adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7994, 0.617, -0.3801, -0.0223, -0.0299, 0.9995, -0.0151, 0.7986, 0.6106, -0.3744, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1845 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.7026, 9.4154, 1.7705, -0.022, 0.1099, -0.0611, -0.8, -1.6479, 10.0718, 1.7363, -0.1245, 0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4487542d735bcfa03428690d1a0ef8f57ade9d1a2816c1bdfc5f8a9f66a72ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f256e4f73a4c28fd2495e17bf291723d0606827dc02cb10007e13af08ee31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bad4ee30ed66bad9ddb8a8f3666618912e94e2e312262958d6bd55aa9bc5ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_03b200e249c93413016ab438fa2f8087d0b3c11360900c5e65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.19,\"left_z\":0.15},\"note\":\"I see gray plush objects on the left and cream-colored plush objects on the right, with two empty baskets beyond them. I’ll use the left basket for gray and the right basket for cream, starting by positioning the left gripper above a gray object.\"}",
  "call_id": "call_5cYHMcx7Z42scskCs5pOhzpn",
  "id": "fc_03b200e249c93413016ab438fd74f887d0b4d372bbd8fe8a4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5cYHMcx7Z42scskCs5pOhzpn",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7704, 1.4406, 0.8368, -0.1619, -0.6144, -0.4957, 0.9995, -0.0189, 0.8024, 0.6086, -0.384, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1863 left_z=0.1356 left_yaw=-0.017 left_pitch=-0.0401 left_roll=0.0216 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.179 right_yaw=0.0024 right_pitch=-0.0152 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.2974, 9.0325, 1.5897, -0.5104, 0.0269, -0.0171, 0.2393, -1.2513, 7.2547, 1.8535, 0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41802a8b4d5a3afb7dab3d0ae1944b175858f1df62cc7d2dec5a23be11504c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7079c5174c52a325cdd3df279411364b6ac627a63bf6e1b9c987d19a26b0b8d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5e3f478cfa4801dbdeaeff833f892b9c71a6a2ebf1ac66803dddcd6f9cf647",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7994, 0.617, -0.3801, -0.0223, -0.0299, 0.9995, -0.0151, 0.7986, 0.6106, -0.3744, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1845 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.7026, 9.4154, 1.7705, -0.022, 0.1099, -0.0611, -0.8, -1.6479, 10.0718, 1.7363, -0.1245, 0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7704, 1.4406, 0.8368, -0.1619, -0.6144, -0.4957, 0.9995, -0.0189, 0.8024, 0.6086, -0.384, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1863 left_z=0.1356 left_yaw=-0.017 left_pitch=-0.0401 left_roll=0.0216 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.179 right_yaw=0.0024 right_pitch=-0.0152 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.2974, 9.0325, 1.5897, -0.5104, 0.0269, -0.0171, 0.2393, -1.2513, 7.2547, 1.8535, 0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41802a8b4d5a3afb7dab3d0ae1944b175858f1df62cc7d2dec5a23be11504c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7079c5174c52a325cdd3df279411364b6ac627a63bf6e1b9c987d19a26b0b8d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5e3f478cfa4801dbdeaeff833f892b9c71a6a2ebf1ac66803dddcd6f9cf647",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkI8Y6bjzvPD04sO-fRjGpFMdqRK0o-SSJwc7ZsyVr9uTTpIMBbjs_gtrDqDCuFzbz2wI5QF_vEb19paDQLakMDTC540-7-tHiOS8Tl-m-hUdjiHxUp3zjsvy_aoTRSfGa8Lt6Ii-3khSB1rs06SWWBhJY7yxvdxIOz-NAcXYPtRd3fuCQI_y2ZQU6oQtng4XblfWcupo8gnNIDsOXsWU9NpN-BmzPGK8cokgpVP8jbhKqL79f94t0yDIFBWrpWLxXEwJNq3CSS7xC25ZyNUxnDvHFOp57TvQVesn-mcB3kp6gI1IPa3qfZKcA-AViEh687OJGtKNjvFxirIejLwL0SUIZucBWJ8OQRKz_OWpe75biKWs0pxmcOYwckxTAewy4zsceJi-syMTcSIZXXPgEs_AYhE2yZ4kMsq1asZCkQl1YXqSuhkQxK3wUxUFjXhSgT3c7Sa-Tg8Wn-AoXPGCLdl2Vp5hjZ-V2hXWYtXafxuT8oNGhzielGEduguD-CQ2uJ856aEL7WGWi5mvLSUiR-GuAKJSjz5W3gRU5Y5AMzCZ-fNz4lkd3WJ1fCf7w3dTyIwIZ8z4Fss_xriHJEMlnegwNfhaY-oKCOSVNpI0e9HlAN71bl9Cdn-bOUshpWSmkRU5fL74uxG0w77Mx-_pk4iwkAJvaWtpDrmrr0bGw1THLsuS-xv57-FHAt5NATqFwtW3BbUBmHRWBB0Jmt4rThBawC6-HRe_RMxtlim3G_aHIK5JGGxWuCYK6yAYE4QYbjJ3nXj_PIBWQZg68L6pMEN86g7Q-xADBl1yqyRFRtsmxZVqrsGHYfbNHtxrgGt1OUCANtW1MB3fxXWwnC6Uoloz-KXYCslnCEFfI73F018ySgG7-71GgiBc7gMs1icThjngddO4xHUhs8ef7l0sBCVZN8QLhRncBERnPk9qlDH5kyJmDI5eCoUKaEzw5I_mjxMHWCMyQV664yQ7jIDpBanAZs49UqnKzU2UoLlLGrcCqyR93xIaxBqR0ARnJ0BSkumhgHMyQ1pAzWqHM9x7S8_dfG_n2TqzoK6TZ22Xo7L1KUolYGxAV7h_pT4xmJBEsJzAabG9LgYwEGtQRUoKIhG-V7nw13A2i5dNZUp_iF4Nyg-3B4HROePcYKiNdYUDwWyJGZ2Ot2BufEJ6h2iY65RqOouwEM-eFECIGONNi4BnBdH7O0m4H27-Udgo3kZz0B7OKXOvJwBv2wgoAjDuDX-6B-0t7FzgupqCzswX_XkuRwOIN5Ntifq6mfd92FzJYxfslaYSBxmRrqRgeuzG_S4o5oiKoaN2LyLXcbLCnssmWh8lQFmSRRc15_q7yK6GI9R4tir6xrQfvyPeBOHx2BpXr4PUlhQvHvA4280FegxIvl1RrbloXKNGCkiNYWQJmQcANGpqU_w88AywIlFxZQUc8JXVEknRWHAiSKpGyH3iXHARaC1TAWTXXPs9LONe-ALyfkV1qauFGnouyiySeU2U3t_Xc7vFtoICylnIRAZQR1cOq1tZNXlcQWi2r5n-etsYMU-hZvkT30fcmhM0dGciVRgjiubQldWOaBrF8YwwSKrm9dl4_7s3vG9HSj9X-yF7jr7Di-0iKZ5a4C-HqWyKqQgw99J45xgH-wm7wGjbz4t7SWeG2dTeQa2a-XeO-hQ4m2ITe0URNjMVN6UWLxueC4Jp-NkIu4ALHoqQpLrzXsUyraqJaau_dGni9G-mks_9SnOJDc7sA3C9yqdQ1IKL4NDsor1f94if2iPZgMm6emw9LsYe-G42DJeh_cET0dCmGWnthGXMHbx12q95fXOiWuSEEnjDePFzDmV3Xw8smAHpXHOgc5TS8a1-yh9tCNb-6q0arh-F446GVxBRLOxKhN1CkJl1Rsg0OlZ-MDqAFSbl45uh-dhTI_MOa9wlsdYydVeb9t0OIpovA-1Z8a5zgOywvBKVBfh2Sm_LBf33ZhbejQaA-9oWkpq9cLjSI3zqB9REgDQfS_u7bQAOeHpXuyja9VfctPZhIU7I4X9v74Vzdtm43P8PQ3htYRIeOiisKw4H7YGk1o6zxrq9yPJ21Dm1ghty0QtSRB4ipWLlxoktV6XYx_CNAHEAETkQZIgbY_7888q0EIlIoHJsMQujeZS4rXadLNmuxktVxC3z0pQrtAp_3R1ot-zNqzc2vDIpYJENg51iPGpsIW0QiAdHbE1AhPIHUAggnLy85IS6uxwLqDRZFxCZGrYV9WrqTmnYufwPK8-VpifNR0gxN2jtFcvKrAPOF3H0zSPtxPPwEPJ-hRBNps6I83WNyd4ET2VIH0AHFZRwJgl0zrl9QEUmKeDGfUSGmxw8nZA5AD2Wn3VBqXNvfdQ9HM8AoWbwUMd18qRouAmS2r3aAq67pN3Qzqb0EL5TrhZ_7dKK1uf_aL8yYlKtCSFA_H6rLHJles5ac-rKvoDQVesSxXNDj6I8dDu2WuUoeICxntiT8mWg0V-usvriOhUHt-AEEQQXcVWrGnoNRDiDyaNCIvQSmyF3jQc7XkFYvyFLxqxLR_VX37UzymDgdGKX8mxkr373f7gArF4GzrDtfxrKa1TIkBIg0RCGbjQ4CMHV53PjDOurEf6-rSoXnJDz0krP4DnRbv",
  "id": "rs_03b200e249c93413016ab43904bc3087d0b9d06b757bf0b086",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.025,\"left_z\":0.13},\"note\":\"The left-arm camera now shows the baskets rather than a gray object; the gray items are actually beside the left table edge, well left of the cream cluster. I’ll shift back over the gray items near the left gripper’s starting position.\"}",
  "call_id": "call_qsUf0fFVlt1BKUdl4oZBRCGD",
  "id": "fc_03b200e249c93413016ab4390794dc87d0be83862145e72c97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qsUf0fFVlt1BKUdl4oZBRCGD",
  "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]: [0.1127, 1.0466, 0.5243, -0.0906, 0.0601, 0.0532, 0.9995, -0.0196, 0.8043, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3305 left_y=0.0304 left_z=0.1288 left_yaw=0.0178 left_pitch=-0.0496 left_roll=0.0219 left_gripper=0.9995 right_x=0.2954 right_y=0.0011 right_z=0.1783 right_yaw=0.0018 right_pitch=-0.0179 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6718, 6.3385, 1.746, 0.149, 0.1197, -0.0122, -0.0479, -1.347, 7.0359, 1.7265, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22028c030653b6026f6a8c546af928ccbc5d2f46d5b274a095a1608aaf618e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e83cf1b6ea10c7e33c8610d858bac2434c4e1a726993685275f357c08d8ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71387d34e5099a2888e27008e4e13a4df5b8ecb2bdd1c921475e4e2f24d61a5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7704, 1.4406, 0.8368, -0.1619, -0.6144, -0.4957, 0.9995, -0.0189, 0.8024, 0.6086, -0.384, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1863 left_z=0.1356 left_yaw=-0.017 left_pitch=-0.0401 left_roll=0.0216 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.179 right_yaw=0.0024 right_pitch=-0.0152 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.2974, 9.0325, 1.5897, -0.5104, 0.0269, -0.0171, 0.2393, -1.2513, 7.2547, 1.8535, 0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1127, 1.0466, 0.5243, -0.0906, 0.0601, 0.0532, 0.9995, -0.0196, 0.8043, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3305 left_y=0.0304 left_z=0.1288 left_yaw=0.0178 left_pitch=-0.0496 left_roll=0.0219 left_gripper=0.9995 right_x=0.2954 right_y=0.0011 right_z=0.1783 right_yaw=0.0018 right_pitch=-0.0179 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6718, 6.3385, 1.746, 0.149, 0.1197, -0.0122, -0.0479, -1.347, 7.0359, 1.7265, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22028c030653b6026f6a8c546af928ccbc5d2f46d5b274a095a1608aaf618e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e83cf1b6ea10c7e33c8610d858bac2434c4e1a726993685275f357c08d8ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71387d34e5099a2888e27008e4e13a4df5b8ecb2bdd1c921475e4e2f24d61a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkPdVOyhuYuci2t8AGyuxvhdvd8FYuoXPbUVT3xmDURdBlm1MF148BN8a9XLFIPp5Qphvnp5L6TaYiMllJ4VwLjcpxJH7QRt4dzG7f-peyC4s4XezHShCa14dCYM5cquO2PgTl321xrpHXQGA5b63WG3Ro8_Lg1Fdnc87BpkKLlISovhVnhmRlVAfGEnBbboZkwhjry5jHVoO1b64c26l1a5qk5N-FKyZsW-0MZeZW2-8WX9TfvwX30WPwBDylsL48RoQ7jonnX-LCezWJfBIMebEJtjxjsTAahUym4RjkxfVQWWwH7-VH76pHcGZC-w1A4rYM6ZWrY4N4aETDmEg9wNk_pOouNmqkP91Hl9xz6eLdyYId4NvlJ6KPjCxRPzEZphGocjBvTIS0xVMkd6ttIWppVde-CiYfEwnxex2p205CpB3fwADvI9wMc5UIRwlfQUWrFfDeF_gd2WXRgF0ofQrrlUVkCIhrXG1_T3OInsG-HMd_msg6w7JWE_31lZO2SCGJ6ZHubr8I6uK8H8g7m0lQnVQrlLA0O5uPRuugch44o9uF_8b9djhQrcBhrUZdleea2-4-LYUvP0DUw1XV6IffmTteVQ0BtplCOkkcuSc_j7GA8dWSyjZ6UP97S_ag7b5nzKoKY3FjgF7r9oK5x08PjPtICA2cu3tCGqrwmEnDkGDye87TTiTT33rzu9NpshsZi-6wJoNiaS6Y7R84L4Dk3d89GN9ZhrIVIt3q-sfYgJzSGPpKRJiftwhIwAvJlIlyGnLE6MQZpZczzRFI02ZJ55IFoXSr5hPi2VnvBG7xKVw4RC8luMkw2-tdsVjeRJ1iQEOu_i65PKkyKc2v9F9f2_92tQVi_fWxf3iPkJjK162FLB-oxZ1AFXKf4P8E3LknkQJmycdYt8o4DEZ4XE5Zrwmga8TgIb8Uk5e0PsNTPqDlfmPhGxq0cr_HYhtpy1IC53eDauo0UFe4flKq9AglA4_IN6Dyl8_hrTV49HhPlsc5koRQVYYkGHekZIIdB5iNRdtJU0DhAmBA0aOfErFSBLUSCFrEl8gxq0q-OYh6JFADs4hZ5Y3iL3Ep2FCKUPk-Uwo9lfvhCgu4aW32HnkvTkgGXHGK31ZrDpK8tOtHBhSpM8N_nQGdKHHXiwnk-Xc1YkP-q2zuDtQFMFv3NflZD9kR1q2Y_r-hBpyPBgPrqU1QQxqe7SyuF689yKTHrGP0aSbxpL-Cs0DNTwxVViO6qoS8sswSSR-VpOu-oif5uZ9D0vq_jQxB-zoBFuIUkTworWmdydsbDdxXnlJmjt7uvgHD8zqm-CuubU-B58vMGsf6Lb3FPAU7B9nxqrdpLy3puAawqON40_eIBJzl01SQtksdtDWvn6SXfzZtoUiAxfE_U3O6s6Nq_q3sS1rmNX_b6z1fE8kW9LhrZHqXKr2B1hBpniQ8P-4r8y2sTGEkuBcphcMm-D8CKx0YQ0RKM8mpeHS_JYGruKYLIoA7xUtNLZ8d-aalh5gZ1iDx2-FTWgzMqygdGFBygPZLg7FQEyK6EZMwAjo970UF7VTvvLMv1Nw-fO2RwXLwLAk3CvZBOpi28HluFHRFGCSs8bpQgTpU6U6E7vjoJf9O4X5s-ujVAutZmK-Chjt4qTqzRwDzm_tK8jW6SpuOE5nbG9lTjU5KNw7VngsYw-uKY_Pg2Kp-ND339kcjjaR2cK0g8QKzkeTXIOy35Qh84YT6p0pn_t4oFg9Le-pQudPdDX7wQK8fbqs5TU4tSARtsL73jqCuzYvcXsY6jaVsXYKGVXjb0NgaVybUWaYbqd4sWRAQddjQzb9BSpdMzBlIgnpjCGBq1eI9X34Z01nRB6u9WFhQVAh8SViGIcXQuou7z6sOch3ivMpfy5xAllzSfIrHv4ZRJPXOsyY0GLtj_lv3DI_auHCGWQ7i2oYFsre1n0s4f0wBAhuCsF3DJ25PqtjsqfDbrQaHSF3msLXlUHqybJO2sLQ9W49scxaN6XCMMywdNDPzuvLfearmgJuCZs2k5UcpoVtcAzJk0QgrdQXleEUTBSyiUJhEB9cWu8HF4brg0rGXjKYX-mW9jrxtT7zHtaM9naZbcnyUnQU7otnmtyJ3RZvaEBxYbk_SjFFluuJCcK805hTRJRg9O8EMJXCJVfMpa1tzgWVT5JLwrew8awv1nMbYbnvqOwG0HnCT1oLhPUyOiQzdy9aY30bSim1GJD1e50cnB_JxcnJsoF-1nRnkSwzXeXgKZoYlv3u8IbVfCfb7e9sfZtbykGDmwaMor87MMaf2U1GP55FfPUB66yf-ByIzmrMp3nTJeGXObtbyBUIPgKdcnDx5Zzo5C-5PXjPs=",
  "id": "rs_03b200e249c93413016ab4390c455487d08fcaf0bebaa6789a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The gray plush fills the lower center of the left wrist view and sits under the gripper in the overhead view. I’ll lower the open jaws to about mid-height on the plush before closing.\"}",
  "call_id": "call_Wxhp085KLAWmD51Dzpew3T1z",
  "id": "fc_03b200e249c93413016ab4390e637087d0b06e60b578431b5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wxhp085KLAWmD51Dzpew3T1z",
  "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]: [0.112, 1.3033, 0.3035, 0.4026, 0.0525, 0.0532, 0.9995, -0.0196, 0.8055, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3356 left_y=0.032 left_z=0.0545 left_yaw=0.0235 left_pitch=-0.0344 left_roll=0.0277 left_gripper=0.9995 right_x=0.2955 right_y=0.0011 right_z=0.178 right_yaw=0.0018 right_pitch=-0.019 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.2889, 4.2598, 1.2918, 0.0171, -0.0659, -0.0122, -0.0205, -1.1282, 7.0496, 1.7411, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9935dac65754c7068c5733529e1446478b0262378482d0a9f4749d75c467629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0940ba761880337d7f192a9c8f4763d2c7aa11cd4c4edc535ec380d64d86c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04915bc87dc5a1595d26ff71986d42013a953a22beb23bc26b00d6382c13cc73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7994, 0.617, -0.3801, -0.0223, -0.0299, 0.9995, -0.0151, 0.7986, 0.6106, -0.3744, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1845 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.7026, 9.4154, 1.7705, -0.022, 0.1099, -0.0611, -0.8, -1.6479, 10.0718, 1.7363, -0.1245, 0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1127, 1.0466, 0.5243, -0.0906, 0.0601, 0.0532, 0.9995, -0.0196, 0.8043, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3305 left_y=0.0304 left_z=0.1288 left_yaw=0.0178 left_pitch=-0.0496 left_roll=0.0219 left_gripper=0.9995 right_x=0.2954 right_y=0.0011 right_z=0.1783 right_yaw=0.0018 right_pitch=-0.0179 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6718, 6.3385, 1.746, 0.149, 0.1197, -0.0122, -0.0479, -1.347, 7.0359, 1.7265, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.3033, 0.3035, 0.4026, 0.0525, 0.0532, 0.9995, -0.0196, 0.8055, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3356 left_y=0.032 left_z=0.0545 left_yaw=0.0235 left_pitch=-0.0344 left_roll=0.0277 left_gripper=0.9995 right_x=0.2955 right_y=0.0011 right_z=0.178 right_yaw=0.0018 right_pitch=-0.019 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.2889, 4.2598, 1.2918, 0.0171, -0.0659, -0.0122, -0.0205, -1.1282, 7.0496, 1.7411, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9935dac65754c7068c5733529e1446478b0262378482d0a9f4749d75c467629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0940ba761880337d7f192a9c8f4763d2c7aa11cd4c4edc535ec380d64d86c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04915bc87dc5a1595d26ff71986d42013a953a22beb23bc26b00d6382c13cc73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkUfTXxw7rIC5kRP6VXWPfTH1PpswZwuekVFvVTOk9-aLSVhNo4c4hRKDW5f560_PJuFxjDfqsYQdfobVezRpv1bV-xWBY6EDYj8UkjyAEWl6IGhqsRb5bpqW7Iroev8wagDjVJJ0KBibcgXn7fN6bV6CkNkGYSVJkYg50Ip9FAReS12HYfzSXUrYyOqQWQSnAjItmGubtM2LapL4j6kypAsR4CCLLW7Zh3AfdqTKBmZAVSfuQt5B-yMk4OA9W3TkmXmuVXNN7k1SdVrs5q9gjvft8rPyfJfLmqvrDzwAR4DQelIGfT6pB2UYvNtThl78DIsqXCylxtAwbm9dlTRPNFqop1YUqZCaxtvMJfJa6_ruDpRqZvjIzVYfwpz50vcl_zj9hMNqV-xuxvH8lm18DHSTrvzjsKP4Jr_MsGgcvKQRmI9lP9ZwSdNC8fWMfYcIM0PEv9ALcuyH-017LYR3llqeCXsLeim_pdDJEryhiRioY7OQ-5p-znxzqlFwHD3cRD1HdXPTnp4UwUJVp4aNENDBK3Cqw830gpvE6cL1EzebHu6Tnc50vqW8v_vtMLX00fq06GxWZDnLfkfM6f-rFm4JhbDRESBvvnaoiBeSa54dPlGb2CYsKUYpd2D8q33lwDH3067WA0XJj6BLCiiPLDVtfGXt5t5qVM0eKWbKg55G05aJI6VgLtpwU3AW2HaGsk6qpYeK3gAT6gJZe82_4TtgPuiNYJA0g34LTs5mqmZiqsG4TYP1yy80AnCRx-fQQY6z9FyI5UUIIP_G9j8lTp1SMPF0kRtAmYYVSLCIUvk0Vn_Sh0JjXYkEJGJd4CS6bzz50S3UIHXwDSTt8h58azWTQUSKLc2gV_-CPskEe8fWaCIHHigYg0R1NfA66uUkH3w1-eorMA_sWpxaAW1jfF6hlNUAzUWeeiG6lP5915H1mhZZ1bhFw6erD3KFG6gjVgNXFfzN-tUqw4YT-9_GeuNXsyLXy3fZugE_uj2b-nO9b-5nrViRehTwGr46bx-vWCXa6JTWkdkhGvHMVe6OvuEZX2Dm3sZltTnRPjuPuSqMng0ru5LP9GsHvEQqYVSFg45jkzTC-8TaAFaaDBb1B1Ma9UxOQAO9suBP-WW2a8vx1OhzCZSbsxIcEHlBSnv5WRCocv3NOqCqo5tX0gHagB2P0phjXOSVLxUZsE4nJ2w8C46lvjd6Y93FqJtHyHL4S63Q5x-6wU2mqjcpwPZTJNJFP7wOaO4NZ1oEIbXl_1FmCuYbDuIXn-1NW885f8bkvsX127nu_6rFPS0iunHF3qZLcSCGSfEtKFPUWYtnPbaBvOlm509bG5-DCJWMs0mR1s",
  "id": "rs_03b200e249c93413016ab43912438c87d090f1bb32adfe1308",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lowered jaws straddle the gray plush in the wrist image. I’ll close them and check the settled gripper opening to see whether it is held.\"}",
  "call_id": "call_sm02kd7qJiHgc7hgSqMaBT0e",
  "id": "fc_03b200e249c93413016ab439138f6487d0b083384f86e57b62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sm02kd7qJiHgc7hgSqMaBT0e",
  "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]: [0.112, 1.3071, 0.2974, 0.4507, 0.0494, 0.0521, 0.03, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3399 left_y=0.0331 left_z=0.0608 left_yaw=0.0268 left_pitch=0.0035 left_roll=0.0317 left_gripper=0.03 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.1504, 6.0786, 1.2479, 0.0269, -0.0366, 1.0281, -0.0342, -1.4701, 7.0906, 1.7021, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29eb0930ac0eeb02d4fbad0fc8c6a56fd0ae92cd7e8f8bbb4286a56a2365c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db9daae98e4eb1657359e570e69940e4c4b9b34f98a7182180850ec3730a87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623d107e240328a7809ad9fce5d7e4294f5da0ea6266c3b432127446f7fe550b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7704, 1.4406, 0.8368, -0.1619, -0.6144, -0.4957, 0.9995, -0.0189, 0.8024, 0.6086, -0.384, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1863 left_z=0.1356 left_yaw=-0.017 left_pitch=-0.0401 left_roll=0.0216 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.179 right_yaw=0.0024 right_pitch=-0.0152 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.2974, 9.0325, 1.5897, -0.5104, 0.0269, -0.0171, 0.2393, -1.2513, 7.2547, 1.8535, 0.0073, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.3033, 0.3035, 0.4026, 0.0525, 0.0532, 0.9995, -0.0196, 0.8055, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3356 left_y=0.032 left_z=0.0545 left_yaw=0.0235 left_pitch=-0.0344 left_roll=0.0277 left_gripper=0.9995 right_x=0.2955 right_y=0.0011 right_z=0.178 right_yaw=0.0018 right_pitch=-0.019 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.2889, 4.2598, 1.2918, 0.0171, -0.0659, -0.0122, -0.0205, -1.1282, 7.0496, 1.7411, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.3071, 0.2974, 0.4507, 0.0494, 0.0521, 0.03, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3399 left_y=0.0331 left_z=0.0608 left_yaw=0.0268 left_pitch=0.0035 left_roll=0.0317 left_gripper=0.03 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.1504, 6.0786, 1.2479, 0.0269, -0.0366, 1.0281, -0.0342, -1.4701, 7.0906, 1.7021, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29eb0930ac0eeb02d4fbad0fc8c6a56fd0ae92cd7e8f8bbb4286a56a2365c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db9daae98e4eb1657359e570e69940e4c4b9b34f98a7182180850ec3730a87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623d107e240328a7809ad9fce5d7e4294f5da0ea6266c3b432127446f7fe550b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkh81hmKuwDTTouDCytmZnlDdG5gkTIpLFaVnhg-tglfst63QEx8Kdy0jkUOsOd3CqN-9Qxx6Ss6XxyPTR8CU3VUnXhZEgLlJgvKmk8dfWxeZnXWFKJw-h1mWkPZ64GMRJ_ytwNr5ztx5olqN_9PKOCqg8Eg7ndxf4CYZWIXlcqInYmtoGm0fd-kGcNIk7lRcknhy5ZP72wzHD89bDydoW0QHqTYhWgrDazeVgdnpb84dEXWgb0dQxOOT5cs_RVq5lR1lepm2rRvqk14TutgdrGlD9kEZB69KrnWmEAmrxjxFGS41kQ_VhmDt5IJYuN8gCliNMrOSD47H-3u1gvud_cL99DoedaYU5gtedGizQBPp4r4o8S9xuQjN1flCcr8fDdabRJW5rIfaM8UHRC6NNaqtw2oeljeIosRziuU8m0aRT66zApeFpSkxoJ5w8Y0OfII2GwUEdE0y_7rcjn1qFdfwdDzNVx-6AJgJurSWhNBsgGnKgJqH4-PAZMCZOaTZkiHPqzXaCcDv1VJ_xHowiZsDRcioEg5tj0idWjwPE1rKAhZ7fX39WAUd3pSIE5gol0DgUmQb0EyC0Aknnb_-Mg58e6d1PemMXCJU1FnO4y8ELixesGdIUVhXZqrZw0Nd92rBb7R0DJJKKTqIfuI_9kxbiI3dmPYN4l5lWLoiPEOk63Kye0Ju67qne7G2oBCZ1kbQ-zFOl4NfCp_nRupUDE25rd-Rzwh3ByQ5C7BhL3tdKvBr15HEzClw5r_7qcWnW99cPiHgK30xAQHBFpn8980r7G77V3Xhx0wa4YvK4UFLB9ktfhqvEkvzuVdLIzYdQ98AdSJCbEim13UU8xVMbnpGnM67NZLpxaUnloU9GY2ZzQSjn0EgMYqfDoeM8kBMldhorvaZLADFFFCb8zo_H7WdbsR9RB64dCgEp7sYOGnVeQE3mdxU_XDFX4UJYgWARaOPr-lfI77MZjSf3QXQVMXY7cchGgUIqNn4kc86dkmcmzrF42iSSCJ1zgcgohl9eWlz_grTxFOW-dIjXXTGeyn-oxKg5cNpFDkwAEJcwXaw_2WhkAgEOpfnLNCLd53MKtVJFG3xGwhytGEfS4TbFtcQ1XgwJ11EjNMlL7WQ8Sm_hhuCz-PdsQzgI15tLwkiHf0ujHqFHsqdAWJeYPaCk8IC5IftAv59Q6aiBnX6g-4cS41FxAdLsKnULn_q_0kpBDYp7SAD9n6mikcQ5kcbQ9VN5caXUkToInNxXH6prPPJOEleB9CqlPZIOuvEbIWixVwBzTUERABrb_OQW19mgLP_gsxcveCNPvdK3leED6Q_jijsgPFrSXbZUn-m7PydYM3585IxQELaeLe2Zt8ce9483NIXr-iB-YlQZfesaV8kB-i-HPKlkGlDsGyDNStuAvQlp9ZGuCkuKRTf_wkQsT1cKgrN_ubwK-SfBwP_0-Aqq2i5M6vpFkneYptJ8L7yuFLTWxj5LBkK_vyMVKznGfJFZqVqjJKRUoP0GsXPHBSMGQ8gzRqIwA4e9DsITp8l7mHGUohCY-9zqRZJDClpykFbKPHrBdhz6qMrTryMwDLdmaMLos7K1baizMJns7CfZRj5NKk01vmKbIlQ04JUKwXPyaW1xGnb5-WXruKamwVshOfgTnZkejcCkLQZjk7qKWcuefKnUs7AURoyT43RTjKDo-Ionjb3buM-IIwW7mBWwokMy2hqKhfiPi2lYtkIQ3hgECPi5KDl2vq-CLWF5Xl3D9rRDwJ2MXYoybe-rDLWDqSD3EmQu1tlLWCUMfjBg1Gkt5YhZaDIK0Z76czvBjPQ==",
  "id": "rs_03b200e249c93413016ab4391fd6ac87d09be3544bad79d06b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.368,\"left_z\":0.052},\"note\":\"The gripper closed almost completely (0.03), so it missed; the gray plush remains visibly ahead of the fingertips in the wrist view. I’ll reopen and advance about 3 cm toward it at the same low height.\"}",
  "call_id": "call_LTH0pTsYFZU3FdAWPlLZDOYg",
  "id": "fc_03b200e249c93413016ab43920f5d887d09bde49b3fe2a5673",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LTH0pTsYFZU3FdAWPlLZDOYg",
  "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]: [0.0998, 1.4681, 0.3618, 0.5713, 0.0387, 0.0448, 0.9952, -0.02, 0.8082, 0.6079, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=0.0335 left_z=0.0569 left_yaw=0.0274 left_pitch=0.0272 left_roll=0.0329 left_gripper=0.9952 right_x=0.2955 right_y=0.001 right_z=0.1767 right_yaw=0.0015 right_pitch=-0.0232 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.6855, 6.5983, 1.6288, 0.0171, -0.0122, -0.1197, -0.3214, -1.306, 7.0496, 1.6923, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f99d83a827db0bfee2751ebf8dfd2c2556b95d32bad04004c2a151fc3118033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7be0a57d89096d6aea174555d79253f3c782f15efdc0c088d18fb8fe8d3698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c7cce09f291a3be568680e64b85f3cff6353f4694e57063ed00aa3bb207950",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1127, 1.0466, 0.5243, -0.0906, 0.0601, 0.0532, 0.9995, -0.0196, 0.8043, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3305 left_y=0.0304 left_z=0.1288 left_yaw=0.0178 left_pitch=-0.0496 left_roll=0.0219 left_gripper=0.9995 right_x=0.2954 right_y=0.0011 right_z=0.1783 right_yaw=0.0018 right_pitch=-0.0179 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6718, 6.3385, 1.746, 0.149, 0.1197, -0.0122, -0.0479, -1.347, 7.0359, 1.7265, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.3071, 0.2974, 0.4507, 0.0494, 0.0521, 0.03, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3399 left_y=0.0331 left_z=0.0608 left_yaw=0.0268 left_pitch=0.0035 left_roll=0.0317 left_gripper=0.03 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.1504, 6.0786, 1.2479, 0.0269, -0.0366, 1.0281, -0.0342, -1.4701, 7.0906, 1.7021, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.4681, 0.3618, 0.5713, 0.0387, 0.0448, 0.9952, -0.02, 0.8082, 0.6079, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=0.0335 left_z=0.0569 left_yaw=0.0274 left_pitch=0.0272 left_roll=0.0329 left_gripper=0.9952 right_x=0.2955 right_y=0.001 right_z=0.1767 right_yaw=0.0015 right_pitch=-0.0232 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.6855, 6.5983, 1.6288, 0.0171, -0.0122, -0.1197, -0.3214, -1.306, 7.0496, 1.6923, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f99d83a827db0bfee2751ebf8dfd2c2556b95d32bad04004c2a151fc3118033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7be0a57d89096d6aea174555d79253f3c782f15efdc0c088d18fb8fe8d3698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c7cce09f291a3be568680e64b85f3cff6353f4694e57063ed00aa3bb207950",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDklT3ZRlhebwG1KGGZXv7Rg4qvDOABRhdFZT4QFd02m3enrI3tvkZQpmei4d7FVtgOYVmbxi1dt9ZMaWtQ_vvADfQLBYM-xm2EVac4mzCovn0qb0HRO5wfxSb-lkQ4t_vpb4Iao-Vvc-RamA7ASiJEOl-QQDkIwQiZaqTz7zWNkkbMz1C9jEgIPrhuRiK-gMgxdpizbVt0yKtQG3BSiE3iiiLwnkwrOMRv_ZSwrC5JYX8cbFdOFfdmReHRZnwLaU1Sy7ufhvXXxriZ_CXhITeyKx4Rjo66-D1_itzmJBK0ZnJq5ne-nfSm5JJEAlsps46XM99mnUw86_a4rXI3S3yeIRpejE_cVNzVgdYPPN_xj9y_6JQG2k6Zbrh9q7YgkYw6QavarNFGit0v34NcwraJN71zGzkbzLEbi4wUsfyUuqPnpfLel3vPI8SaTQzaBldZqlXIRP75z5G5W3JtmTzHnqPrYAFvV6432qKszcOWDttl5xwitigQBml2LXKbarSK8tCw6-3A7WkcqEY1TbkY5JpZxNaxoAko_Vr43Of1vV4MCVwGqd3eePg1OXh1jY58fJU3XMIMJ8jlFfTyWE-LKEcNLVfubW9bb0bnwlDuQJ13pFRxltqq3kKdgt_PZc2cvrq-AUQpKOyqW2peJC24hEoBYp0QTSFNmRZxA9tIUVgCJW5HWfFfcAuoR2NBM1HhDu8UJaG1YOgywfxQIZbHzh3elevrOhrkiRaEazuHmhmZ9Q_ejoKYXOM7ABMRyhTCFl2SeU1cFqcujYGSaWHifblaLYT9CUV7gpIblGQnFNikon7tgIDLh6_0zfIDLSGT5_Zoy47zoePg3FeS5B5NkWKkqqvT-Ew6o7gPP2Lsq6abcs51p1AOpdoMrRcaL2C9HGa6mljDiomnbPatyHfTgyHOpsxUCqBR3dtqV5RJWB18Qj0V7LA_K9cwQMmlRp_BH9vAkTfmPafvgwWF4z5LZLJbGK7oPXeGMls6SX7T37ADHKF6N7Z9QT6HCA5T5I3nmoaXJYtgcwqWQ7Xc3yHFpdeKpdNXYep8kvsT8xDW5vX61Twq_RZChNjG5pa8et6uJF6ZbMsVxvSRYa6cQ1LjknPKUeJVl_5Ei_ZSB9XyvK_OunLo-ncMnUuOD1eWP-G0uTu__li6QkibpBSvZbF3wRD4TSL_VVv-jH4u_F1udWrIij0lPjHuZ2op_1mNa18EArQCbKqNBnqiwH6OxSWIWpnxLa5U_1iXJrFiN2BiEta7dV0tRx14pophaXThhMz8UOLJF8RwEiki3LTPIVKfNLhTwTIKNeEonmdGT9E6MbbQ=",
  "id": "rs_03b200e249c93413016ab43924307087d0b4f183d541c3f6a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After advancing, the gray plush sits deeper between the two visible jaws in the left wrist view. I’ll close again at this better-aligned position.\"}",
