adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.7162, 9.4154, 1.7851, -0.0024, 0.1441, -0.0708, -0.7726, -1.4838, 9.7846, 1.7021, -0.105, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce4f468e0ede113f75984f7c5ae1f0e4528cb50787a6e6ba3ac8be81cb777cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd65c1d82bcac515670da8c37170e212784f45644823905c02fee999211a0cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28897be2c53e725bc06f7adddfbed5165a0b203eba82049ccc7653b88c50eba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0c5131395299f0dc016ab437b1db2487d08067df267f9a544f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.328,\"left_y\":0.023,\"left_z\":0.151},\"note\":\"I see two empty turquoise baskets behind a cluster of light tan and gray plush objects. I’ll bring the left gripper over the gray object on the left, keeping it open while I refine the grasp.\"}",
  "call_id": "call_Jsj1uEdNbwt5AFZJRyYYHivt",
  "id": "fc_0c5131395299f0dc016ab437b62f3487d0993d4408f04d0153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jsj1uEdNbwt5AFZJRyYYHivt",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 0.9932, 0.5476, -0.1627, 0.0647, 0.0154, 0.9995, -0.0193, 0.7994, 0.6086, -0.384, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3242 left_y=0.025 left_z=0.1411 left_yaw=0.0204 left_pitch=-0.0418 left_roll=-0.0086 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1798 right_yaw=-0.0046 right_pitch=-0.0126 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3709, 7.0222, 1.9756, 0.1245, 0.1197, -0.0269, -0.0205, -1.3607, 7.2, 1.8437, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a82d8b66dd224f7d8674233fca142bb5f1981235465b3a3cfc8aece65778f2fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f088e8e5608cd1a42dc7917b12866dfb0d9eccaf60ec227aab2225b1260de67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87cf1940f52b01e6f5e83b692b1a7586ce8687eaf0470b5576b7d4ff029d5a03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.7162, 9.4154, 1.7851, -0.0024, 0.1441, -0.0708, -0.7726, -1.4838, 9.7846, 1.7021, -0.105, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 0.9932, 0.5476, -0.1627, 0.0647, 0.0154, 0.9995, -0.0193, 0.7994, 0.6086, -0.384, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3242 left_y=0.025 left_z=0.1411 left_yaw=0.0204 left_pitch=-0.0418 left_roll=-0.0086 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1798 right_yaw=-0.0046 right_pitch=-0.0126 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3709, 7.0222, 1.9756, 0.1245, 0.1197, -0.0269, -0.0205, -1.3607, 7.2, 1.8437, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a82d8b66dd224f7d8674233fca142bb5f1981235465b3a3cfc8aece65778f2fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f088e8e5608cd1a42dc7917b12866dfb0d9eccaf60ec227aab2225b1260de67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87cf1940f52b01e6f5e83b692b1a7586ce8687eaf0470b5576b7d4ff029d5a03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe8YKPhC-Z2gvbKl6sc9BfPNBI8n-_TS_1U4d3ISvGuDjZ0bES5zzFzZS4ROQ81iOulcitlhCO31vYHQspzaXc6aEn_wwTyx9MyebSCzxaL9FWWMbO_jL8dSqT4HKQamNbh8xnuaNiO3bdQmfRraZC4mucC9zEKy1bLwawYrmtC0ey5ULySEWfCdmM10le-N7-45b-6_7SRykxpC52dKr4bfYrYyLMPA0rDctBYlmN7bymelpVPzlyQqQkAqwQGtQ1OcEbMyFXwo55nfVh0-bSpufPNAfDiH5DZqRpOnse37Ihxu_wqJzj0vFEGkcI1M8WzIkO_BCzHr6-og_rA0WNLYxpQLt7ZP-q-kuYwvhrW_JUeS3wKiVou9erupJ8L6T_q_a0Fs3XtWQEMeyQxF393WZ8hWz5G5e5OCXaLHL6EhPIrER2TEGTdlUnj1a48TIIAQoULN2lv-NytMKk28kNqvYBdyjM06R5m3h3wjA0tfR0JMJR_wksAPPXky-7p3kullFm5YpFPU1GxSKzMbNb68h3MqNbt8vkOQljT1glIVXSrm4D9omhzQWmqkzZ9ATI0a4dpzfrw60RLl3CeW3hn2LAagv9Aaa_8WTGPi9zMm9UdXLFJbs4PKHQFSq0aE3a6EXIyRBgRtFxpLwcK_U1iVx1VzjvJCxjCLopvBueo91hlMZWoqvYisXO6DiBs4FlFecH2Y-EbR9w2WDrp858ZtknYWFAoJMUkUqwgYbsKU8RP2eqnLwM0djvlZJwnNBq5Xmmu-iZRt7ixbeLBbmm_fTm5n56slemhEf7LZjFxl-zhTEMDTvBhpL5M3HBRR3whUpBIvqzQigYZwVXF7V9O8a3zmz2zUAGHalVfuavfQqyKTyUkdBfObvg1VTECqNkspd2o8_OU1MAW5RNLCjbXC85FL95HxBl2OVoyCMESivlNYFmOL7snoNzsz832zWBBz34kqqjHY1EkwXZqMrPvS9C9vBVAHirueeuXNWlLbXDCAcCAq-JCf5VUBZ6yjgNFi1Wf-5MK22HkTPrtoRJQn15zudcoLHzNfqP0QWBqAhcjKo5EiOfd_vH2kTmZCERojcVdwwSE1_oL_tLhrMr28jLYcbn5BAWWzhPI5Q8izlVnvNzciho87S2AIXJTpErKoQml4fFcgnJo2MN-ef9vY56K0Qrolq3i8GE7pj8H-IhBSi4JZG4J5Vr5r1xTtHTodTVkJ-uod6khH9aed_Uvk4nzJBCc6FQ_gtnRKSE27_P8aX8pRo-NaMV5sAx0EEgPlPwUJFCMjBxTld90ooCTOpjEcOWJK5caQe3WwB0bBScQqeG5nXgoYZ5vtt03nkQIa3H7vDqiRUSZGGKyPbf3LjVeQymZ4JDDjpY2vCaMwYR9Suq_aqCuiKLpgDD4RK0dlL9IIcZttqU9Hts5SR13VRL8Itj9TRC4gz-4t6m3EDnp-6uVYPWdGP3SY_UcjIYZYEAQ5J84aK5WsY8xcUH3Wf9Vkx2skhgmIacWPt7dBLdqvwlT5lXk2z_xOBbNKXmLj2RDrBA_am4zjXkSIlccQt2-6ukZohmoqhZ-grhzgkDtiVHHvEMApm820UC4fMG-9hDdiMGAXIp77BxLdPdJVX_3oI6CWWH6IXOLdUs05VQJ_z4XwVN_L5OyRNgUznDdbyK93A5WjS0QVyW-L0r6zT1uBScKkuZRhzG4mQBeP7hRJb65nCHIxMkoqXEnBvrC0N5LrDII9AU6fZClARuM7Hb7gF8hw-hDWmeYcOrYcYNgnNBeNHD-SjsGmMvZG0Y6VFmyFJtXgXuPiJ6sgSjMdR8PGGGFWYXe2ihelc2kPtjQGO57AGJWOfgbFB80dbzrihS6K8dPQtpv_jeOPP47sgROakW-oEKfLIYGIpLlgQ4FMnp2lUz1D6KEUS68sHopnrZTFoRlLv7r4228_oQM3Pgoab7F6wFu84UBMNPsivdYsRS-Ve7kAxOt7chOsdZItw38YR91VToVljTiJaV3wPtZKWKhWV0kp7Gl9uw1IoLack16HKtr4N9gZd6Ju9-l84Uo-gCqoiH6qeSnjSNudYXWB3hfHfUcMWqnfEjijW9C7MCGqjldGJXMv_csh0P2QFeG12jsMvgwbJ5yDRl2OqIbMTWwk0ftnnYnQzMf0rzSOPkqM9k4q2O0MmMt4fnwiQDj2q99AnsUORWN_au2qiWgqKvYnMjpSP7_SbM3rrFv27bxV2EnGPY3yrJZqCKFB7baP9ubGDIwQljWw8l44JWYeEWw18hINaZurH2PE3nwpwk6CNCMSwZ6SCPmWEObdO6BqugpzPG_3XivHUvQNnzw6p4YfcZYbF7bq0Rgc5rZRyFinimGMthQLYpcwNdRZfXCxiGjMBFyHnsWkUXfktAJI-qUt3n89hY9Nw_INyam-QGStONGdIF1clztQ18CLNtRfq1GtqqN6FvHqgQUSjEJOJaKnbtN9syOImNcRXjXQij7__gzS54UGKHtPe7IJz5Zp__-wk5EGmmz_Rr6aVZughGD0yLUeehV6OF2_lHspPYpakyGck8YMHguV0xhcRFL-anIDj9a1xVL4QdZqMyT8j9W3meYEomAHyAsl0LJ3sI2k0IvB8zxwDQLl2PMikR0m--xDj-M8WkvRb4J_udeJhC6poF4Db8j3aonY4CTrhYgEVn4ccfuvyHOQgJPuI3wdH8ahSB2Yqkmuu-iSQkpUg8yKKd694kpswP9d9vvmF4sXwhBUADvq94ushANJR1Ylze4oMcPDNo98graCDyyUBxJUw8NSH01WN6hBWRXB6rZH8OAqUEY-pKsilkekZz98z51d5X8aPLcRgFeQBGV-hdvSa-_Rq2ry-T6UJo=",
  "id": "rs_0c5131395299f0dc016ab437b935d087d09ce7a361a1872dda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":0.045,\"left_z\":0.113},\"note\":\"The gray plush is now close but still left of the jaw column in the wrist view. I’ll advance a little and shift the gripper toward it, stopping above the object before closing.\"}",
  "call_id": "call_PUKz3TrMKXF1SY0cZEM9PQuM",
  "id": "fc_0c5131395299f0dc016ab437bc2ae887d093f876848c0c6e41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PUKz3TrMKXF1SY0cZEM9PQuM",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1753, 1.248, 0.5423, 0.0387, 0.1097, 0.038, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0464 left_z=0.0973 left_yaw=0.0443 left_pitch=-0.0973 left_roll=-0.0233 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0054 right_pitch=-0.0175 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -5.1897, 7.665, 1.8681, 0.1587, 0.1587, -0.0122, -0.1162, -1.5932, 7.0632, 1.7705, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dddc45697128551d19de17196311f0fbaceb4877572e9d8a780945794a4f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517d69cca5e1c0faf477cfa6b6652b8aa19104c3ae4236443708efd42a212d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d831b4ff2ba6891144e1e7f2b3c35185c8a7ce04e7349b45910cc1201e7be9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 0.9932, 0.5476, -0.1627, 0.0647, 0.0154, 0.9995, -0.0193, 0.7994, 0.6086, -0.384, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3242 left_y=0.025 left_z=0.1411 left_yaw=0.0204 left_pitch=-0.0418 left_roll=-0.0086 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1798 right_yaw=-0.0046 right_pitch=-0.0126 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3709, 7.0222, 1.9756, 0.1245, 0.1197, -0.0269, -0.0205, -1.3607, 7.2, 1.8437, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1753, 1.248, 0.5423, 0.0387, 0.1097, 0.038, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0464 left_z=0.0973 left_yaw=0.0443 left_pitch=-0.0973 left_roll=-0.0233 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0054 right_pitch=-0.0175 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -5.1897, 7.665, 1.8681, 0.1587, 0.1587, -0.0122, -0.1162, -1.5932, 7.0632, 1.7705, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dddc45697128551d19de17196311f0fbaceb4877572e9d8a780945794a4f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517d69cca5e1c0faf477cfa6b6652b8aa19104c3ae4236443708efd42a212d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d831b4ff2ba6891144e1e7f2b3c35185c8a7ce04e7349b45910cc1201e7be9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfCMpULpzCv-sJbZMZ3ID6KPUtJCLQI9KvWI1doUt5qdyTXrCbWbuaK0JMq3fVgrqqxB5uIVS2oWWmj6bCW5KgaIeR50VBbsUC33E-WcFHBk0_oXKz1uHJsFHcHWg9lbcBuvZIUkhyF5OSLIUhTMii1kuTMtfrF_zNuq1GJhfskGaDnl88x4tIAwaDzpcAzMckGLB2wASlATtGRPEiJsjugxjuIP6Zoi4-FqPD7MmjPJZphcRmwZ3a5b8Y5rSUbaPo1KqfGMBrrP3kGuoDAy34Ff9EvPuSqQlEkIKOzOBfMVDuu9M1CEQdPZz1K1_jXbUaLco2q4gP34EzBIYU3pcqZ4RdZfdUZIL18jWMcTnYGfMDFveIxpoVW7AWN90CVoXnSCvTiri066rw13LupIvoOWbP18JK2x1fbmkvtA-SXtH1yBtvLi7PH4h7AsSLB8-PHyMFfHNFktZ5VfeH_ZNn2IQlLJdGfoP9jYzjppHQ0GGDl9Hp6yBVhYNGz6PEW1co8GhbHkZnMO1PPJRhJve2UOCQnggN1Zji7tD_g4M74CnFd0x3zHeE_dgK6q3iX3QirG8pUxm8JqYZxi3MNKiDh01z81Kr_fqT4rjXAYWwOWngZ-9H7xna95solgjjQWaGV8NEJ0mtnjo3BX8HK1bzThdg2VI014oYbXQ8nlYx4Fs9NjQPEsrB8_9OrMyiAre46Dhy4WzVtdjNgcFh1_Hdbj1OeaWTmYFRz2nKeSyON0ZnIo3rnIjMVRfAS58GbA72OVyq4f4oJgiRl_3COmBsmdPoGdNl3DI8QRfuVNyKqLV5nRmyeCRhon7jA296Ix1_xzDmTB2NR_iT8rOm0H-n3bG8nn2aAhBYSeL6Nk4g5528HUR8ejCaeV_1nWgI96qqJZzK3U5yZ1c8ztRDolJfkopGaVerj2TDGhJVjaR8jS-cyQPNjVQPSu0E4nQ5BPKVyr0vPHKeXZI-Tjt6s1j1EVtbL8riTNTbPhJv2iBuhTXg2UfcQkOaP-p9fCxnsy8ggCZxuzqZMncEcQXr23n268MvSa1ExqBK_9MKgQW_53HLgnzNVZaZQpMoDCKZgBQaQkpa3oWTcPzA3of2Wxylu_Wj2lqa28VohsL07c4hbu1p3xXqTrjF_DfYKC1xidsWSWrZx5WVJEsQOm4nNrf2MyKGTIPli09n2B3voUePogmtk0UcjV5Aj9knT9-DXJt6g06pkp4beDNQq_U6a9HwlOvwOwCUFJCticE9Fnr3AGnGTwAQ2vYwe_RhYYZ_0qzC2_750FOgVF5HCUYGfFCgpwjQbPAzt3g4-riubai_WcInq3AwXXcpmq0LLyj2SuV-tlzukvLkMBv-ynszOIwT7H110so85sGYfhCgs7nBUa0e3sw7atjASv12xmh9GLuLvpOaAvta_AenHLB9Ubwti2AFmVOcoLD3Vk2uhC4v1c1yPLZHb9lS7E22sym9ys5WXTTLUHijLyKVZaWQ72d-Pus4t5MfsrEaW0hlhGN3-H5kIOjKjAxPjQtk6Dwp48N9UeulWIk1s0I6Bt6MkCSKKS5i6AO2DU3mqaVOY-gBvTRValbbedGOCR58NqaUZvZugY7Ptb-zLi8cN9mKq-RX-n-Yo10PiiwSMneXkXIrbBynwtS6fLnee2nZ3N_4Cquz7z7UD79qB5FY76XimgVi6eCUiS09vSP7BWKyNQPSi9QWmOLf1LRS3R7d4Dg-86dlbZOaiLJcjT46PZ-RlvaL_smhb2e-ZkJa73e-e7tjibuN54T4n1hItPtrEp36uIMpNHqsJofKjnQHV2AUw0AFD4-x7Dw51UxkgPZk-gp89RKn8XVzhO1H8ProvRceY1Lojwyk7IKzpxJ7TvXa1ytpUpDgOzcdJ9e7WexYr40FDFSjCZFjtB6Df9tde0Q00Twfbyq34N2F4aLzRxPFM9ZGe9164UFjAKgd49asOSiCXuHL1dyLHnLE_-61_OZO0YlR7",
  "id": "rs_0c5131395299f0dc016ab437bfc1e487d0b97da63bd7508aef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.037,\"left_y\":0.032,\"left_x\":0.353},\"note\":\"The gray plush now fills the lower centre of the left wrist view and sits beneath the open jaws. I’ll lower into its body for a side grasp.\"}",
  "call_id": "call_z6AyaFiJTOGIAFWvfcJ41SaR",
  "id": "fc_0c5131395299f0dc016ab437c174fc87d0b3733c9b7cb77b67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z6AyaFiJTOGIAFWvfcJ41SaR",
  "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]: [0.1116, 1.4536, 0.3992, 0.3763, 0.0593, 0.004, 0.9995, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=0.0326 left_z=0.0363 left_yaw=0.0414 left_pitch=-0.1116 left_roll=-0.0198 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.465, 4.7795, 1.6728, -0.0269, -0.1001, -0.0122, -0.1846, -1.1282, 7.241, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1df1e31e73d2147a7a858c1c9eeea30ce89ae824012a08e717d1e287bddae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeab361b30890ec658c64c7887814b14af8a9046f4c331122108a7a0ac6a01af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce84e82f12b592ddbdbe3b80698880996ca6a556ae0c8149c81ec9dbbab2cc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.7162, 9.4154, 1.7851, -0.0024, 0.1441, -0.0708, -0.7726, -1.4838, 9.7846, 1.7021, -0.105, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1753, 1.248, 0.5423, 0.0387, 0.1097, 0.038, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0464 left_z=0.0973 left_yaw=0.0443 left_pitch=-0.0973 left_roll=-0.0233 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0054 right_pitch=-0.0175 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -5.1897, 7.665, 1.8681, 0.1587, 0.1587, -0.0122, -0.1162, -1.5932, 7.0632, 1.7705, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.4536, 0.3992, 0.3763, 0.0593, 0.004, 0.9995, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=0.0326 left_z=0.0363 left_yaw=0.0414 left_pitch=-0.1116 left_roll=-0.0198 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.465, 4.7795, 1.6728, -0.0269, -0.1001, -0.0122, -0.1846, -1.1282, 7.241, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1df1e31e73d2147a7a858c1c9eeea30ce89ae824012a08e717d1e287bddae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeab361b30890ec658c64c7887814b14af8a9046f4c331122108a7a0ac6a01af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce84e82f12b592ddbdbe3b80698880996ca6a556ae0c8149c81ec9dbbab2cc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfFzBYd5_sQtb2CTAtw4eHDnzCXlXCrQPtm_3yqoM9x-61C3QBAZ_OvQuGxwqbbzY68F715XphuIFFgOmfpWycxHS_GxsoYGJcQt-mqu8LuYYCXmKz54_RxTbRRJpIxm5g74iMI3WyQVHDyQL_vqWmS71x8KCKJkenXFskjlsfGITI8AAn4qTBOQEbx0cXuTJq1uVWQ6JVdm8BteaTJj_3yMBUD06Am1EPgRiE-qwOj1yGb9zK-3syDRwaHgf4yPE-EGLty8RPAjOC9hMYNPPGqcKaXMY1uI_-UcnmWkVu8sm4U_VKv4Jlz6CWMjVaGq7Qcn_GdH4VnN8dCgjPFLHpk__L-JBlacuiYvZePHkUWbrZ-FcIadBFOKq_42T_r4sEkwES6-FOckcEdsjNg9fb2bbK8I4VWL9rcDFJC5fHL7DmH8qSeib7g0ASw0OSS4DvfzrCzL6SvyfWQWKr38X3LOlq4sr-BA-wf2WqJlewcjogoz4aE25MH_wA35TKutBY8BeDnQZ4TSzGFedz7ljNWAvMA0PwDoZZVYjl4WqmSp0W_4bfHN2WmLiEPTUDOkCBRqAjPJ-gYFOlE-yhUDWYkYncvfq0TJqIZz8XLvWu01A1Ydg2W3mXwENHB8virJ7vZVVvTbvk_haJbf2LN3WD_Uyh3J3LxoYUJRuhnMA9BIpum2qd8knMpsTbHYj5Z1TWjlp1yRN1RftvmLRuua_KAaEbffQbnJArgHrUbfL5WZOvsZB_IrEqjJkNaL703ZWEUs6NyI4TZbmdC1FITUo95rIEYPCs5SGOV1FRC_CtDtTUXCwumVVeAraaW7Y3favKFyGOJyRoph2grVzW7UX6ZkevMpcRCaRZFKqqWbSjbwdvTr-852vY-oXB0u2dTkBVvlcgpedBlCnlBls3bPO6BPthH0SN8LF8skacJoCo204owVmuIzLclBob3Jv9SJNkWdU36S82vH8-GIoUDSjPyW54Nal_xvAWOGaW1FpKFQHKcveztDwFLV5flG5elbVQ5k79MbWufE3q-Z43CAdoGAlaKwew4wF5E_ia-pNbjrYsjA04ByouaCczd0FUiHrlk0d6qRhiQL1KHk2ljB0XI8J0gyHF7C2bkB79CUvID0UdqsmvkttQhE7VdBAwGU6OULnUAD5Jv1uT2F0_Xmy43nNK7cElfU4UwIBfR6NAyWR0=",
  "id": "rs_0c5131395299f0dc016ab437c494e087d0975df5fe335be572",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open left gripper is at the gray plush’s body height, with the plush centred between the fingers. I’ll close the jaws and check whether they hold it.\"}",
  "call_id": "call_dfIirOYkiozKlMmZfLnH94Q1",
  "id": "fc_0c5131395299f0dc016ab437c4bb2487d082adf4182630dbdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dfIirOYkiozKlMmZfLnH94Q1",
  "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]: [0.1116, 1.4532, 0.3962, 0.4076, 0.0563, 0.0002, 0.0483, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3566 left_y=0.0336 left_z=0.0414 left_yaw=0.0462 left_pitch=-0.0832 left_roll=-0.019 left_gripper=0.0483 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.8479, 5.7915, 1.3797, 0.0073, 0.0024, 1.0281, -0.2803, -1.1419, 7.0496, 1.746, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0b5f4c8d0900a9cdb6542e826a550d5fee820a771fdc83ae016ed24eb35c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6339cc9103abd27cf8dcbfa1e27ea1857c06d119b005981ea949ee21f04b8021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd7a85b1a2167235b4d2c18e43f859e3e88cd7012b6552f9c519c675786ff96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 0.9932, 0.5476, -0.1627, 0.0647, 0.0154, 0.9995, -0.0193, 0.7994, 0.6086, -0.384, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3242 left_y=0.025 left_z=0.1411 left_yaw=0.0204 left_pitch=-0.0418 left_roll=-0.0086 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1798 right_yaw=-0.0046 right_pitch=-0.0126 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3709, 7.0222, 1.9756, 0.1245, 0.1197, -0.0269, -0.0205, -1.3607, 7.2, 1.8437, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.4536, 0.3992, 0.3763, 0.0593, 0.004, 0.9995, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=0.0326 left_z=0.0363 left_yaw=0.0414 left_pitch=-0.1116 left_roll=-0.0198 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.465, 4.7795, 1.6728, -0.0269, -0.1001, -0.0122, -0.1846, -1.1282, 7.241, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.4532, 0.3962, 0.4076, 0.0563, 0.0002, 0.0483, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3566 left_y=0.0336 left_z=0.0414 left_yaw=0.0462 left_pitch=-0.0832 left_roll=-0.019 left_gripper=0.0483 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.8479, 5.7915, 1.3797, 0.0073, 0.0024, 1.0281, -0.2803, -1.1419, 7.0496, 1.746, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0b5f4c8d0900a9cdb6542e826a550d5fee820a771fdc83ae016ed24eb35c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6339cc9103abd27cf8dcbfa1e27ea1857c06d119b005981ea949ee21f04b8021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd7a85b1a2167235b4d2c18e43f859e3e88cd7012b6552f9c519c675786ff96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfLUV9kRXqR1lW5w8AMVmqV99Ph1Cfu2wn1GSahFsmuhcePuOoQftAKEf7ZagsvmOdwjMmKCndERGHqkB8sfWHR1l6jiD-PQ6PIrv2Rv8FbKwOjb-48DGuiS7a37xnU42_FMIGTLwEtuxdv7DmBSFqrSEmwaHTY_UKndXPQQCws3nUr5myM5KsmMrwZqOhixQ6N7uH_QeVexygBzdlmhcqjcvEHL9zZCDQ50Oyr2NagSTQgzeoRdO10w5eAyCfmKjqwViC4hLfR6KvBXLmk7aTjvIIMNQbvBn_VmKti2m5OjgKEAGvalAa7MV9uBfEdVuMaveV9P4DOmGqmKjXrTQ53AuzYFGSl2rPNtadcE6rwzh8N08vhYlCnJgzIrG7LsjKYRTQ6Voz3FYy4Lb-AEmkG1JaMq6Z4tItgnfUfqrcMX1ZRJaJplLNWY3n1kYdI2RgRo7CZBiTt818qXzvFWbmD1lGVgIYj9HMupba4hVmAq9XBcdcmm_5q6hwFt6hEBzd5s07rT-eGS2R_dLNqMx_MHFUFXkldQ6DNZf4bww6SwwkOuKMGel3vGvGRze_G3iZYcpydSOsnUNDgGoZSEgFxdva8FouYAzZW3HveCD1oHl2QoItcRTTgTKg01mwj2bxCCncx2BnZWScF2Uk1BZcyqYOC24v0mcLJL0xCOik10cJnE67GtFA0ZMBuMRy7kZgmAgDRnYGgkbFKJCJzLA0zdl4fHMat4-0PFoQY2WYOfiXTJL9B_ZBNFF9bMLcm1UglnCmr5gl458Fk00Pw0M9DC_InPUQVfMHDHaX79xMmvkhYszG23n_HKZwVGb00FpyVP3jgPLOtcTvHrKCrlR31Y9ZZzTBZoScVQRY_X_bCXvM1XP2rbeF5zIkNUq9lbiyUp9RdODhqjmt7d5qxrddW2RVErCbe_FRU5n0EP62EpClPbiTAFML-K43FH0VGu3t-AuRuz6LIsZFCMImj2zg_Wh1nBdPk_dPqqQ8Do_n27cuhG_rfxH2-Fn_lHLla1Xs9S9mZTknJjjp14cF4V3W54yqNDxq96LzYKpWRJtnYDMA3y6YPbqMldhbDcy61H9oWIbWS-dUm7qD3QOoKsgXrEAV1hmmSU-Qu6GUIWl1VxuQXIhm3_IqLtab_wHnsnGuBA9vBQ-JaVZ2z8C040vWDIDPbut8DWAEGC85a9Q9y55P09RgdVGmEp1fPEBDQTKyCePV0ZX29L9EQYubb86Gmew==",
  "id": "rs_0c5131395299f0dc016ab437ca136c87d08236e164cb9a562a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The closed jaw reading is only about 0.05, so the grip may be marginal. I’ll lift a few centimetres and use the overhead view to verify whether the gray plush comes with it.\"}",
  "call_id": "call_E8zMxf7wu420FTaVMMjMo8zV",
  "id": "fc_0c5131395299f0dc016ab437ca439c87d0a12b2b1d91139c17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E8zMxf7wu420FTaVMMjMo8zV",
  "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]: [0.1116, 1.1973, 0.6384, -0.1387, 0.0525, -0.0082, 0.0531, -0.02, 0.8097, 0.6079, -0.3855, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=0.0336 left_z=0.1206 left_yaw=0.0537 left_pitch=-0.1314 left_roll=-0.0262 left_gripper=0.0531 right_x=0.2955 right_y=-0.0002 right_z=0.1763 right_yaw=-0.0056 right_pitch=-0.0252 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0667, 9.2376, 1.5897, 0.0317, 0.0317, 1.033, -0.212, -1.5795, 7.1316, 1.707, -0.0904, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310e4aec843403f819c35fbf476def53807fe8e298284e28b12f6ed76536d33d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c10f9bfaad02ba4f4c026c45e2095c1832d51aedc76ffb0389232a6fdb0a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b40079ddc57a8b66cb98aac7faa89b982166ab05f9e75fb8d16ca5f86e13a6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1753, 1.248, 0.5423, 0.0387, 0.1097, 0.038, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0464 left_z=0.0973 left_yaw=0.0443 left_pitch=-0.0973 left_roll=-0.0233 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0054 right_pitch=-0.0175 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -5.1897, 7.665, 1.8681, 0.1587, 0.1587, -0.0122, -0.1162, -1.5932, 7.0632, 1.7705, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.4532, 0.3962, 0.4076, 0.0563, 0.0002, 0.0483, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3566 left_y=0.0336 left_z=0.0414 left_yaw=0.0462 left_pitch=-0.0832 left_roll=-0.019 left_gripper=0.0483 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.8479, 5.7915, 1.3797, 0.0073, 0.0024, 1.0281, -0.2803, -1.1419, 7.0496, 1.746, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.1973, 0.6384, -0.1387, 0.0525, -0.0082, 0.0531, -0.02, 0.8097, 0.6079, -0.3855, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=0.0336 left_z=0.1206 left_yaw=0.0537 left_pitch=-0.1314 left_roll=-0.0262 left_gripper=0.0531 right_x=0.2955 right_y=-0.0002 right_z=0.1763 right_yaw=-0.0056 right_pitch=-0.0252 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0667, 9.2376, 1.5897, 0.0317, 0.0317, 1.033, -0.212, -1.5795, 7.1316, 1.707, -0.0904, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310e4aec843403f819c35fbf476def53807fe8e298284e28b12f6ed76536d33d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c10f9bfaad02ba4f4c026c45e2095c1832d51aedc76ffb0389232a6fdb0a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b40079ddc57a8b66cb98aac7faa89b982166ab05f9e75fb8d16ca5f86e13a6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfSZuNC8BWxLwTOOXjayvOEB6SkIvBUIk-S9eFscuVoZokiJyLjSs7OS3cKXGN8kEHmi9j4seBve0eirQC5immquU-2J9vqtJnTYpvSyJ05JYi_GKo3_1Oi8Leh2gdBcyH9ruoZ6gPLqJjvlc2uD0O1FuPVmM0rKMNzG4z592tz83Y2Bq3nN9vLRgq6cV28Y9auoavRPNqcCY9l5NgCAUCQKVVZLUOstQIqZZc5OPLa8RCWKvtWgfCe31ukTnpHNVREw4oabKsM2dtUnVtm3fE8tsmas1wWtTtjxgvgfpT-P6bxy9lwBoEy67oiQIuS2XjZKUYL6fTnottcQ1MrWQmknN_CRuyZh8M_Thb2It9d_j_7pDlWcdd3AD5RwYyw3CJx3ijOTX6H9gl2KGPLdH3ut0IOP3fdI2TMsAvhgSxk33LXR3YlGnXfYZZ7CrXSjlIPkeMdUsw60Ka2LBEizfcGAxKGgcSLSLZlgbSy_i2LonPBkKSqb30p_Kk0LuzCrhZ5SpPjUsPN3yIx_9RJKCSBY79nnw0DyUKk1iyPmpFNBBqE2ABw69kj7VCZfW3ZyEd9_XLVpp1H1hcJWPGpDf4JvATk0kfa-trV3wGxpPDfzBxSw-Y6P2d4KsqV0p_KrYliQjT1R4t-sHNYmNQIihJVFoUHE0RNcxI2vorU-xEFggdHH24fLmIBSriJBcX3lA3u0sCh6_IbctDIKX-X9IBZbzv4JfawZ39j1fXeDDzP14cSRminfa85iLAL2pHCCeIembNPZwxKCrqr998Ptk2wgtZJlxhtwqrYVk9StqseAVMeJcp-Aj_mdzF39YeH72wLQzv9bfvsJfqS2jWq-WnmFQMVod2AEkA_7hocLnTJ9GmrB0QmTc1FiwDbQR9zdweIwKXi23wYXI2ykFkNwiFzJp4PXruR4-xz8RNwzksNp-nmrYqKNCBh8r0HsRJEC0yobeaQTPnZDkRt4_K4i9Qw_kevekyPPBJ38KbzAhFYyH9oCELeGmfXcXEt2-moNmaTKO5CqgPaBuE_nMbru12h_XdU34K-C-NtdpZ9_imIHWQD_q17RWFsqZ1oJteksByOVTGU6WvnTvQGJBD3E1u0GhY_3WBoWjctU2aQBCfKUrBSEd8qTReMoR34BOX59olaPV03RVDCSUABGJ3h5TMNiHmDiaHfda1MU8ls-tyfYsW32EbQs0Ef-YrA-moFHcLAmTuf5IZXY7VZhk7iGzDMoevFox_4zE1LC-1kzWsTojKFrERtgzlb2pbtTdXM5yErfh34r2D2zYaS172ByGo_QUVtj7G6sD9aW7lxaO8jMuXhjz610oj6XEFh_mICqRY8KS2q-tX5OXmwExjeFsbQ5nhWGOO0qH_Hw09bdufMr6Oc1YxxDKoi8gAANYw6D-2LlQ--qghM5PRgKakPZhIF9x19rMO90f6GHuYrbtmTUC-DanfXf_QtZio8yEn7WjnBJDdg97wHCLGABtfKkZ_MQfcLVAupyNqoA5aJ4WCHE3Dx7TLgIJPiuGWsKFxZAbkZJRvUZIg522RdU46tbF88tCWg0Gx22PXSc-NVGPCUC1K8delch4Aj0EgnHM3ft4XdX7jH9sJX4nTRK8W3kyRRN12YrGMMqWm7aQvxt67u8Y5L4pi8hPTthSamDU42-9BkpsZO-cCopKFXuSI5rWsUTSAETerfbrRhyiDlSBYDJfm7TtnmwuLruU6G_PxwBxMQ5_qe_GzYHLe74bcGwguLZZ8F2GYv_RSOkVbPTdSnMqfzNmXISaL6CIpjC78G6hjEJLpWWCYcDjuPZlYdExbUG8COXxvWSHvy3cKE39tEeEs6CwJ3tKhFNVdO4ciDQIEKd1QWPGdq-DBnJrrGLZIGuSb2-puglOZNYbN_dYSp5hL6FlWIGFzjm6Ny0DoUu7S7pgQ1iaKnfuJhNm0e5OFpAFOXgDJO9gYkXOYWx155Ciw3HeLjQr4IPgKLdGHtXPvVkrXX-kXEjBFJIZg5QMTz-2oeiEWgB5PU9-3SjrVgmEcpj4tiYaQo0P4JjcX0F3mTbMWI77wUA4QSmP3ehFay60OPjeg6SGGOh9rlU0BtycbacbvlVEoT3gk20Rfo_GEZffBdlOiUrueyRCNTZKIhco74iklKFJl1KbKT8-_CJToKOBC6m8yevOIpNGvrxmP9jEgIyExQf68PtQnD9ZKODvagsfdWPLNyMI6JZkXzfJBqK4NcMKhOrf6mjGe5Sd-LybGWLZDgK82NKCaHGkGF8za3z_cSEfNtuPMVYDSRXI5D0bx0ihSn673MY1x5d29P6jG1wT6mqnSLcNHRSs-FJ1aNlRZE8_vvUtVhy0ei3X8KBLVcWERRSqdex0tSj9_nc4l0a8wPQl-aqPa3NwcyCoVrpeECvTg2JcD-uSPHVRmlqXWjL6Bg1OmLUFv-8206WoGJacr25W98zdw2Q6QzaiUmV7EJIojKZUutNptU9Qw8DL-PyI6Qr2JQwTvLUCBLGW3HrZY0zvSeWq3_tbrv9FSvl60pbbWtTombcotB-xJIxpMAaGAwRSqGzFE7Ff_bcn6lbL_bUiKG6zLWKI7AYTjtkLAzMzhQt9d1of0RGzmgLQBUO-Hpf14HYvkp0_V2MEfPujU-DQMLCS6Ype-Cf3g1vyffdoEFoAbGp5H6H5CV6ywCZytk9Gbym-G1a4zcQa371XMunWuGqQWjXB8phLes0fHyFH45aovWwY-_8zE=",
