adhoc

completed
2026-09-23T18:33:33.371649+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
211.9 s
total steps
426
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 groups of small animal figures—white and tan—with an empty basket above each group. I’m moving the left gripper over a nearby white figure to line up a grasp.
move_to
left_x0.3300left_y-0.0850left_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, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0128, 0.9997] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.5812, -1.7026, 9.347, 1.7998, -0.0171, 0.1685, -0.0562, -0.8684, -1.5111, 9.9761, 1.6728, -0.0952, -0.0464, -0.0464] 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":0.33,"left_y":-0.085,"left_z":0.15},"note":"I see two groups of small animal figures—white and tan—with an empty basket above each group. I’m moving the left gripper over a nearby white figure to line up a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe left gripper is slightly to the right of the nearest white figure; the wrist view shows it low and left of the jaws. I’m shifting toward that figure and lowering to grasp height.
move_to
left_x0.2950left_y-0.0250left_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]: [-0.4641, 1.0977, 0.5934, -0.1577, -0.3717, -0.2821, 0.9996, -0.0154, 0.7986, 0.6086, -0.3702, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.324 left_y=-0.0864 left_z=0.137 left_yaw=-0.0188 left_pitch=-0.0476 left_roll=0.0106 left_gripper=0.9996 right_x=0.2969 right_y=0.0011 right_z=0.1829 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.0615, -3.8496, 7.5692, 1.9316, -0.3248, -0.0464, -0.0171, -0.3761, -1.265, 7.241, 1.7216, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.025,"left_z":0.09},"note":"The left gripper is slightly to the right of the nearest white figure; the wrist view shows it low and left of the jaws. I’m shifting toward that figure and lowering to grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe white figure now fills the lower part of the wrist view, with its body crossing the jaw column. I’m lowering the open jaws around its body before closing.
move_to
left_x0.2970left_y-0.0280left_z0.0350
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]: [-0.1841, 0.926, 0.3119, -0.036, -0.1753, -0.1329, 0.9996, -0.0151, 0.7994, 0.6083, -0.3702, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.2919 left_y=-0.0194 left_z=0.0833 left_yaw=0.0183 left_pitch=-0.0765 left_roll=0.0144 left_gripper=0.9996 right_x=0.2969 right_y=0.0012 right_z=0.1825 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [0.0479, -2.6462, 6.9949, 1.8828, 0.0952, 0.0757, -0.0171, -0.1846, -1.2923, 7.2, 1.7265, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":-0.028,"left_z":0.035},"note":"The white figure now fills the lower part of the wrist view, with its body crossing the jaw column. I’m lowering the open jaws around its body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left jaws are down beside the white figure’s body and appear positioned to enclose it. I’m closing them to test the 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]: [-0.2264, 1.1721, 0.2058, 0.3145, -0.2348, -0.1455, 0.9996, -0.0151, 0.8028, 0.6079, -0.3695, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.301 left_y=-0.0235 left_z=0.0413 left_yaw=0.0326 left_pitch=-0.0694 left_roll=0.0398 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1815 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.7726, -2.4274, 4.2188, 1.4676, 0.1832, -0.1978, -0.0171, -0.212, -1.1556, 7.2137, 1.7705, -0.0415, -0.0659, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are down beside the white figure’s body and appear positioned to enclose it. I’m closing them to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe left gripper settled at a nonzero opening, suggesting it caught something. I’m lifting the figure to confirm it moves with the gripper before carrying it.
move_to
left_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]: [-0.2256, 1.1725, 0.2001, 0.3531, -0.2546, -0.1421, 0.197, -0.0151, 0.8062, 0.6075, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3047 left_y=-0.0206 left_z=0.047 left_yaw=0.0477 left_pitch=-0.0352 left_roll=0.0454 left_gripper=0.197 right_x=0.2974 right_y=0.0012 right_z=0.1803 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [-0.3077, -2.7966, 6.1333, 1.3016, 0.0366, -0.1148, 1.0281, -0.3487, -1.5795, 7.0906, 1.7558, -0.0806, -0.0464, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left gripper settled at a nonzero opening, suggesting it caught something. I’m lifting the figure to confirm it moves with the gripper before carrying it."})
tool
executing move_to over 8 steps (0.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe lifted white figure remains held and its original table spot is clear. I’m carrying it over the left basket, which will be the white-figure basket.
move_to
left_x0.4450left_y-0.1800left_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]: [-0.226, 0.8993, 0.59, -0.3412, -0.2543, -0.1497, 0.1992, -0.0151, 0.8097, 0.6075, -0.3698, -0.012, -0.0124, 0.9997] state[eef_state]: left_x=0.3025 left_y=-0.0203 left_z=0.1554 left_yaw=0.0515 left_pitch=-0.0651 left_roll=0.0474 left_gripper=0.1992 right_x=0.2976 right_y=0.0012 right_z=0.1793 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.2393, -2.8376, 9.4427, 1.619, -0.1197, 0.0366, 0.8132, -0.2667, -1.5111, 7.1863, 1.707, -0.0366, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.18,"left_z":0.22},"note":"The lifted white figure remains held and its original table spot is clear. I’m carrying it over the left basket, which will be the white-figure basket."})
tool
executing move_to over 15 steps (1.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe held white figure is above the open center of the left basket. I’m lowering it inside the rim so it can be released without bouncing out.
move_to
left_z0.1150
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]: [-0.5709, 1.6943, 1.3891, -0.5098, -0.5011, -0.4122, 0.202, -0.0151, 0.8143, 0.6067, -0.371, -0.012, -0.0124, 0.9997] state[eef_state]: left_x=0.4337 left_y=-0.1734 left_z=0.194 left_yaw=0.054 left_pitch=-0.1316 left_roll=0.0602 left_gripper=0.202 right_x=0.2977 right_y=0.0012 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.3214, -9.3744, 9.6205, 1.5849, -0.3883, 0.2613, 0.6227, -0.3487, -1.6889, 7.1179, 1.7118, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.115},"note":"The held white figure is above the open center of the left basket. I’m lowering it inside the rim so it can be released without bouncing out."})
tool
executing move_to over 6 steps (0.6s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe figure has descended into the left basket and the motion slowed near the basket floor. I’m opening the jaws to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5747, 1.721, 1.1793, -0.231, -0.5102, -0.4164, 0.2037, -0.0151, 0.8146, 0.6067, -0.3702, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.4358 left_y=-0.1752 left_z=0.1417 left_yaw=0.0566 left_pitch=-0.0934 left_roll=0.0372 left_gripper=0.2037 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9997 state[joint_eff]: [0.2667, -5.5316, 4.8615, 1.116, -0.0659, 0.0073, 0.7497, -0.3214, -1.3744, 7.0496, 1.6972, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The figure has descended into the left basket and the motion slowed near the basket floor. I’m opening the jaws to leave it there."})
tool
executing move_to over 8 steps (0.8s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe first white figure has been released in the left basket. I’m clearing the rim and moving toward the other white figure on the left side of the table.
move_to
left_x0.3750left_y-0.0550left_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]: [-0.5747, 1.7279, 1.1687, -0.2173, -0.5167, -0.4202, 0.9951, -0.0151, 0.8146, 0.6067, -0.3702, -0.0116, -0.0128, 0.9997] state[eef_state]: left_x=0.4359 left_y=-0.174 left_z=0.137 left_yaw=0.0638 left_pitch=-0.0937 left_roll=0.0401 left_gripper=0.9951 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.335, -9.1145, 7.5282, 1.4042, -0.2173, -0.0171, -0.1685, -0.253, -1.3607, 7.0496, 1.7167, -0.0269, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.055,"left_z":0.18},"note":"The first white figure has been released in the left basket. I’m clearing the rim and moving toward the other white figure on the left side of the table."})
tool
executing move_to over 11 steps (1.1s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe remaining left-side white figure is directly ahead of the jaws in the wrist view. I’m moving slightly back toward its body and lowering for a second grasp.
move_to
left_x0.3470left_y-0.0350left_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]: [-0.3111, 1.2999, 0.9154, -0.3069, -0.3393, -0.2531, 0.9967, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3822 left_y=-0.0574 left_z=0.1793 left_yaw=0.093 left_pitch=-0.0832 left_roll=0.0277 left_gripper=0.9967 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [0.1436, -6.0239, 6.2701, 1.7021, -0.1441, 0.1148, 0.1538, -0.0615, -1.5248, 7.2, 1.7363, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.035,"left_z":0.045},"note":"The remaining left-side white figure is directly ahead of the jaws in the wrist view. I’m moving slightly back toward its body and lowering for a second grasp."})
tool
executing move_to over 9 steps (0.9s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteAt the lower height the white figure sits ahead of the fingertips rather than between them. I’m advancing the open jaws a few centimeters toward its body.
move_to
left_x0.3920left_y-0.0200left_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]: [-0.2649, 1.4002, 0.4137, 0.2279, -0.3107, -0.2314, 0.9969, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3368 left_y=-0.0317 left_z=0.0372 left_yaw=0.107 left_pitch=-0.1531 left_roll=0.0526 left_gripper=0.9969 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [0.0889, -4.6017, 5.9282, 1.8242, -0.0611, 0.0904, 0.0024, -0.3214, -1.388, 7.0632, 1.7021, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.392,"left_y":-0.02,"left_z":0.055},"note":"At the lower height the white figure sits ahead of the fingertips rather than between them. I’m advancing the open jaws a few centimeters toward its body."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe white figure’s body now extends between the open jaws at fingertip level. I’m closing the left gripper around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1726, 1.5387, 0.5983, 0.2016, -0.2596, -0.1894, 0.9969, -0.0151, 0.823, 0.6067, -0.3702, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3853 left_y=-0.0175 left_z=0.0513 left_yaw=0.1333 left_pitch=-0.1473 left_roll=0.0449 left_gripper=0.9969 right_x=0.2983 right_y=0.0012 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [0.1983, -5.8598, 7.3915, 1.3504, 0.0269, 0.2222, -0.0122, -0.2667, -1.1966, 7.2547, 1.746, -0.0513, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white figure’s body now extends between the open jaws at fingertip level. I’m closing the left gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe jaws closed completely, so that attempt missed the white figure. I’m reopening and correcting toward the part of its body that appears left and slightly ahead of the fingertips.
move_to
left_gripper1.0000left_x0.4050left_y0.0220left_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]: [-0.1696, 1.5505, 0.6044, 0.1806, -0.2539, -0.194, 0.013, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3832 left_y=-0.0169 left_z=0.0454 left_yaw=0.1353 left_pitch=-0.1738 left_roll=0.0458 left_gripper=0.013 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.3624, -7.1316, 5.1897, 1.7411, -0.1294, 0.0171, 1.1404, -0.253, -1.5795, 7.0496, 1.746, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.405,"left_y":0.022,"left_z":0.055},"note":"The jaws closed completely, so that attempt missed the white figure. I’m reopening and correcting toward the part of its body that appears left and slightly ahead of the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteAfter the correction, the white figure’s flank fills the gap between the fingertips. I’m making one more grasp attempt at this position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0216, 1.5826, 0.6586, 0.1513, -0.1596, -0.1112, 0.9951, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3944 left_y=0.0232 left_z=0.0461 left_yaw=0.1591 left_pitch=-0.1991 left_roll=0.0446 left_gripper=0.9951 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [0.2256, -5.3812, 8.3897, 1.6142, 0.0122, 0.1685, -0.0415, -0.212, -1.347, 7.0222, 1.6923, -0.0122, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the correction, the white figure’s flank fills the gap between the fingertips. I’m making one more grasp attempt at this position."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left gripper stopped with a small but nonzero opening. I’m lifting to check whether this white figure 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]: [-0.0181, 1.5841, 0.6613, 0.1493, -0.157, -0.1162, 0.1117, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.3948 left_y=0.0241 left_z=0.0462 left_yaw=0.163 left_pitch=-0.2 left_roll=0.0392 left_gripper=0.1117 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.3624, -6.5162, 5.5179, 1.5263, -0.1441, -0.0122, 0.8816, -0.3487, -1.4838, 7.2137, 1.7558, -0.0757, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The left gripper stopped with a small but nonzero opening. I’m lifting to check whether this white figure comes off the table."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe white figure appears to have risen with the gripper. I’m carrying it over the left basket and will check its position before releasing it.
move_to
left_x0.4500left_y-0.1800left_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]: [-0.0181, 1.4029, 1.0389, -0.4557, -0.1566, -0.1287, 0.1139, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997] state[eef_state]: left_x=0.3937 left_y=0.024 left_z=0.1625 left_yaw=0.1714 left_pitch=-0.2451 left_roll=0.0385 left_gripper=0.1139 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997 state[joint_eff]: [-0.335, -8.4034, 9.1692, 1.6288, -0.1392, 0.0757, 0.2125, -0.1162, -1.2786, 7.0222, 1.6923, -0.0317, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.18,"left_z":0.22},"note":"The white figure appears to have risen with the gripper. I’m carrying it over the left basket and will check its position before releasing it."})
tool
executing move_to over 19 steps (1.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteFrom above, most of the carried white figure is hanging left of the left basket even though the jaws are near its rim. I’m shifting the held body rightward over the basket opening.
move_to
left_y-0.2600left_z0.2250
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]: [-0.5529, 1.8755, 1.7451, -0.9077, -0.4709, -0.5869, 0.116, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997] state[eef_state]: left_x=0.4401 left_y=-0.1732 left_z=0.1956 left_yaw=0.1771 left_pitch=-0.3147 left_roll=0.0575 left_gripper=0.116 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997 state[joint_eff]: [-0.6632, -10.1949, 9.6752, 1.3846, -0.4664, 0.2076, 0.2027, -0.212, -1.4427, 7.1179, 1.6874, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.26,"left_z":0.225},"note":"From above, most of the carried white figure is hanging left of the left basket even though the jaws are near its rim. I’m shifting the held body rightward over the basket opening."})
tool
executing move_to over 8 steps (0.8s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe white figure is now over the left basket but still near its front edge. I’m moving it a little deeper into that basket while lowering it.
move_to
left_x0.4650left_y-0.2900left_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]: [-0.712, 2.1746, 2.2807, -1.2491, -0.5022, -0.77, 0.118, -0.0151, 0.8249, 0.6067, -0.3698, -0.0116, -0.0124, 0.9997] state[eef_state]: left_x=0.4367 left_y=-0.2599 left_z=0.2104 left_yaw=0.1694 left_pitch=-0.3618 left_roll=0.0376 left_gripper=0.118 right_x=0.2985 right_y=0.0011 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.4855, -11.6308, 8.2393, 1.0232, -0.7546, 0.2857, 0.2027, -0.3624, -1.4701, 7.0632, 1.746, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.29,"left_z":0.13},"note":"The white figure is now over the left basket but still near its front edge. I’m moving it a little deeper into that basket while lowering it."})
tool
executing move_to over 6 steps (0.6s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe white figure is resting against the inner front of the left basket. I’m releasing it and will lift the gripper away to check where it settles.
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]: [-0.7231, 2.2932, 2.1811, -1.0763, -0.495, -0.7898, 0.1194, -0.0151, 0.8257, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.4544 left_y=-0.2843 left_z=0.1331 left_yaw=0.1792 left_pitch=-0.3949 left_roll=0.0585 left_gripper=0.1194 right_x=0.2985 right_y=0.0012 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.0479, -11.7538, 6.106, 1.3407, -0.3883, 0.188, 0.1294, -0.1299, -1.3333, 7.0632, 1.707, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white figure is resting against the inner front of the left basket. I’m releasing it and will lift the gripper away to check where it settles."})
tool
executing move_to over 9 steps (0.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe jaws are open, but the arm still hides the basket from overhead. I’m returning the left arm to its home position to verify the placement and clear space for the other objects.
move_to
left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7238, 2.3005, 2.1803, -1.079, -0.4938, -0.8047, 0.9956, -0.0143, 0.8257, 0.6067, -0.3698, -0.012, -0.0124, 0.9997] state[eef_state]: left_x=0.4536 left_y=-0.2844 left_z=0.1289 left_yaw=0.1899 left_pitch=-0.4018 left_roll=0.0577 left_gripper=0.9956 right_x=0.2985 right_y=0.0014 right_z=0.1745 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0006 right_gripper=0.9997 state[joint_eff]: [0.0068, -13.5179, 6.5573, 0.9499, -0.3346, 0.0659, -0.149, -0.1162, -1.2103, 7.2821, 1.6874, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":0.0,"left_z":0.19},"note":"The jaws are open, but the arm still hides the basket from overhead. I’m returning the left arm to its home position to verify the placement and clear space for the other objects."})
tool
executing move_to over 26 steps (2.6s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteTwo white figures are visible in the left basket. Several tan or brown figures remain on the table, so I’m bringing the right gripper over one of those for the right basket.
move_to
right_x0.3250right_y0.2500right_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]: [-0.1577, 1.1923, 1.0931, -0.8967, -0.2497, -0.3054, 0.9968, -0.0143, 0.8307, 0.6067, -0.3698, -0.012, -0.0128, 0.9997] state[eef_state]: left_x=0.307 left_y=-0.001 left_z=0.1904 left_yaw=0.2284 left_pitch=-0.3886 left_roll=0.0466 left_gripper=0.9968 right_x=0.2988 right_y=0.0014 right_z=0.1732 right_yaw=0.0008 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.1573, -4.3556, 5.9692, 1.1697, -0.0269, 0.1245, 0.1001, -0.0752, -1.4974, 7.0496, 1.7411, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.25,"right_z":0.15},"note":"Two white figures are visible in the left basket. Several tan or brown figures remain on the table, so I’m bringing the right gripper over one of those for the right basket."})
tool
executing move_to over 21 steps (2.1s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteA tan figure is in the right wrist view, but its body sits left of the jaw center. I’m shifting the right gripper toward it and lowering around its torso.
move_to
right_x0.3100right_y0.2950right_z0.0480
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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2356, -0.3069, 0.9969, 0.9257, 1.5578, 0.9863, -0.3065, 0.693, 0.6083, 0.9996] state[eef_state]: left_x=0.3051 left_y=-0.0034 left_z=0.1866 left_yaw=0.218 left_pitch=-0.4036 left_roll=0.0383 left_gripper=0.9969 right_x=0.3198 right_y=0.2433 right_z=0.1356 right_yaw=0.034 right_pitch=-0.0761 right_roll=-0.0344 right_gripper=0.9996 state[joint_eff]: [-0.1026, -3.8769, 7.0359, 1.2479, -0.2955, -0.0464, -0.0073, 0.4581, -7.1316, 8.9641, 1.2625, 0.6716, 0.1197, -0.0171] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.295,"right_z":0.048},"note":"A tan figure is in the right wrist view, but its body sits left of the jaw center. I’m shifting the right gripper toward it and lowering around its torso."})
tool
executing move_to over 6 steps (0.6s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe tan figure now fills the space between the right gripper’s open jaws. I’m closing them around it.
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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.0248, 1.8313, 0.9688, -0.0914, 0.7467, 0.6998, 0.9996] state[eef_state]: left_x=0.3051 left_y=-0.0035 left_z=0.1866 left_yaw=0.2174 left_pitch=-0.4039 left_roll=0.0377 left_gripper=0.9969 right_x=0.3116 right_y=0.2887 right_z=0.0573 right_yaw=0.0448 right_pitch=-0.0847 right_roll=-0.0473 right_gripper=0.9996 state[joint_eff]: [-0.2803, -3.7949, 6.7897, 1.2039, -0.149, -0.0171, -0.022, 0.7863, -6.7487, 6.5573, 1.0134, 0.3492, 0.1685, -0.0073] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The tan figure now fills the space between the right gripper’s open jaws. I’m closing them around it."})
tool
executing move_to over 10 steps (1.0s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe right gripper stopped at a substantial opening, consistent with holding the tan figure. I’m lifting it clear of the table before moving to the right basket.
move_to
right_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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.8362, 0.9688, -0.0658, 0.7475, 0.6964, 0.3884] state[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3129 right_y=0.2927 right_z=0.0584 right_yaw=0.0502 right_pitch=-0.0728 right_roll=-0.0333 right_gripper=0.3884 state[joint_eff]: [-0.1573, -3.7949, 6.6393, 1.2039, -0.1832, -0.0464, -0.022, -0.4444, -9.1282, 5.6137, 0.989, 0.2613, -0.0513, 0.779] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.21},"note":"The right gripper stopped at a substantial opening, consistent with holding the tan figure. I’m lifting it clear of the table before moving to the right basket."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteThe lift reveals that the gripper caught a white figure behind the tan one, not the tan one I aimed for. I’m taking this white figure to the left basket instead.
move_to
right_x0.4500right_y0.3900right_z0.2350
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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.692, 1.3396, -0.6113, 0.7223, 0.6918, 0.3894] state[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3131 right_y=0.2994 right_z=0.1795 right_yaw=0.0661 right_pitch=-0.107 right_roll=-0.0506 right_gripper=0.3894 state[joint_eff]: [-0.1026, -3.6034, 6.5436, 1.243, -0.1441, -0.0415, -0.022, -0.1846, -11.1795, 9.4017, 1.0525, 0.5934, 0.0171, 0.0806] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.39,"right_z":0.235},"note":"The lift reveals that the gripper caught a white figure behind the tan one, not the tan one I aimed for. I’m taking this white figure to the left basket instead."})
tool
executing move_to over 11 steps (1.1s)
step 256
assistant
agent noteThe carried white figure is above the left basket opening. I’m lowering it inside the basket before release.
move_to
right_z0.1350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1593, 1.1976, 1.0863, -0.9024, -0.2348, -0.3069, 0.9969, 0.894, 2.426, 2.5515, -1.0222, 0.6254, 0.5526, 0.3901] state[eef_state]: left_x=0.305 left_y=-0.0037 left_z=0.185 left_yaw=0.2176 left_pitch=-0.4099 left_roll=0.0402 left_gripper=0.9969 right_x=0.4461 right_y=0.3958 right_z=0.2089 right_yaw=0.0767 right_pitch=-0.1292 right_roll=-0.0582 right_gripper=0.3901 state[joint_eff]: [-0.1026, -3.8085, 6.7214, 1.3504, -0.1685, -0.0415, -0.0171, -0.9094, -11.3026, 5.6547, 0.3785, 0.4078, -0.0659, 0.0659] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.135},"note":"The carried white figure is above the left basket opening. I’m lowering it inside the basket before release."})
tool
executing move_to over 5 steps (0.5s)
step 261
assistant
agent noteThe white figure is low in the left basket, with its body inside the rim. I’m releasing it there.
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]: [-0.1593, 1.1988, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 0.8932, 2.3413, 2.1242, -0.7269, 0.6441, 0.5453, 0.3912] state[eef_state]: left_x=0.3056 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4088 left_roll=0.0398 left_gripper=0.9969 right_x=0.4435 right_y=0.3876 right_z=0.1362 right_yaw=0.0622 right_pitch=-0.1508 right_roll=-0.1091 right_gripper=0.3912 state[joint_eff]: [-0.0205, -3.9179, 6.694, 1.2186, -0.1392, -0.0366, -0.022, 0.1436, -13.9829, 5.6, 1.2479, -0.022, 0.0317, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The white figure is low in the left basket, with its body inside the rim. I’m releasing it there."})
tool
executing move_to over 7 steps (0.7s)
step 268
assistant
agent noteThe white figure has been released in the left basket. I’m clearing that basket and moving back toward the figures still standing on the table.
move_to
right_x0.3300right_y0.2400right_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]: [-0.1593, 1.1988, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 0.8944, 2.3394, 2.1048, -0.7193, 0.6346, 0.5385, 0.9953] state[eef_state]: left_x=0.3055 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4092 left_roll=0.0399 left_gripper=0.9969 right_x=0.4411 right_y=0.3879 right_z=0.1301 right_yaw=0.0722 right_pitch=-0.1636 right_roll=-0.1164 right_gripper=0.9953 state[joint_eff]: [-0.0752, -3.8085, 6.6667, 1.2479, -0.1832, -0.0366, -0.022, -0.3487, -13.5726, 8.1573, 1.1697, 0.3443, 0.0024, -0.1832] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.24,"right_z":0.18},"note":"The white figure has been released in the left basket. I’m clearing that basket and moving back toward the figures still standing on the table."})
tool
executing move_to over 13 steps (1.3s)
step 281
assistant
agent noteWith the arm clear, the remaining table figures appear tan or brown. I’m lowering the right gripper beside the nearest one while keeping the white figures in the left basket undisturbed.
move_to
right_x0.3000right_y0.3600right_z0.0570
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]: [-0.1593, 1.2026, 1.0863, -0.8997, -0.2348, -0.3069, 0.9969, 0.8822, 1.6093, 1.2518, -0.5922, 0.6159, 0.5228, 0.9963] state[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.184 left_yaw=0.218 left_pitch=-0.412 left_roll=0.0412 left_gripper=0.9969 right_x=0.3336 right_y=0.2504 right_z=0.1722 right_yaw=0.0815 right_pitch=-0.1727 right_roll=-0.1145 right_gripper=0.9963 state[joint_eff]: [-0.0889, -4.1641, 6.5026, 1.2821, -0.188, -0.0464, -0.022, -0.7316, -8.7179, 6.694, 1.2918, 0.3883, -0.0659, 0.0952] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.36,"right_z":0.057},"note":"With the arm clear, the remaining table figures appear tan or brown. I’m lowering the right gripper beside the nearest one while keeping the white figures in the left basket undisturbed."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe tan figure’s body is just left and ahead of the fingertip gap. I’m making a small inward and forward correction before closing.
move_to
right_x0.3180right_y0.3850right_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]: [-0.1593, 1.2034, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.1114, 2.0224, 1.3178, -0.4389, 0.7074, 0.7502, 0.9964] state[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1837 left_yaw=0.2179 left_pitch=-0.4132 left_roll=0.0413 left_gripper=0.9969 right_x=0.2972 right_y=0.3499 right_z=0.0507 right_yaw=0.103 right_pitch=-0.2142 right_roll=-0.1504 right_gripper=0.9964 state[joint_eff]: [-0.1299, -3.7812, 6.5162, 1.2283, -0.1685, -0.0317, -0.022, 0.4581, -10.2359, 8.1436, 0.8864, 0.6325, 0.1245, -0.0024] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.318,"right_y":0.385,"right_z":0.05},"note":"The tan figure’s body is just left and ahead of the fingertip gap. I’m making a small inward and forward correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 294
assistant
agent noteThe tan figure now overlaps the closing path of the right jaws. I’m closing the gripper to secure it.
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]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1103, 2.1441, 1.4899, -0.4808, 0.6952, 0.7471, 0.9964] state[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3119 right_y=0.3821 right_z=0.0459 right_yaw=0.1114 right_pitch=-0.2193 right_roll=-0.1393 right_gripper=0.9964 state[joint_eff]: [-0.1436, -3.959, 6.5026, 1.2137, -0.1197, -0.0708, -0.022, -0.841, -11.4803, 7.4462, 0.5934, 0.4274, -0.0513, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The tan figure now overlaps the closing path of the right jaws. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 304
assistant
agent noteThe right jaws closed empty; the figure was still ahead of the fingertips. I’m reopening and advancing a few centimeters for one corrected attempt.
move_to
right_gripper1.0000right_x0.3450right_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]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1107, 2.1586, 1.4933, -0.477, 0.6834, 0.741, 0.0132] state[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3108 right_y=0.3841 right_z=0.0395 right_yaw=0.12 right_pitch=-0.2327 right_roll=-0.144 right_gripper=0.0132 state[joint_eff]: [-0.1846, -3.7675, 6.5026, 1.199, -0.1587, -0.022, -0.022, -0.3761, -12.9299, 5.8188, 0.9744, 0.4567, 0.0562, 1.16] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.345,"right_z":0.065},"note":"The right jaws closed empty; the figure was still ahead of the fingertips. I’m reopening and advancing a few centimeters for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteThe tan figure now extends down into the fingertip gap in the wrist view. I’m closing for the corrected grasp.
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]: [-0.1593, 1.2045, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.0512, 2.1609, 1.581, -0.5323, 0.6422, 0.6613, 0.9954] state[eef_state]: left_x=0.306 left_y=-0.004 left_z=0.1834 left_yaw=0.218 left_pitch=-0.4143 left_roll=0.0418 left_gripper=0.9969 right_x=0.3362 right_y=0.3818 right_z=0.0578 right_yaw=0.1326 right_pitch=-0.252 right_roll=-0.1538 right_gripper=0.9954 state[joint_eff]: [-0.0752, -3.9316, 6.694, 1.2527, -0.1148, -0.0562, -0.022, -0.9915, -11.0701, 8.9094, 1.0134, 0.3443, 0.0366, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The tan figure now extends down into the fingertip gap in the wrist view. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe corrected close was also empty, so I won’t repeat it from this angle. I’m withdrawing the right arm to clear the center and will try a tan figure from the left side.
move_to
right_x0.3000right_y0.0000right_z0.1900right_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]: [-0.1593, 1.2041, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0477, 2.1609, 1.5826, -0.5377, 0.6235, 0.6563, 0.0141] state[eef_state]: left_x=0.306 left_y=-0.0039 left_z=0.1835 left_yaw=0.2183 left_pitch=-0.4138 left_roll=0.0419 left_gripper=0.9969 right_x=0.3353 right_y=0.3822 right_z=0.056 right_yaw=0.142 right_pitch=-0.268 right_roll=-0.1498 right_gripper=0.0141 state[joint_eff]: [-0.3077, -3.8769, 6.5436, 1.1844, -0.1929, -0.0757, -0.022, -0.0615, -11.7128, 6.0376, 1.0134, 0.4225, -0.1148, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.19,"right_gripper":1},"note":"The corrected close was also empty, so I won’t repeat it from this angle. I’m withdrawing the right arm to clear the center and will try a tan figure from the left side."})
tool
executing move_to over 32 steps (3.2s)
step 356
assistant
agent noteThe right arm is parked. I see three tan figures still on the table; I’m lining up the left gripper with the frontmost one near the table center.
move_to
left_x0.3100left_y-0.2200left_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]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, -0.0139, 1.0355, 0.87, -0.6872, 0.0101, -0.2104, 0.9982] state[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.2992 right_y=-0.0024 right_z=0.1722 right_yaw=0.0912 right_pitch=-0.3035 right_roll=-0.1487 right_gripper=0.9982 state[joint_eff]: [-0.1846, -3.8632, 6.5436, 1.2137, -0.1685, -0.0122, -0.022, -0.1846, -4.1915, 9.935, 1.4139, -0.1832, 0.0122, -0.0904] 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":{"left_x":0.31,"left_y":-0.22,"left_z":0.13},"note":"The right arm is parked. I see three tan figures still on the table; I’m lining up the left gripper with the frontmost one near the table center."})
tool
executing move_to over 20 steps (2.0s)
step 376
assistant
agent noteThe left wrist view shows a darker tan figure directly ahead of the fingers, with two lighter figures farther back. I’m lowering and advancing onto the darker figure’s torso.
move_to
left_x0.3370left_y-0.2000left_z0.0470
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]: [-0.857, 1.6974, 1.3197, -0.9218, -0.5026, -0.9783, 0.9969, -0.0189, 1.0378, 0.8753, -0.6964, -0.0002, -0.2272, 0.9983] state[eef_state]: left_x=0.3049 left_y=-0.2166 left_z=0.1228 left_yaw=0.2007 left_pitch=-0.4445 left_roll=0.0492 left_gripper=0.9969 right_x=0.2986 right_y=-0.002 right_z=0.1723 right_yaw=0.1049 right_pitch=-0.31 right_roll=-0.1513 right_gripper=0.9983 state[joint_eff]: [-0.3214, -7.4051, 8.1299, 0.6813, -0.6081, 0.022, -0.022, 0.3624, -2.8376, 6.5162, 1.5214, 0.0757, 0.1636, 0.0024] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.337,"left_y":-0.20,"left_z":0.047},"note":"The left wrist view shows a darker tan figure directly ahead of the fingers, with two lighter figures farther back. I’m lowering and advancing onto the darker figure’s torso."})
tool
executing move_to over 5 steps (0.5s)
step 381
assistant
agent noteA tan figure now occupies the space between the left jaws. I’m closing on it and will use the gripper opening to check whether the grasp holds.
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]: [-0.7589, 1.795, 1.1477, -0.6548, -0.4805, -0.8967, 0.9969, -0.02, 1.0386, 0.8753, -0.6983, -0.0013, -0.2287, 0.9983] state[eef_state]: left_x=0.3274 left_y=-0.193 left_z=0.0511 left_yaw=0.2402 left_pitch=-0.4675 left_roll=0.0873 left_gripper=0.9969 right_x=0.2983 right_y=-0.0022 right_z=0.1718 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9983 state[joint_eff]: [0.3624, -8.0479, 5.5316, 0.779, -0.2906, 0.0415, -0.022, -0.0068, -2.8513, 6.8991, 1.453, -0.0024, -0.0122, -0.0073] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"A tan figure now occupies the space between the left jaws. I’m closing on it and will use the gripper opening to check whether the grasp holds."})
tool
executing move_to over 10 steps (1.0s)
step 391
assistant
agent noteThe jaws stopped at a nonzero opening around the figure. I’m lifting to see whether the tan figure is securely held.
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]: [-0.7578, 1.8061, 1.1339, -0.6426, -0.4717, -0.8974, 0.1083, -0.02, 1.0389, 0.8753, -0.6979, -0.0013, -0.2287, 0.9984] state[eef_state]: left_x=0.325 left_y=-0.1921 left_z=0.0432 left_yaw=0.2426 left_pitch=-0.4814 left_roll=0.0936 left_gripper=0.1083 right_x=0.2984 right_y=-0.0022 right_z=0.1717 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9984 state[joint_eff]: [-0.1573, -9.2786, 6.7624, 0.5983, -0.3492, -0.0269, 0.7057, -0.0615, -2.7829, 6.8581, 1.4969, -0.022, -0.0317, -0.0073] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The jaws stopped at a nonzero opening around the figure. I’m lifting to see whether the tan figure is securely held."})
tool
executing move_to over 10 steps (1.0s)
step 401
assistant
agent noteThe figure rose with the closed jaws, and the right basket is empty. I’m carrying this tan-group figure to the right basket, using its near edge within the left arm’s reach.
move_to
left_x0.4450left_y-0.4000left_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]: [-0.7578, 1.7493, 1.5837, -1.166, -0.4465, -0.91, 0.1097, -0.02, 1.0389, 0.8753, -0.6979, -0.0017, -0.2287, 0.9983] state[eef_state]: left_x=0.3256 left_y=-0.1981 left_z=0.1679 left_yaw=0.2446 left_pitch=-0.5104 left_roll=0.0877 left_gripper=0.1097 right_x=0.2984 right_y=-0.0021 right_z=0.1717 right_yaw=0.1061 right_pitch=-0.3127 right_roll=-0.1508 right_gripper=0.9983 state[joint_eff]: [-0.1026, -9.9761, 8.1299, 0.8278, -0.5446, 0.0757, 0.1343, -0.1026, -2.5641, 6.8855, 1.4383, -0.022, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.4,"left_z":0.23},"note":"The figure rose with the closed jaws, and the right basket is empty. I’m carrying this tan-group figure to the right basket, using its near edge within the left arm’s reach."})
tool
executing move_to over 18 steps (1.8s)
step 419
assistant
agent noteThe overhead view shows a large white figure in the gripper, not a tan one; it belongs in the left basket. The arm also fell well short of the cross-table target, so I’m bringing it back over the left basket.