  "call_id": "call_K3RftruY3Z0ml8xYUHB13eEz",
  "id": "fc_03b200e249c93413016ab439248d4487d08c2e791dc9d18ee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K3RftruY3Z0ml8xYUHB13eEz",
  "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]: [0.1005, 1.4715, 0.3649, 0.5938, 0.0265, 0.0441, 0.0385, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3705 left_y=0.0363 left_z=0.0616 left_yaw=0.0389 left_pitch=0.0489 left_roll=0.0398 left_gripper=0.0385 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2991, 5.1487, 1.5897, 0.1001, -0.0171, 1.1258, -0.0479, -1.1692, 7.241, 1.7167, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5972f4eda1eb3cd0a9332248b3b9fbc7f2f720cdb94a81cb77d25003663f751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf497d9c490fca853d158b2d2014da79c093ddad064ee58901114de42a0a668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee930c3fc526a01ad5ae93bed1b3bc36f5d9ca9fc520e62a53f15425519842c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.3033, 0.3035, 0.4026, 0.0525, 0.0532, 0.9995, -0.0196, 0.8055, 0.6086, -0.3847, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3356 left_y=0.032 left_z=0.0545 left_yaw=0.0235 left_pitch=-0.0344 left_roll=0.0277 left_gripper=0.9995 right_x=0.2955 right_y=0.0011 right_z=0.178 right_yaw=0.0018 right_pitch=-0.019 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.2889, 4.2598, 1.2918, 0.0171, -0.0659, -0.0122, -0.0205, -1.1282, 7.0496, 1.7411, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.4681, 0.3618, 0.5713, 0.0387, 0.0448, 0.9952, -0.02, 0.8082, 0.6079, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=0.0335 left_z=0.0569 left_yaw=0.0274 left_pitch=0.0272 left_roll=0.0329 left_gripper=0.9952 right_x=0.2955 right_y=0.001 right_z=0.1767 right_yaw=0.0015 right_pitch=-0.0232 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.6855, 6.5983, 1.6288, 0.0171, -0.0122, -0.1197, -0.3214, -1.306, 7.0496, 1.6923, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1005, 1.4715, 0.3649, 0.5938, 0.0265, 0.0441, 0.0385, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3705 left_y=0.0363 left_z=0.0616 left_yaw=0.0389 left_pitch=0.0489 left_roll=0.0398 left_gripper=0.0385 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2991, 5.1487, 1.5897, 0.1001, -0.0171, 1.1258, -0.0479, -1.1692, 7.241, 1.7167, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5972f4eda1eb3cd0a9332248b3b9fbc7f2f720cdb94a81cb77d25003663f751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf497d9c490fca853d158b2d2014da79c093ddad064ee58901114de42a0a668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee930c3fc526a01ad5ae93bed1b3bc36f5d9ca9fc520e62a53f15425519842c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkoG5IlYIx0BZIrWj4ENERcq2GHJmwcu5TEbxXxC6YUWS9OZGngd403vNcyW_6b5ObKTqxhkmkK9--N0BJRPW-pqWuoxaFXsEkOyVeTfi6i65G_tC6Nug2IRJkY-DW4xsJdCAo5umRx1OepC4gGKka7C40ZKSg6rPH0Edi-9dDjsmWMyI-PGRZpA32yLU8KSyJQJtgFEDV3JTkQWrGVi4FJOvSN4t2oVTInybDYf08ebzUF2GbAKOwailoNERyzy03XX8ELCXviAY8IXJfjZv7qRQ2JAjnUtQLqEq5M5pzvuBrWzvb3uPi4s8o-lLW6iXitGScGKktZMimbGisnIFLQ1sW47ZJQROcR1IPwWI_Ka4pbEED2ETNtaFoSbRO9cmy0hBMmMHPNnOde3ImeMw_fxhgRNHfMxnFj5ExjOCwi4VYCQbTaaNAbaSR4ZFAWHs3ySX_KdSBYN_7-C6hj_Qj3iaBXPgrPANF3dn4Tg3VK3gzeJmgx0Q_CdWtp3hpH-Tje6UrMlQ9A8ufhDMgvas2NNKeZIu7kNCp9ZQ5CKMkGTjPMaaMBR1W9rT7EPGVKMxeweKKp0wrWBHzhqcUuKC1NvZlb_UM2I6hF_1x_UCJRYFrEmuqAaUSo5No7wLRveGaIpvPsMnhmerRCI0e6sLv7tciPuw6UStzBRI2Pbtsa2nuI2EUPtx6ltmBAe3RAzM2hTQ-hG2gfq7g3rskvqKaBUtvxTRxFLbJNQ6qIJ8KfPtUR2AISU3iJyvtpAu7bPwtfr-jJyCgNGwCVuj4gnkeedg6-qEGojcO4SBFhJJcwIOGF1x-GBZTroQzOND-7M2QoEKhdAtNHWeSVdcFqYb0tads5o8pgObCE3l04bd0Cd0GeHJGhH6Oa9WM9pd6epfeWpZW4CgcJoSDZ7Rqhss7oceBcanXpIdYIDxfpa0uMpqzJXwRLblkl4arvbOv_AYJaeIWOg9-5vCm4M3dCvspiOlJl4hVudGqAQ4vqmjh7DEsLukydUdW6eTzfeXssK02s-nhvcrCkN9g_ddN0yUabu4QZI49dyO-kxmEr5CNqF_IrK9ThQeVsYnMqto7LKw_xw9HACZtSQr3A9ne-YCTzJSLyxepqAFAdRGbSRHnVorFu88prAZS6fUXbGIkVPygDsUBJ_FhvCIhsAnRejo2diwEdRUiqG6WPHX7dNzFVB3PrbT_JW2jySf5nzAKfcwjrweHlyL34WtaOL14FYHI03PxbQPqr5bVHYS09er8UU5XQDlWwIxAargbucW3Pf-_uufmvUQyHa0Vpgar9Puqf-waOZsc2ImTu8Fj-8Y8t4ewT1XqGJGqM_B5PFdVp6GacMJyyDZWlNnvvq3JSPvJ1UcRhXPQoQ8pzsT0GGXveglNmU09-tH9rGfcyKOhqOKnKK14aEsT1-ewZdQ6qQLnCm9hPLKaQ92yyrgvBtHI4TSqx1pJAk6rbZnUe61Lbagal3axrWw9rWg6tzsQyqDE1S1H1iAzM3fs8JfVP9fG2M3I9ylpF-cJdGs9DB9euOLHX5OicxUucF7ltypXDrsMd_j2xDlpbSzDKcDlLv9auEG2W8onkgPGF-qYZeyRi5U4PW0cRUi7YlPnGVrW_ph60tz9y4pw2Vx4arZtw3EFthMt61qZN-KN0ObQ5nx5ujffPV1PSVUJulLlsiEjDoJFZPw==",
  "id": "rs_03b200e249c93413016ab43927115087d0882604fbf5573ead",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The second close still reads only 0.039, at the empty-gripper threshold, so I won’t assume it succeeded. I’ll lift to check whether the gray object follows; that will also uncover it in the overhead view.\"}",
  "call_id": "call_6wHxzAA2uxivcOKFmkbGyBw5",
  "id": "fc_03b200e249c93413016ab4392825b487d0938d2f55899c5dc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6wHxzAA2uxivcOKFmkbGyBw5",
  "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]: [0.1009, 1.2022, 0.5671, 0.0834, 0.0254, 0.0372, 0.0402, -0.02, 0.8101, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3661 left_y=0.0362 left_z=0.1321 left_yaw=0.044 left_pitch=0.0102 left_roll=0.0322 left_gripper=0.0402 right_x=0.2956 right_y=0.001 right_z=0.1763 right_yaw=0.0015 right_pitch=-0.0247 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.5863, 9.3197, 1.8095, -0.0513, 0.022, 1.0281, -0.0889, -1.3333, 7.0632, 1.7314, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76103f16ccd178ce035d92a0dcfc02f5d755e34db7a3abbe91711dd11a993806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5e1642136747a709303b5dfd766df7c52884120e374b74e90c69a3e04b9fd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3723ffaece6afcd35a5874c528222a25abd62a2c15e05f8f7f7eba16a9ecf6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.3071, 0.2974, 0.4507, 0.0494, 0.0521, 0.03, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3399 left_y=0.0331 left_z=0.0608 left_yaw=0.0268 left_pitch=0.0035 left_roll=0.0317 left_gripper=0.03 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.1504, 6.0786, 1.2479, 0.0269, -0.0366, 1.0281, -0.0342, -1.4701, 7.0906, 1.7021, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1005, 1.4715, 0.3649, 0.5938, 0.0265, 0.0441, 0.0385, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3705 left_y=0.0363 left_z=0.0616 left_yaw=0.0389 left_pitch=0.0489 left_roll=0.0398 left_gripper=0.0385 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2991, 5.1487, 1.5897, 0.1001, -0.0171, 1.1258, -0.0479, -1.1692, 7.241, 1.7167, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.2022, 0.5671, 0.0834, 0.0254, 0.0372, 0.0402, -0.02, 0.8101, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3661 left_y=0.0362 left_z=0.1321 left_yaw=0.044 left_pitch=0.0102 left_roll=0.0322 left_gripper=0.0402 right_x=0.2956 right_y=0.001 right_z=0.1763 right_yaw=0.0015 right_pitch=-0.0247 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.5863, 9.3197, 1.8095, -0.0513, 0.022, 1.0281, -0.0889, -1.3333, 7.0632, 1.7314, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76103f16ccd178ce035d92a0dcfc02f5d755e34db7a3abbe91711dd11a993806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5e1642136747a709303b5dfd766df7c52884120e374b74e90c69a3e04b9fd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3723ffaece6afcd35a5874c528222a25abd62a2c15e05f8f7f7eba16a9ecf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_03b200e249c93413016ab4392b64a887d0b16063e8aced0a56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.31,\"right_y\":0.24,\"right_z\":0.14},\"note\":\"The gray plush stayed on the table, confirming that close missed it. I’ll park the left arm and position the right arm over a cream plush in the central group so I can sort the more accessible objects first.\"}",
  "call_id": "call_96hrjQmtYnouvxgoziB2J7EY",
  "id": "fc_03b200e249c93413016ab4392eea9087d0abd2dd9088723122",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_96hrjQmtYnouvxgoziB2J7EY",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0967, 0.7811, 0.585, -0.3893, -0.1314, -0.0631, 0.9979, 0.9482, 1.5078, 0.8959, -0.2756, 0.7082, 0.6151, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.0013 left_z=0.1737 left_yaw=0.0324 left_pitch=-0.0179 left_roll=0.033 left_gripper=0.9979 right_x=0.3047 right_y=0.2335 right_z=0.1256 right_yaw=0.0355 right_pitch=-0.0678 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.7162, 10.2222, 1.6142, -0.1441, -0.0122, -0.022, 0.2803, -6.8171, 8.8274, 1.2332, 0.7253, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f161f07c2d7d28e7ea48e5cbee4b0ec0ab102799e5f6c1d94de7a8a590d5a894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b50501ed74c3dc8913a83ffe5f4d9b18386d8551f6aa857a8847ae13502953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ab2e1e62b1142e407b70916f7c552f3adbbb95145fc7f5aba363aed77e90d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.4681, 0.3618, 0.5713, 0.0387, 0.0448, 0.9952, -0.02, 0.8082, 0.6079, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=0.0335 left_z=0.0569 left_yaw=0.0274 left_pitch=0.0272 left_roll=0.0329 left_gripper=0.9952 right_x=0.2955 right_y=0.001 right_z=0.1767 right_yaw=0.0015 right_pitch=-0.0232 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.6855, 6.5983, 1.6288, 0.0171, -0.0122, -0.1197, -0.3214, -1.306, 7.0496, 1.6923, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.2022, 0.5671, 0.0834, 0.0254, 0.0372, 0.0402, -0.02, 0.8101, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3661 left_y=0.0362 left_z=0.1321 left_yaw=0.044 left_pitch=0.0102 left_roll=0.0322 left_gripper=0.0402 right_x=0.2956 right_y=0.001 right_z=0.1763 right_yaw=0.0015 right_pitch=-0.0247 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.5863, 9.3197, 1.8095, -0.0513, 0.022, 1.0281, -0.0889, -1.3333, 7.0632, 1.7314, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0967, 0.7811, 0.585, -0.3893, -0.1314, -0.0631, 0.9979, 0.9482, 1.5078, 0.8959, -0.2756, 0.7082, 0.6151, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.0013 left_z=0.1737 left_yaw=0.0324 left_pitch=-0.0179 left_roll=0.033 left_gripper=0.9979 right_x=0.3047 right_y=0.2335 right_z=0.1256 right_yaw=0.0355 right_pitch=-0.0678 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.7162, 10.2222, 1.6142, -0.1441, -0.0122, -0.022, 0.2803, -6.8171, 8.8274, 1.2332, 0.7253, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f161f07c2d7d28e7ea48e5cbee4b0ec0ab102799e5f6c1d94de7a8a590d5a894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b50501ed74c3dc8913a83ffe5f4d9b18386d8551f6aa857a8847ae13502953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ab2e1e62b1142e407b70916f7c552f3adbbb95145fc7f5aba363aed77e90d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk9hyOqE1EMEhm9O64g6HQ8KhGeF5TQ-NWKHvrA-JDQmueEiTWThWMMxT5CgpsJ2xkIPBPvRR27v0P9ay2kAvzrCDuJjVYY0GJmrqJYBcqeiXnMzmRjWvmqO1WpM1vb68WFpX3YC4SMmjuGsXrgjdx6WnjHAbXoYkZLvRUwHfJFc2DizyMV4YPHelDHSKhr0MkXViuVRc2AhvZni4muQy_BdPuRDHLFewK2r0f2VZv8DmpDdqxgF0W_cnNJMfW6PFb-b_EYt-ayR3qwAv1sdfKq7CWjtUbTPRW7DwVduIERuzlOnGZi95vjpKMWAsQWIPAeWXLqQ9aONJJErgf5imw9zdw-SAN7vfUGmrbp9kOoVWQcrbaN-VZ_S8Dw_wQw5-0F-f03vk1ZU1hpETegDnMwBvPUWdOR22RvrS6XZK_Z52tmIbrZ967Olsx_xEhddCfoUGXEjY2qWXO8P1P61UiZSGvTM1hTDpxClyABCc5ChjcPg4CbXJiGjtR4ncsqKi75goW1xyaJyk0FTEGx_QJrbXPcChXGJ0oh18JZWzO8muMaJF0t09UG8-UrRS8JHFPPF_KQWs8a-QlJ1Z8qGu5m5DDFcfBFzxJ_Kd8hql8L-CzSerzzL8A80-BWa9FTs434fxqdOKPLBuVzq5NK3sVl0V0JA_jfn9kdYkWnRWWh3eoP2tIbq_FiZuGISoOT6szvDtCTMQfTR-vvwRAwN-pDMfeK6Yi4tZASsfKxZk3M7ELnIJLscwM2IHbU6W3HrjEIMS0pGHowJztIoOL-ukimxztaCJxvE3q69RCEp0OyM_pvXUP4HT323pmym3sDQTaXsImB4x-e8_aeWZuUe3J2p-pV1Lw4Qu-6fM2S4PJIWGGZmZi92tNNT85AoDbeeLSjpLSW8BZT7IYxk-NfcMO9Q3YzRdf0InRxclWza3niDRnmVFI9BZHwxywy1_8oe8SHa7SRaaDLEAtzSaJGNtHtS6acnNWUAsQ0znFf4eZRBsDb4C1vAU290i8VQjjZzzW0GESZnUldOXVbJEo9Qc4xRH_kB_e1X6jLfmlTaxhBnQFJUEg-ON1fjp9h87m_a2VKvnael2je7rM86Pn1yptbpi56h7HwDHwY2FIk7zBdXCiMjP4UlRQb85tJudNJzvAdyWvVrZL22WN82DaHDDaB0IRucszom6CtYZ6UaY28KnbOlwV7iwtVVFWtgeCZlEB6PlINPicXA4oxkjRA99wlccfzSDX6B7hB6I4QIX5AgGtZjDZonvcA7LgsDKtJvZ98ZAS_G-eoCVluLbVypvyTuFrrpVuO4tk_p8LEflRk9i1T2TA3FoDk6zaBIFZZ_a0NAcQaULZ8uEqQYUFJKn76tNyBEv9d61bbs1VN5406xM5dW-x4te1PHEVbq0ODb8LS3WNw4Yj6NhSN3kzgJAdLHHHtcNbZJzZicsBu4do45q2fZ1b87gL93fzijZOVa6ZwxrrEjT89eNIqteDTJrrJbLvSsHZrh1s9mgwsU5D2kwA9dwYigvV5TTbBV8wcZOJiBwhB8bbLwo0ROgx0aJS3i9MPDVJyU4fwwHwtsYjitw0B_KwZ-nqEDlmuzG-0hGlc7xbLxKZfymgvqCTQXpARkOXA6qdE_lFdoEIPQgY_08MS28MiYMD6Fn8GaauPxJjAOD80NmcHaynLaRSqnhHkyDa9LlBxp_DX_xdF9EPJUmeyauQ4D9PnadnrnCQGbDKcFftDR9KEOriRTlexDTLTZpWw1cX-oVF026ubZh90h4C95nRYxWGXB142nJCd96I8VVK68YhVcW6KCo0IlNxOrtE9VKc9BUSmyXI4PuHATg6iwflCM2tmfCgNG8Pj8dNQbugapn80t4v8rKA-J2QHei-zMcJX0tUJND7sgXOXW27Y_NqaHLcszVTC580mJdWdJyQc1kQElrpk8tYU3U2zK2N58zNTWl7J5EsDi_vTv8-mEke9pZQbBbWt8zTlTUfXIv9aDgSpKBhGJd4fs7qI6Ay4zAgTdWNU958CzbLacndMeKmaVtJvqxHHVLWsyfHHfDMoEh_Qor9_eRaApVLOXufD2bMc0hNALmgFfsMqtdWrvV5XD_LIA1WM2Xk3gVqEhksgHicIghzJiIErkNlDR7DaEKLu8-WB4Oifimr-Tlfa7lhMug2B3yPy3bjEH7v8bGgFSvvc6H5-XQ-dqGdowBOd9XS33rSvubPIJ_1oS8WBwaAWV15BvetlG04GRK-L5JfW-giKINnBmScg3xPIDXuZbfbIqd8_G0ZL-viN9FSkgsiBu8lX6PCKQS4TNyTh7tpmQvDRILzChz-n_P6U1CHq2uZsyUJJSN-r2JQP1bPQH-Io1dkvfxYv-yP1hTLc",
  "id": "rs_03b200e249c93413016ab4393a423c87d0858e4db1a8ea682a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.292,\"right_x\":0.305,\"right_z\":0.07},\"note\":\"The right wrist view shows a cream plush low and left of the jaw center, while the overhead view places it just inward from the right gripper. I’ll shift the gripper inward about 6 cm and lower toward the plush’s body.\"}",
  "call_id": "call_tM76DBnsEOMGExOInDwfmPkq",
  "id": "fc_03b200e249c93413016ab4393cdd2087d0997da0a11db9205e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tM76DBnsEOMGExOInDwfmPkq",
  "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]: [-0.1017, 0.786, 0.5919, -0.4026, -0.1349, -0.0681, 0.9981, 1.0386, 1.7607, 0.9825, -0.1173, 0.7715, 0.7055, 0.9998]\nstate[eef_state]: left_x=0.2896 left_y=-0.0021 left_z=0.1728 left_yaw=0.033 left_pitch=-0.0289 left_roll=0.0323 left_gripper=0.9981 right_x=0.3108 right_y=0.2921 right_z=0.0886 right_yaw=0.0361 right_pitch=-0.0314 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -1.5248, 6.4889, 1.8144, -0.0708, -0.0317, 0.0171, 0.4444, -6.5026, 5.8462, 0.6129, 0.2271, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0a761b7f91e0220f60cfa7163f79490dac45a33bef419251180ea2fd967bac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ceeeb59eff4ea99499c4794372b3debbc0dffff4831ebb2c22a05b7845ad548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca91f38edab0275d698abac18bf47b5f37927843c116ed8b14aaae7102f663f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1005, 1.4715, 0.3649, 0.5938, 0.0265, 0.0441, 0.0385, -0.0196, 0.8082, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3705 left_y=0.0363 left_z=0.0616 left_yaw=0.0389 left_pitch=0.0489 left_roll=0.0398 left_gripper=0.0385 right_x=0.2955 right_y=0.0011 right_z=0.1768 right_yaw=0.0018 right_pitch=-0.0228 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2991, 5.1487, 1.5897, 0.1001, -0.0171, 1.1258, -0.0479, -1.1692, 7.241, 1.7167, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0967, 0.7811, 0.585, -0.3893, -0.1314, -0.0631, 0.9979, 0.9482, 1.5078, 0.8959, -0.2756, 0.7082, 0.6151, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.0013 left_z=0.1737 left_yaw=0.0324 left_pitch=-0.0179 left_roll=0.033 left_gripper=0.9979 right_x=0.3047 right_y=0.2335 right_z=0.1256 right_yaw=0.0355 right_pitch=-0.0678 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.7162, 10.2222, 1.6142, -0.1441, -0.0122, -0.022, 0.2803, -6.8171, 8.8274, 1.2332, 0.7253, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.786, 0.5919, -0.4026, -0.1349, -0.0681, 0.9981, 1.0386, 1.7607, 0.9825, -0.1173, 0.7715, 0.7055, 0.9998]\nstate[eef_state]: left_x=0.2896 left_y=-0.0021 left_z=0.1728 left_yaw=0.033 left_pitch=-0.0289 left_roll=0.0323 left_gripper=0.9981 right_x=0.3108 right_y=0.2921 right_z=0.0886 right_yaw=0.0361 right_pitch=-0.0314 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -1.5248, 6.4889, 1.8144, -0.0708, -0.0317, 0.0171, 0.4444, -6.5026, 5.8462, 0.6129, 0.2271, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0a761b7f91e0220f60cfa7163f79490dac45a33bef419251180ea2fd967bac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ceeeb59eff4ea99499c4794372b3debbc0dffff4831ebb2c22a05b7845ad548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca91f38edab0275d698abac18bf47b5f37927843c116ed8b14aaae7102f663f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlBF6QM7Ky0BqO_rvcPnscX0iBS6Hl2O-KNrdaruC07RCpra6bg8OzHKiRNl1TdIApKIuzk4WohFAyh52f40Cux4YFBnE4xSsfZ3TKPxM215BwrPTOEzni5dH-pJMVYqGF-lWFIM2LbVhphlDSFxRPlJNvOsqdzhkq8HWwIlIZohWKABFRomDy_WFo4HeYj2qRqKKb6MjH1fiFwHkCUmUTDTg41YL07cFac3Y2vqCg7cr_7pPlw7xtWrout3wdz6HzKTutnots7VfG6cbvHIEC79McckQZkoo-NOFXPX4DsnU-EFudZZhN9SucD8AO1igBzxElwwhzTEnKwX6yGsSR8G-RsIPUUv-pYgfql2jzDnE49cEQJypMjqNu6suw4ck_iBSHJkZXU1mbuimvhikS-p4omNJZySzOVTEt5Z05xNtJUq_dwkz2p8j7B2w4jOcad-H8LNOkejUFlGC8UZpero0k3fLAUFQAHPTXFTMY02WDW_bHRPLxXs0D5VmjLDw2fpTJxvDrYftB86SlHSKFFXsfAUedgeTa-GoZU-xk4iPlkWmbYTv2qpEBMQlxoTMVsd-XwJek-DXCtWmNd3elVQwoy1tS-16GALJrtYseU8X00_S5rJNAc345ttnBGPCpAXTxiD9tz9Xh-cuGRzpHbFDhkr0_u2NDYLSKs2zMyTJjDc-FqFOZcxEhbtgDitz1aWdiAMkuPqnQ8PJlVt5HgI1xTwilYLqKF5uAUkkLTiCTzLgUF3dBNDnSrJ1VGwh1KsBOu4QAXekjPAV_10ITl9Y5OBeO-2KPdz0YhMatiJLOt9Lbidg879DYd8xuUQ63odpWD9tcJn180kuitGnZqfi6nG5CUXAWMPcCrG-GThbjCbr6mcWgCj_O2LXeaNgiioeuAe3HUTDn2AJj679ge_i4Jjkfeg1w2Dh9ABWI0UEH8Sl_4mNfHwQUrY7muLGkmCBJdI1ZKMzHoj-vqS9D1k8dkGhSXHBI5B3wm8qSd064tUB1m4QXFvSn9gCXBHpA9YP953koUiltm0IjHbe5IBgJwDSM-GksXcNeAchbnwuFRUW_cskAwUTY43nq-0AG6uWlDvqWE1n-gsVNoZoJ1-NpOPlyc78iG7l5RKStHtv4Doky9YfSy3pZ9ZnZ4zYsWC-nOTJppkRXEzZgx0bTgZPCbYFzq-CNn7SHT1VbC6kp6SIWBq4ewWztp2hTFb9oFh7c2MMubO9xgX85FlJXatsvKAzOXSg7pTup6y3zn67mD0sHDAYdjTH5xt04W7seZUHyZ48J2LmQbJX_gQ8v29AVr_MwY25PJZLUh-zoxSLWc_k8Zh9QelBPkF8XXp4tWg6q-7p2i8ALcN-xIFd7WPoqIi0ioUFxlK33T7mDDDO_McGaxrA041l7-B9DFhfLptu0IHy-rBx7TyrDtk3RFSGf7csnn676DgmVkQRM8wgX9_1_PjV3AHg9Vxs6di6hyKhyPbGXP-KaIcK1O9-0fGviSplHBoUbpwZ9BRBRu49Ds0hoF5Rj5xJclkhywhSguerpH5iW2ljzaizBAgBbRbNdWFCHPP7_od9Uus_FM8BBWXSddQiB51u2NIK3u8csZy-wZDq6bCG8PAnyyWIXDFw==",
  "id": "rs_03b200e249c93413016ab4393f4f1887d0afe1cb47d756b448",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The cream plush is now centered between the open right jaws, with its face just below the basket in the wrist view. I’ll descend a few more centimeters to grasp it around its head or upper body.\"}",
  "call_id": "call_tdXXDz3tQm9sECwk8brB4nCc",
  "id": "fc_03b200e249c93413016ab43940540c87d0af487ad9905e3c60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tdXXDz3tQm9sECwk8brB4nCc",
  "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]: [-0.1017, 0.7864, 0.5907, -0.403, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0944, 0.7776, 0.7193, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1721 left_yaw=0.033 left_pitch=-0.0308 left_roll=0.0326 left_gripper=0.9981 right_x=0.3112 right_y=0.2982 right_z=0.0858 right_yaw=0.0335 right_pitch=-0.0232 right_roll=0.0215 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.1829, 7.1453, 1.7656, -0.0904, -0.0562, -0.0122, 0.0479, -6.7897, 5.7231, 0.823, 0.1929, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ea9559f033cf914c069c66f7a168b3f57b8c5ac75ac5bbcbe3d57f51c50aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44536eeb6539632c1148a03a477dbee5c51be19ea0ed14a9d5aab6bb92d098e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9730bff7e09963bddd0ed92f3bfb9deca11d78c66106d3f8155c3d176138ba2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.2022, 0.5671, 0.0834, 0.0254, 0.0372, 0.0402, -0.02, 0.8101, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3661 left_y=0.0362 left_z=0.1321 left_yaw=0.044 left_pitch=0.0102 left_roll=0.0322 left_gripper=0.0402 right_x=0.2956 right_y=0.001 right_z=0.1763 right_yaw=0.0015 right_pitch=-0.0247 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.5863, 9.3197, 1.8095, -0.0513, 0.022, 1.0281, -0.0889, -1.3333, 7.0632, 1.7314, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.786, 0.5919, -0.4026, -0.1349, -0.0681, 0.9981, 1.0386, 1.7607, 0.9825, -0.1173, 0.7715, 0.7055, 0.9998]\nstate[eef_state]: left_x=0.2896 left_y=-0.0021 left_z=0.1728 left_yaw=0.033 left_pitch=-0.0289 left_roll=0.0323 left_gripper=0.9981 right_x=0.3108 right_y=0.2921 right_z=0.0886 right_yaw=0.0361 right_pitch=-0.0314 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -1.5248, 6.4889, 1.8144, -0.0708, -0.0317, 0.0171, 0.4444, -6.5026, 5.8462, 0.6129, 0.2271, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7864, 0.5907, -0.403, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0944, 0.7776, 0.7193, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1721 left_yaw=0.033 left_pitch=-0.0308 left_roll=0.0326 left_gripper=0.9981 right_x=0.3112 right_y=0.2982 right_z=0.0858 right_yaw=0.0335 right_pitch=-0.0232 right_roll=0.0215 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.1829, 7.1453, 1.7656, -0.0904, -0.0562, -0.0122, 0.0479, -6.7897, 5.7231, 0.823, 0.1929, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ea9559f033cf914c069c66f7a168b3f57b8c5ac75ac5bbcbe3d57f51c50aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44536eeb6539632c1148a03a477dbee5c51be19ea0ed14a9d5aab6bb92d098e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9730bff7e09963bddd0ed92f3bfb9deca11d78c66106d3f8155c3d176138ba2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlFxa2kByxCES6KQKSvvdCGzF1jVmURwnyJyidTQhX99CobG-VNKWVpsXaabHJXZJCTGa58UklTnyD51wLyB-fe3Y9C9y3dVUTpKBrcvR6r53XChUd10IFiSAIqMlkP9ROtBWPXHNc46rtYad3mJcJwtOFsxnxi8L1GNcvxuJAJVRkjRcF2NpAuzxPd-hJv_gfdqxVhqpXBCdLeLKWCmP61bxQLlM_YbOqf3iH25glvck5TPM0fmEyqAt0H0eMFmZQwpwWWP1xHGB-EnMjjuAI_W7lFGvsH0ZLeFERw0UfmE4eO27ndUuxODBrtFDV8iyO5PstSojxMVzHF-vNGLf6eblrSyI8UHHYVklVurtOQkzzvPYQRGHWyreI5_hv6gdMtqmXUpisw4JEeGyakat6BLHgGDK_anASPwbGeJ9IwfGHh5imVPS8Cv0A5d0upybVQnmHgdI-Y_HAArW3b81rzTyXRgaTEay6h7XzV6pMCJbk7qURsDwD3iusPtApciZ9fCmMiGgN5iaVu2Y_88POSaCc8Dw8eWr-W0bCGprij2tPnu0KhCmumbZAGH9Vbtp2YWRLRbnUlaxTT5eyQq1IWAqLIB3Dv25RF2nzMVoC1xF1HTqpj60b07WlqadE7HoGmTfkjp_IIWJVOWOvyHmXU4BbOT5p7oMaok873hHetZd4q8kb6BI-QMYe80aalKIhhiviSRz26V3Lg3qvK2VORQNIIcMRGKFx5sd92Hh1FwRYlyBQvpp7vCebTccASQq-vD2steGQOvOf5n6yOqMU16WTlTIPaKede-7O24CJQwbzW_Xa7bisMIVa4M8x18Lgmv27if8GDBb3H0WXcBekvQCadiVcYYCAUDCfeby4o9N7KotVbw26jjQJG3THUcAnSSjJEuoQQerrF5eNVMqRpzhLqZieVIbStKsDEnx7B_VJdVIehRXm3ahxr-xqPi6Id-lrRVuOCu3h2hmmccKpcs57J6yxOgD6aqyAjyYgcU2MuFJK-oPbv-U35aWg74EKa8ftodKWaYHwAuokmT979YXzRDU46MHMeleBFbSlqATickNHrbvW687_X7yEGN1NZtNksF-8ovI4eHTfOMMztmka2tVRmQqRmfjsBlzfXULUkrv_y7FUc0931vbxQcNDIMrz4j-NsBgSBRm5ySUSFL2c_Yywabzs5DENFXCT4FMspkmhZZD_iWgPCyyjusAmgBBo925nfZymjwucJ5QF_bSr3syXEFmvw2TXm4kD-nUWywOb-AwlKM4Fs6LNz1GOTiL0ug817dI7RDINcYb4ZC7U2LSJ1dYrfX6DU-_FIGFxVh49jLFMpiSqqzuir1wl3s6gu36Z-tF67A5q_PTm5s-qhnVI_pB1G0w1_MEuBI3fK1S_M7N9JmX4LoKq6XymFQgCn2a7HaouRg0qgAfhCff6xgxbmIpUh4YCWQKtilghB3KRMhjmOobGwdfnG5itpF6I_polswkg9-fGTLBlbBIwbebZvcUDSBomFFYoJw_tC12jOoWYcAQK5FBjuZysvNymzeQVRtk0lWHklri3rgg==",
  "id": "rs_03b200e249c93413016ab43942829487d0904064e0d21c937d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper stopped descending near z=0.086 despite a lower target, apparently contacting the upright cream plush. I’ll close at this contact height rather than press harder.\"}",
  "call_id": "call_0DJLaTgfZuyo37YhVEAIsKdQ",
  "id": "fc_03b200e249c93413016ab43944b93087d0b43baf2bc5cd141c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0DJLaTgfZuyo37YhVEAIsKdQ",
