adhoc

completed
2026-09-23T19:58:20.884865+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
237.4 s
total steps
381
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two blue baskets at the back and several small plush figures in front; the leftmost figure is separated enough to pick first. I’m moving the left gripper above it to inspect and align a grasp.
move_to
left_x0.3500left_y-0.1900left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7994, 0.6163, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0254, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1841 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.7026, 9.3197, 1.8046, -0.0269, 0.1538, -0.0562, -1.0462, -1.6205, 9.7846, 1.7265, -0.1343, 0.0806, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.19,"left_z":0.16},"note":"I see two blue baskets at the back and several small plush figures in front; the leftmost figure is separated enough to pick first. I’m moving the left gripper above it to inspect and align a grasp."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left gripper is over a tan figure, with its body mostly hidden beneath the fingers in the overhead view. I’ll lower to its midsection before closing, keeping the other arm clear.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7746, 1.4338, 0.868, -0.2134, -0.6224, -0.5068, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.0124, -0.0261, 0.9998] state[eef_state]: left_x=0.3425 left_y=-0.1861 left_z=0.1429 left_yaw=-0.009 left_pitch=-0.0449 left_roll=0.0257 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1801 right_yaw=0.0004 right_pitch=-0.0103 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1573, -6.2701, 9.1145, 1.6044, -0.4469, -0.0269, -0.0171, -0.2256, -1.5932, 7.2547, 1.8339, -0.0659, -0.0464, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The left gripper is over a tan figure, with its body mostly hidden beneath the fingers in the overhead view. I’ll lower to its midsection before closing, keeping the other arm clear."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe fingers are down around the partly occluded tan figure. I’m closing the jaws and will use the settled opening and a short lift to check whether the grasp took.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7746, 1.6367, 0.6559, 0.1734, -0.6247, -0.5091, 0.9995, -0.0151, 0.8032, 0.6086, -0.3843, -0.012, -0.0257, 0.9998] state[eef_state]: left_x=0.34 left_y=-0.1832 left_z=0.0512 left_yaw=-0.005 left_pitch=-0.0641 left_roll=0.0447 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0889, -6.5846, 5.3949, 1.6532, -0.232, 0.0073, -0.0171, -0.253, -1.2239, 7.0632, 1.8193, -0.0317, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are down around the partly occluded tan figure. I’m closing the jaws and will use the settled opening and a short lift to check whether the grasp took."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe jaws closed almost completely (0.012), so that tan figure was missed; it appears left of the finger centerline. I’m opening and moving instead to the distinct gray figures at the left edge, where this arm has a clearer approach.
move_to
left_x0.3850left_y0.0250left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7746, 1.6367, 0.6556, 0.1726, -0.625, -0.5095, 0.0118, -0.0151, 0.8032, 0.6086, -0.3847, -0.012, -0.0257, 0.9997] state[eef_state]: left_x=0.3399 left_y=-0.183 left_z=0.051 left_yaw=-0.0045 left_pitch=-0.0647 left_roll=0.0454 left_gripper=0.0118 right_x=0.2953 right_y=0.0013 right_z=0.1786 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [-0.1299, -6.7624, 5.641, 1.4432, -0.2711, -0.0269, 0.8571, -0.253, -1.1556, 7.2274, 1.746, -0.0513, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":0.025,"left_z":0.14,"left_gripper":1},"note":"The jaws closed almost completely (0.012), so that tan figure was missed; it appears left of the finger centerline. I’m opening and moving instead to the distinct gray figures at the left edge, where this arm has a clearer approach."})
tool
executing move_to over 19 steps (1.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe gray figure is now visible immediately below the left fingertips in the overhead image, and partly at the bottom of the wrist view. I’m shifting the grasp a couple of centimeters toward it while descending to body height.
move_to
left_x0.3550left_y0.0050left_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 1.3014, 0.6941, -0.0658, 0.0048, 0.038, 0.9988, -0.0147, 0.8062, 0.6083, -0.3855, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.377 left_y=0.0302 left_z=0.1223 left_yaw=0.0325 left_pitch=-0.1108 left_roll=0.0387 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1774 right_yaw=0.0009 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4171, -5.7368, 9.347, 1.7851, 0.2027, 0.232, -0.1392, -0.2667, -1.5795, 7.0496, 1.7216, -0.0562, -0.022, -0.0073] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":0.005,"left_z":0.055},"note":"The gray figure is now visible immediately below the left fingertips in the overhead image, and partly at the bottom of the wrist view. I’m shifting the grasp a couple of centimeters toward it while descending to body height."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteAt grasp height the gray body is still left of the jaw gap in the wrist view. I’m nudging the fingers toward the arm’s left side and slightly back so the figure falls between them.
move_to
left_y0.0480left_x0.3380
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0391, 1.3731, 0.4427, 0.234, -0.0692, -0.0196, 0.9983, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0261, 0.9997] state[eef_state]: left_x=0.3521 left_y=0.002 left_z=0.0524 left_yaw=0.0147 left_pitch=-0.1322 left_roll=0.0411 left_gripper=0.9983 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0009 right_pitch=-0.0237 right_roll=-0.0005 right_gripper=0.9997 state[joint_eff]: [-0.1026, -3.7538, 5.6821, 1.8242, -0.1441, -0.1099, -0.0659, -0.2803, -1.4701, 7.0359, 1.7216, -0.0269, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.048,"left_x":0.338},"note":"At grasp height the gray body is still left of the jaw gap in the wrist view. I’m nudging the fingers toward the arm’s left side and slightly back so the figure falls between them."})
tool
executing move_to over 5 steps (0.5s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe gray figure now sits directly beside and partly beneath the left fingertips in the overhead view, though the close wrist camera crops much of it. I’ll try the grasp and check the resulting jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1768, 1.3422, 0.4259, 0.2363, 0.0719, 0.099, 0.9983, -0.0147, 0.8101, 0.6083, -0.3855, -0.0113, -0.0261, 0.9997] state[eef_state]: left_x=0.3447 left_y=0.0523 left_z=0.0566 left_yaw=0.0467 left_pitch=-0.1158 left_roll=0.0439 left_gripper=0.9983 right_x=0.2956 right_y=0.0012 right_z=0.1764 right_yaw=0.0002 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9997 state[joint_eff]: [0.0889, -5.6957, 4.6017, 1.5067, 0.1783, 0.149, -0.0269, -0.3761, -1.4838, 7.0359, 1.7118, -0.0562, -0.0611, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray figure now sits directly beside and partly beneath the left fingertips in the overhead view, though the close wrist camera crops much of it. I’ll try the grasp and check the resulting jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe second empty closure confirms that the gray figure is not yet inside the jaws; the wrist view shows it very close, on the baseward side. I’m reopening and moving about five centimeters back toward it rather than repeating the same closure.
move_to
left_x0.2950left_y0.0350left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1661, 1.3407, 0.424, 0.2291, 0.0631, 0.0898, 0.011, -0.0147, 0.8101, 0.6083, -0.3851, -0.0116, -0.0261, 0.9997] state[eef_state]: left_x=0.3434 left_y=0.0499 left_z=0.0549 left_yaw=0.0483 left_pitch=-0.1238 left_roll=0.0413 left_gripper=0.011 right_x=0.2957 right_y=0.0013 right_z=0.1764 right_yaw=0.0005 right_pitch=-0.0252 right_roll=-0.0007 right_gripper=0.9997 state[joint_eff]: [-0.1299, -4.465, 5.8735, 1.6825, -0.0269, 0.0073, 0.6813, -0.212, -0.7726, 7.0359, 1.7118, -0.0464, -0.0415, -0.0073] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.035,"left_z":0.055,"left_gripper":1},"note":"The second empty closure confirms that the gray figure is not yet inside the jaws; the wrist view shows it very close, on the baseward side. I’m reopening and moving about five centimeters back toward it rather than repeating the same closure."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe gray figure remains far left of the wrist camera’s jaw center even after moving back, near this arm’s fence-side y limit. I’m switching to the accessible tan figures in the middle, approaching the leftmost one farther back than my first attempt.
move_to
left_x0.2950left_y-0.1800left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1268, 1.0752, 0.2852, 0.1287, 0.041, 0.0666, 0.9968, -0.0147, 0.8143, 0.6083, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3022 left_y=0.0349 left_z=0.0611 left_yaw=0.0406 left_pitch=-0.0984 left_roll=0.0396 left_gripper=0.9968 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0009 right_pitch=-0.0294 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3624, -2.7829, 5.5726, 1.5604, -0.0952, -0.0708, -0.0708, -0.0889, -1.1282, 7.1863, 1.746, -0.0171, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.18,"left_z":0.065},"note":"The gray figure remains far left of the wrist camera’s jaw center even after moving back, near this arm’s fence-side y limit. I’m switching to the accessible tan figures in the middle, approaching the leftmost one farther back than my first attempt."})
tool
executing move_to over 20 steps (2.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe tan figure now occupies the center of the left wrist view, with its head between the finger columns at grasp height. I’m closing to test this corrected approach.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8928, 1.4864, 0.6094, -0.0715, -0.6823, -0.675, 0.9981, -0.0147, 0.8188, 0.6075, -0.3847, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2911 left_y=-0.1782 left_z=0.0568 left_yaw=0.0151 left_pitch=-0.1205 left_roll=0.0478 left_gripper=0.9981 right_x=0.2962 right_y=0.0014 right_z=0.1737 right_yaw=0.0011 right_pitch=-0.0343 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1436, -5.6684, 7.4051, 1.0623, -0.6471, -0.0708, 0.1148, -0.1983, -1.7436, 7.2274, 1.7363, -0.0659, -0.0757, -0.0171] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan figure now occupies the center of the left wrist view, with its head between the finger columns at grasp height. I’m closing to test this corrected approach."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe jaws again closed empty while the tan figure stayed visible just baseward of them. I’m reopening and lowering the grasp toward the figure’s lower body, with a three-centimeter backward correction.
move_to
left_gripper1.0000left_x0.2600left_z0.0230
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8963, 1.4925, 0.6113, -0.0845, -0.6807, -0.6811, 0.0118, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2892 left_y=-0.1778 left_z=0.0539 left_yaw=0.0157 left_pitch=-0.1318 left_roll=0.0559 left_gripper=0.0118 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.212, -6.0239, 5.4906, 1.3162, -0.3443, 0.0464, 0.9402, -0.335, -1.3607, 7.0769, 1.7021, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.26,"left_z":0.023},"note":"The jaws again closed empty while the tan figure stayed visible just baseward of them. I’m reopening and lowering the grasp toward the figure’s lower body, with a three-centimeter backward correction."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe tan animal’s head and body now fill the space between the two open fingers at the lower grasp height. I’m closing here to check whether its body provides a solid hold.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9905, 1.5227, 0.5198, -0.0063, -0.7418, -0.7708, 0.9955, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9997] state[eef_state]: left_x=0.2653 left_y=-0.1804 left_z=0.032 left_yaw=0.0112 left_pitch=-0.1121 left_roll=0.0513 left_gripper=0.9955 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [-0.4718, -3.7812, 4.1231, 1.2186, -0.2711, -0.1636, -0.1832, -0.2256, -1.388, 7.1043, 1.6923, -0.022, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan animal’s head and body now fill the space between the two open fingers at the lower grasp height. I’m closing here to check whether its body provides a solid hold."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe jaw reading is borderline at 0.035, so it may be either a narrow grip or an empty close. I’m lifting straight up to see whether the tan animal moves with the fingers.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9909, 1.5295, 0.5156, -0.0036, -0.7639, -0.7666, 0.0353, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.266 left_y=-0.1765 left_z=0.0315 left_yaw=0.0221 left_pitch=-0.1008 left_roll=0.0718 left_gripper=0.0353 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3077, -5.9009, 5.3538, 1.1648, -0.1685, -0.1929, 0.9402, -0.1846, -1.5795, 7.0906, 1.707, -0.0317, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The jaw reading is borderline at 0.035, so it may be either a narrow grip or an empty close. I’m lifting straight up to see whether the tan animal moves with the fingers."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe tan animal remained on the table when I lifted, so the borderline jaw reading was not a secure pickup. I’m parking the left arm and positioning the right arm directly over the central tan group, where its approach is less obstructed.
move_to
left_x0.2960left_y0.0000left_z0.1800left_gripper1.0000right_x0.3000right_y0.3000right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9905, 1.2877, 0.82, -0.5648, -0.7559, -0.7719, 0.0466, -0.0147, 0.8249, 0.6067, -0.3859, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.2654 left_y=-0.1773 left_z=0.1382 left_yaw=0.0221 left_pitch=-0.1143 left_roll=0.0767 left_gripper=0.0466 right_x=0.2963 right_y=0.0013 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0423 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1162, -5.641, 8.7453, 0.8523, -0.4322, -0.0073, 1.033, -0.1983, -1.4427, 7.0496, 1.7167, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.3,"right_y":0.3,"right_z":0.055},"note":"The tan animal remained on the table when I lifted, so the borderline jaw reading was not a secure pickup. I’m parking the left arm and positioning the right arm directly over the central tan group, where its approach is less obstructed."})
tool
executing move_to over 25 steps (2.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe right fingers are beside the central tan figures, but a figure appears left and baseward of the jaw gap in its wrist view. I’m correcting a few centimeters left and back and dropping to the lower body level.
move_to
right_x0.2700right_y0.3500right_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0959, 0.894, 0.6918, -0.5301, -0.1669, -0.0551, 0.9986, 1.0706, 1.8481, 0.9638, -0.0689, 0.804, 0.7879, 0.9997] state[eef_state]: left_x=0.2903 left_y=0.0051 left_z=0.1642 left_yaw=0.0607 left_pitch=-0.1597 left_roll=0.082 left_gripper=0.9986 right_x=0.303 right_y=0.2966 right_z=0.0575 right_yaw=0.0025 right_pitch=-0.0396 right_roll=0.011 right_gripper=0.9997 state[joint_eff]: [-0.2803, -1.935, 8.9231, 1.7949, 0.1441, 0.105, -0.1636, 1.0188, -7.4598, 7.1726, 1.0183, 0.3834, 0.1197, -0.0171] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.35,"right_z":0.025},"note":"The right fingers are beside the central tan figures, but a figure appears left and baseward of the jaw gap in its wrist view. I’m correcting a few centimeters left and back and dropping to the lower body level."})
tool
executing move_to over 5 steps (0.5s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe overhead view shows the right fingers covering the right edge of the tan cluster, although the wrist camera mainly sees a different animal to their left. I’m closing on the occluded figure and will check whether anything is held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0948, 0.8955, 0.6914, -0.5312, -0.1574, -0.0528, 0.9983, 1.2118, 2.0403, 1.1133, -0.1448, 0.8635, 0.9634, 0.9998] state[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1633 left_yaw=0.0526 left_pitch=-0.1638 left_roll=0.0778 left_gripper=0.9983 right_x=0.271 right_y=0.3501 right_z=0.0253 right_yaw=0.0129 right_pitch=-0.0457 right_roll=0.0266 right_gripper=0.9998 state[joint_eff]: [-0.1573, -1.5658, 6.9402, 1.5995, -0.1685, -0.0562, -0.0415, 0.6222, -9.1145, 7.1179, 0.8132, 0.4908, 0.1001, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The overhead view shows the right fingers covering the right edge of the tan cluster, although the wrist camera mainly sees a different animal to their left. I’m closing on the occluded figure and will check whether anything is held."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe right jaws closed empty (0.020), and the visible animal remains left of their center. I’m opening and making the largest safe leftward adjustment this arm allows, with the fingers raised during the reposition.
move_to
right_y0.4000right_x0.2850right_z0.0850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0956, 0.8993, 0.6907, -0.5343, -0.157, -0.0528, 0.9983, 1.2106, 2.0403, 1.1137, -0.1493, 0.8627, 0.9733, 0.0196] state[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1614 left_yaw=0.0517 left_pitch=-0.1714 left_roll=0.0787 left_gripper=0.9983 right_x=0.2711 right_y=0.3492 right_z=0.0249 right_yaw=0.0067 right_pitch=-0.048 right_roll=0.0311 right_gripper=0.0196 state[joint_eff]: [-0.0342, -1.9897, 7.2684, 1.6581, -0.1148, -0.0415, -0.0122, 0.253, -9.0188, 6.5983, 0.8181, 0.5201, 0.0366, 0.8132] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.4,"right_x":0.285,"right_z":0.085,"right_gripper":1},"note":"The right jaws closed empty (0.020), and the visible animal remains left of their center. I’m opening and making the largest safe leftward adjustment this arm allows, with the fingers raised during the reposition."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteAt the right arm’s leftward limit, a tan animal sits close to the left jaw but not centered. I’m lowering the open fingers to table-level body height for one carefully positioned grasp attempt.
move_to
right_z0.0120
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0952, 0.9024, 0.6891, -0.5365, -0.157, -0.0528, 0.9983, 1.2118, 2.0876, 1.4559, -0.4538, 0.8524, 0.9771, 0.9986] state[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.1595 left_yaw=0.0523 left_pitch=-0.1782 left_roll=0.0797 left_gripper=0.9983 right_x=0.2865 right_y=0.395 right_z=0.0806 right_yaw=0.0103 right_pitch=-0.06 right_roll=0.0285 right_gripper=0.9986 state[joint_eff]: [-0.1573, -2.0581, 6.9949, 1.6093, -0.1001, -0.0513, -0.0122, 0.759, -10.0855, 8.3761, 0.8767, 0.4713, 0.0757, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.012},"note":"At the right arm’s leftward limit, a tan animal sits close to the left jaw but not centered. I’m lowering the open fingers to table-level body height for one carefully positioned grasp attempt."})
tool
executing move_to over 5 steps (0.5s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe tan figure is still outside the right jaw at its lateral workspace limit, so that arm cannot make this grasp cleanly. I’m parking it and bringing the left gripper toward the tan figure visible to the right of its wrist camera.
move_to
right_x0.2960right_y0.0000right_z0.1800right_gripper1.0000left_x0.3100left_y-0.1900left_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0948, 0.9051, 0.6884, -0.5369, -0.1566, -0.0528, 0.9983, 1.2091, 2.186, 1.3685, -0.252, 0.8524, 0.9775, 0.9985] state[eef_state]: left_x=0.2892 left_y=0.0038 left_z=0.1583 left_yaw=0.0524 left_pitch=-0.182 left_roll=0.08 left_gripper=0.9983 right_x=0.2885 right_y=0.3968 right_z=0.0266 right_yaw=0.0083 right_pitch=-0.0542 right_roll=0.0438 right_gripper=0.9985 state[joint_eff]: [-0.1299, -1.894, 6.9675, 1.5604, -0.0806, -0.0317, -0.0122, -0.1436, -9.8803, 4.9026, 0.8913, 0.3443, -0.0171, -0.0171] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.31,"left_y":-0.19,"left_z":0.075},"note":"The tan figure is still outside the right jaw at its lateral workspace limit, so that arm cannot make this grasp cleanly. I’m parking it and bringing the left gripper toward the tan figure visible to the right of its wrist camera."})
tool
executing move_to over 34 steps (3.4s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteA tan plush face is clearly visible left of the left jaw gap now. I’m shifting the gripper about six centimeters toward it and lowering to the head/body height before closing.
move_to
left_y-0.1250left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8627, 1.5475, 0.7971, -0.2848, -0.6777, -0.6865, 0.9983, -0.0593, 0.8413, 0.6231, -0.4305, -0.0605, -0.0093, 0.999] state[eef_state]: left_x=0.308 left_y=-0.1839 left_z=0.0743 left_yaw=0.0588 left_pitch=-0.1758 left_roll=0.106 left_gripper=0.9983 right_x=0.293 right_y=-0.0031 right_z=0.1657 right_yaw=-0.0116 right_pitch=-0.0862 right_roll=0.0433 right_gripper=0.999 state[joint_eff]: [-0.1709, -5.6137, 7.2274, 1.199, -0.2076, -0.1294, -0.0171, -0.1709, -2.0171, 9.9624, 1.6044, -0.0855, -0.1294, -0.1148] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_z":0.045},"note":"A tan plush face is clearly visible left of the left jaw gap now. I’m shifting the gripper about six centimeters toward it and lowering to the head/body height before closing."})
tool
executing move_to over 6 steps (0.6s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe tan plush face is now centered between the open finger columns in the left wrist view. I’m closing around its lower head and checking for a nonempty jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0097, -0.6209, -0.5194, 0.9982, -0.0593, 0.8471, 0.6197, -0.4358, -0.0643, -0.0158, 0.9989] state[eef_state]: left_x=0.3167 left_y=-0.126 left_z=0.0557 left_yaw=0.0823 left_pitch=-0.1287 left_roll=0.0963 left_gripper=0.9982 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0048 right_pitch=-0.1004 right_roll=0.0412 right_gripper=0.9989 state[joint_eff]: [0.0342, -5.5316, 4.2462, 1.072, 0.0806, 0.0269, -0.0122, -0.1299, -1.9761, 7.4325, 1.7167, -0.0415, -0.0122, -0.022] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan plush face is now centered between the open finger columns in the left wrist view. I’m closing around its lower head and checking for a nonempty jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe fingers stopped at about 2 cm apart (reading 0.212), consistent with gripping the plush head. I’m lifting vertically to verify it comes off the table.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0032, -0.6537, -0.5201, 0.2119, -0.0593, 0.8471, 0.6197, -0.4362, -0.0643, -0.0162, 0.9988] state[eef_state]: left_x=0.3189 left_y=-0.1218 left_z=0.0592 left_yaw=0.1049 left_pitch=-0.1059 left_roll=0.1092 left_gripper=0.2119 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0046 right_pitch=-0.1008 right_roll=0.0409 right_gripper=0.9988 state[joint_eff]: [-0.0479, -5.2308, 5.8462, 1.2772, 0.0171, -0.022, 1.0281, -0.1026, -1.5658, 6.9949, 1.6337, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The fingers stopped at about 2 cm apart (reading 0.212), consistent with gripping the plush head. I’m lifting vertically to verify it comes off the table."})
tool
executing move_to over 7 steps (0.7s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe tan plush remained in the jaws as they rose, confirming the pickup. I’m carrying this type over the left blue basket, high enough to clear its rim.
move_to
left_x0.4470left_y-0.1100left_z0.2050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.696, 1.2984, 0.8162, -0.4137, -0.651, -0.5312, 0.2142, -0.0593, 0.8509, 0.6197, -0.4366, -0.0643, -0.0162, 0.9986] state[eef_state]: left_x=0.3207 left_y=-0.1238 left_z=0.1415 left_yaw=0.1095 left_pitch=-0.1115 left_roll=0.104 left_gripper=0.2142 right_x=0.2921 right_y=-0.0024 right_z=0.1604 right_yaw=-0.0045 right_pitch=-0.105 right_roll=0.0412 right_gripper=0.9986 state[joint_eff]: [-0.212, -6.5573, 8.9641, 1.2088, -0.3394, 0.0659, 0.6227, -0.1162, -1.6889, 7.1316, 1.6435, -0.0171, -0.0415, -0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.447,"left_y":-0.11,"left_z":0.205},"note":"The tan plush remained in the jaws as they rose, confirming the pickup. I’m carrying this type over the left blue basket, high enough to clear its rim."})
tool
executing move_to over 10 steps (1.0s)
step 263
top_cam
camera top_cam step 263
left_cam
camera left_cam step 263
assistant
agent noteThe held plush is just in front of the left basket’s near rim in the overhead view. I’m reaching several centimeters farther into the basket and lowering it while keeping the grip closed.
move_to
left_x0.4900left_y-0.1200left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4278, 1.631, 1.2861, -0.4999, -0.4801, -0.3473, 0.2165, -0.0593, 0.8543, 0.6197, -0.437, -0.0647, -0.0158, 0.9986] state[eef_state]: left_x=0.4333 left_y=-0.104 left_z=0.1797 left_yaw=0.15 left_pitch=-0.1673 left_roll=0.1113 left_gripper=0.2165 right_x=0.2922 right_y=-0.0023 right_z=0.1594 right_yaw=-0.0044 right_pitch=-0.1088 right_roll=0.0419 right_gripper=0.9986 state[joint_eff]: [0.0889, -8.5265, 9.7573, 1.619, -0.1734, 0.3687, 0.5788, -0.1299, -1.8393, 6.9675, 1.6386, -0.0952, -0.0171, -0.022] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.12,"left_z":0.12},"note":"The held plush is just in front of the left basket’s near rim in the overhead view. I’m reaching several centimeters farther into the basket and lowering it while keeping the grip closed."})
tool
executing move_to over 5 steps (0.5s)
step 268
assistant
agent noteThe animal’s head is over the basket but its body still hangs across the near edge. I’m moving slightly farther inward before release so it falls into the basket rather than against the rim.
move_to
left_x0.5250left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4091, 1.8366, 1.3445, -0.3344, -0.4999, -0.3546, 0.2192, -0.0593, 0.8574, 0.6189, -0.437, -0.0643, -0.0162, 0.9986] state[eef_state]: left_x=0.4812 left_y=-0.1124 left_z=0.1384 left_yaw=0.1862 left_pitch=-0.1435 left_roll=0.1079 left_gripper=0.2192 right_x=0.2922 right_y=-0.0024 right_z=0.1582 right_yaw=-0.0045 right_pitch=-0.1126 right_roll=0.0416 right_gripper=0.9986 state[joint_eff]: [0.2393, -6.7487, 7.241, 1.2967, 0.1392, 0.2759, 0.5397, -0.2256, -1.7709, 7.0222, 1.663, -0.022, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.525,"left_z":0.105},"note":"The animal’s head is over the basket but its body still hangs across the near edge. I’m moving slightly farther inward before release so it falls into the basket rather than against the rim."})
tool
executing move_to over 4 steps (0.4s)
step 272
assistant
agent noteThe animal now hangs over the basket interior, with its head well inside the blue walls. I’m lowering until it is supported before opening the jaws.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3748, 1.9633, 1.4361, -0.281, -0.5011, -0.3489, 0.2229, -0.0593, 0.86, 0.6178, -0.437, -0.0643, -0.0162, 0.9985] state[eef_state]: left_x=0.5148 left_y=-0.1075 left_z=0.122 left_yaw=0.217 left_pitch=-0.1282 left_roll=0.1027 left_gripper=0.2229 right_x=0.2922 right_y=-0.0024 right_z=0.1569 right_yaw=-0.0045 right_pitch=-0.1164 right_roll=0.0418 right_gripper=0.9985 state[joint_eff]: [0.5402, -7.3641, 7.3641, 1.663, 0.0904, 0.232, 0.3687, -0.0479, -1.7026, 7.0769, 1.6435, -0.0513, -0.0855, -0.0171] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06},"note":"The animal now hangs over the basket interior, with its head well inside the blue walls. I’m lowering until it is supported before opening the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 276
assistant
agent noteThe descent stopped near z=0.12 at this far reach, but the plush is already positioned above the basket interior. I’m releasing it here and will move the gripper away to check the landing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3698, 1.9804, 1.4498, -0.263, -0.5087, -0.3477, 0.2244, -0.0593, 0.8604, 0.6178, -0.4366, -0.0647, -0.0162, 0.9986] state[eef_state]: left_x=0.5212 left_y=-0.1059 left_z=0.1221 left_yaw=0.2262 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.2244 right_x=0.2923 right_y=-0.0023 right_z=0.1569 right_yaw=-0.0042 right_pitch=-0.1164 right_roll=0.042 right_gripper=0.9986 state[joint_eff]: [-0.0205, -7.9932, 7.0632, 1.6288, 0.1294, 0.2466, 0.1587, -0.1299, -1.6342, 6.9949, 1.663, -0.0757, -0.0562, -0.0073] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent stopped near z=0.12 at this far reach, but the plush is already positioned above the basket interior. I’m releasing it here and will move the gripper away to check the landing."})
tool
executing move_to over 8 steps (0.8s)
step 284
assistant
agent noteThe jaws are open, and the plush appears to have settled near the left basket’s front-right interior. I’m retracting the arm to confirm its position and expose the remaining objects.
move_to
left_x0.3100left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3706, 1.9888, 1.4494, -0.231, -0.5018, -0.3519, 0.9955, -0.0593, 0.8639, 0.6178, -0.4366, -0.0647, -0.0162, 0.9985] state[eef_state]: left_x=0.5258 left_y=-0.1093 left_z=0.1224 left_yaw=0.221 left_pitch=-0.0964 left_roll=0.0796 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.156 right_yaw=-0.0041 right_pitch=-0.1198 right_roll=0.0422 right_gripper=0.9985 state[joint_eff]: [-0.0615, -11.7812, 6.6393, 1.16, -0.3248, 0.0073, -0.1343, -0.0479, -1.7709, 7.2, 1.6386, -0.0904, -0.0757, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0,"left_z":0.18},"note":"The jaws are open, and the plush appears to have settled near the left basket’s front-right interior. I’m retracting the arm to confirm its position and expose the remaining objects."})
tool
executing move_to over 17 steps (1.7s)
step 301
assistant
agent noteWith the arm clear, the released teddy is visibly draped across the left basket’s near rim rather than fully inside. I’m returning to the tan figures below it to secure another grasp, then I’ll carry farther over the basket before releasing.
move_to
left_x0.3550left_y-0.1300left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2443, 1.0206, 0.7643, -0.4446, -0.4183, -0.2749, 0.9968, -0.0593, 0.8696, 0.614, -0.4358, -0.0647, -0.0162, 0.9985] state[eef_state]: left_x=0.3202 left_y=-0.0022 left_z=0.1838 left_yaw=0.2372 left_pitch=-0.0687 left_roll=0.0574 left_gripper=0.9968 right_x=0.2922 right_y=-0.0023 right_z=0.1529 right_yaw=-0.0041 right_pitch=-0.1286 right_roll=0.0427 right_gripper=0.9985 state[joint_eff]: [0.3077, -2.6188, 6.9538, 1.5702, -0.1587, 0.1587, 0.1197, -0.1026, -1.7846, 7.2684, 1.7118, -0.0855, -0.0806, -0.0073] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.13,"left_z":0.065},"note":"With the arm clear, the released teddy is visibly draped across the left basket’s near rim rather than fully inside. I’m returning to the tan figures below it to secure another grasp, then I’ll carry farther over the basket before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 313
assistant
agent noteA plush body fills the left wrist view and lies between the fingers at table-height. I’m closing on it, likely the teddy that was caught across the basket rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6659, 1.5929, 0.6998, -0.0593, -0.6998, -0.6079, 0.9968, -0.0593, 0.8715, 0.6136, -0.437, -0.0643, -0.0162, 0.9985] state[eef_state]: left_x=0.3439 left_y=-0.1209 left_z=0.0556 left_yaw=0.2177 left_pitch=-0.115 left_roll=0.1123 left_gripper=0.9968 right_x=0.292 right_y=-0.0024 right_z=0.152 right_yaw=-0.0044 right_pitch=-0.1321 right_roll=0.0427 right_gripper=0.9985 state[joint_eff]: [-0.2393, -6.8991, 7.8154, 1.2625, -0.3101, -0.1685, -0.0073, -0.0889, -1.7983, 7.0085, 1.5946, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"A plush body fills the left wrist view and lies between the fingers at table-height. I’m closing on it, likely the teddy that was caught across the basket rim."})
tool
executing move_to over 10 steps (1.0s)
step 323
assistant
agent noteThe jaws stopped 1.1 cm apart on the plush, indicating contact. I’m lifting to confirm the rim-straddling teddy comes up with the gripper.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6651, 1.6154, 0.7048, -0.0586, -0.7033, -0.6136, 0.1145, -0.0593, 0.8715, 0.6136, -0.4366, -0.0647, -0.0162, 0.9985] state[eef_state]: left_x=0.3444 left_y=-0.1204 left_z=0.0503 left_yaw=0.2253 left_pitch=-0.123 left_roll=0.1227 left_gripper=0.1145 right_x=0.292 right_y=-0.0023 right_z=0.1521 right_yaw=-0.004 right_pitch=-0.1317 right_roll=0.0429 right_gripper=0.9985 state[joint_eff]: [-0.0615, -8.4034, 5.2034, 1.199, -0.315, 0.022, 0.9548, -0.1299, -1.4427, 6.9538, 1.6288, -0.0659, -0.0611, -0.0073] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The jaws stopped 1.1 cm apart on the plush, indicating contact. I’m lifting to confirm the rim-straddling teddy comes up with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 332
assistant
agent noteThe teddy rose with the gripper and is hanging by its body, so this is a secure pickup. I’m moving much deeper over the left basket, accounting for the part of the teddy that trails behind the grasp point.
move_to
left_x0.5500left_y-0.1700left_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6643, 1.4487, 1.0325, -0.5694, -0.6807, -0.625, 0.116, -0.0593, 0.8753, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985] state[eef_state]: left_x=0.3469 left_y=-0.1259 left_z=0.1572 left_yaw=0.2197 left_pitch=-0.147 left_roll=0.1148 left_gripper=0.116 right_x=0.2921 right_y=-0.0024 right_z=0.1508 right_yaw=-0.0043 right_pitch=-0.1359 right_roll=0.0429 right_gripper=0.9985 state[joint_eff]: [-0.1299, -8.6359, 8.5949, 0.9402, -0.5983, 0.1197, 0.7253, -0.0752, -1.9897, 6.9949, 1.6044, -0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.17,"left_z":0.21},"note":"The teddy rose with the gripper and is hanging by its body, so this is a secure pickup. I’m moving much deeper over the left basket, accounting for the part of the teddy that trails behind the grasp point."})
tool
executing move_to over 16 steps (1.6s)
step 348
assistant
agent noteThe entire hanging teddy now projects inside the left basket’s rim in the overhead view. I’m lowering as far as the extended arm can safely reach before releasing it.
move_to
left_x0.5250left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4759, 2.2112, 2.1349, -0.8734, -0.5472, -0.4973, 0.1169, -0.0593, 0.8803, 0.6132, -0.437, -0.0643, -0.0162, 0.9985] state[eef_state]: left_x=0.5373 left_y=-0.1695 left_z=0.1853 left_yaw=0.245 left_pitch=-0.2096 left_roll=0.1068 left_gripper=0.1169 right_x=0.2923 right_y=-0.0024 right_z=0.1494 right_yaw=-0.0043 right_pitch=-0.1412 right_roll=0.0432 right_gripper=0.9985 state[joint_eff]: [0.4444, -13.4632, 9.0051, 1.5702, -0.4274, 0.4908, 0.6569, -0.1983, -2.0444, 6.9675, 1.5946, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.525,"left_z":0.105},"note":"The entire hanging teddy now projects inside the left basket’s rim in the overhead view. I’m lowering as far as the extended arm can safely reach before releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 354
assistant
agent noteThe basket has shifted and tilted as the arm lowered, indicating contact with its rim. I’m releasing the teddy immediately rather than pressing farther into the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4927, 2.1902, 1.7588, -0.6052, -0.5388, -0.5091, 0.1183, -0.0593, 0.8829, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985] state[eef_state]: left_x=0.5149 left_y=-0.1694 left_z=0.0883 left_yaw=0.2432 left_pitch=-0.2783 left_roll=0.1526 left_gripper=0.1183 right_x=0.2924 right_y=-0.0024 right_z=0.1488 right_yaw=-0.0043 right_pitch=-0.1435 right_roll=0.0433 right_gripper=0.9985 state[joint_eff]: [0.4855, -14.3658, 7.0769, 1.4139, -0.486, -0.0415, 0.6374, -0.0342, -1.6752, 6.9265, 1.6288, -0.0513, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The basket has shifted and tilted as the arm lowered, indicating contact with its rim. I’m releasing the teddy immediately rather than pressing farther into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 363
assistant
agent noteThe plush was released, but the left basket is visibly tilted and the figure appears outside its front edge. I’m backing the arm away from the basket to prevent further disturbance and inspect the final positions.
move_to
left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4904, 2.1902, 1.739, -0.6086, -0.5377, -0.524, 0.9955, -0.0593, 0.8829, 0.6132, -0.4366, -0.0647, -0.0162, 0.9985] state[eef_state]: left_x=0.5104 left_y=-0.1659 left_z=0.0807 left_yaw=0.2575 left_pitch=-0.2948 left_roll=0.158 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.1488 right_yaw=-0.004 right_pitch=-0.1435 right_roll=0.0435 right_gripper=0.9985 state[joint_eff]: [-0.3487, -12.5333, 7.9932, 1.1404, -0.2662, 0.1001, -0.1929, -0.1026, -1.7573, 6.9538, 1.5849, -0.0708, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.19},"note":"The plush was released, but the left basket is visibly tilted and the figure appears outside its front edge. I’m backing the arm away from the basket to prevent further disturbance and inspect the final positions."})
tool
executing move_to over 17 steps (1.7s)
step 380
assistant
agent noteI could not complete the classification: the gray objects are pressed against the left fence beyond the gripper’s lateral reach, and the left basket tipped when I attempted to place a plush inside. Both arms are clear of the objects.
