0.157, -0.1047, 0.9967, 0.4644, 1.7878, 1.5856, -0.6426, 0.3382, 0.2096, 0.298]\nstate[eef_state]: left_x=0.3024 left_y=-0.0011 left_z=0.1764 left_yaw=0.0688 left_pitch=-0.2172 left_roll=0.051 left_gripper=0.9967 right_x=0.4593 right_y=0.1685 right_z=0.2025 right_yaw=0.0542 right_pitch=-0.2287 right_roll=-0.1009 right_gripper=0.298\nstate[joint_eff]: [-0.1983, -2.3043, 6.9402, 1.5165, -0.1294, -0.0513, -0.0122, -0.0889, -10.5641, 9.3197, 1.1013, 0.2271, 0.1148, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9c0f9b63ec243af03896946c07e2ebecc0ca92844eb19f9fd2a3c1a011607d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cec261751b68b66862d2203bd825d6af3355dc40beccab0fc3556d16a83b42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff6a4f7cfd374d30416f135bc9409932a94fda42d8351b564d2647faeae5158",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4q4_uVwB5UNrlVSm6-kPvirJslcbvK5ahUDk6AiKncul54gSbw1es8z7DZds3OKkBKPBKuQqQXm-eoVZtklCW5yeofgVci-XcClQolVen56RWap-znQNUZlCzHpLWlMWdTHe5GAgOusr8wFWiaE6f0PZu4FGj53yPOoXdsmoSw4ZQSXIEutUTn0GPUCRSWpJ70aa3NCa3sVV708hKqnPtM7rA2lFvWMl3_A_rtlXXZF4HAhD7J18Ya0FnWEP3fYSkUQFET_p8RVkaQXrr6Bc6y1J0jCc1loEDxY-oY1m6NhpG8ec_lSJ2yIy1wCfMFmxMRiyRQsPkNk2KeImEZxvteKAzP3bIuWtVaPY8fEovFsGJlavc8G1WGGla_VDXH07POoMqwxPGs6sDalocTpCeZjii013bGG9xAk_T4xJOWhssV3HuJENnhLV5lP2F07NA0rossFtmqqr9DQqFDH4YVmvk3LZyLbFKq-rpEUXGDzcc1DFZsn-YYKmGyxhw75LxZo2QKH_2wp8mQr4qVZ3FcUg9iDLYUUgqaOB5eXf-Xk2T4reCPVitKM0f2YW_7edVII4Pj7_LEhYoJnnpWQC_s2fo1OH4uY4haXG6xZCBMqEsM5M-WMd0Kkq3Sn0B2Ys01J27saz__vpqOmMx0Pj4V35iWfF5CbeAWJDxbyNgm4PahTVQiX6Gjg58s7OaoIcLNwPaq5s_js8KccOtkX0E-671vxJIuq0O7-yeV8wWgO06zkcgrZYq1uYhoLMYbNVG5Bt5GVsoeL_EAKUiO8zBUiW_Owj3J_j2Af57AOvH187MdVt-cid7kVgAF_AQrB_-abxDhNe6RkyhIy41VuUY-b1kJFEMNG7rihXgMI6hdYc7YT28n8tv_ejszzqgO39-hJJj0K6za-As8xVoRoK0Soiiyxq3mguIf7sABTYNLG_oGhxmTEV43n_c9UoehGbrCggVsbbq-1REUgS3mWGnkgnjOmf0HxULsC-JdHUO0MYPo2B8CRmjvTv6CaZ7IyUrWOy8LDQXl0TDg66s_CWtfcvNgPsN4GhaU851V98VN6WsrnQLZkAGCxqOHZjVgyNOva3sMWfdb3sGW6lw8Z--rQoM0lg9tz-vj6zKUBeQOaxCP1otSyUX4WA088TmrHoIKfEaGA3XVehbeKFMM3WQcyjkZQKILKmY33WurhvBDRPFIguhv3i2YYikkfLZYja6gPP1UmFFvt9y3DcyKnWOeOYgpdh4GN5-1dXpvRaz1Djr_m7uPs-zGDDF32pTHWMf9GugIfKfEt_5yFkOY8NqE_OwY4AkwYJMGY2U0id_Wb9hRGmnS38AE5WHCcAzNZqy5IsOytmH80o-2BWO2RTiy0Ygl8i8Gjvyh5YxHkygJHaUOawl6jRNopzBAODb3DP2ivzPcyaxo7PTxhwpBEDTW_ZBRNBgI6DUpG2ENYAaybxn3GG5xtabrCnaBSTQ7ofQK9RRmOklIsGRsiL9uodNY8S3Jyhovb2oM04ApCaau27jEkJTGUOrBNCVy_L7S6m21aQ6nKirfFOHy5zvYrXMl2f6oTyT-OWPlYkrGdlDsFlBbP2dqmV8oN_TBmjzCWD6s_q55xWzhS53SAarGdFhDejs1hPNVd2sJ1qsgsyLDGg_Mm_9nvpBpRNPuZMaL7sSKMw6iHBwK2McK_KQ2Lz-Yc8KLLfcFT_vpyPRt_CcT4BMEUOjqakPlrOEiPJ_SLphITHYLv3qMReiZmH9iMqERYIWxwuNQ_tiaHfq77_4GqMIyUWc8_mzS2xM0YtMyLfp_Ti8y_zFH9vDDOd7_rbpRx3bUtAVCNIHBf5l7JI0AGkSLV6r6E8YVfFhHuTNdzhw99-vw1DJg1kzLi9p6VSiESD0g2LCWOJB3rq4e-NklPiNnxbwLpa7j25U6WRbpnS7DlDY-hqyMYtzkzqwabc0vcXVf9orAfgEAfKecxJzFxrhZlfhPzh7exaVS5BOne2s_3c7dpPjuZRdko4uSbaffUyjnn10p-t84F_KA0hpPD4GCzi-93_zmjNhFpVewLnlg2vWLp1WeRTRF_PISrTIi26Lk6KhNVjtrUIH5cUrXloGEIKt1IEywfRx5iKQZPaSLdd8m7mKnTN3cNnKE6r7XZRZmv01ImNpbFbzUYMb0B-YE1Z8UzugJYEHEtZg3qG1M_lbep_h6P-FtZ1tMW1Fs6hYm3nLpegdIuAWipcN_CC3kwEMPQE3JyCf1RgAlNuuAjVQmO_Nd7TV30blryJxwSVzMG9F13Jg2GKmKGlUWj9wsLyleY3WMNHZbnDknHB-faPCWqLhg3SwfFHxX-ZBCcm1Ecl5xoI86u_F1VcZKPOLtfnYrkL6HlJnz7SDgwHvG_LaQyJ18jwojH4IbWpKSRuM-z7EggdfgFab0OMUE8VBn7U6qpCnyHqe_4pDcd84_-qm9fPeYIRJ5zOQKcQhJ1b9zDPiALs4bL70JDjBA9_dhrW0b_cRcvutPbnpPGnusYU8hMFfAAj822rBw5YvyIaR2rVw8J5bmsiF3Hv1SVHK9q6YnXNMcpbiz71Wq2XEAdOS3Qj2t-0HNArNLitIfQvCkd_KoW4atn3ev5qwzGwacdLCS7PWWcS14Wf2FetpmhgW1v-stZWVL0JSSJ-tFrvQKPLwzMgPJRx-NqJY3IR5LVhHhSXxzcUSTnwOg0eb6VCKXIbR_Lp75A1sQU9BDFtb-PMQtrLiNg1OWPLrv6CrWVrjl5qy2SYUAbYVU6A45hj1Fsod-vTLqqy0TjA8w2w==",
  "id": "rs_0ade5107ad8f7e87016ab42e270cb087d0bedcfda89855b10b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The plush now hangs over the right basket’s interior rather than beyond its near edge. I’m lowering it toward the bottom before releasing, as far as this forward reach permits.\"}",
  "call_id": "call_Gw3DKA0lEBB8iGqunX30ifpT",
  "id": "fc_0ade5107ad8f7e87016ab42e2a127087d0b13305909f58f204",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gw3DKA0lEBB8iGqunX30ifpT",
  "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]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3647, -0.4137, 0.3393, 0.205, 0.3]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4574 right_y=0.1674 right_z=0.1423 right_yaw=0.0553 right_pitch=-0.2332 right_roll=-0.1071 right_gripper=0.3\nstate[joint_eff]: [-0.0479, -2.5504, 7.0359, 1.5311, -0.1099, -0.0073, -0.0122, -0.0205, -8.294, 5.3265, 1.3455, 0.0806, 0.022, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7246fdfd09b579693219358307f3c7de0375ea4bd6060e7b17fe283e655523c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1994b528ea191c574c50bad47a14a6b7394fc84210fd8ee1b8ba3afe5d18a9d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51196fef90331c2b8dc5c1cc291e7e31f7d80f44e6c9a50e332440f48f7f363f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8242, -0.6144, -0.157, -0.1047, 0.9967, 0.9493, 1.766, 1.317, -0.5014, 0.6693, 0.6209, 0.2934]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.1781 left_yaw=0.0686 left_pitch=-0.2116 left_roll=0.05 left_gripper=0.9967 right_x=0.342 right_y=0.2954 right_z=0.1491 right_yaw=0.0592 right_pitch=-0.1354 right_roll=-0.0663 right_gripper=0.2934\nstate[joint_eff]: [-0.1983, -2.359, 7.0359, 1.4872, -0.1197, -0.0317, -0.0122, -0.1983, -12.2051, 9.2513, 1.0769, 0.4274, -0.0024, 0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9985, 0.8227, -0.6151, -0.157, -0.1047, 0.9967, 0.4644, 1.7878, 1.5856, -0.6426, 0.3382, 0.2096, 0.298]\nstate[eef_state]: left_x=0.3024 left_y=-0.0011 left_z=0.1764 left_yaw=0.0688 left_pitch=-0.2172 left_roll=0.051 left_gripper=0.9967 right_x=0.4593 right_y=0.1685 right_z=0.2025 right_yaw=0.0542 right_pitch=-0.2287 right_roll=-0.1009 right_gripper=0.298\nstate[joint_eff]: [-0.1983, -2.3043, 6.9402, 1.5165, -0.1294, -0.0513, -0.0122, -0.0889, -10.5641, 9.3197, 1.1013, 0.2271, 0.1148, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3647, -0.4137, 0.3393, 0.205, 0.3]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4574 right_y=0.1674 right_z=0.1423 right_yaw=0.0553 right_pitch=-0.2332 right_roll=-0.1071 right_gripper=0.3\nstate[joint_eff]: [-0.0479, -2.5504, 7.0359, 1.5311, -0.1099, -0.0073, -0.0122, -0.0205, -8.294, 5.3265, 1.3455, 0.0806, 0.022, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7246fdfd09b579693219358307f3c7de0375ea4bd6060e7b17fe283e655523c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1994b528ea191c574c50bad47a14a6b7394fc84210fd8ee1b8ba3afe5d18a9d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51196fef90331c2b8dc5c1cc291e7e31f7d80f44e6c9a50e332440f48f7f363f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4ufH_9lpp6Z8migJb0MGmlBTiLFzKy0opznLZtUQLhkYkzcqa4elNUG6wYNPK5auj275TlCS03lmuVuLwbnxu21_ZqRKcztKYyAx5itLKjs6xmieHEJ3gAkpUPvzSDwzrh3sj-lnr6LsgBoP9FaWObobcBc3mQxNAr29eAdfkDSt-dIq0TK5lGCkwVozjl22PF6o1tXdazLwbrxfrCr0cGFymLs9kwmmmkDfDuz60jCjKK_V-9PKqsKa53EvMy6QFjv3qSHXHVbZCmhM1fZNPzqtCHk9qB5NYB_Xd0k8uHKJ4awc0tl5pRkaQ2xtQVgR6229agpSuJjTHMdqfn03AVp0xvvZPTXJVHurhgX_R5I25Pu8Ynv1auPKYjRmO_bMd8gVnDcijlu_2VC-3Hf91D2e38Ps35jY0CiYGmS5grWW8S-3CSezgDFO0tCJv4rfeGU9ZKIv-9zJ6yAM2NG2FrnrmputG8E5e6iYX1CYvNSbTHMwT80cNpXo2Gaz1tPYxcsNfS5je-cMEU1jSs66YXLMZF5niwYTkxDikCrtaPUHhsiendbUSy9Mu4l1EQjIhJZlUua54nBB_BLwmvR1WCwSdnS6YOs1adiV-3kcsUaDYIK7FGdRV6lQ_Al1uTaBeRYSp9elmwoAGJp1AoxHMTIynT0LXpzMTCR3YmThmI0rfROGDFDZpxIIZjwegfvnHLwEZLudYQAZedupz7bRdB31RKRM9ly6q9N5PCRoJm5ifjl__4Im0NRsa-xqK4PzyEO8I-3fTpnZQCvP7NUxnDfBBO5gDrqcuu8utaFOCyqvarVshoYThfiMpnA8Y7V8BDrRq6O7tDlsbne4OR2qLhDrHuEAnC4LPTiZldIsEVj32Jc0n_mrsLGSgKT-Fg1M144wq6xO_VkIIJV6MrNByjMONPpv-lkEN72NktQFo4b2s82sNNTbNMQyFWxTZYOtGWXv9UnSrlqcdOIf8q5m4ysBHpQO7iJ55-MXSUgIY4FaoPL2fpQzNIEGLpu01tvUx4SzHkT42XGnLUNv66GDA7JcCBHP-RI9XEFN1sagOrp4Bj3WvydL6s1EvLWLJiAbcEhbL9HI6aT6ru89EDuUO874RQ4cMBNKZqjUMhS1vEOGlAGP56YORElK2g_ilzEMSwIzHKO8Th58aPafd_b6_DqeTBMQZqxtBQUuSp5_r9uMZYx9FOqPrYAOFjXQtFxlzyJl-RwRezYnZzmlykzXD_joTj6Mlv-xPOBkKWa95XULx_IV6X81uFnGYi6Xnss7WXkOhlkxaA4DrGIz7F-qF-t6bBXA6GnlwhtsrUrhhPfn9SrYdSEN-Na_IrcwwODXdwDE9ndodsIsguyKyB2FRkjY3f1JRFc7fLDjd_kNMCKwvtQ8FRSoloGkXUvue0pHMlbKSPC6rCsA7b5iNesw1qBzmglPISx5SrmydRVcKK-I0pWWF9zGGbvv97UBSm8BTjKfWt-4sT1ikweXsJ_X4zBmb34Jt7h4uxVMJzHuQy4zXAJWL50OV6jYOqz4IiTRjt4oJgxkjy0HStA-Sy9PKOiiqy-5S2wMoOynhKwSQGQ3P557ekyVrjhmXirS_EDQBWEApXy1m1U0-rTHFSU7J1Or3AF-nVTeTv5kWrNNHythTzuSdhwq_8DV6h23RA1ugKSQZBZsGLMaEmsakespNRgtdsR5k3Zb6MyZqk-rCjj4jolfQvSZvLzBmnbQTrfKQ1yMGKBjbfPzXer9oSqeekyUtWDmm0KwJEp1qS87T-mF_Hum5jSZLP_NHjZJxivAI8Oc6N84DbcX8TcTbmiMKKwjCMdIjaxPcjmsl3Fj8QJsYTJ7RnXfj566wbguuuyKtsRQrXIWfMQB67MCC8IP96304d3-AkkJbiIAPVSPXZ-u6LMd-nt9yLyK1LuoHCsR8y4X1FjrKjZ4PRDj03eeyeLrJBYjhdug9VyM29PhgosD_Ubcn3i1SNRO7yJBEM1qCxbs_BI7lcKGP8zwKpSK3h9YbgAvA_tB__J6YZgP2XPLg=",
  "id": "rs_0ade5107ad8f7e87016ab42e2c265487d08b9961ed2651ac8b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"At the lower pose, the pale figure is aligned over the basket floor with its center behind the near rim. I’m releasing it into the right basket.\"}",
  "call_id": "call_S3rxBr5ObLbw9Fkq9QhO3N5J",
  "id": "fc_0ade5107ad8f7e87016ab42e2e3e2c87d0be3a388564a35fc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S3rxBr5ObLbw9Fkq9QhO3N5J",
  "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]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3487, -0.3935, 0.3347, 0.1986, 0.9956]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4571 right_y=0.1681 right_z=0.1388 right_yaw=0.0629 right_pitch=-0.231 right_roll=-0.1068 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -2.5504, 6.9402, 1.4872, -0.1099, -0.0415, -0.0122, -0.0615, -9.4701, 8.1162, 1.2332, 0.1734, -0.0171, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1852845f3300faca1ea6eba050ec5a7f269d621c9f0ec8c9771d002569abaaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf64c1cd180257bfc0b75f01d4f44d7cdfeee21796463c5f394692533b47cba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2f8ecdbcc3264b102bed7c8eec945089eb238a55f41ea18705cb952df7e35d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9951, 0.8238, -0.6144, -0.157, -0.1047, 0.9967, 0.4831, 1.6531, 1.3857, -0.5587, 0.3645, 0.2382, 0.2956]\nstate[eef_state]: left_x=0.3025 left_y=-0.0011 left_z=0.178 left_yaw=0.0686 left_pitch=-0.212 left_roll=0.05 left_gripper=0.9967 right_x=0.429 right_y=0.158 right_z=0.1955 right_yaw=0.0376 right_pitch=-0.2021 right_roll=-0.0902 right_gripper=0.2956\nstate[joint_eff]: [-0.0615, -2.4274, 6.8855, 1.5018, -0.1197, -0.0757, -0.0122, -0.3077, -10.865, 10.0991, 1.4286, 0.188, -0.0366, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3647, -0.4137, 0.3393, 0.205, 0.3]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4574 right_y=0.1674 right_z=0.1423 right_yaw=0.0553 right_pitch=-0.2332 right_roll=-0.1071 right_gripper=0.3\nstate[joint_eff]: [-0.0479, -2.5504, 7.0359, 1.5311, -0.1099, -0.0073, -0.0122, -0.0205, -8.294, 5.3265, 1.3455, 0.0806, 0.022, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3487, -0.3935, 0.3347, 0.1986, 0.9956]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4571 right_y=0.1681 right_z=0.1388 right_yaw=0.0629 right_pitch=-0.231 right_roll=-0.1068 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -2.5504, 6.9402, 1.4872, -0.1099, -0.0415, -0.0122, -0.0615, -9.4701, 8.1162, 1.2332, 0.1734, -0.0171, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1852845f3300faca1ea6eba050ec5a7f269d621c9f0ec8c9771d002569abaaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf64c1cd180257bfc0b75f01d4f44d7cdfeee21796463c5f394692533b47cba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2f8ecdbcc3264b102bed7c8eec945089eb238a55f41ea18705cb952df7e35d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4yttCKgD-9js2XnuavGXqyBrd0WkTHA2APlmSeaqNw6k5pxPK01QhM1B63Kb_XdqfN-t102YVpASVSjbZIpxgFPDu9VCkSp3zDdxbXJDiiObMLAULSRP_d5Hyt3fXWtp4dzabpIcXBimv-9UCW9XDaPR3ruKXlOJ2RXBNpoxp8AUrgA4sePIO99JQcnPxDkLQ2beGnHsRaojF0zSaxQD1HuLaRGKLrAe3eos6uDHLViBWjkoAEJemBuWIKnBKs539yWThOCn4ugC2FXrYo7201fx9TVorZ9bxezdVOMI291-DE8Q7a_uSxIVVN8ScQGYWxGbH8yHHxj7nBMIGGAc8Id4LbcJXsmHRRnZ7Tp5vnKW3OrCroHFNf_dZ4ZzUTs0937aG-a38EC1W-niwXT41fU-6kIf_3YlFqU-WjlJz-1pxwMdsmgtFfTKHM1fxn347MIXSG8Q9ICg12grjR4V6ODioc5le_STSCJMMiol0o1ZiPXma56ujbbbgqsOp2BUrYuxa7tRmyu9KOsW3a8NMtgFyzxIAzRE763fUeYP4anQPSWb1Q1BsE3EQjpBDE7HpLNY4j-6P5Ku2T-DOqT_56sQoGcJSkOJF1_L6KIKz8RABBcvZq8Od-CtaB7RVU46jZOsAm41S9oo1b9Ou6k_Fv2xWFAy_ak3RG-b5bfHV6qF1Kf53KSUKnhTAZwMKV-htCbZ-Pm4dEomA5BLVs8pOuZ5Efs0WNpLeS_l8NOLG6asKR8NDmKgUpdUIl_RyIpT2RQBbT3o9DJkO1C90znhxTyYkgFeQ0cRtJyGvIYx-2kZnUglHkfoFjeeSWeLGPBCYhQqqmKG8gBMTR7wDb_FFU-JfI-TadnAE16zU63pbGoZhmE1NkPQI723R9AW5fo2cllAj1sXZcfNbqdNHK_TRx1vjH58hQOEJ75AKFzXf2VXSD92GVJyKBQJ4R_6griwMyotHxY51fAqWCtfrWz3vgTUqkJGle63XAk8swjQTXngvVshJVil1pViLJZ6tQTF4qSYZqk8zUcIVKP0kVJDr3tmvk0enZAeNOqp2rptv73utriwOVqioPrpF2u-tvBb9Sjbyi6CdA71iYrO-GU0sw2NhJGEZXTUyv5jtDTTKkR8lgNHzCDA2vOKoH7_NnV0oLWayyXSfFveNM9CuwGUNv3uWVY6lbPi3zurb8aY97FG7QKUUc_NFemHBSflmMs55c_ywuU563HyJ8_4jBRdJqIXWg45OqbwErkPn4MggqtEl6ZUeaTKd5JzLnKJ9smzmp74fj4IVOhY45d0PDgs73ju7mub9NtBMqE9H9c3S8p-O2q94-etPGG7gFjsdflrWjCSMfs7M8sBnS-h4E0VTete3KB4OUm7mF6Mwlxg7jYb6TvWAIbXECVDBo_qLRbNH5DduKA9leIdpxTYc-wNA_RnjsWPXke6bcrULcf1Sch5Fn8vtpCG0h1wTMda1Llv5N",
