adhoc

completed
2026-09-23T19:00:16.248274+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
237 s
total steps
452
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two baskets at the far end and a cluster of gray and tan plush objects near the arms. I’m bringing the left open gripper over the nearest gray object to line up a pickup.
move_to
left_x0.3300left_y-0.0450left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.6167, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.3782, -0.012, -0.0257, 0.9996] state[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4444, -1.6479, 9.3333, 1.7656, -0.0366, 0.149, -0.0562, -0.7863, -1.5521, 9.7846, 1.7607, -0.105, 0.0757, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.045,"left_z":0.14},"note":"I see two baskets at the far end and a cluster of gray and tan plush objects near the arms. I’m bringing the left open gripper over the nearest gray object to line up a pickup."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe gray plush is left of the jaw column in the wrist view, so the first sideways correction overshot. I’m shifting the open gripper back toward it and lowering to its body height.
move_to
left_x0.3500left_y0.0280left_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2699, 1.0389, 0.5251, -0.104, -0.2192, -0.1677, 0.9996, -0.0208, 0.8013, 0.6086, -0.3847, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.3261 left_y=-0.0467 left_z=0.1311 left_yaw=-0.0128 left_pitch=-0.0386 left_roll=0.0037 left_gripper=0.9996 right_x=0.2952 right_y=-0.0004 right_z=0.1791 right_yaw=-0.0066 right_pitch=-0.0111 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.1983, -3.5624, 6.8855, 1.8584, -0.1441, -0.0415, -0.0171, 0.3761, -1.4701, 7.241, 1.7656, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.028,"left_z":0.075},"note":"The gray plush is left of the jaw column in the wrist view, so the first sideways correction overshot. I’m shifting the open gripper back toward it and lowering to its body height."})
tool
executing move_to over 7 steps (0.7s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe gray plush now sits between the two open jaws in the left wrist view. I’m closing on its torso before lifting it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1234, 1.2915, 0.4129, 0.2489, 0.0761, 0.0383, 0.9996, -0.02, 0.8032, 0.6086, -0.3851, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.3475 left_y=0.0332 left_z=0.0706 left_yaw=0.0211 left_pitch=-0.0652 left_roll=0.0013 left_gripper=0.9996 right_x=0.2953 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0061 right_pitch=-0.0134 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.1026, -3.8496, 5.7231, 1.8095, 0.1636, 0.1245, -0.0171, -0.1026, -1.4564, 7.0496, 1.7753, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush now sits between the two open jaws in the left wrist view. I’m closing on its torso before lifting it."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe closed gripper reads nearly zero, so it missed the plush; the gray torso is still ahead of the fingertips. I’m opening and advancing about 3 cm while dropping to a lower grasp height.
move_to
left_x0.3800left_y0.0270left_z0.0360left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.123, 1.2922, 0.4129, 0.2523, 0.0715, 0.0341, 0.0106, -0.02, 0.8082, 0.6079, -0.392, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.3479 left_y=0.0339 left_z=0.071 left_yaw=0.0269 left_pitch=-0.0628 left_roll=0.0008 left_gripper=0.0106 right_x=0.2946 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0061 right_pitch=-0.0259 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.0889, -4.2325, 6.188, 1.6532, 0.0659, 0.0269, 0.7985, -0.2393, -1.2923, 7.0769, 1.79, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":0.027,"left_z":0.036,"left_gripper":1},"note":"The closed gripper reads nearly zero, so it missed the plush; the gray torso is still ahead of the fingertips. I’m opening and advancing about 3 cm while dropping to a lower grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gray plush’s head and body now fill the space between the open fingers at a lower height. I’m retrying the grasp from this deeper position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0814, 1.5509, 0.4435, 0.5297, 0.0326, 0.0074, 0.9959, -0.02, 0.8097, 0.6079, -0.3927, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.3836 left_y=0.0291 left_z=0.0491 left_yaw=0.0326 left_pitch=-0.0151 left_roll=0.0044 left_gripper=0.9959 right_x=0.2945 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0061 right_pitch=-0.0282 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.3761, -3.8085, 5.9966, 1.2967, 0.0708, -0.0659, -0.1538, -0.1026, -1.306, 7.0496, 1.6874, -0.0269, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush’s head and body now fill the space between the open fingers at a lower height. I’m retrying the grasp from this deeper position."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe left gripper settled at a nonzero opening, suggesting it caught some of the gray plush. I’m lifting to check whether the whole object follows before moving toward a basket.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0818, 1.5539, 0.445, 0.5701, 0.0265, 0.0006, 0.0654, -0.02, 0.8101, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996] state[eef_state]: left_x=0.3891 left_y=0.0308 left_z=0.057 left_yaw=0.0418 left_pitch=0.0237 left_roll=0.0035 left_gripper=0.0654 right_x=0.2945 right_y=-0.0003 right_z=0.1745 right_yaw=-0.0059 right_pitch=-0.029 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.212, -5.8462, 5.094, 1.4188, 0.0269, 0.0562, 1.0281, -0.1436, -1.3744, 7.2274, 1.7265, -0.0415, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The left gripper settled at a nonzero opening, suggesting it caught some of the gray plush. I’m lifting to check whether the whole object follows before moving toward a basket."})
tool
executing move_to over 9 steps (0.9s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe gray plush visibly rose with the left gripper. I’m carrying it high over the left basket, reserving the right basket for the tan and brown plush objects.
move_to
left_x0.4800left_y-0.1200left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0818, 1.2465, 0.7795, -0.1341, 0.0227, -0.0082, 0.0667, -0.02, 0.812, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.384 left_y=0.0311 left_z=0.1662 left_yaw=0.0497 left_pitch=-0.0385 left_roll=-0.0041 left_gripper=0.0667 right_x=0.2946 right_y=-0.0003 right_z=0.174 right_yaw=-0.0061 right_pitch=-0.0309 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [-0.1026, -6.2701, 9.347, 1.9072, -0.0073, 0.0611, 0.906, -0.0752, -1.4838, 7.0222, 1.7314, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.12,"left_z":0.25},"note":"The gray plush visibly rose with the left gripper. I’m carrying it high over the left basket, reserving the right basket for the tan and brown plush objects."})
tool
executing move_to over 14 steps (1.4s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe carried gray plush hangs slightly toward the near/right edge of the left basket. I’m centering it farther inside the opening and lowering until it rests in the basket.
move_to
left_x0.5100left_y-0.0950left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3618, 1.6787, 1.4643, -0.4778, -0.3302, -0.2749, 0.069, -0.02, 0.8146, 0.6075, -0.3927, -0.0116, -0.0235, 0.9995] state[eef_state]: left_x=0.4735 left_y=-0.1142 left_z=0.2297 left_yaw=0.0462 left_pitch=-0.0859 left_roll=0.0049 left_gripper=0.069 right_x=0.2948 right_y=-0.0003 right_z=0.1733 right_yaw=-0.0061 right_pitch=-0.0336 right_roll=0.0022 right_gripper=0.9995 state[joint_eff]: [-0.4581, -8.9504, 8.8684, 1.6093, -0.1832, 0.0513, 0.5055, -0.1162, -1.5385, 7.0359, 1.6972, -0.0269, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.095,"left_z":0.15},"note":"The carried gray plush hangs slightly toward the near/right edge of the left basket. I’m centering it farther inside the opening and lowering until it rests in the basket."})
tool
executing move_to over 6 steps (0.6s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe gray plush still projects across the front rim rather than fully inside. I’m nudging the grasp point farther into the left basket and lowering a little more before release.
move_to
left_x0.5400left_z0.1150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.289, 1.8107, 1.3251, -0.2398, -0.2836, -0.2436, 0.0717, -0.02, 0.8158, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.5009 left_y=-0.0936 left_z=0.1483 left_yaw=0.0653 left_pitch=-0.1283 left_roll=0.0137 left_gripper=0.0717 right_x=0.2949 right_y=-0.0003 right_z=0.173 right_yaw=-0.0061 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.6085, -8.8684, 6.1197, 1.7558, 0.0171, 0.1148, 0.6276, -0.1573, -1.4154, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_z":0.115},"note":"The gray plush still projects across the front rim rather than fully inside. I’m nudging the grasp point farther into the left basket and lowering a little more before release."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe gray plush is now over the left basket’s interior, at the near edge. I’m opening the gripper to deposit it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2638, 1.9575, 1.3872, -0.1928, -0.2733, -0.2401, 0.0736, -0.02, 0.8185, 0.6075, -0.3931, -0.0116, -0.0235, 0.9995] state[eef_state]: left_x=0.5268 left_y=-0.0892 left_z=0.1089 left_yaw=0.082 left_pitch=-0.1662 left_roll=0.0228 left_gripper=0.0736 right_x=0.295 right_y=-0.0003 right_z=0.1721 right_yaw=-0.0061 right_pitch=-0.0378 right_roll=0.0023 right_gripper=0.9995 state[joint_eff]: [-0.1436, -9.2923, 8.7726, 1.956, -0.1441, 0.1148, 0.5446, -0.0615, -1.5385, 7.0085, 1.6728, -0.022, -0.0562, -0.0171] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray plush is now over the left basket’s interior, at the near edge. I’m opening the gripper to deposit it."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe left gripper is open and the gray plush appears to have dropped into the left basket. I’m parking that arm so the center objects and basket are visible for the next pickup.
move_to
left_x0.2950left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2588, 1.9759, 1.4006, -0.1661, -0.2691, -0.2371, 0.9953, -0.02, 0.8192, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.5346 left_y=-0.0892 left_z=0.1095 left_yaw=0.0807 left_pitch=-0.1468 left_roll=0.015 left_gripper=0.9953 right_x=0.2951 right_y=-0.0003 right_z=0.172 right_yaw=-0.0061 right_pitch=-0.0381 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.5128, -10.4684, 8.1162, 1.6825, -0.0904, 0.105, 0.0757, -0.212, -1.4701, 7.1863, 1.7314, -0.0415, -0.0806, -0.0073] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19},"note":"The left gripper is open and the gray plush appears to have dropped into the left basket. I’m parking that arm so the center objects and basket are visible for the next pickup."})
tool
executing move_to over 19 steps (1.9s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe gray plush remains at the left basket, and several tan or brown plush objects remain clustered near the table center. I’m positioning the right open gripper over the frontmost tan plush for the right basket.
move_to
right_x0.3200right_y0.2400right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1116, 0.9421, 0.8017, -0.5446, -0.1741, -0.1543, 0.9967, -0.02, 0.8249, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996] state[eef_state]: left_x=0.3068 left_y=0.0 left_z=0.1964 left_yaw=0.1018 left_pitch=-0.1103 left_roll=0.0035 left_gripper=0.9967 right_x=0.2954 right_y=-0.0003 right_z=0.1704 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [0.3077, -1.9487, 6.188, 1.7118, 0.1245, 0.1197, 0.1245, -0.0479, -1.4291, 7.2547, 1.7411, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.24,"right_z":0.13},"note":"The gray plush remains at the left basket, and several tan or brown plush objects remain clustered near the table center. I’m positioning the right open gripper over the frontmost tan plush for the right basket."})
tool
executing move_to over 21 steps (2.1s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteIn the right wrist view the tan plush is low and left of the fingers, with the basket beyond it. I’m shifting the gripper toward the plush and slightly toward the base, then lowering to grasp its body.
move_to
right_x0.2800right_y0.3050right_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.5602, -0.1616, -0.1574, 0.9968, 0.9173, 1.5486, 0.9077, -0.2558, 0.6815, 0.6052, 0.9995] state[eef_state]: left_x=0.3047 left_y=-0.0017 left_z=0.191 left_yaw=0.0941 left_pitch=-0.1344 left_roll=-0.002 left_gripper=0.9968 right_x=0.314 right_y=0.2329 right_z=0.1158 right_yaw=0.0274 right_pitch=-0.0862 right_roll=-0.0353 right_gripper=0.9995 state[joint_eff]: [-0.2393, -2.6872, 6.9538, 1.746, -0.2076, -0.0317, -0.0122, 0.4171, -6.8444, 8.9368, 1.2772, 0.5983, 0.1685, -0.0171] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.305,"right_z":0.075},"note":"In the right wrist view the tan plush is low and left of the fingers, with the basket beyond it. I’m shifting the gripper toward the plush and slightly toward the base, then lowering to grasp its body."})
tool
executing move_to over 7 steps (0.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe tan plush still fills the left side of the wrist view instead of the jaw column. I’m moving farther toward the table center and dropping to a firmer torso-level grasp.
move_to
right_x0.2650right_y0.3650right_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.1604, -0.1574, 0.9968, 1.1076, 1.7794, 1.026, -0.2749, 0.7914, 0.8043, 0.9995] state[eef_state]: left_x=0.3046 left_y=-0.0019 left_z=0.1908 left_yaw=0.0932 left_pitch=-0.1353 left_roll=-0.0026 left_gripper=0.9968 right_x=0.2855 right_y=0.2986 right_z=0.0802 right_yaw=0.0341 right_pitch=-0.0802 right_roll=-0.0362 right_gripper=0.9995 state[joint_eff]: [-0.1026, -2.1402, 7.0632, 1.5751, -0.1294, -0.0708, -0.0122, 0.9915, -6.8308, 7.2547, 0.8816, 0.2857, -0.0024, -0.0073] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.365,"right_z":0.045},"note":"The tan plush still fills the left side of the wrist view instead of the jaw column. I’m moving farther toward the table center and dropping to a firmer torso-level grasp."})
tool
executing move_to over 6 steps (0.6s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe near tan plush is too far to the left of the right gripper at this pose, so closing here would miss it. I’m moving to the tan plush farther forward near the center, which is better placed for this arm.
move_to
right_x0.3900right_y0.2950right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 1.2083, 1.9987, 1.2377, -0.3092, 0.8658, 0.9463, 0.9995] state[eef_state]: left_x=0.3046 left_y=-0.002 left_z=0.1908 left_yaw=0.0929 left_pitch=-0.1353 left_roll=-0.0029 left_gripper=0.9968 right_x=0.2774 right_y=0.3621 right_z=0.0649 right_yaw=0.0176 right_pitch=-0.0385 right_roll=0.0136 right_gripper=0.9995 state[joint_eff]: [-0.2256, -2.1812, 6.9538, 1.5751, -0.0855, -0.0415, -0.0122, 1.5795, -7.665, 5.9692, 0.5153, 0.188, 0.0073, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.295,"right_z":0.12},"note":"The near tan plush is too far to the left of the right gripper at this pose, so closing here would miss it. I’m moving to the tan plush farther forward near the center, which is better placed for this arm."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe right gripper is above and to the right of the middle tan plush in the overhead view. I’m approaching its body from the forward side with the gripper open, staying within the right arm’s centerline reach.
move_to
right_x0.3000right_y0.3900right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1108, 0.9501, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 0.881, 1.9068, 1.2133, -0.2035, 0.6689, 0.6037, 0.9995] state[eef_state]: left_x=0.3047 left_y=-0.002 left_z=0.1903 left_yaw=0.0929 left_pitch=-0.1372 left_roll=-0.0025 left_gripper=0.9968 right_x=0.377 right_y=0.2905 right_z=0.0878 right_yaw=0.0004 right_pitch=-0.094 right_roll=-0.0305 right_gripper=0.9995 state[joint_eff]: [-0.212, -2.2222, 6.8991, 1.5702, -0.0904, -0.0464, -0.0122, -0.335, -12.8342, 8.9915, 1.5507, 0.4469, -0.0806, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.39,"right_z":0.055},"note":"The right gripper is above and to the right of the middle tan plush in the overhead view. I’m approaching its body from the forward side with the gripper open, staying within the right arm’s centerline reach."})
tool
executing move_to over 9 steps (0.9s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe nearest tan plush remains at the edge of the right wrist camera even near that arm’s lateral limit. I’m parking the right arm and will pick up the center-left plush with the left arm instead.
move_to
right_x0.2960right_y0.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1108, 0.9508, 0.8005, -0.5606, -0.16, -0.1574, 0.9968, 1.153, 2.1345, 1.446, -0.4126, 0.7948, 0.8875, 0.9995] state[eef_state]: left_x=0.3048 left_y=-0.002 left_z=0.1901 left_yaw=0.0929 left_pitch=-0.1376 left_roll=-0.0024 left_gripper=0.9968 right_x=0.3051 right_y=0.3854 right_z=0.0531 right_yaw=0.0268 right_pitch=-0.1089 right_roll=-0.0368 right_gripper=0.9995 state[joint_eff]: [-0.0479, -2.2906, 6.8718, 1.6288, -0.0855, -0.0513, -0.0122, 0.5949, -10.7966, 7.9111, 0.7253, 0.5641, 0.1343, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.185},"note":"The nearest tan plush remains at the edge of the right wrist camera even near that arm’s lateral limit. I’m parking the right arm and will pick up the center-left plush with the left arm instead."})
tool
executing move_to over 33 steps (3.3s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteWith the arms out of the way, I can see the gray plush’s head is in the left basket but much of its body still hangs over the front edge. I’m bringing the left gripper to its exposed torso so I can move it fully inside.
move_to
left_x0.4150left_y-0.1100left_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1108, 0.952, 0.8005, -0.561, -0.1596, -0.1574, 0.9968, 0.0055, 0.8932, 0.6945, -0.5114, 0.0479, -0.0273, 0.9995] state[eef_state]: left_x=0.3049 left_y=-0.0021 left_z=0.1897 left_yaw=0.0926 left_pitch=-0.1391 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2936 right_y=-0.0032 right_z=0.1676 right_yaw=-0.0291 right_pitch=-0.1434 right_roll=-0.0384 right_gripper=0.9995 state[joint_eff]: [-0.2667, -2.3179, 7.0359, 1.5995, -0.1001, -0.0562, -0.0122, -0.2256, -2.6462, 10.0034, 1.6777, -0.0855, -0.0806, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.11,"left_z":0.095},"note":"With the arms out of the way, I can see the gray plush’s head is in the left basket but much of its body still hangs over the front edge. I’m bringing the left gripper to its exposed torso so I can move it fully inside."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe gray plush fills the right side of the left wrist view, with its narrow shoulder ahead of the fingertips. I’m moving across and forward to center the gripper on that shoulder rather than squeezing the broad belly.
move_to
left_x0.4600left_y-0.1550left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4171, 1.5799, 0.8783, -0.0608, -0.3874, -0.3763, 0.9968, 0.0036, 0.897, 0.693, -0.5228, 0.041, -0.0448, 0.9995] state[eef_state]: left_x=0.41 left_y=-0.1048 left_z=0.1025 left_yaw=0.0953 left_pitch=-0.1314 left_roll=-0.0094 left_gripper=0.9968 right_x=0.2917 right_y=-0.0026 right_z=0.1637 right_yaw=-0.0157 right_pitch=-0.1608 right_roll=-0.0476 right_gripper=0.9995 state[joint_eff]: [-0.4308, -5.7231, 7.0632, 0.7497, -0.022, 0.0855, -0.0122, 0.0342, -2.0034, 7.0496, 1.6972, 0.0415, 0.1294, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.155,"left_z":0.07},"note":"The gray plush fills the right side of the left wrist view, with its narrow shoulder ahead of the fingertips. I’m moving across and forward to center the gripper on that shoulder rather than squeezing the broad belly."})
tool
executing move_to over 5 steps (0.5s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe open fingers now straddle the gray plush near the basket’s front edge. I’m gently closing on its exposed fur so I can pull the remaining body into the basket.
move_to
left_x0.4700left_y-0.1800left_z0.0700left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4786, 1.8336, 1.0897, 0.0624, -0.4511, -0.4458, 0.9968, 0.0036, 0.8993, 0.6926, -0.5236, 0.0406, -0.0456, 0.9995] state[eef_state]: left_x=0.4698 left_y=-0.1529 left_z=0.101 left_yaw=0.1183 left_pitch=-0.0416 left_roll=-0.0717 left_gripper=0.9968 right_x=0.2917 right_y=-0.0025 right_z=0.1628 right_yaw=-0.015 right_pitch=-0.1642 right_roll=-0.048 right_gripper=0.9995 state[joint_eff]: [-0.5675, -7.0906, 5.559, 0.6227, -0.0855, 0.2564, -0.0122, -0.1162, -2.0171, 7.1179, 1.6093, -0.0073, -0.0122, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.18,"left_z":0.07,"left_gripper":0},"note":"The open fingers now straddle the gray plush near the basket’s front edge. I’m gently closing on its exposed fur so I can pull the remaining body into the basket."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe gripper has a small nonzero opening on the gray fur. I’m drawing it farther into the left basket while lifting slightly to clear the front rim.
move_to
left_x0.5400left_y-0.1750left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5404, 1.8954, 1.1027, 0.2043, -0.5179, -0.4961, 0.0385, 0.0032, 0.9012, 0.6926, -0.5236, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.4799 left_y=-0.1817 left_z=0.1059 left_yaw=0.1372 left_pitch=0.0542 left_roll=-0.138 left_gripper=0.0385 right_x=0.2917 right_y=-0.0026 right_z=0.1622 right_yaw=-0.0151 right_pitch=-0.1661 right_roll=-0.0483 right_gripper=0.9995 state[joint_eff]: [-0.4034, -6.065, 6.5436, 0.8718, 0.0611, 0.0855, 1.2821, -0.3077, -1.4564, 6.9128, 1.6239, -0.022, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.175,"left_z":0.15},"note":"The gripper has a small nonzero opening on the gray fur. I’m drawing it farther into the left basket while lifting slightly to clear the front rim."})
tool
executing move_to over 5 steps (0.5s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe gray plush is now visibly lying across the inside of the left basket rather than hanging over the front. I’m releasing it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4541, 1.982, 1.3857, 0.0284, -0.4664, -0.4721, 0.04, 0.0036, 0.9035, 0.6926, -0.5243, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.5344 left_y=-0.1685 left_z=0.1437 left_yaw=0.1695 left_pitch=0.0553 left_roll=-0.1519 left_gripper=0.04 right_x=0.2917 right_y=-0.0025 right_z=0.1615 right_yaw=-0.0148 right_pitch=-0.1692 right_roll=-0.0484 right_gripper=0.9995 state[joint_eff]: [-0.5128, -10.8786, 8.2803, 1.663, -0.0269, 0.1392, 1.033, -0.0889, -1.8393, 6.8991, 1.5995, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray plush is now visibly lying across the inside of the left basket rather than hanging over the front. I’m releasing it there."})
tool
executing move_to over 10 steps (1.0s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe gray plush is released inside the left basket. I’m lifting the empty left gripper clear of the rim and bringing it above the tan objects clustered below.
move_to
left_x0.2900left_y-0.1400left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4507, 1.9911, 1.4055, -0.0151, -0.4446, -0.4568, 0.9955, 0.0025, 0.9031, 0.6926, -0.5236, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.5339 left_y=-0.17 left_z=0.138 left_yaw=0.1464 left_pitch=0.0226 left_roll=-0.1297 left_gripper=0.9955 right_x=0.2918 right_y=-0.0029 right_z=0.1617 right_yaw=-0.0159 right_pitch=-0.168 right_roll=-0.0484 right_gripper=0.9995 state[joint_eff]: [-0.4581, -10.7419, 8.9778, 1.8437, -0.1929, 0.0904, -0.1392, -0.1436, -1.7436, 6.9128, 1.6435, -0.0317, -0.0464, -0.0073] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.14,"left_z":0.22},"note":"The gray plush is released inside the left basket. I’m lifting the empty left gripper clear of the rim and bringing it above the tan objects clustered below."})
tool
executing move_to over 19 steps (1.9s)
step 248
top_cam
camera top_cam step 248
left_cam
camera left_cam step 248
right_cam
camera right_cam step 248
assistant
agent noteThe large tan plush sits just below the left gripper in the overhead view, and its body is visible at the bottom of the wrist view. I’m lowering over its torso for a grasp, using the left arm because the right arm’s centerline limit blocked this object.
move_to
left_x0.2550left_y-0.1250left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8326, 1.1358, 0.9173, -0.5011, -0.7082, -0.7242, 0.9967, 0.0029, 0.9089, 0.6926, -0.524, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.2994 left_y=-0.153 left_z=0.2224 left_yaw=0.11 left_pitch=0.0311 left_roll=-0.1614 left_gripper=0.9967 right_x=0.2921 right_y=-0.0028 right_z=0.1601 right_yaw=-0.0156 right_pitch=-0.1742 right_roll=-0.0485 right_gripper=0.9995 state[joint_eff]: [-0.1846, -4.1231, 6.3795, 1.5507, -0.4274, -0.0171, 0.1148, -0.0342, -2.1812, 6.9402, 1.6093, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.125,"left_z":0.07},"note":"The large tan plush sits just below the left gripper in the overhead view, and its body is visible at the bottom of the wrist view. I’m lowering over its torso for a grasp, using the left arm because the right arm’s centerline limit blocked this object."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe tan plush’s head and torso are centered between the left gripper jaws. I’m closing around it now.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9142, 1.1095, 0.3027, -0.0181, -0.7506, -0.7879, 0.9968, 0.0029, 0.9096, 0.6926, -0.5236, 0.0406, -0.0463, 0.9995] state[eef_state]: left_x=0.2512 left_y=-0.1228 left_z=0.0668 left_yaw=0.0912 left_pitch=-0.0079 left_roll=-0.112 left_gripper=0.9968 right_x=0.2922 right_y=-0.0028 right_z=0.16 right_yaw=-0.0153 right_pitch=-0.1745 right_roll=-0.0488 right_gripper=0.9995 state[joint_eff]: [-0.3214, -2.3453, 6.4068, 1.4921, -0.4762, -0.1832, -0.0024, -0.0615, -2.0171, 6.8991, 1.58, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan plush’s head and torso are centered between the left gripper jaws. I’m closing around it now."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteThe gripper settled around a nonzero thickness on the tan plush. I’m lifting it to confirm it leaves the table before transporting it.
move_to
left_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.915, 1.1164, 0.2871, 0.0154, -0.7559, -0.7944, 0.1185, 0.0025, 0.91, 0.6926, -0.524, 0.0406, -0.0463, 0.9995] state[eef_state]: left_x=0.2515 left_y=-0.1223 left_z=0.0648 left_yaw=0.0975 left_pitch=0.0009 left_roll=-0.1248 left_gripper=0.1185 right_x=0.2921 right_y=-0.0029 right_z=0.1598 right_yaw=-0.0157 right_pitch=-0.1753 right_roll=-0.0488 right_gripper=0.9995 state[joint_eff]: [-0.0752, -2.8923, 7.1316, 1.0476, -0.3004, 0.0464, 0.6227, -0.1162, -1.7162, 6.9265, 1.6288, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.21},"note":"The gripper settled around a nonzero thickness on the tan plush. I’m lifting it to confirm it leaves the table before transporting it."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteThe tan plush rose with the gripper, leaving its former spot clear. I’m carrying it above the empty right basket, high enough to clear its rim.
move_to
left_x0.4550left_y-0.3700left_z0.2550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.915, 0.9424, 0.7628, -0.63, -0.741, -0.8013, 0.1206, 0.0025, 0.9108, 0.6926, -0.5236, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.2528 left_y=-0.1271 left_z=0.1959 left_yaw=0.0909 left_pitch=-0.0064 left_roll=-0.1399 left_gripper=0.1206 right_x=0.2922 right_y=-0.0029 right_z=0.1597 right_yaw=-0.0159 right_pitch=-0.1757 right_roll=-0.0485 right_gripper=0.9995 state[joint_eff]: [-0.1983, -2.2222, 9.0462, 1.2918, -0.4371, 0.0708, 0.2027, -0.1983, -1.9897, 6.8991, 1.5946, 0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.37,"left_z":0.255},"note":"The tan plush rose with the gripper, leaving its former spot clear. I’m carrying it above the empty right basket, high enough to clear its rim."})
tool
executing move_to over 22 steps (2.2s)
step 300
assistant
agent noteThe tan plush is above the right basket, though its head sits near the left rim in the wrist view. I’m shifting it slightly toward the basket center and lowering it inside.
move_to
left_x0.4850left_y-0.3450left_z0.1450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8871, 2.2761, 2.3447, -0.8558, -0.7143, -0.8005, 0.1221, 0.0029, 0.9127, 0.6926, -0.5247, 0.041, -0.046, 0.9995] state[eef_state]: left_x=0.4558 left_y=-0.3706 left_z=0.2456 left_yaw=0.0995 left_pitch=-0.0102 left_roll=-0.1685 left_gripper=0.1221 right_x=0.2921 right_y=-0.0028 right_z=0.1589 right_yaw=-0.0159 right_pitch=-0.1787 right_roll=-0.0488 right_gripper=0.9995 state[joint_eff]: [-0.2803, -14.2564, 7.5829, 0.7302, -0.4322, 0.2369, 0.1392, -0.1026, -2.0718, 7.2274, 1.5604, -0.0024, -0.0415, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.345,"left_z":0.145},"note":"The tan plush is above the right basket, though its head sits near the left rim in the wrist view. I’m shifting it slightly toward the basket center and lowering it inside."})
tool
executing move_to over 7 steps (0.7s)
step 307
assistant
agent noteThe tan plush’s torso is inside the right basket, but its front is still near the rim. I’m moving the gripper a few centimetres farther over the basket and down before opening.
move_to
left_x0.5250left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8249, 2.2124, 1.8797, -0.4004, -0.6754, -0.7471, 0.1225, 0.0025, 0.9146, 0.6926, -0.5236, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.4799 left_y=-0.3514 left_z=0.1612 left_yaw=0.1051 left_pitch=0.0037 left_roll=-0.1832 left_gripper=0.1225 right_x=0.2924 right_y=-0.0029 right_z=0.1586 right_yaw=-0.016 right_pitch=-0.1795 right_roll=-0.0486 right_gripper=0.9995 state[joint_eff]: [1.388, -12.2325, 5.2991, 0.9988, -0.1099, 0.1538, 0.0366, -0.0342, -2.0855, 6.8991, 1.5458, -0.0073, -0.0415, -0.0073] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.525,"left_z":0.105},"note":"The tan plush’s torso is inside the right basket, but its front is still near the rim. I’m moving the gripper a few centimetres farther over the basket and down before opening."})
tool
executing move_to over 4 steps (0.4s)
step 311
assistant
agent noteThe downward command stopped about 5 cm above its target, consistent with the plush resting on the basket. I’m opening the gripper to leave the tan plush in the right basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7822, 2.3112, 1.9484, -0.2451, -0.672, -0.7174, 0.1226, 0.0025, 0.9154, 0.6926, -0.5243, 0.0406, -0.0456, 0.9995] state[eef_state]: left_x=0.5195 left_y=-0.3562 left_z=0.1572 left_yaw=0.1339 left_pitch=0.0808 left_roll=-0.2585 left_gripper=0.1226 right_x=0.2923 right_y=-0.0029 right_z=0.1583 right_yaw=-0.0162 right_pitch=-0.181 right_roll=-0.0483 right_gripper=0.9995 state[joint_eff]: [1.1966, -8.8684, 6.2017, 0.7497, 0.2222, 0.0562, -0.0122, -0.1436, -1.9761, 6.9265, 1.5507, 0.0171, -0.0415, -0.0122] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The downward command stopped about 5 cm above its target, consistent with the plush resting on the basket. I’m opening the gripper to leave the tan plush in the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 320
assistant
agent noteThe tan plush is released in the right basket. I’m raising and withdrawing the left arm so I can see which objects remain on the table.
move_to
left_x0.2900left_y-0.1400left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7631, 2.3363, 1.9572, -0.2157, -0.6506, -0.7036, 0.9951, 0.0025, 0.9165, 0.6926, -0.5236, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.5298 left_y=-0.3537 left_z=0.1495 left_yaw=0.1297 left_pitch=0.0812 left_roll=-0.264 left_gripper=0.9951 right_x=0.2925 right_y=-0.0029 right_z=0.1581 right_yaw=-0.016 right_pitch=-0.1814 right_roll=-0.0486 right_gripper=0.9995 state[joint_eff]: [0.0889, -9.9761, 6.1744, 1.2234, -0.0122, 0.0855, -0.105, -0.1026, -1.9214, 6.8991, 1.5995, -0.0415, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.14,"left_z":0.22},"note":"The tan plush is released in the right basket. I’m raising and withdrawing the left arm so I can see which objects remain on the table."})
tool
executing move_to over 19 steps (1.9s)
step 339
assistant
agent noteWith the arm clear, I can see the tan bear landed upright in front of the right basket rather than inside it; the gray plush is in the left basket. I’m aligning the left gripper with the bear’s torso to pick it up again.
move_to
left_x0.3900left_y-0.2800left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8188, 1.0492, 0.7971, -0.3309, -0.6811, -0.7418, 0.9967, 0.0025, 0.9218, 0.6926, -0.5259, 0.0406, -0.0463, 0.9995] state[eef_state]: left_x=0.2983 left_y=-0.1508 left_z=0.2239 left_yaw=0.1189 left_pitch=0.0964 left_roll=-0.2971 left_gripper=0.9967 right_x=0.2923 right_y=-0.0029 right_z=0.1562 right_yaw=-0.0158 right_pitch=-0.189 right_roll=-0.0491 right_gripper=0.9995 state[joint_eff]: [-0.2667, -2.7556, 7.0906, 1.746, -0.4469, -0.0855, 0.1538, -0.212, -2.4274, 6.9128, 1.6337, -0.022, -0.0366, -0.0073] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.28,"left_z":0.105},"note":"With the arm clear, I can see the tan bear landed upright in front of the right basket rather than inside it; the gray plush is in the left basket. I’m aligning the left gripper with the bear’s torso to pick it up again."})
tool
executing move_to over 12 steps (1.2s)
step 351
assistant
agent noteThe bear’s torso is still to the right of the left jaw column. I’m shifting the open fingers toward its center and dropping to chest height, just in front of the right basket.
move_to
left_x0.4050left_y-0.3350left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8742, 1.8324, 0.9604, 0.1921, -0.7254, -0.7872, 0.9968, 0.0025, 0.9257, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.3809 left_y=-0.267 left_z=0.091 left_yaw=0.1157 left_pitch=0.0564 left_roll=-0.2425 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.1551 right_yaw=-0.016 right_pitch=-0.1932 right_roll=-0.0488 right_gripper=0.9995 state[joint_eff]: [-0.6085, -9.6342, 7.7744, 1.5702, -0.2613, 0.0122, 0.0024, -0.1709, -2.359, 6.8991, 1.5458, -0.0073, -0.0317, -0.0122] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.335,"left_z":0.065},"note":"The bear’s torso is still to the right of the left jaw column. I’m shifting the open fingers toward its center and dropping to chest height, just in front of the right basket."})
tool
executing move_to over 7 steps (0.7s)
step 358
assistant
agent noteThe bear’s torso now lies between the fingers in the wrist view. I’m closing at chest height to secure it for a more central placement.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9276, 2.0884, 1.2221, 0.1497, -0.7753, -0.8467, 0.9968, 0.0025, 0.926, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.4035 left_y=-0.3262 left_z=0.0649 left_yaw=0.1287 left_pitch=0.0574 left_roll=-0.2465 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.155 right_yaw=-0.016 right_pitch=-0.1936 right_roll=-0.0489 right_gripper=0.9995 state[joint_eff]: [-0.7726, -10.4957, 7.3231, 1.3797, -0.2662, 0.0659, -0.0122, -0.1026, -1.8803, 6.8855, 1.536, -0.0171, -0.0464, -0.0073] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s torso now lies between the fingers in the wrist view. I’m closing at chest height to secure it for a more central placement."})
tool
executing move_to over 10 steps (1.0s)
step 368
assistant
agent noteThe gripper closed empty: the bear’s torso is still to the right and slightly ahead of the fingertips. I’m reopening and moving a few centimetres right and forward for one better-aligned attempt.
move_to
left_x0.4350left_y-0.3850left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.931, 2.1021, 1.2282, 0.1448, -0.7746, -0.8501, 0.0104, 0.0029, 0.9268, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.4026 left_y=-0.328 left_z=0.0596 left_yaw=0.1259 left_pitch=0.0504 left_roll=-0.2388 left_gripper=0.0104 right_x=0.2925 right_y=-0.0028 right_z=0.1548 right_yaw=-0.0156 right_pitch=-0.1944 right_roll=-0.0489 right_gripper=0.9995 state[joint_eff]: [0.0615, -12.1231, 5.3265, 1.4676, -0.2857, -0.0073, 0.8278, -0.1162, -2.0855, 6.8855, 1.5556, 0.0024, -0.0317, -0.0122] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.385,"left_z":0.055,"left_gripper":1},"note":"The gripper closed empty: the bear’s torso is still to the right and slightly ahead of the fingertips. I’m reopening and moving a few centimetres right and forward for one better-aligned attempt."})
tool
executing move_to over 10 steps (1.0s)
step 378
assistant
agent noteThe open-gripper approach appears to have nudged the tan bear fully into the right basket; it is now visible within the basket walls. I’m withdrawing without closing so I don’t pull it back out.
move_to
left_x0.2950left_y-0.1400left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9463, 2.3035, 1.5513, 0.0017, -0.7895, -0.8806, 0.9948, 0.0029, 0.9268, 0.6926, -0.5266, 0.0406, -0.0456, 0.9995] state[eef_state]: left_x=0.4314 left_y=-0.3779 left_z=0.0521 left_yaw=0.1364 left_pitch=0.0452 left_roll=-0.2418 left_gripper=0.9948 right_x=0.2924 right_y=-0.0028 right_z=0.1547 right_yaw=-0.0158 right_pitch=-0.1947 right_roll=-0.0486 right_gripper=0.9995 state[joint_eff]: [-0.3487, -11.7812, 8.4855, 1.4139, -0.3394, 0.1392, -0.1783, 0.0342, -2.0308, 6.8855, 1.536, 0.0073, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.14,"left_z":0.23},"note":"The open-gripper approach appears to have nudged the tan bear fully into the right basket; it is now visible within the basket walls. I’m withdrawing without closing so I don’t pull it back out."})
tool
executing move_to over 22 steps (2.2s)
step 400
assistant
agent noteAfter the gripper withdrew, the bear’s head stayed inside the right basket but its belly and feet are still outside. I’m returning to its lower torso to move the whole bear deeper into the basket.
move_to
left_x0.4250left_y-0.3850left_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8066, 1.0847, 0.8879, -0.4282, -0.6903, -0.7769, 0.9966, 0.0025, 0.9298, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.3025 left_y=-0.1479 left_z=0.2358 left_yaw=0.1536 left_pitch=0.071 left_roll=-0.291 left_gripper=0.9966 right_x=0.2926 right_y=-0.0029 right_z=0.154 right_yaw=-0.016 right_pitch=-0.1974 right_roll=-0.0489 right_gripper=0.9995 state[joint_eff]: [0.3487, -3.1932, 6.3932, 1.4969, -0.1099, 0.1245, 0.1685, -0.1709, -1.9761, 6.8855, 1.5556, 0.0073, -0.0317, -0.0122] camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.385,"left_z":0.075},"note":"After the gripper withdrew, the bear’s head stayed inside the right basket but its belly and feet are still outside. I’m returning to its lower torso to move the whole bear deeper into the basket."})
tool
executing move_to over 22 steps (2.2s)
step 422
assistant
agent noteThe bear’s broad lower torso and one foot now occupy the space between the open jaws. I’m closing on the lower body so it can be lifted and placed deeper into the right basket rather than merely nudged.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9634, 2.249, 1.5169, -0.0135, -0.8158, -0.9215, 0.9968, 0.0025, 0.9318, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.4216 left_y=-0.3749 left_z=0.0689 left_yaw=0.1595 left_pitch=0.0581 left_roll=-0.2738 left_gripper=0.9968 right_x=0.2927 right_y=-0.0029 right_z=0.1535 right_yaw=-0.016 right_pitch=-0.1993 right_roll=-0.049 right_gripper=0.9995 state[joint_eff]: [-0.7179, -13.1624, 7.8154, 1.326, -0.2808, 0.0464, -0.0024, -0.1983, -2.0855, 6.9265, 1.5849, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s broad lower torso and one foot now occupy the space between the open jaws. I’m closing on the lower body so it can be lifted and placed deeper into the right basket rather than merely nudged."})
tool
executing move_to over 10 steps (1.0s)
step 432
assistant
agent noteThe gripper again closed empty, but its closed fingertips are positioned against the bear’s lower body. I’m using a controlled forward motion to push the bear’s feet across the basket’s front edge.
move_to
left_x0.5250left_y-0.3750left_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9653, 2.2688, 1.5223, -0.0135, -0.812, -0.9283, 0.0103, 0.0025, 0.9321, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.4209 left_y=-0.3766 left_z=0.06 left_yaw=0.1577 left_pitch=0.0485 left_roll=-0.2678 left_gripper=0.0103 right_x=0.2927 right_y=-0.0029 right_z=0.1533 right_yaw=-0.016 right_pitch=-0.1997 right_roll=-0.049 right_gripper=0.9995 state[joint_eff]: [-0.0342, -14.4068, 5.8735, 1.409, -0.3346, 0.0659, 0.9109, -0.0889, -2.1265, 6.8991, 1.5409, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 432): [image omitted: streamed camera frame] camera 'left_cam' (step 432): [image omitted: streamed camera frame] camera 'right_cam' (step 432): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.525,"left_y":-0.375,"left_z":0.075},"note":"The gripper again closed empty, but its closed fingertips are positioned against the bear’s lower body. I’m using a controlled forward motion to push the bear’s feet across the basket’s front edge."})
tool
executing move_to over 9 steps (0.9s)
step 441
assistant
agent noteThe bear’s body has shifted into the right basket, with a paw near its front rim. I’m lifting the closed, empty gripper straight up to see whether the bear stays inside.