give_up
hindsightOn this rig, a tan plush was securely grasped by the left arm near x=0.317, y=-0.126, z=0.055 with a settled jaw reading of 0.21. The left basket is at the far edge of the arm’s reach: lowering near x=0.52 contacted and tipped it, while releasing from above left a plush across the near rim. The gray objects lie at the fence-side edge, beyond the left arm's y=+0.05 limit.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2573, 1.1538, 1.0107, -0.7837, -0.4244, -0.3283, 0.9968, -0.0593, 0.8879, 0.6132, -0.4358, -0.0647, -0.0162, 0.9985] state[eef_state]: left_x=0.3123 left_y=-0.0033 left_z=0.1932 left_yaw=0.2764 left_pitch=-0.2611 left_roll=0.132 left_gripper=0.9968 right_x=0.2927 right_y=-0.0024 right_z=0.1476 right_yaw=-0.0039 right_pitch=-0.1477 right_roll=0.0438 right_gripper=0.9985 state[joint_eff]: [0.0615, -3.6855, 6.0923, 1.2821, -0.1783, 0.0562, 0.1148, -0.1846, -1.7436, 6.9402, 1.6777, -0.0952, -0.0611, -0.0073] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the classification: the gray objects are pressed against the left fence beyond the gripper’s lateral reach, and the left basket tipped when I attempted to place a plush inside. Both arms are clear of the objects.","hindsight":"On this rig, a tan plush was securely grasped by the left arm near x=0.317, y=-0.126, z=0.055 with a settled jaw reading of 0.21. The left basket is at the far edge of the arm’s reach: lowering near x=0.52 contacted and tipped it, while releasing from above left a plush across the near rim. The gray objects lie at the fence-side edge, beyond the left arm's y=+0.05 limit."})
tool
give_up: I could not complete the classification: the gray objects are pressed against the left fence beyond the gripper’s lateral reach, and the left basket tipped when I attempted to place a plush inside. Both arms are clear of the objects.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.062 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6163, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1841 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.7026, 9.3197, 1.8046, -0.0269, 0.1538, -0.0562, -1.0462, -1.6205, 9.7846, 1.7265, -0.1343, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e808335d5e35eab4e7856836de3243b2a223adb574ffedde117663fb10ca9a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b251483ee108f0f999f6fe4fb8e3b421b743291b025b1fe67aad585cd7204386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4746d0f22d65e5032320b66d491d8cda32759601c0faced36d3ce3a43b6aec05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.038 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtC9wNtmLpNf4G25LZO18sahDpdaV6XvMVyaEw4O2y9WWqmU1ZIzx5e4GHRVNJWlhJBguUdSg-WUqV0hPpPynHTB5JC6qb7SekR_cJ7LMy-d7q8txuRlWkcI1CuglrxUYmECAC9SjIFE-OFr9QmykQNANg2b_wR4BoH3BJ5I2Ilgk-juGM_kdRmSa3YxSnSRhvsmubUTKApRRCyZKwFMfHBR11tLYjRfgUl7uenxOdCmdfGxwMIzJ3HkKcBccyg9ygr3F5Df4P86QKvFqX50BMkhHi7dXlB_tMqbpM4Oa8dtFie6otwQGD2FV4jSulzKlexaQoUARH3AqIUc036khZCMlOqjE9c-gQdVHBBsPOQdW3asnJjVWSHk2iXMVAfn1PQo4imMckoWRWWMUqMOV_GIWtfrwPtchuyFEy281xN9dZ7no3dHeaEbo1BJ7oFb8zVMeYzGS-CWrwc_IO52aYSaYc8gg4XMdwM1d_sswWYpZh_vUXkzk_Zf0CBZJg80dLG-WXUeMd_bvyHeyjzKjKHQxK1EXVUKdqM4SK_kIlFesAZrb2pJIMv9K88DbBxnitPRHztefTLvEQ78ff_QXGI-YsYMDHuNZHH4QUtJFXvxcMcc4m-BIJvv2_1dYIBi32RNO4gOmmKS59UCNupS3LD-3fEGPg2-t52tKtpNU749V7l6fDBKuxvSal_0zQCEYjuShEA8egqF0MaWBTkZM7nJqF3tObAPM__9afX8nRm8SiE4dfEtKYs2APvFgzrDg5JvBrP27daroAOl7LEXIN9GUdxUozDFsFuotUUuPZVRfeXfF_izbVP5vWlft7Hjl3JbNuN23r975cr0DHMvd4iLgVvG3I1hT925_TO3zN4I2b0t4AfGosDLfZissAHqiq4KVle7rxMv4zZvCK3eCLbzhE_R9PsigXRSZHzpC6HvFxmLkdCYgh3gw4f--9Mb7saZTWUsxU29jhgAGzCjshcZwhRYGRqYkEReBtK6M10UHF2h4xKp9MoAf9Ml7fw7COQW1fPaozzx_FUJzxsGyK23lxrIIKkhHK7OaVFfaPQw9gclr9liNigCgOdzjAJfSPQmzZ85N-HErpYdQQQq-PWrh50-ssD6PEfMMHVzJeyPGIICfyhvmR2DjLbaE-vEGuK_cEDfiDNGTeGVuLF7sbC3CSSqb2DXPs6WT4PLbBrIt9CjW2VBdOt9R19px71s70FhDctV_ww94JNlfXf8R9CmrMW3HEaVyz3C0NXHBcwWU-etOMO8I0DJiQ8lhzMx8vxHaecM4DC4FBVteClaWxdAi817e3lS3AJre5tjyv9E4ohFt1t4SakKGjDIzzzqmBwhBoNjU7EpbhP-vi8dMGUe_uc-ntDXFz4iMz-xawLBZ6mdQO0YhBIXgy6rNEn4G-bwDVskBX9mAx3WuDLPGmxrLr71lYNHq4nfc-i0g_iiOECeX5varNt18LC8rGGf9ade2wuVqx3i8cs7XIBAd8vWxDiDhSK5_9sSyrrRRtWmSdsbPrS38ffKJfxRF5O4AO96PfMvK-DbRxtTBJarTYNOxz2oagPFR30UDv85elrxXwa5T0d7iTaWsSGljvDIVFMYZJ65BY_AEo1TgC9Osc-Dz6ou65g07frNmg6aCQUSe8gRiLo3yCUuuhyuDx-rbdsTV3mXELtoXKBK4r9m7fJVI7NbHCdSH3vEbYwCUbFJBqLY8NYI99KzA8yQ9Gf6MtmJLlkPfN3P0jNQKhxzPsNTzMC9KlMygslY0oyQd1syiiXDs8MqZCkVzPS_ElpjMNFn3N9Y689C37IeP4Au5bIb4ZJ7t8aETfmTE6gPjW3UnyW0xjJ4jASqu-N_vDkO7vdbEVlMSzsZeiToyTXX_wexQKS_-RquEo-SAII9LyuSEDeZpb4khltVR_NH1B8-hd4vA5Nx4X-K1F5ah6PMxH6iTQLMTX1eFz-wL5Ym3FNF4KzJB1Yn_pNtnfSX802AUqGKayhAsWOcc7_wqZcvsZGjqJKmyXlySXgwiU7ehs5I4ysb3Ylnx4LDwGpO1ppMXg5bZrd54IRvYVqjDfQ20kzRh2LC5S0Oqaz-3nNCiy9g_GKfOPzuZaE8wdnVYTR6OVWI4Ap60ddGuB1C0vScTfYNYCirJ54_mA5JdGrd4xwjDr1GSjukpWpx96e3M2A8bxnt5MFfJ_c3zUcPxm-e4QzMFJ_Tx5-HwhO_QrkPkuShtDXkXx5aJuAT3xPW-YlsitNVKuWPVwa38YqhUXWhSbCeXyZXq4r3mSVZTvFfhvQDAy6VfH0iXuNu3eBEqZm9y2GVHxW_FXRO-7XW9j_2vP1ypDay4km7_O-AKqFg42LDxAPSBsLjTfNiLEy-AhybyW5-jG7hJMdkplgrrLXgmSBGX_jQgcmUPhy5Yde5hIQeBFuARxe_w0eQsGSV5cTguLpLMWF6RK3mGvYm8fLU5iwcyhiBHJVYBw3GBzctzptNcschAIZBYr-VMqgOGWM41cyBOtpTrmGxm7uiFh1Bt_o32tEUAxdu8KrgBJyJXOxszOtFUOvIz6ETvMLbrot6Ynr92j5QJGn7kToQIEouCXaqnD6z33wjq8KSLoaUSxTqDlGaeFhrXLj9hbCPCCT_x_Tgu2n_P6YjKdQQcogX4H-tIvVHDTabvttcrkQHzuRQ6I1ws3TStb4fDhHsSxnCWXRzkjE9u1BE9isTsiDx9aF83KsM7JJm2oT3IJ9jabSQhTfhN2zDf3ABy_D6Hx8X0XJkaRIsB-bT3GNPv21Ggkl3UDZrW8a5ftU_RTG-xLLYs8JIt1iB-3JjPjCZIMpYEW6P8WDU0MVVnkttDUTLtfCdac1FjUbmlAeaQfGqDAIEBTe4l2sIhknN5lD0F-oDxC3-Eecw5OuXdYNluxD0dj4wcfKCO3cxHzGYJLlV0mrNAEPqW3loGnFobZq0VBdRuPrs7hEyye07xuS7dnVEGuyJ2l3A8j81D_VylOSa84Vz3XUOx9Ze3dg8kOmy5Hlxj4w11YISlWKG3VSRb952qe6XKhhNvLshLz90ep1xkm_avkIPdBZsKvCfsX0grnKFQnWcFCjR4FfOVSOuMLbLer2TrewWQeZHfOW6mT4NCug2F4ZAQM7eQCLvZ3eLmzVUUVuFxG2VBvOLaEVEXWPI_LUeHMJUSiCVxu4k56M0a6bQ9EPRAeDRmh0F5R2SeGU9G9t40e-2eCNeEYZH_mHZk0AjyOf_BxMqoo4CP-t43WaFp_6IKlWgMa9j-T4MR84mkNHtZPdcYfwwvAiYltEx7lOJuuQ==",
  "id": "rs_052a393fa4d6833b016ab42f6ba1c487d084c0c75e85e1537c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.19,\"left_z\":0.16},\"note\":\"I see two blue baskets at the back and several small plush figures in front; the leftmost figure is separated enough to pick first. I’m moving the left gripper above it to inspect and align a grasp.\"}",
  "call_id": "call_TkWN30meCK5hEOS8InEc2E9B",
  "id": "fc_052a393fa4d6833b016ab42f6ff55c87d0add9d6185960f1ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TkWN30meCK5hEOS8InEc2E9B",
  "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]: [-0.7746, 1.4338, 0.868, -0.2134, -0.6224, -0.5068, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=-0.1861 left_z=0.1429 left_yaw=-0.009 left_pitch=-0.0449 left_roll=0.0257 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1801 right_yaw=0.0004 right_pitch=-0.0103 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.2701, 9.1145, 1.6044, -0.4469, -0.0269, -0.0171, -0.2256, -1.5932, 7.2547, 1.8339, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0837d58667a1a4355917f85db632b94ad37378393514b18400dc408f41f02ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5635ad1fa65768f5c4c9fb3455f5ecf096325d6a6540f3d2f9f65e330b65a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a28bd11601b8fe0a2f9fdab7976d4083864344d75a0e58855b36e30a7cdbb21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.799 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6163, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1841 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.7026, 9.3197, 1.8046, -0.0269, 0.1538, -0.0562, -1.0462, -1.6205, 9.7846, 1.7265, -0.1343, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.4338, 0.868, -0.2134, -0.6224, -0.5068, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=-0.1861 left_z=0.1429 left_yaw=-0.009 left_pitch=-0.0449 left_roll=0.0257 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1801 right_yaw=0.0004 right_pitch=-0.0103 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.2701, 9.1145, 1.6044, -0.4469, -0.0269, -0.0171, -0.2256, -1.5932, 7.2547, 1.8339, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0837d58667a1a4355917f85db632b94ad37378393514b18400dc408f41f02ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5635ad1fa65768f5c4c9fb3455f5ecf096325d6a6540f3d2f9f65e330b65a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a28bd11601b8fe0a2f9fdab7976d4083864344d75a0e58855b36e30a7cdbb21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_052a393fa4d6833b016ab42f7a1c6487d0ac3426a50cee1dae",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-BRlsmA8rqXdrpDUEJh_T7LPCK7_9Ll3OTr1t5oJsZW7jUBiC31H83B5JE0O0QU8BeWCEv-nfUhWziYd5fx1LHNNTjTpFSKSp6_W-zVXapcRv2HcxQRGgqNH5ELxFp5uyt1W_YD8E2x4WcvZ_6AGYyGac5mUuF1U1a4aN0VsDImitA4-qEwmgI7gG1w1yVN8od1AtBLSGktIX6lxc7aocYLBYdNg3vH9atgN0sPXKfZ6Tl7krGKp8ktixtamdlM657QDg63x33DPBK649o7hreHsB0reZ69_dlSQpFWjEc8zn3CSLxga3-OnQ6ZCSxMEQ_hKa_h9ucS0B4iFefcrthSC0iYVlviflydKt3M2VIaN-d000oeGKcPJDWMb8-5nCed0SzdNl8DRRpaVsRMzizqKh85EL-t8Fs53opKGPF8XA09DIASnvfWZlDh1Mp3HEB3wNL4MGlfoTMT-xLsz2s18S0GLPBoUjVW-lczbltbl_hku8N-L9jKsyw7KMbubVj68Fbcp57LsV2IaF311Pyn_-TmkBn9oXKYIo4UV7zuyAZuH7m9cgTv3DIYK8UAVKfxeU0TCYGkkYQmPAKgAyIEgdytBlAMpKXFV9tJJmdsBHBOpY7iUe7Qivqysqk1uQY025aU_qu_JRgyYgLElwVOGlSBwylUP762DTW17GM1vbYagLWB5mSSTDY4nuPsfSuzFK2MkWe690gd5dxncR0lRL12rw4hKFXfICG0xXjk99oE_zrcbbxv46ZP9dbbjJywv4x3KJ74BGw8d6SOUQFHfElUKv_A5sa8ugFXmfoe2XCZlG0Fz4IciS0QgWhIqWJBnzfRarTV-CEO4zU-5_sbXF_B_KuplcCb2e2cBfM8AA_AlxUvhLrZ51jNdcm7ih-KDjRXE9rYNa7Sf3_qkTaQPHJjgIABwsqA4KypcZ4wHRim1s2_sDlwRrTxIQHodEeshAJKb_yxD9DtdeP0bPZtckz58bteFMJQ-AIOI81DFJUz-7ctQWV3Qrp74CThWYfJEpyRWvOTIvZVlr0PTOBNz7IkJ3zkfxOxz-2Z5YhHYbGNHxm4MCGXxDM7JDHqcTdezd-5QxpcQ8_F0kE715uumJ5-UEaBwLkAIGAdtPA_OKx8z7EVI9uh4mOlUCsaHIaD60oK-u_SkCEZ95dOC3DZmX7N3EYDJWSr0HYGTx152M-YmaxD6hiOQtHuW2gxWZjIczxrBeE_ECcMlRjQiqX_cbnK6Byv3F4i_OgegJ824VmtXL7mHrhmUQBTVJBwe6RyOFE8SWntI_zjDn-j6-ACn5vuN7lgyNNkVdVkxC2XeqchqajECLS3tqbQrZ1zBT0xlL0zmgJz-aaabCiNPQu78y4c3024kNQgtdqgdeCUt3Q8UJ1XrdsUXQdqzEqeqBfQkiFh1X05gFYKnJKA5OhmLtnn8aRoR9Q1Ikc0hHTAW4Gii8jJ4eoJkZCdf0bdIE38JlBR0kVKMbtIHpMg9GX9pgYjPXcfoNERQhSV6TPtA-EsHgJi0bM9h_MlD2kI098BgWjSjuQZW29Y20zdpl_RoodMqaGlfQcMij8wIl1mPoZYhNci8xh2qhEj-SCZyb7-juf-6KQ98lbShjGVedll2JjKOI99yQbj8JVjk9NFdPbqdUYLtubsiI9-U06Fb7ms2xTxvsJzYRVV1cnNcRr1XfKQwS8Pt8z6uVudV5Nb-YQ8CUp8cPKBUaIc9l9iDLH3tv807IgYJXR3DSM-Y4FALk_ilKCwNVHENckh-tlIYMcSLbcjKQBmbZDBd135UR_Jr87LoDUazkNo8fw5H2cPMcoapok2sNh_e8QPEi-EbjQn7Ljq2YIRhE88bbWWdkZ",
  "id": "rs_052a393fa4d6833b016ab42f7f15a087d093b2e2db01a36384",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The left gripper is over a tan figure, with its body mostly hidden beneath the fingers in the overhead view. I’ll lower to its midsection before closing, keeping the other arm clear.\"}",
  "call_id": "call_PPc7eLlrlTLgZCrWkvVAnLIn",
  "id": "fc_052a393fa4d6833b016ab42f80aa0087d086a217a25b8977bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PPc7eLlrlTLgZCrWkvVAnLIn",
  "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]: [-0.7746, 1.6367, 0.6559, 0.1734, -0.6247, -0.5091, 0.9995, -0.0151, 0.8032, 0.6086, -0.3843, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.1832 left_z=0.0512 left_yaw=-0.005 left_pitch=-0.0641 left_roll=0.0447 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.5846, 5.3949, 1.6532, -0.232, 0.0073, -0.0171, -0.253, -1.2239, 7.0632, 1.8193, -0.0317, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d597cdaa6e49f4f9751c67ec59394ae4b5ae5ecdadf4196fb82d07ecdcbdbc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66f56977f9435d50559d286d2e626f60fc4f38b8a873e8308359bd8804adb2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88171710da2c04fab072d1b89c9c799676953bc1c9f0d85d8d34ca9738c9e92e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.641 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 11 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.4338, 0.868, -0.2134, -0.6224, -0.5068, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=-0.1861 left_z=0.1429 left_yaw=-0.009 left_pitch=-0.0449 left_roll=0.0257 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1801 right_yaw=0.0004 right_pitch=-0.0103 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.2701, 9.1145, 1.6044, -0.4469, -0.0269, -0.0171, -0.2256, -1.5932, 7.2547, 1.8339, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.6367, 0.6559, 0.1734, -0.6247, -0.5091, 0.9995, -0.0151, 0.8032, 0.6086, -0.3843, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.1832 left_z=0.0512 left_yaw=-0.005 left_pitch=-0.0641 left_roll=0.0447 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.5846, 5.3949, 1.6532, -0.232, 0.0073, -0.0171, -0.253, -1.2239, 7.0632, 1.8193, -0.0317, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d597cdaa6e49f4f9751c67ec59394ae4b5ae5ecdadf4196fb82d07ecdcbdbc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66f56977f9435d50559d286d2e626f60fc4f38b8a873e8308359bd8804adb2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88171710da2c04fab072d1b89c9c799676953bc1c9f0d85d8d34ca9738c9e92e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-FYG-dN8sqhFCKMjoKJ4_MODdwUJTmazQf9afVL3WqKGd2URgrgIgvV-6aST5RBLOoLBZ3lCwQ_oJvDF7ZFXPZVpyBB5qI0QyCRdMp7QC39Q3pC0LavrT70cp5HNP5jODT2JecqGCxfI4xroW1UQKFdr3wk-jj02XaSNNa13cT41YT-jMLTt9_llXSSBY7lChKmURnSxgFBkaCXNuAxZZqnbP161q-gF7BuJMANUHxxNvVUukET1xrd0Fh-jteyjpdn98M1pENi05eviZFAVOSQdRtw_n1fZZhEGqinLU3G8owveipK9bIEr1iP4-AJUfY56B8OXlNN3nF_uegB5f5PJrD0IoQdaqDLa12Pvh0cpz7lGhw6LpHhznef0FYww30h-iVrtHc1fRYLBS6i8bi9bRH8cK3hZ-Ug6QwgIYjaaTtshW38KCQv66xPt4Vkbf1iDrtdsLBmhC0JWOfG-Qmaq92We8wosHjfVn8KNEg1DbsVhrqCHRXIRc_SKy0rDsh5uvvwdN8-oEy4Gsalu0vnbcLFe8qenkMiBgRr2BZRIfuAEoEdczz9NTDw6dY3h4Z71PuGjJgNoLkZ3Ieri7sYtusudyltIo9uG-hY0iMbnGJVhx7EbMJX3gCe28eRx6ZEz49CUhzAVeJlNPvwCsDWZj_IlvY6dJSKS1v8k6BRjboOY6gAAJaS7BRTrngDZsWXG0w1qp1MGDo21KuEe3aaiqOfo-H4uGiB_U0msburFfL30hGCKIz5fCLu_JK4QkSgK4rJEruZG_q7zj5jW_Lc1gW2P-Ho1Y5tMXgvgUS3YaZQi2HyLA4fpApffi0hqil-1Jz-b5NOXTwRIpn1hUbqEcG9S8ta4bzU_4zJrvLcRIBfc3CNvJhUbxRLKnswS3GL6_OjU0NjC2Z13PsEqgHRB-H85yQ5aN-MFppbNNy_KZ645fkLL3C0RXLH3x2R0Yf3K9weBLlrM5P-dIPysgV6y7bNZf4ZMYIZsnrvlQeYykQxUPB8bc_mE2T24XQp8H4W0UuO7q0ZLSHrXCdb9KCpdc6qVScrx1DmTAHK7vnfwXI46oRxjAIeNf2t-QQNBDmBv3RmW2vgmLx0F-BdlKOwmcpK-R-uL9O4hnYvfyroT8LiYhyQNpAG_tqyBaPS0lCngEu-khAvXSnppHlunTO7bJQPEZM8DjHeJCqJGec_WRYytBgS90dH4KYSiitpRtGCunINIQxRUeVRNeJjbXMeoevlzM3iaHwu0vpiKa_cwNZhmCpeU4vq03yP7zyba6B5iagyKpQv8MEAccgIicyMzUmGKrmdbXje8q8uz_hmz_VcbKlXeei3xjna9Gzw_PgfskoHRx-pjmY9OpCBKSB0g==",
  "id": "rs_052a393fa4d6833b016ab42f83c91487d09d9cba9947f982a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down around the partly occluded tan figure. I’m closing the jaws and will use the settled opening and a short lift to check whether the grasp took.\"}",
  "call_id": "call_9k4Yt6jnGyFOVeuOCLll4LLe",
  "id": "fc_052a393fa4d6833b016ab42f843e4087d0a871b6ae2910c4fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9k4Yt6jnGyFOVeuOCLll4LLe",
  "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]: [-0.7746, 1.6367, 0.6556, 0.1726, -0.625, -0.5095, 0.0118, -0.0151, 0.8032, 0.6086, -0.3847, -0.012, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.3399 left_y=-0.183 left_z=0.051 left_yaw=-0.0045 left_pitch=-0.0647 left_roll=0.0454 left_gripper=0.0118 right_x=0.2953 right_y=0.0013 right_z=0.1786 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.7624, 5.641, 1.4432, -0.2711, -0.0269, 0.8571, -0.253, -1.1556, 7.2274, 1.746, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4a0978a6ce1f12d2e4ed65aa54f2dab2cc49526f1e0d2c10fbc3bb103c1cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f97421b5ddc6a9c81b3faa9764b2a4cea43038915976ee493c7c829de0a5f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5147cc06981d9e4ceaf105829821497c97755ab57e3c57fcd3692500c91167ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.37 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6163, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1841 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.7026, 9.3197, 1.8046, -0.0269, 0.1538, -0.0562, -1.0462, -1.6205, 9.7846, 1.7265, -0.1343, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.6367, 0.6559, 0.1734, -0.6247, -0.5091, 0.9995, -0.0151, 0.8032, 0.6086, -0.3843, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.1832 left_z=0.0512 left_yaw=-0.005 left_pitch=-0.0641 left_roll=0.0447 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.5846, 5.3949, 1.6532, -0.232, 0.0073, -0.0171, -0.253, -1.2239, 7.0632, 1.8193, -0.0317, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.6367, 0.6556, 0.1726, -0.625, -0.5095, 0.0118, -0.0151, 0.8032, 0.6086, -0.3847, -0.012, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.3399 left_y=-0.183 left_z=0.051 left_yaw=-0.0045 left_pitch=-0.0647 left_roll=0.0454 left_gripper=0.0118 right_x=0.2953 right_y=0.0013 right_z=0.1786 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.7624, 5.641, 1.4432, -0.2711, -0.0269, 0.8571, -0.253, -1.1556, 7.2274, 1.746, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4a0978a6ce1f12d2e4ed65aa54f2dab2cc49526f1e0d2c10fbc3bb103c1cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f97421b5ddc6a9c81b3faa9764b2a4cea43038915976ee493c7c829de0a5f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5147cc06981d9e4ceaf105829821497c97755ab57e3c57fcd3692500c91167ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Khh9wZMtVezTxylucYiKYFxgcrFbaWgoCJ3gKVjlncW0XsoleBCY5BwhYmvxApd-BE-KnKSVJyNmOenz8ePaSAtXua58ihRlLCqgJRoy0DP7A1CmaVzUieNcGaHXSAAO9tamzP18l_rZga-THpkDqTQjuI0K1I0-O-bqLlzvuXZNWAmNC3yrFmF9h-k19yNb_xJvcm9Ij6e7fKKyLT9b8vIQvi3e8yUQKOeE_KvlYubiDw8IVe3QguLiH1QgprhiA5U82LKbE9_J5ycw6cU7g07Tbp1mMK-IxM085bNa0sXQVVb4oLrF0LCLpSnfbpAejqbAwDyCSp9z80c4eW4e7YawGlHxiCr4uz6o1QeOHuwHPpALv1LH47-Ep0dOpuR7pKEARMRrc2fsB0AKyI44Fz_8sZlay-WqINz_2iIYIbXEMW9Wy0FUk1hg_ckEZkShSKt5sGDw5w2E40ZHxwudifv1cs7HWsVa7j7y0I9aYTaI-8PJ_ayA5Ht7qweYHDMewwknRTHcBkw6_NoKNW75X6Bk2iDBt_ybjZ3-U9GYRDwwnEE4NxitrsWZsew1zJfI5cYeOVniScSBBoukeI1sh8hBzAmE7AFf5d8zbdXC_IjfwUQDAT-n5VB_W1aHxyNjdZwytbIfipCRgRe8jdVrGbDaJNYRK8zyZyUKLY51Gkwm5a62C4NjyLodEVU5WYkkBNv2FMj_MnYc7nFMTXkrVBW_R_cgIIeF8I7swzX1H7vZZCgx0WRBOpsDTVpYffaIPKvXaAwRand3ZlZSJJfld-71aLUzTUKjVyzW_IUFxVSr70xV0BVC4TXXp2Xxjp30Aesj5mgXEoE7D6cVS43N2cOKL7aGOBFE2gEztDu3rl53WXGZSzTGl3p4R8qJ_qn2ERlbRKQuKUCHR39-IOPa48OfybRVRMmfDV_HOP5wdQShaj1RVhX8h6OM1PVkNoBvaqc4bHrbtdWcLkEigQ0AmQlunnq0pxH82PvZPOzUaxC_7r5P6RFT3a1TMYkgWwz7i5AsholAm6Me57XxAlgkbyocAwAjkNqygcNqfV_nKgdWsUUW3iO8e1CDfuU9zUcxmXOTuIwlWTauBqwEtSURq9zpBC1zph1dMPopg3o0SYCNuii4USAmLxKuupvBBHgX5l7uJz_u3qVKlWcGnf0uqaQCgNfL9xqmsa252cvrgc01r-egwsF1D9qF0oP3Dl6Zvxh__mW0Y0Gw6IThzimvKBojhq9--NMUUlFClQGfEkxFP5thCX-LRIDFXiSVvI9CISsPH8gF-jEyi9VxeJ76mRRjoJDkLxWeZlNctjgWHyw2pKEGuZQpOwbF4DNkgkCtnUTdHtTzav6wGkSrklPxUP0_-bzckYOUzmzbYf48xbumVEgsSISpunU8Cbdq8glq9D_mkKVDXr8QugHsT16Zr6_Bxo7FIApZ0tkrCaH1SqtGwUpycr5JGtcAnTAwNmIdnVY0s7m5Z0ErgEBH-Y6Cry6Cdjfm5lvHONahlM9QpKHzPgMhZ09luEESNL27vEsj6_RE7P72imHi76xHIib7U1ZSWk3nHpuLXKWXAF0KREqgKZ3eI008TMLzQh5x4m8QSIn_AN18zdRJjuk5mUrHwc90a_bFUhtmKuwuK42Oumi5VwW2bnqX9trxtlpHwYWZ1XDEVyh9qqaiRJuy-0T6QoQN4SJoBNjM2MC1M9KtyiTIJ8QroYi3HR_ybWNSzdv0XrDeuNutSBvhEyluBxtlj3I3xfG6Jepv8lMoS9OP17N4n73_lClTjFTgYbYgeAw5CFraHYOF7_82FYctZNeMLSw8TMLQONPLYCEEQfLyM6SiLVWN96Qbbx9C8LczgLlbhPJrLmMhgv8PPMERXUnXDduWP_0qpCrXaC5ZvtwSeal1hXTMJFfnCP63-A5JfzedCvwDUNP5oWtilIxbOxnljg2_GjPVuMSPqA1XgA-2WxcwHlaUXIrJIKI8L50lyNP-BF1KhXS97QBxXDQJblJjO_rRBagpQv5usQSfHUibvizwqdBWb0wM4fXCdoF3-afo-fpSUQ30-wIQItXfONNU9ff7LwXlt5goRdNarC5XzApjfNdzKF_K9TRnUzRE7N9c4Lf3i2EjUFm7MlOvXiJkx3rGp3Q8u7L74OsNuweVf_E5kD5Tisa2gJ6O_LgFn6pIkxTzleKNX0-o-8wJWNy9XnvUT20I8sPWS3IU4m-SVsfhHMM3VpVql5pXw--W0PfIw",
  "id": "rs_052a393fa4d6833b016ab42f876cf487d0967f084145a63993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":0.025,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The jaws closed almost completely (0.012), so that tan figure was missed; it appears left of the finger centerline. I’m opening and moving instead to the distinct gray figures at the left edge, where this arm has a clearer approach.\"}",
  "call_id": "call_M28H4uHpKpZPqWzAn5fDmIzZ",
  "id": "fc_052a393fa4d6833b016ab42f895e0887d088a3844ebdc89da7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M28H4uHpKpZPqWzAn5fDmIzZ",
  "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]: [0.0727, 1.3014, 0.6941, -0.0658, 0.0048, 0.038, 0.9988, -0.0147, 0.8062, 0.6083, -0.3855, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0302 left_z=0.1223 left_yaw=0.0325 left_pitch=-0.1108 left_roll=0.0387 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1774 right_yaw=0.0009 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.7368, 9.347, 1.7851, 0.2027, 0.232, -0.1392, -0.2667, -1.5795, 7.0496, 1.7216, -0.0562, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff4551e86f9fe04914a654e3b6ff444e4eca926c15a66664c1f0739e2cddc79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428b8c6f871ee862361d5125b19b8124dec80549c2fd8434eb33828bb17ae455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610c2bc522452bc204043afa927c069a7a8b46760b1c744d25d2af6d524c343e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.106 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 15 changed as sent

message 19 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.4338, 0.868, -0.2134, -0.6224, -0.5068, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.0124, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=-0.1861 left_z=0.1429 left_yaw=-0.009 left_pitch=-0.0449 left_roll=0.0257 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1801 right_yaw=0.0004 right_pitch=-0.0103 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.2701, 9.1145, 1.6044, -0.4469, -0.0269, -0.0171, -0.2256, -1.5932, 7.2547, 1.8339, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.6367, 0.6556, 0.1726, -0.625, -0.5095, 0.0118, -0.0151, 0.8032, 0.6086, -0.3847, -0.012, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.3399 left_y=-0.183 left_z=0.051 left_yaw=-0.0045 left_pitch=-0.0647 left_roll=0.0454 left_gripper=0.0118 right_x=0.2953 right_y=0.0013 right_z=0.1786 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.7624, 5.641, 1.4432, -0.2711, -0.0269, 0.8571, -0.253, -1.1556, 7.2274, 1.746, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 1.3014, 0.6941, -0.0658, 0.0048, 0.038, 0.9988, -0.0147, 0.8062, 0.6083, -0.3855, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0302 left_z=0.1223 left_yaw=0.0325 left_pitch=-0.1108 left_roll=0.0387 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1774 right_yaw=0.0009 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.7368, 9.347, 1.7851, 0.2027, 0.232, -0.1392, -0.2667, -1.5795, 7.0496, 1.7216, -0.0562, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff4551e86f9fe04914a654e3b6ff444e4eca926c15a66664c1f0739e2cddc79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428b8c6f871ee862361d5125b19b8124dec80549c2fd8434eb33828bb17ae455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610c2bc522452bc204043afa927c069a7a8b46760b1c744d25d2af6d524c343e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-TKXIalLDeLmuSRzo8kBKwJFZ1oKAVcNyZOQ5Q88qOkr7lo_ahm9UQY8FkCd4807QDh0eg8f1k3j7YRksHfUTkOMNjPgGVfyk4CgxCx8qTs4vwF6jh7qN9r-H_-tmB6EKOXVJF2FcmK3yjVh3pnVt-C6ltO6U1z5jofE-1TIvWIqWaW6KEdRioKepmJXPv72b-L-LrTAZTD2igA-hY9RWGO1My7LJajezxK4aaVU7Dd_jTj_xW-q1yoX9Tgs58Rovqw9Fmnw4TCj45TPLARQrwDPA451b-G8jvusAlhR73ikP_fuvdFQdxYQNtVF30fSHiMsQX_N-xMSUiOJ62WGntgArBX7PwuNDmExC0uCecfvVT9JNADFX7XXcuRi9LxufeM9Vvzil9FMbOi3qW30jbczOnO-zXwVVzFGPnsFC_XMIUK17CZC3Lm5HeY6EEEdiwEqs4EXBmBJZ1rjBKX3d3zG8HD4BozkOLRnRlXv770cjiJ3MhAAHnxjeDuLAhiI89bkJ8Xu4JKBAxag1nTGOvQIqJIetB5F9lQdmrAeiT66rM_yYA4FPxdT5A-lSe6ui3Dsctqbk8Y_ldtCsQ_mX5NSx1AhJHVOUhZ8uZh2bkgk-MXO_FO9x4_8PQRUg2Z6hwtD1VjAep0GMZNK6i6rZ_WIO0GGABWN74PKbWoSjVoHE2qja2qGKUYyCkDjxYOv3Q90Y58mq3PySmnybBSzK6XqWydC1VobpUHcoEc6e4lGrq91AoPR7-3BoTcwZhCSjsmokA8T1N0GmmiYmANg70Hv8eMbFuqhRg9M1XxcVMo8QPantvuIdN2tvo4IJj7L9jRde6NLy6uV109Cx0dLroyPoqaK64RnNykBR2654296jLI33IjkoeEUfWAh3cUl2s_dbEsRJPps0IaFw6D7VuYCSWYDB8QwP49o3znpAelIjHMqQPDAJE75UNbzyg1I6rUqQVYAPBOnsI-49_CdigSyoVF1i2yJCcMYAeML87K5GqyTla7rn7QeJ1AIVEcrbx8sntRsFzjgPZawz_O8t6djW3zSZikOzDOS3TcABEP61qjgiZjVYwxHhFHRplndEvffkbAnLUxkO3q4uzmW_Jo1rB39aex6R-m31ADJ_5zHQ6DGD_Ul7tzFfFa8eWyBnzH859KDXNoCEcrAdBsXm5_8KJauefePuUKY03CHo7JFvNK7cLSi1_HNLCbeD0ihThqGdGraL7pU6tmSSGXVzdQEmqY4LDZtRzPEs_L5NLekXMreVIpaeRKfGixDz3tKTr0t7RFRHdz4gMWcg0ag1EVN7W6N_EjugUdVyYbnuonGQKBZun2JWL6DHAGLIABkV9ErohVbksS_LYie7pU2RKN_j-PnZasZoPJQI7BEe0TyZcMiZlVJ2nVwNQlxkGFE-2Imvp2ERSIoppgoffa94Zd2w8kejZ3eh4Jze_KMHggM6RT9VU3_cBmVkg2EWgw9ToSh9RErwNND729C0IPc0y-Xm_lAyrRrIb7qeE7GXLTVhuEtM0pKwiisYV3CQtZZmXDIgaGvL2pj0v2wZAO5Ab2LAytzwWILBClwSB9mNK8W6PgsTUN-Dhk3Ji0zYOdt1tVKA6_YCds40utECT0P4ypRy2WrsuUIwOCIxhqSdTA1CmJU31uqfAS1Hrm9stIBl6dlbQBjgyK2H47Vh0p-3OK0yOoZ21h7UcBamL-5ESRbeo1QGc1vK0T_ka8QH6kqhZJS1_-XBmk0fHa0ansbg22PgX5iYU6lbBe76KVLsVIeZpcmJy9Iww_-DB5GCo-OLqHcWaM67q9CSvX-2cFnxNYFFDpADobU9zt6eHvU-ebU9uERKbppkbEIo37tAxZnmn4eAiZIg_GbfMfS64ygg6orJcJrvofre_cby-Mp3qPv6SJB-chcoI7jYR_BccSJKPof3-q9GD2of6YyH66snTD8KNPdhzdiLfkfUhUu9hX7s0HyyyEdp-b3jqwzAh6UdKbQo_T8b_Ery0da2E2oAecxHdupRi4x2q_aulX4peOKLRsBi7ZYmQS5ibvqYAGw-yPYRMwZzEC0BjLB5Kjjluwcf1n-2cNF9rZmpXhAv4U6LxKvnnygcCd6o8-RjhPgteJz5NQZq05-QW971ieE9RWnaG1wjS0RvmJ8HG0kOsRcg6DA9gUR0cYeyOrm3_LmDmsx8ZOWjWy9xrbo1LKRvo5SQl6ett7YBDMo6tPEaPMNqyClSSvDroPeGeHnjjhg54VDdaN3oJyorvUXfhC0v0sGxmR9e1DFcXJ68N041tyyJicrzX5lhwlx0LsFOglupkeNK1Tu2KPhNWcsP4bD79ATxh5Tq1A6IUfmv1nTVQFKxYAmGaj0Ido-kGJVvuObvHIm7ECzSYCp-TpWAUtbE5FZe0WDWvarlZWlrfX1G5RnGb4023gc2PusodVjjlY3mCcIq_oJdjwhI7lMmo_bHzHwV375t5Af2YWJYnniTuZXevCOiK6FCuIGa-7NYl_mV9OjeeigeXTu1L6I89x27CXuHOmNvoiW8rMus320SVckFkAmyZnPt7ESJJiQIRlA0SRwFkOnZu9lKMwZTbreRXv7obnq134eSj8J-MCaPowrpmGfp71jLql0jh4pCWS9uyfbC52Uch8jkyE1qmkJnu6w==",
  "id": "rs_052a393fa4d6833b016ab42f90cfa487d08e99b6a86661248d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":0.005,\"left_z\":0.055},\"note\":\"The gray figure is now visible immediately below the left fingertips in the overhead image, and partly at the bottom of the wrist view. I’m shifting the grasp a couple of centimeters toward it while descending to body height.\"}",
  "call_id": "call_KFnq90wyqCLmz5f9RfCtae83",
  "id": "fc_052a393fa4d6833b016ab42f92e41087d0900ab8b323519b7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KFnq90wyqCLmz5f9RfCtae83",