  "id": "rs_0ade5107ad8f7e87016ab42e30d96c87d0aebd0904a5830b82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0,\"right_z\":0.185},\"note\":\"The right jaws are open and the pale figure has dropped. I’m retracting the arm to check whether it landed inside the right basket and to expose the remaining figures.\"}",
  "call_id": "call_qoqfrkj9eKT5ldFA6sbHeAIC",
  "id": "fc_0ade5107ad8f7e87016ab42e3174cc87d09a9ec563fbcba903",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qoqfrkj9eKT5ldFA6sbHeAIC",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0073, 0.8227, -0.6136, -0.157, -0.1047, 0.9967, 0.0158, 1.0012, 0.8551, -0.6102, 0.054, -0.102, 0.9966]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1742 left_yaw=0.0691 left_pitch=-0.2244 left_roll=0.0523 left_gripper=0.9967 right_x=0.3082 right_y=-0.0011 right_z=0.189 right_yaw=0.0207 right_pitch=-0.2009 right_roll=-0.1067 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.7556, 6.8308, 1.5702, -0.1245, -0.0366, -0.0122, -0.3077, -2.9744, 6.5846, 1.5751, -0.0806, -0.0415, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6ba4b1fa61e30b935611fbdc147f8abd14ae9dec23012e08582356ce438cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49f4e45f7273fb8dd11b8e5c53752cc6d78c8b5568045595cef80abdec6bd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72507ca1b8e2dd7de9d6cff749ab23d132246d14f368c576f241ec54d190d29b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.9985, 0.8227, -0.6151, -0.157, -0.1047, 0.9967, 0.4644, 1.7878, 1.5856, -0.6426, 0.3382, 0.2096, 0.298]\nstate[eef_state]: left_x=0.3024 left_y=-0.0011 left_z=0.1764 left_yaw=0.0688 left_pitch=-0.2172 left_roll=0.051 left_gripper=0.9967 right_x=0.4593 right_y=0.1685 right_z=0.2025 right_yaw=0.0542 right_pitch=-0.2287 right_roll=-0.1009 right_gripper=0.298\nstate[joint_eff]: [-0.1983, -2.3043, 6.9402, 1.5165, -0.1294, -0.0513, -0.0122, -0.0889, -10.5641, 9.3197, 1.1013, 0.2271, 0.1148, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3487, -0.3935, 0.3347, 0.1986, 0.9956]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4571 right_y=0.1681 right_z=0.1388 right_yaw=0.0629 right_pitch=-0.231 right_roll=-0.1068 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -2.5504, 6.9402, 1.4872, -0.1099, -0.0415, -0.0122, -0.0615, -9.4701, 8.1162, 1.2332, 0.1734, -0.0171, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0073, 0.8227, -0.6136, -0.157, -0.1047, 0.9967, 0.0158, 1.0012, 0.8551, -0.6102, 0.054, -0.102, 0.9966]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1742 left_yaw=0.0691 left_pitch=-0.2244 left_roll=0.0523 left_gripper=0.9967 right_x=0.3082 right_y=-0.0011 right_z=0.189 right_yaw=0.0207 right_pitch=-0.2009 right_roll=-0.1067 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.7556, 6.8308, 1.5702, -0.1245, -0.0366, -0.0122, -0.3077, -2.9744, 6.5846, 1.5751, -0.0806, -0.0415, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6ba4b1fa61e30b935611fbdc147f8abd14ae9dec23012e08582356ce438cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49f4e45f7273fb8dd11b8e5c53752cc6d78c8b5568045595cef80abdec6bd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72507ca1b8e2dd7de9d6cff749ab23d132246d14f368c576f241ec54d190d29b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC49iYEcQJ5G1MzIzuFP491KRWo4q47Wvyswxhu6sKZkZoljdUw6ST2Np2SdLVJPnea403ZtK3V9RhOccba1m8CW9RfUQvVMqf_yWsF01kKTCKj4gnu5MsMn56LtEMA_QXNlpeB_g09cGOVwJC63Kxq6ljQBeLiS-n3rMJky2SZi5T2w16OJFLBi2K5Eillkw7CSaXHKySBMNTRVohhi7xobxZQTcXnMmor-hgYZRYQTBccTu3S_mKd99CoPCDrK67Rn5BA3aQDph4JMbwnHxjG5P7YjG5iQZTba18WWTpm6aFYTBuYcWXnjHP6P6z3sENStdM7bfj2ibGbydh3oiQjF9B4k5FjrxF4piIa2G67FoVNg4jW0vGaZa0BbyTuUhZztAvu1cYvndIphYbMEf7zaRv6BXzLsLmMq-WtW8V3TnjKC-IVYqk63QvhQz-m4ZjXJnJW_0Sj_n13i7ZUlN-K7ZzpUJLpVQoqBHFegdppAwedqZZz9mIBL3QzFc2kYm-9WqFrMqnPxau7mYQZURU_NQabDfYGsr917dZ52CKWy_0bUJskhvMWbRlOSHXmOu9gQCubjI8w5xTCguUbYEV4OLTlYNKpVibygr45gp5rfxZCXYPhLy9RfqC4c4_AfbXOojJxJBRg7zleL7oOo9WV3Z-bm2CmUBHWsmJXMW1LXeHEftZE-6VXovzqCgU5IKugwlzcNgGrd0pBvTE85d68kbPYh2-M9ZUwKKN6JlW9sHkcR7h3p55CcMlsB7zAWl857jLD1UchvdKYsNo9azJr1yh8HIwA4CQajYEqmU2abVGyz6rP5Ez6pHMTf5ZTC-Y6F3OZ_xO2_1tQSFEOqItaaiNNx9RSbyfLVA9rK2ho1Fhl08-J_3Uq7RQWJlNmERDir0CBdRa-Ec8vrOyE4G4KHnxfjBFbXFf2qyB5JdF8WL8UpZkrqRF1zO_rTZMGJRcVJl3BLK1BCXoHvf9_Z_Dc1bFbGcycYCv8WmD1n7wbipkV16Hwe1kFpQ2vTA42ggstBFkgq_IgjGwEL5sfHSexBO_qSPKD_j5beBokODbYHzj_kvLzwSuqk1PcxRKkFiF6RzWjQRCaG17dK_wS82exsI_WXa6DPBDd9V-avyyC0borMKIVf9KQKX7tQSXEIq2tEv-2l0bUfEDq_RopipM7KJPXMen44hTEwFgPTvJ10KsENcGY2F66MmOUsGmIsYLaAifAiyg4YXD13dBOseUUwDaIblxDV6ItcE6MyN9yKmRsiJnXS9xRry0j16B54SbZumznVKfEoZC-X4s440vxddxSUqBzaMScbyJ1l4I6yyRImn3bSsOkUfFwcTKKh-lNW0EPCynjQITIJY58fo22B51tiGw_-3wqWmTEGG-H9u936qlpbIEm2KVxYF-FC0wCtuNS5YKR5knXDemKpOxXaB8b1-Fv-CR5V2CA-ktxAFO9bAcF_WdMGjGvPph7nh1zDKfdM2lvpRiNuBza3TEtwHVQMPhgPTr3TC7fK1Z1wxuBJDZQRiz1DkS71REdiki9Lflm8pLUrGdxGAe6O6H3zmK26yZGioUJeJDjmQWafhw9XDQAR186ZQ4_xQyRjIJMGT_wn_g6uxnNXTDBsWokLyxIlESZM2mqynyf3DNNOk82l1wBf9WElXFpJL5XfrUpkQkwBFApbJUW6rXLkp1XdyYw4K42CvW3CaUBVjv6ZQWrk7v8TKvkcOuzlB90xkfwDYhNhjLe2fvIgHyM1GatYc0UXvbxl7xriqmM_9G_Vv7j5nBmcfDwqbR4zndklRAJsYNycz5Khl1ZpR0H781RjZWoYrtuzI4XUk-MkqngOlzDBQh1TwqD1IP0UAv5cQseum3PQMypThPNbL5kZiMpiuQ_KZwADJydto7k8vrgtwTsYGBFaVS1fdE-NgIPazD1ykymbMvpPztzF-QjgeGryHsNy7ZutOId3V7KmzBZAASd2-EH62f5NS0AMVYL5dkF1lkNdKuXNe1VcPyAxEB2dy1XqJg7C_S94nza6zcKCsR36Dimv1tYrvFGr6J8pAL7aTfLkyVxDD1SIbabLN1WLWoGfFt5L0lZEiaVpeHhJC3YQVVkx3GlGNycjhLJqx6S5MsO9mHHjrAmClU9DVFbQgoCwIFDtvo4vnFxpHlyxpvB_cuU6neqqihlfS7RjfDHeVThGmxD_Q3R8_EP4OW1pooRgiR4zvOg7GuWgjx6Li8ITv8NWZetijMHbv1nY3ZjrOKGgRE3PA9vwfY4m5vA8ofv0C40CZPLzvtGGIEHjsJ0CrtzY1m7cmrRBLzjPbR9WO7aDARmPfHW-g6nUF6YRbAOnBeJf5mUmeb_fVcDOm7QuyZIKZAlhz69M2QZKKUg3iOklrtYeEsvnQyJYjkP8v9_b_EUHfLGTL2ptpwCboK25Tg0NIdVgQeEdMJaHmrMtp7EzsoN46a5rJPRYIy_Qdb7X8ngmEosPJvVSHHPEEnD4rznwmgwbCXxU96mJjTo4TBH0ku99wGMD-b_37WMf1xULDpegqX4nYplYEDJcUasy172fgrwk3spdLZ4ECjCz1WQUex8V8NxhUY3V3dTtBdzRE56qllwlKhq9nWcjGI9PR8frl1rxUDqKyPSNXBTqShqwUacKSFRP_iI4Ibwa_6gsJaA8Wv0mV6wDgNav5FfbcyrSFHPEUfuk0Tgrz19R826prld17ESTq7SpqO9J60q26F0feTPU0JWzyBxqJlPhuRh-r1rRkxp29OvzumZuca2dsGfsEEL4VohD_X248ygz1Gg7iv6C-a38tU1EChbZWi4nrgSCgLTNcpoLYOjTxEBvbrWO3rO2YW_VwOTS8EFyUvOGejghvrSwH7kkFhHUJ3tDomAhr8ZMPK1AhTOLlsPjsrcO8G9st3GTvIckmRzEN-ySjOZLS9_XjKmG4UQBtyHGJbVhbIAO2CR1SOOq6zYi6WFTozjBuvewKi15I4VRMidgn42bfm8zt7Gw_SWZqwGGm8qjCBhtP62JG1DWrDfWsPICmVjLs1cclRSBtRy-l9qXfPy05Y74xyAL6x9HD_HdpaYD0X9v6au8yHOeTqUtki5dy0lfrtu6wCj_uUj_5XUNIMdxejrr5yvaTczL0hVgBWHbkSDYDfINHRuTyN3mEH5waIcPi7AWyrBXUgG-qa7uWvV925khAZfZD0mWlT6s7f1HgFK2zAEQt3PnRiGqCsbgDjBGn04DSgJHrRSiCvK3WINPGl7igRpWsCVe4o3EQGHJYeeErZIzFKYhADiIP5Vt4S_ERg-vZa4iSLP8a9Gz0bO-I2xUWfVA6KYih_-dosWxRwFHtCrH4Sn60s9weoL9xSam7A-rzec8zwpqobLiHixq838Sm0rPBcjUHSCxa8lqt81S-3gs2nNmG2cf-BIJ-V9DwD6fGJy_VAkRV2Woc46KglHg7ng9795SLVzU-rskBUSyMKvglallHx_NHBL8QFw0wYvsVDfKQARs_j6xuUDMUYEMqfJKpdH1AtiBPO-fPROo12eyDWcG93a08tmSVbhG-bs-HQYjTqYu0Q82aB1o3hwiuQmz0EaMlnE9DK84Qa2kfi-R_5YnM5aFr04NskaCHqo5MzK8rIntuE1lHbYMNSBdiH73XOXnzfS-zlid46J9ZvZfztCHeQFF54k7SiFKaH0D7c90FJCFTTOaZRrWjOCPbJ-Xig9Ll7GFV_elTiGZxKManc8O",
  "id": "rs_0ade5107ad8f7e87016ab42e34b20087d0a9b5514a1f4e5922",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC49gO-0xeLvdH2jvQD0X_iB1pVZbZg4FhCL4DscLIO23J1LjY7Iw8B9DoZpWS-Dzm0ZwVWv8UDG6lzIjcskM79Ue-ozyq9qIrfJaTbwBsLQQQcC1F74jE2ohPTltxdjyDoVNP_GzuR4TN-v4k0vjJmxzriBkTjmmvQC34A66s6IVVOfMGag0nqKIG014uyBlQIDSnasUdR9t2BxKJhqVOAUFBlfVS2w7jzHdvybxu5VHDtDCLWjQsURDFOiYhad0-yL_uKpj69IFzzV_yLL61QFt8VxO54kpGuQwWvltK9Aaq_bewgjmSW6ZgUWaLZAP4h-yBIRuXPVCp4nPrBmPNgDE4tsNM59yE5m-z8tpgGYoBJaVQUvBnC9jEilyQMHbM5uVXtLkpyj-EojjjDpi9sEbDVA37_v4vNZwxGYhL_DXGYuaFOfg4J5HoAMZfLTFjxUq089W3_-gK4_Mkl0lTYYZm9tXjqYrgKhGjEvNdnMHeh0kFb2Eolx_VSBL5nlC2XwXwRc4aK4gnB3CF3KddOWe-1ADueroN-0gjYpBF6FraR-bubiN92anPdsxepL_1aTtLvddbM5h2UByZeIvtHFO_gHdE_KzlbKL6pQnhOTMBwCAmRpp0isN4B5RxCQdhtL_9VTxOy-iu3cQWq3rSkY40EqFt1es-0XJROmiwcmBs9R0EAE9jo1Pd90ZBqd0Kt_027oH1Ck9GcgbUOQZceah_6ECrPpJFgV50bLWRZ4-rY-cUNKlBrlALbZNI_lfoDXO3ko8cGprtZLneUfmGvy56c5Rb0tqqq-MViunzlKmSBIZ9IquOUY6UK3xPrsU3qN4OhRLsC26EPkZT9yqA9Cwjp6QXIfqBBGaWtcuzeBsfwXPOsPjJUT_qDUMVy8CiUNBETWYGedYsBhOGc3uHtZ89CMquaK4uiFnDLVG2bXoz0nRdfmEn7pW60MUOvjBoEflA0gos7xBi_xHcOZDEFOtjdlbegCgkDzhIK8ZnWWnHVtpsca8p1yvZhF4f3N8UrtAoi80exBlkpAfkOiasoiFfLeUqivhT1AE539aqa31RSZNT8T8Q2xW6ebQ9gtTXHHSTd7e8khtaE8DjOmyOuZRu3QtTSAeFxd1rwJSWKRxjSR_Sdh3I_FHdTzfGwlXIEo99VPYYy_tq5lzC90bPP72PZELv7dp4ET-6f9bOnbmgpkoDOUAoQkCehLPSvHBFWwuZsse5TxHdN4Gy7F90NwkkpzT5Axu2Xv8sP5TfnqZ-cq_YVCBZx2DAvMANE4b39tdipbn2DYscTz2WkHSJ4IZP9eNw5RGqDtQG116x3MkHbbSUT3oyO1Gj8myVpoTno-5FxSFQ8WuiU4yw2K1mhlvLkmLOIVTnoorYGpWWXfXgrF0EzHLtr3WtGAwgQ0m_pz8dlQxqdd-4HsntlNQDt5gB-1llf4ExK72E4JFRs3I72SRspxR6gnCdMZtMM2aaoaSpC9PmkCg4sDNIBiEtkolCqOUsbGnnCEZuU3eAykgEt3Om6L35A0JhQcwEpRChoibq2pfsuvFOQstmLJ0VXwldnmGhUskxJlA_qq-rjvqq1Bxevu3oi_fG-W11J3D-ARIoARvL-xIBtc7o9rSP1MixEPTAwa5L8rpTysIdUw2XV0qXnHZ1M03sth0cmmvH1h3uX-vGopBOl5eddj5G-gHezpZWEsTNsKW5abGZlfImP1WruLD3hyysi78bSxm0heUJiq0FJSMoYTqypDkCug9En7z2bSRcX4X3hxh12zGJwef_sIuuNyPxNOeobEjicDPdzaV3BAlZBoKWNhTiJOjMTkjWztZliaYt1FbZ_yK8GoK6WEMKT7-Uep4IfB41M-ZdYGBxLOeiScDQzSSYaqUfBwrm7w1iXpQMktF0QCcD48eWVIMD0rgDEaVdrVRXuThKUaX6PzxYRPZPa4dbVI_9BAkFsvTEBLUmWorC0SZpwe-VVry1G4V2oXR-X4hLqaOskjOhn8W11lL5T5MZ_T-4qwnOPiQrm0oLdUYEmMtULwciJI0Jhan10jI1q1f4W_k5tAo4rdbNN2r91gbij9CfcMU8u6vz1o73xkkYtloiWJrDAUbWOSVJzSs0dxJtfffbD_DGpJVi_IjM3_rkoMa_r7tuc9K1PYirGGNmLlMz4Zr59qjhoIBQ2GLDin8FfAZjcsETo9nKhqlMZB4CndXu-mYj895x-LW0cl_HfEbcA32ckaIO8fKKaATQsG2PTOHhUYVmBeacTrzxcQImzYvWghpib-ZLZCFBn3ERPpsGujQvoydLC25cy35Wfsgki8pvDbMeK46hSP1md4sBMNzsnmp1lnCTWKvNWy1csi_y1xjZGbxxkGnAl-PTXZvtWvg9AIOfcg7Fb4gfiRzj2VLefB2ShLtnsyqEs8Mul9D0iVyR55GI2kaFUuxoOLYleKt4O7c1DrCLfw6vTf62TZLTw_HfK_YjFTuuVTG-0fcvgPxXBjZou5kz0YN86KdJH8iFQxBqPLKXmI9jYib0OlBWXHB5rXYGejrGMFq4DSJRVnB3gld-M5AyBaAXKAoe4_1xt4J3d0g-AW3vkPrbutuoZuUicgp0aY4Sbvs_U2HcWAPTqTsku0ZB7mANV0rynjcDrScn51u1r9A4vkceSNb33CLUkHhSp9ZAxJ72oEAeN8CxIhUHKDxkXmMgDXjf3NBwTZdnzhiOX_CLsTSv5mMslK_T6DWQGH2gsTbBMZ2arbXKVvgZ9E489u4H_BfQcYg-P0B-fkjqkuS2k7v9lT6i5hksCEIcOG5i6GrcbdO_gvAuyvmt47rNlRTS7uZVfCYNiEzZmt9oRkJGRl5AfaQyNmrXD5yIAzBku5eETQIILX3qMB_UR3wiqU-euqqbPewewOYG123_KbnMzvivsc532xqEJKbPIT8Lx11E_iyAvJczlsY_LOGFZh1s-ju5zOl0RnyIyqlpYXNknyMrTOHe9eJ4e4pPChzkUtpc7SZXE5PpdfMMwYNIk4hgonQcxKS_tOIF-1zCKHu2hOerQ0mAt3xn3OKATxpSjKwjZHgzKUy4_5jpp3i4LGJ9WKDRwm5iwdOMercO5ksX05J5eJSmepd9gJITAS6uHjodY17hDiaF1gs-om-XbTMaCCcE-GwXNdU3XlBywtnQXMWtdmUmTnyw5HjJwlmr-YSLL3ixBsLNSSLDwTYJhUSUNa-gCNczPbWkdVniKmsPAdJQ7_EF4Qift5IRCqzkq28ZE5Qoy9B2sNIVOsoxNjzeAOWPUjZZqu4msetYyu8GlR3iOUI-xZ-KEdWDnxTQwWnYHD3fk=",
  "id": "rs_0ade5107ad8f7e87016ab42e39360887d0adbf380ea4422b49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.19,\"right_z\":0.15},\"note\":\"The right basket is still empty: the released white bear landed beside it, so that placement did not count. I’m approaching a white bear nearer the front of the group to grip its body more centrally before trying a deeper basket placement.\"}",
  "call_id": "call_VwK0CvksKhgSNHzD8RUCIUJY",
  "id": "fc_0ade5107ad8f7e87016ab42e3d1c2487d0a9e7f70c01e618f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VwK0CvksKhgSNHzD8RUCIUJY",
  "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]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8272, 1.3888, 0.9512, -0.5774, 0.5663, 0.5037, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.294 right_y=0.185 right_z=0.1362 right_yaw=0.0593 right_pitch=-0.2488 right_roll=-0.143 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -2.6462, 7.0085, 1.5116, -0.105, -0.0708, -0.0122, 0.212, -5.7641, 9.1829, 1.1648, 0.4811, 0.2076, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57113f3bf6f955ea563f589128ed7142ac6930dc541b0d4d16a83924ca844e62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d16f1d4ca2004e4cc369f218537bc50eb9bdf18670041733edb45ca2a5a49f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be24f57b4866f165f81e518d4e6ecbfc51d6c452bea0947409070aa139504f2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3647, -0.4137, 0.3393, 0.205, 0.3]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4574 right_y=0.1674 right_z=0.1423 right_yaw=0.0553 right_pitch=-0.2332 right_roll=-0.1071 right_gripper=0.3\nstate[joint_eff]: [-0.0479, -2.5504, 7.0359, 1.5311, -0.1099, -0.0073, -0.0122, -0.0205, -8.294, 5.3265, 1.3455, 0.0806, 0.022, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0073, 0.8227, -0.6136, -0.157, -0.1047, 0.9967, 0.0158, 1.0012, 0.8551, -0.6102, 0.054, -0.102, 0.9966]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1742 left_yaw=0.0691 left_pitch=-0.2244 left_roll=0.0523 left_gripper=0.9967 right_x=0.3082 right_y=-0.0011 right_z=0.189 right_yaw=0.0207 right_pitch=-0.2009 right_roll=-0.1067 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.7556, 6.8308, 1.5702, -0.1245, -0.0366, -0.0122, -0.3077, -2.9744, 6.5846, 1.5751, -0.0806, -0.0415, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8272, 1.3888, 0.9512, -0.5774, 0.5663, 0.5037, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.294 right_y=0.185 right_z=0.1362 right_yaw=0.0593 right_pitch=-0.2488 right_roll=-0.143 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -2.6462, 7.0085, 1.5116, -0.105, -0.0708, -0.0122, 0.212, -5.7641, 9.1829, 1.1648, 0.4811, 0.2076, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57113f3bf6f955ea563f589128ed7142ac6930dc541b0d4d16a83924ca844e62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d16f1d4ca2004e4cc369f218537bc50eb9bdf18670041733edb45ca2a5a49f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be24f57b4866f165f81e518d4e6ecbfc51d6c452bea0947409070aa139504f2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42e40d78887d09687afa099d65134",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The right wrist view shows the white bear’s torso between the open jaws, much better centered than the earlier head-only grip. I’m lowering toward the middle of its body to make a stable grasp.\"}",