  "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]: [-0.1017, 0.7864, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0544, 0.778, 0.7166, 0.0137]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1719 left_yaw=0.033 left_pitch=-0.0315 left_roll=0.0327 left_gripper=0.9981 right_x=0.3143 right_y=0.3033 right_z=0.0909 right_yaw=0.0351 right_pitch=-0.0017 right_roll=0.0531 right_gripper=0.0137\nstate[joint_eff]: [-0.0205, -1.1419, 7.0085, 1.6825, -0.0806, -0.0562, -0.0122, -0.3487, -8.2803, 6.0103, 0.9792, 0.2906, 0.0366, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381402de61718a2232910f48748a2832d887d0f455e68141da458d211b423ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e2830773db9d2257b5f855285a16596c52cbcf465edd4b18bf19272c75e495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c01a232e4accc7ac66b6945602d2302be805d16816a018608b6739442dbdf9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0967, 0.7811, 0.585, -0.3893, -0.1314, -0.0631, 0.9979, 0.9482, 1.5078, 0.8959, -0.2756, 0.7082, 0.6151, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.0013 left_z=0.1737 left_yaw=0.0324 left_pitch=-0.0179 left_roll=0.033 left_gripper=0.9979 right_x=0.3047 right_y=0.2335 right_z=0.1256 right_yaw=0.0355 right_pitch=-0.0678 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.7162, 10.2222, 1.6142, -0.1441, -0.0122, -0.022, 0.2803, -6.8171, 8.8274, 1.2332, 0.7253, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7864, 0.5907, -0.403, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0944, 0.7776, 0.7193, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1721 left_yaw=0.033 left_pitch=-0.0308 left_roll=0.0326 left_gripper=0.9981 right_x=0.3112 right_y=0.2982 right_z=0.0858 right_yaw=0.0335 right_pitch=-0.0232 right_roll=0.0215 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.1829, 7.1453, 1.7656, -0.0904, -0.0562, -0.0122, 0.0479, -6.7897, 5.7231, 0.823, 0.1929, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7864, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0544, 0.778, 0.7166, 0.0137]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1719 left_yaw=0.033 left_pitch=-0.0315 left_roll=0.0327 left_gripper=0.9981 right_x=0.3143 right_y=0.3033 right_z=0.0909 right_yaw=0.0351 right_pitch=-0.0017 right_roll=0.0531 right_gripper=0.0137\nstate[joint_eff]: [-0.0205, -1.1419, 7.0085, 1.6825, -0.0806, -0.0562, -0.0122, -0.3487, -8.2803, 6.0103, 0.9792, 0.2906, 0.0366, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381402de61718a2232910f48748a2832d887d0f455e68141da458d211b423ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e2830773db9d2257b5f855285a16596c52cbcf465edd4b18bf19272c75e495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c01a232e4accc7ac66b6945602d2302be805d16816a018608b6739442dbdf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlNZTJH4c7E5edYnJOFA60_pUQOgWq_vOnKudyYxDNNvBumRgsIJNk_VbRJBGGeNZVogxFF0FcYEd87InXbyYWk79CYXq8P_kLcMqDEY3kOopAa8SEZ4Rk2gwMhkGO3JzHMuQZdykY1lf_jb0ww_LMAIVrx_QPCiN0E0VLLlpZzJfmyIYcMYUJ5eIBI6iF9hN2kHFrYFztYQc4pdqTN_cAiNOPtmZ0WBJlP_DrIeIF2jgfQAhQw8ez2kDJ44rJv-pNIkhBweAxO5_xYBvqWSrsyh9J4NHsODDzwBYUs115L5Gvm4ymFHryWuctwFO5Tl40CaTcB9OfZc-keCU1ehw9ae9sOibd-b_HwPeVQQ9Q9j_cNklgB19cNqJ1Q34NAa6vnjeLOiiyv3bu3DmbwbVMdOTe1djkwiAJ_P6_YwulqOA9EshDaO6YX8x920DDdV87KZfR348eDWAHmOdKa64eMCt1B_vitawZNi5LG9ORc2rvCDqFY5dsQoS2RxCqqwSyDFJ6xeM8dtIts5mqGro3YVo39jc3-KUj8gMhCSYJHxTEoBPiZxooJtPl-ZWV0T0E9qowMg8OBs6_afF-emeHHLpaG57xhQCMocSc5kLmpXg9NnoQqS5OxH6R_NgltnCIG4zsSxr8QGdgoZFeyOv9sr9mHX2nomtgKNP_9ExkKnZ49FYx2Bl63-uut5RHSD9viDw_9N0rnS896g6j5X5qHqZmM1zRloap9V4-dZ0qa1ze7q41TPzGHrFjTuGYW7I5s3pWMZA4uupZNrVG_Wvr8bgXW2UpAqR_H_t4ngx54qh_raqT7uahxWnpxMApDGQv5vhd78fTguQiOxz2mZZtiMhOXuWBlC-Kd9sD5erAx4mQS-4NwhlwbFf9jmDK9cU93MbXUQ6U0WpuHNm9BxAClpUdqCC0AiJ-eVvVQnm9vBCa67JKiQiuOYAXLHO4F0ifNrd1NpnvJxV4S8NB0F8hWi4w-J-jPhMSx7mVPch3FN11C3YGe8KMnQ0V9SFSPgyGh_cbOciSDkxKtH1QDmzKAkpyTWQKwMT6gM2DGbyF5dqsusL1gi9jvkJXBfBHIN57cgPqUqQywi3W5NS4Pm28N0W0ocY0Il2jDvEHqnYEFczLTBJMpvM0tMiPbRt9XkYXajBKvjSqJwfsx5yd51m-9NHFKlfnivGjpYYM895iHu0BzwdosX3jEmKVxYxWMdp_N99iBAq8sacZlHkexdqBCiUHMIehfTKTGm2rYhT3Ov5MFVcJhDip7rq8THytDyhjDHQj3LP60reSVyDz1yIZkQpjdgVCHapjyRbgh9CtbGKo93cNa-qLkKcdiaA7uMQFyLtJUdAc0J3CmdShBALieRcIOCe4ut7l0quYZlFQBKB9b3YoAEiTYtqzDzdfrRTLx18ZWZ45KzLMEXZ6Qgly8Q4Urco_Nmd0aoa0op_ZuAkxexzIyTasE9-pDq8AnyQtWHO2_MqEl_fhq4pLqc41XgmIgRZjQtjEsJaKAhONSDlhGci5wmhQVoPdOCdGT7BaA2GsxLHFIyzNZY-xLITohgO7K7x-17QdkzxJcB4mS3us1AMMFN6Y1dQnpjWm4Bp4I7Bps36o9qxfuZVfu9-uW5iyKMgA8SXZ3KxbPvrfW9J70xDQNkB8YoaoC1GbkAoGy-bCdImrHbnIhuYh42PEj7rKpQeiiV0wXqxz1hpPIRGhTHmy3dEwgwGG80hyr0skoMYn3SrfFxNojbUoO4kMlcRsddYB5WHKvk2dknzKxBDDd4_lnx3-p5H7CUuuo4_h_mub1dj12V0eO24KMWaBg3dbn8KY-V94IcWMP7XAwnEjr9XJeC61kKD924wQnEk4PdgkgsHkq3i3PZC_k0C0PWfFfRBxDYgAk02Zo4fPj8QbCC2-rTUSrqZRE2e45YRP4KYAgmRy9oiFRohWxmccETDXZSVu-PUKj6OFNxQMnIhrWMiwW14loK3xQQ3Jk9e4J1TVUJMPYGNSOOOKvnCXvCGSHIiT8SQ-erFkCajVK7Njs7YRt5kp8W7Jr4BvTR-xxOp3QN3RyoGQF_hPwo5HMrOMgwPIYh1GUS8W9QN26yz-jociAodMZnfm1GkEpeZi9wc0SdczTIh0gn_nKyfGU1ESGcCP7mHgdcGxNBGM9XxPNcAxrXqb_uIAytfd4Y4ZwvkdCbPlIMPqe9M4KxFZHTPVet2EuYQXnUZQ_4u2TVtwSMqd-7ObmLN2X0MZHp8ER-fJ9mN7XYZ39Fy7rGjLqhwD3ONm3De6EfhbnLtcjh-VJKUF4qWE4RZ3zLWeRzkjTx1gG9PkQl4Fn3njv8jQjXysliqxHQptJZgsAXtew5PNclKemFtG5ts3daAkYccrxhq1BSBU5okM1Xuqqh0JfT4u_Jni3KmYRxWHIn0unzMnErB2UhObVNmdJ6sL3ktXRBK0FPmrGqVbFC-3C-M8Brkv80GM_WpUpv1nXRy6dUNCoVF7vFmIs0Sff3flxGrGVEtphmRUM9KpNg6MDWIBtLSu4h9rqQr9c16pGJNU9QeeMkch043RtFwb5Nyfbb3EC4f9lqv9dJ7Pu_wn-Ks4yHAtnRtCjsrDRJmDmC4sKQihsI8KPq90Wu3IAS528lLwO0HD_3kHgd5z0QypeFDvd1ex4AfUBM75QRtI_SR0jkwsoaG4Tc2nH-0NMyhrTtMow8K7Xh8QYSOzeNJ36Eu2np0nOLvrh2Gj3uFHZ3Hnm6N0az1r6pAzTaKUPkFS9pUIqZGJXmHWiBUjiTpqKbDOTphFoZzcZir45GLLVG7Xe_sd0J9HtkdAAvZWo2XbfC1uxPv5-0y1Yst-OgDXodQROXoA-HSxMeNe4EIr8T15J4i0g2oKFCarJjpjMAs7gU7xnkilikzQ5qjdZqrzTP2eOzORepUOCyScTfWBPOIuYn1OoDar9QehIK69Ai96yCIo0BDwG9nkm4NeKLm0XC-rFCm-6T5rbQMll83zVvaLMr7KmJWVMeX1GWCCSJvOuhKBNRjGkGJn2OTIu8foNZ1173T-xf7mMHpV0ql6KKpwCaHHU4m9upv0BW7ZRxGpB72TDqIUIJBGr_29px48D7hEfU6puJpwVCN9DmXe2pQYoNRO_NPgmXC00cfkKfeLf-OHTxlOqiC3zhMhR-aDJSaGaP2OxJOZVBVI-OxpXmcZ5TcgCa2Osout9oDyeNbpJ3XNoRRdcMymydXZ0nXVWjFLsgKkBz7INmDtxXfRj4iVX6wLP6HMAXBpgRXsMI9uAyn4K1MO-VI__wDvkdfcbESxTIVNJkmp7ids_jKGy0fV65nqfr69rptTHe4ct-Z_UUyA4DAPEGpg426m25gIpWicA1odIE7dysKn8hPlixOsmqSX-VDiucWWYBqMkW46pQxBMvv3VXYgQroA-xQ8e9v8lvinuk_2Y7ZpluVEhhflW0qxw65Y8atcnpY7LtFwH1_zQTm1QnFbHJ4XN25nHgMpfzod2hc591EiSlp8lEmNWS0bxU4lQiS7JfUFWrX6n98dK702ArExkHYcKpse-dHqiG3Xqi4slfPbM92zMm_JljP1WYTL9jjg9Ub5aratl2nqzHhNXoYYqO5bBwOCE0Yzu1LM28z-vl4SpCW5cx3yV9OWiiYaUNN2AuL7gVSbGw4adLxc1bo1-m0a_rYl0TphkcvpnFX322GHEuTrklsT0pruAg0rWNGzHHVWF2SZ1e7BuU6KSuDZsmhfhK7wcjY26slAfKxyq-KXwRIrDtMdWw-R-xCHw5DtJxq0ZsI4mFyBo-iKVLs4seBKfZEYKck630mBjbTQyGUob-tSqEdFL5kVPRm-y7TLLJqkTI0rtg8TKT3khhpLUbFzf3ye9RZvbrwY7ZB9UFIGdvdQzPzjF76BO4N3GFNqiL3UrIX2lyxfyvydpG0aLiC9u2COZvshC0eNfd6XK_qRig3UttRfE816KwtHEhKQFc4hf7vp3vF-p",
  "id": "rs_03b200e249c93413016ab43947f42087d09a1be599782edb1c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlNpGMoP1tVRxuMjxnKsXbI9-_4QhXA4zwrUEmg2VmQ140F0YEqJo1D9CMsmpqOhPqqko113vYDHVXZ6tlp1FYz6taGa3tXnUWCY2gIjjyVWjdvTNY3Omh9PKspZmvvG-HWrHBXrDlL0l_HDWPBiqj07Pj9OLDP2AYSos3_q7NCc0Z6On-XIncKRmAxlwzNLn3gAh-7UPRLP4jzZnoeVG1lywULYZO5yX6BUbe8Nmx3eiHPa82nQloHB6oMIGHXVncZNwpLQlklVDcrUF8W7BwuCr_ARqE1Rby-pQpZmuTCJWOROBC_vL2yuNdt_lusE_zINOhkBUEH8A4B6h9lR-S9TlqAIKybvy26LF0pb8n4C22eLTnc26iIUPbzkijuL7RAkg07rbO63ImZQQ55jaleUVl7fDoyJvl7CjduZiIee0cTLkOKLShISVY5lTl7c1jey1h7riaOeWqcZmYpXM4f24VcD6sEyxSFm0J8N02U0R_Kpu6ycpNNG-DFTEyAhCSArTpbQnGN9UnQAeHFcYG9ePQ67slybpW-_WGSlLPZnC3KxKOvSvyVlPponeFjXN-E_Y-ka79Ja7Wl7TT41bZ4PDpttF6sToRm0H7Mth4sQiUNw_-7KGSOQn8fy7ZYgB-RKoPQh4AhmPIqxU1xbY2Xd7qvt9O8_kae5SFec8q_mq2D1_alcDOtXCEwQoqEDErEKozg7jibTtl8XsXWiCI-BZlJ2h1nQiNpbDOkioYzTQmkEhIjF9lFRVQzO6RPeSVCwhShY-Ov3_JRd0BdWWQVXUbBkFSGrxBM8J3UaLlQJFdIq6vEWuNU3AylmSbpiR2yikT3g7A_xzx5PhX-UYjVf7LFSrwWgquLveIV-rkBRB6XPH_XxA6X5WtvtIV9clQxJIQcPC2ptKbahjmMD_MKaUiI9EGupnzMA3Knd3Kb80au6A-Duk4sXrG8lCnWV2VyJCT9cDZFyL0y9R54-A7kq-JM2mPs8ilcch1AqN4nr8jafJKJ6CXUQWf4iYLk3cq-x2RBWGjvnqaqU6h8aUaNJ8Y5UcWYXTqh0ffERSd93dZqe7eX9TQdXbrSzbPp857dKVdQTdzoAhkAjEsQ1aPKegdjRzjBXRv_aAk6RCZei8ldfMbkxz1RcZo5HqqiuMhyu-ouBLjBzfxLrZq1uMdiqAlhe23SM-rk0FmbiTq9Btg=",
  "id": "rs_03b200e249c93413016ab4394c98e487d0b331377aa08adc50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.335,\"right_y\":0.27,\"right_z\":0.14},\"note\":\"The right gripper closed essentially empty (0.014), and the cream plush shifted to the right of its jaws. I’ll reopen, lift clear, and reposition slightly right and forward for a more centered attempt.\"}",
  "call_id": "call_mnfIaec6GIrQIBK1Bh5IRr3b",
  "id": "fc_03b200e249c93413016ab4394caee487d084fd39c6116f4949",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mnfIaec6GIrQIBK1Bh5IRr3b",
  "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]: [-0.1017, 0.7872, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9482, 1.655, 0.9894, -0.1471, 0.6964, 0.6167, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1717 left_yaw=0.0332 left_pitch=-0.0323 left_roll=0.0324 left_gripper=0.9981 right_x=0.3302 right_y=0.2718 right_z=0.1218 right_yaw=0.0456 right_pitch=-0.0287 right_roll=0.0324 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.1145, 6.9949, 1.7118, -0.0904, -0.0317, -0.0122, -0.7043, -9.388, 8.1983, 1.2967, 0.3346, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36535cf5fec3ef38df9512838db2dd9f84aecb9fcbf810bdaeab8750c4707b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed37741467b718673a47dd26210246d10cf3ee278473fc1d37ff7abefc26b9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024476f5a18efd06f2e9af728929d5139a83f36eccc15ebdf98eb8af8d736203",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.786, 0.5919, -0.4026, -0.1349, -0.0681, 0.9981, 1.0386, 1.7607, 0.9825, -0.1173, 0.7715, 0.7055, 0.9998]\nstate[eef_state]: left_x=0.2896 left_y=-0.0021 left_z=0.1728 left_yaw=0.033 left_pitch=-0.0289 left_roll=0.0323 left_gripper=0.9981 right_x=0.3108 right_y=0.2921 right_z=0.0886 right_yaw=0.0361 right_pitch=-0.0314 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -1.5248, 6.4889, 1.8144, -0.0708, -0.0317, 0.0171, 0.4444, -6.5026, 5.8462, 0.6129, 0.2271, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7864, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0544, 0.778, 0.7166, 0.0137]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1719 left_yaw=0.033 left_pitch=-0.0315 left_roll=0.0327 left_gripper=0.9981 right_x=0.3143 right_y=0.3033 right_z=0.0909 right_yaw=0.0351 right_pitch=-0.0017 right_roll=0.0531 right_gripper=0.0137\nstate[joint_eff]: [-0.0205, -1.1419, 7.0085, 1.6825, -0.0806, -0.0562, -0.0122, -0.3487, -8.2803, 6.0103, 0.9792, 0.2906, 0.0366, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7872, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9482, 1.655, 0.9894, -0.1471, 0.6964, 0.6167, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1717 left_yaw=0.0332 left_pitch=-0.0323 left_roll=0.0324 left_gripper=0.9981 right_x=0.3302 right_y=0.2718 right_z=0.1218 right_yaw=0.0456 right_pitch=-0.0287 right_roll=0.0324 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.1145, 6.9949, 1.7118, -0.0904, -0.0317, -0.0122, -0.7043, -9.388, 8.1983, 1.2967, 0.3346, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36535cf5fec3ef38df9512838db2dd9f84aecb9fcbf810bdaeab8750c4707b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed37741467b718673a47dd26210246d10cf3ee278473fc1d37ff7abefc26b9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024476f5a18efd06f2e9af728929d5139a83f36eccc15ebdf98eb8af8d736203",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlRE46YOBWs7ozfXOv_G_bxx3l5oRWCSx-_MFYykCiEnH6JUBam35rIsiTcpjV2MIKu94wru9wTqyCwQEGoi4xPxJG0kvgKkNoBGgk3Wc6ILhweM4GrgzRPGKPshxY-77dV4iLMf8ePgIr6weeN4xUYZzk1Kc--cOqonVVzPYisX8QMpnAB6WO_uGImZdKJNNNt6sVL-Ij3hM963jfvo9TVnp6-SYaEzV1OILtohhWKRmyuNU3fmuNWgYFZn3Xed6RafCWQUV8suQAmRg-mV-pb0eoL3I_KPh-BC-NfBMb0yxRPgjvWhVyVvu-s5J6b3pIHqVo1oNU-OPbifAmQIUW-4HYm8F4G40MVFrh130M2N4K1cc_P7yQizc38NZ94RArflG2-5WUe0WFpdmEPtIOc9x2Wq6DL-CHTmGxYvNS8ILRozQknQiiwF0dWn9olAVCQl1I5mRtB-IV54Sppp6wtjSupa6besUFMgo-HeIs_UBFNp4WkVcKl3IWbenwmakgeasECgi26YqhSy6Uz4QIZvhIZnef0kxm90Y88Esu0x8Io348cntdULEhyuSTnklpRFTWVXIkPY4X9wURnpeQgmVbsLdIaxFkWLwd5kljg3y6Idhz7OYxefgxGEKGJlr6MTDetFog6M3YndooTlSGcwKcnfR_cFfPsmddg_1Nj2uRo5qGV3hVJzZtM_bKMLZuUjAaC1G-3977duoWeOYhxKCp_uK5_xWFalzSAX2BGPCbqxhGS35ECan-nY3ln1aaWUly0fm5Xa3IIOhKVZU2VXv1crFvCS1KTFkiVxUUtHyKtRusjtSOKeY5S3dY2_DFhlU1Cjigr_Wyuj0KSebD9Gc-aqYveo8kEZbGC_k9hwkDoOSLkkv__klW4lhhU2kCxcI2R6uwoiSLtaqqnCItawHUzLTYTisNHUbT6BbvnUHb02Ecfkmf4aVY6sulUkUFsbtlxIaY5aaYc5ZCKmy7hQ2vGbGOX8QKitN-zxNa9nrJbmBqaBnbYCNnfTvvsG0vALzcnFpBE10HEZ6sGg0i03WzRXKMZU_lTiqt5zmxTwQd4XjYqfH7-z5jX9KeUg3aO9XrgGHvCKjgmdw-xnjT-1htRzwZvG_dGDkSj4GlxwYrFGwcRKgcHuJSddPUg7xmRlR4caLGY7s9mJQnk74-E40qj9P7Jr8qX0r_7TumQLiz7-nFGTz9GBuc-IWS_pwAKVa8avmmEtXsZsaYlwQJKKgmNsKFAp8bfNB1mNbC85EVsX1x0uYke_gKExd_ddgiKVF8tBF97mluW8myYnwEJdgiIZHXLn0cKDgvoglRWTij_y9AAOUkClc2ZxeJiFxRNzdxXwNU4sa73Aa2wTeMNU4kTMaMo2Epq_g3v8LNrdmUQFuBM9eqG2mB1EIt9oOkV0TkJCKr3O7KDueyHvPht1rBxl_7FXogCL6y7x8ALtOFiwUBbmD5SETCdwbsGzqHmazNuaWCNCn61cAtc2iwcmIR5NeLPhvhvOCcztooQIgPsILCIAhZagNxO3xiI1FG2rRmCTFdaezY6AiuAt3vPNxdksrUbqQu_dKO2MHolbwC5J5UXL3wl5jjMBBfflMNfBS6aFedB74xaa-uWahrWGMR5M-WlSj4NBe5pukfk_s5rLSRsIbBgnd0xVW3Ei6DAYAvrp14Ciex-DSl6CWqWQ6z6D6T7M-CGrCbpYkmIjj4gBaJ74sy0k571GxeAL1XSAWPqbG7lLvcHgx10-aocOJByYoSSopojrbLWQNOJIu0HQFXk5Q2R0-Lxuj0n30fk3IJvuTa8ufkN_zJQNk7XFO2Q6p3vIn3W7HkR2VmygmlAfns1yRjQBKYwh5HIc9gCYtvTPxpy8ORaST0gdVPeQeuTMLlqtJ6dF6THgdlJOuZGfCE0xYRly2V7v2Wjcup0esWvpr_GA0slPWIWwqlylr9amRByJR5F6tQnkDimmpAGFZNHhJiARBmjV4SMRL0WuW2zP-PgxUAx_A1TkfcYDQ==",
  "id": "rs_03b200e249c93413016ab4394f489087d0849bef070500bb72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The cream plush’s head is now centered in the lower right wrist image. I’ll descend to its upper body while keeping this lateral alignment.\"}",
  "call_id": "call_8JMVJH10DH3DjPnwOp8UKBwS",
  "id": "fc_03b200e249c93413016ab4395083cc87d0b99f8ac33b508a1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8JMVJH10DH3DjPnwOp8UKBwS",
  "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]: [-0.1017, 0.7895, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.9455, 1.7512, 0.8917, 0.0639, 0.6945, 0.6209, 0.9964]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1711 left_yaw=0.033 left_pitch=-0.0346 left_roll=0.0331 left_gripper=0.9981 right_x=0.3328 right_y=0.2739 right_z=0.0784 right_yaw=0.0424 right_pitch=-0.0193 right_roll=0.0502 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.3607, 7.1453, 1.6972, -0.0562, -0.0562, -0.0122, 0.2667, -6.4889, 4.4786, 0.9792, 0.2418, -0.0366, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed729e9a9d1f86220b4aa98608dc83c9df91e571ce873f5d8ef6ed4a7c84454",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c95cf8a80e3d498191332ff83503eb115e85e0dd0b1349faef2837871cc633",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13eb5b4ea2399f125e5e1d18118cc9fbe4f5e3cdd2aef8b1d76aeade72fbbb31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7864, 0.5907, -0.403, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0944, 0.7776, 0.7193, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1721 left_yaw=0.033 left_pitch=-0.0308 left_roll=0.0326 left_gripper=0.9981 right_x=0.3112 right_y=0.2982 right_z=0.0858 right_yaw=0.0335 right_pitch=-0.0232 right_roll=0.0215 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.1829, 7.1453, 1.7656, -0.0904, -0.0562, -0.0122, 0.0479, -6.7897, 5.7231, 0.823, 0.1929, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7872, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9482, 1.655, 0.9894, -0.1471, 0.6964, 0.6167, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1717 left_yaw=0.0332 left_pitch=-0.0323 left_roll=0.0324 left_gripper=0.9981 right_x=0.3302 right_y=0.2718 right_z=0.1218 right_yaw=0.0456 right_pitch=-0.0287 right_roll=0.0324 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.1145, 6.9949, 1.7118, -0.0904, -0.0317, -0.0122, -0.7043, -9.388, 8.1983, 1.2967, 0.3346, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7895, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.9455, 1.7512, 0.8917, 0.0639, 0.6945, 0.6209, 0.9964]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1711 left_yaw=0.033 left_pitch=-0.0346 left_roll=0.0331 left_gripper=0.9981 right_x=0.3328 right_y=0.2739 right_z=0.0784 right_yaw=0.0424 right_pitch=-0.0193 right_roll=0.0502 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.3607, 7.1453, 1.6972, -0.0562, -0.0562, -0.0122, 0.2667, -6.4889, 4.4786, 0.9792, 0.2418, -0.0366, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed729e9a9d1f86220b4aa98608dc83c9df91e571ce873f5d8ef6ed4a7c84454",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c95cf8a80e3d498191332ff83503eb115e85e0dd0b1349faef2837871cc633",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13eb5b4ea2399f125e5e1d18118cc9fbe4f5e3cdd2aef8b1d76aeade72fbbb31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlTiULxQ-veKngJg_Xoq2CQKGwBW-cdIXP5AKwV8l5xf6nJpXp68IkzzSKoLjfUXX6rN53Gqkw6Jx1eBF838uEb0wRQB4yS0FzTV2muOKJU3oeuoi0G2d6jgHWI6PdP99a1J8VGQAc8Ipo52gVZi0jrBF2tuVi8QYAPd4bt7EP4qZYhN2RTJTrKNEvVtnT8GiLnSvtqhMuhsTzZKRRFIyFYwRFTFq57SB0i871swW_2R4GY7IXe7z20xPyzhMkYR6FSDffWOKq1x141waZoH5_ouG7p37ch4KVZPttL90orUezow0BTOXQEU_l-swKme60hv4sH7KLKHLB2NXxYNtRnQAVjPSyj-5PCp5Dp4SbBkZDLkd2yYrq-V0qXUfkeYwdRL5aS_veze_ZU16k_jHyuhAg0DYNpYTmoB8NupNB4y6ocrZX-qAVLNbuvRKQIlsMkq4uhFVSWuT8pu7n9u6Ky7Oaso8nU5ewmHvV6G5P7dKnclyt3Hyb89_QIJXaqV-S4-p6C9HADgRLOoTLefjtXm0ZDjB2UPoXQEHZz_3zQ988c4F5CGvqc1VkEt-l4UiOtbPm5OsRi9XYyVP0oDvdeisBVTj9TaTf7sHqaYrt0X8nwnCh_sxLIa0FIteyo9-RpkeZO_vQI1eEX0O52SncbRiz2USbSufCxC6i9ZUTVgWy0-hI2oj7fLHXslYoz8GQr5NpqOQ-nQASPHcYF6WvhtgCPYteF75Bjh9jCB2ACvlsL34ewi6IiZsKysP-o7LHxqLiNUu6K224kWz5fhilXeUijjIKc-rWRGzmfxcSKFArwtB6MYb5wO9ms6j0k2CaJI_Yf_UVZtykA_a0xLvj_HX2x9c0ybp91JFb7VzLAHZ0e6Fv4Qa51BzkhO3C2Uqgdr22SUZsYClXkvafF7Osh2iLfbyBOmz2jQiJstcNaNU1eaz5sTOi5KEeWZY0ojtSF2_xr3uUDe0P1-cz3Sow3Va2b7oGZrEEJhq5bTKR-M2zwf1g7LXio2HbbhkwdhY8h68ejLmoKwriA0ZZpUMHDD6zWmAKUaH_S10z2FXdxEgodihLCzTpdgBkdfIbxPx_lcvCoWf8bXClgYSbJDhpuFoL5m9NFuqDQqhdVdk2kNo64CztD5R1ovZTmGOhK5e0bxKy8NYcaYzOA6JzTlz-knT5i14lDzZTd3qM5YhpY1RmS4OcgicKVwCYV-2ddT4UD8VeXnyo48pOrTwOv-RSmx13xg9UmSQKjxq94LbQ7SFMOwhJLHcdl6W2KF3HE5pRe-ibxs5HPIJ8nEp4j-AOwEIgVh16cXP93EuzEzGONfGjGeUclX-MNudrMYmeyF8RsiydELg2Z-fD2BmTaAOlejA==",
  "id": "rs_03b200e249c93413016ab43952c52487d0b54dca313b61161f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.27},\"note\":\"The jaws now flank the cream plush’s head in the wrist image. I’ll close only to a moderate opening first, rather than drive the jaws fully together and risk pushing it away.\"}",
  "call_id": "call_hLACSO4fgXJTyn0S8Yf7sSJS",
  "id": "fc_03b200e249c93413016ab43953241c87d0bf53d1761b56893d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hLACSO4fgXJTyn0S8Yf7sSJS",
  "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]: [-0.1017, 0.7895, 0.5907, -0.4034, -0.1349, -0.0685, 0.9981, 0.9459, 1.7657, 0.8776, 0.0898, 0.6949, 0.6163, 0.2769]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1712 left_yaw=0.0332 left_pitch=-0.0342 left_roll=0.0327 left_gripper=0.9981 right_x=0.3322 right_y=0.2733 right_z=0.0716 right_yaw=0.0449 right_pitch=-0.0206 right_roll=0.0441 right_gripper=0.2769\nstate[joint_eff]: [-0.1026, -1.1556, 7.1179, 1.6679, -0.0757, -0.0708, -0.0122, -0.2667, -9.2513, 6.8308, 1.1697, 0.2515, 0.0122, 0.4176]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68f6e6531f05afcd77aa82ba97d4f3f880c8e819c3ab347ca97503260d83555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44f79a9f0e4cee30d3e5e1662e193fbd0fc9cff5926c1cd4d98093f0d0836c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52603f2184776970ae5bdab98fc7351868cf79727363aba59b98df9896e0c60c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7864, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 1.047, 1.7824, 0.9894, -0.0544, 0.778, 0.7166, 0.0137]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1719 left_yaw=0.033 left_pitch=-0.0315 left_roll=0.0327 left_gripper=0.9981 right_x=0.3143 right_y=0.3033 right_z=0.0909 right_yaw=0.0351 right_pitch=-0.0017 right_roll=0.0531 right_gripper=0.0137\nstate[joint_eff]: [-0.0205, -1.1419, 7.0085, 1.6825, -0.0806, -0.0562, -0.0122, -0.3487, -8.2803, 6.0103, 0.9792, 0.2906, 0.0366, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7895, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.9455, 1.7512, 0.8917, 0.0639, 0.6945, 0.6209, 0.9964]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1711 left_yaw=0.033 left_pitch=-0.0346 left_roll=0.0331 left_gripper=0.9981 right_x=0.3328 right_y=0.2739 right_z=0.0784 right_yaw=0.0424 right_pitch=-0.0193 right_roll=0.0502 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.3607, 7.1453, 1.6972, -0.0562, -0.0562, -0.0122, 0.2667, -6.4889, 4.4786, 0.9792, 0.2418, -0.0366, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7895, 0.5907, -0.4034, -0.1349, -0.0685, 0.9981, 0.9459, 1.7657, 0.8776, 0.0898, 0.6949, 0.6163, 0.2769]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1712 left_yaw=0.0332 left_pitch=-0.0342 left_roll=0.0327 left_gripper=0.9981 right_x=0.3322 right_y=0.2733 right_z=0.0716 right_yaw=0.0449 right_pitch=-0.0206 right_roll=0.0441 right_gripper=0.2769\nstate[joint_eff]: [-0.1026, -1.1556, 7.1179, 1.6679, -0.0757, -0.0708, -0.0122, -0.2667, -9.2513, 6.8308, 1.1697, 0.2515, 0.0122, 0.4176]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68f6e6531f05afcd77aa82ba97d4f3f880c8e819c3ab347ca97503260d83555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44f79a9f0e4cee30d3e5e1662e193fbd0fc9cff5926c1cd4d98093f0d0836c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52603f2184776970ae5bdab98fc7351868cf79727363aba59b98df9896e0c60c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlXuppn7tzU3Mfmi0ie-20mVscvLPoiw9kSzJtck0M6gcJEN2EvGwlk1rplCy-zBSdTWPNwgLpiI-UpNgsKM3RvPR0Q_bXpvAFELYHuNHN1uqaR3mgD0BYguLIlIlSV1NyCTi1y_ZXr5x_gqAb7bBRHPyHA1xx18BRU4NWs5aoTJS0ZHfCwKuqtuPxMdLysjFJGVk7h4UuRTK46FVHdt3qtOvivQHG8y1H35yCLRRiQdtjRbavjMhPst82o2BQyUw3zbUPF9OYPGuaD5XCbP_7wXN24bjnRyTY7elgEdz-x1rObmZ2Ob0DgPNzOpJ0MNDeQdY_SQ2IGrsIsQPZX4b145IgpI-ERKo-Dp2k17wzqFuFO4IbYABB_UT3KiYa29Lwu0nwBRrTFcdi_VMVl9dCCg3ObtnCeb3ykNxGb2JPdp-4pTozq2bObFWKreIBWSdVXJoz70ugYia9hLYUvqVu5CcaZfDITru7EXZQFQVZ0uNPwyN-OHnt_-EOzYUgsxfe8fZ4xZZ2mvIUmk2Xiy-Fg6SKu6Uo8la5FqVJAKIj9EZhw0481eboPgF9zA_pebDwvAuo3_ARYMmch8mWL_nBfHaf-Gj17LsnK_p2FPOzlCwlZ4ZfMT7YtJCww35XeihV2pTT4XlzAwIdJHGWZSvnj3jCulJ0O0eK9djXYpeQQRNQMrT9Wxt3sje6BU0PptKLoDUbcacHZ0kQNiIu19DAgUhuArPs55IBUcr7h3yaEUbeVL_h1CGiwo1B8QVde0GrRMVs_atpg6iNMS2uFH3dbMwUdXfJvIPS8m2re4MDmj3uJ-xiA7RyALVg1qBFTFVpl3WsEuGUP6seNJXQENa-jNthyP8D1_PSzfKhBJqncxW14DM7kDKLyTMhRBC5_MMkE9HQWsMNiESkFhEdp5qCGE-rpzf2O6Qtek5dpSsEEUWVv0ztvYSJaTkwhWCwgu8JKxyl5kfkv-ck_o76_TCagZWlaKsid2ViP5nq70HJOdI10xXfUHqXgnl9XhhUe3cpGsTzsRInQm4YDB1sjJE_Uj22c2mI8K4pfQpXVyF35vpPu-oGFOjxl2mLFehPg9Csowz5VyajCX7i5u1XHpeg0MSjdKx28Vur1ek-K2iCoz5eXWNMdq__vPU30MW6NCSnKXXixHkxV7N5DWvFlX8Cpbg-2HOwkOQn15aLh0Xs2A8vz4DCrs4q7CHrtPcBbmpVAXvs3CvBSW927HykqH7KBz-kT66rHuWMB_U6vcUFj6ljk51z7yZXSDYnaN4Hi7qpzumiuLw2eExe3fbUT8S5fS6xbwpuyvc6lE6OcayS7zAwS9WF0nbD7s_WrZZe-fDkKtik9eQi-gjLYyWTol3p5VeLlsfU9IcHaXuVZDZ8ViSdYI0x0urb3q-6OoBluOR1YXXGcbyQFfFgcZEKdVxYhCqUZJ0pLta70j1mg6Aa-8-ItUq3VKsQgHlK8YPYWkmatBNSJRYsGm6uOpL2L_47KkNW-OEAldDejJ2ANSHgsGChZc5UjwpGn8sh9nM4d0h3pE5jPP6W9HR4b3CqlsZacd3COH7ffKTW9ejCY9khX31FizcHoY4_LzKpvFpAS0jmsOGOIIpuFD_4vxx3qOrLpzva-BYHmoGF5yF-RlQXONrY=",
  "id": "rs_03b200e249c93413016ab43955ab3887d08f0d894ff9ce642b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At a roughly 2.6 cm jaw opening, the cream plush appears centered between the fingers but the gripper has not registered resistance yet. I’ll tighten the grasp and then verify whether the object lifts.\"}",
  "call_id": "call_HvdaUOgrr9XEmvJrsViRFROq",
  "id": "fc_03b200e249c93413016ab439566ef887d0b38d5b4fb6d357a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HvdaUOgrr9XEmvJrsViRFROq",
  "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]: [-0.1017, 0.7925, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.9455, 1.7657, 0.8776, 0.0914, 0.6941, 0.6128, 0.1195]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1704 left_yaw=0.033 left_pitch=-0.0372 left_roll=0.0334 left_gripper=0.9981 right_x=0.3323 right_y=0.2734 right_z=0.0717 right_yaw=0.0469 right_pitch=-0.02 right_roll=0.0428 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, -1.4564, 7.0496, 1.7411, -0.0659, -0.0073, -0.0122, -0.3077, -8.253, 5.7504, 1.3602, 0.2662, -0.0171, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175a6dc548a4d41a5a3f4c8bec476133ed520052c40b90acd54e9cdc5231554e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfea395ba2e899dbdfe2e8628f8590e54f34c4e5d2dc3eedd327d42af65f75cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b5f2a936a440803a252b838f86b8bcbb50a948743d02070318183fde18ea7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7872, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9482, 1.655, 0.9894, -0.1471, 0.6964, 0.6167, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=-0.002 left_z=0.1717 left_yaw=0.0332 left_pitch=-0.0323 left_roll=0.0324 left_gripper=0.9981 right_x=0.3302 right_y=0.2718 right_z=0.1218 right_yaw=0.0456 right_pitch=-0.0287 right_roll=0.0324 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.1145, 6.9949, 1.7118, -0.0904, -0.0317, -0.0122, -0.7043, -9.388, 8.1983, 1.2967, 0.3346, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7895, 0.5907, -0.4034, -0.1349, -0.0685, 0.9981, 0.9459, 1.7657, 0.8776, 0.0898, 0.6949, 0.6163, 0.2769]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1712 left_yaw=0.0332 left_pitch=-0.0342 left_roll=0.0327 left_gripper=0.9981 right_x=0.3322 right_y=0.2733 right_z=0.0716 right_yaw=0.0449 right_pitch=-0.0206 right_roll=0.0441 right_gripper=0.2769\nstate[joint_eff]: [-0.1026, -1.1556, 7.1179, 1.6679, -0.0757, -0.0708, -0.0122, -0.2667, -9.2513, 6.8308, 1.1697, 0.2515, 0.0122, 0.4176]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7925, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.9455, 1.7657, 0.8776, 0.0914, 0.6941, 0.6128, 0.1195]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1704 left_yaw=0.033 left_pitch=-0.0372 left_roll=0.0334 left_gripper=0.9981 right_x=0.3323 right_y=0.2734 right_z=0.0717 right_yaw=0.0469 right_pitch=-0.02 right_roll=0.0428 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, -1.4564, 7.0496, 1.7411, -0.0659, -0.0073, -0.0122, -0.3077, -8.253, 5.7504, 1.3602, 0.2662, -0.0171, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175a6dc548a4d41a5a3f4c8bec476133ed520052c40b90acd54e9cdc5231554e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfea395ba2e899dbdfe2e8628f8590e54f34c4e5d2dc3eedd327d42af65f75cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b5f2a936a440803a252b838f86b8bcbb50a948743d02070318183fde18ea7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlZGy86rGJSN2WuyNMqXtPxHDo8TzfY_CM0Od_HCcVfnoovqxHAE5gpANuxlMTxwDI4aW_N9LOacvRDQbaa4CnseL2WhqXwe_mL5Sm4XAwIG-953iVjeHOL2SiM-_42oeIbgATprw36OO_l3H0HgMhIPNGK4aGd170ssczig64LsijW0evRYqS8Yof7mnrc-SsJjoF_yjgFYEi40bQieSuEnwVQILkTkAvBzTCoV5WMNPgtlkTCEHO_fk4cZ7aLE-aV-mc1diMHZTFKjYnmwplVUFl7sMGSONrVfXd8HvoQiPZ3Ib29EPlgk5-r1K0HrT_rqn9IZshXyfwpfEKZWK54K4Y2dx4-oFb27ZWynJFs4c-jpvjBFKN8DGNGJWcbi2mC8pFVYakxpHCZWhijxFWiz4lVLgI7q0jLYlqqQ4R2l69bx-bo10YWF-CZc3zkI3SWYLJcSld9fkraPUP4OnOa_6D_k3vWz4HTUGXEHqMkhI9Z5siQebon_a1HViMRrDgAH4I1sTYJsVVaLef2OgcJGiEhqjJ4-cpJbu9e3zKbvwKMyEqTEkOlh8AkmYTjGpiOu2PgaK99nj7cQ_ui-1n4ik0wFigfXa5DC3EIzm-O9VhqoJjQiLnqLtaoVyN1-5b9zaPCraqfJKs4OhIRDBuFZie5bVE5BbDovXmL3bEJCfZ1fN7JHjCa8ZdlziGBsJqGgjX1i3PbznVj6t9-sEXy-VTWtJNsLTi3nGeAfLU4Bz5wrrApd_8mrR0UCsz0cMaowAyaR-0f2f59Nt5UrJkZHJK5J1Qz_Z6mWHvALAvzhjD0wmSputoVGP_MYaZLBQzhusxtG2Omtzl2-c8AybihSZF0DmvaenoAZssaUqPci1SHQD58oB9b4hlWwtPCv-_3Z7iNBmGb4OKRWaQ113vcKf4wf4bAxtgU4bqPk1DNyG6cICafLez__J0qIBA7yoUT6AmYiJSRH0TariS_is3_eYq5KphL-Lj00W2Af4ZGvKbLaqDZscJwbW5f9H0Zr6uSRSePJkyxRmVKXaMGueUrTkk-EJjvcbtOPnNFg6Kyv5p0OMnKmYbv5QGL1ra9q9FpI0ah6DKPiEsk_LhS2A-DqUsh0KfiaJAsS-sVrRx3Iwor5ClaDi2XkhcuY031ERVk16a8wRfjgPGPbQLOXYht-qV8wyPX3OkmcVPQXvIC51Z-t4Be8O74y2cDNoSM_OLTg_ONEuRZ36-PP2Dxng6FVkVqv0Ab5W40E3i35XvkjTrXtwImZBDRv4V1xy3z-iI1vNfBc-eVUnFNYvZJy5Pk3grV_x2NUjv9-kqUykFX7jQ=",
