adhoc

completed
2026-09-23T20:28:11.297739+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
234.9 s
total steps
312
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two turquoise baskets at the far side, several gray fluffy objects, and narrow bright-green objects. I’ll bring the left gripper above the isolated fluffy object on the near-left to line up a grasp.
move_to
left_x0.2350left_y-0.0700left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0124, -0.0162, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0012 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5949, -1.6479, 9.3607, 1.8486, -0.0513, 0.1294, -0.0708, -0.7726, -1.1966, 9.7983, 1.8632, -0.1245, -0.0171, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.235,"left_y":-0.07,"left_z":0.14},"note":"I see two turquoise baskets at the far side, several gray fluffy objects, and narrow bright-green objects. I’ll bring the left gripper above the isolated fluffy object on the near-left to line up a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe isolated gray plush is just ahead and to the outer side of the left gripper; the yellow rod and other plush objects are separate. I’m shifting over the gray plush and lowering toward its middle.
move_to
left_x0.2790left_y0.0050left_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7258, 0.6266, 0.4427, -0.5076, -0.5732, -0.4503, 0.9995, -0.0151, 0.7986, 0.6083, -0.3847, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.2353 left_y=-0.0759 left_z=0.1418 left_yaw=-0.0306 left_pitch=-0.0042 left_roll=-0.0077 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0057 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0479, 0.0752, 6.2154, 1.5311, -0.3297, -0.0464, -0.0269, -0.3897, -1.1829, 7.2547, 1.7851, -0.0611, -0.0659, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.279,"left_y":0.005,"left_z":0.095},"note":"The isolated gray plush is just ahead and to the outer side of the left gripper; the yellow rod and other plush objects are separate. I’m shifting over the gray plush and lowering toward its middle."})
tool
executing move_to over 8 steps (0.8s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe gray plush now fills the space between the left jaws at mid-body height. I’ll close the gripper to check whether it securely catches the plush.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0437, 0.7574, 0.2569, -0.0944, 0.0364, -0.0071, 0.9995, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2762 left_y=0.0092 left_z=0.0904 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.1009, 6.4068, 1.8974, 0.188, 0.1197, -0.0171, -0.335, -1.0872, 7.2957, 1.7167, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush now fills the space between the left jaws at mid-body height. I’ll close the gripper to check whether it securely catches the plush."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper closed almost fully, so the first attempt missed the plush. Its body remains under the gripper in the wrist view; I’ll reopen and lower to a firmer body-level grasp.
move_to
left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0437, 0.7593, 0.2558, -0.0895, 0.0303, -0.0109, 0.0129, -0.0151, 0.8009, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2766 left_y=0.0103 left_z=0.0904 left_yaw=0.0064 left_pitch=-0.0315 left_roll=-0.0101 left_gripper=0.0129 right_x=0.295 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0092 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.0325, 6.9675, 1.6435, 0.0269, 0.0513, 1.0476, -0.1026, -1.2923, 7.159, 1.7118, -0.0366, -0.0659, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035,"left_gripper":1},"note":"The gripper closed almost fully, so the first attempt missed the plush. Its body remains under the gripper in the wrist view; I’ll reopen and lower to a firmer body-level grasp."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe descent stopped around 6 cm above the table with the gray plush filling the gap between the jaws, suggesting contact with its body. I’ll close again at this lower position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0429, 0.9951, 0.0986, 0.4091, 0.0257, 0.001, 0.9988, -0.0151, 0.8024, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.294 left_y=0.0117 left_z=0.0642 left_yaw=0.0031 left_pitch=0.074 left_roll=0.0064 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1782 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.0889, -0.3077, 3.7538, 1.2088, 0.0317, -0.1441, -0.149, -0.3487, -1.388, 7.2, 1.7509, -0.0269, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped around 6 cm above the table with the gray plush filling the gap between the jaws, suggesting contact with its body. I’ll close again at this lower position."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe second closure was also empty: in the wrist image the gray plush is ahead and to the left of the actual fingertip point. I’ll reopen and move the gripper forward and outward onto the plush rather than repeating that grasp.
move_to
left_x0.3450left_y0.0480left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0425, 0.9894, 0.1158, 0.4297, 0.0231, 0.0006, 0.0138, -0.0154, 0.8051, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.301 left_y=0.0123 left_z=0.0776 left_yaw=0.005 left_pitch=0.1174 left_roll=0.009 left_gripper=0.0138 right_x=0.2952 right_y=0.0011 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0134 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.3197, 5.012, 1.6923, 0.0171, -0.0317, 1.1258, -0.3487, -1.5385, 7.2137, 1.7265, -0.0659, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":0.048,"left_z":0.11,"left_gripper":1},"note":"The second closure was also empty: in the wrist image the gray plush is ahead and to the left of the actual fingertip point. I’ll reopen and move the gripper forward and outward onto the plush rather than repeating that grasp."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe gray plush is now centered between the left jaws, rather than sitting off to one side. I’ll try closing at this height before moving it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.218, 1.1717, 0.3183, 0.374, 0.1619, 0.0605, 0.9984, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3381 left_y=0.0494 left_z=0.0976 left_yaw=0.0308 left_pitch=0.0887 left_roll=-0.0028 left_gripper=0.9984 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0001 right_pitch=-0.0168 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.0205, -3.0427, 8.3897, 1.79, 0.2808, 0.1538, -0.1392, -0.253, -1.2239, 7.0496, 1.707, -0.0269, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush is now centered between the left jaws, rather than sitting off to one side. I’ll try closing at this height before moving it."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThat closure was still empty, and the plush remains just ahead of the fingertip contact point in the wrist view. I’ll advance a few centimeters and lower slightly to bring the jaws around its torso.
move_to
left_x0.3800left_y0.0450left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2192, 1.1725, 0.3233, 0.3672, 0.1577, 0.0532, 0.0129, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3384 left_y=0.0506 left_z=0.0979 left_yaw=0.0395 left_pitch=0.0857 left_roll=-0.0078 left_gripper=0.0129 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1573, -3.3299, 5.8188, 1.8437, 0.022, 0.0513, 1.072, -0.335, -1.1419, 7.0359, 1.7167, -0.0464, -0.0806, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":0.045,"left_z":0.065,"left_gripper":1},"note":"That closure was still empty, and the plush remains just ahead of the fingertip contact point in the wrist view. I’ll advance a few centimeters and lower slightly to bring the jaws around its torso."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe left jaws now straddle the gray plush lower on its body; the plush has not visibly moved yet. I’ll close and use the gripper reading to test this grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1574, 1.5002, 0.3656, 0.6598, 0.1043, 0.025, 0.9951, -0.0151, 0.812, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3757 left_y=0.0446 left_z=0.0665 left_yaw=0.0379 left_pitch=0.0893 left_roll=-0.0075 left_gripper=0.9951 right_x=0.2956 right_y=0.0012 right_z=0.1755 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3487, -4.0957, 6.5299, 1.5311, 0.0659, -0.0024, -0.0122, -0.2393, -1.6068, 7.2, 1.6972, -0.0269, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws now straddle the gray plush lower on its body; the plush has not visibly moved yet. I’ll close and use the gripper reading to test this grasp."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe left gripper keeps closing empty beside the gray plush, which sits at the outer edge of its reach. I’ll park that arm and bring the right gripper over the central pale plush objects to sort one of those first.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.3100right_y0.3200right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1574, 1.5101, 0.3702, 0.6765, 0.0902, 0.0181, 0.0124, -0.0151, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3783 left_y=0.0475 left_z=0.0682 left_yaw=0.0535 left_pitch=0.0999 left_roll=-0.006 left_gripper=0.0124 right_x=0.2957 right_y=0.0013 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2256, -6.0239, 4.8752, 1.6728, 0.1929, 0.0513, 0.7839, -0.3487, -1.3333, 7.0769, 1.7411, -0.0659, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.31,"right_y":0.32,"right_z":0.14},"note":"The left gripper keeps closing empty beside the gray plush, which sits at the outer edge of its reach. I’ll park that arm and bring the right gripper over the central pale plush objects to sort one of those first."})
tool
executing move_to over 27 steps (2.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe right wrist view shows a pale stuffed animal directly in front of the open jaws, with more pale ones behind it. I’ll move slightly forward and lower to grip the nearer animal around its body.
move_to
right_x0.3350right_y0.3250right_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0856, 0.7403, 0.4568, -0.2207, -0.1204, -0.091, 0.9981, 1.0725, 1.7721, 1.2098, -0.4229, 0.8021, 0.783, 0.9997] state[eef_state]: left_x=0.2932 left_y=-0.0003 left_z=0.1608 left_yaw=0.0474 left_pitch=0.0611 left_roll=-0.0044 left_gripper=0.9981 right_x=0.3085 right_y=0.3088 right_z=0.1302 right_yaw=0.0119 right_pitch=-0.0489 right_roll=-0.0279 right_gripper=0.9997 state[joint_eff]: [-0.294, -1.5521, 10.5368, 1.8193, -0.149, -0.0757, -0.1001, 1.388, -8.2393, 8.6769, 1.1453, 0.5934, 0.0806, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.325,"right_z":0.065},"note":"The right wrist view shows a pale stuffed animal directly in front of the open jaws, with more pale ones behind it. I’ll move slightly forward and lower to grip the nearer animal around its body."})
tool
executing move_to over 5 steps (0.5s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteAt the lower height, one pale fluffy body fills the opening between the right jaws. I’ll close on it and check the settled jaw width before attempting to lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2405, -0.128, -0.091, 0.9981, 1.0393, 1.9423, 1.1854, -0.2176, 0.7769, 0.7456, 0.9997] state[eef_state]: left_x=0.2914 left_y=-0.0001 left_z=0.1561 left_yaw=0.0492 left_pitch=0.0385 left_roll=0.0025 left_gripper=0.9981 right_x=0.3293 right_y=0.3229 right_z=0.0713 right_yaw=0.014 right_pitch=-0.0623 right_roll=-0.0385 right_gripper=0.9997 state[joint_eff]: [0.3077, -1.2786, 6.9128, 1.9658, -0.0073, -0.0611, -0.0024, -0.9504, -8.5402, 5.3812, 1.1697, 0.2906, -0.0366, -0.0073] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At the lower height, one pale fluffy body fills the opening between the right jaws. I’ll close on it and check the settled jaw width before attempting to lift."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe right gripper stopped at about a centimeter of opening, but the fluffy body also shifted sideways as it closed. I’ll lift a short distance and check whether the animal actually follows the jaws.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2462, -0.128, -0.0906, 0.9981, 1.0367, 1.9507, 1.1854, -0.1974, 0.7765, 0.7376, 0.1168] state[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1549 left_yaw=0.0489 left_pitch=0.0329 left_roll=0.0036 left_gripper=0.9981 right_x=0.3316 right_y=0.3246 right_z=0.0699 right_yaw=0.0165 right_pitch=-0.0566 right_roll=-0.0347 right_gripper=0.1168 state[joint_eff]: [-0.1162, -0.8547, 7.1863, 1.8388, -0.0757, -0.0513, -0.0073, -0.0479, -10.5641, 5.9009, 0.989, 0.3199, 0.0611, 0.9451] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right gripper stopped at about a centimeter of opening, but the fluffy body also shifted sideways as it closed. I’ll lift a short distance and check whether the animal actually follows the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe first lift rose only partway, and the fluffy animal is still visible just below the right wrist camera. I’ll raise the gripper farther so the overhead view can distinguish a carried object from one left on the table.
move_to
right_z0.2150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0902, 0.746, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 1.0367, 1.8915, 1.3266, -0.4519, 0.7502, 0.7334, 0.1172] state[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1548 left_yaw=0.0489 left_pitch=0.0321 left_roll=0.0037 left_gripper=0.9981 right_x=0.3282 right_y=0.3254 right_z=0.1127 right_yaw=0.0305 right_pitch=-0.1041 right_roll=-0.0725 right_gripper=0.1172 state[joint_eff]: [-0.0615, -0.9915, 7.1179, 1.7558, -0.0757, -0.0708, -0.0122, -0.2393, -13.012, 9.1966, 1.1551, 0.5983, -0.0024, 0.7888] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.215},"note":"The first lift rose only partway, and the fluffy animal is still visible just below the right wrist camera. I’ll raise the gripper farther so the overhead view can distinguish a carried object from one left on the table."})
tool
executing move_to over 7 steps (0.7s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe right jaws remain partly open during the lift, suggesting they may be holding a small portion of the pale animal; the arm still obscures the overhead confirmation. I’ll carry this grasp over the right-hand basket and check its alignment there.
move_to
right_x0.4530right_y0.1100right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0902, 0.7471, 0.4591, -0.2466, -0.128, -0.091, 0.9982, 1.0367, 1.8671, 1.6203, -0.7872, 0.7227, 0.7326, 0.1196] state[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1545 left_yaw=0.0491 left_pitch=0.0314 left_roll=0.0035 left_gripper=0.9982 right_x=0.328 right_y=0.3322 right_z=0.1889 right_yaw=0.0449 right_pitch=-0.1331 right_roll=-0.0749 right_gripper=0.1196 state[joint_eff]: [-0.0752, -0.7043, 7.0496, 1.7802, -0.1001, -0.0611, -0.0073, -0.1983, -11.8496, 8.8547, 1.1062, 0.5446, -0.0122, 0.5495] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.453,"right_y":0.11,"right_z":0.22},"note":"The right jaws remain partly open during the lift, suggesting they may be holding a small portion of the pale animal; the arm still obscures the overhead confirmation. I’ll carry this grasp over the right-hand basket and check its alignment there."})
tool
executing move_to over 19 steps (1.9s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe overhead view now shows the pale fluffy object over the right basket, confirming it moved with the gripper. I’ll lower it into the basket and open the jaws to release it.
move_to
right_z0.1250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0902, 0.7479, 0.4591, -0.2474, -0.128, -0.0906, 0.9981, 0.3439, 1.6474, 1.3552, -0.5438, 0.2771, 0.1406, 0.1218] state[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1542 left_yaw=0.0489 left_pitch=0.0298 left_roll=0.004 left_gripper=0.9981 right_x=0.4416 right_y=0.1106 right_z=0.1842 right_yaw=0.0235 right_pitch=-0.2296 right_roll=-0.1041 right_gripper=0.1218 state[joint_eff]: [-0.1162, -1.0462, 7.0906, 1.7363, -0.105, -0.0269, -0.0171, -0.335, -10.6598, 10.3726, 1.8584, 0.0562, 0.022, 0.5495] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125,"right_gripper":1},"note":"The overhead view now shows the pale fluffy object over the right basket, confirming it moved with the gripper. I’ll lower it into the basket and open the jaws to release it."})
tool
executing move_to over 9 steps (0.9s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe pale fluffy object has been released in the right basket. A small upright brown object remains near the middle, distinct from the fluffy ones, so I’ll bring the left gripper above it for placement in the other basket.
move_to
right_x0.2950right_y0.0000right_z0.1800left_x0.2550left_y-0.1850left_z0.1350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0906, 0.749, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 0.3393, 1.6703, 1.1748, -0.3286, 0.2607, 0.1349, 0.9957] state[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1539 left_yaw=0.0485 left_pitch=0.0291 left_roll=0.0042 left_gripper=0.9981 right_x=0.4419 right_y=0.1115 right_z=0.1344 right_yaw=0.0367 right_pitch=-0.2223 right_roll=-0.0927 right_gripper=0.9957 state[joint_eff]: [-0.2256, -1.0872, 7.241, 1.7411, -0.1148, -0.0611, -0.0073, 0.2256, -6.9675, 5.9829, 1.3748, 0.2076, 0.0317, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"left_x":0.255,"left_y":-0.185,"left_z":0.135},"note":"The pale fluffy object has been released in the right basket. A small upright brown object remains near the middle, distinct from the fluffy ones, so I’ll bring the left gripper above it for placement in the other basket."})
tool
executing move_to over 17 steps (1.7s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe brown object has a pale head and a darker rounded body; in the left wrist image its body is centered just beyond the fingertip point. I’ll advance and lower the left jaws around that body.
move_to
left_x0.2880left_y-0.2020left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0874, 1.2572, 0.6662, -0.3779, -0.8658, -0.8227, 0.9981, 0.0177, 0.989, 0.8314, -0.6003, 0.054, -0.0769, 0.9968] state[eef_state]: left_x=0.2524 left_y=-0.1837 left_z=0.1245 left_yaw=0.0094 left_pitch=-0.0027 left_roll=0.0283 left_gripper=0.9981 right_x=0.3055 right_y=-0.0005 right_z=0.1841 right_yaw=0.0098 right_pitch=-0.19 right_roll=-0.0883 right_gripper=0.9968 state[joint_eff]: [-0.1436, -4.5197, 8.2803, 0.9206, -0.6276, -0.022, -0.0122, -0.294, -2.5368, 6.9675, 1.3944, -0.0611, -0.2076, 0.1001] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.288,"left_y":-0.202,"left_z":0.065},"note":"The brown object has a pale head and a darker rounded body; in the left wrist image its body is centered just beyond the fingertip point. I’ll advance and lower the left jaws around that body."})
tool
executing move_to over 4 steps (0.4s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe dark brown body now fills the open left jaws at low height. I’ll close on it and check for a nonempty grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0016, 1.5246, 0.6041, -0.0814, -0.8238, -0.7544, 0.9981, 0.0135, 0.9916, 0.828, -0.6193, 0.0437, -0.0967, 0.997] state[eef_state]: left_x=0.2773 left_y=-0.1862 left_z=0.057 left_yaw=0.0362 left_pitch=-0.0521 left_roll=0.0973 left_gripper=0.9981 right_x=0.3019 right_y=-0.0 right_z=0.1785 right_yaw=0.0253 right_pitch=-0.2162 right_roll=-0.0955 right_gripper=0.997 state[joint_eff]: [0.3077, -7.1179, 5.5043, 1.4921, -0.4762, 0.1343, -0.0122, 0.1162, -2.5231, 7.1043, 1.7363, 0.1148, 0.149, -0.0024] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dark brown body now fills the open left jaws at low height. I’ll close on it and check for a nonempty grasp."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe left jaws closed nearly all the way, so this may only be a tenuous hold on the brown plush. I’ll lift it a short distance and use the overhead view to verify that the object rises with the gripper.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9997, 1.5429, 0.5987, -0.0669, -0.8108, -0.7567, 0.0325, 0.0128, 0.9932, 0.8261, -0.6163, 0.0429, -0.094, 0.997] state[eef_state]: left_x=0.2765 left_y=-0.1869 left_z=0.0503 left_yaw=0.0325 left_pitch=-0.066 left_roll=0.0977 left_gripper=0.0325 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2164 right_roll=-0.093 right_gripper=0.997 state[joint_eff]: [-0.1983, -7.0085, 5.8735, 0.9548, -0.5348, 0.022, 0.9304, -0.0068, -2.5778, 7.1453, 1.5263, 0.0122, -0.0562, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The left jaws closed nearly all the way, so this may only be a tenuous hold on the brown plush. I’ll lift it a short distance and use the overhead view to verify that the object rises with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe overhead view is still partly blocked by the left gripper, so the nearly closed jaw reading does not establish a secure grasp. I’ll move toward the left basket at carrying height; this will reveal whether the brown animal follows or stays on the table.
move_to
left_x0.4400left_y-0.1100left_z0.2150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9997, 1.3678, 0.8318, -0.4656, -0.8043, -0.7597, 0.0343, 0.0128, 0.9932, 0.8261, -0.6167, 0.0429, -0.094, 0.997] state[eef_state]: left_x=0.2787 left_y=-0.1916 left_z=0.135 left_yaw=0.0299 left_pitch=-0.0657 left_roll=0.0842 left_gripper=0.0343 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2168 right_roll=-0.093 right_gripper=0.997 state[joint_eff]: [-0.212, -7.0496, 8.4718, 1.0525, -0.4713, -0.0073, 1.033, -0.0752, -2.1812, 6.8444, 1.5458, -0.0024, -0.0317, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.11,"left_z":0.215},"note":"The overhead view is still partly blocked by the left gripper, so the nearly closed jaw reading does not establish a secure grasp. I’ll move toward the left basket at carrying height; this will reveal whether the brown animal follows or stays on the table."})
tool
executing move_to over 13 steps (1.3s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe brown plush moved with the left gripper and is now hanging just in front of the empty left basket. I’ll advance over the basket opening and lower slightly before release.
move_to
left_x0.4900left_y-0.1200left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4164, 1.5448, 1.2133, -0.4084, -0.4252, -0.2707, 0.0343, 0.0128, 0.9951, 0.8242, -0.617, 0.0402, -0.094, 0.997] state[eef_state]: left_x=0.4288 left_y=-0.106 left_z=0.1973 left_yaw=0.0683 left_pitch=-0.1033 left_roll=0.0855 left_gripper=0.0343 right_x=0.3019 right_y=0.0003 right_z=0.1762 right_yaw=0.0261 right_pitch=-0.221 right_roll=-0.091 right_gripper=0.997 state[joint_eff]: [0.1162, -7.2547, 9.0598, 1.6777, -0.1343, 0.1734, 1.0232, -0.1026, -2.6051, 6.9812, 1.5116, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.12,"left_z":0.17},"note":"The brown plush moved with the left gripper and is now hanging just in front of the empty left basket. I’ll advance over the basket opening and lower slightly before release."})
tool
executing move_to over 5 steps (0.5s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe brown plush is above the front portion of the left basket, with part of its body still near the rim. I’ll nudge it farther into the opening and lower to keep it from falling outside.
move_to
left_x0.5050left_z0.1250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.387, 1.7809, 1.3331, -0.3435, -0.4091, -0.2611, 0.0343, 0.0128, 0.9989, 0.8234, -0.6174, 0.0402, -0.094, 0.997] state[eef_state]: left_x=0.4771 left_y=-0.1147 left_z=0.1532 left_yaw=0.0829 left_pitch=-0.1546 left_roll=0.1068 left_gripper=0.0343 right_x=0.302 right_y=0.0003 right_z=0.1748 right_yaw=0.0261 right_pitch=-0.2259 right_roll=-0.0909 right_gripper=0.997 state[joint_eff]: [0.3487, -9.2923, 8.6359, 1.5653, -0.1001, 0.0904, 1.0037, -0.0752, -2.6872, 6.9538, 1.5067, -0.0024, -0.0317, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_z":0.125},"note":"The brown plush is above the front portion of the left basket, with part of its body still near the rim. I’ll nudge it farther into the opening and lower to keep it from falling outside."})
tool
executing move_to over 3 steps (0.3s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe arm stopped advancing as the plush met the basket, and the wrist view shows its head and body over the basket floor. I’ll open the left jaws to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3828, 1.7947, 1.3457, -0.3344, -0.4065, -0.2615, 0.0343, 0.0128, 0.9989, 0.8234, -0.6167, 0.0402, -0.0944, 0.997] state[eef_state]: left_x=0.482 left_y=-0.1149 left_z=0.1533 left_yaw=0.0846 left_pitch=-0.1483 left_roll=0.1012 left_gripper=0.0343 right_x=0.3021 right_y=0.0003 right_z=0.1749 right_yaw=0.0263 right_pitch=-0.2252 right_roll=-0.0912 right_gripper=0.997 state[joint_eff]: [-0.4171, -9.6615, 8.9504, 1.7118, -0.1734, 0.0708, 1.0037, -0.1162, -2.2496, 6.8581, 1.4872, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The arm stopped advancing as the plush met the basket, and the wrist view shows its head and body over the basket floor. I’ll open the left jaws to leave it there."})
tool
executing move_to over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
assistant
agent noteThe brown tagged plush has dropped onto the floor of the left basket, while the pale bear remains in the right basket. I’ll withdraw the left arm to inspect the remaining gray object and yellow piece on the table without occlusion.
move_to
left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3828, 1.7947, 1.3453, -0.3286, -0.4065, -0.2687, 0.9954, 0.0128, 0.9997, 0.8234, -0.6167, 0.0402, -0.0944, 0.997] state[eef_state]: left_x=0.4828 left_y=-0.1153 left_z=0.1541 left_yaw=0.0881 left_pitch=-0.1431 left_roll=0.0932 left_gripper=0.9954 right_x=0.3022 right_y=0.0003 right_z=0.1747 right_yaw=0.0263 right_pitch=-0.226 right_roll=-0.0912 right_gripper=0.997 state[joint_eff]: [-0.0342, -9.5248, 6.9812, 1.4774, -0.232, 0.1343, -0.0415, -0.1846, -2.5778, 6.8581, 1.4921, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The brown tagged plush has dropped onto the floor of the left basket, while the pale bear remains in the right basket. I’ll withdraw the left arm to inspect the remaining gray object and yellow piece on the table without occlusion."})
tool
executing move_to over 15 steps (1.5s)
step 252
assistant
agent noteWith the arm withdrawn I can see a gray tagged plush on the table and a separate narrow yellow object beside it. I’ll approach the yellow object from above so its shaft can be grasped without disturbing the plush.
move_to
left_x0.2930left_y-0.1400left_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1665, 0.9463, 0.7582, -0.5163, -0.2676, -0.1371, 0.9967, 0.0128, 1.0046, 0.8207, -0.6159, 0.0402, -0.0978, 0.997] state[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1837 left_yaw=0.1165 left_pitch=-0.1161 left_roll=0.0803 left_gripper=0.9967 right_x=0.3022 right_y=0.0003 right_z=0.1723 right_yaw=0.0282 right_pitch=-0.233 right_roll=-0.0936 right_gripper=0.997 state[joint_eff]: [0.1846, -2.0991, 7.0632, 1.5946, -0.0464, 0.1832, 0.1294, -0.1026, -2.6188, 7.159, 1.5849, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":-0.14,"left_z":0.085},"note":"With the arm withdrawn I can see a gray tagged plush on the table and a separate narrow yellow object beside it. I’ll approach the yellow object from above so its shaft can be grasped without disturbing the plush."})
tool
executing move_to over 13 steps (1.3s)
step 265
assistant
agent noteThe yellow object is a slim, straight shaft lying on the table, slightly left of the left jaw center in the wrist image. I’ll center the jaws across its middle and lower to its table-level height.
move_to
left_x0.2690left_y-0.0860left_z0.0220
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8124, 1.3468, 0.6277, -0.2825, -0.6785, -0.6415, 0.9969, 0.0128, 1.008, 0.8204, -0.6167, 0.0406, -0.0978, 0.997] state[eef_state]: left_x=0.2874 left_y=-0.137 left_z=0.0784 left_yaw=0.0794 left_pitch=-0.1596 left_roll=0.1161 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.171 right_yaw=0.0279 right_pitch=-0.2376 right_roll=-0.0938 right_gripper=0.997 state[joint_eff]: [-0.1709, -4.9709, 7.3368, 1.2283, -0.5446, -0.0708, -0.0122, -0.0615, -2.7692, 6.8718, 1.4969, 0.0024, -0.0611, -0.0122] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.269,"left_y":-0.086,"left_z":0.022},"note":"The yellow object is a slim, straight shaft lying on the table, slightly left of the left jaw center in the wrist image. I’ll center the jaws across its middle and lower to its table-level height."})
tool
executing move_to over 5 steps (0.5s)
step 270
assistant
agent noteThe yellow shaft is now centered between the left jaws and the grasp point is at table height. I’ll close across it to see whether the jaws catch its thickness.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7002, 1.3125, 0.3294, -0.0288, -0.6247, -0.5549, 0.9969, 0.0128, 1.0084, 0.8204, -0.6167, 0.0406, -0.0978, 0.997] state[eef_state]: left_x=0.2612 left_y=-0.0803 left_z=0.0159 left_yaw=0.1123 left_pitch=-0.2075 left_roll=0.1584 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.1709 right_yaw=0.0279 right_pitch=-0.238 right_roll=-0.0938 right_gripper=0.997 state[joint_eff]: [0.1573, -4.6838, 5.4906, 1.3504, -0.2808, 0.0952, -0.022, -0.253, -2.1949, 6.8171, 1.4921, 0.0073, -0.0317, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow shaft is now centered between the left jaws and the grasp point is at table height. I’ll close across it to see whether the jaws catch its thickness."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe jaws closed empty and nudged the thin yellow shaft left of their centerline. I’ll reopen, shift a few centimeters toward it, and lower slightly before one more attempt.
move_to
left_y-0.0350left_z0.0080left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6991, 1.309, 0.3199, -0.0158, -0.627, -0.5545, 0.0126, 0.0128, 1.0092, 0.8204, -0.6167, 0.0406, -0.0978, 0.997] state[eef_state]: left_x=0.2609 left_y=-0.0792 left_z=0.0155 left_yaw=0.1137 left_pitch=-0.2014 left_roll=0.155 left_gripper=0.0126 right_x=0.3022 right_y=0.0003 right_z=0.1707 right_yaw=0.0279 right_pitch=-0.2387 right_roll=-0.0938 right_gripper=0.997 state[joint_eff]: [-0.0615, -3.1795, 5.9145, 1.1062, -0.3248, -0.022, 1.0574, -0.212, -2.0718, 6.8171, 1.5263, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.035,"left_z":0.008,"left_gripper":1},"note":"The jaws closed empty and nudged the thin yellow shaft left of their centerline. I’ll reopen, shift a few centimeters toward it, and lower slightly before one more attempt."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe yellow shaft has rotated diagonally and the gray plush partly covers its nearer end. I’ll move forward to grip the exposed far end instead, away from the plush.
move_to
left_x0.3180left_y-0.0520left_z0.0180
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 1.2171, 0.2066, 0.0975, -0.511, -0.3698, 0.9948, 0.0128, 1.0092, 0.82, -0.6167, 0.0399, -0.0978, 0.997] state[eef_state]: left_x=0.2602 left_y=-0.035 left_z=0.0067 left_yaw=0.1357 left_pitch=-0.2108 left_roll=0.1562 left_gripper=0.9948 right_x=0.3022 right_y=0.0004 right_z=0.1705 right_yaw=0.0286 right_pitch=-0.2391 right_roll=-0.0932 right_gripper=0.997 state[joint_eff]: [0.3761, -3.6581, 4.547, 1.3553, -0.0806, 0.1538, 0.2662, -0.0479, -2.6051, 6.8444, 1.5165, -0.0513, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.318,"left_y":-0.052,"left_z":0.018},"note":"The yellow shaft has rotated diagonally and the gray plush partly covers its nearer end. I’ll move forward to grip the exposed far end instead, away from the plush."})
tool
executing move_to over 5 steps (0.5s)
step 295
assistant
agent noteThe exposed yellow tip is still ahead and left of the fingertip point, while the gray plush is alongside it. I’ll advance and shift outward so the jaw center meets the exposed tip without closing on the plush.
move_to
left_x0.3480left_y0.0000left_z0.0160
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4305, 1.4479, 0.3893, 0.1291, -0.49, -0.3408, 0.9966, 0.0128, 1.0138, 0.8196, -0.6178, 0.0402, -0.0978, 0.997] state[eef_state]: left_x=0.3045 left_y=-0.0444 left_z=0.0089 left_yaw=0.1595 left_pitch=-0.2365 left_roll=0.1727 left_gripper=0.9966 right_x=0.3022 right_y=0.0003 right_z=0.1689 right_yaw=0.0283 right_pitch=-0.2452 right_roll=-0.0934 right_gripper=0.997 state[joint_eff]: [0.1709, -4.6564, 6.694, 1.4481, -0.1538, 0.0952, 0.1734, -0.1709, -2.8923, 6.9812, 1.5018, -0.0024, -0.0513, -0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.348,"left_y":0,"left_z":0.016},"note":"The exposed yellow tip is still ahead and left of the fingertip point, while the gray plush is alongside it. I’ll advance and shift outward so the jaw center meets the exposed tip without closing on the plush."})
tool
executing move_to over 4 steps (0.4s)
step 299
assistant
agent noteThe yellow shaft is now in the lower part of the wrist view but still slightly left of the jaw center. I’ll make a small final sideways adjustment at table height before closing.
move_to
left_x0.3450left_y0.0250left_z0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1955, 1.5219, 0.4534, 0.1818, -0.3794, -0.194, 0.9968, 0.0128, 1.0164, 0.8196, -0.617, 0.0399, -0.0978, 0.997] state[eef_state]: left_x=0.3329 left_y=0.0044 left_z=0.0085 left_yaw=0.2227 left_pitch=-0.2558 left_roll=0.1778 left_gripper=0.9968 right_x=0.3024 right_y=0.0004 right_z=0.1683 right_yaw=0.0286 right_pitch=-0.2471 right_roll=-0.0931 right_gripper=0.997 state[joint_eff]: [0.1573, -4.506, 6.8581, 1.6288, -0.0855, 0.1587, 0.0073, -0.0615, -2.6462, 6.7897, 1.4579, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":0.025,"left_z":0.008},"note":"The yellow shaft is now in the lower part of the wrist view but still slightly left of the jaw center. I’ll make a small final sideways adjustment at table height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 301
assistant
agent noteThe arm has reached a low contact-limited pose, with the yellow tip close to the jaws and the gray plush still to their left. I’ll close once on the exposed shaft and check whether its thickness remains between the fingers.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1734, 1.5356, 0.4706, 0.197, -0.3355, -0.1452, 0.9968, 0.0128, 1.0176, 0.8196, -0.6167, 0.0402, -0.0978, 0.997] state[eef_state]: left_x=0.3407 left_y=0.003 left_z=0.01 left_yaw=0.1804 left_pitch=-0.256 left_roll=0.1728 left_gripper=0.9968 right_x=0.3026 right_y=0.0003 right_z=0.168 right_yaw=0.0283 right_pitch=-0.2479 right_roll=-0.0933 right_gripper=0.997 state[joint_eff]: [-0.1573, -5.3675, 6.3248, 1.536, -0.1001, 0.1636, -0.0122, -0.0615, -2.6735, 6.7897, 1.4725, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The arm has reached a low contact-limited pose, with the yellow tip close to the jaws and the gray plush still to their left. I’ll close once on the exposed shaft and check whether its thickness remains between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteI placed the brown plush in the left basket and the pale plush in the right, but could not finish sorting: the gray plush remained outside the left arm’s fence-side grasping reach, and the thin yellow object slipped out of repeated table-level grasps.
give_up
hindsightThe gray plush’s graspable body lies farther toward the outer left edge than the left arm can center its jaws (left_y max +0.05 m); approaches at that limit closed empty. The yellow shaft is thin and slides sideways under fully closing jaws at table height. The brown plush can be held despite a settled gripper reading near 0.034, so verify it by lifting rather than relying on that reading alone.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1734, 1.5337, 0.4774, 0.2138, -0.3359, -0.1349, 0.0124, 0.0128, 1.0176, 0.8196, -0.6167, 0.0402, -0.0978, 0.997] state[eef_state]: left_x=0.3463 left_y=0.0021 left_z=0.0154 left_yaw=0.173 left_pitch=-0.2329 left_roll=0.1715 left_gripper=0.0124 right_x=0.3026 right_y=0.0003 right_z=0.168 right_yaw=0.0283 right_pitch=-0.2479 right_roll=-0.0933 right_gripper=0.997 state[joint_eff]: [-0.1162, -5.1487, 4.9026, 1.3748, -0.1441, -0.1001, 0.5934, -0.0889, -2.5231, 6.9949, 1.4628, -0.0122, -0.0171, -0.0122] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the brown plush in the left basket and the pale plush in the right, but could not finish sorting: the gray plush remained outside the left arm’s fence-side grasping reach, and the thin yellow object slipped out of repeated table-level grasps.","hindsight":"The gray plush’s graspable body lies farther toward the outer left edge than the left arm can center its jaws (left_y max +0.05 m); approaches at that limit closed empty. The yellow shaft is thin and slides sideways under fully closing jaws at table height. The brown plush can be held despite a settled gripper reading near 0.034, so verify it by lifting rather than relying on that reading alone."})
tool
give_up: I placed the brown plush in the left basket and the pale plush in the right, but could not finish sorting: the gray plush remained outside the left arm’s fence-side grasping reach, and the thin yellow object slipped out of repeated table-level grasps.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.65 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0012 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.6479, 9.3607, 1.8486, -0.0513, 0.1294, -0.0708, -0.7726, -1.1966, 9.7983, 1.8632, -0.1245, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb4b1858671a7086f228a49c1db1f96bd2373117763d185a1c070a66ac7050f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef2991b2e2b6c823ed17fc7928d91f0f02853b161a04f7791bcd4e34f8a927b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012d90e94f8420da846291969ad9ea0305035778597433b564f215879cd2b37d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.932 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_05f72a22376eb025016ab4366a265887d098fdcce178fc86d2",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_05f72a22376eb025016ab4366e668887d0bc36a33df99bedba",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ03s25aIXbijJd4CcENUSPnZNzzwVoI9z_zA2f2o9Oje05IQbn_Omu98KiINKYJTQN9c59lr-bhKiMWqPyJFUfqliJmS7jzQt1W42zVIPQXH-CDCe17t3pcPY9vPoSqZ1aqlMKsPVYPw2p996RGFGuv2j2EMNf79IJyXKjtv3WXrwWg6fUs54_Zi4Lnyxp7n3p0UNRfEzyjdWwArbk_WDL9rplN5pcCelqj6aP2GgVQCB9Cui5UQBpUYvLrU1qb4txwugHQ_1L7KovL0iHDfOnb-ZuOXCclse2_zGHXk_8iu-ZZuVKRUQLCJLTi7UjdqQIbpxmFn7rWlAM54JpWk8AdgcuxRZQP_BRydNhYXPhbueTwHZhEZozaAAVTfv9ci3oZcop5vjqt_Uf6IiSUWDY4RuinVh1IgZP0THofCkLolZBR8lgo6CLtEidKJQKop1w7BGOeJWZamHc0gxCaBPfBC7JaL8KlzvvuF_JsCOPt0KOewWuuqSCMkBCouvRHF_YMpTpN2NJn_ol87x7PAqhdAAwlT_3gtkk6unaUmJdYuUE2OYO9On3Lbeo5nHx4uX3_wn7z03XYx4U6QXNt0ob26q_cYnnp1O9-D1d398JWOsnWnZPE0y9QIso8t-Extv3uLaX6TTGjgTPttHGP7T3RZMScK_Y_YKG8Mn9n_cDmyApqY7ROYzPtY7dPBAIAN7F88Ri52gY5oSxj3UDfty-2IwSHUDWmhfDjRlJkn9OdL8PxorNRbfukybn4PkTifGjULOnto5woOCws118tRq1SlEWjyx_AOf1jfHruKKWXFA4DFB386KzM5HZMpnAJ4BUT1nKQdtLDOR-AWI8WhpDfSF1SS9rRjYmBrlPpmWcJs7P4UQwZUUBNVTijUeIjkT3NJTbzKPkSy228n9pph6HYFRUE1QH-41J-mcwvrdrkET_SPiiVlSbwhnM-bLzeDS8ohnUNS5winvi_H1uyAdwBUvcRPrjHOsQ1-nuLg9DAbkh89NQyO6F7bkQ-8xWF8p_XaCWr7k8upN21o4PREaZ5QgKRH6IgfwM7amLeBXVdbqHtBy10XF9cT__sWcx8FykGA9t7ZMMVMTY6F88H47SffxtX1zxiSqodlkBx6kNNKI1Vev90pzMGUA4Rn7XpiHhoceqG5Tq58Ga777vH7Barly0H8Q-CCb9SoOu0lBKQVmTb5RSUjkvaxW9drNecyhpy9AOABJRb_rMUi0FVxd24f0rPbOlUjFhSJ3cELdbGMCet_hW4-zLlPLTbL9qADM1GKnUyE8WdnnYwTKooxBDqsbiKu8kirwqHFf5MPlCBRDwC0cwug28k0C7TUHnjAhsl_MD1L-dvNniOfbyHIX_rOG5rzNyVw87LCCBQFUN4NX8ZBn5Q0aGquM3kywvoixo",
  "id": "rs_05f72a22376eb025016ab436730ff087d0bc1118f5816419a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.07,\"left_z\":0.14},\"note\":\"I see two turquoise baskets at the far side, several gray fluffy objects, and narrow bright-green objects. I’ll bring the left gripper above the isolated fluffy object on the near-left to line up a grasp.\"}",
  "call_id": "call_yuTHLUHZYE30i6IuH6YkPRX5",
  "id": "fc_05f72a22376eb025016ab43673bee487d08aa00532ea50f825",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yuTHLUHZYE30i6IuH6YkPRX5",
  "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]: [-0.7258, 0.6266, 0.4427, -0.5076, -0.5732, -0.4503, 0.9995, -0.0151, 0.7986, 0.6083, -0.3847, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2353 left_y=-0.0759 left_z=0.1418 left_yaw=-0.0306 left_pitch=-0.0042 left_roll=-0.0077 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0057 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 0.0752, 6.2154, 1.5311, -0.3297, -0.0464, -0.0269, -0.3897, -1.1829, 7.2547, 1.7851, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618ff01583b43ef5ed992c2c4175bb7c1e11c45d4d6b0238eb59c7dfa10ea75c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bb615b1ddd185427d035e365b021a7a0b3bc84290a62813e2169972320db80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043dc062c36c29ff20a0d5eab79f9555725851dee798fa6c4671f8aa9594b0d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 2.457 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0012 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.6479, 9.3607, 1.8486, -0.0513, 0.1294, -0.0708, -0.7726, -1.1966, 9.7983, 1.8632, -0.1245, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7258, 0.6266, 0.4427, -0.5076, -0.5732, -0.4503, 0.9995, -0.0151, 0.7986, 0.6083, -0.3847, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2353 left_y=-0.0759 left_z=0.1418 left_yaw=-0.0306 left_pitch=-0.0042 left_roll=-0.0077 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0057 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 0.0752, 6.2154, 1.5311, -0.3297, -0.0464, -0.0269, -0.3897, -1.1829, 7.2547, 1.7851, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618ff01583b43ef5ed992c2c4175bb7c1e11c45d4d6b0238eb59c7dfa10ea75c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bb615b1ddd185427d035e365b021a7a0b3bc84290a62813e2169972320db80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043dc062c36c29ff20a0d5eab79f9555725851dee798fa6c4671f8aa9594b0d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ8EWNMWVb3vtOV2j7aQ2BMRcCeKFo0l4jkwepVr76LxLjfmhct3M--8K9nJfO8cQvyX7O7WXpVGqaVXiPaepbN7K3kK0lt44vyaOTtnKi0yWvj9tr9LHYVJEdgMk_kvPOG7aKplP5Hgh7Z8xZIbwN3vV43tqY4TAfZXr1f6beTy6sa8iDqXyUQHALAOSiOAXWL0DdIHK2U89kINAAQL4MALtrUb38DK8yppnEvdPy5RS-XA4zS_5KOvLoGWsuPrQvd71DKzqBED2E-lgZlzKb4biJttbWHOHdKaKOFtlELzdmYWS4A65u0_KuMHIUtnPI-t_lqMLc3oHPOy9kigEyqgWf-ZAXHysf0LPFgvbBWXQEZRsEL-_8c2OGbI0QKp1eK805DoJJZ1irq2BdF54E-lziZ3HzGiTQK8v6FhzA8HH0__mrWdO9VFV5PDrP0Zh9-8iDeCMf_9-QS4eiCj2pX-lpVEDegKI-PwnhtiHHOT0kAbqKuRV_O_sRn5Rl3en74IqxDK9rvUYBzJe_cROpNc2r1yr5A0NcKYrQisTxkFgwnkGtHxqSLzKV2-TyooNA0RCcToQDB7OoaZD3ydyIRaJY3ysYLDntW8GcFQojrOCLEzZMBsWesCkp9JwaTrQvhiBxZp_kvkO7SRCIuDGdqICyNvY1gKR0u7CuCdrls_b8Uwk_CrHI3soHZZS5qo7Os5-s9J7TLh3BGgqHBP1Xdq8oFOZGmg1I94W3v_Qgzf963zxGPToUTin0MRV3fBxP234mJzudsmdjcmLyTvbxH5BHy5EHRk-UvNYd-LiWoUycHeZ9dHo5nXyWu-w663Wt_3yZuf94IRqhIey5g4fupdnR0BahWwRyp4Tvca2dJZZ05EFatauoo0UiHSVJMHkoT0kcYm9tgyn0Zd0hSbxZ5Pusy1gzAC3NXE8cVQTb7lDVm8Sa7vw9RSh2WOE-0U5DFtzTb5JJnG4BIxUnL3l2oWZzi50EAWnMXdEnrNITH3y41EKI-Z2tMNc9EADkL3u2GWqm6ZgweJRL-gpkqBjmuH0speSqqtOr7poFxUSUstOTDSVk6wiGPR-SdpAJLOH1mHL6tVOvwVcB59ni5ibtyS6Vj5L6PJZG-Z2upehGthfASzsYlpYu8MAfx5agdzLKrVghRKrN9nNae15-JeG-3uaJb7NSL7cDQra1P64msuFy3tPbjr_qrOuOpbkXj1timUa-_dF38tRiI9W5pWZb2oPL42TowRgCucWNweuYAVvU66yzu7YpmAR7d2yNExlVzsiqurRcPWVoE5yLnDNzQqgtlrkVXh_CYmR41xwyZgVCAIicsV-fBwmhz7r--DwApAz0KyXBl2--vlO2tHGGJCh9dDQDbB1UVNd5IDhScwY8wa-cn8udgdc6ecaRSdh6WsjbiU2AjXiEGYmVcbpZSsNKgSgoE0Oj-hCKhqSLadNfvG0Leoo13OBiICuaTsCZ72G0mn30WDDV3ILI5ts9ySAeMfn_ci4A__faNuMMbv428djzD4v4Xzoc4Rb7_G4W2WOkqxgA58KQ44obNJbCERjQFYagMAPLsmBI1xpYKiV-c7gjtmPSedKddiMNq-MwmhFhGL60S_h0aW8rMbAuYyEL8fp6TDH0x5k1X8_iXE5rlbz36maSJbddUjiKn8AGd2gM9nsDiibi8cuShH-l81CCalS1DvlDbUb2OEj8wW9lIopealnUxT3T7kKXc9wvsj-vwDpFbQWT4jEMds4of47Wm5F8i7n4oOzZ17k5rzGY8Pq7MwxnCoCBSlC4ZSqav003DPycTyO48QGlpI9HO_v3OgtJWQ2aT9qt8QSKmV4GLsJKaN8-8P6fIb2CG7AneXpK_h4XuiqnkddEzXtc_TIqNKpYbXL1TNOI7oCUgPZHI-RUVaKfdlRBksfA5lQPq6Fr8pVFVfKKdHbQ1D9j7nly8hRrWhn-AfvVgP3ELvQP1qUfwsWfpat0piSCWsdi4Jx5QGAlDxtXFdaihMBWw023jmxC_N65D--analiE6iZeQpETP9ShGyHP5Bxfbmhy304j0r66vWk8y4gwm2PF_Bvd1suknLCDvj35gh7l_1dIXVDCvJODw9EIfktk7jKzEPldZwnW5Cesl46JPRXsRDRzdP-9Ol94TvsEqf6XjK4W2OjT0sNBsgdUnDRjRWc9k_5DzloILO696Kcd8CuzAmlUQ66g1wxiDxJGaurlNQDTyFUAxUuayV3mqNQoEnbSiPjNKRxdVFPuCdNC242HY1WPl2kb12qKCXDybdB2RB77em_NOUAxOmktTxPlua5yi222L4bsEA36UduU081U_HK8nRRhVDDj8iiPM6tmNSlbFsurYXCzFFez_j1vgK3BZpg1AbFYCcH5npGQrLAfgvTNY10Da9StrJJJgWaP6IumqjRjmUPYrxzthNox1xOUj7qTMExRQfgT_V2xDoIyL76eBC4aIM2eSNxX9lMLjRzAfPY8H4x8RBSsRvAtNO1uQHLXkZBAyfeukTn0r3S620mYYiLPmRUJum-0lv-JFbNCu1HEOxn6m-zwdjSX8axGWCx7g4vXqNLaClwL2zg4srcKYQcbD8GMETJ9Rqi9zs_rsSzWoilgTtMVYZZmsfTyzppMqhyIuUT78lqndcv3fFVsErGUCfCHwYzrzmPDtTp2KHAtlPyDfyTr08jMb1gZI54KyOcRBsKbVRmh723axfUjg8GopeqnmPSP7f8wHAnCA6_PWYC0AY12MG6nTSy8EDjPy59YfTftGgUsZIW3HP8OF3vAMfI9u6zRqgkveHB404Iwt5MJ1RfLOutMrSHgchUQX7yGDgJOtbtcpNh3NiHe4VEyWPeg-jqcczPRKvT6hOn9LtexkvwF11nMyzZgYIu2lMWkRcQdAFiWD4F4m7lAyeQFOjW5JJypy8ZLF32u0b2uf1pyRHeCfT0bd0U6bF5QiAf32SKilo3_y7V6FRA3eTrduEoYeairhvfCNgNQefGrG328tT-_lUNVqYbmkf8W7AftG4HqtqgJE-4ZnSNHHgam90Y_Dp0YjszzuoxrKr6bd5qNrPP60ij2KPzsJoI3tlY0vku-0cEGkVLFommz_bHPhBS9C5hmUZFQiM4NwTeFE3HnpscaXgg61f0xgQRqXSMcS8ORzx-lnUJ27p1sCk9jy8arYcWk-ZLNR0Eg2C1Q_d_ZKdshbEaR4-HNK9j7V2Ln6Ly_QoMe3vEOwGj58cgNQHVESVoGFDjVBOFtAOnowEfJA26esWz63HUy6zDp5jmi7wAyL6JvAEDtUEHC3KPu_g_sGuU2ye19zzt5tahryjQuaNbC-9WsG4KkKeFTYaR1T4zJx6NHImgjga5CyMOlknLriYf4AkpfPQR336HUSlC-A0Klt18uhxK5H7pyaUgzgcvF70PW6r_PXFnKXVQ1YYz29DUs3g-Fy86hl3Fj_38lsHyJ0IYVoRhGJFo5B9FP9k3dugV5bLoevwDMLFB-x0kRSkHCzLAaAJYknJnjrubiMVghuJJ7gAdwsGTk6hEjMzEHmTQmrgQEEjsxIvIN9qFqpgsKozn0uzyGdPdu5LKHccfwsSy29DzL",
  "id": "rs_05f72a22376eb025016ab4367786f487d0bf9c2fadb8b3b45d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.279,\"left_y\":0.005,\"left_z\":0.095},\"note\":\"The isolated gray plush is just ahead and to the outer side of the left gripper; the yellow rod and other plush objects are separate. I’m shifting over the gray plush and lowering toward its middle.\"}",
  "call_id": "call_TpNRdGUttsF8C9oxi5twPMUc",
  "id": "fc_05f72a22376eb025016ab4367b928887d082704b5df8f596e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TpNRdGUttsF8C9oxi5twPMUc",