  "id": "rs_0c5131395299f0dc016ab437cf374087d0a10ed30ee0746135",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.482,\"left_y\":-0.142,\"left_z\":0.221},\"note\":\"The gray plush appears to have risen with the left gripper, although the grip is narrow. I’ll carry it high across to the left basket, which I’ll use for the gray objects.\"}",
  "call_id": "call_xjIWkvMVyDBVQmUSGbwRIYFl",
  "id": "fc_0c5131395299f0dc016ab437d1e88c87d0b9485d1fd77bba1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xjIWkvMVyDBVQmUSGbwRIYFl",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4149, 1.7805, 1.5482, -0.5613, -0.3374, -0.3603, 0.0531, -0.02, 0.8139, 0.6075, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4765 left_y=-0.142 left_z=0.2035 left_yaw=0.0506 left_pitch=-0.1728 left_roll=-0.0134 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.175 right_yaw=-0.0056 right_pitch=-0.0294 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.935, 9.347, 1.5458, -0.2466, -0.022, 1.0281, -0.1026, -1.5932, 7.2547, 1.6923, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687576e68580684c957c26042eedf9dae649476fcb0ff37c63db4d8bd0ba3080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87adf21f01716555176e1f0fa62a5ddbba0058009516cd727e13af371b692aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0a0a961a8167958ec9929edaaf790170ec6a37819c65fe5d62dd26e14031d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.4536, 0.3992, 0.3763, 0.0593, 0.004, 0.9995, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3529 left_y=0.0326 left_z=0.0363 left_yaw=0.0414 left_pitch=-0.1116 left_roll=-0.0198 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.465, 4.7795, 1.6728, -0.0269, -0.1001, -0.0122, -0.1846, -1.1282, 7.241, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.1973, 0.6384, -0.1387, 0.0525, -0.0082, 0.0531, -0.02, 0.8097, 0.6079, -0.3855, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=0.0336 left_z=0.1206 left_yaw=0.0537 left_pitch=-0.1314 left_roll=-0.0262 left_gripper=0.0531 right_x=0.2955 right_y=-0.0002 right_z=0.1763 right_yaw=-0.0056 right_pitch=-0.0252 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0667, 9.2376, 1.5897, 0.0317, 0.0317, 1.033, -0.212, -1.5795, 7.1316, 1.707, -0.0904, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4149, 1.7805, 1.5482, -0.5613, -0.3374, -0.3603, 0.0531, -0.02, 0.8139, 0.6075, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4765 left_y=-0.142 left_z=0.2035 left_yaw=0.0506 left_pitch=-0.1728 left_roll=-0.0134 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.175 right_yaw=-0.0056 right_pitch=-0.0294 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.935, 9.347, 1.5458, -0.2466, -0.022, 1.0281, -0.1026, -1.5932, 7.2547, 1.6923, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687576e68580684c957c26042eedf9dae649476fcb0ff37c63db4d8bd0ba3080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87adf21f01716555176e1f0fa62a5ddbba0058009516cd727e13af371b692aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0a0a961a8167958ec9929edaaf790170ec6a37819c65fe5d62dd26e14031d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfl7as9z0zcYIHUGM93gOe_R1_ko4yKiJotqN7VFcOL2E3RQm2pB_0qetjK76t-xiuXYkrLoIxtXVC5ynjCd8UaSoWfu3vtxBh1xOF1LbjtljHwJeWzlrXNEEUKypeSDRflmPdu9q1FJH5ITIweSVVoj2SPcyIIi3s3q1ifdugU8AdjsTi5gCT0bZZj5Xr3ypvPwKX964aTjfUb_s8azc2epoLzi01pmK_OfaNOz7yIy_rQDX-149DQDlie7aFaJa9jlXClkuxkVFEXtQhdxsjLfwuzYK4Cai55vESJKABOR3PoKCcX05kC_7h7IRaAsssGYqYHLztoyMtuWm0b1Ty0ZI20duadxmWPddKF0Aj4RFOenSj6-3Dg0huriws9qRmo_ta2vSAKvNs3KVPj3uRImhfcUqGi6Jn01Los-tUVpZWF876IpYBTTOoti0kneseN65z4mBWW8n_mTz0EFtW4ruhimEB8Nbe4a1qoEErbly4LJ2V7SQQ_Qg9yaMy0p3C-86FRoybn-xGQ2fnpTKwmiOqnEJzcPVW57-Ex7DfOrxHi-EGrlyE3j2pCYHq00SJi4ChlS2_KLth2wdSyRjNhG8jSnPIpDfIcu3zeHSufP94ue0iJ4xZTYHNH6vt7psHvJUL9ThKoyPWGH06tEfRZHGCViTBbctr_YxWOENEAAXh_AuSaFBedSK8QzpNBigQg1-9jBdRiUiH4ym1uFdXtlNmfRjEaUYXH3S0FQoIL1p5SzojWPKPRhj_achFs1WQCMBKTrPLdfri66cbrA5QU3KsIFWE2NUkSjtIHydTEhv-komtO1_xFiVD23tm6tX_rYX7hOsnXUSJ05Hk8J9uvxHfJw2cSv_nuyKFVj8GmjncnQH7e7yIjT9UR4SqlBsAbJPJAjT4-45kFh8EQHlrJAol9Mp93t18tLCjbXz8wLXDcXo-fD7xYSlcgQCdCs1oAAUyLieryvco7_2J6yoPOaBAIjWGIzmb_OzzRrx5IRluwlN0tQiMdIOco1n0P01t_BAoRERReJ2_5k9oCRUxzrsc-1Ggevy3SLzYG36cs53ANFvBwV5HMKm4E5UntzGejl6ltqyKNDZ6Ifga9aj_H6MJ6HFDmHbpQl3CJ9Dpvf8Gmsidr1_LuTNQw5Z-FCQcEaTJXnSGut2BmeFHjkmn5e9VI3pNXDOX3apQ-ehiWhac-riZHtZzBuYpkbpuPDLpP0SVq6f60l2MYS1oqaf1S89VHCfZyej0-vjf5feh1hvQ8Ay6NHpLCkNzqC3YiM3E092_KNdRhEvanJI9eEEmuXUU0onAuWoM7GwU5GimcMWbWZ7XyY0YfN5sCMSFsurrAPwXRgowsn1Y7IOoMZYjZuRUWSPKMC3Fun8NErJJpJ2ftYfrlGw0Vlt09-F-1nmjSIn_Q6lm2DBJqIwjktYBouCzs3WOJBsts-x6fGZZsFLd1zqCMSmwoFg7UM7WcOi4Syvmoy-GDvyNOHBEUdtyFegE7dqtBEuMbJSS6bhSTJR3YH3LygRjQQnGDRBtn3kcKRgnDpM7y-QoliX7-9lr7tnCer3Lnx56mMbNCwc9mUbta3I6FiDcOtlUdotlWN6Amc3xs6Fw2om56VwinFijfM3fD1B-OMiWeA1_Cv6OF0aDdRIrQodGj8odMF0vNikebb3EeGnznAenMCmbjJx4uIBLFdXCIT9MaqMu0mi0_5N_LspnLoKhCQaxkTxd5Vn5LFcWvSrhmK5Fyi1S2ihPnjrNLIH469ov5_I9HpPPb-mXscgGcBnzdGovwD2ccikz_N01y5eT5FDiIzsfTEo1LkvLltpT3zMlsoeGEgVbMNjrGP0tgnsU3Wg2QLgJt-13KqlODQrRXylcTeq974Kyvp-vgBbKVj7K7ri37ZtGqufKmuNMZAQMLNCv_DaT-MeAZYeKtshaYsjxwLSfJxMlscpOo8mR1Y3p5w18W_DPhqR5eaGTLLkQ6V4as1d1yfYxUlGo5x9uUtajJos2c3UimIXpcF9_GCeEZSKoWXTpa5pACh_te1m0hLb1tEm5jAoHSC77ghQKl9_TApGjnXolaJh8xUORKgsEho4uTRbv0ikS7_Rw05c7vfow6TfWHiOkqimdOoAiFALj2F1Zr6fK8pOBJaCip4b3PQywvqRFMJPiw4uWcO7zCV9guaBAYa2DCAZKBDJOGFQ5uuOCh60LXgg0TFNV412oT0olwJoc1XrhmSPP_ybNXKg01as8tUNHfc9sSlOAIZcvvAzsm5DwT2rWBthnnYyAkyhtfmU-5XxMbp8AFu9C3hfJk8ohHlucrwctslrghi3viIR0G3J1Bap0iIOFR1MvQZW69ip87qYthZprWZ1kYhDLQDeR3lFK-0O5a7qKzZCpel3CwbagPtysZPykHFd8ZQ3Km8C3Wc9xRtudJUqtbJHnFbrtXj4Rug4Un_proMnME69bAVOoGWRuYFiMJb9XFcofr4tU1lS5UgBqTlrX6Z5qCYeU5iZMAsQkR6u7jYSO-iZlQiUS3oGLWis7RQMLzNLRDyhSKWOHGBfH6aS2T-CVX2PwjJornq0ln49N5SqRz4VlgcMVssg==",
  "id": "rs_0c5131395299f0dc016ab437e1acb887d0a6d979b95f42f31e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.497,\"left_z\":0.119},\"note\":\"The gray plush is still hanging from the jaws above the left basket. I’ll move it slightly deeper into the basket and lower it before release.\"}",
  "call_id": "call_ee88StK429IkiPyQiXuuWmH7",
  "id": "fc_0c5131395299f0dc016ab437e488a487d0bedf19b3f3ea0b7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ee88StK429IkiPyQiXuuWmH7",
  "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]: [-0.4026, 1.8866, 1.3708, -0.2775, -0.3328, -0.3557, 0.0531, -0.02, 0.8146, 0.6067, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4942 left_y=-0.1439 left_z=0.1255 left_yaw=0.0566 left_pitch=-0.174 left_roll=-0.0131 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.1745 right_yaw=-0.0056 right_pitch=-0.0309 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.1009, 5.8325, 1.5995, -0.1148, 0.0757, 1.0281, -0.1299, -1.4154, 7.1453, 1.7363, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d245a26839aeec29e7e1228428f28e9939323e1967028cac57c317ac426ee768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e06ade43511ceefd86189d1e06defb4ddd4629c644a14838d3240a56128125b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f066353c76377c828bad4d1ddeeb6c4540c0a01b64557a403bccf4998f8693d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.4532, 0.3962, 0.4076, 0.0563, 0.0002, 0.0483, -0.02, 0.8062, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3566 left_y=0.0336 left_z=0.0414 left_yaw=0.0462 left_pitch=-0.0832 left_roll=-0.019 left_gripper=0.0483 right_x=0.2954 right_y=-0.0002 right_z=0.1775 right_yaw=-0.0056 right_pitch=-0.021 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.8479, 5.7915, 1.3797, 0.0073, 0.0024, 1.0281, -0.2803, -1.1419, 7.0496, 1.746, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4149, 1.7805, 1.5482, -0.5613, -0.3374, -0.3603, 0.0531, -0.02, 0.8139, 0.6075, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4765 left_y=-0.142 left_z=0.2035 left_yaw=0.0506 left_pitch=-0.1728 left_roll=-0.0134 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.175 right_yaw=-0.0056 right_pitch=-0.0294 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.935, 9.347, 1.5458, -0.2466, -0.022, 1.0281, -0.1026, -1.5932, 7.2547, 1.6923, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4026, 1.8866, 1.3708, -0.2775, -0.3328, -0.3557, 0.0531, -0.02, 0.8146, 0.6067, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4942 left_y=-0.1439 left_z=0.1255 left_yaw=0.0566 left_pitch=-0.174 left_roll=-0.0131 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.1745 right_yaw=-0.0056 right_pitch=-0.0309 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.1009, 5.8325, 1.5995, -0.1148, 0.0757, 1.0281, -0.1299, -1.4154, 7.1453, 1.7363, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d245a26839aeec29e7e1228428f28e9939323e1967028cac57c317ac426ee768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e06ade43511ceefd86189d1e06defb4ddd4629c644a14838d3240a56128125b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f066353c76377c828bad4d1ddeeb6c4540c0a01b64557a403bccf4998f8693d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfpoXPvg9cDmTaT3qOG68R8DhiUyibSFMvxjmCT_tSjHVA57Rlhdt1IcViZPRHZN0KXba4Jqtf2i4HBQ6xbG9thZ0JbTX8C5XYdVrBEx-VlSP07F0XILrWnoC1cqDmDZr_c8UdsjeeioJQaZpfb2ecXmF0qLSvgttRZrOtkKFdsqNJPn33N7sAfy3pOFfZ4bpFzPP-u-ZfbKqVFVq4SCViJYUltIDkdRJ9zMHLIEd-NO7DF2v3H8tixsE_MR4tcHRs0O08M8exrHPzsR-JaLVOwDx70WrpW9eKz9aCAxV45eQbP5vHincJGCJuNbP5lrV2yO9Bv0cYeA4Puqu4cZyOGKOA_wP4N90EqyrHpNa6A1g_buIQm1cK6gdngTcCLkBHXC6nv_hx3zd81Th1HjF_om9hhy34IKZYCRshp5tPMLe0jlme3vG1Fnn3548TyVc1k2fF8kvMNhz9AFdXgY3jIh32nkQdy1J9OJHDI5ctJ4eAU8S_bHtZK8yHLC5S35XrZKRc7AEZkEn9Rn6J_ae6y8nH_BYJeLGaNQ5B5kBArnBTq4BCL6qXljAu6DhOwQgH_97jEouzLI0Op46O858S7Iq9OiojWLXIR_oLkTYEIibi2nzYxSq9zRZAIcsYFFgXrRQL-ctTWBb0ezy4QZDHUbOkbC32cC54jX6l67EYdasVEXs3lE7O7ScDvI7mxL_3IZpe6MMqOG50TicCSaNN_7HuL3koWVfeSukGmUgo4ps-rrPh7OpWJ3PTtAk_crGPDzrpim66V0UG1xQiWb4cO7H-SpZcu_Hii8lkWm2-XX3mlbnFlz4mmKrQeIbcf4MVDy752gZjU7RUb7FUmnoxn9qMB4-K8gZF7wfjs9rhlfdfQdgTdkHeBfxVhybS8mxOvbU614mFNjAmHPjjcHRLG8lBvj2HQDJYP9aVh7M1uGnwE2-EH79rI17VfkQzLP-sbc836IXnKRwPvJfQnKqkmoJt00phfca5uBfcFA5a2YXhAQyavds0BSddbtPmK6DrrNDph_q_dOT7HnD3srV7RQICPrgrlssdJM6D7dTOhL0d9DWjdViZO_KYW70EVObnQf7EbZV3PYAOXc1oqUG3lMNpkpsVSP9f_AkeJziRdrCK-JkuRTWZS7ffxDP0em3Grf8z1_1XUhRTUNBr7Oo-lub6WYoQfnM-ADaXPI06MYfsyoT5MLrBwkOb_ZxcpPydf2098HBg7XSLlVP_P72VLgXF5LCV7UzN-OJGAVxfOMkVe_-ZjClSAM4H_s-PEM92QR6JQZU9wRKVmdUz7bClUslIehUtGe68T9IYzjIvqDpKMD9Ci1xk0ifpKRrQvBSDOV3CmRbMWW4WGgIVG7enVThKhlXtuPq-gB0hYFz7velIH6_NES2OXT7q186IRYzywTiQa7HfvqFckfJnxKjVtShjGiNCXvtdCPcYjYSi2tew5cI82GLZMU5Ayh3n18Rr-PhoU9paUBGMf58Ze5yzQ5c4rnaEuQ3KZhTXD8pUybFyBVqLaMq4JlKEuU_PccXu3jAoBqJ-myT_LYkaxKSokvXPq9ldd2gHlD0hUr7nNQuPWH4vdbSNjftraNoKZnHQwghT946X7vNdIpc88h6EqohSY0AUqITJFKRHfIH6TLP3Zl8VBkYGf83x6z8n2NfUnY4t05EbVXRQtUKMq3_ZEJ2spXI_DK2qb9HHYockpCJ5rsZ4zWag1T-2eVhBefdmmz3d1jrDjFodo3jPzKUd0shKoqrZ73SPY_9pZ9dvN6JishzW6WnfXJQ9PVhWjUgTicu5x2lXD2vFr-6l8lGrUMlxDyeICf3sBW1ZaxxwJiA2J1xasqOg-yHdXk3jVWGlskKuyK9uKSXzpOT6rHo8NgfyysGeNf7GJJa9sh5hasKENLdo2ZQWpS9fADBauqwJydePSxLeOWPYlwDq9llGaMwRVk5AnCz0tCimmz-YMcjb4ekDqiAcYwUDczWSORUS4wTIwHCL0rsDBW6lg4GT3x8bqZdKD1D0e5BdHqvTvceojf9Ms9W_XjFZ5apjPEwSWRQUWk6OM3EY50yCZ1kLFiA01rakSWPc9X27EqiMjcoT4STrdN3CEP7JpUyNHtXjtfTdESk1dggFbvkC6jS3f0w==",
  "id": "rs_0c5131395299f0dc016ab437e76d6887d0b7d3283e753a5b67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.532,\"left_z\":0.151},\"note\":\"The long gray plush still trails across the near edge of the left basket. I’ll advance the gripper farther over the basket so the object falls inside rather than beside it.\"}",
  "call_id": "call_joezkNzXL1Xhc6wIoQrXHbC6",
  "id": "fc_0c5131395299f0dc016ab437e9153087d0b4002bace89052d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_joezkNzXL1Xhc6wIoQrXHbC6",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.9869, 1.5642, -0.3855, -0.3222, -0.355, 0.0531, -0.02, 0.8165, 0.6067, -0.3862, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5232 left_y=-0.1427 left_z=0.136 left_yaw=0.075 left_pitch=-0.1907 left_roll=-0.0129 left_gripper=0.0531 right_x=0.2957 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0061 right_pitch=-0.0339 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -11.6581, 8.9094, 1.1746, -0.1001, 0.2027, 1.0281, -0.335, -0.9641, 7.3504, 1.7363, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22e140b6e05e2a3bed10b364ca8c624f5c6d17f9a8850b304da25dba392aa83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37bb9bb7a344fdf58eebaa806b882c81e38ad38e36f461f03de78bcea3935a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6181836e0205f351be81f744d70531541dd5bf1cd5900cc2ccf71c278ab0f3e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1116, 1.1973, 0.6384, -0.1387, 0.0525, -0.0082, 0.0531, -0.02, 0.8097, 0.6079, -0.3855, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=0.0336 left_z=0.1206 left_yaw=0.0537 left_pitch=-0.1314 left_roll=-0.0262 left_gripper=0.0531 right_x=0.2955 right_y=-0.0002 right_z=0.1763 right_yaw=-0.0056 right_pitch=-0.0252 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0667, 9.2376, 1.5897, 0.0317, 0.0317, 1.033, -0.212, -1.5795, 7.1316, 1.707, -0.0904, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4026, 1.8866, 1.3708, -0.2775, -0.3328, -0.3557, 0.0531, -0.02, 0.8146, 0.6067, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4942 left_y=-0.1439 left_z=0.1255 left_yaw=0.0566 left_pitch=-0.174 left_roll=-0.0131 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.1745 right_yaw=-0.0056 right_pitch=-0.0309 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.1009, 5.8325, 1.5995, -0.1148, 0.0757, 1.0281, -0.1299, -1.4154, 7.1453, 1.7363, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.9869, 1.5642, -0.3855, -0.3222, -0.355, 0.0531, -0.02, 0.8165, 0.6067, -0.3862, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5232 left_y=-0.1427 left_z=0.136 left_yaw=0.075 left_pitch=-0.1907 left_roll=-0.0129 left_gripper=0.0531 right_x=0.2957 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0061 right_pitch=-0.0339 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -11.6581, 8.9094, 1.1746, -0.1001, 0.2027, 1.0281, -0.335, -0.9641, 7.3504, 1.7363, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22e140b6e05e2a3bed10b364ca8c624f5c6d17f9a8850b304da25dba392aa83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37bb9bb7a344fdf58eebaa806b882c81e38ad38e36f461f03de78bcea3935a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6181836e0205f351be81f744d70531541dd5bf1cd5900cc2ccf71c278ab0f3e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDftNr2q6wvKt4stfpXLWHJK8vjWKm-ziRt_sVdzDrRQUtGrOTi9VvgyA4B8YRr-X0yE8zumSRrF2TsjIBe8uHkj_6wI2gvGvaMfsXyCaZLCKz5H5CvJEE6Mw3mRckCLb9bjTHg2rGHJFWxtT5RSQaPSE77n7k9fkJ1IDm4_bixSQJQT3bGF6-6Vzec2heTAbjnU89_JgfmfBGCl3c_HJCfjNo0aPWn-62YxOcTdjcz15C31OFoANOuJvfhINV1EPoBjJDQJMFJlTqp6v1Fj8AaVNq4RZk2QF8INvi4F8Vn_LaSTjFvtx06UkCawLvua_Pv4jRhjkTUp5UDMRtlI0Oi9v1tzGe_ayGS3XJSljpM_13U6sFUclvTLO0Pyfk7COrQslnlf_Zp5aJlai1qDUepDP9IlJvXIQ_lPfg-NKgKz8X1lRWorArt2_yCDo-UbPIETmqNF7oI5w387m8V6Hig8gVqLOevCju2DKg6T2Tbc9Y7ks_b4o9SONlZQiOQWVKubOrQ2fLYo8iROZ_y4FvLwUrkxG5qia4OXwFFnc89uG6rIq2flkWu-i9Muegst5lQgozRSp0oK31POqVthgJTYHpgluFQI9hfdLcvkxMu9HwtLwZygzuqLKiEpGOkCBZx9hIu-jLMu1F9Ott4fVA_xy0Dnh4Tc4HwKBvvKjYGMbMwaudtoaTqXrmfnegsLlyy-K1odiajlKG94es13hlNsoV6DMOtYGIwtczl48vVFjfPd9kNz4PHJ-5P3plXD2YNL6zw_H9mlMtKF2g0dnz8J4U6HnOw51OpN_pvK2I9y7L3jHmojN-T-b5Y6rkIHoCMbmpzzsuu2Uv1SzHlFcUgKIofZJtAsnIHBbm49wo3U72UwsciqdmxAkLgCd-uqrMuKNSZF00OovhNR9XSGB_gTytwBUCQyZ7Z7wXspywCAJfR9ZKw7ljOjhfjBsH44B5W_c8j1012I93wfuCjvNtw5KS8_AjodQv4L3ta1v-lczxfFB2ZjdgocYEeapAtw4P6KlRYbNGYK96-7Pa5lRgl-_jfRiiSUiySuBruCKRqLUdyY4e3dTK6ZIwOa4br9JtEVETG8KL5mT3YVVSrfHabODUPeU-4QrlRSKihNwIzutX-X6DKp5VmTa9FHzoVWue6vYC6_KL5vALKG2OKSh23Ah92zjaKkzLxBMCE0UqeqDxsUrQNBljMx4IOKE-hrPSv6RdDihKVLvFMNAzVaQpGv-uynzNGDOwdoPCZBAVz--6kXorSVEj3mLG7pZkqaqxI8ZIG1RSkf45r0ceiO63bHo7IczAQ1aRwKEkqZl26A-yfd3Czt_VF9mOcaOCf1jci33-3-1Ve8zshqJFLWMW1kF6FSslwe44wf8VXqj6J2DLuz1DJm_l5p5zKApvbq0ohhCINGgy_ZOMvmS6rpi8k5Np_sZIrhk_JTfppB4_-n0EdkqhE_Z9g2iv060KtLw8yzs9Y4HWbR6rsESau9peWR8JynZUWym1vP22IkV-dXG7sif4XF1AFi0TxV3Jx1KFSSVrVMmhB-zF3hVs86SSHaXlNYLRLgm1l0fCTGBXvGHqEjc_SjKC6nFXCglsLKwg9a8sSupOLceopKLnMI4MczZRlY3RECHpz13Fc9dMeuf9051p5zNSaucaVyxUpfcAO-rP8jpgwK62pWNZSOrIERxZMeQwDwVd-VGGvXyZjcGt0kRm0nN5r-UELpYn1c05GXZyiFNUYawDf55DCe4WMCEMfqlNOq4cjkYSAE0zDSg2MqSlFOkf1kaZ8sY9VFmxl3qRmFB8N_T-JCElEHmRqheCGNwno34--s5gQsV3nDBc0=",
  "id": "rs_0c5131395299f0dc016ab437ec285c87d0bbc532124f7ded94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.559,\"left_z\":0.186},\"note\":\"The gray object remains held but still sits near the basket’s front rim. I’ll raise and advance once more to centre it safely over the basket opening.\"}",
  "call_id": "call_OqzydBgH1fuzcNFqkXQXpe1t",
  "id": "fc_0c5131395299f0dc016ab437ed376887d08de9f28f26db0847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OqzydBgH1fuzcNFqkXQXpe1t",
  "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]: [-0.3542, 2.1086, 1.8839, -0.5884, -0.3103, -0.3519, 0.0531, -0.02, 0.8188, 0.6067, -0.3874, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5558 left_y=-0.1442 left_z=0.1697 left_yaw=0.0862 left_pitch=-0.1989 left_roll=-0.0163 left_gripper=0.0531 right_x=0.2957 right_y=-0.0002 right_z=0.1729 right_yaw=-0.0056 right_pitch=-0.0374 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -12.1368, 8.7726, 1.3114, -0.0659, 0.1587, 1.0281, -0.294, -1.3607, 7.0359, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf891ad254fbb83b7ba6326336d1017a25fd96e754f58bdeaf7982c96b62580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce1e285e27cdb2b9fe685986050b2d0e3922cfcf1f0634304c7ead9d24285d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c950fc33c7d376fc04861433fa14a1607d0860abc35ff54d81441f49b3354ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4149, 1.7805, 1.5482, -0.5613, -0.3374, -0.3603, 0.0531, -0.02, 0.8139, 0.6075, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4765 left_y=-0.142 left_z=0.2035 left_yaw=0.0506 left_pitch=-0.1728 left_roll=-0.0134 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.175 right_yaw=-0.0056 right_pitch=-0.0294 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.935, 9.347, 1.5458, -0.2466, -0.022, 1.0281, -0.1026, -1.5932, 7.2547, 1.6923, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.9869, 1.5642, -0.3855, -0.3222, -0.355, 0.0531, -0.02, 0.8165, 0.6067, -0.3862, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5232 left_y=-0.1427 left_z=0.136 left_yaw=0.075 left_pitch=-0.1907 left_roll=-0.0129 left_gripper=0.0531 right_x=0.2957 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0061 right_pitch=-0.0339 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -11.6581, 8.9094, 1.1746, -0.1001, 0.2027, 1.0281, -0.335, -0.9641, 7.3504, 1.7363, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3542, 2.1086, 1.8839, -0.5884, -0.3103, -0.3519, 0.0531, -0.02, 0.8188, 0.6067, -0.3874, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5558 left_y=-0.1442 left_z=0.1697 left_yaw=0.0862 left_pitch=-0.1989 left_roll=-0.0163 left_gripper=0.0531 right_x=0.2957 right_y=-0.0002 right_z=0.1729 right_yaw=-0.0056 right_pitch=-0.0374 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -12.1368, 8.7726, 1.3114, -0.0659, 0.1587, 1.0281, -0.294, -1.3607, 7.0359, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf891ad254fbb83b7ba6326336d1017a25fd96e754f58bdeaf7982c96b62580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce1e285e27cdb2b9fe685986050b2d0e3922cfcf1f0634304c7ead9d24285d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c950fc33c7d376fc04861433fa14a1607d0860abc35ff54d81441f49b3354ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfw5yFkn_Y4IJgbg4Y8dQiJsboC_-qQz_mmH3ii2YoqHjGsyPAmBjcJO3-GkN6pH1B6SVN8qelQAGLSm2j0EQ6ixE9NtC0ozoBsb2mEyjF4GLmZruSdiHzv5sOy9nA-Q653Ycm4gCvzuzpE2_LvHaQTfSAoOBrfeBb6UW59Q83SenmAFJcYj4hOUPPPFR0vYvLmroTCnZd8dnOnZitVqtb2jhdE_oq3d_44mGnp8OpLGC5tQ0x7sQBxR-O76uklgU1uF0C50fzjm3NDNYqYjs7EntBv2TjW_ZLs1IyilAQkZYACp-URVRoNDqrtkXYXctHJzYPntlK2sGUVYjTWtVYjeq1oyv5NHqdOxcxgJx-d8c6MEgD77vV4SzZ9oDDZ3UJEJtCMgpsik5eTx6l5dYgBJo2zCIkOSpJD8ogoVQ0zfYXh8s8v3tvaI9PxC8lyfCuV6v2jDAhyVwpFQ_k2gKzAYlK7WMEcSGQDPF-VeDCYWnFsLg5tFiu6LD7PcqJelDOOki2fB3F4_6pla5G1VZRnsJRAmTd7K6QIhCJMfIcWeRaelvhoJdIlA5FcrGFC4W7GDLFYjKV0w_r2AEaTgmGHmOMH_LUtYX39k4ZSoadIDK6cj8fEKn6RCX3BddUaTEeDRVphXZIHC2imfencE_R8BEh3BSVAr71B_RaGBTpXQTDzIXiphSVQJ9GsoliK3cbmkDbL4TEA-oVe86BQYYh20pGsLQBNOfL9Fa41JvMc1tVs5C5poUV6D9DXaic1XDUit5qCQfqmMNBM-JsSFOIVTJ9msS-Y-oyh1b2oVYRPgf0RCurpQrqkovLAXzrcg0Wa5Wf_V9TFS2ug-R0S38Yq0lNt_RZxHKbUNobYDJFeiZxsxnXz59yDLig3HIWNZjuiCt1Pg_Uugu5sIvu5VZZw9YZcCsAnKeto-y_-YpJIwl8FxEwUqXKkpbgyGohboPQ7c14D7xE3zUBriP7KeVVyPMXakf4yjLY4iB6oWocPTup0iuxa5xf7kGOE4cZF1MDzFRld8B8O8DbOFp2QOXfkB9vNN8FtQCqURyIvUK-JiADkF1Ck6GSSUm0u57Yb9YeTaONkQl0-gBRv4sQxEKOuOUV1H-KUAktMm3HKnh8-a5lxc6aDo8nGDe7jW8uQoUE84BichRC2tnE1Y7YQtKIUc9JBTHQaZPbcizG6YqikSuYUo2xgIsUQGQoIJG2roMcIt2C4S0NrQkLWjvcfulyGq_qOmxgkoqyTt4Pz1yKkKychiDrl0r894CqXQX2nZf2M_WCv4IPuarsDe-HIj92yib5gVpYBVjBInpCB8Z09MAMJ8THW-UkUdEps82ZdDDb4GNZGIzM4o6uvCHhuPVIBcD-Msgc2-w97lGBtARR2DjUFYkFhcWubXWpgcVoLk7zAC7hM2-yyBgDIIfnHLpS3-1LEBvdH8npQ0wtzsjedb7Hn6XDTau_9koaezSkWiv_E6fb4wpDv9qVH0m-ezRQCqNR8cdwcjPibwMUmbjm4RuI75K1GIuYCqeGrCI6V6u4UFJdly9lIoWFP8swFxenj-g==",
  "id": "rs_0c5131395299f0dc016ab437ef734487d08b368c4662a00e8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.121},\"note\":\"The gray plush now overlaps the basket opening in the overhead view. I’ll lower it a little into the basket before letting go.\"}",
  "call_id": "call_zVwM6AOfMP9IfG12VMvk0Yy6",
  "id": "fc_0c5131395299f0dc016ab437f01d5487d0b4b41a12120d4516",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVwM6AOfMP9IfG12VMvk0Yy6",