  "call_id": "call_WjoFzMIfP4KWRbdRT8QHR52g",
  "id": "fc_0ade5107ad8f7e87016ab42e41e40c87d0a2530696f2101021",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WjoFzMIfP4KWRbdRT8QHR52g",
  "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]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.467, 0.7807, -0.3885, 0.5632, 0.5091, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.286 right_y=0.1783 right_z=0.0729 right_yaw=0.0495 right_pitch=-0.293 right_roll=-0.1808 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -2.5915, 6.8171, 1.4823, -0.0757, -0.0269, -0.0122, -0.5538, -5.9419, 6.4752, 1.2821, 0.2369, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d654a100e5c41a90add68b6eac5a18f609f1fd7117c58acb7d746e2e408d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4007d60d640eb65945c53f9c6f04443ce1643d78721c653833f7328554f4fba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dfa0d9f4a78af03f10d983c900570feabaac29d22fa4339179dd8905522686",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0016, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.4644, 1.8008, 1.3487, -0.3935, 0.3347, 0.1986, 0.9956]\nstate[eef_state]: left_x=0.3027 left_y=-0.0011 left_z=0.1757 left_yaw=0.0689 left_pitch=-0.2195 left_roll=0.0514 left_gripper=0.9967 right_x=0.4571 right_y=0.1681 right_z=0.1388 right_yaw=0.0629 right_pitch=-0.231 right_roll=-0.1068 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -2.5504, 6.9402, 1.4872, -0.1099, -0.0415, -0.0122, -0.0615, -9.4701, 8.1162, 1.2332, 0.1734, -0.0171, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8272, 1.3888, 0.9512, -0.5774, 0.5663, 0.5037, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.294 right_y=0.185 right_z=0.1362 right_yaw=0.0593 right_pitch=-0.2488 right_roll=-0.143 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -2.6462, 7.0085, 1.5116, -0.105, -0.0708, -0.0122, 0.212, -5.7641, 9.1829, 1.1648, 0.4811, 0.2076, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.467, 0.7807, -0.3885, 0.5632, 0.5091, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.286 right_y=0.1783 right_z=0.0729 right_yaw=0.0495 right_pitch=-0.293 right_roll=-0.1808 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -2.5915, 6.8171, 1.4823, -0.0757, -0.0269, -0.0122, -0.5538, -5.9419, 6.4752, 1.2821, 0.2369, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d654a100e5c41a90add68b6eac5a18f609f1fd7117c58acb7d746e2e408d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4007d60d640eb65945c53f9c6f04443ce1643d78721c653833f7328554f4fba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dfa0d9f4a78af03f10d983c900570feabaac29d22fa4339179dd8905522686",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5HD0HyF_gdlARf5ImZKef-APM-sPHngAW3PCAoTHtTdmk2oWXnEQChFUvF8CeyxPifQJ0sLiwlIsq3VdsjBq7Fs89lSRlAvBepO1Kw2bZRJu2B3Mk71eIyyAlFtaWEF0fXO9dVCzzNwZs034b3xd3y2hg6KCclyjqyrZiOlSJUI1WAdty0SdZpBPKhjznjoky_hgCJ-WXrGaBoAY8VCRzR4tju6gVrGJa6vw86lXd2bHBinW9q2WamGBAB5lGUzBTKHIaxTimngLe5KgM3wnqSIulfDClOdjmVopKIvG4BWrfdgLbpvgZFoXeGx_-7r323UXmHQB02fRHPj6ZEZNk7QGEXYyLLmZq_IxIfjNXH0u1x1eNzrEobZy2j8ORnX6xgLmHm94XizQ9LiAazD2jq-B18j9xZZNZTgU-l3_cf7bmSITiYdbrz4ecyjn8lOTG5pGOVkEBRmzqC0sgdqxWDR1p10dVXbx2Gm9CVJXbK0c0uie7otSP8rVsbC3IPwxHt7ETBa41DJZB9w8HEwvryO44WDYt6DOrMX4hT3vjl5vPHZRHjClgrom_OK4C4JeqSecfbnCafYLSalgXufLziiZCxyvngHXnfuRKWe4jCfQuCjwqYfmxS_y9UeRNNlg1lRawp3BWDlWZnAFr4_mfVIBLj3h56wX-VAeKRRT64gKkv5zprav3EURl9ukZKIMdpvfAD-YFXj1-tZzHj674VJQF73rOmw_9hvLNmvaDVOlO4wRvvI-teCPY2qKQQRq3P5APV75FdFlCpjDKRzyB4FNv9fWEBMP7B-cHW6_NlFpKbF-yLRCLh3oZCSxeKo4JPxbXGy-QTT1JDXRfnG8joQNEfAeWDgl_JwU4Y8h38qonZXhhnHWJF2dd4JK0Y8WPuFu96DBFTeNCS8p8s9cTC4oxSO0gJyPx5uyfYthB3B-x_qowNvHDm6-3B4sk-X4yjFW8NRSFMqZIPt1IruaB9r9QoLiVjAbB4VMyOMRVfvPfRHVN6UwGEG7FdGMmtGeyCj6JEklNKMMElFD17424NzW1lgEgiNS0maykGGEUK-VMNhwZ6F9PQjVAAAahzejUyQwHZp2zOTNiwHQ_Wg55TaLyNWQovR5fVp_WK-G7FmIOIMT2W4ywYBxIilnBrvlbR90qEOc7in6dYXBCS1weHK4BEyP1sZvbm6cRUUEe9mdFnV3Lg5OOn22FMPaIXJ6IckP3N4IFkjBQx0-ftIIozhdweWw3fNIZjVxKpBb1v-BI=",
  "id": "rs_0ade5107ad8f7e87016ab42e46f1ac87d0ae9789d552790d7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lowered jaws straddle the white bear’s torso rather than just its muzzle. I’m closing around its body and will test the hold with a lift.\"}",
  "call_id": "call_jVS2uAaSi6HQZUKBY4e8THNv",
  "id": "fc_0ade5107ad8f7e87016ab42e471e8487d0a14d7dd05e2ca075",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jVS2uAaSi6HQZUKBY4e8THNv",
  "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]: [-0.107, 1.008, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.8299, 1.4796, 0.762, -0.3775, 0.5568, 0.5014, 0.1086]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0688 left_pitch=-0.2259 left_roll=0.0523 left_gripper=0.9967 right_x=0.2827 right_y=0.1761 right_z=0.0635 right_yaw=0.0535 right_pitch=-0.3122 right_roll=-0.1966 right_gripper=0.1086\nstate[joint_eff]: [-0.0615, -2.3726, 6.9949, 1.4823, -0.0952, -0.0513, -0.0122, -0.1983, -6.7761, 7.3915, 0.9206, 0.3053, 0.0317, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bf91b68af68dc3549020479b82d7df9b9330f08b67260490d293ef292f17b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbea1a83b5a7bda27ff0d104d38ae0b79009e2b91378783714d9300f142a26e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67269b714827190377ccc7274aeeb37351fab9f08e8aacb7dae0b336dbec572",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0073, 0.8227, -0.6136, -0.157, -0.1047, 0.9967, 0.0158, 1.0012, 0.8551, -0.6102, 0.054, -0.102, 0.9966]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1742 left_yaw=0.0691 left_pitch=-0.2244 left_roll=0.0523 left_gripper=0.9967 right_x=0.3082 right_y=-0.0011 right_z=0.189 right_yaw=0.0207 right_pitch=-0.2009 right_roll=-0.1067 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.7556, 6.8308, 1.5702, -0.1245, -0.0366, -0.0122, -0.3077, -2.9744, 6.5846, 1.5751, -0.0806, -0.0415, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.467, 0.7807, -0.3885, 0.5632, 0.5091, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.286 right_y=0.1783 right_z=0.0729 right_yaw=0.0495 right_pitch=-0.293 right_roll=-0.1808 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -2.5915, 6.8171, 1.4823, -0.0757, -0.0269, -0.0122, -0.5538, -5.9419, 6.4752, 1.2821, 0.2369, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.8299, 1.4796, 0.762, -0.3775, 0.5568, 0.5014, 0.1086]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0688 left_pitch=-0.2259 left_roll=0.0523 left_gripper=0.9967 right_x=0.2827 right_y=0.1761 right_z=0.0635 right_yaw=0.0535 right_pitch=-0.3122 right_roll=-0.1966 right_gripper=0.1086\nstate[joint_eff]: [-0.0615, -2.3726, 6.9949, 1.4823, -0.0952, -0.0513, -0.0122, -0.1983, -6.7761, 7.3915, 0.9206, 0.3053, 0.0317, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bf91b68af68dc3549020479b82d7df9b9330f08b67260490d293ef292f17b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbea1a83b5a7bda27ff0d104d38ae0b79009e2b91378783714d9300f142a26e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67269b714827190377ccc7274aeeb37351fab9f08e8aacb7dae0b336dbec572",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5LSeT75-nLpC7Hs9HuY-F1gg3yW2QZUkxibD-yIwPg4be2EtHgD-5YxnhsQxAsQdhXz-7-1EthOKrxvRLo3NDhET43XCV0WslZjjIVvccWOfy7tTSwxZ4gl25nKC5N5X0rP0fVFeizuyPm-wFpyvlGULJrfH-CDo67VsxGMxJli3olI87TBd6IMjGQ-rskT8iiwxGvuwamQDWUJIukPgO3gZxcM80hQ2QU-cMp7nUVKJRd7Uo6j-0HQdOqa3czzlA7UFquYP5N3mZ2EA-9SG4y9OaI0CVDHWcm2wkDzqBze6Bm2uDib58yrjCus9bECcQdSh8C1tjJXaj5SaMB2YPdnS4lYNIw8gb4c2rjeCsPFqn4zRDyQCI9QmIOPcabR2NA3FbsNsz4wNHNAf7ANrfKHUxahZKz6OW7kCKyW2G8XRgIfKuaYRmE7QKbMHsLVBPZDYJlRCnaJO8cc1J3zRiaNT-WXCb9CmGQaxsdciWzgaSvbOUPFHz4rBUvcPsxSFqMItJCM3KqtQr3D5vR379Jl8u8goQJPDarSyVl1f0NlDBWtksUDIIB6gHaWabu7ET9JI6Dbzn9WbqtINmGjsv8HU_LHIhayTttq70SrUKbvZuu-jfQauSuW4vws6c88dozKt586iF59yQvSByrOSLt-SSBQbPkzH1RXQnh80f6FgRElhJcI2-W0eh0YvI0uDeSLy2tHxlDlElPxrR5v6-5nqkHHLm-Tkn10rnVHCL1pzfbtk8j-98LCJj14Wd_0H0EI7qBBKF5i1pJxxsdfVjcCSlXJPgz4pQ7Lh5RQ1hzzj1GnGlC7AT_TMaZgelyxOWEWn4taGza4HSFzTAnxU7AVHEHblCirJDHkJzun2eNMnRT5XlV16OVb9N_tK8AWsmF_Nce_mmtmHvSwGQ4l330NVIuYQPIT5OPJ2hPfxPLEuemMYQL-Obw3uU77TVWNpenD2LYYFpMg-Duy_L3hi1UdABkPtcOs-ozbiVgICuQPol0NPSlgUKJmki4S80U3J9ineHJlCRKkNsMZnJ_Mp6URNI5Q-k1GRNZorFyRlive_ZSzq30amRV5aIIxL-w5vz8LTXI_TGJpiSnzbyIGWS54MQazy8_zqpza6GnQArY6eU4gpZesKkdDMgBFWrfTaHuIveKvv1hl4dF3jnXdJKZVK1GEpJOaFqbUCeTE3dg23ZFooxhmjHwMffBki_Q42mc3dDyfh85EA4033h-_KLfHJyjuMzciePiGtw3Qih6KvDsE1h2OHIstBEw2YcVfeiT0LdAG6TC_Oqz4ihoN8nOb1VfmjcfEgjFnKZO-26ZAfakxkFHMJUR6lSPnDcgsOVS1GzrTguSbtRHMU9OI3trLM4_AKXFJ9etk1yjfPkXdQ8t5q8xNR5iQpFGqnSIZ1iw",
  "id": "rs_0ade5107ad8f7e87016ab42e49f5d487d0b4211402e7395e51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The gripper stopped about a centimeter open, suggesting it caught a narrow part of the bear. I’m lifting carefully to see whether the whole bear follows before transporting it.\"}",
  "call_id": "call_du28m7illbEXeEnbDVyYm44A",
  "id": "fc_0ade5107ad8f7e87016ab42e4b099487d0abc24d9c87142dab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_du28m7illbEXeEnbDVyYm44A",
  "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]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.3952, 1.1797, -0.8818, 0.5312, 0.4965, 0.1114]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.2844 right_y=0.1836 right_z=0.1804 right_yaw=0.0728 right_pitch=-0.3301 right_roll=-0.1844 right_gripper=0.1114\nstate[joint_eff]: [-0.0889, -2.5641, 6.8581, 1.5214, -0.1245, -0.0269, -0.0122, -0.3487, -6.8308, 8.8137, 0.9255, 0.4615, 0.0171, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddfcb9ebbcc8dd86007234bda6f3d35c6582c276b487e49351716228fd1a8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64cb82e3de97dc2928199d625f6a4ece14ba00d266f503e8c3b1d5a27b80839a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9088cb2d886e5c58727db836713e7656906b5d9f94376483e178ca6f33e9008f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8272, 1.3888, 0.9512, -0.5774, 0.5663, 0.5037, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.294 right_y=0.185 right_z=0.1362 right_yaw=0.0593 right_pitch=-0.2488 right_roll=-0.143 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -2.6462, 7.0085, 1.5116, -0.105, -0.0708, -0.0122, 0.212, -5.7641, 9.1829, 1.1648, 0.4811, 0.2076, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.8299, 1.4796, 0.762, -0.3775, 0.5568, 0.5014, 0.1086]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0688 left_pitch=-0.2259 left_roll=0.0523 left_gripper=0.9967 right_x=0.2827 right_y=0.1761 right_z=0.0635 right_yaw=0.0535 right_pitch=-0.3122 right_roll=-0.1966 right_gripper=0.1086\nstate[joint_eff]: [-0.0615, -2.3726, 6.9949, 1.4823, -0.0952, -0.0513, -0.0122, -0.1983, -6.7761, 7.3915, 0.9206, 0.3053, 0.0317, 0.7497]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.3952, 1.1797, -0.8818, 0.5312, 0.4965, 0.1114]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.2844 right_y=0.1836 right_z=0.1804 right_yaw=0.0728 right_pitch=-0.3301 right_roll=-0.1844 right_gripper=0.1114\nstate[joint_eff]: [-0.0889, -2.5641, 6.8581, 1.5214, -0.1245, -0.0269, -0.0122, -0.3487, -6.8308, 8.8137, 0.9255, 0.4615, 0.0171, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddfcb9ebbcc8dd86007234bda6f3d35c6582c276b487e49351716228fd1a8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64cb82e3de97dc2928199d625f6a4ece14ba00d266f503e8c3b1d5a27b80839a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9088cb2d886e5c58727db836713e7656906b5d9f94376483e178ca6f33e9008f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5RlO5nflZ_PiX8CeEAiRdAFPL2IRwRfoi0UhVjyMSfNGOmu5NYSqQUrAjvyDooC-1q10nrjUKUfkysQDN9k0G1brOYaWCt2sYNFfmAwaCZHBbVyx3X88KHNu2a24YE3ajGdnrVJ9p0IwMzOrB6yRMW-q1LiD2VSHNEYPCGAvv4Hks8ewMzOBH5Auy6A5WTQ6NmpZ2Q436Q9EFXNu1bo4xw0OQnp0fPMV1AyfHw-v1js99GbCLlpvW1B2y-_G1c_D1_YvSsRLzdFIVfnu7S1k1CHMDH5PueOwvLhU9fTRi2FlTrOq2IDEvH1e5veu5fpz1eWg6v-xhEkYgysmKrvoqaQZTiW8iXHQKqdWqDKfSLsYAlO517ZkRiIjiZSNLAwkQXLSa52AisX1GVM27o6EFpQr-zRsNBxW1C8stOOONEY8sx-BwixyrNNGAOFfR4TYfqM-fMRzKEUa85fcBlN5BA8N3suvD2CKGXHaIWMDU0Fe39ADMgzTuEXomU3mnPZOyLHcoDZYKEmShqhP2tmbiWazV5_5fsszWoz5f2j7N68BY6c81ti_JI1I2GjCfRnl9G45d28F30mjl6WSrmNzp4RaHCOHbW0Wjzsl7Gmgo_tYmHbSGxmfiWLARiwWHbmJ72rD-KAe-73Jyo1QdyUhZe0WOOE_TU88fJykNEv18eTDaIiuA0GgworYTslT0bpK7G9J90VtCQT3u3_Oil3k0yHDNCxJ_pfuk16VGxSaetP3hhtAPUNJ3_QBPcE7rkE7bYQT66f-kGpnZ3ndNx8p3RoYyNbD-5bsji2RPUg5xaEIfZ66KHbNi-vfSs18Kdv12f9e6lPSlY8Kl0GYOhIkX2Fnjg4X_yr0a8bohl4kMQn_lEPdflKgRmBlheNhNjZW0MKns2vQwhx_Whhs1Sqd7WIAJyveoBImwU_WxfFHADA77a_fofpWsC2B9tgyKP5wTKXQbj7i6JMuBZPpjDw9KnpPeuLNcMn8hdXIe-DX3arh5AWMxuetgKWRAc3im5QAQCwwRCd2kscdngxvU4MzdTWaiOHKNon6dMfjCswMAQKvmz0xYq6wTT1pnp9eDc7RLhTaBS6fmOlwPN93VewP6MV6oOIdIKpdLJTkv_fEdDeoBasNNOZUdspiZ2cjzcHBz1tz-gY6aRpZ_2NO4YmHhvQTpKnWZuNUWnYQ14v0UQoqXgukqyurZOcsreuj3qGGvo0nAGLFpnl3M0-aY_oSflqkXJoNEoAKyL39zBYJwNiykV5MJ2fjZ9NUzKIks4uMFYWF9ZpbWHh1eEB7W1t73EQHCLCM1yi1wUCbat75GLuwmg2oiPOW9FmhsK58dVfuZG0oNAdtSsg-D8_0FSix-Gz5L1MFfjd62BAp5iH1Toich9F4mw_dou9D_RrOguZnMwXWEfdYxIy5It4cNZzvGpyp4MXBf3AaYZ7n3Vr6_ivaVr9OUoAwRY1LLGGQIjJULGjS0hqQxw-6GoVSqK4RE5E9cn-mLI8Q_ZPFmHTlxP_KZxJZnEfI-yFCeIOrYxB1UluMzu3sfPiTVlH_KzGJ9TLHVww-FEBZt5j36c-d7EzB6E8iai9fjYzw6DQnyKX5EgPotfTZemRP68q16aOgo7y212wignoQMk68LV7lBSkfBncS1avY8NL4_VSGA0Ocg68hkXNlDX4VFAXg3JFKuumbcl1iR1UoGDTj0FNqYTgcRt0j0JV4PlvJ-egTL1fg0o7MCMjlJKv7Hw6P_2WFkhI8a4JPTVp0H5RNfE_1tV_jp2s6LtbIzGzTzwPWsqChxtuGk0OzzI27_8J1f5RMPZ7l4dILiwBXNdF0TAPEmWdfXgn5wG8vZa2H5ymX9Suw_XojcsRWI0nkrZgFPKAB2PriE6AYtLysFi-zzmU5v3z8A9FhhwW-0ufecsTrVGWWlNS-lCs9QsTgpAvE9wBxptU6dBkp19BRMrnXnj830-SUI6u56xcKvqKC3HldAafgQr8e9qto-ZXLxeBSPl1Rnvw9V29VCy0mL-eNEDtXhd3lgxkws78SD_FlXUZoZGKSxOmLD5RDLD_yIBPMBwutT8BBD6qdzsUhE75NAErp1VIedif3P91-Lgk02kpk3QzFNxYNppqZC1n-MktzyVkHmbqJ6RBrvZm4__7yhAl39DmcBj1v_OMdZRysbsYSgXNlyO4drJEyeAESrD7LPCNyZcK1HodOKn82xKxCvADaZexv09YJTXsqFB2v3NjkrV96uFqNKGK3ugB27RdxxeAaPXIBNM_1mHJAJciFbosymJPnWv9knO6TcCBfdkRYcgk1lcmEM00OzngkSOHSXuCsKtJalUh2l6P6lonW5dYgC-N1vXT0WrJCCRJiVyO_SwKPAAIdwK5wJYHh-mW9xRgz6C0XrtyeLmR79kzlAb7nqZrM2MQL3U7nTLa1ZR22FGV3pK09riXRwwgcuYqqnNcRuQWTYgfYi5wi3oAllbaXUxndQH9Y_NPMPLebgdMRgxLdFy",
