adhoc

completed
2026-09-23T18:44:59.702100+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
260.3 s
total steps
380
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two blue baskets at the back and a cluster of pale white and tan soft objects in front of them. I’ll bring the left gripper above the white object near the middle, keeping it open while I check alignment.
move_to
left_x0.3900left_y-0.2500left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3794, -0.0231, -0.0303, 0.9996, -0.0208, 0.7967, 0.6109, -0.374, -0.0113, -0.0154, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.6222, -1.4427, 9.2786, 1.7558, -0.0513, 0.1099, -0.0513, -0.4444, -1.4838, 9.7846, 1.7607, -0.1099, -0.0122, -0.0415] 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":0.39,"left_y":-0.25,"left_z":0.16},"note":"I see two blue baskets at the back and a cluster of pale white and tan soft objects in front of them. I’ll bring the left gripper above the white object near the middle, keeping it open while I check alignment."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe left gripper is hovering over the central cluster, but its wrist camera shows a tan object off to the right rather than the white one. I’ll shift slightly toward the left-hand white object and lower to a cautious approach height.
move_to
left_x0.3400left_y-0.1900left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8143, 1.6966, 1.1412, -0.2203, -0.659, -0.551, 0.9996, -0.0208, 0.7994, 0.6086, -0.3843, -0.0109, -0.0158, 0.9998] state[eef_state]: left_x=0.3852 left_y=-0.2453 left_z=0.149 left_yaw=0.0008 left_pitch=-0.0263 left_roll=0.0045 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.335, -7.9795, 8.8957, 1.5507, -0.4176, 0.1001, -0.0122, -0.1846, -1.4017, 7.2547, 1.8242, -0.0611, -0.0513, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.19,"left_z":0.105},"note":"The left gripper is hovering over the central cluster, but its wrist camera shows a tan object off to the right rather than the white one. I’ll shift slightly toward the left-hand white object and lower to a cautious approach height."})
tool
executing move_to over 5 steps (0.5s)
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 noteA small white plush object is now directly in front of the jaws in the left wrist view, with a tan one farther right. I’ll center over the white one and descend to its lower half for a grasp.
move_to
left_x0.3400left_y-0.2200left_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]: [-0.8009, 1.5303, 0.7685, -0.0372, -0.6476, -0.5468, 0.9995, -0.0208, 0.8032, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998] state[eef_state]: left_x=0.3402 left_y=-0.1927 left_z=0.099 left_yaw=0.0043 left_pitch=-0.0483 left_roll=0.0193 left_gripper=0.9995 right_x=0.2953 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.253, -7.6376, 6.4615, 1.5653, -0.1929, 0.1099, -0.0171, -0.3214, -1.0735, 7.0359, 1.746, -0.0317, -0.0757, -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_x":0.34,"left_y":-0.22,"left_z":0.045},"note":"A small white plush object is now directly in front of the jaws in the left wrist view, with a tan one farther right. I’ll center over the white one and descend to its lower half for a grasp."})
tool
executing move_to over 4 steps (0.4s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe white plush object is between the left jaws near table height; the tan object remains to their right. I’ll close the gripper and check whether the white object is actually held.
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]: [-0.8616, 1.7439, 0.7452, 0.1371, -0.6853, -0.5957, 0.9996, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998] state[eef_state]: left_x=0.3372 left_y=-0.2157 left_z=0.0417 left_yaw=-0.0011 left_pitch=-0.0686 left_roll=0.0446 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5538, -7.3778, 5.5863, 1.4383, -0.2222, -0.1636, -0.0122, -0.1709, -1.1556, 7.0496, 1.7265, -0.0611, -0.0562, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white plush object is between the left jaws near table height; the tan object remains to their right. I’ll close the gripper and check whether the white object is actually held."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe left gripper closed almost completely, so it missed the white object. The wrist view still shows the white plush just ahead of the fingertips; I’ll reopen, advance about 3 cm, and go a little lower before retrying.
move_to
left_gripper1.0000left_x0.3650left_y-0.2300left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8627, 1.747, 0.7448, 0.144, -0.688, -0.5987, 0.0107, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998] state[eef_state]: left_x=0.3376 left_y=-0.2163 left_z=0.0416 left_yaw=0.0011 left_pitch=-0.0647 left_roll=0.0408 left_gripper=0.0107 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -7.788, 5.2718, 1.2918, -0.3248, 0.0122, 0.7448, -0.0479, -1.1419, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.365,"left_y":-0.23,"left_z":0.02},"note":"The left gripper closed almost completely, so it missed the white object. The wrist view still shows the white plush just ahead of the fingertips; I’ll reopen, advance about 3 cm, and go a little lower before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteI’ve moved the open jaws farther into the white object’s position at roughly 1.5 cm above the table. I’ll close once more and use the gripper opening to tell whether this attempt caught 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]: [-0.8257, 1.8896, 0.8066, 0.2092, -0.6731, -0.5766, 0.9951, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0154, 0.9998] state[eef_state]: left_x=0.3577 left_y=-0.2201 left_z=0.0149 left_yaw=0.017 left_pitch=-0.0843 left_roll=0.063 left_gripper=0.9951 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.021 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.0615, -7.5282, 7.1863, 1.5702, -0.1832, 0.0855, -0.0366, -0.2667, -1.2923, 7.0359, 1.7558, -0.0415, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"I’ve moved the open jaws farther into the white object’s position at roughly 1.5 cm above the table. I’ll close once more and use the gripper opening to tell whether this attempt caught it."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe second close was also empty, and the wrist view shows the white toy off to the side rather than between the jaws. I’ll stop retrying that crowded spot and move the left arm above the more isolated white toy on the left.
move_to
left_gripper1.0000left_x0.4200left_y-0.0550left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8242, 1.8946, 0.8078, 0.2134, -0.6731, -0.58, 0.0105, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0158, 0.9998] state[eef_state]: left_x=0.3584 left_y=-0.2199 left_z=0.0139 left_yaw=0.0203 left_pitch=-0.0839 left_roll=0.06 left_gripper=0.0105 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1709, -8.8274, 4.9299, 1.2674, -0.2759, -0.0024, 0.8474, -0.2256, -1.3197, 7.0359, 1.7363, -0.0317, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.42,"left_y":-0.055,"left_z":0.14},"note":"The second close was also empty, and the wrist view shows the white toy off to the side rather than between the jaws. I’ll stop retrying that crowded spot and move the left arm above the more isolated white toy on the left."})
tool
executing move_to over 15 steps (1.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe isolated white toy is now visible between the open left jaws, slightly to their left in the wrist view. I’ll make a small lateral correction and descend beside its body before closing.
move_to
left_x0.4100left_y-0.0300left_z0.0360
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]: [-0.2379, 1.5013, 0.8528, -0.0902, -0.2607, -0.1562, 0.9988, -0.0208, 0.8051, 0.6083, -0.3851, -0.0109, -0.0158, 0.9997] state[eef_state]: left_x=0.4113 left_y=-0.0492 left_z=0.1132 left_yaw=0.052 left_pitch=-0.1502 left_roll=0.0681 left_gripper=0.9988 right_x=0.2953 right_y=-0.0006 right_z=0.1778 right_yaw=-0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.4171, -8.7726, 9.265, 1.663, -0.0073, 0.2125, -0.1392, -0.0068, -1.3607, 7.0496, 1.746, -0.0757, -0.0513, -0.0171] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.03,"left_z":0.036},"note":"The isolated white toy is now visible between the open left jaws, slightly to their left in the wrist view. I’ll make a small lateral correction and descend beside its body before closing."})
tool
executing move_to over 5 steps (0.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe white toy is low between the left fingertips and appears within their span. I’ll close now and check the settled opening rather than assume the toy is held.
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]: [-0.1776, 1.6581, 0.6762, 0.2611, -0.2314, -0.1184, 0.9983, -0.0208, 0.8055, 0.6083, -0.3851, -0.0101, -0.0158, 0.9997] state[eef_state]: left_x=0.4122 left_y=-0.0292 left_z=0.045 left_yaw=0.0667 left_pitch=-0.1397 left_roll=0.0733 left_gripper=0.9983 right_x=0.2954 right_y=-0.0008 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0225 right_roll=-0.0005 right_gripper=0.9997 state[joint_eff]: [0.5949, -5.7778, 4.7111, 1.4823, 0.0415, 0.0269, -0.0562, -0.335, -0.7863, 7.0496, 1.7705, -0.0122, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white toy is low between the left fingertips and appears within their span. I’ll close now and check the settled opening rather than assume the toy is held."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe left gripper stopped at a very small opening, which could be fur or an empty close. I’ll lift a few centimetres and see whether the white toy comes up with it before attempting a basket placement.
move_to
left_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]: [-0.1734, 1.663, 0.6712, 0.3092, -0.2276, -0.1139, 0.0331, -0.0208, 0.8062, 0.6083, -0.3851, -0.0109, -0.0158, 0.9998] state[eef_state]: left_x=0.4179 left_y=-0.0291 left_z=0.05 left_yaw=0.0641 left_pitch=-0.1034 left_roll=0.0653 left_gripper=0.0331 right_x=0.2954 right_y=-0.0006 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1299, -5.8051, 4.6291, 1.4872, 0.0317, 0.0366, 0.7106, -0.0479, -1.3744, 7.2137, 1.7118, -0.0562, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The left gripper stopped at a very small opening, which could be fur or an empty close. I’ll lift a few centimetres and see whether the white toy comes up with it before attempting a basket placement."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe white toy stayed on the table when I lifted, so the last close only brushed it. From above, the toy is closer to the robot than the gripper’s grasp point; I’ll reopen and bring the jaws back over its body.
move_to
left_gripper1.0000left_x0.3600left_y-0.0200left_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]: [-0.1734, 1.5013, 0.8249, -0.0841, -0.2276, -0.1268, 0.0364, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998] state[eef_state]: left_x=0.4072 left_y=-0.0272 left_z=0.102 left_yaw=0.0737 left_pitch=-0.1784 left_roll=0.0741 left_gripper=0.0364 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0004 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.253, -8.8957, 9.0598, 1.707, -0.1294, 0.0659, 0.6618, -0.0205, -1.4564, 7.0496, 1.7411, -0.0513, -0.0611, -0.0171] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.36,"left_y":-0.02,"left_z":0.035},"note":"The white toy stayed on the table when I lifted, so the last close only brushed it. From above, the toy is closer to the robot than the gripper’s grasp point; I’ll reopen and bring the jaws back over its body."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe white toy now fills the center of the open jaws at a low grasp height, with its head visible in the wrist view. I’ll close and check whether the fingers stop on the toy.
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]: [-0.1764, 1.4967, 0.5201, 0.2276, -0.2317, -0.1234, 0.9954, -0.0208, 0.8101, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998] state[eef_state]: left_x=0.3668 left_y=-0.0205 left_z=0.0412 left_yaw=0.0719 left_pitch=-0.1668 left_roll=0.0767 left_gripper=0.9954 right_x=0.2957 right_y=-0.0007 right_z=0.1764 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4171, -5.9556, 4.7795, 1.2234, -0.1197, -0.105, 0.0611, -0.0479, -1.1692, 7.0359, 1.7363, -0.022, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white toy now fills the center of the open jaws at a low grasp height, with its head visible in the wrist view. I’ll close and check whether the fingers stop on the toy."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe left fingers stopped about 2 cm apart, a stronger sign that they have caught the white toy. I’ll lift it clear of the other objects and confirm it moves with the gripper.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.178, 1.4967, 0.5106, 0.2565, -0.2462, -0.1234, 0.2077, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998] state[eef_state]: left_x=0.3682 left_y=-0.0188 left_z=0.0433 left_yaw=0.0818 left_pitch=-0.1455 left_roll=0.0813 left_gripper=0.2077 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0342, -5.2991, 6.2974, 1.2576, 0.022, -0.0122, 0.7692, -0.3624, -1.2786, 7.0085, 1.7607, -0.0024, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The left fingers stopped about 2 cm apart, a stronger sign that they have caught the white toy. I’ll lift it clear of the other objects and confirm it moves with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe fingers remain about 2 cm apart after the lift, and the white toy appears to have risen with the left arm. I’ll carry it high over the left basket, which I’m using for the white objects.
move_to
left_x0.4700left_y-0.1600left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.178, 1.2579, 0.8818, -0.4114, -0.2459, -0.1307, 0.2109, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998] state[eef_state]: left_x=0.3616 left_y=-0.0177 left_z=0.1581 left_yaw=0.088 left_pitch=-0.2012 left_roll=0.0909 left_gripper=0.2109 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0752, -6.0923, 9.6479, 1.5995, -0.1587, 0.0415, 0.3248, -0.212, -1.3333, 7.0359, 1.7314, -0.0171, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.16,"left_z":0.25},"note":"The fingers remain about 2 cm apart after the lift, and the white toy appears to have risen with the left arm. I’ll carry it high over the left basket, which I’m using for the white objects."})
tool
executing move_to over 13 steps (1.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe white toy is traveling with the left gripper and the gripper is centered over the left basket. I’ll lower it inside the basket before releasing, keeping the other arm out of the way.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4847, 1.8606, 1.803, -0.8661, -0.4309, -0.3935, 0.212, -0.0208, 0.8143, 0.6075, -0.3866, -0.0105, -0.0158, 0.9998] state[eef_state]: left_x=0.463 left_y=-0.1564 left_z=0.2269 left_yaw=0.0888 left_pitch=-0.2543 left_roll=0.0884 left_gripper=0.212 right_x=0.2956 right_y=-0.0007 right_z=0.1746 right_yaw=-0.0004 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.5402, -10.5504, 9.2376, 1.4042, -0.4518, 0.2466, 0.105, -0.2803, -1.6068, 7.0632, 1.707, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The white toy is traveling with the left gripper and the gripper is centered over the left basket. I’ll lower it inside the basket before releasing, keeping the other arm out of the way."})
tool
executing move_to over 9 steps (0.9s)
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 noteThe descent stopped a few centimetres high and the toy is near the basket’s front edge in the overhead view. I’ll nudge the gripper farther into the basket while lowering slightly, rather than release it on the rim.
move_to
left_x0.4900left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4877, 1.8595, 1.3651, -0.3412, -0.4454, -0.3969, 0.2119, -0.0208, 0.8158, 0.6075, -0.3855, -0.0105, -0.0158, 0.9997] state[eef_state]: left_x=0.4731 left_y=-0.1608 left_z=0.1316 left_yaw=0.0885 left_pitch=-0.1741 left_roll=0.0465 left_gripper=0.2119 right_x=0.2959 right_y=-0.0007 right_z=0.1744 right_yaw=-0.0004 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [0.1436, -6.8991, 5.3402, 1.1795, -0.0708, 0.0122, -0.0171, -0.0752, -1.4701, 7.241, 1.6825, -0.0611, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.49,"left_z":0.105},"note":"The descent stopped a few centimetres high and the toy is near the basket’s front edge in the overhead view. I’ll nudge the gripper farther into the basket while lowering slightly, rather than release it on the rim."})
tool
executing move_to over 2 steps (0.2s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe left wrist view now looks into the basket, with the white toy low between the fingers. I’ll release it here and then lift away to check that it stays in the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4786, 1.9205, 1.3293, -0.3233, -0.4301, -0.3977, 0.2118, -0.0208, 0.8165, 0.6075, -0.3851, -0.0109, -0.0158, 0.9997] state[eef_state]: left_x=0.4688 left_y=-0.1562 left_z=0.0907 left_yaw=0.0953 left_pitch=-0.2467 left_roll=0.0798 left_gripper=0.2118 right_x=0.296 right_y=-0.0006 right_z=0.1743 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [0.6906, -8.9368, 9.3197, 1.5897, -0.2369, 0.149, -0.0366, -0.1709, -1.4564, 7.1043, 1.6972, -0.0122, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left wrist view now looks into the basket, with the white toy low between the fingers. I’ll release it here and then lift away to check that it stays in the basket."})
tool
executing move_to over 8 steps (0.8s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe white toy is visible at the bottom of the left basket after release. I’ll park the left arm and bring the right arm above the tan toy near the center, using the right basket for the tan objects.
move_to
left_x0.2960left_y0.0000left_z0.1850right_x0.3900right_y0.2600right_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]: [-0.4763, 1.9411, 1.3254, -0.2977, -0.4431, -0.4011, 0.9953, -0.0208, 0.8165, 0.6075, -0.3851, -0.0105, -0.0158, 0.9997] state[eef_state]: left_x=0.4723 left_y=-0.1544 left_z=0.0839 left_yaw=0.1094 left_pitch=-0.24 left_roll=0.0855 left_gripper=0.9953 right_x=0.296 right_y=-0.0007 right_z=0.1743 right_yaw=-0.0004 right_pitch=-0.0343 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [-0.1573, -12.4513, 5.5043, 1.3358, -0.188, 0.0317, -0.2173, -0.0889, -1.3607, 7.2547, 1.6874, -0.0317, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.185,"right_x":0.39,"right_y":0.26,"right_z":0.15},"note":"The white toy is visible at the bottom of the left basket after release. I’ll park the left arm and bring the right arm above the tan toy near the center, using the right basket for the tan objects."})
tool
executing move_to over 22 steps (2.2s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe right wrist camera shows a tan plush just left of its jaws, so I’ll shift left and toward the base before descending to grasp it. I also see that the left basket has tipped onto its side; I’ll avoid contacting it again while sorting.
move_to
right_x0.3500right_y0.2900right_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]: [-0.1604, 1.0256, 0.886, -0.6594, -0.2546, -0.1703, 0.9967, 0.7998, 1.7317, 1.1637, -0.2413, 0.6128, 0.4992, 0.9997] state[eef_state]: left_x=0.306 left_y=-0.0008 left_z=0.1905 left_yaw=0.135 left_pitch=-0.2085 left_roll=0.071 left_gripper=0.9967 right_x=0.3834 right_y=0.2539 right_z=0.1362 right_yaw=0.0313 right_pitch=-0.0743 right_roll=-0.028 right_gripper=0.9997 state[joint_eff]: [0.1983, -2.8513, 5.8735, 1.6435, -0.0464, 0.1685, 0.1245, 0.5265, -8.5538, 8.7863, 1.3993, 0.5055, 0.1538, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.29,"right_z":0.045},"note":"The right wrist camera shows a tan plush just left of its jaws, so I’ll shift left and toward the base before descending to grasp it. I also see that the left basket has tipped onto its side; I’ll avoid contacting it again while sorting."})
tool
executing move_to over 6 steps (0.6s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe tan plush is between the right jaws but sits toward their left edge, and the arm stopped above the requested low height. I’ll make a small leftward alignment correction and lower cautiously while staying clear of the basket wall.
move_to
right_x0.3450right_y0.3150right_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]: [-0.1593, 1.0306, 0.886, -0.6689, -0.2462, -0.1722, 0.9968, 0.9184, 1.8729, 1.0664, 0.0357, 0.7349, 0.5911, 0.9997] state[eef_state]: left_x=0.3048 left_y=-0.0017 left_z=0.1872 left_yaw=0.1311 left_pitch=-0.224 left_roll=0.068 left_gripper=0.9968 right_x=0.368 right_y=0.2924 right_z=0.0887 right_yaw=0.0142 right_pitch=0.0166 right_roll=0.019 right_gripper=0.9997 state[joint_eff]: [-0.1709, -3.1111, 6.7897, 1.619, -0.232, -0.0317, 0.0024, 0.9641, -5.641, 3.2889, 0.4908, -0.232, 0.1001, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.315,"right_z":0.035},"note":"The tan plush is between the right jaws but sits toward their left edge, and the arm stopped above the requested low height. I’ll make a small leftward alignment correction and lower cautiously while staying clear of the basket wall."})
tool
executing move_to over 4 steps (0.4s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe tan plush is now centered in the right gripper’s opening and the basket wall is off to the right. I’ll close the jaws and check whether they hold the plush.
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, 1.0306, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.9874, 1.9564, 1.0573, 0.1879, 0.8284, 0.6456, 0.9997] state[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1872 left_yaw=0.1309 left_pitch=-0.2237 left_roll=0.0673 left_gripper=0.9968 right_x=0.3603 right_y=0.3162 right_z=0.0786 right_yaw=-0.0155 right_pitch=0.1014 right_roll=0.0789 right_gripper=0.9997 state[joint_eff]: [-0.253, -2.6598, 6.8444, 1.5214, -0.1294, -0.0659, -0.0122, 0.6632, -5.3402, 4.4376, 0.6813, -0.3541, 0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The tan plush is now centered in the right gripper’s opening and the basket wall is off to the right. I’ll close the jaws and check whether they hold the plush."})
tool
executing move_to over 10 steps (1.0s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe right gripper stopped only about 5 mm open and the tan toy is still visible to one side, so the grasp is uncertain. I’ll lift to see whether the toy rises with it before approaching the basket.
move_to
right_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]: [-0.1593, 1.0317, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.9743, 1.0565, 0.2394, 0.881, 0.6582, 0.0517] state[eef_state]: left_x=0.3048 left_y=-0.0018 left_z=0.1867 left_yaw=0.131 left_pitch=-0.2255 left_roll=0.0679 left_gripper=0.9968 right_x=0.3613 right_y=0.3175 right_z=0.0823 right_yaw=-0.051 right_pitch=0.1467 right_roll=0.1011 right_gripper=0.0517 state[joint_eff]: [-0.1709, -2.5778, 6.8171, 1.5263, -0.1587, -0.0659, -0.0122, 0.5675, -5.9145, 4.465, 0.525, -1.072, 0.398, 4.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right gripper stopped only about 5 mm open and the tan toy is still visible to one side, so the grasp is uncertain. I’ll lift to see whether the toy rises with it before approaching the basket."})
tool
executing move_to over 6 steps (0.6s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe tan toy still appears near the table after the short lift, and the right basket is close to the arm. I’ll raise and pull the right gripper back to verify the grasp without dragging the basket.
move_to
right_x0.2900right_y0.3000right_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]: [-0.1593, 1.0344, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.8664, 1.1767, -0.0601, 0.8433, 0.6529, 0.0844] state[eef_state]: left_x=0.3051 left_y=-0.0018 left_z=0.1861 left_yaw=0.1312 left_pitch=-0.2277 left_roll=0.0685 left_gripper=0.9968 right_x=0.3572 right_y=0.3191 right_z=0.1273 right_yaw=-0.0139 right_pitch=0.0891 right_roll=0.0473 right_gripper=0.0844 state[joint_eff]: [-0.0889, -2.9607, 6.7761, 1.4676, -0.149, -0.0513, -0.0122, -0.253, -13.5043, 9.5932, 1.4969, 0.8767, 0.0073, 1.033] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.30,"right_z":0.22},"note":"The tan toy still appears near the table after the short lift, and the right basket is close to the arm. I’ll raise and pull the right gripper back to verify the grasp without dragging the basket."})
tool
executing move_to over 6 steps (0.6s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe right fingers remain partly open after pulling clear, suggesting they may be holding a small part of the tan toy. I’ll carry it above the upright right basket and only release if the overhead view shows a clear placement.
move_to
right_x0.4500right_y0.1900right_z0.2600
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, 1.0344, 0.886, -0.6678, -0.2462, -0.1726, 0.9968, 1.1267, 1.6634, 1.2304, -0.4618, 0.8574, 0.7818, 0.0856] state[eef_state]: left_x=0.3053 left_y=-0.0018 left_z=0.1863 left_yaw=0.1314 left_pitch=-0.2266 left_roll=0.0685 left_gripper=0.9968 right_x=0.2928 right_y=0.3128 right_z=0.1818 right_yaw=0.0415 right_pitch=0.024 right_roll=0.0294 right_gripper=0.0856 state[joint_eff]: [-0.0889, -2.5094, 6.9265, 1.5409, -0.1392, -0.0562, -0.0122, 0.5949, -10.9197, 9.9077, 1.3944, 1.0525, 0.0073, 1.033] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.19,"right_z":0.26},"note":"The right fingers remain partly open after pulling clear, suggesting they may be holding a small part of the tan toy. I’ll carry it above the upright right basket and only release if the overhead view shows a clear placement."})
tool
executing move_to over 13 steps (1.3s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
assistant
agent noteThe tan toy is hanging below the right gripper, so the grasp is real. Its body trails toward the near side of the basket; I’ll move the gripper farther forward and right so the toy itself, not just the fingers, clears the rim.
move_to
right_x0.5050right_y0.1200right_z0.2700
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, 1.0359, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.5564, 1.6444, 1.3983, -0.4435, 0.4156, 0.3275, 0.0857] state[eef_state]: left_x=0.3052 left_y=-0.0018 left_z=0.1856 left_yaw=0.1313 left_pitch=-0.2292 left_roll=0.069 left_gripper=0.9968 right_x=0.4353 right_y=0.191 right_z=0.2266 right_yaw=0.0366 right_pitch=-0.0614 right_roll=0.0123 right_gripper=0.0857 state[joint_eff]: [-0.0889, -2.865, 6.8171, 1.4676, -0.1538, -0.0464, -0.0122, -0.1983, -8.2393, 10.6598, 1.9023, 0.398, -0.2027, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.12,"right_z":0.27},"note":"The tan toy is hanging below the right gripper, so the grasp is real. Its body trails toward the near side of the basket; I’ll move the gripper farther forward and right so the toy itself, not just the fingers, clears the rim."})
tool
executing move_to over 6 steps (0.6s)
step 232
assistant
agent noteThe tan toy hangs well below and behind the gripper, still outside the basket’s near rim. I’ll raise it and reach farther over the basket before lowering, to avoid pushing the basket again.
move_to
right_x0.5500right_y0.1200right_z0.3400right_pitch0.1800
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, 1.0397, 0.886, -0.6693, -0.2459, -0.1726, 0.9968, 0.3111, 1.7817, 1.6386, -0.5976, 0.2249, 0.194, 0.0864] state[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1845 left_yaw=0.1316 left_pitch=-0.2332 left_roll=0.0702 left_gripper=0.9968 right_x=0.4919 right_y=0.1206 right_z=0.2313 right_yaw=0.0175 right_pitch=-0.1581 right_roll=0.0022 right_gripper=0.0864 state[joint_eff]: [-0.1162, -3.0974, 6.7624, 1.4725, -0.149, -0.0562, -0.0122, -0.2667, -10.1538, 11.0154, 1.79, 0.2125, -0.149, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.12,"right_z":0.34,"right_pitch":0.18},"note":"The tan toy hangs well below and behind the gripper, still outside the basket’s near rim. I’ll raise it and reach farther over the basket before lowering, to avoid pushing the basket again."})
tool
executing move_to over 12 steps (1.2s)
step 244
assistant
agent noteThe tan toy is still held, but its body trails toward the basket’s front edge. I’ll reach as far as is safe above the right basket and shift slightly toward its center before releasing.
move_to
right_x0.5900right_y0.0750right_z0.3200
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, 1.0397, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 0.2958, 1.8652, 1.8313, -0.5255, 0.2199, 0.1135, 0.0864] state[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1846 left_yaw=0.1316 left_pitch=-0.2329 left_roll=0.0701 left_gripper=0.9968 right_x=0.5355 right_y=0.1267 right_z=0.2878 right_yaw=0.0528 right_pitch=0.0152 right_roll=-0.012 right_gripper=0.0864 state[joint_eff]: [-0.2256, -2.7829, 7.0085, 1.4579, -0.149, -0.0317, -0.0122, -0.7179, -10.6051, 11.1385, 2.5324, 0.4371, -0.0952, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.075,"right_z":0.32},"note":"The tan toy is still held, but its body trails toward the basket’s front edge. I’ll reach as far as is safe above the right basket and shift slightly toward its center before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 249
assistant
agent noteThe basket has slid toward the far edge, beyond where the toy hangs beneath the gripper. I’ll rotate the raised gripper partway to swing the dangling tan toy toward the basket opening without dragging it across the table.
move_to
right_yaw1.5000right_z0.3200
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, 1.0412, 0.886, -0.6693, -0.2459, -0.1722, 0.9968, 0.1596, 2.1315, 2.2303, -0.7544, 0.1062, 0.0559, 0.0865] state[eef_state]: left_x=0.3055 left_y=-0.0019 left_z=0.1841 left_yaw=0.1315 left_pitch=-0.2347 left_roll=0.0709 left_gripper=0.9968 right_x=0.5881 right_y=0.0793 right_z=0.2698 right_yaw=0.0426 right_pitch=-0.0916 right_roll=-0.013 right_gripper=0.0865 state[joint_eff]: [-0.1709, -2.8103, 6.9265, 1.4969, -0.1392, -0.0122, -0.0122, -0.253, -14.9675, 11.1521, 2.0244, 0.0073, -0.2076, 1.0134] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":1.5,"right_z":0.32},"note":"The basket has slid toward the far edge, beyond where the toy hangs beneath the gripper. I’ll rotate the raised gripper partway to swing the dangling tan toy toward the basket opening without dragging it across the table."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteThe wrist barely rotated at maximum reach, so I can’t swing the toy over the basket from here. I’ll retract to a pose with more rotational room while keeping the toy elevated.
move_to
right_x0.4500right_y0.1100right_z0.2300right_yaw1.5000
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, 1.0416, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.1493, 2.1456, 2.286, -0.8158, 0.0769, 0.0433, 0.0865] state[eef_state]: left_x=0.3056 left_y=-0.0019 left_z=0.184 left_yaw=0.1317 left_pitch=-0.2347 left_roll=0.0707 left_gripper=0.9968 right_x=0.5849 right_y=0.0779 right_z=0.2735 right_yaw=0.0637 right_pitch=-0.1133 right_roll=-0.0068 right_gripper=0.0865 state[joint_eff]: [-0.0615, -2.8513, 6.7897, 1.4725, -0.149, -0.0366, -0.0122, -0.4171, -14.3248, 10.1402, 2.1661, 0.1636, -0.1636, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.11,"right_z":0.23,"right_yaw":1.5},"note":"The wrist barely rotated at maximum reach, so I can’t swing the toy over the basket from here. I’ll retract to a pose with more rotational room while keeping the toy elevated."})
tool
executing move_to over 11 steps (1.1s)
step 270
assistant
agent noteWith the wrist turned, the tan toy is now beside the right basket’s near rim. I’ll continue the rotation and move left over the opening while keeping the toy above the rim.
move_to
right_yaw2.9000right_x0.4900right_y0.1800right_z0.2800
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, 1.0462, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, -0.0727, 2.2501, 2.3096, -1.4036, -0.8112, -1.309, 0.0871] state[eef_state]: left_x=0.3059 left_y=-0.002 left_z=0.1828 left_yaw=0.132 left_pitch=-0.2391 left_roll=0.072 left_gripper=0.9968 right_x=0.4781 right_y=0.0972 right_z=0.2052 right_yaw=1.3159 right_pitch=-0.1763 right_roll=-0.0271 right_gripper=0.0871 state[joint_eff]: [-0.3077, -2.7145, 6.8171, 1.4725, -0.1197, -0.0171, -0.0122, 1.6615, -13.4769, 6.735, 0.2808, -1.0623, -0.0562, 1.0427] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":2.9,"right_x":0.49,"right_y":0.18,"right_z":0.28},"note":"With the wrist turned, the tan toy is now beside the right basket’s near rim. I’ll continue the rotation and move left over the opening while keeping the toy above the rim."})
tool
executing move_to over 11 steps (1.1s)
step 281
assistant
agent noteThe right basket has shifted and is leaning; the tan toy is against its opening near the front edge. I’ll release the toy here rather than keep pushing the basket with the gripper.
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, 1.0473, 0.886, -0.6685, -0.2459, -0.1722, 0.9968, -0.0471, 2.3493, 2.4084, -1.552, -0.7895, -1.4776, 0.0872] state[eef_state]: left_x=0.3061 left_y=-0.002 left_z=0.1825 left_yaw=0.1318 left_pitch=-0.2398 left_roll=0.0725 left_gripper=0.9968 right_x=0.4669 right_y=0.1071 right_z=0.1806 right_yaw=1.4587 right_pitch=-0.2186 right_roll=-0.0041 right_gripper=0.0872 state[joint_eff]: [-0.1573, -2.947, 6.7761, 1.4872, -0.1636, -0.0122, -0.0122, -0.3897, -13.9556, 8.1573, 0.2027, -0.8864, -0.0464, 1.0232] approver: 1 step(s) modified (delta_clamped). 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_gripper":1},"note":"The right basket has shifted and is leaning; the tan toy is against its opening near the front edge. I’ll release the toy here rather than keep pushing the basket with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteAfter release, the right basket has settled upright but the tan toy remains just outside its opening. I’ll re-approach the toy at table height with the right jaws in their normal orientation for a more secure body grasp.
move_to
right_x0.4200right_y0.1400right_z0.0550right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1604, 1.0512, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, -0.0372, 2.3711, 2.397, -1.5288, -0.7639, -1.4841, 0.9953] state[eef_state]: left_x=0.3062 left_y=-0.0024 left_z=0.1812 left_yaw=0.1312 left_pitch=-0.2442 left_roll=0.0736 left_gripper=0.9968 right_x=0.4704 right_y=0.1084 right_z=0.1652 right_yaw=1.4722 right_pitch=-0.2447 right_roll=-0.0003 right_gripper=0.9953 state[joint_eff]: [-0.0889, -3.1521, 6.9538, 1.4335, -0.1441, -0.0562, -0.0122, -0.7863, -14.6393, 6.4479, 0.1636, -0.696, 0.0024, -0.1099] approver: 4 step(s) modified (delta_clamped ×4). 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":0.42,"right_y":0.14,"right_z":0.055,"right_yaw":0},"note":"After release, the right basket has settled upright but the tan toy remains just outside its opening. I’ll re-approach the toy at table height with the right jaws in their normal orientation for a more secure body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe tan toy is partly hidden beneath the low right gripper in the overhead view, and it has disappeared below the wrist camera’s near edge. I’ll close here and check whether the gripper catches its body.
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]: [-0.1604, 1.0584, 0.8856, -0.6682, -0.2459, -0.1722, 0.9968, 0.4034, 1.7435, 0.9672, -0.091, 0.1333, 0.0914, 0.9963] state[eef_state]: left_x=0.3068 left_y=-0.0025 left_z=0.1793 left_yaw=0.1315 left_pitch=-0.2504 left_roll=0.0758 left_gripper=0.9968 right_x=0.4133 right_y=0.1548 right_z=0.0564 right_yaw=0.2377 right_pitch=-0.298 right_roll=-0.0358 right_gripper=0.9963 state[joint_eff]: [-0.0752, -3.5214, 6.735, 1.536, -0.1734, -0.0122, -0.0122, 0.3077, -6.9128, 5.0667, 1.5165, 0.0904, 0.3199, 0.1001] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The tan toy is partly hidden beneath the low right gripper in the overhead view, and it has disappeared below the wrist camera’s near edge. I’ll close here and check whether the gripper catches its body."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteThe right gripper closed almost completely, so it missed; the tan toy remains closer to the base than the fingertips. I’ll reopen and move back about 5 cm over its body for one corrected attempt.
move_to
right_gripper1.0000right_x0.3600right_y0.1700right_z0.0300
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]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.4015, 1.7557, 0.9657, -0.0696, 0.1413, 0.0826, 0.0185] state[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.4166 right_y=0.1537 right_z=0.0542 right_yaw=0.2341 right_pitch=-0.2897 right_roll=-0.0468 right_gripper=0.0185 state[joint_eff]: [-0.1026, -2.9607, 6.735, 1.4628, -0.1392, -0.0659, -0.0122, -0.0615, -9.4564, 6.3521, 1.2674, 0.0317, 0.0659, 0.906] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.36,"right_y":0.17,"right_z":0.03},"note":"The right gripper closed almost completely, so it missed; the tan toy remains closer to the base than the fingertips. I’ll reopen and move back about 5 cm over its body for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 321
assistant
agent noteThe right jaws are now farther back around the tan toy, which is mostly hidden beneath the gripper in the overhead view. I’ll close once more and lift only if the settled opening shows a 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]: [-0.1604, 1.0584, 0.886, -0.6682, -0.2459, -0.1726, 0.9968, 0.5228, 1.6814, 0.7712, 0.0616, 0.2119, 0.1478, 0.9946] state[eef_state]: left_x=0.3069 left_y=-0.0025 left_z=0.1794 left_yaw=0.1317 left_pitch=-0.25 left_roll=0.0754 left_gripper=0.9968 right_x=0.3697 right_y=0.1743 right_z=0.0357 right_yaw=0.2589 right_pitch=-0.2653 right_roll=-0.053 right_gripper=0.9946 state[joint_eff]: [-0.1026, -2.947, 6.7761, 1.4921, -0.1636, -0.0562, -0.0122, 0.294, -8.253, 4.7111, 1.2088, 0.149, 0.2906, -0.0611] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws are now farther back around the tan toy, which is mostly hidden beneath the gripper in the overhead view. I’ll close once more and lift only if the settled opening shows a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 331
assistant
agent noteThe second right-hand close was empty, so I’ll stop retrying that obscured toy. I’ll move the right arm clear and approach the isolated upright tan toy with the left arm instead.
move_to
left_x0.3250left_y-0.1500left_z0.0450right_x0.2900right_y0.0000right_z0.1800right_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]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.5236, 1.6791, 0.7616, 0.0643, 0.2047, 0.1387, 0.0174] state[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.3669 right_y=0.1745 right_z=0.0334 right_yaw=0.2706 right_pitch=-0.2715 right_roll=-0.0551 right_gripper=0.0174 state[joint_eff]: [0.0068, -2.8376, 6.8444, 1.4237, -0.1685, -0.0415, -0.0122, -0.2256, -7.2137, 6.5026, 1.4872, 0.1685, 0.0562, 0.8425] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.15,"left_z":0.045,"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1},"note":"The second right-hand close was empty, so I’ll stop retrying that obscured toy. I’ll move the right arm clear and approach the isolated upright tan toy with the left arm instead."})
tool
executing move_to over 15 steps (1.5s)
step 346
assistant
agent noteThe upright tan toy is centered near the left fingertips in the wrist view but sits slightly closer to the base in the overhead view. I’ll draw the gripper back a little and lower to grasp around its body.
move_to
left_x0.2900left_z0.0200
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]: [-0.7082, 1.5791, 0.7364, -0.2386, -0.5514, -0.63, 0.9968, -0.1436, 1.0241, 0.8387, -0.6647, -0.2012, -0.3271, 0.997] state[eef_state]: left_x=0.316 left_y=-0.144 left_z=0.0385 left_yaw=0.1114 left_pitch=-0.296 left_roll=0.1096 left_gripper=0.9968 right_x=0.2977 right_y=-0.0037 right_z=0.1688 right_yaw=0.2162 right_pitch=-0.2698 right_roll=-0.0645 right_gripper=0.997 state[joint_eff]: [-0.1846, -6.6393, 7.0359, 1.1795, -0.569, -0.1294, -0.0122, -0.1299, -3.3573, 9.3333, 1.3065, -0.3004, 0.0073, -0.105] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_z":0.02},"note":"The upright tan toy is centered near the left fingertips in the wrist view but sits slightly closer to the base in the overhead view. I’ll draw the gripper back a little and lower to grasp around its body."})
tool
executing move_to over 2 steps (0.2s)
step 348
assistant
agent noteThe tan toy’s body is between the left jaws at table height, though its head is near the bottom of the wrist image. I’ll close and use the settled finger gap to test whether I have 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]: [-0.7494, 1.5841, 0.6819, -0.186, -0.5774, -0.6743, 0.9968, -0.1539, 1.0187, 0.8467, -0.7002, -0.2218, -0.3622, 0.9978] state[eef_state]: left_x=0.3051 left_y=-0.1473 left_z=0.0279 left_yaw=0.1127 left_pitch=-0.2808 left_roll=0.1003 left_gripper=0.9968 right_x=0.2922 right_y=-0.0024 right_z=0.1685 right_yaw=0.2451 right_pitch=-0.286 right_roll=-0.0654 right_gripper=0.9978 state[joint_eff]: [-0.5265, -6.9402, 4.9436, 1.1306, -0.4176, -0.1197, -0.0122, 0.4308, -2.0444, 6.6256, 1.4481, -0.1685, 0.105, 0.0659] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan toy’s body is between the left jaws at table height, though its head is near the bottom of the wrist image. I’ll close and use the settled finger gap to test whether I have it."})
tool
executing move_to over 10 steps (1.0s)
step 358
assistant
agent noteThe left fingers stopped about 2.7 cm apart around the upright tan toy. I’ll lift and carry it over the upright basket on the right, watching that the toy clears the basket rim.
move_to
left_x0.4700left_y-0.3350left_z0.2400
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]: [-0.7784, 1.5761, 0.63, -0.1925, -0.5812, -0.704, 0.2877, -0.1516, 1.026, 0.8379, -0.6983, -0.2142, -0.3599, 0.9978] state[eef_state]: left_x=0.2874 left_y=-0.1422 left_z=0.0148 left_yaw=0.1143 left_pitch=-0.3084 left_roll=0.1226 left_gripper=0.2877 right_x=0.2915 right_y=-0.0029 right_z=0.163 right_yaw=0.2413 right_pitch=-0.3012 right_roll=-0.0638 right_gripper=0.9978 state[joint_eff]: [0.0342, -6.8444, 5.6, 0.9841, -0.3443, -0.022, 0.6569, -0.3487, -3.2068, 7.7744, 1.3504, -0.1441, -0.0513, -0.0073] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.335,"left_z":0.24},"note":"The left fingers stopped about 2.7 cm apart around the upright tan toy. I’ll lift and carry it over the upright basket on the right, watching that the toy clears the basket rim."})
tool
executing move_to over 18 steps (1.8s)
step 376
assistant
agent noteThe tan toy is still held, and the left wrist camera looks into the right basket with the toy near its front edge. I’ll lower it a little farther inside before letting go.