move_to
left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8177, 2.4557, 1.9156, -0.1204, -0.7326, -0.8268, 0.0122, 0.0029, 0.9333, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.5159 left_y=-0.3723 left_z=0.0812 left_yaw=0.1991 left_pitch=0.0653 left_roll=-0.2913 left_gripper=0.0122 right_x=0.2927 right_y=-0.0027 right_z=0.153 right_yaw=-0.0156 right_pitch=-0.2009 right_roll=-0.049 right_gripper=0.9995 state[joint_eff]: [0.9368, -12.4376, 8.6769, 1.4921, 0.0757, 0.2711, 0.5543, -0.1026, -2.1538, 6.8991, 1.5165, -0.0269, -0.0171, -0.0073] camera 'top_cam' (step 441): [image omitted: streamed camera frame] camera 'left_cam' (step 441): [image omitted: streamed camera frame] camera 'right_cam' (step 441): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23},"note":"The bear’s body has shifted into the right basket, with a paw near its front rim. I’m lifting the closed, empty gripper straight up to see whether the bear stays inside."})
tool
executing move_to over 10 steps (1.0s)
step 451
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8177, 2.4538, 2.442, -0.6334, -0.7326, -0.8421, 0.0145, 0.0025, 0.934, 0.6926, -0.5262, 0.0406, -0.046, 0.9995] state[eef_state]: left_x=0.5202 left_y=-0.3769 left_z=0.2157 left_yaw=0.2078 left_pitch=0.0709 left_roll=-0.3178 left_gripper=0.0145 right_x=0.2928 right_y=-0.0029 right_z=0.1528 right_yaw=-0.016 right_pitch=-0.2016 right_roll=-0.049 right_gripper=0.9995 state[joint_eff]: [-0.3487, -13.9145, 8.9504, 1.4188, -0.2564, 0.0904, 0.2271, -0.1846, -1.9624, 7.0085, 1.5556, -0.0024, -0.0562, -0.0122] camera 'top_cam' (step 451): [image omitted: streamed camera frame] camera 'left_cam' (step 451): [image omitted: streamed camera frame] camera 'right_cam' (step 451): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.953 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
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  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
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    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6167, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.3782, -0.012, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.6479, 9.3333, 1.7656, -0.0366, 0.149, -0.0562, -0.7863, -1.5521, 9.7846, 1.7607, -0.105, 0.0757, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c33d1dfa0173b9c46d64c44669de5e12057e15d73e180479f84302260b31a07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61422210d1d48b478593281fafcfd041d9b80f99991475300c09035c8149d37f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c707a6eee8fa8facf79f208a5fe1a999f3d74a14be32a9169fe6b9483c77a09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 4.93 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHXYzmE871E9bnxMCLvvQ1ObN311_rMeUqGf3adTT6tfCIfLYGEIkf0nutigYEUDc_erLkHn-I2VHd65MxYRG1cDkxgibUhTZNHhYzhv-13_prAPJ1zo_OgOJr-cj621zEoeQunk06CG6r0qV95NXscvpd3Ws4OzH049Lf2qrBuuqAuWwSZNwr6lUgUO3V--rFzkgAQE5OJjtGHICrUBbCx-ux21Fe5JcGyPQEOH6hklP_CzVueICWkN4fPpLxiwx7QMTsKKoqW5y1zKbN0r-8jjnbjgMQPzeU48tEfUn5z1HTt1Uotwmq_0_NPhhW_t1-3ocpY3NFSjkMA2xm9bYZDtucXttj9MYWMtf-x0ghggHcCXEo-Emvsa6SliVzSOE3tMabiAqM7BgAdPp6PzGvv6W0-IQodJVKXNA5Z10YzPATi79ToM9hFrKQAhJMi13a2Sk3awHIeyH1VYhk4pIBNXPdDXJYWnx6GMfQ0R0gVeVU5a5eBmEV9KN8qq6aPmiK6e0HV38SOZ1skmzvLb8eJKjOGKTD2h5V2Zyr1z-H5KBv5q7mZC0Ee4enC-Ngoj0GQx-q5jRClsXyxmKznlHQ-5EQeyomjRogVEJxdHc3vt3AHSiXhkz5f-zxqqsMqcpvSgSZdMKCQ8Tm--LbwbOQbIIC26Sb6ml9SQSuhHDYI6XuKIZ4NhebyS06x_9pBdNeFKcJ0wqGYOHnnVjZvRTielQCSo1B3UcnSRELWiw8DFnaQvk4tRsVrAvlVoD626iehU9-vDipsQbtwJJCttq94sfsxh_i1sKsxXrZsXINFWPk6WJTjWRgWKYu2KcT3svoSYfBwD4xaaDSTjqBk6Bg2LuGUBLn-5c0kbfmil6jvTZ8iyJO8IRKvVJOPOP0OYDUep6GN_QNQAdNOfspSEnHAYYO3WzCCbaIMA061MANBZU2DW03H4QcgDYDQqkghyMXhaDLzYNn5nkEPdaiZRebTgTcBm20KaLEKnxHNknwiNpn9hriOJkuz2R_Vx0SjEuY8ca8RDwsX3sBNj2TPD_Dyj83K4CPzlIk9fK1eU_9lIt3AfQ4YBQQlTm9tWr-puOp7dJjm-5AZYPHSuC7L0AW8knb_cV-nEVmVN_pO9Sw2993_uLEKiceOENbsQOmcSel6vVcvWhmnmedpkem2SfLdpOKWk5W3mJWWbyaGQedRX-Z1uCy8VaYDPdS2M3s8RpFlD8VH_oInLlt0Y6HoXLxRK7VswKFg3jdwV3j4_8PODRleXUV1b4hjo5W9TNFBrKW4p7QLcwdjoYBTYcNdtMaGv564_DouaJPzKaHcdtYw9M7SUa6WshNj4IuyKXbpNa0UywvVfzoOnMx_bOEotG1YEFGauzkhWk49og8yyZyxv3XO31iYoYhEEHVHYxTxbfIqfCWrdYlorqAZThpNCZGohVZEr22aLJzOjbeG5bIdfjt6KDRkwrnaUsWK9HNQrWM34TtKaVtewD6Ab7GkLAyIzNui33NimTtruA6UvxkoPO6O3I6QYcXm1bOvaChqCkQw0hdL2zF6xPwHKGmfwBga61B8oTGO4GDlT-33_Bv4miAGM9m45B_tO2UnQV8NLzo4guO-UaWKaZEWdmyzk3yc0IVIuR8u2QelD9etDP969rosIWiub_TyuTwSPUU5-eQL7wcPuK_8L11ApZ5XkVzobn7WVONZ0g5DxMVUd5fk9ExO4H85jp-4wFo2d_u2d6bqJWRYeZ1HTRevSKzBiRCV_eQ9WmPRtAgy_RSYlntqX2owogr9b_AsixDlfaiC8N99NPwUfO8c3z-BvqRl_bSDk0gjgNvPcYmfNvvztidcwiBTp72SIe1p5SBINwrp9RM-pWY_qx6xxQap2y1HglnOIu7TbQeLfYgbdSpyzgTbbtn5tn3jDixbo-SQdsrcBOdHvIzFm_FlYlTosL8SgYrM7uZ4R9yGG6aWwY-iUc3KVFVGGIA9mXyoGpRWvoZWLLKNP47iERlaa1bkZycWYTUjBMz4_uqk2Lgh2e1d5mRSstzaKKGqz3akbNr8zsuWYZXcdtFln6bt9u2peNAdB1kSexqrTgKmoRUfi8NvD66uOrYvyiI0iksADmuefH4CrXzM6MGZPTJSIv8-QhxZKz7nSjqGu7l7txQU_xkn5QG3nJypZhTneEwidCmARCTqZ65qm1L6ipBFn84_1y8LQqFCNpWdRdth6E8SJVDNQ8VOWCg=",
  "id": "rs_0e3832893b9b1977016ab421d4438087d095860f5df93438b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.045,\"left_z\":0.14},\"note\":\"I see two baskets at the far end and a cluster of gray and tan plush objects near the arms. I’m bringing the left open gripper over the nearest gray object to line up a pickup.\"}",
  "call_id": "call_bKQPhQzjWFWe3oQMNFb3eJXu",
  "id": "fc_0e3832893b9b1977016ab421d6419487d08e32b32cd15b067d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bKQPhQzjWFWe3oQMNFb3eJXu",
  "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]: [-0.2699, 1.0389, 0.5251, -0.104, -0.2192, -0.1677, 0.9996, -0.0208, 0.8013, 0.6086, -0.3847, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3261 left_y=-0.0467 left_z=0.1311 left_yaw=-0.0128 left_pitch=-0.0386 left_roll=0.0037 left_gripper=0.9996 right_x=0.2952 right_y=-0.0004 right_z=0.1791 right_yaw=-0.0066 right_pitch=-0.0111 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5624, 6.8855, 1.8584, -0.1441, -0.0415, -0.0171, 0.3761, -1.4701, 7.241, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a905692cf97fef07fb833e7126be3ca863725e729a6c03d880667227c4faf2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c477ed382b24dff68f57870513ac05f404ff8de0c0c6cbfb8893d19fef65e71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b11bb459d1e1d57dd37fa03b09b98e88c4f370f238738f4847ce1c0255a9735",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.24 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6167, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.3782, -0.012, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.6479, 9.3333, 1.7656, -0.0366, 0.149, -0.0562, -0.7863, -1.5521, 9.7846, 1.7607, -0.105, 0.0757, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2699, 1.0389, 0.5251, -0.104, -0.2192, -0.1677, 0.9996, -0.0208, 0.8013, 0.6086, -0.3847, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3261 left_y=-0.0467 left_z=0.1311 left_yaw=-0.0128 left_pitch=-0.0386 left_roll=0.0037 left_gripper=0.9996 right_x=0.2952 right_y=-0.0004 right_z=0.1791 right_yaw=-0.0066 right_pitch=-0.0111 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5624, 6.8855, 1.8584, -0.1441, -0.0415, -0.0171, 0.3761, -1.4701, 7.241, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a905692cf97fef07fb833e7126be3ca863725e729a6c03d880667227c4faf2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c477ed382b24dff68f57870513ac05f404ff8de0c0c6cbfb8893d19fef65e71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b11bb459d1e1d57dd37fa03b09b98e88c4f370f238738f4847ce1c0255a9735",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHdALPz3isbX1wO-TxKcpv0iCsujYUXvtx4m4-O7wj_6fJL2_Zm920_IWt95zZ4DYwENZYNj6h356JWFiuYdA-_oqyw8WOHza8Yt4fgsM5D1s2xGOldTryoPqmkGN7UYaAWgBlb29G1L_VUXbyI4Iszx_A-Wovt6dLSQKmMpq0AR8uvxcaMqwazUtaHBhJl8iGNN9-Nr1NCUV4OrMGharKbfi6ESwkXXS3iQnTXl-_cQTE0tEwkIyMwgGVH4F0HRow7hBm_9FN1OSRxit5CG5p0ECGDy6Yll41a2FX6DP2hj8yvdW3UTYfLdWpSGhzqUB0H3rpHbXz5PF4AdymP_BaUvrS1wc3lnGc43VleXzO7tJgC5j7rDQ23ePRv2Ew9qu5Nos7hH-q24ASNhFbW41qVkZDL0j8bS7Wbbar0TM9AcBXeY8IMy9aP1E3szTMzIvnEyIbropz-jCpq16n_4S2Gelj3O49Navat2otHXwh6JL7qTvvte6OwuxB0LTQt6fsBRktkhf6D0iFrkIwtnY1jIjnTEpmOCEaHRnlzp7cGiGhF95J-lfUcFpdCw7ezpCPjGNqBFPwGy4rru5IWl41P0UparINk9E2aSFd-onVQxRB43RXm7kkFMT1VlPezdn_KqzqkqYVs4XgT0SdQtwDVhh4Y4SHqO8a_f75jFW0bvwtbuIa5YzIXscXvygn1gOeV7AiFBVY6DWWgtw-iJWL_hPoeFNZKCefM31XDNaQQiuGs9QHihmglJNJkdVJPWPSEldrF839F7UCCKGy6ghbMiG-b77kJXnLMUVjjlPHgT6fyCmnlv4PXhKWVEAbr7Q-HR_PMyNBkEq2oCEB72wmRszdv3EXPxuCu8fCvb8fOPQGFNzW24wNKtsbjlDMvH1FeO6Si1SUMTX1dcCoGz6Dy1iaT0Z8Agm0HoviAetxnCQbyDcHDs75PrDb1wShkCnryS22SEfpZGWCkysb_YAQzKaaPI6fvRDAxHIdUrU894K6t8Ov9CKlIvVPcqtW2MrDTjXibZnYMn0jLiWgqBUi91_A7Yh-93N1fwTtxZ4eCMnozTv5_qYTjFcZI4oCear5qhYPzZejCU_OqWvzfg5GPyuEygmunPsTB_UIbMny0p7f4sMPNCxHGk2q8pRznnHJwKhhK9iKxmdjAabMK_CKUC8TxwSahKrUdwhlEiP1XGegOH5Et9AJpQQLczWp9MkIjv24N8_4tg7iaIbt3G5khUvrr0-VZCv6UsuRzhlJ06v0PLxkiHiOrlwQmDrO0qxHo1zP9KSwgGbr79eOzMzBiCORFqzOFbr_iwYJZAv6S5majnf5CGq_72b93XhOfJzq5gqnkL_QJwyFY3b-v2Zr0KiZBL-E4mQqakzzdRK3WxJ_fBeiYtGXpALupnHnkNd_CWgyF2jAgrxvkwuRUt7_eWGprjUd78PfYqXeYxtFEV-hyFvSbEHEw9rGHSgCMGg1T-dxLo32R9AHxmWe6SH94dQzf-1SPhNuJL5bq6v6MKEF4m-xmuiGRlm9sb8TdrYuOFc70RR1PALh5F1XDGrunTxMkyfDiV3oGgLpRdwJod40lWNJpD3wVr4JI8CshBpPc-bqqOXdUiheaUAxTM99e1_DzC3X2XAQPqwtEBeCNn4zDu9dWHZfsrLphvSwoTw1odm5M9PkSL2K-D2sd2hAScZTYTtrQ0C06OOWcIQ2zST7wT7zNE-Elgg2xiwmTLxJDjVecZ_hy3-nSNc8rawhYjTpKyg70XOohW8zCv3wcBNccJFS0FU4fBAEGK1T1iBHX-8qlskoE23E0cZYlFBUg234H-eoR5dkx8W4Xsz18yX8s8L3cZ0F0EGxYvm-b-i8fwYHb0pG-CCqgg0-1WROjRuwdd-rdMD6QNi4nEYPC7g6ptuMbvGkG1UkzExaXq2lO4Dbvm6O0NtJghA6_IQermtfRrQjTadClyoijWSZRipJzuP6AwFkS4MYjBmoawaS2uwjO5M0Te-s4srLxrmtweFJg-PKY_5Mbrg2GtWoP1OtnmRzlmferWJcGeDkNw9E1N69XZmv5R0K4U31gC8kJ_7SlrUP-Lk0Cws_zjHrKkIAb6t_c_7CCeVT1Mf41RYPTKpq03G66Gj5LRBRxWy2Z2qqEHx3DLvFJjdWz2VCEnI7f6IGCh9T0QdzmyZWjrAOElX7c3dADZ-mgzEEEQHSRGsDMBb3P_hUYTTUoQknG368yFI3oSGunGxNJPI-ewjbi-SC_QiNUblKxHzys7jIXGiHRfzn9bPSzsKghpNUvOeMayPx7IBzTRrE5ruaJetul0hPEEz_Rt54rTD6Q0zWpS51Zu6pdI9G9V65FPT0oiYJn6yOh1Yh1H-ErIno7RgcQLLO1HJ_MQF8895JZPYDyBZ-39PXn3SL1bKr7N-qaYjHbuv3kPaKHdnV9G8DLfJdWRIyCF-uQWo0aPT9wpHokTH-v_VWj2_Y0P7ZdxCYifvcBDpQKxphwuLXVXiQfDWF7HI-DJL89RNKYP6qdcowySym7SR-_ZCLUfhn8qY5kLw-waWpjFyJ_BfDyttf5IACih8tpiULX0J_L6TQTi8MIMOrMGWAlxbHPRJrkL1Lo2tytF0zt4WKNnI8nFFDj9TA4Ns3vTJIxEMJt8kJn6nJPPGSQI5pR-3mZTQJPf7ZAwlLZGa4mBmf_WhYK18VCPOXBw9vIz65KgjcabWyG0y8LXa0FFZaLdkaZpVEHrwxtBGZPrAelGS6JfGEE3HlMlsoat6s7NRaDOevSiW1OdAzAGMvV_xIWJsFYEFdrzfEYD_Fd2joB9IH9Tm_8JMlqgA92ei4izkc4RmOP_qo0k7GcdvmexrVTuIbu6l6WFVV_j1xhHBp11HqWNR36HQE7NwLF_7gD2wmerB9YFbvsOPG5m8sKHEKoxKjx8Ck8whpy9HitfaKv5R9ubCwoeKxG0EqMVx-yIA-t8OxRAgQ84nwAVBNXdzBrNMGjQFv3KZIKigo=",
  "id": "rs_0e3832893b9b1977016ab421d9895887d080c03052207e5ccd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.028,\"left_z\":0.075},\"note\":\"The gray plush is left of the jaw column in the wrist view, so the first sideways correction overshot. I’m shifting the open gripper back toward it and lowering to its body height.\"}",
  "call_id": "call_9ygP9uQLebZABbJCm0461WkI",
  "id": "fc_0e3832893b9b1977016ab421dc845c87d0bf2bdfbbf046d588",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ygP9uQLebZABbJCm0461WkI",
  "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]: [0.1234, 1.2915, 0.4129, 0.2489, 0.0761, 0.0383, 0.9996, -0.02, 0.8032, 0.6086, -0.3851, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=0.0332 left_z=0.0706 left_yaw=0.0211 left_pitch=-0.0652 left_roll=0.0013 left_gripper=0.9996 right_x=0.2953 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0061 right_pitch=-0.0134 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8496, 5.7231, 1.8095, 0.1636, 0.1245, -0.0171, -0.1026, -1.4564, 7.0496, 1.7753, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3edfa7415311bec1e30d7711cf0d0a2525d2c8a0ee1f7bef81b121d349afc5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6890483c29af06b38554e2ce4873008ca51e2f8be8370d3402aefd772d931db2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7ea3e0d0af0d02a35af465862b4b4ac79d0e8d854da604d32ed67ab5672629",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.001 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2699, 1.0389, 0.5251, -0.104, -0.2192, -0.1677, 0.9996, -0.0208, 0.8013, 0.6086, -0.3847, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3261 left_y=-0.0467 left_z=0.1311 left_yaw=-0.0128 left_pitch=-0.0386 left_roll=0.0037 left_gripper=0.9996 right_x=0.2952 right_y=-0.0004 right_z=0.1791 right_yaw=-0.0066 right_pitch=-0.0111 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5624, 6.8855, 1.8584, -0.1441, -0.0415, -0.0171, 0.3761, -1.4701, 7.241, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1234, 1.2915, 0.4129, 0.2489, 0.0761, 0.0383, 0.9996, -0.02, 0.8032, 0.6086, -0.3851, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=0.0332 left_z=0.0706 left_yaw=0.0211 left_pitch=-0.0652 left_roll=0.0013 left_gripper=0.9996 right_x=0.2953 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0061 right_pitch=-0.0134 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8496, 5.7231, 1.8095, 0.1636, 0.1245, -0.0171, -0.1026, -1.4564, 7.0496, 1.7753, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3edfa7415311bec1e30d7711cf0d0a2525d2c8a0ee1f7bef81b121d349afc5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6890483c29af06b38554e2ce4873008ca51e2f8be8370d3402aefd772d931db2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7ea3e0d0af0d02a35af465862b4b4ac79d0e8d854da604d32ed67ab5672629",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHhdX5jnmTaMRpwZHFdFryE2okygYPh2FIMYQZ-QilRQW4NpI_dSQ-jZ5YWt6Qn-gBno4pCKaTPfiwWgXhlGjNydCQDmEB89a4HyeuDr1kDTVZxeHqftmETVOl1o6DqCOrwllJH17PdkdVABonp0kx4CIMaAa7bjv4eXNv48mpt8zNA28CtIfIDZUS7r12UyAg1BUyavz2CouQjOG3Y8Uz-sF4CWDu4sZZku8oaHdoYAjOMFgxcVgUojtVgc4sc21Oo4WheyxNxK6R1az8ocglYwFVr64d3zi7iDUUZyYZSZXPo-YldIjchAxJDMlb-xm3o8wKa3QLYnhPAvLYmvKfdRWvXC5EBpMe09EnvGVQHbdHmJTQMmYCymxkYbUCuIvjyxgvIsKPPF7tkh1JlNpZXNgzFhqKeNLDdRxXaJMXBrM_hp_MwAhVL5rRzHN4gh5JswEQLCzc92-BG_YEi-WLiK_QAokog3WzXW04WP8H4924IFGp0LFaeh7PPYhZBiMVmN4J8TPYrJMcGBrlWasotzbx-wuyFIJhimw7kAxa9RX856bkJMcPlSHy40fmaNN-54sQhOY9smBatoiVM0M5Zdcor_RUau4VYkR99aggddLhU3dyF7SJ9xPwjqUi13aTz2U9RuRV4Y33zAwHLj_3GmBfJ7ebooo-mxM5yGSnLwtqDVs2v0QOaNiAQYesAeoUMEIJM-A-6q11CeOUXqwFpAxl_6QJLVr8EUGR7jT5RVThdwmwwsfP-T9-gSEzRh_MnYvB_y3TGCVDrixnVcygW7pwCzH-mnHJEygqWVpppl-lLstwg0nIKjRvKs-RhM_NhHQqXSuNX5tiWv-VMYlfCrhgYNks8HEkHcgMjDOBdo6aW843VQd20Dr3n8OEWV-IB_KO3lzDA9kKh1bllcbOFFCae5qEk3PvRMKsBenRrR_sH00YvefG-oY7vqnT-uWYxlmhCxA1rE44IfZyfddlUJu39pEDLt9zjxooRFqRYRdOJcL0T-YQh47cDiTGlMD6Du2FElIQIrO1C9Jmul_6cl_dBl8HelXalbWWxTdDJCPyFAGL3EI5VZ0eswCRDi35HInuxqjn8Y4VTeeswyo7lgM17G0NAjh14hM-E18rPP7soZkIKoNIAisN5kKQX3ap2GtJTV1HSjaVS3xlY2_qDNskpQ98M_RD4xr_f_ZnWS4MKrVmcAfZzcVhkJ-hoaoxeNyA0Fab4z1-6OC30yS3sWGULhcLemeGlxs42QanpOH32Gq4AZ_yF9Q7Y87qvtKL8TcwjswpBR7LvV0DnEBkCHzB75OehyB3zRID28hq_K8HMIYvXMaQKXt3vDZPlyLDwZ1zlO_TfJ3_pjyoQ-eYCCKT1zG7wkHX1Pj24Z6vcfNMr-Hh5d4jisoAWq0tTOulbb2anPZJXpq42uaSjWgoKo4bRBwMDJbNU8JqKG_eo2YEndxIlb50lktk1j_Dac0FCapvZo6d4kLfggBDxukvh5ZxxVLIXnoiXDxElVHiDmUk=",
  "id": "rs_0e3832893b9b1977016ab421e09e6087d09c7ed14c0dde5b13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now sits between the two open jaws in the left wrist view. I’m closing on its torso before lifting it.\"}",
  "call_id": "call_8w2mb1XVaGSRFP25VWmSEa28",
  "id": "fc_0e3832893b9b1977016ab421e13bc087d09e0a41707be38c77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8w2mb1XVaGSRFP25VWmSEa28",
  "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]: [0.123, 1.2922, 0.4129, 0.2523, 0.0715, 0.0341, 0.0106, -0.02, 0.8082, 0.6079, -0.392, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3479 left_y=0.0339 left_z=0.071 left_yaw=0.0269 left_pitch=-0.0628 left_roll=0.0008 left_gripper=0.0106 right_x=0.2946 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0061 right_pitch=-0.0259 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -4.2325, 6.188, 1.6532, 0.0659, 0.0269, 0.7985, -0.2393, -1.2923, 7.0769, 1.79, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b70c92a31a869da768bce2a49e884d3211e73ff85b2bde965b743ee18f5f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f970a456109f1b8b86ad5fb8e80e115fc783a043791f24948eca6598025e6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5380a9f71eedec5a6ac8aa348f69b79c0b0452fb97806f51360c14dabd3bcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 1.856 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6167, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.3782, -0.012, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.6479, 9.3333, 1.7656, -0.0366, 0.149, -0.0562, -0.7863, -1.5521, 9.7846, 1.7607, -0.105, 0.0757, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1234, 1.2915, 0.4129, 0.2489, 0.0761, 0.0383, 0.9996, -0.02, 0.8032, 0.6086, -0.3851, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=0.0332 left_z=0.0706 left_yaw=0.0211 left_pitch=-0.0652 left_roll=0.0013 left_gripper=0.9996 right_x=0.2953 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0061 right_pitch=-0.0134 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8496, 5.7231, 1.8095, 0.1636, 0.1245, -0.0171, -0.1026, -1.4564, 7.0496, 1.7753, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.123, 1.2922, 0.4129, 0.2523, 0.0715, 0.0341, 0.0106, -0.02, 0.8082, 0.6079, -0.392, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3479 left_y=0.0339 left_z=0.071 left_yaw=0.0269 left_pitch=-0.0628 left_roll=0.0008 left_gripper=0.0106 right_x=0.2946 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0061 right_pitch=-0.0259 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -4.2325, 6.188, 1.6532, 0.0659, 0.0269, 0.7985, -0.2393, -1.2923, 7.0769, 1.79, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b70c92a31a869da768bce2a49e884d3211e73ff85b2bde965b743ee18f5f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f970a456109f1b8b86ad5fb8e80e115fc783a043791f24948eca6598025e6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5380a9f71eedec5a6ac8aa348f69b79c0b0452fb97806f51360c14dabd3bcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHmuR5PWA4c5gnzGt7vgAxVC681QtdLer-JOzDcp4PASN2n_jeogNZ58ZK6rHmrQsQQ_tyxOerLp3oHYRVosYxCqvRYqEVO9IdD4KuNcUXKiiiBb0PfPsRKSzwY2cs1kKmqhHkWJRePY1eO9MQPCy-nHktjXCiodXIES1eN07hUmZRoLBv3lldQ2UeOzQ9gS8SxfJJRHXYiezyXP1gaCaAtLdc5-dZROwLVLfQf6h3OKNoqi5sKtnHSGiwBOXKCd0MooTmKTtvqv1-z_u8cL0UFqhOZykZ7ndk-s-h45s4_JWzZwU6agfPQ_jwsF4Iqm3enPSfLFJW-RAxUeI6c2dyFHJC5k3se5cxDrWawZH3M5qBXwTPLXxs8LgSub6idwbh_OE2SWmOnFzmwh-NpNMsOww9ktOdl-OGDvfJii961gPLzN45tpps3Rn1WYNzMLsOk52BQUrRsZMlZiBuHl8ocPVE9nzoqeDKp9ONLoKSmDdOeqfWHsVhxP2hkWMY6lV_v_WrqnV8SYBABWlQjqiBNCo__f_U8-WEsh4vtjpLA41QtwR2vuN7n51Pfhw5RVr7ZrzrwtqeURLVbfBBJSDZqvSLGJFTOFlk4nyMoNa2dx6admtzQJmHtzhqUuXBEmLRLGaXK-221jv1hypyhgN0rE445mkUdBq9_KNhwl2Dn2V24Ugyo1WoBeBMid9u7JUezgMrjjeMHKHMA2grkfKNppD35NzL5p0JmEwKedpyQXdZaZQYFAacSzen9PdD_zZQzvqIHPMWtyXLhYD2z_Y6iWzzH9Wo16v2O259jTxx91H2z1tmmRn8CpHWuYsF9X5dwWS1gXGA8pKebDuJ2SFfvn9R4JSPA_w5ujqlrFvjkY9hfDwD5iDoYC8LE9ZH8bCAI8Q7u9UmiodP9zb3g5r46RybbK9Xr85GeRCwOw166LSx5mRoVUvS8ax5xD90Vmdh0OHDR95I4gvY1zhNiaCUDLHAZpgVN5gLx3VuQfwbV7c9L7-9jxjGGYdiWEBZlsDKUbSlnWExk89nOAl281IteTrdSHwV9d5dyxxVGR7kj48jVGW-y0B1PAId7urb6uNB8vgpKvf2JQLT8ZtVOOTASM-lD-fI7yOmAnbXpMbiY732nJuvSzDJffW2x-jDqSBgVGWeZHOaC_QSw8PW82DXxCJlrn_fCljKuL4YbSdpOPkiGtOzxPlN2q6PrVr4fMWs17AlaWG5xImGxt16DUpP9d3aLTpWHtaXD5JSiPFaRV0iuKM-spbRUa8EAAF74A30ADAlN_qQgoVTWuWnduXDLygGYEtceDq0qEd9eJ_cZP5AWd_pI0PKEck92oEIZ4togzL-KN3JZtCWea5TMRqFKWS5jBBffxlFGHC2ecXXcLZ-DHg_PgwsrKJEdcMXltQTRC9P_b5M7HYvGBj4uXLmcoiIq1vmpwEYYt-ES5kTCHPSv38oZsWdeXB0vt8s7kxmGrCjqeM87-NtJG82v-cI4WOfbBV0YR9afv2kOIn8-FhZyJTUrjlse-2iCjVlMyqK-u7cb4mppggmsf17FNjtpOFgJkvZJyavfjJTPiyY3U6-4nzdStzsK-kv8n1DSgB6tMzASAfphTTYN3yk1nrCB937sn5Yekc6nODXBsjCDyeoT39tYvX4yVkJelyOy4sXsSNDyvqgeFU82lYrY8l7IzukXSnFutpvv3ySbqFf3QM9KEsho2dWmZfXmiSJoIbYVpX-3jN4PboPQ0L8nZxOiegidqqWas5IzOifgiStunIko2-0QztpJ5TnBP1FwmwKjMmd3OABeyQqWAAVq-SRB-GtjCyfte036fmnndckCLwD7eqtMZh_3aLBb8rktHiQvVimH7UATwOX7uHEg9mYsIT3qLjIYDZxOA9IomxPuZioksn3JHShq0QdQmIR7do8Sj8hBiI-edsGDNOnwzHeLUzAyuyXZbKOYncCI8ZA2yeAEmCC97Dm9grMnIeHXIP5YpW5aKm1x6HJ2818FVU347rpp0Kd2ksP1hiuR1PyYfgqw1XiWoMlRHL_C2ORUIKzdjx4suR0eeChkp1S93fp3Ig1jhLjcYJwVmW9n3agU-6wI8wpVuWl977478Q7mO8IK",
  "id": "rs_0e3832893b9b1977016ab421e449e887d08a55f8ad7fb9adc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":0.027,\"left_z\":0.036,\"left_gripper\":1},\"note\":\"The closed gripper reads nearly zero, so it missed the plush; the gray torso is still ahead of the fingertips. I’m opening and advancing about 3 cm while dropping to a lower grasp height.\"}",
  "call_id": "call_0bP4shDqIIaDA3UKd2ZHsXLj",
  "id": "fc_0e3832893b9b1977016ab421e5de5887d08289578e06e21505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0bP4shDqIIaDA3UKd2ZHsXLj",
  "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]: [0.0814, 1.5509, 0.4435, 0.5297, 0.0326, 0.0074, 0.9959, -0.02, 0.8097, 0.6079, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3836 left_y=0.0291 left_z=0.0491 left_yaw=0.0326 left_pitch=-0.0151 left_roll=0.0044 left_gripper=0.9959 right_x=0.2945 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0061 right_pitch=-0.0282 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -3.8085, 5.9966, 1.2967, 0.0708, -0.0659, -0.1538, -0.1026, -1.306, 7.0496, 1.6874, -0.0269, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a81722256182986e23251d5bc1b8a34c79f07b5cd4ce51b1df645f1a74f6be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7d50fb853962c38269292f65fb034e9fd9c3177179b53c1e50370326bbde23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a6faf471677645b2f8f5e696ffaf8ac90770f32051569715478d1c003a35af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.373 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2699, 1.0389, 0.5251, -0.104, -0.2192, -0.1677, 0.9996, -0.0208, 0.8013, 0.6086, -0.3847, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3261 left_y=-0.0467 left_z=0.1311 left_yaw=-0.0128 left_pitch=-0.0386 left_roll=0.0037 left_gripper=0.9996 right_x=0.2952 right_y=-0.0004 right_z=0.1791 right_yaw=-0.0066 right_pitch=-0.0111 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5624, 6.8855, 1.8584, -0.1441, -0.0415, -0.0171, 0.3761, -1.4701, 7.241, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.123, 1.2922, 0.4129, 0.2523, 0.0715, 0.0341, 0.0106, -0.02, 0.8082, 0.6079, -0.392, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3479 left_y=0.0339 left_z=0.071 left_yaw=0.0269 left_pitch=-0.0628 left_roll=0.0008 left_gripper=0.0106 right_x=0.2946 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0061 right_pitch=-0.0259 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -4.2325, 6.188, 1.6532, 0.0659, 0.0269, 0.7985, -0.2393, -1.2923, 7.0769, 1.79, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0814, 1.5509, 0.4435, 0.5297, 0.0326, 0.0074, 0.9959, -0.02, 0.8097, 0.6079, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3836 left_y=0.0291 left_z=0.0491 left_yaw=0.0326 left_pitch=-0.0151 left_roll=0.0044 left_gripper=0.9959 right_x=0.2945 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0061 right_pitch=-0.0282 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -3.8085, 5.9966, 1.2967, 0.0708, -0.0659, -0.1538, -0.1026, -1.306, 7.0496, 1.6874, -0.0269, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a81722256182986e23251d5bc1b8a34c79f07b5cd4ce51b1df645f1a74f6be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7d50fb853962c38269292f65fb034e9fd9c3177179b53c1e50370326bbde23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a6faf471677645b2f8f5e696ffaf8ac90770f32051569715478d1c003a35af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHpw4BFnVkfE8syK2tsj1tJDc-ezU6-Sou2ahJTR-cCV49hQx4msBbIjJH7KQ8Nk_oyCOTbS22XNRdCCTSoLL2SCgYs8D7MEIYgdijhwNnR_jAes86ExLTT-N-I9rgqDLGWVhVR2UBlZucA7CysGQ9A3wvfKVflAZ-jxypsPMYDLtnVvlnm_6W5eCRmsKEt6JRof_f0uNse4GzyJVsoXcLds2DiXzF_nUyRR_YR2NNwHMzWjhwx5HLTkS-ibqZKgTKLoS38IiNAw6t3Vnump_wngr1thZPNBMp7eU9Pe4qcI8Vc8NOfQUMG8LHCTzNNOJH88-s7BKpeIVx4MgbuHyg12nhNag_mTnOQXx90PgiwcW7yjbhsgQpz_mbHo8LvwQA0_3IArmE7sthOlJnzgdMZNpDdoEjH5IQjZIb83x9YhKhykfIUyrWVJcqNy0iQ4KfjE0T1uRDrQk3MdM3zho1RZNXN_9F5hzGdEdZc7KMH8bw0YU-_SjZImjPk_ppjg1wD3uGO9lMvABo00pKhXKwV8FYq0w5lV74aXMl9Pk_pGYRiQatDW_V6qL7EovXsI-jClgmKo0318VeVIwXdhYJZ-nlRgcY3fIH2QwzFZgpbJCl50JGMSwnuv0l6yeO-E_q90GL-dZhUaANDysK0OFzeXBWm-2kgNAxKfQvg12F_sItPqXvJzJ_SY72yFFmiq7gH8SgMA0-rLb9uqsVxDKIzVXEo9LJzBCRP6066UCNYDmWeqSAizjBbLTswsuT3DGtll1kmynr8Oo1-LNqB9MbR7BJIqNKDfbUvQA2DZ9CNBhOsby6X7quYXVTHRbg18UrgBGMK9DDqPUScsth7_g1N4ip04VZBSraEgIRj_N3qwUeuuybG2hs4_TGhqlAy7M5qi0z2hu7RUKEvBIHGDEz575Pe3pChTaJ2F93rfBPSJIhJO_lzidaZFV95G6Qz7yu9Mfd-NcItKeZ9rX8v1jymIoWbeAohda7WLjfKyQUKpkl21s4lq9Eywbx9V_R6Gv6Ft7ZLAncL779dAo7hclNu4q5rUEceCwuAu9RX2VxzyLCU5CXz1YehxaX3CDF0PG_zpYR0W-Mmduqjc-jXigJjiw_yYYfGScALZL3TNxT2D7tEsXPsgge-M52PLITZBT4FtdlMzMemhcqtDb6FiI4JCNGXhpDFZ_ZOPxbhGnpre5444XwOQ7j5odqJaX0VGpEeymXGqxZP03i7lH-6TkJA-Qpqa4a0Y2fAo0QA5rkZ2SQ974Wl0DTzClPJFx2TYVJef2GCgkeSb21ix5m4D7_RUw==",
  "id": "rs_0e3832893b9b1977016ab421e8a1dc87d089ef264dc66adc6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush’s head and body now fill the space between the open fingers at a lower height. I’m retrying the grasp from this deeper position.\"}",
  "call_id": "call_hnt6PHYRIMF8BgfoWpfrdKXR",
  "id": "fc_0e3832893b9b1977016ab421e8d04487d0aab96f4b7c0feea8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hnt6PHYRIMF8BgfoWpfrdKXR",
  "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]: [0.0818, 1.5539, 0.445, 0.5701, 0.0265, 0.0006, 0.0654, -0.02, 0.8101, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=0.0308 left_z=0.057 left_yaw=0.0418 left_pitch=0.0237 left_roll=0.0035 left_gripper=0.0654 right_x=0.2945 right_y=-0.0003 right_z=0.1745 right_yaw=-0.0059 right_pitch=-0.029 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.8462, 5.094, 1.4188, 0.0269, 0.0562, 1.0281, -0.1436, -1.3744, 7.2274, 1.7265, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f62af683fe99b217575e263a312d8b2b8bb52ec644929f1e8c6a59b5951d618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b6b5a5e6231ee45e7b51fc881e3f091028768eb757f7ff593d941608693c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adacd3b0d90b26dfc86d745d37c0efafae05f4dedc2968806bf819ee6783524e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.315 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1234, 1.2915, 0.4129, 0.2489, 0.0761, 0.0383, 0.9996, -0.02, 0.8032, 0.6086, -0.3851, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=0.0332 left_z=0.0706 left_yaw=0.0211 left_pitch=-0.0652 left_roll=0.0013 left_gripper=0.9996 right_x=0.2953 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0061 right_pitch=-0.0134 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8496, 5.7231, 1.8095, 0.1636, 0.1245, -0.0171, -0.1026, -1.4564, 7.0496, 1.7753, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0814, 1.5509, 0.4435, 0.5297, 0.0326, 0.0074, 0.9959, -0.02, 0.8097, 0.6079, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3836 left_y=0.0291 left_z=0.0491 left_yaw=0.0326 left_pitch=-0.0151 left_roll=0.0044 left_gripper=0.9959 right_x=0.2945 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0061 right_pitch=-0.0282 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -3.8085, 5.9966, 1.2967, 0.0708, -0.0659, -0.1538, -0.1026, -1.306, 7.0496, 1.6874, -0.0269, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.5539, 0.445, 0.5701, 0.0265, 0.0006, 0.0654, -0.02, 0.8101, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=0.0308 left_z=0.057 left_yaw=0.0418 left_pitch=0.0237 left_roll=0.0035 left_gripper=0.0654 right_x=0.2945 right_y=-0.0003 right_z=0.1745 right_yaw=-0.0059 right_pitch=-0.029 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.8462, 5.094, 1.4188, 0.0269, 0.0562, 1.0281, -0.1436, -1.3744, 7.2274, 1.7265, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f62af683fe99b217575e263a312d8b2b8bb52ec644929f1e8c6a59b5951d618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b6b5a5e6231ee45e7b51fc881e3f091028768eb757f7ff593d941608693c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adacd3b0d90b26dfc86d745d37c0efafae05f4dedc2968806bf819ee6783524e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHx7QucgR-I6mMm4s6fNqKf--bm2Yntpc0i8mv_pMcLoUNerD21bswAGX-yRkX1OsB84vxso-8n14br0Pt4guwPoQQYRCRjiOscf7E7YU_o80JcQvJ2VS3b8xYW_LS2EVRArEJ3aeWvWKVkOSrg9Qh02faUN96Hac7NR-BMgmLt7NO8KXMF8khookLhZCH755o--DsM-mJQzHvWJCwRTUxQNR-D6Bj8EUldQftbf3eWg0bxTiQj9frp355aJrQ71R7K_5vuIdJ7yLlx1hmfpKBtAXCCLew5q2SmeXwb4IwwGJMrU2qYU2qaZxUwPCQ3EyV9HLpBvs2y1RlCXLBA5aqQLpzLoUvU96YCe3onNbXM232gLb4Ne7htEEiBiKK9IRbG50Kfk9G_CavYyneTnvEytrna6sBzssJdhNThSZDDjOuby-_OC_QSUzqUhaXlnWFu7yAc_abKTINUHj3K176sPw74ztxG6WTm_BuLVDiMkrLWhbdBSAsCR4IZnDuhit4hFwHLvFXBdyGAAAWEH_GH_3-qtgA5ovv7aQAfg1__6e0JoLZ_b4LYXPs2ndIRTvdKv49Er_NhGeRJdzv7dTYN13hntY3_wpOAufDMH-oy8bCgU2v9W7VUljC68tXV6kWG3bRMOzjJhjaehXKB0JQjP5Bi63w-QOzuu7ZczGwXP8mgKZfNrjtUDVS_s4htr5yORMu2WmCzZPkxrCZF5sloebc38TbwzzDBOylVoZ9tjdrpoZKRii-NkyCdNj1Tt8Apzq6XH_22dBP8Clxk3nsjViIN9cpZC80mDcg6npgNQyrVgnLVp9GPSCd9dyohM-V2ZjpdkjiDi7PHl-MVsRWjEEz_F6e7bbaE9vgw70bnt31PEvX3qXORdIxYLwIt8IF6IpGrDsjJ_ibJ6AUJzyUJFl39xdhYHUk39mXPBahXf7zL92qsFHtFYWTZ5tKRcNwJ2RuQm1gJODceZBacPJlPAkduRBSgM2sW7V4lvoV8WEqlM4PTj90UCkYzvDzJ_8BoOS6_FMPKrTJZ4hzLW3ZuDTHApAuMCLHW6LYgKP23afZizBv0N4hJzISxKbBFUas5Pm7fHLo2s6lw7R58V3bnIqa_Cjr6vdqTKUli8RKaAkFslj8CdyBW3DxFf8g5HNgX9fZxg-DJkc6nwehj1iJYo55uopgQN_55N9UI71f1Ro9oOE7iYTzc4URsjl9hqwh689_-tRgdEIGMQX9fjpEPjnQKbxJWrerkijfYLJqidqW7lDetJB3SgwJ3n-O6960tYtBnVeWZWU0on0mHnyKDpg==",