  "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]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3069, -0.3489, 0.0531, -0.02, 0.8204, 0.6067, -0.3923, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0915 left_pitch=-0.2179 left_roll=-0.0078 left_gripper=0.0531 right_x=0.2951 right_y=-0.0003 right_z=0.1714 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.6974, 8.4855, 1.4872, -0.1197, 0.0904, 1.0281, -0.0615, -1.5248, 7.1316, 1.7314, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73ea146e265b09f2237064cd32611f0ff9337a6a5f9dcd8bcc369344d6b7b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6522b3d802216732e845f3b3841432da2970c2f310c48400a29ce06d31fe92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3b272870aa6de3881ad0b5d9a0d39b48a094a018053ae72e90f67564b928ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4026, 1.8866, 1.3708, -0.2775, -0.3328, -0.3557, 0.0531, -0.02, 0.8146, 0.6067, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4942 left_y=-0.1439 left_z=0.1255 left_yaw=0.0566 left_pitch=-0.174 left_roll=-0.0131 left_gripper=0.0531 right_x=0.2958 right_y=-0.0002 right_z=0.1745 right_yaw=-0.0056 right_pitch=-0.0309 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.1009, 5.8325, 1.5995, -0.1148, 0.0757, 1.0281, -0.1299, -1.4154, 7.1453, 1.7363, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3542, 2.1086, 1.8839, -0.5884, -0.3103, -0.3519, 0.0531, -0.02, 0.8188, 0.6067, -0.3874, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5558 left_y=-0.1442 left_z=0.1697 left_yaw=0.0862 left_pitch=-0.1989 left_roll=-0.0163 left_gripper=0.0531 right_x=0.2957 right_y=-0.0002 right_z=0.1729 right_yaw=-0.0056 right_pitch=-0.0374 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -12.1368, 8.7726, 1.3114, -0.0659, 0.1587, 1.0281, -0.294, -1.3607, 7.0359, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3069, -0.3489, 0.0531, -0.02, 0.8204, 0.6067, -0.3923, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0915 left_pitch=-0.2179 left_roll=-0.0078 left_gripper=0.0531 right_x=0.2951 right_y=-0.0003 right_z=0.1714 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.6974, 8.4855, 1.4872, -0.1197, 0.0904, 1.0281, -0.0615, -1.5248, 7.1316, 1.7314, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73ea146e265b09f2237064cd32611f0ff9337a6a5f9dcd8bcc369344d6b7b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6522b3d802216732e845f3b3841432da2970c2f310c48400a29ce06d31fe92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3b272870aa6de3881ad0b5d9a0d39b48a094a018053ae72e90f67564b928ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfzwz421qk1fr4mTd6wvyjkopPi5M92ySgqpB6rUw6HUwZF8wsPedHLXmB5BZuENklpCFXdalE6GD9j9axtU1S6sPKWXnIab3GSfauXEGGSdQZmDm1d7WGd7VngGfwViay3Kh1q6bwoPpx0TqDRsrws7cGKV_y1WBzTOZmm6BRWvNP9XoDDWm74Yh51xIGw5v7YS04OFKx640OHI7X3V3VqQhSj2IDoYQE8rWY4zNVZm0Xt6DKSMJDTkTHKCCqiGzDtfmbe1XcAY54G9n1SAesynQ9EB_Wx8I37V1qHus7iah_QLv9uiWQ5w2mJWe5DpCJxbRQbiCUIu8-5VjwbPGp58Fy6QVnlrWqpzVCTjgFNgbeykQRhUlwdbxWGIp9ciU-sFZLlVoJQUGulDf5rlnoSauFQpIbrcrMRGWnLkxws-gohgUEMUQVqKUv1dwJoHLhAZp7BUfSYQoYQorodE28O1ZJpq6JBstdF-EgeTq4uDmnH0YBX0I5oaP3OSs19x-xDAqgc7vR2s11FbQVMC9A5YVrmxGkiEZI07whT0I6ujh_YZRzaGlP03JuzQKrDjquPCvurm1S_FoedBLpwj3U-mNYWGo9-8DDBcHKo9CIJLxX_uDmhUJDcazX-vje3zLeST8wKZIVJN-Gj2BOnjb1qyyraL1W3U62xOXBWx3PGAiMKeyTfMDXqnlExBa1pxXgYCcJdKTAJzO3l9M3NagWfXS6p2f7SLQxVZhklgI72tx5KbzaGj0RwDKs8RNHohc7OvxIV3LwmhJlinT0vZMWs_a38AgUfg0IWi8cOzqUIxLYqrrfEJZfVZ1iys_f2gUzwlv6nK8kZFVZUsYoOXBsnHXhjoEEzmfv-cdBcJlXxdPWjgRA7mWSx6qaDJTZd4kM5zf-ZeVXjganUhoKjjMv04TzVAaAVAvaQSqDWoST3dZ7eiUkDbjCj5PsZ3PaBGMAw_3LbSPrXFBRZo5Jdpttz9GfvC5lOueurYTVz4zEeCKyBrULY_WeONQtLB4eBb_Rsb8UpMU3zJP6WJAViLNNbuEH9uK31DF8Yr3vV8F2EfAuMZS6zk9JAaPbjhaTVtQqb6SGPM3uKjKW1LUu0kkkpV1ge24McbJ8C2Bqc8Y0N90YbJT_Ki-sH_rgcpVRnSQ-FoUBWmzLttObDTBpx5bX5Q54ZiCO3Ga7xQsxpRQSH06oKl7RLQKEPoILwoJO5omu3XHBSukSPoXDyVR6O-Qd3p4-VVQA_DExvojvzgIb95BZQPluDSx_A87BISihSwTB7j6TC1d9m73Sn8nDP7wnKiNMPlYrti-S28hkiaQRb5xgQVW-XfK306lZwQOehaWin",
  "id": "rs_0c5131395299f0dc016ab437f1f83487d09469403c99bf2274",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The arm cannot lower farther at this forward reach, but the gray plush is over the left basket. I’ll open the jaws and let it drop into the basket.\"}",
  "call_id": "call_JMF9uGQEZVFVfZh3DgTJe6V3",
  "id": "fc_0c5131395299f0dc016ab437f25d7487d0a08b8a58ec3f4050",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JMF9uGQEZVFVfZh3DgTJe6V3",
  "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]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3073, -0.355, 0.9954, -0.02, 0.8211, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0952 left_pitch=-0.2178 left_roll=-0.012 left_gripper=0.9954 right_x=0.2951 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0054 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2598, 6.8171, 1.4628, -0.1978, 0.1099, 0.0024, -0.0615, -1.1419, 7.0496, 1.7363, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920433f66851f0fa36d7e0cf7434a01d4380a652da98607193365c290bb92380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6e568c50e77954358f75bb908ad3f51c7013c1682d97ef8d341c6d94dd90c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bda27ee7a61b0881db8ac475b3c10bc5a4c59c3f47f9ea93cba575417928848",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.9869, 1.5642, -0.3855, -0.3222, -0.355, 0.0531, -0.02, 0.8165, 0.6067, -0.3862, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5232 left_y=-0.1427 left_z=0.136 left_yaw=0.075 left_pitch=-0.1907 left_roll=-0.0129 left_gripper=0.0531 right_x=0.2957 right_y=-0.0003 right_z=0.1737 right_yaw=-0.0061 right_pitch=-0.0339 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -11.6581, 8.9094, 1.1746, -0.1001, 0.2027, 1.0281, -0.335, -0.9641, 7.3504, 1.7363, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3069, -0.3489, 0.0531, -0.02, 0.8204, 0.6067, -0.3923, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0915 left_pitch=-0.2179 left_roll=-0.0078 left_gripper=0.0531 right_x=0.2951 right_y=-0.0003 right_z=0.1714 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.6974, 8.4855, 1.4872, -0.1197, 0.0904, 1.0281, -0.0615, -1.5248, 7.1316, 1.7314, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3073, -0.355, 0.9954, -0.02, 0.8211, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0952 left_pitch=-0.2178 left_roll=-0.012 left_gripper=0.9954 right_x=0.2951 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0054 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2598, 6.8171, 1.4628, -0.1978, 0.1099, 0.0024, -0.0615, -1.1419, 7.0496, 1.7363, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920433f66851f0fa36d7e0cf7434a01d4380a652da98607193365c290bb92380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6e568c50e77954358f75bb908ad3f51c7013c1682d97ef8d341c6d94dd90c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bda27ee7a61b0881db8ac475b3c10bc5a4c59c3f47f9ea93cba575417928848",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDf4zf7kGHG3sAXQJHlARMURpqNzjkRxBzxPlxRrqnvovzP1NX6nzRcLX826AMd1oPj3QVRSGWYTbBjzkoUi7BihrD16cqGLIm5hddsDGuxUBjY323UxqEuO5PVeLR0RVkzS5dyTRo0qH9ag-VEOWNyVfh5F3v2Olg014fI--WONI8kISaeeIaGxV9cXYLQSNdDqQKHjXnz9R--9H_N20y_h0IZHPnwUg-6AUWjk002mKoJAjSGoU4NVQKrSXs31HDX7rBMSggJr5lDSW4hiJrbXi0EFql7hf-Stp63Ye6utq-fzZmT3GlMOadgHfoPQL8KzkqTHQg_UvXhONiFHtNJ-lZb7arT4xtE2BDVVotVz8HVaxKfSfRbl6l4cvojeBn0OGjMlp9dVrUZukiHXbHQvTPy2gsZEG41aX6krliZ5uPyskWl7vbdApOJEApvidUDdtO7gLGnjp_zZ-xwhItCrwRVwYI0_vFapy9EvF6v-wbpEQGirP_HyJqpfpMdtNwbaRbvPsaicAxG2VuH4Q5tGD5aYWjY0ptwfEiwmi707tWieGiJa9GZ5RyacfY7ytxTgv2-iC8L9C2Fg3sy-tuejPCnLSNJgXmSLRziwXEG4KCM3tg3ZCV9oDF2KM9_6ktX7kt5ucWn4S9ovhAGFmkOJDLHo_5sVnhbOm7HFMOi4PUUtXVT7D8kyerV2tEAbmwHb-QLjIkanZ9pF42U72-R9jtrpXtNuEdLcFiGAUKbSVToXTQWdDLrCzYPw0RsqfFFEZ23xGzttf0J-mGmimuLFjxfKLkWBdKOk9oYR3fr5Z6qC1IhPZd7rZjoRVuBzIF42UjPRjKqQ3lRgtSCm3cg_MH3qOlsE-3QVf-k5tPM38mEOHPaw1a9hVndLToTnPX2WlafAb9HyOuQdebdsTmNpLwXx5MEjSZabXLfZAWPMlibmdQIRCbGRncPhtS6C1S1O3t6D-gppqXUZRf8yPTgRCUDVdKbHyzH1rGlcScNlRmfKUiWU_vEfhDIWlsJLHf6Kt-6mV8tbrVErUGd9VeNc1hM2zRVBX-fhztqdwXX_cxBGiNnBi8O36cvuAKYWixI3oGKM7wil2lQpijAPNebe-mCnEm6HdLF66jSIYd_dQdCjeIVz-A2aNBbvv0rx0_1_4DVfdPAeaTclIKxZJWZ8Wp0LMEmragJizavuWaqVHoXYcMTYQxJ6g3UDQ-JFIFoTXL13gBmqazQirMQwqHhz5FMfyBXdTZBJd4MGgIskNj5TZWpDbfLbXJVEHjeH4M5XHn_m-hdY1sQXtvQpbtrVYAVIY5ff3j_0CzcOy5Z0vnOIGQ6wrxGxYB2x73H05ywzkwbqrH2E-RRfuSjypfpH2QRdWEht7qtAyS898ZKY9uv2vjJ65CQsJJoug_gWZEhXRNeu0lx5TQiiXOnabQltBrQ1BB_CJOoFxmgM-FIEGXGFIzNTQI1vvJQjj-WD5w8QYI1kyZe8CrHe0xgc8rVixximWIFxtjEoA6Q-URNuSKjxwg6LFn30uWt5vySQKKehc5m9QKwqvkqvVZSpeZrk8aS-CPimcmzWYzS0gZqIniO_rED-OGQlAngbgleKAWO8fj0-EMStz3AeCI5bKVI2jgqjU0dwSo5FE4BNOvehoohgSFYjcKmE6Pv9GUr7A5FeRnISkHaxaiSzEB_BFUydX3RJp-bQ8Sgh_PzQT7_TrMuJ9ztBzVnUaQm5Bh_VEUzGd1ayhcG6QPhZWfogo9sF3zsy0f-eRIktc9E1x4PNy_x2mQhrDYGnS_aysBRfYXmYTJ78bBpy13VR_3a8Uq5EIBGmcTO6TfSbjsCkJ-VK0ZiHAdhDis5xbCoAeMSJCv2wcF5EmrAnFbW3_MswSnVBv_sut0-j-NMPodH-976YMfsb8k1Ma_6X0lmXjhb32UIaa4goQ-EMhimNTi1pkn-WuSqiXDbugdDlhX2rAxbIosjA5ILXR94MwOBckZUKJLOkZhHdS6-cB0PnqHOkOMmNnJ6jJT3r-ht5PAWmTL9ni43yf1sAxPO0lN3UHrG6cSeH5Hk2dq4c2QwDY80qKvKo8U3WKKvNTtNxiLIbpzmxRM91m5QFBeTo4Zn2YvQaTLQI6XFwyZwPwFbJWEzfuVVetB6VRUYO3SKNwJMCMLVEKy4s7a9TZBwschwZ6I5qGMm4nBPZKrOtzl73__venjKmAd048cTdpPLNdpJqTAbBFJykqXlimVOmgKhVxAGv4axqCh3T1H3WG_KfyzBDt6ZfcBabQKYUWFh3Kr6W1UJDaPNK8lUI_1_jSDyTLB3Tzpw-Ul3Ix9TriSGwxkIL96ZGl8sWcRhfL4WZ2NCUm8tsGG_-FBZkQuTKjw0uRp0DhKIz",
  "id": "rs_0c5131395299f0dc016ab437f570d087d0a4e34f398cf97ac9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.002,\"left_z\":0.19,\"right_x\":0.344,\"right_y\":0.218,\"right_z\":0.143},\"note\":\"The gray plush is visible inside the left basket. I’ll park the left arm and bring the right gripper over the tan plush cluster; the right basket will hold the tan objects.\"}",
  "call_id": "call_KhRGL00CGZEOq0kY8dNI7R3f",
  "id": "fc_0c5131395299f0dc016ab437f7ad8c87d09649c67ea9f6e3a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KhRGL00CGZEOq0kY8dNI7R3f",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.0891, 1.0084, 0.8867, -0.6487, -0.149, -0.1894, 0.9967, 0.8101, 1.515, 0.9138, -0.2329, 0.6102, 0.503, 0.9997]\nstate[eef_state]: left_x=0.3069 left_y=0.0025 left_z=0.1948 left_yaw=0.1245 left_pitch=-0.1947 left_roll=-0.0213 left_gripper=0.9967 right_x=0.3366 right_y=0.212 right_z=0.1275 right_yaw=0.029 right_pitch=-0.0907 right_roll=-0.0342 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -2.6325, 6.2017, 1.7167, 0.0317, 0.1832, 0.1148, 0.3077, -6.8991, 8.8684, 1.4872, 0.5543, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f49fe4bb66fc1f0f795f95202b1233ea0ae975a4f9906a8eb261ecd5cbc8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654d19fcbd4efa80d5942333acb0279031f7c254162a32712d891be291f9a057",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d643322e324b2dd2a7b3cfe02b66811f505e368987fe0cb0f5acd119fbabd4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3542, 2.1086, 1.8839, -0.5884, -0.3103, -0.3519, 0.0531, -0.02, 0.8188, 0.6067, -0.3874, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5558 left_y=-0.1442 left_z=0.1697 left_yaw=0.0862 left_pitch=-0.1989 left_roll=-0.0163 left_gripper=0.0531 right_x=0.2957 right_y=-0.0002 right_z=0.1729 right_yaw=-0.0056 right_pitch=-0.0374 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -12.1368, 8.7726, 1.3114, -0.0659, 0.1587, 1.0281, -0.294, -1.3607, 7.0359, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3073, -0.355, 0.9954, -0.02, 0.8211, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0952 left_pitch=-0.2178 left_roll=-0.012 left_gripper=0.9954 right_x=0.2951 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0054 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2598, 6.8171, 1.4628, -0.1978, 0.1099, 0.0024, -0.0615, -1.1419, 7.0496, 1.7363, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 1.0084, 0.8867, -0.6487, -0.149, -0.1894, 0.9967, 0.8101, 1.515, 0.9138, -0.2329, 0.6102, 0.503, 0.9997]\nstate[eef_state]: left_x=0.3069 left_y=0.0025 left_z=0.1948 left_yaw=0.1245 left_pitch=-0.1947 left_roll=-0.0213 left_gripper=0.9967 right_x=0.3366 right_y=0.212 right_z=0.1275 right_yaw=0.029 right_pitch=-0.0907 right_roll=-0.0342 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -2.6325, 6.2017, 1.7167, 0.0317, 0.1832, 0.1148, 0.3077, -6.8991, 8.8684, 1.4872, 0.5543, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f49fe4bb66fc1f0f795f95202b1233ea0ae975a4f9906a8eb261ecd5cbc8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654d19fcbd4efa80d5942333acb0279031f7c254162a32712d891be291f9a057",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d643322e324b2dd2a7b3cfe02b66811f505e368987fe0cb0f5acd119fbabd4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0c5131395299f0dc016ab437fb5bd087d0813bd8f69ea7fab1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.318,\"right_y\":0.261,\"right_z\":0.107},\"note\":\"From above, the right gripper is just to the right of the tan cluster, and a tan plush appears at the lower left of its wrist view. I’ll shift left and slightly back to centre a tan plush between the jaws.\"}",
  "call_id": "call_pf8Npb7jmzf1hVNfA9ZKkRRy",
  "id": "fc_0c5131395299f0dc016ab437fdcb0487d0a6a88d1a11a2c068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pf8Npb7jmzf1hVNfA9ZKkRRy",
  "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]: [-0.0895, 1.0145, 0.8845, -0.6651, -0.1352, -0.1837, 0.9967, 0.9409, 1.6398, 0.9638, -0.2333, 0.6819, 0.6102, 0.9997]\nstate[eef_state]: left_x=0.3042 left_y=0.0002 left_z=0.189 left_yaw=0.1104 left_pitch=-0.2209 left_roll=-0.0216 left_gripper=0.9967 right_x=0.3193 right_y=0.2551 right_z=0.1055 right_yaw=0.0475 right_pitch=-0.0979 right_roll=-0.0419 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.0838, 6.9812, 1.663, -0.232, -0.0708, -0.0073, 0.7179, -6.4889, 8.0752, 1.116, 0.4225, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373857ec2420337c24aa38971233fee04bfde27be14b6af7b0d1514c7d3ac56d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8348a8ff8bdae63d2d3d7a530becb84450efbe23f7807de610bc2a2840a622d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda579b58df6d40ecff8c7e6d7196d3fe391f1c4b1461adf750bb9ec1bd8d8b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3069, -0.3489, 0.0531, -0.02, 0.8204, 0.6067, -0.3923, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0915 left_pitch=-0.2179 left_roll=-0.0078 left_gripper=0.0531 right_x=0.2951 right_y=-0.0003 right_z=0.1714 right_yaw=-0.0059 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.6974, 8.4855, 1.4872, -0.1197, 0.0904, 1.0281, -0.0615, -1.5248, 7.1316, 1.7314, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 1.0084, 0.8867, -0.6487, -0.149, -0.1894, 0.9967, 0.8101, 1.515, 0.9138, -0.2329, 0.6102, 0.503, 0.9997]\nstate[eef_state]: left_x=0.3069 left_y=0.0025 left_z=0.1948 left_yaw=0.1245 left_pitch=-0.1947 left_roll=-0.0213 left_gripper=0.9967 right_x=0.3366 right_y=0.212 right_z=0.1275 right_yaw=0.029 right_pitch=-0.0907 right_roll=-0.0342 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -2.6325, 6.2017, 1.7167, 0.0317, 0.1832, 0.1148, 0.3077, -6.8991, 8.8684, 1.4872, 0.5543, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6651, -0.1352, -0.1837, 0.9967, 0.9409, 1.6398, 0.9638, -0.2333, 0.6819, 0.6102, 0.9997]\nstate[eef_state]: left_x=0.3042 left_y=0.0002 left_z=0.189 left_yaw=0.1104 left_pitch=-0.2209 left_roll=-0.0216 left_gripper=0.9967 right_x=0.3193 right_y=0.2551 right_z=0.1055 right_yaw=0.0475 right_pitch=-0.0979 right_roll=-0.0419 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.0838, 6.9812, 1.663, -0.232, -0.0708, -0.0073, 0.7179, -6.4889, 8.0752, 1.116, 0.4225, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373857ec2420337c24aa38971233fee04bfde27be14b6af7b0d1514c7d3ac56d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8348a8ff8bdae63d2d3d7a530becb84450efbe23f7807de610bc2a2840a622d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda579b58df6d40ecff8c7e6d7196d3fe391f1c4b1461adf750bb9ec1bd8d8b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0c5131395299f0dc016ab43801f53087d0bc8d98839e146c7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.304,\"right_y\":0.283,\"right_z\":0.052},\"note\":\"A tan plush head is now near the jaw column, though slightly to the left. I’ll centre the gripper on it and descend to its body height.\"}",
  "call_id": "call_tRAG98dk34RNGCkoC1EwIIqV",
  "id": "fc_0c5131395299f0dc016ab43803562887d092b0f2671b70db0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tRAG98dk34RNGCkoC1EwIIqV",
  "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]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.1406, -0.1909, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.119 left_pitch=-0.2213 left_roll=-0.0227 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 6.7897, 1.5409, -0.022, 0.0122, -0.0073, 0.0615, -6.9128, 7.9795, 1.0672, 0.3492, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d5fed1c93ca014292590da5998a5d25974f80b7eb6ace72e060848a12b5b22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af92877b1d3913dd49667e7cd8bb643d2bf9fe39bd6957567c3011984d965ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4be1abf1fee20e4fe11a0929f8fc639da41dde6f6857d4a00312a9fcb5caf20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 2.1189, 1.9301, -0.6441, -0.3073, -0.355, 0.9954, -0.02, 0.8211, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5555 left_y=-0.1398 left_z=0.174 left_yaw=0.0952 left_pitch=-0.2178 left_roll=-0.012 left_gripper=0.9954 right_x=0.2951 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0054 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2598, 6.8171, 1.4628, -0.1978, 0.1099, 0.0024, -0.0615, -1.1419, 7.0496, 1.7363, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6651, -0.1352, -0.1837, 0.9967, 0.9409, 1.6398, 0.9638, -0.2333, 0.6819, 0.6102, 0.9997]\nstate[eef_state]: left_x=0.3042 left_y=0.0002 left_z=0.189 left_yaw=0.1104 left_pitch=-0.2209 left_roll=-0.0216 left_gripper=0.9967 right_x=0.3193 right_y=0.2551 right_z=0.1055 right_yaw=0.0475 right_pitch=-0.0979 right_roll=-0.0419 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.0838, 6.9812, 1.663, -0.232, -0.0708, -0.0073, 0.7179, -6.4889, 8.0752, 1.116, 0.4225, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.1406, -0.1909, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.119 left_pitch=-0.2213 left_roll=-0.0227 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 6.7897, 1.5409, -0.022, 0.0122, -0.0073, 0.0615, -6.9128, 7.9795, 1.0672, 0.3492, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d5fed1c93ca014292590da5998a5d25974f80b7eb6ace72e060848a12b5b22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af92877b1d3913dd49667e7cd8bb643d2bf9fe39bd6957567c3011984d965ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4be1abf1fee20e4fe11a0929f8fc639da41dde6f6857d4a00312a9fcb5caf20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgIzddaJLZuKwBsnJDf6iQAhlL15fWEFFnpXNCD4qFSMXNG60aLqW7gBOZ5q8BqqBhV3BH-NEJcz0Ve_QrHWPckGI5kHSwewMs3c1fhtkr3rWCnnUdDxwn4S1zU9ABEeCpoU4wgw1eGp6ej_yCrsmrpiPdPi7c3N0HI3a4RkxvOkHPsA6VAef-JjGIBwSAv1tyW9JEVHTRwr3FuxVOtD2UQKegjZ6OkY0c6iHQqUvqhh6Dzt_3KVaVeMuhgKo99aKGenK0s3b8tQlblnDUiQPcP18ssMkPf30ZzQkcS_2uP4dhbvqD8vosCAgdQcks3tEYDTTDKuJekvI1UQ6_Un-MOlP0dYb90dOUbfNf6SjMBEvJFbK3oIEBTAjtgkOBb7q8PTDgI5RVrCe2DWGt_jXj3FeVwrofGnP7qOlgPpq3qmTV_k4-qVJ4JC8EIWCa2YiLe-bwiZhyCwsIJZHSvExI-kHCoXUC3008W9efTHVuhGJRGvG3-2K_yYbQcTW_8QCnz2pzXg2-GDJuuZhTWNelC884WuiDlKXX7w9Opi3vP3K81dFtRLFUavjAO09XKfKwwBLlBaRRQZLWWGH60QiQecXxSBucMjAtIFpD-pqeM3O1YGGTFNpf8WW4G-cM_CrlfMGuNxlshao1_jpqEs6ZXpgUkrnoxt-7Vs1L5k5b5Aaf34sZxuAHsJ3Ym6bGyEHARpCe02AGi2JHF-tCeLnH49YIOqOEC5B7LLRKSxGHjP6shEYq2ybZ5VAebpKJUSYoMU1L5h3YPJ4YQOiQFQcS-UAeiooWXDw9-NkDZfYzUdP0xuYKYn-Z3MfV02lNANlTl32B4ihl3EknjOxxu98PyH0YUGrKXcUEvtBak2Hpm1aO6FCj5b-fRNrvb3H3f5G44i9ypOyhyHR0XRdVZZfhJfdi71c54eCP5Nf2rniA9dshRHnCAlGL_gBRQHYCcvURkcARfZPvwu-edUYjpYm3l5Qf0aHqXk3IXrBxxvcB7qf8A4ifPoXHWLkR2ygN_JVvnWKt-MzgmA6Ijcb0AB30IsNeL7OqEgRUbnr1LGP7G5qSFijClaZBmTyQTKrgolBhHenNq-qEZnlJqQ6GS2GVRB5ylSneCSLCMhO94TCkJeqw9jQRu_n-VfJ0u5OsM33EPaGPlUML69H3pIjdO1-r-2PrpVxAZ_TByzttACLXflDTbdgaNxuYsvgE7pjMEyNjK-ki5y3jkiIfbHqTNzWIyxBit7UXJGCZkRk9mtyxvToFEyGQeK-Bk39OVp_CD-ZAbaCVGtf-YFUOR2DJZQVJyCXKSxAwPB-VBTLrEJwAZClwMfOq8tB6qPT5sn1eBtWf-UiJN0f4WLmymQ8EG1LSKXBIemEcgll7rS9I8-RVvRzUIjMNnB1byQC6lJayufpaMuwzaqWxr_kBStgtG7DCQsz8mWQ3JHspbSmcZmte735vrNQ0Bxsk7JDbOOiOarboVsOJlO6hVZK_9YUdfje1ytSsmcATRfemMB7A6gvMyos7MbdvouD7RjbLkNlBs5HORwBj14-cq6At5ZBJuamLi2dSmkKQ8lHQm9Au5FF5RlaVBcLjjIftoUATWIafzW8PpR2uIxdxG_zWh1-WHgCH-1ZzDJ9xLe_iiXHYN_jzlKBhxmwYYEdqIDDw_PsNDAZdkEPQesOBnim7jJTSCyrXyu3Z_X_zwsgbI7pbkLJ6_gGVxRl4jB5fT2rV6zhmamORYOF_LRi19nCHSrDcCvl0ZgDeRsjqheSCLXESz-p-sZQPpEqgiSVRsm5Up-wzuz6VyC97OqNWaHVxcFSDLi2AKVLDGUrbHWUlmtFX-gpAvlYtwnksxcEVLlrh3ELC4o0U86Hk7t4j_fV1WSoUJtPD6v2u3cK_4YSRiB6qsXuDtUCP9f1N2_bfDHr4hh51h3C4rZkiq24oDKML3_7VZvokGu0sXryV_NJUzNoFfP9qcNLPrgnDB-JAhUU-D9VGwdtoKNQTlWtHCdGpv-7QV4vWVPmyYKm_D2w1sYfP9oN-YWSdMQqSnTX88ZfSQC77qUrZIaDerhtuBESW4tuzQLlGR05jjBMu4U3WBQ5_JEUxuR11ONG1xCgH-YUBizCFeeyjbwXi6dRD2Jy9tN7O06_DRAxqWuc0Vuf5O3VKR1hEZbigBWC5vltjDTymtOQrDx9gqmB9X63_PuuO9a-z8hQ7Bu49W2bKpV8tOWU4YGnqFfs0=",
  "id": "rs_0c5131395299f0dc016ab43805bf0887d09a9e8f67411d13c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.189},\"note\":\"The right arm did not track the attempted descent, so I won’t force it against the plush or basket edge. I’ll raise the gripper first, then approach from a clearer position.\"}",
  "call_id": "call_8eRdpHiQkNH2GnzwDeOddzxO",
  "id": "fc_0c5131395299f0dc016ab43807eed087d0977c1a411fc77abd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8eRdpHiQkNH2GnzwDeOddzxO",