  "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]: [-0.0391, 1.3731, 0.4427, 0.234, -0.0692, -0.0196, 0.9983, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.002 left_z=0.0524 left_yaw=0.0147 left_pitch=-0.1322 left_roll=0.0411 left_gripper=0.9983 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0009 right_pitch=-0.0237 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.7538, 5.6821, 1.8242, -0.1441, -0.1099, -0.0659, -0.2803, -1.4701, 7.0359, 1.7216, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5cf560408db2010aec0327d64a1d608b8a6e1247bf447f544d5b16c603677b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921d0eb0b41ab893f0eee803b0fb92caa269d7cca41125af9c0d2abf619a9670",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73751dcca4771600873015d1101a78e07119fc89054691f3ada56fe3c4484091",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.942 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.6367, 0.6559, 0.1734, -0.6247, -0.5091, 0.9995, -0.0151, 0.8032, 0.6086, -0.3843, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.1832 left_z=0.0512 left_yaw=-0.005 left_pitch=-0.0641 left_roll=0.0447 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.5846, 5.3949, 1.6532, -0.232, 0.0073, -0.0171, -0.253, -1.2239, 7.0632, 1.8193, -0.0317, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 1.3014, 0.6941, -0.0658, 0.0048, 0.038, 0.9988, -0.0147, 0.8062, 0.6083, -0.3855, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0302 left_z=0.1223 left_yaw=0.0325 left_pitch=-0.1108 left_roll=0.0387 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1774 right_yaw=0.0009 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.7368, 9.347, 1.7851, 0.2027, 0.232, -0.1392, -0.2667, -1.5795, 7.0496, 1.7216, -0.0562, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0391, 1.3731, 0.4427, 0.234, -0.0692, -0.0196, 0.9983, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.002 left_z=0.0524 left_yaw=0.0147 left_pitch=-0.1322 left_roll=0.0411 left_gripper=0.9983 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0009 right_pitch=-0.0237 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.7538, 5.6821, 1.8242, -0.1441, -0.1099, -0.0659, -0.2803, -1.4701, 7.0359, 1.7216, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5cf560408db2010aec0327d64a1d608b8a6e1247bf447f544d5b16c603677b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921d0eb0b41ab893f0eee803b0fb92caa269d7cca41125af9c0d2abf619a9670",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73751dcca4771600873015d1101a78e07119fc89054691f3ada56fe3c4484091",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Yy_0ZG0TQLK8cSbOLlV29_rQ75Qc53H-y8spU2qfvL7TIUCT5hfQjwVPwrts-c7a2eTZ5ze4HLecUD9icoAIFNSK29J-eBL2673IOSAXZrg6CpbMDuU-dIk4h5V0urjut0Cd-8BrDTgkKF_ieYx6KEbydTSPscBk9g0tnWayYll4r30yN5sX8-WsT-MpPsf49yPD8C8mCrBV7S4ftk_2I_w2Q5PgQfleQECMv72AJRa1JmipS2l8fXn8YwvY2h8ToHgIyhTA9kjhcPmGWFRKhDn2PBn1-0DVTicJK_C7r9wY4mbCIBkyaM7yE4aE9U_iA3DCzE_Buw1BW_j3rNeThU0_WZRoRQLri_x_xezAuJ7YJI1HlNrxWxmme4HXB1J1RlF6HzJK-CKFvG9-YBJKO6nH6STBYoPOsBFztTg5apRZUQz-vD__2UisTfj4_ljpzCVn3gOclIgdlvam1muRhXXx4DL_1w7ROPNzHU1JVpYweugdDzJfP9rALsv-XAefjeP2dffzBr2Uuk6_5PQL7W8dA2s66eWi0w0PvMeFKbVOJV0CHP0gLJw9LJqn9sW02DQ2ULJQXjX_z-dZA6HXRiu7Z5LSXrnuq0qon_GwWg5_TMOnkpy6ok9PgZiHSaDyqQQ-mDk5IYmWBWp0AdFSdOIis-pl6YZ0QjjmOXcyohtuUYbPlTFn_HZlOuM6m41igIulI5yRBzKYvOqMMpyseIcr7ohBgIfPOiqAA1TxxUZs-ypGAwSV6kBfV122z8jcfszdQwWlA4aO6gj-4DL8cz8-WnFUGIJ8gEQQHNOkLk7g8CGz2QY4vynKxBbz15ZAgcRj2nKAIWAgv90jGXiQaxb-3FY56xQWUvQSnU8KOcqVOC_ps_tvDW5L0aFlj0NYeFdKJBEy29yKLS8bX4WbVXiJfbQDCcR11vg1lxkY4FIH6A6pF1JMg2l-aEqMtUHpjJmhQUHFsEpH8L-Ipjlq_6_D4ke-vpF_Sjm21OqaxpyBskKw_nvYeRT62OPUHK7Z8bxBxp0tAzxsHu_CohqjYcmx74q6h7VG_79ArUHBnusyb-U5AqBEvV9Wb2ArGSGPpvZhuT3_iLu1yexxWDlOzdzhg0ww4gd9YdUpB9mHF-7K6cXyyhtkQwIKqA107TYg4Hxaspzl7jUbaeH9222sqN10aCT5_kltrh9h9A1diJHTEimGiiW-5wpgYzo3mUQ2m_QAwDdhweT3FBG8j8Kp4dJYWgIhYeTo6v1UV40dAByEGXH97qkgwtM7ldypZDYCPSNEy7UE8bZPMSOMpXFuYirBXxy9xhI2dikjV6mmrKq3j1bU7uE8F-bL8N-pimdcJZ81iNqG5qnw7yH83xop-aXF_FaJpFwT6m01jeFEmAtrrBZYY-_OFeaUsC6nAfY2TONWrfMSZOp-rQqUsqL2mXFvZgNbH9ycPnwqMlGRiEK4yIVDgqMMBHiHQz023Pdc2ecCx14epHDr9Iqoyctmfr-OJPtAPEOfaon0Yq2OyHOuQ_xASkYFfGO6RMGSA-eLcClu-wso8QL39gQ4Qj7h7FIiHuzBpU9MV8FljHCEbsua0EQHG41U8yXQkS6kE8adfWqS6CzmP1z5sVA4kKZH5QlfuVoKlSYHpVuJXfpOc9naFhEra21ovAJDi6JEAo63Jpu3DpQy7aZuVdUXM2G6QI291WjYpP6sEPasMRXkU9X8hpY79kG3g23HVj_4hK-LQioKyQkol9mUVGYdm5Qbi9A==",
  "id": "rs_052a393fa4d6833b016ab42f95d9e087d08b193b25932ca7b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.048,\"left_x\":0.338},\"note\":\"At grasp height the gray body is still left of the jaw gap in the wrist view. I’m nudging the fingers toward the arm’s left side and slightly back so the figure falls between them.\"}",
  "call_id": "call_F9G3uAK7L2rIwuHl7MXFMgJ9",
  "id": "fc_052a393fa4d6833b016ab42f9762c887d0a34b2c54f9e0ecad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F9G3uAK7L2rIwuHl7MXFMgJ9",
  "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]: [0.1768, 1.3422, 0.4259, 0.2363, 0.0719, 0.099, 0.9983, -0.0147, 0.8101, 0.6083, -0.3855, -0.0113, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3447 left_y=0.0523 left_z=0.0566 left_yaw=0.0467 left_pitch=-0.1158 left_roll=0.0439 left_gripper=0.9983 right_x=0.2956 right_y=0.0012 right_z=0.1764 right_yaw=0.0002 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -5.6957, 4.6017, 1.5067, 0.1783, 0.149, -0.0269, -0.3761, -1.4838, 7.0359, 1.7118, -0.0562, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98080b122e84f70f92a62ddbefe57bf0adfc822dab3bec6cf344cdabc9f08b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61322c00e885ab3234b3b09d44f8f4e01db28c93a0caf124653b95a926bab61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa75fc7e317349e355edb0103d6f74e7101bf2c6ce5ba69a27af951c1f18ba47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.704 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.6367, 0.6556, 0.1726, -0.625, -0.5095, 0.0118, -0.0151, 0.8032, 0.6086, -0.3847, -0.012, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.3399 left_y=-0.183 left_z=0.051 left_yaw=-0.0045 left_pitch=-0.0647 left_roll=0.0454 left_gripper=0.0118 right_x=0.2953 right_y=0.0013 right_z=0.1786 right_yaw=0.0003 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.7624, 5.641, 1.4432, -0.2711, -0.0269, 0.8571, -0.253, -1.1556, 7.2274, 1.746, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0391, 1.3731, 0.4427, 0.234, -0.0692, -0.0196, 0.9983, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.002 left_z=0.0524 left_yaw=0.0147 left_pitch=-0.1322 left_roll=0.0411 left_gripper=0.9983 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0009 right_pitch=-0.0237 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.7538, 5.6821, 1.8242, -0.1441, -0.1099, -0.0659, -0.2803, -1.4701, 7.0359, 1.7216, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1768, 1.3422, 0.4259, 0.2363, 0.0719, 0.099, 0.9983, -0.0147, 0.8101, 0.6083, -0.3855, -0.0113, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3447 left_y=0.0523 left_z=0.0566 left_yaw=0.0467 left_pitch=-0.1158 left_roll=0.0439 left_gripper=0.9983 right_x=0.2956 right_y=0.0012 right_z=0.1764 right_yaw=0.0002 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -5.6957, 4.6017, 1.5067, 0.1783, 0.149, -0.0269, -0.3761, -1.4838, 7.0359, 1.7118, -0.0562, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98080b122e84f70f92a62ddbefe57bf0adfc822dab3bec6cf344cdabc9f08b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61322c00e885ab3234b3b09d44f8f4e01db28c93a0caf124653b95a926bab61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa75fc7e317349e355edb0103d6f74e7101bf2c6ce5ba69a27af951c1f18ba47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-cz_qkFeOiB7rhixBqaTvH5jUKEJ3V2a8QRSJ--qJEZtGXgFrYyC5KXmUgZ4teaupTp_2-RaH8mw77UfoVZWzQMEVUTNm_cHo2DiDtOytJt-6iNUJIuCl8zB47vgOF5FK7rpa2K_n9TGNBYLmnQFJuKzsLsj9r2lCB01zgsOVU2Sw489l_AWxR1rRPjZZUgCWsWbshCdJhioPGXZk_1BI-rRrIHZZ8C4TUZhZlxqa7cYRBtMl7Zd3Sdrn3UpRxZNTnK2LKGM-F_OnHzgLMPRdAF6TSjgrokWV9Uxz8WIR5lbVyhT4PURtenysOXGlgzPFFFfOQLeTb5UDpjI25iAulnfvaoEDFoT-ja7zn85Nvjg3lbAfdZh85iZjZGwI-ResuHhGtmv6stImidg0GsBDzbbSVwXN2Prq3Cq_Y0YEOmCuFP_fxif4l4CPlEzSwLZw7-93XtekyGutu3Dl2YJvd2Z_4SQzw-kStACkVUa8a1eYrh2Y0NRNGydlDGyl7CqxkWFnqfUKUErkxXU1qiMSnYHR_B0VcrdJv7yQ7Vw34YUbxwV6YwEkZmYOww-YlYpnhVNnNF0lmK6GCEtQWREHW5ULPmJWZoXHXFIFiRwxGcqBfJa0mhU3AkbuKsJu3d4JPFaPVgc3wQ8KJYfaWor1MaMmwQRLfjJdVHeJXO7oMMdVPb2LFqnjSQTWTnLw0KWSSidHUYOW4bOaDEZ2olFIePrfdKVFzB4y77oXylCMrbeEXoNQxo3TGkM3f-zGCwfEuT4yZk2jmKlIit1x7ypdiFhx19PK4Bl4eJMqBe223at5ChIGgx6O4hLwBPu29kIRHiN3SQYrwBWPUvE0i0RqTNQ0bgHb9VoIJvfd0IiLM5OE4Lo1rRaj2qgm97vUL-EYRurrNe2ypT9LYpMKU2uTjwjVED33wfZo8wUEbVDJHhJBciEZ-y36dvHz6q33z2h1sURcU9TTlmbDFnRa63XauLQJLYFRAhiT7H47fwkPOht9wPIhgOp0t7l4Rw-C_rTx63CTiehjnpQSFZH_0gutY0ScG-XS4j9PrC-S4gp6jVm2YSdcOWQrjei-4jRnNW0xamWkjTeqVn0aSDrFZ0qONwO47RdWoIkMeL7JdocMsw5rEKYEJEigDoMXWHbJxmhgZGvNZbU7TUmLjz-q2BukbQysTLOq_8woXo6ZVGyQQ0Pq2cuhkRhpES8QglV-YZ-HdaTghKAArjqVrxJ1pF-7RoApN0TGsj1jjL-wOmuBZmYseP5gsTMqgZ_Ty4GKd9WwTHawXuHQz6_AFEYZGS9cBQsyGV84oUSk__xg2wBGXFAio-qWvTvTWHEky6Vd8sM4ODYNu-kEvgh7gn_TEmfbXn2UyzNvJWHyEPLfDrM9mPQYhJgqRqvDayGsBiowfc7d4szIsCucl0knoMdV_3ytkdyt-vO6svgs5XO-yr9I0yBHn3UjWKs8O5w7O8ImrFkw61a3zMyrwGQBZmN4JWn2UkLyxlTGU2Jp7vpY-JMmFYcakgk_nX142c4MUIgWhjQE3xLv5NNZSw6IqWAuNDt7m1MLpBZ0gRI9uHJHH_GoUphwhvoQ9APtBCjW84GKTh9CWRUS2awsKnq0xHLlRYWl1g8xCdkwHjMXPO18a3dvcFj8UzTeUSVESUivkoyYez82d7OfXQEd-XjYkMniDgXvu_SDHfxOwV2_t8Rx_V4Skjd1Ajk56m12N96kaxLrjCEPlc0QHQY0LBcmAXNNgy5UwmEUVMUvlFQ0-7zYXnH9SeIAYeByBLwRuUFPp8VXD_t_6uxPtQQgzxDZtg-Gi4jus5Pg41pB3RTtNaLkCCrEygJ4MiWXykY-vnMoRHk8w9c3XQiio3d5iSoQDX86VQr2ixd48Lqd6DMejajPpCIU92pnM62Em4E7cc4IwgpC0gKXkv9hogolw3myLd098YbqG0DmMlSpiaiVK3rf1GnO93AMynnRdBb3rbV-c992VljnaNE3ty5EabO4p4e1UzU_Xznk33AbfKfHNw3VCQiwL4mfovZSNFs6mjDr3k-euGO9gu0XuJ6X2JwUn7nUC-SjfV1_3sxv7h-OG7MGCNW7C9_O6dRAlGEknNuhJdyJnoqbgIajSpXLsVCFaCj-Y3toLK8L7dGT8olarvqxb_8tAfcaK6NvIeqbO8XYGranhjRBsP-XjIytzRrb8QLT4zeXGDt9YHbsoB4_FukG6zEa1uW5kFDcGhzoEjYWqfDdO7hiKhLmYQeMnTOAa_cssP5D73CD4cl_3_jYA-ruw1G_iZQtvg4m35nJB33Ngm9sD5AZmV0IqxcDOe4VQ7mGa2X_4dpuaQXAnEqf3Pr62m9GKGnhl9OePAtSje0BptqwJNyBqDkBXHYqdbQYiULHWlq_c6i2gEX9OZ60tQsLtf6WX8s8=",
  "id": "rs_052a393fa4d6833b016ab42f99c07887d0a6b9624b85aa73e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray figure now sits directly beside and partly beneath the left fingertips in the overhead view, though the close wrist camera crops much of it. I’ll try the grasp and check the resulting jaw opening.\"}",
  "call_id": "call_OtmUlXjeQydYRP4Z247uSd0m",
  "id": "fc_052a393fa4d6833b016ab42f9bcde887d09b2d408022720467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OtmUlXjeQydYRP4Z247uSd0m",
  "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]: [0.1661, 1.3407, 0.424, 0.2291, 0.0631, 0.0898, 0.011, -0.0147, 0.8101, 0.6083, -0.3851, -0.0116, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3434 left_y=0.0499 left_z=0.0549 left_yaw=0.0483 left_pitch=-0.1238 left_roll=0.0413 left_gripper=0.011 right_x=0.2957 right_y=0.0013 right_z=0.1764 right_yaw=0.0005 right_pitch=-0.0252 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.465, 5.8735, 1.6825, -0.0269, 0.0073, 0.6813, -0.212, -0.7726, 7.0359, 1.7118, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30926c3ad5136651151fc60b50f07dd018a255b85562c47c8cdd8b819baf1ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d1baea77211f67cf59330395ad57aa92aede5fc7c28ba2325370daecc365ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e967dd7c30797abf37c9be22b32fefc4d3db709d828d0ed6720d5cf468f6570d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.85 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 1.3014, 0.6941, -0.0658, 0.0048, 0.038, 0.9988, -0.0147, 0.8062, 0.6083, -0.3855, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=0.0302 left_z=0.1223 left_yaw=0.0325 left_pitch=-0.1108 left_roll=0.0387 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1774 right_yaw=0.0009 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.7368, 9.347, 1.7851, 0.2027, 0.232, -0.1392, -0.2667, -1.5795, 7.0496, 1.7216, -0.0562, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1768, 1.3422, 0.4259, 0.2363, 0.0719, 0.099, 0.9983, -0.0147, 0.8101, 0.6083, -0.3855, -0.0113, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3447 left_y=0.0523 left_z=0.0566 left_yaw=0.0467 left_pitch=-0.1158 left_roll=0.0439 left_gripper=0.9983 right_x=0.2956 right_y=0.0012 right_z=0.1764 right_yaw=0.0002 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -5.6957, 4.6017, 1.5067, 0.1783, 0.149, -0.0269, -0.3761, -1.4838, 7.0359, 1.7118, -0.0562, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1661, 1.3407, 0.424, 0.2291, 0.0631, 0.0898, 0.011, -0.0147, 0.8101, 0.6083, -0.3851, -0.0116, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3434 left_y=0.0499 left_z=0.0549 left_yaw=0.0483 left_pitch=-0.1238 left_roll=0.0413 left_gripper=0.011 right_x=0.2957 right_y=0.0013 right_z=0.1764 right_yaw=0.0005 right_pitch=-0.0252 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.465, 5.8735, 1.6825, -0.0269, 0.0073, 0.6813, -0.212, -0.7726, 7.0359, 1.7118, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30926c3ad5136651151fc60b50f07dd018a255b85562c47c8cdd8b819baf1ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d1baea77211f67cf59330395ad57aa92aede5fc7c28ba2325370daecc365ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e967dd7c30797abf37c9be22b32fefc4d3db709d828d0ed6720d5cf468f6570d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-iIaPSKokfP_yMEKB1c8BLOltJnDFmi3xW19dFgkKsZQgkwxK09UkriLDMAkWfmJAVfFq4Ll0kLhRE-Xe7P5iVpSYLS1fTCNF4YriVw_cneQp8ePo5TJjT8bwKAIK2d_9EAh43H88jccYpPoEqfuuFPkHPP89wbV9P07LYdlyM9ToL4PqY8NfeQV9ifFA5FQdC0oAursG8BMF1t25j_5gf9U-n30DwD68crK3VFhsCsGOW9-G_8BransomVut7YyOKV-pNFLKZ4nCOHhd_eq-FtrGc8NVRpfkN7k3DtcU8rQqa27xQMVeCQP3pZVzHoFPb31e-SpHRxs-SjhZbtWm724tCNyjLgMc58kn2u6TKYKmzjGuBlpk761st4UBqK6ZAaY9LK8Hc6g9GvpDBJBLNT2VSnMxkuBFzJTGsXd2MECykIA30dUuuO9NdAAGavFoXWaeyJ-m4L7hsCvOPCTvU9iO-y1GSQpc07IegHJrfRVGkvMs3L-42kHPMG1Nfzl447ev5XGS33tW5jyI-P9AUklxRDizMI6g5N43lR4yjcxn1QJQ0vnJ3zNVEUf2bwi4s5kWi0xHzN9RwtIUuJ93r1bStb7dkJQnU3fnVSxDONHiuZBDYNDbptyOzhhsddSrF6-q3Ck71zdag-y053tnOSR7mePdNUG7BqKbOxqf_xi4JRjFYDzx0AOxOw3iIc3CQ6lLLKoXTKdB1BX57PyZ1IlBgwQwB0C7vw8L9kpYpxeseMzVUGfzr66vW7ERIHhURJLgKVciGYYmc-2e1ZNkRyaE9J2H2uxunU0vSgjW4KDknK80NWQgCPOJervVXd5IH3SRiBIt5tREUojdVwfSS7o_nA2zPBWtaQaqPSqgKGYrrrqXfuNvHmw8yB4gp1y680yUQuDGac0dDXdn9ht9svKlZ6fDLLTEBY1lNIPmq5sIUjPvFYE4NLiXWQO-pXyx6VQ4136MmGgwt3QfFO6gpe7nJzabgToaUqd9UZSZV6FCqIUupTxk3K4V4-aa6N-lmRSTGRynWcKpagHm_tAL5wrLaPRWA7vlXi-e6Ey3YJzMTHQF6cFY14Ubp3o2Nr_nJm1YpqW5mMs3l-uYrzvNRAKLslT7KOw5hrS6OdqQfy87Gw5aTNTpnPpIpqnyYK2KqBNZmk0-2YeeRShZopU9hAMmm7F5XBsdnjYZh1uSekS5L2caw-kmBn9ckzjnO5dYhuW65SJy0W8_UFx4tpGizjkM4VL8OqHhzpP3GDcWwegyK-FopcKQ0-AUpbKjy270BXJq6VIzYOcrRQjGq4PEYA7hMtKo3ZDy3YoI2CRRAOHyoC6tYE9-C0fqyeHlzWQd1thJLa_sK7Rjf74XDGhYigWi9JEvPktkPRdEDsXTC-2881lWygAfVWOSywlbSoK9Dj3op1Em2wZP-DeFeRWJYXRuQglxVu07FWFMwh0zA9_rrTTcJIc7Byn7ISFfjYfG33UfO7oM6fMzau5A3ls09q-kY7MFKYvZ1UrK57Js7V2H2daLIp7h8YV_NL9cXCiNpulfsy0p7bSlzVlvnMOcZNmONmN4_fW_5Zx2OdXTJrsk4yBJyto1MWTT65pOXiSI87a00y_Mn6Uf9WaYrGknu1o3KjM4O7VQfcwESJC50cFZ5lDNELxTgRVlE5lUX2rGx5ktczGM7VYIXbfXpKUKog_TBxw8aDgMc1IdcstUluqZ-4MCWT5iQqGHtZ_cyZwr76spYoJR9bAgPP3mzv-nEDWkoXWuwyxXtOshEpnwfNVSe2mbBWywC9-CAx6DEMk0bnuLrGPWciEqy5krQsrC6EMFTXvjjqodEF7FlVFJqhCLSVhTwB2LbvLXli8seChaL4x36hNk5wF1YNdzIRpbqurN2__8Yg22tuX5sWbv_lEKfV6pN7PM71A9Dr8OXlXO4CGWLenQCZbnGG116Gyj_3lfCKDHVxTtu0dKs9WVWDhrb3C6QjtYbzVpnlxksEeNqWTFYKpnvEQI7clvE0dWZH-4OcBhnAQfRlnQ_SD4wf2H9GgJ1JwcrSb1uExUjDqOLVYV0Gr0xo5gKoP5a8iDAO59DB16RbziL9-elxAapAyo0MSk5btuj_IrhdBGtU1kjv-jzdmJVx4jLqqI6RMvCrDbY1316gGLw7eYjqwuC5JBsamX3OKHU4T0zag1sg4Fz3uTokq9ywKWT1n0e5QdobQVDEW96gSds-2YeZ3_d52XbgQXdl9b6COR66yjCmOS6hwVlvHUhvwsBHquncJ5u-4VXDcN34gNmJmFpJp3etdeEBilelVv6o5n8HxTkXxh89lIffrwMXUljbMWjhgD_yzXof30otBKVeTQi4UPwHe1Dw7DtMyRuzaxmMpk0NQV8RhX55dwNTD8cTXexkeS-XeCwsMWcsO_sd2qsO7CbNMnJ_5AjqvUlM95DKjBw_YzpLCRjsjcq8qcK6nLQGxt5Y59E2wEaXWTztNXO_UlQOXGLzcKsxvtQPl3Y-0h90PH9Xc-xMom7PHK3NdYROxlbEssoEPkmAwbbA3ENzflhl3GxPpm2FSx8wssoKtLT6VcrHX-qHGN51NWYOwppfcFHXye8lqLuoAztPy4ChVzLIVpEi3zlQUQudNdeClIT-MNz",
  "id": "rs_052a393fa4d6833b016ab42f9e862487d0ae702d760cb15aa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.035,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The second empty closure confirms that the gray figure is not yet inside the jaws; the wrist view shows it very close, on the baseward side. I’m reopening and moving about five centimeters back toward it rather than repeating the same closure.\"}",
  "call_id": "call_ka5Nyq6NOwsDSKaifCdAnX43",
  "id": "fc_052a393fa4d6833b016ab42fa163a887d0885d30b96712a40f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ka5Nyq6NOwsDSKaifCdAnX43",
  "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]: [0.1268, 1.0752, 0.2852, 0.1287, 0.041, 0.0666, 0.9968, -0.0147, 0.8143, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3022 left_y=0.0349 left_z=0.0611 left_yaw=0.0406 left_pitch=-0.0984 left_roll=0.0396 left_gripper=0.9968 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0009 right_pitch=-0.0294 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -2.7829, 5.5726, 1.5604, -0.0952, -0.0708, -0.0708, -0.0889, -1.1282, 7.1863, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d28df27eefdf956a6abf3dca28675b979ded52557d47d5b340045449fe404c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f418c3c5105535e3533416c90a097fbb5b48260a6e01656bef5aaf6217ba600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50151d472ea9dae65ac611b885194be1ed7e17a0a2da0a42aebf2c57ea20e0e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.057 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0391, 1.3731, 0.4427, 0.234, -0.0692, -0.0196, 0.9983, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.002 left_z=0.0524 left_yaw=0.0147 left_pitch=-0.1322 left_roll=0.0411 left_gripper=0.9983 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0009 right_pitch=-0.0237 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.7538, 5.6821, 1.8242, -0.1441, -0.1099, -0.0659, -0.2803, -1.4701, 7.0359, 1.7216, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1661, 1.3407, 0.424, 0.2291, 0.0631, 0.0898, 0.011, -0.0147, 0.8101, 0.6083, -0.3851, -0.0116, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3434 left_y=0.0499 left_z=0.0549 left_yaw=0.0483 left_pitch=-0.1238 left_roll=0.0413 left_gripper=0.011 right_x=0.2957 right_y=0.0013 right_z=0.1764 right_yaw=0.0005 right_pitch=-0.0252 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.465, 5.8735, 1.6825, -0.0269, 0.0073, 0.6813, -0.212, -0.7726, 7.0359, 1.7118, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1268, 1.0752, 0.2852, 0.1287, 0.041, 0.0666, 0.9968, -0.0147, 0.8143, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3022 left_y=0.0349 left_z=0.0611 left_yaw=0.0406 left_pitch=-0.0984 left_roll=0.0396 left_gripper=0.9968 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0009 right_pitch=-0.0294 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -2.7829, 5.5726, 1.5604, -0.0952, -0.0708, -0.0708, -0.0889, -1.1282, 7.1863, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d28df27eefdf956a6abf3dca28675b979ded52557d47d5b340045449fe404c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f418c3c5105535e3533416c90a097fbb5b48260a6e01656bef5aaf6217ba600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50151d472ea9dae65ac611b885194be1ed7e17a0a2da0a42aebf2c57ea20e0e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-pRgE1M-z2ph_0WaLF9W9U0N-k3gmvxF3BOV1vtaC8Ii9Z-0CzldhfcvDblOO7FHN3Op2sPZyIKADaImU2D6W_mFZF7Ffyew8sj0UsoTeVuRbPUaJoIguvdQddZ9FSzHV-nbOUIuCySqOEpe8JAHhBFE0p5eUEdamwwLROFcqTs0WA4Feb0_RGYJ7eF1MSbaLwK0pCi2gSFAUtyGxAyJOZXcqS65QO_eaHHJjHIrU5vkqTR-2EwxUPOGemG_t2UGisV56X6bVULic0BcG63cBnU-3CKC-CVK6NBoNJ7Ns9DgJtAviH0asRQxVHz6O83hAtrVfPDoGh-VmD7jZj1e56D2RuGgOmdJ47IkJ7PnIF-kpKE3X7wq5e-yQN_9zlbXWClkuKTzU6XBjG7lMDIqm9GiQWK954W611Btg45XH1BtYlQvwTklA8aAPIaF8XXyrfPpKi_8a9gNL99fZwFVAgX1SHJKs8BLfhxVbr6ma8aBM2XqjSj7_hY6DseO3J_Bl1LmvVp-JsGBN9guMVnXL4bicw6BSAo-giTGMbipL8GaYq-yqyD0ujbz5WtYNe-F7awvz1-8wyjL04eoIlnhVXrjGbI10mapgzxtV-t6fygmzV7EdfnqNrOJcqKj_kmiv-KxdPRkshUKRX81OQHeH86MgShrCO5851xpipo_7JIQZ3XY00QzA_T7p78Aa6u2mA-LFqz4ehGVszqm0SYTI_o3E5Z3QpifK-jeo_bKiXqW8B9XeAM7vS8TRWUO_2vEPhvYwuHygtkqAvs7j2ucZwhmTzF1mTqJJjPbJZ4aCqmYzymdYbjAZGw02CWgJrKev0mXzT72ddZ33C55BXJpPDaRDlwlwUeKdyFLRrpgtJo8g_A_O9ywsnjIZHfbgAy9PvtDVoaW9UpOQGg_roym0wKbeTT9nNpOqe4jhmNXA7whADsemZgtNDEKP2sYcvnTmEgCrmzfYX01XwFJQjVhm8ZWqc94JzUEBpBDPzgN959fc5qC1O7_W9FJFqH7ABcer6qfom9Dxi2QJ1dQswK437ifassPLdKCNPnv57MhySqiiY1syo18zH9gxj6epqLsMzFrGDcdO50ZSzOXFfP7qmMh7MOukTZXyiD_J75jN3vZX39WMdGkEWKrtfHBamSSkcNyJxAL5sq8Tq_qS1TmkD_ya8Na-_uBvt-PV5ezMBcd971PdIXuq5rZOpTanhlQ2sDEK8Yc7TxqC_ypVFyEXLnFM_VCl06BAiMhiBExUwppPL-gYMmfiHLbnAkoJR50tReKaajSA0oxd-7DiTnDaTEolV3dXxM1R-FECwYPjRzv-JAdKxV5-Yt4DNPqlGe5w-Z_9adOJpVxlHDpToUTK0OzCkdATrPPeCFeLmMuqXsRhXqiGgIgPnXE-9o7lr98W9Ae91GCTS844J4n1iGwbFit6daNq0wdfqd3gbyojBXcLBmFOb0W6sIURhmlZfUGUkuY3M85KJUHbJz7PXuNvbr3iH8yNIwNmCXApy-PYdQGiVUxZLzJcGECKJgUmYIIuf3LJu8TA-5uY-upkD76PkGe_2xWiXmHDWPq8M2FCI4hPU4NcM1pyKYTPRV05tc-tvBHXrVwxiMt2N4dnvGRInGZLawjxmZ9PuC7uRqRC_YGXyjCBOzwpz2pJDZ82Kjht8F9HZFEIQtEcbVIwrvxmh38nrJ054u3Ixm87aYDbSUA5F3uVYDXpNaAaMchBhmZ4LmXcUuWmHgO7Ro_iDRqtkOIpllx9zX9rvV-Z0CKH7NTVx8yPfZEEZM-KkNwNmd2oAwvdM64vbaH1JEbY2f9DKRJFe3xZgcFZI8pNW6zlr2Xh57H5n2Chth1ShdkJNO_2DAeQ2nLF9O0RJug4ctLCAq5eGHOPt2RHU5STC_cHJ56lBQv4LCa0wgNLCtFEIh4d5Su_copuYF8a7dLiEeOchuVL_1MYsPhbZRu0q4YQ0RyLuL2tIRk5fIaEuiVpAeNU2E4Ta10T0bHfbQpuwfSOvkQZhlEGHQhdjbGoxlD3Bg2xXAX3QRLjjNlyjhILpefFPJAr1j0PsKGBIsAWGuvyEHCuDvfSunewn9wIEEeLElkJJNn3LoG9yRIOPFR3wCFpNDeNUt8WFLx4qi9Pdx-wmqv2ABm3xBF2ZBzTJVmHXtK2XEKqlPIQlNFkDiAFuUZjVkrRGJtJO0IqPNwbS7tPeYwtqRz4JNwAvbiepIM26Ni5jiqH4COiWAUVO68CcEyj8dJxU0knq2slNpSLNYlgmWI0uJYL2012oMvn424Bt_F7e9jH-Yal6_twMRrF_6Iqof6mes-0JgrCBWRv8Envu-sZ4kqx4DfnnhyCMhaWnlBuYs6POTiriwFUeqoFvyiXx_w6OyTQNaXuxrhOsjzaep4WoODvGVcFaqxpkON1JHg9CyhX0sNcLghyrp7i7jI3vehGyDkWZT02q3eJsfRhJAvFlYc_HE5hYscngWaxLkzXm1sBhtpvpTxY1Lqe-tk5Wusa-Ebmu9BqhakQ8mGbioCu-ENPjOzQW2KmibTEY4GbE3tXZj2-6oEspis75-IvrB6CzGOZMxJCMZUPaL6CTq7UY_tgxTCOGxm4urknf-Xxtso1DBxlV06PZIGBHVGvt",
  "id": "rs_052a393fa4d6833b016ab42fa42b3087d08b1c09d80e7cbfe9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.18,\"left_z\":0.065},\"note\":\"The gray figure remains far left of the wrist camera’s jaw center even after moving back, near this arm’s fence-side y limit. I’m switching to the accessible tan figures in the middle, approaching the leftmost one farther back than my first attempt.\"}",
  "call_id": "call_FoTV5W2Kjh6RoQVdrqiqYivo",
  "id": "fc_052a393fa4d6833b016ab42fa7aa6887d0a96054fca7691158",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FoTV5W2Kjh6RoQVdrqiqYivo",
  "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]: [-0.8928, 1.4864, 0.6094, -0.0715, -0.6823, -0.675, 0.9981, -0.0147, 0.8188, 0.6075, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1782 left_z=0.0568 left_yaw=0.0151 left_pitch=-0.1205 left_roll=0.0478 left_gripper=0.9981 right_x=0.2962 right_y=0.0014 right_z=0.1737 right_yaw=0.0011 right_pitch=-0.0343 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6684, 7.4051, 1.0623, -0.6471, -0.0708, 0.1148, -0.1983, -1.7436, 7.2274, 1.7363, -0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66d56e84c4607328c7adb498976c20d9e48f78ca4c0a56b9065ab11e4adfc98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3d6e51e2aa784d9a1ccc2379f01e2b61d515e9ce14b68a1c768fa69a4e4970",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777b536ea29555bd08aeb2f96f72fa7fcbb22ae5963d1266c0d2bf99857265da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.973 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1768, 1.3422, 0.4259, 0.2363, 0.0719, 0.099, 0.9983, -0.0147, 0.8101, 0.6083, -0.3855, -0.0113, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3447 left_y=0.0523 left_z=0.0566 left_yaw=0.0467 left_pitch=-0.1158 left_roll=0.0439 left_gripper=0.9983 right_x=0.2956 right_y=0.0012 right_z=0.1764 right_yaw=0.0002 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -5.6957, 4.6017, 1.5067, 0.1783, 0.149, -0.0269, -0.3761, -1.4838, 7.0359, 1.7118, -0.0562, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1268, 1.0752, 0.2852, 0.1287, 0.041, 0.0666, 0.9968, -0.0147, 0.8143, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3022 left_y=0.0349 left_z=0.0611 left_yaw=0.0406 left_pitch=-0.0984 left_roll=0.0396 left_gripper=0.9968 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0009 right_pitch=-0.0294 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -2.7829, 5.5726, 1.5604, -0.0952, -0.0708, -0.0708, -0.0889, -1.1282, 7.1863, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8928, 1.4864, 0.6094, -0.0715, -0.6823, -0.675, 0.9981, -0.0147, 0.8188, 0.6075, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1782 left_z=0.0568 left_yaw=0.0151 left_pitch=-0.1205 left_roll=0.0478 left_gripper=0.9981 right_x=0.2962 right_y=0.0014 right_z=0.1737 right_yaw=0.0011 right_pitch=-0.0343 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6684, 7.4051, 1.0623, -0.6471, -0.0708, 0.1148, -0.1983, -1.7436, 7.2274, 1.7363, -0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66d56e84c4607328c7adb498976c20d9e48f78ca4c0a56b9065ab11e4adfc98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3d6e51e2aa784d9a1ccc2379f01e2b61d515e9ce14b68a1c768fa69a4e4970",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777b536ea29555bd08aeb2f96f72fa7fcbb22ae5963d1266c0d2bf99857265da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-uO_t-J6M1gEh5_5UjdP6J7Ca8CAl3SYtCI-DKuTw_9cJhojbsPAVaeE9k-E_G8s1qmHwel8FvLOkFuuhXxk0s49GgO4evhiAEZSy2SfU8qXyn6dEssuWLv1ySsMZ3ZaL2lj582TfGvaFwL23iqM8R30kOLbTN6EFlFdVVRD0MRaeA3NVtnwXDqwN8rZoJccK_E5qlQ_WpUFOY2EBZRPuhQFEG-JwhRWVD5IhemyJzoFpvahOBJL10mONwPKVFY9rzzztQwMdjLSKujsSokx0GzP-0RFfHAqnlPL9keC0D0mGC32w52S15YkrUMQ2BM0ELbhSHCaeO_5eRdd3Xs9vmw36_-YgsYMFXbrUzCw_RoGQUE02Fiwrfe6eulLAjenzKZAPz0rKb52YZuOGvW9SgYlx41TE0kssJOfLFTsOUd6bNpw-qk5XdpZgcqjE6g-N_UDUt7lSR0FiBpZePi6DQtQfCjBbUG5RoSfBhANYq_7LEWynMaB46jed6lF4aT-Wab9RAxrhEeQ4HL02z7WF188cjlxRAcmBff7-SnChhoGdgvbbCUN1cyESOlMgjWZpbL07-wfzIKDpZpxs-84754N_AeSHogFzMnaMxLnoO7XdUf35mOgvRKrdDWnhUGZYyvUxMO5YUASvS2WxvpzCHE7QjmDXrOcE1ylEIo3bEcf8v2JRkGID_MLVFFdyNqxNeo4JKLxWQMd23DPu0sF_3Bt9GFUsrj3bMt35UZplgHvuvl2QcBadeSA7ctN8aSOlaQiatTnAp44kDMDaWUelG-y9k5JEe7MyBywVrdgVOWyLxtM6qag8FC61vSslgdjnZXpoAwbnqs7lXuvIn7ynoIXAcVn-oiB4Z9EQkOldtPHhbktZ_55ehqDDAxJU-LJtEP2KRolZglwg-SmjTpa7ts_BIFJYnjm7N7dmBHXB4nGCkYDTOviVfojC8XS_5MyaRHQh6peOWYF2SSRFh1EkgJZfV1nxsAbFdAqrjS6QZZg5aJCndef2jKHuwV-4dlp1TnOTGCp0r2U0HWhcFKJ4b4kSUNTY0Y3pXYUoElQ_g44DvnfU6MGnRZyjcFABYDoskH7sF4DVaRDHOJFVQ472-SCBwWX3CU3M1Zu5KQ9hqHNxVnvVwwh3_bAtFSADMf4FzF3QcX02ltyXyVkRFR69SmGnXxAyvJmSbNRgY0tPmMGpfOA1Y7NpiCdK8CDVMPIS4oAVLkbWntWfJjhDN9EMvj2uWxBKdcnav2pA1PpeNHiIZH8VGdS5wbeK5cNduR7SQzBunde9TAseAxNUU4oXQlZrQ_lO6nvrs6PGsl9shmnwJApaGZQe4gVH5U0aKA-ft1xNtzxN7XxP4CUBkxVTkEtl9N3qNPm-VAjtgWenOjtGFEfnCm1-xguMmmDnsxmFx",
  "id": "rs_052a393fa4d6833b016ab42fad6c0c87d0934e7993bc633d90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan figure now occupies the center of the left wrist view, with its head between the finger columns at grasp height. I’m closing to test this corrected approach.\"}",
  "call_id": "call_g7PMW7ka0dQCnCVJUuMTX6hg",
  "id": "fc_052a393fa4d6833b016ab42fadd61087d0b07e85430e71dbca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g7PMW7ka0dQCnCVJUuMTX6hg",