  "id": "rs_0e3832893b9b1977016ab421f0387887d0b71a1eca4b80cfa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left gripper settled at a nonzero opening, suggesting it caught some of the gray plush. I’m lifting to check whether the whole object follows before moving toward a basket.\"}",
  "call_id": "call_aUlEqE0o0B58JRoix352V9WX",
  "id": "fc_0e3832893b9b1977016ab421f0e7b887d0b845ac019e3978cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aUlEqE0o0B58JRoix352V9WX",
  "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]: [0.0818, 1.2465, 0.7795, -0.1341, 0.0227, -0.0082, 0.0667, -0.02, 0.812, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=0.0311 left_z=0.1662 left_yaw=0.0497 left_pitch=-0.0385 left_roll=-0.0041 left_gripper=0.0667 right_x=0.2946 right_y=-0.0003 right_z=0.174 right_yaw=-0.0061 right_pitch=-0.0309 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.2701, 9.347, 1.9072, -0.0073, 0.0611, 0.906, -0.0752, -1.4838, 7.0222, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8266cdf590961a3369e40af39605dc477f167225585eb819e96241f4c597122b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57d6313b5e12cb3e5aedadbf5111413d8a13a8d85090bafc143ca1b0dd6c7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac62fec78e7e0e45c0af620267b8dac3b4ad91302ddcfda9746dd03879b32fd9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.625 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.123, 1.2922, 0.4129, 0.2523, 0.0715, 0.0341, 0.0106, -0.02, 0.8082, 0.6079, -0.392, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3479 left_y=0.0339 left_z=0.071 left_yaw=0.0269 left_pitch=-0.0628 left_roll=0.0008 left_gripper=0.0106 right_x=0.2946 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0061 right_pitch=-0.0259 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -4.2325, 6.188, 1.6532, 0.0659, 0.0269, 0.7985, -0.2393, -1.2923, 7.0769, 1.79, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.5539, 0.445, 0.5701, 0.0265, 0.0006, 0.0654, -0.02, 0.8101, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=0.0308 left_z=0.057 left_yaw=0.0418 left_pitch=0.0237 left_roll=0.0035 left_gripper=0.0654 right_x=0.2945 right_y=-0.0003 right_z=0.1745 right_yaw=-0.0059 right_pitch=-0.029 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.8462, 5.094, 1.4188, 0.0269, 0.0562, 1.0281, -0.1436, -1.3744, 7.2274, 1.7265, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.2465, 0.7795, -0.1341, 0.0227, -0.0082, 0.0667, -0.02, 0.812, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=0.0311 left_z=0.1662 left_yaw=0.0497 left_pitch=-0.0385 left_roll=-0.0041 left_gripper=0.0667 right_x=0.2946 right_y=-0.0003 right_z=0.174 right_yaw=-0.0061 right_pitch=-0.0309 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.2701, 9.347, 1.9072, -0.0073, 0.0611, 0.906, -0.0752, -1.4838, 7.0222, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8266cdf590961a3369e40af39605dc477f167225585eb819e96241f4c597122b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57d6313b5e12cb3e5aedadbf5111413d8a13a8d85090bafc143ca1b0dd6c7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac62fec78e7e0e45c0af620267b8dac3b4ad91302ddcfda9746dd03879b32fd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCH6X98D-7QXixrJDPF0V477f5q8NeRpVYF89qkzJf84erMmwjuXYUnSijt9B65v9HmyI2fwQB60dHF6qa8vwRGYLK7u1DVe8UOck9r1ivX8yzo8n5mrtGPcJWZQxlb1qeG-mSnIdcRsBbqL9tKQIqBCfdzS6bvAPeDolOPOH4gU42QZQsCKhhsrkcrrAvWYRFKbXKkzq-i17PJiNt_UGUKNRu-_CAhkR6rtfhDr91U6Qn1cb0Zo8ZSu9INruy2rBJXmj_BrfMwTDguWzaLbUx0E-QTeOJO4xFKm2r2LvkL_ie9HzCQyQI8nm55SEkw-7IY-3bWYHYIqnST8c34e6XXUfGQJDLsam4H4llXLICa-ZQ1GsUOWPe6P4FgAAZwzXNFkXF4BzySup0JubKf72dwpYb0VpKYRQVVdEB1nJxLU0BWFuA-YQwOf7vh5XXTNxXB1nnsqOV7K6fk-d7yen7LH0xQvSBSkT7qwRwYYx3Cgzt0NZr7_imtTstqc-0FnC3_03LHjsQzkfLbfDT83-S_8H_c28EZs1EVrpdyzR3N3kKJNIp1cqxATw8gzixE5mMfBcGlg_2-RHIsIsezgdkLnrLQmLD57tm1p8Pin4j2D1_HCjOMTO2KF71YOzMsOiyb2TTM7ebWtXa5ehPBdWYNDVD7cHw-Vnm6qImI4hNsLxQ4JwGHUGWMvOF43LTiaz3xsG6ryzuh8zPc0m55OBW_Pu3eyBgWUwLbp1THN0W0lnt2NbtAPUnsuSyu4q1a-SiTSZwK1OIn41jK2SL2cKlrOGF7URKXja6i5BSo5FpLeS5EupjGtI-54g4JFj0tNhd7JOsTfmBLjUK5Kwof-FWnMvtJm2s8eQFUtJf6T4F_V_2AugMX_ar1JPs45OJ4b_SzAUdOsopszsHJXYW2WToewyJS6sjuLLj0ZTfE6V83wwTcnhSlf-jHgzbXUizxYvDZEmQ2qrtAt8CUZxoAouPn1HbmKY1ZHsthJMcoLqw_RngONgVuvnzvcEB3S0tnrDcPnBqQq85Z7IVI0UaUITuD2QBXPO-BvIK3EzBsvx1K0hYQj0tZr70cvhiqDMJOpdl6RGU56Kv7CIxcT60ubeI6XudXgqzIx-dbYqm2cV_BreI1Q-Ay4DFADRe5sYWuZa4Rz_scJ1D0rAyy29YvwOP3baLPeXg979zcpE8Q1j9Y1BxUpP5zXYdC1eIGyQai5t2etF5nXPdVGfaJG60syPv8M55IdBD4OvWzP7bL2RAGBNMWRu7q7UqtiH4oZeD0PcHxr6WA1GJgeThzQJeMLjq_We5X8MJxAVROu0RmrssITYWr4uHZA2_Y5cp1UfUlPYjKDYu7t5pOYWV9ppjzqIOItSXDAejAE2ZqSLTyVCrSG8AT78bht7YhpF88OihM3OeAIZAIpKeUxKd-PPJYRU6mXV7_lBfxeI3xudoNEAI2NPy5W0pGnfnhhAONfzMgj_gIT_XEJcJfU0jOnUNKG-KTNoi3TU6BtgHtFcnoA2osfo3aBOEoBphgzhZHf5ePyXUIkXh5GLumNlksr_t4v9RWHY-BaNkYT_V8F_lSYnWD2HIC9cbzd2050DxE7T0kpN3eb7Nw7XccGya0Xfdald1EIBZmxQfiBqK3wtC1w5mDJ0YwDULIwxJD-pzjUCkMpXKxT0tjxWy5_aVNbQKsEf9HOSI9X5XFNdRPaydXgp5NljVGETaTuE-ZbCEDPqure7Nem8onmS7bPUbUUM-KtHSGRqXNjV1Z94NLmhwQ_r03loUmKEbBdgQ9_eo8BFk-YQyp8b0X0CI3rVG8-_tBY-wUXQEfxzPSHKTfzs0kc7ZWC3NXaRbTfrBSutr5wAE8C1k9DsLjEQgf7gGXUzibl9nt7czQN9SoRvTenmBYxpB1GEIcTNcKj886CdRkKlZ_irmjLCy8VCbJAWkEqQTLjOyKS2dsc7KndDGaWTrV-6aCYRgzGczbpC09PcTzgonWTnWtWLd-jTToodWgv9DJAjdBLvW3bTjfHQzu-RfMzI3B9RbieBTLv1SlX9p1qEG2N3WVy6I3c-mI_SucjiZkOS7vyF9Yb3vks20Bj81QJCPMArhu4VliUUEsvF2EFFINf9jUVLbk6BjSkqPsM9TUX6wP1Ww==",
  "id": "rs_0e3832893b9b1977016ab421f71ef887d0b1521fe6256a6ff6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.12,\"left_z\":0.25},\"note\":\"The gray plush visibly rose with the left gripper. I’m carrying it high over the left basket, reserving the right basket for the tan and brown plush objects.\"}",
  "call_id": "call_KiwZwCFEoaOXQMLgvDCcqPWo",
  "id": "fc_0e3832893b9b1977016ab421f97e0487d0801a0c1bf238d531",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KiwZwCFEoaOXQMLgvDCcqPWo",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3618, 1.6787, 1.4643, -0.4778, -0.3302, -0.2749, 0.069, -0.02, 0.8146, 0.6075, -0.3927, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.4735 left_y=-0.1142 left_z=0.2297 left_yaw=0.0462 left_pitch=-0.0859 left_roll=0.0049 left_gripper=0.069 right_x=0.2948 right_y=-0.0003 right_z=0.1733 right_yaw=-0.0061 right_pitch=-0.0336 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -8.9504, 8.8684, 1.6093, -0.1832, 0.0513, 0.5055, -0.1162, -1.5385, 7.0359, 1.6972, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69157c60d767e89eeec68ce0efb3f76cf80e1c24b18c057be0f7b4c78728bd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c76496f6062edf5db8717179cdc2a8c517a83873b8c0faf75e1c811b3e5e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa35f5273be716facdd1d4f922cd0904f4577888d4104fdc2b77a955e71a9f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.144 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0814, 1.5509, 0.4435, 0.5297, 0.0326, 0.0074, 0.9959, -0.02, 0.8097, 0.6079, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3836 left_y=0.0291 left_z=0.0491 left_yaw=0.0326 left_pitch=-0.0151 left_roll=0.0044 left_gripper=0.9959 right_x=0.2945 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0061 right_pitch=-0.0282 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -3.8085, 5.9966, 1.2967, 0.0708, -0.0659, -0.1538, -0.1026, -1.306, 7.0496, 1.6874, -0.0269, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.2465, 0.7795, -0.1341, 0.0227, -0.0082, 0.0667, -0.02, 0.812, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=0.0311 left_z=0.1662 left_yaw=0.0497 left_pitch=-0.0385 left_roll=-0.0041 left_gripper=0.0667 right_x=0.2946 right_y=-0.0003 right_z=0.174 right_yaw=-0.0061 right_pitch=-0.0309 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.2701, 9.347, 1.9072, -0.0073, 0.0611, 0.906, -0.0752, -1.4838, 7.0222, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3618, 1.6787, 1.4643, -0.4778, -0.3302, -0.2749, 0.069, -0.02, 0.8146, 0.6075, -0.3927, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.4735 left_y=-0.1142 left_z=0.2297 left_yaw=0.0462 left_pitch=-0.0859 left_roll=0.0049 left_gripper=0.069 right_x=0.2948 right_y=-0.0003 right_z=0.1733 right_yaw=-0.0061 right_pitch=-0.0336 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -8.9504, 8.8684, 1.6093, -0.1832, 0.0513, 0.5055, -0.1162, -1.5385, 7.0359, 1.6972, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69157c60d767e89eeec68ce0efb3f76cf80e1c24b18c057be0f7b4c78728bd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c76496f6062edf5db8717179cdc2a8c517a83873b8c0faf75e1c811b3e5e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa35f5273be716facdd1d4f922cd0904f4577888d4104fdc2b77a955e71a9f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIJv4kbKZE-6yAQprbiN8PKXySluGrBPI9CQA81kAS-Gz-vPrJfIrsl8G67Xl7zthQYV9GjpZImgLA6aCG0TIYoJUPsnkqFfSG0WX0BoOb908cCdZYc0W1ZVJK1oXRZfAL-7oPlmPnP9N4imwgvZXR1ti2Tcst8k1o2tS7dDYdntTErIJiZ2MGOX7gK6N6dcRM44LCREEr39UHxlN6qbaVHLDj0J3jZGFTJPg0tROWEknRY8mUDuy5mMJLeDMGe4yEVUCM2EffwShGOmxdP6BgvbExOGSyQIRxVPOb3FjxJwIO8twf8-gObcZOnHKEhCEA4bLKUVe_IPEahC3EdvhdoOQVjCFrSsAJDhwXfCRvxeGot6x6YqebH1cI15j8cJQtw4LZQQMNBsQwTVh8FrQyaqSBL-ERI7HotTWrM5xSGLghtynnLAVX64sa-zfUDPhtCsr2DAncc3v-a7HuJ7qqRh1gqfwJxEWt0Yshg77QZWdCt_d5Pr6mMftGbtnvR08gknqps5nId2mVBDDB-2JVfpIOOibvoweBTijO3XMnIeE4bu1q5aRVU_39Xy9hPJ7m9atdK_Bs_v3UkAWY05eaIm-q84fPdZyDk3Mulx1gjFUlxBRpTaFRkgqcoEEEf_Vi7erPvmB0oZ7s1ngFPXRul41l3WRcarV3Sm7e0kNlqx-XIVuknSRx8iEFs-Dro1G7lAy0XKHWrxyOmbrrBU-empznXlz9VzFAhbmtWpi19gN596dfIDkY9TbkxkDUjEaWJGAi2AD2lgcGZC3khGJjsnRvcNgtpdyr5HOP-TEcH6uOhj_gN00HbQsYpTNGdMsnSZ4DUa75zPGTVVSZ4VqN1uRE3bsrumOYV650ttJq4o1rsAYwbREOZ6_cQG_iE32-MJWi4eKTNs9Rhg0Tazj6pPsRHOUw3ldldKNSFSWIgAgkm0LWYBEzuwMYSar-544qnVKpAvS1IdlN7WjS1a3v7uHdpTR-OEuv_Ov1V2PvR16V34JqnGOuE-bhhXY1uU1m2zaeXNfqRJq42yeDU34hTPvAmssMu96SfDEr7jZvXv-ZNk3RWbJTdvCE0-OUphbXR8IF2uPFaLpvCns2af_QwIm9wWdVV1R1Gt9eP9DN2wHaRhgJ0Kg_i2WryRXF4pg-1cmsf1Y5YWggWgCD9FQRIqV4dKoiR2AWUJHPp6pLrHrGuHqDELlVht4e1nWLYXaL9ehPMVdilO-eg7O8h9-SYki6dj7BFb1SGGf6uZovNu7h-14ul2mfvLu5nMUKBXE1-C2jamVEFQHwLoLHOetKn3FwIGjV5GHD1a19dJ8jVDKotL9yNXyM2El6zrI1w6ftjEDB51HUnbpPZJ6k0kpDkNzLcTUwLYTL9Uu24RIbahXUIEkp0GYT6fC3pUQWJskuze5GF3i9RWQtFh6Bwr3lg4Wq5Kx3GkUmA08FJzJwRYS6T61Xzoxvb9vCsojNotAufpehvF5lPigwH5oGYoe8DnEa0VqJsr6rc24keUwrzpl7neWJOfHv9xRwTHYykdr78qGuxZgJu6Ctqb2uy73C4lJvOoE3_tyotFStJCC3qRQ9ESww1puLPXMdS2JMjYIWquUE4bZ6ta1oxKGxSitL3ENpDKvE-s8dVz5PO3XDMUag7zoptbFl6cqH0cELK3tOw9nEr_wDLnc4C8gscQGfcjoliTYJXPZCdzVH1w8oE8SK71SdmMwkO7MrEpEqhYZZyQVZ77fW90-87IQPIP-72ANMmWyo5CFUfIPobi142W1bHp0fvr16wpiT5tby__sZes916ORy1mJQ4WzTzL-YUpYD92mTc5FYBS23BbXOZhDDD-SMxzZ3Gl2sgCDW6iMIHDgoZfe4oD4694CjApDu99UPl0YVLZ2Vxd9pWkKZlfWUitQ11I3pa6B_rS3FmbqH734f-TsxHCcgs3a9EZF0i5c0iUPr5aupUSVq7kBgsqwbUV1fwWxFTVZY736hF08_bdc8AfJDIzZRFnJC1BtZfJ1vi9AFaR3DOeSV-srcpH5rSryYrdBsOdRsWntswSUnmGtJiUOgR4Uf6T-y1iesRWQfcuYSLVcb4G7RsZ-Sn1USYyz5untaSK3vXAtgs8LVVPBxLMW5oGkaad32v-1I8mZ-arw55YT104EapFN76kpEm5wPgTDDpq7_ahrmuvuuceuhfRUehpG7TZsNz6H3g5A==",
  "id": "rs_0e3832893b9b1977016ab42206bd6487d0b8e4d00493858ae9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.095,\"left_z\":0.15},\"note\":\"The carried gray plush hangs slightly toward the near/right edge of the left basket. I’m centering it farther inside the opening and lowering until it rests in the basket.\"}",
  "call_id": "call_AngZay38PeIfeAbyhaZmSEJG",
  "id": "fc_0e3832893b9b1977016ab42208ab1c87d0b691c3cfdc2402af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AngZay38PeIfeAbyhaZmSEJG",
  "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]: [-0.289, 1.8107, 1.3251, -0.2398, -0.2836, -0.2436, 0.0717, -0.02, 0.8158, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5009 left_y=-0.0936 left_z=0.1483 left_yaw=0.0653 left_pitch=-0.1283 left_roll=0.0137 left_gripper=0.0717 right_x=0.2949 right_y=-0.0003 right_z=0.173 right_yaw=-0.0061 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -8.8684, 6.1197, 1.7558, 0.0171, 0.1148, 0.6276, -0.1573, -1.4154, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:633858931d57eff610f9c9ee1bd612bf7e5a3c51234236b4655b02851fb53a79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81aa671263f647f9871c6f8b7bf98563be70861debe48aac59f21893d8641ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108dcc7d43f598c12bf58a47760e48ecea6e9dc461626038dc3b08328f1e3d6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.227 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.5539, 0.445, 0.5701, 0.0265, 0.0006, 0.0654, -0.02, 0.8101, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=0.0308 left_z=0.057 left_yaw=0.0418 left_pitch=0.0237 left_roll=0.0035 left_gripper=0.0654 right_x=0.2945 right_y=-0.0003 right_z=0.1745 right_yaw=-0.0059 right_pitch=-0.029 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.8462, 5.094, 1.4188, 0.0269, 0.0562, 1.0281, -0.1436, -1.3744, 7.2274, 1.7265, -0.0415, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3618, 1.6787, 1.4643, -0.4778, -0.3302, -0.2749, 0.069, -0.02, 0.8146, 0.6075, -0.3927, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.4735 left_y=-0.1142 left_z=0.2297 left_yaw=0.0462 left_pitch=-0.0859 left_roll=0.0049 left_gripper=0.069 right_x=0.2948 right_y=-0.0003 right_z=0.1733 right_yaw=-0.0061 right_pitch=-0.0336 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -8.9504, 8.8684, 1.6093, -0.1832, 0.0513, 0.5055, -0.1162, -1.5385, 7.0359, 1.6972, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.289, 1.8107, 1.3251, -0.2398, -0.2836, -0.2436, 0.0717, -0.02, 0.8158, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5009 left_y=-0.0936 left_z=0.1483 left_yaw=0.0653 left_pitch=-0.1283 left_roll=0.0137 left_gripper=0.0717 right_x=0.2949 right_y=-0.0003 right_z=0.173 right_yaw=-0.0061 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -8.8684, 6.1197, 1.7558, 0.0171, 0.1148, 0.6276, -0.1573, -1.4154, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:633858931d57eff610f9c9ee1bd612bf7e5a3c51234236b4655b02851fb53a79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81aa671263f647f9871c6f8b7bf98563be70861debe48aac59f21893d8641ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108dcc7d43f598c12bf58a47760e48ecea6e9dc461626038dc3b08328f1e3d6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCINfGA1DZ3Ku0ibLUoycV6DGVZ4_SWuQpJBzuMJ4yu5NGcZIrTZVL-pwq1V6gUfOD1YZ0THFSJeymcnfCpmHA41SE7or28Qkv0IFveLo_rvAtuzjIrNCoRgAdLBQwOxiat003gaD8yzf8bSiVOoaz_r5aitPQyG3pkWTeP_omRMpvjcay5DrAegswqNcWDUNcZnM64FRAf9Ki7dCujxb2hdDoWwYJ1Za3ZOijIlaBVKRId7pfDwRnfoimbgXbzXQ0hAL2K8gw1_mz7IlsfRRR7PTJNiz4M4KXPqAB-4qwnFZe13C2930PvsRyz3SKUeJsQoPADxpXXmFsBQfz0TgzHhDdSmFA7r8QPLReO0GUeWuGlGFge57uCZj5K-JkhWm3QgMGk9kr2ctjipT8KvI9hjEXpVYbfDuE49HQsHZHIcZuqVg7yKrOGeZ5HnxkGHWp1ASabW02aGX9JYkZw_MwqOPLu9UZeDOTU9YPSKWrk_0sZ3UsXcb9H-kLj2i3QQ4UC06DgUs5-OboIJuoINzt_rLL7FI2PwZZSKoy-oG8iHgH_G0LjQyCgyKSWE5oazsr78A7XfO67u1y5rvY-VYrYqTNQvG1fRwNwRHifk9LAqWn85S5IG_DjsNo-xd8JuT3Sl1mhV1LmDSPpKAhWYMN01Ef-tJ96ibCoGyqb8DEILhpW7_kM72OmTfnI7RdTblGB2EBlbteYg-VefRNwHi4Lkq45H1un8uKo4AGQvWb9eYqUn7dFSlAih3ZGujAEIbUhapt-hTHv-7aYDHbsvrBWqz_DanF04Fwgl1JzRMHqwkrVaexZ4JWcGG2wpI99lSq9NsgG_njpl3_MLHcfLyjAJlr0gTlI6E2xiTDamd3JKTfovCOUhtAJOHfCAaNOaC_Uddceao_5fgPzfY8hJrQvpFs5b7FY4YrsYwY0xUaJ4ECvRJ8kbOjGazPv9MsWyX5eP86jZdDzrhfYMv7uyl-zLlaJUowDBsg0oB7PieLaf4fZ4e5oxOUXLJ3GnvPwVSoAmEQcqsh4BywwUmzMbeBmMug0TvhWzlTLifr7Y5aqjTG4WmAsJDCx8HeLJ-ejL3bO2s8pIxQcz2srYNbw5xiF15dPraybA3YNUCokmA_RHrYldx7n1cSUjFheqGqSnyB4nb6XRiyHjAVuCWyOmk4osTlluJMxyesbTtqzrWy_7bGwMI-shYtlXvhZsjokzNbempVDJiCHTN2CIt5mnrDn8WDjzhYpsWVcl7PbopvPIT1nVNJGO-Bah4-wAOryb7zuKZ8mi0UMelVF6fuJ5t3IkibW9OfUEMvcqFrhQcVX_WtEhk85qCsbreOSfpR7qvmbnQOCYqb1HENEV8-7hIMl17qslMJlaE0yAogNxEEMVu7UnkQjMbrgdivgwAz4YnyHA7sXLyFD_J8Ffdn9nWDteS_tHZmK5owughg62LK5_ASOPqTL7imOzc2Ce7G6AL-i2eGzUXyCYenUjTPpXI0jGjPcidC_-1Uw5MuFnUekQj1Xxx0Fa98Y0toGmu8PIeiLfIS0Zugvwxe-J5WaE9V3zi3h6yWwzvQ_DZ4sgQyUK4P5KtZwIYK_CE71xm8y1h1QoGvXdyOGlAEAJE_GzvfzSO3tVqgsAfAj3My0wAGoSVRec9G4YDKbpTWVyDStzJ1SNINsAtt4Qh04AgSg7fSNsb2DI1dtGCUMU_h19KK-6oRlmMC7TaYQbkOUY_LuZOXZEUKAZFLigXOg49HWHA33vFGgjUzIFlar_kXBh8qa-rfZn-pGEbnqrb2FYZspliG66o-n3yrIMzVHO8RhSDlHkChGLsVrDpNEbLq-nDk8jnzgogXwH-A53mCet2l0IZbOCSwJaT_nekI2MqzTOgeukrw==",
  "id": "rs_0e3832893b9b1977016ab4220ae30487d0bab36fc1bebf460f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_z\":0.115},\"note\":\"The gray plush still projects across the front rim rather than fully inside. I’m nudging the grasp point farther into the left basket and lowering a little more before release.\"}",
  "call_id": "call_ea7wV7nbMDukWVFj2WI7eYmI",
  "id": "fc_0e3832893b9b1977016ab4220c445487d09acee3d0795c1745",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ea7wV7nbMDukWVFj2WI7eYmI",
  "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]: [-0.2638, 1.9575, 1.3872, -0.1928, -0.2733, -0.2401, 0.0736, -0.02, 0.8185, 0.6075, -0.3931, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5268 left_y=-0.0892 left_z=0.1089 left_yaw=0.082 left_pitch=-0.1662 left_roll=0.0228 left_gripper=0.0736 right_x=0.295 right_y=-0.0003 right_z=0.1721 right_yaw=-0.0061 right_pitch=-0.0378 right_roll=0.0023 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.2923, 8.7726, 1.956, -0.1441, 0.1148, 0.5446, -0.0615, -1.5385, 7.0085, 1.6728, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d983e10045e207fe02ea3c303e3025ef9c30236d17038253918e22431f17816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121a5064de41265091e7c9f8b4fc08ebae3f9d80c272d9e1bc5740953911fea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45693653519475824f147f19ed470fe12fa23a33a1a29a1352d01c8015a0eb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.12 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.2465, 0.7795, -0.1341, 0.0227, -0.0082, 0.0667, -0.02, 0.812, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=0.0311 left_z=0.1662 left_yaw=0.0497 left_pitch=-0.0385 left_roll=-0.0041 left_gripper=0.0667 right_x=0.2946 right_y=-0.0003 right_z=0.174 right_yaw=-0.0061 right_pitch=-0.0309 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.2701, 9.347, 1.9072, -0.0073, 0.0611, 0.906, -0.0752, -1.4838, 7.0222, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.289, 1.8107, 1.3251, -0.2398, -0.2836, -0.2436, 0.0717, -0.02, 0.8158, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5009 left_y=-0.0936 left_z=0.1483 left_yaw=0.0653 left_pitch=-0.1283 left_roll=0.0137 left_gripper=0.0717 right_x=0.2949 right_y=-0.0003 right_z=0.173 right_yaw=-0.0061 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -8.8684, 6.1197, 1.7558, 0.0171, 0.1148, 0.6276, -0.1573, -1.4154, 7.0359, 1.6972, -0.0269, -0.0611, -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"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2638, 1.9575, 1.3872, -0.1928, -0.2733, -0.2401, 0.0736, -0.02, 0.8185, 0.6075, -0.3931, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5268 left_y=-0.0892 left_z=0.1089 left_yaw=0.082 left_pitch=-0.1662 left_roll=0.0228 left_gripper=0.0736 right_x=0.295 right_y=-0.0003 right_z=0.1721 right_yaw=-0.0061 right_pitch=-0.0378 right_roll=0.0023 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.2923, 8.7726, 1.956, -0.1441, 0.1148, 0.5446, -0.0615, -1.5385, 7.0085, 1.6728, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d983e10045e207fe02ea3c303e3025ef9c30236d17038253918e22431f17816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121a5064de41265091e7c9f8b4fc08ebae3f9d80c272d9e1bc5740953911fea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45693653519475824f147f19ed470fe12fa23a33a1a29a1352d01c8015a0eb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIPLEoch3IxDoBthiPyjP19H0Fd62v4FlVAxQssdHRCS6bRI9f3wd6hL_ArqXR_D1EPgtmx-6AlPPOWUN3y0K_fcxv7rTCsuxHZsMH6ytOGGmenarted5PRWhQuZamSR56SJQoh2FycQ50eB0eUPSJsPUpfoL5satz0UWL23QZpttkHNUBLXICAOiKFCVD2qoOoW1crYyOp_6z-OcPEzihtpBT_s3zzo1HDiEKrmr4HI7dtUigpdz4_WseoU_B21WkNuqK-3mqLH1XDhxPL5-s4TjAYzuV253TyPBhbuGfpRquf2cL0riLGSkkA1dyOFC-FGtiCY1XqEA_9hkTBW0ZVGUJEjNi5mBeld0BTm78j8ES4ykyDLMP89K2iQ_GIR207YbPHPoUqH9x1-8QUp1M6UB3vP970UsxzSeRTMWZo_KbsnmwfKix7tIoWyFUrCbcSfIBGb9FLxT0ucMk8U2JblvaUjBa92OYoiPw3EV2RMchoFQ9R1azbdDH9ch1Mm4X2UCYZtJFO__y7_S4EXnCGktpXA7jvkzX3TYAk1pZaCyk9XbX-FrEpCbeApN1bctPGFnDRhyyrl0Tz2-IZQD9f6k6LA9Y5j-aFldlmsb9E4ZZllEe9YGCiNzMCHRGrrPIqdVen8NwfE6hg85bUphhYirT3jwagaM015x9NO8hKlawf6tyK7pw_APYlpbgKXthLF9-v5C-o0l4nhcPGjbfdz2yhE6bqdF-jC9PaWNW8j5fEBo_1nRrOHdJgmcolXS00fB2I3h74gBYE3eDFQQ-9jDWCuEPK0NaVSKJLCiCA8hV6zfLFGS2TJQnwdfcy2C9CpbPpdas1LBpYVIP4tamFVJcWM79Bs9heOsZ3PdUmuCZ94kIqK56am_SKozVo8yArTAaMJnByufylo2m4wPi56C_nl-spK54rwkGDIZpyVOeHYKs9oFguXaWcwIP-BpjMSuNeeO54uskPb1HIDLlJyEtYVio6PpIEydNZkkjbfMt_mfImx9rh5SVz_YOpFQ5vNu07Pj0c6_tu2uE8gB6bVozDyKLmDASSfTzHNCkRqZFlgiRySoRxmaXh24q7Up1l2B_95dGAF3RgggPFTOcKUuqQ3lxpFjzc7oDqFvJb8EtgkH2Mrge8q0B9BJ9834QBwFOzp-ZJkjxtKCoUx-EolZj1CuUYtfeUZAp1DYtjA6NRje42bGtv3O23V9h-jyebhZqVuFeR6zk5NXBG39Ldz40vKsACgXsL8Gub4LU-faTifvAmXu5ZfPR10G7amCdyIhHkTEdwjD825vUusr-Lckh3_-OHMV0VFs7XS-xjBG8FPeg7xLLTXG6b7Jy2fpGRnxWNfzBBcxyINq38NQcSF79mMagf1eSaAIXWcQTozxfdLAtlxyv3nwKSHFRMFOTczrERAW3DMsHNnaHMp-SM5MQ0-DMkWYdXjyoiTmHFPwAFaoMlWjTjrvGJpm192TNy7wUl6AsnqDhbzz3BuDvc_UUCHNHMrh0Yintx2E4euHw=",
  "id": "rs_0e3832893b9b1977016ab4220e65a487d089517c3c291e0fe8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is now over the left basket’s interior, at the near edge. I’m opening the gripper to deposit it.\"}",
  "call_id": "call_NcSojLGITXjvnasIndnDXIh6",
  "id": "fc_0e3832893b9b1977016ab4220ef83887d09d300d2a2e193aa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NcSojLGITXjvnasIndnDXIh6",
  "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]: [-0.2588, 1.9759, 1.4006, -0.1661, -0.2691, -0.2371, 0.9953, -0.02, 0.8192, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5346 left_y=-0.0892 left_z=0.1095 left_yaw=0.0807 left_pitch=-0.1468 left_roll=0.015 left_gripper=0.9953 right_x=0.2951 right_y=-0.0003 right_z=0.172 right_yaw=-0.0061 right_pitch=-0.0381 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.4684, 8.1162, 1.6825, -0.0904, 0.105, 0.0757, -0.212, -1.4701, 7.1863, 1.7314, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a0a2719062aa6f376347507a6391d3bed9840d64722e527452dbb458d3e412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b675b8fb625a915ae3e9e150d82f68f5b2407d191cc2500d36bcd0bd32ad06e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f023dcc06b2403c9413693895de5e81cc08185e2e310e4ca9a2fe4afb2953520",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.189 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3618, 1.6787, 1.4643, -0.4778, -0.3302, -0.2749, 0.069, -0.02, 0.8146, 0.6075, -0.3927, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.4735 left_y=-0.1142 left_z=0.2297 left_yaw=0.0462 left_pitch=-0.0859 left_roll=0.0049 left_gripper=0.069 right_x=0.2948 right_y=-0.0003 right_z=0.1733 right_yaw=-0.0061 right_pitch=-0.0336 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -8.9504, 8.8684, 1.6093, -0.1832, 0.0513, 0.5055, -0.1162, -1.5385, 7.0359, 1.6972, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2638, 1.9575, 1.3872, -0.1928, -0.2733, -0.2401, 0.0736, -0.02, 0.8185, 0.6075, -0.3931, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5268 left_y=-0.0892 left_z=0.1089 left_yaw=0.082 left_pitch=-0.1662 left_roll=0.0228 left_gripper=0.0736 right_x=0.295 right_y=-0.0003 right_z=0.1721 right_yaw=-0.0061 right_pitch=-0.0378 right_roll=0.0023 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.2923, 8.7726, 1.956, -0.1441, 0.1148, 0.5446, -0.0615, -1.5385, 7.0085, 1.6728, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2588, 1.9759, 1.4006, -0.1661, -0.2691, -0.2371, 0.9953, -0.02, 0.8192, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5346 left_y=-0.0892 left_z=0.1095 left_yaw=0.0807 left_pitch=-0.1468 left_roll=0.015 left_gripper=0.9953 right_x=0.2951 right_y=-0.0003 right_z=0.172 right_yaw=-0.0061 right_pitch=-0.0381 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.4684, 8.1162, 1.6825, -0.0904, 0.105, 0.0757, -0.212, -1.4701, 7.1863, 1.7314, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a0a2719062aa6f376347507a6391d3bed9840d64722e527452dbb458d3e412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b675b8fb625a915ae3e9e150d82f68f5b2407d191cc2500d36bcd0bd32ad06e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f023dcc06b2403c9413693895de5e81cc08185e2e310e4ca9a2fe4afb2953520",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCITDjSqc6IYPrGm7a7qFsFVuWRO-3CVhuRjMMXBesu6JbfVMWC5vEUMWo7caF4JyrSyEdPuXtzlVJxepwGPeO_VIncBGV5yjz13YwYkP97ILtBdJlRdewgmYLWJMfTFF8sO2yx5dPMqmOcBkPfAEuE6bCImpRuUGBxP4-GF9_ZE-5bh8djRnH_kQKC_RFq6ZZJG16hNjgZBoVSvALZv71NIPyH1TVb3O0dKuZoPLZtjZBOUH4fuWuNwUHIffHABUo-8F2VNnpzXVSNWqeNCo8ySN05QvlMSsAnrYRFhGEdNicqUpTtNDscv2kYtrK4mWlSbdlt9VlH4RJKYM525jvMMHyMDN9UJ_yV84Ne1Lln91Lw1W5ec_0uk2wG2Lt6i7K0GvEw2DYjHEh4DSpiaLLJthZK4VYsQLhOBdLJgwsitlKzmKzi4AVcHhB-wAMBK5y79qyozR6Eqd8eK7UzVQrBn_wZVR_wmz6k-Eez93R-wHAV7rU0aVWPomYUQYa-ohDUYjVTgiln4ts0HnFMFYmOVNE9zZqp4pe8f2tqtQw0zdWez_FeYc7PYD-mqLgioCYNzgJcJA8JrHo_WCeOyUHr_-DiRWPHA3mdGD7xwIUsHEwnq-xL5BMm1LjdhMG07uo7cGEukpxbt6EmXUDQi7i1v0gXWWxFUqT1uJ69ee7iosYQrjszcToNqeac7NwMYnfDkJLAceeXPkv-q6DgnlqNOieaokKnZq0e9C-WweiFsZHL9XyJe1qqy3LpwPQNkoWvQsvJZeqpTH1hPAr5mXvl1t4r-DAZin6Uo_5iUvdpvHUiu9iAvCEJ50LF2WMMsi5EZD_rE2OhGSjlVhVqDpH44eoxtlqI67_7C9AU13xHEz0Ym46TSsSh5rzAwWPTEa9cEWnkfc-SAALmj7u-AdFe5SYC2Su2ExZE2fY2lLcVVClnMUmDGiz3npnmAfUjnVpkmUJaasBXcJw3V_bXPtc3dOxxOS5PDphkKiW9etSQ1ZjaWMCCylaK0Y5fSDKIZF5eV9aTIQSNVT_2rW1vat0qLhfHvtQX5CD4o_iq2YKIeqyT65VkC3emkcWxsWpElCW6Zb8yf_6C3Lzh2eSUUk_GpMUySm4nH2HuEPxCcXZQxR3Z6fPSVg7IQpNbvAuz91OkrrDxlSS56cKrcxM2bRyplg6_P89TA1bk6w0NjhPE2jtedmpOqE9tDGNx4DSbT5qiLl2oO62CZ1g0iLjU4op0RMp8NdA4lQkSRluP9HigVVCYQq6czQ7Ro62lsoLFZtuJxpzrVDqzYJTss-sQNHgf4y8vY4j8GE6-8vdrBYtTTF1fh8Y6mcsgFT55G2lin4k5-Y506q-a73xUf6ngiKO8alOHGmghNjeZ4sMBvfuosiO5fUv-HVuz0b3vdPOaOI7FJIgkFy2zZV3269haYc26f_OiU4NqH79CczElbLy8lTcD0tAETN9l0svdg3kokl-gMUl9BVcQYiE-7dWs6Y-xOSA==",
  "id": "rs_0e3832893b9b1977016ab42211b2a087d08d0ce05ea60a08d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The left gripper is open and the gray plush appears to have dropped into the left basket. I’m parking that arm so the center objects and basket are visible for the next pickup.\"}",
  "call_id": "call_YHGymQVFHjGQw7mUbQvFyAww",
  "id": "fc_0e3832893b9b1977016ab4221257a087d0a0e94af246da010b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YHGymQVFHjGQw7mUbQvFyAww",