  "id": "rs_0ade5107ad8f7e87016ab42e4e6a8887d08b171113331c97cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.27,\"right_z\":0.23},\"note\":\"The whole white bear rose with the gripper; its body hangs to the right of the fingertips. I’m moving the grasp point left of the right basket’s center to compensate for that offset and put the bear itself over the opening.\"}",
  "call_id": "call_BfHmp9O7G6WKMljESQnDeKpf",
  "id": "fc_0ade5107ad8f7e87016ab42e50d18087d0bbe4cce07129d5f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BfHmp9O7G6WKMljESQnDeKpf",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0134, 0.8227, -0.6155, -0.157, -0.1047, 0.9967, 0.7307, 2.0441, 2.0735, -1.0954, 0.4576, 0.3916, 0.1135]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1721 left_yaw=0.0694 left_pitch=-0.2323 left_roll=0.0537 left_gripper=0.9967 right_x=0.4176 right_y=0.2742 right_z=0.2142 right_yaw=0.0913 right_pitch=-0.3581 right_roll=-0.1795 right_gripper=0.1135\nstate[joint_eff]: [-0.0342, -3.0154, 6.8308, 1.5116, -0.1343, -0.0366, -0.0122, -0.9504, -11.7128, 8.5402, 0.7643, 0.4225, -0.0366, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1cd5311c94feb149984eb00d80cf64ae7110ecd48cac8c7d9675752420dffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da01f8c66dfb6c8d593c8c4ce162ec05f974a68a8daeff0298ed3182dc5b64f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b4ffe0c103f72c9ce4e719daee95dd2bc0ce6c896a913940b2004b5ea059db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.467, 0.7807, -0.3885, 0.5632, 0.5091, 0.9968]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.286 right_y=0.1783 right_z=0.0729 right_yaw=0.0495 right_pitch=-0.293 right_roll=-0.1808 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -2.5915, 6.8171, 1.4823, -0.0757, -0.0269, -0.0122, -0.5538, -5.9419, 6.4752, 1.2821, 0.2369, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.3952, 1.1797, -0.8818, 0.5312, 0.4965, 0.1114]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.2844 right_y=0.1836 right_z=0.1804 right_yaw=0.0728 right_pitch=-0.3301 right_roll=-0.1844 right_gripper=0.1114\nstate[joint_eff]: [-0.0889, -2.5641, 6.8581, 1.5214, -0.1245, -0.0269, -0.0122, -0.3487, -6.8308, 8.8137, 0.9255, 0.4615, 0.0171, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0134, 0.8227, -0.6155, -0.157, -0.1047, 0.9967, 0.7307, 2.0441, 2.0735, -1.0954, 0.4576, 0.3916, 0.1135]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1721 left_yaw=0.0694 left_pitch=-0.2323 left_roll=0.0537 left_gripper=0.9967 right_x=0.4176 right_y=0.2742 right_z=0.2142 right_yaw=0.0913 right_pitch=-0.3581 right_roll=-0.1795 right_gripper=0.1135\nstate[joint_eff]: [-0.0342, -3.0154, 6.8308, 1.5116, -0.1343, -0.0366, -0.0122, -0.9504, -11.7128, 8.5402, 0.7643, 0.4225, -0.0366, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1cd5311c94feb149984eb00d80cf64ae7110ecd48cac8c7d9675752420dffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da01f8c66dfb6c8d593c8c4ce162ec05f974a68a8daeff0298ed3182dc5b64f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b4ffe0c103f72c9ce4e719daee95dd2bc0ce6c896a913940b2004b5ea059db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42e53cbbc87d0ab067b06b56240c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.28,\"right_z\":0.21,\"right_pitch\":0.2},\"note\":\"The bear is now centered sideways, but its torso still hangs near the right basket’s front rim. I’m moving it farther forward over the basket and tipping the tool forward slightly to maintain reach.\"}",
  "call_id": "call_Bjflt883ES1PVyQdvgAQMoek",
  "id": "fc_0ade5107ad8f7e87016ab42e55f0ec87d0be4fbfad60692f66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bjflt883ES1PVyQdvgAQMoek",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7334, 1.9545, 1.4635, -0.1093, 0.6353, 0.1268, 0.1157]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4678 right_y=0.2852 right_z=0.1745 right_yaw=0.1373 right_pitch=0.0713 right_roll=-0.2231 right_gripper=0.1157\nstate[joint_eff]: [-0.0068, -2.6598, 6.8581, 1.4676, -0.1343, -0.0269, -0.0122, -1.1419, -12.6291, 7.159, 2.1905, 0.5348, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1de6b453acba9a15959900b7363927685513cdf616d9954538a5db336c2bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d85ab8a4b664469eec15606e98e1a1e1ab2b0356d127995a1d8e91017130a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23b9c0766e3d0b4a1c26276dfbcf461f7344e6ed5bb7c1cdbd3abbaf5aa9cf4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.8299, 1.4796, 0.762, -0.3775, 0.5568, 0.5014, 0.1086]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0688 left_pitch=-0.2259 left_roll=0.0523 left_gripper=0.9967 right_x=0.2827 right_y=0.1761 right_z=0.0635 right_yaw=0.0535 right_pitch=-0.3122 right_roll=-0.1966 right_gripper=0.1086\nstate[joint_eff]: [-0.0615, -2.3726, 6.9949, 1.4823, -0.0952, -0.0513, -0.0122, -0.1983, -6.7761, 7.3915, 0.9206, 0.3053, 0.0317, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0134, 0.8227, -0.6155, -0.157, -0.1047, 0.9967, 0.7307, 2.0441, 2.0735, -1.0954, 0.4576, 0.3916, 0.1135]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1721 left_yaw=0.0694 left_pitch=-0.2323 left_roll=0.0537 left_gripper=0.9967 right_x=0.4176 right_y=0.2742 right_z=0.2142 right_yaw=0.0913 right_pitch=-0.3581 right_roll=-0.1795 right_gripper=0.1135\nstate[joint_eff]: [-0.0342, -3.0154, 6.8308, 1.5116, -0.1343, -0.0366, -0.0122, -0.9504, -11.7128, 8.5402, 0.7643, 0.4225, -0.0366, 0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7334, 1.9545, 1.4635, -0.1093, 0.6353, 0.1268, 0.1157]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4678 right_y=0.2852 right_z=0.1745 right_yaw=0.1373 right_pitch=0.0713 right_roll=-0.2231 right_gripper=0.1157\nstate[joint_eff]: [-0.0068, -2.6598, 6.8581, 1.4676, -0.1343, -0.0269, -0.0122, -1.1419, -12.6291, 7.159, 2.1905, 0.5348, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1de6b453acba9a15959900b7363927685513cdf616d9954538a5db336c2bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d85ab8a4b664469eec15606e98e1a1e1ab2b0356d127995a1d8e91017130a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23b9c0766e3d0b4a1c26276dfbcf461f7344e6ed5bb7c1cdbd3abbaf5aa9cf4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5e-EIPZS9JihBVf2f0-ZOGyI6fQGC9j_mygCyHn5MCH0Zxt9ClCHZyjG2Z3kx436703wBW-b0ten51W0U6rjpSir-JXWIxOPe5Y_4ikl7Q4wPrdOz7wZiONMmmL3FtjfFzNMAUtiKjEzdEBDpbMTPUuwo9pbm4A-kTxvvT2NwNbKV1uqoL6K3OdQL4Fyp0WQABJCqLCL0ZzieHMb7u8h8SCJQtjnK_zqyTxPEfQ3HJ9p7zZKo8ustc4FVp8hVjk5_X_kKtfT7OY5gHnM1_U92RH61grK0MVmcnP9HZcX_7GH3M-QPk-buY5Dqi0uACW789S7vQ95s9ZZmm6zPU_zCCMlBJQLr30JiBh1TTqUh7v4cq49G6CWIZJ2Gz1HzxWJf1XePfi_xiRybi2coENtWLetJKpyzdKVyZoZsaBS3A4CtZb1cDmgoPmnOUxIT05rw1WFB2mFEU9AI3xaKLBe4yhZuqZNGruWtqOnPZsXV029hhRb3HUHsR4T0cs71ssGAr-zDA9fEOHT0-8I8wZnPcXz9fxEQ1h-4oDZCzov3m8D5Rn3tbdoCVC0W69rJfgxDBjnfLphdjI-uXFV-d2dGTR9BSa9ahUaXpBH30tisXkNlujsug2Juwe5c6Ieuu9FFI9LXvX9JKEhO8vJK0lvbD0quFnmhSG-2h49IJZ0nqAh6bjx7ZgB72zoRoFTOxNDzXfmtDw5z0M6pYvajb24LO_TXb_zk3fVnoF2U2GoLXlSQhZfjUqLWBIVmgCCL4-rnd-aDVG371h0ZlJPmODlhvN6cTZwzXI4Efd_w2HcwfQqm9SByF7TXI6nbWOF6qIPdifXt2Mnj2ES4HsJpjLDOp1d__2ptPz3MpNevPSCs8YX1pAaWyI2Z5ywC0XEgQ84Z9-vuGkM7UTakep2I9m6xPDPsilD9XanOCgaKwWeZwDfbJG2FYKrs282zzK0_-dcAsj7MZlkq5rUCeXI7_aF5ubFT6cS7XGE6KqFhFKiNNvLV9uSuZUJppCmO3nqaTgkKRqvx8Q5Y9k5XURGPqTy_aUIOKogVwZ3Q2OnPoDWk4gmjfilmg2RwcoRmL_f30A68m-8jxXFraA2oCYK7G6jGECEI3XHpP-qN_HkSxf_frECLCsCzrJYkP7XD-rE0zLFt505EDqGvQCmBPOd5-XgG-cc1CE7SVylETfL_W3BsMqccLrE_94ZqFttrN_Us_y8b5HHWCwIaLOOo--FYlR-K8jMnHTc58FsGldoSkkt_ccYg5M_a_QnJsYKbZTBOpYV64EaJUCcfddEtGXxIAQtJcKhcumambEsgAqc5UvxRFCsd7pdkG0ljTfSJXw0bDEAU0Y6Znn9KeNK6qh8YmYQsjTg2CSW0OBcmVEdLRG5r7TDLPC5Q0LqoIAC6O9VJ5xxJZQ9iPuIsEH1kX9Yk8NPc6sh85YJUERkqprIeAiC98OlZUH_GbOD8j5sscPXpqFsePWFTm52AfAV8VEzRX_TtwGnHemMXnlB7CkiZcToMvTGfHHUQO9LlJulKH9bHs7Azj3O5-SicLumnqu5rNYSVJsO6iaOvSOzDoHIUKufrloxepbAHCdmPGGToo9XcAQD0pAMxczsno8vfozDAr4c6eknvRpMVxU7wis8DjNmztnNLizTuQpHIEXhempPvV-SMjGNreZTQRsmgtlhuSp8Lp-rfLch_6zNZYu8zZd3rb81x8eLgQXCP4s3RSkr_1xIyZ77LO3tGTSLzDPvcIwIlMEKOApLoxw6aTEP66T79lRd8PRnEMujRAv9Y_tsz4-HABL_JSxWIH8H1aPUnKl3tMygJ4SD7Cw4DxFVN_WQoy58U5rXd7xILV1Hekl92PEiGmdWBi_CTTQQKu8gyshLPBaDClk0a5B_JufF-sfOVLhiVczxO7YGJBS1I1Yocp8qJjEfzXEcjtyinNh3UvHr9J_v48VNvwssjCj0GOCpw86ErYJtN8_ZJpmuIXwvvNXQvifd_UEtgJYEtGYVf63xlh2v0fZbRWec-qc1HR43Dh0yRXHbiPIEkjQ62R8XcseRjW1qRbpmkJZNo53VrKETlyAdig287V_lWgU3rw1Du3YfZJcFTdV0_i0M-tQPUaQWVl9PHUAhiJ1ML13KytvRs9G2l0UHqFcOpQXCOczFX1nPRkvPuG4n5Y9sr7RP4CmwrWB_CXlds6H0hIenELEGGAUxCJkVebuiFiu4ukKNMBQRQrJoReICfP4vdCptSrfdUx_90q74BarnMVhsn46XphKYZQM1w1YQUBj-5AHuYOnHEmfFQUPUk0HOph1pgGRc8Rp_6Q3hX122QOm4bexKNsf8fGd990ctOYQ4pvUP_lUfGU9cj3hPxBBFVrzzsCrhx_DOB3bxWf39ob5iqWVUq6u6nOTCNSN4kJQU6eSYCGXh2DoiWKbBp1BwWpzwLcS1pe",
  "id": "rs_0ade5107ad8f7e87016ab42e59a44087d08335a7c0aa91c03e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The white bear’s head is now visibly inside the right basket opening in the overhead view. I’m lowering the bear closer to the basket floor before opening the gripper, to reduce the chance of it bouncing out.\"}",
  "call_id": "call_4GSV2vXsK73kVnIhbZ4schqd",
  "id": "fc_0ade5107ad8f7e87016ab42e5dc82087d0b2f76d5b7f5fc1a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4GSV2vXsK73kVnIhbZ4schqd",
  "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]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7403, 2.0056, 1.3472, 0.0662, 0.635, 0.1123, 0.1172]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4654 right_y=0.2881 right_z=0.1306 right_yaw=0.1517 right_pitch=0.076 right_roll=-0.2313 right_gripper=0.1172\nstate[joint_eff]: [-0.212, -2.6051, 6.8444, 1.4774, -0.149, -0.0611, -0.0122, -0.3487, -9.2376, 6.0786, 1.5897, 0.1636, 0.105, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c591c3c0adab5d7f867d094f4ed90da0b7d6f21df70423429fef4b83142b5674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70b0f755066753acc575d08ae55f1a15296fdcde1f4d454d8795ad01716faa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e919f8ebeaf364c2a3bc5b2474ec5b977d26271550563fff1366290a2f7a7a63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.008, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.8299, 1.3952, 1.1797, -0.8818, 0.5312, 0.4965, 0.1114]\nstate[eef_state]: left_x=0.3031 left_y=-0.0012 left_z=0.1738 left_yaw=0.0692 left_pitch=-0.2259 left_roll=0.0526 left_gripper=0.9967 right_x=0.2844 right_y=0.1836 right_z=0.1804 right_yaw=0.0728 right_pitch=-0.3301 right_roll=-0.1844 right_gripper=0.1114\nstate[joint_eff]: [-0.0889, -2.5641, 6.8581, 1.5214, -0.1245, -0.0269, -0.0122, -0.3487, -6.8308, 8.8137, 0.9255, 0.4615, 0.0171, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7334, 1.9545, 1.4635, -0.1093, 0.6353, 0.1268, 0.1157]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4678 right_y=0.2852 right_z=0.1745 right_yaw=0.1373 right_pitch=0.0713 right_roll=-0.2231 right_gripper=0.1157\nstate[joint_eff]: [-0.0068, -2.6598, 6.8581, 1.4676, -0.1343, -0.0269, -0.0122, -1.1419, -12.6291, 7.159, 2.1905, 0.5348, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7403, 2.0056, 1.3472, 0.0662, 0.635, 0.1123, 0.1172]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4654 right_y=0.2881 right_z=0.1306 right_yaw=0.1517 right_pitch=0.076 right_roll=-0.2313 right_gripper=0.1172\nstate[joint_eff]: [-0.212, -2.6051, 6.8444, 1.4774, -0.149, -0.0611, -0.0122, -0.3487, -9.2376, 6.0786, 1.5897, 0.1636, 0.105, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c591c3c0adab5d7f867d094f4ed90da0b7d6f21df70423429fef4b83142b5674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70b0f755066753acc575d08ae55f1a15296fdcde1f4d454d8795ad01716faa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e919f8ebeaf364c2a3bc5b2474ec5b977d26271550563fff1366290a2f7a7a63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5iDkbhVHIyiK9PHBDQ-jTusQeeAWyyIP2oGZe3OsQ4phu7QSC9iR0vD-w_AVf07JhTDoPuxS4BKaY29RyT4Zx83-Yajdvt5AgNSm-hwUiIy39Jy_x5eLe2ooxryWMNt4BhIoeBSlK5IBHHf02W3ZPnAUER4-PKna3CdjPL_DxIYEkMDKuD4ZDNa5s1MO9Czzgp5L8XZAZc1O_FRqK6ZSEYm2tw47byGcG93Zj2TbNiblZamkuKneEzIEZ1fnjd30VVdfMkilJde8G8VJ8jIOSaIzK2sH-jxjQE0KaL91sXZmmtTHM6KEoWkdDYLg8M09MiQBiDdAAMEzFTPZjd6JBlUAHHPzZpASAJ1HUkC3P-pqpRVDjxFwjaE4nBO9r8F1kSMRKVM7RHHtqAWLmvIrw6sy_BqnYaHTUdtD-hOZ5XyBK48JZ6w0bY5HvUDz99hqeFh46DLhaOVb1PlYWvDemWJi2eCoqyy7GcNa-awYNiyOtKaVjV_DmPLZkoW4nKNUJhVAzCDCFTVzBOhz0FlBu__sEp0_efSeNtVkMOGrhL7Uavbnrdk8V9aG4Y3z6GF7pM0nskHNJ68ACsNEmEQ4Ix45Uj6YGRqGcdZWYV-oHha2K7LlD5epzYBupBiYrh8TxbXuuHvGYdtA498h7aM5MXBGfgji5oMYxt0b6h4rwoCcC3iSwZLDfP-uWb6jNrn511AsXI5-lHV278Q6-y3baSmclQ3-Kf71kJH1BbE6BvwC8nWNg0jFI_1gn160axMeb_Emc04UQ800RIKyCqt1PLuQtq_J269ojUurm9ckQpPpQKjVVqe63Ml1-FcQKehMlAgORFCAbPJ3fGseyu9l9DJHF1ePOsrQxUC7WqKbt7-gCceVVaGbOysmFcM0y3OCpsBjvndwM7wH-MGusMaDhwiPkVR1U8uNwh0NmUMW07HVKCIAEnKUWzs65wqYjSiBt_koN5rpQOuBiLZJ5DAoP3UbdDE1XZjqtd-tZ8_skrDHTs-hGEzT1F8XQETnleHspFx_C4q0kIgWNvHgpQhrOlPmUlYA8-3w6Sbz7ejU54rQL_k-Ntcwl4gxMZhLpfB3tHSpM6q8CBjX41zTHFezFelIdRQOzu6uPwRezj86c8jKAAPADPTyTQ-2TFir9NSec8sSLzhCZbT2979Eb1ekgNJ3y6ZbdwATYuNuynWDV5rIWnAX5ik3uSotpYWNlCXIEFv7k2A0F1AbUWUfeJ6GTqm6pWeMY2Gu1VUT8w6dueiWM4VhW4vybUZZrgLkCEJ6Xrgzg3dYSzSRHApXGafusjqJpictIppHZvMY-a-ygxE-0P4mJBnZRTHKbfgWlXnLm09N6hS6lJSjcCyfY8vGDngPmDo9ksVlHFAMXvTlHqfSg3x6rt5Tl0j_eoB3RnlfMvfvUCZYPeHek-JyddFxKVRW-0AAStvegkdfsmIP2i42Y78lkeQ7BuFwxQJmS6zlzaYcSC-fnX4bUhGbMYxqvLIVR6Q2oa8ZZqQzH_vVQzWkVTu8LiGzhoG3AACn_AWE4ptIPMjwKr1zUbDgYNxEXjgoh0tLLxjMlLA51Y_XQXxda0qd9oCX-KICY46Sz8yPQ4C7Z3EyOXraobCeGItfgH3vasEdMkIMmBIZR_KAn9MjWFKV2TTkaRsoE3NpszVIoSt32giZ3NMswjbf3bk5bLHl7d3xKEV00rw0ZpO0bjyGYdgyVYYtWYjmyz8qdFi3T6zbZC6LCwFs_OWfHOQAeWXzBZ9jP9IH1fBSxqdPWd4v1b_tlTGzVHrQ-wUSqfPwptrrDw3GRrnn7Vcr3bp2AnhXfVJbmT8_66IJeaO09Y15WBFeE8z21d9e7tH4BY8sSd1O8U7O7UCgtuAm0z2HB11e1airebexqjT3Fdk5lf9_w--2HwlU3O10cyiSGTy9sKEgr0ADIZaVQYBsDXT2RDxhGRo9u8resHHS1P2X_ZLuVxQ3ZFwp6y3vYRYWdywOTcgyz02hygi8l_0jhUACV5jhBlfzIrbpO0cd1auZxbqJezEMVUvg7gX5CcF1w0dnSJDWOsArdoTfX2u-fhvjt4ufk4IA4Q7fwvbv0Am-XNuNYFjPDInYjMT9oFn5pUMHx4SDTQfihJyUqQq4k4QgI81tuVsBO_Kni7AwJ26ytybL8OJogAOde8MgxdJu2ggvzoibw0681nGdwAD71mOr_seUmwrgqIrX0OhNhhwKJNWVtHyMCqypdWecS2FM7HwS4d",