  "id": "rs_03b200e249c93413016ab43958510087d086c98fdd5a1301ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper currently reads 0.12 after tightening, a larger gap than its empty value, and the plush is between the fingers. I’ll lift it to confirm it actually moves with the gripper.\"}",
  "call_id": "call_MJ4RErZulnTA410jt2Nr1jrq",
  "id": "fc_03b200e249c93413016ab43958b6b087d0862b1697e59a8f01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MJ4RErZulnTA410jt2Nr1jrq",
  "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]: [-0.1017, 0.7929, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9459, 1.6386, 1.0714, -0.2642, 0.6792, 0.6052, 0.1236]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1702 left_yaw=0.0333 left_pitch=-0.038 left_roll=0.0332 left_gripper=0.9981 right_x=0.3308 right_y=0.2751 right_z=0.1412 right_yaw=0.0608 right_pitch=-0.0501 right_roll=0.0163 right_gripper=0.1236\nstate[joint_eff]: [-0.1162, -1.0325, 7.0222, 1.6874, -0.0708, -0.0708, -0.0073, -0.3761, -10.6051, 9.347, 1.4286, 0.398, 0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecbf5c862e4b189d7d056cfdf4efda93e7047bcf5280be7760f69ed0893cc7bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e00b6479c581c3e3f1f97eef3994da6567b9b6803c5e4568944452613e8b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06ba197abd778edfab9acbf05dbbf884730c873280ba43c2a40998e39e8aef25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7895, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.9455, 1.7512, 0.8917, 0.0639, 0.6945, 0.6209, 0.9964]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1711 left_yaw=0.033 left_pitch=-0.0346 left_roll=0.0331 left_gripper=0.9981 right_x=0.3328 right_y=0.2739 right_z=0.0784 right_yaw=0.0424 right_pitch=-0.0193 right_roll=0.0502 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.3607, 7.1453, 1.6972, -0.0562, -0.0562, -0.0122, 0.2667, -6.4889, 4.4786, 0.9792, 0.2418, -0.0366, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7925, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.9455, 1.7657, 0.8776, 0.0914, 0.6941, 0.6128, 0.1195]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1704 left_yaw=0.033 left_pitch=-0.0372 left_roll=0.0334 left_gripper=0.9981 right_x=0.3323 right_y=0.2734 right_z=0.0717 right_yaw=0.0469 right_pitch=-0.02 right_roll=0.0428 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, -1.4564, 7.0496, 1.7411, -0.0659, -0.0073, -0.0122, -0.3077, -8.253, 5.7504, 1.3602, 0.2662, -0.0171, 0.9597]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7929, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9459, 1.6386, 1.0714, -0.2642, 0.6792, 0.6052, 0.1236]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1702 left_yaw=0.0333 left_pitch=-0.038 left_roll=0.0332 left_gripper=0.9981 right_x=0.3308 right_y=0.2751 right_z=0.1412 right_yaw=0.0608 right_pitch=-0.0501 right_roll=0.0163 right_gripper=0.1236\nstate[joint_eff]: [-0.1162, -1.0325, 7.0222, 1.6874, -0.0708, -0.0708, -0.0073, -0.3761, -10.6051, 9.347, 1.4286, 0.398, 0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecbf5c862e4b189d7d056cfdf4efda93e7047bcf5280be7760f69ed0893cc7bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e00b6479c581c3e3f1f97eef3994da6567b9b6803c5e4568944452613e8b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06ba197abd778edfab9acbf05dbbf884730c873280ba43c2a40998e39e8aef25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlfk5typhFDcldBN6-CYtMjCf4KhfdDR-CB7uUaUaVjWl1UvsbdksKGJrr3DunfEtpmCOD3AjT7TBg3Vbnv6WtvQ0Ygx0GFr1E5CdS8FR_LVU0bfsTmtD6Saj5oKMItNC059daufr-9y7ZmE_WiVno4dNPMhvWby1xKtweMjKeS62zKMzUjk_92nMfg1iLzPANyPJEpM5CUV9xLnQmZ6SG6ZL7zCfAqveXCoQdtqK06YpcQ-cBxOC05dmOD6JjpsPkBPtEAlN_3l8W4ZvGx_4dtZpANAFoCpebqjOdxGGKRO-vUkwcGzTxJSksF5Lisl7M3_4n8zgRmIJRrlvaos51BKStZl-YjZQAjRY8MaKTsGRio5juZuGSd0dxokoq2BKunaB4cX3vurbXD8hRdN3zqNQoCHYAZ2cUe9Aq6BEzBN-5t0uhM2K2UeRYWfYcpxY31JmNy21ekOToUtQi5p5P-td-58Sgf2q67Qe2wMbgSIxPZpBy5xdTEuL77HFJZ3tHxQRA9Av7tbJij9Y-DbUYxSqhxYPLrZgMeP5KPgGdNe9a2ZNd1lwKM3sCA4tNythaJptU3N4ZY6lI4rQPS_WpwIoccC7bGxTkXlUR-SzCN4l0eGSxb9F_YUgIhnMIsP3r2jNMoRHpisvT97lIVPhYqS8AY_nXToH9XWJsPsfHhQPsWfueAAZlK58VX1V0VFQMsBV7sQ-djX7RBS43TAKjdaR-LN8zBa6IY6sac-dXHTdfq4JAM3KLLilNuYerMH-y6yu7lzAiEsq7fNr7KzjPjHne1fKhlp3MuMo31YhJ1zRaOCZvjC1fI3AWXruRpzJ5IR_HIVaX_Bor-qK2S5zTB63C9FqS-HE2a0F7NZLoN5XRLlbrbJTZOw6-sQQoQnae2CIg2jmUDiYRiGIlUld4g-3WGsewwW6TXCcxqb-Kffg_WAO5BsnbBzWgCUaDare8QIhiMkgXPWrhH4T6tQ1uOuS6fDYpozopdsqcAsJgRD6F0Zv2OYxf2JQxGaMgEvuFTdvrn-IxAQV2c7IkEcGo7FNkaWgWMXO_7YJyubOvU_49crpIjuIvrhOMxUQ_LpnQh2wqlcbRaSilhSq1tAeTbCQS_JbGzNKEQWY18bev4c9e049ukL4EeuxV6srSALb8P1HnlRzlbV7HV2N1UeW58xrZvdh0jC0-kt-xd2ASQ1wf2CppzHuzlO41Bdoq6HZxhzm6gTA-M46LVhEHT6NzC3g0JDMVxeps_yr85iogsmptYbFUKzho13A_0xfMTpjmM6DWxpD9xmv_pHlLZFm9oJe4IWfyoTu9Cb4ZIL5oBS36Ows756fu9tnxZFRMt9vi04EFuj564OeN2x0x0N4xQciIKp0YK9NQa0-px29og7tW9oG1idjfvwOCb_XOc8N_xFh_EMKyo9q3-vMKC6RV_ZbOqaZG2NOb9M5UQh3fiY3zDciUBlmQfoRi4Eio_30gn9H0dorGCQfhxUJd1pK24GW4Pw-VYcnHLdcwqALBi80b1wof9jp34ZfcRWqxYTSKkWh5U3MaASzi35rWyKIyweB6flU8KctJCoQMWLAg-jX0MoW-hXCU02XLkYjQ0G9b7r3iHEAYbXzfosjKHrZB1qAKBseBU9px07uYraGEf5J7r021ewh6ych2kT7zNz48-uec9IcRtVlvX1ptY_XZmzWZ1ZTuG9gH4Rgh2ypOeJUWQ_-WFUksqleBaoOBaxQIFwQ7Ce1qYM2wzZdsBDFMSWBMce8x8Pv6PjZ9oBkprMWpt522skANrzYmeeJChXf8nytRGEAbW2uX21Pez_fBC5tfeaJSfGA6ZzHLahWg-EOcHRp9ewpZuUtQDMLhpc4GOB4dpMj_CO4nhDW-crujX5PwMODjF1bzHAS2ziRfbA5Z4HVi2OlPiAHdJhRdzJXXV-PkYTafrEjT6HkFrhsatqpHWNiYqkQbdGsrQ9CjUIJX3nP_u5KUhRKDztNLDMQSii_SHkVZKlyXt0TErpkHB6Yg7hM2vgqAbOmbBBDe8YMR80yrRZxHvFjXuLmxfOd8vovEAwYQ-e1eeMe8d6PM17ED7s_Iq77iLx0n2C9ZqTzSWCOqFMXTTtb838XLpIdx9jw3dvRDk0W9SEKvCm7GemzIIYT8-NGtnmCFBONPqcZhFbFBI8h5cZJ19-6JGY0CUPo8rSmLqA-q6XNnMAz2U7-AFZ_obZ3-EGG1pYwDtxwnPm97wWkoZcHFsgKEU2C8jKKPTVi3zWfNtytSC1Rcp8ZHgekm9zVLt0YYc2JTgWkomKMBnZngntBGMUv6_ZaAZEYEiflbTQO_CuGG9nnM6nv5R9fp47Mv_hEMa6TMMHQKf9U2lx4Rt8_kbZPB6vpmLrGSg9F8CMiZtLTZP5-m3sS3-BHZ8ulNY10RXZkgt_x1A6wrlSMn_0b6WN-DkwMSFBMDmUdUzK_DXZeTIeY9OW4NJ1QG4pqLf_JnzeOfUnVHmFJFrn3NuNxaY40FjxrgmO6029Ex6OYeGD-o3zYm4bi3vmWwiBbHWLxHaWVuysClHx9W32U4PrmuMVIHGPOcIhz3R0VOtZ0ANGizaGA-RXPniBN9kRaoVKRx-AV_rrwIfw-Jlig8E2erbLn07R3zU",
  "id": "rs_03b200e249c93413016ab4395b627487d0b2eebfa18674868d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.20,\"right_z\":0.2},\"note\":\"The right gripper is still held open about 1.2 cm after lifting, consistent with a plush caught between its jaws. I’ll carry it high over the right basket, which I’ve assigned to the cream objects.\"}",
  "call_id": "call_nzDHK1rWioQkMJFbPhVnQ3zK",
  "id": "fc_03b200e249c93413016ab4395e006487d0aab7935f456ea645",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nzDHK1rWioQkMJFbPhVnQ3zK",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7967, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.5301, 1.776, 1.3827, -0.3267, 0.3717, 0.2882, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1693 left_yaw=0.0331 left_pitch=-0.0414 left_roll=0.034 left_gripper=0.9981 right_x=0.4617 right_y=0.2003 right_z=0.1774 right_yaw=0.0538 right_pitch=-0.0991 right_roll=-0.0019 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.7607, -0.0659, -0.0659, -0.0122, -0.5675, -9.3744, 10.0581, 1.6435, 0.1636, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af296c0d2474ce860efd04d110d7492db6a729e8c3fcc54822257cc551428f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e8807aae1bf31062913aeac332f5731775e1ad6b13cc930468ccbb54a956ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d86dfbdd7b0ed6f4394a9bb145475ee9d5f0c34660638aecacbd625c5cf58c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7895, 0.5907, -0.4034, -0.1349, -0.0685, 0.9981, 0.9459, 1.7657, 0.8776, 0.0898, 0.6949, 0.6163, 0.2769]\nstate[eef_state]: left_x=0.2895 left_y=-0.0021 left_z=0.1712 left_yaw=0.0332 left_pitch=-0.0342 left_roll=0.0327 left_gripper=0.9981 right_x=0.3322 right_y=0.2733 right_z=0.0716 right_yaw=0.0449 right_pitch=-0.0206 right_roll=0.0441 right_gripper=0.2769\nstate[joint_eff]: [-0.1026, -1.1556, 7.1179, 1.6679, -0.0757, -0.0708, -0.0122, -0.2667, -9.2513, 6.8308, 1.1697, 0.2515, 0.0122, 0.4176]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7929, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9459, 1.6386, 1.0714, -0.2642, 0.6792, 0.6052, 0.1236]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1702 left_yaw=0.0333 left_pitch=-0.038 left_roll=0.0332 left_gripper=0.9981 right_x=0.3308 right_y=0.2751 right_z=0.1412 right_yaw=0.0608 right_pitch=-0.0501 right_roll=0.0163 right_gripper=0.1236\nstate[joint_eff]: [-0.1162, -1.0325, 7.0222, 1.6874, -0.0708, -0.0708, -0.0073, -0.3761, -10.6051, 9.347, 1.4286, 0.398, 0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7967, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.5301, 1.776, 1.3827, -0.3267, 0.3717, 0.2882, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1693 left_yaw=0.0331 left_pitch=-0.0414 left_roll=0.034 left_gripper=0.9981 right_x=0.4617 right_y=0.2003 right_z=0.1774 right_yaw=0.0538 right_pitch=-0.0991 right_roll=-0.0019 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.7607, -0.0659, -0.0659, -0.0122, -0.5675, -9.3744, 10.0581, 1.6435, 0.1636, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af296c0d2474ce860efd04d110d7492db6a729e8c3fcc54822257cc551428f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e8807aae1bf31062913aeac332f5731775e1ad6b13cc930468ccbb54a956ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d86dfbdd7b0ed6f4394a9bb145475ee9d5f0c34660638aecacbd625c5cf58c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDljoT0DHV0SEJ0sZcIwHW-WeszBoLYQTVJ-ReJSflUqBKj3H5Xfl5ZbtE2pE4toXJatOF9JMGBmng6zi5847CqOPjkrZVFkCuzJRMA7ZfMj2a5y11zCBsAQy0IsFyykn8_Vpxon2qSGV4KZI79v8_K_gtHR9jFtCPauWeRm8QLSNIkmysNqZnFCzs1PIiRrKKRBeNgQpj2EBQdos9F9EWEMIBB9YP4RkezwBBIVe6vTprZ3LcyzIudZi8AnqslUMqQCd_dCEvx2gEQMHGMVAGz_TJKCymF7-UzUJMw0ZqBbu94Ku3mNJPZXATh0MXxVEwcieb-LcRI_mPowxbMYOsn97lrbb4vkLwc9qBsohevbBb6-xRYq3XW3sAYlPC77FK25glhwle-uVFgkZ6m3RJeshGh427et2_RLz8V6crpx7yeZVlgGmKFnaZJTwcGaVUDbSrtysWrT2GTlA5iwzxBkpo-JC9PB7-1P02ac8t9uIu5YVPtx7GDjsgr5xPwBnHcLqK2S7iOFagGPuTJk3PBIdHNw11N_Ku8dlYc8FJQOLCTaXsv1GRzyf6GU3JFTe2u0_X1G-BNLxu3pVUiWH0--OhMSgg_7HYzQE0wrnoh6nWllgQwxvteGhpJc5EMlGn9lDBoZKiH3IX3uoo4msJoW1klLYpYv1ark9QFIS6e8jvrgRb8V7wUPzxaREjbhZsAip1fQOhvMTvpUH7cw2DaBJkuJcJ97O6dr5eo6q5T8f9QeI88ufKHWGAjnH7vDkBaQsWEz6cDQG_PxXpkjUeOMicQQZE_QSZT6bsuGgIbW184VKkQnSRqUCYWcVdEz5LJP6Ww6HNmlJ53uLdgFFWTO4Tbj9io1XWTZqAM9pU_sZGtp_6i5AVNAldCAlI-POMvpqdCA_juzkAJI9Q2q9wKsyhmw1jcZQhH9Pz5KHSST5CQwYXOmkqoqYB9GJ9yHwio-BWhQrbTEpWDXQ3E0k1CQsP8AO0onMs0AVAKrCu8277SJGEvx_QnIl1L_57pHbZiLFeZxII2Jr49XbRDLEOVKCdPF2K_Ph0FqTBV__n7oclMUa4ek8mHA5Nff5BWRq8jTOQpGunTXNr3YxlEBjOcmwn02YGasf99TSeYBf45v1Kw0kZTrL7Xl0eaB7D3GpLqBrdMAswp7mO39PN_VELjsQnn9iOYskhX6iubgHX1oEmpOsTLmdD7wVMtVBLzEvc4cOe0zwVP0w4ZgG3-w2zSzgJsUEmR3qntdFW7dnVfTZDTCRkfGvmWF7AbTn776jWZD4Pw_gigFlNbT7MaCy_A1VJCtHSIgiO3siBM6_pBJ34QHQfRBv5ct3jL0zCCkWGfUY7DVHL8xVJATYpeqSoINHC3jsFRDTUjBfyDxaScCA8_wqZcx-X-JPaw8LIfuVqdCCH9nFanhiL9EnJvQV3hAHMaeikYyB0I_LNEweHSDwC7tvvLlYIFohFUFpYc4COHqkIwnvI755vDl2sfa0Z2GpQgmFmsLsJWRT0Utbvi-2BjiIGPTp4ydy3_ziNfmXrHIoPfA7uI35A5I0wVAywub3TIeXn7isxShnROIi_GY-XvpwQBFIg-APOcWmLHqGvpiRbYZqqqQ6b3IaOYQvSWnuSVlehsmhpWNLhUhfQOcS5r3zVXetuE9HU0Eo-PFD20DDkdDs5iCEJsABpkQf2W1hJfq9uREIMMwbnYc8H_Z90IGSFiTDzvIWjShyjFqJ5BDRSwe0XcfJ5Im2I_twrZCYGPAxR_MuffSGbFlplxr1ApfdYBeyYo21HPG6qOrOH791Ko-a86uqFcSgEc6AkD7pLIiTdOU1XDxw3DurXIbC9Z72DRtbkPORnorqveBaw9BsMUW3sMCFfNhdMXQ_DM6jAWRBq5yR61kvXQyKGS-vU5J4m-dVS4svMsSBMvL-nHy_ZdfH5BssTXw8HRjtkk_jw==",
  "id": "rs_03b200e249c93413016ab439614da087d0bbcbb34261dd5d09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.14,\"right_z\":0.17},\"note\":\"The cream plush is visibly hanging from the right gripper, but it is still outside the basket’s left rim. I’ll move the gripper slightly farther forward and to the right so the dangling plush clears the opening.\"}",
  "call_id": "call_O9rSZ3CCGrrBxTlVAb8BzlkV",
  "id": "fc_03b200e249c93413016ab43962e73887d09dba052ee098f2fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O9rSZ3CCGrrBxTlVAb8BzlkV",
  "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]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.3679, 1.7828, 1.3411, -0.2947, 0.2546, 0.1864, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0331 left_pitch=-0.0436 left_roll=0.0343 left_gripper=0.9981 right_x=0.4825 right_y=0.1422 right_z=0.1578 right_yaw=0.0419 right_pitch=-0.1452 right_roll=-0.0155 right_gripper=0.1236\nstate[joint_eff]: [-0.0615, -1.2239, 7.0906, 1.7314, -0.0952, -0.0269, -0.0122, -0.4444, -10.2906, 6.8855, 1.9707, 0.1001, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57563cb3e0fa2763c30b88555494815f8658ad0b92a218744bdcd032c130a93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ad4dad92543398b564f619bc874a65dea1fca324e86d4a095a121d7036c065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7f390abf76bd76173db4c96a7bcb1d4c44accf2b7008279e369e33a624fa86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7925, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.9455, 1.7657, 0.8776, 0.0914, 0.6941, 0.6128, 0.1195]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1704 left_yaw=0.033 left_pitch=-0.0372 left_roll=0.0334 left_gripper=0.9981 right_x=0.3323 right_y=0.2734 right_z=0.0717 right_yaw=0.0469 right_pitch=-0.02 right_roll=0.0428 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, -1.4564, 7.0496, 1.7411, -0.0659, -0.0073, -0.0122, -0.3077, -8.253, 5.7504, 1.3602, 0.2662, -0.0171, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7967, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.5301, 1.776, 1.3827, -0.3267, 0.3717, 0.2882, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1693 left_yaw=0.0331 left_pitch=-0.0414 left_roll=0.034 left_gripper=0.9981 right_x=0.4617 right_y=0.2003 right_z=0.1774 right_yaw=0.0538 right_pitch=-0.0991 right_roll=-0.0019 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.7607, -0.0659, -0.0659, -0.0122, -0.5675, -9.3744, 10.0581, 1.6435, 0.1636, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.3679, 1.7828, 1.3411, -0.2947, 0.2546, 0.1864, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0331 left_pitch=-0.0436 left_roll=0.0343 left_gripper=0.9981 right_x=0.4825 right_y=0.1422 right_z=0.1578 right_yaw=0.0419 right_pitch=-0.1452 right_roll=-0.0155 right_gripper=0.1236\nstate[joint_eff]: [-0.0615, -1.2239, 7.0906, 1.7314, -0.0952, -0.0269, -0.0122, -0.4444, -10.2906, 6.8855, 1.9707, 0.1001, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57563cb3e0fa2763c30b88555494815f8658ad0b92a218744bdcd032c130a93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ad4dad92543398b564f619bc874a65dea1fca324e86d4a095a121d7036c065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7f390abf76bd76173db4c96a7bcb1d4c44accf2b7008279e369e33a624fa86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlou0Zp0WyWCJ4NPeMs_9oG-FpYIZ-24sDgOzz_UCDe4Hv68P3medPWJLEtDdTIzI3i0ChH-aivEq1ra4fRG6EyF6n9ZT_Ep3kiNraCOP8VSKDJeSXi16Zx3Y8AaVDit8ljSY2qx8LDA0e2x94hokZuatR6HWV3vpLwRSlDbOWQYW8g-1L-V6ZLn5Q6js8n-4rPGoThGEOTz9xy9maeCcFaB7UlGjZ_DFf0z6sQZPqAvx8qtxDe8qVlJpyB8BQXuLKCrXYbX2EYHbbIltYC-Mw2d3mWO7hXGofGTxMu5C-O44K_k9Y3s_LPKEqqgWr6CVLbCWgNdHUMxMOmPuLsuHLkPV2DE6y-nJoyWHIBdhtctHTe-xrv_69eFl3E9xauye1AePRUYSRaep7kbiW8mSG5OR43JX9eQP9sw1xgG1eTKdpscTONGa661cEojaf1J1Noo2TiRHPKkZrcGxco2d91drX-kDnXnYSaoRlkrXIBsccVEcwhp2-7BWVdKYzH_fNKtV3WpWHYZ_qTLFcTfXoyQ2QJYJR4RFenynYdtHndJ8fLY6oTu89UyAZc3IuOqDzoKHQgC0i-eu8w0P-jDKwMaD91E3CJIqBn9DRZcB-RP43K1qz38xXyHmLL5_yEcgN3NIGgHDHpvZ40K0KE6mN6OkXhoDeO3i_ZGNUTrBPqUplOWaPfSCMZfhkpW9QiRNgG4LczvMeZ4y4LZjyG_M7NdL5CHMASUjDGYlx-Kpj5n7bi6iIMo_qf8PJiyhTyJ9sVP5Os7ku53TmN8wTw_4HaizRdLJHz3Whr4z_utI7aIro2WijEYbCFF0zC8yL2Q-tGU9EIKKU4Yau7wBcp4LAH3QY4DKytJUWkHQyAT6BJxjpOchtJd2R7tMFvxHgmXNqpZtidF-8JXoTeV6eHsnRMDqJH8cYmqntZ3HJdFGczC-D092nNIQeMjb7mzo7h3Vt_XJgJMdv7JHsDixrJ4jt1qEpCSlHhtzVkMXLdUGBnsqzvHrIXKBYuG50Ui7b5199_Xwk_Swj5mxxI-tgGZaWMUZjM2gm9QFE50Xxe2u5jpgY0VYsA5gnuZ3xEKDE8REx-p_sD3iQA9DIQB1xIQYMhmD1D2yDHeW_91aZsj7Qg8G-xK2uJGa1Kb-pCqPbNXAlGLIon17WepSWWL38jKP5VVcLSJP5Nvw_cW5GJYVe3lT3_HX3asK-Bwx9cgdPz0hod3fcSbuKufy4hoZvQYocAmMEjIJghr5YOkseZL8AS6rkCX0rthp5c2MdlEdJ5xQCWrYi96B6who8CF5sIEA0TteH7sE7ozCtts9dL5nIVWYJSgOVg1awR6xV6T5XK23I1fnlakh0G810691cnh5f5IqRlFyP5xi08uWankdnFp6wKuH0hyMNHN3CQNB7luiIhlv792mvrR3uTAsMSKkCfbmkZlSkyDTc1-3nN-BIsd6HxD4gwEQEIJVj-V7bIxkYqiCMFf2gDnC95RoaulKnsXYwNQAWsEhccmk4NrL-_h0FNyXNLexzaF1cw4x5VnntG_ag0dTWbHqhfGCO37UiG6dE7b2-4Ubfhm5Scx26VCMT4ea2U883iCL7Qepb3yUHQNCr9WANbPy089EU0dwW57YnqvP2zuNufM5teZCfTav2zZSXFGv0Qpm77bfMt_yww7wzWNPrKSU7Xg9LpxWsqwBEtOfSB60XQOqyP-rpd7wUJ_hFwuhQh1aMb8Ub3QtIjvjhbyRiH0KTOk5ngF3Ic07v9kkovkRPdG1UOFAwIi42tqBjHTHWEVjvw6UPIHa7OP02RI6rwKTYscA6pKLUmwtXP6IxXWzf-6J5RKeOagqh5hYV5MBy4rss0pOcGNOse9274b0dIRvW3ukj0RCob2sn-K3f1OMPX1lFNA4FEUBzR83QXCr8ZHUPbEHbJRPV9MU0QJMlCdkAJqw5QcxCQLRX-LTxOvR1o9PviUWhmzXC-ktbD5naUJR0nCjaVAvY6zcWNHwavyQ9apkfnOW8wXxtlo4FCKVUdFiweqFCTJps2dMS4wQbXjSbXiyow5rHd",
  "id": "rs_03b200e249c93413016ab439658b9c87d0aeb8de5655139aac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.105,\"right_z\":0.20,\"right_pitch\":0.2},\"note\":\"The held plush still hangs behind the right basket’s front rim, even though the gripper is over the basket. I’ll advance the gripper farther into the basket while keeping it raised, so the plush itself—not just the fingertips—is above the basket floor.\"}",
  "call_id": "call_tUcnogAqD4mJYLsthaOPw9qk",
  "id": "fc_03b200e249c93413016ab439674ba487d09652bdc6b69549bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tUcnogAqD4mJYLsthaOPw9qk",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.2676, 1.7832, 1.198, 0.0959, 0.2134, 0.0544, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0333 left_pitch=-0.0436 left_roll=0.034 left_gripper=0.9981 right_x=0.5176 right_y=0.1068 right_z=0.1709 right_yaw=0.0492 right_pitch=0.0848 right_roll=-0.0359 right_gripper=0.1236\nstate[joint_eff]: [-0.1299, -1.1419, 7.1726, 1.6825, -0.0806, -0.0757, -0.0122, -0.9231, -9.7573, 7.747, 2.4835, 0.0171, -0.0659, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff7b830ca4010fe5ac4a4270dd747bd1f0d677892f3e38c4c2499ee501480b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd97908710b1d5cccdc72ac395b65a1727ec3ba37d24ba8782a70a410239236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba4530a61f92fdaacbab358db6154a4ebd6bfe1d5a3669df891be90dd89fa9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7929, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.9459, 1.6386, 1.0714, -0.2642, 0.6792, 0.6052, 0.1236]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1702 left_yaw=0.0333 left_pitch=-0.038 left_roll=0.0332 left_gripper=0.9981 right_x=0.3308 right_y=0.2751 right_z=0.1412 right_yaw=0.0608 right_pitch=-0.0501 right_roll=0.0163 right_gripper=0.1236\nstate[joint_eff]: [-0.1162, -1.0325, 7.0222, 1.6874, -0.0708, -0.0708, -0.0073, -0.3761, -10.6051, 9.347, 1.4286, 0.398, 0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.3679, 1.7828, 1.3411, -0.2947, 0.2546, 0.1864, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0331 left_pitch=-0.0436 left_roll=0.0343 left_gripper=0.9981 right_x=0.4825 right_y=0.1422 right_z=0.1578 right_yaw=0.0419 right_pitch=-0.1452 right_roll=-0.0155 right_gripper=0.1236\nstate[joint_eff]: [-0.0615, -1.2239, 7.0906, 1.7314, -0.0952, -0.0269, -0.0122, -0.4444, -10.2906, 6.8855, 1.9707, 0.1001, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.2676, 1.7832, 1.198, 0.0959, 0.2134, 0.0544, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0333 left_pitch=-0.0436 left_roll=0.034 left_gripper=0.9981 right_x=0.5176 right_y=0.1068 right_z=0.1709 right_yaw=0.0492 right_pitch=0.0848 right_roll=-0.0359 right_gripper=0.1236\nstate[joint_eff]: [-0.1299, -1.1419, 7.1726, 1.6825, -0.0806, -0.0757, -0.0122, -0.9231, -9.7573, 7.747, 2.4835, 0.0171, -0.0659, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff7b830ca4010fe5ac4a4270dd747bd1f0d677892f3e38c4c2499ee501480b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd97908710b1d5cccdc72ac395b65a1727ec3ba37d24ba8782a70a410239236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba4530a61f92fdaacbab358db6154a4ebd6bfe1d5a3669df891be90dd89fa9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlsrKZyU2bqZ1o6bjF9gPLeBwN51X5bhMYsyuP_wtBVDsXp5ANz8Z_ODdUsoVLDjCd-9hQY_kPv9i3EOCWoXXafa6M8EXu7yy5xyIMdLpHPbdA0ulKEO05Cpt5lA1KHjhutc-eOz3Qo-KRHuzpf3A8aJ6HtzQ7OlUDDf62cECPi01cV6RBpkRYvT4jqfFJERiDTNVqI31nFex7avv9QZQA3p3R2dm0EVJVZ2edTRk8dGwb4hozsT_WjJu_WFybzsGdlddskuXraLc2tUi7DULjSg2g5KWgtz_11VUoe18zr187F9xHojhxdn0hO9gxRIDSNdLCHcmv9caPBC2ne2ousdW4iFDwW_Z9NBSiQF8HDH_P51t-hulLkXsRobLUw0VVx7swGKCYUeXEwE77q5Sipqo_MnV2YU3f054EaJ7dNRIl4uVgpNXeCTsyqJcYuTplTXqAat6x4h7xsG1PXhV9j4IoQOnSaAvh6Joe2t1ocFgUz_GssiYOh49sAPb1DsjfKY23D_beyU7gD0xIDdxSJMbs-Lkh-NPlvn93Te1wa4-ohfaXhw_Da3IUTB4oZoJjH2XkeP4SMOzGX_tiYu_JDB4_vEZrin1okm4DmsNsa_8FOrBliJOOT1RJegRXWKsN87aQPFVpiHm2-mvub7ByRXpnNM5tfDMwmMh8mSCIBSF-iA0DVGekILFCPOg3jknecswwTy_wBgpQgm75LUmpsOn8MweTeraSeNQeC7fnGXoJTdelPb10Lm7NnF1Le1LHv9eS926VFzhSLi1vgPm0HSr1wdrO9qirlo6tKLXABNQb2kLrn98yplxmdbS6wXMqfBONNmthvN8tENFXziaGLH73YcZ8fMqip4IBTktVK4DS8ECdmjtxSKy0DqDS_Fl3QBYV3nCf0NzYGjENpXO8hVrk2sK9KGHVqk_TYftaoA5lJCn2Cpgwtx0o6hrzXfbU5gqfZr5BS9hpavW3-eSg1iqs8lqBdT-qqHp-iWTa4TvcWvH2D8BvyYg6Crm7Grf9Wve6CAyLQOmMkR_NprdAJ7mYtEKY87fBotSLcfCCfinapjdfbYU_E5AfBG4kezWI8p1FHmjubW59NQrwXSV72mB8w5HGUmWP5qvaW53YSpm5MiLjaii0gp1SglbXbfp6HgZrq_71PRxv60YQbuG9Myhn1MlXebKCnAGjogD0jroWgOYI3gNRC_jnaoqZJTn4DatXFuNJHOaxhUdMToSjOJzR20OjfKuVIFLTNiHqRWA7_D-kJKGlrqyI_Kl6HYj-hrCJtEaoD0HRUnaZkF1maCHX00yIIQ1eibJbkSxoDc9-zgC59vF3ETSnt7s_g3imU2G8tk_bagCJbQUZjYBqlVUZuMioYBphEu6N5641CscZ7VktpnoGqazFQns0xreVmM0aBah_iAht-vT0RFQMIXFCGLUF1r5dhxIvbSJ25Znlq8AsjA9N-y88JrTIJ7-0dZRd5aZ7SPErUUtHWfjaMwOpgNKagsjtWSB5gc2z1VWxZhsIiCUnS2tEX41P1bZR-jdckH5z6-qOzXzp5dYrR0mOsOS_FSRz73MG_cmjr3h2CPn9sTkZFMojXu0dLjEQDRk97FUH4Ksp-l733uG5F4VYHGa8mGZt7aGgBOoZivw7d1Z6MxUpH-z8Ig-MeeyLOFyOEsD7P2A2vU4EaAI9dXg==",
  "id": "rs_03b200e249c93413016ab4396a2c1487d0a5e06d7db1df9baa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.105,\"right_z\":0.2,\"right_pitch\":0.3},\"note\":\"The cream plush is now aligned laterally with the right basket, but its body remains near the front lip. I’ll advance a final few centimeters before releasing it.\"}",
  "call_id": "call_RW4iQHWVkHj3WCDTiVI7Blo3",
  "id": "fc_03b200e249c93413016ab4396b759487d0a9491ab415c43c0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RW4iQHWVkHj3WCDTiVI7Blo3",