  "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]: [-0.1116, 0.9421, 0.8017, -0.5446, -0.1741, -0.1543, 0.9967, -0.02, 0.8249, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3068 left_y=0.0 left_z=0.1964 left_yaw=0.1018 left_pitch=-0.1103 left_roll=0.0035 left_gripper=0.9967 right_x=0.2954 right_y=-0.0003 right_z=0.1704 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -1.9487, 6.188, 1.7118, 0.1245, 0.1197, 0.1245, -0.0479, -1.4291, 7.2547, 1.7411, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04189c545a6e41b450e68d3c7f61316894ed09aabebeb716d53089c229b7051d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d595d1c57b6ed256dbec26b4e47d58cb05ff0375494947f20dfb55db6e04447a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066623616e9ac0c292a3507ee6c98d84393296949a6ce5fe3946764394647864",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.488 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.289, 1.8107, 1.3251, -0.2398, -0.2836, -0.2436, 0.0717, -0.02, 0.8158, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5009 left_y=-0.0936 left_z=0.1483 left_yaw=0.0653 left_pitch=-0.1283 left_roll=0.0137 left_gripper=0.0717 right_x=0.2949 right_y=-0.0003 right_z=0.173 right_yaw=-0.0061 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -8.8684, 6.1197, 1.7558, 0.0171, 0.1148, 0.6276, -0.1573, -1.4154, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2588, 1.9759, 1.4006, -0.1661, -0.2691, -0.2371, 0.9953, -0.02, 0.8192, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5346 left_y=-0.0892 left_z=0.1095 left_yaw=0.0807 left_pitch=-0.1468 left_roll=0.015 left_gripper=0.9953 right_x=0.2951 right_y=-0.0003 right_z=0.172 right_yaw=-0.0061 right_pitch=-0.0381 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.4684, 8.1162, 1.6825, -0.0904, 0.105, 0.0757, -0.212, -1.4701, 7.1863, 1.7314, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1116, 0.9421, 0.8017, -0.5446, -0.1741, -0.1543, 0.9967, -0.02, 0.8249, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3068 left_y=0.0 left_z=0.1964 left_yaw=0.1018 left_pitch=-0.1103 left_roll=0.0035 left_gripper=0.9967 right_x=0.2954 right_y=-0.0003 right_z=0.1704 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -1.9487, 6.188, 1.7118, 0.1245, 0.1197, 0.1245, -0.0479, -1.4291, 7.2547, 1.7411, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04189c545a6e41b450e68d3c7f61316894ed09aabebeb716d53089c229b7051d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d595d1c57b6ed256dbec26b4e47d58cb05ff0375494947f20dfb55db6e04447a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066623616e9ac0c292a3507ee6c98d84393296949a6ce5fe3946764394647864",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIZZROtvrCYQ_6jh1FuU1F1653mmXHEUklB1jsta0MHRrtzrOqs_oiFRfh_S-Qx1xdX1iYeRc1b1V_e6igq2wmTfmhWa1dRaNgE6c7yyPNafuZuQNAZD1k6QeOeKHwfWH7088X9tszEG_Y2NtsziZd_67AeTR4p748JbFlqSaBMkmpoHBbLRXXwFVRyMmdn4s8wCJiKbVOnH3VhoNNFAD7o4Nr7ZgDRDD5M0F16N_f134In1ljUboXaMA1KHYrFTA8fpEl7aPVDZCpPqtatg37t2qyXlh1MKqbZX4gjZw0Kf5CxphewhMkGHcwXtwkU9WJg7zzGJVabVZ-3PklkHKnxvffc3p9akX9Lyk_y13r7Xx93T3vh51tCrS3xwmjW6nE-W0IVPTc2s4V-sR5FDemHX0dFSjFnmgr8E-jb2BJ1REsBk57nhyhJyCGqzYAMkbtLuL8JEOjhl4YSAopqMH9MS_-9sJtVmyLD2WVs1iGXSVnbDl3ujPKA0jL-Zr1IWorqzmRHPfXCP4vSBSfz-NT4ryY602oSUaPjYfhvrcbZ1Jms0mjJTLVKFl7ST7NtMLq29hlRMj_Qb3NdZ_KJvv0pCFI2OBaegJ6WJk1Vshu1WdEb1CfELbspxIBmNiaal64A9boRFNSeV3kVcsayqBSOGUb-diAf8U88tONRnomVttR_howXzssHM7TV3v8LowGGSdNyyVMwndFb4m4ZL5AxcbRSZwiOXz46gTyzTrTE55iwxGq-bqkIcngk6Ht4hbjvdh_WhYyGhQvLAnPXOeXoTiledWofVFAMunOocr3IxHhtgy8L4Jamw_WFa1hVCJn8hVIYm2YlyqkyTUuhI2SBHZnVX_09tBxI17ybDBH8j_4-Z1dYnmGsiYCMuAOb-qbfpXhL2xEQfTz7Wf47g5nUHfihKhM7dl0HvlAsJA1JCwlxwdTNDZ5f6uhBZM0ZyVPcfar89SxHia8R0nKNVz9JvmmJu8VBAzwEzQeUenvQSf6jdn-ys5NUSzrya9pjVfzjbUdfJfTc7GoJR2UR9EqN_FytaOs3ZqZ-pug9kmEh10CMKTGfLaxeXpXyDho21sTo1xd1k5Zab_orc4DABXy-smDaCpgtg6Zul29sqgTjKsZJNh9DaDxdIeF6Zv3pEMEUsrfFDczjMD-kCmjZdAfkymqQwHj-X0Y8NlBOpBgeAdjsRIsmAaGotqBGxrqS69pFIOia7ptyfGSVIlYNQZsE5Cm83KPRJ7ziRBlCFIkI8OjaD89SZYyDHNMWQhVAqNZ3tegOwgcGvtkbBgXz76LScPy1oS3pi8sqCCsVA-vNpAUPOpNT2d-pGJCfMoYvlfvA6urvtV1RQ6BV2fZbGGz53D3wxZvytAw-XANBEwfl1nXgpzOw0Ed0JFKK-Pu9tGUfvmdGlVT9qwXtHLnwXLMSBbFKVLbKihnzcPKwd2KMW87NHfEy-d8WFwRrqmvRm0-NJsNrg9kZKwal8eb8NS7J2ILvEIR4pyCT2l8VOKhs8TndkjGdc0u0MVWb2aQMFGa_01X_ubsClmhG56HnCoV0qhXmPl_X6S-ER2CgMmm5eeJSCn-pOSvo4HZDh-s6lvlWC-bhzlPsCIECrycpXCCf31n-Dds3YhIRuD-Sw7YgcUnXzYtuszInuOZsnFNxuoZRCMUcOdsV7vsi0wOV79LoeaBh9GsLxbN7TWxwAC-P4goEEPj1g1r3yQOEjblUuRzgEN-BJLh8zKkrXmw4OQ_y9BcBYHRk-XyxLuoGODDRKfWCbAIoDlUJXJ4DhbXcGElbjCbVsmMDlxlpt-_Kl1_IpbZbWPgG28yfdyQlFY-jTrGojpThbZMr8lqki85dPwDZI9EXcAqZj2ID-sokXTEWpCCbk4wLyTglZn8FikJbihMBVR2K6qy4jcf4eKXWqxoJG7bVYA0qg-XSQt9jZtIY7ux9DoXKTbX_eGCo50u74lpqe3l350tpdKX06T2clVTpCjsRYqzpx_tta1o2pD43E5BA3OQIIpYUJ9y3PNC8uDIrFFN6fMxPuLDBXqbXzXzSIkIFxQomkwAwKvvJdUWUDYvbhj7CEude9-R0vwvoKP8qy_GkdRPK9EA6n-FejDATAPtx-OTxsLUQhhmfC7HsMLMj3NiwHZTMS-Jaq9YmIJ2sBfrC34qgx72wCEZTxK7r1dxQ4EofrmCVHMxTMHQ7B3n6nMS1pBRtb3zKYJJ_Np4xWpBklWNOn78TwokYCE6TrC9sxqOqTkVWOWiKTzwW7mUUhHr0jO6mcup0gQzbYjsxCIPmzN5Tx5gCE268IARHujb_aAI3lsR2Jz_d7f8SptN850zTSiGq89MuyD1u0A-aJahz7jILpstWe5BddNVQBmY36ff_-NF5MW1rXls1cWH-l4SVzSAphdeHebISSyZlGlfs4P8ncOqNo_h3fU5Kf_0BtW_vWP445rux8y2oUOcueWPsSZatnKS8qkOUIDDfR9PE-RpglJg7bd9vmw-LwX8VfAQ8q_gyauenawdQaTv_fZJ2qJDg0CpddYmPBIe8Wf6GMMp94n1fFmY5Brbre5twdsDaIw9Eo_2W9_q_58KONsNRGX3zHmmCRoEDgsEDeSqQMcYzSWSHbfRsEmE46BbW0TmRRnjqQhk7bXLiCrK_frQ2FTFb31Pnw_XAB22QY_YsZIbWzhIOls7wu78Y",
  "id": "rs_0e3832893b9b1977016ab422168d5887d0807b7bb1930a6e39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.24,\"right_z\":0.13},\"note\":\"The gray plush remains at the left basket, and several tan or brown plush objects remain clustered near the table center. I’m positioning the right open gripper over the frontmost tan plush for the right basket.\"}",
  "call_id": "call_0A7ILQeVH6r8g9NWfaRFzEVR",
  "id": "fc_0e3832893b9b1977016ab42218ecb087d0a6cfd4828347980a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0A7ILQeVH6r8g9NWfaRFzEVR",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.5602, -0.1616, -0.1574, 0.9968, 0.9173, 1.5486, 0.9077, -0.2558, 0.6815, 0.6052, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.0017 left_z=0.191 left_yaw=0.0941 left_pitch=-0.1344 left_roll=-0.002 left_gripper=0.9968 right_x=0.314 right_y=0.2329 right_z=0.1158 right_yaw=0.0274 right_pitch=-0.0862 right_roll=-0.0353 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -2.6872, 6.9538, 1.746, -0.2076, -0.0317, -0.0122, 0.4171, -6.8444, 8.9368, 1.2772, 0.5983, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8092d138a1a4bc92c7ad6186739a2cab4ed4cd2a3c55a6d6d1dc53c8c98fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d48fecbb709e6347dd32fdecbc312a0e4370189ec2e6de8090c562bbf7f73c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f28e0827d8cac6607cc6bb76df23fabca0bcb227789b687e372515ead0400fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.207 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2638, 1.9575, 1.3872, -0.1928, -0.2733, -0.2401, 0.0736, -0.02, 0.8185, 0.6075, -0.3931, -0.0116, -0.0235, 0.9995]\nstate[eef_state]: left_x=0.5268 left_y=-0.0892 left_z=0.1089 left_yaw=0.082 left_pitch=-0.1662 left_roll=0.0228 left_gripper=0.0736 right_x=0.295 right_y=-0.0003 right_z=0.1721 right_yaw=-0.0061 right_pitch=-0.0378 right_roll=0.0023 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.2923, 8.7726, 1.956, -0.1441, 0.1148, 0.5446, -0.0615, -1.5385, 7.0085, 1.6728, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1116, 0.9421, 0.8017, -0.5446, -0.1741, -0.1543, 0.9967, -0.02, 0.8249, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3068 left_y=0.0 left_z=0.1964 left_yaw=0.1018 left_pitch=-0.1103 left_roll=0.0035 left_gripper=0.9967 right_x=0.2954 right_y=-0.0003 right_z=0.1704 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -1.9487, 6.188, 1.7118, 0.1245, 0.1197, 0.1245, -0.0479, -1.4291, 7.2547, 1.7411, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.5602, -0.1616, -0.1574, 0.9968, 0.9173, 1.5486, 0.9077, -0.2558, 0.6815, 0.6052, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.0017 left_z=0.191 left_yaw=0.0941 left_pitch=-0.1344 left_roll=-0.002 left_gripper=0.9968 right_x=0.314 right_y=0.2329 right_z=0.1158 right_yaw=0.0274 right_pitch=-0.0862 right_roll=-0.0353 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -2.6872, 6.9538, 1.746, -0.2076, -0.0317, -0.0122, 0.4171, -6.8444, 8.9368, 1.2772, 0.5983, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8092d138a1a4bc92c7ad6186739a2cab4ed4cd2a3c55a6d6d1dc53c8c98fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d48fecbb709e6347dd32fdecbc312a0e4370189ec2e6de8090c562bbf7f73c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f28e0827d8cac6607cc6bb76df23fabca0bcb227789b687e372515ead0400fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIg36tmx_uYdi5fp-5zL2lVDu4Bokch4NS0sYJLnWzFLV5h8fRhJKlmuY4RSRJ6tGio5Q3IL3iBX9jntQhVZWvtYU8fn7MD6xlCBo3p_tSTM_yuy0FWpMWZdZYVb4EKNpkE9yZ7jiaTlfVPOsFGUtsKhFI0i5dcdsUbV6tRWwdgmIl45o-XI3KTgDAdgD44Au3DPv3qo4-YzqaayGj2jeHy9e6ZCKJmjFqJVNUJxnmTqq51HlUieaB0Z-zPAqVeKrU5DPm2o4TeDcqEOqS_ra6afQg6rmhiSzTppvaPCT0ZWOw5Re5oilOjf6MfyQ-Jxw4lH9RuXNZknXwoE0LyhQVTLVOQkOeFBs-WKPp8Vb3VqF-XH7-aDN6v6ExhKeafE_ZaDqaSzUIyzGeXS-h60NFW7mjlNsZH64lPg7UmE17xC-shi-mtWzHr-veGU_FG7TPyhqpzskJ5Vp8oCYPzVnXtKcCLYdDoKqraqkYwWtqv6xQy6ht7zmt_fxwKD9UiKqvWXN_kwHJv5lSNMRW7sgL9kc5E3RZFkL9rGQXzroG10a9WYEzam5xgoaCsf4FovfewIj7BEa4WJMqCjqBt9qNxVmvNgVHQeB1vvQl_YGz5-B9SrtdzIsmVfyOXVzQKwHWJSJ9Ac9XJSpoIk4EFMZmezZIxL49a9YGF1nAPvC2huZLzAKmAqZ2c7zPEZY_BeoOu2EtzqIwFQ84vjugmg9SS4GycXGMtZGtSiuEI-WyN99UOWzlwfG5WiamuNCyCKap_8fmNzfZEv89PD__W6pIXTtTQZzaOwZau6V9mw16xK_S2ivqHi805HOZIYYYqlFQazgnos7ZScuF6rf_LL9mTyVcqqGezspVGTWj8LPWSldPhzIVIHcE-2F87-oO7EZzUnZXG4Jp_ngoR3g1qi4FNSqUvjJpl43GsvHZiU6F4mtLxWqdGWllN1ghmUCIyKdyyeZ5AZexlLP0GU8AvigksDXazqJ_zvDC1rfmacr6ZRgqJe2VuRZnahCVK33Lcnwcq1WSmSFznulh7kJmhvtYRNVJKj5DxiciFlnWs0093u1xFVyFQys9NBeMUFwTuw62GD0DRdX0CVERdyLOiuEltPALHTO6ZihGxa75m1Py7HgJ9o0jq5UTztj6rGWd6odoKB1oQ2vAjEeuHx4Mk2JVlo0qeqk40HSzvHvVgU7JIcomz1yrtAeGnylcUDGuHsXcjVU9IkxgBgiNh_TW888v_ixoKxHbRK6Lvwpn3laa5Jb79RKOESIqoqx4IRc2NzcsZFW49s6UBWWFAW_Ks_k9VKSiSUBA3Cz14DtcXlGitrYX0mWZ1baiEF8Ahxtm2pihjnoIESFWSyKTT_aKczmUkuXn99HoJyNyBn7tATscjPzHSoeyXuRY9y1fw4UAkwmeC_pOr4HxLF-8uKUHYG1JyQMcAkwo7sJC920WFTGzYxTeG0_b3kKpH7mdu8JdxXxPz1lhL6m_pdRBoIEBg6w0OZJopjv__HOJY8kdYHd-nE8sJglMPSIjJfo6JgtFWbMuVsVzVrmD5SXDLfv39SWq9KQBoTVHtb7-GffxUeILYCtLyqsKmoPHzbrpVkTtGeLwLadcRwfSdYvFPDLELaBBNC16cMCnF7zPCGuKZEWNhY4pbXemYwJQFSjh6xDLvTfDfDcWeIroP1FgFMwF6hL4u61tqOw6e1FXqXCwEcRRmOz2yW5slZKNdcPXjifR-sA5rSRCOQrYs-clKvGl8yQmnOzBOHYpT79VoYlVr2hcetSS4wwLL1eNQQnV0v1EuM46eJh7DTOt_k6cNV0tMjL4sny3C8-aFPz4HcMJVBWlU0S1zlWaiEcsIpgMKlWNrV-hcvT_n5uc4ujeC9bsEMA16Ajx-9KyKnwQjmbJ_H_CkUyhhr4y3r0BDLnR6Z90yTDUicDSH_plyYVYZP4U4a63lOEQArnItSxOfWpH4-h_uFFJAmv8YgPyAx7GZnVxzWYOEyVziF6ZAnQUZDc4qYmpPwT2dYDUb-Nxy2Y_XeOu14y5jbdCv5sNEWqhdHYiGtVGsHL8SXO3CriuBC-J09wf_f73nj7MYiJzo0YrGmiuhJc1ctChdK4kgd61ZKk_xYYh0t-dqjky6atnxeXWhJv5wRkcCjj0yN4iWoE7-qtRF6LzgawjXrRVWNbBOiIy0CBw5sULT_N5bPhY6AqguHlNeZIudiam31gklQ6zhmtkCwlyxIhr9GD9qKvS-pCIyEYSpJFo4QZsHculr0PkQK1C4u08-992t86UIyMhGnxAH_xccdH7npLDt5KyWSeKIKO0oKHwmVO8p92q_kbivPV-JIOH6mUXn84tyyCAN1LW_9RDqS1gTQ9wielwBam2szINSuSkWmKnty4Q7PSo3EgHq5Y5rweoeYj1JeIRFNZjnf7Q9_JZ99eg9ZUYNJNxyv3GGM5ogu-BdFQRKslNUCRHj29z1bSAZtY3CDp0RYInjuKn2eZUILRhR5KHa3raTO_TZ7QgpvYUUAUeK1R_h63tiT30DtEwK-0DTaGnnMH_cWnFYyHu5A0o8aKoaBlM9VFPn76M1donvWfJbnICAsTHMQS7h0V3wKbjEKN67W0DmbqMbnXuOtk6d58Uh9wzRG2x-oGaZOMP7k7jcC92Y1LoZubpHq7iOCkl4xv7zYABUEPGAKrf6gW486AvV5rR2AGTkwULDxwzTTEBICeT7n0TDOQzLT08KK1I36q7AoIqsfJM=",
  "id": "rs_0e3832893b9b1977016ab4221d38e487d0b739bc985016c55f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.305,\"right_z\":0.075},\"note\":\"In the right wrist view the tan plush is low and left of the fingers, with the basket beyond it. I’m shifting the gripper toward the plush and slightly toward the base, then lowering to grasp its body.\"}",
  "call_id": "call_F3dxYzh9xVYkrX6X3IE8yyKj",
  "id": "fc_0e3832893b9b1977016ab4221f705087d097111f5f1b03463f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F3dxYzh9xVYkrX6X3IE8yyKj",
  "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]: [-0.1108, 0.9482, 0.8005, -0.561, -0.1604, -0.1574, 0.9968, 1.1076, 1.7794, 1.026, -0.2749, 0.7914, 0.8043, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.0019 left_z=0.1908 left_yaw=0.0932 left_pitch=-0.1353 left_roll=-0.0026 left_gripper=0.9968 right_x=0.2855 right_y=0.2986 right_z=0.0802 right_yaw=0.0341 right_pitch=-0.0802 right_roll=-0.0362 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -2.1402, 7.0632, 1.5751, -0.1294, -0.0708, -0.0122, 0.9915, -6.8308, 7.2547, 0.8816, 0.2857, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1285e4ec73248a9722ebf9d1fde98129f4d4549f8c8fa5ba99b9390405a1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a4749b230c4065b41512c5f7912ec704b5e3d03ee5e2b93e154d34ebc723aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bbfff2e49f9eabd4b8f5b061a599c1a15d36d79b514c6db378f820f7159619a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.021 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2588, 1.9759, 1.4006, -0.1661, -0.2691, -0.2371, 0.9953, -0.02, 0.8192, 0.6075, -0.3927, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5346 left_y=-0.0892 left_z=0.1095 left_yaw=0.0807 left_pitch=-0.1468 left_roll=0.015 left_gripper=0.9953 right_x=0.2951 right_y=-0.0003 right_z=0.172 right_yaw=-0.0061 right_pitch=-0.0381 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.4684, 8.1162, 1.6825, -0.0904, 0.105, 0.0757, -0.212, -1.4701, 7.1863, 1.7314, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.5602, -0.1616, -0.1574, 0.9968, 0.9173, 1.5486, 0.9077, -0.2558, 0.6815, 0.6052, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.0017 left_z=0.191 left_yaw=0.0941 left_pitch=-0.1344 left_roll=-0.002 left_gripper=0.9968 right_x=0.314 right_y=0.2329 right_z=0.1158 right_yaw=0.0274 right_pitch=-0.0862 right_roll=-0.0353 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -2.6872, 6.9538, 1.746, -0.2076, -0.0317, -0.0122, 0.4171, -6.8444, 8.9368, 1.2772, 0.5983, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.1604, -0.1574, 0.9968, 1.1076, 1.7794, 1.026, -0.2749, 0.7914, 0.8043, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.0019 left_z=0.1908 left_yaw=0.0932 left_pitch=-0.1353 left_roll=-0.0026 left_gripper=0.9968 right_x=0.2855 right_y=0.2986 right_z=0.0802 right_yaw=0.0341 right_pitch=-0.0802 right_roll=-0.0362 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -2.1402, 7.0632, 1.5751, -0.1294, -0.0708, -0.0122, 0.9915, -6.8308, 7.2547, 0.8816, 0.2857, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1285e4ec73248a9722ebf9d1fde98129f4d4549f8c8fa5ba99b9390405a1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a4749b230c4065b41512c5f7912ec704b5e3d03ee5e2b93e154d34ebc723aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bbfff2e49f9eabd4b8f5b061a599c1a15d36d79b514c6db378f820f7159619a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIlXkl20KiSGEXqh_tq_jX9rCCUlLfgUF45HVFHQw1p84VvsED87jPXwP3PE_-jfNiqlviMykQRJqgFm_ZrEKsaBm9AE1D1jh2gVRKjIxboteaesYRZN0VzZWD7N83gWeat2f-aDcqOIwt3iQEHiW18gV_c_JyuCg583u4Ph2XGOh0LH8iSXDpfr1tGHufX8C-SB7vYDEHyUyyh3EmHIWszvs2XPbaNpAb3xUNWlnBFuBdU9w8H58RMd7EpVCADZxkZnYbjzRynqi-jaxi5HKLFRsh4yl-Rva7SflUcvV15Qetw4zcA2YJP-mkjlCo2WpX5ia4lymY6Pytn-avvOMqv79fvj2O1xd4nT8cPoj9FdWpVbUQyUgdJ3RO5GLWmgRW4T_uJ6f7IdBB4U6BSC6noeJpWskEVEwahzf2D2QysDTtF43QtCK94msQK4IGExP95ba-bHp0DjBF7PsiCwNijfLUtgN9h44ZvcQfllK5Jybz3qWKI-tL8IJRGvH-0w8N8qGHOO1GJaedCh5TJkKZ0-R0xs8aGpwdDd3V2_4JLbk0R2vXgkU3K7gGpJD1i1QRv2_hLvavsATQ46CB4ztOVAiAFZlLTgEjIgYxHh7PtEYZHVx0rtujg6KBTYRufisCjn7Sy217etbzbZG8UgAeDLSWfp7tik61CtPxaZW18qKyavHJzurWBE9dkFTrnGciZAA7ne_posdct8nY7THlvi0mIqcSiQsDW20OFI8lI8Bh9Zst9ETn_uIWfY5fwTO451JLlysX87C4FYGt_ljQl6G7upMBmuYpr_4e37Xnn6PbfAkTkxcHgciRAlKykmky5AAWyGcRx9VlOUXo99QM-n0ZvK_Ox2VwYRdV9HLhVK4h7sTSEvBC6yejnd97fWDLQ8W_RZ5rRYc2IqxBfoAbRAACZwXoskjbErUJPKmCJtKBlqAWnu00juMjksamqTshURM92yjJ2Ct8gkAcjt8LtuuM5JArFZVt5PyO0tErfUg6LBxKHl53tCIotbydAZis5iACsnokeiuYNIzmNYgcD-_AjK_eU9R84-92xmJDVdzMhgg-qPVfL_XcZa_i808R_3IjudpVv0nTBwioD3hoa7FiZwWMTtCQxU3zmtz8eHnCx7odTsKNXjf_zICg9idnvqsuBwHUz417sjES_TghMEdunBT2VDJdU82Qk42XEa3Rhx8jq-v6wsS10XgWQDY3a1tPnCBgoPvXwroClHLSBoy4M5ni7kQWwM-N5U2pFyZYmvttABtMJOn6g-mT-3rkNWrFiIC_ApS75rX0dXSur-m0ENZ7Nez1wjOegC3Ifry7BMpOOCGUaeGs3ZugG8nm8gyy32Ixjer_vy3901DdhQWJ3ssjVrMztqsQhjPN84-nHeMYu-b8RxmmjOqIog3gdvPnDgMhiDL1jbYA2NZTo6EuIN68FLZcGe25k6WsEf_95u8FRR_rwm_9C0g6xuK1g1-2kml8nOtzFJHB_kc9t3NPNE7ixCpkhrE5ZJ05djATRuvGB1e3_VOQdBJJwanDJRkR4NMfdbFogPFVhbTO1D3H4FhP8QopxV1orCG8_CUjT5F_IVpZaF9PAREeAlodhcLaNoGqr-1beeLAu2oef7yRrwk2Znc_Tx-VQMy3YUuWVIvqwkq2AkCNH6UvrYesUNpOE9BwUnwn7xOZa1cEDaXeJkDbETwwhRN1J5A14bRt8qBeMYqzVP1OWymwxPcN1lhOta6SUX_Ma4L7tVz28s9qzRx9jsePYb-YT2zvATs6KAtOpY7dTiKcHD3LkfCyYcAhXb5m3a6z6LveDDi246aVLPnSsLm8EPJ_heCOoAdz72r7cFKHJFQNgUQtyev47fusEtL0ObqGhrdjraOqsxIbq6vR772feAp-Aua8teiEWQDO3lvRnO-XB8P-zTgECdxllhj3ClCkwG2VVxpeKwxZukmdpOAPI3Mp2hITjUR-iKlcjRw0vToyg8JFeKKkUdiOOaKN5QnNaoH0VZ5NImmMIQulOgzusCAz9dmRaUuva9rqeKDhggKdkoUngdUpwmKlzVOZzBnR8A_e79-b0Kuqq5JfLdg6e9Qtl0XiEOua64haESQ-OtvyEoc4LZ6xgRPv895N5GoVs_7GqVeusi9EdQaMQtpgS-tm9mm9TAXrOoeBZQNCs_bh_KsKkKEHUx0lJvo-IEZ4fTm_b5zoUTV_koE7a2lUv1ysQpumARekXD7eUx_WLTwBeYhXuXftsjFFNPo1UpaY1eiYnPiYFv75Z11NkddjiY96dvUObwT_NpLBUy-G_TAg1Vu02ln_GzJj_oJv4YHtmAeSTzvDcN_XtKLmXXnv0EUBx8PRmoK1xsaEZEk8FUp8EJa2fOTjzwjs5vMEVtyigzlcYH9kyF8BXA9JcE8CBd5AQ6XIiZ9UAsUdxP-myjadrpvaOwTDa3fPDttjASsexmICDwjqirxxjunHTGjVDJ9ZQiBB9ijlEkaHNPA_I-9irIcKW3J7yf5wLNKS2ee0qh5W90YiH6GrstL_e4GA8vdZNcXT_PzdrxbbdiH-l8biWI80n30nuavgR7ufkUfPsWQH4bkyqaub_aF5BMMRljM1beNPu4vQ=",
  "id": "rs_0e3832893b9b1977016ab42221f10487d08b3b850f963c4530",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.365,\"right_z\":0.045},\"note\":\"The tan plush still fills the left side of the wrist view instead of the jaw column. I’m moving farther toward the table center and dropping to a firmer torso-level grasp.\"}",
  "call_id": "call_mn2OStEabaq0nkw57NYiFPwb",
  "id": "fc_0e3832893b9b1977016ab42224472887d0a80e0b6797a18a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mn2OStEabaq0nkw57NYiFPwb",
  "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]: [-0.1108, 0.9482, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 1.2083, 1.9987, 1.2377, -0.3092, 0.8658, 0.9463, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.002 left_z=0.1908 left_yaw=0.0929 left_pitch=-0.1353 left_roll=-0.0029 left_gripper=0.9968 right_x=0.2774 right_y=0.3621 right_z=0.0649 right_yaw=0.0176 right_pitch=-0.0385 right_roll=0.0136 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -2.1812, 6.9538, 1.5751, -0.0855, -0.0415, -0.0122, 1.5795, -7.665, 5.9692, 0.5153, 0.188, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19fb5b9005e4a6062a2b262672313ae8d0fc76f35499ab3ecbb9684888749a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6e5c65431630508f43e53badf479f6aea823471f17cf250e01dfff25130cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49e2fa11ad93dd80543ba0f63cd5b153562683e358fe95a1b4eecdec8a8e2b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.095 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1116, 0.9421, 0.8017, -0.5446, -0.1741, -0.1543, 0.9967, -0.02, 0.8249, 0.6075, -0.3927, -0.0116, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3068 left_y=0.0 left_z=0.1964 left_yaw=0.1018 left_pitch=-0.1103 left_roll=0.0035 left_gripper=0.9967 right_x=0.2954 right_y=-0.0003 right_z=0.1704 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -1.9487, 6.188, 1.7118, 0.1245, 0.1197, 0.1245, -0.0479, -1.4291, 7.2547, 1.7411, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.1604, -0.1574, 0.9968, 1.1076, 1.7794, 1.026, -0.2749, 0.7914, 0.8043, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.0019 left_z=0.1908 left_yaw=0.0932 left_pitch=-0.1353 left_roll=-0.0026 left_gripper=0.9968 right_x=0.2855 right_y=0.2986 right_z=0.0802 right_yaw=0.0341 right_pitch=-0.0802 right_roll=-0.0362 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -2.1402, 7.0632, 1.5751, -0.1294, -0.0708, -0.0122, 0.9915, -6.8308, 7.2547, 0.8816, 0.2857, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 1.2083, 1.9987, 1.2377, -0.3092, 0.8658, 0.9463, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.002 left_z=0.1908 left_yaw=0.0929 left_pitch=-0.1353 left_roll=-0.0029 left_gripper=0.9968 right_x=0.2774 right_y=0.3621 right_z=0.0649 right_yaw=0.0176 right_pitch=-0.0385 right_roll=0.0136 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -2.1812, 6.9538, 1.5751, -0.0855, -0.0415, -0.0122, 1.5795, -7.665, 5.9692, 0.5153, 0.188, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19fb5b9005e4a6062a2b262672313ae8d0fc76f35499ab3ecbb9684888749a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6e5c65431630508f43e53badf479f6aea823471f17cf250e01dfff25130cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49e2fa11ad93dd80543ba0f63cd5b153562683e358fe95a1b4eecdec8a8e2b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIqH4mKBsOM6my2XsMOh-Jc5107zueX0PKiKobcJlODxbdwFypc0Ux9sE4lBV_jLXqqVmuAz_RMT4R0asMgmWcAJK0PoVVnwFG8F5baH6PnrDhqZOSTJhftBqbpopYl86Gdisg4SVbfQKpwAaY-sLUNjwjCVu77xL0tusSB0dfGbWGryrL-5waKKSCGl4gSBfaljRj4MqnwxnCvy7XKTv-hpC8UJN3SA_-_6l4tsW55RVoryHg8Jxau6vWqLGYCo8OCER7l3omr8DlUOYqmXuNHoxIDPeGOUa7QJu7EAeUJBkxb_AyX0mcdepUEOa_q4SgQhxjNXrFIb5_tl5whWN-Z5eZ8fmnK1SjdVjn4g06mqEyO4dUtfn76XZtffprYbluXTuIPx0OrKNC5JwxuvvmUiufl9v1bfbTbMPJ5et3X0WSH_gB9AX8W-Dx86wTZe2Y4q1L84Eh2pj4FUbbESqIBxnNt__UyAqbY7by_CQg_NUydOWVkPeFqvs56wf9Fa51KixJjDNE_5Ne5OJkJk9PEGIol7S4_ykFIIdCl-rojDbtSxJOo2fuSZehnEF3dtMf2TTr99I09H9bSwQySTeEh1wYpLT3vYMD8ZmZJ06LhDCOxFavs5QSlMY-IfBPTlVKp8oht423lQotCorjpm9wck6DaNUthptNtxR-V1q1xzYunLZtc0TaBHDpj4YpiEFwGITom_KoMqvYV4jv9CN954_oKLUJf8wQRjcgtM_3W90cxQAv_gg1U2cUJW1CPRGQC7imLI0w8kDrx_NOA-qtkQMa6pxGxTXpmHmsZnd22ZiBB3UwlScTeI69OmdfsCkwoH-vvzn5dH1EKSLCwTAtQcXfo2XZdBPsydcuIZy5MZ77EXO_m954XAyiAGUc40XxrYXHyRQDKBuxWIRGgZYnRADp3o-a3N8uaYZrmGeWIZhNYJYUct7gSWKTFppuPoAGjIGjiuqM09a6h0aH3KCg51X_Vp7vgWp6MDjVlBDL2LL1nilfXHz0It0tF3ITuYjf4TtFRQZauMVwjynza_4C5u0dyI9qHEs8A6B7gF3n7TmcQxGcmUQNS8Vv-cRqpjKojrX9dG1am5ke2fmkMLVC9eSAYxhUfv49TMY7ls6B_fNOSCenC0SsW2mUoJcqJVdZCjTdcUgpqtbJJAmIX7q7-Xv0QlD4G_4PJL0efleBNNsAi7CJKE6lQ00Vx5_ysjBOqgUHheF5totoLc3JTk1JCiV1DJ7lhAgR4T19Z9BbKHv4jjqcTn7d_a8ScIuC8GmrHOVMjrWPAzupJgGrVnzpX9WgOVNfbRVgmlpknEgpf_EcCKepd8Ogp5zXqyZFZ2I_GOtvepdPnQixFLLFDhTKv1lkNI1LOQL8Gf4dcldnMNt9V19iNw44VvnrTOfoE7WJt3CKi7gw2nBf_NZ7NDhRzVqMPiSv4iMpUmjXsQ0_eNzxhqfe_cP3DRqGSMnqBoC2yN_NovTDgZrVGCdQpgrOOmHCXv48dbyWIIqSAuc1r3X_r-I1aGm4uoXyq-ytRk5FjsBQKv_AWOKULGq3RjLO-fmJKVFokK6dbW8twL8zmdWcgm-X5QlEpPdC7t3FqRkCq3yaf89N8v-nnTQdHGxrlBfKPmky2PWjfe50wVtVWnNmFih_tODpr9-mAV7IFGsvYdxUtpLbtbdmwUl0ofDhezxuAoCkonXljWtBVH8SjQEfhQXOwHIDvUDpyY3AUNTiQyDCTUbwpTODqEW04PQ6Xf5t4njEVruM6VAiV3QADcnBTtn1Jn6wC4OrjZ2WKLWsvVdFvR-EBdve41x7zQEth5s5mlk6uMzLMbAyDJ7zFJocLySmtS-gLr-tcReJkHOkWi4Ss15nXbNki8DWPGxtjkd1ygR2nbUEKmVKJgfuebwt6IQLR32-qz9MWDHiBAM46-XQhQSFrewQDOyYtM6dN_Z2JNeT1r2gj4jd_Pi3_-00rSSHAomp3y_ELqqvW46uocWBwjVNJSWI1qVPhv3uUxr1NgoE_kb-WlTo4UW6zjCMwJzS6rc212FLFPUgDpCwfZBnS5ZRkNjV7-tmQ6BchuCN0YW9YtWEppE0Fz6HqFp4rKF63nvBW4LXebvd5VKM4bcJe3h2dwXW2GEFH_sZVAUfJ7ZyEPE5utRXmn_zSwOchUrSZTRw8vSMdFzacBlHARK2MxAM6h8WcpmdILBqpnnTEM9_EEmEv7njqOiw2KlLPD_3iP4xeaaVybqwPG2La19lOGyUgsD5pzYipO_TLWSiAY-yzF9dVP0Ef6xnOeuXp29zJCwsMNeNNidGnSmoKnpwADuTqTw9-EXjGIyKYpbmBPseGE9J_eM8JeBFhjvTktC2R2FcrCH8aaMoR3S3iynlAnuzsBeJ36IjQmmCo9Nzq3Mh0n69HxUMh9reeLgtmdM7Aa0TPm3Xse4hdrTjTVFcpmPz0BfplnYl_x-aVhG8aGoKLDshl3dDSZchF2fgCXsSFtPlzxCrUuSb-UQtUmIVpkT0c44rrtj5edvyNSqe9EHpdjtNi4n07E7ddtTgVBWxRsdAaqMYz1i3YYuyv3r-mMh3P_vymgPVF7dUQLR6JSrH-zWEKvWYGULOHcY0M0eSl_U8IISjE-S62DrofP_9sjAwnb6W3y8Geyg4vYktZgzHcYx5FHYyua9iMGAtZAo6MmHZJMYt5cqlysFDwHBlbixD4yuABEOv08_I4TnzP3Qj0HsKO89PmK7i6JJN8gF3hCjo1wBvuYxj1atsxRfCspY8-4zXEIsKL1_G0gdB0ZVAHXNATSog9Rncgd6DsHYmpEWVL4OTLFuAW7KVyhftiqt4Vfi7alLfruteHSTQn2___VoMQgzlVhbcpaU8hYFWtOZShv20UiQWmTd9kX5f9-LWkAUW1gr1LnCgqh8Bct5V97Z18DQKkh8KV5s5qwpt7K5RBqKEzo-Q8BHvx",
  "id": "rs_0e3832893b9b1977016ab422268d2c87d08a0e282e34601d87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.295,\"right_z\":0.12},\"note\":\"The near tan plush is too far to the left of the right gripper at this pose, so closing here would miss it. I’m moving to the tan plush farther forward near the center, which is better placed for this arm.\"}",
  "call_id": "call_8lThXI4KBMTlWK0ehpYuaa5E",
  "id": "fc_0e3832893b9b1977016ab42229d79487d0a64952ec462c55fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8lThXI4KBMTlWK0ehpYuaa5E",
  "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]: [-0.1108, 0.9501, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 0.881, 1.9068, 1.2133, -0.2035, 0.6689, 0.6037, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.002 left_z=0.1903 left_yaw=0.0929 left_pitch=-0.1372 left_roll=-0.0025 left_gripper=0.9968 right_x=0.377 right_y=0.2905 right_z=0.0878 right_yaw=0.0004 right_pitch=-0.094 right_roll=-0.0305 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -2.2222, 6.8991, 1.5702, -0.0904, -0.0464, -0.0122, -0.335, -12.8342, 8.9915, 1.5507, 0.4469, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8b28e71b831462a45c732a192e6b766269920527ecd783efa953b7eb7871b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d820b17d55f219ebb18b5e657c3c656c30b73f3410a9267bbde2ce9b3fbf8e68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbbb739f06c409c03e0919315bc28fe40cd4835efb313d823a8079b3a9d94118",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.73 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.5602, -0.1616, -0.1574, 0.9968, 0.9173, 1.5486, 0.9077, -0.2558, 0.6815, 0.6052, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.0017 left_z=0.191 left_yaw=0.0941 left_pitch=-0.1344 left_roll=-0.002 left_gripper=0.9968 right_x=0.314 right_y=0.2329 right_z=0.1158 right_yaw=0.0274 right_pitch=-0.0862 right_roll=-0.0353 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -2.6872, 6.9538, 1.746, -0.2076, -0.0317, -0.0122, 0.4171, -6.8444, 8.9368, 1.2772, 0.5983, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 1.2083, 1.9987, 1.2377, -0.3092, 0.8658, 0.9463, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.002 left_z=0.1908 left_yaw=0.0929 left_pitch=-0.1353 left_roll=-0.0029 left_gripper=0.9968 right_x=0.2774 right_y=0.3621 right_z=0.0649 right_yaw=0.0176 right_pitch=-0.0385 right_roll=0.0136 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -2.1812, 6.9538, 1.5751, -0.0855, -0.0415, -0.0122, 1.5795, -7.665, 5.9692, 0.5153, 0.188, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9501, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 0.881, 1.9068, 1.2133, -0.2035, 0.6689, 0.6037, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.002 left_z=0.1903 left_yaw=0.0929 left_pitch=-0.1372 left_roll=-0.0025 left_gripper=0.9968 right_x=0.377 right_y=0.2905 right_z=0.0878 right_yaw=0.0004 right_pitch=-0.094 right_roll=-0.0305 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -2.2222, 6.8991, 1.5702, -0.0904, -0.0464, -0.0122, -0.335, -12.8342, 8.9915, 1.5507, 0.4469, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8b28e71b831462a45c732a192e6b766269920527ecd783efa953b7eb7871b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d820b17d55f219ebb18b5e657c3c656c30b73f3410a9267bbde2ce9b3fbf8e68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbbb739f06c409c03e0919315bc28fe40cd4835efb313d823a8079b3a9d94118",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0e3832893b9b1977016ab4222ca37087d0aad4e6b0cc718693",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.39,\"right_z\":0.055},\"note\":\"The right gripper is above and to the right of the middle tan plush in the overhead view. I’m approaching its body from the forward side with the gripper open, staying within the right arm’s centerline reach.\"}",
  "call_id": "call_QNA6WDRvNqZQsnlQzmhrSDPr",
  "id": "fc_0e3832893b9b1977016ab4222e616887d080570b5d7809857e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QNA6WDRvNqZQsnlQzmhrSDPr",
  "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]: [-0.1108, 0.9508, 0.8005, -0.5606, -0.16, -0.1574, 0.9968, 1.153, 2.1345, 1.446, -0.4126, 0.7948, 0.8875, 0.9995]\nstate[eef_state]: left_x=0.3048 left_y=-0.002 left_z=0.1901 left_yaw=0.0929 left_pitch=-0.1376 left_roll=-0.0024 left_gripper=0.9968 right_x=0.3051 right_y=0.3854 right_z=0.0531 right_yaw=0.0268 right_pitch=-0.1089 right_roll=-0.0368 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.2906, 6.8718, 1.6288, -0.0855, -0.0513, -0.0122, 0.5949, -10.7966, 7.9111, 0.7253, 0.5641, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d104607782ea3dd7abd1b439cfbc09a49e083856c10263549abdbff584095a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8eb97c7a26e96efbb687cfbfdc0b50dd1ecefe33aa4af1d998d0db7567a88a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764eadeb7dbc23f22086fee07c414c908fb95c73b2018f2ffdd73913ff731290",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.68 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.1604, -0.1574, 0.9968, 1.1076, 1.7794, 1.026, -0.2749, 0.7914, 0.8043, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.0019 left_z=0.1908 left_yaw=0.0932 left_pitch=-0.1353 left_roll=-0.0026 left_gripper=0.9968 right_x=0.2855 right_y=0.2986 right_z=0.0802 right_yaw=0.0341 right_pitch=-0.0802 right_roll=-0.0362 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -2.1402, 7.0632, 1.5751, -0.1294, -0.0708, -0.0122, 0.9915, -6.8308, 7.2547, 0.8816, 0.2857, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9501, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 0.881, 1.9068, 1.2133, -0.2035, 0.6689, 0.6037, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.002 left_z=0.1903 left_yaw=0.0929 left_pitch=-0.1372 left_roll=-0.0025 left_gripper=0.9968 right_x=0.377 right_y=0.2905 right_z=0.0878 right_yaw=0.0004 right_pitch=-0.094 right_roll=-0.0305 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -2.2222, 6.8991, 1.5702, -0.0904, -0.0464, -0.0122, -0.335, -12.8342, 8.9915, 1.5507, 0.4469, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9508, 0.8005, -0.5606, -0.16, -0.1574, 0.9968, 1.153, 2.1345, 1.446, -0.4126, 0.7948, 0.8875, 0.9995]\nstate[eef_state]: left_x=0.3048 left_y=-0.002 left_z=0.1901 left_yaw=0.0929 left_pitch=-0.1376 left_roll=-0.0024 left_gripper=0.9968 right_x=0.3051 right_y=0.3854 right_z=0.0531 right_yaw=0.0268 right_pitch=-0.1089 right_roll=-0.0368 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.2906, 6.8718, 1.6288, -0.0855, -0.0513, -0.0122, 0.5949, -10.7966, 7.9111, 0.7253, 0.5641, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d104607782ea3dd7abd1b439cfbc09a49e083856c10263549abdbff584095a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8eb97c7a26e96efbb687cfbfdc0b50dd1ecefe33aa4af1d998d0db7567a88a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764eadeb7dbc23f22086fee07c414c908fb95c73b2018f2ffdd73913ff731290",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCI004XlQh9IJADkhWcx7KmMBTBokDWfNPDpAEWJXxqzYaVAqOwnJs0MJmVn-fHwVWu1LykufxNEGUPwKkrX_Abh3DCgxS9WQuHftxRByCj5DEe2INzLqVpHSOA4E5q5yRQNEYpVhu6bfJTIXhQbkbkNx7eg4jBwWqMYi9tS1la_-8x-zMfFmRJ4lKAM6N79Ujfot2HkNjCwL_OuUmovSNfqVGDjSrwfseuYCNSxhsEWUJHT7A8ETKLU_IcAMvJ1xt6gJO_1rzX5W04_bZCSss7kouxUDuAgn3Sv13BmW9VmdOEVlyKPm-7tmHkLNlFXpCehXt5ZXhhiTq26U8E5wJgDs6N56OSva98hqpF8gpnS3qb5AGYfbsQCKbCy6Yj02UWqHHx5V3t9fowlMfHi3VcFHruPVA2W2BTsqSonWilTkP78wBLvKCoxre0K9lNw95ZRMEoClIEqQxLyx08m3WHaJ6p5awEznfae9xr9tCrYXmMqULJT_FN7NOZgkbslDB1wredkkeNtnKaDyUG5qJv8hQPUD4G7Oo86C65HCKgNz-gqMiQcDrI_j6vA7n8YrafheIFJLWub5PmZ2J-um0er8-4ryg4QS_-B4soDacynV7j_Vd0RMxNtLjJB9p3v17C_ZV9DppuKsxj4FRUrv8cS6FAYw-M_QaO4TF2CJJUjj7z6qD0TuyVNwXDh207bt8Gh8pAAJED7RB2lKGryqlaFiIZ2vwe47rTSYS49f8w4xE4PqEEaUsRq_S56J-QDTJ7CX6xdmJLqxToz_AG9JzZNyBpXnDZp48KP1lIfWaq4d5ILmHz5TVWJ4377EJ8Fd2HJKaWAXJ6jTGJiQJVLg0C67Sw6FChGjgOFZ5ApIWo1EItarBAXYA7q8o6RgWeO6z8G9owtYM-XnfEdMn98DFtLy_8REszHOt6vsn18NgJAxoILfFTExGkYlWFDf1LAPb2IfCQZlzEy3CDwrppDcjAVH9-TD4O9v38UEHbbMGT7T4aXRWPglkhPA-aZ0Jxa3JjM_Eaa6C5yLtiA3aEikQ3IhnaGhvQ81o__MmSYcaJrdBmOU-cAb1Jc-Dt1KHU17s1WqU9voto7Uj25J1v5ZxYwl93vxHE_7GuheEbkTs61L70m5ETFCKth4F4xOf-nYJ5MoCn8h-CLVmRgDLx7u9gv2tb6c11VUVGMu5o3ovnGmppTqTbdJTbOp3gy2RMgrb5wjNZzxEhW7V2yfcNl-v8SfAAcF1nxiHOalbfnuPLwRe92M1X6elmWVMwzkwAFi7h8HA7VxSw4tbct8R1MsOa3bNSRZhGDgkRuMiNDfhdmYTgVF5cs96lyrvidW81WPj90HuazJDxfwba4bgxXZRHC9PFSQ-R1f0ZTemaxX8XuU8WCORAf2U5s8S4g8AFPciw2bZ5xZ5K7UqZpX-toZeLI857342KrfbvPtuVfNtWVHZCnRT36v12GCcslRHUPF9AIxwKcBCoWRgY3eN9zHew-WEO-jUYsP5cx9qUNEHvqoEeLw4_Yv4Hewf9unpZPcxsXJ5CHz58RC6vdUyu0GYrnImIXhI4Q0ELMSq44NMnG445XYb_vqfIWjILr6RnVglL6zrrt7_8__WJPoozdhrPhVT3L6OChe1GcEUdrTv4qf8mjkumz_8hw35rXJwNEPC32f6l-aRdigLFNeflFGFq_vezPN8U9zs0Imifb_LUhfRfGWQrB0pcgqiKtmhEdJuE0IWEGccAyC06xIgP6ISn-BtsmoXqV8YOe5SO6B4rVQxgGHHcU_SpBkusZwiE3otJdUWU6R07SAL2Vwrlw8XeooTbLPt2DCXeJOa_VP8xd1nixyqfHFD2d0sxNmuS-ET6rvEyU15f9DbnNMh8C-RkRLCcLjaI1pHNIAi9icXIF_A_WwGylYYfXJZWxfhtt2KyIOHAOnIqVT3xdFvVWMLRUQha_GKCce49ikbh0MDj6iWck958g6N5cjaRmlJ6If6a6DPZcj56cv0g9iI3ik1qcUQQrJSgVVAKL3Jg7-_BzDXA1dPBqM3_N39wqbWmoGau3bnEZ7U_MjmDUmnmTTYjNheVmX5KWT65hRAnN58bCtCmtssYnry3-86AjSwRguuPO",