move_to
left_x0.4700left_y-0.3400left_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]: [-0.7891, 2.5877, 2.8162, -1.483, -0.5632, -0.749, 0.2901, -0.1516, 1.0283, 0.8375, -0.6979, -0.2134, -0.3595, 0.9978] state[eef_state]: left_x=0.4483 left_y=-0.3127 left_z=0.1564 left_yaw=0.1519 left_pitch=-0.3883 left_roll=0.1802 left_gripper=0.2901 right_x=0.2916 right_y=-0.0031 right_z=0.1623 right_yaw=0.2407 right_pitch=-0.3035 right_roll=-0.0632 right_gripper=0.9978 state[joint_eff]: [-0.0205, -19.2205, 10.865, 0.8864, -0.5885, 0.4176, 0.2369, -0.1573, -2.4274, 6.7761, 1.4335, -0.1245, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.47,"left_y":-0.34,"left_z":0.115},"note":"The tan toy is still held, and the left wrist camera looks into the right basket with the toy near its front edge. I’ll lower it a little farther inside before letting go."})
tool
executing move_to over 3 steps (0.3s)
step 379
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]: [-0.7879, 2.6869, 3.036, -1.5661, -0.5613, -0.7692, 0.2916, -0.1516, 1.0283, 0.8375, -0.6987, -0.2138, -0.3595, 0.9978] state[eef_state]: left_x=0.4521 left_y=-0.316 left_z=0.1622 left_yaw=0.1515 left_pitch=-0.3659 left_roll=0.1336 left_gripper=0.2916 right_x=0.2914 right_y=-0.003 right_z=0.1622 right_yaw=0.2411 right_pitch=-0.3041 right_roll=-0.0626 right_gripper=0.9978 state[joint_eff]: [-0.5538, -12.0684, 5.7778, 0.9792, -0.315, 0.188, 0.149, -0.3624, -2.6598, 6.7897, 1.3602, -0.1343, -0.0024, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [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 · 7.459 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3794, -0.0231, -0.0303, 0.9996, -0.0208, 0.7967, 0.6109, -0.374, -0.0113, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -1.4427, 9.2786, 1.7558, -0.0513, 0.1099, -0.0513, -0.4444, -1.4838, 9.7846, 1.7607, -0.1099, -0.0122, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6aae3f11a19fdc3a91e1b2d0c9354c8efe4629d6ad949ba90e7c116e0e7a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be3566e612598c4d896ef42a1d04b200978436a86fea50963bef6db87b808cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d669d7adcab62283eff8513820b901ee5ee5b18d4cd5f98a71ef6e12ef90819a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 4.448 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5AfpBw-qRfbT2I0xKPULIIrsL__mFq_xHUq0Ferc0KS_uwfdaJTKDcubSMLOYzMRbKuDbgA_Tdz_wFykm-N1J5monmullXtvOg6pz333rfMMbHIdklnpVU6w2pw_aOCpirXgsThcA4MoQ7Y8hn8etiuiuWiEc5QKPHWSmvqUKt7AZqI-Qan-gRwkn8iNY500Gde_F46bIwU3QNR0Kg5pQT6b5TTJn2av6jilKc9faG37PrnZaoj3slZVjxtYnz_7PZ52oopRZ-oo0YlM1xgEbh3rr1uUQfgNq85-T2ekXfZL1Hz8sgoWChfKO5aljhNYZTXEiwxuSHhfqFhroRVYCDttXCOZ1KcABRwsHA_1WoPbCG--torn06z7OwqLlb6TtMQEekGvQVl0Nq3w2OLb2nYulnTXSkm1SFY3nk1jW_qDZz2ERpwlRT7PRfvmvXP6OJF-mBUTUFh6TJe2KIP-kH-c8bVcN_ZYYARNuBqlgqv-hplZ8wm0mVWX-zVIjRe0cAsfUnp_IBlTMrVJmqh0JuTdfxkZF50ePXnMvkkHE2EOVY0t1nfmdhu381habVlKg-4Mky5Iv127027vW04FCIKHNI9xNWyJBk2Cgc8qZtZw8rNcf9MZfmlhwRdaeLfJy1csbV1ZSP5-sZMl-rDEUpZ07oWogkGxrHTFEcHNwYgfKyxpTDzevG1_PCEJ14p5ySZ3ZoAZkRL_VcuZ29cibXnd16v0C5uqpNsnBjSDIVK2qJm_KmvC0HFcucxv70Je29WrZ6QSM4iMkpR0iFir9MJCFQvSlY-kVvQ3gQiyr_q0Kns0cGFSAPeyaGbIIzAUHrdKDbWBgi3AJNO8PP3Q1SAictFcGWu6UwOt3zpQt9jkPvZDaeeulG5h3dvqc5ex90Kf3RI5uidlpGrFNyWp0GoGKdTrTLE6TlWdo7lpbX9iVultsc3gmEguGLPL70vZ4WSDsf7YDUyFzeDnGyU6sV3KYKSAdEpb7cgSWdoXnqLxJz8avGWqdr1B4JTHs3S_6HoyWPbvRDBnLWOT4aHZUPCWbeLfjiaj1kQmkvtVeuFnW18KsjtCTNOfPlRBVEoYwjGBMFcEEFik6xwcReAtmwu3mxGTWz5fl0dw6aEmTZ1GsjSSO5I9ngT6CgbieVlZqn2WkDb0vECY1nJiZ9tc9kqhsQlpOqXVNEHE_E3XN0ZgalVCHLouUR27f-w68gFSKGwL9hOd0Gx1AIzHkGE4-nEFmn4OcA6R9ZZgKUCuJQtQYz8xxPLJdXslnDerWG6poo2yU9enYQXTvxunoeiQtnCpc9PcemMOB3rmpCEr69IJfF6kcpbOCkxEa7N0cKwlG63BdZIWHyRqmXnfNWPxgCzbBwRbve2Sxqx27v_-t8y80XonuV_gTVFkBFsEjbsyRl1az_RJKJHis76OexjUnfzCubzFMY0EHC91rqTWJ2Rmuj0JnLhEhZqTgdjsxjKN0YmudS7dSMTM091pcBBtzjLC1ZtAgG3wM7npvYO8zAzRbVN6QUQkIwRZT-354p9_1a8nLW1h0dEOAdyUtUyKy_un3pRSiXRr1oE5avhvxPSnhEFOEOuDJTuBEkeeoiJp6rsA3yb74vCtUffgTgL_rPO5UhNyY0Qe1MIR1_Z1ZSl3Xeb0XIGx0gNZ-JEb0w0V2hvRNXOafBQPxQTtdivJHSTE5gJ9sidehILsYqU8PMbxx8Xjjloa2nMxEGqATsA5COG3BCbaAk2SnDH-AOihgewnSVXeLfc_DU-yKKbYysspIH-DD8iW5jVK4gEiUxnoRFG2Qhzpv8_O4Iv0xEH9lH7GiDnSDno4GnkIwgh-Ri_w0vyXYsMcBCDMqSNk09s5FQMThIMSir7p7ytzmNbSt2U81zbAZBokw0rxvECDLVc5h2UNu6uaGwYPb62EcX4BmP_EegNzMVjVkyOohV9lILLqICa9E1e_o5J7XgRHRSCMD2teIli6KP4FysVSAP54hK8kRj6L_H8FhlKM3UNdsLtxFojOyhJj0qrQi4lFJzSWDtnzL2PMS54nufoNciL27cZBtEp9zqqOQNJf30KWRT3wc6_RrNY7QM5V_qp0LhKgbDQ5IcI6nb1Nq3VpaMDtASFgEilI_kq_BmJYnOHUEzJRZi3FZkRiFXIfcLsw2aO424WHjTFObAx8U19t-riXa7u1X0xtxhpStassM_jC-HA5AusLs2kFM0-b8YwB-pF2FxPY8AUGUd-G9ktqdnFHURPp8Kxr7oGUzfjk_84ZhdA3fD4y837OGmrtV-ERnz59I-_6GBAFg5FcUHLPWaHmQ9ehgBJz6geBWlWgDp11fw6uyoE13q5DUiDR8_U6cuFyKKo5roecyj-QPn2UJOYRfBIV1E9jsb5z9GSINR2P_qBfKkl1Xx_G7gR-jxzUHf3RPJ3VxTDmX_WXDUUxq7HSr8fKhxdohlQjHrjEE-ygcSO53G9nXAHLJIwe5H83xs5kG4jzYMe0aBX8ElxnqrLUyj_6IGFRlZOIrGDYhOFoD8Zsy7KFpjp3WT_m1_9XkoEKC0jfX0Vje4u-svTJ71uMqkAX7OjyaAtrAlsmWFPOYMVaY2VVmI5IlNM-dcw4Buep2vDIYdBWPYz9pzZsH9dIZxUVFdLcCnw4Cvf9z_f3B9kTwmWMbGHl94BlxpAPtkJwf2ioiHj3xFEyt_fLDVXNqsczrpAFkOqqL9MI-OktmxD6kHzfaYpE_cSLOj_XoqIKO86_mYcVI-L-j9AMSFce9S0WUXEZBGE8EKON1VP5VWPDsI-0JYHd8Dhi1dlAY6Oa9CcUV2ydb6l8dzApUPS9jAhBSkuMdv0-jV1z8GdJ0-DR_L16jY5iqtCCHIZ_MFUJXdkFkXBvHX580IL9iHAvFODAxwr-Mmdssb5BnjRVglO9YM5Nk_HpXn5x-56nYtIiO-NIpaDZJvmZF3M1FEYjCpheD5A17aVqBTNyAZleP8sMUDIGQPE09rFEDGPYwaVPq_CYfQzwoyVgza6OKd2E938ySt8Ta-ye7At_xmFoAte3CEId1D25HZnwWG_pQif5QET5jjij803UUgtCw9GDVndYqaZp0jflni2WDhttLbgxCK5ukw0tqNaHkgP2IrPw9H-5jlg8X0RQC-3l6vkujHv4iWPGf-Oo1TY7QeV2I37Z7SqETVMUWShhsgjN5LoA9gkd0aJgBz8MU47lHATo_T82_K1g2ltSYoXXS_HdSPJRyOhwQWbUbzhIHO3YKtYASvKLQjjKV8vT53ZIMOZ3htui3DmHtBliw-mRh_Ge-9l0TYxkKzYHsHKDBV3cLOG5O5M4tAw-NnF0F7hPKKKISrOYD0Iax-JCxbvkRZXH2qM3DrmDhuhVN1JWMXyiX7I-Dbx5YyfvRzSz-F2nFDGbNA9mQB1RoxQLywMPnga9zlTH8zKZ8it7jDGZcZSdMYwor2qu_skGsfmXIdcqfxdAYBoZMrnRulTeZwgJpVYFLTTAU6Cqk6MqnnQUH-ekQzy2E2AgwLlDVnfU8yVU3cK9odrKtNEWBAEC6cWZjhTK6ybQGAEE3OiULBF-Swft8aq6s=",
  "id": "rs_03a754a8d6ded289016ab41e3b0aec87d0af55277c4e767515",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.25,\"left_z\":0.16},\"note\":\"I see two blue baskets at the back and a cluster of pale white and tan soft objects in front of them. I’ll bring the left gripper above the white object near the middle, keeping it open while I check alignment.\"}",
  "call_id": "call_h8rGUPpgM7c3U0edGLpBCtpQ",
  "id": "fc_03a754a8d6ded289016ab41e3f631487d0af5af39d825c0ecf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h8rGUPpgM7c3U0edGLpBCtpQ",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.8143, 1.6966, 1.1412, -0.2203, -0.659, -0.551, 0.9996, -0.0208, 0.7994, 0.6086, -0.3843, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3852 left_y=-0.2453 left_z=0.149 left_yaw=0.0008 left_pitch=-0.0263 left_roll=0.0045 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.9795, 8.8957, 1.5507, -0.4176, 0.1001, -0.0122, -0.1846, -1.4017, 7.2547, 1.8242, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68945af43daa19442100bed7218f3cc1e6088e22c06b83a8b4586b2d902e9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731fb377934bd3a8298f7f83ea8b41dbbe92b69c61e403d471fd46aa4b26e36e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fc72a6409e6e1fbe1d142a6120308802aefd950454bc64d0bd1b549b206c5d",
      "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 · 4.555 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, 0.7986, 0.6174, -0.3794, -0.0231, -0.0303, 0.9996, -0.0208, 0.7967, 0.6109, -0.374, -0.0113, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -1.4427, 9.2786, 1.7558, -0.0513, 0.1099, -0.0513, -0.4444, -1.4838, 9.7846, 1.7607, -0.1099, -0.0122, -0.0415]",
      "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]: [-0.8143, 1.6966, 1.1412, -0.2203, -0.659, -0.551, 0.9996, -0.0208, 0.7994, 0.6086, -0.3843, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3852 left_y=-0.2453 left_z=0.149 left_yaw=0.0008 left_pitch=-0.0263 left_roll=0.0045 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.9795, 8.8957, 1.5507, -0.4176, 0.1001, -0.0122, -0.1846, -1.4017, 7.2547, 1.8242, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68945af43daa19442100bed7218f3cc1e6088e22c06b83a8b4586b2d902e9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731fb377934bd3a8298f7f83ea8b41dbbe92b69c61e403d471fd46aa4b26e36e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fc72a6409e6e1fbe1d142a6120308802aefd950454bc64d0bd1b549b206c5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5Rq7BhtbGPRnqhn3LhrOdCNLe6JFGZWEW5WZEsklTjdGSH1xlfj64OkIJ6kfKcv1ATtbkwW3f1SSZJSfRgijsEV9bg2eczXXPKROAH12mDkmCVrkINiv9qcsWib3eGVQdA8FJWAGB12p_7b3tDS9VlpQ_wkuICim85zdAmGRvVaQabmfs_HDCi4skvMs2AK1fKvVLatNga7zvmnJbO_G_j0haNCTw05au2kZ_0Ju3UiCvSi2oBigVlH39jR31K_b7Tp9l3qMDN3IvuiTVcI_-1YNIBtFg0QA4MpIEzf3Ycd_G6N38PxYPeczH7wrauuI2Vsb-aeAwmkn9nxbibA8zc_DJhBEryK0S0Sn-DrpS2ZboGDPDiYYsFw29nZuyN3AlQOmvbWHYDEbIMWl4uost8YuFWacvWnPiCYVAdCPYXs13p_tPQMHd290PnyEQ09v4X-nsnTOJgaq2vPsCZ8ZZcr5xYZWCOexRmsv58VwuFzxncJGzIhkGp9abBdL20yElUrHNx1-F2rlSeUBPzMEtxY2vGisE0r1V3FDjfeAQmJFANZZaIvRHRtAjqxRFmMKVaK6Iu-CKEUSrbr7roXrrfegjkisbKrE8ENZm9fG2z1mx18Bz4ZLNMyLFAn1sENGPc1TFVWPS-7qEhbpI9dXphBPLeHMgjTSynFWsivkRx5E5LnoR2VRJApXg12kHSELwsmVpEyg_OR7XbvYfaCUi-YVjVhhvK__Jjh8DZnPp6hiSntnjmYWUJlTqUaFEFpv8EA81pZJAuf-05cWYV0rc4C-tnnZhX5jSWBjig6aW-zsb7HcISD9iAARb5rCqHKBbObazwO6jm3CENom7X1obFR79GqEaDoMc6jWFW5Q7BP0fDNXwv2gYxXYWnGCW5CANayjYKPpGTt9KJs4aVOM3_9hn23KKVfdRsk7dsFyS8vLFySWT1tyCHeT7rJTcI-NwPKj7j-txHm1CJaFm5ULtEwKbesi_hJntbEFXK8DrhJcPjmbPYK0fzEmxffjGckEFBJ26OMp-C6CkIab8UsU3h04MuSSRTKkxNaVgR5uuE7dsvwTAT4nIXshrTKxZknK2nkpIiRcqFNjYXDBXRBNCRb4hQDICHcTy05x99QE-EW_3rozq-1tTQo7HJ-6gRXTVNPQ3lAK3EjAd-qgGhKb_gZIv22rfXvpj2lly3TAlb5f9MVR9Bft2Vy70GCfYrxFxev-u5BPAylghtelutNAtP62-DF4MPGHCP3GPnxWFwhKxfoerNhCnW-MNBOsfpsQ4KgS-LoB-FBKjqOkSUUSXXh-mz4PpYg3kP266BZflmrJIiq0UYNzRUe98rUkNBQ6VNNwRaiDACKFTSCYXPqmGOamv5jGFID4bKUsEYeJrUJ2oczW2Vh4Fn-kM87h4npPn1Jm2pdJUU47K6zwUkmO0rNZzhAMWNMjK2dM_DLH7Qviq-GCJltSOmSHq7a4cO5FMJxts93wieWqSyKSUunHlrySx8PI6Dni9zzeWwkEt5LhjVyDkwELBmiAEZR2oSjv7jxI9VhN8tcoazLTuKLJC-_otXN9FFBeGwQ7ub--xbTO0RsEoR_6k1KpQLQhb6zA_obaU2qsZ7H5pHFWFgDbydACgisfb_QPXPRzACsdPwXPedfQvwNAK9ON1gqEauS-jNieN_1RP8AonqMRmOA8L2v8jchs2Rl286LnqzbPWP_CfgOwxIPnqex2Ofj-PIbUieM-XxIUcvFpBP8rSUcQ_Wef-GdU92h0HpBRfo6b1QE3zMlBNiPXeZUr4npkh3tpqTzIZiM6z2XYNkomoeRdywFe8eHOmPS4X0ZOv0UKLsWONJ6MflW45Z52jj1HPRQaU7MSt2DJ5LplGKpDDNsl-uZzKGIcqzD3B1ULG_sJ0jlsm4ld-iKKoaJkOx1S78BhVIZYA-7abXR164PAQ3VjhhlQ-PKl2G8zzhheDmYR1vsTZjdGDyBh0b8w_jA5shTppA7qDyjiMJtq0b_2EB6flsnpjz179O3JNnGEjOvRXZWsuMmNTX5rUmPgCvKb_-YJlrDDJ243ZMH4Be6deczxHqktUFqm068LLa-FkcM_NPIKAGrIW3hUmLzkAJlHHpAgOtdKTX6bKjOL0BijWe9ZU4y2lwp6SdI9YEPFN8CuqXsGTRPpj4LV2kSaHJJzRiAq2EtEolGnElbGHwsmDLxC8426rIbM7U6cIdox6u-Cl9DXL2NlgElW4JgEIgZLw--4PO5Rstv6yCHfq887jHOgu_FAj7tSdGaQjGHW3pe6wytgNsDQheL18BQk1Ghjhw2akjPRZcY8aihZH-k0d-tQND3cQ7qwTAFbQ_74ad9lcxbiLOozcLKnq473pnU_BMhFRiFPXC1Scwlf98AndBCYPAU6SFUcpANJgcCmpwRn8kody9JUyVR8xCVjFbhUyC0gDkzyx6Gy21r4ELdJhk_2wys3IefQSROTC0_7-6FyM27EFsNqPIzzcCWGyzWX1VgFJCYrbZOMd2F2AHxtVJaBeWG5_Fr-xtGpo7OtzWibIKiWWbnID2Z316fX24bqq2mQ79LEJTX9XxJrMUJOQJLvIHJbuveing221ZQAYVNx3IjN7oKKdupjqFd6MQ94s3I9WdxXoaKChiNBOUGk8Fj9lJewla0Fo5NjFOtDSg3lIH07WYNyVrhfqNFkMW-K0TnBEiEXtOfZLbfSMtce3rMrc5B1YBBk1HVwMIrygEld1bXb3I-y4NRpE3216LsFeKpSRl5bUPDnbZPynmcxLrfRK0xA==",
  "id": "rs_03a754a8d6ded289016ab41e4e800487d0bc4dac4963b9b531",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.19,\"left_z\":0.105},\"note\":\"The left gripper is hovering over the central cluster, but its wrist camera shows a tan object off to the right rather than the white one. I’ll shift slightly toward the left-hand white object and lower to a cautious approach height.\"}",
  "call_id": "call_QWSPUW7KNVqcRr6g0wm1gIHH",
  "id": "fc_03a754a8d6ded289016ab41e51411c87d0aae01b16f8a84ed6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QWSPUW7KNVqcRr6g0wm1gIHH",
  "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]: [-0.8009, 1.5303, 0.7685, -0.0372, -0.6476, -0.5468, 0.9995, -0.0208, 0.8032, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3402 left_y=-0.1927 left_z=0.099 left_yaw=0.0043 left_pitch=-0.0483 left_roll=0.0193 left_gripper=0.9995 right_x=0.2953 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -7.6376, 6.4615, 1.5653, -0.1929, 0.1099, -0.0171, -0.3214, -1.0735, 7.0359, 1.746, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9c3fadb49d332f5412c01a899f7aeaf38ca601229b68843cad914f9857fdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99363bc4fdd1758abd1a40a39eb81c91757fb57e887d905f4271d8474dc081cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b5c9f608a05e1e63854d583a0306597eadc0b44ecd8b70f822c2d2f32ef3d1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 1.938 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]: [-0.8143, 1.6966, 1.1412, -0.2203, -0.659, -0.551, 0.9996, -0.0208, 0.7994, 0.6086, -0.3843, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3852 left_y=-0.2453 left_z=0.149 left_yaw=0.0008 left_pitch=-0.0263 left_roll=0.0045 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.9795, 8.8957, 1.5507, -0.4176, 0.1001, -0.0122, -0.1846, -1.4017, 7.2547, 1.8242, -0.0611, -0.0513, -0.0171]",
      "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]: [-0.8009, 1.5303, 0.7685, -0.0372, -0.6476, -0.5468, 0.9995, -0.0208, 0.8032, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3402 left_y=-0.1927 left_z=0.099 left_yaw=0.0043 left_pitch=-0.0483 left_roll=0.0193 left_gripper=0.9995 right_x=0.2953 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -7.6376, 6.4615, 1.5653, -0.1929, 0.1099, -0.0171, -0.3214, -1.0735, 7.0359, 1.746, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9c3fadb49d332f5412c01a899f7aeaf38ca601229b68843cad914f9857fdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99363bc4fdd1758abd1a40a39eb81c91757fb57e887d905f4271d8474dc081cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b5c9f608a05e1e63854d583a0306597eadc0b44ecd8b70f822c2d2f32ef3d1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5XZt2zxAJZpu597i8yrcEUhTLp9cXiKSYo-q0F9bb-4bQNvfWckMH6XWgydvjyirYFzYAIs0uPM-5-Uc28CGZH5A0TonHRW9T9A3W3NLC5Y9J15_Rxx0sPEkwwNf0rndb2Z_SoaczxanWDxQsyRZX6zmwc0TruHNziZxOZU8cIZgAJNNNzcn2Gndyqo7FFCRAHlV_1GLDViXBFsDJqKJ_TTTgVuw0ehu073_p0hbbJA7-C6ZL2o57tGQqPP8ja_M8PAbANCGjwcMGAxNVBjyQi9erpm_SbqBo9Vu0J5ZMYTublpmqSLA-l7qF0bFi3wfk8AYgixYseuLDBtEoGIdOdXFxVJ5Wtp8pLO_TMNe9__zz20ZhNrvW44e5Vd3kPgGIUf75DuXaIgvYqj2vqi_FeFrtPP-kdtgrCmQBx0zpqZ3Oa-UwJXPA9YGpxY1tguAYS9wBXHMnCWRN10FJ8yGQQUmOID6jP-G2NbEAxWgzaupALiqR3qieXXDVgyUINYm92ok36GjC2jnevypjUG4petcR_c8My-QPSGRkz37i3PzOCt59W8FMM4lp14Ba_GnrvuE55PKGhsaJy57qC4wIp5V9Cl6q8AM3u94jP_ES0_nUH3WSHueJlWdGobGNKAJHhfPbkaOGhL9uEhG2LOz43kPMmlTMd9NXiuB5vXJyvCAHqopbdmj7ImR6e52svm8uq7eRsHtJyHGEaIXibMe8EmlxFvet_Y1yWrI-KFKr0_V2E0-Ag75veP2VLSEYXU8HcSFfavpmeokz0rggfc41AnkBCF-elHQXzPVkl01BZfU-vJHKgXtoNsQ_rdTN-9qbnuH5iSQh1p7ZFcot50MLHgx81tEQZb1gd8tGIZaZrgqsNNltC0eOphBq7b9eBkKLyxVgUj13fxjrDZRIIrUlUi9eir8LS0_VfCdo2_NLroMD4l6DazdjVOcsjUH3CFQ8os5y39-F_QDiGpk7NyfzPq996S5ieXiXqfZ1TqZPNsUk7BtGfeCHZa0H5-wcE96u02Fw6DGb8_7mQ9i7WSCz_yq2BX1adTooRAE_g0VM0xzVAmy-rVv-v2MmDDgBOSQzXojWu_paVOT3kw9rC_5zO8v6IJ0xKSpoJdN7vU6NAL8Zod0Xsm4G_eMpOfvLZP0Y2huAkBeofr7TgomtsO9WNQXErhT8GV6j56O60StgQdnro5ryomXsgec0Qavz2Fs7XEcylbQeaCu9LxkRwsUNLN289z0pU7Dij-P1HlznpjwSLhkTouEpVWOnJchohNRf-Rr2ErPKimIocPhpXqkxGY-nFthsckCeZf3SW-4YxaL22L2sRqCYSlP5g4x1Z9jL5cE6ayGvK2Oe06Sqnqq-TDPJ4JxJHOpN10yPmmw62JQXp2GX6H1oP0Y7FlOnkrpkC15nHF386TE4JeH1wQ9Qylp2UfUfJp1Yb7z_mzdde8QdwtocM0OjflysKMLwX5TlveRvbiL4dEbmeEwtNiL9F2Z8H7Dr-MOifwMUu6FCl7cRnbRRbozrsjLfeIC85STKvR1y44C-W8hmDEV1pM96OodLY-MPPFQmLjn-ieIQfDZtTmrQdE0qqi9CEWy_MZzDfgyhTKtjeqEa-29dgXyKkOWLCWxoh1is5Gv_CHPD95cRHCs46l8uvXlF6-53IxfmpzUeEr1sSyKJIM8bcXEVAncqgmMQYNaXMI6t7d-J0ex9cXmhHgWb8XgaOuMZ7E9MXlg2z4rQt_0eN65XI5mPuUkh4w23_R0pGm5ysa1A7ium7Zz_zvdrQe1jzkvJc7jaHKaPrS5d2Qr-EbX8FsmOAYsBpn8c5E8Yn6tReTWf-umie1zik0QrPIbeo0W_Tl9RPn4zqYc5AsMD41OI59064JmXH7X2TZESY3ZMhO4T3cJgbyS9hfWrU-kAzdgFNVYDVovThV_vOLyA2QsZIJwPSzuVsIYkD1mS5FWpeg8AU25a7k1lldiRu1puSkp1Kq2rP0bjWe8fy5M-dRIwMctc71kBuX8TNwdMbdrLDJ9cHslcbMYjgOSxvVi0E_DtAw6LjnDvAET3TKvLlIs0caBMnmhUoFePnCPfCPoace4j8brfmqThOw63mmtzzxjvkDmu0jWuxIZbGxYhJ0Y-SDcxvTlSZWvjIJmM2d-JIc-AJNS-uAVeT2hD8P99f_d-AfwLalv69gHcwixOriVsW_FK3wUu1iGdQLT6XsbQe5IiyoSr9cY2f7qT2VpRg2uwMNGiuo_WKuKctkeD3juEeLymahNk_CyCR9nMN1aMlbWZvu_nOaLbDbCLDCvOM8oLYJJdikJf4N4wlO8gzFLJSGeqGGULcHrMM7EmSbxo9NwJLucXa2jVbFqnMyeHuuINER4sRrPrZ9wNO2Q6NsmAA9QnwF0D4E084esx271NGPvn7VArbroo5YK2jC-ppJxayjfGM59wCcc4mEzHRvaIAV5cI6uJNPioCVLYy69nmnkgQQWPntCd0bYtMuIzr_AnL5x0ARc1lC9NarbaYPypYbX1H90GtHd3DSvZf3CY1tXn9PRaW8y7ng3TNC6pVoTCLfa88qaMNc7_nI-Kp8vNLWCk945K7L8cBqdrYkuU_Q8awLH4VFX8HnQJ8EAX0KYuMtDKncqduVDfBAVlm9mZBR8fy8Q5FF1D6civ50im4srV1yp3UWOZjBDhmv2ems_fg34j8nNo4GamtUWbYa-mms79E7JgdR2VFxNPNAFOe_W0zNPACNPVvVzS-lFuDw6ZhtICu",
  "id": "rs_03a754a8d6ded289016ab41e5450ec87d0b15d520a94e0b5a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.22,\"left_z\":0.045},\"note\":\"A small white plush object is now directly in front of the jaws in the left wrist view, with a tan one farther right. I’ll center over the white one and descend to its lower half for a grasp.\"}",
  "call_id": "call_klu58XQj24wmIrSGo7avgJTb",
  "id": "fc_03a754a8d6ded289016ab41e56e1d887d080474e7d28c898fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_klu58XQj24wmIrSGo7avgJTb",
  "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]: [-0.8616, 1.7439, 0.7452, 0.1371, -0.6853, -0.5957, 0.9996, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3372 left_y=-0.2157 left_z=0.0417 left_yaw=-0.0011 left_pitch=-0.0686 left_roll=0.0446 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3778, 5.5863, 1.4383, -0.2222, -0.1636, -0.0122, -0.1709, -1.1556, 7.0496, 1.7265, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387a2007ac5ed259fb99f3b40b3855b5d4000e7745e2cccefc9d83b76fd2ddec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c070dac725bf636e2e0a66016620237c19329af3406953a9409bdc05349d4b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915190a342332bcfec0de313f45cc0ae43ecc9722b9c3d97541e5de5959ddf8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.98 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, 0.7986, 0.6174, -0.3794, -0.0231, -0.0303, 0.9996, -0.0208, 0.7967, 0.6109, -0.374, -0.0113, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -1.4427, 9.2786, 1.7558, -0.0513, 0.1099, -0.0513, -0.4444, -1.4838, 9.7846, 1.7607, -0.1099, -0.0122, -0.0415]",
      "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]: [-0.8009, 1.5303, 0.7685, -0.0372, -0.6476, -0.5468, 0.9995, -0.0208, 0.8032, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3402 left_y=-0.1927 left_z=0.099 left_yaw=0.0043 left_pitch=-0.0483 left_roll=0.0193 left_gripper=0.9995 right_x=0.2953 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -7.6376, 6.4615, 1.5653, -0.1929, 0.1099, -0.0171, -0.3214, -1.0735, 7.0359, 1.746, -0.0317, -0.0757, -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]: [-0.8616, 1.7439, 0.7452, 0.1371, -0.6853, -0.5957, 0.9996, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3372 left_y=-0.2157 left_z=0.0417 left_yaw=-0.0011 left_pitch=-0.0686 left_roll=0.0446 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3778, 5.5863, 1.4383, -0.2222, -0.1636, -0.0122, -0.1709, -1.1556, 7.0496, 1.7265, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387a2007ac5ed259fb99f3b40b3855b5d4000e7745e2cccefc9d83b76fd2ddec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c070dac725bf636e2e0a66016620237c19329af3406953a9409bdc05349d4b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915190a342332bcfec0de313f45cc0ae43ecc9722b9c3d97541e5de5959ddf8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5aYA-x7aeodr71go2tg7f7qRsD76CH9b378vbTh5JgpKOTD5iYE34RwWtLvVg_bGX4bwbhLx34nXyUV3ddTIKBHCACuhxxxjRU99VzDxPsSJJH7b0Mt07mh6K5UPdCNIfShPA3jeUrB12mQCtTshhYRwNuRiv_rs8h9HUZabVqdS4Tsu1D3kwOO4LNGDFoXlm1qm9dzd7P8-uQyfRIvE-b7hc2HNFN_dW7irE5E7jk3bIKWlnk2f-A3lz9FZr4XK43bOoiKwooLL0o5A91E42XmdxuQTknttjjhMmedmILLua2BYfxiateAxDeDCUSEfeUFgBiGbSV0NQlIJko595dybIq5wyThxoa8u1C3ONhSq6eF15M2lu6AfEFy91WG7qq9a1vWfrrQIVgvpJ158GX2Yk04m6sBNdTiyEQ9ImJA6f1dLqUTnDXWPx66-6BUpbU_HqOUq3fRvGxf084ch5Apc7Xa1RjuZ1TIawKUL8EKkwk4npBS8gQp_A5pomAqQtW6AaWrl813bK55kFCxMiy7_eFEkRT-ES65G3VKFmaLVXPtEnsLeEqfhWnOmhBYpEvTlLy-kRXyYiiDlmDci_3amfLFSloAMQamHnvQHKBP3Gscl_eLhQgWI3Z6j95XnzDHgoewaX4q1pUSkqHNxB9kJ6aLx3zehbKSM1zFXRkn9qQrqR6oxnLz54_LQ-uUBTSDOfargIuwSYzpGlHxoQzQbXzDamLkeWtAG3Bns8QzWsSWIZv8_DI0RmzzGRJbOXIrgyMRzQHW8AbSSHQMAHyZF6B18aINyDLteIw6TITkhGbuwQXKRR6i22zGAhHJfXayJOOYaXRf24ekq246ISsSTLOZQjw6gMJjp47F_6_ndhA3U2UOQPsJoxZ_HDif0qyc8basOLUWSBm5Ag6WGOzobFmL1UWJQAw9aESE6O7Px9nAQXFkiA4d186ZPWTo4lAz3ycHKYqLGFQHueXtey1il8woplsLgLe2U5SEGbchgDjEsnwK54yG4GFUMBJzWeGh2FgX6NIYmDvYJCxyuJQ8jgxhzIMbqwXPny1044YWS1e-oiCzTwXy2puRF_SUwSGAkTypVkdlCMjc3MtftHd-VI0DQtRH18koyKryQ9aI1MN0a733yLoVJi_ViKTkvzLUSg4Z93Hz-Xq-FYgQXQt2l45lky-40TnTBi6vUwTJOfKlHZTXLOQ_wbd0APO2bUZ1GLhLKdkWYUzGQIpJKqIHuQ1N_w-ZAEkhGfcRStDgYbBtqTZbwnsmbBZTChfcMNAvgaGyki-MlydRK5vAEBOI1ctH83Dzo0pt_ZUjPkp6IJvDDdygH7Ud6guY1GZTr9E-u6b2B3W-bH1cJ3B6Xh2gA-oyEexX7NJ027QUM1jms4h_r_AdFPeAmyfIGnTirMQ",
  "id": "rs_03a754a8d6ded289016ab41e595e4087d0bf2a4de294ab0151",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush object is between the left jaws near table height; the tan object remains to their right. I’ll close the gripper and check whether the white object is actually held.\"}",
  "call_id": "call_Co9oZ0E3fWxrFznTYcWb2Ot1",
  "id": "fc_03a754a8d6ded289016ab41e59d2e887d08bd5f1961fdbf62a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Co9oZ0E3fWxrFznTYcWb2Ot1",
  "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]: [-0.8627, 1.747, 0.7448, 0.144, -0.688, -0.5987, 0.0107, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3376 left_y=-0.2163 left_z=0.0416 left_yaw=0.0011 left_pitch=-0.0647 left_roll=0.0408 left_gripper=0.0107 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.788, 5.2718, 1.2918, -0.3248, 0.0122, 0.7448, -0.0479, -1.1419, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e52979122a909439f69f3b3a83f2bfda7b3be46a6ae9ff4b3d44249698f9cef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c6b2549c5e476c07cc77517656dc689075b01ce953e4da45341fc91501a6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a739d9716fd1e2ec816cf350db2a1332f1192cb205de5cb00c69a2375eee4d",
      "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 · 4.047 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]: [-0.8143, 1.6966, 1.1412, -0.2203, -0.659, -0.551, 0.9996, -0.0208, 0.7994, 0.6086, -0.3843, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3852 left_y=-0.2453 left_z=0.149 left_yaw=0.0008 left_pitch=-0.0263 left_roll=0.0045 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.9795, 8.8957, 1.5507, -0.4176, 0.1001, -0.0122, -0.1846, -1.4017, 7.2547, 1.8242, -0.0611, -0.0513, -0.0171]",
      "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]: [-0.8616, 1.7439, 0.7452, 0.1371, -0.6853, -0.5957, 0.9996, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3372 left_y=-0.2157 left_z=0.0417 left_yaw=-0.0011 left_pitch=-0.0686 left_roll=0.0446 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3778, 5.5863, 1.4383, -0.2222, -0.1636, -0.0122, -0.1709, -1.1556, 7.0496, 1.7265, -0.0611, -0.0562, -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]: [-0.8627, 1.747, 0.7448, 0.144, -0.688, -0.5987, 0.0107, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3376 left_y=-0.2163 left_z=0.0416 left_yaw=0.0011 left_pitch=-0.0647 left_roll=0.0408 left_gripper=0.0107 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.788, 5.2718, 1.2918, -0.3248, 0.0122, 0.7448, -0.0479, -1.1419, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e52979122a909439f69f3b3a83f2bfda7b3be46a6ae9ff4b3d44249698f9cef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c6b2549c5e476c07cc77517656dc689075b01ce953e4da45341fc91501a6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a739d9716fd1e2ec816cf350db2a1332f1192cb205de5cb00c69a2375eee4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5fvCBj-c9C8GCXwg96p49Kdi9UplFfUVqvyEf_q36SswriYUWNaeyAj0Gf6MKO8LX6yf-qZkx3Zj6E4tuzG2EAiq9rJ1p8v6sQpiaGMoa8ouYt5Z1NwiGm9wXeY4KAUNFPPc287s5KfsfZ0l6zjfcywPJTkFit1WV3M3wrYtvTKW3HYhTw_ptRh_6ub9Pm7sBI1h8gu7hd1q9mVUBzfS_i7ISFNQitRGxiQaaQvU7WgG9PA32tLaOQn4fmhRze2LOhfbwaV2uMZ6hCUqEq1UWn6fPoEfQ5BCrLrCJVRQqdOKQI3BTVNmNz17pzA2bUujXjeEkMByjrnWBeBnXjYi_SdBYLAOIyBhlv786wRCFCntQb6Xq76kjJnvatHh9H_FlfrK_hFMnG61RXDsa-_uycWi9zgDsOfn5fRcnG9qGtkTz_LyrmCDkOHrY8ZYKsaoEonOKq97tYmKfEH53DYzTwg6OE2hD2eTs2F_6gWuvtwGlljY8FcIkqZikFwUwSqwG_BD-IIQywRPMm-jux6NJQVKQ1sdN_eTbmEkN0avrWnR-hytYm57S5tybtvN239CkeOFklhPvLjxTgGePesjocpdWzeyHJrgAmkfnCqUmYkuEA1T_QxG9oCPljyP9GhMQ_GrOlZO4xJjCg7zx4y1NwLjeQb0xnN705UM9IiZVqoaF3Ozgj74mLQy5kT5Mqqtl5CNy9HZO4oF35wyUJblQLLvogEtzmgmkHjqsqbVZo2JT-4fCA1DntcQ1rZIq9Ew_bHMT-_oWr76j8EYI7MJFhoR4mYY0p-wL7NpUdMJMSHLY5ngkZbMakUN4xD59gY1lRTZDqohL_V6qnQfAkKCfrS7C7vlfeyep-v2DBRkSyI7EBDaqHpqUP-tvMFuhmtvHnkt6oG9mH0k-1KbnPkbij-cY7jZwtV2uRiDhzJt60O-t43SYD2Mq_ILj1v965Klkfqk3zS8nfUZnCDHfMoSh3JL05rCXmuuQEi6BIoiVSksKTt_dAiWnDEV0qEp6oZBdA86Y7MHfmg2yTsUA3Bjj_jTzXtSmyzAhe3EGs3zQuXjS-T4PLSe9KEhP_EmUCBOS63K7ENhagI9bTTHniUR8vZE_0HgVzB6rXZS4Hx0KGZvY6ohGB1IpVRX7IEfIMRGwd0jmqQzwD2A9w-SftDrBfpDM6EbvVYoD1orBq9J1DZuULSgnML5antXnfWmls7qXeyqVmUfNKZ_ik3Ziqr9mxOpb6IIdfSgvlaek7p2a5jdcMsj6h55gPOoV1ljw_cFkzduBTHiwHaKh-LcBfHAaWNPn3x8SmL6mRKYvEhR_sYYRV7FqSrrzPUwbPQDrWXYXKXci3QEWoSMtzAGCJldaafAvl9HIZ2Ts12Eren0c07IqCeI4-JqqVOlNPP9a_P7tcAow1MZrd3PMqKPO-IVokLdPOI-gZlC-cBStBOMh3PxdV9Omgro39eZDJPjCtc5TfZ_ehcTmVufMKjxq1WjufYb4YH5BjNwahK6qA7bnpEGcXp29CsIT2CXoEprvjC6-4AU05WhueTHQDZ0K6PHCDFw==",
  "id": "rs_03a754a8d6ded289016ab41e5d65ac87d08a456bbb1564cf47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.365,\"left_y\":-0.23,\"left_z\":0.02},\"note\":\"The left gripper closed almost completely, so it missed the white object. The wrist view still shows the white plush just ahead of the fingertips; I’ll reopen, advance about 3 cm, and go a little lower before retrying.\"}",
  "call_id": "call_6Dyd4UX6IYfKp4TrMxOinGbY",
  "id": "fc_03a754a8d6ded289016ab41e5e420087d094d93d0f5fc67b70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6Dyd4UX6IYfKp4TrMxOinGbY",
  "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]: [-0.8257, 1.8896, 0.8066, 0.2092, -0.6731, -0.5766, 0.9951, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.3577 left_y=-0.2201 left_z=0.0149 left_yaw=0.017 left_pitch=-0.0843 left_roll=0.063 left_gripper=0.9951 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.021 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.5282, 7.1863, 1.5702, -0.1832, 0.0855, -0.0366, -0.2667, -1.2923, 7.0359, 1.7558, -0.0415, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0161878e83a84fc983ee789b77054df2a03aa4cfa3f6bba76d599c07d1af63c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71486ce7e86609a9d880280c184915db2a0b44b68c48104d609cb133982387b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6798de8af40711d590efc165d2e50de81a5f4a41794ea792d90857eee5e8bafb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 9.467 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]: [-0.8009, 1.5303, 0.7685, -0.0372, -0.6476, -0.5468, 0.9995, -0.0208, 0.8032, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3402 left_y=-0.1927 left_z=0.099 left_yaw=0.0043 left_pitch=-0.0483 left_roll=0.0193 left_gripper=0.9995 right_x=0.2953 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -7.6376, 6.4615, 1.5653, -0.1929, 0.1099, -0.0171, -0.3214, -1.0735, 7.0359, 1.746, -0.0317, -0.0757, -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]: [-0.8627, 1.747, 0.7448, 0.144, -0.688, -0.5987, 0.0107, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3376 left_y=-0.2163 left_z=0.0416 left_yaw=0.0011 left_pitch=-0.0647 left_roll=0.0408 left_gripper=0.0107 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.788, 5.2718, 1.2918, -0.3248, 0.0122, 0.7448, -0.0479, -1.1419, 7.0632, 1.7607, -0.0562, -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]: [-0.8257, 1.8896, 0.8066, 0.2092, -0.6731, -0.5766, 0.9951, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.3577 left_y=-0.2201 left_z=0.0149 left_yaw=0.017 left_pitch=-0.0843 left_roll=0.063 left_gripper=0.9951 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.021 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.5282, 7.1863, 1.5702, -0.1832, 0.0855, -0.0366, -0.2667, -1.2923, 7.0359, 1.7558, -0.0415, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0161878e83a84fc983ee789b77054df2a03aa4cfa3f6bba76d599c07d1af63c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71486ce7e86609a9d880280c184915db2a0b44b68c48104d609cb133982387b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6798de8af40711d590efc165d2e50de81a5f4a41794ea792d90857eee5e8bafb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5kotlD7oLpra2X3AhC90MUNJgh5vgJFBbxX0xFipnwj4W4QaD58maur3FRj7sda5OkjLBLyZeesI1pgQ7xG6u7nFfmpkQvqJSwgFzkx6Ggm43RFvuoSfAv72_jBwZYLZ43D7m3g5RRyczZc9wYoS441h0rO3xmqruB6695Sk7d5hvCCUnGvQD4Iwqsxa-u-B-WSEaC6kp30LwjaZpDZPe7WOdNdRTIrAgg1dmhDtN15WHtkSZTWX1RmyQ9jWTA8nc_js_6F3VMzJZLDjhGRxx9ad5E2F7YMWGXwE8_zDsEMvJoKSRwiuByjFqs4zb3sN3pvoCyc3OHXAn5DiS6JNtj7QzkkjiAkcukj_XFITM3nsoCbEo7-wX3ZR1zECilFwnIOF13MKr35A19jQ5LlEgRFNsrN8W57-5Bjhoqzp5wuzrfOSj5B9aiUHpC6VyRS3QOurP1MgCQwTUND6lcOoSZS96N9Camb9UNdaDyZLE087pdkQSz_vvsFkuWX52IheNSBZHxgAKlAdWMcRKtzIp7lVIJWqekwO-DWNF7R9E8zUMwQ0lX3BDxwLRWxNb1ueU6HqxFLLEjMqS1tIt6oJMw4btOOm_1AUO8LeZ_6yMmXmrkJ9u4FNN_GZW8qLiCn53-2UJCj0P9TUxxhvoOQPLU0kT4fAFgbcZMnAwHDdjs0rPDgEXpN6JkQ4hJdzrgRiJQI2UKitFZm6M6nw9sWdsxyyBt83PJV2DgBU-9fi1NdCjDiDY0ZzTd1VR0fy-q3L6ffbH8kJxpsGot7NNEbM0MpVxtn2ybAmOBXsbpHnFlHsS8IajTjyAM9qzvxXqv5xgF5k7G8GcW-EeTge2BkG2rnvmO4jKODS5isGygWXDZ8M3Ob6w1U2q-kg6Mjzqi0nMEHORl5Sou70cv0SJ-o9Jm3jNGj6quatEcs9xese3dn3TW5VvYLuhM-9jR8lSTZf7yPMceux0t7pdXRdVEI0GMvuCZvWd2lRG0xpbfxae1E8vw50dr5yobOxcA4r95gOnqoJPpYDZlJuWgN4w2KnH9u-07UvvyzFbJmz9KTt-iXOJlg1NVa_I2emrhrvx2T4VldyP7pQ5Zk32oyD823BJASetabcPwJaUthp6keqL_s0S8pronBTXg2en67fLaTag36a_UnqebpyVFQy0pJhmgRz56DjJoL7OPEUV2zzJtxTmFWBTiprxUr6ue1Ow9d0i3KnbcCdXi-Zl9yyVj2RUCXvuLUM7woyYLKeD9RBEgw_F1ycHbs9Lr4Svngn0QK8E3p7K_zybtBDQMmV1TlQTvTdMYJKQOB5BziqcFtUHeUKh_dwLg3CuW5QNghAHdsyoLYyvVw7KjyOOqFKjvpfcKSW51rLhVJXjk9sQofemSBjdYf9V9CPp1xa3jlJLAiOL3PEo-iOKoOg3cbPeXvD0qnmB2RNhumvu7xvR0zgaGCZOETR59BevW_xyLKye98lhiH_wTN6KSJ-N-9Y6-TIklPu7IHrJ8tPgt-vAhvvxgVVZxGmNyXM6TDqsaHgSphwnrSPWZdtLAcLCrwUi-9Z1Bdb-kp1m9jh6LSXI2vrtM3Y__fhB1L-tfQN1S_on0d5BFMwtzBZPQot1U-PROWB7kTCxXuq9pm-L81s3PPbZdsUH2P3NWEsy4ZWwBgd8UoDJE",