  "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]: [-0.1017, 0.7986, 0.5907, -0.4042, -0.1349, -0.0681, 0.9981, 0.263, 1.8374, 1.1896, 0.2417, 0.2043, 0.0086, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1686 left_yaw=0.0331 left_pitch=-0.044 left_roll=0.0344 left_gripper=0.9981 right_x=0.5343 right_y=0.1105 right_z=0.1709 right_yaw=0.0749 right_pitch=0.1643 right_roll=-0.0568 right_gripper=0.1236\nstate[joint_eff]: [-0.0205, -1.2513, 7.0496, 1.663, -0.0562, -0.0464, -0.0122, -1.4974, -8.4308, 7.5829, 2.9719, 0.0855, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8df0cb070b676e8d756a1023886b1c941923ac5256c1d1cf445188d483546c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f774c669e12b7f4e7a1f6f7a60bd174540ea87f71efdce8559bc5fa817eed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e2b4c8ff1fd4c1e9a10b2401aac45182b233fb6679397559bd506df1af0222",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7967, 0.5907, -0.4034, -0.1349, -0.0681, 0.9981, 0.5301, 1.776, 1.3827, -0.3267, 0.3717, 0.2882, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1693 left_yaw=0.0331 left_pitch=-0.0414 left_roll=0.034 left_gripper=0.9981 right_x=0.4617 right_y=0.2003 right_z=0.1774 right_yaw=0.0538 right_pitch=-0.0991 right_roll=-0.0019 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.7607, -0.0659, -0.0659, -0.0122, -0.5675, -9.3744, 10.0581, 1.6435, 0.1636, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.2676, 1.7832, 1.198, 0.0959, 0.2134, 0.0544, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0333 left_pitch=-0.0436 left_roll=0.034 left_gripper=0.9981 right_x=0.5176 right_y=0.1068 right_z=0.1709 right_yaw=0.0492 right_pitch=0.0848 right_roll=-0.0359 right_gripper=0.1236\nstate[joint_eff]: [-0.1299, -1.1419, 7.1726, 1.6825, -0.0806, -0.0757, -0.0122, -0.9231, -9.7573, 7.747, 2.4835, 0.0171, -0.0659, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4042, -0.1349, -0.0681, 0.9981, 0.263, 1.8374, 1.1896, 0.2417, 0.2043, 0.0086, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1686 left_yaw=0.0331 left_pitch=-0.044 left_roll=0.0344 left_gripper=0.9981 right_x=0.5343 right_y=0.1105 right_z=0.1709 right_yaw=0.0749 right_pitch=0.1643 right_roll=-0.0568 right_gripper=0.1236\nstate[joint_eff]: [-0.0205, -1.2513, 7.0496, 1.663, -0.0562, -0.0464, -0.0122, -1.4974, -8.4308, 7.5829, 2.9719, 0.0855, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8df0cb070b676e8d756a1023886b1c941923ac5256c1d1cf445188d483546c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f774c669e12b7f4e7a1f6f7a60bd174540ea87f71efdce8559bc5fa817eed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e2b4c8ff1fd4c1e9a10b2401aac45182b233fb6679397559bd506df1af0222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlwqU6d4ChqHC62aAgXJznB6v1SGUJeOTk4c_oU88km7RvDvdC5FyO6sy9yNJPFr177kDNNL_NOFUxZPX6X4-ez9hauJ6TvY3W3hK_6AhnRDrtyJnDR3vfCqIZyS7RNSA8-SRi_SZ1tgs9ebZ2DhA368L3ojCb_Jz1ErApnLJGOKJZHeL5ZrBpVT4LXzSCsZiSkVRiJsTAxFMt7HXlGfZ2cz6Jv8Xg6rTABhU_2xEjGMzk0dIsmoFn56DbhXpX_oohhHVRTxFoFiAopw_j5zu5QDi2bIibBdNjzJoNy74rT8X1t9_oYDCh7AzQuk3ZQdnnOd_sZXrK2V0mAIeaVInsEsZl7KD_HZw9nMaV7wKY81fJYeFtrmD1KPeVxeM8j_BQKLryf-vBvforh0Xprb5AF0RYkrtX6xLbcijBZePCBrrIb7wV8q3Jy1UuCRpgg3YXwL5P5_dliEBcOcFyV1PW-NHrakvtmxVrplrHAeBqOoM2i-GnngTB9VGXMb6ZP3vcUJwodjqHDZ6rPkJHLERByyDfszZV98mxh_cfk2XCR-CXYdaq3eDtXZSTMQXCqPMj0eLbQRDoy8ZsW5vep5S8qvcHGKTUTXwpYhBhHbsNuwEeQAvRJ7wFBMrJk-ukFIMS5uEs6uu5S0RzSiUZ5vtIVEfvD0C1HSwraA6un-iCOZTBewtO1E0MLjT5g3qXabqG4g5zgGNKhuds4N8nC2eupQiOsUwPNxcXLMA32b0leAAgPVxURMQyLl0jPJDgOWOuogHwpyMbN4OhTaOEz5fLWfkv8PUaNpSCVANxUMXaM3FrKw1A3rpEKpOfperJveX629GhKy3bulH-_o2ots8__05eMiMeVgcJEAxyOjhOUOSaW7Suy8JUTn6liAAe5TS9dRsF91JltbqEJAGKqCIdnni70pUgDgvP1OfLI4H17DWz5azAaNggo9Y7w88JigFwYlcxMNBUeWk5mIRkmvpJxor6P0rjeQc4KizTuwFJ8WpUIdvSwssivCFXFPlfeZJZ2iasDFWVZsMiCJD7ZZsMIFDWcXXgxs1nZsSNQd2wnCte1QYkXI1QmUISrWP-W6Cuw6l-qU_JH33B5jd9OEH5cW8eZRrA50odsV62936qzvA68DQoo9P8UjPkJO_uaWHxa-dqU5D2HKknA5tCRPFI8xmmoz8hiDs1HO-GlSMaUYb2G32c6z4E1iKEQF0burqV0SOwqvdCv47tgdhi76SkCwpQd6qFgGCSLwvDZBxdtRL8yjnwOeDf3lMCcUZEOo6hu_yrm9TxwuBSJlcwyjIrvzWoeMZO8_PSrsWsg0DotAy5yy5GrkH6EHoB46o3ZSV_joEpm0-NICP57_TAtzD7sB-jg5_OhF33BEadY-iWWJccIOn2qD3IGXF0ncJzBER7H-jSVGK8-wXE74vmLqZeCLcS3S-7iB_dOfBSvBeh6u8pBCA_SnYA5-2G2z8njtJat25ginTL3W5VdYXdCxOBo_SG-oWPAMa-HWMqtV2S7EsyaWQBbARoPrPpSi5AM_hmPp2m6wMXEc04nJepADQCRIJ-9XKEYiMkyg3LFXAgWIFpS7jvBZswmsaE74R3ZkblyYpmpzJ50o_csrjLyoV5ce54RCL0Ez8yfSulCTkfIHHWgZb24oyjufG3Ya7kIkgQXBsS8deUMOu_Ipq5FNV-JvRQ4JzXyYtPnEoVuzW_PSvJKmVbJ1uy4sha5yPULGjxYKCwbH2b4QH10MOr8TdFetPt-imdUEKECcT9KIu1JsGijDRi2yNkV9zW1rJ9oZhBjiXR8qPJUK-mLoNDz7rGnekR0udF0YZotkFRBD9-lfFWXfxBFPdPCi7Uqp6WEfeQVlqa8kp04UbuzhOEc9NZgAaG1_grNTFx5dcwr287q7kx01RJL3QeRf0i8E4niQFA2EwBnYD5l3TFfHAeQs6l8uNDeZoKtheJrY2-fj-PjPhAb2q7BzVq9EHJVnDxLJWHb6xDlGStcy-6NM0LR3kl-298H4uuQBkDTC5vMg4YWkabBgr2_MnxMnFPiIUKz3J-5",
  "id": "rs_03b200e249c93413016ab4396de1ec87d0ab7eb44a155480b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The plush now overlaps the right basket opening from above. I’ll lower it gently until it rests inside, then open the jaws.\"}",
  "call_id": "call_Ku2MGFw3czv2MNuCPOK4Q5Yp",
  "id": "fc_03b200e249c93413016ab4396f8c4487d0a10c69441732ac1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ku2MGFw3czv2MNuCPOK4Q5Yp",
  "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]: [-0.1017, 0.7994, 0.5907, -0.4042, -0.1349, -0.0685, 0.9981, 0.2749, 1.8877, 1.0992, 0.4393, 0.2047, 0.0021, 0.1237]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1684 left_yaw=0.0333 left_pitch=-0.0448 left_roll=0.0341 left_gripper=0.9981 right_x=0.5344 right_y=0.1171 right_z=0.1484 right_yaw=0.0878 right_pitch=0.22 right_roll=-0.0523 right_gripper=0.1237\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.6874, -0.105, -0.0415, -0.0122, -0.7043, -4.8479, 5.094, 1.4774, -0.0024, 0.0024, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b992d7e856c41de4bb20304176b8b02c4ac48471468fbf8895ba824444e75e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ed6cc604a263ce06137cd98002b27f130fc853a491c5c454e1383aade63dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78831f5a986f296d1d333f35d92a66095b4d8aef47e9f9e35a58de68e2d14db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.3679, 1.7828, 1.3411, -0.2947, 0.2546, 0.1864, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0331 left_pitch=-0.0436 left_roll=0.0343 left_gripper=0.9981 right_x=0.4825 right_y=0.1422 right_z=0.1578 right_yaw=0.0419 right_pitch=-0.1452 right_roll=-0.0155 right_gripper=0.1236\nstate[joint_eff]: [-0.0615, -1.2239, 7.0906, 1.7314, -0.0952, -0.0269, -0.0122, -0.4444, -10.2906, 6.8855, 1.9707, 0.1001, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4042, -0.1349, -0.0681, 0.9981, 0.263, 1.8374, 1.1896, 0.2417, 0.2043, 0.0086, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1686 left_yaw=0.0331 left_pitch=-0.044 left_roll=0.0344 left_gripper=0.9981 right_x=0.5343 right_y=0.1105 right_z=0.1709 right_yaw=0.0749 right_pitch=0.1643 right_roll=-0.0568 right_gripper=0.1236\nstate[joint_eff]: [-0.0205, -1.2513, 7.0496, 1.663, -0.0562, -0.0464, -0.0122, -1.4974, -8.4308, 7.5829, 2.9719, 0.0855, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4042, -0.1349, -0.0685, 0.9981, 0.2749, 1.8877, 1.0992, 0.4393, 0.2047, 0.0021, 0.1237]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1684 left_yaw=0.0333 left_pitch=-0.0448 left_roll=0.0341 left_gripper=0.9981 right_x=0.5344 right_y=0.1171 right_z=0.1484 right_yaw=0.0878 right_pitch=0.22 right_roll=-0.0523 right_gripper=0.1237\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.6874, -0.105, -0.0415, -0.0122, -0.7043, -4.8479, 5.094, 1.4774, -0.0024, 0.0024, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b992d7e856c41de4bb20304176b8b02c4ac48471468fbf8895ba824444e75e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ed6cc604a263ce06137cd98002b27f130fc853a491c5c454e1383aade63dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78831f5a986f296d1d333f35d92a66095b4d8aef47e9f9e35a58de68e2d14db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl0d0B0LzRkNsLT_GX4-EKaJPSiZYD1rFuPUMsuk1lF08dPB8Yc31g5YlBGdZdS2mdlancmJrU2OQpic1gLVkt3AXyozeGzD7jvfMJHwwIe6s_iL1FRKzS8eKqQYXFhzrBXyj7MfbjtCEMGm-3doeGR8AbvZds5hKzXqG9kznGSZ7P7YjSKlJLhBHBEExHyMjGFqLF22SShXLAsSeR029m7BYib_QKVdXoz5uk0yQ7sPFCrJx6odFqT-RpINY_icDMcNtRnRvWzXF6_GWMroptpet8i9OrxRU9SmL8UIgUh1xp-aRE5wSA1oCmJAojUyaUJkjiWHSxwXrYCX9ik0FXrp9zEliYuJAVcDunrwVgezyQRNV_ZQKGcPDxUgJMb9Nt_5RBZnm5u2iZHtNJkdcB5JsZN0z_CKS8f-ZT9TdLaG8Qkp-kOrQT6IBtdvQScVvE5gAenaCxrqEXnjvnPFsEGbGiMRqFU-P_xPeVEjem5wq6QL731QZ6pP58GakJdSxtUG21nb5lX8B4yqwHm2AZoooLbIkVggTLwgV0hLt_ohJMezLFyCQrpa32mupbqn4iji8bA0t7YynGsgRCJdQlXPUpfHHTaUFjL1sS1eh_H8JmylfSyxCNzEAebTGFqBWPoRlruQjYZYuSWg1WQce9PJXHlKe7FmVnRBFV6EHaHpq-ubTwLcBVho32dk-P9sUPeQopJ4qvEC7U_IrUZzbmheyzUqSWU8fHgNIHO_25SC_ri8IoF6BeQLhvOuUQL6n-xkS5TYXS5YZTUYYFzOX1PMMTCz_7d53Ddiw9EO9nBLjWoRo1teh6WQ16S9s97-29G65MtTmRrzm2fNpx6nnYiYho3AuK6b7nMNOZQm2JT1_531LuOpq0Z0w8sc1j_AzWv3AdoQXc5xzECT0AndEgtm1vIQdC2wmdiZVy4DoNn7nW9SZjgfuRzE5PfteXBuqD-yA8mMSk3LKpR2NHTmpGjw3cUiu1v8VluvuPGH7Aytx4nHrTY7vPZVlNy7mk9eoVcozzWyYX7yuQpJOEwZlWMWojjfA9KpAdzATSAcP0oWzo-E68iOYvux1X68ZWVpJ0M5kFPMu_5vWB6WKfexu9IfU4Me_wsQbOYfy8TSQEtne46UcBOlkhdfbCyWLiWT_WkcCrpTPURZwJUvz5J0Retd5crUqsUfBXy7yll6lvoq4sPKMcwb8Rsn4zL4ItQoikteY_mR74B87s0GUqzeRyVNC5CMDIUeaNchZKHe_AT5eXj1nZK0geRPw09PKQ__edyxH2qdH1bfIVD_5MLWTIY6qqTLV-Gg9wokQK0WtKx9-AhB7Dovwpax2k6q8S5tF6-sTN9byzSq5g49wC7LM_C5xYN6YkwfEg-16H0UL2cGCAt6hR4wJb7hMKcUbA2rKzC8xxUcsr0snk8hjGZZ8GHYChy9TwfPPUlm0h-3QJeJavgPfqapky2JWKU5jRSwMK3IzA7IGzk4gIV_5j66CdX5bADANmP4ux45XusgX0APoFgHpU9kHAGT3StpsMhPzt4hYKCYtrAWlSrvFsiVZ5HAciZ_VcPoVSdw2tlGMSh9v2l3KL6PnWciEv7L13dD5BmyO24j5VeYYDFibbnbLZiRoWQOrhiNQTKVgztUWcB5JRm6RGZN9G5B7rXUNYDmvp-8_rhqTMK0TfWXU0rbbffbmGcBTbVo44hJj3TeF28LNHVUauMDiA38FkhpwbzgF3oOdyo-mCeTQ_Mix5eD6zCETe6sWjk9QOPA0f9CWLvJvdGa1CFmDw2DmtU3rmCDjugH4qQ4FUMD1VO7e4Zej7s4HGYQ5PW-Su4XbPOacUflRXavUmU7AFatBejRqr6-bHb3fZpfOH_14WZWdD83fLfSiLK0YKUcfqLa7C1_Y50EQYYUfRCpPeo0y312GpCcQes",
  "id": "rs_03b200e249c93413016ab43971a3fc87d0aa37edd65fda0f32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_z\":0.17,\"right_pitch\":0.38},\"note\":\"The arm stopped short of the requested descent, and the plush is still at the basket’s near rim. I’ll raise slightly and nudge forward to put its center clearly inside before releasing.\"}",
  "call_id": "call_fZQQrADrpu3qMV7WBlHz80Vx",
  "id": "fc_03b200e249c93413016ab4397318c887d0837e2b1f77935318",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fZQQrADrpu3qMV7WBlHz80Vx",
  "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]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2749, 1.8965, 1.0847, 0.4877, 0.2043, 0.0025, 0.1236]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5355 right_y=0.1175 right_z=0.1485 right_yaw=0.0868 right_pitch=0.2447 right_roll=-0.047 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.2513, 6.9949, 1.7265, -0.0708, -0.0464, -0.0122, -1.265, -5.1624, 5.5179, 1.7021, 0.0122, 0.0122, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307eda3da465d12b817ece157c06f4494f0d38cc97552c71ec92f23d555ce78e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0910b1d6a133010c450466f72b8d606d56b9399306315cb73580193c93e3d50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b2db4c3f779e8edb9c7f31252f31e21b798dfefa417e21aa6379887e3b0e83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.2676, 1.7832, 1.198, 0.0959, 0.2134, 0.0544, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1687 left_yaw=0.0333 left_pitch=-0.0436 left_roll=0.034 left_gripper=0.9981 right_x=0.5176 right_y=0.1068 right_z=0.1709 right_yaw=0.0492 right_pitch=0.0848 right_roll=-0.0359 right_gripper=0.1236\nstate[joint_eff]: [-0.1299, -1.1419, 7.1726, 1.6825, -0.0806, -0.0757, -0.0122, -0.9231, -9.7573, 7.747, 2.4835, 0.0171, -0.0659, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4042, -0.1349, -0.0685, 0.9981, 0.2749, 1.8877, 1.0992, 0.4393, 0.2047, 0.0021, 0.1237]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1684 left_yaw=0.0333 left_pitch=-0.0448 left_roll=0.0341 left_gripper=0.9981 right_x=0.5344 right_y=0.1171 right_z=0.1484 right_yaw=0.0878 right_pitch=0.22 right_roll=-0.0523 right_gripper=0.1237\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.6874, -0.105, -0.0415, -0.0122, -0.7043, -4.8479, 5.094, 1.4774, -0.0024, 0.0024, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2749, 1.8965, 1.0847, 0.4877, 0.2043, 0.0025, 0.1236]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5355 right_y=0.1175 right_z=0.1485 right_yaw=0.0868 right_pitch=0.2447 right_roll=-0.047 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.2513, 6.9949, 1.7265, -0.0708, -0.0464, -0.0122, -1.265, -5.1624, 5.5179, 1.7021, 0.0122, 0.0122, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307eda3da465d12b817ece157c06f4494f0d38cc97552c71ec92f23d555ce78e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0910b1d6a133010c450466f72b8d606d56b9399306315cb73580193c93e3d50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b2db4c3f779e8edb9c7f31252f31e21b798dfefa417e21aa6379887e3b0e83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl3w0Q9vWxxt7P6_EE7GTnd0dVS_lUypNu4szSEHk1GsYr5UiLhQ9K_Lb5iBQx33UzIMZmENpg96mYMV510N-YICFRMr6rH53ZgPMfTOu2PRIF9qoAsdw-xItg5Tj04szVL6iTMeejptf_ygz-17kqNTwc-h7QtmcO7YpKN3IR1kG-ssPW-NOIqh-mV3rkSkMWcwT74mrdwkureOFalyf2RZs6V4GsmaTT39c3Ukt35yTsX1PLGLTvFDqDiRKsEQ_Jjh9lK34u4GEx3juzOjPCiAWx2BbTD8N_ff99RSSH8civ7xtStwMUVNvEmw7usuUTX8DDaBuAzwwhSUXlD5wo4jnGJVMlXQ9_-VSXnK4x02VvdCEJnLtGCIcmPR2UqqXRzf6e9crXfZ8MbFzDmCSvfmaaP6SFF5MZYKRAeB7N3IHsES3SCtrKzoM5nEQBlaPUw2tt9MAKcDH-GeUE3_LV3pOTg4w_BovmX_fllXpfLe-5sNjkdv48EFU_95G8qXaS2a_qYK-xQR3GNy0x4WhDpmnFYOiLow0UQ5kvFbKyEOJgqD9bBh6IMQcqui67XEpck2fECYXoiVwuUpscl_IuHR8E_McRPYoa2gnVxo3ru6QHiKz2H9ZIirWeR2t-lUI4nQDGtImvJKbCJ-R4FnTUqZGcmyl9UTiGCJBWzCVcDOqy4f2L09fqdZ_lzVatqCUtqp0emMVyuXsVnF20UzKkuiZfRGjHoP4C-K6Hz6wUjYeuOA4FlNifecR4VXu01varR_cTw1q-epAGtYfHVdoup-AxHRGnlrqsvTMB5UGf0Fjng1t4ufCSMH5K3EcXqIokzPlKqcR8dUEadt-35Ei34HyXVM8keZQywMfqS1kfamEaNY8pODgnBR1-50gPCbS26XFbxouc9wgMGFEOIZ7rEWWLK9kvuo7Xj9WXd5lNMt6VSWvREcpCffD3Rb31ECLocRNejfwVL7X6k5cgr3egLHBxNb26x7-PnQxB_C71utPjMZBHwfYa_aikQ3qUDWEstqxTpdhM8oSrFSlDO_WmdaCQiAcxVIRIexvnTuK3DoRtPLBeZ2lipJb2jdAzy7DPuALxilOfvVGgWOB_6NDa_SajKuXgkKcsdHgzbK5Xb0nOVKezvsNBUBJs5_BURDrM0BLlFANOYtt7E25EfLXnsZK9YEXIxPB6PuQZTq-m_RiR-wlRLd2QsBPC-_eIsq_LzLDyGyZMMqWHTU9JDITeYoGF39SBRYWm_JbJrbJNAm90bQEhtbmJwTiToo0L0azvS55B5V-VMtTe71viia8eDmA==",
  "id": "rs_03b200e249c93413016ab43976719c87d0b7ad69b795a12975",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"Further forward and down commands are not moving the arm, so I won’t force it against the basket. I’ll release the cream plush at this position and then withdraw to see where it landed.\"}",
  "call_id": "call_BUv8I8uQqw9irKtCxdL6OaZq",
  "id": "fc_03b200e249c93413016ab43976c0a887d0a2fb5256011b2184",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BUv8I8uQqw9irKtCxdL6OaZq",
  "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]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2687, 1.9339, 1.0801, 0.4969, 0.1982, -0.0017, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5368 right_y=0.1155 right_z=0.1288 right_yaw=0.0897 right_pitch=0.212 right_roll=-0.0552 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.1145, 7.0359, 1.6728, -0.0952, -0.0269, -0.0122, 0.1983, -13.1624, 6.5983, 1.8388, 0.0269, 0.0611, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384ecb794e088a834df4d196b23bf35611b303aee27ff0027e48074b917f0879",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838061b369aef101fde0fff14b375aab6e019abe3371c3d32f05daba0005dee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03880de432c7b3ef9d7f49deea72956362e7cc14174ececb5fdec2cd64ce7c6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7986, 0.5907, -0.4042, -0.1349, -0.0681, 0.9981, 0.263, 1.8374, 1.1896, 0.2417, 0.2043, 0.0086, 0.1236]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1686 left_yaw=0.0331 left_pitch=-0.044 left_roll=0.0344 left_gripper=0.9981 right_x=0.5343 right_y=0.1105 right_z=0.1709 right_yaw=0.0749 right_pitch=0.1643 right_roll=-0.0568 right_gripper=0.1236\nstate[joint_eff]: [-0.0205, -1.2513, 7.0496, 1.663, -0.0562, -0.0464, -0.0122, -1.4974, -8.4308, 7.5829, 2.9719, 0.0855, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2749, 1.8965, 1.0847, 0.4877, 0.2043, 0.0025, 0.1236]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5355 right_y=0.1175 right_z=0.1485 right_yaw=0.0868 right_pitch=0.2447 right_roll=-0.047 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.2513, 6.9949, 1.7265, -0.0708, -0.0464, -0.0122, -1.265, -5.1624, 5.5179, 1.7021, 0.0122, 0.0122, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2687, 1.9339, 1.0801, 0.4969, 0.1982, -0.0017, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5368 right_y=0.1155 right_z=0.1288 right_yaw=0.0897 right_pitch=0.212 right_roll=-0.0552 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.1145, 7.0359, 1.6728, -0.0952, -0.0269, -0.0122, 0.1983, -13.1624, 6.5983, 1.8388, 0.0269, 0.0611, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384ecb794e088a834df4d196b23bf35611b303aee27ff0027e48074b917f0879",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838061b369aef101fde0fff14b375aab6e019abe3371c3d32f05daba0005dee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03880de432c7b3ef9d7f49deea72956362e7cc14174ececb5fdec2cd64ce7c6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl9pOVjPvoLDVuf8CHO6TAgs-_tkOEVK0_WvI8auOE8SQtTQvWQiBW3bWUERXeIRCg-rVFV6tE4OM1OMOc0CTPTcJOef5_0eRtUw2WbMlduev28svtLsZ_I5cn9L_ekw1MKKKMF_gocmVgGPItx7wrcNuqj1jHzrxotxyMHbY6oLx0jl3LzHAoOX6zuCVqHIJ7YkpVl23yDiyatZmRcu_TM9Fcwu9QBEXvse0TnVQOO2gnmBVauIANTc07thep21fgL0xIyioeaNWp0uVIPNoDXSkW-gXfku7Ww9RRurp2O7miiCr_yooWTyfOWlt_Jbpi0R-RrBZkZpmmImZhsaunZ2Zv4iL6PdDBFu1N6uOc7ycQwqLy4FGEghqK2PYmZdyI_fANx_smS0K06GqAa44NvQAX4gJJ8B79DQGtj622Iyy4_KUUf1KuWXxzlcCHzO5dIXPPuLiFWKUESCpOdcSPDxCi2Acf481GFfzSrKEVvvghA_vycZzaCaaYGypdV3wJWSUaAhOYQfUIfjP4g9l4fu7ZPihmGQP4YiNRbDxEzPmr0I1Jded4K9s36VG5PtkedHMT5ZU6YSSHaJBGmwLOgAafMulzfk5mvD5SV7wOtfjC3EOkItK_oqp1n-9TkSoySm4OGYUKtuw78v_F9BlUI849aweuxoyxSEa1uaRdIte93kZYLFIiPMw4Xu4bxWgomtkCcku6YahZp6TZNJDx8ktpYZ7WLLolaFm8vG9axqEtSNCI3_I2kF-38m84XcMdNphcY-ICW9A5Ik3QG_ILrtPb0P_FvaYSelnooRYYVJN8oWwkGDAbUoYq69MzbY-y9kSt58vGub3iNorBpbKi_PnwBRDmP7DTZpVRviQH5J4R_bS0xNlBzsMc450Tp9i6rJDA21QoWitqddzXVbTbbY5dhUKrtQKSHo5--BgQy8nnZbX7D6ykW1EU8ZNyC5HVrCWQsNDf3eUVus_mH8pwwtdewkQsMPHZzBRjimAewCZwNzaDM2wyylWBdg_sO3Q-PdX4rk-WkuRnZm3BqSGOQ1f0Kmtwm-H61BKNvCGxsCkMZlVPXie_iBw9cIAGMk-0_uB_Q2tdnEswMf8wUYdoM_HfmEnY_QsA6_iN1OHfKpj6IHZfdXWDyeiHTaUPmR6Dav1DgLO-vU7exc896LVkPt6nn_6iCNWa4GAQ4Vd-sk3EPeJ4NPQt0iDtr8L4o3B-04dULeQBg2R2kP1SkvXAgGF2I4WLjmG3n7MaIWm_xJ0pZOT5oMXlcmve7GT3X8-nL5u4kW5UkOd4ZxsCIdOq3IqbpNFufr292ajXt8QZyLqqoNUbn9_OdvI3Wq-jcS2O-11Wsla4qFiknqHoqoaGCcYPjDec_uAx8TiE-wuC-ZHWgAIlW3pzEEctt-uUsJECyXQBsgm78hxqWKWxs1i4mUkJ_QNeULZ68AlJRu-RI5VaR99CAFOpjJekpK1MdnN2yAoGvzsoo_tVoRLAePaMVeHCRTsTeP2mepGpcwnqRatYK9QT6fPlc-oUkhrkcWD53JE1iT1Aybs7FyamGu-lReVKUn-LvHVJU3SmNn1Ks_24TBSNG-8WBiJtUv-J-iEJJwfo-FwwYrJENKAxX4PIhsxKq5GHlNY9_TxafG8uB0vwuWJy4eE3mjLMsawF73h7FaVfrBZ-_bk30xZ-OwnkjiBIF5M5566lnZ3yh8KfcrlRubSY4Y6oF5_mFC-FjVk5bWXoMtTvsJg7CinyUvwX8k9EjG6JhTWTGXNrW3N7lbKNvJzUfLXMIXs9s9F9EhZaawj64ADNKdoxNyMGrJJuvyNg2QaRJRCROUP1Q3x1sWHLaHo5X88RsLapKakrrgD4nIw1Txy8okWslTgkFOHGSFFl7zIfJBr0hzz6xI5Jm1W7EoedJgrufoubMUuRlMOIz_cXs74OOOidlnfqgmm3Vzu0Bgs8mGCQL7hA3jUPx0Gel7Qzn1QbNJOexTElynWYLnJ1nmzItXbgFaqU91NApKQJJldtwtD_j3zPYPCRhQQtlaVEhFb_r6Xdet-T745OzlUElfFeqC6dMIoC-JmonEsrbeEt1lzGOpf1FKb5BwsmxvyjlgeEQdiOcE34NULMzER0N6tQHiRuKcMRhlwONCLRcbXSqR_q14JdSPd4y8Zs7k2sQXB4OL2UnSOw5vxFWhN6HjSdb4bxabuk-jq-bNpS-cCkiEGN7hqyQrmhkQN7gckBu8Hp0P7z2DsSEEEAA0GFz0DvPcnRmRi0ewi_QYfGkKmevLx_VB3-ovD_EptVpgWlV5X03VaUZ3FPIqazNQzgj5YVOmvNkj53WE9K2emVDTjsygzA7kuTbMWFni6PJUen58JxBQNjmdo8Cj3BQDq-OyNDvlPEG0kddn8DiG7xxllrjhH9eY0lwzm5kKnas6EduB_e3V6_YUv8_pJSelpqF8sMZ4qs5LU7_5e76pMqpelz-Nvpt0N1_XroqpUvyCaKCGa1eonNUEPUOqtC48A07S2kgs-oAsL-cT3TFAiIXc_eHiMaU5GkcU2nG8uiKvs4BRPTiFlg1AYkOp-FkbiOSOzOJp-JvS_m-znYEUEAVr5MW20CMW2hUY8F4aaEjuYASkyR-TpzAVOaeMwMI_m276Xzh-OQA9nHvf6Lgjst09S7FLOWFiW5_I-nnUyvNtPMjICF_J8agXKN2ryWAFck9s8nCdRYOHc2_a3Nv9K5JF03EhSb5Qz4MjDLiZ4xdWFI81nY7XH2sXBiADLK_pqDJDIkEI1cs4s35vSsbImUoj1XoQMc_WWr8OL03ER64vW96QamQTk4NedS5DS_3YZw9KlpsqEJzPLXvVeg8WJect0oivhoqBQCyXGdQ1WQ=",
  "id": "rs_03b200e249c93413016ab4397961c487d08a1b25cc5d9a600e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.27,\"right_pitch\":0.3},\"note\":\"The right basket still looks empty, and the released cream plush appears caught against its front edge. I’ll lift and back the right gripper clear of the rim before attempting a higher approach.\"}",
  "call_id": "call_c1Cq16ZloSQcuvzc7i66dQCA",
  "id": "fc_03b200e249c93413016ab4397c408087d0a8a1468b7ede919d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c1Cq16ZloSQcuvzc7i66dQCA",
  "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]: [-0.1017, 0.8043, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.3111, 1.5757, 1.0874, 0.1692, 0.2272, -0.0051, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=-0.0021 left_z=0.1671 left_yaw=0.0333 left_pitch=-0.0493 left_roll=0.0348 left_gripper=0.9981 right_x=0.4833 right_y=0.1174 right_z=0.2383 right_yaw=0.1071 right_pitch=0.2508 right_roll=-0.0608 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.4154, 7.0222, 1.7216, -0.0952, -0.0464, -0.0122, 0.3897, -9.7846, 10.3863, 1.8779, 0.2125, -0.0366, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082453be13e2d96a35e0ed4f486ae864216f926b25166ffccc4aca5fee9ff826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6732cc0ce3300f6b600074e0ecbbcad1d4039cb55784d25319cd776b21b84ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4deb91670f97d8897915f2cbf0c90f20fef414d236445ab7805bf75e46e8e66d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4042, -0.1349, -0.0685, 0.9981, 0.2749, 1.8877, 1.0992, 0.4393, 0.2047, 0.0021, 0.1237]\nstate[eef_state]: left_x=0.29 left_y=-0.0021 left_z=0.1684 left_yaw=0.0333 left_pitch=-0.0448 left_roll=0.0341 left_gripper=0.9981 right_x=0.5344 right_y=0.1171 right_z=0.1484 right_yaw=0.0878 right_pitch=0.22 right_roll=-0.0523 right_gripper=0.1237\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.6874, -0.105, -0.0415, -0.0122, -0.7043, -4.8479, 5.094, 1.4774, -0.0024, 0.0024, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2687, 1.9339, 1.0801, 0.4969, 0.1982, -0.0017, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5368 right_y=0.1155 right_z=0.1288 right_yaw=0.0897 right_pitch=0.212 right_roll=-0.0552 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.1145, 7.0359, 1.6728, -0.0952, -0.0269, -0.0122, 0.1983, -13.1624, 6.5983, 1.8388, 0.0269, 0.0611, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.8043, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.3111, 1.5757, 1.0874, 0.1692, 0.2272, -0.0051, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=-0.0021 left_z=0.1671 left_yaw=0.0333 left_pitch=-0.0493 left_roll=0.0348 left_gripper=0.9981 right_x=0.4833 right_y=0.1174 right_z=0.2383 right_yaw=0.1071 right_pitch=0.2508 right_roll=-0.0608 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.4154, 7.0222, 1.7216, -0.0952, -0.0464, -0.0122, 0.3897, -9.7846, 10.3863, 1.8779, 0.2125, -0.0366, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082453be13e2d96a35e0ed4f486ae864216f926b25166ffccc4aca5fee9ff826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6732cc0ce3300f6b600074e0ecbbcad1d4039cb55784d25319cd776b21b84ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4deb91670f97d8897915f2cbf0c90f20fef414d236445ab7805bf75e46e8e66d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_03b200e249c93413016ab4397f019487d0b64d89c4bf78554a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmGuY_46Zz2FLv2rSOKT4MFXm27dH7rK-qedc9Ozg1cqJI7E6F6w3iavjR_N1FvNqj1sC4a8KIKZhGFWcZVFRnF3twQb4XDmYyY3sYPFTSVvw610aFY5-E1gNRmlpiIapPzR1u7romvuyBG4bpMj2sQlJL4lFafT_9kzco7MZJMu8sIr7ytv1iLvTDKqemqivAhcTAPPlOutJG_7hvGcq5eRJd8XSYg29-B1MK3vR1uEAgQlAzIl8RiiBbfbQkuLm9GHycT7A5BnBC0gfNSdsVwAurTJJX59a9Mbbiv1mMqHU9iEqhwPXPJwjP-6QtmSiSx3EMd-XTLgH3LUG29PXgm2bZV1y2EwXwyYurTGsOBSrSQH7fn08Bxy50a7oX1oQCchVAkNVf3v9LNmgF_JPHWOzkjJ0BYYX33cai_FgsuARG8_1HnItb1dEpJkxcZvlcxhQYiTaOrhpEMUOuDubFrUktuUqOg7E6iC3Wza9WVCNSrNBeNQJlv7yL4yZJtJ8jSkf-nxc1QLPf3jJ0aBS7WqK3ibtosR7exwRUf6PZJ859_PNQbgCTMJlby7PLEcQIKHStYstjrLP8QzoRRyZAbUZMyrUS1bOSV5yO2jHPAk__Yc6dwvqQbXm3LRGhX2LZvbjmFfzZbHlOZV-CKBsnRBUjqwmtPaEJ9k0IAxiOOuJ2PovRXxxKSg9HVX_7uSR5Tmk-EqSpV-_XD9IU1IWlGp90troma0O2iXqv75nKUDK2Qv0fs4PAdzm6X6Yk6jIbohhljZVqEz4n38rFDrYs9uZZ0qJwLDAibELTi5H-VriRKOetYaMeUdzhkIXq-kCHtSktJ5hnURYQjK7AkOGLuJVyIpMo9L3AlyPzbqjlHvKnWzwP6-joIREyYe-kFUDuTt2gUsA20bDcjwexmF5Q2kj_-mCdUHe4R5vkMghEPdGQ3AdUU9o42Pu8jeB_JaDZBmdsrnVUCzY1pNWVlHK7_0dssUmq3GRW7huY_CJvrQgifxJTA8UF4wC_Ei9eH-RqdHcUB5_adTAeU6-qkfnFjsppXygvBYW_VcoUrbhET0NnPfvinda0Wg4JlaAURSnUKbdrB8EG3R3hg6G_tdsBzTpiXtr17R_cOwF3itZeYh2djQYPWqJb9qFwvnXxgOLptIL8t5SHmqq8xC7DRadxRG7fZ9Nrzo3ni8H_UFAKyYbAShVKXbC9OB7N1cv8d3ks3xvcsMUjs3DFSd1WOeDBCaLOWKWQvcXGYRf3IehbTW15-gz0hhoUj-JrSagWTbH2jdfy--Z-CBCqv5sVL9QmMmjU7lPkQyZmlLEMX31-ll5IFnT6mbmc1N3U3dawzhokGYeme_2Oagu9eT-hIal_O66q9LVgs7IzpfCFe_6kj0E0Y04Tt1xndVJN2HUCsA6RO41HE4VMSr21rkCo5lf4isr2kaFvX16LjMy1TECkuSMDR9CNi1njtJELRVPWxZiJVOmmEeh2oIvSKB4R_gPeXfX8HzR93h_2QaDNhEwE0Lk0yQ83zJAxL8EtpPL-hOexJJTGxYEAzfBZY-co6-YQMacNMItSgBzn2Mgs1Sv_VkZLa7_L6hgSfbdDyMM98V8kYDeVuAQVnPauCe-Gje6PX5Yex5Q-91HPbGRjc8grS6KJu4fG4obwR-zJfZd1KRub9ADRANIlt7uDteFSF_x01xzdZm9epAROXJseckWf8gJdF2tjGNhD5mXqkvGyVl66QWwanTVsordkKSKAHm46eftYNk5Gd7O7erKhAQbkV_MONgHIzskS5Gt85NAg2phmC5tmy4ZOXZgk8vneyqCdug6eiE2ouzuHX8DbV0E2F52iSD-Wg0eaPwc4MFBksYAvKNS7E127hw2qh-kp9HpZMdjKuTg_M7M0Qfv-tdDNgjUf6mvrQoJB1tMvSjAa7y-970CynhiwiTmJwXP9ToyPTV6uuYZn-CAk-3prwVHpGxTQEd5jDCi6KwKJzoyKuf-jOlbvWK3r0Tljjkc3bsVoHSC7yyNPwoLvRXEqUx5bSsIRx3xArnHA4nEFgDfYXu0uItBONN9reMjJIoYN6Snmjqoq9J0y1Mtrs9dH0EJibIubIObwz9WAvuDEdj-0Hxt47KnGlWeXvxjqJJQucGamS1f5CQbMRQZygXi6G6RpruWuF5uFu5AGBPclfEaRq7-M8",
  "id": "rs_03b200e249c93413016ab43983ee4487d0a6481dd5cb729460",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"left_x\":0.345,\"left_y\":0.045,\"left_z\":0.08},\"note\":\"The cream plush is still just outside the right basket. I’ll leave it for the moment, park the right arm, and return to the gray plush; its body is low enough that my earlier higher grasps likely passed over it.\"}",
  "call_id": "call_62admeDl8psEQ5yBl4NWSApM",