  "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]: [-0.8963, 1.4925, 0.6113, -0.0845, -0.6807, -0.6811, 0.0118, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=-0.1778 left_z=0.0539 left_yaw=0.0157 left_pitch=-0.1318 left_roll=0.0559 left_gripper=0.0118 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -6.0239, 5.4906, 1.3162, -0.3443, 0.0464, 0.9402, -0.335, -1.3607, 7.0769, 1.7021, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dcd7502f65f51ea279e6d86908493c83f215c20b3ec238628de2ad6f8917b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0db5f8a3d2e922644e8330549af27aad421b58192471c71ae427b5911ebab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c738439591063becafe74949652374537f778f0171f363f2a85638739ad02b33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.966 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1661, 1.3407, 0.424, 0.2291, 0.0631, 0.0898, 0.011, -0.0147, 0.8101, 0.6083, -0.3851, -0.0116, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3434 left_y=0.0499 left_z=0.0549 left_yaw=0.0483 left_pitch=-0.1238 left_roll=0.0413 left_gripper=0.011 right_x=0.2957 right_y=0.0013 right_z=0.1764 right_yaw=0.0005 right_pitch=-0.0252 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.465, 5.8735, 1.6825, -0.0269, 0.0073, 0.6813, -0.212, -0.7726, 7.0359, 1.7118, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8928, 1.4864, 0.6094, -0.0715, -0.6823, -0.675, 0.9981, -0.0147, 0.8188, 0.6075, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1782 left_z=0.0568 left_yaw=0.0151 left_pitch=-0.1205 left_roll=0.0478 left_gripper=0.9981 right_x=0.2962 right_y=0.0014 right_z=0.1737 right_yaw=0.0011 right_pitch=-0.0343 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6684, 7.4051, 1.0623, -0.6471, -0.0708, 0.1148, -0.1983, -1.7436, 7.2274, 1.7363, -0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8963, 1.4925, 0.6113, -0.0845, -0.6807, -0.6811, 0.0118, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=-0.1778 left_z=0.0539 left_yaw=0.0157 left_pitch=-0.1318 left_roll=0.0559 left_gripper=0.0118 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -6.0239, 5.4906, 1.3162, -0.3443, 0.0464, 0.9402, -0.335, -1.3607, 7.0769, 1.7021, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dcd7502f65f51ea279e6d86908493c83f215c20b3ec238628de2ad6f8917b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0db5f8a3d2e922644e8330549af27aad421b58192471c71ae427b5911ebab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c738439591063becafe74949652374537f778f0171f363f2a85638739ad02b33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-09IYVSC1pIv9w7nTPwWk6oePeailg2ptHBHso2wIGsfmS10ZL98DTVGB67blI987jfid2f1TFpa_ftHHhzvsIl654rDO-XyYzwLs7L5bQvkAYGJnSSM-IJSF3MKV5opXmpmMf87iM50ca75up7KSOR7ReFIVJ_vSC5itEDPAvHEKJvPPt3QzlZ1YW2NS-y8aTH4iqSAFfrzlwD7JIjr7mhTk2wDNvkxOG4uABAIe6XT_AoOE-w04H7NGkYYgqPuO-sZFThvSmrhZINoNos2Pl1v-kMenz_2LBaPQdjUCxCBiLuHKk2YqyBMpIskLTXl79F6wIrqiEsB9nFHGAVuk-NF0EQ6Y8eqkrHKDXYn7o9bnNK3Q7pTXRjCJYqnJ_u_-IwCGzsfvdGtv_IZiwBSNTfhGws2s0bVtYMTmUQrq33_Jg9cvh8uMUCmFtGI30xAodtZZlETCBEsx9FMa03U0d2AU8QyB2wZKO8v_50tGJQavzfTjVJzmHHzQoVJSxdvbXzsgyy2aqhrDMNNcm9z4gzKKWhwnjGec6LtU1om7RJIPVAcHpPQFTiPKdnjTfBaXkpUCQ3JNRQwbGC04gDnlT6LD20SDZ0co8oPG6KjhgqkeqHMew_12-JA81VstiNklEC203_Xy609808Kecvl1RNJZPAp2vUF7EuWvXX_9b7ort00V8fzCAHE0xdoc7uTg4hm4d2CPbMWJlrCoBSWwRowWBYhWaPmQ4QQlMHtUnVnZjpyMzL671Cve8E2T_gDMIZs1vshZ6djaaK_V7XxEJ8zgXa6q0j03KdbKpq7alpj8wdJ3bn49rjGzznWiqWRllVme0lJ0AUykLtlMPtTWnmq5tHc1qmErYCsnwmDvWpkTEGe_EJUVdIx_iF5hTQofMuK1OJlGs9EVbs_eSNojm0XxbhtE7XtJzZ3FWTACLReKKGecLQNdXxLt32icT0Yqkkt9mfQEE7I_sUyUfa4kVr_4dm5vdev_FJEo48noicSmv-z3Ht9ZaNcjl_2hRwNtqhpHRSat-HuRt6XZEK9LhPFSka-L5kuZhEmnhu70SGDOJ9Bayoo62Q8EA9HjqyPubs2YTPjbdH8-4MNcXW93ToZjr7RQHxRXx4KSdLNCD_kwSXgi3K6_2GqOBMealdTUxvLXEUHjuW7buMrm7mRrL5gtP0QOpmz3Byy9lg9qbHT7NiGUjcMdUzj9MB3O9yBHnBUn_RLz-zvNGbK31pxGIuCRv1IRe2kYc2hiy5ysH7Xq9bIbUBbsRulLQUu_Lz8qh_ilo63kHUXRJXFXPnfVxZILv6jwkD0cqWE1dYb5skjfmS2AEGqE0lGdKJJjjSgAOp660Z1sJY_So3Ds2AIEQy3oyVVPMAvD7xYNtO7a34FnZqoP3abpmaFZ9g4UhIlSPCPLxEUNa9PYH2PoPdGP9Umi7JcAW49mtS_4PzEGXxnHUT4CGm9cjUEkQHIQNJbQ4_94kZsIkIzsWGef_Wi6b68OfmRLmNfTz3QmP38ZADtGwQ6o-gYdLEBd_O7QkrtGrLG0yN15K_ZNGqKDGY8Q5dyVuYWu85YLr-rhU9Dec6Z-KeCr2ixZUutOS603OlTF-3nLtSp-cMvMwKMMM255dlOXEu-GLgUzCxGsTqHq5ninXHsnmf2KY9cj3WW6XmTKqOtlt5wO-jUdhXw6Dec9xdNAysoaoj7N0gGNigHgbOdm1IkU5WYuCjeE2W21JQasPtYf9O7BTRqd0FQhNJLWF__ns_SUTe0uMqWncRCZp8P7VXnsGIxV8C3Gcx1dMoTnd34YMavH8PTVpEGUSRJydi53YK7GaWsd7gVTV7JzUoZiCACe6_fz_369REdXQJ-Dk3p7OdZ4DS3ojOVxS7F0kSrGZvezMEr_83gtq1Q9A6JeM0kjbzo3VrrJIvE9wBbOMRBUSC6mPAZ9iYUg9vfbCzIRxyEBIZvfL75ya2aU4A43kZPB9y3LEPnY_c_MCoRQnRO5_B14b0eD_FEK9p9cuC6TquSCSaKfts_3u3jmzxSKo0h4YaJiJC9toz1TxDvz_mUU2SuHvq96hQ9OKE0QBrYQ1JOq9zfTHnS5d2COmnphdw9hoyyFftP_gSIo2TyWpYKCGfq-T5qq0tZma7eMWlJDLCiOmRLSSW2yYQYVBydDreBI10FNfHydmf2UA-ZrTmde2x9Whfxjh4cg1T-izN9HWYNgqjFfWKTY-bpuqSdHTsQ3DyvF_Oh3R-J_qSY7dUyoTSX7M3CoKoZHoJ8ksogwRxMlxE9bLpbJDVQE14Q3B2cNaTQvxH_WQujusm5WB8LgVQkVtVADNFmVaNBStcSVIybWr-VvyYq8V6nSETg9mbgQnEnxY1yuJ2j2zFgY5wk36_XKQoouXOxTkpHUXSoeucqzkmfXdyzS93XYqTrJxqXPb7Po_mh0UFZmCCSjWdDpmUtnBROPerFIAXTPzDz9IhpkMhRKffCnRI_2LAbG0o6tcRmMVBWN2qLV8xlJg81ixkIQ9UZLnYam7EGb3XpsGe5CXadBGTUgFyX2XRm0P5WmNQyHUCl9f473kh5T3tGvA5cYL6Wij0PrphcTPoFlDgKhMY_ra7C1RnDxJ_D9xjPjh0pT2vn0j_ooA7k6oPmUn13UsKJmcTeJItAuntB7omzf_hATRRak1FY7W9iXy2g0ppSLUT01-NmOfQLteRecty3EfA_1siE0-IBcr9lzZTCLp-KiQiTf6VlLp1tNnealTN7uZhgLjIW6REPYJz8yxBHaa-2xDhUjeruXV9FM6sJd3yn-H1lnuVZOji_67mqjLFMWwYaWOx9muJnS1P2d4AbbXadaT2vi5Ke2IaCjbDHBiDkZHbYvm2cd8aSY=",
  "id": "rs_052a393fa4d6833b016ab42fb071ac87d0a6cdba553de2621b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.26,\"left_z\":0.023},\"note\":\"The jaws again closed empty while the tan figure stayed visible just baseward of them. I’m reopening and lowering the grasp toward the figure’s lower body, with a three-centimeter backward correction.\"}",
  "call_id": "call_I8J7Dnn8Ugfj8C3pzdqZYCCw",
  "id": "fc_052a393fa4d6833b016ab42fb37cbc87d0aea760c1561bb51e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I8J7Dnn8Ugfj8C3pzdqZYCCw",
  "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]: [-0.9905, 1.5227, 0.5198, -0.0063, -0.7418, -0.7708, 0.9955, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2653 left_y=-0.1804 left_z=0.032 left_yaw=0.0112 left_pitch=-0.1121 left_roll=0.0513 left_gripper=0.9955 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -3.7812, 4.1231, 1.2186, -0.2711, -0.1636, -0.1832, -0.2256, -1.388, 7.1043, 1.6923, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d8f2e667ec86ecbaefb8c85c0166c036dfb02970b252786686376feca3622e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b4ba088388cdae33b7702f3600dbd2874539617eff630adb035dd9867f7827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4403d5df0dc1ce703085840a40e00f65e37f3758617ef8dc8e59fc6a3ea7845a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 2.32 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1268, 1.0752, 0.2852, 0.1287, 0.041, 0.0666, 0.9968, -0.0147, 0.8143, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3022 left_y=0.0349 left_z=0.0611 left_yaw=0.0406 left_pitch=-0.0984 left_roll=0.0396 left_gripper=0.9968 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0009 right_pitch=-0.0294 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -2.7829, 5.5726, 1.5604, -0.0952, -0.0708, -0.0708, -0.0889, -1.1282, 7.1863, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8963, 1.4925, 0.6113, -0.0845, -0.6807, -0.6811, 0.0118, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=-0.1778 left_z=0.0539 left_yaw=0.0157 left_pitch=-0.1318 left_roll=0.0559 left_gripper=0.0118 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -6.0239, 5.4906, 1.3162, -0.3443, 0.0464, 0.9402, -0.335, -1.3607, 7.0769, 1.7021, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9905, 1.5227, 0.5198, -0.0063, -0.7418, -0.7708, 0.9955, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2653 left_y=-0.1804 left_z=0.032 left_yaw=0.0112 left_pitch=-0.1121 left_roll=0.0513 left_gripper=0.9955 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -3.7812, 4.1231, 1.2186, -0.2711, -0.1636, -0.1832, -0.2256, -1.388, 7.1043, 1.6923, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d8f2e667ec86ecbaefb8c85c0166c036dfb02970b252786686376feca3622e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b4ba088388cdae33b7702f3600dbd2874539617eff630adb035dd9867f7827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4403d5df0dc1ce703085840a40e00f65e37f3758617ef8dc8e59fc6a3ea7845a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-4pAaQmNF_5ZN3XQVR_oWQ4v_jQjMbb8H34c_20l6Z5AhNuKVcu1tx3_4inN-dVa4-h38LSUwIOhXoxImYD5fRVWHHuv7TXRI1mRi1rkbIAixUvzIfk8yoPysKa-hILn2APL4179bNFQut2GPy0_mMc9_9mcEme_NXee7bzY378sRmaqKi3MXu2tf--KMZB5cYAX4SGdY6X25jD-SnhTo57UOFkPc-DL3o7Is-KLYs77ORcjqIZfrQwID6ptqtE8ST4ZKx5J9VBt-ZeMuZYzxehBUWQMGq3OJY5vgVJJQr_ZCXbU6KmuppuLj7-lBba2FYn_UGcQce_v1Mi5GUSigRHJ9kG4P_UeZiExfA5fviXxQsLv4b3NjpZpgRpa7cG_w1kTVJ0KNKH2bMtw77GpjBumcosXOZkkhVLuPT_5o-O4MSVbD1L9qrvUxMUyNusyVZZ1V_q4qU_WcoF5Cz4KoFf5ULjNJ01Niabo9MemKPMGPAVN4_29joBEfr5f7p7bLH3exID5oVmyYORwWNMqO2TboCodx9sCWrupiqv8f37LSNwdVSrRrrGIUM3tj4S0W-24cYUryuNwwp9r9ElIP2HjVaM-1iWYFVjn1HT272UdcHZ2j9F49f2_f6q9uJf6ZFYICsZRZ5lodGy-1yGuo8jHIuasJz2UZqD7R9llvPy-av7wzscVbkTLgeLjSg9DbQKJdT9A3vXdHlvXXXQG5j7cVROevRv5GIBZUbqguD4lZ_l7mH0NL6KODZ5D3yoB1lxcfNHC0Lpih4qi_haxevYMxiIa_5UVDK1k8Dev152DsHuZgUSxUdkDfgnKSEr8KN1O3CS78sH-OyoXKB_oPUZU-h9tI9lmvw22NDri3pSlNZGW5SS7HST8Yl0qNzRy5nT4FDskptS9Ugh3G0YjcApg9GhgyHCECLa8mj0z8f_HxdLaultGvYoonLQyBUNsdMJfhAUSMUduOtRoGlus3x3MPon_Tkv3vHYTECQdUrQK2F_13wG07GaVlk7EWmEgjQnkE__fgNw4QjrPfmKRyuNwRuDuyf90ExjJevDGzsYmoLiDbat8Hf5lOA_xlOW8CUWDtgvBcIiMm9fr9ho7UP-lhAfDfRtKonu_dmhnfhX-EOUON2g6fFdZrAPP50h-1lG-7415tF0qMB9UlhhKuTTy3yLIyXgdJI4iBBoiVjSgfRoWDFVkExZmPWntnESSIy8vNm7SkWg1L4qv_5UmUyYK1AaPnjRnGK3Vjl4R06CTBEz72E6C6G3-_Pa-5-yIlMlMyfgEybOGsvshv-fsTLO-Q1ONOy6X9r19wmYvJiSzHfQqHZD3piJPX-aYI8lDrHFRBtJ_7iU5mRpcUW23laCr54jeZnQTzkCsCQNLXVkM9nTw0altadBdXpZ2fi728ZsMKdYTTBSbLhfaPdNgrTsu9ysyKXMll71PkmLnrCo7FJiA348kzFzRP7wPXw-ByFGO1txvMYFL_sz555X5c2LUvj5qyK0gPyurskYxGKoa3yJFenmTjj7zRKv3R1opHT3ziVfGkCswZC9GoYeL0h2unJbQ6opU7cvl7WfTs01eg9h36zcNb6nLrFhLfYfBnIdZHlizTrsy4lfNjQXSOhg98vOT6laXiIY36vID0YURaOX9Td0bmn_J9vH1OZd2Ce6jfoqY9JB8uFBsvj1gU2mESuLIyvvs7tDd2uz_1-lLs7jIlTlcc2TNotU0u3yFqoampAImZYxH-91aU26p0pQosLDMtcRJKm95nagWQ1xPFC4vOlZDEsmr3dJdtdlmWmg0cbH-KAXpXsEpl8Mk-tO1WKtNBWl6stRIe78Z0GTz1_sOJa9-lwb9azArlHH4cJqXUm7U9yHhIvBE94vmTIZD87uvThYXlvqeY5ABSXmaFDysyVzuUqoyRp5welmshhyUjjeZpQXyuSdiyGWyiifIArM6WGcVKHqO-15DZm2Gk=",
  "id": "rs_052a393fa4d6833b016ab42fb62e7487d0bbf73cb87b8496e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan animal’s head and body now fill the space between the two open fingers at the lower grasp height. I’m closing here to check whether its body provides a solid hold.\"}",
  "call_id": "call_xtKrmyTvMi8tQlP7CU9mhzNV",
  "id": "fc_052a393fa4d6833b016ab42fb7b19487d09d4b23db9cb909c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xtKrmyTvMi8tQlP7CU9mhzNV",
  "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]: [-0.9909, 1.5295, 0.5156, -0.0036, -0.7639, -0.7666, 0.0353, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=-0.1765 left_z=0.0315 left_yaw=0.0221 left_pitch=-0.1008 left_roll=0.0718 left_gripper=0.0353 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.9009, 5.3538, 1.1648, -0.1685, -0.1929, 0.9402, -0.1846, -1.5795, 7.0906, 1.707, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf65a660c7069e564f681795694fdc6e72efac0ced4cc6cef3e6faa175d99a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea96971653f39c7ce22d3f6cb5b8be5668d0dc50e90bfb3bc5d7a81ce3e0a3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10debed0b80d39c03860bac109a0749e82be394a71ec272127aaec05527f2f48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 8.26 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8928, 1.4864, 0.6094, -0.0715, -0.6823, -0.675, 0.9981, -0.0147, 0.8188, 0.6075, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1782 left_z=0.0568 left_yaw=0.0151 left_pitch=-0.1205 left_roll=0.0478 left_gripper=0.9981 right_x=0.2962 right_y=0.0014 right_z=0.1737 right_yaw=0.0011 right_pitch=-0.0343 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -5.6684, 7.4051, 1.0623, -0.6471, -0.0708, 0.1148, -0.1983, -1.7436, 7.2274, 1.7363, -0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9905, 1.5227, 0.5198, -0.0063, -0.7418, -0.7708, 0.9955, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2653 left_y=-0.1804 left_z=0.032 left_yaw=0.0112 left_pitch=-0.1121 left_roll=0.0513 left_gripper=0.9955 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -3.7812, 4.1231, 1.2186, -0.2711, -0.1636, -0.1832, -0.2256, -1.388, 7.1043, 1.6923, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9909, 1.5295, 0.5156, -0.0036, -0.7639, -0.7666, 0.0353, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=-0.1765 left_z=0.0315 left_yaw=0.0221 left_pitch=-0.1008 left_roll=0.0718 left_gripper=0.0353 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.9009, 5.3538, 1.1648, -0.1685, -0.1929, 0.9402, -0.1846, -1.5795, 7.0906, 1.707, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf65a660c7069e564f681795694fdc6e72efac0ced4cc6cef3e6faa175d99a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea96971653f39c7ce22d3f6cb5b8be5668d0dc50e90bfb3bc5d7a81ce3e0a3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10debed0b80d39c03860bac109a0749e82be394a71ec272127aaec05527f2f48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-7OXDF0PV8mfzRDE7-wbbbGu9pHyBYVdFTJzPPpXSHAaI-nmGJSaYgmZFI8DrbG53qE0JRvZqB4Zu2rLq4EZDamsomdgQQhupaDVvpQigdS7dOUfZWiO8CeBEEo-YEmIG9xjFV5t8llUrie0xAAL7YSM01z8oiF7xCSf2_q_KNSjnmdRUIcCtLIguXBmKZpqdK6y5GjbOrjYHu7CCo4E23yb56d5fW8nARiF2wMSEK8lPoLXQD4OkHk6I-_NdQZUgaT3WEiqVIer6wU3_u1ITq4JX4WND-4o0M-yk5Ol3OhuZniPEtV3kka31JOmWdKjRmi9JSxUsJTnZ2JLBmEOQ0RfBhNQUR3cks59R7T1O-sT7LXOuYDNNdfaj1rtme-2UhSRuH0zHCo9GA_TvrKF7HeWU9g9RnSMQe76xEGXddLGsHP_6K8KHeN5WKwLfLnE_owwBMqWqt3VgMQJsL_FMJZuAOuoxpTnn8AkghiytwTpqmEDRiquhVD83Htqg6st94yN6jFHPErh1fjuOLERV_H3BOdCDEJt-pERIOduI9ovgR-_hVJBdSIbwGI4PVA7ijvyJQmgTiql6t5Yn-i3dhis6JG0TPr0smkbfdp-mPJpx2yJH4H3F4Kr4uAKjArOCWOuipn5xQdMFwCQxpf2G798_YvLrs3YvjpTR0IyMEI3qgkipBd1tIGX06NuhfDh-jXLzsvKr3THU4-Zo_hFQNgCUlIewI2OxguXgwx7Luvd3orG0AMt2fQ35Ij2luyjcbEd47KqsHziISoQo6iCBBacaTsXsTPblC8g3l4IsrTmtq1VwyJIF-klUZKsrn09zIKWtyl2wDLgPx9vR42i3xYoqyeKJMdYBiKPkcMkhEZwcEWvMase4zbflq35sSW3_hX1uOhkYWzXnW3Tt3YiIz79qlLt12PIEeOKgL3z5kHTINzSizwpbrDNEtwH7wknylWfvtX8syJbfQRGi9BddVt8F0tHcZz3gmNUMxFvLO0PP167pGuK2iUUHLYZXzUn4773ERIXSqQbIhbhMjrKYA8zNipZ7S8jcqSizfTS4sStmOnHSRPz_T65kmw2HN-ov1QYDXj0xadWPRYKocLflI0iZQh-l7iYNzVYl2FYD5bBpguqB7aCGrNGFKtB8Si-kiQ5Qy6uO9k5YrOBKaZqhHwfxfT5ZVxImTVzsf4PaLxy0Bak3J3ZK1SIGXDwK9tnHToW9bO3dyffMQxQAnllZmCWnddSjOemcR1-jBkh4hiEOCU3WOJBJ6M75eCLL9P68oEHL6ax8Uc94BixxFlG8kfJSRiNLMBjx48M7OADZDAlp9yx_64WV61QdbmqqvbAEftngBZYEnt1hWSS0Ow6Zlkk8EQdRWnON0yvGlDORl07eb8DsrnXv_pbNthY6QTr-3QMRKg9CyyHlnhTZu9Stlvk4PIovwqX3VaGJTOPMykTC-dib3pI8Xr2JEYVv3DMh0",
  "id": "rs_052a393fa4d6833b016ab42fba478087d09a17d827dddad218",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The jaw reading is borderline at 0.035, so it may be either a narrow grip or an empty close. I’m lifting straight up to see whether the tan animal moves with the fingers.\"}",
  "call_id": "call_9JbRD5PkBXk2QLeJ5eEzITgX",
  "id": "fc_052a393fa4d6833b016ab42fbab47887d08d8f80371f0f9abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9JbRD5PkBXk2QLeJ5eEzITgX",
  "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]: [-0.9905, 1.2877, 0.82, -0.5648, -0.7559, -0.7719, 0.0466, -0.0147, 0.8249, 0.6067, -0.3859, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2654 left_y=-0.1773 left_z=0.1382 left_yaw=0.0221 left_pitch=-0.1143 left_roll=0.0767 left_gripper=0.0466 right_x=0.2963 right_y=0.0013 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0423 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.641, 8.7453, 0.8523, -0.4322, -0.0073, 1.033, -0.1983, -1.4427, 7.0496, 1.7167, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7388dab2dd1e7961d611526bf2b63d7d329673aebd2f478bd7d3539ac88ad0b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80d267885af59af52f746a59c056d22099b4d07582c48f8c7795b88cf3a0f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5c603984e4b6d367013927909d7d35634d27e3183928e39082710fbe4a6643",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 5.528 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8963, 1.4925, 0.6113, -0.0845, -0.6807, -0.6811, 0.0118, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2892 left_y=-0.1778 left_z=0.0539 left_yaw=0.0157 left_pitch=-0.1318 left_roll=0.0559 left_gripper=0.0118 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -6.0239, 5.4906, 1.3162, -0.3443, 0.0464, 0.9402, -0.335, -1.3607, 7.0769, 1.7021, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9909, 1.5295, 0.5156, -0.0036, -0.7639, -0.7666, 0.0353, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=-0.1765 left_z=0.0315 left_yaw=0.0221 left_pitch=-0.1008 left_roll=0.0718 left_gripper=0.0353 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.9009, 5.3538, 1.1648, -0.1685, -0.1929, 0.9402, -0.1846, -1.5795, 7.0906, 1.707, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9905, 1.2877, 0.82, -0.5648, -0.7559, -0.7719, 0.0466, -0.0147, 0.8249, 0.6067, -0.3859, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2654 left_y=-0.1773 left_z=0.1382 left_yaw=0.0221 left_pitch=-0.1143 left_roll=0.0767 left_gripper=0.0466 right_x=0.2963 right_y=0.0013 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0423 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.641, 8.7453, 0.8523, -0.4322, -0.0073, 1.033, -0.1983, -1.4427, 7.0496, 1.7167, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7388dab2dd1e7961d611526bf2b63d7d329673aebd2f478bd7d3539ac88ad0b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80d267885af59af52f746a59c056d22099b4d07582c48f8c7795b88cf3a0f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5c603984e4b6d367013927909d7d35634d27e3183928e39082710fbe4a6643",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_F_dAqVEX57YkDbTijkl2QfrsraRbRg9Fl6L0H-5xq7jtjyv2kUb5NyuD10Gbn9zuTY_NjdG-IECaSIM7XwYxB5Y4_Q7FTnEPPYyA6cYReVNIVZnBhXxtRU58VJvIiHx3_HXZPoKjSr_YfMBBgu8gat4jPPGde3YU0LL_MRL6Z2ftmAvUe_O9X-FMbsHTAt92dAGjj97-aFfZAJQgea6Vw9vExrW4TBm_2PLD_ppRI112SJo4htdVxF8LGgNy3-aFKAsiypvRcM4Po1P0BhC7rh3KGEAhVI8fAvPfObt52D56bAuSBO210dyvVwRYLnyDoZeEQuSqrzIeLzPe2wvLWiNGT2wboCiBg4oBhchxcFj5RCidU2fZqBEkpdIMtqIpMGsS1dQLgYfmYK1M9-_fPVHRqfz_qJTmXxo7jtR5Ga5UGIizSVm9AIs_i-xZ4g5e3mvtDSFHeukstmMoDMb1jO5-mfX7sI4bK48eVcv59rs6r_tD77blPgOaUqE3zhic25rJm7_zEbrsIaNeujpE0F0ok5ZdfBaRFQrisu43rDmxR1tYz0Fxz7xpSIVv6g7kZ_H5Xpvn5q2U3cn2ubLTEqfNzZ1ETVzdQfdC3qWB3mGCklIGAh0k7WaJqmKjThzzyKGETRYf3xzCud-E0xtdmtqjCJJ-7XSPRvW4S7HpYhZs-iOnKr1hMu0_RXz7WFsCgeLyw17CABdV-Z3M5A3UqQbuPvtZGnvVoyP3qS6ockXw7GswNSEIJ03N4lGWCG2aahhA8ve7TE5BzQjjCBcQ7mo_fdoZw4hbsBOBPGMzljiPovjPr6AxvTIUgiaHGA1wbpvfomu6xCbpJfQuBeVYA3_acXJ8gngmbgK23TYqChqA62IizwdfyyD3Kk62AG3rbAYZPeW3-YApGl8E3xhFPiGf8Artf-ONhb6R4Kxp1kYLbygMXOqk-YHfE_I9cSevOlDWSnqw2Ek10W9AJrXe77PFJXndrYDKMqVRoNC-EKenXuJz0Gm6NpEdhtwa6pc9QPGeCH2EVg10kNsGkT_OhkNQinmESagbHWr05jGv-q1rDrZGeDaXnGce6m-MPaVJHaRFfRswsKwrT1BZxo9qd3_ehld1fxuY2a_0Fv7UpP8Cifl9KzVcpuK12OD5XRqrXREn3utG1GFDt3FIo8wb97jsZnRpKLgZJCc5a7yZVpQnDMW1jIJtXUInk4Q4791siOh1VyDfaOS1J0IrvQ2f5FMaU4jsMTh7uNeGIBoM2Msz6pzvHk3TYZCsJRa_KbV93GBpx_EgVSDVN658_m-8gaT47ClUvJTfI6FxM4keWozLFLCaH6Q41lAWbee493RO-1oizrSd9GzbEOqdJfZg0bD6HI1QFwoDItROVFrP9FeRtAsxRVQLsTN0SfRSaS8itm8urVVz_-Q_gCmz0Ds8doghh6JqrgKNzsrruXpGHoc7DGC5_xtqlRsZLuBwalckaRdEnTeM2WGzUosVwu_u53reecUEo712Z2Q7-1meCJbBCxEsCH4pMRVruW3Nl4bqWSVI93FoNIkZnwZnbV_Cd6GIrpRqyIbZi2YR5L2qDW0bbQYS7P6v4OruL-OQEa0QTufsBV7z-L3wjMA_x6nxG6q85OaayCFpP5U0lfEI-oT70y0r5i5-glQpgriAEZQLhivO_6j6z-ZfskaiHh2O0hGWZFF3HfjkYi8DU9J21foy_R-kYMx0ABBL1aODdfqG7bqiHrdXpxAC7WAjiMN75C65tSb0QTQfgHcBKKcvYzNjnGQi0g_kD4YtEr-sOVk2G0pt9nFYKEtvf30g6EZZrt-9QkYNdrweV1hpL1ov2RknK0oTpR0upeUMtMxjh5k1OqjtHdRaHnFBh7Fv3PrL_KiHiPH7tDC4aZMjFT-PcEHM1OSwB3aaYtRT4is75VzS7GUN86AydSgJVHiLEKBmeqC171SlHU2qjbad3zCs_b6-9DfUmYOgIdGiU-in40UAASziklKZHNqyLnGuZB41jlwtwhbgiXeaQEbiCQnJcYjDgTl1M0W3ZpxfxhzJTX0NnQiGt6vlYE5lDK7bqcekVGaL2RReNN5n3Zaav9Isg0Rk_U-TJslggBvSwuXvAhAe0vrRNQu0t9_B2WPTaACW4GLTuNXJcszxDSd3sM_pHK76IPo9ekwa-EW3JhQwA7E7EHiaklBW1hFE8z56ysiA2ILmScaatrvefRw0XPt3aqJUXSN0EW7smETpr_fcsjQn5IsBEFseuvcsxwo6aRtU5cQiz2HWBNwF5nIqBKcotSFJrcc6ycm1qq8gzOBSkyZHVaZIA21BT6fgSr_C8zFwHYOz8xut-qWONs3MdREUbdud2WyvuEmtq3Smm0m2igNmOiLSHA4zJWzQaejLGjdEGS6O90sQiAuXHdsrPZD2E0aW9pA2GCoRvWV7CHFCKpaFfudftRRK1Cr5T6kdjvG3yOVZL9REqThC2uqfdvhPlw-F745COmtE4kl2XKlQe1jH7Zo9HJtQRdkGwoqih51puzh1cQYgJKHyTzIIgjudEDfxpisW7_oNpymvoLa1Mbmy_o0_-cd0GYZHfEzIYAHwhGB3s4A9ypkx5b3erVNWa2j3Jsn-Qy4Fah7VMmzn3yOToI4KKNhzEmnplYzQ00sNKueX9_DpQR4zB4OLFxglQHGpNL-OjwsKqf15IpIHugpETneCMRH_tg-yHHA_ccZYGbm8GZaYoKQ3UkUU5OeVztOfQ0LZr6ki7fu8dy5ZnMvIFITBOdmInpXRDFsobhtm39KDyxic4F0zRhnlA-CSUV7B2jEafuvO7jOnO4NeXz_XTPMFenoVw6KLxnaasx0kffk9efvgzkH7ryAtNkC0RS0HIcs3bSPIlqgHcXhP6CLmowQ2axGYQQ152QY3yhvmeQ-OMMzB-__j5mZJtJBEUbS7CqGDj91B4niXUPm6uNR0Ro23PjJXkUHdtIdiaRmr8uAIEmYxrVoupuZcyiF5sr6hJrGaGhRUpdUJUmvgOW-e33RIi_d6la1e9acX5pURkWRiE3LarTlTvZp0tmmLpjc7C6mMbJOuqO0O3YirlFfFQcQuxnrUOxENb6C79CpG2HJSuw3trcsGh0plopOLPPb54eQzwrM4fXPZc1hF2fWX4k2MeOcCQ41Dzk2eO171BJgdcwgkAft0BlL80uAhxYk3xLY72mPYuQ6XiM-lApH09b8X4fG4n-EAhsGaPpAiLHcH6v7C1orX6jKPKvcRTkhbX542gt7x3M591ZyvELwOuBGkY6108tB3Kanj99zNpSCYPY8zH2TpWYWvH47nhEAkABmrFFhZRkp72szkZiKKMoXdiTdibrmDtM58r0ij6SbyJp8rwXKhl8mijNLIyuQoztNVk05ociFfKOlU91K6nylvaWyXMSOiYoqhxixabMS-8Zu1rcE3HlzG1AKOTeURPVsTQbx8D7-ZTDZZd91vj930bo0WplA9idOl-i-QuyK8QRB3qDzjYV_EIzhew_asscxDIIoCzQ3vufLD31hiDd8mxP7b4pi89A5auT139qyDI7hotI5omuInQus7cuH8_EmXuLTDTe7s8JaKlzeF6FCH73ABNOSmc2Q2xGLutJvkK63xrt0tOqJqjb40cKu90DHxBKwoEWceISTLdX-96",
  "id": "rs_052a393fa4d6833b016ab42fbecd3c87d090cb740d54cd5a00",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_FXO7IRGpn_dxD70DY-gIbTFuBig9a2TsYoMr9kI4OgAQUEn1vul7SAq3E-V6fodNGgNGy4roXxChY51V6Wmg8Saq7_tFx2EwDnpHFZXTTrNW8ne8YqjYkwXgwC8bKE5U2dPxaQoW0u8QIyeRVr6nhpa4c6cX6M1J_Z3Ctsk8Qh3R-IqZaa-uA2m8mgkDupxbiTMiPgeskTB6Rnr0pFF4ZuwfdYO7Y9MD-KSVzpYDa4jquloBqkm85HziHWTnVbdBpOyM4WJSAGIFkZBUZZbY9YOslm26vAAuxGCWEzBoJRqMDdGiCADsDyCKtrvDZc1Oy9X3Bkc7G1HQZsulo7Lp0mNcrQDlBqztaEwUqVCcirnFWrqoTRixZQENKAbInTKOg46ECb9ldYGyL3zFrAB7SM1y2sHXTJeP_VmOSDZhPxMSZnnaAXngdWHQqlGwveGZTRXWhkWtUtpzGV3UCnMw5LLzBXpY1FeXrYJ-BMHjLy1Ud4RZx110HbTH5NNztip7hKiakzxPd6KlE3yeGQtLDul4Rw5smaoTZHFASiGcDiUZk9qhGwv-xNYRLbNFMgOGDt51nXtOi0APjIZjhwc8wmFaEb610Q7Wimofh5LjaxYqgOxCXBdIzbjS-Gvs2p-w_Jn-m_3FUqNC07wdD_8dp0n49vCXkdvkSNcujIUIwIfVdJmGSubjv3a6veBYmnT1wNA_hgOOMvMXIn0JDN3y61Bw0ReGRM0hQCPxZ2I2_fCqFqRDPzYSVAEspxJEdjz0lN4Qlhy5Vwv0DAS1lUV87Ekuig2dz1E2mu07KtqPDDo5wprtib1A2xw-mPopFmTH1t5rkzbJnvMmCSC4PJRM4b2ZKCe7tSndBdJWRUjXzCU6-_MZ-h_5cwVN1hFjbzQFR6PA2f8ULcKCHESKqVP-EVp7ueqAibHKDAt8GErf2BJvBW0mzMiFcogo0x-5GjWiyHkVImrI0fKoomhR1FSDJHKVuQwOJ5HSGlM72CJBp_FnmCK2o2xYZw1W45UAZbEqWTV39IQRI_xvV70oVVJ91tpygkLl4RIEcFe4TMgpj2Pf6Mxx043PwFyX9ah-vViMypg-fG7HuAHEiRWbvCdUIdZKdH48AEiOKU-QVoBBvih1rCOLPwU9Nh8-G8wsYp2Dnmnu4mcU7HCgUbFIeIg1Yc7vGsGRicQG2Nmroz2HhxnfqBFnoYAX_xSduuiDbBIujWupfncdO_V40DVzYYT1sbHpxf59vOTDqfWEFdVV00RTF_1Zel70oRlXAxMoZvRCN9MAi3pyDsH1aatLX_3229jTkK20_zoOMJYhEFarXnYD2BgUO_cPpsmL2t0wWxLlQrAh75Hmc0Plm5kSnGKYclIjORfTYn7N0LSOFfmJA5fgXV9NCIIcKwhIdrA7cg0CSV_zlQ_87mnyQBt_60kQ9Ou5qAAk-WJUXG9TLwUq3HtE=",
  "id": "rs_052a393fa4d6833b016ab42fc3fe2887d0ab74de5554582c90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0.3,\"right_z\":0.055},\"note\":\"The tan animal remained on the table when I lifted, so the borderline jaw reading was not a secure pickup. I’m parking the left arm and positioning the right arm directly over the central tan group, where its approach is less obstructed.\"}",
  "call_id": "call_LlNRO1Coo5Oy9VDyu6b1Eg5Q",
  "id": "fc_052a393fa4d6833b016ab42fc4829c87d0b3611eda572b7941",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LlNRO1Coo5Oy9VDyu6b1Eg5Q",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.894, 0.6918, -0.5301, -0.1669, -0.0551, 0.9986, 1.0706, 1.8481, 0.9638, -0.0689, 0.804, 0.7879, 0.9997]\nstate[eef_state]: left_x=0.2903 left_y=0.0051 left_z=0.1642 left_yaw=0.0607 left_pitch=-0.1597 left_roll=0.082 left_gripper=0.9986 right_x=0.303 right_y=0.2966 right_z=0.0575 right_yaw=0.0025 right_pitch=-0.0396 right_roll=0.011 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.935, 8.9231, 1.7949, 0.1441, 0.105, -0.1636, 1.0188, -7.4598, 7.1726, 1.0183, 0.3834, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2650cf60e7efea98a545f6a3e50814f77b91f48f0e4c372f2906d24d9b3073ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccda9a84cca77946db02f7b376d640c41b41c2abc9231b325c2846b652f2291c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a5d1d440dbd27dbeea6f8c8091555683d83ff7b167988bce164daeb6d4610f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.421 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9905, 1.5227, 0.5198, -0.0063, -0.7418, -0.7708, 0.9955, -0.0147, 0.8185, 0.6071, -0.3851, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2653 left_y=-0.1804 left_z=0.032 left_yaw=0.0112 left_pitch=-0.1121 left_roll=0.0513 left_gripper=0.9955 right_x=0.296 right_y=0.0014 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -3.7812, 4.1231, 1.2186, -0.2711, -0.1636, -0.1832, -0.2256, -1.388, 7.1043, 1.6923, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9905, 1.2877, 0.82, -0.5648, -0.7559, -0.7719, 0.0466, -0.0147, 0.8249, 0.6067, -0.3859, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2654 left_y=-0.1773 left_z=0.1382 left_yaw=0.0221 left_pitch=-0.1143 left_roll=0.0767 left_gripper=0.0466 right_x=0.2963 right_y=0.0013 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0423 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.641, 8.7453, 0.8523, -0.4322, -0.0073, 1.033, -0.1983, -1.4427, 7.0496, 1.7167, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.894, 0.6918, -0.5301, -0.1669, -0.0551, 0.9986, 1.0706, 1.8481, 0.9638, -0.0689, 0.804, 0.7879, 0.9997]\nstate[eef_state]: left_x=0.2903 left_y=0.0051 left_z=0.1642 left_yaw=0.0607 left_pitch=-0.1597 left_roll=0.082 left_gripper=0.9986 right_x=0.303 right_y=0.2966 right_z=0.0575 right_yaw=0.0025 right_pitch=-0.0396 right_roll=0.011 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.935, 8.9231, 1.7949, 0.1441, 0.105, -0.1636, 1.0188, -7.4598, 7.1726, 1.0183, 0.3834, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2650cf60e7efea98a545f6a3e50814f77b91f48f0e4c372f2906d24d9b3073ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccda9a84cca77946db02f7b376d640c41b41c2abc9231b325c2846b652f2291c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a5d1d440dbd27dbeea6f8c8091555683d83ff7b167988bce164daeb6d4610f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_Q8YzEqd3g0yFmos3-ZwfiYC1W3yEBuKKzD7JxXng2dG_MWlfu-yYJnzFxXB1jgjwemzkrVyD5WU5DXcSzpwzRKe4AjhG_sw1tyqyr3aL_DGPpXFws-8qqBdeRLXPo_Y_FgxoZq3hktpJp31BwfAQHv__vSzciXfve55gtnv-DQ10b3xRFqOt-_XWDYMPVvSrUwiGArRcMYP8JQZdFgb1Xg-yeitOB1ehxthO2vbZY0XbAAg3A-mXDtCtRSC5vZLq5WlVm-Bz-wSIeKDS33SpkE9_YOtW6GDSwumiiIo7rE9Z0ZaxvnDiMvW4bzhbSXgboELt1e7AGeorZ9LoeuRxnZUwXpFXk5akZkGcxu69nweFSAbr-ekHFKMvqWhSmXx74BuhJ7wBpSJfizvt802fYdtP7KpipR1aq5dbQhDXy99dL-bxL5qS1sl5s25ibFwvpWVDiiryq0G2_NiVPKwTpYfrYIrErqjBXXdLmsHS-IiTc6_OWIvPmAqOdE4LS6oc4LKiYa7BFFLT2a2q9FUun3kwjFvNKRzPS-9mDs8VlTMtkxTGL9fDwHSGGIl8rpxCHzLv8f6n-g2Y4_g0PFB_OwhHGeADA_tra_nvg3aV1vkGaoJ3BQWr5nFnHkRY7CJD8v2U5EzGmG9brZUH4h6YEBv_ZQXefeJo-YK1_rHlav_AwNdmU8Olgn1YoRgFd55o1rqBeBhvrdAXnxMsEPqluoKwGKEQlOxQ1k_EzrYAihIZVdylMwPz3JutpuZUsR6n9XShkyeZPou67161qxXlOUXywycbOzjkQo2EXPFnYpNHS-4IaQWZOdHxBgu-yu_lcqnoYvkHaBEmat00bndlUILk615LOXKE43ZG2AwfKroyAgFZyZivrB8S7vKhoWk8pyUzgX1sRL0fl_ZVtBYmPcCrbENNHnR5w3TWNVUFu08ZyDlVJx56BX6Cywuumpwhl8Uu7TCsEIEv3MTrH2DwlCCVAZyHJZfQmEy8ZS_Dm92X0lqbx7qxqixInObPszsG1z1mwRyezEuPwac-yoaAUzv3xTub3y2E4d97Q-Hn-12Nv3fypK8W9RtsmXfm5GFX0oLuJjfy8EdHXD7Ag82BP9BFnVldn7rWe4xC2wrNeJP3Fw1jdCd1g5wA3o05SCvopaL2imZ17TboeCdqCbpw0wozuuLF7ogNHiK6WP6gsQd09rsPcj66glb1PXdpvBigYLYSkU7tYyn8yRNsVOyLsn1dlxLpEhytEva0hlpg7_VdMQg_0RCXFwH8v1zgA2FoDm680aLmVPIoUb8Yrbrkde-htV8rvyUnF9bDJzZzEcbDKqN34e5-3xEtsO0pQL3V7PROo-yPHTKBlkUdUjWva4vA2vJ7Foj5slledwSCcCSTz45nnQTZlY3Yhfhw_hjHy1rQqxfYn3R93-g-uA6ycCiGCeNrE91r0AMHDtey0pYeDu3G3vTv0nIIWiS0stChpTlkdf8ORGUGabJUioxoJ2x67UEtva-mBrhvl_iEih0Fi-uxOoAXdZamDRsDfcv5rkkseDoFIiXOtO1GxubHuvhTwruGdbUZqAl5ZGAdgwglAvMIfwjZ_L75aEUSSNjzeQmGy0YnJk_3_PDZkKGFJ1lHFXUk70sb7eLe0uRQLtGN6BLoyw2z80bb_dfmVE3Bb82D8UhIklFcM5tISnq789djhFqRgVgTiGhCas7anUWPgpjKp-V-Ge2ipq5MDRpOWnoECeXPj9fpj4Z3I-CsyjT3UpdyEl_xbl-3GBUH34NbtEayyw7846B9qQVum58uiQiBp8OWrft4R3Nu7CQwWkwMp2FcucmtfRhzl3B04vfDl7YcVPDEYfZY-p3iLyLlf1WhPLfX8wlZ7oQfQqolfv-9s20ZokVoYHQR9WGagF6bNEWsFgy81zh7p0VbHI0jSy6Ngc6hra1eclWL1-2tih04Pw1CKrViOrw8FbSqJAV8-gMOCEn_ZW3eNS5Pw5g_QWNmkteQ9A-Z6VLjkYSQftHozUCUel5ZcR7oz7P8Ztd4no1rrrHUxbqG10tWIkaCrNq_I9_Rm7fYECW-ma5gfA859zdiWhwwgrbmNdX_vY74PTTb3jt-vlosgajaW3HK8EoiGrdGue__4UTj5KU-WN19jpPRb-VUXAqGykPk8D7xdRHvvZuc9kKmFyA_wwFHFCF-qP2BSBTy9dvq9UzDXhJhGJryfHoolPpgGQ-6MfSUGhxUOUU4P387H5SL7R6cB5u2dvmDweDd4vzBZD1echDewXtYXyPdRIbUK7cVrKlN84gNCwL08g9fL7XqGiPl_qo872LCLfpda1u5HpqZaOXzI6k8pX3Vf0tUL42lhWBXpU2fvDmalNfpU7vjWIEz867-KAFLQ9zwWNjcQdkzl3uFb-NpqXPbccI0zrjbhuSIjxcBf1PZQpLQYYm2r3xVgdwG1wHkAsP7esOqWVULij4DdNDn68f-RW0kNwtv90QpHu3g7uFlMSK3G07hc4fkoVy6lnvc7qMAn6yaCJk-12IvPK7cpkw9uP72CKr3UG9t9AwMsiFPgKP1eBm5jgT3aTDa7YIOd_JVzn8E5Tv2ntUdPxtpwIh4mhrF4_ix4BrU2NvNqE96oG2Vhwoo8ut8sISwIHDoZ25SBwm8MrVQC7Hm3SQxa7FXLPHbOVyAnjOUhayLqXGtX9Hs3Slc5lRItlq4l8VG1cMt3_tHsHuPZSGpEyfaj9cvB_wxDfwzDr6i7GWSBNK4krITpHc7t0_nYIcvsZ1S9Rn82-2q59S3YudxJEmDVtgPB7wYEVL-XKiWUIgIeYCC6Ib6C04_EcDAd8989EeAWq5d5hfzWnoNn2doeFX14U32_hOD8p0UqruxS5a1T2hZk5zwg2N7Qi5OdVHyQycCperROPtvG7QHILRBJsCwbFsZqlmwZ4DKPTgluMQ7I9wGdDt7iIpyh2Pb5pJWSgaNHp7I49_qWAvXEzAnG5VxHACa8q37q_-aiNZTZFw7cGbtYMcqi9ujVDrw2qHEMjEHIXmnIn4J0s_hds4araaiGyHImC00iG2S77ndCL9Jc-Euzt7ZmELcJDLWiWHYaY3fCfhVPaMSDxhlFSw==",