  "id": "rs_0ade5107ad8f7e87016ab42e5fd71087d093fe5abd3169c579",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_z\":0.15,\"right_pitch\":0.35},\"note\":\"At the lower height, the bear is just inside the basket’s front edge. I’m making one small forward adjustment before release so its center of mass clears the rim.\"}",
  "call_id": "call_CQH06fPSzcNiKaBj4e2JT1UM",
  "id": "fc_0ade5107ad8f7e87016ab42e61cc9887d0a74fdac86da8986d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CQH06fPSzcNiKaBj4e2JT1UM",
  "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]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7158, 2.1025, 1.2926, 0.4587, 0.6403, -0.0536, 0.1187]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4934 right_y=0.294 right_z=0.1309 right_yaw=0.188 right_pitch=0.2607 right_roll=-0.2593 right_gripper=0.1187\nstate[joint_eff]: [-0.0752, -2.5915, 6.9128, 1.4872, -0.105, -0.0171, -0.0122, -1.4838, -10.9744, 6.8171, 2.254, 0.2857, -0.0611, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb3aeca988590b2a7c6e2d9074c7fb23d672fb826c0e582360c2c4b5ad2383a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe67877282145feceeb0cc5464c255f61f64d55583f28a8b50e97426b084b62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94e04f9a15ab5a682bd86636c13a0e24c97ae7cfbb0f5bded8ca2eae4278815",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0134, 0.8227, -0.6155, -0.157, -0.1047, 0.9967, 0.7307, 2.0441, 2.0735, -1.0954, 0.4576, 0.3916, 0.1135]\nstate[eef_state]: left_x=0.3032 left_y=-0.0012 left_z=0.1721 left_yaw=0.0694 left_pitch=-0.2323 left_roll=0.0537 left_gripper=0.9967 right_x=0.4176 right_y=0.2742 right_z=0.2142 right_yaw=0.0913 right_pitch=-0.3581 right_roll=-0.1795 right_gripper=0.1135\nstate[joint_eff]: [-0.0342, -3.0154, 6.8308, 1.5116, -0.1343, -0.0366, -0.0122, -0.9504, -11.7128, 8.5402, 0.7643, 0.4225, -0.0366, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7403, 2.0056, 1.3472, 0.0662, 0.635, 0.1123, 0.1172]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4654 right_y=0.2881 right_z=0.1306 right_yaw=0.1517 right_pitch=0.076 right_roll=-0.2313 right_gripper=0.1172\nstate[joint_eff]: [-0.212, -2.6051, 6.8444, 1.4774, -0.149, -0.0611, -0.0122, -0.3487, -9.2376, 6.0786, 1.5897, 0.1636, 0.105, 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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7158, 2.1025, 1.2926, 0.4587, 0.6403, -0.0536, 0.1187]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4934 right_y=0.294 right_z=0.1309 right_yaw=0.188 right_pitch=0.2607 right_roll=-0.2593 right_gripper=0.1187\nstate[joint_eff]: [-0.0752, -2.5915, 6.9128, 1.4872, -0.105, -0.0171, -0.0122, -1.4838, -10.9744, 6.8171, 2.254, 0.2857, -0.0611, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb3aeca988590b2a7c6e2d9074c7fb23d672fb826c0e582360c2c4b5ad2383a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe67877282145feceeb0cc5464c255f61f64d55583f28a8b50e97426b084b62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94e04f9a15ab5a682bd86636c13a0e24c97ae7cfbb0f5bded8ca2eae4278815",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5mvZhr65iqXd72UzWA0Ok6ugPLTR0Mv9Ml53ZVCy1HVmyd46MjgicZ-Lm9bYjlLWhooOvXKaBmkkv-Io-QHOvZeSuuH1ckSVTQosRIwdpEqlxzj_-fUbziG43clSBCOZE01CPYDn1RqNlHq9JJjM_SPD9YFVIaQsgwZ9Q2587Zvopz0MRROA0Ssw-GFBGq3O-8ihZqwkunAwhAoH7uHqNqSYn4eB8uDvRQGST6lUiykKIHoHAbPGCpDaVR4p8CBGL4M6SrvJPXvpdP00sEMXhL2M3WKwV7rme5moOTE92DmhTMz1UAE2YF7jlzzVXd08NsCL8bkLKEn7ewh2vJrXNeMEBLR7Q0S4v-6vF3U3c5CMVU1z1ehgWyZnkB4ywG4qk3rz6WkCcx6DP8nQHT-QJm8b2u00Xz1CNOBh8X4MoUTybVdFszeTU57gdgaIxOImCOcxG0DQajRLn94rudNZVDkF_sJSCdFauLLWIMBTDCWoZ0E9nS4GH42sNOxBwvZKabLz4QTIkmX88XMxU2t3R4Yy36H_r9QJfhT4Mh2g_6_k6-t2J8vXOn1w4YRI7g93mzR9-qc4Tkth8THI4R7osH5y2I4n8YX1AWwd1-rKTL-487902vgN5Az2sS3KgCvx7pp2J6PctFt7L9abx0XQW3rYA7lyh1iLf1-9PY56g41FWhPHZ0IQpXFaRGLevBFNyaUaCaZzxvFiu5GxMS9Pw2KDSAqlj8rSBQecXjqBHjaUKH3W0C2sdK_i6GMqapUFe1q9meWzK1aEAdpmJEpxz7UrFIJsdyBWSFL7p2KOWOk9o8RX96jrCLbh0qLn9OBBy0j73Mxgf8qzXymz_-1RyVh_IYTgWJmDWbjZWXYRlAzjaVbMplwwFuSirRoM4D3pTEllPsT9R_sN9xcEJlHkfEXEsn65WdU9j5fM8ggVVqOUcogecvIHv5bM2KhAShtfLUCFfiQs7GZPTAojvl2gWISZN0bm1SXq1ynhatGnuw3fYLnW5WbqQtaOA0fXg-wzYEfrbtJH_QYZujGX0AyBcj-G7nC8GvW8XUGD5_LZ7_HylHiCLxWofvqI1UL6qsEl5vawmMZscba7jYVXcomPh7nWXVsohPlkeszzP9aLn1BurYFknoaweFyT622yBAYhli-_rKSWfPxYz985BdKv4RS5lljH_c_OXrHq0msBxpErlOQ2COmhojsM-RNR7vxZO4c8FElTKfWE6tDRlO2RKcoVxyHPYoeoZcXKt5B5DvlkA=",
  "id": "rs_0ade5107ad8f7e87016ab42e64f5d887d0b7cd24eaaffc5d69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bear’s body is now centered farther inside the right basket, with its head past the front rim. I’m opening the gripper to let it settle.\"}",
  "call_id": "call_oAsGjCB9yyAiUMqYoA4bNAyi",
  "id": "fc_0ade5107ad8f7e87016ab42e65792887d099e01dc6f75109c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oAsGjCB9yyAiUMqYoA4bNAyi",
  "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]: [-0.107, 1.0138, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.7197, 2.1117, 1.2873, 0.458, 0.6205, -0.0601, 0.995]\nstate[eef_state]: left_x=0.3035 left_y=-0.0013 left_z=0.1722 left_yaw=0.0691 left_pitch=-0.2316 left_roll=0.0533 left_gripper=0.9967 right_x=0.4911 right_y=0.2986 right_z=0.1228 right_yaw=0.2142 right_pitch=0.243 right_roll=-0.2672 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.6188, 7.159, 1.4774, -0.0904, -0.0024, -0.0122, -0.6359, -12.3692, 6.8308, 1.7607, 0.2369, 0.0024, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c059b96364d382ac11c44b883e65f33021d39d496542a29939105ff1c882752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8340e1eb07f450538f8a4e95ccff864dcf50048600b04e7705e58be8e50ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67c01b1c864c28a4a19261e76c80b6b0df50d5c38034450d3c230d8fb15b546a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7334, 1.9545, 1.4635, -0.1093, 0.6353, 0.1268, 0.1157]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4678 right_y=0.2852 right_z=0.1745 right_yaw=0.1373 right_pitch=0.0713 right_roll=-0.2231 right_gripper=0.1157\nstate[joint_eff]: [-0.0068, -2.6598, 6.8581, 1.4676, -0.1343, -0.0269, -0.0122, -1.1419, -12.6291, 7.159, 2.1905, 0.5348, -0.0464, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7158, 2.1025, 1.2926, 0.4587, 0.6403, -0.0536, 0.1187]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4934 right_y=0.294 right_z=0.1309 right_yaw=0.188 right_pitch=0.2607 right_roll=-0.2593 right_gripper=0.1187\nstate[joint_eff]: [-0.0752, -2.5915, 6.9128, 1.4872, -0.105, -0.0171, -0.0122, -1.4838, -10.9744, 6.8171, 2.254, 0.2857, -0.0611, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.7197, 2.1117, 1.2873, 0.458, 0.6205, -0.0601, 0.995]\nstate[eef_state]: left_x=0.3035 left_y=-0.0013 left_z=0.1722 left_yaw=0.0691 left_pitch=-0.2316 left_roll=0.0533 left_gripper=0.9967 right_x=0.4911 right_y=0.2986 right_z=0.1228 right_yaw=0.2142 right_pitch=0.243 right_roll=-0.2672 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.6188, 7.159, 1.4774, -0.0904, -0.0024, -0.0122, -0.6359, -12.3692, 6.8308, 1.7607, 0.2369, 0.0024, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c059b96364d382ac11c44b883e65f33021d39d496542a29939105ff1c882752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8340e1eb07f450538f8a4e95ccff864dcf50048600b04e7705e58be8e50ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67c01b1c864c28a4a19261e76c80b6b0df50d5c38034450d3c230d8fb15b546a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5p1GQC8JGtCE4M6T8YKhFTX19QBkZB3jz_Seh1RRbkLgede6JPT1KUgqp04ZmQkTY8eSW6fyLx8CJ7ExYQ_HdUUKPwgx4hB0V1EQr4a2HhzOF6l3M4ueo0k0K9gIKSiimunxj8wpPmAcEHEeqfF8mbTNENGz6GWwzI-OCETqYffJl0--_xSKZ86wtSYYdoBEMGmYXvvsY8Jo1wyp8DZsngliQoWKUcbueKM6KuXzGxmLLvDiiTJ_IZPUEYpXwYRViJ1yIxUzMDtHLJGcdUnYHVjeV0KomEoQI2rlUEqQNLloFjCzt17x1_NGRQKMtIVFnFBAlCt58DbeKKr5tpGBCLX9AZFd5_LyBQaqrOH89u2dhhZm9Hwae1DXXZfyYICypYesypjUAAVNjaIzWOoR7aepURkckPwG5-3o7CwMPo7ndlVUOLqKzW5TIPBRhggS8BYKiO2MIYH06IZGK80QfW63qZSIfhq7umbKy9lNybOmOhaEAWSnkB5sjEDTrAVox-8kKmuLjWgH4SGt0fO2ipEF81JeUgeIL72HgP3kYXRWiZRLFTmWU7iWIE1b7e3zq-X4Zgt-B9-KUbPIJj5m1RhjGB5nswn4dZVyaTIefxWM_hgEN1AEQq8Y7qpioTrmlbzYimi-PJOe1WqpcUTDHd8XUYuGVw84cRIFdOwWgM8JR8rdNs_Oz9TDZwqiVL3w3uO3hH_z-8b4BXVdy_WFRJ_xCcix0pVh3zKwvaAXQTN8-X16RvMdVyMIQtX-YtCJpeyH_v0_sGCuuPyJ1gIgtXfugi2wZ3hXiQAaU_s9TBHl60XBf--sxCErirgOCpaityKsiOtIG9Z2HoCXaf9-qabfnaa98ijPMZtTunv5UCuyNaTulun_dmfi311w_Yr-VcQjfm299yreTvzRw7lEVWdbGi7ixgVPM26qFOzP7boz4z0xAg8TQ0ZsKyEBV2hXr90jUNr5L_YSjWFXrPDNcMC6UPWJyDm7kj2vpQaHOcl2sZLyqn7IK-NXxk4Kuek1H5JccLzLvUcuVkzAj73Y4QTagbDbOPolaauSch-ZvbNvwGR8IcC8GY-V-sFOu2m1SrtFfjRGQ6Kc_lc9HPk9sBTcFzJw4dxVK87al6q7QfLe8BdfIve-SvJNwRnhLdEmdmgZGU3Tz247kf3823iKYgXSS0YNkDbP8t_zfxlXdvQ8ythRe8iKQwG0E-dYYxx1QOIZTE87uFXhJJUs_SmML_CPSjBhb6CS9fexrjqbhlkXt8sC6Z_BV10DWiO7pKqaRHuAEXJnyblk7AEHVr3SwKgof1ipDEzEipzk9RFp71k3_VxZJ2-0m-Uo_noEFPpRJmmzCm9yTBsbqiOngzItBU--PfUIBs22wjZv9Bj9pA0WnF19MWehgPBRzXA5zae2Hi5lKBmKNx1RBqnxelhLPJ4w==",
  "id": "rs_0ade5107ad8f7e87016ab42e68175c87d093098eefb952f380",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0,\"right_z\":0.185,\"right_pitch\":0},\"note\":\"The bear has left the jaws and appears to have settled across the right basket opening. I’m withdrawing the right arm to confirm its landing and locate the remaining bears.\"}",
  "call_id": "call_tl1ynqQk0M6cxyCJFrPaOI0y",
  "id": "fc_0ade5107ad8f7e87016ab42e68b8b087d083bea7c084a7fd1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tl1ynqQk0M6cxyCJFrPaOI0y",
  "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]: [-0.107, 1.0203, 0.8223, -0.6136, -0.157, -0.1047, 0.9967, -0.0463, 0.8036, 0.5804, -0.2817, -0.033, -0.3412, 0.9961]\nstate[eef_state]: left_x=0.3039 left_y=-0.0013 left_z=0.1704 left_yaw=0.0697 left_pitch=-0.2375 left_roll=0.0547 left_gripper=0.9967 right_x=0.3051 right_y=-0.0047 right_z=0.1872 right_yaw=0.1572 right_pitch=0.0306 right_roll=-0.2742 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -3.1932, 6.8581, 1.58, -0.1245, -0.0659, -0.0122, -0.3761, -1.5385, 8.1983, 1.7363, -0.0904, -0.0757, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8eac2128f835677dd9dbffc6ff5e795cad8921538c0055adc00173d5aeda4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b97171283c83a8622a8f21ead1a5a4167203dda68e0d132e40be2af9e15257d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b04622305f6f535026faaa9dafb726a14dd43504fdabb33ea8d999f65ead4dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7403, 2.0056, 1.3472, 0.0662, 0.635, 0.1123, 0.1172]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4654 right_y=0.2881 right_z=0.1306 right_yaw=0.1517 right_pitch=0.076 right_roll=-0.2313 right_gripper=0.1172\nstate[joint_eff]: [-0.212, -2.6051, 6.8444, 1.4774, -0.149, -0.0611, -0.0122, -0.3487, -9.2376, 6.0786, 1.5897, 0.1636, 0.105, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.7197, 2.1117, 1.2873, 0.458, 0.6205, -0.0601, 0.995]\nstate[eef_state]: left_x=0.3035 left_y=-0.0013 left_z=0.1722 left_yaw=0.0691 left_pitch=-0.2316 left_roll=0.0533 left_gripper=0.9967 right_x=0.4911 right_y=0.2986 right_z=0.1228 right_yaw=0.2142 right_pitch=0.243 right_roll=-0.2672 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.6188, 7.159, 1.4774, -0.0904, -0.0024, -0.0122, -0.6359, -12.3692, 6.8308, 1.7607, 0.2369, 0.0024, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0203, 0.8223, -0.6136, -0.157, -0.1047, 0.9967, -0.0463, 0.8036, 0.5804, -0.2817, -0.033, -0.3412, 0.9961]\nstate[eef_state]: left_x=0.3039 left_y=-0.0013 left_z=0.1704 left_yaw=0.0697 left_pitch=-0.2375 left_roll=0.0547 left_gripper=0.9967 right_x=0.3051 right_y=-0.0047 right_z=0.1872 