  "id": "fc_03b200e249c93413016ab43985d27c87d0bd03ab3fae3c78b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_62admeDl8psEQ5yBl4NWSApM",
  "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]: [0.1524, 1.243, 0.4271, 0.1551, 0.0559, 0.0628, 0.9981, -0.078, 0.8009, 0.6773, -0.3985, -0.0875, -0.1463, 0.9964]\nstate[eef_state]: left_x=0.3383 left_y=0.0456 left_z=0.0735 left_yaw=0.0556 left_pitch=-0.0978 left_roll=0.0275 left_gripper=0.9981 right_x=0.3008 right_y=-0.0044 right_z=0.2084 right_yaw=0.0655 right_pitch=0.0411 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -4.3692, 5.5316, 1.8974, 0.1245, 0.1099, -0.0122, -0.2256, -1.1009, 7.0496, 1.9853, -0.2808, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ad85d713d1a1ec75df1a46857c902695ad83d4ae680b1a190296a28f745b17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1798181f7f154407326f5e897824b719d708ecffba7d3274ca925d0514826e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a381f2416bb29dc3dd13354b0d67ac9938d7059e62fd2e8e9181a4efa336e28c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2749, 1.8965, 1.0847, 0.4877, 0.2043, 0.0025, 0.1236]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5355 right_y=0.1175 right_z=0.1485 right_yaw=0.0868 right_pitch=0.2447 right_roll=-0.047 right_gripper=0.1236\nstate[joint_eff]: [-0.0342, -1.2513, 6.9949, 1.7265, -0.0708, -0.0464, -0.0122, -1.265, -5.1624, 5.5179, 1.7021, 0.0122, 0.0122, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.8043, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.3111, 1.5757, 1.0874, 0.1692, 0.2272, -0.0051, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=-0.0021 left_z=0.1671 left_yaw=0.0333 left_pitch=-0.0493 left_roll=0.0348 left_gripper=0.9981 right_x=0.4833 right_y=0.1174 right_z=0.2383 right_yaw=0.1071 right_pitch=0.2508 right_roll=-0.0608 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.4154, 7.0222, 1.7216, -0.0952, -0.0464, -0.0122, 0.3897, -9.7846, 10.3863, 1.8779, 0.2125, -0.0366, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1524, 1.243, 0.4271, 0.1551, 0.0559, 0.0628, 0.9981, -0.078, 0.8009, 0.6773, -0.3985, -0.0875, -0.1463, 0.9964]\nstate[eef_state]: left_x=0.3383 left_y=0.0456 left_z=0.0735 left_yaw=0.0556 left_pitch=-0.0978 left_roll=0.0275 left_gripper=0.9981 right_x=0.3008 right_y=-0.0044 right_z=0.2084 right_yaw=0.0655 right_pitch=0.0411 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -4.3692, 5.5316, 1.8974, 0.1245, 0.1099, -0.0122, -0.2256, -1.1009, 7.0496, 1.9853, -0.2808, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ad85d713d1a1ec75df1a46857c902695ad83d4ae680b1a190296a28f745b17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1798181f7f154407326f5e897824b719d708ecffba7d3274ca925d0514826e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a381f2416bb29dc3dd13354b0d67ac9938d7059e62fd2e8e9181a4efa336e28c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmKrs3VqHEc5j-0geU68DGk896AIWSDfRazZk3zf0B1R3ARKTgHlrGfb9JlTA_oYXdGma0lRikNR4x8GfW2Bqes6pkQqO0U0r7Uv0yMVnlwERnvprFah_TMK-e5wlTQ_dHHu-xFMnyB-Ccz_sqZj_sivKGJwHYft7QOkhIEO7eCX6f8Xbf0Kzb_K4bGCJcKrXsWQdhBf9bseazBMBB61Purnddspp1Jk2GtbJKOKfktEKs45NYIfObsFSt_qjeG0HiqVPhQTJ6D1GXN-L7qAENhNekGnHeW-gm9566oxYE-Qwl4gTaWVKokCmJk_Xem_qfGbGHpoa7jjTsj9-n9PQxlaVs5Px3DW37V3q715WL_FSU7w8nElRFCEfbhJPwyaXF044mtXgN4BC-f9UNkqpzROAwkVKfZLMn9gibs4zGWS51dGxh5LXQaOJElkdRYKLy-uiuORBmjpt6RX5C66rvcYMRbQ9Vcv59bqN7ZVsnkaJtV0AmxHQSnztC85-4uO94M-Dzvu8tOKgZyTk1HNTy7t4vrgGpEHNEK_rcc5TEfkSOm6aPdaGuFCpeRZH7JpHmLLDQ04fs2em86aqlCOGc3y31HcC9Moo_y6Wi0y3ANmI2COuEYoXb4LY0Sg4rcgiJ6DrTUjnIzmGjMzKBj6NwnpsteE8BFaHiYS6Sz9IUxDV2rX0NrVX9JO-_cXLwW9NwYxoc63jvXeih-vqbwp4XZhDmiXwBe0jqIHysRPvcOsekTrUgR_W85EoFLRbfDsF9wDNzwzWWtQXp3F8G_Jdv95cPlaSnkbuKBRhEijuTziYT51X0p645sfWYPBeaG6k8qABJiVLzV9vvnbklSvIDHelEH-mlsVaJD67bhpRXdyxOYfJYc9z9vgVprb6eBR4bmijKWw6-fXi4YuC7oSyzLllBC1fQhvYQo8p5xhwAS_wTOtHi0Q3dqc3l8cYZk_iKcb_ouyF4WZI8YvB9Oj0zCx9lj3dI1FLCoFzfiBoTRc2pgpMo4FvhlJizc-euTtc1kbKqzrKtW0Y4kmeb656Rx-DEe9rb2Wmp3QJ8QmWmPjsQPge9oZTVqNFSaSNKpk3X4QfYQVC73CKqMKaD3-eGL7jiUUbtJxTSrvfhCn5J6tuuNTuLfo13atcBdoaVVyUNQzPsdaQPu1lBdafLltT5OC-FxVegAY0J0HxnZFdzT7FnZjC6BLQTxc01mxRjaYpJEqTYVE-iUCJrexGTix76W9QTFOt-bEjsAYVgjwnN-6LoEkks4-L8pw-_wqZWk1jpx065Jz4OJR8zcEfzio-xOH5YuvyfZBotts8rmdgid1phU6bzEXcjdT6k5FOxl8ILDWxGVk_qWgTkH1DAxQxRkOriP9dtgRzcm_xdgwAkI4EQZsOnd9tSKLVM92wWMr2R08RE6rzMRxyA4xSFZJzvhiH6yUbBmNh9CYhzp8VCIOxJV7AjoALAb_Imwf1r2javgXGw3eEdSszFDOn5AZPshM-AYbfwF5AWnt-WkjAbnwmP1yYy3icugNhVX5xAHpKwAD6nyNV6Wmr9X7jzsH9Jy_72Ib2DWUnbFaKt7ibNqQUq9HUn8nl8n43Jed5nbDB83ekibHZhvohuEE0hZMlfjWg==",
  "id": "rs_03b200e249c93413016ab43989317c87d098b4161d5dd3a623",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005},\"note\":\"The gray plush’s body fills the lower left wrist image directly between the jaws. I’ll lower almost to table level to catch the body rather than close over its fur again.\"}",
  "call_id": "call_IaAQPJz8I388E3wih77xTPqt",
  "id": "fc_03b200e249c93413016ab4398a179087d09362fc756e9d924a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IaAQPJz8I388E3wih77xTPqt",
  "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]: [0.1528, 1.5158, 0.3279, 0.6392, 0.0692, 0.0486, 0.9981, -0.0795, 0.8051, 0.6739, -0.4229, -0.0975, -0.1642, 0.9964]\nstate[eef_state]: left_x=0.3601 left_y=0.0467 left_z=0.0424 left_yaw=0.0526 left_pitch=0.0148 left_roll=0.0193 left_gripper=0.9981 right_x=0.2977 right_y=-0.0029 right_z=0.2005 right_yaw=0.0818 right_pitch=0.0095 right_roll=-0.0735 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -2.2085, 1.7162, 0.2027, -0.1783, 0.1685, -0.0122, -0.1299, -1.4974, 7.4872, 1.9805, 0.0415, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf4cfa509e92a20f948947968a707cfac4761f6ef96a354c895e313e9cbb076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807e97317b61b20f9fe3c4bcb831ab2df4ca33bb40e183027da80a003e9579d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0955a15ab43dd034dbc147bf7ce0402ce4340cae7c5e42776113e54234204e0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.7994, 0.5907, -0.4038, -0.1349, -0.0681, 0.9981, 0.2687, 1.9339, 1.0801, 0.4969, 0.1982, -0.0017, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=-0.0021 left_z=0.1685 left_yaw=0.0331 left_pitch=-0.0444 left_roll=0.0344 left_gripper=0.9981 right_x=0.5368 right_y=0.1155 right_z=0.1288 right_yaw=0.0897 right_pitch=0.212 right_roll=-0.0552 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.1145, 7.0359, 1.6728, -0.0952, -0.0269, -0.0122, 0.1983, -13.1624, 6.5983, 1.8388, 0.0269, 0.0611, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1524, 1.243, 0.4271, 0.1551, 0.0559, 0.0628, 0.9981, -0.078, 0.8009, 0.6773, -0.3985, -0.0875, -0.1463, 0.9964]\nstate[eef_state]: left_x=0.3383 left_y=0.0456 left_z=0.0735 left_yaw=0.0556 left_pitch=-0.0978 left_roll=0.0275 left_gripper=0.9981 right_x=0.3008 right_y=-0.0044 right_z=0.2084 right_yaw=0.0655 right_pitch=0.0411 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -4.3692, 5.5316, 1.8974, 0.1245, 0.1099, -0.0122, -0.2256, -1.1009, 7.0496, 1.9853, -0.2808, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1528, 1.5158, 0.3279, 0.6392, 0.0692, 0.0486, 0.9981, -0.0795, 0.8051, 0.6739, -0.4229, -0.0975, -0.1642, 0.9964]\nstate[eef_state]: left_x=0.3601 left_y=0.0467 left_z=0.0424 left_yaw=0.0526 left_pitch=0.0148 left_roll=0.0193 left_gripper=0.9981 right_x=0.2977 right_y=-0.0029 right_z=0.2005 right_yaw=0.0818 right_pitch=0.0095 right_roll=-0.0735 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -2.2085, 1.7162, 0.2027, -0.1783, 0.1685, -0.0122, -0.1299, -1.4974, 7.4872, 1.9805, 0.0415, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf4cfa509e92a20f948947968a707cfac4761f6ef96a354c895e313e9cbb076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807e97317b61b20f9fe3c4bcb831ab2df4ca33bb40e183027da80a003e9579d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0955a15ab43dd034dbc147bf7ce0402ce4340cae7c5e42776113e54234204e0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmNzttnraEp6zUqjjM_sxFDmyVbK7OvLC5Hqwxn0-w1Oe1PJJPciTcSQjUPGMmH6LaFHKB9QDGrCQUMfQmjcTvvUiBo5Y-z5rATLmcseUFp8RAaNUY2cjisGjmP1Vjudnx_AUyTOKnumjVnsycKl44YnSt69lRCCOHJ12qZsUqWupvnXypKKsZ52iN7SqJskxoIPTEnuglOJyJpyAxe_Bqc2pg2Ht0BsDjhivWSI_Pt6KN5JDQwSkGWkc0B-kvhkiTXtXjwZWBxir14jVxoT6NAEgs3GlC3-kIwZ7ReSoQI8PySIHL7B8wMk6S3B80DXViIEVfWzTcpJkpqqBCSd5GCFcttnoJPDP9gylFK0-CwQPoQbtgu6TA3OhmAik28oCxEwU7z7Sl-EJ0Bl8ZMV6ZJ_xQlfkXO9zEyDNGkVGmqDOtCfOpsSI9efFPiZIoXw8DIs3QvYXyVTEU1Up1TQTIYCDrYFwUMo1dIPmMCQZuiOaOIC2fIeUqIgA7ZpINeUrleDGwUdS0Bgo7zAwYtejs4qHo6Pt69BJk8weShqo5MJbanVXaYvCRCDPx7uIYBue1sDQnyYV-5DUUSBPfMXhiZBSyddfaJMDOBlC3bWpbmHIH7u_oUnkEGA5TteqUQPXkqsQx4zdRbp60UfI_v8szQgP3xgudyYf6ag8KTCCcA9HMz18lAg3Sj8k79plNxf6uqOiu-sWL364ClaqBBUPdhHBQwD6grB0YfpxGlTlCH9ZH0LYm5vVl60nxvLj3Nki9nERz2HBzePaMQ3sq_LudKByQXzmUSeUztXRO3Zr1ALi4SnXezCnppqBcjBSm8P3_PN3B-lYYh0sxybZUC3MIsNfaKygDPCiXHdesZW2pKY5AdOLpyXUWbNZPis9iShDp_IKtYkhgnZoEoA8pOQ2PT3Ss9qSHtJijCfdRlOriVF7aj47pxnWqvyPiOOTDhHqv27Ra4_48b05ZRJHo3qNRLupF09MQOrdAevgO-6S24pMPZttXXqDfDGW5umA5lpXYPYxKh6QPuirH9f9KrSn8f7sHqdDaUWWgBd3TtTlZSMVn9CpRNJiEdNbnyHoFvXAmMEpXr0DQL4oRHa9u4nd_XAjx6k9-v9-L2Dnbe6C6GK4ZR3AsYIRsXN7-JPZu1XMnREJ9l91fOnE8RZzZ33SbnNNmctxlQWBQ16wBd0ARZDzlpMId61-v6hiVQMV-5JB7_nzRl5225niRPkmXVdEzNAStMpB38xl0fHbhLfTPMmzluAFUUGo53OL5xxuY9T2hyUH5A03zaZYoi3Dyc6DdROLIr1z1mg6FpYEj8N8fstVvylp8eUBnMn92quhGX6i9i",
  "id": "rs_03b200e249c93413016ab4398c47d087d0b3b02379fd034910",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped descending around z=0.042, apparently against the plush’s body; the jaws bracket its gray fur. I’ll close at this contact height and see whether the body is captured.\"}",
  "call_id": "call_lHDTVs4iWyNV7Y1JvnhZ1h5i",
  "id": "fc_03b200e249c93413016ab4398c955087d09a6ea1390a3da31e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lHDTVs4iWyNV7Y1JvnhZ1h5i",
  "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]: [0.1551, 1.5105, 0.3336, 0.7235, 0.0521, 0.046, 0.0159, -0.0799, 0.8051, 0.6739, -0.4202, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.3717 left_y=0.0524 left_z=0.0645 left_yaw=0.0704 left_pitch=0.109 left_roll=0.034 left_gripper=0.0159 right_x=0.2981 right_y=-0.0029 right_z=0.2011 right_yaw=0.0822 right_pitch=0.0122 right_roll=-0.0739 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -4.7248, 5.0803, 0.9841, 0.1685, 0.022, 0.7009, -0.3214, -1.1282, 7.0085, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3aa45e1c7d127cc46051f0ee70de0715bc1ec38ccb6c254e2b15a5030a6eda4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1cfc09a05b6c9df004ee0db8d4e35540cd4a5a2dbd56d62bbcf2a348288d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d8683844c2ef48b85a09332cb1d50ac197e79c279185070c0a3111eb3ff24e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.8043, 0.5907, -0.4038, -0.1349, -0.0685, 0.9981, 0.3111, 1.5757, 1.0874, 0.1692, 0.2272, -0.0051, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=-0.0021 left_z=0.1671 left_yaw=0.0333 left_pitch=-0.0493 left_roll=0.0348 left_gripper=0.9981 right_x=0.4833 right_y=0.1174 right_z=0.2383 right_yaw=0.1071 right_pitch=0.2508 right_roll=-0.0608 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.4154, 7.0222, 1.7216, -0.0952, -0.0464, -0.0122, 0.3897, -9.7846, 10.3863, 1.8779, 0.2125, -0.0366, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1528, 1.5158, 0.3279, 0.6392, 0.0692, 0.0486, 0.9981, -0.0795, 0.8051, 0.6739, -0.4229, -0.0975, -0.1642, 0.9964]\nstate[eef_state]: left_x=0.3601 left_y=0.0467 left_z=0.0424 left_yaw=0.0526 left_pitch=0.0148 left_roll=0.0193 left_gripper=0.9981 right_x=0.2977 right_y=-0.0029 right_z=0.2005 right_yaw=0.0818 right_pitch=0.0095 right_roll=-0.0735 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -2.2085, 1.7162, 0.2027, -0.1783, 0.1685, -0.0122, -0.1299, -1.4974, 7.4872, 1.9805, 0.0415, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1551, 1.5105, 0.3336, 0.7235, 0.0521, 0.046, 0.0159, -0.0799, 0.8051, 0.6739, -0.4202, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.3717 left_y=0.0524 left_z=0.0645 left_yaw=0.0704 left_pitch=0.109 left_roll=0.034 left_gripper=0.0159 right_x=0.2981 right_y=-0.0029 right_z=0.2011 right_yaw=0.0822 right_pitch=0.0122 right_roll=-0.0739 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -4.7248, 5.0803, 0.9841, 0.1685, 0.022, 0.7009, -0.3214, -1.1282, 7.0085, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3aa45e1c7d127cc46051f0ee70de0715bc1ec38ccb6c254e2b15a5030a6eda4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1cfc09a05b6c9df004ee0db8d4e35540cd4a5a2dbd56d62bbcf2a348288d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d8683844c2ef48b85a09332cb1d50ac197e79c279185070c0a3111eb3ff24e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmTJv3NOkYjlKWNvP_WmqvVH8kjUHxwu8QSkeSRcXx9vSDDNezY_IuQ05iHvjXc-0KCAV0_MIIYLR54QFyNvPXZeaUlBwng9Clhyq_HrNkTVfhcaaU77vuu2u3QNOYEuQpUx0yKvD2X2g5S5GKw78lwxNSaPgIadn3RhEfcRIRofCYwh-XMcUOuNhCoPfu646MZUNmBw_HXK0kgy35fvOamBmyT9Kmk-mnd4JJddYVEMvz8BwG6SDKub7VN69XSmcwEsZ7tLuhrxpKUxhdu-OdGudV-rpuMjN6Kx-ugXFGw8P4NOzr8rClApDtaRvlxS7-NtlOxOvGoTnibdklYTpbxoosyl0lVnkjciRkSIG2HKYgKl3lbYnrEqN5aHmz0NG1fzZMQ_0HNDfp6CMTmIjxiG9b83nQbnhp9uWdR3VixH-UdbgI0i0EFrWUqsTo7Q_5IL9Y81eRtVVaSDEsvj7RwPOT0ZKyko_J5FVo4Zt9Nvcw0A7jgnKdMpr1mOZpPP5F0eDvwhPNQ4GpyU5yc2IfoCwwQsuHqRrVrqprKVaJs8jHejTVg6C4aRgDzRLDZPg3FtnOmypADdLralCVJPGxZVFSFBIJ_jLZOZUI55S2C2LkEbklBf2vZilcF9NckITHX7W4XUPJQiMEeKgLOOcL_go432ij3g0xth0DNhhmoxHMCTdF0aXSfIIkJqbXYOAjyMPTuWxQZ_NRIKgwneEP1cfBmv9SeFDk3LPiw07o-TTsXnq_67rK6myPbMq3um7GniViPEcYcpl97A1kZtDD-HWFz5Gf4fJPLB-1Fn4y_saIFzxyzcNZiMENqqvX8c3QgYO19W4ot9vpCWF404-VBQAIidFBR0WVgq-G6PVS5_tz79BhpQhZTIC0-R1sAw67ySNHqMvJtkBepaXlGXk6iftcmqh8rICgtrALTRX-lLgavHVte3pyoWuwKKgS1kiU1wZEhKL5HbdEYRjwFuLFWbuCIXwVtm-dOTbnQZiuQE8zllbMr6SA6gwmz2kYpxdWHdn7d6kdDtZoB-YmwaHH39HEa3n7TBWfEHfAa0xTbcXymp6IHQGfbiJ6An_XFICRZDN5PfSYwc1ebh3iRwsNK1qapCTz8mmJObuyTHFvellGcH74Ob0wsbzA4R8z7d32puRRE9PMAXZpJ8sm0tZlZ8j7Yxs4MVKwZtWQeMqnCmnVsp2Qa32g1ZyvxVv-Rjnt2r_1o8nPg6UuSc0MQ34KMKHQPMfR9rSux5ZUj6w9NiBG3BemstmQCqLFYE_SENUrk66DCzGL-pLTnGHIITNWBOf6Q9zKzvVN0aJwlAniym3zwwjO3MsvNabrayunnOJfabjbeL55uluxLI-geCoNw9Wuo8rwjaWo7IssZfepeopSYEfz5MXKdXRnlvNEXt-DBU2xNA2zc4z592vzOVhwDmK6I-WkKSd_se7i5M0J8rkeFoTtIq9bTgkC3qhoco0c1Zf8N1wCffv1bxdteEuk2cYLOJcgOTLl0AQ8sQCIjvJtvtE9gWJuPAwOOegUz6Ug3xQhD0n6y1mdF38rdQoSmx29Rlj3u-qc8RJ2mjEjaiB7p12-8oh4difQu4Dv0wSa3NVtjXmQ23FxUqodA2xGrD5eKLwvF2SINKUmxe6P7c5vqGtScb7QXIO54KbdmNalNphHc3k4cGWJKJbniL8hh7P7fjwHBNdL8qLA8UY-etzKobQCA0_BjMuGMSv3Nq3N6p2qmIp2Jw7jd01DaYLa02iky6wBhYXrTpkMnQxNS2-s8UR0hqR9mN3JFy_G6MmBpkXtKngsSWaVeIAAp15LP6SxRvnI8HCpwLbHrzXmSAxIM0-NTq_dSHCmksUfRyn68W1UVMR1AmQ5048RDQXwSDqQCht8z4KKJZDFOJcq-blei-I48bnVtUFEY6pS48tYVJEuW_babST37XK1igeW-HzsYNflFYFruRg9jMeyIcD3iaTWLiw8H0w-V1Q7tlyNzjLjn6BADTt7e3JBHJ7q_1vzG7DQkR_StuXdwVLD8DD42aQmKjC-DypW8tIeg01pGzJom9WlHnSQScs-3yXSshKw3Pzzer1MJXlyDYewNHVAJa5KXKlxrvhWKvNXCjc7nNlj_DcsoZVXZpQ3LxYfFgsZpHO1JMFu-HlKSeGmaqSgBm9tjwrnClEP_om602YkL6AxItH_x3vh7M64hnwqPBVklrMez9USLFC-DdNS96jLxPDMvb1dm6Wl7rc1p7m2kzn4uJ2uZbW4VORtRIpggjXdZPFlwnIr7OUkLROQkQvdkuvZgnBk157gDhcJwchlRVNsehVLmzi9lSpzZEh-nonV-9q0mRvkKgx_a66hWL17YReCFyJVKXpJikyTVLB0Rgpi9uQLkgN7gunfYVzCkqnpttKlB6UdC4q3F9c739EH5z1wokJLzjW9VKkGtlWJBeTTtPiALK-6kdA4H0_r_c9kvNb5BIvi67qS2MUOtAA9xHXAba7qQ5B3nciDjNbyerQeTBSOPQ4JrSOYH9Y9QEzrPN7hClcknBfO3bPGnuHGzu2Hzo8zGRQ13DUHoI-I5u7PPIkLQE3x6yFBFtkRC9pGVRGw-RNqFW_v-Rft6FpFQVl2PZHhVw6aKBCMogDj-TMku2bXm87bdNMIyend24G0HOfT21g0xgc18K_TyyzZIPMzep3R9dzRtRNooc6neBBEnNRjGcoOPuJ3TseQ8Zt9gc7HK2XggYFFToVGkgCxalVTDMyQvbWnMs2d72Ht6UzeGQAeA7pUK6bnJStD8WIYVLyIUmrEtJw9zukFAT1zfwj5nOxlJ-rdXgYY7SCqjMd9XifMC96poqkgxi5zyToTJgiMT_x1Rt2kaXzxEruN-W8leoCJF-3reCWggqniE",
  "id": "rs_03b200e249c93413016ab4398f75cc87d0a78e96eae749dc45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.025,\"left_x\":0.34,\"left_z\":0.065},\"note\":\"The left gripper again closed empty; in the wrist view the gray plush is to the right of the closed fingers, not between them. I’ll reopen and shift inward across the table to line the jaws up with the gray body.\"}",
  "call_id": "call_GgbDB3vShddGx8cZpZ0onUw8",
  "id": "fc_03b200e249c93413016ab43992505487d0bd4b544ec1581fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GgbDB3vShddGx8cZpZ0onUw8",
  "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]: [-0.2203, 1.3788, 0.2455, 0.6907, -0.2642, -0.1081, 0.9953, -0.0799, 0.8082, 0.6739, -0.4297, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3479 left_y=-0.027 left_z=0.0718 left_yaw=0.0467 left_pitch=0.1356 left_roll=0.0296 left_gripper=0.9953 right_x=0.2971 right_y=-0.0028 right_z=0.1983 right_yaw=0.0824 right_pitch=-0.0002 right_roll=-0.0722 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.2991, 3.9726, 1.4969, -0.0317, -0.0513, 0.0122, -0.0615, -1.5248, 7.0222, 1.8144, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660094fe416f9a2846fbd50e4975f7ab9fa7e167f7b0e35b29aa6287d93c13ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe4ba96522fd86b8e64a6995b120ad4584dc4cf1fd806fbc396c80ec8dcfdc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139c1fb45770b5f179b297c7521e38b47f1a3def6ff277548628b2f591d9af1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1524, 1.243, 0.4271, 0.1551, 0.0559, 0.0628, 0.9981, -0.078, 0.8009, 0.6773, -0.3985, -0.0875, -0.1463, 0.9964]\nstate[eef_state]: left_x=0.3383 left_y=0.0456 left_z=0.0735 left_yaw=0.0556 left_pitch=-0.0978 left_roll=0.0275 left_gripper=0.9981 right_x=0.3008 right_y=-0.0044 right_z=0.2084 right_yaw=0.0655 right_pitch=0.0411 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -4.3692, 5.5316, 1.8974, 0.1245, 0.1099, -0.0122, -0.2256, -1.1009, 7.0496, 1.9853, -0.2808, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1551, 1.5105, 0.3336, 0.7235, 0.0521, 0.046, 0.0159, -0.0799, 0.8051, 0.6739, -0.4202, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.3717 left_y=0.0524 left_z=0.0645 left_yaw=0.0704 left_pitch=0.109 left_roll=0.034 left_gripper=0.0159 right_x=0.2981 right_y=-0.0029 right_z=0.2011 right_yaw=0.0822 right_pitch=0.0122 right_roll=-0.0739 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -4.7248, 5.0803, 0.9841, 0.1685, 0.022, 0.7009, -0.3214, -1.1282, 7.0085, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2203, 1.3788, 0.2455, 0.6907, -0.2642, -0.1081, 0.9953, -0.0799, 0.8082, 0.6739, -0.4297, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3479 left_y=-0.027 left_z=0.0718 left_yaw=0.0467 left_pitch=0.1356 left_roll=0.0296 left_gripper=0.9953 right_x=0.2971 right_y=-0.0028 right_z=0.1983 right_yaw=0.0824 right_pitch=-0.0002 right_roll=-0.0722 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.2991, 3.9726, 1.4969, -0.0317, -0.0513, 0.0122, -0.0615, -1.5248, 7.0222, 1.8144, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660094fe416f9a2846fbd50e4975f7ab9fa7e167f7b0e35b29aa6287d93c13ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe4ba96522fd86b8e64a6995b120ad4584dc4cf1fd806fbc396c80ec8dcfdc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139c1fb45770b5f179b297c7521e38b47f1a3def6ff277548628b2f591d9af1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmXdNgawWhF82AFGY4_pl8silS6IqJfxzGz1DL2sIsfZhGWb2W4ZwqdZBA5uPR5NWhmanSwY-a1VmKDyfXAAOGk2PY4BysjNFtTvmIsx0YZbqDjvTRpmfPwVyC8THc5UCo15XXBq8XFlv2hqW8Cm3jNrYdvhnTOI__YuB13oK1Dk4Pbp6auavS6uJ_I__0VVrMO9Kznfop8QZiKqKyd0iGQlwYSuNwhwJBJ3xowzhq_MC2LwQq2nmSOPaabzEYNEAVvGR6NnSVYDyBpPQ8Kz6Mfc-IPKi3_ekVDh99diGBbGn-gxhdPaLVp7JkWAViQVfNH_45wKH2CA0FJS4KWQrgFOrM2eLH9t1JIXibvxmGmzKw7vcWdOwb31t0NbZqW_6DFl1L9M2mOHvavfQqenW4uuDJqff0Ilw_zoOnYXbFvUjVBvJ8sbu8eC_nbhFW8z70GY2-w5eGgElGUMxoBHRJ8cx0VCPqV_Noi3jAK1g4b48dgGAcsCZzfDBRy66xwXQh0SOEawyY5jrZTqbmH3T9ufAIUaCQ1jnHAooGokP8D7u8E5FwDeHfvj6QkNCf0M3vfyP259_l2QcB2X_zPu_xnjgJMF2towLY7OSiuQjg14c0_u1pxUbCJEsbt-Oz2bZ3ReIwWzzGWUzff3AVvmvWEQlOCv1_XvcozaDtPNxPiDFg4Sh0SQ3PBsv3JAemwQWuaFpa6vYD6LIl-3f7GgXQTPNmZLbz9rN6ChjiFyEx4iJPTpilZtzRWYuS5BvkS2nuvgp1Jn1rocu4I1Cf44sNvGEr837Y3pCDYl2ag4n6lS-WU2fQ1eVBRIyqrbv_vMbpwFg-UcWpAvF89pKSpi6y7TXiq8Ltcv_drhL2MZsHFYWegsdGzw8XVVFrxhXOQykTqAmjmwO7HODOUQS_8vHF6uiFyORmxPjlYazGLx-W1nckELfM4MUZmaO9gUWao4pxieh8H0K_S0k82Rq7-cOZHwxtn5NDWZnNIdTZjVmPBrJyFIQaMapd-YRlIO0qPYM4yC512nIKAINx68LbsMlSl0TPG_F5elAtswq2MGdjHpfDiqnGLjrHDyCAL8X3ONd4jL2zudMj1Rq2b-cfYSsWyyQA5kFbBtQEKvPKiL73YBoHaPzQAdUnATy2wUZmW-7nWwcEHAN277ehI89IP_wPVK1hufqnBOZfksmre9NEPJWM9KBoe40BUKh5G0G5w9XivviY00aGUljMgXhBIKTUMJb1UXTRT_lXVE3bmTvfL9f5WEQfhi4fGSpyitDfdsdoV_r-GRue0ppys7neqyu20PTDCN8CJAZtT01kwXoaw0jsgwXefvB0bu8iALalYHQcjDjAYSqF-GZxWucMMHz5liQUeDda-cRa7v86NH1oP39LIngbP0-PjLIknLtS3R9UY68bAodQ4e1joKtwk28YYDisKl23UFkzQBYimkWpVf9X_FPLVTLMSLl-BJQyHYrgkXFEcdoRLa20tU4U1MvWE0HRqd07tDf9jyhV7awq2FZbYNhsTZWE6nuteyGuNyZA7SpcGDbSXzvPtKotcTNYaFvdVQh-yWN7ClnfFlxkuUUw7_U80COOnRfAN1ZBRAtFLB4enPqgAv2WcCuwlPJjyybl8GoRNvRJ3BjIPTP7Ci3PGtIB7cwC0bguiTnuDLH3UNKRf1rkId7l0pQyBBxoDiMlNgXxYKyhjSeJqyD9zjcg5bYzzyUyH4H-seJf332dM1vmJwjLYG77TkFWkKgeN9Kd0MxMi6bhdwncMEy5RRwuJDUdFzAjkPZ4J-QZ1qc-5fdk8iLfGauC9c_Qmvr8b8hUcW6sH6Sctycd5sJD3W1_1pfOxiFUpuodjznYsRLWH5Pk0qJ1r3NFe8ZEd9xdoOCCoYiLb9rKkCFrT5Cl7ASPs_ChxYkGa9JHlShrfCuopS_-NLYRBmmu5jyKETx0OyneK6DnBGj1k93_IWch_qw1lh7dqpgR8YoF0AXrUyY8WtFaRfS4arbqjtPQ8e1GmMg==",
  "id": "rs_03b200e249c93413016ab43995413487d0a2a3e93b272161e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.06,\"left_x\":0.365,\"left_z\":0.045},\"note\":\"The gray body has moved closer to the left wrist image’s jaw center, but its bulk still lies slightly right of center. I’ll shift inward another few centimeters and lower around its torso.\"}",
  "call_id": "call_IwhjJXyRShVj7tENxU3tE5sb",
  "id": "fc_03b200e249c93413016ab43996bb9487d0b3c790fe7fd6ad64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IwhjJXyRShVj7tENxU3tE5sb",
  "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]: [-0.3328, 1.6123, 0.297, 0.86, -0.3725, -0.1551, 0.9966, -0.0795, 0.8124, 0.6735, -0.4335, -0.0978, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3641 left_y=-0.0541 left_z=0.0509 left_yaw=0.0503 left_pitch=0.1398 left_roll=0.0354 left_gripper=0.9966 right_x=0.2969 right_y=-0.0028 right_z=0.1961 right_yaw=0.0825 right_pitch=-0.0085 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -4.6838, 4.1504, 0.9988, 0.1734, -0.1538, 0.1294, -0.0752, -1.5111, 7.0085, 1.8339, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d864dab3a983da76c0b4a7f8356d0de0463578c52cc472ce05f1bd45b5b55dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df938a57b5ca4a7dd1d934970455f4207808a1cd862b0ad4b807a1788d520735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287853f519747789727d36e09046732d410e5cb015d8ef201d05b0b8d1b41862",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1528, 1.5158, 0.3279, 0.6392, 0.0692, 0.0486, 0.9981, -0.0795, 0.8051, 0.6739, -0.4229, -0.0975, -0.1642, 0.9964]\nstate[eef_state]: left_x=0.3601 left_y=0.0467 left_z=0.0424 left_yaw=0.0526 left_pitch=0.0148 left_roll=0.0193 left_gripper=0.9981 right_x=0.2977 right_y=-0.0029 right_z=0.2005 right_yaw=0.0818 right_pitch=0.0095 right_roll=-0.0735 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -2.2085, 1.7162, 0.2027, -0.1783, 0.1685, -0.0122, -0.1299, -1.4974, 7.4872, 1.9805, 0.0415, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2203, 1.3788, 0.2455, 0.6907, -0.2642, -0.1081, 0.9953, -0.0799, 0.8082, 0.6739, -0.4297, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3479 left_y=-0.027 left_z=0.0718 left_yaw=0.0467 left_pitch=0.1356 left_roll=0.0296 left_gripper=0.9953 right_x=0.2971 right_y=-0.0028 right_z=0.1983 right_yaw=0.0824 right_pitch=-0.0002 right_roll=-0.0722 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.2991, 3.9726, 1.4969, -0.0317, -0.0513, 0.0122, -0.0615, -1.5248, 7.0222, 1.8144, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3328, 1.6123, 0.297, 0.86, -0.3725, -0.1551, 0.9966, -0.0795, 0.8124, 0.6735, -0.4335, -0.0978, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3641 left_y=-0.0541 left_z=0.0509 left_yaw=0.0503 left_pitch=0.1398 left_roll=0.0354 left_gripper=0.9966 right_x=0.2969 right_y=-0.0028 right_z=0.1961 right_yaw=0.0825 right_pitch=-0.0085 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -4.6838, 4.1504, 0.9988, 0.1734, -0.1538, 0.1294, -0.0752, -1.5111, 7.0085, 1.8339, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d864dab3a983da76c0b4a7f8356d0de0463578c52cc472ce05f1bd45b5b55dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df938a57b5ca4a7dd1d934970455f4207808a1cd862b0ad4b807a1788d520735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287853f519747789727d36e09046732d410e5cb015d8ef201d05b0b8d1b41862",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmbDFClcbeDg5xq2dhWzecuaax6IAkq0-TroqM9byfhLBYeCsLKGtpXflaWRe21_RzWKHOIf5MySnHxuIrVrlRjXPe2q2uBL3EeiNzwFCDFkfS2NVRkkBVYqfbrX2pfQHrKM5rTBQw2tAItQ5dh7ut2M2oegtRHwRpG3DXCpQvaQyQJWcsC4pMK-1z--p6Pqyl-tv1oIapZ3L50jZpZZ1a6WF7eOYaYH2ltSWFP5es34tCl5nkbVo2z93KvVJjbw3Go4vNCdwaIuxUKnI3El6vBPJO-Gf68rNzkJjyq5T-TQQA59jauh97fcVJZYeTr1v7q62Y-XzDx5p8ke2hA_3KVYaInemohinxInovkILunW7uy2Civ9juxUxj0lMxnZ5fT6WZSPTtJEC2lFnrdS26v6EinmpyEwd2SMNFCcB7y1ZmI06jdZ5kcz8rYHrqojoldIp--GFNFypca_oqt2aYbS7S3abqESIFeag3fGrilSi1w30stxQ4Yd4TggdUycYeIf3D13qBs4gbFl-6PSvk45ApFE637_pU40ydXrEg9DIndf9WS0Q47XWahUqZwqXuCGz_8gpMf6TnAWrthsAtEOKh4ZXBCEmJKWVW0-vJN6OvkFcq1rbiiTdG-9y67Hou_iYqt3V0hejj0ui6kbYy68qWtpssbmnVi1ofoB0xbmiHqhb7Za-kKh5lY00pOexPoec592gzY9w0nR5Wtr0PWkOoo0O8geWBzW0xIGCVKDwrjrxx3A2L1uPCGOROZOLTxeh-3tIvMBVDz_gavSpLzOD7634NfepUDEWZHLWLQcf9LG-JYZxGNAVg6-tuNi4VxxHLUbphwKFGkPfWnJx22Uiy0rFoX1im0T-G57vW-IaW5GHq6QGxfOncR9Jh1mBCE4QTlUn7vwmmDIfyWby40m6UhXdJ5HDsUrGVADJ9UdTifghQJuaU8jRK7z3D3GH8PoH-UoGeyfFzlEm51jh32Dz3BPkJ5QESfplRcPFP8tjMSXsDUTGSYix9aomPNkouU5G9g-qtrAphVy6lh9G5dR9wUDZcUui2YGkdW_jx9o7S5J35EHFeIg_7zSK24ZhcZdrb22IKC5shNg6ZV3wUsWiHm0bKKOFN86BBhGLeGJS_YXOCRbn-w8MXrLEL8-QernHs3q-ORVu4QjEtlGCRMKLNx-Lgp5X3v8FEBr8TxekVlrkr1_GJAWErappHVzLLsWkY5nwXvLr7u3NhPjEtn5RMAwB_gBFYXIQ7FMWaBbxsMCm2Qfw34t7V6FSZHJDewf-u1fAjJ8KGmj0X7kMXmJJpWTE4RjEBRRszVvueWw1NW6YzDGN4Qzt3P124sWEVbiZDCwR7JseUxZEnEFMfsZNbTmfyErJftKNluG6Eo1eBWsVeOhhhKOMoGZOpysmdcywuOfngSjFz0GRdsZ2uXtGuVqxBQx4ZwrwGDwR0yyEk0j46tE7NV_QsBcxhbGxqWUeismtsSjqWvqK5gpMD6OTb6m8YHDorig5MXqDysQPqcDCF9YFy3IPsL06k2cdV55rPnf6u58oRzaOzPjnzpTA==",