move_to
left_x0.4250left_y-0.2600left_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]: [-0.8459, 2.4741, 2.6869, -1.6146, -0.4271, -1.0302, 0.1126, -0.02, 1.0435, 0.8753, -0.6987, -0.0017, -0.2317, 0.9983] state[eef_state]: left_x=0.3842 left_y=-0.318 left_z=0.1584 left_yaw=0.257 left_pitch=-0.5556 left_roll=0.0835 left_gripper=0.1126 right_x=0.2985 right_y=-0.0021 right_z=0.1703 right_yaw=0.108 right_pitch=-0.3182 right_roll=-0.1521 right_gripper=0.9983 state[joint_eff]: [-0.7179, -11.8085, 8.0615, 1.0379, -0.696, 0.3053, 0.2808, -0.1026, -3.1248, 6.7761, 1.4432, -0.0269, -0.0317, -0.0073] camera 'top_cam' (step 419): [image omitted: streamed camera frame] camera 'left_cam' (step 419): [image omitted: streamed camera frame] camera 'right_cam' (step 419): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.26,"left_z":0.19},"note":"The overhead view shows a large white figure in the gripper, not a tan one; it belongs in the left basket. The arm also fell well short of the cross-table target, so I’m bringing it back over the left basket."})
tool
executing move_to over 6 steps (0.6s)
step 425
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]: [-0.8654, 2.4813, 2.6575, -1.5948, -0.4244, -1.0565, 0.1144, -0.02, 1.0496, 0.8753, -0.6994, -0.0017, -0.2317, 0.9983] state[eef_state]: left_x=0.3785 left_y=-0.3267 left_z=0.1477 left_yaw=0.2623 left_pitch=-0.564 left_roll=0.0864 left_gripper=0.1144 right_x=0.2987 right_y=-0.0021 right_z=0.1685 right_yaw=0.1083 right_pitch=-0.325 right_roll=-0.1512 right_gripper=0.9983 state[joint_eff]: [0.0479, -13.012, 5.2855, 0.7692, -0.3394, 0.0366, 0.1832, -0.0479, -3.1795, 6.735, 1.4725, -0.0415, -0.0415, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 425): [image omitted: streamed camera frame] camera 'left_cam' (step 425): [image omitted: streamed camera frame] camera 'right_cam' (step 425): [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 · 5.959 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.7026, 9.347, 1.7998, -0.0171, 0.1685, -0.0562, -0.8684, -1.5111, 9.9761, 1.6728, -0.0952, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d6df56bbd0cf438c2f7a4ef7bb0700067a673e7447cab3ed7115512e5626af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56eef3e14d8bd0bc0e21adc2e4f6ec8298011f9c23f63f5a6ddccc292041909",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3b28c3bade56a520f32a67bad2b30a6e633f0cce1bb349e898fcda995be0bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.804 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuRFyNeX-eOdzOcB7HAZmg8tmS_BoVng85dcY1WiaEnMqt4P2Mf8gX_YPMVegtE2_QtTSkwN9D-00g0Dhtj39oHBVSimqaa-r9-V77bBOygkYFHc97jv3vGobOYMqBg8qXI9RejmPfk6LzuqyKCKmpe1QXgeTfo5HyX5ocnLL6yjAi08xIrHxCHpn-oD3LOL_58IlmruQAbeJn4haYt9dDM0U0D_LQ98yAqqm80W81uqiV42EQOFyg0O-xLa26FejUcRbx1BBD9PaDfU8w_eC76obm5h0W8eLgLYdClMsVffgiCRA1xhObwbxKvpnVopffqEQnU7sVMFDswbMBO3oZzS5vFub8WiyJow83Wi0vnEfd5HSeMLCMeVNdorcxRGDbwIc8xJOn3G8rrDqyEUPFSTvmI6v1HQ35BW3KceCZFYVNMwpVEpyERlffNOsSAiMTGxgrHB4rO2lHYrM8eRO94jvxETC7hooR9hnKyvc9GyLQm0Av3VTXeOQ7L7FbZy8M2G8irqCiJSXEAysVdhhLMgacYa4i2yLuogKtMVvOCBnKgZT96aaXjcBBX-fC7XHbrhGGFGfex5FFkSG399dfN1D3D2UO3UO7Xd500CMsHGj_RtnnSOUOHkhsHmYxFHQluE6bkSlLaSlWyfGUaHMD6-wBBB0aejOQ3lepjFB8Hjp_WtsKi9pHBgmuGS-j6DWXGK1uMgwbvL7TNe3IOwJohKgISztkBGDP2ZWRSNdUKovsUIwft_5DsgOBb4sNtBAWqzE9NywA_ArBvh7VRAZWE5UtD5fIdIj74oAsU2Aejw_tDGB2MSaSzMrEMYANT6AEPG6STGVk0WU3wCKW5HVqxZoMjECebs1cDOyJiVqgriJHt5560MuTEG47LUmSC4FiCfRuGpbu9T552OC0En8HuzbbmdWGxBzHQH_EoWuKxvynHPr-yIrl-M699p2TM-RpI3yKdumKeGS0LG6cPeZNIvheu9prMVYxykuYI3SZ0imsnKIacgbq2vz6iSHxOZYHA5tn-udnNIHQgQ4PrQPLmoW9EOZW1KXFdDtC0x0C_DWG8IlA87d_6iEy7yAU074UEma2oWU557aY_dMD0jhsV9Tvc1-saXNNd9HfaCuSO623MAkhvWhFzO87M-pLgrpku08yvtRI6Tj1cn30JiCnM86-6659XK8F_jfPyjglmGI_tZ0gB6SR0In6eIlMDtZ5dw2oCzZGZjlaatZiQlR0EK8dW-v0BhEW7rkzkYAGuYcXip2jvQ7whFyZ02RYkj_uvwjFhS7YJiFNbJV6A82TAKx9FyKMTPMByRykK0wfO-A2jkurJf8MvXZHOFfrynWiZ6xRaXmSdkFcboIiBsHE308wuJyFI-kWY_xikmbS4QGPOwmsliFqjmqCSKNah4aRz-t2FISpUump6zw-6bTYU8w4rQpQqf8OnRaaMsBWsoZzi23Hyjl9pT0FuJwT6Ol0oLe8kKDnfoXf4KIausWuxBhFbMk-eoSR8NOVDCzkzUGu2ri5PpBNBR5eztd5BzqJumvhzAPB-OTjw09daKkdcrsYsYSq9-wVUdzPNW0AN0RsFyiSluCV4CWNGtghMM7Zdsc_Mbb9GJ-AC2ueiuVpu7deyIgQISt8pOSusOiSa2JH3qrupYrvNS_sPIPVHl9BptnIkHKKGhmPAzQ1-_BsoswqXG27Z3iJFj4QEW6vjwOUmJ0fHjr13T1sWsoPX4-HAmAfc5e32b2xsMv9FI2inrdiVG9a5cQNrL0-_lh3tomaxz3fw7m1wUjDxyf-dd6xQQeVGJFB-y5gLZkdk_QfRCd1P803XTz-CN_3oXBEpj-nk-JCCUfwn3UAPoIdXPA3DOfn2liDv1RjCAV-KECk-qn9TFePN_6SEGAoMjDUmv8hFsdpda_S3yhuw_4Qsy3-fxtvK1qhGv7j6t2GHPo--LtP1cq8fiUAY61koKHOaTWrqv0gjWIWLxwnip1125Zne00AbY6bWJdx4QZZjfds8fqOb1_u2QSsDIokee6g4E3izEVZokre48hVJMN8D7Xd7iTS52ouGKak-5vvBUwiUb_mWJ4ed-3h4manFfYCUGrkzIPVtHrj0b9-1-y_qyBWDAvFTuLQpVT2P2U4a-ppMApZxCOWchAV0KvbU7N4qiLg2LAJ8z5IvyGE1ka5n0gC72pLNvT_SFqcL8Lr9yT0PQWq2tNCpsEj-MW6JXec18OHRyObh3QHWz8H6gfNxIJN6arcIUvLOyUTCC_XQw8CM9wzyTM0HeKhtVgN9OCKxIBW0Kal5YUvC91qjUEWmJi1ZKEfFQTJHEZO1V_w83xVPqoxplsfrpTbCRySK70E8cqse8GqNla5pr3DOQRdtuYqtsKT1aiwBn316OPRd_n8nhHx048qanLjxQoLcVWfcfRx_CsVak15Mp8GGB48Ump6nEuMuoFjGFfNbUORX8jV44QTbf88Q-gOUsqj8-fvPUC9gCdz4pbT-HVot5o44o1DMsbO7OZOuRT-mhzxJVPqNW-uEagH1-bcZm06yJ-xLb17HphWn2j41bbCsucVRXbfIlMzMJ8I-Xr-6apaIyYVvRjmn04GazyCF_wJ2dUKJQvND5i74A-KAqbKne25Zqspf5RnEIde1SABSNPGBmPBx5L2t7y3MdIiEfIGwcova86jGOyFsGkr1lTBkOU4MZj5G1c-lbR0hOFjWZEws8zOPZshQCIq8jvChFcdz_iNmvvrF9PZvFi8FHUrTJ3uKek-A35mJV6GL-vbU-lZTtv5Inh8WOf0PnA8nQcamtKijegzV6ZzbmnN2OKaEk_cnKWPYZQOCxQwNmWDJuj6SpYCRyLxxYTWYP2sw5RiN-Drj92A9bRL7gLaJYervg-L6Knp2UrWjIMbZrkAFfeh3zgRUSr34HkOljOqItsp2X0ztp0xKHfEpR68rcqpkWsOGUwo9fT7mNAa2BDVxKT0Zvq5tmpKUxyAtwkfQdvgfU3rCLB2nGzP2NHVBrGnmZtL2HRg9kDh5je05PXOhehGG5jzkH0iAIBDc3HGOk3bRAR5c6zt_VZqDbEKtfRPmkKrh4_JdFY-UfjhMuAEa-elAVBsrgLvgyLycOmVsAng62xXYwci9pK9EV2h42hXSbOwC492K2diNIupVIOihtAb_YtGl5srhwSC0nB5nM3JgGrCurK6SXLEt9CWsTGikI7CirwTmehTQr1o97RrpFhvZXbDwvTFeLlnMJGEK7ZG0H3P390dyh0k0qPXChD3HUQg7fHHJPTkLdpG-o2OCpj65Sgv5oRP3Rp-nxjIrpGErRs_DoTFnT3H9UniWSftuGC4NMBOFoGCeTgkVE-OIWgzvc6ZfcwFVp3F0Wj8dQQvHJ271HEKPmrW4VnKvfIkA0Th3YAHeLg9qclTIILc2nWtTtUyBZGVZpvXY7mZXyZHFU2tfmLHQh5IB1JoLvdK3IJjxjNjn",
  "id": "rs_0fe5ba3d170c26b1016ab41b8c464887d08fc509b255912bad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.085,\"left_z\":0.15},\"note\":\"I see two groups of small animal figures—white and tan—with an empty basket above each group. I’m moving the left gripper over a nearby white figure to line up a grasp.\"}",
  "call_id": "call_J8yNvMdJBCz7OK8lGHgmenV2",
  "id": "fc_0fe5ba3d170c26b1016ab41b906efc87d0adf4b44adbddea01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J8yNvMdJBCz7OK8lGHgmenV2",
  "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]: [-0.4641, 1.0977, 0.5934, -0.1577, -0.3717, -0.2821, 0.9996, -0.0154, 0.7986, 0.6086, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.324 left_y=-0.0864 left_z=0.137 left_yaw=-0.0188 left_pitch=-0.0476 left_roll=0.0106 left_gripper=0.9996 right_x=0.2969 right_y=0.0011 right_z=0.1829 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -3.8496, 7.5692, 1.9316, -0.3248, -0.0464, -0.0171, -0.3761, -1.265, 7.241, 1.7216, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ceadae87f90b542d93f4d49fbf25d2624e0645033e8c487c09dd9c34337752a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603bf5c581ef8f0160c4add9485b79fd9ba7ebe47c562312b1fa08eeadc59a04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90231e3df17af751676fa1b3c2a9fcdf4ab6fec44ee943e51a0a8c17ec2fd3e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.3 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.7026, 9.347, 1.7998, -0.0171, 0.1685, -0.0562, -0.8684, -1.5111, 9.9761, 1.6728, -0.0952, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.0977, 0.5934, -0.1577, -0.3717, -0.2821, 0.9996, -0.0154, 0.7986, 0.6086, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.324 left_y=-0.0864 left_z=0.137 left_yaw=-0.0188 left_pitch=-0.0476 left_roll=0.0106 left_gripper=0.9996 right_x=0.2969 right_y=0.0011 right_z=0.1829 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -3.8496, 7.5692, 1.9316, -0.3248, -0.0464, -0.0171, -0.3761, -1.265, 7.241, 1.7216, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ceadae87f90b542d93f4d49fbf25d2624e0645033e8c487c09dd9c34337752a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603bf5c581ef8f0160c4add9485b79fd9ba7ebe47c562312b1fa08eeadc59a04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90231e3df17af751676fa1b3c2a9fcdf4ab6fec44ee943e51a0a8c17ec2fd3e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBuZzPOBA-p1HbZ_NUbXXKCm-B4w3Yl710J_eLsM23kuCqnyRBPbuoQoXRQF70Nkm7ioP2K6J6jX6ju3LAnHsTEn2EWiA_QT_DWrFxSMwDD-un_KN1D7lQJarIehdlTO6m_xPJQnjtfxL-ji7lja1xuyA_CtEA6GNHgjCka6nuHxK6UmW4KMPmi6Gd1kfGSPdYvoGG5pme8DiUdVaFmfKNtwnq3vF5UDvVmyPO4Y-d2NNxYhU1k8BWKj76bg8plaly2TjsFqkwrJeIkA5lBTpEBoern37W9YrrSsbbtUp7PPlZ6zjDMqpJxZcqtR1m0mkhfsZGm7AsVg1JCwgMMQSAf0jEdaWNSa1PqPbhf0BfDN5BJvn18RnSkfkmhIhqjeDqAkho3vUYOx8FT8cixhoZx0oqOMhBzYlxx3l0TJhzT0djGLS0ZxxMKgeZDacQlKxL4pAOqA4iQGeTa1PSckHqJsKz_szQq-8deMD5tM8-kBFbr2GhwW-nJvG9Q_b8hRRJYHnmXN0Rc5o_9acpzirI9O7qggfYD-gpb8acO8jvqWZB22KZ4oPjMNojRx-MKq8hJ_SawgpgWXoOkeimu_53iso5lkAEQvN2lXnTxSNDPTKuo0vNfCK8GUETHKGxQXrsNDXJUcD85p2870Os-McffCpLoLYDBtrN7XDjae7jPCYUsFQ_HuOdRfy5pPKAfzR_ZdROgthjN2vXQm8gdv42CGZ42FVv_SyUg22lNaMqdpPMbhLwiTCRQqI1GFssS1Jssade38mvk0-vRRLfFMZ5dfWFUPgTzLLbeN_qV7wDmEMFKecvHZ9eVG9EHED8psczK27xdyBnjsGA3vK3fqcn0miqb6xOxzvUCU3uU_FEhBDrzADSIKNby8OdAPs21FOFZV7jnEkfJ73-ToKiDtFlAuOPhbgAb7l046Gmsj62Qztq5Bl63hchJJw1QcPFXfnkf9-q9wBnUKLghxxb-cB6PXYb9DKCK7Jfqr2M1QBkcofXJ2KUGZJKtvA-WAUsgdY_7YgQCWbkbH7i4P0ACcTWjA3XWxQhHbYgvnLeYCk4x4nkUseSYu2ucFCeS5FBV3aJoVn9ao4D71rNGw5vvdMCiAG50E-24x_lO3KotstzlNTHMmXuNvV4AwIlA2AGb0Ok6hzNw_ic4_wFT6ITf0lzL7DiNOS5fUC2OaR0p4QLxfBkpqGkGYGKHURhMjsuJuiGaV-h7ycVsxTfn8gDDs_pIkwdcdHxv5mtSZIEPsDj3WpkuCOjlqj-3gWg8OZ8VZco133djXh9HpZiJWzbuZEnqvbdeh_qe7xiZxxLrKEyBcGr3gU7wuxTTXzxlDhZez9NeDihohgKD3hoMuSLCZ-nfWqMqPld2fHtRCrE4pryEOsDvA-g-nGZqYQ2jEyqL7LfatNnfY5HEZO5VWrYG4sB01EgXB7HDHsXVfABIH3JoI4gLLGj-6I5PUfCFOM5P9RsJzrZwnXXiK26Uc9UEONCDI2y9sY_dgicHlg-mM_ddityNm4UHqtAobZJGViK2wUkTVcuzPFkACdnLGdOXrGWm73PkFPpszmLJnec2AMfJxFgUgyktFzxBrDjlM8nJ-BmvDy8ML9Jflw_HaEU-F-vyXXXwlVsR4zuqA5EzrJQ_ngHJ9KbO7JS0NR0n93ZBbfksRBwFZW7HUJ-BcuVcHWJm1bfw9QVkI-rsdCB3829jXMV-WD-hvJjWzvPPbHsHC7elwheXp37MYv8ABJ1tt-Wb6HAQUZJgOsVb6EJ_hhLZDanYAJ676G1LneKJ1d6t-AY3dTScIPsAynJNSRYJsiaaJFUwhUNwqulIiPFcTrgmP1-8_UlNpLDUI4lygF5bDS8CVc9MVBCaqis7z4NC-_7Vpt2GWYxi1BBOs3zwlDgkdTyPU7jFKa81EFUPlyEF2wmM91L2KRxoPLsWWxNcaBJsVMrbpVNUFak7-dCsVIIEPd4dWD5V_lHi6mdpDRppOhaekr8OU95kZazniAij3caqB1LjzlLCj4yFvNLLpOwrJ0CFXEfkfiBqaAUtPKYHr8RL0hYpruGSrksXq7hQzbcmV4mF24NQIry_mE61j8fGWVewhezJO4TJAF-d8f2lgBS9pWkrx5mcdwmNu1_QqKXcOma7FiDeG2Jqjb-zM5ho9ADn2b4GeCzGdNOk36DBQfilhUzx5yjPm0x_lAL115Bxev-Rn4BKg9IMsIw8mOiBcaSFPML_xZpqRzYlJe79QwzMIl3_82PwV7H9O7WjOhV69hQ5fxZHJheIeAhquSa0qdQ1jVv8BYwlKZWtgY94RoUfOGY9_0arxXXBCB8fwtFvLhynblWLHUlWqFUa_U8fzA7x9P8i57EzbpllpTgmdSG7tYM7zy99XLwJSVeIoKo4GRL_rBmWheq6w98t-AaTFHr3hz0thT00suc69RYcfWBMKj-lFFr3SW3eQcTWj_FEKtHkrQenkJksOBb4V_Pa0O1TUkLWpPdsaL6wWbWtxWpRNf3qhQpNDSnr7_La-nn7ad93mom1QxeyWsQxorz-zfjuMFFZuMmyYbd8mtUsdyCi9uRMQibZHviQAFhbmWhbPvlD_lO3AruquC7908rKffjad73pTKjVZwrVN3b-wbZ6_By4ucIjzKOL_gWC5hR_GXVNQGfFJ2_cB4nMdwhFmreNctntEgdTnvf0t_nh4SL_nBvQSJyCreQZ7kBcdPEtQ4MIlt0oiOXgOz1GX2Q1UQjki3aqVldI7e2r-el5HzR_SUl8UB9z5KGyIjV2efHRwMmhcfJNcz-7wq7xCYa587nr8_qDbX1QiX6NmD3zZuzyxh54NbLtVNDUKlBUnWWBGjnQVs_xlAA6Rf6ABizoJqOnrcSz8emJh7F-3BsIGbVCa5FgOqhA2YSXfiUldbkM4Yrg6WmB7NgaAHElXLg1l8LUa_ujYS7BRplLiWCImZpp3fLukK_yzRfeN1qwR5dKiL-Xn2G33jBqRrq_QlMS09erZXYgMZxSHUXJn06KCdDY5X9hbWGVne_HSlCmplAKfSIFUX7mBXKQyBLqkImaVnFmTvRQBwpyo3cM2MnBYqowtokFPwJliD0-OjDFOj-qiXnjK9COsZBW5HfpCpTBpzOlvGEeBKHlD3IcBWdMOhibv3jBAsvSEDEs2Ab8H8PzNjXr-O8XmQdja3F-mX7HUnxkoonCKn3TDN7_HpVfd9y9F",
  "id": "rs_0fe5ba3d170c26b1016ab41b95187887d09b984643d77f610a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.025,\"left_z\":0.09},\"note\":\"The left gripper is slightly to the right of the nearest white figure; the wrist view shows it low and left of the jaws. I’m shifting toward that figure and lowering to grasp height.\"}",
  "call_id": "call_5cGaSqZL8QisWIQNmwKUIywM",
  "id": "fc_0fe5ba3d170c26b1016ab41b98ba3487d094b2a3f3e9aafb74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5cGaSqZL8QisWIQNmwKUIywM",
  "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]: [-0.1841, 0.926, 0.3119, -0.036, -0.1753, -0.1329, 0.9996, -0.0151, 0.7994, 0.6083, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2919 left_y=-0.0194 left_z=0.0833 left_yaw=0.0183 left_pitch=-0.0765 left_roll=0.0144 left_gripper=0.9996 right_x=0.2969 right_y=0.0012 right_z=0.1825 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -2.6462, 6.9949, 1.8828, 0.0952, 0.0757, -0.0171, -0.1846, -1.2923, 7.2, 1.7265, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2542d71d66659f198a5f88871ec8d5faa775a78330983a8015798e9370237a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e214c303c57023ce3f08800988cb8f4fabe570303d34b97e7482852b35579532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec9e99c8fa03f27e664600d6b94fc5f7bc294391bb6738510c68b0a275d587c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 1.645 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.0977, 0.5934, -0.1577, -0.3717, -0.2821, 0.9996, -0.0154, 0.7986, 0.6086, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.324 left_y=-0.0864 left_z=0.137 left_yaw=-0.0188 left_pitch=-0.0476 left_roll=0.0106 left_gripper=0.9996 right_x=0.2969 right_y=0.0011 right_z=0.1829 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -3.8496, 7.5692, 1.9316, -0.3248, -0.0464, -0.0171, -0.3761, -1.265, 7.241, 1.7216, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1841, 0.926, 0.3119, -0.036, -0.1753, -0.1329, 0.9996, -0.0151, 0.7994, 0.6083, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2919 left_y=-0.0194 left_z=0.0833 left_yaw=0.0183 left_pitch=-0.0765 left_roll=0.0144 left_gripper=0.9996 right_x=0.2969 right_y=0.0012 right_z=0.1825 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -2.6462, 6.9949, 1.8828, 0.0952, 0.0757, -0.0171, -0.1846, -1.2923, 7.2, 1.7265, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2542d71d66659f198a5f88871ec8d5faa775a78330983a8015798e9370237a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e214c303c57023ce3f08800988cb8f4fabe570303d34b97e7482852b35579532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec9e99c8fa03f27e664600d6b94fc5f7bc294391bb6738510c68b0a275d587c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuduZbLFpmbnf_m1grorWUjvMGISnif57N2G35wctdr2vZ6Euuv-qqETfMI-CplmtZ0AYu4Ie2jK_zp3FYtsq0tGJkUvN44qTfCji6SG7R3ggUTHGhtBWwC4PePYfrNZyvlwsj1uH05BGk7CO2dmtvJT63Hdyf3H3HXG0MpuLMtu74OGEhtfxW7Sz_IPX8TKw-yPcSkbgSyo6zxfRVrxkl2CjHVaYH7vIIQekZD9cw6-nHs0HWWFbI97cAj5xZxHr3vJcT7JPxnuYa2Ybn1De61BIvvINwbb7JxrrDNR13Fn-0vjQEeV1bETcesuhFfdGojQQflOblh9XQv6jYwpI7uML2f4kXAh01GAwVIFxf2i44JsDUDJhQsV0Cbd_Q8PeKHUGWB2yS6a20NQyzFA4VpeBlvcWoO43bH9QI6jBAms6xidaH1wEZ6z2YdmHHCEL25jYUDq-DUhXfizbnN_PYZ8BR9iFeY1WjcIGlyP1qrSTjbK9Iu4Dq2QxLuoz5XO84Xg2rjHPAXf6lm4yIKsnJLy5YjnNliRrfuz3unxTaxtYRi-7Nvtop8VggDJH6Q2mNBNV7z4UFiujbiekfyoXV7h9SPzhZLNA6RrG6rD9bKl4Kn5O-Ca3Cwo12Ha5H0pMjF_N5p9iToEwi01tOH88mfLe87bzDjQTdnZX4qQgF2hfGYpsxv_7FNAbPMyKSZIDLs5Pmk01qHtrxKEjp-IQdNsCOBcRjNQheUK-UynVV31HwPUoSxcI-115pvBiYU3XpYsvz0mXoe7YnOk6HljTTwndjAZSpY3OraZCgT52Gk_VYyLASB7jipUpSarllTJnXY9DRmnFla_251_5mPoGwemE4_R5WC_8rx9fKzK8cd3OoM5dXVIZLqruAQduzej5CwTFmC5sWWzRi4eiYkSkfgTpX-sm-iJmKFJaMuJiUmXxdnbVeo7UhNV3PxRRdTcDpp4mI3IyhpOzIGnOipUh2kUBY1o1993kdjcVkgK1TWynGrK6RdvD_MaNm46YCeIoqjZzz-k2S2QSVc1oqTEIIxcyb_GRkC8QPXpG_kt-ooew9pCBmtEusdbTgaA9p5A6uPSGHwSoVEIBrX1AEPI1W4ratIIkLQS6d-g9iRBbndFRYfcPWFZ9DLOLHp6dsp5e3Qn0bNO3Q2qxB2jRJV3ewseVf6Vu_KJQjITp9LbDtzAOx4upubgGdc8qxQ8fSqfO7mtMkdy2s7GO0VwVJmTLfTUJHzAxBTVDS9t4o6UmkRKi7hpkfNxTAKS4C1R-K8u7ggCeiLmaKmomdnjejkQu3aaCbu1viCjowKH2CoQ9tXZAynUh8pCVSQoSko7LrcFGexslYABKhecK9X_xbBLa37wuzk14S7mgCJt3MZBzlKvPeDPX9XMZHwKAHaPdJIEa7QxppPdd-qbJKZmBSny6SlHVbIB6Wi3Za6OZ6rVWHQJuyXu-lKJejMG4KFRFIIy2oUnBNHftO38WnSYyZcsJwDMY7b8ZdP92cvPv6NoH9KsKlmE1CvewLjjRQ1_w8OIEtOklfElj_uuyrbPVcRgFlS-GywdbEYLx_VxUX9jdm2yHVZIBXwO6JHhV25VxTUFsR-mMxIZ5zY39PBaoN9exAHKiyg201w2VswEp3H-fYBc0s5xTaxsT8bTGOcZnmTdwn1Uie1l2sDsK_Bb2ztz1_HJ28oRJAsD616uwMP8tgLNV5BMwOFbRB8tfWP3yn9UiWwi5QfTL1X6EDJ6r-cja72bxwUp4jOzD7zTD8eOClebZ9rA7wFQqMpyvKcVzX1cPI7D4DvymPaBy7U7FQAGUIZmtXmQJ_GK6L04ZYp3KW4rVZD-xuIHSjmIO3lkDXhMZSzSqg2SIC7O4eWC0SFuji_u6HfVbDma6yj-WZ0UAGdMVJMU87-zJkNe6TDRW6maJ6S8lDNpTcLhA-z-Dl7Jcsr3ZDepjErG92YEBgfo69jBOKwf0QI5Lv2U9-QkQ1c6p8-AFCAfidyv8AIJnPGY5EaDg==",
  "id": "rs_0fe5ba3d170c26b1016ab41b9bc22c87d0900ab968cca75955",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":-0.028,\"left_z\":0.035},\"note\":\"The white figure now fills the lower part of the wrist view, with its body crossing the jaw column. I’m lowering the open jaws around its body before closing.\"}",
  "call_id": "call_jXeA889YVBDAIF3erUHAjWIw",
  "id": "fc_0fe5ba3d170c26b1016ab41b9d66bc87d0b0f249519e6ccbe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jXeA889YVBDAIF3erUHAjWIw",
  "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]: [-0.2264, 1.1721, 0.2058, 0.3145, -0.2348, -0.1455, 0.9996, -0.0151, 0.8028, 0.6079, -0.3695, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.301 left_y=-0.0235 left_z=0.0413 left_yaw=0.0326 left_pitch=-0.0694 left_roll=0.0398 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1815 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -2.4274, 4.2188, 1.4676, 0.1832, -0.1978, -0.0171, -0.212, -1.1556, 7.2137, 1.7705, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3cd7207b395e37fd4f2bef904fbb5089044090a50b1126ad68badb5dda21ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d0906998dfbfe5732bfe13bdae339198f1c8bde813b73aa213f79264c2776e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a644ffc58ff1e16f9b8e1f0732ea50769079e941571408acb6b6aa6e077cf407",
      "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 4 attempt 0 · /responses · status 200 · 1.932 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

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, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.7026, 9.347, 1.7998, -0.0171, 0.1685, -0.0562, -0.8684, -1.5111, 9.9761, 1.6728, -0.0952, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1841, 0.926, 0.3119, -0.036, -0.1753, -0.1329, 0.9996, -0.0151, 0.7994, 0.6083, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2919 left_y=-0.0194 left_z=0.0833 left_yaw=0.0183 left_pitch=-0.0765 left_roll=0.0144 left_gripper=0.9996 right_x=0.2969 right_y=0.0012 right_z=0.1825 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -2.6462, 6.9949, 1.8828, 0.0952, 0.0757, -0.0171, -0.1846, -1.2923, 7.2, 1.7265, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.1721, 0.2058, 0.3145, -0.2348, -0.1455, 0.9996, -0.0151, 0.8028, 0.6079, -0.3695, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.301 left_y=-0.0235 left_z=0.0413 left_yaw=0.0326 left_pitch=-0.0694 left_roll=0.0398 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1815 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -2.4274, 4.2188, 1.4676, 0.1832, -0.1978, -0.0171, -0.212, -1.1556, 7.2137, 1.7705, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3cd7207b395e37fd4f2bef904fbb5089044090a50b1126ad68badb5dda21ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d0906998dfbfe5732bfe13bdae339198f1c8bde813b73aa213f79264c2776e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a644ffc58ff1e16f9b8e1f0732ea50769079e941571408acb6b6aa6e077cf407",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBug8Lec8LZsa_KBkV-gdpkj9P6GJpEprQqs5MsmNbJfYTMyJW3qqo6ZTNc5GMfctwf_MHRO1ZtTChsJRFxzbqKhITQuwbBrbkKxMoBhJGeQ42XHXZAdaBp49hfYFsbBofQFVSKaSP2KOnziKWOrvb8sk53Y6xaDMBIx5x-RWyajyBqbbJHRxhdPbaMWuM7tJiBn_myRXBJVwJYfShzReWeYsrHtMKvUfqakt_YsbL1WmvZFvub1rDFzXBBvB00zUSfuQp-XYkEgesXr2X7lEc79Q6NjKcLzG_9DUQ6lQpivQwA5h_TkeQ8tUBo9iY6hZ7mlCHB4wwWeyGMF0hi43OM-GXQI2C7xxt0gUzFZ2fCNqwNlTleEPjBTrffWQ83MfL94xPVZD35tKGX3yMozkaQvSbt0nXWjfT68sdyg8E3MROoz80myca340Fo3t5Wrc5CpA6PrBoPBkwUm9ZIrJowX_VLfW2jzMowAV-d4GZ6u_PV0zI3wB-tWabLGzHgFH1fHzm1vVTd_zRPTaZoiR1m0p2nn9ZGRwbL5eXSvWChTKBaiZMsBXZte8o6zMfcG-XL-gJ5O5y3YaZuEVSOickuRnhae-EJEyxoHqJU9Um-3uOeppUK00aeAS1CotJnZj3Ko-m8sIFgTW47aq_RrPn218D6staw8P40sC2Hb3r8woElf8BZUUMK8jbKx678Dj9nUIphbIa5QwV5A3CVDUWycrvIlbOWwzbUPzR78OWqzqO1VslFEZlAK55kom-3n3jv_0kV_TGqr7-TMA0dFyYIUeUm4ac6XjhUNBzNA7BVPteK9WPnRsfTbu-Eesf_PVL2on9QXafHLVDhyCf3L8V-cEZ8PGD4Zeq2kXpktPTSjFbKuvmO7SBsnspVj94gtPip60qEQ09wSSHPHdFDZURhIdr6MNtJH5H6XsELcbEq3lIzb3PqyEmc6tS7QEU_hbiwSBiYb3H6CCvmbW2vKfTtYlRkY1jbNKgLcFj8fE9WKAf-uQb73GP9nUelmL2-Ki3ssWq1jKlx11zkG-4Cn-IRpniuEVufIzdixKdyEyo55-aI7xv97aQyx1EACuYLqSYAg5ke21ivN8VlN-2ryYMLaQmxvLiF6wsSKrEErri_cH_8zAGVKRwvpl5418WoUr7o6om0Gfvo7RCnHPaHPCLHVXuZ_3ibPuAT2e4MPMNUlUUg=",
  "id": "rs_0fe5ba3d170c26b1016ab41b9fb66887d0aad946d0876778e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are down beside the white figure’s body and appear positioned to enclose it. I’m closing them to test the grasp.\"}",
  "call_id": "call_RlTCkOFXb0kHkoXIShAb0EG7",
  "id": "fc_0fe5ba3d170c26b1016ab41b9fce5087d0bf580237f833fddb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RlTCkOFXb0kHkoXIShAb0EG7",
  "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]: [-0.2256, 1.1725, 0.2001, 0.3531, -0.2546, -0.1421, 0.197, -0.0151, 0.8062, 0.6075, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3047 left_y=-0.0206 left_z=0.047 left_yaw=0.0477 left_pitch=-0.0352 left_roll=0.0454 left_gripper=0.197 right_x=0.2974 right_y=0.0012 right_z=0.1803 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -2.7966, 6.1333, 1.3016, 0.0366, -0.1148, 1.0281, -0.3487, -1.5795, 7.0906, 1.7558, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476d08f7b32ee416a18bd501ec5243e63752f490b790c202985402cae6fe02a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70fca7fba6a1e92fabab6b86300402e77cfb2a3aa5397dfe0de2d395276129c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d400f34f7855f21557bd7188227d9382b596a1b5fe6ff56fa3fdca8a015d4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.748 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.0977, 0.5934, -0.1577, -0.3717, -0.2821, 0.9996, -0.0154, 0.7986, 0.6086, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.324 left_y=-0.0864 left_z=0.137 left_yaw=-0.0188 left_pitch=-0.0476 left_roll=0.0106 left_gripper=0.9996 right_x=0.2969 right_y=0.0011 right_z=0.1829 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -3.8496, 7.5692, 1.9316, -0.3248, -0.0464, -0.0171, -0.3761, -1.265, 7.241, 1.7216, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.1721, 0.2058, 0.3145, -0.2348, -0.1455, 0.9996, -0.0151, 0.8028, 0.6079, -0.3695, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.301 left_y=-0.0235 left_z=0.0413 left_yaw=0.0326 left_pitch=-0.0694 left_roll=0.0398 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1815 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -2.4274, 4.2188, 1.4676, 0.1832, -0.1978, -0.0171, -0.212, -1.1556, 7.2137, 1.7705, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2256, 1.1725, 0.2001, 0.3531, -0.2546, -0.1421, 0.197, -0.0151, 0.8062, 0.6075, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3047 left_y=-0.0206 left_z=0.047 left_yaw=0.0477 left_pitch=-0.0352 left_roll=0.0454 left_gripper=0.197 right_x=0.2974 right_y=0.0012 right_z=0.1803 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -2.7966, 6.1333, 1.3016, 0.0366, -0.1148, 1.0281, -0.3487, -1.5795, 7.0906, 1.7558, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476d08f7b32ee416a18bd501ec5243e63752f490b790c202985402cae6fe02a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70fca7fba6a1e92fabab6b86300402e77cfb2a3aa5397dfe0de2d395276129c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d400f34f7855f21557bd7188227d9382b596a1b5fe6ff56fa3fdca8a015d4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBusshpmrK98dN7EilI-bFSyDl8TUxP85VbwK6HbsdqxKswQOzYgDP-5j-HwtGfE6tRswsRf5NDThmdnSvvxccgsZ_TsW-ZXzG50OPZ6v2lMNJfrFh9a96c3pbBWPuva3DIa8zEUmpdEV0ht4vHxHjziCkDUwL02e4Qq0PCjMwlnBibIi2yKBrJbgQhWqAZLOwoku5-ZLnTShfgqVdNwKMifRIIw6jKc-AGgooQ1V5D9Te_yby02ZOPfa1NpgqnZjmSpQGmdR3yEhIJwfe8JaCvPkyeg55aU3JFukHnCKFOpgeBXBckH4-7u1pvn7lY3A9LbEj6e_OXndMBbO964OGeUie4i80ZhVsoVfhUhhxAuBMQEDq_mN8jSNh6Y90fpiD7zV7TUhzyjYJxod1d6y_diisgaamWK12WbujUldsCqmAcuTuDSiZSgCAeJzGIMu5gELjpYdp28n4ndiT7Me1-TS1ro_rGjnTDRxFRBQ-M_8TmB43TU8h0pvulcs5sqUMn5jZ9JzpQzwVnOYipNgflA9uYNxorE_w_x40I8CkLX-zoovAZbx_8Mngd2jjOj3k2w8TFWnjugvEtRdJ3jHmyhWCRo8EoKW8P-N7znGmpH_9s49M3pCbbYoR5s-TyOfdRHKqK2LMzxTLfKHLDfWQspkH3Om1KkiPrxz9tYj_mQBZQqYMi7pGm_itn4aGVLS5olLQkBSPKUPr4kiBoQDAEP60EQjcBmXEHM1ltW1DsdYRUnhFcMWOU0mviu9GJuew0JPYcqF-iPCXL-AtjB4fwPeOjr77mnT5WaRtzCdUNIgROpdNkdNiQFrk-PIkjSHrp1ebWRaNYmAyakJqPlZ6aaBLlyLDGCeskTYLr3O_FR5oqSrjjqsiqdtybgdkozp7VwxW3N7CCFNd98oQ3L1s-qnXrtFkAWsMXDWaM08EAWqtd9F01aevOH98jrKlVDJq-8dFMYGOmZNkvNcx3u6GLNYHx8GIC2SpkFA7HUkS22WdzFMO7A0-pwzfscCqFzekZuHXS0QFxZEmbgbLDeWusL5b8ZdZiCPNxixRDR218OWBGJckoxtlWuyXeh2EowwAaatQmR5Grek3GsXRmZee4-5ly51t6aUTkMCMBy3cgKu9mJeuyP0ecdLdRc5S4h0QOeT2YbqFLuEb0DkqA70lpzFcryOtKI9AbWhiX9LK3ZlK4pxQFf73vXcLqbV5OM0JYggJbnefU7QOSwV0J3fhM2OlV2NwNIsxIcWaqMXXk2MoTxMN_mK9zEoLgd6ja-wPhAVKy_iITOtGguRCad-RFel6u_9mB8KA1u2iYmrNK8sHEd9gpHHFdJW4RyctIUBhbd",
  "id": "rs_0fe5ba3d170c26b1016ab41bab9d8887d0849d5095d32c0c02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper settled at a nonzero opening, suggesting it caught something. I’m lifting the figure to confirm it moves with the gripper before carrying it.\"}",
  "call_id": "call_zPAtxPqmtr06FB7y1hUwhUFi",
  "id": "fc_0fe5ba3d170c26b1016ab41babeebc87d0af928a502df6c63a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zPAtxPqmtr06FB7y1hUwhUFi",