  "id": "rs_03a754a8d6ded289016ab41e61f84087d0a0230be40fd8dedf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"I’ve moved the open jaws farther into the white object’s position at roughly 1.5 cm above the table. I’ll close once more and use the gripper opening to tell whether this attempt caught it.\"}",
  "call_id": "call_VkaYY0TdL2OsUFtCmlQZpdw8",
  "id": "fc_03a754a8d6ded289016ab41e62d95887d0b74edbadee313fb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VkaYY0TdL2OsUFtCmlQZpdw8",
  "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]: [-0.8242, 1.8946, 0.8078, 0.2134, -0.6731, -0.58, 0.0105, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2199 left_z=0.0139 left_yaw=0.0203 left_pitch=-0.0839 left_roll=0.06 left_gripper=0.0105 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.8274, 4.9299, 1.2674, -0.2759, -0.0024, 0.8474, -0.2256, -1.3197, 7.0359, 1.7363, -0.0317, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2de124f4d85f653f321611d216d27a9a9508c5b2e4943e98d6119f0b32cfa13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76d90d7e7453626f1345f14193ab889e9fc9f2cb7ccfc1c68677672158c07b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9816c427b666b9be05156623fc872c29108e2fd63314a62465b11ac42ac4df2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.086 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]: [-0.8616, 1.7439, 0.7452, 0.1371, -0.6853, -0.5957, 0.9996, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3372 left_y=-0.2157 left_z=0.0417 left_yaw=-0.0011 left_pitch=-0.0686 left_roll=0.0446 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3778, 5.5863, 1.4383, -0.2222, -0.1636, -0.0122, -0.1709, -1.1556, 7.0496, 1.7265, -0.0611, -0.0562, -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]: [-0.8257, 1.8896, 0.8066, 0.2092, -0.6731, -0.5766, 0.9951, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.3577 left_y=-0.2201 left_z=0.0149 left_yaw=0.017 left_pitch=-0.0843 left_roll=0.063 left_gripper=0.9951 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.021 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.5282, 7.1863, 1.5702, -0.1832, 0.0855, -0.0366, -0.2667, -1.2923, 7.0359, 1.7558, -0.0415, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8242, 1.8946, 0.8078, 0.2134, -0.6731, -0.58, 0.0105, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2199 left_z=0.0139 left_yaw=0.0203 left_pitch=-0.0839 left_roll=0.06 left_gripper=0.0105 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.8274, 4.9299, 1.2674, -0.2759, -0.0024, 0.8474, -0.2256, -1.3197, 7.0359, 1.7363, -0.0317, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2de124f4d85f653f321611d216d27a9a9508c5b2e4943e98d6119f0b32cfa13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76d90d7e7453626f1345f14193ab889e9fc9f2cb7ccfc1c68677672158c07b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9816c427b666b9be05156623fc872c29108e2fd63314a62465b11ac42ac4df2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03a754a8d6ded289016ab41e672c9887d09404e9db1f2e5f28",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5uo9K5nNam-s8FX9DoTGxFMPPxugweN8GtBBBhQPPspNgJHhNv5UWATiwWL0zEhyykV8qXUn4M81W7bXQfC01FtBVlWtQMoJ5BffBgKTtjbJd3WpzCDyHykxNUtsjuVzIbAtheaGGsMNTdW3Ycb0ScQutW0W7NBfrirpWjaHypAiU_uXR1NvGJnqeIWj1BGrH9RlY34nuBlY9ryR9W5_j0H1I6JBYOQbFQozrlSY2rNm1o-KJKraQLM1GTS__Zg5SwKkT96qIbti7UTUJGsdMxKlHq7vP7Yw7Vp3j0N0nnoYn5MWbl_sui0Bs9YEIvjVjoiqxCb7KmoRSMTSl7QNTQj7pDFc99jNls318aEhP3jWc2wJGhryCqMtDfyRmWTEsb9dRotudo8miO5RA3DuV9x9phE_9m85SyWV55y_Nn5RO5x7_aXVnClsyUo3etzJR3D2l2iB-zWi-lToKWXpoqk-mukCLIbi9CwneeOv28K5nBS38YsMpXo9PoPkm6qk0V3rMdP3KM02fcWsKlXoe93YghJcmNycCJLKc7hKk8LJS1lGX7xB_erTIi0AgQqNfNBDfR3lgg-HY-Q2_CrzNrZLhNsw3ulWFppGbdUkGulDhRAK0zQkuWqDA4D6kGckT6QFKQdfNonRY2sSMZb9TMybrxRE-SorBhZjen-GaK_udbnTMgmAeYGXwyj9USyCZ8R7K6L5qUenR2OsqTwiYDzr1jNPouJv7aodof2hfzmBcAGlGldInEIt63Ip5g6L0kg2YmNInSNlv90vO98SYx7EzqdUZEtWq15qmlijqq7ryt36rD3zZPJDRObuAlJUI7kCjTyEUkyY0dIHWVBjt5DDCjkahlXkOmhpOJZgt8VxAwcO0D3vBaFjAkHn_IGecoYPkxNtwIf8cw_Lw6ZzaKeSQ4Fdm3fb-N-P6cOa-qzzdhR8OWBa_LJkz3ZiFHrpargbk3O4AQG7CjV8_zJDlQMjNvt87nceuQA4AkdcHhJ1F4R_wlY9dVdGa1QVTfDmKuH03zKsw9RGHMl8HtyV6FBsJpT3mZYdaZngvh0c88O3h4UsDE268GatTv50BN_YyWJrGi_A8AIwIDbcMeAk5Lxzr_Gt65Yz9vb04ao1UYOZrlvhPrhaaN1rzf1fOQTlZRJHL2yUQu84WdV_2irn4fXFneG0D3HCfe7ljeLJkxosb77EOD6GFm2ZFPUFsq2RRkB3v6rf6Y6iHSed-IqbfkJH_r8YUuovY7G-r_Zuttbxk_Qq5M5vi3yAEgNHSHZW9KxfV3pueplTDKI1zHePKRrt0N7RvXUB1V_o2PYIIfQOAR_EsmlbS2Dw-16_vm5IDTVgYy_WTDuqkDvXUopQ-Dq9kf6n-rlC0yJOFXIogaCkLnBuDSAXEeYI4h7xr-zJo5",
  "id": "rs_03a754a8d6ded289016ab41e6be9cc87d0a2745519ac4e5c0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.42,\"left_y\":-0.055,\"left_z\":0.14},\"note\":\"The second close was also empty, and the wrist view shows the white toy off to the side rather than between the jaws. I’ll stop retrying that crowded spot and move the left arm above the more isolated white toy on the left.\"}",
  "call_id": "call_6ccEbDAottI2S6aU8hidNyO1",
  "id": "fc_03a754a8d6ded289016ab41e6c77ac87d0aabd708390f950bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6ccEbDAottI2S6aU8hidNyO1",
  "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]: [-0.2379, 1.5013, 0.8528, -0.0902, -0.2607, -0.1562, 0.9988, -0.0208, 0.8051, 0.6083, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4113 left_y=-0.0492 left_z=0.1132 left_yaw=0.052 left_pitch=-0.1502 left_roll=0.0681 left_gripper=0.9988 right_x=0.2953 right_y=-0.0006 right_z=0.1778 right_yaw=-0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.7726, 9.265, 1.663, -0.0073, 0.2125, -0.1392, -0.0068, -1.3607, 7.0496, 1.746, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b3a9e38f42eed354b69496ac6af5006ad9faa1b4284679546b82ec65a64e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8510be9c54e7be5810dfd5f21cc6c8d89edec858f7d4ebf75653e0827ae2acc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72459ebcbf3e6417a61ca0433fe83babafbac2668be00235eb4572a425c4897c",
      "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 · 3.136 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 31 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]: [-0.8627, 1.747, 0.7448, 0.144, -0.688, -0.5987, 0.0107, -0.0208, 0.8043, 0.6086, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3376 left_y=-0.2163 left_z=0.0416 left_yaw=0.0011 left_pitch=-0.0647 left_roll=0.0408 left_gripper=0.0107 right_x=0.2953 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.788, 5.2718, 1.2918, -0.3248, 0.0122, 0.7448, -0.0479, -1.1419, 7.0632, 1.7607, -0.0562, -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]: [-0.8242, 1.8946, 0.8078, 0.2134, -0.6731, -0.58, 0.0105, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2199 left_z=0.0139 left_yaw=0.0203 left_pitch=-0.0839 left_roll=0.06 left_gripper=0.0105 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.8274, 4.9299, 1.2674, -0.2759, -0.0024, 0.8474, -0.2256, -1.3197, 7.0359, 1.7363, -0.0317, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2379, 1.5013, 0.8528, -0.0902, -0.2607, -0.1562, 0.9988, -0.0208, 0.8051, 0.6083, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4113 left_y=-0.0492 left_z=0.1132 left_yaw=0.052 left_pitch=-0.1502 left_roll=0.0681 left_gripper=0.9988 right_x=0.2953 right_y=-0.0006 right_z=0.1778 right_yaw=-0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.7726, 9.265, 1.663, -0.0073, 0.2125, -0.1392, -0.0068, -1.3607, 7.0496, 1.746, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b3a9e38f42eed354b69496ac6af5006ad9faa1b4284679546b82ec65a64e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8510be9c54e7be5810dfd5f21cc6c8d89edec858f7d4ebf75653e0827ae2acc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72459ebcbf3e6417a61ca0433fe83babafbac2668be00235eb4572a425c4897c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB55eSWvC0PANYioMr5Jk17tF05HUAue1roX51UH86irfiy3Cjv_kLNRPn1O93VUxv5BxPnSYUOoJqdjzhJhMgJkyO-ownUnVVB1DPMnIeBs-YH34JUkwTIvo-KVwTlfPm7SVuHh9MPS-I1DybT1twZfs2glFsoom0JNdvkElx2WvRf7Yk0798Ub1mi-ugg3vuJfnsaCtHmwF0UOzDYUryFVzntun8c4tFt-ZJmBAChxCSWMulsy_vc7XSgmHQG-ibpjECncnLuqWRglISblQYFepfzdthQ-aaCRMNRedgwUAVNZRQtGhBE2smqf1Door_TmM6ZtMD5lb1wqN9OaZIpvvIob4oG0JG3L9xyvE2Zr-df5ml2HjFJXO1N3ghuguAvkGOpjSQz4SOuK_opMXrsUF8badsfQ1KiBRD9oICWAMW2CJinOMKx7WsbhmstxD_arMhZgJKkoWF24BOSYk5jUEaI-NqEH2o4NGl2hSgDGGhHaj5txunDGMjXvK-md-5JDmJwcuQkgQrXnM-hMyDsocS-bot1Gvu-sDD7bxAjnc_t4r6L3LcRYcseYcqNTtM1j1VLchcPoyvmjbgkJE5CFuHowSforiGiLE2_90LdG_HQx-8kc9hyJJmTMuYicIqciKovSz1hz4psRhkKZ_D39S6CZH6uiNQ5-eJP_xbwFKu99qbKmMwvRw3Tbn4xLICQRXuko-ozZ_B6TONCyKJ4-pdR7khEmgsczq2kxyNSP1o6doURV0nErEwjJ2KC8L4kMCErVGrg633uWjuBMdvQXtRet9otkRPG4wsgZDqT6HX_EctAXRBAJCXmkV5H-_YLgxF1gszTuC_NqkFkbHjQYMQKOM48PvGMu_WBgxPb_zoUhJqVLeLPIkPJQKD8J6G6HOLx4ZznSh-VnHoN79KqyfzZb8Aek1DCDxsOtPkP_CTYgJLxC1IvZOqGgzSrQ3sQbcKFnkRId-jS6_FAfaygvSMkuOJmfMA9ubv2XzE91XaRzu9aEBvMgAoyZiehQWn9PY9TqOd77bq_VFhnp5IeUPguvfBTmBt43S2iLGdRSAgl7E0XrUoGSSa88NKoK2VI2D5ET_IiwWVtI_XxRZ5Sqx6HT3eRcjryorzxHuJL134XzCnTIbZVu-BtL0cHzGon8rKeZCovLxeXZl8Uxr2Tc7K_LfhL6NZVbOg_e_Xk4nIAxmrQyKqWFKMhBz8II-8IGpl7jjSfgIOYkz-Wtsr_-d5WkuRH9p9lxtS2R-_g2ifynDODDr_QNH90sv-PvL-i00vZAzTfwRiXQCGt8pNbzakQMsusQ21bScbANA7_3cw_xGRDoa08WnGIDjR8GJERwvDMpLnDoGwRKLck2dWv4yUAWiiWdSIJ2Rpcg90cqnCT32cbM5oU7D9fLe9xdUc8WuKi431yHdTtqlt6IuyaRrlNB_KRE8Sm9hff3pCg_jDlRzPBx9-98tlubAICbFLcvrGY7VBPafsKvZt2f40JVMIYF0vXiak8LxFKScMMOSEdUlbSHVJsEBvLSFkW64_PPXR4MQ_PrqZuXE3s9g7hQ6w-ykyrnHdWehn-UE4xHdaeN-2c9s5DSkhrWnHpbEw8puqdTO_k5VL_pePs40hbGf36a1gOmBIEIaXi287x6TbMQhjvo1qHeum4OKDRV-wKhwpVc9l999VCFwkzR9rNpBDmLRepWmxeo4LLe5UNAkPtVXq4xPEsEjV_H0U-fCYssJL9aSfPBw57bZ8tnh7J2fEeMLolVZiuuqPsY5gbBFhLhSyA2UASLWpNH4-KNxKmJY7jEAHioVbw9mBGiCsOiucSdqtNFPEpBXg9NzbK4iuX8DYmGDHk9nJ7trWh1MZ-_NtFcYzNKM1gY2FgGQmzfkiLyM1cHPlTjcpN5qM4RQzNpN05H-uuUSMy-sLiphwotajst-ciuKfdp74u4k9HDcEL5dGBUtKSVlkzFVEKG3awkcAXXCmupmu1HS8CaUNAAu0oyF6Hsab0qbNqcAgw0h6ltfFWFlvG3jk8SSRzWBdvanuJNETg-8PXXEYz4UlWszUQV8ygJtkuN0JAqcHxpIzCOBiphPy8ZPVyL_nlz8X8sASZHzVQCS2xTQ5iUKtQMr6r686EnVr7UtBxmsFijJGRLrpSxm7ERiTSU7cq6l6vUadmxLb9XGTyRwKeKNWdCYyj4BKaRkXie8mx6jMPNri1ZkSFPybeIvNDxbnY3IE6HtUtbqNp-uATawHqTaDwyLRn_UTROSj6Dus6rHGjc-Zcro-5FbX-EgoOZHePaJPDDooxNkjcknH8yJ5zFKqj7Dxon6c-L6izto3T_QyjFXpR7zkts2IRF69ZuQhddFL1RnlpiXo-6Ge3ptAmLP-fjXmMFdUO2GbyTy9pB-H-_wsJOx56BmNpU-xQBG69CJ5CnWUWGRyp6zBNASGXBKHhSGIECZuGueB5vvVOQHWb2iIjGXV-cu82gammY2pg_xA1_KrvgxL3fveNvh3a9VsEqx1U8ytmEEFdbYqha8a5D47bYRfabqaqjkP1xiLrzxP2LvCcVQeYmRgH0sYNy5y-BTVEnJ3YKuzDhZxHm9dRoF1EolJOnUSvRhos1oHKJsPPGRTikb2VQY9_fDMSLra8ebk7cuclkcb6FabXUkw4f97LLpurOpcUtMatX3DFifELWDao5wz7px6Aj1w8nATxOI8inecrCNxtXDNqzCsrDmZbmP0F0Nmw6h1fHrxIEbcOznRbVVDgDAz952O77Kh2oYWBb4gzxlwitRaF0rKsGRiRkbepzcXHKNLjqh3sZLvrEQIl_k03t1luE7lu3p8FATnUNKQ_6RwwE9_fsfQc01uqims4nUWU-D6eVcj5WaNKtaY-yJ_3OMUA45dOlRzBz",
  "id": "rs_03a754a8d6ded289016ab41e75d42087d09f80dc2f82f1f4af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.03,\"left_z\":0.036},\"note\":\"The isolated white toy is now visible between the open left jaws, slightly to their left in the wrist view. I’ll make a small lateral correction and descend beside its body before closing.\"}",
  "call_id": "call_onw0yoVCOxAkJrbtK4pBUehF",
  "id": "fc_03a754a8d6ded289016ab41e7923d887d0a68f1df16fc2faf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_onw0yoVCOxAkJrbtK4pBUehF",
  "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]: [-0.1776, 1.6581, 0.6762, 0.2611, -0.2314, -0.1184, 0.9983, -0.0208, 0.8055, 0.6083, -0.3851, -0.0101, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4122 left_y=-0.0292 left_z=0.045 left_yaw=0.0667 left_pitch=-0.1397 left_roll=0.0733 left_gripper=0.9983 right_x=0.2954 right_y=-0.0008 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0225 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -5.7778, 4.7111, 1.4823, 0.0415, 0.0269, -0.0562, -0.335, -0.7863, 7.0496, 1.7705, -0.0122, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db78182654db7f458bcab14b85c2ec6e5eeedf1b507b8e5b2610a9cba5a4ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b43246c90c9245750c283871f8bec3577dbd6f4c5d13372f8c5c544b5f228ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7581832f07ad818b9709dd501962d8a4ad98cfc49140af94d76635237bd7e96b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.759 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 31 changed as sent

message 35 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]: [-0.8257, 1.8896, 0.8066, 0.2092, -0.6731, -0.5766, 0.9951, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0154, 0.9998]\nstate[eef_state]: left_x=0.3577 left_y=-0.2201 left_z=0.0149 left_yaw=0.017 left_pitch=-0.0843 left_roll=0.063 left_gripper=0.9951 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.021 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.5282, 7.1863, 1.5702, -0.1832, 0.0855, -0.0366, -0.2667, -1.2923, 7.0359, 1.7558, -0.0415, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2379, 1.5013, 0.8528, -0.0902, -0.2607, -0.1562, 0.9988, -0.0208, 0.8051, 0.6083, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4113 left_y=-0.0492 left_z=0.1132 left_yaw=0.052 left_pitch=-0.1502 left_roll=0.0681 left_gripper=0.9988 right_x=0.2953 right_y=-0.0006 right_z=0.1778 right_yaw=-0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.7726, 9.265, 1.663, -0.0073, 0.2125, -0.1392, -0.0068, -1.3607, 7.0496, 1.746, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1776, 1.6581, 0.6762, 0.2611, -0.2314, -0.1184, 0.9983, -0.0208, 0.8055, 0.6083, -0.3851, -0.0101, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4122 left_y=-0.0292 left_z=0.045 left_yaw=0.0667 left_pitch=-0.1397 left_roll=0.0733 left_gripper=0.9983 right_x=0.2954 right_y=-0.0008 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0225 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -5.7778, 4.7111, 1.4823, 0.0415, 0.0269, -0.0562, -0.335, -0.7863, 7.0496, 1.7705, -0.0122, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db78182654db7f458bcab14b85c2ec6e5eeedf1b507b8e5b2610a9cba5a4ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b43246c90c9245750c283871f8bec3577dbd6f4c5d13372f8c5c544b5f228ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7581832f07ad818b9709dd501962d8a4ad98cfc49140af94d76635237bd7e96b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5-5KCQ-Y9mP8yyhprmrTsCj1j4Qs4DYverUl-hi96zqhbN_Ka5ubwJnYVM-2eJDXj95emD7xbTRUz46bpN234eQ1EbMUFjDAFLBAKlNlIZpfZKDNXjaGoKPpEOoVAxQLkQijs5g7yo3AT76faUMOYccJ4IDzSYjvBEUKFNW5OXT6BNA3IvfhXqygdRBKabTRd0ivZ9lGPzJOKwTQgvHl3OQ_vBSRodI7dwMcAkBjXpRYaxGsQua2PIy8xLA7pk2PlsRfeDXWRtqkUCXnuhLAEWroBZfZYYMkOYz9LhjW_bTPcAr5ycTsZC8FhekZzWsrlJimDrIZI8lFO5reJJF4XNt7jjlpIhU6EHHyyPzrEekuOvU8GDul0PlNMnGchDfjRBqAPK68BBmu3nLPVc9cRchPKz5A_BWkSnmbO1uFTxesfwh-nNeCCgBsLKHrIhu5n1GeYzdOSruR6X800o9rrrXBpbgSG-D6VubFhEqPFdK8lcGnV39qRKEa4P0aByHlpPCHb0vSYkPExIUOPKvCgnt0D3oakzskUyGBk9ASOyFnfaloQKb9rDYnAwWyRqVnd8L_S6JY88Wg9mREc-Q1YdEShsI-TBMS4Oi_9ReghQe9GbkcRX_bXjoqcVqM3YxPLmfGj9tKGEhaFdKFGWbnhAZ1VHRqfESXSm-p8e51b0iQBfmiyp6V51vsayPzeMETdoPwwOZnm6vSRKinrSWvbP_xTvh4lGI8twnFEwqYcP17tM6r9efGOxiRbmtAlyosjPeOb88Ydf-2f25L-QmJFUwO0estCTqiWtjS4UHtVM-Ac2iHp1022gJBcvwYYuKG95B2cCgVW2cUjYvjxbrYZOUMnqR0bTlZ5JaipdWwBzqOrk-1meeC9YAjXdfNRBwsfejhtHJVqjMLPuw9cim9Xe27-h9URguxBnv8QkdSPPNMe3DBI2uLsR_ZViohSgVbPdP5UCJ2nK12dcQ7fVRzITs3cZko55F0Ww6zF5TGnnW_zsVuuMc1c9ffi-_t9Gp27tQweQR4G0PdXn7gI5eLTBq7SxmcnaYIALIPipMcUfWsh1YpC2JR2HzOlLP8a4o1hAQFVYnMgYK7r_Bh9AVpnRq3vimT8B0gMDnertVPv4v6I5r-aXWBmmhWB76M724J7H0ZWhFwlG1wKfBDG66elFjUe9nytkz6LhIYs73_AufVo_KHKCY9bstUAyv0OnsPSRlukoxeqPxxWIYBmMnlPsMXetDrav_0IQlXnIzXZeYo8PkUBOie2uiR0WpSJZv8gO_J4PYtjT4IowrrfMk0zGWWDemxLpDP_FfZCjnaUCkzxqn2YGI2NB31sHK8Nh1mcvxhncqvNn2gyl1jB_FI6GdWRIZ20-VwAYdZsm1LoGtxDAIO34xKSmjtepE82iBUb6iHr5vvp58X2yFnKuPmpiYCnrQhG5g0MJTxzm9GtYj2vYKr8AOSXa-Q2d1dLhkI3eOUgh7DYZdauSBDDtQeqzq7IXlBWAfbw7eMDKqI09NMw5653atrlERq-ZZ0DBohjetpStcO8J9HfVZD--NRps-T1X3lxV2RNPLvXqUbnGVqoaFsYy9TjLgkq6lDrgoZpEdyGLylzKIWzNT2GacOe6HM606Dt3BX_ruC2zgi9jnaj7gvxaqiVebuGzHX3SMIab",
  "id": "rs_03a754a8d6ded289016ab41e7c3a1c87d0b8e4d2f0d6d5713a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy is low between the left fingertips and appears within their span. I’ll close now and check the settled opening rather than assume the toy is held.\"}",
  "call_id": "call_GwIH1eItNxExvnrLYZbGDddW",
  "id": "fc_03a754a8d6ded289016ab41e7d44dc87d083f55205e491d937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GwIH1eItNxExvnrLYZbGDddW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.663, 0.6712, 0.3092, -0.2276, -0.1139, 0.0331, -0.0208, 0.8062, 0.6083, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.0291 left_z=0.05 left_yaw=0.0641 left_pitch=-0.1034 left_roll=0.0653 left_gripper=0.0331 right_x=0.2954 right_y=-0.0006 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 4.6291, 1.4872, 0.0317, 0.0366, 0.7106, -0.0479, -1.3744, 7.2137, 1.7118, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7493285c7bcf6d881198c83150c8a4979e284d8d716cb1075bfdfed0c8cba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9234cc4a66bc78fc50d01c01e942a0a9b57aabe7ac4b56b637c0cfc7da7a0f85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92cd3ebe7fad3a7b9552baa745f09992424abd60b8e18a931304d3538c5c0e7b",
      "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 10 attempt 0 · /responses · status 200 · 3.314 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 35 changed as sent

message 39 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]: [-0.8242, 1.8946, 0.8078, 0.2134, -0.6731, -0.58, 0.0105, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2199 left_z=0.0139 left_yaw=0.0203 left_pitch=-0.0839 left_roll=0.06 left_gripper=0.0105 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.8274, 4.9299, 1.2674, -0.2759, -0.0024, 0.8474, -0.2256, -1.3197, 7.0359, 1.7363, -0.0317, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1776, 1.6581, 0.6762, 0.2611, -0.2314, -0.1184, 0.9983, -0.0208, 0.8055, 0.6083, -0.3851, -0.0101, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4122 left_y=-0.0292 left_z=0.045 left_yaw=0.0667 left_pitch=-0.1397 left_roll=0.0733 left_gripper=0.9983 right_x=0.2954 right_y=-0.0008 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0225 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -5.7778, 4.7111, 1.4823, 0.0415, 0.0269, -0.0562, -0.335, -0.7863, 7.0496, 1.7705, -0.0122, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.663, 0.6712, 0.3092, -0.2276, -0.1139, 0.0331, -0.0208, 0.8062, 0.6083, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.0291 left_z=0.05 left_yaw=0.0641 left_pitch=-0.1034 left_roll=0.0653 left_gripper=0.0331 right_x=0.2954 right_y=-0.0006 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 4.6291, 1.4872, 0.0317, 0.0366, 0.7106, -0.0479, -1.3744, 7.2137, 1.7118, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7493285c7bcf6d881198c83150c8a4979e284d8d716cb1075bfdfed0c8cba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9234cc4a66bc78fc50d01c01e942a0a9b57aabe7ac4b56b637c0cfc7da7a0f85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92cd3ebe7fad3a7b9552baa745f09992424abd60b8e18a931304d3538c5c0e7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6CACg6i2OKtYh9sItXyuiesmrmNM23hRhfwwhYms4gDcMDhKio4jvsCeBuRvs2ti_oQZ5itW_CYE9SJeUIVmlBHyUh5w8Q6ppMmOqRevHQJyeXEMxyMM3ihmJMlsNv0IqRcKpqSCiteJtNBSq7YidaDPps-AfEglL7aaT3ZT86PHZVJuBPcZKBrvp0J84ikIwLm2bsavHBZoswJ7AA-nCfD-habcjbwXRno60Ek4DLZm0hmaLs-yiKMb8s3R5kctOkAb9QvaZQqWFtQAVVHGJjKCkLBid5WXu8wior9U89uJJCE8IGxvgm63J1I0J9gg4SxqD5UhaTdZ3d0HO8ofGyh5z8c1JlKy4dDQkVRXgYsH9tS0KdCr1sOe1DWRfmCtsIR-TaouTSW3nPGcDyryLWNmnFST2DnBAV0fwXx_npxoc_OeKzQENk5xZJkXG-pSYjTbquJIL6kaoNGzr7XtdK5KpsGByi1Slq2boCbjgMAHFYlgVz_czecyeF-8EIPu9El0BY38-Qsy198U4DlY_6w_3UeGOBh4fZwuHI1Afs9vZsoBu56Rq2obcgW8Lrz_G66hlmJhcPMufe42AQ7b99Xx-83OG4YYNKluEZo71uqp6ro7X2DKZvRFQbXgxsL7SFOGjbDMFI4thUHgzuEGlSbaiIKNXMhV0WqylmHlmz6UfdDgb7-e-GYlVOXPDSXHkY1MeGm3q5QYNqsgS52wAuEyw0Hv6XZUJzF-U4ZTkfVoX07rzbxldRoKViHGYOpU8zKEeo1FlDZJnKU8h_Icxk1dXKDf8TfgLsWK7qMvdJo1_5h5R_y29iTpSC3voqjSoJju3ZTbcWDJ5yE49V4okJZG-D2lDXjBl2MC4_e2Mcs01J4lMm5ra3uL_wXrXDb2-D-14YCkQ0rsdJRJDIFMpIe9FqhouZHY1VYF8QqkYfBXN__mvVXkY6UJGDlMUVDhy-DbleUlUl1kYYYuEx6oKb1uz823fE9p_aWzh1WzYkpXFv33KoR3mxg5sIKwPRjZIRJXaQS1nU3gBZMExz3IrB4VhiLxQWMFTCg3xVfAZw4NH-UwquTW_feRfk9s6gnuCNl1Mxqu-IfboBzulWbG1kGCgacGQSKKpeZbApg6quCdHzByyAbswirV5isbfKdVdZQ_IFrM-rskgbIZ1vrowlEwRgfSWKXc6gBIPF4LGr5I9KA8IfG8TpvGsxSYwZHrD2atZq7iPe7nTsM1CvytDRyPV8ZRnIrfEccQSpwpuOEGGQybPYsocKPYKGwwMKDa6WFYAP9QKvXkImpu45oYjWEviuiBzqgvyBPJAZB9h2iAm92s45o8ibefQ8P_RFe6pTNDLWBNM9A42Geuy993MjT3BaOVURZIJruOmwX7QV5S_ZncleUjfZ3uVVycaeRGsGiuxpospzzqejH-k4NoYl0992b4rsOZnWD4d9rkgYFyxZ-eMwbQD-NoOYEcJEX4xV7397Bbq041uSD_I_d4bqGVraLNGj-Gu2NULL74NxeDRbcA1R022GV1P7RZH4EomM53-8S1prxaRxNybTGvHu1e4HzvY4U7n2eNX4qJ1gUuH22i15SrdbXH28Jm5-0Hq_6BIv0dCQxOnPokMyQ0wvGyQ2bolahaI2hY4H-YUz9mrN5sKO_eCmJ2WmgBL2Ba7T3OrWLpp4OivwkIeaTy4WNkm6-QvK9H0w8w-Q2ef5g7ZJcARIlXw6CFFmWCtVHrXQy3fUN-DieU4X0CXPCk6MTMsMbEKy9v1L41bzusxjtMFf50juFCHeV4_cz90yPkgOREDFi97RvC-9VN2eNm42RCEIwQL2cxiZdh1nog4l8TowLGeJ2l6YOiK-FDMayvhhhi3HQmEC0SW9nxbbI6zYDXnLEkjiokI2GnnrTe93wwdoDzVl9GxU1uIVNMJ6krGR2_oaVyyz8blD-Vq_VdWq0pKK5MkZG5S9cGh4dG8SXMxKbq9Ooop7CSlaDGoikrOs3cTnWXpJPlDfftpRqzuUjJaNc4imBoy3D8Nv4rG0ndzQ6XqLf5uwl3SPa59a_U8-fvIdPmMfrcr4qpSkoz1bPtvuZ-R-_TyjVVJW7B5-oYqIOsNbmHGD0oTkRDHVjf1VLCLJQ1Y8zJpAA6t1cyIjRxyxjhzL7P_uiEtypKM7DTz1TuRml_6HUEGQ9PNlWGMxpJsLbfCUcjpZB1ccUKTRNHbwcMEQpcwBWwuycG4iCGezJTykLZDPDTh4rpvhux8V-pzfRo3yg5T4mOtR0uFUCCzbQzjn1R9WU-cnZRf8xXI6gzR5ONI3_Or12X6e5Xy0TLvRnxQXh-2nMjwRK86em-WzFzu3lOerS0vNyu_HUDg=",
  "id": "rs_03a754a8d6ded289016ab41e7fffdc87d0ae5d612cf307ce64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The left gripper stopped at a very small opening, which could be fur or an empty close. I’ll lift a few centimetres and see whether the white toy comes up with it before attempting a basket placement.\"}",
  "call_id": "call_fDAyfyv0nfArUSgwutXyl1cT",
  "id": "fc_03a754a8d6ded289016ab41e81fd6487d08d84ffff44d10bd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fDAyfyv0nfArUSgwutXyl1cT",
  "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]: [-0.1734, 1.5013, 0.8249, -0.0841, -0.2276, -0.1268, 0.0364, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4072 left_y=-0.0272 left_z=0.102 left_yaw=0.0737 left_pitch=-0.1784 left_roll=0.0741 left_gripper=0.0364 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0004 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8957, 9.0598, 1.707, -0.1294, 0.0659, 0.6618, -0.0205, -1.4564, 7.0496, 1.7411, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3836981307f53543d4f02b5df3d0df789a499e1bae3d1f1bf37dac8fe02938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d54ade8fdcb4238d48bbb0c97843a98fccc495f9a9b282585e9614df6f29ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8944ccc30e0975202f26ce82bffcc9dfb996786cfdd079b022cd4c4a573b8be",
      "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 · 2.084 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2379, 1.5013, 0.8528, -0.0902, -0.2607, -0.1562, 0.9988, -0.0208, 0.8051, 0.6083, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4113 left_y=-0.0492 left_z=0.1132 left_yaw=0.052 left_pitch=-0.1502 left_roll=0.0681 left_gripper=0.9988 right_x=0.2953 right_y=-0.0006 right_z=0.1778 right_yaw=-0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.7726, 9.265, 1.663, -0.0073, 0.2125, -0.1392, -0.0068, -1.3607, 7.0496, 1.746, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.663, 0.6712, 0.3092, -0.2276, -0.1139, 0.0331, -0.0208, 0.8062, 0.6083, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.0291 left_z=0.05 left_yaw=0.0641 left_pitch=-0.1034 left_roll=0.0653 left_gripper=0.0331 right_x=0.2954 right_y=-0.0006 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 4.6291, 1.4872, 0.0317, 0.0366, 0.7106, -0.0479, -1.3744, 7.2137, 1.7118, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.5013, 0.8249, -0.0841, -0.2276, -0.1268, 0.0364, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4072 left_y=-0.0272 left_z=0.102 left_yaw=0.0737 left_pitch=-0.1784 left_roll=0.0741 left_gripper=0.0364 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0004 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8957, 9.0598, 1.707, -0.1294, 0.0659, 0.6618, -0.0205, -1.4564, 7.0496, 1.7411, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3836981307f53543d4f02b5df3d0df789a499e1bae3d1f1bf37dac8fe02938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d54ade8fdcb4238d48bbb0c97843a98fccc495f9a9b282585e9614df6f29ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8944ccc30e0975202f26ce82bffcc9dfb996786cfdd079b022cd4c4a573b8be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6IIOZCzMfod9YmqjxbXdMXyI9KZcMzZKl7PdnEp3vuNFz7z77wl5L9PzzAOqcYvQOdx5iJ9IPkKAZeGW9gnkgLadbL1K7V88EJ7ll0GcNdorSugpF93zvMRIhXtF4it-UkB5nWGSwJObieB2qO8gEqF8iRXwKqVVhyDa96oOKN7taNEG1EeJHdLCLwBz-_Qn8LOVMV6OqPJidUd769su4R4qR77yDJTQGlfqG2V16NPeaIjGMo96gmhN5UbZSpqbjDBFkmEW9E0hcKjLULjIAM131R92K-CXYHBg6odObtlkCcPJhi0afWfayUa1D5McLMz3Cx__BnLpdpmWtlAJloeXDva3whXFY9xqB3kYQ7TYWMGNT1hpe9XGFeSswphyum6AiFkCMZRy0FekJSuCDQb5KQFJ0rKFVTGeQ8OXRQ3EqWcTmWRqyfIio1Vbgp9OsKqAkhUzr3RP30-QaxGhLLL47vnJ93HiLrk2agkHTCY0wC1hdmQ4VVOk436lUvLRG6Gmjog1f7EVq1niXXL2XD5Vd7LntSJ-iFce6LIL9djCgRI6kUT4WinWznxOQuDrH0toOzHIlKG6J4KCh5yNyBi6Tz3hOwoejMPNPBRfWtTaMv1_CUtM3dXB-1cUqPnMdAeerL2IsO1v3GEus9kiHjZCsh2rAjZbJ0Ebxx-wyLInnOXkK0z2Chll1DAzfnjv3OiEslH9x0YA0HrmqFvs1QIBsJBpxL6mg1gZ0uDhMx3S003v16G3Wb_w1lbcsRFtPcHD77poivhCgNmfbKE9x2rYw710NhbatdjW7c6OGI5mJWpk4yVAo4F39ouRBnNY1iF0YNwLRMRImi1FDnhy95vsrvpAwYsinskUuADuUfNq0h8Btkdbw7sbpM8KGtJZDt6QgzXTattUyR7me-oWIK4u-GZA3NEOLCWxyqKWinCovk8A-Tozdy1zAK8IDE7eOPxwf-H80I_4Oge6W40fER3JLYa1m4nLynvY0kSxmc4I6-VAgOzgdWe94RD2SwLEVmPEn-_7O1GXcRq4Nezdz0lBkLOM_uBTRlEQO4KH_NAH0QeDwVuqFB318Rhkszw0UeaNxxZ4pWpqTzfztkt1ZzFsWEgwpITA4dhbXhkjd2mNDc7NT07qWP1h8vKOz7hxLB1gKPRKGs0BlFQpCXisTy2N-vSyV1LOvwllyJ3RYNfL_HFQuFl3d0P_FUh43wIqaeL6jAxyvv2J2um1EorMTwpNIPI8mQpl56GSN1L-m-epeMwovci9TDsMkQjPwm1Ef3kAxf8LXbiZ0qZ0iEVBvyUJ5No73WIxo89iR0sVm9lL4ihfXj62UKjC9TctXNhLfTzZNGxadG0fRpd4rwj8a5kYmWiT3Tbv_Gyh_u46WYgVZDe5Tuor6if37n9eeDiAG3P4HvHp0BNtjYv0TUohZhwyrrUpZZOkzTDxN58tuXBM_-ebgY37XwJV1tFlyJ_PCESps3vJrI452FTG4gl72sofS2v6ZYa4OIjpULC5oPUbp7V_YIa2iJGljnCCR7kj5_OuwYSLccMv9fhqAWn2UtyCenCStvet8m6dlEGMyvHCqfjEEQkMwZjGVFQgoA_KNhDvkGUAv5eGPQ6U3D6pwI04vZ3lT9MCD4HXYvlcRwlLOWsk5aQA32l16af2YY3KhfSEfCg3FUw8P7NdhPwIPn832s4I_M-Uo9Jny5euImTCCjbicxGJhAxl5_fyDmg8y1IRdtSAbcsWPqfIppPkIe55uP8_CE4FSsVOWmzRY-X9jwFznFHSePDZ-X1NJEe9nEc1KJAf4mT0ZBAkWjHhEBl1njrUtVqCrg9R1D2Op_owSXBrpmhf9sE0RqGt4x1We88zASpcCOzweGq8P0YoyCjWqgcIrfvdlj-J5vuC12efGXwU4BYZKIlsnvTEmFNGTrS5ud0WAtvD1ng6TYSs8x1r3Sgo1Wd2Qzjs3EkgMqLTUkQBHNf4hg8y8wUqO2mfzJ7kYXRTq7fFQun2OTi3aIGvR6gNBPZD6UoRy1I0LiREmbQpE-42BNRMtTZMGV96_t",
  "id": "rs_03a754a8d6ded289016ab41e86a4fc87d09d9e4dfb4dd3595f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.36,\"left_y\":-0.02,\"left_z\":0.035},\"note\":\"The white toy stayed on the table when I lifted, so the last close only brushed it. From above, the toy is closer to the robot than the gripper’s grasp point; I’ll reopen and bring the jaws back over its body.\"}",
  "call_id": "call_jKtNasQPYeV8VDEtQJglksFv",
  "id": "fc_03a754a8d6ded289016ab41e87fe5887d0b4f84ce6d8f62a1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jKtNasQPYeV8VDEtQJglksFv",
  "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]: [-0.1764, 1.4967, 0.5201, 0.2276, -0.2317, -0.1234, 0.9954, -0.0208, 0.8101, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0205 left_z=0.0412 left_yaw=0.0719 left_pitch=-0.1668 left_roll=0.0767 left_gripper=0.9954 right_x=0.2957 right_y=-0.0007 right_z=0.1764 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.9556, 4.7795, 1.2234, -0.1197, -0.105, 0.0611, -0.0479, -1.1692, 7.0359, 1.7363, -0.022, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166e5e23284d9b35355c409d851434c48a8d3ff700ed21bc3fe5c5a62ae0518c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4324fb0a4d143f708acbace4ed34a5d3cc2b81e54e31d9c4ee1c929978095bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e7741b443c955e01306b778b10703069718752c767582f4fd31e86e35d550c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.357 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1776, 1.6581, 0.6762, 0.2611, -0.2314, -0.1184, 0.9983, -0.0208, 0.8055, 0.6083, -0.3851, -0.0101, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4122 left_y=-0.0292 left_z=0.045 left_yaw=0.0667 left_pitch=-0.1397 left_roll=0.0733 left_gripper=0.9983 right_x=0.2954 right_y=-0.0008 right_z=0.1777 right_yaw=-0.0008 right_pitch=-0.0225 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -5.7778, 4.7111, 1.4823, 0.0415, 0.0269, -0.0562, -0.335, -0.7863, 7.0496, 1.7705, -0.0122, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.5013, 0.8249, -0.0841, -0.2276, -0.1268, 0.0364, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4072 left_y=-0.0272 left_z=0.102 left_yaw=0.0737 left_pitch=-0.1784 left_roll=0.0741 left_gripper=0.0364 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0004 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8957, 9.0598, 1.707, -0.1294, 0.0659, 0.6618, -0.0205, -1.4564, 7.0496, 1.7411, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1764, 1.4967, 0.5201, 0.2276, -0.2317, -0.1234, 0.9954, -0.0208, 0.8101, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0205 left_z=0.0412 left_yaw=0.0719 left_pitch=-0.1668 left_roll=0.0767 left_gripper=0.9954 right_x=0.2957 right_y=-0.0007 right_z=0.1764 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.9556, 4.7795, 1.2234, -0.1197, -0.105, 0.0611, -0.0479, -1.1692, 7.0359, 1.7363, -0.022, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166e5e23284d9b35355c409d851434c48a8d3ff700ed21bc3fe5c5a62ae0518c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4324fb0a4d143f708acbace4ed34a5d3cc2b81e54e31d9c4ee1c929978095bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e7741b443c955e01306b778b10703069718752c767582f4fd31e86e35d550c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6MIeIDc5l2K63QQvLbnCxsELVM1J4nunKzR05VoZUhzqhv4pymMglrcinua-iX1zSDIcMQpXiZ8C6VTgkkQEF_Oe5Km0OUpOwsRI-RsyGoehD1y-K5EZZieTWsyzWTp2ENkVy3VdRJZ7UyCc1UD15_BOh0sG5NZt33_rl5n1iu23GsIfCqJ6NFD4OhOogRDI4IN_37VaxSTo1tWpfFQahWAZsqKcl7-T20Z8-2UPm3a1-v4wo07RXUv0JpgUtj5HuJKlt2b4qxo0rKIsPZ4xHZcFYP-vZsiQeaaMahB2298B61Ip5w1XIfAbCehqUnV-qMlRCebYUqKOPUPfqMy64aozex9ioXIUuFy2nJmLKiVSDHfQL7EUmT1tnQB1CnVXStxHC9NkgVzR3tlERrmsxkihehfzUMtx6AugpNEg9rKQlKMlpEoww9miNM1aIsX4dVVeEBnJNa_pfHO2xHPgGD_n84dg5_VOVg7yLK8WS8J1e8SCOOeOlro3wtt_GT7dmUjmKTUCjlapaUiVUZAV_aacfohyY2D3tkXQWp7R1WyCdm4dats1MvvSNwb1xDLEVYwSSywmz5LZVY2-YWvi_Lkr6_pC7tVfcXMLFXUUIfzDf6MfgzR56a01D1bc6WGe6pg9lYNIQzqgIBl5jw1PW0SvbT87r7m4ZrtWWi2PP7bSa0b8WL4xoG8STiml_up-PlqPmt3v91qXMdyg-UImGt7_7cnXogEIGN_5xGLbOnwe7l65xoWsvrnoqQnd93saMZMoX5l7FU7EogpzkPdImbt4OBHMPy-Ufz49ueQcMs_RhBS9t4LvwtObMbEmjE9m4l9ybZQS2Pl3snDnHDbXnjWQXEOMqa7qve2khbWL5JbSr6rXVuYu03Cm1urwFd7a3IfkAEoB0hV819XqoBsKynIuzztTHWzmHXVNy86JmJwY0dCY3UygWmQnQurJFPmI3vzrUcDBCFibrANPs8Q6tbLv9R7_mxR4jwoBrOo_b73Va2ptFTkQeKurutOScj8uHjWO6LlaVGCyCb4p5JXs6J1vwXcAaDqovQkxAZTaSKqOfOsRILJIbcPiD6MCcV-K9J4r549vEkA1kfNpbdED1p54TnQIWNjo4PA0hYeVocg44Y4n1J2CtXtQ_jysu8tPhIZDSH59zO_naXKRZfMx6F5eQYisXsnJH-OvKMKGyqvVy0EDxZOjpDYD9tNRMVScp_Pet6-Ki1EiNKXx0zHjaYii2XSwEupZj8JQmr70azmIv4l8t1Fwd6S1uYpU6L9ey-rC__3U6NyBzkbrunWQ1fvQ==",