right_yaw=0.1572 right_pitch=0.0306 right_roll=-0.2742 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -3.1932, 6.8581, 1.58, -0.1245, -0.0659, -0.0122, -0.3761, -1.5385, 8.1983, 1.7363, -0.0904, -0.0757, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8eac2128f835677dd9dbffc6ff5e795cad8921538c0055adc00173d5aeda4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b97171283c83a8622a8f21ead1a5a4167203dda68e0d132e40be2af9e15257d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b04622305f6f535026faaa9dafb726a14dd43504fdabb33ea8d999f65ead4dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42e70ecec87d0bf45c17348a0f65a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC54SEXhN_NeFbDzK5b0WO533MMJJg2-ocWug-IlZqWHQGU2UrRoH-WYFP_2gVqhh_ns3Hyri0DW4M-uHoOVnpNedtinfDj8Ebr2R5MaKAtN2Leb9MNF77SW3zn-2OJRUlot6oHLt5qD6m5Qs5uR4UPl2HjkVejS2HYqMrO-ql8HbYzX2_C72RA6DkVDJ2x0dQudqylj3vZQr_yedPEE2wxTe7-k24yZ2QGMKWW4CCLR8xOMO6mbeZzZtoKPPCgsBVySiG-kYnRAn5diNzWAdYuOIeU53pcLg6hDT78G8H0waXyLr-a2xzWdlLq3X8KY55PVNF6RLkYJil_gyvwHkEh9W424iXPREAi3rG7NhMuUcLYe4wicL_gmynk8D80LEaZYyHL6NBvxyYHhHgm-xxasRKVqvi-3TOo03QyUh8FPJMikkbRvjjvWCWvRhSS_BrlyQHHhyDSfTsH6DFhfHn8ev6DMBB_EbnCwCkfKPj57zbPnwJmhY2lP9ymfa3SijHMvfDPdW712K0aZFtaaBK38IgPjMSsduvEbOrqxv9dbuF9uX9votFR0xO21pNiHFXbPdpeR2Ap0qmoku-tvZkUwq9NPvNxJQeBs7ug-7otveZrSyAlidbHCcNDmczmDpD2shXFOSj4KwmkEYQLSELgD-PuFDs6O5k-cqQMsZXW66XfyCjM1EmMy3kOY-rda88mhj-pSeV4rm04EuvxlKoZrGMJzzyrNFvGM53-U9BtPX26VLpdMTO2oZISPcG-4VjuTsXCwNeC4oeQCxzXouRxd6zhCW6UJMsTpr1tMgpLge_J6G7nxP5pRSAWFLembYtHwP_MZXs9fjgWpPBwbTIZ0nhpsu-bA42PB27QpEY2sylYO0qN97KtRWuQLa4s5K8r8HnHFV0G94Nr_s3LDwHHhEqfiko2IMZMaO4TNfLlnQ72Fo5bO1diAT6fmLK7FumHZv-hUcqp9eEKI8h4DBsvmCgK02ifMR2pkY6Rxl2JootU8y1q3vGzF2YB2n62OYWcTIIUvjZR2A5aK7VQLE9IVapi9nhxIqSU-fNpTGhdEQl5Dd6CgfLb4l-rf52ZddtgkZ1p1VMYeUrLZ7Ssj0bZwLircaAQTlfMi3u3KVUi2gUe7BuDRkpx-Cqd67mBIqoJtqF2n0qk-7qfXdyMipwzuZqP2OG2E058vGfKvkKTTpctJtSkiX6Swd26lrrbdPbhyodcOFsfkqXoHVoZ72Fr6orH21RG52RxiDa_eni7JNgrQru2hWtbCB3Jnl1AHhncFxLRrJAuDirJ8jx9Bnx37Ed3pcVJQLNaJuXDc7AfiLnYbimxNCYqjAT51nsg2irHS6a46VeDpdWXPvybrY_4hwDfnPtT0ygYdAi4BVW6MK-vdzOr2rDaNkVdLlZiGxOcOaCkXxAhWgPd_Yw1CkLFp7qdKv2-5eYWGpsaPRUaFpL5bE-ZANkqIbv0BHUJ2Tk09hgolZR_OwD7VIsvlfzpxrA1YiEWzABM-IofxtEAGBffGPJqK7njEI33a-krXi1Lt-JhmVXQ5CFavg3IROAk7lw6LKvRMCSBtNdpmLgRrSd4e3B7OqM25rZkyuc-jjc_ktORz8Xcu4PlbIHlwnb36Flia5VshYqjfYZEAfe9iB8tsiQmnA763Z5g1kraaMzvZt199ys2fWZdOqs8O55J15b30RCcb7BBeG9Vk5v9VRy54puTKvrspzWdhSvU0WfVl366glgyZ8Byu_sqeXtUmqGXPJMspijiuNSq07NbCmqk0l7J6xu5EefsDBJgnfSSxVuZwaFYayk_eR9ueiEa9mOkkvXs0spblyhWZMkvhZGEXNPMhq881-9FWCps_tOdzyTF85KB_DMU3hCVkcmrwWPv2UBOYset5Flxl2cCDDnwwkTLUzm6ceBNrxziD9iM61T5oCSwdL6t2gmP06GveA81Ee9RXFdWwpLxuj3SPZoYhGORMP7uFsc0oGhmbKqqKRFlZEs9_m3F-w8Qqe78ka97_OuEZyYR2Q7SibN-1IF_28XIg8-b8Up_3oyrreGwJBj92r2U5ZhuP6xmmRpuyhnez23pjxwaThb3H97mIBrvm8pf-5KFigjxSd8IqBNg96rza4ghJxnJ1-QN2tCQWyNdJugX_Tl8Ai92YPiJhJTRRkxmuUtIcjAuizFefukbRFZvLTg4irhwGVwLFwZqnRIB-EsyIC_IxdKX4KcxxVGsq2wj1pnRv3nmSNxEKslYtweTlbk9R-qsduUajhbOq1Z9UYtz9zSObbyq_-SdkzsLwWIC_yubc9b7aLvXwmTuj",
  "id": "rs_0ade5107ad8f7e87016ab42e7602e487d0866ce4756a1a902e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"With the arm out of the way, I can see the right basket is still empty: the white bear fell just in front of it. I’m approaching another upright white bear from above and will aim its center farther toward the basket’s back this time.\"}",
  "call_id": "call_S3WeuuMryWmsUBaxCRBgKr2F",
  "id": "fc_0ade5107ad8f7e87016ab42e77d29887d0ace2396b0b01ac23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S3WeuuMryWmsUBaxCRBgKr2F",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0248, 0.8223, -0.6147, -0.157, -0.1051, 0.9967, 0.9253, 1.5745, 0.9279, -0.144, 0.749, 0.2276, 0.9963]\nstate[eef_state]: left_x=0.304 left_y=-0.0013 left_z=0.1689 left_yaw=0.0701 left_pitch=-0.2431 left_roll=0.0555 left_gripper=0.9967 right_x=0.3297 right_y=0.2438 right_z=0.1347 right_yaw=0.1943 right_pitch=-0.0197 right_roll=-0.3109 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -3.0838, 6.8034, 1.4823, -0.149, -0.0366, -0.0122, 0.4855, -7.3094, 8.6359, 1.4432, 0.5055, 0.188, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfd92b9dbc7cdf564c0324a76b4e59a5dc63b5a6146bd5f57c2d2d6c0dcf83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70547476bc9600c66237f24e799590b3b409e15767ea2a4bd2dc00196c2739d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86169a1f15c9dab95f33a38e1ada371fa6662b59868a9e5b13f77f37a3b0f73d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.157, -0.1047, 0.9967, 0.7158, 2.1025, 1.2926, 0.4587, 0.6403, -0.0536, 0.1187]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1722 left_yaw=0.0694 left_pitch=-0.2315 left_roll=0.0536 left_gripper=0.9967 right_x=0.4934 right_y=0.294 right_z=0.1309 right_yaw=0.188 right_pitch=0.2607 right_roll=-0.2593 right_gripper=0.1187\nstate[joint_eff]: [-0.0752, -2.5915, 6.9128, 1.4872, -0.105, -0.0171, -0.0122, -1.4838, -10.9744, 6.8171, 2.254, 0.2857, -0.0611, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0203, 0.8223, -0.6136, -0.157, -0.1047, 0.9967, -0.0463, 0.8036, 0.5804, -0.2817, -0.033, -0.3412, 0.9961]\nstate[eef_state]: left_x=0.3039 left_y=-0.0013 left_z=0.1704 left_yaw=0.0697 left_pitch=-0.2375 left_roll=0.0547 left_gripper=0.9967 right_x=0.3051 right_y=-0.0047 right_z=0.1872 right_yaw=0.1572 right_pitch=0.0306 right_roll=-0.2742 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -3.1932, 6.8581, 1.58, -0.1245, -0.0659, -0.0122, -0.3761, -1.5385, 8.1983, 1.7363, -0.0904, -0.0757, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0248, 0.8223, -0.6147, -0.157, -0.1051, 0.9967, 0.9253, 1.5745, 0.9279, -0.144, 0.749, 0.2276, 0.9963]\nstate[eef_state]: left_x=0.304 left_y=-0.0013 left_z=0.1689 left_yaw=0.0701 left_pitch=-0.2431 left_roll=0.0555 left_gripper=0.9967 right_x=0.3297 right_y=0.2438 right_z=0.1347 right_yaw=0.1943 right_pitch=-0.0197 right_roll=-0.3109 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -3.0838, 6.8034, 1.4823, -0.149, -0.0366, -0.0122, 0.4855, -7.3094, 8.6359, 1.4432, 0.5055, 0.188, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfd92b9dbc7cdf564c0324a76b4e59a5dc63b5a6146bd5f57c2d2d6c0dcf83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70547476bc9600c66237f24e799590b3b409e15767ea2a4bd2dc00196c2739d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86169a1f15c9dab95f33a38e1ada371fa6662b59868a9e5b13f77f37a3b0f73d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5_4agWwVUv0G8Ur-4LpXRtm7qI6nvVCsfvijwXu71hvvTMX6_lDODfqR3xhCVG-9wtQbJ3MwnIZABE9uYLBKKSEuScvgj8fgLAFmR9TKlTkRiBx_N3DHWCCFHT7ObFCk4Q-nxVRS32tXKzcgnEC8XZlBtm3SFRpofZjl1bydDsdLvmuG7xi-gpOPn-iORnk3Xz1Y7flVanbHepy6HybdeM4cHE-3xuVO61mPeOALwOhL-QabrcVL6EJYLHNHNw4rM60KLWqM684m31EWD4UEtC6PZYq4uGzIMzSZaeweMuyhI0Wdy28l6s9WgFmdVXAqXJ_49hYYnWb0SHxKKGz-Zov8do2XtaDn0cFbgO0shXdPqdZpOk2LW6e4BNzjoU7dzy4XCtC_4GVLRBd9RqTm1tKK9Y3isQl0RdgVqtgcffv_oBbTZX6fPqZdr37LQuLZz0dka5N0nPB38gFq0GxEW8RaiZ7kdU5qyQfz1SXojW_0EXmlOg_Sqa6ORoevxmY3j8DGlA34012yY6UelTDcE5mP0CdqJSghf5-vEludqNT-qmcGc3xu7_z1VLyxvYghYtLcgOr0gUUhw8jwujlXecDjXZkB0vnk8ut-jJC80jtaz1lDRsvnXZBXcf3lEdWIUwf2ciGIiLaev2Od2Crn6z3rhmEnpE7Fp6yLh3d4vRK8pm6CjhET2-BDLU2Qf665P8LpxT7OSY-30SxEQVzbS29nr-x53UNSW-fBCOIGGRHKGGKW44EQDUHur_cw4egMSz4_r0SRkG3rVMzNZWnTI-ygGHg5qxpb4Y_yWQz3AMWZb6v7lmV6xdYtHWCYil3yG3g31mflD2l1tFVlq9Rl6OrC5uNgmQBkGZk0l2cbxZvlZW3BPsYxOSjvFxZO8l-y5cY33AmrFAjZ9gftJ2MX0FVCSkvjU77aWE_HkG1lC9O1X_vr99GTa8kWKgIefes-jjiDicYtavqixnZQsRPD7eMGCQzMZSKviFdJCRHY4ASv-BXgh_BvtVV_Og6jEe5JvqtZMnPsW3Ba_fOBDi4jMu73m3s7FyxosFTtUQx5ahSLFMKpse6wzaGqkfKrMXvfxduISrberSSRbPjo1hRD0m7e7eZzGYF_lOXOznmo3cfkH69MUQAVmS52KTMc_FNVeC9_kgTBnqZiHZZ8UshHOw1OMiMU6JK_5vCu0T6fnCVmMCCpe17sb-ZaYvxNL8OJc94CWtbpuGYRnw4P2dYvkfENXHqUpd1EQah7ZPooCpm-yaphiBcG4SQsDBaBhh01Z7SjVWz9tdi6rahpgQlaiz9qlC5eqDhbd8rQZkqc0mFxjy0IVQgmUduYkE9qMF36IrFcmEMEzGwDzjpNfeQUWhcXevEfD4TYJ2tCPLYixPYVL1BrSvq0vjCX255aLsS77WO2wffasU8W55r3WCVbUxGBBP7NYR2JsFhwU00QCStHM0xYwUP2avoezxikkvVCmQuRyVCj5J0Jh3pvXICsHFJAVCQ3vRBRhcNLfLRfS3cZA0d5ReJsTqe5lVwcIx7Ebev-JezZf3-H51NOE2VPYJZTh7XGlNlmqeOhfp9Y3n2YomCe1Ua_-pyo-UbOY5a_tJ2cNUB8xIoWRdLN5LPmAr3w9SZriCc9D5jjB-Mb4oRisG6m4lRyl1XiY-Z0OIGgT7PYo5DQazNHeGai0T2GomgSrWT2bfdAMkMeoacMSoN_W44tuFUYgTSS4Q_dHAdPhkq8yXmaHlG837lYtqmvI8f1EaC-Zz44GVnmjHyczMI690NJPwyjZhQYCCLYO9eWnFDO1qtvkuKRTOO1KUcBqf8clyALXBcMwaNIJGSKE664UmdT-ScEFFYffMoGKH7Atrn1TVHPTcueW97MAphKfMIVxlK-7ZFCehrOvkXcEymi0_WjANRgEvlcaWERONteckEqsisURoDUke0BRs1yKPnpFbMvz6kBX5WpFg8Bt7uhs4-0rxUEf2cl4vw-uR4S6JUE64dMROvpc6k-xWLT7xpY7WaOs0pf1qLrkDzHykSOqTNH6ROmQxnDIGJ3VrhuQx4YNrIrKwLwcT9PpZ8ZtpgaJAPU-Of__FfK3I93DR5IO2BTA7xUWUVJcPspxainTxO4wx8Hll2B0eZ1k-Eo4c5uFLBkBWTPw6ZmY787rK8oa069mIOJ6wFO5NFNiqG5DR6EIqN6-K_9GwkHR0OoYOwPMrFpWh7aCfdyOJlRRHZFb5qWYs2S_5KuAIVrBKF-GwyOBTbyWGWAbMy4z6tTnCJcg1y2ZkDOc_CwQnJRtrYHtaVTzlFYMG1rWW72N9B4WSzeN35HQAiAHZbwueSFz5lHblbIn3a6EPO1q7MOSqF5Z2tCaK3OdlDATd18w1wcdChKMZeNAmqhn9ItUWKkF7UC94KgxVlaH_OV4eqQMPTAmLfEr_6t5cAyGZvkONrN5Z-cN6BDL_0xNZlmCpjEBDMJygePo6pOkohecwu8_sQKY=",
  "id": "rs_0ade5107ad8f7e87016ab42e7c6ce087d0a155419db19fd02c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.275,\"right_z\":0.08},\"note\":\"The nearest white bear’s face is just left of the right jaw column, while another bear stands behind it. I’m shifting slightly toward the nearer bear and lowering to grip its body without squeezing both figures.\"}",
  "call_id": "call_R4WZj3gegGSmYXyZaxtmzsm8",
  "id": "fc_0ade5107ad8f7e87016ab42e7e77b087d091a9557439a9adf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R4WZj3gegGSmYXyZaxtmzsm8",
  "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]: [-0.107, 1.0267, 0.8223, -0.6144, -0.1566, -0.1047, 0.9967, 0.9726, 1.7672, 0.9226, -0.0227, 0.7792, 0.2562, 0.9963]\nstate[eef_state]: left_x=0.3041 left_y=-0.0014 left_z=0.1684 left_yaw=0.0696 left_pitch=-0.2447 left_roll=0.0557 left_gripper=0.9967 right_x=0.3281 right_y=0.2674 right_z=0.0784 right_yaw=0.2043 right_pitch=-0.0557 right_roll=-0.3557 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.8786, 6.8034, 1.4481, -0.0611, -0.022, -0.0122, 0.3624, -8.5128, 5.8188, 1.4872, 0.0952, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6219143f6c984a7c27784b07ee7e75a30da587f2a39025f168a05b04287cde4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6328fa41a45d21a00c5536f7c14a7c9f5c2cbbf332b5acffc0cf38165bbd24f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6450263222e043062f927e469acb33d5269a3044008583273c3bfb771939d372",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0138, 0.8227, -0.6144, -0.1566, -0.1047, 0.9967, 0.7197, 2.1117, 1.2873, 0.458, 0.6205, -0.0601, 0.995]\nstate[eef_state]: left_x=0.3035 left_y=-0.0013 left_z=0.1722 left_yaw=0.0691 left_pitch=-0.2316 left_roll=0.0533 left_gripper=0.9967 right_x=0.4911 right_y=0.2986 right_z=0.1228 right_yaw=0.2142 right_pitch=0.243 right_roll=-0.2672 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.6188, 7.159, 1.4774, -0.0904, -0.0024, -0.0122, -0.6359, -12.3692, 6.8308, 1.7607, 0.2369, 0.0024, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0248, 0.8223, -0.6147, -0.157, -0.1051, 0.9967, 0.9253, 1.5745, 0.9279, -0.144, 0.749, 0.2276, 0.9963]\nstate[eef_state]: left_x=0.304 left_y=-0.0013 left_z=0.1689 left_yaw=0.0701 left_pitch=-0.2431 left_roll=0.0555 left_gripper=0.9967 right_x=0.3297 right_y=0.2438 right_z=0.1347 right_yaw=0.1943 right_pitch=-0.0197 right_roll=-0.3109 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -3.0838, 6.8034, 1.4823, -0.149, -0.0366, -0.0122, 0.4855, -7.3094, 8.6359, 1.4432, 0.5055, 0.188, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.1566, -0.1047, 0.9967, 0.9726, 1.7672, 0.9226, -0.0227, 0.7792, 0.2562, 0.9963]\nstate[eef_state]: left_x=0.3041 left_y=-0.0014 left_z=0.1684 left_yaw=0.0696 left_pitch=-0.2447 left_roll=0.0557 left_gripper=0.9967 right_x=0.3281 right_y=0.2674 right_z=0.0784 right_yaw=0.2043 right_pitch=-0.0557 right_roll=-0.3557 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.8786, 6.8034, 1.4481, -0.0611, -0.022, -0.0122, 0.3624, -8.5128, 5.8188, 1.4872, 0.0952, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6219143f6c984a7c27784b07ee7e75a30da587f2a39025f168a05b04287cde4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6328fa41a45d21a00c5536f7c14a7c9f5c2cbbf332b5acffc0cf38165bbd24f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6450263222e043062f927e469acb33d5269a3044008583273c3bfb771939d372",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC6Cd-EGq2BsQtnTJ90p0Qdu1i84LMg2lSk-yGuUN1UcmWSfHEttiDJyCbpZq4C9HglV8kOaVisdCk6LU3yG5CyGrWq5Nj6w-WD6UgA2JSYSgcce6IK6t-VkfHzAXkinXwBBFhFSvT6Hrh1fTcoIG-p7m18gRuIFuj08vBfNRR9M5W-xCc5O1RtdOjjs-0m-5RetLL3tJlB-s63RnjFOZ4HRem-Ik4kqF5QbQ6ZEwiWDNZ2PK5NMG8e1a2FsWzXoTyAHatREU0MjJHjcC5GbiK5-fnqp0IT3a4iNww_LBGJe2uPbP1OObAmxOK1HT8_zvNKDICYIsZt9S8qJ0IdZzJtj9xUIfmXj8bTJidS5PuWgF2RM0Fa-8e5ln5m-Rynv4ggOu0B9oyEtDM64Qf248m1bomzYNxuDX84FygqFvyCGa9TXTQ6j1mm56lGAQITMLtvB6R9egEQscgvER8VSl-7aHC7AF9C08w-xFX0OlaOql4kVEBTZ6rH5y1w0sBpE7EPZmEiLxtIvmlLs36dRefdnxFvG2n4U57UKD38HP8794gyI4tg7-a_79eC-vsJyI8MVteY2KykzydLX7k2gXNlpm6LIV8Qvka1bCvVSn_2W-0NC4oQA9YAVAlq0DVzBwSD_y-saEEX9I3VVJRuvPicvl9x4UJ3-Fpt0jo6N2Z4XjoKMDTYmaaNb7huNo7OJ1elRp-YWXXWyH93-uASjVpWuO3_CyMrND3L2vCTgyMS2t2_iq2_ySQaGUT1h-bZk834d8cHPIiyUnz50WjSZlJ4T6HK1K7HdyOpkRG3JElvCyt966Sv91kidO6W2xyd2UgiV4TxAhGGlyHJeY_nZGvg3yTirUpxggqHubYqrZ4ti0bI_j3edo-zt9Z6C9AxS4004i5JRXqIHvgBMX1HN8Lpl-RzheT4X9sLg7yA3qnOD5QJoZENt1KeEtLAj0FO7kCJFjQqI0u-yIkrJZNmlfjgml5kDMekf2u0HT7xaUh3WSTpRIv4Y0yWi3q2yeiBZBHXOf9erfeFrsUbxlyiNVzt92_ypveDKGECIXFvTYB4TozAEnq9MbRr8_tfUtMnLjJH3ULctRR3ay_uAz9h4ZWZIXMRwqC1lS9oO0We3fiFKLnwdVdSiT1Ebzui_8ttHEaI_wKCZRU7UAt1w-5Wp3dmtb0mX8psVpDrtu3gF_enY7OlzqftI9yvNg9U-7pIIMUgiAl8zo1tFxqxOBnDT_8zfYUMDKFt47WzmyrzaSiulNKTAJDA8Gxkol5v01Smxi9KixyoLXLF0eELGSHJ8Brmhrg==",