  "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]: [-0.226, 0.8993, 0.59, -0.3412, -0.2543, -0.1497, 0.1992, -0.0151, 0.8097, 0.6075, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.0203 left_z=0.1554 left_yaw=0.0515 left_pitch=-0.0651 left_roll=0.0474 left_gripper=0.1992 right_x=0.2976 right_y=0.0012 right_z=0.1793 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8376, 9.4427, 1.619, -0.1197, 0.0366, 0.8132, -0.2667, -1.5111, 7.1863, 1.707, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b964f6c3f9333e4687ab68a8b7c5b4b000d3dbb01fc38af3aaa3b1f5ffa565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5d36c5bf8fc85a10a1122a9846b857856b80954a0192246a82b243ec89ba18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5116c77aec464355d33e288ab19afa33bb695191555a09c84b0aa28591ffab3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.214 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1841, 0.926, 0.3119, -0.036, -0.1753, -0.1329, 0.9996, -0.0151, 0.7994, 0.6083, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.2919 left_y=-0.0194 left_z=0.0833 left_yaw=0.0183 left_pitch=-0.0765 left_roll=0.0144 left_gripper=0.9996 right_x=0.2969 right_y=0.0012 right_z=0.1825 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -2.6462, 6.9949, 1.8828, 0.0952, 0.0757, -0.0171, -0.1846, -1.2923, 7.2, 1.7265, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2256, 1.1725, 0.2001, 0.3531, -0.2546, -0.1421, 0.197, -0.0151, 0.8062, 0.6075, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3047 left_y=-0.0206 left_z=0.047 left_yaw=0.0477 left_pitch=-0.0352 left_roll=0.0454 left_gripper=0.197 right_x=0.2974 right_y=0.0012 right_z=0.1803 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -2.7966, 6.1333, 1.3016, 0.0366, -0.1148, 1.0281, -0.3487, -1.5795, 7.0906, 1.7558, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8993, 0.59, -0.3412, -0.2543, -0.1497, 0.1992, -0.0151, 0.8097, 0.6075, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.0203 left_z=0.1554 left_yaw=0.0515 left_pitch=-0.0651 left_roll=0.0474 left_gripper=0.1992 right_x=0.2976 right_y=0.0012 right_z=0.1793 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8376, 9.4427, 1.619, -0.1197, 0.0366, 0.8132, -0.2667, -1.5111, 7.1863, 1.707, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b964f6c3f9333e4687ab68a8b7c5b4b000d3dbb01fc38af3aaa3b1f5ffa565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5d36c5bf8fc85a10a1122a9846b857856b80954a0192246a82b243ec89ba18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5116c77aec464355d33e288ab19afa33bb695191555a09c84b0aa28591ffab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuzQFrbwPj1IHqach-vs1cAkIjNf5z1VsvPhDx4VzFUvOzT11yzlRioK07R6rZJUPAdz7NzP5N2YXbAmLzXDKCgTPTim-_8nRWk5zqwrHSKDie91bcH_p2MHqRU42aEcT_NBf7LZI-RzWBlDvbPwwLGd138zPHrnWbztEf1UTMnqxlR-LHvfEBhuN71G2a6AMyIDYxLTJl2i0LLGJQa-L9W8ti3hpLtcE5suHJv_SPd3iJYcC2RqjEvkdOukhyHMm-hhBsk5mn3aQo5bdrdzaluthfklrVdmOe7m3Zg1hoovTGKQ2VZkMHudDmb7hRK_2w8WmdS1b82RLkhZra_MEnt4J5LIhrw-H3tN7mYefcKszU7uWqY7TWK0FExPPLPte1mS3BMaXq-HWyRbUjbmtP6LiaF2dArXGHXgeyu9WaAamvuWQesoT_IkkqQyUNC1rGpAThfoSzvXLsd2b9EXgI4hU2Zjs5T3WC2Ca_5_u3YaPUu58P4ZB-wXthmJxhMZDp-VHS0zsOYhC5IB7X8ay604Ho_9NrP12N1Mw73GgEv0KtMUy5glwyJv5cTU5nwlUd0q0cO_T9UTZNRNeEnYLmrjhwCfA-vQOqiqSBpzlM0-jqToXF0nRaawfb0d1ghw8WEBFMlz6u5rKYhyP0bGviyMWxcY-MWZ6PJwDTU4zLEP_Z_HeFTwkowmzbxfU5xzYUehIDhiBAOv2YsCFfhms8zmrIq24IeL2AerYh1-x0qtqLMK8o6Dtd4SllOizRfF_doc3o-ayCVLP-7KcKiDq70_maitSrnZWrq0t_oknAXHxyDELX0smucAWB4yBQrHoOlWEoyIq1YBVIXEZEP_g2UpXUmR5l1HSb45PUHUwHaK33CSK-qJ49pfJ5kUM5bqlTPvHPhblAsHVXH4Gqd7T3W5S-QWh8Z8qi9_vKg0WRTsPsMAx0XV92-HLDbqYbxNEoh0WOU6djibJmsVOEjYmrHMTt0Ckw3xoDHPr2cSDLUxfrLypZwf6obqtErCL3WmBw1IWNnkWjUCNoAb82q8vGHe_Wz65AIJFJtHZQOluX8QRo_wxzxb_Be5N-tB6RoOGXWz0MIDnfyPT28yRdGhWRxEY2h3AK80EcHO8s_zGu9K_6vxbtOa-9vNiInbt-Vb0RtXUts4cFY0dQenh_MvioCbNSV9eTfe1l_CnZn8bwGreAXv1ka7JDnH5_rlQJgCqgMDNiuuwG0QEFhDShGhVFVrQWOFuUvUq4N8Zq-tnM2fk1yXD3RIvdiFlziolPOccY7IB-uPZXMdHmp4DpfiYsYhgUTdN3QhtVp4AMxomoBzr1qbfCKdJ0LC85U8w-bnZfH6JvNWwc47Xx8kXX6uczQuQjPnPmbyw6T7l0vq2mlN2SQbVMf9FdRrn9MDYKGamaq67PsnBZyt7AAcY7RDuBSbNmZumSoj86liCzEzWxqQxmTH6Cf79y9dH6eSNWiHqOuU9vMdreijBH1fVad3vreB0NUIzzpQVh_oQwH3ttr5XY0QtsGlQKLeQ6L9Qke8SBS0A6xktHS9esbbFf_ibvM52TYtSwhyh1lG1PAQW5Lf8TVSAMHQ6pZYlGvJHBn9kD-lFXEqRT-EaV0IoX0yDl06uG-UzAuW3hx7uHU9OsQhwiImgepXFVXVizaRwWpojk1mBAVlcy9Vt89bJoY-1MOvb4OAHIVa7eiRCNNrvCOiNFUFSR7zeZCARtaT6Uew5GzWNVPRist9EyfDsotBUktBj_U9p3oxxZZfG-oQkgzD9uCoY43uLL55ZDjiSsS9AKW15WgRCLiIWe1FxrpWPZzvCwywpW6w6zdcWhM6hm7IHUdtNMcykK3hHgJVqHPM08zqO0AiUNS5udc78g3WF27R0XD2hoEDgPyCPH8IkPsQv-xvvaT3GgzN8Q8mRueEZ6xXZ7406rV1C3uyu0_jE5pguRary9XA22cMwFkg_MF69grQgZ9vpGHNk_82tpQgxKDk9Q6Z5Acne3JZ4EL5JIyLYkrpgMDMxZqmuPnTQmqiPUGKQ43XEInxxdJsXpVTIx8b1qclGCbRz3u5WjT5hroNpqYSrWEfHAFJl0nX8VOBrX-H0369q7nRktX_pDLBNm76mbxjvLACZr68uecIKF54JWgBJvPb7zoo8gP6FlpMvffV9T86hY3YIHt863qRq_2C2xVC61rlGXvnQqU5U-HLVOrs3EBVqH--BDqXg3bezmlrGYGkKtFYcmcYhshGWVuWcNFJZUI8-IGaG7LGS6wFMFwrgGm0QYyv_ktHMsIW9he_Vg4SPxY9q2cHYCOJ7rVMpFeQ1gcblR9iPca3FHhkHQ-lGqFbZrFqbTP7JqWSQnaRGCwl_IqsCWn55obgK6BQSLXWrq5LPndbBnItLBv0t2YgZn1-VQp5UTOQ_nIUOxyMTjWgLP-z4g1aqmQv3ZmjQj5FmQkqseJ1qi0nVq6bUDTn72868TI91IEhxEwrrCicPuOOsAYbey4vZ76NxubpcyQ3hnD-j2Ript4io9Gg1iVFx2u2lOYLjhk0qQZfNxv6BMnQpSTdqyjrZ5xMJXSNx7WvyvaE-8sK7iW88IRga6RmELyC-GRTTw082g3HHj5O0c5-bPaxAcv-CLJNjnskW7RJvNoFlSOM-B0BgnnQzqDEyMK0uBYoRYaXEPvgCe8p-lsGVD5tGUimS3bFaN-Wyi_qE64L3-zZkU4dnurLt0DrNAEH_-a6CvJvU7DyvTgwq31XqEkG0xwnkaVVWq3Fw-N5S1rS1C1pJFM9nFWysuWqh212dgGggSfOm0rR5pVsaUJY1jAMjKLzYxvGfgpkpi136KFQ0EWHabT39-fumWGTPtqWuwW8FpJSfAjsYUd6Cvk3G675yMO5yq02gKDW_edgVl0r_SHF6dSs0ZvSr9NqePT-qnORatVFfOMFF6MJizwnWShfX1VXrrCXxrGv73peAosvFX_itjNttD_vYyA4vlYs_wSTSoI_rcWt5CwqNpduozZTKTq_wMLFJMr",
  "id": "rs_0fe5ba3d170c26b1016ab41baf371087d094a27b8c7ae0da6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.18,\"left_z\":0.22},\"note\":\"The lifted white figure remains held and its original table spot is clear. I’m carrying it over the left basket, which will be the white-figure basket.\"}",
  "call_id": "call_FlkFcGt4PhxpIx80a7Wiopo9",
  "id": "fc_0fe5ba3d170c26b1016ab41bb2658887d0b96708ec9c817d54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FlkFcGt4PhxpIx80a7Wiopo9",
  "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]: [-0.5709, 1.6943, 1.3891, -0.5098, -0.5011, -0.4122, 0.202, -0.0151, 0.8143, 0.6067, -0.371, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4337 left_y=-0.1734 left_z=0.194 left_yaw=0.054 left_pitch=-0.1316 left_roll=0.0602 left_gripper=0.202 right_x=0.2977 right_y=0.0012 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -9.3744, 9.6205, 1.5849, -0.3883, 0.2613, 0.6227, -0.3487, -1.6889, 7.1179, 1.7118, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c7f78a358a2f753ed5abb412a7f6bfb89657fbae5a290fc88e2d0d48203249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c93bcf205c442f174deb8a2978572bbb8cd1efbf51f7aa08749030243fe4e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962755d001f321d536a91909ca3a37ee0f4cc534e16ee82cbd2888deec194d56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.656 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.1721, 0.2058, 0.3145, -0.2348, -0.1455, 0.9996, -0.0151, 0.8028, 0.6079, -0.3695, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.301 left_y=-0.0235 left_z=0.0413 left_yaw=0.0326 left_pitch=-0.0694 left_roll=0.0398 left_gripper=0.9996 right_x=0.2972 right_y=0.0012 right_z=0.1815 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -2.4274, 4.2188, 1.4676, 0.1832, -0.1978, -0.0171, -0.212, -1.1556, 7.2137, 1.7705, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8993, 0.59, -0.3412, -0.2543, -0.1497, 0.1992, -0.0151, 0.8097, 0.6075, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.0203 left_z=0.1554 left_yaw=0.0515 left_pitch=-0.0651 left_roll=0.0474 left_gripper=0.1992 right_x=0.2976 right_y=0.0012 right_z=0.1793 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8376, 9.4427, 1.619, -0.1197, 0.0366, 0.8132, -0.2667, -1.5111, 7.1863, 1.707, -0.0366, -0.0611, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5709, 1.6943, 1.3891, -0.5098, -0.5011, -0.4122, 0.202, -0.0151, 0.8143, 0.6067, -0.371, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4337 left_y=-0.1734 left_z=0.194 left_yaw=0.054 left_pitch=-0.1316 left_roll=0.0602 left_gripper=0.202 right_x=0.2977 right_y=0.0012 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -9.3744, 9.6205, 1.5849, -0.3883, 0.2613, 0.6227, -0.3487, -1.6889, 7.1179, 1.7118, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c7f78a358a2f753ed5abb412a7f6bfb89657fbae5a290fc88e2d0d48203249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c93bcf205c442f174deb8a2978572bbb8cd1efbf51f7aa08749030243fe4e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962755d001f321d536a91909ca3a37ee0f4cc534e16ee82cbd2888deec194d56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu_fKllO80TaRIYMeqGwFnTe7x2d4ch3N4LBf5aGPL8AYEw1dhfws-VFfwhCOdSvJbIWXt8l-UaVCRN55ST2RyDtZIt8P-GKj1gvaGAQmbaXz98gaVfMEZG3PrY4-Nt7w2JgWIbV68KnQuICDf9wAuJf4A4uNlCrAt_ZkHawS7atKNcFJo5i_2DitUejjkchWbAaeVziS5C43xxMWTELl6ezTEzVaBNZsyXAi1KwHqoQkcoarOUJ1DbOrr9xWMVQn2LynjqFTlDvr9MYC3R6qzCMwDO3xukQ9nUcOwQ7Vd_UfoZTjR3RYU9PoHNlzddW810-Sf9PswWFlM4TrDX-RjafFfrHQ00NlnGIll2irgyd8ihHR1av1wassJJfvorbgGpLfpys3IYFLAxWMyTR5259alqIZTGO-YSgHPLIgBllBxXbHSTxFQBBAYDhaIo9OY4GRKbeexIPmEyridDUliTVP5LpmIByW3iekFikPX0RnMzCZK8z4aDUjK38e73fqmD0p3JAGEEQcjtq-BemUcZdy_bT-FMe19Z0VneYa3RoUAbkNQoBkiVVajeMNFNiaCz0fpOkh6AsUGE19fPOpqyOlMbGV-JdehXZrCMTvniaipSjJQMdP8zvJPj4_qwuQioGAS0IKAZO8HBcEUN3SKEyZf4BSqb-_jOnQAT6ga2j-80K1lTDeH-1VYrhNrOIP-clyuEQLEaTsNDb7sEtYWa9D16u-iSG3F6bLdXJwnTOqvPx6YRImer5Bv5v_uZ5ryUgveEBrfFnoNGRs5yrFBzWnoaTKK3w7pL4AiSGo7k-J1JQmg64VDJmAVwlp6OXTc5NC4XILIdLf2ZKuw6LWiiyqXIS8aoNaNGKjiTCCJ4ispqMLrMKPzSqWL4ER1NM5L73OmneGzeWQs95ZM0qRnEx3rIXPDkVjSmSsllAo7y8UfDJS8ifJ4SBAuk8mC3l3feKNL5V2s7ByCxDbOlI8AJ-SUXUjN899WHoBLvtZPjppncQU6E9kUM8W97UhCFTcHjTJUXSgTNfAAPtOL6yFxez4sqlCnzydVwdxLSjqdxzYApeeovpxjsd5in-wc46QFcRXaNamZj2sTtNq5BOU0WP8dhSKR0XHqXb_dRqGZW2wfYPI9g3LpXWPJpvDn278_flUrZohReEtTurPr-piVaFJjUk5lKzUJRMYZAk_Tbw05lhrKAm35emw6xb2TAQxTA7axcS-XIA3PV57IVp-C6N-mdeIYYsWQ1VivZEN7QPvMuCaUdrPyE-U51LDX8uXFlAutUU7cygqkjG7ehb4q54tFuJUcYymdrlJyriBpiSWIrHPQjUtGNOpxe-2SkA6DLLvng7OTqVc0GzbD_We5A-Fv3ETKxdhVOHpc5OBnSKBBvyMVaUMaxXvjzBhgIXr2eGa4pqtZg7EfR3yUAox3n6NAeigbpd5WOwDZrVyaHtZNpmp05lPDON7lyP5j6DaF13WQGpntVOOa2Df8pXgRXRBlKutaEGNZjTKf-NXMBsH6ZzcKBMRdJ5ETS9xOXUkYCmdeHGrMtbugBFtNMyzwwdlZ14XmcNHbolkAoNp4PEFKwVn2ydXxkXzPv8WuvQrqelomx-k-EDQw6Alen9Z3Ec7E6yEjMhS4o-TxKw71hxEffk7928ipIQW9mq1LKgZb2c1FlTQG59CBajHGUnruyPyUGwraAF4Senj44TUBmzySXvNe2VwXN6vfZTCAjKEQuSNi1LgwQDON8reDOAJex-xAehaEnOaKX4yMbeVLb25DWRXQ3TqDgKswb9e_S7IlbxMd2Y0L5ryZeyG3ozmrzRu_eWbFrb9Mz38ghdzox7NKRq8Z3W0U0GPWgVwjaIVHV",
  "id": "rs_0fe5ba3d170c26b1016ab41bbd339087d0abb2ec792bb0798d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The held white figure is above the open center of the left basket. I’m lowering it inside the rim so it can be released without bouncing out.\"}",
  "call_id": "call_7SqhCQau2YkYFnjRH5q9c2L6",
  "id": "fc_0fe5ba3d170c26b1016ab41bbe696887d0aa423f2efa081644",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7SqhCQau2YkYFnjRH5q9c2L6",
  "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]: [-0.5747, 1.721, 1.1793, -0.231, -0.5102, -0.4164, 0.2037, -0.0151, 0.8146, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4358 left_y=-0.1752 left_z=0.1417 left_yaw=0.0566 left_pitch=-0.0934 left_roll=0.0372 left_gripper=0.2037 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -5.5316, 4.8615, 1.116, -0.0659, 0.0073, 0.7497, -0.3214, -1.3744, 7.0496, 1.6972, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b129bd1817a26d19d269b071c455eb56a9139b822cc85ad1250ac245945fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15f45c69a68c48ba92066c32131d17112c20dc31a41fdb963ed0aabaacc21be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67aab8167f7056ac9aa8bd0068268bd17d8e6da120a97a967fb4ca04d218d415",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.199 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2256, 1.1725, 0.2001, 0.3531, -0.2546, -0.1421, 0.197, -0.0151, 0.8062, 0.6075, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3047 left_y=-0.0206 left_z=0.047 left_yaw=0.0477 left_pitch=-0.0352 left_roll=0.0454 left_gripper=0.197 right_x=0.2974 right_y=0.0012 right_z=0.1803 right_yaw=0.0001 right_pitch=-0.0107 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -2.7966, 6.1333, 1.3016, 0.0366, -0.1148, 1.0281, -0.3487, -1.5795, 7.0906, 1.7558, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5709, 1.6943, 1.3891, -0.5098, -0.5011, -0.4122, 0.202, -0.0151, 0.8143, 0.6067, -0.371, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4337 left_y=-0.1734 left_z=0.194 left_yaw=0.054 left_pitch=-0.1316 left_roll=0.0602 left_gripper=0.202 right_x=0.2977 right_y=0.0012 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -9.3744, 9.6205, 1.5849, -0.3883, 0.2613, 0.6227, -0.3487, -1.6889, 7.1179, 1.7118, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.5747, 1.721, 1.1793, -0.231, -0.5102, -0.4164, 0.2037, -0.0151, 0.8146, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4358 left_y=-0.1752 left_z=0.1417 left_yaw=0.0566 left_pitch=-0.0934 left_roll=0.0372 left_gripper=0.2037 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -5.5316, 4.8615, 1.116, -0.0659, 0.0073, 0.7497, -0.3214, -1.3744, 7.0496, 1.6972, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b129bd1817a26d19d269b071c455eb56a9139b822cc85ad1250ac245945fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15f45c69a68c48ba92066c32131d17112c20dc31a41fdb963ed0aabaacc21be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67aab8167f7056ac9aa8bd0068268bd17d8e6da120a97a967fb4ca04d218d415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvCZqUYOsKjoKWENF4h5eZfP7i4_oPJjRzEdEboFbgtlbi-YkLH_PbRSsGZ6vnpYeK0DujM12RVTwNcidlCB5WnCwXLqqufUnJ9oKBIFnAR633uA002pN_8qLoNf2HRWA4FTpBGFVouMvaMmMsemU488TmNK_iGR78jU8Om3Ywzamsr-OBaGWcbT_TpoJJyQFANmTJOQyPGhXnbKGGBWl-ei5J8Gb5Ew1MOdRHu6yPO3lmq7KmbZYnznvNv9YWSsD-s7sMiWZybvv4w6d8Bq8cjb4_gTebJRjX6u0iwD0LT6TaOe88gkiwV8hZnJkdO4SW52zhDhMjLvVKuqNgj8ZIsMYeE8XwM0XNhJHCcU_TZsoP3MbJn4-WUJAI1M5Bv00blkcAJKLxnnI0a6xFrBTnyvDiGUZCy9FPXwH2EU4hdCexxIaZFJdyosKWzkrFXMqQ--o6I84L9di9ncDjlToeut6hVF1dyD8-CCywUIjKsTMhgwAGBJj1aImjuz5oP91AlOoJ29Gtt5ZBE3D5i5R1dWcT8j0ASORKSuF9fgVZY0SsOL69EVL4xyJ1-s0nqv3yB0Dm4M4QHbk8ZTwp_Lk96NIy7onY_c8izq5rBikVtV7SFKg0GjODQsFCKJgBlMQMNpbyTujjIYeZDgaBlrKkx_iBUy51R96bbXIBz-X62-t30IhLlR5DQ7JcE-XB_BVLCJOB9Kj2Hts3QoUcZcVEJX-jNmpIxMQKqwyHv07pDz2NLUJZkUP_fW5y-jfy1VgSBfVfJdk8DuhVFgTk89af6vBl_Yurf_ovbtNWzKMImI6GkwDEodSyCDcPsQu4_QSISY2J70b5aziDXrirD7Acolu1zPnqRlNDmbxxuowQwExHtTXSHtClen8Tz4P6Yk9AdajtiB0kfkfcgvo_M-992gegjY9HIb9qTT3UmvDpZEaXBkCtDkLfM0IW5j6c-QqwSf_ZcxtW93QaH1yB1x5hfSN1K-c0yp9JphsvgMGxzg4bsqj7BbFecGjNILVacZw3TAfSyCJchuqSv9b0Ztb-Ev_BzftGqxwz0mekTse9FIXVt7bocUID8QQqB4w_mxKzfQiXAs8ZLFBsskFIG3pu0Vz2nsYn8ESnJo4RO-tsqHoRonmRn8x2Be2Cs-D_aaDlCswTvN2qnXJmPLbYyW43ldIETa4J9zPCcrDuENYE4cGQe72ZnesjapzMIEiQBnNMzOL5YOi9Vg2AnLaBS0idiX8UOAeHRRLNtQApx5_xA-jbXagL4837l0ggIWQJ4DIbPf25ObW1k2zamoVcGZjpcWIt97Vtz4DHyxSOiD62cfq1SoBll4fYZ_ILaFntiz6Nxp10uHukjauh2Bmu81cVQMx9jTDaBKnIO-KxcgbLTd0DQrf_ha5IZyXSovX108cLJZ_RbJKNoOqX745TdE7DE2_5538KlOQFjTw1MOcVOMLJRJdBFVJ_H5LgpDoDRgLaZWREd203oaRY7Eg7U3rYc5nV5QzHTZvZME2cdgMhN9DbnFv834tNC1fXbs3j1TuyR",
  "id": "rs_0fe5ba3d170c26b1016ab41bc0efbc87d0a8e6bcca24d4f4b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The figure has descended into the left basket and the motion slowed near the basket floor. I’m opening the jaws to leave it there.\"}",
  "call_id": "call_4GINabCbXlfP5Xcb2y04vYrv",
  "id": "fc_0fe5ba3d170c26b1016ab41bc1a79087d0a5f0f31d6b3336af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4GINabCbXlfP5Xcb2y04vYrv",
  "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]: [-0.5747, 1.7279, 1.1687, -0.2173, -0.5167, -0.4202, 0.9951, -0.0151, 0.8146, 0.6067, -0.3702, -0.0116, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4359 left_y=-0.174 left_z=0.137 left_yaw=0.0638 left_pitch=-0.0937 left_roll=0.0401 left_gripper=0.9951 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -9.1145, 7.5282, 1.4042, -0.2173, -0.0171, -0.1685, -0.253, -1.3607, 7.0496, 1.7167, -0.0269, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46a44b7cfea25ef62bdb3987149bce652e0801872ceeb98f1678bc597202a55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3df6d09418703d8c53c3e1f9e0f24a4339862165dbfefdd1c1d498d1f0171f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66a405e65d2343a63d4faa4a63f153c83c70276d7a92165ad4b1791cfc5dbcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.155 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 0.8993, 0.59, -0.3412, -0.2543, -0.1497, 0.1992, -0.0151, 0.8097, 0.6075, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.0203 left_z=0.1554 left_yaw=0.0515 left_pitch=-0.0651 left_roll=0.0474 left_gripper=0.1992 right_x=0.2976 right_y=0.0012 right_z=0.1793 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8376, 9.4427, 1.619, -0.1197, 0.0366, 0.8132, -0.2667, -1.5111, 7.1863, 1.707, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5747, 1.721, 1.1793, -0.231, -0.5102, -0.4164, 0.2037, -0.0151, 0.8146, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4358 left_y=-0.1752 left_z=0.1417 left_yaw=0.0566 left_pitch=-0.0934 left_roll=0.0372 left_gripper=0.2037 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -5.5316, 4.8615, 1.116, -0.0659, 0.0073, 0.7497, -0.3214, -1.3744, 7.0496, 1.6972, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5747, 1.7279, 1.1687, -0.2173, -0.5167, -0.4202, 0.9951, -0.0151, 0.8146, 0.6067, -0.3702, -0.0116, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4359 left_y=-0.174 left_z=0.137 left_yaw=0.0638 left_pitch=-0.0937 left_roll=0.0401 left_gripper=0.9951 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -9.1145, 7.5282, 1.4042, -0.2173, -0.0171, -0.1685, -0.253, -1.3607, 7.0496, 1.7167, -0.0269, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46a44b7cfea25ef62bdb3987149bce652e0801872ceeb98f1678bc597202a55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3df6d09418703d8c53c3e1f9e0f24a4339862165dbfefdd1c1d498d1f0171f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66a405e65d2343a63d4faa4a63f153c83c70276d7a92165ad4b1791cfc5dbcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvG3xNk4_hL2DFlCGnyFywc1fFxr41VOSgwJDenIEZoxGPOVmk6qZdRA_Amm8q1qD0SAQKfkvwO-KVypz0-JIPkt9VCsheNrbFYiX8ri1PUtrBj19vLr-4Ml7D3y96mvguf3jZZLW4-g7pIV3G4tHK3QEkXwRdxFBLgwAAJt1Cn4cuxxYPdeM9ysiSX-IJ43PqOlKeLo0_ZFlziQEvlAOnxL5YrgxyLjYtm_toaTSflddkpp2IEvVHmg6xpFAws_GvrRyILknXPiFvhvwhnqdpcNl1c89WemBbww9lXwnWVmp8c8q4hvb2mV_y_1UyRIHQ6PDZpXc5pXqZiMkZEvRLD6XjDIlSf2019Dk61zbVvBkVzzPJ7bQntkALzSTG_nCNwGKmVRcPk-Y-j22AzBlWtcKldW3BuIm9yhPhMRXD5bv2otXjZX_3PYWLmO3hsoOmC4jM6bYfrgJyzOlsMwIsubAtMbj6j-487A_F5W2OQDmutl_p5z9ZftZVl9Q9wK90i17P5b-uZ_aqk-gKTpWWkACSBWDRIhDvdlcu6ZwFyuknLIswlhX7ShJTqNIKJ8GXnyvmk2iYSX9FWwWzGIIsMTiXk76NGlmw8JH0q15PsoefZfzIBOVGKG7_XerC-WCg6rGkpKWu7394rUNCzOURBU_ulnIpv33skyysCEjdfcbon4m-7sdz6jCpJ5BXw9HNsnZkP6fvGD7Vzv_xZwFtj8E7VNZSDKTRF4k61KtWJ_fwGIbRtebn8kJ36wkuVNW4oxKCX8c5W3_woGBNmIrK7kTutsKdY6cC3gpAhZMDfQ2S7lBW12m0I4md8yMp-OGCe19gozWe-SQOmwyEpjPJdRs27_OI-dwewm7ZQklrQqbMpY1dBlwz3NHXlBV4WGnFPCZuA8BWHN27HEcLO_xsh1DY4a-Z6vMO8TjAoymeVMmyk_vJepy-R5u3m3enztfCDnYUay2BlK-qe9wGMbMt59ZA97KXe4JSplz6PT_KPBzhzFT_FjhhLYHH73pr-J1eyiR3xk0Ev_AX-qb5SRP4C3rgLBJ0qR5QJ-wIhR7vC9QWvazfjM67XlOlAjVDtX6ZOH4MuTIvo-_rQoYba6YydQ0GR6PKwz0fEjvScbZm3qVteouscQAraiZ3iNmJZF-2Bgiv2X8GcBu54RA_wgSfcxz8-WNIz_c51qFpxFaq2R0hf-RPQkD4sm8JfJo-BLfk_Us8JYFuKr0L4b5t1a2Th1skPg-BnXdv5XebxQuoOGAyo9fWXMPc4jUqyhAPNm1bGMfeLxr-assqWpoYMw72RiAhscHqKqaOx_g5qoQwOEMXT0kU3GPhAc1B9kkRjaQeqaeBUdF03yucsyGoCt_J5XzsFeiJKxC6K-7dl_bW2KWWIvR_dDumB1jX-_CA1LDr7QzkaRkLZZpG5q2JxjXSum5PUpNNR64yMl0C41w7YZeCLc0UkvL9PHL4ZUY2XzYRtGNiGT2z9sxCuE1pi15ucGoutzLyjPgFKFrFMNICm-gW7HdqUhSKfRJmNHrTf8FU-UKXs_C1TiwewDeMHQ7IGKyzMgE3cv3v5wNv1Hg84nTtRctnKTU2z57zaWxaChXz1uujcG-j7M-jFpwIUuslCdtaD5_ssVoc2eHNuEwjgjZ-q40x4N5MOhRXUQ7Kmmw1RD2B0B8T0YOmzJldA_bhRGDAgZte9y_DBWmWhe4XkWVjpVqy-Dr6oFXZ7b4T76ddjNv_WypgEUhIcD_mCLEKF1GUAHryJDIwI9M-rde7CV9dCfaOvXP2ha2wz8s4p8i8CN8rSYy7xCdCbdFOVU7w_BZQJyV2h4ZfLiFFh3CvGoMveAL8P2a8t94gbbonq3j8jmisXixYUGsPMaC75HjPBwAV_J_UvuC0sCRVj_SyCqUFaPTizMr0StAwti2UTpFLjCFviYsY3KA1mdzhTYHgUByjQasXdAtss9bv2my5dllTAdbUtGNBz9ZNRV68TzqBrO0vNa9pf0wuO9F-k31Q2GVic17wTQd6xNHQWrgIniknYYbDgCRLa74XHY9qcnw_8UVmJj3DmgwDY-JGzHb_SNq1XttwJSq4AH3WUNCsITRoggI2B4r-m9QoMd4_FQMea",
  "id": "rs_0fe5ba3d170c26b1016ab41bc3f49087d08dbcae36b98c1266",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.055,\"left_z\":0.18},\"note\":\"The first white figure has been released in the left basket. I’m clearing the rim and moving toward the other white figure on the left side of the table.\"}",
  "call_id": "call_Dn7edSdIlzol4tvw8BMmLbBq",
  "id": "fc_0fe5ba3d170c26b1016ab41bc5a49487d09292c4ff56f3aed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dn7edSdIlzol4tvw8BMmLbBq",
  "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]: [-0.3111, 1.2999, 0.9154, -0.3069, -0.3393, -0.2531, 0.9967, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3822 left_y=-0.0574 left_z=0.1793 left_yaw=0.093 left_pitch=-0.0832 left_roll=0.0277 left_gripper=0.9967 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.0239, 6.2701, 1.7021, -0.1441, 0.1148, 0.1538, -0.0615, -1.5248, 7.2, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6d058aa07d9b0233e05649a82ed6b64ab395e4bcc7b4383b02f7e2ba49bd26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a34c2f61a26f1362a2d4b489d0806187891195431b4fb317cc9f3bc0e229692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de49f83963962b401bf41c9c7f8aee1a4b2c95ce6d9e5f3747513d82d8501500",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.594 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5709, 1.6943, 1.3891, -0.5098, -0.5011, -0.4122, 0.202, -0.0151, 0.8143, 0.6067, -0.371, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4337 left_y=-0.1734 left_z=0.194 left_yaw=0.054 left_pitch=-0.1316 left_roll=0.0602 left_gripper=0.202 right_x=0.2977 right_y=0.0012 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -9.3744, 9.6205, 1.5849, -0.3883, 0.2613, 0.6227, -0.3487, -1.6889, 7.1179, 1.7118, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.5747, 1.7279, 1.1687, -0.2173, -0.5167, -0.4202, 0.9951, -0.0151, 0.8146, 0.6067, -0.3702, -0.0116, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4359 left_y=-0.174 left_z=0.137 left_yaw=0.0638 left_pitch=-0.0937 left_roll=0.0401 left_gripper=0.9951 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -9.1145, 7.5282, 1.4042, -0.2173, -0.0171, -0.1685, -0.253, -1.3607, 7.0496, 1.7167, -0.0269, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3111, 1.2999, 0.9154, -0.3069, -0.3393, -0.2531, 0.9967, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3822 left_y=-0.0574 left_z=0.1793 left_yaw=0.093 left_pitch=-0.0832 left_roll=0.0277 left_gripper=0.9967 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.0239, 6.2701, 1.7021, -0.1441, 0.1148, 0.1538, -0.0615, -1.5248, 7.2, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6d058aa07d9b0233e05649a82ed6b64ab395e4bcc7b4383b02f7e2ba49bd26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a34c2f61a26f1362a2d4b489d0806187891195431b4fb317cc9f3bc0e229692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de49f83963962b401bf41c9c7f8aee1a4b2c95ce6d9e5f3747513d82d8501500",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0fe5ba3d170c26b1016ab41bc8448c87d0b236212e940c93c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.035,\"left_z\":0.045},\"note\":\"The remaining left-side white figure is directly ahead of the jaws in the wrist view. I’m moving slightly back toward its body and lowering for a second grasp.\"}",
  "call_id": "call_v9bEDXC87cOMfna5Dj7Kki3W",
  "id": "fc_0fe5ba3d170c26b1016ab41bc9be5c87d0b5462c1edf33f668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v9bEDXC87cOMfna5Dj7Kki3W",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.4002, 0.4137, 0.2279, -0.3107, -0.2314, 0.9969, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3368 left_y=-0.0317 left_z=0.0372 left_yaw=0.107 left_pitch=-0.1531 left_roll=0.0526 left_gripper=0.9969 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -4.6017, 5.9282, 1.8242, -0.0611, 0.0904, 0.0024, -0.3214, -1.388, 7.0632, 1.7021, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6c91cd699546b691c585dec2c140e6e5b66581aefb3f0a633198ac40e3f4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b37774efa72dc55b2fb5ec40c3c52011a8f8cd3f043387af360e579bdbbbeb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0531e3225cc7baaa2377e0a038d6b57c560360aa7b15d36778cd8949a83290",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.715 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

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]: [-0.5747, 1.721, 1.1793, -0.231, -0.5102, -0.4164, 0.2037, -0.0151, 0.8146, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4358 left_y=-0.1752 left_z=0.1417 left_yaw=0.0566 left_pitch=-0.0934 left_roll=0.0372 left_gripper=0.2037 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=0.0001 right_pitch=-0.0202 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -5.5316, 4.8615, 1.116, -0.0659, 0.0073, 0.7497, -0.3214, -1.3744, 7.0496, 1.6972, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3111, 1.2999, 0.9154, -0.3069, -0.3393, -0.2531, 0.9967, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3822 left_y=-0.0574 left_z=0.1793 left_yaw=0.093 left_pitch=-0.0832 left_roll=0.0277 left_gripper=0.9967 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.0239, 6.2701, 1.7021, -0.1441, 0.1148, 0.1538, -0.0615, -1.5248, 7.2, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.4002, 0.4137, 0.2279, -0.3107, -0.2314, 0.9969, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3368 left_y=-0.0317 left_z=0.0372 left_yaw=0.107 left_pitch=-0.1531 left_roll=0.0526 left_gripper=0.9969 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -4.6017, 5.9282, 1.8242, -0.0611, 0.0904, 0.0024, -0.3214, -1.388, 7.0632, 1.7021, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6c91cd699546b691c585dec2c140e6e5b66581aefb3f0a633198ac40e3f4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b37774efa72dc55b2fb5ec40c3c52011a8f8cd3f043387af360e579bdbbbeb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0531e3225cc7baaa2377e0a038d6b57c560360aa7b15d36778cd8949a83290",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvPrZlpP4x66El_kdOL2Qd-ZZZXqJSyJ5RAujQ8W-5mOgXbjaoGxbluCsDKsDOl-fVtrX_GwcAUv9bsidkcUhhAGzMnHJtS3GIGFSFOePzAVSkKLPjDMc6_K_7ZW9wGpiotIAD2LuUaA0lrXnz-3O48WmNHtRE2EBZqEv_oFboJkqwIzQAVsGQ3HwX0hKMGsoIicVWM2XGVoiZIWmAddR7h9hkntxDbWPbWWoQ7ftU1zyeBWx5GAvXbYjHLLkuugP9w__ZhkfGpBQONNpADYTfb_IfAyraDH9RVdlpBt4PGUqrPDQkL0DIzqo1NgC1s8H-Zq1_GLmCZyWX6H8Y66cRCRY8IWZFx_BX9bjtNy7LOnkyk7GZeDckeN3vAVGHEPvpHkoywy9nvdwsgMGHkVWUcKe43jJ32jR2jJfIdMX8SP9-Vzy_hBLymhfTMIf5e-zkfDEVzL3RMNaC4d64GOmhtrBRxbjzjC7vt7wS53kzyOWCefUDb53byO5U6Rgvjw5dgHU6zJmtkueoZ_iPUUwBjEv4y07RbE9gu8ZV68RHgfMsHIGuI5gflAFQEJIvsXuaoVVbaLE7-Hmpnn1ejv31osumr6mi4nX62BubyKuUrNqqalYxljlTxO3aBeMB_vHTZcrgPkvosj95H5eFM-56OGdmReq3yr3JUA63mF7NXxu0faqwpitVe5qSrc8eCTjdRdTjpRdVX6-4NVNu8sf133xJIN4GF_yf4wFg4u5bqTretQPbx4mGMbPbWEboH9LLHGyGwMUjq6k4xpOK2473bxTBoZpISBaCPH7Lfe6qM7MjT2h6yFTTE55MSuCTLm4oCX-7Zux98K4gjAL-1X88GOFUZNZEC52_SgWSaYmdUSOu5JDZOeX2XiWAtyQdhEVrvRjMjMhiIJ4tKNdeTUUbLyRu_zWzEIJYbkNN5C1ZKnL9IdFcOPZzeHxAGccohz57Zf5emBzm84DJ7p9oGTcXqWnqtrefFzy8Bgphpgyf2-xprGYMmzIwb8inkIxtf_lGd0MEGGshS1bqedOnnPFuxvTQg_X6FJzvUUlWn-w5Jo6kTMT4AbjeVAe9fV4sBC2TDwi5KvPudeCOKM-bimSThoG281EGsI1RE6XaEttfl32UTEA_SoGpXekl3QmI30zEelsmp9monX7pM1D1uUuxL2RwwPU5lKhzKDwUgAJKl3pqGr1T-tlhJ2eraLjSF5LXm28UDqROynTO3w-bNC1QKRJpcZF5vvBEnUMFANFXRTPG9QXHJNnqaYL47NScc-gy_qzrArokv1fxTuR-KBnoX_hu333Op13jl8ESPlRfOgQm8XlUaAyS1ntosdwVC-MdxtPeC7s2pe1-j3NLqc3eYZ0S_MX1KzCc-IZEShqq_drhddG8PiZiaYek5HU4uLSZlxCXA0_68Kv6WBFmtpGzvH3Q-VlBixHrEb_EukrZLuitl4c1nL5xMIOMowqRgj3wq3uU1P5Kf0MHT_BMYhd9wRcXrVdvyJJ_CCl7Pu6-eFmNsO0nQYFT1OfnChARdwEj19NBgdNUIq7jogGQd4HMuy2zwlLD7WJX2svDVBjK6KWVU5CQK8hfYfe-UsfvdRZpXo-hzy9SfvHqig-cxjeiFSGycPfK7mn9hybUCjkXpaiPms97CGE5IDsM7mJfm9hYJYSTfWiB4t-Ptdmo9verPjz1r7TLCnCi_EsX3vFguAhw9U3DUnfZoip9phq8hXynd5BjG5L0kbefX838TLPiu1p-0W-Clfy2y384wnZufsKeMzbXIJQw5iPUFXb0jT5ww2bM2cJ4msaZrvNUXOHMELs58GHU8_-QYiNIWv_9ts0rYqzYCNanICIpBTMQy9RxKyUtEwHkGfLU_EFtqsn-qrNU5_DyMOlBQBDBlkgi3YzD2xO-M_X6-whbUJ4W_8IjloW6eujsOPwVYlGa1alm8hHxWcadXL_UHSmHrpq7DTbGnLEj3SJJE-rIDaVou-eDFMsx3bvF9jbTiQ9_2OLWdzgUYCUbIcfaUwtyUnLUOIaey0Ypd1B1XFtXUy8KKeq4kje0fPG9ocp5Bv0HeAGFKXh90o-oKnRVtArX2YXl74RQDz3SOMEB_reIj2FXmNkKz1ZFNfZaiooN-K8dXKJQMozPYmXiQcLzFfvdRKeVzivy3DJTnc5acNWIhw3BSomjhchjzIBcNND_PLsoAb7HNNZ_SRyC5HlC8nGLgMQmB0_oppedhXW7xEd3DsK_VaOD1D6ist1eOLXxgRpt6j3IuHz7ko73ZXduR5mxThcu7LE8_a5u2u9ShjCfLWWjUZ7OwtooOXrDjEqvKGOJ5BbXTX8GwBkRWMSENuDOqsjaVomh4G3W1FYrFpARgYGwJRW077b8CKFar8eexzvkwi5UFfVp12Hc_mYkBS47pJjVMk3xd2N430ZCO3zlT2GAb9_q1EamifgTx0Fc9UCqHFmcOOa1XqRS7zUN2iFkwXKODipXttTJ7gkFGGY2l6fEAUEWd",
  "id": "rs_0fe5ba3d170c26b1016ab41bcc704887d0a9941537dea6a50a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.02,\"left_z\":0.055},\"note\":\"At the lower height the white figure sits ahead of the fingertips rather than between them. I’m advancing the open jaws a few centimeters toward its body.\"}",
  "call_id": "call_7IoPJCFAsJphrIozRPDrWkJs",
  "id": "fc_0fe5ba3d170c26b1016ab41bcf24b087d0b26b43d2cab56d73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7IoPJCFAsJphrIozRPDrWkJs",
  "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]: [-0.1726, 1.5387, 0.5983, 0.2016, -0.2596, -0.1894, 0.9969, -0.0151, 0.823, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3853 left_y=-0.0175 left_z=0.0513 left_yaw=0.1333 left_pitch=-0.1473 left_roll=0.0449 left_gripper=0.9969 right_x=0.2983 right_y=0.0012 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -5.8598, 7.3915, 1.3504, 0.0269, 0.2222, -0.0122, -0.2667, -1.1966, 7.2547, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690a6acdf22636de3d3c0c4e6916731ff1a39fad95d80ded7dc09ece6750fe1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03690868896fd3a1eb745667317e04ff48897667273dc128528ed364b570365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9656350ebf5d50a72ac7d7356dfa9ab1b4abbd9c4f3f9e2f729242aaafe15199",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.999 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