  "id": "rs_03a754a8d6ded289016ab41e8b12c487d0827c7f72d1bca977",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy now fills the center of the open jaws at a low grasp height, with its head visible in the wrist view. I’ll close and check whether the fingers stop on the toy.\"}",
  "call_id": "call_hoqsNLzGJIcN9rjNmmnrSAAJ",
  "id": "fc_03a754a8d6ded289016ab41e8b61d487d0a96492ed2301e72d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hoqsNLzGJIcN9rjNmmnrSAAJ",
  "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]: [-0.178, 1.4967, 0.5106, 0.2565, -0.2462, -0.1234, 0.2077, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3682 left_y=-0.0188 left_z=0.0433 left_yaw=0.0818 left_pitch=-0.1455 left_roll=0.0813 left_gripper=0.2077 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.2991, 6.2974, 1.2576, 0.022, -0.0122, 0.7692, -0.3624, -1.2786, 7.0085, 1.7607, -0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72d4a82949153ad2af5f51ab1b9fd9f83636aa6e8aeff1753af3ff9364a1660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9a450dc62c49fc18bb23abc6a1b3c8ec7e1f01774180a9ee03e02b72924b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2ac2f9b433b48d69e49dfa70a6b7ece3093d75896e3623b740176d7889a249",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.876 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.663, 0.6712, 0.3092, -0.2276, -0.1139, 0.0331, -0.0208, 0.8062, 0.6083, -0.3851, -0.0109, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.0291 left_z=0.05 left_yaw=0.0641 left_pitch=-0.1034 left_roll=0.0653 left_gripper=0.0331 right_x=0.2954 right_y=-0.0006 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 4.6291, 1.4872, 0.0317, 0.0366, 0.7106, -0.0479, -1.3744, 7.2137, 1.7118, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1764, 1.4967, 0.5201, 0.2276, -0.2317, -0.1234, 0.9954, -0.0208, 0.8101, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0205 left_z=0.0412 left_yaw=0.0719 left_pitch=-0.1668 left_roll=0.0767 left_gripper=0.9954 right_x=0.2957 right_y=-0.0007 right_z=0.1764 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.9556, 4.7795, 1.2234, -0.1197, -0.105, 0.0611, -0.0479, -1.1692, 7.0359, 1.7363, -0.022, -0.0855, -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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.178, 1.4967, 0.5106, 0.2565, -0.2462, -0.1234, 0.2077, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3682 left_y=-0.0188 left_z=0.0433 left_yaw=0.0818 left_pitch=-0.1455 left_roll=0.0813 left_gripper=0.2077 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.2991, 6.2974, 1.2576, 0.022, -0.0122, 0.7692, -0.3624, -1.2786, 7.0085, 1.7607, -0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72d4a82949153ad2af5f51ab1b9fd9f83636aa6e8aeff1753af3ff9364a1660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9a450dc62c49fc18bb23abc6a1b3c8ec7e1f01774180a9ee03e02b72924b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2ac2f9b433b48d69e49dfa70a6b7ece3093d75896e3623b740176d7889a249",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6PYWvVLus_9NeMastARaJeEhpWT5G-Pn2_QlQ5jVXWmPZt_z7QdrHUNIkqGK7bOLAfK0GVzNSzVPkT42cOAV_UMqwC9ROk_rs1h0Ov6EoRwEiImGCJ6xkPYk7Z__DaHZZhJTg08VHqzRA0Pp-ym3oxVL-W-m3MkX-oneaKLI9Bg8c4F5Zwgipn0ht586cMmqGoIW6v3WdgFpJJdNWEYDbuehz8HAZxfGWff8i5qfGlSAaMV1J-xkcxKBtyw4z18fdbPx8GdiD3kNLB0M1KGuIV98TkWL9l5CwFyfUB0bOwLGg1MJW6RaMrz-Cr1ELa-eu-Ov2enUg2LiClQ6SPuMgzG09UmkgMV5OrlNoXfEb9VUQFikwx7S66TIeMTD5ufvvmLmEXtSaJIfISf0a_kz1NmR48TOpyQK0UXhGZ7dkTinOCkHlHCVLXzZZlpcO_pWmQhmWlQgRqnKFGEcw-4jh9YhbS04eyOzHQ4Zh9rhHosTrmZzqucJDkE-_6qF8emhAtWmFShJtWouPGSC-KA0-ErKM2j1w-AqkK-ng67OpCYtuOdxOBcmPhEtis3HzZ88rlNa3HoVNxbNX28xe2rD9cd86goqej6zpd4LBoyFcgNG7HMfkmAmA_QF63F8g5CZJ8AFqemSNmHbtPORqBoKNUSL7gmLQVbrDxSyGAywBpykM65htCGoaGJOGz7ZBAorddpduxfUTXSv4jDbeSH79cuDZoVA8dhjrU50xHoslnM9ngdDRj12FOnnOKwRhaTaO1wYpdtpQ2czzmQ95d_i5E_jjmS67vqobbilioIFShz7wY2_1QfxaO0WV0vkC8OYa8khcRYCfqIvzbAueDv-oleGTDUPM48PMbYJiZcyD_3sH2zraqMv068EEJ7nLpi8R16IMsjV1QM27d51JuPAIS9zce4qPPOjpV9SxXYBQeQfYRBcpPZ58i-aRNQ6LnVcdjmT0RTzx5eN_yZwuoRUB35J2nZF1cLN5HVpji4jo6H2IjC_TYG5wjkJ9pp7KKUtWIkg8yXBCnz58TUanAaZi4cLVf39s6dFWINinQiL0D5utVB3s01XS0HYVGjlO2f1o6WawmElyoDeBBaLSWqGJm4ITk1GdRU7Fk6b4bzTQ-_SwoBZctbl5he6wGxVfO4U6Ual6ecmLmY4x8uCHaDNk-I_3eOE1J8-CoZ2fv-NRqHt4vsRbswsBbUi-oFIIVmJAaRvjbbsWBRTQADO9yLmimqPqXJQeAF6-VJ-LiMj8b6SGVKgC06lJenK2oLoXVDzAJWLPWY81PU5uUrXKFKFUFGDMOtcZlMq85N-olht-QDgI=",
  "id": "rs_03a754a8d6ded289016ab41e8e6f6487d0af5f8e84995dda9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left fingers stopped about 2 cm apart, a stronger sign that they have caught the white toy. I’ll lift it clear of the other objects and confirm it moves with the gripper.\"}",
  "call_id": "call_ONPPEPMCnWyR6a5Tq2Hp4JDW",
  "id": "fc_03a754a8d6ded289016ab41e8ea65487d096f6f89d5e882faa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ONPPEPMCnWyR6a5Tq2Hp4JDW",
  "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]: [-0.178, 1.2579, 0.8818, -0.4114, -0.2459, -0.1307, 0.2109, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3616 left_y=-0.0177 left_z=0.1581 left_yaw=0.088 left_pitch=-0.2012 left_roll=0.0909 left_gripper=0.2109 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0923, 9.6479, 1.5995, -0.1587, 0.0415, 0.3248, -0.212, -1.3333, 7.0359, 1.7314, -0.0171, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a05a615b85a2ce50093d05e56e90321d11fdf4e8b326e36123a161ac4aaa2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37351ccf61341d5bb317c567bbebdc0350197f838109fb6a3115c5cae03a4235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60093112b98a74250a05d9fefa40593cdd28a702a4813f77e3ad367ef507200c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.921 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.5013, 0.8249, -0.0841, -0.2276, -0.1268, 0.0364, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4072 left_y=-0.0272 left_z=0.102 left_yaw=0.0737 left_pitch=-0.1784 left_roll=0.0741 left_gripper=0.0364 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0004 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8957, 9.0598, 1.707, -0.1294, 0.0659, 0.6618, -0.0205, -1.4564, 7.0496, 1.7411, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.178, 1.4967, 0.5106, 0.2565, -0.2462, -0.1234, 0.2077, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3682 left_y=-0.0188 left_z=0.0433 left_yaw=0.0818 left_pitch=-0.1455 left_roll=0.0813 left_gripper=0.2077 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.2991, 6.2974, 1.2576, 0.022, -0.0122, 0.7692, -0.3624, -1.2786, 7.0085, 1.7607, -0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.178, 1.2579, 0.8818, -0.4114, -0.2459, -0.1307, 0.2109, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3616 left_y=-0.0177 left_z=0.1581 left_yaw=0.088 left_pitch=-0.2012 left_roll=0.0909 left_gripper=0.2109 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0923, 9.6479, 1.5995, -0.1587, 0.0415, 0.3248, -0.212, -1.3333, 7.0359, 1.7314, -0.0171, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a05a615b85a2ce50093d05e56e90321d11fdf4e8b326e36123a161ac4aaa2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37351ccf61341d5bb317c567bbebdc0350197f838109fb6a3115c5cae03a4235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60093112b98a74250a05d9fefa40593cdd28a702a4813f77e3ad367ef507200c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6Wfb-NKsygfe_A3zkkPbShALrFpPMZeSKrI2nPsx7ZrBAPpVnRLa2tUJ_OoQJ5khCtoyBFerMmAPWoUxKap3u_d33Yub81AfxmfwnZEJVuTN7EpZbc0UbR5tPycRRIl3p4Z646vhG9i3x_AUFy9p9yGz-UzqzGlmUL0sIZ4a2V_H1B53fxERAgat0lkpjgEori1_YjG2fbY7IFJj9pnsZ2XalnfujivRWB48Lk9OtxFzv5gqY0Jsbqq7Nz9nwqm8QbsgoeN1PfOxozaCCBoaqJ6gJemaxd4PkCzI01UALpIc_9eYf0jvmo9JKqpm1D6df3L1ko5h4As_SiR3QWqjsIebTLlKhq2pmDiX1QkL46H594H9h-4Ew0coRO9Z221u-CV41Y5RBXYlbAJpsr1Rup8Oe4eXAA3SOrU7AlI5G9sogkgRLdLlQzf1lflZAsb6mQdqazV3cjIZKVNJbZXxVugcrXqJ6paa9Bki_1w-98wOvd7jfNO7dh8ljVtsFhEJXyX5vSeKXK2FOzZOQ48S8eZmDqasq5kHXYfiI6Y_7glR0btMKGzHwZcaJh3Obp2Ce1tdLOF2IapwJRmsQYWQXE3vTjp6sfxcvkft_3heRCfGf8_fdDwk2PNQQBWh30DzI8H-l1Bhl5MF2mi-kM1XdAIIbwCyGxHAPly0ZQXIaOQPYgH5ixglzbC8ZzEdUPOiy298P-NPQS25r5JcWTIv7WKw3UDmUINudy-u9_nzADuP65q8l3JfVvXTNQyYLCqqQ7ExnOoHN74EtHUGiFFvEHvtqTzITBfHwnb-5V7UzV0CcpjvX7yI_BTZjpRosx8ttiCuhpzfZ9kO1o5V--74HwdC5UdCcqxzxrCHRM2pkclWsyU9aDyuKIsk-jRB1nbTL5EgtKhXvvk7baZ8FidFgxtL4GYsxoGQY71EB24RdlOw7HxHKNG0TeYTl6t292ITjKCb2WWs2G3XgYwkK38tSMGbu6RkupieklR-K_UM93Xyh_wZ72sHUtu4vkSJ6Fftib1jyyibWaq7fP-z3INokfnyU7GtL1-w-9cAOBR-39Yy5M03gLqFMSSkGGZevRUZrMFNR_cIaAfUZflGMU7GUSDlbGh5gEXQuHvt8bZnAUAhT1qXIJHAFV6XeAsxL5XFjYS4dScKxeAnJkfVZpp0OSqj-7G1VLcaDWQuKR1C46JnGgpei5KF-0pxf0si_-IhyNs_YztFSr49iEhj5q-Mhbhn3Cuxmc8XB-HlUOSiwDJNPHvPqZQ1IxQeITkCSv8dBeXyYf0W-tS9MqtVmEaywMvtmhZLzpwbhaVaGUFi4POxAshuBJe4ZXqM4MQo0fbF4nJkypbTDVovamGq41c51yh19mm2VpPX_BuA1uZfRGDVnpxYbmOXF03jN2JY_9Ct6oZAl922IVr7WO-6O6uLoQ-woL66o-RC8I2CPZglG08BIwkzWgvrioXlU41cf8TOjDuk_rQ3Jt6R6blHSo-JZAQawdkdT-e1IAEGv7t5XAx65EE71SwE1CrN65RvJx3UBQMNYxA82nZV23q5hPzW_qHs9iS4DfOCLRWNsgrNuDlyTbhnQH5d7sfHKAvZSZ0XPo5r2p9U_FVcmo0HM_Q67PqLSq8xzjFBG5tDt-0JZf4SkFlRp2jhu6ZohsiWktrbgzFQ79FTyjVgsN150x7jvy9dXSlEXZmGvnqfYaUzPSLp5UVsVmY71-SScolEpMMzbmGCG0qjOfo1tiKhtxAvQyi2MYUTsLCMj4E54mUMkyZL5deJQLK97otsOLq7TsbIHuc7f4wKUVNCS-u6YuYI4A9QMVno_EgvWLe_4MDmodo9OkiuJb6x24_U_YSHh495Bj7f4ptcE-CFtsHhEHQxB5PoQrBqSmNrFc5olFQ4GKGPpze8VDBwQDIgn-g8hzQXsWdAMzTUL_c6A7SpyqkFDnvXqwUx4BQOujsXLaMavUcz3lqrsxattgeluhhMdbf1h93X_aaFkeJCHyoiUot43L5QcRvkGhiVtx_yERMubTOFp_gG1rSmPAkv10JT6KTbA17DrNIxE9WNB5j5RpHHi3t0tVCKiNDSXBAOrwzQs-VbSv2yu2FKwjTQR_74jKAJ_H_2BbgvBs-zaEGt9tNRThTQLfSkjMUweDnG0ZquzAa80LUMgfZH-PYu6vTXZa77t_PSecB9Rj2Xhj6eBTo3yrULi1G2EVIEMo6fbomhVHWyEgfZ1MqXjKKChvy0pO04dRdGPK_37F97VT55qoZ1_mnW4iyhC9Hi9ctXp01itFutLcDYThsoSSCYJvqm93PxBTwsyMZt4orJmjYN82symlsY66PVLUM3q0ULkuVbHEdRPYeKEeCXRqt_PVJAnMho7-TBI1EXIxRytrR_h_kQsIuV-hMyrIgW0a3frAlYLO7WncFYJIovAq-ffXnQONajEWwLMr9ap8Tku4nPDkNSxtBy0HkqNnuStTxaFbbCuYKthNmIvlc9ZqMHt-rt4i-VWaxMobIN900PmokbA_rbs2j0kpE4H4OHLd8LR4M5j-r0ZHuKvddfY_r_h4-QTgcuvLOBcMDutMADRaTRexiTI0ytlhBLKyS5ETIbw9Y_SOlo9U8UkBnTfeEe1K9kjt4E7IjwKRXQBSasu2A7W_WhWwWSNw7kckTv0UXy9c6P7CoQLSSUvZ5G_L1qRDPJJ525speLZdZsOhz_wtod5YZhrb50iLzjHblx_jkPWxWMjZiLkEHvNh8SRuMZ5Y7yfte6kFI1hZbIBxrkQdWy4GAEB-rKtCHFc0dg9xigYVKe7fkzU8_7ib_6dMz0lTTUb_VECOzJsAFqoVc77eVdpZJ8h55A-IL_xREtknfJl-ANkXu1ivGnxXzjAxhlJgCgx80qw84ZnvDK8tGX4_dNcsZMN7gEFiKEt_ewxKCAIhCn32Ts4=",
  "id": "rs_03a754a8d6ded289016ab41e92fe7087d0ad0ddff061a0bc2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.16,\"left_z\":0.25},\"note\":\"The fingers remain about 2 cm apart after the lift, and the white toy appears to have risen with the left arm. I’ll carry it high over the left basket, which I’m using for the white objects.\"}",
  "call_id": "call_43nx8en46JmaFpmdoEjrFfta",
  "id": "fc_03a754a8d6ded289016ab41e9633ac87d093ce5fff904f476e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_43nx8en46JmaFpmdoEjrFfta",
  "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]: [-0.4847, 1.8606, 1.803, -0.8661, -0.4309, -0.3935, 0.212, -0.0208, 0.8143, 0.6075, -0.3866, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.463 left_y=-0.1564 left_z=0.2269 left_yaw=0.0888 left_pitch=-0.2543 left_roll=0.0884 left_gripper=0.212 right_x=0.2956 right_y=-0.0007 right_z=0.1746 right_yaw=-0.0004 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -10.5504, 9.2376, 1.4042, -0.4518, 0.2466, 0.105, -0.2803, -1.6068, 7.0632, 1.707, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db48359a52e0b979897cbb2761e984178f005b751cfa308292f10add917867e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce8bacab95fd8dde5f7312c785e5446cb72c6f1e48b86bcbeff3445bac32b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373120ad2c9cf1fe682666228b56ecad619a587c80605fb74e9df2057398d2bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.384 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1764, 1.4967, 0.5201, 0.2276, -0.2317, -0.1234, 0.9954, -0.0208, 0.8101, 0.6083, -0.3851, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0205 left_z=0.0412 left_yaw=0.0719 left_pitch=-0.1668 left_roll=0.0767 left_gripper=0.9954 right_x=0.2957 right_y=-0.0007 right_z=0.1764 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -5.9556, 4.7795, 1.2234, -0.1197, -0.105, 0.0611, -0.0479, -1.1692, 7.0359, 1.7363, -0.022, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.178, 1.2579, 0.8818, -0.4114, -0.2459, -0.1307, 0.2109, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3616 left_y=-0.0177 left_z=0.1581 left_yaw=0.088 left_pitch=-0.2012 left_roll=0.0909 left_gripper=0.2109 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0923, 9.6479, 1.5995, -0.1587, 0.0415, 0.3248, -0.212, -1.3333, 7.0359, 1.7314, -0.0171, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.8606, 1.803, -0.8661, -0.4309, -0.3935, 0.212, -0.0208, 0.8143, 0.6075, -0.3866, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.463 left_y=-0.1564 left_z=0.2269 left_yaw=0.0888 left_pitch=-0.2543 left_roll=0.0884 left_gripper=0.212 right_x=0.2956 right_y=-0.0007 right_z=0.1746 right_yaw=-0.0004 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -10.5504, 9.2376, 1.4042, -0.4518, 0.2466, 0.105, -0.2803, -1.6068, 7.0632, 1.707, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db48359a52e0b979897cbb2761e984178f005b751cfa308292f10add917867e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce8bacab95fd8dde5f7312c785e5446cb72c6f1e48b86bcbeff3445bac32b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373120ad2c9cf1fe682666228b56ecad619a587c80605fb74e9df2057398d2bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6d5dyQDV6lwzQ8hEHSMamtLdogCQqaOAjxzFdzAuiQzYsDkI2VoCiDF40VAcoFrDkZIuGWnKS2hG5Dr4ML24ob_8J_L44x76T1x-hs48_6qYQzjwrKeD-0gOsda1PEUY_ggR5t8CXT-z780sVywuE60B7bO65q98Sq1_qcsTwnDCE_PMfTTLthDmYD1bTeHMfdHDuCqTZQ0TFu1m5xCgfQQqRZ2-FOfFRggG1C8_XBa3XHqi_dOjefHXknEGiR-WF0nohvf9_sgU6Gd-AZhjMD43C_QqK7DgBf7fXWxGFaurOAbVHc5o4eiQtY0cPPS2uwAvHSM1I1_yz3oIGalPzG2lA5jAQDR8dOlQ3k9OS0BHUFyP04ID2QG26QRFatQ-oU54CiVCuUvhy1_eAfh5Q7EffEyHRwnx6iN2Oe2DSFawDANyWXuxwBKEkFMxRz3-ylUO5TOCUEte3uNLlMXkBWJXS5RJIvpupBh15GPSFeuIlYEdU-nuwDJng8_lCk0UfoAgJoISoztRz-YWCGnXS6-OfUiDshe6-TPO6OLLcaRA3HXk4tNqVQQw-sVv5l1A7T3cYnhmNmbhP6HMVJR4gilq_etjPxuGeLofk5Dlb7PXYQg7CYxxsBjURRzYVA-68YCPqcqw0v_GG6dpa4rYO3k4wlS0ec5WJC23nL0onQRY6F588JpqbGSj_8-nrLq9hfqus1D87o9FJUGo_T9tFdiW8j7qkGZJftIc9_LSktnzNRqczztqbzr4chW1jLMnUiic9_nzkQdE4Y-tMQQ4eg86iarEMc1Gw-Udh_tdzmlsUSLZWUQUQbNoN-gqe21LWgj51H-kDGRo0fszOuNKodYbJvckdot_fP4SlEmVh3y2zHD6FtNaMVeBE20ajkGLwXr2b63wpMBYsek728-DwIZ_Cwqi-NpqQwKt1GACKpuYc19JzaVwcCSBRg2yX015OBQkjdZv6cI_cYXUxW4Ng_bO_ZLREXwU3u417ETpGX9FMdeJMKJZsc-_EuTnGvoo3aZrzYO0q6yiPHBcJB-9WLU56syT5c6Jo7YTX9kFGGVVAWZssiC_aPdk8bRxotxAHHHNZzr15S8v3lvXQxoDHy9RLgvFRY_LSM-pX37AcKB5a-4UATSusa0yuMCpjcsKGy0innVURfyWVMJ5rKh8BMq9-hhkLwf2wdmsdNkzQIx6gBR6eOvnfd82PFKuTUd1qAram8Bmqtu9K6Cn5-rBUv4sfhkDF7ylhwwTJVm2blY2yRS1MfQD7Ooekubl5vOmKWpeP6tB_jVctFOKggqQMZMV1bCGtJD5Qfx-h-f3VwpuC95lcew_M7PN63S3nvSN5h4CRCW8abW78SGPwnzS7GF8SgtygzneuE5RFZ8-6RY-lT9htKCO05mlGLvnW05PaUwM0kJXJGcNlK0P4pjsH4o_hEY7AxQ8bs5CQ2gAhg6tbgEU-ZAsvUvLRM4Xip0GHhlvgE8weDv6usv2Aj7zHAQxIXI6COSFQeG6RMNs5xGglYBeXCt6j3ejPl5NJC82AXJLIZixtNK7tjZFktjJ9BQVEDhQXpN-92WhcYdr2cbemrl74SGh1JNwGf8JmsdxLCHk31BcWZQh0jAqozcsDn9SCxs5foCO8yIEt2Pcr2FI_tefZi_jd5JKJ6B_0zj4CeGBZLgDWLerDyzQIBAfY9dHq-FNjFiG8or2HpIPAnW-z4jYYpQ-H8uc4YxS-44k_jtB7uBMCDHnElJVzr797V5kbT9toy_Aly3lejm20_UmJsYPbHbO5rNFrqE0hMcAvBsN6nGSc2u_mAstjNBykpxkqk6FT-BvRwmI1PaMW2snCkt2At6-uOpnYQcIS9Q2WhB6oadrGpO7xux9_oQoCjzroG-9zJSGTGg6weTATjtKD8kZidmxk_E0A60fyx278KdVcRoFCXVozA6CUWA1Zwcl8R9S3c9yJEhXkeeUIYNNui1ps4cBi0Aa7t07QfoYcB5ynV02WZ0s30eZd-i9JbL58fHCfArO_0Erxaa7bNlHw0zRWKVtgvlfhRy5afGlLyhYRqxPcnaRFERqDhjfXv76s0pxohDgfy5gXxw6l1Z94ul16Og9IJXycfveC34ERc5AyAJxABb2BaAVRQ27HWFw==",
  "id": "rs_03a754a8d6ded289016ab41e9b8ba887d091f4101a3f76b3ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The white toy is traveling with the left gripper and the gripper is centered over the left basket. I’ll lower it inside the basket before releasing, keeping the other arm out of the way.\"}",
  "call_id": "call_tQkqIsJKgkFMH27YCB4LOOBi",
  "id": "fc_03a754a8d6ded289016ab41e9d40fc87d0b8e0c646d5f2e918",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tQkqIsJKgkFMH27YCB4LOOBi",
  "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]: [-0.4877, 1.8595, 1.3651, -0.3412, -0.4454, -0.3969, 0.2119, -0.0208, 0.8158, 0.6075, -0.3855, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4731 left_y=-0.1608 left_z=0.1316 left_yaw=0.0885 left_pitch=-0.1741 left_roll=0.0465 left_gripper=0.2119 right_x=0.2959 right_y=-0.0007 right_z=0.1744 right_yaw=-0.0004 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.8991, 5.3402, 1.1795, -0.0708, 0.0122, -0.0171, -0.0752, -1.4701, 7.241, 1.6825, -0.0611, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5d2bc53cb86e349a33dcb14c6545b6c345830de22a9f17864aad632e5ee7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db458a8d858261fb55ada72ee7245c42257149f58bd3256af3706e120461051b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4528e44d74b4a85cf2e5e1fe39ba5be183c34250cf5a8f2f14cbadb3b8260e9b",
      "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 · 4.448 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.178, 1.4967, 0.5106, 0.2565, -0.2462, -0.1234, 0.2077, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3682 left_y=-0.0188 left_z=0.0433 left_yaw=0.0818 left_pitch=-0.1455 left_roll=0.0813 left_gripper=0.2077 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.2991, 6.2974, 1.2576, 0.022, -0.0122, 0.7692, -0.3624, -1.2786, 7.0085, 1.7607, -0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.8606, 1.803, -0.8661, -0.4309, -0.3935, 0.212, -0.0208, 0.8143, 0.6075, -0.3866, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.463 left_y=-0.1564 left_z=0.2269 left_yaw=0.0888 left_pitch=-0.2543 left_roll=0.0884 left_gripper=0.212 right_x=0.2956 right_y=-0.0007 right_z=0.1746 right_yaw=-0.0004 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -10.5504, 9.2376, 1.4042, -0.4518, 0.2466, 0.105, -0.2803, -1.6068, 7.0632, 1.707, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4877, 1.8595, 1.3651, -0.3412, -0.4454, -0.3969, 0.2119, -0.0208, 0.8158, 0.6075, -0.3855, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4731 left_y=-0.1608 left_z=0.1316 left_yaw=0.0885 left_pitch=-0.1741 left_roll=0.0465 left_gripper=0.2119 right_x=0.2959 right_y=-0.0007 right_z=0.1744 right_yaw=-0.0004 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.8991, 5.3402, 1.1795, -0.0708, 0.0122, -0.0171, -0.0752, -1.4701, 7.241, 1.6825, -0.0611, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5d2bc53cb86e349a33dcb14c6545b6c345830de22a9f17864aad632e5ee7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db458a8d858261fb55ada72ee7245c42257149f58bd3256af3706e120461051b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4528e44d74b4a85cf2e5e1fe39ba5be183c34250cf5a8f2f14cbadb3b8260e9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6jo-ggJDp0uiCRH5hPHIaKzC97W3Z4qykqCpvQjSp6vbunuf3iMjG8sPPnOplK39rpLTAvCOSGhHXqaIg0UcE-B_wiPt6HU-SOAnMtbVJb7tKJUPr1oFOhmJkJosdpeKc6zgIVCa6SdYCGwr9Q5C_PLh7Ok13_hLD97G7V3MA6d2RUp_UCk5aq-ax5wlgjbT32vQO7rvSMXjwhBI0ueKj842rb_TwhtTUOO7G8nNvU_Cw1fHx-6t1CGblKqfmiTmhsbXvzHQuckqHHTbUsQ98zM1Z4uPW8TYklGnX5l1YIoZIIxapEYGk2wYIt7RIAIrcCbzppqYLHtCtAb0E1RfKwKupCzIkuDemGOsxt1ISYEkOpmbnRl33XvZ9GOlCjJUKoVJ_EOtLJT4Y5pc9YrjyAhrXJ6c1DldAzcyvnonmRgO586NGhECSbJqZeyqbpAl6_fmVLG4lQMbxakVFlZmNbpXAvqloVN8l6tEdqUxQjWQGlJK9W24m-XZE78o5T73gLAN3fBpmwy4dfGv5kQDFacq0F2YVG6RXZcOXThBaKtVc2K5L1c-WPa8-ZvO23nYEZ0pgcBsQtt_KbXKJ4Ba9-QdGWP0pweTVevQyvwG72-pQtxkg8UbYkSu5z1ldPjnlUmfG5y8iZbmhQeqU8p94C71mosYrJOfuoKJYxdQ3Q8WmtKv5ND9Yw2DCaL9LgGn2giccUx3mbSBIaeWRbbi17HZgNdjK3B2J5pBRiJ139Z1ub7ZqcvYrcElY187M6SrGFtc0f0h0nNyP1n32LDl6U4pF6t0Y-cWVtcIoFwVz4mkoHNilKL5F_0sx8zPaAiRnpj5h9oHFxlOr8U32nTPNotHh9qp8abDci7QDauSX3p-aqhw_meEwNIuLmaBqm4VR5p-65Z3iGv6HHNMR_2kCuZZdNewPzHhkcHqZy6fCjMTqQXhXupX2pgJ-UlzBhp0ATjvKbLhh7Igvw5_rVxAo5tSwhDmlGWGyEY481FGcfsQLoWfXy5MNdLYKm-isW2BPgEGw2HlW2x1AGHcvWF-uwspAURGoqz3l3mtHorZWihZ0SiXGCSmhb-RbXFjBTItY6zvUG8iLzw2JzNubPBTMdO4uix23NZTILKgexWMC2VSyUmVwGykUq0sptEdfxecfR4Z7NfEkEPWgJf2NHpySpNYX3nKFBWDw4rhJH1qoc3kCuVR_z07zu4dmgXqT_6WeiJTp4a5Lu5rJYfDxOFz7raOttrXwQaiAJjelKYAunnnPXofsJ-riInL1aWL3_iTm9Y9GvHfu4XR9mEIjw1XIWZJeoWFY33rgh70Gtutmanz6yP39aJ-tbcc13KG0oIJGgLb_3rVkVp8z45YpKHNmdT0VnI-AX4LJAV7EOZQj279eFOguZz5RoqaC_YsZOTvZMNu49Fych0Tl-pIyfzeuK2p1-UKdCqATBIC7aTax5TuXpLN2C8RoWkdG8wJDdzxsqXihphEf5E0H65jLWRblBzKWYfMH3hC8iqYzeEw7UMfGYvghBiq8Nmb_0kRF_63nRWZFmuXMaocTG6drHsXHk204eFJ8SU0Wh9dQ0EcZs-XlWmbMI0-ArnghBOeQBTeJ9phUA87c3ju60WdYF6UP7xhMxF7hobzsKL1j_yI6RgxihH-oVgu6eTr_teRZyVSdo5kzTovMur4LER9MRNppsMBekbvbW_UpzkLBQBX2YtZflHhzKWvcKsgz_ceUewukr5C6r-i1FN3Tk9EygfAaCF_ySPh9e0p_3j4YHFp6YbwtoowD1_5SL4yfeP3h4LsRCb4rHu1nopVbsCePnvrLvij6moP7bAaMoQDR-X1YmxxwDzumP-hgWA_pmsGQVBXANOaxEfl3H4ihf4nx4dQBWfghk-c2AN8mOBd_y-zlgfHRy5DqXHXBmmDoANkYlSBAtliHAnj56_-a8U7cGjs64D4XBX1CoFDs3LTswQOOkcXI38CzzygAIlBGhc_k9cvMaVPLPm_fgaOUuyNPTqCN4QqWNM0MEeXBRx7ovwc6vh9c_7KI7FrPA4inlRsj8Uk9ePDOIOo4-SNfj_rDvPoMhLqdAB2bFqg-ZYejdFOVzRRY9-7hN26jakACbbhBkaZFGmbIHMFY0KfNHUINgJb-hrMYiraYi9uW6GzTiCOQIOw9f5iM1lAGwx_23j7cwGlJ2fmECpU5ApQPPVCqyhMi4xSaXPqGfwdossgNxuBL2cnZ5Yl-iOgSodNjCTle0IFvpfn4trXK69wL8QT32l-wrShFDMhiEX2R_1BY5i0urRfI=",
  "id": "rs_03a754a8d6ded289016ab41e9fed8887d083a046de0dadd24d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.105},\"note\":\"The descent stopped a few centimetres high and the toy is near the basket’s front edge in the overhead view. I’ll nudge the gripper farther into the basket while lowering slightly, rather than release it on the rim.\"}",
  "call_id": "call_TWFsNnjtSQWLjVkNv59FMFgT",
  "id": "fc_03a754a8d6ded289016ab41ea24ec087d0813b1b045c403f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TWFsNnjtSQWLjVkNv59FMFgT",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4786, 1.9205, 1.3293, -0.3233, -0.4301, -0.3977, 0.2118, -0.0208, 0.8165, 0.6075, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4688 left_y=-0.1562 left_z=0.0907 left_yaw=0.0953 left_pitch=-0.2467 left_roll=0.0798 left_gripper=0.2118 right_x=0.296 right_y=-0.0006 right_z=0.1743 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -8.9368, 9.3197, 1.5897, -0.2369, 0.149, -0.0366, -0.1709, -1.4564, 7.1043, 1.6972, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e979ae065741dfad14a5ef780c749145bb25a9ce69eac6a9157835dee560de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef553d023452812af013616373739874cac25a48f85e6486c066102abfd08671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7a0de964cced4b34d036b9e03bb4d94b022d20f245ac8e14266ce36b30d82d",
      "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 · 3.422 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.178, 1.2579, 0.8818, -0.4114, -0.2459, -0.1307, 0.2109, -0.0208, 0.8101, 0.6083, -0.3851, -0.0101, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3616 left_y=-0.0177 left_z=0.1581 left_yaw=0.088 left_pitch=-0.2012 left_roll=0.0909 left_gripper=0.2109 right_x=0.2957 right_y=-0.0008 right_z=0.1764 right_yaw=-0.0008 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0923, 9.6479, 1.5995, -0.1587, 0.0415, 0.3248, -0.212, -1.3333, 7.0359, 1.7314, -0.0171, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4877, 1.8595, 1.3651, -0.3412, -0.4454, -0.3969, 0.2119, -0.0208, 0.8158, 0.6075, -0.3855, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4731 left_y=-0.1608 left_z=0.1316 left_yaw=0.0885 left_pitch=-0.1741 left_roll=0.0465 left_gripper=0.2119 right_x=0.2959 right_y=-0.0007 right_z=0.1744 right_yaw=-0.0004 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.8991, 5.3402, 1.1795, -0.0708, 0.0122, -0.0171, -0.0752, -1.4701, 7.241, 1.6825, -0.0611, -0.0562, -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 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]: [-0.4786, 1.9205, 1.3293, -0.3233, -0.4301, -0.3977, 0.2118, -0.0208, 0.8165, 0.6075, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4688 left_y=-0.1562 left_z=0.0907 left_yaw=0.0953 left_pitch=-0.2467 left_roll=0.0798 left_gripper=0.2118 right_x=0.296 right_y=-0.0006 right_z=0.1743 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -8.9368, 9.3197, 1.5897, -0.2369, 0.149, -0.0366, -0.1709, -1.4564, 7.1043, 1.6972, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e979ae065741dfad14a5ef780c749145bb25a9ce69eac6a9157835dee560de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef553d023452812af013616373739874cac25a48f85e6486c066102abfd08671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7a0de964cced4b34d036b9e03bb4d94b022d20f245ac8e14266ce36b30d82d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6n3x3Hhs6qsRSNAC0BA7yAc0sLi_dr8i7IztZ4_8x2Ak7uTT_Nr93c_O1FU-bJu9vBmHBJZqrEElq_QXPyClUs2Jy9oLMUojlzLX2OGVQbsCx6FliUAQoW7xgCfpU2EyTrojLJfC-VfMrThnAFdEdMp3zkSPBrBwjLkeOdz-Cdz1p5iPHPGvWw15J0FG6mSe7PhfEK1QcASjmRaEwIHqGH3YuoBrD1cdIdGVQyJ_0qjmTtibZHL-Qw9q3dPE8itnGYN5vBGVAGdKo3rr4S-6nT0csCSsoo400Smp21lLvOmtlsvXDhx-tp8RxJmTU20-8xQAqfKMrknKIPKrOKtMS-2kAKKxJnwZt0Xat2l-tDPi26riUIqXbWC9YxJ9bBqqIdckwPDQgUYX2j7W510YRMIH185pVOXYJpX-iWtFcuX3JmVkQWxztDIvsvS0SRx_vLWJ1TD62EW0mbNBDiE9yU8wZDqcyDk39Q-dSj2jwfDsyiLmmjgJsOlrOAidX0K-3YKgUaREqHCnM5s0iQ-lTzYEMJlIcMQbSWOql6bmD4F4m2PLhyB0ZiUOtT6ZSCSFEbWRwMxjaPCA0VC_k4mVHNzqwlIIjL_j9EnXCjqnoQIyrG1q9jUFbpAViTtgyRBTkAsbnclhYb2qnVM0a-NHB2dCXN7oQrklkSIYeiz_spZVw9c3W0fIgr7E8-vsX8bfA1k-5iOog-hBK3lxH8eISN2C9flkaWVxX9gxyMAGnByWRiRMwz6NVgv0c6SgtxDa_JZMkhVRy4kppmARIWh01Ly_-AZaGuGzcZ8d02tzMsxF1ouPGRfaF_mYXXC2qvhrjZhmOgnICh0xLujwpb3d7iMIYySSs41TBjmBlLql0wv4CMnGP-gUqfizjzAqFKG5QDxnrgMk95RD1LoYTHOwOoX5rPWVvr011ZjUynfVF0ypyXWNxLPc0XV5VM-COHokD3Ja6TqGKN2L5Rkxgy7ARRO4rnhY4QcrPMBf7xBj61DJBOBs9AWtHP4T85x9YZ2tqSWSAl8ZR1LMuSS4hl0deCgh98EDIwAvXbFNmYOrLo5pEippxukyhj4H8R3ZvjIQQ3cnlmB8rsrvU702XBjaPY973aBcjn1cx5yHqyjG9AJ-0HVGbLB0RPDgLiikyUvAU9hz19yckiOhvNZg1eJn2QKIfFsreG55pX52jLOA1imsE75Chg3vFM2irmV-l2dwjkCEB4GTZ0QkG3y_iyZVe8cfK8LY5uZx-dAu000YjXt0PtPDKUk2m77MMh-bfVdmBrC9TWkcZRN1N-FpwnS-SoKmDdrnT6EmtZxJuVruqrNXaaB2NY_H75Et4xZYft2zUjuie8JvAASpkDwap7cHP_wJ0ongjFwdqrz2hGjIxWGBeEoYc4V0i5Y-45FIPoRlFs6NC7s5HDFXTviKTlThGO7YHsAG4bnTQuS5QINhQY0cyq1WGqCj3XevG3WOguOnEIfj2TT4yrIR-uUNOp979AX1smH_xY7bgQGkm2wHP_uemyRTBCGPtRPyVJz3p3Vji6cYgAf8Vcb_OusuE9ggYrc0PTLz7SJbXnWfXZOvFf7yfM5_pcYziLlO4adbZZh-BsjUsi7TqLnZslJqwvmHTK_tsTnWFHeoWwsTR0jYkCmGEPd_ZAI6Ep8mMI1n-Npq0cnPrs7URdFuD0JH3Sw41Nn_BQ10eF-d1Y4ZWXNcljLyxc1bhnVob9NC7KNoPrRYgm8Rpqu4fIv9SEsF8j9NdE7ULzBQ_cAz3sWg2H0d2zIy3Ht9y2gQgLK87-ubNujX6wM0xdRtyDyh6Y3nzA5YAiS3zb6R7FJs_WfUnZZokpTDAXADwfyX-mWRv0YeTxF1qxwDvVVdaGfn8FB1XSOwNqDSbNpoUnSJYP_Z5YBcmI-c_D4SMO1BWTYoJZXmPlGterOnBA6-oo8hE91AS2TEC0kfZczU0ztkFMOnju-45vWQ1Z3ZqX1zCdSqlQ8rOBB8ksPbQ9PbGCNkK48nyr8Fm3voYADAwqrwObQ2MnshI6v1dpDTEMgsLM9es2XFLjpee_RU_VnBRExZQF8Ff-Y8nczC968pVqZNITqdbieSKzoflae-HUK9bjIiTyKvxXrhvzO_IWxIBQ3ihbwp7562SbWcT-WwhOPawzuDWVMhoU5eMdpM60sKFLmSE609C5Hs92bG5en3Wj-ksKMHzRdUTWawAaK-XEViZGx5LjRFII_ssU9qZ8evJP2nxiLvCH8cb1Ye9_m4osNn3Oh8kTuqxk4GMaUYnpzTUXRYmQ0TWj6N4iREnZQfco0HB1-1LuT6tBo0TtscoYcD9EdeKEp23WkPLrsPLq_2OZN3MfE3B4uFE4dRVfq1FKLg0WelaUeDSXRKk4jc2BgigynFeGHNM5l5slfR6UK51WU_DIF6SNsNPOvOOvvXrExZVaKYACMu382e6WqZhx7RsPhFiqjLZebgjrUnq7WYCMVQSWyNzwG3-HDyVb7fUHrZSlgdimiWCgC0U_GDKbaOcY3Cez_oBMMVBhqslW-SezaMRlcznkTva6Z9q_5RNLgWV73TOxcZut",
  "id": "rs_03a754a8d6ded289016ab41ea495ec87d088ca4fd61a8584ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left wrist view now looks into the basket, with the white toy low between the fingers. I’ll release it here and then lift away to check that it stays in the basket.\"}",
  "call_id": "call_5iezhkZLpIch3H7wS8K4qkDM",
  "id": "fc_03a754a8d6ded289016ab41ea716b487d0ac81284a0247e44c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5iezhkZLpIch3H7wS8K4qkDM",
  "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]: [-0.4763, 1.9411, 1.3254, -0.2977, -0.4431, -0.4011, 0.9953, -0.0208, 0.8165, 0.6075, -0.3851, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4723 left_y=-0.1544 left_z=0.0839 left_yaw=0.1094 left_pitch=-0.24 left_roll=0.0855 left_gripper=0.9953 right_x=0.296 right_y=-0.0007 right_z=0.1743 right_yaw=-0.0004 right_pitch=-0.0343 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -12.4513, 5.5043, 1.3358, -0.188, 0.0317, -0.2173, -0.0889, -1.3607, 7.2547, 1.6874, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474c724a46153dac7a80aa3b5a60ae94c37005a7998202c0bf8796aa4b3605fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaf3e240ac244a3c2568d290034db45f5ab935ba9048a40d1d62ea1ae2508df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2116fc02d5181768a92d41ea0a866185a3cdadbd5daf4a30a37667531483241a",
      "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 · 4.892 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4847, 1.8606, 1.803, -0.8661, -0.4309, -0.3935, 0.212, -0.0208, 0.8143, 0.6075, -0.3866, -0.0105, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.463 left_y=-0.1564 left_z=0.2269 left_yaw=0.0888 left_pitch=-0.2543 left_roll=0.0884 left_gripper=0.212 right_x=0.2956 right_y=-0.0007 right_z=0.1746 right_yaw=-0.0004 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -10.5504, 9.2376, 1.4042, -0.4518, 0.2466, 0.105, -0.2803, -1.6068, 7.0632, 1.707, -0.0269, -0.0513, -0.0171]",