  "id": "rs_052a393fa4d6833b016ab42fcc4bec87d088de14baa3931b3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.35,\"right_z\":0.025},\"note\":\"The right fingers are beside the central tan figures, but a figure appears left and baseward of the jaw gap in its wrist view. I’m correcting a few centimeters left and back and dropping to the lower body level.\"}",
  "call_id": "call_NKlNc5Be7GFK0BI85Z7BLLq9",
  "id": "fc_052a393fa4d6833b016ab42fcfc1ac87d09ab83613bf880e27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NKlNc5Be7GFK0BI85Z7BLLq9",
  "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]: [-0.0948, 0.8955, 0.6914, -0.5312, -0.1574, -0.0528, 0.9983, 1.2118, 2.0403, 1.1133, -0.1448, 0.8635, 0.9634, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1633 left_yaw=0.0526 left_pitch=-0.1638 left_roll=0.0778 left_gripper=0.9983 right_x=0.271 right_y=0.3501 right_z=0.0253 right_yaw=0.0129 right_pitch=-0.0457 right_roll=0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 6.9402, 1.5995, -0.1685, -0.0562, -0.0415, 0.6222, -9.1145, 7.1179, 0.8132, 0.4908, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4012b59190724cc8a0e2f01ad79428ad5840a8c2910578972fd8741c4b62e070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6fee9994743b2890949a08dbaeede5e3d3f7b328df23a29b9d2ea756b4e1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0398219aa47850680155cf5e7f3037cfb8e553924b75cdb89e56205f3ae94e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 6.843 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9909, 1.5295, 0.5156, -0.0036, -0.7639, -0.7666, 0.0353, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=-0.1765 left_z=0.0315 left_yaw=0.0221 left_pitch=-0.1008 left_roll=0.0718 left_gripper=0.0353 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.9009, 5.3538, 1.1648, -0.1685, -0.1929, 0.9402, -0.1846, -1.5795, 7.0906, 1.707, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.894, 0.6918, -0.5301, -0.1669, -0.0551, 0.9986, 1.0706, 1.8481, 0.9638, -0.0689, 0.804, 0.7879, 0.9997]\nstate[eef_state]: left_x=0.2903 left_y=0.0051 left_z=0.1642 left_yaw=0.0607 left_pitch=-0.1597 left_roll=0.082 left_gripper=0.9986 right_x=0.303 right_y=0.2966 right_z=0.0575 right_yaw=0.0025 right_pitch=-0.0396 right_roll=0.011 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.935, 8.9231, 1.7949, 0.1441, 0.105, -0.1636, 1.0188, -7.4598, 7.1726, 1.0183, 0.3834, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0948, 0.8955, 0.6914, -0.5312, -0.1574, -0.0528, 0.9983, 1.2118, 2.0403, 1.1133, -0.1448, 0.8635, 0.9634, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1633 left_yaw=0.0526 left_pitch=-0.1638 left_roll=0.0778 left_gripper=0.9983 right_x=0.271 right_y=0.3501 right_z=0.0253 right_yaw=0.0129 right_pitch=-0.0457 right_roll=0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 6.9402, 1.5995, -0.1685, -0.0562, -0.0415, 0.6222, -9.1145, 7.1179, 0.8132, 0.4908, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4012b59190724cc8a0e2f01ad79428ad5840a8c2910578972fd8741c4b62e070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6fee9994743b2890949a08dbaeede5e3d3f7b328df23a29b9d2ea756b4e1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0398219aa47850680155cf5e7f3037cfb8e553924b75cdb89e56205f3ae94e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_VTFcoBs3uB06EhMCVKfPOZPYjJtaEmgISSrjGMnN3LydQ6DLR6OPdK7syWc_3as5fd7DgV5DF9bhS9rXXk1eq2rlVOks_4btp_kUtLkn7Fyk1wBIHDKiskO0JYuHkQKUsgJLNBA7qsxh5Q71RPgrRehF9_3aSfhGkwU2rhS2Yq6VOG7kiWmhNyO_JYILEdRxyjoO6zVkpSELxDNe5t68LwKuNtQTw-WtYFDuyY7c1lwHqEweTCGNACGzxMJPDYDKSyp48383dAwCom7xXw6cvCS_nX8yTpKaV0-uji9A13e03REFd_24ye_2EfiHb6aHiUeShegOfnKFCmoUmsihqmWN1O_X8-_ujBHYfAFzWY6ohrdM8f1BbXLsR3rxDN9R9NocbIls4XVNb0QcRRAZjpEtbamZBDgVTomxtE1D9OGsVObs5GRjXfFYQEe9QBayKh4vGlOFaG_OLyyjILGtKLEt25gjRCUb4OE_Dnyrbwa4FeLpECY7IvefkdFR7NELS0XSTzsw6sRemF1PuxxESJERdxXVwPwyNYESy5TEZnLuYrDdkz6dDZLmPionbwcU33pRtg0DZXwd_0RQgF0OFYbm1qkJtIml1eXPMvT38q1xTNi_8rSxAqZEGMKRUKlEOEVa53PwDbS_xS4gW_FIai2o-Eu8yKtccBu7mzjc_55o_VouaATMibQ7fE3z8NnJYy5L2Yt-FGswp-7qm58vW-rpQqS1jEGIPJrQmZarnD3FfIZmtppzyc8gPCEnT44FgBJCOclcrsFrqWAZ0P1YKoSlndiVIyonVHUmUrn5-Xt1alg0iMlqaxAm-AKg2UpRTETA_UGB9gzmW2hF7loILn40oTLaeT6_-OaWWRqPzeny08dQx0ugPHe58TsjRcQK5exJL_FJcJg6kZK1MF4ixiRnm46rp01vBsVHQiS3w3eU5j5xeUD72nckM22QsGBORiIaYFNFK0L2JNMo4LykR2E0m9tvycWZHMK2G8c8SPNOeHu_UAv_R0TiXwCgtDErm2y8C0AiS_2NEwWAfa0hxSv3BtZbdkw4IsRcgTqzmUibkyqlHm9vJJm6Nz9gRo6rMR6DNPTWdDtiiQc-h5uaW1_EN41dkK5HxtAbPYHWFmrlnuZHCdglTQgfYoTaviqtC4cpD9iyC0nBDUT1LcSX-qc_02Jr3PEjQlllQHl_3ZmpBSCpxiKN6hJMjcOrmK-XnuUPEFiqI0PSrJ_hXl-N8O42V9bGOWGcBIhaTqjfK84xjSP2lLRl0rAjJZ1oJ8dSHUUjcOKdY3h3XlsExrj6XK28gQjLklUrVoKqznsPC4VQuwFBrPPdI2xME823Z2MUEHZCB3Ftgn8tjTjrRK7wFJDL8sbASXeNYYq9nsMePiPpoOVWYVVE-0R-Nam2K8TbBEBL6izqsDHEfcPJOs-2_PuEmCzTWLN2kjhNP4A6Dp-MWekEV-tgFXGvciGi6PVj1xBoW0yM540nMTtoIP8ya2fOAI22Rhux49zSOMVcMLrgsrdR37p5JygeC_aK0fNH6Eo9P34ohlfi_VSRuP73zKZKCzOWDYmvjnKLdvmuBju_DwocFUh_4IAo2TNYuFVqe7xJtGIpgPx7VxNw7-I5hAxkAoz1HwQ3aji3J6wBq15dHahjyuVFfS8w9ko0pttdSEa-Ke50f7B9RSkT5hu5GldpQ4-eaOC9h-qyaLaxnP4csPSkqsgEnWQYvwygoIzwiUCC-g7Vhvb4f9Pz7SC54hLVF-De_ZmdAF-J0nXRUgQwlfGM2hsgR2ONj4280-V8kyW8nEzpzJwrfGv9a06-NgmFASmWriv8YhXSXMRKzts2J3uZLVKPymsfOzVxq2TXt_kPZrTU0bHeUj_R7kHHz8VOmRb-jUK6C44FzvDaOrqHLE1425vwrxv7DnXFSpZV6-mucP-nmU8tdn18unrajENYwO7i6t0X4JicYDCUd42BTj5xq1Adi2NEkAaFeXpD1ib5dyL_xtzTryLS4Y3OxJYHfbL96cj2Kx8xEic5M95Ri7YyWztF77bl3ySf1ZDIadlA17o5-q3xEOc8cpzadtodVfCLEHPc1aO4F7K_GehUXer1ETJB4KksviVIAkfjnkR7waFkmSJmPWYOXm5rRA7rHRQw0OZxlyls2VY8dx-Ql9ty7X5jaGTem-nEMfH--TkUS96NH6P_W0VKr2q7JdtKxqVDaArYtSa-yUdFr7PvjgAGFY3Y3asKN-LcVP2R1Aee4wX1eIaf27zY__1nsCUZVbP7rplnyTu3ifX_l80o=",
  "id": "rs_052a393fa4d6833b016ab42fd2f43087d0b05d3152b09b96a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The overhead view shows the right fingers covering the right edge of the tan cluster, although the wrist camera mainly sees a different animal to their left. I’m closing on the occluded figure and will check whether anything is held.\"}",
  "call_id": "call_Hf8oui6SaEpiTFb5xOqYLVme",
  "id": "fc_052a393fa4d6833b016ab42fd520e887d0957d900f51107247",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hf8oui6SaEpiTFb5xOqYLVme",
  "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]: [-0.0956, 0.8993, 0.6907, -0.5343, -0.157, -0.0528, 0.9983, 1.2106, 2.0403, 1.1137, -0.1493, 0.8627, 0.9733, 0.0196]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1614 left_yaw=0.0517 left_pitch=-0.1714 left_roll=0.0787 left_gripper=0.9983 right_x=0.2711 right_y=0.3492 right_z=0.0249 right_yaw=0.0067 right_pitch=-0.048 right_roll=0.0311 right_gripper=0.0196\nstate[joint_eff]: [-0.0342, -1.9897, 7.2684, 1.6581, -0.1148, -0.0415, -0.0122, 0.253, -9.0188, 6.5983, 0.8181, 0.5201, 0.0366, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8949a3bb6c765cc8805eaeebae650cbbd76f20dbb7e4a35edd1bf067a3dc181",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54cfbd37140f4d2afafd444bb60a0699ffb74ce135413e386278353cd9b2ea07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3b67dc6edde4284854ecf883f8906c52c0764f3347b4deae474175710d5864",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 5.653 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9905, 1.2877, 0.82, -0.5648, -0.7559, -0.7719, 0.0466, -0.0147, 0.8249, 0.6067, -0.3859, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2654 left_y=-0.1773 left_z=0.1382 left_yaw=0.0221 left_pitch=-0.1143 left_roll=0.0767 left_gripper=0.0466 right_x=0.2963 right_y=0.0013 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0423 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.641, 8.7453, 0.8523, -0.4322, -0.0073, 1.033, -0.1983, -1.4427, 7.0496, 1.7167, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0948, 0.8955, 0.6914, -0.5312, -0.1574, -0.0528, 0.9983, 1.2118, 2.0403, 1.1133, -0.1448, 0.8635, 0.9634, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1633 left_yaw=0.0526 left_pitch=-0.1638 left_roll=0.0778 left_gripper=0.9983 right_x=0.271 right_y=0.3501 right_z=0.0253 right_yaw=0.0129 right_pitch=-0.0457 right_roll=0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 6.9402, 1.5995, -0.1685, -0.0562, -0.0415, 0.6222, -9.1145, 7.1179, 0.8132, 0.4908, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 0.8993, 0.6907, -0.5343, -0.157, -0.0528, 0.9983, 1.2106, 2.0403, 1.1137, -0.1493, 0.8627, 0.9733, 0.0196]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1614 left_yaw=0.0517 left_pitch=-0.1714 left_roll=0.0787 left_gripper=0.9983 right_x=0.2711 right_y=0.3492 right_z=0.0249 right_yaw=0.0067 right_pitch=-0.048 right_roll=0.0311 right_gripper=0.0196\nstate[joint_eff]: [-0.0342, -1.9897, 7.2684, 1.6581, -0.1148, -0.0415, -0.0122, 0.253, -9.0188, 6.5983, 0.8181, 0.5201, 0.0366, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8949a3bb6c765cc8805eaeebae650cbbd76f20dbb7e4a35edd1bf067a3dc181",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54cfbd37140f4d2afafd444bb60a0699ffb74ce135413e386278353cd9b2ea07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3b67dc6edde4284854ecf883f8906c52c0764f3347b4deae474175710d5864",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_dp0fBc2KJmiyDwI8bYWCzt1a2enERnddynZAyEzU2uzThRORv4ux5UiUSDCs0-_Bpa2TSjjYlz0BuRksdCWSREY6siYAhZ4vcyh38lb4KJcC-piDkNJb35hw-jHD_GuVIPDuxVu2uZl-O7zw-dX_uucyQsVFbZ9JnfO7nZbY-vJbYevqmxmnpmhzUZI6-Kize_txa1i3OTQG8aIaYhJq9hOwKpAKtCUUl7xLxtuIVkulrE7TPqJrBiHCxCT7OFg2m70wGgwqTlLl5z8IwW5AlwFCe9YL68UUz4CXlqVdKYDXXLzUDsoWO_d_Tp2A6KTFRGJMkB66-Yfyh4EJPRPSdvc_90l04gJlDF9K9Vl_tKLjEEtQjvegRLsUbB0OIejm84WVHOj4S3E-72U2KE_J0ICvxs9TrNQgi7JPIA6ib_ITBqJdd7kby3HTo-OGO3_SirDgRXTkPoUksKUSsTfcolLchHUGmwj9ikVlyxF_1wjVZ99l8DQsTOfobyIioywadA1PGJJoqPwUpLAQpdgq7SRd4imXvlAxMMqHi5UXeM8XHo3k-f-abOa97JKSVh6edZnJyGF0C3T_rf9Xo8MBCJ_fxdoI9pOl0UJuzpH919_fgedUhJ9pkHHWAFQddB3Y5-1PY3aIbaUwCpBTRdkBM8fQt2n1d8JgGvN9BLp2svujawqDyfcnIcFziCgeAUfP2Dudst0QHp3-p30f-sy-5UCouQQnsATVTAI44dA80Z47cwW-tqdMRw3CI3lHJUHVvd30Q7r-KSTvKU8FkYotGEwfLpduXXAh9Q5CHKFi8afzW6_gRP_gHT0J_N5Rbrn26uru4mWsgFZKF8z897VjsilDjQwbbYrRJVINp2i5vzdTVYp9HSAd1YeyonmzKReltnvm0V_dVHA2pE_ujASl_qPKNVlB3UgfBNCjfmSV8uISlMXLHnlpNWOa_1v8ZTKcFYoRKhm6HsTR79OHR2A4CF94A4zyKjWnnbW-KJ34O7ZHDDPfxAMrKy-8_O8sXq9FFAp6SjjslCvqcU2pfYZptGd-K1P5jMjzwAZPdK8zlIu5f1I3K_ihiEqoRakqwvZDEtJchvr0lu_Ig_pGrvkkkmBTfmVJ0qmjUqiEB8g9hcCBw3dwbqOC2enpEEmo1RCpugKNASQDvnd2sgXVzz3CA9k9Pov62EMBA6b85adv6JN1RDz0z-FTL5XpxOl1wNiJR9mGlAzhvDvigCLalwt9-noJmbuEQmWli1j3QyM9zzATQBFxehjuh6w-1mvYgWEJpZX3Br2B4rhj5C_LU3Utb0kjXBxIAr4Yqgb30-_GopvwJtSt1zfH2iehC42yv4yqNhCc0cwwfaDhBW0AgYTTiPGZNKinROo0FxKHBbtVrVYqi__cEOOn_v-H97y12JeKtwNa5aR0NNlh1pEU7WWLifsvmbYxRkN2hBBSi_cKk5In_89_njLAHfYcBK5qJlU2ecKOcAVdz6FaBJNnj2hkWXWrwjKzd5-_Rvw1eqaaOpgoYz4ajQZ6Jhtfc2cpsIG4n-YONQytQ9pC7zrw663OA1fwsDC1qPmP7KR23qQ_A28agPDIkcyeP3L53PdADRGwYg9Y3d8vKUmrjzivL_L0prSaUwuDagBCPq1NFvODlrS3Z_VMRiKF6yG9ZHECNSPbNkT0DeysTSOTJ-edzAy2vQ6bMiq4RtJA5AefZVqVII5JNq-_7O5ZUlKlG0zAH4hcCGvpODykgpA5j9Ysads2FZo1cnDWNsB-TdCv2gSYQpoU=",
  "id": "rs_052a393fa4d6833b016ab42fdb909c87d0bfa6978e193c961c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.4,\"right_x\":0.285,\"right_z\":0.085,\"right_gripper\":1},\"note\":\"The right jaws closed empty (0.020), and the visible animal remains left of their center. I’m opening and making the largest safe leftward adjustment this arm allows, with the fingers raised during the reposition.\"}",
  "call_id": "call_hwsgvzq2yuQU5T6Hbwxu9vwA",
  "id": "fc_052a393fa4d6833b016ab42fdce17887d098955081c0b8892c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hwsgvzq2yuQU5T6Hbwxu9vwA",
  "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]: [-0.0952, 0.9024, 0.6891, -0.5365, -0.157, -0.0528, 0.9983, 1.2118, 2.0876, 1.4559, -0.4538, 0.8524, 0.9771, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.1595 left_yaw=0.0523 left_pitch=-0.1782 left_roll=0.0797 left_gripper=0.9983 right_x=0.2865 right_y=0.395 right_z=0.0806 right_yaw=0.0103 right_pitch=-0.06 right_roll=0.0285 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -2.0581, 6.9949, 1.6093, -0.1001, -0.0513, -0.0122, 0.759, -10.0855, 8.3761, 0.8767, 0.4713, 0.0757, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3a13af4777bfa42245e88cc5ce946291b9d2f36b7d302a5b835e44889e257f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191c6af51d0cd1f155a3757d230394c650d6e4a95aa63c4ce475bc8870bbb226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3773aa57c3e65d6136bc9ee6208e128fa3ba72fb1e0f83ad9c9ae1e72802e126",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 8.843 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.894, 0.6918, -0.5301, -0.1669, -0.0551, 0.9986, 1.0706, 1.8481, 0.9638, -0.0689, 0.804, 0.7879, 0.9997]\nstate[eef_state]: left_x=0.2903 left_y=0.0051 left_z=0.1642 left_yaw=0.0607 left_pitch=-0.1597 left_roll=0.082 left_gripper=0.9986 right_x=0.303 right_y=0.2966 right_z=0.0575 right_yaw=0.0025 right_pitch=-0.0396 right_roll=0.011 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.935, 8.9231, 1.7949, 0.1441, 0.105, -0.1636, 1.0188, -7.4598, 7.1726, 1.0183, 0.3834, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 0.8993, 0.6907, -0.5343, -0.157, -0.0528, 0.9983, 1.2106, 2.0403, 1.1137, -0.1493, 0.8627, 0.9733, 0.0196]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1614 left_yaw=0.0517 left_pitch=-0.1714 left_roll=0.0787 left_gripper=0.9983 right_x=0.2711 right_y=0.3492 right_z=0.0249 right_yaw=0.0067 right_pitch=-0.048 right_roll=0.0311 right_gripper=0.0196\nstate[joint_eff]: [-0.0342, -1.9897, 7.2684, 1.6581, -0.1148, -0.0415, -0.0122, 0.253, -9.0188, 6.5983, 0.8181, 0.5201, 0.0366, 0.8132]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.9024, 0.6891, -0.5365, -0.157, -0.0528, 0.9983, 1.2118, 2.0876, 1.4559, -0.4538, 0.8524, 0.9771, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.1595 left_yaw=0.0523 left_pitch=-0.1782 left_roll=0.0797 left_gripper=0.9983 right_x=0.2865 right_y=0.395 right_z=0.0806 right_yaw=0.0103 right_pitch=-0.06 right_roll=0.0285 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -2.0581, 6.9949, 1.6093, -0.1001, -0.0513, -0.0122, 0.759, -10.0855, 8.3761, 0.8767, 0.4713, 0.0757, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3a13af4777bfa42245e88cc5ce946291b9d2f36b7d302a5b835e44889e257f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191c6af51d0cd1f155a3757d230394c650d6e4a95aa63c4ce475bc8870bbb226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3773aa57c3e65d6136bc9ee6208e128fa3ba72fb1e0f83ad9c9ae1e72802e126",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_kCo1PrqmdSIWS3J7p9rAtzs5f_BhkmgOwHFwt1n_XLsyyilWetpDeJiemAQdvdpVU8ri7-_fQx8aorb4scoMMB7D22b1yDZt4QFGe7bDaEyVWLf70VYDjYgO5j9BYYs1LgeUktWrt_74oLVaVv9saTocPhGx4vz8c7HvUITq-tV9uiQFgOVruqZIELZWgMbuse_XNRLr_ULx6pn9T7hn4lOAU_Slf6un1hNVK7uaHhQneCW5B02Acm6SPzc91lLWZfDR1Ufp8J0x5s11GA2vX1E2T67lsLTOJEjZl1oMftMwHGggfG_9ZtUbHZ0r5IupDvKRR-YvS_sXucsQj1DnORGVMf0mbUZbW_yEzsvbhAJm3hbsUyFnC5X2VhmdZqgqYF_qOUnntJv9qIWHWCLUU3xA7B-cvaib1CN0lvdmOzfAq7IpNkE46QIw5KZhuOTnSSqTvAsLeBQmUrTUn_sBCOj_3--bfB3GSyQBcDG3ODuoSiFnZ7ibNn1LN_OG702-4q4AjyamIYPYo2iyrNp-UO4Q3gEIhvOmveJkAW5CTixPHDlNV8-97-HEhvTQw1_5hVaAly5Fjm7eLoHH2rkdQ7Dk06ms0jvmqoYnkTixyvpYd6L3UcdHuXUIbTwNXWPtEQaz0KJKrsx0PKDra92AdM2xY2nASy3L5o0WR-C9IysYNgrYAROFQS38RFDaqALhKkn6ouoxQpQtGgmgf3MA-SKe_8B-8WuKJ7553deflpVdXCsZZ0aMASXYyZpHJUVaNvyW_dzVSzIIz-n1kEioycC7cC1fdDZCFKP5GXp5xDr1tO3SNeXmO8huiV7t1UCQHiSbQFRWh4GCRuK30yU4QQ5pFosdDu134jUDEo8yRhP0oIKGsaoOQhGOHXhp6lc9wl8PxwJ4rCVr_MAOsTndWdEO7buidFcSQ7ujxmrUceLWNrV7AJKF89iyZ-oqSj-Mb9jIriq7fYMqS2MU8eNqM3-NcBeDdUzWnzuS3_mowaXa5EyYU5CfmJrWoauS7ln4paERe_N4O6LSyd779fdMZc6m6kPM1srbZZOQ4yGAruybvxqIPqkF8qtL4dVryebSzNuOmXh5CKoXQLTeKrb-wNROurmkbGXwQuVGu4doaSHGLDtGmKvQSZaphAk_tTP9rxev39lMbAlcJqJZBwbjV-NQgEru3O4_WUWx_njCBdjSPsC3m3JdmfUS1mvfAsQWx_mlJ4yT8DODs2eNilMluHI34gYOJrTs-z53uUYTJHKJc-cEMnvn6rR_0hp0Sbo57qeQBHHh0K0phptG1KsZR6ppGOIY7AB65dhGIyVs7HNxbwgUlwLDf-cgj2fnGuCXqce7PQIqDPQsU76RaIgmXMT4KAuVFZ6U6MvMfzI2iXdH2o10O5Wcjh4kuey7UaSLmK5Nt-dKhIsodBZwVGrbpkp6gi8dBoKg9buATqkqsLuKBnj7At7rmFxllHXJbI5lKUleKAFpewAP5hXSNOPhSunIdoBjcwrhJfB2G9-AkMsFa7Xd0tEXZnNfiqoWFpZusqUg1crzmaPYfqalNoeeMqnjlBnRwHsjD4dDut9ApgWv2pxgNzCsWvK9UnRiPcKQTRU14kOVFtFCTS289Ca4SluONm7NrcqrDkNs0okMeD_bbV5zw84cPPlAMt2oxleI8-2eQJYtDN4s5957nPjwQ5jO4yX2qPKjtqL0rLxg7IZY4ERHndJ8rT0p3Bo3sAuaQu-AhBCxcCvBYyibQzC4c0rwqgFwar_UB16EIc0tSuJM05xl52N5L4qqNnwNJmiLF1xvrxdqo9G-WLJo9txTqqw22i-jxI5TAmp3Ot4kFKgoXehXwPPXXS0zQ_LpdRmRn9dUHxtg9O-XCCghZECJVV4Qfh55oa_zncRjVLd5kZb6J4Kgw5URYW-oHiG55RfrI2xQgQqd0tNdVV9nUny76oQYMLQKxs1CqZ5dgU9StG7Px9xSnfMlw_TapZSb1q0Bz-6seCYkT93-SgBJe4D7LfYGiMnxdGGXusP4MWpDM3x6a18AJrw69rjcUTKcvFCqwxe6xRyFYEdXU-qgZ5LKz3v8hP1pjuN6MzR-KiLrm3aV0qrB7xQWnGmMinUekRKM2EbBbHKPbxI0AW2PeJ16wM8MpVHfybzmmmv01jr_X7rLXWF3B2NuNhuKJUd06ESV7Ud7GXg4E83ZSLQJzVfJtMC-Cuq2GaEI0VZoEvtVYHc708xIonB6UnuxDmenp3sbNAvsc6yJPbjrPqnFQr18C9HWseSzkekpnD8ufUhU_XkO9IbW_U7GZcYoaWjEknGNh0F-QndXpQo_EarDwN5qR-JohzrxRA_nB3ju0gJvXQJ3JPhkE9srdpkD6PgKTbronmA6WZAxk4AIWUcFI08hhaW1jBw_kmjT4dox3nvNkVju_jB_4RozT33YvKNyjemq8K4vOxeprkU71KtJuLFTnpVWVoeALf6okl-4QhmqMLCrGzxCTnDAi-GL7BPRMfavnTUFm9SNpG0XfzGm7huHGOtc9_EEQbwChNiQmi6_wpPjGkenR64w2xYDGBmWW6H9iymFnmoEInOx_kj2HaQvu9IeHlWJk0yRxhO9WdN-Dvyt4h1tgJ9Es_6fjGgzPbIhriNc8VDIhW4F5Ut-8KAQHFkc6H7AWakknxAT_YZhQRn3Hbl2Y-p3E9tMi0K4yKF1b",
  "id": "rs_052a393fa4d6833b016ab42fe0ed1087d095cfae5a8811eb9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.012},\"note\":\"At the right arm’s leftward limit, a tan animal sits close to the left jaw but not centered. I’m lowering the open fingers to table-level body height for one carefully positioned grasp attempt.\"}",
  "call_id": "call_xmL4K2obnr5iafKzDAnWjOTK",
  "id": "fc_052a393fa4d6833b016ab42fe4161487d0bef13a97cbce1958",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xmL4K2obnr5iafKzDAnWjOTK",
  "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]: [-0.0948, 0.9051, 0.6884, -0.5369, -0.1566, -0.0528, 0.9983, 1.2091, 2.186, 1.3685, -0.252, 0.8524, 0.9775, 0.9985]\nstate[eef_state]: left_x=0.2892 left_y=0.0038 left_z=0.1583 left_yaw=0.0524 left_pitch=-0.182 left_roll=0.08 left_gripper=0.9983 right_x=0.2885 right_y=0.3968 right_z=0.0266 right_yaw=0.0083 right_pitch=-0.0542 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.894, 6.9675, 1.5604, -0.0806, -0.0317, -0.0122, -0.1436, -9.8803, 4.9026, 0.8913, 0.3443, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b112611108a8c4ef75caa229dc8cff63e50aa181ec49fb60f1d26e8449449ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7e3ba595b03e4ef7e843ad77b2480d88fe12f5bbdba17096ab1a5bf9f63357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1692e29b3dfeecad80b0d28cb114b32ebed8a31b3a8995fdafe5d70c3468fe07",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.75 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0948, 0.8955, 0.6914, -0.5312, -0.1574, -0.0528, 0.9983, 1.2118, 2.0403, 1.1133, -0.1448, 0.8635, 0.9634, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1633 left_yaw=0.0526 left_pitch=-0.1638 left_roll=0.0778 left_gripper=0.9983 right_x=0.271 right_y=0.3501 right_z=0.0253 right_yaw=0.0129 right_pitch=-0.0457 right_roll=0.0266 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 6.9402, 1.5995, -0.1685, -0.0562, -0.0415, 0.6222, -9.1145, 7.1179, 0.8132, 0.4908, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.9024, 0.6891, -0.5365, -0.157, -0.0528, 0.9983, 1.2118, 2.0876, 1.4559, -0.4538, 0.8524, 0.9771, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.1595 left_yaw=0.0523 left_pitch=-0.1782 left_roll=0.0797 left_gripper=0.9983 right_x=0.2865 right_y=0.395 right_z=0.0806 right_yaw=0.0103 right_pitch=-0.06 right_roll=0.0285 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -2.0581, 6.9949, 1.6093, -0.1001, -0.0513, -0.0122, 0.759, -10.0855, 8.3761, 0.8767, 0.4713, 0.0757, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0948, 0.9051, 0.6884, -0.5369, -0.1566, -0.0528, 0.9983, 1.2091, 2.186, 1.3685, -0.252, 0.8524, 0.9775, 0.9985]\nstate[eef_state]: left_x=0.2892 left_y=0.0038 left_z=0.1583 left_yaw=0.0524 left_pitch=-0.182 left_roll=0.08 left_gripper=0.9983 right_x=0.2885 right_y=0.3968 right_z=0.0266 right_yaw=0.0083 right_pitch=-0.0542 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.894, 6.9675, 1.5604, -0.0806, -0.0317, -0.0122, -0.1436, -9.8803, 4.9026, 0.8913, 0.3443, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b112611108a8c4ef75caa229dc8cff63e50aa181ec49fb60f1d26e8449449ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7e3ba595b03e4ef7e843ad77b2480d88fe12f5bbdba17096ab1a5bf9f63357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1692e29b3dfeecad80b0d28cb114b32ebed8a31b3a8995fdafe5d70c3468fe07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_052a393fa4d6833b016ab42fe9c90087d0bde416f6ff718521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.31,\"left_y\":-0.19,\"left_z\":0.075},\"note\":\"The tan figure is still outside the right jaw at its lateral workspace limit, so that arm cannot make this grasp cleanly. I’m parking it and bringing the left gripper toward the tan figure visible to the right of its wrist camera.\"}",
  "call_id": "call_gJoESQxdUf8mdzWoTvsMuERY",
  "id": "fc_052a393fa4d6833b016ab42fed884887d0abfb27efc65bb293",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gJoESQxdUf8mdzWoTvsMuERY",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.8627, 1.5475, 0.7971, -0.2848, -0.6777, -0.6865, 0.9983, -0.0593, 0.8413, 0.6231, -0.4305, -0.0605, -0.0093, 0.999]\nstate[eef_state]: left_x=0.308 left_y=-0.1839 left_z=0.0743 left_yaw=0.0588 left_pitch=-0.1758 left_roll=0.106 left_gripper=0.9983 right_x=0.293 right_y=-0.0031 right_z=0.1657 right_yaw=-0.0116 right_pitch=-0.0862 right_roll=0.0433 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.6137, 7.2274, 1.199, -0.2076, -0.1294, -0.0171, -0.1709, -2.0171, 9.9624, 1.6044, -0.0855, -0.1294, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdd396bc875a52514b0b0814c1bc1166bf0071315f3240a2a4f7fcf8c3109ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba1335e91912f4e04c29164f247a5897eca7eadea88023c120f0aee766f2a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9360641b878824eccea65584cb9fd5ebe477c0efe16cbb4c096c72b508239db4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.243 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 0.8993, 0.6907, -0.5343, -0.157, -0.0528, 0.9983, 1.2106, 2.0403, 1.1137, -0.1493, 0.8627, 0.9733, 0.0196]\nstate[eef_state]: left_x=0.2897 left_y=0.0036 left_z=0.1614 left_yaw=0.0517 left_pitch=-0.1714 left_roll=0.0787 left_gripper=0.9983 right_x=0.2711 right_y=0.3492 right_z=0.0249 right_yaw=0.0067 right_pitch=-0.048 right_roll=0.0311 right_gripper=0.0196\nstate[joint_eff]: [-0.0342, -1.9897, 7.2684, 1.6581, -0.1148, -0.0415, -0.0122, 0.253, -9.0188, 6.5983, 0.8181, 0.5201, 0.0366, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0948, 0.9051, 0.6884, -0.5369, -0.1566, -0.0528, 0.9983, 1.2091, 2.186, 1.3685, -0.252, 0.8524, 0.9775, 0.9985]\nstate[eef_state]: left_x=0.2892 left_y=0.0038 left_z=0.1583 left_yaw=0.0524 left_pitch=-0.182 left_roll=0.08 left_gripper=0.9983 right_x=0.2885 right_y=0.3968 right_z=0.0266 right_yaw=0.0083 right_pitch=-0.0542 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.894, 6.9675, 1.5604, -0.0806, -0.0317, -0.0122, -0.1436, -9.8803, 4.9026, 0.8913, 0.3443, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8627, 1.5475, 0.7971, -0.2848, -0.6777, -0.6865, 0.9983, -0.0593, 0.8413, 0.6231, -0.4305, -0.0605, -0.0093, 0.999]\nstate[eef_state]: left_x=0.308 left_y=-0.1839 left_z=0.0743 left_yaw=0.0588 left_pitch=-0.1758 left_roll=0.106 left_gripper=0.9983 right_x=0.293 right_y=-0.0031 right_z=0.1657 right_yaw=-0.0116 right_pitch=-0.0862 right_roll=0.0433 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.6137, 7.2274, 1.199, -0.2076, -0.1294, -0.0171, -0.1709, -2.0171, 9.9624, 1.6044, -0.0855, -0.1294, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdd396bc875a52514b0b0814c1bc1166bf0071315f3240a2a4f7fcf8c3109ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba1335e91912f4e04c29164f247a5897eca7eadea88023c120f0aee766f2a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9360641b878824eccea65584cb9fd5ebe477c0efe16cbb4c096c72b508239db4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_-7nJpQiyQrp9KsDrvujlebxbIvxBIZ6O_08kR4u7m_m6S7ejm23L0pNRJsqX4pjnzyBe9LgrxOtLtOphdaQRZAs3IvlGu1eFN6My2sRFBtYvjeuNMPWf5koNZmf619NivYtJj4bBkOPSqLjbWLgH84aM8CpdfYAclhvus3JQ-QbaXl9JtR9jtxX-aVIi0h67IpiDbIrmS6akl1X8l5OFj12u8hymgCIWZbP2DQcXbipCIRMbFoOSpTk7cC1Bw6V8Jrhf20L4yq_WitDtrfAlAV6lhMSeFLFyeHfWWdY38qxRV_IOfoOCf57o1vBdwa5vmgLR7DEa3ePp22mQWzamtFCZZrfS3Sv00v8puL0B2nABtOIIMafGcj4k-Jc8Z_mrf5-dJxPNTqChzsw4CUkwltCb9iuMdET-isPaT8A4DIO2rDJALbHsaDbQZI556bnPzF5RoWzgWYAWt4qxIjEMiDxQI6e8A4BIMpP94NhwMuWwcJUiKucu-kgXdIIxGM7BodPdb8HRJYZ79-hsi2UkwCLmp3t1mKObc11xfeoXiV0HevkxsGnuRK8ICpnHbHUWXpF-YQe6pEpJsy9K6CHOwx0M5a2FMlPGMDR5L54ooWYg1Ruknpc29IXJi0oPsX-R-KgYQMXQHEeeUnAfH6lCjWg_KOX3beyWIRd70pFQ8igiXlSEgWHkypAaRzqH5E8r5QPSEISfIcbjb9aCj2jdCdueSk5U3gVQbWlQYHEm7pTHBGW1oYEi7LVqG09myePTF_Hb4Xt1X0qGOh8kEovg8FIDTjIQx7Amrhxh_qZHR8tQ2bLd9rhcvWWU6Ht4VU9IfQNh-EQyZUjG0qVvkBme5LkpdPfsb5FuE8xcYQee-ttzF68wUlbe1-Clr07f-XakZa9p74dqpO90uV9FXE6_Zf_GvJmMU6bKunpgD1y-mm1gS9_lmWBO-6NqNiIWzojFO064AFwbp0uQVOgByccKW9JS57mu07jeOso-zfYeMpfT7JT30cT7CwliFQg3QeyL-VvcKOyfubrUMPZW2gAMZVzK_ERDNkW59opes-1qXtDar94tFkVcVOZj9eZ8FSA150FzwYJosbLgyq0jNwmLGku5ixXPKjGVpFUgrd_FeXM_VSZ4X_RHc9sV58z5TqppI_U8UggqSDjmTdNTA6QYjM2IOvQpsADoPrg73McYegVmKIr8EenCz4ZYyyIgV4_paK1lOFVc4REfS0DR9Xxftjv41olyI7MfoCijRvXbKiWwVXWSI9BaktUDBofQ_kebW2jcYcwLPM-1dw3HA9aAIrnxyeAiAncjm8zFg3Qc9SB0pDBIoOa2kZzG2BOGXPdZXFJdBrZoJp0OK6mhdQ_uVL8FiHTvSaqLIQxCN0TUWhT0yyD9WdmCtw1WTs4QPTWmnyoQEKtMDpXZUFuSK-pkI-WRdFB8jktMubPURFqp1VUwoBC43ZwGjhnYzGQVply1QjC_caqZtC_aATHnneAlTuu15GxL7i5pxkmJFcoVtf8POcU_vV4Tb0gYYCPEsLIJhBHaIJPwitQdoLQn_IcP5yXLJ7BWAASt5AivLg8HM4VZDR2iPb7TAcdUlLGuShlhrnr31pJy33m2iGnArlGxYS0og5i0prcmxEihMLKCvYu6-i6CrsAcTArVfYb_GoQ-si6rDR5PrI8rgrNRzcfd92mitvAUEWlkl-vAMLb-bUxlQ2RehdLujFevvBqX4gSoJDi1030ZTmpDCBbfPHVYu9yOgHnO3DGoc7SpshvdUV4UrDgLkue1x5cqcpZpL4oJNYO2-TFmhn9Va8moxDqzKnid7H66xU9SiACPaUWDMqMhvNmrVwdqXlA7bnfsmN35R_MWhfCs6cIQp2QIULe_k-wDV6Xjl0rbDA6BfBt8I2IniW7kj1tCW8hvUxJakBt4yYmWrz2mOaLXOma51FFxQ8BFyFO4SwokK_z9UpLRcVMjjx-ntls5r_udjwfsl0brtU6Zwa8kw7GKx2lELQahqTiL_vHckrlAMNRMn1e6o5uvj-25V-3BuQCxhm3jeRvJaSBzfAxXlHxK8XB6_eEQHxUziJ3ezNvgjH6cAtLzYJc8sNy9apbVDB-eCo7TU-XrjPDcqFTi3UXjxKHDd-z-c-Kk8LDmNtS_FmOVvDLJiWnKW-ii0aIRWDTBBdly14V6JHg0xbTYhqD9AQoNgXVIBrH4w3t2tUEe5ADvNMT3haUs=",