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]: [-0.5747, 1.7279, 1.1687, -0.2173, -0.5167, -0.4202, 0.9951, -0.0151, 0.8146, 0.6067, -0.3702, -0.0116, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4359 left_y=-0.174 left_z=0.137 left_yaw=0.0638 left_pitch=-0.0937 left_roll=0.0401 left_gripper=0.9951 right_x=0.2978 right_y=0.0012 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.0202 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -9.1145, 7.5282, 1.4042, -0.2173, -0.0171, -0.1685, -0.253, -1.3607, 7.0496, 1.7167, -0.0269, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.4002, 0.4137, 0.2279, -0.3107, -0.2314, 0.9969, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3368 left_y=-0.0317 left_z=0.0372 left_yaw=0.107 left_pitch=-0.1531 left_roll=0.0526 left_gripper=0.9969 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -4.6017, 5.9282, 1.8242, -0.0611, 0.0904, 0.0024, -0.3214, -1.388, 7.0632, 1.7021, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1726, 1.5387, 0.5983, 0.2016, -0.2596, -0.1894, 0.9969, -0.0151, 0.823, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3853 left_y=-0.0175 left_z=0.0513 left_yaw=0.1333 left_pitch=-0.1473 left_roll=0.0449 left_gripper=0.9969 right_x=0.2983 right_y=0.0012 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -5.8598, 7.3915, 1.3504, 0.0269, 0.2222, -0.0122, -0.2667, -1.1966, 7.2547, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690a6acdf22636de3d3c0c4e6916731ff1a39fad95d80ded7dc09ece6750fe1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03690868896fd3a1eb745667317e04ff48897667273dc128528ed364b570365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9656350ebf5d50a72ac7d7356dfa9ab1b4abbd9c4f3f9e2f729242aaafe15199",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvSLTtEdRjhsmkCrGzBeDoGzAqr5S6UtImZhH2vzSPGMmAhHq7Hi_jrNHd98E2-mjWszCs1gl47kiII_A7n88_HF2gvN2p14MCrla5WsoamyoRaMQEn0IR-ITZztSxonT1BHPAtPbR9_fYDtLDZORDV1iFMXP8W_oVjA-Cbs2mhdEU-lJ-ECofeBCY4SN5zPRj3S_wiDK47beC19Bg1I2ka1pvivqKZmKYpUSnvoM4VZroKitemZq7QsxjtucGSB8oU4AxCKiWKKbKIVVJAtIsj3M3wLYKzshUCZ4rLWZxlNAX8cPOkCXnkhW96ek1goo1wRbe2E3xUwoyW_zh1orgj4DEyx9mEZi2HE48KM1X1bMHDGhwQSEiPkd_Eq0YFCKXfjqkdqfdHuPwl12hVk45SK0qIMqg7Gkhg3HXqDvJYOMSfq9NjnkxtkNRuu-X07gOwMaD3uaPAYWJ3bHz-wwZ2CO88jjCa8RSL9vJed1cvDYtcA0zx4ZFFwM4qcSP2VXieZSnsYvE7Zs9u40SQ2pcpXWufU5F2U0n3jvbFF8c8aQDabXA1Zkomnz95tpmufiaptZSJa-ySeUp4DD1JD5Afr0zKNYaL-h9D_FAvQPyNtCQbYqB-RR2McsTDHOzVJ2g1Q3EnUWlgW-VNOmsCm6VdASWUtI5T62MR0qzh9pO6FEFUZXMGwS_r_pN-CzhDMguX1nxE2lCewe9K3LzpKbrJd0Mb4E5lLlr-jTjWS7zFZrwVf_j2qk990XSmyXYQ-1VJOW6iJceBqPMaI9rDG1ffpcdm5IN3Qxb4-BNoXqInRSCr4lBp8VQ2TW9qWgY4WVV6kQ34ifFo4Mp6achLXijMXct3yMjU7XH9mKxqrMiMeCRYr3qrHLjT2k5rPJtQMXD4C3NjMRULhNBlyaTIJGdoqiCAPYVWtMAE81leXW60h0tDBvY8xSss9L1b5gIyj60aL3OmYy7XtD4OelX7BSmQbOuCsw_gKj0oozoaSw-sb-uB1EsRXhVU4Sq1P6QGPq0frYcUvdYkSSqOe2AyO_3_fDz3oyS-tN2dn2WWBaudGePXtkbl_pSuveMPGYgMQLe7O1btztdExowTaPYoUvwRKXcM8ssUjfLF9kGbgiFzdLHSlFwDMX3f0BgHO-yJ8L6nzKwhKtklm3jrTCedRwBfKexUaOHZh3sbNNcMTYjbQD25L-xElCv8oifKMS3U0-PHeBWkphHn3CPqgdLuk0__XIKTfDdU-Q3D6Etrc-Mo2Hnc2r0BaPpX1zherXEXnM4nijRGRHqFRPl6WiOW36RDWIoMG7_GyA_ft4XG1aiheNqO4_DLjic9il4MbBWRqgmwHnBi9yjG0TXwfDq3vn2_-c4F9MdCTAW1fbjDutOrlE1Xnx3mIAJBkEomXXCR9mNr_pi8u3Lco5Pbh-fFJHRjw0p40AhfTu3-k8uQMurFFMkFP2p2l4M7VDMxo_64CQW1D9wa-LoMXU8jvjZdEb2MWw==",
  "id": "rs_0fe5ba3d170c26b1016ab41bd18b3887d0894a405046d32907",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white figure’s body now extends between the open jaws at fingertip level. I’m closing the left gripper around it.\"}",
  "call_id": "call_Xa3D4RIo0xyGv1ejFActDoHn",
  "id": "fc_0fe5ba3d170c26b1016ab41bd2223087d0b8c38775455e850d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xa3D4RIo0xyGv1ejFActDoHn",
  "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]: [-0.1696, 1.5505, 0.6044, 0.1806, -0.2539, -0.194, 0.013, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3832 left_y=-0.0169 left_z=0.0454 left_yaw=0.1353 left_pitch=-0.1738 left_roll=0.0458 left_gripper=0.013 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -7.1316, 5.1897, 1.7411, -0.1294, 0.0171, 1.1404, -0.253, -1.5795, 7.0496, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ea0334640c5baa459fb352c972b5093531b7b6cbe4a9429a9ec698792fc0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1580aefe2c6689463be5049922b7daf57af54182881c3e3e70f2a8f2e232a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4bccb5c19fc5e7a88e46276295d2a027b0dbbd26c44ed5be67470bd627a44d",
      "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 13 attempt 0 · /responses · status 200 · 3.027 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3111, 1.2999, 0.9154, -0.3069, -0.3393, -0.2531, 0.9967, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3822 left_y=-0.0574 left_z=0.1793 left_yaw=0.093 left_pitch=-0.0832 left_roll=0.0277 left_gripper=0.9967 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.0239, 6.2701, 1.7021, -0.1441, 0.1148, 0.1538, -0.0615, -1.5248, 7.2, 1.7363, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1726, 1.5387, 0.5983, 0.2016, -0.2596, -0.1894, 0.9969, -0.0151, 0.823, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3853 left_y=-0.0175 left_z=0.0513 left_yaw=0.1333 left_pitch=-0.1473 left_roll=0.0449 left_gripper=0.9969 right_x=0.2983 right_y=0.0012 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -5.8598, 7.3915, 1.3504, 0.0269, 0.2222, -0.0122, -0.2667, -1.1966, 7.2547, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1696, 1.5505, 0.6044, 0.1806, -0.2539, -0.194, 0.013, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3832 left_y=-0.0169 left_z=0.0454 left_yaw=0.1353 left_pitch=-0.1738 left_roll=0.0458 left_gripper=0.013 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -7.1316, 5.1897, 1.7411, -0.1294, 0.0171, 1.1404, -0.253, -1.5795, 7.0496, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ea0334640c5baa459fb352c972b5093531b7b6cbe4a9429a9ec698792fc0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1580aefe2c6689463be5049922b7daf57af54182881c3e3e70f2a8f2e232a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4bccb5c19fc5e7a88e46276295d2a027b0dbbd26c44ed5be67470bd627a44d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvWDzYS2wDsHgkbEgehMk70DKmZJHa0iBpzNywsoP3lEUYZcO073MNGp_h9XVCkZ7J7g6-JMiHppP8iSu6gjtm8jwxZp9ktdxzCRKy34z7tHOrf5YHArDhSORccTDzLsF2yyJ9Zb6LjGHOie4VuhiJQUEyiD123MYk9oeBkSFu3K3ygDEkBHVP2YXXeUIOfqWV597taW7vO7YnL7xZoQwL5Cd4RaJvSvKo8724hsPjJEf-8zLrXPriLqRCsLv5MMLi9NmMfvqthZrZgw-TxjEdDpdWh-FMHu4NuMvcW6fMaW_djSq3PFi9CxofJTiqWM9feS9QmweUL4Bz1AKtzqmTZy81BNrGHmJYE3pxat4BOp3YihOW3GqrN1InCVDDDfQg5KWgacKa66Hy2KenwWnTws6zd7wuRTwdrc0zlzbQxAjH93R12HHpvgH6Pls2dduqf5aDHiL9zXZJNNwz72iSxpHgr7FZnx5pjB8_8NuvUKYLOu-PAoQi9Pj4ZTNrGCs3YS8OtMeEJK0Nq-DtdV7eBx_7wn6o1VS-XiY2Fd-nJwRDl_PoZoc_e5-qqrrdpDp-JOaUUNtPfzO9ITu6twWqNoXYZeIFxplWKGEGGyyPwlVjAoy6aQiif3opcSlHxxTyho2H2YzpvijxvDu4KeTOiFfPlBPU7Z5j1FElH5hhR77PQnQFFs3OGit53RIwFyRwTS7EYCp5SdNCL24T7agVIn99v4Eq8WCjnGN8cMR1ze7JWoyeBuEoifl8FIEGGpCMzaeHSWWeMvVakU9_yHFl2GWCrlSCJ5IMeaTJQnTEktA8woxguPqQMbGYbxeeebOZSG4QQMFYFEahUI4itLumnpOLc0xUetrIwDaHr5gdx-CG3re3EdEFnxBcBTSsy_q3w8MgWBIi8PXOTTQC62mdkzzMbwB1yY1BrOI-LpJl1tBGrkcM2V7Qbyj5OnlQjqbiCqlZIRld4JWe7C-IQ9reJlE-czXfSglWCqk_jv16DukusxEQZ74V6xGhvtYB5BL4LzcFPdkTU1PiSTS-tmjULlLUdMt3GnoFGWS5ocsxJA4BJ_bnZQUw8TlnMbAYPMxeJ0Q5It-12gPz8XihuWLxXBtSfG9MmFrmu7v9X6HGutKZipxBHDqWx_2_n5i8xh7L6vauw6x5WtkwP2XtuIwskPGIoB-eP3u4HgHa3TBRX3_YCgEZ_DzSBZSo2kXaIUldnUl0rAz_4QPB_av_q3sJ3Ho6XbOLTha4KxhCFm5CGym7hOdHJWUkHVpH54RorRM5CnazuXyUpTrZ3rGq2nAqypb88b1r6fOHL9Aoy5MIaVvnTUUBvet8u0Ui6vv-ljK4p4LBSoJ5V6EVWQrNMyNHFV26n7hfttlP2PLCps7CZL28wunHyj1C3kf1ThI4GQwasvmsVQjWiV6XFgSxkHmPBSwa7OWD5CU1VlB4fwY8QOfPxlZ1FVAUtH_8KYQnxTAug5kW0N2MHmBvXhyC-5zsyMY5ZMg6FSo4MqD0Z5U0u717rZgMnksjWeyiFnCsYGQg1PEb31h3MaTd6VgIPzSuSdroCq5DaDgYj8BVTBSUecYSkkQgmZc_TmjKQE7DjJct3c2-Sq-YRaORMDNv9h4-aF8TgxsCkYlmx5OeVzpLeiHRcrTwFcPzS4kkwFdNwFQMPSDI4vAp0BWk6AmtfeoOd5gKmAFOUp1dawOzwKGHYoUKoNehyi0vy8i17b2kRWDXcLZNtQT9qg73dsGAuVCUjwQfL466YhikF-vKjaD6wDMnFi1D_jWFVdPAj2lGaXFkKNPcSqXqSbpBXfzimiqoUW-wGDmal8ESQZfZxgnHSLc4=",
  "id": "rs_0fe5ba3d170c26b1016ab41bd4eed887d0919ded99937071a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.405,\"left_y\":0.022,\"left_z\":0.055},\"note\":\"The jaws closed completely, so that attempt missed the white figure. I’m reopening and correcting toward the part of its body that appears left and slightly ahead of the fingertips.\"}",
  "call_id": "call_IUTC9XsJBPeoynujYb6AGE0x",
  "id": "fc_0fe5ba3d170c26b1016ab41bd6119487d093664c83cebb663c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IUTC9XsJBPeoynujYb6AGE0x",
  "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]: [-0.0216, 1.5826, 0.6586, 0.1513, -0.1596, -0.1112, 0.9951, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3944 left_y=0.0232 left_z=0.0461 left_yaw=0.1591 left_pitch=-0.1991 left_roll=0.0446 left_gripper=0.9951 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -5.3812, 8.3897, 1.6142, 0.0122, 0.1685, -0.0415, -0.212, -1.347, 7.0222, 1.6923, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9fa272843bf74a040cccf2ed44365acc9fbbcb1cbf9990b3e4973b1b5d147b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47d4dab231c8b069c21c6ced9df563a07ce6433e79d309764517881765bb665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f210b5c7b453f912f8c0cca86efc65bf66a66d31aafb924434de0db2899f569",
      "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 · 2.459 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.4002, 0.4137, 0.2279, -0.3107, -0.2314, 0.9969, -0.0151, 0.8185, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3368 left_y=-0.0317 left_z=0.0372 left_yaw=0.107 left_pitch=-0.1531 left_roll=0.0526 left_gripper=0.9969 right_x=0.2981 right_y=0.0012 right_z=0.1766 right_yaw=0.0001 right_pitch=-0.0237 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -4.6017, 5.9282, 1.8242, -0.0611, 0.0904, 0.0024, -0.3214, -1.388, 7.0632, 1.7021, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1696, 1.5505, 0.6044, 0.1806, -0.2539, -0.194, 0.013, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3832 left_y=-0.0169 left_z=0.0454 left_yaw=0.1353 left_pitch=-0.1738 left_roll=0.0458 left_gripper=0.013 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -7.1316, 5.1897, 1.7411, -0.1294, 0.0171, 1.1404, -0.253, -1.5795, 7.0496, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0216, 1.5826, 0.6586, 0.1513, -0.1596, -0.1112, 0.9951, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3944 left_y=0.0232 left_z=0.0461 left_yaw=0.1591 left_pitch=-0.1991 left_roll=0.0446 left_gripper=0.9951 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -5.3812, 8.3897, 1.6142, 0.0122, 0.1685, -0.0415, -0.212, -1.347, 7.0222, 1.6923, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9fa272843bf74a040cccf2ed44365acc9fbbcb1cbf9990b3e4973b1b5d147b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47d4dab231c8b069c21c6ced9df563a07ce6433e79d309764517881765bb665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f210b5c7b453f912f8c0cca86efc65bf66a66d31aafb924434de0db2899f569",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvaI82YoDMBy4Nk4SxEUz7ecl-7I9c9pCZs51vyXyVjJfiHBPlIIMnPOh5iUGFC8Fo18E-Iq4vXY8IQZ24MyC18PDjlmfxDZREzzLGkdvqc3MhkLUgfPvsZ_PxTVsCgVy9nRtngU9fWbfMb3HwY1BcXXN7MfM2v7IVI3e8wBmWNPKo_Er9n9uc6KhikSu5odXg6mAt3lfQQBJsbKvZL4USW4TN4PxFL04fbBUMEe-dC6Vyq-OtjMhLat1iMxXFMqCiK6hgZVbvc52Zw7a4Vh0AFwtlkwYRm9anRsY8W5nIDPFYGUU6V4tGPWAldgssMEKyXsmcDrgbIFL2JH7c6zTBwj2aHWyMzWH23erU2BoAMY26ieLdq_sAWEg2e2T41-LtEsUq5NZSDM674LGImOzjn3lm3LDMqaxZzsk1MQaJtbP5lQaTTkIjg2aEikAFVmMKiArPZD5Lw_kqXoWNX3RczUUlOP0NKuuCbUBcbrCJi_oGW-1x01Gi1kuq8Rp_o_djPr4rN7SMTej__x9FM9mL0BUpq3XaDD8pUN8lWPM47YV8cyFj4Ne9HfiEY6GnTtQNuesaERED_FQJyh6lZEzlVs54PO28cK3tHeGds8LSQPPyS9QhuGf69UVH8m3cBa_JYR_6xLqxg2F6Yw0GHoPL9rCJpZFcDnGItqKwdtotNhPuREcxlW2nyItEEoEnlB-38bGYUPuOvfhsSnlSLmq1jL1CIpwipBpdtC1aWHJpzwJ8LFvtz9PJ-HKHHQoGcpB5sXyFEkl_NAu1dqvpw61ocCpLHZ98sNjUCldM7DdpFT1B1G-XWpRXRJEJchtPAGMM-MH1fkgppdpWTtrwHolt6Kf2htEuU20KHKUJysltzN-eRCZOah5WjCTFfhp8qkMrOW7sxG4fhjL_C0O3TtBDWXjyKva07iKODr7CIWlL-1-daAGMoR5ooT-KMmxqa8tCHMYPQVVMrx7vLd8RuqDpDlj4sr3Yy09fviRyYV2LKOvYFr4DPj1VT1ojTUxolnet5Ub8HKVAXMiHr064AxsJnpTfxixFiPXxi093mSjsjrdrGtod3EJGY4vV69Gnrs7pI1NxV-e08Xc_KO7Fu1nnIOSPrVAJZnFIo4PXnj69Tr1BnTM_2GNvonPa0YBP9CeOyf14IIfNZ8EXM3eqkoAxqzeSvAT9WG_wuq1GWFg_bx76bJptYiX7nmePZq2lejbiuyfnjN83dGpxUgmwjIw2tffnhXlMX1hyTTsuHabzxUHgVNN5CbWsbVUJqPeueNYFqmwAxaSrZLH3cLNHF4hWNE16zzuF3wwX97NX0OE1Mw6bhqzqcb-jg_at65mkj0iXxUm2Dq4aVqNb-RHcp535vYBmmu3SKlPHZzAS54VcrPJ8=",
  "id": "rs_0fe5ba3d170c26b1016ab41bd8e85c87d08fa84168384158d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the correction, the white figure’s flank fills the gap between the fingertips. I’m making one more grasp attempt at this position.\"}",
  "call_id": "call_lVoiDk1KNjcKBcYF2LUfe6ik",
  "id": "fc_0fe5ba3d170c26b1016ab41bd9730087d08a9de26162c29bf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lVoiDk1KNjcKBcYF2LUfe6ik",
  "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]: [-0.0181, 1.5841, 0.6613, 0.1493, -0.157, -0.1162, 0.1117, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3948 left_y=0.0241 left_z=0.0462 left_yaw=0.163 left_pitch=-0.2 left_roll=0.0392 left_gripper=0.1117 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -6.5162, 5.5179, 1.5263, -0.1441, -0.0122, 0.8816, -0.3487, -1.4838, 7.2137, 1.7558, -0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd31f10d95ede71052e4a39384f6e7650cee64a4806da3c49b17f09219cf6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3448c142b626d209a32d6cf05c4457826fff018f9b5203af2708f89d0ecbc5d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d15f938e483cbdcb6ef7b4be1d0a18a90a35038ddfd8de69dd857b92683139e",
      "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 · 6.866 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1726, 1.5387, 0.5983, 0.2016, -0.2596, -0.1894, 0.9969, -0.0151, 0.823, 0.6067, -0.3702, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3853 left_y=-0.0175 left_z=0.0513 left_yaw=0.1333 left_pitch=-0.1473 left_roll=0.0449 left_gripper=0.9969 right_x=0.2983 right_y=0.0012 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -5.8598, 7.3915, 1.3504, 0.0269, 0.2222, -0.0122, -0.2667, -1.1966, 7.2547, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0216, 1.5826, 0.6586, 0.1513, -0.1596, -0.1112, 0.9951, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3944 left_y=0.0232 left_z=0.0461 left_yaw=0.1591 left_pitch=-0.1991 left_roll=0.0446 left_gripper=0.9951 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -5.3812, 8.3897, 1.6142, 0.0122, 0.1685, -0.0415, -0.212, -1.347, 7.0222, 1.6923, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.5841, 0.6613, 0.1493, -0.157, -0.1162, 0.1117, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3948 left_y=0.0241 left_z=0.0462 left_yaw=0.163 left_pitch=-0.2 left_roll=0.0392 left_gripper=0.1117 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -6.5162, 5.5179, 1.5263, -0.1441, -0.0122, 0.8816, -0.3487, -1.4838, 7.2137, 1.7558, -0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd31f10d95ede71052e4a39384f6e7650cee64a4806da3c49b17f09219cf6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3448c142b626d209a32d6cf05c4457826fff018f9b5203af2708f89d0ecbc5d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d15f938e483cbdcb6ef7b4be1d0a18a90a35038ddfd8de69dd857b92683139e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBveRv2clLR8OESoImkP4SZj7WHQrbgrQs1irOa30Na0nE_sm1xFKfZrlAuW_sFHgXGRa91WETwZBUANOqd-pyEhs9anecydGW_z03iOhcppm6ykTLm0udBc258aCB822KvQM83GP4gmXJ_veJ8HqfU71d880fv04G-VMnbDLVjdXnPnrziixFZ8PkKFFTsEyMwRM1hlProCeA6L0a-0eXyfQoePTiQgkwaMF63xE0I_EYgsiRYFzUgYJyLGUzyQ8Z3rz2n6klTmZdaXCp0-FWq5GgAouMPBZ5bWTrI-Zr6dfW5wPOLaBcg-0U9nJKRcDetSLRjiS4nu_FhykeloFyG5mvmKoWGTjsL99OKTlMtqP0vb2GJSS57xR0nvNVYCtSLWiLqTwKILu4NS-N072d_pk8sgB4Zj2Je-iO3pJkfrmuWVfVwRYMq3-__BsfZlUKJDv2waR92AXWffGoGVCW_9W0KNmqx2LBJOfkfboLxAzFIFQxgiuy-Ls76SfYWAKd2nXR0HhSEQmVdOfh-kMfquRKX0qGACbGunCHD9NSLe7sNbbd1s8Tf2U-j53w6o-ecB2PRRD_MEiIaygKdjLJCrZpCaM9C4YmL-GpEEcnaa1nEZqWZuMYdYWpNVHRrcZ_rF1YsRej39grI-Xt7wh8noFzIEBnr0vlbub0Ct1YH50WxNu6DXmRBzWajmmn7pbjfiZQvd6TRbX1Os2So0gc96FrXL9Y-GVdIIhXUGoo1Gx5epM636x7ahcYPeW7zOh1M9slFupbL2MFn_HErMEzsdaleyRzVKqEJCZUzFaE3FzOEmA0YaygCrBvjjZverxOul0nH-3BnpnT8YQEP8FoQcZfKD2JraM5QkYNI-sO1Lg5Ik2iCr9zFfPWjQ30VFo5-vm22OFhOjGlrIaLFjWJmDrkmMzFrYTPx7is0O2bylXv8UUoO7-3FesPXgQsaXxKaI3TGhxDmKylpkuWDK_C2xbtJV_DGNlz6mzTce8S_oGVrdaYWpdpVqExHmS6KLx8ciBWWRo7XAr7HBzs0-Mni24BtCi4CiNf_ilLOwhCxSHlc7Kc3Nsk7wVRrL3UeVlyRmX8jG9TuRsbOgRNvzFm6oKek9ITggxIGE88AO7Y2NjmAcJwtXN850rMIh1H7HlpWBF9qrigiZynWHhJvQWfh5O3pi5DbYDE0EuXhzPoRsnWJ1Ym7d_wB1juLMxM2OJZgibf9sQlJkaWaXHy82KhVn3g==",
  "id": "rs_0fe5ba3d170c26b1016ab41bdd0eac87d08179c61187da0952",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left gripper stopped with a small but nonzero opening. I’m lifting to check whether this white figure comes off the table.\"}",
  "call_id": "call_nBwTMFrcAanlUdVJkb1dHmCt",
  "id": "fc_0fe5ba3d170c26b1016ab41bdd33f087d08833d93762aa0434",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBwTMFrcAanlUdVJkb1dHmCt",
  "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]: [-0.0181, 1.4029, 1.0389, -0.4557, -0.1566, -0.1287, 0.1139, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=0.024 left_z=0.1625 left_yaw=0.1714 left_pitch=-0.2451 left_roll=0.0385 left_gripper=0.1139 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.4034, 9.1692, 1.6288, -0.1392, 0.0757, 0.2125, -0.1162, -1.2786, 7.0222, 1.6923, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb179c56c813c36634acbbd015d98a5dc42c4732a871606e4f907f0718a7e84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc3b66fa3db314429eae3d095a295d83b0dc6881160cda19f2cac622927ca27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee511de4e26fa2da74c18e57b13fe30d264a7236fdad10679f7ddee709a7818d",
      "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 · 5.5 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1696, 1.5505, 0.6044, 0.1806, -0.2539, -0.194, 0.013, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3832 left_y=-0.0169 left_z=0.0454 left_yaw=0.1353 left_pitch=-0.1738 left_roll=0.0458 left_gripper=0.013 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -7.1316, 5.1897, 1.7411, -0.1294, 0.0171, 1.1404, -0.253, -1.5795, 7.0496, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.5841, 0.6613, 0.1493, -0.157, -0.1162, 0.1117, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3948 left_y=0.0241 left_z=0.0462 left_yaw=0.163 left_pitch=-0.2 left_roll=0.0392 left_gripper=0.1117 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -6.5162, 5.5179, 1.5263, -0.1441, -0.0122, 0.8816, -0.3487, -1.4838, 7.2137, 1.7558, -0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.4029, 1.0389, -0.4557, -0.1566, -0.1287, 0.1139, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=0.024 left_z=0.1625 left_yaw=0.1714 left_pitch=-0.2451 left_roll=0.0385 left_gripper=0.1139 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.4034, 9.1692, 1.6288, -0.1392, 0.0757, 0.2125, -0.1162, -1.2786, 7.0222, 1.6923, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb179c56c813c36634acbbd015d98a5dc42c4732a871606e4f907f0718a7e84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc3b66fa3db314429eae3d095a295d83b0dc6881160cda19f2cac622927ca27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee511de4e26fa2da74c18e57b13fe30d264a7236fdad10679f7ddee709a7818d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvlXFN_Tjuj2GoRc6qFd123CX4ggDN8BH8aLDi0mEy34fIVrNx1R_RZZZ8cyWY1S_jz_fODuj2kP4mz7M9M9rFgPfgg8JVVeIE9eb_phbA9_wYstFU-W5ffucgoNqUKw7tsNsmfdLPJ0ticSwAf1kmrKnWWUK-i4NOw8WVmv58cdPZ58ducxDmRqLp7Py55BK0QFhKmJW-H6Fk_ufpjGrqfHey6zpx5ScdF9XPIPwiBpZo1k0Q0c_RVSctLNlivbRMNQJPY1vrebiZrT3EuQPhHEMvu0oEaprGpq-qsHEVg5ba1LnSKFHncyGdNU9x2inNWwBUleEtx6zEi16Ar_zBheEtTxSRnh5tfHyUAtZuMIwIadYBSupcUKbC6RO-BN8nn1W91IEHNOMyz1Ujr0unSBnvO9iJTQ50SmxJN68pT0HbCtqDTXyW6T66elIZUXAV6-art6N6lSRKVDX6p53p-ZYHQqoGA6f_Hnu2c_EytZN0GTjng2JdOE_ILpzrUpEwnI1_zOqfkVMKeijhfTP8qjqCLIfg5TldSojSFhZKbD5-qLL5oEqBSqfb5W5cA4QVYcGnYvryEQR0yHUzZseXsxaQsGn3f0u3lMyOUFTjucu19D8KXcWzwZUx-12YHY4KE7fJw0AqmfNTe8kf4dVVZEQtx5lGw8nMRoXJsAyBtGqjhM_wOE9MEVDe5epS031x4y7k8Ra74TgtoNNm8uofLTNt4aYeC6hhg53vKUp2SZdWOFXt34ohBlM5ZvpmLuHiaflFKaKQzRCOhEVcAOZ93nEugCpDfTUdVLlf8junLU2XerlwH6k0B72wdcrJCubHxDO1VBQSWaGuNthrVvyAefZKzO3yJwdsDMJGiL63UzIrQACz3bJ-PzD1Kar9NMq9E4NCbhzG2Rk3pBwhvELXVAI0wn-birQldwgtY-Es-6KgBcOCb0xMVcHWfsPr_nArhRvd3_F7uZ0XwwwripIMceGCJGIKwhgI7T8hWmIHJPiyEIX5oWCUCuN5VpbZuzJi5s24FMr7-JmysUfWxUwzfMxrt8vQYSnGRE88p-4-M2oc971sX3MHLNgF3V5YC0G4uz_KnYxoYwNI7HVclkkg7kXuR_kU1U-fu9z9JlnDdhU3fRimkvEHZhSABlIf6m66zRstwBWS9mLAPImO0JOuspYzwIFigc1qHeTM1xaXgu8dxIYAmRwU5SGi6qgV6i9ESsVNJM59NW6-qmsDjo3UiXTsV6gDC6rWmfJi4E15B7Aq3dhD9BhH6AYGd0QwJmWdoccuXHbMw2VoOF4P5SZMCbQFK7TyOa-HujkQ4gcBHuvicE5vaAdM0PKaA2eY_tiklwHx7aMIHTCysVt1THRlFXuy6IPS_5pVXrWX6YZ0mlRAqeY5n27ytIBbt7v69KPW67ILomdxyniYeavdyx3BmvmTeWUDMoPrqRK6f2eiHvDYhhJYZ99c2gx2S8TUYOap9E4dmnHz1u79jr0bhQtyx9sfQqDPjwSFa4gG8vSe2dyVERB6KYeLiczrVwPKwdtcdRvk-K2R2nDbzCz8SUK-GvvXW3_93DsKBtz_Vw4fltsmbExOHC1rZMiPcyZgfvEahM5vLnuA1euUws_KqgPkyrOXfY4TxeYYWGxG1fWSZwfjGdCAE9KFXV6Dl7uYRuvWc2zJvivTcGBNhhw-cpxc1p2HS-fzZCs9wTXZprowArBAdd1Yt7tZF19_GwD2xRpSN-FXgLr_2o9uYRqabyinclSB9m_GCEa0t1Vw6ruXgHrKMgFQoMf7l4tV9rG2MSvhU3sUp4ubveU-itxbaB_FrfTS6jH2QljPjm7sBldztT2nnmH1hK6A9hsP4x9-lp8dJyhQjuAFKy_9psd3SfU4LVbaw5M0hNz7nOepTv6fGnHUK1xG1RVtg-T54jvtXUcuExcJNfHoI80gYSDFqiPABuUKe2m8tHam9POgTvg3Vp6hb1kbAVgPfPRiite-eVMbRwB-JUC9LEdOCX03fl16bU0w_fe3Xr9Z3gpkL4lVHtiTDdzquFtz5RWKsZoDxyW0rZziPyQmPsXBdvoTHnU0QmioSm0EROGOzTEnvTgz339knBquP8Cl-RBSLiSKxfq-_3gDxtlTd2q5odVRou4nTEHpfi2pysCM8h_XNIIf48F3B6_cS5Q6N7QHgMgZiSDOp-vz-0rwO2ChNFGuOa-ARdLZ40XLtpG9vDDbaNGw1IgHAIl2YgzIsrkiHEaiUVa3wDTN7G_Hz7iHaJNHdQbP0i_XTGNvlbevGgfnFWecu-5hZ3L0lDWiN1jzvUNNZeLVFRxqUg-M2cOl3QLSRmcBRmcFLDMPKzaDWmfN1mBmWLG3VtL6srKAFKGloGYHLkOzztjkCh2iFr461TCzY4LyXpupz31eEwjGByn4motySl46ZxSu466KzTFZWOwmMYK1f8g4LCTEZFbnjdvq8v711N7qdS7vnXqIM3KDw9BJCgzFcXCvN93dkbF8sChkhr2U_y6er0E0SKp_m28T_eRZmilpkz2SzYXEq80SgsFO_gCShWJVQ_rcGx-eD_hKstC8-3E5C_PYmAcaXmvXpXm4RM-FbenUx5MZ03DMJ4olrioYNqcJtOpC0YY_GAUoEmDvTZrsflCK80_4kQ1VXDW2pHY91ZIuUEJdILJvzT_6V53DuG3ZwRVpXL7KHWlBH1oPCL-l5m5-NjRBBY9DAoJmco627ZuXfNwtXh5xDTXis_LF40r0CmiHjWTJrwzn3j0eatijlAcqkb6n41q2aYnwnur1LomFI14-kyh8lg092pnUp-LrWDcnq5v8e9ifWqOevohJKBwvOz4CSR8qg7q8sYlORdRMtv-m0KNUsnJgmCC2a-dRVzvHau9eIqR1mIcR-stGEo-xq_JbxyAU_hcx86UDRYlBd0Zc4izvtmsUfbok7Hs-EAx0X3xvjdR9BJTm5874TDDInRM8dINYrF1GIjNEu4dgf3zWG_xrYFq2B0EJNGp2sQIS9BsdVu4Nc0U7AgYtgTBsj2xDSvhQVbYrrfYhEwdgAvJYyeVuyB-mtIyBtCMTdj_YoDe8vxmBQxsFBJepwY6fGXvKkBPhS8ITh0lbuNHheGp-b209sT4i6piGaLCb2m6b8C-2rAleTaGwpPtDk-Q8REXWSt3s0XkZCSzAobTsE75XEmnMfhcw_TtVQZiPUPyzUAQLTMULeYrBdmnNtHm0HMULS3lfCQX07YHWBVYr5x3Sf9d8jSdjOIfXvztl5sJOkJ-fezMwrl3A3WxCtsiSnlF8-IerVY2JnEeiczIkGzS3RQC_aHt4j4MRkHZcDNjzwY3t4NYEHbEvtBbv7IhncnKHOyxXlPHhaoeUbVnZPWHU4OpEAYl30A26CpStb7bLbkxOi4CS87EiyLvmIU9VHZqYXVQ7NEFYP9f-iHLe4dshp55TX0Lk7KEGHANpgVZUtxPTpv2r6wRv5HUIeSJc468XwNOsQRiSIzNs1n1DJQgMK4DXnqgP55R4gvrIMSY1Kvo77r-JYATMKOuJMnDaI8KlNlkTN4GktL6iqCaf97CQUoUH7DJVqVbq_ZrevkSK0ppb7FSaKGl11w85icGx_KOxF_3fEf9MN-cYJhHkmVfmq7Bvip-u__5Ns6NpgM3OkKHGCzX_gvy_M9MZ-MmtTqxmeDYrRxfcm9Dm2rVF5ZgR9Eh8lGAFuQFsBAnG7lDrLu4YIzK4w0eTmN3un8L8cRztuBXoujW3l8Q==",
  "id": "rs_0fe5ba3d170c26b1016ab41be0190c87d0b27c219b60e8363c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvl0cFTZvb8A88iGP9N-cDZM2krhJZ7Or-sQyc2mFlKaDbF5Fn4Zi9w2lKgyJkxMg1MOJ93SO-vG5rfEhgzKx4Bt-KVtFlc_X3-h3A4hI3ta5EGb3ElGEWkc_GlRh9gs2rk69HGhNC3btNCI8JW0ASSx6xAaiXnaPtQ9r4QQQdHI2VldkaIrpmA1tqJkkEe75pvN6UU7LEEibG8SLuEupMGJbxcyJz0XhXLZMkGE14S6K0rrmtOsi4yV1l0IcTIqHHetG-jXVD6VKKYLKh-tsAZL8OucbcAxT-xspHc996ky8XFzdlu8OaAiPZLKYgim-mnzYXJL_zGCosbTJ5htLMDAF0xkX3qUw-khcq30Cx-H5l5CAbeDi9kJmwnPyCOjUZDd9A89S2ZEFzuPlWSuv94dSRQrWWqSfrYrrw-3Q1IkDVBX7IR-DWiXm5--Hmn1qNkfFxMa_QVYCYe6FAOIevHmYIk_m1ypfI8XoUY2W67i_oKq3Vec5eSi1tWQ89sy29wJE6xsQ0xiayVkpRWOMBz7pW4im-GHUf2TaKsj7M2zrATF1WNlgibM9GvjRi8jRMlyni8WtiIFkkfG8_yFr0c1eWq0i3ROpJai-bbnX2Qk3u3GrjAeONcZgLYDswseBHWKAKt9aPETAqx-Vak3cz72KGp4Co1p__VdjxJAV-QtmCsPH6st_wjW61rxLhzeAHQZRHci2rIHIq-IxAvyiLDLW6hiVjKAaB8LXkRx03lphBWeKh4asuBKT2mIF9-ejMY8VqEPNxDFuisKU5InZamWg-fVzp1aQJQXDFwxdkAuzLDhEDbXoAlt4ioEeSMW3IGNeox7KHQM9xPn3VrjtdyXFsH6L8SQtFX2mi7vo-UFSefHxPkAiwBGqJt8Z29BblsY5YS23OWUY9L7YIdmXLtWghvGkALfF-X0bk5S_XF02kMW9IGcg5KAj5RNdXKGUmX815uPnFRwRh7RhlXyWRxhe6smaserUTGuavM0bMMtBQOVDoo0TrCUwTg8hcXJzZb6mVVrFeZuaIk381S3UwhkONKtA-zTftjvU-sJaGghwb7SKTuXNfgrvknMGrPTpTg7Un9xTqDIXbmsRAiCa0CQM3LgSX94cWZHSZZkpBnJAaOND2ad4GI82hK4fGEcSGAM70nRSy_Zf0CkjDx0SborsnVwqNOtglbjsS3BTSn7sw_q4XpGCR103W0TFRCaQhZ8SW1alns70AUztfDh6DzH7nvrRyeq7LsPAgo8q1dxM1ATnREBuB6F42KOcGSs5OLbRu1PN6LKfpgh_yIDzFoMg71TbxWvgzG8hUkfq6_LjWHtj9oRdqm9W5fdQ5iBhsXj8dRitFmcgQ-3Y7K-Ea_e2WOZpD6Zanp6AJ-MZ-Vq6L9otJK2nPB8jlmY_UaHTyilRnCccm9qlPVGi3SrNC4mGosA_nLQp-7gMA3TQFDNEsRe4cgZOjIAbuBUHFCyx6y9FI5DzQ0OKZuWEMrNCaPbRtrN1dBxEuRmH0VSJHjOQsrb0ht-kD69WxzJh5AHnbQC4xGS9sDED8xiCNfy5UZFITVz2v1iX0qX8h3XFEA_1f7zCi8w8hrh8KdqqOOxDgOw2UE1h_YO5j2Y5cEDC2DT9r9wPDawMyGch1IkKllgC3SgthID8XnxC7VL3ChpfEuHwSMxTKPlDXiJQEnnKTWb7mO7bVZZoigr0tSGghDz7o2HpZOfgTLVymHg10za7IJdZzCCkVcQeP1TI81Rz617QcGOH6ZxTaz7KO3lPmk_BrNaiF3hSl444crlmflfyNOkIJzi4H8qiJNovmYQhzWdRHhTKw_esjoVTdTpW6GOlzez7AGcMm5xbo0bNZ6buas8e2y88pNdhBmySqah9nFX2hh9wkNbC64MI5MMAdQsALs3LkXXhNecBYxlL9rmxgnqBp7uSInkNBA2adf0vkdRR5_-vlBST45d_vKOqCMCWlJF454IT4BB06PxFe3xf-SRTowym_GUqQNrZ3dAR1ppTK2LFjusqGJGjsZ76YJ6P0=",
  "id": "rs_0fe5ba3d170c26b1016ab41be424c887d09d4ce181e5d87fad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.18,\"left_z\":0.22},\"note\":\"The white figure appears to have risen with the gripper. I’m carrying it over the left basket and will check its position before releasing it.\"}",
  "call_id": "call_pL8KWlbuoZQqTC3p04tFmbtG",
  "id": "fc_0fe5ba3d170c26b1016ab41be5678887d0b439415bc4848717",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pL8KWlbuoZQqTC3p04tFmbtG",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5529, 1.8755, 1.7451, -0.9077, -0.4709, -0.5869, 0.116, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.1732 left_z=0.1956 left_yaw=0.1771 left_pitch=-0.3147 left_roll=0.0575 left_gripper=0.116 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.1949, 9.6752, 1.3846, -0.4664, 0.2076, 0.2027, -0.212, -1.4427, 7.1179, 1.6874, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de497b49df6c53369f21e8340c14052a1142d99eb570b0f884a8ae7dfecc5f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01e953c126d53e1dcc0619e6fe495661a2246ef0a4a2e5979e55edbcaf9b85d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9f9f5da1b926502e8824786c8bba617c8084cd4e1769981f6e247c78e1e567",
      "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 · 3.302 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 67 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0216, 1.5826, 0.6586, 0.1513, -0.1596, -0.1112, 0.9951, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3944 left_y=0.0232 left_z=0.0461 left_yaw=0.1591 left_pitch=-0.1991 left_roll=0.0446 left_gripper=0.9951 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -5.3812, 8.3897, 1.6142, 0.0122, 0.1685, -0.0415, -0.212, -1.347, 7.0222, 1.6923, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.4029, 1.0389, -0.4557, -0.1566, -0.1287, 0.1139, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=0.024 left_z=0.1625 left_yaw=0.1714 left_pitch=-0.2451 left_roll=0.0385 left_gripper=0.1139 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.4034, 9.1692, 1.6288, -0.1392, 0.0757, 0.2125, -0.1162, -1.2786, 7.0222, 1.6923, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5529, 1.8755, 1.7451, -0.9077, -0.4709, -0.5869, 0.116, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.1732 left_z=0.1956 left_yaw=0.1771 left_pitch=-0.3147 left_roll=0.0575 left_gripper=0.116 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.1949, 9.6752, 1.3846, -0.4664, 0.2076, 0.2027, -0.212, -1.4427, 7.1179, 1.6874, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de497b49df6c53369f21e8340c14052a1142d99eb570b0f884a8ae7dfecc5f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01e953c126d53e1dcc0619e6fe495661a2246ef0a4a2e5979e55edbcaf9b85d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9f9f5da1b926502e8824786c8bba617c8084cd4e1769981f6e247c78e1e567",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvtM6WOn1Ida4kdzeQUjBqhTnAp9ByIXCu_MJyR9bXW9XF1dO7Rl2FxYVR7SqwvWQ2U_3-GEv1MKOB6erahZPZ2XrO6MZuVyiOlYjt3jDlmUJ-v5Qu7_mSKoL2V4sUxosonyR6wcI6aNlU3o9R2Ke9m5cFKYwjcRVyhtsqJE3_Umuir10fA3ELahN-fumLakDzlBv0IDtP9Hqsskgeh74sfXFR-VpY81LelFzTJWFymer3tx99IhANoSs_PYS4IoKTOIO4IausVpatOz6c2S7QvmB76YNdWHLKT94ykRXqrdXXz5uHOlZqgjJrYlNYch3bUit1gAl_Z5jZ0cIDiLOd5cqKLsIrdMhVFqQbT2W9SdBzmaosXvciTpbVrDP3va4KGLjd8-Ag2v7JJlDjdbu21Src4uw4rxbENmI909mGHXJ3GmZsGcM3RxSbSciSBc18ZQ4zk2HYYwT8litAox2U76aaspEcCr8NArh96IBkMxuU8YHE1Yukt171QbJEaCZy8Otv9iM2zBBB4zf6nZw9cFTzAty3-SPodJjPfhOJgnVRpn8W-HcDdVb8tvStXHTkXuZu5eHy50P2DdMaZflTc_tkwSbZPv4PyyOQnUtwecApeGw5_woMCD38GL22Tzwmi3t0CIb-QEq9oj1oU-NWLKlFzrxbN_55-3cErCvjDiKJ3fbVe43ULlWHAZJV9fWgZPOf_55DeEi0V7bJMhXZfPxik7KAqGZk7lV73o2xoqw6fQKMRnseF7v9AOvmTL5YS2mQawlwoUDCGJWSoEvRCLH5-Q8uli59AWX1QqWGZN4vqvsOjOGObmKS27UrR-fI2ZPmAmDvtUZZ6eHqDUEyGyNvjcVIoIzanhlFX8MOsgCcOxeY0ZztjjnaxCmfzpizWp_UZ_uJS_EQejOCovMu7S9LOAPLu1JlpSvF5xPul0Qzt7Z_4syS9wiMjP6L9k8HLzEuPgJZ60Vk7dgJC-lX4nP_MTrEt_wEu1M_it2PFLkK8zw-QkcTBaLeUSbQswWI6-U0TgmjCPSzwuvvxqeO6Y5E6e7pqbR1fzB9ysK357OSLbelgpikofZYvXlOa6IwgK16gMDLdYzlodeCxzOxpSSgAu3M9nhyREXmn_s9iV6a6a81uidmCWKRSdZvLsryad-tVjp8WSiAmeuX7dRKncLc7vHj8UsXxiQnN_DxBtmcZsvxiODv73Lzn8ah6TZaLFZy1oE34wUReCrrJNnIE98Boz53Y0UyH2Slh8sjGPwNOhwunV4PotBf1JEu6O0pqBHcxQT51--kskGI1oR-DRaT22bPAgLB0ijTTtPw7jaTPfppIpVKGkfM8HaBWgHI_w9VZZWHl6RvICo-O1i-gjmguqSO0yZ40Xzkty8qzvcWM6FrIUJZmKzzFagrU5TGpWI0qnrApEQin6ZFjXHo9wZGeNsPXuDngTrtSqf48LFeT22TNm3bQ0UbBJiv6yU3P8eT3pzzWwAEIvOtRQAv0oEU2PkcECOvS8uTt1hxPCQyKGzwrmoNlf3Dk28FhXM4ikn79NogFbcqZ8OpF9BBgEJ_17qVhUU0UWL5XM_4OsaPoQ466jCcXgqxRGKLXLV80PRTn13w8gdLg_Bp3njSiuleLdlbZhuO5I-RDNq2KBg-lhySfL-D0TJlROCGJhB5ZpV6ckIhzRoT2S_BuVBDTB4LRukBefn_bZUy_kWeBMrLFu4_vYQqg9ERj33CXEqY07-11A3R-sYN2sanL69KEqTnF_9qIyX5iV674iBQ8RPD7xOVLYAqY9WbgPBtxWtadg4oleKeeUXiBmTA8cmklISKPBgrTUgp7_BqA5ab-tS1qyUrTHgc5BToaQY0nyU-W6gRMc0J3Q6mFCw669gvn4_YSggC81GGkIHnh0yi20P_2gPET5Z3TqAK_bulUufut_QE3ehZFTD3GnCLiejDukQ_Ss8LWHlBzd78rsbrfL3WDuwOVU0-EgyVdRJs0NO-gA6TddbuHtrN5CQCIgMUEvDaxeZMLjkj7TaA2tBQey_Y7WFP6a0dltNJFN5I15TAMKBqiONOzp86ferrclSlBIBg91SD1kjJ69apBITrsv44n6XZuzr7aev6fjnZYeXZ2DF9-ahl0CCdakd-dEp7KDAQL1hjs8ddyNsoo8FN8zsmULgBQZVH41-fRwftax1vEhg-gVaTcF6pRGcr6aLTS24kd5qiL2bek2xL7cW_3WOTwruLjhtAyxFYnXj6cusq17KZr1S7KROU6WVyaQLn-pw8eFWZ_LDFtMa6zpMCIobkmbSQH0LTq-pqZRSZJYHezD_QV_HfZL2zZRIA0dBPpugIcha70XBT4LPWQQz4GPjxlQKWWYUrPugTbetjuS-Q7b7fSX2MFtH4eL-2FAp_1mRMB8ha-O5k7kaLUZBdOH7WGlwcW0m6wrkjGf9K_pB1GI5t3o0rk-9yV5gSXXryIsnFY7oeX3y8YiEW9tmsDWoGOSuFcHY-NunMD3Y_8GRabhXh89fit2-H7Uxxu3MKdMWxhWjA3jYwnLiffUtSsajml1Sgtf49kkJNnL_vFGzPAa-ScgEqUby0aZ2SpOkHjq4EyCPKMG1TUGRokIob18Zcf6A6I20NFz24vZwxOWJMPkYiP8gnBh-t2cptuYEKJD2DiFw--T0yxm7Gohu3qoBLN5T3Vz0guGb6qEEYTeGe5rsVcjts1Qyk0a_k7icbuD2mvaqVlUgTCd5053w6AA3zN5hUXAoJycHOfyQvnMpRgP3_bj7Gx2lE8alKVc2JUkcQdKPVCKwWibh1nBD8o6GsbPrU1FAW7xzpq31pryPqMYJumvUpwlcsi-ALFS4maULOb_kppzVVnEqv3cI1WMDPYkT696QDMT7aajkPxnvVHSQprRlH_Hhza8OfCREVMSPMSh3aJMAOYJPqV8_u0m_8=",