      "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]: [-0.4786, 1.9205, 1.3293, -0.3233, -0.4301, -0.3977, 0.2118, -0.0208, 0.8165, 0.6075, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4688 left_y=-0.1562 left_z=0.0907 left_yaw=0.0953 left_pitch=-0.2467 left_roll=0.0798 left_gripper=0.2118 right_x=0.296 right_y=-0.0006 right_z=0.1743 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -8.9368, 9.3197, 1.5897, -0.2369, 0.149, -0.0366, -0.1709, -1.4564, 7.1043, 1.6972, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4763, 1.9411, 1.3254, -0.2977, -0.4431, -0.4011, 0.9953, -0.0208, 0.8165, 0.6075, -0.3851, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4723 left_y=-0.1544 left_z=0.0839 left_yaw=0.1094 left_pitch=-0.24 left_roll=0.0855 left_gripper=0.9953 right_x=0.296 right_y=-0.0007 right_z=0.1743 right_yaw=-0.0004 right_pitch=-0.0343 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -12.4513, 5.5043, 1.3358, -0.188, 0.0317, -0.2173, -0.0889, -1.3607, 7.2547, 1.6874, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474c724a46153dac7a80aa3b5a60ae94c37005a7998202c0bf8796aa4b3605fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaf3e240ac244a3c2568d290034db45f5ab935ba9048a40d1d62ea1ae2508df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2116fc02d5181768a92d41ea0a866185a3cdadbd5daf4a30a37667531483241a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6r2yZxQCU8GAtnewNawT1ud-l0KAUuljaHDsOBJMkQ9V-bS2WUd8UJtsUkL1tS_KfrmZU5awLrCQ8LQuww6HD9LyboxNYqpcbv_Dux1Ar-NzBBHvAzUnpvt7mqDLiF9K3pA4A6nh0eFGJqj3Q79llCcpph65rB1Etarj8WkJX5zQ33cvclnXR-Dp6SlBhBzjEFWmD9blr1FfLHsRR8WkB8ml7rQbA4XW5_-rKY2eoo1MeT9OU2N35-qKhYDIG33ClVqUelpTxp9UCbRyOCbayM_g-U_JfsBnWBb_oYghG3v_1tMTq3Jm9S1t5pIxugm9DatG0au8H9C--qYyZiiezGW1MWsaEaB4SX4ik8eqhAhSUN3ZMAhkQLxPsibZei23H8rwVp_UyGJQAzkCJu0-u1zm9RYzEK8nJju5eCzE09Q6Eh7jvLkut-o3Z5dINDYiY2DT3rd75OJ7eBiGRdRRHQZdHUT5oSyQ1NKMCmNvzYEjvMcGSOa1HQETqlhixv4-5Jycpnqdg1alPu3lAf0c0njdNlKtzJetan_uqNUdVI_BDhDQ4Il8DyZQmcVhVeEJ3KXLPrI7zNriYFKsAud2mBihlfClMoTs2GHQrAgUOsklwF-MzGuPfBM-AJLjc9FRiC9ri5X0Xd0veSlBDSbxlBzHZ4A0YdYnye73NqXoTQ2U-LvZiIk8_TN7sq32d9yFW5Yh6s46gjAm_3NiHmH4R_KBbYyoYCNWQvVtFwUJvpC_P6PVhSciHkN7Ui_0VC_bsg_UqfEINlxeF-1cKpn5c8j8Jho79fwbNOlZD52mAr3rMwan-w-B1ckbts-MeLP3C9Xmj9uVHXgFNCbfTsZe3rsmROAebvjbB5VUHfl76YHp06d62UGUGNY-Rw9WnkrM7JrCuPbXBfABfaT0zWa9uCPRci9EYcMOE0pD8dzPBXHX0OfjRsm4PQ30MpLYn32wZMCm6g4APieUeDbhG0NZsUA9PTgvy-omrrfTiKQmLdLgW4keAUKK56o-2rvWkcpGKRN7S-8cd8fiIGgsv7qwrxV0Z54nytnSmURahnMxitzECrcTDcxjzqB2tKucYkQebTPJfHBlSoLWChuXbzpPVkk7R3A8vfmD7Ur8gi2x-1i4YLD3ccngeYPIAOjgyN1QfR9-BnlxtwhzMvWDav0ANAty9DCFXevpGjwwmVk4YfcEqeNaVCDNvvXp2c8M1PGkwifX65Mv3m8pHkYHVFCcUhaDsVpBqGtgQTV0nDUJ_YGaiksmZuMN39dfb8qJuWSqVU6pMkQS0HSdXqQ66BppcHd2AfNuBbhuE6lPeT32Y9IIGFzsEVk-vfYPP9k3Eh5zFoKCmkZbj1zlZDZ5F5sVHlFDGrfWCJ06oX4HdlOaizybMgOcz09zfJ8iM9nmc6BrV5X3whdgQTBG2qiwPp6BFxCvOiOQlcKe7EwEVB1rJ6yEyM8_pUnpKwhKnfZvhvmP6DrwI8Ds2Xlgr2MqYYlhc8y1tqKqf46f6gcxe6-AwVrMg0hgmhxH21LFmiv5kZ0cNTBLHbQEMpPBpyd4dsSJ0KjNPpoytRBkFJaxNjqREeA2geqMEmAA17hEP6AcnLix8ewL1RNiinXygNaNcbT3azvGKXVtVxTUEGnb3whKtcGbgdoccNrMAi_h_U4aH61m_vuncXS_IZI77eVCr_BNpqiNzagt05VzMpZ-yC0XYwj6nxCjsAO0ZwKctPyFVrtSx-sML-yuBRigs30ZFYBqtIM_IEEzd4cqjADWQFsj4qI20u0lpbrbbAVlolrOftDLatRfLNKXrjH_FZSZ82hL3WaAp2F5nJ3-OtrsMtdBhBTtsKxSZ6ly0rfxtO2pm1-rpJV6h5oVTUWu65NaimV76qo2qqPZ8c0YnsPfTzRDRojSXLtjIOZsRFFNXT9Isf00zMDpPXj-c6OlaeMxtm8y-TsH1rGDbo0KK4i_xI9zGkWGClbZJQGQqwfQrqrczaG-0L13UjB4rBLO20D-naLAHbTiPkbpmxucSlrMXrW4DNbXs=",
  "id": "rs_03a754a8d6ded289016ab41ea97a1c87d0b60bbf4410503f22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"right_x\":0.39,\"right_y\":0.26,\"right_z\":0.15},\"note\":\"The white toy is visible at the bottom of the left basket after release. I’ll park the left arm and bring the right arm above the tan toy near the center, using the right basket for the tan objects.\"}",
  "call_id": "call_RpkPZtCeYGEzf6p7FOf03wK0",
  "id": "fc_03a754a8d6ded289016ab41eab114887d0b1028d88e810f8a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RpkPZtCeYGEzf6p7FOf03wK0",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.1604, 1.0256, 0.886, -0.6594, -0.2546, -0.1703, 0.9967, 0.7998, 1.7317, 1.1637, -0.2413, 0.6128, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.306 left_y=-0.0008 left_z=0.1905 left_yaw=0.135 left_pitch=-0.2085 left_roll=0.071 left_gripper=0.9967 right_x=0.3834 right_y=0.2539 right_z=0.1362 right_yaw=0.0313 right_pitch=-0.0743 right_roll=-0.028 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.8513, 5.8735, 1.6435, -0.0464, 0.1685, 0.1245, 0.5265, -8.5538, 8.7863, 1.3993, 0.5055, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197922e43e64055355446aedc85593ee517c73e0afd0cf35138071008ee8da65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8cbbcc3a190940878f2d027731d5640301e5b6c66d6ce930d293a920d71fbfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad9ea52ec80beaab87ce53f9373518a80f165c1ea238a34fac52267e4c25153",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.481 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4877, 1.8595, 1.3651, -0.3412, -0.4454, -0.3969, 0.2119, -0.0208, 0.8158, 0.6075, -0.3855, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4731 left_y=-0.1608 left_z=0.1316 left_yaw=0.0885 left_pitch=-0.1741 left_roll=0.0465 left_gripper=0.2119 right_x=0.2959 right_y=-0.0007 right_z=0.1744 right_yaw=-0.0004 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -6.8991, 5.3402, 1.1795, -0.0708, 0.0122, -0.0171, -0.0752, -1.4701, 7.241, 1.6825, -0.0611, -0.0562, -0.0171]\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]: [-0.4763, 1.9411, 1.3254, -0.2977, -0.4431, -0.4011, 0.9953, -0.0208, 0.8165, 0.6075, -0.3851, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4723 left_y=-0.1544 left_z=0.0839 left_yaw=0.1094 left_pitch=-0.24 left_roll=0.0855 left_gripper=0.9953 right_x=0.296 right_y=-0.0007 right_z=0.1743 right_yaw=-0.0004 right_pitch=-0.0343 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -12.4513, 5.5043, 1.3358, -0.188, 0.0317, -0.2173, -0.0889, -1.3607, 7.2547, 1.6874, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1604, 1.0256, 0.886, -0.6594, -0.2546, -0.1703, 0.9967, 0.7998, 1.7317, 1.1637, -0.2413, 0.6128, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.306 left_y=-0.0008 left_z=0.1905 left_yaw=0.135 left_pitch=-0.2085 left_roll=0.071 left_gripper=0.9967 right_x=0.3834 right_y=0.2539 right_z=0.1362 right_yaw=0.0313 right_pitch=-0.0743 right_roll=-0.028 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.8513, 5.8735, 1.6435, -0.0464, 0.1685, 0.1245, 0.5265, -8.5538, 8.7863, 1.3993, 0.5055, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197922e43e64055355446aedc85593ee517c73e0afd0cf35138071008ee8da65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8cbbcc3a190940878f2d027731d5640301e5b6c66d6ce930d293a920d71fbfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad9ea52ec80beaab87ce53f9373518a80f165c1ea238a34fac52267e4c25153",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_03a754a8d6ded289016ab41eaf197087d09a2575a2cb8c799a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.29,\"right_z\":0.045},\"note\":\"The right wrist camera shows a tan plush just left of its jaws, so I’ll shift left and toward the base before descending to grasp it. I also see that the left basket has tipped onto its side; I’ll avoid contacting it again while sorting.\"}",
  "call_id": "call_IWBg5nAaQ8YuV3dY5ACkHphf",
  "id": "fc_03a754a8d6ded289016ab41eb2118887d0b73a234799a8ad10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IWBg5nAaQ8YuV3dY5ACkHphf",
  "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]: [-0.1593, 1.0306, 0.886, -0.6689, -0.2462, -0.1722, 0.9968, 0.9184, 1.8729, 1.0664, 0.0357, 0.7349, 0.5911, 0.9997]\nstate[eef_state]: left_x=0.3048 left_y=-0.0017 left_z=0.1872 left_yaw=0.1311 left_pitch=-0.224 left_roll=0.068 left_gripper=0.9968 right_x=0.368 right_y=0.2924 right_z=0.0887 right_yaw=0.0142 right_pitch=0.0166 right_roll=0.019 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -3.1111, 6.7897, 1.619, -0.232, -0.0317, 0.0024, 0.9641, -5.641, 3.2889, 0.4908, -0.232, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c491d4601080468e885d8f684c36e690186a2ede25e858f56cbb61cf9862cd46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e648803655d169c053b707ea16f2d2491b71bb2c13503913797f8884cc4fecaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738de62d326bcc51d15792478b6cb4126f494f008c13d7e4e0dd0934af964b90",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.303 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]: [-0.4786, 1.9205, 1.3293, -0.3233, -0.4301, -0.3977, 0.2118, -0.0208, 0.8165, 0.6075, -0.3851, -0.0109, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4688 left_y=-0.1562 left_z=0.0907 left_yaw=0.0953 left_pitch=-0.2467 left_roll=0.0798 left_gripper=0.2118 right_x=0.296 right_y=-0.0006 right_z=0.1743 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -8.9368, 9.3197, 1.5897, -0.2369, 0.149, -0.0366, -0.1709, -1.4564, 7.1043, 1.6972, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1604, 1.0256, 0.886, -0.6594, -0.2546, -0.1703, 0.9967, 0.7998, 1.7317, 1.1637, -0.2413, 0.6128, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.306 left_y=-0.0008 left_z=0.1905 left_yaw=0.135 left_pitch=-0.2085 left_roll=0.071 left_gripper=0.9967 right_x=0.3834 right_y=0.2539 right_z=0.1362 right_yaw=0.0313 right_pitch=-0.0743 right_roll=-0.028 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.8513, 5.8735, 1.6435, -0.0464, 0.1685, 0.1245, 0.5265, -8.5538, 8.7863, 1.3993, 0.5055, 0.1538, -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]: [-0.1593, 1.0306, 0.886, -0.6689, -0.2462, -0.1722, 0.9968, 0.9184, 1.8729, 1.0664, 0.0357, 0.7349, 0.5911, 0.9997]\nstate[eef_state]: left_x=0.3048 left_y=-0.0017 left_z=0.1872 left_yaw=0.1311 left_pitch=-0.224 left_roll=0.068 left_gripper=0.9968 right_x=0.368 right_y=0.2924 right_z=0.0887 right_yaw=0.0142 right_pitch=0.0166 right_roll=0.019 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -3.1111, 6.7897, 1.619, -0.232, -0.0317, 0.0024, 0.9641, -5.641, 3.2889, 0.4908, -0.232, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c491d4601080468e885d8f684c36e690186a2ede25e858f56cbb61cf9862cd46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e648803655d169c053b707ea16f2d2491b71bb2c13503913797f8884cc4fecaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738de62d326bcc51d15792478b6cb4126f494f008c13d7e4e0dd0934af964b90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB63KA4Uykhhf_FizQRxX-CGTZNn9kVnNqOzUV9EUUK15QV9zVKM4pEDRIaUmIc6HC_vqykcaEVwkHsNb0erOyMPp8ec_daj7AoCQMLz3geuWEYHxXjx7j2ZAmlISy7YGeONvjoimFySgaV33KjK6_oS1iwCiKw04zoFbQfajAZAtJZzjxG0u8p3MsOmnUfNqaQT5ZDUtTlgWrudh4YyEZCOfOms1SHw0exo1tE8NV2zr_4W473STe7ADUz2XOukVuDW8au2jZ_0iG6NUErcrCp69hK9LM_gotLPSAMu2UTpGrGBQoLkpGwssyLMIuMySErnBQFGXMqk0PjsPZgLQRjODMeZ-cpMRkv7hWeYNew8C6xHbkt50WKVOYXLyI-jBgYJnGs1jcZdcCH8_AUIHT9JtaM6ylKeDReAkkmlyAFRGrkIPow_VmcT-2qDtQ-r_XUa6XwccE0VJ0qG82reEjCyTtY-NPirxkLy-AYv-9m_EPLDGKip8Hnl8375tPSqqV2-kMk9D47W-6m_fki0znVEdJsmYgwxGHyzKyL_zbv0qYHObjLjRveeC4hHBI9mxBtQ0e2DKJjmnCEBE7k19iCGGjOnXIMV0UOfFVzXd2qHhEkpUO-5nT_bmSSt8nivuyk1HhQWhNmAUiK9kMTXf7kUZzEGNtHlcmvDXCSMHWDtcC1ZM1fEfbqS57KQ2-66lbylKfQP9fpGPzX6k48mt2saJ4Tp60zm8X79ZN5yrpL7kiBaab7FBUV7rYMuOVx4MW2bz9W7989gganB7GzpoBucZwIfZZw68P-DWSK3l5Sli_jFw9HbGMgDfO8-g-GvvfC-8AYmGx_NmMaFntcOEwyeqVi9B28FkMqZWWa2NYnmLVhfYtGwdnNzf37p2Di6uULTz0jzH10WROCFK1ZV7s63fk4120mQm8UypHpDGdl2BoHnZ8GayX0X-RO4ZZhd_Q95-nK9Pg6XkpD8AeCpW6yM8qD0S1AtugbDzH28inrRKA03cc1VtV7TBPiBMqRjc4N5HLnC_nFBjfFIrQYB12euFjzduZ2XOCR77geKuCf3XIGx-JC42O6r3q47hLX63I-1CycAEnFGjxJBzLD-VdL0fZwN9aVeIQ9KO0_o92qFZsMM8hF-CcKrsx7dYQepmzHQPr8GgdfI4fz9SL37Fyw_S7FjLVYKZMjAqH4D2qeT3QfZNZ91pAjG99b3NOGy7UbIBTgFN3Xh4D_Z_QM2DEo4pksDHo2z2YNX3mulYIc9RqPu2EMF5YC799Rh6Ty_rGaSsGq8mPTlRv1Ae7S4LLxzj2dN521QoHX97UXFATYQsa5vopoct0UrZSpikybA5ClinGslcfHstO5jvv3pfox310dMkX1dl9La-BgE3KWbVJbMA41wMm5_Mne3MvOTSI9dg9tXNU4jAI9xjbKB2YNIIie1Lgy5xunQjuTCN_MJeL580OLAB1aItrep6dpnk65r5hjNR1XGMBdT29FrIP59GZcj6YAMfOW4lhOFdICN0RC3GV9cUHc_qWWvP_9jH1kwL6OB8H7-b2WvbR0EY02EztHb6Vr5TylaOXzu3ErZQX73cL8UsrOVhpoSApXVMv6XH933rb4BMKEkrRNWTSaC-xY_fa974tZMq4JLcG1F3shir3jsafq9H2cEHIqQ-ReAz4UFthdDK8VJn6vPK5NUNJnXvQx1T_0Ks34pr4hnY-4o7cxMFRoDus55PJHpWHh3tpyQUPS6lYyNADzp6Ushn7msh03G-WDAO7LgUW2Px7AIrNiAAinfH0TDgcueXhgnyvmntlnAYfajyAthePaEZZO4KKcLO1bSMIvaMqgTQdlxzlm3dGL5f5kp6TnOrsriUfi7zGB0hBCd6BtXsgGOwo68MVZO-TzAvpiCiFL95O7Bc8gwbJLGTpW7leJ60x-uIP7cpVlj6O_KpJ2zoZ1__pxbdJRFlP1uEoj85Ml6onpVAWst6ixEY5W_bCMxGxQtG77qP2XPNOYiBbwi4TWdIHZ76iEDZwfs-pGJi2W7syU00F4LuAGMhflVvN1hQ17iMcC9moUiGUV5ZM1jqEeDrTYckV3Mq8dL0SGEGPSjVsG_2rGCDAH4gMk7C2I9J2nyocV1Td3KNfFLkeBBJp5X7Gsf0-uFxvvZzKf7cca_eaYXgGXaM5wP7SidCywtSePItURkkduRMaAQYNQ3JQf7sFkJ1xPUWGDl5Z8SAuWfwp4CkNN0YTaIkLqe40qzpC_6SAZgQl0-cyAjUcJaREvSb2H2HJYpmA53Et8NhBCI0jkyDuWZ4h76IVahmFeMr6c8IHtvqoxJCtiDRpSrbGjLJw==",
  "id": "rs_03a754a8d6ded289016ab41eb4843087d0814668b9246b1ccc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.315,\"right_z\":0.035},\"note\":\"The tan plush is between the right jaws but sits toward their left edge, and the arm stopped above the requested low height. I’ll make a small leftward alignment correction and lower cautiously while staying clear of the basket wall.\"}",
  "call_id": "call_L0KqemgY5FNzGPiQeDkgAbZl",
  "id": "fc_03a754a8d6ded289016ab41eb7285087d0b8f1b3dd595e4b30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L0KqemgY5FNzGPiQeDkgAbZl",
  "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]: [-0.1593, 1.0306, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.9874, 1.9564, 1.0573, 0.1879, 0.8284, 0.6456, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1872 left_yaw=0.1309 left_pitch=-0.2237 left_roll=0.0673 left_gripper=0.9968 right_x=0.3603 right_y=0.3162 right_z=0.0786 right_yaw=-0.0155 right_pitch=0.1014 right_roll=0.0789 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -2.6598, 6.8444, 1.5214, -0.1294, -0.0659, -0.0122, 0.6632, -5.3402, 4.4376, 0.6813, -0.3541, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa909b92e4178f222b214e2a61bbe3d2de2ca5d3cb08310599c87928a32f92e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf1db1740f736d762d9aeab94917e000350e90a7b40ff0cce6f86adab76d7c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565060908e4f7e9d10223b2ffed4ed6bc5d93c7cffa7bf15530ded8e4f713fe6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.556 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]: [-0.4763, 1.9411, 1.3254, -0.2977, -0.4431, -0.4011, 0.9953, -0.0208, 0.8165, 0.6075, -0.3851, -0.0105, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4723 left_y=-0.1544 left_z=0.0839 left_yaw=0.1094 left_pitch=-0.24 left_roll=0.0855 left_gripper=0.9953 right_x=0.296 right_y=-0.0007 right_z=0.1743 right_yaw=-0.0004 right_pitch=-0.0343 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -12.4513, 5.5043, 1.3358, -0.188, 0.0317, -0.2173, -0.0889, -1.3607, 7.2547, 1.6874, -0.0317, -0.0269, -0.0073]\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]: [-0.1593, 1.0306, 0.886, -0.6689, -0.2462, -0.1722, 0.9968, 0.9184, 1.8729, 1.0664, 0.0357, 0.7349, 0.5911, 0.9997]\nstate[eef_state]: left_x=0.3048 left_y=-0.0017 left_z=0.1872 left_yaw=0.1311 left_pitch=-0.224 left_roll=0.068 left_gripper=0.9968 right_x=0.368 right_y=0.2924 right_z=0.0887 right_yaw=0.0142 right_pitch=0.0166 right_roll=0.019 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -3.1111, 6.7897, 1.619, -0.232, -0.0317, 0.0024, 0.9641, -5.641, 3.2889, 0.4908, -0.232, 0.1001, -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]: [-0.1593, 1.0306, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.9874, 1.9564, 1.0573, 0.1879, 0.8284, 0.6456, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1872 left_yaw=0.1309 left_pitch=-0.2237 left_roll=0.0673 left_gripper=0.9968 right_x=0.3603 right_y=0.3162 right_z=0.0786 right_yaw=-0.0155 right_pitch=0.1014 right_roll=0.0789 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -2.6598, 6.8444, 1.5214, -0.1294, -0.0659, -0.0122, 0.6632, -5.3402, 4.4376, 0.6813, -0.3541, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa909b92e4178f222b214e2a61bbe3d2de2ca5d3cb08310599c87928a32f92e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf1db1740f736d762d9aeab94917e000350e90a7b40ff0cce6f86adab76d7c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565060908e4f7e9d10223b2ffed4ed6bc5d93c7cffa7bf15530ded8e4f713fe6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB666wRvffXy3EtGvVaErkfnp9EbfQ-UMzILmDkJe9FKmRh99ufcmhsMDaYO6pOAvsM7uxLkOF5ijjSjZcF_BZTd9aU8mGJZBZt7SslUOTW00U7iBnh27gCV1-OiS8KKjmEAVWbVAeM8PBYjRdige7xsAUo71DuhpNcl4wk4ksUyj4TkhVgCclMigDWxpyJUcDeu268GySuCfyt5adWP3LuvMTyTFOGybReUOxO2a7gYhvP-RVkXiAJSkq-QDz_2VHBLQ4jNTH6y6llK32dpjzSoMl65AfWogUS949OUl9jXJ0pVPMFvxHgSW9U9rP9seKzOyOy7Xk91uQG43K2n8UvilcqtJqdoTMoQKeseW0yPx9kbHuR6pSrU-iuWWuwjJNxlkaC8uwXkYO9f_x3bTIQWfGNIwEWweWCQks5xvshkOlEsHxO9ROwHiw6rJh9MfprC2bpoBGnf_ayfBbTvXhs4djqDT0t_0qXI3Z6Ijpa9ZjtFLorBJsjzhYa104Lkoeg2NjloToY5woMLXASqE1ePaEF6jyHKzZyffPyUDUA7aiYwbmLrkVIepNKpTstSdzx5kuNdRGv-w4bDEOMrS-xjO3MEvDkQoC-VPFL14qvSRwZghBGhQ0KB87t5nicaAhhUYPJ8ib7paf2-JXYIV6hQTPw9s6xulTQfsEXRBO9SJuPMBlfLRfBm-38bMwXL-ZQL6LTp5r1rb171OyOOAFtmceReRqt0cbL-l2CHpRvIjiQAO6oIjqPDM52iJ--OIhLa62IB0XoVVAM6ZjbTjLfNhMa5KTHP3y-BjbFRcYSmmK05kaPyttavwLGPwzNB1HAIgA1Btx6eK8cxpb9nKT5AxT2v-ZZoEVHOaZyfD0GrVJgLCKTrngwsWolYDehUtm2CNWCjGd6TtdT7nuW-lOn5ulO30CKWc-MwRh4JlEVRe6Eq1h_c8ZX6xwJMCBYYzSdaXd13HniEQfdSj6w2GXbQZA7wS2GYJvaK52Faq6UmljnfSKqaXjfzRIYfRwyF6GDzVymetpqXkRcR8F0HTu588GA3zPKbyf-hgKNVwwn5psNyBsr4L9NkUzKT0PocAcpPaTRzw0z-ldO-53PTBFuEJedmCSWvlHO-hk7xPuBbsmGrdBN3qaB40oFlvUjxCBU8OlX3jd_2AxWvTcF0g9TGecnE9Ym6eLsxcCUjcUghxOLCMN7-ZEa_GLVYDDKIiJg4NGLcn7U6FlsIiaUrZ5K39dcu-abWbpPYVhvWNfi5Ixg4mNV-FD-_ZbXWFiD0zQut",
  "id": "rs_03a754a8d6ded289016ab41eb9b2f087d080ed8a437eb163d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan plush is now centered in the right gripper’s opening and the basket wall is off to the right. I’ll close the jaws and check whether they hold the plush.\"}",
  "call_id": "call_uKr7ahgtsFSvm9K8i5WTn8i5",
  "id": "fc_03a754a8d6ded289016ab41eb9eef087d0ba531424f51336ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uKr7ahgtsFSvm9K8i5WTn8i5",
  "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, 1.0317, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.9743, 1.0565, 0.2394, 0.881, 0.6582, 0.0517]\nstate[eef_state]: left_x=0.3048 left_y=-0.0018 left_z=0.1867 left_yaw=0.131 left_pitch=-0.2255 left_roll=0.0679 left_gripper=0.9968 right_x=0.3613 right_y=0.3175 right_z=0.0823 right_yaw=-0.051 right_pitch=0.1467 right_roll=0.1011 right_gripper=0.0517\nstate[joint_eff]: [-0.1709, -2.5778, 6.8171, 1.5263, -0.1587, -0.0659, -0.0122, 0.5675, -5.9145, 4.465, 0.525, -1.072, 0.398, 4.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda61c614383e6c022e97787a285c41475d8c363048ea00af17dba5077c50609",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2e28ce57da4d412356db068e9700fa4bd04e43de8f6611023ac3aecaeca612",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a634a50192b50a5dec2757b62a2921b74a52786ac21c8e4f47a0b58c616e40",
      "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 22 attempt 0 · /responses · status 200 · 7.428 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]: [-0.1604, 1.0256, 0.886, -0.6594, -0.2546, -0.1703, 0.9967, 0.7998, 1.7317, 1.1637, -0.2413, 0.6128, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.306 left_y=-0.0008 left_z=0.1905 left_yaw=0.135 left_pitch=-0.2085 left_roll=0.071 left_gripper=0.9967 right_x=0.3834 right_y=0.2539 right_z=0.1362 right_yaw=0.0313 right_pitch=-0.0743 right_roll=-0.028 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -2.8513, 5.8735, 1.6435, -0.0464, 0.1685, 0.1245, 0.5265, -8.5538, 8.7863, 1.3993, 0.5055, 0.1538, -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]: [-0.1593, 1.0306, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.9874, 1.9564, 1.0573, 0.1879, 0.8284, 0.6456, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1872 left_yaw=0.1309 left_pitch=-0.2237 left_roll=0.0673 left_gripper=0.9968 right_x=0.3603 right_y=0.3162 right_z=0.0786 right_yaw=-0.0155 right_pitch=0.1014 right_roll=0.0789 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -2.6598, 6.8444, 1.5214, -0.1294, -0.0659, -0.0122, 0.6632, -5.3402, 4.4376, 0.6813, -0.3541, 0.0855, -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 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]: [-0.1593, 1.0317, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.9743, 1.0565, 0.2394, 0.881, 0.6582, 0.0517]\nstate[eef_state]: left_x=0.3048 left_y=-0.0018 left_z=0.1867 left_yaw=0.131 left_pitch=-0.2255 left_roll=0.0679 left_gripper=0.9968 right_x=0.3613 right_y=0.3175 right_z=0.0823 right_yaw=-0.051 right_pitch=0.1467 right_roll=0.1011 right_gripper=0.0517\nstate[joint_eff]: [-0.1709, -2.5778, 6.8171, 1.5263, -0.1587, -0.0659, -0.0122, 0.5675, -5.9145, 4.465, 0.525, -1.072, 0.398, 4.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda61c614383e6c022e97787a285c41475d8c363048ea00af17dba5077c50609",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2e28ce57da4d412356db068e9700fa4bd04e43de8f6611023ac3aecaeca612",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a634a50192b50a5dec2757b62a2921b74a52786ac21c8e4f47a0b58c616e40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7B-9aF4k5o-uSkzqEgzgDDrUNUge7NV-C8hT6VXrOlPEZ2Xuxjc-ImH00WvbRdFg-y-fRJumeaBdbed1H0WwDte5cDuzhfZNdIyO5TUxPcFSEM6-GdyNCMJkxTf3fj89ckBElSbovtRYN3nRBoid9DhP49UK2JBOYLRu57T8Vrqd3KNMw5uzzMn_1CtCgzikZR_O6kX61mTVAVR5I9n39Y4jgRI8CZfbnNctSi6rZNj0R9SGE8-07S7gcVNy4ZXtc3ioujZExyMR9lmLHe7TEfM8PIuzQN9cHQ4EFx_7N-TMVyidgBFeC-OD3TmMovbXV70aouMfhhNYqKCT1m8jXLRTaCeVQTVnwTh04sqtzudCVD9mkB4LTiiJecFWhHPkm4i2i86NSuo8xm3ZrEQWG-6Dm7QeMoqzloBW7xxR0ilJ9MqXExjnZpbwbb02TBgTIdtISXYomTtc8Qm-WJp89mlYgz_Jam3SsjEXhmbtlMvhjdehBQJTTbKCwo37nrRLDRSFz-w_WL1LOsO8rILwXIqHFsxlqQdDNC4Rs7Y9UucjviMDJXxChfg9TMg6Y5lgK_Wtt36fd7sg-xEcNh-Csx0OEq5DtIyqzoLeQtN-zwf9h6SHuGba0dYOdxysawEMVqFirLBh7sxFc8jR72GEsfclhp0wGmiT-FT5OyKiQSqddQRlnLVUQ-eg9vxu3zv3rpuvKtrhyi48Cr9D9_JpjC6H5aO90-vqahC3WSOFY88_raUVgZg72OovEPPpPmEWVaNoVCnCv0xOR34r-CaEIRsuOSNJ29XPbnHjor5E051tN09Scwz56G8QIgBqDEnYfldKL_diF9KJ7BtHHXYWXoL4VigJPFRlj1x3t0qhfcoZBnXFj0FMIQP-xmWQTmDTDMvD73dPjMncM6vn3ASRWRmXOmlZMEh4kRhNGm-QURIxmBl34cR8vf5qmilDUCvMxqOueAovJG9-kSssCvAAgeDbJeGGwHYExWlFykpnbBBVAsQR7jrtagBHy32gmvtRmqfm4Je4hP07gA7q1MofBt2zZIQSWJiFtzRVkGjPEahArM8rUqR1mdhNLnNd_W980Y06mkLFNojCC2SdNn2-dPP8NImw24KhYgH0BmFxl6blQxj-wfPMZdO8UXFhp2uzg2FN_TGPNAN-ZVsYxQB80NCE852NCec0QjOx6tDLEoYoCz9EeILkyoblDyThb2YtMWfc1hhUr5_mNj3O-yt94Vuh4u_HBUd8PrgoNx-XQ_FM-llSnoyYt4ggMCr9Ym_i6f6chnnaZv0dcp-QPAX28HM0mow4Ny3M-VrEjx9TDXIyokInG6ZDLZ2ASgvE0qGdOdNVAna6C2QEU8gyfyumcegZ1V4tvulNe9JW8Yfq57ok3mNUR-CwUCAol45AsKsF2F5c1YvJl1GTG2vlgCenehSfgP3qgMjjJRazdZBcejkqIbkqOA-Xh81BsK0nLRFP_CVq04h3wBVQJamQqGmnKPpsdsKbk3b2nkUzLRUcdEe5MBNHSqBqErDCg2TQt98CPpI6NX3saZp-ZMO9aOop1h_Lgt3VewxwHPbs3M1h0-atlQWSE2FDQr1QksYmuSyB2Ba57yuaaBAtPlierykhTSVoakKkRxhiJh0RWBSD-EIjI=",
  "id": "rs_03a754a8d6ded289016ab41ebf375c87d0a54d7e1453fbf6d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stopped only about 5 mm open and the tan toy is still visible to one side, so the grasp is uncertain. I’ll lift to see whether the toy rises with it before approaching the basket.\"}",
  "call_id": "call_WXzEFTtoO11ywbpDiieRIi9x",
  "id": "fc_03a754a8d6ded289016ab41ebfe93c87d08063489a31f5c4c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WXzEFTtoO11ywbpDiieRIi9x",
  "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]: [-0.1593, 1.0344, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.8664, 1.1767, -0.0601, 0.8433, 0.6529, 0.0844]\nstate[eef_state]: left_x=0.3051 left_y=-0.0018 left_z=0.1861 left_yaw=0.1312 left_pitch=-0.2277 left_roll=0.0685 left_gripper=0.9968 right_x=0.3572 right_y=0.3191 right_z=0.1273 right_yaw=-0.0139 right_pitch=0.0891 right_roll=0.0473 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -2.9607, 6.7761, 1.4676, -0.149, -0.0513, -0.0122, -0.253, -13.5043, 9.5932, 1.4969, 0.8767, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85067ee6370aadd52c7db38981f0d27bd9ae849832a4a0d2b26cf588ddb9f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372d93b6265e2c48ca4582d88e013f797fd32e64620280b94b5aaa837453f959",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daca205d0ccff3d5839655270af2c9963d7820ca278517d7509159529852e6d6",
      "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 · 6.922 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]: [-0.1593, 1.0306, 0.886, -0.6689, -0.2462, -0.1722, 0.9968, 0.9184, 1.8729, 1.0664, 0.0357, 0.7349, 0.5911, 0.9997]\nstate[eef_state]: left_x=0.3048 left_y=-0.0017 left_z=0.1872 left_yaw=0.1311 left_pitch=-0.224 left_roll=0.068 left_gripper=0.9968 right_x=0.368 right_y=0.2924 right_z=0.0887 right_yaw=0.0142 right_pitch=0.0166 right_roll=0.019 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -3.1111, 6.7897, 1.619, -0.232, -0.0317, 0.0024, 0.9641, -5.641, 3.2889, 0.4908, -0.232, 0.1001, -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]: [-0.1593, 1.0317, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.9743, 1.0565, 0.2394, 0.881, 0.6582, 0.0517]\nstate[eef_state]: left_x=0.3048 left_y=-0.0018 left_z=0.1867 left_yaw=0.131 left_pitch=-0.2255 left_roll=0.0679 left_gripper=0.9968 right_x=0.3613 right_y=0.3175 right_z=0.0823 right_yaw=-0.051 right_pitch=0.1467 right_roll=0.1011 right_gripper=0.0517\nstate[joint_eff]: [-0.1709, -2.5778, 6.8171, 1.5263, -0.1587, -0.0659, -0.0122, 0.5675, -5.9145, 4.465, 0.525, -1.072, 0.398, 4.0415]\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 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]: [-0.1593, 1.0344, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.8664, 1.1767, -0.0601, 0.8433, 0.6529, 0.0844]\nstate[eef_state]: left_x=0.3051 left_y=-0.0018 left_z=0.1861 left_yaw=0.1312 left_pitch=-0.2277 left_roll=0.0685 left_gripper=0.9968 right_x=0.3572 right_y=0.3191 right_z=0.1273 right_yaw=-0.0139 right_pitch=0.0891 right_roll=0.0473 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -2.9607, 6.7761, 1.4676, -0.149, -0.0513, -0.0122, -0.253, -13.5043, 9.5932, 1.4969, 0.8767, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85067ee6370aadd52c7db38981f0d27bd9ae849832a4a0d2b26cf588ddb9f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372d93b6265e2c48ca4582d88e013f797fd32e64620280b94b5aaa837453f959",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daca205d0ccff3d5839655270af2c9963d7820ca278517d7509159529852e6d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7ITeZcdJEOwLmDMbrlTGQONaOEJqaPMJyl_SzJoExd-EvqDoBHIOAGepDaTpJKqTZXVMVek0jRpQQERHvRD7OCFnkCkBVrntYnoHrn8aN145B5spG8DU4oRf5sgQB6K12ChmgI1ZVXTg_f29cLnE-ASrH_MMXDVIOzeK8tjLifA87Gjg9zyd89JebyoU9weITD0ybEqhgKNTjhIY5hw_HugRwCHiL2qLQIho8IBy0xrQ8UiNw9DHIgrWKoPxXo8UN695cx_8f0OlOfHMFC8vnR7d3yWBmoMWsDO08UePp4y-MZisscL8ULtGloZB-ZWVOE_R_PUNrJh_pVvrnxl9flAVFtSnaM-VgRg7_3whku3SjhDUmjsF4fNMBSQmwpZ9Csi9N8xxchElp118lC28CC2nIXfVX9pPrMpBjrOdjJn2bgXaniFyPaUKh-uYm2ikG_ff5KIcEFWipqg_DvhwljiO3Q1b10Pv6jxrgFDJRLi68URpgzJft8ojJ8gzskwFRAaH--iCgt11NOi4gl_Er1cAOYede99Xke3e1f4wzYuScRwXHeN7pDwAVnWcTSITnxHBNtdpYfH-0vUJOMSGQ9Mrhj7-v9Eclt9Avz2D_Y2zHWTrnUVOEBgGlUf6NJBI8fLC8mt2R8tGIidTRb1K0uPKvE0s_ij6VmHux_2NJoFAjlqDpcyl42YwjrQceemzh2HQz_y_BRRC8Th5t-y5dGXg30NTso-nPxF_611GcleFp-8es_g7wiiHfn28toCc_N52qY0UMm6XIubq5rtuNyxZazW-qNxaYaF-maRBkwaXv9mrxBkizrThUSANJm5csbROtOWKYum-KH6qdlNvHgy9i6OKdIZhc05BYAAVlYVoIbikuOvLqlqhQfdN60RbpYxlKtRSjVwYZvs2hLV7YQ17vjW8pWMpxxtPcg1e9MU9sWK3Q-aRsyhC2hDmJl4dr5RKUv19TczR8_DRb13BWl0sTlje0QN5xLOCvuKQJo_7GTycJh0P3ltnCHmmuaYmGMtEX5o44TA5VrQMois85hpA28YSUXQ0xG7TxXSV9yCSPROxJwfkYG390HPJpIQrtl8X-_OQWeSguj_GE9nXhVYH8NZ48NRra2Zdr1TTEHR1suqSTq6LEAqqIDM1k1oUlTBge4-WMY8ySXs352sWXXj_tiARGh6f2JPPRsCLENhfS2cjS4zsTqfHkyXaWjNYLISdjhdGb-xghNBKeCD15RkU9OKdQTBiGtE6aLdnQNDWm-o5Qd5AtgDXm15q1YRYxwXRPhNdb_g4Mipz9AkewBXy8nn8vOwj7dmYIC_kscRe88U_yv9l_2KsdX_qHYoT_sbmMUVq_4LXOt1hMoRAVuPDpRZzk2CjpODCBxQ5VPf69NZ8WsuqgVMhZfriTksK-GCgoLBBvARgmVbqrbA-XYigkFgRn3e8ZqsMF1zfxm9wcrIjR8aeGis6APCaMGAvghTv00jxzM550Zi0e4GlrCYuGNEA6KCtu10PAPuJ6OPnR6cHJkBxSqxrJFjR4W3KbunoPfiA8aztGKyDZr2H-SmaJJN2HVfAOvWdRSkBvvUJ7DPDQabLiNJWgFoH7DQMWVthC0CDeeHxPKVm84paih_zgIN9UEYEFelB3fW4cYKiD82mPRf_rUTrT3UnKKsWcKz9yPcp8Kc0k6ACX9s1zDJhfv5Nl67nZwyA7SNwPnV8RlQ1FDdahNi0hrTcfrGdhInazH9Lmi12WL2tVcsr44Ei8YSHfvu8UEgMnuYR2CmtUivrSUqjKvBw9eWIjvp_IVtHC3E8n3hVAbB-L9OoAGTsJ7dsBHgdaTISx2WUG1fQeUR3pBOsbmSdgNEQEWpCJzMo2RPmxqkFhQiHrZ7FXWJUu-zy5U9UfB7lYiON5ez9f2rA5LVivqLO7s22-7J3RPPDvLNOzG5zOjbWagJ6OyLBoYsLD6Gu7SmVNxw4RL7y9LfkEbDZ_1_y_mutafJ4wl-k5x5yB4I3qJwXdhHRYAdpaJHjTOvkdqBHJGzXXzaNP8E8JtU-OJZYBjFFVwNRweUpqh-pFISqABJAaeqz5tXZp8YofPFvgCncXjYBoeHnPzgmFPWq987h-SC-sLoUV4bFtfF05MKrZlRR32_kOLFbz-yg0uTgpkSiJz1-OutN7bZRa9cVEvJ6m5gNst-F5Kr4tfOAqS4tHBAP0mVK9UHE4HSd6d0qTSrRZDrwkXG2pWGYDAIFqyhiO9p01-Q4Vp3BX2LbJ-bURiUyXvY5POfU3Od_8p1FFJNgp-zjo_PiaP4k2Bqj3fgGsohXVwudaooIGBqjMrkoUua4v4L1hvhA9b571zLzVMRp1wImrtJ0rSAd8VpaqouflizyUVK8EACImvYYzTQxXsWQHMd09m_aOogzPhzg0Qva2U9-V51607HcDY1pgLsjIOmm6-UfFwTpd_bbML2Yl9UL8KMbd_ZUUaJzt5sVZcmMZ1g1KzrSFIlfo85L143_hHpo5odbx50PkDylTVQUzqQ9r97pKcSXC4rQ7ltw_ZoToh_f5kBcaZQeOfWeoD4lDcHRh1zE6X8AnqK80L7wfm4-lCyj91bOSnXLPu3HkIc5GB2DaGzEDVGGCcGnlo10qWSloB_PZEVpf4DSPN_TJCNaBGXt7jyWbZF63tfee07huy737njiz32PlN_fWS2Oso_CWt5yJa1kGdKTjfH-RkichN7aJnrH_OkZivFOfPIv6JemkPWJRrUDFKl_DWqudmwuCAwbHM0uaemLdKA8HFSG1aLwPc8FPddgc-NbEh4XFzTAt4qWnSr-a703Loa_W2dhaF0yTtrg1BWm2WY1LZGlkwx3KUP2X2Mk-sPTaTFtI5xBiX3GHPBlY-lWe6t-LUgPjP9ETj3q6txsOsi7KEHF8jgd6gr8Ax4tb_USfkoqZIc-peprofljQ9-Iy2IscZSqX9sFSMTuRmkjoyaWuuElBD7N1DUOYFhKuh1HJnFWtpg9NhvW35Rn7yL1BgmFusDb_9imAiEDg4wxST_pv512-9fAozoykVb4wj2jU0n1yCjGiRG9huw_S9jxGPqKbChKj9cdUT7FmkfBqkHIRwBrzoS4AhD9VdrXVUYpE7f5hJePFyLsN3RFsHD06z3LHsyE1JHTYNMw-SUjjSL8FGFFdr0tVvf__UxRMRlEpgR4u_JUIg5yZ18ftl3e3w9cgF7xjmS8IgA_nDdcEGYi7UvSFYbZniyVCNrpTzhbt8CHDvhHsDobhKunAwF-EpcRzSir7LoGA4G-fBEgfVZSMJ-q2Y1S4h0Q==",
  "id": "rs_03a754a8d6ded289016ab41ec358ec87d08ac706301ed51b6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.30,\"right_z\":0.22},\"note\":\"The tan toy still appears near the table after the short lift, and the right basket is close to the arm. I’ll raise and pull the right gripper back to verify the grasp without dragging the basket.\"}",
  "call_id": "call_hY4vquefrBBt4cClUeWP8nTP",
  "id": "fc_03a754a8d6ded289016ab41ec803d887d09c70f351fe5ac774",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hY4vquefrBBt4cClUeWP8nTP",
  "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]: [-0.1593, 1.0344, 0.886, -0.6678, -0.2462, -0.1726, 0.9968, 1.1267, 1.6634, 1.2304, -0.4618, 0.8574, 0.7818, 0.0856]\nstate[eef_state]: left_x=0.3053 left_y=-0.0018 left_z=0.1863 left_yaw=0.1314 left_pitch=-0.2266 left_roll=0.0685 left_gripper=0.9968 right_x=0.2928 right_y=0.3128 right_z=0.1818 right_yaw=0.0415 right_pitch=0.024 right_roll=0.0294 right_gripper=0.0856\nstate[joint_eff]: [-0.0889, -2.5094, 6.9265, 1.5409, -0.1392, -0.0562, -0.0122, 0.5949, -10.9197, 9.9077, 1.3944, 1.0525, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e259562f4ea288132ac4cae137f99f15b81c28b235816eede6dc8aa93a1b03cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8216793dacc3b07de861067c77cf320469ab975274d173adf087f96a7fab23e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8869a9c5c1418551eb41877b42aa38712d445bde81e9b4c731fb48e2e863fef4",