  "id": "rs_052a393fa4d6833b016ab42ffac56887d096bbae89a024a035",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.045},\"note\":\"A tan plush face is clearly visible left of the left jaw gap now. I’m shifting the gripper about six centimeters toward it and lowering to the head/body height before closing.\"}",
  "call_id": "call_g1KiAyuyUS2IDKJKNxBNkiUR",
  "id": "fc_052a393fa4d6833b016ab42ffd17ec87d0b9149e2d6c9dc73b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g1KiAyuyUS2IDKJKNxBNkiUR",
  "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]: [-0.696, 1.4521, 0.5663, -0.0097, -0.6209, -0.5194, 0.9982, -0.0593, 0.8471, 0.6197, -0.4358, -0.0643, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3167 left_y=-0.126 left_z=0.0557 left_yaw=0.0823 left_pitch=-0.1287 left_roll=0.0963 left_gripper=0.9982 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0048 right_pitch=-0.1004 right_roll=0.0412 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -5.5316, 4.2462, 1.072, 0.0806, 0.0269, -0.0122, -0.1299, -1.9761, 7.4325, 1.7167, -0.0415, -0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3a7a90bf17ad6b751c48d7739eec755b00d9bbad78e8c0cd39c6dccf152253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93141199e2593e9204b8a084d97ce57c9cb3e3e5b15b444facb6b9fec282d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff257d46943066d86ca11e12e3c4aff00aa24bb73e71f5fb93aab0113b4e82f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 1.902 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.9024, 0.6891, -0.5365, -0.157, -0.0528, 0.9983, 1.2118, 2.0876, 1.4559, -0.4538, 0.8524, 0.9771, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0037 left_z=0.1595 left_yaw=0.0523 left_pitch=-0.1782 left_roll=0.0797 left_gripper=0.9983 right_x=0.2865 right_y=0.395 right_z=0.0806 right_yaw=0.0103 right_pitch=-0.06 right_roll=0.0285 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -2.0581, 6.9949, 1.6093, -0.1001, -0.0513, -0.0122, 0.759, -10.0855, 8.3761, 0.8767, 0.4713, 0.0757, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8627, 1.5475, 0.7971, -0.2848, -0.6777, -0.6865, 0.9983, -0.0593, 0.8413, 0.6231, -0.4305, -0.0605, -0.0093, 0.999]\nstate[eef_state]: left_x=0.308 left_y=-0.1839 left_z=0.0743 left_yaw=0.0588 left_pitch=-0.1758 left_roll=0.106 left_gripper=0.9983 right_x=0.293 right_y=-0.0031 right_z=0.1657 right_yaw=-0.0116 right_pitch=-0.0862 right_roll=0.0433 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.6137, 7.2274, 1.199, -0.2076, -0.1294, -0.0171, -0.1709, -2.0171, 9.9624, 1.6044, -0.0855, -0.1294, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0097, -0.6209, -0.5194, 0.9982, -0.0593, 0.8471, 0.6197, -0.4358, -0.0643, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3167 left_y=-0.126 left_z=0.0557 left_yaw=0.0823 left_pitch=-0.1287 left_roll=0.0963 left_gripper=0.9982 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0048 right_pitch=-0.1004 right_roll=0.0412 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -5.5316, 4.2462, 1.072, 0.0806, 0.0269, -0.0122, -0.1299, -1.9761, 7.4325, 1.7167, -0.0415, -0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3a7a90bf17ad6b751c48d7739eec755b00d9bbad78e8c0cd39c6dccf152253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93141199e2593e9204b8a084d97ce57c9cb3e3e5b15b444facb6b9fec282d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff257d46943066d86ca11e12e3c4aff00aa24bb73e71f5fb93aab0113b4e82f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAEE4FvjLi0_-VNyTS4o8Xa6YHJhbjflzSxrZtFNu_hIflDRhewVT_NjFz6CxwNmdicupbBvfk7baGBM7VYC1iDhtmdWP07Pmk3CnFIJ5WEhTSUwbcczi1fkhOtm08MDvBhNiuTdG53U6RCjbs7Vac1ujS5exZu6O2cu2GYVChEDvqfAGHuFZB1AxnhL3qmFObEYOvlBkDc34aj0v-nLpkbcF7xXVR9NdQ9Ij2vi2scL-i9-SmyGDhpUYMYsIH3YvAiu3ICv_2xnOxG3P3CAWpY2zUFCmoRq4AOmCf9sAMyPidWTDMAsQW1EmPz4AcsZm2f22TXk42dx8SjDom7Eb6SKJ3tQst0w2c8eqfaLOgRybaBNu71GWIB4jJU-b4oiCqq-h4Vg8DiwVyVp8eQGqTvSPVX2WltG7LLWECQc7j7IEjrtHdg4rzZmf9SZZGYodyAydUWCaRJfZJ7jiy9VWOvWyQ-wRD0KupbDympT7oED0Toynq281En8lEfrAshT-H3wt6yNeSaQQIijurzRPOhH1AfyEKSzGfHkuTjqozDAnCAijwxH0TgaGZx26p6jFPnrgCeMnrDaFdefhKDzemSyWeShHpGMNj5E7aK8whSPuErjI2AzMKBkEWTsq9EiMZKnhU108k_YaTPcCmaeHhnsxjAt-iZ-rxS8nhOpBEn0Zsu6Ab2wnMs-oskqQsDe2yxfBlSHeywwYVUWkg0BHkBx6oi1pwOtXn81ddft4nFLw4L-QQSpTsBeplsWY3L5tPOqdYzW79w8fWzWQF1-ikjMvNR5FY4mDZ1KAb6dExVYxMWf3rh-VdYVYSd0GU1qT0yfkQZrr3UtkchZ8f4Mk70OiCCjuNR9OSlMo8luONX2OrpflN9ZwfN8ESIgITkOTRu1PtyjIw7sOn9ikI0_vgSyqRtbEknMBgJyMfhEWCgKckOUnF62dsVKZ1YQgVONqvNnyLaeGKqxT_f7t3jbvXZ_Xrmu1duU98MSUxLHG7xGKz_bgbktQKk74iNgSJ3yGNDW6puAXp3KV1jG2VAUTMEf-a9pCU63GvkLL_0L_RxhMUcmF4cqRaxH0H23zlmNW3mxPZeMiXXa95IKQw_7zKqKMfnBMYo1EsOVHN_Puc5kXwL640y7Go0NkYOuJgZyor1WGcnrt7EvREBNoMCEVE7o91Jj41XqzGbeFApbhUxM4HLrsE39fRIL-WuuQ_4ipA8jZLJ3alRsnIRdP2Ag4gjyHnOcVrFMpT2qgQLWwNm2YErsOpyJwZLoFfX7JmlJ4L5Uu32_LAgYOakZL1EX_CGyNk_u8tMISGVVd0wLunHa6K1MRjMzTCOE3aUc6bpKqkU04C0WAYQ2k91ORpMaBSpAhm-C8NC-KlE1WL0NgkcCqfe3Lt8e5bBfv82bVxWaeDQzBuBojvLToeDzF47RfVcZW_Brgt-TKtAKpNRWTK0gxg=",
  "id": "rs_052a393fa4d6833b016ab430038c3887d0bb45be8e363d479d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan plush face is now centered between the open finger columns in the left wrist view. I’m closing around its lower head and checking for a nonempty jaw opening.\"}",
  "call_id": "call_CwIS23C9VIq3sM6AhRg99gjm",
  "id": "fc_052a393fa4d6833b016ab4300422e887d08cbf2b3d2bab181d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CwIS23C9VIq3sM6AhRg99gjm",
  "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]: [-0.696, 1.4521, 0.5663, -0.0032, -0.6537, -0.5201, 0.2119, -0.0593, 0.8471, 0.6197, -0.4362, -0.0643, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.1218 left_z=0.0592 left_yaw=0.1049 left_pitch=-0.1059 left_roll=0.1092 left_gripper=0.2119 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0046 right_pitch=-0.1008 right_roll=0.0409 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -5.2308, 5.8462, 1.2772, 0.0171, -0.022, 1.0281, -0.1026, -1.5658, 6.9949, 1.6337, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af341e164987c13a12ad2a3780fe69749e7e77c735bbc47c9d71abe2a5e1c577",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10639bb26eb8c31f143dd0f1cdf9d2154c7a0a0e1a7361455587906d6089b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dad9ea1c5ec6194f8bad769d9bd37a0ba25a93751d75800b2fe483fe2286f38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.369 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0948, 0.9051, 0.6884, -0.5369, -0.1566, -0.0528, 0.9983, 1.2091, 2.186, 1.3685, -0.252, 0.8524, 0.9775, 0.9985]\nstate[eef_state]: left_x=0.2892 left_y=0.0038 left_z=0.1583 left_yaw=0.0524 left_pitch=-0.182 left_roll=0.08 left_gripper=0.9983 right_x=0.2885 right_y=0.3968 right_z=0.0266 right_yaw=0.0083 right_pitch=-0.0542 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.894, 6.9675, 1.5604, -0.0806, -0.0317, -0.0122, -0.1436, -9.8803, 4.9026, 0.8913, 0.3443, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0097, -0.6209, -0.5194, 0.9982, -0.0593, 0.8471, 0.6197, -0.4358, -0.0643, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3167 left_y=-0.126 left_z=0.0557 left_yaw=0.0823 left_pitch=-0.1287 left_roll=0.0963 left_gripper=0.9982 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0048 right_pitch=-0.1004 right_roll=0.0412 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -5.5316, 4.2462, 1.072, 0.0806, 0.0269, -0.0122, -0.1299, -1.9761, 7.4325, 1.7167, -0.0415, -0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0032, -0.6537, -0.5201, 0.2119, -0.0593, 0.8471, 0.6197, -0.4362, -0.0643, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.1218 left_z=0.0592 left_yaw=0.1049 left_pitch=-0.1059 left_roll=0.1092 left_gripper=0.2119 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0046 right_pitch=-0.1008 right_roll=0.0409 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -5.2308, 5.8462, 1.2772, 0.0171, -0.022, 1.0281, -0.1026, -1.5658, 6.9949, 1.6337, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af341e164987c13a12ad2a3780fe69749e7e77c735bbc47c9d71abe2a5e1c577",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10639bb26eb8c31f143dd0f1cdf9d2154c7a0a0e1a7361455587906d6089b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dad9ea1c5ec6194f8bad769d9bd37a0ba25a93751d75800b2fe483fe2286f38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAHeFlsNx4Os4eCGN4Zg5wlmBkwFxVjKNdfNigvAukY_Ztkvsox58rUK4-8qdBOsJXZXzASziW3y-PSEfbZB92W8NkEebz3QUfHFo7G4FiaA8SUwRd06-W40GWCcXZsXZEWF0LSwACnktRQob9R-8foOT1LbvcOsQvXheLAluhf8nNOuFWEpt3I_y_Zekg3SQ3iZffY3033mZ_tYzc3g9iLSWs6FPd1iXJodfWtirF5wWCg3Q_e39jfoN88any557Jb0ebaLk6lXzQjGwsCVan_YOBcfbKP_KHmk9p_MUCr8rqEt8LZSES6v0CsMuN2AJyjtcv3oDbNZGAWrXwRDnwKtfnupBL8kkK2We40g1WJdIkZpVJheUwmbJrg5RZXd80aYv-LCnfdER2yGGc6JnLu56mmORj0EWL_ha5uqvHEs9wPMY_rsiJldUup7fzFD2PFnCajy6L7KcOAmpNN0g0yRNn3g8vx9RAeSO9SKKeuEx45NY1qaDmnW4tub5P9lvMbeD8eqGGdg751_WybRazuALSG-8xbyOAybkyiZo0LJo9q48dqM0nkanLKevhYSeG4KVbQC4mZKTUHMpu9HxscH7YIc308EfMGZQxsx1ISI0DuQCuWWQOr5GVwRFc60hMPkjqvZemh-BSwZ4-f9ltPgZM6UZhWkGsFxlEn2V0_78V_AOAxvd7H0gt6Z07r0CpJ0GNGZ4kkIZYPKcaY93xPsa0LW0pFbXCm9fN9rYDINM-zwIVZqzN2GzNkHVrZajxKVsjmxI4L8-Y1ykdAQfrfSQLLl9E5YA0WKK9xnCFL5VhOeu-8A5mH7pWQnWRIYuwftmHLtfQBUZDuYdVZX39JG8kI0XOGdTnjaWO6ZIST9xUzZpqIEbSSCFmqIz5mmvpx4aggCsJT-YYf6AJULah6VYl8rBzY6W821gbH5Os9DzqtsVlFHAlH70sTElV7_LvQBMq7BXsbeAaW2ix8f1W3xUaK6Zy30VTeyYtfb9OtR-YYKqZgMihIkLHBp5Wl8dZ2Y6_uqqH-htv51s7Ichvpjoy-2NmbTlaLQQDSocq553hdTPS1LAu_Rk2FQabeVFBSnaUISInDsAhsm35PXjPqlvaTKVR8kqAO6UJ5dlH0AXFnKHY9Ke2MAi0cXpjZt_bMZcVuSCTyaAWp7W7le8FXwOB7jy8VI794ViI4dvzTxJFzs2nONef2enxeuWnKVk9S",
  "id": "rs_052a393fa4d6833b016ab43006b3cc87d0af96ba7cb9535086",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The fingers stopped at about 2 cm apart (reading 0.212), consistent with gripping the plush head. I’m lifting vertically to verify it comes off the table.\"}",
  "call_id": "call_LgEwTIeGxaoAawPPcwCyNGqw",
  "id": "fc_052a393fa4d6833b016ab43006dc0487d08a6dce8dd75c71fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LgEwTIeGxaoAawPPcwCyNGqw",
  "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]: [-0.696, 1.2984, 0.8162, -0.4137, -0.651, -0.5312, 0.2142, -0.0593, 0.8509, 0.6197, -0.4366, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.3207 left_y=-0.1238 left_z=0.1415 left_yaw=0.1095 left_pitch=-0.1115 left_roll=0.104 left_gripper=0.2142 right_x=0.2921 right_y=-0.0024 right_z=0.1604 right_yaw=-0.0045 right_pitch=-0.105 right_roll=0.0412 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -6.5573, 8.9641, 1.2088, -0.3394, 0.0659, 0.6227, -0.1162, -1.6889, 7.1316, 1.6435, -0.0171, -0.0415, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3fa52c7c0e83b55ba2ab1a0435cf59b536751c025925ef1d0605b247e531e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a75d2291e57ae7749db0b9a401f342c9d10ee3ed1caac50940516fa031307c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07821d9e3b3163a51c2b7b42af184dd61893eaa1ec0d1fc8081698aab8350859",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.242 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8627, 1.5475, 0.7971, -0.2848, -0.6777, -0.6865, 0.9983, -0.0593, 0.8413, 0.6231, -0.4305, -0.0605, -0.0093, 0.999]\nstate[eef_state]: left_x=0.308 left_y=-0.1839 left_z=0.0743 left_yaw=0.0588 left_pitch=-0.1758 left_roll=0.106 left_gripper=0.9983 right_x=0.293 right_y=-0.0031 right_z=0.1657 right_yaw=-0.0116 right_pitch=-0.0862 right_roll=0.0433 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.6137, 7.2274, 1.199, -0.2076, -0.1294, -0.0171, -0.1709, -2.0171, 9.9624, 1.6044, -0.0855, -0.1294, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0032, -0.6537, -0.5201, 0.2119, -0.0593, 0.8471, 0.6197, -0.4362, -0.0643, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.1218 left_z=0.0592 left_yaw=0.1049 left_pitch=-0.1059 left_roll=0.1092 left_gripper=0.2119 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0046 right_pitch=-0.1008 right_roll=0.0409 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -5.2308, 5.8462, 1.2772, 0.0171, -0.022, 1.0281, -0.1026, -1.5658, 6.9949, 1.6337, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.2984, 0.8162, -0.4137, -0.651, -0.5312, 0.2142, -0.0593, 0.8509, 0.6197, -0.4366, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.3207 left_y=-0.1238 left_z=0.1415 left_yaw=0.1095 left_pitch=-0.1115 left_roll=0.104 left_gripper=0.2142 right_x=0.2921 right_y=-0.0024 right_z=0.1604 right_yaw=-0.0045 right_pitch=-0.105 right_roll=0.0412 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -6.5573, 8.9641, 1.2088, -0.3394, 0.0659, 0.6227, -0.1162, -1.6889, 7.1316, 1.6435, -0.0171, -0.0415, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3fa52c7c0e83b55ba2ab1a0435cf59b536751c025925ef1d0605b247e531e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a75d2291e57ae7749db0b9a401f342c9d10ee3ed1caac50940516fa031307c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07821d9e3b3163a51c2b7b42af184dd61893eaa1ec0d1fc8081698aab8350859",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDANAwxvB6JyBWwst-4gBF3WS2lsALXM_uOil9OJcLsAfOTtKwHKURO9s6QEIM5Vz7qffgkrgQc2m01kcb43vqTpJS1zsmuOCEeQCyL1JWMnKiIsLtqvwLRdDVCiJflHhb2P3rO20xGd9U86Lg69RLz8YUa43JvA-_JSj5Zx64XrZbmUe8IK69R-yD_qjtGsFQOuWngpUX_TgnvWTY7adMBI41J6w1lMyVRRo8bucFBee573ejnU9T8i_k31JIZFgaVKzrbl7s0WOl1izWOMaGwjpRKiOOYp6HYDPOau-SFX74-zRQ9XWmJvobrv8Xp9fJ7RqHFsoxq2ArSi4hZVbjgcBb6tbGSVbI3EONCgHeP2p1BeDy4Bq6UcA8SlNQW8HN9iEZNl3cWYJPaUEmdl_LAYuaJZyxWM3goZnp4DSaZ8RaGljARZiEyIaDzQO6U-feGq-hCUEji1Rf_nI8FwDZasYVBTI-fifhCpwsB8b4b0PhAuzvoH2qlC1WrKcr6G4Ep3X9G8VZdG49ZhALxwV1K_cWaiokaVz2iL1fZBEZxOHM8zvZttRGQgic0L8TXKMOQJGjCneGm9j5kZXrSYLeXZfEWeiKRx66iaFa1IrrFRced7DNodUpy0UC7gRh7y0TJSGTR0IwRXsChO5Gi43rETLDVg0luP4HccaRn-og2TD-xAGyBvsbbP8b8ztDJ3O64X_8La03fZMQPWaIbVXk_KvZDLNvyOr5gncg5oNi_oVPqIvmXIEHrM6wKaHhZQkmOo5q_ko8zP0OQgbtFYkYe7rox_a91k280ZFJvpwBgXOX7HSg-2_U58VC6GxmSyeM9n5tEC8SzqDmgQ8x9TJPasztmdvfpXR_b42JVvfD_cv-cfB23hNn8C3Qky-ow836WsqXAcpqthGeZ1bNNazI3s1g9YJ74D1VkQv5tTQFoUy3C1QTN0pxWAYP4ij6dMW5sboC7FvCw5EcQdHxUyCtYIRNpdHjQMYIU7J8ML6VCi0rZp5BLso914UyiK9pzxlnlEkp9Pa3AUx4jPBCM0pU4KsCyaLJHNupe-TRVO6-dAWGW4x7RUr8UC28UbzPAtSPDUrGfS9tqRE7JdjwrvrUP0oGiOdwbw9-9Lfke5cm-BkmBB9xQey3qTQBRWJ2ImtCW3ZrTV9EX3L-8cEzNYWpF-ESo5_FlV7vg_z08kvN4CBv1rWsl5J3f9brnp8I30U0c9vQsVuX_t-xw9O3ikWCIS_2P2ZT7bqqAIMFRzBVzUkl1W598Ni8QrBOvlfrpgfYq-ixImV5IRTuOIC5hYwyLtopm-X8LLHcvmLakjjvuDMPbLEWJSPrgOK1aGN3CwhjjPa-Z-qakUr65hNGslJCsFG1jdqty_30tmdIqOp-sYXZcgG18xzQaItFD6FKvnrbMO6_0O95J1CIvnUiB9iZ1lTFmetcm4Gq8M2X2a0th4lm1A_HS3TwDqxEOfenevIMUYtOnA2HYTJaVAYYmiafFnRkCMgTy5bK8Tou2DN9eOLJE9o_SC1ocBUc1uiqLk-jF1BEHWwxLqnx41OxaiRcgooMAkujZXUgM4QiQxSqals12a80d9luELNJDjEVhsNSnUzBbjlr1KDltJEKAsYFZQgFXJmAY2_QMF6GtYTy4AtVmN_NnaW27pXIhIp87Oh0YZCrojU7lAyrZNeOhjR7DzYg6R7Wo7KkX2qH4ROh2InX-EelXsAYncbsPFkDMliC_9LKHsZgFg-3vzS9HMfFOidiE3wcmfjn8ojK5w5PAa3CNgGKl313d3JwGXz__BCOw3WKua4tWyprvPQoLLT-vCP4HEEN0I75wiG4d0FzM6EwJHgvwGXq5_covCTfBohKPNMql6V-dEy_2_4U5rCOeZdjqGNiFGqcZZi0gQknvtJMKGJlhjZgtlKwX7cG1MG-t1unGuXYalEiJhoLG8c6exK7968LrgD0iItFAUi599diY4UP36fEhy6Pwbw2WQKJfxPuTZ3yvN4lBEVdP591mLiFyYQo2-ZliQOM0Rllk_7Vq4GZxgnKV4A-vR9MpgNfzotWPooTemgxgfvf9kfN6xzU0fIe5XM2SFQFQ2wh9SiGRYro-9ROiYBsU7naSuSOvNN0owUG90_M9q7B3OTyiFr8caMNLnk3Tf3l5Okp3td0mV8xnvKnN8D77IEWCdJqlUg4O8pjBj6Ueu0gIErDkF0UvGJZMZkfdjwHjm1L_WDDVuXvkt9UyEAcuW6w465Z8SxjdLCj739MF9vQ82tA7X5-nZUio47t_U04n2Y27bYsC6RTSdFAdbx8GTJJgm4_JvNO_6teP5RNO2zF9-_zkUPHy9GJMO7rEC8WpoiCslIri2FrjvGR-mBmQwUqZId4kr0LG2vcP8vWYxQdhoI_yu0Iqoxme59gErrgr1Tf_ijeWBd3eu-EEmxXT6sifcTgH0nIlaAvoC7JGIOCG_1IpW2ntXtEKXHowv5Y8fNvsDGe6SXpdX3_I3yPfha9BMIKZfNGEGd8ycRRP_pyOwaz6wKbl_sB_HESWugH-WvhzZyKseZExVHIior4ugzh01HZkgLcpZzIDnAOXZFc1oVbzhd70ml16IxHj14spJD6PTwGvvdfUCd2nZxKyUUINTgX7WzRsSCBH2luhXn15rTGWxyrcfHOp5JdRw-Ws0pTo5dMuoCpmxtD7SC5z85iNLaDi0-xiF5f-_rfsHw7b5sL70FhmAiTSXQ5N1eD7FGxDWZ8sJfiY6awXJWKtT9IhXM2gcvgyeQk6zFhAASZO_eG0-42YOm2Tk5NYm7rkY3tSwwfktSsPFWjUjCYovHcfkkQYzBPQUq9s2MWqAyq6Hyheup8HbeN4VOWr5XAzGsyPknh9wwLYa-EsRGsCGokzQZHQvlHn0pGZv_pfg6kFx7c-JkQkvujSiJ5Xk0rHOz8kFVHjiDQ4jFuYHu-PAgGpXWsKXNaVWWeYlbAQQzt_qWhyhadUa1KDzp7vH6s2eSCIDkCIIIik7sRgYylkxaoTToBEopyq_y99EAtT4NWQgOJ7480Hl7B0eXufyMxvH08dpoErVRvAxI_hXm35MeyaC8qVSX2AeLHr3_UvYSlnCeuwJwKoag_umd5QFHXPFnkHj229xXqWahLv4jDA6SqXmueQN8nAvSCo60PVVlBa9tV9s33CjJqZnXw54fYs7J3ntBi9d9MG5h_XSUv4PwfLEA9n4O1oD3-mKIbfy55XvMuPYJqB_rA9JsU7lL17Es6PsbHU=",
  "id": "rs_052a393fa4d6833b016ab430097a0087d09b118837e01a7848",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.11,\"left_z\":0.205},\"note\":\"The tan plush remained in the jaws as they rose, confirming the pickup. I’m carrying this type over the left blue basket, high enough to clear its rim.\"}",
  "call_id": "call_x2HrusxhQ2ARlOnGj9b1F0RY",
  "id": "fc_052a393fa4d6833b016ab4300cd90487d081f0b806690809d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x2HrusxhQ2ARlOnGj9b1F0RY",
  "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]: [-0.4278, 1.631, 1.2861, -0.4999, -0.4801, -0.3473, 0.2165, -0.0593, 0.8543, 0.6197, -0.437, -0.0647, -0.0158, 0.9986]\nstate[eef_state]: left_x=0.4333 left_y=-0.104 left_z=0.1797 left_yaw=0.15 left_pitch=-0.1673 left_roll=0.1113 left_gripper=0.2165 right_x=0.2922 right_y=-0.0023 right_z=0.1594 right_yaw=-0.0044 right_pitch=-0.1088 right_roll=0.0419 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -8.5265, 9.7573, 1.619, -0.1734, 0.3687, 0.5788, -0.1299, -1.8393, 6.9675, 1.6386, -0.0952, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048017f7499049c99b204e6bbbde1eeefe013a60376614fad95ca8b0749cc617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31d977bf351a138cb70235032805ad681e55a3d339ba30dd3f7f2cac749ce1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b040537ad0e79ebdecb53cf23ebcd22eeb752d50671e5b0a32a92124a4b89119",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.057 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0097, -0.6209, -0.5194, 0.9982, -0.0593, 0.8471, 0.6197, -0.4358, -0.0643, -0.0158, 0.9989]\nstate[eef_state]: left_x=0.3167 left_y=-0.126 left_z=0.0557 left_yaw=0.0823 left_pitch=-0.1287 left_roll=0.0963 left_gripper=0.9982 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0048 right_pitch=-0.1004 right_roll=0.0412 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -5.5316, 4.2462, 1.072, 0.0806, 0.0269, -0.0122, -0.1299, -1.9761, 7.4325, 1.7167, -0.0415, -0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.2984, 0.8162, -0.4137, -0.651, -0.5312, 0.2142, -0.0593, 0.8509, 0.6197, -0.4366, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.3207 left_y=-0.1238 left_z=0.1415 left_yaw=0.1095 left_pitch=-0.1115 left_roll=0.104 left_gripper=0.2142 right_x=0.2921 right_y=-0.0024 right_z=0.1604 right_yaw=-0.0045 right_pitch=-0.105 right_roll=0.0412 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -6.5573, 8.9641, 1.2088, -0.3394, 0.0659, 0.6227, -0.1162, -1.6889, 7.1316, 1.6435, -0.0171, -0.0415, -0.0366]\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"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4278, 1.631, 1.2861, -0.4999, -0.4801, -0.3473, 0.2165, -0.0593, 0.8543, 0.6197, -0.437, -0.0647, -0.0158, 0.9986]\nstate[eef_state]: left_x=0.4333 left_y=-0.104 left_z=0.1797 left_yaw=0.15 left_pitch=-0.1673 left_roll=0.1113 left_gripper=0.2165 right_x=0.2922 right_y=-0.0023 right_z=0.1594 right_yaw=-0.0044 right_pitch=-0.1088 right_roll=0.0419 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -8.5265, 9.7573, 1.619, -0.1734, 0.3687, 0.5788, -0.1299, -1.8393, 6.9675, 1.6386, -0.0952, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048017f7499049c99b204e6bbbde1eeefe013a60376614fad95ca8b0749cc617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31d977bf351a138cb70235032805ad681e55a3d339ba30dd3f7f2cac749ce1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b040537ad0e79ebdecb53cf23ebcd22eeb752d50671e5b0a32a92124a4b89119",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAS09jRCF50vgYzryYDr-dX2cPQUv4mkX17jSrYkOYxT5r9mDMN5dhGnt5pr483AKFN3LR231CbaicB9bivNHiD_kmdimmnmeJTi9tWoH_nVlyCRkGqJ5U1FN1Uj-oY-NMgLf4618fb1D_IyKBDr029oXbO9YnStxfhWKzw2Pw0bgPd8ebJAFUsp_ltPy1_kF6syA6uAE1e6K4TQQLDeQeHApArx-XDi4SYtHgy0qn_Q-vwQOGTme10AMaOzboS4isHKHWe3QKYqX1pzI7e04zjmH9tOQis74Wxk4Z8Ddub4_00I3Hnp_dW9s_yaJeBlZmvbiJF_I1asOHQ7HXJViXa5rboYK6vE4Rfucn91exvUZZcUsjCj1M0n9mVN-dRqqr4TLQwwk9SvT7-7yeKYISFuxlzaBFaKQvdN_b6CmxW4XY0r2RsiCpdTeTeEYe1ogEtmmI2TDWvYzh7HzoSd-84FLFsMCfpuN4iDwYHrogeSImYXVu5EvjZqJwU4IcyJ9R-k1ENaltCm5hnkvPtU0hk2AOzFjUPlUAuSGbBkZpWrPD3uKEduHo750dpiCTMu31MRsQfOpW24OoGCBQWB3HeBlHzrDF1qEWpKw3q5f36sA3E_Zf2qVx7Y2HZwwiFzFnCy8IOWsb_NFfUR8IFBZimWBO0l977pAgj67Erryc2zXg_wxt2PVN990hMUTWwUcYgw00h-nLAKGxd3ZjVSvK65Xw0NJ18SF-O3VKjMHHo35R6-AILtM1gqD4Ve9LH7Anp_DrpCqpA7fD7u87r_0U_iID3PwaYp_rZu0d87jugQf1ou4L0HXOeobev5BlD-f55-mI1pvsOT1f7v3R5sFNij_vFCS6O21q2nJfKhkqbIXtFyZIbIr07UrVqcouwWBEDlRs226QKxFCz-QuDA3Z0aNIH5e5GyGkWxYCdc3T1zqPK860FEp1UY8zJK69C4jjANLHSpqi25FseYPJ5uIbEzZ_NTQLMkzJx50oVIcK6BhfiYPgA0i95ps3sWF93vC6KWj370aAEZqpXsWhyRyMXD7fZyBAGc0Aee4SC0DNnrckj_jwM7zfz0vMEVC3viyiI2VyvTUajOWkBxQjOkyzd1NUWAHjPpLf_xDxv7CbV5K-s_u1op6YdaIH9tjG7CNAN_zndz22IrVyicK5YY8elluaakHAZ7kGv1sCYFJEOrSj6-jt-jSmUVShQfLZGhcIfjGLyuhpP3FY5LpaZYmOgIHtodYtA6V1msxHI3PwvT8_X3z1DdzHYVUQHba6cK8edqsb1-E84JYKT9wRTru92ssiReEfqBK71aRcu8coByrzlhfV-kWakIi2wpoMFPXKliKYw5DVcfMBIzANmWhgGxesnUQVpNt8CTKYZg2qEg8-6SpSdi0pVW0RwYo3x1TJR5f_dT0BadXIuRgMFMJFCDvhAmVhgESiQW0ook9s4TQDsCDtux8OugfEBTZgv6pYAO50R4PUQyQEjK5MkiVPsC4VbnOfXjHPe2v-5IZoifBUNxV04qfDMv6S9whm5CDOpH0hnIi6QVSLoKKodjDv6TQYQ8tQi9W3iN4_z_mvg9Eb4-uHH7MpAdkSOAgIaZWkbg5MwNJpm7ZajHGRAPzTfTmvrWjOsB_KTir9ewA-JxcNFNEMUbwjCcJfW_XAuhryzbBctBW1LackmeRj736RvYS-P0RWKIGCyNrXDZdjeEmw5tH1gF0qESsecsu5_k9EHIdQlJNEl6V3Tak1-sFaThTBxyZRnTPugzoIB5ZVi97llus1csknYXEUtpIBlsruLB3yySnHyn0SG_hg-BPiupSohdau6DvWBL2nMbanmOgEH89X8sbYWvSf2J18MelztFkPa7fcfG-jTO57TYEdOviku8nf8txJZunk8TqniHJLO7OoctU0SWupFFhunBVlSAor-qAqj6l-6qeockXkhwIuE2RcnhtG391A6_W7K332a6nkfkcy-1umNqFMzRoZgMEZ1Pv3A5jkMLIAzLUIIffuy8VuazxcaM4VhaptB0cyCeRgs-UM2RlyTPjKZkLyL8KNlC7Xmv_1-GsBOVTM6PQPyaSaJLCsaxEpdYVc_DQz3rKXPZV24AHzxxi0m_EA-vhZbOnheESmkroyoVHNHJZhUudeRC6iWhEXMirw_QFtrEE04Kjk7sQZirJ8PhyuAnJYwLDy47Pl3kiLUHv6C7V2xa5Nw7JC-QoZQSMAGnK-rAqS-0Vnd0ydalouGUF3K_N2sb-vhuhKDJVdhtAROqLneuthgZ1uZplX6C2xnzGX3zWDy0zoLDPSaFzkStUnSfhEsJhHOy2K4Wd-3gPdmuSCpUrisYCrFmJUhq_piX0c=",
  "id": "rs_052a393fa4d6833b016ab4300f90c487d083febcec863134c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.12,\"left_z\":0.12},\"note\":\"The held plush is just in front of the left basket’s near rim in the overhead view. I’m reaching several centimeters farther into the basket and lowering it while keeping the grip closed.\"}",
  "call_id": "call_PhuCMs7E8dT7DkrirtAU1bSC",
  "id": "fc_052a393fa4d6833b016ab430120fa087d0a401d83125aee7a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PhuCMs7E8dT7DkrirtAU1bSC",
  "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]: [-0.4091, 1.8366, 1.3445, -0.3344, -0.4999, -0.3546, 0.2192, -0.0593, 0.8574, 0.6189, -0.437, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.4812 left_y=-0.1124 left_z=0.1384 left_yaw=0.1862 left_pitch=-0.1435 left_roll=0.1079 left_gripper=0.2192 right_x=0.2922 right_y=-0.0024 right_z=0.1582 right_yaw=-0.0045 right_pitch=-0.1126 right_roll=0.0416 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -6.7487, 7.241, 1.2967, 0.1392, 0.2759, 0.5397, -0.2256, -1.7709, 7.0222, 1.663, -0.022, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6754b12c6775dab6c35e9fbf3a313f002a5b45b3c4e784c5ade6f7c3e5840e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9979017538ad4f252bf63b3ed873d61f80af038f7aab1f3537c4d39769ba5674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975791f4f664625c9e41c8c434bea95716f3436efcf9d7a28c9c8b7f92cd8f89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.367 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.4521, 0.5663, -0.0032, -0.6537, -0.5201, 0.2119, -0.0593, 0.8471, 0.6197, -0.4362, -0.0643, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.1218 left_z=0.0592 left_yaw=0.1049 left_pitch=-0.1059 left_roll=0.1092 left_gripper=0.2119 right_x=0.292 right_y=-0.0024 right_z=0.1615 right_yaw=-0.0046 right_pitch=-0.1008 right_roll=0.0409 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -5.2308, 5.8462, 1.2772, 0.0171, -0.022, 1.0281, -0.1026, -1.5658, 6.9949, 1.6337, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4278, 1.631, 1.2861, -0.4999, -0.4801, -0.3473, 0.2165, -0.0593, 0.8543, 0.6197, -0.437, -0.0647, -0.0158, 0.9986]\nstate[eef_state]: left_x=0.4333 left_y=-0.104 left_z=0.1797 left_yaw=0.15 left_pitch=-0.1673 left_roll=0.1113 left_gripper=0.2165 right_x=0.2922 right_y=-0.0023 right_z=0.1594 right_yaw=-0.0044 right_pitch=-0.1088 right_roll=0.0419 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -8.5265, 9.7573, 1.619, -0.1734, 0.3687, 0.5788, -0.1299, -1.8393, 6.9675, 1.6386, -0.0952, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4091, 1.8366, 1.3445, -0.3344, -0.4999, -0.3546, 0.2192, -0.0593, 0.8574, 0.6189, -0.437, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.4812 left_y=-0.1124 left_z=0.1384 left_yaw=0.1862 left_pitch=-0.1435 left_roll=0.1079 left_gripper=0.2192 right_x=0.2922 right_y=-0.0024 right_z=0.1582 right_yaw=-0.0045 right_pitch=-0.1126 right_roll=0.0416 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -6.7487, 7.241, 1.2967, 0.1392, 0.2759, 0.5397, -0.2256, -1.7709, 7.0222, 1.663, -0.022, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6754b12c6775dab6c35e9fbf3a313f002a5b45b3c4e784c5ade6f7c3e5840e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9979017538ad4f252bf63b3ed873d61f80af038f7aab1f3537c4d39769ba5674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975791f4f664625c9e41c8c434bea95716f3436efcf9d7a28c9c8b7f92cd8f89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAW6tFeT_Khsbm_tamCmL9Wm3g9vi94dtJc8KHjMqB_RFoXfEz5RWn6XvOkM6QiipeWHwbIDomvcaI1VrjN12JxC1hB8zmzLVkFEV88nY6swn12guz2oppywPZR8dyCF-RyVVYYmCCPD8ZhF1Q3NDhhx4X0FrrAytbtJ1VhCMQls_Wsem_eJKSmiF2pJ2AfwIOKiqKB4P8syr26M_4HIwELB_lcY0R5F2Hoz0i7D91jtxNFLnWUJxjmFfXBgIZGFqkvHqGi4Z4QxfIcSE5BJU8z4qKBOPlnU1g8PUGV8o7vDdLtnW1a0-Oe-f7zgybzRbvg6d8zCZ2FwSXH_EdUmQO9U5WRGwQUB6ZagulPwklLEdDlY1dNq6NxikKpFI-FMCKT47VQ0hz-8s_E6kEZrlY7R3rCc9ROFNepKlEZZjTsfR88U3-vPtRlFXukHDvBVwP6Fj9bZIKMvYkJ7nKpUCPU9S6yhgPEmi4uib-QJoD_xRcuq1JrcxEor7JUwgk50Z2rfTVC-1BCIMmmPu0un3gxmuKBlEoM5V_ovWHpoyt-rwijNgwSmXbI1LTnjuhNCvfYdkCPBqS9TysNZsY6k_oJqfKiY42b5hzyIhcvOrUqqW6nXPQEZzpKe4Wv_PJkkVXndbp8Dg4TKkpUD-mg-M4XEtkrNXrRjpFbE0dg9Hj50UrUm3rMrZj_oXVvPjw-iHA-XvXOUUcBhIqVQcR2YgozE__1RwoukIpuSf6u5z07BCpkGdpROrRHR59a9Ix8Nx2xCbcrHNQGbQo7PmuQNokjhPDcPsnk5LkhIpaeyX2CoKYVGMsaauwkLWgV7zLChykWjgfCTeK0fFU-slPV0MX7-QpBZeB3KhwDKqJ3EO0zBFwDVa68ZQAb_1wwHPXHSM7rFO21IeUdqiWxboypBQvHn7sP238O61XlEXsEk5MCjGopPLLOa-XjJvuB85VFZxJ3EPNL3fMmP9JLZ_wnliONU8L09QqiDSnsdK8298jqnp-tL4QEYtSNoLQbEc5jc-GjRJ9lxaifcAhc6PlYgE6r6x8GeLwscmcIsQPDmpJ6JOdrP52IwgkD5oM7QJbX5KqpnVmJM-hxyk0UggogSGXT8kfMZwvNTVAjX-BdNmK8v2nB0a7uEvAvQ7kom6ki46MrzhD1shVfwYLhzq2IHRUZyKxnAagL1nBmRp39F-t8YzNkFVFAVlnWpxRyILSsJV0UKpqhNHGAXtnlV5AiYczxJ6ZrXGJDF-yziVoJftUfok1182PJmVQRY2otpbHz3VcrcB-dT6Iuu7x6_thgK1CkPdIPV3UlDW8SEyvxXANTl910C5_2e1kC9bz1B8f8Q8gZcVaAFwu-80nUx3IwaA8wqKSeGDAyrHqX-fermxkm9uIXFsA2dcpXCcLT1WikFWHQa-O7BF3L0yVtO_1scWhuhGyXGJN6dxjc6GY9tdfPm2rV_BP_Mn_MiGAzrZ1FyhYvL-6lHMBQXJpz2Bbj_MM_ktTddWCSTIOnSJ5B5ZC4I0yZw7m1b4F4RC98FTLkPtyUdmWpHTBrHG0QhmnHdMrXKhap2jxr3pHCkZoH2ABhyhEUaoXypAMNoeshKeFOj-5cZo7z0eu1nruXT8jTaHjT185TAY_B88EpfTnp4xNLBixs8mO-ccP6YCwV8X2W-OJ1pBR2q3GbF6IVTKOvq-HKE9QWDR1Mzn3KDYT2AYDhqGK5Er2fypUD41lcpevNJAS5AJ-S0T2AZLAqlFA4h2AEK2Kdj69wATAu5ZSTG5olJX8MBpWqHtO8gDVWRbaitx-mQFH3al7Ejsmq-LzDftoyIw==",