  "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]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.141, -0.1913, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.1195 left_pitch=-0.2213 left_roll=-0.0228 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.6188, 6.9128, 1.4921, -0.1245, -0.0708, -0.0122, 0.5402, -6.8581, 7.788, 1.0379, 0.3492, 0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3451ed31cfe31df7480798bd4ac8c2fa390daeaaf3f89292c34b98f9f14649c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2edd67713332984217e1ea7674947a930a73c8cd8f551142eaeb668d0fa9402e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ef83af1b6cb7a4921c8bceddff6cd8992cd98fd37ee891ef9ce1d4a1705bbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 1.0084, 0.8867, -0.6487, -0.149, -0.1894, 0.9967, 0.8101, 1.515, 0.9138, -0.2329, 0.6102, 0.503, 0.9997]\nstate[eef_state]: left_x=0.3069 left_y=0.0025 left_z=0.1948 left_yaw=0.1245 left_pitch=-0.1947 left_roll=-0.0213 left_gripper=0.9967 right_x=0.3366 right_y=0.212 right_z=0.1275 right_yaw=0.029 right_pitch=-0.0907 right_roll=-0.0342 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -2.6325, 6.2017, 1.7167, 0.0317, 0.1832, 0.1148, 0.3077, -6.8991, 8.8684, 1.4872, 0.5543, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.1406, -0.1909, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.119 left_pitch=-0.2213 left_roll=-0.0227 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 6.7897, 1.5409, -0.022, 0.0122, -0.0073, 0.0615, -6.9128, 7.9795, 1.0672, 0.3492, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.141, -0.1913, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.1195 left_pitch=-0.2213 left_roll=-0.0228 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.6188, 6.9128, 1.4921, -0.1245, -0.0708, -0.0122, 0.5402, -6.8581, 7.788, 1.0379, 0.3492, 0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3451ed31cfe31df7480798bd4ac8c2fa390daeaaf3f89292c34b98f9f14649c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2edd67713332984217e1ea7674947a930a73c8cd8f551142eaeb668d0fa9402e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ef83af1b6cb7a4921c8bceddff6cd8992cd98fd37ee891ef9ce1d4a1705bbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgM2ojSogKq2c4BrmrsFT5SCWnrfAC6DgYfl0yrZARPsFOSHs2jjCXodIWO81B2vDfUVv-rT5dH8ILFMR7UpqSulHuqrOXEVYhFwJS3hgL_MpEzfAxlnDg82kBeCqY8Zu-mBIqUwwtmsIXQCY5982Lwe18_wglBmPUefvJn5I5hbrjNbBETO7bQ5osg4opNiSXy4Xmp1yTiyK9CfRN_3m-cUn5HkTClocecfO-jdciIlUEGy3eG-3ouUWtmmkLCIpwF-x3c_Is3qI_bmT7T70yu4O0FsKTUVnIoQe3i6lDFQTGxu_s0ecWXcq9oprhq0B1dnqFI63-qeyrtZcXBPmeDmfEDeNFKcIjeOk8Plfls90jI8vA3G19_rua8u7nliFyzx73yALzu5Z4FAujimlL0LdfPlxuQSAjXcnQAZAlOYOYk3oeNBM0TDd2D5XayUCVN943hkWCXKEnc6KxJsLUvXHLZ3Tgu5bkWnz16R8lv2Sf-AklTuVG3B426qvz-cSQr4Tdv0Bcu35S88rd7cHEFcpP3J7U-nQyvUQ_oV1ATgsmADXOqrxxffQTjatiey6krPDYqCjmc7qJNW_f51y6EhQrV4k_Zf43fgl0lkn7ckL2ufU1cJHaHWlz6yS_8LYf07ITiWrVeARX6kR8dcSmatk2dEBb1mBtTjqRJN0nbpDRLZi_lZ2E3Jh58LFUxBr_XsPKpLIB9kcvb7-un4JXT-9-Ppa6DJj6Y4ZxoFQJBg-YitpOz-qJEa-a_WgnkcjkkbS2oLmB3xfStd9KoDmbPZRpi7ch92GFYBRS0WDicdNF455Rxzj81za621Gq9LBXYd53PsOZdUcl8SJo9bYvSZLJ_G4j6iWzBzrw-rKEHcifQIACsUCfDh3J82GlLfWI8pZP8P_KTQlhefs9_jKyqNYCSWaO3Jh3RgmdVBew5JVW0GJQxSzWTc11FWAzYLY-5ZaW2Gc_bk8mP9AP_fSbQo6ShdRXnFNQaxgm9OP2UAAisvfxiN2LAHjPE4zYdYEGZJe3kFXTcBBUQqkVCFAC2Ppj6M1dIGc_CMSmMqm_sISTY8n8o8U2QKEowOtkoicg0yBFddg1rV_mHj3Xg7CKNegCbIUkzIzOyE2MS61nSWHc5HxqTDtMsaaWYkPyGcsL0HqZu9emzQi3UYorpmx4gnVJ2lCbuD3PXUBpde64t0mR1TvwqwTngKCTbzhEOOxZ19Wa8SiDu5G_cq6qnsyH5QLj6YTH5fYszE-s5LQf922UDf3zwNtUPPNJzEsS8byOf8mnmqAeVvgnc7azprbw9XmUdWdy00ifUGjPIdaISY7WwTZBWfJUg4t8q861VaJfbYQnM429m_arNJvQNTmg9VglJKxS1ffnGjppchq-3N86CFkyBG8_WsSwdpu-CC2qVWOVg-jDY5nGi7QDXS9Q_z-sqp6Dmw9chdEdNw3lHviafkHYEXTXQr655Or80-o7MF65xa9NHvYK8cyVKLbHEsL_NOVC8s1JueEfvDICMCtDuFH9quiug2rQb3y49H53Gw1ZR0qBdL8Q8dOcabI3bFV61zLleOALSxCc6bjvMU7BbLOTG7wa1mzBsDYFaTkHVzZ58tBlsH9nVMfIGr91Fj_B3AkrKVz5Zf1v0WGWR1-JYrzZ7nw-RaROfQ1VC_S8EQLngmG8VPCe0OIjwUUqNGXffDAQBfjFLtB5gMIs4O3inLoB0Xg8_zNfU05hM6hexECtu3F2ZTU7y-JSw3Qo8BIS-Vhr6SfxT_71GyP2iSxb618fDaBu-mnHGtCCXEV9q4utuzsCDass2MwMNQ6KpIPHgGdUT7_l8rzQTn-ZiEaDpUMqELkOy4tRdKGHwlwj_vHGd4eeRUPpjCgpf2AjqMql7czPkYN6AvZLLyqteRwSUDmvnNcby18BDnZsVfk_SX_WvBaUvOLl2DMOzKU1tyQ==",
  "id": "rs_0c5131395299f0dc016ab4380a865087d08f2d8a798d29c2af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.276,\"right_y\":0.179,\"right_z\":0.151},\"note\":\"The right gripper is still motionless beside the basket rim and tan plush. I’ll retract it toward its base and away from the crowded area before trying another grasp.\"}",
  "call_id": "call_kqY82zZqB3La5S6jSJBeP8ou",
  "id": "fc_0c5131395299f0dc016ab4380be38487d09dbb5189442626bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kqY82zZqB3La5S6jSJBeP8ou",
  "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]: [-0.0902, 1.0203, 0.8845, -0.667, -0.141, -0.1944, 0.9967, 0.9077, 1.2602, 0.8009, -0.3988, 0.6575, 0.5938, 0.9997]\nstate[eef_state]: left_x=0.3043 left_y=0.001 left_z=0.1872 left_yaw=0.1207 left_pitch=-0.2276 left_roll=-0.0236 left_gripper=0.9967 right_x=0.281 right_y=0.1902 right_z=0.1499 right_yaw=0.0432 right_pitch=-0.0801 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -2.8513, 6.9265, 1.5409, -0.1001, -0.0073, -0.0073, -0.5538, -4.6701, 6.5162, 1.4139, 0.2564, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d80fdf498ade1be13647b426cbe126685ebc790d9c4a29987dda40d80f9e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ea8441fac58e561c7ebdbc9fa9ee9eed6f7ae918c6159650ae138a57cc57be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3579c4951cf57ff93550de928b89ec560fdda8a06483979fc64cac42d28fa5eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6651, -0.1352, -0.1837, 0.9967, 0.9409, 1.6398, 0.9638, -0.2333, 0.6819, 0.6102, 0.9997]\nstate[eef_state]: left_x=0.3042 left_y=0.0002 left_z=0.189 left_yaw=0.1104 left_pitch=-0.2209 left_roll=-0.0216 left_gripper=0.9967 right_x=0.3193 right_y=0.2551 right_z=0.1055 right_yaw=0.0475 right_pitch=-0.0979 right_roll=-0.0419 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.0838, 6.9812, 1.663, -0.232, -0.0708, -0.0073, 0.7179, -6.4889, 8.0752, 1.116, 0.4225, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.141, -0.1913, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.1195 left_pitch=-0.2213 left_roll=-0.0228 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.6188, 6.9128, 1.4921, -0.1245, -0.0708, -0.0122, 0.5402, -6.8581, 7.788, 1.0379, 0.3492, 0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.667, -0.141, -0.1944, 0.9967, 0.9077, 1.2602, 0.8009, -0.3988, 0.6575, 0.5938, 0.9997]\nstate[eef_state]: left_x=0.3043 left_y=0.001 left_z=0.1872 left_yaw=0.1207 left_pitch=-0.2276 left_roll=-0.0236 left_gripper=0.9967 right_x=0.281 right_y=0.1902 right_z=0.1499 right_yaw=0.0432 right_pitch=-0.0801 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -2.8513, 6.9265, 1.5409, -0.1001, -0.0073, -0.0073, -0.5538, -4.6701, 6.5162, 1.4139, 0.2564, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d80fdf498ade1be13647b426cbe126685ebc790d9c4a29987dda40d80f9e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ea8441fac58e561c7ebdbc9fa9ee9eed6f7ae918c6159650ae138a57cc57be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3579c4951cf57ff93550de928b89ec560fdda8a06483979fc64cac42d28fa5eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgQNtNJZaqPIKD_5-mTmhpcolH_U65L-14f29YctMNcqWBecd5-Nh-IE2oXeChoO8QdL9UoyKhF5k52RfQ1QOvDE7Mh2iYQmhD995iydg-6NI_qD2zVuSSsIvCVkVDI_ckewV_IAORGnv7bZfHR5zJdinSxqhDQEuriCljECeSfbZAPKcilcFsa05xsRO2YPi58AilM0BrEg_-qg6q_egPlk-REdTO12_EIK7kQQtXj4tujS9ZVpQVrjVaZ2iTWdnbpDLDp_KEJew3kUDTRziMbWhTKIooLCQ_lq9Zy7HoblMfGn1PgXutkZInahojxjvMIC1WROsi8dR-Tb5gT9MrwU-_SpXXZyiEW1-unIv5vreuUmLRyi7wcPwbtGbBH5X_K0EUoiDc2exyPpXz-wEH2bOep0IcxrjAQyuI_fNVMheowaRla-X4RKgSj8Jbd8IE7aegpRx4abOERVuX5ISKxAarb8an76ze83Lp7O209KqFcyh2pdFcDOt7PnMGU4MlfcUXnsY2ofrEKESndNOyyVtbk6ArErfCkOxdU1Ok_NasWFIcadYFJEXUMazIZdvJMJvkG5oPaQU7DdZLA0YL9lWIe6h3mcnfQJ9kkEo7FZzhKpt933NYGMA3pBmYD5pOYnFLxsXGJISGkbPW-bgZCdd-aBvehHeVWRjXppPyYL3G7JyWzPbFQvgNJ1lq1tzQCSL7GZZGm6Izjq_GlBU8XuYsQjzrNC4UrEXDQI0daScdLw8jR43agtJDGr_fpLvJ8SkMsTMpLc1HVsUchMKevAv2eSjY1-M1NR45AYqjyGIfhVAGvDF30XBakMqPCpo4RAjHTtDRf1TLmcxeK_fZR9rkkbAlk61knuGuLMomvM3jXMZlginpOb13oCtnvsxhgTF9laI--w-MjWalU9iAvRrqW-W6W52onYHf2K6-laxC04Jt9300Yt9h-UNyMcMTiNEX2nbBKbNmfIvuvh6-kXppQNNeF1TS1aw8KmdWmiXJUfPBj8R34Hr_ElP7mKx44pKEL0XXJH-aQVGMY7s4frr7LkxOjLJBfEhqc1S5r23XCXQFCcyo6t7aGTMAJGFr7BGhlSrNs8_wrlJ1QX034Fp7zQpGyx6rtEwjPmbLQJ75uWUDu_GAls9xWECMTDsVVhuweof2_R3br_4HBIJfSU6_4mxpYr-zLKxhMxrvIMhCeE3NsjT_ti3TlO4o-zrbE-G2WMZZfoPlX39HoPekimhYBjqOV9SmFCTfv_Sbn0mNj4GFmqG59A3VC_nxiHgdBr5IDRni9xJagz_ufEwIf7xHPRxlthyikJyW4FvZmg2BCTCW6KmtIelbg-iaS7J_T0yg58vJvZKMxzIpiEntzhK0UkUP7jdqY_rzDydLR3amjSIGO0ht5GPAGvX0YBz3IHOUbcKjQ9mtRk3MVDNu9egqvJc8BOPbg6R1msd4a3YA6eG2_ke--pGe_5QCyNxCz0AzuWIrZHcasjJKJD02X_muuT6d-8fxn2Di2VCtuAVBBJmG86DGHqF5-on7v3KwsN9bPckUvqJTl4reGxujqqAzuFrN8LnYFkhzTfk30DsTwUxqdDN5H1d3ubsVuZQqyXnZgSh_Wn41S0n2QrdSkNZbUUTKLZQ0EqqKKFK83NJolZuXKjoPjqwuI4bAbFMX6B1Hf9YOeCN_tpKmKgfwMBHNG-w_ePV9Y5l1jJN8Vf3nfTvLBiuMlN6FafkYaol3a9EuzWURvrs4iwdNmu3XZrQ==",
  "id": "rs_0c5131395299f0dc016ab4380e71d087d0857d6c62572069bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.281,\"right_y\":0.315,\"right_z\":0.194},\"note\":\"The right gripper has cleared the rim. A tan plush lies left of it in the overhead view, so I’ll move across above the cluster before descending vertically.\"}",
  "call_id": "call_Y0KURw10Vl9dvT6j6ShwZnUv",
  "id": "fc_0c5131395299f0dc016ab4380f7bc087d092495924a3c2863d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y0KURw10Vl9dvT6j6ShwZnUv",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.6685, -0.141, -0.1944, 0.9967, 0.9028, 1.2293, 0.7971, -0.4366, 0.6502, 0.5831, 0.9997]\nstate[eef_state]: left_x=0.3041 left_y=0.001 left_z=0.1869 left_yaw=0.1208 left_pitch=-0.2291 left_roll=-0.0232 left_gripper=0.9967 right_x=0.2764 right_y=0.1835 right_z=0.1519 right_yaw=0.0483 right_pitch=-0.0913 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 7.2957, 1.5165, -0.1099, -0.022, -0.0073, -0.4171, -4.547, 6.2701, 1.2234, 0.3639, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec1679dc48ce6dd0f8ad26f73155e2f2ad17968094628657a96884dc017597d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8f0011ef071671dc68fa56cec3f21a5d9208492cf9e48c198d041e625b8076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470610b813a0487920ed39c005c8c73a42a0f3865220a9842975dce137453017",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.1406, -0.1909, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.119 left_pitch=-0.2213 left_roll=-0.0227 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 6.7897, 1.5409, -0.022, 0.0122, -0.0073, 0.0615, -6.9128, 7.9795, 1.0672, 0.3492, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.667, -0.141, -0.1944, 0.9967, 0.9077, 1.2602, 0.8009, -0.3988, 0.6575, 0.5938, 0.9997]\nstate[eef_state]: left_x=0.3043 left_y=0.001 left_z=0.1872 left_yaw=0.1207 left_pitch=-0.2276 left_roll=-0.0236 left_gripper=0.9967 right_x=0.281 right_y=0.1902 right_z=0.1499 right_yaw=0.0432 right_pitch=-0.0801 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -2.8513, 6.9265, 1.5409, -0.1001, -0.0073, -0.0073, -0.5538, -4.6701, 6.5162, 1.4139, 0.2564, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.6685, -0.141, -0.1944, 0.9967, 0.9028, 1.2293, 0.7971, -0.4366, 0.6502, 0.5831, 0.9997]\nstate[eef_state]: left_x=0.3041 left_y=0.001 left_z=0.1869 left_yaw=0.1208 left_pitch=-0.2291 left_roll=-0.0232 left_gripper=0.9967 right_x=0.2764 right_y=0.1835 right_z=0.1519 right_yaw=0.0483 right_pitch=-0.0913 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 7.2957, 1.5165, -0.1099, -0.022, -0.0073, -0.4171, -4.547, 6.2701, 1.2234, 0.3639, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec1679dc48ce6dd0f8ad26f73155e2f2ad17968094628657a96884dc017597d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8f0011ef071671dc68fa56cec3f21a5d9208492cf9e48c198d041e625b8076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470610b813a0487920ed39c005c8c73a42a0f3865220a9842975dce137453017",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgTqo8Ou1kVBbRiDOM_Szrmn9DrIL2iMi07M5NbIKcuhAGUAgwmYzMUW9sSIHiRY86-sViPGy4J6cIpPI1Wv5_6_Ss2Jhwe8_lWxLRIeE3e4xpX3JULFt54cSEd_KWcLSHKeYYRcnr5mrZ4IkqfmXdRG5JYRuq-t5ybaxubJbJw-tUYPcjlX91WGZiajpM1XG0BKab0-h948cG6WyJr4TONZMVZ-GdtGjlDBVFWNgASRd2R-RFTXotQZzUa9ht5iBBPHg1hZJoqiTobLV3FGA8hV_QQZBjLmU2pMmV12UbF2ft7rPjptryaoynWyGAilw-YSl_Ia7DsedzzMQWRmgC-3v_rK5N19iCp1Jxj6PYWZCH-s6vJHiKu4Ou9HyX0ZgJrWK_we3gwWJdtl5buH4FgbSLfe0i0MS54rMe8r6ms400oEn3poP1Qk0cze6IuWy179BWZLwrOqYkaHSBd-k1bJf15jzXY26PBmb_08uWt6CKb7VmnsgiOr9w1JVZH34w5plKSgIl0dmchyoCNPH7hQmnGRO0Gnn5XSeO4xcyaWVq2yRbkRUpJiL30HIyUN8qVhVr2e01CFo6HYNWev6zEqY39W-8EydxyLddQSAVFxGhfhzc8zMAXBR8zwBNegk9lLJuCPf4RXYEczDQoxGH1Zv3zjSFpW5TJbEJmAPw_q_IyU5n2j-rt_Rwm4wtEmw7sw0jIiU3nvA4qI4AqA1hhvmCMLYGl9fN4Jeb3tcQMRnI4pQ3APKszWPa4ca58ZfigjSAN0eEvEnnfbrCtu4bqwyt8KdDnqZppTjM4BaKHPXG9PiQAsbyfph8f9M8rj7_Uv9hbq160K6ezYIic6_uDL9jf_U-p_fupVqr5MjOdBRiFYo5qIAW2s_qHldKnhQe6F5DSBxncZckGmfyAQ2TRMsPicwdOAmUsBmmOEqe7LfT-ka3UJaBPuLYtcMAGivFhVP7LTSAcl_Rc9p_4d42VVGfEQ9T_YfxfVHqv34iRwITFLLVkjQy1Srg1v2cQsb9HBIjCejK0sraOYvbRoBbECkl3NM0AOc_2jp9SOY_3_4xJqcPA0dy8S38zphyhb9j48QTQ-GbYeugL6A5u75HkK1xOPlY_AhAkUXcbdo527XXHdZnB_2R3K4_li46mgUK2Dq6VQCVMq6BCx8VX2_KxNLM1TjivAiaav-TzeAdiLWtYbLLzoZKoXj6QehG3NekDyQktFGn9BNuh7Oafp5rufYQ5o0zlfhoghLAD9ONYBJ8tXHc496e3N4ElGzRHw98VPZW1eylGdxlEUIt6LBe67YRkjlJd32Q4nTK4Wf6sdwSmCzwDmAVovUqHAa2ZMJcGsNH5HI8_zsOi-fjlotkRQep-IgvC7G5TTH_eP4Ad1lI1lZsZKmiych7FRlXC2hm59mk671oXruOaaIvga_wq70pSUnLcMz4j2zItxG7C6_PZobAUJAj0RO7wJOIjLxKvalnI9s7C2zSZ6UiLjDksY8z5E4cS1iY892p19HoopS6YbLOt3LUNbJc60gXiwD3ZXVxK2fp8I5kxBNBk3xSYqFX8N7-LtYBPyfR7887R4Ojr3a_0uJjDmlML4eYtbVBK",
  "id": "rs_0c5131395299f0dc016ab43812434087d08543f78ad3602ee5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.255},\"note\":\"The sideways move was blocked at the basket’s edge; the gripper stayed at its starting side. I’ll raise it well above the rim before crossing toward the tan objects.\"}",
  "call_id": "call_sC2lpwaLS32fXbLHZUBBUpGh",
  "id": "fc_0c5131395299f0dc016ab43813332c87d096b5426759181b63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sC2lpwaLS32fXbLHZUBBUpGh",
  "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]: [-0.0902, 1.0267, 0.8845, -0.6693, -0.1379, -0.1944, 0.9967, 0.8989, 1.2251, 1.1656, -0.7864, 0.6594, 0.5995, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.0004 left_z=0.1849 left_yaw=0.1185 left_pitch=-0.2367 left_roll=-0.0239 left_gripper=0.9967 right_x=0.2797 right_y=0.1836 right_z=0.2489 right_yaw=0.0307 right_pitch=-0.0711 right_roll=0.0096 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.2205, 6.7897, 1.4823, -0.1294, -0.0269, -0.0073, 0.212, -3.2889, 8.7726, 1.1111, 0.2125, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a37256cda8194fd416c39c4702838637eabf8dd2ce5927893378a337f29023de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6a2017e9f1be8cd1aa9f6cb511e3baa9c68e49fc625b6692351a5ad0ecb33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c04f8de6b8e0464adbeae2e3c8e7cec602b088de2c885bf1dcdaea1d1f80c7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0895, 1.0145, 0.8845, -0.6662, -0.141, -0.1913, 0.9967, 0.9554, 1.6508, 0.9707, -0.234, 0.6968, 0.6365, 0.9997]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.1889 left_yaw=0.1195 left_pitch=-0.2213 left_roll=-0.0228 left_gripper=0.9967 right_x=0.3176 right_y=0.259 right_z=0.105 right_yaw=0.0378 right_pitch=-0.0912 right_roll=-0.0322 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.6188, 6.9128, 1.4921, -0.1245, -0.0708, -0.0122, 0.5402, -6.8581, 7.788, 1.0379, 0.3492, 0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.6685, -0.141, -0.1944, 0.9967, 0.9028, 1.2293, 0.7971, -0.4366, 0.6502, 0.5831, 0.9997]\nstate[eef_state]: left_x=0.3041 left_y=0.001 left_z=0.1869 left_yaw=0.1208 left_pitch=-0.2291 left_roll=-0.0232 left_gripper=0.9967 right_x=0.2764 right_y=0.1835 right_z=0.1519 right_yaw=0.0483 right_pitch=-0.0913 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 7.2957, 1.5165, -0.1099, -0.022, -0.0073, -0.4171, -4.547, 6.2701, 1.2234, 0.3639, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6693, -0.1379, -0.1944, 0.9967, 0.8989, 1.2251, 1.1656, -0.7864, 0.6594, 0.5995, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.0004 left_z=0.1849 left_yaw=0.1185 left_pitch=-0.2367 left_roll=-0.0239 left_gripper=0.9967 right_x=0.2797 right_y=0.1836 right_z=0.2489 right_yaw=0.0307 right_pitch=-0.0711 right_roll=0.0096 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.2205, 6.7897, 1.4823, -0.1294, -0.0269, -0.0073, 0.212, -3.2889, 8.7726, 1.1111, 0.2125, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a37256cda8194fd416c39c4702838637eabf8dd2ce5927893378a337f29023de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6a2017e9f1be8cd1aa9f6cb511e3baa9c68e49fc625b6692351a5ad0ecb33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c04f8de6b8e0464adbeae2e3c8e7cec602b088de2c885bf1dcdaea1d1f80c7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgWuQs0vxvy6Ustc2IdZ0V_6qMC_44AcsVwo_szEfK0-kUD4CSXFOXynyLkeiK8VApZxFSDDwAqCQXqpZN2KQ8cEriAlZ3rjpIl-dDvopwq2EJT48lYn98x-Pp5-Z_gBnWFAkRYUGidXMrxm2_wqhnhSnVyOi8ewdpPSc_Qw7HKu8qJ3nJuEj8dLA_jFuCKkxqx-llaQ78fczDb3uikfGci4czwtjGZ4cGzWfuXcCN58W9bTo63G-COHuIl_QwRTLCCyoHjU_BBJd-emrU9O6PDB2saVZhlm3JkjLykwOnI98KXEzw2HEBv-S9qD6ZpzkybiJJ7CE4e0e_PBPh1iTzetGaSDRGm8_fO46CHmiTszI7Vi9rAXEIHPURgOISivfLnbZ9inteyfLn9Dqt4Or5iGAVlOMUijyEu2FIIF0_PYmi0Z0yu0umWkpQOBXenDKbE55t62mDzFSZUcycEK6X0LQXx8-XH5XZRN6_46sf0vcCfncZ1URIl6g7emVosfG-cnO2xl7GTu7kswAwrfF_gyF23LA-hyz_S_WkXodeKwBlEW3gYThGBNcHuollLHH36imVqWeoObkzufU7rgKx5wjyje4As55pUFu8LxRyUDwwq298CfGpJkQj7kYR3RQHMXdafuR06Hp1pLYD7D-bu_Zq1AjnXYwaYaXTacoGtt8uKVySx8Tojyu7_ASFGaWQLKDu-v48yHkQdJr3CJ248EE1EP1MvmLtNOoUVuyuS2wg4uZVrvvBMpWfXrylHDirFlhS2KzX5eBnBql_Ey_UQkjLiJ9yB8CNFD35ridbItauUwszM5SxzEHK4ZDtRqSIKb3bQqYD0fy9uSkbEA0pZcsfiw6SHoWR-88_Bt7zvRzeuDLLzk0HveV3Lw_4Zo1OAiiT2XSe04B6mHPugh6vJLlkstLsx_BeNhMYARCbDBGykAN8R7Mo2v4QYJuIIZaAQP51ztHBDxJg9I14Hn3IndQaxgueizp_9QV61WBCsfhTVLgd9mDV8MGsvbVmxwPn0J7BTEA1FKOss4upo-fq8UbENgbPnx9lVbTqVTKMlK7pKbDVoknRpq5_EdSWxHkucIO6ThwmwuxojTKKucPkzA13yPeQtnxGggBslLz9GrOyQCoRntf1wUAZzTwsDJM997QrQL4L39ui50DLacJRujJmm9cgG2EYuFKvf4fRwKXH7zCAle8yWtG3gH_pEEjRmqe_tScy_eYG8mjUUBPJaIjqDBt1tEZHf2ul4oM_H7j-sr8Y3VpAzj6Uk5KbQv3o6awgxrUZM4mvMx4VT_1TLeQ==",
  "id": "rs_0c5131395299f0dc016ab438159bd487d08b06088d71e14e28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.314,\"right_z\":0.255},\"note\":\"The right gripper is now high above the right basket rim. I’ll translate it left toward the tan plushes while maintaining that clearance.\"}",
  "call_id": "call_Zl1xwtO9a3sr67FuO6tVpFOe",
  "id": "fc_0c5131395299f0dc016ab43815db8887d09a8f0da1be90a6a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zl1xwtO9a3sr67FuO6tVpFOe",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6689, -0.1375, -0.1944, 0.9967, 0.8993, 1.2373, 1.1858, -0.8303, 0.6426, 0.5823, 0.9997]\nstate[eef_state]: left_x=0.3045 left_y=0.0004 left_z=0.185 left_yaw=0.1182 left_pitch=-0.2363 left_roll=-0.0243 left_gripper=0.9967 right_x=0.2766 right_y=0.1837 right_z=0.2457 right_yaw=0.0495 right_pitch=-0.1042 right_roll=-0.023 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.7145, 6.9812, 1.4969, -0.1294, -0.0415, -0.0073, 0.2393, -4.0821, 8.8547, 1.1404, 0.2808, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b9d702fe70d36edb80e89e21d3755ddf81ec57c642029c10ea74b88ffbe3ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cefe168a0b1a251b010097426937e38c8816579704268f7ad27c8463f20e501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b263490c3925ff46e509dc14ed0f0addcee556417431d3331c2c377d65e923bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.667, -0.141, -0.1944, 0.9967, 0.9077, 1.2602, 0.8009, -0.3988, 0.6575, 0.5938, 0.9997]\nstate[eef_state]: left_x=0.3043 left_y=0.001 left_z=0.1872 left_yaw=0.1207 left_pitch=-0.2276 left_roll=-0.0236 left_gripper=0.9967 right_x=0.281 right_y=0.1902 right_z=0.1499 right_yaw=0.0432 right_pitch=-0.0801 right_roll=-0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -2.8513, 6.9265, 1.5409, -0.1001, -0.0073, -0.0073, -0.5538, -4.6701, 6.5162, 1.4139, 0.2564, -0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6693, -0.1379, -0.1944, 0.9967, 0.8989, 1.2251, 1.1656, -0.7864, 0.6594, 0.5995, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.0004 left_z=0.1849 left_yaw=0.1185 left_pitch=-0.2367 left_roll=-0.0239 left_gripper=0.9967 right_x=0.2797 right_y=0.1836 right_z=0.2489 right_yaw=0.0307 right_pitch=-0.0711 right_roll=0.0096 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.2205, 6.7897, 1.4823, -0.1294, -0.0269, -0.0073, 0.212, -3.2889, 8.7726, 1.1111, 0.2125, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6689, -0.1375, -0.1944, 0.9967, 0.8993, 1.2373, 1.1858, -0.8303, 0.6426, 0.5823, 0.9997]\nstate[eef_state]: left_x=0.3045 left_y=0.0004 left_z=0.185 left_yaw=0.1182 left_pitch=-0.2363 left_roll=-0.0243 left_gripper=0.9967 right_x=0.2766 right_y=0.1837 right_z=0.2457 right_yaw=0.0495 right_pitch=-0.1042 right_roll=-0.023 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.7145, 6.9812, 1.4969, -0.1294, -0.0415, -0.0073, 0.2393, -4.0821, 8.8547, 1.1404, 0.2808, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b9d702fe70d36edb80e89e21d3755ddf81ec57c642029c10ea74b88ffbe3ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cefe168a0b1a251b010097426937e38c8816579704268f7ad27c8463f20e501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b263490c3925ff46e509dc14ed0f0addcee556417431d3331c2c377d65e923bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgcfbTO5wrcqlecYJkF6iE-zRzXQWGlZtWzEWoPZtGJaAEgE_2qaInzWzuWuRyu765utmWqw9e1rz62ASSAP76y4ZdJai52EvM_88TCEdOMMS86QyiUM_gIb8KBk-honzK_PgN6XUVHEHmiEy-wmWTe0jRuWd_yhshE-4ZV35bD72ZN1SCReYhs0PDB6FKSSrCGJNtuWOqB8IT7TqgdDLrKOxkmbVjIERX2iA24-vfoSshmVi7Lavzqf5iaQmK2pPa8wBE2_tFW-0CM6azhTdPqMmSPo-eqOGEkwS-RgALAq3475cQ1DZaMbPhxjQQuRZBzel-FgQyzhJBSmP8ygSEZrmP7mHsU7R5wvmZyeAC3snOCs_fGg1R3esiCahYWPCZks67n5EuNMd11J53DIkKnuhuZDkRlWNz1aT5BMhPNmUDaFypVqjKC_ua8xTPlLss2onBzhGb6Fbf6teJiePkl9hoedYaowpZEitvwl7PYyIYkYuyCfwchGVJnLDot0sb4I_Yn1nKieUAI3r7hIksWeR75BLgExcwdS3mNAS16iZlyC0E9dnIzbzDQgU73hWC0dc0c-tIf4rrWk6H3F0qykSGM5Iyw7TpjeeLk1rb2tRy7qR7yeFxrWHsPYSqb9qFecMmz6l85PHbkSSAps5XBV0VuzXs0esViu1fn0rQVTEoveyL7Q9BLiGqHggi6rnZmRlmyoppz28Q_EBqgO3emzVXR5AcdT23zMWdQmiqs8zNx_dU5ZBVNuD0bBulwBO4SQypvUQp7oiz8WssBDen01D6dPC7-_WWRArQ0hR2M00cLrdIfXqD-Jwlh90F0bZdzM29BH115i0OqFxa_llKYw26C-70jU-QIAU1g6mj12-pBD5Xw7yV6wMQnBCosJgCSYWpDLwdImpOV6vPwq61DkSwHo-p2ykKs0vLgK5PYhBQrFqLWsGDYzQmUlz4SO0Q7JCe4yS8HFSgTPbhiH1lie5E13pRavJlNdoqvPhRriNGt56AsAZO3FFr79ptDjwThTAUHsXErhZCjEgRm1RP_fDjkkfzeiRe2ngzgRmaqLTFsNuqwHokOodhoyMPs0fTIzKKAHA9GdDRWQh5jeZbSPCofJ8mq0xj_jCCcgQR9tQoSKVeYWEuGVaRf_fGKQAHtFKuJzRFuZ7ueUTAZBWLIR2_PqK0-Z__8rZ18EraRKrw8c4YpAuhVodEYohpRFfHsXWlyDQuKTHZK07JH8vQd-SI3iyndchbVarLx5dfzYCBaOtK4ZlPK-BIOIpsLv3yQPEfzgLpZL53y2OvYPAcyKyLHPBjEM9un4XpQi62os2oeCLh995dDY5Y9rUbnmyb3p7tJ41kPAKkBbfwPsyNWnlAhXxMxIqqqcwTeR0oxfBgi5oD_-esttg3weSqqetxmSkI4AVtdQAIffrM9Pqb8JdrMSHxjrlUNlw9HyM7JHXnYRREwPTgZlwW_J_4JEWorgWK5R1bIgg2zlEKdHFtAGFmLIVKKj0VGI4Yw4YO_hwGixE9k4muebMeKx7iNZKrSpJ42n5UeUYPmM4Cy2HMp0XXe2Knt9EaPkeBu_OunJQA1kBplxIc2kbxbv6VYJ6SDoD-Dbze671c4GRhNztyTU02XuGA8nABv8IyQJfAoI-lhpKB0zkoxhW2Uqe86gszlvwOe_P0aRBUNgq-YE60xDOkNCZTkhqedXSvS7wtio1tvrGmov81ShNs2g7pj0X6WSfUGjBaGlUHSo6kEwSHmi_KdAqy6p-KTu2mu_kZ4x_QyQIph34Zaul889k6DhBkZBzQELN-P5-shMFvKdIYpsjtzanuCVvbOrG-D9bZCZWG_ptLSezgsGhDpJazklweZPxPFpPdT1iuASZ0E6XRgcvfgSLBbme1r-cqpvr_8_79eXk3KEimhxT8Z2q8mNy-1s7HlnbN0tebwxxIcjKPXgrQ7bi1T0TWfFeAk303vgK1xTYLCOHpuJJVXYHuZ-QQRe-0X7AstEJVAFD2VDX_IgaOoBodjcEs5GT2OvGSNZGq7UZ48vrT38964ASqKapEp_n3hJ9rux0kS82mXvRkQTVH18VU6nkMaoEF9PN3O2X0wejri-78mDDOUB5TnhLeDeTh2ohnID4YO55Oohc3V57aGWCKwaSGXEuxkA5KKJPiRcBCoOCKtExlNx8Y6YVPc3grwfdhWFhnwl5sYElyYToSU1qABSXBY3VirDYFUwWwzCGyF1jcVXk04mlRC1FHoszXPM2U2Tu0rsBh_hTtU7QhvGnB3tTEg1544LFnMmaMeVwYv5rglUCBeKjT18Zf58Gr4Czel0IbV17JBYlsriC9ccUn_x0KFY_YryqfUUGSg-o-TUhWL90vDR_MgA0_wjnDxKxPvyM5liD_yNhmzHAsKS-csg-Xb-5jtTEZXssQhcwTuR4dcSWUv9uXYzo12teRXbp1mHhyt1j4t6_4IPpuqXplKuPIkirO3LvovSq1UC9KmH4n4O79bNMp4BCZORXhE36mcewPVETFRMbWcBKpVT_vaHBGCjxzKcZzNQU3cLBau9yKqS1xjmpVU2STxwJBlS6jbx6vFWpf8VLN9o3GQQ1LQcfKMsjX5WnsLgMjCXYFbyZ-gwNuCc2k5rbkg5yZ7QK1e4roBA6La98qwB725dunWPm7EcGp2ESVGAOuhiMLDncxmjFKiNrfmdG4B7SvJ36o_6qCu5EKjw-IvnL6v-HruNh7UJbdSANddCMBPCIv_uVzCFYh1hekdcjNpn-E_qZTDa0ARECkDxRj4Cg==",