  "id": "rs_0fe5ba3d170c26b1016ab41be8df8887d08739e24dbde98ee3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.26,\"left_z\":0.225},\"note\":\"From above, most of the carried white figure is hanging left of the left basket even though the jaws are near its rim. I’m shifting the held body rightward over the basket opening.\"}",
  "call_id": "call_Kkgi8RMyZ9mdyQDJQkXOLaZC",
  "id": "fc_0fe5ba3d170c26b1016ab41bec5a8087d082343c897a165594",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kkgi8RMyZ9mdyQDJQkXOLaZC",
  "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]: [-0.712, 2.1746, 2.2807, -1.2491, -0.5022, -0.77, 0.118, -0.0151, 0.8249, 0.6067, -0.3698, -0.0116, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4367 left_y=-0.2599 left_z=0.2104 left_yaw=0.1694 left_pitch=-0.3618 left_roll=0.0376 left_gripper=0.118 right_x=0.2985 right_y=0.0011 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -11.6308, 8.2393, 1.0232, -0.7546, 0.2857, 0.2027, -0.3624, -1.4701, 7.0632, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ec48fb0d07bfecc801319fe3e82ffbb25f7a8ae3ae63c4c8e823b9fef6b287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba7250819d537060792b2144563ea3dda86b74786b50604c7126723be182689",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b8f7b5658ae3c5eb470e2c639806cbcf96dce2d35f948dfed2a09e815b437f",
      "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 · 4.093 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 67 changed as sent

message 71 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.5841, 0.6613, 0.1493, -0.157, -0.1162, 0.1117, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.3948 left_y=0.0241 left_z=0.0462 left_yaw=0.163 left_pitch=-0.2 left_roll=0.0392 left_gripper=0.1117 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=0.0001 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -6.5162, 5.5179, 1.5263, -0.1441, -0.0122, 0.8816, -0.3487, -1.4838, 7.2137, 1.7558, -0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5529, 1.8755, 1.7451, -0.9077, -0.4709, -0.5869, 0.116, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.1732 left_z=0.1956 left_yaw=0.1771 left_pitch=-0.3147 left_roll=0.0575 left_gripper=0.116 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.1949, 9.6752, 1.3846, -0.4664, 0.2076, 0.2027, -0.212, -1.4427, 7.1179, 1.6874, -0.0366, -0.0415, -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]: [-0.712, 2.1746, 2.2807, -1.2491, -0.5022, -0.77, 0.118, -0.0151, 0.8249, 0.6067, -0.3698, -0.0116, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4367 left_y=-0.2599 left_z=0.2104 left_yaw=0.1694 left_pitch=-0.3618 left_roll=0.0376 left_gripper=0.118 right_x=0.2985 right_y=0.0011 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -11.6308, 8.2393, 1.0232, -0.7546, 0.2857, 0.2027, -0.3624, -1.4701, 7.0632, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ec48fb0d07bfecc801319fe3e82ffbb25f7a8ae3ae63c4c8e823b9fef6b287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba7250819d537060792b2144563ea3dda86b74786b50604c7126723be182689",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b8f7b5658ae3c5eb470e2c639806cbcf96dce2d35f948dfed2a09e815b437f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvxAHE0Z0rEieIN0l5WmJTyv48jbCYoL3HXwixnjuHXnxkFxIavDUOx32t864CxEbjeOAVpXfBxDGfznmeXO_cXXzyO3oEPzrMD30kdf_dYlUXE3zaxxongJSsByCtwTnfTTYMJwXlzdM991LQTywH9UPTWJMBt_pt3CjEsQ--icsWnER0CINYX3cvY_kwFNZlb-kHwfZ9y_r8iCXuoWzdn28dZ_8MEVXmqxc7fWmwKISsqQi2KTV_GgZQ1bFBmQf1H7ilQA7xP3Nu4UpguG6DAo_N1Kl0oSDhu08yrkpiI-DCtLGG530ukvdNviCEUxl6kVOUBgAw2-4ZX5U-M1TmreHfEsiPQvMTTGICAZuUWlHT2AHeaqV7iBbPIgudWej_u44fM9MesIBdFrKVMTsc4L0aPoG2gNV7hl1hWVJ2X-W0oO_DTLd6-YixoFEqCXJjWBH8v-INbsbQbBEiCfNfAWFcwfuvxS4TjrujIaWRohMHsf5YqtnoL-gyfbDLjJyC4KVXIRYSohGPAQuNwZuls9q-7wQ1CnjHiOt_MHn6WLaamR2BNZu3YIIUDLm7ykm_us5OWCzEB_vxbuHhYPtTrk7uVSW6Wqv_CYHccuF91FNvgFSQXXuMOBjdnxPMWRh1lwvkvg2_0xE2AwgKqktcfDKvcWhf76Y_AXoMo3J_CKR2y_qbuA26y3rr9oR62m8JRCmHKEiAPOyc5cA2YQLkCFD4TPKvJqZ5SCsI7bFB6SbXzGogX7r7VQO7hFqqHgtIxtvClBctL3gZ6G-I3tTzSBjJXTm6ZC7nEyUm2VL5FuAxSsLM80dxMGLSDgb14db0pXiSPDsmHjlrbpGi3K9frnRHmHDEegG-pi8cQdK2BE--1Cmc6jm7DLr6pruG62WGlYFd3ZEz9otNP0cYsCneqoegutlZhDQ0nak-tcFSBXkExPA_tsFwq6Kp4I4NxAwXcRKBmgDBVcnKWQtA3xPyTFzS_aaL3D-jNiuubUGDw7Ay-YcKplcZ-PILzQBF5YlOjVeLz5-Dkb_lyieKWuJMdB2v55Ei0lUUNsAO1ZhkBCgeJdnYL9UKDolBH8qIxqFhngRhpf6ZAPPlU3KiPcOyznYhuMk8VLp3HqICDvUBiKcW1Xck8aBZfuTfIjoJfiX3fS_TA81YYeN5nwHHQoM1Bt3gJfoPNB-PtWU5psAv-JF6ZCp6-y8dbv7CZ9SudDyZB60-pYAqXDylIO_IGJ7ibBmtzTTQICGPoxJmtM9AiuJLnjSnagKXhJtkWXbmjEa3x57qObcoGfYIkOqxOoBmH9XswAi_vduzYzW9VhFDenEHHiaY7_EJFfyLH4hGdYnRISNL2MjaUBFsi_FOq4idNNZK5hBEwpQnJk4ctzNBbnwL-W1JYGGkoHfaS_JuCrW496gkkcKvRZVunghmn2cN26nqShRilVN7NHoZW6A66eGpWRaSNg49APMAU9Nr9T0ngQsU9OXSxptZJiCXrL7QGqbu5pmLWfUMTDVJsB9QD1_fWxDYsbo1gkkquCaqve6ifsi1YeNxTjJ0NVq-F3DLWdFnjK-ouRi9-xB4s2MIJKZs8rFnq8450vbjkFiIemv2ltvi3UcUXlrrwqd8hGiMNW9Ly69x0ZW9DKhbVu49gO0kccY3BY_5GKUn0wHHp24hm_iYX0NbobhSL6lLhodfi4r-KMe-8QG2RLbKPPvk6iAdyP60UnRBXtzvIIiaRRbu5Xw96jiC9uJNCLQNeamApRtgJGpES8inFb2GcWVimZ9J8hk4DD_2LAfA08XSPwWWndhua4xEhnjkpcPdBHR241XeVwRqZuokb7wQLklC7mo-kTkJ2CvUNssgrLFeXO897mBB8K6HZ87OBIhbRm_fIXGCSXGQT2EXKvFn8J_lsYYkMMBB0h98u0Gh7_6i37y_J",
  "id": "rs_0fe5ba3d170c26b1016ab41bef538887d093d4bb65c08eb329",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.29,\"left_z\":0.13},\"note\":\"The white figure is now over the left basket but still near its front edge. I’m moving it a little deeper into that basket while lowering it.\"}",
  "call_id": "call_9iF1ujT4uFwZ2DrHRFO9iMjs",
  "id": "fc_0fe5ba3d170c26b1016ab41bf0b69487d0a2861a8bedbc115a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9iF1ujT4uFwZ2DrHRFO9iMjs",
  "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]: [-0.7231, 2.2932, 2.1811, -1.0763, -0.495, -0.7898, 0.1194, -0.0151, 0.8257, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4544 left_y=-0.2843 left_z=0.1331 left_yaw=0.1792 left_pitch=-0.3949 left_roll=0.0585 left_gripper=0.1194 right_x=0.2985 right_y=0.0012 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -11.7538, 6.106, 1.3407, -0.3883, 0.188, 0.1294, -0.1299, -1.3333, 7.0632, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2b76db3ee9c1f7e899b7b2a99b82a089cdd43c47f292feccdd2c18fc5d7844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de63eca5d3a2bb7f941e266b357f29286b2b21bbb05c1fb32955d405b521bea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09d866f7fe6755f675aad5be9b05679cb010b978b1c4e6a81e0a474e050c0e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.356 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 71 changed as sent

message 75 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.4029, 1.0389, -0.4557, -0.1566, -0.1287, 0.1139, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=0.024 left_z=0.1625 left_yaw=0.1714 left_pitch=-0.2451 left_roll=0.0385 left_gripper=0.1139 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.4034, 9.1692, 1.6288, -0.1392, 0.0757, 0.2125, -0.1162, -1.2786, 7.0222, 1.6923, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.712, 2.1746, 2.2807, -1.2491, -0.5022, -0.77, 0.118, -0.0151, 0.8249, 0.6067, -0.3698, -0.0116, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4367 left_y=-0.2599 left_z=0.2104 left_yaw=0.1694 left_pitch=-0.3618 left_roll=0.0376 left_gripper=0.118 right_x=0.2985 right_y=0.0011 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -11.6308, 8.2393, 1.0232, -0.7546, 0.2857, 0.2027, -0.3624, -1.4701, 7.0632, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.7231, 2.2932, 2.1811, -1.0763, -0.495, -0.7898, 0.1194, -0.0151, 0.8257, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4544 left_y=-0.2843 left_z=0.1331 left_yaw=0.1792 left_pitch=-0.3949 left_roll=0.0585 left_gripper=0.1194 right_x=0.2985 right_y=0.0012 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -11.7538, 6.106, 1.3407, -0.3883, 0.188, 0.1294, -0.1299, -1.3333, 7.0632, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2b76db3ee9c1f7e899b7b2a99b82a089cdd43c47f292feccdd2c18fc5d7844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de63eca5d3a2bb7f941e266b357f29286b2b21bbb05c1fb32955d405b521bea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09d866f7fe6755f675aad5be9b05679cb010b978b1c4e6a81e0a474e050c0e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBv1yUwcbswUPqZPVbEp1fVjb7uQ6N71Qxs5dN9bCMwS9oI_y-w4JO7IvpErVQDqUsiSN4yopq1RBGAG5fs9njFK0_r-qffSlCjgL5ismPaKaLarbbi8eHfKTLJ_C67YSXvyb_EUK6sAV5bkubCxTRENDgUkLQbHr7GMzfu6lmC7hu6uheEx-hUyRw8iDegYBB272isqf23THgxLqUl1ujvrDKCYFMUnpfqqfzfUuKJNcOKQLevZz8OMh_YDVHvjHNiZzuL6JWt9amaXeb-uNSQBrPFRVkeqAWYq1Z9WmsFKBSQkwS5OGy3qOJbC3cRwYz-KYdw14b4Hg-lBiTfQ4qzOt9N32T7VRoAMZqzCe-C9v7_p0_2YYF1w9C2gis9vcSlzukvuIG2mQJ2HswkUX2kOyVD-ysyEg298gtz6PtBAIjUSJGu3xPM22WfsVeNEoQJj64F6T7_0C7bNWAww74Zy19RMZuPDZvG9IrblgHVzByJYHuRKQL4TtWQEnkokp__q896uyMUJ4SDLPisWWOR4Ve6A7Qi_w0-nxk4wwVJP36dySn2A5ZPAj2VwRMvRayoL7B5GH8dFFPfEJRNMLPDc3enlipn9fX580JgVrgHPNp8Y9ORrn4-01O-PoHniZTwwxXsZQxf6KAA_tzqTBc-6bByUUP4hAFqrNHChv_zGIyQ7R4RbFRXW35I_3PNSA_BFeM-K1I1e2KuHV9TS5T_ta_n57bzgtfTkwmsDdV0d6SOuTFBc55AsaMoGW3Tgn90X3s5YNflItFyCkmXZlmNhsZFyQJI6E1GRoh-UmCRJpRWO7LRgzjGhOUeeAnQMDmZGoXRye0Xy8QNwLVdyr_PmaquNB6l4YR_Ph8ml-VHVZN9wFOj9aimPLjls-lWFxUOP0DwYY_gREXOUNtxCnhpuMx0bNLNZlyWka6D_nwqYp82QAhvq8eQbDFaArh83KGV034WIGv6WteaBT5Ca7vytzerGY2zEsSX5Iiqdep5Q54QUUD3SHp5q0dzjJDrzvwY98wJhxkOWlvr9OpTYqDhXwcuszY8GVRCFIjYYC7zbHBVHS0JpkORcmk_QXW4p8YPiMujrkyLbBMVyfZkZYWz11Wf7_JsdN-PCzM4f9rRhSZMMfF9eEpr3IGteOO0LZ5rCWzeTvg9AJsapOALqfX1CaYzR7k1x9blSFndEuNxTX7K7-oFVQE4VRivbb6kkOCJ9FPs01cU7aFvznaMgbYkCEzutoIyximf3W3CTiuas5MwtHgIEHqnw7yL6ZVRo2T_5IMIJtBYgVfk53SfWmsTSjOV0WpAZJ8A3yeKp6mhc1lq8lGqQLydKvZTUyUbt3CCNb-JTqfXh3pC8h-nR5yQ45mEiNNZ9hNg3M1TANwD7xxd795QqxrDT2XoTq-U6sf9P0emaN9sdMM1ObZjha6itMW-Tm-egJkKJiJ3L6L32qOKzbssm4ZAaEP-VkX1oNeBO05xSrytb7H9F_eHZVJ7vnhotkL67BeJ2JQv8FOWjs3MHi979JvkRE4b5E3XaKRxJGaxTv7gwmnWAAhWDJbdTTiuHQcQIjqX8YQrss-SnPItIgiXLBXBfMx_nSHd3RVc04WtHi_uNYgD4oMOW8G-ntWy-bXFlNmTULJwuhSAuVCNyGR4kAjeO227zpO_3SPCS-xM2e22QGaBfwjobMHr49VdgPaEo7_E1I1dWp5dRtDpOWeL6lD7-lH5AVLwRwAJ0lexHwrkbDjr7qFfw9U9qVGlywbvDvpsKpYukre_TmJkzi6guHJDWDA9Kdp8nfT_oBP2VcWwB6xAxe8RFoCHLfAp3ADrkupNB9DYgd2cdNOtsc5HtEQPNfyOrSbvPDThQPKcZ3tE2sKsifKcNrtrFOGpXVDUZrbMGe0TFfejO_t56QmledNkl437QnhqUUdIWJJpCkT7T3KJzc4TrCaXhdQ==",
  "id": "rs_0fe5ba3d170c26b1016ab41bf39fd887d0b5d12bdc8e9d046d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white figure is resting against the inner front of the left basket. I’m releasing it and will lift the gripper away to check where it settles.\"}",
  "call_id": "call_PRUBOQ4FqPmos8jG0hdzqEfn",
  "id": "fc_0fe5ba3d170c26b1016ab41bf54b1887d0b57cd61e80244fba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PRUBOQ4FqPmos8jG0hdzqEfn",
  "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]: [-0.7238, 2.3005, 2.1803, -1.079, -0.4938, -0.8047, 0.9956, -0.0143, 0.8257, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4536 left_y=-0.2844 left_z=0.1289 left_yaw=0.1899 left_pitch=-0.4018 left_roll=0.0577 left_gripper=0.9956 right_x=0.2985 right_y=0.0014 right_z=0.1745 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -13.5179, 6.5573, 0.9499, -0.3346, 0.0659, -0.149, -0.1162, -1.2103, 7.2821, 1.6874, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f485322a9e8e348bbb9a4ddcff3777e552d8915188a8f7808736c7baeecc47b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6d73fdb5a053217f4ac20922d06e7f801860b7dcdbc07a4a64d8ca9f72ad30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e96f9f9a37518fd6fb9453a5ee184625128f844b70770307ddb07fd39506339",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 4.84 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]: [-0.5529, 1.8755, 1.7451, -0.9077, -0.4709, -0.5869, 0.116, -0.0151, 0.8249, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.1732 left_z=0.1956 left_yaw=0.1771 left_pitch=-0.3147 left_roll=0.0575 left_gripper=0.116 right_x=0.2985 right_y=0.0012 right_z=0.1748 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.1949, 9.6752, 1.3846, -0.4664, 0.2076, 0.2027, -0.212, -1.4427, 7.1179, 1.6874, -0.0366, -0.0415, -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]: [-0.7231, 2.2932, 2.1811, -1.0763, -0.495, -0.7898, 0.1194, -0.0151, 0.8257, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4544 left_y=-0.2843 left_z=0.1331 left_yaw=0.1792 left_pitch=-0.3949 left_roll=0.0585 left_gripper=0.1194 right_x=0.2985 right_y=0.0012 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -11.7538, 6.106, 1.3407, -0.3883, 0.188, 0.1294, -0.1299, -1.3333, 7.0632, 1.707, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.7238, 2.3005, 2.1803, -1.079, -0.4938, -0.8047, 0.9956, -0.0143, 0.8257, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4536 left_y=-0.2844 left_z=0.1289 left_yaw=0.1899 left_pitch=-0.4018 left_roll=0.0577 left_gripper=0.9956 right_x=0.2985 right_y=0.0014 right_z=0.1745 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -13.5179, 6.5573, 0.9499, -0.3346, 0.0659, -0.149, -0.1162, -1.2103, 7.2821, 1.6874, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f485322a9e8e348bbb9a4ddcff3777e552d8915188a8f7808736c7baeecc47b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6d73fdb5a053217f4ac20922d06e7f801860b7dcdbc07a4a64d8ca9f72ad30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e96f9f9a37518fd6fb9453a5ee184625128f844b70770307ddb07fd39506339",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBv5XIvYu9heHLxOny1uBANrtBNPcms93DfXX0ItaaVURKX9KMd1heFHGF8CvvlZhpm4aw1dghJtXKb4HALyR2_lBGB9PnjHo-KONJnDeajDNmWlJudSnUs3Q5YYCtzFMj4YCygnFUdruRoNajo7vDZcFcwe3GseHP2iduHRp4B-qUnCdkPg7cVEVgUt5G_lS5_FlZ-bylNwl9wv9qwaKZAKWtEjaW3XOMrmggjYK8QBKI3zD2AkXPnSChnYTf1Fc5jznAvQkQIMqUTJB_ooAtUFnqUMneFdbwKnJ_dPJQDz8WRLE5pLYoTcmKj2JkjDqhwYqfr6l1TvxiU-I_jvsMb-_FrGgIlmwPFj28rg3LO0z15aBktZZ69EUnd8pSEHGkYLjnEKl9UGoqLbN1lgCasf2gZeRyPxReEyrzSWqC4n9oVdRfPLGL9WCuPkrI6SsdiXZhVg_fnbSq3_L-9d9QwpU_lyJIbLOR2OlHVrqnhJvE42yTfc-gxfZLfTevHQ6HXxds5cmZeEEXrOWI6YwV5cnD3ZMlG7vopcW-18s1y9swkNfCvX-E1ZyxknDQcVDZj-XJSWl0drj4DFsH7b3Nh0LPoSDPNbepK8Llg14KOnc_Apb89B621L9kvswzSwSWl3Q4XVxDwS8OJ9mxc85ZU_UCic-MeNFg_eANPOsfs3iHcZgos4LVes8xBovfv2EGAdVMHH93SOaRX7CRpvuG0FZbne1_qaZHawx-4G00qScqM2Ux0zDPHxbpKc3MMYPSBPk-QpEIEhvM2JxLKLoi5eJFnVKt0RY55lA549AxuYT2JZKFMTmNxTUlR88Ctm_1U78job_nH1uUDQt0vStLjqYi0drkyad_N3XLzUI1zkFVt9uhePm42Nj8MUpJkNAAyLfVNilmb_2g4QT9K7mFHpjLbBm-DGJ0oBy4Sw20CN5hEmV4Ahnf8eQCUHjsg0BYmOXXHlWMDq19QwOITwp2FH6UnCvHYTWjHVxp9AtpLiEnCuTJB_bKGA-1Y9TnLI5PhHBXgaK-wLPlEJjUz8Q6lJxXzx7SJQBJVlsVIuRkUlBBvBVW33zy1ae9Jb5cUEcktP7e-rqadHnjmYViEgrsYRUyKoj2Y-LCpKdt9jEr1RDswKip4SDKcIJxInwi_7IYOq04iYv1dnf1BFNf0ZjQar9uTNBhTo2Hwub2LyHN8bcAwn-CVsvx-80oNe7NciZD4ua1ln0Izb_jN98QJD_jr5EN_t50in3eE_GFap-fk3wisZVDNmdCHQ_tWJNKt-x_Qf5pzbIQJ2Uh1DpLeLf9-X7B99Absp0Cxn51ZmwLL4Hp4=",
  "id": "rs_0fe5ba3d170c26b1016ab41bf8192487d0871e95a856fc552d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The jaws are open, but the arm still hides the basket from overhead. I’m returning the left arm to its home position to verify the placement and clear space for the other objects.\"}",
  "call_id": "call_x7uqD77vpIEP4In4oW7OHG4s",
  "id": "fc_0fe5ba3d170c26b1016ab41bf85fe487d0ab3cddcad01ba08f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x7uqD77vpIEP4In4oW7OHG4s",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.1577, 1.1923, 1.0931, -0.8967, -0.2497, -0.3054, 0.9968, -0.0143, 0.8307, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.307 left_y=-0.001 left_z=0.1904 left_yaw=0.2284 left_pitch=-0.3886 left_roll=0.0466 left_gripper=0.9968 right_x=0.2988 right_y=0.0014 right_z=0.1732 right_yaw=0.0008 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.3556, 5.9692, 1.1697, -0.0269, 0.1245, 0.1001, -0.0752, -1.4974, 7.0496, 1.7411, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9bf6294c58d17a675e68395789d867f20e33f1713a4549c4c35e0897962cf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773d5452c6154ca9c3e8f67cf686176336c597721cf540712cb6011b8eb92d95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e9981780d14ba3f9c325678d2ac59bb777f13c8fbb2a2a7ed823967fb61bc5",
      "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 · 4.205 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]: [-0.712, 2.1746, 2.2807, -1.2491, -0.5022, -0.77, 0.118, -0.0151, 0.8249, 0.6067, -0.3698, -0.0116, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4367 left_y=-0.2599 left_z=0.2104 left_yaw=0.1694 left_pitch=-0.3618 left_roll=0.0376 left_gripper=0.118 right_x=0.2985 right_y=0.0011 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -11.6308, 8.2393, 1.0232, -0.7546, 0.2857, 0.2027, -0.3624, -1.4701, 7.0632, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.7238, 2.3005, 2.1803, -1.079, -0.4938, -0.8047, 0.9956, -0.0143, 0.8257, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4536 left_y=-0.2844 left_z=0.1289 left_yaw=0.1899 left_pitch=-0.4018 left_roll=0.0577 left_gripper=0.9956 right_x=0.2985 right_y=0.0014 right_z=0.1745 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -13.5179, 6.5573, 0.9499, -0.3346, 0.0659, -0.149, -0.1162, -1.2103, 7.2821, 1.6874, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.1577, 1.1923, 1.0931, -0.8967, -0.2497, -0.3054, 0.9968, -0.0143, 0.8307, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.307 left_y=-0.001 left_z=0.1904 left_yaw=0.2284 left_pitch=-0.3886 left_roll=0.0466 left_gripper=0.9968 right_x=0.2988 right_y=0.0014 right_z=0.1732 right_yaw=0.0008 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.3556, 5.9692, 1.1697, -0.0269, 0.1245, 0.1001, -0.0752, -1.4974, 7.0496, 1.7411, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9bf6294c58d17a675e68395789d867f20e33f1713a4549c4c35e0897962cf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773d5452c6154ca9c3e8f67cf686176336c597721cf540712cb6011b8eb92d95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e9981780d14ba3f9c325678d2ac59bb777f13c8fbb2a2a7ed823967fb61bc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwAJ5wXY-CW7jhctZAP-YNOgRh7secooAwzbk5ZwhMYNxr4uNsunIHRog4o268MNdv5MDy5skA8KCXGMwXMdfn0DGLv6fNHSNVT7bfOFZ5MhpizFGTGk38UHebAPK_28i4QhuHQ8PPohgZwSCf9ZkTWGRxIJOGX-Kytd823hxeYiQSQf8nAUi544CgM6FSzyDHo5V3vZxz99gJbw9rC8OWjB-_l_dEN7YzHasrPDN4oON5hiv_X_mQWEb0gY8-5QkuusTiI1G6EcS1HhhQjSN_yEBGeu6CV8r6D8gUi6qUxTEtJdh4ylVLcVnpAWTHNyKSPAVlH-oZYeEkRQUih6QIYTHVEVJ9m7WKne2rxGOXR-qszPyVWWuLe8ADg5N2alx1PYQ-e345AzV8QXa-OIwc1_zgWcivK3yLoYjaD8BvpvaJW78u4d7exMNmdTQyu4Ta4a32hPRUrgvB58DQrehykJ-tFVHdGYc6psEHF5JdEoJKqcoBX5NmwxyTq5sG0pI4Q28ztAh0oYG_8jrhlogZZgLioQ9rE-mH5y16MFOoJPGJi-mNtyJamuqIYhKhxqp1DlA6LHmnEkK8j64vXvvukDnvrl3L-plCkU7emZj0h-89pRRnznaFvPDqAklJLFNfcEtwvnoFQhcrslKESlaxyC5FZ84DRuuT0hCpTgoSLcI6OCnR7cAGAgLjl07jch0Ydzi93McC2sO-PXJLbrhMIoMEPz7NVvgt74hRSLOOFylTP8KLx0H3oQPWvf6cmaohK3g15VAYwQo-aDKDQyh3PEO_dZxbNdmpUgiRva6xWbaalz6QEvWwtiAfWbn2AF0gaOSGpUkXw5h_3gNXxGi5QyMOhxNLMIiYue9XVBn5KtjO4wFDxZREOM9E_KjsgLfzHaW5nQoaBWB5dN8TMxzso3IyTl3PiDvDZeYRaCeVlfFgW5LTWB1sqwgoamnUa2iQ3eb26FUu822RtaiLyPKKudHvTh1pumQigEmE69YAF7zdF0KzdfIGJDCMxm8-nIxSaBY5tX8BEmfzFjYfhmTaqIwGpu3jgh1T2MIx6o0Vaoc9ZB7X1ktr-2NsGuEL0HW87YVGgCesH5VANnH9PMuPFk3UdDECLhIc5gpPesLB8vhKr1jGrIdgZIAOIYkxw8aCg7ThABraslwxKS4eJGz5qJzRLAIp-fgtUKdzTkjwOL71RLz1hNBuNoJifQaQ7fjA_VVvlzLNocgO0hOLgWJgX312N-ACZJq9PBY31iZszjocueE6u0-hUiuX4UTrtI-1kYE61r06wBD8-yuCzlP9DG6YptNLlo-y-tfUHx3RR15Nvoz-8NOeRt9lfxlb-DKCi-wzguCqAqfJAMuIDiiFCuc_OjnB6EkR3JbSzhHgLn68ZtErlrWEvjbvC4AkxQnVUEiq0txSUTsUaaDKIvt4ROAm6zEF-S7VylpSEN81A7tB-wkb6QrgM4TES8J-Ty_h9Qo4gLlurkV5efzyxO6eyrYt68aT-ymK-2HokyeLaAbGs_p2VgE9PdP1PzwyZCVPEqt_IYoK09wnlkLs-4_vYd2BTAxw7katJNmzAkWQSiMca6MT5ufjSTbrpZ6mwfVWAmapEjg13wZ88LTniN3PbzNmP4mvhNxvtSJvv3APQ6j2_2uf-wehyKsCIOSjihUPesv_0qGT0xnV6usB364oSQL8p5_RSnuOQTM3eWismaMj-Ys00OSCnNdGKjsK78aKfo0xI5bYd55J9Gxb-aCk1m5n1eQ_SwVQT8fKMpTMtx-kHiVV4XSyou6o8K27i1sGrAOjy3gZxGDWAESJA1XGoKBFIjeaGHHLWq3N8wLq6SAY5xmuYmJgeJkauSjxpLu6LsyC_J1LNVla-dG1xzxMuTD9Un1BzFMm7YZwpTo1BoJsmg8WC-yqHnWA_JP3RZxuE9eD2nnrIQyynPKrkhTg8O7F3y2tiZOHOEXEAkg4SuHpiNCF9RZxMu1MN8gmeqIHXdHXXmcjdqSXaAa5M0tPPNhj_fA48-ufWptcsYwKVwWXETn4dSMljaTNxrAi-TyHkk9cX7RPj9CdsqL1p9s4d2PM3hI3E3D257NWH8ELrjcHeMMa6ijcSE2whtb2cvDpjkq_i6VComdXukVfxrsGZyGzB7_QcCATZJN3SBNGyRFvpW5-fqtI7l6ttGK993iBQxBkTcN1kSObKo-T4Sjpp0-dJwuq5wjPpwNIwanGTPvWTQ65OKPojA8aFtpZUROtzDKxny7gpgpefsBmHqTr4ZjX0Ud3gcYe26MmP0hJB7NZMYtKjZuIjPLK0Oc83T1VUhL20NUbQ3esLTvgshEKeg3m5EKdkzx5QCJ7MSzLjkZCoAmJ0l0irpI9Wueoezqs2LKFe0BjdTVO3g-yTLnMPr2bEPNamgdrhoaZ9WSoVmvlDjxUo79s9zlUy7S84DcEOX9eq5bMMr_vSjgcn0YXF5lNMXWz-tJvtHv67xORWqZAeXsUnJ4QTANKJc2v0CBQRvFKwLfTPooyEPloMFcy4VSAZ90tw84adhQpShNPW0u8tO0XrNYVRknuuW9eDMmY1OaQyXSsfH3FtmJ85axyhY1BzF93bHwVfdjaB5wyIBk1b6AWjhIH-LMrsILjABB0Ic4dVufbY9w60__4RdIj3GIL33c6KFkU44bc1vtg4ahmGJbEDPYf3KdMxlqjrt2KpMccKokg-BD7CixdM1QOCLw==",
  "id": "rs_0fe5ba3d170c26b1016ab41bfd565087d0b86d50347c12df32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"Two white figures are visible in the left basket. Several tan or brown figures remain on the table, so I’m bringing the right gripper over one of those for the right basket.\"}",
  "call_id": "call_f1hXjT4G3BkcqE7FgYN4i0zI",
  "id": "fc_0fe5ba3d170c26b1016ab41bffdb1887d09eb8a106f033ae1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f1hXjT4G3BkcqE7FgYN4i0zI",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2356, -0.3069, 0.9969, 0.9257, 1.5578, 0.9863, -0.3065, 0.693, 0.6083, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0034 left_z=0.1866 left_yaw=0.218 left_pitch=-0.4036 left_roll=0.0383 left_gripper=0.9969 right_x=0.3198 right_y=0.2433 right_z=0.1356 right_yaw=0.034 right_pitch=-0.0761 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8769, 7.0359, 1.2479, -0.2955, -0.0464, -0.0073, 0.4581, -7.1316, 8.9641, 1.2625, 0.6716, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a7a2980aa95403339a7791c2579dacc7cce80a81a7cf7040962b31677d59f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3df3f04c11842e2d81ac0664e4b3993ce02799876a99fed32bb7f93eb7636d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329d2f958f303cfb88b6a8f468ee42e56a60f72f2f3e6ea5e3306c78ef7067cb",
      "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 · 2.138 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]: [-0.7231, 2.2932, 2.1811, -1.0763, -0.495, -0.7898, 0.1194, -0.0151, 0.8257, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.4544 left_y=-0.2843 left_z=0.1331 left_yaw=0.1792 left_pitch=-0.3949 left_roll=0.0585 left_gripper=0.1194 right_x=0.2985 right_y=0.0012 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -11.7538, 6.106, 1.3407, -0.3883, 0.188, 0.1294, -0.1299, -1.3333, 7.0632, 1.707, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.1577, 1.1923, 1.0931, -0.8967, -0.2497, -0.3054, 0.9968, -0.0143, 0.8307, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.307 left_y=-0.001 left_z=0.1904 left_yaw=0.2284 left_pitch=-0.3886 left_roll=0.0466 left_gripper=0.9968 right_x=0.2988 right_y=0.0014 right_z=0.1732 right_yaw=0.0008 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.3556, 5.9692, 1.1697, -0.0269, 0.1245, 0.1001, -0.0752, -1.4974, 7.0496, 1.7411, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2356, -0.3069, 0.9969, 0.9257, 1.5578, 0.9863, -0.3065, 0.693, 0.6083, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0034 left_z=0.1866 left_yaw=0.218 left_pitch=-0.4036 left_roll=0.0383 left_gripper=0.9969 right_x=0.3198 right_y=0.2433 right_z=0.1356 right_yaw=0.034 right_pitch=-0.0761 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8769, 7.0359, 1.2479, -0.2955, -0.0464, -0.0073, 0.4581, -7.1316, 8.9641, 1.2625, 0.6716, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a7a2980aa95403339a7791c2579dacc7cce80a81a7cf7040962b31677d59f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3df3f04c11842e2d81ac0664e4b3993ce02799876a99fed32bb7f93eb7636d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329d2f958f303cfb88b6a8f468ee42e56a60f72f2f3e6ea5e3306c78ef7067cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwG70PIwH91DhUT1n1jRhw8tMGxTsu5f3vwo_w0y_ttCbTauZvi4gNq_Vogt4lr0lPWl87feMqt5GHHeYHsDnkveKIhkSNIlYVsktPDHnoIoui5jeqJhsvcwB-hPbsSGxFnOs4AyP8zUZd0rAti_B-kQSHwDFlwvf65YYwuErIEQnKVpYLZ7W3cSMArk65rYEoDuXyt5w525pWdV5GSsHpG55R6_1UR1QvTwqtnDhIt792Vy0LdW5cqCGiC_oRqjmkvbsAu7w_pTdf09oHMqLClW5DJAMbBa59XG5FCLDyU9Jwb-TGAIaEnyGkRC79NiutK5OF7YnB2Mdw5ATGPAPpNgMwI-JqoJ02JRHgXS5C8DqGgcBdlK_dp5FHUC0KyhwWX86yUpevl0Q7MWwvqv-OO5AvVfQ4ComsdbZRWt0H0xnUmf40I0VZvdvSKElxpcoCQ8YS2VragFfIpEg4kniYdOpeFgasyXa09WkNBL08z-6GyphOY7qJag6FzpJ6_kx1UN4OaxYTBg0A6e6bDfrAqpwVUoYGjrgkvF6KyHW7G4xWSGEEByrcAmk-c-8XmdH-bC8phGR8r0rPdZ2ZpSD6jKGh9NEhc_fVmTGAC8SAJtp4_n9HpRSZ_nmV4yln9dGEaUPnl7zDQxVUhCoYn6QIG3p1dfqelKdXeR5x91gxW9o3lo7bbD2AmjQlkKSiG73r6ec7uF9YUWvXVC3zODsQ2-xl9TKHmYkoB68OUgKm_KUbkH_Wb1VlJFqJCBlEXUWLKCGGeWRZKcbTlF2iNy0GxwhlEI113Uw2ORYgU7Ru-KA9eeQn_o3J0REVlUrCNIzeuKMXLmPBMBMTzMasKA-48o0iW-2ZqfCu0cKOURYg1XDJEzbzNIboMIX0DC_lUKnJ_ESgOd2wr7nu_pi5rrbDKothRQ4LdTIgsglGMuHxeMEzthepjrdZncix9bFT5xugM5j0cttS94gyMlDtkjiUd5fymw4r5ZeEae6vZ7JWKY2NucxeBZ4KeH13odzP3k7-XjesHcj497442TYExHVson0ss_J-mZSXxVl3FZeujE1RQe0O94gftf1BzovzEqrBLF5hGdeH7f3oZzpMsdXj-TCGa_M1c7IXO9dqmdXewFxia_iKqpE1gSrelP-SgcLi-SLaXcSvrya2Ce2YPrBx7LVXHNgvZE0yeF82TYftdlwDdUfNlzt7FeJCZm3ktebh-xogm7dQs00qwyJa4oZffPZD_gi_6tBn9_IUFtpZeVYr84TPjBvV9kYrzuPa8vxRHn4kcjichq2Kb74RsCpr03JjgA1HnisKaHmk6t8Bq7inhqFDqAeK2o1OabsThQAWNoHFbN8wyx_7CXHLCRBHffmk3ICddk1BicqoSPWSRHkCpxLTo3Q9tfiygHMTvYDMJ9JNxhyRbn8N4kXO2BCDtEk0Q7IywGzfn9URpHFmwhwVcV53kkBqJTVcFD_KyFUOraBheeGo7kXeAPDJcz62qIMO6fZwjS1QQnLnHxWsEJrGKjjZXMugvWubUxyEYdEtsiOc1K9j2xXs0E8iIFAOOEJYaKi5gcjiTsHXS7ESyas6aHer2BCdcE5lp_WrpQfAyx9Ofu-mYFLm67sfWgMA6SvTD2eR_N-WYEiSuqDWinlNli9rMWgCiYknisGQf28LAGR5mfBUlpcMdGn05SinD4AlvzaBf-lW4qlCHMuGxUKPKAIxkLroACAN_Uoc9kl4KMdVTk57l8KYfRa_8eyy8i2wHCgWgJ9FhL5G7gHU3xm4ytnDBOCAnQzUCjYmLDR_Jst0h7IR8RxIsFcrQuHtUt60Q_-ydYQu5MEXGRMRf1iF3m5e4c3AZZ-gClGtH4WnkpYPDSAepQS-LjYd3SMKyaktfcsQT7MUWN5Q0Xl5YEVqXbwY2xPmnxr8mFRNFa_3RCXw5AQaORhNcdVfSp7tHdZdNc3wkTMYH2UcoH3wzErEEGRNKKCoo0PRN_tGPc1drUzVvIJeuNgAMKUHAbvvcZP8K-NuILwH61ibzP7Bdg4eFVL5tpLAQYZ5GOOX5ySS45hg_e7jLw337EgR0ButqhAdA08sxv1qOEpyKqCOESTiii8QanPhmDkeHMZbzf2hJqdRWdYPqcDDlt3QUYJpOCwx8U4Lv2zRCHMrJKAEfANeJXznJA7dQmM2d8aNXlEvjcCstAtpOxd675XClvvJHrWz3vbP99FiU-T_ss4xp69AasUPkoLjwZFA3-DBOEm4xlnrXeov-isQwlO7TCYlxBw==",