  "id": "rs_052a393fa4d6833b016ab4301458f887d0a75b03a53d87ce3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_z\":0.105},\"note\":\"The animal’s head is over the basket but its body still hangs across the near edge. I’m moving slightly farther inward before release so it falls into the basket rather than against the rim.\"}",
  "call_id": "call_xqtBi9Q02kd9gAO0lv0ksgyn",
  "id": "fc_052a393fa4d6833b016ab43015928087d08d740db14c4f4a08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xqtBi9Q02kd9gAO0lv0ksgyn",
  "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]: [-0.3748, 1.9633, 1.4361, -0.281, -0.5011, -0.3489, 0.2229, -0.0593, 0.86, 0.6178, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5148 left_y=-0.1075 left_z=0.122 left_yaw=0.217 left_pitch=-0.1282 left_roll=0.1027 left_gripper=0.2229 right_x=0.2922 right_y=-0.0024 right_z=0.1569 right_yaw=-0.0045 right_pitch=-0.1164 right_roll=0.0418 right_gripper=0.9985\nstate[joint_eff]: [0.5402, -7.3641, 7.3641, 1.663, 0.0904, 0.232, 0.3687, -0.0479, -1.7026, 7.0769, 1.6435, -0.0513, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80193a9adddf9fdc5eb902885e7b75a942d99cc0bc956842731e8252bb2bead6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d549de2c525ce8502ce3b2347c33c1d714ba451a784e6bddb8e5df0a9aa55f78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2382e6681c809e898f0cfb7602837652cb01ba12cf672cfab5cd67ae88dbbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.431 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.696, 1.2984, 0.8162, -0.4137, -0.651, -0.5312, 0.2142, -0.0593, 0.8509, 0.6197, -0.4366, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.3207 left_y=-0.1238 left_z=0.1415 left_yaw=0.1095 left_pitch=-0.1115 left_roll=0.104 left_gripper=0.2142 right_x=0.2921 right_y=-0.0024 right_z=0.1604 right_yaw=-0.0045 right_pitch=-0.105 right_roll=0.0412 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -6.5573, 8.9641, 1.2088, -0.3394, 0.0659, 0.6227, -0.1162, -1.6889, 7.1316, 1.6435, -0.0171, -0.0415, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4091, 1.8366, 1.3445, -0.3344, -0.4999, -0.3546, 0.2192, -0.0593, 0.8574, 0.6189, -0.437, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.4812 left_y=-0.1124 left_z=0.1384 left_yaw=0.1862 left_pitch=-0.1435 left_roll=0.1079 left_gripper=0.2192 right_x=0.2922 right_y=-0.0024 right_z=0.1582 right_yaw=-0.0045 right_pitch=-0.1126 right_roll=0.0416 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -6.7487, 7.241, 1.2967, 0.1392, 0.2759, 0.5397, -0.2256, -1.7709, 7.0222, 1.663, -0.022, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3748, 1.9633, 1.4361, -0.281, -0.5011, -0.3489, 0.2229, -0.0593, 0.86, 0.6178, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5148 left_y=-0.1075 left_z=0.122 left_yaw=0.217 left_pitch=-0.1282 left_roll=0.1027 left_gripper=0.2229 right_x=0.2922 right_y=-0.0024 right_z=0.1569 right_yaw=-0.0045 right_pitch=-0.1164 right_roll=0.0418 right_gripper=0.9985\nstate[joint_eff]: [0.5402, -7.3641, 7.3641, 1.663, 0.0904, 0.232, 0.3687, -0.0479, -1.7026, 7.0769, 1.6435, -0.0513, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80193a9adddf9fdc5eb902885e7b75a942d99cc0bc956842731e8252bb2bead6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d549de2c525ce8502ce3b2347c33c1d714ba451a784e6bddb8e5df0a9aa55f78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2382e6681c809e898f0cfb7602837652cb01ba12cf672cfab5cd67ae88dbbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAYmsa1ZSlVxyUKe5Vq_0gIr8QdyKeVW9tDO71zvOaCZHoI5GngbfwViWQj1A-D3Gie2CGfQWASXjMkbs7lkT5j6HKKDK28sgFUpTxmXRRLSDvHatO5MqcT3-wPoOb9zxgMch6woGxLj2QSH9ADuGIM1gsMS9qlCOg6RqUtIcF4UAetbzW1MQR0dueXpjOIsx2VViJ-hC880rNRdlJeCxv5GTwrt_NVXqqULjd-6nV-U6J-aiELkwpCUXI-KUCxwOvDLoINMGroFCf3NCvDRaC7XTW2uv1l5V0jpNHM7VUm3GYp0KtrAetvz-TuiB-Zi_54H6h3Wq12UQ3i0hbYW13ykiqUDf8YrbW_NHVY8C5bV5QJU4ygk_ahFDg4j6Q0wgF5P4SesgWBm9cox2aAcqGGFXBdwIJkFhqLBQ7CRA-6OVsxEYIUYBHVMgMziiKm1aeW38vNTxre7dplUg_XeIHFtc6ZVavWQMPlK7eF2jthfhyCksdEOSjjW2k4taJn-nx6pSvPZIuDCalEiKaqe6Vhyn3qB9mneScRXjLlnO7rn0atPdTNsEBH36tkYzy1fR0Hl_z8wqt4-pecrJy-9g4xTZnC9w-VjAPxZ8bVE4t9zB_lsd2AprQqV3Re3WP9XHSRVU6pS8BugBOV5C7bVM0qyjtJZPcxXOrxT_BH-Gf_UG7afA7o8UzQ_NaSeT5RuB49ReNU_QISWOog0JztKzME2-R8KX3kSltjIZYmC_q2e_b3gulSnQCGI_hjStGiKQnxmMsl-7vgNtdf9N_6ux3FswuNcOR9sIlZqjLrcSUanfTKMKPwjTOzqrMUlZm9MIOW1CWqgzIcVPVIJM__Tep32L-TJ7p7HvsHmcUjGyuZcZIPQR9Y2WVikFqmkkJVvbS5Ig5F-gdoBRAk5LCh4_MPYOI-IDgcpFOUJG7XHKL31uhQu0cN0TtwtffCsmJbL5wObMHX1byS-oPGWvv2cm4fCxYF7fScyupBfdq6Is5R8ZTCWIiZZP5f-459c1Vu6rMKGevDYoTmpfR4qiGHXUgSUEuG6Io_eRhH6cmpE-B48zjTf6Wo-RphUA5iCw-OIoPdZgZo_c6XJdw4dHp3ABsPHw9n84656P0fYRCNYnGK3nCEGyy05Gu3poo0xXpJOHNdp2GtdQpUvuxNObrh48pXDHLz7ssLWGt_BL_pnKvoap9G0AGVuJbQ0vLouFcIpn9FvwXJqc1KwbATmCnwbvLWBiuLr3ufteu1pxVqXvLapbVVDzeL1_yy-nOmXinAEOoE1OMfpP49oikmNL-1HeWrdEp0---5z7YW7om-LI-FRkWP5GucHco9-FCPRmYP-S1u-Psx4AMFHFEHJ946_m36bo3OcJ10BjZa2rwJRoyXKJb_a0DE_fTjG77qTfIIpyppiiDRVKEBYtsrf-ZpzPMcPWDcDnlEFe1_XfPAxtpCJXY4m9ig49dkFYjzJXwjba-i-IDMxkpdGJ360n6HOwY8qLVjTOB3fllHiRo-8-5eMvgWt6I87-RBERAyR5ADGkKNhFyqoyrC1NFEzkdt_btz_w==",
  "id": "rs_052a393fa4d6833b016ab43017bf5c87d0a40ac6a12bd183eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"The animal now hangs over the basket interior, with its head well inside the blue walls. I’m lowering until it is supported before opening the jaws.\"}",
  "call_id": "call_L2R9Op98BuigIdah9mNpKPeQ",
  "id": "fc_052a393fa4d6833b016ab43018484487d093e8e1c78efc55cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L2R9Op98BuigIdah9mNpKPeQ",
  "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]: [-0.3698, 1.9804, 1.4498, -0.263, -0.5087, -0.3477, 0.2244, -0.0593, 0.8604, 0.6178, -0.4366, -0.0647, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.5212 left_y=-0.1059 left_z=0.1221 left_yaw=0.2262 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.2244 right_x=0.2923 right_y=-0.0023 right_z=0.1569 right_yaw=-0.0042 right_pitch=-0.1164 right_roll=0.042 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -7.9932, 7.0632, 1.6288, 0.1294, 0.2466, 0.1587, -0.1299, -1.6342, 6.9949, 1.663, -0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354fca82fca979a1b02cefdaac356d520d5e963f7fa02449308993352a6ae403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f2ea36060f840586d2d314d8ca4329e006980077cba902512b8cb0dd7b67a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a90ff6cc6fa64d505336bffd40be5eda182efbec245df8535af6298ee9f4fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.659 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4278, 1.631, 1.2861, -0.4999, -0.4801, -0.3473, 0.2165, -0.0593, 0.8543, 0.6197, -0.437, -0.0647, -0.0158, 0.9986]\nstate[eef_state]: left_x=0.4333 left_y=-0.104 left_z=0.1797 left_yaw=0.15 left_pitch=-0.1673 left_roll=0.1113 left_gripper=0.2165 right_x=0.2922 right_y=-0.0023 right_z=0.1594 right_yaw=-0.0044 right_pitch=-0.1088 right_roll=0.0419 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -8.5265, 9.7573, 1.619, -0.1734, 0.3687, 0.5788, -0.1299, -1.8393, 6.9675, 1.6386, -0.0952, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3748, 1.9633, 1.4361, -0.281, -0.5011, -0.3489, 0.2229, -0.0593, 0.86, 0.6178, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5148 left_y=-0.1075 left_z=0.122 left_yaw=0.217 left_pitch=-0.1282 left_roll=0.1027 left_gripper=0.2229 right_x=0.2922 right_y=-0.0024 right_z=0.1569 right_yaw=-0.0045 right_pitch=-0.1164 right_roll=0.0418 right_gripper=0.9985\nstate[joint_eff]: [0.5402, -7.3641, 7.3641, 1.663, 0.0904, 0.232, 0.3687, -0.0479, -1.7026, 7.0769, 1.6435, -0.0513, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3698, 1.9804, 1.4498, -0.263, -0.5087, -0.3477, 0.2244, -0.0593, 0.8604, 0.6178, -0.4366, -0.0647, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.5212 left_y=-0.1059 left_z=0.1221 left_yaw=0.2262 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.2244 right_x=0.2923 right_y=-0.0023 right_z=0.1569 right_yaw=-0.0042 right_pitch=-0.1164 right_roll=0.042 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -7.9932, 7.0632, 1.6288, 0.1294, 0.2466, 0.1587, -0.1299, -1.6342, 6.9949, 1.663, -0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354fca82fca979a1b02cefdaac356d520d5e963f7fa02449308993352a6ae403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f2ea36060f840586d2d314d8ca4329e006980077cba902512b8cb0dd7b67a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a90ff6cc6fa64d505336bffd40be5eda182efbec245df8535af6298ee9f4fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAcxMc0lXtOJCJPPZ456XCMk-22xSGbr1Ke4SeDzhONKkk3gbQk1jj3L6FJJnrSqK0raWI1Ds-u7ggpYvLcAWmvA2nboL70GIt6VwmMY8pG3eSm9mvJnuXYBCkOAbHm5HJmG25XSiZwqP9mfjdO-6mGQWM7vKHcgjbiyYzyu9xJNMjKgkVV-2DKMKyHu63OWrjT_ZRo8T59EbQqDgUeG7MJPQu80BaJ_bgfVNLEe6G2MQKO8KkbWDi35DEqRU-Uy6dGJKfn0Bnbs2FhgqIb9iLID2InM_bJMql8McZKkGMfyZsBbNJxqCajb6qDuOmqcua37icW8bLvcEjOsfp62dvQEcwrA2MbX5BQ2fVBkgeAp5frxin_VSPrmKk7RCpYGhJ_xooznKwgWjcETSu0Go_LkCRUHuur-Yt2Z7Zwo1TBBnKB98q-XioqnHKst5HGiTSdPljnfTRO0SXaVGpQZxyTuyBIr6oY5g00JM7t-AlfsprnROPr9QbM0ryQRKvDdB_h07KkFyuDZ40cKzXuF4vzJtBHlFWmvTSd5jlLL8mobCCxgvsTyEWaTub9bUmL7N5gDvYKgbep6SuZi7pMAJq8Txvbn1-832KMS-hsviXqfK9JoGJP9DjOFGUCi8mtnWrCxv7Qq8y6E88lAKZpYM8hNlp2XlQyM1LjzL7Wy9zVjV91QA7TOIKPbcH73-XtSY9l0uZpLcDYryZMGJFKz4M5i1c_i731ou-4F5sKBqPHS7nGBCNUXxQyuqSt48AM99FQ6DbJAJ0Bx9Kb_4ZJUcG0H-dK6wei-CjeNDm7zRnT6wkrHYTKeYW7wngoNH-b3dFoqJJx-JiPF6e_y1tvfUmuQwsMgBKGUBaXAGXOBMgcZ956i9CPUpJfe_oT3fuT2CAi_WDv3x6bakNOXO5HWQUbjY6d29Mh25uITseNZa2fVffZxi7h3UtDrPdlzdBbS2U864cDYA3jioYouRSNHIuUNNp8IOC2MDwmMd88jtl8mrtEDjhznCPSR4MtZJMKReyT9UD_FuTmmz-nLL6OJArCb-aR7OSLoUUptkt5h0sDJIULAo4vR7nGu9UAoleXj933R5YGmqkk1qnxMlvKyO4ToRgo1B4kwT-4VaAcSIdMDpauBk_SA1WlYcPe6l2DkJC4icGCarBLuxKGQ9S3efjYERjEIyQG1MKIYYdtoLrL49_2l16kJP20gI9PlXoex6-wl5KTtDOHRtFpbjqZszm3p_uG0Y1jmti06-nGrhhZrHcwhOZpqq-HWo4Tp7Cgffpx",
  "id": "rs_052a393fa4d6833b016ab4301a8c5887d0a1f0bab7a994bd28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped near z=0.12 at this far reach, but the plush is already positioned above the basket interior. I’m releasing it here and will move the gripper away to check the landing.\"}",
  "call_id": "call_YVEC9odLIC9e8R4dmJyv71vs",
  "id": "fc_052a393fa4d6833b016ab4301ad24487d0890f09e7c16dba10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YVEC9odLIC9e8R4dmJyv71vs",
  "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]: [-0.3706, 1.9888, 1.4494, -0.231, -0.5018, -0.3519, 0.9955, -0.0593, 0.8639, 0.6178, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5258 left_y=-0.1093 left_z=0.1224 left_yaw=0.221 left_pitch=-0.0964 left_roll=0.0796 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.156 right_yaw=-0.0041 right_pitch=-0.1198 right_roll=0.0422 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -11.7812, 6.6393, 1.16, -0.3248, 0.0073, -0.1343, -0.0479, -1.7709, 7.2, 1.6386, -0.0904, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bd78f9745e5ed5a70f46a8d02c2b3d8841a476ee2836d4ad00b0f843db4471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732e648940c3f539bc768f6130d2bc1696918d77421e7595a289de601cb23ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5a1c588847a429cd288ff8ac6b1f8f4583f9cbc97fa997295e9cb3f0b5b614",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.798 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4091, 1.8366, 1.3445, -0.3344, -0.4999, -0.3546, 0.2192, -0.0593, 0.8574, 0.6189, -0.437, -0.0643, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.4812 left_y=-0.1124 left_z=0.1384 left_yaw=0.1862 left_pitch=-0.1435 left_roll=0.1079 left_gripper=0.2192 right_x=0.2922 right_y=-0.0024 right_z=0.1582 right_yaw=-0.0045 right_pitch=-0.1126 right_roll=0.0416 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -6.7487, 7.241, 1.2967, 0.1392, 0.2759, 0.5397, -0.2256, -1.7709, 7.0222, 1.663, -0.022, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3698, 1.9804, 1.4498, -0.263, -0.5087, -0.3477, 0.2244, -0.0593, 0.8604, 0.6178, -0.4366, -0.0647, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.5212 left_y=-0.1059 left_z=0.1221 left_yaw=0.2262 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.2244 right_x=0.2923 right_y=-0.0023 right_z=0.1569 right_yaw=-0.0042 right_pitch=-0.1164 right_roll=0.042 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -7.9932, 7.0632, 1.6288, 0.1294, 0.2466, 0.1587, -0.1299, -1.6342, 6.9949, 1.663, -0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.9888, 1.4494, -0.231, -0.5018, -0.3519, 0.9955, -0.0593, 0.8639, 0.6178, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5258 left_y=-0.1093 left_z=0.1224 left_yaw=0.221 left_pitch=-0.0964 left_roll=0.0796 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.156 right_yaw=-0.0041 right_pitch=-0.1198 right_roll=0.0422 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -11.7812, 6.6393, 1.16, -0.3248, 0.0073, -0.1343, -0.0479, -1.7709, 7.2, 1.6386, -0.0904, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bd78f9745e5ed5a70f46a8d02c2b3d8841a476ee2836d4ad00b0f843db4471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732e648940c3f539bc768f6130d2bc1696918d77421e7595a289de601cb23ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5a1c588847a429cd288ff8ac6b1f8f4583f9cbc97fa997295e9cb3f0b5b614",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAgpmhNvKpDP1--bYI7hrWCZ3WBEOCgHDkrsj7g-FPx4risdg3ZNR9d924xJ2dnb0fhTQuvKLGsuYd2XanAy-Qqnes_ngfUqpOaRCgbXCs1FHShJe9H_WM32NKxF6V4TjcriDCnQG1JJlSKvo8-RPjB2IwU2wZcnguKndzI0g3zh_QTTEvEUg3npzLnbzWSo90HduHqGHlWxDtbkMsc1myXyh1Vulv5ZF9wp_DoUFqLPl_2AE7ULyZfGgvnqoNtd3aoGJmOFsWIoya7FPfnyrg_Hf0_VmFCumZ1iMk6IeUvVhOy9GS3lQbJBp9oqZp3_f_E_Er5pRcPsk8_IBRBYPD0LwNUyKy9XfmyL2Cyss4lrxgzbY_qrpKdFFb7g9RlfvK72sSQAx4fze-xKGldMCwtKlneLumE9LSMv8R4gf4cJTDz1EjsJefqkmE7rgw5pZkpiFh9EqzJu_t_5sQufaEa_IzwDFjWP9Cb3hpdwZAXTGIIPykT1KzccWI08OX4TyyQd49EOPK1L_UQ2Oafgq8-rL5ZJj4_il0t4bsmuFns_K7QJeyGmpa_3aNWUdlfMQLmP59fCtCsvh51gy6bUxziUq6ZD4PTPCEFNMngc97fHFPtTRHEsyz-GZxgCl3YaCsHtnjqIhSTeKkBM_EeMPP4dyhF7xwRpui4j0pPB5Lq_9xOVQV5ludQqXjrVlBuCcX4kllymnNBqlovXxci_DO1uqJ-zfCjCT_kYRYV9TRt3cpkVP9uqm4eNxDKqRb4eaOZ4Pi3qSH-uOK8g1VR67QxR8Mn1d-HP4TmZvteMU331FOl2VUSxoVeum2GpCglouP1e-sf6Xnri3wFKyyhKtkvt1i5a4a-wrfD5Q3L6_oIcCXY4Lwy3_jFjgvYv7cbmgGao5t6jax6eoIupH6gRjCZfa3H-Kwy2BQlmlA6WsBkd7Nxy2_E-nLSr_Dvms6l5PFwIoXOTS6_NcIYb14CCrHPq5i1mZL9s6yA1FdZmuYpBePBf4ZhMbvcyqyUn1xGm7iYyv0bXeJUKNvjp5DakF7Im08nbZvwsRAk4iExwAm9sP0zxQOsrvKw-W4DM_-vg7FjJiP1OoK-TOgtsuK2tX8U4oel76th_UP83gBMOvqHl2GTQzgQ6vit5rzImWkemgxNHvHL74w4ui_EGVLkVijDVqftTrzDq032pQ5vTVum78etpNeA8SpM7xLTLM7LZQMQIycI0gXn3mSqDwWEYkT0798tvV9o47sjA1o7kGUNUlo1GeATad68is9Z77zl2CVsKp14gDf0f7TlZ0ptxCnJcTK0yZ6n2tARAq93zzRzCpnvAlqk-V5AY4fHds86GguStkWzSv56ojGMIQEkCir29K71lr8kFdKC-OfiUXA2gg44HSp1kvTtJ2ls6g0jEJ8jRasq16HYC0gsojkGMgCeUxY8zO96fVgghFK9E8NBNqMQ5GkAFjmYie3ZZjsinAHRCjsotM2Z3TXMR2T5VY1VwdoomP44t1Lcs5sczqJwZnyaA82TPTkQVaX3Fo4uElOizMEwdqsJUVqXqaxz1XQvpfkAGC_ydyQhS3h9oUDKu71hKEyNJrDv-X_LYBT03OxTMBLKmIewQ88SCuRHDGPGYhlqkdgAFlit0TkKap-mlOJ-3084FhvJSaB4LXPamhD3",
  "id": "rs_052a393fa4d6833b016ab4301e906487d0be788427321b49f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0,\"left_z\":0.18},\"note\":\"The jaws are open, and the plush appears to have settled near the left basket’s front-right interior. I’m retracting the arm to confirm its position and expose the remaining objects.\"}",
  "call_id": "call_DujAxvIAYvRLAuo4IC4hnHiZ",
  "id": "fc_052a393fa4d6833b016ab4301f680887d0ad23d38934018b07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DujAxvIAYvRLAuo4IC4hnHiZ",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2443, 1.0206, 0.7643, -0.4446, -0.4183, -0.2749, 0.9968, -0.0593, 0.8696, 0.614, -0.4358, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3202 left_y=-0.0022 left_z=0.1838 left_yaw=0.2372 left_pitch=-0.0687 left_roll=0.0574 left_gripper=0.9968 right_x=0.2922 right_y=-0.0023 right_z=0.1529 right_yaw=-0.0041 right_pitch=-0.1286 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -2.6188, 6.9538, 1.5702, -0.1587, 0.1587, 0.1197, -0.1026, -1.7846, 7.2684, 1.7118, -0.0855, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47bc3137ca2a4be0024fb33ff4b274533cd01ce0e4d96b4c1bd935935c37b48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002b87ac14970476a49bd911e6283c51b694c47788af3c1ffd65a3dc7f2ff462",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6093c9a2b4f0829ddfc0f7d4e64c6c4f441d4cdc7616a8ddcb3cbe0b289dea83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.425 s
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

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3748, 1.9633, 1.4361, -0.281, -0.5011, -0.3489, 0.2229, -0.0593, 0.86, 0.6178, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5148 left_y=-0.1075 left_z=0.122 left_yaw=0.217 left_pitch=-0.1282 left_roll=0.1027 left_gripper=0.2229 right_x=0.2922 right_y=-0.0024 right_z=0.1569 right_yaw=-0.0045 right_pitch=-0.1164 right_roll=0.0418 right_gripper=0.9985\nstate[joint_eff]: [0.5402, -7.3641, 7.3641, 1.663, 0.0904, 0.232, 0.3687, -0.0479, -1.7026, 7.0769, 1.6435, -0.0513, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.9888, 1.4494, -0.231, -0.5018, -0.3519, 0.9955, -0.0593, 0.8639, 0.6178, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5258 left_y=-0.1093 left_z=0.1224 left_yaw=0.221 left_pitch=-0.0964 left_roll=0.0796 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.156 right_yaw=-0.0041 right_pitch=-0.1198 right_roll=0.0422 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -11.7812, 6.6393, 1.16, -0.3248, 0.0073, -0.1343, -0.0479, -1.7709, 7.2, 1.6386, -0.0904, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2443, 1.0206, 0.7643, -0.4446, -0.4183, -0.2749, 0.9968, -0.0593, 0.8696, 0.614, -0.4358, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3202 left_y=-0.0022 left_z=0.1838 left_yaw=0.2372 left_pitch=-0.0687 left_roll=0.0574 left_gripper=0.9968 right_x=0.2922 right_y=-0.0023 right_z=0.1529 right_yaw=-0.0041 right_pitch=-0.1286 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -2.6188, 6.9538, 1.5702, -0.1587, 0.1587, 0.1197, -0.1026, -1.7846, 7.2684, 1.7118, -0.0855, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47bc3137ca2a4be0024fb33ff4b274533cd01ce0e4d96b4c1bd935935c37b48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002b87ac14970476a49bd911e6283c51b694c47788af3c1ffd65a3dc7f2ff462",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6093c9a2b4f0829ddfc0f7d4e64c6c4f441d4cdc7616a8ddcb3cbe0b289dea83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAn4y_9IiGmTyilQ8wXY5c4Y3HoP18u1NxrcSeoZunT6OltxmEtKhQU3y7RsL_pDogQ8AHC7a9hJ2kIR2fn7vL8xPKIyi7_trcWF_gy9tYHeNH9TydOW6iPY3OroIJKBzbs39F3Ghg8MZ7Lf8xNHRaj33r9z2IGui0gqnh-QACG0UfaxYYGIasDbrnRPiYtMD-BmD30qyNoZ_ru1KrIBKKpkhxNAOiwop8b-Np3wmaH6z1yYOY77RFYaUHWpMf3lDjfLXN2EfFMrO6lTPepu4CGZToMxAt9l_-A0z6MZJGlxxq0C7YMTvMEZxL--lwFU383d3hk_Z17fUVEWPgjpLOKkqHIxEtWTGgxKCGgLbIt9_Wbw-LdkOXujrcsr1zaxaGGYV8oj6iNt2HQdG05-ZM7wxauxrvTQCgesde0rSP3tIPhZxTKrc0sr-cV49Hka15NBbfmi4u6Jqui0LHqZbu2q2dHFBD0okdKFPnc572738lXUht7Z6PadQBsZ3wo37gMs-XUUNbzUhQdazWQWNf8ao4S3f-y4eSRIAyhSoekpKSG2QD_v0o4_4EPn_esFSt6w3K2rwbwkx0QLaUTJNVsV2sPr0ag-SFjJkBSanyeDQ9LKMFFEPgY-x7FMisHxOtTHHCoLMOJz18Ed904VElNNbS0w8VwiuYoGJlSFZDbM2e0_QaoANcrTgNJZNMSsZHszd_cWv-6qwj9au6Q4ffeuLEKq4bNIbnXgIvAeREpc1Med5nq8g6yYVyzeAbIKxaAoszY_xrQ3HfUsm7WRVvtCNE1Q86bMqGTxo7IEK8K8sLsCBe2-xoQOJqkrq85aOn1IQrSMF4qyTz5S1W1lY01fJERe9L0iDsdRCsGpdGQ86mW0ekwLupE94wMslzny5GPzWJbMA_fRf3SveUS6fkyLX7DufN17epkHOlj78a4ZZLexUg7GiLx6BmavUmT_2HM4RJ7b4rd4IWbs3LS_79OaqZ9b6NltBT_dal2woy25p5i5gRATeQzaAVJwuUMGByBjOw9GhvUVxMKkrRiJUt6V4hwqSvlWLOCDhLwzqsu7psyJCkHY_UMIy9FifhhdZAAPQHBiKIAHx36fv3Vi1G6y2S86ry_wXavbqUAlfhB5MGk1hPtJgw5_5QBT7b2brKgSYJ4H4w6lEvxzx8I0dYHD-fo06naWFim2-fUdiqBRZX_pdaLFfb-MgQMUiCK-pxfb_KQy6gvBGW5ulPe9L1YqEhydHNbMqAWtzHEhFa552tFYz9730F93IquI8do_AaQkuU6Vz4nXdjqenRHzw1s7QC0CIMrwsjZPLZL4ySAe_kOzimA7SAmECbV7tDwQ71JcbFj3HdxNoIKM6rJZe1S6jG4bFw_alGEJkX2aLYpkvvkQs_YqjIEismqXknYPFtAdrrFc1NCye4sjOQKhe9jg3ZtVOdGq-EojQHIhuPiwlfgcynBc-_rNxEuiReF6A4xV6d4ZxQ-7kD4EmFGobNeXQBfZzvt3y-jKqWjaPnP3EiB-jFvVLe2Qk9ybDijewTIHIZftrg5NZRUEkx4js5JsbRf90GLS-lUi6wjBCmpJDNVFLbpFWhHMsEK48mhe-IKe8f-9VadsZCykhHUIq6K3_0RVNQnN3xb9ziP_nWJybMev4QO1AZuHq9byxuVj1jz4BfVDtPZGti91ke4VHn95FyonYXazXj_MA7xOsu0VYoYxIDo54tmsVWJDOXnpXAq3xUp0ZqmIhPbLVw3kIxkBuLRwrfssNNTzcMH_KtpLiq1vIc9Us3iDPM42xSA6l4SACZ4KAm2JbOCGAwwY_a2nGXSJgdqOpGzfOV7Af7PruhT2QhBpwk7aYe62xr1FD6JGB2_inVz29jywU9Y_6Vv72qA3MkRCruoAm4CEPpSuWFNsFVkWMyfLfJZ_ifwE8_x3wiZTU-NbUhInYPaHQXuLrmOoaLpJ8-DJKMYh1jzwYVrH502UrpfseCxthuultUrMCvcUyP1z2_lXmIcJ38U3c7lP-58GriVCzJ6zkFrjgo5SwbXjHId0CjhkZ282PiYLMfz-phUd6sCkeh3qvajpyMAAm7usVBOhTbNGu952DcdCXj7Ni9WhHeJ8vTNDIkZsABEwnbKyMQz7_5SlsiGrvov3NZye9G7je3FcY2qWQ103uJklqoh5Rp5bgFeCGAuWx_ZAJ0GIEVlDt91Y2gHYzE3wUn-3FVtXft4NHzBaM4NpQzYqYR7Y5irTTgM186DKTjJk1Fy9iZvfx5pgHNALqv9J09dHkS7_AsYYkZp8Ts-1-TUqGRc_SySIKZm12rfCk2mI3sWnZ27-N4D6G2OCzie07_RrY2F3qkTvSn1oCZQ2UGgkjAkQMU2-ABB3afvyQ1mp6o_nhVFTA7orBY0khnA46EgA06pGnEnay5CoW_EJiDUQc6XRnAGDgljot3eqM9U-51LdmzC8ntGsOJNd94_HMZB3OIky72W7-NqIvxkcK2rV2wdZKFwynWYBP4r7yYU2CvrxEBV8CKygc40hwE-AGkfbjvXzQWap1OlTVr8HJl7Iptv5ensql4DDQz4VfSSfLagHj3rvZgFfk1Sc5lekqklGTeTglOwX-h6uXMdV6kyM9WKXMoxrUv-XY-o6oS1OxFLdErpStnnKbg0z24QdyswobBn00Qs2W-rP13Bi7CZelQjH-0nW-7bPrQ0j86ethLSWB7fHyYLRNgsTOP7CPWnTNsvVx2DYBPCwOVgJSAqPzwvblfVj_JaFLJiPat5UBYBzD9-fNhpWVibUOP-72CmzWztPAOVHUGNpBl7wbI0HC0EN0cH3Km6OyYaFmRuASY7zJ-nZsE91JopVk7Usr7A3toL_OCoxre8SABm6zXaXPr3LS8JYe18SEcL7zrzqdkcBO3S2J3fYwkHVWJ19YhoT21fUSjAJgVZbAUYm0pxBrvEHna0TMB2W1CNsGbwx8SIMoO49CfE4eNcjfeqO3K6HmwTYH0jvIcVX5nB-7gpSr8FoblcAR1g7ZRfkrvbwHoWHbC7fEyOwP1VhAAcMIaJseN38B3aDahwQIv7lST9DGNawWRWymyZXL0Db1w8AYOA9-2vCWaA_rujTJG8fo61RpRXBjmvQp4-VF2omERGWmL-YZtxIOjOSLn6XI-TTXsx5hAuYmTO2VN2gbf1PLEcpb8jtLVpziCgT1O4bQwPBzHdLugxNFZgb2sfULrVO9wEvIOS7LSN1sS_CH6dP6HbC_ZvqHk_3Gh26tZM713E0UCjBwbf8Zys30R4uPkTBYK1Lc58zsdbTNynsayYdK1PCTMBeyC2EWU4RgN67RRyH1HOX4KFouMYprY_XwgxtEAaDzAULCbhYU7h-BILdnPDpa6ToOt4LJQZuB8w47SE1nu6iW2iES89VoYxhivXCrM15WHd2a0CNZDqmv5GJ3rxiEgHJJtOr2OtiiXG_Sx2ZovmCZ2Q8rcYt8Dm4kUeoU-n_ywztxUbxzs6zye_YvmzfUn5BX9jDypRPz5aIWuftj7PPtjs40QNS31F",
  "id": "rs_052a393fa4d6833b016ab43022f4f087d0b441f30b98a6894a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.13,\"left_z\":0.065},\"note\":\"With the arm clear, the released teddy is visibly draped across the left basket’s near rim rather than fully inside. I’m returning to the tan figures below it to secure another grasp, then I’ll carry farther over the basket before releasing.\"}",
  "call_id": "call_ar83DiYfkHn0xb1p9ZaP0AoA",
  "id": "fc_052a393fa4d6833b016ab43026a3dc87d0884941e0c0b0d5cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ar83DiYfkHn0xb1p9ZaP0AoA",
  "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]: [-0.6659, 1.5929, 0.6998, -0.0593, -0.6998, -0.6079, 0.9968, -0.0593, 0.8715, 0.6136, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3439 left_y=-0.1209 left_z=0.0556 left_yaw=0.2177 left_pitch=-0.115 left_roll=0.1123 left_gripper=0.9968 right_x=0.292 right_y=-0.0024 right_z=0.152 right_yaw=-0.0044 right_pitch=-0.1321 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -6.8991, 7.8154, 1.2625, -0.3101, -0.1685, -0.0073, -0.0889, -1.7983, 7.0085, 1.5946, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507f93352627209f2a920351c81e0d337a97127ef8c382d02cb4a40b605830e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f205c659a7d0e1a8b1ada9b4b7fbe2c9341e6615881e037f1140c00beb6261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4d8beddccb80e11e6d518c9e1b92787bac163aafaf54a513a8ecd9fc7638ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 1.911 s
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

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3698, 1.9804, 1.4498, -0.263, -0.5087, -0.3477, 0.2244, -0.0593, 0.8604, 0.6178, -0.4366, -0.0647, -0.0162, 0.9986]\nstate[eef_state]: left_x=0.5212 left_y=-0.1059 left_z=0.1221 left_yaw=0.2262 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.2244 right_x=0.2923 right_y=-0.0023 right_z=0.1569 right_yaw=-0.0042 right_pitch=-0.1164 right_roll=0.042 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -7.9932, 7.0632, 1.6288, 0.1294, 0.2466, 0.1587, -0.1299, -1.6342, 6.9949, 1.663, -0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2443, 1.0206, 0.7643, -0.4446, -0.4183, -0.2749, 0.9968, -0.0593, 0.8696, 0.614, -0.4358, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3202 left_y=-0.0022 left_z=0.1838 left_yaw=0.2372 left_pitch=-0.0687 left_roll=0.0574 left_gripper=0.9968 right_x=0.2922 right_y=-0.0023 right_z=0.1529 right_yaw=-0.0041 right_pitch=-0.1286 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -2.6188, 6.9538, 1.5702, -0.1587, 0.1587, 0.1197, -0.1026, -1.7846, 7.2684, 1.7118, -0.0855, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6659, 1.5929, 0.6998, -0.0593, -0.6998, -0.6079, 0.9968, -0.0593, 0.8715, 0.6136, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3439 left_y=-0.1209 left_z=0.0556 left_yaw=0.2177 left_pitch=-0.115 left_roll=0.1123 left_gripper=0.9968 right_x=0.292 right_y=-0.0024 right_z=0.152 right_yaw=-0.0044 right_pitch=-0.1321 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -6.8991, 7.8154, 1.2625, -0.3101, -0.1685, -0.0073, -0.0889, -1.7983, 7.0085, 1.5946, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507f93352627209f2a920351c81e0d337a97127ef8c382d02cb4a40b605830e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f205c659a7d0e1a8b1ada9b4b7fbe2c9341e6615881e037f1140c00beb6261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4d8beddccb80e11e6d518c9e1b92787bac163aafaf54a513a8ecd9fc7638ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAs3VS1B8IV8lFvwi-AFVowSK5j75XJc7BpxMGgwRlwhhMUATca-xGpUCpbVOKcUQDZ9zSyRU5pCo5s_kYsTe05tQtjt8NTmqzjpVjuyKnjnDwsNNTtSnoLLSZ5PEQ33pwHjjlaaezIRv6mtTyOoVC-JvLmfBd5uB-aIf1fC2pIh40J3Sl7t8-P9IMGsyga494AuMhk8YWs6_0SsQE2wFCDJ5DCYo82PZIbB84xIjudbYgVP6vgaTMWyNNiB80Tgry03FMs9-uoEl2yUhZYJPB_ANlTbUd0pLSgS0DpJ3iF7masSFPiugX0CPIGsDLWlLf-quDLFPNnjsTIa89gnWtYJtEg15E3mw4ELbsNuPL3xeFHOTjSJRudAcfDveaqA30swbeeDYXr7Xee9hdnnlZjquYSNRPpbnANxTEMWkY0Q_zKciM948urBAmqtekvKh4utRJ1wRWlDA7d1TNAV9nACQ3HQ2QHZKp3D9ZLYGbHhX0gTlyn5JEQI3wDlPrcMwjlkrX85ox6-Vb4fQrWuhM8twJQxO_hVsfJUwMQmlxrfb11r-ZINRIqy07VOUb_Snwxoo_mDfFb2GahGMaXTTXUxgHenfz-z5wklkW3bxWFgI-t6KBPcM94wzw0jWrqi2mmN8zY5iM0gnpjg6gRN2pk99IEBV1rhpPKp6s3v1wR49tg8VMsHwipJgo_D4saWpSVaTM8NW_2CmsFCHsMjuYcE7MpuS12wp80b7oENdRzgq_VulOCZEWAmnaIKk0ZC1qVG_2T2KY1rV72oLkGV-vLPD2sbotevpmUpd1PWhFxWsZoa-61IRHo0nwovRRBkR3LzUxjJo7vY8WfKoQgFxbyQWoXllN11Op0xMjxy0hi9vYdrQMVIx2RlMsrIVpiZqu7rHDLr0-CNTPKJz4GoizkjwBKYW205ea0gvLTaWH5DBAOi6_ylAoev7D2evA_jHKF9Y4VsVov11U8GXrhLnbt-3-aO_kfrDLNBylZDlzSp_xk-aDVzDbpsJcJ_KO1c3KP5YUMd3-h2iCHetnoH5djhHp5tnjULX5jxSMQNWdD4eyNbGl6cw1XX8LFd5NKA3M3EDJ1sB7voJ3JqqmXCLXvvfaJ96DhMIYdeU0pLRmho1aTMNlitQOHg2zjtMWy6snfJGhTym74IjysfxGr2H9PLliLOSnJg1-Rdi2cdacNFJKf7G4tsSI8sAu950IMR8a0ZQ2UT8TPOEVwI78IniI8fothxqAcw13JysQjC-ac_cR8131YHApCb5HUZhoVtdgZdBLykZhVGRx7GdOG9ohqQGkbIaAX0YSpztZByERccJUbdmaXdNbG6E3E-oeY7cMYbmUuwsay669lRSd5nGYLvRVUsbFJgklD_2Dmx53WFRtl0zcEW6D6_66ZhPyjLXIqn0CHwmnA_ddm7ApFSLPvvZ7Pz_LUEZKjVAoxJX2yIyIaw_TwCZHZYxWFhUQQqN_mrpVSLTN0pRDcepg-0nEEvkCdj7c_4YxhKsCBUA2jlQGgyu6n712ZOq8YC8BF48KuAprWRHGzNPPOue416VL8hJdtSqql0Wk5hFE94BrTnpOB4uFOFsmfGZncYtrEXeA7",
  "id": "rs_052a393fa4d6833b016ab43029ecb087d0a462c5566307712b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"A plush body fills the left wrist view and lies between the fingers at table-height. I’m closing on it, likely the teddy that was caught across the basket rim.\"}",