  "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]: [0.0437, 0.7574, 0.2569, -0.0944, 0.0364, -0.0071, 0.9995, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2762 left_y=0.0092 left_z=0.0904 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.1009, 6.4068, 1.8974, 0.188, 0.1197, -0.0171, -0.335, -1.0872, 7.2957, 1.7167, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a4c53290dbe436a7383543af64d42a37cf216d4aa970c341c486d7dd0fd18e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339aacff00f64c25c142dc3682d4fcb80d3a3d7eea5d798ba0d825b37f265bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f3b2df94318ff74bb35f3b3674c8989fc1a72a205024771603309a54c5d1a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.8 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7258, 0.6266, 0.4427, -0.5076, -0.5732, -0.4503, 0.9995, -0.0151, 0.7986, 0.6083, -0.3847, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2353 left_y=-0.0759 left_z=0.1418 left_yaw=-0.0306 left_pitch=-0.0042 left_roll=-0.0077 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0057 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 0.0752, 6.2154, 1.5311, -0.3297, -0.0464, -0.0269, -0.3897, -1.1829, 7.2547, 1.7851, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0437, 0.7574, 0.2569, -0.0944, 0.0364, -0.0071, 0.9995, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2762 left_y=0.0092 left_z=0.0904 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.1009, 6.4068, 1.8974, 0.188, 0.1197, -0.0171, -0.335, -1.0872, 7.2957, 1.7167, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a4c53290dbe436a7383543af64d42a37cf216d4aa970c341c486d7dd0fd18e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339aacff00f64c25c142dc3682d4fcb80d3a3d7eea5d798ba0d825b37f265bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f3b2df94318ff74bb35f3b3674c8989fc1a72a205024771603309a54c5d1a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDaB9QV2XFpTOKBRtg_mcE1icIUA0WIcGqqvzdn1gu7k0NcI9y0--yXJTXWORnxAlC1Gzxc7tTYxzOtu7H64ghQtPTVv2xPZvMuNRNi5fMn7XWOTOsj1bVK4zVxUZ-zanQZcpV7qseNYV-kXWP-Kd-pIF0BWS5YKIFa9EV9UPobTQa-ekggWAtug7A6W0zj7kdnNjinSk_7CLK-n4GKo0DPz6Cu429Wtu3afIsuQIoJTWLNZtAqpylsgXPu6w40Dcv6s_yHwNgnR2EGiURbt1ARSx8nmiSsP49pFEvFyKw4B4Dzr8a0yrDJ4dHmYjv3RH_5KOGd2ftz5ZSRSfRr4LU462zITfCgFWZaUs960dqnd3UmjJzGZzGRvB1qWFAV4E0PSqlcr60CjQTKUAWeDADQ5fgbgqCyp53MgRkV4yor_AIjuPRD3QtBNHdff-h3VMz8GAY4Eb38SfpbyPP2tBR1OPOrOcC0tV3GEXd8-AT9V9oMKhUuVKt-fZl7WLyxL_4JI31qsZBABRsuVNfGOIcSdn_EFzlvbNCpJrO8rWJnUPoE6fdm-FTcRWUzgrwqat_9nn07LNS18cKsP_wHLPMhfN0x3HS4pf4t-5_FbG7AZz1ceMznJTe-NQI18Rywo0lD9ALFoh6TIYop0bpe9FAeAK8Lpox6p7hsUkn2zjkELV53GCBrUUzMX2M65orCoU9FVy6jNeXgexITtFRqOpl6DiS2oohOQeF-6-TPuT2PhQQAH7vbV11fwYHkGcZpJXbMCOtzRcKuf_QSmy5lEaTr-1NypkpyPgeCczICI7WKV4zfJmyTxqAywZY_4sQ9sXdkYN7FiNi5mHA2LwGikvu08CGi8sYQkzHjqVCkD8xHoDdSN2CDlpZTTIo2_3j3XrzfCe-XePTGKVZdtbcNh-4nvOFsEikRUmobcidY1z8IVLj2lhs34jep9y0qhhWVfeJvcmwcJBdsb2AUewgH71Saqi8j3Wc1NFH4r0qPUI9hgNWwraQscdXcKi8ZIdaGFdU7Bx3Ry9XMri1LEmg12QW4p-CwEsMq_hcray7SDpy8qViIybRzf6Oz47JNz3bonAdoUevjiz3k3Knfwm35GzVq5JDtOlmOI14ZoalDTTfvzGfkqp2Wq_jsuAfv8VQRDTSaLEA07CpluD5IIjA9HPhElOYcYs_bFT5hHBf2cc6E-BvxS-FNfhmhauGSpECpbpAwKXcXZCDJnNO3nHlbypLOW2pPJAKRPeQyEv_ViF_N7soGSHZGA1ALFxqpKv-Qibit2b7sD3A1FekuwM56rVRJ-1iwv5aUOcL2Hkj2gCM8YXNBprbNWqd-lMfMjDbNtwO15PkzXcGxbq4jUmi_oshJZrEey8RZ3mE9LIDrzHL7kBTTsXvsoAO-b5H5RyhzRW7At_UtQ-sIklmxX7e1e-QPFG2QgJTfcDV-kHtgYDfnM0NfZA4t2pmEkEkYLCPyJk2Hjgp7jfBuPMp75r66cG6YxjiK5N0sKZr3FJOhjjj7kkRWlpmcj1WWx7MRIsd1G-mocOzcRBTCGPUm5JiS94-7k1etSZ3bHL5BGGSE3ud2FyclEwY_ep7Eg2Zhr-TwNOJW-NiNfgIBGp3PIrykBoGIG9Ati2TglWgffFNeRV07yR2im1nV8uVnVMgHPqCdvi7kEVNwxGs_4VfU0GuO9_lXMF3qh_FyHL7fv0IVRo9-soJ-dlR7l5Lt5v0TkPrOx00sj",
  "id": "rs_05f72a22376eb025016ab4367f944087d08cf50da0dfb6ee0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now fills the space between the left jaws at mid-body height. I’ll close the gripper to check whether it securely catches the plush.\"}",
  "call_id": "call_TqPFP5eN8OcHjWGFWorQqUTQ",
  "id": "fc_05f72a22376eb025016ab436808f6487d0a14ef547203650b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqPFP5eN8OcHjWGFWorQqUTQ",
  "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]: [0.0437, 0.7593, 0.2558, -0.0895, 0.0303, -0.0109, 0.0129, -0.0151, 0.8009, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2766 left_y=0.0103 left_z=0.0904 left_yaw=0.0064 left_pitch=-0.0315 left_roll=-0.0101 left_gripper=0.0129 right_x=0.295 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0092 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.0325, 6.9675, 1.6435, 0.0269, 0.0513, 1.0476, -0.1026, -1.2923, 7.159, 1.7118, -0.0366, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44894740bfae4fa261cc96a3df59f876a5dc5034581b82f88c403f609993a6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbd39b5fe90fcc843eab64087a1c519f4989f7b6f7453058c00d73ca8febc7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf84809503df4e0cce1edd896b09bb8f6565542de5958d4db8e56cf28fc2a97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.358 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0012 right_z=0.1817 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.6479, 9.3607, 1.8486, -0.0513, 0.1294, -0.0708, -0.7726, -1.1966, 9.7983, 1.8632, -0.1245, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0437, 0.7574, 0.2569, -0.0944, 0.0364, -0.0071, 0.9995, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2762 left_y=0.0092 left_z=0.0904 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.1009, 6.4068, 1.8974, 0.188, 0.1197, -0.0171, -0.335, -1.0872, 7.2957, 1.7167, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0437, 0.7593, 0.2558, -0.0895, 0.0303, -0.0109, 0.0129, -0.0151, 0.8009, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2766 left_y=0.0103 left_z=0.0904 left_yaw=0.0064 left_pitch=-0.0315 left_roll=-0.0101 left_gripper=0.0129 right_x=0.295 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0092 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.0325, 6.9675, 1.6435, 0.0269, 0.0513, 1.0476, -0.1026, -1.2923, 7.159, 1.7118, -0.0366, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44894740bfae4fa261cc96a3df59f876a5dc5034581b82f88c403f609993a6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbd39b5fe90fcc843eab64087a1c519f4989f7b6f7453058c00d73ca8febc7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf84809503df4e0cce1edd896b09bb8f6565542de5958d4db8e56cf28fc2a97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDaFOZIVJZnn0miwXYKZKGrKrEATbZ2LADRO4XrYfQulr5-SIzeaeuo_H6VTefi0u5bn_0urbMjRqKHrb90iXWOZ931lLTdYxL5Dy1WO9FsNpT6CtklDsoCFc5b96vYEi0BN-hs2-lYMFQmBjTtHUA1n0JwB4m81d2tbN8yiWfM8MsD7i17nh2HUNpmzWB7N82_vmFwiWbDd45PDspby4y2vF3opcw1-WEjm3ukUoW71YnDPx2GI7YRbHISf84WSwpKGDtv78ZtyZKzKhMMu3rXOvd8endHw-cfGs0_Nh8N8XyVgs5FBO2S1laAtQJDJe-VzEPauL2hrPMokIg1-jPq5tJVdNxPwIYzqXY1piGljoRgtihhfPez7Y8q5BuYCWvhwuLXQW0bawA-Ypj4LEm2JdxY1mxjdEFkVKgHp7R3iuc2RGiBr4Pio3jaPCwmDFz_NcRVvVtKEIoJC9fWwzlxnb3IX7-537gQn6cNSHw0M5XhN9tKmtKuOO-pHAlK6PM_Wav-3WGSywazDBN3hTQGaFlTPwWlbPIwa1X2po6IBn0yJjZNVheVIWy35EnP5ohnWnLhYxKEWrLtWX0Vw7AJger6DiImMb8hnRRAvT6ZpR96mqHlHGzw7S9zpZcxqT3-xBxWnaQIAXidDvQe9KRX68abhB-ClltpFUtW8NEQF-D0_bBldZeADkqe1h-n6Zjt2aX5TdWa4NFrEqaLc73edoH6zbMGwF4fLTCEFpg3djOVDfs3hUCPxlhUFApieB6xFpn6ZATBnAUeHLvZpZlG24w47jIjaGNV5YLHy3FJlvBW7ePkiZILOx6zEC7aq-uyVfiPbJEkJMS8KN2ot0JVerBHpCVbVrWYgl77KSMO1MxhZXQCFJDb7wmH7xeYDDoR_kj-dZfnQhQnk5xRcw22cICEEWZUGakb2K3yKz_XY64ZmU7nReowHzVtg8vfOpESXDhspuxRlELH26oLuIaSbTQIZEKWY8BkFdqo5M6uxkhrlEt8ujck7HLyqtW1dmDOv3-lwrZLudf4lD5WNG2wHHslkgOVKhFV3k4SUAwFlRD3JOZLuQwbg8oWpb2qgiHAJMEAFWizdDbCVsQr83G5qy9fMZOeUv76uu1FJOlT9Y4GYEQyBFTNlLEaIujX3W37WETP_0QBiFGwtw3FYqGIIxI6-URGOEiRkBKwolUF7ppOmO-FWM5IFWDNIvHRpmzUhaKoeFli_WI8xO6XTA-sLLYyOlAbbSnkGF-O2RIhYDx969_dX_X99OmUyQgozSZOOgel0-ycxVD61nrGRfBzIJjUn8BBzlzXS-YKIjKyVDn_H-i6BmOOyip5dmNxRW0tvQsizRTrPZ1NRroibUZ4StuEPxCOPHCBNuTbensQhQHnULQ2OuyLCuKaxvs9b7iqoh41QZeiomKrfI2cR40CiIP7Af-OBkowLVL0hZlNr4RJUotXZmS8cAk-_NkiCv6IcXz9lL5VueTkdNL5RNzk388FCFGkND3IpAFFt5kFAGQ1q44UDw10O3SRYju_bWh-7HV5Gr1-5Zyyj8QcfbyGL9cZ-XO-XmoXcOB_ezarZbOULpYYBx7P76uXgRufxIImaiCj5K2SEhTdrWYdVHUrUWTxpHtYkmptm2DbNyKQqbHbR_SI0aCiCGYSq87byPTdRJgTSb-MA9EKt-aLD_DKjgp7kkk7fqjc3ADBapQ7wPt2SEx5yMGzx8y14QTvNQaxe-3gKDm79C1oexIuA3yzvHQK3jl3_r-xQcPqpKrGq5IxlHmK-8SRKvSvDqgl9t7hGvOa0WHFiezrerVBfGdzqnS4kS_nD1AHLyagSQwiHVa7Q2TLciFtjSU1YbtF0h-BCy9dl1r0Hbf2zXfF_m8MizjfPAEDB933SG-jXc9KVlxMPnU-m7_ykRTopj-CV5OM9hE-kYfbDrro0Xsveisjugcb5x0S9HOeMOidmKItx8AVrxZSAhQYnXBJVp-RxwcYIbxI9BX34Dxabqmq1y9-2_Pbopc3qLVR8ECWh25kpdpNI1rXQcuSMrbkiEmO9ekrvNgyVgoSGZsKI8SVAtI22H3WWhxRYgzNerTTDiIdp3U6DAJOwij7kidSqQZ16mbm1xEdrpPky12aF1Hn3i38qtob_KkDNT8KdgsJ0SK7UvGF94y3N_WClO6GHhKk_J-_D7MQToHaQdcz-4vDd5Cinpw==",
  "id": "rs_05f72a22376eb025016ab43683208c87d08223768ff7e2f786",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The gripper closed almost fully, so the first attempt missed the plush. Its body remains under the gripper in the wrist view; I’ll reopen and lower to a firmer body-level grasp.\"}",
  "call_id": "call_2nIbmHV9DrYU42q3QW6mp38C",
  "id": "fc_05f72a22376eb025016ab43685149087d0823f13195627a7d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2nIbmHV9DrYU42q3QW6mp38C",
  "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]: [0.0429, 0.9951, 0.0986, 0.4091, 0.0257, 0.001, 0.9988, -0.0151, 0.8024, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.294 left_y=0.0117 left_z=0.0642 left_yaw=0.0031 left_pitch=0.074 left_roll=0.0064 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1782 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -0.3077, 3.7538, 1.2088, 0.0317, -0.1441, -0.149, -0.3487, -1.388, 7.2, 1.7509, -0.0269, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a723cd27e0aa88ca5f989bd96786a1fd59f4ed4ba46725827cbbc7f7ce6df3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ba018a0945f6f0bac014c715eb0c50e305fce233f29ee5a9799dd6e67e1d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af60d1c7eb884f2ebae111a922e56c35a78a0d1cfc0bcc6749023c6711353be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.279 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7258, 0.6266, 0.4427, -0.5076, -0.5732, -0.4503, 0.9995, -0.0151, 0.7986, 0.6083, -0.3847, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2353 left_y=-0.0759 left_z=0.1418 left_yaw=-0.0306 left_pitch=-0.0042 left_roll=-0.0077 left_gripper=0.9995 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0057 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, 0.0752, 6.2154, 1.5311, -0.3297, -0.0464, -0.0269, -0.3897, -1.1829, 7.2547, 1.7851, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0437, 0.7593, 0.2558, -0.0895, 0.0303, -0.0109, 0.0129, -0.0151, 0.8009, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2766 left_y=0.0103 left_z=0.0904 left_yaw=0.0064 left_pitch=-0.0315 left_roll=-0.0101 left_gripper=0.0129 right_x=0.295 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0092 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.0325, 6.9675, 1.6435, 0.0269, 0.0513, 1.0476, -0.1026, -1.2923, 7.159, 1.7118, -0.0366, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0429, 0.9951, 0.0986, 0.4091, 0.0257, 0.001, 0.9988, -0.0151, 0.8024, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.294 left_y=0.0117 left_z=0.0642 left_yaw=0.0031 left_pitch=0.074 left_roll=0.0064 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1782 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -0.3077, 3.7538, 1.2088, 0.0317, -0.1441, -0.149, -0.3487, -1.388, 7.2, 1.7509, -0.0269, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a723cd27e0aa88ca5f989bd96786a1fd59f4ed4ba46725827cbbc7f7ce6df3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ba018a0945f6f0bac014c715eb0c50e305fce233f29ee5a9799dd6e67e1d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af60d1c7eb884f2ebae111a922e56c35a78a0d1cfc0bcc6749023c6711353be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDaLNW2RXOvdwDf5d28dZSwpNUCx4zamq9V0bQNhyq_fY-F63ySJPFazIMAgjc5aVASAQBn9xl34CjbS_mFY2fqiqiQE2UnuM1aSH_kyk5Fd35qpDkF3ca2Y3oUgLmEMfwVxaPl_-xk30kcF0VF08KRgNRtFR50pJ9wPWR-ts7wmLf3YtEi_5G8-XbNVG9PCsdkWDap3opIgw4POfby61ze6OyE_xmgQv30DpMwTr0s95K-1w_02vT0nrBS9qeYnEvkSJQE7-QMqkSdsHJwMdfFC2G1dy-rMzfMTX01arjPD3DX5mylnRWPYekvmM-w_WPo8wsyQjAp4IjHElHhvhNnwG0rAIPjHMjwNKrv6JsIYGN40bmB9_a1RCF7014C0mWGHsTefxkSqsXucRNQ_yNG8UEqhOy-pAqZyvR2U-AYfMld6BZSYP-yh-V1brEQoIIoVAuUsyzuxwwR-GE5YIFBaaKPZTqOgL4MPgjx_1HnHU80uoE6_Ms16vuRplPVkt2KIp_ch00yrNvovpA6rbStmNKJVB5gesLRDx51XOfbOJtL9rdjeIrM4M74Wsn76O2Lpbd7TOcgNDMu40G8iLUyV8-FdvNYDHaVE6ujqWSaxYmqtScq_68A4D_vV29DzwrwcfSinWTvwZ1b1EXGetGmDK_eann5dj1A4RoMMQus2-9Q93bI98cwsaKAO1vQ_Mbnlg6EiGzo1WaHGNVh_4o-yb0nMmk89LGv43FqA5G8VfXM-WUV7JXZoopnAEDW6GYTFmRjyqO03X2pjApYJZTk7TxVT3rxVieDp-H_-blBTwfMAem3MxS3NHCp4rr6pkyabR1pnZGTyEkjRUuqBtZhEoD4z2BTp17fsovBQd9IOjTeY6z4dIeWN3PI1G4WjSxVY_0ZWC0pzIo3eVopTQYoOX5SQcXVVa9bdB81qN9kh89Wkd2DG25u03BIpaLumoja4gTISxsR3ZMnLSYEAXVmdLj_MJzh99GWXJR3v_sSg14cFGa1PNHM4MqOlt-1jf8jU_hdZ048hopEftuTnkW7erIFJJTM-4TscpaFDzFB2GaCNUzq0TcvIMBCdlLhSIFFNJdb-PrBQ8-wq-rBIMpUDx02GXyyLZskCmx_oSXaiIWBBNk58no0ZkKNrDS7cpA7Vi36tONE0PiS0O9A5yitPdhC27q6mYtmm_PMVo9gYTYDTqOhBhsBRodKi0dBzWFqh7QS3-bVJYDmIRgeb5zhg4t-Aax2U1oBB5qQp3WwToNUlBXbgASiLZ_AcKO_cwNl3cS013ZfVhJiuoaUxMCgt2klhNfVx3-3EX9gnltyl5QyLtSd1T-xfb2UkUOaBKP7-r-weqf9OMer-xgK2_0pMRoGoR9nmfU7QT57I_2g8Gr3fJMeSoQPPoQNqfkzQF1ne8E2o0K0Kc5vd2izwGC2lFa20683z9OmeqJAOlwF1ewvSjQwOe15q6fAK7r1iyb073KhtxxY2ZuaTWk3qjwogX4CnjDtJyI30-ViDKNTOcD8=",
  "id": "rs_05f72a22376eb025016ab436899bac87d0a48bafca5630f17b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped around 6 cm above the table with the gray plush filling the gap between the jaws, suggesting contact with its body. I’ll close again at this lower position.\"}",
  "call_id": "call_Ldnmvpf1UEoUaZ8fqI80Qegm",
  "id": "fc_05f72a22376eb025016ab4368a4e7887d084562b18dc180b3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ldnmvpf1UEoUaZ8fqI80Qegm",
  "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]: [0.0425, 0.9894, 0.1158, 0.4297, 0.0231, 0.0006, 0.0138, -0.0154, 0.8051, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0123 left_z=0.0776 left_yaw=0.005 left_pitch=0.1174 left_roll=0.009 left_gripper=0.0138 right_x=0.2952 right_y=0.0011 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0134 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 5.012, 1.6923, 0.0171, -0.0317, 1.1258, -0.3487, -1.5385, 7.2137, 1.7265, -0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a2e53dc947d292d17e9e7e82571a8acb3be24a0557abf25318bc45b6956f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fd83cad7a499a4643a95b5b84b691da740629c0c9997f109cbea5a2b79da96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b97e9f6aefcff40df1b807b2ba4b7a35285f68fa3aaa781ef28c58a95cf42aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.975 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0437, 0.7574, 0.2569, -0.0944, 0.0364, -0.0071, 0.9995, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2762 left_y=0.0092 left_z=0.0904 left_yaw=-0.0008 left_pitch=-0.0332 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0069 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.1009, 6.4068, 1.8974, 0.188, 0.1197, -0.0171, -0.335, -1.0872, 7.2957, 1.7167, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0429, 0.9951, 0.0986, 0.4091, 0.0257, 0.001, 0.9988, -0.0151, 0.8024, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.294 left_y=0.0117 left_z=0.0642 left_yaw=0.0031 left_pitch=0.074 left_roll=0.0064 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1782 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -0.3077, 3.7538, 1.2088, 0.0317, -0.1441, -0.149, -0.3487, -1.388, 7.2, 1.7509, -0.0269, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0425, 0.9894, 0.1158, 0.4297, 0.0231, 0.0006, 0.0138, -0.0154, 0.8051, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0123 left_z=0.0776 left_yaw=0.005 left_pitch=0.1174 left_roll=0.009 left_gripper=0.0138 right_x=0.2952 right_y=0.0011 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0134 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 5.012, 1.6923, 0.0171, -0.0317, 1.1258, -0.3487, -1.5385, 7.2137, 1.7265, -0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a2e53dc947d292d17e9e7e82571a8acb3be24a0557abf25318bc45b6956f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fd83cad7a499a4643a95b5b84b691da740629c0c9997f109cbea5a2b79da96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b97e9f6aefcff40df1b807b2ba4b7a35285f68fa3aaa781ef28c58a95cf42aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDaRoBwP4an4JWsrEsvpkFEq3TcI_PMpbZfpkeQscyITs7qxFPfceNIIpCwPgEROZ4Q4xNk6b5eMTNn_s-_TYATQViDZVac8n_z4vzX6gILyaQJJR8ML-bKw4um3f5ezTxpZXAxTS6nEbK2CXI5JJg3pzWJAFReiDhkW4T-GrjdYW2Xq110Y0R6GFQwKyz6758jxg_5VjJVyXG3lXzAK1dC-4QuE2uad8n1tfUr8QMnab7Z5LiFWVyxfwIOXDikuflkU4Jd0RxzQ-Fn6PbigC5NPKPavuuobSOuSLmgBKBWnfK2ygg4MLr6PGLakXhWOgGBm4TTENTbT6IBo54GGPhXc0Bp_3iA41Pr_uzkCSeAVQdHsLDpJCC7Mu_w8ZA1oWLR6FB-o4OTalW9OipwJlbzbhK8BH51TTGDyZTux-WDUYLf5hXj7reCAcN3mkNKj3ALav45Cn4zKH6X5XvzorRziiAq6dSumxaegrWRHKA-OwzbW0CwqoqPvE4LQIAHJwqbkDtu7_Jc1MVa6nS4l4hvidkbBr1brtKPGw1qnmaSuR52sLEKiMDY2ennhGqPxzCI86y_V7GgR68_9nk6Y15DczddoOQBV_ifh83KxEJsKKf4Zfi0qCwXhQ8KiofPx9mSIIQhuqqN2gqROzcUtid_nu_ngpRU5z6C2su0wLFU7Na_irZvcnc2XMSNffylFDKop7C9XYBKTLzfVe5bchGCg-1xTWmtc2t7cgCcwJJjlibL7s1kEXmbfLwbqO8bv5u83G47D-HFXj8oxQv7DQZger7rfkPrHc2wiXDXEGAH0xysL8SJlEfehkwe6eMYznBOnnV1HYk0WBQ663F1IDNeT8Jwd86WQsvSQS-y5XI31rFi92lzzOaSdbM68gaC6PVjuOXkQO0GWjG1UIov7B2Nj3tZS5tKFUe7wnJ7hLkr8MK_ZKkhz4PQcDj-p2CUK-Kiqd_Kc2-5IhUYK5mx5S3pqlA5vrytjwl80INRVt5HziBZMH_E0IupZZ1hvJ0c4TvJX-K8HlusW3lS4r6kHrLnBlZCahQAwOMy9pV7IyHPl2llawXanxPjY9zLy3Fs_C7I55jRLRRlKF3WwfMdhYB7FR8EoW56Z5B5YqSZzMwfIV2MIaP21qod-Yx6SkD_KYNuZLEnvzUhGLq09853xexta6EnxQwXD9DrQXBPUr1Dqm-Z55rruD-TLLJrv9TTGry-3UpGcJcGDOkZLaXs57__flj0blV_TeR6oGAAkYDNxl1ge6nJfEXMoB6VNeKIzJ6iE8zAzDe_CO1VfegMnqAlqJms0GHja-3BgZHaw0SUTiT5QI8K2hBpEpltzwJm9FUlegHALyqLbOwc0Dcol56cNQRTY9Luh9FPjQ2a6L0fgnhmyScYB_yUazrvNdhOwLAwWRMcAuvpTBDgPCHsGbFDIY5kHIO4Hcjc-f_1j2uidEvlGbErXmZKp1rS96s8E09VsVO_0sQ4N4I7WV4oH4bg1rBort8WzHLBV1lXhz4HmsSdnExc_0w0K3UL60MZAVTstl9m_od8GZXc6KVtg2Os8xaLYffTXcN4IxOnxXP4gVbjHiazD1peWx1BMaZCyDGTIPTlvRTdjQrGXJDdXdlKyhSoU796DDkr8ZvEwtH5D4XyrnIIptO4nmyhr4rKSw_5dzrPHpCwp-o8JSPR2-RtkVAvvfdSkInhN_AKEp9iOmtHX-qlXV8LWQbu39IIRbEC1ou1No2cXdsmrA0qvvGjz7DqE3miZYtohMNskGsTWyxVx-SIUj81MNTAAfYzgJbO6vRudQRiF_Q8mHjpUiNST16_-2PXa9rXACg1CTg9x7ff7bhyr-IWqw5jHXqZTtW1t17ElJtF0vApogI9nkXHQoEkt781qgk7k53lrv6Gaxbj960lJWspB7pqfHpL5H1uX4hbdfCbgSQDznTXSDsZc9x9-Yz0pmFaYfKqDCaYLeD4FmvkIXtHyw8ur32OqCErcixbn_q67ezsoPiGeLb6_CcQOacL60KU0UXKHZdpu_BL0EQKhQjMZXCY24wEpbbPNtLJZJ_op7fCVNe5Qdy5x715TFyVENsbJ-0Ns1nfV6kjxZWIYOUcM5MZP-MyyrIuMeIgZ_x4aZTN-M_iFZRA-B9VSgU9AFkS0T5UStP8CI7T_QLISkC4DAm2el2ifH5GauuSlkcgmx7bNUGqoJ3O3T4CrPDO1p3UJS7AdMMSSvhxXkzYAKfFSdTq4nDWcbHX4L9GnH6IXioDddmkBtMg24VwxOtSMRRwTs2LaYAm1nKaH37jd_-mIW3SvjOxNxm_40iIFUbKN7dmo13SNX845HFe0zrryrb3lxYh975IRzKp8iw_V30h8NUu2Up7wb5m2zX_8YriOKj5VnNbAk89wyf4w7VDTOYLgpPUt-qsmLrKlqi6p-iAE2wl1NoUy1PGC",
  "id": "rs_05f72a22376eb025016ab4368e39e487d0be6baff17254c61b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":0.048,\"left_z\":0.11,\"left_gripper\":1},\"note\":\"The second closure was also empty: in the wrist image the gray plush is ahead and to the left of the actual fingertip point. I’ll reopen and move the gripper forward and outward onto the plush rather than repeating that grasp.\"}",
  "call_id": "call_EMg1xqIZg5pe8QZANOtrcXvA",
  "id": "fc_05f72a22376eb025016ab436906f0087d0b6aac0d13e47f065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EMg1xqIZg5pe8QZANOtrcXvA",
  "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]: [0.218, 1.1717, 0.3183, 0.374, 0.1619, 0.0605, 0.9984, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3381 left_y=0.0494 left_z=0.0976 left_yaw=0.0308 left_pitch=0.0887 left_roll=-0.0028 left_gripper=0.9984 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0001 right_pitch=-0.0168 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.0427, 8.3897, 1.79, 0.2808, 0.1538, -0.1392, -0.253, -1.2239, 7.0496, 1.707, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6cb1a5eaec55c7637c7321c9e8c77aaa64359accaf57164d957264cfca7750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3e626c92743a25bff78129ff89abf71e7a9bb92d53a16073c2059e977ebb86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971e356438f33d427b08b272f2c95198620e86f4cef8fe7bec703ef81576ffbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.076 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0437, 0.7593, 0.2558, -0.0895, 0.0303, -0.0109, 0.0129, -0.0151, 0.8009, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2766 left_y=0.0103 left_z=0.0904 left_yaw=0.0064 left_pitch=-0.0315 left_roll=-0.0101 left_gripper=0.0129 right_x=0.295 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0092 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.0325, 6.9675, 1.6435, 0.0269, 0.0513, 1.0476, -0.1026, -1.2923, 7.159, 1.7118, -0.0366, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0425, 0.9894, 0.1158, 0.4297, 0.0231, 0.0006, 0.0138, -0.0154, 0.8051, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0123 left_z=0.0776 left_yaw=0.005 left_pitch=0.1174 left_roll=0.009 left_gripper=0.0138 right_x=0.2952 right_y=0.0011 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0134 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 5.012, 1.6923, 0.0171, -0.0317, 1.1258, -0.3487, -1.5385, 7.2137, 1.7265, -0.0659, -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"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.218, 1.1717, 0.3183, 0.374, 0.1619, 0.0605, 0.9984, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3381 left_y=0.0494 left_z=0.0976 left_yaw=0.0308 left_pitch=0.0887 left_roll=-0.0028 left_gripper=0.9984 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0001 right_pitch=-0.0168 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.0427, 8.3897, 1.79, 0.2808, 0.1538, -0.1392, -0.253, -1.2239, 7.0496, 1.707, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6cb1a5eaec55c7637c7321c9e8c77aaa64359accaf57164d957264cfca7750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3e626c92743a25bff78129ff89abf71e7a9bb92d53a16073c2059e977ebb86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971e356438f33d427b08b272f2c95198620e86f4cef8fe7bec703ef81576ffbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDaV6t6g5ZRqLkqB1vGxwYyAsS16caWVvp64KMYe9aGvNrEhj_Q9a7FRwOyWR7hXwYPlSSuMKd_ihY11GHgRi2141-PW6D1n79WbuXNPezC39SZCpy6OWUDjwLzOlFVsCD97SbjphN5SDgC5kc9loKiKbbopz7JvN3PdNEXBp63dqCyG-5W5W4LdWWU7jf8oM4Pi5l67uA6HZEeDxjmzK9oTPJI-EydPK4BTMVnGbRalJJ-13eRIqksFkjhVOhhQjLVggVXgDozvba46JqzIqKEP1qCttCG8b9Le0B4Ese3WmnKp9nUXB5d9jFuzolPfNN6EZnV_VpXBnKqEwqs4ZxYSi-uswHCJnOyippPAoJ6HpLJfpZDXyw-XhCFGhtoB8Svjr-J2X6Cw5SjySczudiMkoeSASc2vBMGkeaK9D9bSYED0DM_TpAWKuV_FAES3GE8K9HNDfFiFHZYj-uMB9VV8BIuP1xnRdJHqFwSaSiRQI5KBB8jC6G4JKMJlImYzMVFzARkbs9jDNAsGDDZo1HTzDDHn8QwN8rlKR5JMmDWtz7HIXupA8cIn6kbSq7Y-jSnkExrMGVxiJfC21Srhuud3W7A68o0okCBWeXDwhcqoFO9Us7ukzsVrj_Sa5-xvOOxJDr2ctgmOECH38TgVEtQ_NnfsJkPvoBlGrojSwZuYfVUh_q38h-wplpsM0NOjsQtQOvYP2oKnRsTToPgnVn0zkStHscgyHVLHfvMZUxWXCNdrNJmgdWvGO3qbdw3_m9h0t_tuFMEDGvwsDEcawSKe49k9TVztrDjOifdhdV11YWbmHy7224D4UyOSA6hSirjlBHAAngDwoqSXX2T-5X9TXfGTCi8W3rhMmw2y1peWkMwl-z8a5WVKchZS9-0xGGVZexivG6YDelbE3asd3NEsFg6E-WKI5W92ibJcMU8QexwehfTVuuLk7OPPQ1-n7QX-CKjze0FlDUN3r9KI1aPFBIanRt_G_-M5w7NFlNDQ3r9kqUFLUsrW42uiQMIkxXfRjoMHdxHuw80XX4etcmoQjUdpaMEzxutaRcHeoRBOUyecrIWatfIXfnpgBDl0gOEOmYvnUHhOB5CopVey282GLqU2_m6WSF6cK0SxNyn94TpnLhVliaiJnEfF7aAnMY9kzEnq6LbXsEZYGMvRItPmu_4PgV0fJl6eqr1km5I3kkpSw1brzY0qBbCvkf__oNVfdA9NtwboELPyE3CrX1IEkTwOAbASmK-8hMWRf4DtQECmA44e3sc719kt8QnhgM1n25Ar-ycXnDGma2Lkv3K2_PENx9fB7RLt1ocKtk_VGdkyP9jlShVjohJaybSp7KTtzOpx2eO3BUP_4EjlX9hO1Rp1bfBd-3RMlr9U1LzPlTW1k9aEcPerbtVt3H-HjRqHCAygbywM6i3tLCS2111yHV_eQXQsb2zOTU8_BIcLy92b5KontXa5vilndRocV1ZhG0yKKcZAKckIw7FHBL6-RVCiAlZZQduLdXMPJ6Ov1g9soOb2IH7m0w4wgzAhFMKgGU-jSww5Yj0LmguL_ivZjzy13jTPkm31eaZm8KDFCeSs9bBiutlH3KYXL4w2pXl8ltH9BuhxL-L9yjZwEimEWePAfWEd3P5QfO7DibRPm8ueUy6YlTOcyYZmvbm7zIAyrkDZ458lQozAyFiKUWOOof28OZnJlt-gu4GftdHJnDbvAlZQDfu2WgTD_hU8d88ZFm2-vc95nmG2KbQ5fZeZ8l_rfSXZErx855EpVb_Bstd-k_--q71YJdODmsGjkpb1m9WBMqh4ccqr26pdzWcLQLTc9Orfo4oOR2O9BJdjl44zDgDq6Oevw8UI4I74Es_peeLCKvZgZBsN7-S58sL-5g==",
  "id": "rs_05f72a22376eb025016ab436938c3c87d0852b77ce80ee6b5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush is now centered between the left jaws, rather than sitting off to one side. I’ll try closing at this height before moving it.\"}",
  "call_id": "call_CSxV1VF9hA5SEE3GKWhfzcIE",
  "id": "fc_05f72a22376eb025016ab43695066087d0936c4721867d076b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CSxV1VF9hA5SEE3GKWhfzcIE",
  "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]: [0.2192, 1.1725, 0.3233, 0.3672, 0.1577, 0.0532, 0.0129, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0506 left_z=0.0979 left_yaw=0.0395 left_pitch=0.0857 left_roll=-0.0078 left_gripper=0.0129 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -3.3299, 5.8188, 1.8437, 0.022, 0.0513, 1.072, -0.335, -1.1419, 7.0359, 1.7167, -0.0464, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235b6b477cd161eda25f793505e3773a7fb9721f48be231da0749e8d360643fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5385afe31474d87f3a78da9101d8be4def87b03aaf677ef57252f9bf2aae69f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933cd2a3b31fe6069d015aa9656bdd9de77b19db67e7be8730e271d9033eb740",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 1.938 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0429, 0.9951, 0.0986, 0.4091, 0.0257, 0.001, 0.9988, -0.0151, 0.8024, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.294 left_y=0.0117 left_z=0.0642 left_yaw=0.0031 left_pitch=0.074 left_roll=0.0064 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1782 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -0.3077, 3.7538, 1.2088, 0.0317, -0.1441, -0.149, -0.3487, -1.388, 7.2, 1.7509, -0.0269, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.218, 1.1717, 0.3183, 0.374, 0.1619, 0.0605, 0.9984, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3381 left_y=0.0494 left_z=0.0976 left_yaw=0.0308 left_pitch=0.0887 left_roll=-0.0028 left_gripper=0.9984 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0001 right_pitch=-0.0168 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.0427, 8.3897, 1.79, 0.2808, 0.1538, -0.1392, -0.253, -1.2239, 7.0496, 1.707, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2192, 1.1725, 0.3233, 0.3672, 0.1577, 0.0532, 0.0129, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0506 left_z=0.0979 left_yaw=0.0395 left_pitch=0.0857 left_roll=-0.0078 left_gripper=0.0129 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -3.3299, 5.8188, 1.8437, 0.022, 0.0513, 1.072, -0.335, -1.1419, 7.0359, 1.7167, -0.0464, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235b6b477cd161eda25f793505e3773a7fb9721f48be231da0749e8d360643fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5385afe31474d87f3a78da9101d8be4def87b03aaf677ef57252f9bf2aae69f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933cd2a3b31fe6069d015aa9656bdd9de77b19db67e7be8730e271d9033eb740",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDab9H73yFsEYKVNPcSYwHC6LelxgUo1U3nfENMvEXjv0hv_UO3QKtYoGPuMBkAQsa-CuS9fibDSWDP2I8eIcjkWSjFjbe6GenThNxSViYTbknPYW7ksLOP8xsEIj8io58iowlm06m73Ftlf9oHSFr9gdWeRo7Ydd2FhHuKUdyWukesdF46ilfO1nhc9vET31z-gfSvlBIKuajcPH8QG-qBXUIg9ZrdQhKmytiuNQlAmspgAPYxu-j5fV5YP0DIwhzQu-iW79BclEvCZj8uUdUvXshklhtWIhmDPoA5XDfShRY9uv-Xtv_c3RtsaX2wLAimwATfu1nVpJoV2xQNciZQQipGLhT1Fm-M13XeXCkLUqMfacLpwjydb1n4zL2iPDevXuHX4pZs5h0hI-UN6v5Cmku_3f7wbHapy3ssJIoi_XS_SNHIZlZ2EH4TmyR9DRxQZ94rwxh4cbT37F_jKFT6tOGmEJ9XshVHqirxD_2ux2vCwqwgZXZ6OG-VARVDvjCVq4PFbKhzv2xXZqW5m1MOGzwmMaXerN01z045-L25F_W3rgB6KY5DsUnbm-BonhdwcgUToHsnVzKdztXp2kG2P44OCg6W7220VMLkQUo7x1ddihhftXqyg7Y1WH_UMRda-JM6HG_3GgM8u3SdHYeHV4sNI-EJk7BnVOL5lKix74akrnih4SqqVw5dgFK6NVyEA-WIRuOCvVHKsXvulOBuqbgHgaXFdcZCJmmHIOKKFWtfLytRwyx3lCK4dJ__RrracsO9Pifxs3KiNz_uC3iI-MWgSAgMViHcCCKRM1uUnUq9QqxdVyQY0qFL8Gw5SF4V-KzYb5Ub-QKOzJMpQSRnFJ1Koo-sUQdJ4MOHUQ9VHJvi4yPMpcsR7BnZC4wVN3ZY_11njZ_80YNt-kBcb79-56CsLb1j6qjWaJd3lGuZPV83KqVT7TOdQGqMVVJbBcfAmaF6qOObOIb_wc-mz1_3-pGa3G7Dxl6Q9yCfbS7W3TTFEEDA4hvG6MfkiCMOi2DAuuqbNr1Knus3y2SxQZpXJehPgyyM9d8sY0hBxhFaXyZljrjolR0nbEsGSesukBK7LNjBgD0cUwm_0xNHJWcmuMkMdk7tDxbcwPrxmwnN13bNTV76oFIuSxORb3PzMoVZMoJk1hqcHIXEJ51ZOalcdgLFj47JhZL0URBJ1pZvlTWsyGRUpP1hvwOn1O4Iuesr09Csl2k6jophXyLy8aHdXAu4nK45wi9tk1ixz8w2KLcBcxkuhKfIB66_znePUI1TlCYt1Jgv1ANA9UXgXegCI5ewtMVJZUpHXg0XIJxWNxQSVoj2ZNgKCCdQb0cjrZtEd7SDlT601JXcqDrY9nZ3PK1bwiyBrEEX4rwtkDFNITZeqZcwlqRsdyO-_PyTrfv2Qx_IOWachsmI8ZODPxbtDfMWfBb7ozkbyiw2uSmE875t5hNfYSJCZZfhQdc-Nxb1MFeGWIyvCpzc1aaAu0ksSi2c8-l7YemXT-85s5WOJNuSFwfzkXNKNWMSjhpAHNSCYzX7nITO8-35HmxS2Jqsht3lF1L9S2wGlhYLHS3SXAlS_lJ2DZFZWRNdhQqayz9HotewIv8EbeokJMYgGcgAAyjIEyxpl27KGMDfJ0oRLdJkkeVWCn29kTeoBJl73H6yJ3CCYW1eLwfFCrS407zG2n9CpVS7LbidCiAOrvjgslpmz_umHzl6wFZPtmMH08b2t26HrnvfClSLyc3M66da4w1J_kDbqTEVXAQoGEgKVclDuH9K0itpuEGNdZBZ4hOyQBG0rrR_AeaHiVnaRg5YHWyK_0P0KW177kYo8P1ubrmvSJbM2yaOXzabGManeOhns9oD6bg73_EVdomZ3yMHfI49O-HBjk9VICn5X284AESXpHIs4rMPpoIpUfS9LbemUmbqewbVZA1WySNizJ0eCIrNDbgyWad5mcOGitPSFgTzpNjy8XfcvwEh7gnl_gq6m0kKHbNKH4eON5Twnz08fcF6Jr3uIhTQ4FkkKbnfkBMmPocJRa4LUeISBDXBqmxsQ7rtI7e647n-dWAn7DFcwBqbd1mUpxAFhihyplznWMzJpVr3qpaPKbq84DgFG2hVue2n5oo9RxroTBSW-Er0hMQ==",
  "id": "rs_05f72a22376eb025016ab436984c6c87d09c5c34cdb416e3f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":0.045,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"That closure was still empty, and the plush remains just ahead of the fingertip contact point in the wrist view. I’ll advance a few centimeters and lower slightly to bring the jaws around its torso.\"}",
  "call_id": "call_6jQyLB1O3NqivtVHAnSinEwk",
  "id": "fc_05f72a22376eb025016ab4369aa4e487d0857c8a4dcbc66326",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6jQyLB1O3NqivtVHAnSinEwk",
  "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]: [0.1574, 1.5002, 0.3656, 0.6598, 0.1043, 0.025, 0.9951, -0.0151, 0.812, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3757 left_y=0.0446 left_z=0.0665 left_yaw=0.0379 left_pitch=0.0893 left_roll=-0.0075 left_gripper=0.9951 right_x=0.2956 right_y=0.0012 right_z=0.1755 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.0957, 6.5299, 1.5311, 0.0659, -0.0024, -0.0122, -0.2393, -1.6068, 7.2, 1.6972, -0.0269, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bc96a86da554b2ace330b40518e36ebfc8b910fde88720bf127ecad992a8efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb53f1f925f60b4e8f056446b2d26045461ea5fe170912850a51f2a87bc0e56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc6a926a0cd8869452a168fd8a1cc2b47f50f7d32e3e10277d1b1a6b3dfae14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.623 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0425, 0.9894, 0.1158, 0.4297, 0.0231, 0.0006, 0.0138, -0.0154, 0.8051, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0123 left_z=0.0776 left_yaw=0.005 left_pitch=0.1174 left_roll=0.009 left_gripper=0.0138 right_x=0.2952 right_y=0.0011 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0134 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 5.012, 1.6923, 0.0171, -0.0317, 1.1258, -0.3487, -1.5385, 7.2137, 1.7265, -0.0659, -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"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2192, 1.1725, 0.3233, 0.3672, 0.1577, 0.0532, 0.0129, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0506 left_z=0.0979 left_yaw=0.0395 left_pitch=0.0857 left_roll=-0.0078 left_gripper=0.0129 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -3.3299, 5.8188, 1.8437, 0.022, 0.0513, 1.072, -0.335, -1.1419, 7.0359, 1.7167, -0.0464, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1574, 1.5002, 0.3656, 0.6598, 0.1043, 0.025, 0.9951, -0.0151, 0.812, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3757 left_y=0.0446 left_z=0.0665 left_yaw=0.0379 left_pitch=0.0893 left_roll=-0.0075 left_gripper=0.9951 right_x=0.2956 right_y=0.0012 right_z=0.1755 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.0957, 6.5299, 1.5311, 0.0659, -0.0024, -0.0122, -0.2393, -1.6068, 7.2, 1.6972, -0.0269, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bc96a86da554b2ace330b40518e36ebfc8b910fde88720bf127ecad992a8efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb53f1f925f60b4e8f056446b2d26045461ea5fe170912850a51f2a87bc0e56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc6a926a0cd8869452a168fd8a1cc2b47f50f7d32e3e10277d1b1a6b3dfae14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDaedfo9dCUF6keIlumsPQR8cuUhHH1ej7Lr12uCvl1S8jtG_i3hrlxDrBqA0KSp9no0H6wnmj6gIm_J1PnZBdDJqlqNzQ_deUOzLFlxicwlbQu-dbdZyKe9CXJnHBr8qeO9_Kh7WnxD7ysh30xeq1nxmSYS0ZQk_ckFCu_PFPH3ZMvox6RNNcHyJaAAYK58O4Oqx0iMlQk2tdRWWJ8ppJ-Conudo-NdoJW8oFKr-VjkJevTMorZ-fDBQBbHjMf-lQHIRKIMVxkKkcXZTBkz12PFJFJi64Adn1hPmmP_KS4kko5iW3yQwLnqOvG1BHj9h6rIS2w8tfk2zWqW48DEMVmL3W03febjgBEjjm-NNXZxPorHPJPiL1wVpu3Lrh4wboPI3GFbapQumj7bP-HJUsGYZ-DigbiHLejn4nc9dONIDzqdvtIe4pdstXhNnlPjlWUhBEoG76sOGWIdNSTEWhuFKhyD6dbxdP7xMi2F3fO-zGdE3ZRnNEYPDSoGDWrznI6ZoewDqM_EToyHj4bO-ARUlMd6VCoc8WW9rC3LA-6lvFZ78yGfT4XEAPpVllncbJTlwZsKzUw6Bgx9vSMzrUiMrM6H9biUi5I0i1CAtXGM6jCTbhCaoFQJIKmSE3OSLQl-Ljh8FiL-D2h0UtjlC1iSXV4dY9EQUZpE2K71La1iSyMoAGvvDmg8OLPZ3vMnvS7xg3mTWadNaM2lpLeilOIywYzpT2p2TrYYiLOfhsPe6zu0Ixc-4WXDP_y3jXcvWSVWn4V55-liU0XIvVxTQFc7WVnoKO5CYBMJVLSiAwbjkFyHP2XEm0q7CSw_IVHMid-Iv8KUh-t5W27B0OgGvF6pW8Ilad7ie2wFZyshmCRZ2wSmoGxGS8JvSZoB7aTY9Xh3Ez-Mf-R1DPI4gVJhk2C5BaPUOPgYXgTYU2wvyjotKSlBnR2l7bqAnwLE8UwfN9lEeWYN0d1dEJG3-rpTmjqE_E3OakCozfejcUYQIS6679lG9wL3gRYpYeYcgNtPmAq0ClAwL8ISXAnKWsh-IhiTKX6wSkDrl3FqmRWaV7e7Rw29EY5aWgf0-Mt8xJ3-Fg4ZKSh1BJIAHjE7-vlFwXc2YhBss2LqAlh8kr3FcxndTu9loWzQ6w6l8H13neYWSTDArgl3DreoBDRtDPvtE6W5cRVYM5Ykes14tF0lJs33I9gJD7e9ntqrbGcU7SYTZ7chPjipC_ia_x700AXm1HdOJOsmRW0PSwA3iLLLxG9xJuE=",
  "id": "rs_05f72a22376eb025016ab4369ddd4487d0bb47ed2cc83ee241",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws now straddle the gray plush lower on its body; the plush has not visibly moved yet. I’ll close and use the gripper reading to test this grasp.\"}",
  "call_id": "call_dx8BoFZLf7rQHy9EVVRCIcHV",
  "id": "fc_05f72a22376eb025016ab4369e0b0487d0a453abd05f410712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dx8BoFZLf7rQHy9EVVRCIcHV",
  "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]: [0.1574, 1.5101, 0.3702, 0.6765, 0.0902, 0.0181, 0.0124, -0.0151, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3783 left_y=0.0475 left_z=0.0682 left_yaw=0.0535 left_pitch=0.0999 left_roll=-0.006 left_gripper=0.0124 right_x=0.2957 right_y=0.0013 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.0239, 4.8752, 1.6728, 0.1929, 0.0513, 0.7839, -0.3487, -1.3333, 7.0769, 1.7411, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c96a5bb5fa85ad53fb6586d9ac10427797bcc8b50067495066914fff59bd0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3775946df89c0ee8af6cfb2ad3e81223592c89fcab53a6ae119191b5dcd5c257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5f6aeda30d26c937a8fe7cc296a4cab50e1d5adbace7cc0586e8c5bea41273",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 7.027 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.218, 1.1717, 0.3183, 0.374, 0.1619, 0.0605, 0.9984, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3381 left_y=0.0494 left_z=0.0976 left_yaw=0.0308 left_pitch=0.0887 left_roll=-0.0028 left_gripper=0.9984 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0001 right_pitch=-0.0168 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.0427, 8.3897, 1.79, 0.2808, 0.1538, -0.1392, -0.253, -1.2239, 7.0496, 1.707, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1574, 1.5002, 0.3656, 0.6598, 0.1043, 0.025, 0.9951, -0.0151, 0.812, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3757 left_y=0.0446 left_z=0.0665 left_yaw=0.0379 left_pitch=0.0893 left_roll=-0.0075 left_gripper=0.9951 right_x=0.2956 right_y=0.0012 right_z=0.1755 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.0957, 6.5299, 1.5311, 0.0659, -0.0024, -0.0122, -0.2393, -1.6068, 7.2, 1.6972, -0.0269, -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"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1574, 1.5101, 0.3702, 0.6765, 0.0902, 0.0181, 0.0124, -0.0151, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3783 left_y=0.0475 left_z=0.0682 left_yaw=0.0535 left_pitch=0.0999 left_roll=-0.006 left_gripper=0.0124 right_x=0.2957 right_y=0.0013 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.0239, 4.8752, 1.6728, 0.1929, 0.0513, 0.7839, -0.3487, -1.3333, 7.0769, 1.7411, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c96a5bb5fa85ad53fb6586d9ac10427797bcc8b50067495066914fff59bd0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3775946df89c0ee8af6cfb2ad3e81223592c89fcab53a6ae119191b5dcd5c257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5f6aeda30d26c937a8fe7cc296a4cab50e1d5adbace7cc0586e8c5bea41273",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDano2-crHXqNlahhhERm1-SFaIDp67cy3MOTAu_xVgT05PPR5kqMDJiAQ1mSd9xa5xgrufxhjj-23QBnosmmmXca7nFRzynPeTwmnXTeWVTn-ToazGVbImCyxIFaj2l0h8ZZyo9QPyBOEnh7i7vSdr5A9b9WAJ_CvG1jYdUINVwdpu2TCaJxxqxRjKQQ9dI2mR3IlaDeCm0wYOVUAj9DlsQvWczr2TqCw_vGqQtfRW0SYysoYLqUOztZb8qQCOVWxufUESrAcJt3J5XGzJro4GtIhB4MAz1Jz35CYHn-HPTjGsgWxISo5Jw_4J4CZ_FM-xMUBqQCOK5XwKJdvPldLA1NNKLL6utHCO85OnJ50M7XY2df6oe5fcV0qHwJbCaZMDS1QaqZSgNm-l6_aIl6GXtLcWs_hxVaDejuG3ZS8QWYZs4FpRUAVKurg3-yEaJp1w20fRd5hBmXyyY1kPl2mj9-wYqyxRFAXP2P3xOlilxPd1s69hotyJSyRLDC-ZgkFvCtJm0fqrljb3BRvXzczwQP8_MAk8VRRGX0Uh-alckbIFpF7QgwIpt2hOocrpfMgMIPGoQhlFfJHz6CwzxdUH4KxHKHUZRrf-67Xa1wNIcJ_E1Y7nX9Ml-iGWEIveShfN_FRbAsv0tj5ZRu42LtjLWQhYXurENXRHMSSGtwqD9mWrignX7BratQUchkZ-rxHNOzgAXVuU-ewLrvCUDbQ0mHgJwH3WEYwZNblqNI4YxeSDa1oAwn98-aPz8un_RtiSV2fGfwh6nTDp6JGg5niZP9VUUZ1HC4pgZ4lxFHcq75i_xB-iRvuX5F219lXPW0F8GZocVdS5vDcm0r9MWbC0ApC2o93GLUd8QEFpBHMsOIhRRYj-EwUojJgcNU46_BiBM_l2JJmv02Yw4c5k9G8v3mWs_ZXOWgPP_2EaaBQgCLMwA5C1f0QM8TnfsrqW1nKG60RL3Yl0Ki-XeA_6JRe_mWwisW23m_EaKgURFj45jK_BuzHyHez1YJFTKrQGKg_oJWLWi9vEpbHzV_Tg4JvEgHQjuqxXJ_ggtfSB2b1577KP7a73GGZP7gghV0EL-MEkpxPAwPu9-Uy6gN1P3Pqnk-jWdhFPyZuDbXxMqg-AmsOC1bhW74899DwXdLc9c63fXC_eNHMrARN638wgsIP7bzjs-kI87bd5_2QFkA-XmsTe1d30SDuKd1a2pV5UbYFSo-DsJTvsmIuRxOG54_N34ugdSsnuepopTq_gplp_9_3B-zla_-qhxkwubuOg1evVLq7JVJNAeEVnT-ZAxBrC3kel4Bql8EJhrQQtXNAq7jV7RWmBafFve2w7-vb0uFKaE2GeJ1XwysgfRRJmusFmD-ZGnUD0fEeODw89V7Ng5H5XUk3XP0911p8VdvNV5kpzELUEO0nYZ7nHOmTKbB1RyLDVCpQxB8RXyzlEYchMIS8FlrEkWYOqFJVKbwxoriuOxRGHxUW-od8DJkkUTXRg9D8XpqusGqJJHXb60KS4wON2ZpnOhKQSc9xL_iO4jRIZIC-bfYeBqITnJmlrJz3gAmdPr-rvESHO7ysLBETnQ-hAjjcWS4bU2rf-0NzGmSOinYOYEG9F79ye4ssu4V1RIBh9GuxGy0z1LUuRq6mAGj5oWdymtDNZVahOCna_tOzbywnsMsxaS5gwQXLKBDuY0QKWYR_JKBNV4X8-_VtuQrCTsCO6-M1SKgR7wb9IeMkfJvtT_yRLlfqaLfC9Cbho9XHDR5cmu_7Ewsbcn6OmUrVozvLdI-u96YsBvM6_nyc_GQ6y_3woQh1HZBMQjUBeLuwDwaKPyK9YFq0sSg1jQi_NwW2RVfAMyu9D8tgQFar_uer3mu9oVKbzh6GeZvyqddwXV2KNiZOvxTqZfnF767AmYPe1GwBqq5Ck3ZKf2pq7Mg0dceLH02saaM-8nbuKbcewRUg509JjLtvuinIoHqyXidJDkK0jAiR732vEfX2OL7c5L5DejG_exAJrYOz6tdu7CIJ4qlmrg7IOo8CQaRMBfGcwN3Z8wiYmOcn-mqkDesWGYQIppqk54D5VYKlGU3H4Mv4SQTdtdutZWGRr9sC_zDbPWXMb0Rnf1Wz_v7LNh3Iid1b7y_vToT01hpf4P85JM135yxPL6JfEP2EjW4fwOQtiVlgcTc5VURsQIEARykjenjE_3SzVH4dcrZWuRVEnlho5aQiewikn5IdhxjKz6MqQlGTZnsZy1DJkCkitXt4ihf_i56Wls2gs5C6-zjsjydxvXl1e-0-ePQh_UOgHuwRMXB8f68hnE_pg297UZCw33u_FYFeAQcj0Hs-JZILp_VWwhvKk6uVoxkGTH6UQ2MEP1Sz0DcSDzJ4_Qum_NLPhEmNDG-04sz7VP9S0KQRZQJ31jetQS1bncyU9OMQjxIDKqR2iAeycTgqxukidhcdyZ3dCxEuLxapbqaKcun1L6yLc8RuAV98gv6G8L-s2R3l55rNhz4LVhX6Yqj4D1ic835jf50ikeTke4LW5cXKoLvPtJzKdr1DWXW_ssa8l9FlFxSYxDr-z1hhWNcg2wRR9WCJohZt36Bam8Y4SfGzachmbIWnK-acADCeN1heBzNxqOazE1POGLm_pV1Wn6f7F11Fa0vpfyCUIeJZnI_6reEerT5UsFZpLaHUfDpbxbhVUqCcAHswd5o6ZeAbljsA3aWEUDuuPDNtAb1JnXO4im1ugncI-6lcER3NyozWOdy9uCv6sQ5YFJCKdxOham6IaDVce1iyhklnLlBKjhoRXOWIYfG5Tipwa13LYIJn2h1aZFLkcdU8mtbPK-HxyQ6lyVHZHSnvjPioqfD7y8ge3i14a6vKH5M_1EIjOhqCuu-NPxJy08KAd9bec4gqoak4b6yAhjZYLMUTKAIRWucx85GCzHlL_pg7eQ9NsMkWaMgNH20UQzdVVRAbLGlgyKd9Ty9cyDGfgj7uRuwhE33Nlw1JbkP33BAvdH3xhrr-sL4uLoAvLXPz_vH5jwqW0TmpC0AeviAz7ciC9QT43y-xI9lt2eMTFGSMFfvmIYGSi7ErOKK-8DHOnCeH5dTHxwiQoL0mMB2CC-wVkbGgY77XkEQYkl0O6Ki5vJmG1kzrjZOncNBGKhIwBUFTtXQdoeN8HX1aW-Z5eCG8-xkiUG-YmZlqKSiiey-_a834nHgsplxchh16nTdSO4qtGDkg_4kcxEQbvUbUAec0aa1H0pRLpYzUHFh5WThrkeslJ6oWJxABj9Kt3tIVX046WPH9ELqzMs0EXrWE8JliV4d9XpXkQcDrlqkcAag98HajdSLyNw_2WzZYM0GwAob-HUjy06wyFO1P42sbst4QeZzbKM_pq9WLT9nGR0MwQdfCZTysmZ0J2j2UOm2x63m4WYwniPZqcaEhrlhE85cZ8j5IJYfa2vc0i52yEBhVNIIODZUy9M_2fDhAMXFmx8Rl7vfiG2u119SwShSEKddUPUcjMfXra1l_YQfjNe6YeHmiHHH-e7CfH9-BLVO-jY84ySRzPDuE4EJUkjKViDJ115-p-zBB9ceAYVbhjmrTeplqpL9wmAxKN-5ec4Xgqph3oT36lCm_qTfQczcTcwO9Q0797Oer9l25Tc0cKhp9akzCtbasFTwloRM5CqdVZwxNBRtKSndMuVhtp4jGmo8JA0vgV3Ybi4AO66-3OJjoqOLLI7ytnVI6MBD-JfmieGQ_H91Qoh7EQ1LUt3juGwV4Ex-pbYZXhUILagH07i5iO4PUWOlRpAnsrS6XudI71dIOvESv7PA7Lnn_fZirv636-zKOCY0Q==",
  "id": "rs_05f72a22376eb025016ab436a08b6c87d0ba61835e9c8268c9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDan9LwBFEosQbIPACNwmFrUFWb3SqG3awyiFY0_-bwSaGUr0WwkNVQvnw8P7gdhi68KAeCUROBKn7iEDIcz9758EZLyChzMw6ulHKJWAJQZ7woy5RXHzM_T9xN6Y714TSr41HGaxzAZnfz-WHc8FiR9_6UMqTQ6udBqD6o_IswBFkIPPhFBwR5uAPZ8LtJjbEMiMTmOR1gW1IVTxthCHI5m3xRRmQLBGQfQsjHUNw1L_uv_PS6N_NrjrOscXcfCUlqwadmSy-20Bna9gImhk1wTMVEIzNbv5u5AX4PuQInhgu15cTKg-a0YDhxPrOuNqH_0HC0H8s9lX5dcHlL2kol6wEG3wIfXybHY3YHcmuNPsDk_yZxZDtaUaWDnmjCGKusqAa2XSHDTgJvN682QcUk7H69c-g-yt0Y0yF7DKTjfdX2oPs20urPkswWWCTlAaRz8LVe8tT1n6mdJy0CQa71FD8Ru-QIhouHDpETO-icK-twEFMgXYSD24dwoEWp9mPPE4Xz_NtQO7C_W_q4Q13ZPYvjd-O_mNE00yIWw6-uL3Z5ynQPHmS_PNBCr6_SWQPSJdYHV-HAlQmh5Y2vThUbDD1ShEAtSB05xTt5JVSnzIzfL5vXH5dLCuLK9oFKYJca770TGMoxsWRjk5hNhzsBNVnO1IwlaicHV5Z4RMgb_PcKUw5MxWfFXd5OZ4QO-OgxpDR6nf0cAsmoLF1Tdqvnt2ZG1qaQXS1Q4PsK-YiNkrE1IyuZ5N6lge0lv-yyxjLglyKSVpt9_DdDfga1iu-GkbqXg810eoBY35GuabyXH57VhiV-1DDIwAEem_s0Gh5X98IJxd4JiEHC3yeLCRFPEgtC6SItHHAKJzUVou99pfMyT2PMm3NlZ3e_er9xuXkmV41HSAAiGKTdl_ZAGRc1Fx_GTL8RTO4_EtSAyJnVw5EaT8o1tbNPg3oMNUgmXEhz5vzxyM8QIhQyGXFPim1s1dUCA7bVAqTTuGrg_44-7WVaNdxdhmuEDz1jX7ZbEb2sc4teeNw39RJH6Gl2WaFjDFstfZgk0cgB5CuDsFxfIVw7fwcoAfkfZnoW4JiKWnWNvKwP3L5ZA37k2xBEUpm0pE9WArAzlthEZ4YdmoyAVxfMMJ0yLPqiB5-68cOpJN6EKii8avc7Wh4PGruoygrEco76c3p9ubi5FOocCPL4d_D9xsvu8QgU2PKKhgpSUjqqTf7db-oKXlwmnkxc2ivvOS1PAZpXFvRhSHG6NevxMeCB_HRGH2tZNEQ8pSzlEHc6F20fxGB970tL1aq9glR64J8ecfVd2cSjg09Q_09Ltu02a7UuRr142ML0HBWjYKU7dlwafoPIwgdNPL-mtDzIpG_ZGz2_ghhTgeiBn85dHhQ7Nj_vefyiYRTABLwtiq9Ib",
  "id": "rs_05f72a22376eb025016ab436a51c1887d0a05292f451bb573c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.31,\"right_y\":0.32,\"right_z\":0.14},\"note\":\"The left gripper keeps closing empty beside the gray plush, which sits at the outer edge of its reach. I’ll park that arm and bring the right gripper over the central pale plush objects to sort one of those first.\"}",
  "call_id": "call_UPuJ7cbVEqjykD7NagptFvsx",
  "id": "fc_05f72a22376eb025016ab436a662e887d0999c378b68d65313",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UPuJ7cbVEqjykD7NagptFvsx",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0856, 0.7403, 0.4568, -0.2207, -0.1204, -0.091, 0.9981, 1.0725, 1.7721, 1.2098, -0.4229, 0.8021, 0.783, 0.9997]\nstate[eef_state]: left_x=0.2932 left_y=-0.0003 left_z=0.1608 left_yaw=0.0474 left_pitch=0.0611 left_roll=-0.0044 left_gripper=0.9981 right_x=0.3085 right_y=0.3088 right_z=0.1302 right_yaw=0.0119 right_pitch=-0.0489 right_roll=-0.0279 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.5521, 10.5368, 1.8193, -0.149, -0.0757, -0.1001, 1.388, -8.2393, 8.6769, 1.1453, 0.5934, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43736ca0e1d983c901c1408f8fcbea6ba4e8e21ea93f1dd7166fb1483b97d368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ea6ba4af8424243f3b28119b778659fbf82495668a47842749c4d0bbdb4329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432849996696a3d4f61b3971c367aa09bbc154e3b576e9a3afd8c1aada302a1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.526 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 45 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2192, 1.1725, 0.3233, 0.3672, 0.1577, 0.0532, 0.0129, -0.0151, 0.8082, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0506 left_z=0.0979 left_yaw=0.0395 left_pitch=0.0857 left_roll=-0.0078 left_gripper=0.0129 right_x=0.2954 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -3.3299, 5.8188, 1.8437, 0.022, 0.0513, 1.072, -0.335, -1.1419, 7.0359, 1.7167, -0.0464, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1574, 1.5101, 0.3702, 0.6765, 0.0902, 0.0181, 0.0124, -0.0151, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3783 left_y=0.0475 left_z=0.0682 left_yaw=0.0535 left_pitch=0.0999 left_roll=-0.006 left_gripper=0.0124 right_x=0.2957 right_y=0.0013 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.0239, 4.8752, 1.6728, 0.1929, 0.0513, 0.7839, -0.3487, -1.3333, 7.0769, 1.7411, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0856, 0.7403, 0.4568, -0.2207, -0.1204, -0.091, 0.9981, 1.0725, 1.7721, 1.2098, -0.4229, 0.8021, 0.783, 0.9997]\nstate[eef_state]: left_x=0.2932 left_y=-0.0003 left_z=0.1608 left_yaw=0.0474 left_pitch=0.0611 left_roll=-0.0044 left_gripper=0.9981 right_x=0.3085 right_y=0.3088 right_z=0.1302 right_yaw=0.0119 right_pitch=-0.0489 right_roll=-0.0279 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.5521, 10.5368, 1.8193, -0.149, -0.0757, -0.1001, 1.388, -8.2393, 8.6769, 1.1453, 0.5934, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43736ca0e1d983c901c1408f8fcbea6ba4e8e21ea93f1dd7166fb1483b97d368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ea6ba4af8424243f3b28119b778659fbf82495668a47842749c4d0bbdb4329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432849996696a3d4f61b3971c367aa09bbc154e3b576e9a3afd8c1aada302a1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_05f72a22376eb025016ab436bb688087d0a9cecbc4fc995064",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbB-djlqK4D_7k93X8j-__dCzoOhPnZpfkNlo8-A2NkEl2yMMas3UZoCZYQVA0VfaTiAE4Q_V1pFKGM9UHqRb4o9xnv331mBru4-85PBNv529puPFwDnfxdHApgYNAsCYrvU7ahLe2TtdagrSJa-EBSFsJsst9gLhaM6GPK5tL2aGfV_tfvjbHzkD643Fm-272DZ8cZooC97HLw9W6RvQ3iVbYmGSDWJonDm1tXCGWBjvwc3vy8AgS9w9ofK6ms94DWFemV3xp74o0UpUkLz-7RwRjITkyg0pCuFA1iNVIRYe833efM6QQhiK2NAVi1QvsFIKzVqyUuwiJoDSICExYbTbkVfkkb7FLun5B35dzcEeepSXDNGyvdV0qSPV0BxP4qwTpnZJGbsHWueEzaDPEgBLmhgBe3miizowI48YKxMu-1VS5S57pvGvRV2qPmn1yUNGtuClA2VY2JKCsp1CgPovyPup-9p4LbgV08EffmO4Oq_Yuyuo1JVn4HeMt1NXfo0ohIFpU02t-mgTQDYEeIeOjjMniB7_8mou8hn6Zr0viaDO08_YLstnYzllgG-cZfPrQFruC088QqVyPXmviFL_Z7qHz_RCMaNzyqZDjd2ptjd857uLL-XasjhPeWDbiN_0ftUs9bEFQuk5GFEeJwjnhGH0lFuVS1riMe3VhhEswc2hcVoLrUFrjl9OvbofhFf5OIGyX_6voLX4o6YCsxWtcQ45w0LDY1w3i5JSLDLcFHxMbZo3-aPeoAqSz9469UrCGd_JTLYEVw7EOi8lOwMaHt-FHjZuq2wMR10085Dfr2yLoOMIPr-svWWu6XXkpFphdLR5iThJqDs59tM-rclVLYBxEjk_xd8YagklACRddf-hcdyQODXv53JqwtHhejTb64AzlzMXmdecmidvpQf9Jg5p8ZBz_NduoMo8kRoF40jycKAAZs2bGs9oPlLPJpADTwdzbpg6aKQW09WawEHK7GHfkJQ0I_GdxxBhKxoHuCmBsOswiq9dcUhnG9dqu0gRM2kHJvQKgUHuTsSAJmjvj7NIM-1A7V2UxwfOlqBErR4Wm_9YENObPzlDnrdqbETfsvWfaL6XQJWiL0hQD14MC8h15AZhXwf1NlyL6wLfkTa-HJfzifFpMmDCa4zCugkvyR_U5-eTO9jnWO_S5ibElEu063lQvQN7UNw78gDIKxLnWHrTto83piEogUEPg9JQtsxWy7KJ0EKhfCDReGOdn17GF_jK7RlDG9V8We39zDdsuQssotlUJMnYig3wsiCsPvsuztPTWtU-ic88GHNz-ZsjZ_psiX-Sky1crz8DykNdqN9QhGwYRc5fyksM2e4dNeOXBgvTLmsf1cRsNY5B9fVPBDTEgWzFp34ottpIqYuy3ullPMoSSmUWKYrKs8Hi_EwNdsdzaQ04zGBIpcUvOnlKrK3oJpINy8h5niJuUlQY9efVi5GPJGjPxZ0Dl7Zp_G-D0w1sAJoDWwqS97sZTtnwWI7jH3OYnC3C2Z9b9jHtu2qgTlHBuQFpZLZa9i",
  "id": "rs_05f72a22376eb025016ab436c0464487d0bb93e98f99c1ba95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.325,\"right_z\":0.065},\"note\":\"The right wrist view shows a pale stuffed animal directly in front of the open jaws, with more pale ones behind it. I’ll move slightly forward and lower to grip the nearer animal around its body.\"}",
  "call_id": "call_sgFFFrCd4CtGr76UFnN2iz4k",
  "id": "fc_05f72a22376eb025016ab436c0c06887d098caf4a2058b7f79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sgFFFrCd4CtGr76UFnN2iz4k",
  "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]: [-0.0902, 0.746, 0.4591, -0.2405, -0.128, -0.091, 0.9981, 1.0393, 1.9423, 1.1854, -0.2176, 0.7769, 0.7456, 0.9997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0001 left_z=0.1561 left_yaw=0.0492 left_pitch=0.0385 left_roll=0.0025 left_gripper=0.9981 right_x=0.3293 right_y=0.3229 right_z=0.0713 right_yaw=0.014 right_pitch=-0.0623 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.2786, 6.9128, 1.9658, -0.0073, -0.0611, -0.0024, -0.9504, -8.5402, 5.3812, 1.1697, 0.2906, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892e488160cbf5e4573d8fd0195879cb2765af69dcc61faa6f3fbcc7b41364b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfb3f298a8143e15b25d8ec9f541d09e57927865a06d9fe171e67b1d16bf629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78507f4b3d6297294f0857c1a2010a3e7739272667f99c92e114bad99ce48599",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.404 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 45 changed as sent