  "id": "rs_03b200e249c93413016ab43999890887d0809c72af9b1d4d74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush’s torso is now almost centered between the open left jaws, with the white plush off to the side. I’ll close on the gray torso and check whether the gripper retains a meaningful gap.\"}",
  "call_id": "call_H4xpdyXx2SENNNSgPckKu0xw",
  "id": "fc_03b200e249c93413016ab4399ac56087d0af090eab01bd34e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H4xpdyXx2SENNNSgPckKu0xw",
  "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]: [-0.3275, 1.6096, 0.3058, 0.926, -0.4084, -0.1574, 0.0145, -0.0795, 0.812, 0.6727, -0.4339, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3729 left_y=-0.0488 left_z=0.0698 left_yaw=0.0927 left_pitch=0.2168 left_roll=0.0161 left_gripper=0.0145 right_x=0.2968 right_y=-0.0027 right_z=0.1958 right_yaw=0.0828 right_pitch=-0.0093 right_roll=-0.0707 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -5.1624, 3.7538, 1.2137, 0.2808, 0.0317, 0.7204, 0.0479, -1.1692, 7.0222, 1.7265, -0.105, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574a5c52da34f07a229e7526af82cadba4e85bd8557360094b1fe79eb0fb1fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24440d728a5a1cff295f1b7fadc4d09c1292a1715dc399d3346e9f0e7db481fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75487ce88c1feaf4b28f39c2dd150dc6ca3f04d6ea28287db3ae9a013c2d47b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1551, 1.5105, 0.3336, 0.7235, 0.0521, 0.046, 0.0159, -0.0799, 0.8051, 0.6739, -0.4202, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.3717 left_y=0.0524 left_z=0.0645 left_yaw=0.0704 left_pitch=0.109 left_roll=0.034 left_gripper=0.0159 right_x=0.2981 right_y=-0.0029 right_z=0.2011 right_yaw=0.0822 right_pitch=0.0122 right_roll=-0.0739 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -4.7248, 5.0803, 0.9841, 0.1685, 0.022, 0.7009, -0.3214, -1.1282, 7.0085, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3328, 1.6123, 0.297, 0.86, -0.3725, -0.1551, 0.9966, -0.0795, 0.8124, 0.6735, -0.4335, -0.0978, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3641 left_y=-0.0541 left_z=0.0509 left_yaw=0.0503 left_pitch=0.1398 left_roll=0.0354 left_gripper=0.9966 right_x=0.2969 right_y=-0.0028 right_z=0.1961 right_yaw=0.0825 right_pitch=-0.0085 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -4.6838, 4.1504, 0.9988, 0.1734, -0.1538, 0.1294, -0.0752, -1.5111, 7.0085, 1.8339, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.6096, 0.3058, 0.926, -0.4084, -0.1574, 0.0145, -0.0795, 0.812, 0.6727, -0.4339, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3729 left_y=-0.0488 left_z=0.0698 left_yaw=0.0927 left_pitch=0.2168 left_roll=0.0161 left_gripper=0.0145 right_x=0.2968 right_y=-0.0027 right_z=0.1958 right_yaw=0.0828 right_pitch=-0.0093 right_roll=-0.0707 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -5.1624, 3.7538, 1.2137, 0.2808, 0.0317, 0.7204, 0.0479, -1.1692, 7.0222, 1.7265, -0.105, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574a5c52da34f07a229e7526af82cadba4e85bd8557360094b1fe79eb0fb1fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24440d728a5a1cff295f1b7fadc4d09c1292a1715dc399d3346e9f0e7db481fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75487ce88c1feaf4b28f39c2dd150dc6ca3f04d6ea28287db3ae9a013c2d47b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmhLg-CyzOPStPqQdRqSaV2v-j6MfNoxTNXqWIUx10Vptzvro-c9kcyPLhztO4ug9p0JwxLlx6DNCHc6DaUrt6Uu6xidSu1nDIK2cpvy_RHHa6cECPRs6rpzy47mY9vBQzvQFX31sdoANow_msp9g0SHjcBbAJENdH4GHHkjB1krKDPMzpNznqfbqAnirGKwRNtbKK3kbm18mkk0JaYL2iuW2Z_NQLfI-fNAsIxbSR6SGFkmdOvpEdiiAIUiF6oMYCfmeBTAS1ORDK9AcUBck9aNXmuhWntR8b-1hp5f-kkmNUyErsq_2rUQLMJVUcNF4He6aaxuGvj2cMgYkiIx_M_p5WrXLgm2M-q9WL1qwuypQ2Zi6uXY-SzSIaQ7jZjPAonT-w0yrrvCveAFcRJVW8YmwDCX6G-DzCxDp6d30P0c4ZLTv3dH-wa0a7JbM1QJJbetQcb-Fi_UdwEoYksTcJT0qBP87_6JdlkcNlJQl9Nj4TQJYgaVMrmXOKBasxL1rzVQmmDxroKEJz98kIVLKm9RCLvv6OaIRlGprrxsEfEj3INQcmi1uqR2T1Keg34x_og9e80zXwghXwdl-7HqNiZgc1KhNFzxuBsv-YnJMWg7qS3jiaIfVcLXbU6siBr9rlVP9MhUKemtX2Ti17J3czJjR4F6ZfcMSqwCBZLGi58k7H0j4PBhnHk8MQamEpPC7t4Ay3kxNqkmFPswMUfMGTCjm2p6HZP2l6nOiggrsilG5-TmeYEcPZS5UnGaE5x3g1BkVaGirJHz9kRmx6nx05VWudI9s2YlklBYex9OqD9er_QjhvL0lEDVOaWHKylMihxX0NibReGi9LRE3AqmuIXR2d9z2Wvo5HFTNjIErix5I34Axm2nIEDxWhmY1sC_faZe2IY0GqhJ4BuZrgm3GVZoloWBNyDYLo9F7d2ouN-UJaFVEEede4T1T2ghJcrOYN2sP5YfxekAwQRv5i5nNmt9Xk8UDkuvrTA6c_d7d8DHogyXedcqWMAa9427qaCRdDPAwCB2FDgscLdZmuiw4rUTWLcFsUpUHOS8C3KqeED9Gwmq6jYVOSb4BaflYC6F127c5q5IApA3wrP-nnfbmuvFs23hFfPmDo1EnEkClR8m3N4voPF-7mXs9q1Qb1tUIB0xJx2O3VNTaM3qw1uW18Fe8KYikB7G7PT5XTFqWXqWHYG0lntHMoKypwFRwRTZYPf5A96y-uf_h97WRC6-MOhkktVIFL5JV6lFPwndL3F4Eyv3waCI7YLY9DBIdB9eR5huZDJKvYlJTiw46JCOJ_9WiuzGg2pqU0OCCPGbNIMJo-EcM9_9PgL82EZHMEpceFrCQBi9bxX3G57MJcXD_MKWy4Pyx3PPml0M0Cq1lH0Tn3ngu518g50K23XdyUsudGKlBE2Q2YCi6Lw47szVAoKyPBEt3mzq7_nl_vXpka4jo3EeDXgHDHZRGKIiXSZWToy4-E0HZ0j20UneIKdk-yy5ptxlLVWdyjbGRfAv-UoppRf8FRRL-3GnZ9-cv8JhwlEFK2dzUncrU-ROXsEVwwosk51ndbMzArrfwfHmKnb5IZTZp3o9NQbvGTQaDHzFBe2WvUwC6Y6Ro9aDnZnZkMmUrWRaHkdBlSDNgqcUniGHZEcxDVQbLcT_3GYkcMQCTIfQBXSUBqNEYHkkL5uoAd0f_V1vRiXp2wZWkxT6Xqm5iaZkFCi_zi7clTyOBM0XFGnbxhh0TGDwQiC35QIdtyy2H5efD-K9DuWtd6Tvr3Znybu7jXwuI4DwM4jpB9xGKIfFg4-8gb30EdNlUl42Moxj3MAEsBQaKqlPmPv46LQS1BtE6MWJlk2Vol9iQSdijoYPCKaVDlbk11f0gK75Y7jU8P_VIiNsKl8z3Oi3V881B-Xsn7vDi71Hz6dRz3Ili2fR3hwlUrbjml3tvOqVAsvYYNhlcmYDsHOGMreQZjtUNu8bmqwlXEYYr5me1tjRpoCvjWV0dyr1GaD5o3BGcKR3WRX8HMA91RR93PWDogEwKMEHbc7zaY-uXhgd_MKcVFUs48-G4Gyqmzc5bK7J5PCE0l0jC0KRnsw0t_MrLbpE2z5txpS9rEqex1XtTmjH9BDPpC5eY8aMQ-SsJpoBbcUeIEGf7ln6kA9kEaaMa2fg5CIz_iKTUqEBPEshF9wM5AR_fcvgxVEZOc9suundnv9igCig1Pl_k5XbcZyzMFauD4VYZhU3c55P-yFc6NStxs4EP8Fpa7fAj33weksxM8bno37Xn05oWFG0uuOn8MMBL668tdrzNHb7VKji30jg083yAZibFJPSD0fYQI1IRPbUhXd61aS514RAmxSfroG67Y2uRGdgYNk6qT7mgXRy4IcNIRkZCEUz9tvQqSH7BpZwFqAM65z3QWiWRUX3-T68E0xoj2rGDlAmKJ_7MNMLHyqHipq2HnwK_0M19cJsAf6H0HOsyy-Y8d_nNYhUYxxHa5v-F7il_fv2dPa5t-asf_vj8ivzTszZQLFWO4q19_nUT1P4Afku6vUQ52RHqGkWzBj2ExBt56u9o1_Qa90UVw8BTbxKRhSl1uPnwpoBrcNmqjBZib3GQbrBvIiUaRANB9Qdea2ozoUV4nHj2uze5Q13A6WUlddpi6EMKPvDfiDsiZz4-CqhCjk8T-ttA62tLjcp_v_mtbrEZhvuXTgY--WBe1DekOWIZynO9gHptj5EpneR_7Fedf8bigKYBf4M6cVhMviNCpXKLJvYp1SQm05dPt44yZmKTXU3miLEY6rRUW68CPCna6ArfXUTtR0tQ0=",
  "id": "rs_03b200e249c93413016ab4399e9fcc87d09ebd701ffee07ccb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.105,\"left_x\":0.38,\"left_z\":0.035},\"note\":\"The left jaws again closed on the gap between a pale plush and the gray plush, which is still to the right in the wrist image. I’ll open and move inward toward the gray one specifically, with the fingers lower and slightly farther forward.\"}",
  "call_id": "call_vrEgP5Gxc28P4xHiV4pprwjG",
  "id": "fc_03b200e249c93413016ab439a0eb1487d089ec0a3d7fc658c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vrEgP5Gxc28P4xHiV4pprwjG",
  "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]: [-0.5179, 1.8565, 0.3988, 1.14, -0.627, -0.2478, 0.9954, -0.0799, 0.8146, 0.6727, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3871 left_y=-0.0971 left_z=0.0623 left_yaw=0.1493 left_pitch=0.3065 left_roll=-0.0395 left_gripper=0.9954 right_x=0.2967 right_y=-0.0028 right_z=0.1946 right_yaw=0.0825 right_pitch=-0.0142 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [-1.0051, -4.4786, 4.041, 0.8669, 0.2466, -0.022, -0.2027, -0.0342, -1.5658, 7.159, 1.7851, -0.105, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc08902eeeff012fde4cabdd0f5e7915d70011636fa853edb62377efec705b63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c2c94a25ce3ae7478c274c04919f1581d477c2d32c9bc24cc6717c6a36eca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f0c86d3ae09d10f95a82768740830b2f91e484158955c79e8ce962010b2fe5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2203, 1.3788, 0.2455, 0.6907, -0.2642, -0.1081, 0.9953, -0.0799, 0.8082, 0.6739, -0.4297, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3479 left_y=-0.027 left_z=0.0718 left_yaw=0.0467 left_pitch=0.1356 left_roll=0.0296 left_gripper=0.9953 right_x=0.2971 right_y=-0.0028 right_z=0.1983 right_yaw=0.0824 right_pitch=-0.0002 right_roll=-0.0722 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.2991, 3.9726, 1.4969, -0.0317, -0.0513, 0.0122, -0.0615, -1.5248, 7.0222, 1.8144, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.6096, 0.3058, 0.926, -0.4084, -0.1574, 0.0145, -0.0795, 0.812, 0.6727, -0.4339, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3729 left_y=-0.0488 left_z=0.0698 left_yaw=0.0927 left_pitch=0.2168 left_roll=0.0161 left_gripper=0.0145 right_x=0.2968 right_y=-0.0027 right_z=0.1958 right_yaw=0.0828 right_pitch=-0.0093 right_roll=-0.0707 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -5.1624, 3.7538, 1.2137, 0.2808, 0.0317, 0.7204, 0.0479, -1.1692, 7.0222, 1.7265, -0.105, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5179, 1.8565, 0.3988, 1.14, -0.627, -0.2478, 0.9954, -0.0799, 0.8146, 0.6727, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3871 left_y=-0.0971 left_z=0.0623 left_yaw=0.1493 left_pitch=0.3065 left_roll=-0.0395 left_gripper=0.9954 right_x=0.2967 right_y=-0.0028 right_z=0.1946 right_yaw=0.0825 right_pitch=-0.0142 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [-1.0051, -4.4786, 4.041, 0.8669, 0.2466, -0.022, -0.2027, -0.0342, -1.5658, 7.159, 1.7851, -0.105, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc08902eeeff012fde4cabdd0f5e7915d70011636fa853edb62377efec705b63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c2c94a25ce3ae7478c274c04919f1581d477c2d32c9bc24cc6717c6a36eca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f0c86d3ae09d10f95a82768740830b2f91e484158955c79e8ce962010b2fe5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmo0nO-Rh1QwenuTavp9eoFzoVT_V2iQ2aZB9b2rpOnlv8VAHJjR3V_JmQ5li-Ha75BRtOIcj54KwgLPRO9Vtm_eOl7kE_NFsDgZYxBApFpWFuXEunRpW3ZJxPPSnJZHHfNsm3y9NNdJEepz4eETcwqvErTpZVXf4yuuDLpy_JrSx3WeePadYfDfVUcyknhnPL_IhhEsjFb2hzj3P7Hlf9UmvTUnTe1O22KG5vN4OM13tU3RhUjKKHBHbrukNDX3GqbEts3OIASqi9BjYW_1zjGwP5yXJPctobkTas_ymXzOQsGF2vlTVLh3p0cDUyzG3qBE7BpbQT3hbxIXZMdv0TMJhh7V9cgw8YFYD-vfJKtbfZ2PPR5YRNTQwHuEDE0cITEvzn3JrHYv4TKe1_hf9R-avnNyd1HqPcFnTWvi1SG23lxDqmb9fSGZ4ijvrT3VOzrul4yY-715gder-e4cS7xryglrctR9q29XeAbSfeEJcQPQYDwL5QHvL58mzeBpJvR3KpDnQCKov6Efm3yV3YWYXz782ZVwrTNinePfZGMjP8Bt_59onvWXAOWNp5WPbP9ROb1MEqHjrMUoPCyi51dLi0OtQXZvXawrPvE5zQDB6P-lgorzDlYGAuvgqJCj-X_NyeG9e4HFAa3q_BVVys81i5UFIExYPTr0RH-TbIn35LOlJ902ZPeyXv2UjOlzZ4MPkKFsm_0W5QygT7nptOjFjP_oPu51jEDamWaWXLnargEne2mZqWYLCfv_IQFDn-UxKMm1QN2-g9qvwyLHllW6B3ow_wWCLTXe_QgdLQ7pBHvd9q19bvVdeifne_54IhulAnDBGHuRPH12gQc3wVjIavqodE2kENERFZivvCspwf0XW4UgQg3YggDpod4kqa4rHe1AjrrC2BDlg0sx1-ozg0qaGXOlNKriL8h8lAA3zp7RgByj0sEjBDUKntPn-MbuDvQQcqWo6n-CVUlUCtsi8WIMnWratZDF1DmWW8TvSJLLovCUkCagHcYDDUld5cT9BRqgp_NJJeMhUWLWRKuLZLZ7w1lBkd0z3qDOroTDt5P70hiYSxTQ7AJoiyhmzKmpUo0EAhPk7hwFaF7oe_BTQOsWUe_jf3N8oQAph4D44Fmu2TWuZ6dGTPUVoyAmif1pd2MEBQ3cgRkheg_LBnvu8a3gho6axkCLuY5vWI-Mfu9e0dZGehNVlzCdeq7VBErU7ilUq6eJg3xlffs04qpHysfE3T4ZyRO_jm0lXNKLrfIl4a6BFfsmQ4e1Q9mkfw5MfbOwJTd2rRGTEPTXoqvrCmkGInToG7SNZh3sD5l5gWt02avfP1Q4jstZiPOfJhuIBS2IE2BqhZ6OOiw5Rj4MertY_7sqfyfyI-uwAS-ZQWYfWUVmZCVrqC-qB6f1vge2t5EMmSaTuTx1cxq3Ro6D9XoEORfs1uAvRk2JNE1wPJtnNwsFMzulS7dxgaaMb4XCTZl9bXwxE0D-9uCuLPbRIFUK4SIU9XkjMShGWY-8inmiowhbh-stejhggrXgJ8AdK3ZZfEvwlvAHTREfYJ9Y4mGDPmX2ipGeDq3HtNv1CVVg1-gYQKxIuehWEaR1flSFUF3J_PdeaHRozhP4ibWjmfnDY9zuLrXqSW0kmRhg_o7OE8RbS4lGVGjPFB2S1O9TG7U0QrCX1oUVT8YlwcAcmsOPswu0NWku1WV80QlPyTvBEyl5PD9gnOKEvRSdAsqalOLblShKgBPCaN1KoIcV8MYXGHzgODfWeB72G3ofuwaNTdG2JVShvWdO3kxSOPfxe4C172HKOI6IlDoL8PZ6hrOX56RxUwghCMokp8jpNrRhcm4G0ClmksM6xUp2m418uQ86jPlQTu7WnjGjCbvHmnCSyoLi3b0b0mo86ygcpKIIk3gMFeKCVIxLDLuqiXdeWu_CfbvEGooXO1HMpGIWWC5RuBMLOmag5kHaYBD4PJwmA573USqBFqA1jt1iCy3oJLj_gCDP3XUm0IMcmUsJDPi1dkgJPFZt-d2cVEPmmit8eZb5Zg5D4XccKtP4MSYtnX5frRMPEdmT40_CNpMOGE5mCQVjFfkT4s0IuVBx9QOIuRz7cExu4tq3945Jdru3wYF7qF9ZGAWXEHNHwVRxLraUvhxwaaGF-Cw-Yr9_utsXDynmvvTbopnWVY2fMCZp_yTxBXFpkJ_6hWtt62wEfossW-JbNZ0IoD9cymQCr9EwvrxpOz4rbt-k0m6vAehShbIVYGj0XxG_EBtfawf96MFrh0i0ynYI7TGkm9Zwr6EftzoLMCdhbaY4FeOG-i62DTWqsTUAyhxekhXZ7rbW3i4a_5j39wpfHrwjKiTk8GoJZ42jXJerVfLnSB1IPCYW02jRymCNR58hV92PwPWP5wUzKh3reUmh3wG3sJxN7aROI5_qQJlJvlKA4eOABclTRSKWWjLNBghjk5vKqvXBwn-YKNHgNacPsESdUBOVxo6zRY4rZlThyt5fYB8u1jydMC4Mwi5mojcg1hzWCGoSI_5DeIHiWx9rer8pkCbYbcGblBVClDsDHv9aENMlQTYH2eXsSFMz0pm3OnU-9Ehj8mJDCuTlpVYZy8r2A9dxojyK0TWj8-jxDwljwQ-C0t2is4rxlRIUoSm4T07crLQudngGUwzp1F_U51nW3BdRJKIsJ0PcZRPo87_vaahRdA43YcAOt_wJLxgh-Oe86gBiy2R1Y7aV7bezgVkChqiSgH2ixff5EYOgAQHo__XuWoizy8ms4urYj_uCng48QTJCFnSjPR3ybm4JoriOydoOH3s4j_oHNJNb3xPU1358tQENiTJpPDYnkdGYgq0b-kLllflfvBYeuWeD9e-_hwONBf7VZZBIzFm7RzalyNuHaC9dqAB87L-Z1t-aBU4NQDqAnpYCdZP7OaoHH4QOT1KQhFNf41HwBzfrtOPmRpYSl3LWiWYBrpT0R73B7AXooNSNk3xwKB3ectq8vHJ5IWu08OO4hK655PNu6O5BdWVL-mT",
  "id": "rs_03b200e249c93413016ab439a3f3ec87d0bc4e47156aad4e1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.085,\"left_pitch\":0},\"note\":\"The gray plush remains beside the jaws rather than inside them, and the low approach is pitching the tool forward. I’ll reset the wrist tilt and approach from a little closer to the base and farther inward to get a clearer grasp angle.\"}",
  "call_id": "call_GlOWpy6SGZaCLXfIpHdJlw6t",
  "id": "fc_03b200e249c93413016ab439a7188887d0886eeff9efd27291",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GlOWpy6SGZaCLXfIpHdJlw6t",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7544, 1.4979, 0.5785, 0.1719, -0.7219, -0.6155, 0.9967, -0.0795, 0.8185, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3343 left_y=-0.1491 left_z=0.0792 left_yaw=0.1414 left_pitch=0.0266 left_roll=-0.0426 left_gripper=0.9967 right_x=0.2969 right_y=-0.0027 right_z=0.1932 right_yaw=0.0828 right_pitch=-0.0187 right_roll=-0.0691 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -7.2684, 8.0205, 1.409, -0.3297, 0.0708, 0.1148, -0.1846, -1.6342, 7.241, 1.7118, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6722089315925500659ec3cbd47c5fd03dd3af197b5d4c4a9d3576e674c3c4b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f63ddfb9d59dd810e10914074250e8bd4c0174483205842db6c261f35c02634",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a438d19e49c961e0d156717d44b2ee11f75d827fd2d166c8c3dcc38bfe52160",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3328, 1.6123, 0.297, 0.86, -0.3725, -0.1551, 0.9966, -0.0795, 0.8124, 0.6735, -0.4335, -0.0978, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3641 left_y=-0.0541 left_z=0.0509 left_yaw=0.0503 left_pitch=0.1398 left_roll=0.0354 left_gripper=0.9966 right_x=0.2969 right_y=-0.0028 right_z=0.1961 right_yaw=0.0825 right_pitch=-0.0085 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -4.6838, 4.1504, 0.9988, 0.1734, -0.1538, 0.1294, -0.0752, -1.5111, 7.0085, 1.8339, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5179, 1.8565, 0.3988, 1.14, -0.627, -0.2478, 0.9954, -0.0799, 0.8146, 0.6727, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3871 left_y=-0.0971 left_z=0.0623 left_yaw=0.1493 left_pitch=0.3065 left_roll=-0.0395 left_gripper=0.9954 right_x=0.2967 right_y=-0.0028 right_z=0.1946 right_yaw=0.0825 right_pitch=-0.0142 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [-1.0051, -4.4786, 4.041, 0.8669, 0.2466, -0.022, -0.2027, -0.0342, -1.5658, 7.159, 1.7851, -0.105, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7544, 1.4979, 0.5785, 0.1719, -0.7219, -0.6155, 0.9967, -0.0795, 0.8185, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3343 left_y=-0.1491 left_z=0.0792 left_yaw=0.1414 left_pitch=0.0266 left_roll=-0.0426 left_gripper=0.9967 right_x=0.2969 right_y=-0.0027 right_z=0.1932 right_yaw=0.0828 right_pitch=-0.0187 right_roll=-0.0691 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -7.2684, 8.0205, 1.409, -0.3297, 0.0708, 0.1148, -0.1846, -1.6342, 7.241, 1.7118, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6722089315925500659ec3cbd47c5fd03dd3af197b5d4c4a9d3576e674c3c4b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f63ddfb9d59dd810e10914074250e8bd4c0174483205842db6c261f35c02634",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a438d19e49c961e0d156717d44b2ee11f75d827fd2d166c8c3dcc38bfe52160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmtI2UZzbUsmLcVH-zfRJHEuCHI9Vf0ZLRNrOK7Ba2zvrhvuF0WwndwV2wUZRzc_3eRgPto6GbcYHdIikmc6EepCWDQmiFkR0oc2dHL-yY_gxpnf0mUNDropk_BmWst7h0Z8BWOo8a_f5lh5VZYtR--dKBOQKzoguyIviJOvgvzMXNuinQVaxq6W_bEWkpT_O5QeJ4EARmA4v36mKFlKT3lKPYVv49P-Hj-oUQoLp6RYVOqiLZWXZ1LzpaDmmQu4BEzBiO6c538joBeTDmLh_36yWpppHjJpnsNDKxJADsPARYjj35QklBdni9ZKoeRNgfsJR5bx0k00lXNwldPUth_o8TQoamI204cc5BbK5UyfeABZoZAYhzs2rWiu2ZkA0H8JATfRSKaOCALCbREBuyEXJZnCVKNL-jBjrS8AvOMCJTYpGvbuSxrDTSdLEbXSDKuNJ3tq14IX03BaS8oaB4Fv7Re0XIzDRpEOlkoOZX8hc--vRixcwKaNQqQRYT_RMISKU09j_pJqRlQqGO0Qkrg5gm7_K7C2hPjR3wKuiAdkdU6yaNhFA5okabAZSwWBmdYxddaii_XduyuBnCUzdtTmsNUyLUODN5cEeGHnap6NDQ1GReSPWUpLM1V5krQPRFHSaCmPE_s7uaFEFj9km1dCX3zyPZjWstf0r-9zUYuOAOnS9tNfX9rRSS8PzWNwhTwGSTEeMPiUL9X--5ouF2DbA37gFsp-D5Z6I_HZSZhqPqukWoQMnCC2gESKJkrzDmN1YRdTby7y0ZKIoJMtq5zsqXBR7pToJAWm1A6t8odqPQvbKCJiR9ghfL1BUy9yEa2netzuykpwjjScDetE4hm0SSHdMbsPe3EcI0RDtR_bayWCwyRDrTcDz6g-NkDXdsO4r5Q7DHocA-v7Jnx6xDHgXzqZZ12bDffg0z3X4t0OktvFkmU0FEfqYJdfzrzk8jGZgwtWDWwaJOXZR4FXDKXAE17jjJcMi54nO45zSrOvGkvK8PVhoEn-aVFYVafKCjPZDIo5Wvwf8vMbitFsaA9f0lMMQW-JBiyDtn4_PznuT3n14bCd1nrp4VrpYoDtkBXhZZnRp-L7GQPKYKCM-An2dznb13skitn3Jj1-rBc6Ugh6YrW5VW6AsdSIzZVFN5qUnn04G6_0LvO1_8ONpn5QDS51NJZUUY23p-cC8GgLAcdMpZV1MGvw4XB2HGBHRPimcPLCkDx1FIaeiYPHvacHzgkcBW4Hya5P2zLDy0crzxuQI3EDaPFUZs7kRvjknJTcKxKAKZSO9jT-2zF0rTdtp11UwydYfVLh_fu0nnxWLODNVobqzcyA18OVsW670VTp8V-6CNov5xnMaRFVWkhUElSBvMiwFR__QdW_rfUs1w3luz5jvI8RFj8W3rQTmbMUsgVG-BhKwVwar2TIwW9QGMX9mDD-UxxiqChaWYauj3Yx5xICvnGY2wBfWP1IFYes5ALDHtZXbfWttS52idkBtmoyZQAte2ncv6e6nIubgAyB3pKsjEboXkR1B4sZbLZzsSRe_ierkUMf9Uj0LqMOm04uzqyI9f03UC29fIhGzb3HauJakpJmxQq9PoEKE9hvNqPeZJXbn7BWky1eU5j9qPolFq4eex3aE2RbOwv-wEgKaWKUvZACNngj7DxVfgTN1YphxtJluAkBWLSNiziMTGnbns_TtU8GFYV2AUEfmZ7J5aOYpAvF5ebZWp1hJo8WC1rRLgV-CgRnTvImTx2Vt6-bJ90VPewrxsP7mXVMW7a_NxvHkwWWkz3CHm2s_pOgLcxIEcVbRHpvB9paYEKy5kNCTnUPU9R003A01d065OiD7HWnY7wqSNki8VXyCnfyP8uXGJ9746mL-XSgvVIJNlOy5Y6JvJHJh8Ev-RGOkXCqW1yuUwLS6QRXNQHub2xjGuGlhv4K6VX5fz_IE9zBVIMMyZLPsrnEfrvF5wgZfXargLeV-4598GOmVOS4UBcyADjS1E9mqUVk-Z6uiK-ERqGmmvJb6wjsq2_GrtRv6EZGqPRg1oqVK7mmEA6uUqzD93bfQpbNlZc9onmitDOnZIKaGoNwcY3XSH5DhSs3eshpHuv8gSGjY-pFjBuf6DyKoksxOQu3fXIO_Sn4UdtsXlYlR2TiI7vZ0qPyIkhbuszsAQMIGoNyyOtildnnm4MW801EwMV8SS9NXBnKXsGjUnw9oiqZvKxqMBTAbSgCL15NYsJQ0vwbQvbax8pA3vN",
  "id": "rs_03b200e249c93413016ab439aa40d887d0a18faeed2c140077",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.045},\"note\":\"With the wrist level, the gray plush is finally centered in the left camera, just ahead of the fingertips. I’ll advance about 3 cm and lower around its body while keeping the lateral alignment.\"}",
  "call_id": "call_KBURiFlUQKUdlmrwcJBE82zP",
  "id": "fc_03b200e249c93413016ab439ac645c87d08d7b2c0a68d6a6aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KBURiFlUQKUdlmrwcJBE82zP",
  "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]: [-0.6937, 1.6634, 0.588, 0.3096, -0.7067, -0.6025, 0.9968, -0.0795, 0.8223, 0.672, -0.437, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3533 left_y=-0.1399 left_z=0.0463 left_yaw=0.184 left_pitch=0.0071 left_roll=-0.024 left_gripper=0.9968 right_x=0.2971 right_y=-0.0027 right_z=0.192 right_yaw=0.0829 right_pitch=-0.0232 right_roll=-0.0684 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -5.8872, 4.6564, 1.1209, -0.0366, 0.2418, -0.0073, -0.212, -1.6752, 7.0222, 1.7314, -0.1001, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a904936569f4a9faaea7b1d9dfd9bdcff6c7c31f7f1f9c9fccc1015773631f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aab7ec72456a8261966d476710c21e85f211daf6f42625043c3c8270617f24d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96325d3cfa36e31b05e42ae6d4134d372795d181ef6a8cdf31e6e36fff27025",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.6096, 0.3058, 0.926, -0.4084, -0.1574, 0.0145, -0.0795, 0.812, 0.6727, -0.4339, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3729 left_y=-0.0488 left_z=0.0698 left_yaw=0.0927 left_pitch=0.2168 left_roll=0.0161 left_gripper=0.0145 right_x=0.2968 right_y=-0.0027 right_z=0.1958 right_yaw=0.0828 right_pitch=-0.0093 right_roll=-0.0707 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -5.1624, 3.7538, 1.2137, 0.2808, 0.0317, 0.7204, 0.0479, -1.1692, 7.0222, 1.7265, -0.105, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7544, 1.4979, 0.5785, 0.1719, -0.7219, -0.6155, 0.9967, -0.0795, 0.8185, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3343 left_y=-0.1491 left_z=0.0792 left_yaw=0.1414 left_pitch=0.0266 left_roll=-0.0426 left_gripper=0.9967 right_x=0.2969 right_y=-0.0027 right_z=0.1932 right_yaw=0.0828 right_pitch=-0.0187 right_roll=-0.0691 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -7.2684, 8.0205, 1.409, -0.3297, 0.0708, 0.1148, -0.1846, -1.6342, 7.241, 1.7118, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6937, 1.6634, 0.588, 0.3096, -0.7067, -0.6025, 0.9968, -0.0795, 0.8223, 0.672, -0.437, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3533 left_y=-0.1399 left_z=0.0463 left_yaw=0.184 left_pitch=0.0071 left_roll=-0.024 left_gripper=0.9968 right_x=0.2971 right_y=-0.0027 right_z=0.192 right_yaw=0.0829 right_pitch=-0.0232 right_roll=-0.0684 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -5.8872, 4.6564, 1.1209, -0.0366, 0.2418, -0.0073, -0.212, -1.6752, 7.0222, 1.7314, -0.1001, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a904936569f4a9faaea7b1d9dfd9bdcff6c7c31f7f1f9c9fccc1015773631f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aab7ec72456a8261966d476710c21e85f211daf6f42625043c3c8270617f24d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96325d3cfa36e31b05e42ae6d4134d372795d181ef6a8cdf31e6e36fff27025",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmxM18ITKxenOJMBpJJvYYFvhCXeMumqlOAdgnZIg_PoUq6y382AZuMyThMokRdyDl0LFwZZ-6ZsWlD3F5S1B2LDHX7Pe9yEaMpVVvIkm5rZBQkqFCXWyO0BubSuLzmxRsT9AVHSAOTEqxbv0UoPcMgJx87hcBvveutrsaEViW5jQY_0hIS97smdWlS1RIsqe0313fHRqzJvENptysYyt7Z-gnIScBrOB2ua1FgPZD6sIva6g_6oA2yXK7fNizp1un5pDwLBD3ZMWXIGLjWL4H6kduoErpLug_Ngau51kSOlYbbu77zcTeXzfLCx_5hIS_7GkOsNailRtxcvsttlP1kIplajddLppIbRVwh9dnQD-rlfHMxjIbwA4KYwhLv1N0VFc9DALLM4eJmkirXnPzFDTUKP5Q5QkiKcV9BBJztiOiyzEKkJZoUiq6OOuG_HWOgbg764Ur0CXdEu88WvHoGIXq1sHBJVXBDssfHUJ0LFzzj6pPZqffKU3BmZfP-i_fyaMYMdqjsjZVTBhXIKTngUSmHe78cbQHhtR10X2UahuSy2qJLMb8zB8577alkNRMQSv8kIsfYzLE9Y6nmGMKWj2d1t2WhVkzhjxgQUHe4dugZlhsGnV9pYjaFRWbwB1kRLIisA-zxj5IanNsocgMwE4N_kBYADApc1lcheiVjsOUzqPBfVets62YRR9Bu_gpcjh8zMhWzl7wb3LOeDjt61PQuezZn7aie5yw32BuVY2wU1ZXPRjRUNrMoKIToodk2PCcrFKvjzdjlak1ELDSwseqhCF01NuzcP08Y4DWSM8NDOgpF4z3yLyA3WgPcz80VG60FK1Zwc2wKSV8BhxLuTEAHzMVCpyWkPcgCTFuTI-DZ6LQSsw2N2NtpLjogpkgofEbjd8XCJKFWQT9hBEGaEvlpFcKYpeocBT52YlJ5SPSTD2-erfl4N5BLMCb-40cnnr8VrMSy1RNQLgnhw1JAbGTjoc3N42Na2qAuc86tf2Q_Y_oSukXFg0qxK3wioIjh6tHW7Qe4nO-36VUPRIcLl3_SCvj_qHGZM8D6a5f6m1C1IbU8SRqeXgSoY6_RH_NRNtSO-Py8-1V99oFfkPLxAzyvzljw1g-BtDLfLVVsTHiCSpLwiCZ4X94y14nVl1dt4TRdq2So8VxcdzI3WKSAqF23BHMEkcIYOaSBDKo7UwIGn7pawi7XkzacBydF1YDC35LLakNR2FMYkyCfmQwYxrfri4Gr9luSXA3fBjnte4QBt8VD2TcCBjDV3WF0cpuunGsVVWF4AUle7KM58rHUqByxtUVS_dKF-XQ9iVPk6qpMx97GrjWmJV9HGxvat5N4MrHZ6Qm0Q1NYWsFwRbG_szfDxsNKVP7nwyxj5EEoOqA84CAz-VYvo6L7E0hSEl3fQHtwoPByVEkl4K0jD3jAbR1VIcMOINYkbDO5_syaPSBJTaydbFcBcJKJVyy418whC1xws3ldwHoSkVEo6nxAXw4hi0gqEGLG6DWGidQp38gd2xcDehMyQR3PUaBjojbIrCe_DQn5sID7MaTuWky8WK7gZQKR5DK48UtaXVFEGx3KZlkEUGZi0eDi-O8A3OxKdfqNJSeEiu5cJSlAKC1D4rUP3KEj0CUYE40mzTL2qp3JTqdbjZVMYRoxg9zY7_CkeZuUF73zTWctbRLWUtByrLa8at3jfVHDVlKX2Gf3OEyB-j8CwhVNIXGKydSAS9KTmQGp5OXZ4DNyRitbrq3VibOJmBdZJOQKgZH5pHJg046kuKAnWZZZhVMe-_osMiPQAfx1X06hgRuzf5D98zk4SF8x-6bwpX4wNugtpxzh0Q5Qg6HjiDcdN3QZbKgUpMoGiQHhMeMncJIm7FCp4X-5zsDVVzRsIlXgsK-_-YSXC8KhpDnW--tslJgqSYR80RLv",
  "id": "rs_03b200e249c93413016ab439af1f2c87d08d35da0ada375cc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_z\":0.04},\"note\":\"At the lower height, the gray plush occupies the right half of the open jaws and the pale plush is on the left. I’ll shift the left gripper inward another 3 cm to center on gray alone.\"}",
  "call_id": "call_iEycQWTeksKIFYqB5qNq9NGU",
  "id": "fc_03b200e249c93413016ab439b0905887d0b0698cc9c2ce55a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iEycQWTeksKIFYqB5qNq9NGU",
