adhoc

completed
2026-09-23T18:50:19.662855+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
251.9 s
total steps
399
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two turquoise baskets at the back and a cluster of pale objects between the arms. I’ll bring the left gripper above the left side of the cluster to identify and align with one object before grasping it.
move_to
left_x0.3400left_y-0.1700left_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]: [-0.0193, 0.8005, 0.6174, -0.3798, -0.0219, -0.0326, 0.9996, -0.0208, 0.7986, 0.6106, -0.3737, -0.0185, -0.0254, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0007 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.5932, 9.265, 1.8046, -0.0317, 0.1929, -0.0562, -0.294, -1.3333, 9.7983, 1.6972, -0.0415, 0.0806, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.17,"left_z":0.17},"note":"I see two turquoise baskets at the back and a cluster of pale objects between the arms. I’ll bring the left gripper above the left side of the cluster to identify and align with one object before grasping it."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe closer view shows a tan teddy bear and smaller pale animal figures; these appear to be the two types to sort. I’m moving the left gripper toward the tan bear at the front of the cluster, while staying above it.
move_to
left_x0.2600left_y-0.2450left_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]: [-0.7448, 1.3361, 0.8276, -0.2558, -0.6041, -0.4843, 0.9995, -0.0208, 0.8024, 0.6086, -0.3779, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.3332 left_y=-0.1659 left_z=0.1529 left_yaw=-0.0063 left_pitch=-0.0437 left_roll=0.0269 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1802 right_yaw=0.0004 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1299, -5.2855, 9.6068, 1.6142, -0.398, -0.0269, -0.0171, -0.0889, -1.5795, 7.4462, 1.7753, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.245,"left_z":0.13},"note":"The closer view shows a tan teddy bear and smaller pale animal figures; these appear to be the two types to sort. I’m moving the left gripper toward the tan bear at the front of the cluster, while staying above it."})
tool
executing move_to over 8 steps (0.8s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe bear’s body is centered between the open jaws in the left wrist view. I’ll lower the gripper around its torso before closing, keeping the other arm parked.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1507, 1.4982, 0.8867, -0.4603, -0.8387, -0.9104, 0.9995, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9997] state[eef_state]: left_x=0.2562 left_y=-0.2426 left_z=0.1187 left_yaw=-0.0178 left_pitch=-0.0653 left_roll=0.0375 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9997 state[joint_eff]: [-0.0889, -6.2291, 8.8137, 0.9011, -0.6032, -0.0757, -0.0171, -0.0342, -1.3197, 7.0359, 1.7118, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The bear’s body is centered between the open jaws in the left wrist view. I’ll lower the gripper around its torso before closing, keeping the other arm parked."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe left jaws are down around the bear’s fluffy torso, with its body occupying the gap. I’ll close them and check whether the grip holds.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1507, 1.6333, 0.7395, -0.1963, -0.8345, -0.9134, 0.9996, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.2549 left_y=-0.241 left_z=0.0549 left_yaw=-0.0171 left_pitch=-0.0763 left_roll=0.0501 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0479, -6.2974, 5.1487, 1.16, -0.4469, -0.0073, -0.0171, -0.0479, -1.3197, 7.0359, 1.7216, -0.0366, -0.0855, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are down around the bear’s fluffy torso, with its body occupying the gap. I’ll close them and check whether the grip holds."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper stopped partly open after closing, which suggests it caught something, but I still need to verify. I’ll lift the bear clear of the table and check that it follows.
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]: [-1.1507, 1.6348, 0.7383, -0.1886, -0.8379, -0.9146, 0.143, -0.0208, 0.8051, 0.6083, -0.3847, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.2555 left_y=-0.2414 left_z=0.0552 left_yaw=-0.0151 left_pitch=-0.0714 left_roll=0.0459 left_gripper=0.143 right_x=0.2954 right_y=0.0007 right_z=0.1779 right_yaw=0.0006 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1709, -6.7761, 5.4359, 0.9451, -0.4029, -0.022, 1.0232, -0.253, -1.4838, 7.241, 1.8242, -0.0269, -0.0708, -0.0171] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The gripper stopped partly open after closing, which suggests it caught something, but I still need to verify. I’ll lift the bear clear of the table and check that it follows."})
tool
executing move_to over 9 steps (0.9s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe grasp remains partly closed after the lift, and the pale plush is moving with the left gripper. I’ll carry this plush type to the left basket, staying above its rim.
move_to
left_x0.4600left_y-0.0900left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1507, 1.4696, 1.0634, -0.7193, -0.8085, -0.9215, 0.1476, -0.0208, 0.8051, 0.6083, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.2524 left_y=-0.243 left_z=0.1597 left_yaw=-0.0223 left_pitch=-0.1121 left_roll=0.066 left_gripper=0.1476 right_x=0.2954 right_y=0.0008 right_z=0.1778 right_yaw=0.0007 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3214, -8.3077, 8.8137, 0.8327, -0.7009, 0.0659, 1.0281, -0.1846, -0.9231, 7.1316, 1.746, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.09,"left_z":0.2},"note":"The grasp remains partly closed after the lift, and the pale plush is moving with the left gripper. I’ll carry this plush type to the left basket, staying above its rim."})
tool
executing move_to over 16 steps (1.6s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe left gripper is over the left basket, with the held plush above its opening. I’ll lower it inside the basket before releasing it.
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]: [-0.2928, 1.6165, 1.2453, -0.4316, -0.2535, -0.1722, 0.1511, -0.0208, 0.8097, 0.6067, -0.392, -0.0185, -0.0265, 0.9997] state[eef_state]: left_x=0.4444 left_y=-0.0839 left_z=0.1695 left_yaw=0.0026 left_pitch=-0.21 left_roll=0.0724 left_gripper=0.1511 right_x=0.2945 right_y=0.0007 right_z=0.1744 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [-0.212, -8.4855, 10.1812, 2.0488, -0.1636, 0.3053, 1.0281, -0.1846, -1.5521, 7.2137, 1.8242, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The left gripper is over the left basket, with the held plush above its opening. I’ll lower it inside the basket before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe descent stopped short and the arm effort changed, consistent with the plush touching the basket. I’ll open the left jaws to release it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3038, 1.6596, 1.0626, -0.1585, -0.2535, -0.1719, 0.1511, -0.0208, 0.812, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4488 left_y=-0.0905 left_z=0.1217 left_yaw=-0.0113 left_pitch=-0.1648 left_roll=0.0587 left_gripper=0.1511 right_x=0.2946 right_y=0.0008 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.8547, -5.641, 5.012, 1.1453, -0.105, -0.0513, 1.0281, 0.0068, -0.9778, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent stopped short and the arm effort changed, consistent with the plush touching the basket. I’ll open the left jaws to release it there."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe jaws have released the plush, but the gripper still blocks my view of whether it settled inside the left basket. I’ll back away and check its placement and the remaining objects.
move_to
left_x0.3300left_y-0.1300left_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]: [-0.2958, 1.7092, 1.0183, -0.1471, -0.2497, -0.1795, 0.9955, -0.0208, 0.812, 0.6067, -0.3927, -0.0185, -0.0265, 0.9997] state[eef_state]: left_x=0.4394 left_y=-0.0845 left_z=0.0844 left_yaw=0.0026 left_pitch=-0.2441 left_roll=0.0749 left_gripper=0.9955 right_x=0.2945 right_y=0.0007 right_z=0.1737 right_yaw=0.0006 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.0479, -9.0598, 6.8718, 1.6044, -0.2125, 0.0122, -0.1441, -0.0205, -1.3333, 7.0085, 1.7265, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.13,"left_z":0.18},"note":"The jaws have released the plush, but the gripper still blocks my view of whether it settled inside the left basket. I’ll back away and check its placement and the remaining objects."})
tool
executing move_to over 9 steps (0.9s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteAfter backing away, I can see the plush is resting against the right edge of the left basket rather than fully inside it. I’ll regrasp its body and shift it toward the basket’s center.
move_to
left_x0.4250left_y-0.1150left_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]: [-0.5869, 1.3579, 1.0241, -0.5846, -0.4065, -0.3893, 0.9967, -0.0208, 0.8165, 0.6067, -0.3923, -0.0189, -0.0265, 0.9997] state[eef_state]: left_x=0.3374 left_y=-0.1362 left_z=0.162 left_yaw=-0.036 left_pitch=-0.2581 left_roll=0.0738 left_gripper=0.9967 right_x=0.2949 right_y=0.0008 right_z=0.1725 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9997 state[joint_eff]: [-0.1299, -6.9538, 9.347, 1.3065, -0.3297, -0.0806, 0.1148, -0.294, -1.347, 7.1316, 1.7851, -0.0171, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.115,"left_z":0.14},"note":"After backing away, I can see the plush is resting against the right edge of the left basket rather than fully inside it. I’ll regrasp its body and shift it toward the basket’s center."})
tool
executing move_to over 7 steps (0.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe misplaced plush is now directly ahead of the open left jaws; its torso is within the jaw span. I’ll lower onto it for a second, better-centered grasp.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3908, 1.6089, 1.1328, -0.4595, -0.3016, -0.2668, 0.9969, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4069 left_y=-0.107 left_z=0.1248 left_yaw=0.0094 left_pitch=-0.3178 left_roll=0.0885 left_gripper=0.9969 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.001 right_pitch=-0.045 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.5419, 9.0188, 1.4383, -0.0317, 0.3199, -0.0073, 0.1026, -1.7436, 7.0769, 1.6679, -0.0806, -0.0513, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The misplaced plush is now directly ahead of the open left jaws; its torso is within the jaw span. I’ll lower onto it for a second, better-centered grasp."})
tool
executing move_to over 4 steps (0.4s)
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 jaws are lowered around the plush’s middle near the basket edge. I’ll close on it and then move it over the open center of the basket.
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]: [-0.3893, 1.6794, 0.9825, -0.2882, -0.2913, -0.2623, 0.9969, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3974 left_y=-0.1043 left_z=0.0639 left_yaw=0.0065 left_pitch=-0.3671 left_roll=0.1037 left_gripper=0.9969 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0454 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1573, -7.5145, 6.6803, 1.4676, -0.2125, -0.0855, -0.022, -0.0479, -1.2376, 7.0359, 1.7656, -0.0269, -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":0},"note":"The jaws are lowered around the plush’s middle near the basket edge. I’ll close on it and then move it over the open center of the basket."})
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 second close settled almost fully shut, so it missed the plush at the basket edge; I won’t repeat that approach. Two darker, upright objects remain nearer the front, and I’ll move above one of them to sort that type.
move_to
left_x0.2550left_y-0.1200left_z0.1700left_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]: [-0.3885, 1.6981, 0.9657, -0.2741, -0.2905, -0.2691, 0.0323, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997] state[eef_state]: left_x=0.3942 left_y=-0.1028 left_z=0.0526 left_yaw=0.0138 left_pitch=-0.3866 left_roll=0.1076 left_gripper=0.0323 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.001 right_pitch=-0.0492 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.1846, -9.2786, 7.3504, 1.1062, -0.149, 0.1441, 1.0965, -0.1846, -1.5521, 7.2, 1.6972, -0.0366, -0.0757, -0.0171] 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_x":0.255,"left_y":-0.12,"left_z":0.17,"left_gripper":1},"note":"The second close settled almost fully shut, so it missed the plush at the basket edge; I won’t repeat that approach. Two darker, upright objects remain nearer the front, and I’ll move above one of them to sort that type."})
tool
executing move_to over 11 steps (1.1s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe left wrist view now clearly shows a small brown dog below two cream teddy bears, with a thin yellow piece beside the dog. I’ll lower the jaws to the dog’s raised head and torso, high enough to avoid catching the yellow piece on the table.
move_to
left_z0.0700
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]: [-0.7189, 1.2072, 0.9833, -0.8726, -0.4252, -0.5465, 0.9954, -0.0208, 0.8299, 0.6067, -0.3923, -0.0185, -0.0265, 0.9997] state[eef_state]: left_x=0.2639 left_y=-0.1293 left_z=0.1575 left_yaw=-0.0306 left_pitch=-0.3865 left_roll=0.0914 left_gripper=0.9954 right_x=0.2957 right_y=0.0007 right_z=0.1688 right_yaw=0.0006 right_pitch=-0.0538 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [-0.1573, -4.6427, 8.7726, 0.9841, -0.3883, -0.0366, -0.1978, -0.0615, -1.3744, 7.159, 1.7314, -0.022, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.07},"note":"The left wrist view now clearly shows a small brown dog below two cream teddy bears, with a thin yellow piece beside the dog. I’ll lower the jaws to the dog’s raised head and torso, high enough to avoid catching the yellow piece on the table."})
tool
executing move_to over 6 steps (0.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe brown dog is centered between the lowered jaws, while the thin yellow piece remains off to its left. I’ll close on the dog and verify the grip before moving it to the other basket.