  "id": "rs_0e3832893b9b1977016ab42231626c87d0aa1aac86b00b2c07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"The nearest tan plush remains at the edge of the right wrist camera even near that arm’s lateral limit. I’m parking the right arm and will pick up the center-left plush with the left arm instead.\"}",
  "call_id": "call_ctQlPYQUZPvM3lvUynF455Fn",
  "id": "fc_0e3832893b9b1977016ab422334c0487d0a14a5fa5eafb3368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ctQlPYQUZPvM3lvUynF455Fn",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-0.1108, 0.952, 0.8005, -0.561, -0.1596, -0.1574, 0.9968, 0.0055, 0.8932, 0.6945, -0.5114, 0.0479, -0.0273, 0.9995]\nstate[eef_state]: left_x=0.3049 left_y=-0.0021 left_z=0.1897 left_yaw=0.0926 left_pitch=-0.1391 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2936 right_y=-0.0032 right_z=0.1676 right_yaw=-0.0291 right_pitch=-0.1434 right_roll=-0.0384 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.3179, 7.0359, 1.5995, -0.1001, -0.0562, -0.0122, -0.2256, -2.6462, 10.0034, 1.6777, -0.0855, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f51bf88709ccc979ebe27fd9264e7256c526f5a34ca79c91f00e93421a53a65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bceb7a762db0989bbc0fc2c6cbce2d6ff8b11d5ccbb31a9fa6490305e05ee0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac7034a5f315bce894b1cbc81a00001ce513fe87b93ef726f775bc591ef3570",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.735 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9482, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 1.2083, 1.9987, 1.2377, -0.3092, 0.8658, 0.9463, 0.9995]\nstate[eef_state]: left_x=0.3046 left_y=-0.002 left_z=0.1908 left_yaw=0.0929 left_pitch=-0.1353 left_roll=-0.0029 left_gripper=0.9968 right_x=0.2774 right_y=0.3621 right_z=0.0649 right_yaw=0.0176 right_pitch=-0.0385 right_roll=0.0136 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -2.1812, 6.9538, 1.5751, -0.0855, -0.0415, -0.0122, 1.5795, -7.665, 5.9692, 0.5153, 0.188, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9508, 0.8005, -0.5606, -0.16, -0.1574, 0.9968, 1.153, 2.1345, 1.446, -0.4126, 0.7948, 0.8875, 0.9995]\nstate[eef_state]: left_x=0.3048 left_y=-0.002 left_z=0.1901 left_yaw=0.0929 left_pitch=-0.1376 left_roll=-0.0024 left_gripper=0.9968 right_x=0.3051 right_y=0.3854 right_z=0.0531 right_yaw=0.0268 right_pitch=-0.1089 right_roll=-0.0368 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.2906, 6.8718, 1.6288, -0.0855, -0.0513, -0.0122, 0.5949, -10.7966, 7.9111, 0.7253, 0.5641, 0.1343, -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"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.952, 0.8005, -0.561, -0.1596, -0.1574, 0.9968, 0.0055, 0.8932, 0.6945, -0.5114, 0.0479, -0.0273, 0.9995]\nstate[eef_state]: left_x=0.3049 left_y=-0.0021 left_z=0.1897 left_yaw=0.0926 left_pitch=-0.1391 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2936 right_y=-0.0032 right_z=0.1676 right_yaw=-0.0291 right_pitch=-0.1434 right_roll=-0.0384 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.3179, 7.0359, 1.5995, -0.1001, -0.0562, -0.0122, -0.2256, -2.6462, 10.0034, 1.6777, -0.0855, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f51bf88709ccc979ebe27fd9264e7256c526f5a34ca79c91f00e93421a53a65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bceb7a762db0989bbc0fc2c6cbce2d6ff8b11d5ccbb31a9fa6490305e05ee0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac7034a5f315bce894b1cbc81a00001ce513fe87b93ef726f775bc591ef3570",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e3832893b9b1977016ab42238576487d0be10ec0699e63620",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.11,\"left_z\":0.095},\"note\":\"With the arms out of the way, I can see the gray plush’s head is in the left basket but much of its body still hangs over the front edge. I’m bringing the left gripper to its exposed torso so I can move it fully inside.\"}",
  "call_id": "call_1ktlnHYdsJwU9gUtyPmkXLSx",
  "id": "fc_0e3832893b9b1977016ab4223a0da087d0a75f04e7f78e560a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1ktlnHYdsJwU9gUtyPmkXLSx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.5799, 0.8783, -0.0608, -0.3874, -0.3763, 0.9968, 0.0036, 0.897, 0.693, -0.5228, 0.041, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.41 left_y=-0.1048 left_z=0.1025 left_yaw=0.0953 left_pitch=-0.1314 left_roll=-0.0094 left_gripper=0.9968 right_x=0.2917 right_y=-0.0026 right_z=0.1637 right_yaw=-0.0157 right_pitch=-0.1608 right_roll=-0.0476 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -5.7231, 7.0632, 0.7497, -0.022, 0.0855, -0.0122, 0.0342, -2.0034, 7.0496, 1.6972, 0.0415, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc2f7c5f52d2a88073e8e5a8cc451dce93265843172f96c91a381b7815f2f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338a33549e23e64206a04b6f16fe0456cdec365d2c0e965015a5422973e13b2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238e3e4c01bfa618f6f0a00bdfe5a70095fa076e158c904b7cfe9f5c93b88034",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.105 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9501, 0.8005, -0.561, -0.16, -0.1574, 0.9968, 0.881, 1.9068, 1.2133, -0.2035, 0.6689, 0.6037, 0.9995]\nstate[eef_state]: left_x=0.3047 left_y=-0.002 left_z=0.1903 left_yaw=0.0929 left_pitch=-0.1372 left_roll=-0.0025 left_gripper=0.9968 right_x=0.377 right_y=0.2905 right_z=0.0878 right_yaw=0.0004 right_pitch=-0.094 right_roll=-0.0305 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -2.2222, 6.8991, 1.5702, -0.0904, -0.0464, -0.0122, -0.335, -12.8342, 8.9915, 1.5507, 0.4469, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.952, 0.8005, -0.561, -0.1596, -0.1574, 0.9968, 0.0055, 0.8932, 0.6945, -0.5114, 0.0479, -0.0273, 0.9995]\nstate[eef_state]: left_x=0.3049 left_y=-0.0021 left_z=0.1897 left_yaw=0.0926 left_pitch=-0.1391 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2936 right_y=-0.0032 right_z=0.1676 right_yaw=-0.0291 right_pitch=-0.1434 right_roll=-0.0384 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.3179, 7.0359, 1.5995, -0.1001, -0.0562, -0.0122, -0.2256, -2.6462, 10.0034, 1.6777, -0.0855, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.5799, 0.8783, -0.0608, -0.3874, -0.3763, 0.9968, 0.0036, 0.897, 0.693, -0.5228, 0.041, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.41 left_y=-0.1048 left_z=0.1025 left_yaw=0.0953 left_pitch=-0.1314 left_roll=-0.0094 left_gripper=0.9968 right_x=0.2917 right_y=-0.0026 right_z=0.1637 right_yaw=-0.0157 right_pitch=-0.1608 right_roll=-0.0476 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -5.7231, 7.0632, 0.7497, -0.022, 0.0855, -0.0122, 0.0342, -2.0034, 7.0496, 1.6972, 0.0415, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc2f7c5f52d2a88073e8e5a8cc451dce93265843172f96c91a381b7815f2f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338a33549e23e64206a04b6f16fe0456cdec365d2c0e965015a5422973e13b2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238e3e4c01bfa618f6f0a00bdfe5a70095fa076e158c904b7cfe9f5c93b88034",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJAgNc002_ZFzIDuIu_KQHZ0iW1KSvwyGEtpP-KnOyzVsqcjNWRAifAxPKfUkma_h5jQ7yQs9gY0yXFK40MFYGyUkz0KosRAcXpjJVzltMRIkbmmQ6GreA-5jrywWEIFiuR36bomqDtMVO5nQYe__kv9m6L3zVtPHwPoDdlU6Oif4wB92DiE7-Ll1omXLtSa2aa6j6H43PW2un0LwaUUB3D913L96dNwdmTo6ZQfHQOjlRAl51hr14YWBcMn8fCoACOoVTvwWTA2LRD3KmNtQafVTHwN03cU3OwvAIt8twqJsjTHPZIX8UPimx_3BfqL9_12ck-YFTVDf_fLWu5ZLgs7yzAhEIg6GWom7atwxeegDAzEEgWpjNB72-fpWiJxPZEx2IhB5YmiBSd03KjwqUKpZZ4zA4nJf7AwdrWBz7uMnGge5d52u4iSo6Vm4XoCXsnOJfhBEUoobtU0IYa7Xxfd0PJL8SFGVT8QV31Kzr6LbZIfItFpo5cSHQ_n4tQnkY6UtJCDODVOs9q27R4MDmLDfXrpaxnvHR30DsEPmuJXqinr5xFuwxzN8_BU-jalqHuufvQrW2HrbPMwuDPSJhcOP3CZG6xn873byJ0k7m5TpLux4izPOQEliFr4kPkMvBy0U5KeO5-8FAup-cdb6_t4MncCnYWQhH0WvDAUBrMgiLctRF1evVX3Acg_q4I6xsCbsWpR8ve5g4pCC0S3WldtzNVs70oajhxHLpDORTyG2oaFq0qRZCdcQYFwTPhRQ47rasedXCCxssCT0zZH8Q6o-KbCQhg4XlIvhHYlfRPRo8pdxDoKHCYU4E6ytlVmCYKmyaqdRYZC8Co_1nwWqqgO3oSI2oXEh6V3rX88fzeyuV_e2cCiJ0ZVE3RxcEwShBN17vRi95F7yG_y32ldWh-HrjM5qe_V3bIjsadT1zTpGQREeymod5QxVz3Gg7mQ8tSxMRYBhR7hwvENfMdfXJcx-gwpjJCQO7XmVy3zklz9j0W6cM85_-nitG237yT2dLuQAQ4siIfx98GyK2r4ohmX1v_jxZicmcGVeWNJhA7rYOaotdBb9yFPw48F-ffiRiD4qnY16tSxeQRIZ8kGjMq2Y1d6PaN59zR4F0rBuLuT-Aj3X3I1jLP0lC_eQjgC5QOsMDC3Wpmmz_L8x_VBEUN8HzQgMWbhdxPxG6W6QnC9FE-8fU8Qj02WGl46wjo1WEipJEikoQMszfSpk4yo57WN3wRWWKSayHhyl7Ppz2Ga3yjNfTDZETR_Ob3je339zo-0IDNEzHnwbEFFtUossZPduhFcxPZzkReLLY-cr764mQUj7-JIKBPz9Fh9OTsIl8sEscCWpDFVwmF1oxFTn2ij85_0YijkYjBpLAd60696yEm_AeRYpdGbUGlIAGxuWJenodxJPqKaW7RadrN244sNU-TgBQZmyylbF3Dmlpoy-Ff2kc-HZvGNRQQq_3tcKCt27sl5phszwM8Hp_RhcUUVEf4mEtHihYeN2IR_3bL1xmffpq80VJBjkMqq6mvMJ9j8Vzz9Oz4ZeO5tNvJ-RZk9vTj9GHXvpu4mHMgTokHnQ2hjJzYVeWT5mZ4PmM1QWqItGJczqp2KNaaKvE1yfiLyGMPpbPsQOReQ0RXuXBjOtUdHaPZpKCUAw3RRvZ9jP2nVBc4RU7lpSPeUWja-U42TAxL0jungBrHpHXg4k5NUevcQaZSu9XIFOhr8G5O7HNN0i0i_6xykQ0utntkRegB1QfRaXYfVQpnFp-PKTDLQUwxefhUS92CGCe-MU7km6SodiNdIaLcTTGqPGCvD86zrL8Yd0Yl6e6VdCc8xlB75dJFs6Bo0ffhvnYdJ9n5myBppDGZFOhbk_81oSJj3e6PfK_npIF8xvixz--auWqQ9wj83kAz_RlsjKPdi9XBIhsfUCocuPB6QRl7UZAzT14PDuJhXusRRM3gAkKXnXZxhzqQ46KwxFDcF0L8CV0RhQjK8JvDqD7pEsuF-2gBS7S1KateuBQJ62M6QaVmW3yqQC-_cPnq16jso6yk2wgXejvHZ9Z2mKAjI6jUOZV6TcSG4wKqmb9VQ3cAy_TkVg2RCVy-nffPXuQnL019apazdB4_xFf4cb2WTEMBtRzTz1q2zLcE19cnCdQ2Iw7sMfRJMbYALcGpOMoYUOVw8MRK051HPdicHD88CEWoxp-GwvlUbIqrFKLcSWqLxoWkUuP7154L3LWPXXsnxK3CrK2v_tc82UiroxFSRBNBYU5W02CDHJa6tR1hJn8wnYTfignxvAQ=",
  "id": "rs_0e3832893b9b1977016ab4223da25487d0bf16a8a74af35529",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.155,\"left_z\":0.07},\"note\":\"The gray plush fills the right side of the left wrist view, with its narrow shoulder ahead of the fingertips. I’m moving across and forward to center the gripper on that shoulder rather than squeezing the broad belly.\"}",
  "call_id": "call_CZS5FzcmM7LUod9ku2srOgzF",
  "id": "fc_0e3832893b9b1977016ab4223fc1a887d08715bd88648ed7d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CZS5FzcmM7LUod9ku2srOgzF",
  "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]: [-0.4786, 1.8336, 1.0897, 0.0624, -0.4511, -0.4458, 0.9968, 0.0036, 0.8993, 0.6926, -0.5236, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4698 left_y=-0.1529 left_z=0.101 left_yaw=0.1183 left_pitch=-0.0416 left_roll=-0.0717 left_gripper=0.9968 right_x=0.2917 right_y=-0.0025 right_z=0.1628 right_yaw=-0.015 right_pitch=-0.1642 right_roll=-0.048 right_gripper=0.9995\nstate[joint_eff]: [-0.5675, -7.0906, 5.559, 0.6227, -0.0855, 0.2564, -0.0122, -0.1162, -2.0171, 7.1179, 1.6093, -0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53dbde57d5714d6d6f1ed37a35edae51bff4c763bcab1d51db2b1699fba1a36f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac1331f603065b8abb48b1bbc9e987373334738c3dc682dc287e5101857da4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9936978ce75696a45773e9580a02f6bbcdef6c41ce39b7b460928a6e6353bfaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.403 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.9508, 0.8005, -0.5606, -0.16, -0.1574, 0.9968, 1.153, 2.1345, 1.446, -0.4126, 0.7948, 0.8875, 0.9995]\nstate[eef_state]: left_x=0.3048 left_y=-0.002 left_z=0.1901 left_yaw=0.0929 left_pitch=-0.1376 left_roll=-0.0024 left_gripper=0.9968 right_x=0.3051 right_y=0.3854 right_z=0.0531 right_yaw=0.0268 right_pitch=-0.1089 right_roll=-0.0368 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.2906, 6.8718, 1.6288, -0.0855, -0.0513, -0.0122, 0.5949, -10.7966, 7.9111, 0.7253, 0.5641, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.5799, 0.8783, -0.0608, -0.3874, -0.3763, 0.9968, 0.0036, 0.897, 0.693, -0.5228, 0.041, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.41 left_y=-0.1048 left_z=0.1025 left_yaw=0.0953 left_pitch=-0.1314 left_roll=-0.0094 left_gripper=0.9968 right_x=0.2917 right_y=-0.0026 right_z=0.1637 right_yaw=-0.0157 right_pitch=-0.1608 right_roll=-0.0476 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -5.7231, 7.0632, 0.7497, -0.022, 0.0855, -0.0122, 0.0342, -2.0034, 7.0496, 1.6972, 0.0415, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4786, 1.8336, 1.0897, 0.0624, -0.4511, -0.4458, 0.9968, 0.0036, 0.8993, 0.6926, -0.5236, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4698 left_y=-0.1529 left_z=0.101 left_yaw=0.1183 left_pitch=-0.0416 left_roll=-0.0717 left_gripper=0.9968 right_x=0.2917 right_y=-0.0025 right_z=0.1628 right_yaw=-0.015 right_pitch=-0.1642 right_roll=-0.048 right_gripper=0.9995\nstate[joint_eff]: [-0.5675, -7.0906, 5.559, 0.6227, -0.0855, 0.2564, -0.0122, -0.1162, -2.0171, 7.1179, 1.6093, -0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53dbde57d5714d6d6f1ed37a35edae51bff4c763bcab1d51db2b1699fba1a36f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac1331f603065b8abb48b1bbc9e987373334738c3dc682dc287e5101857da4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9936978ce75696a45773e9580a02f6bbcdef6c41ce39b7b460928a6e6353bfaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJFL__n0JjfzoApsrzNjxBf1D-jUz2a1mcGnxiDi4goNh41PpCtJUbDfaKJ8-iaglLmYnfDsZMVyL44U_YPFefjvrcetnZs5gqm5ucK_8Eu-7Iot13aniNw9NHpcBV-nEJvRN3lwgVB_sRAPtDkoPYc4NrWrr-02V1l-2GPgJ8apyUbxnSsmLFfJPetffhAVrM_wMSEVpdeHMFxWUZUsIHsezK5_OoJlIzwLjqn9EeMzgNUEvBFys5Yzfb0K8XbPeOGmciwIe9ZJHazfPseiv3sSE44GDwj-oOA_numLbl-Vra1JSudJ9FH5TrM9KGee49Ql13tNeWRDFPu_n6WhCvV4L7EC2TysdTIYQ_B2wVXcmgq2lA2XrPV9SUpkJ8jw0PL3rcIQqRMgK3is6UXhRevs-nHPMOPJvbmvGzo_E9ILzVIhzJVBhNmluGQfUidmDdAbuFnRfBYN1TucADwFObnE66D1bbMUi-B0y_uQmFB2Ktfb46JpeSTYblr5-VDhRZaFSFfe8m0VzrVcKlugBaJz-3lD7oun4iz1QKZMnv3JYWvnjsXfh3CtFCup0mMras3NdPOXDqhPUvOjIIu_6mrtipNsEmILfx7jZNeRByo5uP9QI1x7N-_cEYprFZeOYGWB2LUcelf-7VP_S88PgS0_MptmxQxxcuORDivvzk_HX3dD3blKrepjw5Bthe2uPAiGYJ_YcjolmvlPSAt5Rx_NP5k2vY251n5gBJnx202BU_0f_0VtG5dASh1UkxsHTTiBkb-HK-HUfDCe10l1J4g8xCk0wKgJetMyvDGG8De7pIIfoQvTn50K5dLb5MHJIs3acQrmOMnwDF8ZzgBet2cLaVIb8baeQYGo7q17c0vulE6LLmAHqQzRRZBh_wcT2XagOrs5Aieeejc1zZtRQtPI3rsBNyuwXpgDYAUOjzfYXxBVoGFhSOmCOM2o4lvQZSHaLTkIhwUKbJ4_TrTu00GPyBvGDi_A0_2qcGsx5O44-MX5UjqoPdA0vj1ZKB2lkYqO4--5SA9ykMYCQ4UYXn2JjCEHHoJWnVaKwGD0TRqumEWiJzM3Wg8_I7690Br-6OAmiyi_v8ytgA9CKro80YEH99MwDpKPlazstKSqi6OyTHwUzp1KIT6VNTKQC-8RDtF4DZZLjZaJNQHDkOL-5bn6EvUrTs1S3II9M82jbqanjFVklUZMd9-P9y_KGz-521OIP9Hz2PfjBSoMOyjGs17CLHAuOKJgijqupLopchxq50_orJzI1ljMUyHiHQAtbUV_llUvuZaunVv4LlS2uzXUx9lbz9py0Bc5cJkQZBGf5q25cANTh2Ctih7k64d3bEldE_sNjhw1JeC67T7GqgUU5Selnfo7D71TxuBxmD4sBNRLZl5VbLEL_EOSWgpkc-TZYCWqntWNNeoX3qZyl6CuMjajf0LdSm50pzbY6sEE1TI1nSX1a1VnuGM5bEXFUlGpHYLIwtgwyYOLex56EJkNmmcwG1zTmaG7jYU9Ssm-UIryECn7mdJiaBR0I57KpQ0TM-Z2TSwVxGDvlreiu69B_deuCT9nzWDTeiIqs6JMlN1gESxQssDWJl4mL0wBztYLHLSzAGICjquB1H0lTBrwJai-lJJ_WCWMgqdUyVCglksjW0MDW9cFGs73qDsrZZnLVHeBo4ptVA_RV7VY-J-aBU9pzVK91RACV7GJZxYf9vaoM31Ryk5k1AN8sE-DBgJmcjNjKwU6yfldHY8UwmWqUmVmApYQ-i3h_8pq7VqygWneCKFcDHR0NBV7stM8MvEnf-_YE13xPLcLTE-QGdDb-wveuSO8XRMptC7wd4829cgKvu-3fpxiGY0Q89TVTAamKj513MW5_k7GbVU0l4uxr-1AAzRGU08-LbcZ9Gnhwc11Kp-WqdDZ4dTH3FmQwQnkftFO1QL0aFpabpYgGiBNUT6VeB2mCR6MwQymhJ20xiIno8Hcs4nX_MkpwgGsrfb5jrUSvfnyEDYgiGeQDFrF5ssUP4mljYtzymxSruXBdjSR86yiuW6BjSoWNB1E76kBaXxVlawz4PM0Qwaz34KA_enPl-aK3mVIFbegpBw4gd5ulwM5LUrzx8gL1LuXYUF",
  "id": "rs_0e3832893b9b1977016ab42242262c87d0bfdce30770dae303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.18,\"left_z\":0.07,\"left_gripper\":0},\"note\":\"The open fingers now straddle the gray plush near the basket’s front edge. I’m gently closing on its exposed fur so I can pull the remaining body into the basket.\"}",
  "call_id": "call_VJ4jT6vcvvmP0PKHyKyHVyWb",
  "id": "fc_0e3832893b9b1977016ab422442a8487d0b12f6ab78ab35b99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VJ4jT6vcvvmP0PKHyKyHVyWb",
  "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]: [-0.5404, 1.8954, 1.1027, 0.2043, -0.5179, -0.4961, 0.0385, 0.0032, 0.9012, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.1817 left_z=0.1059 left_yaw=0.1372 left_pitch=0.0542 left_roll=-0.138 left_gripper=0.0385 right_x=0.2917 right_y=-0.0026 right_z=0.1622 right_yaw=-0.0151 right_pitch=-0.1661 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -6.065, 6.5436, 0.8718, 0.0611, 0.0855, 1.2821, -0.3077, -1.4564, 6.9128, 1.6239, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78367467a5b3fac0cf4e5d977274a2ba27fd000d07b1cea512d576fc56fbe0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fe86cbeba13bde1739c02206fe503afc9bedfaa7ed4b834f9cac46f05d6f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02f00d4602669fe85bac60c390e0c58f37bc520b6a6649c6d23aec996c1f741",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 2.03 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1108, 0.952, 0.8005, -0.561, -0.1596, -0.1574, 0.9968, 0.0055, 0.8932, 0.6945, -0.5114, 0.0479, -0.0273, 0.9995]\nstate[eef_state]: left_x=0.3049 left_y=-0.0021 left_z=0.1897 left_yaw=0.0926 left_pitch=-0.1391 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2936 right_y=-0.0032 right_z=0.1676 right_yaw=-0.0291 right_pitch=-0.1434 right_roll=-0.0384 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.3179, 7.0359, 1.5995, -0.1001, -0.0562, -0.0122, -0.2256, -2.6462, 10.0034, 1.6777, -0.0855, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4786, 1.8336, 1.0897, 0.0624, -0.4511, -0.4458, 0.9968, 0.0036, 0.8993, 0.6926, -0.5236, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4698 left_y=-0.1529 left_z=0.101 left_yaw=0.1183 left_pitch=-0.0416 left_roll=-0.0717 left_gripper=0.9968 right_x=0.2917 right_y=-0.0025 right_z=0.1628 right_yaw=-0.015 right_pitch=-0.1642 right_roll=-0.048 right_gripper=0.9995\nstate[joint_eff]: [-0.5675, -7.0906, 5.559, 0.6227, -0.0855, 0.2564, -0.0122, -0.1162, -2.0171, 7.1179, 1.6093, -0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5404, 1.8954, 1.1027, 0.2043, -0.5179, -0.4961, 0.0385, 0.0032, 0.9012, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.1817 left_z=0.1059 left_yaw=0.1372 left_pitch=0.0542 left_roll=-0.138 left_gripper=0.0385 right_x=0.2917 right_y=-0.0026 right_z=0.1622 right_yaw=-0.0151 right_pitch=-0.1661 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -6.065, 6.5436, 0.8718, 0.0611, 0.0855, 1.2821, -0.3077, -1.4564, 6.9128, 1.6239, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78367467a5b3fac0cf4e5d977274a2ba27fd000d07b1cea512d576fc56fbe0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fe86cbeba13bde1739c02206fe503afc9bedfaa7ed4b834f9cac46f05d6f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02f00d4602669fe85bac60c390e0c58f37bc520b6a6649c6d23aec996c1f741",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJI3IJYioUPViu3r1xqmEISzLTU7Wa6hEcYXLzKL50wXRSdJTsJsPtftqP2YttRMsICgeVtehD8T6c7WwB1iFZlZeq3T4lkIbKupOaD-ebXzOYliPWrP4gtgGyo5Dsq04GNu17yyoW-vT5DZE_k6nWhUas5Pibl-_NQJuMoPt0y44OV5TikCz1W7fmQ6dztiUJMJBTIwZi8P99dTgaXBxoA7n6YJ6luPbRqvQ7NZnn71HCro2cDU5ODdufTpCCF2_i5cyJiSIeNn44ztLC8rtK6-LqboMnfJiXb7eEDpqvb6_P90iyCMxWdsfDvm5BpmprLNIREgUBQb1WxMk2NwqfYaukA3OV78keO32nXThT44ZvxxIq9fxs2YYisllk1-yS3_lnspDL2R1FzpwyTME7vejT2oISyUPaaHSSgFZ5kSOjF0H53HGd7QQ0OOQar1BoyV7rPsGIpU-1A9v5x9s1FFNf0MTm9QWpJEEcMaul5i0EF6Tc0dOh1FeUCevYCBF_VsNQtgXB_i2gNpmX0PuTRnW2YtUCuSddR5-jPvDqs4iMZUe0OcE-RB7-HXClAoGFtwIQQPRjhhsmzDOqJqa8agnbqrG3vZNfcksvqItn0KSG3Bosgu_zkKOBSAxL-Pn5ksUeL-DAHYsGN_5kEh8HI3asLwY5NG3KD48usYwisMzEnLa31BlJK3vnGZsJCuahSAToEQcVnLbi__voM2QcSk0iekRt4VY93772wYH8ItTIM3XDdsiFfcowuKX-M5S8NyaNTMRu61y0JqCNAfLbWgxpf1DAf3-kL6C_Jrr_plRrkOMF7iCIU_EYLg-2h4pmOCHMs2VYITLfBOEUh6-F_I6GNrHHOWkvOOhRrIYjBHXFJ725o2U1GClShusBe8nG5x1Leael3xhQbpzm23u2h0U2dUb2L4nzXDoZpdNbXh2oQ3VzS0S-5XAJck--s1K8G7-yRwhkfdQq8qc515X7QolPBT8anGPjfEuqFLCD_Z_XYNcKXyWLVRq4p2_R3WTWfrW9QTdhiyrtOCQVCu2eWiD6IkVM0QllF1KpN7R7WDE9ziSaWR-q5cDAj_79a53gWRXuqlajeL1oeBx2ufc0BfIfzLKvUofQQl4rlX6fv-xNNrV-u0zUJNpilK4VbpwMkUM4h-8raKOlC7plxvMAAbDZSnfcNc-MmzjTasgefJOaeDMB32yLh0Ky63eFpLKMiQ8l-x2_JDKBN78wnydA5B0KGEbMlL5jj_Q6OHsD23St0ap9UDFpHnhPUtzIGhWHFYFoDVtn-lTwlf-OaLSJuXHl_Pm1UJKM1gjyTUJk0j-E-T-K1vbxBspNxUckPtiiXLTmedVMcK7hWEJy7ROFFrrZL74q9p0RJAsqe-OLjktqGiETp5oZf075YLAh13b7KTPeZRn01_clAnRQkXsgViw==",
  "id": "rs_0e3832893b9b1977016ab42247284487d08f8220b70d10573b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.175,\"left_z\":0.15},\"note\":\"The gripper has a small nonzero opening on the gray fur. I’m drawing it farther into the left basket while lifting slightly to clear the front rim.\"}",
  "call_id": "call_l1RSGQozgT6nDTqMwTBUcn8p",
  "id": "fc_0e3832893b9b1977016ab42247bec487d0bb84a4f33d7968b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1RSGQozgT6nDTqMwTBUcn8p",
  "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]: [-0.4541, 1.982, 1.3857, 0.0284, -0.4664, -0.4721, 0.04, 0.0036, 0.9035, 0.6926, -0.5243, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5344 left_y=-0.1685 left_z=0.1437 left_yaw=0.1695 left_pitch=0.0553 left_roll=-0.1519 left_gripper=0.04 right_x=0.2917 right_y=-0.0025 right_z=0.1615 right_yaw=-0.0148 right_pitch=-0.1692 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.8786, 8.2803, 1.663, -0.0269, 0.1392, 1.033, -0.0889, -1.8393, 6.8991, 1.5995, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba3f567fd0bc38b2fd01e57c759edf3639980dc0a70215aff145e9a5bf3b786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49abd1804daf5f384f70a0658ec53e3ef5513a1f127dc499ba4f9afa85ab3465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0c68ca565a059c4b45d3efe19597b09f6aee5533173ea540a1b34c4202cb3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.338 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.5799, 0.8783, -0.0608, -0.3874, -0.3763, 0.9968, 0.0036, 0.897, 0.693, -0.5228, 0.041, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.41 left_y=-0.1048 left_z=0.1025 left_yaw=0.0953 left_pitch=-0.1314 left_roll=-0.0094 left_gripper=0.9968 right_x=0.2917 right_y=-0.0026 right_z=0.1637 right_yaw=-0.0157 right_pitch=-0.1608 right_roll=-0.0476 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -5.7231, 7.0632, 0.7497, -0.022, 0.0855, -0.0122, 0.0342, -2.0034, 7.0496, 1.6972, 0.0415, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5404, 1.8954, 1.1027, 0.2043, -0.5179, -0.4961, 0.0385, 0.0032, 0.9012, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.1817 left_z=0.1059 left_yaw=0.1372 left_pitch=0.0542 left_roll=-0.138 left_gripper=0.0385 right_x=0.2917 right_y=-0.0026 right_z=0.1622 right_yaw=-0.0151 right_pitch=-0.1661 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -6.065, 6.5436, 0.8718, 0.0611, 0.0855, 1.2821, -0.3077, -1.4564, 6.9128, 1.6239, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4541, 1.982, 1.3857, 0.0284, -0.4664, -0.4721, 0.04, 0.0036, 0.9035, 0.6926, -0.5243, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5344 left_y=-0.1685 left_z=0.1437 left_yaw=0.1695 left_pitch=0.0553 left_roll=-0.1519 left_gripper=0.04 right_x=0.2917 right_y=-0.0025 right_z=0.1615 right_yaw=-0.0148 right_pitch=-0.1692 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.8786, 8.2803, 1.663, -0.0269, 0.1392, 1.033, -0.0889, -1.8393, 6.8991, 1.5995, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba3f567fd0bc38b2fd01e57c759edf3639980dc0a70215aff145e9a5bf3b786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49abd1804daf5f384f70a0658ec53e3ef5513a1f127dc499ba4f9afa85ab3465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0c68ca565a059c4b45d3efe19597b09f6aee5533173ea540a1b34c4202cb3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJKKL0ChpDqcy6ftD3ZRrVQ0b7fj6sQJikfEoKV7IO6tMmGukJpNcLtgAB3owmJVhWG36OMcpkQsuYB9QxIZCGzMWL4PPS39ADXPUJcNeLnm36OkvahZ1yjFm6KoK0wA0vSXr8xtBNPojjki4M36U7PIs5_s8TY1-m53U1wqCP0PtxqVKBdDQWgo1fqGPqVZii0_WuwmDI4sMLKJgX5DNmkRDgI_8y3p_Qn0pnZgOd-BH7_6nyYhizBngpxV4xwbuclQd5bBW9juuXQGXLUU5MkAwcB-uqxwkk8-E6b3FZ2v1QUIBmE76nmWU4uReHHjXMq3iB0jq4E4aCegBy_beg_DzuGSaTqS7lqPpWHsgnGDcx-HXr2wor_orGVArCCQkxTn15GRT_DPRq1y94B_9Cimm05LX98WanO7zCsASNZREne-TWJy3iRKOKH1tz6q-Z4u4vGNOKx4YtcTqm_xDAlZK7mA_WROj129hDG4LJICLLaL0NM7sUUp5TOAxb9TrkWyc5HnFRUR3luaDyGv9Mf0AjSNXcaURu-PUQ2XlIvtUDNSzVpiw3QF0bPLbtcZWN2hl0E9ne6L0n1T8ZvMgfx1CnY5R_N1-LIurFhZ399aJ0Y1CcP4c5PoJR0_FjWL_LxiSGO1MnpXdwg8DheIjYC3TKcBKan_Pjn410f4OFXvlTRMNZQwKhjJzJ01cyYO4gKnvgUrTeLejocF7mQv1Q6JotmOOu47o1EwwqQe3P2k_2XOT-XHbPLK3LzE5zEQnUQv9JEc1rW_UhsmosQ0Vdkyq6cN1iiXl7mlJ-WEE1NpcbWXq28c0iBCuV4pVXn3Dt0iTEefq55wTLfZ5c6qKp7J6_DETKhfDzwSBNg5dog6MSKBk5lneWk0EHfL78Y7SPhY0cbZWnmPWgxeioFf9mbs44VUIPXTmKCV1rTI0tNShm4GjtAYoV7eDZckfjpz3sG2W6v9XPF27qBekvSaL_MsjTqukVD-F6ce9zU0S5dG8Nr7bLn5a_NtkOvQmNMkthSL5aJ52mFRY5LCZEn2_K8RbKmtD2kK7ImO1d7GEeZIB3ghCIP2IHqqwNravjIVWhhskFk5hqVAitRUiwm2cFkxX3rRGFCQUBp5uGYztKFQHfoT-JCkiN-4MpRRLT3emHFseYMmPXWrrddxfJjfho3QiptngkEfITauydwWXkKByoxI-DQhmviwxRdRqUdZFtAC2DM2hAMaOE-W1CGmUN6zxEyIwNyOUZ6saTH4_Kypf3F5ry_sLXUkIvT7ZhbxQO899adcv5QvZnnVjYDwrQ17zGsoF1QalETgqslaCTznmRyLppqiADizAVs7ZeK5ITqAlgmle4C7pKC9cn4c4ohtBaDBEDWBx5ccCvhRm96sSoIVvHmsCvKaYFD5yKlv5KezS3M7Sk5W-IYOEb6ucbWGDbmgFjlK03VtUqxjbOK00I=",
  "id": "rs_0e3832893b9b1977016ab42249d90487d081204ae8d8bdedc3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is now visibly lying across the inside of the left basket rather than hanging over the front. I’m releasing it there.\"}",
  "call_id": "call_80jJ2x2uoLtVxWdbVgZtYQFP",
  "id": "fc_0e3832893b9b1977016ab4224a65b487d0bd4b4ff772376b03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_80jJ2x2uoLtVxWdbVgZtYQFP",