message 50 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1574, 1.5002, 0.3656, 0.6598, 0.1043, 0.025, 0.9951, -0.0151, 0.812, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3757 left_y=0.0446 left_z=0.0665 left_yaw=0.0379 left_pitch=0.0893 left_roll=-0.0075 left_gripper=0.9951 right_x=0.2956 right_y=0.0012 right_z=0.1755 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.0957, 6.5299, 1.5311, 0.0659, -0.0024, -0.0122, -0.2393, -1.6068, 7.2, 1.6972, -0.0269, -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"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0856, 0.7403, 0.4568, -0.2207, -0.1204, -0.091, 0.9981, 1.0725, 1.7721, 1.2098, -0.4229, 0.8021, 0.783, 0.9997]\nstate[eef_state]: left_x=0.2932 left_y=-0.0003 left_z=0.1608 left_yaw=0.0474 left_pitch=0.0611 left_roll=-0.0044 left_gripper=0.9981 right_x=0.3085 right_y=0.3088 right_z=0.1302 right_yaw=0.0119 right_pitch=-0.0489 right_roll=-0.0279 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.5521, 10.5368, 1.8193, -0.149, -0.0757, -0.1001, 1.388, -8.2393, 8.6769, 1.1453, 0.5934, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2405, -0.128, -0.091, 0.9981, 1.0393, 1.9423, 1.1854, -0.2176, 0.7769, 0.7456, 0.9997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0001 left_z=0.1561 left_yaw=0.0492 left_pitch=0.0385 left_roll=0.0025 left_gripper=0.9981 right_x=0.3293 right_y=0.3229 right_z=0.0713 right_yaw=0.014 right_pitch=-0.0623 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.2786, 6.9128, 1.9658, -0.0073, -0.0611, -0.0024, -0.9504, -8.5402, 5.3812, 1.1697, 0.2906, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892e488160cbf5e4573d8fd0195879cb2765af69dcc61faa6f3fbcc7b41364b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfb3f298a8143e15b25d8ec9f541d09e57927865a06d9fe171e67b1d16bf629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78507f4b3d6297294f0857c1a2010a3e7739272667f99c92e114bad99ce48599",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbFmW7q0ZnelLaHRobt8Ds3HLCzWyggMEX6TsV13kdE7MCNv8L6NpbGG_PBmmNWwNODa3OYcRuCqNLtug595SERYWzQ7drnM_rfkJVMpR5tE7kjskfVRayXZ5VQdjyLDu6sHnk0iYEu9cZKabzhsBdSL_VOmN94gCzVvFkhRIAZwMypSzb5htSUQE6_h3vsWvVREOtlyvwgTsAxNsNaisFle8SFq1315el2bo2cIXXjJp72tRlGG2vXd9G0BG8skvJq8EdGQ-it0GaLjoTAjasCrb8_1uPvSTRb-NnJ4LCK5skYhSBHjuYlVzaBRLYYLO3uRF7jCSSNQHa2MJ14Bb07mEcI0BBVu5EmUfdryJ22TwsCThddCtdyT_TR9Fkk_HXsPDrlBKOKDnZXeh158hEdwat2wxw6nzkxIlX0VjS7mYyNEB2T6BUUVgbEPEH3kNezwEO5IhENJqqieyEBunewvfRVojoiD_roXFFisY5qdw_m6B3MtpQY7teFwiX635pJrrgMD_LRjDfKHTsne5smYOuY55ytCitOBlpbiyPP-HMPLkExGvjm4cvVchkHMlUhhJuAELVpaneGFylb45SpisHc--guQO9T47KVnOQghTeRVQM_g3cy4-wRi8L2qTW7GIQPUvoJAdMbJXEuN5RNQrQnyHCuI_Q-WiKwM6XMphR2sHxE6L1y-6QooNjV1gbMoo2PT3uVnEfAGAqwDenE0u6orqkVaVGjwJle2kbKod6wcco3HsiYxuOAaSWwXDwOGhFWNq-CkVBbyXygAROhM_RdK2X5X_f_VUKY6iAs8Bp3Cq7v_Is5Rpq5LTkO_K5cXQvtVXUQlnNODOKK-yVDuxLJHBU-FNDFCa_VQOmbI9EYuH-hjE4QsjMxu6eBHAPZ7rzQI0W-jzMy5EfsBGmDShk_sB3-pVGpelOt9FRARty2DWC5hdyGoKCnyFIU_aKHeiKNNC0oAW54yD56MPwy7vgfj9c5nK2RB7PkNrl9A1XHSPxfyjF2OE6wbPgLieL3jt5bb6KnGOZGKDV8ImuLepHyPQRmPY37b0g4HK5-_ttXMt3Um8bGDb83X0a8BXRg6ZlFoerjrDN-_etTfGHhVOl9UqNA0ABk4-rohPsKW0yj5UbDXqRo7DbyfeBO3w7eOxH2nlcZD8kZI27RdSKnJ2M86MBKFhcAXjXUedbSJKs8hdA1gVg6_ZVatkHup6KDTW3GRiZPTe8IAczfQwToPKuKbrnDAqgNtTlyzdTGB1q0wkj-8PeTzWTYvSJ5raVnwI-x2xxNSr14PMIhRZf4JHUsUT9Gx5lZCsfDSHeAgySxaiGzL_90Xz8aBG3kKBVXbAWc6-NtSWUrcZpjKLP5dHOemiRqEWbEge4mhREooVe0YR9TEDj4COmIPF1EtvOAB2bsCl26RUEZok18jiIHpSHKQcYnAkFgWi4nP2sC2AEEC_ZSBAjP1lpw_oUXKxNh-PXNtwD6Gyn140l8mrAf_lUyAb7qIB1MyH536z1oLqXTnBpHzXCXqFCvT5Ny0QCEnDCxyGyt99WT31MaSdoKMH0j8QTqAsLkWbEm0mWCyIU_pQXuBVwlimCLyDouravXheswtHuN1-NH2M_QykiLlNNArl1O_IjRVPjcIYGoz5z_zNxYKrmtC2o9KnNz9P0ntlN5Y4jGnQ5vfH4-3mxNA9e5FTbO1sGK-IAoIfyp9P-d0sPk4H6pS5zh5iksTiM7cVoFqkV8hD7qL0lDbvYbmdYsmUWzl-RMvzkom-uoVlxgiAwF8KR-EsTLTZo7MCkqGdjFZ_l_7GJEzbhLHvEiDPiMo_XvAiKSorVHzvEnY4bghspQB9wgdQqD5zvHb_p0DdBHjPaf8T7J1_d_3AFmR6fCgIpkFT7bV3fTR77shENKIVLZzhmlpXXvcJCOe8YbVEE6z0MtK5ALiZY6OU_1hJ1_LtjxmWKlOnZqt062ocB0RsWWp_V8zqdMwNafbSOh",
  "id": "rs_05f72a22376eb025016ab436c2f71887d0851150ac809e46d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the lower height, one pale fluffy body fills the opening between the right jaws. I’ll close on it and check the settled jaw width before attempting to lift.\"}",
  "call_id": "call_CoTuZwey9dUEliZoeoWxpA55",
  "id": "fc_05f72a22376eb025016ab436c4aa4c87d088656456fef53ce6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CoTuZwey9dUEliZoeoWxpA55",
  "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, 0.746, 0.4591, -0.2462, -0.128, -0.0906, 0.9981, 1.0367, 1.9507, 1.1854, -0.1974, 0.7765, 0.7376, 0.1168]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1549 left_yaw=0.0489 left_pitch=0.0329 left_roll=0.0036 left_gripper=0.9981 right_x=0.3316 right_y=0.3246 right_z=0.0699 right_yaw=0.0165 right_pitch=-0.0566 right_roll=-0.0347 right_gripper=0.1168\nstate[joint_eff]: [-0.1162, -0.8547, 7.1863, 1.8388, -0.0757, -0.0513, -0.0073, -0.0479, -10.5641, 5.9009, 0.989, 0.3199, 0.0611, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c380e455f648115ab1eafee89df4088fa900f61ab5b8d4421f626063c5427f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d302fa6d6ae3ef0a64217e3aadea0e9d736214becf0ff985fce197893e6cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998bb977f66d47f0903cd1600b083f1c23cdd34e1e8271ae02a3087824f8b5d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.06 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 50 changed as sent