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]: [-0.7189, 1.2644, 0.691, -0.5785, -0.4221, -0.5556, 0.9967, -0.0208, 0.8307, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997] state[eef_state]: left_x=0.2553 left_y=-0.1225 left_z=0.0701 left_yaw=-0.0122 left_pitch=-0.4301 left_roll=0.1222 left_gripper=0.9967 right_x=0.2956 right_y=0.0008 right_z=0.1685 right_yaw=0.001 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.212, -3.8222, 6.2427, 1.0574, -0.232, 0.0366, 0.1245, -0.0479, -1.4974, 7.159, 1.7118, -0.0317, -0.0806, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown dog is centered between the lowered jaws, while the thin yellow piece remains off to its left. I’ll close on the dog and verify the grip before moving it to the other basket."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe jaws closed nearly completely and the dog stayed on the table, so that grasp missed. I’ll reopen, advance a few centimeters toward its body, and lower below its thickest part for one corrected attempt.
move_to
left_x0.2830left_z0.0350left_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]: [-0.7185, 1.2755, 0.672, -0.5636, -0.4191, -0.5575, 0.0154, -0.0208, 0.8326, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.2528 left_y=-0.1208 left_z=0.0622 left_yaw=-0.0083 left_pitch=-0.4434 left_roll=0.1297 left_gripper=0.0154 right_x=0.2958 right_y=0.0008 right_z=0.1681 right_yaw=0.0008 right_pitch=-0.0564 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0479, -4.9026, 7.5419, 0.8132, -0.3248, -0.0269, 0.6129, -0.212, -1.6205, 7.0085, 1.7363, -0.0171, -0.0269, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.283,"left_z":0.035,"left_gripper":1},"note":"The jaws closed nearly completely and the dog stayed on the table, so that grasp missed. I’ll reopen, advance a few centimeters toward its body, and lower below its thickest part for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteAfter the correction, the dog’s body fills the jaw gap close to the fingertips. I’ll close once more and check the settled opening; if this fails, I’ll switch strategy rather than repeat 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]: [-0.6376, 1.4216, 0.6708, -0.3946, -0.3882, -0.4881, 0.9954, -0.0208, 0.8326, 0.6067, -0.3931, -0.0189, -0.0265, 0.9997] state[eef_state]: left_x=0.2807 left_y=-0.1203 left_z=0.0372 left_yaw=0.0024 left_pitch=-0.4493 left_roll=0.1313 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1679 right_yaw=0.001 right_pitch=-0.0572 right_roll=0.0005 right_gripper=0.9997 state[joint_eff]: [0.6496, -4.6974, 5.2308, 1.1062, -0.1392, 0.1001, -0.1441, -0.0889, -1.4564, 7.0359, 1.6777, -0.0366, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the correction, the dog’s body fills the jaw gap close to the fingertips. I’ll close once more and check the settled opening; if this fails, I’ll switch strategy rather than repeat it."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe dog has slipped forward on both close attempts, so I’m leaving it for now rather than dragging it farther. I can also distinguish soft animal toys from thin marker-like items on the table; I’ll park the left arm and bring the right gripper over the pair of thin items beneath the right basket.
move_to
left_x0.2960left_y0.0000left_z0.1900left_gripper1.0000right_x0.2800right_y0.2750right_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]: [-0.6342, 1.4307, 0.6708, -0.3798, -0.3889, -0.4885, 0.0338, -0.0208, 0.8345, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.2832 left_y=-0.1207 left_z=0.0361 left_yaw=0.005 left_pitch=-0.4443 left_roll=0.1279 left_gripper=0.0338 right_x=0.2959 right_y=0.0008 right_z=0.1675 right_yaw=0.0008 right_pitch=-0.0583 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.335, -5.6821, 5.9145, 0.9451, -0.1832, -0.0659, 0.5983, -0.335, -1.4701, 7.0632, 1.7314, -0.0317, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.19,"left_gripper":1,"right_x":0.28,"right_y":0.275,"right_z":0.13},"note":"The dog has slipped forward on both close attempts, so I’m leaving it for now rather than dragging it farther. I can also distinguish soft animal toys from thin marker-like items on the table; I’ll park the left arm and bring the right gripper over the pair of thin items beneath the right basket."})
tool
executing move_to over 23 steps (2.3s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe right wrist camera confirms two long, thin pens lying parallel under the right basket: one blue and one light-colored. I’ll lower the open right jaws between their shafts to try lifting them together into the basket.
move_to
right_y0.2450right_z0.0050
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]: [-0.0937, 1.1717, 1.0607, -0.9173, -0.141, -0.0292, 0.9981, 1.0855, 1.6009, 0.9936, -0.4072, 0.7708, 0.7891, 0.9997] state[eef_state]: left_x=0.2954 left_y=0.0008 left_z=0.1781 left_yaw=0.0379 left_pitch=-0.4576 left_roll=0.1252 left_gripper=0.9981 right_x=0.277 right_y=0.2691 right_z=0.1183 right_yaw=0.0327 right_pitch=-0.0938 right_roll=-0.0314 right_gripper=0.9997 state[joint_eff]: [0.1162, -4.0137, 8.9778, 1.2283, -0.0464, 0.1783, -0.022, 0.3624, -7.3504, 8.3624, 1.0525, 0.6569, 0.2027, -0.022] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.245,"right_z":0.005},"note":"The right wrist camera confirms two long, thin pens lying parallel under the right basket: one blue and one light-colored. I’ll lower the open right jaws between their shafts to try lifting them together into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteBoth pen shafts lie between the low right jaws, although the light one is nearer the outer jaw. I’ll close gently and use the settled opening and a lift to see whether either pen was caught.
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]: [-0.091, 1.1717, 1.0649, -0.9268, -0.1337, -0.0269, 0.9982, 1.0531, 1.7863, 0.6922, 0.0864, 0.7609, 0.7563, 0.9997] state[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1783 left_yaw=0.0328 left_pitch=-0.4639 left_roll=0.1204 left_gripper=0.9982 right_x=0.2749 right_y=0.2438 right_z=0.0124 right_yaw=0.024 right_pitch=-0.0982 right_roll=-0.0473 right_gripper=0.9997 state[joint_eff]: [-0.2803, -3.5897, 6.3248, 1.2723, -0.1245, -0.0757, -0.0024, -0.759, -5.3675, 3.7812, 0.7839, 0.0611, -0.2027, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"Both pen shafts lie between the low right jaws, although the light one is nearer the outer jaw. I’ll close gently and use the settled opening and a lift to see whether either pen was caught."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe right gripper stayed noticeably open, about a pen’s thickness, after closing. I’ll lift it to confirm which pen actually came off the table.
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]: [-0.091, 1.1725, 1.0649, -0.9276, -0.1333, -0.0265, 0.9982, 1.0523, 1.7973, 0.6846, 0.1059, 0.7513, 0.7517, 0.1349] state[eef_state]: left_x=0.294 left_y=0.0004 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.274 right_y=0.2442 right_z=0.0078 right_yaw=0.0313 right_pitch=-0.1048 right_roll=-0.0461 right_gripper=0.1349 state[joint_eff]: [-0.0752, -3.6444, 6.4889, 1.1893, -0.1197, -0.022, -0.0122, -0.1573, -8.3077, 5.2308, 0.9158, 0.4371, 0.0024, 0.989] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right gripper stayed noticeably open, about a pen’s thickness, after closing. I’ll lift it to confirm which pen actually came off the table."})
tool
executing move_to over 11 steps (1.1s)
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 right gripper is still partly closed after the lift, and a thin item appears to have moved under it, though the tabletop pens are partly obscured. I’ll carry the apparent pickup directly over the right basket and verify after release.
move_to
right_x0.4450right_y0.1800right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 1.0523, 1.4921, 1.0363, -0.5468, 0.73, 0.7483, 0.14] state[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.1781 left_yaw=0.0323 left_pitch=-0.4647 left_roll=0.1203 left_gripper=0.9982 right_x=0.2747 right_y=0.251 right_z=0.1513 right_yaw=0.046 right_pitch=-0.118 right_roll=-0.0356 right_gripper=0.14 state[joint_eff]: [-0.2256, -3.6171, 6.5436, 1.1795, -0.0659, -0.0562, -0.0122, -0.1846, -8.1162, 8.6359, 0.9158, 0.5641, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). 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":0.445,"right_y":0.18,"right_z":0.2},"note":"The right gripper is still partly closed after the lift, and a thin item appears to have moved under it, though the tabletop pens are partly obscured. I’ll carry the apparent pickup directly over the right basket and verify after release."})
tool
executing move_to over 14 steps (1.4s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe blue pen is visibly held along the right gripper’s jaw axis and extends into the right basket. I’ll lower it into the basket before letting go.
move_to
right_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]: [-0.091, 1.1728, 1.0649, -0.9283, -0.1333, -0.0265, 0.9982, 0.527, 1.6802, 1.3384, -0.45, 0.3893, 0.2859, 0.14] state[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1778 left_yaw=0.0324 left_pitch=-0.4666 left_roll=0.1206 left_gripper=0.9982 right_x=0.4329 right_y=0.1785 right_z=0.1828 right_yaw=0.0337 right_pitch=-0.1579 right_roll=-0.0515 right_gripper=0.14 state[joint_eff]: [-0.212, -3.6034, 6.5026, 1.2234, -0.0952, -0.0269, -0.0073, -0.4581, -8.1162, 9.7026, 1.5556, 0.1734, -0.0366, 1.0379] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The blue pen is visibly held along the right gripper’s jaw axis and extends into the right basket. I’ll lower it into the basket before letting go."})
tool
executing move_to over 6 steps (0.6s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
assistant
agent noteThe blue pen’s forward end is now down inside the right basket. I’ll open the right jaws to leave it there.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9272, -0.1333, -0.0265, 0.9982, 0.524, 1.7393, 1.1225, -0.2058, 0.384, 0.2691, 0.14] state[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1779 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.4279 right_y=0.175 right_z=0.1082 right_yaw=0.0415 right_pitch=-0.1875 right_roll=-0.0754 right_gripper=0.14 state[joint_eff]: [-0.1162, -3.6034, 6.4752, 1.1844, -0.1148, -0.0464, -0.0073, -0.0752, -7.0769, 5.8188, 1.4237, 0.1783, 0.1343, 1.033] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue pen’s forward end is now down inside the right basket. I’ll open the right jaws to leave it there."})
tool
executing move_to over 9 steps (0.9s)
step 236
assistant
agent noteThe blue pen has been released inside the right basket. The yellow pen lies between the gray and brown plush toys on the left, so I’ll park the right arm and lower the left jaws around the yellow pen.
move_to
right_x0.2960right_y0.0000right_z0.1850left_x0.2700left_y-0.0500left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 0.5228, 1.7447, 1.1172, -0.1921, 0.3805, 0.2668, 0.9948] state[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4651 left_roll=0.1204 left_gripper=0.9982 right_x=0.4287 right_y=0.1755 right_z=0.1058 right_yaw=0.0446 right_pitch=-0.1861 right_roll=-0.0734 right_gripper=0.9948 state[joint_eff]: [0.0479, -3.535, 6.6393, 1.1893, -0.0806, -0.0513, -0.0122, -0.2803, -9.2239, 6.8855, 1.3211, 0.1343, 0.0464, -0.1294] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.185,"left_x":0.27,"left_y":-0.05,"left_z":0.025},"note":"The blue pen has been released inside the right basket. The yellow pen lies between the gray and brown plush toys on the left, so I’ll park the right arm and lower the left jaws around the yellow pen."})
tool
executing move_to over 15 steps (1.5s)
step 251
assistant
agent noteAt table height the yellow pen is left of the jaw center, and the two plush toys crowd either side. I’ll shift the left hand toward the pen and narrow its jaws before the final grasp so they fit between the toys.
move_to
left_y-0.0050left_gripper0.3800left_z0.0120
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3641, 1.24, 0.5236, -0.3496, -0.2398, -0.2565, 0.9982, 0.009, 0.9611, 0.8085, -0.5591, 0.046, -0.0692, 0.9962] state[eef_state]: left_x=0.2734 left_y=-0.0555 left_z=0.0346 left_yaw=-0.0032 left_pitch=-0.4588 left_roll=0.0951 left_gripper=0.9982 right_x=0.3069 right_y=-0.0018 right_z=0.1896 right_yaw=-0.0016 right_pitch=-0.1509 right_roll=-0.073 right_gripper=0.9962 state[joint_eff]: [-0.0068, -2.4957, 4.9026, 0.7741, -0.4713, -0.0904, -0.0073, -0.2667, -2.5915, 6.7624, 1.6484, -0.1538, -0.022, 0.1245] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.005,"left_gripper":0.38,"left_z":0.012},"note":"At table height the yellow pen is left of the jaw center, and the two plush toys crowd either side. I’ll shift the left hand toward the pen and narrow its jaws before the final grasp so they fit between the toys."})
tool
executing move_to over 7 steps (0.7s)
step 258
assistant
agent noteThe yellow pen is partly buried between the gray and brown toys, and the narrowed jaws are now alongside the brown toy’s torso rather than cleanly around the pen. I’ll close once to see whether I can remove that obstructing toy first.