  "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]: [-0.4507, 1.9911, 1.4055, -0.0151, -0.4446, -0.4568, 0.9955, 0.0025, 0.9031, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5339 left_y=-0.17 left_z=0.138 left_yaw=0.1464 left_pitch=0.0226 left_roll=-0.1297 left_gripper=0.9955 right_x=0.2918 right_y=-0.0029 right_z=0.1617 right_yaw=-0.0159 right_pitch=-0.168 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -10.7419, 8.9778, 1.8437, -0.1929, 0.0904, -0.1392, -0.1436, -1.7436, 6.9128, 1.6435, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc82fcc5e624ede355b10621480d2352a76b4e772e189d42239c55dcb921a634",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4e5ac5918ee2f0667211eca747576cc5f4851c5b6e2a84cd896471e3a232a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3027460997de6bd8f3a2413619d4b6d19c6cc3cf13ef2d619cfc5cb5615499",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.571 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4786, 1.8336, 1.0897, 0.0624, -0.4511, -0.4458, 0.9968, 0.0036, 0.8993, 0.6926, -0.5236, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4698 left_y=-0.1529 left_z=0.101 left_yaw=0.1183 left_pitch=-0.0416 left_roll=-0.0717 left_gripper=0.9968 right_x=0.2917 right_y=-0.0025 right_z=0.1628 right_yaw=-0.015 right_pitch=-0.1642 right_roll=-0.048 right_gripper=0.9995\nstate[joint_eff]: [-0.5675, -7.0906, 5.559, 0.6227, -0.0855, 0.2564, -0.0122, -0.1162, -2.0171, 7.1179, 1.6093, -0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4541, 1.982, 1.3857, 0.0284, -0.4664, -0.4721, 0.04, 0.0036, 0.9035, 0.6926, -0.5243, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5344 left_y=-0.1685 left_z=0.1437 left_yaw=0.1695 left_pitch=0.0553 left_roll=-0.1519 left_gripper=0.04 right_x=0.2917 right_y=-0.0025 right_z=0.1615 right_yaw=-0.0148 right_pitch=-0.1692 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.8786, 8.2803, 1.663, -0.0269, 0.1392, 1.033, -0.0889, -1.8393, 6.8991, 1.5995, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4507, 1.9911, 1.4055, -0.0151, -0.4446, -0.4568, 0.9955, 0.0025, 0.9031, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5339 left_y=-0.17 left_z=0.138 left_yaw=0.1464 left_pitch=0.0226 left_roll=-0.1297 left_gripper=0.9955 right_x=0.2918 right_y=-0.0029 right_z=0.1617 right_yaw=-0.0159 right_pitch=-0.168 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -10.7419, 8.9778, 1.8437, -0.1929, 0.0904, -0.1392, -0.1436, -1.7436, 6.9128, 1.6435, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc82fcc5e624ede355b10621480d2352a76b4e772e189d42239c55dcb921a634",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4e5ac5918ee2f0667211eca747576cc5f4851c5b6e2a84cd896471e3a232a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3027460997de6bd8f3a2413619d4b6d19c6cc3cf13ef2d619cfc5cb5615499",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJP4sczZRWKRuO7X_LMgw6PiCYFOuDxG32wlUnkLMbODsCaZdry_BjLspMA51vZlzrEXtpIfSMcYXslmQY0jcRJqsccJZzwKSwj3FMX3J_NTDVfKmY_YbB7L0vVAlsnO7XyMmt9jUego-1lEV6JxmcjyFp_H787v-X-hpr3EKEaB6KcV_VlUAk9f3wlTOBgD8yUHog2KtUIQ5hRlssqUFQ6aHkbbFUg9t_amQ2VXKR3YXx4S2iubZ2ICRz7xBpNuqzAUziKwim7Wx42Vjf8rfHRLTVUk0B4rnZhAGNRZVb3Ua1j1qeh71NatiSQE2gk4Nj1FYtroINvVhea0KGK2sgtgKzj1vor1W8jiBJ3esS387bwxnYscl4ssiHPOMuJbV_THGaNglveobSJZ7m397FJDoR_kn6Tg6kLGQki7r3KjBM6iENOgoEY2t-st9zEejYiqTsCi67SFE1FhPWedy5fnV06VOwQOV12T_Rl0MKfjv9hyl27sUkqbhZ8PpaFWbE8iysIQzq85kMUrrNs94gGnrmxmGxwWYN4u5w1SOwemlLGvTmuwuwXfGB5c0lsZs1xQPmm93lSJ_VYSPjrZ0B9eXWXKzVTaFShegPJmeP3xcyaIS2o_wFYE7DF0wTSYq7g4HkhY7Ry80EAI1A82UGfniVUjpEWAJuPbDT7Lpb0sa2n3cLK7hoXfqES6TpieA1AZjl8pCXQ1nuVIUx8sFOio4dw8Rq1DOqHA2o-TrsmBE6swV5GIZwTJF39OHwWdwuvbu7d9mH7IwciNCdkxAQc9gWLrTTfhYehvxysDgj8UEzXztmXRsbNguQ-80EtzNwT80DAUcJCLzNLIY17ZUZ9CvaezvE0WQgleYRcKebiTBRPKnX3SsRhd5n0NXClJcZaCdxTvSp2Sna0u1gc7XKjSuYRJ0-aFBBQc86-s9LEKWk0K2TYwIINfCV5uH1WRDQkxeUgDjNLJ3b-hwUs5fFgvtw6OrBf8hA7kYT4hOXTMhmTo7w_r1EDDIp3-ezbnBUZrWfDrWu-4U0pYnyteeON2FcGM_tijph2CSDUSgQ4vO6FZPNyTyA5vSYeSkFTfcpCYiBKvfpkSbXfUS-ccniiBlEp-3cm2Fi_PPr06sy1Ozwu0wg6pIlu9VIejdXZN-Yfmw-j7vledFSfniW-CMI2rDIx4TuDX5rntyx05_8KkcvufcsJqukrBChj2WIfOHhNRXYlDaiLAkW9qxk0751xKoZ38jcdOWeVkEtDwcOT9eeq0NcbINFVym-t95mXWsDAZH_Cvpo6CCD29IUdgfkFpU9DvBS4QxPEXAs-JYwxBUup4YYSAbDSbMbKz8Qf97hWr80sWAJh8_OAPNTwP9iGL7ultWvBmzvzFF0XDMBUo-b28HwI5p0ROlTHGVTpfeGh6-FSzzPc6AM7vkhakabjn0zzbeUEa3IR-PT9Y6_9Dpcdd31XHjhgjO8_IbYsGxsXFAFKEdfXfV2pwGU9bdWcTzmIcLNNlElNkvV_AV-MIQ-3aCtlssp3M6nXX8DEPPbkuNPSJouthk8ptd-w18JgvO-COH8zGEJA_G1fO93Gssi1frweup-qDsh4kaaNbQgXVdF0O0YMSvfsBBUjLeqRVJT03oBdyT1uFLlNAaFn1-3NYaVqnPLn37yboOZvN3J5Tm718kRiAxFXtb8jfGDUv53cE8A4JH2ve1xgh3LHiN3Dpd1YXa_NX7fWWvHE6YMNfIUqFCB6yvbwaqvJIm7IVZxtKiVYgQkhb2uyy2rVKMcSQKPRDlCB68dQiLH4kMnCJiaMzjH-G4wxhgZrLGJ0w46-NtS7SS-Gu_gIXDmrWm6OEqx2idQHMpte0iULKlTXPsRG7q_IlEJLvJNVeVdPXcO9gskmG0bAAkvdnmMnIuhVv8WZAgaO7AJQzn4hNDmTQ3czdk1SuWC4HzsgBVyzA8fnyO98IfdcrlickMgIVlE=",
  "id": "rs_0e3832893b9b1977016ab4224cf7f487d098287f4fba099346",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.14,\"left_z\":0.22},\"note\":\"The gray plush is released inside the left basket. I’m lifting the empty left gripper clear of the rim and bringing it above the tan objects clustered below.\"}",
  "call_id": "call_cYmC8DQAn7DXacQiuBlahkQ4",
  "id": "fc_0e3832893b9b1977016ab4224e4cec87d0892a89876570e7aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cYmC8DQAn7DXacQiuBlahkQ4",
  "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]: [-0.8326, 1.1358, 0.9173, -0.5011, -0.7082, -0.7242, 0.9967, 0.0029, 0.9089, 0.6926, -0.524, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2994 left_y=-0.153 left_z=0.2224 left_yaw=0.11 left_pitch=0.0311 left_roll=-0.1614 left_gripper=0.9967 right_x=0.2921 right_y=-0.0028 right_z=0.1601 right_yaw=-0.0156 right_pitch=-0.1742 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -4.1231, 6.3795, 1.5507, -0.4274, -0.0171, 0.1148, -0.0342, -2.1812, 6.9402, 1.6093, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12be62de3cd9ae166f45804bfaf1363d4430007f17e1084e85c671f557bd25b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091763b9dbb153f81c6cf8db24d7fcd39c68e83d064ae0122d0db611411e7797",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d853d23eb970912aa3d524e03a293caf102bb8a4f6338c6f13b572920954eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.469 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5404, 1.8954, 1.1027, 0.2043, -0.5179, -0.4961, 0.0385, 0.0032, 0.9012, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.1817 left_z=0.1059 left_yaw=0.1372 left_pitch=0.0542 left_roll=-0.138 left_gripper=0.0385 right_x=0.2917 right_y=-0.0026 right_z=0.1622 right_yaw=-0.0151 right_pitch=-0.1661 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -6.065, 6.5436, 0.8718, 0.0611, 0.0855, 1.2821, -0.3077, -1.4564, 6.9128, 1.6239, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4507, 1.9911, 1.4055, -0.0151, -0.4446, -0.4568, 0.9955, 0.0025, 0.9031, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5339 left_y=-0.17 left_z=0.138 left_yaw=0.1464 left_pitch=0.0226 left_roll=-0.1297 left_gripper=0.9955 right_x=0.2918 right_y=-0.0029 right_z=0.1617 right_yaw=-0.0159 right_pitch=-0.168 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -10.7419, 8.9778, 1.8437, -0.1929, 0.0904, -0.1392, -0.1436, -1.7436, 6.9128, 1.6435, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.1358, 0.9173, -0.5011, -0.7082, -0.7242, 0.9967, 0.0029, 0.9089, 0.6926, -0.524, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2994 left_y=-0.153 left_z=0.2224 left_yaw=0.11 left_pitch=0.0311 left_roll=-0.1614 left_gripper=0.9967 right_x=0.2921 right_y=-0.0028 right_z=0.1601 right_yaw=-0.0156 right_pitch=-0.1742 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -4.1231, 6.3795, 1.5507, -0.4274, -0.0171, 0.1148, -0.0342, -2.1812, 6.9402, 1.6093, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12be62de3cd9ae166f45804bfaf1363d4430007f17e1084e85c671f557bd25b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091763b9dbb153f81c6cf8db24d7fcd39c68e83d064ae0122d0db611411e7797",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d853d23eb970912aa3d524e03a293caf102bb8a4f6338c6f13b572920954eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJXgkAE8VIdN7R_vzq6LC0sp0wbq8_GbjHIPfMotoH2CnbbWoydD98RP7THyqyTGhkSPHXm0ThGboZZSXBFJy9igvOVcAm5J6BRTIi16-xBvuHVjtnyyLC6UgMTuo4uYF74Cmm9dWhnUXbUFCuHhf1gnTBOuMvzlLO_-EFR6oBvuBT43Si5TZhkzwWlamG571GxYitvW8ppxV3W704OekLSuQXvEniH5Z25ZEYwhgyE0H2XLPdhNcZpc9Tgw_qUGnKzsivjvRfzoo9dX8jt4L5Yoo8sApR7_qoUoclN7_E6_JKpZ9QU3faaLEotfs56fwu1CFHiEviXqmXVUb3hLTIFXErpQciLTk30OPWjs0QJrTQ5Skp6yvKhfE_Lb8wWYMjGibxhqAPMC-JuN76Cy3zVqPRmZ6cVhzLeXAtYJScV-s1D7Aq_-COh5D5D2kDmGREQNgbhr_SHiOdzNbngODSYCiUnLKo2046mqmsU5U8_sKVgXVArrj58aMeli-3IOfouioRiChme-HQjlfmQ7NStHu5ex-7cr_TnuUFP4DhUt9DL7CpfMM9S6oEsGiK6e5ax10ao9-yxV_I5zqyV-wrhPN37ZGryORBkcGsg77jQerols4ecDSDiU7YKNZtXk1Xy9IR8c6UIUnehrfuRn7o1SBCGz7cAkVj4NH6A29zwBg65YGf8cUPpCrZHnmAYaFRgPzSl_zMfU-FmcG6fyEMOFd9r_iHdXY5VHvpcFwH101qfGJxF8vvOeTY5S8QCjqX7d40CBivPjrhaJ_NBE1uE05zRI9Xup0qBLineRH-xtMlCAnkxqYhyZsFIxdDjfxNFEj1tKkWtp0ENeLGndnv9HpQTULyCHjnPKdGW0v4VJMRHxn7HKWwojOe1DHHAyiFuM6pVn4zSLygJ-rg9Wa-IDjMTa46ZsD__9fQWjVVcgWJQ7SeRz0FnscyhTfF5i8tHXFWiKBM2IWcObSFXv1lwRTei0hlO_0h9XZ-g83a-5D-0qqmjsIaDfjjNLRe3DyrLkzW9iu84ZKXTN9KN49dRbBfUpURoBmnWLyr0uxahD7JfQUOIx-Tw_aJX6Ts3ZH_SkWpucq_HeXNVL8OEmfRjJNLyknfUxEMKKyt7Mtq99DrQGwEUoyRleFPYc-SDS_bCDPVPEoByNnYvws4zEohYN7ruV92CghA6mcT2EuPGslO7mqCponNpHh5Tm7-KMzwdoqPz8GEM3kain-h00lXnH-Ov-nQPaGQLtiELgmHkhq8CbhcfaC-6mZo8knuyuKmm9fRV_ZWAcrtvNGPP8R8ZEKRW546SfOocsW8xafzA4TahM6cEfVcfxLlJhNv1KdegMEDYqCEc_WwFjzJSxgC-kp2koc4ZHLXj8oPPj-Z8ATvnqOMvN_AtSu3UGpXxM3KnOdzRuEVYO440AQvfMyHu-kiLeVe0V5mxTj5KLBT65QKpsUpQgKJDg3OWBJYSFYj0ugpBNj-vbQ-lzIDqEwcLP9N2ZDAovLsJ0WlDh0U3XqaEG6dOfZzB4g2aK0j6N3Qbt49dUBFPUEG5oOX---ucOoDtiFt8tr-tjiZCYuHcwHdRSmYCtKYifBfpiBN0JJRv0xJXfO-2To_poLJa52A5I_fFX97trRPEqnBHkFMBwBQMhqk4IE7Co7T8Qshxe-QufBrhfv7Sgh8p-yQKfwPq-1FpnKbH_6swvDUR4flEpRdehSGn3MuwqpmpcalwdXaA-akAZJTizACKotXBYrxcFfgTYZSaaw2ALxDwZilDdMbmDMffGr62D-NNVDhIouX5t0WM152j0tltz5TzQZK2luBQ-Kxft8xVLWbW2xf4G6gG_GAcWND0CfLTO3BABuUJsT05iupj8a7pL9yYylEV5i3T0MjI2iBM7SGFRhnIICNGYSEmeI8Sz3UBwvWLGAbTun-TpPGWhTTQ0XbyDr8PPaUtGKxPcVO3ozUbjxA6L_NdtlINUM28VNs5p9CajVrv1T0iCiSYTb5pJjsYk3qddv5dEziXjbJww-XMX1bgGDiNE9A_NAH91Lzddn8XdEkYOSsWxX1sOFRkloPeAZot7hHPPOr07zvzuQmOwHph0lWahy-0A5tWni7bASo59mxVHii9A_v-eajoqxsQFqvsB75dHtaoCxynpwATsNJ4fcTwSXrQ_8SBRUpDiZw6pVfM1nG9jZnlCRBR36ZwLvsBkT6enQot6SrsuxonFUnaY7_KCLVXXL_NNSJaUdVx2GXHxoVZo5J5R9d8wDSuYVYlCh7PFGQxuCblpRG5cG3rfgZEZw3KRBe1aF3k6WY1btH7xxsVDNF_2UUYlcc_7H_UD81ILkO8ZmQw7vMZlHkkOcx9UXaO166qQGilhlrY5IN94kwDlgOxbOEmwj-z7uYwFC4I-3Auo6dokKzhPkmqtSIWCRf0C0asDk-zk19vlRD-ToGR7YQCnts2jWnEnIc3jYi4wGLIYEOwhgWGUbfXseyhBYjOFixyMxqcAihIVT3G34z7ZuUBlk3s0TmVUKnIxhV1imCRQbC5drMQN3u4THn8KuhJLl_OB6KtQhY3rQCkczfroaE8PqqmptsZD8zDSj-uunIWlvb7qy_FzFQDw2_OvTxfJdtvNwkiYsQrxlpyA22eQYHn11XKgLdQyhRMY_Kqf0GurnZblYSDTjBZZSA=",
  "id": "rs_0e3832893b9b1977016ab42252672487d08626ab51f91f000d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.125,\"left_z\":0.07},\"note\":\"The large tan plush sits just below the left gripper in the overhead view, and its body is visible at the bottom of the wrist view. I’m lowering over its torso for a grasp, using the left arm because the right arm’s centerline limit blocked this object.\"}",
  "call_id": "call_P9swstH6icK7l9pjSXSkilWe",
  "id": "fc_0e3832893b9b1977016ab42256a60087d0b9618b6c6ba99338",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P9swstH6icK7l9pjSXSkilWe",
  "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]: [-0.9142, 1.1095, 0.3027, -0.0181, -0.7506, -0.7879, 0.9968, 0.0029, 0.9096, 0.6926, -0.5236, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2512 left_y=-0.1228 left_z=0.0668 left_yaw=0.0912 left_pitch=-0.0079 left_roll=-0.112 left_gripper=0.9968 right_x=0.2922 right_y=-0.0028 right_z=0.16 right_yaw=-0.0153 right_pitch=-0.1745 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -2.3453, 6.4068, 1.4921, -0.4762, -0.1832, -0.0024, -0.0615, -2.0171, 6.8991, 1.58, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f35b97d171efe82a299a4426d6ecf7f70c50cc394abe4cfdb30c987a2a243c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6899fb48999862e547f20a2cd2e45d800d48da1453e851a9a6229a0b5233f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d6d8cafee7b6fcd0d5bf35a8bcb6f9aa3a0e8f2dcd00d66ea8c215dc1cf756",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 1.779 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4541, 1.982, 1.3857, 0.0284, -0.4664, -0.4721, 0.04, 0.0036, 0.9035, 0.6926, -0.5243, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5344 left_y=-0.1685 left_z=0.1437 left_yaw=0.1695 left_pitch=0.0553 left_roll=-0.1519 left_gripper=0.04 right_x=0.2917 right_y=-0.0025 right_z=0.1615 right_yaw=-0.0148 right_pitch=-0.1692 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.8786, 8.2803, 1.663, -0.0269, 0.1392, 1.033, -0.0889, -1.8393, 6.8991, 1.5995, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.1358, 0.9173, -0.5011, -0.7082, -0.7242, 0.9967, 0.0029, 0.9089, 0.6926, -0.524, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2994 left_y=-0.153 left_z=0.2224 left_yaw=0.11 left_pitch=0.0311 left_roll=-0.1614 left_gripper=0.9967 right_x=0.2921 right_y=-0.0028 right_z=0.1601 right_yaw=-0.0156 right_pitch=-0.1742 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -4.1231, 6.3795, 1.5507, -0.4274, -0.0171, 0.1148, -0.0342, -2.1812, 6.9402, 1.6093, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9142, 1.1095, 0.3027, -0.0181, -0.7506, -0.7879, 0.9968, 0.0029, 0.9096, 0.6926, -0.5236, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2512 left_y=-0.1228 left_z=0.0668 left_yaw=0.0912 left_pitch=-0.0079 left_roll=-0.112 left_gripper=0.9968 right_x=0.2922 right_y=-0.0028 right_z=0.16 right_yaw=-0.0153 right_pitch=-0.1745 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -2.3453, 6.4068, 1.4921, -0.4762, -0.1832, -0.0024, -0.0615, -2.0171, 6.8991, 1.58, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f35b97d171efe82a299a4426d6ecf7f70c50cc394abe4cfdb30c987a2a243c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6899fb48999862e547f20a2cd2e45d800d48da1453e851a9a6229a0b5233f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d6d8cafee7b6fcd0d5bf35a8bcb6f9aa3a0e8f2dcd00d66ea8c215dc1cf756",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJa9TGhT8vo4eiKFDjEbjsLXOcBMs0bhdHLuzOuj76baVQNzKifPz6vQUqQEN9fjgB-NdHycKngnTQHi4Fdq7P3v8OKJzEDjgdzBg06SqlajYbCOAenHPfesWcXjVX1rcRNGhuYjrsa7ebFTt7pq4XBzOHhH_FYr9aCHCSqjBfjSKIKd6juSAPhpxUnJOp8yU0GgQkMtiWN9hWLc3BFhhaZrkTZq0MtfNd8IEweO8KCcJjXDmAva20jt9h-Wq_N_Pj4M8kI_YEhaJJr926b-YTiwAIxMjz0Q-dVpTuoshbQ0HixsEqu7vPii6-tgkRIUaI4zP0VJfDKTfldmgpsNgZIVddAUuN1lKfe92drMdzgAQIuihJbQ6ju7F8Gnl9vG-FgNEDYDApcMl4l0AyMVzge4BqqHDGrkLeIEmly8M1Z-LhnSfzzElAafE4brWMbYs29goMjdQQ7h39NofEV5Wum6fbiNVQqtsaujHNKTDToNRuMyEqhkJa5kF4opBrk-Le9lJnHQWTqIPxHy2DvlOM9G9k6Mzbsnp26QgzOJkGDBQ0KUSl2QVQ7wqr2AH3xSCliHv3pxrsn4odWcsZvps1_WcMM4Y27Ax90XZo7BCi7JZfRXCIRONvomQanzBqTA63AvMbfg8jMzxk9pYzKlpChtQf_D2pmneCqZMoNGf8G5jFS4mhx0YkQxsSqAxyaCJEwARi0lKxVLnjDB5Zn1YUAWDKhv-DgGqQyZw5LIYqjEd_6KfAbxkfVR3IafuGZbhCqRfnFskcmha53xgrGH0wMxQX1z2zf8fua-jFIn8A2jNN4n_f0t8UX9Ss-NMYFyxwoVVXWWaQ1mkVPFuo_5D5py9LMRFUgNm5vCGQCnI2i6mR_KOlVb1McdBiUvTmC42KVWP-HOHW3wR-JItVSnp_Z5tfhZUrbXDZU8Bj7seRSwqZoY2Fmhs_KIS_dZ2V2t9A_n4lCLwCOTclM0it-DNnWQ_U20j-t0jRhGeh1DOOj_Cn_JZHeKxqCkl8AcEBPHAJK0HzeuoUIXDN01RoxszZ_dI2ygkisoW0ola3-OfZfjR0e_GYjhFdA4-OAmaMoKqKTrwCEoIt1LIvOkEieMzCmK-yQW9sFyktC8WkXf2AU5XHeNq5h8BYl_t0qQs2hGpBjE_tSHs-NECsbNg8a0gx8so3S6YQOob-u236TnVK1uOCOX25iJ4QNwKqfLT5MMsnpysDbCZXVaZLYAErSZyIGFkRfFvMCtha51GBF7lwWkWiO8maK-VpJ-pBsK0BqMO-S8H_tcNDvHfR1E0M1BOlaKmT4eZ7a7pOG4xcgE7rtSH4=",
  "id": "rs_0e3832893b9b1977016ab42259e0c487d08ac04e16b1f5fa52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan plush’s head and torso are centered between the left gripper jaws. I’m closing around it now.\"}",
  "call_id": "call_ZjKpuYXkEne0bjB6bTRhcyh5",
  "id": "fc_0e3832893b9b1977016ab4225a438487d0b8b6e157b282a69b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZjKpuYXkEne0bjB6bTRhcyh5",
  "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]: [-0.915, 1.1164, 0.2871, 0.0154, -0.7559, -0.7944, 0.1185, 0.0025, 0.91, 0.6926, -0.524, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2515 left_y=-0.1223 left_z=0.0648 left_yaw=0.0975 left_pitch=0.0009 left_roll=-0.1248 left_gripper=0.1185 right_x=0.2921 right_y=-0.0029 right_z=0.1598 right_yaw=-0.0157 right_pitch=-0.1753 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -2.8923, 7.1316, 1.0476, -0.3004, 0.0464, 0.6227, -0.1162, -1.7162, 6.9265, 1.6288, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47e1a2ffec36b9fa12f9e6d532a08b567fc92077293c526def25f29a71d9b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f13a5f73d9892f509e0ddda079f0841dd7aedb9ed9f4e895cdd2ee48e76e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972401d28619311af8e6d34d51acabc74b3114b51bd759bdce85eb7773e5500d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.169 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4507, 1.9911, 1.4055, -0.0151, -0.4446, -0.4568, 0.9955, 0.0025, 0.9031, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5339 left_y=-0.17 left_z=0.138 left_yaw=0.1464 left_pitch=0.0226 left_roll=-0.1297 left_gripper=0.9955 right_x=0.2918 right_y=-0.0029 right_z=0.1617 right_yaw=-0.0159 right_pitch=-0.168 right_roll=-0.0484 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -10.7419, 8.9778, 1.8437, -0.1929, 0.0904, -0.1392, -0.1436, -1.7436, 6.9128, 1.6435, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9142, 1.1095, 0.3027, -0.0181, -0.7506, -0.7879, 0.9968, 0.0029, 0.9096, 0.6926, -0.5236, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2512 left_y=-0.1228 left_z=0.0668 left_yaw=0.0912 left_pitch=-0.0079 left_roll=-0.112 left_gripper=0.9968 right_x=0.2922 right_y=-0.0028 right_z=0.16 right_yaw=-0.0153 right_pitch=-0.1745 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -2.3453, 6.4068, 1.4921, -0.4762, -0.1832, -0.0024, -0.0615, -2.0171, 6.8991, 1.58, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.915, 1.1164, 0.2871, 0.0154, -0.7559, -0.7944, 0.1185, 0.0025, 0.91, 0.6926, -0.524, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2515 left_y=-0.1223 left_z=0.0648 left_yaw=0.0975 left_pitch=0.0009 left_roll=-0.1248 left_gripper=0.1185 right_x=0.2921 right_y=-0.0029 right_z=0.1598 right_yaw=-0.0157 right_pitch=-0.1753 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -2.8923, 7.1316, 1.0476, -0.3004, 0.0464, 0.6227, -0.1162, -1.7162, 6.9265, 1.6288, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47e1a2ffec36b9fa12f9e6d532a08b567fc92077293c526def25f29a71d9b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f13a5f73d9892f509e0ddda079f0841dd7aedb9ed9f4e895cdd2ee48e76e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972401d28619311af8e6d34d51acabc74b3114b51bd759bdce85eb7773e5500d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJdHrpHEoPpZWRrqoHycz_AnQeLuswUUEaft_nvuLPTEwqXZ3AlYsiswKkumpKSGUUPIza57mkoCTKbOzFtBUq1dZ7qDoaqtZM5MpbtOGgmQHtrSD2vrclRXlQNHVk6TgQc6N__9WEoh1FtSYvwKnMKJshTQGo207KiXLfawdWXqWiWEbk2b9JZULXmft8yBfEVAyXfNhSw7mQvCTND3zcqwY2vbBIOTPnPyroNjjtHCgIOUrVmyzXHfQG-uRaknaaYEr2uCQjsjBdvvcK5dZh4CHOCcEocPMo3koR7Q7rVa67e_-7WZYeWU15tbbHCZCOKRLM-JtTI09WXIA59OnjpiqbUTXQ3sqL2KEL3MQvbdO09CKSIfMLOzl0D1f-hcYDkuaWAF73HC-7sa9IC116FJGMVC_wkwj6MFSkm5mwIeBF382ZphAYwyX3wxORxPscZtp81s0oyx5mXleJANT0ty3Qrre6C3p3u56f2OYb8cBQNxdD_ct7BFZEd5PlfC5Xd-7v1l7zHrrU10oyTv6h9pil-WltyugPSEo3zoZHhFgQ3VRBzjlp79or-LjHW43lF0wDQSSmSJfY5Da8KR_aOfLHoG2SA9RstRMJ1OaSH1Ops0WUU1VASmrv2PpVeh7Ip64U2GFrgMGSqpxDVm-8HYC6VypklRAIyzZUgI8DWPeUafxxd_6IVKLs2W-r5ihl7YbfVadlNVLxAUFW-PhhzWKLvxJNNCjBtbQh_zbJWjQy20__4_DaCGFqw87Kmu9bi_ZCVHJn8kcuwU0gS0HwWPVRQFnAFjxe_t1sQptFOHP_XWhSMYcQ3EPjFcnohGxOj0TzrSryN4qNdCn7pjkY3CBOIHuAdVDKGvbMZFe-CbTcClflqpHCP6504H65NLrAC-t45bVNTF6LSg_hJPInc4VV1BLgIK0FVDwduZsjCQjYCjdr8Qzdj7xEuuVD9Q_8d5H8DQO63kVpNoZMMUKNnp_IOWRft4JUsLcOR7JnsT3vVrhlIOgrDotdG8oIVGW_YLWCxPIu22tXuhDbgHQDsGSW87y75on24MMgK2i5-JtwciHDDAezKszoifk-Da-WFwKnwWUqzCR1YNLrxccm_pWC751Cap6Dkl1PEY1IrBiHUoLmzjkZfnRLv-Y-4G1fU6w9TQj3JZCy7WbAffl71mrtl2RNu8RrwKivbIm84z_ukZlKv_-OObfOypHus4s_jX9cFGo4iaHiB2E-D6MZcVA==",
  "id": "rs_0e3832893b9b1977016ab4225cf93887d099e19777fa84fd2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21},\"note\":\"The gripper settled around a nonzero thickness on the tan plush. I’m lifting it to confirm it leaves the table before transporting it.\"}",
  "call_id": "call_a0TsDYRz2ahkI4DffNKFfmzw",
  "id": "fc_0e3832893b9b1977016ab4225d210087d08d1726524b47a970",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a0TsDYRz2ahkI4DffNKFfmzw",
  "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]: [-0.915, 0.9424, 0.7628, -0.63, -0.741, -0.8013, 0.1206, 0.0025, 0.9108, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2528 left_y=-0.1271 left_z=0.1959 left_yaw=0.0909 left_pitch=-0.0064 left_roll=-0.1399 left_gripper=0.1206 right_x=0.2922 right_y=-0.0029 right_z=0.1597 right_yaw=-0.0159 right_pitch=-0.1757 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -2.2222, 9.0462, 1.2918, -0.4371, 0.0708, 0.2027, -0.1983, -1.9897, 6.8991, 1.5946, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3819b9d737a5e601d34661cfbe7cb351d9736d838f9691d2bd88ee3f9c2306",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4d7dba7a7ab38c3e5d56b23a95b75df2cbb381889d4d0312936a4a6bebde58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729e0ed0df92363adcf95e37d57a4fcd99d16b7f6c21159781e2643eee9cf415",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.114 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 1.1358, 0.9173, -0.5011, -0.7082, -0.7242, 0.9967, 0.0029, 0.9089, 0.6926, -0.524, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2994 left_y=-0.153 left_z=0.2224 left_yaw=0.11 left_pitch=0.0311 left_roll=-0.1614 left_gripper=0.9967 right_x=0.2921 right_y=-0.0028 right_z=0.1601 right_yaw=-0.0156 right_pitch=-0.1742 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -4.1231, 6.3795, 1.5507, -0.4274, -0.0171, 0.1148, -0.0342, -2.1812, 6.9402, 1.6093, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.915, 1.1164, 0.2871, 0.0154, -0.7559, -0.7944, 0.1185, 0.0025, 0.91, 0.6926, -0.524, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2515 left_y=-0.1223 left_z=0.0648 left_yaw=0.0975 left_pitch=0.0009 left_roll=-0.1248 left_gripper=0.1185 right_x=0.2921 right_y=-0.0029 right_z=0.1598 right_yaw=-0.0157 right_pitch=-0.1753 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -2.8923, 7.1316, 1.0476, -0.3004, 0.0464, 0.6227, -0.1162, -1.7162, 6.9265, 1.6288, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.915, 0.9424, 0.7628, -0.63, -0.741, -0.8013, 0.1206, 0.0025, 0.9108, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2528 left_y=-0.1271 left_z=0.1959 left_yaw=0.0909 left_pitch=-0.0064 left_roll=-0.1399 left_gripper=0.1206 right_x=0.2922 right_y=-0.0029 right_z=0.1597 right_yaw=-0.0159 right_pitch=-0.1757 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -2.2222, 9.0462, 1.2918, -0.4371, 0.0708, 0.2027, -0.1983, -1.9897, 6.8991, 1.5946, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3819b9d737a5e601d34661cfbe7cb351d9736d838f9691d2bd88ee3f9c2306",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4d7dba7a7ab38c3e5d56b23a95b75df2cbb381889d4d0312936a4a6bebde58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729e0ed0df92363adcf95e37d57a4fcd99d16b7f6c21159781e2643eee9cf415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJi3FPCwLlm9cRdfuc3HQ2a3x3racw3GybWSJVso2XJrLGw1UTeksC2QKzgtz_fXzmif7QFFEJ8ZJWsgCdDrRpNs69wbSpvnm2eqEhh-BBx2lolKbYlhsyXrWoGNSb8cg8RJ8YtJm4_yetxEcG8OpyzvgmyGSd1sleJ27B7JZUr6TpF8keuGl0YlCMPGJpzLLJpQT-4JoEWMppdD9NdoQDbKAhsoVkn3iuO8Jubzdj96gwGNvb9nrOv4LFE3uADy1TTPjmLnLYnkU1vBqWbG_ZaWDP4OFZINdqh0M_p3knKWGXkbrIydXVZcbuVvVCtuxX5tn2v5dh5pwedNhBijjGB9Nqu4HSZLiVL3zgMQcUVsph1Md0nDdL3ddvvs_hvx_9-uCor_Dfk2Cy2QehkXTXRRq7IwsmDX7XMxDC1YFHP3ZXWNxPwSVK84_9yb0Sm61c24N5hfPcl462kfrWnXu-LR9ZAJ1ieiLqXLH6FNYZ-e8c3DFK2Tb8PQs3xvWrmEPD1CT5IAQIgrmCFPOKNiXgDHmHtSKv01NCd76iZGFhmOr7DCHIY9WbdXipXRJ6iyFPJYgAMB8jjdzuL5Rop6v_IhgzjftCRSrC0ZF9ljWpZpyEhe4sWB4MrFuGuYaqci-BXRkrgw-LF34IvhuqtxLEvo2sDxz8gsVMz0o8zWrNvLVLK52B9y_49mjxKkOelikVHWsIsDUoG0OJAr-NIefK3gm6OQ9ieG4-hkq0CbBx3dSIudq4c7ISzZq7QvWOsW-we2eI_u8fgVMew-8LeWM4z_dPrZCEDNxWcUc0x6vu5a0L6-eNTmh3BA5f_-P01DC_MWrB8YNpxGOup0-wLGvX7v39JHe9YoxEdQydzT7ItW3QwNN8iv4hlbUgNfm9oiAfcOoAmxQfs9_y1P5QltV0l1PlupcuDhl6TBSjnE0QgMsPn_SFvDbFFedvZvBpAE-6h80B-KT6HoLEhGKO3oUGW1oEdBxB7AVgnE49uJjJ81Sx55pPG3MIduNqkPh0UQdmX1P7FnP_edKrgSO6kPwQYhQKYj8SOp_-OsPME5v-Dym9gcO84r12VZMWw5ora_HZvSGYIg0sF6jBIeKV59X1WQzhy4b39GIUDYb3cJBHka_cHedNM8nQVNfWjI5pa27esV1VmqWGbDqAKLghPISapttnbuW9uKaP-ADMFFmvoJsr7EvlK6rgYSY2m3zQvRLWBpEVAqUWHsHhM0z1dARFWkT45wodi8hfMkfZLp00O5guK0s7b4bWd3YxMYs_eUMCDun6i7q88RsCE29keDnRSl8wMRHY6ES-rCDgD1Bg4ZiBTanSESuFS_MK6JGX0XdlYa1lJdrkOICpM8-1_y8iU_HyAiw4wfhhBG__BAxiiLLFE8BYT8foSrPjpkWs-tulMW_ImvSlumbHcykitnY1_H2KsWUzwwflQFxN61oHpRCWzuIRAyS_EPyKyhU4746tpJOm0o2--q-LljUWifC2JQT_JSYbGdaW3kzS99ksXcBd8t-QxH8Hw64U2CpDTSAtmCo3qkRNruRgBv37cU_gHeUsbcvEy3YoW1aioYoIcqPKs7g64K5nSGHzYfMxQolKAip6_YpG35wNRe7k-HYbk32fGJdPQvDx-Ao1VWz8MWkS7F4WWS3UE_9IOAKWD19WIsaAf27t0QgpNPUcL7rpXVdmhFo7yW6j52_DbBtAeRUlT4fQesXykpttF3CtvUG_zDz5vPCF9q4VilsbtBZP7Ox9CCgFvYcpaOH6bCguxgWdMyK9X2XJ_VUL4OgRLZjMEFj0OBvO3vWr-o72ZMleEpLr6RAtC9QFi0i80xKw9uCC4T44ebmb0Bo3FTa_q8s6OYvvkQ2aVM9SUz4dA7kpxso8t4lw_ZFJ-2DQzHAH5G-MhjIXXPfURrJwc5Rk1o52G7uAPq9Tv2W8XHTUwI1jUHUxL4KCGwpRKEvKT7leC1D13zeFRuLdrFaxVH5HprwpaGqsz4nc1cPjcezEPYnUkwgcrejezLQN-E9D975WE823_cl4V-gqxew-wuDJ1acTQrOSnwimlrSZn-kkbB8jTg27qjWkPJgqbaEtGzxRwtYPQtqSWgJYjl_MLrw8v5odY9H9xsgOtzgb_l4HhxMXNNitH21YECcCSthPfWVdyq3JGecLmeS7zHGO-FQ2gjegqPpy-XHaqqwCI-_OA8ePjOTADl5DaZUqTDdrYVW1f3iS880Mf0TaTnE1xuvk-4rB3UtIL8Y_UuBkgjxByDDBXu1OWD6VgRHAKXWTQiEtdNk-RDKJYo8O9Zz46ZLtaG1L1IF0DKYLOErR_yV5i8GK3yg==",
  "id": "rs_0e3832893b9b1977016ab4225fb47487d0a44d8d5e6e7c6d81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.37,\"left_z\":0.255},\"note\":\"The tan plush rose with the gripper, leaving its former spot clear. I’m carrying it above the empty right basket, high enough to clear its rim.\"}",
  "call_id": "call_35SZxFzR1PM693O58addkpqZ",
  "id": "fc_0e3832893b9b1977016ab42262095887d0ab07e347b8d3ce1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_35SZxFzR1PM693O58addkpqZ",
  "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]: [-0.8871, 2.2761, 2.3447, -0.8558, -0.7143, -0.8005, 0.1221, 0.0029, 0.9127, 0.6926, -0.5247, 0.041, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4558 left_y=-0.3706 left_z=0.2456 left_yaw=0.0995 left_pitch=-0.0102 left_roll=-0.1685 left_gripper=0.1221 right_x=0.2921 right_y=-0.0028 right_z=0.1589 right_yaw=-0.0159 right_pitch=-0.1787 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -14.2564, 7.5829, 0.7302, -0.4322, 0.2369, 0.1392, -0.1026, -2.0718, 7.2274, 1.5604, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2fb84beaf996e57325bedb17c4ee084845f204834ff551d533659eb7e46f54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e98bc6aa41bf6f4d030a013c5ae1ae6d6dfb3d90c126da3271b2479b45811f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561767ed90196d8585dccbb61db13e1d11c8829e5fdbc78fb92e03da0f25f215",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.876 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9142, 1.1095, 0.3027, -0.0181, -0.7506, -0.7879, 0.9968, 0.0029, 0.9096, 0.6926, -0.5236, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2512 left_y=-0.1228 left_z=0.0668 left_yaw=0.0912 left_pitch=-0.0079 left_roll=-0.112 left_gripper=0.9968 right_x=0.2922 right_y=-0.0028 right_z=0.16 right_yaw=-0.0153 right_pitch=-0.1745 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -2.3453, 6.4068, 1.4921, -0.4762, -0.1832, -0.0024, -0.0615, -2.0171, 6.8991, 1.58, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.915, 0.9424, 0.7628, -0.63, -0.741, -0.8013, 0.1206, 0.0025, 0.9108, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2528 left_y=-0.1271 left_z=0.1959 left_yaw=0.0909 left_pitch=-0.0064 left_roll=-0.1399 left_gripper=0.1206 right_x=0.2922 right_y=-0.0029 right_z=0.1597 right_yaw=-0.0159 right_pitch=-0.1757 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -2.2222, 9.0462, 1.2918, -0.4371, 0.0708, 0.2027, -0.1983, -1.9897, 6.8991, 1.5946, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 2.2761, 2.3447, -0.8558, -0.7143, -0.8005, 0.1221, 0.0029, 0.9127, 0.6926, -0.5247, 0.041, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4558 left_y=-0.3706 left_z=0.2456 left_yaw=0.0995 left_pitch=-0.0102 left_roll=-0.1685 left_gripper=0.1221 right_x=0.2921 right_y=-0.0028 right_z=0.1589 right_yaw=-0.0159 right_pitch=-0.1787 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -14.2564, 7.5829, 0.7302, -0.4322, 0.2369, 0.1392, -0.1026, -2.0718, 7.2274, 1.5604, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2fb84beaf996e57325bedb17c4ee084845f204834ff551d533659eb7e46f54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e98bc6aa41bf6f4d030a013c5ae1ae6d6dfb3d90c126da3271b2479b45811f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561767ed90196d8585dccbb61db13e1d11c8829e5fdbc78fb92e03da0f25f215",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJpYml0mvjfLmcgi_IzRzBfuBQMawIuNE3tgz6lGOI4ze7ls05gXrVq1it9TZpnyZXk8vf7pt_OnfVkqcss9wQnU_G6TSnb7ifIpAa0s5NEbZvIzLZuX43NTmu6s-W-raKZLJksq72K5Rosw54yHso629n-yJrIqScXPwZA6BmGC45QfwOOi8rnY4-5MpkLkPWkI3cwVyfq2QpQHBXDT7dVaXjAv7IG3lCx8Ni3WiAXRdw2hkcoyGXHtWAgeoJ_Ltd-yoInPq-Ot5oE5GLD58NmxDOm-CgFi35ULyX6AEkjyGVyTyCR50gbrP9l7YKJelKJgvlXkZz9NAaNfKnX69H5NyjcILAb1r9IMf1Al3mru5W3xXW0YFbDDykPzIuyBmhlWn0meMKgFsJzVmqZ_pEFD4OYg_ycXlDaprZvgs7XLVttX1HmQBNnAtxQW2imnifscScxeWykTpFA_z5_0HNLlar4RgIjqVU6TtuBZDK2K6LhbPY2mwDHRwqt7e_vYOzLKN-UvHMyNp3IBbq_uuKViNIW1b9ke79XKF5aJCaC-9q1t8SSdawE-0HhsEVQGYvQkEsAbHzjG73b4_mI2WpljHyrlacKNc1VElsaCeFc-A1LC3LpHRtJ6-KxDU31UOv_Z_hgWLog0gwwTlJwGZFlHiWUbNUJFmYG6trg-jfGD6MmBrMjOlRrYn2pppqPsTpFNIMZAT-uFhBLphWqVbkWbB4ZxXTHMHL66HtWNHoDgx8kN8H-IyWidbC_nwpNtK-ogv6jwjPCPjO_57jdzttc8sDdCzKlTdOWDW4ek0hTnGvFtBxarhMFLuKbcd4YGtLUPB4TBJn60XXRNvoU60pvaKyDnw7zhY6uhqLVTpNq5_T0qdbspWFUUkRXzSKWmhWFlkZXamgu3ieH86IaJHlswcQy2aUS8piXSsWDNimM-Ij-Q35MZCq5m7IKXkL_eQgTM7n7_9hSArm9XT7GTjTYPLikEcMXH-W1HAz5NYzzKuQb7YW4nQrdXjA1d_2Iu62oLwEE_dUSObg9H-H2zURXc-UKmh6jLGqrfHY3R_XQK9c4jGBMV9lIhu-Eul5KpPcLMlvA7YhO5TGjN2vRigmoZNwGsq9CJAZOPJvIu5LZqd_EnkF4ynPfcmF3azIi7XOOlVao91VVUeyvtAX_fBrd5AzpkwnlTMvh5MADgIYcfn-FQd8Umw8U2DzSON3tlgMiyF-NrnDdfwMOghN8kk8VE4e_QBhX2nPoYF1nYFZhIDmnrdQGWsGFJfA33Lp8NFFwflRVSuoJ3S14BQP_Gc7_7umg3K5p3YcjqFMMUjNplPWYeMyPxwKUTZNzCUs0nMC0ceqjXGbRH_U9iB1WHgh3qWhMInATwmwEIJawD3VT2pieEYU_R41KUOyrsr0WJllX4YfWNGYss_eW0D0MQJWr-npy4o4GSWHb2vZ4nSZns9PMHf85Pp3BMscxmPBPE2ZhP9eAe3YVuquFAX3VQoXpvnozLAPoQax9fwy-g3MA_YugV691t20a5J2XQBMfGYs6A1b6SWyXqy554iEkZbLUHfejJr2npmffWhb0ugVRSTEFCbelTWdaO87hv1EA7-t06DghMgTd4Sd5gu5N19TZ4u5-8FMN3VnBE1MNy5CIP10dDul7Zb2huf_jZnVVGN6qxgbuXEbJOcmikJ07w5eOCydc55OOJHdK2WRRBzFNAaYjlFpJg7GxmEOT3mLnH19RLTNry4ujAdph2XHaH9WdPTca9hKChebJVLX0vgqmceOEvzZsEEZPJXsEyxRErnDmJ8IIORkzCmmhMVc5WYjfM1s3N99hug18sWiEGY2NnKD9-juQmM0u2rni-dHyRFjBE90H_Xrz5b52_BkFY7QDDsqVPCKk3RMg01buSIPr9LYaTzr7MBrW-ycfJEGl_9sBxsHgp6016c0p0B48CPsMwtctM3GHJzoI6vfDTIwRv1gSfk9h1RLmTVPUkOdkkg3aIA-mCFAbfTj7do--COt7Y19p3s3J2_1ZY5QCaSnKh0CuF3evUmdalomFQmMk23dnDLVBXXPyKK6UpYzD2cprsfygy5ZO3nkSFDmQOPdnjEdFMTKTACtaBPN-W953mJHI7fl3BgAuKiC4o9b7Zqq3GBFTWr0famGFkYVyhieZuXs5t9YnRUVs7oR2ysC0b8h8aJQHpk1eA8mnoEqYDHR1Chr5UMbcw9S2cu7jzVV4LlXEd7bFM5KoDZS97sfO4rvk4eENKmyAeGKZeO0gA9fYSVRopz1Sx2fYavc_j0OU34mC4OybQQ86Z1y35ibnnxYdd3HqunHJHG81a_2W_h9kelmP_DBv5-RyY5DlntsDU0_Gyngjmz6-R-W1eNvyKhvOK2bZgqWFCW_HXhlZlLPziPr-RFSbqgvR1GSc_K1uvl7B1IBmLM89KYajr-kvHvMVt3Ore5nnfTE7hb0NE6ROcvWNscm3nx6xvl_yPpwPrA9vHnPwpareC-0DQlRu-ddRen5gf9AeXnAZP7QAfdBKUw==",