  "id": "rs_0c5131395299f0dc016ab438187f7887d09e4979882beb755a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.16,\"right_z\":0.248},\"note\":\"The right basket is still blocking a direct sideways route. I’ll back the right gripper toward its base so it can go around the basket’s near edge.\"}",
  "call_id": "call_KzMb7lrqsgcNzo9slBhzdZDm",
  "id": "fc_0c5131395299f0dc016ab4381b63bc87d0b400aaee2aaa1cbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KzMb7lrqsgcNzo9slBhzdZDm",
  "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]: [-0.0902, 1.0302, 0.8845, -0.6674, -0.1337, -0.1947, 0.9968, 1.3983, 1.1946, 1.1984, -1.2655, 0.8417, 1.1271, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1842 left_yaw=0.1152 left_pitch=-0.2388 left_roll=-0.0269 left_gripper=0.9968 right_x=0.1648 right_y=0.1995 right_z=0.2398 right_yaw=0.1058 right_pitch=-0.1256 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.0291, 6.9538, 1.4335, -0.1636, -0.0562, -0.0073, 0.4991, -3.5761, 8.4444, 0.4176, 0.7106, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b47186ee70e2b2f8d9b2d87959c08a515295547e88f3f86dce1c4b4950c3b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911924a6ddfaa6a35b81371309b4425c437607f6042d8ed6fb5af26accf61200",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1faae991b0d97cb3b9b152813a08872ef9bccd18c5afd9f593693d00f7e029",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0203, 0.8845, -0.6685, -0.141, -0.1944, 0.9967, 0.9028, 1.2293, 0.7971, -0.4366, 0.6502, 0.5831, 0.9997]\nstate[eef_state]: left_x=0.3041 left_y=0.001 left_z=0.1869 left_yaw=0.1208 left_pitch=-0.2291 left_roll=-0.0232 left_gripper=0.9967 right_x=0.2764 right_y=0.1835 right_z=0.1519 right_yaw=0.0483 right_pitch=-0.0913 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.5915, 7.2957, 1.5165, -0.1099, -0.022, -0.0073, -0.4171, -4.547, 6.2701, 1.2234, 0.3639, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6689, -0.1375, -0.1944, 0.9967, 0.8993, 1.2373, 1.1858, -0.8303, 0.6426, 0.5823, 0.9997]\nstate[eef_state]: left_x=0.3045 left_y=0.0004 left_z=0.185 left_yaw=0.1182 left_pitch=-0.2363 left_roll=-0.0243 left_gripper=0.9967 right_x=0.2766 right_y=0.1837 right_z=0.2457 right_yaw=0.0495 right_pitch=-0.1042 right_roll=-0.023 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.7145, 6.9812, 1.4969, -0.1294, -0.0415, -0.0073, 0.2393, -4.0821, 8.8547, 1.1404, 0.2808, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0302, 0.8845, -0.6674, -0.1337, -0.1947, 0.9968, 1.3983, 1.1946, 1.1984, -1.2655, 0.8417, 1.1271, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1842 left_yaw=0.1152 left_pitch=-0.2388 left_roll=-0.0269 left_gripper=0.9968 right_x=0.1648 right_y=0.1995 right_z=0.2398 right_yaw=0.1058 right_pitch=-0.1256 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.0291, 6.9538, 1.4335, -0.1636, -0.0562, -0.0073, 0.4991, -3.5761, 8.4444, 0.4176, 0.7106, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b47186ee70e2b2f8d9b2d87959c08a515295547e88f3f86dce1c4b4950c3b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911924a6ddfaa6a35b81371309b4425c437607f6042d8ed6fb5af26accf61200",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1faae991b0d97cb3b9b152813a08872ef9bccd18c5afd9f593693d00f7e029",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgfSJR3TiOxZJZHHhxIxRkiP7sWTcaa1sW2qdwqiMsj_benlwFTE6IyBo-YwHRSc7HlWrThHD7gSr8vK6RyTMWxDz8LnQjqjq3Y7A3e_ZIVrjkJpC_sUM2YlktlWjQndl_DJAbIcp8xA1N6F-2QDsjECgvre9BV2dTSIP8lFwvEcjlmvxXYsFu_Wu4S1qRBuowoWXegCtCPt84egqXT0bxxMLlouUcJfJuTNhEdjTWkLRSrjZXwM-aBhLNubLoIJxrWNVvZYnR_2UZFASNg6nfgdwVxxs44l4PUCA_H_K0pts3PZogONOX6D4ZZDb8LYQb6Rj9RVjQjr6gEVyDkIPj9EORR27GD6XWopg6CVuQmNzZ16oyJvjy3pn4Ra-dZ_yOevxf5fX6gskGsMdqf5Z_gy2xzDuK6qERqept0BefeDR8G0DUyCh81GdSVvxFZysQ2HfNJwLIm_7qqaW7Vjn9pYJN0s6TIb5mzv72Xn-vyQ8wrZhsHHoVhDx7MTVOZCYFNDKuC06vn-rQK0JIjIndYZcum0D87t_u8HsqSepISDJOe6Z35XGVYO8JatSGZXZ2-vcUOTerquIr7TOfnPOfzWg7eKEslBieZ-bcaMNX_ckmLr8bGv2kmSEc1gnyMhRHPeUb0NaqUlAd9RuYK0pQQsD6BjyoVJh9_L4odfxfjbNWeJysUpRO9xDQpDuDBXbi0dms-2H8VJ0Y86JA2pkXkn5DAAo8VVEV7lgJkFqE0l_PvHJfOS-EZqJt4uO7AXPPtSjAtKj3zDonPxp3Pko64r0N3nIIWvHii0OZGZfzKwEv9na4Ripufxlj6fOlSUAzm9dJIGWTGLo2WFp_U0JEQuUTRXbBL9UNzZlUgFRc4dzEjmd_BKOQo5JJe7RR9I4mLXQA44PV7tpeK4NfYMsUzBzGAWHP1g_vMTV5-P6eXsKExdEUeCZm0lIUtOW-0eJixK2fTxudR1UewaoxNPkfK9ShI9hmLLB3zPC_hVXDJPE99-cVT4hmrH8hWxi8EXo4MJ2gy7GCz2qX7Bkg7OnO2U3q9834CoO_upCNvGwMKFrIMb0cq-oNharZ84i5hMb32UqJ7lXqlVgqf7T0Etc3xlEdTL72qzVmrlrIiU87e4PrQKd0v06SQMn6uNhAe7dgEz1zo338fOSBxlmzk7m_DGoBLcjZnNuG1Y2CdfOk3B2as0XkKBNbGSywihmOZbPewCIuqpu9Dw5PaV-Q17ghODaGm-AFVtVzlMu1y22RzjFi3b2GJRDEhOA7k8QWx5YhBWg8YU8miLbI4eCN_lS5ubSl4Uf0syO2Qlt_jvcaBJBE18dcfXrEGBTCgc0uKwY-l4liQuSvvMOQzG6V93QxEHEWIV_LjhTTVwOOX49sdUEw=",
  "id": "rs_0c5131395299f0dc016ab4381df0cc87d080d3d4b589c9123e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.318,\"right_z\":0.243},\"note\":\"The right gripper is now in front of the basket, with open space between it and the tan plushes. I’ll shift across at this high, retracted position.\"}",
  "call_id": "call_j6GsSSZUpg9JLIJCWxoFQZnj",
  "id": "fc_0c5131395299f0dc016ab4381e731c87d0899b6be0496a0465",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j6GsSSZUpg9JLIJCWxoFQZnj",
  "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]: [-0.0902, 1.0325, 0.8845, -0.6689, -0.1333, -0.1947, 0.9968, 1.4097, 1.2335, 1.1984, -1.2625, 0.8265, 1.137, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0004 left_z=0.1833 left_yaw=0.1151 left_pitch=-0.2426 left_roll=-0.0264 left_gripper=0.9968 right_x=0.1617 right_y=0.2074 right_z=0.2299 right_yaw=0.112 right_pitch=-0.1492 right_roll=-0.04 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.9197, 6.8171, 1.4823, -0.105, -0.0708, -0.022, -0.5812, -3.959, 7.6923, 0.6911, 0.5153, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a56329823abe6239b77e5190729cb5885c43f54e263cc5a0507bafa2841c14d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c7ba99a85e2673c910f12445afa54990eea1bf57c0bba5c74386feb9ea95f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d28e4ee6532f789d004019c221bbaf56a0816552c931d0c3b738fa0e8a70c6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6693, -0.1379, -0.1944, 0.9967, 0.8989, 1.2251, 1.1656, -0.7864, 0.6594, 0.5995, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.0004 left_z=0.1849 left_yaw=0.1185 left_pitch=-0.2367 left_roll=-0.0239 left_gripper=0.9967 right_x=0.2797 right_y=0.1836 right_z=0.2489 right_yaw=0.0307 right_pitch=-0.0711 right_roll=0.0096 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.2205, 6.7897, 1.4823, -0.1294, -0.0269, -0.0073, 0.212, -3.2889, 8.7726, 1.1111, 0.2125, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0302, 0.8845, -0.6674, -0.1337, -0.1947, 0.9968, 1.3983, 1.1946, 1.1984, -1.2655, 0.8417, 1.1271, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1842 left_yaw=0.1152 left_pitch=-0.2388 left_roll=-0.0269 left_gripper=0.9968 right_x=0.1648 right_y=0.1995 right_z=0.2398 right_yaw=0.1058 right_pitch=-0.1256 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.0291, 6.9538, 1.4335, -0.1636, -0.0562, -0.0073, 0.4991, -3.5761, 8.4444, 0.4176, 0.7106, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0325, 0.8845, -0.6689, -0.1333, -0.1947, 0.9968, 1.4097, 1.2335, 1.1984, -1.2625, 0.8265, 1.137, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0004 left_z=0.1833 left_yaw=0.1151 left_pitch=-0.2426 left_roll=-0.0264 left_gripper=0.9968 right_x=0.1617 right_y=0.2074 right_z=0.2299 right_yaw=0.112 right_pitch=-0.1492 right_roll=-0.04 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.9197, 6.8171, 1.4823, -0.105, -0.0708, -0.022, -0.5812, -3.959, 7.6923, 0.6911, 0.5153, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a56329823abe6239b77e5190729cb5885c43f54e263cc5a0507bafa2841c14d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c7ba99a85e2673c910f12445afa54990eea1bf57c0bba5c74386feb9ea95f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d28e4ee6532f789d004019c221bbaf56a0816552c931d0c3b738fa0e8a70c6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDglXKg5doF9FmQ7OAglLKk0dAsPcCxPl0JKvI1rsZkLUfUUhvbi_thOFbPxXyaB-cc63AqWG7rSwCf8mD7M7a3zypHcP42PE5smAfPUKdnn-bCz4kGSVrYCpJ8eS6hPWfwlDn4G9fzCKdnr_vjSQya6i8BK-LnieRoAn1W9JhCuM44oHtri5TK_rfU4R2bu0K2ZWj72MJ8HrGPV0mSKlMpd3l1soJWIhRk3Ja4Gpzl9BwfuUXnX5dqTrKGVRo3jlO7n42DHtwK6MJArU1E9v5BddF2FmVEa-ObRGOQrcgxXEeRUI1KGi473ZaY2cR9Av0RdyCetxagHIPyAC7xiO24V_semHam9N9l9MbyrU3cllgTiGTFkFISgM_HjM3mBwmo-xBQN0i1KJpgjDYSXPAb12AsnhNbmJPSrWdea_bz07f0fAOcrAvUQr2Xu6SgU3H8b74K573c3Gd8eaDz7-yDMloF6iid3nYmHu4Hn5CzwzT9pSY4GRsa3aYuMUlMbM8xYXUea9ubEeDq6N9pYEfpAQUygs9ja_yrkhrbIbausviHyTKb0ZyQcbQfOmLmIIviWmR8XzKAVGSn84wH4j4QlaY7uYuO-f4hfy_1qG_MW2xEN9r09ytoHxXgqAm0iTE8xIHoDiS8B0lOwbgHX--LcFHMiDNYPbr4KOIe_Z02SkrBpuxAGnmpaZmO7fAixdlBMeXqcZJNJLhCVKR3u2J9_EHU8qSxwoafKfv-YVJvl8tKqyWWLe67lj219uncW5OLaEPymrLzkgegc5LR0OnI23PgqCA0PdOUUifMR2EqdsQN4AdXnWBpZN8_cFaIJwg1qjE_5RYuFnc-246C1qbQ9DfYTH-ADuryxRWSxmQGtGF7Vmv_sl8-Gt33ycE-qGramMLHl2i3CVre63-nmKmF4FzvxcrUQCyEbzwiAutAQ1ByYmOzO_2uaNldri5IERTkcC5pRTOcOadn4O_eMyhhVG86X8y0nkNkp6XgAM68Ivwelgsde7BO0mcJUDrEVjUTlXCJEY31gXpYxh-0-xPQkwxoyBFSguHZfuF1pIAKaRcQkZnL5vCNAcfAZfWnWlReIAwhT1RUoAfkhcwTghJSFRgAPGdWWVpV5MR591a3k0J8QQ9NKPFWKUylNT1O0EpzaJUu0EjP4iE1n1mNiwwustFgMMWwLKpsScuJFQTw3RXP8zZr3Xs2oyCYUhYGx78ZdMobdKZ-4N5aDxl8kFmF-yGeMnuoE3myF-xb7OG8064cqEBBIdbVitXy20gkpUseyDmDmqvN5GCZvx1GYed6HY1yjZyYxIU2J2PGQYalFkw862Ey0luqKcMNKazfU77e_SAXe2rWu2xmTQVumWBsIrhHW7beI3MhLswJimMSDI-QMl3JHoEgzQw75JQQ48hA00FTdkA1L7-N8kJ4HHZu1MwDruUIflrDkkAob-2tndvtTarsCEOYQeM7XnmMkKkVuF8fQj3OWa9pagREtOBUnUaCDj80fynjRnUFk0TbnIsW0CGmqMe-QZVZ2e_M50ZcE9eorsUzWlZzuMgm83Wiw-lT45YownZCnKqypsBmYOxEX23ocrYk93FyvENPL7U3Mdek9yf6qp87lGI1Vu4ttF8xL8c4Lp3qnt89-C8e1vPHPU3K--Dyj-C7_MJL0H0loYYp9zR-9pT7EOL9VHXZvi5NJJjwRSIqIpD4lS1Hc5OMLtdj8yoFhkMqDVyKjIyEsa0e7KzwMEhKtuRr8EI7nWGobZhfJWV0fVUVoR1ql9d5cOgUlp5x9-BNm7mLP8OCGv9AyjIBj0A7ZmhxtPfpKlM_5Mo9soCVw2CXjdVRm5fHhGDYooSADjEa-ug5o5y-pEGqVBf14goKoFl7zt_Uazrc1MKtjcVVPbfGCH-eAg0gU1JUboocQ6yaXLDGToAvEOhQZEZfffQZEdXoCXkrJcbFUCw8rxrWrsxMBBNpyLxM64bR0urh3bQFc12oYloK505j4WoH8OVr5g836PfnLNeN6Vi_cIv07iSn2JeehWJdpwqFwgwGjDokpP9eIU2sxPk2nfrkxi5SjgrRJvQ932eCILzGpnQIlFo41_BhR3U8NnyYfBZvoHoMjOKtjXp-kPT94tHPAHQov9Mu5QGxoZ5P4G2RHxisQRQWDdWtCOppzz1nLEQcDEaC74yUXOVCml3j3m3WQFNiv-9_8OL338m-ehcxb4cuXheUknvlfgM9wPhHiuUs8zxeNjSdcwxLXYqWHVxnB2dYt53fwfACHy8CdEap3_GUoHMlPVdSM2m9ZxE1SYS1dZ0zyoLkI2fw4OugEXmr9ligSb0hwJYBFNHATldOW04Ty_XVxbqsv-NvcmiHy9RagHYcf5z-ih4oAliridFwz_Xa_iaMesXWhfLhXcMqVnJYsQEhMFMmC_BBR3roRG882i1co0w24xUFMh0Eb1vXG66fpXMByxKM4in0mfLpit9Hmt0VGnShtQmzLp1vqCP9aMZUFUS9Emnbf4oSvxcI5v7HCKQYLGQRQLboeFtD3XBmMGhDYicFQ38_B1kL5a-DfBnXf8b3QySVYc00R6850ii88ECaWQHZ0Dj6OCa8ViKxb0VfuDQwrm5BI4ZS0HSkKZ1fjfiUdtqHJ42YlDlLZpn_-hoou54jnP2ZNfHQXYtP5oL2aXPJakmKwdYCKU6u7DdSJIl2mjVJv",
  "id": "rs_0c5131395299f0dc016ab438218b0c87d0aa20d130f9f80ba0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.185,\"left_x\":0.312,\"left_y\":-0.195,\"left_z\":0.163},\"note\":\"The right arm is not tracking a safe path across the crowded basket, so I’ll park it and switch to the left arm. From the left, I can approach the tan cluster without crossing that rim.\"}",
  "call_id": "call_zjhWGmMBMsV2pp9tcyDHMI6i",
  "id": "fc_0c5131395299f0dc016ab43824e79c87d0a21199b64b182310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zjhWGmMBMsV2pp9tcyDHMI6i",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8318, 1.4712, 1.1114, -0.72, -0.5632, -0.812, 0.9968, -0.0582, 0.9073, 0.7708, -0.6266, -0.0566, -0.1219, 0.9997]\nstate[eef_state]: left_x=0.3065 left_y=-0.191 left_z=0.1512 left_yaw=0.0946 left_pitch=-0.2764 left_roll=-0.0074 left_gripper=0.9968 right_x=0.2868 right_y=-0.0031 right_z=0.1759 right_yaw=0.0488 right_pitch=-0.2001 right_roll=-0.0369 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.2427, 9.1145, 1.072, -0.4811, 0.0317, -0.022, -0.2667, -1.9077, 7.0496, 1.8339, -0.1734, -0.0415, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b95106330c4e7f0d66893eed498e6d8db4e843bcb2878d4745fbff6e89cf6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1652c5b42a321fa5296e7a21b7d772672bdab915f38f26ec09b39a4e80fa4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e53858616af75b948e8bfc8c5677f4766da4d21d1f3bf3583b07f7bfbcda761d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0267, 0.8845, -0.6689, -0.1375, -0.1944, 0.9967, 0.8993, 1.2373, 1.1858, -0.8303, 0.6426, 0.5823, 0.9997]\nstate[eef_state]: left_x=0.3045 left_y=0.0004 left_z=0.185 left_yaw=0.1182 left_pitch=-0.2363 left_roll=-0.0243 left_gripper=0.9967 right_x=0.2766 right_y=0.1837 right_z=0.2457 right_yaw=0.0495 right_pitch=-0.1042 right_roll=-0.023 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.7145, 6.9812, 1.4969, -0.1294, -0.0415, -0.0073, 0.2393, -4.0821, 8.8547, 1.1404, 0.2808, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0325, 0.8845, -0.6689, -0.1333, -0.1947, 0.9968, 1.4097, 1.2335, 1.1984, -1.2625, 0.8265, 1.137, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0004 left_z=0.1833 left_yaw=0.1151 left_pitch=-0.2426 left_roll=-0.0264 left_gripper=0.9968 right_x=0.1617 right_y=0.2074 right_z=0.2299 right_yaw=0.112 right_pitch=-0.1492 right_roll=-0.04 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.9197, 6.8171, 1.4823, -0.105, -0.0708, -0.022, -0.5812, -3.959, 7.6923, 0.6911, 0.5153, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8318, 1.4712, 1.1114, -0.72, -0.5632, -0.812, 0.9968, -0.0582, 0.9073, 0.7708, -0.6266, -0.0566, -0.1219, 0.9997]\nstate[eef_state]: left_x=0.3065 left_y=-0.191 left_z=0.1512 left_yaw=0.0946 left_pitch=-0.2764 left_roll=-0.0074 left_gripper=0.9968 right_x=0.2868 right_y=-0.0031 right_z=0.1759 right_yaw=0.0488 right_pitch=-0.2001 right_roll=-0.0369 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.2427, 9.1145, 1.072, -0.4811, 0.0317, -0.022, -0.2667, -1.9077, 7.0496, 1.8339, -0.1734, -0.0415, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b95106330c4e7f0d66893eed498e6d8db4e843bcb2878d4745fbff6e89cf6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1652c5b42a321fa5296e7a21b7d772672bdab915f38f26ec09b39a4e80fa4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e53858616af75b948e8bfc8c5677f4766da4d21d1f3bf3583b07f7bfbcda761d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgqjqT9lFlpNtQ9eaf5MKhMDnCuTEYrJ-5agqAX4Q9of66hdW5k7U0lZCIsXvGos-xhTbgQBTwcDhzxQ0yaPY3spK4Co84S7eVvFX298Fapv5XQNY0D7lQpGkFBAd0ErbSwZGIDSUnSqucdrNPIwZX_TufdWBgz5h4Cx7R1il2qhtnKVkG9Na3-sBu45Llr1R8J94Srsd4zbk0dawR6-XeTqtZF3ADQyyHoVvqBa6-H6fYDaTyGcKlXTqf_Xc3xLWJT_3om__K8QtYhMtHX-VP7GPzsStO8MXEyZ0M_1Un03UMnAD-nQckNfHwgvil077swGQjD2ZYs0_XaSifWHb_es-DwGldnpPvi2kSch8oYBU1vGfF17PweLAlrNreN89wmAQitQrEx2tQNZWnDEA0vLfesvSI9YwZdZDxqlQCfKJGLpUI6HlXeSaM8OLUWx1LilrvBWg3T_UDO9_bWsnHwyrjPU8Viwcc0ugydRt6SZ-adc5K-7X1f6dXxAIsysgmjBTpZrkgifOTQIU4sq2xTucpYYYcVOz909hZlGM9BXtQygrtNaJtVskQEfKRnwixY702fRf_toQ4IwlkaRz18wqqYzkvK0yT-5T9RMx18uEsxRX2KGus-RKYmLJAnAMt8Cqsx8ktbiwe2HSgfPr_m94RBU8Dao1twiRbQBH7zg_PNcoFtvpcBi0AliuYr-C5xRdkBnVTyJoYnHymlveeR8bDKYHloqrsEWRuXXJ2B7VDRfIE_EhH37ankHaZwHEUxyCRawVqsolUJmDlu5Xy1nRGFyNp3wAokpqNWSvGPlp0kHYsAOetjUpLsseZA3Om3-FwSK7orUbdrGk6edGTTCEkRy9aKjGLu969eKRtATlkH9rk2Day-3wxrk7-tPn1nIeTX4QXPsmZ_QhpVN8NRUUtR36mROiHK95GuRYpamNHW1TqMdzQnPSpECY1dMbBZqTOf7q7YGVhewxAep_xyympa_5qLQHZ7-MoJBWOL8fBGqyQw-8xxrzf7oAehcFfGpJ78I9zLFAkvyg9Qkm8wWMhMmb0yW_0cwSi-k-6lH8Yafj6YgMbynnioBDZqKYfV7xB8Ck4eUwTpOZN684HK5dLxx8O_gnuzyiSnxuIzRuNq3m-MRsRShtQcDG5ARYjlakDuhNXJ29oLjMA0a5uZbIK5zqplClD1-mZpvd0yC0N7WQNovgvyDWq7tDN1UYDk2aheDCrAfiNSYBUiXfq46u5BkiP8tTRl6TH9Ihi0Mbt-uWkYAuWZPlRBygL3V2xFm2-asrYjR4bLVsYp_l608sCIRvCKSQ303zwmTIPk6LsAtynOLvMXgg3HgIs7d_X0arQJiMMd8p8aF7izZnMNHd8kcoISkZ2UK6eT1vg8daY-H-YMSAGxw3vhoJSyPb7zWg-tT_tlOHaXBMVOkkeA6L8HVEUU-ri3gFYQN4ZpHyS3V3qv4zFiIMThRQMGuY28Wg4EHkrLv8vqCZvgT77ztXr2eJKHfnfLpOVG5E_dLDExeC_EwVlDNAcKgT1OKlAvXzRbwPkKBjbROpLDozCnmnDmSoGmCa4rv6Gc7rqbqM_uPVE8JPvPliHlore4o_9QTbUZfXoJ6wkImuUfI8HxMKRyoKzsvs8ACEWabHYcWpxFGgy-aMHRBZMHFEpdEV49pzBLHE7mU-xx-5ccRK5GEKXurLv6bwVFm7TZY2T-jHliKXmh_eW6wCklKktr888YSKnXPY9t566Y1M9ujN4xiCVpCJp4WW6unA_geJPGPnQmLW92v6diVkVTRPcITDZDTlupX8aTN4mYelW1Bv2YmPVDt6Cz8PKhwM4S7lifMwG2H-cyYy2zAvHPLWkuLPJ5O5zG76ify8P4UhbrwYbbvtOmai5b4uIAdz7UYhAeIOaAzqsuUeTNLlmTiUGLfr0h4OHi3FuMvUcwonWjyZQs5g7OYCTvg-CJIdkycUhQePHW1kVMHiQsA15YiLtr8wYJR9tU4p3X-CTHcbrPA8povtTCvmNx4G1IVeMZfsEsqcWhqPvmT32QzYZto-WiKwqvoRrZGCzv4fG0pfaNHL7lSA==",
  "id": "rs_0c5131395299f0dc016ab4382846e087d08e75c41cb207b20c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.336,\"left_y\":-0.238,\"left_z\":0.132},\"note\":\"The left wrist camera shows a tan plush head just ahead of the jaw column. I’ll advance and shift slightly right to put the open jaws around its body.\"}",
  "call_id": "call_j0QN3ADI5ONvzv1PB1Tpqdlm",
  "id": "fc_0c5131395299f0dc016ab4382a3adc87d0a396f2c7ad50a114",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j0QN3ADI5ONvzv1PB1Tpqdlm",
  "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]: [-0.8585, 1.6817, 1.219, -0.6876, -0.5686, -0.8398, 0.9968, -0.0647, 0.9184, 0.77, -0.6197, -0.0677, -0.1371, 0.9997]\nstate[eef_state]: left_x=0.326 left_y=-0.2265 left_z=0.119 left_yaw=0.1041 left_pitch=-0.3135 left_roll=0.0363 left_gripper=0.9968 right_x=0.2886 right_y=-0.0031 right_z=0.1739 right_yaw=0.0603 right_pitch=-0.2045 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -7.8564, 8.759, 1.0818, -0.359, -0.0757, -0.022, 0.3897, -2.7145, 7.0906, 1.4725, 0.0464, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5cab0407c96d08b998f2f4fba3a61b24b75b0c060ed5edd7722fc22b341d5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8825c96608c9b2f77352beb1274d25980316e08170428d50e1c097cf7275567d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3e60e2419d84634a5ddf428e4a146a5ba14402b3db619cef8470e86334c16c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0302, 0.8845, -0.6674, -0.1337, -0.1947, 0.9968, 1.3983, 1.1946, 1.1984, -1.2655, 0.8417, 1.1271, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1842 left_yaw=0.1152 left_pitch=-0.2388 left_roll=-0.0269 left_gripper=0.9968 right_x=0.1648 right_y=0.1995 right_z=0.2398 right_yaw=0.1058 right_pitch=-0.1256 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.0291, 6.9538, 1.4335, -0.1636, -0.0562, -0.0073, 0.4991, -3.5761, 8.4444, 0.4176, 0.7106, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8318, 1.4712, 1.1114, -0.72, -0.5632, -0.812, 0.9968, -0.0582, 0.9073, 0.7708, -0.6266, -0.0566, -0.1219, 0.9997]\nstate[eef_state]: left_x=0.3065 left_y=-0.191 left_z=0.1512 left_yaw=0.0946 left_pitch=-0.2764 left_roll=-0.0074 left_gripper=0.9968 right_x=0.2868 right_y=-0.0031 right_z=0.1759 right_yaw=0.0488 right_pitch=-0.2001 right_roll=-0.0369 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.2427, 9.1145, 1.072, -0.4811, 0.0317, -0.022, -0.2667, -1.9077, 7.0496, 1.8339, -0.1734, -0.0415, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8585, 1.6817, 1.219, -0.6876, -0.5686, -0.8398, 0.9968, -0.0647, 0.9184, 0.77, -0.6197, -0.0677, -0.1371, 0.9997]\nstate[eef_state]: left_x=0.326 left_y=-0.2265 left_z=0.119 left_yaw=0.1041 left_pitch=-0.3135 left_roll=0.0363 left_gripper=0.9968 right_x=0.2886 right_y=-0.0031 right_z=0.1739 right_yaw=0.0603 right_pitch=-0.2045 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -7.8564, 8.759, 1.0818, -0.359, -0.0757, -0.022, 0.3897, -2.7145, 7.0906, 1.4725, 0.0464, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5cab0407c96d08b998f2f4fba3a61b24b75b0c060ed5edd7722fc22b341d5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8825c96608c9b2f77352beb1274d25980316e08170428d50e1c097cf7275567d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3e60e2419d84634a5ddf428e4a146a5ba14402b3db619cef8470e86334c16c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_0c5131395299f0dc016ab4382c730c87d099dee9f4434cff72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.351,\"left_y\":-0.219,\"left_z\":0.06},\"note\":\"The tan plush’s face is nearly on the left jaw column, and its body is below the fingers. I’ll advance a small amount and lower to grasp the upright plush.\"}",
  "call_id": "call_PdlrOirp2NBa38cBVLrCPdt0",
  "id": "fc_0c5131395299f0dc016ab4382d70e887d08ff8fbbf37b6c839",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PdlrOirp2NBa38cBVLrCPdt0",