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]: [-0.1158, 1.2419, 0.4343, -0.2146, -0.128, -0.07, 0.3851, 0.0074, 0.9649, 0.8085, -0.5785, 0.0368, -0.0864, 0.9963] state[eef_state]: left_x=0.2765 left_y=-0.0058 left_z=0.0171 left_yaw=0.0274 left_pitch=-0.4506 left_roll=0.088 left_gripper=0.3851 right_x=0.3041 right_y=-0.0007 right_z=0.1849 right_yaw=0.014 right_pitch=-0.1748 right_roll=-0.08 right_gripper=0.9963 state[joint_eff]: [0.1026, -2.8923, 4.6701, 1.2234, -0.0122, 0.1148, 0.2662, -0.0752, -2.6188, 6.9265, 1.8095, 0.0855, 0.0904, 0.0024] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow pen is partly buried between the gray and brown toys, and the narrowed jaws are now alongside the brown toy’s torso rather than cleanly around the pen. I’ll close once to see whether I can remove that obstructing toy first."})
tool
executing move_to over 4 steps (0.4s)
step 262
assistant
agent noteThe left jaws stopped at about a centimeter of opening, consistent with a pen rather than a plush toy. I’ll lift straight up to see whether the yellow pen follows.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1135, 1.2419, 0.4263, -0.1932, -0.1268, -0.0643, 0.1039, 0.0071, 0.9649, 0.8085, -0.5793, 0.036, -0.0898, 0.9964] state[eef_state]: left_x=0.2782 left_y=-0.0056 left_z=0.0171 left_yaw=0.0244 left_pitch=-0.4378 left_roll=0.0883 left_gripper=0.1039 right_x=0.304 right_y=-0.0006 right_z=0.1848 right_yaw=0.0161 right_pitch=-0.1758 right_roll=-0.082 right_gripper=0.9964 state[joint_eff]: [-0.1983, -3.5214, 6.5299, 1.0379, -0.1343, -0.0952, 0.6764, -0.1709, -2.3043, 6.8718, 1.5897, -0.0513, -0.0073, -0.0073] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The left jaws stopped at about a centimeter of opening, consistent with a pen rather than a plush toy. I’ll lift straight up to see whether the yellow pen follows."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteThe yellow marker disappeared from the tabletop when I lifted, so the left gripper is holding it. The right basket is beyond the left arm’s lateral range; I’ll set the marker at the center handoff point for the right arm.
move_to
left_x0.3200left_y-0.3100left_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]: [-0.1135, 1.0889, 0.8822, -0.7952, -0.1265, -0.0673, 0.1065, 0.0071, 0.9649, 0.8085, -0.5797, 0.0364, -0.0906, 0.9963] state[eef_state]: left_x=0.283 left_y=-0.0062 left_z=0.1478 left_yaw=0.0254 left_pitch=-0.4309 left_roll=0.0851 left_gripper=0.1065 right_x=0.3039 right_y=-0.0007 right_z=0.1847 right_yaw=0.0162 right_pitch=-0.1762 right_roll=-0.0829 right_gripper=0.9963 state[joint_eff]: [-0.253, -3.6444, 8.6222, 1.1355, -0.1001, 0.0024, 0.2564, -0.0889, -2.0855, 6.8581, 1.6386, -0.0073, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.31,"left_z":0.17},"note":"The yellow marker disappeared from the tabletop when I lifted, so the left gripper is holding it. The right basket is beyond the left arm’s lateral range; I’ll set the marker at the center handoff point for the right arm."})
tool
executing move_to over 28 steps (2.8s)
step 300
assistant
agent noteThe left arm can in fact reach the right basket’s opening from this crossover pose, so no handoff is needed. I’ll place the held yellow pen directly toward the middle of the right basket.
move_to
left_x0.3900left_y-0.3350left_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]: [-0.9646, 1.9514, 1.7855, -1.1393, -0.4728, -0.8913, 0.1084, 0.0074, 0.9649, 0.8085, -0.58, 0.036, -0.0902, 0.9963] state[eef_state]: left_x=0.3136 left_y=-0.3048 left_z=0.1566 left_yaw=0.0291 left_pitch=-0.4752 left_roll=0.0883 left_gripper=0.1084 right_x=0.3038 right_y=-0.0005 right_z=0.1846 right_yaw=0.0167 right_pitch=-0.1765 right_roll=-0.0823 right_gripper=0.9963 state[joint_eff]: [-0.3624, -10.3726, 8.5402, 0.6129, -0.5983, 0.149, 0.1783, -0.0615, -2.3316, 7.0632, 1.5897, -0.0366, -0.0708, -0.0073] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.335,"left_z":0.105},"note":"The left arm can in fact reach the right basket’s opening from this crossover pose, so no handoff is needed. I’ll place the held yellow pen directly toward the middle of the right basket."})
tool
executing move_to over 6 steps (0.6s)
step 306
assistant
agent noteThe left fingertips are over the near half of the right basket, not its center yet. I’ll advance a few centimeters and lower slightly so the yellow pen drops into the basket rather than onto its rim.
move_to
left_x0.4150left_y-0.3400left_z0.0800
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]: [-0.8684, 2.2135, 1.9865, -1.1004, -0.445, -0.8455, 0.1099, 0.0071, 0.9668, 0.8085, -0.5808, 0.036, -0.0902, 0.9964] state[eef_state]: left_x=0.3745 left_y=-0.3193 left_z=0.1041 left_yaw=0.0924 left_pitch=-0.5127 left_roll=0.1177 left_gripper=0.1099 right_x=0.3038 right_y=-0.0006 right_z=0.1839 right_yaw=0.0163 right_pitch=-0.1792 right_roll=-0.0823 right_gripper=0.9964 state[joint_eff]: [0.3624, -10.7282, 7.7333, 1.0427, -0.3248, 0.4225, 0.149, -0.0889, -2.3726, 6.8718, 1.5897, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.34,"left_z":0.08},"note":"The left fingertips are over the near half of the right basket, not its center yet. I’ll advance a few centimeters and lower slightly so the yellow pen drops into the basket rather than onto its rim."})
tool
executing move_to over 4 steps (0.4s)
step 310
assistant
agent noteThe overhead view still shows the yellow pen beside the gray plush, so my earlier identification of the pickup was wrong. I’ll release whatever slender item the left jaws carried over the right basket, then reassess the remaining objects.
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]: [-0.8375, 2.3924, 2.22, -1.1584, -0.4412, -0.8539, 0.1116, 0.0071, 0.9688, 0.8085, -0.5831, 0.0364, -0.0902, 0.9964] state[eef_state]: left_x=0.4064 left_y=-0.3331 left_z=0.0858 left_yaw=0.1279 left_pitch=-0.5172 left_roll=0.1139 left_gripper=0.1116 right_x=0.3036 right_y=-0.0007 right_z=0.183 right_yaw=0.016 right_pitch=-0.1834 right_roll=-0.0825 right_gripper=0.9964 state[joint_eff]: [0.2803, -12.3829, 7.6923, 0.8474, -0.232, 0.3785, 0.1636, -0.1573, -2.359, 6.8581, 1.6044, -0.022, -0.0171, -0.0171] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The overhead view still shows the yellow pen beside the gray plush, so my earlier identification of the pickup was wrong. I’ll release whatever slender item the left jaws carried over the right basket, then reassess the remaining objects."})
tool
executing move_to over 9 steps (0.9s)
step 319
assistant
agent noteThe gray plush and yellow pen remain near the front left; several cream and brown plush toys are clustered just outside the left basket. I’ll move over the brown toy nearest that basket so I can place at least one more soft toy inside.
move_to
left_x0.4150left_y-0.1550left_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]: [-0.8307, 2.4371, 2.233, -1.1629, -0.4267, -0.8307, 0.9954, 0.0071, 0.9691, 0.8085, -0.5835, 0.036, -0.0906, 0.9964] state[eef_state]: left_x=0.4072 left_y=-0.3321 left_z=0.0661 left_yaw=0.1301 left_pitch=-0.5512 left_roll=0.1515 left_gripper=0.9954 right_x=0.3036 right_y=-0.0006 right_z=0.1828 right_yaw=0.0165 right_pitch=-0.1842 right_roll=-0.0825 right_gripper=0.9964 state[joint_eff]: [-0.4171, -14.106, 8.4991, 0.8571, -0.3883, 0.2369, -0.1783, -0.0615, -2.2085, 6.9128, 1.5507, 0.0024, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.155,"left_z":0.14},"note":"The gray plush and yellow pen remain near the front left; several cream and brown plush toys are clustered just outside the left basket. I’ll move over the brown toy nearest that basket so I can place at least one more soft toy inside."})
tool
executing move_to over 16 steps (1.6s)
step 335
assistant
agent noteFrom above, the brown toy is actually near the right basket; the left gripper is beside a cream teddy at the edge of the left basket. I’ll lower around the teddy’s body and try to put it fully inside the left basket.
move_to
left_x0.4400left_y-0.1200left_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5072, 1.961, 1.6993, -1.0069, -0.345, -0.5232, 0.9967, 0.0071, 0.9752, 0.8085, -0.5873, 0.036, -0.0937, 0.9964] state[eef_state]: left_x=0.4178 left_y=-0.1597 left_z=0.1253 left_yaw=0.1628 left_pitch=-0.5687 left_roll=0.1612 left_gripper=0.9967 right_x=0.3033 right_y=-0.0006 right_z=0.1804 right_yaw=0.0182 right_pitch=-0.1942 right_roll=-0.0847 right_gripper=0.9964 state[joint_eff]: [0.1162, -13.3949, 5.3675, 0.823, -0.2125, 0.0952, 0.1148, -0.1026, -2.8786, 6.8581, 1.5751, -0.0464, -0.0024, -0.0171] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.12,"left_z":0.055},"note":"From above, the brown toy is actually near the right basket; the left gripper is beside a cream teddy at the edge of the left basket. I’ll lower around the teddy’s body and try to put it fully inside the left basket."})
tool
executing move_to over 5 steps (0.5s)
step 340
assistant
agent noteThe cream teddy now fills the left wrist view at the lowered fingertips. I’ll close around it and check for a substantial grasp before moving 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]: [-0.3985, 1.9919, 1.4944, -0.7712, -0.3313, -0.4366, 0.9968, 0.0071, 0.9764, 0.8085, -0.5877, 0.0364, -0.094, 0.9963] state[eef_state]: left_x=0.4314 left_y=-0.1154 left_z=0.0625 left_yaw=0.2064 left_pitch=-0.5851 left_roll=0.1924 left_gripper=0.9968 right_x=0.3033 right_y=-0.0007 right_z=0.18 right_yaw=0.0181 right_pitch=-0.1958 right_roll=-0.0852 right_gripper=0.9963 state[joint_eff]: [0.0615, -9.1966, 6.106, 0.8327, 0.0269, 0.0513, -0.0073, -0.1162, -2.4821, 6.8718, 1.5409, 0.0024, -0.0562, -0.0171] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cream teddy now fills the left wrist view at the lowered fingertips. I’ll close around it and check for a substantial grasp before moving it."})
tool
executing move_to over 10 steps (1.0s)
step 350
assistant
agent noteThe jaws stopped slightly open on the teddy rather than closing empty. I’ll lift it above the rim and verify it moves with the gripper.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3893, 1.9945, 1.486, -0.7193, -0.3279, -0.416, 0.1058, 0.0071, 0.9764, 0.8085, -0.5877, 0.036, -0.094, 0.9964] state[eef_state]: left_x=0.4407 left_y=-0.1154 left_z=0.0624 left_yaw=0.1854 left_pitch=-0.5551 left_roll=0.1727 left_gripper=0.1058 right_x=0.3033 right_y=-0.0006 right_z=0.18 right_yaw=0.0184 right_pitch=-0.1958 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.4581, -9.6752, 5.6547, 1.0379, -0.022, 0.0464, 0.7009, -0.1436, -2.2222, 6.9538, 1.5409, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The jaws stopped slightly open on the teddy rather than closing empty. I’ll lift it above the rim and verify it moves with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 357
assistant
agent noteThe cream teddy is hanging from the left jaws after the lift. I’ll carry it farther left and forward so its body, not just the gripper tip, clears the left basket’s near rim.