  "id": "rs_0e3832893b9b1977016ab42266048887d0ae985a63fd00e216",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.345,\"left_z\":0.145},\"note\":\"The tan plush is above the right basket, though its head sits near the left rim in the wrist view. I’m shifting it slightly toward the basket center and lowering it inside.\"}",
  "call_id": "call_hqJDaPAa6h8CmziTEvPHlAXb",
  "id": "fc_0e3832893b9b1977016ab422685d1887d08542dd62f7e16273",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hqJDaPAa6h8CmziTEvPHlAXb",
  "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]: [-0.8249, 2.2124, 1.8797, -0.4004, -0.6754, -0.7471, 0.1225, 0.0025, 0.9146, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.3514 left_z=0.1612 left_yaw=0.1051 left_pitch=0.0037 left_roll=-0.1832 left_gripper=0.1225 right_x=0.2924 right_y=-0.0029 right_z=0.1586 right_yaw=-0.016 right_pitch=-0.1795 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [1.388, -12.2325, 5.2991, 0.9988, -0.1099, 0.1538, 0.0366, -0.0342, -2.0855, 6.8991, 1.5458, -0.0073, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97e80922253c56514f0998f6ee3ce79b8ae73027f21a469905cf19c0d0e724a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7ed981187e083d7a4534f5cb0dee42735b14236e7f8544e024def7f501b14a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2cfe22d944f95edc32a6ac04fb264a3256cc32ebfcc254a3330a53dc4a6392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.296 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.915, 1.1164, 0.2871, 0.0154, -0.7559, -0.7944, 0.1185, 0.0025, 0.91, 0.6926, -0.524, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2515 left_y=-0.1223 left_z=0.0648 left_yaw=0.0975 left_pitch=0.0009 left_roll=-0.1248 left_gripper=0.1185 right_x=0.2921 right_y=-0.0029 right_z=0.1598 right_yaw=-0.0157 right_pitch=-0.1753 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -2.8923, 7.1316, 1.0476, -0.3004, 0.0464, 0.6227, -0.1162, -1.7162, 6.9265, 1.6288, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 2.2761, 2.3447, -0.8558, -0.7143, -0.8005, 0.1221, 0.0029, 0.9127, 0.6926, -0.5247, 0.041, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4558 left_y=-0.3706 left_z=0.2456 left_yaw=0.0995 left_pitch=-0.0102 left_roll=-0.1685 left_gripper=0.1221 right_x=0.2921 right_y=-0.0028 right_z=0.1589 right_yaw=-0.0159 right_pitch=-0.1787 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -14.2564, 7.5829, 0.7302, -0.4322, 0.2369, 0.1392, -0.1026, -2.0718, 7.2274, 1.5604, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8249, 2.2124, 1.8797, -0.4004, -0.6754, -0.7471, 0.1225, 0.0025, 0.9146, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.3514 left_z=0.1612 left_yaw=0.1051 left_pitch=0.0037 left_roll=-0.1832 left_gripper=0.1225 right_x=0.2924 right_y=-0.0029 right_z=0.1586 right_yaw=-0.016 right_pitch=-0.1795 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [1.388, -12.2325, 5.2991, 0.9988, -0.1099, 0.1538, 0.0366, -0.0342, -2.0855, 6.8991, 1.5458, -0.0073, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97e80922253c56514f0998f6ee3ce79b8ae73027f21a469905cf19c0d0e724a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7ed981187e083d7a4534f5cb0dee42735b14236e7f8544e024def7f501b14a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2cfe22d944f95edc32a6ac04fb264a3256cc32ebfcc254a3330a53dc4a6392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJsSKa1vUHMmszouHkTV2--rj1ouamgk8IWjrSa6kudaFSoJvTZYrK5bKXNtYagjWBA1ZI2hassAylpJnP2MGz_fcOQ1pzTjY5yjj_ro2oKll6NfyRmXb-GBcbAKDITO9ZWK0tAQEpFK2YHWcuTITlSWWa7E8_sRoKN9CG22XQHzOIo9Eg-j0PWZdD3mb5XS8Va2lLFo-CF5ebD2BexfTAC_ve0qiJabOrRbz07_mxxOniyanfOTP9K5tj01zdJv7VxglzXXFyQztiWVXQo9rvFc2RgFF4P8mNCovHTUqtOIpSwc5ykJGbnOyqzM42Y_MvLX-UNXdu7ApezaXVnWZrhwPhXbbSDv5W0WSJ9ysUQaMnaj8Nm_QkyhRDDf090yOExdwmPE_gHtHVEpdl4mx_Q_ZAeH-0BQFOCo32-rIgQw361h4-aXBHx1rqeNzYjm41mKxsujswS149L_OYU5cTQfYb6elF3Z61mgDJNYxF7_ZbkTZ9MAv5iHV5YwvbpXMHzTZk5v6_zkFxdO4OENzC3xnVHhEpTpFc1kwYT-nwkjbpOYrr4zgpfU7plh4W6y4OU3KqeXX_B7d7oh8AWQGafloGGV2RrsslVendIZ0RyIWCGt8_slsHz7TMQUIfNtzJSGyLdfk2ulNJqkYVX9UmMaoAWpQfTTFJWjNJUAT0uIWhL6HSY8QKFXU5B1p8tdkDHDmBITDuQPA1-U6M2MyEbOOGtVoXL88JxaHvCwqXbAS0qbudvix1qAmWEkNwyLCL1m6ILElfsMytN0nCHrQSvmYE3elwhl6c_SHXDX-op-OKsdsCY027gWr2lq8f32eSrI69ZwDc0fIeZzZU5ybDPoC8FyeFh7XRgdNxbKPtwpFwWIsLXnsC5K1zLZuzrIL_tYOT1dYog8ihKmsUIMp8sGYpsXYZk6B4IJJmmWqRmL052qnjksw60tAtSZJzSuv8P7Y1p-LWrcv8TThzALYb5hSsIpbBH3i73uKpklOuhMZ7e-RLmlw3PkI2kolHSaZ4w5edPApioXTZ_U5SN5bFMerIk6NFELsFnbthO9RQwGPbGYtTi3h-QDJreuMcRR-g7puBTLmAZlDKsOPCnSltY32jA_55yPFD0sdcJ8EiAmenYCnY8ou7eWMjaXTBnsjf3UGZz69VwjT8Ovf4oB3MELQFPELe3xvyqviS4ppiMzpIncIO5hhahatA5w7cqYnbAHquD02Du0X1h_Ne4_0sU2iOsEreffEbE1NFuiwbQNi9hGIaoJy2CyI1eabcB_J1ESRFOHW3m2QTKqB-HpFWm4OQqqSiFgbZ1ouCIhkmmZo_6KNe0ni_VlqI-fgTRoPBVNbzemip_DI-OD6ImFsDuHgr5BpLt2E_tUNGSgs2DskZOQfIZNwTLOyXh3arRKkxb25ny3g0cr2EsBHr_gLwp3wRNGA-n_aIjcznAFJFAgvFpHEGAsJm5unPaO5gqRJeLTnawzXzMYQ8D7uBk08h2VF4JWp8IkB1n4mhFAfx8q3k5JF2lyfEs7-LjZ00_r7D6",
  "id": "rs_0e3832893b9b1977016ab4226b028887d0b0d05b8ac051573e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_z\":0.105},\"note\":\"The tan plush’s torso is inside the right basket, but its front is still near the rim. I’m moving the gripper a few centimetres farther over the basket and down before opening.\"}",
  "call_id": "call_7yuCh3tl06YuGqNStArk5Ukk",
  "id": "fc_0e3832893b9b1977016ab4226bc6d887d0b85ce9e71ab89b99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7yuCh3tl06YuGqNStArk5Ukk",
  "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]: [-0.7822, 2.3112, 1.9484, -0.2451, -0.672, -0.7174, 0.1226, 0.0025, 0.9154, 0.6926, -0.5243, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.5195 left_y=-0.3562 left_z=0.1572 left_yaw=0.1339 left_pitch=0.0808 left_roll=-0.2585 left_gripper=0.1226 right_x=0.2923 right_y=-0.0029 right_z=0.1583 right_yaw=-0.0162 right_pitch=-0.181 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [1.1966, -8.8684, 6.2017, 0.7497, 0.2222, 0.0562, -0.0122, -0.1436, -1.9761, 6.9265, 1.5507, 0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b9f2d57d4a01c563e97acf7f95d0bfc94e868984752a19e9e87bc65090dd063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d13cd2d14d19f6b5e511beffdb791002571d344bca64c063a077e38ed5edc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77fcbe9a3744c60a8db089ea610bf83379112b3272787b82ab2cf500e9d3d56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.438 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.915, 0.9424, 0.7628, -0.63, -0.741, -0.8013, 0.1206, 0.0025, 0.9108, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.2528 left_y=-0.1271 left_z=0.1959 left_yaw=0.0909 left_pitch=-0.0064 left_roll=-0.1399 left_gripper=0.1206 right_x=0.2922 right_y=-0.0029 right_z=0.1597 right_yaw=-0.0159 right_pitch=-0.1757 right_roll=-0.0485 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -2.2222, 9.0462, 1.2918, -0.4371, 0.0708, 0.2027, -0.1983, -1.9897, 6.8991, 1.5946, 0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8249, 2.2124, 1.8797, -0.4004, -0.6754, -0.7471, 0.1225, 0.0025, 0.9146, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.3514 left_z=0.1612 left_yaw=0.1051 left_pitch=0.0037 left_roll=-0.1832 left_gripper=0.1225 right_x=0.2924 right_y=-0.0029 right_z=0.1586 right_yaw=-0.016 right_pitch=-0.1795 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [1.388, -12.2325, 5.2991, 0.9988, -0.1099, 0.1538, 0.0366, -0.0342, -2.0855, 6.8991, 1.5458, -0.0073, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7822, 2.3112, 1.9484, -0.2451, -0.672, -0.7174, 0.1226, 0.0025, 0.9154, 0.6926, -0.5243, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.5195 left_y=-0.3562 left_z=0.1572 left_yaw=0.1339 left_pitch=0.0808 left_roll=-0.2585 left_gripper=0.1226 right_x=0.2923 right_y=-0.0029 right_z=0.1583 right_yaw=-0.0162 right_pitch=-0.181 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [1.1966, -8.8684, 6.2017, 0.7497, 0.2222, 0.0562, -0.0122, -0.1436, -1.9761, 6.9265, 1.5507, 0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b9f2d57d4a01c563e97acf7f95d0bfc94e868984752a19e9e87bc65090dd063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d13cd2d14d19f6b5e511beffdb791002571d344bca64c063a077e38ed5edc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77fcbe9a3744c60a8db089ea610bf83379112b3272787b82ab2cf500e9d3d56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJvBihBYKjNM9YpU4yMQWglZ-5PA5MaKeYbJwuktZ1TQDNesNj2ZbXjkm2uYu0dmK5Pvykyy8qIheRkC0nx9kSMQwHJ_wRxpdmRhcJq25KybXmv-8bKSjIivKELqPLnOtNc_K133xCbpDK8x5s4pOD00niLao98Lt4VQQTzBJfKMfwfs1e9zsGxUN9hZnjZMaxWn3X9x6FuVzhs3srQn1mA8rf8kn86iNRF7657kaHIj0BUeo_ybR9ojg7QkF30bh0dhPhXNKyuGpvt94ar4URw9i5PhY6TjEBvcFbGYe-BAPX5IGanq6NIkhDlnjmrsQfInVnNdPogzCE23AbL9ie_giH-lkoRTXuw6Oall14RGN5VJTAv1ZNgiKJXyA2sJSb0vJDvdBrkKR-3hXVzE5zKIFvneNqQdBaOc7gc9oSFrmxiaXbxg3ALy0wn17PMSJ16Y1Y3LITE6hlO7YQhklqzIdYoWgsmNQMH-AQ-doWQyv5HonaegygL26Rm7XtZi9kcsG5CYhhIk0BnceBLi5HsCuTZSJnwwETE4Oqaz7ew4-uu2wIqjSDoyk3h4ARDEfpYWuvOAGgxTZovRlrnwg2WWPaugvNQ0x_nX5wASi7zVZHLeXtA4DDudh9bqoBfjI8BmBIxZZkxatJvhtoAiI89H7m5r8NNsVEfpcpPrUVNBeb0NsMdCjvdYmeqwn3cl52Gc-2pTZJdc2alc78_NOnKftFHWr6Bk3PNZoIzQnlS8J7KW7q3tekfglR8VQ081kOQQEqUhX7CWv0gb3uZOhK2U5_zdO7Mx_Y2ERjiBLD3-JUBdbGrPlB0bvNaJbZzud7-f4KEKG4u2ixQxu82oFLFXeNtTdMtuzuhlJbLF4RKwmSVIB24R7A4k5LxJj_y_LFbc7YDJG_TIbzRtBS3KBUKCc3qupIlkSvGw1FgNVWpWXS3jsw2ZQBFDNrDwG2r4j_2oFTzE95CTFd5ELpIQlJeXWWIdEGOC4vDhRCTLeUUwPzonLxK-i8CezF5LKOthM0DIdxE6xXFLg8MOiaV4Uaz1_63_dmueYY3OVe5phBof2kVUT760BkOpWHbHPv-X4dKSHgzuwM_6xZoLsKwuF43-C7-RCC004-8D-94Tsyg7CYTSdwnLPU1D6KkMBjCAc9I1U99fBfUPZbn9YWzRvov7Kv-zWbQUsUF_zgJOQrNsBVOwWxgjkDhfCPS7Ll_kxfJV5N0Ny9JFE6dkqlzWXalKcV5jaNYB37VGAdmYIH77OqH0r1SPfDUnUU_yUjaCkeme3361cg8LerLRV0wlAbAd4SO3F0GwHBtE6Mtrw_3J7oYo_W13Qk4Wl8W6gEH0_yIFIr1frfc4A8zUgnwzr8sKbGi1YT58gKdb-X7sUMNHXorl84p70iFDKV1tkadHSgW_j3xV33JmxVbK-WhwdtLbA==",
  "id": "rs_0e3832893b9b1977016ab4226e08e887d0b84c78da3128c817",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The downward command stopped about 5 cm above its target, consistent with the plush resting on the basket. I’m opening the gripper to leave the tan plush in the right basket.\"}",
  "call_id": "call_B0L7zF8vSG3sF7Fns96YLqsY",
  "id": "fc_0e3832893b9b1977016ab4226e860087d0a2e6e130c7a8932c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B0L7zF8vSG3sF7Fns96YLqsY",
  "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]: [-0.7631, 2.3363, 1.9572, -0.2157, -0.6506, -0.7036, 0.9951, 0.0025, 0.9165, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5298 left_y=-0.3537 left_z=0.1495 left_yaw=0.1297 left_pitch=0.0812 left_roll=-0.264 left_gripper=0.9951 right_x=0.2925 right_y=-0.0029 right_z=0.1581 right_yaw=-0.016 right_pitch=-0.1814 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -9.9761, 6.1744, 1.2234, -0.0122, 0.0855, -0.105, -0.1026, -1.9214, 6.8991, 1.5995, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06ca1cb8c5390817b1e79c1f1e860cb405dd55f247bcd925efabfc8d019df93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c4bc89bf001917dbd7e85727b2a84a579bd969944168d8eaf588a069d62bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd87cbb844d80c7de0d9148a694b8267822c0ee03fae7a6e75f4d78e69d8369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.337 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 2.2761, 2.3447, -0.8558, -0.7143, -0.8005, 0.1221, 0.0029, 0.9127, 0.6926, -0.5247, 0.041, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4558 left_y=-0.3706 left_z=0.2456 left_yaw=0.0995 left_pitch=-0.0102 left_roll=-0.1685 left_gripper=0.1221 right_x=0.2921 right_y=-0.0028 right_z=0.1589 right_yaw=-0.0159 right_pitch=-0.1787 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -14.2564, 7.5829, 0.7302, -0.4322, 0.2369, 0.1392, -0.1026, -2.0718, 7.2274, 1.5604, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7822, 2.3112, 1.9484, -0.2451, -0.672, -0.7174, 0.1226, 0.0025, 0.9154, 0.6926, -0.5243, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.5195 left_y=-0.3562 left_z=0.1572 left_yaw=0.1339 left_pitch=0.0808 left_roll=-0.2585 left_gripper=0.1226 right_x=0.2923 right_y=-0.0029 right_z=0.1583 right_yaw=-0.0162 right_pitch=-0.181 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [1.1966, -8.8684, 6.2017, 0.7497, 0.2222, 0.0562, -0.0122, -0.1436, -1.9761, 6.9265, 1.5507, 0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7631, 2.3363, 1.9572, -0.2157, -0.6506, -0.7036, 0.9951, 0.0025, 0.9165, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5298 left_y=-0.3537 left_z=0.1495 left_yaw=0.1297 left_pitch=0.0812 left_roll=-0.264 left_gripper=0.9951 right_x=0.2925 right_y=-0.0029 right_z=0.1581 right_yaw=-0.016 right_pitch=-0.1814 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -9.9761, 6.1744, 1.2234, -0.0122, 0.0855, -0.105, -0.1026, -1.9214, 6.8991, 1.5995, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06ca1cb8c5390817b1e79c1f1e860cb405dd55f247bcd925efabfc8d019df93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c4bc89bf001917dbd7e85727b2a84a579bd969944168d8eaf588a069d62bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd87cbb844d80c7de0d9148a694b8267822c0ee03fae7a6e75f4d78e69d8369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJybtZbjtpnjIa__HrTGfxO4tDLSIYZV2O0yq0Vnp03jzAa5fP9RHBP9MS-Zw24-LaEaPdgIoCY2xbzVHo-dO1WFfBL5UCjNpRDVvcrwy4l2RcTxdNOfjjRHtSAtjjZWO5AJUSXHTcRuxVkY0waEF6g2LXrY1Qg9Ye506UFTJ1VeqBn_c2AVQApNxXD2Ejc3_Eu4fNrrW-Sz3neA29FU_8hWtblA0hubuqBllxuTEKLZeeNddEVYCZGC67liMfDXdtkbHL-h9RI5sBYRjRY-oafch-oPd9CXMkyAfXu4tYD8gUncMLndm_lzgrKGuPDnm7MrnsTChBKlfm51cahN8SBxujc042MtrGfn06lTiEQXc7h2uCKVBRdih3hAY3vxbt7pBRFFGfDc_nWqj7QdmpmY_oZrGvFrJayS1u2U74VSCVsjVQ1mGPRVP1zX2emUHafu3vpqEbHs7NqhhCG4qnBjKVBtBduEDZg_KxO6S0TPe0r8TXhr3lYQNXt0dh1ZnpdfKOeHi9hhRBMB1LUdFXKdd6wjhsZAN8NQI-Q5bVI6s3H0LZ_6yObjk3huAoaqyb0u8jUkvtHYs75Gzj-lUEKTbvGMzQKDPKwDBaRvre3nTVIdgUjRkTU_Gt2PHzE-Yadi9kuILG2wuUom9-JuUXnM9kqtPUJdG-mntLQCQJl515A_Q1skLQk_q3qUx02H4Sf7BW_oD184r3UHsAOngkpdQ27rlUDb62lXeQdBdX5EDDCZhVUOkqthYrUvH4wLC7n7P6Y2kCGm0jV0CyMa8uv8zGuo4YLGyOBSOjsAj_--bKN8VCdMta-SEXWkivd7H2qPfj7EkbLQAouMaZU6mBuYJj02IDZiFMC7LHIysDrQq2Dyz2beF6Nfv6i6z6JqiQdpLaE39B7DzZ3I8zzxwR9aW9q6SApDv9jKkDQQGONaHmkS3efDdlLaso3rLeBSTJxtgeOhUrG27UXHCg8HmmkhQJgnw2a3zg9oeW4XuFyWTSerLdxflv2zUyb1Wq-QntR6uyMjWRbTavbQJ0DUqN5DEL6xIe8kqDztVl5rmgNgAQoy2u2w4prijt9En9rY5if5U5nv7YnSfPN4ReuFJWGewVA30xiPtVMWjX3QR4pViLqpdOYTiO9H0VYp4arHIkzg0yrYk6fD223QLuiIRhnvmxcL6rW4I6xyqbECYwt-tD3sAMTRztYzXKedHUSi14R8ztFibAEP4cDNLA0p0vmgwA1JZMYcKwMdBXDQyPJrOGDQSnvR65Ky1GVVrL2FH4yiX31Xjm46Jk1RcHDxciKEyRM-JrFvCHcKICTUi7By-y3eCvXGrEX6pc2qC2ei3Z08-iDk4N3Zg9NH-lJsFmTCmhM_taKvthZNv-ceGJvwHgtudtVVy8-IUVFLJreUll7mBX3_3I08SILOoHABjiMKg==",
  "id": "rs_0e3832893b9b1977016ab4227142ac87d0b684c8dcea522524",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.14,\"left_z\":0.22},\"note\":\"The tan plush is released in the right basket. I’m raising and withdrawing the left arm so I can see which objects remain on the table.\"}",
  "call_id": "call_RqtSKFDvHJaH8u8vYvZK6qk6",
  "id": "fc_0e3832893b9b1977016ab42271ae8887d08388365b62a31cc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RqtSKFDvHJaH8u8vYvZK6qk6",
  "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]: [-0.8188, 1.0492, 0.7971, -0.3309, -0.6811, -0.7418, 0.9967, 0.0025, 0.9218, 0.6926, -0.5259, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2983 left_y=-0.1508 left_z=0.2239 left_yaw=0.1189 left_pitch=0.0964 left_roll=-0.2971 left_gripper=0.9967 right_x=0.2923 right_y=-0.0029 right_z=0.1562 right_yaw=-0.0158 right_pitch=-0.189 right_roll=-0.0491 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.7556, 7.0906, 1.746, -0.4469, -0.0855, 0.1538, -0.212, -2.4274, 6.9128, 1.6337, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32198e0d0fd5b2a82e5ffc98468c83ac864c57a6d69450a42f413320a11d5cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c6582771a7e03e468403e7c603e7bb5d4d045038a4e327d04c7be67b555a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde351144c1b31e46a6d8c2563dbbd78ead34957dcc9d3e0b75cdc7b0dd6254c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.509 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8249, 2.2124, 1.8797, -0.4004, -0.6754, -0.7471, 0.1225, 0.0025, 0.9146, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4799 left_y=-0.3514 left_z=0.1612 left_yaw=0.1051 left_pitch=0.0037 left_roll=-0.1832 left_gripper=0.1225 right_x=0.2924 right_y=-0.0029 right_z=0.1586 right_yaw=-0.016 right_pitch=-0.1795 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [1.388, -12.2325, 5.2991, 0.9988, -0.1099, 0.1538, 0.0366, -0.0342, -2.0855, 6.8991, 1.5458, -0.0073, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7631, 2.3363, 1.9572, -0.2157, -0.6506, -0.7036, 0.9951, 0.0025, 0.9165, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5298 left_y=-0.3537 left_z=0.1495 left_yaw=0.1297 left_pitch=0.0812 left_roll=-0.264 left_gripper=0.9951 right_x=0.2925 right_y=-0.0029 right_z=0.1581 right_yaw=-0.016 right_pitch=-0.1814 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -9.9761, 6.1744, 1.2234, -0.0122, 0.0855, -0.105, -0.1026, -1.9214, 6.8991, 1.5995, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.0492, 0.7971, -0.3309, -0.6811, -0.7418, 0.9967, 0.0025, 0.9218, 0.6926, -0.5259, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2983 left_y=-0.1508 left_z=0.2239 left_yaw=0.1189 left_pitch=0.0964 left_roll=-0.2971 left_gripper=0.9967 right_x=0.2923 right_y=-0.0029 right_z=0.1562 right_yaw=-0.0158 right_pitch=-0.189 right_roll=-0.0491 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.7556, 7.0906, 1.746, -0.4469, -0.0855, 0.1538, -0.212, -2.4274, 6.9128, 1.6337, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32198e0d0fd5b2a82e5ffc98468c83ac864c57a6d69450a42f413320a11d5cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c6582771a7e03e468403e7c603e7bb5d4d045038a4e327d04c7be67b555a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde351144c1b31e46a6d8c2563dbbd78ead34957dcc9d3e0b75cdc7b0dd6254c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ5XTPDzz4B5jlmA7u9MPioG3G8JQBaSxVM1hXoAoK9ZXRUQT9eC712znhLtc3fpZlgwAKOnPyWjJYNkYX-ZEKSl-62bd4m73GdFUCqitBDg06hwAN1yYrjl83xhpN5mcBa8TiBhFnhEEjFVKjomwCS9Pd4M457khUopoA7nHETU93RqPHvqCXXMtfCohR5vH321pfVJrWUrgmGzU8AK9bk4KUjNIwz-1O91uXpyRfU-zi9fPlRGkaL3l0Fq7c9RkheVDtFaU4IKWg5XtOfhxPy91qjzbEMVJ-nin4xDBGPhgxvg5vznlfQ7q-lYX2Z-ggMt5cno62EGdqUtA46j0XVqK5BTOPUY4NPZJAwZBsENlNowIXf_lJiewZSwlkNXt-GGRb1rqsCNv06TwoSe1jY6uOCwskSIMxlYpegvL2A5rtCfirX63WSAK54Qeet5g4nnnX0J7fr1Y2Z8NkEFvP2zwzt3XI875gFSxELnzgeYbhno4hR3cVwhUmJHMySsrdvsVyBCED9aMRrw1Oa9vJiNRsNlPLIWzSN_VHiw2dmFCSKal0U40okkqGE6ZFhDNOQDifXwJDfux9QV6BRn02_G_SNGD47yTbkhwagchDKkjSoBMH28mqiA3WMp3iXI3RQ3a2Tggj9kteUM4pWExlRtkQEbcKFHmpc8BnVOMkbBOn0hP47egvPjtAHVsLZtVo2hE-VGJl5Me2f6gm4tCnuPDERm-8AG3YNz9eliwIuPq4_o2C64Un31jz5_HeyqZrouSCeDWVYab4AMTc6mF0-g_AFdkVxByr8FDywuNhbm2T-Gs8QrB0cZumhVefummYNThoUrsBCDFB38fD5s4IV-l2pIo7WnlSSLNtCK-Gs7QWIKDhOq_S_LY73BgMiAKmvwoeGEM-z0VFcVWdhcQkBesl8cHci_3iHY_c1y9og5OciJLAbK86ajRstIVpavxKqkXHf_9az-yB0fqS3tf337e7kprnBjThaObwYAumiOF2cesDwugyOR8Rxso9PTtswcnxmnPO87Emw5NWsZmG1vw3AAWg6RNM7Tkz3-3JyYlbpuORPVrn67lYKt02c1dKspE1RSaQKeNbD5t-Hxh-OHiw4a6eQ4h_v-CX_9qyE53AeIYd8rp0IsP_bePxcc_-P5ODiM2KUg6YhRQmY9UfGcsrDaKOyq7yTJzgZiXv2gpc0LOHYyy7jsAVw-z8eUzQE3fyLaslDe9cyxxu1dRj9VuZUWGoHRDqfHynmxBil3RRYfPqB2R4xSNXiTl2YdHdRSjr5oYM2BoTyy_4ei_Ak5WwAvjfFZ1pk05Dg9QsEg55WMVg9L66qfXItmKvN7M07I-q-mAw0bMbkNYZeEP9NmO44Divv6wmc66CU0POl9-VJLRald50kJ-CdBVA678Ke-XRnrGnE12Qm8gGLbtIxfxqWRzqilDlMrY__id2OQfszTkAYtrA6-wQaX0Sy_kUMfOa60KMTKPcfXKMJjtF4Y-LHUJwCDiX-Nt8xTnerRiz00-tsW4zMR8LaqN8vKkZtK38sU5cXmZ6WnF8VgXJSCQYraof3OUEG4CC9u3E6gaEHOurVDxBONOLAoXm2G2gQMxMZ4xT7YTAsxr_DJxEFxVtWDdG4d1wEXRGXdQsY_9iE20-b3oX0TeePzIbrDhPr0NXbCd_O13mpVhqxZuHpaM7VvD1IOZEqb5HxwvJ1J241k9vjMBwURynOhlpR2zZBxDGEXbkP3hZiaDx3WAz6-hMg30xS5lKCniE67-LOwsFY_6GBqoL6vQL_L9c0S9MUyVsh8Xn1HgmTAw100j6-sx59zl_g6DQZOZ_LovEWwpbT5VjzEdwm7cABJfZtc9hkA32s3oObFg43Yg-PnA_4JzoEPyAwg5tAm4vazKL3Lirfu_TdTa-Yo-bb8FORyeXztvW1jcp0CaCwhZLll5xe6ANXh-ZPByE_WGpEnJlOkjV5tu9CVTCOBMqGaA9KNQr_Oyp28q0tXdmsKHhn4qUHM_AIeLza9tGMwxrRTchz6RInxWhzd0NUwJRuGZPmHtW-T7LA9psdv9bSwxYPVLxpD-pptH7EgBjqtO4ExiGGHhtVACgKBSquuDNffaDa2d-ezn3rF_09BgcCSU08iD6642NuwhBswsvbBk_oBonf3hw9Mls0gWcvCX33YM8RKASotNRF7A42oX1SXQvvQGn79Nuek0b_QLxb98NscvpzoWQy3IFW3ukTpmPP0wr5JTqePczYWlUQ1wDV0fGHwrr7VMp6PBeY3DQGMuH-vuvpwVqlyqyjCwwTLK3AKRsvexst7tDOvhJnxruXdNEY4S6DS8lyJlv8O6jGpuk1dOV2ySGo_XixoyKqpvxMERiNOZn17TWs04wvMI2nXI5gB9Mz4oDXMpx4iuicEx-HjwY5PpRrCUkdtfF58QVI34DomweQl8Kd1rr2zK5pQa9aaGZmorLXrnISFBqnQSIcO3F0yZnn8OfuSUf86gHacK0CFbdV5Z_r2KK6r8XBimCgcVLadfCfkjmu0BUW7VyUt8y9gIqupVcyBL-QEDnFBdUPrzYVa7hpi6-ueLTW8aiAnQoj4dbyVs0fdWS2VvGgyCTdxv3_Uu8NPdSRnYx9LWeSybQgiIKocEMIS6wFiZzsEjkeL9gN9ZbOgkz6rXBH6oQXEPmzSfadjkYEIVwsdUmYzIOPUdS4IHRxmxI-W4oZmtOIQTKB6RdTfsLMLRceZsCzr7U71-y2ivnyYvXNK6hSebh8NMQkuoRjkeJ3VGEhirQ0vf3u0mOwE_1BVb1ntuGvBv_EW2zH53Q1mJ3Hh2h7eo2-zX4spQOgJ5FRWZa-YzNGIOyVcMrTS1r_DvKn0FSdXDM=",
  "id": "rs_0e3832893b9b1977016ab42275e8f487d0853dd9dad16e525b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.28,\"left_z\":0.105},\"note\":\"With the arm clear, I can see the tan bear landed upright in front of the right basket rather than inside it; the gray plush is in the left basket. I’m aligning the left gripper with the bear’s torso to pick it up again.\"}",
  "call_id": "call_bYtW1M5yK4YXdIKBtrjBOjuz",
  "id": "fc_0e3832893b9b1977016ab42278cab087d0a517b09777cee428",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bYtW1M5yK4YXdIKBtrjBOjuz",
  "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]: [-0.8742, 1.8324, 0.9604, 0.1921, -0.7254, -0.7872, 0.9968, 0.0025, 0.9257, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3809 left_y=-0.267 left_z=0.091 left_yaw=0.1157 left_pitch=0.0564 left_roll=-0.2425 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.1551 right_yaw=-0.016 right_pitch=-0.1932 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.6342, 7.7744, 1.5702, -0.2613, 0.0122, 0.0024, -0.1709, -2.359, 6.8991, 1.5458, -0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd34390dd1646300daba8362323927d055f5376797503fe596505cf36c0d21c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d768d57571423bb04635f807b5412a3a1e1477068d04d2093abf9eff909c607",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85c597ff198d95975a9331e37b2c3e52f719bcc761f1e9a30e3e3a6e58bf358",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.261 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7822, 2.3112, 1.9484, -0.2451, -0.672, -0.7174, 0.1226, 0.0025, 0.9154, 0.6926, -0.5243, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.5195 left_y=-0.3562 left_z=0.1572 left_yaw=0.1339 left_pitch=0.0808 left_roll=-0.2585 left_gripper=0.1226 right_x=0.2923 right_y=-0.0029 right_z=0.1583 right_yaw=-0.0162 right_pitch=-0.181 right_roll=-0.0483 right_gripper=0.9995\nstate[joint_eff]: [1.1966, -8.8684, 6.2017, 0.7497, 0.2222, 0.0562, -0.0122, -0.1436, -1.9761, 6.9265, 1.5507, 0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.0492, 0.7971, -0.3309, -0.6811, -0.7418, 0.9967, 0.0025, 0.9218, 0.6926, -0.5259, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2983 left_y=-0.1508 left_z=0.2239 left_yaw=0.1189 left_pitch=0.0964 left_roll=-0.2971 left_gripper=0.9967 right_x=0.2923 right_y=-0.0029 right_z=0.1562 right_yaw=-0.0158 right_pitch=-0.189 right_roll=-0.0491 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.7556, 7.0906, 1.746, -0.4469, -0.0855, 0.1538, -0.212, -2.4274, 6.9128, 1.6337, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8742, 1.8324, 0.9604, 0.1921, -0.7254, -0.7872, 0.9968, 0.0025, 0.9257, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3809 left_y=-0.267 left_z=0.091 left_yaw=0.1157 left_pitch=0.0564 left_roll=-0.2425 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.1551 right_yaw=-0.016 right_pitch=-0.1932 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.6342, 7.7744, 1.5702, -0.2613, 0.0122, 0.0024, -0.1709, -2.359, 6.8991, 1.5458, -0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd34390dd1646300daba8362323927d055f5376797503fe596505cf36c0d21c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d768d57571423bb04635f807b5412a3a1e1477068d04d2093abf9eff909c607",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85c597ff198d95975a9331e37b2c3e52f719bcc761f1e9a30e3e3a6e58bf358",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ-3Bt296su3arB1mLquJeWfPjBZ2XP--4j4_IjaoZfSv_B6hfPjUlk4iyuKxYXaBnrp6TfbfNSSzAmRJMEqapJS0EmgD9bYVV2OL8FbsD6ccYaEBAliAUHp5FBR6rMhll9x3UFKesnDqUOUfkRCLs5oyHhCrLPED23QIAW5kjBxSW837i5LhFMsB6ObeqJoxzuSTgZ5Th0lcbrQFznLtWkNqEFOWCatkfISKBiPy0uKYS3FqIeGIUSSXLAadaAJ80YAqIjo2VYYPaIv4lfMedlh_ChyfOD8pfEWtP1tBwFC29oV0JyM831ZwZlr_TBcORIm5ihhRZy70RwCXdz4S9R-DsRLkezOeWkEgjo_2hsOQ3yXPRhVIRRctCwztssZ9tQyoHDv1---sGejeqnZ9vtkWcg2paTow4u_rGsGvQWVvgiSRP5Ztupf179n4npBQn7LKql5-xpCv7qdi4WckLe4CM56nk0lhq8GnnJBf3FHwkexDMrdf8pxR0dWFcHWk2a4wGZHAVKAguRT_IYTUQaKZ_gMPi27wJ5rdoXjxLd3jD28EYXDg7RqbQl__l_besPRI4yvGqh23bJBxRmumTBVZWdDOAzjJm5obru1C1ofF1AKS4Wj4MAMWMHV34WMNxDz0ICUo1QxllmlBlyKjneayXwyEkL2sjoNvbo2eaXyOQZmdDtRIckASQhvGtvKLuFl06Z52TgfzoXJqRoqWjjGrOaXhqtzwC1rEhEykFd9GQETCWiUrNiUusLVh5ck33D1HzSJ26-MT2Yp68wX5dnQ35FP8zpzmg9I0qOpLFiBeWtMs1nsnaA66fdJUzCfTsh9hEm0fytUGDzDoQZdyr1tXGV1axq3e6A64FChTEpMPPn5rPzKVjlUrrDTjyIcrwLlHh4Ixqtetx9BP1W_djMqStNsCU_mNCCzvGzIp9LG_ATP_3oqSWJzntFzDsyG8asDHrTaloXsVTxeeOYbbdbSv-N5NIH6RnHTy-ovC2bwT2PzfTRVgvyodIuAXmFdDupdWWpkIrKUTYih6uTHZie3yvmvrD1Wy-HUAJYiwihV9-0GB-2Tk6ZUJErvqo7WpCCwkDZkNHjFMJ7RzkCL7SR-muF3IuPhBp_-2sGpyPHsXcwNTYb3rVmFiHULr5ttHBfGvnNnTTb845V7jIeyolDP5EXJPiQYR-SD0DqXrIFjTUiPf8JKBOslJFBHu_nDewJGT0rKCMFEEAYECrreBr2mXNpI5tZAYz_HeQ5ZbY5tqTEozjHeUEV841nBiSG5UOJwDIpFWBjMKGc9dUvfUz6IYjOOeX9LmZYYll3xexkLn6XvZOtsWfp3VLdbwm9K82xJ0dAsNIeVOKQ22G5JmvGhZvMYj6YaILlhC0mZ2U-GOE2J7Estg6CV30aF-2VimIcXyY7jYG1qaPfBoydqxpXMonDu6rt03h2RRSzrWDHEtZGjlbcgPYdjSSasuMj8tOPGC01IgErYvHTMzMdTPI8wmywBAul8tleZi4b5wTIXDAgUAL7VW36X_hcoGxaqtUX9qhBV4hhls-32D5gB3ZRSaA98vU2R7qLIg85bSgqRx6joS2p2wgny6YitKs61GqmjTxp8edfn7mfVj_sK9AEEHpmD_6GMVHzB0d8CtW2PGCF77PEyAnB5FuvNGTVvECE2nfYNuEMBG2XK1Z-SxYTdSMjGlJ2qHL7ktp6ReDi7ykmBHydEKAME5iOarsJUcS6Y6_Jo3T4lDJwFWVsyupJby6hrh8mOUuw7UTtExlVEdxZ8dfoFe70gkbW9fxllq7RWRQ7dBEnWgP8DBLc5G27HRVabDfL-qkBU9EcKtkMb_8=",
  "id": "rs_0e3832893b9b1977016ab4227bd26487d08dabb406974dc70d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.335,\"left_z\":0.065},\"note\":\"The bear’s torso is still to the right of the left jaw column. I’m shifting the open fingers toward its center and dropping to chest height, just in front of the right basket.\"}",
  "call_id": "call_lxmTCt1iYucy9jPVZzSJd8JB",
  "id": "fc_0e3832893b9b1977016ab4227d10ec87d0aeda5274025b3d4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lxmTCt1iYucy9jPVZzSJd8JB",
