adhoc

completed
2026-09-23T19:23:26.442100+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
248.5 s
total steps
384
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two turquoise baskets at the far side and a cluster of light and brown plush objects near the middle. I’m moving the left gripper over the brown object first to separate the two types.
move_to
left_x0.3000left_y-0.1700left_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]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0128, -0.0254, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1817 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4991, -1.6342, 9.2513, 1.7949, -0.0366, 0.1197, -0.0562, -0.8684, -1.3607, 10.0718, 1.8584, -0.0855, 0.0757, -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":0.3,"left_y":-0.17,"left_z":0.15},"note":"I see two turquoise baskets at the far side and a cluster of light and brown plush objects near the middle. I’m moving the left gripper over the brown object first to separate the two types."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe left wrist view now shows a brown plush centered just beneath the open jaws, with the light plushes off to its right. I’m lowering the gripper onto the brown plush before closing.
move_to
left_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]: [-0.8574, 1.2346, 0.6949, -0.2665, -0.6792, -0.5694, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2945 left_y=-0.1652 left_z=0.1371 left_yaw=-0.0156 left_pitch=-0.0357 left_roll=0.0217 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.2256, -4.2598, 8.7453, 1.5653, -0.5348, -0.0366, -0.0171, -0.3897, -0.9504, 7.2821, 1.7314, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The left wrist view now shows a brown plush centered just beneath the open jaws, with the light plushes off to its right. I’m lowering the gripper onto the brown plush before closing."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe brown plush is now under the lowered left jaws, while the nearby pale object remains to the right. I’m closing on the brown plush and will check whether it actually lifts.
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]: [-0.8589, 1.4906, 0.4477, 0.2024, -0.6769, -0.5766, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2908 left_y=-0.1621 left_z=0.0391 left_yaw=-0.0137 left_pitch=-0.0596 left_roll=0.0403 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [0.0615, -5.4496, 5.2718, 1.5458, -0.3053, 0.0611, -0.0122, -0.2803, -1.0325, 7.1863, 1.746, -0.0317, -0.0659, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush is now under the lowered left jaws, while the nearby pale object remains to the right. I’m closing on the brown plush and will check whether it actually lifts."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe left gripper stopped partway closed around material about 3.6 cm thick, which suggests a grasp. I’m lifting it clear of the other toys to verify that the brown object comes along.
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]: [-0.8589, 1.4906, 0.4477, 0.2043, -0.6777, -0.577, 0.3784, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.291 left_y=-0.1623 left_z=0.0394 left_yaw=-0.013 left_pitch=-0.0579 left_roll=0.039 left_gripper=0.3784 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.0342, -4.9162, 5.2581, 1.3309, -0.3394, -0.0269, 0.6032, -0.253, -0.9094, 7.0632, 1.7314, -0.0269, -0.0757, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The left gripper stopped partway closed around material about 3.6 cm thick, which suggests a grasp. I’m lifting it clear of the other toys to verify that the brown object comes along."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe gripper remains partly closed after lifting, but the object is partly hidden by the arm in the overhead view. I’m carrying the grasp toward the left basket to keep this first, brown-looking type separate.
move_to
left_x0.4400left_y-0.1700left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8589, 1.2137, 0.8379, -0.4774, -0.6735, -0.5846, 0.3776, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2916 left_y=-0.1638 left_z=0.1686 left_yaw=-0.0112 left_pitch=-0.0697 left_roll=0.0416 left_gripper=0.3776 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.0615, -5.2855, 8.5538, 1.2527, -0.3541, 0.0464, -0.0952, -0.3487, -1.265, 7.2547, 1.7216, -0.0269, -0.0806, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.17,"left_z":0.22},"note":"The gripper remains partly closed after lifting, but the object is partly hidden by the arm in the overhead view. I’m carrying the grasp toward the left basket to keep this first, brown-looking type separate."})
tool
executing move_to over 12 steps (1.2s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe left jaws are centered over the empty left basket, and the basket floor is visible between them. I’m lowering the grasp into the basket before releasing it.
move_to
left_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]: [-0.5343, 1.644, 1.343, -0.4835, -0.4477, -0.3546, 0.3776, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.431 left_y=-0.162 left_z=0.1981 left_yaw=0.0185 left_pitch=-0.1309 left_roll=0.0531 left_gripper=0.3776 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0095 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.5402, -8.4171, 9.6752, 1.8535, -0.2027, 0.3199, -0.0171, -0.2256, -1.6068, 7.1316, 1.7118, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The left jaws are centered over the empty left basket, and the basket floor is visible between them. I’m lowering the grasp into the basket before releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe left gripper is down inside the left basket. I’m opening it to deposit the first grasp, then I’ll clear the view and check exactly what was placed.
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]: [-0.5331, 1.7077, 1.0977, -0.2016, -0.4473, -0.3626, 0.3776, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4275 left_y=-0.1594 left_z=0.1161 left_yaw=0.0257 left_pitch=-0.1538 left_roll=0.0611 left_gripper=0.3776 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.1573, -8.2393, 6.3795, 1.6923, -0.149, 0.0171, -0.0122, -0.1436, -1.4291, 7.0359, 1.7216, -0.0366, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left gripper is down inside the left basket. I’m opening it to deposit the first grasp, then I’ll clear the view and check exactly what was placed."})
tool
executing move_to over 7 steps (0.7s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe basket floor still looks empty from the wrist camera, so that first grasp may have slipped or caught something other than the toy. I’m withdrawing the left arm to get an unobstructed overhead view before trying again.
move_to
left_x0.2500left_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]: [-0.5331, 1.7077, 1.0977, -0.197, -0.4477, -0.3672, 0.9954, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4281 left_y=-0.1597 left_z=0.1169 left_yaw=0.0281 left_pitch=-0.1496 left_roll=0.0554 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.5128, 6.5299, 1.4188, -0.2369, -0.0073, -0.105, -0.2256, -1.1282, 7.0085, 1.707, -0.0415, -0.0513, -0.0171] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.0,"left_z":0.19},"note":"The basket floor still looks empty from the wrist camera, so that first grasp may have slipped or caught something other than the toy. I’m withdrawing the left arm to get an unobstructed overhead view before trying again."})
tool
executing move_to over 15 steps (1.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteWith the arm out of the way, both baskets are empty and four plush figures remain on the table. The light gray figure is closest to the left arm, so I’m positioning over its torso for a more reliable grasp.
move_to
left_x0.2900left_y-0.0350left_z0.1100
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]: [-0.1162, 0.7166, 0.7357, -0.72, -0.173, -0.0956, 0.9967, -0.0147, 0.8097, 0.6075, -0.3859, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2536 left_y=0.0046 left_z=0.1928 left_yaw=0.0677 left_pitch=-0.1288 left_roll=0.0496 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.176 right_yaw=0.0004 right_pitch=-0.0183 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [0.0889, -0.1436, 6.9812, 1.6239, 0.1392, 0.1294, 0.1245, -0.1846, -1.265, 7.0769, 1.7363, -0.0611, -0.0269, -0.0171] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.035,"left_z":0.11},"note":"With the arm out of the way, both baskets are empty and four plush figures remain on the table. The light gray figure is closest to the left arm, so I’m positioning over its torso for a more reliable grasp."})
tool
executing move_to over 6 steps (0.6s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe gray figure’s torso sits just left of the jaw column in the wrist view. I’m shifting the jaws a few centimeters toward it and lowering to grip the thicker torso rather than a loose limb.
move_to
left_x0.3050left_y0.0050left_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]: [-0.3363, 0.9482, 0.4755, -0.3042, -0.3195, -0.2409, 0.9968, -0.0147, 0.812, 0.6071, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.2849 left_y=-0.037 left_z=0.1018 left_yaw=0.0516 left_pitch=-0.1689 left_roll=0.0554 left_gripper=0.9968 right_x=0.2956 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0202 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.0752, -2.6598, 6.9949, 1.6337, -0.359, -0.0708, -0.0024, -0.2256, -1.5111, 7.2137, 1.746, -0.0366, -0.0366, -0.0171] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":0.005,"left_z":0.045},"note":"The gray figure’s torso sits just left of the jaw column in the wrist view. I’m shifting the jaws a few centimeters toward it and lowering to grip the thicker torso rather than a loose limb."})
tool
executing move_to over 4 steps (0.4s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe gray figure now fills the space between the left jaws near its torso, and the descent stopped slightly above the target height. I’m closing on it to test this grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0677, 1.1561, 0.329, 0.1444, -0.1528, -0.0521, 0.9968, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.315 left_y=0.0092 left_z=0.0597 left_yaw=0.0754 left_pitch=-0.1144 left_roll=0.0678 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.0068, -2.4957, 4.6838, 1.3553, 0.1636, -0.0024, -0.0073, -0.1573, -1.6205, 7.0632, 1.7705, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray figure now fills the space between the left jaws near its torso, and the descent stopped slightly above the target height. I’m closing on it to test this grasp."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe jaws closed nearly all the way, so that attempt missed the gray figure. In the wrist view most of its torso sits left of the jaw gap; I’m reopening and moving toward that side while lowering closer to table height.
move_to
left_gripper1.0000left_x0.3050left_y0.0400left_z0.0100
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]: [-0.0677, 1.1557, 0.329, 0.1635, -0.1638, -0.0525, 0.0101, -0.0147, 0.8158, 0.6067, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.3178 left_y=0.0109 left_z=0.0637 left_yaw=0.0847 left_pitch=-0.0941 left_roll=0.0714 left_gripper=0.0101 right_x=0.2958 right_y=0.0014 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.1846, -3.0701, 6.1607, 1.453, 0.0024, -0.0073, 0.8816, -0.2393, -1.2239, 7.0085, 1.7411, -0.0611, -0.0757, -0.0171] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.305,"left_y":0.04,"left_z":0.01},"note":"The jaws closed nearly all the way, so that attempt missed the gray figure. In the wrist view most of its torso sits left of the jaw gap; I’m reopening and moving toward that side while lowering closer to table height."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe low descent met resistance around 5 cm above the table, and the gray torso now lies between the jaws. I’m backing off the downward pressure while closing around it.
move_to
left_gripper0.0000left_z0.0500
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]: [0.0914, 1.3746, 0.1909, 0.7021, -0.0441, 0.0719, 0.9988, -0.0143, 0.8185, 0.6067, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.3328 left_y=0.0419 left_z=0.0527 left_yaw=0.0758 left_pitch=0.0762 left_roll=0.0991 left_gripper=0.9988 right_x=0.296 right_y=0.0015 right_z=0.1734 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.7043, -1.6342, 2.4137, 0.7057, 0.0659, -0.2466, -0.1392, -0.0615, -1.6342, 7.2957, 1.7314, -0.0513, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":0.05},"note":"The low descent met resistance around 5 cm above the table, and the gray torso now lies between the jaws. I’m backing off the downward pressure while closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe gray figure is still left of the jaws even with the left arm near its outer workspace limit, and this second close was empty. I’m parking that arm and switching to the right arm for the pale figures in the center, which have a clearer approach.
move_to
left_x0.2500left_y0.0000left_z0.1900left_gripper1.0000right_x0.3200right_y0.2800right_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]: [0.0895, 1.3766, 0.2016, 0.7586, -0.0509, 0.0742, 0.011, -0.0147, 0.8192, 0.6067, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.342 left_y=0.0433 left_z=0.0686 left_yaw=0.0784 left_pitch=0.1412 left_roll=0.105 left_gripper=0.011 right_x=0.296 right_y=0.0014 right_z=0.1732 right_yaw=0.0004 right_pitch=-0.0279 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.0752, -2.4684, 3.7538, 1.536, 0.0464, -0.0708, 0.7692, -0.2256, -1.4291, 7.0906, 1.7314, -0.022, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0,"left_z":0.19,"left_gripper":1,"right_x":0.32,"right_y":0.28,"right_z":0.15},"note":"The gray figure is still left of the jaws even with the left arm near its outer workspace limit, and this second close was empty. I’m parking that arm and switching to the right arm for the pale figures in the center, which have a clearer approach."})
tool
executing move_to over 24 steps (2.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe right wrist camera shows a pale plush figure just left of the open jaws. I’m shifting the right gripper toward its torso and descending to about the toy’s mid-height.
move_to
right_x0.3100right_y0.3500right_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2829, 0.4797, 0.4351, -0.4084, -0.3634, -0.078, 0.9981, 0.9916, 1.6497, 1.0958, -0.3691, 0.7341, 0.6682, 0.9997] state[eef_state]: left_x=0.2537 left_y=-0.0046 left_z=0.1801 left_yaw=0.0524 left_pitch=0.1358 left_roll=0.1015 left_gripper=0.9981 right_x=0.3162 right_y=0.2738 right_z=0.137 right_yaw=0.0314 right_pitch=-0.0642 right_roll=-0.0319 right_gripper=0.9997 state[joint_eff]: [-0.1846, 0.4308, 9.6752, 1.6874, -0.2808, 0.0122, -0.0269, 0.5402, -7.9385, 8.5538, 1.1209, 0.7057, 0.1294, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.35,"right_z":0.085},"note":"The right wrist camera shows a pale plush figure just left of the open jaws. I’m shifting the right gripper toward its torso and descending to about the toy’s mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe pale plush now sits centrally between the right jaws, with its torso beneath the fingertips. I’m lowering a little further so the jaws close around the toy rather than above its fur.
move_to
right_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]: [-0.2848, 0.4831, 0.4431, -0.4252, -0.374, -0.0872, 0.9982, 1.1034, 1.9362, 1.264, -0.3229, 0.7822, 0.7803, 0.9997] state[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1798 left_yaw=0.0638 left_pitch=0.1264 left_roll=0.1017 left_gripper=0.9982 right_x=0.3106 right_y=0.3471 right_z=0.0892 right_yaw=0.0495 right_pitch=-0.0678 right_roll=-0.0236 right_gripper=0.9997 state[joint_eff]: [0.1162, 0.4444, 6.3111, 1.9365, -0.0659, 0.0171, -0.0024, 0.4034, -8.9641, 7.4872, 0.8181, 0.5592, 0.0757, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The pale plush now sits centrally between the right jaws, with its torso beneath the fingertips. I’m lowering a little further so the jaws close around the toy rather than above its fur."})
tool
executing move_to over 3 steps (0.3s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe right gripper stopped descending against the pale figure at roughly 7 cm, indicating contact rather than free-space sag. I’m closing on its torso and will verify the grip by lifting.
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]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3744, -0.0875, 0.9982, 1.1107, 1.9755, 1.2163, -0.1856, 0.783, 0.7895, 0.9997] state[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1794 left_yaw=0.0643 left_pitch=0.1251 left_roll=0.1021 left_gripper=0.9982 right_x=0.3116 right_y=0.3561 right_z=0.0715 right_yaw=0.0538 right_pitch=-0.0424 right_roll=0.0274 right_gripper=0.9997 state[joint_eff]: [-0.1573, 0.5812, 7.1316, 1.7656, -0.149, -0.0562, -0.0122, -0.5949, -7.2, 4.0957, 0.6325, 0.2613, -0.1343, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper stopped descending against the pale figure at roughly 7 cm, indicating contact rather than free-space sag. I’m closing on its torso and will verify the grip by lifting."})
tool
executing move_to over 10 steps (1.0s)
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 jaws settled around about 2 cm of material, consistent with catching the pale toy. I’m lifting it to see whether the plush moves with the gripper before transporting it.
move_to
right_z0.2000
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]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3748, -0.0902, 0.9982, 1.1107, 1.9804, 1.211, -0.1444, 0.7776, 0.7898, 0.2109] state[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1795 left_yaw=0.066 left_pitch=0.1253 left_roll=0.0998 left_gripper=0.9982 right_x=0.3132 right_y=0.361 right_z=0.0718 right_yaw=0.0579 right_pitch=-0.0309 right_roll=0.0567 right_gripper=0.2109 state[joint_eff]: [-0.0889, 0.5812, 6.9128, 1.7998, -0.1685, -0.0024, -0.0073, -0.2256, -10.7556, 6.3521, 0.8083, 0.2955, -0.0415, 0.7985] 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_z":0.2},"note":"The right jaws settled around about 2 cm of material, consistent with catching the pale toy. I’m lifting it to see whether the plush moves with the gripper before transporting it."})
tool
executing move_to over 9 steps (0.9s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe right gripper is still partly closed after the lift, though the arm obscures the overhead check and another pale figure is visible nearby. I’m moving the grasp over the right basket so this type stays separate from the left side.
move_to
right_x0.4400right_y0.1800right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4259, -0.3744, -0.0906, 0.9982, 1.1107, 1.8854, 1.5082, -0.5674, 0.7555, 0.7856, 0.2143] state[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1794 left_yaw=0.0659 left_pitch=0.1249 left_roll=0.0994 left_gripper=0.9982 right_x=0.3131 right_y=0.3671 right_z=0.1677 right_yaw=0.0725 right_pitch=-0.0616 right_roll=0.0354 right_gripper=0.2143 state[joint_eff]: [-0.0068, 0.5128, 6.9265, 1.7998, -0.1392, -0.0464, -0.0122, -0.2256, -13.0393, 9.1145, 1.1111, 0.5836, 0.0073, 0.3443] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.18,"right_z":0.23},"note":"The right gripper is still partly closed after the lift, though the arm obscures the overhead check and another pale figure is visible nearby. I’m moving the grasp over the right basket so this type stays separate from the left side."})
tool
executing move_to over 16 steps (1.6s)
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 noteThe pale plush moved with the right gripper and is hanging in front of the right basket. Its body is slightly left of the basket interior, so I’m centering it over the opening and lowering it for release.
move_to
right_x0.4500right_y0.1300right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4267, -0.3748, -0.0906, 0.9982, 0.5182, 1.6547, 1.3441, -0.4591, 0.3393, 0.3046, 0.2174] state[eef_state]: left_x=0.2525 left_y=-0.0028 left_z=0.1792 left_yaw=0.0662 left_pitch=0.1242 left_roll=0.0998 left_gripper=0.9982 right_x=0.4302 right_y=0.1818 right_z=0.1928 right_yaw=0.056 right_pitch=-0.1461 right_roll=0.0073 right_gripper=0.2174 state[joint_eff]: [-0.0752, 0.6085, 6.9402, 1.7558, -0.1734, -0.0757, -0.0122, -0.4171, -10.8239, 11.0974, 1.7167, 0.2564, -0.0757, 0.3053] 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_x":0.45,"right_y":0.13,"right_z":0.13},"note":"The pale plush moved with the right gripper and is hanging in front of the right basket. Its body is slightly left of the basket interior, so I’m centering it over the opening and lowering it for release."})
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 plush is now laterally over the right basket, but its body still hangs near the basket’s front rim in the overhead view. I’m advancing the gripper a few centimeters so the hanging toy falls inside rather than outside.
move_to
right_x0.4900right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2848, 0.487, 0.4431, -0.4297, -0.3748, -0.0906, 0.9982, 0.3771, 1.6512, 1.1469, -0.2092, 0.231, 0.223, 0.2196] state[eef_state]: left_x=0.2523 left_y=-0.0027 left_z=0.178 left_yaw=0.0659 left_pitch=0.1189 left_roll=0.1018 left_gripper=0.9982 right_x=0.4485 right_y=0.138 right_z=0.151 right_yaw=0.0513 right_pitch=-0.1215 right_roll=0.0343 right_gripper=0.2196 state[joint_eff]: [-0.1709, 0.5675, 7.0632, 1.7607, -0.1441, -0.0415, -0.0073, -1.1692, -5.7778, 5.1624, 1.4139, 0.2369, -0.2662, 0.2173] approver: 2 step(s) modified (delta_clamped ×2). 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":0.49,"right_z":0.17},"note":"The plush is now laterally over the right basket, but its body still hangs near the basket’s front rim in the overhead view. I’m advancing the gripper a few centimeters so the hanging toy falls inside rather than outside."})
tool
executing move_to over 4 steps (0.4s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe hanging plush is still close to the front-left edge of the right basket, while the basket floor lies farther right in the wrist image. I’m moving it toward the middle of the opening and lowering it carefully.
move_to
right_y0.0950right_z0.1100
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]: [-0.2848, 0.4896, 0.4431, -0.4301, -0.3748, -0.0906, 0.9982, 0.3511, 1.7599, 1.3224, -0.2737, 0.1967, 0.1947, 0.2224] state[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1773 left_yaw=0.0658 left_pitch=0.116 left_roll=0.1029 left_gripper=0.9982 right_x=0.4814 right_y=0.1434 right_z=0.1631 right_yaw=0.0694 right_pitch=-0.1255 right_roll=0.0347 right_gripper=0.2224 state[joint_eff]: [-0.0889, 0.3487, 6.9265, 1.7363, -0.149, -0.0611, -0.0073, -1.1009, -8.5675, 9.347, 1.6728, 0.0806, 0.0171, 0.2808] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.095,"right_z":0.11},"note":"The hanging plush is still close to the front-left edge of the right basket, while the basket floor lies farther right in the wrist image. I’m moving it toward the middle of the opening and lowering it carefully."})
tool
executing move_to over 5 steps (0.5s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe descent stopped with the pale plush resting inside the right basket opening, and its body is over the turquoise floor in the wrist view. I’m opening the gripper to release it.
move_to
right_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]: [-0.2848, 0.4908, 0.4431, -0.4297, -0.3744, -0.0906, 0.9983, 0.2485, 1.7447, 1.1549, -0.036, 0.0933, 0.1493, 0.2244] state[eef_state]: left_x=0.2526 left_y=-0.0029 left_z=0.1771 left_yaw=0.0655 left_pitch=0.1152 left_roll=0.103 left_gripper=0.9983 right_x=0.4899 right_y=0.111 right_z=0.1417 right_yaw=0.08 right_pitch=-0.0552 right_roll=0.0806 right_gripper=0.2244 state[joint_eff]: [-0.0479, 0.8274, 6.9265, 1.7607, -0.1538, -0.0562, -0.0122, -1.3607, -7.0359, 4.1231, 1.16, 0.359, -0.2759, 0.2027] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The descent stopped with the pale plush resting inside the right basket opening, and its body is over the turquoise floor in the wrist view. I’m opening the gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteOne light-colored plush is visibly in the right basket. Two figures remain outside: a brown one near the middle and a gray one at the left edge; I’m parking the right arm and approaching the brown figure with the left arm, slightly farther forward than the earlier missed grasp.
move_to
right_x0.2950right_y0.0000right_z0.1900left_x0.3400left_y-0.1700left_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]: [-0.2848, 0.4908, 0.4431, -0.4328, -0.3748, -0.0906, 0.9982, 0.2459, 1.7428, 1.1511, 0.0116, 0.0853, 0.1394, 0.9948] state[eef_state]: left_x=0.2522 left_y=-0.0027 left_z=0.1765 left_yaw=0.0657 left_pitch=0.1124 left_roll=0.1042 left_gripper=0.9982 right_x=0.4955 right_y=0.1125 right_z=0.1506 right_yaw=0.0896 right_pitch=-0.0103 right_roll=0.0843 right_gripper=0.9948 state[joint_eff]: [-0.0889, 0.6769, 6.9538, 1.7802, -0.1441, -0.0513, -0.0171, 0.0752, -8.8, 7.1726, 1.2576, 0.0317, 0.1587, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19,"left_x":0.34,"left_y":-0.17,"left_z":0.12},"note":"One light-colored plush is visibly in the right basket. Two figures remain outside: a brown one near the middle and a gray one at the left edge; I’m parking the right arm and approaching the brown figure with the left arm, slightly farther forward than the earlier missed grasp."})
tool
executing move_to over 16 steps (1.6s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
assistant
agent noteThe overhead view shows the light plush snagged on the open right gripper, not deposited in the basket. I’m bringing it back down into the basket so the basket floor can support it while I unhook the fingers.
move_to
right_x0.4700right_y0.1200right_z0.0900
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]: [-0.8181, 1.4628, 0.6453, 0.0772, -0.8062, -0.44, 0.9982, -0.1444, 0.8516, 0.667, -0.3817, -0.2081, -0.0547, 0.9962] state[eef_state]: left_x=0.3315 left_y=-0.1622 left_z=0.1072 left_yaw=0.046 left_pitch=0.0682 left_roll=0.1411 left_gripper=0.9982 right_x=0.3057 right_y=-0.0039 right_z=0.1945 right_yaw=0.0506 right_pitch=0.015 right_roll=0.079 right_gripper=0.9962 state[joint_eff]: [-0.2393, -6.3932, 7.4872, 1.5995, -0.5348, 0.022, -0.0122, -0.2393, -1.4427, 6.8855, 1.7998, -0.1929, -0.1245, 0.1392] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.12,"right_z":0.09},"note":"The overhead view shows the light plush snagged on the open right gripper, not deposited in the basket. I’m bringing it back down into the basket so the basket floor can support it while I unhook the fingers."})
tool
executing move_to over 13 steps (1.3s)
step 242
assistant
agent noteThe light plush is still brushing the right wrist camera even though the jaws are open, so it is hooked on the tool rather than free in the basket. I’m briefly closing on it to change the contact before releasing it against the basket floor.
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]: [-0.8196, 1.4712, 0.6468, 0.0719, -0.8059, -0.4461, 0.9982, 0.2939, 1.7172, 0.9028, 0.3923, 0.1829, 0.1505, 0.9965] state[eef_state]: left_x=0.331 left_y=-0.1625 left_z=0.1042 left_yaw=0.0468 left_pitch=0.0606 left_roll=0.1449 left_gripper=0.9982 right_x=0.48 right_y=0.1155 right_z=0.1365 right_yaw=0.0468 right_pitch=0.1532 right_roll=0.0796 right_gripper=0.9965 state[joint_eff]: [-0.1436, -6.4068, 5.8051, 1.4139, -0.359, 0.0269, -0.0073, 0.4034, -5.0667, 5.1487, 0.7448, -0.2515, 0.2027, 0.0073] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The light plush is still brushing the right wrist camera even though the jaws are open, so it is hooked on the tool rather than free in the basket. I’m briefly closing on it to change the contact before releasing it against the basket floor."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteClosing has recaptured the light plush, which is still hanging at the near edge of the right basket. I’m pressing it gently farther inside the basket before opening again.
move_to
right_x0.5000right_y0.1000right_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]: [-0.8196, 1.4715, 0.646, 0.0719, -0.8047, -0.4465, 0.9982, 0.2935, 1.7145, 0.91, 0.421, 0.1978, 0.1429, 0.3768] state[eef_state]: left_x=0.3308 left_y=-0.1625 left_z=0.1037 left_yaw=0.0461 left_pitch=0.0593 left_roll=0.1449 left_gripper=0.9982 right_x=0.4845 right_y=0.1139 right_z=0.1475 right_yaw=0.0362 right_pitch=0.1923 right_roll=0.0765 right_gripper=0.3768 state[joint_eff]: [-0.1846, -5.6957, 6.147, 1.409, -0.3101, -0.0464, -0.0122, -0.1573, -7.9521, 5.8325, 1.5556, -0.1734, -0.0024, 0.6471] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.1,"right_z":0.055},"note":"Closing has recaptured the light plush, which is still hanging at the near edge of the right basket. I’m pressing it gently farther inside the basket before opening again."})
tool
executing move_to over 6 steps (0.6s)
step 258
assistant
agent noteThe plush is pressed into the right basket but remains wrapped around the gripper. I’m opening fully and lifting with a modest wrist turn to peel the fingers away without pulling it back across the rim.
move_to
right_gripper1.0000right_z0.2400right_yaw-0.4500
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]: [-0.8196, 1.4719, 0.646, 0.07, -0.8055, -0.4461, 0.9982, 0.2699, 1.9121, 0.8627, 0.8936, 0.1715, 0.1093, 0.3782] state[eef_state]: left_x=0.3307 left_y=-0.1622 left_z=0.1034 left_yaw=0.0464 left_pitch=0.0582 left_roll=0.1474 left_gripper=0.9982 right_x=0.512 right_y=0.1141 right_z=0.1406 right_yaw=0.0377 right_pitch=0.4133 right_roll=0.1074 right_gripper=0.3782 state[joint_eff]: [-0.1026, -5.7094, 5.9556, 1.4286, -0.3101, -0.0122, -0.0073, -2.2769, -2.2222, 3.3026, -0.2271, -0.2369, 0.1587, 0.1392] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.24,"right_yaw":-0.45},"note":"The plush is pressed into the right basket but remains wrapped around the gripper. I’m opening fully and lifting with a modest wrist turn to peel the fingers away without pulling it back across the rim."})
tool
executing move_to over 7 steps (0.7s)
step 265
assistant
agent noteThe light plush is now inside the right basket but is still very close to that gripper; I’m leaving the right hand open above it for now. The left wrist shows the brown figure beneath its jaws, so I’m lowering the left hand onto its torso.
move_to
left_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]: [-0.8196, 1.4719, 0.646, 0.0692, -0.8047, -0.4461, 0.9982, 0.4557, 1.8629, 1.1969, 0.4488, 0.7189, 0.2142, 0.9953] state[eef_state]: left_x=0.3306 left_y=-0.1623 left_z=0.1032 left_yaw=0.0458 left_pitch=0.0573 left_roll=0.1476 left_gripper=0.9982 right_x=0.5204 right_y=0.1295 right_z=0.2171 right_yaw=-0.3261 right_pitch=0.4046 right_roll=0.0932 right_gripper=0.9953 state[joint_eff]: [-0.0889, -5.7231, 5.9419, 1.4237, -0.3101, -0.0073, -0.0122, 0.3761, -12.4376, 8.335, 1.5311, 0.3492, 0.2173, -0.0659] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The light plush is now inside the right basket but is still very close to that gripper; I’m leaving the right hand open above it for now. The left wrist shows the brown figure beneath its jaws, so I’m lowering the left hand onto its torso."})
tool
executing move_to over 4 steps (0.4s)
step 269
assistant
agent noteThe left fingertips are low around the brown figure’s upper body, directly beneath the jaw gap. I’m closing and will judge the grasp by the settled 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]: [-0.8196, 1.6665, 0.5423, 0.2798, -0.8032, -0.4461, 0.9982, 0.458, 1.8595, 1.1973, 0.4225, 0.7273, 0.2207, 0.9964] state[eef_state]: left_x=0.323 left_y=-0.1543 left_z=0.0358 left_yaw=0.0429 left_pitch=-0.0005 left_roll=0.2136 left_gripper=0.9982 right_x=0.5183 right_y=0.1286 right_z=0.214 right_yaw=-0.3285 right_pitch=0.3897 right_roll=0.0815 right_gripper=0.9964 state[joint_eff]: [-0.0615, -7.4598, 5.4359, 1.7167, -0.3248, 0.0073, -0.0122, -0.294, -9.7162, 6.5846, 1.9658, 0.0269, -0.1099, 0.1001] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are low around the brown figure’s upper body, directly beneath the jaw gap. I’m closing and will judge the grasp by the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteThe left jaws stopped about 4.6 cm apart around the brown figure. I’m lifting to confirm that the brown toy, rather than the nearby yellow piece, comes off the table.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8196, 1.6829, 0.5289, 0.2958, -0.8021, -0.4458, 0.4853, 0.458, 1.8595, 1.1957, 0.4187, 0.7132, 0.2176, 0.9965] state[eef_state]: left_x=0.3205 left_y=-0.1519 left_z=0.0288 left_yaw=0.042 left_pitch=-0.0102 left_roll=0.2238 left_gripper=0.4853 right_x=0.5186 right_y=0.1308 right_z=0.2122 right_yaw=-0.3125 right_pitch=0.3836 right_roll=0.0768 right_gripper=0.9965 state[joint_eff]: [-0.1162, -7.6786, 5.641, 1.199, -0.3639, -0.022, 0.8718, -0.3487, -9.6889, 6.735, 1.79, 0.1832, -0.0269, -0.0024] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The left jaws stopped about 4.6 cm apart around the brown figure. I’m lifting to confirm that the brown toy, rather than the nearby yellow piece, comes off the table."})
tool
executing move_to over 11 steps (1.1s)
step 290
assistant
agent noteThe brown figure rose with the left jaws; its head remains just below the wrist camera as the table clears behind it. I’m carrying it forward over the left basket, keeping enough height to clear the rim.
move_to
left_x0.4700left_y-0.1600left_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]: [-0.8196, 1.3403, 0.902, -0.4191, -0.7967, -0.4538, 0.4872, 0.458, 1.8595, 1.1957, 0.4152, 0.7021, 0.2176, 0.9965] state[eef_state]: left_x=0.3227 left_y=-0.1552 left_z=0.1731 left_yaw=0.0426 left_pitch=-0.0118 left_roll=0.2139 left_gripper=0.4872 right_x=0.5189 right_y=0.1326 right_z=0.2112 right_yaw=-0.3016 right_pitch=0.3793 right_roll=0.0763 right_gripper=0.9965 state[joint_eff]: [-0.0205, -6.5983, 9.1556, 1.2821, -0.3932, 0.0904, 0.4176, -0.1983, -9.9761, 6.6393, 1.8144, 0.1441, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.16,"left_z":0.21},"note":"The brown figure rose with the left jaws; its head remains just below the wrist camera as the table clears behind it. I’m carrying it forward over the left basket, keeping enough height to clear the rim."})
tool
executing move_to over 12 steps (1.2s)
step 302
assistant
agent noteThe brown figure is hanging at the front edge of the left basket rather than over its center. I’m advancing the gripper toward the back of the basket before letting the toy down.
move_to
left_x0.5100left_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]: [-0.5396, 1.742, 1.3628, -0.3809, -0.6117, -0.2493, 0.49, 0.458, 1.8595, 1.1954, 0.4034, 0.6949, 0.2176, 0.9965] state[eef_state]: left_x=0.4576 left_y=-0.1516 left_z=0.1894 left_yaw=0.0827 left_pitch=-0.0553 left_roll=0.2191 left_gripper=0.49 right_x=0.5185 right_y=0.1335 right_z=0.2085 right_yaw=-0.2918 right_pitch=0.3691 right_roll=0.0688 right_gripper=0.9965 state[joint_eff]: [0.0205, -9.2786, 9.4291, 1.7021, -0.2418, 0.4957, 0.2759, -0.335, -9.9487, 6.6803, 1.8144, 0.1832, -0.0171, -0.0122] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_z":0.16},"note":"The brown figure is hanging at the front edge of the left basket rather than over its center. I’m advancing the gripper toward the back of the basket before letting the toy down."})
tool
executing move_to over 5 steps (0.5s)
step 307
assistant
agent noteThe brown figure is now over the blue floor of the left basket and the jaws are near the rim height. I’m opening the left gripper to set it down.
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]: [-0.4747, 1.9308, 1.4242, -0.342, -0.5747, -0.234, 0.4908, 0.458, 1.8595, 1.1954, 0.4011, 0.6941, 0.2173, 0.9965] state[eef_state]: left_x=0.4909 left_y=-0.1403 left_z=0.129 left_yaw=0.1168 left_pitch=-0.1452 left_roll=0.26 left_gripper=0.4908 right_x=0.5185 right_y=0.1336 right_z=0.208 right_yaw=-0.2903 right_pitch=0.3673 right_roll=0.0669 right_gripper=0.9965 state[joint_eff]: [-0.1299, -11.5214, 10.6598, 2.0, -0.1441, 0.3492, 0.0757, -0.3761, -9.9761, 6.612, 1.7411, 0.1001, -0.0806, -0.0073] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown figure is now over the blue floor of the left basket and the jaws are near the rim height. I’m opening the left gripper to set it down."})
tool
executing move_to over 6 steps (0.6s)
step 313
assistant
agent noteThe brown figure has dropped out of the left wrist view after opening, and I can see an unobstructed patch of basket floor. I’m lifting both open grippers vertically before moving them sideways, to check whether each toy stays in its basket.
move_to
left_z0.2600right_z0.3000
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]: [-0.4725, 1.9434, 1.4384, -0.3202, -0.5751, -0.2317, 0.9954, 0.458, 1.8595, 1.1954, 0.4007, 0.6933, 0.2176, 0.9965] state[eef_state]: left_x=0.4974 left_y=-0.1423 left_z=0.1316 left_yaw=0.1164 left_pitch=-0.1261 left_roll=0.2489 left_gripper=0.9954 right_x=0.5185 right_y=0.1337 right_z=0.2079 right_yaw=-0.2898 right_pitch=0.3669 right_roll=0.0671 right_gripper=0.9965 state[joint_eff]: [-0.3487, -11.6034, 9.8667, 1.8046, -0.1832, 0.315, -0.1538, -0.2256, -9.6342, 6.612, 1.7558, 0.0317, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_z":0.26,"right_z":0.3},"note":"The brown figure has dropped out of the left wrist view after opening, and I can see an unobstructed patch of basket floor. I’m lifting both open grippers vertically before moving them sideways, to check whether each toy stays in its basket."})
tool
executing move_to over 9 steps (0.9s)
step 322
assistant
agent noteThe brown plush is visible on the floor of the left basket, and the pale plush is below the raised right gripper at the right basket. I’m parking both arms to verify the remaining objects and clear the work area.
move_to
left_x0.2500left_y0.0000left_z0.1900right_x0.2950right_y0.0000right_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]: [-0.4713, 1.9301, 1.9053, -0.7376, -0.5755, -0.2623, 0.9967, 0.458, 1.8099, 1.4197, 0.0814, 0.68, 0.2173, 0.9965] state[eef_state]: left_x=0.5061 left_y=-0.146 left_z=0.2624 left_yaw=0.1303 left_pitch=-0.0701 left_roll=0.1894 left_gripper=0.9967 right_x=0.5227 right_y=0.1378 right_z=0.2679 right_yaw=-0.2667 right_pitch=0.3307 right_roll=0.0373 right_gripper=0.9965 state[joint_eff]: [-0.4171, -9.8803, 8.1983, 1.5116, -0.2418, 0.2466, 0.1148, -0.2393, -12.588, 9.6752, 1.6581, 0.2369, 0.0024, -0.0073] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0,"left_z":0.19,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The brown plush is visible on the floor of the left basket, and the pale plush is below the raised right gripper at the right basket. I’m parking both arms to verify the remaining objects and clear the work area."})
tool
executing move_to over 20 steps (2.0s)
step 342
assistant
agent noteWith the arms parked, the brown plush is in the left basket, but the light plush is resting just outside the right basket’s front rim; a gray plush also remains on the left side. I’m repositioning the right hand to pick up the light plush and place it farther into its basket.
move_to
right_x0.4000right_y0.1600right_z0.0800right_yaw0.0000
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]: [-0.3595, 0.7292, 0.6975, -0.6628, -0.506, -0.1902, 0.9968, 0.2962, 0.7265, 0.3458, 0.1223, 0.5331, 0.1665, 0.9965] state[eef_state]: left_x=0.2585 left_y=-0.0018 left_z=0.1965 left_yaw=0.1482 left_pitch=-0.044 left_roll=0.1731 left_gripper=0.9968 right_x=0.3001 right_y=0.0015 right_z=0.1955 right_yaw=-0.2806 right_pitch=0.347 right_roll=0.0518 right_gripper=0.9965 state[joint_eff]: [0.1299, -0.294, 6.7624, 1.6972, -0.0562, 0.1294, -0.0122, -0.2803, -0.3487, 7.3641, 2.0, 0.0562, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.16,"right_z":0.08,"right_yaw":0},"note":"With the arms parked, the brown plush is in the left basket, but the light plush is resting just outside the right basket’s front rim; a gray plush also remains on the left side. I’m repositioning the right hand to pick up the light plush and place it farther into its basket."})
tool
executing move_to over 14 steps (1.4s)
step 356
assistant
agent noteThe right wrist view is filled by the light plush, but its thicker body is a little ahead of the fingertip gap. I’m advancing a few centimeters at the same low height to bring its torso between the jaws.
move_to
right_x0.4400right_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]: [-0.3592, 0.7319, 0.688, -0.6666, -0.4969, -0.1909, 0.9968, 0.5751, 1.8488, 0.4736, 1.021, 0.5526, 0.1684, 0.9965] state[eef_state]: left_x=0.2574 left_y=-0.0028 left_z=0.1908 left_yaw=0.1421 left_pitch=-0.0608 left_roll=0.1751 left_gripper=0.9968 right_x=0.3891 right_y=0.146 right_z=0.0609 right_yaw=-0.0032 right_pitch=0.27 right_roll=-0.0062 right_gripper=0.9965 state[joint_eff]: [-0.1709, -0.5538, 7.6513, 1.5897, -0.315, -0.0073, -0.0073, 0.5949, -7.3094, 5.8462, 2.3028, 0.0366, -0.0122, -0.0171] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_z":0.065},"note":"The right wrist view is filled by the light plush, but its thicker body is a little ahead of the fingertip gap. I’m advancing a few centimeters at the same low height to bring its torso between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 360
assistant
agent noteThe pale plush’s body now spans the right jaw opening, just ahead of the right basket. I’m closing around it so I can lift it over the rim rather than pushing it along the table.