message 54 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1574, 1.5101, 0.3702, 0.6765, 0.0902, 0.0181, 0.0124, -0.0151, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3783 left_y=0.0475 left_z=0.0682 left_yaw=0.0535 left_pitch=0.0999 left_roll=-0.006 left_gripper=0.0124 right_x=0.2957 right_y=0.0013 right_z=0.1756 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.0239, 4.8752, 1.6728, 0.1929, 0.0513, 0.7839, -0.3487, -1.3333, 7.0769, 1.7411, -0.0659, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2405, -0.128, -0.091, 0.9981, 1.0393, 1.9423, 1.1854, -0.2176, 0.7769, 0.7456, 0.9997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0001 left_z=0.1561 left_yaw=0.0492 left_pitch=0.0385 left_roll=0.0025 left_gripper=0.9981 right_x=0.3293 right_y=0.3229 right_z=0.0713 right_yaw=0.014 right_pitch=-0.0623 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.2786, 6.9128, 1.9658, -0.0073, -0.0611, -0.0024, -0.9504, -8.5402, 5.3812, 1.1697, 0.2906, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2462, -0.128, -0.0906, 0.9981, 1.0367, 1.9507, 1.1854, -0.1974, 0.7765, 0.7376, 0.1168]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1549 left_yaw=0.0489 left_pitch=0.0329 left_roll=0.0036 left_gripper=0.9981 right_x=0.3316 right_y=0.3246 right_z=0.0699 right_yaw=0.0165 right_pitch=-0.0566 right_roll=-0.0347 right_gripper=0.1168\nstate[joint_eff]: [-0.1162, -0.8547, 7.1863, 1.8388, -0.0757, -0.0513, -0.0073, -0.0479, -10.5641, 5.9009, 0.989, 0.3199, 0.0611, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c380e455f648115ab1eafee89df4088fa900f61ab5b8d4421f626063c5427f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d302fa6d6ae3ef0a64217e3aadea0e9d736214becf0ff985fce197893e6cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998bb977f66d47f0903cd1600b083f1c23cdd34e1e8271ae02a3087824f8b5d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbI66YB08lesPRAn2bstBc94PaGVQGaYjcwmrWuzdEVl0ORDRpJVU54ktXI75BrjjeO81paMnh13WW6rPu3NcKi3oPo1nhX9oWLX_TX0g02ye2YQ06JOXfWvCv7ISVEvQiQkRPm81zV1XbEk6_3OqA8ELeVnHHxvvCLwX_l6Dfe_TxjFhTuWsH-eTgcSMZoFxKr2M0g45FsVxO3TNDrSdOk9R_0n6aBR0CU1GYtAlmQLw3VVrpFzqazZ4Rx3m0OoyhysPGVgdoIhjjR6ljLc8hMYt5CNmCIctOo8oAkkPXOirgMBT7zfIy9YvFRUeliB3uR9J98DAgRnLga_5xmqCWRJ6Bdn3r27q4rj6jPRah316wmyWnS8ZOb2qPZCo6-Jn9znJlQTkAlvXxMLOfvs8FijCEZ74_Jb-du4Pw6DoPg3gtO-zNT0RCCLs0m3sutn9IRDL67j5z1BNsjuFp2dRWzBozlT4o6Bs2zHJoIuaxKRxn0_0wfhgESRCQSTJ3-LYA9CkVO37m0Z9OctlbVFhE1sqcyG9dPpyAomEScadEqeNZDzB_y8lhZ6eYv82uqySsXIFortJf0JWD-4poIkX-j00ZUwMala3Cc-VcaCv8V6z2p7rS1tB0Le6Oz0ggg1CW51DI9hT8MHxPx8-V9d8sb9s0rcJpJyUxGaUeTRzsbI1TuVnpZaECT8OCIL4pL13KjJcMnOoNud4aiiGvCGPmVXR4k43TjgiiMafhX0MSemym2KlM_2kmV8YVcPi8UwX0z3OH1VNqmzfv_BlZBhWx_uoi0YFsmwjKbN45rPxJCQ6fJ_1C9iCjwEkjpgnxQ3idAwAaql3ddSx0zzcTDF0Xt5k2xGCWU9xBHnn9g-gHa6SwxhxcUID157vTwtpM30pAjlRsQ3dzjmaz9JsOdtWlg0mcZno3CVche2vV3HrFnbNkLbUUD-qYIANKQFKAIHQCGF30OgrtyK8yR7tkl1P0oQcE6OGlXWrpJyblbzWswD19oElV8V3ZvhKba9QPta7fnz9onjMzEYcVbhUUmzK8iVolPq5Z_soAuWDtfG4WR17atQIJ-0VdOpeFQm0muiq9lzPMOXIYLzG7u1wgxK2EMfjE5V2sNg_CpCw3dQR45UFXKQJlVNtEBnqt5PapUUKNVrCeaSr4qYbncx2l4vPV9TKZBZujXZ8VUW5CezKqoZSgi0lWwjIGqN27WwXvBEOEsHSOmlWEY8y2Yw4IOt5LZTJ3fdm2CQsyHj2bfi3H02Ee67DxkxLc2tiGBRJo1STiLzDOZ6pqspJq6I7_Fm4NvR4bMGvVCN1aTAWWesbio43vAke_RaKgYkTLxodSMYwl50C8Rsl2x7jA-I7799bXdIJRD3JzdAiTe5y2efaOAu9lPvCkCsRblfoLzY8eG42d6p3inac4KQPQy04cRBPAH2fJXmmHwt9G9-P0HudDnIRoQfi24foCFQTCvJOyLJzRlJ0ZCC1jqXaW9KOHLpFg0sw9av67hArhIctGm2XILxfX_RjoiV5aZ5MLJDWS02WhsrDOx4_Lnc8AEMeAkMyxKoA==",
  "id": "rs_05f72a22376eb025016ab436c7637887d094966142a0ed322f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper stopped at about a centimeter of opening, but the fluffy body also shifted sideways as it closed. I’ll lift a short distance and check whether the animal actually follows the jaws.\"}",
  "call_id": "call_tF0Uv2qALZrUcq9YBWYSKAE9",
  "id": "fc_05f72a22376eb025016ab436c7e90c87d0b25cfd43a65ec5c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tF0Uv2qALZrUcq9YBWYSKAE9",
  "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]: [-0.0902, 0.746, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 1.0367, 1.8915, 1.3266, -0.4519, 0.7502, 0.7334, 0.1172]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1548 left_yaw=0.0489 left_pitch=0.0321 left_roll=0.0037 left_gripper=0.9981 right_x=0.3282 right_y=0.3254 right_z=0.1127 right_yaw=0.0305 right_pitch=-0.1041 right_roll=-0.0725 right_gripper=0.1172\nstate[joint_eff]: [-0.0615, -0.9915, 7.1179, 1.7558, -0.0757, -0.0708, -0.0122, -0.2393, -13.012, 9.1966, 1.1551, 0.5983, -0.0024, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87726f03156a4b84e8b460ba6100c754f442bb64a3a8c5cc1e4c3278dd6f9d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc655810c6e2988ed70b301be142fbf57e8acf1b2a3ec1f0b8d0f5e7f87340c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b3f60951056554fadc13629220f8868ae5dda8a9fb9b9d675a4f4a34ac37fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.608 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 54 changed as sent

message 58 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0856, 0.7403, 0.4568, -0.2207, -0.1204, -0.091, 0.9981, 1.0725, 1.7721, 1.2098, -0.4229, 0.8021, 0.783, 0.9997]\nstate[eef_state]: left_x=0.2932 left_y=-0.0003 left_z=0.1608 left_yaw=0.0474 left_pitch=0.0611 left_roll=-0.0044 left_gripper=0.9981 right_x=0.3085 right_y=0.3088 right_z=0.1302 right_yaw=0.0119 right_pitch=-0.0489 right_roll=-0.0279 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.5521, 10.5368, 1.8193, -0.149, -0.0757, -0.1001, 1.388, -8.2393, 8.6769, 1.1453, 0.5934, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2462, -0.128, -0.0906, 0.9981, 1.0367, 1.9507, 1.1854, -0.1974, 0.7765, 0.7376, 0.1168]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1549 left_yaw=0.0489 left_pitch=0.0329 left_roll=0.0036 left_gripper=0.9981 right_x=0.3316 right_y=0.3246 right_z=0.0699 right_yaw=0.0165 right_pitch=-0.0566 right_roll=-0.0347 right_gripper=0.1168\nstate[joint_eff]: [-0.1162, -0.8547, 7.1863, 1.8388, -0.0757, -0.0513, -0.0073, -0.0479, -10.5641, 5.9009, 0.989, 0.3199, 0.0611, 0.9451]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 1.0367, 1.8915, 1.3266, -0.4519, 0.7502, 0.7334, 0.1172]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1548 left_yaw=0.0489 left_pitch=0.0321 left_roll=0.0037 left_gripper=0.9981 right_x=0.3282 right_y=0.3254 right_z=0.1127 right_yaw=0.0305 right_pitch=-0.1041 right_roll=-0.0725 right_gripper=0.1172\nstate[joint_eff]: [-0.0615, -0.9915, 7.1179, 1.7558, -0.0757, -0.0708, -0.0122, -0.2393, -13.012, 9.1966, 1.1551, 0.5983, -0.0024, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87726f03156a4b84e8b460ba6100c754f442bb64a3a8c5cc1e4c3278dd6f9d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc655810c6e2988ed70b301be142fbf57e8acf1b2a3ec1f0b8d0f5e7f87340c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b3f60951056554fadc13629220f8868ae5dda8a9fb9b9d675a4f4a34ac37fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbOb258z5QPIwXM_etk_NmUi2wKFuJc2s0VamJG6s4AzlE4dcQHaB4rOPRr5Xe5vjoJi6qLhWPvSnn0wmLj7r3xSbWHNHn4nIdVLkPqEOvJiCSYi43fAs04tcC7sYlVX7oVARDq0IjNShYhU8OHxvqj8WFqd2q0Ez9fgzid6g5o5-EW8y7AAG91C1q7cdPpSfoGyPaE61MIDhTAW6sXxLt5m7QEjtzA8AOW_6WrdpPzs3ekTyQmYgbKHKEX5Sv9sGBJ4fntXftmrlAW-rcHKGbCcFyCAZp1oslWyWut4AjxiTBdOOIRrUUiYDwFxoONO3BjhZ7T7p62M50YHMNM6KtqfogIUvGkdJGI_Nu2EwwE7NQILltvZcmgaIUDQa3NVpuPDmWacHP7mcg7nDHy2f4b4QR-X5tkoDJT1-E0zzNiSqAXuH9ROPaZbqXf-X3aZgfSburQagw88iGwBj--k8VFBv7Wm05Q-KidVRNtCQjHEXMq9ha4_zaIArZKNI1SEK0qWjaVOji5oua1-DR6MyV4lWNAY7n1CQFZTEcSBDd6MQWVQ0aXiFgUmSHwzvxhitBiV_R1iQns27xFSERX7nHDUF0IvSgiMAw02bFyroPcOdwx75F0rJ7R0Q1LnZm4IsD_SOojnfWMRaPY8k3ePq1lYqd8SXVEStKfmPK4VBugGqgIOIQc0n0xPINPj6pZYmmINnYHWX0hSFuvy3PB6hqmciOZvr-TMai8_luITvigQzEqB022SjlVxHcXphWgPwYTCBx_CtiYPy5QdkD-DwVqeVzCMEmTHM6j_ZTQDyyqDujoUUXa58u9uWW_ApNmGlbpQIjMlcOiGIMnbwHjgOqDUDR0y4Z-vhIn8XLkyAy1pfquCObnZ2T0oNHYQutKh7NSs35nHIbl0hv0szM776s4M7_BYaGk1q53R-itkXvRrd6lYC4JsqJDWd6d9fa8WkGx4K0Q8r4l2Pb8UX8sY6r6i_oBECF4eK3y2fcjAdbxsR3ZXHGvJxONiq4F6-nMdj8xTWivj3EegTooMDhgCWBblarZWW9ycpNBUaAOuzR2_O1Ct-B22Fly7zJCaYMJk2QHAA47TVlOke4x3cX765JTOr3ge-yp-UFcB9niBx5BE9MuUf-kUPe4oKrtvp9-kW1DpHq0R0P35EmnHSxMzXI711CSGUtbsV0_4UmrdOuktQ8ABRC-F3tgeNeFcS8nYn1Sp8zsiU9v-8RxU-YbNygqmKFgvnnLW7dukBDcv5JbyrkePJK7AP-wgcCPEnvujoVdelfqUD4rLjdv_vQ9hXipF-YYAD2SGkG38czG9aGvgD98wUrEzDwSvYePs2Tbpq8pzMTuUp9cP7q75nwbt7kS9-DmrppbOcvIcrXQfUEznxDq4_DaV2s1dkX2XLldGmuE0h7kw_qZTXAz1g0GrgwwfwVrUiyFUZv6rhXoJEkDtFWWSWJTCr9BVRrcSf-dHvHx7SB_TOsmNHaKV0Rp94GESkJpKhz8FQJ8crBk4in08asu_7JBP5urZt2iB0vu5ISA_TupuxPa08FSwKxatZHBRXEKTebQAJOPQz_gJ0wnmxBUNnx0Ka7-TIf0DYbUxmVaUGjaeUGWzF78cc-KAyOhERUSaSUChnFBCNroVTZF-TaorcUDZ3eeXni98fcq3UHa",
  "id": "rs_05f72a22376eb025016ab436ccbf4487d0ad3634ca607d8c26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.215},\"note\":\"The first lift rose only partway, and the fluffy animal is still visible just below the right wrist camera. I’ll raise the gripper farther so the overhead view can distinguish a carried object from one left on the table.\"}",
  "call_id": "call_uR2iCTQqizeWqyPVCcdgPinD",
  "id": "fc_05f72a22376eb025016ab436cd8ba487d082416f2f09b47b78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uR2iCTQqizeWqyPVCcdgPinD",
  "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, 0.7471, 0.4591, -0.2466, -0.128, -0.091, 0.9982, 1.0367, 1.8671, 1.6203, -0.7872, 0.7227, 0.7326, 0.1196]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1545 left_yaw=0.0491 left_pitch=0.0314 left_roll=0.0035 left_gripper=0.9982 right_x=0.328 right_y=0.3322 right_z=0.1889 right_yaw=0.0449 right_pitch=-0.1331 right_roll=-0.0749 right_gripper=0.1196\nstate[joint_eff]: [-0.0752, -0.7043, 7.0496, 1.7802, -0.1001, -0.0611, -0.0073, -0.1983, -11.8496, 8.8547, 1.1062, 0.5446, -0.0122, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfb67d4ef3d5c7061299cb560f17b53a2d63a9d4c61b8117a0d727665396cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b771ab0493cbbf6b60af21057493eb4e4e7e6047549344d4a94fa7bf9c31b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e398f8d7b83aa9a8df06b9680a6242440d64a88e2ebb2558f49992a248bdb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 4.872 s
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

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2405, -0.128, -0.091, 0.9981, 1.0393, 1.9423, 1.1854, -0.2176, 0.7769, 0.7456, 0.9997]\nstate[eef_state]: left_x=0.2914 left_y=-0.0001 left_z=0.1561 left_yaw=0.0492 left_pitch=0.0385 left_roll=0.0025 left_gripper=0.9981 right_x=0.3293 right_y=0.3229 right_z=0.0713 right_yaw=0.014 right_pitch=-0.0623 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.2786, 6.9128, 1.9658, -0.0073, -0.0611, -0.0024, -0.9504, -8.5402, 5.3812, 1.1697, 0.2906, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 1.0367, 1.8915, 1.3266, -0.4519, 0.7502, 0.7334, 0.1172]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1548 left_yaw=0.0489 left_pitch=0.0321 left_roll=0.0037 left_gripper=0.9981 right_x=0.3282 right_y=0.3254 right_z=0.1127 right_yaw=0.0305 right_pitch=-0.1041 right_roll=-0.0725 right_gripper=0.1172\nstate[joint_eff]: [-0.0615, -0.9915, 7.1179, 1.7558, -0.0757, -0.0708, -0.0122, -0.2393, -13.012, 9.1966, 1.1551, 0.5983, -0.0024, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7471, 0.4591, -0.2466, -0.128, -0.091, 0.9982, 1.0367, 1.8671, 1.6203, -0.7872, 0.7227, 0.7326, 0.1196]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1545 left_yaw=0.0491 left_pitch=0.0314 left_roll=0.0035 left_gripper=0.9982 right_x=0.328 right_y=0.3322 right_z=0.1889 right_yaw=0.0449 right_pitch=-0.1331 right_roll=-0.0749 right_gripper=0.1196\nstate[joint_eff]: [-0.0752, -0.7043, 7.0496, 1.7802, -0.1001, -0.0611, -0.0073, -0.1983, -11.8496, 8.8547, 1.1062, 0.5446, -0.0122, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfb67d4ef3d5c7061299cb560f17b53a2d63a9d4c61b8117a0d727665396cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b771ab0493cbbf6b60af21057493eb4e4e7e6047549344d4a94fa7bf9c31b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e398f8d7b83aa9a8df06b9680a6242440d64a88e2ebb2558f49992a248bdb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbU7EBdGGbRRnKgdOhEqaozdv9jdTlC6BN4fAp5tCjGlrLC7asWHnGhFxckeGf-Ip4ikgaBUqr-LxhP4sbhm2MqsBj5SrZcljFSAJYwHxfxM2V27CY81wXem4AAOl6AoAQUEHR3uJzOjVf7pJP9Xq09SHkMvG-lzaohX5l3MofKzzzN1_Du1QUCjL5hpQye4KUUAyt_aMgjTRXM73Hs2C5gfJZ-ri6FnAVJF6Em9JKs7FuW0R3h-8y2XqC4Pn4YGParkX-3Tmzz1ytEUSUUQlpT77l4u0P5nby88PU5tohHGyL97fA5-5ido-uDepQ0UAAAPVUAvse-pFHpkV3NzsssnBOBiirmDGtiHO4FRPTDPty3aAMj5OncAEKUxbb0JwhQgQjifuBhvU0fhtZfGXJKo0zxVmgg3jPNtcD1voG1sUnAt7eSflZQLJPwxe47RlOqFqvfrHpqYHBAEDkW5I8nB0GFpJ2JcLA9mxuxgDqNJePZc7Hnt5AmvLzK-hNmF4jNoFq8T-hD4UNEZ6N3XpoNnDqB9nRlgYBwGGKewgGYea78AKKKeHFmD3xkFd0CVQDXXo59e_idngBAzexTjWoZRxiFMRX6bQuil8_xbEwtKiaKkS02GXgo8EDu3Wbd1MbW9RjjXq8Z_Qix9axmq6-jsbP12us9pJzGgPmyipx39uUQB_Od2bEj1n4_EscYYZVlds4MJkToEMVDIrUMXnZ2U7Wwykn8B5n6v9NOmn4itQV5J8SirelLr2DKBHZV91Z7NDBKqQnPQ2kReKjh4hVnzLkBsttfgVpnMnDnpeHvy-Pr8MvHRR04aiZJJaZPcUCutpOAQ-DS9coTki6WQxxp31xRB23e8SDVDu5AL6UCOG5PY6Tm_eC-MlvDeN4gLPL0YAdkk8wC5fa7FNujdJbLZ8-QG-H2N-kV5Vgo_10mqvpAy8P6qpR_kXgoKjvPbmciwlaW6tVUJJ7Oz8CtM1vL7xMigGHJVFvo9pyqOF43xkLwVtO8AuJq2XHp7ijVydSs8Uz9tA4yUcREW6Af0-wFmI4Jjz_ez_jhaWRD_Qcx4hAi3xyFGYLeZHF4Qu4qdABzAPvMrb9RNMXw-DGJmGKaVjyGy28l34pM4SE9vfadz0VlailP986GXFde2Jsq3TuFt7hwVD-tAQi3lePLkQ0pG4TL6Xc2sXXtx89Dyl8FUFGThIRZ6fiv-6vKUPdF2wT-GmENrtn2oizF0vFYKnahdNfODu9o_2_qNvvAe3mbuTpX8LNz7vXoQdg3kWU9eG4OJ_mtwS1PvfLtRk06JkoVZZ9GT4XUhWuFAOo0rTaCPgTodgUVmbbcmLRt_oIYNoKv1NjdHtNzNh_aKYGDvfQvr_yRHMFjbrg12Zlw8WK4nirCroi9CQY1J5ki-SHkbK2gz8XbQ402-PalDRGGxqp3Cd5mLmnEcu9JAeY2YaUZlC_KBu_zlrNm0cF36go-SXugfWPqp9n_wBP-KKOm_uKPhThUA1onV1q11MjO0qfthWIASZbGunil_S3bHLIEvc6BN5SvODe4R9H2_USUJ0DtWIFagDvMIUniCPedAcGMPTB-0cOciabUeq4j9czhNbQ_JAqPFKvPDHgKoR_P2fGi1CKCVkPAdqYTRUc4yMxLSqvtCnZmneD4bTY7AjlgTA-d5RE0fDmtFFBI984epvrzRZRAkHTQNq_vjG_WHxDlsHPlvTKHl7sCCANA9ZUD_MNlR3Q57ANghkc_3Ix4xzpajK8xFs9V_P38cXbQBXBCVn14yk1kOOA8gUCVboXX7tON8IlageBkxfv5_k1Qy_k8VZ2-y2_iLWbWqtO4nfkL8y-qWpJeETZ3Itrl4OMdFN5Svr8Ah232QEzmeHZT5ITktIID-chnZNnaMr_682JpSJKMsHAmT2GmOu6Cz83pV3ogbAf9GjEChtKC2tgDEPDesMvtEmNI5YnnS9o1LrJyubtsHSEWVFDwcTEDjxVxvdk3KAz0y6bXrlC-bqeNge_bjnC6Jb2F_4sZejsK2k94_xTe-nFYVm4En50ZvcNOW6zFR73UYVgzptSiJOfQKBtUWRlb_fAEn84rd0Q8VBkl4fCelXQ0Q5CGxO7ENWTpiguuWIq3ynugvQ3iU-iUCZqSUEupnRwuZzQHKznLrMiYddevc_3oIWlqanXroinan5lZYnXS91p75O6vQuGtS8Mi-0oOvfvNvs2XOf469RWVP5aN4a42bvRfE2GmGB4wjHHx2mcHSNn1D4fzONPN5sn_Dqzl-k6TZ5uCbaLZ2vWOHEGeVx0SVpwveYkA3whI8112Imeoxw-sYHAQH6x6Jq7AUSgdUxdWrKJscms2YQLM6etLAHrwI70GIw26PddwgCYs5BuGIizPihVE73jB9cfNc0gQxhCCRBinmOxJxOQfdD0N-ZJpQfC6rTbLJSvV_w5ICVD46D3Yi94-03WUbseUImm-aAlEImyX0I8oW0I5do4TNqHGor8d3vkp6stCnT0tIV4Qx84i6DsLnsPYLVkVrbQt6D5nbZ11Z2_9r7meBMFnBlFKUmqOdyHmh1bKDK408zt50OYeuXwnp3OdkKD86HNZ0LPaGOyQq5Wi5YbvSRfz85e1fna6zX6Dbn1NKRlx4p7E2BarWECr0QWELpdUvW0_o2ubhPoKkHgPvb3Ahj79nFJwglHdW4uHyG57pTPBSxauH5CWFEx4I67yzANNPIZfQX4eGnQ0fwy27b1IzDMUbd5AVU1k-erWACXk9iZDeYyuNskxESd5BndmMkESdPWijsNhJvAzu2aTqtFRBJGmOhuvVibRjV-pX_MNULYrNAR2ebdvtmjRokpfGVfmNUeyNheOn80ITEqbivtH-_9euh7yLP2Ep__v7DKjDG5obTChZ4AcOIIUpPtA2PirKQ==",
  "id": "rs_05f72a22376eb025016ab436d0d3a087d0acf75096aac5eef2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.453,\"right_y\":0.11,\"right_z\":0.22},\"note\":\"The right jaws remain partly open during the lift, suggesting they may be holding a small portion of the pale animal; the arm still obscures the overhead confirmation. I’ll carry this grasp over the right-hand basket and check its alignment there.\"}",
  "call_id": "call_vKbtxNgDL6ja42fH0hjcdPcj",
  "id": "fc_05f72a22376eb025016ab436d370b887d0b8214dd79a0facad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vKbtxNgDL6ja42fH0hjcdPcj",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7479, 0.4591, -0.2474, -0.128, -0.0906, 0.9981, 0.3439, 1.6474, 1.3552, -0.5438, 0.2771, 0.1406, 0.1218]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1542 left_yaw=0.0489 left_pitch=0.0298 left_roll=0.004 left_gripper=0.9981 right_x=0.4416 right_y=0.1106 right_z=0.1842 right_yaw=0.0235 right_pitch=-0.2296 right_roll=-0.1041 right_gripper=0.1218\nstate[joint_eff]: [-0.1162, -1.0462, 7.0906, 1.7363, -0.105, -0.0269, -0.0171, -0.335, -10.6598, 10.3726, 1.8584, 0.0562, 0.022, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0c8ef34d9ff42195604bf37b4b0335897872527ddf455f0d659aa1abe233bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d034d0ac93b541a2c5497a80267cf12c2ba0690db56f2f4b2d3c41b89a89e067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2896014e7ec77330b40ad81ef7f9a94276c666c1f76cf8630648e8eb4dfab5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 7.377 s
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