  "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]: [-0.8597, 1.6955, 1.2346, -0.6682, -0.569, -0.8463, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0689, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.331 left_y=-0.2329 left_z=0.121 left_yaw=0.1012 left_pitch=-0.3009 left_roll=0.0137 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0607 right_pitch=-0.2048 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.3487, 8.6085, 1.0476, -0.4176, -0.0269, -0.022, 0.0615, -1.8393, 6.8308, 1.5507, -0.1001, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845c991791a98e1a75108b9272de0c05eeb35d2030c8591a0045816b0aed40f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719a6b49b51b3841219ee167236e7b2954602c31747bd058601b9faa83602f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd5a5420ecfd96b9360c7ddc92cb91924c49f365780a4e32d4b6272993c110b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 1.0325, 0.8845, -0.6689, -0.1333, -0.1947, 0.9968, 1.4097, 1.2335, 1.1984, -1.2625, 0.8265, 1.137, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0004 left_z=0.1833 left_yaw=0.1151 left_pitch=-0.2426 left_roll=-0.0264 left_gripper=0.9968 right_x=0.1617 right_y=0.2074 right_z=0.2299 right_yaw=0.112 right_pitch=-0.1492 right_roll=-0.04 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -2.9197, 6.8171, 1.4823, -0.105, -0.0708, -0.022, -0.5812, -3.959, 7.6923, 0.6911, 0.5153, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8585, 1.6817, 1.219, -0.6876, -0.5686, -0.8398, 0.9968, -0.0647, 0.9184, 0.77, -0.6197, -0.0677, -0.1371, 0.9997]\nstate[eef_state]: left_x=0.326 left_y=-0.2265 left_z=0.119 left_yaw=0.1041 left_pitch=-0.3135 left_roll=0.0363 left_gripper=0.9968 right_x=0.2886 right_y=-0.0031 right_z=0.1739 right_yaw=0.0603 right_pitch=-0.2045 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -7.8564, 8.759, 1.0818, -0.359, -0.0757, -0.022, 0.3897, -2.7145, 7.0906, 1.4725, 0.0464, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8597, 1.6955, 1.2346, -0.6682, -0.569, -0.8463, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0689, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.331 left_y=-0.2329 left_z=0.121 left_yaw=0.1012 left_pitch=-0.3009 left_roll=0.0137 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0607 right_pitch=-0.2048 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.3487, 8.6085, 1.0476, -0.4176, -0.0269, -0.022, 0.0615, -1.8393, 6.8308, 1.5507, -0.1001, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845c991791a98e1a75108b9272de0c05eeb35d2030c8591a0045816b0aed40f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719a6b49b51b3841219ee167236e7b2954602c31747bd058601b9faa83602f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd5a5420ecfd96b9360c7ddc92cb91924c49f365780a4e32d4b6272993c110b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgxHqPmQOu6V_4qbOFLYEST2GiFVeVS75tqFlXAwB5dp1Uqkuy8ZtANnoBj8kF8cxCJvbRbCFp07xYX2os8V0bfbUH1pOaearh4PMZJF9h7RiyqVBcRhXR6R1zXg393j6gJfPZNacCdGK8j-hQvLbMM7n5735nFpV8L2uVIi5NizvTerb-zlAZBaTqzsD5UOUJTIYPu05iCbrZumfP8n_-K4VtPFj0R0poSLSn1RvnY6D2szLXwsSX_IfHhsjC7-XM1AlotVlFkNj_KpwJDzKMN8rYkYm8VOlqcx-QoUD88FKoi73m2byqyZSpc8evLBQlv9JknqebR-7aB5I-R35YRoFIy32t6Q1BYYXHlpi0XGOd-PdWOqVc_CVJ7hBV9uP-Z66cDmg-HA8VhwsgMKkSxXOvotW6LBqQdBevp6MY5r6J5HWsZUu0lJY60JF2E7XOXXxaDCU9DvupBAv0N-mFYcZRlf4vxNytd2dyEwbqRUSRdAuPbLOz80usgki1ciVd2-mKKCF5ws5lR2W0fRacnCYEuGw94xXaOiX-tsZppdjgzCLSl8_mNd1HD-JZGQS5w2WYlPWXOCTJ3nqCadq3Wc3ZNPdx0xNe6Nmz-fAyiX_tm70wGchB9DOZMifUTorH8MbT-hm6BYltPBUONkj8i57qDA7uI63b5Va5XggOCwvFvuD6D5-inZUatFAlOa0uZv0AocBBaMaAxL0vUAB5irz6-q7kEWiCjyXx1rz88Y1GuRTFJPeauZoo522Ezft0T4GfxguP9EVxoLAGM0y27usrIe47EwPS-Ix7--vOo6EEjFamhc5syTOraEnzLBuPhZtvja1XeyBAwhNTX2otEK3kdw2y0XRhRivtC7gu-oDvo6H3rkLUGPjYnVoctcNQokaskf0UOxh8MpktrZIqVaumAYlBM_aAsVjxIC4A3cOQy8pBJjg7IYHHXiVXBf9log3A4DOsSN23LOWDfye6bU8-cXpcZG0HhxXqAwdlUTuXJRk7kZBLEIfnawPf3aE_TcodoYcIMFzyI4iI9ViNRCkgiDXWiXrAz-S93lET-3sahvAC3F8kgxpC7TPLxVd2eSuvr1klacqFs1S1l5_MWqgEwcjxuI1Q-y7qVfNZ9qX5q2DgC8cXrqKYKswzMY9TgoppWUsOeN-KHDMR-tagG4MQP0LeSGjIMKQyMt6WEfcLdInd-UJXeO6k44E5DmL6mLa250rrfAEWPU90tmNtCdtqe1rrQrDduMeNqebEor7R3AOlwRSYRLnFjzVHmUSXi41yX18K3HKi-DmSBibozeuBQRZojKHFFeloMpPqudigFcXW5nOuUhEmNyMCHddd0Dv8xlZj6L5rdqm2ckD8pc0pfA1DTN--acPw-RxYFj2jmbvTVCRwR1EPtOZnzvFDrCdsNUEmoLJDW1rM7DAdG1li79M9tjTHm1MtLBy4b0FFSoxLR5zEt1iHcuUZbOkbGyR4aIPscij2lPy5H_-DXvKx1IPlhb4apubfyasO3nQUsCDbI77hC_uOi3b2Fcw254uXZKbayYXqa9ruFpS2B891-dU5bcQXZXFV-Dsz0U0Y0OHl0qpd7W2LGuBsYRgCfCao93Gy6UG3AyazllAiKPKL4eH2avAc5YeyzUBMDhM2mFYJZ2YGe0XnRdb61hVBKCAy-gzBUCX-NX8eFKOWTyQUUfp3ytBo079Hn41YnBW2Lb_821NzVe3t3T3-3WYHsfeuutOmz7-bSASCjgML0bw==",
  "id": "rs_0c5131395299f0dc016ab4382fb98087d086a0c74d4e36f5ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.291,\"left_y\":-0.239,\"left_z\":0.164},\"note\":\"That descent did not move the left gripper; it is likely catching on the nearby basket edge. I’ll retreat and rise a little, then approach the tan plush from its near side.\"}",
  "call_id": "call_ixzmLBQRMr3Hj8MnhwIRUkYP",
  "id": "fc_0c5131395299f0dc016ab43830d8c087d0b12d121fc4050cca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ixzmLBQRMr3Hj8MnhwIRUkYP",
  "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]: [-0.8597, 1.6955, 1.235, -0.6678, -0.569, -0.8467, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3311 left_y=-0.233 left_z=0.1212 left_yaw=0.1012 left_pitch=-0.3005 left_roll=0.0128 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0606 right_pitch=-0.2048 right_roll=-0.0404 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -8.335, 8.5265, 1.0281, -0.4371, -0.0171, -0.022, -0.1846, -1.8803, 6.9538, 1.5263, -0.0757, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7238a3cb6e4523ef42a1e5d115c56a1b0b3e3a73af973f3e7352eadebd19d58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff4ec6b4d7d13dda129cc91660c889981d9e04a03d65a3702763bda5c5d2ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f876daa19ccc4a088fe47aa78130500da6c4571b7c2dac96705c0585d2eaed9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8318, 1.4712, 1.1114, -0.72, -0.5632, -0.812, 0.9968, -0.0582, 0.9073, 0.7708, -0.6266, -0.0566, -0.1219, 0.9997]\nstate[eef_state]: left_x=0.3065 left_y=-0.191 left_z=0.1512 left_yaw=0.0946 left_pitch=-0.2764 left_roll=-0.0074 left_gripper=0.9968 right_x=0.2868 right_y=-0.0031 right_z=0.1759 right_yaw=0.0488 right_pitch=-0.2001 right_roll=-0.0369 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.2427, 9.1145, 1.072, -0.4811, 0.0317, -0.022, -0.2667, -1.9077, 7.0496, 1.8339, -0.1734, -0.0415, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8597, 1.6955, 1.2346, -0.6682, -0.569, -0.8463, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0689, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.331 left_y=-0.2329 left_z=0.121 left_yaw=0.1012 left_pitch=-0.3009 left_roll=0.0137 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0607 right_pitch=-0.2048 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.3487, 8.6085, 1.0476, -0.4176, -0.0269, -0.022, 0.0615, -1.8393, 6.8308, 1.5507, -0.1001, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8597, 1.6955, 1.235, -0.6678, -0.569, -0.8467, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3311 left_y=-0.233 left_z=0.1212 left_yaw=0.1012 left_pitch=-0.3005 left_roll=0.0128 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0606 right_pitch=-0.2048 right_roll=-0.0404 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -8.335, 8.5265, 1.0281, -0.4371, -0.0171, -0.022, -0.1846, -1.8803, 6.9538, 1.5263, -0.0757, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7238a3cb6e4523ef42a1e5d115c56a1b0b3e3a73af973f3e7352eadebd19d58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff4ec6b4d7d13dda129cc91660c889981d9e04a03d65a3702763bda5c5d2ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f876daa19ccc4a088fe47aa78130500da6c4571b7c2dac96705c0585d2eaed9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg0mOKmD1y003rJWoe_6Cd-EpQVLZ0qtuBHyXWzl15Jgp0V1M7OKVZE9XHMh307X_DvXvStRVHWDZVB3gZP0q7srEFdJng5q0i89rP28SV6DuRz43KTe-YQYNkVDAnd7yyjxAYV6atuoFIlX2H08qJgHZTEnikC9zHaTUY-xILnf1CWkfRwcm8b_GM4aMfDoiI6qxyHnneJPmRKzaUDT2vlsMeUSjwomoou6ZjC7St_rmrHUvbS78dsP-oxdAfIaeQEhfG6NWGWFTYS5uHqI7ZVrZKK2KM1Jq9-WIvE_fIil_xzMa8KgDur-O75YTNOjjlFsjZKOuNy1reHhV2XgbCpqMhv7J225BsGq1MKSvcOYy-loH3pwCpcrTI8DFiVxKSUb0PTOqs-Wd9UPdR8r2oo2ALCeX4xAN2tcaqe8xg55fNRYAbJM7FyLrk8Mlej5gOtdEWnQl9rsaHwbXwHjX2Pia0SBqL1YfNFEHvCFam1-pc13-w3z97vjy8IWXJTj6jf-9MTiLJ3Q0UdSojMTyfXOetv65W_zYqIUgDUq1sHTTdpzHqO3y69FqLLT1ijpA_KZJYrq2yYbWQMsx2frOJQjY5fm9pCAHqSBTvGIXTaCkij0_9_suFVK8qGEuICGLzulNwohobg2vxnmrUz5Kde6HPi3HxPpoqYwgb9aQe8oSbSykHuRtEVd_zPnfoOtc_w8SVQduGrd935TOY5cKHg2hvc8m5XBrPjJZixjdbgi3Jp3Fe0WMU5go0G_M4Ae0-GAm3UPteN7-m_vyE9iyCOQJQMV8TrXCqCRtB7Jd35LFHo4rqGytV21cAg5l5dpii5lx7rkF3GZHFsVpNuCq1XLA0bycQucJtXK90S_VdOIr0ER87jgUVkDZkHWLpohTZlTluVyf6CBPNBfKFY1StIvcQU8p1Z9xfUYYzYghHwO2N5yQv27HvBKXutyMuJSPZy2D6sjjczUje_aKYdy1jLp46STBRAFGqm9cG3PbnNcAWX_ylz8cOgOwwq-pAIniTIyD7UAxEVL-Q14Q3eUjn8v9WaIVRvWD4_3pBaU2R-opcEsLPauoPeif3Y5QBsop3IOYEzHC-c3auqku_ZG-iJAMj79-MHq21L6yBXD7UutR6dFM8m7vxwvP4w31LHaibTU-JmzRf6N7zhsQgKCO2OFxkORaWbCg5zF8tkiXKudEzXjy-4jF15Vs3FRbm7_jQxCjYwuODbxX7iHR0GAaldu7qokjCLjIkMo0ExMkxcuitMsGMv1frk_EVr0f3YUzsUJOvpG1t4K2CDfmttxGgba6NIIa772osmpA_d1gIoIrjUYjlLBzPDUV2jDeJYt2RO2JOISA5IrCBgqK42UVCIOvffkBjbRjuIHxEJe7fbGFRavkQhzID6fzpdld3Wt4Q8XG72Lxjz31H2q4YVi-W_zAVAus0kqehLuizAL9aT03LIEVidcGN9bGBLOMOBZxKHzjA_eEQBbgI9FAM9zQ8WPvuqj3yy6wfpSwdJ_BW5-jaQJt6UK8kA2rQFcaBU63v_",
  "id": "rs_0c5131395299f0dc016ab43832f3e087d092855d1cb0cce642",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.248},\"note\":\"The left gripper is still blocked near the left basket rim. I’ll lift it straight up to clear the rim before repositioning.\"}",
  "call_id": "call_o03YbQsXW4yJI2jTYmmfdwLo",
  "id": "fc_0c5131395299f0dc016ab43833a4d487d0ab93d68970c2d7d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o03YbQsXW4yJI2jTYmmfdwLo",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.7039, 1.7126, -1.1046, -0.561, -0.8539, 0.9968, -0.0658, 0.9257, 0.7696, -0.6178, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3351 left_y=-0.239 left_z=0.2406 left_yaw=0.0932 left_pitch=-0.2876 left_roll=-0.0241 left_gripper=0.9968 right_x=0.2893 right_y=-0.0034 right_z=0.1721 right_yaw=0.0607 right_pitch=-0.2101 right_roll=-0.0397 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9128, 7.9385, 0.8181, -0.4127, 0.0415, -0.0171, -0.3761, -2.4274, 6.8581, 1.5311, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976aa8a0ab53d6376b427f9ba32dbe238c0c5d7777e4155c391dbb01f5fef5f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d17b3b577755633b72a3f1ed47700c1acf35ac2fb40154c6a0406dac4bd6a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7341f0168a9ddccddd795f5230889757f221a6fa4ac85d2358e53f36e239f70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8585, 1.6817, 1.219, -0.6876, -0.5686, -0.8398, 0.9968, -0.0647, 0.9184, 0.77, -0.6197, -0.0677, -0.1371, 0.9997]\nstate[eef_state]: left_x=0.326 left_y=-0.2265 left_z=0.119 left_yaw=0.1041 left_pitch=-0.3135 left_roll=0.0363 left_gripper=0.9968 right_x=0.2886 right_y=-0.0031 right_z=0.1739 right_yaw=0.0603 right_pitch=-0.2045 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -7.8564, 8.759, 1.0818, -0.359, -0.0757, -0.022, 0.3897, -2.7145, 7.0906, 1.4725, 0.0464, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8597, 1.6955, 1.235, -0.6678, -0.569, -0.8467, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3311 left_y=-0.233 left_z=0.1212 left_yaw=0.1012 left_pitch=-0.3005 left_roll=0.0128 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0606 right_pitch=-0.2048 right_roll=-0.0404 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -8.335, 8.5265, 1.0281, -0.4371, -0.0171, -0.022, -0.1846, -1.8803, 6.9538, 1.5263, -0.0757, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.7039, 1.7126, -1.1046, -0.561, -0.8539, 0.9968, -0.0658, 0.9257, 0.7696, -0.6178, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3351 left_y=-0.239 left_z=0.2406 left_yaw=0.0932 left_pitch=-0.2876 left_roll=-0.0241 left_gripper=0.9968 right_x=0.2893 right_y=-0.0034 right_z=0.1721 right_yaw=0.0607 right_pitch=-0.2101 right_roll=-0.0397 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9128, 7.9385, 0.8181, -0.4127, 0.0415, -0.0171, -0.3761, -2.4274, 6.8581, 1.5311, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976aa8a0ab53d6376b427f9ba32dbe238c0c5d7777e4155c391dbb01f5fef5f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d17b3b577755633b72a3f1ed47700c1acf35ac2fb40154c6a0406dac4bd6a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7341f0168a9ddccddd795f5230889757f221a6fa4ac85d2358e53f36e239f70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg5U1o4rnLp3gjSV5_2PpXkf1JlpAONRFqA7Z1XKqTfvHUxoMtQZXYB7P-eNPQoaKE5k7NLCzfVE3-9fVq9YNF7KJVwPkE-TlVw3ItX9mMaociPu67fwtddt3hqfwAA2XM1-I5269zy2Cj3simN9JsSa2KbUoEUJwaonpcl6tVOjQIf3x1dhRxQIJuTK5T2fJAFK4XOmSrAeK2wcL7i5O10NpfDmVOf8IUGlP-SG-CUehqcMaiZ6S2HPDz-daHsV0BA8as4UzSrxnrFlKmYl1xBXviQJhuhLX55w-gteprLpKkk8zLsZIOjAHFFw2Ipt7LpkLoJ5UNPduAl2p7k6qG-4n9TJRN5Tl5PzmUQczaNY3aefK6_nmtGGmYj_ckPQM4ehZaErk_0c0yf8zbigY5mVU4xqE26DcOkNyV0QonmXm4dSt8nBZmPnBQDtz1Z7kUSxDapldwzLtyKe_BTMyg0960yUzbqFzTXzy7eXd5gfWwdNLzhSY-x98kzK0t2nah_BbxGa0FSTYRw2lOHUBH4MFHKUf9xXTXf5SEP5-14otD6k_oQfvfDmq8HpbyaYYT9myNqY1j69FPSRK6jJUWDYYoNCJPrpo9aN6mOBXwXiffrlnlIHQSIOuVsar9MuFvZl0nA8ngDln0VovKAw6J0nx1iJicrpo02ymqGUTN0aVnvzLyz6jFJ2tdS1dL5gGLucb0plqiyikoCh7q3b4fu2CUz045fgYJl9bgFHuJIX0qz3FfemqPmf-yWHkVOHjXleDbiI6awRO5S1v_ThW8euvuldH2G30akum_hGW7Ngm2Myh428LPreDg-F6bw19PMEnLdtZ91-cDigKwW1sbd3JtSWk2BBJFDusRNXkL1q9AprNRl69VwZuoWCCxu31gA8TzXQDGVu73HKFOJSMarImhMyIGd_F6pH8oZNCSE7KrZY64-GSpxr0b1exkoIuUx_LWh9B_mQPnxVQ9Lf5c9vxxB6YIOpLUW7MiVX5HTXNH7-aI0QAJPMyOFfoFfVS5S9hi6Gff1q5ouqmrL2Lu9C-HrXhTcwe0qlJJ_G8YH_-4Z1FSEa-zCJxbqfl2zVurvjkd4xdFYtBajVFhNXDFViNITdzqPaMW6iiebhZXtb_zuQARv5Y4Szz5lViwk45GuqytD7_VUC4tguay9uRQKRjXT14z-0mGCxpGKRVglgj13FjLwcFjQ6mt9KlwA1C1w_c1SvXuxafWfLGPyXaxGGzHV2arGRyXwrFdBtY118U7laYUrEZe2KuCDELBDUQplJ0tY4-7n_lofmwnDKPndlUYGYkQNEW43GxQIpqHZXvPv-6Bl1LD40Djju13K06iKJiZGtKDck7TW70Cbh80gi7qyP4QUIaeb_rcXCONIwe__Wu1T00sCHaKJL4Z2tkg1FIa7B8tnpq4Vd4ewWyFpdIzGdAMIAczi8DgkGMPPiBiwK6gId03422FDHEEj-QjQnoizK2m7EU0ngasXSDQPldBOrBKIz0Y457UenxifY_veZUjm3xHgZRfF0VYkbZxYuiVsvip6kSR1pATxgM2gpz64AbGAAAaQu3F2eFM99OiazaynFTJzS56BWZRROVcQ0QGXe3fLdGakFikLNRt8PZoA3i7_YZzLYtorch2_D9uHUjcTiIb8kpAWk8j5FeM71-8A5Y4c-uj4EKSGwoFDI5NJVE9-vZOagfMxSR0JWr1vFLdzCJf1ThnxsWzNzRxpwWJOEbBesITDURyDEJb7c2Mn0IaNeCvP1hXToyV5MmTJjMvJU-dKOp-AFHq25hAVZGVtUU8BYNi0knGUbwfBjs4scR9RMTJtT-vDKWC6jeZZbgyo1DAzgXV8D7EnpPqTwEhyAWwuVGq-yPPGHAwJJdz7y8qSPi2_X3HTAsDg8OT8mPgSFBwGHkL6MFpa8y0K21wSBgvfCPZ5C0TRv3iolli50Cdp4LW6tWkrncTVzmcmAvSyQoTzUw5HKHRO7w5bZA2SrEMe_6hBu8QK058QIPTSP8qVyfRdNalbQUeV5e3vSq_fKom_n_C4IWIwGQfx",
  "id": "rs_0c5131395299f0dc016ab4383732c487d0b195ca3ce74796ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.266,\"left_y\":-0.251,\"left_z\":0.244},\"note\":\"The left gripper is now above the obstruction. I’ll move it back toward the near-side tan plush so the next descent stays clear of the basket wall.\"}",
  "call_id": "call_ryaETOtpHzka36kXItChkyBo",
  "id": "fc_0c5131395299f0dc016ab43838d2b487d0abbfd43bebce5628",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ryaETOtpHzka36kXItChkyBo",
  "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]: [-1.0454, 1.6642, 1.6695, -1.2098, -0.6106, -1.0302, 0.9968, -0.0658, 0.9276, 0.7696, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2744 left_y=-0.2642 left_z=0.2357 left_yaw=0.0615 left_pitch=-0.306 left_roll=-0.0222 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1719 right_yaw=0.0613 right_pitch=-0.2105 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.2632, 4.7932, 0.8132, -0.5397, -0.0562, -0.022, -0.1709, -1.853, 6.8034, 1.5897, -0.105, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64b85a1d61c0a26d9c2ef5bef690edc43de4bb135ca6e380247f43adbfacd539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8596586b7b7e262b3b9c0eadacdc031e7008bda58fb13e091e6b0a2d48be8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0056b4910aaadab55531961cec7a72638dbbb226a7f9100d27ee8a9faa1f32f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8597, 1.6955, 1.2346, -0.6682, -0.569, -0.8463, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0689, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.331 left_y=-0.2329 left_z=0.121 left_yaw=0.1012 left_pitch=-0.3009 left_roll=0.0137 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0607 right_pitch=-0.2048 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.3487, 8.6085, 1.0476, -0.4176, -0.0269, -0.022, 0.0615, -1.8393, 6.8308, 1.5507, -0.1001, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.7039, 1.7126, -1.1046, -0.561, -0.8539, 0.9968, -0.0658, 0.9257, 0.7696, -0.6178, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3351 left_y=-0.239 left_z=0.2406 left_yaw=0.0932 left_pitch=-0.2876 left_roll=-0.0241 left_gripper=0.9968 right_x=0.2893 right_y=-0.0034 right_z=0.1721 right_yaw=0.0607 right_pitch=-0.2101 right_roll=-0.0397 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9128, 7.9385, 0.8181, -0.4127, 0.0415, -0.0171, -0.3761, -2.4274, 6.8581, 1.5311, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0454, 1.6642, 1.6695, -1.2098, -0.6106, -1.0302, 0.9968, -0.0658, 0.9276, 0.7696, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2744 left_y=-0.2642 left_z=0.2357 left_yaw=0.0615 left_pitch=-0.306 left_roll=-0.0222 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1719 right_yaw=0.0613 right_pitch=-0.2105 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.2632, 4.7932, 0.8132, -0.5397, -0.0562, -0.022, -0.1709, -1.853, 6.8034, 1.5897, -0.105, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64b85a1d61c0a26d9c2ef5bef690edc43de4bb135ca6e380247f43adbfacd539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8596586b7b7e262b3b9c0eadacdc031e7008bda58fb13e091e6b0a2d48be8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0056b4910aaadab55531961cec7a72638dbbb226a7f9100d27ee8a9faa1f32f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg9F_S8n3Ev1LG3z2eruAX_2i-a4mdBfPc7buae8rnxNuVddDBdiX3cldqppueHGoF6vJk0t33ojI6W-yz-XFCU8SzurgIv3ZvMdwKWjUsBE7Q4Rtxfb8vFsEQa_MdXfSu8-evEqAsphfmOACyO5a19A7R8OfXK3fVqLoNzzATn9H9Icp24cx9dYN8L_aDqP9kA4QBJshSgFf_nthDaTk1YnECQLyeK2O8C3pxdYMKvAI-dQpKN2R-hOv08KPq4QB_j8TiABeftJEuGU4oaYOhrlAtTkK-WGqORzCxPtsm8F1b_ZgXTOA-JvQ4NV2KsxKiZgqd_uCVoORPFFhrJpMi7bmEsjUdio2TJbAdPdzXpmCmUyYkMaLiJ4EU4AZ1jvR71Yxz3sNe4KGXHPIEDQcoBFiNfg0T7svgebIbMeC9pJUaihS_yDLIVzlxjvh6oDI0fG-JWhze6Ou9h80Qw0EbK5vhEdFCZp4K2cBBIq9h2snrxFUxRKrCMZ5TnSpcQA2R7wtRIadX_Z2nxUmwtdGMSSGTJN7QoiNZJ-QlaY_v8FHGqlImIsbOqKuPtU_yewECx-VHoH0kREgWQqC43eEyfETJXpU0KnK_szPDhKEawp0Wh3m4g2hUgbCq-fcyQ3Gg3NXLVGU3Yt1sBoAF7aCC5TATwsxHZ5W08TiPPxJHZTjNC2i9QDi5dD33AQ5EyI2zwF1R22jScdoHIUBFIkd-D8qY4poAjBVWKnJu0pKS9YxSi4jlmNDjpVx2QMVYr-dZLrU5joWN24awplCedwSPtq6fvwbPnpdFbIu_PhxI1dy3zMYVR6Z-c_QRMQm-Yw3702zE-KJtbx2GspJHMebPDSjQG38IdqPs6x6QFFA5rBCe4xFmh8QEtIugl58TmClenidfD49rpaqoy0RsYGAH_YvHL7cTSpl26h7h_W_HubRmMZnVOsV1lSNFkS0ffpnT98EKWswsssX7IskmoTBjlB6LA2jtTN3iDBk0gLw7wGdYagBJLTzLVvvqEPah-AM9g1b4VHCognkkXzQVKZwVXvrJXMFttlu5jVcgLl0AWvYr1kyXSTzhAMDoIuWsYNtgV4qZ4iZMNYo1NBTs7yx7fq0mqRtXwU5JsIEV0QlmkKza0sezm38m4oNFlZPOwOf-f0ArRz4qOre5Z_jbeiZQpFgKzMcFKLk7Mviox8BwZeXgM1JK3VWlXlMsLNJJJc_Ktpy8tJx5q8v9_iTSgtD8PvBKSpornyZkzqCwnhbP2NoIcFlWiI7XN_daQoBLsUxcvL2r6umh3Ei-dOTs0rx-U-reB0zoryUEfPpXp_Elch7JIeV1B_cXzv8cXEeFX-TTAnufT3FIm9G1niQcoCPvymhJHlalX401tL08OLrAKYpbOM3eG5q5KQMjMxacK1rN-lKPVRSDu71ayGWiO5O-iN_ge7_WvGpmEP_dHpoehafL5Nazw1UcwWwSGxYyZ5ODws5DFTBCqOVikXW6FDjhMAMgrfP2jqOBxkN8C7ypcWw1dNc53n1KLpD72xiuASc3TZeu2HU7RSCyqOjUlKCJk4ZpXVpA-DO-NxaJuyvCHvmkAiUlMb4SvAI2ua3VL3YUFgtwE27blARuUlZ3GTmNQpqmxaxAVlqeQyaNYHSMaw0CwLadiJO6ll9soDKd7OG_vwbZMwEKz6uq_vAgkApBgyzF_HmVEbET3j87jbZm8zNN-87p9jL5MJwQNfcbroZjphGeNWRNrQmHTQjUke6F0gdto0xvezLvWsI9VUfyUKNxB7cKr_JW5gYjBShScaiV_W91bSjQIEScqH7Bh_Y9HbR19LcPYKAT0LKC0CZDQ-quG470qAevpY7aaM8nIJcKkdtkq2c8OS8lS_YCEVPcPk9G2mowqBZDb1mPVqUr8aZcruSablir1H7NRcWEIUMXuoD648NU1_Iib2uabXJCjeegj78C2qAKIsV6uyMGEgfCWe95NGIIuJqkeeSM9b1raNtb63iUq8gX88OTpSXH98AMYCjr8WwPFF8BZRce_p9hYRDlBrm0ribfNCcnq0-X7Ss3Ytv_0HThmJ1QdoBHNrwFzhcLAW2b2_FLUz6mMOP0=",
  "id": "rs_0c5131395299f0dc016ab4383b39d887d09e61796f425822fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.273,\"left_y\":-0.296,\"left_z\":0.125},\"note\":\"The tan bear is clearly visible just right of the jaw column, with both basket walls farther ahead. I’ll shift the left gripper toward its body and lower on this clear near-side route.\"}",
  "call_id": "call_dpdAU8SpV16vPiS5OmmOZFkC",
  "id": "fc_0c5131395299f0dc016ab4383cc71487d09cba2ecc3d01267c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dpdAU8SpV16vPiS5OmmOZFkC",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0908, 1.7489, 1.3582, -0.8734, -0.6212, -1.0782, 0.9968, -0.0658, 0.9276, 0.7692, -0.6163, -0.0685, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2701 left_y=-0.2885 left_z=0.1304 left_yaw=0.0656 left_pitch=-0.3221 left_roll=0.0067 left_gripper=0.9968 right_x=0.2896 right_y=-0.0034 right_z=0.1717 right_yaw=0.061 right_pitch=-0.2109 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -7.8701, 6.2154, 0.7692, -0.3687, -0.0659, -0.022, -0.0889, -1.9624, 7.0222, 1.5556, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d2a61fb5ab32b383711267b5f67432d0584abcebda5236624625a72489a3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861f3a94eec50754f295e21f6d3a42634117abc75a6adcc447f7ba11aa44ce49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd27a45f429223248d3a4a0996b21b868938994557e63d4964168c86c3efc37c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8597, 1.6955, 1.235, -0.6678, -0.569, -0.8467, 0.9968, -0.0658, 0.9195, 0.77, -0.6189, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3311 left_y=-0.233 left_z=0.1212 left_yaw=0.1012 left_pitch=-0.3005 left_roll=0.0128 left_gripper=0.9968 right_x=0.2888 right_y=-0.0033 right_z=0.1737 right_yaw=0.0606 right_pitch=-0.2048 right_roll=-0.0404 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -8.335, 8.5265, 1.0281, -0.4371, -0.0171, -0.022, -0.1846, -1.8803, 6.9538, 1.5263, -0.0757, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0454, 1.6642, 1.6695, -1.2098, -0.6106, -1.0302, 0.9968, -0.0658, 0.9276, 0.7696, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2744 left_y=-0.2642 left_z=0.2357 left_yaw=0.0615 left_pitch=-0.306 left_roll=-0.0222 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1719 right_yaw=0.0613 right_pitch=-0.2105 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.2632, 4.7932, 0.8132, -0.5397, -0.0562, -0.022, -0.1709, -1.853, 6.8034, 1.5897, -0.105, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0908, 1.7489, 1.3582, -0.8734, -0.6212, -1.0782, 0.9968, -0.0658, 0.9276, 0.7692, -0.6163, -0.0685, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2701 left_y=-0.2885 left_z=0.1304 left_yaw=0.0656 left_pitch=-0.3221 left_roll=0.0067 left_gripper=0.9968 right_x=0.2896 right_y=-0.0034 right_z=0.1717 right_yaw=0.061 right_pitch=-0.2109 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -7.8701, 6.2154, 0.7692, -0.3687, -0.0659, -0.022, -0.0889, -1.9624, 7.0222, 1.5556, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d2a61fb5ab32b383711267b5f67432d0584abcebda5236624625a72489a3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861f3a94eec50754f295e21f6d3a42634117abc75a6adcc447f7ba11aa44ce49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd27a45f429223248d3a4a0996b21b868938994557e63d4964168c86c3efc37c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhBjUlp-a-44BXwxz9NNsIk6WHjidc-wLI_CgyLmAEQyBDtQLulYgor-267D7pxzfTqgKkQ29S-YKjXv-5XFck4ej43S5bdQ0YXMDN_yiPwhTPy8cwrjCT_OJ15buFig5EzcKXsK-H4XkxaR4DrgcfWWksnyfAvD7heE_c6BAaZnvceUWqixJIGRk7MTmAiVVkGZi2hlbH9vbkUaMWR0-P01PzdTb6CSENEsJO-GbmNmpGOKr5nhhf0sT7siht_Xw-UVW7cGAy6_k8Fp4JOl0fVQlJbrG_OBVz0vX3myOgXUOcr7pie4rtf-pmTJl_fDx5ongMCCeOLvFXYNCiA_YXqBDhkop1FXdWT7i6N21vftyiS9qTfekAPpmYpuAjPfQRsU-5xudx01tLQ7eMgWKZJunwS_1z0j5e3JzGz5A2et-txXwhVLI8lXvB1Azj0UZeU-tV3GH09VCBbR6uqVHBewb0ErDPoE4kb1PviMWL9Q3Xh-7uLIRUyUWsAEmleKA-ABL0QQ1xfg39v6rHoWcmqH_oW9nfDUiD8LvsMPPCh5ZNv5s--YWIeIk7FTkn6e3b38K3gHP72mCEhZlYRx9sZJFFL11o9mEgNPFC7HJ78zSo8ZHsbnWOjRX8mhoyX0mK7dt0_EQsFiwR8R5c0bpaeeTt9SaLRVC7XTDGDZj9wpjoGuyZ_MVHtWRqA0wFhRFnfzBTeZ5h7caw1DFZnTqPQS4rj61S7maYCv8FfW-3Npbh1ACKkA6HDBy3MKb6YC7RNd4e0QlAKbadSFsvW8IKojn2h3mQ9GvH870oNgXxcgWYFyJU9N5QXT-m8eMlXLwYx5RKZteFFZyxCP6zPdPpIN0xzyNxS67qL6JqGVfIOS5r8Smfiy7V3Qscb4OPmp1lXsJjj0ys87HvkU2Vv1tuRNVnRSNXHx46J77R3ZtqGuXujhpfbfVvRUbdPmrBYwPqxQ7_zFvh6XZUcecn0eR64Qsk6jXOBGsDC1ifUB7gnc_HfJeNBqzc7UqYFo46dyiL4sDoRRjfOVevKV4cqovoC5XocscA3OtGIe5jSKI_QnbPPkSZllqZbfWZP4ZNoxnEwwOKvfrE_SB-JC5o05AsEOLRGO8KawMiuaFeWWo-B8ScbpGPwLz45NP-F31RgQ28izmV1W5XZz3y6j8yAMsen2YM7G-YJzJzKQUbwZLUH6E5a1n5E7gsm5GFmjs5LXzU1Qg7VE8scX82AzBrZjIJ1vZTFrezpsY2fdbUqgXcC0ALzqBx6dOLhrf-oYoH_dtFgg1EdwN4FjqB5i5lYgL9hoeD6vMvo-GZpz8NKo5mqi31eiR2i8Jhy15yXD2nCuu2XkHZQSwUnk0kvQYUX5Utp7vGtmu8ij0nRnS1pUfrn8IOFW4cDpuiL2mxzCq7hGnEWl3tMUqT8SYUFQ30tsto3-QRPR46VNA8HWo28taX2yS9UiEl_sv5uJUjhpAMtiMX4-_pn1sU2iVxE8xVBwYBS5MqRBh6LLeQibINhJSe6a33yp2FfJvetG1_bbGd3capQYg4iGk-4k65IvpBUbTkiJnxmsNnK-n3HFUyhQFS_lc4YfM7WVkNmDbsi1YSmyVpsY6jPhZLU0ZlxpBJw9BmiObRgRSByQX7VK0Tx8WbGViSdPCKRmboQOxWa1JpIQ4vEpZIcwbwjPbmhLZmchGreG5RTJa3eCvv2xq-3UDm7ce7OyPpJ5_9qbCLfNTwBhICcVqXhuX-uDUOKKe0ipgNp7_ReK05xE8Z_rFeU9iJTPvGT2xvFWkDww76FVBn8AyaGV0raThdF47QuNr9FDWW7tzQ1z6A8hquu7biI-A2-_qZZIaPl15mubF4yrVbKsFm3NqFhTgdGhmrzX41Oyz3EEA==",