move_to
left_x0.4900left_y0.0080left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3893, 1.9907, 1.8156, -1.0988, -0.308, -0.4389, 0.1078, 0.0071, 0.9764, 0.8085, -0.588, 0.036, -0.094, 0.9964] state[eef_state]: left_x=0.4371 left_y=-0.1175 left_z=0.1416 left_yaw=0.1998 left_pitch=-0.6018 left_roll=0.1727 left_gripper=0.1078 right_x=0.3033 right_y=-0.0006 right_z=0.1799 right_yaw=0.0184 right_pitch=-0.1962 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.1709, -11.9316, 9.2239, 1.0965, -0.3932, 0.1734, 0.2027, -0.1026, -2.3726, 6.8855, 1.5556, -0.022, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":0.008,"left_z":0.19},"note":"The cream teddy is hanging from the left jaws after the lift. I’ll carry it farther left and forward so its body, not just the gripper tip, clears the left basket’s near rim."})
tool
executing move_to over 12 steps (1.2s)
step 369
assistant
agent noteThe teddy still hangs along the right and near edges of the left basket. I’ll shift it slightly left and forward while lowering, aiming to put its whole body over the opening.
move_to
left_x0.5100left_y0.0400left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0795, 2.1204, 2.1517, -1.3003, -0.1635, -0.1799, 0.1086, 0.0071, 0.9764, 0.8085, -0.5888, 0.036, -0.094, 0.9963] state[eef_state]: left_x=0.4745 left_y=-0.0054 left_z=0.1716 left_yaw=0.201 left_pitch=-0.6786 left_roll=0.1308 left_gripper=0.1086 right_x=0.3032 right_y=-0.0006 right_z=0.1798 right_yaw=0.0184 right_pitch=-0.1969 right_roll=-0.0849 right_gripper=0.9963 state[joint_eff]: [0.5812, -11.1932, 9.0325, 1.2479, -0.6471, 0.4029, 0.0562, -0.212, -2.1538, 6.8581, 1.5409, -0.0562, -0.0464, -0.0171] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":0.04,"left_z":0.12},"note":"The teddy still hangs along the right and near edges of the left basket. I’ll shift it slightly left and forward while lowering, aiming to put its whole body over the opening."})
tool
executing move_to over 5 steps (0.5s)
step 374
assistant
agent noteThe carried teddy is now touching down at the left basket’s opening, and the arm effort rose as the descent stopped. I’ll release it and back away to check whether it settled inside.
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]: [-0.0059, 2.1292, 1.9518, -1.0828, -0.099, -0.115, 0.1099, 0.0071, 0.9764, 0.8085, -0.5903, 0.036, -0.094, 0.9964] state[eef_state]: left_x=0.4868 left_y=0.0182 left_z=0.1178 left_yaw=0.1605 left_pitch=-0.6876 left_roll=0.0778 left_gripper=0.1099 right_x=0.3029 right_y=-0.0006 right_z=0.1795 right_yaw=0.0184 right_pitch=-0.1984 right_roll=-0.0849 right_gripper=0.9964 state[joint_eff]: [1.4427, -10.0308, 7.4735, 1.536, -0.6716, 0.3004, 0.1245, -0.253, -2.3316, 7.0632, 1.5409, -0.0122, -0.0708, -0.0073] camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The carried teddy is now touching down at the left basket’s opening, and the arm effort rose as the descent stopped. I’ll release it and back away to check whether it settled inside."})
tool
executing move_to over 9 steps (0.9s)
step 383
assistant
agent noteThe jaws are open and the teddy is no longer held, but the arm still hides the basket interior. I’ll park the left gripper so I can inspect the sort without knocking anything out.
move_to
left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.012, 2.1403, 1.9518, -1.0523, -0.115, -0.1009, 0.9952, 0.0071, 0.9764, 0.8085, -0.5907, 0.036, -0.094, 0.9964] state[eef_state]: left_x=0.4934 left_y=0.0298 left_z=0.1152 left_yaw=0.1833 left_pitch=-0.6666 left_roll=0.0988 left_gripper=0.9952 right_x=0.3028 right_y=-0.0006 right_z=0.1794 right_yaw=0.0184 right_pitch=-0.1988 right_roll=-0.0849 right_gripper=0.9964 state[joint_eff]: [0.7043, -11.0564, 7.4872, 1.5409, -0.3443, 0.2173, -0.0806, -0.1709, -2.3863, 6.8581, 1.536, -0.0317, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.19},"note":"The jaws are open and the teddy is no longer held, but the arm still hides the basket interior. I’ll park the left gripper so I can inspect the sort without knocking anything out."})
tool
executing move_to over 15 steps (1.5s)
step 398
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]: [-0.1089, 1.3735, 1.2991, -1.1004, -0.1585, -0.2001, 0.9967, 0.0071, 0.9802, 0.8085, -0.5915, 0.0357, -0.094, 0.9963] state[eef_state]: left_x=0.3129 left_y=-0.0026 left_z=0.1871 left_yaw=0.1612 left_pitch=-0.5879 left_roll=0.0842 left_gripper=0.9967 right_x=0.303 right_y=-0.0006 right_z=0.1782 right_yaw=0.0187 right_pitch=-0.2034 right_roll=-0.0846 right_gripper=0.9963 state[joint_eff]: [-0.3214, -5.9692, 6.1197, 1.0085, -0.2857, -0.0952, 0.1441, -0.212, -2.5504, 7.2137, 1.5556, -0.0611, -0.0415, -0.0171] camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [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 · 7.886 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, 0.8005, 0.6174, -0.3798, -0.0219, -0.0326, 0.9996, -0.0208, 0.7986, 0.6106, -0.3737, -0.0185, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0007 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5932, 9.265, 1.8046, -0.0317, 0.1929, -0.0562, -0.294, -1.3333, 9.7983, 1.6972, -0.0415, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd35a7142926ea265ce1fd9a48057bd25dab90102ce9435a2419382e041c516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca97751c89c1b22cdd6a4b691d522bb3867c6638483921455443eedf3d6d19ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10155d482bb36fe343c3ebb266ad2bba1ab508ef2b7a3a0a47a52643ab21899",
      "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 1 attempt 0 · /responses · status 200 · 7.137 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-BFwJefMyRsuhiTCv_JlIe0aKdB_eD38qZVKsE2YYCA7W85Ur1JvNoAYkBWLib3j5lYTwRNQR8cP-zEvJT93bIgeKiM1sK8wZH1nDE467YUSBP6REw2SeOStAI4spoxmCadozP5LSV-4QZrHsY-A9s9oBbGZadPIaN6Et7zGjd2HLfOA0cazkKdzTdr8t-aB2s5vUqSWE4zC9Clbj4tWZZxVmKODhnKTxcKYc6CitGX4GKzn36Yon7sW8cIl6oeAfNek8-0X8c9fZYbAlpqDk76MvDvA4BK8xRhWQhLXfG_tGkM7JMiOB6TdktWWDG2Rlel11mp6MiuK9i4yw3cDlqTM0LvQEPUjsTlyXC53Dv030ibzsLDDJmj1_sAUGV4ux_cIcS5MQytzM3G3eDgxXrXG3p0004glTPLkNjS8GzNNRq0M4nJzZYFSwQgmfzI0mTgVr8CmnggSZhkIjsxnFl9Fv1YKn56bcslApKnUczky4XhVImcOwRLb7PsMq0oJLIVh3FQuDZ4NtNHrOiL5Jog5O5AFYSESmhIAnoCl-c3pJniw0sPhSr9PKEs5UlMA_uCwyaoqR58a5dmiLryf2EYadAan5P13Q1CzCbXlU43NB929f-JzWGEllQ6kJsczuJqq5lbM0Sqr0PkHcHf2XeXW8QDTReR5E49DbkHqi7Qz-5CdBGq_oL0I7dmqzK1JQGeHlcDI5Enc0NfFXO3ruZCyFSmJv_af9YpJ-m2bWG1Tk3U4raJluEfJLMuaVF7i8T85Q16EhzpXWNw12HZnyWZLRItMkvmfKVU9_FM8q83iwnL385nhpJM55WfqTZNi4FbaRHd4rl3iScmdzKdVp64KWrKiji264o5Z5Yc_5_MlxKeIUeiAPRlCsGdCnnsICOyi2P1HS4c7dInNOsdjVMTexkj64g6uSkpZWAfYcrLeOjiMORyEVBfmXI6GFvfbsdvfz-mldyo7EiyQIhHqISW7e0MDlP9ietYLrCdJxtK8BsAGUD8aq_vCyatcPISa8Da-2WZdboLaf-ZBZmWVxYWmQkeZ5M3vAp_DhzaD8h85jiHF6XYV43SMMXSvXFw1X2tcRV4eqgCza7Bc6M14TogHqwrM9kVd8J8Cr8u-zw3zSj7299HWUZMQBZmEIZK9vljM3Jq1i66_mAd_Bw9oEeZLmN9acdBxGa2mp0hcefo0LHyDxvsber9nbcPB1yMnA_uXBGzICymZtTlf7SRb-QIGC0EBTkrg9Jbmx6_mCgesB0p2WrfO8t7LRBHBDxqxFpoFIqwGXoPKVyjm3O4h0KmgjlkKInHaS__wnOOuuDcFUXSc307Wnauv0WjvnpscRE0OLG35730HLuvFjRWJ_VO7gQeht38mHIhRqFnU1gkleloHHTbov9lvYLWw8wH2ukw2cbwT1m1LodvkAQF0WXLZmllP5B3Y92SlaKXmaagN1Pvo3llBYNNtKxzkeVUqEqbnpxw73r_sAwLsHQNrlCRHzvFIo2r0-bPTIOo6v0wi6J8WLtWg-ivoaJ9F3l0dc2j2AGfbjbnE-7aUTTEk9sKXe0O5rO9JRqLJlL3skObSEkxdL-BBwXw8B5DFqxXfG1vAkKFwXaJ3cxozeAa5qJ7fg3VZ8mhI4ivBN6kcVDfgBN1MUMEB_iGjnQZxcxdMQnjaALtR53Q2yk6NXc4wOwN6gx_h1wmO_zBHuAKU_Opl3hLu8PrTbuTc7d-ehwYUmBm9Hfv7_6-Wc16P4Il3HgrRAcM6O036r9R3orEf21CYbALN-sZvmfqmNHOb9BnK4OovjN13T4Fv2e81zTG0GPIJmpcafASztznzfnwOs4Ei1VTb9mtwQqYZ4y9SwdHDA2pM0qVTNDOjpV0o8SiMQ-Dmw7F5IdRlc358FpZ4nWD8VLK13HoOO4mW__3JTnR8elxpcsyUFr4U_t0s-TTqMzt-jEQX3RFXAGNMoa2pMTedZoUgC2okwBY9VPPIoV9ZyvW-DYyv2z9H5gcWSt5ZZVCn3IYS6mYtX5D5x6G6a0v7rqtX8WYUVBxWbuQVnNW4E0wKA0YuxsKBhxPDPM1se0L03YncIE1EQjKDHtihPQ9l2eIcqZ11ywUKrxBlAhyQkoQ4P4-h6aiwSjW0b77PQwMu-pjsHrlAvaXo6NAyRqxwaL9cEPYMBu5IrvY49gKIOft1F37bLslYr-Ao-9LZHZ7l3CItkH0DB35ncDn8Ujgc961VhMrOptF5HCP6JxmxmR4cbFYa-b4QRtjWkljf4-WBGhKI0tRt_NEshFxWJksbuubN_KagP3VX7l_y3QouTtXjlOEwFhbeQvXU88MyAxJ1MBl7SLLOXlUbzlmgynbqSm8fAHNYef5_cpu-Fha2ysAM6PtpFOrC2RP9-fCkb0wj3BD6O3IngAiZp98kmRG8Pnj7LcP2MeqqedKJP4NSMLccj9SHSyzGhLk9zkNVRbC8glu9SssscXo20E73XoqejilHS9FZk96BDU5xyk2N7oHR58bNfuT0X7K3s-gAPU6Mq4pVSaoLLjRI4l_7rDPcBu-VJhMv3fOS3c1jpSS165544I4h5YST0rBZ2Pdygl225_9z7gtUkGxJ39xlFEMzk_D8EXPY4T-a6lDySx5Xzu1LskrwfcSo29q6pv3HYpDrjsgCIFaewVBjduZe_Iab4TsAyyO1S8p5qMcfgHbpDf9TUrG4qu0lvvwgMC1Mwsg5fCh3EpLXxu01YfNImiTTZR5Xjvxqu6xx675QwLsJnkhX4lpfAzDdJns4CLBfT5PzI0j2XTqvFfEUa15ndOKGWaZUCfvMOCr07k2eeEwf1ukIu9oEuod-d64wLm9G35N-4uqXwSJwKTRJWf4QVpmYRvuKE0btIUkwkbAEOw9R-s71C7Rj6_OCtg3wNkplq9K2v7xQlnfXvM1rmWVI-3CPJ00K7c91MCFT6v0RB34YuFtUfU5Tb5lMAGXeVmqJxtDOUkpYsVn7w8TsQkDi2elE-43ifth-FyuZhZOORh2h9uREX42jnxQ3imATELbEWZi9HfcSV61MIBcK1TtGTbOru-CKn6K3osYYtwQhmBJvWcZXaxFNDoeMOyYp9pmOh0AtKt_0gGOf0aGlbH-NmxRaGJJQK-9VV4LUpP5NItOLX0vrT4Ij8BmQXnKHpa1CbSogo3lV2EJVxCwSlc07LrJVbGeQN7Xj4pCkn466HuWSs8ZJLrPFQMmIuee8rpxIW3lH9AF6UtjFB-MmWqyOIoSkYwAlCCa5kYs2S2uYhzYy5HdJN-NAP_mdjQvmhWfyHV5PpEAyGVkk6mvJpOXcaI9k-r6_Dndy12o-ZqxZ1qdZL6d7x0p6YWxWWMvt_r864ChEXVA_8SPMSi8Zq6eGT3UZswyIxLI5wFstyYSmKCC4cFK6XvugFSXr7H158LnKL9VdPbzdnpyrB-PnaBrZKfLD8k8bbhHeyI_WfDBOjcKXq1067Lk4wLIXLrEXItQyS-7R3N-iAL6U5YvfyYxvPxF5SvzZQH0w-HpuofIPlAgWzvjSpxNBOfpMqd3LPeoYnMhkHlgHYkfqJOwJmpCe7S-a_XfcdbgkwNrxYuqtRZYRgo39lKCSH5r4XBsRc8NWw33RL5n30CwEUo0SIcKU9NO84fjPOf6Yo4FUgP1XT_oz2fdMRRW2MLl7HHuGmLPoFAUh7HDLRcQ6s6mhYa1ZEskNhvwP6x-WixcMNpy2r2sjfT9yAfnPej7vZIN4PggTpzXUzW1hjbQ78QiQ6zKLh1FI8lz7mMZFg9jXNmoorHl_iwK2bzywDSA4esPwKxB_Sk2PzQHLruUBM0Twtz7sqBRlIWSyzljlgkhbHi6eESzXhTWUpIA8A3Ip6xB2yxIog6eZ47GVo4VjW56hsI8DQNMoU=",
  "id": "rs_02fbb14ec849eeea016ab41f7aa00487d0bcc8f824350595df",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-Btohm16C24JsXq-sF1rjeBUgv54K4pKJNkTGvTFLA6F9wP5wR930dOqRawpVxwqNl6Heztw_ihwoewfPhdDG9ufKgOs6QGTm2r_Y8TJS-jojyxi6Fwjg7GMnG4uG4grDL7kMGgZTKJYtH2M5I3Mx8MKqC1pZANnM3qRir9seE1VCxEI6i1IxVge6RswF5UrvjKglnrYXtz0xsaYQwPeBA8wKRNea8g1pVak0Xi3jGPD9HmA5dl8QaArGavyE_myulzIleKk7OT81ZxnNXYxbKuVjskcNslFfvZKuPBramEU19_a6iKXgKkBiujXUCst7pK7wx41KUYJiVhnFVgZtby8bkTlIgZjAMtPdTx8nPfpVD_z25Sx2G9nlN4stPprFh-_gjmwOTIbAAgXyHP4zN38kOn901uUkbbqA8x8stG1eghERxZBch55Jr1Vg41jIC8o4K-4P_HyjeN0RbSx-9v3AnGcsIIRuE-WaU_osa7S1A-8Rbh28rhWbS-yC_dtdrxi-8cKQjskRK-s7XlZPA1x0y49W2_P6xbsS0yFy7iHCuzmqFqNwiawvyOfeG8cp8hr6dLWMZ2w8kakYmzEgWaiJ24p_hb_CrCn9ms5Frkxohd1tugA_s2FhzzGMpm1SqS2AmW6Djf7fpwKXkUHILTfUqOfDlojOt80xnRurlh8JLWDOOH0qzjj33zFYaA3zLKHh1DKGhULEqeeJZxGYVEd_rg_2z-b9yKN9hA4tudxcXah3Y9iwL68UYh3dDE_t1F0_36hamJ-TEAcRHFvspF14QrUUrttoFlpRyPwEJAGVTy1WycV8c82gGZPuKoK0X3Jh1HVt31Wtx1hDkILAyTjhSJW_-4eMNGTbpUPvvSqFHxRydnnAoBPw2SOt8g2wGze4ifesqQmTAH8-vAnafvPaLv5lVb87e8WC__qNoMwI5hm1bBBId5SPKlIVUOvkUyMTACEyly5xC-4xB6I7N0YvcoFy8hUD23wxV8Gtv3XkRZduEkjph7BxxhWvj-8_8TgESVNb9MmEqMq3WRyqQ6MHBw4jslIrEvgHx4b22aBqkwX208Sr4GWzNlYZfIi5n9SOW6GwYS3ZVBIfF4CsSQ-86r2P_X5goN4586GUw1RLbPSg-vvwqtPqWf5IM0qakeEesiNtwkQA1uXgDY6fSxkAqTJvUoGHsmUBRBQsCsN6qRNHxqdcgi3X4OCycvEPCiuETbnwsmAHW012jaupXCiAU9ONpFqcEeQNNfzd1wGzAJuGG3ps1NiFA1p5rndmRwy0LzLsNLBqnnbL16EVbBYN_blWAeui9LgEqu_TJW-zG7IxK3Gm1YpdrF5TX2tEEu0Yc6iXFJMwjB6V0XfboSSJvhTaxNcaEkATEvHpCSjXs5NixBJCtoo0SAr7081yn7KaLsSFMmN3XluLjJkJCXiqu3BAtu2mS_ytrvY3KW7uMs9DhaU32idYo_D0KO1RlZ76xKYKGxASV9Hac_ok5efbm1dv0-A-dzO861CPA0_6BZXdg_9H9UJrSAb-o7NetgsHkryavbXOnOzHjh1N6oLkmpqs7sM3pa7Ix269-ElNYjii55d52W_v4a4E3sMtcpdgR2kTTtzCt5fZWx7Eahw==",
  "id": "rs_02fbb14ec849eeea016ab41f7fa2e887d0b9ec45e4a1a34aa5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.17,\"left_z\":0.17},\"note\":\"I see two turquoise baskets at the back and a cluster of pale objects between the arms. I’ll bring the left gripper above the left side of the cluster to identify and align with one object before grasping it.\"}",
  "call_id": "call_z7YAATvR6cCMEk8gnJSRBb7o",
  "id": "fc_02fbb14ec849eeea016ab41f80a0b887d0affb7069faca0407",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z7YAATvR6cCMEk8gnJSRBb7o",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7448, 1.3361, 0.8276, -0.2558, -0.6041, -0.4843, 0.9995, -0.0208, 0.8024, 0.6086, -0.3779, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.1659 left_z=0.1529 left_yaw=-0.0063 left_pitch=-0.0437 left_roll=0.0269 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1802 right_yaw=0.0004 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.2855, 9.6068, 1.6142, -0.398, -0.0269, -0.0171, -0.0889, -1.5795, 7.4462, 1.7753, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f069662ece852d7b493f8d710a92978f7cc753d7aff533b4c0bf9ff1c383e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96907101a81e8f3f2adf0937a7c3368e834d2159510447f178225542901eb91b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e96133f535b44424fd3dac9fd3eb2d24945682ce7e76e37522c994a96d5b1b",
      "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 2 attempt 0 · /responses · status 200 · 7.098 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3798, -0.0219, -0.0326, 0.9996, -0.0208, 0.7986, 0.6106, -0.3737, -0.0185, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0007 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5932, 9.265, 1.8046, -0.0317, 0.1929, -0.0562, -0.294, -1.3333, 9.7983, 1.6972, -0.0415, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7448, 1.3361, 0.8276, -0.2558, -0.6041, -0.4843, 0.9995, -0.0208, 0.8024, 0.6086, -0.3779, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.1659 left_z=0.1529 left_yaw=-0.0063 left_pitch=-0.0437 left_roll=0.0269 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1802 right_yaw=0.0004 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.2855, 9.6068, 1.6142, -0.398, -0.0269, -0.0171, -0.0889, -1.5795, 7.4462, 1.7753, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f069662ece852d7b493f8d710a92978f7cc753d7aff533b4c0bf9ff1c383e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96907101a81e8f3f2adf0937a7c3368e834d2159510447f178225542901eb91b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e96133f535b44424fd3dac9fd3eb2d24945682ce7e76e37522c994a96d5b1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-NTdeOQnx1aR5S0alvq_wC-U2tSZBYk2tHueUUBgbdxJmoy2tMbjuVPD1k4Eqzp8kaTC4ycc2aDr-CeXZ2ZrHzMRUMnWmkKGrzGLltdhsp0u4NeMEGXDxZs1XLVo5LyR3Wre86Ys1WCILPURs_YcidOxGuVwQmhwul-NwOxUmYk_DM3G1JkAITfci9BdbnegbhUa2E6fo7c0ixeO-4c5W88i85DKkfOhY6fH4OcKVJxi3ZvW9jCLRtcjttlKr7jOUJ_3TbkEGAcIM5cc-oI0CTzXIetTMnUlPOvUv_IZmNUFmxD3QAFQ7-kXCx5puUOKQhRZnUikAREKu_m53kkAiUxkygHpt154qS3skLvBAJKth6BUR4Jw5tbFi6aBSGZlAG3afOAVwq5n_2PEL1NByb66xiO5hiHLTfoZBUmWQaKzS1QJBrdBxanQ-Za6Nm5oDw1sTWvj7DJesO7wL1uYJiTWnbrbzHRIaecxm_xKAbLsp2_PRANVgNQbLqxZM4zRgPve66XeHbllM9NSm-yBmYbzUBC8Xv4Iyh0NwOxRaazTGRclgimSAw8Rai54v4p7r64G2G40uWH-VLNOlNFiyTMxDxoV9KBspEpXeweKGSB5U33wHlnMQ9ME3a4RN2YV1TPAUXFKhdLi6RFLqi5spXnnmIn-X-b89p0ce2QdSvO3gTwCnOPrMHEJk-v3oLJCtExACAJKDJjG_X5HNWK2ZUt8y2NrBnay27OP3Hg9bKKmcpwnGZWtqlnl3YSvwpqHUd0Rap6qstQvg8sQEkJKJG91v7vXM5Ug4cMciJW7ftF3A6YODQn1IKSJVyMMniJjWSEe3_ww7I4S5sm_UA6z26SyZ6LzcsPVsdsHDPeqipBclY23nEQK6m84KCbNb00zGLYpR3MloduoOdD8dx4NUHALdd1p4dxAPo5vauJTwqPClKFFwCBDIT_ArA5q6pJTLUZoqnn7DUpagMMgKZlwHDqg4tcOUeOno7tXWcyKsEr_B6KL1qFBZQreuXKhJVS4FVOYJQmQhWnEB0Ttgz7H0IVcH-Svi91Hr-p9uEHS_cWg7_G2SniFQMGfHnKeGF7iC2ej2ENZToRISf1k-l8NkuvD0LQGTp5bYsA1b08FAki-SClxoEIop07LdVajqTJ_LSQY_IjumT6tWV7BqsphcH8xHuqzImyL8l5FFLgAd1Kmcek3Vq6dHHkZJqHgqQ94BySZUS8kRg3SKZdZdTDaVBXKff_rxg5wQkZVIRePe9yo5_lHlZc-EjOaXB_J8UXy73cfwjIbWETTAvIsrXzuHg1ydmKLvWhr1DIuGlCdO8sVeSwdATiofMPhr9HwQtQG5Rg7ly0U9b8olC0ESEnWakKqrF0g1vcnxC-DJu9R3wLIgwUtucKD79MFCY8-y9h1TUR40uLd9ayWmV4WMcvJ4YaHIpGj-bthGHd8a939JrMgwOqF9LS9Dy9O0nnalkpI4zRI3pUMmQb-ES-S777nCnwEdfJXI6WwGycATeMlzBSjcn1l2NzCIKfj-DGrxY4Dcr9cM1qiBG71BHZRVuf1BE473jLmS9-UE9JE6rGTc11ygQWpAE7SkBEsdTIt34MiZMudsTvLKsdpja5-NDNo8uas7H-j9gMJqpqENTm5jen95GdE4yupcKWDHCG-rfnZ9ymP0a1sxnPazL1KPoLx-PSskHUb2aNXUbn5amL_Zlv9khvn1s-GFJbD_eZsenW31rNmzW1IZpQvGyL3urHhlbTgoY9W2OrKHK_pS8yu_Xyv7Bm87SwbpJm1e8TaDrMg5FZEOQg9YlzU6dx577_8OXi7CXbeiHEkAyMPE0VU1URjEmgptNkoHe6d1JH12AH9rGosRuyljY3pxrOni2e3idsxwXxDnBlaAFMj0fGejAuj820