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.2462, -0.128, -0.0906, 0.9981, 1.0367, 1.9507, 1.1854, -0.1974, 0.7765, 0.7376, 0.1168]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1549 left_yaw=0.0489 left_pitch=0.0329 left_roll=0.0036 left_gripper=0.9981 right_x=0.3316 right_y=0.3246 right_z=0.0699 right_yaw=0.0165 right_pitch=-0.0566 right_roll=-0.0347 right_gripper=0.1168\nstate[joint_eff]: [-0.1162, -0.8547, 7.1863, 1.8388, -0.0757, -0.0513, -0.0073, -0.0479, -10.5641, 5.9009, 0.989, 0.3199, 0.0611, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7471, 0.4591, -0.2466, -0.128, -0.091, 0.9982, 1.0367, 1.8671, 1.6203, -0.7872, 0.7227, 0.7326, 0.1196]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1545 left_yaw=0.0491 left_pitch=0.0314 left_roll=0.0035 left_gripper=0.9982 right_x=0.328 right_y=0.3322 right_z=0.1889 right_yaw=0.0449 right_pitch=-0.1331 right_roll=-0.0749 right_gripper=0.1196\nstate[joint_eff]: [-0.0752, -0.7043, 7.0496, 1.7802, -0.1001, -0.0611, -0.0073, -0.1983, -11.8496, 8.8547, 1.1062, 0.5446, -0.0122, 0.5495]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7479, 0.4591, -0.2474, -0.128, -0.0906, 0.9981, 0.3439, 1.6474, 1.3552, -0.5438, 0.2771, 0.1406, 0.1218]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1542 left_yaw=0.0489 left_pitch=0.0298 left_roll=0.004 left_gripper=0.9981 right_x=0.4416 right_y=0.1106 right_z=0.1842 right_yaw=0.0235 right_pitch=-0.2296 right_roll=-0.1041 right_gripper=0.1218\nstate[joint_eff]: [-0.1162, -1.0462, 7.0906, 1.7363, -0.105, -0.0269, -0.0171, -0.335, -10.6598, 10.3726, 1.8584, 0.0562, 0.022, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0c8ef34d9ff42195604bf37b4b0335897872527ddf455f0d659aa1abe233bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d034d0ac93b541a2c5497a80267cf12c2ba0690db56f2f4b2d3c41b89a89e067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2896014e7ec77330b40ad81ef7f9a94276c666c1f76cf8630648e8eb4dfab5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbbb9_NDG9DBeklzVjzP_coLoRnAXZUuL7rQqF-7SwEhT-G3HpTe-bziysC77waGS2SnNx9iUZIe88NgzbUGvTYQTxyqY65LHIwE-aR4F2KA51wjgJt-54WFjwzpbHdp9G8TaNJu0VtYrd9x7ex9csB1GDxzBeqCqRK4PB6taxUw1-MnjpgArMI7iqYAEAMC2BBWzgIuiRluUiJNSbVUy_piaDy0Atdk1M5pu3iNCl-5Ke_oo3_C0ehdymp-WRkcK3psIcQ2dN09BkSitU1kjmTC2mPCecqG31GhNCwyd4PwzzabFN5dg9Ma_O8YwSvTHq8QuplxfqCJmbTpWKyOG25teSKO5gpmTKM2Og40FWpp-raw3aApiFKdrx3RI_ixei8Vohg8KZ0nyXA5pcOpRlLkd-KRxYfTov744OelCgJwexhDv5g1FA4G0WxTCM0sSonamsA1ZQnBcASrKiKArxzImd4PHMmlefCAek2E92u68we98FTbmLVxbfCK5GXrT-0zAOkuV_UfHr2VcnWltNlHLOweA96EKlzbZE_VPPC-6cF3j_ZcEp4DZcxY_owMTl91ga58EKQYQ_BW7vv8649RdOW0IYBP7okf54Hh0xX0SJxoyQsqXlx1kkPVXOxhr1MCAz0HoQIH9UxYV4nt1tAMvYaxbLzRnOgDNLRQp4QCfSS_1DCuFVPOrjup06zzUrVxnLrs96JtwWznkH2CTMX7EOtUzR4LFsFRpsBATIvcHX23MSshQE5rztFfHLaxXF882DJeXBmGD3Ocb9W3w_0rtkeu50RmsXAV2H8gNF_b0805n4XLJva0o-i-r84SMyyCw0eI0uNG0xLiynehFE109PBK4wt0iBqqEo0VwjeBkNantOrFOaySjKv7eDthBzQ4gNIO3cpYegPmMTcySlmOySVjj4ULE5cUogu4c8bZ4yS_XHDGBNPB9c_LVI6IluXpBot8kMA4Rh2Hal4U0qddkst2_SxCCHZBDIGGkf-ACGxqC0UyG-x-gtxFxLcJqnVBMlDmm0deqm5bBb4jTnxiyI-pvnps9ZOn_cvD5MP64M9fspRGVIhguB-AF092jzSTTLZwxL3_34uq2Jch3LTC8TxuRFTxgL84EbSjA2ngmegJYWpGz4Rb4ChAQbUduaFPB78BvibpQj9UzrLR5fCzPAhlLWpUXeA7zM9O1EQSBo0bmvY7DxFnxKjGkvLLqbF4ZdHtICyopi6czxJckMue-2gHhe03YcsFNV_S4kUEqseTf5hhdLYr96aH64p96LgTMgnH8gSEg92n_4XkcIE271DReG2OTpksogbo2963jLUEzdi6hkf-7rpgNMVfOq8JGEvy0CBRj2NbzERDeD1Is37U50P8RFZ2IwwrmGVqhebGZwK8KdWqa8YjO0Z1Z3lEESneJrXiCIXUKRXqQNkstL2ukydnKMuBVt63ecJGjFgGstvT85b4RbEYgEPqm8PmCOF0ur-FSNulnoM_eK46XKWb9txGkQ_wgPhkhJ9zu12TT5PI4QxByFjnpoBuoaI18kB9YUOKIXv--l_Zo37fnk_85znIZjfemSJ4zTA23JtBvGftMkTX3tyLtOB27XnVVxwOJtUl3jLDsZiyBnVfSU_RF1zYigeM3nIPeJ1NfbnbB-hHflZmKO0hhPE47tg55mLrwD8gC3WYyyDfdlVpI4y83VlJKJEBNQaVyWdkK0gqGVULME1zRozf9OPvdz1nUaYV72_zvSXu-phFpCHoQfQLpNPsKYJzf5QxdW86Oey0J3FigFQF2KyuO0IJ7u5nAwQjTwyYVoZpeS14Tu5FcTnyh0FrY50UnAaDIn1qOeEakShC8bPIS2ahXr19AfRqZQQPn9YFuVavbJ75UnqVkBClezfVlsO7qDJqUh0s3JM-J6UIaxhEaR7GPF48hPC54hulOyqC-_kKYBAql_arZRneDAW0hWGl8i9X8LlGhIIVDq38nBGWGTQCELGX36KOSkX76xbJN8tkzjyaScJU3-O0aden7gY7UCy7iJUtJpTAJCwTA2TZMu1BNWZQiGIPu0Qr9fKfLhenD0RJSbJh6mmAJFDMpkv5biLv9FjyWRQUQazrKXCAamK0bJZn3dx0b6x1aYtru0VG8h1HLPUCCj24M8b7nT37bvqo9IjC_zXTwcOnLZBmaOXLSorbJFd-1Dop-c9nvhQLuKB4oeWmWDSj-C3XMJ6I7PtQ4LyK4VY_dK9blhkfZBpJDo2RnC6uUOCAG7avbOu5bOrwVngjA==",
  "id": "rs_05f72a22376eb025016ab436d86b0c87d0a609ebc77270263b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125,\"right_gripper\":1},\"note\":\"The overhead view now shows the pale fluffy object over the right basket, confirming it moved with the gripper. I’ll lower it into the basket and open the jaws to release it.\"}",
  "call_id": "call_4CQeGem16HoaApN3YwaxncDJ",
  "id": "fc_05f72a22376eb025016ab436da3c7487d08c1bf1285141982b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4CQeGem16HoaApN3YwaxncDJ",
  "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]: [-0.0906, 0.749, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 0.3393, 1.6703, 1.1748, -0.3286, 0.2607, 0.1349, 0.9957]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1539 left_yaw=0.0485 left_pitch=0.0291 left_roll=0.0042 left_gripper=0.9981 right_x=0.4419 right_y=0.1115 right_z=0.1344 right_yaw=0.0367 right_pitch=-0.2223 right_roll=-0.0927 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.0872, 7.241, 1.7411, -0.1148, -0.0611, -0.0073, 0.2256, -6.9675, 5.9829, 1.3748, 0.2076, 0.0317, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf026fc30dbf8c3351f1afaa640e30d591f5db41f7c115b285bd63cb161086a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96503e1c7a2dd0f7b3f2c0c79da22e0d77fd472ea2deb50b3f3098772a29967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6327818ec7ec59a15efa9f226b23cc253ce872071e59c96d08ea7f397477c115",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.884 s
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

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.746, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 1.0367, 1.8915, 1.3266, -0.4519, 0.7502, 0.7334, 0.1172]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1548 left_yaw=0.0489 left_pitch=0.0321 left_roll=0.0037 left_gripper=0.9981 right_x=0.3282 right_y=0.3254 right_z=0.1127 right_yaw=0.0305 right_pitch=-0.1041 right_roll=-0.0725 right_gripper=0.1172\nstate[joint_eff]: [-0.0615, -0.9915, 7.1179, 1.7558, -0.0757, -0.0708, -0.0122, -0.2393, -13.012, 9.1966, 1.1551, 0.5983, -0.0024, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7479, 0.4591, -0.2474, -0.128, -0.0906, 0.9981, 0.3439, 1.6474, 1.3552, -0.5438, 0.2771, 0.1406, 0.1218]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1542 left_yaw=0.0489 left_pitch=0.0298 left_roll=0.004 left_gripper=0.9981 right_x=0.4416 right_y=0.1106 right_z=0.1842 right_yaw=0.0235 right_pitch=-0.2296 right_roll=-0.1041 right_gripper=0.1218\nstate[joint_eff]: [-0.1162, -1.0462, 7.0906, 1.7363, -0.105, -0.0269, -0.0171, -0.335, -10.6598, 10.3726, 1.8584, 0.0562, 0.022, 0.5495]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 0.749, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 0.3393, 1.6703, 1.1748, -0.3286, 0.2607, 0.1349, 0.9957]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1539 left_yaw=0.0485 left_pitch=0.0291 left_roll=0.0042 left_gripper=0.9981 right_x=0.4419 right_y=0.1115 right_z=0.1344 right_yaw=0.0367 right_pitch=-0.2223 right_roll=-0.0927 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.0872, 7.241, 1.7411, -0.1148, -0.0611, -0.0073, 0.2256, -6.9675, 5.9829, 1.3748, 0.2076, 0.0317, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf026fc30dbf8c3351f1afaa640e30d591f5db41f7c115b285bd63cb161086a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96503e1c7a2dd0f7b3f2c0c79da22e0d77fd472ea2deb50b3f3098772a29967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6327818ec7ec59a15efa9f226b23cc253ce872071e59c96d08ea7f397477c115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbjjIUeknCnJi1uXIFrW_zlRjHtjCrXP-EIGUiMrH2Oyv0OBEsU_U0xq3tSB58_MvBIaMmf8xiolGEIVEHIpukYWxRLeyRbm7dh9t7FsdBwPEl6H-mChO0fNKKQ8JtQb8KC73LgphnDyxeS5Ffu0Vay1P0wv7TP2IJeXSKJ7_oTBHQQEtjRVpQCEYW9ifwoCRGAN3CSYyNhgAfXfb6hzI9YYzryVGbQ_x3GyWxN-rDLPciYRlE0nzaTvfYxjUCMlP1ZEQdaE4IRmSXAMEOQGDBqGH-oAz7wIesh0fBF3g3oOO3MQAT8rcrsulRcOspQLut6rCpDaCMV5mRqplz6cc_RuTlxazGgPEg11Yer9tYNfKnnsKbIHEhjGIjo1865bn5i2VdkcPL5GjVr5k2LVvvtsSE0Jfv6MHlcMcpwtQHxwl9iB1gX3RUy4AikbGcpmx9zj2mFxtRKzxZI4TNMaSkc21ubvDOH3lSp8HuonVtmd6u4m-cgbtyd_BznvJs9auUiD941EM-XJWlbdV0PNCk_Hjnc93eSViYpyXysHYsqUiTGR8XG4bbCzuuUaQJ4ImkZq8xJtO_WwqaAodZGSB7WFtRxrWjXP-S61j6qvZ-hK5G0jwP-xDi6fjU1J76lfUCNl0OYbyVNWcZmkrIs8Bkmbge3QNPuYdrpIZvodUeYkH8Mh1E9gusFfkQoXv5A6fXMt4raSwf3pvvM3HRFj9Cr4Hn0yFyhvtXDO5_k1IBdPc9YYsP54Zxov0iATr1p4ioT1xLxzLsHhBn7k3MMwdLk3nDYfzRU41CGM3Yxo75PQyEWNvHLpllFGfxOnkqe12ZjgiGBpZ_INKBkdoJeGdX1ifgiaRog7Qgmv_-7w1iLeiGYAnZcDwCb1SxcVK1ZIA2k6x3L1nLBgCtwcQ2eBMLFJvR1f9WIBvoWhtOJ4kmEbVyAepD4MdSzTeCfUv0rpyQCvPLp5AT-alp0OVaklT_GKfjUeRVpztZBT_KGccLrlAFmNsLlQUOPhX4hkpmavyjVUo4q5pfvf_i5ZBjpBgjBXmo2OLK4o0BgTV487_P5dn-qiPRzfn5zpbeNYDXxZg7_Wc20O6D8OlgmBy7R0azE6TSdXCLl3fkXunKDhEAkwnOpHWABzWw3RCuGn-m4pnminZ-IWiqhYLCWrS0rAC81VyaR0HNdyYqXHDM2ZyiHcIvF68V8Y2Y3IGzeV21leYVx6t5JgjD5fYAwHU-fRJTyhVSCdvoLQHbgt-T3nZur4xKZj-Adw6jxNODpK4jb5A4hJrBbJC2-Fg6SxeA8ePrI2AQLAx4pDbO_5-qRaI2mYVtWPpPa1SD8pZH5Cm8z0xWzfoSVIt7ZCZysdcWTNDZZjNtQTf5XIY25IO24f2Toi-kY3p35dFJzSK-kvozGAxVv43TTr6acgEN457CdP1ewqA8JDTu0Jh9FJvQfRflecE8y-z0rVZJItGLVSjVgBLp2HGhMeEC0liYM6SCUudRPGgXMZN7Gd1f3zoUa11oUD59KFj9rNMeacHspPkX-Miq8AOOVa4B7gtLRuYXQfTZvqxwg2HDejWwmqaJErxG4PHpcTlz7EBgpsj-rbmBAo7AGHl1ZmGOQ03D6RmlCKpJjgqVGXymi50b-AI6G77Dh8WIi2aQReMEPww1tCTJ8GEOTQeXSrJ6oO_wnPAK5OVwILXxN8klr7HmoYvwH4CIBPFX5WRNBHeudxkX7IMOhYBT8a9Qyv62OkuYiIL8dxbGYrT3BBlTitcnhG2PRX264ruCCO0DznX70vMl9JJcf2NCLe49RfBbGhsRI6E_97tBQEddAwmlsxdu2K4hwvtq5BO0Xxi-hm6QVmDyQ7DBmdY5ajSeeRTXegZLTovCgGd-a_ZGJV9z13nsoxRZL1OGA3LqisWsWOEM5JMDj8gd_jlwyRE2SDxkiijXlzd8npi5K3EiTUlAmZK1tunoND_nKEReSEVHjvzKmZF8HvnGkqeOcn2VjtcOe5N9mENh_WaXMg_JF5drUDYYVxHJFnywjvdzpQMA8TIZyVhvGhyYJZ7Nnjwe7cUt58CwaxZYuIACyVV8rjC37JXM7C3GLruSiJ9MdJUw5L0R8cs8x412e02WnQHG8pQOrri1dwubxg7Vv1W1nOJwKzgmPqGoyoMSKGuHrNhmu9dhaYvcx33cxyO7XYSws1IST-rmseAMyVfnY7E1L6yBVAGECYCp3OM_7NqlUlyTZA_tBIYr5s8s1MrOQA3N1lC6uIyoac3p14WcqT1Ao-VVR6Z5CDU-8dM351gDXtwNUjlRTVIv3jSHkPd2sl2ra7xCjj0EuylNm03qRhL_-M-7LecPh-05WR6d8l3CsC-CuDPXO0S_gVA-MorX__CGAWj1cYtb1mR5gMsI7FTr7YxyQRbuDjDT_nzkc3Xw0x7N1qa7-nmPHXaa6hwtXPaFRSJVaA2TL-CUGP4ecOM-PhFSHzMn99zoT3ApTR6-5_BnJMEzMqfguiIMYjm0kq8kF0VTtHoY_vz3mXVHFU4GpUDvYMHkymYqFVDI4IRWM1ITi3yfH_dynupzaH43Rg-hmRCk_M1Yz6KVtlKb3sYJkGbVlupkv4LdSU03tuBGtTblQ9SX1i7s8oBnFxpN_Ss103uzUG1FktjpaqqjrKtL92xQ_XkNYF2Cv-yHnlAgYOHDm1sWb2h5WIygUx2rik2zTIukIakUwZZBVAX_AsT0zig9NezsY6hOMTmFqaxprmfMGffpbXzj3OkiKbjNvuSSDKOHATqWw-cw6jL3XTwItbaUPZTVJl_qviuUykpNEoWoPzhXBrypAnIr64KlC78jzVfmmtiDT6GY6BD3wHBsMH5Siehywi0Uw_hkIYdopMPEXrvHd7W-5zqI_O7jT9ZIgHD9XIGZww51UeckuKi8Hahqmw415MXVO9UeeEGKivgHszYmNs7ZSjXWmt5YRBAaeIjxg8jL4bLYzVVk-OS6Whc9G39k7lFACsJroLYrCoLh4Tqkqz_acAPjMPnL09nJm2I07g6hKJtTeeWaeUgD-soPPKg-7lhNMrYnTn1lS6cjc8Ppxsg1Qe5IDaXiuFK1q-wXjoSVWF6VSIyWG-iylLgqIz69AvRY9gvmDGtk76_mlgNb0WPZqWJllmhk-gNe7GmFWGDvRShMvJmvlB5hddmllF-NtF8XWX2aXE4yWxNoQ02NKChPqa87NwGQ6ZAfLua2yYqg6My50utzKxqNvcvQBO8TJQ5YNJV3Zet72SXk6EWyMmX8p401Sr_n9ETAGy49mMZUcv0scQgTcJOE8U0rR5CZvpoOD2ZhCmC_MbxPhtduoyig4IMPpmLgCGDTy5s2FTEQs4EV8UH8uJfFa1x0kLREKcoMMhm3UBnReNBVbxNtNRgCUY0N99A6K6xpzw4q357HsnGHh5_SLDmstptJxr-F9DvLz6wG8s_bcbgAS18o8NTrW088NIONk9mnzlPi5u6i9QX6v1z27JHUmdKXwWLNLXURaDSjxlomoRTtMz0qRWJ5LPVJKJKGpJKXRCnWSflWUcVQMleC_Ztr-ujGsseWaQWFEoam6PUtnx_X8CkejhBwUp1e7x0Fv40HZg0A_UIdARCzQB5E20koApYCWVZ4qb0YyrzdXdfNPis0aKqcTDFSqv71W_pMzsyhcO4fogJ2yy8lON67osN0HIotGtU8GZHbXCNqG1vOGMx_TKBs2ePv6zwCDfRScdm5EBKkA_Hb9XN6kWBgcSWm3M8y6qvhvdDsZMqPTDDf8PIYT7_U9PxCgr2WYr3zu0ocedXxxj9LK_0FB4KblDo_4gTGT4Bvlfe6J-WZVeOI7CIexQ08RW292johswB0Pu2WoBlPhAvxZRpVnQxRJoQy_0BZeo1IVeZ8N4NbRWRLxgsZ4iiMIFljDTxX-oH7y_SPwIGrhjf3OItxgABe0D_3BvnLdBpTGQ-728w0XFJ5mTOW_eLZlGWC4DFJkykWLanBDFi--GyhF-2ttyMPrSq2Z5mwgAEbfE9gZJz8f8JGjEkwtyT8JHpXQRQOKxQT5ot1K_wCAcMEIfEl_-Qc3rQ==",
  "id": "rs_05f72a22376eb025016ab436dd09e887d0b2831326a77ed057",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbj4znOk7kTzrTY8y0tsbA6OT4nXaH2nmzLTvyQUlnvvtrLt-BPhYsBSEVKJp4nGa0Zj5vkh4OzEnd2U54symoyE8APoABT4GpVLausKOqPahRV2g7vSie_qI_gBlb289FrxarENb3Mt9PFdmC6jCLS3R9cQYOO_eDVi96YZYWx008ZAsjWB2awlJYwmYDGNEtMqRoG6M-BTVxMgg8LOXK-rRUUlCuxisFNk8gCwJxGhjfuJS6MYRqyy1eL52ZgXslxS5nxsZXTFf4Hu7ALOt7kfRoAchOE-1M82jtRWoIbXDMC2zpy0B09_R7oJPHgaw_FZH1nVcbWINwDPbTXShC3BRn3mvYnT4EEiG2usg4zx-GtnLMk5wEHrP9AsiERXshc8egjIR1354iX_zHdTOXyDWhGqxzTWWimrHJ0EKHWCYi6QqzJJO06Pbbgo_Qz_kdzhwB0jcC-iQ8saItrh_am554cYJPXk-RsXeWNbjaw0FDi45HdITIrRaFhmaLLVKUCMz-SOOLffPTCDLCaQZmBFRNP_gj3M7y51KYCG2iAmvwiio8LNAtw5EAqjRTaQYVniA_4RZYukR5J5oKBtsoH_W-UyTe9Em3RX5wIf9yDy4JDMKblscllfUJc0VPLV1x_lAiFx0SNIRUL2f8lFJg7BzghkAoxYKwr2NNrYxOsMHW5PXC8oqxzN1GHKoGvo5EPDOpqrqQpCRIHLGI0yGQJUiDnVf3pQZbCd_MdKCk4D7_Q5WU3xT-6Pzvc74UW13Ub4q1tAEdmZ0uIOTFFCycXF5yMMiUM7VQ9Y4NFa01-FEtx7rEGQ6mcQ1NbIZkvejgsxVJnw-bNPt8u3I9wIqpmQ6wlxswOyKAS_jXT3xaP5qrG7KA2uXuQbmo9dz35ht-s90GSVolunWPfTIAL2NmJj9wVOyAJlIDg8rvVhbwzbn_-ldAu2WJbS-MNxTVSQx6inUofJS-Rg7jR6WC9_OmbfKDkiMO3_IIkGnnXtgYYJ8ILRaGrpjExVntm2VMRH8a-9lSsZF_PLzMJr7WnqMDGE37yOwDkzJ3BQO3O1jmgRYMhXNDY3puGwnsaio2AuzUCoph3iSHlVEaXgrfjXwpLGqMl6L5N2mSayon3hfbQT6De79gKks3ikqV6OkEXrlhmw5krTa9ABUTwHOOrLEmN22kN4WCpDyjj5LyYlsFRPiSQAMp5TAEjbmwUMXXbgIg7_FGn6UdhRXE9f7l-_iBUq_GaucspJzTbD0ua9mQ_Jy0zk-V9ZR7KdWrX6i9QrngglKbGgC-W8ZNQeQX9dm9jmFOGsN77n0fkD2x9BZdIOvVgUbI6BeRoKsv17JVP8lJYN9Wjt49KVhOgY3cD1freZAMXg7uyPGs6KGwqvxuDnPutZI_1NMkuYdGP7iUxb8ibHdtaQXg7-BEEvkiPQDP-m5c-3A_Qa8tDRYlxzWrzrj6MsLZxNdSpdthvwFasFi8kLW_WhVLrMUPmvW1KwArpi8Ac2MTc2jIKqHQCcZnrn3tB77mVoN7CYs_XsEG43aAGREmVjF5MVVR-tFN8H9ncFg==",
  "id": "rs_05f72a22376eb025016ab436e1ebec87d0ac00cba06c997b51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.255,\"left_y\":-0.185,\"left_z\":0.135},\"note\":\"The pale fluffy object has been released in the right basket. A small upright brown object remains near the middle, distinct from the fluffy ones, so I’ll bring the left gripper above it for placement in the other basket.\"}",
  "call_id": "call_NmBtSyCcSYNpHwtHRK6XoV6a",
  "id": "fc_05f72a22376eb025016ab436e2a0b087d08e1caee435a246ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NmBtSyCcSYNpHwtHRK6XoV6a",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0874, 1.2572, 0.6662, -0.3779, -0.8658, -0.8227, 0.9981, 0.0177, 0.989, 0.8314, -0.6003, 0.054, -0.0769, 0.9968]\nstate[eef_state]: left_x=0.2524 left_y=-0.1837 left_z=0.1245 left_yaw=0.0094 left_pitch=-0.0027 left_roll=0.0283 left_gripper=0.9981 right_x=0.3055 right_y=-0.0005 right_z=0.1841 right_yaw=0.0098 right_pitch=-0.19 right_roll=-0.0883 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -4.5197, 8.2803, 0.9206, -0.6276, -0.022, -0.0122, -0.294, -2.5368, 6.9675, 1.3944, -0.0611, -0.2076, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad5c65935624c89464b7d6bf36a31ee283a934bf67e5d76ce57bfb05e8bfac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b84bc182e7843e0e4bcc51829aaaebf9e5d6852e419f349fd187d4f38f02f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c425351e986e0b1bc982b8d3340765f67f579f8938181799a6e00bafa5b86de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.246 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 75 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7471, 0.4591, -0.2466, -0.128, -0.091, 0.9982, 1.0367, 1.8671, 1.6203, -0.7872, 0.7227, 0.7326, 0.1196]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1545 left_yaw=0.0491 left_pitch=0.0314 left_roll=0.0035 left_gripper=0.9982 right_x=0.328 right_y=0.3322 right_z=0.1889 right_yaw=0.0449 right_pitch=-0.1331 right_roll=-0.0749 right_gripper=0.1196\nstate[joint_eff]: [-0.0752, -0.7043, 7.0496, 1.7802, -0.1001, -0.0611, -0.0073, -0.1983, -11.8496, 8.8547, 1.1062, 0.5446, -0.0122, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 0.749, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 0.3393, 1.6703, 1.1748, -0.3286, 0.2607, 0.1349, 0.9957]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1539 left_yaw=0.0485 left_pitch=0.0291 left_roll=0.0042 left_gripper=0.9981 right_x=0.4419 right_y=0.1115 right_z=0.1344 right_yaw=0.0367 right_pitch=-0.2223 right_roll=-0.0927 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.0872, 7.241, 1.7411, -0.1148, -0.0611, -0.0073, 0.2256, -6.9675, 5.9829, 1.3748, 0.2076, 0.0317, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0874, 1.2572, 0.6662, -0.3779, -0.8658, -0.8227, 0.9981, 0.0177, 0.989, 0.8314, -0.6003, 0.054, -0.0769, 0.9968]\nstate[eef_state]: left_x=0.2524 left_y=-0.1837 left_z=0.1245 left_yaw=0.0094 left_pitch=-0.0027 left_roll=0.0283 left_gripper=0.9981 right_x=0.3055 right_y=-0.0005 right_z=0.1841 right_yaw=0.0098 right_pitch=-0.19 right_roll=-0.0883 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -4.5197, 8.2803, 0.9206, -0.6276, -0.022, -0.0122, -0.294, -2.5368, 6.9675, 1.3944, -0.0611, -0.2076, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad5c65935624c89464b7d6bf36a31ee283a934bf67e5d76ce57bfb05e8bfac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b84bc182e7843e0e4bcc51829aaaebf9e5d6852e419f349fd187d4f38f02f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c425351e986e0b1bc982b8d3340765f67f579f8938181799a6e00bafa5b86de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbn5EvW_tLMgZdP2NPxAuMWKaSlkqRqJK-DN1r8pad0Ldr4KilZxKFvYtosz0T4IxShlTk9-2zxAgjIR3YnzQg_dVQtZzY4X4V-z78ldgsTtOHKqc7Ivtw-nlvN5mWNlGjxKk1w4g5bbaq70BXK9BJqhMQlkLTIVqWIIbzekwTlrNMAtKzENi0Du-nToRxD6lrV5Anut2OXCek5zgPKDvJ0ekoR2JVqRDebDFVG5rhrHNJN-whZOXwHXuGFy_2MNKi80JNdEcq29ssg__MCiwei6Tw-FrbnfHhHT1hq23Nu5aMy0PsJX7eE9bNGrzis6Erv-D7UPopNiUI7_uACSdSeiTLFR2VPPfZq0OFhMDg6RO1U1Dbq1mqc2tZ23crEsWT1E_t-acshG96Rym1nihl-SYImvRqhVuaFFbYXEq09O4gECo2h7eDX563BnYddxYXEmeXhIP6yd-2lcRWM4DlLdDD8mVniI7xl43MtRu7eL-BhiIpxtSViaZ1kxisGqcZVDQ3SVvqKhTa6u703rckWIdViZbe7QdUt_BHZvF_BJH5302LI_t7Qc_4sILFHxfWLjVKlMDUSNpJ7-Kja6E5yuvVa43IPCiyuP27EGedHFzSSX1gVE6DpL8KaTWLH2TsOA2mtZW5HGCuiX528qoCiwmnc15bkYhh_ajslgOcRGcUcOolLY_5Tg9-HoB1BFFmbwuvIPJRowzcSXWZlo0fyLxe2SrhIhteYsg1vuPGzxdr6Xa-SV-UYL5QkzFsNNmiHChp1ar6HGZk-oUTCvgMhuMNubvOVEVBJImBx_kHztgE0HTVUP4lg57BzgGn8d18pOOdAzTpjSbnc8S0uXkSHdLm-dT7y8FLtbFwx_O0aescUkxgVehqBbS3cLouxEzao_5TlTMLR5nLjFUuGyUHhJRYaqxDgyRj9hY_sj0d19Q1HwK2t_u9G9BQLVunhGWDucFbp7ETdIfzVk2GWl6x7cBWB7kZxOkrqVD3zRui4uq0kFPHkXJvS19hq0KCTWqxDNL5MvZ2nAwjUarpunBueCM9bWhQW3kDhHbcfPX4ZJqQ3bppH74_FJyHpb2fYZDTqoyXHX4PNUwZXvuVZv8nRSYSMku8V1NzxwFMOmchwz36mE6bcNcEUaslmm6vvmT6r5aBluIoK_dxVYbJG70zyfmXK-Nf465ZC2oYOqykUZ3XcawcJAPD69wKUepnKRmihXG54OeSXN_PhBiYt4Wtb10Mu4SwW_bgFy3XREBP9fqYfRPtfPLyWDalKiclU-Cnx1SXJKFLpKNqYF94p3AaFA1zA4nE6qStTWxpP_IE8ip_-qqK1KyCnD3jh2pwLCeT89m9B06M7HT4E95cZhEKYkC5h1UZyh_uc_HLXWiVH5U-psagRNh2s9sZumw5sxoCaQ4-oaaCanMShlVkJkLVtcC8UDclSv-fVn-OmGjNTyysxVsPkF-VGBHJvIsHv4CbHOWcMMjmyaUwV1zyA45T9QrStABkEbDTuCblIEh3KfYr92LUSIlsyxadUViTArEQMLhj7mW7y8oQuB13OlV-lqGMxyLNYp_zDiP9hzHXzslEUz5Ekm4RDWz5rXqMLI1FGJTFgFOSXRMzU3wsTel1gG0cl2BhlE9P8HQLW9D-he2Gy_HRxmwR18pM7apnLT8iyHPmqT4ywBJW6PkuA_Wd9hwjq66Ior-c4rv0CEtWHfUmWdWhWNolyyU-trr3kYvxkJqOm_fKqNZmhqQRzt1-cHmTCYIYkdmbyc3LSGW5PWCnNmZNbf1p-fjdrRXzdneKKJetC8TGfAE4_tOwjjhgs13QWprVurOQMGUrRO0VX0s192zu2SUmiLjqW8i6D3Mvu-90vX83QFd_y-9P0vnbeO0O9FP5ZgN2Ahk4NDdTIYZ8L-PXDkV6xhok5yEW2jVn7qM8ffQynlc07QyK-mlUkoQ==",
  "id": "rs_05f72a22376eb025016ab436e5e5e487d0a5a4e6342c69800b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.288,\"left_y\":-0.202,\"left_z\":0.065},\"note\":\"The brown object has a pale head and a darker rounded body; in the left wrist image its body is centered just beyond the fingertip point. I’ll advance and lower the left jaws around that body.\"}",
  "call_id": "call_ALYQVQ4INcalJ4FmB1wYA5tG",
  "id": "fc_05f72a22376eb025016ab436e76d3c87d0a146c9cfcc10c556",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ALYQVQ4INcalJ4FmB1wYA5tG",
  "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]: [-1.0016, 1.5246, 0.6041, -0.0814, -0.8238, -0.7544, 0.9981, 0.0135, 0.9916, 0.828, -0.6193, 0.0437, -0.0967, 0.997]\nstate[eef_state]: left_x=0.2773 left_y=-0.1862 left_z=0.057 left_yaw=0.0362 left_pitch=-0.0521 left_roll=0.0973 left_gripper=0.9981 right_x=0.3019 right_y=-0.0 right_z=0.1785 right_yaw=0.0253 right_pitch=-0.2162 right_roll=-0.0955 right_gripper=0.997\nstate[joint_eff]: [0.3077, -7.1179, 5.5043, 1.4921, -0.4762, 0.1343, -0.0122, 0.1162, -2.5231, 7.1043, 1.7363, 0.1148, 0.149, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d170825db7c7e958248d4ccd4429ce9ad2924b3ac494529ead67ded76c1c99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a566386dfe8e0f7a79027468c6c514365f85f45d2fd1d65bb02b3c9062424991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee02e45d71e7d0288e313da6c6108d23066ea250f386062be4a48788eace761",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.464 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 75 changed as sent

message 79 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0902, 0.7479, 0.4591, -0.2474, -0.128, -0.0906, 0.9981, 0.3439, 1.6474, 1.3552, -0.5438, 0.2771, 0.1406, 0.1218]\nstate[eef_state]: left_x=0.2906 left_y=-0.0 left_z=0.1542 left_yaw=0.0489 left_pitch=0.0298 left_roll=0.004 left_gripper=0.9981 right_x=0.4416 right_y=0.1106 right_z=0.1842 right_yaw=0.0235 right_pitch=-0.2296 right_roll=-0.1041 right_gripper=0.1218\nstate[joint_eff]: [-0.1162, -1.0462, 7.0906, 1.7363, -0.105, -0.0269, -0.0171, -0.335, -10.6598, 10.3726, 1.8584, 0.0562, 0.022, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0874, 1.2572, 0.6662, -0.3779, -0.8658, -0.8227, 0.9981, 0.0177, 0.989, 0.8314, -0.6003, 0.054, -0.0769, 0.9968]\nstate[eef_state]: left_x=0.2524 left_y=-0.1837 left_z=0.1245 left_yaw=0.0094 left_pitch=-0.0027 left_roll=0.0283 left_gripper=0.9981 right_x=0.3055 right_y=-0.0005 right_z=0.1841 right_yaw=0.0098 right_pitch=-0.19 right_roll=-0.0883 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -4.5197, 8.2803, 0.9206, -0.6276, -0.022, -0.0122, -0.294, -2.5368, 6.9675, 1.3944, -0.0611, -0.2076, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0016, 1.5246, 0.6041, -0.0814, -0.8238, -0.7544, 0.9981, 0.0135, 0.9916, 0.828, -0.6193, 0.0437, -0.0967, 0.997]\nstate[eef_state]: left_x=0.2773 left_y=-0.1862 left_z=0.057 left_yaw=0.0362 left_pitch=-0.0521 left_roll=0.0973 left_gripper=0.9981 right_x=0.3019 right_y=-0.0 right_z=0.1785 right_yaw=0.0253 right_pitch=-0.2162 right_roll=-0.0955 right_gripper=0.997\nstate[joint_eff]: [0.3077, -7.1179, 5.5043, 1.4921, -0.4762, 0.1343, -0.0122, 0.1162, -2.5231, 7.1043, 1.7363, 0.1148, 0.149, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d170825db7c7e958248d4ccd4429ce9ad2924b3ac494529ead67ded76c1c99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a566386dfe8e0f7a79027468c6c514365f85f45d2fd1d65bb02b3c9062424991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee02e45d71e7d0288e313da6c6108d23066ea250f386062be4a48788eace761",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbqqMsbmzf6I7p-KyMwiwtO6AFLGKKYyIoQPros56OXr3M9xMHT9A8DxJzircvsV8UVYexBZqz_FhwqmPEuz-5fVOLD8NYPy2IySyrLvscVmiPQ5qiuqduH_1snp_uU4r2Kg5hrH5ygFBB4_a76AkXWRPtqucEXtoSFQ89p51HZrTWMWSDv9GyZ5jD0pexDb8dQCyk48q9AjhHTLDEaCS2FbyERq0axrvGAXkoaWtQxX7Dn1M5D5_8WcEw1LeT8cS_faXbb60loj43v5-0B4bYUINPFYpTZ5-ou2YeeP-PlEjU8NJtmeXpuB3R07ltd3bylvCM-JzLWOqgKdoWU8gWl6-uzAdFAI25x2KRMt2HNCCw9ytmvpcjjCtY26BXQI1Xcj6KMD7eSKE3681knljAkoGw0chf_1ZHWxnrgHl4ZEVGzF_RtAih7TMCzgxR75gRLU_T4JbUg5Dbx6Y3Cj8zTpwJUbYBmriimSXc7Fq4WWBZN1mstPGhYtrBkeZS0cFDZlYDA699k4vy-kbEV2JvRsB78hlLE5_6XBVyn85JA1RKKaoImF1WBhRi_t4Sp13wywfeTHYV_K_bc5foFVGLYCYXR5MDhO55rsAcfga8gOeHhkoKK99WcuKyH8PnuiQgiCTkTLWyI8Qh0gll-pRaqWw6K2A9WlckvyFdhunHs3fec_lYIMShnGE40MTtV-uo2lD6FOkNaxCMOLtmDv9LN4HU0FrGRj7dwMVsw740GaoMmfUUT2e8hkalgKmfQUfRjRgBLHXIMONj1zbngMCbzAmScXvlHV03H0lp_KoGMvyOtgJ4ZfINmcpxFJoAo3BRBiuld-idJZ4pLqf3ZbnFH4h9VAdXxFSZ58Rh4KlbKSwz4ekJ7XqcFefKSF2CMLhIRFR69qQqVZrhmoaWCnGL8aBAcTvYaeEeYUq2XxpI6tXiWXGd4MXc5PnPypzxviuzHxw-pCpPPLuKhnbLE5j7tWG_TBMR0m-IT-JIify6IJgHhxgWKMhyJJO143l7iYqGYui2jmCGhntSlQPQETk1uo-qw0LQtL1k9JuhqvkRWqSvjIRaZ2dHfg1jJORFPlps2d-nlQtesfpj3438oewfEgFOH71Wip8Egj9B4X6oOSIJWfGEXUetKWFqzQmqFTvKvl3V_UhEjsRVWD7YlJJTgerM1bRUP9UGHuzil0WQTWIbzC0efyhfRfGWEgtOZaRmMEf68pCuELpoXBhE2CfnF1-dmIYc8xsLDNWRc9c1PXqnrQmIp5WKIs5ksqD5WFE063hghsYWJBNbu1O_romZqTWzMASh7hax0do9W9LL8Hqh0wWpj1ukKmDNCyS8YuqeFtgHD1fiKcULu4Sh0L2XMwQ==",
  "id": "rs_05f72a22376eb025016ab436e965dc87d0ae0bbd6e40b2351b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark brown body now fills the open left jaws at low height. I’ll close on it and check for a nonempty grasp.\"}",
  "call_id": "call_aGEomLoSyE3K7w6JkoLrkarP",
  "id": "fc_05f72a22376eb025016ab436e9d9dc87d08f21197e48d614ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aGEomLoSyE3K7w6JkoLrkarP",
  "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]: [-0.9997, 1.5429, 0.5987, -0.0669, -0.8108, -0.7567, 0.0325, 0.0128, 0.9932, 0.8261, -0.6163, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2765 left_y=-0.1869 left_z=0.0503 left_yaw=0.0325 left_pitch=-0.066 left_roll=0.0977 left_gripper=0.0325 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2164 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -7.0085, 5.8735, 0.9548, -0.5348, 0.022, 0.9304, -0.0068, -2.5778, 7.1453, 1.5263, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857eec1982afc1971bba6422059de1cd1c41c65ca014c52335ccba1adf04ed87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676d2c88db434fe0bff6807a3d5a98bc4d100ee6debe65cb1a57e622ca4edb61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c5a47c04247107cde33494c8979f715c61c5fd9cf2529251e1f978e53efa2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.356 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 79 changed as sent