  "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]: [-0.9276, 2.0884, 1.2221, 0.1497, -0.7753, -0.8467, 0.9968, 0.0025, 0.926, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4035 left_y=-0.3262 left_z=0.0649 left_yaw=0.1287 left_pitch=0.0574 left_roll=-0.2465 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.155 right_yaw=-0.016 right_pitch=-0.1936 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [-0.7726, -10.4957, 7.3231, 1.3797, -0.2662, 0.0659, -0.0122, -0.1026, -1.8803, 6.8855, 1.536, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b984d24547cf8ae8163b5d65837ddbccc4d72397b41eab43b178a91a4486940b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591101ce8d9fd91c3bbf91a8e656b591c11d26c0944d270eb46adcde71d0f01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9010e1f7a08bc8373e92323e745e302614f445f5976e3c4b4e7ff23606bce0b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.912 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7631, 2.3363, 1.9572, -0.2157, -0.6506, -0.7036, 0.9951, 0.0025, 0.9165, 0.6926, -0.5236, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5298 left_y=-0.3537 left_z=0.1495 left_yaw=0.1297 left_pitch=0.0812 left_roll=-0.264 left_gripper=0.9951 right_x=0.2925 right_y=-0.0029 right_z=0.1581 right_yaw=-0.016 right_pitch=-0.1814 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -9.9761, 6.1744, 1.2234, -0.0122, 0.0855, -0.105, -0.1026, -1.9214, 6.8991, 1.5995, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8742, 1.8324, 0.9604, 0.1921, -0.7254, -0.7872, 0.9968, 0.0025, 0.9257, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3809 left_y=-0.267 left_z=0.091 left_yaw=0.1157 left_pitch=0.0564 left_roll=-0.2425 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.1551 right_yaw=-0.016 right_pitch=-0.1932 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.6342, 7.7744, 1.5702, -0.2613, 0.0122, 0.0024, -0.1709, -2.359, 6.8991, 1.5458, -0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 2.0884, 1.2221, 0.1497, -0.7753, -0.8467, 0.9968, 0.0025, 0.926, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4035 left_y=-0.3262 left_z=0.0649 left_yaw=0.1287 left_pitch=0.0574 left_roll=-0.2465 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.155 right_yaw=-0.016 right_pitch=-0.1936 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [-0.7726, -10.4957, 7.3231, 1.3797, -0.2662, 0.0659, -0.0122, -0.1026, -1.8803, 6.8855, 1.536, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b984d24547cf8ae8163b5d65837ddbccc4d72397b41eab43b178a91a4486940b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591101ce8d9fd91c3bbf91a8e656b591c11d26c0944d270eb46adcde71d0f01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9010e1f7a08bc8373e92323e745e302614f445f5976e3c4b4e7ff23606bce0b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKCYhZNMgpMv0ihr0v5h_pQM6LpWJwlTIdH4gInSmfvOLyXS2UtptMb8XxL7FWAQQqP2AVbW4fWQuiI740mY3I3H7_5CmYFHgCC6zLn1PdDGsjObQt35RWlP3-US6UuQs0W4-TQNgsXP1fbJpPWXJeZVtxXL_1gf_PQyvZ3X6L09tvpHtGTTVj13Q2Xhsk1LVgh945iFgLX3LvdN0iOC7mpN3S_6NBnelYnBqHbTnFsu1AVdddGmcj_WgqHbpCo5dNEqJSuovbUhYpzkECafri2lmPWW0KmYA7HbKuclJnD3rjUdd4kSk6pDIxY9hPXtXhnAF1zx_sYj_HSu1h6b6qaw9SuG60LqnOjCKdpBpDxEbVqC0XHZogAtOvLFyWfNROtd9be7utjRH59DzFxq7MlOT3H5opRwpEMvB593RzlrPRf0QDakHeIiPUE8MK5A9HJhDxmA9qX_5Vc9BUcH7QikF9WGic14cZoKbGLu0nCh9qcn_uj_3y51xmpscChYvIYJ1F4OULn8KPZPFNwnbxeTC1Aey5bbYJvfo_Y-TCqxBleCWJ-pUuUVmWXWBlXLPOA8OOhGRFXrIyuswlgi_eobk2cEhl8NRIH_uhJ1YJWx2ne3BYKTnLM6nyfGr7-R_R13yMC8f9pmoKJ4yANfA9MaECsNlAqe4hkTQIt3fXXvaUg0-wveY3NTbaDqGBe_HPF9wLQ4x8mhZ36xWfEVl0uzZ6xj9uvj9nk5aEnF3IBOwD9MkzWRrP7aynFaUXwrYwbJc6V0qd34vdU9RP6h7ht660x44fIHcKCu-0eLRpjaLwBd1mH0DmLLj7GoJR7riouj3I8lmGnJ7VWu390O9Cfu3iJJqT13EV2pYUG39DPBxLY8XYk1tRULdxrNYDO8uMg7jTDVQRdbIjjvhTl43g0KD7mSbzCke-mjYLzQnpW2M9xh-4V9AOOtgdoSGfwKfmJFMMR6cPncft69mP_v6VA_Ka2RUUvL1AsxkQAJC9wsKwsiS8KP5qkoMM4KkWP9UkS6Sm0EbjcATj8zt7H5d-ENuzqAGIRyt0wFPPt98DrB-OE97n60plVHVOdyEy4KLsR7rLEtW-yPw0eBR1sojlxvzR7y91ZPhNfbtDJJMW_wMRa8M6C3z7dQit8QLFLkv35kWezyw8dnvdTPxiaBjhNkS379olTgodg6SB07rZD1a3gv-ph6yi6ueG9SXrUdMlmpKkOXZEtt0kgmOIy7GKzqO2p-oY5tk_zbeaRBTrbFXlJgKGDfwRoVEm6JYlBBL3rKPbYfmaBh33PO1v7l7DfgH-zJ8aRdB_-jgjFtpifj9gyQKpxdONQOBU1xhUUV4maOUTbNZCs3h4E0_JB-gank8pH4fhRFSA2ZLKFfwDXifc=",
  "id": "rs_0e3832893b9b1977016ab42281248c87d0a4f35afaa0ee6e50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s torso now lies between the fingers in the wrist view. I’m closing at chest height to secure it for a more central placement.\"}",
  "call_id": "call_rEeirwsIF8SEtMkp9VuwhbVV",
  "id": "fc_0e3832893b9b1977016ab42281830087d09da3453bef594cb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rEeirwsIF8SEtMkp9VuwhbVV",
  "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]: [-0.931, 2.1021, 1.2282, 0.1448, -0.7746, -0.8501, 0.0104, 0.0029, 0.9268, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4026 left_y=-0.328 left_z=0.0596 left_yaw=0.1259 left_pitch=0.0504 left_roll=-0.2388 left_gripper=0.0104 right_x=0.2925 right_y=-0.0028 right_z=0.1548 right_yaw=-0.0156 right_pitch=-0.1944 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -12.1231, 5.3265, 1.4676, -0.2857, -0.0073, 0.8278, -0.1162, -2.0855, 6.8855, 1.5556, 0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b07bd700a964c403a7f9fe5f3849929520a8be859b2a038540693b0f82d28e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3dbbbe5b49d0c1aff722e5a640306321b9fc012d8e1b9f92620749054b26a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5b0c7ca5bcc8c485db8a9f2596d5faa6445a4aa84d16a2156b3561cbe2b0e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.152 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.0492, 0.7971, -0.3309, -0.6811, -0.7418, 0.9967, 0.0025, 0.9218, 0.6926, -0.5259, 0.0406, -0.0463, 0.9995]\nstate[eef_state]: left_x=0.2983 left_y=-0.1508 left_z=0.2239 left_yaw=0.1189 left_pitch=0.0964 left_roll=-0.2971 left_gripper=0.9967 right_x=0.2923 right_y=-0.0029 right_z=0.1562 right_yaw=-0.0158 right_pitch=-0.189 right_roll=-0.0491 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.7556, 7.0906, 1.746, -0.4469, -0.0855, 0.1538, -0.212, -2.4274, 6.9128, 1.6337, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 2.0884, 1.2221, 0.1497, -0.7753, -0.8467, 0.9968, 0.0025, 0.926, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4035 left_y=-0.3262 left_z=0.0649 left_yaw=0.1287 left_pitch=0.0574 left_roll=-0.2465 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.155 right_yaw=-0.016 right_pitch=-0.1936 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [-0.7726, -10.4957, 7.3231, 1.3797, -0.2662, 0.0659, -0.0122, -0.1026, -1.8803, 6.8855, 1.536, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.931, 2.1021, 1.2282, 0.1448, -0.7746, -0.8501, 0.0104, 0.0029, 0.9268, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4026 left_y=-0.328 left_z=0.0596 left_yaw=0.1259 left_pitch=0.0504 left_roll=-0.2388 left_gripper=0.0104 right_x=0.2925 right_y=-0.0028 right_z=0.1548 right_yaw=-0.0156 right_pitch=-0.1944 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -12.1231, 5.3265, 1.4676, -0.2857, -0.0073, 0.8278, -0.1162, -2.0855, 6.8855, 1.5556, 0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b07bd700a964c403a7f9fe5f3849929520a8be859b2a038540693b0f82d28e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3dbbbe5b49d0c1aff722e5a640306321b9fc012d8e1b9f92620749054b26a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5b0c7ca5bcc8c485db8a9f2596d5faa6445a4aa84d16a2156b3561cbe2b0e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCKGmoGHWKt6o8hWMih9FXc7LUcj1aXMRcNxX2SIKl4kYfiOIDvm5DzXZ03_hVEghqyxpB5wqjz9cUbFUDAHH68-2WI_wR_KHOl733FRHcMTaKB2RYMLu7RrGswhXXVrLIoJfIKnw71XfN-E-AX9tPRirmsBhe7654ByPw7Opv368QJxZMxt4Aqn5LnFw0oUJmpiKluV6ebH4TXP6uK_BriGPM1tDv_rXvJq16qYQ8f4P00FUv2777kAi3mjlDCPGXcTuUt2oDD2rPfaoPVR-u0A4tdQnc5Dq7ZfQN6ytaPlUclktR8MHd935a2XDrusDdsH-FzjDpkfD1n-nNA89Rsz_MA1mLwIP5STVttgNZIdsf_GXF1Kbdfe5kUTwK7JHsdEBhSU5nmo1AuNKLkAWaGXQnzRmv4vH3yO1XO6hYLLx8XeAwDYcjK2LZ2chKDGbIAERj0yG6ATLhynBeqkMIMEfR7G0iV9QMp9lt7Y-wYVWirCCAm0jajsB6U9FZfb0SwEVYyI9QhQ0bRb6MsWXKBOot2ncICU4YJ8KoHCX5xO1ThDA25skgNegvSlIaQHLfrGgTXiLJVXh8DEHdbjEimznCDNUF2fWBBLrII_vxGjAJFexS84LMoFlh1Hc7bWQyj7_5GG1MV7tGTovz__Z__iDFqTh_4R1qP9btjWrBIqen9FOLmkHTTipFFm-7u9NbJEMiRnjV4NsHk0Xiobm-L1FtCZu2ztc3ei5l_2J3JJOdQNGBWIZ0d32mFzA0nSPFFl112ik3_jADhqg4jDFzRobtpRZ28yZPyWB04vLcWw6IWKbn6nCJ0Xvm56DccHdnCuamdCth78EIX1_Si22mH6lITbuAhZln04hbeApFVl1TeRR2s_mq7I5t32Eao6YDTVa_siYsODi5q3E9dY5Lx8DkFune4hAwnhOV3QBAsHU45x-yi9KHxbr9x4MGZCt1d0af6QXDVwq8N2RxTWBUrGZ7yaG8WHIw1ehEF03bQg5tvzmvSOAKHvcJQFri7avdfc5r10zP6NBxBM5sVbiSmnkxxxwbGHWQMxpBuSle9lLpUZI4MwIB2Kkcvvtf6wOQKyaZ7tahsL7zhoJNsUaR2x40bjYt8Oq6J6ldbjScIwgM4yLx104I1fSyOaj5J3pfT17UQxb3hi1VBv7vuJp6gxCMS7MyAB5faWBcfniTP5FSrmu5EElLgHhlrbBv7VNevuiAgwITfEjyreOutNsmQ_WDJ09yLmHedQAhxw1cZg9NO6hNdYEtG6t-Z36Kryk2KE8uRLoMlswSJGhHX96zK85yK6iYB4owvJfGRSG-oWbSCRonnaAFAtfkSJE8aA9YH4VblVQbBej3pBSN4ANg9NXmnY6F4QrfhNLBUhHuV_B8-7XycRtLRms4SKnyFYgGRccqykcJowBNjfqr0ssZ4ilC-xzCeazxpJAjLqsr84_bXJxoGDxtyLWPsVnwxMaW0JkjDDxhCXl7EFI4Fm084lU4cJsnEoOCHuMLwQxzd5yU0bH6fIxYXx5gVq90yTdlYxu3mlrPM9Ua4Kxbw2i425x0u5bIL0hpsA1S3MLRTcp8OzpTwiCsTfNFAc2VGLRdGlTZTkCXOlAjzGdxRuA6fysNJ6dDSJFYaaOvglFZe7kqhQ5wpwRfpPodAF3eGdK0XbjYtJvBPAw-NABpHCbhyFpvQ0zlk-zAGf6edXHsJ-x4cZxIzpIy8afRLYC5uXZ69FJclr6QfqXEvHxeG3sMx1uvfoFxrDrVv3tf_mkw0oyO_qXIc0n-jQ1FzbBbBJIzonSceNPsGHhQD2oE8FpFF1d1NZYNvoHf1gpA83umIczchpDKvomqcMBOh1AIoGwaF_o5kbBOSSmjDl6uNUxySuHdQOLKWo3cxY1QRCDi7qZS6v0ZureVzWc-aIpQ4Khix9OvgyM9zeBdd4YG33RcpppvCosn-7yEEnvqSBTZdNC5kQbBQa5PcPSLkKsaAWQYB8ieNntYTd9sFHLauqzKJA7E-tYqABpinpQwHYqO-ePrLo3RQFD0ziZBOfaA4IICrIcsqA3O-T1of6oAjL8gjqyKe_azOV8M9UHrnP8MxtnwWDZWxjchK9UsKWgYKD2xr0sV6uGIyba9KFztrDEHdTDeSkwgn-geYENUrfaFYzFLzRON2nbPbAgH2CKaRmSyva",
  "id": "rs_0e3832893b9b1977016ab422844c9087d0ab40b80ee5002a87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.385,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The gripper closed empty: the bear’s torso is still to the right and slightly ahead of the fingertips. I’m reopening and moving a few centimetres right and forward for one better-aligned attempt.\"}",
  "call_id": "call_WVW0c1J82FHnmmKwo0rLhOLX",
  "id": "fc_0e3832893b9b1977016ab42286205887d0a8eb0981a049a17a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WVW0c1J82FHnmmKwo0rLhOLX",
  "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]: [-0.9463, 2.3035, 1.5513, 0.0017, -0.7895, -0.8806, 0.9948, 0.0029, 0.9268, 0.6926, -0.5266, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4314 left_y=-0.3779 left_z=0.0521 left_yaw=0.1364 left_pitch=0.0452 left_roll=-0.2418 left_gripper=0.9948 right_x=0.2924 right_y=-0.0028 right_z=0.1547 right_yaw=-0.0158 right_pitch=-0.1947 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, -11.7812, 8.4855, 1.4139, -0.3394, 0.1392, -0.1783, 0.0342, -2.0308, 6.8855, 1.536, 0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caea865d2c276d4b604c476b23825708e0e125ff31078cc250ce90f68b1e6d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755fde67f372aae30f1b037183c94ce99bc6a6b1d6951d2dab85d386519999be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcd65f4ac78b293087646772faff87f3b2c6d04d2372a8e732bea3917cfe5b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 18.79 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8742, 1.8324, 0.9604, 0.1921, -0.7254, -0.7872, 0.9968, 0.0025, 0.9257, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3809 left_y=-0.267 left_z=0.091 left_yaw=0.1157 left_pitch=0.0564 left_roll=-0.2425 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.1551 right_yaw=-0.016 right_pitch=-0.1932 right_roll=-0.0488 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.6342, 7.7744, 1.5702, -0.2613, 0.0122, 0.0024, -0.1709, -2.359, 6.8991, 1.5458, -0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.931, 2.1021, 1.2282, 0.1448, -0.7746, -0.8501, 0.0104, 0.0029, 0.9268, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4026 left_y=-0.328 left_z=0.0596 left_yaw=0.1259 left_pitch=0.0504 left_roll=-0.2388 left_gripper=0.0104 right_x=0.2925 right_y=-0.0028 right_z=0.1548 right_yaw=-0.0156 right_pitch=-0.1944 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -12.1231, 5.3265, 1.4676, -0.2857, -0.0073, 0.8278, -0.1162, -2.0855, 6.8855, 1.5556, 0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9463, 2.3035, 1.5513, 0.0017, -0.7895, -0.8806, 0.9948, 0.0029, 0.9268, 0.6926, -0.5266, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4314 left_y=-0.3779 left_z=0.0521 left_yaw=0.1364 left_pitch=0.0452 left_roll=-0.2418 left_gripper=0.9948 right_x=0.2924 right_y=-0.0028 right_z=0.1547 right_yaw=-0.0158 right_pitch=-0.1947 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, -11.7812, 8.4855, 1.4139, -0.3394, 0.1392, -0.1783, 0.0342, -2.0308, 6.8855, 1.536, 0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caea865d2c276d4b604c476b23825708e0e125ff31078cc250ce90f68b1e6d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755fde67f372aae30f1b037183c94ce99bc6a6b1d6951d2dab85d386519999be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcd65f4ac78b293087646772faff87f3b2c6d04d2372a8e732bea3917cfe5b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e3832893b9b1977016ab42289783887d08f705d9a1725c0e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.14,\"left_z\":0.23},\"note\":\"The open-gripper approach appears to have nudged the tan bear fully into the right basket; it is now visible within the basket walls. I’m withdrawing without closing so I don’t pull it back out.\"}",
  "call_id": "call_dxXySLazZ50a9YtAItfXHlwl",
  "id": "fc_0e3832893b9b1977016ab4228b3a2c87d0b34db0f70bfa5510",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dxXySLazZ50a9YtAItfXHlwl",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8066, 1.0847, 0.8879, -0.4282, -0.6903, -0.7769, 0.9966, 0.0025, 0.9298, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.1479 left_z=0.2358 left_yaw=0.1536 left_pitch=0.071 left_roll=-0.291 left_gripper=0.9966 right_x=0.2926 right_y=-0.0029 right_z=0.154 right_yaw=-0.016 right_pitch=-0.1974 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -3.1932, 6.3932, 1.4969, -0.1099, 0.1245, 0.1685, -0.1709, -1.9761, 6.8855, 1.5556, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c6693818c82743dcbfd329257fde36c3ce65fa3032393e850386befdbb6525",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ab20a4436e412e64cc028b7c51b58407142d08985eb0c3f8e7fd3171be26b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45bf73326fc96e76f86c0118f33b7819597c4437e8f5430f34c3560ae3056a7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.33 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 2.0884, 1.2221, 0.1497, -0.7753, -0.8467, 0.9968, 0.0025, 0.926, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4035 left_y=-0.3262 left_z=0.0649 left_yaw=0.1287 left_pitch=0.0574 left_roll=-0.2465 left_gripper=0.9968 right_x=0.2924 right_y=-0.0029 right_z=0.155 right_yaw=-0.016 right_pitch=-0.1936 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [-0.7726, -10.4957, 7.3231, 1.3797, -0.2662, 0.0659, -0.0122, -0.1026, -1.8803, 6.8855, 1.536, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9463, 2.3035, 1.5513, 0.0017, -0.7895, -0.8806, 0.9948, 0.0029, 0.9268, 0.6926, -0.5266, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4314 left_y=-0.3779 left_z=0.0521 left_yaw=0.1364 left_pitch=0.0452 left_roll=-0.2418 left_gripper=0.9948 right_x=0.2924 right_y=-0.0028 right_z=0.1547 right_yaw=-0.0158 right_pitch=-0.1947 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, -11.7812, 8.4855, 1.4139, -0.3394, 0.1392, -0.1783, 0.0342, -2.0308, 6.8855, 1.536, 0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8066, 1.0847, 0.8879, -0.4282, -0.6903, -0.7769, 0.9966, 0.0025, 0.9298, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.1479 left_z=0.2358 left_yaw=0.1536 left_pitch=0.071 left_roll=-0.291 left_gripper=0.9966 right_x=0.2926 right_y=-0.0029 right_z=0.154 right_yaw=-0.016 right_pitch=-0.1974 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -3.1932, 6.3932, 1.4969, -0.1099, 0.1245, 0.1685, -0.1709, -1.9761, 6.8855, 1.5556, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c6693818c82743dcbfd329257fde36c3ce65fa3032393e850386befdbb6525",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ab20a4436e412e64cc028b7c51b58407142d08985eb0c3f8e7fd3171be26b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45bf73326fc96e76f86c0118f33b7819597c4437e8f5430f34c3560ae3056a7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e3832893b9b1977016ab4228fc92087d0972103599b6ecd85",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCKgCq7uChiamTQno_hdH8Rum9Itp_FaW0_VwtLtIVxhyjEieXWwLrmFcqYTV_MNz-J9BzYmgBQMlmgE1NbIO1gNhFGyFl8AjhViPQeGrz7KrU83wlxuUGLYUZF5ypj947LTqi12YPgcbI_mjoEyKT961OFB9NrwmMSd-K35gbhwAnumHL8f__lGucTpq1dF8AO0lTJeV23TKawpDPbZ1xFQfLyukeMlZHzaf5BEsA7HbasVWO6xuLK_sd9tGa1akx5-2gPW4QFIJFmO6bSg7xLDIvT2CtHA08JB2VGhcxC8G8jviW2sQn3n96ErdYEm_nyFBHj9Ryjc9NWyo1IBdefulidTMBI_U1vtpDX9M6ihX95cNXssBYqN--2T_zgtaaT8YaNCmviCEGFcStZCuu5U2gPjmXJ4I1OenHnCxWezl_j4WAVBkaoHGKcIThzSYDrUZ23nE7gS4AIUfMr5JpAmr30vJaWe-FfzHSpmTPautCX7u9NldE38quxB-egZRz3b1A5i537PzcoH4fJ0QGLqWjUkYaAwzV9WCB7oTf5g4V31rmgyDSNMUwUB6b0MmJCr5bgFBctPA7Pr68MisGRmHQENz-9576lP0WsdCn2tB0TnOlN6qv3xfvTyeL3o2TX0xIUCfzuoDyt7LsYNbdZmCaTzfgvsKchCPl2gLKZ4JhvdQncUO4558eRol1Vb59UJDi4CHJfxO12h5r9f3KkqjqxP6RFHIcOX8GJsTe8fMXWVoUyFLSTSZXXtfSh316sYAJEPiet6GeWVfFZtkODThstqzD6y-DUd46t8DEKIg9MC5E_H0HnxcIdNK4aArglGTNHQ-X2VzvrQLiB19O9FhqmUtbUZb3dqMfwYJcmp8DzwFLKU8HQugcsX2g5ZrzQjl58U_w1dUHjbn8FswdMYGupxjq0SUM2sv998u1Yr3nEA2_wVUUKAv3VOkPMKgzKExCkby3TePZtxUG55_rMda-dE_pD5qlozfVWdOnRQJoCgwGuM2nKcw0yWI6IZykxOjqmw5Qj2AmIyJz5d54hCZGaZ35yJ5k0SulCYArJUEaUa4Zmr1tQZRpILc7VZlTd9nrtpQzOsX1adl9T0GqkfWP_ySWPHHsdh7ZbxhXCHpY44CpjvhicncbNA9Wtjc5bSfz8SimNvHFyMWOJ1LT3Vh_gnQJUknkDBgR_VGewl23slGvaJpYF3-B4akW2TI_U3088cVtzuH4wthZLnoltPyfpDhNhElBwtXqbR167vtP5zK4_117WXn-HPqcwmhq__DJKHgDNTcgFATQunX2VcxahmkPWME5R5k94cI87FmfxvaGeT44j9O_DoHwTqRZkwi6_LWFkn2pMs48JDB9XLgTyEOWY26I_3hqbC8VzM-hygYt-MTXVar0-DlNLKdruR0SqvWr-pste8QorgagrvHw4g_m44nm8c9HhIRiFHq_NIRDCVj9bAOGlQqLc1Dyw69IWPOTBWuiiJa6R9rPDzWSbybW-q3Co0ElGRWG3i67t8QZT2taOOf-3twGMfMBK0qAn3Q7eRfUnrtyuu609mL3ZyQDA_6zOrhLP88JiOh5aP05LjEQ4_EeULddjY0eDhTOt4JUjwuP1gGrO6pYlVzD2J15TUREwvwuzM8ZWFHlltixXAlfH2Zx4ZIZKBHZYOElnm2WIuphwu17PQWntq-E2Kar_kZbfNL0DNUlaNOMR849P454Xr_lYtDDA0j4v_wm6QpFbzxHCdinjaGdgk4OiRtji8pmrWDgwmm6PnXpK_-KrhIq2iWQqp9eaZAlKWCaaOWS6fL2F5Kl2QLIv45Wlb_cWInRMCoucBJP4r3HmFVW9I_Ns7suOiowPRpykpXUo_L5Qe0ICNTiA3ZkueHBEcgqVwLnDqCoQTYcKEzDci4q4wkUuR8tVyDbK8CJEtnmEGxIPgwzigqGCk7MFiOSvxp1AAr0UVRsthHNrGc6Cacb-XhG1onOMajYHhDnQNgluD9O5F2CklbxuEpYPRtJvU1uSBqTXHCofy1Q8c6k0SFKObUGCIFcHFhRWHS1_eDOcUH7xLB4tjP8rRG-Xe6u33kHuqfmJOdOrXmc9_feh9DdCI93jlvrYqpZf6_kqgIJpj8HrE9WPVrLDXzLz1oxwUqe7lXkYi_lxo5Fiw_gvX7zJOx3XPTti3l_AE10_tm5bfooUJ96DdnaA416KotQ==",
  "id": "rs_0e3832893b9b1977016ab4229f835087d0a0fc7c9c44560762",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.385,\"left_z\":0.075},\"note\":\"After the gripper withdrew, the bear’s head stayed inside the right basket but its belly and feet are still outside. I’m returning to its lower torso to move the whole bear deeper into the basket.\"}",
  "call_id": "call_pkrBVHk1iY6OdtOmknBhWoo5",
  "id": "fc_0e3832893b9b1977016ab422a0357887d0ad9b898bcdb6ad98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pkrBVHk1iY6OdtOmknBhWoo5",
  "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]: [-0.9634, 2.249, 1.5169, -0.0135, -0.8158, -0.9215, 0.9968, 0.0025, 0.9318, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4216 left_y=-0.3749 left_z=0.0689 left_yaw=0.1595 left_pitch=0.0581 left_roll=-0.2738 left_gripper=0.9968 right_x=0.2927 right_y=-0.0029 right_z=0.1535 right_yaw=-0.016 right_pitch=-0.1993 right_roll=-0.049 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -13.1624, 7.8154, 1.326, -0.2808, 0.0464, -0.0024, -0.1983, -2.0855, 6.9265, 1.5849, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f03ab44f86fbbebbaecf23565b32c6b5d15b88f6f0b1bf6e6250132b9b4c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417099eed074fc107e531b4aa01b0a0293c19f4b68f40f8d57b6bc048c75928e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d16c9bc9c82bbf21821ffe8cdbe1d5906801ad7366d9bbffcba9ffbfdcc036",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 5.048 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.931, 2.1021, 1.2282, 0.1448, -0.7746, -0.8501, 0.0104, 0.0029, 0.9268, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4026 left_y=-0.328 left_z=0.0596 left_yaw=0.1259 left_pitch=0.0504 left_roll=-0.2388 left_gripper=0.0104 right_x=0.2925 right_y=-0.0028 right_z=0.1548 right_yaw=-0.0156 right_pitch=-0.1944 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -12.1231, 5.3265, 1.4676, -0.2857, -0.0073, 0.8278, -0.1162, -2.0855, 6.8855, 1.5556, 0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8066, 1.0847, 0.8879, -0.4282, -0.6903, -0.7769, 0.9966, 0.0025, 0.9298, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.1479 left_z=0.2358 left_yaw=0.1536 left_pitch=0.071 left_roll=-0.291 left_gripper=0.9966 right_x=0.2926 right_y=-0.0029 right_z=0.154 right_yaw=-0.016 right_pitch=-0.1974 right_roll=-0.0489 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -3.1932, 6.3932, 1.4969, -0.1099, 0.1245, 0.1685, -0.1709, -1.9761, 6.8855, 1.5556, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9634, 2.249, 1.5169, -0.0135, -0.8158, -0.9215, 0.9968, 0.0025, 0.9318, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4216 left_y=-0.3749 left_z=0.0689 left_yaw=0.1595 left_pitch=0.0581 left_roll=-0.2738 left_gripper=0.9968 right_x=0.2927 right_y=-0.0029 right_z=0.1535 right_yaw=-0.016 right_pitch=-0.1993 right_roll=-0.049 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -13.1624, 7.8154, 1.326, -0.2808, 0.0464, -0.0024, -0.1983, -2.0855, 6.9265, 1.5849, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f03ab44f86fbbebbaecf23565b32c6b5d15b88f6f0b1bf6e6250132b9b4c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417099eed074fc107e531b4aa01b0a0293c19f4b68f40f8d57b6bc048c75928e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d16c9bc9c82bbf21821ffe8cdbe1d5906801ad7366d9bbffcba9ffbfdcc036",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCKmu13Go3vWa2pnm24fhtYno7fxID1dfBSmRLV5yqKw7t2bkTFdeKFoLIC2ysD1k5M67w3NbuSsrhboyh3v8ZTFuJTA3mJpr6vy765aSnXOgcacjjgdz7G89uP2d4d94f6wvdA8WtcwzqAS8uIagK2QeF5kmFwvqLWfbnEjcwOnsxk0cCzti07UN771bPMToSATgJfj1jSqUfdMbCz2JHVR-CBMgmo2Y46lwpibyFcU6a57LtVaiZhFoflLiaq61OAZ19Zh_gm_e8AKbqhjGWTXbJcKODFjaIuF9j2qPiMWN0DH6yulAUweYp3Ef2kjAwZ5NpAa9QMxWqZ_kp048EGOsxPVZiNFGiZKM3oZ-ArzTjmj0wvrY6R0XNbaK4d5bKOvfcvR_aNK3C-kuvEOrQx2ilUt46IrBPTk-6pTJdjDhn57JC6-MZYxPtephbqanB_GvqEYPf-sqtQyNNXZZn0S0VF6twFTUZ89cRR9fiRtKy8ZUbSedJLopZRzlcnRz4i3k2-B3YUiFXCo09Vr4JCT-4ykgmdabaWj4j0ELJ9sHJFNBTv7mosJ9uYybH7HMmPk8KpOlCuKt5SH40BL2D_wKyIBraS2oG5ZSDNCck4pkUehjztKTmXEBeNcolRQIG8CM23WKohujYX1gStkdmJL_fpOH1ENqLUjqXq2S5qxRPrXyFH7VMhwjgcRbDphpjYreg_JzqepO7v8Lv9YWDOTD8aFSc2H2ZXSUElu4i62-bPVdEAzWb1Nm39YjDC3f38jU4tewpJA47Nc6hs091ZG75ggOTxiePRXeFg4uAa7_585SWS6QIgVI8Agzb1m5UdTjfRQMKhRKEEiRS78fmLD_gqxUenOUV3I8kYLEEF_tC9eCMXtmbrM6NU_3wJrD-VIH9KjrllhkMF2pUHZL31duiiprYNZs71A_WdA5Tn4WO1yLkPA8XqAFW5rGajj9f3xFSDG1TjDXAiq7qAu7f24rVNpz-HT0RIpXJyjK3P__zT_a6adxGh1F_qP2I8COO97XcbBJUSRFbfaN2OF8K7n2Av1WhRVunGiiOXiZDkvRS4DoqGhcfPHtlJVx_nC8tditCAj5CkfYm299XpJCIzM9i1EWdgMmthaULGK8e1EpR6JPu_zYvItZDBLZ-QcWMAEfC_SOxQ0nytTjOuzBPssdbA61lIiNSxA3DBGZ7hABq7IEz-J8wSeJwG4U-NnLlllzpRFqseFAURgz0jMmWQUYzGSKbBzqKr2kXZikyUoWk8KV0eqicNka7c6sjrofvOeCfi814M0yP7CjKZVhcg5TjA_mH6yBhFL2JYw6pWT9bpl404DoJeNyvPg-1r8RSTN4HyF8cRroPm5a0eyGHTbyiidVDqSau5ouY4xkjjOjw2_th68U3fb-h-lixgtlrMSy690ZqJ98DmUoTLOm2WtPgUOznaeLpxCbt1eA_h6HFlvrJO2tltDpxZuE9dZ-xZYL7V7-XIeZwXqFLNd7d59kpJAk30g9KhhbMlhDDbOpuPJZKJR5uaP_7nNCtPSfXSzRc3VQxEZNcTsXBpe31QGswm2WaXrcAQG1jEE1qbDlNfsv8wPrNOa7xDC6uFm7c6mbRfjF_ePBxOU0v2UroOoW97rL22fAnIx-Zu4JtR2gRElBwKkoO6ds1BccWSCX4MkdW57Vl_47MgdDAKXXoziBbonmlEgGTPIIYYkWc0Z8QkOSZ2NdGf3AbOifwjuYPeqjJKtfIEW_CN0N7DrORkDUhMvXLEesJa7xUG5bks1nXadpt7Bt0FBoEAOP-UfwVOR_AVukR0HoEO1DfNhetyq_VVdH_c6BSiDfDgG0YYYBRsbvpYq7rLpbcnQbf7O3qTg",
  "id": "rs_0e3832893b9b1977016ab422a4701887d086142951f688a35f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s broad lower torso and one foot now occupy the space between the open jaws. I’m closing on the lower body so it can be lifted and placed deeper into the right basket rather than merely nudged.\"}",
  "call_id": "call_E6E7G47lG2uz2OLr4WaL4Hbq",
  "id": "fc_0e3832893b9b1977016ab422a5bbf887d090d585d64e5edcfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E6E7G47lG2uz2OLr4WaL4Hbq",
  "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]: [-0.9653, 2.2688, 1.5223, -0.0135, -0.812, -0.9283, 0.0103, 0.0025, 0.9321, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.3766 left_z=0.06 left_yaw=0.1577 left_pitch=0.0485 left_roll=-0.2678 left_gripper=0.0103 right_x=0.2927 right_y=-0.0029 right_z=0.1533 right_yaw=-0.016 right_pitch=-0.1997 right_roll=-0.049 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -14.4068, 5.8735, 1.409, -0.3346, 0.0659, 0.9109, -0.0889, -2.1265, 6.8991, 1.5409, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e412adc3cc36cfa40950baa9846db243f22d189e7a61f78f0b8a8dd9b83747d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb94dacab41a7e4693f670d1c6097aa00310a378d3e226ea5524bf9024024a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5432079a8323e52feb610947355336ba91207627aa3e00c1e5345bfd53aae0c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.936 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9463, 2.3035, 1.5513, 0.0017, -0.7895, -0.8806, 0.9948, 0.0029, 0.9268, 0.6926, -0.5266, 0.0406, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4314 left_y=-0.3779 left_z=0.0521 left_yaw=0.1364 left_pitch=0.0452 left_roll=-0.2418 left_gripper=0.9948 right_x=0.2924 right_y=-0.0028 right_z=0.1547 right_yaw=-0.0158 right_pitch=-0.1947 right_roll=-0.0486 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, -11.7812, 8.4855, 1.4139, -0.3394, 0.1392, -0.1783, 0.0342, -2.0308, 6.8855, 1.536, 0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9634, 2.249, 1.5169, -0.0135, -0.8158, -0.9215, 0.9968, 0.0025, 0.9318, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4216 left_y=-0.3749 left_z=0.0689 left_yaw=0.1595 left_pitch=0.0581 left_roll=-0.2738 left_gripper=0.9968 right_x=0.2927 right_y=-0.0029 right_z=0.1535 right_yaw=-0.016 right_pitch=-0.1993 right_roll=-0.049 right_gripper=0.9995\nstate[joint_eff]: [-0.7179, -13.1624, 7.8154, 1.326, -0.2808, 0.0464, -0.0024, -0.1983, -2.0855, 6.9265, 1.5849, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9653, 2.2688, 1.5223, -0.0135, -0.812, -0.9283, 0.0103, 0.0025, 0.9321, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.3766 left_z=0.06 left_yaw=0.1577 left_pitch=0.0485 left_roll=-0.2678 left_gripper=0.0103 right_x=0.2927 right_y=-0.0029 right_z=0.1533 right_yaw=-0.016 right_pitch=-0.1997 right_roll=-0.049 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -14.4068, 5.8735, 1.409, -0.3346, 0.0659, 0.9109, -0.0889, -2.1265, 6.8991, 1.5409, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e412adc3cc36cfa40950baa9846db243f22d189e7a61f78f0b8a8dd9b83747d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb94dacab41a7e4693f670d1c6097aa00310a378d3e226ea5524bf9024024a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5432079a8323e52feb610947355336ba91207627aa3e00c1e5345bfd53aae0c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCKsC19GfvmVofcC8gCiXvkFD4nSghTsru8EgElhDr431enGyy8Hl2MvYXI8aPc7k-YDNnMS122mjJukWe957PfqtYSQpbXXWFC5Fd8HQN5tJ7gqK-9qNzodkhhZc-Oo7QD9L37flyj_DE_brVWH7RY0X6plywSrp4u1sbs9v5nsX5eHAZhxDdvL6b7uqsT85QqvhDzF1dhzyAYm6ANfIaUSkHMmBremjpK8vPj1zxl3E48qIuZCbJb13bLfRcYIRedA0SBlqAAUey7cBCmjOxcW7KqqjcJvZ-GUV0dRCRYm6384lVe8Ofg9J8WHzzyaz_sVLmUh3982GNYmvxKHURnsWa2V1J0Y-6raKjOhopO5xhqvf99rSH-RSoQJ6NnSaPzT4YurRvP3cInAyOtvv9voCyH-wA2EuD_E17gmiU_igkjBBC1zCq6Eb9dh4Z3u1u1bAC-j9q8WrlAHP2yIIWYyO-9Bl8C95XLdEkawm6i7S4W6yGhgvZfL0vb8yoXHgLDCzTrwSbDj3LSpVeS6Dh3gVGFra8_4U32glwl343gBLxIgK311hLkxd2SbBshEbNnpnb37RyM11ImX3FCIm6PuB0vMLesnIcgxA-2dOQMSRNMVRuakB5YGTEYJqDOG3vqbSUTMMK4pEiDACJtoc8jyi_cyk-nIWc9dGHCxujuhRDTybblqfErPUROZlfRH6bbhGrA35pkBQcJYvlEv2FTrrFobs3CcS-3CPyDFszN7DWL9ggS4hSRNMZr31tJ1guubA0JoUwekmCks2D2u77hY-9-kvwumOx_lf9loWWy4LmwT9pl5FpxFJbRmPkeKlzxsJVrqLROuE3tgOp1WTRgAagMGKzQayfzhnbc3dyCy4OXoKE7uOpTjTyrFNZCe8yi4JJQM2NAaZGCGEj3IjkaS1dBE7UHKv0QzJ-UpM-oTVESwS_ZvdnSMqIk8rgS44K3VZH7xHrzjDdXzGsTLV4IwuxRZ-IeL_oICG_avAfd5wKT82W5UznLCFG5PjWBeSdN4akN9AyMCw4d-eL1cPUbxKxFMNiga-imNZkgpDqKP9SgDFH9esqe_6BAeHSFw60VgSKGdA4PYMZcPfvHLX-CKAO3m6lS5cQFRuB0io8utOW9H77GjtvrHyxgsfOCIjbukEfX0x6MUQNwsiRNNmc8J3xUg2D-iQOzcx7npz0fMkptJqCgbFKrmdY1-JiRLTqLAv3bsLTHuOgcdiiSPJi8OKeMYx0_ADCwwWuYS3lVTL9CnZVs15GDE69XwWPcCSf8xujC9MSPMkOeiHHrKhMwNbwQvE1FQnA_3lhsWGAfdoLBlT5iBfGNQNO_lAFmF5t2Z_s3J2ZmcjfiY4nZZUgAMocxXtdFvo3hTgic76ALJNpSx8gQlly9nTNNEzwIydmlJ8JOwOUsLNvL52ES4CNTSZyeV16xd2laY-kvMxKyAQN28vg8QO76ofAMHQaEoZ1ssGHQWZUK-pGafzQuo7YYtBI2ZtFofpDWr8m_gV88bLHE4-wakz2pXknVTtE5Q_zIZ-AhaQy2g8vlKDih1b8Z5pEqYWAcZZKW2QOrQ7mLumgTwZjJv5LH8whts9X_sjhbpoSFRai8TmqHGPYlh95qTxUIkchlPFWh-ii21yeseooHOBd_c8OdwweVw0ZzTSwC28ssNZo1yC70ole9FJS3DY6sozl72ybLHcYgRT3HZDFk0KL1GFF4foogynxM_xpTSLDej7c6jgV8q5_qF2661Wip5PcxqMgH4KKMRNy3GcGlpeio9AkiUMUx6V9oaUrLHtljrnE7CyP1kLJ09fVdo_Hwjf8BuIPSVnUj_Zullx5cLlXBymUMu0efYhtXLH64NBG_Zec6ourv16Dj0RvMb0umsHA6P6tGoFHY-K8GsYePxE39nYiAR-OqX8NO7BhIVzxk5ONJuEkaPJb_Kub69GrOFD1lIqyYeVPOPAqlS-gQZktR7ZXbQXduNdInO3Z33x7Z1wPIRD6n9tOTykL3-jQ==",
  "id": "rs_0e3832893b9b1977016ab422a9a98c87d096d7ea51e91e5777",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_y\":-0.375,\"left_z\":0.075},\"note\":\"The gripper again closed empty, but its closed fingertips are positioned against the bear’s lower body. I’m using a controlled forward motion to push the bear’s feet across the basket’s front edge.\"}",
  "call_id": "call_Fptjsdh8mfIotN6NN2Ih7wUV",
  "id": "fc_0e3832893b9b1977016ab422ab80b087d0b0e906410bdd18f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fptjsdh8mfIotN6NN2Ih7wUV",
  "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]: [-0.8177, 2.4557, 1.9156, -0.1204, -0.7326, -0.8268, 0.0122, 0.0029, 0.9333, 0.6926, -0.5262, 0.0406, -0.046, 0.9995]\nstate[eef_state]: left_x=0.5159 left_y=-0.3723 left_z=0.0812 left_yaw=0.1991 left_pitch=0.0653 left_roll=-0.2913 left_gripper=0.0122 right_x=0.2927 right_y=-0.0027 right_z=0.153 right_yaw=-0.0156 right_pitch=-0.2009 right_roll=-0.049 right_gripper=0.9995\nstate[joint_eff]: [0.9368, -12.4376, 8.6769, 1.4921, 0.0757, 0.2711, 0.5543, -0.1026, -2.1538, 6.8991, 1.5165, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9c03d2a721b42d14fd1cbe52671944768234144ec40b2d6e5d5ee2698872dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b80155a80992b3557d7f46c24c39790b486b5041d56f828f3d0dbc2f414154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2190d46b0e5cc6e86eddee1dabd0aad4efb0568f60c0881ec239da11b87bee4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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