  "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]: [-0.7876, 1.7504, 0.6876, 0.2867, -0.7876, -0.683, 0.9969, -0.0799, 0.8234, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3578 left_y=-0.1769 left_z=0.0506 left_yaw=0.19 left_pitch=0.0449 left_roll=-0.0511 left_gripper=0.9969 right_x=0.2973 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0236 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -5.9419, 6.0376, 1.0818, -0.1001, 0.0415, -0.0073, -0.1709, -1.4838, 7.1179, 1.7558, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17904e6ca567235e9222f5137ecf43ae8923c6b718f14cb3bba78883fa2e9fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cf68c1d82ce42fb0f77a514295af4a7828fd3ac46b1deaf124b6a8018794b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5b91b834d32e83e2c9c068a21b6554943d32f43d904c763fa67285ded5300f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5179, 1.8565, 0.3988, 1.14, -0.627, -0.2478, 0.9954, -0.0799, 0.8146, 0.6727, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3871 left_y=-0.0971 left_z=0.0623 left_yaw=0.1493 left_pitch=0.3065 left_roll=-0.0395 left_gripper=0.9954 right_x=0.2967 right_y=-0.0028 right_z=0.1946 right_yaw=0.0825 right_pitch=-0.0142 right_roll=-0.0699 right_gripper=0.9964\nstate[joint_eff]: [-1.0051, -4.4786, 4.041, 0.8669, 0.2466, -0.022, -0.2027, -0.0342, -1.5658, 7.159, 1.7851, -0.105, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6937, 1.6634, 0.588, 0.3096, -0.7067, -0.6025, 0.9968, -0.0795, 0.8223, 0.672, -0.437, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3533 left_y=-0.1399 left_z=0.0463 left_yaw=0.184 left_pitch=0.0071 left_roll=-0.024 left_gripper=0.9968 right_x=0.2971 right_y=-0.0027 right_z=0.192 right_yaw=0.0829 right_pitch=-0.0232 right_roll=-0.0684 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -5.8872, 4.6564, 1.1209, -0.0366, 0.2418, -0.0073, -0.212, -1.6752, 7.0222, 1.7314, -0.1001, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7876, 1.7504, 0.6876, 0.2867, -0.7876, -0.683, 0.9969, -0.0799, 0.8234, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3578 left_y=-0.1769 left_z=0.0506 left_yaw=0.19 left_pitch=0.0449 left_roll=-0.0511 left_gripper=0.9969 right_x=0.2973 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0236 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -5.9419, 6.0376, 1.0818, -0.1001, 0.0415, -0.0073, -0.1709, -1.4838, 7.1179, 1.7558, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17904e6ca567235e9222f5137ecf43ae8923c6b718f14cb3bba78883fa2e9fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cf68c1d82ce42fb0f77a514295af4a7828fd3ac46b1deaf124b6a8018794b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5b91b834d32e83e2c9c068a21b6554943d32f43d904c763fa67285ded5300f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm1DPcfPZKEbNMgyvtoJwuUQdpK4CkRQ3FAjTfaRIdx9WilIFvJqhtc_6555jVnc_7sVIT5Xq6HaX1VZDfOeavW91jpJ8ryXKGzPNDjSHhjoFVC7ZvosfBnFAcMrcSOL3_Lx0LnAe6yo_bcGxTFQDD9olbjV-X0mI8eKwChDZOAG9NsMrgoofox87YbjbYfcxOGFWpifMwR9sxmuoXCxr-KytCpcptbO6q6ehIJoiknkWeJ47wuFVHgA1Y0ocigLR_tsAktUioLyPzyZV7CBmtTEVLtAI5qSyl2PngV6s0PyAd89SAHN1VxLsKH0SpkIa6WBSuXsLR5_5ciz9OXOSbheWMZLejdDvpx3akHUda9Vq8pRkOrX0AbupYTfKVNUYvbi687DC_IusUusEE-gZZKe2mRmruUjpjFA9dMzIfVW6a9bXm0rJXYYcvjmu8lC9I5SjqKTPW8gNYAGH1mKE8Fh4fRKQJ670eHBQuibhWthHQv0Wpwb-TOwpMk2BBjs5oZOeuXPkgF3-_mH4us2-vdek_EecVSJbR0PB6i6rWCho4yWU5Li0VYRgF7mdLxc7WYLO-WSiObqfQHcUC224sBxxQTetP5qjy9i76KQGivqmf-Y7YjOUz3HQ4-uRTScKhAZjZpFuDNWO7rwcHquVLuTNwSeYnrQI162m82tKjZRWj18P8qZt1-0o-Wb7Ri6xcbb-wGRNxWSLSFqfdT7b4B2SaxCFS3z4SldsOw3kont5FCcGaphbTsel-HfiB7rz8HE_3cF7-KbVSCFG-cv3YZVnyrFlEkkoZqOklaSerrQEgoHyJ2b-xqMRcSw2Yd71AvA_SbDb2CI_d8wY61a5rG9ICo9FioQxm0LKYeTrf59-IpID9s8vzjausUksyPPDvXb3xykEhdayX4sRPqLy2-B7yHVB_kPWsYAbc9vAo11GenNh2bfW1oNF_yA_PwIQrkqjFFFfRUPv1b1iBxssFGJzFRX67x9L1_NofLn3JFfkkG8vjdeXdenqpwz44hOacj57YoFniHiooa_Tb9sPieBuIxFA3LFxl1f3CFOYxvVpDhVl3ZPX35IopFW2szuUwZjN1EwQ2xPUpT81L91sZg8V1S8-PxV7o9BinnLiUUn2TDy4Zf_bLy_TSTCR4-NjkYom_zr1Rp7C9XY_u2jD9H9sliHJfVpD7iLvfhQNQB0cprSTI27julxRVF4XmpyfCUV7EvVkmxbKb6iAh7ONCeIrX7FCkHXQzW-ZZ9aconphPF84Xyw5EbQO_IZDsfO34CwGhlvrPOH-fHFAPh5-toiV58neSBQx2PCNQVpSpK23GDbH7rgUPjlry-rmNIFN5mvIcN8t0wRTGliXdL_6OPHuU46dgDqXzX9vFvOms17YNrPj4ZlaonYWOr_xkCsh-_1EmKankbN8wxh_RVR99K4jygU9St5zwYmXNLxEM0N2PznPEUWABUprVjE_OlNB90sop3dtFyUq6GV6KQWa6xhPo4AOojQsIBVe7Pbs8ZZ3HiIo6mzVIVMQCVuHo2lA3H_O1thTbODrxEaElPMT0YwLucGIB9M4f5_o6hRY4MMu4-Ux_tATT5P6ihYI5pHn7o4y3mtWwnmUIJO9QmaT8NEpq9HUSAbIUPnzl4C_iG6LLpr-Fb1HyReWS6ydVHbf18PirtDYhvhYpSThrS04j1ovLLe65p7W5xQ0TMhIJY7Zqr1TqLX1JH1IV0c59MkRAo",
  "id": "rs_03b200e249c93413016ab439b2d62487d0a92c4f2aa9602d4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush still fills the right side of the open jaws at near-table height. I’ll close once on this placement and verify the reading rather than continue nudging it.\"}",
  "call_id": "call_K2gTUw397Es5m6p5IdM6njde",
  "id": "fc_03b200e249c93413016ab439b3e66c87d0b044ad189ab28b1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K2gTUw397Es5m6p5IdM6njde",
  "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]: [-0.786, 1.7519, 0.6971, 0.3309, -0.8162, -0.6888, 0.0135, -0.0799, 0.8234, 0.672, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3649 left_y=-0.1782 left_z=0.0618 left_yaw=0.2177 left_pitch=0.0897 left_roll=-0.0893 left_gripper=0.0135 right_x=0.2972 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0239 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -7.4325, 4.3829, 1.0476, -0.022, 0.0415, 0.5836, -0.212, -1.0735, 7.0222, 1.7216, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d19fdc25355677cc7b095c5e401b22a9e593a10fe7cf1cf871b01186b41f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11efa9aed7a06df156d31d1cba0882138e32672c1bb06521cae305b7bfd5b9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c91a576d85b3bdf4529edc45ab58781d82bc529625a56818753117f8e2dd87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7544, 1.4979, 0.5785, 0.1719, -0.7219, -0.6155, 0.9967, -0.0795, 0.8185, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3343 left_y=-0.1491 left_z=0.0792 left_yaw=0.1414 left_pitch=0.0266 left_roll=-0.0426 left_gripper=0.9967 right_x=0.2969 right_y=-0.0027 right_z=0.1932 right_yaw=0.0828 right_pitch=-0.0187 right_roll=-0.0691 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -7.2684, 8.0205, 1.409, -0.3297, 0.0708, 0.1148, -0.1846, -1.6342, 7.241, 1.7118, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7876, 1.7504, 0.6876, 0.2867, -0.7876, -0.683, 0.9969, -0.0799, 0.8234, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3578 left_y=-0.1769 left_z=0.0506 left_yaw=0.19 left_pitch=0.0449 left_roll=-0.0511 left_gripper=0.9969 right_x=0.2973 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0236 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -5.9419, 6.0376, 1.0818, -0.1001, 0.0415, -0.0073, -0.1709, -1.4838, 7.1179, 1.7558, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.786, 1.7519, 0.6971, 0.3309, -0.8162, -0.6888, 0.0135, -0.0799, 0.8234, 0.672, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3649 left_y=-0.1782 left_z=0.0618 left_yaw=0.2177 left_pitch=0.0897 left_roll=-0.0893 left_gripper=0.0135 right_x=0.2972 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0239 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -7.4325, 4.3829, 1.0476, -0.022, 0.0415, 0.5836, -0.212, -1.0735, 7.0222, 1.7216, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d19fdc25355677cc7b095c5e401b22a9e593a10fe7cf1cf871b01186b41f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11efa9aed7a06df156d31d1cba0882138e32672c1bb06521cae305b7bfd5b9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c91a576d85b3bdf4529edc45ab58781d82bc529625a56818753117f8e2dd87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_03b200e249c93413016ab439b75a0487d0a2fc4ced095668de",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm9ckbb6XmWizj5Vq1r0VGkOX-V1wLdshVc_OcEUCqBHqKhMcL0QPJThGqSN3L4_L0WJ5DueZVa0HSXikqrEkgo2TCtE9mmINi092xYXfVMCI5NwisTFPQ5j5T_cTjDodWQTFYkYSjyB6t0yPlRe-YGZJtVpnoEbn28RfvsiZ5dRBpJHASmc-wNVQLRNw8PfG6xRw2ZO9SGIUezq2P5fYZqwBO0T9Bw64r_rHb2J8xxwjZw6yZIF32ifQpkNUZ7Enyip9xJGItuZct-MRXAofphInw9B7FgL6OMKLhcN0gQsA43TXszJJqQ4UWkVP2kucr85ozaBbkbht4cBFK2pwdzrkK8-9MhcE4dQHrq-ZO_RXWYzVHHUFJdKADpFEriwCiuQ2oaqg8K68v1Ny1V4jWlsK5OJEGxIXq1XQeciz80n0sdCs8unJOhhkC4uKGlJy-IN91gPUSt7ue2aPm8gZN7YcqKd-zqGBpi6aEbw3B3PGRQpaxazqbQoeBa5QM1HQePqSqVu4Vq7OrIL4XC21pEgzC7y5t8Y2SrW4OBt2Z3GcAxmAFC5Y_vlSHCrRdkqiGnLFm7ujKhZLl2sp3yQbC5F93rfOUsQXk6xA54LTzlCNSXmqXpcwTqohOD8N-t-GoEhAvMuYMZojv2CuuMlfkKOVokWypcWwrJ05BXK0IFF_DCDjIzPnR4GvkqVHx1n1ZkAhrTGakUEgBAvlN00GmxYFX9WSJxSRmlNwHxBX73Dp2td9_-Xa1HIQltthBjAKgckpBzb0oNdwa5qX8K93MF4DI6UnpuBTGEysxcxuAFZ_rGoFCN5bbuH59FKHF2H1B7gCf_R-nIYiEJt-gGJYPnRuoz1VGGMI3FGPW_Oacoc_7tQwkuLlu9TjICoHOJnl7dSnQ_Xxgfin3zjbt0VDyawD3TDGV9hao3bWADwfL2mTaLiTVJHlpKI1X6S2o5l0twFGTVLbgaemFUAyHU4DSDJF5u9PKi3tifIocBY8Ilx9G995RCWld0KNugY-l_zikt3EvrlTbHRvmIFDR5aPWh2ttJME0UBp-pnnxCJ5drM_-uNeJ_E3BMNcv3GdOYH27aWa63MeMottrsQCI9oT21J2Lxv9zKmPLBzP9dkJmIiwtvxDUWnNRrTXAV6GkDV_k5IE6XRX80OnZwNd3nCOMsNUMAtEeCi6Cs3BsaceCgx9yHhLryxlnSFNPJFNB5dZTdaW7Rr_Mqko16SZYzdFQkCGq3OrOerWryeLnzfZM9UnoM3a1wH5uXpqVhvtYi1FJhaVCM4gjr5cMVGr8wZ5XfLC0QHPf1GIurqq3tLFlsDWVLutnOGqWeprzIUCv_RTgkHtPb9DFflOlMQmwq9iURYWiGLoE7YuG5hMX6iw7iY8LhWNrDPIEuupukQGnh3ZzNNOZ0cRboKEZTBCNGGV6v2wHM3NezEfhvn4Cg0xqDjbj2fc9e8z2SSSziH8PsELfr",
  "id": "rs_03b200e249c93413016ab439bbc7d487d08b939c8692c6118c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_z\":-0.01},\"note\":\"The gripper is still empty and the gray body sits below its fingers. I’ll reopen, advance onto the gray torso, and lower to table level to try grasping beneath the fur.\"}",
  "call_id": "call_HfzuEvKMOewDAxYBcDxtN61E",
  "id": "fc_03b200e249c93413016ab439bc5c4887d0b5f18e6b51611d13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HfzuEvKMOewDAxYBcDxtN61E",
  "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]: [-0.7341, 1.9968, 0.7353, 0.7822, -0.8814, -0.6277, 0.9947, -0.0795, 0.8276, 0.6716, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.4077 left_y=-0.1795 left_z=0.0533 left_yaw=0.3239 left_pitch=0.2523 left_roll=-0.2253 left_gripper=0.9947 right_x=0.2975 right_y=-0.0027 right_z=0.1904 right_yaw=0.0829 right_pitch=-0.0285 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -2.6735, 2.8513, 0.1783, 0.9353, -0.188, 0.0855, -0.1709, -1.6752, 7.1043, 1.7118, -0.0904, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256c088a9e8c537129bab322f9cd69ebe4436310b8918b4bf8502526cad86a45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49790351a10c979482c1f6f0981bc7fedcdef1a4d2dacebba6a17aeea19dbdce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e75da79a9d96ba39ecc35e4683558324758b88f8236d6216185aae788f8d4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 144 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6937, 1.6634, 0.588, 0.3096, -0.7067, -0.6025, 0.9968, -0.0795, 0.8223, 0.672, -0.437, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3533 left_y=-0.1399 left_z=0.0463 left_yaw=0.184 left_pitch=0.0071 left_roll=-0.024 left_gripper=0.9968 right_x=0.2971 right_y=-0.0027 right_z=0.192 right_yaw=0.0829 right_pitch=-0.0232 right_roll=-0.0684 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -5.8872, 4.6564, 1.1209, -0.0366, 0.2418, -0.0073, -0.212, -1.6752, 7.0222, 1.7314, -0.1001, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.786, 1.7519, 0.6971, 0.3309, -0.8162, -0.6888, 0.0135, -0.0799, 0.8234, 0.672, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3649 left_y=-0.1782 left_z=0.0618 left_yaw=0.2177 left_pitch=0.0897 left_roll=-0.0893 left_gripper=0.0135 right_x=0.2972 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0239 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -7.4325, 4.3829, 1.0476, -0.022, 0.0415, 0.5836, -0.212, -1.0735, 7.0222, 1.7216, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7341, 1.9968, 0.7353, 0.7822, -0.8814, -0.6277, 0.9947, -0.0795, 0.8276, 0.6716, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.4077 left_y=-0.1795 left_z=0.0533 left_yaw=0.3239 left_pitch=0.2523 left_roll=-0.2253 left_gripper=0.9947 right_x=0.2975 right_y=-0.0027 right_z=0.1904 right_yaw=0.0829 right_pitch=-0.0285 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -2.6735, 2.8513, 0.1783, 0.9353, -0.188, 0.0855, -0.1709, -1.6752, 7.1043, 1.7118, -0.0904, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256c088a9e8c537129bab322f9cd69ebe4436310b8918b4bf8502526cad86a45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49790351a10c979482c1f6f0981bc7fedcdef1a4d2dacebba6a17aeea19dbdce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e75da79a9d96ba39ecc35e4683558324758b88f8236d6216185aae788f8d4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDnAeXOYKi_gN7DJ7Th4xMgp2_IkpZUI2XdCiNVdUPm48WFkP8oYyl-Kr40_NM50ljO80FsRH5p1Q2yikOAoXIC8NmfwtQ0aji1jS3KWV0qoO5tVfJUtqJ5WGy6XK8tjZQ3Z8KVp1bkQZ4OVYPpy1nIUY5UBH8vNGoEPwXQN1WRwOc_zZZzhOzhiA7LFnZD3uRSRXf9VKiEztfaLQGPn2-WVs294wm0ZnZEPa3ANNLLOfcYdNoYbcFipLtKP9ihdbmsCpzLYlw4Ox5h7Z-2Ke7QghocaxiucoDc4n9eyc7uz9cXoIwVWwgKqtxPlLsFe2LQcQE0oBbZq1GvpRxoMq39QfMXRyl-fSCWJ7NKiNEKNYavudYFN4p-h8GUAHT6tCzeJKrepHQOKWAcVUMH8dygKdmyCZEma3OccQVs7KyTrAni5p38Q4k6eiT0B6kEAhHlMbELgX-QTWWkdwm-CkbYpt2sf8V1Ntide1DezFrNGBt49AewTIUUATtCwfWSQDstpb8JlybLt3vUQ_3warLOyxT42eV3IKGvpy00pcAtfiamWMCOKYVaZ4sW4hLN4FnYZ9VNED7zpR_TvmJ0YiCwb54qoNXHPy-hNfjKgCQ3SGr_PTOKgvaoT0RGMbsFeXWykncNXgVLXcaaWFPDd26JhlUjZHnoAoeNVshCaYGq3wSd3mGEMgY42kueEyes3zzlcQVrtnK_5jcnDNkfqUf8T5saZCumWiPNjma-XIpSUFjS8l7Wr4Vo-Xoxbeb--KrPSZdfUuNVapHJPfbccuiZPF6Hlma1UY-40q05fnfoLyMPJqjqg6lKCXjRQAh4-mtfZ9vfN8I0MEeKACnKfGYOp7K4Hw06nt5VlMdrTAX9GnKt-HSafvFdTGH_f4ASw_tajc_UKmUizvNw9E7xZKpG6-ib0jFlyMLHR2TNIA73ipA3ntK6lMhqQNNzH0Lt3FGi1Un2hMRiQ2sAdo1JQqOF3SaYwtKVOVlkicErhqf23Rj0sfTW6WIu0gY6u8iSnxMdkkLu7ur89Q4l9ffPK5BbbdnNBZhRFHr2ai-u4-a6IBUBjGG73F9OvGnxFNHxkp1vhyIvbCsrwKHSaXKMvkxMEChVRVacETgxsEoP6WW-64ycf-ENoUUFnwsHne5MFfWX6jJ00WGrM2brpOEz7NBfBNVduIvPiQKrv3hh4yp51922TrH76Nuerv8hX9FS9zjSYz6iBA4P-JDAq6z4M8SOc0EoevKhRuSq8UMu2u53pL0c=",
  "id": "rs_03b200e249c93413016ab439bf2a0887d09c81b25db2e141e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now lies centered directly between the low open jaws in the left wrist image. I’ll close and check whether its body prevents a fully empty closure.\"}",
  "call_id": "call_6vWefxAhS7JfOJKBe6BN2RDe",
  "id": "fc_03b200e249c93413016ab439bf6f3c87d098cc6e836b4fc639",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6vWefxAhS7JfOJKBe6BN2RDe",
  "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]: [-0.73, 1.9747, 0.7433, 0.8108, -0.9134, -0.6292, 0.0346, -0.0795, 0.8299, 0.6716, -0.4362, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.4121 left_y=-0.1763 left_z=0.0712 left_yaw=0.3705 left_pitch=0.2921 left_roll=-0.2738 left_gripper=0.0346 right_x=0.2978 right_y=-0.0028 right_z=0.1899 right_yaw=0.0827 right_pitch=-0.0303 right_roll=-0.0669 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.1179, 3.8769, 1.3553, 0.0562, 0.0073, 1.1746, -0.1436, -1.5795, 7.0085, 1.6825, -0.0952, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd4052fed58ec883a8d872433eb7eb4d289a95bfa779e5bfa01794ec9fab03b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff19806497ea816ffcb76c3df6b0fdf2f3968f6eba933da348e38cded96a1427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e95b00779faf1e1b623f856fad99dbb90a845e13d877da9d1810b4f1611e86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7876, 1.7504, 0.6876, 0.2867, -0.7876, -0.683, 0.9969, -0.0799, 0.8234, 0.672, -0.4362, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3578 left_y=-0.1769 left_z=0.0506 left_yaw=0.19 left_pitch=0.0449 left_roll=-0.0511 left_gripper=0.9969 right_x=0.2973 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0236 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -5.9419, 6.0376, 1.0818, -0.1001, 0.0415, -0.0073, -0.1709, -1.4838, 7.1179, 1.7558, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7341, 1.9968, 0.7353, 0.7822, -0.8814, -0.6277, 0.9947, -0.0795, 0.8276, 0.6716, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.4077 left_y=-0.1795 left_z=0.0533 left_yaw=0.3239 left_pitch=0.2523 left_roll=-0.2253 left_gripper=0.9947 right_x=0.2975 right_y=-0.0027 right_z=0.1904 right_yaw=0.0829 right_pitch=-0.0285 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -2.6735, 2.8513, 0.1783, 0.9353, -0.188, 0.0855, -0.1709, -1.6752, 7.1043, 1.7118, -0.0904, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.73, 1.9747, 0.7433, 0.8108, -0.9134, -0.6292, 0.0346, -0.0795, 0.8299, 0.6716, -0.4362, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.4121 left_y=-0.1763 left_z=0.0712 left_yaw=0.3705 left_pitch=0.2921 left_roll=-0.2738 left_gripper=0.0346 right_x=0.2978 right_y=-0.0028 right_z=0.1899 right_yaw=0.0827 right_pitch=-0.0303 right_roll=-0.0669 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.1179, 3.8769, 1.3553, 0.0562, 0.0073, 1.1746, -0.1436, -1.5795, 7.0085, 1.6825, -0.0952, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd4052fed58ec883a8d872433eb7eb4d289a95bfa779e5bfa01794ec9fab03b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff19806497ea816ffcb76c3df6b0fdf2f3968f6eba933da348e38cded96a1427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e95b00779faf1e1b623f856fad99dbb90a845e13d877da9d1810b4f1611e86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDnF169wo1uZPQPAOUWjXBWe1JduFVccFQzBQoeUxWeTWjS4s7d_U7xRIezB0teqhqkhfxsjA0g6gLQLYrn5RYxzpMEjVwx2jVCDabznOp9sJt8iXSiH05XBskQlXXgH2LU6lrT4lrK0WUJPJZcaaShOB4mCvEsQEqWqemDdAyF5DLqDO5x1Mp3ph5AfwYn2_IZPqkyOKxgNI7X1uKNdYQqBwLKcyoJ6W6sX2gM8M-98tCud1lXp3p0ps6DCuDCGvdQ8UUon4YJrL2oIllXn2WRytOYvAmmeKijmTguccWVLfVZYC2Qd_bRBO0DB-SNVzQW_Qd6lQg_l254HzGBsp7Wl2cfSQjt05YlqmGOnDzY6FO_to1MENpHu_OLnL4ShEsWzY9c1F90mjVegOtHsgKIYm2yfdThTYZfOtYKA593WV748BJlPqwTNScahn9ZwDhjMv83dd6NsAqOWiDRjIBfdpjWkMCwS8oZOhz4tX3bvaLS6-9ZDTgPdCJeOB1vBEHWkDQ-7PjCyMAJDGEa1kOCWxQjElrALR4TSDewQkB0m5QRu5ez1G7yU56xJ8HjRJaxwpDfjGpQIY-2nK92Hl1GsGosFDkDL2118xMyTgHOnDwECi725Chg694jivozaKsV6jVkkbdSWUx18S8lEAoAV-EhRObhDjxTk7-tH6mUnhrwPNYEy5A2dRzAWL4dhPmgRMtzS1y4U8K1a6F8nwNfumT7SFeXfXhHN40DR1M8T_mkXRCQXdHPwL4mQk17jMXlAYH9618WRxGpmpjjbk19xgC-eEO0NPDb_NxeNfvxoNr20oAfJlCrx38MSWHU5uJJE8pR-j3tEyvsGnvb-TO5sZMOupl3dOst4xGA1C4KoScJMToi5PmAyepOC7Lpnco8iK6LKCiVw87V7kM1H8IP_-tCLIjAdewQVGJFMeG0wl3zFXmoUVsja9wLahQW6i2YOGwNvHzq79UgjBo0_URD8O9AGHDUdC7lB1E-tgbhYAeXJyBPIXjT4QVHwWobm0qWOcJ9HGx9S_yaGRBkBNr8z2dJYgY78DTmjxe9BjK5qLQSJRUKO866RjjPnnQOavXn2UedkluP2oNURp-2C4DSXtBt9kc7tlhV1kCP3EqGzGjrishq_vAIVkxHuoFwtEA4gHSoYcMD4fetz_WBFeORrhDFvNH69l5ufggqfLA-Tshz5zIPqzXwL1Hn7NcnDBquKRjlzIU2w2hUzCtIc-2ULM8ytPjdpfJ0LU7mk-P22cym3KYpXl3Hp9hZIDHuVehcQ2n6DKlsTM6OYf4hpxpwVPwk6zwOjBaGYpZRcrKuJOzlhK8wmy4XqG5eKS2Z3Y9n4TvQLSrCmOXo4r8td50rFdgCu_5wVOX_n9N9TzJj0pYRIWwBgVicV0aJOmtfmeWTy3LpGfEWGArlrCmLJ-QRyB3jDweDN-78xnIdOj_uD1iyB7xaecQMnV7C7zOcK5ootiiNj4I01ep9B4QyAbNlhXM4Y2zyg-KQY9In3ItwVdChSlALTOjNGvXpJ1_1dr5TpFRvxEQNqNqsKcxrS-3PE8ofCOY7jQmR5mN9j69gYlH97tgvuTshMKOHQPfLXM-xftsHG8iN1Ee4xGr26KzaM5lI76jg_f6-Kkz6U3UBlQzm6PLBK1iWVv6zbIXapvCZsTWgulpyUv5ARnBW4NK0qQDT6FOSwBeiSIsvd6V2oQ77ARIRab13GSRcAzXbT1sG8Q9L0ILyKwbqdP72PROhORl9VptRifhhtp7Jatdja6pxl9PsP6YWUIwsuytuFWrWiAJcvNcHG_YMEDRleYJo8KkERyDn2r1xo5HO3UAfSCFWrZ3zGLfLGtv7j6wLoJ_4TZn_SKv2-FcIPf_JtK4g2bKdkEMs8I8eokzilp-0v4hxFEpTmo0pH9Awzdg0txmxv14lD76IiYltzgBfXn6YMLWKdEC1MIv04zeSRNoPMboBwrLLnvrAHGoTTb7akhV5hzyUrBmz1jcthRhbI0-0ezvna2zztumELlBCbmu1CcaaOdgelysDPI5V3A6YNj58fTUodrtRiHAZxej9wfQbeQPBNQIOJL3X2fG-VgDwnlghHQ8MvbslrCufZZq4LqkEMJMCkQwXGzcGz1XdTqVJLRIW8O94FxARDa6zXy9zkjJSqM1gYCjkOFIHj4FlepEXSTw1ejgmlmmaFOL-Le2uoaIgJQmuwVuaHaqsuF-o5Z64wicUISOs0X7nOhRq-kWeM8aQl2WKD1vaeyGnWq6hMKl_bNvBRWpdihISxHuHYD1NgPQVd0xeB7ynlQQABJZPSilgTEzLN58IIj4hJv2sq8jN1TZp3TUwNCp888v4yYh4ybCvJ_y0wAp-MV28OxXKCuXvRYBpaZsgI5Dqo6ic_uOB8To95KBzMzrhDPbzzzsXE8XLMvrgKb_gaIiNmPqj9RpVbfF1D1zEuwKvJWWFRZDgzCMAZ_rocC4VsYnJTZMZL4EHgIdRr2_ytjS5nYIc-YfUosH4p-8yRoP8okbQ9TWtthYwqcLSnlLVdDLmp9P1X_cbr6eQ6TFV_T9Q08s8XOZq1W-DxjEdsqmAQluMmcYA9pInuH37yQiHF6Th0snr_XEtrSKHduJqhsTkq9fiJAva-RW2-DSjv-mUGhPSu0G30ZQLzhlqFmEsFKtpczCk9dXOa-eOwlZq4e_xP3shabd7e86t65-NoZHV8sY9Hz5llDFiHOMdBenslb-Ck5sXyGqiPPcFHHvUe4HKtEtRqg6F1M1a6Ey1zvFTAb57j2rbDZUPv7GJnYYKy2KH_jcDULgbDyNZ9J4URv0peQmRC",
  "id": "rs_03b200e249c93413016ab439c229a887d09926df40edfc7209",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.43,\"right_y\":0.09,\"right_z\":0.07},\"note\":\"The gray plush slipped aside again and the left gripper remains effectively empty. I’ll park that arm and try to guide the cream plush resting against the right basket’s near edge into the basket.\"}",
  "call_id": "call_kRY6rMqWgC00XeTRuTAB95mH",
  "id": "fc_03b200e249c93413016ab439c4d3b887d0b977af1243ac5d57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRY6rMqWgC00XeTRuTAB95mH",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3515, 0.6861, 0.3286, 0.1169, -0.5953, -0.4751, 0.9974, 0.2707, 1.6566, 0.6804, 0.2882, 0.1745, 0.0093, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1984 left_yaw=0.4302 left_pitch=0.3375 left_roll=-0.3328 left_gripper=0.9974 right_x=0.4102 right_y=0.0857 right_z=0.0509 right_yaw=0.1086 right_pitch=-0.116 right_roll=-0.0899 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -0.0342, 8.0479, 1.9707, 0.0611, 0.1734, 0.0122, 0.3077, -7.0906, 8.335, 1.9658, 0.2466, 0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aaa98b960f2790dd3966428b73b92f8c6956e5d9438ae98bc4c298a1cdd9a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213473bdd64c2f7117b55ac698473757150d1f3ab21b31769c4bba3f529be306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30decb3be64fa62cb7047a8e30a91dc410a5008614d2786328995cf09d3809ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.786, 1.7519, 0.6971, 0.3309, -0.8162, -0.6888, 0.0135, -0.0799, 0.8234, 0.672, -0.4366, -0.0982, -0.165, 0.9964]\nstate[eef_state]: left_x=0.3649 left_y=-0.1782 left_z=0.0618 left_yaw=0.2177 left_pitch=0.0897 left_roll=-0.0893 left_gripper=0.0135 right_x=0.2972 right_y=-0.0028 right_z=0.1918 right_yaw=0.0825 right_pitch=-0.0239 right_roll=-0.0683 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -7.4325, 4.3829, 1.0476, -0.022, 0.0415, 0.5836, -0.212, -1.0735, 7.0222, 1.7216, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.73, 1.9747, 0.7433, 0.8108, -0.9134, -0.6292, 0.0346, -0.0795, 0.8299, 0.6716, -0.4362, -0.0982, -0.1646, 0.9964]\nstate[eef_state]: left_x=0.4121 left_y=-0.1763 left_z=0.0712 left_yaw=0.3705 left_pitch=0.2921 left_roll=-0.2738 left_gripper=0.0346 right_x=0.2978 right_y=-0.0028 right_z=0.1899 right_yaw=0.0827 right_pitch=-0.0303 right_roll=-0.0669 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.1179, 3.8769, 1.3553, 0.0562, 0.0073, 1.1746, -0.1436, -1.5795, 7.0085, 1.6825, -0.0952, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3515, 0.6861, 0.3286, 0.1169, -0.5953, -0.4751, 0.9974, 0.2707, 1.6566, 0.6804, 0.2882, 0.1745, 0.0093, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1984 left_yaw=0.4302 left_pitch=0.3375 left_roll=-0.3328 left_gripper=0.9974 right_x=0.4102 right_y=0.0857 right_z=0.0509 right_yaw=0.1086 right_pitch=-0.116 right_roll=-0.0899 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -0.0342, 8.0479, 1.9707, 0.0611, 0.1734, 0.0122, 0.3077, -7.0906, 8.335, 1.9658, 0.2466, 0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aaa98b960f2790dd3966428b73b92f8c6956e5d9438ae98bc4c298a1cdd9a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213473bdd64c2f7117b55ac698473757150d1f3ab21b31769c4bba3f529be306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30decb3be64fa62cb7047a8e30a91dc410a5008614d2786328995cf09d3809ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_03b200e249c93413016ab439c8820c87d0b7c7876909c5dd44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.13,\"right_z\":0.065},\"note\":\"The right gripper is beside the cream plush at the basket’s front, and the wrist view shows the plush immediately against it. I’ll move inward and forward a short distance to push the plush over the basket’s near rim.\"}",
  "call_id": "call_ieaJWA9FXIIKAIRKp8VRbh4S",
  "id": "fc_03b200e249c93413016ab439cb925487d0b2d3d5c8603b1065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ieaJWA9FXIIKAIRKp8VRbh4S",
  "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]: [-0.3508, 0.6922, 0.3283, 0.0982, -0.5869, -0.4717, 0.9981, 0.3267, 1.9297, 1.0561, 0.0631, 0.1722, 0.0158, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0001 left_z=0.1926 left_yaw=0.4155 left_pitch=0.3185 left_roll=-0.3123 left_gripper=0.9981 right_x=0.4673 right_y=0.1302 right_z=0.0331 right_yaw=0.1595 right_pitch=-0.2367 right_roll=-0.1038 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.0872, 7.2957, 1.9756, -0.2369, -0.0708, 0.0513, -0.5128, -9.4291, 10.1265, 2.6496, 0.4127, 0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d8d8e77a0de5e084f0f081694343b375d4d3bbc2976670391d815108290704",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf1dd767c0249918fbd4ac1fd88a4243a8686ee5665fd467d88ec9ea354872f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b1b52a57e603bf627ca54cc0ac076a6adac4a0db16e4445a6e006fa7b82714",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}