  "id": "rs_0fe5ba3d170c26b1016ab41c03dd7087d087de518f790ac73f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.295,\"right_z\":0.048},\"note\":\"A tan figure is in the right wrist view, but its body sits left of the jaw center. I’m shifting the right gripper toward it and lowering around its torso.\"}",
  "call_id": "call_TWYJ1X5vdPSSiPOgsThviNrO",
  "id": "fc_0fe5ba3d170c26b1016ab41c06107887d080aa16407c787ab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TWYJ1X5vdPSSiPOgsThviNrO",
  "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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.0248, 1.8313, 0.9688, -0.0914, 0.7467, 0.6998, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0035 left_z=0.1866 left_yaw=0.2174 left_pitch=-0.4039 left_roll=0.0377 left_gripper=0.9969 right_x=0.3116 right_y=0.2887 right_z=0.0573 right_yaw=0.0448 right_pitch=-0.0847 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -3.7949, 6.7897, 1.2039, -0.149, -0.0171, -0.022, 0.7863, -6.7487, 6.5573, 1.0134, 0.3492, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4b5673d010c34969bf17162afbfd81cdbc15ee6cdea0ba8b6d9c1fa05415647",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a51094dec6b75851e9300aae73e1bba6ef891aedb991dcbb7d024c1e41e039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c878b6bee77dedd9008cf50d9b7e263fd775fa8d019a78674ba2ee22811ac18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.347 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]: [-0.7238, 2.3005, 2.1803, -1.079, -0.4938, -0.8047, 0.9956, -0.0143, 0.8257, 0.6067, -0.3698, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4536 left_y=-0.2844 left_z=0.1289 left_yaw=0.1899 left_pitch=-0.4018 left_roll=0.0577 left_gripper=0.9956 right_x=0.2985 right_y=0.0014 right_z=0.1745 right_yaw=0.0006 right_pitch=-0.0309 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -13.5179, 6.5573, 0.9499, -0.3346, 0.0659, -0.149, -0.1162, -1.2103, 7.2821, 1.6874, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2356, -0.3069, 0.9969, 0.9257, 1.5578, 0.9863, -0.3065, 0.693, 0.6083, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0034 left_z=0.1866 left_yaw=0.218 left_pitch=-0.4036 left_roll=0.0383 left_gripper=0.9969 right_x=0.3198 right_y=0.2433 right_z=0.1356 right_yaw=0.034 right_pitch=-0.0761 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8769, 7.0359, 1.2479, -0.2955, -0.0464, -0.0073, 0.4581, -7.1316, 8.9641, 1.2625, 0.6716, 0.1197, -0.0171]",
      "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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.0248, 1.8313, 0.9688, -0.0914, 0.7467, 0.6998, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0035 left_z=0.1866 left_yaw=0.2174 left_pitch=-0.4039 left_roll=0.0377 left_gripper=0.9969 right_x=0.3116 right_y=0.2887 right_z=0.0573 right_yaw=0.0448 right_pitch=-0.0847 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -3.7949, 6.7897, 1.2039, -0.149, -0.0171, -0.022, 0.7863, -6.7487, 6.5573, 1.0134, 0.3492, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4b5673d010c34969bf17162afbfd81cdbc15ee6cdea0ba8b6d9c1fa05415647",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a51094dec6b75851e9300aae73e1bba6ef891aedb991dcbb7d024c1e41e039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c878b6bee77dedd9008cf50d9b7e263fd775fa8d019a78674ba2ee22811ac18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwJyUGvlz3Zgid-QG40u_zi8W67fAins3_bMMsLCw6av-aiI6mbFOESxjDF9AIA2BZphDLlcn2GwOzmd1LGs8tl9gCyYzKmqSD-8vDvzShOV8FGYUV4drl2eX1anFXXt2wJ8SZBNg1o1a5hy4wyE3mYnf2DuwKQT8vEqbUekaRKmgfSDk6RtAUpvYqJnp91epAxgPxF7n3LT1LYy5dLoDJg8nCzGSTDGiUzBlDuQOhiaJOyCV0FABmO9oPdKAdqZD4ODVkasHvxamHVWYieOcO0kloCYB-rfE1nPrPdN2VVXt46ySabMQMhNoKKwQVrLu48dW5OYUHgq7_dxAFCZZSyL1GZ2bO7J9TNZmALTixy3-HMY-11aNxygb7bENtxaN3VOtKSjJtWtNVzh4ZYlZXYpVQBd9gte-FuncMC7hrJKwAWC_M9LWQWpPmpyPC1TiBon2jsknNwHqKMTVpK8X2D_OttmDUnTjgA7_pwP8-CGp8RYDLfMdkYr5tMCmmPx4jN6HTqvEX-2L0_girYaeV3L0X371TPRTz8fyaS2vy6BrnSTHuVfbGORcvKazbNfwhLW10Q7ywPU1mFFVHJwguGlUQFXUooMUPR_rYtM0-y6oBkf3wBx0Rti3HqiO-mKk2EGS5LVTxHCCaXZnwc4H-3b3P6dicWnbYH7MMtwsruoB-6PdWjXCs3U40FCqIe3P7qGVHbl5TV0n3u0yoFclI3OKrvU3XpX6XOAIGTiMUoDBFINk_5O7mvFN50fYwKBxMuEvCudyOWXeF_qHboRoUXL2dmhRCyQhZq1aY9q9HqsoO_96iPeiz9rEh7RINhDuu220tSFAy4H7seILi81I83lN-OmJZw1dJNLU6NkNLjQrqWXj-nkjfJ3MMeNAiHNkOsEEEXTsyLGlA9zCO7Y5hGYPeO_mIGPE9eG1L1r0q4aHrA1zovuSr-zucoG0XMLa3QXOX6NTaeUlaLtbpEv2rsgc5LFQlCiK5g1m1h3DmU6jeJ7xzXs4DWKIC7SfvoRCt0hjA2Si3VFFIQ7TPmqw88T4qTo6K-uWxK9iC73PBuFy54NefsBb8f5Du6Q6XERfUWtP0sNFbHFRsik10z18B_WahKo9_a2uO6oKcYkHVz0VBvoO5zwyz3jSNODIuFoHHnHumeK4Ib4PmpSzQvdZqJ9ddR9RUnXBC9RYoSykYloVCrtXrHHPv0tzxUx63HFz16L8TYLVjkGMhSM_cMlLBq8g==",
  "id": "rs_0fe5ba3d170c26b1016ab41c08bd1887d0b8ed3d7bccaaf6fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan figure now fills the space between the right gripper’s open jaws. I’m closing them around it.\"}",
  "call_id": "call_u7ryyZoNp80qHLHN3uqlbah0",
  "id": "fc_0fe5ba3d170c26b1016ab41c08ec0487d094f7d9259f473974",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u7ryyZoNp80qHLHN3uqlbah0",
  "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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.8362, 0.9688, -0.0658, 0.7475, 0.6964, 0.3884]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3129 right_y=0.2927 right_z=0.0584 right_yaw=0.0502 right_pitch=-0.0728 right_roll=-0.0333 right_gripper=0.3884\nstate[joint_eff]: [-0.1573, -3.7949, 6.6393, 1.2039, -0.1832, -0.0464, -0.022, -0.4444, -9.1282, 5.6137, 0.989, 0.2613, -0.0513, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:130717f62061cea063e33b6ec2b5a643569f1afe478fe5098562e4314db04693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a644f1c427106ad284abfc9c9f3b7cb8185a74044aea9234967bbfc17889494b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cfd961abefc568d4fbcaa62ff9721d3323550d3e012d81b8e85cdb2511baf9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.069 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]: [-0.1577, 1.1923, 1.0931, -0.8967, -0.2497, -0.3054, 0.9968, -0.0143, 0.8307, 0.6067, -0.3698, -0.012, -0.0128, 0.9997]\nstate[eef_state]: left_x=0.307 left_y=-0.001 left_z=0.1904 left_yaw=0.2284 left_pitch=-0.3886 left_roll=0.0466 left_gripper=0.9968 right_x=0.2988 right_y=0.0014 right_z=0.1732 right_yaw=0.0008 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.3556, 5.9692, 1.1697, -0.0269, 0.1245, 0.1001, -0.0752, -1.4974, 7.0496, 1.7411, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.0248, 1.8313, 0.9688, -0.0914, 0.7467, 0.6998, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0035 left_z=0.1866 left_yaw=0.2174 left_pitch=-0.4039 left_roll=0.0377 left_gripper=0.9969 right_x=0.3116 right_y=0.2887 right_z=0.0573 right_yaw=0.0448 right_pitch=-0.0847 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -3.7949, 6.7897, 1.2039, -0.149, -0.0171, -0.022, 0.7863, -6.7487, 6.5573, 1.0134, 0.3492, 0.1685, -0.0073]",
      "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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.8362, 0.9688, -0.0658, 0.7475, 0.6964, 0.3884]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3129 right_y=0.2927 right_z=0.0584 right_yaw=0.0502 right_pitch=-0.0728 right_roll=-0.0333 right_gripper=0.3884\nstate[joint_eff]: [-0.1573, -3.7949, 6.6393, 1.2039, -0.1832, -0.0464, -0.022, -0.4444, -9.1282, 5.6137, 0.989, 0.2613, -0.0513, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:130717f62061cea063e33b6ec2b5a643569f1afe478fe5098562e4314db04693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a644f1c427106ad284abfc9c9f3b7cb8185a74044aea9234967bbfc17889494b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cfd961abefc568d4fbcaa62ff9721d3323550d3e012d81b8e85cdb2511baf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwMgsnvEriC-p8rPPGDfTKnBF7immF_AALFiFs5m1Af66Xv4-_ZbU4s65rnzVQqVnsBzvgrlNKbw4v228SF7Zrp4VEz7sfxK19wQdRPTr1N1TnSiu7-JJBvqiPY5usC9ZWT3SRp9NckhB3UT8qnt_RO_GeNBBRB8NzoOFIk0p0_Nm3xh__lQ67pYCAIy453HLLRI0ugM01DwFutrF9ji_ROZPglB-0mUil5ssmZZ6VlhbIq5mzsX7dhkMGmTPUo8t5H4-4Rwj56qFWOaNe7tQNmwfY14Zn-6p3N3wCQn-GrNl7f03wipmzyNzJXtBu1dCft8NTnBH1sls4sht6ntmQgFBcRntQKSUMm7QtIRAvLQYn3ptD3dc7Cg4eMMp_p9QA8gmT5631XIf-EKUl7ofdxYQwE27s4QwTkPX7WQEFbalMghburfPxoBmVriuIqBIzd8b2p8LN7r03E7Ny-3WcGX1gBCfvaYQ-T7tHuJe1GeD-_iwE_kg9nPOvk2GbJ30Lu0YIcRNR6csee3h17mbfaFsjLrpCQEIAbtPP465B0q_Wp2eci4B_4R8zjtkwtSp7vvEy2dntYkHlFDnu5148_MHLf_hCusEr2lzyRH6NOEB-AGGsc73eMM6RQOYr-r4iQf1aGGpGSphUg4gb_-vww3yXysq-seSF_liL4npBRowvEsEe8ce39HcGF_lFBsvJpXyX7uHiP-1AUMdZE2subYVuAQd77iROH1IGG_RwyJ3uYpnLo17aoXJjIxEq1P0_3NfiAu6J4cIbUBMql0Loxru8ILaS1bEBjqxGn7BoGon5mJF9uwQe_g8fx6507q-fSNNZN38y3HswXF_yM64kgpV8lTCcFTCAPD-QTncZzdLjgVUlJyQ8uKH9lPX3KLjiLxVyBBXZmRun84gnhndDjqMTh-itp-9dAuUMb0Ff83y6QtnPccwJG5tw0CGe6MZJ24IpXBmsS524SHupJnyS0170Tie551LcNmtx5R9o-6CABhMJ3el1-5Wy-LwvlaUgIfPmYg4irF2ksMD-qjwI59_dZvWMjUU5gBk-u87PYuU_2gWpWXxMRnKSg8T_IhfijO6rlTdBrFZmfxL9U8xkcJXr84Axf1GSulri0CbfhyTUcrn8-2xMwmS0sBjY2hubZXywpkuBqTZW3ihy_Qn9e606QKzsX024GyaBBBGW5Fky2FtSf8MmvDOVUhK7tEMAX",
  "id": "rs_0fe5ba3d170c26b1016ab41c0bce2c87d0806d14653d6dd11d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The right gripper stopped at a substantial opening, consistent with holding the tan figure. I’m lifting it clear of the table before moving to the right basket.\"}",
  "call_id": "call_PMWqaD2jPi0c54xhfrxMl2BO",
  "id": "fc_0fe5ba3d170c26b1016ab41c0bf35c87d0bca6a93c068c4047",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PMWqaD2jPi0c54xhfrxMl2BO",
  "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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.692, 1.3396, -0.6113, 0.7223, 0.6918, 0.3894]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3131 right_y=0.2994 right_z=0.1795 right_yaw=0.0661 right_pitch=-0.107 right_roll=-0.0506 right_gripper=0.3894\nstate[joint_eff]: [-0.1026, -3.6034, 6.5436, 1.243, -0.1441, -0.0415, -0.022, -0.1846, -11.1795, 9.4017, 1.0525, 0.5934, 0.0171, 0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb71aa54fcdd82e540d58674b83458f59ade9cc951dc02e7788f126cd9622fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a27c1642889dbd8f8020109ee229f3a237d1fe36d682bfba39eeab7c6d3ee41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb8ac44817c56d94e62578442bf7597676290416e8243f5374ec7b15f4bcda6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.313 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2356, -0.3069, 0.9969, 0.9257, 1.5578, 0.9863, -0.3065, 0.693, 0.6083, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0034 left_z=0.1866 left_yaw=0.218 left_pitch=-0.4036 left_roll=0.0383 left_gripper=0.9969 right_x=0.3198 right_y=0.2433 right_z=0.1356 right_yaw=0.034 right_pitch=-0.0761 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.8769, 7.0359, 1.2479, -0.2955, -0.0464, -0.0073, 0.4581, -7.1316, 8.9641, 1.2625, 0.6716, 0.1197, -0.0171]",
      "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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.8362, 0.9688, -0.0658, 0.7475, 0.6964, 0.3884]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3129 right_y=0.2927 right_z=0.0584 right_yaw=0.0502 right_pitch=-0.0728 right_roll=-0.0333 right_gripper=0.3884\nstate[joint_eff]: [-0.1573, -3.7949, 6.6393, 1.2039, -0.1832, -0.0464, -0.022, -0.4444, -9.1282, 5.6137, 0.989, 0.2613, -0.0513, 0.779]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.692, 1.3396, -0.6113, 0.7223, 0.6918, 0.3894]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3131 right_y=0.2994 right_z=0.1795 right_yaw=0.0661 right_pitch=-0.107 right_roll=-0.0506 right_gripper=0.3894\nstate[joint_eff]: [-0.1026, -3.6034, 6.5436, 1.243, -0.1441, -0.0415, -0.022, -0.1846, -11.1795, 9.4017, 1.0525, 0.5934, 0.0171, 0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb71aa54fcdd82e540d58674b83458f59ade9cc951dc02e7788f126cd9622fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a27c1642889dbd8f8020109ee229f3a237d1fe36d682bfba39eeab7c6d3ee41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb8ac44817c56d94e62578442bf7597676290416e8243f5374ec7b15f4bcda6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwSfREiX1_0C15KFA9-SQl5mrMZJtffCOVabn6OxGQcdcRiUUwLCc-CSOvmqZjv30FuU9GdgZhiO5U14xo3qG0QTKRb9ywk1VbyZ4qYrEmCCGjTTUgXD-GMZu-QpmiKQY6W-kPBLz8Bd5JoycFPog1S1avQ6KGQ6SJc5WdxEcpSejxK0gNwG_awWghdrt4R7fdEAF9Zb_6ysqLTHrE_gQocWGqKBHCKz1P0mcyO85FcjeaB3XFUl-nLza-OsmehfplADSEHPTupRtWJU2V4nfm0NQz4F1AOA-odQjY12kgiSZO_dp5RGhkEcMhXLSdxGfKKpOD7DYLixG4G87sDXMU4XeY7EKsVl8SNU3YPmC9vY5gIoBHCZkT8S2SAPmPhMiFKSSdgqOBgZTEhJYz3IPxgAGCbOsVlvjIriVtHVw5xjml0X1YzMwYtaDSJ0ipWbpzEvSxd6LGnYbOMC_Mkz1C4tLHpwD0ungkbznJVQHlr0FJhZHAcCA5ilGBTUM2300rWTeTuF2zLjNzdJCHuJ3gqe_cbMBZfEnHdpNHopYGcPDQrEES7CXzbDVc8L7TF4nRNFokmdBlFl8TewMtUO2Kkyw0uRBUbLSYO2La3POlxO7dg73h3JUpIK7uW21pi8mE7PXRJE8-qbcO_6y_mE8YQ766rR5B03SJ5bpXF4X9YHytzYwfTQpjqe63zLJrcg72aSLF2bHjprSufC7DSCSCCCEGkgCTuNLbYbRRR0DEDmpB1F2uHvfZo__VqaLgXh80HQboeD85NNzhPorzDC9wi8DQAyDE_LMT4VV9Qmk3vww9gnbzviMeCW49xyQDNnTGIpfuIaqTrTdC8VGvdokHb1L1TCKGE8ubAPj12BRR35rMvmEAMTXwdhGLdkbGLL-JGjR9Py0fydniawMRzpwvh08ZIIVOR7dSLe_lVfYKRQaoaWGdPDtPF_pZ7046Y85_oyWOQIEFIFVi3C11zGZsWP2eobBlV9p4sDk-RovXHaQNcSt9mAnS2JahCQzODwkRh5CeQ0FSgp-MInqW4h_sk_EgCCS2IHJ2nuKddEfJPZnnU8-F8bkm9SD3CZhtxB_pdraHQa7vXc0UeBF__RUPl_VMG_v3YmHUaEHZHvR3M7Om8Cq2sflJHpy-YPMSZikcYNGrYO3TdrBmutUVX2vLuDlktlOnvt6_hkH-f6G7JzWmr1bIte6sR7AYu8CnR3UBDoJyLLq_9VRaUtpEfEg4Uxuk7n9vJHw4svL_J0dL75rJVI5LxkGWk_5Y7q4r-YiLw3RznkAbK52Gnh62Xk4KnBLEmw9sZlLZz9FrzfIJxdBAF9xcSe6k0qEa4bdZUgtORjNQ79LkQnNQbSQqzIAyu4BPq8x2GZLNwL8Wpukr1WnJrAEF2E3FUoDyEWc2KjsKC47S89JogR_UKIB2U_4BGYgdvrLBfIQxihOU01qDnMyICWMDbXl2mVe3FVgJVOIdVvgiMD6NtAfeearlTzIe9iTE-cspAwuigoSlTEaWnfsNfEz3AC7OwFrQgFP991NdSCNJjhBL_7ga3A80S90UyMHzH1tR5nVuPxIN_aG4oFvUc_vWcLDwOweUnRNfYiK4xkfu_qQrUyD_mTOCokUQ8gghtO-LjLMhJoJkNyspdPehXVBXs67it0s0UW_bnGIG2VNje6IXiH8CtfdJe6bBmuvvyKkjSfRkhBSmUoh47sR8MOteYoJ_2AaXtqi9V8T8ygIcJU_u3-uOr1hiJqTiQJHJ32ttwVDVJ0aChR6Mbn0jHF7HOUnLLBucLR7P24BKKcjQZz-j1VAyTSzNM95gtIZEWLNizfJh_nFZ13rsddrC40ZfQfx5UAOw_3zC_Yq5eIkSuo6C5jZ9vlBEzK4AHCXvZd3V_W6v2ELQXXRRSy2jGeFehOCDHE9Tn-neE6HQ7NaNtNTqAtR1pevIt5DxXvy79Onbeh0iY8BK82R7wsrlyKAgqcmXe5Dh2Q-i_6pEqpT2WGpAxqHSzycHzVB03Xq4CIW6YI-b4Lc47nOwa1djkngZBlANaBADlzElMAYhrGjDIzYtNz4mvELhoU0lOkFLF85X-83AVh578T6CWLzJzc45EtFQ3DOEwOO7QdlUs4tBXJoLhKY3WV4bb8THutfpQGErkzfVs85EDA9x6KxyVSEQqCfDL5uAlZaLsddgA8nlvN2Qt9i4B6jbfqyUW9SN4xaCuXUrNcw7cw9Z_kSz5hSkVHUAGNtBtJG7WjGuL6q2IesYdvu9mgCbfSF8oZRjEJSwWsm3hIYjv0tZ644oMhpKpJ6ZpRgqcG_O0HCZ4dO8d6JCq2YZHqpj6DiobBgEyWjAgdaKD_3tzTC40O6rkJB4V_jPbryLf3k4kuwWy4LTnLwEAydkAnw3pPaXTjIaunJilmZ2cbbHZ3xIpd6FQpo7aJNOPu6ur59PjU6-ASaHHJ5qrWb8ryyBM_hPIWiiwzwkWNIDw_cs11NAlIFRqy8TXyufUqqfJCaPR54cOSlWhgwkse3RLdSkOHHJCyM7R3Dtt3HH79Wjdg73YPG_e2EHrtHJkCYd4waQkfMUf03YPNs26pDiOYmc6PGGCgFbHUqKfqEmuQ0t6Oz8NeJ9Cr9N58PeokraTEU43ELCphBwGv7jpz11u2kWx63FNg0QIbm11ezcdVtfzavjyDO8J1mayxaSSxSlH11BkH1cs0FAN8qfFKgIXS0wyZ_TnCklar3vGmo3BOEP5cY2XP1vbA5VxKR7AQaHfjZO-CBtdhEb8EPyrOrARxosbAKDd49EsCnbgN-GHjEQmf_N4s4lb3J0SngJmL8lWjek9dsjelDLZdlIFt-a1bexb2U-pHDKqEQ92ELEoEEZAmtitFkbXr1PQHu5cRDigLStjqo44bK6_Wl5VaeJSCQp3uMDTTKQQ5Gr19WpUMA2PcPS5IUs=",
  "id": "rs_0fe5ba3d170c26b1016ab41c0ec7e487d0b4b37381067c15c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.39,\"right_z\":0.235},\"note\":\"The lift reveals that the gripper caught a white figure behind the tan one, not the tan one I aimed for. I’m taking this white figure to the left basket instead.\"}",
  "call_id": "call_PRckuohUMgCqiez5Ii3ow7Da",
  "id": "fc_0fe5ba3d170c26b1016ab41c11e1fc87d083d945417d462182",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PRckuohUMgCqiez5Ii3ow7Da",
  "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]: [-0.1593, 1.1976, 1.0863, -0.9024, -0.2348, -0.3069, 0.9969, 0.894, 2.426, 2.5515, -1.0222, 0.6254, 0.5526, 0.3901]\nstate[eef_state]: left_x=0.305 left_y=-0.0037 left_z=0.185 left_yaw=0.2176 left_pitch=-0.4099 left_roll=0.0402 left_gripper=0.9969 right_x=0.4461 right_y=0.3958 right_z=0.2089 right_yaw=0.0767 right_pitch=-0.1292 right_roll=-0.0582 right_gripper=0.3901\nstate[joint_eff]: [-0.1026, -3.8085, 6.7214, 1.3504, -0.1685, -0.0415, -0.0171, -0.9094, -11.3026, 5.6547, 0.3785, 0.4078, -0.0659, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8bf68da9cef9eee4380cd8b82b06811533d1e8446ca8a9e42c2c1a6301bf51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef55a7390065f501a83c5fb83411e9d962843bcd071f24d4b30aeb2052a339d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505ec374ede97274137d11582572c21cc1d5d56c657bc6ec99b19f81d35650d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.315 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 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]: [-0.1585, 1.1931, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.0248, 1.8313, 0.9688, -0.0914, 0.7467, 0.6998, 0.9996]\nstate[eef_state]: left_x=0.3051 left_y=-0.0035 left_z=0.1866 left_yaw=0.2174 left_pitch=-0.4039 left_roll=0.0377 left_gripper=0.9969 right_x=0.3116 right_y=0.2887 right_z=0.0573 right_yaw=0.0448 right_pitch=-0.0847 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -3.7949, 6.7897, 1.2039, -0.149, -0.0171, -0.022, 0.7863, -6.7487, 6.5573, 1.0134, 0.3492, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.692, 1.3396, -0.6113, 0.7223, 0.6918, 0.3894]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3131 right_y=0.2994 right_z=0.1795 right_yaw=0.0661 right_pitch=-0.107 right_roll=-0.0506 right_gripper=0.3894\nstate[joint_eff]: [-0.1026, -3.6034, 6.5436, 1.243, -0.1441, -0.0415, -0.022, -0.1846, -11.1795, 9.4017, 1.0525, 0.5934, 0.0171, 0.0806]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1976, 1.0863, -0.9024, -0.2348, -0.3069, 0.9969, 0.894, 2.426, 2.5515, -1.0222, 0.6254, 0.5526, 0.3901]\nstate[eef_state]: left_x=0.305 left_y=-0.0037 left_z=0.185 left_yaw=0.2176 left_pitch=-0.4099 left_roll=0.0402 left_gripper=0.9969 right_x=0.4461 right_y=0.3958 right_z=0.2089 right_yaw=0.0767 right_pitch=-0.1292 right_roll=-0.0582 right_gripper=0.3901\nstate[joint_eff]: [-0.1026, -3.8085, 6.7214, 1.3504, -0.1685, -0.0415, -0.0171, -0.9094, -11.3026, 5.6547, 0.3785, 0.4078, -0.0659, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8bf68da9cef9eee4380cd8b82b06811533d1e8446ca8a9e42c2c1a6301bf51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef55a7390065f501a83c5fb83411e9d962843bcd071f24d4b30aeb2052a339d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505ec374ede97274137d11582572c21cc1d5d56c657bc6ec99b19f81d35650d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwVIl9WSiMlJAo7hBwMsRu1OoK846RvVpGK08O3mp8VghfJBRc5nIGuoRIzaz27ojigb42jxNKvHCAf8OEjmLzGjE7o07Ocft5OpcME2fwwiDmbb_ytremyoox8JbBLrUdsSZZFdMSEHTvd_e9_laYvVsAsyKe00uHTZSj3K19h280ks_f_GTQ9xPJ0xM3fT3SbKVCqlmiDeDBZOBozQJVz4B6AM95y7XHG0olDPxW6tgFD9ZaWBsMbED7mbdIXh_mItjU1YmiAzHXywJSgA3wb1pIDQBg3OlvOcc66MjMOYT90BzJt8ncUTmLkd8vL42fPPnqfzcXBz6iY29LfY4ENnhEy_LfPy-xSwgW45YKLRMXOY7xZlpg0CiypA2EVl-IW_jNQnVFM4xpnPAMjXWrpDK6CDQcgpNY24_GteVfci84Vco5XuJdRwp5A-9jX-33XaD4KqUP2A_xx3adKM22LfVDjLiC1BRpwaschOGBUVlxBfOlr0OmRo2vEyQYDt_eS84AC5yy5pxX6d655MAt8U7MjGzF5v_EQdMKplCPJI1eeiAe9kc5pSvJISdOejk00MNQnh3elHUVeDZVfICDPM1TK49xfMkLLu1-FOmXn6lh2wYAl-yGTdnhuDvY8MieR868gfa9OfaNlqis5ZxBZnchEv5RMNqxf0Pqn05NXpNxLVhFjzvgRr7CfHyT1WF_PKbtK95_SJYsqbPs5PdeRY2be5Q71N7qhBOlsLnzQicQvG5RnyqmA_kiAROjOvoMLd7b1hzwZTuULvKhgeWyGi0dwjxJ0zzQGDeYirVugCOP3Uy7lG5gbW9yP2Pd9EdTo9aC0WJZhZThD--aieas2v3uR-FdjrvVOYkRcHJVlvvqSTjRthtCFCFa_9f5GEotrszbFakVdk3TYOfymywvE4MUKV6DPgu_x8el7_MkMoMPQFjSTDIEMeofzm52cfP_6lJjyLlcHvYhOwQOtDAq6r4ZLDQVVeRp_pZEObYTLt5UPSknAQN7Kufo4AchAzOhF8CiNLhP0ZjZr3U9PJSUSnGGlZnGY3EUHSLPxhLK2hwNxmULnFCznTvwiYwuGb2GvN4KywFxem5W9G9C6aaatDtJJcGbGcyZyaVoL8KINnet4z0bhw0QjpFoXzCXff4asDWnO5olA3RWx5gpYxGIkONLRp5JxhlR0LBQlDfq9aLUFsuU1CtC4Ot6fgiVXwr1sZv00LtvLQJFEaioAIncMZZo9lZ8l3P87R25a0Zavsi4KAx9rJ68SC8-7dKhEpwxHGqByXlYPZ6hcTF4tmXa29i_fE3Qsphhusg7ZJXiLcSGBHGn_LgrN-fiii5tZ0lx11pWfwPpuQx-IhesSGbNGwgsN2VSiIma3SbLS-mfyjgE=",
  "id": "rs_0fe5ba3d170c26b1016ab41c1515a887d0a34ef694b7d59d50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.135},\"note\":\"The carried white figure is above the left basket opening. I’m lowering it inside the basket before release.\"}",
  "call_id": "call_6CzFY4CVr6o4jgAVrXIGf71W",
  "id": "fc_0fe5ba3d170c26b1016ab41c156be087d0a3ee54409173ec41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6CzFY4CVr6o4jgAVrXIGf71W",
  "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]: [-0.1593, 1.1988, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 0.8932, 2.3413, 2.1242, -0.7269, 0.6441, 0.5453, 0.3912]\nstate[eef_state]: left_x=0.3056 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4088 left_roll=0.0398 left_gripper=0.9969 right_x=0.4435 right_y=0.3876 right_z=0.1362 right_yaw=0.0622 right_pitch=-0.1508 right_roll=-0.1091 right_gripper=0.3912\nstate[joint_eff]: [-0.0205, -3.9179, 6.694, 1.2186, -0.1392, -0.0366, -0.022, 0.1436, -13.9829, 5.6, 1.2479, -0.022, 0.0317, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4530b78dacc71e541428c923e2c17d51cddd59eb725b3efe7c63b5da8a5bdc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3286af3bf0f9ed652427be75b39ef55880114b0965752835887bf3999976f571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c938aa123f8b95b099bb36c5df5439929a40aaad1fe6b6b2cb29ecbb256863",
      "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 27 attempt 0 · /responses · status 200 · 3.461 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 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]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.8362, 0.9688, -0.0658, 0.7475, 0.6964, 0.3884]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3129 right_y=0.2927 right_z=0.0584 right_yaw=0.0502 right_pitch=-0.0728 right_roll=-0.0333 right_gripper=0.3884\nstate[joint_eff]: [-0.1573, -3.7949, 6.6393, 1.2039, -0.1832, -0.0464, -0.022, -0.4444, -9.1282, 5.6137, 0.989, 0.2613, -0.0513, 0.779]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1976, 1.0863, -0.9024, -0.2348, -0.3069, 0.9969, 0.894, 2.426, 2.5515, -1.0222, 0.6254, 0.5526, 0.3901]\nstate[eef_state]: left_x=0.305 left_y=-0.0037 left_z=0.185 left_yaw=0.2176 left_pitch=-0.4099 left_roll=0.0402 left_gripper=0.9969 right_x=0.4461 right_y=0.3958 right_z=0.2089 right_yaw=0.0767 right_pitch=-0.1292 right_roll=-0.0582 right_gripper=0.3901\nstate[joint_eff]: [-0.1026, -3.8085, 6.7214, 1.3504, -0.1685, -0.0415, -0.0171, -0.9094, -11.3026, 5.6547, 0.3785, 0.4078, -0.0659, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1988, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 0.8932, 2.3413, 2.1242, -0.7269, 0.6441, 0.5453, 0.3912]\nstate[eef_state]: left_x=0.3056 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4088 left_roll=0.0398 left_gripper=0.9969 right_x=0.4435 right_y=0.3876 right_z=0.1362 right_yaw=0.0622 right_pitch=-0.1508 right_roll=-0.1091 right_gripper=0.3912\nstate[joint_eff]: [-0.0205, -3.9179, 6.694, 1.2186, -0.1392, -0.0366, -0.022, 0.1436, -13.9829, 5.6, 1.2479, -0.022, 0.0317, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4530b78dacc71e541428c923e2c17d51cddd59eb725b3efe7c63b5da8a5bdc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3286af3bf0f9ed652427be75b39ef55880114b0965752835887bf3999976f571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c938aa123f8b95b099bb36c5df5439929a40aaad1fe6b6b2cb29ecbb256863",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwYsp4-2km-DHz87T1Gj_ItxOBlT3yP8qmfZjnoK-8bzzsuZUyYlLjzTJt_5wJCYktsEyBDvc6oCFwvk74yDkOsAXdAgkRyzmKNW7j1CvZXOKy98IfA43e9VQgG9YpvNRMp5x-6BRMs9j4iwuWd3E7UeAHuK6_T9l_a71KkY79N3jFLo-3MKJcIYVxMtkP_aiTP_JJGuOmXn_gqbpvCRRsgjs8UAtNYkN6UcaWe05hbn_Mz6vywjZNzBNDu3w3sCHoJBZdUFm_IOPQujinRGTNPedX44XD5Z5-VxpSatUDRVbQuZvA2p8Tjfk-x-6o-xCK5TXJ_Kt64CU-bcIj5crri5NhJL0fGVRxrOnJ9De-1CVQZAv3kUAFC6clm_PmOTVA5jRXOsKRy6cUthkDCFAeqFYMz2RJ4ZRSdTJVYasw3DV79RNqCBFqk97bktXKaYrh2fwQAoNDVlL5blJukZMJGLur8l7gt78ulPRi9U4LH-2ZHElp6NCKi4pcTOnN3wYdNtt9E-DuX27lUgQVlIMKf1CiKws8cF0Dhrw5DafTfDeV1nNbgDKEVMuCmVaGnl54T2qSli9ASdIF4HED1IsrJnWRYEfSi91RiL9m3y1J-WvNunLwgUzoIPNy2MYrl8s7BeoVfSVl_-1dLwyO1fqkRVCYyrYBMTRyTnNGkls7GwZvr_vSqvYweSNNQhZBFvNPhPhDEurapfnwK19IvfxQlzXgzR6LVN2o7-gihoUqFnpnYnKXwN1mxhlx6Uc9Edl-OMJPRs5FEWKkswFKbLJaKrAuZDXx92jp_ya-gEIio33ofOI22jH330SLVb3nKNhRcTiUJlGLPtbRkTIHc_uCxWETzzG9XBsreoLG5DlPaz4wYkRUHAOKCdtkFpsBREAYlxfWT1n6Kn50L_lTKguqgP207mQl8sl0DeLIRZpxqt7Ha6YYjO6-A8acBh4hER2Aq7Xjl1lCw00fefOenquYrTy3Z4IwrZ4tMIDuA4_eZkDjxGAJAJsg_1sezOK0KN_o-L-ZqNDoL15pZd9nq_dD8Rr-gG84gXrUaXp51PqJ5QPeXSUYV-RqbeTzaQPNp0MRnFFElFOD7QhQkVN2kMdobDbzJ8Qm4CXV-njNRIqXCROx1Lq1J9DYqOQuIKCvJXWSzWKANcBp6yKgWaDI3zToNfGenSR5hkuIy9VhYxSOKU_c=",
  "id": "rs_0fe5ba3d170c26b1016ab41c178b8087d0920881ea2bf507d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The white figure is low in the left basket, with its body inside the rim. I’m releasing it there.\"}",
  "call_id": "call_LzDTwWjGtBl8N15B2Nw5CoQe",
  "id": "fc_0fe5ba3d170c26b1016ab41c182dbc87d088e1067fd0259c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LzDTwWjGtBl8N15B2Nw5CoQe",
  "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]: [-0.1593, 1.1988, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 0.8944, 2.3394, 2.1048, -0.7193, 0.6346, 0.5385, 0.9953]\nstate[eef_state]: left_x=0.3055 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4092 left_roll=0.0399 left_gripper=0.9969 right_x=0.4411 right_y=0.3879 right_z=0.1301 right_yaw=0.0722 right_pitch=-0.1636 right_roll=-0.1164 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.8085, 6.6667, 1.2479, -0.1832, -0.0366, -0.022, -0.3487, -13.5726, 8.1573, 1.1697, 0.3443, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbef4e44d6f6478d91fd239b67829a262997af05431576db39098ddf399d18f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30804d22852a4dfa9d39767c1f5c657121f334b98f1e098593f5e819197ddfb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97afb6e6fdaabbf6f282ff30b6ac3413d09309186e414ddd5066c7168842f7e",
      "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 · 4.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1585, 1.1931, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0275, 1.692, 1.3396, -0.6113, 0.7223, 0.6918, 0.3894]\nstate[eef_state]: left_x=0.3052 left_y=-0.0035 left_z=0.1866 left_yaw=0.2173 left_pitch=-0.4035 left_roll=0.0375 left_gripper=0.9969 right_x=0.3131 right_y=0.2994 right_z=0.1795 right_yaw=0.0661 right_pitch=-0.107 right_roll=-0.0506 right_gripper=0.3894\nstate[joint_eff]: [-0.1026, -3.6034, 6.5436, 1.243, -0.1441, -0.0415, -0.022, -0.1846, -11.1795, 9.4017, 1.0525, 0.5934, 0.0171, 0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1988, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 0.8932, 2.3413, 2.1242, -0.7269, 0.6441, 0.5453, 0.3912]\nstate[eef_state]: left_x=0.3056 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4088 left_roll=0.0398 left_gripper=0.9969 right_x=0.4435 right_y=0.3876 right_z=0.1362 right_yaw=0.0622 right_pitch=-0.1508 right_roll=-0.1091 right_gripper=0.3912\nstate[joint_eff]: [-0.0205, -3.9179, 6.694, 1.2186, -0.1392, -0.0366, -0.022, 0.1436, -13.9829, 5.6, 1.2479, -0.022, 0.0317, 0.1099]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1988, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 0.8944, 2.3394, 2.1048, -0.7193, 0.6346, 0.5385, 0.9953]\nstate[eef_state]: left_x=0.3055 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4092 left_roll=0.0399 left_gripper=0.9969 right_x=0.4411 right_y=0.3879 right_z=0.1301 right_yaw=0.0722 right_pitch=-0.1636 right_roll=-0.1164 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.8085, 6.6667, 1.2479, -0.1832, -0.0366, -0.022, -0.3487, -13.5726, 8.1573, 1.1697, 0.3443, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbef4e44d6f6478d91fd239b67829a262997af05431576db39098ddf399d18f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30804d22852a4dfa9d39767c1f5c657121f334b98f1e098593f5e819197ddfb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97afb6e6fdaabbf6f282ff30b6ac3413d09309186e414ddd5066c7168842f7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwchCT1Osp9mJuxnDJUSQFImLlb0Z0bQHQf33ET2qGuk0bLiENV_VMry_x12hIWYHFc8MDzWOXp0o9xloyy3WWPVvZvhT8yCeiKTfiCBkBfvhaUU7Sz1BkLXnzY__NtpUmjKfMw5DmXFhtb0Tme0vcNWXH8peAp8QHYkfFxMvhqbOq2C1gtOD4Ff1o5ZAW0-yJCD11SR3bcL47bCFODAbYNOtXVu28QlLIIujLQEQTBizvQ8Y02xv4QcKBacQfnP3d3PLeg6bt2XcnAiPfa4gFs8Z5NtGzphF9iilYaHEaBJHIyzK1Cw79zO3t68q5nmJshCws6QmWBxq7fD2ZlcU7b1AwPcBLJDocIeEl6n4wCkunaVjcD2MSjSG4S97jaXLPenxdyqpona6ce0pmPHljby91hhSDGBRna3XtVpif4TV2VBH0iIBd1IV7NhteCk_Cu6mnqmXtTuErRamNllb_Wa3RZRfq_tgrIxJ2SjwkckpkfBwH6mNkhJky1KnGolbcQqjlA16_PStzWWaymi37un45La-6juLkToRhvQn9maX3ug7Tkmm50oLvQUsjef942nfOS9i0-e3g-veGQU5P8DWcfM8H0OIGtQrnCUlM9WIwzbTDP3VYWxBqD4FRkxgcb2PBfjaOeO56ScDkMDBpCDoBsz8D1EPpHgfk4wjeRG0PfEm1nRV4DyBTcVsfL6p_tPF6_Pd6Rj-Jw8tOlWdhN5R7JjbHgRsva9rWWd0MsmOIOc_wUBLYGJr8AripJflH_XFFYNZl6d6jbyTdhYntghZT0f9A3BIpxvrFpZ7-0FS4E6BZJq8TVFvdxDZMuRF78dNpgGrLABqWNpexmDMou7f65QgFIOKauaEAJsRu-icMrccmY2GOgrMf97XKJPY54nFc-EFsyLLNsary508GohldHqoU52bvCG2PxMIUKHFvIQydpcEmic1WzSZMb4kEa415j0TVUh7JFb-IRRy2NxvoZDnPLb5TbX6RzIsGfSYcbWXKAuVw1DVYX78WTyR1gczEuNoWvXskwylUj4otDqBBARDQhFfJcjo6bzROzjVlKCDLipfKvEu9vsYpnATsR2Qo9ZDXn-eVxHSC7Jp9QOheNs-hBk99BCmXs5O_jSIeA6tzWIPxlnpmlARgVjTSK58YZ6ng5D5N1jCx3HfrOoWOJlHsdFtnhnVhX1HbRQQU0m0S9hFDYEEctY11vuz-9Y003tRKMZqvprAssMjizcltWTK_pYW_dEfQFrRlh0Xsd2NRrLj1gmi7VX0PvvXh9FvxU5bSFW2nqsmMy6ZOL3OMc_cB412TPHq03t0U1gpEXyeFg7R25XS0EkQfuBBtGIfjtnYLhBRZKyDAkIMJ2j1tVBXXyEzZ-rejVKHTnBFT1zaPLfItLXUwAdZFSwOFRlDKgzIyExEkt1oprIcAVzNPlxbr2nCh0cosIY3YnmLms2xFMNzdBrUjMfEE48MJ-HxWNYdgXohOjUXpyGIymUg==",