message 83 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 0.749, 0.4591, -0.247, -0.128, -0.0906, 0.9981, 0.3393, 1.6703, 1.1748, -0.3286, 0.2607, 0.1349, 0.9957]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1539 left_yaw=0.0485 left_pitch=0.0291 left_roll=0.0042 left_gripper=0.9981 right_x=0.4419 right_y=0.1115 right_z=0.1344 right_yaw=0.0367 right_pitch=-0.2223 right_roll=-0.0927 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.0872, 7.241, 1.7411, -0.1148, -0.0611, -0.0073, 0.2256, -6.9675, 5.9829, 1.3748, 0.2076, 0.0317, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0016, 1.5246, 0.6041, -0.0814, -0.8238, -0.7544, 0.9981, 0.0135, 0.9916, 0.828, -0.6193, 0.0437, -0.0967, 0.997]\nstate[eef_state]: left_x=0.2773 left_y=-0.1862 left_z=0.057 left_yaw=0.0362 left_pitch=-0.0521 left_roll=0.0973 left_gripper=0.9981 right_x=0.3019 right_y=-0.0 right_z=0.1785 right_yaw=0.0253 right_pitch=-0.2162 right_roll=-0.0955 right_gripper=0.997\nstate[joint_eff]: [0.3077, -7.1179, 5.5043, 1.4921, -0.4762, 0.1343, -0.0122, 0.1162, -2.5231, 7.1043, 1.7363, 0.1148, 0.149, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 1.5429, 0.5987, -0.0669, -0.8108, -0.7567, 0.0325, 0.0128, 0.9932, 0.8261, -0.6163, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2765 left_y=-0.1869 left_z=0.0503 left_yaw=0.0325 left_pitch=-0.066 left_roll=0.0977 left_gripper=0.0325 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2164 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -7.0085, 5.8735, 0.9548, -0.5348, 0.022, 0.9304, -0.0068, -2.5778, 7.1453, 1.5263, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857eec1982afc1971bba6422059de1cd1c41c65ca014c52335ccba1adf04ed87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676d2c88db434fe0bff6807a3d5a98bc4d100ee6debe65cb1a57e622ca4edb61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c5a47c04247107cde33494c8979f715c61c5fd9cf2529251e1f978e53efa2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbtuFBf57bCRBbijNhzCB659IpfXQDd4rZrCCIQwbJxDyT_j5QJWzq8aVKEED_wVhX3K8FC0nHgfGkRccr5RdRwOcz93DQl5ddPDYgCyVcukHYM69tmgTuEXk9-OLfQ0L2ap0OSxFfwtlkyXL6MthnTnv8SL3rmc-vvYqhOuEnEfg_nTovvbZRfkuqH3C6hlE0e0yWyT7jD-HBtDpUnunS8uhwQA2aJfwm3hqCqFQvmjI46YbFdDtscrTsu4tXJE3ZHacAHEmj451dQEvlg9BebyO2mi_1qgSdUeI9_DnwLNvwbfax1hNRuKyDf9ZvIaYhnpIivk1UVZxtBHsGgc8o4F_J66Zm7V4XyFCwuUSg9G8yddUYTSi9YoucRiutzsvEab-uJRg7lgbh35B2aaI4JnyhEzrRcWigyRdgyDJC1qczoTMsUhKTPHMuJNwkbyWAuISd551tEp8Sb4r2CQ_aWqsmAXeJl0axS_MHudlCjbRRqmljV2mkp9aeXPn4YJRKPCJb10DRg37ugq_VDbJ60MdotAQxluJpqRm3h4Cd0Vu4HIorH6XUpMdDIc50pwQ3_G1FTEkMd1Bpznp07veC9v8L3WpLW3eJDKFU0Fy8LeyE0NbvliP0zgDXO5SaSiE8Fj-VT4MJ5k6dsK4Bi2SfSjLIcs4_KFBt78rLlp8nxiTcPkACAHFU3zZY-RBRshFpdVS606qVDWEKyoH4ulo6bA2BOK6fgGK1JNr1D-jtxbRGkfyl7paGwwLXKdosLwZnut5q-_T9VhAkcEVClahf83D6iCfWeWi8w-F_VXOQFbPBTlxHzaNyRQ3TNvhdte3KdCThwp8r30YJqwO2UJ_q-g1nSP3lujbD11q0d4g0F-gGsKv8bzTeCy9D_4jSPaadUk2RXq42DMILlYao6VPuZZbcl-JniGZ3Zq_YlUL4Kd7U_szXD5Og_z58uSwwWGA6MX-KVTb5tcQ2gZPo96slzVy9fCNOuBZ8xN1qpX4aAZC66RiZg7aY2WjSDl1HI-wRz0SUtOMjXGY7On4Ue7tYhSK8MlTJPbzic4bhUEB7u6B43xL84x1gYCuY1mS6kd3hEL-dv3a00JqiMaoUtuRM5qhScy6NRQLb8sXCUiS9q1y-rBsTGMGGuxSQE3js1WkfdaxkWmPBMcANnnHRpmTrisI4kfeD40rGvYR4zjk-gYKxsH-2WGO53FQj--W1Qc8ieuv5kc3kHuTek9ZedgV7b9oSoJKfggSRSbKzLjpu_jCPm7jmKPX6Bqt1edLEU-lUo819UZVCrA-JPBYrydji_Cccfa_dpn_XwTivsWTk1U0NQqJDbHKG6os0aSQie9yfOD0VStNSoiPtppYmBhEyPCTX80sOIisrhMUKxd4LLDCZs9qM7897kPcVkLhqk7xXB4QKVaBaAVb5qxu542-0thzhLtxf__OrAQrJSNQaP0xZ__GPlpzPAWu-FD0-gXO6btSSurZdRuyp8fy_Ds-dQfA==",
  "id": "rs_05f72a22376eb025016ab436ec67f887d0a04893e7924f9329",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The left jaws closed nearly all the way, so this may only be a tenuous hold on the brown plush. I’ll lift it a short distance and use the overhead view to verify that the object rises with the gripper.\"}",
  "call_id": "call_PW4Ph0H8rDl21AMrjzuQzy43",
  "id": "fc_05f72a22376eb025016ab436ed29c087d0b2f9c60afa3ebeb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PW4Ph0H8rDl21AMrjzuQzy43",
  "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]: [-0.9997, 1.3678, 0.8318, -0.4656, -0.8043, -0.7597, 0.0343, 0.0128, 0.9932, 0.8261, -0.6167, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2787 left_y=-0.1916 left_z=0.135 left_yaw=0.0299 left_pitch=-0.0657 left_roll=0.0842 left_gripper=0.0343 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2168 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.0496, 8.4718, 1.0525, -0.4713, -0.0073, 1.033, -0.0752, -2.1812, 6.8444, 1.5458, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edb5b3e18526b77d27917a95f2b8cb01b4783c7d9cf4c3b515833f7804c7085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67ade15bcf82ebbb0fe4e137af9b0a6076c0ef13f75bc66a42a6e56aa8e87e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16e442a796ab69f5d565d5f518a068b37bd9ea44391793726b1946039ef65b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 9.693 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0874, 1.2572, 0.6662, -0.3779, -0.8658, -0.8227, 0.9981, 0.0177, 0.989, 0.8314, -0.6003, 0.054, -0.0769, 0.9968]\nstate[eef_state]: left_x=0.2524 left_y=-0.1837 left_z=0.1245 left_yaw=0.0094 left_pitch=-0.0027 left_roll=0.0283 left_gripper=0.9981 right_x=0.3055 right_y=-0.0005 right_z=0.1841 right_yaw=0.0098 right_pitch=-0.19 right_roll=-0.0883 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -4.5197, 8.2803, 0.9206, -0.6276, -0.022, -0.0122, -0.294, -2.5368, 6.9675, 1.3944, -0.0611, -0.2076, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 1.5429, 0.5987, -0.0669, -0.8108, -0.7567, 0.0325, 0.0128, 0.9932, 0.8261, -0.6163, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2765 left_y=-0.1869 left_z=0.0503 left_yaw=0.0325 left_pitch=-0.066 left_roll=0.0977 left_gripper=0.0325 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2164 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -7.0085, 5.8735, 0.9548, -0.5348, 0.022, 0.9304, -0.0068, -2.5778, 7.1453, 1.5263, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 1.3678, 0.8318, -0.4656, -0.8043, -0.7597, 0.0343, 0.0128, 0.9932, 0.8261, -0.6167, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2787 left_y=-0.1916 left_z=0.135 left_yaw=0.0299 left_pitch=-0.0657 left_roll=0.0842 left_gripper=0.0343 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2168 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.0496, 8.4718, 1.0525, -0.4713, -0.0073, 1.033, -0.0752, -2.1812, 6.8444, 1.5458, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edb5b3e18526b77d27917a95f2b8cb01b4783c7d9cf4c3b515833f7804c7085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67ade15bcf82ebbb0fe4e137af9b0a6076c0ef13f75bc66a42a6e56aa8e87e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16e442a796ab69f5d565d5f518a068b37bd9ea44391793726b1946039ef65b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbzsd5KdZt4Pwo0g5RXopK4JUT6tyVHsQ7hQ2dyZ862K_JvxZVY2UjDNzX6XvnldSa8yffpxCTPsz_YrsLObJO2rjHgjVbawkDoB3MPgWk7EL1e6RyezscJCqpeAtqd-Kn3qd1B5grRNi1S3jOmmPOEkJyh1R2vZNf9mi1y_ekokMAmL-493DQbnFjFwBGiiAq_DZZtde6BeerjUOiebZCNze8KBLEHb9bsu9Ir9kGFGzSLIPdbXsSpsSIsWGQ7cdi1pmTKNiMJRP88PaGql0iwCgPD-GB11nfx-sWQ49xHvEM1nipgoitsFTTx4ru6HYMRjNNd7NbIy74n0L2xhdptTmhIjWpxpsz8dYspy-2tGJASgO4zbdbm1S0xjI8LrBPoWSqHo3meBRKWe_yP1c91ZQtfEgcPQsc9zXmRsz5vtq4TEZNAL_e2lHaFsWaCoCB1PuIOS8Suanu8kMj9SFNzgGTomC97xBygNAsGawxxVX4yHytOEXRGWIRwZY7ySkOydGlQGIitc9HjIDouw-uoi_nOd4kmL6GGyA49brg5QAKThzvPCF8K9NNna8s0qSWsTvavBPYLxdK6i7fovG9yYKUw8HWh9zf6mz-bcwbCF7lyNhwBQmyUAsa7uBQL2YlzNB6PcYQka_mAgOjv0YAhtVpC8ARo7tdPfKoLdpmqy-4BK4xz7NU5JPZMp0DcVhHGpd3GlWSjjm33iWBIEoKS14ZhQDBWecf9JxLttszCQV4FFG9BvQTekXcKDZAuqq0V-LTnEwH8HAqbkzNj9U-bLGPGbLIdK5ERkFnzqrgarvJvRn5RrJ7Y65_rhWpmNeNuNfHH5cnPAZAd9pVy2A_DDSstSgFdOioJTq3xddE_kJ0vMtWucsYxgOmX5UDJvycL54sjQKKp7IlKIn9LjKlUG71upm01tcuSkLeG1MRN5TFyne1lXzcDF1WsTY_UBR8L44f61hKTGUT15_nGiu5sRVRQAmxs2VrKXaPnJFazKn7ulBxCOcqAe9HKfweEDKgjrKrjY12P-nh0SwHrKXQK6WvPn4UP7p8gPs2HoTYsCY19FSUfwjoEvUA1AlYqsHjAVMyMtyQUdfvo-8cnU_BAov0D0z5S-KHK9ikEJVL7vNN0I4YVBvW4lvqDebf0u1QZVeALoHEsN2bImtX2mEVc2FASJx2EhiqUOAb5aVZAoNUBF6uHCZESBTvy_89eFMuhmOsqcBGsSIg5iXmbuN1uzhO8LKScYVZnfvxMoTsUhkWJbe9AE7vqQGbudAs1v8uIznNleFvuddwVibvWWy3A6WiyNwM0uhhhbJTn21LWvyFZqovXlDQ9SFZUe3ccHQQ_64IaOE7nwvDdW16m4htSum6Cwkux6TNFdS4Ya8roRGrmglugVa_CLAk-OST-Av1f77Mf9gXhd925LCtu5iXENYJJrijOc7fqsBHXvk17mlfMNcqHNYL51shGeV3BNt5KKsDUUnHP7w1T3h2xTPWR8DuVrNGAcaUWNJC0wmJF_suvLSFpewKxj1rRkw3lWnwYjQUWi5-iWcQICyfXmtZEgecu0AEAXlciQfwqV2zrslHeBQswZ93lxFXIouMSPZj2aKbPEwcCaYgGcXc4o-jFImm03hXY7Jh4ioGNSu6SZdLld9na03lomV_a2XGVcsBX5c5Z9eXlZCxvTtOI-ngsu0pVHvip3ePA8c5XlgSpIGgRE6AgVtUOYUOXn1d40bDipceVz5dJQFfu2aZiiZs3Qy_VyRs3xaXSExzicXeSv1s9xVKVRJQj0ZHkocpHfVcopi8wdvQmGZ0z9WAcHXis6EbnZ3x7vMb91SUAI0sACY7LXn3QiIWO1J_DZEXqRyxVclhtw-mYXKqfG72YvphS0shxlbBur3ebyqRXYhzl75tqRMleBtiaOTPmsaBL9QlwMIEAUygRnzlelZvMyB-v1NwpF7mOihjdD0f4Eip0fLwlJRByMNZXSnz9bokAFBBfMd96Fqp3qQo9sLORZKTyDiAGzxIxANNM_8U4M-UCiiW3CcxgiPGrubwhC1rt_tHPvYR4AEbQePmyoKSVhQT8OmeDr6cI69BtpurFG3dKfOKE1DmN0hV0XShTk_d0uTrTXhYTsTGTTqHQJM4bLX3N0y0olB6_XLKsX4ulMTuQwZdQqDjedgZ1SyyqsZixpfHwS9rYQtwA80b8VVJwe35WirS5IpkRFt01VVwsLflFCXoQbqTfNM1c1A1B-fvta2mAUsjtjRYula8CVipp3ohZ6p43Vm52dGh1_Q27ip9TGYsUfluBtkNsXWhhrkB7vnwn7d6sDV2OKAs3I3_OluE8MEeF8Q_CGBlklFHciVn8ToY_uJeI5qNtLLFhDJN4UbOGGH1TRLlXIRBVQ0r4g7Q-rWyLTiPZpsnGUTTyPBUu1RCrtFgqw9KfukhJm-xcEt8wO8LwUMS144_kwxqUVPKO3Wh4w9U8LAM52_xzzXARZHoJ-0Os1ln7cp_HnQE43rchGXsiXqJfu6072BGyQpXRfWmRhh7fVa9Uck8MJ4h_5dBEfUCHUHjJxEUejnswwFoLWyoKtLa3oFf-4MplI-22P0MMeKI2U5RU63DwUo4KPC1vOmUhZvDLXCf3DX9YrW6D",
  "id": "rs_05f72a22376eb025016ab436ef82bc87d0a0c6ca5e37c6032d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.11,\"left_z\":0.215},\"note\":\"The overhead view is still partly blocked by the left gripper, so the nearly closed jaw reading does not establish a secure grasp. I’ll move toward the left basket at carrying height; this will reveal whether the brown animal follows or stays on the table.\"}",
  "call_id": "call_bP63wNjnLi5kS3pEKMA4Xg4T",
  "id": "fc_05f72a22376eb025016ab436f23ee887d08a7e32e614db3e9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bP63wNjnLi5kS3pEKMA4Xg4T",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4164, 1.5448, 1.2133, -0.4084, -0.4252, -0.2707, 0.0343, 0.0128, 0.9951, 0.8242, -0.617, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4288 left_y=-0.106 left_z=0.1973 left_yaw=0.0683 left_pitch=-0.1033 left_roll=0.0855 left_gripper=0.0343 right_x=0.3019 right_y=0.0003 right_z=0.1762 right_yaw=0.0261 right_pitch=-0.221 right_roll=-0.091 right_gripper=0.997\nstate[joint_eff]: [0.1162, -7.2547, 9.0598, 1.6777, -0.1343, 0.1734, 1.0232, -0.1026, -2.6051, 6.9812, 1.5116, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7ba55807060b83221c427df4085007e462edaa81b21fbd5baa929aedb66516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51078ad1c32ba699ac561c0fbfd1d45914d88bfe6d9f8577e5e6d5cba4a8169",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5370de28adafddaeef3e2bdf5aaa01af9b7d5b1dd25fe537f9b8909f468cee5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.581 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0016, 1.5246, 0.6041, -0.0814, -0.8238, -0.7544, 0.9981, 0.0135, 0.9916, 0.828, -0.6193, 0.0437, -0.0967, 0.997]\nstate[eef_state]: left_x=0.2773 left_y=-0.1862 left_z=0.057 left_yaw=0.0362 left_pitch=-0.0521 left_roll=0.0973 left_gripper=0.9981 right_x=0.3019 right_y=-0.0 right_z=0.1785 right_yaw=0.0253 right_pitch=-0.2162 right_roll=-0.0955 right_gripper=0.997\nstate[joint_eff]: [0.3077, -7.1179, 5.5043, 1.4921, -0.4762, 0.1343, -0.0122, 0.1162, -2.5231, 7.1043, 1.7363, 0.1148, 0.149, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 1.3678, 0.8318, -0.4656, -0.8043, -0.7597, 0.0343, 0.0128, 0.9932, 0.8261, -0.6167, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2787 left_y=-0.1916 left_z=0.135 left_yaw=0.0299 left_pitch=-0.0657 left_roll=0.0842 left_gripper=0.0343 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2168 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.0496, 8.4718, 1.0525, -0.4713, -0.0073, 1.033, -0.0752, -2.1812, 6.8444, 1.5458, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4164, 1.5448, 1.2133, -0.4084, -0.4252, -0.2707, 0.0343, 0.0128, 0.9951, 0.8242, -0.617, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4288 left_y=-0.106 left_z=0.1973 left_yaw=0.0683 left_pitch=-0.1033 left_roll=0.0855 left_gripper=0.0343 right_x=0.3019 right_y=0.0003 right_z=0.1762 right_yaw=0.0261 right_pitch=-0.221 right_roll=-0.091 right_gripper=0.997\nstate[joint_eff]: [0.1162, -7.2547, 9.0598, 1.6777, -0.1343, 0.1734, 1.0232, -0.1026, -2.6051, 6.9812, 1.5116, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7ba55807060b83221c427df4085007e462edaa81b21fbd5baa929aedb66516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51078ad1c32ba699ac561c0fbfd1d45914d88bfe6d9f8577e5e6d5cba4a8169",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5370de28adafddaeef3e2bdf5aaa01af9b7d5b1dd25fe537f9b8909f468cee5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDb-7vVCm57h_ujdj1ydjIJ3Qk_JlqefXM41zyEnMnDawir4o6zhqPgk3E_hUUkllw_3rN1-tRwHKXXV00_9AJUaVZnRqSwfmV0rFTBFb5cjk7vtXjfc4_DNm4husbhlHnMInxfX4I5CqC8Vo_65luNhqmwa2lWI-pIxfM39yqh5MPst7XDucUbeAIom2EEfB5QfbfTFQLfa3VnkBbKiXb1KFQW7KnJV4s0yG2fHxaiKCypsaSFb2o6s8dXnqZxiAWQ0Xl8h26rFA38CPNMGE795pjy-67-ssjppUq00SFlHdPOst88-bCYgx5MhlGR4cH_fb1GbN1M21vlngF627eCUeqY95Cu-2vSbEaSyguL_vFaZzH04Y8X_EfaRcDPuMbJfXFUv3NvYUKJR6qpBUghXpC5_9Rcl7DE3hd_2o07IXTr6bOqP-y5drMmAA5zsF9wYSgppvF6gL7FOODy0GoSsIwQ_VUo5JjwvJNOQbtaQxlQ6KVhi087_NPYk9PO4juJRo5hAPCijJKdm2A4bwnj3-gbXhWN9Mte8mYk52VIrQcrsS2sdFeGvfs0eUyNzVvBo-4J4zdKxQGQWKQlopwelGeFJTDZi5OPQewukg8Da1HD5xuHIP2Loyuwg73JEFJU6vha6Z91J_XVlIeBF1DZNJwgJs5QJDvjAMe2Rvr4JnXAXKuaErtrIpRV8lf82Xtjuxhrr-a-ih1aoBA1yNrzCNfK5yWuGS_UmE2V-GHlU6Jl2zm0Xg42T-9zdmSrEuvNB5A9PiZhDj4qjSVicMt2kejPaV6IrW5SGEZpYqGPZc9WS9iziJxtwszgOP-Iw2dup9TAs7XZKXxSraaqtrvEkgBsBdxXsQLowt8F_ODPbrAFHGm6X4XEpNiKjxk8vSVq7M8RXCV59b0jq2oPZT7G1wHhAH8Iqgj624JwUC50ubJ9SVoEELI1Ml-g8x-c8tkxn6T0sEGjvaZ2SsPxBsT0SMZsVXTC7FA0Oemrq1o0AHmfn5BQ-kYCivzGozeQr_jT0SLY32kLkhqSjNFiIYRjCQvqKzii_l74Dm1AJlnnGCrNdFUHfL2rYSkafioyiXzSuxEyRRdPXVSItW3qADVuQEFqEGo0l3NZ8WYaN4m1lS6Rqpd6OLxJbYu9JesDwKea5BPSosrw_RERpushbCzyducQpcIroAzuYg59CqTVX5pPk99wz75NgaaiA6ksAdJpL7qWoNp_WAE3uAnHNDyAFdXw0O4u7LuYHpC02Zx7EC3Isu-FTfOhFxap8zFuqalW7HBUIRD7S-Nm7jq5EAdFJEOzsCPDxJI2a63RfQ6mZEv6BX8A031KToU1mPxfQcRIpd2Nrm5-7yrmGh158YgKz5DD48tmw-8QpNUqe-0zRGahnZbKRN1EK6YC6AvdlJr2awQYdJ9a7999rOnrBH18qJx6XKfbTVb6B8XGkXX4neRixRurFw7SHiv6AioZSpGC_wIqOxAo_EowGXytbGeRvCUMiabrWCNeclL0B51Gk9X2Ks5t0Nnm01ha2fO-eepHx8XxPBpffxDPIFoe2YNB82_g5MFERRQaUTzSOdlKRDAcenuhhTdWkQYOFfOkJBv38X42JzZwiBsBJTvx2e0uYI45BPOR9bWHjI6lucfx22sMYA4qohF5j8HNh5LV7_KA3FcMB_Mra7P6k6bpPCdxvOr2bDV5pyGqdJ8-Fh6bCS5KWrrudncToIoDl4vsNRmYY2cmcybkDvaq5FWMhQBVD7CdKJr11JcpfXQnlcW8awWzmKY_Qb5eTwRME1HnI8otvjvjwj227yMOagEGJ8isCqTPccxISFfD10UORPZU8SBdgGLA9DLKoYkCgZDPpRQUp-0s2ibKfxrQO1eapYp11FLZGfjT-KQNSNEuPzuR-nO5TUy4RmQsM6d4byg4WgxrA19m8s4Yep-0vEOmn1Q0GZmp9FLiWPGQuwlbEXdMFJ-IvCk4G-4COKOOqM6rDR81IBOyC69KGEMEq90bDJMuBDk6KJ2C-btdx5iaCP4ZmoLwJmnp1ahIzXdrEHuRSg_f9FOcGdSXYwUYoNLM15uS4rwj2wxx06LZlTR3NVr9LnWa5-V4-_IqK2Z1tskLYsUjrWcxsMrguGRi5dJlIywbBUFlefSJXdUpSOB_6OTEi1LIID31QLa2zgt7S9B3vChn_ZN7ReaTKgfln2BbdUUHHr_dwq7xP_acwenTC3A-PcDW0AMJgnknfKG0geEVuA9OvpD7rMq-1sVJYjOOOy-qcgUb1DuV-bQZcisn28QFpLr0544CC45E52JwpnU82SAummNNwU1EvqJ3MVXjd7hbU5zM3jGhxhBqFgWqjum2tDEWrMrj2Y00U4AgPHmS32hiFN15IP_azMcAMfTMhvY4RwNmWqdCv2ifhCTcqgeWQt5nQdQOi-xDqP_tlonmXC7sHRoC2fdKbApbsYQgCWQb7HYS2p-FhzPWSBq19vmUYrYXrrfvRD1mT7oIOpicmxYOABMVxicl40cYSc414equHuh8FuMBw6jBruIPgbs7UHj-DJjoI1gG45wyoFex1ANd7_TeIy-81naIw_PLBFosLcgLGXmhRmd-NuFYhwCkH6r261S2DiWiH05_6Sqxl5SRDIO3Q90QmfgcqM5FrvyhsRz9alO3OoCZOwGGjW-ae_-GVkyfay14eZusv7hhE7z-HgeXwm3TwYr1kwlqVrDG1Wct02zcsG8tno5o7L_Y8seqH12iZREXeQFAO-4TDm_yjIHUmI8K9SPodfCvdj4TuM9uJzBEqtd69j0uudvIpNYDZMHklMTETZl140na2Ii1u5hJ2f-uN7uFCVHFWnvkowVLnQVSlJtvLSiwcsqMYZH9C50JLW1wju7YgVSJm-r3OxCUQxeOsjbWJpfDnZEGSBx-2KuZfpiJRuvWgINdjqU4tg5-172JV9Xq44vysLB2m3HsqpC5Fg-1UA7UbkF2lJ_aifYP_3I5nfXhbLZhsgxDAKeFUFTCgxzYTkCRKgf6U4hcOC0CnRsUmaqkB7u4FLY_Zf1IEKAHSOXO3uNtdL0ne1Kro8bZfDZ_i59Pvl2ZQeovj7EqngGgcARCN2GHysL-FHfOJ87KcTsUAjHdein67Y-rYoiAQfUfAOSW3BjyThcByvy2W5-_-JAjOSdMfH3Oamujzvm7loD6Yl0b0WORVw3GrrQ4Vmsn7Z3EJ1W-yOBX6fOiovsFkW4HM1in86kUme7oS8EPhdLLUdHYtIUOCGXjlYaJTLATVGVw6rP-ivW6eUhv8wvOiKQreftAUOk-ujwqmI1S_dghN7-nGp7EcbXy0wf658y2oYu9MJnTsiHlVQkeJX_fd0bTELw-9P5xQK5epV5_RFRvNh-qfeeLSmmuTrOJHlSpNuAXqfUDL71iUwcmpgmnPPsTj2Q_UbcLMcMuhtswMpMSJKHje8zFYzW1fyS-uzngC_w4ZG5sbSjLR2KVGFeXR1i0-BOGGMvjxSbloOOTZAjD37big4DeLqYC_cRyC6Utm7sGlkv_fNiW41neDV4e25qHQM5DPz9WUb3RoNLG-9QYbte9uPrd0-xybeyaqyaCl0SIZ8gpGmB_EcVb4fQmNXDEQtxmHtkp0digvB-pQTSJDc073NPWB0LzfRnAeaQT3AOb4J8O1EnNH26DvWOmUAdlvemYCaZXec50306hUpj-U5gm_tfI9fC-v4oehJiiTNY0gQdeEjuqqapeY1omgG51eTBwuby0KbJixjhoFv_BePnnCZ_Wxfa0VVc7n5RLs18fJ1GF_qJi4Zcjh8IKInyvNkFOS-RJEaK09TAZTRWgDtLFNklA=",
  "id": "rs_05f72a22376eb025016ab436f683c887d0a9cb7f06865eed05",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDb-kAAJSpxnemFi-8RF45MQeKO9ltyfhGhagiViF1LtvuOooXq4qWPCmj7YPRei95bPTQt6Z_S7qO3eI8v1oPewSkvsPd58pfkLVbPfO12O5E_9P3fDy_zuW5SN4hcP2QVBwa7P01MRU0hCEs94ZlJwNh2AtATiFVgEdlDO0WifQSfakd-UyfTEWX78qB_-RD3r3kqoYKkGSWHFaG3Jd8wKpxuVFL2wnL3Af-bpgDDr7r2asGH5pKx2Wp7ZL5j1utaWaHKkay0uhNz0cKwgjYlhQeqkWaqni9KA4BskimS8oDWHbFmp1_a5zkwKAwfmT8YVXfMdPWQINqH4VtLEAGJiqTiJdy2bEkuYqPv3bDlZdidHv1es9HoTUaZTZ7ZGSSXnhG8frXbpFg8FPNEr3tqLlBBTkhqvKgnGQh2Erv3O2_TU6T-qsBlY4VfgZefzKjFg1O6WnOajXZXULBYejUu-h2eTUTPKoD2M1YV-xkR0ONpiivbUOz-lR7-dum2TaQJ3bXtdypAlJSZQnCC9XGJzAEfH2vv71Rr57Pp8l4LKjTenLe2mT4Zh1mXLeh4Zh3KJ6bdDLSY68LgNJsFy_HNA-gUmWz1aQwMJO4mM7FjlccEUc62cUslKSeQ3CwH5tF_uKQZQZaFTkHeo2onyuxpm-tN0eSfwieW7UKdO0WX9W_WPYsLTxLrvSe45WX67x0CfoFO9V8osWtxsLhdLSYwmD9NVn_iVf7CQsSBCdvm0_fP6tHVBOsPFco9J4MMTOsMgssYSRuVo0JuQwh5f81Ky5SlkhUwl6xhKRLZPx8hyzy5CUSDc728eg_OcFYDdXATHHLvmEJnWVTPGKU8q12hRZQXV-8nxrqv1BhD1BpACKp5_KoDkzPzUkI1T5UZ-noqAJIpOfd3od7pODX5lmZdi7X38n8jgXobZkFhng4u-EWWjHI_LCWuGsRRu7HNbr72qspGyszxDb5jPXq1rVsDm5794iiDbQXNMQP4NWGu9jMniZ4GQHs8tQ8DuO0zMjih7jdlFmFw-R27Pq32ItZtQLfS3c0_vxPwtQOEoM0GklHyBtB3KE6eZI6JxwrFl-zsa-amxUsmIinp-rFI0a5CrR98bPn4zy_dt94BeYw5a_pFwB3JjFRhQoB5pHCyUlQt8Wi322XHfhEHktq0t0s6x0aU13OXOpwEPbR0NhI18Ul5e__wgOofQieDL9NYViC683Itu95gU0fEQaZL1NYvGQw9X2NT3MNBf_meE_NDHqH_pAKDS1IMhJ0YwLjPMseeh_FrrqIh1JdO8Y2nBJizqwuFlqkvdZQSSJXZGGRdxInGujEjZohyI1uIfQSeb8BWu8hqcNqqIlZl1-nn-eHemgyWFHeA6R0EbIATfQJfk5kP9R706o40mmIwqEmYEycwIWwVXCXtrqbIgloPjIQuXKRtvnJyhHhSiqgEsN25vSfSAMLKsQ58KVYxTplW2cwm6k6tcOWBk8vA465CwIvKLPGgW3yIEVtobMTkBASOF7lM6mI0mBrpyckcx1nY-DCFMf3G3vHrQQYu3ZDHq9CIFUzvn6zE8BJzYUpfs7WI4p8x5fiYRkBiGVnYr394GWZUDlxRvNzsi_l77HR-e8OFS9OFIWpZN6wAeiF4csq-9Ien6zoXV1I5E7KoAJs4qk9jL91Kdj6iyXnKoXW5eRRcMmA==",
  "id": "rs_05f72a22376eb025016ab436fd170087d0b23168d5764fdb51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.12,\"left_z\":0.17},\"note\":\"The brown plush moved with the left gripper and is now hanging just in front of the empty left basket. I’ll advance over the basket opening and lower slightly before release.\"}",
  "call_id": "call_asawIJVpDHNdE5P1YFsvojUD",
  "id": "fc_05f72a22376eb025016ab436fdca6487d0bba77f4fbedd163c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_asawIJVpDHNdE5P1YFsvojUD",
  "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]: [-0.387, 1.7809, 1.3331, -0.3435, -0.4091, -0.2611, 0.0343, 0.0128, 0.9989, 0.8234, -0.6174, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4771 left_y=-0.1147 left_z=0.1532 left_yaw=0.0829 left_pitch=-0.1546 left_roll=0.1068 left_gripper=0.0343 right_x=0.302 right_y=0.0003 right_z=0.1748 right_yaw=0.0261 right_pitch=-0.2259 right_roll=-0.0909 right_gripper=0.997\nstate[joint_eff]: [0.3487, -9.2923, 8.6359, 1.5653, -0.1001, 0.0904, 1.0037, -0.0752, -2.6872, 6.9538, 1.5067, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ddf1fff51d168c4b5af6f0038e8b070c2a79acc617ba06140248c07c96fdc51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a72ab7c6e7dfa4aa7588510b3e967002edc5425d4dc376289019d3d5f28274c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa28e1dadb0ae31f69b9a593ca805452e8209cfbcaee2cce24ba1dc2aebc452",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.97 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 1.5429, 0.5987, -0.0669, -0.8108, -0.7567, 0.0325, 0.0128, 0.9932, 0.8261, -0.6163, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2765 left_y=-0.1869 left_z=0.0503 left_yaw=0.0325 left_pitch=-0.066 left_roll=0.0977 left_gripper=0.0325 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2164 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -7.0085, 5.8735, 0.9548, -0.5348, 0.022, 0.9304, -0.0068, -2.5778, 7.1453, 1.5263, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4164, 1.5448, 1.2133, -0.4084, -0.4252, -0.2707, 0.0343, 0.0128, 0.9951, 0.8242, -0.617, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4288 left_y=-0.106 left_z=0.1973 left_yaw=0.0683 left_pitch=-0.1033 left_roll=0.0855 left_gripper=0.0343 right_x=0.3019 right_y=0.0003 right_z=0.1762 right_yaw=0.0261 right_pitch=-0.221 right_roll=-0.091 right_gripper=0.997\nstate[joint_eff]: [0.1162, -7.2547, 9.0598, 1.6777, -0.1343, 0.1734, 1.0232, -0.1026, -2.6051, 6.9812, 1.5116, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.387, 1.7809, 1.3331, -0.3435, -0.4091, -0.2611, 0.0343, 0.0128, 0.9989, 0.8234, -0.6174, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4771 left_y=-0.1147 left_z=0.1532 left_yaw=0.0829 left_pitch=-0.1546 left_roll=0.1068 left_gripper=0.0343 right_x=0.302 right_y=0.0003 right_z=0.1748 right_yaw=0.0261 right_pitch=-0.2259 right_roll=-0.0909 right_gripper=0.997\nstate[joint_eff]: [0.3487, -9.2923, 8.6359, 1.5653, -0.1001, 0.0904, 1.0037, -0.0752, -2.6872, 6.9538, 1.5067, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ddf1fff51d168c4b5af6f0038e8b070c2a79acc617ba06140248c07c96fdc51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a72ab7c6e7dfa4aa7588510b3e967002edc5425d4dc376289019d3d5f28274c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa28e1dadb0ae31f69b9a593ca805452e8209cfbcaee2cce24ba1dc2aebc452",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDcCJfezwX01eS_hf4gdzUeNCfRZQaDKUOE_rv_Xd7I2vJ-oBghxT_U4_WuAGkzjhWMNCa8TBj_Q1kEMai6BA-Hdkq0iLm8tZ9j75au_UaB9cCMO7VaZshwhGqv_K6jwDMOfBoWJMVhcL0ZXajMzZ3jqYIuPEwDJH2Y1KjnbSIGtyoMM3Q22K5b5j-O9HwGJhgn59J8BfVxiriVm_gFVxer4OIrFacSmXkTpFLg2bPmQwF56gOpKPMxyqWgpSw3LIXFdYaJwfLQ9CZMbAzcCZHVVnSg9L0GorNi7Re89elKq-jwTdHjjhgIdSLUR_w7DtbVLDaF_Ka3bPcQKMeo71lxvjq9ev7KuAeR_YWJaofUWjJ2ONzR4P-oH-m7fD2CW_XdnZWLOt79NtCejPdSR4sNz1374jjMKUX1EL6JMnCzx9RdG7uo2eNuKqA2NdKqIdwZ6Mw2UyZfG0RKGWWtd_7327X6OzqeJbrYr9ehiuPHCfBvnPw0RvAFZby4QWvTZ5cIpEnjewO65PFHP1w7YuJ6mznRDkHr3VbCJcfdFD78MGebPioLKxguXKybyP_EQvAi6_yskyOR25XijP2OSScT50qXprOs723RMHUdk4OMzoRQ8zIs-907DmFA91L3W2zCp_Hbw1hv_0Bg3y4OaAEnajO-S_j6MSX_PydaPUlDRo25DwpQbl4YkzBOkm086LSKCjQqy6HazSWGLYUhrYOvTNCFlhq3VBGXpMwT8w4V8PRwnDqAUboHABCbyiGdtU2MUsn069Azs31dZED9XWIdp6_V_OmejmIP39VOevdfCcpQZq1ihOgDXG6aeECCiiTAQZIJKfEBDoP-gJMxy83U-A7nWQ58byPngJsEQTtP29-YsajfT1xn8hvUxsFlsLzCVyorga0a_-ZE-4BR67ev6FVgQJRuHid33tfKZMyFVTkbkRE-m47tek-JmCgSTdjeMFfq5KqopvZ0Zrq4szIVCswBLa5LL6LdarFZypaq81VX5kjZFNJQ1u2MlePQJ5xqcfskuMRnQA4Cp4kA5mtkwF00Nl-L-GLpwkgijNUuytOc-IYgoXU2n9mVBcGvI96V47cjGVgicipcFB_rOfcixIlJ3rdKvh_zkCqg_WqT1kcoWFp3_kLkP586Y8F_wtjDTLVV51ToigD409912cj25kMp6K2TfHx5A247IvqTUOQU0NlVLM-lq9L4DNb-i4lMKg0TOWMRlVTVSaktANwLhldYjGBvicLaSyuDI5xtjYmtJm_D7oBFdQm7R8oWF4pq5PKOqx3ptbhuXQhPUBkPj1Rk3NFDl1QNHy1qKOWWVGAEl491meZzTE11bhdqBRL5O85zdDh2T0r4oqr8oQMm7g4hy5oSiZFit-pQS-YvbzGjBcGlRU06s-Y1CJlyIWw9pmTChWp7UOLuaRLdlinu1a9CLGV4sap4lSiZL3iNstONW45ObDN4Pa8fWYeLEE0h_cHqh7kJHKX_pzF3UbZSWaVe4yEbXkDeAXnRYy0JW0Ddk3K-f8eBQ0V4lR9NCtTeSDA7PyHrL_Lfi33-1ADvwwlHLA2Wiufy2xhJjx5xGN6QK5VH3ZdLZk1GC8fXgTGEf2VURpmNcr4eIm-mwKu0208VZU24XX_JoGSpaLkAPjs1OPxaV45BfF1B3Ld0HQmAzEIW2RlT8CSloZp-QlT1FWoGuhwmLoNyRwwT4HFXNHuMCVSRjhEZyJSoCqae9_FJhNadbdQN4WeIujXFJtQlrAZLWlwXRrV0bFyMh4Y2dK_EDMhui0uyJw_m6xZzgHto5KofeLkLmsJC2h1i-j04zHVfXmaqfGRsbXATHQZo8ej5E2lEyAEQN1dHlMVdn7gzrK811SG6eQTCz5l51TYjAylfCmHmu-a7GCzNmnexFbrKwGpMUqEq1qSvG3BM0wZc9NrDLlAbQ3K_hgHVuwelS8VPr4yzImBorxNAWdKYGiew=",
  "id": "rs_05f72a22376eb025016ab4370089ac87d0aea16898b4ebfc3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_z\":0.125},\"note\":\"The brown plush is above the front portion of the left basket, with part of its body still near the rim. I’ll nudge it farther into the opening and lower to keep it from falling outside.\"}",
  "call_id": "call_ARPZKi7ZAkqs9Fk4Lcv6KJb6",
  "id": "fc_05f72a22376eb025016ab43702022487d0b0fb2830e07c79fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ARPZKi7ZAkqs9Fk4Lcv6KJb6",
  "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]: [-0.3828, 1.7947, 1.3457, -0.3344, -0.4065, -0.2615, 0.0343, 0.0128, 0.9989, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.482 left_y=-0.1149 left_z=0.1533 left_yaw=0.0846 left_pitch=-0.1483 left_roll=0.1012 left_gripper=0.0343 right_x=0.3021 right_y=0.0003 right_z=0.1749 right_yaw=0.0263 right_pitch=-0.2252 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -9.6615, 8.9504, 1.7118, -0.1734, 0.0708, 1.0037, -0.1162, -2.2496, 6.8581, 1.4872, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50de3bb4e9252231aba755ba8a1dcf7b20e6bfc11ab25605b117374e3baffde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3896801c9b3448729fc9030aec08efe930bd47da65cafa2de4d5e28194702ccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e134cdc092366c4708942cdfaaaf0f5b7ba0ea09fa0d296e7d566de44a48f0d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.559 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 96 changed as sent