  "id": "rs_0c5131395299f0dc016ab4383f6a4c87d0acf94372c8e51eed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.311,\"left_z\":0.055},\"note\":\"The tan bear’s torso and foreleg now occupy the open jaws in the left wrist view. I’ll lower to its plush body and shift slightly toward the torso before closing.\"}",
  "call_id": "call_ppb8YaIWUHeQjIgUC12IkFZ3",
  "id": "fc_0c5131395299f0dc016ab43840efac87d0b2c1fdcfdc8583bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ppb8YaIWUHeQjIgUC12IkFZ3",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1152, 1.8935, 1.2606, -0.6773, -0.6285, -1.1019, 0.9968, -0.0658, 0.9279, 0.7692, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2687 left_y=-0.3043 left_z=0.0602 left_yaw=0.0719 left_pitch=-0.3332 left_roll=0.0388 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1716 right_yaw=0.0613 right_pitch=-0.2112 right_roll=-0.0395 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -9.0051, 4.9162, 0.7399, -0.2808, -0.1392, -0.022, -0.3761, -1.8393, 7.0222, 1.5018, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a6ef80e23209e9e76e954d6906a1ce5c718319decccc9b5285fcbae293f2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd862e5f73b31b7eee6f5247af2c1b8d15ec20139e176ad4bfc970e226e7d011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f5221e6d23a082708526ecd259f803218f31766c7c4a7e5c01cb113e2f6a44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.7039, 1.7126, -1.1046, -0.561, -0.8539, 0.9968, -0.0658, 0.9257, 0.7696, -0.6178, -0.0685, -0.1387, 0.9997]\nstate[eef_state]: left_x=0.3351 left_y=-0.239 left_z=0.2406 left_yaw=0.0932 left_pitch=-0.2876 left_roll=-0.0241 left_gripper=0.9968 right_x=0.2893 right_y=-0.0034 right_z=0.1721 right_yaw=0.0607 right_pitch=-0.2101 right_roll=-0.0397 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9128, 7.9385, 0.8181, -0.4127, 0.0415, -0.0171, -0.3761, -2.4274, 6.8581, 1.5311, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0908, 1.7489, 1.3582, -0.8734, -0.6212, -1.0782, 0.9968, -0.0658, 0.9276, 0.7692, -0.6163, -0.0685, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2701 left_y=-0.2885 left_z=0.1304 left_yaw=0.0656 left_pitch=-0.3221 left_roll=0.0067 left_gripper=0.9968 right_x=0.2896 right_y=-0.0034 right_z=0.1717 right_yaw=0.061 right_pitch=-0.2109 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -7.8701, 6.2154, 0.7692, -0.3687, -0.0659, -0.022, -0.0889, -1.9624, 7.0222, 1.5556, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1152, 1.8935, 1.2606, -0.6773, -0.6285, -1.1019, 0.9968, -0.0658, 0.9279, 0.7692, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2687 left_y=-0.3043 left_z=0.0602 left_yaw=0.0719 left_pitch=-0.3332 left_roll=0.0388 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1716 right_yaw=0.0613 right_pitch=-0.2112 right_roll=-0.0395 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -9.0051, 4.9162, 0.7399, -0.2808, -0.1392, -0.022, -0.3761, -1.8393, 7.0222, 1.5018, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a6ef80e23209e9e76e954d6906a1ce5c718319decccc9b5285fcbae293f2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd862e5f73b31b7eee6f5247af2c1b8d15ec20139e176ad4bfc970e226e7d011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f5221e6d23a082708526ecd259f803218f31766c7c4a7e5c01cb113e2f6a44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhEU-P04SewrwrCak2msXKv9cD_cuf-5tdYYWq0FtW9AB4tDtvrfIc2nCOtTdkdGeQxISdrzJX1WfLu0oflnYxyE-itVe_vkrK-S5SYsXlATehjM487rhYyHN4OXL6bVWCnTUF77WWGkdF3EaFEmqaheD1FvE2Xdpy608totCmedOewjbyeZHpn6p9GlbU8RqUEjgK3o41vhp6fVZQ_QNUbkyKpJuX2Kmy0xYnY0DEd6bUJL3poh2Jhc7KcIXV4GnDg9jikgeP66TwfZWOmyS945Pqj2bBWCQCbpMYjtlOSHdGeUPy5dKMpPGSESVpFMqPifLgroQFaJX7JmuNsLciRtZb4MEQDLszJw-5iw5Att0CePmBA_Ao4SUQm1FDWsYlul99n8kP8r2t07--qxJ4vEujPkMRd5FhKOivqTFGIRqUZBrpS4laBRUTTwsv4boYqwIjcynPRIKajlWTn9ImAX-E0SNi5PHVDg4J4TopXobZqn3NvmTRZs5dcZeAlTWNnYNkPbEgs2zYCUI-10-blnxWewr0-xE0Z_ERoFz_KYKofA-ZHbZBj-JwhEU7rUuBrjH3veSiDkJUtZpvTRUa4WiFt6uLd0V5TEnYHYBVpquGCRHuedLITVKoDgt-cGFjxaoFa1WF1xGVVrBftHbG4EfNVN-Sqr841HjEdSD5HkQepY0R-XAj2AnvRGIaPc0mJOHMMu79UBz3ACGV5j8HUcJ665B9vLqEDQWZnjLwA9PstXVZTXuTHKMcg0xLIt8oo4Iq_jU7m-pSJCLjSthdM-mbXRTgnetQdLWkEbEd6X-300C5A2LUIlBLuXnGB41qM1QeeAGCOB5Ms3SNz1pZZjj2fza1qyatCfkwKc1dqFCZnWdkg74TyGOXqsIpOievoEDhpWqB1FVJj8odfKI_zHO4WshuE9N_dDiBvWt5rDSFetE8JFRX6P8JTaUp-6HotBH-HevoGNF7roxvzmyno85wHM9O7VuCpK8BXlg1buGjFXhJngJUlMmiAOWeWSbKJ_p8LGb-7eNEJ9y_4nE7PHkLu6-xsgHkknNND4nEyNXUWvSDReLVEq7ThnkjpTjE36_x90nmx2ds6ko8L-uTnh_MbDym2ucXdLfidOe0F8SxRRy2CFmJcCMhD71Xtsxb7zWLTgFxpZnZ57xxKH_r-894wCHfvlldBLO-Ern4jEPbt-kUcmcRz6O4Y6AnuOHc5wycue9KvA291J3Fw-vYn5R3u8fv-S-lflyjx4awpyskjxe6x4nWFJr73PBG2ID8LZPmxSRVb7VvT0ro_ekmfKfBzMK3aXe7Eadm7l6Jz-N9TNI65Q1aTkoHlJpoB5uAprIv61ZnNyxbJA0swzzp1uw==",
  "id": "rs_0c5131395299f0dc016ab43843a63487d0bc66fd0288897d05",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s soft body is between the left fingers at grasp height. I’ll close the gripper and check the jaw spacing for a secure hold.\"}",
  "call_id": "call_FCpzpeWuEnxia8TTnyhEFZL3",
  "id": "fc_0c5131395299f0dc016ab43844109087d0a32a741a43b9f517",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FCpzpeWuEnxia8TTnyhEFZL3",
  "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]: [-1.1168, 1.9038, 1.2602, -0.6418, -0.6292, -1.1084, 0.0164, -0.0658, 0.9321, 0.7681, -0.6163, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2713 left_y=-0.3106 left_z=0.0584 left_yaw=0.0665 left_pitch=-0.3231 left_roll=0.0105 left_gripper=0.0164 right_x=0.2897 right_y=-0.0033 right_z=0.17 right_yaw=0.0631 right_pitch=-0.2166 right_roll=-0.0411 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -10.359, 5.8051, 0.3736, -0.3639, 0.0562, 0.5788, -0.3487, -2.3726, 7.241, 1.536, -0.0952, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f1ae0b7630f33b3e92da2b7b579197c7e2f9b18584666f8298151976a0d283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca961822f3c40496a0ea224c7aaac17122b2dcea372aab64335477b67b9b1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40dacebdc2c50d2424ac19d9bc8f9026d595f7342f96437fed86b3876a0ddec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0454, 1.6642, 1.6695, -1.2098, -0.6106, -1.0302, 0.9968, -0.0658, 0.9276, 0.7696, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2744 left_y=-0.2642 left_z=0.2357 left_yaw=0.0615 left_pitch=-0.306 left_roll=-0.0222 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1719 right_yaw=0.0613 right_pitch=-0.2105 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -10.2632, 4.7932, 0.8132, -0.5397, -0.0562, -0.022, -0.1709, -1.853, 6.8034, 1.5897, -0.105, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1152, 1.8935, 1.2606, -0.6773, -0.6285, -1.1019, 0.9968, -0.0658, 0.9279, 0.7692, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2687 left_y=-0.3043 left_z=0.0602 left_yaw=0.0719 left_pitch=-0.3332 left_roll=0.0388 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1716 right_yaw=0.0613 right_pitch=-0.2112 right_roll=-0.0395 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -9.0051, 4.9162, 0.7399, -0.2808, -0.1392, -0.022, -0.3761, -1.8393, 7.0222, 1.5018, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1168, 1.9038, 1.2602, -0.6418, -0.6292, -1.1084, 0.0164, -0.0658, 0.9321, 0.7681, -0.6163, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2713 left_y=-0.3106 left_z=0.0584 left_yaw=0.0665 left_pitch=-0.3231 left_roll=0.0105 left_gripper=0.0164 right_x=0.2897 right_y=-0.0033 right_z=0.17 right_yaw=0.0631 right_pitch=-0.2166 right_roll=-0.0411 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -10.359, 5.8051, 0.3736, -0.3639, 0.0562, 0.5788, -0.3487, -2.3726, 7.241, 1.536, -0.0952, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f1ae0b7630f33b3e92da2b7b579197c7e2f9b18584666f8298151976a0d283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca961822f3c40496a0ea224c7aaac17122b2dcea372aab64335477b67b9b1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40dacebdc2c50d2424ac19d9bc8f9026d595f7342f96437fed86b3876a0ddec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhIkLrkCebIqenyyeVkh6TbaG7SXBjV84CMIJE3nVIJ6GjmUI0_9G8DXqEEQ-smy-8VPX9Oo5Lx-UcFv7OkNCMxTQ84zdLvAg6I_XcRw80zYpspxe1vPhI5NVQqsbs9nSNOuihccPX-h3agED8pZxvBIYIgjpweIAwuQx96EhMOYbXiFjhJxeGtg_0iEBhlpDefFnQad94M2I937FW86NHAfWjzxOH4yMUqBYVygXLEKl3dj_UBHvWKH5AWWI6pKr90i136b94v6pXSSPo8FQGGWSmEIn8UPAwS6mMrApVPWldj07zIN4rg8da61Fbzjrfjb7IfD1KLaq0P_OWsXCE8NCkvykGNb4572WS8YUVQgU4YtNnLr4OU-2wtLl8wczUGKomRV0RpvMm8ZNt39oTqoNu0dUaLkWSQNcOq2wyjdsI0jqCGUc9QAp6KkArFo5TksXXij0A7m8-Pfg5fKa7_--UysBRtS61qPM7pYHWtscAX8R36JXgtw2HlsPIaS2hIVPX4WFMplFq1XmLDmN2VwhENyItiMRlGatGnzuhmofEl6UG3Xv-EQ8aOZq_Kg-TauQp9ZaLyJ0QfiYKveZy2XGxyNqvzPZmCXC4lKrqM46JFJuC89gS-PHW1vrd8YNQAQOWD7wN1o0vbvK33sChH2jWvB8DkHXuDYJERHQhcr7JSrJhAMI79BlYFWTdck9PxNvZAc6pn3ViLY2po62CbWBCRcgJ_eEDd36hWqpQsKKrv9uQhFcXW8wxFCIA1e-s-F2L8sd1WOqb3QHo5SKbaOPfk7PBe-CKKt54dTchSYeFDHV6W-xyLEFKHDmE7f-4CxC9h363HJ-PPZiCbkW54ZySBiCAfOOufg510Fs0Jt95gKNyisqtMGT1XMw8GXVPosNd8TiorpRlBXu1fn1BLXg7ClzD3zjLnI_KuLJs4m6PcjNOqCy3itk1Hz98gnaPfuGiExipp9prdc07fQRGi09KcKcAXhIRzhUnc806uwybE_ivdoH1axuZ3l4b1B4dNgX4SsAHUCjtDKPXnqWV-dnTI1UT_pO1t_CBJDTEehxM4rdpA1x8WlNC1Dt_X2FcOIERZCDrhofgLHMSP3qh_55KHQ8PlborK2BXSj21maiNcaxdle7OxauLfIuk5Kw08k9DN-GWqilsWgiD-h4YTSVW4k6WTlTRlqCMmOqqz7ypFf9O_A_LBw4kkV678Qdsx5m10u_2vnhFCMspB73A3R-dmIgt4Qu_jikceeegqqfqDsZrWhgnPnTvA7EQhlllP1N8qjOfru84NYLalmZ45Zcm-mDsnkjbL9OFaI1caAVJ_kzm8Muvzlw8Wncqh3RJn2oKHy2si0QGeAM-8bq2Q-q7h4IicA0AyhwPiBWvJfFvBjSF5dRYIFtr0RxJ7EBi61Pr6a9EisiGdgaH8Hl6rP9mJbIoO-rRVNJPo6zy_czyh3TSohNvJqeLZ4_Rl-W3FiIZIrqgSrZn7cVg_2y0Mmq0AuNnrWfRBga7ag2690HLOFGIuVVYmsYB8mPWHU08N9JIltYruCyBBMC5Jtkz14pJ7ntFgoJxj5HW3CU-uZxDzHcinzWLL5GZoOPgj-4aWVZTZzicnsGPbS88l_jqz6cDJEgt1kdKGtUgO9gB3kS-8_KpBtSXlAAFp943TbxrPS20WguMwJnPLxw_Q8JTlmkEwSF50SyeraUA1q7kGN-QJRbeoZgdH0HiDQuf45-KR",
  "id": "rs_0c5131395299f0dc016ab43846e44c87d09c559e4f227db9cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.302,\"left_y\":-0.326,\"left_z\":0.067},\"note\":\"The jaws closed almost completely, so that grasp missed the bear. Its face remains ahead in the wrist view; I’ll reopen and advance a few centimetres toward its torso for one corrected attempt.\"}",
  "call_id": "call_PUBjiYmWuyiA1ezR6UzV69pz",
  "id": "fc_0c5131395299f0dc016ab43847cdf887d0822f0fb532f184cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PUBjiYmWuyiA1ezR6UzV69pz",
  "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]: [-1.0634, 1.9701, 1.3766, -0.6682, -0.6132, -1.066, 0.9954, -0.0658, 0.9325, 0.7654, -0.6163, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3198 left_z=0.0637 left_yaw=0.082 left_pitch=-0.3283 left_roll=0.0093 left_gripper=0.9954 right_x=0.2893 right_y=-0.0034 right_z=0.1688 right_yaw=0.0629 right_pitch=-0.2196 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -9.0051, 7.9658, 0.7643, -0.315, 0.1343, -0.2125, -0.1573, -2.0308, 7.0632, 1.4969, -0.0757, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa270a42b84fa6b4e9c9ae5b1c9cf19841ac766bdc104f510d69a2d0f410c1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dcbc7c152171a3da653629893f3d0a737ee357bfad2f97b689aa725f8c696d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ba3a49e1a409d510f3e84642507ba67bb0558c0bee1b2db2eae4a0817922c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0908, 1.7489, 1.3582, -0.8734, -0.6212, -1.0782, 0.9968, -0.0658, 0.9276, 0.7692, -0.6163, -0.0685, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2701 left_y=-0.2885 left_z=0.1304 left_yaw=0.0656 left_pitch=-0.3221 left_roll=0.0067 left_gripper=0.9968 right_x=0.2896 right_y=-0.0034 right_z=0.1717 right_yaw=0.061 right_pitch=-0.2109 right_roll=-0.0398 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -7.8701, 6.2154, 0.7692, -0.3687, -0.0659, -0.022, -0.0889, -1.9624, 7.0222, 1.5556, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1168, 1.9038, 1.2602, -0.6418, -0.6292, -1.1084, 0.0164, -0.0658, 0.9321, 0.7681, -0.6163, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2713 left_y=-0.3106 left_z=0.0584 left_yaw=0.0665 left_pitch=-0.3231 left_roll=0.0105 left_gripper=0.0164 right_x=0.2897 right_y=-0.0033 right_z=0.17 right_yaw=0.0631 right_pitch=-0.2166 right_roll=-0.0411 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -10.359, 5.8051, 0.3736, -0.3639, 0.0562, 0.5788, -0.3487, -2.3726, 7.241, 1.536, -0.0952, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0634, 1.9701, 1.3766, -0.6682, -0.6132, -1.066, 0.9954, -0.0658, 0.9325, 0.7654, -0.6163, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3198 left_z=0.0637 left_yaw=0.082 left_pitch=-0.3283 left_roll=0.0093 left_gripper=0.9954 right_x=0.2893 right_y=-0.0034 right_z=0.1688 right_yaw=0.0629 right_pitch=-0.2196 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -9.0051, 7.9658, 0.7643, -0.315, 0.1343, -0.2125, -0.1573, -2.0308, 7.0632, 1.4969, -0.0757, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa270a42b84fa6b4e9c9ae5b1c9cf19841ac766bdc104f510d69a2d0f410c1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dcbc7c152171a3da653629893f3d0a737ee357bfad2f97b689aa725f8c696d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ba3a49e1a409d510f3e84642507ba67bb0558c0bee1b2db2eae4a0817922c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhMEwBzLfrAqunuXIAnNrXh3vEhl0XfG7O7Vcg9Wf70jwL2OW25KYWEpP0DF9H8QSBCmV35JW-Q_vMVaiNgTrsyEL3-IWusjgzu6P-1-Ay3q1exK6vLpRF2OSMVjmhJ8vXtsrsxXigJ0fuouerECeLFBZcV2Rna-SVkxMh92sZOqTK5qNCuK6P75aB_RilS_MMwOAyYi2KxRG59TeKik0diB3dIAe0bq8tiPnti54_tQX2CZveJUtgGSSM5EOaABcpCS22JLMVB9EzjQHS4Jkk6CHDzkrjLymE7l6E2_tJqdog1D2AJKZgg2TC5Q9fSy7j4q7X-UHzH7PGyF3S83lUHIXCHecbyurNsU9jATI75zqWOL41uMoZNZv6DMtfe_mjfn4k7xPkNMgO8PXi5nU2MNeU5pf7qbbczhghUYVzUxP1RcrIZbbMqn3FBhAD8Bg9ZtUZNl5bJdPibErHXhKZU6_skZdOXMiWRpKTnA7hHeTj-O95iKwqvn0IBKUW4Pn4D0jnmbfzP_fSjjlfGrkTsY71CJrT9UXQLZvww078D5_iY_jVj_OcxW-9w1R3xr2lvlc-mxjdDN3zh_gtXm-I4990zIOs1xMMgwixvONedxsJx33-_2Kvrpagt_qxcDh4BhuCkm5oOdwb6-oAbFOKy7Ds0aYzpV6u-9yiM8TXkddNptxk4QHidgkrIwLbxt_la6bcEgutEIOlR9o0z_6E42SMRHmEHJ1twsefr46nz9J42EQUpJhHJDJV0AvVsUvnPTzPVit8l5FOrZ79GSD5k4ExY-c95SFUnJC9QYoM1k6Juikabd5A2UVtCuiniYeB_uxEDL8pPj2vAR1D3O8ojqocidGbI8cpnTJl_pXyoD8itSaA-3Du8lpu2vkehuPsucPGO8exu965aezrLnFH1J8S0c00uMfdWp_VSkqFquUWYvN2Nc0LFNgFUp8TUJXTtmv9_DCoVk9J0wdT-8cmzpYq7373dN6Fy6TigcRGA6l6i4iIVvw4xMud8bwN8Tp-FJ7gCZ4w5sKP6sGhCIUY_fYvmkw0Ylp8RKmGanFfTo1bNG5k_YyfWNsRVZu4x_M01X2b4-wKxIkEgALTv_zeNz_ZYBeU7K2CTEnqtZUWlbWPMm1usKkFy2jXDfMLgSXpwAOWipPmiCvRhaiYg4qg3xlThktN9toPQ4QFe-ynzOYmvh1pdfeaK15wh9igyG9iWkQGqAsqpMeCuUbS7PtlhvFGDDxlKQoDSoOdYGM8fBqpWrjX1qz2YenQ4wPfoW5J-xRFJcm2y2JufRm91e3qQwPEulJ2bpPZ8X4v81_w4G_xDXPGS0m17WPVr3LfWIm4FX6LKg_bndETJVIKAKw7rLw==",
  "id": "rs_0c5131395299f0dc016ab4384ba47487d0979602c045e5a884",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s face is now centred immediately ahead of the left fingertips, much closer than on the first try. I’ll close once at this corrected position.\"}",
  "call_id": "call_DCb6jzaPiCcksRMLgjcFyJn2",
  "id": "fc_0c5131395299f0dc016ab4384c252c87d080c9081193ad0f97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DCb6jzaPiCcksRMLgjcFyJn2",
  "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]: [-1.0615, 1.9751, 1.38, -0.6643, -0.606, -1.0714, 0.2005, -0.0658, 0.9325, 0.7647, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2988 left_y=-0.3213 left_z=0.0623 left_yaw=0.083 left_pitch=-0.3336 left_roll=0.0006 left_gripper=0.2005 right_x=0.2892 right_y=-0.0034 right_z=0.1685 right_yaw=0.0629 right_pitch=-0.22 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -10.6325, 5.6957, 0.7839, -0.4615, 0.0024, 0.7595, -0.0752, -1.9624, 6.9128, 1.5507, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a4f179f1ad6ff9ecc3ad480416346e076676cf97b60fa49689ef1b1610dee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf19635d7cd839f1ca37dc090d8dd91e4af7e91d3f0b26ea3daa3b2cc447173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4173552ed8a362051efb6d1fb4cafaf9273dd5b494f188aebc95daa7f5eca813",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1152, 1.8935, 1.2606, -0.6773, -0.6285, -1.1019, 0.9968, -0.0658, 0.9279, 0.7692, -0.6163, -0.0689, -0.139, 0.9997]\nstate[eef_state]: left_x=0.2687 left_y=-0.3043 left_z=0.0602 left_yaw=0.0719 left_pitch=-0.3332 left_roll=0.0388 left_gripper=0.9968 right_x=0.2896 right_y=-0.0033 right_z=0.1716 right_yaw=0.0613 right_pitch=-0.2112 right_roll=-0.0395 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -9.0051, 4.9162, 0.7399, -0.2808, -0.1392, -0.022, -0.3761, -1.8393, 7.0222, 1.5018, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0634, 1.9701, 1.3766, -0.6682, -0.6132, -1.066, 0.9954, -0.0658, 0.9325, 0.7654, -0.6163, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3198 left_z=0.0637 left_yaw=0.082 left_pitch=-0.3283 left_roll=0.0093 left_gripper=0.9954 right_x=0.2893 right_y=-0.0034 right_z=0.1688 right_yaw=0.0629 right_pitch=-0.2196 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -9.0051, 7.9658, 0.7643, -0.315, 0.1343, -0.2125, -0.1573, -2.0308, 7.0632, 1.4969, -0.0757, -0.0611, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0615, 1.9751, 1.38, -0.6643, -0.606, -1.0714, 0.2005, -0.0658, 0.9325, 0.7647, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2988 left_y=-0.3213 left_z=0.0623 left_yaw=0.083 left_pitch=-0.3336 left_roll=0.0006 left_gripper=0.2005 right_x=0.2892 right_y=-0.0034 right_z=0.1685 right_yaw=0.0629 right_pitch=-0.22 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -10.6325, 5.6957, 0.7839, -0.4615, 0.0024, 0.7595, -0.0752, -1.9624, 6.9128, 1.5507, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a4f179f1ad6ff9ecc3ad480416346e076676cf97b60fa49689ef1b1610dee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf19635d7cd839f1ca37dc090d8dd91e4af7e91d3f0b26ea3daa3b2cc447173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4173552ed8a362051efb6d1fb4cafaf9273dd5b494f188aebc95daa7f5eca813",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhPmdiLAnDzvE7grA5x_UOSclJcpnczQUruKaCdNhpewa2kJ021fg4Z2HecJlH9ucWn3JDCcOmQHDOZ7MuTHmlVm06mliDoFFj6oTMo1ZJFW03KTXPLMKrqdir6dbuLtRTKAoCv2OZD9ccge_35xgZIC4pk73SKMdeiWc25hDevTTNh-yIzsLjK8s346WQid3NB-Ta1STdVM47eIRHRcuOYj3DssS-7UfokTryE3T4fXL6WQWmZdebXDqKdHSXQKSjl4A1Sz2yUiTYp4d3Km-l6Jx-fpKdgUUMOpVjdEdvEAjuPKUIGi2DTB68H-MIC8izU5lrwQroVeZiW3iokLFa0R--lLN7hUlFY381ohSkVO5-IkAqzAUEJthu8oFZ_AKRNrz4JfXjw1FHqX6NkWUERWsWM2jh2T5TibDcf2tjrxdqmTdStF2_V1MAgBcTivL9M_qWByFmOooqND_gheZWcbKhJLAh20tKmBmODJTHFXSHyr8TDE7oSPZqkgWaJ4S9OwXCCyI9gL_mOdQVr1xYWbaTbfEbZOtEfb_DdG7V3iG1bzvsZcgeWtSjoTQSszt2-elN1-nNvOvbpzPy5bnIQSIbnndki8flRwNxlTZo_Q6oQub5hsCX-9qYH14gl5Xj38dtQVOBZp2Hp9tgYkJoGEc2BV6eEVSb_BZmvjjIatw33jrkZLCsOL7_rb4UWK4Z0UBb0xxNwXYrj6UTwyyx8luUVdWdiKqHt1uzVyaQIpzgVYlnn5g_f2dxPciP2hpDGKzVFbf7hh-_12fHkeegcy4Elr19LfYpRxsNyxMZXrWhGNBmSGP5AoFcxJvz9zfWYqt7j8OfmwYmTpI3zdQIhg1xFZ_8jX8LP6HsJ1yXjD2S8Wy4PHroI_eGDz83aZq_MxM7oWtfiJAcrXTE_gxEnj5AHoq_ic8Wm1gIJ74Vh0RaqtRqnfHJkXxCQbO3G9t4jyCEcTj1JQtIZzEC5ir_o2HIzff-h_p7LZ_y7IY7sb2_zgTCHjJMv-YQBBKG-pPR8FghzSjdTJ1CMIERnJkm18b3I-a9mRAg5Yeg9J2QbS4WA_DIjKGagOoWy35Va2G7cqBN0oyrztX00mn3XUlcJeR-SM03ZyV2uUnPKIC0grT1WcVg0Mr-e9F7lHPdbIFQ3Zwpy-CypfD3IaZ4KfjKiJYknFVimXtR9tHIEMfZIK1udyT4L1MNuogqj4X6UNpEoATmF0lD-gaUEkyGRZaYKcw==",
  "id": "rs_0c5131395299f0dc016ab4384edaec87d0ad722b9c462e138a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.182},\"note\":\"The jaws now remain about 2 cm apart, consistent with holding part of the bear. I’ll lift and confirm that the tan plush rises with the gripper before transporting it.\"}",
  "call_id": "call_y2CWm6eznQHRf2qFtgpknmv4",
  "id": "fc_0c5131395299f0dc016ab4384f3cb487d08431a10ab5ed3c37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y2CWm6eznQHRf2qFtgpknmv4",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 1.9549, 1.7294, -1.0534, -0.5884, -1.0824, 0.2028, -0.0658, 0.9325, 0.7647, -0.6159, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=-0.3287 left_z=0.1528 left_yaw=0.0887 left_pitch=-0.3568 left_roll=0.0049 left_gripper=0.2028 right_x=0.2892 right_y=-0.0033 right_z=0.1685 right_yaw=0.0632 right_pitch=-0.22 right_roll=-0.0406 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -13.1761, 8.3214, 0.8083, -0.5055, 0.0659, 0.2271, -0.2256, -1.9897, 6.9812, 1.4921, -0.105, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f63d1bd09c252b1b76eaf80bf722274d3aa6138148df4289090fcfa7e4301a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c90381b531068f0cff7f5b8968be42480c67043a11e47a94dac8e9a3c180def",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ddeb2758b669af3a636092d21e2db83c01cc478b4b4b8e000421c4cfe75bcc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1168, 1.9038, 1.2602, -0.6418, -0.6292, -1.1084, 0.0164, -0.0658, 0.9321, 0.7681, -0.6163, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2713 left_y=-0.3106 left_z=0.0584 left_yaw=0.0665 left_pitch=-0.3231 left_roll=0.0105 left_gripper=0.0164 right_x=0.2897 right_y=-0.0033 right_z=0.17 right_yaw=0.0631 right_pitch=-0.2166 right_roll=-0.0411 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -10.359, 5.8051, 0.3736, -0.3639, 0.0562, 0.5788, -0.3487, -2.3726, 7.241, 1.536, -0.0952, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0615, 1.9751, 1.38, -0.6643, -0.606, -1.0714, 0.2005, -0.0658, 0.9325, 0.7647, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2988 left_y=-0.3213 left_z=0.0623 left_yaw=0.083 left_pitch=-0.3336 left_roll=0.0006 left_gripper=0.2005 right_x=0.2892 right_y=-0.0034 right_z=0.1685 right_yaw=0.0629 right_pitch=-0.22 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -10.6325, 5.6957, 0.7839, -0.4615, 0.0024, 0.7595, -0.0752, -1.9624, 6.9128, 1.5507, -0.0562, -0.0659, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 1.9549, 1.7294, -1.0534, -0.5884, -1.0824, 0.2028, -0.0658, 0.9325, 0.7647, -0.6159, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=-0.3287 left_z=0.1528 left_yaw=0.0887 left_pitch=-0.3568 left_roll=0.0049 left_gripper=0.2028 right_x=0.2892 right_y=-0.0033 right_z=0.1685 right_yaw=0.0632 right_pitch=-0.22 right_roll=-0.0406 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -13.1761, 8.3214, 0.8083, -0.5055, 0.0659, 0.2271, -0.2256, -1.9897, 6.9812, 1.4921, -0.105, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f63d1bd09c252b1b76eaf80bf722274d3aa6138148df4289090fcfa7e4301a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c90381b531068f0cff7f5b8968be42480c67043a11e47a94dac8e9a3c180def",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ddeb2758b669af3a636092d21e2db83c01cc478b4b4b8e000421c4cfe75bcc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhTyTQPpA5uyI7rICy_WvDoQUXgiTN8PGRT_zmkNEd3ie6RWzMb6R66IZRq3zvmkQhWOKdHMIN6GYKAxtHSHac6pJB8055qPQRsG8QeI7AIN7nxzhI1T5p4PK2p8RqImIXSquaAF1UqZBVvXEuQMd0az0XzgUleH3xa1hsJJ7l9sXHsfdPNQ89BX57ekKs-0iwTzoYS0TOgh8077qg65mL-ANxNuppED1jGFgN7L5M5-aKm4GTiRiv6TqeTVnGYYSu3gZNAn7sJ3W7RbPVRmnRWYsw0JLFcInWtw7bD4r9o9fbp9iqb7UgxRAMT1Eo7RvwyBcpJ_xUKpArskj3qVyfr6-gbcw9iLjOOBIvErhTPGI6UtEwwor19_f-e5jxirxhckenVX8p2KMQDMCeSW6MyEHSBX_fQQfyfTTLGeaUIVHfwSi4JUo2YQ64LT22P3GerZ4u8pCc43ORQmndzgDDf9ZUA1NUjsdjLLViL_I18sPk61Rqnra5Wnskd1ckUUNhUyRXc4uZQW3VpRJC0qtut2SEuYLL0kD21O7zoG3I7AHqEzSrhxVAjBoxTcJilvp88lD1bTr-LjYKH7qEn7PqzoIppbU5Ws3n_CMIGXi0ja25wKY5pivsJqh5FxtbulL0bhUv8UTLtLHd9XxhTriGMg4yYdDvTaDUQZSeIuXtKs4w_tBlNhFv6G5-6lmc8YX6yf9Rm75oa2Z97Ycv1vXXLsfrojrnXenpJDffSPLMjxCVblYJo1pv6GJE4deVMF6YvwVKIYH7DD3jwKt6U969NGOKDD2c0f-2vMEQru41SbKNYrovLCcGaMsdd1IjmEp5l-flg-tpmJvzF0D4k5BraxbMJFOItFfexEOn0MWbofrCh1I2-JdPp1MPVCAvQHrYdQwCObsRmvCyeA3fujUX_uKxqpE9RGWo2JAl7401Ka4SXZyrJ5bEdwbg0Ms6knz2eOjiB3wW3fqgg3pAJAtas7qiVZfCJEcWY7TRDHnGeILGx1hScebe1wXwZL1xtn0KDFAxQrxPHNxJjR_BA75uyA6l3HGpGjncdIECTTop5pawW4OnqY0-NvP-lc4pvQ5nbuGHQwFq9X4dH9VA0gI_yopb-W9qUywtpkUbdc6djVI7txjZ_NbpYv6Di38yuqC36ZxY96f0lwBk6d45grs5NlGTPxVff_WAIwdbWJBXJnx4mmHjLkcGszBqgRUXP4kgPHndoo9lDVEK6LktD66xAFoW9njCQ_guu9VwL3O-HE5m2QU13_nOUDjG3UQhzL4UBfmFtgjT_qKKHTC958GyLwNZS9KAriRN0q-Qtt0fu_hPQN6tF6D1miA6m__apyywcEZN0gYvhyqj2DoPoqfZwD3fSSXLib3PZt697CB_sniHwtCr_SiB14pt3ABST3Mmm4-w2_MGf3DWm-UVIXeLKVVrnm6Bwz0lkff_bub_E2sJBHEhCFgs1ZtCpWyQ1FhKzVcCIl7OJlhpu3DLbwoOy5yz6GQOSk4I3ZOEFPAqH38iVMn1DELYy6mED8gAWeyPVImUnI9b2upyUuk7OKJeTZnU_ZqpdmQUw6yTjFBxyORo5KWLkCa6RWabKNIWsxWZnJ3WaW2bKAHLyCKhJqn_ZqIONaIsOSMYGqAGlyXBXMXXxyEFQZxpfPzF9C-bC7Fz0Wlt8r-WRGupPnfcUtKYut_r9NAOpsLN1I_DeROZU-WSzWXDFeCwZqg8YM1Lkytjj8mWJ06fOAXnc_utQYjYiOcF7IWJYuIw8lSSgTUY4GCUe9zBlMJ8fpCbx9XLJ6px96n0Gbd5CKlsA39wLwUfTuWQoFfKTnz0bTTrcSTw9ZT5FQGYjJHLTJlTg1JHFIhXCRS3Un97LABNbOxNK5pAmO1guOLsnWNpOw4ozhsHTFFJtm1BLVzyWX1GpjL4LBN1p7sYdT3XnJnP9J15SGysmooahvmqp2ZryNHaPGeYJ3FM-y33dVpxCI0XiYocxXh6H6BpJ6rqjrJYzerXeZcm0jQ==",