  "id": "rs_0fe5ba3d170c26b1016ab41c1b566c87d096a8210382e34747",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.24,\"right_z\":0.18},\"note\":\"The white figure has been released in the left basket. I’m clearing that basket and moving back toward the figures still standing on the table.\"}",
  "call_id": "call_KlZbh9n4GjDpcXPNh2sLWlFA",
  "id": "fc_0fe5ba3d170c26b1016ab41c1c3a0087d09441a5d460faa976",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KlZbh9n4GjDpcXPNh2sLWlFA",
  "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]: [-0.1593, 1.2026, 1.0863, -0.8997, -0.2348, -0.3069, 0.9969, 0.8822, 1.6093, 1.2518, -0.5922, 0.6159, 0.5228, 0.9963]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.184 left_yaw=0.218 left_pitch=-0.412 left_roll=0.0412 left_gripper=0.9969 right_x=0.3336 right_y=0.2504 right_z=0.1722 right_yaw=0.0815 right_pitch=-0.1727 right_roll=-0.1145 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.1641, 6.5026, 1.2821, -0.188, -0.0464, -0.022, -0.7316, -8.7179, 6.694, 1.2918, 0.3883, -0.0659, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5401b2e758e1857a811fcb60e951a75a7a285d63f8a508a72dd0ab61c98e04aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd50e94a908fe1c7fbb89b88165e61aa805301cf4f990bfe13ec25bd10bcb827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adce1f56854da580d9c05f9e0e1e08bcff2b933111297d5d55dbe8a1643c59a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 2.921 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1976, 1.0863, -0.9024, -0.2348, -0.3069, 0.9969, 0.894, 2.426, 2.5515, -1.0222, 0.6254, 0.5526, 0.3901]\nstate[eef_state]: left_x=0.305 left_y=-0.0037 left_z=0.185 left_yaw=0.2176 left_pitch=-0.4099 left_roll=0.0402 left_gripper=0.9969 right_x=0.4461 right_y=0.3958 right_z=0.2089 right_yaw=0.0767 right_pitch=-0.1292 right_roll=-0.0582 right_gripper=0.3901\nstate[joint_eff]: [-0.1026, -3.8085, 6.7214, 1.3504, -0.1685, -0.0415, -0.0171, -0.9094, -11.3026, 5.6547, 0.3785, 0.4078, -0.0659, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1988, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 0.8944, 2.3394, 2.1048, -0.7193, 0.6346, 0.5385, 0.9953]\nstate[eef_state]: left_x=0.3055 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4092 left_roll=0.0399 left_gripper=0.9969 right_x=0.4411 right_y=0.3879 right_z=0.1301 right_yaw=0.0722 right_pitch=-0.1636 right_roll=-0.1164 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.8085, 6.6667, 1.2479, -0.1832, -0.0366, -0.022, -0.3487, -13.5726, 8.1573, 1.1697, 0.3443, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2026, 1.0863, -0.8997, -0.2348, -0.3069, 0.9969, 0.8822, 1.6093, 1.2518, -0.5922, 0.6159, 0.5228, 0.9963]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.184 left_yaw=0.218 left_pitch=-0.412 left_roll=0.0412 left_gripper=0.9969 right_x=0.3336 right_y=0.2504 right_z=0.1722 right_yaw=0.0815 right_pitch=-0.1727 right_roll=-0.1145 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.1641, 6.5026, 1.2821, -0.188, -0.0464, -0.022, -0.7316, -8.7179, 6.694, 1.2918, 0.3883, -0.0659, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5401b2e758e1857a811fcb60e951a75a7a285d63f8a508a72dd0ab61c98e04aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd50e94a908fe1c7fbb89b88165e61aa805301cf4f990bfe13ec25bd10bcb827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adce1f56854da580d9c05f9e0e1e08bcff2b933111297d5d55dbe8a1643c59a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwiAlbbcwo_wrQ_Obk-gCyXStGLOYeU6wGglvPjuTX4q3GPbipQrZxpqwxwpX5sqZzD2zoaCi4-IR4hRcjCunXIdndrrRita9j6NCGb20xoIN7Lci1HKir_5-dtD2kh-6eGl_-TMjtvVKyjydG1cQUKBU27grVuh5-9yMJ7ngl060t02L15skmN8NS-WqJtGcZYLFlf_69I9ofnptrTtNtYiMVcS59l8FjjGRx08Mr6_Qbz9aq-WJl3kwBHCKnbXHqLrxrwbW3EWkfxUXew65ANLfNhqeCD6FtSGB_8gFTk0eM5tsiQNYDoM0uPrNZYxykkZISNl06ZrX7juP7XriJDyXTXE-5K7iAzNXK5KLZdgwksXdXOqIPL4qP5ET3M-hn7gMmgxFX9eP1COyjPjyQOtzAYKMlFlJ3nXFThHjPWaiOJ1xIurPgV_2xqe_nL7opSNujkLBQRHJmtSTEtSa5M8vYixtpdZWJiZxgdcmPFA-K0WXrVGwShPdQ1adZbccaSNJUYLalNvovsmOacH-MKZfKY_LyMrH-SzXA0XKZAqKN007tkOTs9fESLLL00vpOPxEoUBioleLn6UEUVHJ7nW6dzD-buWJ7n6WtCkJbRPiw1rOTiKoZF9UYOzOieBBRT6M5vr9kzlHpc0DSHtKDcnVfBJOacLJrSOaUT6BKPOs7GNQLJ3MCbhfUUx7toNr4MeQuLxONRVzmr2yTHCwjEiFeYQHLXmS_2AxKotmWiTQxGyMwOlf1TwAqdnfuAXMRsfhyhX9Zd1vIR0cysRwn7zSnslRFqJvV1IQiDch-iBjpLcdw_JLTuo89pW2Ic63WPozUA-w5n-Dv7kBLzO3qIREThSoQupMFFdWtHV4cvKFovmK7GxAqYxwDzOFjruY3Q4eNJsuSLE9J5lc0PplyS5mT5wv-TKS8X-a8Kc1B2T_RKomSTVW4lqKtv6VCWGSSXL8fs134q3_qHz3rzIpkMnUAjJ-MR6pV_IvlAh2RVZxaZeTi37CzXtlLS9qt5X8fc8Ngytis-xAeKEDenZLt4W1otv1OOuv-6C9Odz_1iiOdp5YbNLVoGjeNvQtpiw0nJVO5jmmS478nb1luqIoBkyBIeH_-PKJVQhQNKHoGeQXBuRHEwew8wU6iJj3wI7jfInejsA4YAT_WzD9UEvLWmCcIW3SP0d_XmvrJyCheHT59LQ_iDLQ86ibORGkpwg3o5n3aXdl90CDunWA3WIx0oZiyxWzdNyKW5peyothXMA5lKaULdfP6tay4489AzXtJ-sQJV74y3p27mfVDz5koSzPphXzDSZn3sr-JIEge1Egbd7GYhgMFNo0M9QOnDx7i5wSbVWF3VmEhuv9QVXELEmqdeVkFC9WLUVuP5qL19HW5ERSDWz-eLSWqvBPyijNwtgkl66dIhG9kL-qO6XPGW6EKjFPV4O_MzcG7AeRq7mx5361xYKFvBb7PoqGlg9ycq1l6RtpxIC4eKvmkSnSzsopcFubN1Y429dc7T3nd-4BWE36hSo03xrhd7w1VhFoXv2j7hkjcJ4Yxt1DmN9oEJ3lp-tWH7xsNLwM-SYHnws-NH1oEfW_ZwL5L-NRjt3rGs8QvecX-tVpeAL8QF1J87f2k4mokzKq98wGoxyTLLMQHf-iS9pGA5zf0HpR3oS5TzIHROOK907M7il5xpdvNObViRCi2VIZZn0n292h1O3YzyL2WnBpuMPPz27OHO_8lNc6UccmDlT_IV363XAZktYRqlZi-pNTPEuXT9W5xLXP5hzVcAEidryevKAskPVwWxFcmV9bMb7HWKB_cG7eA9Q6S6MAKmEVQb-cwWzmGS1TDj9nIyH3Nyn1v4Ry0MHBySmxvSOGvGIK0i3fqmcyG41-kdfukb9qMYEzJ1UKBsVcn-isHsu1weQSCYUTIVacUqrsCp2jHl-dQjImd59eGl5b3Neq3cPtxLKsvL-469FG7BbKIaa1jSViMRSfg2dhSdc4kRw-k6a3-366WyqHWdgHn4tRtUAVInrt5I9dy5Hb2P48b1ukj0g_ese7nBrjrfAMdpWYLB8ifCd07lwwtQhnchhiyM5R_dKjR8rZKkY1BIrEeqzSjEa5mXiJlkzzL5r6g7n8jvYn4j8skuZvM5fmZSdtKo0eoOERKeQmg5t39PSMgsgADz9E8s_5-2vl2fpvneX7Pfly0muF0xBtvxN7e8iQXUp7U7rRJyXHudQO-1chiCO6xGx3qguK0ovqkYugJZLKS-zVfGwOpG8XUMAZ6piuBIL6g2iMOjWwtIK0KRXjWoseLfkdLtSnBtwL3Fz0VGfXkawNj6k_buHjn7OozkXvnpuClxjwnW1IJAlQ-M86tyDNCIHAMom0QPoqq5FoWyLGDQjbKqJJtITdBL8KO4CBsgu8LwWD1DOr-9fD-eaX0CtSX4jDfNn0wxSiVh4If7mTgdb72J3WvRb7H6AMrVxxpwcTPtgFE6RNXJ0uoEiMnVh3I_1jy0VJhYd-jlue0kxY3IedjzTpnO-rIlCy6MuNSzibfZewDIOzntAAPgq44Qxe_Y7K_FJB2zsLGGn5auWfd5n2LNMBd5tRl6HJ9c3_JREFRbzTEVoIAuUt_19gxcOVIyOn1KcmbSN33YoBTd_UlQ7FJCkHiwoR4JhyTVWnxiNIXd1I01w9zRZ4wYCbiXO-eEyYczWUNIAozVg8hGO1seit3WqoQVgvsxGzQsg1gEAM6ufuN7NMX4g5YveGCiOP43wxBtt4dcVgPA8iTnRCw4m7vQmNWGxUImGQkt4jilWe1ovv0shgPl1vq9UBfTGVrEsM3iHxGwOHMODVxhb1VnEpB2VBoCVl2CQg==",
  "id": "rs_0fe5ba3d170c26b1016ab41c1f1ab487d0812ffe81b604e71e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.36,\"right_z\":0.057},\"note\":\"With the arm clear, the remaining table figures appear tan or brown. I’m lowering the right gripper beside the nearest one while keeping the white figures in the left basket undisturbed.\"}",
  "call_id": "call_SpkYWV44X4llBYQ9Y8NOZvOX",
  "id": "fc_0fe5ba3d170c26b1016ab41c21d35c87d09347c3e2e838a6ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SpkYWV44X4llBYQ9Y8NOZvOX",
  "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]: [-0.1593, 1.2034, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.1114, 2.0224, 1.3178, -0.4389, 0.7074, 0.7502, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1837 left_yaw=0.2179 left_pitch=-0.4132 left_roll=0.0413 left_gripper=0.9969 right_x=0.2972 right_y=0.3499 right_z=0.0507 right_yaw=0.103 right_pitch=-0.2142 right_roll=-0.1504 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.7812, 6.5162, 1.2283, -0.1685, -0.0317, -0.022, 0.4581, -10.2359, 8.1436, 0.8864, 0.6325, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70c80f7e0db59fca38ec71d12c20e88a4899d4e56ca8a0ed53c6697b7caf43f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9434c5d0c004c1cf78ba9ce1fe1ec1e732e8437ee94bfc3525df8588b444e449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6b02b7d29cac4119ccafe2c9e8b2bf5356fceaae902324ebe6c802a24226d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 1.763 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1988, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 0.8932, 2.3413, 2.1242, -0.7269, 0.6441, 0.5453, 0.3912]\nstate[eef_state]: left_x=0.3056 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4088 left_roll=0.0398 left_gripper=0.9969 right_x=0.4435 right_y=0.3876 right_z=0.1362 right_yaw=0.0622 right_pitch=-0.1508 right_roll=-0.1091 right_gripper=0.3912\nstate[joint_eff]: [-0.0205, -3.9179, 6.694, 1.2186, -0.1392, -0.0366, -0.022, 0.1436, -13.9829, 5.6, 1.2479, -0.022, 0.0317, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2026, 1.0863, -0.8997, -0.2348, -0.3069, 0.9969, 0.8822, 1.6093, 1.2518, -0.5922, 0.6159, 0.5228, 0.9963]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.184 left_yaw=0.218 left_pitch=-0.412 left_roll=0.0412 left_gripper=0.9969 right_x=0.3336 right_y=0.2504 right_z=0.1722 right_yaw=0.0815 right_pitch=-0.1727 right_roll=-0.1145 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.1641, 6.5026, 1.2821, -0.188, -0.0464, -0.022, -0.7316, -8.7179, 6.694, 1.2918, 0.3883, -0.0659, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2034, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.1114, 2.0224, 1.3178, -0.4389, 0.7074, 0.7502, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1837 left_yaw=0.2179 left_pitch=-0.4132 left_roll=0.0413 left_gripper=0.9969 right_x=0.2972 right_y=0.3499 right_z=0.0507 right_yaw=0.103 right_pitch=-0.2142 right_roll=-0.1504 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.7812, 6.5162, 1.2283, -0.1685, -0.0317, -0.022, 0.4581, -10.2359, 8.1436, 0.8864, 0.6325, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70c80f7e0db59fca38ec71d12c20e88a4899d4e56ca8a0ed53c6697b7caf43f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9434c5d0c004c1cf78ba9ce1fe1ec1e732e8437ee94bfc3525df8588b444e449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6b02b7d29cac4119ccafe2c9e8b2bf5356fceaae902324ebe6c802a24226d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwm9LOYEccRS5YAibt-juQy_h65e92Unu2j8XPyefpToMC9j4GkpRO8vXFfnkGrPbzdeZrL_vlKUHxe0YpuMmOo5yaQSyZKE6D_x-tpFQcBfp9YVKSJmwt9j7fZp1re59nNuNn4j2Mg1ey7vVH2QJgEsIk51dgZDTdNc85VnRqH_J4BmK8y2_XVONnt98bdfKoxc7zt8IRQt__hOgldExhATALBQgHVb_HklYRseFv4Yz2J9lyPllPJ3ZIuujUrpAliLAuVDBBhgXTa9DTTmFcC4n9cIPi3ve_AaWwJLcdDtGShH2HBrH-g28yZVq0KKAYrs6Chourmwgz10PzhKixzVhkBywaHOlubA8AWCYx2ZXNx7rW7vQpRkkBoaNWu_ycMPhiXK7-q8IXS_IOUEpa35DSkRoPvtjJLNM-wVa8kg5AVOrd3jL_HIB4Osd_WgmLh69Fioc5jhm9gQQ79oZ6EyA5mrc5dADxx_Bcauy1zTYvktX2dr7s1WQ5uarmak2Gj32NKQgjfs7eGivGGcIcpDyvwwmYrjfl-17VQidBPgnCK9_BMxoIg99wLf0qERzQHMJ4JC_Yk4yH4LlEOZHEHxNsujMQlJrL38hgLHtc0lnSKk4tm4kFGpw3_hiffb0flOxB8UHseGz7UTqbblKuw0Cy5NGJ3IC_2OrRoOnCvPnyOPFKmkfGNEv-nbje0w9_rmsLcWaDaU6sJ6h7u_bBnJHlaHfixYtYydwL5xkkWhW7fzdIDAYPlnUjp98jP5M_DAFB6DbREPTcNv0zczPUDQgFp9FFa0ZAkIpaSTxmNsoPp2T7EP0dcoD0eG_IrAAz2Amj50oX0zUttHHhh2MPKr6iXGo1a8pvocoIuqwZZE5mSPmq2dKvG1K8zBCuIiY3QEfC9STKTCWIrF8driJtqd2CfRQ4vf6dNuNWoF0YUIhM4JU69fWo0EZ4xdWAInBxIamp2NSjCAmvOIJwCcItu45nc68NGQ1tIyC9KZpPixs6qkoo7YUG5oRfDJJDj1uGeCdxX6hqaoCxC85MZf86gOShnkScfAmMi0HlrttdZcyuNuEm7xbOSPEOzGN72h0TA8IkGwCk9xyY9bMzXlIPpc_iZoJJNwy3TV9GcU80tfcDgeLHm9Jl4vwI6kvR4rwJMTre04zLz1txuKeJFXSKZ1fkup04mNxrnVwyP7tTsuPexMvITLervaY-kfK3nNWAKvXy-IiDT4eFnI7ZhaYWDfEH2m2Vyc6sO_TBgNUT8wqZjpAPYhKN31RjK_9itSeqG7GATCj-imMy5J3aMzI8WrVg7a1TlLfrmA_ZOaVRgKd-QQFGE-5lwj448F-q01jfjhAzcB6Rk4ZUDJYBes8kPABEXNbWIFplcVmdn0ffB_QKuJv2voEBSLFp9NVjdBTxbYTwWDVCR3ryB-n8fUVXTrmzYm5wci9toFbcxxx9IHEDVwh6fSYDtyNb-Iw2kPCfVqnkMy3TBsR3Q_F4UB_EI87UhgUf-_f0g8IYQe9N8csHm-KR1j18qJFgeLbLwC-AxFzs_dG0Q9KM2PSvkwg2FDBJ3IBTwK3d0NKCiE-jf5yL3HeXjqs15ZXb6M4JsYxshDQeJY8yJnJhJo_A7Qis2FA==",
  "id": "rs_0fe5ba3d170c26b1016ab41c24f6e487d08de1e611583f2945",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.318,\"right_y\":0.385,\"right_z\":0.05},\"note\":\"The tan figure’s body is just left and ahead of the fingertip gap. I’m making a small inward and forward correction before closing.\"}",
  "call_id": "call_JCA2w0yJROF8yC6ynKZaVIsS",
  "id": "fc_0fe5ba3d170c26b1016ab41c25cd3887d0990628f3b5e1318d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JCA2w0yJROF8yC6ynKZaVIsS",
  "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]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1103, 2.1441, 1.4899, -0.4808, 0.6952, 0.7471, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3119 right_y=0.3821 right_z=0.0459 right_yaw=0.1114 right_pitch=-0.2193 right_roll=-0.1393 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -3.959, 6.5026, 1.2137, -0.1197, -0.0708, -0.022, -0.841, -11.4803, 7.4462, 0.5934, 0.4274, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877cca87da65e2fe62efe38a7f6cf043bd583d52f7b837d35821b6e9475d1daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0317b056d8f1c3d71e2b59da903aab3246ec3bab8bd144e865a6b376565725c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92095b8f9c9c9e7e4b87d45323b64434bc57c8d5ceb3f95dfb8465827b26fa0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 5.631 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.1988, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 0.8944, 2.3394, 2.1048, -0.7193, 0.6346, 0.5385, 0.9953]\nstate[eef_state]: left_x=0.3055 left_y=-0.0038 left_z=0.185 left_yaw=0.2175 left_pitch=-0.4092 left_roll=0.0399 left_gripper=0.9969 right_x=0.4411 right_y=0.3879 right_z=0.1301 right_yaw=0.0722 right_pitch=-0.1636 right_roll=-0.1164 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.8085, 6.6667, 1.2479, -0.1832, -0.0366, -0.022, -0.3487, -13.5726, 8.1573, 1.1697, 0.3443, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2034, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.1114, 2.0224, 1.3178, -0.4389, 0.7074, 0.7502, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1837 left_yaw=0.2179 left_pitch=-0.4132 left_roll=0.0413 left_gripper=0.9969 right_x=0.2972 right_y=0.3499 right_z=0.0507 right_yaw=0.103 right_pitch=-0.2142 right_roll=-0.1504 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.7812, 6.5162, 1.2283, -0.1685, -0.0317, -0.022, 0.4581, -10.2359, 8.1436, 0.8864, 0.6325, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1103, 2.1441, 1.4899, -0.4808, 0.6952, 0.7471, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3119 right_y=0.3821 right_z=0.0459 right_yaw=0.1114 right_pitch=-0.2193 right_roll=-0.1393 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -3.959, 6.5026, 1.2137, -0.1197, -0.0708, -0.022, -0.841, -11.4803, 7.4462, 0.5934, 0.4274, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877cca87da65e2fe62efe38a7f6cf043bd583d52f7b837d35821b6e9475d1daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0317b056d8f1c3d71e2b59da903aab3246ec3bab8bd144e865a6b376565725c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92095b8f9c9c9e7e4b87d45323b64434bc57c8d5ceb3f95dfb8465827b26fa0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwo_XK5IhGNHWYT5fEpjZS3dipWrBeBnEapsVkVPFejCXfcaAZIa6ko3ulFntYxSaLnzyuSg0GGbmk7SCAgTbXgQSgYg4uHAP27GSxKpkxRlHcxrbuFhtMU9ztkyPl0KDdqylS2_w2hMukFowWUMwRaTvDbFKQks9GryPxq1FUnTY2eyJWzIj_r2DZ5FuG2mS0-mUxYKPy1F2H-fuFukuP7AudvV4wiqMadMhqkf0ryKFwHlo83osNq71wjmcZAx_HZb-7L2cOqK67kqz8JXMUlKYGWYBdUoMuxRDAd0rGMSIKidjV9dt8w6blPCBoBfHDDJ3nv3NhpJkezjW0H3WLBhQhTo69Gpu5aiSss5KxaHFEirgu37O8JIlySzDt8vLX1_AU1pDsHnCC5q0k0tPhjBCzOOSyHAGFI-6iK4EwJHn787PMiFZ4oFk1uMEgFOrgx647hyyv4B-eUCR5sDccueX875ZaF45UKa9xUOws-l9ryQ9KuVVjAKX-ff3a_jTUbdgxl2icBNl1RY4lTMxS9aPjHEnGHbwi9ZuU3Ko3lC79oKEJa4arYQ3efxsO6xZ7a7x_qj8VBmZUadDapQBTBkD8gXRFqQRXK6So2issqIWgq_O2qXTRFCkpXbbUmT0tolXx9m-DBa0r65Fy1J5usO3d7qeC4PT2OxG1qqekklRPEy7Qw6bUjvqX4HPiOyV3jRU31G7TnpItHmcXAqN9e3bbEAlpMYI3tYNA_T9fv5iEUDsPBnRzMcX8VzVWJxpMiVmLl80sn8wxceyuImEvGk7L-28cJNtEnPwinKOG7qlsm21tZDEgyrCoULp1zDsUIZuhNcLA87pGdn58mXRWAO6SvlZsWmDGfAFUYRos7WTCYBYnYNf_cDC3cuOneljKmkYOsogIMpNzo1guL5E-3unDXM6nXLUDDftsLghcME1HYsjBmPfxfd8mv_P83M_cZJZ6RnbyH2xpfAl-HSAONOLDRKyq6WDA3iRS0ZkXHyBqqbNJVwFhrO9Devw1pjXk70IXKBIwg5zcT0d_ojRRbRV2GR1EUOA-vT-qUquLeFJa0WVS6PtpO7Jra0K2O_KiEfZ3rJolHUFMd1KqgdQag9TzKA5Fddj0ij2yd0ynYvvOb8-C7-jbYgaLQzEn0w8lr0E_GfJAxXzJcmgrwapXIzd730jMaWanNHqizRG_TUwyNF2caSINSWhkwDf3qMIxvPGfzkomgaxLyGSiMuDsicw==",
  "id": "rs_0fe5ba3d170c26b1016ab41c27c83c87d097cbd196ed26e62b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan figure now overlaps the closing path of the right jaws. I’m closing the gripper to secure it.\"}",
  "call_id": "call_ma7vp9aiLPVLDi8PvSBHJsu8",
  "id": "fc_0fe5ba3d170c26b1016ab41c27fd7c87d08d9afbaaa8146b2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ma7vp9aiLPVLDi8PvSBHJsu8",
  "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]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1107, 2.1586, 1.4933, -0.477, 0.6834, 0.741, 0.0132]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3108 right_y=0.3841 right_z=0.0395 right_yaw=0.12 right_pitch=-0.2327 right_roll=-0.144 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, -3.7675, 6.5026, 1.199, -0.1587, -0.022, -0.022, -0.3761, -12.9299, 5.8188, 0.9744, 0.4567, 0.0562, 1.16]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3263e8c9acb56006ea438e0ee544b5b954901f77551f03b84bc2bbf203436e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f644089488f1af8e5f7f660b29c961cc91f9adf33c105fd289c17cabfafe67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeedc2527edf6a3b73589de2b0b068c3141257387f9722b952dbd3b70d1c2e0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 2.143 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2026, 1.0863, -0.8997, -0.2348, -0.3069, 0.9969, 0.8822, 1.6093, 1.2518, -0.5922, 0.6159, 0.5228, 0.9963]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.184 left_yaw=0.218 left_pitch=-0.412 left_roll=0.0412 left_gripper=0.9969 right_x=0.3336 right_y=0.2504 right_z=0.1722 right_yaw=0.0815 right_pitch=-0.1727 right_roll=-0.1145 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.1641, 6.5026, 1.2821, -0.188, -0.0464, -0.022, -0.7316, -8.7179, 6.694, 1.2918, 0.3883, -0.0659, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1103, 2.1441, 1.4899, -0.4808, 0.6952, 0.7471, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3119 right_y=0.3821 right_z=0.0459 right_yaw=0.1114 right_pitch=-0.2193 right_roll=-0.1393 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -3.959, 6.5026, 1.2137, -0.1197, -0.0708, -0.022, -0.841, -11.4803, 7.4462, 0.5934, 0.4274, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1107, 2.1586, 1.4933, -0.477, 0.6834, 0.741, 0.0132]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3108 right_y=0.3841 right_z=0.0395 right_yaw=0.12 right_pitch=-0.2327 right_roll=-0.144 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, -3.7675, 6.5026, 1.199, -0.1587, -0.022, -0.022, -0.3761, -12.9299, 5.8188, 0.9744, 0.4567, 0.0562, 1.16]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3263e8c9acb56006ea438e0ee544b5b954901f77551f03b84bc2bbf203436e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f644089488f1af8e5f7f660b29c961cc91f9adf33c105fd289c17cabfafe67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeedc2527edf6a3b73589de2b0b068c3141257387f9722b952dbd3b70d1c2e0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwv5_wfy0OX7_MNE3OblHu0szqryD4gs1-FGsfX-IOPr498-0PWR3FgpHZbxr2ak7K8Egj6kSmLz-zcfAOVO5xi6dtscsrNax8Wo2OaH2Epn7g5PjRvama1jL_IoBQdBHSTUtCHURMePz5ZjLmzS1gGZBA4W0pnZgq1-pUjHy_7O3sZJJ7MCKTfTS-Bq10v9_FioyWTy51LCHpwVF0tKRRh8e_3HxgFZjvxSzVgl7o9kHHOpp1FadQBuSa3C5gZFrHRaG43Ax-gcxnsGX7kRZRYafs0hr60gHfZPai_6nt-6Bl1vaxxT4uZs1II0-O8JBkwBs0EKbdvXY6m9mMw3J-qcSNSMxpTpcFV5dDaWRhotJk6gAOmCvpGOUEYnLnViJTDoNKApjdOGl0bi6vuI6pWoVtcFlEmqTBbg3mQmbq6kIOoyEx1OtZpZxACT23gU7fFrC4_MC3cQobER76JPaPx_YfAev7bO2qdvfkBM6tle4nv5GbjbZ5xWrHnxn0OK6TIPId_cvFdkxQmD5DCvI6btSieMpsnt1EuMG3bsTcEx2Q2sMTSdoFnYkbpg3HZMjo3dkPt38grmv0_oC5_mqHtZNd1XaVdRd9PPbiRCBfCcHc4NNATSDnxR673XZWkXQjB51VAeVOdv5f1JbFoerkWhxzzjV4vf13jKsYQ6h38INXnf2Dq7qnL7xPXGhl3KP7d9xiHfQYzVct1j9UcqWHJEXJiuhiGV7K_jt8jYi7u3rMm0MS5SvgqQ-HWAXTZ4ZR5LWDWm_sKFLj30asYQt1YJ6I4whrQ3YvUODKdJbwZOh2xwJrVA70sS4ZpFYZZGmfekArwsy-q3pA3mpv6DF24LNcgmA5riYd5U-WbAiZZ_WCqrf0b1BxXq5yvU59PQTeFOYKqyLi5Lv4JNGdzd2PCFB-83XboZMTozdx77AIqtwTHhkEYtkZMZqATa3YSlIr1C3eQ9gq4CeOiRFVU_ysRnnmFFA24jtbvlg4K8-ODVtGoSWJjVjaw7BzAEJB3RzKEK86IB_kwR8dXRNS7G_D4wEgpzM-9nOsZ6Sdno8tmoT6vZXwf2tdjxMkni2FGyuYZghBxPt2yCEGonzFhXLK_xXe3Ap4OMvF36IKycookNjnYWKaAdWc7Bza40kFYbrH9QS8nl4hL4Sklu9Lz6cdDDjpCz2XdZJcr61-MvVffaZfwU9eahVo_gT34nI9swcXRusEyLjMj8nQSAFs1hLgViFdpDm8a9SabJPR4AiYQOj3mqu2ep_iJsmY0xYuDX7cjEmBqbeUJhzuvTVqWAgVjTnN6f10BMBJC3oqTXV6JJrpdDE6sUNSF2RsikFf-yhphdEFiZJASegKrUjAQNTvDXOCYXDmid4gp03yp0tvkf7FqRZ77FM0fuECVl7T-8WNUF27uIn3X8qwrytvZpcr_YfzAVIsxvNAww7nGrZvDSgC32N8B6EClSN9UCVg5vaTfOas0tu4pOS44jEto88Mi2hLBFU0b34P2V4B7KA7VGnJzwwEFzqVlTBmTf5eVagxzgPdlpkloX6plW4y_AuJv3ja_VIqZxyLj_EXXmcnbrcw5WLLHm8Ht3glS_9gL_ulyaXUG4iZcUU9C5VCA7JFKBAu-p5m3AjKYTK0YwI7KhdN_0XsGmeTv8-WitXaWUlMXP-LVfAbCOuGFM7mL6bsGLH2poLdSEdDSY1Vs6TqYU2WhbmOVM8s8_apchxzlq-rBLTJvD6E22ggt97RbiWkws5Ou-MBwSrAusAyxf_WzhnTKd6IoYa7kAayDTjZxp1Tl",
  "id": "rs_0fe5ba3d170c26b1016ab41c2a945c87d0b0eb228b2a82106d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.345,\"right_z\":0.065},\"note\":\"The right jaws closed empty; the figure was still ahead of the fingertips. I’m reopening and advancing a few centimeters for one corrected attempt.\"}",
  "call_id": "call_I757Udj2tVpN7Y8cUqRg8pwV",
  "id": "fc_0fe5ba3d170c26b1016ab41c2b9c4487d093e8b9ad71ce9b09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I757Udj2tVpN7Y8cUqRg8pwV",
  "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]: [-0.1593, 1.2045, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.0512, 2.1609, 1.581, -0.5323, 0.6422, 0.6613, 0.9954]\nstate[eef_state]: left_x=0.306 left_y=-0.004 left_z=0.1834 left_yaw=0.218 left_pitch=-0.4143 left_roll=0.0418 left_gripper=0.9969 right_x=0.3362 right_y=0.3818 right_z=0.0578 right_yaw=0.1326 right_pitch=-0.252 right_roll=-0.1538 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -3.9316, 6.694, 1.2527, -0.1148, -0.0562, -0.022, -0.9915, -11.0701, 8.9094, 1.0134, 0.3443, 0.0366, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e050b70c924b0502ca337bf0e3555da3f9d93b6ae32ec7b040295e0216c41e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b2d70e77f5e8a0fd415622ea4abaa7a87a9bc1bbbd45c267601c82274fed5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46358b943db9505ab98a96cf1c7907706c13a77d7227cb60dac6efc1c5642884",
      "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 · 4.576 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2034, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.1114, 2.0224, 1.3178, -0.4389, 0.7074, 0.7502, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1837 left_yaw=0.2179 left_pitch=-0.4132 left_roll=0.0413 left_gripper=0.9969 right_x=0.2972 right_y=0.3499 right_z=0.0507 right_yaw=0.103 right_pitch=-0.2142 right_roll=-0.1504 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.7812, 6.5162, 1.2283, -0.1685, -0.0317, -0.022, 0.4581, -10.2359, 8.1436, 0.8864, 0.6325, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1107, 2.1586, 1.4933, -0.477, 0.6834, 0.741, 0.0132]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3108 right_y=0.3841 right_z=0.0395 right_yaw=0.12 right_pitch=-0.2327 right_roll=-0.144 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, -3.7675, 6.5026, 1.199, -0.1587, -0.022, -0.022, -0.3761, -12.9299, 5.8188, 0.9744, 0.4567, 0.0562, 1.16]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2045, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.0512, 2.1609, 1.581, -0.5323, 0.6422, 0.6613, 0.9954]\nstate[eef_state]: left_x=0.306 left_y=-0.004 left_z=0.1834 left_yaw=0.218 left_pitch=-0.4143 left_roll=0.0418 left_gripper=0.9969 right_x=0.3362 right_y=0.3818 right_z=0.0578 right_yaw=0.1326 right_pitch=-0.252 right_roll=-0.1538 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -3.9316, 6.694, 1.2527, -0.1148, -0.0562, -0.022, -0.9915, -11.0701, 8.9094, 1.0134, 0.3443, 0.0366, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e050b70c924b0502ca337bf0e3555da3f9d93b6ae32ec7b040295e0216c41e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b2d70e77f5e8a0fd415622ea4abaa7a87a9bc1bbbd45c267601c82274fed5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46358b943db9505ab98a96cf1c7907706c13a77d7227cb60dac6efc1c5642884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwyF1BDcXa37OPOVYYOEistsZqw9scMaicCd9LL8xkVifcUqUypEKsj8tzQrjlr9PeI-umwu-Bch3RqQkskphwIxR2SbyTpq2SGxksElX1qqklF9RludeG-l0ZtgqPCfAbv2pZAH0Xmr80Sopm82c3UpHUPEjKjrXUp5P3FDFKAQnMFXpNd-Ur28BE2gzWHX6cEJ0dwd4zFkdLNZ0Wruc9zM891AgSXlxT7j_ktndHm9osxcd2Uumswy7GS90gmXNGcPe__dIX49yHeBgyt208wi43NX8oYHQKst61sA6bc9gzr5YCiJmoCzrtO_iAA_CX4Ew_R_V39WHUDYC66boL09nChMAoeG9SgLSlcwHwEe4_U-L_oQIE7R27lQSCXUP-vDE-1LsM8J6mGw_5ZcELm1dNR7DyMu6mIn7gOwzo0ZaxUvAUZvmGExuP2Iq_9RbNkW__DLhlphzJGRyE6cvWcnvsTj60LjKF7kfNClCW-F8v6bFwT94L4IyYbAkOQYfH6Atq-S6-VXmo7dVGBVqhfgyPVmAgNwabTAfMdDtYjUPv41h5P3Trk6GmnHNwZw8gB9qCGuz_uA3vAk0sWCz2hob1ibG_ZE_mx3vbnP9EplkHFZyU54reObuOCyiyZJcsZaE6Fr15oWNe593ygGPjW5WAe5wqtI34ai-I_iObFqUtWq9rf9Gkdc09hnYeTWmAnKDKgzoWRlwV2Jb4slo40q_s91cj6tjpDpd_NEhv2QIxc5rz6VcAMuyy6HC8RWDowuoNt8lafBg7ixCTaaNLi5L1EG07pxejCP7BWYg6d32AXAGObyiMcO67F3yCITgsfNu7hVppzAZ8PihpqF1uAOzAullX1hWg1lwv-ZX4uFxI8QWnMJldA9-xNHFsAEWF4rDGV7npHNK4-0GxOmde-0J6dApHdrO2dgz6shbiGopT61q1qFr06wBkmP7Gy0hLlRlc7a3C1N7E0GzgIftPXdMFzAKf2sbbZpPHpiTjdvHnCaO0Sv3Ub4-8zqAJzJQO5rc6IRxVzT0t3Dn5uy1674JFBbdIlACBdSYfsSnMnNJhBLzpei2Qn0LHyG6P4qjf14tNvVO8m4P4y9Fij6wh_iN8iVdMkSkzsfwa4ErRKqm7PzASOuamCLaxEFuo69KDUk8tDiQgJBGIUbgG8pLo3QVk3UgJLN7Sbcpi2Iq-SNOac47dPuJg2kWxwz2VolkgbE683VrdGki85TTR74YEWMB8fCTSxbK6jYOvkIUUjNT10UxO9DYKn3cPUETXKzle9VRW_jN4g4HYejPq9k1z-mQ==",
  "id": "rs_0fe5ba3d170c26b1016ab41c3150fc87d0a0aed098d3ac9cbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan figure now extends down into the fingertip gap in the wrist view. I’m closing for the corrected grasp.\"}",
  "call_id": "call_ERlKks8KoSTrRDT4cb8q8JFF",
  "id": "fc_0fe5ba3d170c26b1016ab41c317c8087d0a6a4dd8231042f13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ERlKks8KoSTrRDT4cb8q8JFF",
  "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]: [-0.1593, 1.2041, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0477, 2.1609, 1.5826, -0.5377, 0.6235, 0.6563, 0.0141]\nstate[eef_state]: left_x=0.306 left_y=-0.0039 left_z=0.1835 left_yaw=0.2183 left_pitch=-0.4138 left_roll=0.0419 left_gripper=0.9969 right_x=0.3353 right_y=0.3822 right_z=0.056 right_yaw=0.142 right_pitch=-0.268 right_roll=-0.1498 right_gripper=0.0141\nstate[joint_eff]: [-0.3077, -3.8769, 6.5436, 1.1844, -0.1929, -0.0757, -0.022, -0.0615, -11.7128, 6.0376, 1.0134, 0.4225, -0.1148, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b06c2b92d95ea9a74211ed56461117fead0f09210553d51fed46ed1c0902a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab379821a50b3b3f8a2bbaaa4b761be7afb1ff7222e716aab10fdbc0e8e1da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acced81c671442c80a52e3455c40ea679fbdd932853c477fd8ffbc8597f16ca9",