message 100 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 1.3678, 0.8318, -0.4656, -0.8043, -0.7597, 0.0343, 0.0128, 0.9932, 0.8261, -0.6167, 0.0429, -0.094, 0.997]\nstate[eef_state]: left_x=0.2787 left_y=-0.1916 left_z=0.135 left_yaw=0.0299 left_pitch=-0.0657 left_roll=0.0842 left_gripper=0.0343 right_x=0.3022 right_y=-0.0001 right_z=0.1777 right_yaw=0.0238 right_pitch=-0.2168 right_roll=-0.093 right_gripper=0.997\nstate[joint_eff]: [-0.212, -7.0496, 8.4718, 1.0525, -0.4713, -0.0073, 1.033, -0.0752, -2.1812, 6.8444, 1.5458, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.387, 1.7809, 1.3331, -0.3435, -0.4091, -0.2611, 0.0343, 0.0128, 0.9989, 0.8234, -0.6174, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4771 left_y=-0.1147 left_z=0.1532 left_yaw=0.0829 left_pitch=-0.1546 left_roll=0.1068 left_gripper=0.0343 right_x=0.302 right_y=0.0003 right_z=0.1748 right_yaw=0.0261 right_pitch=-0.2259 right_roll=-0.0909 right_gripper=0.997\nstate[joint_eff]: [0.3487, -9.2923, 8.6359, 1.5653, -0.1001, 0.0904, 1.0037, -0.0752, -2.6872, 6.9538, 1.5067, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7947, 1.3457, -0.3344, -0.4065, -0.2615, 0.0343, 0.0128, 0.9989, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.482 left_y=-0.1149 left_z=0.1533 left_yaw=0.0846 left_pitch=-0.1483 left_roll=0.1012 left_gripper=0.0343 right_x=0.3021 right_y=0.0003 right_z=0.1749 right_yaw=0.0263 right_pitch=-0.2252 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -9.6615, 8.9504, 1.7118, -0.1734, 0.0708, 1.0037, -0.1162, -2.2496, 6.8581, 1.4872, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50de3bb4e9252231aba755ba8a1dcf7b20e6bfc11ab25605b117374e3baffde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3896801c9b3448729fc9030aec08efe930bd47da65cafa2de4d5e28194702ccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e134cdc092366c4708942cdfaaaf0f5b7ba0ea09fa0d296e7d566de44a48f0d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcFLqfQ74U_gQdvdQR-bJ5-vfqEL01Syd8YtpUMhZqt97MnVWov2Cs0KKSCcH9z-lbznHUy5By5TWmtHE_hZnbnQalev-IE5nkH2Dx4s01fCWuWLzcH1-nsfcEYWMEHHqUBdcRMEyIGVq00TC_qcf0zjzKyTFJy5DnlYME2WLndF0e6XcYNsRP0drxJlImO0GZN2fiusHzFj__dl2_SeOz7HP6ywAe-OxI_MYoIByW47Hc3Bc_Zi3iIzeC0nmy6inb88jok7_4mArNaFdh4eUsS6Zke-fJd4j_TsxnRLqVQ9DUM0xgfJynsyIsoCEkBuuKQcRY8D1fe0d94Ea1Z5IDQlkzA8lkjkdvo0Vc3rRQJxz4HdOkENXmitG6YXR18KZ61NluGP9MU28ZZZGWBe0ZiDe1MZfQVcZ5XLKlYOtuBOSa7j8s_-xFz15chZKusBZ_cLVYI0uUrnue8i59h_A4qmejnRMm_0DRtklZFwZ5vIC6sldlg-yBtpJU0OJghHeg-GJz2eYoOb4PLLKMsetqAkqiGC2wLJDGftCad46Qn22dOIkUpKkyEPQwEivM57Blkufemy04KedCJtGkKaH1O7kH0JXui8iLgzFBT2zTLEicLoi0FqPJVSFEp_QvPvSyHWp2lWX961-3jqp7JXr_XOTz80R3b3RtmlXjz5xmsOjkAIw2MkIPRlsE9w1a0icrBhaT7owVUuVJiJkbthSilBGtnMydC3-46Rirde_75D2e33XPZOfsAXsIbElIBdrJYFXfu5Nq-NdGh9z9ztpOfE3WqsZnxsex-fm-cgV81hHrw_F3OR14NFl4YryEB5T_XeDZ8BMBp0zZgUCAdV6mCcdzoB52bYtnsmC3Zs6Bz2HdeDyEAqDTyZzHMyxSBKJj4KbpM0iHo7hxfbxBV0fM9LLJ-Ar6taxt7kVs_YPjkOa1nq5Bp3XT8xYQCTnOwT9fOzxtzk1aBCkAFpduNhIVAWKRZO5uRj5EbzBMMaHCg4fS_9T4hQzfnOjXZsTi_rVp8LcFGdumSSGp3bfwfRHYbeNoaJCgdWkVPa83SR8pyqsUXxppMgFop-tmyG9LoXsT6OHhrz9ycJhUzSIHEvDm9xFqxuqPzdm4Oz_lkRF1Zky3aFeYUdBqkcQmRcmldF0pf2rbW-IChtv7w21zL9GxtoGjIsIeneeuYkNGGUZxgpNlhW65U2CxiLjHRYh6VYh-FH05kBIbwudCRauvnGHZQkW8f7mqd_VX9130hP66UyqqQkW3xePYSWTtk1DG2INPLJceOSQVlB0TVSZKGVvf4gUsFMncZTRyM4aEoL1sTBskZxnkqWbb7cYOXyBvOkoI1Givb5HhS-XLPQV9wHNj9YbwqYDRGPqGCMZ_eTBQLWWp6HOhuLoK4mMrJzqRccLCOZw6aDxcgFF7pS41z7vOv_Q==",
  "id": "rs_05f72a22376eb025016ab43704619c87d08d1fd24075296de7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The arm stopped advancing as the plush met the basket, and the wrist view shows its head and body over the basket floor. I’ll open the left jaws to leave it there.\"}",
  "call_id": "call_00ZSvqSfDzTyigIKlpFsnqS2",
  "id": "fc_05f72a22376eb025016ab43704e71087d08916d118ddd69952",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_00ZSvqSfDzTyigIKlpFsnqS2",
  "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]: [-0.3828, 1.7947, 1.3453, -0.3286, -0.4065, -0.2687, 0.9954, 0.0128, 0.9997, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.4828 left_y=-0.1153 left_z=0.1541 left_yaw=0.0881 left_pitch=-0.1431 left_roll=0.0932 left_gripper=0.9954 right_x=0.3022 right_y=0.0003 right_z=0.1747 right_yaw=0.0263 right_pitch=-0.226 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -9.5248, 6.9812, 1.4774, -0.232, 0.1343, -0.0415, -0.1846, -2.5778, 6.8581, 1.4921, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede31d9ac37bc169e6ce9560689e844f17209874df4e048a6282724cdbd88134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef68dd36f72afe6d51df479d80477ad50d64d234b341799d9af1d89c7ec29cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c367b035c2d455509c539cdc5db82f8165ff6765f2335effb221fe430003d015",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 12.56 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4164, 1.5448, 1.2133, -0.4084, -0.4252, -0.2707, 0.0343, 0.0128, 0.9951, 0.8242, -0.617, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4288 left_y=-0.106 left_z=0.1973 left_yaw=0.0683 left_pitch=-0.1033 left_roll=0.0855 left_gripper=0.0343 right_x=0.3019 right_y=0.0003 right_z=0.1762 right_yaw=0.0261 right_pitch=-0.221 right_roll=-0.091 right_gripper=0.997\nstate[joint_eff]: [0.1162, -7.2547, 9.0598, 1.6777, -0.1343, 0.1734, 1.0232, -0.1026, -2.6051, 6.9812, 1.5116, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7947, 1.3457, -0.3344, -0.4065, -0.2615, 0.0343, 0.0128, 0.9989, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.482 left_y=-0.1149 left_z=0.1533 left_yaw=0.0846 left_pitch=-0.1483 left_roll=0.1012 left_gripper=0.0343 right_x=0.3021 right_y=0.0003 right_z=0.1749 right_yaw=0.0263 right_pitch=-0.2252 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -9.6615, 8.9504, 1.7118, -0.1734, 0.0708, 1.0037, -0.1162, -2.2496, 6.8581, 1.4872, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7947, 1.3453, -0.3286, -0.4065, -0.2687, 0.9954, 0.0128, 0.9997, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.4828 left_y=-0.1153 left_z=0.1541 left_yaw=0.0881 left_pitch=-0.1431 left_roll=0.0932 left_gripper=0.9954 right_x=0.3022 right_y=0.0003 right_z=0.1747 right_yaw=0.0263 right_pitch=-0.226 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -9.5248, 6.9812, 1.4774, -0.232, 0.1343, -0.0415, -0.1846, -2.5778, 6.8581, 1.4921, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede31d9ac37bc169e6ce9560689e844f17209874df4e048a6282724cdbd88134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef68dd36f72afe6d51df479d80477ad50d64d234b341799d9af1d89c7ec29cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c367b035c2d455509c539cdc5db82f8165ff6765f2335effb221fe430003d015",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_05f72a22376eb025016ab43707f6d087d09426330a7e24f607",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brown tagged plush has dropped onto the floor of the left basket, while the pale bear remains in the right basket. I’ll withdraw the left arm to inspect the remaining gray object and yellow piece on the table without occlusion.\"}",
  "call_id": "call_qTMkBU38FQC8y5K2cQ3OcqZe",
  "id": "fc_05f72a22376eb025016ab4370a9fe487d0ab80808aba4c9668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qTMkBU38FQC8y5K2cQ3OcqZe",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1665, 0.9463, 0.7582, -0.5163, -0.2676, -0.1371, 0.9967, 0.0128, 1.0046, 0.8207, -0.6159, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1837 left_yaw=0.1165 left_pitch=-0.1161 left_roll=0.0803 left_gripper=0.9967 right_x=0.3022 right_y=0.0003 right_z=0.1723 right_yaw=0.0282 right_pitch=-0.233 right_roll=-0.0936 right_gripper=0.997\nstate[joint_eff]: [0.1846, -2.0991, 7.0632, 1.5946, -0.0464, 0.1832, 0.1294, -0.1026, -2.6188, 7.159, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a6beb5368fb765fd64e1181fc7e8ea79ffea1b2e4f5ea3aa4689076e5db333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbd15253383dd73e9faa813043db58ef71ab30be0a96bd93fab8311a8068743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aad5c0f43851be1f28af2355bd93732a4b8bdd84b7c74e73d2763651dc3808a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.2 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.387, 1.7809, 1.3331, -0.3435, -0.4091, -0.2611, 0.0343, 0.0128, 0.9989, 0.8234, -0.6174, 0.0402, -0.094, 0.997]\nstate[eef_state]: left_x=0.4771 left_y=-0.1147 left_z=0.1532 left_yaw=0.0829 left_pitch=-0.1546 left_roll=0.1068 left_gripper=0.0343 right_x=0.302 right_y=0.0003 right_z=0.1748 right_yaw=0.0261 right_pitch=-0.2259 right_roll=-0.0909 right_gripper=0.997\nstate[joint_eff]: [0.3487, -9.2923, 8.6359, 1.5653, -0.1001, 0.0904, 1.0037, -0.0752, -2.6872, 6.9538, 1.5067, -0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7947, 1.3453, -0.3286, -0.4065, -0.2687, 0.9954, 0.0128, 0.9997, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.4828 left_y=-0.1153 left_z=0.1541 left_yaw=0.0881 left_pitch=-0.1431 left_roll=0.0932 left_gripper=0.9954 right_x=0.3022 right_y=0.0003 right_z=0.1747 right_yaw=0.0263 right_pitch=-0.226 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -9.5248, 6.9812, 1.4774, -0.232, 0.1343, -0.0415, -0.1846, -2.5778, 6.8581, 1.4921, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1665, 0.9463, 0.7582, -0.5163, -0.2676, -0.1371, 0.9967, 0.0128, 1.0046, 0.8207, -0.6159, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1837 left_yaw=0.1165 left_pitch=-0.1161 left_roll=0.0803 left_gripper=0.9967 right_x=0.3022 right_y=0.0003 right_z=0.1723 right_yaw=0.0282 right_pitch=-0.233 right_roll=-0.0936 right_gripper=0.997\nstate[joint_eff]: [0.1846, -2.0991, 7.0632, 1.5946, -0.0464, 0.1832, 0.1294, -0.1026, -2.6188, 7.159, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a6beb5368fb765fd64e1181fc7e8ea79ffea1b2e4f5ea3aa4689076e5db333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbd15253383dd73e9faa813043db58ef71ab30be0a96bd93fab8311a8068743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aad5c0f43851be1f28af2355bd93732a4b8bdd84b7c74e73d2763651dc3808a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_05f72a22376eb025016ab4370e100087d084e9d688f8fbdbd7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcZg6Z3BGq5oRhAv1_7okEB4CQ0_rmhJIIkgUE0JuZsvfqCFs8DYSLkyk3pIPf4LsySawU0pNso3N-eV1W60-crt2spSHxiiW1B2B7WVD6XPrOxCa63rKI8FI1YuaFUjyaWvmyZf5vSkhBUll2ZU9Ze9Lm2cLG-ZY5ywe2IY084gxvp4o2o0bpr7nYHgLVNniRXGEbWWtcFUNosq194SDrcGwnNvaAuPdqQux3CKupIkdQcg4arMYxq-f8Mu3RvDn0Ji_hIFEy7KnZdPHlG3g6Gm1FqbfeipQMqaAEmpWcDezA5hb3WqG9NHjM9-4LXZVEpKVIsADKxUtX1oXbXPMIERH3trtc0TBhTMg6r-kvURJ_cSp3UZTgJbCD9SwZjY54wZsAvxtUKFLfcBeJdnOZ95eIWj1oUEFgnPzXNRTaiIEMU2EPgUDDBvNicQ7t0XNnPqEm0NxVpwqorF3-62Y4LGimj4aiLHVy7rry6bMbyiqMsteA4w38Nqj0SoSuF8QR-unX8iTYTdwHL4AsnHgZZdJEcJkiEU-wkmiPFXsDoFxMazp9VD2UTTzv7HOSnAbGtkca0tf3W2OpX2XAKP1Pk1Q-jhz-iRcDdZS2fwKPZY2W-ZvmPumS0RCZTy0AW_TDlNfiin50g2w5y5_CvcLtwVXiIqIYs43_R1JYw2oXbiaF7lge9Ml6MPqOPogNWKmdWADoP5wCQj4qrs8_XDUvA3eiOIqpr7r7HhgJNIkJPa3jLY4ZsfMgh276WUelc7rzsyUcWvZCzXq0-qlYPo6S2pJFBI-7mIDjCP0zJg_mNXIyc26kFnE-KOOxbh6_cwDjckH6Bx6wwsU53CL5CdaFEtBHHUijfcDu1yJFJ4v1AuuvsyWZqK3Y6DnCJLfIkMS25PerIYEkDxxA1PMmm7mTgEYV8rr4HDQtE4Xo9jfXv2whrLsjlZLWoeny3fh4JoqHnN_kuxyMaYOhdmh3SGbUvRRVAivh0peKaOjAuQE042IAXCUPpiqvYz0HcFBoEDafoCld9rdt2N9E1JWI5900uvnw8kH1RZs2Qhu-coIAYUi-fUcF0GTJQgxJlzzsNgyh4AAFvZZ90rcziC7XVkF_9QAOTY5TQLbC7x-knm2znu-P6Gv18txjAIJYWtg56CC0EKjW_hpNU9cdQhUr01HqRI0p0QNiojcdpHErwxGo8dO2SZ6O4VZxWWjK9F4kQzVM8IDwqdUBJmL2g1J3WucrVk5VzB-ks74--XuLguf25syMnMbW8dO9fz-7Lkir_WVpFdqve-DcgzpJhg1YYXGyI-lRfhUCvUDBrFlEbRpMNxTrNsrWCkvHhFYgYHE0pqViE283lMm6rwSGRwhfzBZwBtuIq523tLPUHcdYXhvRIggP1I_HmdpchEAEPInRrkDrn5eheIsKUUD2u8wD_f6ZbuH-Cg23Zobx1upG4F4nSXc-dyCWJv3RnG3EWsF7K6D2VUl0rZY2VJksHtfbG8MLJcLfdxsWtQA4gqhIdgyo0pdcWGdsOwF8jZ5MfMMYCnFDbPQ2GNWVLppKww8c-SpfEJ6hadjTGdClILqsCe1xAN2vsoElRChAyL775MQelL_AqWTAlFfh37aeKRGColbsObUZuPaZ9ogXj70M9c2Qwdim5OxzWBU8SZhA532lmI1JN7fvRJobSDvcJe7t96fPsL75sliyY152jyJFAsWC1grDEC0zJ8azXBl_qMOIgbbA9tMdagfYFR4b7_Tg272TUd9dLLmggt1LC066FAn8tKtuwybKyYiL2Y6TnPRDw9B4OZZJQjGMM2i07blPdbQeFWGECkaQJjKbdC73N0Sf7hyHVsMzEXpardHO3VG0km_1a0Zm92vM96Ags9Yhp4odOJOIwYNxS5zDAYiQp8ERJQ9YTOv4M2d73tDAgRqwYtVWl581AYTsRzjwBhpWF_FCeKeBjYH3bFH6zyH3WiC_vowOg2S1V2uxAOYlN9GsLHosrrrh3bxUlk-qLK-icU4_m8Sl03l-aqsxGyXYNEpuVpGhZe7uiAqMasOPcTwWhiYVoLbYts3WsD3vaM2bd5f7Ghoh2owAMaa6xOgYUFjMZjv1UMmKpEEkgv417sDb9dOE5A11jw7V_zaiC82-iUoZHEJFccYzpsSBmOX1jOyS6Dq8WKDGzqg9j17FQxEbysx0L4Z05HnENEvwsKEd5H156LXIxyxWLo1-gU8M4K_0sVAeAeh7Qz6PdT5HxFC4Z9eAx-WUsjeqWirZ-E3-HmiXP_dSX-mLXsumebfGH32DKvd6FovtauiWdQBwd7zRPLydeGQml8GeO3spazDIvVfY55qM0j9KVSi_8Hdj1XUoGgjox4kho23gvDnU2E_pFgK0r3RLvO9fP75Tj8LIq-_1qYYbXNZjfnAB9RMJpc6KRc_MyHohgREsCQdpbYS5BUwaxDQTPzmJbyWmeQYsjRK-ABM4CoLC6jZB3P9N-yPYLn3rnUdrjycVlFhHDcBhYGYucdgS2MOMU4EwqWfXDUfa3Pac3C6BRFrCoHFmpWBZEm6HfBaQ_EYaeOWxB_cteokINBb42AKwUP6WzqDF6L6xp7LYc8cjwOC4UWx4DaEeYFwlMZIJeG8EP1XXl4UFHNmUIQM5B6JbuFG8I155Bj10MCAdt6VzyjV1ksoTWz8wHFEhryzNO0ZYpjicWpqLEaS-sQrEuirO2eV0gM3yXi_AqSb7Q-56AeH097WC4RETDxi5wRArVw0j6NnmMNqOzngtYtBwzpVcDKE-IpSP1jXro31fehyx2lh-eKtFPfOR3ygJenAFpa5F4uEu8oTEMQAGBlsdx9bAgEhE3SXavrQ6GCszt9a7-2WTIjMq4Ut8pYzIcKeBjUyCHznRtF-QCnn34wbKYjomDSmuWOSXWdlhuSYYxAqWFFMQoWTg5Ck1ZPiWisYhE0wZ7u-7VjDKqeq5ZKAskbg_ENlWHWVKsS-YoMnDnXEwBlwt-ixpQ7MkfRZTvqvae4BkpPcjq70HGEso5TelZuTrHBLMJ4k8es6AfBD1QmJ39sbCXZCjVq4DHemLupPvC4dNdjUYL790D1XioLXU9VW_FyC1sSkaenW4c-iUfvCXVVeWSemhhLzf6HUlkiOEGWxOTsguzru6vL5XJsWYXRoMvBFkDTS98IKfG8UmGc1MMWf0QgWmx85FvtxH2eKYYRBkUReMZczExj0LbxaJlsiIWCp70bpNfJBCLa2_uosczr48qk-Td2A9wSkbSEiS_fNyQ0L_0-AGA74WYM1cOaMJpqOeFuPjrgGIXg_UTKfwhWE-hpKoq2sFI-zD4ptuiVaC9mDIvzxbU9pn4IuB7nyqj2A7HvTTc0NKryYlGkMAo-BgAGOouMVwRrG3ninz1rk_a0VTTMj-huN3Rh3FqnnxfL3xB81BddXohKmoaOGSRzkxxR0rb551e0Zye2MuuUABElape-ZnHUmlx-PvF4THckkWzjDda-lOZSVPUSnROvMBkXuzAk98_NJlks63DB59jVFFcVxVa-yHZKarbqGrf0FCp78r5qgpg4SmwuZrMyS6ikKxooXP9xn4I5CA7s2FSzDI0BbNbOWp95V9vNEcZp7g-W24lniBfZm5dL5BB2tFsXOaLHNx12R7-oeJjiBwGBmmlOEeKID7ditubenCX8qnY9_gv3gnwwtn-N5MLUsqsbJoswCF3cT_Eb0KgdG2D2vqIJLhpOgjrED49lJqqkxL8NqUyxtHj0Q2gLLy1VajZgCfII2jIkt7MsSp7eJxhRvxZ352_dh66Pv8NB0VUvSG8FhBa6pOevKJBo7OJCZPldQ8hSY63UJksk4iQCttEBcAaSl4unXQgmnLDLIE97CwQSZOmjB8aeQ==",
  "id": "rs_05f72a22376eb025016ab43712f24487d0970fd9cb4daf0540",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcZVZE9ZcpxTF-uhpHI2Qcb1VuPXOs3Sh9fhcDpmlSULL5CP91IfRTpv6ElTxY854pUyy1OpfsD8VefcU2j9ancxC63pblGYxkMdTReF3vNf2apLUAAN2612gQXn2pgUmTydqeqAixsduV8ZxJ839TuAZOAXDTS5ZfZwyHWX8V0MJI9PSi0o7B2ue6g8KSgrB6N76_n0Nse-E7gGk9pDesisaUVTIDzD4XmRBHykMRlinOm3jA0UeehNyOULco153Ftm6EcCm5fpqvXcAYUVH5o_EyfXlC6-JHlUqFA7fKBEECZloOrHEi1Oen1aG8c9IEIiyR2buTXgA5aaZIvGE6cwtZt_EQn-akZQKJLtofBQDwQOtLt8ZLcflualnk1THJa8aTHU1vmFK0Bc9ihrIiuQLOMpw27I0o6bSRxGna-8Hq6-v5WSfOE6G_1nftryxPknxDNoYpTYJppULwkLsWXrVfJryjf-50nAtq4nF91kmUbSYKSxNfoinSS9H6lW_4xvlUonydkynidRxb86tskdh6iXkYEfFhNVFLG9NkLVRQw8IkTJ9oa_5sKHGdYr6_I-giksheDIN44-mH1R9j_5Cr7LDNycxfkez2DNBxqVHbgMc8hPPgkVeI8vd3uDFU9h_6qU48H0CCxd1B5EM0CU2LtPZfG2-8WfmTVYUTp09Ejq4cy9bz2KovXOc_L62xO5cIEAG_NFTrAKU6B5CKsXlz4pgD2bdzAMZKcfCunwRTq8Z3c0FqFXwSxts5WVLk0IsZiA0TwD4ghYG2NYgnkpK0MOWMvj9G16_KZ6gIqEX_EFmoimnwAD0kJ5Qe93LPI0k4lfwQjP9QUCIfrWqttVHvO2LvFgzIsoZmafEf7JTUuxlIxYIbU6TDJy8Lp2VBUTff98tolF-dy5ezROwidD1wWWO38KWLPHDpzaqYaGLkBaBlDf0hk9Uc72vp-eOsRuhYdFTvIOpjXbkTVEE_VA1hoZgdo8FA2BicsOmTZxbEbvRS0MI9UMllZc98qK6396dWj-qkleChZCnGz3fpdNP4r1a9hojnUza9rfuCsCuTdYuODGbjAGLatyyTGkTFjRQYawZOE-4Hj8vJpObp-hg993BYgLq5FtLkJI8I1Gt8Brg-5FRBFko71ZuZ5C5fwfKXZbKOmDv_r0GUBMIbtwqJwK34Y4OTvDNBJO2Lz6SrmuxF9P3FJ09DYDqcR1oCFgLsd8IUs9j5blhqVx1yk-pJ8rFxG6cPcZbDHu-MdzCOtz2D9O9fJKTO8mgawIWf7I7ZeRDtcK5cjXxzond2G24efNt8TQ4skv0pnflOCUcWcZIFLtq3b5UplSWXLgsgsYA9TM35RaunfCkJzkwDeS7peQogvo_y9TCt5HHSv10xoP3kYebY_kIVkzZsF2K2fyrn2_MGSvGXRQ3RsKcZHWmSd3k5opuNKRajP7zg94lmVon3OroP0y9XSnFHzfxZBe4murzvEWvm218bvpFNp0p3NCn6CmptCO4rGJxQDv7lziZFEjfGUfGu64o1CY4rJ1ffiZMxrTv8lX4CFy8ulG_Ji7znQQRgiAmfd3CBhjDy2oVPopWYamOpebNP1X--OKD54IFPY5BNFABgnJL2wtiPFyASSvb2HXdE1riuY13I2MXJCgpTBdzml1M8TnFppnEMPyi3PhKaDeQyxA6nZWx5QFFikm-qA1LsHH3aFEofix_wk7a13AjMDjUrWie6LYtRleGa4wVp6G2xy6A2W2mumOGchGEhi87j2g54ht9oOdpSYMGwCT61z0m232koMxCPvh9aO3hBmSnQ3MP2aJdz28CR25HgpuiC_ICOM93GbhJFfpst5j-2zde5iZS5GbohsXxoHl-eDW673GidTQwU_OsFyvgBKoHmYtqvLroI_uJpCIDrb1wrnqPuR2YAvJm5XpE89J0sFf5kjQDUcEoTfP37EKTBAq2DkJfrj_Xlv-mM7SG3_RuoZm0vaCdSiVdxgEAY46ANHKh4MbYwne7L2PZB3_pjIHbYYyZIDeT8=",
  "id": "rs_05f72a22376eb025016ab43716e81887d097f13a4f2082433f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":-0.14,\"left_z\":0.085},\"note\":\"With the arm withdrawn I can see a gray tagged plush on the table and a separate narrow yellow object beside it. I’ll approach the yellow object from above so its shaft can be grasped without disturbing the plush.\"}",
  "call_id": "call_Wu9fTf2dS663iuN6IOmcDH7e",
  "id": "fc_05f72a22376eb025016ab43718c13487d099cffd5d03a2645a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wu9fTf2dS663iuN6IOmcDH7e",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8124, 1.3468, 0.6277, -0.2825, -0.6785, -0.6415, 0.9969, 0.0128, 1.008, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2874 left_y=-0.137 left_z=0.0784 left_yaw=0.0794 left_pitch=-0.1596 left_roll=0.1161 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.171 right_yaw=0.0279 right_pitch=-0.2376 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -4.9709, 7.3368, 1.2283, -0.5446, -0.0708, -0.0122, -0.0615, -2.7692, 6.8718, 1.4969, 0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5e228e45cacd18751655b2acbe8b4d63f7236283ede20594d9531a463af4ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb47847399e6a75beb52a44290e15dddfc897970b85ff5b8ef2ad74914f4b187",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ed533f723805e761482fd7bce6391c30e5cd6d06fea88f9c6c04ca2986b187",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.276 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 114 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7947, 1.3457, -0.3344, -0.4065, -0.2615, 0.0343, 0.0128, 0.9989, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.482 left_y=-0.1149 left_z=0.1533 left_yaw=0.0846 left_pitch=-0.1483 left_roll=0.1012 left_gripper=0.0343 right_x=0.3021 right_y=0.0003 right_z=0.1749 right_yaw=0.0263 right_pitch=-0.2252 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -9.6615, 8.9504, 1.7118, -0.1734, 0.0708, 1.0037, -0.1162, -2.2496, 6.8581, 1.4872, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1665, 0.9463, 0.7582, -0.5163, -0.2676, -0.1371, 0.9967, 0.0128, 1.0046, 0.8207, -0.6159, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1837 left_yaw=0.1165 left_pitch=-0.1161 left_roll=0.0803 left_gripper=0.9967 right_x=0.3022 right_y=0.0003 right_z=0.1723 right_yaw=0.0282 right_pitch=-0.233 right_roll=-0.0936 right_gripper=0.997\nstate[joint_eff]: [0.1846, -2.0991, 7.0632, 1.5946, -0.0464, 0.1832, 0.1294, -0.1026, -2.6188, 7.159, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8124, 1.3468, 0.6277, -0.2825, -0.6785, -0.6415, 0.9969, 0.0128, 1.008, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2874 left_y=-0.137 left_z=0.0784 left_yaw=0.0794 left_pitch=-0.1596 left_roll=0.1161 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.171 right_yaw=0.0279 right_pitch=-0.2376 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -4.9709, 7.3368, 1.2283, -0.5446, -0.0708, -0.0122, -0.0615, -2.7692, 6.8718, 1.4969, 0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5e228e45cacd18751655b2acbe8b4d63f7236283ede20594d9531a463af4ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb47847399e6a75beb52a44290e15dddfc897970b85ff5b8ef2ad74914f4b187",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ed533f723805e761482fd7bce6391c30e5cd6d06fea88f9c6c04ca2986b187",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDceRzrTRM1QL3nli0XtQp14tmYsQuKQ8njACW9xsnRhoeZCmwDeaB_Ap2IzgmHJQoMdBiuBrEpcsQ58eAIphOIGklMDxWqsST7fmoN2BgzM85NRt92X05qmuGhUbIDcSs95kFydI2pvvDxijQAFZmlfq0sq0ZOooZDyiMinRHDMVNm4aaFbyx4BJMxnmG99_vBbiWGSXcvY7dToVBhpJ54_lzveQXZonJmI8rNKJ9LnI1Zi3M2iyEJ89kWhiZTcriu19Ma-On6qi_TgZWznf_PwxcOH60OmYDmRmp96sCSNFZXG4uU_cDlUP9pfhIbc_SPDR4eW5AK28WuNbhdJV3AVnrsOHzbVcU7w1lQvv0mv4Th6DTbZNpFNWU4Hd-v9RGGAom43Twnk1CZkUyKZiSug69jVWJM1Ix14O6lt9vXTxBBoQvV58tzLnZ3BN5OXd0kCKyDGqLWatjLTh6eBXhhROr3RsPVMPwlA8_PV9HCyDpl5v33vW43MQJwim88FvhUPBEWJqJ2nMmXzgk6tczQQlF4sdONisCwR8JT-hJ2qZQ58n5N9zJQLZUTBDGuu_Jt-bh6-g7ekbCMgdn4Q79ApUe5DICWWX4wvdGFVR_duKeSQupJObRgSw7aiTq2OEiyOMFWKBAjxmOwCzJts6E9vk8BRuZpz7XYPGxFEzxZb1GJynA0cowAW2CVyNx_8VF-SKE998If_5ij-p-wkWDktid31GMMPyxgkwjscRqIokg0nYJ5_zYLrk3cBfTn9CiP5AcfLZmgLr3HVGpV0BSMxqu3sgPzlh8s-kxckMGTDdPW7L0SmMPquCgulDKhqGg95V1NP5S-NfONfeQYDWH1HwAhTjR74Ktf3EMr1rNIIOl5WQyD-NnrjbdH9ZL3Tcv37FgG06EOllvjLQFFIg-b7BjFD3XHav1AM8yxeRckcERpBrTYGUroTczdRjdLW3ed4Zlv6Q8MRisYhu5RJA9tdQdmUgQV3y3VvcnWli2DPu4ANpk31ukW5nistp1FPgEMN41EAVt3LQMbN2PwLsUvX13KAeGJ1tSHDKlYkcOr6LFChH6Kom-IsRSJg27UEwyvmhP0cpE1UrxsUasWyhv5Bv3FudqhPAZ2Wyvo9VqlyMkLKVqGNQ63YuV0KOvrCLzMOEG18UXK8AwhcN6BaprtAYJa_orZqcEpjhkV_fC4jS8tigzN-Yqxghuhw3DgLNCrVXofwDRGljr5yqTBY0FNVyMd62OlUY2Qjqk3YMzc_yAxiNPgG8gFWtwV2V0E0JgAr6p23BJ-y-8q1cTAf5WJ-7ksd1JE3N2VAGFCYCj29wIEL3pXbYWSD5YIvk-B8PtMfElHb7vErgjhXe65hFhT3SIkfK8jKVFf5aEH6ylXEaVbYOLZV8w5oOzxogWhaiu2pSqotRWRTQThI53RyOAYJ2ULC6r9VK9JRqTX_YcpYP_L0OAsHFHHvFruKGkydzymcUjvTnILrx2KDx02U2YT6eB_8kYiQFgjsokF46KKrKBOHSd1J-sdSaNA2o7Usbm39ihM4j25-Y0phgmoeC2qdpvDmXPkpm6HyrdhSMvqgHYCBs9EMFkDO82AI7stnN5eH9lgbrAsBHZdEDxLFVuJFAdAYZbTDrS9Cv9ZxJ7OS8PHKXUcCivwmZ0Pnm35oK6mpAIudL6Qm1zA9-q6LI6mivcBLTQtrAm6fZ5DGrnk3ooIioQO-0rLBPyIuZhS4CmxayjN2vVmBJH-LU3LLOaRUunieqp8KmFP-VuUha0cQRtp9K7W1gmxGP9M5hY1EFbNUvdEeyEflGvQ73hAo58cMKB4jcHSH2z0zLcKdd3HjX0nrYP7HMrhMAFztEW1HOgS40492t6kC1fEqm2NfyTkN1FLIhd1sWu0tqwZNYEgj_q9rhWPiOHHde4TXQXTnhx441WDP6WoXuRGvB-4IXCevv8iNrthGFzQxsF7AXk4XRxRDzfmZKA8k8bj47iRlE2McxzKCNh9ptQUMsqTujxkTu5O9ikYJ0yWNWLv3RMsv_hv-oBvfHbS2DbOpKb4n54QcuTxqQMTXInILwS3q3YM1QQ5FDqp6skrlSx--YXGRRZrMQmoMm3oRfeRwe-vfhus0u0y5qvCTTGbuw9hqsn4G70FRUna_-4DtJdaJfx-ReQHI6J2QZ_kwzl_UFrkEok1BiicJQ1rme6Nk2YxYJmKli_50opTnji5V4TgSOB8rfSs_zJE3nXY-FtoMIflVq6j2hwLyqMRYVyfSoCMQhYv0knln3TPuffgtKVrhvEy7uWRRZcmZN7U16H-glTIGSCnGdTUmFK96r-INQDbU3aj_wogKwc1Hf2D7fcjr02K4oLS4X6qqjI9CPYXYJuhnoEeima4XQhTizyj_rh07rLWSg1fwqw6kOVO1df8VKf3Hn8G9KiQXjxtl0hyPhI4MFZ1tPFX1laRJLef-mVj4Eg3sQmS-7pDW6GrJKqxJbLqaVR_gelORRaGaZ98zcy43BXFU",
  "id": "rs_05f72a22376eb025016ab4371bba2087d094d218386389772a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.269,\"left_y\":-0.086,\"left_z\":0.022},\"note\":\"The yellow object is a slim, straight shaft lying on the table, slightly left of the left jaw center in the wrist image. I’ll center the jaws across its middle and lower to its table-level height.\"}",
  "call_id": "call_DrjOooXBYbxetWo0cM0gtjPS",
  "id": "fc_05f72a22376eb025016ab4371e364087d0a44645ce4ff1f30a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DrjOooXBYbxetWo0cM0gtjPS",
  "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]: [-0.7002, 1.3125, 0.3294, -0.0288, -0.6247, -0.5549, 0.9969, 0.0128, 1.0084, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2612 left_y=-0.0803 left_z=0.0159 left_yaw=0.1123 left_pitch=-0.2075 left_roll=0.1584 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.1709 right_yaw=0.0279 right_pitch=-0.238 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.6838, 5.4906, 1.3504, -0.2808, 0.0952, -0.022, -0.253, -2.1949, 6.8171, 1.4921, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125fccf3bcabdaa53cb071e5aee6dd9a600366743ef27c2527bf6e6827a2ff20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd411c4c46bb186c8f38cd55f96a2ee7cd62fbaf4ba29a4c94f488de61e2d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:097a0f4f2720b9267279320841fb72f8b1ea83cb18b4c89c71587d7bf014481c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.639 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 114 changed as sent

message 118 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.7947, 1.3453, -0.3286, -0.4065, -0.2687, 0.9954, 0.0128, 0.9997, 0.8234, -0.6167, 0.0402, -0.0944, 0.997]\nstate[eef_state]: left_x=0.4828 left_y=-0.1153 left_z=0.1541 left_yaw=0.0881 left_pitch=-0.1431 left_roll=0.0932 left_gripper=0.9954 right_x=0.3022 right_y=0.0003 right_z=0.1747 right_yaw=0.0263 right_pitch=-0.226 right_roll=-0.0912 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -9.5248, 6.9812, 1.4774, -0.232, 0.1343, -0.0415, -0.1846, -2.5778, 6.8581, 1.4921, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8124, 1.3468, 0.6277, -0.2825, -0.6785, -0.6415, 0.9969, 0.0128, 1.008, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2874 left_y=-0.137 left_z=0.0784 left_yaw=0.0794 left_pitch=-0.1596 left_roll=0.1161 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.171 right_yaw=0.0279 right_pitch=-0.2376 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -4.9709, 7.3368, 1.2283, -0.5446, -0.0708, -0.0122, -0.0615, -2.7692, 6.8718, 1.4969, 0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7002, 1.3125, 0.3294, -0.0288, -0.6247, -0.5549, 0.9969, 0.0128, 1.0084, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2612 left_y=-0.0803 left_z=0.0159 left_yaw=0.1123 left_pitch=-0.2075 left_roll=0.1584 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.1709 right_yaw=0.0279 right_pitch=-0.238 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.6838, 5.4906, 1.3504, -0.2808, 0.0952, -0.022, -0.253, -2.1949, 6.8171, 1.4921, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125fccf3bcabdaa53cb071e5aee6dd9a600366743ef27c2527bf6e6827a2ff20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd411c4c46bb186c8f38cd55f96a2ee7cd62fbaf4ba29a4c94f488de61e2d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:097a0f4f2720b9267279320841fb72f8b1ea83cb18b4c89c71587d7bf014481c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDchsR_0pys9pxM5EQQDuSFB-3D4pihBhB0kH7eN7hOG-Q8C3e8ciHTs4VSAlx9eN8Z5CEDAnQAn4n_zt-onkVqN_nGI3cpGYwqm78NVdEbh3KImcJbVI42j1n_Jb2zTj4WLtiapU467wyLwun5lTq0IBTm7soe9-TI7dLJRsgdri7NPqotz4nkhTil0MdH1RJ15m41ZJ30UAzE_P-dc0_8C5QFAuE4DXRyC-aKnQHGgZ2dgc3E9E5e0UutQRNO0muoMxKKYko1Us2ergonvQnJnQcs2KUVgfabubQxg_a_b28UD7l7oAG0ynKoyQRJa1cRr-lccj7gktK-QurQjH2g3_98ESEXb1Krf9tyCnPgUNC-EUS_HJ-EnVz7USJ8smFHC-_TIeHT56D0a7ovDoR7lvIIBfEOvZCOvkRPfj8958URCbqm-NPP_OP98P-J--tziiM2OYa7nllRn4zXay4p1Qv2i__R6JV9XBCKbj_4oPDkjzONjb2GFx3AII9WBz31bcrEVx_2ZTJBDlRoevVwJtT4zYHMFaePtnYeFFcxoWYBeDAWy_UoIkofz4L32sNfsPW13DUqFOhUHfdDbTkcGkebbhxjRhEwKJi_4gF1qvjGj6TGMwRLxqAuxhHj-izhqcUP48nFUUkL1XVUxczxK-t1bMH6XBVTPgjVAp3JEP65uuL_UIJr7xCVIJ--YLPNhuFwyseNoNy9rQqehUx8x6jZzgVpyp6NZK2cp6XM-w1XCcvzfgilTqaFK1vts236JPPiv9nJmKm9HOi2GvlAERVK1XD9fZOXVcIRU6Nu0Ks-65UZEpe-hipV9YVE6Ebm2HaQ6JYfrR7_ZnWpuDWE7KNAZnkaCl1-BdrHXOZErwspc8uzw1OkuCjzgvBOatGfIlDOsC8VLBRB3KUtq57UJCx4SoAFwLFjKPdxBZWJYbfFGMtJhGb4ytqwJLs_O7OrlVF5XqMIjAvzFhVGQppwLh5cWS9OssdJ8T7SGpWtZscZ7tBZTvfnRtR1t-gOMLvqjm4mF21U7gxztwB5qvZ73_ZiWp5LWsPuXcV5Kk2czRM69GrIk-s7AnVro1EZ1TPsy9BFzSKhMcBBg0Stl9tgN_P-tQS3b7-5tJrTqCn8JBNDjEefAc3kxxwqgDOHyy-IM8gOt8KCiGzQzBFJX5xAQRGAMH9eXh2oNl5CLI2Ql2mZk4FQsE1owTlECDJBd9Z73U-rCKGmlNGnyw_HH8swvgw==",
  "id": "rs_05f72a22376eb025016ab43720acbc87d0b933147eee0d7c25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow shaft is now centered between the left jaws and the grasp point is at table height. I’ll close across it to see whether the jaws catch its thickness.\"}",
  "call_id": "call_B542MX1ok49w8gpLEsWqWCCW",
  "id": "fc_05f72a22376eb025016ab43720ceac87d0bee79f8c7a380b5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B542MX1ok49w8gpLEsWqWCCW",
  "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]: [-0.6991, 1.309, 0.3199, -0.0158, -0.627, -0.5545, 0.0126, 0.0128, 1.0092, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2609 left_y=-0.0792 left_z=0.0155 left_yaw=0.1137 left_pitch=-0.2014 left_roll=0.155 left_gripper=0.0126 right_x=0.3022 right_y=0.0003 right_z=0.1707 right_yaw=0.0279 right_pitch=-0.2387 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -3.1795, 5.9145, 1.1062, -0.3248, -0.022, 1.0574, -0.212, -2.0718, 6.8171, 1.5263, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412d07a589e4c13f13467dc66932626e2f9b4dcf2ac82a3750d4622b4f5cf4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41264635547abf2699b6a945e49211ae878ec0e335c084c32328313ec4e3bf51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bd8ee068474dc757abc022bb770e96a5ce3b6f9f7d3fc13b2c7152a9653274",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.222 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 118 changed as sent