      "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 · 5.327 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]: [-0.1593, 1.0306, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.9874, 1.9564, 1.0573, 0.1879, 0.8284, 0.6456, 0.9997]\nstate[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1872 left_yaw=0.1309 left_pitch=-0.2237 left_roll=0.0673 left_gripper=0.9968 right_x=0.3603 right_y=0.3162 right_z=0.0786 right_yaw=-0.0155 right_pitch=0.1014 right_roll=0.0789 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -2.6598, 6.8444, 1.5214, -0.1294, -0.0659, -0.0122, 0.6632, -5.3402, 4.4376, 0.6813, -0.3541, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1593, 1.0344, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.8664, 1.1767, -0.0601, 0.8433, 0.6529, 0.0844]\nstate[eef_state]: left_x=0.3051 left_y=-0.0018 left_z=0.1861 left_yaw=0.1312 left_pitch=-0.2277 left_roll=0.0685 left_gripper=0.9968 right_x=0.3572 right_y=0.3191 right_z=0.1273 right_yaw=-0.0139 right_pitch=0.0891 right_roll=0.0473 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -2.9607, 6.7761, 1.4676, -0.149, -0.0513, -0.0122, -0.253, -13.5043, 9.5932, 1.4969, 0.8767, 0.0073, 1.033]",
      "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]: [-0.1593, 1.0344, 0.886, -0.6678, -0.2462, -0.1726, 0.9968, 1.1267, 1.6634, 1.2304, -0.4618, 0.8574, 0.7818, 0.0856]\nstate[eef_state]: left_x=0.3053 left_y=-0.0018 left_z=0.1863 left_yaw=0.1314 left_pitch=-0.2266 left_roll=0.0685 left_gripper=0.9968 right_x=0.2928 right_y=0.3128 right_z=0.1818 right_yaw=0.0415 right_pitch=0.024 right_roll=0.0294 right_gripper=0.0856\nstate[joint_eff]: [-0.0889, -2.5094, 6.9265, 1.5409, -0.1392, -0.0562, -0.0122, 0.5949, -10.9197, 9.9077, 1.3944, 1.0525, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e259562f4ea288132ac4cae137f99f15b81c28b235816eede6dc8aa93a1b03cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8216793dacc3b07de861067c77cf320469ab975274d173adf087f96a7fab23e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8869a9c5c1418551eb41877b42aa38712d445bde81e9b4c731fb48e2e863fef4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_03a754a8d6ded289016ab41ecb191487d0a2a9bd744441d9de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.19,\"right_z\":0.26},\"note\":\"The right fingers remain partly open after pulling clear, suggesting they may be holding a small part of the tan toy. I’ll carry it above the upright right basket and only release if the overhead view shows a clear placement.\"}",
  "call_id": "call_kIjsVhj44Mk8fg4sPHza36zu",
  "id": "fc_03a754a8d6ded289016ab41ecf2eb487d0ab02e9d5e221db36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kIjsVhj44Mk8fg4sPHza36zu",
  "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, 1.0359, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.5564, 1.6444, 1.3983, -0.4435, 0.4156, 0.3275, 0.0857]\nstate[eef_state]: left_x=0.3052 left_y=-0.0018 left_z=0.1856 left_yaw=0.1313 left_pitch=-0.2292 left_roll=0.069 left_gripper=0.9968 right_x=0.4353 right_y=0.191 right_z=0.2266 right_yaw=0.0366 right_pitch=-0.0614 right_roll=0.0123 right_gripper=0.0857\nstate[joint_eff]: [-0.0889, -2.865, 6.8171, 1.4676, -0.1538, -0.0464, -0.0122, -0.1983, -8.2393, 10.6598, 1.9023, 0.398, -0.2027, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e20246e236e384ece78bd2478c015e9e60970d4bd8fdfe3f56aa0c5fa856a617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f794d5b06c6526bf3de85f0030d682d6681f5674ef75910ac4eee52f6c8f7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6193fa17e3337b913342c5fdb8d5bddddfbec08b9e0c9426459b68f0e6006e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.276 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]: [-0.1593, 1.0317, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.9743, 1.0565, 0.2394, 0.881, 0.6582, 0.0517]\nstate[eef_state]: left_x=0.3048 left_y=-0.0018 left_z=0.1867 left_yaw=0.131 left_pitch=-0.2255 left_roll=0.0679 left_gripper=0.9968 right_x=0.3613 right_y=0.3175 right_z=0.0823 right_yaw=-0.051 right_pitch=0.1467 right_roll=0.1011 right_gripper=0.0517\nstate[joint_eff]: [-0.1709, -2.5778, 6.8171, 1.5263, -0.1587, -0.0659, -0.0122, 0.5675, -5.9145, 4.465, 0.525, -1.072, 0.398, 4.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1593, 1.0344, 0.886, -0.6678, -0.2462, -0.1726, 0.9968, 1.1267, 1.6634, 1.2304, -0.4618, 0.8574, 0.7818, 0.0856]\nstate[eef_state]: left_x=0.3053 left_y=-0.0018 left_z=0.1863 left_yaw=0.1314 left_pitch=-0.2266 left_roll=0.0685 left_gripper=0.9968 right_x=0.2928 right_y=0.3128 right_z=0.1818 right_yaw=0.0415 right_pitch=0.024 right_roll=0.0294 right_gripper=0.0856\nstate[joint_eff]: [-0.0889, -2.5094, 6.9265, 1.5409, -0.1392, -0.0562, -0.0122, 0.5949, -10.9197, 9.9077, 1.3944, 1.0525, 0.0073, 1.033]",
      "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]: [-0.1593, 1.0359, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.5564, 1.6444, 1.3983, -0.4435, 0.4156, 0.3275, 0.0857]\nstate[eef_state]: left_x=0.3052 left_y=-0.0018 left_z=0.1856 left_yaw=0.1313 left_pitch=-0.2292 left_roll=0.069 left_gripper=0.9968 right_x=0.4353 right_y=0.191 right_z=0.2266 right_yaw=0.0366 right_pitch=-0.0614 right_roll=0.0123 right_gripper=0.0857\nstate[joint_eff]: [-0.0889, -2.865, 6.8171, 1.4676, -0.1538, -0.0464, -0.0122, -0.1983, -8.2393, 10.6598, 1.9023, 0.398, -0.2027, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e20246e236e384ece78bd2478c015e9e60970d4bd8fdfe3f56aa0c5fa856a617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f794d5b06c6526bf3de85f0030d682d6681f5674ef75910ac4eee52f6c8f7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6193fa17e3337b913342c5fdb8d5bddddfbec08b9e0c9426459b68f0e6006e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7Wu5_afnMC30lWLJ6b2n1TcyKApsZD9bFd5MFAKYSzuC9t4dHZoVZkGZnAAO6-WyUQc3SCXPCCyzRW0Es0-FpxvhQmNZTrie7nZSmOsxaZnABOm0PiJQdo3nULIfOkbh2ZBpPWtb6DGbXXVC1pxqhYM8qlErEe3fb9mB-xjvphuxm4jPF9n9-MhR164pYe6R0zu96VrLV7ETIN_ps-k2I9E77S7GRvh23EabRhL-vGDRtPKAzK0JWDV8DBWzvJrqI2yq2rm5fCOy1FwSiK6Cpwi1u3SWoz_hf1MjILDBVTMkitiZSZyzRUyzsibcb7tZ8iO35PCfwKkddjOaMrBv3a-xcgIEX8hLO5MHpnVHBvMC4SiQ3Zcj3cZjryWCsQmhcra50adU9Zdw9WPMX1hyuXF1yvRoAIpDev96qrrWUoXWZYo7GIdrMmpbDiOMEWoqxAJ9h2NNiePEEFPFLncE_seA4h7aIeWKSU8fmN3RSJcuan423yzJYAXiHMOGUA0O2MFdEF4sM2y-ukNqsg__zpf3tifQzJuEhXSkF1DzLUlPxWH7boI41uKvEiaNbOnty0FH-7pwpda5rq1Ouc3Oab0fzHVth1PVepYxxHh5JYQ2FAPhDSj7ca2B4Vff1LoWJpSZa4lnq3Azldckr4JrTx0pLgUjern1wTP4ipwc5BrAvMdkf1sB41-WZVO-_NvXLvha2UyYngGCW6dC3faxa8nPtggibXftVDIoJtliLwxDv2ctlLxhp0mlJE56tZKue33D8JWHcrbTlbu3tpHt5u74yjNrlhTzQBG1-7krzIDv6Zfccmu8dgJjt7gQv8IE5hy-vogJ_ttSKoKecGkbG78WqrHvdFgPneIC7psDFg-DI4LYvDBvPpjT5pYNqT4DGiX8k39vn-hOcHpY00oDFsn8Q1cvxXiIM4vjMlAa0yPTkuwcI_vfY4XEHVcE1YRucD3QmgXfgMTuiC_26Ln5aFiXW66mJ3qkfWYSyeZz-oOuSFXsPub1eUa4JMzFW0K83PCbljKsr3AEny2-BYmQ7Fgx-dAX8fF46XhcLcAE06S4PLOvcJqBpnXwrlU7iqol451oAmB6J2kLhfWKs-jl0vhUwKZqf4xBWXv748OzCxXP4fBsL86LqgCJh7wO9bS4dSFvJ51GcfgSZNmL0Mz2jSvzrVKo96xVrDVK1isSTxRmBGZh29TgPum6hzkG-PFYecS5hk3WI3AwyHuYXIlYffPzkFoWcigkei5yHlXXTXqTvIfxSBO8AfNCLAR-atO82eKAxQIStb1aMI1vhI97HHSL0Jb5wNBwjOHK2NVtF72yR-3aUKUMBEVPmQN26G22vWsA8uuprd8W_PEx7GXLxW4upQqKEb0i-DJfdldH7Oh0T4m9vsPtNQSSe7WsarKIpVbZSuzuB91slruEXnG7Bc3m3tr9vDDz9_2UfjEmNxbS-wHLLby_-ysNjxSyRTjzuK8k8nGMyKcDBaBeG-tGXGzkQbfo2rumT7oFGI5ZaJR_9c1wqH-vD7msH5TJy5E5cBIrVdXVv0zlRjb3ydEs8p-wTXZo05yvqYXJ7VT9HesepQq1q5nmXjgIK7fdFMESb5iWID8RqcztKatld6VrN5bGdmm-oevt571zKqHW9HHtpgKiTjLI5SVTtBQrNieLPtrU3ziqaEPuuzEGvJVExnJ8yuDFL_g-lC9gHVnKadCoTIwkteRN0cVzcpoAS4VdbvEpAk4TOofpAhhybFn5dW1TU7ZnyWnmVDnt0kmO98AwejY0LLsBwml4wHV-Lm7smnUTBTshyJqcZh4yxyfZwUWm2XipPbG8tEQnLRaqQ21xPQ_AlfBFAxWTqXCmcOx2CKoK0NrHDuOlNLZPWsGk3uLm8bgBZYcC_1GXIph0aPVn1U6nPyM9tkfeLkv8cRRHtiDaVOdU61Oh6rkmPG_OFXfgORR7HmYstBIIoU0Tw_dRJIPkR35rhGPO-NxqTHs20jPqYpPibhyTcAmwNyihbdoABoetcE0AujtXp8-9-XhoV7OS9oAVg1D63ymuI_BPLA-OHAZz0NGtFpSjc2s8bPKYux9FA5CfJ-hmeErIQ-eDBC_bzF5m-zNO-tiJ8wIvOPYfzi6DQQj7dm1m6R86-EFswSSKAxMs3DEYP0_mOYIKm7exGrLSZzcrKU7gHuI03Y86oMYFjtlfe8mJC3UzYTLLMe1KAfN6vqUTmYgNvPFjaI2luU4beIpmhM-I2emdEiWUHIR8_35tZnhceMvkB0uO-J1Azzm8cIa0C8gcOoHkepkJqVeae5QJVqDf_tUeijuar4szZkObbCCW5SpFO0Xnj_dyMA3Sm54U6jFHJ9Vm8HKIVczAHwfE1XfdKpFydmRjPi2lBp9sUnp3Qu3YMu24mujdgzjE_UL4slCyYe-HEtfUu2kzd9lNiAQs2iQoCDCrWk1IJuBHY7nBonnSWqz7w_bUMpf11i2GOIXNipKDNfmUVsnxMU_l8dm8B43DU-KScFZUoTf-WxKjf3Pfgzy1bCKSAh8Eyd15H7KygHNjc86DT78hijxGmlCEMf2N4EDOVkiZPERzyQrbJvo7CHW8QYmBM6dx7HCJnRnt_KdtPmnsv-fNjVbT7OHdZfkyqTOsvBGH2wClw7l0ax3OxudGQHT1XWU4qO1pKlv8CvIVD01YDVsI5EMTIk5FqNp0u8m52DB24-2LjOTSO6DwWn1Zt5RgyZp_1Ph-TYdPMJTNDgDACP95wF9Uk4uzsrw97wnCaX2E3Wzhfb9UPKsrOvs8EZhpxoZFjt0zzOakmfmARnX3v6o32qmn6IkfRVRhTNmjKD3alDtCy1FxO-Z-F1gfTZl1ql_jOhll-Tq4HDV5jgrXc4abDoN81oLBs8wwtm62zFR1YhBTFRPYjb1yk4Qw==",
  "id": "rs_03a754a8d6ded289016ab41ed2ca6087d09cb2bf505da9535f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.12,\"right_z\":0.27},\"note\":\"The tan toy is hanging below the right gripper, so the grasp is real. Its body trails toward the near side of the basket; I’ll move the gripper farther forward and right so the toy itself, not just the fingers, clears the rim.\"}",
  "call_id": "call_aMtBCAPrWLpKibh9RXwRHRAI",
  "id": "fc_03a754a8d6ded289016ab41ed5d87c87d0b0016e4a2db672c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aMtBCAPrWLpKibh9RXwRHRAI",
  "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]: [-0.1593, 1.0397, 0.886, -0.6693, -0.2459, -0.1726, 0.9968, 0.3111, 1.7817, 1.6386, -0.5976, 0.2249, 0.194, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1845 left_yaw=0.1316 left_pitch=-0.2332 left_roll=0.0702 left_gripper=0.9968 right_x=0.4919 right_y=0.1206 right_z=0.2313 right_yaw=0.0175 right_pitch=-0.1581 right_roll=0.0022 right_gripper=0.0864\nstate[joint_eff]: [-0.1162, -3.0974, 6.7624, 1.4725, -0.149, -0.0562, -0.0122, -0.2667, -10.1538, 11.0154, 1.79, 0.2125, -0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ed734dd014b3a92fd5f0ee72fedcad5b284fe414bd724a51bd47669eb66d64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:371190b96c9a26aee5d2f4b7d5049d4f07a91157e089c32b2fe96f5eb72b607b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d9fd14d17a23e386c7217269f7c0c9a3891b954af5a77e5065b68624f1d6a3",
      "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 · 10.56 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]: [-0.1593, 1.0344, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 1.0004, 1.8664, 1.1767, -0.0601, 0.8433, 0.6529, 0.0844]\nstate[eef_state]: left_x=0.3051 left_y=-0.0018 left_z=0.1861 left_yaw=0.1312 left_pitch=-0.2277 left_roll=0.0685 left_gripper=0.9968 right_x=0.3572 right_y=0.3191 right_z=0.1273 right_yaw=-0.0139 right_pitch=0.0891 right_roll=0.0473 right_gripper=0.0844\nstate[joint_eff]: [-0.0889, -2.9607, 6.7761, 1.4676, -0.149, -0.0513, -0.0122, -0.253, -13.5043, 9.5932, 1.4969, 0.8767, 0.0073, 1.033]",
      "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]: [-0.1593, 1.0359, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.5564, 1.6444, 1.3983, -0.4435, 0.4156, 0.3275, 0.0857]\nstate[eef_state]: left_x=0.3052 left_y=-0.0018 left_z=0.1856 left_yaw=0.1313 left_pitch=-0.2292 left_roll=0.069 left_gripper=0.9968 right_x=0.4353 right_y=0.191 right_z=0.2266 right_yaw=0.0366 right_pitch=-0.0614 right_roll=0.0123 right_gripper=0.0857\nstate[joint_eff]: [-0.0889, -2.865, 6.8171, 1.4676, -0.1538, -0.0464, -0.0122, -0.1983, -8.2393, 10.6598, 1.9023, 0.398, -0.2027, 1.0232]\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 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, 1.0397, 0.886, -0.6693, -0.2459, -0.1726, 0.9968, 0.3111, 1.7817, 1.6386, -0.5976, 0.2249, 0.194, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1845 left_yaw=0.1316 left_pitch=-0.2332 left_roll=0.0702 left_gripper=0.9968 right_x=0.4919 right_y=0.1206 right_z=0.2313 right_yaw=0.0175 right_pitch=-0.1581 right_roll=0.0022 right_gripper=0.0864\nstate[joint_eff]: [-0.1162, -3.0974, 6.7624, 1.4725, -0.149, -0.0562, -0.0122, -0.2667, -10.1538, 11.0154, 1.79, 0.2125, -0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ed734dd014b3a92fd5f0ee72fedcad5b284fe414bd724a51bd47669eb66d64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:371190b96c9a26aee5d2f4b7d5049d4f07a91157e089c32b2fe96f5eb72b607b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d9fd14d17a23e386c7217269f7c0c9a3891b954af5a77e5065b68624f1d6a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7bu-bf6V2QsknzYnWkRkOa7lQJUdSU47BNDLNdl68VmtKbuJwmc7maCybgfkBs7_6DtOEuHMhvlzX-Pp73gtDD5nNnO2taly9bo0rK9qrGkmO8juE6m3ZMfrJ4AEDBNIBc5n7tVAYty40zMaM7wkuuRdnEI1NpjK1E90Y5VYPxL-uBFxBakq8JRftizgJbI_90Q4pdPHNAqChbOXXiWCa1Dyt2fjP_H3YO-E5jjzWWZJrU0NtgdwnJPhSy3o4KPEVu1wcywKvggNVGVQtP8ji-wdCTVUr8urPdnT_pts4rPjx1RwDjQSOo7YeDFhGRjN78ZFwIQ88Gq4lBaS9x2t0fZy8fY4TFJGjmZBpu46PlYQdvZBiuZ3M0wlqSyfItbyeTye_cT1xp0F5wY4JX-epYVVqVNiQAudYxxjsajnHtdOFfem6ew8HKCRaKy0O6nA28IxvO4RvGqU2mnq84PV7bu-HFtjJ1GSY34Qz8rvN6iW5uxtdcHjm3rHOPTCIEWy6aEevRgaowg_vLsYGSJKXqM7YynBEGsFCmriJl3Nw8tilRt2OUpN_jYiOKnLaKKfK1CRpX-1H_3xzuBdJS14zDEASpoan6ZtQE9AgXqPmqHZbW8taY9uv2cNHgnWXbsaCEkG2kwQ5V5tWSWMjNwAedisji82XKVfsVFTFQB9aY7OG_viT0KKRa8WfZs3mKqOcNFeqPN7aQEPWHrzAHPM6onOv2sHdepSBWfLNh4GeEW2exeTL9AvtFpX5MfVhZufii4PXDBHW5w-QzTd7qsS0GD_ZvF1yVRlwATfzHM-U0eI43Mm5w5nkD5wdU64Apoora4Fh-Nyy5O24Sb4Q2zfplmTSYGt0BITlRG6EtSe4fLQq5A6Mkyf5xBNuM2RYABEJ9uk-cpP1S0jDeE4tMD5gTWID4e0PlyjqXibX7yhNukxso4ADjXbGOEgeM2_F2zuC11XNnQPLkBvX1bY1EGnz2aMY4YXta09FozwK3FYy4fHarrEhqolGXBx46rmxQtNTQehRxBVqk7bJSdgSz7IN8hYXRA63uooAHfzcmoPN0oiw6pLN9l6jc46KmRUFsMhgQUUAhEftkS0y0eRtZueg6YetyEn9rKpRVjd9N7_ktcT4e77MaKkQdM-NSWX8RCxRUbbLWSpUF3hcm0UiF3Dzy3dS2YYse_z52zk0xC8udf5vTSR0T4-ZbHdwYAl8HQZLHgekZO0TOm010KL5gB6NmGLSDHbW0IfKbp0Hf122J9mFij_vBLVjT0C9vt0P9_100gJ0IqyUVRix-TceFzZVz7TAppboEU2_v5pldveMuosB1bQvKNa2ZYLAl4w6Zg4O5HvDcTEOfSYIsu5kNSncfQ7xTsC9dU-T5crFjfifx11q-fD310M4dp90sktoOdDdFsocbIP8SM9ch_ced2hxXN-8OsbpSfaf3zXglg__YiWyxznz8CuvDuMwI4lHbh1o_mCDsRfQckr-l5Wy7lmnzwZr2zyWpxx2wAkWRT_mVtKrHXvUzoEDckRoftvzukf8q2QL3l8y8lFsxpcZzzfrefxE6XQ7916sXGzPnXx1BgV0iqa4IsdU27ldokZO2fVwKz7zi5cWakeMhMo_UQf1RoOtWHdUQDrePRWr3W2o9Fn0JtPw0Sj4xh_fHqbfRwtIVjj3oCyYv2ApJKopzZr6kldtcOu6V5BqdJpdccu6BpuJp9DrPVA_BNSNwrd1n4gew_2gcGvKdQS-HdPwB54i0Gh8WX0DYfynbPvXZn1KcnfL6ert7quEqT_3vj2WftPeg6KYS4saaZOQ8T10NOG2JNCNyxxJc92ACC3WYDyyZWJ0B-oc-4gkpUH96ghAiuHZgbJvyfaIgROzQwv4meOhaZ0gO96aC9pYYYjkQMOkjGmGxkl6KZu0NkU8ibAgPtF0NeCantfLVCNAGuw0cazKwp4O_oT9zE_1zLPtLkGblqax1L1IZQ_YbtF9USHLneCV9ZS0H6lnjU-YLpHtGnutn8pyGxwPZ9JWEJR2ABeOfWS86MaikaTwFacb_YNYR8jCuf3difI_U-UyN_cljkhMfsHd3I6Hlf2GssLSLkzGMX_i5i-9O0mHOnnZs9DRnm8BwoWpyWC51aWI3YuVh9ba7nDja606rgjkgOTX67XI9pylL2Eq_l2x6sZW7-PH3KevJvzu6cqIjv_79b5Oz1CL-dSF_LcBsxfF2d04nEPmTGvWWmlebXuQ39xyuKiZcN_ynL_2nKGJIpQiPWCJERhY7Q7PrRFMScMZdjEV9hyfIpDRCldqVmjKKBgQT6szTsE2TQ8llryp7cC3L8GxhW1z5vlfQA19Zjkj8N5foJGJF4uZw_5tV6LhEodzWL0jQhZ9AjI1BgHRxljte1u-dfsHcwg==",
  "id": "rs_03a754a8d6ded289016ab41ed892d487d082c78c6ca8f09489",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.12,\"right_z\":0.34,\"right_pitch\":0.18},\"note\":\"The tan toy hangs well below and behind the gripper, still outside the basket’s near rim. I’ll raise it and reach farther over the basket before lowering, to avoid pushing the basket again.\"}",
  "call_id": "call_3qTsxf3rPpf5uJ1tvNNr1dE4",
  "id": "fc_03a754a8d6ded289016ab41edaef2087d0927190fbafadc39c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3qTsxf3rPpf5uJ1tvNNr1dE4",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0397, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 0.2958, 1.8652, 1.8313, -0.5255, 0.2199, 0.1135, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1846 left_yaw=0.1316 left_pitch=-0.2329 left_roll=0.0701 left_gripper=0.9968 right_x=0.5355 right_y=0.1267 right_z=0.2878 right_yaw=0.0528 right_pitch=0.0152 right_roll=-0.012 right_gripper=0.0864\nstate[joint_eff]: [-0.2256, -2.7829, 7.0085, 1.4579, -0.149, -0.0317, -0.0122, -0.7179, -10.6051, 11.1385, 2.5324, 0.4371, -0.0952, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a059db6d29497d8143ab17408a7423b4fee9bb9316ff1c3e3cf6bb6b576697a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f45e83c9b48d7ccf822e7f9e3f39349fee40a8acb5752ceb69dc4d4b68418e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c231ef9360efad81f621d857b497ed26eaf563660fcd4f078485e9664e5751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.36 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]: [-0.1593, 1.0344, 0.886, -0.6678, -0.2462, -0.1726, 0.9968, 1.1267, 1.6634, 1.2304, -0.4618, 0.8574, 0.7818, 0.0856]\nstate[eef_state]: left_x=0.3053 left_y=-0.0018 left_z=0.1863 left_yaw=0.1314 left_pitch=-0.2266 left_roll=0.0685 left_gripper=0.9968 right_x=0.2928 right_y=0.3128 right_z=0.1818 right_yaw=0.0415 right_pitch=0.024 right_roll=0.0294 right_gripper=0.0856\nstate[joint_eff]: [-0.0889, -2.5094, 6.9265, 1.5409, -0.1392, -0.0562, -0.0122, 0.5949, -10.9197, 9.9077, 1.3944, 1.0525, 0.0073, 1.033]",
      "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, 1.0397, 0.886, -0.6693, -0.2459, -0.1726, 0.9968, 0.3111, 1.7817, 1.6386, -0.5976, 0.2249, 0.194, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1845 left_yaw=0.1316 left_pitch=-0.2332 left_roll=0.0702 left_gripper=0.9968 right_x=0.4919 right_y=0.1206 right_z=0.2313 right_yaw=0.0175 right_pitch=-0.1581 right_roll=0.0022 right_gripper=0.0864\nstate[joint_eff]: [-0.1162, -3.0974, 6.7624, 1.4725, -0.149, -0.0562, -0.0122, -0.2667, -10.1538, 11.0154, 1.79, 0.2125, -0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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, 1.0397, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 0.2958, 1.8652, 1.8313, -0.5255, 0.2199, 0.1135, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1846 left_yaw=0.1316 left_pitch=-0.2329 left_roll=0.0701 left_gripper=0.9968 right_x=0.5355 right_y=0.1267 right_z=0.2878 right_yaw=0.0528 right_pitch=0.0152 right_roll=-0.012 right_gripper=0.0864\nstate[joint_eff]: [-0.2256, -2.7829, 7.0085, 1.4579, -0.149, -0.0317, -0.0122, -0.7179, -10.6051, 11.1385, 2.5324, 0.4371, -0.0952, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a059db6d29497d8143ab17408a7423b4fee9bb9316ff1c3e3cf6bb6b576697a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f45e83c9b48d7ccf822e7f9e3f39349fee40a8acb5752ceb69dc4d4b68418e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c231ef9360efad81f621d857b497ed26eaf563660fcd4f078485e9664e5751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7nn71BitzmZNUzdmYg9Lg34reIvWB-8gNoFvEP97COt3p-mvls3sR-ek-y-r--hUiQXvdrjrHc-MHafIMuwtMbxDUB7VxkpwoN0oumX3NV_gAu4_BOG-ALLJr-SSNA1UPQSldPzAez9EMk8poC1QMBB3HNAZLGl65FGlQU9otQ5dez3ivFSuqa2ezviA22s6N5pPK8pi69MgGc_WYxZd-2reymK7VsbaTpoiuH7Pd1Dd9XzZ_jmlECwBXWYn1astbx-McUgOAHneIS2hxsJkFIcAGIR2a2z4axWu2EyARhjFfAQ2tYtTJaVkS-ohhkxlAX8ssTCTofW3_9rPbVcKzUnig5Sl4ka9Ptx2lL9DbQzi6Z4JPFZRNhDXjCz2Mx894wZx2oChqFWpHWzL5tv1y19brYPGPMC8sYCE9tFP8fPVVoVH1f3Wa713i5yEABks0v-WmGOr7fA02yRTCEu95Pn91y0w1pfs7DEJCyIfRRT45aKK3JVTelvmqSlKwgj4bDozKkiUnvepuX56WfXUmHnrS6h08H78ghYNgmb2QWWU77teHOe9AYrcFk9rrZ1dro7FTws5UHKA3HJRuBbSglFVUKhKYEaOnxmcaXz_SNZjq1g-q1DCDVRi-GAuqBVTbyaA325k97AZmYNJJPylpbboo-1cFP1xUXnOhPGMGf3ELg4sEm-9YKDQAC7qNgeGwWhzhaJo1KkKy9LyMKGDFZ3gf_fAux4Q7aWinLQMKdFN6L0S7ibT1Eh51GbDqDCpQ2KpxQ1Q2Lzzmx-cNpKdn4B2yRue-hR8P3L1UnD8gAQ0CmGg3zHscQs7DEAG3pAb0t-RlRADlB9ahVzHWh99ejPD6E1INikH6ovwlYLrsgU9ciHTz23kasnThp_ctI93HgTzOWe-GS0QKir0pETBX1exAV0YNME7lWUAsLLfPkq8GwfD4FcF5ACHPMQhqK1BB4sMSLaOF1YUXOUE_ag1CrsuXddujifc3z7NLxUIVIUwADygq60QNnqjAJY5U4CJVR_BSnVxcDSwXxRBS_fKGKQSVW9ByTWvUI4QFkbqzjFgbAoLVwwsP1zLzCjgtk61hb826iUxvC9jwRxMGOoy2X22h_-IAqzJzC6NwNedRp7pdzNKx5XQz9opryCnO6ZA-m_9Tb16IUfRDbGr35Uy5FgD4ui60oPV19aSxUIhfBUxfkKW18HAaCjMvtdRQ2xn5qBPvPjn-u80CjxUpPKY2JcYPM9jFnNPJkcvPhLpQ-UdgRpjt0RIa7FjdA8PLBDA-cgVYDZb5FsHnRL63bcxTazPqZLoeUuJVHj4NkNtr1QkhWNZORtCEGJgug0z1NoB2zHac0jT17xtw7897uyu5cbH9GXzgsUBmP-OuRraluEhx8pvvv1q317MgYUtHgOPC0pzo03aGD35RURd1wMjxW5YXMLC5qzi90Hxp4UcrEqWPSQOMofQkBcSo6hX5lKHBvGlQHbj2BVXau5OOnjcZC09goDI6ky_UijZCmApgjXmPIj4N2d8BQ-gx_RzjMXVbnlODqPIsnHxgS8TpVZHy-CfkuDM5AnA7YihbjgVTZSOXIK_QAhFLqejgGK-ahUZzQfZuKDVkj3FXt5hRNYKZmK3tjXvFHXOTsu09qGrQH8riZZvZtRBgTQG9cQhXxrYiXspcDDjR8tz9Fx7gXD73EQrro0tFi5lV4x-Y6AVqttF3YAlqIWsi_68RSt_Q4CyuCx6y8ZQMmPVkrOkrabcc_JzuxLXdNu2onMO0NpXn6nOwNTDMh3qxnzVbMeb3oYHMZC25x373YcYh2JFgiwT9v_FnUar_M2l9I3y4E97i-YRDn4eMWeDgemC8pVOUn5-nmCGN2so6sD2f_B6PkgxqFM8Cgk9b0ctoDqPhgyyj_Qq6EvsgDkRSzFReX7UGCg6PbRpMIjcZohCsGToYkTa1WjK1Za5-pPPCobKfXEk9jAw91cxHezJNKjW_yj889L17quT6zDkyzLHYpNHBRTVReYPHLNa8_cX7CMeLpbxbM8f_GPmh5RMxShi8M78_GrVwsPnCh6mN7-4A6Sy22B4owZvWJZTwimf_r47CVhE9itcwIBvBBPZyO9dSf1lvqN0Elt_8OrwNpCQ2r558nkbu0QomqBhY5y6yMpkvhG3VN9awbHBLECnKrnsMLmyx4lAmiq5oCHY8VIWPDe2mPvCdh1fqyO2Vefnpj41f1VqHFTwVo12p8hgl4xZ5yiHeEDue8Bairaq3co6D826KomoZxaYrkcVE4DxN2O7iHpJzhiPBmk1gr5_rFegLLwHDvjAx5rRyCX5ioqUow45MZd3GRNhuAvIr0egjyo8WMS9FLKKIIcf0bWXQSi6bIAURpGdUfvv4tsECEg35r559RNlNGtCp-Z3yovOsIAi_VNsgUJAI_lLugIjKAj61NASaMDeggqJ0jnOppvli7TIVPyNlglgXUCg3R_DSfDIIBQHerzZ7ZC9w8YBJBPbTi1UJOFJdBeUB8gU01WwtWZQGUPYIMbGPzMEZqDvdZPqyGvyQ4RwL-z-KRkw3CfHxPh6lqGuMPFZcohvngac1y9iTV_mloMcEHyW8dWCevkiAXct7Fnr_flxrE1H9L6Q3TrFroJoy7uZfyW_2Ka4IJzjjct2BBdECBqrRsusJ48Fg9Mm2qLKi7T6AcilidDd38U4Mri4yZSP7sacVt1WLfhM-PoACaCYMCnMOM_9Ryuvsu1uFNmR-OfYDMSKYE1JGXDkjWO_zvsuEzFl20zdoYBvYUwq5o7vEW88pPNC7wnm_yimC2_7qkGReuwTefnMHaprMCA4JXb4UXCAh0QEWrE3fHftpEr9lYl6nuW3MSSaVk7yMI0IGA9ShDS8xmhLTRoyVidAnO9sA7y_jmH43XWkWdfbAPflTp5AmJQDZtcr9hUC_e7ppkBndbWme1JxKQ9MMn2tAMzDC149KGpkPeeT-8MeIU9Xub-lJ-CiMYVje3h4hxTfpFxAzwl_tIUJVyQdM0ZqInjPIrZ8pMbgCauVfhCsp2Gh76mJIhMo6H4urN8mVEWP3rEll9mKLLmrRuS-rX_Syu49rGP9YRTCqA4PnhOjLq8g7lWHa4d0OYkaNVGo3y-2HE3TITVasbYHIk1CH0Wuiu5tWH6lBqbCr8xOKrhqgKL0hd0E-Z0IJgY6SH_JIshQuuPWpz1xE2qxCPoVUmKldRScj7eFuQDOZoMDGTUMiBGlqmYwLwVVB5Uf2ce7CimKMGAf3SD2Hv88iK5Edj_RLpP5E9jcGKDBuQfMBOIDqMn6_S2-mYRBS450aw3U0jhrGna3pOdAHVPmZ6yo5zWpubgCpGyZA5oxcJ-MkzDocU5MrzTGETuk2fV8XcaEZwPZKV6O4rKEeHoghFVHcVYx-NUFRwfIBDBqMYyMq4NDSJcxy8_kr3cXMEiWZ0f32XT3m0O6asOL2n6ujwf55WLt-R1kR-yUPjY9b0iGxeA3NxRdB-_U9H48njYY_MndoxHJluohGNGODClT8ggRlXP_6z9KwdGNqO-e3yaDgNUO5gLU5nL9lxKLoeJHAgrqk3EP4Jp31gfFPkEl6qYfREZuvd0m0TEqZYnTS6znTK5kDT1AO1RsgZ14OpyLIcdGH7HSrqW3nb88PTjdkMibFdIUp4gKldFXWvj7anH035R97DhqmckyuCGXuwzgRmd2PKrbcER4p-FMMign0shwEQAYQt2Mn0YNIYGv_dOWTAZyio-Q==",
  "id": "rs_03a754a8d6ded289016ab41ede7e4487d0a09e9d8ac15a50ca",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7nzUUUr0Ku--KLwSFNXDGYt9cTZ8dO7TWScRRKkxECQoYznJXXa_k5LBUcU7gOkbhGKwIuLE53JNueCyoWFmUXzxwKV7wq1e8ybEe2vIOweNowGniY3G4gu74n4p7PI3L02c3svX0Pf3O4T_XeA2MWm6grnSvQXAvKNcdshE0-Z-Nlo00UDgWUTbYJj9fDoUVkVSdstDnseQ0A3Guwh3we5EzrvulFOP5i9h_0RxdTSbsAA0UThxyNyoEaGsTEIe13SKaWXixkBnKkW4oDSNpOeQRnZyd73mo30adrC7LTbLthjYILOaLU6DTrJT3OpQFU9XBJyhuSJcivGBz2NM3O4G99aXJyS_1oPw04mjXNoLtN_Qt9ePmsvXMzabH7GAsV-lR1XNE9wdBJIsUK3xuVkHg_qYn26io0AkfB91670hD5Eym2SJqheWKqXTJt_pT3W78lM9t_da_OvtSs6dLEqiSHoNcs9dLKQlp-oB031HHm6-RjFJyxObjPlZ2tYLxSDaU-sSMLdGE_Sx9ZXLeNr3sHJUgR3nC3UsibocixUC0YujpL55J0nGVY-E7ZRFBIh_x5LaYP6L3Ae0PoYqJQGDkvdUc5ynEvPgXpgyoTjxPZSQ0SHx_cfJbWZ7J5_DaeR69bedV_plWnyABe4S2pBHy6kqPiI_BlpaifYUlhSnqpAR3NLTF3khuyaBAlm8pi5d6c4eVWQHfjzk3X9ngGNllR8gi1YezeXhtsi7tXhixttjz2RFKn7RxWn3KdnLoa5zcdaswVy4Dt4C3dIcHZ25CSVUOHkhzPK8LohdTWml0Ycm2azYf4NlZaOjAmumIFK1dJh49JKK13TdT2_5Dzul-eECA-5tfbpcVvBqTGj9xDJ6yMDnH77Gzn9DDpdx-XiboIEnc34JDcn1unIq4zbS_Bwk4ukHLZJjyAecXPYqII-vADvrMHDLKPezHcMTLqsNmfg8Q0K5tDgyP27703LmzbT9e4DswA6ZsutBqryNQjkv8zUnwUy2Ex3W_7oQS9l1s6hGz4mWvHza6ytaq_5kf04Z77WiWm4FqD-R24lkp1FzWJUxVWw7dwY3mmRLjl9WswMtBJVArnPxVumIOpQXvptQMGp9Y5lXVmuFpCM8U1_9iJQ0ii4s2sqJ27PR5D14xcjzlD5EByKX-7Ew_drlf55YQzvpdSdfUxqO-gKx4QATAaXhyQczOBAXR61KtaPuBw9waD5bTGsSz-kBlbfmccMG13Qd7vTWFjqMWuPr_6cxrWZ7hzWz7QJNGye2IcdXB-RnlUZsfnKoO_3mVPw3Nn76Q0-Ao4T92L6TvJXx050Vf70s9Cfal1e6vhwV7xmgnzNMBhBLjBISVYvxgrfbWHjRSAdLUKqM1fkGSwc9mLRUGKFwnKwuaOWhrqtqLG6xF5QRlO4JzSsX-1vLc0D_BqvLLQRypz8uoIFSZ9n45LbEBlMZ4o8iX_NPF6ZcoqwlpND3DzgAfa6MJixUr8AXHEEoWp97Lq4ZdeRmSIpuI3wR109VQyFIpvIdi39OkYZPiH7ASlZJrfXZtwldbPjGO1pGUrV4KI6rH6eeq9Nahs-QBHhmHU8fsWs1IaWdFetcRqU1A3ZivU25Bgsg33lOHLIv0CPkx8ybHy0KrfjPRQmFsqdycVZX5GDI7iWhumuNBbtG-hIQPrDJKGN_uq_eb5qUtP8mbxfpwLBrxgoFMLYjlp5BTKeh10b5-y_dH3NcT_PH5OhLLW4FD2SFmHLJaZcLxMVIEMA93IOJhcpARPKImpvz7r8qUKYIO350LCtDkmPyWOgrealIYrWtuqoMy2NO7ik5DuMSbLYbM7frZIPcJ-SyVm611_9ioIqb3vnh3TZ9KX_cugkU2dTQlxxbOQaC4oQwVeru00PAr_5pb1njUbhUTri9p_lCdRzcJMudbQhISH4gyB2EqorBdj1yI2NOsc9d-NpRCTlMa_ICHEjUrtr75RxxCs8M_mDUvMIUpDYvwfVkeQuKSchaHzyWoloSGQOZVfy7t7Q8fflQbkd7SdOWJJPJpWecZ9qCI9Jb-xhRhyno0l_rnDRbUEv-OIcWQbWR1VeJTLHABpc_XsoCENcAR9B1RoApL6dRQcTNKhJQ0hWLBOL_AnTXXxFLfGDPQDkKXvXf5E1US9Cs6xSsRcmhOqyL18cR_mDSQLSh4pqDL7h9P-O41w0I6YXpGeQ74_AnAYGFbFj3GT19R1o_RcHEOlm3S-sJ1LI4mTqbXubs9QxbO10q6GkophrRUVJ7FM7J9UVvdHtrZ7s3Lc15N67RmLiAe1ADb-eCXL4BGFF8K_98jTiBluAQkQzFaCwe4pB8ShjzNaXmG_7InrWJF5316a4qJENqL7B3oPGEN1nBKzA7xj0_H0Yojj_3V1MAPcedkfMovoKc5Kg_RjUy9IOUjABfHnKgGp2YHnkTtPffAKuliq2p4bJLhLuIBqX4f3OUDvegMjTHU0Zl4jBMjYEYTW9BfbZ7Jkwl1ZAEX3Bt2zuaqO3zusoldfedHJgb4djREWXRwzyKmqxs0wD8kBV2lMUbV0nBwPrZZWJAR6Z071d88LEZoiJXT15HaHq2_ahWHteqJSsVbw1966XJ7vSocNU3mJuedAJRfrHHTAX9_Y3HcZ5qcETbo1krnfTC46-N3evt5oXxeeiR8bCt4jssvbp6rEhl-QS6E_Mr5qNfIHWQC1eGugO21ZIA==",
  "id": "rs_03a754a8d6ded289016ab41ee38fcc87d0bc38cfd8551c9327",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.075,\"right_z\":0.32},\"note\":\"The tan toy is still held, but its body trails toward the basket’s front edge. I’ll reach as far as is safe above the right basket and shift slightly toward its center before releasing.\"}",
  "call_id": "call_hhxiR3ZXaARhKcLDFITczOjV",
  "id": "fc_03a754a8d6ded289016ab41ee6917087d090ceac4524a39c05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hhxiR3ZXaARhKcLDFITczOjV",
  "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, 1.0412, 0.886, -0.6693, -0.2459, -0.1722, 0.9968, 0.1596, 2.1315, 2.2303, -0.7544, 0.1062, 0.0559, 0.0865]\nstate[eef_state]: left_x=0.3055 left_y=-0.0019 left_z=0.1841 left_yaw=0.1315 left_pitch=-0.2347 left_roll=0.0709 left_gripper=0.9968 right_x=0.5881 right_y=0.0793 right_z=0.2698 right_yaw=0.0426 right_pitch=-0.0916 right_roll=-0.013 right_gripper=0.0865\nstate[joint_eff]: [-0.1709, -2.8103, 6.9265, 1.4969, -0.1392, -0.0122, -0.0122, -0.253, -14.9675, 11.1521, 2.0244, 0.0073, -0.2076, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c47a9ca08e1cdf20449785c7f1a69c27888343a133737c72fbaf69147d7f7c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a430752043dddf2ad4068acd6705d6d0c1b5174eb5f39b3219b56bdd64424d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c1931e6fc2c53ad6526d2c53d9fe01fd717f597257d430e85d56325361beeee",
      "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 28 attempt 0 · /responses · status 200 · 3.551 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 112 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]: [-0.1593, 1.0359, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.5564, 1.6444, 1.3983, -0.4435, 0.4156, 0.3275, 0.0857]\nstate[eef_state]: left_x=0.3052 left_y=-0.0018 left_z=0.1856 left_yaw=0.1313 left_pitch=-0.2292 left_roll=0.069 left_gripper=0.9968 right_x=0.4353 right_y=0.191 right_z=0.2266 right_yaw=0.0366 right_pitch=-0.0614 right_roll=0.0123 right_gripper=0.0857\nstate[joint_eff]: [-0.0889, -2.865, 6.8171, 1.4676, -0.1538, -0.0464, -0.0122, -0.1983, -8.2393, 10.6598, 1.9023, 0.398, -0.2027, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 1.0397, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 0.2958, 1.8652, 1.8313, -0.5255, 0.2199, 0.1135, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1846 left_yaw=0.1316 left_pitch=-0.2329 left_roll=0.0701 left_gripper=0.9968 right_x=0.5355 right_y=0.1267 right_z=0.2878 right_yaw=0.0528 right_pitch=0.0152 right_roll=-0.012 right_gripper=0.0864\nstate[joint_eff]: [-0.2256, -2.7829, 7.0085, 1.4579, -0.149, -0.0317, -0.0122, -0.7179, -10.6051, 11.1385, 2.5324, 0.4371, -0.0952, 1.0232]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0412, 0.886, -0.6693, -0.2459, -0.1722, 0.9968, 0.1596, 2.1315, 2.2303, -0.7544, 0.1062, 0.0559, 0.0865]\nstate[eef_state]: left_x=0.3055 left_y=-0.0019 left_z=0.1841 left_yaw=0.1315 left_pitch=-0.2347 left_roll=0.0709 left_gripper=0.9968 right_x=0.5881 right_y=0.0793 right_z=0.2698 right_yaw=0.0426 right_pitch=-0.0916 right_roll=-0.013 right_gripper=0.0865\nstate[joint_eff]: [-0.1709, -2.8103, 6.9265, 1.4969, -0.1392, -0.0122, -0.0122, -0.253, -14.9675, 11.1521, 2.0244, 0.0073, -0.2076, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c47a9ca08e1cdf20449785c7f1a69c27888343a133737c72fbaf69147d7f7c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a430752043dddf2ad4068acd6705d6d0c1b5174eb5f39b3219b56bdd64424d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c1931e6fc2c53ad6526d2c53d9fe01fd717f597257d430e85d56325361beeee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7uzR98692yARaYiaM41XnQ2MsCO0kAFI9Xvm2wE74bQezlhKnwGqM2-griSHzFKYHCZhOqe8uBiJ8nFDd9g-tFzwqEXGtaMXgxpQXDtTjhQwNdeOTFZLMOLAyXUJtteusC_UWEoMCzKPuKFWlPpmPtj8DvO9liwMFByWueVWPEeH7fVukpWJ8fz3WnWYi6PUKu2x-ER9RlPK8EKSrIQVhR2WzW3Sd1sFbdKkTLUUMC_0ZBvy9FG3wpEkWciiGvsBdeWCWLMTAPEuYv3MaS6sgsUnKpED1_lE6_BVSA5ii5VUrFm7OcL72-WhCc9rw2x9JCWnvCo_wOHgojr204hWQq77XVcbHeblEg5FSjSLMSUxpwuF3WgOsie-faPAajfcj1W8sZx3dj6GC2wgK9kI9Q92F130wJTd2g3_ERc5O3izHaA51YKoswe8ItkZw5FnSdVU6x0fWydjqLvfDXYwaAQImc2-lIU6YVFXQFaexJd5xFK_wYxMGCzShgjF1Li2ucyfpKxVVIdprI60jK2edNrsBA2vQb_rLgr984FZCd1xvQ33SXAm2GI9U8GLwjYEhevQMIo-sXKRAhW_qW_beCJCwdUBdb-YYymfPWJCPDSe5Jccix-NDvLe2mTXn6ER6Tw1vJkHtFgcfeAWRIy5f-iXbfn98h9CFDWc3MLkvnm_nx4AlYwbJDzMabhtk4Vpvknj5HH2Eyb_w5vRTTz4ItT33ftie6sWyCKbGGPkd7g1E1JGlwyB8pHPloTXtZaxv2aEGsAksOx-oWjLODkb0J6vKVcsX7TLKWMhu6uD77mME9PE9UqOBS8D9OM263OpYRj-DvphAwsTOWH_PN1Mvurt2cUNtBNB3dZCIuam-kzQr3tiehTfS2xu6GR0fzH049hDAPDDxWrdonAeKFqNVt4qsxrf0gZeblYp7zQsGVeqeqOHxGqTi8a3hKy_pYQIgoceEgM8K-j4Clv11SInxb41qf0NwPn94c7BE_Dfg9L3SEKrJJRG6xCSF6qlayaLNvEJCDU5iyE3t6ZYlIvr4Zv91p5PLP_RsMX1Cp8W7VD9WZSyIAfZ-TLp6Z26VqfciLtkKIx6tDRveL26WGQLqT91jNLn8GrVl4slo2I3ZF2RERo6IM438H25LB_-OIudZlpTd9pbVDpYNdV_cjMGXdBSIt7MChvoqBeHj0H_Ng-auIWHbXqONsjZ1Zx0ky38aPME1iaIzY2TBkit9qWtOhf1_V818TfuLlQo1phx2Xx-wyqyJJ9EyN7tRRhyCm3F1-9JI8uBpdodXH8KS3eYF-m3c_YF0leiE1VU84zbhx9dI3ro-5KUDOZqFWausvBxX0n2v7vD5QWTjFKHxEKm_J0LBKuGDrK4MzuMr7PQdCnRj2cAmbQRZ9wlkbgoo1rje-57kYiCSP_mpp6Gd6bu-OMSCsBwuaS1EaLOHoBB7HGx_jXl2KXNqtIlbJ_AAbC2ZtqpR0tOCvikbnQ-AuzGyVm51u1TA0Gup-ORZPEH4-sXKPfQ0yAzGQWsUmOL83BhE_3tNkfZR5oXvHXoq-zlNglCDlDqVxU3fPnU7UOrlbGGzysl8ECsz1RQKQxanF57RCnPu1DsD4mp228AnkKIPZt_Bf8IXTdwlpjhxIhIz4UWWt-deFfGlbDst5qMDMwwBh8fe-0qEnjodnX3CgtYNXp8m_y6Ey89sVW7XkniPTptpmmeFOIH0QUr1XawY0gk7YfswMVDtQhd0jxdO7jhmA3nb1IFvKSVlrhSEmeJ-eSS3bhPFZN5dsDfr7P6R3IAORxt2MuITybM76Ahe2Vy0PYWz6UgagkwoA5K6f44-Jv5QwbWVvgnhYy1amu9qruy9O63LPoh5tjPC0hUdFzgLLojA0dgxwcKMa33Y5iBUOrMWwAW2A1BrPJUdLYY764B3CNVXp138rR2mqXLjc4zNax7kITuzW6E8s58QJeGl4iaHAYYV8NITJzZT4OKnx4HwBJoiT-m4Cze2u6Mt_fUl9DLxEyKJhYvVBUlcwKB3FWxY-sDh5I33qCtSlKElR8nYb-BwT8CrKTFwR2gPXwq0otJOO0kXe9XJqTicGdXbtP75l5K6h4xxTPDG3hlwjsj_xgI1KaGgdZXUyBAmcCrH1352UduaVXj7dp-nY486ziTFnNIkjKBl-vbXOJLY8w4qY7Gn02WtD-x2qT0hfoxC4q2GIJojt5Nh_1ApSF1U-rXC3eZys87qIHWyBWFeWGp5K-j6nVxxidSyALuwUJO_1rYlJAVfv4YlodCC1fLSW8uf7LuI3UjzNKiH0X-EwewjqDGotDPYJt7wbaW8sz8wmOGvPEdLJrPEZctlGQxOFvdftKBczkDm61UEJd-DYD7FHJbyhT_-Qz6wzsLRCGjIkg7WFCE2Pi5Yw2jjjucJvuzl3KYjztPSHF7p-KGUA_Nm8oMNe1gOfv_QDAiqhLjuRJRcbdpBoGfiFVOqEg9tj60j4ozpuwsd3PJpw6Hznewp7yiJymKmLIbRaXa89Um4JcmNoLmAR2ULh79PwZODLy1EaEmRhD2SqXUnf9AD3SvnWxqib_bwOxy_d1Ox2wvjo5rLMODhFiG4i79MZ9H8Wcv1fX5EkG5bRqnW20O_PoVbOOMoEBWxBQ8tJrfDlHEFl06iZ_Li7TnGcYODz7-zFfAEGkoDdd_nLo4CG-l-FVaFTvz2QB1iJCBlUAMmE6r43Fl2s-6h_GqqGoqCThPSFvsqm_rYOi4iJstaomV04gwOM5ZMCyz5m-_QvivEQWVCSnpZ3kI3KF5wgQfjdwj5e_JuntEfF38g6JGsc5x698fX6XxyO2wkuY1UUj58RWs9q8piHhcJyp4FzlPy9LFNsYO_Sn36hMYUuxTAFSxsVf9v5yRZe7uejqa4EXkMKTPh2xDY6gVrFqB1wYkB426m0h2OmK63UJD6TKrGLvFTDsD5JGqo8V32faBTAB3rxrk7VXV8NXyajn6QQ6jiIXA1LaFTQSPkG1bEs6bx4K3rHwDzHUiNzVAxk7Kv7_KhQm28NSflsBHxSlE46CHBfyUSjmQ460PyxPzEe8oUy-PmlS-EdmIQqOFOzRJpvIPMInkXOkc0AUlTZjJf9KSV2jzEdbMBjMvgOTQWDXqJxTeC83hl-Vo0rpJeSCLpuUExKy5KziOcfM7HGLv49Kzc-Tn00DZ9VNnP5QukSQf81kbMQ2m475zFEeTMicWD4p0jGdZLLZi9IB6Lk0zGJIJ0itnCTkelsN9n335J5b08Fgm4HWLhNG9n_0jvUC2ocsAAsKF1oR5eJNdS2DZjjkdW9_Jei-qYSzBXDsQdv9tS1knTgmp1DwwUSHUj8q1blSTwsG68rDln_0G_tPJZhrWLSM7Sx5TvHoM8laDKuFODx4qDwrOY_kOrWmeFIoZRa9I5mfnr_f5PIb8urdoYpYc_2geOtviUYN7xKfy6u2TLOI_3YFn7tDg5y0Nnk632MWowKumpZH7Yag_OorESuwIuOo-9WxgWSf0MFRB_kcy3fkhkhnmvh28vcCUAroi07CfYVDkML1MRLCessD8KCOU-iuLlN62pdVOKwfRhA2SwKSNQ-TkUIyGPgT-GA1cG4oZvI1Bouso_PYUy3uA4e8fEKOopV3rU5sl3X1A2CaBbgAncyG412H5F5Z6oc6twTu-UgUu-rSg==",