      "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 · 2.533 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1103, 2.1441, 1.4899, -0.4808, 0.6952, 0.7471, 0.9964]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3119 right_y=0.3821 right_z=0.0459 right_yaw=0.1114 right_pitch=-0.2193 right_roll=-0.1393 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -3.959, 6.5026, 1.2137, -0.1197, -0.0708, -0.022, -0.841, -11.4803, 7.4462, 0.5934, 0.4274, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2045, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.0512, 2.1609, 1.581, -0.5323, 0.6422, 0.6613, 0.9954]\nstate[eef_state]: left_x=0.306 left_y=-0.004 left_z=0.1834 left_yaw=0.218 left_pitch=-0.4143 left_roll=0.0418 left_gripper=0.9969 right_x=0.3362 right_y=0.3818 right_z=0.0578 right_yaw=0.1326 right_pitch=-0.252 right_roll=-0.1538 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -3.9316, 6.694, 1.2527, -0.1148, -0.0562, -0.022, -0.9915, -11.0701, 8.9094, 1.0134, 0.3443, 0.0366, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0477, 2.1609, 1.5826, -0.5377, 0.6235, 0.6563, 0.0141]\nstate[eef_state]: left_x=0.306 left_y=-0.0039 left_z=0.1835 left_yaw=0.2183 left_pitch=-0.4138 left_roll=0.0419 left_gripper=0.9969 right_x=0.3353 right_y=0.3822 right_z=0.056 right_yaw=0.142 right_pitch=-0.268 right_roll=-0.1498 right_gripper=0.0141\nstate[joint_eff]: [-0.3077, -3.8769, 6.5436, 1.1844, -0.1929, -0.0757, -0.022, -0.0615, -11.7128, 6.0376, 1.0134, 0.4225, -0.1148, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b06c2b92d95ea9a74211ed56461117fead0f09210553d51fed46ed1c0902a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab379821a50b3b3f8a2bbaaa4b761be7afb1ff7222e716aab10fdbc0e8e1da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acced81c671442c80a52e3455c40ea679fbdd932853c477fd8ffbc8597f16ca9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBw3qOrZOmQyI8OqlsEjVmumRxLKTIHS2kM2WPOU2XJDE1XWSix8sQeEGpimXai7fFqSZwaqxKxw0xnHJU6fp-PYMXJvFPCyK7xjo2lHx2WpGxBv9_zLNB5vrxzzVCDy5JYfv6lsMp6VZ_MSg1fjstqAlkvVcZiRTkVKFBmq4VNw4Kf3qlfNJ80ByVkDljeUUvyrqxFvg483WEAtn7l8_TqBoRsGDWUBKivgXu54chxTLm7kdmng21zGqJ2MiBxumnHPz5gPqiO_X1P_ts9ReDXt712iewlfV4PrnC5HtJ_aU2CCrEmc-U13L1F7IT_CsRm04KobHYAqvdSTWcqMA4yA10Zv6Slpg3cnCRWpVQrXQQtpnEyHi4Yzyvr9ruYAuZ6EXAiUQWSmcRmKEqbf5HiQsRJovSzemwnK7VvFxIyM1Ifso4x3PhYgkLMTQ8TFQ_CZFTOHdBib_9Jr1VUe7K4rPtrWN0anxmN_m9keLue6-AZbvKue-VMD4Vn9slQJ7jWsnpKDMic0R9LKsA461qtjuNQAWgCgvBBRK4B5LVjbGRcFW9vF3a5Ed-tn66cDzWMIt74xpmz5IwG7w53PsnFNmfWuGNqxH_J9nKCBh9ldVN2694k4NEI-6tgOAOksqdYSG-HBtt6NcExRs8RnbjIBWyJf0A_Yg1ddXPdDqwjHARKUy4hGTMeFwuVFxpNBCiHLTd6gc2AnfTjml9MHjBfak8TsN4phR84fu8RRiGtloNxn1oEz_F-KH0cxihuhNy0KWvEALrpB6NHBA4qO30-zd5K8KJQnUw7PepuJuD1XW_vqv_g-61zTPZdDxEwMcNFfGNQu0s9N0XiQPgjjrD0fH56jRO6xV3mjBJilHqKPUgsoSRRkvp2g6sec_u-Hplrc_4KlvDqn_PH5u9FQsSfTj-PK5WfehcQ-uAOle2k7wwTm4MO5xi0n7rNGQxhSfdG3SvvAiI-mVqid-x9UsXezRqChMNFcdF3zFFYsD-QSxe8EUgbaNLlimN_cqK8u6bwjKShV3fB85JhRIBrN-zBkcBwXAzQJq9GqgpV-N-5XzVnozFcZ1mFSjzsOI-bveFnRvgZ3C922FUO37hIOjMnzkV34yUqG9TVvnMLkm3b6xL2hCIyyaorgnS003nV395zUQ9_Mldnq9isS7xyTWC-H_kf4xftjr-macbScIEZyIGHb05_Sv62t3i0ir2qzCiVHlW8KPcwgm4QDV5HQPP2jXwvz59-fOjqwxwz2_yv3uHzdjnm7_YJoqLAhb2uD_SNDeZi69RnB7fINOuvqNZr8pE1HwCajMBYVhGAcs4Hke20R7iTd5m-a_wDgwg8ONbdxQETRcmGTJE_oOIPhiuE1wrHGdePkHGVo5lzQD8fu38SNU3_TxogN3zsuqWpGzOsaMpKB_J4t2NRz5ppLfbx6exF-BXuxkZ59PXi60wcf9YjoDqBSutos-Olfdp8HMxR0sqKowMkQ_btIzZ4HKsVYiqJHyYmK0tawJuIWLquXLWGUUbjcPG9ywoF_yBw6xsnLyb5Ip72ubDg9AAccKGdjIKL0o8WWeRT216OiJzzhqXREpCIvrNtQGNmaQfLJ8J93hWavH993xwCqJbQRee_SpgbuG8MckKJQ5PCwm1ZBZIO-sGBgpqJAGQhQoy_yCH_vsatnb9yveLygS1tN09U0CCZUsEh2F0vmYwUEaboZgdjKak2EcSg3-LG-MPFoPM_I8jFJ0vh2iHjsVnUW3VcGSuTuTeidWbSnCp6m6iY4Ggraqp_s6t_P8HaP0zQ5SOeZPbtyQgjX2Xl2ciFxIkuEyPRXT-CVn0yFqR-CzGPDZnxqx59c4U0TLfLRo6jCPK_aB9uj0-P8ooVdujvaxr2o61XPgj7RlbK2xEGkpzll1Aa17IbY-uNLQgg5_iHxUBg3lHqV28p8bLaBZlQvqWCHpxMxQONUARiJRUc7nM4nHDe-6A6UX5sha0kK87X9tGMk7ldixqrapr65eTe0Sbc9-PNarwpl-aJRkZVBoGSCNhM_EqiP5Uxcg8iTurx7GlG6nlwRjIO1NfQ_R976YNw3yoKoxyTmbdM0-Beh7XGWxu6DYi3zBpmiKeae2q9iAas1JLCE4RL-0UanCKimPobJP6IjIA70A-eBV0qkUGiUT_JhNwa6JA7GoUWUmhw6EfUcQJF5zkwW8iOhGWeNd93uAcJ9tPOErjlxZu81S-nDGd5Jl0nPW1nEHBEhRMPJhnzcuTHX-H5VA6A-Wahmve1VQjdSt6m7mFX9tLiGgWJbBxJSzh3TSPt3Vya1y6QvJx_yJzQcRRA2MPDREkYJYAXuhNjoxhh3_9TIN8rknyZoZYdzLCN72zRZiZLPjx8-IYprV7sV624fDo3Qs3AH9rke4nkgkD_ULKaZSC98plztAY3Y2c9qvDO9WktfbFeRNPazq4pqKvhs1f646xeNbzMl8RYrs2P4B2jmVFOiM7j_NtUJLW63Dhu1GL1YkVe2X1c1KMaSI09_K2zYftsvsfI1vpxeydClQktt6b3ICkexUS6wxS6HxeVUec_SObGTWg15Jp8FLRlrA7-TOpqA9hzxVJaBZt22WUMiNh9WRnFEACaI0U8J5lLn_0IfU9Gb8sa15r2N6nr-Xi-khUsWNjBGsE8i92OI3tVV-719XfSHzj4knURR0WzhsXGbtOqcz7O8cJOjcdZmHQzQPVuSd4IoshWT-n8BJ8Ub5YxyYiv28oRnk8iZ6yyySANAJ3lX4WF2fd42KWD1j0CaQNDolTMuIuhElusBsLp2VQGbnbelL16n5ec6GI5AVeZ6En8DQfZXb-TrDnsrL_G8NJBsM6JuS7tY33PhBSc2swIo9HGrCvZkYdr1H3scb8y2-qZYNXd0",
  "id": "rs_0fe5ba3d170c26b1016ab41c34397c87d0bebc0117a6ce623d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.19,\"right_gripper\":1},\"note\":\"The corrected close was also empty, so I won’t repeat it from this angle. I’m withdrawing the right arm to clear the center and will try a tan figure from the left side.\"}",
  "call_id": "call_3Url5OrCvzWFyYXT5L11wpmM",
  "id": "fc_0fe5ba3d170c26b1016ab41c36de4c87d0b7b9b87a2ace7b65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Url5OrCvzWFyYXT5L11wpmM",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, -0.0139, 1.0355, 0.87, -0.6872, 0.0101, -0.2104, 0.9982]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.2992 right_y=-0.0024 right_z=0.1722 right_yaw=0.0912 right_pitch=-0.3035 right_roll=-0.1487 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.8632, 6.5436, 1.2137, -0.1685, -0.0122, -0.022, -0.1846, -4.1915, 9.935, 1.4139, -0.1832, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac968776dddc8d1bc6910a4cdd1bfc1383d9c6a5dd458e8094be1643f7517e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232b3dc78c18d9079973e1643264d96bdd24419a2d6a2bf6bf784ee254848dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09c4cf3acdeaf2335cb76ba8c3a17a29474d1c04ab598861db22073312e8827",
      "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 35 attempt 0 · /responses · status 200 · 2.78 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, 1.1107, 2.1586, 1.4933, -0.477, 0.6834, 0.741, 0.0132]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.3108 right_y=0.3841 right_z=0.0395 right_yaw=0.12 right_pitch=-0.2327 right_roll=-0.144 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, -3.7675, 6.5026, 1.199, -0.1587, -0.022, -0.022, -0.3761, -12.9299, 5.8188, 0.9744, 0.4567, 0.0562, 1.16]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0477, 2.1609, 1.5826, -0.5377, 0.6235, 0.6563, 0.0141]\nstate[eef_state]: left_x=0.306 left_y=-0.0039 left_z=0.1835 left_yaw=0.2183 left_pitch=-0.4138 left_roll=0.0419 left_gripper=0.9969 right_x=0.3353 right_y=0.3822 right_z=0.056 right_yaw=0.142 right_pitch=-0.268 right_roll=-0.1498 right_gripper=0.0141\nstate[joint_eff]: [-0.3077, -3.8769, 6.5436, 1.1844, -0.1929, -0.0757, -0.022, -0.0615, -11.7128, 6.0376, 1.0134, 0.4225, -0.1148, 0.7204]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, -0.0139, 1.0355, 0.87, -0.6872, 0.0101, -0.2104, 0.9982]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.2992 right_y=-0.0024 right_z=0.1722 right_yaw=0.0912 right_pitch=-0.3035 right_roll=-0.1487 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.8632, 6.5436, 1.2137, -0.1685, -0.0122, -0.022, -0.1846, -4.1915, 9.935, 1.4139, -0.1832, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac968776dddc8d1bc6910a4cdd1bfc1383d9c6a5dd458e8094be1643f7517e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232b3dc78c18d9079973e1643264d96bdd24419a2d6a2bf6bf784ee254848dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09c4cf3acdeaf2335cb76ba8c3a17a29474d1c04ab598861db22073312e8827",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw9BJy9jqjhR4TK66eH38qbbWGh1FefAXtimGs6DwyGnHUKVgGo4F2Abj3bpIy9LCJvmXgkU_EF9UWK4zrJWD1cFnL8B5OwjkBhFWvnAoTe_K4VdFoVPfeUkH_fD-SMbJbPKXK327Fvg71kIFsMGIzDLhlAH4Mj1Q8S_dCTBtl2IDujz3KvWVAN1gJL-NCUHFI3JaEAbs9f8NXA9YFSb7hupkjHiPOsEoATFUFkXmMYyHl4aFDIe7qtZKMWD1YT7wgPMS4DHns_eZuo91EuzcdlSizZNhnvWhavEdyG7P8WKITtyIZ1NduOsizAeGzjFqyVexyJKEibOp5nPfnCHvpnQxfDdIG8SQ14iRLCMsPe_ylzGNJJ-MROXqWFaSNVzmgpAL4v2ugHOu5Rtl1HRjs_jfB4hM6qmJlaT1726m79gCBYeA2DRZXcuLeIjkppPPm4vdPcNPNg6QpjGwbxEecTmD5PJwoF1A8Umdkhk3oMHqSQSGVxpZ3qfcO0uVxgllcKlgwu-YFkjawCOXAgjgowQKX4j5rPli3SkhD8qUrjIrFBv_Iw05HZ5YEvvS_RVMVzeUWXtGvUUkrlTCV36L56sYmggxz8BYnCUgyADv0CEpv1hMEsJxwHuPAeXQWs5BsVu3jEBIaEX7zoOeRu3ckhUdSOAOLH4M7-JHOiVXsoVAhu-EOIcrI77tG5yLsUX6UNntV4ErXJSJkDngPOLS7U2qtP96baBaBfGuybzJFF5qh0Yil0ge435yWXWzEyycCBNWYGEjxGb7CuPBY67DlNMtHSEZShBOyALcIA6tXx4VzHVslCMjJkAM5TPKdjusG6-YyuxQ1lcIRK5TZ3J0lBpSRfsbHQEnyWIqz45AzGAd87Ld5Oc0pSgT4fmOPsQ4yOHD8-nhW9aWRXn2AeKGRNxOaZVQ_s5YkzFO6eY4365ONIKegyj9TVjEAt4481pXFcckgRQgX9-EfjoU2KNIAWoZewOThShQ93cDpwu1X5ZOLwtXaSRVWJuEPGc4A2eNoICOJX9Hr5CpXa86mQ-YXLBOMFROd4glE_6xyqJ6PctipUOZncH4L_e6a1BcIep_VZcyQ1e-_fudtD2e4-lpwztCnHg5vjAztuf_8mlGuQ8Y3A6oKrlTJ6A-qwRMqRp9PGb1TnGlGXvHKWeQLWeOyUL9JRz1peCcWKEC5CmPIbjefVahAwGTJn3BySOswqzOa_zZUTImS0Sl_PtTuHEX4ccxB8sO_3SUeH2aMdBImkF7jadOC12fgESkKwtJM18LPB72BloM2BjP6nqtawUQNhTFVPAnA9vrhAeXmTweCcs_Bti12HSIrBj6cDjxc_B2tJIg1xU3mdOdUpJ0g7QclL1GfwY3ISpP-0jD_6tnNMJ14s9Scd1ABe-utBDiVGnJYn4NVFt0Ayh_8IKLnzq7P_4kdCiHLGBH6p7DkshBQp_hp1JR7_peDTS6bMDr-qb4idMp5Q2updUfT0XE2_v3d9JsDRnaw2xpQP1K0VRn-zGmyliaQuTLaggF3hitXLiiK5sh6vPutfwr2x3HdAlGLzaaHgDXwma8RvgNsHDC_Y7mvNFCsnPsmWCXNgwim786GLHv6V0sznT0bjVmdgkjbtu5beA1Xik724AoKucnl_w3VqElNHCZs36oPCy1bW3dqN",
  "id": "rs_0fe5ba3d170c26b1016ab41c3bcdd487d09d93a263d0869519",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.22,\"left_z\":0.13},\"note\":\"The right arm is parked. I see three tan figures still on the table; I’m lining up the left gripper with the frontmost one near the table center.\"}",
  "call_id": "call_v3aVNqSgLAWCEpQLuYzpp7ID",
  "id": "fc_0fe5ba3d170c26b1016ab41c3cb30487d09cbafc17bf17d5d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v3aVNqSgLAWCEpQLuYzpp7ID",
  "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]: [-0.857, 1.6974, 1.3197, -0.9218, -0.5026, -0.9783, 0.9969, -0.0189, 1.0378, 0.8753, -0.6964, -0.0002, -0.2272, 0.9983]\nstate[eef_state]: left_x=0.3049 left_y=-0.2166 left_z=0.1228 left_yaw=0.2007 left_pitch=-0.4445 left_roll=0.0492 left_gripper=0.9969 right_x=0.2986 right_y=-0.002 right_z=0.1723 right_yaw=0.1049 right_pitch=-0.31 right_roll=-0.1513 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -7.4051, 8.1299, 0.6813, -0.6081, 0.022, -0.022, 0.3624, -2.8376, 6.5162, 1.5214, 0.0757, 0.1636, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3668c5e85a7aa73f44f78a7df4e7b7bb9af7e71dbe8cbbf5a209054f820b8b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f607db1421d8b33c271d79652543bc83b4c8abc2143953f26e43bf83ccb210f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558d2468693b7fadf09025d3737526ebf5f0eab355ec26452fca47a9c2fb265f",
      "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 36 attempt 0 · /responses · status 200 · 2.38 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2045, 1.0863, -0.9001, -0.2344, -0.3069, 0.9969, 1.0512, 2.1609, 1.581, -0.5323, 0.6422, 0.6613, 0.9954]\nstate[eef_state]: left_x=0.306 left_y=-0.004 left_z=0.1834 left_yaw=0.218 left_pitch=-0.4143 left_roll=0.0418 left_gripper=0.9969 right_x=0.3362 right_y=0.3818 right_z=0.0578 right_yaw=0.1326 right_pitch=-0.252 right_roll=-0.1538 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -3.9316, 6.694, 1.2527, -0.1148, -0.0562, -0.022, -0.9915, -11.0701, 8.9094, 1.0134, 0.3443, 0.0366, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, -0.0139, 1.0355, 0.87, -0.6872, 0.0101, -0.2104, 0.9982]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.2992 right_y=-0.0024 right_z=0.1722 right_yaw=0.0912 right_pitch=-0.3035 right_roll=-0.1487 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.8632, 6.5436, 1.2137, -0.1685, -0.0122, -0.022, -0.1846, -4.1915, 9.935, 1.4139, -0.1832, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.6974, 1.3197, -0.9218, -0.5026, -0.9783, 0.9969, -0.0189, 1.0378, 0.8753, -0.6964, -0.0002, -0.2272, 0.9983]\nstate[eef_state]: left_x=0.3049 left_y=-0.2166 left_z=0.1228 left_yaw=0.2007 left_pitch=-0.4445 left_roll=0.0492 left_gripper=0.9969 right_x=0.2986 right_y=-0.002 right_z=0.1723 right_yaw=0.1049 right_pitch=-0.31 right_roll=-0.1513 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -7.4051, 8.1299, 0.6813, -0.6081, 0.022, -0.022, 0.3624, -2.8376, 6.5162, 1.5214, 0.0757, 0.1636, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3668c5e85a7aa73f44f78a7df4e7b7bb9af7e71dbe8cbbf5a209054f820b8b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f607db1421d8b33c271d79652543bc83b4c8abc2143953f26e43bf83ccb210f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558d2468693b7fadf09025d3737526ebf5f0eab355ec26452fca47a9c2fb265f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBxBBBq-QBx6EsiaqL6cVg9QCZtfB5otZ7OWFzoMeNwuuxVdqTAaxfEIhZkR-fsuTd1ZcoXO9LyffFHIH451v5wW5EhJErPBfZwxvHCLez0SWfYOY2yO8T0kY2RabaF04Q8p_VUeXiErVrWCxIV4GFACKjw12s3TGbcAsXjWN8KLUbBry6V6SOiHvQz0t73xWB6GHE6BvnIoKl-12pSgPmhQXOjngMOW80Cytv8o5D5QY9q08u0vdRvoi49yZWmJgOaOjC_NLpUQ8lH9QCuGUR7GgkjRjpVl04Y1ljsVt2tYqJx6TYRNsgV-SPNkt6lHSWNYDRrCpMXQcEUSCQMvvoa6HgLrRzPsAAE-NAESvUf-TU-ZD1ua1vTALrdrAs7FFd5yUIm97Pe341nA_onfEBe802kBVeggxDCYjD9zZzBLIDMaylPPgcUmol_TwYD1vDSNNazBdaRRXeN4deBHuN4WsOdTd6U8gvI9CpKuQ3yRpAx5bwDDvx_8OHp6Ik52n76UgAr5WY85M6q3siq8ekMZKR4X309gk4Uz7gtRpJbCy1PBrTNzOMfX1pFA_L3rArYeq5Cci9sYbyiW1WR6zovx2SoItYDH_GsflnDo5mLoOoYPGxWpsv7DHTx06ykqAjVoEbimT3esJib3Ficm7aSSHvOnxdFtKkxE8ZLImE7H76UEoUsIAIUYajwFc1eh2rU9lGxJMrX23yzenV14Vu1PW4eZEUc4z985jGtQYKRZNJZAL-6Iyj1tC6mThnEWR1ERyAxJmpRzlmRSywfxfjPfb3EJmDktATJcU-y60FuBPVrpIon3CafWZJsPLKm2S159LkTsa51Al0M-6Yq3aeLpcV3kzjBbub_2QAe7avh6j6tlmsorgZ-U1TP340kK9lfNcU2bkT0Scx41U6riNboovOgYlm09QaeP6KvB9dMaSCNhe7ce9n8opBOcvu3g_kXZhDuOXZXnKSEQZUWiFRAauR637CvKiKd6lKCLQc25-YTgFsybtkDphw47UaCfbGX2x3G-r2DReGDjzyegGzrkYKMYuHqxSWMzSsdEYw63Dpj82sn3OsaCJ2p7YfyzcFBMLS-zoFgxaFB2RlUlNyPorC1VlkNmpv-_fgrg55MNy8BmY_75FZe2E_nqeEf2orsKGKR81CBVlIaVfeyx9RlZklUQaB-12ZlGO-8xv0noZ2S0M-0sgTQTz-7lJAsOeZb7GxT9KQjas9CB7x4fulSP1RT0jWWdYUSxUUzTnuxYyVyAbumx1HBNtutXCaGf6GSfdYGoCozg0Q8HEftaaf8Rr4p1AMTpOsQ4894ixgltwMnzwf2ausOmAchttyW9Guarob3HMcxEiuxx03QUOuiiJVbsoD9ncy1l2P3oCtMJdzxm8zunI4vw4ebv-XZuaX8ybhqvHpNa7RQ-86Ti0z-FguJE_n5D883edpJZOWgjFPFv039LABVdvmy3B_KK8LF-9vZpzzDnfuV4qwOy0VHF8CV_4gfUHcHCHhN-TusodCSccqfeuu6fLvcyRPpEBkIVbe2fp0sYH-CloIBpIBc9shynVDCVt20zzOQef4wxVM5bEaoD2Wr4W-QOKXqKcfC14U_IWe8gaUos5U__OuXu2Q==",
  "id": "rs_0fe5ba3d170c26b1016ab41c40437c87d0965d73bffff9c135",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.337,\"left_y\":-0.20,\"left_z\":0.047},\"note\":\"The left wrist view shows a darker tan figure directly ahead of the fingers, with two lighter figures farther back. I’m lowering and advancing onto the darker figure’s torso.\"}",
  "call_id": "call_nKQlggffzyjGEQnnW6xful6n",
  "id": "fc_0fe5ba3d170c26b1016ab41c414be887d0a04dd1afa0278ac9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nKQlggffzyjGEQnnW6xful6n",
  "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]: [-0.7589, 1.795, 1.1477, -0.6548, -0.4805, -0.8967, 0.9969, -0.02, 1.0386, 0.8753, -0.6983, -0.0013, -0.2287, 0.9983]\nstate[eef_state]: left_x=0.3274 left_y=-0.193 left_z=0.0511 left_yaw=0.2402 left_pitch=-0.4675 left_roll=0.0873 left_gripper=0.9969 right_x=0.2983 right_y=-0.0022 right_z=0.1718 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0479, 5.5316, 0.779, -0.2906, 0.0415, -0.022, -0.0068, -2.8513, 6.8991, 1.453, -0.0024, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb32a560340f4789cfab890d28d38cac89b834d80201d31080e36cb62cafd87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e7b7bbe247910e5e55f7b6861bd03af6f633ffdab488cc068b2ed1fca0bc62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2175540079130b13c3efdbd979c4c9a6c29feb46e128672e1e2cf51d1cf01d9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.395 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9001, -0.2348, -0.3069, 0.9969, 1.0477, 2.1609, 1.5826, -0.5377, 0.6235, 0.6563, 0.0141]\nstate[eef_state]: left_x=0.306 left_y=-0.0039 left_z=0.1835 left_yaw=0.2183 left_pitch=-0.4138 left_roll=0.0419 left_gripper=0.9969 right_x=0.3353 right_y=0.3822 right_z=0.056 right_yaw=0.142 right_pitch=-0.268 right_roll=-0.1498 right_gripper=0.0141\nstate[joint_eff]: [-0.3077, -3.8769, 6.5436, 1.1844, -0.1929, -0.0757, -0.022, -0.0615, -11.7128, 6.0376, 1.0134, 0.4225, -0.1148, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.6974, 1.3197, -0.9218, -0.5026, -0.9783, 0.9969, -0.0189, 1.0378, 0.8753, -0.6964, -0.0002, -0.2272, 0.9983]\nstate[eef_state]: left_x=0.3049 left_y=-0.2166 left_z=0.1228 left_yaw=0.2007 left_pitch=-0.4445 left_roll=0.0492 left_gripper=0.9969 right_x=0.2986 right_y=-0.002 right_z=0.1723 right_yaw=0.1049 right_pitch=-0.31 right_roll=-0.1513 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -7.4051, 8.1299, 0.6813, -0.6081, 0.022, -0.022, 0.3624, -2.8376, 6.5162, 1.5214, 0.0757, 0.1636, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7589, 1.795, 1.1477, -0.6548, -0.4805, -0.8967, 0.9969, -0.02, 1.0386, 0.8753, -0.6983, -0.0013, -0.2287, 0.9983]\nstate[eef_state]: left_x=0.3274 left_y=-0.193 left_z=0.0511 left_yaw=0.2402 left_pitch=-0.4675 left_roll=0.0873 left_gripper=0.9969 right_x=0.2983 right_y=-0.0022 right_z=0.1718 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0479, 5.5316, 0.779, -0.2906, 0.0415, -0.022, -0.0068, -2.8513, 6.8991, 1.453, -0.0024, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb32a560340f4789cfab890d28d38cac89b834d80201d31080e36cb62cafd87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e7b7bbe247910e5e55f7b6861bd03af6f633ffdab488cc068b2ed1fca0bc62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2175540079130b13c3efdbd979c4c9a6c29feb46e128672e1e2cf51d1cf01d9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBxEF0UP_Bh6Jaf5HQTpuDHH7qKmUFisMscWz98vqV6K9lBmKnJV0O_LbcQI0UCzkmiNWs8a6AZxlUP5-ie8Wzr6AbIqfzXi4F5SAWO8KTclldkSatXcCMp4x6S1oo3D1XYXcgM2dpF_oRE4Z3vb0pfKG63E4buhAtRCzJ6hs1VN9GxBZ3jVBMfpaNgf5fwzyg_KGdHsCwsGvxw4jG7ObfAZI2qpL6MZEXuF_kvGoK1jTOppIu8V1UHBIfB4zmQQxb1Yg6J2DYkcITU1H2GQ_VbJXUS_XMqmo1NAPIW1N-iIyxBgvJGw6wfE8MQM9dYZpHxXKdReKRd7KpBI8T6NztTszgP5QcfDmdhn88HTJhXF6wGdM-8pqIM6NFvVmFZe-l1qPStBAByi2FF97EJ7M_YYTjf8r_Df666qAKRNtKsI0_tZS6iYS6pyFT_AnXlfC46StqhDioGnNlvIIxL57DnknGu_T4uvSy-37xqnWmBZxMAtPBm_Fm0KZs66LVTQyQ4fkwbu0EBXPBmtc3lu2JZQIwSJxlMIGdo9qzaNPtZmsqMOHRzSR8nv7u0qdYXKgFKFTkTgVhE9Q5mr3F6wr2gEVcCKjTus3OQd4pjR-Tzlf-tSOb3Sj9p73-U4sVHcVNmUqJXpNrRT4lSRIaPkxdh9euFislc39T8RkCYLYC1gytBFuYPoNFZpFVzrbWt3yDnrTWCueMpX6Mvb6jZr5OPQn-Eg0cEs02WWaCnS-AXC4RjtJL0O6L--WISUZnPEZtw9HT1bjpZ2R8M-r2xVQU1WPTttTSc103skUpvGLV6ijgZRC-BIJQj_JzR5uZIyQVHj2hMhev7ITjLveYMKgcQNGTfIwkV28MAKdfS1Sbxka0gcHO_OOOoKJODF0SHPII3eV09cupkAN5mVBdWE1ro3hqZUo-L3bYB0_rLE1GhhalYviBayQLd8COSv8U73FKR3914SFwjnqy3RFRVBbf0N_ydmH07CIWzADCViMxXb0lfSSyo-0_yC7b3eczYv3em0SCPEpNPzIcm_gO3NW5PYtiriiLKChR6a9zVPuaBAOsv3kqen8ouoQI6MHEwxvy6ciyXvux8H0SvP84iSHGng26fa-sM8LS6JHRYQBosDym3EPwqGxHW1friEEt1_N-Y7tsQhTPnWtBrpoWQGqkozYSFzRTEFdZcf0gyRkiSNeQ7IIC4Xk7lT0iX4IqqH7Yi311tTkdbJFArxL0JUDBFX51t-Mj82YX60YiukHKK5ow87SlDvjfVx_vLjpFNwCNTk9pkECWFbbWUI6v1hTzD7gN_M2Xa-8qcr8MUYVUfRlKtbF8vnd91SJNyGCecYKKvVvvIAs99-bPmXDvTZMB5lNGQqm-NHRwZSu3sKJN8Ya-JHIfnKo2Dc_spBEHfHN6bG9nZQAXcx2LwyIlsR4XOt4QI9L2EHeWzGpj-wmki5u6FV7RCCnWL7X4E8mKDJzQKPmUWCtGpdOkdlJ_yVnxrFSA==",
  "id": "rs_0fe5ba3d170c26b1016ab41c43951c87d09a24ed43779817d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"A tan figure now occupies the space between the left jaws. I’m closing on it and will use the gripper opening to check whether the grasp holds.\"}",
  "call_id": "call_mqDxevajkqrkfN5hv3BcWX1r",
  "id": "fc_0fe5ba3d170c26b1016ab41c441e7087d0b5555bddd378b738",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mqDxevajkqrkfN5hv3BcWX1r",
  "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]: [-0.7578, 1.8061, 1.1339, -0.6426, -0.4717, -0.8974, 0.1083, -0.02, 1.0389, 0.8753, -0.6979, -0.0013, -0.2287, 0.9984]\nstate[eef_state]: left_x=0.325 left_y=-0.1921 left_z=0.0432 left_yaw=0.2426 left_pitch=-0.4814 left_roll=0.0936 left_gripper=0.1083 right_x=0.2984 right_y=-0.0022 right_z=0.1717 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -9.2786, 6.7624, 0.5983, -0.3492, -0.0269, 0.7057, -0.0615, -2.7829, 6.8581, 1.4969, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787c7774f94e05284539c5f907e0e9ae6b490e947b772abd5bdfd9c9768e4ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b440aa884423846ba1ff086cfd066b7d980bf7be5af7b47ad55ee2034cd262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6653a1c168f3e2bb90523566494624640f0cd284d15b6f2512d9ea016cf4f144",
      "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 · 5.751 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.2041, 1.0863, -0.9005, -0.2348, -0.3069, 0.9969, -0.0139, 1.0355, 0.87, -0.6872, 0.0101, -0.2104, 0.9982]\nstate[eef_state]: left_x=0.3059 left_y=-0.0039 left_z=0.1835 left_yaw=0.2184 left_pitch=-0.4142 left_roll=0.0421 left_gripper=0.9969 right_x=0.2992 right_y=-0.0024 right_z=0.1722 right_yaw=0.0912 right_pitch=-0.3035 right_roll=-0.1487 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.8632, 6.5436, 1.2137, -0.1685, -0.0122, -0.022, -0.1846, -4.1915, 9.935, 1.4139, -0.1832, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7589, 1.795, 1.1477, -0.6548, -0.4805, -0.8967, 0.9969, -0.02, 1.0386, 0.8753, -0.6983, -0.0013, -0.2287, 0.9983]\nstate[eef_state]: left_x=0.3274 left_y=-0.193 left_z=0.0511 left_yaw=0.2402 left_pitch=-0.4675 left_roll=0.0873 left_gripper=0.9969 right_x=0.2983 right_y=-0.0022 right_z=0.1718 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0479, 5.5316, 0.779, -0.2906, 0.0415, -0.022, -0.0068, -2.8513, 6.8991, 1.453, -0.0024, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7578, 1.8061, 1.1339, -0.6426, -0.4717, -0.8974, 0.1083, -0.02, 1.0389, 0.8753, -0.6979, -0.0013, -0.2287, 0.9984]\nstate[eef_state]: left_x=0.325 left_y=-0.1921 left_z=0.0432 left_yaw=0.2426 left_pitch=-0.4814 left_roll=0.0936 left_gripper=0.1083 right_x=0.2984 right_y=-0.0022 right_z=0.1717 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -9.2786, 6.7624, 0.5983, -0.3492, -0.0269, 0.7057, -0.0615, -2.7829, 6.8581, 1.4969, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787c7774f94e05284539c5f907e0e9ae6b490e947b772abd5bdfd9c9768e4ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b440aa884423846ba1ff086cfd066b7d980bf7be5af7b47ad55ee2034cd262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6653a1c168f3e2bb90523566494624640f0cd284d15b6f2512d9ea016cf4f144",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBxItU8jnhdl0J4fYwp3UxqbdE3dd106RaAi1CUDZQ2E4eZJaahnVOGXyaHw5qZWrglnY6kB_ahwa8mqfMob2TPgtey9k-ggavt-4x05BjsaAhtO6hkFGaAqETQ3UGGBV3sfls1MEpFnnIWQcOk_pdn_KDHxx3SX2RjX9Tr4A2YfXh2U9DatU5xOLa_NK8qHboUL5K9Bk_-AyQYr_F1viE5ChG_oY0HPiDEsAIFKi7fq220bhlYR_8-Me-6rxmR6aD6Hx8VKpo0MKDTR9M1aXYe16XtdCUGhpZ3janmAbBpBenrU7yDh-S2FmgD-1tyhya0UaLwT3LX7CYiLrpn2ZTY0DxZQ7RAFTHnGYkGGyOMy3lM743AsRNM2AiXLmEtcPCRcaQPaKyKspwvukcD6ja0RtQ8tI7sVcCSxfDcmnPygBU4TXjlhtZ3TURZVMsZmyx9jVcNk73VwO_6nKX-DshB00u-j26Once7hgWAYKkDm_fZ2yhAHswl_t4QTMorgAyaBCdutym8R8f1F1V1Ln21E1hWsxjHEQPKmIssbCtJC2GV5CvnSMk-Cz2DkIlryLaN6nRg4LahlQxi8fXEr1kxVofjiCqTsCdEGE2F30jI-mVTUVJ3hLWns_gyaZxClOgZNOD0uvkXGUPp3jW_t7W3U59g41R7zCC3NmlWfnYF5tpODTuScPmZCGU7xRPtAqW2mRSqNblXCC72Y2qp1Mm8AuMYG25lJDVh-ezzkt54Aquz4YH1UtnYeA3JNauy727aSefVh90Jz6NX59RJhxejbGGbQBNLgPi-IpltreBs80NC_oeHwelbHnSwWAi5uiw-2fZe0UHUsazIT8GJ2cM8A2__ILd6oyje80OeEhuJPcWcO89GGVmIx5CNQMWerE5Y-VI3sOkQt3AFpZq2aG9a9xNnMas8TwjnG7QqIOCiJn4nM0kFshnibAVCJwr9P2t0RfccEp6sSdyoXtxLRQPNpWUDMBSIoVBVhlkBRgUN6wadLwIuxZ_9pNTUeEjBp8iMudGATWTDSGr2gg2Mcy7j32UeJNp9cX2iFlpaTJtT6geQD71BV24PKWc3zLc6vCKgO-IAUUt5hHj89iVaz8u1eRLioQzAfiAseyPX5z9D_rL-obZeL2e7LW0Nki9T9cEC6v7oZwYEqCPrh1HKcu5puyxfVuGWIX8n02PwwQJ0FFdu6Km35A8LgiGWJFGej_57s",
  "id": "rs_0fe5ba3d170c26b1016ab41c47452087d0b873db9cfbefa9d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The jaws stopped at a nonzero opening around the figure. I’m lifting to see whether the tan figure is securely held.\"}",
  "call_id": "call_TZcfYlw7JLRtvvA4RQwHIXvv",
  "id": "fc_0fe5ba3d170c26b1016ab41c475e0087d0bb857c70e7d04c8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TZcfYlw7JLRtvvA4RQwHIXvv",
  "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]: [-0.7578, 1.7493, 1.5837, -1.166, -0.4465, -0.91, 0.1097, -0.02, 1.0389, 0.8753, -0.6979, -0.0017, -0.2287, 0.9983]\nstate[eef_state]: left_x=0.3256 left_y=-0.1981 left_z=0.1679 left_yaw=0.2446 left_pitch=-0.5104 left_roll=0.0877 left_gripper=0.1097 right_x=0.2984 right_y=-0.0021 right_z=0.1717 right_yaw=0.1061 right_pitch=-0.3127 right_roll=-0.1508 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -9.9761, 8.1299, 0.8278, -0.5446, 0.0757, 0.1343, -0.1026, -2.5641, 6.8855, 1.4383, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694a99478b1a912ea9d93ed0b22c6c19bef05cf4d878193315bfa36cd1532a07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e24c2f112801364964a7a605c6ca0e65ad1dec7caef284ad9717f639f7216e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7579dcb4c2cdb9ebbef24bf65ac9c61768c6c1eaa828bb227c8e0739123edaa4",
      "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 · 5.091 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.6974, 1.3197, -0.9218, -0.5026, -0.9783, 0.9969, -0.0189, 1.0378, 0.8753, -0.6964, -0.0002, -0.2272, 0.9983]\nstate[eef_state]: left_x=0.3049 left_y=-0.2166 left_z=0.1228 left_yaw=0.2007 left_pitch=-0.4445 left_roll=0.0492 left_gripper=0.9969 right_x=0.2986 right_y=-0.002 right_z=0.1723 right_yaw=0.1049 right_pitch=-0.31 right_roll=-0.1513 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -7.4051, 8.1299, 0.6813, -0.6081, 0.022, -0.022, 0.3624, -2.8376, 6.5162, 1.5214, 0.0757, 0.1636, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7578, 1.8061, 1.1339, -0.6426, -0.4717, -0.8974, 0.1083, -0.02, 1.0389, 0.8753, -0.6979, -0.0013, -0.2287, 0.9984]\nstate[eef_state]: left_x=0.325 left_y=-0.1921 left_z=0.0432 left_yaw=0.2426 left_pitch=-0.4814 left_roll=0.0936 left_gripper=0.1083 right_x=0.2984 right_y=-0.0022 right_z=0.1717 right_yaw=0.1057 right_pitch=-0.3127 right_roll=-0.1511 right_gripper=0.9984\nstate[joint_eff]: [-0.1573, -9.2786, 6.7624, 0.5983, -0.3492, -0.0269, 0.7057, -0.0615, -2.7829, 6.8581, 1.4969, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7578, 1.7493, 1.5837, -1.166, -0.4465, -0.91, 0.1097, -0.02, 1.0389, 0.8753, -0.6979, -0.0017, -0.2287, 0.9983]\nstate[eef_state]: left_x=0.3256 left_y=-0.1981 left_z=0.1679 left_yaw=0.2446 left_pitch=-0.5104 left_roll=0.0877 left_gripper=0.1097 right_x=0.2984 right_y=-0.0021 right_z=0.1717 right_yaw=0.1061 right_pitch=-0.3127 right_roll=-0.1508 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -9.9761, 8.1299, 0.8278, -0.5446, 0.0757, 0.1343, -0.1026, -2.5641, 6.8855, 1.4383, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694a99478b1a912ea9d93ed0b22c6c19bef05cf4d878193315bfa36cd1532a07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e24c2f112801364964a7a605c6ca0e65ad1dec7caef284ad9717f639f7216e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7579dcb4c2cdb9ebbef24bf65ac9c61768c6c1eaa828bb227c8e0739123edaa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0fe5ba3d170c26b1016ab41c4ad84487d091c5611aa6da0422",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.4,\"left_z\":0.23},\"note\":\"The figure rose with the closed jaws, and the right basket is empty. I’m carrying this tan-group figure to the right basket, using its near edge within the left arm’s reach.\"}",
  "call_id": "call_8gJ5lpFDZq0a1j3UMWrYyhST",
  "id": "fc_0fe5ba3d170c26b1016ab41c4e2e1887d095e2102d429691d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8gJ5lpFDZq0a1j3UMWrYyhST",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8459, 2.4741, 2.6869, -1.6146, -0.4271, -1.0302, 0.1126, -0.02, 1.0435, 0.8753, -0.6987, -0.0017, -0.2317, 0.9983]\nstate[eef_state]: left_x=0.3842 left_y=-0.318 left_z=0.1584 left_yaw=0.257 left_pitch=-0.5556 left_roll=0.0835 left_gripper=0.1126 right_x=0.2985 right_y=-0.0021 right_z=0.1703 right_yaw=0.108 right_pitch=-0.3182 right_roll=-0.1521 right_gripper=0.9983\nstate[joint_eff]: [-0.7179, -11.8085, 8.0615, 1.0379, -0.696, 0.3053, 0.2808, -0.1026, -3.1248, 6.7761, 1.4432, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da026ee5a106073db5ff5851c534be9f63a312e728e1167b6d3e0738e948b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0b24243607f4efe844abfa9f9b6ebbcfc5ebf5008e461abe15effc6dfbe119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71d372eba9c779219a23f68db2809723f3869ab737ff49a09a1e8b1a37bfc3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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