  "call_id": "call_yZICWilM3uK8vki0PIBnIuIp",
  "id": "fc_052a393fa4d6833b016ab4302b074c87d0940e00e36fbff31d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yZICWilM3uK8vki0PIBnIuIp",
  "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]: [-0.6651, 1.6154, 0.7048, -0.0586, -0.7033, -0.6136, 0.1145, -0.0593, 0.8715, 0.6136, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3444 left_y=-0.1204 left_z=0.0503 left_yaw=0.2253 left_pitch=-0.123 left_roll=0.1227 left_gripper=0.1145 right_x=0.292 right_y=-0.0023 right_z=0.1521 right_yaw=-0.004 right_pitch=-0.1317 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -8.4034, 5.2034, 1.199, -0.315, 0.022, 0.9548, -0.1299, -1.4427, 6.9538, 1.6288, -0.0659, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bf82c7cc5c3dae828eea3d0f2f4d13c7fa5f37a3d4b8a6dd977c7d5ba8e1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ffc37deb65d9a442708fac92b5d85530238fef97fd822b4281f0ddf11af2ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55aa61d8139732104af36ac087a2c0cd8accf12dc5b12704f04a437e7892cd73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.96 s
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

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.9888, 1.4494, -0.231, -0.5018, -0.3519, 0.9955, -0.0593, 0.8639, 0.6178, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5258 left_y=-0.1093 left_z=0.1224 left_yaw=0.221 left_pitch=-0.0964 left_roll=0.0796 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.156 right_yaw=-0.0041 right_pitch=-0.1198 right_roll=0.0422 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -11.7812, 6.6393, 1.16, -0.3248, 0.0073, -0.1343, -0.0479, -1.7709, 7.2, 1.6386, -0.0904, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6659, 1.5929, 0.6998, -0.0593, -0.6998, -0.6079, 0.9968, -0.0593, 0.8715, 0.6136, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3439 left_y=-0.1209 left_z=0.0556 left_yaw=0.2177 left_pitch=-0.115 left_roll=0.1123 left_gripper=0.9968 right_x=0.292 right_y=-0.0024 right_z=0.152 right_yaw=-0.0044 right_pitch=-0.1321 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -6.8991, 7.8154, 1.2625, -0.3101, -0.1685, -0.0073, -0.0889, -1.7983, 7.0085, 1.5946, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6651, 1.6154, 0.7048, -0.0586, -0.7033, -0.6136, 0.1145, -0.0593, 0.8715, 0.6136, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3444 left_y=-0.1204 left_z=0.0503 left_yaw=0.2253 left_pitch=-0.123 left_roll=0.1227 left_gripper=0.1145 right_x=0.292 right_y=-0.0023 right_z=0.1521 right_yaw=-0.004 right_pitch=-0.1317 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -8.4034, 5.2034, 1.199, -0.315, 0.022, 0.9548, -0.1299, -1.4427, 6.9538, 1.6288, -0.0659, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bf82c7cc5c3dae828eea3d0f2f4d13c7fa5f37a3d4b8a6dd977c7d5ba8e1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ffc37deb65d9a442708fac92b5d85530238fef97fd822b4281f0ddf11af2ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55aa61d8139732104af36ac087a2c0cd8accf12dc5b12704f04a437e7892cd73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAueeXCP7-y3OBoRPaI60Z-GzFSm5OnfZ-AQrV37DWpBYrZDWBMKVTuH5c8IjtAP-nEVzDoBm4a-6PyP9Gw7Ogjd30OVE4vDf_oylGDxsxteejeWx5tyTDEj1F7UxM8yBIaq1e_XYfENKjFJjPPZN4ZEUJfxj-8-tlv97IS3S5e5ciJM34kaFC06QMqgzALipIYa59INRuMXRs6-IIfw_nZ3fetQtO_nuLP_pyKKWLtY0npfqqEFQxFgZbZ6WFHWdcAOKoI-XXQqJt0LDPu5DoKl4u38_qMsodhQ35BZOMlKqRrCkPjqmVndbSU2xCQaYrgAp_4F7dUmhwS6ht02wWXq98njIXoDAnLDpINJVorPris4747icqiFwM4KtoC863orU9YK9aGvwygETH_kefTWV_JOXuOQ7W2joff_xVBw4CZLyEhrnf6UWVWEu7uo4mJyO90jnHznhIuXY0fZC5wk25fyFiMmOQ-FsVKGaVIO4JgSUw_6Gk_oC8vQQIJ5S633_2hRRKSgv4lVXrYS8PhGachfTjae3jlOx8W1ivIGP6CKY30W_FZJ6Tyn_X6PAOg6yu0SiajzFyOQuTLyIBEx9MeTMjAS1vGEBsBWxIqxAwbr72wuPLL7xtKyRHS5GYYgsbK_v29ZbcSv0GZsgf_lrnLhke0Oqjaasb_XTydqSahbKBN6_mx_rCoaOar6kpKDLc9b0g5Giki_e2p7D2HAE2Mydb7gm6AZjLU5ZVE3ppXjMjtjwS20oN4Wsi57SX6sttO4ZS5LKsGGheBnRx-i0FORgotlOmOB5n8tXCCV3c2VEJQEiATaveXYJyxVBkp-wX6RsRHsXNwsEzZaf6b3Q_R_nk7adJpp6I9XrHdjt3qEAGtFAbFxx3c-JYSIKVM0IKe9rldCdS1614TvMzrPImku23DS63izdnhJU4gUqnWEkdW8nEUQpAnaE0PU9QXcitjObGn5UFTqqWh4_DWmr8b9JYso2IMaESGCEp-xJPcXxXGPkeUePUUd-23pQxDVVWgAASyooT15RDvArcousM0nSDGW_jOuLxGJs1XuZpJLpWCPJOeRvvexukpKxuqTT3OCJYN7VTPg8pD_YzU-H1cEEB97X71UFtbDYR0pxbfFtYG-PB8DB6BwQkc4GZaxD1WaK4ftt8AZT5nQhZl9mskY_cADpdA2tWbEQmkw9mgniXkC1Cmpbg8AN0oN4vQ3mEiD19-_f8K4I_N1HJ-P8d8AOiJD4sdDMdMZC8r5TtYvs-3WKD6QLW-LaeflBybumdEQffoHJ2s6drIMzWKhnRq80hZ-8bP1WHbhSrG1F4=",
  "id": "rs_052a393fa4d6833b016ab4302e0eb487d0a79423b8976b4cf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The jaws stopped 1.1 cm apart on the plush, indicating contact. I’m lifting to confirm the rim-straddling teddy comes up with the gripper.\"}",
  "call_id": "call_hV4p0UmPgt1ZcAfLu6GhRD1E",
  "id": "fc_052a393fa4d6833b016ab4302e62dc87d0ad71cc27cf34b667",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hV4p0UmPgt1ZcAfLu6GhRD1E",
  "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]: [-0.6643, 1.4487, 1.0325, -0.5694, -0.6807, -0.625, 0.116, -0.0593, 0.8753, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3469 left_y=-0.1259 left_z=0.1572 left_yaw=0.2197 left_pitch=-0.147 left_roll=0.1148 left_gripper=0.116 right_x=0.2921 right_y=-0.0024 right_z=0.1508 right_yaw=-0.0043 right_pitch=-0.1359 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -8.6359, 8.5949, 0.9402, -0.5983, 0.1197, 0.7253, -0.0752, -1.9897, 6.9949, 1.6044, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef16dfe78933d88bd30b51151daf84ad3b0e171eb47d2257cc86a6235480804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364be8d30222cbe71ba8bcdc29f87bee856cf43b80fb3f85a00740a951ffab31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f013696d65180aa577fea0274782427c986c326a7fd171603543961fb5db96b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 4.137 s
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

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2443, 1.0206, 0.7643, -0.4446, -0.4183, -0.2749, 0.9968, -0.0593, 0.8696, 0.614, -0.4358, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3202 left_y=-0.0022 left_z=0.1838 left_yaw=0.2372 left_pitch=-0.0687 left_roll=0.0574 left_gripper=0.9968 right_x=0.2922 right_y=-0.0023 right_z=0.1529 right_yaw=-0.0041 right_pitch=-0.1286 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -2.6188, 6.9538, 1.5702, -0.1587, 0.1587, 0.1197, -0.1026, -1.7846, 7.2684, 1.7118, -0.0855, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6651, 1.6154, 0.7048, -0.0586, -0.7033, -0.6136, 0.1145, -0.0593, 0.8715, 0.6136, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3444 left_y=-0.1204 left_z=0.0503 left_yaw=0.2253 left_pitch=-0.123 left_roll=0.1227 left_gripper=0.1145 right_x=0.292 right_y=-0.0023 right_z=0.1521 right_yaw=-0.004 right_pitch=-0.1317 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -8.4034, 5.2034, 1.199, -0.315, 0.022, 0.9548, -0.1299, -1.4427, 6.9538, 1.6288, -0.0659, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6643, 1.4487, 1.0325, -0.5694, -0.6807, -0.625, 0.116, -0.0593, 0.8753, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3469 left_y=-0.1259 left_z=0.1572 left_yaw=0.2197 left_pitch=-0.147 left_roll=0.1148 left_gripper=0.116 right_x=0.2921 right_y=-0.0024 right_z=0.1508 right_yaw=-0.0043 right_pitch=-0.1359 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -8.6359, 8.5949, 0.9402, -0.5983, 0.1197, 0.7253, -0.0752, -1.9897, 6.9949, 1.6044, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef16dfe78933d88bd30b51151daf84ad3b0e171eb47d2257cc86a6235480804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364be8d30222cbe71ba8bcdc29f87bee856cf43b80fb3f85a00740a951ffab31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f013696d65180aa577fea0274782427c986c326a7fd171603543961fb5db96b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAywRR6Q4bIHMc9zriacHuYt_Znd4c4Gdf--jHoDP0gtzuqwlzvMp69j_5LCnzSl4wpJyobSotYKKovbxiunmLMmsZJX2a21wL0PDc3mSZ8Fs0SkyfApYpjkAIKj61VBrSVifiJy8LjEinHKwICxRMv-noiJ9nsQEg0lQ14knnhHMBtc3-nUFRPefZrsM_Z2n1pVSFh-P_WTRUseLRDG7rOFuNf8e-UJ-WyU66z_6RMFJdAZKV3DoXXEjNmp8y8v9OPzX0jkh6rAAOVIwRUOsusL9A-3C2lwuodW2Pgli4NfOsG1LFybWeej6PrdiZItJaLwB3S4WHmIqrdDtk2Br-dtmfHWSQhtUKkTvQL68ZEobS8IKRHOGrG5fnq_QAxM8jv0ZWpk3QmjhRHEFnjOTJNzdtCYSPl8WJYxSCwYf98jQE3FQprLt3lSyBNYoUM1q-UMU9KyfEOEaZ_RDx3vZ5nJRXyXH-OooGy1vB8bcfy6xp9OIcFVftoI2tQsyy48c2efZ9vt9IcR3Dq_Vy8KW6aOq6OBbVjEnPrx8fAMu0zLOTWnaLjC624pvOZMmNRWKRAufBeghZ4bkfvIajnEz9g0u5zHIuoCM9oCMpkyfT8tv2N6F0bBRYMqv25FibY3wg6evYWFvKgVPrVmIKwX5dsx2hwbzY4NtD7i7wOkr8VAWT-atJ4G91CFizovU-9rxFx-WFAUACsUvjKqcpguVyxx0Qcy1Dp6e_xEfVQeAx7nUoKXrUjuZ4_6fawGR942B_sO1E3lv5nNy8Fo0iavQPOrRuuAdy4UUH2YJzimsOApRs1IZ4iqCVagn1awZiM8RP2zL1STrgsFjk_Af3VFfUfWGw7bJ63B-NIn81lacm62DZxEi1UUCsB5C-VyJ3jnqvSB5zqG16NBrP2x4FG_JClceu1SENGdg3HeoGEmFf1vWKNzN8W3TbJwgpTYsXDjefCbNZohLnXPmrkt9qJZqkZFcC-MQOiq6wejlAnz7JBAdjqVVbPjTbj3fB29vf6PpecdSmp6bvVExDCP7uc7W-1IjKDapCEZzsIGeqdunhmf24AQpmDAjgbrew9lagkUjicgaTFZE7O7EjmsUEiPaO1q_KNqodNTuyAsjLkElTBb3yvwkFh93vv7YwHWaNdHiBjNprf5JdoR-58h6HlXT7q2bwnlgxLEipsW3eawX3BnOvev9TdyRHshr8B1z6dMchrd8zmGRr09b-uW1sLTC0RMpBw4Iu8BjdXMsPvKFKCp55vVsW9OnD7eOUK0gxtRlVKA0alN7mxmIDtDdEV9nyOY6Pzthd5jEQeDf7oecan2r9n6Yavjzywk0VKsG64KuehIDSMEhD2g-BpCkq1LQUnQQP3jYwAOXrpAP3eY6XLkCjsT7guodRy3OpOPzAslm_FSp7d3TLrIgoX_Nm4syw4FiyHptJ6m0xNhqrL8R5mfBwWPO0gbOv2iRyQ_2fNC1DqrRvSfFD2vuoT79x0dElMLzBf-l6JO__uEZ0Vyp9UFVRKCR5dpb1-3ZR9Lqk1AQl4ys1FmPFtdkijxvKatAC1mkdcVMmYWD1tGodEFhODmiFtwgwpx2asbsXfgY7A0OUnjLNmlzyzG4Y-NsVFm3YHoh5k82gH7kYC1MVEpS3WHF_BRH6loaNxwV8d_z_T-eHEFFWd9yhHWgUTdTIXvTxRL3nHsNY4LCR56lfMgF_YK66Gok_PF-xNHRW3aokN2aTt_iqNyT-Jn4tzgkjTICZx-KgL_04HyT8XAFqxkbwqG2c3B2H3EZGxn_uZ_xbJu5oMuybFBicpndB-cii6vEL87pMKIWpH1DV6kO2Y7bBtm6vHDSYLtEmydxiYXN1ik0y1N3q_oj9JWtcwUI6epurvlgk6s8KpC95vbSDVhqvqtRA9dih-4AWUd087msrhMW2d",
  "id": "rs_052a393fa4d6833b016ab43031569887d0bac42aea8927a4af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.17,\"left_z\":0.21},\"note\":\"The teddy rose with the gripper and is hanging by its body, so this is a secure pickup. I’m moving much deeper over the left basket, accounting for the part of the teddy that trails behind the grasp point.\"}",
  "call_id": "call_74Srnd8pzdniHdWbd93DGIxY",
  "id": "fc_052a393fa4d6833b016ab430321ad887d081a64ee55f87a85f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_74Srnd8pzdniHdWbd93DGIxY",
  "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]: [-0.4759, 2.2112, 2.1349, -0.8734, -0.5472, -0.4973, 0.1169, -0.0593, 0.8803, 0.6132, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5373 left_y=-0.1695 left_z=0.1853 left_yaw=0.245 left_pitch=-0.2096 left_roll=0.1068 left_gripper=0.1169 right_x=0.2923 right_y=-0.0024 right_z=0.1494 right_yaw=-0.0043 right_pitch=-0.1412 right_roll=0.0432 right_gripper=0.9985\nstate[joint_eff]: [0.4444, -13.4632, 9.0051, 1.5702, -0.4274, 0.4908, 0.6569, -0.1983, -2.0444, 6.9675, 1.5946, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c6a5d295320401494586cb6af1a56517ba3e62c3db4e7f200b8fa4ee8b5a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab727f8a4e36a877c8f15cda231d235ecad256dc180f4098f6543ea47abe7e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efdbadf694741c1cf79b58d31f9eb2d9c6ffd78464a11a98553b7422cc02976e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.789 s
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

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6659, 1.5929, 0.6998, -0.0593, -0.6998, -0.6079, 0.9968, -0.0593, 0.8715, 0.6136, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3439 left_y=-0.1209 left_z=0.0556 left_yaw=0.2177 left_pitch=-0.115 left_roll=0.1123 left_gripper=0.9968 right_x=0.292 right_y=-0.0024 right_z=0.152 right_yaw=-0.0044 right_pitch=-0.1321 right_roll=0.0427 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -6.8991, 7.8154, 1.2625, -0.3101, -0.1685, -0.0073, -0.0889, -1.7983, 7.0085, 1.5946, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6643, 1.4487, 1.0325, -0.5694, -0.6807, -0.625, 0.116, -0.0593, 0.8753, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3469 left_y=-0.1259 left_z=0.1572 left_yaw=0.2197 left_pitch=-0.147 left_roll=0.1148 left_gripper=0.116 right_x=0.2921 right_y=-0.0024 right_z=0.1508 right_yaw=-0.0043 right_pitch=-0.1359 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -8.6359, 8.5949, 0.9402, -0.5983, 0.1197, 0.7253, -0.0752, -1.9897, 6.9949, 1.6044, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 2.2112, 2.1349, -0.8734, -0.5472, -0.4973, 0.1169, -0.0593, 0.8803, 0.6132, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5373 left_y=-0.1695 left_z=0.1853 left_yaw=0.245 left_pitch=-0.2096 left_roll=0.1068 left_gripper=0.1169 right_x=0.2923 right_y=-0.0024 right_z=0.1494 right_yaw=-0.0043 right_pitch=-0.1412 right_roll=0.0432 right_gripper=0.9985\nstate[joint_eff]: [0.4444, -13.4632, 9.0051, 1.5702, -0.4274, 0.4908, 0.6569, -0.1983, -2.0444, 6.9675, 1.5946, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c6a5d295320401494586cb6af1a56517ba3e62c3db4e7f200b8fa4ee8b5a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab727f8a4e36a877c8f15cda231d235ecad256dc180f4098f6543ea47abe7e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efdbadf694741c1cf79b58d31f9eb2d9c6ffd78464a11a98553b7422cc02976e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDA4ru3c8qKFLb8B63twQcnzepKNDAQz43LKjxDFyP26P9bh19QaYH5wwef21jNrwCBihGdATA5VH0G7oUhMzMj-s0mXIZs4FZHkpF0M6855f1-VKqa77gTkGy11LU5bAqjsq7lCkrJtX5aNtKY66gg2G1SJ1IN58GN-OhvKb0MITQxaGPr08aWYmtccXEhOmeTb6CT8fkismF0-gpa_kJl5FZDqIoGXTaxrmigSuNDFs0kkQ3tuilTlEssiPrwGu8gDJEmA7hiBZDaB-KDap2LTduszzshDbw12ezP7Thv-su-53A0HqFiG6-pBE04lPotGXSq6_PGf6PY_4f9bAPLTzJB31IFHoEMtaEamgleK_0BGl-1g42Trc_IdL9SROKjHeucg4Fa2k54h_b2_0hEA9HJras4982MOhGi1e0NeY-Kd0aXd73dl8UxNaZ2lbERcxXy95kUtbNY6-l4yw0FVz1rMy8ECYtXgAHEW1zd0MQZM4BeWsjwFTh-qUUm2dIUtFLfcLpXREOUqUNbhRaBlld4R8lnPmVR29tTT6pO8-xbec4ef26MqEOdz3lGgdLT403pdsPNiVl11B_xZuXK9l1MPR1K_CIXOkV_lrgj0Hc-qEfAwGFvcUgZ_rvv-uwYwFSQFK_So2_J57HjUo9b-34hbOa6WRbNHovkIuTmtZcbkApx9Drj5JkAQJVFwGEnm4VdwG6xneVZHU2vgjBWC-Kfg8PDO-d2tlWXwc2L1ZVin96h25AstRV5eLpn46nJmHPz3C5kRegQ-JF2IkN8ZQSkOavaH1ogl-COzzjv4ORHNvA4vSVBlYT8QScCmEEBAzCoqrthJvBGaIjbMvLFMzbblnhxdiYw5592DY-XKnmHYLzKFG1IESBQUKxHi7hBQ7vh_hfhYrxTYYkTOHey0ieX3mcZSwao9cuHPjOQjt7oP1buU0tkGbiAyKwnz0-Ob3N8sEjSIHyR8OFm0J6SHakOsBFo0n_CI2oNpfs0jUrpFE7xfY_lcKhNkOGPCY2EXHMVeHcc8TW342EnDvul1Zf7ALXLlGIxyES4RhbqTPa8Z5dg5YNs7yzSOM3-sjzXeCQT5sCqMrgi-yFaqQqfyRN9zvxPVzwY7tCTO2iVY7j83EG7fNxsgMANWEQQEcA-8_W4IucmJbz48p-LaGV-UGEhEAkcpTMuzEfX5a4LbnKrkr5KPyafI-gmlafyVfGBKV_OqsIG0bGgqz0vF6D_RSpZuxzKaRxBQB5nuSfPOe_CCRcAhIZXCNNkMGE3keApSWf40DZ4DtzuKmovAXezt4R8kasiw008hOQQoSAKihuzlRSabxXY03BGn6TTgdIPAch0JhcsNhIYRqRBbEYCw2WiPOZN3zOuHj5RwWFk0RwF4XoI1iNVQ9yFJzzZtTL6sDlzfzBiLcVzB5Vn-74JqsR-VDyJyljQi_mcoZyAwMLwrHSVieeR3TyNZZRVmNEJLC8b9TxGf0ebA6lntdUQczCpJBy1Ja7aY8LDqPGGvmeGnBRYVNKBVaM6U_ucKNMYP6mhk4mUJeFv1FmdJsp_mxAYF8gqisTETRVTsSSHFtPVPanI1ceV6Z0iT1qYtqaiOD4liRwbD5ESPl4rxSQHtfGIcRUHPPCq9smGF6CwNvdfVDXPRMUxecq0kogI1S8dgGTH8BJQ3GUJpTGnBY1to3fvTHTn78-Y3LgVpDQwlfwkiUyQzduZnR_Qmm7wwi40uVi-wFYBlOdJurdfk-p-MY9i6xdfVHtxtFith9hyewZS8jjI5bJQopBbwu1Vs3gXXstfVOSEb-OpNByi79SWqcOHMLR44BJ7XGtW9p6s1hzscmEbB0jTp4q53M38npp5VHE0IwJTrbtAmyMDSybTqahfp4ymBaWRhezcz26hykZo2QB0HH9fZ5quItIwx0xmoKYeeo41ZK51mw7WZkVbfOwQGqTClinA8wenqW7TT5lp-7O8dKD6uMTFNbavuGkTEGO3ad4BNSYCyCbSF8_BVmZ4zbUe7g4svgIPsQaohsYF-bDW-Jb8Reza3qIu9R4grUz-n-6zTL1BX-DgI_Jfavw==",
  "id": "rs_052a393fa4d6833b016ab43035a9b087d09b14b0c84c8dcb0f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_z\":0.105},\"note\":\"The entire hanging teddy now projects inside the left basket’s rim in the overhead view. I’m lowering as far as the extended arm can safely reach before releasing it.\"}",
  "call_id": "call_rxZP35xOaRrwqLrtgZT3dsIt",
  "id": "fc_052a393fa4d6833b016ab430372aa087d08f33e52847a1fbab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rxZP35xOaRrwqLrtgZT3dsIt",
  "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]: [-0.4927, 2.1902, 1.7588, -0.6052, -0.5388, -0.5091, 0.1183, -0.0593, 0.8829, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5149 left_y=-0.1694 left_z=0.0883 left_yaw=0.2432 left_pitch=-0.2783 left_roll=0.1526 left_gripper=0.1183 right_x=0.2924 right_y=-0.0024 right_z=0.1488 right_yaw=-0.0043 right_pitch=-0.1435 right_roll=0.0433 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -14.3658, 7.0769, 1.4139, -0.486, -0.0415, 0.6374, -0.0342, -1.6752, 6.9265, 1.6288, -0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c230b80c7f2444988f4dc572d56e641fded5751c8696c1f48020812cf86640cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c4a14a320e1e1983450d75b8562282c24692f179dd736e40e5b75f04e8f7a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2486e4ed67b71577bc87846803f2a87997d2d1dc1913746e447248beac9041a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 8.833 s
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

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6651, 1.6154, 0.7048, -0.0586, -0.7033, -0.6136, 0.1145, -0.0593, 0.8715, 0.6136, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3444 left_y=-0.1204 left_z=0.0503 left_yaw=0.2253 left_pitch=-0.123 left_roll=0.1227 left_gripper=0.1145 right_x=0.292 right_y=-0.0023 right_z=0.1521 right_yaw=-0.004 right_pitch=-0.1317 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -8.4034, 5.2034, 1.199, -0.315, 0.022, 0.9548, -0.1299, -1.4427, 6.9538, 1.6288, -0.0659, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 2.2112, 2.1349, -0.8734, -0.5472, -0.4973, 0.1169, -0.0593, 0.8803, 0.6132, -0.437, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5373 left_y=-0.1695 left_z=0.1853 left_yaw=0.245 left_pitch=-0.2096 left_roll=0.1068 left_gripper=0.1169 right_x=0.2923 right_y=-0.0024 right_z=0.1494 right_yaw=-0.0043 right_pitch=-0.1412 right_roll=0.0432 right_gripper=0.9985\nstate[joint_eff]: [0.4444, -13.4632, 9.0051, 1.5702, -0.4274, 0.4908, 0.6569, -0.1983, -2.0444, 6.9675, 1.5946, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4927, 2.1902, 1.7588, -0.6052, -0.5388, -0.5091, 0.1183, -0.0593, 0.8829, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5149 left_y=-0.1694 left_z=0.0883 left_yaw=0.2432 left_pitch=-0.2783 left_roll=0.1526 left_gripper=0.1183 right_x=0.2924 right_y=-0.0024 right_z=0.1488 right_yaw=-0.0043 right_pitch=-0.1435 right_roll=0.0433 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -14.3658, 7.0769, 1.4139, -0.486, -0.0415, 0.6374, -0.0342, -1.6752, 6.9265, 1.6288, -0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c230b80c7f2444988f4dc572d56e641fded5751c8696c1f48020812cf86640cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c4a14a320e1e1983450d75b8562282c24692f179dd736e40e5b75f04e8f7a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2486e4ed67b71577bc87846803f2a87997d2d1dc1913746e447248beac9041a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDA7PYL82m9F-W8IABlEmhna6BEXAL33zKqsvrscbZ_e-nu3gvTQ7RRUpib1zi-I5yGelfQspj2k9Cm0dEpkYscLkA4kiBxU-8816-qHgmoBKKGwIBmlZpm-yfVsQ0oagrosEV9J-vS_90nNsg9sRTmSrr8A7W-qG-C5luy0WItvTRa8y3YkQe-2JzqPIMd49KHDUkefeyi4IHSwFPTj5GVcZ2Jm90hMR3pOUcPxbF0nEZldm_SqHB_d21YrnIcOT_Z29hEYgdKvZ1fWNny7Q2kP2BTt-9oKHi5PDYoAr7EioKxch2GKCmtFCLNHN8n1-fMpkn_MP-OPfN8Wgo4f3ZbAQPuXvSuKSVYPyCSvZWojSVc5aPu65LAw6Sj0Z1uLcO5DqKNHigNUtz6y4fnop524D_B9kZt2GJnX_GLH0YQc-VIMBkIGTd0P8IsE9oBCa5nm0Gbg38SMIvIgFQ5Pimac0Nf3G_RF5mww0lnEfaRa-irAW761fOt2DxciUwt_0i8LpqY3Z_zcq0JNh3Eyq7LwMalkDEfmJndBQPR4nxKv-vZ0AcKO0JvDk6K-__QwB_7DLsbzCm_M6QMkJpaaEDGAh6kAH6whqb07zW-DfWaOz8NFs8czfJolvpwnvqGUU4M7JiUf_I3YkAjnbxS1Vp2Dz2uouQC2kvF-ZdYZ4DXtiFPOcg37ErcO4hNTfVKAvWPxjtDMkbXvW-0MP-g9j_Hei2wtAvaMIR34SPcsGTzALQNPA6wELpRtwSIXQUQARgfEW_mTe4r6XP1szTqtyBec0xBOV06bL2aYkxEIDFnRmSKxkWEp7xq_IbhyOWuYkFPhVuyHFturrGx-evmj0hbwgmNwhZRTqAteA9BVZdZacaHDTFqMa7B44BPAh_L6A086zienRXEhZgKuRjznAdW1axDiSKcAu9mk4WF4kTJ14StovkXkoAd8dgKZhaNplS4gV1qRoxeNiOVUqOBRl1PvMkja6RJ2VPKHr43M2QVmz4npvmxnA0mwD7Wmbl9p5sAoAjsqUYjH5-M9VUkSW1sjt_zlrDnxEjq-fZstigFVcmrw_RRBoJnEwkPMbVrrEjLyx-EJud5u03k12YUjPEWyrJW5KSMdhjnbJhCmGNuireCwb0Mq5k7dg-qmamKsthjgG_Vv30b0FA55B7pDPFDHnfFHXN3ZyiQRxylsyQFkKIvOedtGNMmzhrvP6w6D_RA2NyOxm0IC9OCDKirTB0DNf9LiQfvp3Ij5npP9b8CXIWHXZOkoCt39Hb-zgRH43_mDHfDZOqWtKZxMWSCodTfusb-pVJhvvx0cEkGX-xo1v66Mz7b_z-iy5toA0_XZmwPmv3AfldTx3weIlE_ZJTdcUvd7FBEIBkAMQyW2ujvnBBjTZMBRA1pYkA9_XILt_UC-E6ZkCv9ZTH7dvTHiauyrMQ6sZ2QqIpk6SZdzYzp_pEHkoRr0jsSPBBgpiY9O9GoEXeTC3Y58VPRsk6TBbQJ2e-loBj9dTVisZ0NWPpmnlq6x_olQpMD7BPNgP5yHwy1OPGBRnzdTcnUy_ZnsIqEGRw==",
  "id": "rs_052a393fa4d6833b016ab4303a3c5087d09d2f192027e6d4eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The basket has shifted and tilted as the arm lowered, indicating contact with its rim. I’m releasing the teddy immediately rather than pressing farther into the basket.\"}",
  "call_id": "call_pEZupB8bTZwMgDtJ0JlBDW7T",
  "id": "fc_052a393fa4d6833b016ab4303af96087d08c04120a437b1605",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pEZupB8bTZwMgDtJ0JlBDW7T",
  "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]: [-0.4904, 2.1902, 1.739, -0.6086, -0.5377, -0.524, 0.9955, -0.0593, 0.8829, 0.6132, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5104 left_y=-0.1659 left_z=0.0807 left_yaw=0.2575 left_pitch=-0.2948 left_roll=0.158 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.1488 right_yaw=-0.004 right_pitch=-0.1435 right_roll=0.0435 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -12.5333, 7.9932, 1.1404, -0.2662, 0.1001, -0.1929, -0.1026, -1.7573, 6.9538, 1.5849, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac21ada9dfb189c66f613eee3a9ab0cbf9c3e3afc707f82ac037900793c18f42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a109433c921815e98994c80bfc2c0fabbf0aaedcf3c0006a2cd4350dbdb418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6625b0be931da802f6a044e4eb9c99ee2b01c8012c51149b6f4b9a3630355660",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 8.256 s
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

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6643, 1.4487, 1.0325, -0.5694, -0.6807, -0.625, 0.116, -0.0593, 0.8753, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3469 left_y=-0.1259 left_z=0.1572 left_yaw=0.2197 left_pitch=-0.147 left_roll=0.1148 left_gripper=0.116 right_x=0.2921 right_y=-0.0024 right_z=0.1508 right_yaw=-0.0043 right_pitch=-0.1359 right_roll=0.0429 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -8.6359, 8.5949, 0.9402, -0.5983, 0.1197, 0.7253, -0.0752, -1.9897, 6.9949, 1.6044, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4927, 2.1902, 1.7588, -0.6052, -0.5388, -0.5091, 0.1183, -0.0593, 0.8829, 0.6132, -0.4366, -0.0643, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5149 left_y=-0.1694 left_z=0.0883 left_yaw=0.2432 left_pitch=-0.2783 left_roll=0.1526 left_gripper=0.1183 right_x=0.2924 right_y=-0.0024 right_z=0.1488 right_yaw=-0.0043 right_pitch=-0.1435 right_roll=0.0433 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -14.3658, 7.0769, 1.4139, -0.486, -0.0415, 0.6374, -0.0342, -1.6752, 6.9265, 1.6288, -0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4904, 2.1902, 1.739, -0.6086, -0.5377, -0.524, 0.9955, -0.0593, 0.8829, 0.6132, -0.4366, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.5104 left_y=-0.1659 left_z=0.0807 left_yaw=0.2575 left_pitch=-0.2948 left_roll=0.158 left_gripper=0.9955 right_x=0.2924 right_y=-0.0023 right_z=0.1488 right_yaw=-0.004 right_pitch=-0.1435 right_roll=0.0435 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -12.5333, 7.9932, 1.1404, -0.2662, 0.1001, -0.1929, -0.1026, -1.7573, 6.9538, 1.5849, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac21ada9dfb189c66f613eee3a9ab0cbf9c3e3afc707f82ac037900793c18f42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a109433c921815e98994c80bfc2c0fabbf0aaedcf3c0006a2cd4350dbdb418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6625b0be931da802f6a044e4eb9c99ee2b01c8012c51149b6f4b9a3630355660",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDBFqWhunWQzITBmbKOjck3lHkro_1l0o5uC0sLFLvzyJ70VR54SfryBJJd2VhCdPRDNWS9uiTV4J90UgMYj2fAAA4YPfmLkupfMOYAT8Jcg_Z_WXcu6U9ex5BBo8-ow1_eh8Sr4KzUvAI8UFNfcrIOvsvbUOQzuEzxlQWW8aUqbyvVHuDtZsP4oOjOHsWwtnwoKXXEzw1bAiyiajpc3dpmKNty-K6n7wnWrKdgPiXpcTsnvq7U0aAwv7kMA5hG1htxp6ynRuSZAhAGHpLIQGUDXfsFmd_PpFcVMdIUc1Hk6NDGBF_AZhzpIglu31fMSnVQYfNolVHewyd_sCZs_WMkewawLRPhB6Fe-rhMR8VH5EzuRcv3hUHV7zJNXH3yryXGX-WwZvlsPWJRUn-6sd8xeGTCsJhygND0E5ao-hTv3X3l6bVh9jwX0D2ee9afaoF-KI4SYpZzEp2murjXnKlHYr93lgkTzIMKbcWHXBhVBEvqFzQkcX4l-Gb_vGmSv_WKQtXWa_AWYXe_Egs9SXmyCrUVWPBLfdIHhzNqbw71_nRA8RauMtcNuha8RuqjfYbZVzZXbfYFzhC03v_c-8LC9CPHdY1ec0MROmMj0IUHL5VhggDFi-Pnik8Z7yT43xbDLXT-oplCYx6CaJGP6Hv52WCdYFrJuwMJzmYx-6YFHb8UfHWD10hVk_duPBJWkib__huR54HhjnZ-Kw8_Tth3ubpHSF_lLuARnQkw5gmuShLBE2pQuq9AcOhylaloIEEb3iUBTQ7YGoxSvbqOtgyxQ5Hf2LZrUKjmWXVgAcsTwIr0-xbJ_BeppUiQnzf-1Do9N-XlPk6CD-yovdsRcDDI-G6CjH3PepMIaM_0rmUSOt-TiaOfiFWZADldpRD5rllNRTpFk_r9OAmXwORrzX1asP8Xp--EUArOEe7RoQ2nftNG1QTvaI4-ixv4GPYc0tQdf67N3SegNPGyfbgjUuVxpOef_ZNFcW_AiJsmVZGZf3YKQ-Z7OSvY3JOYAvVYG0gPhVrONear23PBcDBATjm9cPTThzuOLrecFG8bhDz148oVE3VU9Z40pOSDhUVG4JFu_PWCgsJ4yqfiHMB9qeriuhHlMF8xzP7z0kLLRi1lPupbnmGNgNnsL5AJemv6V3XIdOyH_VoB2y8-2tVIXkRh6pC0HjPYrb514nwSW-2NQEO6GbaZqVbMG88LiOO07JEkhhx2gvxvIT_nmkxUR1iu-9sAohiqnmF7PkI82_7z6LCReojD-F3669GV--6tC-qXO69onh3GzeJ8942POtFX1oK7xgmiqtZrdVJVaw3IDO1JJuOs_hQG4GhuUF8n8PO5dIqxz0ykQap58EjGl-YAfb8dsfbE0Dfm2bJzBEEv5TTizvZhPlUAa7ehr6vjL2z0uOxvMwWVFPRyQTDjVoeON05pp7Zu9zJrqlQ-bo-exTur9ZqUA1HeNqryeBSYVkX3cRCQp3BFL9JlIOqZnu1SkiPOqsNJ6wq43J8s5lcpIo_EeybvGu4VYLXysxxVDjw-BvjCO7vXDKAzzZ222xlwr0Hi41k8qlDOFye-Bf4KscuTUoE85LJL3W8F-lnO1-yXbqDsdlTltvFpAHFLKuX_zUxEWewREj2NvRnccAxqYbd8yZgXT3o2TXOr8OpUIfxitmqRHEEH0wZoORDOoSm0ytsfwXefKLFxA3GAHF0GjMUF7K_638vyEQk_QS4d28PjJjVkySV4eGeLjtHsNrvrx5b1LxEwo-2dj437GbJ0rCQ2CKM6cI9ura5A3ukuHh01n8J5gUcwIrI4e8Q4FTp0dg2BKEl1uOfCd7A3ReFx4UqpWNQ5IN5nNMNmPXVj7FkTkkeRnVlW9LWIhsi1rcVtVQd93ig0yDHhk4bXPmCKvUyS-m8WdHeSi-Iup9qY54_VF",
  "id": "rs_052a393fa4d6833b016ab43042f50487d0bd851a80fa639e45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.19},\"note\":\"The plush was released, but the left basket is visibly tilted and the figure appears outside its front edge. I’m backing the arm away from the basket to prevent further disturbance and inspect the final positions.\"}",
  "call_id": "call_xgPMj5NaAzffnSYUMFUyRfu2",
  "id": "fc_052a393fa4d6833b016ab43044813087d081f345b7cf82107f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xgPMj5NaAzffnSYUMFUyRfu2",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2573, 1.1538, 1.0107, -0.7837, -0.4244, -0.3283, 0.9968, -0.0593, 0.8879, 0.6132, -0.4358, -0.0647, -0.0162, 0.9985]\nstate[eef_state]: left_x=0.3123 left_y=-0.0033 left_z=0.1932 left_yaw=0.2764 left_pitch=-0.2611 left_roll=0.132 left_gripper=0.9968 right_x=0.2927 right_y=-0.0024 right_z=0.1476 right_yaw=-0.0039 right_pitch=-0.1477 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -3.6855, 6.0923, 1.2821, -0.1783, 0.0562, 0.1148, -0.1846, -1.7436, 6.9402, 1.6777, -0.0952, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf7082b5a047ebe1ca1262c03b7bf95c91eb503d08fae12e8c2db87900d46fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c74389a1d6e99b652120688bf7234ef7f90cf49a9fe9bd36a3e71b4825415d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eecdf41bf7eaf27bbed6fe75d6c939a0f5923ed20cb00f993ce0a828e3cb13d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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