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]: [-0.3595, 0.7326, 0.688, -0.6674, -0.4961, -0.1913, 0.9968, 0.4934, 1.9293, 0.6147, 0.9581, 0.4843, 0.1417, 0.9965] state[eef_state]: left_x=0.2573 left_y=-0.0031 left_z=0.1904 left_yaw=0.1414 left_pitch=-0.0624 left_roll=0.1751 left_gripper=0.9968 right_x=0.4293 right_y=0.1416 right_z=0.0586 right_yaw=-0.011 right_pitch=0.2556 right_roll=-0.0127 right_gripper=0.9965 state[joint_eff]: [-0.1846, -0.5675, 6.8171, 1.5507, -0.188, -0.0317, -0.0122, -0.4855, -7.6376, 6.2017, 1.956, 0.0562, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pale plush’s body now spans the right jaw opening, just ahead of the right basket. I’m closing around it so I can lift it over the rim rather than pushing it along the table."})
tool
executing move_to over 10 steps (1.0s)
step 370
assistant
agent noteThe right jaws are gripping the light plush about 2 cm apart. I’m lifting it while carrying it well toward the back of the right basket, since the earlier drop landed at the front edge.
move_to
right_x0.5600right_y0.1400right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3592, 0.7376, 0.688, -0.6682, -0.4931, -0.1917, 0.9968, 0.4896, 1.9377, 0.6178, 0.9474, 0.4629, 0.1375, 0.1945] state[eef_state]: left_x=0.2576 left_y=-0.0036 left_z=0.189 left_yaw=0.1397 left_pitch=-0.0683 left_roll=0.1758 left_gripper=0.9968 right_x=0.4293 right_y=0.1435 right_z=0.0532 right_yaw=0.0077 right_pitch=0.2379 right_roll=-0.0178 right_gripper=0.1945 state[joint_eff]: [-0.1436, -0.7863, 6.8991, 1.5604, -0.2418, -0.0611, -0.0122, 0.0752, -8.9641, 4.1504, 1.9267, 0.2711, -0.0366, 0.6032] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.14,"right_z":0.25},"note":"The right jaws are gripping the light plush about 2 cm apart. I’m lifting it while carrying it well toward the back of the right basket, since the earlier drop landed at the front edge."})
tool
executing move_to over 13 steps (1.3s)
step 383
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]: [-0.3595, 0.7383, 0.688, -0.6685, -0.4927, -0.194, 0.9968, 0.3492, 1.866, 1.4403, 0.0372, 0.3191, 0.0692, 0.196] state[eef_state]: left_x=0.2576 left_y=-0.0037 left_z=0.1888 left_yaw=0.1403 left_pitch=-0.0692 left_roll=0.1742 left_gripper=0.9968 right_x=0.5486 right_y=0.1446 right_z=0.2282 right_yaw=0.029 right_pitch=0.2013 right_roll=-0.0395 right_gripper=0.196 state[joint_eff]: [-0.212, -0.5675, 6.7624, 1.5214, -0.2027, -0.0513, -0.0073, -1.1282, -9.6342, 10.1402, 2.2784, 0.0659, 0.1099, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.841 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"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0128, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1817 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.6342, 9.2513, 1.7949, -0.0366, 0.1197, -0.0562, -0.8684, -1.3607, 10.0718, 1.8584, -0.0855, 0.0757, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33079b05d7e0461931a6b6f1be3ae5f64b7bed215bf1772e4cbad10b3deb1bab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798557806182d2067ed43e87e0ace1916b6658e1244990434b1027ea8029b901",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e3d752ccefcdef862d8d4b2a461741dfaa5adb4e97509c4d098d0959d62be7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 3.671 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.15},\"note\":\"I see two turquoise baskets at the far side and a cluster of light and brown plush objects near the middle. I’m moving the left gripper over the brown object first to separate the two types.\"}",
  "call_id": "call_Hj398mEDryKdB6RcQYg1rKAC",
  "id": "fc_07342fe09ad52c35016ab42745507887d0a065d2f1633b42e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hj398mEDryKdB6RcQYg1rKAC",
  "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]: [-0.8574, 1.2346, 0.6949, -0.2665, -0.6792, -0.5694, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.1652 left_z=0.1371 left_yaw=-0.0156 left_pitch=-0.0357 left_roll=0.0217 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.2598, 8.7453, 1.5653, -0.5348, -0.0366, -0.0171, -0.3897, -0.9504, 7.2821, 1.7314, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5fc667bcbd735c15cbb4192d93ad88b812acd8c6bfbe8fdb3ead6681445273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88faa3ea5f4f900707b7da2c6e2e6bd5275d0d64f93afb0014b523b9828c81fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e251077759853ce3abfc06c41182db372895c8240d0955e208f885ff4ded0e45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.608 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0128, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1817 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.6342, 9.2513, 1.7949, -0.0366, 0.1197, -0.0562, -0.8684, -1.3607, 10.0718, 1.8584, -0.0855, 0.0757, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8574, 1.2346, 0.6949, -0.2665, -0.6792, -0.5694, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.1652 left_z=0.1371 left_yaw=-0.0156 left_pitch=-0.0357 left_roll=0.0217 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.2598, 8.7453, 1.5653, -0.5348, -0.0366, -0.0171, -0.3897, -0.9504, 7.2821, 1.7314, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5fc667bcbd735c15cbb4192d93ad88b812acd8c6bfbe8fdb3ead6681445273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88faa3ea5f4f900707b7da2c6e2e6bd5275d0d64f93afb0014b523b9828c81fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e251077759853ce3abfc06c41182db372895c8240d0955e208f885ff4ded0e45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCdNgR0XcxGjQq1Xm6VYuzUxtYnslacYGPS2hgI2AEkM1v0CYRyHqcW_sWdaa_upnWdFQUXoNqGldjLAN7MvLao0xs6D1YoKVxWs2RCVZpd68aZLtcipZoyf0InGqZzetMWv7XBDF82n4oJBGxhUQ_RhwfAIwBL9ULzRPJ9ScPAofeGbEqAPKofCi4MGVv6zyNr7BZMCxFahcMCvwCQcH6VurxRbKGnBi9L2KbXSvMaYWaYWj0qvCmuqKQQNwqrXnybQ9QMUDCEkwifLFaflcAAHdwQpifQiiRux4wEqvtM7yhypoRZi0Xdb454CBYcSQ3-WVmJ14i5boOYSx3oBgM9VtlDn_HIzyJezX4GzKw4M7l0dCKYQVVCFhLmxcankBClpel7HmJebUZs779akNK80fHjSp2y9x8WEo43ry0kTXhWILf8uI92YFyEbJYSvtdUr3K8_C69lUwTKCPNOEbI_6zRsqTMgSs0FDx-H0lMpRTDJqhzyE9QM2rr7-jSLCaOdTfCyn5M68Qnci_DE7oYOxrgSt8lPpLHPUzfhcbxwjeruaGW3AD93F0hNgpKpaFipaw2ckd0BwWmzeOjyGi3nx1Cq_ZJp-2a4qfOT8l3pLlxAUmHRLB7rbGR5kO68rjw9G6ccVxY1gKfradFQmPQbFTbkbRF1hMJ8WdmNXnQBnAxMuiTC5cYRkyhBb_eB5jnORx1xPOZ3gX8ggX9Vy0LlqN61Dl6WxHcdELl8EgU6ON70Azo4lvvA67ZYtIAz3gp2avWNOfShJpGeCq_avVouEjn-nRQRQXXD_APaHtWxC0X1qmJ-gaRc85evrOMcB2BRnqzNb3RQ0jIx-gSD9EqJ3cXCBltgRKXvJU_qbyWz5svrsSvjkvM2d1hxeYvKYy8Du8aSnq7uvqyNazKlbytqH3PD4VagZMPdltW0Z7-5reaw4ct92rKI6m4ebErrcVwPy4guA8bt8uQmlyO_9eP9vxoFUlyu3_J1ldXaL_UTPS7jvOQxkgh6AX2iSvmEZaCHvmuOkl6d0VH_RN363OMzUgI8YXFZnU6hk_UDCWsrUqt6YqapTj5-wureOVx6bSaOHNLYDY0pQgJU2q4SRq_n46cQXfJpfsYipVfPFa1PaOGGhSMCPlb-haqTrzu-Niaijn6FCa8MFum_62ExGGQTQUvzu5-Uj58RcMUZ8fHyjUVIovNrIvqbTQHNNIYDRlqfzPF8FfJaHNHQdZzc0AM_lnSkvG-TFWTjM-e0647Mov2uqzxQbKlUQy5yOis4PEEb91gG3HvI4Gh_q0slIZfsf5pAhq6T1lhzbwI7CTXWFT2ir712zJUsYan2ZjyWPjaMMMFA3SlxRnE5UfoTEBwQlWVNOyyJ4_BmWakoTK7WY_ni34i8mS2SGYx4Bm48rrGNsTF08a4_LLbqIlInxVuXbQD4h07noOJOEGlP30V_Q8Shtu5atwOZHVkLcJcymDm_TC5zlAtINeP9u234nhfrh6PsJ-43mEc9vAaZwFcjaeCWpovANDBHbq6mrzbDnuew3hb2NuyYx5dUtdeVLtAATSKM4pDG_eK6vAKsqWtZetsKFhIR3GueNFXc5ruKKmLkvFh68nhCjjrfX60uKqmZSAZLREES-sDHS3buCzST4Zo985fbmSbe97oMqB6gBl-k1OVaGVbCkRNE-Zhi3sXF4wYVe_3v9W5X7IDo9mS9PFi6SLLc_v7A33Ycs_72lx87fMvpCuJ3PTJgFx59r0yoDpprkuIoptoDRsOGVu2WNjum_GVk9hsu8py1neLip5F7jyEHBWq90WBSRuwyw4scUj7HBKyIEYr0HV8DYAx8Mcw1x4dcNkYuJJSpy1tRuhM6R3QzZ0f5UnEThj-RUGMCj4ObNYx98N2IpZLj2NY4AHWvhSucdhyt3h0zZSUbeVHJwOn-GDYUxUen8h6vIW3Ivo2psjyxZMlrEzbqxkK-2XrDsN3uZn7wLUwME8iSyKfx1DChZDhgCj2lujw0ziMp4xfcqvwCUMmBqNED6jeOwI8pcNt-OEWJTOfj3TdzCSXxvIbnuP34tJbttgUdnCIQ68dv-zV8ZFUs-O7p9ntrqQo4y-0z1w33LMSiHmZ-7WCSmi_n3HhMYp06NaD-UsTsFyF1bMjrNOGpx8v4Izx5ljrX5r45oEUgG5FLp8dwb9EUnSezUzEOm4EOlSge-kzx5O6cEOCDJbmwD0PBLmZF7fADHji2HmDXBZ2CQd0TgblMsV64o4EtZrEPIIgdLsVkyXNw7Zj2uw9Eawbsb_IA1W00-F14laER5Nuo2TvlveTqvvG-3APXMZM4aSuj3Sj52Q==",
  "id": "rs_07342fe09ad52c35016ab4274afc9087d0818e069a94d2aeba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The left wrist view now shows a brown plush centered just beneath the open jaws, with the light plushes off to its right. I’m lowering the gripper onto the brown plush before closing.\"}",
  "call_id": "call_Ryoat3zxc7Bm0ktfFT9F0I0v",
  "id": "fc_07342fe09ad52c35016ab4274cd98887d096d3519a1fd1c5cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ryoat3zxc7Bm0ktfFT9F0I0v",
  "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]: [-0.8589, 1.4906, 0.4477, 0.2024, -0.6769, -0.5766, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=-0.1621 left_z=0.0391 left_yaw=-0.0137 left_pitch=-0.0596 left_roll=0.0403 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.4496, 5.2718, 1.5458, -0.3053, 0.0611, -0.0122, -0.2803, -1.0325, 7.1863, 1.746, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d70d5c7f9ba4f550376def960de8c091ab7075a6cd968383e0f281e8600a42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0ab21a26b7479009231fbe982ea4925236ba3e2336b9d7079c03f6ac020e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf92c1b5f9c909116f3dfbc76bef62d1865cc58cab6ba6dd4a1734879c89bd15",
      "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 · 2.15 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8574, 1.2346, 0.6949, -0.2665, -0.6792, -0.5694, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.1652 left_z=0.1371 left_yaw=-0.0156 left_pitch=-0.0357 left_roll=0.0217 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.2598, 8.7453, 1.5653, -0.5348, -0.0366, -0.0171, -0.3897, -0.9504, 7.2821, 1.7314, -0.0366, -0.0611, -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]: [-0.8589, 1.4906, 0.4477, 0.2024, -0.6769, -0.5766, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=-0.1621 left_z=0.0391 left_yaw=-0.0137 left_pitch=-0.0596 left_roll=0.0403 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.4496, 5.2718, 1.5458, -0.3053, 0.0611, -0.0122, -0.2803, -1.0325, 7.1863, 1.746, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d70d5c7f9ba4f550376def960de8c091ab7075a6cd968383e0f281e8600a42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0ab21a26b7479009231fbe982ea4925236ba3e2336b9d7079c03f6ac020e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf92c1b5f9c909116f3dfbc76bef62d1865cc58cab6ba6dd4a1734879c89bd15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCdRekCMMpDl970w428ksqIX_6FfQ_8Wn6bS15-EfZT9l2DdMw3WXxjfLtuapcv2D2rkxPzi1nwGdOBDxRqPP6SJGA60UzTr4K91Xcxst93ojNy9lLx-n9YYu9Dpv_Z43YcomXbyb0wPZaZQ8TxTSKRARtPFNHSLIF3cS6lyc0PtuEAin3HkS3z7276gOWrranM0L0W67CaCUFMv1YQVjjdYjoPI5PYjDcCdPAirA65pLSV5tYd4I4iysgvKIbVW8VCTyjJGijoe98vipn0Wfaphe_W-Ey-sXNXbfY_gPWE4yCSLpMWD5fvKycDCBvGdxTijbzw9--ae0WLaeTnVMllFae1HYYmrFSQQwdCnccICGjAVII4dXO3qgVHxyTPkONrQWVadj8QSS0fLDHUcsMJpyxQ_-o_7T1DzuXL23NN79OLHAwxkhJPFX8ZMbQpSSi-ZXoCcoJEcl0LSGNA6if2JWJeICOyjiW1oSxXtsV5EUC3XPlrvGBgPzYeOOahFnbLepquAsqp9CiFqJtMgaI13EOc0Rc8VIAutO1ih-kNeKvNIiBV60x46m2nq0_8zbXr5xw9srhMgpKwlrHRWW-1TUInYoHphsmAQMyByHDH6Dt15O79uu3xYR7CrA0TEU_yP10ldMHtqS7wUlU7PvYje5TsO39lEBchca8ZeDmZHNoIHqECWE1wtKPGcgIqjmE35z2ZT1C3mkQ2SNX0wxVDVkJz3JYIvF0rOht2uVwqbIItoQSsh1Tq166mHihEVMkY8JOfMTu0G704Cs6DTj7II-J9DtbiUIwAE8yglOxIk3GpcGPMkdHK0d6ZD7TOqThWcUZ1AtHlFixZ25vfgHeXlqmNuepqFITllYJpgAXSCBYmloZGERJ5tZlMBV8buugSsEm5wYflt3-Ic1yMQEs51RtQ1QNoTpp3BGVGUKIIelopAledVG-vEyHbP0JF1fvWbt8ey0xiqVQ3E7n6XRvZUplQDShZaWn4oXbsZaMvdK-C7r3g-YW8YX21swk_wL8X-vY8VmHV5HJTumdvTcPP7DqJtrL7-SniOPUsUVkF7TD4sCloDeID9eziT9cUrXIqHlOPdJbW0AJv1b4td5607m6Z9bABlX4Sdx7Y--lhc0ByYmGKex8F_cvgtsfBnm2j-FfPnRT3iBotsriHDv_pFR_Aw_guqtRgkRfLG50SwQe5bkxiuGJTmlZNu19xRctAjhgOeBASfq_6fttFGGA34ZeE1ANNnO_fzkb23XFy1_MA9HhddFNIN_ebrFlEcrp5bnV55U9teBwmdqdgfS5sSzT7K06kjcDLG1pPAA3TSDfMNvWE_5cv3QdOER-LjhPPmmdO7sCLMoHN-rd_ti4Z6r-lI8k-QlN5yBDEslbElyyw=",
  "id": "rs_07342fe09ad52c35016ab4275099b087d090cb435f18d69eb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush is now under the lowered left jaws, while the nearby pale object remains to the right. I’m closing on the brown plush and will check whether it actually lifts.\"}",
  "call_id": "call_q0bMWIi6oXxHgosFtBMgktsf",
  "id": "fc_07342fe09ad52c35016ab427512ee087d08d473c5949d57693",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q0bMWIi6oXxHgosFtBMgktsf",
  "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]: [-0.8589, 1.4906, 0.4477, 0.2043, -0.6777, -0.577, 0.3784, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1623 left_z=0.0394 left_yaw=-0.013 left_pitch=-0.0579 left_roll=0.039 left_gripper=0.3784 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.9162, 5.2581, 1.3309, -0.3394, -0.0269, 0.6032, -0.253, -0.9094, 7.0632, 1.7314, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b4d1cb85050119ef76dd6c56f861177323d94dc5e7b7c4c962dd4018f2c3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee45f0a409b0d44a9983606999dd31f4e4f49bd83774a5b301f1b0e4fed19cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683142773cce85e6760b47cc37220d384de5380cda2e25cac6db0ab9d6dde374",
      "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 · 6.283 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]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3836, -0.0128, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2953 right_y=0.0013 right_z=0.1817 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.6342, 9.2513, 1.7949, -0.0366, 0.1197, -0.0562, -0.8684, -1.3607, 10.0718, 1.8584, -0.0855, 0.0757, -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]: [-0.8589, 1.4906, 0.4477, 0.2024, -0.6769, -0.5766, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=-0.1621 left_z=0.0391 left_yaw=-0.0137 left_pitch=-0.0596 left_roll=0.0403 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.4496, 5.2718, 1.5458, -0.3053, 0.0611, -0.0122, -0.2803, -1.0325, 7.1863, 1.746, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.4906, 0.4477, 0.2043, -0.6777, -0.577, 0.3784, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1623 left_z=0.0394 left_yaw=-0.013 left_pitch=-0.0579 left_roll=0.039 left_gripper=0.3784 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.9162, 5.2581, 1.3309, -0.3394, -0.0269, 0.6032, -0.253, -0.9094, 7.0632, 1.7314, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b4d1cb85050119ef76dd6c56f861177323d94dc5e7b7c4c962dd4018f2c3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee45f0a409b0d44a9983606999dd31f4e4f49bd83774a5b301f1b0e4fed19cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683142773cce85e6760b47cc37220d384de5380cda2e25cac6db0ab9d6dde374",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCdVay6TLZOJFnz9MX0si3lWO9lkRR5_BEOf-fTX3hhb4mQHG3ueayzb6omvkRLMt8mjCXT119aTKHyjP58ryhFFJEG9gy8lKmdGA2lAyUV1_WbEVQL0n13fb8SVCj5cbk9t-aOZsKeyxXJ7VTvfg3ukE1_7-0bmteYzrfTtNtRyjiY_IGq-bGfPzR0tW9tIsHLriiFApGkX_faR5zNDWAAWWNBfZAulH49mGigK9hZOAH2yWgrXrb5reo5sb6nNyryBSENaW4ZUBIWZLnwg1aXdRTa5YwMkTHtRkfKeBDZftDJdCuzhZwmLxzJmViY5qxmmmXPhG2771O_NE1UQXeUinpCWz5ViRBTZmKar1ax53TK6DYxrByxHOfBdwThx2rAo35iJJjfDq7vzri4GG697ciuBZCnl3HYXly3rYWVFgqAZe8bGjxpC7tOifNpinDoEcJCnPmtWXyhgQstCJsLKfVR9hQzNFjDRtId8qvAHJVhgiVlyn3axWaVzfM4JcJt0e9GRnaMbR4QnJUQ_O0wjzuQWsEWHlFYhSL_m3XBmWxUrZ9dFOkn3qBe_hGcwSBp1H7UDOu4Cg5I_GCx6wz07ZnD2PkcoXPl3PaMzFWZDb4QfAMTYwsePP0wm3vKgj2I6YM0Kdk93BCUWQ1wKz7sw39obAdXJYQOgphGeDUUk-aClQODM1RqO2Ly2oEu6n2Dk2yJaMniGHiHjaB2Vqeq-g0RS5jxZpl4UkYx_G4wLRvl5B_Cs7iHKAwIlPc4IVg9UsIp5GD8exH7xJt9sOsR0hKapmN4P1N2rIJDCrSIFFZzyrBu9G6G-SmP3U9APY8ZsmqTT2oAEz5tEjsgVIm01MdarfCCwmr1JUWuYcNcxTm93vTRNg-ke17mM_BzG1ebmjRQ3lDihOILO4Cg87Lj8zQ7VMuDiqCrX8tqEfb_XVzTYSbckvCksOiwOlp6QmcfTc-rSbUjhz-7-3FE_p7CcmWrIxEekE_UcQg76F0AYgL8OK3dswFW4-YN7dQUPK87Dbzpbj5LQo36ND90-GuXIUMrqDh4pg7dXuz_4UtILk5sYF8Ae1jlEUL1psttwUMPuVFOfHmzgGeAHeUSivpZBc5meWUHcVpQnZHtjdcbRCmM0NmJT3reg2fH9Yw6Y6CljpH_ykuyYWBk4e7gPwbMuOAqAM4rJ3qIfnBI8DuFith7NgorLraD9cvL0UvrejzVZQmxj2gVRKjGVfqIfrpWRTg==",
  "id": "rs_07342fe09ad52c35016ab427546c2887d0a04a0711e25bad90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left gripper stopped partway closed around material about 3.6 cm thick, which suggests a grasp. I’m lifting it clear of the other toys to verify that the brown object comes along.\"}",
  "call_id": "call_6NB2LGvGlbYwWm7PjSQ8eWNQ",
  "id": "fc_07342fe09ad52c35016ab4275482cc87d080d068382cc2bf44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6NB2LGvGlbYwWm7PjSQ8eWNQ",
  "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]: [-0.8589, 1.2137, 0.8379, -0.4774, -0.6735, -0.5846, 0.3776, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2916 left_y=-0.1638 left_z=0.1686 left_yaw=-0.0112 left_pitch=-0.0697 left_roll=0.0416 left_gripper=0.3776 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -5.2855, 8.5538, 1.2527, -0.3541, 0.0464, -0.0952, -0.3487, -1.265, 7.2547, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54911f88d749e742f503e879ecc49b76be5e7c96b8fa7a57dc31059af9a1cc08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e674661cf7d30ae867e1134da3193508f020923a8073f4c9a9b1aa70963e133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37068362ee64c2377cfcbeb241959cf7cc4029e7f6e07f39ee397f5ddee60c96",
      "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 · 6.308 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8574, 1.2346, 0.6949, -0.2665, -0.6792, -0.5694, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.1652 left_z=0.1371 left_yaw=-0.0156 left_pitch=-0.0357 left_roll=0.0217 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.2598, 8.7453, 1.5653, -0.5348, -0.0366, -0.0171, -0.3897, -0.9504, 7.2821, 1.7314, -0.0366, -0.0611, -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]: [-0.8589, 1.4906, 0.4477, 0.2043, -0.6777, -0.577, 0.3784, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1623 left_z=0.0394 left_yaw=-0.013 left_pitch=-0.0579 left_roll=0.039 left_gripper=0.3784 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.9162, 5.2581, 1.3309, -0.3394, -0.0269, 0.6032, -0.253, -0.9094, 7.0632, 1.7314, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.2137, 0.8379, -0.4774, -0.6735, -0.5846, 0.3776, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2916 left_y=-0.1638 left_z=0.1686 left_yaw=-0.0112 left_pitch=-0.0697 left_roll=0.0416 left_gripper=0.3776 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -5.2855, 8.5538, 1.2527, -0.3541, 0.0464, -0.0952, -0.3487, -1.265, 7.2547, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54911f88d749e742f503e879ecc49b76be5e7c96b8fa7a57dc31059af9a1cc08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e674661cf7d30ae867e1134da3193508f020923a8073f4c9a9b1aa70963e133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37068362ee64c2377cfcbeb241959cf7cc4029e7f6e07f39ee397f5ddee60c96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_07342fe09ad52c35016ab42758195887d0a9bb9d8318cd6942",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.17,\"left_z\":0.22},\"note\":\"The gripper remains partly closed after lifting, but the object is partly hidden by the arm in the overhead view. I’m carrying the grasp toward the left basket to keep this first, brown-looking type separate.\"}",
  "call_id": "call_Vp8thYa2Kdo9u8QxblNMtGsS",
  "id": "fc_07342fe09ad52c35016ab4275c911087d0bc9177fb92a5cd6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vp8thYa2Kdo9u8QxblNMtGsS",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5343, 1.644, 1.343, -0.4835, -0.4477, -0.3546, 0.3776, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.431 left_y=-0.162 left_z=0.1981 left_yaw=0.0185 left_pitch=-0.1309 left_roll=0.0531 left_gripper=0.3776 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0095 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4171, 9.6752, 1.8535, -0.2027, 0.3199, -0.0171, -0.2256, -1.6068, 7.1316, 1.7118, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e743c20d7b29fa86338add6b2d27f898f0c84577a27859dc8439ed264d2c6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e63efea76eb56c6177eabef6744c9888fbae204336c2a8cc76d2150607bb41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ff9606a61b9b9cb760ce433d91b75edee4db6a04e0044d818d928745901e5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 1.543 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]: [-0.8589, 1.4906, 0.4477, 0.2024, -0.6769, -0.5766, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=-0.1621 left_z=0.0391 left_yaw=-0.0137 left_pitch=-0.0596 left_roll=0.0403 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.4496, 5.2718, 1.5458, -0.3053, 0.0611, -0.0122, -0.2803, -1.0325, 7.1863, 1.746, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8589, 1.2137, 0.8379, -0.4774, -0.6735, -0.5846, 0.3776, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2916 left_y=-0.1638 left_z=0.1686 left_yaw=-0.0112 left_pitch=-0.0697 left_roll=0.0416 left_gripper=0.3776 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -5.2855, 8.5538, 1.2527, -0.3541, 0.0464, -0.0952, -0.3487, -1.265, 7.2547, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.5343, 1.644, 1.343, -0.4835, -0.4477, -0.3546, 0.3776, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.431 left_y=-0.162 left_z=0.1981 left_yaw=0.0185 left_pitch=-0.1309 left_roll=0.0531 left_gripper=0.3776 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0095 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4171, 9.6752, 1.8535, -0.2027, 0.3199, -0.0171, -0.2256, -1.6068, 7.1316, 1.7118, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e743c20d7b29fa86338add6b2d27f898f0c84577a27859dc8439ed264d2c6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e63efea76eb56c6177eabef6744c9888fbae204336c2a8cc76d2150607bb41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ff9606a61b9b9cb760ce433d91b75edee4db6a04e0044d818d928745901e5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCduqbOm5YcsRtZpHBHz8Qr0asPEBd-X_7FvINI2C-E3ZeiuZizRHQOjA7MAq1c7_NggUI2C-XyW79p9auwFoo3FhbMj4TT_w5_Y-LQuN0mQ_8EPow3XOhujL8cnSDhPh9jkiVy-fIwrVQ8kk2X5ZY5I52Ice5Xlc-TKmmi_jscIsfku7uKPqAbZpmeEVM40Ujnwa88NU1zoaFBJy9nzQ8hT5kMzn1HVuVXd0Lzj7-ovkB9-i2Fp9YJ7JjVmEcd4xHF54wNQ6oGhdSiRAu4X9DklJ7yozX45KQPReD6OcYd08v2xoNK_yQnzv0Qe5hH5sNgdlHaLY9X244mtRBjON6GmXGN69G6cMIaXJhhGet9oRu7KPqoZnv7ctzkg7n91J9kz99eyxH5noiVDRgWFDRBtwKbnK437ohhhNLpQo8uKqLXknabR2iWw-Yo26k0YFchwznfNkNHgZ2qOXXN7nHJka9o4vsTWUNcjLQ87xaMju1lUILbRM_pjhDVJ0Gxwao3rWq_7kWTysJlc-Q9uAMMCxItMcYvioLw7liquXFNWX6QrLT5oILQFR_NpK4zFnfycztnTAL2ehfpGeHo8sfhpQPE2wQ03YUUbUnvsyvDn2gEDCT1c-YQIAo4_T_4dz2hk2JhHiick3xbX6BM1g37iUkhoEPbwb4mkATiIZcnJfxd6Oa1rhvj1ckhBahE6Njw4PyCTEEiuyQK_zwIkwYsRfbVSlEe4vEX7Eo7K93q4fcV2RggzulZUI2doHeFSaEv_e9w7kbdta8UKqG61Ya4k2obArPWGFyDh-jZutKKVpH_ehCmAHS3TgG94VejmfJyZQRia5Nbe3ty32etGdjM8nUW2WF6YRnbaClO6_l5JcJAQAbOZdWgn2P-3gSVrmaLygbYzK9wnswxrNpKoSxz9_DysAl2qpTzE9nP-1t7rrKe8-Y3EjqJ2kVnMWtJGDBr8yOI1ZSugtYHICUpyXm4Elo-PyOhFB4utVd-8x4tGk2tAcUNaxK08CK__Y9LIGZX-EUqlDripce8JqolRZiPDPw6c88VM8ruXtCOzy1bkotTyi_2fUEvy9QHqF2SHRMxjoqUI-D-12d0y43TEAFDOjI_z0-McHcRqqYyM-IGC1huKtCoHJF3SUcQgUlx6KzBiRnEHWX37q8klFSu5hFfRQTQhT3u4_Ph_D3aPgitzbAPrvo51_tYEDZQQWCtNTXcpGB9yD6Oo0aoXlHJ0vsA9EXZ-pyOjUX5hkLrda2YNYxJCX-VjJnfW0Tq6gpy9hsO6884G8ZxfZG-sEv0kvk2guOnxYkrVy_-02ouoVIyWaAMsVTuwy2vvxriPl5UNGTpwZqdUYPnrla0iT9CtuAV0nu57-i7vNLhXgQvd3v88nBdF6pVMhLCJ9qXKPPXmSRQVvGvOWEQeJ1Viv4wfvsTQolXuRB5Az9gf9v88I5JBE7eTzmfXTTBLFoaw-2p9ckZvQwRZKkqvVrYNEE5q6HB2PnZCyqJ0KmAi_FBXCFClyAa310OLh8IkPFoELMckW5X_-jjFaU7DYnG5AneemMbkOyk53Dwh2ouS0mlWn73RBULH8qmr3edfXwRWtV1WG1gvIBEMfhzdTRXwOp7Yb6TEEJpKGCMYSPbGf9x4hsNHNom00nxoSicdg3uNSkwxPMB-GP61Wq6TTaGijR7fcKoy62X_2k1nmWvo5PlOkvfeIM3Ib-ElH207gYGHnI5n8PRagxr8FzSJOjxBCFXzVEILNm7pI53IloMF8k-BIQIFMVTfeYIiIfYlakq0Gv1NFgkWcowkhcAydn8lEwem3OLgAR8WDsdqImstd_tMHAKtPJ6Kz8ClpFfQS58zrbrTpR--kDolVxtEwiG1SRB6zA6O63hhME8KUCmbY5jUqb7dDO9M1Pws5PjtnAVOVuE4GK-u_CF8CRhMwj-sfTf_T7dgHLTsor2o96mcD9V7RBXwgBru8foZ_I_uOthL3I7WgYr-Jawn3YbwHX_xUd6n_h4owfRRDLyVdCcW0-LSxkSIBAFTfo4g9cZgZmHAGnVWGLbb0unTrd5UUkodkuAzq3WYH8G_8SH0kr_2bTtzEnWL6NygYWjWGR3E8JFjDawMeW9tjnNFpQStllTTm6yDMZI5tl1_SSsbA9iobYOgJ6AHiwl7_nmf-HIsxuznV8jVqso-fg70d44AjWspBUxLazWbh57rkjH7mAPJZPWJ-JIBXzJlSsYgl_4Xz0rW3NoIpVh2pWdMxQbZDCzjfMP1WX0wtRMX6O5jmbD0BhySrMCfeF4Xyqh-YGxKzKhZ-32iz8ztzYIooQ7EFJ3So2ZBS4OjSEeuh73wXGNbuk7xAeThXv5P30gXZwiJSZdIEaRitvjrKB9TRDdtIdDNNo-96dZ7Z49fAYagjwYT2iITHr4JYkZbG3ZIPCn3qFcVoarhv-m-sujohLwgYa5zWZ1ZrIF6Mx-W94Yc-j3VSK8v3HzZHMsrdvPxsxHiW9f2Y1FxdlUkpBxi_HablvyW8Us__G8cxtYnPjBgutOijFKiyxf1iZxGcNvTeinN_kQ6JvvF0O4TvP2eWxyrKyFiInuAEJyScg7Isi4ptUrXx41Hbi4WJR2tfDx5tz4b61pvLSZLjmdt6tGiGJNqA-Pee-5cOwXdZMB4xZQkyhVXbwSBM7K3haE9lcn0okTQliqf_tB5rvSjP5J-57xKvEXe6dsxXqHfAJ05VPHR0sSIMffa66Mdro8VJAZVbmTdDCgG0jh6oJ9RmtJUgNaUa9FmkpkDGWxd5jsBzy9SF_V1EkpxcwmI1Cu-5TDroFZyt16NqN1NM2bnNU_4DSUryp5Fh1Adkxt_D1V5n4w_vQWVU6WHTdPU3RaLIjaVQAClBL8fQ2mV2ATbxX_LLgcMI5Dsdg2U9OpnvaH4YKy4f4n7L1WdaOCpzRp0PiFga7f2CskBcspHPCttbvOuS6OJFcwWlmvAp3sFI8-sOxlQcuZwCyleh1zloFUF8RM5R5jgymO7eNNPtsvMO55MBYVXNNhXf0W0UrIyviiyU1Z-79p63ArM_7M7JaVO3oEemwwziJUjPox09St2jLgFxwnsEjK4bWigdoCihn7RZV7HM4y4ZajLsZyPdn6MHUs7EocmwNSbC0DBKCSGinToWFc6-lxxqIsAhxAwjRFBoWiBSc99--ZFaMx5Mkm1kPll7-cZhD-W3LDKHQeLvgZAEPvI4z10A83JwngS3uk-m4YuB01IWj5G4sohbuM9_m2nmy6psPpdGJD9sXgTN9X2LYpfKMYFrMSqly5MaqliRXPAJc7GfBPHujGSl-RRIymURpJeI01dbddcCbHHVw7fI41u27Jm57u_iHkq7RQteVwkyB1IovyBUprjU5eolQktQ5KpjYoov7HZtg5wbSPDAlKkgI-KlXqcXuigf33eX-d6Bo52k7HPEwnh0M5StTTOSmsZy4ctMBdToOd2aENwe1zzrJqBiZcUT1efTstFIvUyws8LuWWZEwJbPpsDm7lhvTGfXf0kuvhycIglc2C6U3TehN-rMTrsWB-Y8w==",
  "id": "rs_07342fe09ad52c35016ab427696e1487d08cf5a93a9bf239cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The left jaws are centered over the empty left basket, and the basket floor is visible between them. I’m lowering the grasp into the basket before releasing it.\"}",
  "call_id": "call_Yru2AvozUZJh6282xBqkW3Wp",
  "id": "fc_07342fe09ad52c35016ab4276d71e487d080a7ff4b9a6388f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yru2AvozUZJh6282xBqkW3Wp",
  "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]: [-0.5331, 1.7077, 1.0977, -0.2016, -0.4473, -0.3626, 0.3776, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4275 left_y=-0.1594 left_z=0.1161 left_yaw=0.0257 left_pitch=-0.1538 left_roll=0.0611 left_gripper=0.3776 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.2393, 6.3795, 1.6923, -0.149, 0.0171, -0.0122, -0.1436, -1.4291, 7.0359, 1.7216, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be17b18cef3965e5e33932eb34c45ade2fe87de98d2bef509987c41a79736a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ac247083775d9b279b9ead23856cee56f19eaa25d0893fec04bf68b8e02814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c8c6b17452294536247593a083841b8649a4e8546f852ed9905ae8f3ec788b",
      "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 7 attempt 0 · /responses · status 200 · 3.431 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]: [-0.8589, 1.4906, 0.4477, 0.2043, -0.6777, -0.577, 0.3784, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1623 left_z=0.0394 left_yaw=-0.013 left_pitch=-0.0579 left_roll=0.039 left_gripper=0.3784 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.9162, 5.2581, 1.3309, -0.3394, -0.0269, 0.6032, -0.253, -0.9094, 7.0632, 1.7314, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5343, 1.644, 1.343, -0.4835, -0.4477, -0.3546, 0.3776, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.431 left_y=-0.162 left_z=0.1981 left_yaw=0.0185 left_pitch=-0.1309 left_roll=0.0531 left_gripper=0.3776 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0095 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4171, 9.6752, 1.8535, -0.2027, 0.3199, -0.0171, -0.2256, -1.6068, 7.1316, 1.7118, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.5331, 1.7077, 1.0977, -0.2016, -0.4473, -0.3626, 0.3776, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4275 left_y=-0.1594 left_z=0.1161 left_yaw=0.0257 left_pitch=-0.1538 left_roll=0.0611 left_gripper=0.3776 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.2393, 6.3795, 1.6923, -0.149, 0.0171, -0.0122, -0.1436, -1.4291, 7.0359, 1.7216, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be17b18cef3965e5e33932eb34c45ade2fe87de98d2bef509987c41a79736a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ac247083775d9b279b9ead23856cee56f19eaa25d0893fec04bf68b8e02814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c8c6b17452294536247593a083841b8649a4e8546f852ed9905ae8f3ec788b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left gripper is down inside the left basket. I’m opening it to deposit the first grasp, then I’ll clear the view and check exactly what was placed.\"}",
  "call_id": "call_UGkcEeTV8ks9922Jd1xfldih",
  "id": "fc_07342fe09ad52c35016ab42770c16887d0a166916be6dbcee1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UGkcEeTV8ks9922Jd1xfldih",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5331, 1.7077, 1.0977, -0.197, -0.4477, -0.3672, 0.9954, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4281 left_y=-0.1597 left_z=0.1169 left_yaw=0.0281 left_pitch=-0.1496 left_roll=0.0554 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5128, 6.5299, 1.4188, -0.2369, -0.0073, -0.105, -0.2256, -1.1282, 7.0085, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb9bfb76e35596b9d870f0b1f7d4a035aa9af233c70099966bbd36b556df751f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4381c99b2babda3514b9c2162ee4823758cb5279e04f63ea64b8f9ec445cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7c856812c99b6694890a77d29ee079fcef20e54d3e8cf8acf778132527a320",