message 122 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1665, 0.9463, 0.7582, -0.5163, -0.2676, -0.1371, 0.9967, 0.0128, 1.0046, 0.8207, -0.6159, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.305 left_y=-0.0003 left_z=0.1837 left_yaw=0.1165 left_pitch=-0.1161 left_roll=0.0803 left_gripper=0.9967 right_x=0.3022 right_y=0.0003 right_z=0.1723 right_yaw=0.0282 right_pitch=-0.233 right_roll=-0.0936 right_gripper=0.997\nstate[joint_eff]: [0.1846, -2.0991, 7.0632, 1.5946, -0.0464, 0.1832, 0.1294, -0.1026, -2.6188, 7.159, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7002, 1.3125, 0.3294, -0.0288, -0.6247, -0.5549, 0.9969, 0.0128, 1.0084, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2612 left_y=-0.0803 left_z=0.0159 left_yaw=0.1123 left_pitch=-0.2075 left_roll=0.1584 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.1709 right_yaw=0.0279 right_pitch=-0.238 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.6838, 5.4906, 1.3504, -0.2808, 0.0952, -0.022, -0.253, -2.1949, 6.8171, 1.4921, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6991, 1.309, 0.3199, -0.0158, -0.627, -0.5545, 0.0126, 0.0128, 1.0092, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2609 left_y=-0.0792 left_z=0.0155 left_yaw=0.1137 left_pitch=-0.2014 left_roll=0.155 left_gripper=0.0126 right_x=0.3022 right_y=0.0003 right_z=0.1707 right_yaw=0.0279 right_pitch=-0.2387 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -3.1795, 5.9145, 1.1062, -0.3248, -0.022, 1.0574, -0.212, -2.0718, 6.8171, 1.5263, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412d07a589e4c13f13467dc66932626e2f9b4dcf2ac82a3750d4622b4f5cf4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41264635547abf2699b6a945e49211ae878ec0e335c084c32328313ec4e3bf51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bd8ee068474dc757abc022bb770e96a5ce3b6f9f7d3fc13b2c7152a9653274",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcmut77rTBjL6mrbZwsBXv4pfvOK4GbDNJC-PG1jU3zAfXSNgrc669F94Afnn39JyP3vlhAtZ_EMTph7RmsWz15FVUmzRmHxaS2swPW8t_5F9IDvnA9FoHnMPuHhA_Hrh8Rav5BGiuS3Zv0z33CWbzUvySCqWJj_0DXokB_uH35VPAyI4pRSVwo1TwOQoRbdrWPwP9UaBm9rs_IWCkJvVCpPvjN9KTTj61On54G3u9abZB7_4tRaYIpx1p2i_Nx1qEO3coYNPpRkViqsiZaVk5uMGJ-9Ba36iS2ERG8HhrZWAN0HR0xuFgkx4ifg4LBLcxfc-UF30ZnckG18dEHseJLrwv-6sZ01SOE7NTpYQXcuULyBY8A2PoF0oBevEWKyxRvMXfalqfF2H1J1p8q9J7bncY42gwFMTZS5-mOqgwk1nNcbl88WUM069ojDo0heyMx_0iC2VKo63x0pNI_8KkftGQz_qkOnmB6jFMDg41KMevW89Kx5TuKK_0e1Zh-UXnO1HrWYTEFlieiBOGwQuQgl__5cxvNKXbheVC1LFW4dW2NMWPNyhF4mkSkWY5PiHqu1P-fsnTmZBgHGIlBdWsPYc13pSw4ilWKSwc1PRLSuKwtZH8BxzU7YxjnXzpB7cndGwOL-8RT_r1tbp6MyFkINtPTc9NY_3Yquo3t1UBnQ0EU3bXuJf9dBrI5iE2VAaOD7l5DO9hhPXSSqcpOvRtiUNnGJES6HjwVt4viOYemC_EMCngvW-l74bXRJhn65JqQszzlDxrdCYJCDXtB252LUJdVznM4d-xouXUy1LM9uQqHBqkZnlckbxt9kxYajwnkBlCWgIRsnH5bExvWba9WTxhCTk1fX-TSyDgbk3y55lr--3ecjl4gC7PMui_RvFGa_N8GRnVz7HOLMG5q-99pI0b2ydnG-mXI5qyiCokeufz5PXyNzGzHgCF4gEW0jIj4zOc8q1-LnIpkYljUloi-4TP6QlwcakFWoTsu1FYEOrw0M34kMLCgQHyW6JZZgMHPgBjb-HiO_yMCmGn5ZYA8IsUzNXpwo-7TwUCad3JmBpOOH6MFV2U0qpD8Jqx5kfFcNoa91OxHT9ZS75GRoW3Bwjvo6nt7-xB_TAkMGq6gdu5u34e3wu2KF8a5hA1_FyiW4_Q5KQiSkgHCwUfALxmBbtd3-ys7mFp7X_8JbnEiq0YLu4rp81fd015Rmago86yUatZcT3z_6a4eEYlXv9ij8IKNk1jRyTvF4AmMdOUEVGhLK8JwHzpWoZ6hv3yAzaHoaVQL-0agadkIof9wj_o3P4FGzr5qLXkzigVvDlzJwZZG_7uhUuLtrR8SKOblmMgfZ1Ay3QX-snl1d738jYy5wcbVNjVJ54mTHOEt0BefinsrfuTNqlNPsph_dsN_K-m6-h4PeXYWpugWS_cyT7BuO-BjIVVNUkHreIlaAKSW1F-UFnIbxpAIBaewyK5EiWLErPja6o-eS8clfkBJy_DPH9r5jGVkqe5d43Z_Ue8-NpAtcgy9ULGrxuqLX4CdFXtLfBaDPVNriD_4Qh5qYPWxlijiUWwLc9oVk6RF-NSr71NIO6YXcHC5ul2tbmEHYEo8z2xrMNVwBA7QZ7bE50yNszhyJi0NLmga7Wl06NdZ3_x5Bqlv6rgPwbPtz9Gsann64QOPSptDi1L9CUHOtR2WPY18wcqOGoX3e8aJkW21aEG8Aw_rLTwV1xtGOBMJMbpxdUnVE6SXQCsguqhgS_svavYCvkzUussSpanfoZKuA7y7cHVesN0VtTK4HE25VB35wT9AczomiLXnhIEyXtI0_NM2Gcd43Q_iI7kkTP516bPgtoVCK7UsO1rxBhRuU08Xz-s9bgomlxnS_XC2uZ_bOO3hKlFrSCzKOX7L9AkUzf3_QVBaAlKpioEowcN32kHM_Gq6XsLse4p8-_y9W4E79dQTEgxWokytDzdggeGJPRy7rHsW3CXGKsjekrwf6eQ_KSdxApKxFQMCmx91_CDgnrkbZ9Nq4VkiznHubpDCSBwnxnQhjQ-xOPViOPKq1-tcjCB569st3tgWRqb-atE8G9eVSOWcJg3FsxDJYFbCg7JgtPLzdlurKuh1Ex_etfTQ",
  "id": "rs_05f72a22376eb025016ab437237e9487d09567619790017737",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.035,\"left_z\":0.008,\"left_gripper\":1},\"note\":\"The jaws closed empty and nudged the thin yellow shaft left of their centerline. I’ll reopen, shift a few centimeters toward it, and lower slightly before one more attempt.\"}",
  "call_id": "call_3RTnaDhSXjYoIRIxzu3fclR5",
  "id": "fc_05f72a22376eb025016ab437256d8487d089c05e6ec85245fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3RTnaDhSXjYoIRIxzu3fclR5",
  "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]: [-0.4835, 1.2171, 0.2066, 0.0975, -0.511, -0.3698, 0.9948, 0.0128, 1.0092, 0.82, -0.6167, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2602 left_y=-0.035 left_z=0.0067 left_yaw=0.1357 left_pitch=-0.2108 left_roll=0.1562 left_gripper=0.9948 right_x=0.3022 right_y=0.0004 right_z=0.1705 right_yaw=0.0286 right_pitch=-0.2391 right_roll=-0.0932 right_gripper=0.997\nstate[joint_eff]: [0.3761, -3.6581, 4.547, 1.3553, -0.0806, 0.1538, 0.2662, -0.0479, -2.6051, 6.8444, 1.5165, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932892b26de803b455da7dacfb6b549c1baff3c24ec98766355ddea26fdf67fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf92bc2b445664ab5b2109fa23ea195cb1be49a5d6e6adbbed3bb20677068fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b5161b6802737f500ebc66cf2f41891f0a780c1d41e64b44d1377e922f01f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.9 s
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

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8124, 1.3468, 0.6277, -0.2825, -0.6785, -0.6415, 0.9969, 0.0128, 1.008, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2874 left_y=-0.137 left_z=0.0784 left_yaw=0.0794 left_pitch=-0.1596 left_roll=0.1161 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.171 right_yaw=0.0279 right_pitch=-0.2376 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -4.9709, 7.3368, 1.2283, -0.5446, -0.0708, -0.0122, -0.0615, -2.7692, 6.8718, 1.4969, 0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6991, 1.309, 0.3199, -0.0158, -0.627, -0.5545, 0.0126, 0.0128, 1.0092, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2609 left_y=-0.0792 left_z=0.0155 left_yaw=0.1137 left_pitch=-0.2014 left_roll=0.155 left_gripper=0.0126 right_x=0.3022 right_y=0.0003 right_z=0.1707 right_yaw=0.0279 right_pitch=-0.2387 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -3.1795, 5.9145, 1.1062, -0.3248, -0.022, 1.0574, -0.212, -2.0718, 6.8171, 1.5263, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 1.2171, 0.2066, 0.0975, -0.511, -0.3698, 0.9948, 0.0128, 1.0092, 0.82, -0.6167, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2602 left_y=-0.035 left_z=0.0067 left_yaw=0.1357 left_pitch=-0.2108 left_roll=0.1562 left_gripper=0.9948 right_x=0.3022 right_y=0.0004 right_z=0.1705 right_yaw=0.0286 right_pitch=-0.2391 right_roll=-0.0932 right_gripper=0.997\nstate[joint_eff]: [0.3761, -3.6581, 4.547, 1.3553, -0.0806, 0.1538, 0.2662, -0.0479, -2.6051, 6.8444, 1.5165, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932892b26de803b455da7dacfb6b549c1baff3c24ec98766355ddea26fdf67fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf92bc2b445664ab5b2109fa23ea195cb1be49a5d6e6adbbed3bb20677068fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b5161b6802737f500ebc66cf2f41891f0a780c1d41e64b44d1377e922f01f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcsgkPYPAxfzxWcBNHsyjzf4uuFLZe7N76JXgeZS9IRNioONBZY_PQHKNCQIBKuCdwWzvm-Af_HdHg1PZnX1RGyO2wz35WxWH0ropANsoN_y6jEXX_xjw1BywfmM179aqhLxcIz-Nk7O9rUYcxViL4lPLr3wkpgsz6iIpvimHDA5hQf5s09SnYsgng6nmOyGiuoNlfSUGt2wfzBUdvOb8u69d88GqQiKJ2AFaS26LKses883qBOw3dnZRnaQdI71NJwbZIOdI7peVSkDvO5zqR_RBvUvxS-_l9eo_2dLdvmF8DRtX7sZDgd5jdBLcbwKuMJOoc-Xy4okPTiAEjw4VJ5bLhAnpHNgsyrW3j8WdEnEmtOPuhNeFUhcKIviRxIYqdVXewhHWW3KV8ur4RR2PH9m5tf51yl5u-4iVdebp7D9RourGeR8dJUiN-MxH1se6_mGYh1xoHGnQ_9FV1BtwjObwG5tVPizf9m1l2jyFi8y_zSKCToZH8_oKSjyogsKnRNdGq2psibdYxCpnT9LOkzwfcrkjMw-Ih3DcPSsw59ofrTZTg30d1MD6lCviPYWCMl3ue-1mbavK9dU5RfDhP5mtkmNvYfnviz4It_tZv-Tg16vYTKcuvMdYRT3eXv-IL_Rt8dwm64Hee0yn1ZlgSCVcppzF4v8oDym5ZZRdJawRxZOi72eM_OsWnLjbeuZy5iX7GxIjBdlGzDCk_m8X3nf-1xoiq2N8mQeCb4fmxalivld_LdjJ17p9cEG3kwWoB2i129hemPm1hI23K49cqbv84RK8peDvTt5_POf91Yt5yqvVvNtSEApsohScSC2Y8y0v1_tsHXiIrRAapO7jCtUHHABXOt4yZcKurX9Tcq_dFSxEculbanOV15YB_rRlDCPl3FtprI9ZE7RZsJ3jfTDYtZlbuenTt43NnKM5voRZ4Mi6FhDgf82YcmXg22MfM0hcF_-8BhTefo6qTYhtb5_LNqWVkO-UUyIM19y4XvixxC3upKhfOTjSskKlUZtcB8iSwNmX1oFA72zrnc7o5pgzbaGr8hr2ji1QNcDE2aK0vd3ZoTl7w9QjhcoP9teguRHnWQv2jwZuN_E9FenxqD_A8e1ZoLYTI6TekWL-5MbNLB3zXu-FCMMjOl86c08jBX8nc9_Gbm23fyvzf2dZLlACOTx21P6FpmADbvBNgnjibevp_OwtBWDENDD4a-F7lE39TQrWUxi5UZ4rM-pUxnxfhYb8V-lpVG3ncS_DJSFb0fkPxTQ1qN33dpnhDySA2sqHaEuC_A3MqPoY9ktRz6sAj2vYKATCzUdbsbDe8p_nSu3Y3Vvlu4E5kwIo-KcjkAkVwLdeFIX2lrbrIa94CfqGDyZzQGmM2Or7H0EU15KlM3cphKMrPkKpWZu2JaCbdRRH159tY5WH7dHwNdN0Pkak_Xanb3a0MKq464Wi0r-xHztw6o1YvRyATlvReDd0fGHNtIth2EKOgbsNcvGoLQZgmvXDhmz2cs__xRkkCkgLyJMHgx3iDZW1G5EczUZeKizMfiqkeyIMadaDnVgP-BMIFFyAECFR5NoVXSWsfKYT22cqtIEt9VDi9E38WDohHt1WPlrWkPFZa4hqTwCSk4qjQVsZJutnbiL6w_v4YvO2L_Xd-A1tMLlWLxvNBH9J-SO1HIWGoyzVDVkq-sx-UXW5H8T1GakMkigci2EUvlCYMvFY3cuIB48z0wK8Y4H7X8_Uo6ALOYfZZLc2apBN-x8uCYk-KJ3MFqy99zHy4YND9ieuUojrsmXFao4fjmxvJ3YTwgm6FaRUTybLuQyWCNN4vKh1OFAXVd9NFo-jSLwrBaous671IhzFuklpjOOe2vt7eWU-O95-Z5lPwjNSzniHAH2ITS7Oc5jkoQ8OhIOMmXq57k68I_ogc5V7UNjQZobR5mxvnABp2LHs2ChyTcd30PW3PgQ3E2Eqh0lR4OUkRuAcddkFRrB9Flf8IPgZpZrS_UhxgbBj8bHZfrFnZWTbK8_YmZNJLE4EssHZMf9V7gY0fycKGmuNZlk45xuoAd2zsbnEFazQwz3IseATZU9C20eHOqu8bSsBNZP3zXockL4gDczM5172GIvv8SynuzI4hRgp9Y0xPC7obGJrqPqzjoh4AI31tWnxXC6nzv9tBIgxh3Ma3GmK4WvCRe93INLwfErYU2b7ETdxK4yeonMg6U3pI7Fv2p8mEQTD0FxzMfkrrdMLrNF8Kb3HU6Eka7mMvhh1B7Uw1QZFh5o_3kXftdO3jOeL0aI2yclRPsfS_AzXR6Y3ZeVEqf_9VOXiDaQr-Pq0deMr-P5HD0BKW8xVrUdbw0EV2ix0ShSWy40Pny_VFPJTL4Epe7MFF1CzC-HW9szW8MBLvw92Y3KM7zhFLuQv5llJ1Cc4XK4gqYvYHARxwbGQbXiH9S1Zd_WVFpkyOuw_hIYcbCHGkbRDTkoZJFOVpAJmihGavS3wtnGN6X2awj-ltPwmSuBOO8UhZjBb1aJ-xdI4kHzfjdZJJWgcVnzKqqPRtJTopDAoy_P7MFRW5Slv6G-DvAo7NKwQLMOjUkMNKTIo_r_SoNrxt_jE8KdPpfzHdTVEoXeFej6HmhGpQgkIU1mhvLCDy53p-pXIFSIL3_wvhxVLqBL7WRRkjb-KOopGTk4H6MA52UjhCmosTi6KGP2CI3whmpFEbuE6waauDb0GGVxkNKaj7-qmBiwOkpSUpSfHdJRWWFG8E94DHV7ucXxZ3I4hXHeytn0IDq1eBn6VmfMRrxpxdpHFRDrt1Vm6XXu7rRijoGGFZobRP43a0IuwCPzpknMzvMN7MwH62isAGwH9sGxggH0Q==",
  "id": "rs_05f72a22376eb025016ab43728174487d089bb975d2762c8fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.318,\"left_y\":-0.052,\"left_z\":0.018},\"note\":\"The yellow shaft has rotated diagonally and the gray plush partly covers its nearer end. I’ll move forward to grip the exposed far end instead, away from the plush.\"}",
  "call_id": "call_pTXO1cD05tRyh3HObuEWBHZk",
  "id": "fc_05f72a22376eb025016ab4372b872887d0845faab0ef9ecfbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pTXO1cD05tRyh3HObuEWBHZk",
  "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]: [-0.4305, 1.4479, 0.3893, 0.1291, -0.49, -0.3408, 0.9966, 0.0128, 1.0138, 0.8196, -0.6178, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3045 left_y=-0.0444 left_z=0.0089 left_yaw=0.1595 left_pitch=-0.2365 left_roll=0.1727 left_gripper=0.9966 right_x=0.3022 right_y=0.0003 right_z=0.1689 right_yaw=0.0283 right_pitch=-0.2452 right_roll=-0.0934 right_gripper=0.997\nstate[joint_eff]: [0.1709, -4.6564, 6.694, 1.4481, -0.1538, 0.0952, 0.1734, -0.1709, -2.8923, 6.9812, 1.5018, -0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa0241aaa40da66574131d0028d5d6658e4eb83114ad46204db042e3b85e5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38fa85df1bbe384671c8a3d596c0d88333f48104e2f125017438f72079d0538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a87360766c86a998a20c99cdd78f56813a1e1837c3c44b2ddd5e14245f70665",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.981 s
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

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7002, 1.3125, 0.3294, -0.0288, -0.6247, -0.5549, 0.9969, 0.0128, 1.0084, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2612 left_y=-0.0803 left_z=0.0159 left_yaw=0.1123 left_pitch=-0.2075 left_roll=0.1584 left_gripper=0.9969 right_x=0.3022 right_y=0.0003 right_z=0.1709 right_yaw=0.0279 right_pitch=-0.238 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.6838, 5.4906, 1.3504, -0.2808, 0.0952, -0.022, -0.253, -2.1949, 6.8171, 1.4921, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 1.2171, 0.2066, 0.0975, -0.511, -0.3698, 0.9948, 0.0128, 1.0092, 0.82, -0.6167, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2602 left_y=-0.035 left_z=0.0067 left_yaw=0.1357 left_pitch=-0.2108 left_roll=0.1562 left_gripper=0.9948 right_x=0.3022 right_y=0.0004 right_z=0.1705 right_yaw=0.0286 right_pitch=-0.2391 right_roll=-0.0932 right_gripper=0.997\nstate[joint_eff]: [0.3761, -3.6581, 4.547, 1.3553, -0.0806, 0.1538, 0.2662, -0.0479, -2.6051, 6.8444, 1.5165, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4305, 1.4479, 0.3893, 0.1291, -0.49, -0.3408, 0.9966, 0.0128, 1.0138, 0.8196, -0.6178, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3045 left_y=-0.0444 left_z=0.0089 left_yaw=0.1595 left_pitch=-0.2365 left_roll=0.1727 left_gripper=0.9966 right_x=0.3022 right_y=0.0003 right_z=0.1689 right_yaw=0.0283 right_pitch=-0.2452 right_roll=-0.0934 right_gripper=0.997\nstate[joint_eff]: [0.1709, -4.6564, 6.694, 1.4481, -0.1538, 0.0952, 0.1734, -0.1709, -2.8923, 6.9812, 1.5018, -0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa0241aaa40da66574131d0028d5d6658e4eb83114ad46204db042e3b85e5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38fa85df1bbe384671c8a3d596c0d88333f48104e2f125017438f72079d0538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a87360766c86a998a20c99cdd78f56813a1e1837c3c44b2ddd5e14245f70665",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_05f72a22376eb025016ab4372e5e4487d0aef421a01a0004c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":0,\"left_z\":0.016},\"note\":\"The exposed yellow tip is still ahead and left of the fingertip point, while the gray plush is alongside it. I’ll advance and shift outward so the jaw center meets the exposed tip without closing on the plush.\"}",
  "call_id": "call_poxZjnBw1Z2UhAbgxpNh0Mrn",
  "id": "fc_05f72a22376eb025016ab4372fa1a087d083e68948c1a063ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_poxZjnBw1Z2UhAbgxpNh0Mrn",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.5219, 0.4534, 0.1818, -0.3794, -0.194, 0.9968, 0.0128, 1.0164, 0.8196, -0.617, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3329 left_y=0.0044 left_z=0.0085 left_yaw=0.2227 left_pitch=-0.2558 left_roll=0.1778 left_gripper=0.9968 right_x=0.3024 right_y=0.0004 right_z=0.1683 right_yaw=0.0286 right_pitch=-0.2471 right_roll=-0.0931 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.506, 6.8581, 1.6288, -0.0855, 0.1587, 0.0073, -0.0615, -2.6462, 6.7897, 1.4579, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eb88f59612beeaa5dc07c89728c50bc30ed0581223d00e767c85bc7dcfddf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fec3ce6023736de4e180fba66874b313bd283b23c5358c5864a494c00e35516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342c4a1cb0bfadb138fa181cb972f796eebc9ec926b9faea3a01b7be2411212b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.904 s
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

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6991, 1.309, 0.3199, -0.0158, -0.627, -0.5545, 0.0126, 0.0128, 1.0092, 0.8204, -0.6167, 0.0406, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2609 left_y=-0.0792 left_z=0.0155 left_yaw=0.1137 left_pitch=-0.2014 left_roll=0.155 left_gripper=0.0126 right_x=0.3022 right_y=0.0003 right_z=0.1707 right_yaw=0.0279 right_pitch=-0.2387 right_roll=-0.0938 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -3.1795, 5.9145, 1.1062, -0.3248, -0.022, 1.0574, -0.212, -2.0718, 6.8171, 1.5263, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4305, 1.4479, 0.3893, 0.1291, -0.49, -0.3408, 0.9966, 0.0128, 1.0138, 0.8196, -0.6178, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3045 left_y=-0.0444 left_z=0.0089 left_yaw=0.1595 left_pitch=-0.2365 left_roll=0.1727 left_gripper=0.9966 right_x=0.3022 right_y=0.0003 right_z=0.1689 right_yaw=0.0283 right_pitch=-0.2452 right_roll=-0.0934 right_gripper=0.997\nstate[joint_eff]: [0.1709, -4.6564, 6.694, 1.4481, -0.1538, 0.0952, 0.1734, -0.1709, -2.8923, 6.9812, 1.5018, -0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.5219, 0.4534, 0.1818, -0.3794, -0.194, 0.9968, 0.0128, 1.0164, 0.8196, -0.617, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3329 left_y=0.0044 left_z=0.0085 left_yaw=0.2227 left_pitch=-0.2558 left_roll=0.1778 left_gripper=0.9968 right_x=0.3024 right_y=0.0004 right_z=0.1683 right_yaw=0.0286 right_pitch=-0.2471 right_roll=-0.0931 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.506, 6.8581, 1.6288, -0.0855, 0.1587, 0.0073, -0.0615, -2.6462, 6.7897, 1.4579, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eb88f59612beeaa5dc07c89728c50bc30ed0581223d00e767c85bc7dcfddf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fec3ce6023736de4e180fba66874b313bd283b23c5358c5864a494c00e35516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342c4a1cb0bfadb138fa181cb972f796eebc9ec926b9faea3a01b7be2411212b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDcz3aAmEvFrIIvfh4_cUnkQUSLXbE28-C_uOZ6-Zo0RUMEsibDH915GqNL1JAdSt-3d0ftMgkYH3mSAUYRRpgEGOKSk3OcqOAh83Tm6p-7sSIiHaB6XFkpHZRW1SzOJCrma151VONNaE8D3ClU3SbDhr7yqDOrV2Gcr27XKavmAqWAIF6LmMwFDso0Vu163MNWRkq7FAM2tjjzWvJigam5gwhvqgPdB11kX64Oszy2CDN9OX7po9i8_TeSGTd5Ujqgfn2wv6sXSFKV5WrB7eH8k8Qb-JmdB2QxLtsY5yzJMDL21mDh62Ay3iszitvHENQiL_gAH1qI4EUtO6UNMRWCnR6Jv19yGxH59RJK1oGrLM2C8jzY4LPIC0TkQ8UhIq9a5KcqvSlGOxkuaCGbXbKyv1zIL15qTnfarjhUMfS13ZyHG1_VKi2lZnXKKEe4Y8VUjNEILAJo0I-KK982iVO1T1WU2NX9F5ql2nbceED6c3HUt0RawrlmP7gOOgzInuUDiChFFQSeSEBTY-rgQb9n2SOKrUcuUdpBAD7CRV8pg7bt0jOy8-q1YIrit1dS6JXl5iXKFJIkJLqyFI7PPC5GycPPhX3MeDcGBkeMsbL9xG7pDTjtVSnjnRDZr3V7paOu1Rpc-om6X-BuE99mwO8BowYp3OUurbFoY_c-BIyQzqrzJ5KH8Z7Kohx5cqg43Z4vSXcTAVSXX29z_sfcyYlgzIxBRpXIzoqx7zFgPah7b6bmSha6ZMPR_mMmyNLUWcWNX9bIqynG0bkZii00PI6jws8_p1furOEwee8sFbGVPMwRPISue7y047CQAvh8RjaTCcGzjmg1Upevie5FLLvpecytvDnOKonov6NZ-a-yUdyWeXkCXUlMW_JnGGLpD-2HMefg-vw_xAebYl4EkdA8DgAq9R6ibr517Yfp9pfhU-VBenxe-VpuMgMN-OCj3labDK5KiTGxpz55R4DHkQWIIZ-uxC-vfMD1Nh-nRHm6YTmHgLAtT7S0-rRDy_UMA7rdQIxk1aAQxevbG7eEPyYb1gFimG-SSUoTEgvDbfiH9VqfON5GfHCNJIcAFsG6I02FGwHeVfTYdjhyIeP7d6YH4hgbFv8h0jUYe84w_6NqQzgCfDr7ACbozmWpteWvRJJmnwqVnz_nWI9kwvgpdfLdMCuVXcsuucxU9LghF0SQie3CA8aa1wdiSCFUtcp_EyGWJP7NeBwObAeVDsZB3Zk9vhdTUdD7C_m5L3Lwk_DVgbtigQe-lA8y_oYfOc8fR3PlqfIQnq5f1g3y_qVkFsjetUmEIQD4U9VGXozTys967HECf8LlM_vh-q-vMfsmEmEF4fiyN1gvCYi8gyQ13ma50ex_shDzIYwPtS10wy8M9qREBIE4qQiSfxNnDoR6DIC-T6H6IqHUK24C1wU7oyDx_3BP5eXpDZhIjIDFxs3DXiTq3bnZCWYpHWmvTx7p2ShDPji9wPs6_VcHsjNPxj2CeFWKEJaSX2CZTD3O-mFXaiKk1rCtZSsEa7n3v54O366ni0NJtlfxzUQw8u2-0vmUC9oFhpGbaui5Sflw9E5x3vPnLwbdq3VUGcgnPi1Ka4NqGc-66PHqShpDK_uACfADqkmLB9rOWBD3hvIIjxTBucucobVn-adv_mVpM8PZjll8sgALnrhPUTf4FyIQK7cOooyLcOzfR-ucMshLqo5NcstNeIRJyKRiSSEoYXmy06gZM3egRDQeHIBcswyqZF3To6Q==",
  "id": "rs_05f72a22376eb025016ab4373215a887d0b951a6499301db88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":0.025,\"left_z\":0.008},\"note\":\"The yellow shaft is now in the lower part of the wrist view but still slightly left of the jaw center. I’ll make a small final sideways adjustment at table height before closing.\"}",
  "call_id": "call_SNKDBt73szX22shAoJ9PgBf0",
  "id": "fc_05f72a22376eb025016ab437333ef887d08c81f527305ffb4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SNKDBt73szX22shAoJ9PgBf0",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.5356, 0.4706, 0.197, -0.3355, -0.1452, 0.9968, 0.0128, 1.0176, 0.8196, -0.6167, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3407 left_y=0.003 left_z=0.01 left_yaw=0.1804 left_pitch=-0.256 left_roll=0.1728 left_gripper=0.9968 right_x=0.3026 right_y=0.0003 right_z=0.168 right_yaw=0.0283 right_pitch=-0.2479 right_roll=-0.0933 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -5.3675, 6.3248, 1.536, -0.1001, 0.1636, -0.0122, -0.0615, -2.6735, 6.7897, 1.4725, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a99095b848916eb464a30a1601606b316764ba6685423b6025cf5dc422f3067",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a3cd9f41850b8797d1bc36afa5a206508bbd8ed1bde542f43cd30d008c8d50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6435d75f8b69e7250be8f48f0c2d940288cd7212aaf4bdd20b387cd8106a0543",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 19.28 s
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

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 1.2171, 0.2066, 0.0975, -0.511, -0.3698, 0.9948, 0.0128, 1.0092, 0.82, -0.6167, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.2602 left_y=-0.035 left_z=0.0067 left_yaw=0.1357 left_pitch=-0.2108 left_roll=0.1562 left_gripper=0.9948 right_x=0.3022 right_y=0.0004 right_z=0.1705 right_yaw=0.0286 right_pitch=-0.2391 right_roll=-0.0932 right_gripper=0.997\nstate[joint_eff]: [0.3761, -3.6581, 4.547, 1.3553, -0.0806, 0.1538, 0.2662, -0.0479, -2.6051, 6.8444, 1.5165, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.5219, 0.4534, 0.1818, -0.3794, -0.194, 0.9968, 0.0128, 1.0164, 0.8196, -0.617, 0.0399, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3329 left_y=0.0044 left_z=0.0085 left_yaw=0.2227 left_pitch=-0.2558 left_roll=0.1778 left_gripper=0.9968 right_x=0.3024 right_y=0.0004 right_z=0.1683 right_yaw=0.0286 right_pitch=-0.2471 right_roll=-0.0931 right_gripper=0.997\nstate[joint_eff]: [0.1573, -4.506, 6.8581, 1.6288, -0.0855, 0.1587, 0.0073, -0.0615, -2.6462, 6.7897, 1.4579, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.5356, 0.4706, 0.197, -0.3355, -0.1452, 0.9968, 0.0128, 1.0176, 0.8196, -0.6167, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3407 left_y=0.003 left_z=0.01 left_yaw=0.1804 left_pitch=-0.256 left_roll=0.1728 left_gripper=0.9968 right_x=0.3026 right_y=0.0003 right_z=0.168 right_yaw=0.0283 right_pitch=-0.2479 right_roll=-0.0933 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -5.3675, 6.3248, 1.536, -0.1001, 0.1636, -0.0122, -0.0615, -2.6735, 6.7897, 1.4725, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a99095b848916eb464a30a1601606b316764ba6685423b6025cf5dc422f3067",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a3cd9f41850b8797d1bc36afa5a206508bbd8ed1bde542f43cd30d008c8d50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6435d75f8b69e7250be8f48f0c2d940288cd7212aaf4bdd20b387cd8106a0543",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDc2Pao4KNizonbeY_f-FMgHOgSJMOiLy3nqirdK_dXyjLrXLPK2bJwcdSYd_35X9pqIxIMg2NnZ9KpZN11lRbqLGt9hxPKK4THBdko8rVgPKik0rgWEsBDcwi3gZRwMYnXem3HCdzqiojQw4Q4uGDZh9X5F-x7iQ5Xz4ONnxTyUuYB2bB64HFQcKwEYNxajDUjJy4zWEYHOdyiHrTk7Chf6LzrMZ2GPKh0ZLCAKgxlyko8P45PelSGHc7c9c-0ar5xsFE86TRYsRNiBNf0GnrBPo-8Me_HUZJivoWI8QFpQVDudLh97eWAvJ50dTHl0D0ilyoUurZMhNfurbPfDNaHd4IeBsLutOXEpOGl4dvG8XlhTaLC5c2msSKbmmm9w55_Z45FbjuJUVYRESruAg272S0zpbKa92wqjoaGEMre06gV4NjPo5eXHbYIpVRBiVJTTTQtshKjym14v3L42ghULo3kKm8kT8sxZxqYhqLt1JymJ0KAp5H3vo8Q8UqUCo19P-6vM0kGjtL4QxTrwZNjZimMh4JXlzxGUfvwpZMHg6vrsqU3F3wJTyQMsyAlERL51tlKhSN8cfu195fhy4X8YOJF_9_otzG0nRnhK1bHXIbefvOMTMv_hJgz-GIKOV_wqMiTDT7HXJkcvl5qQjgCL1-T5m9CBj4oTrwaTUOYseD3U36qcZsjoLozJwmstguTCUiz6XPVjX3JDfxCUw4Y0mvpZc_nHfw2uzNk4mIgj7O3eu1vHvWIkHHfseh3D_uZEQYqgPadtgyD9fwBnF2MdblGRaQ0a0F40HFHEj6AWklqgzfgrprvJWF5slmwjl7MFXgohzUJxSoUqVf9jfSpQUjs1t2brws710RdmZ2hyMbMt7dSX8dVJ23sZD3MPX-T5JPzTPRAe4-XRfLMhlN36T37NaKw5hlrduDA99b13GLVh251XiMh6e61qA4FtEbdw4fWyclNmBOY1IHjqgKxtAUGyajk443unoj_o-cS1RBbHOYz9uwlimhv9dIVRLVFfIciEdxuUGpbNwiuoBr3Q5y9Z-Y1ahcrvW9_QnNsvVd5UJyYPn50xkexvuPIVFA634eaw48U0KoyF8nuSd3CfEl35oTnx2a653g-Ibhkl4BKY-fwxzTs_kIpF_xP-k9nI4y1dyMttNA0Sh1f4UwizVdojsH2E1Eminft_YoGEem0DPO3rh4zUx-ei0uAs2qY4yKIkYUxUQYYg2C8CLReBobhifYdRA8wEHGIokyZgUwPoBh8ej_2YMq0j9wiGR2-c7nb7tHHv78RKr-8LUZqh_qenj8t9xJQP4qxFdX0z29se_4Xtj_nrhcUZSuRw0XqH5ct2KgFG8vIBfZzrzgoqnFbIwjyOD_f2IvaRvGmYM0sY61gRaXMIf9XrBpBJuvRbSuvPjlnKjvWdgWGf-jmtedH6fTQDQjCF7urRJQQW9V629tWpwo5ucakBqmyR0DVuhJ4eh8u880dCJKHGGlNZCA==",
  "id": "rs_05f72a22376eb025016ab4373555c887d0a080d847654a23d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm has reached a low contact-limited pose, with the yellow tip close to the jaws and the gray plush still to their left. I’ll close once on the exposed shaft and check whether its thickness remains between the fingers.\"}",
  "call_id": "call_7DVpNESMIXlN4Xer7Iigkn0I",
  "id": "fc_05f72a22376eb025016ab43735ff2c87d09d95b3c6a3071de0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7DVpNESMIXlN4Xer7Iigkn0I",
  "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]: [-0.1734, 1.5337, 0.4774, 0.2138, -0.3359, -0.1349, 0.0124, 0.0128, 1.0176, 0.8196, -0.6167, 0.0402, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3463 left_y=0.0021 left_z=0.0154 left_yaw=0.173 left_pitch=-0.2329 left_roll=0.1715 left_gripper=0.0124 right_x=0.3026 right_y=0.0003 right_z=0.168 right_yaw=0.0283 right_pitch=-0.2479 right_roll=-0.0933 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -5.1487, 4.9026, 1.3748, -0.1441, -0.1001, 0.5934, -0.0889, -2.5231, 6.9949, 1.4628, -0.0122, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a2ae5aa05d5f7c050df21f4cff5fd8e205959744d895123b996436734965bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e035e928514833ffcff1f5b5c37935737294154eee5015cb9cafe26ee94de49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89bd97c2a6005668acb40fa8a7d3b8d43a0b9e687bf7672de4d76d7e2f0a5b6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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