  "id": "rs_03a754a8d6ded289016ab41ee8f0d487d0bd1cbefe08ef58b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":1.5,\"right_z\":0.32},\"note\":\"The basket has slid toward the far edge, beyond where the toy hangs beneath the gripper. I’ll rotate the raised gripper partway to swing the dangling tan toy toward the basket opening without dragging it across the table.\"}",
  "call_id": "call_TKxKHMjGlErlTX6nK1Qnojan",
  "id": "fc_03a754a8d6ded289016ab41eed79c487d0a99c8ca4b1da390f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TKxKHMjGlErlTX6nK1Qnojan",
  "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, 1.0416, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.1493, 2.1456, 2.286, -0.8158, 0.0769, 0.0433, 0.0865]\nstate[eef_state]: left_x=0.3056 left_y=-0.0019 left_z=0.184 left_yaw=0.1317 left_pitch=-0.2347 left_roll=0.0707 left_gripper=0.9968 right_x=0.5849 right_y=0.0779 right_z=0.2735 right_yaw=0.0637 right_pitch=-0.1133 right_roll=-0.0068 right_gripper=0.0865\nstate[joint_eff]: [-0.0615, -2.8513, 6.7897, 1.4725, -0.149, -0.0366, -0.0122, -0.4171, -14.3248, 10.1402, 2.1661, 0.1636, -0.1636, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff10a632a4192d2df181d4ebd26a123bd12b2c5948eb67b1e10b60d78607e933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67470ea7693fe09d5ac7efd78950ef5e1446dc4917bfa8781758f7c87ad24c56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b746add3f69c24604969681c763dcf55464523bef7f8371911afd16a9b5d42d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.979 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 112 changed as sent

message 116 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, 1.0397, 0.886, -0.6693, -0.2459, -0.1726, 0.9968, 0.3111, 1.7817, 1.6386, -0.5976, 0.2249, 0.194, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1845 left_yaw=0.1316 left_pitch=-0.2332 left_roll=0.0702 left_gripper=0.9968 right_x=0.4919 right_y=0.1206 right_z=0.2313 right_yaw=0.0175 right_pitch=-0.1581 right_roll=0.0022 right_gripper=0.0864\nstate[joint_eff]: [-0.1162, -3.0974, 6.7624, 1.4725, -0.149, -0.0562, -0.0122, -0.2667, -10.1538, 11.0154, 1.79, 0.2125, -0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0412, 0.886, -0.6693, -0.2459, -0.1722, 0.9968, 0.1596, 2.1315, 2.2303, -0.7544, 0.1062, 0.0559, 0.0865]\nstate[eef_state]: left_x=0.3055 left_y=-0.0019 left_z=0.1841 left_yaw=0.1315 left_pitch=-0.2347 left_roll=0.0709 left_gripper=0.9968 right_x=0.5881 right_y=0.0793 right_z=0.2698 right_yaw=0.0426 right_pitch=-0.0916 right_roll=-0.013 right_gripper=0.0865\nstate[joint_eff]: [-0.1709, -2.8103, 6.9265, 1.4969, -0.1392, -0.0122, -0.0122, -0.253, -14.9675, 11.1521, 2.0244, 0.0073, -0.2076, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0416, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.1493, 2.1456, 2.286, -0.8158, 0.0769, 0.0433, 0.0865]\nstate[eef_state]: left_x=0.3056 left_y=-0.0019 left_z=0.184 left_yaw=0.1317 left_pitch=-0.2347 left_roll=0.0707 left_gripper=0.9968 right_x=0.5849 right_y=0.0779 right_z=0.2735 right_yaw=0.0637 right_pitch=-0.1133 right_roll=-0.0068 right_gripper=0.0865\nstate[joint_eff]: [-0.0615, -2.8513, 6.7897, 1.4725, -0.149, -0.0366, -0.0122, -0.4171, -14.3248, 10.1402, 2.1661, 0.1636, -0.1636, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff10a632a4192d2df181d4ebd26a123bd12b2c5948eb67b1e10b60d78607e933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67470ea7693fe09d5ac7efd78950ef5e1446dc4917bfa8781758f7c87ad24c56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b746add3f69c24604969681c763dcf55464523bef7f8371911afd16a9b5d42d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7ycT1lswEezylYJ659e85QgKxQsuO2AnAUjMTaWqkCExWGA1sbNQ2SCXjCWCk--cofwPNlk-X8nzIdQaM8CLw_o1a_VBjlvyV13zAldac62ar_Dbfbkh0UMkhpNQK72Zbv3Gcc36tYyKa-R9tpIiURVW8SVr37_07rTEu2xkAOUvZZvvFuNm6ARYqFIAFHuAwsJRXpB876cbDPrqrqdeyovJYG6dQcCqkddltWqLA2ftzq3F14-JX6MDeritGrf3a0z3FbHcTtgGPscRzIHx_REXXg3km24JrbSc8hBuBw0BV7OBn5IeepDlvarZH_QU2c8adgoUAOD1lCZHVlII7HlHWtGixwf-cNAZR4mZ8iC4JN2GbTszrbLKvOFxO-f0tYXZp3c_lyMxhznkOhpBpP2MpBT1ImW2TSFlR3N6PGfFCc6AOMLBCjLLBrO5HoCM8JIP0vaiAXQ8wb64Z6MDQB1NApBL6qv7Tec5RdZ6yqhwmC7rkADyZcnhwegIKsu53Ik_UE1j86Al21AURXhouleZyJTcfN0RXHBIEcHnDDwcN-Gxzmy7VHen87-KihmHpGp0BvqqakcpJDuSNzkEhBa_MO5O9Poqc69TgWrE9bS-QFQ09txT1ufVmgDQrVukKRjtSF1nL43aqBYqzd-w_GLbphh6eTUYhIyeZapApWP3xloUzgA5ValtsytdeVPllYhlAAfRjZP1JnRRN7PQJiyXMVFBl9Mn3pXVXAlC6qqfmU5J71FY8FGEjzNPOtWTjDNvi-BiD0veSQHyYFxtNI-rCeaZt1ODHWjyiSt1jn4qiFgGsfzkgHodMTMcWDGeGHF2-VCrKY2ir--gspcDlzwpnYbGPNGmyTP9AF1MJCOQDQxqk9Eb0VVLAMw3aYHV_jeHbyqT_aRXZlHr7O_9fkR6O-tIMnSs1-6gD4cbKElaTxG0ASZH1tJRiYkZTeZfOmGm29oR_sy9yxB_kidgflgaEfRGN6waeUHiN7YiSOn1K_1xfGnu5pF9ojORyG2wYQul9RIMFkaxfAkouYPCozzJWKiFMmFYgUziPuo_MnjFPvKOhCjGNXEHdH5hyJ4CkRA2x7gCa8mCrUaW0Ur1og81aQuG0RBjVNc1IAbyois682HtHgmHDjO4xJNqnUNoileNLui2LEtUIpBjanZ5ZzbKIvn4b0XhVer-cZTbx9SH52n-VFVd8YZrkMhqECtdW3PQdkAkrEK9VM-cBHxDXakuTJg154yFrlmj5YjHZffbHi_00JsO2t3FXPZsWN29QW8_Cofb_h5reWoq5hgbWb8748zNJ10J6v1hnAQBLCgchkrkMBRH5QN1vBSo6BNmwBBe8N5ezzuTLGzLmNA-nZsgZvTBMR5pSxyo0nXOl7j5CUy7kAW7wV-QXGd4LPYO5Ioly4y5aEgNpCV5QwqN7dsqLxP1FMN_WIYKedFVp-4bRtRRCcaCrA5VaRQMx_LcRLEvSafUrddZJbI7pm0XE2qBj0Ivay4R5ymuRc68YcqB7UFn8oIaPsZZh0Vm0PpQsKY7EO7Cfr5nEMGzwflEfBTwMXPaFThRtD5b_9ZJhexmBEWlaPRCE-Re6PQYlN0De5P7W3k50bTAUpRFZQYfERYg==",
  "id": "rs_03a754a8d6ded289016ab41ef0f1ec87d0b62ffeed1f468de6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.11,\"right_z\":0.23,\"right_yaw\":1.5},\"note\":\"The wrist barely rotated at maximum reach, so I can’t swing the toy over the basket from here. I’ll retract to a pose with more rotational room while keeping the toy elevated.\"}",
  "call_id": "call_yd6hSlgJzH8UQwgTCASm593p",
  "id": "fc_03a754a8d6ded289016ab41ef1d42487d0acc8034888889594",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yd6hSlgJzH8UQwgTCASm593p",
  "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, 1.0462, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, -0.0727, 2.2501, 2.3096, -1.4036, -0.8112, -1.309, 0.0871]\nstate[eef_state]: left_x=0.3059 left_y=-0.002 left_z=0.1828 left_yaw=0.132 left_pitch=-0.2391 left_roll=0.072 left_gripper=0.9968 right_x=0.4781 right_y=0.0972 right_z=0.2052 right_yaw=1.3159 right_pitch=-0.1763 right_roll=-0.0271 right_gripper=0.0871\nstate[joint_eff]: [-0.3077, -2.7145, 6.8171, 1.4725, -0.1197, -0.0171, -0.0122, 1.6615, -13.4769, 6.735, 0.2808, -1.0623, -0.0562, 1.0427]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a10d7f3e5492d60d12db3c4b5dca360cc91b8a81dc26924327cad9e2948d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6c4d3717a25659b40046374c5da4e21abfbabe5d0d38b8504ba6159047959a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f507e419f3d6e8b773b53610d85dd20864613d98ddea7ddd6c921138a14cb3bf",
      "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 · 6.725 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 116 changed as sent

message 120 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, 1.0397, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, 0.2958, 1.8652, 1.8313, -0.5255, 0.2199, 0.1135, 0.0864]\nstate[eef_state]: left_x=0.3054 left_y=-0.0019 left_z=0.1846 left_yaw=0.1316 left_pitch=-0.2329 left_roll=0.0701 left_gripper=0.9968 right_x=0.5355 right_y=0.1267 right_z=0.2878 right_yaw=0.0528 right_pitch=0.0152 right_roll=-0.012 right_gripper=0.0864\nstate[joint_eff]: [-0.2256, -2.7829, 7.0085, 1.4579, -0.149, -0.0317, -0.0122, -0.7179, -10.6051, 11.1385, 2.5324, 0.4371, -0.0952, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0416, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.1493, 2.1456, 2.286, -0.8158, 0.0769, 0.0433, 0.0865]\nstate[eef_state]: left_x=0.3056 left_y=-0.0019 left_z=0.184 left_yaw=0.1317 left_pitch=-0.2347 left_roll=0.0707 left_gripper=0.9968 right_x=0.5849 right_y=0.0779 right_z=0.2735 right_yaw=0.0637 right_pitch=-0.1133 right_roll=-0.0068 right_gripper=0.0865\nstate[joint_eff]: [-0.0615, -2.8513, 6.7897, 1.4725, -0.149, -0.0366, -0.0122, -0.4171, -14.3248, 10.1402, 2.1661, 0.1636, -0.1636, 1.0183]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0462, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, -0.0727, 2.2501, 2.3096, -1.4036, -0.8112, -1.309, 0.0871]\nstate[eef_state]: left_x=0.3059 left_y=-0.002 left_z=0.1828 left_yaw=0.132 left_pitch=-0.2391 left_roll=0.072 left_gripper=0.9968 right_x=0.4781 right_y=0.0972 right_z=0.2052 right_yaw=1.3159 right_pitch=-0.1763 right_roll=-0.0271 right_gripper=0.0871\nstate[joint_eff]: [-0.3077, -2.7145, 6.8171, 1.4725, -0.1197, -0.0171, -0.0122, 1.6615, -13.4769, 6.735, 0.2808, -1.0623, -0.0562, 1.0427]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a10d7f3e5492d60d12db3c4b5dca360cc91b8a81dc26924327cad9e2948d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6c4d3717a25659b40046374c5da4e21abfbabe5d0d38b8504ba6159047959a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f507e419f3d6e8b773b53610d85dd20864613d98ddea7ddd6c921138a14cb3bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB73Os-6_nOLo_fqVBrRM2DQxq2HFrnDbFEammNVduTBzpB2sUmKX9-dNS4O_RTeW34GhBoCm1w3r6Y34e7CT-Fw7Y1apdBDrbBUdnn8kHsoIoJ_TVsp3EQpdPhmfD2IWpt6taqeb5PY1WyMKBL1sfK1V3zduQ5s5MGFz7yTa168B6fFiv0FD7_cNnYkAhHR31WVyA2XKtEEiGcJjiDgfIgFA0XO79l8wTL4ZGjRHsuVavTREUU32FPW--qdOBWL5rQZZttKK7867PIYqx04lCvvXfn095j5MCGOJWTleJCmYOOXtqwfphbKT5TWxgvsw8KS_CLhweN2R68Hr8Ref4TlPlNehydjliH8mHjJv62OdoRi_XpJZ3-kDZtE9ftXMWeTEVS85ugDJBx3sAV7qTf5Q9ZfsYcO94vfutdd-Dqb7KvquaCXJ36512WoJdT9-TwMCeEpSZF4qxMhLIJYzY_jcS1N3jrY4qDRt9QqWREZXpfEf8TxaTGjhe5Ri9hcJfa3NgTIPk8oM3nRQmUVTSqiO7YmAAL71wRii6DjEtnlqt_qvlJZZoyvzioZve4C5Mzrj-lak35Qil5TsVlPHqrNAHBopVKvqX5bqEGYoJNUALlbbFoVzmwNpAqfj0SAVBhLSTGFo4g8Y-cni9p65PlgEsaMz6vtXTereFNXmHOcG6QSLjFJENUV1k-UeCseY0hq685gJR02nci5s1gFDCimDLMKUWFS-QBHKYl6Re0sHI2hKOk6dHmVKdRFvv6mTvThAEd8S-0wUaa7gelFAgQ4RJEKagpiQh4UeAUDijijnXsm0ZEyq7r5LaBHEsUChmmIlUGH88Dv1pe9SQPf43NoRxYcZNm1Qz_RAMis3qh9OwmTtCjQTLnzhDLznkuRdlrzWLUWrF2ar-0DA4mQYWxqDAiAq6wFVLoUsXUXaZSV8lt90cAibACH248w49j0FzWtgCGK7FC8gOZ2GYzEKexRbrmZhazsbgdP1ftTAgLaqdHyC_BjWzSYunoEs5d8Ihp9sm9SN5hHRpBLkypPxnrA7q91b_SYIZa4kppGcK5sk8clklX8oylJ_lBe-kuDQmzaIdnWTpPdUUVhXaWKyDVRx3ZTH4LZSCCVNJhdHvmq-pTHqNyzT4qcXT3A88pTei_KHr_PDjnbWm2I7dqd5d7sHY6UYZ6zoesoTj_bZ_bM7nh7p1Iq40KAX-8F567ArtnE2Ji98ePUIsXt9k8RCVDhoj2qx5b1NRvnn0y0CRwvELLOBT6glVSTIOWrb6EaCopB3UfNM3JHhlaPjiXPg7q_mkz0wE9rymNV5nFHzVPMtpFz0p4ampTHMF5BEbyIcHImofwFYDNQ9q9QWYRu2UvoiSeizjQe-mgd57tNQinrn45-lI5Pq0teoZNknLDrW7y6UpmvHLHUvylJG7uZXhmtiHUQ7IF0YzSdQO5zFxNlDi8aX98r5ZeSL2--ewC8w6a30xxRU1yKMMa4iF6pUHOBIXfHYKxZWv1LCulxtKcisJVFKz3Smo5bApOH4nGDsO1I_D07tt7mAJNC7bpuJ0TMWZhEsp9ON9JQXhhlpjHh0kXQFEIvgBWz8nWN_pGXUq2ad0CpclJ0wculPew9_mPVkneL8bFc4QoikOTgw9K7VHI3mIXzqfT6O0lB1H4tpOSX",
  "id": "rs_03a754a8d6ded289016ab41ef5839087d0aa36ac0f9317c082",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":2.9,\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.28},\"note\":\"With the wrist turned, the tan toy is now beside the right basket’s near rim. I’ll continue the rotation and move left over the opening while keeping the toy above the rim.\"}",
  "call_id": "call_GRfi6UrJLKSMyO6Y7uDdf6Mv",
  "id": "fc_03a754a8d6ded289016ab41ef6b14887d0b0aba5f1c0091344",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GRfi6UrJLKSMyO6Y7uDdf6Mv",
  "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, 1.0473, 0.886, -0.6685, -0.2459, -0.1722, 0.9968, -0.0471, 2.3493, 2.4084, -1.552, -0.7895, -1.4776, 0.0872]\nstate[eef_state]: left_x=0.3061 left_y=-0.002 left_z=0.1825 left_yaw=0.1318 left_pitch=-0.2398 left_roll=0.0725 left_gripper=0.9968 right_x=0.4669 right_y=0.1071 right_z=0.1806 right_yaw=1.4587 right_pitch=-0.2186 right_roll=-0.0041 right_gripper=0.0872\nstate[joint_eff]: [-0.1573, -2.947, 6.7761, 1.4872, -0.1636, -0.0122, -0.0122, -0.3897, -13.9556, 8.1573, 0.2027, -0.8864, -0.0464, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3f7a84123256b1ffc43c7eba7f19083bc7a45d5f1403196525f1db51451992",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9880f8da335191d6731c8f89b6e195a86320f6637321960f277de605f4e90188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784a9272165722561138fa9b52c74aad3bc1baaf530eec8ef82b7d782007a558",
      "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 · 6.789 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0412, 0.886, -0.6693, -0.2459, -0.1722, 0.9968, 0.1596, 2.1315, 2.2303, -0.7544, 0.1062, 0.0559, 0.0865]\nstate[eef_state]: left_x=0.3055 left_y=-0.0019 left_z=0.1841 left_yaw=0.1315 left_pitch=-0.2347 left_roll=0.0709 left_gripper=0.9968 right_x=0.5881 right_y=0.0793 right_z=0.2698 right_yaw=0.0426 right_pitch=-0.0916 right_roll=-0.013 right_gripper=0.0865\nstate[joint_eff]: [-0.1709, -2.8103, 6.9265, 1.4969, -0.1392, -0.0122, -0.0122, -0.253, -14.9675, 11.1521, 2.0244, 0.0073, -0.2076, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0462, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, -0.0727, 2.2501, 2.3096, -1.4036, -0.8112, -1.309, 0.0871]\nstate[eef_state]: left_x=0.3059 left_y=-0.002 left_z=0.1828 left_yaw=0.132 left_pitch=-0.2391 left_roll=0.072 left_gripper=0.9968 right_x=0.4781 right_y=0.0972 right_z=0.2052 right_yaw=1.3159 right_pitch=-0.1763 right_roll=-0.0271 right_gripper=0.0871\nstate[joint_eff]: [-0.3077, -2.7145, 6.8171, 1.4725, -0.1197, -0.0171, -0.0122, 1.6615, -13.4769, 6.735, 0.2808, -1.0623, -0.0562, 1.0427]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0473, 0.886, -0.6685, -0.2459, -0.1722, 0.9968, -0.0471, 2.3493, 2.4084, -1.552, -0.7895, -1.4776, 0.0872]\nstate[eef_state]: left_x=0.3061 left_y=-0.002 left_z=0.1825 left_yaw=0.1318 left_pitch=-0.2398 left_roll=0.0725 left_gripper=0.9968 right_x=0.4669 right_y=0.1071 right_z=0.1806 right_yaw=1.4587 right_pitch=-0.2186 right_roll=-0.0041 right_gripper=0.0872\nstate[joint_eff]: [-0.1573, -2.947, 6.7761, 1.4872, -0.1636, -0.0122, -0.0122, -0.3897, -13.9556, 8.1573, 0.2027, -0.8864, -0.0464, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3f7a84123256b1ffc43c7eba7f19083bc7a45d5f1403196525f1db51451992",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9880f8da335191d6731c8f89b6e195a86320f6637321960f277de605f4e90188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784a9272165722561138fa9b52c74aad3bc1baaf530eec8ef82b7d782007a558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7_x0lTxQe1SK462Dx-D8tWwRYiOs7Y7KkW8qgcbLKyclrWH8Rc2dkb3DM9D-reyR62DcwdW7zTgWzgdXrpJjM3OSTqkcDz1Um_fqDtoqUsFIGPFu0iyM4hF5I3cQap94Xf-8JOo0STPyDN1VRMUbNZPbOb97eiT6X7IEwIQ3YvK0WGCgCZMRvAOXlBbgF1yrrXiEAfyHN0MtD1YAmYmAAg_XOCGe8k0L3Ew-LEuDqwNDtLDi2e4g96PQtBZPh8EQ2xEkuPve159oY2PqBWmNzjO200wpQSETe7SKoW6Q1lMrnQjiau_60qeiwFujMe3it8u39yg8MBImQoQuHqUyfJq9ba8BE_TIBL-NAlvNrHF11iZUcPlyOw33zGnyV-tzSb_eKvxGrM5FxX1yUzg8ymlwrJvAA1uDsNsyzcruQXwEbwT375cqrRYnjhx85uzoqz5cHPpZy6ZklywY4pN-jzjeEYB8G2X3sK9xVJR3gPQk4RnFkNsvX-_X0ifPXW5NdCx8V6-i0cR6J9ITx_TLoly1ygn1QyUyVpQQvCk_zGfUidV6XwqACPLNtlwVMO_8ZF50Ot3HlYe9UReeN6N3NeR4-Z15-nu0aD_R9NwnOxn0bzD-YoGQvqT2KcnoyElwu3ttIPh9ef9fa6j5ZwaErq5MA6B4OpXcPxZ7LnANCFcQZSVxfxz2EhlSdG4dYYXrc-hUXaCD_d3whx1HM6GGfMc8LC4DLSTTk_DJXaJzIl1bkY9uRPTT1sRYSjor3t9ruaX37h2CmalPLL1Te18QM9XMHCGUCB6xooWR9zdMOJ41hDuLwSmYYtEy8mXX15kEEE6qD6zdSMBPrIzNhkksZs2TALvythOuBvIbKnnoF6uxbFTBQtu2--15YcImve2eSVgmJ1BAF_K6z0TZHp2glK1edb6wb55jy7kWu3nE34HrbnU_z1TaQuhjXIAgwOxfYrhNiyOCLVynDx73mEyMJ67mFVpYOAcfffZfYKqJFka78skroafjY2gTEr27bBQ_Ek3TpH6asniaCoFCZ6MrxQVZlRg5JWtl1ubYj-UZZ-0_LDd5PUb_3R1iIWGHDH8epPwgw450QnSe0QI7UeRvSIyMIk9w4g5rhYWDKmpO39aRn6BizMDWIFMk9jceSCVX2LOHUzcClr_bEYYD6Tk6hxJ2KTCF0HbcRjXmfc-1oryEiw5VLTCd9RQpmIIS9KBwhEsLyvDy6cPwkGGPM8iQW7-0nZCEs-_ycXdQE5dE3-3UR0e8UudadIyVObUumeADGL1_RGSJI70OIO9fAiQS6MFJutJikbUkAipKUQAn1GziF2TiBI1G-ufzgkGaNWD6m6uwdDInQzgFLZnG8kPdsuxkCZzyK64f_wve1_1_e9l9fUBKzzUkUAJLKNkKE1PlNPS4pGKFl7-fh7szHiIaC2wee7butHFR_tRghuRC0v7XgR_ZhheAxFAaU0E7JAKlC6uU5B42fbB-mDPnzgds8wsQozIwSkeOLc-j_wGL4hdDyw9e6T1VmxDT1Omo8tjN_BWN0Wcd2wXIn85Fv-eSiQXFEUaFuwF_ab5hZk9nXZrNxyWFbbzGwWOg5EFW0XZsyMbN6dGERNW193AQETvx2RuzN-FBG5qfjAde4Q-cxSmsb9OeAzqPBVMcv1Y6lPIdHjRcnS-bhvjrolPamtPAaI5R8QXH1hlgNg3NZWS0UKOpMbjGQ4L3rZHU3cm5w0n6ikPCrxF8hhxN0jUkmDbhtxA_8FwqDcjsOVPeC77RImlmc4f1z85V3OGH9k-Aajh2jlFcGawCu1YlDlfn9uP81Bl8oYIWSaIlroyO02eXfdB9nu9UHeQ5PUfnMaZ32xicSN1DfGeAPl1O2D5KoTLnxHRlJRBe2-yx12FZraQZ6TVfD2c7C3adUUdtITplRHHqYmeFSzQge1Ussz_I9jN3n2bahWjCskdl5_aNMlfHm9Cke1bcWZb1ZsjG47EZtmKitzNkgbZBcCcEjP-HWGmDipBM5jgPyL6KLKDKhY-ztenSSuUKx3BbiPhk1erSvbAZAbzhhDYdaIZ4z3jLqPXAIbDvpl1OZvxd8P7kpOg4fIgatQ8IhcwH6597PxrpvSaRACU2Elc8Fvs4tQW12zIkeToq8krUDinBG-j7oBvJchr-y0WUYn7YEZ78XyH4ohXbYH_KU_8JgvrPIodZsZzSlf_284WItUljEqWBzEHO1DGN4vqbhHiyl5-dVsRB8N1y6t5b6BHAUDiBTmFO0k50fB-lMpfhNycVz5LLO6MR23phjIoiFqJ9iwnY7tN0XyQtchgoVJnAMucfIM8JL__lcW_tIVSlb8I3qZ-gk4e1Qck7blrlqnUwc-gSvUAlC2D9us2eryMyml2LcRDf7I-kZipAm5pXJVRhqCdEJ1QNxmElJNukQfaRaDFJknb7HmVevoOOW-FZVmmuyjEXY46iR4N2UCgb79jq008KgZj6SjlKdJUgKNyDgkAsinbbMIt0XTL0xPsdQF67aAX9f1T1QHuGjgVO05-y67WF3Le6C0iQ5oGxhCggNUDcQq6dMyy70ROsTWQOGgjQmNFoXN4ewsoSi8J830pOS0-xUnpYlX_Pa6PQWUq7ho_sagv-zpEuyxTj4qjmsULu4gG2HXROKTqLAnLIAeM2l1MFVNIVkZgxzvyYBrfJHIyCR4SuvjAqIK6amJtODTCEOtviwu904nKw==",
  "id": "rs_03a754a8d6ded289016ab41efc001087d0a9c7b9ab486b96e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right basket has shifted and is leaning; the tan toy is against its opening near the front edge. I’ll release the toy here rather than keep pushing the basket with the gripper.\"}",
  "call_id": "call_P3eJzOU60Ng6XXcDvkq512gc",
  "id": "fc_03a754a8d6ded289016ab41efed3ec87d0a1af524301be6766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P3eJzOU60Ng6XXcDvkq512gc",
  "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]: [-0.1604, 1.0512, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, -0.0372, 2.3711, 2.397, -1.5288, -0.7639, -1.4841, 0.9953]\nstate[eef_state]: left_x=0.3062 left_y=-0.0024 left_z=0.1812 left_yaw=0.1312 left_pitch=-0.2442 left_roll=0.0736 left_gripper=0.9968 right_x=0.4704 right_y=0.1084 right_z=0.1652 right_yaw=1.4722 right_pitch=-0.2447 right_roll=-0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -3.1521, 6.9538, 1.4335, -0.1441, -0.0562, -0.0122, -0.7863, -14.6393, 6.4479, 0.1636, -0.696, 0.0024, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd6b829a596e03fd9382bb0c51099a01c691cac8bec8e53fabf0c12ee427ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4283bb0a18843d86e7a6c42f46329018eb238eb82f1cb46579fcfa4b2568e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c1c9febfb5389c64141f5a1f629b3bf07d7d3e99d267e31d13ffe25a09b9ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.932 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0416, 0.8856, -0.6685, -0.2459, -0.1726, 0.9968, 0.1493, 2.1456, 2.286, -0.8158, 0.0769, 0.0433, 0.0865]\nstate[eef_state]: left_x=0.3056 left_y=-0.0019 left_z=0.184 left_yaw=0.1317 left_pitch=-0.2347 left_roll=0.0707 left_gripper=0.9968 right_x=0.5849 right_y=0.0779 right_z=0.2735 right_yaw=0.0637 right_pitch=-0.1133 right_roll=-0.0068 right_gripper=0.0865\nstate[joint_eff]: [-0.0615, -2.8513, 6.7897, 1.4725, -0.149, -0.0366, -0.0122, -0.4171, -14.3248, 10.1402, 2.1661, 0.1636, -0.1636, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0473, 0.886, -0.6685, -0.2459, -0.1722, 0.9968, -0.0471, 2.3493, 2.4084, -1.552, -0.7895, -1.4776, 0.0872]\nstate[eef_state]: left_x=0.3061 left_y=-0.002 left_z=0.1825 left_yaw=0.1318 left_pitch=-0.2398 left_roll=0.0725 left_gripper=0.9968 right_x=0.4669 right_y=0.1071 right_z=0.1806 right_yaw=1.4587 right_pitch=-0.2186 right_roll=-0.0041 right_gripper=0.0872\nstate[joint_eff]: [-0.1573, -2.947, 6.7761, 1.4872, -0.1636, -0.0122, -0.0122, -0.3897, -13.9556, 8.1573, 0.2027, -0.8864, -0.0464, 1.0232]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0512, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, -0.0372, 2.3711, 2.397, -1.5288, -0.7639, -1.4841, 0.9953]\nstate[eef_state]: left_x=0.3062 left_y=-0.0024 left_z=0.1812 left_yaw=0.1312 left_pitch=-0.2442 left_roll=0.0736 left_gripper=0.9968 right_x=0.4704 right_y=0.1084 right_z=0.1652 right_yaw=1.4722 right_pitch=-0.2447 right_roll=-0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -3.1521, 6.9538, 1.4335, -0.1441, -0.0562, -0.0122, -0.7863, -14.6393, 6.4479, 0.1636, -0.696, 0.0024, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd6b829a596e03fd9382bb0c51099a01c691cac8bec8e53fabf0c12ee427ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4283bb0a18843d86e7a6c42f46329018eb238eb82f1cb46579fcfa4b2568e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c1c9febfb5389c64141f5a1f629b3bf07d7d3e99d267e31d13ffe25a09b9ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB8HfB2-34GDh3ZeruyFUvC8RW_ogpPHZUB6VoZxk0sFs0kau21N3JB_GlV_j2E9F0logWPKus9mkVORvAW7QzoRL3LyoV3ruWhcIsQsXAq5-fXTxuiazRcIhhN0JJ6pghLfzcgAPPAIlxN-Da2qgOzevTEgIOyV0tOA5ygyL_b6tRPa0PrBkldPCnMHqbClSNzVmMBLryDOwHQ8EV66sgEaN3ZNcmWSb3uL1r6bnU7kOK26wxzDzNd231JsgMO70eIVj4TVHq68QFsO40my3fLppwWVLFCfUyNxoKFLNH2SIW-t0I3bigb8nfOq8OiTS8jjBApZ1ydrrVOKG1PoM7QpZKC-s-Efn6u7pFERcdDuNaGpzMT9kuQ9lzTO2RTOnXY_SE-QxFrNHSDCsVdDUhaLaVFzG3L7EcLbEL5eY01ZE6qM7dO9f9K_cImxCgEp-I5eBYLApIjwHlARO8t36rJgHONB-_SXC5nTqduZDcIPZZx3MhVzeh1Yp0aek8DMbpEbnCG-gFeWaovjig5fWch5PW5x14nNugi7E-34s5HGGMsIMxhkPUaX9bMkQL4LlOGEIcicaijJ2ModjjeNClrxPJP22saTsfhj9KmbPiTO3vkPNR9P8o1nisHIc5tjEOkNLSXHiRdDjAouwLn7t7f23xTM1EsO9ewgBoGG9L9Nl5YmcBs4ARKXmkeNznwvgtyhXaVrBOd-obkOouBGA02pAI9yZdr-8csK1--XbJ0Dmqjgk_YyDpOzmErD1JrXc4ARqiP8GUo1mvQXVMY4ThoiRs1eU8OOcDicqHy13pv73cMjEh6TOTmrlSDszh2ukmuPMGQkjcZP3-sULEyVaxngtugyR3QRmM1608Ty6W6kiZAcVEmw7C9zvD26gTKF2Nw6AvAYZVaY8FDxQVbU8qaE38dfKPlC2cRffQ0u-wmuVC5cQ5Kny__xRdhV7JaTB6msailVKETBeeMdwgT4nxyF7rW2lzPzb8koFElMn4ors1cuX4qFcqFpgEfOfgZ-v5gmYFbcj1BS1eUXNiK4i3md0YCRErOmIGzybGYvGpOqlBId_IZgg211kMuqAf8xOuZPS0Sew3UpWQ58NEUxZ72g8WEXjTK-zMSBxu6O6bur7vlEg9o8pf_je5xdIa0w630MNIuUypET1hb3yWU9PjMFtI5AQhwNp2dZ__1Vy8Xt4OBaJHg6ipYEyWNcf2btQj0973ydblihd0NjTZT9nPymDJgv_WxUst87uV5qOzhCS7cYM4Ndx4M4eVsJCrrjiD3r-fS7Cp3G5bRColnkBwncIABliUHJfV77rf-xEL93L3gsUm1jM54oUkdBk-tzN7LIaAx5FxkABhpgQssWO06GssHX13xGfKBORw0R3vfFDrGLsk5wrOGySI6DH8ASxkQ41RyLUVzJOq0hM1AfiFRiYzja-cfGGKGc_47BYl7QOzFNn4wJ-JO3pFQrmizSbF4OUac7wFbJ9EFz2Tb1DAvMWg4ZFijrcZWkYuZ48UXWszPAq9ImsL3MVlo0aCnRJQacPwDztfqR7y7_H6yNm7QNVA1JZfZI6mMgVuWSttzQ0PeznQT6UfgqHxPvMNLV3l131_IMqi5ovECPAOpNSJYMrcdgTHJ70m7PrcuxL-EblE6C9iCZnLEjMbVGZXDfdw5an-Ya-_jrWpD5CSUQ78whwmR2YMFMzJLhhAe2iaKKzD8-w8J52AZqx6iA2k_UjE5PjMMsh2cUPV3fUYeffBbHtPfcKa4uvNPPZONCljDMXZRI2vmOlCh9elhtzPaZoaNaWIUyXeQykCeoMad2YWn0RyNhVmzdBWvG5v9PhrlR4zpK_pz_Mcryv8d-GVr1wH-bZzRbOHJU0T4T44p4hCc5SfWLrhxSnUEhkHwXqBeUKTIBLxH0hA8r6id1dwWdnfVPy8KKgQEto993EQaZjmBW5gCN6kmsPo_r1TiyX5GoIe8GjPvDXTDps9wRG1uzhU1roe2fnmbf5XzyKP4KzC1CFL9I_ICMly0QbICXGD8IF_sqFyAU6L8EHUYCKb_GYHjFtasD1EGLqZg37qbSX9PMQOVfcUDRdjZCp57ctd4s5jVrcxYaUjJrEKYwHNLaxVyvQBEn5dIua2YHN1E9WfGthCNW9n29Gt3NSKt-RbS_K-b5BDH0X8e3RMZ8nwzqV4Vu9a_y29W98hnOoZ2RFGVWuXuHRxlMTRJg6HtRbpcs_3dAfDFFBlFkLD3hAizPs0MHS5OyDPym2P9mjEF-7s7W7giJuUYxremDzu4wNl7b7ktLo1CFt84DFMqSIKAWAviAQAcRbw1yuTqHB2_1cdB8AzL8AuNHpRhq1sscJYdrEQkgRyBCtXMjKZQjPlwB2jE4uGZIDaClDu2acbZrM5Ga54RhQQCkTnuBW-WDyeq6I0pyUtl2WGukF_se7AdSYV181VaEwesOjsxsAiyAJw5wqusl7wF-ciwiLba0jH53tMW0ARotkQtY1CPWTIZfyMKAuNQR6bE4Nfcj1LCUvekQ6R75vDcIZTk0yQ7Ea2RP1ayb-DajAkmXTjDc0QG5Gmjcolj-H5ShCy332v3TyqcVlj1gnpZPIfBYWqJ5Q37l1FUESehAhsRcxeVGgWAbaeu5Gwwz_dJ4ivriL9ZEbDQA05EUUfEjQ6d7EsDV9YqdCJwyQEec2wz_f337UonozmMPzeOuxKuVGrCt4Nf0oaXQ4SmcLl08eID9maqfOQ898_I6TZ3EQFHgCIIbxR_8JacYnBgRJSR973mLLumoIpeLU9n8VVQw3kbV-a-a_uNd4IcBWrue1lObNMmcmHloBJHY0r9E6d1jW2-DGW2jR0M3JwAo8gpdmRoHZZSvc3kdvDLV8hQ1ilY7-7q9P553w1hixOk_RIwUZ6RsCyfqgcUAHxusGLsMlTt3KhiNA4C9v-gFena-4-mdpuj5jlUX-bcRitZnLuHaUeg4YQPaYqtRUhSKjlfCB6q5PA5Sy-nBCT06sfy9zumWtLheEjionJ6EyhsuDzy2JENQQ9a6-NElZg==",
  "id": "rs_03a754a8d6ded289016ab41f01ceac87d0b82ac1576abe530e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.14,\"right_z\":0.055,\"right_yaw\":0},\"note\":\"After release, the right basket has settled upright but the tan toy remains just outside its opening. I’ll re-approach the toy at table height with the right jaws in their normal orientation for a more secure body grasp.\"}",
  "call_id": "call_ib2khwUVavGsdwSzPUJ32wNZ",
  "id": "fc_03a754a8d6ded289016ab41f064f0087d0a3376b3b8ea86cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ib2khwUVavGsdwSzPUJ32wNZ",
  "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]: [-0.1604, 1.0584, 0.8856, -0.6682, -0.2459, -0.1722, 0.9968, 0.4034, 1.7435, 0.9672, -0.091, 0.1333, 0.0914, 0.9963]\nstate[eef_state]: left_x=0.3068 left_y=-0.0025 left_z=0.1793 left_yaw=0.1315 left_pitch=-0.2504 left_roll=0.0758 left_gripper=0.9968 right_x=0.4133 right_y=0.1548 right_z=0.0564 right_yaw=0.2377 right_pitch=-0.298 right_roll=-0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.5214, 6.735, 1.536, -0.1734, -0.0122, -0.0122, 0.3077, -6.9128, 5.0667, 1.5165, 0.0904, 0.3199, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5e0b91ca5555872423139882c5774771a7c55aaedfe19e67d2bd9e2319393f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6a1d0099a5f0cb57f23d435fbae23b69a99c5de88b7a3cec71270985947b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828eed8744bba1c8cd921cb02829039c0a6616338ae1f2cd6dee626973e26a7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.553 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0462, 0.886, -0.6689, -0.2459, -0.1726, 0.9968, -0.0727, 2.2501, 2.3096, -1.4036, -0.8112, -1.309, 0.0871]\nstate[eef_state]: left_x=0.3059 left_y=-0.002 left_z=0.1828 left_yaw=0.132 left_pitch=-0.2391 left_roll=0.072 left_gripper=0.9968 right_x=0.4781 right_y=0.0972 right_z=0.2052 right_yaw=1.3159 right_pitch=-0.1763 right_roll=-0.0271 right_gripper=0.0871\nstate[joint_eff]: [-0.3077, -2.7145, 6.8171, 1.4725, -0.1197, -0.0171, -0.0122, 1.6615, -13.4769, 6.735, 0.2808, -1.0623, -0.0562, 1.0427]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0512, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, -0.0372, 2.3711, 2.397, -1.5288, -0.7639, -1.4841, 0.9953]\nstate[eef_state]: left_x=0.3062 left_y=-0.0024 left_z=0.1812 left_yaw=0.1312 left_pitch=-0.2442 left_roll=0.0736 left_gripper=0.9968 right_x=0.4704 right_y=0.1084 right_z=0.1652 right_yaw=1.4722 right_pitch=-0.2447 right_roll=-0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -3.1521, 6.9538, 1.4335, -0.1441, -0.0562, -0.0122, -0.7863, -14.6393, 6.4479, 0.1636, -0.696, 0.0024, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0584, 0.8856, -0.6682, -0.2459, -0.1722, 0.9968, 0.4034, 1.7435, 0.9672, -0.091, 0.1333, 0.0914, 0.9963]\nstate[eef_state]: left_x=0.3068 left_y=-0.0025 left_z=0.1793 left_yaw=0.1315 left_pitch=-0.2504 left_roll=0.0758 left_gripper=0.9968 right_x=0.4133 right_y=0.1548 right_z=0.0564 right_yaw=0.2377 right_pitch=-0.298 right_roll=-0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.5214, 6.735, 1.536, -0.1734, -0.0122, -0.0122, 0.3077, -6.9128, 5.0667, 1.5165, 0.0904, 0.3199, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5e0b91ca5555872423139882c5774771a7c55aaedfe19e67d2bd9e2319393f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6a1d0099a5f0cb57f23d435fbae23b69a99c5de88b7a3cec71270985947b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828eed8744bba1c8cd921cb02829039c0a6616338ae1f2cd6dee626973e26a7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB8LWGL-eJnDFEmiV8gyMeIVOiPjnI3K-umtucpdEvoxvyyUZicZjsyZ4KDK-TYazCOpAkMHFGw1WHxXafsCJJOdQzhUdWirfC588RXwofHudzxU5zLS6cmI9nxcGMw3FGckjGqEFEOIAJZjYbLOqA-Qhx_q6BbkoYyKaX1lNtLiY_m1na4EyZSXkmuwuTUWluRpw-zXhD5v4IWG3roIo1JcKfYeC9t2xa4N3XvrZpJozPwYm3mr0bwvS0ByMG3ISHP1jpXafpK_lXJuM40jz9vSg8R5gnRHuwLtPhKMIfXemrQd9ITbngx4dO5fLoA29mIdgum8Wd4tmxh2WGGj1XGoSnPXUMezKqOASrQYoBFCMbh6JfiqreZk0S8F8LMrdH_w3A_nXPWOJqs-fQO2Kt8engv4fk92B5xND6Cjaq1pOKx5MqUZWB_dJKhS8ziBKlrRcKH8rZ4HY7ahgRdVjNqhjqez2JLdYRm4QrAw8Qn1g0K08zuz5gzdldXSLe3PnxhTsbqV7ec3vScUZ43MEKxJWemUaqhSOVbr-bLqo8mfysnsxSSM0G0jQSTklzAxRqe7IeJN5kBev2bK__RUs9XswGi7Krj-H_RNXVd4E6_99CMpEwZRos_Lz6QBXiHaMWvHrhD6VtaHD2etVXYcXBliQXN2gbwOiWSKM6h8JCDVEUzR7uZ-04zGRS9V4z1SqitAAAjOrFae_5AlI9wgoJKh1HYFn7UkY0wdXAbRSf3vH_6sh_Do5U394vAEdgKOcO8S0lfOaE1cijEHBBpdoxTE5bGl9EYxAGlEhUuTwusGkYQ_WgjMcwJSzrrjZOXL730p0jwl8HMBcjWLjSRRjdCCF1V51uEYw4BYUgOkXphzSvseSKJEEkMoQS2RFMs2ZEUEppzMAunnLoKDzEcCEfGj9U27QVXN9lDQ1I8Pm332k66Z_RRGsm5eT9wdUgWNT1qjbvRjc9mctIqA2QHIScoy4B9S5FIEI6WiSsgxgITy7SLEdJP8RtxmzFheXnTItiS6XfsohW5mrwS-QtPNkIXLHT0Ab_va0pFWhYEOkyYfXbx8G7oh2bCjThxx10zPrEt5xfas-Adm6BEwrd9h9YIlQOkMZ5tcGGVquXB70Ji_4cnDnJCshuVX31ImF1XtDk9Wcavf10tzuke5uIdTVg5FbUBIhnT4iJ5gRB39mZqavN_7--ztOnbMz-SSiIZMF6w_XGbvMWC5JwXgpxwU341uGgkErKDIc_KQ8PI7Jlbpfhb8QEVfR_McY5KluYFEq0WKjbZg4Bx5KNhQdg212Ln2PaueZcc2TASwn1pjWAiYddChnaKEDaXt03FuOli4qiWqk80w4Kb1g_bRh-mtPCAU1ETHXIzT59u-yBwmQvrFBMyHA5mUOJtoWsV5aO50823vJQpEAM9bLI28cZvWzQgJ0P1_dvpQ2oq_KAgNVW_-Uq5og02ou4098VgoSyStMbaeJ0FR-A5NxNKmsbzEYNAamcKhbTAEDcIZZMqqIUo8XmufiFqPPWlAx5SYD8kNrGUFkCwWtCLK8mLyF01jiilhqQmYgQUUDuqflGJlK_4HjBcb28iA9rTeZS5V8QbzONO3MmyArK0ZxsIrOWgPb-9OI5hU4FPvYxdhdV3GKr9R2ySIHU-u0THR5cSOqaKkAh4N",