      "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 8 attempt 0 · /responses · status 200 · 7.335 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 30 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]: [-0.8589, 1.2137, 0.8379, -0.4774, -0.6735, -0.5846, 0.3776, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2916 left_y=-0.1638 left_z=0.1686 left_yaw=-0.0112 left_pitch=-0.0697 left_roll=0.0416 left_gripper=0.3776 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0053 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -5.2855, 8.5538, 1.2527, -0.3541, 0.0464, -0.0952, -0.3487, -1.265, 7.2547, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5331, 1.7077, 1.0977, -0.2016, -0.4473, -0.3626, 0.3776, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4275 left_y=-0.1594 left_z=0.1161 left_yaw=0.0257 left_pitch=-0.1538 left_roll=0.0611 left_gripper=0.3776 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.2393, 6.3795, 1.6923, -0.149, 0.0171, -0.0122, -0.1436, -1.4291, 7.0359, 1.7216, -0.0366, -0.0415, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5331, 1.7077, 1.0977, -0.197, -0.4477, -0.3672, 0.9954, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4281 left_y=-0.1597 left_z=0.1169 left_yaw=0.0281 left_pitch=-0.1496 left_roll=0.0554 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5128, 6.5299, 1.4188, -0.2369, -0.0073, -0.105, -0.2256, -1.1282, 7.0085, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb9bfb76e35596b9d870f0b1f7d4a035aa9af233c70099966bbd36b556df751f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4381c99b2babda3514b9c2162ee4823758cb5279e04f63ea64b8f9ec445cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7c856812c99b6694890a77d29ee079fcef20e54d3e8cf8acf778132527a320",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCd11yYM7ceY44LWBu1CcE0nxMAR31mBkz9dV5e6G1vWEHMFjrKLz8jfyNGXcH52IHdFxNNJ8mAIsTRbdyj5ZRmBQ6kfCROhk0Zx2Kks-RVSEWaNEjd-ziJ_vAA2nwSoxGiCvb1N1xxqqAKDBSRQBKydIKQr0Cwks2Z-P-f2kk6_9w8kg-GNgW0MC3m8eA50vy2k3tt3d3Xpf5OMU5mi9kWM7czKQPDvhOWiV2_LnvMgABU5FpvjO14roIB3mmPtYTUDXn9k24T5mGfSNbFU0GqbOMKw0dG64yNvYa9wiuJOo4KGSGkfV61BzDpyLjWL2J9H1zu_3rGEwXxPI3y--PZOSH28J9ZmW_qm3eFfzGZCIb_Tkqz8hDq21SfTx0R-ovqxoqLuulfUJAe6q3NXKcSzTwavrYhKYLiTGp63u6dqHDMi8D_wJR24914yHY_hPnnFYsMjrT8JFXrQ1uG752lRURwnmKr2jn9vjczHvdT0eSMFX0C7cw4Wvp2MWsUJ6qGgP9mEPDl7HVQXaE1WyJYlLr9_Cboq24tmot28ERBzqQQgsPGnaSlVof_ZklbWTGSIhLMdG7exUNGytKtHQnzDUEMW7Y7KKLb_8RJERQ0Axvgx0lPeqyadTmsxZDVV4PmEEHJ0wn6DotD6IQmX7CFUFygtN-fRdOV62IJEXz5tblHJ7XRurr9PqtmLEXpkycVn0ZbveVGOCru9Bez8eyVc-mpy8R3hZ7vKkn_ReDL0fUwmW0Je5FiAd3LI3FWVDEX8E4H1d628Jz9HzzD5dXYtf8RKQwvW7uhhe6IwEDME1-vyhkQPfZLUenaMrcB2ewlA5wCBC6uAtpOTs_TiynKRvdI1Vx7NdTwRPFeajROvj1H-0PWs6E0lEVcBRKuGooPxlkM8n6fN6oPPbG7TtZ3FALOtAovCeJBdVWYmXvCrwAfS8V6WZaKVlMh2-ZmG4QcfFuKLCNf17OOucXSjuB2i8-uvoEjjU376NXLqo3d6okBJj_7BVxocdYOcV26BUWSLJcqY10Lr84mzFqcAyeijV4UOGeMUpOHL2ZfcXWqK19xnK71bW4iZFdJ-PWSaEqbrU0ZYpj2gTMXLGdvNLmARM39eiPnwC_JlKjzfk7tutRfyBIJKgtPdhiS0X0VbcuEBgerZVqo4pA_WhJQBsLsFdaiiUuSo8ODtuJY29-B9agwQ9N2JM3hkXjGbZ6uJUvptmJcuYE9Bdi0FAyoZTlFBAr7xrh17TSs4f76F1b0DD2wKkVUqQTZFlc8HVkD9hDwTYsiKx3RzHuQJwgwigeNy0hzxr8KvKF-hlEfbew_wwawgVq9Q5PN0sLCKZ0OEA9dIE1KKG_xrHnninAOStA5FUC0MrH-vAsy8SAwLPJIVhjyROAdWgTu0dMEs6uuNaYL24pNM0QEIKYSTzKp0CgGDt5XeIno5TLD_vLAox5d5qlnxxavZisieRv5l0V3S4Vd8Jqrwo6BQ9GWba9XZB3FPQn8hDv1YpTpjXlOtCmAnrlZVPtfp8_TCUpdipjTJwGH6TpQtjvRb9RWh9sdzLS-jJ1KCZBt5RtYB9i-y2PGAnSGp-zTsEqA406GPSm994NSfD8av6dH63TcpY_tUQRLd3E6c01vA3-sAF-sXkpmabXb1CdzpI3QduKLYXfB8ZQ6omD_a_Ev0NrBnnN8j64LngZnzW8dv7iXEaBfDtLY0veQ332SQujHa5CTIRBkiLLXtsusJ64qbSQSvLBGdr19011JxB_ar6RNEI7_CETL6aaV4qnD36N2DIvnpxC9jmbNamv97Z9U7tBOZfyF3mfySGD9fILNA46gtQ7YF123_OntpWwTGhbkWcOfJf0aGGBSU8aHPjbpgWQK6aM1_pw6TvRHFPTpyno3CQtDM90-w5th8dLAj8tSfE-aAxzktyz5vtQQzCH7LW2a7YR0wXeJSgmlvW_N-zzvUi1d8MiroEY-P1rP52kJbh1XvB5LKTyqw1fc-WXdwZuNISXwRCRajuG-ruMOcrvomOxCztJo8g5U=",
  "id": "rs_07342fe09ad52c35016ab427735c7c87d0a69027ea6d15da00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The basket floor still looks empty from the wrist camera, so that first grasp may have slipped or caught something other than the toy. I’m withdrawing the left arm to get an unobstructed overhead view before trying again.\"}",
  "call_id": "call_TCN7Oeydoj53F04LtYpoiVTb",
  "id": "fc_07342fe09ad52c35016ab427748a5487d0964be1ddfb401207",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TCN7Oeydoj53F04LtYpoiVTb",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.7166, 0.7357, -0.72, -0.173, -0.0956, 0.9967, -0.0147, 0.8097, 0.6075, -0.3859, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2536 left_y=0.0046 left_z=0.1928 left_yaw=0.0677 left_pitch=-0.1288 left_roll=0.0496 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.176 right_yaw=0.0004 right_pitch=-0.0183 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -0.1436, 6.9812, 1.6239, 0.1392, 0.1294, 0.1245, -0.1846, -1.265, 7.0769, 1.7363, -0.0611, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84fc984b143d394d7a87f2b6f11630f93e2149409ff37f9b803c739bd35e431a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411dc067d5c69edc8995aa2931705ede927339c32da8876e2cdefbe875114d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2acab2375d94903a58dd52561278d1427a3ba44bcc6dd0eb89470d278a839",
      "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 · 5.609 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 30 changed as sent

message 34 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]: [-0.5343, 1.644, 1.343, -0.4835, -0.4477, -0.3546, 0.3776, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.431 left_y=-0.162 left_z=0.1981 left_yaw=0.0185 left_pitch=-0.1309 left_roll=0.0531 left_gripper=0.3776 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=-0.0095 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4171, 9.6752, 1.8535, -0.2027, 0.3199, -0.0171, -0.2256, -1.6068, 7.1316, 1.7118, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5331, 1.7077, 1.0977, -0.197, -0.4477, -0.3672, 0.9954, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4281 left_y=-0.1597 left_z=0.1169 left_yaw=0.0281 left_pitch=-0.1496 left_roll=0.0554 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5128, 6.5299, 1.4188, -0.2369, -0.0073, -0.105, -0.2256, -1.1282, 7.0085, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.7166, 0.7357, -0.72, -0.173, -0.0956, 0.9967, -0.0147, 0.8097, 0.6075, -0.3859, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2536 left_y=0.0046 left_z=0.1928 left_yaw=0.0677 left_pitch=-0.1288 left_roll=0.0496 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.176 right_yaw=0.0004 right_pitch=-0.0183 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -0.1436, 6.9812, 1.6239, 0.1392, 0.1294, 0.1245, -0.1846, -1.265, 7.0769, 1.7363, -0.0611, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84fc984b143d394d7a87f2b6f11630f93e2149409ff37f9b803c739bd35e431a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411dc067d5c69edc8995aa2931705ede927339c32da8876e2cdefbe875114d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2acab2375d94903a58dd52561278d1427a3ba44bcc6dd0eb89470d278a839",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_07342fe09ad52c35016ab42779c71487d0bb0cfb0f2ad0086c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeAy3Ev4B-kQ-hSqH_1QS44vWySHf7TSnYUlI5xHMi1RdsVHvYIqug7CTQ9R7gnp9yYD4w0vJE1tThY9Gs8lZKgMlsrJ-31cPX2fNls4UFyn4mvNBWK_DzpswK8KenOp_bDVWiZZaZ-IeS1VwVhDeXqPLzoo-r1jikpix88o2YCQ4BesArlfvB9vcVrPYvINNPq7CJpf2vxxHlAKK_NGP6uWWPOa3Uj8qPXCm_XPzUGpDO5Vhsw4uWOCP24_dS783VIsElCm9nHKsAHN3va079SZEVlcXVgfIkBjaZTXjGQGF1fOxUsGDN2JppG6JmJsVmRPdc7BRYNXnaSsrbZK8K4B-0ZZt84UuDCEeoLUiXCBNpFp7f6AGzyiLUvsY4AgoSrDhhPsMwqID4hm80H2Y2xKJ9-PHPFwicOcPdkZ1HrkCKf7Hy24zditA2DW_Dozq_WXnGKD8Qqw26JLuop4Udvqpf9VYedlyl9whjpGiEQwcXBOBW1zNJ2aWw48vPzab-q38GoMuQHpCVSl-uZUuaNV1X-t4_kAJUGS_oHxtbCclMdJBpArFAdP3NoLuJJwyy9no8w6vY40Xw87gh4aRCLOT32nw0C42EZDlTVlJs3QeMqCv64uV0iI-_CJPnJ52-5sLjJnl-tzeSnO1KPd-2IaWmzY4LKaHGS85utlPu7EvCbyuQjiN9G208Inl8JnzOUOJlDUf33Wc6uFOVXbSDBwcqYaAZLzc-dBEfJEldNqOk90H6cuQhDP4WsBAcwgpoMhCDZoX9D9nFcgLSDUvVuX7GFRUpjJ3NkhubC0CXbK1qI4pbL_EXObcvYypz9uni7RGLrutDNl8-DdT50dmMiYlPbRaErAr9uxvAaqawauJEBzqLvXu20xbj0agGMjFfqxFY8vKQO8fhBErbH4E_oeNWtTSDrxOOTuCYv5W67J68El-kQ9gDtw7I9n6vFSLYfxm8WWWKacxrmVrcxxtZMGfnoWbzAoEED2NtBHlA9MWsapngDD1zLSD517fFg1CX1z9qFhRf9zF_zFZTQ52wIKyP1NWxg2EEjesvFa6LbMqVYgowKWlgRxMOVYqf4ifk3q9uD3zm8WzQoppDbePvD9tINoWOBWlXczdDGyPDJUkaFmrf9Ky60r6-qOj3e4GCK8vr1se5AO1_TYqZbLm9cdy8kKPX-t97QB4xHJ3EqJ2BxBTY-nhlNDh3jhPcfTF6G5jv-aviHl8OFNoE2zwDYmT79TTNYzFK3dGgIhJ6Z5l3ffubURyqhFvRMc8UmYzeAeFvMcdRbqcAwkUFkQh0xt_l6M4SdEX6SFXvo0TlJG6YHRcW1Bil09Wan3jyCJAuS4qV1C-A8uApa_kq2WcEXcV5rTMAQn0jsV5C7ODrgc7cbWAKgG1dg5OlRl37SqQs5111qMx__lWtBoaqNkjd9GsMUnBgyN-qyUdW9QvOafFTdNyCXMB3hmBc_2vUpuCLujulDgtkeKICy7Ad34AGxprbvJqFXOn5ZFQU_hQpVG-IGn63DlycaraCeSmI99p4YL2-4sHTY9gJQ97E2Ogv1CG7BnA8uyxCfAO2tin9F5xWEZcTFKFLrxpO7HKLvrv_hf9q__wofy5IdlxqYLrnDAw==",
  "id": "rs_07342fe09ad52c35016ab4277e3c5087d09a99ce17eff2d026",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.035,\"left_z\":0.11},\"note\":\"With the arm out of the way, both baskets are empty and four plush figures remain on the table. The light gray figure is closest to the left arm, so I’m positioning over its torso for a more reliable grasp.\"}",
  "call_id": "call_PPXBVYpl1OkBVPWRZGqjgUjm",
  "id": "fc_07342fe09ad52c35016ab4277f4e5487d08c6dcaee34a3189d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PPXBVYpl1OkBVPWRZGqjgUjm",
  "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]: [-0.3363, 0.9482, 0.4755, -0.3042, -0.3195, -0.2409, 0.9968, -0.0147, 0.812, 0.6071, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2849 left_y=-0.037 left_z=0.1018 left_yaw=0.0516 left_pitch=-0.1689 left_roll=0.0554 left_gripper=0.9968 right_x=0.2956 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0202 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -2.6598, 6.9949, 1.6337, -0.359, -0.0708, -0.0024, -0.2256, -1.5111, 7.2137, 1.746, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab804fed86458f012dd28fa9ab0cbb4cbe6c4dcd7ca533f1aa5345a93c8592b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ca68fc5730020193992e3d350c254ea2ff2a638e0e385c6786bcce7127b12e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f082f5d28c478ea5aeb057ecd1cdc9bcdaf0bfe5c5f39bc4b5851ee904d4fd",
      "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 10 attempt 0 · /responses · status 200 · 2.156 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 34 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]: [-0.5331, 1.7077, 1.0977, -0.2016, -0.4473, -0.3626, 0.3776, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4275 left_y=-0.1594 left_z=0.1161 left_yaw=0.0257 left_pitch=-0.1538 left_roll=0.0611 left_gripper=0.3776 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.2393, 6.3795, 1.6923, -0.149, 0.0171, -0.0122, -0.1436, -1.4291, 7.0359, 1.7216, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.7166, 0.7357, -0.72, -0.173, -0.0956, 0.9967, -0.0147, 0.8097, 0.6075, -0.3859, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2536 left_y=0.0046 left_z=0.1928 left_yaw=0.0677 left_pitch=-0.1288 left_roll=0.0496 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.176 right_yaw=0.0004 right_pitch=-0.0183 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -0.1436, 6.9812, 1.6239, 0.1392, 0.1294, 0.1245, -0.1846, -1.265, 7.0769, 1.7363, -0.0611, -0.0269, -0.0171]",
      "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]: [-0.3363, 0.9482, 0.4755, -0.3042, -0.3195, -0.2409, 0.9968, -0.0147, 0.812, 0.6071, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2849 left_y=-0.037 left_z=0.1018 left_yaw=0.0516 left_pitch=-0.1689 left_roll=0.0554 left_gripper=0.9968 right_x=0.2956 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0202 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -2.6598, 6.9949, 1.6337, -0.359, -0.0708, -0.0024, -0.2256, -1.5111, 7.2137, 1.746, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab804fed86458f012dd28fa9ab0cbb4cbe6c4dcd7ca533f1aa5345a93c8592b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ca68fc5730020193992e3d350c254ea2ff2a638e0e385c6786bcce7127b12e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f082f5d28c478ea5aeb057ecd1cdc9bcdaf0bfe5c5f39bc4b5851ee904d4fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeH3DE3j2SIHseBhFa-aPeIJxMYvv6eL4W95NiGeq6SeasFAj7tvqcyZObDgVuiYYdDDICZSrr0G_LtWEqH612fSkFt1xe2BuEQqzjIryYPLg7JZXXo1YcOrgEIMeYY3fJJRPG5nnl0O67C1n5bgMFRFkbam_PbxYtgzXhNYidm-EoBoQZbTLlm4tnRdbTdXQ7HLZwfUS1ylF3pl3t0K0RsCxdk07pN0fv2Qw_NxJzy05Go74mkF6BYGgnvDKp-u7dyM2UF3pJnNx8_KfzwFcuKMHvUV8ZzEJnbQitEF_SUwI-AyRwkKWzjOvy92f_BUaqRaMT2gSfMXdQyU_fymGQEKLXB_4NI8h6MYlVOWH7O7etwbOIw1qme338Y5XrbvaF2SG5LdklbTgvEjufcpcrAxcYtodqMTu78QhYOP_3l-_PLB8ZYBe4bU6rkaIzJeQF9JfC8jHHUffJPGIp7bOmuT5ZVsBgkQ7zg1bWSn-JWmJdZ5b17tX2UjxyD-S6QD7GGUB5kb4F3u_sK6I7VDpoaRA1z0yE4cNxg9Mn43RCs9YodoMd4yHWpoMNtJO0q0nHGlZ2j19E0pzha62iWVr4k0bXh8T8ZqvdOthL9_Hcsxz23RZCyyeo_QG947WfWdantAc-LLskVxY5EkNEBmoixPTknMIzCCFfzrdoem0_gPfxqoQbqRTwEwvITov9EamCtN-vSsBLZ_hbPs6OWY5FxuTkeRF1BnMcLLHl3vOQudBWHCi6v6KvHNYLwHbo3Y1Fpn12afHiWQNXNSOP45r-8wCpJLjA4zWuOolrwPKXkgK9kO5OP-TAj76B7pYGpQHRm1ZAaTIWizk3Lv8oBwzXUHjl6ZBDb_4BtPe0iEatCG9YJ7DNqa5tqRiLxlXUVr_5sn4m_jIEoB8JTn3W6rFlwrly8QkvnTQgiQVBwB-8yI1QqqOMy9--UBjfkGnqd-n_hMcCXioCNvdJWNII035j5ImpPCC5WOw-pdXMLIeTgoi1DduwXGCRsNJRWvg0K0XbYS4ryjQmTBvIZG6v7xKGQstbgJfbN9y0q5gVQPUesSh_hWPiYBdH9jJRBBBM4V4v2mX9u1FF4tPsHWjphywUBpfuotd5fdHkmfoAYqArdPUxEcSuiiqYvUchnycxtlFG4xCsGeCR9xw7CRbF14WHYcaS-gghXVdSQ6VkyLp2Kp0ZpB9mWVLgOUNUJtRMJUJU-QSBB1fzZksW4I7qtEb2gEEkDniL16yU-BhfLBfPKOivvZ5CuammWCcpsCHoJcmgNvmSSSULqya0wNOsl-74g2BRKIkpN9_LdiyGm7SFzDau6aR1qhtfzI2l06L7tF6wSMRd-eIC9o-8tBt0ea5WWUqWMtLx557JR0caR5-m-PN4FtrIgbe2SovJeurM110MkaceQJnhrD-bY3O1pp71FwTe5xqHRzxPbZhNBG0sBRNAS1tYtQwqhABCSEZVO8WJyQmv8Zcimvav-3CmYH5g3MPUmjev11T_JrILorFXo1_CqrW9JyfKjoVO7-6fFtaSnuUyPI7g-6J4WyO_q5mOWBDOFvYnptvLR5DPHtDkW-a5TB2VKulxzO36NUbQRvbzIerE14PkFehxCf8pTOL_Z3DQBfnwpxIQ2SqZeNw-EgIsSUW31x6QmwstRwFPnHxp98vR7GaO4jJL2pToSrFoVhOd9ulEad7KAiWB3eP92a6T9obLf3QFXstkmmLQp1OuCJXX1hNgY26uEkYT-REr8PG7dFO8W4t-axQ4jgOUWtfKl22oISa_dFeZvurkp_MPI12fwXDRsRAqDpa2KdipvQXJyZQeixc8Cjug1QU7QZqzgT-wA9fLsWNWuD7508Gbeqm_U-aprEi9q0BMUkndQDIy9sP-BPganHWXKQ7M68IlmNRuqA35AvwJusEZZ3TbWaPPcYxiDHtPuMMKhVhSEmkiIchkcLloQtideVcep7vb3cEJniHZBmP6zAMmsbtdFoIUCkYd5nwWzndNFu_hjhqw436lg0wgB28CQbn2_B6ZcEutQ_kRi_ZbLGwuTZcJUnv6p6WnVgYlM1BxdfBg9iwezKIMzO7Tgc_5PdoJWDHVaAj_1B57n7hF2BKTynUx7Y-plASxgcf9Z6Cb-HaK2YVtoBrnSzZqYD_wUWmVaxgI8qx3inqtX-xDJFwmpYMcuOAf0xeAcJtz2LC-FGbnWOa8E8rC08lirBeSW-FlT91p60oSg-sIrYvhdUrx9sQ1SJyXh-GS-XkShu3cWDZqJ3JTTPrdkVRT4OCUWk7YEUha09mRIqmS7dFAnSvhMWy1dhsHlpEhUR_BZ5xWlVMsn48vsxclZX6_sHb8xIQjcO42IVA2u2xHsh6qOIkifm0sG574Y2gJ_4yChIJxfpqIPMspiYwyLmr9zsPHfsDfMuSQm2Mkh43Ez0_QIyG--Pd1x5WrBku0QvNsj-qwjlyAHUeWpNIFiXVe--iYCMdhC7p6ObNHbuVE8CqbYr5Kg3bUGv2bEotKfwHcoj-RFn862RvAIBBBf6QMbfGy6gcysJk-D_29C3aihylv2LDkfTff8gJySG7PzPgcod2aykGjSAQHWM7oU32zBALJot7vQD9o=",
  "id": "rs_07342fe09ad52c35016ab42783b92487d0aff095b510504969",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":0.005,\"left_z\":0.045},\"note\":\"The gray figure’s torso sits just left of the jaw column in the wrist view. I’m shifting the jaws a few centimeters toward it and lowering to grip the thicker torso rather than a loose limb.\"}",
  "call_id": "call_UOg60Ba5AwrzlsjNOudlXpPZ",
  "id": "fc_07342fe09ad52c35016ab42786a1e087d0bb714567d35bd206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UOg60Ba5AwrzlsjNOudlXpPZ",
  "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]: [-0.0677, 1.1561, 0.329, 0.1444, -0.1528, -0.0521, 0.9968, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=0.0092 left_z=0.0597 left_yaw=0.0754 left_pitch=-0.1144 left_roll=0.0678 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -2.4957, 4.6838, 1.3553, 0.1636, -0.0024, -0.0073, -0.1573, -1.6205, 7.0632, 1.7705, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f711e280bfa7b09f827e8eb3042e704f009bacc390ce7dc92839b04a482b02b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0ecc5cc7901fdcc6bf4d69b807f3f292954214680242cc7f2522fc13d933fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6510f95c8af0c2283694edefde3b9c431d649309f8d9fc59029211709390700",
      "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 11 attempt 0 · /responses · status 200 · 4.366 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 39 changed as sent

message 43 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5331, 1.7077, 1.0977, -0.197, -0.4477, -0.3672, 0.9954, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4281 left_y=-0.1597 left_z=0.1169 left_yaw=0.0281 left_pitch=-0.1496 left_roll=0.0554 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=0.0 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5128, 6.5299, 1.4188, -0.2369, -0.0073, -0.105, -0.2256, -1.1282, 7.0085, 1.707, -0.0415, -0.0513, -0.0171]",
      "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]: [-0.3363, 0.9482, 0.4755, -0.3042, -0.3195, -0.2409, 0.9968, -0.0147, 0.812, 0.6071, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2849 left_y=-0.037 left_z=0.1018 left_yaw=0.0516 left_pitch=-0.1689 left_roll=0.0554 left_gripper=0.9968 right_x=0.2956 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0202 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -2.6598, 6.9949, 1.6337, -0.359, -0.0708, -0.0024, -0.2256, -1.5111, 7.2137, 1.746, -0.0366, -0.0366, -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]: [-0.0677, 1.1561, 0.329, 0.1444, -0.1528, -0.0521, 0.9968, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=0.0092 left_z=0.0597 left_yaw=0.0754 left_pitch=-0.1144 left_roll=0.0678 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -2.4957, 4.6838, 1.3553, 0.1636, -0.0024, -0.0073, -0.1573, -1.6205, 7.0632, 1.7705, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f711e280bfa7b09f827e8eb3042e704f009bacc390ce7dc92839b04a482b02b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0ecc5cc7901fdcc6bf4d69b807f3f292954214680242cc7f2522fc13d933fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6510f95c8af0c2283694edefde3b9c431d649309f8d9fc59029211709390700",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeL4dIlgSGmyE7BbmgYAMHN5BGW3KNLPdKF-klLC3wME9Q5vdsQfhaAhQKCKIW19RvGyoW5Pv0tIdpMNGQuU9tBNhHODh9UFWXfs-aKEMqb8m-t4cTIETkvMEa5WDbiW5TFaz8xNwP1uUgXI9qYNkspLBgKfNEiM65NJTnFbEQYgLLF_ch7uCwIqH6xcqCsL-Y3apMrKfmWalO61KX44wRqFJfdcj-Z8uftLufDWL3pfjkKtkmDZsxNfJnwHJ5oYACrLF4rQn-RCbzOSt5QU-idUB4xQC9Tc4oa6RFBNL_zSzbDN2ehCvBjwKLmo7aMFLxzAAorNWkBuzrgdpLIZoCUiDiUxE7eZumSpmtqUI4Gc1BB81pZ4FgXDVzD8Nvw5sRj5NKZTlP1k9g6fozZZMAAYexC8IHIFQvnJ6n1_ihG01VujE4U1on8Lea4nU7LBa_EGtodkAc93IYjn_Wa6NAGecxqOCdJ2UA8M5vqNUgEjw-ULsXBiVzE1zbznC5ncgyFqFl8AEOP4TYuZe5btyLT3GPkbdoRsrOi6UBnQ8yPc2FL96wLINe4d7WM_Os1gbnd2uF2WElri9QXSIApo134n-zD8E7L0RFvtChG3arjMbHlU_nJYwv8bZDHTkaSEk5VV1MZMeKUSvGEbKwWPsHG1SxTJVuffW5zozsHM2R-Ybqqs_tUN013geOxq_69AXeBgG7Gac0m9BEqvY1XWLYy2J1x3V5MNtW4ZEVK4S1vCbcmGfj9-PNWeL6drt1W2Q67aBmWEyiQ7D1WcJJvIZi_78NEqNOY3pGosSBhTUjBf-mAqZV5VxkzqKtQEMa9mXXhX-tzwFBl8FCw3r3YH02IIaps48TgjSlZ33vpUfjSoLk3zkBlFk6RY4z5Jft84oEIwB9ClZM5-7zjx9qm5VLzxeVjg_ETBk0G7u1sZxmF1Lbu5wl4Plnac2wrRXOK-XgwUr31zz5JA2U7Wa1lYPJc7lS54MTVBJ1_KAUZDlxNJZSMK00K59eegr-sgDa6itiHhxcKy8UPaUN8jo80mhDAvmVllv_6ldvVwgVbB32JavS9YZa5h2yzYkod2yWkgpKy2-UFoX7FDzXfM7Yn-iAvnac4VOE14JRWk3FRaLwGF_k-HJ_mgMfcxPnbIWPaV0d2hEhOAiwzHC9XlHffvlKlPdF6090VQrq6uTmrac_pYS_s1j-o-0f_5PtGkfEdNABOFq6L7Nlc2403MV0_DA-gYOt_-RICRCuWK99NTZAQDoM3eH2wTlz2Y2Ff5FB3G7cAVjYm_jjr-ZeUCgkyjvwC2dDvQMujsKPv47CiSswisjZC5qzTZT2wpbj_UfekFH1n6GWVFEZgAm_r2UOBqDaeVY3kuEjJVK90t-ZpmhL_MAkzWGnz3AjHkD2GHYsmtMRs",
  "id": "rs_07342fe09ad52c35016ab4278a707087d0a90047994fbddf51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray figure now fills the space between the left jaws near its torso, and the descent stopped slightly above the target height. I’m closing on it to test this grasp.\"}",
  "call_id": "call_shMpAwZUV1k2IEV71UPSXCTE",
  "id": "fc_07342fe09ad52c35016ab4278ad83487d0a1cf806a4fda61d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_shMpAwZUV1k2IEV71UPSXCTE",
  "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]: [-0.0677, 1.1557, 0.329, 0.1635, -0.1638, -0.0525, 0.0101, -0.0147, 0.8158, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=0.0109 left_z=0.0637 left_yaw=0.0847 left_pitch=-0.0941 left_roll=0.0714 left_gripper=0.0101 right_x=0.2958 right_y=0.0014 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0701, 6.1607, 1.453, 0.0024, -0.0073, 0.8816, -0.2393, -1.2239, 7.0085, 1.7411, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164685acf0cac559ad6a147f0729b2b63d45127343f21b62a6a54fba642ecbee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c647619dd637e0bbf48186efe907fef19b5f325450118486fd9350b91182b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770822e0841976e7b3650846ca59f0cb50b9761a9d4f59e44e1968e1a6d768d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.219 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 43 changed as sent

message 47 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.7166, 0.7357, -0.72, -0.173, -0.0956, 0.9967, -0.0147, 0.8097, 0.6075, -0.3859, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2536 left_y=0.0046 left_z=0.1928 left_yaw=0.0677 left_pitch=-0.1288 left_roll=0.0496 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.176 right_yaw=0.0004 right_pitch=-0.0183 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -0.1436, 6.9812, 1.6239, 0.1392, 0.1294, 0.1245, -0.1846, -1.265, 7.0769, 1.7363, -0.0611, -0.0269, -0.0171]",
      "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]: [-0.0677, 1.1561, 0.329, 0.1444, -0.1528, -0.0521, 0.9968, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=0.0092 left_z=0.0597 left_yaw=0.0754 left_pitch=-0.1144 left_roll=0.0678 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -2.4957, 4.6838, 1.3553, 0.1636, -0.0024, -0.0073, -0.1573, -1.6205, 7.0632, 1.7705, -0.0562, -0.0659, -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]: [-0.0677, 1.1557, 0.329, 0.1635, -0.1638, -0.0525, 0.0101, -0.0147, 0.8158, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=0.0109 left_z=0.0637 left_yaw=0.0847 left_pitch=-0.0941 left_roll=0.0714 left_gripper=0.0101 right_x=0.2958 right_y=0.0014 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0701, 6.1607, 1.453, 0.0024, -0.0073, 0.8816, -0.2393, -1.2239, 7.0085, 1.7411, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164685acf0cac559ad6a147f0729b2b63d45127343f21b62a6a54fba642ecbee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c647619dd637e0bbf48186efe907fef19b5f325450118486fd9350b91182b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770822e0841976e7b3650846ca59f0cb50b9761a9d4f59e44e1968e1a6d768d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeQF1oK9XXbXnDzmOzHmHtdVZYE8D6ZepamBEMnK5DNf0m32h_fauWHiik7GMkpd4w1qAAIXY4q1K9Z4ZNaLw2KwYrkIiiTBljnMu5EUj1OdU3TV8st3XW21ClVNrCyf4VBgBfqVB7D2piwKK0PaHWgHGy-lRkwsA8cU2MRF2JZIgnBK1RsrNBzayYGHMtEuy8SsABwnig9vJqu-d0e2DYZlGjrFwnCxyCSRzYGS61wdz7bW5bSUvkwN_Krwg2j21FlDGJ1IJ62ld3yIOmd8VMBr-m0tn_kqLQDkiITcv3YFOATZxACeZkWF_i28jdCkIPxhnq7PaMaboI_F3CMpQ_Bw6LUmcdNHTdf7iKLvGMMxq2VYmH1wvS7lvY0JJdevCn7_gyD4_jK6u0qHHzPMwm8gUX0mYwvqhHCSW6iabFuHR9nbtd01bOGgmhZdQ3XLRxTGBF1HcSptpzlpQkzpZ50ohXraJ71jZlX9tjlQOa7XE9G9592b2Loq4db_iAVscbjNafRtRlZt6uEKWr8ftHzqdNWyeDtih4uPL1YIstL639YaFnEY3QWa_IQien-ZiyaaH2YNgvkc3QBlIEbixHvycgGbwE9BletNEdTcB9FM46R-uBkPgNjdFEBC09E2hXq4FXK3S8A4EwL8QqoSzzCd_c5d1OXQ9WCzU5y8vA7nJ15BPR2mg_pBNZ4J4u8J0_Cl1mGY-aWeMYxPkyJReHACHGBRO9bOxRpUutO-DRQ5P2FOa4Q6MgSJs7lIpnrSvdtLzP_1sftbr9j-3FJ763IEY3VkJ4ftEk2Ws-eUjeaULMoDoTCNRgbuG3cXS7ZSjOIj2uWT1pSIKfxOTNVTVm1mzgv-HZKG4chb1E6hZa_2EOBligL1hJje2yh0Lm9WdkVE4IoGQ8wAo5ePlibfN9i9ZRVxdath-qtXrstiVtF7deWX6aSbtErK0Lie8x-LH1UhBqlQtPSfxcOHgsS-0zuZim5UryYf_JGXopd8UogAcC90Ud8gyDH1Ijz2DY30VVlLq86fbwe2OYOgsXo422eEuZv-RCrmNUQwkX84c6g9zXX1c_xkn-rEW5w6_qzS8EPibeDcNDRfnEmKS-JqElrTHwKVeTnElG0-YDa4IHA1zvgGvWYmdlPbkCuMjanvAOR0GE-2eDpBvJkGQpO_uv9-csJyeJSlBw2MxoXHIJkc8CuqDpC-jZWzRLsE7_W1XaLj_yIf2QZZH_6aN_QC4-9UUVX5gggEkEC-CJPRVIqaY6RRdQ5H4GU45D1SNRYwblkocyxTd80FSNd3LVMIPIrti4R_eR8Slj41lMivOPko4nJ8Z6gSZmM-ZYYAc5n2YNCMb0RJMyuhqOhDSKHu46_EmtDZXQ0N1VLdwFMMCA4Hqetu7JyDqzEiwjmme3xfZB9Zob5a-cnntCXGnxDHRUhm9PWlAenJsJSCLwJwmaS0TIVtxE8VPylPfL2NEgkdQsMSSoYu9bNHihKHRsSFBb9e2zD8zcZ205ZTG0QC0mU8bY_aFIKhoiio3Ob09v-wxvmRS6gSGM0kMcBY_cvIWbi4kZNiGJ3veVImf9fxJdfn6jdbonCR0v1whHQtbYdg6eyz5nSERbjyLE_siT6iCffwiSCFE2uAXLkCpK5eIMR0jikUTJXENAIMFbQXXUFe59-Y8aDkJXaJH1DFnowEH6tUm4tTtUw7Ctd8-J3oDWZoqsqcCIkCXuO-brmLtfWAF_SMVAI3ihztfH42sW7yDNL70TmDAWt1HoWaxuY-K3NUVaFHp0Mvz8QnhYtepK2f2eWdVM31JZHdfM8gcsGD5ERW2HSAjU9B6r6Fr8Flk0sYyKCc3RsVFEjwVI3WH22_551mo-Zu-yxywgE_pl0eUfhmPvH70LuHxFcr88GhdMPIE-pG1WBPNgVQfAX0FdxP_rzja2EGIwNBx7cP0U_nMqTevL1bOYgIKDGpXbZq6y2-QC0n_7CcLJ1obFFroddnvYA6A58vJ2hNTAhjg3h3EUe8S2-m9BL2ERp19DIBiowheT8tvuwcxKUjn17giqr5mrerTlHnW1vFUq1l0MaX_Xd4kny5CNNk-GTnG4EzfoUZMThd8C6grHiilI9t76U9DfoyyALvVvPY4EceIyZR2AwgZ5_lPvgZ2mGkUswqEs--WOkrToEP_gU-yjpV7aJkjoMqpyRchZZTVsQY49Y8bf083p2okUyelv21UGT8BqnDxves3oqxdQmWHdDCukB-WeSPKAn36BG7yscveydpTZTtA==",
  "id": "rs_07342fe09ad52c35016ab4278dd38887d0bc74e3d8e347706f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.305,\"left_y\":0.04,\"left_z\":0.01},\"note\":\"The jaws closed nearly all the way, so that attempt missed the gray figure. In the wrist view most of its torso sits left of the jaw gap; I’m reopening and moving toward that side while lowering closer to table height.\"}",
  "call_id": "call_j6XtkZgRuSt78L35T74oQXDy",
  "id": "fc_07342fe09ad52c35016ab4278fdfbc87d08bb68c7ad401a091",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j6XtkZgRuSt78L35T74oQXDy",
  "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]: [0.0914, 1.3746, 0.1909, 0.7021, -0.0441, 0.0719, 0.9988, -0.0143, 0.8185, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0419 left_z=0.0527 left_yaw=0.0758 left_pitch=0.0762 left_roll=0.0991 left_gripper=0.9988 right_x=0.296 right_y=0.0015 right_z=0.1734 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -1.6342, 2.4137, 0.7057, 0.0659, -0.2466, -0.1392, -0.0615, -1.6342, 7.2957, 1.7314, -0.0513, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28e1eadb58bbc9954a4d5930356d829cb2412a7c0446669f4f6c6f963a9d91b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422ec5175b99ba4206de34fb67e91408d806d1a11155ed6e3e69e4a95817f58a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e5d1af24c1bcf9685f2125fe2d989ad51e265291a291b0b344abc50caa3d5d",
      "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 · 5.355 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]: [-0.3363, 0.9482, 0.4755, -0.3042, -0.3195, -0.2409, 0.9968, -0.0147, 0.812, 0.6071, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2849 left_y=-0.037 left_z=0.1018 left_yaw=0.0516 left_pitch=-0.1689 left_roll=0.0554 left_gripper=0.9968 right_x=0.2956 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0202 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -2.6598, 6.9949, 1.6337, -0.359, -0.0708, -0.0024, -0.2256, -1.5111, 7.2137, 1.746, -0.0366, -0.0366, -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]: [-0.0677, 1.1557, 0.329, 0.1635, -0.1638, -0.0525, 0.0101, -0.0147, 0.8158, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=0.0109 left_z=0.0637 left_yaw=0.0847 left_pitch=-0.0941 left_roll=0.0714 left_gripper=0.0101 right_x=0.2958 right_y=0.0014 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0701, 6.1607, 1.453, 0.0024, -0.0073, 0.8816, -0.2393, -1.2239, 7.0085, 1.7411, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0914, 1.3746, 0.1909, 0.7021, -0.0441, 0.0719, 0.9988, -0.0143, 0.8185, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0419 left_z=0.0527 left_yaw=0.0758 left_pitch=0.0762 left_roll=0.0991 left_gripper=0.9988 right_x=0.296 right_y=0.0015 right_z=0.1734 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -1.6342, 2.4137, 0.7057, 0.0659, -0.2466, -0.1392, -0.0615, -1.6342, 7.2957, 1.7314, -0.0513, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28e1eadb58bbc9954a4d5930356d829cb2412a7c0446669f4f6c6f963a9d91b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422ec5175b99ba4206de34fb67e91408d806d1a11155ed6e3e69e4a95817f58a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e5d1af24c1bcf9685f2125fe2d989ad51e265291a291b0b344abc50caa3d5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeZEW4B01rUA4QJagyktbwrwjUBn8sNfeRiGpjVvU6a1Xs8I_tbKEcjuKxbaA_Ff7-5ZJPuQ7Mp8Agz8DUvEyW4qKEKKk8W0lXnXY9SxHb3AFFbtzsXJ5EMD0C3cPUxSmOMymwigHeb3SLuk4AlyH_TDunifS1OpEANW6ztZWuppSvK1JH3b6sMF5WlfT4981csK1pQSpAb5uHobjSQubVGbfUeUpxE7d1zXNPNTEXJuVUVv5WmGjjwxw5zYyhvRdP4wVcev0KnYJKXZwahLifviL5WXBGiGblx-J3DYvMJYF9JWr2rUD-c4-qlbHaMvmxSsv6kVfTrb4mngrM6wYS2xb4zFOnO_F6EhI7Si0AWMSJPneYPlEwyTxtSRRAllK-qFAxhwEfGUPtZScWhQXebmJYghub_K6eAYiz9bK6eGE7R07flubc4ka4aXajSSLYznSoCSljlr16Cyn5pPPh6Bin_xyfaZfKQYY71ApDKE39Zsx9LtZTEhzg6AzJBr55PDPokRlAgCEnGRBxKzL6FAWnKX0u_Eo8xyyMF6KVN2oPQl7rsNp8GVhjt8HPgQsA7504zBn_-4Hd3VKJKG0xezLKaYZPFYJecAfwm3KDG3W5D7UoDP6jFPfMvo6z6DoB50RhK0jwvM8f7kfHdUl6aIFkqXLTsCJculNJ3bXZ0kHafcweY3FzrNpQJCEpgOqd7DMqR0lTKiyUrG4kFn_g-VIwALTpx-GDlOIdQwiZq5zkT7ZC0JfOnAoF8J-KCk0HJgaguvS0vrnQczw5uPcTZZ3FPbvNgZ-n78SkVUZtki6qLixIAuTGsHN5etjcdAjZjI-0tLAbji8YAl8foMb7891bx3qDR20AfqaPJ__afKFdYepmz97iEuSsc-5r08weEFL1xpDxllunxvVkv9S543b-e-0iNizwixoLTZ83j5crGnqLjDys5MbF4XmmrALK__WziHwlpd6CJ0V39SLGfyGeDykY4C8q1sR3w2P3OzcyemntE-GatzIXP2aWpwNX8GssL7eTiAN6sUaFACMRhMGoe9EOvU_Sw5Nc44aBSbp_JO_gfnYDoW2o2kqY5B4bM87BjthzdEDeqbHJ7Ua5amCW3JRt7jAWOIQnM_XTvRfDVO_aakjn0MYZ3RRL33Yvb2CclIBMTlSQrjJL2ngfSbtx4WVyLcWzXIG03KnoPc2klXwFIO9hwMKHqIrzvzFQOf_JqESPa3EeDPBxFwkC_mnRm_uRG6qMYcHJV7Ct9-Yc8oLzgxnssxMYX7hHbblM4CvuvuNBeYnNQkbIlv0CLPrRvOhAK7KMsXYiVnP0NHIN914Y7vVg4Tq9vtidXQowaArxKYVMvzYgcxlCQ970Pzpg7gcQzAAkyGtHUapcT80XW8WiDzPhTsm5dXbIypICFOfgLkChZyVNggo6mSiKsKx4tds30I6kdAWK_YXewm6rObyZgzT4LBknEkxwqoQgBCCWDE-oFm4HvamxGQEJtxeqypVuEytlNsuV-lEdjLp1hGWJk5bQgp2lZXaPaIHeYfYUUwuIJhicgN5UMS1Z51yRPZub9KZUzwvz2yGoxXttrhslsGXWYHl5HvNPjJSMAgnPXMm0auyaOrGsWsBVEc564Io0sYd1DypZe5RtXmGkjpr0vVqFSfZjaUu5jh4GB",
  "id": "rs_07342fe09ad52c35016ab42797ea9487d0ac6656c886d6e0d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.05},\"note\":\"The low descent met resistance around 5 cm above the table, and the gray torso now lies between the jaws. I’m backing off the downward pressure while closing around it.\"}",
  "call_id": "call_zUmS3fjK2k9WVC7zAkcQsoEy",
  "id": "fc_07342fe09ad52c35016ab4279927e087d0b3b209eb68941d7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zUmS3fjK2k9WVC7zAkcQsoEy",