  "id": "rs_0ade5107ad8f7e87016ab42e81756487d098f5f75d343f4bdc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The white bear is now centered between the lowered jaws in the wrist camera. I’m closing around its upper body and will lift to verify the grasp.\"}",
  "call_id": "call_zsB60uQhyBMRLoltKSWg5GnP",
  "id": "fc_0ade5107ad8f7e87016ab42e81b22087d0bd6e84606c819d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zsB60uQhyBMRLoltKSWg5GnP",
  "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]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9779, 1.7786, 0.9226, 0.0647, 0.8219, 0.2707, 0.016]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3358 right_y=0.2732 right_z=0.0894 right_yaw=0.1741 right_pitch=0.0228 right_roll=-0.3121 right_gripper=0.016\nstate[joint_eff]: [-0.1026, -2.7419, 6.8034, 1.4579, -0.1099, -0.0415, -0.0122, 0.0342, -8.1846, 5.8188, 1.0379, -0.0659, 0.1294, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283172519ce47dafc0eac0d92dff520bdd5b239252a8c57031d1ba30f0ed699e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e55f2cf5cffdd515583d2aa86b8e22aeca4d94a16e1a1296e1f99048e6eb9b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b11be9f5e48132ff117ef28a74590511299779187e57010d2fffc4393b09908",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0203, 0.8223, -0.6136, -0.157, -0.1047, 0.9967, -0.0463, 0.8036, 0.5804, -0.2817, -0.033, -0.3412, 0.9961]\nstate[eef_state]: left_x=0.3039 left_y=-0.0013 left_z=0.1704 left_yaw=0.0697 left_pitch=-0.2375 left_roll=0.0547 left_gripper=0.9967 right_x=0.3051 right_y=-0.0047 right_z=0.1872 right_yaw=0.1572 right_pitch=0.0306 right_roll=-0.2742 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -3.1932, 6.8581, 1.58, -0.1245, -0.0659, -0.0122, -0.3761, -1.5385, 8.1983, 1.7363, -0.0904, -0.0757, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.1566, -0.1047, 0.9967, 0.9726, 1.7672, 0.9226, -0.0227, 0.7792, 0.2562, 0.9963]\nstate[eef_state]: left_x=0.3041 left_y=-0.0014 left_z=0.1684 left_yaw=0.0696 left_pitch=-0.2447 left_roll=0.0557 left_gripper=0.9967 right_x=0.3281 right_y=0.2674 right_z=0.0784 right_yaw=0.2043 right_pitch=-0.0557 right_roll=-0.3557 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.8786, 6.8034, 1.4481, -0.0611, -0.022, -0.0122, 0.3624, -8.5128, 5.8188, 1.4872, 0.0952, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9779, 1.7786, 0.9226, 0.0647, 0.8219, 0.2707, 0.016]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3358 right_y=0.2732 right_z=0.0894 right_yaw=0.1741 right_pitch=0.0228 right_roll=-0.3121 right_gripper=0.016\nstate[joint_eff]: [-0.1026, -2.7419, 6.8034, 1.4579, -0.1099, -0.0415, -0.0122, 0.0342, -8.1846, 5.8188, 1.0379, -0.0659, 0.1294, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283172519ce47dafc0eac0d92dff520bdd5b239252a8c57031d1ba30f0ed699e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e55f2cf5cffdd515583d2aa86b8e22aeca4d94a16e1a1296e1f99048e6eb9b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b11be9f5e48132ff117ef28a74590511299779187e57010d2fffc4393b09908",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42e84448887d0b64aba0c4c0cca86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_z\":0.055},\"note\":\"The jaws closed completely, so that attempt missed the bear despite the camera alignment. I’m reopening and advancing a couple of centimeters while staying low to put the fingertips around its torso.\"}",
  "call_id": "call_6sGQUjvkdpHFY5h7uDFgDWWV",
  "id": "fc_0ade5107ad8f7e87016ab42e85121887d0ab2c496e0b835037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6sGQUjvkdpHFY5h7uDFgDWWV",
  "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]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1051, 0.9967, 0.9413, 1.8805, 0.9226, 0.2493, 0.8162, 0.1947, 0.9952]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.0702 left_pitch=-0.2446 left_roll=0.0557 left_gripper=0.9967 right_x=0.3576 right_y=0.2785 right_z=0.0733 right_yaw=0.1772 right_pitch=0.0662 right_roll=-0.317 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -2.7556, 6.9812, 1.4823, -0.1001, -0.0464, -0.0122, -1.8393, -6.4615, 5.1487, 1.2381, -0.1245, 0.1734, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129ca62597d256b5f2b996fe2878374365c44c4f367474273b1d9f576be054f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf9e50fd90f9d13d2bea6814934ff64d8b3db184ff456b4692dff78ca3502d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d99e0542c59f96e36fe0153572de655ff502ae096c775d693ebb740364d1e2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0248, 0.8223, -0.6147, -0.157, -0.1051, 0.9967, 0.9253, 1.5745, 0.9279, -0.144, 0.749, 0.2276, 0.9963]\nstate[eef_state]: left_x=0.304 left_y=-0.0013 left_z=0.1689 left_yaw=0.0701 left_pitch=-0.2431 left_roll=0.0555 left_gripper=0.9967 right_x=0.3297 right_y=0.2438 right_z=0.1347 right_yaw=0.1943 right_pitch=-0.0197 right_roll=-0.3109 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -3.0838, 6.8034, 1.4823, -0.149, -0.0366, -0.0122, 0.4855, -7.3094, 8.6359, 1.4432, 0.5055, 0.188, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9779, 1.7786, 0.9226, 0.0647, 0.8219, 0.2707, 0.016]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3358 right_y=0.2732 right_z=0.0894 right_yaw=0.1741 right_pitch=0.0228 right_roll=-0.3121 right_gripper=0.016\nstate[joint_eff]: [-0.1026, -2.7419, 6.8034, 1.4579, -0.1099, -0.0415, -0.0122, 0.0342, -8.1846, 5.8188, 1.0379, -0.0659, 0.1294, 0.6569]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1051, 0.9967, 0.9413, 1.8805, 0.9226, 0.2493, 0.8162, 0.1947, 0.9952]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.0702 left_pitch=-0.2446 left_roll=0.0557 left_gripper=0.9967 right_x=0.3576 right_y=0.2785 right_z=0.0733 right_yaw=0.1772 right_pitch=0.0662 right_roll=-0.317 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -2.7556, 6.9812, 1.4823, -0.1001, -0.0464, -0.0122, -1.8393, -6.4615, 5.1487, 1.2381, -0.1245, 0.1734, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129ca62597d256b5f2b996fe2878374365c44c4f367474273b1d9f576be054f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf9e50fd90f9d13d2bea6814934ff64d8b3db184ff456b4692dff78ca3502d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d99e0542c59f96e36fe0153572de655ff502ae096c775d693ebb740364d1e2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC6JUuUkH7uLLKLvKGX-EcNrF7NGNjYXFM7-6-qS4CA0lhBpsMtAZ8vQP07YsKfMsItzQV1Nl0SbbIADSFFpFgy0XgXFVawgHI7UM4alBZ2sN0JbZnYr5X5uLB9evhzhYww9s-mrd9W5mF465i2eC7uDkWYmJKBgK5Vj2qqsEbhaEyNqDx6gz1RS6WMJpb7GALMyCBBzlA8qDOTFoJe3PotN6gnfn7nlVXeNekmhPrzcpwZ2EvdVzFUamBBw7tODDytk3h-axnCJRoluvdHaMK9G4jFkU1vaGE5Kz41N4NQJeNLsuybJBvMcc0Hdaaca3jPjbrTti3_IffCiykgaETJmKZHWr9VUCcZbPRnLEVsjunRNt7oEDaQaRDxYMYwNKmzumU6ap1I5h2mfIJNJfU0EPDjLZC2pzWjLANhilJ4saf8G6yAzNjxpM3J8PENg4R_P7G20qIVIThKvqPERP-eT4PaOstVWI90v5NO3yqAtVVj3wXATWX6-9MAQUZkHZ4ASIUwwGBHRX2FoPb3WBkD2hNbkDcb-SfD--0BlLA2zeWaEdHPFd5ieqkcP4KEy4IZrL_f-IeetBfFPft53JwK2ygAwfs2WUsPH2gTQKQts4Au0UK5nv9XDwNZrzy894E4SYeqv6iYQ77s9pcrCZBYqA9ejaTSBu0RvROqz7bkXuNcXkc31WhLgHGmdZ0iGG5pNedj8y8-bK0bSjdFbF7BwWkS-jmXCOj_ziwaN3fzHFPusL-fJ-PjT7Hsia5Jqb09356G35YvD5WIP1DQ806DTtGyFbiGqT4Gzj7TEZTZlz1l6MypW5p0fnjPItrQEnIp9uvhjI2LwxCTDNWw2oyFSJB7DZOgTsfVyN56ujmb_O6ibaYRH0IEFlJ2lIeT9suEDmt2OobYJ8WuQgZMe9rAyMHpPycFFPKE4arED7QT2oZq9_j3yhori2DF_4MnyuINxe9OI1feOuw1kIbPSVUH5QPGv6N6PfHVrtUuzoGZ25S1MevRkZqT1x5s0X2aYt8D9xD4JD9D-dOH0Q4Dx3J7q7xCNMi4dBxVgxT2KU2pBNMKpPFRhJLtpH2YgSw9WQLyNWdHPMfZIskOgwWHb61APA-NWJh9F4SVMagK0wZ7Xs6iu-Zn3AQ7BemXjnH7gZoFFmWWvKuiztVZVZgZa1t_uOhTJoA1yWJdFvfU5BRgS0EvGeZySq8lX_-cBilVYdwXF5dDMh_xKrjKCCzbmhFVII25h7o27Z8Z27_Oe2o1AezwJoO4F8y-pf49FMMolfPWmp40TSS1B-zqySdke9QLXSbHFJKgYBHtF7ObLg5M1kDyXPFF0LDR1wif5br3QrdimnAuLX6c3CjBFX5oQmI_cpHLrTQszeHJZY_tjXvig0EnvEgsJktLRPZzbLPVqvXpQWinrU7lKmPgWHlKAGYeBsOjnDz-1fRssBWvNyFjkEeqSXslPW2_YiAWmaVUifNqRu_03kVTcNg4PjH8myFwJ3b87zbsHzH3upPOQZ5NoM-YvGiGbZvG_mPm35fSzHX0m",
  "id": "rs_0ade5107ad8f7e87016ab42e88544487d08bc70c1d30bb8e44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the forward adjustment, the bear’s face and shoulder fill the space between both fingertips rather than sitting behind them. I’m retrying the grasp at this position.\"}",
  "call_id": "call_x8uA6cy4AtutNX8NUzV3NaKF",
  "id": "fc_0ade5107ad8f7e87016ab42e890d7887d0bc7cd4e6595efba9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x8uA6cy4AtutNX8NUzV3NaKF",
  "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]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9428, 1.8793, 0.923, 0.2962, 0.8524, 0.1806, 0.0178]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3619 right_y=0.2782 right_z=0.0838 right_yaw=0.1562 right_pitch=0.1145 right_roll=-0.312 right_gripper=0.0178\nstate[joint_eff]: [-0.0205, -2.7556, 6.8034, 1.453, -0.1441, -0.0464, -0.0122, -0.3077, -8.8, 5.7641, 1.0085, -0.1148, 0.1148, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a15d180ae10c46358d3e10f54c315cf94a90d6303c74837565bd4f639f8dcc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2551180d9705c5b1a6791eb198f2d94f70c28b47d133fe77831c4dbe6c8d0c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139382a04f2de24fcb985edbf1c976cc838bfc991a695921b2a47e3ab95c026d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.1566, -0.1047, 0.9967, 0.9726, 1.7672, 0.9226, -0.0227, 0.7792, 0.2562, 0.9963]\nstate[eef_state]: left_x=0.3041 left_y=-0.0014 left_z=0.1684 left_yaw=0.0696 left_pitch=-0.2447 left_roll=0.0557 left_gripper=0.9967 right_x=0.3281 right_y=0.2674 right_z=0.0784 right_yaw=0.2043 right_pitch=-0.0557 right_roll=-0.3557 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.8786, 6.8034, 1.4481, -0.0611, -0.022, -0.0122, 0.3624, -8.5128, 5.8188, 1.4872, 0.0952, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1051, 0.9967, 0.9413, 1.8805, 0.9226, 0.2493, 0.8162, 0.1947, 0.9952]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.0702 left_pitch=-0.2446 left_roll=0.0557 left_gripper=0.9967 right_x=0.3576 right_y=0.2785 right_z=0.0733 right_yaw=0.1772 right_pitch=0.0662 right_roll=-0.317 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -2.7556, 6.9812, 1.4823, -0.1001, -0.0464, -0.0122, -1.8393, -6.4615, 5.1487, 1.2381, -0.1245, 0.1734, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9428, 1.8793, 0.923, 0.2962, 0.8524, 0.1806, 0.0178]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3619 right_y=0.2782 right_z=0.0838 right_yaw=0.1562 right_pitch=0.1145 right_roll=-0.312 right_gripper=0.0178\nstate[joint_eff]: [-0.0205, -2.7556, 6.8034, 1.453, -0.1441, -0.0464, -0.0122, -0.3077, -8.8, 5.7641, 1.0085, -0.1148, 0.1148, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a15d180ae10c46358d3e10f54c315cf94a90d6303c74837565bd4f639f8dcc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2551180d9705c5b1a6791eb198f2d94f70c28b47d133fe77831c4dbe6c8d0c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139382a04f2de24fcb985edbf1c976cc838bfc991a695921b2a47e3ab95c026d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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  "id": "rs_0ade5107ad8f7e87016ab42e8c42d887d09decc7235d386ec9",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.402,\"right_y\":0.19,\"right_z\":0.085},\"note\":\"A second full close was empty, so I won’t repeat that grasp. The white bears are standing immediately in front of the right basket; I’m moving the open gripper behind them at body height to try guiding one over the front rim.\"}",
  "call_id": "call_0JGRa0PhnjpnH6jDGk7sSGqE",
  "id": "fc_0ade5107ad8f7e87016ab42e922b6087d0bdbeead52f960a94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0JGRa0PhnjpnH6jDGk7sSGqE",