  "id": "rs_0c5131395299f0dc016ab43851d60487d0a56d6046ce04a1ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.241},\"note\":\"The wrist view still shows the bear’s face, so I’m not yet convinced the whole plush is held despite the jaw reading. I’ll lift higher and check whether anything actually comes off the table.\"}",
  "call_id": "call_Jxx7lRirijuXx3oiFYBANKZ2",
  "id": "fc_0c5131395299f0dc016ab43853120c87d0a90c8b870495a7ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jxx7lRirijuXx3oiFYBANKZ2",
  "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]: [-1.0607, 2.0304, 2.1635, -1.3697, -0.5686, -1.0962, 0.2045, -0.0658, 0.9325, 0.7643, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3028 left_y=-0.339 left_z=0.2339 left_yaw=0.0732 left_pitch=-0.3564 left_roll=-0.0535 left_gripper=0.2045 right_x=0.2892 right_y=-0.0033 right_z=0.1683 right_yaw=0.0629 right_pitch=-0.2204 right_roll=-0.0408 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.5658, 7.2821, 0.4567, -0.5446, 0.1343, 0.1636, -0.3487, -2.0171, 6.8855, 1.5311, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210a636cf6037dc7aa70222c2c255e9238394b1c4a1a5dc5ded918bfd0ea0fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92d8baeaa29d5b296ebc52b246590ae87fa07cef49a460f753228de6c648911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f46ad1ce8e51fe2525ccd9559db23de11f558bd83fac08de0304103b846ed283",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0634, 1.9701, 1.3766, -0.6682, -0.6132, -1.066, 0.9954, -0.0658, 0.9325, 0.7654, -0.6163, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3198 left_z=0.0637 left_yaw=0.082 left_pitch=-0.3283 left_roll=0.0093 left_gripper=0.9954 right_x=0.2893 right_y=-0.0034 right_z=0.1688 right_yaw=0.0629 right_pitch=-0.2196 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -9.0051, 7.9658, 0.7643, -0.315, 0.1343, -0.2125, -0.1573, -2.0308, 7.0632, 1.4969, -0.0757, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 1.9549, 1.7294, -1.0534, -0.5884, -1.0824, 0.2028, -0.0658, 0.9325, 0.7647, -0.6159, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=-0.3287 left_z=0.1528 left_yaw=0.0887 left_pitch=-0.3568 left_roll=0.0049 left_gripper=0.2028 right_x=0.2892 right_y=-0.0033 right_z=0.1685 right_yaw=0.0632 right_pitch=-0.22 right_roll=-0.0406 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -13.1761, 8.3214, 0.8083, -0.5055, 0.0659, 0.2271, -0.2256, -1.9897, 6.9812, 1.4921, -0.105, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 2.0304, 2.1635, -1.3697, -0.5686, -1.0962, 0.2045, -0.0658, 0.9325, 0.7643, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3028 left_y=-0.339 left_z=0.2339 left_yaw=0.0732 left_pitch=-0.3564 left_roll=-0.0535 left_gripper=0.2045 right_x=0.2892 right_y=-0.0033 right_z=0.1683 right_yaw=0.0629 right_pitch=-0.2204 right_roll=-0.0408 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.5658, 7.2821, 0.4567, -0.5446, 0.1343, 0.1636, -0.3487, -2.0171, 6.8855, 1.5311, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210a636cf6037dc7aa70222c2c255e9238394b1c4a1a5dc5ded918bfd0ea0fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92d8baeaa29d5b296ebc52b246590ae87fa07cef49a460f753228de6c648911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f46ad1ce8e51fe2525ccd9559db23de11f558bd83fac08de0304103b846ed283",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhaTMnEu-08iMe2l7lEt0mvVZ3aH9ox5V0O7RRdrpysw_EzXqX0fwz6fB5wNKKTCB_ejPt2vcjtw2CTLW9bjKgcm9-mV6T2ca50SGElVUH5mFHNM6CG_-ZVh1-FaZOyCs-xxfMC7lnVDn80NZxCwdTVOGMHSiEg6_VMJmxRgHkVdLgzZ3KUn5U0rBIGHrPwrS3cjLkbGSMiqbcGXGpSDPPu5xg491pedYBvvBgqQ3al64dV29SW_V6sp8HnRKlB5JdEFhjnGW0OWB2EePMxHb2v2gej0up6qbEsp8u3u2HwHZqOS0wclNann6CXtvqEFz0dQ8s6_tNX4xJyi-2fhNiSePPY3OvAhdt5ePMkGiMPPatF2JFOWq-aYgGaHFxfVqIvFMzko_FCxjhyWLY1v3M-ZgoIaGeYlSgf65O52EW3IYPj7gQKcGgxbu0KWizyBH8ryLxwcwFQfULK9c0uKYTezqG0I5NWHksTjYUqSBQQ2UKdaTO32nAym4_0U9aMMqGEDsBisMNIlhgZ8VYuHsfYT8AJkzutcC-terVZxuyhHVSF9c0aj4-Qa-uvZkUunW8QmgJCPP5DeEUvmkbK2thieyaW_lyn6i3E9e8vL8SugXmY81Nzaa1ru0ZUhJRUD4ncKv8Mx7MVi4EQl_j9pZ83ChIU232D3lfvXRlf84QMSpAxZJGrY9h9kR6fq_rgDvcQStb5NWk8YkVpUXu4jigIhteuv2Nca2FbE0-xOLYDO2bustyMOTf0TobsPJ2DWnjE-f0iBc3UYj6MDDlZP3F8Z2RxNZpeY_neXHvxZBYsEZKfJtlyOyeN3d6E85C9GRFIREdKnmQ_h8kgOnOQbApUcaz37I9fcp0cq7UBRS-5H62nNHP5aTn2WLDGuCHhL15mZAKC5cy6X2s32PmQoq7SGDf-WItbeZmqQNXRvMoW9m0nFkns_0B3XrV0wDjkOIVebwHRkoFQw3-pUs1I0pCdAG2otDYZp2uSh3yhfhmwmWb16awUx-VaLRnk1HBelndi9zTu2rs0Lsxo7VSkWTID43BKkgCL5h_vUO-cUMMVQqsKE7zZgGKuKfndUZOkH47ikAdtlYZy5NuMSsmPw62DAUGzBRh2Tt1LtT87aGJ1mywV3sLymEy3YviEhp-j_s03ZKIj33Tn-MQsImXCw-FNHk9QCAgVkRXhSfLcJmuWYYJQvxo8VnGIceVZMMS_aaREhmu5n-4lbx4MpWtv7MZrctcfFuSb5xC_qvc0B_jaAVmkTzaXbYJe9SDWm5VtbAe_BkW1da_aYME8_yL8FIgsdWPwtXgce20DVQ13JmOeuLBTFbHt_e41eBz_RC1hxCVXaAihaX4ZzIAv6cwBEtllDi6nYMFsDc1XWGTdvpvZJAoG55_vd6FmLCCB3UU4fjuHicwB6GBJBlD2jNw_0ivOX_XbPmNDe_w0gz99hNBNyErMvRIzZwJ8KmXqahD7qAeFU-kdS7yxg2ai1tD3bG0Obv-QXak5zMzEHuYUT6XppR1jCh3zeuianaL_HY2vWmWTexhhGJhwmeLnNrnV8pkIqZSdgw7OTm7VKXz3N_otVx6DBOSPJB_08HczV0MnNK_t6QRvGglpVH6iE5nsqauCew7VFndxC7jYPfMCVxuIK0s_zCp25SSkPZsW7fmDpEpG2tISENU2zg1pfRqJeuCdWufp1LPu-7rVeRSUK-xxc7NpvxNC9LByAXumsdRdvjCGemxCyy1Ir4pucXA7lPsoFslNRfIh0MHWo74Y5dQuvJI4s_cJwJWjHaVhDTBo9CVkRa1Ghmz16r_LL7GR_gw1AAREEluGan6hANyYWmWLBhWYTgEmZpDqpkSSML-6SEOIlxgyLCIG2VGGHEDNuehvRkK2fRSF5Ifv_kYw0CaCehMfhEmBvDkprfiVZRYIljARcGNWcLRMNuDQohxVtjc41oCTS-ix-OC6EsLH9G3rw-kve2VMWi6y369-X8-fZwFQFLGrBo1o18iKa_R1NZFaKMYTWxtqaSGu8E90qLbOJqLYo193uiKJQVJQM7TmMI0vCXdrxq5lisAk4EITuHshBDXYCv0GIL8ame7czX94jYegNMW501eYmtlmJW6rOIIlwCc3A4b-RaPeC02YB9XQKHGIvpwQXfu22w97772SMPnBEE-OcxY0TpiqSvJAKWxv6VHeHBFRU1Z1HDi83OOjgjQEL9DN8-qpbLV0ETMSjGQVMNf8_Maoq0Z1QmIacxjzs-pNK1siZ2k_4pRTYWLK-Xf6Ot8uGYMTbcikIdTZL4trKtxwEnNozSm86dsKzPYGfGcRqRpJJjtOqLQS8Hvg91oei4KB3_A8vA988LJtibjJfmvIGgl6H5qCoO1dni3vr-uRcdXOcyTjmyX8FqPiPGOiwEl3i7PvNXezV1wTt2vpeE1OEjY3H4m4T2pD6_Z4WkJFZsivTRVPNaAtQrLyVMb5lU0tHb2RWU-GslDd0wRevf6yWyF9ZSslItoTTZQvPDLm_YCMS6D5hkbW5tiYGVXz3RR7oDkRwlm_V2g7a4r9Ovx8qJoo35d1H7QUQKKdxBGILtGA1elitv3aLljC1VkkhT2WQZm60VOw1kz9u1jyUjh5jwZiiWYsR_V_Fsvx2lSNWKxwuwq5AtrJ1sy-l5ysWe-1HXqKjP37OZZ6uk4f0s6XeoVxstfoy12E-cHsS6bwJ8_voR8KsisDSv65n_MRZfR1y35WQrWCdO_0HayOPKKFunMeboEAKOCs_9xZQIhO4CsyEi5w03zCCPlfDtyMSuCSIv5vSiew_wQt3WA3NlDLy6Erod-Rjh-SKNS56yEVFh0wExvvJJn_GArN5A==",
  "id": "rs_0c5131395299f0dc016ab43856477487d09a512b1ef56d83ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.359,\"left_z\":0.256},\"note\":\"The tan plush appears to rise under the left gripper, so I’ll carry it over the right basket while keeping well above both basket rims.\"}",
  "call_id": "call_9vLlDd0vBs3txrscmPhICtRx",
  "id": "fc_0c5131395299f0dc016ab43859443487d0913f9ad3aa7655ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9vLlDd0vBs3txrscmPhICtRx",
  "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]: [-0.7769, 2.4981, 2.8738, -1.507, -0.4477, -0.8288, 0.2074, -0.0658, 0.9371, 0.7635, -0.6163, -0.0689, -0.1425, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3177 left_z=0.2087 left_yaw=0.0989 left_pitch=-0.3895 left_roll=-0.0437 left_gripper=0.2074 right_x=0.2892 right_y=-0.0033 right_z=0.1667 right_yaw=0.0636 right_pitch=-0.226 right_roll=-0.0401 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -12.6017, 8.0205, 1.2332, -0.3687, 0.232, 0.2857, -0.0752, -2.2359, 7.0496, 1.4969, -0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8066210e33aca665bf8467911bd65803ae039fafc28d9bddf24f36544de1b120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0109a9344c7b97905e79d6be7654a657b1950381a8331779f772422e731a78d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d51bbe4672d293105348b970ddef1acc9d216b315aafabd72632211e6ad8288",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0615, 1.9751, 1.38, -0.6643, -0.606, -1.0714, 0.2005, -0.0658, 0.9325, 0.7647, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2988 left_y=-0.3213 left_z=0.0623 left_yaw=0.083 left_pitch=-0.3336 left_roll=0.0006 left_gripper=0.2005 right_x=0.2892 right_y=-0.0034 right_z=0.1685 right_yaw=0.0629 right_pitch=-0.22 right_roll=-0.0409 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -10.6325, 5.6957, 0.7839, -0.4615, 0.0024, 0.7595, -0.0752, -1.9624, 6.9128, 1.5507, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 2.0304, 2.1635, -1.3697, -0.5686, -1.0962, 0.2045, -0.0658, 0.9325, 0.7643, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3028 left_y=-0.339 left_z=0.2339 left_yaw=0.0732 left_pitch=-0.3564 left_roll=-0.0535 left_gripper=0.2045 right_x=0.2892 right_y=-0.0033 right_z=0.1683 right_yaw=0.0629 right_pitch=-0.2204 right_roll=-0.0408 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.5658, 7.2821, 0.4567, -0.5446, 0.1343, 0.1636, -0.3487, -2.0171, 6.8855, 1.5311, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7769, 2.4981, 2.8738, -1.507, -0.4477, -0.8288, 0.2074, -0.0658, 0.9371, 0.7635, -0.6163, -0.0689, -0.1425, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3177 left_z=0.2087 left_yaw=0.0989 left_pitch=-0.3895 left_roll=-0.0437 left_gripper=0.2074 right_x=0.2892 right_y=-0.0033 right_z=0.1667 right_yaw=0.0636 right_pitch=-0.226 right_roll=-0.0401 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -12.6017, 8.0205, 1.2332, -0.3687, 0.232, 0.2857, -0.0752, -2.2359, 7.0496, 1.4969, -0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8066210e33aca665bf8467911bd65803ae039fafc28d9bddf24f36544de1b120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0109a9344c7b97905e79d6be7654a657b1950381a8331779f772422e731a78d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d51bbe4672d293105348b970ddef1acc9d216b315aafabd72632211e6ad8288",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0c5131395299f0dc016ab4385c6eb887d0bdb149f8d84256e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.471,\"left_y\":-0.362,\"left_z\":0.235},\"note\":\"The bear moved with the gripper and now hangs over the right basket’s left/front edge. I’ll shift it a little right and forward to centre its body over the basket opening.\"}",
  "call_id": "call_zZRllqOFZm8QOX8wN5rFDDVU",
  "id": "fc_0c5131395299f0dc016ab4385ea37087d0934f48b4de3c39ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zZRllqOFZm8QOX8wN5rFDDVU",
  "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]: [-0.7689, 2.5023, 2.8738, -1.4979, -0.4442, -0.8104, 0.2081, -0.0658, 0.9371, 0.7635, -0.6163, -0.0685, -0.1425, 0.9997]\nstate[eef_state]: left_x=0.4412 left_y=-0.3163 left_z=0.2072 left_yaw=0.0925 left_pitch=-0.3884 left_roll=-0.0385 left_gripper=0.2081 right_x=0.2892 right_y=-0.0034 right_z=0.1667 right_yaw=0.0633 right_pitch=-0.2261 right_roll=-0.0403 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -13.2171, 7.4598, 1.3602, -0.3541, 0.232, 0.0562, -0.335, -2.0581, 6.8171, 1.4921, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73da5893b3eb83fa34f9de490ce3fb27999c1d5f7651959ebe6e7ce51a7b5322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526db718102a57bc9d56fcedecfd133aa803f1fe786e8a378b1307cb7e1eecfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a7202636e2a60b3885b8db9513ad7d62e93dff2c7faad2c8a086b48d490ea6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 1.9549, 1.7294, -1.0534, -0.5884, -1.0824, 0.2028, -0.0658, 0.9325, 0.7647, -0.6159, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=-0.3287 left_z=0.1528 left_yaw=0.0887 left_pitch=-0.3568 left_roll=0.0049 left_gripper=0.2028 right_x=0.2892 right_y=-0.0033 right_z=0.1685 right_yaw=0.0632 right_pitch=-0.22 right_roll=-0.0406 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -13.1761, 8.3214, 0.8083, -0.5055, 0.0659, 0.2271, -0.2256, -1.9897, 6.9812, 1.4921, -0.105, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7769, 2.4981, 2.8738, -1.507, -0.4477, -0.8288, 0.2074, -0.0658, 0.9371, 0.7635, -0.6163, -0.0689, -0.1425, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3177 left_z=0.2087 left_yaw=0.0989 left_pitch=-0.3895 left_roll=-0.0437 left_gripper=0.2074 right_x=0.2892 right_y=-0.0033 right_z=0.1667 right_yaw=0.0636 right_pitch=-0.226 right_roll=-0.0401 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -12.6017, 8.0205, 1.2332, -0.3687, 0.232, 0.2857, -0.0752, -2.2359, 7.0496, 1.4969, -0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7689, 2.5023, 2.8738, -1.4979, -0.4442, -0.8104, 0.2081, -0.0658, 0.9371, 0.7635, -0.6163, -0.0685, -0.1425, 0.9997]\nstate[eef_state]: left_x=0.4412 left_y=-0.3163 left_z=0.2072 left_yaw=0.0925 left_pitch=-0.3884 left_roll=-0.0385 left_gripper=0.2081 right_x=0.2892 right_y=-0.0034 right_z=0.1667 right_yaw=0.0633 right_pitch=-0.2261 right_roll=-0.0403 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -13.2171, 7.4598, 1.3602, -0.3541, 0.232, 0.0562, -0.335, -2.0581, 6.8171, 1.4921, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73da5893b3eb83fa34f9de490ce3fb27999c1d5f7651959ebe6e7ce51a7b5322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526db718102a57bc9d56fcedecfd133aa803f1fe786e8a378b1307cb7e1eecfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a7202636e2a60b3885b8db9513ad7d62e93dff2c7faad2c8a086b48d490ea6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0c5131395299f0dc016ab43860f56c87d0b4621524c68f8207",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhmo_xmfgLLnR0oY3ujxipZf-sfN9mK1N9D8fdWZZEfN_4kkeNsGeCBcdtj4iBZ8vCHW-eV-CW_oJb66Kf_qmlGeMe14nMnmoJfnzOKu2jkAaP2rkc8D90VmqmTdc961pdWEjv84s1rsVXPKurI89fYSW_-38Vs5JL0lreYaYHUBH0eBES26cRXbgqueMRTfyHkwbn3tOFVlKE5T5GuAEJuUjYDl3Iib0snQ3TvSkbKl_j7YiJhnbtKmDZp1p7qQCAT4jG-Tp497ndCemlu09-DfixAzulOVEQ4do0riin-SQtOZG4BvdxQ2K4LbLkrlMXWaGVrHr0Y-js2vThno_5lhHwWEWVcZh-h_5A95NGreRnftIrnHQfrzZipZxEnG7b4qBZV74pQp_pNZUKC3p9HcBDw3jy59g2PCfP5mj9M8UIK1GGlcTV_2uwmh-6aWMPss0OcKAmywNFDxX-54-WzCYU_oEYgVPN5mZ-GPx2eKWVXjlr_hkDB7uB2-PXiAZzWaA_AvoKuQxJcLZfnH7uhoSzqUsptcIqt4sWp9P0XuVEmurCX75m7vHAZ7kEZ4Zir0ZuSId1l8i0LBVG3lS8Ah5ukUOGij1cog48wDY-cQzi-lkV44D6_VMcJh0lqyaHmvpdKAsC6gJhYzFeajJEp962K3gyowdrhPtfPoXTcI0G5RLd2ulLtzu1Pn3Hh7tVAPpg8Mp7X4LyK7rVWZYCtVvzFPG-8DVJYQKwCJ9HcmL1c8Ewq4ctH_7WJdyFbh8FQQ5SEyvcbqW4BkXedW4KHY0JDa2sBBJ_lSwZJxl8PicKXi6jIAGcQ4lVfcMLD317DQV69GYwBg0f9JcFI6rdl2337vdrpoRj-6Tjk7A8k699ubgPwc2IYGezFoGBD1UVuv9fvaTqeooetlY-qeFbNxR2M7GBkJzZkxVhICIKaVLTjpeuz5a_vwzRPma710vP-5Ht4x9cgX2iDY-4HRHSLcJFpw49xzGRgSGR4rJF89YzR4dxRjgCYdjXa8C6yK2FxIPl2ad5zT9SICDN57lkv5Y3KIUnMKZbDKzeNb364Yd5w8cTK20IOc5tQcuOMG3WrujV5gtwXGZNyg16kiF9PzdJBr-Ej7SnHyWrZT6nIarLO7OaZC2pulZ8CPzz40qvS3P082wsVvrRwJLQUIWOVvq4CK3WsS6welf2wwKpaagYBQU62nIXbaVfnvC0C2hmz1iOixYGOzDSS4wCG-zGHIAhh7Ln_KZQeG5QOH7CN3tYT3y0i5Btv_N58jwB3d6BqGL1NG4yjdkuATdAB8o3S4ow86LBw_HyuwKiuvy74ornm0-Yn7ZWH5atwslhEBRb9lqVgTgKzJqk9t7AKbxFRgC1mQuxTZBAR-nshhdYvRNMypo8UldDOou3lzesvQRLQKKrpl96gtJZKqIsqzMWnYxNXWtdgy3XPOMlHO3cEOV2o-VTpvWbFFBZ1kZUZsOddZeqgX5XLGXYGmPmLqAU-WDlB-aLwG6dZwNWbTzjuIh_APkFoLpLGvsf36NLM0Q2Q",
  "id": "rs_0c5131395299f0dc016ab43864f3f087d08505dba856ede9ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The held bear’s head is over the right basket opening, though close to its left edge, and the arm is at its reach limit. I’ll release it there and check where it lands.\"}",
  "call_id": "call_EOnhjz75yHi1RbbMI0eooNl7",
  "id": "fc_0c5131395299f0dc016ab43865b51887d0b0bd0394f2c5ce06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EOnhjz75yHi1RbbMI0eooNl7",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7689, 2.5023, 2.8742, -1.499, -0.4438, -0.8085, 0.9952, -0.0658, 0.939, 0.7635, -0.6159, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.4411 left_y=-0.3162 left_z=0.2072 left_yaw=0.0913 left_pitch=-0.3891 left_roll=-0.0369 left_gripper=0.9952 right_x=0.2894 right_y=-0.0033 right_z=0.1663 right_yaw=0.0634 right_pitch=-0.2276 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.094, 5.8325, 1.0379, -0.2515, -0.0024, 0.0708, -0.212, -2.1949, 6.9675, 1.5067, -0.0904, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085c7d1745c6fd32207da08a3b510a4f9231dcd67dab6a8dd852b277117362ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1db563e0cc501c23721f43f59807898b269da53324bcb86c810f36e8fb8de9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abe0ffa70f24fb2330c859c09e20860f5ded925c72d288e541ef4304b58fbe4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 2.0304, 2.1635, -1.3697, -0.5686, -1.0962, 0.2045, -0.0658, 0.9325, 0.7643, -0.6159, -0.0685, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3028 left_y=-0.339 left_z=0.2339 left_yaw=0.0732 left_pitch=-0.3564 left_roll=-0.0535 left_gripper=0.2045 right_x=0.2892 right_y=-0.0033 right_z=0.1683 right_yaw=0.0629 right_pitch=-0.2204 right_roll=-0.0408 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -9.5658, 7.2821, 0.4567, -0.5446, 0.1343, 0.1636, -0.3487, -2.0171, 6.8855, 1.5311, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7689, 2.5023, 2.8738, -1.4979, -0.4442, -0.8104, 0.2081, -0.0658, 0.9371, 0.7635, -0.6163, -0.0685, -0.1425, 0.9997]\nstate[eef_state]: left_x=0.4412 left_y=-0.3163 left_z=0.2072 left_yaw=0.0925 left_pitch=-0.3884 left_roll=-0.0385 left_gripper=0.2081 right_x=0.2892 right_y=-0.0034 right_z=0.1667 right_yaw=0.0633 right_pitch=-0.2261 right_roll=-0.0403 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -13.2171, 7.4598, 1.3602, -0.3541, 0.232, 0.0562, -0.335, -2.0581, 6.8171, 1.4921, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7689, 2.5023, 2.8742, -1.499, -0.4438, -0.8085, 0.9952, -0.0658, 0.939, 0.7635, -0.6159, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.4411 left_y=-0.3162 left_z=0.2072 left_yaw=0.0913 left_pitch=-0.3891 left_roll=-0.0369 left_gripper=0.9952 right_x=0.2894 right_y=-0.0033 right_z=0.1663 right_yaw=0.0634 right_pitch=-0.2276 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.094, 5.8325, 1.0379, -0.2515, -0.0024, 0.0708, -0.212, -2.1949, 6.9675, 1.5067, -0.0904, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085c7d1745c6fd32207da08a3b510a4f9231dcd67dab6a8dd852b277117362ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1db563e0cc501c23721f43f59807898b269da53324bcb86c810f36e8fb8de9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abe0ffa70f24fb2330c859c09e20860f5ded925c72d288e541ef4304b58fbe4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhryxSZqQ0IdZ6YAvwVD0S3Pu0GE_JWylLI1E_dVHMrE5EKGHTsamTdD1MQ2M2WVtWeb2nYHuCpkAEB_9VcdWtoyNh0esl7mX2lBYGpaEm46EaROV67Kf-Km5EWg0lIyYUxS-waFD_THaM03Sdo2BfPtquNeE57xfKvuyiY8kjGLATjCH0CytRhOp0LMW5bN9PiWWwsTNBFMxGxl5QxRb6lE7nANC907tLGyg3ZRKB7ppkZabLyxt3IvMhoqR_WtKcZP1Nz61mJYkG8zl9ffiNDrwOl5JzdrYHjEgaIsRVEReJLY-nXOBRZL8eEusczh7MUkWzmuNzq7D3hsTTkIeCxUNI2t2LS3VuB6G03vG5n0OYG0PsdKNFXBywbMwF5KNoI-iT0Wq6ma06wGgpAljmAbhKSrpvUa3I_eKJLSYBsjhiDMHqqMZxZE2haK8eMrDVvPDlQSoCIgShrhKS4tVWsRmEnxyzMtT--3ONh3rQaiB31yaysAx0zz6k7ldq9jUReOUGwX3Q8ClKCHpcMM8_R3q14D27EXP4LNifnDamxVKpjh-IyY1lI6bVVdCCHMwnd4Czloz7KJQHjgKo6I2aEm1ZX1G7CkbPebNl_wNiJpRlrxJvfdhRt1OBAXjTCODxIg7I4r4QumK73j2lLeRcB-ugkxxjQLBVj9dXQTNuoRG_0FuW0H6YrXElB1POcly3eSgHvy2_rQBSPk2_YnXdJBCsQ1yy7YXnTrr_pfKxgrRkUuByzyR6fpflWYT8G9QMD5mAhWEqlz2tmiyMn5KFwzkK08c_pZekwyIzDnzgpLgmT20rap3u0a1CLUb9m_VOxG1KXedc6SIgTkGmCSfJYzshE03Iq6quFFBIUeuaBHIp1T-xVf1zm3rM2JkjyGay9NwsGXz5_NTYdv8yZddMLUIff6aMObFpf12H4UECyLPVu9SfrNPN2Kv_Hb5xP8EgHOTC-qxyHtI1yjCkpC-QNpmAAaJlcgMZwHQ1qXCgQEkaFp0aWj3ac5shBoYVz_R1PIoTJXrzRx9HT_Xa8TXapqs5WoA_OwUnyMSalQrqQ1YVYtTdIwDBHdAe7yxb5DmNIu1HOlrhEKVTIDB3yz09wckNt1yJGhKgV7v39PXLyeOxLnzSvxKWf_gftivoYlFLMVbsoCGpaovrd9kIZn2lKQVMGk_-_KTVi3mIGVWppW6EuLOLmGW8JLmTWth8X6cEA6zixAG64VKVAWLRDhfidXUfKioFc_fd0BM7J8Z3SEfP6GklqecFLa2o1p7-1LvpFI7cKjf7P1fML8btaGnIkqj8WB9hHB2MW4AfWrh5AL-k=",
  "id": "rs_0c5131395299f0dc016ab4386add1887d09d12778e7fdde4af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.002,\"left_z\":0.195},\"note\":\"The bear appears to have landed in the right basket. I’ll park the left arm to uncover both baskets and check the final arrangement.\"}",
  "call_id": "call_lV65LCKQ334z2VhxNWTFFmfI",
  "id": "fc_0c5131395299f0dc016ab4386b3d4087d08fd20e25c6b6208e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lV65LCKQ334z2VhxNWTFFmfI",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.0631, 1.15, 1.0801, -0.8967, -0.1001, -0.223, 0.9966, -0.0658, 0.9428, 0.7593, -0.6155, -0.0689, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.3012 left_y=0.0022 left_z=0.1936 left_yaw=0.1388 left_pitch=-0.3946 left_roll=-0.0401 left_gripper=0.9966 right_x=0.289 right_y=-0.0033 right_z=0.1635 right_yaw=0.0637 right_pitch=-0.2351 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -4.3556, 6.1607, 1.3358, 0.0562, 0.1001, 0.1245, -0.2667, -2.0855, 7.1726, 1.536, -0.0855, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8de89290b5bcbe5974b6c3c50fd3fb98f0bdab08add8955de3a543c9aea2b81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7644e2d0a31882cad96f1df5f8f21a45cd385e74d2fdce7c400cc13c79ce0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12de5eea2ec5b5b8e6b4388599c2ee49b1d21118807e80342868c11aaab552f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}