  "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]: [0.0895, 1.3766, 0.2016, 0.7586, -0.0509, 0.0742, 0.011, -0.0147, 0.8192, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.342 left_y=0.0433 left_z=0.0686 left_yaw=0.0784 left_pitch=0.1412 left_roll=0.105 left_gripper=0.011 right_x=0.296 right_y=0.0014 right_z=0.1732 right_yaw=0.0004 right_pitch=-0.0279 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.4684, 3.7538, 1.536, 0.0464, -0.0708, 0.7692, -0.2256, -1.4291, 7.0906, 1.7314, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00c9571403c46de356cb1893a24494c1b15c5346f96f2c4d1097fc07e89ccff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111e0a9f6f3baa59a27ee2c342019f421d318c62cb6d01b0143bdf28b9bf6455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac3fed1cc95c9509827a9138a8e9ca0a4c1fcd065123bfee237a15d95b0a6cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.77 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]: [-0.0677, 1.1561, 0.329, 0.1444, -0.1528, -0.0521, 0.9968, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=0.0092 left_z=0.0597 left_yaw=0.0754 left_pitch=-0.1144 left_roll=0.0678 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.0244 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -2.4957, 4.6838, 1.3553, 0.1636, -0.0024, -0.0073, -0.1573, -1.6205, 7.0632, 1.7705, -0.0562, -0.0659, -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]: [0.0914, 1.3746, 0.1909, 0.7021, -0.0441, 0.0719, 0.9988, -0.0143, 0.8185, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0419 left_z=0.0527 left_yaw=0.0758 left_pitch=0.0762 left_roll=0.0991 left_gripper=0.9988 right_x=0.296 right_y=0.0015 right_z=0.1734 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -1.6342, 2.4137, 0.7057, 0.0659, -0.2466, -0.1392, -0.0615, -1.6342, 7.2957, 1.7314, -0.0513, -0.0757, -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 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]: [0.0895, 1.3766, 0.2016, 0.7586, -0.0509, 0.0742, 0.011, -0.0147, 0.8192, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.342 left_y=0.0433 left_z=0.0686 left_yaw=0.0784 left_pitch=0.1412 left_roll=0.105 left_gripper=0.011 right_x=0.296 right_y=0.0014 right_z=0.1732 right_yaw=0.0004 right_pitch=-0.0279 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.4684, 3.7538, 1.536, 0.0464, -0.0708, 0.7692, -0.2256, -1.4291, 7.0906, 1.7314, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00c9571403c46de356cb1893a24494c1b15c5346f96f2c4d1097fc07e89ccff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111e0a9f6f3baa59a27ee2c342019f421d318c62cb6d01b0143bdf28b9bf6455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac3fed1cc95c9509827a9138a8e9ca0a4c1fcd065123bfee237a15d95b0a6cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCegSDx0dfRU5fGgnA2UBoazrsT8RR_aSsOfhsTNoVUdCI7-oiVQAHPfc6uYRMGgfqnbstOPEMOZyBydWjW0IdnlPFpF5CrQNG484zJATKm60IGX_RweacqgrAR7ZqvCswUDCprJrnYH3yb0tooQTh2YDFz24SEsmBKBg4ejz7yK5jAwu7sWKm3PsUFZmZx4cI82b-2kyZXQcicbO5gcteXwMLE0t_mS6bUtFc29mY8uCMhzV2XGgC31uYAnk4pwuw0R6ra4YYD6fo-faIQBQZ8CPtG9DxE3Yz83g72OtV1UcOy8VScRxGSJ3MqNChvM3bJXviS64KbyLV9syTFO0UssRxEZSjQ_bIH5Vzz6VbtmKlBdvPkq0N26ZkZli8pBt20T8vZSDs1C4TOwruB9rgtyYCgXL6WXTVxYksdFWstDix-2FQkvBcKtfOO2X_1Lv99UbUwbjvD4KLni8zn_zkfDVYTyQuZp18yQJZNjaym94W5W26TDPhmwsvRHlI5ffMQwydDsWryzSFJ4bCnI5-P6n018BKapUTH8a22qJfEeJP6X_4geVDxN76zGyvIjrYsgkv6aRo6Yw_29U4P_arNpZx6FAr1SNZbKc2QTAEvFhkc1GMtBvzqNIUUTIZnhiR_XXWfHxqacCJe16I3i4dhI_fpl2yrysRhRpHDSZmqiqAPSeuF7WJ_GojeJC2RNk4J0L5wyqt_SEkcPhdUcF4AxBQ9vq5ON5NCKlt3QkEjPEs8-mq-szwc0BxW74T8vwTyatRPmYRGd3FcL-8k2ZhbXj9XvOUOrdIXmI_jhYcNzgofrOi-bTFF6m4BrfkzFBV7inr_brWcMwu6rztswIQ5hueZLh7K2VA9KYdK6oAbAsWo3fN1gk8-2iBUMN8TDDcNJxywytairc1fOuMR2NusKjGtpQYqIvCjwQZ84XEocCaPpAsWJ_ntARfprt03-HjSaDABR_FteL4IswfDl_SVkQlsbCe3QwUCfVCDBpJBpn1drRq6UP-xqZwzDxHvhQnYxyknl8sI8wfRJBkb4jtFNbs_soEsxeW_aZDC8PyPKxby0OWNpePnAfUb6IN7BeoUdU8Cy3fUloWrCDnCO9lDQWabD-advcGti0lhUcsQARGQLyK_1oImmd9NSyY07z6yKQdGw1OhYNVm1oxvVsgIxJ25LmuKeGohc7Og3OOXZoHjzZpQL3m2KQpxOTUILHT78ROX5N-FixwA4esYA5t7RVn6756S0ZSlq_TEQb3xy_lFMdxvSAtYXortNYBkzvRvLM-avl9KcLNsMUf9y_mE7WNLax8hczvhr4rHtbsxI8iQB6YUrQX7etKce2m8fT-VP0mNFgBeQbBKe4x8Ovq_jr_g3txhK96cQPggrcRwJr4uOeiyy7inVKbADw8dg2bC3lSCov5HG6AvMbmcqoq9dDqvJsVRK47VUghABXiFuZlxsG2AtkId5W2V-2ybLjHaV9JW4602_EA-6z_G_TNWFH6JCqdpkOtxkGc69yjObLXJIeUqFGaFoP8fNdMLO5kZmgqu-KeBbP1Zlqnqtc05eVxer9RDxJtYwJy_bEsyGrwCcANoV6ZkfC3x6VKSx8RG5OHXLeLAXbE1aw4Uh6eYGJMK3itKm8yFgDoJCRQxe5nU-08dFUQcvQvjjdSzQ0aoHhlnqqgCVlI2YmT3TkVJtRRsyIiXmZofma6-GcFsZ_kuWWZ0SUzAVw5yLJ5YMjspCTJDqjCZyllTllPwmlhYV6yfVnzigcvL0qMtpqb4TMCBnUCqSAesWrojuY05oHfnoHJS8cgSg_M1UO_C67yQIm_ympvBkAy-6skgc7p3iP9rYieo8T-yGDcoYM_CxSCpqbGhqkxWLmKrhMgGPpM-k8ni8WTqVtu8V9d1MQMIfsI7JVMm4dWzpEUR5S9WvbUDMW3UAwKkDZ--qOrmX43N2Zh7aA3UJOlnNzVMFS55lPjeN1Oqv-CjYlDvfg8gu3ThKb__DBWbubax7SVON0CyS-vbWVBFE5rkxrpRzCCekq3sjgu3KxeH8CSgN4kgZZnWVD0S8dvAN-RcPBMPAKKHkjP9HJOferoPFdWxYNnWGHAGbjQK-qE7jpr0KjDxgn15JiMxdCCrgY0TRtwte484yOTm7sdvptK5IhKMkkWAGp_Hhuf_29zUB3XUGnOnV4iNPJnKJUo-K4uag9YrfF1Fwa7nRRZehwhJPIWHZHARt-_yTX_URwVIzxXtO7Yud9v8whj5JBmD8SGwuxzvUbj5uJiYpik43ApR7-Nym24x4uCnpcgF8HFn_ZKDRUe9If1IAKVR6cowyO4Pa6q7rCm_DtmVm_PMcY1qSmgo3bJfjVpWSSBlFaiai80oZYulY9ipf4JR8icRsbpZIcGjK6bZGHQSDJYTauzqX8pQCjbVKTwIwlCVswPT8td_iSKDKq1-zCjSj5XE_F0dbWkxYDcJsknq7BQpdDren4vZKJJbO_V4j1Ai20UIkAFgeBajRn2NxP9mLIvOsSydVIxtXYqWh1U9kx6pP8ZymmOrnRI2RT_GmR-N46ls24O070crgYEvS6zRfwbmwwuwGmnxohQkXDnEsW4Uc1-4Gd_ocbQp9vXIwHWXECAInGp2fUrUNx0l1YfgF5UVDpCes1Y4wbF4LRVeoLuu7UDRWPC5R6HbiXqUxeE1Nd8Zf4s6iULmKhTq6yteH_Idb2-xICs0SlBs8hvNqvuvkh3nDszc6-8ZESvyn6-OuCw-0FNFFaT9pcw--1OgvcuvgGImXKFF7foTKFB1UIRKYRvGjbeSKOyP8VwxkGgndcHBCER93ZvA-a14_oMGP24PN9R79sWlP_l0w-53-5FldeceMuG-ZdufwuZsfUOqzS5kff0BtFgmHdN5lJ2KFUk0ApeTUvBOvxAh2X89PztcCygwN0Dcl7cCfFq5iUoq35D_BMY3E6Vhi3QPCfYLy_bisdFebnLWMnjM6FmMnn3Dm98q26hljPVWaByBGNQZZOS2vQHGnEEjbh4nq3iMl83PFZvHGYEZ8Lplsx6xj6xkmEm951vHB5iJkXk3CYdcfWVctsq2zxp2_GOW4HYYIi2mjFPS1wmJc_kFcCE8zp4ZbvArBZqKu3EFwNNLu_vMe5Inuxp1-lZGf3eYCtMatjN-PSzkvs9JINYsIEs9ezKNndCqLV1IFprreL-yYvPRThWy-YCoFNMPvPpC_g9YtTJSY_r-8UGt0_FPJwPhvuJD1OvzGvjYsfiagfHBNBgpM6XRYYrRZB-kmCU-c",
  "id": "rs_07342fe09ad52c35016ab4279cab8487d0b79dc5e229acadb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.32,\"right_y\":0.28,\"right_z\":0.15},\"note\":\"The gray figure is still left of the jaws even with the left arm near its outer workspace limit, and this second close was empty. I’m parking that arm and switching to the right arm for the pale figures in the center, which have a clearer approach.\"}",
  "call_id": "call_OF2KlmUMuVx1MiFvCte2X9JP",
  "id": "fc_07342fe09ad52c35016ab4279ffd8887d0926dddd8eb2b9af3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OF2KlmUMuVx1MiFvCte2X9JP",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.2829, 0.4797, 0.4351, -0.4084, -0.3634, -0.078, 0.9981, 0.9916, 1.6497, 1.0958, -0.3691, 0.7341, 0.6682, 0.9997]\nstate[eef_state]: left_x=0.2537 left_y=-0.0046 left_z=0.1801 left_yaw=0.0524 left_pitch=0.1358 left_roll=0.1015 left_gripper=0.9981 right_x=0.3162 right_y=0.2738 right_z=0.137 right_yaw=0.0314 right_pitch=-0.0642 right_roll=-0.0319 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, 0.4308, 9.6752, 1.6874, -0.2808, 0.0122, -0.0269, 0.5402, -7.9385, 8.5538, 1.1209, 0.7057, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8d3543d9651b6b07be9cc387bf651f7b9058a9376dd5be59b2dff854d400c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b1ecbc66c005d9afa46baf6af8823bbbf9f9b8520bef84407c190a26f04452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d3a09542defac3ffe2a79fb21d90ff432aed281180bf69e44a465c22a1e805",
      "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 · 2.856 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0677, 1.1557, 0.329, 0.1635, -0.1638, -0.0525, 0.0101, -0.0147, 0.8158, 0.6067, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=0.0109 left_z=0.0637 left_yaw=0.0847 left_pitch=-0.0941 left_roll=0.0714 left_gripper=0.0101 right_x=0.2958 right_y=0.0014 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0701, 6.1607, 1.453, 0.0024, -0.0073, 0.8816, -0.2393, -1.2239, 7.0085, 1.7411, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0895, 1.3766, 0.2016, 0.7586, -0.0509, 0.0742, 0.011, -0.0147, 0.8192, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.342 left_y=0.0433 left_z=0.0686 left_yaw=0.0784 left_pitch=0.1412 left_roll=0.105 left_gripper=0.011 right_x=0.296 right_y=0.0014 right_z=0.1732 right_yaw=0.0004 right_pitch=-0.0279 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.4684, 3.7538, 1.536, 0.0464, -0.0708, 0.7692, -0.2256, -1.4291, 7.0906, 1.7314, -0.022, -0.0464, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 0.4797, 0.4351, -0.4084, -0.3634, -0.078, 0.9981, 0.9916, 1.6497, 1.0958, -0.3691, 0.7341, 0.6682, 0.9997]\nstate[eef_state]: left_x=0.2537 left_y=-0.0046 left_z=0.1801 left_yaw=0.0524 left_pitch=0.1358 left_roll=0.1015 left_gripper=0.9981 right_x=0.3162 right_y=0.2738 right_z=0.137 right_yaw=0.0314 right_pitch=-0.0642 right_roll=-0.0319 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, 0.4308, 9.6752, 1.6874, -0.2808, 0.0122, -0.0269, 0.5402, -7.9385, 8.5538, 1.1209, 0.7057, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8d3543d9651b6b07be9cc387bf651f7b9058a9376dd5be59b2dff854d400c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b1ecbc66c005d9afa46baf6af8823bbbf9f9b8520bef84407c190a26f04452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d3a09542defac3ffe2a79fb21d90ff432aed281180bf69e44a465c22a1e805",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCenb94We7a2DeQEeuSxq_S91pMXZFkZ9_W_MuvH7ezFq_IrOOwJ_l0rbhAzfsKVNM2-d403qScBIVWqAStIEkhQvO6fP5yRQWSN_LTEGnKgnmDtGrf8ub8d9PI5lc86F8NFBPL28umBbIc20_saRl1L1w7_v9Oq6g5PicMX0me6ZTFywTjRXRy2eqOIHIFs0MUivZDL5b0L7Q0yLOopR23z2CSfMNEenK6kOr6cvQDS_yPdAy2kqUeZzUYf39ZMVe8KqYtcoFGvt2dvzhAeGfIH8JSYHnsZeS4fRNgSbzizlJ6J7QhEWBthA21igeOrXQ9bia3FSSAXsJ7_qsJRdjJA9F6d6dNGCvG_megJL87CPNJrF3JRxnVxUsbkmzWHUpad-OccwlMYb644IsLLKImW0ndWXLDu2Md6lCa2JfG-Z4sHhbi6ldW-m7Hf4-Kl1_4Wa04vspgcuOx0uIDKmgJGunz_PDcmEVg_rL5cRNpO-NdsIvOSOjf4u4_Y8u5n8BQq_pQIs81PcBC49SPdQ9JoPJqtRSzcHaoNRSBqJdbTwrynNSjW0iS3WthRBn5UdHPO9QRQqibUkGRcQ5SkA8EceMLvvlPMNA190LBSzG6GZRJIK_cclaK1isTUu7s_LENsdKwAkF1rua8LTWez5xtlNjZUBhRRV20ktuHey-56cZBcG7v6wySHs6zG0Lg2ExHMhStVB4jINf6yu1myZcGjjWkWKzZIK3Ls_7LiIfupX-3Z9pvY0Kxp8q1ukcj1ShIOTj4HUUlTnD1SJjpyGFUIj1gMtzQO0ftdn7oncLEcNoSwpFNcvjADRIMpDxmVLX0nK2VtwNJYYg8z4O2DPuRsbIDWBiOlO0piG053HhMEwj4-j164u6BwAx-M7vBDhQRf9njW_FGBQ4Ae25m7x63BN1nA_0ueOY1Uv-DMwWdqngm8Xdh8BPbNVE0srPSMGZlbGNu6L6ya6kB0MRAA1IYZDSmp4zVYKOXeLUBKQY6ZIfOs_wpiqD-RC2zl4ttdnABPHQLPTltRLDFzDlEaYfVS6RuiqoBAE-YL6so-nrueO45T-hcE8fAcltBqyBjTNxNwEOj0pX2ubvS0C728t4p3iaYQgEze6w20Reaz6cdYqQ7ehtJOKrBVL65yxv8rMOK9gQ3S13-nvQYIIIkJWTdvtN05aUaG0w_PxJRd2v7OG6iOWWU5mkVdpedxRv1NymPazazXNCKy77Ntm804tZzq_ZtBbKDg17HktoiqK3vI8jCxP2_9HnQANvY8--a9E_CWRGyDl99erN0GmyeKWbklMEF7IoWV2nSan-znr9Qulf7fTWn1r5NGVVb6hPxuTCDxw2iMO437r-RRjCgeB9NOmdH3HEgnXZZ6n50YDFnLc1V7-F04V3FLxlO0zY2ntVNQXfwIG_CzIV4DGWmGGit3hsL2V6C7CMdUX-ZLO-HE0rn4LjXiK0j-NdnVOYh19pRBlcvc-zQw_vvFsoNrN4_OfYlNh0CdZYQ4s3Uk3kdhwTZhUyUT6sEfTnVKbAxxZLBwwsC9VrFjDwHwuYKnc27TfNJE90m_K4q1W02wX4JJ9zXt8yWy8WWm5FXt4if1VfsVKVcBpDkhUK2px9I5EGD_BIYZ-1UGxn1mlHMcygyohr16bAgM2lRST39I4GorNs9TAeYSp46lI8d4_4kU8k12e234RQ75Q5jIXPAKL-AQ4qxmbPzhnugiOorhPATqY93g71qUK2CBZuhtlOU6YeI9yUOEVto4CqXtRSoIzXKE1lhCWktC-BvyD23wubxWK09KWJcLsTMjh3f1Ss4gzE5wCtKDtgieW_V4x8F5Ai6QMCcpJzrI9pmOsZveCbMz-D_FH8qHI3ty3I5bGaJw7rn_oRU_mD31hmlENFnc-jwi56KihErtFQ7amkGJh3UwFaQmq8IOtLaZrw6lXCSjyW_5777c-7HB4Uv-TMChmww5QPVQ4q5dAfyx72DQbsSSWUhhaH4YDyia1KyfMNDoQo31Ez-5TUCDxlwmD6B6Vc6efGE=",
  "id": "rs_07342fe09ad52c35016ab427a4685887d09821ff7f93bcd0d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.35,\"right_z\":0.085},\"note\":\"The right wrist camera shows a pale plush figure just left of the open jaws. I’m shifting the right gripper toward its torso and descending to about the toy’s mid-height.\"}",
  "call_id": "call_QQ9dTY2bHSnQfIdlludh5Ey0",
  "id": "fc_07342fe09ad52c35016ab427a6738c87d0b002cb7721ecebbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QQ9dTY2bHSnQfIdlludh5Ey0",
  "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]: [-0.2848, 0.4831, 0.4431, -0.4252, -0.374, -0.0872, 0.9982, 1.1034, 1.9362, 1.264, -0.3229, 0.7822, 0.7803, 0.9997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1798 left_yaw=0.0638 left_pitch=0.1264 left_roll=0.1017 left_gripper=0.9982 right_x=0.3106 right_y=0.3471 right_z=0.0892 right_yaw=0.0495 right_pitch=-0.0678 right_roll=-0.0236 right_gripper=0.9997\nstate[joint_eff]: [0.1162, 0.4444, 6.3111, 1.9365, -0.0659, 0.0171, -0.0024, 0.4034, -8.9641, 7.4872, 0.8181, 0.5592, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c266517e2870b97d6bba538ac008c4c67f80db0a4933417c6f446a9659bf3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79e0ca206a0171771ca56684adbfe99b14aa5e8b0f1231180dc56d13baeceb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff93a7338b6db762143336d03c397c0978253102679dd384d1c62416bd9c37d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.279 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0914, 1.3746, 0.1909, 0.7021, -0.0441, 0.0719, 0.9988, -0.0143, 0.8185, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0419 left_z=0.0527 left_yaw=0.0758 left_pitch=0.0762 left_roll=0.0991 left_gripper=0.9988 right_x=0.296 right_y=0.0015 right_z=0.1734 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -1.6342, 2.4137, 0.7057, 0.0659, -0.2466, -0.1392, -0.0615, -1.6342, 7.2957, 1.7314, -0.0513, -0.0757, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 0.4797, 0.4351, -0.4084, -0.3634, -0.078, 0.9981, 0.9916, 1.6497, 1.0958, -0.3691, 0.7341, 0.6682, 0.9997]\nstate[eef_state]: left_x=0.2537 left_y=-0.0046 left_z=0.1801 left_yaw=0.0524 left_pitch=0.1358 left_roll=0.1015 left_gripper=0.9981 right_x=0.3162 right_y=0.2738 right_z=0.137 right_yaw=0.0314 right_pitch=-0.0642 right_roll=-0.0319 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, 0.4308, 9.6752, 1.6874, -0.2808, 0.0122, -0.0269, 0.5402, -7.9385, 8.5538, 1.1209, 0.7057, 0.1294, -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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4831, 0.4431, -0.4252, -0.374, -0.0872, 0.9982, 1.1034, 1.9362, 1.264, -0.3229, 0.7822, 0.7803, 0.9997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1798 left_yaw=0.0638 left_pitch=0.1264 left_roll=0.1017 left_gripper=0.9982 right_x=0.3106 right_y=0.3471 right_z=0.0892 right_yaw=0.0495 right_pitch=-0.0678 right_roll=-0.0236 right_gripper=0.9997\nstate[joint_eff]: [0.1162, 0.4444, 6.3111, 1.9365, -0.0659, 0.0171, -0.0024, 0.4034, -8.9641, 7.4872, 0.8181, 0.5592, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c266517e2870b97d6bba538ac008c4c67f80db0a4933417c6f446a9659bf3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79e0ca206a0171771ca56684adbfe99b14aa5e8b0f1231180dc56d13baeceb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff93a7338b6db762143336d03c397c0978253102679dd384d1c62416bd9c37d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeq3vURCdDdu5XYZApP9wi2GNasDq1iGGy3D7vkZGjeZHX9J778__KVaDhDnowJqiDObQ9U8wdcFov61wIRcAvDifVk_Tdh9Rs3J3H8y78c6EiCY_f14ZnBcOKtGgmEmJ6Bf4wRpv43v89XmKvdMMVSHKc9VadRI5Mk7j3Ki_8VQIAdEfSJPznD0zZ-atVLr-8pzlc7gRmJjCfw_d4C-_Oiv_k5twLtUI2Wy_2JV7IThcTGl8p8GwMUyrKhWPjiATTkBvne0eAe4f8j5TGwNzTqPEP-DuHGCLqwrWVH099tyBWxRjSm6fUdWM3MChwjmSGhhVnnOkKFxsC08i1FmqwWeH4ZbGrkQhgvM1vfPnlEFp-Vx9MEkK_ltp4HnkYvaKQ_Z_5qdVh9AvjOoMkj7zbgsOUtlSnh9MzSM8kA0GB0dxhq7rzzLsBANMbwlcaiqpbWz6vgPgvbqWtfW3b8X469T-9AvC4c7l-dPsdj4O-B2JVyzqhN3v-_KXky6uWGQV41mH24XI66aBFTeDAFDgKVKabTHmiXKYsTWZdHtRKzO03XI8zt_GtwbONNulSb_22tVzil24fvirYu9UQyP0wnKP-fRemc2BwoAwFEGcsAwPh8I4S3XPkFIMMxubE2HqqeSAFwNgeI5zxwllfkYQbni6InGwXZFcJvKGlM3RliqwgBtGqLUhFgtQTQEnXk5sqTjVeTS3yZReN6WkMjmjzXZiaTHT9FfZ5eUe3-UtYKl2xz-Jp9BnxbuVqiZYCokOvcpP8oeApmkNyiGyUItFASfEdqUABGNHs2WibhmeTYneEeVHsCBHEl6iu4wOAy5E52ub7Zfo46TumX7CcxiASbBgOhxapbz4SI1A45B2161cK88Umm6dr9g7viNzKbZa6Tz0BqoX2ofbk0UOjSaJ37G2cpbjX1iW0hgbFMEeoOL5TOoVEWR2wQ1NjFOGH0qC4CxFHmrKI-eVvQz0X2QG1jfkv6wvPpizWkj1Nr2t-ga_FdQKLq2z5bpqzo7xYHY8QRVY7tl8wpHQm5-YHijhSvsLks-cQ5PZ-YXGWfouQ3TbB92Yy49Rn0iVaaw4SBf16wR8LZQWvboX_40J4Fs7kCPZV6r00Cwcs5ZFmQ9ouScf53kX92qXMDQ6ZAevbUhE50QhUOUoac-Dxk-v4gevokfye0xnqwJ41sdroUttir6pvid9pcxyhwNfR7ueSW2fXB1fGQG0j-3V2iKt4FOAvTpgfKvRqs0qeh1hY9IvVqiAxssednv18WlKXMIUxnWjCxoIfWyIUT6nJ17jg6ih3E4JZ15YkoTuPZkdhBk98a6dlEssXalkZMraIh9Q4YhfOqCGs1bNKlO-YOiXcCaHV6NS3ByWN22-SgJcSjs7M3YqFlj3GaaciX0fbpr8X6ZCxGClaaJe5HuZjXX-Rd-ZevTkSUZoPNNKXMYY8FTbr_TyvGFuhrBGryFtyH_BmBcQABoS_U5ZYBIMd8ybyr1bvSUz5z0NG1KesFOymKjBviLs0=",
  "id": "rs_07342fe09ad52c35016ab427a8d23887d08247eaaae868c788",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The pale plush now sits centrally between the right jaws, with its torso beneath the fingertips. I’m lowering a little further so the jaws close around the toy rather than above its fur.\"}",
  "call_id": "call_H6jkARw7EKIbbVjL20N3vAPN",
  "id": "fc_07342fe09ad52c35016ab427a9962087d0971879c5b6b50da3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H6jkARw7EKIbbVjL20N3vAPN",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3744, -0.0875, 0.9982, 1.1107, 1.9755, 1.2163, -0.1856, 0.783, 0.7895, 0.9997]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1794 left_yaw=0.0643 left_pitch=0.1251 left_roll=0.1021 left_gripper=0.9982 right_x=0.3116 right_y=0.3561 right_z=0.0715 right_yaw=0.0538 right_pitch=-0.0424 right_roll=0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, 0.5812, 7.1316, 1.7656, -0.149, -0.0562, -0.0122, -0.5949, -7.2, 4.0957, 0.6325, 0.2613, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ec80a914c4a96ada5d7e7a7a8e754eb1387f5f22601433aeb1de573551b93c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83439bbfe7d6cc73866c19005000e87ebcf9a5d749287378bf42df751e0bcaa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250cce4b0d72ea7a9e457a53ddc8378bcc02e971154069db20207381ad88a280",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.082 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0895, 1.3766, 0.2016, 0.7586, -0.0509, 0.0742, 0.011, -0.0147, 0.8192, 0.6067, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.342 left_y=0.0433 left_z=0.0686 left_yaw=0.0784 left_pitch=0.1412 left_roll=0.105 left_gripper=0.011 right_x=0.296 right_y=0.0014 right_z=0.1732 right_yaw=0.0004 right_pitch=-0.0279 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.4684, 3.7538, 1.536, 0.0464, -0.0708, 0.7692, -0.2256, -1.4291, 7.0906, 1.7314, -0.022, -0.0464, -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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4831, 0.4431, -0.4252, -0.374, -0.0872, 0.9982, 1.1034, 1.9362, 1.264, -0.3229, 0.7822, 0.7803, 0.9997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1798 left_yaw=0.0638 left_pitch=0.1264 left_roll=0.1017 left_gripper=0.9982 right_x=0.3106 right_y=0.3471 right_z=0.0892 right_yaw=0.0495 right_pitch=-0.0678 right_roll=-0.0236 right_gripper=0.9997\nstate[joint_eff]: [0.1162, 0.4444, 6.3111, 1.9365, -0.0659, 0.0171, -0.0024, 0.4034, -8.9641, 7.4872, 0.8181, 0.5592, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3744, -0.0875, 0.9982, 1.1107, 1.9755, 1.2163, -0.1856, 0.783, 0.7895, 0.9997]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1794 left_yaw=0.0643 left_pitch=0.1251 left_roll=0.1021 left_gripper=0.9982 right_x=0.3116 right_y=0.3561 right_z=0.0715 right_yaw=0.0538 right_pitch=-0.0424 right_roll=0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, 0.5812, 7.1316, 1.7656, -0.149, -0.0562, -0.0122, -0.5949, -7.2, 4.0957, 0.6325, 0.2613, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ec80a914c4a96ada5d7e7a7a8e754eb1387f5f22601433aeb1de573551b93c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83439bbfe7d6cc73866c19005000e87ebcf9a5d749287378bf42df751e0bcaa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250cce4b0d72ea7a9e457a53ddc8378bcc02e971154069db20207381ad88a280",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeuUNGFnZIsde4lEhNzRrBbngUEWMJS37glACX5Lat5Mbo4066JtQyTdbSvrZCuG7e544MXlU2bTSUZOV3HEANihf4fSlPqkwLG2Kb24Nw80eeLLs-2aAxAKQb9LUqt1hZRWqPbqnQgBOghqWR0Khs5J_QJ8ZLgkZqO3BTF-bUj5d9S-zbU-Sy_4OF7VqJ2_Es73wrs9Nz1ruc-ZFKdmCf-dkVyWfOmAq3q0_XD7wZeJk6nHQM52nymz1ZytzZrYvoa7k7wg9wwOrKRgtnVM6dt0wOy-v3WQLvjM6gng3paDjIpS1aZ4TmlUOhIgQBXMUCFieBdD5dWXpFljMsksov4opJ-4dBz2ppIftGDWRzBvbr9H0k0fTBexHiowoTXQt3CjRcOwhySKqrr6h9xwM2xoQUOV2FvHELSKmyKBOP5k8ziJMPyb-EJZv7wyeQ92GQrQx-24SughcMu0Ydlv_UzewZTHptQL2MmBOqSTxdDqOLJpR2YB-SwSWGGMhC8sQXodctconfDubKBUx-YUuITD0GdEGGszJPLHODOYItO55F-_UccK1h9njkH3rYIsk99LFgdMRHwghZ6gQYr1u_Fdx9N2slZGQAKTlupVcjPqh4_Nw4oj76d_0aMrFBk0ChC_5bh01-EaH6khhhXlk4pjIbVwpedYkWgdvBPVb2-abJTS4whFpr5I1qGWyjdxlfquv26QZUz2uxp2ALNd6tpXElq_Ih86T-YZRGvZ8dMAz7ZG_9YyrKDcWPsJHCkgaxETz2xovytComjebtTG1zpyA4B-anxH3RQ0I03bt10e92hD03oIKS0in0Y1D0ux9qN4HP6vRYkrC4WEyGZRHLER8EVSWL_798l8mecyohhRcsuiqLrNgD7OLcpswyvL2AXz93axzuIeon_3n5eRbxNuoYs1PWB0HzyTyPMLe8hjfK2hdu6UrfIZ0UWpyeuRnmgPoT6M5pA7EdNxDclJuY9NZtJgPs_PNQwE3E8ea0Jiu23V38w9L4rRhSgzvxWM2Kz4UrLdItup5ZCC-LE6ScfMhvbG-W6zTs0rptoD4EzCCiYiUpHqG39NuYco3LyiGelrypECG3Kj4weohXB4VrNx13H4FteROHGQGvMSZkhwSvLf03AhRzEDfAYwIXsJgbcPb6f4nDEE3aXpYuHhIMmg8RgTgWsMq_0QU3C-3XIJfo-Sn_eGiNmSJpKnNQkW-_Zu62y7Yv6e-Dyhpz8g60dKzOEupk-cyO99cB5KUX7VnuIUx6nlYxvvvu5hTCHLDBETH2vKEyGmER34xe1hmXaoG512o279PJbJlOLfSl5lyrvkyq3bbardueu1j_A3gPc6tJKCHefr_GTodUNDK7wPNh87aIqC02UlTmkP8mph8s=",
  "id": "rs_07342fe09ad52c35016ab427acb1fc87d0816b692dcc493792",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper stopped descending against the pale figure at roughly 7 cm, indicating contact rather than free-space sag. I’m closing on its torso and will verify the grip by lifting.\"}",
  "call_id": "call_llKuN4NP2tu2CFcXxt4it2yF",
  "id": "fc_07342fe09ad52c35016ab427ad39e487d085e2f8066b1efcee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_llKuN4NP2tu2CFcXxt4it2yF",
  "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]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3748, -0.0902, 0.9982, 1.1107, 1.9804, 1.211, -0.1444, 0.7776, 0.7898, 0.2109]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1795 left_yaw=0.066 left_pitch=0.1253 left_roll=0.0998 left_gripper=0.9982 right_x=0.3132 right_y=0.361 right_z=0.0718 right_yaw=0.0579 right_pitch=-0.0309 right_roll=0.0567 right_gripper=0.2109\nstate[joint_eff]: [-0.0889, 0.5812, 6.9128, 1.7998, -0.1685, -0.0024, -0.0073, -0.2256, -10.7556, 6.3521, 0.8083, 0.2955, -0.0415, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03196cab90365db113c856b24986fa118ad7308ebe408422f46843775b887066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e98594689da3b9684f2e8e0be50edff8e9fcb2579d2ba934204fefa50cae8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc99176ba9699ddf1fe23033217ecf517c41aff238b0bc2e406337082b24797",
      "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 · 7.415 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 0.4797, 0.4351, -0.4084, -0.3634, -0.078, 0.9981, 0.9916, 1.6497, 1.0958, -0.3691, 0.7341, 0.6682, 0.9997]\nstate[eef_state]: left_x=0.2537 left_y=-0.0046 left_z=0.1801 left_yaw=0.0524 left_pitch=0.1358 left_roll=0.1015 left_gripper=0.9981 right_x=0.3162 right_y=0.2738 right_z=0.137 right_yaw=0.0314 right_pitch=-0.0642 right_roll=-0.0319 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, 0.4308, 9.6752, 1.6874, -0.2808, 0.0122, -0.0269, 0.5402, -7.9385, 8.5538, 1.1209, 0.7057, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3744, -0.0875, 0.9982, 1.1107, 1.9755, 1.2163, -0.1856, 0.783, 0.7895, 0.9997]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1794 left_yaw=0.0643 left_pitch=0.1251 left_roll=0.1021 left_gripper=0.9982 right_x=0.3116 right_y=0.3561 right_z=0.0715 right_yaw=0.0538 right_pitch=-0.0424 right_roll=0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, 0.5812, 7.1316, 1.7656, -0.149, -0.0562, -0.0122, -0.5949, -7.2, 4.0957, 0.6325, 0.2613, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3748, -0.0902, 0.9982, 1.1107, 1.9804, 1.211, -0.1444, 0.7776, 0.7898, 0.2109]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1795 left_yaw=0.066 left_pitch=0.1253 left_roll=0.0998 left_gripper=0.9982 right_x=0.3132 right_y=0.361 right_z=0.0718 right_yaw=0.0579 right_pitch=-0.0309 right_roll=0.0567 right_gripper=0.2109\nstate[joint_eff]: [-0.0889, 0.5812, 6.9128, 1.7998, -0.1685, -0.0024, -0.0073, -0.2256, -10.7556, 6.3521, 0.8083, 0.2955, -0.0415, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03196cab90365db113c856b24986fa118ad7308ebe408422f46843775b887066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e98594689da3b9684f2e8e0be50edff8e9fcb2579d2ba934204fefa50cae8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc99176ba9699ddf1fe23033217ecf517c41aff238b0bc2e406337082b24797",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCex_Y9wPyR_tlFu-GQPkURKVwpmnMW55pi2pmPKRij9RPguesyi2kYA4aIBtpvf59-dXfQ9HxdN7da7ZF0Z9_xyEhLt22YdSpf0J3tmP3AWknPlNzQXjafdkA3OEiLWW2qFFlFxkfWGj3MFhGJB3rytVnoHIod41ZrHtdvgPfVt8FADEqrhGVLwVe0JUCOvrxlWJhHLw7PL-SOh9Mo6efWp9a3oo_Z45586q5iQ7xw-En6EdLaFMnRM5lzkvGO4D2FXjdPa-SynrL0ayowkazKhzczB4FOsv4r8C6mFlmF3vE_pHjQvWdHjm9jAf_BnsCyO-l7k6YC-KmslkgLYuV-xG3e9PZ9qtDC7wIRc7z2wfC_jKcRh3ypOlXKXQYcvLKAu5umkGOyXUhvl-xaVzAFA2OumSBcRSMxtjBl_axRJP1eUYQ39IL6-krpAsV6m4FmFEiTukrC86Iqnwgp7fbf_3N1Pk8oHuEJnpe435H58RmsIA956jbZ2ePGi-zDWWefZjoD8ujKHzYXvKaqNY549PVmzwSlnrCyu2y8JEyy4YldBw-HjErZsmxtKZljX1o1xvUv4MQ0iHu1Uz-zYyYy5XYxnkPJslcr_MAIstxScTfJdCYVMG7tZQ0KVXN05RYVgpTVI12r7xFsVdUuAk5kkXEcmoOGNu_GHWJPQyvQqzdpIaS16X22Uxn24YJvKWnDskKcqDFImmfUYIsggA6OJDDwLShicU97RiQ_BVdLvLcpkLIVMU3XogLqtH1vRCiLmP-EVrjR-vQhnFRcbtgKFl6cCJRMrNLHtFGqp-zsmxqEOcsGi2FTMxt7iotVWhjQ21rEfc18tuNpLxEOGz7ZT2rIUqnv7JOqNaq9fBG_R36e0BdsvbA-2T1IXnRXThRSKXt4BvYf-jD4MWbSVBCSRLE5uAoPAo3b3qUPZWtGMkEMhxsXulpVYjDJBiXSnPqqgxqgT3pSft2s4jtHr8acvO3oN-xFsdrRwQ5bJ7alvApQucJ0iGQNMVVc8ee80Ti4IvT2jIZxoD6BGrErWJ07pxejJ0JlY54opbq7brfNN8xoSmW44IlWOyOwFlv-_UQNw7c9Wgr0PjFjsVbIAa9wKurUuNNKW0fu9BKasaHuQdEgD5I-85sdEtCiN14jRrMBZg51ThisYgnc2KWnElZCYu7ABBysD-5ww0Iwap21SGoCONvyVQMr27gL7JejPYMSP",
  "id": "rs_07342fe09ad52c35016ab427b0245487d0a56cbc637ca9f791",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The right jaws settled around about 2 cm of material, consistent with catching the pale toy. I’m lifting it to see whether the plush moves with the gripper before transporting it.\"}",
  "call_id": "call_OBK75Js7UcgmTNM8udjePqIT",
  "id": "fc_07342fe09ad52c35016ab427b03fa087d0a2d2be1437e9cf0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OBK75Js7UcgmTNM8udjePqIT",
  "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]: [-0.2848, 0.4843, 0.4431, -0.4259, -0.3744, -0.0906, 0.9982, 1.1107, 1.8854, 1.5082, -0.5674, 0.7555, 0.7856, 0.2143]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1794 left_yaw=0.0659 left_pitch=0.1249 left_roll=0.0994 left_gripper=0.9982 right_x=0.3131 right_y=0.3671 right_z=0.1677 right_yaw=0.0725 right_pitch=-0.0616 right_roll=0.0354 right_gripper=0.2143\nstate[joint_eff]: [-0.0068, 0.5128, 6.9265, 1.7998, -0.1392, -0.0464, -0.0122, -0.2256, -13.0393, 9.1145, 1.1111, 0.5836, 0.0073, 0.3443]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7d233b408430974bc2dd6861b1fe5eea9d65fbaea3562dfc472fb4f4b38bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96733cf65ac843ccd561735749aed953d5c2417ad090e9d4a0cae5654db6bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac16c59bf21265fcb4ec2ea1035590042c33199d882b5943044ee89bf3e71865",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 6.303 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4831, 0.4431, -0.4252, -0.374, -0.0872, 0.9982, 1.1034, 1.9362, 1.264, -0.3229, 0.7822, 0.7803, 0.9997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1798 left_yaw=0.0638 left_pitch=0.1264 left_roll=0.1017 left_gripper=0.9982 right_x=0.3106 right_y=0.3471 right_z=0.0892 right_yaw=0.0495 right_pitch=-0.0678 right_roll=-0.0236 right_gripper=0.9997\nstate[joint_eff]: [0.1162, 0.4444, 6.3111, 1.9365, -0.0659, 0.0171, -0.0024, 0.4034, -8.9641, 7.4872, 0.8181, 0.5592, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3748, -0.0902, 0.9982, 1.1107, 1.9804, 1.211, -0.1444, 0.7776, 0.7898, 0.2109]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1795 left_yaw=0.066 left_pitch=0.1253 left_roll=0.0998 left_gripper=0.9982 right_x=0.3132 right_y=0.361 right_z=0.0718 right_yaw=0.0579 right_pitch=-0.0309 right_roll=0.0567 right_gripper=0.2109\nstate[joint_eff]: [-0.0889, 0.5812, 6.9128, 1.7998, -0.1685, -0.0024, -0.0073, -0.2256, -10.7556, 6.3521, 0.8083, 0.2955, -0.0415, 0.7985]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4259, -0.3744, -0.0906, 0.9982, 1.1107, 1.8854, 1.5082, -0.5674, 0.7555, 0.7856, 0.2143]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1794 left_yaw=0.0659 left_pitch=0.1249 left_roll=0.0994 left_gripper=0.9982 right_x=0.3131 right_y=0.3671 right_z=0.1677 right_yaw=0.0725 right_pitch=-0.0616 right_roll=0.0354 right_gripper=0.2143\nstate[joint_eff]: [-0.0068, 0.5128, 6.9265, 1.7998, -0.1392, -0.0464, -0.0122, -0.2256, -13.0393, 9.1145, 1.1111, 0.5836, 0.0073, 0.3443]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7d233b408430974bc2dd6861b1fe5eea9d65fbaea3562dfc472fb4f4b38bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96733cf65ac843ccd561735749aed953d5c2417ad090e9d4a0cae5654db6bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac16c59bf21265fcb4ec2ea1035590042c33199d882b5943044ee89bf3e71865",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCe5Rxeidy-Cnejbhbx4D8WeepLYK6gYTgQHFab1RZSDs3p8P9HHLKN-Z7d73xvhThkyrE8gL0XXlBZCO5_TeXuahqRJo2TiM8LmFUqeC3FFkidjOKtttu24aPDDT4OBKoZyc1AvLOLn2fcUaYyO6XLYcqRAbkRYow5nKZ6L3c-2OpRYEF6fkawzDXZ849YoE5lar-Ac1ERH-DrVyCjpnwoeqTBkb3FboJnBVJ55zGrg5H6vNNrnXcbZDCxtXHguU69PGWl6k1JdeiGtvj0Klq-KiroUVN2PI0aasbXUJnkuRF7L0i2dPw1Hh9mLgMEup68PVPR0Or85Nd2yXhMclbN5-612f03-ad2qXiRWc5x69X_zTrZhgq1ma9o0gV5_48qSRQXj3r6q-2Dk6RUeF-CcrMsojVWNcpsMjCJ1KOo9f-_hwgXl19T7nKKH3mYFzzTla1bU_LJdH2y3sC8C5zxrrsYo8E3WDYTQRPre0Ny1BVgmNbtPAAJXhYK4q8f5S3kcYOMwBmlc_IFSqWqG0bvppnvUa8Z45capO7qqp61S8-f-rn5cWyxIrte0yMwZf8ZLgdo7MCMUKzg4UpQfQ9Cd3qRxJjNzGIozt2wluWlStnFREsmPYRCBpIja1UA7Z9ic3UdcYDprDcgA3VbsdGjVs2zFamamVku7bc4FfkTYF1Bn0Aggp5FqTKdLs8PkfwSR7KmdKZaFL-SvAQvCCiPsml9GsUpDZvfAlMfB_0nISnNbkeMESB4_rs21sVSkG3bd7SZm-XaEt0LmQuoJ2FRbrjJDgM0I3puZ-5J9FiSaQ-4vRabjNPC7_J2SnBzh7mOy6ZzQjoWovlyUr-mNhzDgBqlus29c8KOewyZbXIqdh5m6LKGcu5JLuRB2uyOUvkhu6nP6Vv5ZZHIjDL_V4n-jUIN1wd8QDWTYl1kZnBGYa3XZAvERGvl9HIRXrk1l8UI53n-ieYMeym9JXuAgrY1Y_bU8fHoA4343HnV8oyoH7FBGc3plCGFvW1KgyC5n2cYMnZOnPijNrz6mXKqjY9ixQP02IVOHfssFXuOqMPZFOPgsLN1EabcSZS-szJjWHhQ8Xp2bGe606Yl0eCkwQ0X7tN4nKAffz-zK_F6I5zByoo_WhSRNAozkY9KYqnz7sbDYAzXR2hvbR5B77SZ8AFld3YuHY4pv45gB87m7FbMUuxSn6vGBdUwcLktIzQf-_9ZAIWWyEiDCoSw9bfSGU0IrnzL0N03I9KmYuowagAsj1y30oMBI_Cj1Tb3EY_nBaVUxlSft8CrRqWWRopytc4PpiPw-AI2_cpywyDSIQiVET931-bstHJ09QBn5vs7wuvL1X69sxhI2p0NR4ew0QEfCq67MStt17BoqWqxLQFknHzeRd2R1VLAqvpFq5R_X15oXaXPqzDk3Yubx9D_g3odnspujyUGnYl3j3fk-Jsu8ljRRy_dp_PM7E_OSC_fpu_thauyOkrA6RlbBtQ6JBZGdpgob5fHIhpqoVRXaNL2WobmQtDqHocg0C2Ekg3gVvqsV6DnyWxqii0I0V2lCLZggg5Yyu9eeg1UIrtW1DadLCYKdfPprj1RisV3H-u61zeMX9b-bjDPzB3tyzkKHLT9DUvELfx6vQDkCEyaOXMdSVBr6EmAssuO_EEShrqx_SzxFOOJnVhLV0zupL27olbC20JmRntxAPrqqQkpUmFGzwChFex_tUn35Wk-A0OvvRHnnH5d5qgCGQK3zFoy0tMNNs1Alt7h268AJqsAwIz9-WP9nHftec5CJn5CwgyvAjzXOcSqBbwzN2c5ZGIeO5KeM2FkopIpSaTB3sP05d8WPARbUDpOCOF7kNA1kIZDnO6oKJe96X3lsMzU6r_p9xt0EXiVD-SFwX3UwxfeIjUcFs1AjBfRsWzGtToghZau_VWEQyefNY8UhEsH7VINla5_TvIDePUtyRQ3FGubFjTgUdfu8KDFP14CjOwsQA_HLI5_TF2ky65ulIjM5Cntsl7iliP5DZbDwXCYlu2CqOu6sNiT9G6TvPIi8XfRGiZL7PSxJZzgvsYrM6usnEJwuQ39ogKsTvjrgecMiNbxxBa2IzleVv_NO7RYAc7IcDhbBQCYJpFrS1-Gf8S20G5BcmjF4RJmjE2r6FmpOKxhP3lT6GoaMDj6XcFxOvR7ZmzLl3-yRX2lSEThYcwcn_xd40xQ6RNYMhcz248qNcWcoiZCfr00-wbDh8nz1Sg3eAlp0imPhCYttA1I0uVHPXaTgSE9Z21kww5Fdm0BG0ADbg1Qzs4WlUA94AX1z5HOAh2FUuAAvAO5o-Dae30chnVBjgCaXdMz-AYcFyTWhMCzgnU8U5VFTUcCsoxuzcTvFF0DE49k5kEtdLNTLN9SCyfGEGgPdTNArVFvDXW2wa9853aLkXUrjYKLGwkB5-gv5uNXs1TBDZ_v49mMYEQwy8IoCsJYY3OTHOWoTpXAgKZhEOGm0e6QngbERkHRE0LxToJL53NZbcqdS_bvTzZoGbQb7evmGXhunTFMYE48nbVaTR_LCScwfnKJi8n3dxGXTPqRfHS51VRY9J1notsTNeS_7JMsNPUSHEFtUo6z2cbzWK7unnfj044E27ebP4LWPDuLHrLaPr4DKMfhvhjS6rtx9UUgqqhhDvnXYxwni5H0CH6BGFIR815vcPPJgtemyMm4M_K11dEl7MGNE1MX41JOkvXTObXTelrosr2yKwNT3ec70-XAIsbtgxivEFGGlw9NGrAa0JhmVkiE6WX-bB9rNfTZTIQOQ64oJPAARaYVSGxbxD6rtP8zMobnhF6-iw_YhJh7Xfzj-jDK081Jb-zIiD8y4e_C_k35Vhac-_coQXApD716YzDUOCjqjNJUGnlr47b3pKvlDDzSF54Z9Y7rlRzE61Hf6DgfdTOEK0fs3nNPiLbds6fQadtykDN3jSUktE49TjygYujd_h0wHafpEs8-XC64tmo2HoOxmBqN9iJhxqQwBHYiNmIgqS6sCeacqAjM1lMLT-0YtskiyAE8PCqzOyJ0jxd-yA5TN9-mU5dn7VRESPQ39pfSxp5_Nw23E_8OJW5HG8pnF2tCdfKy8UWr7sZJ3kyF6IL_mOE2GuMEv7g0YAzdoHSKGqkj0Ni0VFlC_l5rCBhuPM0FnWhDIFF1BM1tlp7M8NgdsxCvJOLgWZE-GN7SvlPCPJH8sxiTyiHTR",