  "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]: [-0.107, 1.0286, 0.8192, -0.6144, -0.157, -0.1047, 0.9967, 0.6815, 1.7889, 0.7403, 0.4923, 0.6426, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.3037 left_y=-0.0012 left_z=0.1666 left_yaw=0.0702 left_pitch=-0.2495 left_roll=0.0569 left_gripper=0.9967 right_x=0.3992 right_y=0.1921 right_z=0.0758 right_yaw=0.1468 right_pitch=0.091 right_roll=-0.3231 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -2.6051, 7.0632, 1.5214, -0.1197, -0.0415, -0.0122, -0.1983, -9.9077, 5.053, 1.8926, 0.3346, -0.1099, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7e0afe51ea70f08c692be3bd689eb519b0dbddbe6f208c755aa4a7ccd4fa03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468b7c6b8da1d5a67816ba09d2014ccf263e8a0539a9dacb7463242a4460574f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6533e15773abe989a68d18815c9986e99daf6b4312ac477f15ce602ff3d2800c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9779, 1.7786, 0.9226, 0.0647, 0.8219, 0.2707, 0.016]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3358 right_y=0.2732 right_z=0.0894 right_yaw=0.1741 right_pitch=0.0228 right_roll=-0.3121 right_gripper=0.016\nstate[joint_eff]: [-0.1026, -2.7419, 6.8034, 1.4579, -0.1099, -0.0415, -0.0122, 0.0342, -8.1846, 5.8188, 1.0379, -0.0659, 0.1294, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9428, 1.8793, 0.923, 0.2962, 0.8524, 0.1806, 0.0178]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3619 right_y=0.2782 right_z=0.0838 right_yaw=0.1562 right_pitch=0.1145 right_roll=-0.312 right_gripper=0.0178\nstate[joint_eff]: [-0.0205, -2.7556, 6.8034, 1.453, -0.1441, -0.0464, -0.0122, -0.3077, -8.8, 5.7641, 1.0085, -0.1148, 0.1148, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0286, 0.8192, -0.6144, -0.157, -0.1047, 0.9967, 0.6815, 1.7889, 0.7403, 0.4923, 0.6426, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.3037 left_y=-0.0012 left_z=0.1666 left_yaw=0.0702 left_pitch=-0.2495 left_roll=0.0569 left_gripper=0.9967 right_x=0.3992 right_y=0.1921 right_z=0.0758 right_yaw=0.1468 right_pitch=0.091 right_roll=-0.3231 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -2.6051, 7.0632, 1.5214, -0.1197, -0.0415, -0.0122, -0.1983, -9.9077, 5.053, 1.8926, 0.3346, -0.1099, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7e0afe51ea70f08c692be3bd689eb519b0dbddbe6f208c755aa4a7ccd4fa03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468b7c6b8da1d5a67816ba09d2014ccf263e8a0539a9dacb7463242a4460574f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6533e15773abe989a68d18815c9986e99daf6b4312ac477f15ce602ff3d2800c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ade5107ad8f7e87016ab42e956e8c87d0a2a6b5d8ddcbaaf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.19,\"right_z\":0.09},\"note\":\"The open right gripper is behind the white bear at the front of the empty basket. I’m advancing slowly at its upper-body height to guide it across the basket’s low near rim.\"}",
  "call_id": "call_m6RQTshcuVJFsiJrSO8AUvWM",
  "id": "fc_0ade5107ad8f7e87016ab42e969a0087d08f7e5f259ec42df1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m6RQTshcuVJFsiJrSO8AUvWM",
  "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]: [-0.107, 1.0306, 0.8188, -0.6159, -0.157, -0.1051, 0.9967, 0.5304, 2.0178, 1.1164, 0.3481, 0.4892, -0.12, 0.9966]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1656 left_yaw=0.0706 left_pitch=-0.2533 left_roll=0.0573 left_gripper=0.9967 right_x=0.4936 right_y=0.1974 right_z=0.0766 right_yaw=0.1773 right_pitch=0.0395 right_roll=-0.3472 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -2.8923, 7.0359, 1.4774, -0.1001, -0.0562, -0.0122, -2.3453, -9.0051, 8.8957, 1.9609, 0.1099, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501c146b8e6bc12276dad877f6c6799590fb51292c4874ac3a6f443525faf874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14bc60a4d92ee71566046f53f8744d87966e51bcd2ac8e73785e129567b35b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914191878d9e77b0b37e915a37d59c3ed3e9b7884d2146a580db6ff8bbbf4b71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

message 150 changed as sent

message 154 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1051, 0.9967, 0.9413, 1.8805, 0.9226, 0.2493, 0.8162, 0.1947, 0.9952]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.0702 left_pitch=-0.2446 left_roll=0.0557 left_gripper=0.9967 right_x=0.3576 right_y=0.2785 right_z=0.0733 right_yaw=0.1772 right_pitch=0.0662 right_roll=-0.317 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -2.7556, 6.9812, 1.4823, -0.1001, -0.0464, -0.0122, -1.8393, -6.4615, 5.1487, 1.2381, -0.1245, 0.1734, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0286, 0.8192, -0.6144, -0.157, -0.1047, 0.9967, 0.6815, 1.7889, 0.7403, 0.4923, 0.6426, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.3037 left_y=-0.0012 left_z=0.1666 left_yaw=0.0702 left_pitch=-0.2495 left_roll=0.0569 left_gripper=0.9967 right_x=0.3992 right_y=0.1921 right_z=0.0758 right_yaw=0.1468 right_pitch=0.091 right_roll=-0.3231 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -2.6051, 7.0632, 1.5214, -0.1197, -0.0415, -0.0122, -0.1983, -9.9077, 5.053, 1.8926, 0.3346, -0.1099, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0306, 0.8188, -0.6159, -0.157, -0.1051, 0.9967, 0.5304, 2.0178, 1.1164, 0.3481, 0.4892, -0.12, 0.9966]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1656 left_yaw=0.0706 left_pitch=-0.2533 left_roll=0.0573 left_gripper=0.9967 right_x=0.4936 right_y=0.1974 right_z=0.0766 right_yaw=0.1773 right_pitch=0.0395 right_roll=-0.3472 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -2.8923, 7.0359, 1.4774, -0.1001, -0.0562, -0.0122, -2.3453, -9.0051, 8.8957, 1.9609, 0.1099, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501c146b8e6bc12276dad877f6c6799590fb51292c4874ac3a6f443525faf874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14bc60a4d92ee71566046f53f8744d87966e51bcd2ac8e73785e129567b35b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914191878d9e77b0b37e915a37d59c3ed3e9b7884d2146a580db6ff8bbbf4b71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC6cpxVn-Gwjme3CR7-UC_dQPs2zwgwiEhW5GiLp8NgPQyGcmRRGEDrBFBd_RWfwB_8hrNzEMQIEXh2vdjexHEdfaBGGXS45zfdLh302Lcjk40asy5IOkscILEb3FbXe_SI7DJMckq34frhVQdXQAX8ms7p70-cPo3SFYnNk7XkOiZnQBSN7YahAsbeUZ__yKEqRG2DEwQ9DVvyJfVI5di_IXBiEMgayxjvSvsMXpgn_M7CYIjsnuiQpjEvSY4VX60feA_HFiUK9QtYLnQAwxGEOAg8YPoSRHKAu8v_eM_RwxfPVfDLGrQY0YvpyMBDVrb9n6Kzset938y3zNGxMLJk9LYB6vfe9bv79a5qHhZCueRBZL55ikAbX2FT3Xygvgqm7Qy2WTmTMRmR8g8jJgkQ_nbaX1aIVGn-GVQjXxBsRutfINWBZOVwvaWi7rLjxdBkr-hL5Tl-ZK77XJqQFzBn_Z8-cA9L6hK1AiK0i4rx-2KFyyUo5OFomMMzUCj4Ca2khAWzK4U3xEEJiGnAAx6ajkD6NpPciLJ-iLNYT-4BOTA4HWW8ZD_YxNVCo2L_3mSen0Tg77ZjTmXdcn4nhYSevmucfLKC-b5JfEkTmcnm4Ua6cpEzZ3xvLf24Uvob2-Nab7zt8VIPxqRFYMwIxDxOzkDf2PFJ2mDJkzuon3g_3H4_8OewoFWf4BiT2k4HayJ-xBpHaIjFEaEE4RMJL-unKlNGv1h6o0ap59RmzjamoSViQ9oxTg6KdmpeJGUjHFQZL91Mjd1vW2Mgxy9SgE3jmYX2GJZVtqBzspQdPX86mvvEDHgmOLElcHQ0ErCo55rpx_YDXH4a9cqBVzTJ5QefN8N9ky6o35wwVpdlHQ9CILo9UB_QbP4Tpq2eWOgfQl8dCD3DTbOGgP5ba_Te7mWX14x02G3Zz2ntLGp3TBqUUjXRwP8RRheWc4Ta7k2GgoErbu15bujPanehKgo0mPmhWmCBqF1XrWwYp-s9M-0yLwMHz9WiaMa7Kk1kBobERhXLSvQJygnZhxrbRdiSmV_5c-w57hiVPOSMbycDXnJtcYE9-u7L3CwhJOmc8S9tDEJMJYZxZd3V6eRLm2H0z2QcICJd9zg1Y38TSpn5TI_iZuizaHtQuQzoPjIsqKKIzCwfnHtTHJY-beZyL69mPQTbkj2PyCgPgk2BzIhOuqfLxtlVJQWjqRQ5Ruh87vHMoJWsHur58ZmODPk4APb9vUHYd85yIwijUSYCGJ4wcQveMQ5J0fobHpVGHkpPPfGR_JfUpn106DbybDS0gDoIq6YbhWEYrpwrz99fUEfDrG6ViolD0AUW9GCH1jATZW5vJi7J6Rxqm8swHAW0bQdCx9bdi1RawqOjSqOxpXKGepROYv8GGQ3YxN_MBST-aeT-4KKN8clr_21SwuL_lbV10sDlb_eQJkLUKaGJomCOxoFhAnsM54p7YIsWirYq1Ot1p-cUgLfP0TTgNjWXhqyGR8jjmqm4oPB9FTeKED3M5d9KPg2XySityS5pH8GvhSag6HlKfmAhbzvNOnWziSPArbvyyKtiUGFp08RFabSAWmlamRCo6H4OVCyVbJrEwqTiMyESKeIHx-_1bGH-8THkYxCd-3elX9zT7uwMWiD3nc6EkFwWaDRkc1qaXoFevGZNexWeHThUz3fX9V_lw63HAXbmYnDeq6uygIUoxrIiZf33Srk0D5bGFSseqW1zc_IS5CJniBTC2bnMsQoOEh7bfhQV-q3T3IB3sXIlpzJ2GIDP0Lx4=",
  "id": "rs_0ade5107ad8f7e87016ab42e9a3a6887d094ae69195a619b77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.545,\"right_z\":0.11},\"note\":\"The white bear shifted toward the right basket, but it is still resting on the near edge. I’m continuing a short, gentle forward push while lifting slightly to avoid driving the jaws into the basket wall.\"}",
  "call_id": "call_odEXwyApddQahZVMTdKmS284",
  "id": "fc_0ade5107ad8f7e87016ab42e9b52f487d0a9f709b1fdd2254a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_odEXwyApddQahZVMTdKmS284",
  "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]: [-0.107, 1.0332, 0.8188, -0.6163, -0.157, -0.1051, 0.9967, 0.5034, 2.0731, 1.3182, 0.1673, 0.4526, -0.1402, 0.9968]\nstate[eef_state]: left_x=0.3036 left_y=-0.0012 left_z=0.1648 left_yaw=0.0707 left_pitch=-0.2563 left_roll=0.0579 left_gripper=0.9967 right_x=0.5237 right_y=0.2043 right_z=0.0924 right_yaw=0.191 right_pitch=-0.0032 right_roll=-0.357 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -2.9197, 6.7897, 1.4579, -0.1392, -0.0562, -0.0122, -2.9197, -9.6068, 10.2632, 2.3907, -0.0073, -0.1001, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4f85c5e519cf3478003388396f068a6461bbd1823328a335140c684809d036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91bb80ff701ef71f28b328301e84fb650c9bb9b322dc9dd22732935b22c06102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969460edad3d52e1706ca0c6f1a685dd496703d3445867afd4a6e419cd0a09b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0267, 0.8223, -0.6144, -0.157, -0.1047, 0.9967, 0.9428, 1.8793, 0.923, 0.2962, 0.8524, 0.1806, 0.0178]\nstate[eef_state]: left_x=0.3041 left_y=-0.0013 left_z=0.1684 left_yaw=0.07 left_pitch=-0.2447 left_roll=0.056 left_gripper=0.9967 right_x=0.3619 right_y=0.2782 right_z=0.0838 right_yaw=0.1562 right_pitch=0.1145 right_roll=-0.312 right_gripper=0.0178\nstate[joint_eff]: [-0.0205, -2.7556, 6.8034, 1.453, -0.1441, -0.0464, -0.0122, -0.3077, -8.8, 5.7641, 1.0085, -0.1148, 0.1148, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0306, 0.8188, -0.6159, -0.157, -0.1051, 0.9967, 0.5304, 2.0178, 1.1164, 0.3481, 0.4892, -0.12, 0.9966]\nstate[eef_state]: left_x=0.3035 left_y=-0.0012 left_z=0.1656 left_yaw=0.0706 left_pitch=-0.2533 left_roll=0.0573 left_gripper=0.9967 right_x=0.4936 right_y=0.1974 right_z=0.0766 right_yaw=0.1773 right_pitch=0.0395 right_roll=-0.3472 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -2.8923, 7.0359, 1.4774, -0.1001, -0.0562, -0.0122, -2.3453, -9.0051, 8.8957, 1.9609, 0.1099, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 1.0332, 0.8188, -0.6163, -0.157, -0.1051, 0.9967, 0.5034, 2.0731, 1.3182, 0.1673, 0.4526, -0.1402, 0.9968]\nstate[eef_state]: left_x=0.3036 left_y=-0.0012 left_z=0.1648 left_yaw=0.0707 left_pitch=-0.2563 left_roll=0.0579 left_gripper=0.9967 right_x=0.5237 right_y=0.2043 right_z=0.0924 right_yaw=0.191 right_pitch=-0.0032 right_roll=-0.357 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -2.9197, 6.7897, 1.4579, -0.1392, -0.0562, -0.0122, -2.9197, -9.6068, 10.2632, 2.3907, -0.0073, -0.1001, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4f85c5e519cf3478003388396f068a6461bbd1823328a335140c684809d036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91bb80ff701ef71f28b328301e84fb650c9bb9b322dc9dd22732935b22c06102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969460edad3d52e1706ca0c6f1a685dd496703d3445867afd4a6e419cd0a09b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC6gsH8OEkWG2uRFksU3EHF36BreI-VWBOOe8NIOdTfs7NEiuAfGfPvVGAfUhXZpK4TymekZpJyH-rTfg1IRRfOZh5j1oFoXUAXIQiyagh3FYuT6eylvAwLWBpJlWTBFmQ5p7Q3YGAQQEC0sL_eJoIlYVgnE9P3VvG0yhgMz79ATHL7Dk8YH_q_FAcl2XRGoaK00gcVeSsbfpkPXPIW6AwAIJOdJ_eXSp3KlMPmiTulksre01LtdZ6nYfok093t5Sr2M5yOvkIX1Onk9TqjRO9BmbTT0YwdyAGHA6yov8opY0gyrNQfd4-XNxEadZrm5oBGnl8HOBNqMrhShEqNFoPqLAiRCr6HCo3UGNtRoRmeVa7LC4ofUrTis8QLuIuv2frKvGB23gK98YGIbnYXAZ0IXB-gutnl1x839Pbp2ZNuJ7Vr4F7-I1ysP2KpySY1EhB9TiP5zJzExpnt0pI_MKTvraNqEL2Yf4LGRa7mXNd-o2LTeLTd9rC7bdZo-DvukQcG2q78m1Naf06ZA3gYC1e-64EiwIV8Bv8MWaVc3RRAKMJdTF3ECng__HTgJFcLnVizBn_9HVipN5cREyn4kAVMNf6thXtoWX0gc37ceCr-nYDatuaoHIfEcFBwv-flzeWn4hqkOUxbgMiWzqLN-_7cpcqtJtqGoE34spNKOhheffzHB7I-E2zmjQSHmkhYpYX9WRFq40wsz3Gp20bWPwKUixYOvtNuki7aBdO0HVJIdWooIylMcN9T2cFSqWE2zlorg1Evyt8y3FIr-GFF_RPkqL7bm8OUujR8ITSfjonZIYRtZD4HLZeaOyE7ttHrJQytwAv70j_02h6uu65fYYBnjoMfNkeHIXFHxFaDoTC0MN_gHZaP3zeUTTMhrHgO9I_kyKR6M-3wg5IVByytR0uoTFCkrkmzXnWS7usmP5xGkMCkGW3HwBQqLVFFxVCNDFMnX76UikVL5uKv0U1E6cnq0eAwlMmPlPJIkinWJEoLon1Kv-rRI7CFTXYxj9EQ5LGNiArDVERgXVWdV4AFe8sbD6MAN-4xd3ylBrWSvLYcC21rypiwCuNpeN0itD6kilbNTLdK369eUXf5O2kp55X-w8H2tobEf9GLqlm4FaJt1MUes8pUec0cKwsmf10vCJWAKYyvfEaeVCqcN-7GeW7_wummbSQDgjLiNoSZqtO2Yv_XWL0kr1CTtjx8eSFrhj9VpI2pn5eNhEVzFqY9edOFNC2ZTWgjXZwAbwU50nQUyWZuRUD9jyMi-DfutCv3UMEG08H6rF-ILYlpyoR_LmzLBryGGphP3lXBfl1CpSIdBid1-NbUDMju-8LK9IcHdn9Mt6rcgGv9-oM9UOcBM6MrKYpX6VSQG_j07HcDAYekzXXn3QVJguMaT6yr498Zakhi20bo2NWIIlLtW9htECs0okX9KHCYgytATPqdKhVWPnPMV9UVC9fNWPrxFLO0iM1Ke88siqvZYz4D4yUmOJfWpGypaT9-04f1Fxja2jak84Y7NysqgBCDOPN_fjWFnQGPpkgoq-3y5KQFw96q5aUVkRR8IwWKeM-oa3Af3tPFUuHPq4N3LZW9YVUtwu4vBT6MmX5VHv6bVwfof9OB_nfxV1um-YgSZZK5Aswgt_xvrIwP15RCNjdXMD2IC4LAxogHmGj81CRKR6JnGofFu8htQRINUzL_0vO4Xiv_YIZ7nngY=",
  "id": "rs_0ade5107ad8f7e87016ab42e9dd44887d0b5ca3d6c67caf526",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.265,\"right_z\":0.115},\"note\":\"The white bear remains alongside the right rim rather than seated in the basket. I’m shifting the open jaws inward toward the basket center while keeping them above the rim, to steer the bear sideways into the opening.\"}",
  "call_id": "call_1ni7GnwRKAc9uPx7W6iV13eH",
  "id": "fc_0ade5107ad8f7e87016ab42e9f38b887d084eddfcdf1174637",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1ni7GnwRKAc9uPx7W6iV13eH",
  "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]: [-0.107, 1.0344, 0.8188, -0.6163, -0.157, -0.1051, 0.9967, 0.5014, 2.0747, 1.3476, 0.1123, 0.4511, -0.1425, 0.9968]\nstate[eef_state]: left_x=0.3036 left_y=-0.0012 left_z=0.1645 left_yaw=0.0708 left_pitch=-0.2574 left_roll=0.0581 left_gripper=0.9967 right_x=0.5243 right_y=0.2037 right_z=0.0932 right_yaw=0.1913 right_pitch=-0.0296 right_roll=-0.3664 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -2.865, 6.8034, 1.4725, -0.1441, -0.0611, -0.0122, -2.7692, -9.8393, 9.8393, 2.1758, -0.0171, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9d20599f01116c2639dc94a9c9bf01f7b0eb9cf916631bd44fb544d03e4eff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12bbd77f3377c553697cfacc7ed025000ca9ef0bc2c77d206fabeb8fbdaf45e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd1063544ffaf6e2b7957d0a2df1b38a7adce5e5b2e73278c976117bec5bb2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}