Y0yP0cGI034nZ1IOU6EsivZMS2Rnsak-FUS7OoHBeUtSSm6mDANP5aF_4Sr1uzTDqpwSIvljHNpaNjvOVS7EswBcSanHW4dEvbpHsN1sOZHqDyyx2ZNTvjBZguBuI_rjLzFjBVdVODeVCto350sggokaMzo05i0tvTSskSoaNv3NbtAqPpV6jxTwOk5CoJo2B253zX9FNReYi4bwjA4XyxDehJqdQa5wY3IQu94meOuSWEwMhwrT6DAXT_W41v4avyMyudRUxs7k1k8o9JO88IE3BLkLo34Iw5y_WAC0T2ngpmrun4XNMP2w_UoStrnTcfvHpg3fiodOEcl4J19zm34PAfd06IursOjsYXJXsvXivTNB1GnSBdrWknlMaCYtAAPyWGySWSZXrOLI6JqRvHqczqeszxGE-fSqcoqDuK1QQF3BuihW0vmkL50zKjtDmWA3lR65qWGowtYfReM6Nx8ISTT7Zyhud8KQepQXYoZSLZtDMIlJeWQBUHWWNlsnlNqr-qEr6fwtX2r6y5jSDdBG5lHS245kRTB_l2fqKJo2eJKo5jSR3Qtb3S9jOWmPH2HXwjy3Izqo4YP_9A6qXCTytDS2kmZXKd62U5Fz0YzVUNF-XoriJ_uKDoBuQbICdfxGYJ4sCFQuM2rN59EIRmHMrEqs7o_ZyE_fZOtZZJdWzqypp7YZDhlujJLdT1Zpn9JrKi_Xx11nI4vzBJ2Yic569theGfSp4lsYXb_Swe-lZ_NT69k-geP4Xi-FGUjRVTMg0rM62tPRt_H9sxvbjv4zn2TiFSu-HPCeJmurk9Yh6sKaNEgzf5Jl7FwQGFvm3pv_TRMAjQ9egjnlpJZzVhW0eEKVzUfRij50LBkDWeE73SL2JkvlNxwJtRYQBn7hdcbckiI8cyuPS_pr-axPDpg-LFlo4OniYwWyNpDc7-wrNN0BM-6Y7ubTYupq4PrbdBjsxgYHUJ2UcAAo4Aqgr0AvQRMlG-BWJBog0occqOwIrmEh9xPi8M5JUjKNLPDqiWZsKg7FwUAvTXfYjV-bnV1WceWc0X7XvFBWZVVxUpTuy4LDCBNM96q2fMBwgM4AWeeUmNwEigDrI2Xpm4FBg2RvxVpJ7YVWdpFCoz5OvekfbhUEZtofj4mqQb4YXdnZ0Z35JstodnjGuh70yEXOJ70Il2FhK4Az3iUg1QLWhueKgXeNfRc_MaUMxZDkfnAtVS1s7_cbI48rPF90KmBxALHyk9SjcuemOUgLag0twLVmO51OPzAMicsK-RrWfOFeiWnoxjxnDVT8t52z0xQzw28e272UIlSO6BNrDufmEp9Dx1e1z5ejGDCMi8RkAmU13IpkTsDBbuB-A2ccjWF6zwq9PhjAk_OP3cEyg1bonvrPj_CBxj5H21JrVDb8WJkyJCFnAodq-f2DofFrCjDcTAAs2zmc6wWAZBNKxY6SqEmMJNZMkrNikQc8Lx3c8Q6RIMd1Dv9ol_HKGnaW4uhcnZ7R6IhbwPjagw4e_WzpBgXaytMy8eaKAEfLC713xbxrjLw8WKTomb0hQRgno6_Ol6Y7j64OJgNr6jKeZhdAe-m58EYt44CA6nqx3OWiJWoDFhmc9vNRlM2DszWS_uqRTePorfOiT-bbxKqQeHRECu7BcXBqDl9u6gt823FpCJAwXPHlafYWTsW2jVWtrTrD2jSmiShYiJlLJguEcxhvuHRey_6AyvxLunoPADHXLA7XQWtTpGvK9ym-c24S5gJjsD2HKshyu_YpBZ7NBFYAGFFLDmemLWPiJtTgrA-DPq2BWD0MWcfyWoBNU55D8OR6ZxkDw1g7bZUUSwYCUp5CKsVfvUlNwJpR841CJ-8AkVlrFT1Q4NTVzK3KGBAJFMkKB9Vgh-aEkaNflRl5I8K0vG-s_yx5kwFq3ow82ho30aXsTNCmOOlJAxhP-KyNHawT1JrqD1Jfuh_chLhX5HHTg==",
  "id": "rs_02fbb14ec849eeea016ab41f87a33c87d0ac07ff613b500ec4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-Ny3R-S1AbgdcppV-f7jnpGlGMXpo2jgSTv8JwtxxS0KelHEGJ2OKOkNm6jJlU6R2oPIPnLVm9cV1GRR_0eIEfZnq3pljeWYgqFezCxz5k6bV_2khlDbRkJ4sIS_9Xyrbf0SGxfKCkHrphMISgRiCmdWBReccq01Ljm3o6CHNdF-PfkSZmzj9XVyxsD_96OmI0tfTLjyCa3GIwwYzZNn0l4HfElYGvi9vQLsSHLmg3FmhJctDyob1vjSCAkUVze4aznFvcB9eZ7SefDD0TNxmDAE3wn9g-JPEalN7DzzIMaWdQSbujiBNx0KdOKVJSp6tWhpZMyNGOdY4IU1ailgeREYfsPohMxKb6PIThp8AujZEvV9-nz0ZEppSNGFtEs_CtsUBKZ7tbQRirzX69wUJXh9Ftbsuc4ijGS65TY6RtsWQOHrbz4ryfXu2KPcU1XMLYUUVH8S7X8zBuyWqr20zDcylUX6hd13ceFW9nHl1JMH2JtGHiULnelO8K_9fVb0trxKuWobTwHtrNdNh9RRjOx32I6KAfwklV7es-sE_Fj_pqFXQ14OhlYucmQvJzYOJF026JQHp_uvKmNIVvj110vzk2bV81-dwRqiKWaEEnBhxG7osYdO3xiI1cS2oOA1338NiRdS-oWTfF7n-cP6JYYWoxA1biN6qFZ6ck-_pns0OriS7OcjSsu91xdSd1eY1yrzRL3A-u8tYIuh_hwZWnhMdFAD-L_Io8p0Fz1F5vXCsA8GN4WEhdWWUSTLWS0B1VLB5BHB3cIS0X6ame0cbpRMm8oqbFHdYcHzgyU-yNrgKWHs3iGiyJoiFQ7W-M9V0Tz2qVNhZH_a18DqCVqWwMCWVvab9WzKBQn9WsVgORxQIR115JaPn-4GonlCEHBpyg8xZSmqMhBLIkzNRjXCcXIQVcuYa22gPvUw6Gr12gtQxZGcCPLcMjbAAcECnPBb-sURLKH0A_o61yZ6LD7HiLYo1JK6s_cgbccGS7bXv9HJdu-KN8wtnL2BEFPzzEKapLn25FSBHpBnCqx9H3HhGxLOzJY8d8fyv8t7zrUAJjh_5sY3_K1a9k5Z4r4n5m8rGS6un2xQKC-tzE1j9bo8-8EQsuxC7rqt_pn_Mq91iHijm6ePnzrMJycymuuhkrKwnVUiWC-zxHw2ggxtEZaADXOFkfUd-_SW0QSDgKBtdmFp_QpnyWXMHe5Y9w1xFPR0YISvzFrn5eNX5FEwOs1VgqANpxwOXAZE07xEu5Lq0s5kw-uHaVSAU_SpuBb2IMtB8vUOkidiQGFgTSGKIlRyhwEVcED_Owqm9qKfv7-zQnGoiqlqOiCO0YEnllV92PNedyPHTeAAozAMRvuSiC47osL-elqgUavI0bbCJmwB8JzXTVaNY6LxN8CGrQuPIeoq0K0OtVWHKMSXBztqa4rsiZwzAQugipPrOQau_Hqowhtd7kIQwoGWKCscrEftSLZoUE8oxcxfUr7mpNmNU-7XzlYQYhnS2MM620c0f3sTsOaqHPWekyq05GqtZXn3mwyxoS",
  "id": "rs_02fbb14ec849eeea016ab41f8c484c87d0af6736a56e2f5f79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.245,\"left_z\":0.13},\"note\":\"The closer view shows a tan teddy bear and smaller pale animal figures; these appear to be the two types to sort. I’m moving the left gripper toward the tan bear at the front of the cluster, while staying above it.\"}",
  "call_id": "call_oBwQwe1EqgGl6w56Zl5d3UeG",
  "id": "fc_02fbb14ec849eeea016ab41f8d118c87d0b45b3387f49ce309",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oBwQwe1EqgGl6w56Zl5d3UeG",
  "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]: [-1.1507, 1.4982, 0.8867, -0.4603, -0.8387, -0.9104, 0.9995, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2562 left_y=-0.2426 left_z=0.1187 left_yaw=-0.0178 left_pitch=-0.0653 left_roll=0.0375 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.2291, 8.8137, 0.9011, -0.6032, -0.0757, -0.0171, -0.0342, -1.3197, 7.0359, 1.7118, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0788e4efa567de5c55edf4f39380b1cc5c4cb78f91e4e6770088874404a467b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71fd7b953d227ee0a06bd08520f6af1ec8cdb2f3e420519649055709d5f7d13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0749b06f5c96c4ef1b00dbf0b893cc67804ed85ecbe674e3715b7487ed492a",
      "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 3 attempt 0 · /responses · status 200 · 1.941 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7448, 1.3361, 0.8276, -0.2558, -0.6041, -0.4843, 0.9995, -0.0208, 0.8024, 0.6086, -0.3779, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.1659 left_z=0.1529 left_yaw=-0.0063 left_pitch=-0.0437 left_roll=0.0269 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1802 right_yaw=0.0004 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.2855, 9.6068, 1.6142, -0.398, -0.0269, -0.0171, -0.0889, -1.5795, 7.4462, 1.7753, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.4982, 0.8867, -0.4603, -0.8387, -0.9104, 0.9995, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2562 left_y=-0.2426 left_z=0.1187 left_yaw=-0.0178 left_pitch=-0.0653 left_roll=0.0375 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.2291, 8.8137, 0.9011, -0.6032, -0.0757, -0.0171, -0.0342, -1.3197, 7.0359, 1.7118, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0788e4efa567de5c55edf4f39380b1cc5c4cb78f91e4e6770088874404a467b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71fd7b953d227ee0a06bd08520f6af1ec8cdb2f3e420519649055709d5f7d13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0749b06f5c96c4ef1b00dbf0b893cc67804ed85ecbe674e3715b7487ed492a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-Xs8PIHUXEBDRCYRfkjj6e2_KnP2SJpEhrg8HGXglEiY4HAHMOuJ2x-4VujigewBOtQcjqLJ1zo9X4OUaNcIo5wSVR0h0_YFH0ZIdbQpUJhErcz2GW4ZHCIE0s8m71ijpfr8ywLhoIK6IVhpNCdn_YQWg-PtM1cNxvfQf_Z-if8jonJ0ra7rKYHm0cDVY9uVEDiad1G44e8EqgR_Oag3IpuEfNnTEzFjO6WOtll1z32almxN-XT4UEeqBhGRyjYY2Ngij6TiHyg_rb5cvsIij3njChba_3nlVBcDK7SIAhlcXsAPcG5aE5JyhQW4paDQJduWOFF1riUG9QxPQfxibYFVzV8FBd_H_ATAwA8CVmVp1ZPOelG7PUesjTlLTzBwi4NFJCTCKF2D-PGB7X4hvHPBe3lOi-8CTsW-MLt40A6xuaTHWmi6fArWqK1CcfVKF_5Cj-zGjX4KcMzjdYYRzT9p9kcJZYPzDZVqPCRJRIJH5KAuWfpKrL6y_u2F5OJB8Y4cQZYtTbepNEzyhJAK0Ey0CeFXVT3sGPTnC8Vwp8uD3a5e8xFaVUhPS12FnvbG6HxMqMnLucsALgm3DQ-sV2ka8ixbOjYc1r1Pk-P3zqkcYMdihN9YQhQ0KHlWvh-huX7ckXH1ili7SxcsaJeReiblYoK1pwzTlyXbaPbpF6xqIKGw_TYzdbzAFh5CnnTdRIYIjGMZKhXP9aqO-lhHM3J3mnljJOzBZCBMn7BrFZ3kX3DjKuH_LkAcQXVZXaa8ANV2qUGAhufdlCF_QJZJyHZSPEDGOXVkpuWadWzndx0kMpTWsWCzI5l8T1S-nmF8xShvliiu8H7azNl8BuHcqxHeMD7KLmRbOfAKyJItgZcQo9UWAALWvbSFdrQFWNbxHBC4MxBQALzhpkDAhcPBt_e28CNewIjxn5Fs7B7s1LZLrWmpgwd_3Cp3tt14uAQZpg6IT8-f14jvCpR6kt_pN9BemhaBtOAIc3uzZ2n_ai4e_4THV4Y2cnz6gPmhzEZsp6HtlBzW2HnW3sK8gZOul4gtw0k3fZ8LRKnNuXros8I8gb2hwQbrJE9mx1jV2ak9Pcdidiihy0YpJxetaKuM_CTsqUuBVomuSjvRCzmoDfT4K0CG-5iy187aciq6iRE5-cn9vXgyR55vr09JTJWhl8JAfWpfOU2MkUq9hKCex3jbIzwi1yG73B65XiZPiee7Ls-UTMf1c2alnMkB3MvNjDpXQ5fS7yyO9cTqQ0gvjXKh2I7uK31X9KmHUeMKb9ov1B9njrOv4P-bN8Qr0FflnQ1SGAeQ11ypec_87uCFdY2LW3IIpN0Z73ajayjEWe8sMZ1tRT8kYoItnRuwfIPB70nHfaCYdrl_g-vXsjc43f3agYsCMMQl-vlEb_cXln0_FaptIL31wWwErvwx_Keb3dUyFJazZMW2c4OXBg7oG3faD_aen4mA3B9BsIcQ8CE1YHB0RQTyVASufHk2_DmbgwVrJDjZVbTDc39yYw48vtqxyIjI4aGNDYdKS1jv-nFPbhkvuIU1mVKMWzxmPhZagv6UjpQ_PRVTcLGJKv59yqnkq6HweSbInuDB_FrXj1q5S3ARCOuuBtIskXX3zzFDxGp0IFZzC8fjC9hwUDbZERTfcbt_Obqe9ed5lu8HH9kvGkJKHtCWlgQFmhHNuoUHbu8pEe3yUnjPDadsc_-VVWIW2C4AWpbXM3BcDRXfWjHaizCj3zIzU60Q6uMo8plO_uzwgc8Uk-fywHs3XjufB9HRbEBPkl3-xU2LdkcTdGG0nUlPicla-n7-BNtjH1gezcBQFZxI564NU4UrLTrAqsKKbzfoodyvJ0J_HXPqoB3y1cYvgCeer_QlhTwVTSr5RSMZFogK5QjhNJQbPWJHY836NgF5iKUfu71mgSxhJj5lq3adt5OiqM56jjEJ-5I62iKtkjq6rz5hE5sNqSDsilvwioLge2d5UotgRBpoR6MLrdvXc54BPHMpMBgzjusTzHsMqnUHuDKSir4clnpbzSqW2rUSSmsVvLUbHL5M6N0sd1_fr1acvvzJyZpWwzjXYdD_JYgLe4ARefrss2y2TmXUVQ10mGklsR1R1GMzZANhgNCeOWxvxoYoCLJep9qwHJREOs50QqlJFGw67UpabRqlX9AAkmK4OZOxm8vGCPVc7SvGS4aqMuZJjCZy1GQ6qxWQ7mQAWtYAo1DlMpX_NK-xXsJrX6bBHQqJfCOKLoyLZVo0ws2KN-YFPoEnY90ueasqPPdtSgHnj_jJbS2JaZA5QRjckh88iYQzF5CZ-wWiRJ6fw4wGzjBiiYZ8QtEs6yzYTAwNLS0_XiNqvbVesEYZ_myb1bh_FN6srQKqM0Dhp_uj3-JPLneZggdOy8fuHpVbRVU-eWLarrnmZ5FoogTSZ5Mcu1sRpKKGbruxroQMbuHKkemIGVcj7KlTcQJYogkNb0l3MFt9D6XtYrvvCSc-hBmLzfE5b7qnIgjJlQsdFbVqYLcaBbpl7qCYYdoqpMIxxY--g5RMANn5_-ncuzLdyq_cRfKvA5ATqWtoIekO9maAfUwrG6NFcWtpr5zx6I8H1aFk75qThUmbbvnops3MJ3vQeooIuko8YD9MojET1ubgs_bIfn5FKAjeu2fySZJmw5pmz38B8FI4_AP6ea68srFOYkwFrWrx8Sh5jjtDHHb26x0ms3F9pi62STvclO5gT6LjGYQixhta47q4N_IUJnpeLe1hb678sBNTK-Zr3o8SDoHeDX37MZbo7Wt4Nx9D6ktwCoG7LRw_e6YMjwnw8Hs3JOp9ZMDRDu6gjKjN_7AB3kY2Ngrp6IIrqaihyWPALycOQpWoWoJGZ0JECBypKG2BSsXtUTLOxcJmYbM7HmuywgzvmAk54KKLwZSIxsD3JFhJmuGCNxVNgep3_SBK8LBVVjcns19L7O3DGvZrbgRjgHp16kd_sGSUyeFGcQ4nJ0PmWcRTgNZx-ycOPdFkXjEzZgvQQ-3kf-SrtxSYbouqlD_81NHc-u7W5q6htplagZXzTiJ_aUEoummfZbO7UrxLqCX3NQUikaRCH0MS1-2nukMM0FLoU1HBmUEQ6yN7HajfxA0OewqYiJB7Coixdv9YutGi9D2w-2M4Ch3Bq-iQtjboR_bYrX0FZ9SkYPAFIOnjUnJenwHdH5oZF30iEXmDUdXCzJVAa1A1C1enRbPlYAWLsaIcxmwntUw2E2g3Y6wRWQj7RBEEX1DSqxLlaqwdkCxyYQCgwLaDi3rdgDy1QX9ZobUX5giG_uohjFmd-ByFU6kWr-iDRMkYvc-MqLO1Mxjh3vqq75vdH3Y2En3nuhUjRhvjYo-fVV6alme7ZohfUwbQr2KO-aHXTi2xuTKwdhPNLnaOoft8CPVGfwx8L1-V79Lt1lgHTTqBBqhA9txXM64_GDJr0mhWPHoSJXyDfSAFc3tGR3msfvKASJlp-lL-LkyvsgIbQPlRIgblJfwlMaux5ZiixNEi9N9xnfJAD7hz5c5MH0BUUYt4hLBwp8gKQuO8mKfxMsnunNLG4f8TDfeGnEDMWaxBUg-sRYhHssNE7k3aPtXlSvO-p7V-JvYDicgVgd4Jn2t7PteNqpcppimAGUHLkX6q9IcuZxYZk2_DhkGpKsHX_ilHQQdkpOI-inQ8AbKKuIE4lQPw==",
  "id": "rs_02fbb14ec849eeea016ab41f914f2887d083b225f0a5bc01af",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-XZ3LdCZQ2dXoORffyxzBbP0uDHqp0RvLxcsp0701mQ44CuKu5FDU9T7DgP-Fyf5T5hAtc7wIqMFjtark7yob8bSgwT8WaQ76sLZ_XB-X7SpoWWMqOgK_Jit5F0THwzctdnyguIoHUpeFZqJKLlQ7X-cb1dqUQrYWh97QcETXg8v4DofWOXPr47cJTxCKSaeyIfRlH0CYFwlUp06jjBnOc8ehciAFsicSTomq4jjrgeQdIIrjsBv-REOOFbDLcY6GF7hjtVDlja-uj4oeNomuDeRU2OZ7WB4Ur1UjfZ6EUP4Cvel4g-12yEJA0l8aKUUGhmoEq80OsuMLF5nTazt8D7y4sF5i6cFvAzGa97EzgYfC8u00BJcBL-oBi470QMeb-9g6k-oUy92NH8L2oRk-ceccN_zSZOSPPclD6GnMSMQnXrPsBMYfcTbQzoeJcg_nyrA66cTztPjyHM5yVc5cgkxzkFuatuQzBFalU6LdLTFDKjnGyq5mrVRmNDgfcR6h9SdEu69ZQv48eKyfbSC2CsOYKe1XwGSKGqX22AykTq153Z0foyBn0CF7mBflE3QfNgoa1S1F5tuUt0mVAp_AlAEmLKkFmpj4kWYOt2o-uHeWwR5rsxBUQNZshknfpT5H1rGrNvXrKKs7nDN7PZ8TAzRqQbyc6wTO18Gr5aJ96fnzXaUy-YrV10hub4jvODo1ekiy6MrxSszKGiOo30YCo2mE2KkKymLsJtm1BouMLEiRZTg2Iv5_kO3IqLOCDAFhO9VS6sqqmEt8MaAe33iHYhgonXg93SjUU-sehdSzAlMShIbdL_7pBVT_ABsTcuu3SO4PlbKxcygQeMpK73TBQfrBnVUXfpMbn-Rr0rwp1TBusRBWBmY5No0MopE0BwsxhoX0wJ6iWrJgM_JBRNjRKq8VSynA4o4Wr92T85hwvPL7MO1rgIiyukFnXqold919SIP9jfSJwPQ-5eA_fsL4GbowOLmy9sZilwJwU7FdhCOn2T1VL1GCOUDx-HtaNwEMJzAEYZ3tNKNjlKKlEUSYW8tnuFHB_1eQ_oSbHLeMbKn8qbZWubJTcaSbm-RkTlUyr5LeDTK-dP5R5J-N3M_qhjJu5kLwri0l-D_YejtR1Do8IYqnDDanIw_yYc-C7RFw5Wsx86VIuYwKR2TaUZkzSAHyuqXWoqcISsS9jPRSeahi6Unbfs8lfRuVKv-qEvA_pmASA3-RIkK_ew0JgwOWMxPGQXcbFPjbbqAlYOkwH-Mww5uX9uabIe6VYZdZy6_ltlla5bXRClp8HKMIZADjH-tDy8rgz4vIBRGr11BNptL2iBSe6D62Qapt_NOC-unwIrVNzrbiy6JfKhAZ-aL5m0-u6TRc_a8xsF1rst-dBdMKRxbfzlMkdK-XgOGpt9ytndwsJ3o5MExqbQFP249dPCb67DL7ujA7ecHMfEhLUzq8BdqbrxWVMo9z91xc8HQz8-CJHSuesX5W4hu_To0IzAw==",
  "id": "rs_02fbb14ec849eeea016ab41f95e62c87d0a7c9304746e232e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The bear’s body is centered between the open jaws in the left wrist view. I’ll lower the gripper around its torso before closing, keeping the other arm parked.\"}",
  "call_id": "call_8kJUcCOYev16xlXq3uA8veZv",
  "id": "fc_02fbb14ec849eeea016ab41f96965887d08f7a6407e855dabb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8kJUcCOYev16xlXq3uA8veZv",
  "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]: [-1.1507, 1.6333, 0.7395, -0.1963, -0.8345, -0.9134, 0.9996, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2549 left_y=-0.241 left_z=0.0549 left_yaw=-0.0171 left_pitch=-0.0763 left_roll=0.0501 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2974, 5.1487, 1.16, -0.4469, -0.0073, -0.0171, -0.0479, -1.3197, 7.0359, 1.7216, -0.0366, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1cd09145446e51dce4938796a0c13a1cdb1b5c5c54f6f46dcc5a648886aab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e915d188085486f386773ca122e880c3cbc0312a14738d65a06ebea9e06cda47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3677b17e9a3305e98b536d2a2b3ad65c35937109b8493ff20f76b6d9b90d83bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.011 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 17 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, 0.8005, 0.6174, -0.3798, -0.0219, -0.0326, 0.9996, -0.0208, 0.7986, 0.6106, -0.3737, -0.0185, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0007 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5932, 9.265, 1.8046, -0.0317, 0.1929, -0.0562, -0.294, -1.3333, 9.7983, 1.6972, -0.0415, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.4982, 0.8867, -0.4603, -0.8387, -0.9104, 0.9995, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2562 left_y=-0.2426 left_z=0.1187 left_yaw=-0.0178 left_pitch=-0.0653 left_roll=0.0375 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.2291, 8.8137, 0.9011, -0.6032, -0.0757, -0.0171, -0.0342, -1.3197, 7.0359, 1.7118, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.6333, 0.7395, -0.1963, -0.8345, -0.9134, 0.9996, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2549 left_y=-0.241 left_z=0.0549 left_yaw=-0.0171 left_pitch=-0.0763 left_roll=0.0501 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2974, 5.1487, 1.16, -0.4469, -0.0073, -0.0171, -0.0479, -1.3197, 7.0359, 1.7216, -0.0366, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1cd09145446e51dce4938796a0c13a1cdb1b5c5c54f6f46dcc5a648886aab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e915d188085486f386773ca122e880c3cbc0312a14738d65a06ebea9e06cda47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3677b17e9a3305e98b536d2a2b3ad65c35937109b8493ff20f76b6d9b90d83bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-aBhsFNDS1NxVPpD5vyzcoXthHqUaWvbdNmfnxQNIzdlPsjj3QBcqM7Z1nsAlS-xMcbgWxNw4mhk1iSMyYBcXA4qs7hHpkvpCxIybzHrYfESmVOlrsMmoAWI-d1olIoRw19cfJXYljNvzelDarfwDfMsgA2_39Yic8VAUwMFTA4nmkDEFM3QpNhTW1XRI0emql2PW0fhtx-ceKum7prV58MeQfnK3r7PjASsesBgWAaCQWABV_j9CTZPPewUCBftcY37j3sDErJIflqloeFeilWTr1SMeJ9BMqobft0DppiEdy8VTCUcruAYIfiRLk8aUO1V2ex-20c1mKPiEXirDt154qgEA5vxl2sYEV2uRF-GuC6dMM1H0AlR6nT9xP5-9b-VGSSU4jZNPXe5--X63yQRN-H5FC21Jfb0rgNk_6IM0c-cqLWseu_RzJ6285TE83UKJ91_OvX9b0g9IqqfVtOINBE-EJtlRu0DrNi4WhPgjBGsaRbgoc9FUTnaA8rpeY0zLX0bCff4_VtXHBBRmAb3mdlzIcTrw2-ZMlGxco1Hod6ECg_2KxRyj02Bk0Z7sR_oDIIPIniNgszauiwFVxlruhGS6zoP6PYZ2ZTlXJCf9LGbSZ-B-g7K0vohUR76gY_GTCai1vY6rPYXEXL6WBWjOE8IOLvLj2fij8mjt5xMSkpavMOxDQFiH6jg6V1K_iNjg38N7s3rVhFLhTmGUiguYk353ss9XKS0b9b0Z7y4ofyn3CMws9PIb7PFu5HyvrCEasHM_C6xnmBqqzmqP2BJnBj-5CRQwbwDwANHH6-8HWF-P0Gku4jos4ooqKtYaitX_ZRSjdBu8hAKV9BiDLPzlg2CLey35zYETiisqgKGIDCwghs11tGmcACHCu8V84GkPXKi7CUfYeHk3jiajEb9RUtTWRSJvJmYl2PQrQVDj4tltnCUgBJbLdJKcNG7hAz15d6RFW8EiydkPMn8fPzFZz555Tk0CmjImrTrSghwOAbCK0dxBYUeFgEbRf55G3T9_prJ63NZSmP1lBuMOqrPceR5z-7i3aHSP8iYJFdXfG8zRsT2M2ZqqcubgOfI9VmM0GWKms5e9YJjMglmBaQ6_dVUprfIreZC4KdGsv2bQnUeBorWyYbhYov7FFqbVAdfD5t1_fsYLjWvd063P_xwi9Wue0jyDQ3phM8E49_W8eDHpi1ebcodc4cGKyazTcxX8LaI3UO30gl-vXbFkhLw==",
  "id": "rs_02fbb14ec849eeea016ab41f996ebc87d0802ad9097ddb4101",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are down around the bear’s fluffy torso, with its body occupying the gap. I’ll close them and check whether the grip holds.\"}",