  "id": "rs_07342fe09ad52c35016ab427b4ae8c87d0916226ab8710f468",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.23},\"note\":\"The right gripper is still partly closed after the lift, though the arm obscures the overhead check and another pale figure is visible nearby. I’m moving the grasp over the right basket so this type stays separate from the left side.\"}",
  "call_id": "call_S069hjV7rzI9PKBT8zrSlx6h",
  "id": "fc_07342fe09ad52c35016ab427b8815887d0b5a7cb5b4ea606fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S069hjV7rzI9PKBT8zrSlx6h",
  "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]: [-0.2848, 0.4843, 0.4431, -0.4267, -0.3748, -0.0906, 0.9982, 0.5182, 1.6547, 1.3441, -0.4591, 0.3393, 0.3046, 0.2174]\nstate[eef_state]: left_x=0.2525 left_y=-0.0028 left_z=0.1792 left_yaw=0.0662 left_pitch=0.1242 left_roll=0.0998 left_gripper=0.9982 right_x=0.4302 right_y=0.1818 right_z=0.1928 right_yaw=0.056 right_pitch=-0.1461 right_roll=0.0073 right_gripper=0.2174\nstate[joint_eff]: [-0.0752, 0.6085, 6.9402, 1.7558, -0.1734, -0.0757, -0.0122, -0.4171, -10.8239, 11.0974, 1.7167, 0.2564, -0.0757, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad75f34bb812c42519bf9924e6097ef54cdbcc528a51ed48347b8e1422cbea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e582fdbe32a5cc042b09535c5e5f86162dd484ae25700b7f18f74e0c294a1754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3013b1ed2988a3ac31e011c47cdd68e73be8a1999f8d3676ca0f07f1a0b25a6e",
      "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 20 attempt 0 · /responses · status 200 · 3.807 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3744, -0.0875, 0.9982, 1.1107, 1.9755, 1.2163, -0.1856, 0.783, 0.7895, 0.9997]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1794 left_yaw=0.0643 left_pitch=0.1251 left_roll=0.1021 left_gripper=0.9982 right_x=0.3116 right_y=0.3561 right_z=0.0715 right_yaw=0.0538 right_pitch=-0.0424 right_roll=0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, 0.5812, 7.1316, 1.7656, -0.149, -0.0562, -0.0122, -0.5949, -7.2, 4.0957, 0.6325, 0.2613, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4259, -0.3744, -0.0906, 0.9982, 1.1107, 1.8854, 1.5082, -0.5674, 0.7555, 0.7856, 0.2143]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1794 left_yaw=0.0659 left_pitch=0.1249 left_roll=0.0994 left_gripper=0.9982 right_x=0.3131 right_y=0.3671 right_z=0.1677 right_yaw=0.0725 right_pitch=-0.0616 right_roll=0.0354 right_gripper=0.2143\nstate[joint_eff]: [-0.0068, 0.5128, 6.9265, 1.7998, -0.1392, -0.0464, -0.0122, -0.2256, -13.0393, 9.1145, 1.1111, 0.5836, 0.0073, 0.3443]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4267, -0.3748, -0.0906, 0.9982, 0.5182, 1.6547, 1.3441, -0.4591, 0.3393, 0.3046, 0.2174]\nstate[eef_state]: left_x=0.2525 left_y=-0.0028 left_z=0.1792 left_yaw=0.0662 left_pitch=0.1242 left_roll=0.0998 left_gripper=0.9982 right_x=0.4302 right_y=0.1818 right_z=0.1928 right_yaw=0.056 right_pitch=-0.1461 right_roll=0.0073 right_gripper=0.2174\nstate[joint_eff]: [-0.0752, 0.6085, 6.9402, 1.7558, -0.1734, -0.0757, -0.0122, -0.4171, -10.8239, 11.0974, 1.7167, 0.2564, -0.0757, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad75f34bb812c42519bf9924e6097ef54cdbcc528a51ed48347b8e1422cbea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e582fdbe32a5cc042b09535c5e5f86162dd484ae25700b7f18f74e0c294a1754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3013b1ed2988a3ac31e011c47cdd68e73be8a1999f8d3676ca0f07f1a0b25a6e",
      "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_07342fe09ad52c35016ab427bcd7c887d09c6811c773e71a5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.13,\"right_z\":0.13},\"note\":\"The pale plush moved with the right gripper and is hanging in front of the right basket. Its body is slightly left of the basket interior, so I’m centering it over the opening and lowering it for release.\"}",
  "call_id": "call_1EsPhXzyLtSZ8r7R11BKyCcP",
  "id": "fc_07342fe09ad52c35016ab427c05e0c87d08780ff85bc1fb5af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1EsPhXzyLtSZ8r7R11BKyCcP",
  "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]: [-0.2848, 0.487, 0.4431, -0.4297, -0.3748, -0.0906, 0.9982, 0.3771, 1.6512, 1.1469, -0.2092, 0.231, 0.223, 0.2196]\nstate[eef_state]: left_x=0.2523 left_y=-0.0027 left_z=0.178 left_yaw=0.0659 left_pitch=0.1189 left_roll=0.1018 left_gripper=0.9982 right_x=0.4485 right_y=0.138 right_z=0.151 right_yaw=0.0513 right_pitch=-0.1215 right_roll=0.0343 right_gripper=0.2196\nstate[joint_eff]: [-0.1709, 0.5675, 7.0632, 1.7607, -0.1441, -0.0415, -0.0073, -1.1692, -5.7778, 5.1624, 1.4139, 0.2369, -0.2662, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a0c418e186f374e61f80f78bc7bb89b7e8c8785e8e3afe1f54b4033ca305da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab71d2a06e2ca119b479d3d3314cece700a2cac2a9e92b741bf5a74385313f50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94fa322f2f893920c66d7acd3c475e224ea5d6d43798357d50ad99fdb6e2661",
      "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 · 3.07 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4835, 0.4431, -0.4263, -0.3748, -0.0902, 0.9982, 1.1107, 1.9804, 1.211, -0.1444, 0.7776, 0.7898, 0.2109]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1795 left_yaw=0.066 left_pitch=0.1253 left_roll=0.0998 left_gripper=0.9982 right_x=0.3132 right_y=0.361 right_z=0.0718 right_yaw=0.0579 right_pitch=-0.0309 right_roll=0.0567 right_gripper=0.2109\nstate[joint_eff]: [-0.0889, 0.5812, 6.9128, 1.7998, -0.1685, -0.0024, -0.0073, -0.2256, -10.7556, 6.3521, 0.8083, 0.2955, -0.0415, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4267, -0.3748, -0.0906, 0.9982, 0.5182, 1.6547, 1.3441, -0.4591, 0.3393, 0.3046, 0.2174]\nstate[eef_state]: left_x=0.2525 left_y=-0.0028 left_z=0.1792 left_yaw=0.0662 left_pitch=0.1242 left_roll=0.0998 left_gripper=0.9982 right_x=0.4302 right_y=0.1818 right_z=0.1928 right_yaw=0.056 right_pitch=-0.1461 right_roll=0.0073 right_gripper=0.2174\nstate[joint_eff]: [-0.0752, 0.6085, 6.9402, 1.7558, -0.1734, -0.0757, -0.0122, -0.4171, -10.8239, 11.0974, 1.7167, 0.2564, -0.0757, 0.3053]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.487, 0.4431, -0.4297, -0.3748, -0.0906, 0.9982, 0.3771, 1.6512, 1.1469, -0.2092, 0.231, 0.223, 0.2196]\nstate[eef_state]: left_x=0.2523 left_y=-0.0027 left_z=0.178 left_yaw=0.0659 left_pitch=0.1189 left_roll=0.1018 left_gripper=0.9982 right_x=0.4485 right_y=0.138 right_z=0.151 right_yaw=0.0513 right_pitch=-0.1215 right_roll=0.0343 right_gripper=0.2196\nstate[joint_eff]: [-0.1709, 0.5675, 7.0632, 1.7607, -0.1441, -0.0415, -0.0073, -1.1692, -5.7778, 5.1624, 1.4139, 0.2369, -0.2662, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a0c418e186f374e61f80f78bc7bb89b7e8c8785e8e3afe1f54b4033ca305da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab71d2a06e2ca119b479d3d3314cece700a2cac2a9e92b741bf5a74385313f50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94fa322f2f893920c66d7acd3c475e224ea5d6d43798357d50ad99fdb6e2661",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfFbJ-NCMNhUNNyhu6UClDRRjEHnJmQtaOMXqshxU0VUmK10x4BV5mTvkx9jtxINWYqcSKF7J1LaQ5iHeIXQDQrW1cJrDx5lMraENGlJtr__6TWAq--Z4etEHUeCho82cMO2usbEihxGxsstXh2jZFxQEPNTWjXpJVU672MEwag9b_i_kJAVnUDUxsWJj4kRYfstKZDCR_dkJ6CWUSWQtNrWcrNU7pAN-6AIGuLbvNP9UdNudU_8FdN7CC2EsL7SxmS1IJkBW5cS9ywPtNKeG_ezDX1mzOReiKzVtDlLoc7MhfIK74W9gX66OCkWlUOozCo9HrmH1xE6FNU7fCJCAD_VyKSHofXlWkx0gq72udXeMVFIRywIzoiy3PG2t7GC6L27bxwhWPreOiJp20txfFhwI1JPGIB_9j_NP70oKP1Kk98mpF9iRmqRXja1i2tXHUGuTYx3dWJY_EMvde2NhwgUdQ2aHKn826dO1G3m33kuPLz2HhEEwQrlOR5hNTiKXMkwL9muvxZ_3PYAo9yRMmRG-_6TIoOhJ-WV6ty1LkX4oKz2ai-ZwV7IvSr70kGl5290suyCvf0CKzmD7UZayDiZgmwkdAyh0dq8TxGfFa3sBP0y_3xZPwGB4NRkaqhG2QtDg_SrEEgYAY7z5XRqRAZiDf1qzyHNZeZj7N-JbY6iWHGsKfvorg-dXxiBUnJRGb426l63hcPp4LDDeEIuiBrk1zLjFGmYdsFSB1bIzikHOTUlP0Jd1lhWsoRMq08JeHIHRZn1I5W_VyUUvOLsaadQwGLtPGetW8Uh7i6z5-BRf1ZaiI3pDmvjrzKha6YVLH4F0zsLCt4cGOHg3vUucLSYTVjmhac9pRz16khWEf1beFJLR0qGvORr32HI_aOK1j_VJl9EoyRKb72M6RalD2ybEBXE23qnhVTtmZCpNrmwBOik0jtngG-CwOeTKeas5d3aM06BO0OdHGECiI2KMCwDtCXBHox3aBIj_PrIBVwyME4lZdXVmX6mZXPnHyv2MoKUy08tCAPhpzs8jBz92XheMcCFPzVRlRZSGZw4SqsBT1ZegtsqIiU7CGtCGt3DhYqPisuZBv6dXfgmay5NeWVhBnm-frZuq0WwMx1u3NmSIPPtIoADZh0RIUhOiRT8IdZ33d8RvJUiIYYqwZS3IaU7kMj7k2IPZDsH6P0MICrNAAAMDOFozHSG1VL6LOXoiOmxvWO6vgVJS5kRtDCtZJjf9m42aqS5wESKptpTMUiOcI-qwoKLQAMCH6RpZDv1B1eit5H3TFyOYOiz_Pqtei3yEvogQKLpuw3UcdurGqvCV9sr-MNtEWBkWDuyDQsNTx5KJdeVulamWV4kso3na_gnbz-gubUWCSjDEPlbIV7ryFFUqZWkWKjqLrz1ZGSoAbdyN6EZ1WpuuN2BJ3SXDb8C17B5pjGK_Iqm_KOx-i5CzANWbReiO2jNySTwg5UJMIMfveXFVg_KhsL0PzDPryJQ9wX10-JcUinWhBRg-YIO_w37zpM6M9K1AZtXqr8SWoNt4lOpDwlQWoTMUX81ts3YYbzplXoW3FNyFxhEFlOXbILA_97S-qY0BqYxE1ja0ynazjJbDCG7X4w3ou6ilVfcZhIl2fG01p3OSdk3orEtpHOIdR36YiAQOPy-3edEBu6SQgRbBPFvzdqYbkBw-FSnRD4kyqfBR1bPQLiochOEXxg4Mr5UAk7sbtFJ5IeD2sfX1zpSJeooRpdBf2BXMpkChJ6coLO6eSpVmylWXnl9k8XRzFMs1kV12HMiAvkEIoSAtA7xOUq_gcaUrBhZ46jd2t06JNvfTrdpIc-RsQzpQOk4fZ3T5RnT_hyxvHwVQP_vmqvEg1XV_jhgbRhO3GQ1HwCpPQ2KjVefdjCKBngyTxwMr_ISkauNfNpR7nKCv8kPApyEIY9tT4pasAoWQbW7gGKuDot29ys_V6Ugg_9aQKNl2PYv3X3HcwTi5dyrm9SLuhPrY4rsFEeuhX8a7CwB2b11aO7jqnJaOn6tIvULwul0YZ8JmR7s9p2cQGzAfNbxHYfugo0Tsq-uZXE17EjuZOM4iz6NH-mIBujUfs1IsO7qg-lfo0mer1pWZMLdNR4LycbX3_8roGkF_BYq1f0gX_Q3i_B6hm-s2SuC7uAIHxeGGsVJTV_pAKk_AMQ-tS1BbIPBmtPS7WQ2eQyrvm5W_GsR7apdmLaZV9KPU3i91kRK_w_eP2-iGqUWAram4uTE6HhyWkDCV178PXLE6lDpyW4YgO8VJskp-kIsodxSG7tMjTYHybnkSZIkBz1fGp_X8m4UX6cumTNiCoZiXIZiHP0hW1F1ROtb55hXLe_lDP6MIoWIk-HUAkXdPZuPI2q",
  "id": "rs_07342fe09ad52c35016ab427c291b087d0930c7d7c17f4deb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_z\":0.17},\"note\":\"The plush is now laterally over the right basket, but its body still hangs near the basket’s front rim in the overhead view. I’m advancing the gripper a few centimeters so the hanging toy falls inside rather than outside.\"}",
  "call_id": "call_LV5iKBDoNiepsMDfatokcdDM",
  "id": "fc_07342fe09ad52c35016ab427c4b33487d0a6ab2de19fef0248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LV5iKBDoNiepsMDfatokcdDM",
  "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]: [-0.2848, 0.4896, 0.4431, -0.4301, -0.3748, -0.0906, 0.9982, 0.3511, 1.7599, 1.3224, -0.2737, 0.1967, 0.1947, 0.2224]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1773 left_yaw=0.0658 left_pitch=0.116 left_roll=0.1029 left_gripper=0.9982 right_x=0.4814 right_y=0.1434 right_z=0.1631 right_yaw=0.0694 right_pitch=-0.1255 right_roll=0.0347 right_gripper=0.2224\nstate[joint_eff]: [-0.0889, 0.3487, 6.9265, 1.7363, -0.149, -0.0611, -0.0073, -1.1009, -8.5675, 9.347, 1.6728, 0.0806, 0.0171, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa5b9e61568a0b899099c1774a54074b12be693b4b881d217e101cecef01e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97425aead69de0049dba602c7856658d6fb22967101ffc14b956e37c985bc3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d76c738df4d2d835e9e0356db6eb140ae4af1e61d74bf1cf38db60901aa6db0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.185 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4259, -0.3744, -0.0906, 0.9982, 1.1107, 1.8854, 1.5082, -0.5674, 0.7555, 0.7856, 0.2143]\nstate[eef_state]: left_x=0.2525 left_y=-0.0029 left_z=0.1794 left_yaw=0.0659 left_pitch=0.1249 left_roll=0.0994 left_gripper=0.9982 right_x=0.3131 right_y=0.3671 right_z=0.1677 right_yaw=0.0725 right_pitch=-0.0616 right_roll=0.0354 right_gripper=0.2143\nstate[joint_eff]: [-0.0068, 0.5128, 6.9265, 1.7998, -0.1392, -0.0464, -0.0122, -0.2256, -13.0393, 9.1145, 1.1111, 0.5836, 0.0073, 0.3443]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.487, 0.4431, -0.4297, -0.3748, -0.0906, 0.9982, 0.3771, 1.6512, 1.1469, -0.2092, 0.231, 0.223, 0.2196]\nstate[eef_state]: left_x=0.2523 left_y=-0.0027 left_z=0.178 left_yaw=0.0659 left_pitch=0.1189 left_roll=0.1018 left_gripper=0.9982 right_x=0.4485 right_y=0.138 right_z=0.151 right_yaw=0.0513 right_pitch=-0.1215 right_roll=0.0343 right_gripper=0.2196\nstate[joint_eff]: [-0.1709, 0.5675, 7.0632, 1.7607, -0.1441, -0.0415, -0.0073, -1.1692, -5.7778, 5.1624, 1.4139, 0.2369, -0.2662, 0.2173]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4896, 0.4431, -0.4301, -0.3748, -0.0906, 0.9982, 0.3511, 1.7599, 1.3224, -0.2737, 0.1967, 0.1947, 0.2224]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1773 left_yaw=0.0658 left_pitch=0.116 left_roll=0.1029 left_gripper=0.9982 right_x=0.4814 right_y=0.1434 right_z=0.1631 right_yaw=0.0694 right_pitch=-0.1255 right_roll=0.0347 right_gripper=0.2224\nstate[joint_eff]: [-0.0889, 0.3487, 6.9265, 1.7363, -0.149, -0.0611, -0.0073, -1.1009, -8.5675, 9.347, 1.6728, 0.0806, 0.0171, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa5b9e61568a0b899099c1774a54074b12be693b4b881d217e101cecef01e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97425aead69de0049dba602c7856658d6fb22967101ffc14b956e37c985bc3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d76c738df4d2d835e9e0356db6eb140ae4af1e61d74bf1cf38db60901aa6db0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfIetxXamlNj-MTWZ1W42S-fqVDg2Etsupwm9vzHZjHykGFt7rnPI22nuxC3OdjaF7b2zleyfp67JXRNnnqE6rmZmt3kVzfegliCCRX5piYfXfdCAptFljCkZmCk723Nf7_6GOUi3ONuuMai2fKI0s4p0TwXcXphGOUP4tatiZhWGPhjYSPtaV1BMZi4QAI7vNIdPOa0Bm5BCkfS76zMt88_uUYNPjZYbA2_a0MDbhyUbMuWfurAKZp8AQDDCZTBlMJURvqOeL9s3TusDutsr13F2MYfEndHqT5Ja_E9jqe7wm8VZhrgbVLqZWIJ4_8_StS10zO739h4Jwd3FMShRzphinTfIoKTc4i4IvmVoZie5IWi_3Xpa0wMjnkD5L77Oa9upVwrhbr-u_KQHJXzWtEB5EE0-etzH0RoMvNGlTZPGHDF4tDpsEGtOG3rxgWLSFAajPxlT6o25yhK1GaxZR849cw4D8N3ntiiwLs6cswsbAskWk1Gx1SZqBRULIEIQ6qxWVq4ABqkb2Aq13ViPa5J543jAY1DDPJvB77D3l-ZbJQvVKiMt3gYj5Cqa9YyZC5rTFbRMOoQdia49cippYfEKxNlxAXtnx6iZ1iuryL_CBS3FW8GB7GNyOOiEOkVHiwHO-Va_eK3fFAnLKf1ZqIRpkCqd66PWJUEdRZtbQGP_DE_w1N7exyMsW6Zls4AnEaf605OxHyfBDqhCJ7cEbDe-yV4RwdBdGsr-ZMNBWfKL89XJMMa_ZJZZuyjHAUEEIm2Sl3EKWpyu3uWdqojkFHl7KfsqHgLrWdcop5_e43RSwGjWvXOB0s6XXqyJQlaJZVhgnTqcw2IJdIcmogGBKhNMgpykUEQrNOcSAjoV4NE6tJ5z91AesWIOFdAx-4BgJEEbu4M8dNI7vjNOq15G8WuDQNjCFyytPfYYunncSdHi1TQizUGu-9UoqJyhv3tcOoUWcGEMXYhnLqBYcp9yG_jE_mGgT4XV5-D0CRNRNEv57ZW6mpvymaofHPd2TSwDN4lPFmxTBqRbtHgd1h7qXhEr246xdQWMMh4yPruAPoPzhc5r-eFSm97izYPWqhha7wS2HNMMWUjc4dSmpXydY0huSeNu-XfrpkA9cRb5mOPybt2V9xjrYKY03s7S8_sjol7FOkrs3sTLv7eUuVDCuQzATxZ8DH9gc3YA15V7DGrI4XiW27lCmpooYELcqFNYRdJBFG9p4VXLGUQ6IgYqx7GtAFQEFYET5DYeZL1bZgNIyYTJOkn8ENaXQoW5BE3rasL-9eRW1hh-Xa3ZQaUmpMvWt1RcVTKJYvsZ2EwtNfYCgN20ro6cmAFWGakuFH7pniNWbAOZWDq2vAlHlQ_F5qpnMMzxKuI92FlGevPQU8GB3QQYII30ZB6wfy4ZXeOal5C0wcF7o4SELl3fO7Xe2qJveR1w_vKa3mbwNRvGdhq8dSgFov4E66cXjdr0Naw3o-zbUDSg4H2VxqqwNt8ROobyl8Z8RPS9vsn_4WKAKYYGtA6RNB0DYcYKB5zL0tZkct76Q3ZZmXGVM0OItG1_tZbk3aXCk1diLn7cbh-l0xQv7qzfyMelYKO1rOhUGMgAmv2qtK41y7XJ2TNzhkTVecKq_SRxD9mkG8-fMTezCzRlukRWwUOXOglLZqsBx7A0a5L3PTIFtu3Nx8cB0a8JyTOEBOrATx1VIilMinBG8hN6AXGR2ZqhWnQi1jkfl65yQ_MqZlATyUzLRgyvYSTdQcl3BnvjsJcQyjhmHAU84Ae0Fp8IbgUDBgUKCm1jJdz2KNzqzFSGt6pFoZL02XdArjcQ==",
  "id": "rs_07342fe09ad52c35016ab427c6cc7c87d0bc57e4cc203ed2c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.095,\"right_z\":0.11},\"note\":\"The hanging plush is still close to the front-left edge of the right basket, while the basket floor lies farther right in the wrist image. I’m moving it toward the middle of the opening and lowering it carefully.\"}",
  "call_id": "call_V1xvIzqXnlGU4wXTJWgi5piW",
  "id": "fc_07342fe09ad52c35016ab427c7eba487d0b489a631ddc445de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V1xvIzqXnlGU4wXTJWgi5piW",
  "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]: [-0.2848, 0.4908, 0.4431, -0.4297, -0.3744, -0.0906, 0.9983, 0.2485, 1.7447, 1.1549, -0.036, 0.0933, 0.1493, 0.2244]\nstate[eef_state]: left_x=0.2526 left_y=-0.0029 left_z=0.1771 left_yaw=0.0655 left_pitch=0.1152 left_roll=0.103 left_gripper=0.9983 right_x=0.4899 right_y=0.111 right_z=0.1417 right_yaw=0.08 right_pitch=-0.0552 right_roll=0.0806 right_gripper=0.2244\nstate[joint_eff]: [-0.0479, 0.8274, 6.9265, 1.7607, -0.1538, -0.0562, -0.0122, -1.3607, -7.0359, 4.1231, 1.16, 0.359, -0.2759, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b01d809252a80d56fa850cbd2ca4848a7271f0213f4a14c838e2076e377949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fea484a899ffbc37f75477895c9683a436d0bf4b9e239e005be7f0f6d2701ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf2fdf1b43b3da7e4070e992e847ec36b3c50f716ea7c44e07cf3cef148027f",
      "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 · 8.505 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4843, 0.4431, -0.4267, -0.3748, -0.0906, 0.9982, 0.5182, 1.6547, 1.3441, -0.4591, 0.3393, 0.3046, 0.2174]\nstate[eef_state]: left_x=0.2525 left_y=-0.0028 left_z=0.1792 left_yaw=0.0662 left_pitch=0.1242 left_roll=0.0998 left_gripper=0.9982 right_x=0.4302 right_y=0.1818 right_z=0.1928 right_yaw=0.056 right_pitch=-0.1461 right_roll=0.0073 right_gripper=0.2174\nstate[joint_eff]: [-0.0752, 0.6085, 6.9402, 1.7558, -0.1734, -0.0757, -0.0122, -0.4171, -10.8239, 11.0974, 1.7167, 0.2564, -0.0757, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4896, 0.4431, -0.4301, -0.3748, -0.0906, 0.9982, 0.3511, 1.7599, 1.3224, -0.2737, 0.1967, 0.1947, 0.2224]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1773 left_yaw=0.0658 left_pitch=0.116 left_roll=0.1029 left_gripper=0.9982 right_x=0.4814 right_y=0.1434 right_z=0.1631 right_yaw=0.0694 right_pitch=-0.1255 right_roll=0.0347 right_gripper=0.2224\nstate[joint_eff]: [-0.0889, 0.3487, 6.9265, 1.7363, -0.149, -0.0611, -0.0073, -1.1009, -8.5675, 9.347, 1.6728, 0.0806, 0.0171, 0.2808]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4908, 0.4431, -0.4297, -0.3744, -0.0906, 0.9983, 0.2485, 1.7447, 1.1549, -0.036, 0.0933, 0.1493, 0.2244]\nstate[eef_state]: left_x=0.2526 left_y=-0.0029 left_z=0.1771 left_yaw=0.0655 left_pitch=0.1152 left_roll=0.103 left_gripper=0.9983 right_x=0.4899 right_y=0.111 right_z=0.1417 right_yaw=0.08 right_pitch=-0.0552 right_roll=0.0806 right_gripper=0.2244\nstate[joint_eff]: [-0.0479, 0.8274, 6.9265, 1.7607, -0.1538, -0.0562, -0.0122, -1.3607, -7.0359, 4.1231, 1.16, 0.359, -0.2759, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b01d809252a80d56fa850cbd2ca4848a7271f0213f4a14c838e2076e377949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fea484a899ffbc37f75477895c9683a436d0bf4b9e239e005be7f0f6d2701ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf2fdf1b43b3da7e4070e992e847ec36b3c50f716ea7c44e07cf3cef148027f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfLMRrT-0ljwUbIS4TLKGzh-olyn_MET3NAY3TkYBZnrC6hi4oT8iboiFXCQU5LgF6UGYD907nJny7864bX8HxGGdTwYMwI0jLfKejrujccrLo7wyU163qentHXkuXCpuG3yv1yOwcvjQeroTRqGQXVUpjIj7FLHNn25VI6WSleakQjQrPA82qst7aeV1zP4sgdnp5i56SsodaMzgWflv3vcgUB5IXvHSfRdj9i5JYKmQsopOycJrJnuqe0ea8NLKXM5EaRYp8OD_hlsNlgERqV6x0BYj1B85Dp-rm2lFl7s7ZUKrLBi-rvHOwr6H9CC9eirRSbQDDQ7VjP1EoCFof5FUQyXeMr3ONmouaR_nh3oWpvgXgABl_N8uvn0X_IOKFBr5ihXVs3-J2fSCZfM0HI9-T461OMPfP60dxDF_FWbZbAyLZO8Ps4tRzRczVJslbdaTSGjt9sbbhsvhBtNLRqZDsTaa5YtYOO2TNDtfxOhjMzfk_3NbSjkaFjVZnPSeKsXW14c3BCBHEaNFUJ5xzDJ3o7aQ4hxzjx5gSiswNaG9l37fGIjr5CPI0p11_QbvtopqeM_AlX1A0yccpnITL-RRG1PAA3l8nd3THdVMQsizdBMF-WhTJEgQYZ4ERg4BIWaddzbD1jO299gSS8z0DKCXVePmJIjDl3kbTW8j6EsB6skab3eFbkN29irjRqef8xmQ5p4bQDCiK6lmujCSvwYYDg6E1L0FL51Khez52_YUof9N7ANxE8eIg8RPf9Mxuo9gA-FbQBxJGS7Zz4WU6hzCb-yXFMUub4TkvFzhg6RMjr7qNGUBqQmMzlt-xTTDrU7aJD7_s686kWo0MQ5DLVeMLchBqOZpnxWCLbQ6IVXJNfxwkHNRY5OZGOklXaM5CcR3PKOTKCyNHRHyIUQ4Xku1GcRfk6iyjINEB-xi1M2EOgBusRuRzjTY02ni7kq65XOPrZimJX_1OaH5F_Xd8mgkkLJ8p6BpTivZN1zWnpSoNdoHK1jDIZ0IEQG3EVLavZ9xu71taOG6ecsE24gLJiboxXncO9b4P8wHYBjDDk28LpU9OtKhP6F8NdEhJTX9SBXo5rtn7kBchqFDcnDMeRthVcT9fibOdnMh_m0t1XpBvlOJz7IznyxAcnmS9ANg1PMuG8jWd2Ze-V3Oudr1W13O97ZDLN_TOPIWAVWdaAF47hKwqG9SWkYSGoxdM6UQSVwBtfYCVZYvErvymo1uYyItUwNJNYpTewqiQlADJaaiyrO79jQ72fRxhkGmKAnKEPvtxVZobQnybDYEOAaTPTPw==",
  "id": "rs_07342fe09ad52c35016ab427ca598887d0ad5c0c05954fd287",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped with the pale plush resting inside the right basket opening, and its body is over the turquoise floor in the wrist view. I’m opening the gripper to release it.\"}",
  "call_id": "call_vM1RGxsitjecW43IWbUFW8G4",
  "id": "fc_07342fe09ad52c35016ab427caa32887d095062ca78a6777a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vM1RGxsitjecW43IWbUFW8G4",
  "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]: [-0.2848, 0.4908, 0.4431, -0.4328, -0.3748, -0.0906, 0.9982, 0.2459, 1.7428, 1.1511, 0.0116, 0.0853, 0.1394, 0.9948]\nstate[eef_state]: left_x=0.2522 left_y=-0.0027 left_z=0.1765 left_yaw=0.0657 left_pitch=0.1124 left_roll=0.1042 left_gripper=0.9982 right_x=0.4955 right_y=0.1125 right_z=0.1506 right_yaw=0.0896 right_pitch=-0.0103 right_roll=0.0843 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 0.6769, 6.9538, 1.7802, -0.1441, -0.0513, -0.0171, 0.0752, -8.8, 7.1726, 1.2576, 0.0317, 0.1587, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7cc4b1508a77589c8c67d8b94bbcb882fd773983a1cd64050b9a15259d3296c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f178f785d69571b71e6c359092a4597b7307f571f4136f4a749ee8fc5962be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50359fcfc42e1e85719e47968bb6cbf1815f7fb05961cf343245034a3d0e169",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.223 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.487, 0.4431, -0.4297, -0.3748, -0.0906, 0.9982, 0.3771, 1.6512, 1.1469, -0.2092, 0.231, 0.223, 0.2196]\nstate[eef_state]: left_x=0.2523 left_y=-0.0027 left_z=0.178 left_yaw=0.0659 left_pitch=0.1189 left_roll=0.1018 left_gripper=0.9982 right_x=0.4485 right_y=0.138 right_z=0.151 right_yaw=0.0513 right_pitch=-0.1215 right_roll=0.0343 right_gripper=0.2196\nstate[joint_eff]: [-0.1709, 0.5675, 7.0632, 1.7607, -0.1441, -0.0415, -0.0073, -1.1692, -5.7778, 5.1624, 1.4139, 0.2369, -0.2662, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4908, 0.4431, -0.4297, -0.3744, -0.0906, 0.9983, 0.2485, 1.7447, 1.1549, -0.036, 0.0933, 0.1493, 0.2244]\nstate[eef_state]: left_x=0.2526 left_y=-0.0029 left_z=0.1771 left_yaw=0.0655 left_pitch=0.1152 left_roll=0.103 left_gripper=0.9983 right_x=0.4899 right_y=0.111 right_z=0.1417 right_yaw=0.08 right_pitch=-0.0552 right_roll=0.0806 right_gripper=0.2244\nstate[joint_eff]: [-0.0479, 0.8274, 6.9265, 1.7607, -0.1538, -0.0562, -0.0122, -1.3607, -7.0359, 4.1231, 1.16, 0.359, -0.2759, 0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4908, 0.4431, -0.4328, -0.3748, -0.0906, 0.9982, 0.2459, 1.7428, 1.1511, 0.0116, 0.0853, 0.1394, 0.9948]\nstate[eef_state]: left_x=0.2522 left_y=-0.0027 left_z=0.1765 left_yaw=0.0657 left_pitch=0.1124 left_roll=0.1042 left_gripper=0.9982 right_x=0.4955 right_y=0.1125 right_z=0.1506 right_yaw=0.0896 right_pitch=-0.0103 right_roll=0.0843 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 0.6769, 6.9538, 1.7802, -0.1441, -0.0513, -0.0171, 0.0752, -8.8, 7.1726, 1.2576, 0.0317, 0.1587, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7cc4b1508a77589c8c67d8b94bbcb882fd773983a1cd64050b9a15259d3296c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f178f785d69571b71e6c359092a4597b7307f571f4136f4a749ee8fc5962be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50359fcfc42e1e85719e47968bb6cbf1815f7fb05961cf343245034a3d0e169",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfUIhSZKLEf43TznSc74zWJM-LXw0ptkw6RA9ICR4XABkBLWvTenKs12b1oF-KA-R4cOtx-R2ZudhE--k8TaAm3HqoQE3AP2PTJQEU9JJK0gy6Li_OnMg3iOv5iielrZ5rz-vUgylrotkmK0aCiBq8gfEXDWBMU3iPBcKgf3zbak-RQrn0SuIZmPSe6QSqwU_UNF6-sq5Auci2j5hXGTgGkxdOYX6s06O_rOyD4R3w-KFn_J7-_amaHMrvTZGuEEzLS_9Y9Yd3VRgj70BWAhAcdb2jK9ewDDnEaCiK3ePEMfKqBfdF91MdMVhVcjv_Ec0gqtTy2yiP3PqAtwSZu8sUmEH2wLV1rnw6W7VYcUE9CQ1UA8GFzYm-dybDJQEi-7g6cyooBjJpnokA2YpQ2hLQRhRk94Y4rigCWKXukzoNBAku9XI_laNCYQ18EDK2EUdmkkLcaY40SgqRc_qCeIfkOZ_782sZ9xal510y5aP8FX1vwbKFS12BGwgWROJCISUsEUZxr0u0uiuEyGX2x8pBMx86fIOTukuRzxX9u1fPUeEhXc-G0nCIWqtFdwWnr4k1TUBlEKvCYNNWJrp9qNcFS9FB83tp6HZUeBdREL3FglATc7lngbcsMIz-pKm9nGtVKF8TFExHDie0hUiWgOGYW6QClR_WifThGYGg_EPo795Xm8eCPUIGagRZErl7aSCzy6muvxeFtd6OqOx0ZJLMmgr-hYoEpf0IPmagRUjxb19awgIKeSW1tmw8v8mg_P2a2DDIP_RZGNVaZUIj35eGKRp5qbw1nXiJ-ydjRTJB7PZvmxfYgm3Pe_o7-q-x_07169GJgOK7T3NJm6eTV2l2kr0mWQq6TAxR93LwDIrVasXLQ2ZVmWVYzpTS6iakbJQH2SeR9N8SxHcweBlGa-Gsujyl5wQAAa4aIf03zzHoVukicDKJmalOG62fpRfx_vE7dvu9ykOEf1eCL5UTQJj7-zRvX8k3ZiNozZI25st-XkJVEhydjAX-DhMSKjA0vjwkQ0vJ8piXJNxsiQ-j-jlxbcXR40ynpgi3dsxLHhfIRkfEcdWo5UQHwemfvtxaG3tZcH-g2D0m1SGVvlnNnkoPPi9MFfgKbd3zMdZAvd1Ms12RCd7zgHvhyMFp6m21IjRVF8zaoytBliyXQoVOO_gndD0XKiiZJ_MF2mcdkvOH3AK4xMgJ2tuQMOgkQtoxX_Id43HLC4pqEcoKlpfakFlDzNIGmE1q1Cd0oSNH0F514OXw5ESmYT66pHpYWIdBvuJhvbwD43k1jvNOKMimQqi8DXEBZpNa74H5wWT3jV--ZPBb_lL9jDHLbYLDJVR5XsgQa-z3_9_5cYqRnhYrNMl72gC001iQELGZz8JQVKokQr9LRFy7_3KifD6JTMtmV8lfwwJUF-EtzuKY1BkHy-RHVhf0Y-eOo8fbyFF_6r9vft7fXWyzxqen2Mz2SxEjp6uhdWwlvSFwRRXrBzq_Sh-ga9sMh9-AadP3zAIktPW1E1_VvtymzMtfROAQGcmWg8AwcXsXrJNkc_LiwZb59gJaxLOBaO_rUMPFUbpVzhIClYS65DyjzXaDS0wYchZ5U9mRd9Hyv-AjpEC0ifyXl3FTG8ZmE0CLt3fEpKj9l-BxbNoSfUtG49SHKn9afPqA7aIfeLwtLAh2-nbfSmJ-gKNSkuLQe3GkCJzfPfoHzY1IWCcpEGNfQR2UrTgpi40Z1fA75K5Vy8YlPlr5yfgIH8eyTERsvgJhT2Nq9ZqOOyZr447wMWNKsw4JZ3wZaM5at5kuQMKBsr7tchCkzTOB632h4yVxWDtcgUS0kUJpjpAxR_80Utme8L4nBxlZCgcXb3nkGKNQMvWQ0iqlr1Sj1VEn7-y2_tQcffGNmIIggS2g3mk_eV1uemC1ORpq_wC-MR4-A4V-ZtoZk-jeuQCRne8e9clhm70rMGy6czyWR7FwS85hP46QcUOpOQHXUUNE1i-vGGyOWgRSFojmDSDpi35rTM-2d7Hyk7DLDN_SjT6xuxR4Wv_tZklVfuNBqqunLZ7_3qkNcNn85EF9jzxS7qbwtV1s6URbncAp7zztN5k0v-CqRdE1C-BMoWBarJZ1j69UatGm6BcTzd0XiUmpBXarcfthIV_rEx8YmayU3-JeD4a22kP9xvFP6NlHMqC5HgxJK759FpauB8i9gvlhmR6ySzYMY0ArSWWPcJ3-JtKCnlZg_7tz00ciPYxdYGIvKXNxtKo_PSW7z8gjqDc6oi88g92g8HVKH5odpc8iRIcqv9TKEdxJEhnrfm95TMuwBhv-7kczegbSeWVXayDvia7YaB8SJ_k0J3Q4YBH9cuY8ytYnnYvSNvOg9k9vfnTORnYvPAqe6grM1pFLCWsZaUeR-gux9Gnw1zCN9GFCW-p7lFvK71-J2viq9IutnkAJc0_9JuRk_gcGA61p-QuFNg6u5RKYLHsQXWf3b1i2TrXJ1dx8ejRN3pgJZmXMSkTx758ckM15YAnzx6UjWmPHsvYmshRDb-hZWsxDtL-DWb8K27HSUvmohvbRGA6QmxmHTlUyE17Tauzw4pnpAax36tsEbl4cohKx1D6kWEEEiMdXCXjUlwvWSMLIv0CDatnMvWObS84aH4W6VlrZ8NZgUyJjeOTN41Y1pnfu-MgZxEDaVOqGOVsvxXZB6TrPaGsY0V2XgJ_U5pcDazMEtt9Yx0jS0bxgmHsIK3JMqo9x22Q14URLfw9QdZiS5N9hKGhrM9Qc97r8JfldnbACmAM4o-HNC3QqcIz6sHzU8W2R3Yc2lzOtoVDYNOyX0dpP-jrKTcCX7hMBUv1CUleRsKLwHuovfIwddqDGweJ6xN5KkNJbai9lFjEDfSD8AD2vLwLuBElRXcs4WiXJMvg11UdhSQ35kHO8GOQSCcL2CEkh76SdZynf5G8E4bV5TuJktu2K9Qh3WAURrT7yPZf30DALXF-7FHERhb7FB8Q2p6KIh955R_8U5aUb3uk0f7d8zysTGFYcEbGYj4b9-b73WO6ieOpb0ZA_21qCHtM7gws8QoFHO7MRfyNh5th1rtpF__uJSJs8ryVJ_2CEuLdRHWgeORnp_y9qxUzHeuQsnBN7pqPqfL2ccyvtIFNuNrhooRr3PcZPe38zvnRwl8V9uAqQs_SLPHCSn3bJz5x_SYGThnNge2pJPNAo1fgs6ZMVBPZ3u88OP7o_lQ99tk7kn8XRp1jvndobg7DaMUpfbCeb8g34Mkl1NGmk9c-zHOJm0Zv7gudhhhSgIykElX8mlX8kqeuTJN9O97nd7shqsXZcRMmAJs9ngx1qLx23oEctkyBlhvw0QmA-PeizldMqvjy6JbBVY3jp4NANgEY2FbsemCgNLiddvuz01yUSZyWV01zfnGOvnG5c6mNixt-E2LysRRpwVdHXhiNLHF7XNmCdxYJuKT06t0jxRG1ObTB_lP0hMrMw7NKLUpPsS-2y1zvy_Zus1c3ldelxxsfLvWrgqo1YGM0PiNEA8Se30WBe_MOhActwf8UtA0sCAEUBr-LFzuw_eYtz1EBETNelRC6YbJLoAsCJPIGPQziR8Wj0Npt7iJVduwrJ-GdcawPTLr8ZQ25IFRvh87H5DdMtYiSocBN32ZbkfYNyu1fS_FnVjG2DFegPFZgGTqQuKAPaqgIoImZQ5EmZG706S1K4ibX2UcnoVSRmpdf_2a2FLMjL7hn5tWcjlyKI0VdwF1Y4gjmuRCnH5vLfDSd4fDIf8g8iyInWyolsoym9f0jgneRQersCA2UWeK74aHR6BfNvgZumDLlJx-OVk1uBQvLBCLT8QdOkj9lIu0sMGjeEGtShw5a8sJAGi",