  "id": "rs_03a754a8d6ded289016ab41f095f0887d0b6e41df8f1a57011",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan toy is partly hidden beneath the low right gripper in the overhead view, and it has disappeared below the wrist camera’s near edge. I’ll close here and check whether the gripper catches its body.\"}",
  "call_id": "call_BMj7XNslnboYbPA11AbQgGAP",
  "id": "fc_03a754a8d6ded289016ab41f0a2ef887d097061b1c7b2a60ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BMj7XNslnboYbPA11AbQgGAP",
  "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]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.4015, 1.7557, 0.9657, -0.0696, 0.1413, 0.0826, 0.0185]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.4166 right_y=0.1537 right_z=0.0542 right_yaw=0.2341 right_pitch=-0.2897 right_roll=-0.0468 right_gripper=0.0185\nstate[joint_eff]: [-0.1026, -2.9607, 6.735, 1.4628, -0.1392, -0.0659, -0.0122, -0.0615, -9.4564, 6.3521, 1.2674, 0.0317, 0.0659, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8f7b6ee4594b5ac4b59440e9d1567c3619a66a9d91f41bbad70eb08faf2d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ca8c7b996ebd6ad298868d5b9112a118f46b3b2149b4cbfc0b7f79b427ad46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a2248bb1ef4afc998ff17db489866c04de33edaec2393b9d5437567cf8667f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 2.416 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 1.0473, 0.886, -0.6685, -0.2459, -0.1722, 0.9968, -0.0471, 2.3493, 2.4084, -1.552, -0.7895, -1.4776, 0.0872]\nstate[eef_state]: left_x=0.3061 left_y=-0.002 left_z=0.1825 left_yaw=0.1318 left_pitch=-0.2398 left_roll=0.0725 left_gripper=0.9968 right_x=0.4669 right_y=0.1071 right_z=0.1806 right_yaw=1.4587 right_pitch=-0.2186 right_roll=-0.0041 right_gripper=0.0872\nstate[joint_eff]: [-0.1573, -2.947, 6.7761, 1.4872, -0.1636, -0.0122, -0.0122, -0.3897, -13.9556, 8.1573, 0.2027, -0.8864, -0.0464, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0584, 0.8856, -0.6682, -0.2459, -0.1722, 0.9968, 0.4034, 1.7435, 0.9672, -0.091, 0.1333, 0.0914, 0.9963]\nstate[eef_state]: left_x=0.3068 left_y=-0.0025 left_z=0.1793 left_yaw=0.1315 left_pitch=-0.2504 left_roll=0.0758 left_gripper=0.9968 right_x=0.4133 right_y=0.1548 right_z=0.0564 right_yaw=0.2377 right_pitch=-0.298 right_roll=-0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.5214, 6.735, 1.536, -0.1734, -0.0122, -0.0122, 0.3077, -6.9128, 5.0667, 1.5165, 0.0904, 0.3199, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.4015, 1.7557, 0.9657, -0.0696, 0.1413, 0.0826, 0.0185]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.4166 right_y=0.1537 right_z=0.0542 right_yaw=0.2341 right_pitch=-0.2897 right_roll=-0.0468 right_gripper=0.0185\nstate[joint_eff]: [-0.1026, -2.9607, 6.735, 1.4628, -0.1392, -0.0659, -0.0122, -0.0615, -9.4564, 6.3521, 1.2674, 0.0317, 0.0659, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8f7b6ee4594b5ac4b59440e9d1567c3619a66a9d91f41bbad70eb08faf2d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ca8c7b996ebd6ad298868d5b9112a118f46b3b2149b4cbfc0b7f79b427ad46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a2248bb1ef4afc998ff17db489866c04de33edaec2393b9d5437567cf8667f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB8QnmpL7p7SjJzy63dZNucdCVeOH5kZoBa9rTMuoEFAYthUX_zxnp8yk2sDXFxSrKfJaRP5n0n4M8UF7SIHh9yhoiczwzdP5NXzSd8Ch9FEY5zoct7DI1_D_6A174ucbMrBuh105DR5fDHH_aYN4PS6RvreVRjAWO_w_lb-TWPjGcHrK3wiLpjFXottKjAYDwVJMtnmOxq7Yi4jURmCMt93JiKRqYJhqbf27jmwBKpAGKrx7UZ7ilzDEPnD6Q5_pL8NHInpKEtfoXFANwdYlm_u0y841SHp4hoYYe9ynkLwiHoaqpp2MQMDHkGdOaNkEJFIUvxiAqUK8pF4LWses6q-mTGgr8M4MMhHn2B537RJVJvYyjy1LWiyUCnYMYwjyTFtbW9rRs-b3wcOTqKlRa6Y68U0Z8Qk_d2xFSpbOtMSt8TxQwwHo-3fbsMYwS2kR6nqE8TrnLfAMEozLodLM0_GFjV4BPypMgrKtUaUJScFZsLOTPrdmM8Z0Jma3IM6Cs5CskS1JwGMGaCci-mttZGsoW9gTLTr1fHnexOTA_d3fqX8nqLdUSYnCn88ByLyZKx3EmBJjlow5sxUoJBJEJnHEuLoVZEYY2vh68Hez8HALK8gOyvmYkJBEOdloO-mLp5UytDAHkFZ82jgznhesgXw0hQAVqS3NzA9PKYhTPSK1D7ei6eSGXJdh5hHfJjL0e9Y2SPc34wq8G8WEaCw26UYylMfg3rhWRVxJj3rje5LH56h5WpRfX2eaL6VpcUbvCorV4x6mkAV-jEhxt4ZCrT0PXspDB6BECHpRa7a0lFQ0Es-_bNDmhSVyHtiy_AvCBBNiyKUCAG6YfPAE7hdOjtPLNgZxuzSPsCYV7r-aIZnQfvczrHMv7qsjG3cj7bSamqK4MNUZ_pDJzBnAdsC9Cvj83pgdzmKi9qHrnanyr9QES7MI4zKEQEWmgqdDwkTJqULmb3qxqY7y57Nv54lqsqUVknqfOasyAWvmcXvC-EoErMIe6USmrA1D08yH2V_VDeb8d54HOuD5YcePo9qOFBo2wBj_g8IqiO0hqZGr6PXqKVsCQDzCvJ9tTWUWkHZ1rEEVKVQb9M_hS1pLHSTB1FCeQLiAP6dunl-iRx-ST4FwBdXAMF72j6Ym7E6glcqXxnJgSNkeFkJuRnAHbP_m90tfHCn2CSxXZqH9nTVnrEGEtZK2ICwuw5XsFXHxZKPSW0-jNFHJSPWnWUrD30WxzWrhKtMV-aVhsAEuzEDHaHWqnEwqELS1GjdWXxbSXHjVeGT6yff-nM5QDeM_JFUVZMrh_b_MYGxCwTrgE3AJ6U9mlL6w8ZpwhtYRTHXJYn3OPV-jche_X7qBvsobwtc1tE6oyvjuksu7NfAEJD0n20ghY7R7a1Zax-LVlEZxEgD4JDvxV0120LvNICDc7wLZouWCQCH8A9KEIAM-2WG8QzAxLj_zJBjBDiIP3-O0RoyAXuAZvy9SmhsuJ8T6Ei9D1GH3YL2Zrsf3hjFyKPRtvXgrAT7TGJuBeB-ijWUCkA1_C6WIEAQWG-8O2MBl59PAouCTCLsMfO3xk-6h_n4zJCKy4Dv4hyCbJNnJ5oYmD0hGM5YPLtiebGMzDalgziQnntNLrROF642LS5o9m6Pcmv-Zew=",
  "id": "rs_03a754a8d6ded289016ab41f0de70c87d0864ba8b06053259b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_y\":0.17,\"right_z\":0.03},\"note\":\"The right gripper closed almost completely, so it missed; the tan toy remains closer to the base than the fingertips. I’ll reopen and move back about 5 cm over its body for one corrected attempt.\"}",
  "call_id": "call_COIspnKBMr4XoGI3fZThaYyc",
  "id": "fc_03a754a8d6ded289016ab41f0f769087d0991848c14ae56564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_COIspnKBMr4XoGI3fZThaYyc",
  "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]: [-0.1604, 1.0584, 0.886, -0.6682, -0.2459, -0.1726, 0.9968, 0.5228, 1.6814, 0.7712, 0.0616, 0.2119, 0.1478, 0.9946]\nstate[eef_state]: left_x=0.3069 left_y=-0.0025 left_z=0.1794 left_yaw=0.1317 left_pitch=-0.25 left_roll=0.0754 left_gripper=0.9968 right_x=0.3697 right_y=0.1743 right_z=0.0357 right_yaw=0.2589 right_pitch=-0.2653 right_roll=-0.053 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -2.947, 6.7761, 1.4921, -0.1636, -0.0562, -0.0122, 0.294, -8.253, 4.7111, 1.2088, 0.149, 0.2906, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5ae3ac0ee97b42c7358cdc100d32f10ad29cb333295d756c150dfa7b4af80f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29dde990cf52fc26ec77560741cf631d360e235f0fdf80e06758c302e19bcdd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cb63f4e94e5bf8a167bbab16337bfec79994c9ec38e9c4f12c6133f081f81c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 12.15 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0512, 0.8856, -0.6689, -0.2459, -0.1726, 0.9968, -0.0372, 2.3711, 2.397, -1.5288, -0.7639, -1.4841, 0.9953]\nstate[eef_state]: left_x=0.3062 left_y=-0.0024 left_z=0.1812 left_yaw=0.1312 left_pitch=-0.2442 left_roll=0.0736 left_gripper=0.9968 right_x=0.4704 right_y=0.1084 right_z=0.1652 right_yaw=1.4722 right_pitch=-0.2447 right_roll=-0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -3.1521, 6.9538, 1.4335, -0.1441, -0.0562, -0.0122, -0.7863, -14.6393, 6.4479, 0.1636, -0.696, 0.0024, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.4015, 1.7557, 0.9657, -0.0696, 0.1413, 0.0826, 0.0185]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.4166 right_y=0.1537 right_z=0.0542 right_yaw=0.2341 right_pitch=-0.2897 right_roll=-0.0468 right_gripper=0.0185\nstate[joint_eff]: [-0.1026, -2.9607, 6.735, 1.4628, -0.1392, -0.0659, -0.0122, -0.0615, -9.4564, 6.3521, 1.2674, 0.0317, 0.0659, 0.906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0584, 0.886, -0.6682, -0.2459, -0.1726, 0.9968, 0.5228, 1.6814, 0.7712, 0.0616, 0.2119, 0.1478, 0.9946]\nstate[eef_state]: left_x=0.3069 left_y=-0.0025 left_z=0.1794 left_yaw=0.1317 left_pitch=-0.25 left_roll=0.0754 left_gripper=0.9968 right_x=0.3697 right_y=0.1743 right_z=0.0357 right_yaw=0.2589 right_pitch=-0.2653 right_roll=-0.053 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -2.947, 6.7761, 1.4921, -0.1636, -0.0562, -0.0122, 0.294, -8.253, 4.7111, 1.2088, 0.149, 0.2906, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5ae3ac0ee97b42c7358cdc100d32f10ad29cb333295d756c150dfa7b4af80f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29dde990cf52fc26ec77560741cf631d360e235f0fdf80e06758c302e19bcdd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cb63f4e94e5bf8a167bbab16337bfec79994c9ec38e9c4f12c6133f081f81c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB8TCnniXaMgos55bR51EbOGXYmZudb8XauDm_zs04L1CKDEhWZ2nr1H7I0iWA_qAGlbkUwTuuLa4sysjt-B_0zOaPvx3s7H9GHH2Mvhn3P4GIDXNaf8s3kJQuSJ8zFVnXZdcrTe6Zd-SGb3j016X4jXSEJVnLVXX6FUMlL9CDm1SS_DA6kvHdm32tNxY988xRBv6R6vZ7EXwtgdyHL6-yr3iFKqUFBFpvifzX4f4AvPzSBXsQKRebR6L3LUc3Lpnd4Z3QxoTpj3mZ7PgUfdrVkOv9MU7AiVScxrqTKm82BMOiBh-VMWhD7dnT06yhC2h4MHqUPM9ZxdLK8rh_E_Z2VudFd0LwkYZf4xhzj1eln8EkW8bjm873O7CvCNG6ic1DjGrWeexAwLp_lUl2UbKbX-E9XRPlZcOuc98L0yiU1Ke8eGConHhh3uhWR0qDFIKQjgzV--bficBiTuZcGuRfQk6l7Qfss8tOQHuHLCINtJNk71cuuQLufbLjqFoSjiY-UqKon4xnqgb-OA11QZreTpgwN6VYmlnmYN9LnZAXHpr9Oq0UuyzhBmTph7UReAIxbQk0B2BGVWue6fiohbxnBF1WLXJ8Eee7-iJ8Gj9Z_J4CNmuq8cuD9n541NBf35sxEl8dxWeAw-OyewtRZssvXOZtvnDU6A7dl7pEuRCf2QR9Aa_RuNIkbC8mBC8Q4HwSjDWQyegfblNA7h2tWB6oqvfEbJaP4G64xk6vWwflJdkZj3vC_84qnqhkE6tyHc6zZEY3iu0JwMhAUdlcflLp5gi6UHXk38apL4-OOxFJT5OKtYEbyslMw6pGSmQJnleOZCDMKwnye4e6LO3WW8iOXTD98a7jzPVyxNgQWT5ri7e5R6c2G1hhEIK0vZz_YtvmYeuVh5deEVnytuoLSgMyU20j4qs7I95fkieb1SDSoKIxickY4Zx03ZP2PV5Y_Q2fA5VIebv16xUS8VE0TkIRHQjYikWL9KPWjixcuIWO6DnCi9UA1QDjRgi894p61UjmFV_NWTHMWugGvU7hxVVpDyXVdopJLXi2Y2O7o6VkXCa3qgKy8NCan7wlz6hSW0Jk0rn61XyNz_DVIMEvKqLWlyoB3d9WFDidkJxF4w-dvrv8A5s15aR4niswfZcDrdOtEV8mEU5yPORCTdGGiBwZfoMZl1MvJ-Ivjpxj2cC0wCwH251UlgctVt83FeI0LAdPmso_DCiE6ypnrTpRk3ByNlUCA2wlVBUKXsJkPNvfoKTDq2qvcGojiXLItr1hdeOH6Q6Gb51HG4-CGGS5YiNZWUTA==",
  "id": "rs_03a754a8d6ded289016ab41f12c26487d0accab1f8aea2afa3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are now farther back around the tan toy, which is mostly hidden beneath the gripper in the overhead view. I’ll close once more and lift only if the settled opening shows a grasp.\"}",
  "call_id": "call_COVwKjlR8VBUeT4NNanijJUL",
  "id": "fc_03a754a8d6ded289016ab41f13093087d09b3c7cce47550f16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_COVwKjlR8VBUeT4NNanijJUL",
  "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]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.5236, 1.6791, 0.7616, 0.0643, 0.2047, 0.1387, 0.0174]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.3669 right_y=0.1745 right_z=0.0334 right_yaw=0.2706 right_pitch=-0.2715 right_roll=-0.0551 right_gripper=0.0174\nstate[joint_eff]: [0.0068, -2.8376, 6.8444, 1.4237, -0.1685, -0.0415, -0.0122, -0.2256, -7.2137, 6.5026, 1.4872, 0.1685, 0.0562, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96c2cf6faa87f393ff3ab7c387cb47ad9e0fe227842027f54f196d1b4eab19b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e39702d908600ef1aa2634583aa68202b2242b5d638bab38062450949b32cd84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03c48519da5a2591cc9c5cea187c8c419b25b02062f4f5a66a9341fc46fdc46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.343 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0584, 0.8856, -0.6682, -0.2459, -0.1722, 0.9968, 0.4034, 1.7435, 0.9672, -0.091, 0.1333, 0.0914, 0.9963]\nstate[eef_state]: left_x=0.3068 left_y=-0.0025 left_z=0.1793 left_yaw=0.1315 left_pitch=-0.2504 left_roll=0.0758 left_gripper=0.9968 right_x=0.4133 right_y=0.1548 right_z=0.0564 right_yaw=0.2377 right_pitch=-0.298 right_roll=-0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.5214, 6.735, 1.536, -0.1734, -0.0122, -0.0122, 0.3077, -6.9128, 5.0667, 1.5165, 0.0904, 0.3199, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0584, 0.886, -0.6682, -0.2459, -0.1726, 0.9968, 0.5228, 1.6814, 0.7712, 0.0616, 0.2119, 0.1478, 0.9946]\nstate[eef_state]: left_x=0.3069 left_y=-0.0025 left_z=0.1794 left_yaw=0.1317 left_pitch=-0.25 left_roll=0.0754 left_gripper=0.9968 right_x=0.3697 right_y=0.1743 right_z=0.0357 right_yaw=0.2589 right_pitch=-0.2653 right_roll=-0.053 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -2.947, 6.7761, 1.4921, -0.1636, -0.0562, -0.0122, 0.294, -8.253, 4.7111, 1.2088, 0.149, 0.2906, -0.0611]\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 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.5236, 1.6791, 0.7616, 0.0643, 0.2047, 0.1387, 0.0174]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.3669 right_y=0.1745 right_z=0.0334 right_yaw=0.2706 right_pitch=-0.2715 right_roll=-0.0551 right_gripper=0.0174\nstate[joint_eff]: [0.0068, -2.8376, 6.8444, 1.4237, -0.1685, -0.0415, -0.0122, -0.2256, -7.2137, 6.5026, 1.4872, 0.1685, 0.0562, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96c2cf6faa87f393ff3ab7c387cb47ad9e0fe227842027f54f196d1b4eab19b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e39702d908600ef1aa2634583aa68202b2242b5d638bab38062450949b32cd84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03c48519da5a2591cc9c5cea187c8c419b25b02062f4f5a66a9341fc46fdc46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03a754a8d6ded289016ab41f16423887d0a23700289f1c2605",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_03a754a8d6ded289016ab41f1ad8b087d08821f69e4417b0a1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB8gyxpqfsumewSIBFcR0h3NE44eIFtdXuYAufGUFQLw0WBZIZZchROm-c4z_6vKyhcrvWtyr2Oi0Xkyq5ePuR_GocAbJuvYWGsa9sMOvEVMozbtz9U68FfLmFEOKC3A25-sdddHnjI8fXeP7Dgs020EykyNxYm7CnbGM3018gfstkvMV_eIf1UJrUTc95vQA8-q0nzVf1B2Md0aY5oLrNkT8quSj2XKI_8e3U_eOnSK8zsU36EBr-sbxeKHtBcb54vusAWe2ZjQtGNTLZ_JRV7qte01P6x_Ros8QJtqImmgKV85LmmOYpw-ddTDKyWtHEzajEH5hoQ9T6tbzjliNwopCdMom3-wMD1AHbVwnbptSDH2AG1eyj-_WiU_tvrii8AZ6FzVwMA_9xsCrno2Vx7w96tI1-itm9Mo9o8korOwVWlQkywX_jRq-vlmw5vV_1GP8ETjHh1iSevkMO1JGJU6JKrelGNMmVmcEcq4DUjGPLzvmmh7ImG2XjB-A5VturaWok69_prnbB7FvFNtdp4_MqAuXF65oilDYMqzMI38Q9qCid_YrLQXYj_9_ZRT3IUWWz0XAPVs3dAihwdew4w-Ll238Bj_37GJOjqUBDprMRDwxDk5n4s4yicxU-jlbD2d4YtEugAGpTzPLYoD_XBS-UALO1haOs7iexXXgc2sZPH2yIHlohCzwypAJ0fO_I8xdzzP707T1M5GjOM0TxPU-q4ML9NFCz94efuBwtebXVly45gvG8h7j7YNgzbb5JArXrQl9Jr0Dz4vk8zFYTfVOljBaBaSnqchrPL5pBqpqcIyEFpwlDMTAYx-l3KoqK1pVJHOJ06jFk9iDc7Wvf45iKSBYdN88ZN1VCy2or9ukdDpwrLy1AeFVczPRmdq1g7DYgsQl7isyLK83kKHvZ5dXoDGYAWKP3i-UlrQRNcBnN6QRU-gdweTSL4gpoErm8nP5oR9-vJi7aJBvE7eUP_NObJL-wRDJ9TdQglOH0y35a6GlxFyoHFkhvebpWem2M0P-KiCwpfOTjYmEZsW49Pt9wV2nUL_cLttE-tOvoJymAbdOKgSspaPBFCObMhH0W2gtVmZA72hQHgFuYu91f5AF1sRdiaR9WEr8vLEmPmSe2ZUlCECDY6UeMR0sbTN3094yHgmuJSvzMOcK1ZamMeUGXP9tNnffRmoct-m8HyynOqIbhPuU19HH1MoETGT-cg7lT0YJ2GPIx71OHEIaNbNBS_hLR6G6HIREEZTnVDOkezfTVUHQXmEUyA_CzgEHyykaLokxMkov1J6Qw5sVBQjJ8XM1mGvGapNqDqvvkr2_-54t-z14vfe0QLx5-hfZ4nDJzoYwL_OnJtIlT-4EuDjPR-KEYbvRtKrR5bhxlLs1DUNFevLnkgyuBz8G9AdNbtxM16B3bZeG1C48coNjY_XJdEbibWtqnUDD8nk06PD9Gra6GuVJ9CPBs1aqEDdebBmlAF7J2jHAIoC9F2tjb63nvkYUM3_cl7_vWRZVzeEfnLxvYNavXfBsIjzNOHeYq8j",
  "id": "rs_03a754a8d6ded289016ab41f1ee79087d09f4bdf84053ba80a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.15,\"left_z\":0.045,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The second right-hand close was empty, so I’ll stop retrying that obscured toy. I’ll move the right arm clear and approach the isolated upright tan toy with the left arm instead.\"}",
  "call_id": "call_Ivxz0xbTGr9tUGfAk4qNkQtN",
  "id": "fc_03a754a8d6ded289016ab41f1fd91087d0980d2162cd8928fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ivxz0xbTGr9tUGfAk4qNkQtN",
  "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]: [-0.7082, 1.5791, 0.7364, -0.2386, -0.5514, -0.63, 0.9968, -0.1436, 1.0241, 0.8387, -0.6647, -0.2012, -0.3271, 0.997]\nstate[eef_state]: left_x=0.316 left_y=-0.144 left_z=0.0385 left_yaw=0.1114 left_pitch=-0.296 left_roll=0.1096 left_gripper=0.9968 right_x=0.2977 right_y=-0.0037 right_z=0.1688 right_yaw=0.2162 right_pitch=-0.2698 right_roll=-0.0645 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -6.6393, 7.0359, 1.1795, -0.569, -0.1294, -0.0122, -0.1299, -3.3573, 9.3333, 1.3065, -0.3004, 0.0073, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8026fd74402305198e2d70e4a352bca240c3ebec674d53eb4556dd795c4219be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23eb4df7ab98f24eb22dc1656d0b3b86226329626870ad75c8308d0f50567326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28eaf5a18165d1ed1a8b3a4d9279dd8ad8fcebb4875d0106f8e7238a564fc63",
      "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 37 attempt 0 · /responses · status 200 · 2.992 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 150 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.4015, 1.7557, 0.9657, -0.0696, 0.1413, 0.0826, 0.0185]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.4166 right_y=0.1537 right_z=0.0542 right_yaw=0.2341 right_pitch=-0.2897 right_roll=-0.0468 right_gripper=0.0185\nstate[joint_eff]: [-0.1026, -2.9607, 6.735, 1.4628, -0.1392, -0.0659, -0.0122, -0.0615, -9.4564, 6.3521, 1.2674, 0.0317, 0.0659, 0.906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.5236, 1.6791, 0.7616, 0.0643, 0.2047, 0.1387, 0.0174]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.3669 right_y=0.1745 right_z=0.0334 right_yaw=0.2706 right_pitch=-0.2715 right_roll=-0.0551 right_gripper=0.0174\nstate[joint_eff]: [0.0068, -2.8376, 6.8444, 1.4237, -0.1685, -0.0415, -0.0122, -0.2256, -7.2137, 6.5026, 1.4872, 0.1685, 0.0562, 0.8425]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7082, 1.5791, 0.7364, -0.2386, -0.5514, -0.63, 0.9968, -0.1436, 1.0241, 0.8387, -0.6647, -0.2012, -0.3271, 0.997]\nstate[eef_state]: left_x=0.316 left_y=-0.144 left_z=0.0385 left_yaw=0.1114 left_pitch=-0.296 left_roll=0.1096 left_gripper=0.9968 right_x=0.2977 right_y=-0.0037 right_z=0.1688 right_yaw=0.2162 right_pitch=-0.2698 right_roll=-0.0645 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -6.6393, 7.0359, 1.1795, -0.569, -0.1294, -0.0122, -0.1299, -3.3573, 9.3333, 1.3065, -0.3004, 0.0073, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8026fd74402305198e2d70e4a352bca240c3ebec674d53eb4556dd795c4219be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23eb4df7ab98f24eb22dc1656d0b3b86226329626870ad75c8308d0f50567326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28eaf5a18165d1ed1a8b3a4d9279dd8ad8fcebb4875d0106f8e7238a564fc63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB8lPn_ZHmL1hvGGwLs6SZyfj7C_peV-cVQ5yfxxJE5bTbgEjc1_d12Gy6mafnQGWOTSm2mIVwaK8gtLShtMoHPrD2d3fvR2Y_oqZMrRJ0Z1KxRZk0bjPqbYrAUvCjVIynoo2WfCbQpsNrccV0TOnMtRLpaI6XmuA0_bW9-8c9-NJLb2oeWlY4xChOf3vd_L_ldax3NlSEInz_1nYN8hENxpDkSm75M6Dj0eeFNUXSJu_2x5XbAi0w9Ew20NylDuAbOk4QHDs8k-TF9VT323HNzhE6TuBrGCGKFDjNzlRqjZDHX4FUzJwFJTi7w-75ZOTWN06GQbliTskeiDbvLT5TA3dsqAdk1ju8nSGV8rEc1TTZrDMdU9Q5an-NjojZeS3YSH7qTE-i3R4DA8_FIG-SDQYKxwy8h6W0MxI_ot7PlAz4PBNHD76LvQsef6vpYtDwYFU6ajF_KW150m-HHx3n2usizup6HOoOCDyWJLeTAGVzhdMzmzwIs_YcZtnSmXc_hC4Y2lX9Ivm6Xjd1WCpBzE6a4--armDUmZuskM0dMxzG6nieeSXd1OsIat6I4KLen8rvlaNrsey82TvcmifXZ9zJR743MspgJncm9VE-GPn2XBT_hz4zp9PZ12FT-fcJ7OFJ6mLncT-HU0xRRzh11w3H_n4SLjkAZpzsbRusYdO385pDwColZ_WRDdRurj2ArSHx65wndOmddq1o9123I_SP9QIY51hgb_0PSMbXVh6fyAnl3cSJagePNDvVOFg5Nwfk65q616gn060m_JZDccc_sBBBojcvVgKYRCJglUGtPD0MDZ6qbqsmOfMT6_HT9OccR9NCfL7V_TXJzOWXylKWttt8IjdJE4kODhbkGFpq6vAhnApPuem0bAPVRbzAdI19LRrThGPxepR4wdTIEEgdc6iKErj8OkDF03nhGRVGq8NNuo7biC4tbULxhGlci283rH1hMrz2ikT0bn6jWED8BdEBAYzW1IpnncGxjozQUEvLOOcW9bcFCkp6-vPdZ2ox1wgo_gO7ipLrcVrrIdpChLpa9eUOhWYDP76uGGr9pX4eYTl30MVtnWVT_46nsLEj1jNDZD0YfWf8j-nWNPdKPkyPJ6rWOkT5cmXbj7eyXQFGPed5_GilnXsajbHLYkwCbeg1wqbM8-iKpKh4A9ARkUEg9TBrlmyGvPkQO-P7VJciG1nH6HQBXQnw85UNXhQZD1HauW9t_h1R3VUCuxPJ0koFUQrK4ZQPcd00HxbDGiRLtPiiiHd7O1sA4km_-5RCy6fZaqP7rfiOQGcAwtv4QZYLDEh7H6u7CXgdjrJZaNbuRe1Y3xW7IUKiMNfzFfzYlv8DepcPNIuJGBn0yxwp98vxl0kRJ5Gws4r_wm8SWF7iuJ_kc1u4XFKwRWr_Xcy9phSNXkZkAd13ObEeHo8TQhdYy6Nr2FsKZIvwq1bOdFK65rJnuQtIEvpj7hP7klckCeYadPZcdYo0Enb8_GmcObsMxpG-UvZHajRbvtLRVdSsu-DTtmFedDpx4wertPTWXkLKl_KsEZLUXR66RafMcOSkUsVh46xYQ8ktjpT2XCCqAz17mt_WtUPXqcgsTr2k2SbXjNvjlAGEHp39i-WAIBGpO4VjDSEk4RAVHfVhGVwMy52ukDa56uhenO13Pv2j6iFUErojEPK7jOXslsfkplOMlEABUI1o2CnGUJwJP3FPkPrFHz56wn9XJH3SIKpXxHFjnK0DwqjpduT10-FOlE1Z-aoLLVwGMDO06VxR4=",
  "id": "rs_03a754a8d6ded289016ab41f24339887d0951d8e4285f22a5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_z\":0.02},\"note\":\"The upright tan toy is centered near the left fingertips in the wrist view but sits slightly closer to the base in the overhead view. I’ll draw the gripper back a little and lower to grasp around its body.\"}",
  "call_id": "call_anCv5oDiqu7LJSJBgRo2GepT",
  "id": "fc_03a754a8d6ded289016ab41f251b0c87d0b18140b36b3c72aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_anCv5oDiqu7LJSJBgRo2GepT",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7494, 1.5841, 0.6819, -0.186, -0.5774, -0.6743, 0.9968, -0.1539, 1.0187, 0.8467, -0.7002, -0.2218, -0.3622, 0.9978]\nstate[eef_state]: left_x=0.3051 left_y=-0.1473 left_z=0.0279 left_yaw=0.1127 left_pitch=-0.2808 left_roll=0.1003 left_gripper=0.9968 right_x=0.2922 right_y=-0.0024 right_z=0.1685 right_yaw=0.2451 right_pitch=-0.286 right_roll=-0.0654 right_gripper=0.9978\nstate[joint_eff]: [-0.5265, -6.9402, 4.9436, 1.1306, -0.4176, -0.1197, -0.0122, 0.4308, -2.0444, 6.6256, 1.4481, -0.1685, 0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea7aa6514a9740679ea85522e39392be30bee8d2eb11df229e214f7355770d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02904cd577610c565544b4b5952c1c17942f8cfd271dcf324a54692080f08ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55144bc104195c9494f28fa36c88997951f963b99b8ba64039b8229e4539cf64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.68 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 150 changed as sent

message 154 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1604, 1.0584, 0.886, -0.6682, -0.2459, -0.1726, 0.9968, 0.5228, 1.6814, 0.7712, 0.0616, 0.2119, 0.1478, 0.9946]\nstate[eef_state]: left_x=0.3069 left_y=-0.0025 left_z=0.1794 left_yaw=0.1317 left_pitch=-0.25 left_roll=0.0754 left_gripper=0.9968 right_x=0.3697 right_y=0.1743 right_z=0.0357 right_yaw=0.2589 right_pitch=-0.2653 right_roll=-0.053 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -2.947, 6.7761, 1.4921, -0.1636, -0.0562, -0.0122, 0.294, -8.253, 4.7111, 1.2088, 0.149, 0.2906, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7082, 1.5791, 0.7364, -0.2386, -0.5514, -0.63, 0.9968, -0.1436, 1.0241, 0.8387, -0.6647, -0.2012, -0.3271, 0.997]\nstate[eef_state]: left_x=0.316 left_y=-0.144 left_z=0.0385 left_yaw=0.1114 left_pitch=-0.296 left_roll=0.1096 left_gripper=0.9968 right_x=0.2977 right_y=-0.0037 right_z=0.1688 right_yaw=0.2162 right_pitch=-0.2698 right_roll=-0.0645 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -6.6393, 7.0359, 1.1795, -0.569, -0.1294, -0.0122, -0.1299, -3.3573, 9.3333, 1.3065, -0.3004, 0.0073, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7494, 1.5841, 0.6819, -0.186, -0.5774, -0.6743, 0.9968, -0.1539, 1.0187, 0.8467, -0.7002, -0.2218, -0.3622, 0.9978]\nstate[eef_state]: left_x=0.3051 left_y=-0.1473 left_z=0.0279 left_yaw=0.1127 left_pitch=-0.2808 left_roll=0.1003 left_gripper=0.9968 right_x=0.2922 right_y=-0.0024 right_z=0.1685 right_yaw=0.2451 right_pitch=-0.286 right_roll=-0.0654 right_gripper=0.9978\nstate[joint_eff]: [-0.5265, -6.9402, 4.9436, 1.1306, -0.4176, -0.1197, -0.0122, 0.4308, -2.0444, 6.6256, 1.4481, -0.1685, 0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea7aa6514a9740679ea85522e39392be30bee8d2eb11df229e214f7355770d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02904cd577610c565544b4b5952c1c17942f8cfd271dcf324a54692080f08ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55144bc104195c9494f28fa36c88997951f963b99b8ba64039b8229e4539cf64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB8o-zRWTM25tM-erp7DrcauDYsrvrab16zoj5kVtRUKJYC2cWBBkN1nzR2YOmJcO0i7Rf3hOD8UFpzpcJvM3reCLcgFbLu68BgVmoq_bARBolYm9XHDwgsystAqeVrwQp2vrEeYnZy7izUqf4ngHMFtcrkMdMK_abNikgB5gdzBdt_4Ddc9eQQahe2Mka7nmU7wn_7XR05tO1TBCycFt3wDdlWABcsQ60psIHigEu3ca_ZyAJnQgnip-LPhXgfKQanm1Ec8joJXNuMALfm-J28nn1EDM_13-CGW38VL75Ww627EJ2Oczm8fg5k_dRgZ3tRDbNm4zzHBf5_c1tTiIbGrs1hqNy8N_Ce95_uw8bg5i07d3GM3FOHcum-SgEhA44hAPT9UkUqRTmD82lrp_ISuiftZXYVUgOZXVqd6E6X_nii9u5Wr59FSGsJFh2fOZxFnCwpPZgwRwmILzgv3rpag5uZkIzTNjY1lY5E6WVs2oLHqhh8eOg-fDOi0k4coH9N-yiuJsdMmdXe84oCicP95tAl_we8MBtwTnPV7ygyn0a8Zt-y6KOvLDMvL0InMuupNaEYKwpSdLRjTtYXCxERILRUuND5knYt3kqI2Eh9-DTWKTdrNvfowPXxegveXm8IUnCz0T6qOMkNl679rgiwcNKvUHFFjZ2rT8URXP9cGHcg_hhPwlV8Hpjcu2oRRZez7-pQlYzKCNIUx_l_8NN2iWIXr7qOFBcU3UHrQ_R7zGXgoGbbIFra2VCa86lXgNXdsPelE9uYi-eBZ80h-YwS3Bbkc1g-KHCox6dO21G5JWINotiHaT5bUPrnASmiOEj1sTZIsJHfdqscsIpMYybilaIy0xJIY40CHyjrDPT8zbMHWlte5Cfnn5aCQHuT8MxqLFxpeX8e2_tRzeuUPPMEFOOpdie0SfuexDJZNA8_RmGx9WJw5elBmxu7HNB16Phr8x-ecJe3M40bNKds1pPrbfLQbf8PkGnWOwCA0hY0ZJTnOW0LEVRTf7unGHtbJnu02mmifPp9Fl66woY9LGSUaLepD-hurl-ErqVy2ib6AcXX3RDFWoYyBwOVjEnv9FEdTMpfWSpN9hVlYPhnXvUnPAaRlS8uiKuW_NzcEM_MT4CDL9Fu3sE4rUaFR7NZ7kdaeVEHgbeXRi4brUGq14-JL-4Se5W8azJHrbzQU8o5g6De6TJP8Q_1AUCQaL3pwtM3ZkEezfIUUmxuVEjrag5IraDfLhgKqVavOa9_cR1V1DoDefq7uq_GnniEqgbhWakBFa1R2LalRkfiTPHCb_1P_e-tcppCQ96qwGGbKBLUDkjSmRXjv_WNIp9zdy-bb50oxLVElpmefGn7shO_wYT2otA==",
  "id": "rs_03a754a8d6ded289016ab41f27480887d0a210b46243fa1405",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan toy’s body is between the left jaws at table height, though its head is near the bottom of the wrist image. I’ll close and use the settled finger gap to test whether I have it.\"}",
  "call_id": "call_hTvPmLXK0t9pS9R73FCDvLjT",
  "id": "fc_03a754a8d6ded289016ab41f27e09087d0b2bc3172c51b4ce0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hTvPmLXK0t9pS9R73FCDvLjT",
  "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]: [-0.7784, 1.5761, 0.63, -0.1925, -0.5812, -0.704, 0.2877, -0.1516, 1.026, 0.8379, -0.6983, -0.2142, -0.3599, 0.9978]\nstate[eef_state]: left_x=0.2874 left_y=-0.1422 left_z=0.0148 left_yaw=0.1143 left_pitch=-0.3084 left_roll=0.1226 left_gripper=0.2877 right_x=0.2915 right_y=-0.0029 right_z=0.163 right_yaw=0.2413 right_pitch=-0.3012 right_roll=-0.0638 right_gripper=0.9978\nstate[joint_eff]: [0.0342, -6.8444, 5.6, 0.9841, -0.3443, -0.022, 0.6569, -0.3487, -3.2068, 7.7744, 1.3504, -0.1441, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3860ee8ffd04c2afc74855b06378bb172be2471302533c832cacdbb06354a96e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8dbb4f5bee7be2698ba2a5d0bbf09c050da1642e4889cc2822ed5b31c8d05a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5849c4827f713185a108678642a96306aa6786aee0a161533bc910c44fb6fc9",
      "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 · 4.409 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 154 changed as sent

message 158 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.16, 1.0584, 0.886, -0.6685, -0.2459, -0.1726, 0.9968, 0.5236, 1.6791, 0.7616, 0.0643, 0.2047, 0.1387, 0.0174]\nstate[eef_state]: left_x=0.3068 left_y=-0.0023 left_z=0.1794 left_yaw=0.1321 left_pitch=-0.2504 left_roll=0.0755 left_gripper=0.9968 right_x=0.3669 right_y=0.1745 right_z=0.0334 right_yaw=0.2706 right_pitch=-0.2715 right_roll=-0.0551 right_gripper=0.0174\nstate[joint_eff]: [0.0068, -2.8376, 6.8444, 1.4237, -0.1685, -0.0415, -0.0122, -0.2256, -7.2137, 6.5026, 1.4872, 0.1685, 0.0562, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7494, 1.5841, 0.6819, -0.186, -0.5774, -0.6743, 0.9968, -0.1539, 1.0187, 0.8467, -0.7002, -0.2218, -0.3622, 0.9978]\nstate[eef_state]: left_x=0.3051 left_y=-0.1473 left_z=0.0279 left_yaw=0.1127 left_pitch=-0.2808 left_roll=0.1003 left_gripper=0.9968 right_x=0.2922 right_y=-0.0024 right_z=0.1685 right_yaw=0.2451 right_pitch=-0.286 right_roll=-0.0654 right_gripper=0.9978\nstate[joint_eff]: [-0.5265, -6.9402, 4.9436, 1.1306, -0.4176, -0.1197, -0.0122, 0.4308, -2.0444, 6.6256, 1.4481, -0.1685, 0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7784, 1.5761, 0.63, -0.1925, -0.5812, -0.704, 0.2877, -0.1516, 1.026, 0.8379, -0.6983, -0.2142, -0.3599, 0.9978]\nstate[eef_state]: left_x=0.2874 left_y=-0.1422 left_z=0.0148 left_yaw=0.1143 left_pitch=-0.3084 left_roll=0.1226 left_gripper=0.2877 right_x=0.2915 right_y=-0.0029 right_z=0.163 right_yaw=0.2413 right_pitch=-0.3012 right_roll=-0.0638 right_gripper=0.9978\nstate[joint_eff]: [0.0342, -6.8444, 5.6, 0.9841, -0.3443, -0.022, 0.6569, -0.3487, -3.2068, 7.7744, 1.3504, -0.1441, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3860ee8ffd04c2afc74855b06378bb172be2471302533c832cacdbb06354a96e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8dbb4f5bee7be2698ba2a5d0bbf09c050da1642e4889cc2822ed5b31c8d05a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5849c4827f713185a108678642a96306aa6786aee0a161533bc910c44fb6fc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03a754a8d6ded289016ab41f2b1ffc87d09fc371fd0aa0a7f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.335,\"left_z\":0.24},\"note\":\"The left fingers stopped about 2.7 cm apart around the upright tan toy. I’ll lift and carry it over the upright basket on the right, watching that the toy clears the basket rim.\"}",
  "call_id": "call_vOuUbthAi6ppXoLpjzBoymax",
  "id": "fc_03a754a8d6ded289016ab41f2d8cb087d08672197bf0dc5cef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vOuUbthAi6ppXoLpjzBoymax",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7891, 2.5877, 2.8162, -1.483, -0.5632, -0.749, 0.2901, -0.1516, 1.0283, 0.8375, -0.6979, -0.2134, -0.3595, 0.9978]\nstate[eef_state]: left_x=0.4483 left_y=-0.3127 left_z=0.1564 left_yaw=0.1519 left_pitch=-0.3883 left_roll=0.1802 left_gripper=0.2901 right_x=0.2916 right_y=-0.0031 right_z=0.1623 right_yaw=0.2407 right_pitch=-0.3035 right_roll=-0.0632 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -19.2205, 10.865, 0.8864, -0.5885, 0.4176, 0.2369, -0.1573, -2.4274, 6.7761, 1.4335, -0.1245, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84950603f0d264d94e43ad2e2caeec52e2f50b904a7d08235c4bcd81e324632f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40510c2f4076b5eb1690cf95037a9d25c2541bf10c09c427a987904ffb1ddf28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ae3152c73051e389b5f4b124d364ef72d9adc76e0634570ff12ae1db381dbc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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