  "id": "rs_07342fe09ad52c35016ab427cdcfb887d0bdd22f5f458bec87",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfUIxUyQxFTBLBwZd_RRpyc8VjgBTM2Mxj5DSxqHpVcva6PWKB1NGywkxUltRiGWr6540fkFOb2gKjpfuqzwNNdAG445ypLDP2Svm8FiOHUZT6_4MjwFsWY1BQI6-joMePMr7Z_O5WSxGAt7iGPJM6npfTxMcfnoNF8RGkAvKydNloUFXXDz4t_34w_4z3TSoB3xXCcKBzd2R9TDdqCOKxkvqKFd0V0Sf7QdS9kSTA1PzbkWWGRbCdX_com1brYeaayTBQyMRaDcmNr8jWkrIvWj5xBDKHcKGH4gfYH-hCXGwb89-kPjk2d7QfDUD2TbHyZ3bkEFAzNGbhvSqPp86XM-rMdLAClJxCoQBDcO6C7BkwM9sEB5Z0I0yxAkXuyQm9QjiCCdfjmf-TjVc8ngKMaxx-a084Ir7Nsr8hgHbpSe97e9EOWjMZKj7Ra1G1kglEpaeSMQPUSmqwhb2VGzuk1LWxAcHK3XkZrpGCy3zPFi8hXjmMyJ57FauwHgW1-IL8G4LAOTH7ctpP2iklwgL3bR7cuNeHq9EMoHi_tecf1vl4SqpQh3m9AH50pmK_I0bdt1Ixd6zwD3_A7c-nDy_7W7DmbITEuVfGgizkR2VbpZn8Q-xS0q8i86g6tufPWErqX_BBTU7c1aiU_ZveTfc4IA4jDqlkKKKmRPUzjapLBr_7nxN5drBbvCpOY03F6kV_c3h-2mKmuwjgDW1XhPDh5jG3MbOKkmafyI_fRCEKYylTRM_ZQ5HP4-Nqj4NARxE17By8lPcT7P26jSAnabXlNljzqxyxPUc0UUrxbe3ePNY93vakfINLVFkT7UjVZOWBN4CqFOmaSQxJ5mIkGUWs8JIo9hYbVyGluvWmKqJ0xME-HG3U6ePlymnNGjB9nKEPjdkHUHF8OJGk7Q6zLS4cGMLX7j1Xc77wK-L4myIxI_zaHr0gqKleLGJCfPyhYMLkdRB4yjLSzCLD946BbXslqr6iwM9spPWFhkPBfvQ8LVy9wL_ZMByBw3um684MLaMwk2Zu87r4zV1y2rN_IK57M1QeCo5jqByVWriu5Hu9HCUeVNvGraV_U4H-MNmcFL04yEnEYVOcb8f-1w0zR4Ab-oIl0jZwhj8tCzJKOChcFsBiYY2UxRUxb2SMJ-tZtmjwGB5_pyAcTigcN-wOBc99FG8OnBYT1Mk3wiZ2aM7U3u6jcRam2aVF_18FiOYUuw0-HDkNCb5RD5O2iDgDsL6iY3kOxRjaiGO-wio4e7SSEIsFQOBdTku8Lv4sza0BIFWgd8CrVKCDvm6McedVVNfuBiD9VAdDKJm95Y89IAIurF3IwgJBu4TdqWapxMqc5szfmXM3_3wdPPFct-VCOQ6ZRDgORD8mGGQD6LrY83kqsiofWIEw29UGvanQrqXirooqhR4YU2WRJgHC07N-N8sU9IJ0txnHJ36hfzTJBsJLvF7G1lbJp6m1eO9TZgpV06bWKOeoJ0ntDT19ol9g8aKFd24vvHtysLnIZvrlMHpaIFoRoq222T57IuXfRaDFXHrBydARDazFyR6Epov42kU6jnnbe8cqbUTGVqU7SKsRQkVuT4rP8M1Digvd8ijCJdlc_GNaFbDkdogZITT77fz2jsyAiv-y9glqhPP6H0GjP0qwj3FCYQX2Lnh-uIU53p98Na_TqgqYbdCBFJ0SCVoxLn6jKvOtrVevicUrUVOrbXUvWYfY546goeWOi38rKGo543rCtQjeZrJAAQu1mbTB1S_2eEsSgafSyNQQl5v-mqYAMrLr781FZn2r1f1l33tI1ioWl4nEapgeDOlhmHQhWrCvAoTzJiENusgpEoxuVkhacRPsaheqR3hH0rbGbtmp_31Q8ajBcU2kTh9E9hGWGaiQmAG-8F0jx_tuB_qNokNffBK6EB7m5Q52asaKLjlrm62Hf5lb9M6xCu2G-RmHxplD3P3Qqpang5R81_0W8j3c8LS8c8nzjnR-vsPyzl0Fmzp1LS69Fo8SmDvVR6-ZpdNbUT0rSZI6FTGejROn5o78MCFmpjRP5IPiDdy1LIrt7m1IZrMNGNR3v3bCbJV_TGXgvP1VXt7gIm8lusVpHhmRB76_xu1Us6ESXAuciWUkyEvHZrD_NDnJ-I1rJv5g1GgHdZnPRDagcp1T0mLsydwsGQravWXUTeS3UKF9XVWq_lj_t2XVHP3mIrBFEHreT0FFIDE55cn0Hyj1oB1JuvdcMFEW_CZkztHZuT8OE5eCAl7DeG8c4cLoT2nwg5eagY6xIVJXsBHm-TMdLI9FdgIv20dSeSH2FW0TsFGGeHAB2RB0X_tKrgvB9TCnvWYNiFaGZH9RLs-QdgK-4A8K0h1E=",
  "id": "rs_07342fe09ad52c35016ab427d2dda887d0bc44065d062ceb6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.34,\"left_y\":-0.17,\"left_z\":0.12},\"note\":\"One light-colored plush is visibly in the right basket. Two figures remain outside: a brown one near the middle and a gray one at the left edge; I’m parking the right arm and approaching the brown figure with the left arm, slightly farther forward than the earlier missed grasp.\"}",
  "call_id": "call_5SoTLWHMmndWWGz6D2pVUI66",
  "id": "fc_07342fe09ad52c35016ab427d3a8a087d0ab24407915cf921b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5SoTLWHMmndWWGz6D2pVUI66",
  "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]: [-0.8181, 1.4628, 0.6453, 0.0772, -0.8062, -0.44, 0.9982, -0.1444, 0.8516, 0.667, -0.3817, -0.2081, -0.0547, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=-0.1622 left_z=0.1072 left_yaw=0.046 left_pitch=0.0682 left_roll=0.1411 left_gripper=0.9982 right_x=0.3057 right_y=-0.0039 right_z=0.1945 right_yaw=0.0506 right_pitch=0.015 right_roll=0.079 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -6.3932, 7.4872, 1.5995, -0.5348, 0.022, -0.0122, -0.2393, -1.4427, 6.8855, 1.7998, -0.1929, -0.1245, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add49fdbcf54e96bcbbfc608bfe271588adc80c844a9c0304c457f8d511c0456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d05dc8bcd00a3c176839d72e33294c1b209c646083b90e9ba75a7cf932f22c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d954c38a8e48fbb581c166030b257820b3898e958c751ab83f96b90c880d99d",
      "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 · 4.343 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 100 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4896, 0.4431, -0.4301, -0.3748, -0.0906, 0.9982, 0.3511, 1.7599, 1.3224, -0.2737, 0.1967, 0.1947, 0.2224]\nstate[eef_state]: left_x=0.2524 left_y=-0.0028 left_z=0.1773 left_yaw=0.0658 left_pitch=0.116 left_roll=0.1029 left_gripper=0.9982 right_x=0.4814 right_y=0.1434 right_z=0.1631 right_yaw=0.0694 right_pitch=-0.1255 right_roll=0.0347 right_gripper=0.2224\nstate[joint_eff]: [-0.0889, 0.3487, 6.9265, 1.7363, -0.149, -0.0611, -0.0073, -1.1009, -8.5675, 9.347, 1.6728, 0.0806, 0.0171, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4908, 0.4431, -0.4328, -0.3748, -0.0906, 0.9982, 0.2459, 1.7428, 1.1511, 0.0116, 0.0853, 0.1394, 0.9948]\nstate[eef_state]: left_x=0.2522 left_y=-0.0027 left_z=0.1765 left_yaw=0.0657 left_pitch=0.1124 left_roll=0.1042 left_gripper=0.9982 right_x=0.4955 right_y=0.1125 right_z=0.1506 right_yaw=0.0896 right_pitch=-0.0103 right_roll=0.0843 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 0.6769, 6.9538, 1.7802, -0.1441, -0.0513, -0.0171, 0.0752, -8.8, 7.1726, 1.2576, 0.0317, 0.1587, -0.1587]\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 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]: [-0.8181, 1.4628, 0.6453, 0.0772, -0.8062, -0.44, 0.9982, -0.1444, 0.8516, 0.667, -0.3817, -0.2081, -0.0547, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=-0.1622 left_z=0.1072 left_yaw=0.046 left_pitch=0.0682 left_roll=0.1411 left_gripper=0.9982 right_x=0.3057 right_y=-0.0039 right_z=0.1945 right_yaw=0.0506 right_pitch=0.015 right_roll=0.079 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -6.3932, 7.4872, 1.5995, -0.5348, 0.022, -0.0122, -0.2393, -1.4427, 6.8855, 1.7998, -0.1929, -0.1245, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add49fdbcf54e96bcbbfc608bfe271588adc80c844a9c0304c457f8d511c0456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d05dc8bcd00a3c176839d72e33294c1b209c646083b90e9ba75a7cf932f22c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d954c38a8e48fbb581c166030b257820b3898e958c751ab83f96b90c880d99d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfbc-ZiA2sN2bMOpioaeyQlEqs7orDkLiArNctZf4hduyqlAtyvAzzMCky-hsiI7o0wttczkcx15AawRRKQqHHW1Q0_xKRSRPFpT9E5Nn0cYbWdrz8z70w57scyvYl9_6m_kUlYIG7VijUJfxJqJKGdD7lj07evWCE_ln741ob9Yiqn5gdbVEUyqXCI5qwsdx6jcifp9OL8UOzRYdyzJaQFtFG3WFO0mmn5zqPxeiEp-7bd2FcB9ibA-YVrNS2qh4d5JkRvmADQovecSbM2DzAlakHr7oAS2lrlbg0aMpzhJOx7MBGVlqQdqrRDnsxAl75wDft0cbsRCsz5xn8hFIDSnvirMf6z2Xb_bydwxjvto6CU0k6OAV2oFr6-xoAVclritDRTXbZBguq0RLi6G215lFz_LPr4mry_t3Hn0jZjknETvJH1XhHusNn7A3VVpEz5HiuQsOpkd7BkYQYtn3vE3auRrrVW2THcgJ2vw43sHoAMQBVUkkOw3vOoygtNnDBwNFb-d-M1ire6Os3CWwRhPMWnMnbuMHrS5S4Cch7Nn07HekbXWQ1HmoXlsrMmprB5uA6kXv2-Tn4GW1AK5snh1cwKBXxQzeIdamRNn7hqYs08x0S65Ogbes4YX1-6GoVMrm1nRCKZVTRRpgDYEkmryTxC69PmHwAThQHrHH4NpUmsxQ49pqzPgWA1nwkcGTgd7R2foMcKzVxwZI9yIi35lWUzayskbOz619DDE2p3uAQwYzsIU2RLVxtyRmYDt9qz7fSk8dgLVhiJOyqgq8ZFduH7C8TQVDoRGIcI6rGTuCyq-L86wq_lSZkr3qoVIoMS6_stEcKEAa1HyLckNc1rj6ogut6R84cNvwdggEe2QOkypoHeLmCMK9O1uTXwq6k3dI4ShPTSjDnxdHLFMidiPau_Eb4g0ipGYpDNB9gUIL-DBBaBB3NRAiyMDibRo4STehhBfJR-BfSHRJpWwsDGjWiWos1uZJO1JUvaWNC30sahvTBg_RUZtPTCQ55GfNUZnQHMu9dXZcjP0BFm1agKclyrrgx7nH--Qycc0MPXowKUN2zBQMS9cv77cvA-LBOlZ62RCbtvZ4JOXj-OoXVTkoPNLi2hn6a5y5vLwRHEe-l-zsAEhxs9sjbQ9J7130WcwB15RO56FM160_fPTjCzy9hNnrtRt92DDishkIMy6TpvrL5-kd-844sT-2ITiYwn9Bnm9JIpp3_P63m-2nPcVCACPyWjU5F36N6TBIhK1zwPVXmzkdG34wl9KnKy4bm6W11SiMZQccPPU6zEcftZ2T9V0HumCX0FPutloOJxCMWnpgoFkwq5dflZnA5C8GcbqsgPqM-L2eWS_3DaxDUi6Tl25_ffC8KlZwnDMjF07V9-nP6aEvKNVk1CPjOrzzViASreE0XSYToc6hFeHetGPmEg1OrGM28II-IufxFRIl5j7_YcRfv18smEWFlFxOyWwLANkkBu11_Y3EqqJhhsj-KXSefpnejbffjHI7C5ePIiT1cvtNen85HHD1CfjkEkZzPVAZby4ViEsBFKsHsEB-x8c1c3mkKBBmqUGtj_usmUA4Dv65FYCsZ3AWP84IgyvJGl-8pMr9zZX3Goepjd46Fuz4JhIj4yk-ec4lnH4OsfmARN0SzeM5lrqLHLqHrFYcuJsunSYwCkKtuf-LM8NmNwtMt9Px81DJCgYnhL7DxlZ22ZiWRGvx9WTh-gCfgjA_2GLcHGT3EDZ3PZ-3BbsXjXgIlYXoyAUcgF1IKEKEphs1lt_6Y_VvtZkCRgc4R6LE0FlfCquFwAA2ojOnuAuLq-BerXUAEAtKwHWnt6haqPkng4GKms64apeD4NPSVyz8GQCMl1IUB-Av3QFQBgLbGvOodMCIc8_FLcuziKWU42HayxIgL860Sn-P4tg9TOSXc5qmAdPs8F3jVxwuuq3wviRqcrspCEn8q9xUnqobdluBkNOTSmIc4L7q6XCLMXzcrvTwH7hq--96oi0EjuGMMCA7BDRQwzJjnJ2uLJ84_yhqbXuCbVNfVrQJcBb_aaeFMHdWNc16hEMBzp5H7QHRAivFs7fWYbzxWkbORvjohEJ8bTcBjsk1st6wwAteQHXzKYJblL-X6GZlUKb45R3hH5yTIuXhru8xxAIy73yW8BTQvKWHPaSHb2BH4Am1iBw9NhFzYL_le9rqPT2dSUHphxb7ftcHYSMgVsW2gQMXx6DIVVAwvnTFZlvvayXaQWpF5WvASbFckd1detfO7CLMe7p10dvtEZbuTsQcOB8Yx_98Jo84XasI1A1cD0qmlK1Ipp5rAC39aoZL8_ESu4_wHo19w_RDPPJTYwpv-wkkUS2G3jpnvrMtIU5zbEngMvrYWcsAMKmNcEyIXYIPByeeZqKewNm-nA3WmSh8SmaalnKC7P9NTlJnBAhJoMI7eFtKCLG-pkp1RgZWnvB6aqpTgVE9F7QW8MnXUdHmDM588wu6-11vRZPfrm7uV7zeWtyIWJ5ULA6rDaIklqZHbO8y-tGWG7ZzjLigTLNmgIIDGJBFNJWhVpDoDb8yTLIZIMT28sr4gierArovVgsgB9Kf9peB86yFeQKXowylMUocKnyfcxhaySFEUFwwuEQsiXG6g2uzrfEeGJa8BWQZhCbg2zec2RAeVixMv9O51dxoaxF7ruoWZGn3bfoaMNzpGCfFsQtrRiPsbawgE46oo9Iam-8g8ItUbDejyj0_X5obfGiPCx0OzTnXfSIikILrYB_JlDreeeqv5XaFccgHzQ_0YtWAQNgVLrrImSv_AhY76MU4Gmkelt0At3FMLz9kGgf2qul4GogJW0v5U5Key7EqK6ltIQSEnHXmKXGrUcynWx4aFu_h_KeR9188lz4aFHwmRql_Y8tKw_HmEgGs6ncrzoPY_7zJPn35f8zbtPyIvJSjHhdVdkKbnpz4MDRDXEn6JuIUy8n3XVjpKxQ5Ig4jyr7s74zh7FrR2hEBkfamWgRZnUpg9SjHPwyCuyD5Ynu90vy3O7Rz6Y7oyXC8N486GNLPVQAs3J2_REf8bafAHD0UBkHHlcwlSYO1Jj0KXot8Z6XKuui1j9QzpajAjdeerINA0gDFcr-MObVhygUN_rrDZOyC5JhgmsCgBBAiv2",
  "id": "rs_07342fe09ad52c35016ab427d768cc87d0880e6c909b3ee5d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.12,\"right_z\":0.09},\"note\":\"The overhead view shows the light plush snagged on the open right gripper, not deposited in the basket. I’m bringing it back down into the basket so the basket floor can support it while I unhook the fingers.\"}",
  "call_id": "call_ilXJid4a7RPGXSmjykly046Y",
  "id": "fc_07342fe09ad52c35016ab427da769c87d0a153129797f89d0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ilXJid4a7RPGXSmjykly046Y",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 1.4712, 0.6468, 0.0719, -0.8059, -0.4461, 0.9982, 0.2939, 1.7172, 0.9028, 0.3923, 0.1829, 0.1505, 0.9965]\nstate[eef_state]: left_x=0.331 left_y=-0.1625 left_z=0.1042 left_yaw=0.0468 left_pitch=0.0606 left_roll=0.1449 left_gripper=0.9982 right_x=0.48 right_y=0.1155 right_z=0.1365 right_yaw=0.0468 right_pitch=0.1532 right_roll=0.0796 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.4068, 5.8051, 1.4139, -0.359, 0.0269, -0.0073, 0.4034, -5.0667, 5.1487, 0.7448, -0.2515, 0.2027, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1bb9bc70bd394529f89dead2fb7d5ec6c09606f64236a1e52c3b1be2925f956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1eefd61e34343f3a5656be81dd2fcefb13ff36a289367d4b44b3e295658bd7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0624f32a6482ddd0cd45662324480f6787778f2a48861ec87b543783dcb3e4b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.678 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4908, 0.4431, -0.4297, -0.3744, -0.0906, 0.9983, 0.2485, 1.7447, 1.1549, -0.036, 0.0933, 0.1493, 0.2244]\nstate[eef_state]: left_x=0.2526 left_y=-0.0029 left_z=0.1771 left_yaw=0.0655 left_pitch=0.1152 left_roll=0.103 left_gripper=0.9983 right_x=0.4899 right_y=0.111 right_z=0.1417 right_yaw=0.08 right_pitch=-0.0552 right_roll=0.0806 right_gripper=0.2244\nstate[joint_eff]: [-0.0479, 0.8274, 6.9265, 1.7607, -0.1538, -0.0562, -0.0122, -1.3607, -7.0359, 4.1231, 1.16, 0.359, -0.2759, 0.2027]",
      "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]: [-0.8181, 1.4628, 0.6453, 0.0772, -0.8062, -0.44, 0.9982, -0.1444, 0.8516, 0.667, -0.3817, -0.2081, -0.0547, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=-0.1622 left_z=0.1072 left_yaw=0.046 left_pitch=0.0682 left_roll=0.1411 left_gripper=0.9982 right_x=0.3057 right_y=-0.0039 right_z=0.1945 right_yaw=0.0506 right_pitch=0.015 right_roll=0.079 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -6.3932, 7.4872, 1.5995, -0.5348, 0.022, -0.0122, -0.2393, -1.4427, 6.8855, 1.7998, -0.1929, -0.1245, 0.1392]",
      "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]: [-0.8196, 1.4712, 0.6468, 0.0719, -0.8059, -0.4461, 0.9982, 0.2939, 1.7172, 0.9028, 0.3923, 0.1829, 0.1505, 0.9965]\nstate[eef_state]: left_x=0.331 left_y=-0.1625 left_z=0.1042 left_yaw=0.0468 left_pitch=0.0606 left_roll=0.1449 left_gripper=0.9982 right_x=0.48 right_y=0.1155 right_z=0.1365 right_yaw=0.0468 right_pitch=0.1532 right_roll=0.0796 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.4068, 5.8051, 1.4139, -0.359, 0.0269, -0.0073, 0.4034, -5.0667, 5.1487, 0.7448, -0.2515, 0.2027, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1bb9bc70bd394529f89dead2fb7d5ec6c09606f64236a1e52c3b1be2925f956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1eefd61e34343f3a5656be81dd2fcefb13ff36a289367d4b44b3e295658bd7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0624f32a6482ddd0cd45662324480f6787778f2a48861ec87b543783dcb3e4b5",
      "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_07342fe09ad52c35016ab427dda94487d0a114b064b116e1d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The light plush is still brushing the right wrist camera even though the jaws are open, so it is hooked on the tool rather than free in the basket. I’m briefly closing on it to change the contact before releasing it against the basket floor.\"}",
  "call_id": "call_JoliEDE9zYG53eo3q2IDhIhJ",
  "id": "fc_07342fe09ad52c35016ab427e01bd887d0a60e5e4c0857eef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JoliEDE9zYG53eo3q2IDhIhJ",
  "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]: [-0.8196, 1.4715, 0.646, 0.0719, -0.8047, -0.4465, 0.9982, 0.2935, 1.7145, 0.91, 0.421, 0.1978, 0.1429, 0.3768]\nstate[eef_state]: left_x=0.3308 left_y=-0.1625 left_z=0.1037 left_yaw=0.0461 left_pitch=0.0593 left_roll=0.1449 left_gripper=0.9982 right_x=0.4845 right_y=0.1139 right_z=0.1475 right_yaw=0.0362 right_pitch=0.1923 right_roll=0.0765 right_gripper=0.3768\nstate[joint_eff]: [-0.1846, -5.6957, 6.147, 1.409, -0.3101, -0.0464, -0.0122, -0.1573, -7.9521, 5.8325, 1.5556, -0.1734, -0.0024, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba2ff65013d58e35b7b3c22aa350861ad7ee4f21d2555fa75ce21c924f6f510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b47b1e133ace6ea4c29ea11364d3eebd84bd40b5902a882ee4bcba72b7246d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc93b37442b6a209f2951e34a3fffdaa930c36e5863a7df502bd1d91932b210b",
      "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 · 4.075 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 104 changed as sent

message 108 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2848, 0.4908, 0.4431, -0.4328, -0.3748, -0.0906, 0.9982, 0.2459, 1.7428, 1.1511, 0.0116, 0.0853, 0.1394, 0.9948]\nstate[eef_state]: left_x=0.2522 left_y=-0.0027 left_z=0.1765 left_yaw=0.0657 left_pitch=0.1124 left_roll=0.1042 left_gripper=0.9982 right_x=0.4955 right_y=0.1125 right_z=0.1506 right_yaw=0.0896 right_pitch=-0.0103 right_roll=0.0843 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, 0.6769, 6.9538, 1.7802, -0.1441, -0.0513, -0.0171, 0.0752, -8.8, 7.1726, 1.2576, 0.0317, 0.1587, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8196, 1.4712, 0.6468, 0.0719, -0.8059, -0.4461, 0.9982, 0.2939, 1.7172, 0.9028, 0.3923, 0.1829, 0.1505, 0.9965]\nstate[eef_state]: left_x=0.331 left_y=-0.1625 left_z=0.1042 left_yaw=0.0468 left_pitch=0.0606 left_roll=0.1449 left_gripper=0.9982 right_x=0.48 right_y=0.1155 right_z=0.1365 right_yaw=0.0468 right_pitch=0.1532 right_roll=0.0796 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.4068, 5.8051, 1.4139, -0.359, 0.0269, -0.0073, 0.4034, -5.0667, 5.1487, 0.7448, -0.2515, 0.2027, 0.0073]",
      "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]: [-0.8196, 1.4715, 0.646, 0.0719, -0.8047, -0.4465, 0.9982, 0.2935, 1.7145, 0.91, 0.421, 0.1978, 0.1429, 0.3768]\nstate[eef_state]: left_x=0.3308 left_y=-0.1625 left_z=0.1037 left_yaw=0.0461 left_pitch=0.0593 left_roll=0.1449 left_gripper=0.9982 right_x=0.4845 right_y=0.1139 right_z=0.1475 right_yaw=0.0362 right_pitch=0.1923 right_roll=0.0765 right_gripper=0.3768\nstate[joint_eff]: [-0.1846, -5.6957, 6.147, 1.409, -0.3101, -0.0464, -0.0122, -0.1573, -7.9521, 5.8325, 1.5556, -0.1734, -0.0024, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba2ff65013d58e35b7b3c22aa350861ad7ee4f21d2555fa75ce21c924f6f510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b47b1e133ace6ea4c29ea11364d3eebd84bd40b5902a882ee4bcba72b7246d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc93b37442b6a209f2951e34a3fffdaa930c36e5863a7df502bd1d91932b210b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfmK2G1iK9qcTswNSKD1vXo9KB0nHYhbhYyCU9nPmP8VmqPLpsS67lAcU6gAlNVVQjZc8PGPS_PbkS5D6IYjfMxqSy7Nh2KeEA088jVx8Y1sRHoyuYdWW7ttl3kbwGWUS-qzEUsB8W8Z9DNPQEYEtLSdDcGNdf-qCinAuFcfBx4OGpE91XcW-vrhNW7L_FS84XtH0ulHZQbdls_bH4hXYMwA8O0WJYqtJTsh7ovmx1_CW9HB4L8qUq4htjqMIdfU10Y_sNxZq0UBuuKPCECE97X4Oh6PYWjLddPqaJfNHkYl-9H6DBdMtRNAUipIn0m1CdxgtA2xmyOCO3HcF0MkIxxw4sME2SR39YQUmWNyxXX4KHaAKmZREQCHOU1DRHSrl_xl6U5kLjFi5u0bA8y0pRR6o4wFpivSx7v8loLbjYPzAkV5VauQLYPZIZZyMw4dNFzcWpyIFA7s8DntwZJZpPsyIC9G5XO9YfrjlfpANIWm5gUhokhkpi6AiWNBjKOcsW8VDAs-fFKVbJZQG60cX9UoCDpBL5zdMrt4niXJtvwWajMNgCO8m4ktmoW14sEZ0qyliXcVX2C3fMXxYC5TIkI1O6TPVkY2BRFzBU8ujgwrsg8qEofqWa61HC0xOiXPYAIOOb8uUR0CohH8srT96a3UtjE-sHAmSpFDS_NKs_5b9FoExVcTh83TpGgwPHPl0VGNHRvrk9zo8SBCBUKtKl2oZZqNAr__pvJz5CULoo8azJGMaDFgmoNd_l77MM5If0CpPW-oHtGvMH7tHZy1HuSQanYUbpn8Xaa4ld8rWUVcwvlVM6uO1VDJqCzJT0DqKc5z9XUIjnCMzn7WK_ImUvqq71vmP8zv7tx-T0JNkswZOcFEeJhBZsA0iV7RHx9pcjgcMipyuOXVl_xd5_aXddsf5ij4quzqla78D_HtpesnxJr9Sg8i464qyG9WRWRD7wW9bAmAlqj1qImnxQjgg7Yi8i61NdT1PWBLTVdAICmt9QYFxc2a5PA-8Anxp5ChJArkMtDQKFaONWcGfmB_NCk2hVmvuKb0bYuCLiRcUw6Fu230VIxt4jTl-mNJuwtfuJRaGwiil59ar20Eh95fWhvzaAQ6ehume9VY6Q3VNx7z5riX6jeER2P4W4Iuc5meBXE14CyH4ohRkY1picxzDma_gK9frb2BmcPXDBgDEl9zbZptebdKAHJD8QAoF4bwnZpiT3UhUiLcjOgf4Ybv8FULffPF7brBFbVYJ5cXC8Jm4jICUJvc3lh-CL9JpyvxJgjyn2Kk5ZWb9l_mLkU3o0syqGCm2URDHR_w14cYLftHpa9inrq8dKcqQE17E9OaEZd-OH57ke8NIZ4M1EKBPTN7jbwYn02Vziglyk8ONfEDZIO_V4S4y_0x-HlbASpXgAURK2ke_9-6CeW7ygjULuErDbsHzezgbpn9HKv-dRbBd2iiRiYTP9NrB5aRgN60Tf4XHxIpsjVCUSlfpCt-Pf1N3stV6FLDeA-6QhCvoz_ABAlaNADymSMWdpYVR3jcgG7TkcxSmvaWhQJS2nKNj47X8TwA5IwSTqPugrDtikQYOB1xx46AMaqTAmX_3ao_SqDZ8lR6kNVjgPYyPN7PVQ74Ei5q240UAsm6KSLBsPMoEcuP5TlFB7Td-zRs3T-IPbSzbpuZnjy2zd0jYEhL99kDNdsHFbFidyB3HdHtSB51Qo7RJcIa-I5TiYwZADqhcOCEO2lkDkvMYHIdczwk_gbc47CsNeRrnWY0CM1bfjsf4X2apsXTphTtYsEYlPNBxkAywHTO6wJh8zkIQn4eFSOpxgxK1mN8hgfuaavhO8vptkaOFIGPI5LVLzJ0tCSQ5R2iEsHmu3-NlbIcoqEyfeER-dX3iDAnD-955l79KjdC-4yaP55Xbtvp0HCvBSjO9bk4PA88GVNp2zgUTEPW0ThSnvF5zTYDZYpxkBYSrF432JssAF2hW1aT8Yo9cgkQAM1",
  "id": "rs_07342fe09ad52c35016ab427e31b1487d0b5baa41d11424664",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.1,\"right_z\":0.055},\"note\":\"Closing has recaptured the light plush, which is still hanging at the near edge of the right basket. I’m pressing it gently farther inside the basket before opening again.\"}",
  "call_id": "call_jNuaDPFlajaGvpFZ6FlKT4OS",
  "id": "fc_07342fe09ad52c35016ab427e492b087d098a723c1072e3afb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jNuaDPFlajaGvpFZ6FlKT4OS",
  "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]: [-0.8196, 1.4719, 0.646, 0.07, -0.8055, -0.4461, 0.9982, 0.2699, 1.9121, 0.8627, 0.8936, 0.1715, 0.1093, 0.3782]\nstate[eef_state]: left_x=0.3307 left_y=-0.1622 left_z=0.1034 left_yaw=0.0464 left_pitch=0.0582 left_roll=0.1474 left_gripper=0.9982 right_x=0.512 right_y=0.1141 right_z=0.1406 right_yaw=0.0377 right_pitch=0.4133 right_roll=0.1074 right_gripper=0.3782\nstate[joint_eff]: [-0.1026, -5.7094, 5.9556, 1.4286, -0.3101, -0.0122, -0.0073, -2.2769, -2.2222, 3.3026, -0.2271, -0.2369, 0.1587, 0.1392]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06a79b10ab530a67f6f4b18799c37f6c3d38f70512471c24298a6ca7e336f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625114cc67e8ef70760384777225456ace5da0f389fa12388c3ae5d305032935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd09335b0514a63a390a1bee64eb22975ee41dec65cee867772fcbdaa818b21",
      "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 · 6.686 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]: [-0.8181, 1.4628, 0.6453, 0.0772, -0.8062, -0.44, 0.9982, -0.1444, 0.8516, 0.667, -0.3817, -0.2081, -0.0547, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=-0.1622 left_z=0.1072 left_yaw=0.046 left_pitch=0.0682 left_roll=0.1411 left_gripper=0.9982 right_x=0.3057 right_y=-0.0039 right_z=0.1945 right_yaw=0.0506 right_pitch=0.015 right_roll=0.079 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -6.3932, 7.4872, 1.5995, -0.5348, 0.022, -0.0122, -0.2393, -1.4427, 6.8855, 1.7998, -0.1929, -0.1245, 0.1392]",
      "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]: [-0.8196, 1.4715, 0.646, 0.0719, -0.8047, -0.4465, 0.9982, 0.2935, 1.7145, 0.91, 0.421, 0.1978, 0.1429, 0.3768]\nstate[eef_state]: left_x=0.3308 left_y=-0.1625 left_z=0.1037 left_yaw=0.0461 left_pitch=0.0593 left_roll=0.1449 left_gripper=0.9982 right_x=0.4845 right_y=0.1139 right_z=0.1475 right_yaw=0.0362 right_pitch=0.1923 right_roll=0.0765 right_gripper=0.3768\nstate[joint_eff]: [-0.1846, -5.6957, 6.147, 1.409, -0.3101, -0.0464, -0.0122, -0.1573, -7.9521, 5.8325, 1.5556, -0.1734, -0.0024, 0.6471]\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 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]: [-0.8196, 1.4719, 0.646, 0.07, -0.8055, -0.4461, 0.9982, 0.2699, 1.9121, 0.8627, 0.8936, 0.1715, 0.1093, 0.3782]\nstate[eef_state]: left_x=0.3307 left_y=-0.1622 left_z=0.1034 left_yaw=0.0464 left_pitch=0.0582 left_roll=0.1474 left_gripper=0.9982 right_x=0.512 right_y=0.1141 right_z=0.1406 right_yaw=0.0377 right_pitch=0.4133 right_roll=0.1074 right_gripper=0.3782\nstate[joint_eff]: [-0.1026, -5.7094, 5.9556, 1.4286, -0.3101, -0.0122, -0.0073, -2.2769, -2.2222, 3.3026, -0.2271, -0.2369, 0.1587, 0.1392]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06a79b10ab530a67f6f4b18799c37f6c3d38f70512471c24298a6ca7e336f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625114cc67e8ef70760384777225456ace5da0f389fa12388c3ae5d305032935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd09335b0514a63a390a1bee64eb22975ee41dec65cee867772fcbdaa818b21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfr9WyaYe35OdebTAABjA4ylng-EHpb_7yzmLqmJqbdu4QTHlFwXaKW5qZFiXz-L514EGz5tM7zu6gYI3iBYFOJqRwNKBDGyuADVIEAx4eWXweeoci5IrmmjIajBQ0vo7T4myjNh5071BElahQOAuZB6bhUf1hlwlr3R20j786puyxDmiyU4PKVRjbDPGcyjknbwg1zNW85AuDYj10AyFVcAyr8rp65C7qtyMSS9PHupvcd05x6pU1znFR1AMccB1gv9g0DLgoklSjfB0eSFrBkznre-hGZEe7eYm-iCWIGFUa3LGIU3VWmgf-CihJx1p5arh7b6Q5srRKTjtJhXzT01QUiJ_SrLNQ_ve25xxuvNpjDX5a-P7ApolZyMwmRl23ySZfC-AisA84UH5sKQYhBdym-rPAhoi9WuXxCtezbaKU7m3fq5JmBW3rBI7K5-xlylZqBnCMHY5fVVVJFpHyIW5o2MgmjyTxmzmQEhFCQ4WAaeRje5XnXwnTkpJ_kMXFh76cO1oZszxS9cpgpPn46_6c5I2rdnQSaOCN0FgAJdMGP18aJlbx5OOCX9KPxLuqetN3Es1t2YNMLaBDNVYy7NZqbGD8kH3li-AnU8AkWq5RsB2t5DCVOuhrJuxPWfF7XfyXGL8TvSMJFHcSCNJztIZPKQLKmXcrvkWgn5bz7eXHnhVi_dFxVLdJlhS_QW_eGOzxk3pGdZi9AuSyNEB5hKpkaAmVMrTBO_rbuyznExu-zPK6_2seNLO5UYewzu6mDCH6tBm0uR2ny9larzgQPVhoi_n3BQo9WOUooTh4X3o003QwII2nJkjB4qZIgXFQxp7OWsnsWunavfUuLk_74J0KbfuM1E9yR3v2MJ2vCnrDtRp4l4QrsDyO5C3Y9agWSHzmg0LltT6Svu6FVJNhWkiXtHxXYGXGlbaxKHfbue9PBxSte3jpbFgCZCgTGo01vUaH6egzkPKtrETKGANloMWCGmhgyaeTj3sbFv2Xd-Uu0v_DBC6SqAsipHBR8b83zNUU_WDq5mfBS60wB_m1FulUwOrGbZ6f1de0NngOHhl_VjFQyZtUs3-k0cerP7kkeFx75Uy5eT5qeC4D1OBnm6GYpJsE0zNrF_f7Ec1Viqk11jHbQlxoXXd3tdfZdwoQJl6SBKA96vSd56tztRSwXDgwJoqsQ3GCuu6qjz9ljvYZ-Xx1fvolNYiHHUyiKGGCQ6L2pY8pEDkI0UR8RE6RmitVci5Gfn3qsaysWEVLJ7YUqymz1Fsmy704bEXPgKY49AsoK3vZd5S_v9djtxKR-j5551C0hsRwBMSZId41d-JP1cgn35sjrxbugrmgT-G-uMJzaaMMEsBXLWDwF_5wqd4a1-58qyBQ8zL61SCRFfztqvi8TpYxvTLNb1aaizIfwDHvvtbigIIo8Mp4AsSFPPBE60Z2cyoCPj7EuBxb8PTeVm-jgF3eBrPdlWqIu1GKXjxVwYp5mivX8pigxu2IaMEMroX67yFo0av90qKYqhspHU17xr-4cekk16OPlpgGHne6a-j2EfelnSIRSB9V83snoSWv-CYn8Vnms852P7Q5c0WRZaNhrw2no6JDp_QruD18JHmoF3mmr5xRPfzyQxowKqZD40C96a7o5N-3sezb_gac6rF9xGGCDvihGqIXSTaXuR0uvz0J_QgWwb8c1GocpnB-JbaVIms3G3rbU1-7_Ih8aPC9Mpk4cb4rpxs-BMtEPKE0QsmcHm05q5Hg0P8CDzJtprv5eJ9KUOkyExHMrya2v3mKwLcPf5GZRUcPnR6FNY8XTqjg44DybA9Hw-kZSsMLQqxzF9fiIks5v0SIgzNYyWcqoAg1NvCGPVR-Vq7QdUwLZBT2OV8WeF9x9OQ-pcC2l8WLg5EjxqNABSykP0bJbi3W0H7HmT40SROUXj_OzVQjBdoFHcLO7FXHjJrk5WkGzFEPH6myRnh6KcNzPqEPTsawoBbh8SjZ63n0-R8W_KAWBfdwQily_W5six0JZjajRnwMtozHcBU3uz-HK9rurUsrXAUqwUt87wmV9Kn5bXUoxUl8I2U2WAhMyr_8NHQFVSiypT4fx-vw5MqUHPtJ0j4jTkoFpxWUKp_ioHcgbxJnsVssB-H3HnyXnOTZADvOUqHFTlnSlua-YVmb6suktbmViNz5_hk-o1Ueqkcc5LMvxqu9n1XVJCy5w4F0Ojo7QaCaqhUW4llO-f0G-aO8E-5JVNaSOBof88FjuCwHxpqBSd82SuoAnDnfGLPJ_cd7VqxTTrDPA1LTY2fnyvzOIL-fGmR_TTShFWUptu6QcXL5Gh5-InBk4Tvgau6EDkT0GLs5acd2kyR2k3OyK5TYAA2ciJEo2v2OyCuRVCG8eD6klzSmZAppaIMO8b6A5MneXdUvR9hTVWpqahXF6O5tOELc-SeT0sAY9FuKd",
  "id": "rs_07342fe09ad52c35016ab427e8448087d08d3e47edc8cba83b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.24,\"right_yaw\":-0.45},\"note\":\"The plush is pressed into the right basket but remains wrapped around the gripper. I’m opening fully and lifting with a modest wrist turn to peel the fingers away without pulling it back across the rim.\"}",
  "call_id": "call_8lmlfOMS6DnrqMBXtcNSao7e",
  "id": "fc_07342fe09ad52c35016ab427ea265487d08df36bdc2ea58eeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8lmlfOMS6DnrqMBXtcNSao7e",
  "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]: [-0.8196, 1.4719, 0.646, 0.0692, -0.8047, -0.4461, 0.9982, 0.4557, 1.8629, 1.1969, 0.4488, 0.7189, 0.2142, 0.9953]\nstate[eef_state]: left_x=0.3306 left_y=-0.1623 left_z=0.1032 left_yaw=0.0458 left_pitch=0.0573 left_roll=0.1476 left_gripper=0.9982 right_x=0.5204 right_y=0.1295 right_z=0.2171 right_yaw=-0.3261 right_pitch=0.4046 right_roll=0.0932 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -5.7231, 5.9419, 1.4237, -0.3101, -0.0073, -0.0122, 0.3761, -12.4376, 8.335, 1.5311, 0.3492, 0.2173, -0.0659]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea277c389d4e265de9f0290bddb526a89c9b2fa37d85ced4c2283fdd093df84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2c779124415e03c856de615057a751dbe184b556c422ad6dfd05a808cd8501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99555562640574c1c5f925c6dde0ab4bbd5f524f1403289aec3af61cf63d5e08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.623 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]: [-0.8196, 1.4712, 0.6468, 0.0719, -0.8059, -0.4461, 0.9982, 0.2939, 1.7172, 0.9028, 0.3923, 0.1829, 0.1505, 0.9965]\nstate[eef_state]: left_x=0.331 left_y=-0.1625 left_z=0.1042 left_yaw=0.0468 left_pitch=0.0606 left_roll=0.1449 left_gripper=0.9982 right_x=0.48 right_y=0.1155 right_z=0.1365 right_yaw=0.0468 right_pitch=0.1532 right_roll=0.0796 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -6.4068, 5.8051, 1.4139, -0.359, 0.0269, -0.0073, 0.4034, -5.0667, 5.1487, 0.7448, -0.2515, 0.2027, 0.0073]",
      "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]: [-0.8196, 1.4719, 0.646, 0.07, -0.8055, -0.4461, 0.9982, 0.2699, 1.9121, 0.8627, 0.8936, 0.1715, 0.1093, 0.3782]\nstate[eef_state]: left_x=0.3307 left_y=-0.1622 left_z=0.1034 left_yaw=0.0464 left_pitch=0.0582 left_roll=0.1474 left_gripper=0.9982 right_x=0.512 right_y=0.1141 right_z=0.1406 right_yaw=0.0377 right_pitch=0.4133 right_roll=0.1074 right_gripper=0.3782\nstate[joint_eff]: [-0.1026, -5.7094, 5.9556, 1.4286, -0.3101, -0.0122, -0.0073, -2.2769, -2.2222, 3.3026, -0.2271, -0.2369, 0.1587, 0.1392]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.8196, 1.4719, 0.646, 0.0692, -0.8047, -0.4461, 0.9982, 0.4557, 1.8629, 1.1969, 0.4488, 0.7189, 0.2142, 0.9953]\nstate[eef_state]: left_x=0.3306 left_y=-0.1623 left_z=0.1032 left_yaw=0.0458 left_pitch=0.0573 left_roll=0.1476 left_gripper=0.9982 right_x=0.5204 right_y=0.1295 right_z=0.2171 right_yaw=-0.3261 right_pitch=0.4046 right_roll=0.0932 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -5.7231, 5.9419, 1.4237, -0.3101, -0.0073, -0.0122, 0.3761, -12.4376, 8.335, 1.5311, 0.3492, 0.2173, -0.0659]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea277c389d4e265de9f0290bddb526a89c9b2fa37d85ced4c2283fdd093df84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2c779124415e03c856de615057a751dbe184b556c422ad6dfd05a808cd8501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99555562640574c1c5f925c6dde0ab4bbd5f524f1403289aec3af61cf63d5e08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfy2p_-hrc4l_V62ZhpTXuZVEdFKuN2cHUUBsbxUiIFNKwHRIfb9HK7YmP7u2xPaiz7r8cU6IiWBg3Z4Z3z0IvrBWJ-11cdbDrrR_68LP3snFgQRipOOu_sJYybsYu5p7HRSK4VDhMwAeto3SEYYy3GVzPKw2s9VYlSnG1hnZApl3IXUqXHu6iv547NQB3WYgbZRbiRiDf7fhdAgpIA1GTgFMeGf78jkgNmzflR-8UgQpgKYqC1NaYGdEx-8rL7U1wS3ZGOtqul9ZyONLXPWIudYE-3qU4Mvk2js4k46oXiRyLbJWZUtJRdeioG8LxTTyCF6R5RSDQrBBvJSjXz0M7pH7nirCzIR4-zbsLYbZFoBVp3V-yLMD6tWd6UgiySzQJaSl9-rP1HKNpJQxsQ0eMLgLempFIEkSD9Vai-kL0QGdJb-sybrFNO-d8cBI0bHZP5Qw8JjCt9KROW-lwdgvAskrP_qLiIuzVWKQ6UM1nhhtwn58z5rCaNsdPKjrMH5AAXy8GiNhmZD5tcK8Fk_jujVB6zTm9oVQpmudFe9Zg7k82PKMbmjnuglIdzB01KzQoKb32mgvNPwTTyXktYWk8H6bB2f8DXGotWkPE3l9EgyBPyFpnESl7j6VMxNh_HxgC6xFOqluaAvbHdO96tjT2-OsMJirAIljsZ-wSMfSiWC7QALhQ6jcW5Q5UKvgGfO4Lalw6pXFDYoA0i30J86U6XVxLtUc-DrS_BjH36Afl2IqBhu57728MmBkC_KmmWXsve5G0mPaN7YIpSzWp4qd6j10Emj5Ja13cudELzBDgz0bvD2dbNC9z91V27oDZcSDVoG_2VCXHf2L2eP-M5WCVCoS0bIOOOmlQV5mX5PagBQyp2VPUT56PGztpPLbtO4hhoa6OXgtod_8re63dCBgQeQKjXDKxk02IMIAhGy5aoYYYztgUO66sZhJGS81DSvr2c2zMy2-NlElZYuwu6Bls6SB_juIkZb_MVwnXW0aQ198Ri6vLBMmPk4qVQdQz0jl5ymGOYgmuRrydey4Rnjytay85bIktHFLUyZopKu1Oc0w3umf5mG6p1_97iLuQmeX-OrERsUZNEsGiq4Ng9CSRSYiO8iYCRfvzbEoS7CUXU6kUfLeXXI6rS2qJdOVXVYsLlRGsziSjwdxOfISQv686cc8AJ-B78RrtZzcB37ReFPfARQPEMm1w1h--BrHvIfdHldhW4PVLPMJnl90YV4K4G6F2NMxyKT6XS47ALR1yK95lr4tSlmx2QX01ifaNUO9hanqKy3G0vMoshnn71-oJhV_kAIcudGLKvsISrMB3XP3VCIiuQBj8XcHRH9bNsLrEdUHK-CoSWPn_4TYYoQI7YSjgvhD-VVApO98ex3qe7rIjGta748_PYq5b-G2NtEL54TW2CLx6O09HyKF3f_V39B9GGjJ9vk364653na149sicFZVHMzljvL-FpmbWtk3XMSTD4TQPXQ0816qbISefB93HiDG44VjBLvxNToNzYBOYyqY883Rhy7hclOMEZaPWVwW3wxTHK7ts9dLAr36Jr76ev8NPDhjfoQL3kz3vvA6zvafpfd1HWPIXc8TRJFoa8Bf1i6gx3VqJNi7i1N1M57DZA7l3Fd_b1SdzpCMg997_tqI90x-lgHQ6HWeN9i-5lX8YvEoCaMkEaQtsi1nsLRXx0kYu2u9NRl5nRVzauFn_zuoFBrvc6B-eAUHrY4xK0VJ1Mr9q_btqLsNot33H3WzILLH0soS_c46gkkjlyjpSdRXoNm4EyYFPAbgtATZUClitR6HoUpQafq2ISOMxnIOr6yx53aQnm66TMi1jkMB4KXVVa6bHvtqLXAAl0F1G3T5mcmZFb6bubbhxrx7tsr2yvr5BqYnW2cTzbVvwY5I6Zj0zu31yQpHFl3gfwfgjTxo-3yDO0J4VQyzPV73HGjOqyCrIRutJrjhNrvXi3nx_uc-gsHEwVibiRlcl79RD4L6iqB_rw_BWm7FAf1Vp3BGmD9Z8ff-nC9mf8BuuajqZ-1WBJySEdHf9PxiE8AKNcCg-d_qz3Rkw3bDdAgVO-e21bBrd04rSfDQDDF61wrQSphRwMqCJkmo0jJh5-Z8MmaxUvMeMMf5KuJkG86MhB_HptLGEP_9IjmteIT6kmg2ipHJF8ZRgljrEF-CJDk8z97fHi31i3CeMYiEL0wnYpu0qAZT11k2I-uSO7kWH9VPcTo1Q_kP3FyFAJmYcXlVLxt4OF4p2VPLD4JTAhXN93qJ8uVJyjvq98wEX_PZt45_1O_B4bbGKojWvW5oMsIhWF-O0al87Cj-V7Ua5Ksrb_Vrjtitq9Z6VpqjeB1NWSEuMk1VX0L0WWcfLVQWDPiuaifmQExThEWcuzGKsND7KvwDBr-oVzQPWxgVM7xyYFxOOMiJhqDUtI-6kDs96GASaZe_p6d0neZzX-3mEu8wi6gH5HyCqDfjULkyzPCweUkCqeivntCRB8xkZ6ui5AiXBRHsbY4DPcRe46ZmPxFwXrikB3Ln4VzxGx-jcFCVB5IApQaKqA0F1g9Jz3iWtTAs75Gsu5WS7CR8UGBJ6sbAfZwbJPDvhkpJjRvjU1xmaKxmGBhqlGR2Tk9kKIAgmF5nOL6yhpGlSsVeKTuKz8c6x2fesTwBz1o0sGNEzRa25P3c412rObfS6ix6tdIdY7_k1EwiT_k-zEYeYw1Fkphua6T1_MfI5MGi0fsZs84cTT3wZTeiJ09xueA_44s-6zRyGLxcQbY63kHIHY0QLl4scq-JyCVuNQHe0J9Nl7LyVyjrA7mDbvrJM_ug7MvR_Net38vapPOIHNzCn3H29KxqYM_mBFSciZZe7rh69_8-Ss-e9s9NFcU_BlMDHz7JjXqmCUiKEriApj6Q2lQIJ20W1RuKUjUSBBqlhGX_xRwiQP0v0EvBHbpznKCEKmf04u0jejAnd4ryLT2TFYR3oyQwWrfanifvjHloK5TOegH_EWA7fdH7GrA9sgofhF-j5rqN5h4ggc9HiPU_IfXBjMdGGfvWO5UQLKvdAIOUjg1f1kM5P1JtN4bCU_2kC9bPMgjGgUT5DXRKdPPgyljgZbp9QXvFellUVt7jtOAtYErggDTyROy9npGAVTefFAp8NnGAb6Nm8q-I0sZrCzCD4gk8m8g5s7zEiG8YZ75K-WeGHzv7cIGQJRFC9o3p-nyoacD2W0854exdDt_JrZZ54HjnIOX3mEG0m_Bk7kU0EbiUBXeOIzNJoIKUl_arHUfPNdD66lwbmlVF7GlTGPhS87wLFRFZtN4fXditouAjGecgD4a-A1sQzxdtWv-XmwCH0UsAPGs-wJ2BTanOIvjvLvrmFqXO3kiTYzviqs3PKIXpOIpscQ75HhV-YT__mVtC092_tiN6GxqG5svd8y51PtVjNxaw==",
  "id": "rs_07342fe09ad52c35016ab427ed7b2087d0a77ebd9ecd534630",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The light plush is now inside the right basket but is still very close to that gripper; I’m leaving the right hand open above it for now. The left wrist shows the brown figure beneath its jaws, so I’m lowering the left hand onto its torso.\"}",
  "call_id": "call_kXzzOARAL3dDbpZd80n2Hc0R",
  "id": "fc_07342fe09ad52c35016ab427f1cd5087d0adeabd379c986aee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kXzzOARAL3dDbpZd80n2Hc0R",
  "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]: [-0.8196, 1.6665, 0.5423, 0.2798, -0.8032, -0.4461, 0.9982, 0.458, 1.8595, 1.1973, 0.4225, 0.7273, 0.2207, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1543 left_z=0.0358 left_yaw=0.0429 left_pitch=-0.0005 left_roll=0.2136 left_gripper=0.9982 right_x=0.5183 right_y=0.1286 right_z=0.214 right_yaw=-0.3285 right_pitch=0.3897 right_roll=0.0815 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -7.4598, 5.4359, 1.7167, -0.3248, 0.0073, -0.0122, -0.294, -9.7162, 6.5846, 1.9658, 0.0269, -0.1099, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d42264e51012b1ce6929bb32933b217fc2a19c798b8ab4694ddf3829b42bcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5dd3ba562b8494813fb3c2785e59308d3c42fd1136b2edc4c3319dffa33508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ab7bf518c99d181f4d41fd818f3029e55ecf4c229b8a82b5f0a400e2ce84fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.484 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]: [-0.8196, 1.4715, 0.646, 0.0719, -0.8047, -0.4465, 0.9982, 0.2935, 1.7145, 0.91, 0.421, 0.1978, 0.1429, 0.3768]\nstate[eef_state]: left_x=0.3308 left_y=-0.1625 left_z=0.1037 left_yaw=0.0461 left_pitch=0.0593 left_roll=0.1449 left_gripper=0.9982 right_x=0.4845 right_y=0.1139 right_z=0.1475 right_yaw=0.0362 right_pitch=0.1923 right_roll=0.0765 right_gripper=0.3768\nstate[joint_eff]: [-0.1846, -5.6957, 6.147, 1.409, -0.3101, -0.0464, -0.0122, -0.1573, -7.9521, 5.8325, 1.5556, -0.1734, -0.0024, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8196, 1.4719, 0.646, 0.0692, -0.8047, -0.4461, 0.9982, 0.4557, 1.8629, 1.1969, 0.4488, 0.7189, 0.2142, 0.9953]\nstate[eef_state]: left_x=0.3306 left_y=-0.1623 left_z=0.1032 left_yaw=0.0458 left_pitch=0.0573 left_roll=0.1476 left_gripper=0.9982 right_x=0.5204 right_y=0.1295 right_z=0.2171 right_yaw=-0.3261 right_pitch=0.4046 right_roll=0.0932 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -5.7231, 5.9419, 1.4237, -0.3101, -0.0073, -0.0122, 0.3761, -12.4376, 8.335, 1.5311, 0.3492, 0.2173, -0.0659]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.8196, 1.6665, 0.5423, 0.2798, -0.8032, -0.4461, 0.9982, 0.458, 1.8595, 1.1973, 0.4225, 0.7273, 0.2207, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1543 left_z=0.0358 left_yaw=0.0429 left_pitch=-0.0005 left_roll=0.2136 left_gripper=0.9982 right_x=0.5183 right_y=0.1286 right_z=0.214 right_yaw=-0.3285 right_pitch=0.3897 right_roll=0.0815 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -7.4598, 5.4359, 1.7167, -0.3248, 0.0073, -0.0122, -0.294, -9.7162, 6.5846, 1.9658, 0.0269, -0.1099, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d42264e51012b1ce6929bb32933b217fc2a19c798b8ab4694ddf3829b42bcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5dd3ba562b8494813fb3c2785e59308d3c42fd1136b2edc4c3319dffa33508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ab7bf518c99d181f4d41fd818f3029e55ecf4c229b8a82b5f0a400e2ce84fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCf1X9ozsywefl0rH2_FYSnmWPazZfm3BljjJG_mBVQZcUtzWqMuGK-4j3kTdWRwywL-klLqXnDBllyvxN_Jjx6mR3F8HYUI73hlskDgzuW6WnV8LevbuwmqOV2Mdn3DllDGIciGfqtHbKWqibKySFLNc_PqGcRetak_pBcogQ48S1K8d21FAM_RFtXm_MnE7_5y04okUozC7f_d85uM2RMhZxg5eQlFtag3BD8GYhPE8UULTQoePjW6XGML1F5CK7zYD7T5rL6UoWdQWE3PhQofkRCi8n0AkIH2mgLMVc1OkNTqzLJAov2zSso4c_rFcfphTdFwECLFFJ2UgM0Nl6w1V00Y1q6zBX1v_t3yrjtE_ZMhfFBdHSI4b4bf5FvW6ejrHj5hrzocLfE5wswZOmLHGfFQ3bnirthuHFgdWae3AiNyOT3JD4PTJFaQivJqotLuFnSU0A8k172n1K7vq5sg9740xAX7FIwQdHUstzxqDg_8_cPL9DN5OrN0YdF7aJOyqako4yN_c6j3mDzTkIviH5IP36LZrr7QEDBf8wQ2XZTzLzIylhXFj1YeK5VyIzxa4vxoXi76KcF2KwI6EcrNWqoGuq18bS7UQ695Gc_QiukgJ5b-7NVu-kgij_GLtyO45C0f-GDiEbsAlmcF0a4VjRwNNIMhxvUgzVEIysufbkm-S2XYGRCB1YjnYGcwOVRPFxRhvkzVTvwTvdhMYMhC5bMQ-y7eYy35U5Can7IxPaVjPFmJWdqhtc6XUrSMJa3gQlteDRyQTuce_vr6MpXVYXtpl8yUSfaNUOQxXj0r9BH62iqfpB5E0WzzwL4BTW34spavkhcREwRXmc0Y15AMYQlb7uhMRFMa9cmL7WWZE2WGhTPInY6JNvU7b5ssmUbyzXyynDWSu99Ud48_-EX4G50_limNRK92GOEK1a8K2qgU62Z2B6FAP-Sj62iQT0Un_OT8dOdXggevdIMO-FMZ2I8AuqdZKoWKqHiVLLIVCdGlcKFAFI0KLUU6vsF7O4s8GVWeYIROcHF2XLxaM4LTifv7PwJIF4hyb4zmYzEcgX5G1Dctzf8PRMy740Xr7hU4vPRJwFcsDElJeEeT-SpvH2MFfQlbRiYZQMgqNDgttIc1B7OYtzhtosKCcQr2lriy1OBd4w4IU1CeWgAeh6ZchMLlvDb7TxhEO9c4cQpCchnJdzrvqQHvlFSFwnBl6WCJspjGl8WGadZKtQIvEccTMGcQ4N2wdFqoKe8QIL5ATeIiws8uuorY6ZuoT3AgeSTr",
  "id": "rs_07342fe09ad52c35016ab427f3f82487d088730f05a46f72ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are low around the brown figure’s upper body, directly beneath the jaw gap. I’m closing and will judge the grasp by the settled jaw opening.\"}",
  "call_id": "call_fhlhkAvxcH4rYKpwnH2xcKnh",
  "id": "fc_07342fe09ad52c35016ab427f425f887d09e31851e9f4dbb01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fhlhkAvxcH4rYKpwnH2xcKnh",
  "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]: [-0.8196, 1.6829, 0.5289, 0.2958, -0.8021, -0.4458, 0.4853, 0.458, 1.8595, 1.1957, 0.4187, 0.7132, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1519 left_z=0.0288 left_yaw=0.042 left_pitch=-0.0102 left_roll=0.2238 left_gripper=0.4853 right_x=0.5186 right_y=0.1308 right_z=0.2122 right_yaw=-0.3125 right_pitch=0.3836 right_roll=0.0768 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.6786, 5.641, 1.199, -0.3639, -0.022, 0.8718, -0.3487, -9.6889, 6.735, 1.79, 0.1832, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95876159a8805c371f6e92b4ccd160bb01d7e3a5f1ef57fb4bd166881b6ed0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938d46457eed753f62a12e81b6baa7d83e95dc9d6d8028d943ad0bf258e3a518",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597a3cd92eaae2652521ab53e964e1aad774f8687fca3914c17caff902ad446e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 4.037 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]: [-0.8196, 1.4719, 0.646, 0.07, -0.8055, -0.4461, 0.9982, 0.2699, 1.9121, 0.8627, 0.8936, 0.1715, 0.1093, 0.3782]\nstate[eef_state]: left_x=0.3307 left_y=-0.1622 left_z=0.1034 left_yaw=0.0464 left_pitch=0.0582 left_roll=0.1474 left_gripper=0.9982 right_x=0.512 right_y=0.1141 right_z=0.1406 right_yaw=0.0377 right_pitch=0.4133 right_roll=0.1074 right_gripper=0.3782\nstate[joint_eff]: [-0.1026, -5.7094, 5.9556, 1.4286, -0.3101, -0.0122, -0.0073, -2.2769, -2.2222, 3.3026, -0.2271, -0.2369, 0.1587, 0.1392]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8196, 1.6665, 0.5423, 0.2798, -0.8032, -0.4461, 0.9982, 0.458, 1.8595, 1.1973, 0.4225, 0.7273, 0.2207, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1543 left_z=0.0358 left_yaw=0.0429 left_pitch=-0.0005 left_roll=0.2136 left_gripper=0.9982 right_x=0.5183 right_y=0.1286 right_z=0.214 right_yaw=-0.3285 right_pitch=0.3897 right_roll=0.0815 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -7.4598, 5.4359, 1.7167, -0.3248, 0.0073, -0.0122, -0.294, -9.7162, 6.5846, 1.9658, 0.0269, -0.1099, 0.1001]",
      "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]: [-0.8196, 1.6829, 0.5289, 0.2958, -0.8021, -0.4458, 0.4853, 0.458, 1.8595, 1.1957, 0.4187, 0.7132, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1519 left_z=0.0288 left_yaw=0.042 left_pitch=-0.0102 left_roll=0.2238 left_gripper=0.4853 right_x=0.5186 right_y=0.1308 right_z=0.2122 right_yaw=-0.3125 right_pitch=0.3836 right_roll=0.0768 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.6786, 5.641, 1.199, -0.3639, -0.022, 0.8718, -0.3487, -9.6889, 6.735, 1.79, 0.1832, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95876159a8805c371f6e92b4ccd160bb01d7e3a5f1ef57fb4bd166881b6ed0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938d46457eed753f62a12e81b6baa7d83e95dc9d6d8028d943ad0bf258e3a518",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597a3cd92eaae2652521ab53e964e1aad774f8687fca3914c17caff902ad446e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCf4JrkdA-Lyih_Y0NjS-0aMoyM4NIEgniCek7sng8izYzIDhQ-Tgx0uxluO1_DyLSKuvag95KMHaLYFgJTo9d2UwsDBz0g1yP4ZFZXuyBdP6BnDugHZzk8R9hfa2Yix53llaze8sd6idd7ZcpujuWH9nrgSVJnOHPy4BHMevgprodx5PVXyBvW9UHGLKwDykdVWs8uvKXfuBub6u9H8M-vhKsFgHCSLpsWOsz44F-lM-WgS0GRALzfqja7UzlIxicW2LDkAmBib-eGvPLfGGoa0rmyL2zj9pyfFGlperpXADT2XM3hQru3IH-B34mlnMf0GHi-BnoJO6Vn_cZePrk-cYD-j1f49bn7qYTuS09iDuajPh4_PCzcd6toDcaKXXppfmspbznHL8BkvAgYzkxagq0lxsBXLmMrZuJp7pDm7m8E-RaDKmive51zaVJzwbFxiDVrCfUkO95sqSFvt1O1Mp3klWjkVNxyGaBHRm0aksoGzXeDBvdQ_ND4Es51V69CRXA_-cZvdepBhnE1PcmS32DGtghQpxyQWmMLUnoTV6Eg49mAEokqz9_72bKH1W_GtEiYUVGS4ATsFnTPUevN8oaAvOSOynrRbrbeKqoPRcYRL4ZkVdnMayPDML37Kzt6JaqTRtRcSQAZr5oJAUwjLfem6WFuLgQn7FLh8s9coYM-2X-w63EYlDM9mQrwCFuGConkL7kAQgVDr2uXhvXnP5105ieHeuPxAxzRlMZUF9hxDD037S821I7FEVl0lddBs1USmHFcBBJDmFj9rf14Wgco-OvFhCo3WY5iiIYVA7pecwr7smO4PABIj4R29kVdWEsESs2DyecyVVLMStur7vSQ96HqS7BmQETCclGAO3HVgB0-loFk4tb45VC4SNy47X5gAGUTywZ9-9Spj4PGdKOKulpkBmYNdDL20mdqaNbUfyERP5BBDUk9umbrRsMH-5Ysdt8MhPf3h98wyWJ0PIMqq0CQG1iKB-y708PhhXWYYnMOvablE8tFneoHmzi3Y89CcNKOhopbpyhRx_uVvoozd9rTjsrs_owb8nTgMV2Qm4NI6ATj9gSmmN7xNCeihAud0XjZlHYECbjR8KWQDON3DcdZk7XFBlld3y_5X7GlKBxnD29SSuRxknd56af98WgGZwAlnBMi2xJ8UC0-BwSdoYUtLnpH2NW4XyANOzHAeFCLwIOPIywUAaNKXZRLbWt_FE0r5F0qQ6G-OG2GiNU0uKaZ_TpbRAi_9pIt2DKTf0Dz5VPuoEMjtnyK8Hu42fJPJc6kYfdCb2NsX-FPuZgQbQQ38Pxza85kx5XM4gx_vS-OlI8_h1NKyBGsCX8Qx90lEMtqjPCNTcdg-w4RHLGdv4Ip3PQXiaAGXIIc0LRLtU_lNF-Xpjg__8zONMO_G4fpFYOfJAf3Q_xqRVUE3Cw==",
  "id": "rs_07342fe09ad52c35016ab427f767fc87d080e0f7f08cabc32e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left jaws stopped about 4.6 cm apart around the brown figure. I’m lifting to confirm that the brown toy, rather than the nearby yellow piece, comes off the table.\"}",
  "call_id": "call_jnfR4JvjRYMp3WYXqmjdLJIi",
  "id": "fc_07342fe09ad52c35016ab427f7e30087d0b197b007230f9af8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jnfR4JvjRYMp3WYXqmjdLJIi",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 1.3403, 0.902, -0.4191, -0.7967, -0.4538, 0.4872, 0.458, 1.8595, 1.1957, 0.4152, 0.7021, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3227 left_y=-0.1552 left_z=0.1731 left_yaw=0.0426 left_pitch=-0.0118 left_roll=0.2139 left_gripper=0.4872 right_x=0.5189 right_y=0.1326 right_z=0.2112 right_yaw=-0.3016 right_pitch=0.3793 right_roll=0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -6.5983, 9.1556, 1.2821, -0.3932, 0.0904, 0.4176, -0.1983, -9.9761, 6.6393, 1.8144, 0.1441, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f5f667b5f637e355f11a35dd5596fd802cfda243d5298a79ab01baba813563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d79dad3eec982955602cc2a525057b839f666e0d67bb24486cf6bef619d3842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5287dfbc992d125941d185b05ec899eb370a24a4b698f9edb0af89253b88147d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.368 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]: [-0.8196, 1.4719, 0.646, 0.0692, -0.8047, -0.4461, 0.9982, 0.4557, 1.8629, 1.1969, 0.4488, 0.7189, 0.2142, 0.9953]\nstate[eef_state]: left_x=0.3306 left_y=-0.1623 left_z=0.1032 left_yaw=0.0458 left_pitch=0.0573 left_roll=0.1476 left_gripper=0.9982 right_x=0.5204 right_y=0.1295 right_z=0.2171 right_yaw=-0.3261 right_pitch=0.4046 right_roll=0.0932 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -5.7231, 5.9419, 1.4237, -0.3101, -0.0073, -0.0122, 0.3761, -12.4376, 8.335, 1.5311, 0.3492, 0.2173, -0.0659]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8196, 1.6829, 0.5289, 0.2958, -0.8021, -0.4458, 0.4853, 0.458, 1.8595, 1.1957, 0.4187, 0.7132, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1519 left_z=0.0288 left_yaw=0.042 left_pitch=-0.0102 left_roll=0.2238 left_gripper=0.4853 right_x=0.5186 right_y=0.1308 right_z=0.2122 right_yaw=-0.3125 right_pitch=0.3836 right_roll=0.0768 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.6786, 5.641, 1.199, -0.3639, -0.022, 0.8718, -0.3487, -9.6889, 6.735, 1.79, 0.1832, -0.0269, -0.0024]",
      "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]: [-0.8196, 1.3403, 0.902, -0.4191, -0.7967, -0.4538, 0.4872, 0.458, 1.8595, 1.1957, 0.4152, 0.7021, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3227 left_y=-0.1552 left_z=0.1731 left_yaw=0.0426 left_pitch=-0.0118 left_roll=0.2139 left_gripper=0.4872 right_x=0.5189 right_y=0.1326 right_z=0.2112 right_yaw=-0.3016 right_pitch=0.3793 right_roll=0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -6.5983, 9.1556, 1.2821, -0.3932, 0.0904, 0.4176, -0.1983, -9.9761, 6.6393, 1.8144, 0.1441, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f5f667b5f637e355f11a35dd5596fd802cfda243d5298a79ab01baba813563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d79dad3eec982955602cc2a525057b839f666e0d67bb24486cf6bef619d3842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5287dfbc992d125941d185b05ec899eb370a24a4b698f9edb0af89253b88147d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCf9CxlNfIiZaqy5W1VRKS4kbs46R6RLf_6gUj3NHR7_eDIuzVosYEpqX2eBG-rri0zohXQtnLV8zxA7CbwsScQo4xnMdibhFZ3fgRKn-k3rP5K_a_mq2bmxyo-cEqnGecfxT9XNhOPIcdClqg6BLYPLgDeIeik3EU7NHiHHs2JLd5fPz0DwvUl93uSiw4hdLpm4lC_DsV8e9L_RnZMiISupGgqfYTrqnQAqh5xgZJVw2YLJCkTuusGZ9wREeXR14yjZ1n9Wahbz9IMsSL2F-nL5J8oqIZmWc4OYFnCwiDMW2D4P7k_7OUDIvqVRFrnwXySfoOzXlGA-8zl7LpdHwtdN2r4hmA14dIungo8Y9OaL7CT86Yymsl0VpTr0qE_y3BpW_lf2fnSTOJcQVgnAJuddqRYqc_ntaLahIlwkDpVS927bvA1gcBk8NK10REXT3SUQqigJ2LFyE3n9GHFb97uFWcsWDFTjYWIdCYNzYuIisKNGGVbbdD1ak1YUrDfsMZiLdh61BZBdHVHYUEVADVsPoMtaSjqIweSG2ZInHHiGHjIA7eOxZszibOiVymcCTk3yE8X142qlHlvaERDo0WITPgXl9FJHUAuJNanRcudCXp2GzpZ5CvaBWdqpoetlgct6ozfDkYL3xoxZVNXvrJadSHRQFHlItm_33Shn6SxrKOk93IPa-gf-xKHFaH2HYUOPjsR6wU7LwNKSxT19fM_1ikU2NhnUWtLgjc04olU2Pf2bU76-AShpztQPSsvaKDN4D67jlNYaxgs7zn0TYVdXoVoABEmO7YjWkCJKc1NSBktlZi27jKA8EZLXywg_CL_J_Htwv5tuSTOIS3cQg-xXjYg0UgE1DUHvq_S-cRi_TCSl3i7Hu2zyY-sKOhIjLr4RZR4BuOV4PKah5uShQPADAkklqwaLD-P8GB5YRlMQHcS7rYQWg7jFo4rHyhGH6dO2zkqqP4VvPsbu0PBrK763rmmAXd1MnECiaSGnRnTJQ6DYa99I0XcnoX2Klz1ot3nY1m_EUSTpqh4C0wuPvyieMbKpXAoGl6J6zHD4qAHn9Te7leZWW2LMg9cJ7FyyJF5B9fjZElh2ZCoV3A15-05VXxXbdDuREgUTYxg2JGpKodYSMPDodwMwmuYBdPnj-OQT414IuMhZhhCKD9aWs_25FJoscxxlqx-LVqCWzcUoTedbIrtAdO5PED7t8Bu1W8yokgg5e8p_the-VUcw97-Nso122nOtFDDuUm3tM0mi2dWSPHytBEJq2bhyLegPKLytguaAvCR_Vn3zrq3kfyUfnvRMRQzSWldPOyzbbBkc-hoWED-p4Mz-VBe4Fpg0TrB03KfXf7PvFnkcWyA7x7dw66ZC4RHoqdQJb0ow8GomaOY0j5Dnsrjs0SoczsztuewRCWZr4y5p0hdczHb1xujAKX2OLXg0AlcJ26rGESLZkZnIGXr53LkMkbAMWS7d9IIgdKSTYVpxRcxfbOJFais_MbegbmzvJViOW-HAwksnKr6XO9uyP5VwKHmI6QtdDX1iIKi5QtWIOFymHBcpjk01BfSwu6lvJSzVOGTm3bOLE1fTLJxAA4C6BqHPbCQ_H_CwY0y2nJjyQfgU-mzJLPKDx95xTi8rwG2vwXLWILscvjYA0nW7b4Tksm7_zOO4oX5pVY9V01rp50O5Pg45shxZiRaoJba-OqXrVDMHsmjbjjyxheRPRl0qY3Ka02IUkx00TiW14N2gM1cwgJ90rxLB5oy-jPZl7GcDDYz2rqSRpAMbX1rhhNcAwojfcoCGVfPiKu2exiFsyWOtpJHMQGexXHCK1tThNqjhYh3eIvEHwhqrwbKS5_VGyraUWOejAVylAvi9sPGiXtmgKDKkB1YdpikAVZvCeXoAE7TtvtR_-hyTTlLJDmQu3eOQWOgfDQY1uz0RPlGtBGMnPWxYwPX5MX5SN8EJ-faubOeNOCN0xOGKbPg1_XoxMnq6Od70jtJG5sGQEhrjUKF_0bwKB3yUaw==",
  "id": "rs_07342fe09ad52c35016ab427fbe9a887d0abfa3ced838ec0e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.16,\"left_z\":0.21},\"note\":\"The brown figure rose with the left jaws; its head remains just below the wrist camera as the table clears behind it. I’m carrying it forward over the left basket, keeping enough height to clear the rim.\"}",
  "call_id": "call_obafkoXBO903MUonacCOlahl",
  "id": "fc_07342fe09ad52c35016ab427fced8887d0a1020775164e9083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_obafkoXBO903MUonacCOlahl",
  "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]: [-0.5396, 1.742, 1.3628, -0.3809, -0.6117, -0.2493, 0.49, 0.458, 1.8595, 1.1954, 0.4034, 0.6949, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4576 left_y=-0.1516 left_z=0.1894 left_yaw=0.0827 left_pitch=-0.0553 left_roll=0.2191 left_gripper=0.49 right_x=0.5185 right_y=0.1335 right_z=0.2085 right_yaw=-0.2918 right_pitch=0.3691 right_roll=0.0688 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.2786, 9.4291, 1.7021, -0.2418, 0.4957, 0.2759, -0.335, -9.9487, 6.6803, 1.8144, 0.1832, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e38cace6c3c76fb8d3c9372ea920379e4b6204faf4cc9b8d5f405810001ad8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb69f33270691222863033fac3f483d2df8e0e5524fe6445270e91c6dcee5ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c297512d3b3cec55b82189d91554c5e95eff2416824ecdd12b1d1c15aeda70e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.563 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]: [-0.8196, 1.6665, 0.5423, 0.2798, -0.8032, -0.4461, 0.9982, 0.458, 1.8595, 1.1973, 0.4225, 0.7273, 0.2207, 0.9964]\nstate[eef_state]: left_x=0.323 left_y=-0.1543 left_z=0.0358 left_yaw=0.0429 left_pitch=-0.0005 left_roll=0.2136 left_gripper=0.9982 right_x=0.5183 right_y=0.1286 right_z=0.214 right_yaw=-0.3285 right_pitch=0.3897 right_roll=0.0815 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -7.4598, 5.4359, 1.7167, -0.3248, 0.0073, -0.0122, -0.294, -9.7162, 6.5846, 1.9658, 0.0269, -0.1099, 0.1001]",
      "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]: [-0.8196, 1.3403, 0.902, -0.4191, -0.7967, -0.4538, 0.4872, 0.458, 1.8595, 1.1957, 0.4152, 0.7021, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3227 left_y=-0.1552 left_z=0.1731 left_yaw=0.0426 left_pitch=-0.0118 left_roll=0.2139 left_gripper=0.4872 right_x=0.5189 right_y=0.1326 right_z=0.2112 right_yaw=-0.3016 right_pitch=0.3793 right_roll=0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -6.5983, 9.1556, 1.2821, -0.3932, 0.0904, 0.4176, -0.1983, -9.9761, 6.6393, 1.8144, 0.1441, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5396, 1.742, 1.3628, -0.3809, -0.6117, -0.2493, 0.49, 0.458, 1.8595, 1.1954, 0.4034, 0.6949, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4576 left_y=-0.1516 left_z=0.1894 left_yaw=0.0827 left_pitch=-0.0553 left_roll=0.2191 left_gripper=0.49 right_x=0.5185 right_y=0.1335 right_z=0.2085 right_yaw=-0.2918 right_pitch=0.3691 right_roll=0.0688 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.2786, 9.4291, 1.7021, -0.2418, 0.4957, 0.2759, -0.335, -9.9487, 6.6803, 1.8144, 0.1832, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e38cace6c3c76fb8d3c9372ea920379e4b6204faf4cc9b8d5f405810001ad8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb69f33270691222863033fac3f483d2df8e0e5524fe6445270e91c6dcee5ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c297512d3b3cec55b82189d91554c5e95eff2416824ecdd12b1d1c15aeda70e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgDFn6TfTppRVMVf_TlkfgGD6HM36hyPN9XhdhccJeAW5Xc1tZop7DfAaFHMM1v5RennSU_Q5InLU-QWUcckX1mVJQp8lEgUJPaAThpTD9tiDFuY3UQ073GsbPH5iN8UMv4nyFvKVM_jOCyLhi9cE3sdXTANZXxl-MSjRCwaSv8KT0ZhHjLSTEB7dUj3fMVCtflYGWTXzbeHKj4on0l8fhbXPLwNl-Wf5Ia_fXyc-tv9tDSds81kHmTsk62hfIsBzpPD3W4D50n0TiMZ9nxOYYwydB6osK2rBGvaSScDfi0WJ5sgMVC-E-HPyPLC0RTg1B7ohLp50MKmnX0Y3c22FuLY_evlm0nu1gBazscDaR7DeiDsyCKfhbNMXvVpXD_SzJr9fDjyzjCpfqyE1SI4Q4ccVqmr5vniODlQFkwHy7xgrDqKXuheWlkX7_WnDQlip4h2g-73KUuXXvu3MWvlhBLu6Ut3RsysZtb-IVgFce2tgMgndlcC4GG5yP6Ber1bqH5YFpu5531KfpbcFCB54Wzpq8FDjwqF0fXFv-4RngQkKs8MNo2VoTEvk8dePdc9Tt4mQW5c1dHLXrkaISlhX-R4gniCGqquGXBLy5AbDAryTboyGZBVGTRQc1Iduz6TvziJ9tBd0X9ug1llgn6v7lJ1Q-LrXqA4qw94J2_S-fP76RcdTQ8ZnrMEVQlAIB9eGL7CWIvT4Gl_R3tipcsBw6DKGDy2dkj-qtodcMCQ4ICk-cJUQFOlx7NuQmeNErtnR4DhSUrwQSGqvOHSgl4-wbCh9JaL-t1Os_jKPHEfrjruzqvwRUgNzTtTKsa2yMB6T5tdlW0mFOTQiOpZ0h57wM4NqVIlqc6GRHOOfoECjvGIIAWvR-v-c3didQ8a7G5LEmbpBC_SSXi_LaKwR7inR8p3mWzj2lrXbFs3YT6Nus0JtUHD6BOZ5uP0WWb3TROYL7vvnL3MbCls0cim7gMgVNeo123l8VvmmtdOcFzrTVJOWk-caSRSTFpc0EnfG9YmADcL1BSFI5NIB9PuA11m6Wy1Up9ipMuz0MegYzbgSg4cprv3hGf44Dx22In3SSnVMniwClBAQYQGQR8KENHQao6U4aa_Yt_687TTPYFblRt8XI24PRQz1w9rtfCUb4BHlTtqdz_31P9evyjSxktvcobPi_tErYpH0Cz_7twVHG352fujL-lsffyJgBbboLfgwP7I4Upk-3_Qlkq49VDJstVn89pW3m8XQKttDlca9GX47_u5P3fc9YwItDfZjIlyUWm2OgFi6v8ZxYcpAaMxRXr8-6CgIs-8ZyBqaTgzdY7-gKu4riGqz_VAW2rlj99veA9AR6ou05z308fVqR1jvH2DTz3NSF8BUE8MkIg6YvX_5OdqfCJ5uV31eNuj0QjkCJAfgBBbJCEHdcvccUOlaMJKrar87kPK6LfzhX9-neXlzxr1pKK6EsAsdgRtPDz1qy2lNHgR3De7IjLrCuschrTlOIjqMI-JO2yoVD0R5_MwRtv7OIdcZZKI_FsgPsPf0vME1bewxsA1yf8clgzU0pA96ebyAE5eUrm4TGsSsd5QfH47Md3EosZK7ypuuMx0pq-Hatw-D3GRgdGdTVe6fEDt4EA6vBoUrQWHjHEKzsqNOGbt6kxFeDPAucFiKEsMcOzI26YBvA-1ME33miZtn7ykz_Ez2dPrt8uSUUMISyVXh0K-ZPfrqo1lEDAnW5FcFSIkCIK8EbphpInRQfKwBPwLM36dRf_LzROl4kihAGl-mcz3ThR25fUOfpXkDCbFuJtHtQN27eAzwECm7f2diRpvPVLbvZq8ySzyhWL0laWrYmWU4MdflimRCjRuu5pA3U3H4shkbAeYeJdT136MFePmnIoGoU37MSR0EL09LPPcbzCiO0CLr8NUz8bNbRAhsDR4O5hHF8Vp1nQrJVeDIQ8HEg4HCT2dLijpiaTXEVyHaeKy05TwS1v7XWglD8JOS6-E6S20OZo2RjREAlNfY9-Uc1-Pa70oGNaok-oW7JbiyCi6BRvmwWIk6a6qwHW-b5xnpwGO2Yp5FQ3rJ9DpF90heRPOc3W6ZQMEvkifQoL5fBTR10zuK28h_qgKAN04M5p1aJfV4-30u19karrkHbFbEch2vd8cM84NJiQOlB6zoY=",
  "id": "rs_07342fe09ad52c35016ab428000e8087d084d557a37b6653f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_z\":0.16},\"note\":\"The brown figure is hanging at the front edge of the left basket rather than over its center. I’m advancing the gripper toward the back of the basket before letting the toy down.\"}",
  "call_id": "call_pRDln5gqbOZIYJieAgXXKJkP",
  "id": "fc_07342fe09ad52c35016ab42802ab4887d09fe8bd8431bf1006",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pRDln5gqbOZIYJieAgXXKJkP",
  "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]: [-0.4747, 1.9308, 1.4242, -0.342, -0.5747, -0.234, 0.4908, 0.458, 1.8595, 1.1954, 0.4011, 0.6941, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.4909 left_y=-0.1403 left_z=0.129 left_yaw=0.1168 left_pitch=-0.1452 left_roll=0.26 left_gripper=0.4908 right_x=0.5185 right_y=0.1336 right_z=0.208 right_yaw=-0.2903 right_pitch=0.3673 right_roll=0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -11.5214, 10.6598, 2.0, -0.1441, 0.3492, 0.0757, -0.3761, -9.9761, 6.612, 1.7411, 0.1001, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce43a8499e26c987765b52669efe1baf1b1af38959a0729418ef9af329d038c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7ad761c885704ea23d0de6f03c1b1b6ebd83a46adaeab68ec5c78cd8014d74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272b476d914a53a82f385ce9d780c1108bc8ce64266a676a64d3fcbb9539343f",
      "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 · 3.979 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]: [-0.8196, 1.6829, 0.5289, 0.2958, -0.8021, -0.4458, 0.4853, 0.458, 1.8595, 1.1957, 0.4187, 0.7132, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1519 left_z=0.0288 left_yaw=0.042 left_pitch=-0.0102 left_roll=0.2238 left_gripper=0.4853 right_x=0.5186 right_y=0.1308 right_z=0.2122 right_yaw=-0.3125 right_pitch=0.3836 right_roll=0.0768 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.6786, 5.641, 1.199, -0.3639, -0.022, 0.8718, -0.3487, -9.6889, 6.735, 1.79, 0.1832, -0.0269, -0.0024]",
      "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]: [-0.5396, 1.742, 1.3628, -0.3809, -0.6117, -0.2493, 0.49, 0.458, 1.8595, 1.1954, 0.4034, 0.6949, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4576 left_y=-0.1516 left_z=0.1894 left_yaw=0.0827 left_pitch=-0.0553 left_roll=0.2191 left_gripper=0.49 right_x=0.5185 right_y=0.1335 right_z=0.2085 right_yaw=-0.2918 right_pitch=0.3691 right_roll=0.0688 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.2786, 9.4291, 1.7021, -0.2418, 0.4957, 0.2759, -0.335, -9.9487, 6.6803, 1.8144, 0.1832, -0.0171, -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]: [-0.4747, 1.9308, 1.4242, -0.342, -0.5747, -0.234, 0.4908, 0.458, 1.8595, 1.1954, 0.4011, 0.6941, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.4909 left_y=-0.1403 left_z=0.129 left_yaw=0.1168 left_pitch=-0.1452 left_roll=0.26 left_gripper=0.4908 right_x=0.5185 right_y=0.1336 right_z=0.208 right_yaw=-0.2903 right_pitch=0.3673 right_roll=0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -11.5214, 10.6598, 2.0, -0.1441, 0.3492, 0.0757, -0.3761, -9.9761, 6.612, 1.7411, 0.1001, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce43a8499e26c987765b52669efe1baf1b1af38959a0729418ef9af329d038c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7ad761c885704ea23d0de6f03c1b1b6ebd83a46adaeab68ec5c78cd8014d74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272b476d914a53a82f385ce9d780c1108bc8ce64266a676a64d3fcbb9539343f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgHiT7I7t6zp50H-kE9pbasCWQWC_aSPAlwmSMgEjPFR_2OtU0iRoywBwbRNanUaYSs9hs_twju_Rq6rFq-uHXttjkaQCstUFNMkGpcKBFZC0pYEO7Qf_aTjthizWGXJYeqxNRRMR9n-ymcnL5PywDeSS5Ee2IDZroW-XIxTp1lV-USs1-ZXM8FrVbgVP0mGgvqRFHBEay6VPmJwzEbHlTbrL6OHAYw-Hv5_h8Sg-iFhhGiMg5KdkIClaMvhzsBETKsndpRUvB7TViaD83PiCkeZ4vPV0BG8wt4n2kc2eSj-yCqFq34_EhEmp45LZNPOq-BA41N34r8uBNw37XUrtS_dSgECbkbZLOjfPX2RUjtFjjBOHFX74XIaCKDcOmubLvQ0Xtg0J6lCuCNJ5jziW7xwucpVi1ovy2nowjJeaQtcUTDBj0h1-DWojBObfuONp8fjSfPECs1bL53rvlmykJWje0O2GTMdIxZt8fzf2Kva7mGc8HqCRWas4oouWD0MoRo0IStntdZOjZVn2Kg4kIry-Tr0z5L7gcXPD56UdeAARylNR05sTv188swR6KvNHsW7w9mowoPUViOW0ab6W0xrGXtEg9ovOGySrPEtYxRy3hDVV-xauFCIh3bPvre0Bv3b--9yg1trRKcW1pWOrCbLzNnI3ervs7lHzJRM9AkxMn4J2xLGiXnyIiCaKzSzIU-kDq-T1RG8SqS2B-RSrg72Sq930IIlYBh6ffPsrXYTOauKLnWhML-QJM-KlIJ9Sw2-u9eYV96O4qYPwXXsr9XYxkx1csCq9N6K-9R5tickcnNduOJwhGndE69SaDcO6pNeZVQYgWTFZF__ooBxncHUcw3BorV6eTJNWPKSy2jLc-4X9lpJ0QmSCQBpoGt3iIq45d4HvxZ9AbbFZVAH6SxuUozszBYPu9YBKW4OalY6YbOhAPOwtJz3FhLiwven6venDIbJpjiN7t-ZegXjiiZHxMEOgbU0ctzaHWqI8BTxmO90uSE5TYWM3CY50VQo2fhIB0a2zGhtPwp1fqXwF0eKNmyNyRy4UOP0vJ4kl_2mAKeXxndkK19uMA9dpMrWKKGGoUPmz8zLfl5Py6rnzGmbOTQ83ZNy3ktQdGBslDnHPVVUJbnquWF5juY7-JYKtqMxz9Gw8cQapPsKphbybG_YceG6COCqNubvhcm_CEbu1Xn3zyIOkJ-A1bp4HxuT-qxJVnKMlrO8LQgjEWRD_-7MbXOrRzO8HHws4TZbEBTBP6GdCxbAPOf4n8ZfGAL7lZ-HIMAWZL66tr1yM7RN6aA7jrFrK2BKAGRf_C72raF_CT09TkIeF_ESLHfM5VSWb-5cYmmH-78yS-Ek4C612CU4swi6FcXBH2jm5seYnWJGr2dXz0FNiMHk1VzbMy_jkM5zLql4FPohaT1eMUUmBXKkZqSvkxt2RjSoVWzMj_zLPgM7PIbOZMezdrrMGXPvlho30Y08CUtEDvUw_XiuGzUdYMROf_tygzJKXqZwSsifSG0g47BV1H9ohQrZ30W0AekiML3dwWHtO_3ue9DgrLUs092o3RbqDr53VxhfxgguFQ=",
  "id": "rs_07342fe09ad52c35016ab428059b6c87d08bcb7ab1338566f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown figure is now over the blue floor of the left basket and the jaws are near the rim height. I’m opening the left gripper to set it down.\"}",
  "call_id": "call_2jZzqGy1R98sZ8LrjMXLwN3A",
  "id": "fc_07342fe09ad52c35016ab4280666e487d08eeee179ddfaa044",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2jZzqGy1R98sZ8LrjMXLwN3A",
  "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]: [-0.4725, 1.9434, 1.4384, -0.3202, -0.5751, -0.2317, 0.9954, 0.458, 1.8595, 1.1954, 0.4007, 0.6933, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4974 left_y=-0.1423 left_z=0.1316 left_yaw=0.1164 left_pitch=-0.1261 left_roll=0.2489 left_gripper=0.9954 right_x=0.5185 right_y=0.1337 right_z=0.2079 right_yaw=-0.2898 right_pitch=0.3669 right_roll=0.0671 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -11.6034, 9.8667, 1.8046, -0.1832, 0.315, -0.1538, -0.2256, -9.6342, 6.612, 1.7558, 0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf6bcab8ddcca77c5afcf14a15b8ff7ad3e340e9bceb748ec1d6c04d16e7cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1aca4aca539f557d4560f040a8c9021a6ceb3ab0ea4454f66ed38c7b584a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6c12e69f2659fbb578fc8a191347a88c08f35e7c349ade928927d3d72abb42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.226 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]: [-0.8196, 1.3403, 0.902, -0.4191, -0.7967, -0.4538, 0.4872, 0.458, 1.8595, 1.1957, 0.4152, 0.7021, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.3227 left_y=-0.1552 left_z=0.1731 left_yaw=0.0426 left_pitch=-0.0118 left_roll=0.2139 left_gripper=0.4872 right_x=0.5189 right_y=0.1326 right_z=0.2112 right_yaw=-0.3016 right_pitch=0.3793 right_roll=0.0763 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -6.5983, 9.1556, 1.2821, -0.3932, 0.0904, 0.4176, -0.1983, -9.9761, 6.6393, 1.8144, 0.1441, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4747, 1.9308, 1.4242, -0.342, -0.5747, -0.234, 0.4908, 0.458, 1.8595, 1.1954, 0.4011, 0.6941, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.4909 left_y=-0.1403 left_z=0.129 left_yaw=0.1168 left_pitch=-0.1452 left_roll=0.26 left_gripper=0.4908 right_x=0.5185 right_y=0.1336 right_z=0.208 right_yaw=-0.2903 right_pitch=0.3673 right_roll=0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -11.5214, 10.6598, 2.0, -0.1441, 0.3492, 0.0757, -0.3761, -9.9761, 6.612, 1.7411, 0.1001, -0.0806, -0.0073]",
      "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]: [-0.4725, 1.9434, 1.4384, -0.3202, -0.5751, -0.2317, 0.9954, 0.458, 1.8595, 1.1954, 0.4007, 0.6933, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4974 left_y=-0.1423 left_z=0.1316 left_yaw=0.1164 left_pitch=-0.1261 left_roll=0.2489 left_gripper=0.9954 right_x=0.5185 right_y=0.1337 right_z=0.2079 right_yaw=-0.2898 right_pitch=0.3669 right_roll=0.0671 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -11.6034, 9.8667, 1.8046, -0.1832, 0.315, -0.1538, -0.2256, -9.6342, 6.612, 1.7558, 0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf6bcab8ddcca77c5afcf14a15b8ff7ad3e340e9bceb748ec1d6c04d16e7cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1aca4aca539f557d4560f040a8c9021a6ceb3ab0ea4454f66ed38c7b584a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6c12e69f2659fbb578fc8a191347a88c08f35e7c349ade928927d3d72abb42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgLjuoRlpKAvR4WO5o2v8jH9dM4j83g8FjnoeFudstN1E1v6c7SGj9JbS76X5fIgwgRvwC2TcQ7hWTml5OXQzimoSjiYblWjt2GBPUIvbowgaFgR_LBhv7V0ruMpEq8-WMEih-Ij4-xeni5gdOTWlwpWaIMiQhx_9UBb8GwFOBK2CreF-dpF1yHF9MnFnnYQz1g82P9wjPaktCb76Ppe4TO0nDax9d-Sro7wztZVAZsbGCyDjNm9r9e5Dquw-uBz4WS-ns8X0TR7T8ufpF7f3yNAVCCKOkpVEAgpDicQA3Lg87DD3HFVRq388dkzdkhtURJPROP0LI0m2v7Ew-aWFbP5NPO4GXyyNYxyEPplvVTYGPBPc3t0GHKCFwZn6uzN45nhLZZzK9UCyUgQ_MgCQuarIRbyVaJoNrpJ4aGPhDR6D-VzSUwSBJY1RMxbSpmI3t77CVo1ICu2N4ZnhgZ-LftCPN_2NCrdeJZMOPq8t8jF6kVwsHQNGt6DDJRlPeZz9DqYxvUkihpv-yKjmbvjoEa3nUBcCzQ35xWRSOLCTSnZFp2zZKklCzFzm1rpVnhrgxN6Mm1etgPmHAB_G7QcC7rf9_LgzjDxC-eTtxY4zT0ZmXoefbzCvcfG_p4Tt_UoHKcANd6RPFgfyUcKOP7y7nCqVkrP2ChCGFmmuF_HyZ6xojJbR9jrv-cKqK6q0oNlAykMUidW3eW3C-tU7-uhANEHjs01UpIUFEchuP-BmY5OKmBx4uUtfpzUoGBQfbkfphxkeC3W6F8uOU52yLcLgliLOKK6o41B0Dk-IfFQl6W3UMQJYOwnRFlXWitcr7skQqQyDkt4oWZejGkLMFuqHH8UmNKDb4w55rYKHBHlB9rQ2vzUBPDGncPNOdkgWzn3iykC5sxwc_njfEM_0ZQmY5PikmmhedpCqoFeH18SZJHEgicb0Pca5fDhd7vEBzWzRz785wsi4ZqujPWU1qzF6yOju0y7XbBv-ddrsNzxlHOq1UbO-gR7PuF6FqYQXvMu4HfKz9kS42q6uJDBx9sWLgd7qsk45QiO1upkC9zEn0cXRHTePQ6QwSMsN4_dSr2Kw4wKxPi07nggQieMnXdQfTWkzlWdCLkvCz_TG4JFsDzJi3brt2thXPAaDJra2nBRLAcbuaDkiBCDPxKEQrBAq0_7KkU4Api8pa2Qpa15x4cNdsVPuPgEvu0LecFd-9jtnSWtq0XaD9AGCTH4ABI1V4GiAZGrjVmMO9Iwk24IfceMn-G8Cld8CeNHWRDkam66rARrN38Mu3U-fJ0aHDxPYLGC0o2zkAPXTCLBCE9na6O3QSUZoR8nm0CPogEfl1A9YSOckAm2LkhIacfeb2cK2cnwitAFVwH6aXgCYZu-ZqRnyvm9PBMpUT1viNJhdOhOZCeZJCisnyPPcK1GmfqaoJmxuIbv9eNMiLhkp7jE8KhNl-OYv60JsugTQPEGvhEoSgvPqD6fKE9Ny2U-o650ud6nlL5Rz_TUXnhYcQhM63wTo7fekMEn1-Wk3-XfsCLHNDAwdm0ms0qvoIBt_nHYu1GDim-FoumkI_7On8C_JULFEWm-Qx0FUka3RvA6OItW_ZTLqcVmdH75TSx9vEUGY8QusXQZB5K3MoIInbMVqXLXese3Wk6bSEDYIUK3fUCNf7iaFK9GlKr1hr85QQg1GXNtwKXSqT4n7bFA85WoOTrjK2FYq6QPnmujBHSA2z4VqPfsk3ZacPOj2kCfU-YgXt36eKw5qpHnorMU6lyboM0lU8jUdYWFiijAW7FQlPBMzu5BhWBmNK5s3nalS1PZZZsql8ea5cOdx10gk_uUi9AmpV829_dH2ddDMyoSwJYkjXy0X_GbRDtJMNwytJ2iiITX4HGinSgtDkUkDO6lvqIRNTyV9aH4d8TYX1Q0Mz2dgcFBMVcSH23rqeWtgj86pcYGuKWcPGKYHclbBAfUnu96HZPjDDwVc-Y--FKljj7xImmSAUnH_wQgu5Zm4k6y8N33XaH6LeQsUJIH4ItqK7W9En1GHkZIYd-MexZIt4KGvGd5mwZ8XvCzCfBr7VFI4BDerDWqiviEw_6UNVg5G3eySDOCoJ_mYSBhzOuaPOHzHnTJ2IfO502a6AHU_EcfVBOdcqgRpIRNQAnzw9Q1r961TbIcgrWs3tdQWsZDAQU1m_sdKsCG3io-SMuDronq1OJ4dLjgr8yEA2pveRwcApQaMcM4r2PpaYWc0rZuKCbPtxbZ-CpytCM51KpN-kygEC-XA==",
  "id": "rs_07342fe09ad52c35016ab42809c95887d0b5e3e20b88c94e83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.26,\"right_z\":0.3},\"note\":\"The brown figure has dropped out of the left wrist view after opening, and I can see an unobstructed patch of basket floor. I’m lifting both open grippers vertically before moving them sideways, to check whether each toy stays in its basket.\"}",
  "call_id": "call_k4PsZDx1odV6mVqKexZ9hqGd",
  "id": "fc_07342fe09ad52c35016ab4280b347087d088492493d6e61b5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k4PsZDx1odV6mVqKexZ9hqGd",
  "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]: [-0.4713, 1.9301, 1.9053, -0.7376, -0.5755, -0.2623, 0.9967, 0.458, 1.8099, 1.4197, 0.0814, 0.68, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.5061 left_y=-0.146 left_z=0.2624 left_yaw=0.1303 left_pitch=-0.0701 left_roll=0.1894 left_gripper=0.9967 right_x=0.5227 right_y=0.1378 right_z=0.2679 right_yaw=-0.2667 right_pitch=0.3307 right_roll=0.0373 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8803, 8.1983, 1.5116, -0.2418, 0.2466, 0.1148, -0.2393, -12.588, 9.6752, 1.6581, 0.2369, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3297338f6714bce285eb8b4a559aab94ab843a1bd80f1356801a9f94356ac03c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa8c8bd7a2a52009fd263e6521a3353068cb9f8aaa4056e9a8b63215ff81b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce065ea36c360fdac4d3f2febd39423f943af0c4cbaa9e156224ad7e2879077",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 10.95 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

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]: [-0.5396, 1.742, 1.3628, -0.3809, -0.6117, -0.2493, 0.49, 0.458, 1.8595, 1.1954, 0.4034, 0.6949, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4576 left_y=-0.1516 left_z=0.1894 left_yaw=0.0827 left_pitch=-0.0553 left_roll=0.2191 left_gripper=0.49 right_x=0.5185 right_y=0.1335 right_z=0.2085 right_yaw=-0.2918 right_pitch=0.3691 right_roll=0.0688 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.2786, 9.4291, 1.7021, -0.2418, 0.4957, 0.2759, -0.335, -9.9487, 6.6803, 1.8144, 0.1832, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "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]: [-0.4725, 1.9434, 1.4384, -0.3202, -0.5751, -0.2317, 0.9954, 0.458, 1.8595, 1.1954, 0.4007, 0.6933, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4974 left_y=-0.1423 left_z=0.1316 left_yaw=0.1164 left_pitch=-0.1261 left_roll=0.2489 left_gripper=0.9954 right_x=0.5185 right_y=0.1337 right_z=0.2079 right_yaw=-0.2898 right_pitch=0.3669 right_roll=0.0671 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -11.6034, 9.8667, 1.8046, -0.1832, 0.315, -0.1538, -0.2256, -9.6342, 6.612, 1.7558, 0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4713, 1.9301, 1.9053, -0.7376, -0.5755, -0.2623, 0.9967, 0.458, 1.8099, 1.4197, 0.0814, 0.68, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.5061 left_y=-0.146 left_z=0.2624 left_yaw=0.1303 left_pitch=-0.0701 left_roll=0.1894 left_gripper=0.9967 right_x=0.5227 right_y=0.1378 right_z=0.2679 right_yaw=-0.2667 right_pitch=0.3307 right_roll=0.0373 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8803, 8.1983, 1.5116, -0.2418, 0.2466, 0.1148, -0.2393, -12.588, 9.6752, 1.6581, 0.2369, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3297338f6714bce285eb8b4a559aab94ab843a1bd80f1356801a9f94356ac03c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa8c8bd7a2a52009fd263e6521a3353068cb9f8aaa4056e9a8b63215ff81b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce065ea36c360fdac4d3f2febd39423f943af0c4cbaa9e156224ad7e2879077",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgQRYPaA7_8RmLkKhGjKFkGxpuNOrq9wzTfceRWQpjjs5J3N-tBmIog_CtrpsvayhQIxemdOcvCIYxTpvZa0C4ftOqmTVlV8glgPm2LcYR1zX6cAoQmocWFlSoN65dpFocvBOR_BrfIl0rlbq_41hPF_ivUiMjk0K00ONKZNTdwuFh4BXhDcNtDu7FzAgqP_HHPM5a7toVUxT4tzBlkitGnxUKqsIo9zahKSZLB4x2eeuW4QPs9pzimXURGb05X8PCCP4BmzPqKvqZ2ow_NF4u2noqaswRdqflcVBfGe1Ne6jAjuH2ffOCnsNXTXL7crqkGA2kuBEchc178GR277ihmqIzuLdIqC1Q7-4wGWOMYSwDtAw2iYk7PSD25_C7u_OTLIRITSzXotIGYdTwOuvxCzyKOAe42W6ww4dkSYCxU1Dm0cy8xKjxkv7fKgq8guYBU-tmLS5PID1ipLGWovVW7Om-mblgirKEsYe-etz8pyyi1yhrhX8XRZGQdO57FSIv--dEwFCywI0aYCJwbYKshmvr23rOMsUisYAST3pvFF1iKbr_sTF9pLdEwhII8DErczNWNqp53QGCCy3IO8LrsNrRc8f9GI9TGT79PY27Jtw499IXFIoLnAEo7w4GEHoqgqLjHk5n4By1skA0ZgPV81518nmasNp0XJBBPhU6isi00xeFcsNYs9aiMS98ZyORlVvqWfL8HxX9CXvAfakjFVhOgUErgXvwmB2sgMRq1yRPQM5rkxum5A1kduSlnSNhSpLR399x4b9YzamV1AjOVLbbr1GHlNThLqWuisqxCFtWcX58_6e18ucvbW8CeF_lyZ6t6xGpqdFyPZ03bT2ITNuP04jyvtT3tW054VytlNB2pqRGyi3tONS2mzMUhRXE-dwaSM_N1GIPA5R11mzhNTTLaqbKxO_atUjOVOJ6CqmyhvxXXp05Eojs3-HMaCHlA7WJyvKHRBolLHwFp5Km0Ei4PGw3kyXZWAKjDrvUMc0DOxK1JOvvL-7wCMBk_KcCCAmfrm3m4AO5rwBNMIXgo1msHbfYPo_zKLBUqGvWV2FJDJatkKmdn1LNi5dSsRcdPUnHyXVFeN57-JQ8bA4DBdMB2MbQCm7UqVmE95keSlMfbyKnuc4qFD6fVG_NlVnEudV00cyKDrd28AxnpphabWEShTfdQrKJYPiKCwc9YuplQOOwgEPuVgvWBIyH75rtqH8L4_ugm7JZcSbJ8hO7GQgsMijGF94Caloiif2JNSvUaghMxB67n1pIXdvy236lgPWoot1pYS_HSW-x1F12KhlMPrvoppNvctN4D6xQY_F2w1bcHF4LCn_XGxlCTBmjy81uTc_bAqnGuBhq_CjjlLG-r8LIabATLNaZ4iPnzUhwHXsedZ4ZnOGZGQQ-WkY4StYvXGKuMRe9eTw0XYGwKBDNV_7BBo913YiOFVwskefBqdsTHp7913EgJwhiDfWKy-l2Y6imc7yHAnRZPDO1qGELu2Ut0rEOOpv0nhJH9gmHIbSS4vYyMTJwCmxSmlou_WJKgj9D3sh4x_L58EkOc7iIzI2fF-8b65sTobCKprVnmeOgHkgQflWmlvgBz8FjrWOxAFe-rf8oW2PvNBF6ZaPcf0_BUzDnCK2o8dnieY1giC78Z47qZMeBtd1XEx6n4nLGLBsY9ijpulr544hqZdjLRVfVO2UyBbs-4gwH9ACuJ41uZT4nc2N0qfMJhyMhzHxE0ihCt6f5vrMZMCxMARyrAx4as9vzVW0mgC2x9ok59COMQd69KwoGNn3_Bwg9fMKVtqoKJEAjnL5zxr9m8WkmYzb5mOUOKnMe4tyGuSI1Pv2ODoaguFvXO2Opv4Ra0yAJTBH7MFxNAP-HOsdqRvnNVFTe_KQOSpZ7_yEvtFAi1EvtMkXeTv_MOlid-fvRu39Ae9OuUfIXnjF2CDnDetnFnIbuhz_ld-sGq_fCLheP6a0VnqMgvhpMjozaPiFtecDGSDvBel3RyZ6izyQVp3F2R1BapqBd8zCsJPzIVZcfvQilMDAo8XfrltpZv0Ws-u7E5JbtVX1RTpjPVNpafmKbc5czCsbrpyIneebs-Xm3W9xIvOPsQgASbHYprhECp",
  "id": "rs_07342fe09ad52c35016ab4280ea31087d096fdffc193d55cf1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The brown plush is visible on the floor of the left basket, and the pale plush is below the raised right gripper at the right basket. I’m parking both arms to verify the remaining objects and clear the work area.\"}",
  "call_id": "call_5vgB33ecI1tij63TBT0eAx33",
  "id": "fc_07342fe09ad52c35016ab4281006e087d08704b60ed82bf2b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5vgB33ecI1tij63TBT0eAx33",
  "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]: [-0.3595, 0.7292, 0.6975, -0.6628, -0.506, -0.1902, 0.9968, 0.2962, 0.7265, 0.3458, 0.1223, 0.5331, 0.1665, 0.9965]\nstate[eef_state]: left_x=0.2585 left_y=-0.0018 left_z=0.1965 left_yaw=0.1482 left_pitch=-0.044 left_roll=0.1731 left_gripper=0.9968 right_x=0.3001 right_y=0.0015 right_z=0.1955 right_yaw=-0.2806 right_pitch=0.347 right_roll=0.0518 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -0.294, 6.7624, 1.6972, -0.0562, 0.1294, -0.0122, -0.2803, -0.3487, 7.3641, 2.0, 0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cb3254a566208d3bf75294919cfdc58a85e6e19f98c183acac653ab7c82c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809bea28e577b14d90c0307c4565244fd231ac3633cb888a40a4aa2dd2514c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69a7ba3be0c9d546f94c6c809340613d09a5d77c90d38a5ffe242fd35935679",
      "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 37 attempt 0 · /responses · status 200 · 2.844 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

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]: [-0.4747, 1.9308, 1.4242, -0.342, -0.5747, -0.234, 0.4908, 0.458, 1.8595, 1.1954, 0.4011, 0.6941, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.4909 left_y=-0.1403 left_z=0.129 left_yaw=0.1168 left_pitch=-0.1452 left_roll=0.26 left_gripper=0.4908 right_x=0.5185 right_y=0.1336 right_z=0.208 right_yaw=-0.2903 right_pitch=0.3673 right_roll=0.0669 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -11.5214, 10.6598, 2.0, -0.1441, 0.3492, 0.0757, -0.3761, -9.9761, 6.612, 1.7411, 0.1001, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4713, 1.9301, 1.9053, -0.7376, -0.5755, -0.2623, 0.9967, 0.458, 1.8099, 1.4197, 0.0814, 0.68, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.5061 left_y=-0.146 left_z=0.2624 left_yaw=0.1303 left_pitch=-0.0701 left_roll=0.1894 left_gripper=0.9967 right_x=0.5227 right_y=0.1378 right_z=0.2679 right_yaw=-0.2667 right_pitch=0.3307 right_roll=0.0373 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8803, 8.1983, 1.5116, -0.2418, 0.2466, 0.1148, -0.2393, -12.588, 9.6752, 1.6581, 0.2369, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 0.7292, 0.6975, -0.6628, -0.506, -0.1902, 0.9968, 0.2962, 0.7265, 0.3458, 0.1223, 0.5331, 0.1665, 0.9965]\nstate[eef_state]: left_x=0.2585 left_y=-0.0018 left_z=0.1965 left_yaw=0.1482 left_pitch=-0.044 left_roll=0.1731 left_gripper=0.9968 right_x=0.3001 right_y=0.0015 right_z=0.1955 right_yaw=-0.2806 right_pitch=0.347 right_roll=0.0518 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -0.294, 6.7624, 1.6972, -0.0562, 0.1294, -0.0122, -0.2803, -0.3487, 7.3641, 2.0, 0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cb3254a566208d3bf75294919cfdc58a85e6e19f98c183acac653ab7c82c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809bea28e577b14d90c0307c4565244fd231ac3633cb888a40a4aa2dd2514c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69a7ba3be0c9d546f94c6c809340613d09a5d77c90d38a5ffe242fd35935679",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgd9hlAZoh-7-pDYFFt7Al1BNZWQlaXsXp48IcPY2ljeLPHDU1zf-3Orx4wQ4-hiovu1ropa3Iy-Of9FlJwnL6IiMf9inYBWIO6kWVr-PRs9vPe-gBJp2nc9HybTsNYthaCaLorex91GqwKUjEkgQXGbfanulGDGqwJ6ZzOCYb5NpW0gItbC4ly4Kn6L2VJti7SN6ij5ZYuj-qSAcQAQxMMDDLBsXIsM7L2Y22S9AbTdJ6Ego-ByIXCcZuJIbxCzUaDjsIelmLTUSbEDBiKE_jpBM5syomp9j-pP0ORMctkFvFaX4rvi5qtUQYpWB92P4AL30vpk29PRMxyIjU9BK8r3Himy2UOTS64d9K5J7KrIU37vbp5sRLJ7p2KZl8GOn-v0X0jOYTFmD5Xm8JqEPpvN2-IAQ7tUfqJv_bfc8b3JoxKy_FqArlYcpjmACriwPCtLD5SHSdLkya2Sro1pci3LVaUAmv5rcwNTkhifMTUV4rzUdUNsj-Cal_d7G783F60SeB5rvEwSG7DlKFqK07HUpxxWaPz4547iSq24azMpULOIzjMIQOSk4aeAUG7G8Cw25Np4BW00_cmndZwfldZC5In4rwGky-sL3ZcIDd3EtBCmCJ31NsOlIMJqq44Y_0c3KXW1Olv0Igkxh1NvrFh2EXNDTTjMvoKLiwwuFj6tg3jaMYM22xPTVNb27OEHpcCHZhJqTaId2pciujWbrdd_x78UmiSNeDmQpNW8jOWLKkqbwXrqK-B4aW6dG3OjPEXzmPlCBlmh2ATsnI1XuYC-2ar9krJfbH14RIwhyPyNwqSBOZLyHSfrS_SDsGxNlnd-Sks2M-hkyEwNeqTOwtH_t4PG4MZp71sklYbFg628bIBL5wd9L4TzEiYjEEod-gEZtve7_RYe2hA5t4XVBYt7mmWH1jTp3GqIu3ylnZ4vAp3UVFOTQzSkie0IGhgtJSk2JlCLMKiSSIZC5Gazjfeli4AhggKhmv9JtYyNMhyKBksoRRNs9ai8HoweIqh0u621HujO2KAgj5lu-2OlMmWcSsfGHT50v6FCwVdM3vRD-A8nxK3ZtVEzeisuTsH7SYo2vCpQscU_Vmly-QqQ7td0KMLpjs5Q9Q4_-wj0aGMSKJSf-02GGWm2i1nrNLEq0gzk4Nk5c3q0WczppVR_rsujWGSrId48tkdopIHMgNFYv2tkR3bJKU7e7lf5gcAv2Hl-xzu81V6Ep_BkLCV3PCxtU634myg2zVxPh4UXCM12mdflfZk3DK8OameMtm2ZHl6EcF72q_RELGTj9wHcAu8zDmCvEy8YFuH4MeCdShMuhN3jldDSngmt0dC4drNMQv1BW_8qiay4EZs8a9Mry3oFwnxFZ46metuSCPIdVwmrfeykFG5pqw4ERN4OKu8xVU9TfX-rF7h-S4tzw8PeAH6ba01882cp7vg4eVygpOK1k0BOzsSHJeNP0DAqYN84t8m4tuFDyUBFdL0qg0yMM3h1hI03z74yI64qfP4pQgWsIIgVG1TFycUAwmOu-VfQh249WY8HdFhBpXL9jKo2K1_j8DKOU1mHD1RpSMkUw6BwrhjQT13u8Wn9FrmwKBOLjHLsEBoI4mtPpXHpdz75cvEomO3HSnusGTJH3_V__sWHRvP54EFooYpWbZLQNpifeuQCtk6GXspaElttmm4gy-aL5kseVsuecIC1qeKouYuUqOH1g37Ku1e5ynKVuLR4G_GuCo3z7qGIUjhsTNiGJr5Rif1yO8AglbJWdwVI3pd-B8VSabhjyO6svuE0wVKWH1knxZ4ckSMIsWpXQfRi7hFdCW-qvAr2qt8Q-VgDOuHxz-eYceK19CxHwWEEHWQF2iz2sfoUWAKIbvzrHE2OOvKk_702wYZ-NXrFWN9A6kpcxqIamTQ62PWGccbicIrwfjYckG_f8el8_tiKUbNycpH-QuKTM_G7kyA1OlmGeunVQtgtInwMM2rWliD-yNrwwca8TZzrw_lbINvwM8rqrqJ29KC6avrudMDLK13racZz8hkdz78sQPI-V9ZOQdYChErZK9q-U51VOdj_RoxMoklMOSbnLbrOmVxXgpbA1RlS5n4npRWsWQiIYmY9ZRvaoZ0HO3I7Zm6dpq-7xuIzaofT9lqtvse1gFY8JRVy7yxHDL4qP-1xX0lLSqMdu7opZ6Vq09-IWVJskZ51s2dc78EAnljPmr1FzIMEbQVDpAMfApPg1garKNraDTrtYNgQShfWadA9hbOkzSXUkjGLpDP0bk0xoa1lt2_-nZmdPI17qqrUqrVX-6nfiIIZ9OLfLqBDhtmg38npjqv_d8oRAb8Gervmr3sH2QIbnYmojNPhthwobXrNlCtPiC0KA-Bgmq2hS4ccD_aL4kd4T00GqXZsYmdnRArxYj08kuIRW4z2J8LWSNg4QvScad5GoLQAunoKZa53wkFerH3Cv3ecggSvzIbP_fuzMPABI5WBixLFIpBCx2SPjjA54p2eGsajlBVt9VqFqWsni-_W8_vshiS9GgoJgJpZ3BMeKB-gVgmO36rpGjJT14pQamr3LHdctbnwp-v0bv_IgRXhNY5Bqb-KvvbqcWRtmYrJMWUOUAJ1fzgjTRFAHg6rJQ_hKcYN6FlV-Cxw1-SHmUu6B1H-FiiLdC1amWPtIN3gbd5eLpUL8PJ9qIa33o24HTxf-f7czCSlwtMd0X8MMYAY31qZCVA3fJj1OSIWBYgy7cJLb_-rbJl5AjPMS3GQCruEK1XWjxUZGG1DPO2cd4sAQKyaGdRkC1Jh5XVbh7rOCv02y6XpCPhGkrxJuCwliYvQ5mhJZ_lCpExOP274sTbgactA1A8fRSFYAvyFxL8FFigfshCT9EI56LqoOGzAey2_CGBp7E0pwaBKigiMfms56k-CQAHwpapjP9VSQM_rVDWOV7ARBOZvAudQ3swIrWOjo2OoI163oyLWTEyuFBWYwIxwa9nif13eaB5TrX1ex6sr19nWbas3ykkb9RDa-b4HGIFu8tM11tQ45JZ-D7oQFu6ZfrmQEl8xRY3zXcf0lWvepvDYIMogKUpz7wdFbXfwdQNyRW_dwtnbfskoaF9xGxgGhWVYrovTVMkrAaFuJpet_ABDsyfgHW9B5c9wBALCeluu6bXs2G9Ljl4g_Zjo9gp4WPueXiPlP1ITZKbuUExR-TlJaaHsET4bIs7YW2XMW_v32shllpiVrHEAAOHTZbyrvAmZb4IT1kLZXPWb6MYXCv6UBQoClU-TeI4zXMRWAKrjGCM7lWvxy6U__GBDnXWRVtbyXQ-vm0n6338L8y8YYCkHCbM6MJdF7oJO0D6CJ0l-BZInYNMJ_QFv_9K6jnBBGuheG8S4X0qVp61XuVHLXvLSdhJ1xzXIVgHGmcYolusl3aE-EfMzEOmybQByDoTi5GtmnpT9vVb3rpdA4gyoQ0qtbLdDgWAvLrbF27Av4Sz9wo0vI1Gnfz4q_SZyoJ8dbeMoH_QSyqA2zEsZxEHUIskmV6ASfHmzrWN9E9xxtC3bn84zend9gZVfS1ajRUD1ljCuH5IvShdUQjD9D5KXDuaHGFctl0lMXPgezrtlOEWptjbRlxU_AwT9NXV9ane99rdeuMHzGF-4rnBev9dHcGw-XLmuKVhnPvtWSIJyK57i0WN478gw1RvAASAkP1A0r2dTLs48HhoADPFNAqST7p5whe-MSI8_dvFfCpInyLe04KA",
  "id": "rs_07342fe09ad52c35016ab4281453f487d09ff618a40c7fbac8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgdtfgQIOKsND2UrSuKmwk7Hcnv8hx1OsRIQIR3MxCoTyFjXhsCOdoMBPTQcjlf-oldsXW8dC8Ql5sUi1yaFhDFQ6Ntx8QPtSxpy2FmrffxVvUbp-2OteFQYI9Ij0ZXXvkpF-rEPYiyRCxkpBDAHDuByC9JffuctY24E12rus966jUs6sxMR18StoTvJi_eMkvfWw4pqfYK2JRAavc0qeyd5UI9yn8rfestOnzvSD6Wyue8_oBVcMhLbeo_yAV8vO5tzPJhyABWBrUV9u5pnOjFIJDUJy0JAIkEMgWb_kcq9uOCTiRb1a3YDDh2_7ZbzLar4mrXsFV9y08U3kTnuQtHhE7SZT9ieWKRtIUVv2QZ3sSC72JQPsLsJuWdpcZB-dsrgDHDrhISO7U6PJ9Eq35bIajhH3449DVHdvqrOieGldyBWDEZXHNYkalc4r2Bfzn9iZcjeFUXZTJ3FRrKnXmo05V_haToV2DtyKMc5NtkciLyyeH5vBuOMIvLNHNHeg6sExsRrHHbrwOPY_VTs54EWEMqYZ8fYK9_D5EHc44AKX89pbXIP8mUXmaT65QQkfrVHYhh3vf__SCuFKBcAlP2Ydkmb0P8JFV25Z1sayXX_pIgwxKkUmNN5Y7sjLq4A09b_1CrrOI4of1T4We_s0KlRP9f6g4OysoJwYR_hEYoorOkBKWFUZTZuF-wIdtzTv81Aji2gRofanDrI4-1rhBM9i9iWJpG6roJ4kU18jNL7BIGvJ_nGfBTSACAkYyVbKPGXpvBxwBX3V0hAvtlUUXxlOucXHfy9oOMGnuGoRQ4_3XQLx5h6xXhC7r5N1FiI1p5xKeVFK-cuIAk_B95Qc9QSPiM-6xlK9ysut0KNgiePmfkDX0K7r-Nsla0p3liT4EG-3iOk7GmvtsesugFyE03F7cpJV-Ug6bc4lAeWSnuAzOEs0UftFJDt82Iy5ImwKlvs5T8WF4K3vEYJSgZ5p0MHJcnsCr3s5SVTcfHY7yPAtLlCeskNPY4h4ziUAe04jxVunq5w-EbDwC80TxhHJAQkUpM7f8W0NWbOjYOSP0XlWiKBhM9fFrsuuUHmiZjO2FEZE3pgjlaNqD6_1Yli5kxTcd4JMXlnSmQ3sxEow5I6C08z7Gro2dwelVvGbGNdlLx5BWdvxH6gre9kzpPicRCMDsZt2lyVWbpP6RIL13EmrIXbZP2ixdUAK0O3esUv8CC9IEf0acRUn1u8248Dj3wonBTFkxoiNcGHDLLdPhzCLvFuc08X18rJBGZkeDAr50MUniRtpod_krMVBtgaCD5dtlESwgh4IjymJINHuCGZblzIGtJGqZbgpGQfYj1UI-U3GgogQIur05l45kfmXR-5TmkPkDYA8OssdgbQIydQakxQ8ehiQtFa7rfGIQoEwu4xatBOMgBjE-kqCRs24Qf2ps308h4esY2ro08LHt39x5oPE5UL2YxvYDp4epnS0zoIUuc08PWhu1QrZvCABs3DSDf_XhtqX7s890owC9-2XBEh7vK1ZNq-BrDWCkZLq2tpfiQKDbbz8vrMPLKeHA_UqDTS3BlZdAfN4GVKUk5UNRDTijjPheRg1L5QK8N8d4RVEtJNJ8CywgG-JrXPCbli3gVVOiTaDMraNed63NWqrQUyVuzJGNxgbP9kanGdyEhYLCT87g4DLpH2jjsqNkbLuY_rx0zqPU3EdxJJnF6q_Pg7HdsPvLTiM0QH0VFcJi4SBHjdonHGVieNQiqfPLPSceuNrKm43-oq8k-sWnLuRWreMvcm1I1fW9NlcyESJo_KpivCXp24SprhNKiwS4qn2Fr6b6r6NgsAjYBEQZHRs-W08X1SaIpAV_TOkEYbd8ss_h2MpBFIPs08RcbJC7oDjMtPZLHfkGdgwWnnZEeI1R8OXHghgngZ1z0eGXEKeo_6fr4gGCeOs1l8AHZtZym5Hl47-uCWJamcRKB0H6tHCPHp-bVqRursRw30aN0RpLCBgR4KltjII_ffrPKcVG10AWVHwctab92HtQXllJMV32Hf-R1vB6VWK6iMij0suoKJ6FuePXGqYyelDSnpSeFYBLfqMW1yb7gz9vu_8PNCHScYDF7DQ0KazIlbn2XIb1I7n-YZhwKrYncLLDCJzn9wDfLOUQ52jNTzF7sHQiVBdgUxC25_44gZFBFpRMoNh3ia3d5STy2dPU8Yl_a1dsEKaN6WPTdwxT_eQf4Y4F7MbTNB6UxXV4GHwNlaxSwX98j5iAXk59wxYa0VeGpoLKR2XCb_gR2lFDrm75xtc2PeCsNNY6eVmiAPc-9k3a_974dDfNJp1-OSuSUw5z1QbGwFOpx9ls44vHDoRdUfVmY1K2NBhUhHkhR8SoUQ7cgzLhSgNydoAbxImNZJOPj4QnICuYLp4IFJq8QLnkc47BAdD9ct6X9udOGyngTu6yanCn3kvUphPLVdSToOSgfvnXZ00yM_VJF2y1lBqG7ScUc7kpPDcxoNCzeY2OKkWEwJONNRn2W7G9hC3rvbk7ggVvtLUI0DnNhTAmHku7JeKFkdZNHwlRJMcXvVBRM72hS3eHAldQ2J8TV_WmDnibfZaIQ_dHVO_mJ9PPuaRrJK0els4FHPOCoe36YjVebVdpLH1PZ9D3iiWczqQMUioxA-AlXCtBFXYNoewkMGjcNMc5v6mRiS4-J5hXzrqiAZh3Lolf0-iU4KjeUSHD8jWNTZJX_Bru4zwtuImphvYHZFywoRAVXXdLdmn50HLbvg1cPvMVwGq2GmFqb2agVjeUOQJg3IKGlzuHlSLzkWAhQi8HOKrfZrVZijkBfxceAA1SWBHFNYKbcRKYW4eqGGEzQxRoXyWIr8cKpSQPoMSVQVjZ3i12HgPbzVLrhRq0W-4qV7PQSCjt3Ln-vxBAXWi6hn8rSXm9vSZAUriQO1BrHDdB4c29JU3xYZqaLeSDpODn7dor5VVt4Jn-PyKZVAaJFBFCUbw==",
  "id": "rs_07342fe09ad52c35016ab42819357887d08567d058bba3d4ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.16,\"right_z\":0.08,\"right_yaw\":0},\"note\":\"With the arms parked, the brown plush is in the left basket, but the light plush is resting just outside the right basket’s front rim; a gray plush also remains on the left side. I’m repositioning the right hand to pick up the light plush and place it farther into its basket.\"}",
  "call_id": "call_MQiYX2Rhdsv1r7ZhDLkOh2p6",
  "id": "fc_07342fe09ad52c35016ab4281c362887d0998605274855f2ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MQiYX2Rhdsv1r7ZhDLkOh2p6",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 0.7319, 0.688, -0.6666, -0.4969, -0.1909, 0.9968, 0.5751, 1.8488, 0.4736, 1.021, 0.5526, 0.1684, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0028 left_z=0.1908 left_yaw=0.1421 left_pitch=-0.0608 left_roll=0.1751 left_gripper=0.9968 right_x=0.3891 right_y=0.146 right_z=0.0609 right_yaw=-0.0032 right_pitch=0.27 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.5538, 7.6513, 1.5897, -0.315, -0.0073, -0.0073, 0.5949, -7.3094, 5.8462, 2.3028, 0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86bacad801c3a7da9ad4fc581b3cffdfc8a97d39be793b092e66e4389dbb5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f369eeeb9e3c1ba0ac2d4a83c76c576d8c6f37c27942e3725365d08ca788e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b4040465932368a820342ad316da622c7b307e7069513892add1d4124d2433",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.192 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

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]: [-0.4725, 1.9434, 1.4384, -0.3202, -0.5751, -0.2317, 0.9954, 0.458, 1.8595, 1.1954, 0.4007, 0.6933, 0.2176, 0.9965]\nstate[eef_state]: left_x=0.4974 left_y=-0.1423 left_z=0.1316 left_yaw=0.1164 left_pitch=-0.1261 left_roll=0.2489 left_gripper=0.9954 right_x=0.5185 right_y=0.1337 right_z=0.2079 right_yaw=-0.2898 right_pitch=0.3669 right_roll=0.0671 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -11.6034, 9.8667, 1.8046, -0.1832, 0.315, -0.1538, -0.2256, -9.6342, 6.612, 1.7558, 0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 0.7292, 0.6975, -0.6628, -0.506, -0.1902, 0.9968, 0.2962, 0.7265, 0.3458, 0.1223, 0.5331, 0.1665, 0.9965]\nstate[eef_state]: left_x=0.2585 left_y=-0.0018 left_z=0.1965 left_yaw=0.1482 left_pitch=-0.044 left_roll=0.1731 left_gripper=0.9968 right_x=0.3001 right_y=0.0015 right_z=0.1955 right_yaw=-0.2806 right_pitch=0.347 right_roll=0.0518 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -0.294, 6.7624, 1.6972, -0.0562, 0.1294, -0.0122, -0.2803, -0.3487, 7.3641, 2.0, 0.0562, -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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 0.7319, 0.688, -0.6666, -0.4969, -0.1909, 0.9968, 0.5751, 1.8488, 0.4736, 1.021, 0.5526, 0.1684, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0028 left_z=0.1908 left_yaw=0.1421 left_pitch=-0.0608 left_roll=0.1751 left_gripper=0.9968 right_x=0.3891 right_y=0.146 right_z=0.0609 right_yaw=-0.0032 right_pitch=0.27 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.5538, 7.6513, 1.5897, -0.315, -0.0073, -0.0073, 0.5949, -7.3094, 5.8462, 2.3028, 0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86bacad801c3a7da9ad4fc581b3cffdfc8a97d39be793b092e66e4389dbb5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f369eeeb9e3c1ba0ac2d4a83c76c576d8c6f37c27942e3725365d08ca788e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b4040465932368a820342ad316da622c7b307e7069513892add1d4124d2433",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgimxHNT9tLAuXWMJAJoKVHZ2EeLhGLQmv_Kd0S65xQCHkE10c_IigxztSKhp8cc_JVmsVykGCZY59RUGW2nzc9Ta4Rd_TbOQnNsA8UNQ_o3bUryYa-W0xSm5CLVuO9gnaSwNG1tA695cWwGsXQpG_Pmuy9FAV4xmMDqZXqVNZJiXSTdHyN-BWor5W2CyjeuH-lt52mRzSpFytuqF8WeBlsmfj3AEvPQqXXrZB8TnhaSUiAd3fQ1HEXaKL0tAI0ZzwIkQxIzk6q3n2cV2JsQhPRSUFDnGFtR_t6Ayogmq6xI2ciJiVyKj-tQoYU0xCs3eu4bm1IaxqKFN2ZOKEVAxBrmb4vapCHRcjn4LGrj1k5hDy462P4fUJ55kUF_duaJp-XSwQ1BHAA3UcCtSpIklD2-3EHE6zLEca-3kuW9EOn4aa2Ck-5LP147CaGWDS-OP1Dkc_QnMEEgEZy51csj5G_R0XG3gF4uUR9yJcu6RuxorjLLv_0rzKF8aVupPERnkgvOQh12LF7VEFGbBnDnISnn-544zUR8LV3fME-z7HyFk62cTZyhTgSBF2Jrp0J3lqI-JjwPOzNA0oOx-AQ0D0RDDeiLuxaY_bXF6VR4kD4bTIDHgc5ugbrVGzt9EtyDwNUW4r6n-CK5xkZKejeaBl26yOebTyIgdzvEYNi-gn9aXLzfEprkH3mqYqwWuwsCT55hVhjLPBRJJUWQTGNAtFjFcp4qQsnVxki5IvG_lTeruY-ePAbvor8qcFW17HgPR_93rotGaAL0Q6NNMQMZKSc345i4eML9_OHvQWorj8wmxmmIPmyftKAf6YUBqm_7ifjB52vZWnV6_YgHnnIQs8NAmQtq4GLw-5BB_dVdqKYN0Y-hnqmgvdnLhyul26VEDjrQx-e2vyk5OwChWvey6PLzefqQBBet9inqsnWa_FIgJnLwu3UeOzuCIf4VUwRYHpGKFrXy1FeEz3Fz7KXJnk__JNDXq4610h49HKhOJPBdMstnxyP768w3WIx9SqANhJnb30KaudRLXAJcGoDll4ACpaq_fgym8AKtLlOCHYH5XzFedqAJeTbnaRCruaDXqJJMvdrYNfzoF8T-rlMu6J7Pa793fTetHRcrZ12hgUtH_UyTRhxsbDFnntfeSqwJYraM1yJurj5ICWn1tAlJ1taqHLWnznH4Iqtw8F8P8W5bgvmjSBQZ4OLIFpR8nhEk9K1PmvnowAsiPyO7LUIgAH6k7rEaquDT7MEscRxROyYirckyr49NVKmFrbU0AIKq3nYMvTRhNnejsvEwayJMR6H3mLtZuRzXyhwRUxx98JEySdYqGJ1mZKn0ejfW0BtGELyQu6C7TMPYCF7iSBw1iviPmFq7b3lJOkXL-UNqLRclyb10m8HooAdR9SIxWVZVrwR10uRiKo432Vtvq8zSm-v6VzyM9j52VTtGKFgCqELuInGhPwK0IMWUEenPhpvuq904ENmknvIiPw9hIB8S97WR90g1Wj2cAm1L0dOo28VFtytDQF_XSnV-Ibj0Zm5i8r6dfJcIT2R6Y6G7184CbkOHuB8Ae0ITVTQ1RoCly7GjNY8T0rWsP-_2NQ2Nfd3O5QuF0ltgPQ9MACq9S6Z4iJ5RdEWQLK69gAeB6bP3zdrm945FizRITEke5NfVgRZPcSIzpXxsMo1e4XRmx4QIZhzwp7JxQqvtOHh5h1Xsj7bAak=",
  "id": "rs_07342fe09ad52c35016ab4282046bc87d0bb662135754e82ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.065},\"note\":\"The right wrist view is filled by the light plush, but its thicker body is a little ahead of the fingertip gap. I’m advancing a few centimeters at the same low height to bring its torso between the jaws.\"}",
  "call_id": "call_wXBtXbESZmP2Z2P20AEcEYXE",
  "id": "fc_07342fe09ad52c35016ab42821338487d084f8b781ae14fac7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wXBtXbESZmP2Z2P20AEcEYXE",
  "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]: [-0.3595, 0.7326, 0.688, -0.6674, -0.4961, -0.1913, 0.9968, 0.4934, 1.9293, 0.6147, 0.9581, 0.4843, 0.1417, 0.9965]\nstate[eef_state]: left_x=0.2573 left_y=-0.0031 left_z=0.1904 left_yaw=0.1414 left_pitch=-0.0624 left_roll=0.1751 left_gripper=0.9968 right_x=0.4293 right_y=0.1416 right_z=0.0586 right_yaw=-0.011 right_pitch=0.2556 right_roll=-0.0127 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -0.5675, 6.8171, 1.5507, -0.188, -0.0317, -0.0122, -0.4855, -7.6376, 6.2017, 1.956, 0.0562, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3331464788ff9875170fcbce90cc92dae82de8619842f3387fab6a7b28771c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2ceb096ddbc1fbef9b4170155da8b35ac4f9d6d26136bc5699732c0b8ee272",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43962ee0c02f96eddf71a05f4d2bf846811e86b11575afc3d93c26cb651cd04a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.118 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4713, 1.9301, 1.9053, -0.7376, -0.5755, -0.2623, 0.9967, 0.458, 1.8099, 1.4197, 0.0814, 0.68, 0.2173, 0.9965]\nstate[eef_state]: left_x=0.5061 left_y=-0.146 left_z=0.2624 left_yaw=0.1303 left_pitch=-0.0701 left_roll=0.1894 left_gripper=0.9967 right_x=0.5227 right_y=0.1378 right_z=0.2679 right_yaw=-0.2667 right_pitch=0.3307 right_roll=0.0373 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8803, 8.1983, 1.5116, -0.2418, 0.2466, 0.1148, -0.2393, -12.588, 9.6752, 1.6581, 0.2369, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 0.7319, 0.688, -0.6666, -0.4969, -0.1909, 0.9968, 0.5751, 1.8488, 0.4736, 1.021, 0.5526, 0.1684, 0.9965]\nstate[eef_state]: left_x=0.2574 left_y=-0.0028 left_z=0.1908 left_yaw=0.1421 left_pitch=-0.0608 left_roll=0.1751 left_gripper=0.9968 right_x=0.3891 right_y=0.146 right_z=0.0609 right_yaw=-0.0032 right_pitch=0.27 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -0.5538, 7.6513, 1.5897, -0.315, -0.0073, -0.0073, 0.5949, -7.3094, 5.8462, 2.3028, 0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 0.7326, 0.688, -0.6674, -0.4961, -0.1913, 0.9968, 0.4934, 1.9293, 0.6147, 0.9581, 0.4843, 0.1417, 0.9965]\nstate[eef_state]: left_x=0.2573 left_y=-0.0031 left_z=0.1904 left_yaw=0.1414 left_pitch=-0.0624 left_roll=0.1751 left_gripper=0.9968 right_x=0.4293 right_y=0.1416 right_z=0.0586 right_yaw=-0.011 right_pitch=0.2556 right_roll=-0.0127 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -0.5675, 6.8171, 1.5507, -0.188, -0.0317, -0.0122, -0.4855, -7.6376, 6.2017, 1.956, 0.0562, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3331464788ff9875170fcbce90cc92dae82de8619842f3387fab6a7b28771c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2ceb096ddbc1fbef9b4170155da8b35ac4f9d6d26136bc5699732c0b8ee272",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43962ee0c02f96eddf71a05f4d2bf846811e86b11575afc3d93c26cb651cd04a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgmFiqQgYV6v3s0kzXYMgBOu2yT_c_GLebzzeidRMVDv4cetf1bG32S8bVDx8YGkqQy4I_-IMERgoKxW5qB6GIRhPijCY7mTkg4ohxS2a95DkjjLf1sHxA9exWuj7uL7Z-Nftt8khaVHnjVgmrB91IAwtsbKCnMNhXnwRwpUZYTGOCX814LikDmzcRS_u3FcuHjjl4vzcye2g8nxowL_4bYOJFy-NVhQIji9QbhtPfy_0mKeOCjIeEspuHU7PthexpgkISO_Lj7SyCEi9s-ZfD4QQ285Zhx9sC5wi2g0RJBW5cZBQu7uAVZfa22IkYWe9zvjdrDvRBD5AhO12zmgFCSoC5aL7qUwcUFRGPH-u4ASS0F3RQd9Bt36xTYU-DypUM8v2r_1O3x5BY47ZlQcPcQf8oaGD1UYUWYaInWijYg56WT2kGynLV1oA9Ps6CG9eH4-aP1nwFsrBHEE9rkFVtgDegvULRxZ_Mvlbrf96azny8b9l_rK9wVvrjCdlZtZ3joDLXkMv6xi-m9CGH8_7_wPX7TLIMPo3RkeDTx41uuI_Xszi0Eo1riuCourTOFPDStQxxL7KSVZN59tS6OVOlo0SnZ3vrRaFWautnMCZ0CFnCwdFMlVRsZ9vE2WCkabj1U_1nJGWsOQ_Put_v2vc0udgwquCqSwPulqYVQZeML0JTGewMJ0oFEtmd8OEu3nOBjQBRN_Ntzj5dd7NWy6YFLi_Ol9w_b2IMf14WcVbLQwK_cBlu0g034G22t9VRzGrjJKpB-8_CHWRRI4syIj85BfYJGnXKEB1h0usYXoo964lnzNZrWMi8z3rIL6XcIWOWTi_Fu7k_pwIXKa0vYxxYxqD1pWK3oYd517kWvOvkzoMQ9UjJhfX1wqm3-mHA5a6mJDdEXtuMcFv1uhhdv-mtCA6ip-sKaWE8eZ71lM28xW6a_vIS3owAnxnpCkc0uzqJ1AAXxKPpFwpOVN-4ODbxeMQ1RHvjJrINDkj_zTOeFM9qXt4U9AHakuXAnDWJhOYuI1HCWFFP6FP9ToDJqduiLMerPz4D8rt-jKfCXlnbV8sBmKCzgx7zN3RbVOAcCBWK6UXvysMjovEcy_rHze-7LyP8ujpQYPLmHmw8eaiZnOmcjwwEnJYJjNqfvCt5dYTsD-yD_cSNy-rXbQabXhWYmjwgjRGIzpNYGZ_KhS2SqV6EAeI6EvaCPD8AZASGuVxYPObsWRpJGwRjadRIxs9i9qouWOSZU0z6NCAvEPzp5qf0XvArxtTsuzG-T8QKQ5GAHFyjh8NMtbQ5bX_9tGhDNYw==",
  "id": "rs_07342fe09ad52c35016ab428248bc487d089ec60f8460140b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pale plush’s body now spans the right jaw opening, just ahead of the right basket. I’m closing around it so I can lift it over the rim rather than pushing it along the table.\"}",
  "call_id": "call_QIcDQ5B4g1ulJeHRjLu7ns9P",
  "id": "fc_07342fe09ad52c35016ab4282543ec87d085ff576f73329588",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QIcDQ5B4g1ulJeHRjLu7ns9P",
  "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]: [-0.3592, 0.7376, 0.688, -0.6682, -0.4931, -0.1917, 0.9968, 0.4896, 1.9377, 0.6178, 0.9474, 0.4629, 0.1375, 0.1945]\nstate[eef_state]: left_x=0.2576 left_y=-0.0036 left_z=0.189 left_yaw=0.1397 left_pitch=-0.0683 left_roll=0.1758 left_gripper=0.9968 right_x=0.4293 right_y=0.1435 right_z=0.0532 right_yaw=0.0077 right_pitch=0.2379 right_roll=-0.0178 right_gripper=0.1945\nstate[joint_eff]: [-0.1436, -0.7863, 6.8991, 1.5604, -0.2418, -0.0611, -0.0122, 0.0752, -8.9641, 4.1504, 1.9267, 0.2711, -0.0366, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872c7cf99ad916d6248be70bb6716c03b4dae87be56ed93d7c2387b73dfd4182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc90213aafff3d214c37b09cd9a6daaf4afde1b893b5bbb2dcbe3738c5455136",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc39386f71372fe10b03d2b9bdcfef5fc36b51cb7e9f8033fa8947b4aa48256",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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