  "call_id": "call_eTLvg5MOPaZB8CzFu9XIBzQG",
  "id": "fc_02fbb14ec849eeea016ab41f99972487d091c295842a09b7d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eTLvg5MOPaZB8CzFu9XIBzQG",
  "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]: [-1.1507, 1.6348, 0.7383, -0.1886, -0.8379, -0.9146, 0.143, -0.0208, 0.8051, 0.6083, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2555 left_y=-0.2414 left_z=0.0552 left_yaw=-0.0151 left_pitch=-0.0714 left_roll=0.0459 left_gripper=0.143 right_x=0.2954 right_y=0.0007 right_z=0.1779 right_yaw=0.0006 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.7761, 5.4359, 0.9451, -0.4029, -0.022, 1.0232, -0.253, -1.4838, 7.241, 1.8242, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bec19c22db196ad179f1a32e14d66acfee12c44af1dfe5dfd898cc950c4bed9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4bce19fbd79c124af7bd4415971d596e8c1a0dab0641f104eed5dd9d34066b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2056c6d0308db76e33b012c110ea1470e4dc8578c62e3aa3297d0c5becf7983f",
      "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 5 attempt 0 · /responses · status 200 · 4.271 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 17 changed as sent

message 21 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7448, 1.3361, 0.8276, -0.2558, -0.6041, -0.4843, 0.9995, -0.0208, 0.8024, 0.6086, -0.3779, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.1659 left_z=0.1529 left_yaw=-0.0063 left_pitch=-0.0437 left_roll=0.0269 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1802 right_yaw=0.0004 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.2855, 9.6068, 1.6142, -0.398, -0.0269, -0.0171, -0.0889, -1.5795, 7.4462, 1.7753, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.6333, 0.7395, -0.1963, -0.8345, -0.9134, 0.9996, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2549 left_y=-0.241 left_z=0.0549 left_yaw=-0.0171 left_pitch=-0.0763 left_roll=0.0501 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2974, 5.1487, 1.16, -0.4469, -0.0073, -0.0171, -0.0479, -1.3197, 7.0359, 1.7216, -0.0366, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.6348, 0.7383, -0.1886, -0.8379, -0.9146, 0.143, -0.0208, 0.8051, 0.6083, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2555 left_y=-0.2414 left_z=0.0552 left_yaw=-0.0151 left_pitch=-0.0714 left_roll=0.0459 left_gripper=0.143 right_x=0.2954 right_y=0.0007 right_z=0.1779 right_yaw=0.0006 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.7761, 5.4359, 0.9451, -0.4029, -0.022, 1.0232, -0.253, -1.4838, 7.241, 1.8242, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bec19c22db196ad179f1a32e14d66acfee12c44af1dfe5dfd898cc950c4bed9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4bce19fbd79c124af7bd4415971d596e8c1a0dab0641f104eed5dd9d34066b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2056c6d0308db76e33b012c110ea1470e4dc8578c62e3aa3297d0c5becf7983f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-dlQOQ_RhM8IZ-sDp0lJuN4Gu8IRWIy2s7dNKEFRRSMNMVNrixWtWExtWjV2xWPZ2NwQ-KRLUlt9Zfyknn6mhoNf1iigUvwXG6IP9OWHv8xUlrFM0-CuWhzcHZaYfHh9r2d52eI0-RE7vIreA-MHUejCNisMecYdGr-s75su7R9u-6NKjK3o7RISFM0p-chQZgfTfpeFsICG6VWa1lMkp49_MtXmyULbMoJ_FemtU-q9Qti1Vz5L5miRRgnu_07ioOJZz0sAWJv43Aotx1EJJohxVNAdzqY917E-rLvsU-cZL9tlRh31MDQ5mfRmAwhKhucqO8grjM0q3Dcmf7I9HeXEGWwTVdkQZZ_Ke5XULW0QHKJyT71eC4jFlsCA76C0HGeRScStZ1TtRXQ44J8rLPPly7IuLy98zveBXOMJC_LxROzi45uu--ANG3ne2pjlSO1E5UOsAHBxI21rLNVYpja0n_qV8S0pOkpyZWKvXj5rswNB5QJAi5Q-ifLV1_3ogAuun3d3yxAFmwgTDkS3DPFY8VleVMo6ngvD9co5sut7bHxTPE2HVtx6rV7lrb599XJf6LMftrlEZQHYMB8uezwcenHUOPGBSoptLt6hjrPW6ntDRPw5IDvr3iaQCl7OcmNNVjE74b8s208-z-wagmH9y-OBMu_AIK-TXqgJpQYgVILIN0GW7yK0rhVFBPl_YHQ07iCjIGIwJiJUY6hvgBNgEu0U8u6jbu3MvrYrVMZd-ZVEAf4eTHpu9ljeFIO4yqmZiGQCRZRRiqni8qdzSsOYJfRv80en2EQKrGBtWWt-Y4ng7wRLhy5nYIG4lybiwuNYp6EKEuU8NppKfKoXIlxcjsYt7XPA5MQgrP28oIb3-bVPaUFoDa8LeyGZsfZBblBi-9r3dRqGM335c2tDO0xVGi4OFu-zjbqjcyQbOCFgc5lY3q4zieSMYOCLZ61WjIjT5ZiOHHM4EMfe_v-5SrFgexRVbng5Vk2n_4ytVTXGiEXlBhbZk0oy1lHTem_Wo6vhBSUhik_6odWgINK6av5GgEDC7w08Poe_h8nlRUNbVuvfchM4XEhB_wpF3v75RpZJo9pAQdIM9jYLYfOv_6Eggd7mP9H3wHnl3j7ZFGUt-elVHmuOxmG64bcCQJEt-rIJr-ZINH2_JuCHEXj1d-kj7-OecT7Ry6ULamhv4YFcigug1CNrNI2UrmWI7BPCoFLJaGh3myvoAZH10JIUh_xY5oUQuHSFaUv0JNPTv3wK5hEE2nnQB5leGQxYYJvngN",
  "id": "rs_02fbb14ec849eeea016ab41f9c399887d0a8300bb389107fb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The gripper stopped partly open after closing, which suggests it caught something, but I still need to verify. I’ll lift the bear clear of the table and check that it follows.\"}",
  "call_id": "call_fy1QA7c6u87DLkFpAuHK8Fsm",
  "id": "fc_02fbb14ec849eeea016ab41f9c6a9887d09c21437e86b7f0d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fy1QA7c6u87DLkFpAuHK8Fsm",
  "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]: [-1.1507, 1.4696, 1.0634, -0.7193, -0.8085, -0.9215, 0.1476, -0.0208, 0.8051, 0.6083, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2524 left_y=-0.243 left_z=0.1597 left_yaw=-0.0223 left_pitch=-0.1121 left_roll=0.066 left_gripper=0.1476 right_x=0.2954 right_y=0.0008 right_z=0.1778 right_yaw=0.0007 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.3077, 8.8137, 0.8327, -0.7009, 0.0659, 1.0281, -0.1846, -0.9231, 7.1316, 1.746, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35146aadc177504dfaf8f2f912e10b06f3e8b879fed58568fc7cda919fdc559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea8f0525d0692e71ca41e08ec4e6bceb5efe459322739ba9bcb7606f3f7176c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da510918743059b8db2cbc0f83cf7147b68e1e5c124d3ad30efe1f2924da969",
      "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 6 attempt 0 · /responses · status 200 · 2.887 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 21 changed as sent

message 25 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.4982, 0.8867, -0.4603, -0.8387, -0.9104, 0.9995, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2562 left_y=-0.2426 left_z=0.1187 left_yaw=-0.0178 left_pitch=-0.0653 left_roll=0.0375 left_gripper=0.9995 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.2291, 8.8137, 0.9011, -0.6032, -0.0757, -0.0171, -0.0342, -1.3197, 7.0359, 1.7118, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.6348, 0.7383, -0.1886, -0.8379, -0.9146, 0.143, -0.0208, 0.8051, 0.6083, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2555 left_y=-0.2414 left_z=0.0552 left_yaw=-0.0151 left_pitch=-0.0714 left_roll=0.0459 left_gripper=0.143 right_x=0.2954 right_y=0.0007 right_z=0.1779 right_yaw=0.0006 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.7761, 5.4359, 0.9451, -0.4029, -0.022, 1.0232, -0.253, -1.4838, 7.241, 1.8242, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.4696, 1.0634, -0.7193, -0.8085, -0.9215, 0.1476, -0.0208, 0.8051, 0.6083, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2524 left_y=-0.243 left_z=0.1597 left_yaw=-0.0223 left_pitch=-0.1121 left_roll=0.066 left_gripper=0.1476 right_x=0.2954 right_y=0.0008 right_z=0.1778 right_yaw=0.0007 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.3077, 8.8137, 0.8327, -0.7009, 0.0659, 1.0281, -0.1846, -0.9231, 7.1316, 1.746, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35146aadc177504dfaf8f2f912e10b06f3e8b879fed58568fc7cda919fdc559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea8f0525d0692e71ca41e08ec4e6bceb5efe459322739ba9bcb7606f3f7176c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da510918743059b8db2cbc0f83cf7147b68e1e5c124d3ad30efe1f2924da969",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-kYAABuFvNvxSfp_LnZl7N-qkAo-G2shtMQia5RVC95-cMIc0UkzRAjJib3T2etOb_4-r3RZsNsbe9QBjVwMo-hvXVRSnJDf4ZrNlDslXN_WMWL9nDPjuU228DQTsJcRnxCfVlI0tCguPuumAkiUDuJ_7jw3Ec_YE132KM_pXlRlN3wnu5gOPihxbJlloJsmlwg-lsl8WjCE1Tp52DwTKetvvlnqPttM9mjBjH26VqU994C2JOEfIYbQ3fW1EDQW86V-M9VvPZ-AQrdTb0uEspbouNXfNubCbcfquHSVu1K2p8sK4nS0WeafIdt1AhztgN8-Etg5ZRiaVmrtqLQQiHAtajpFeAPc3aLQbSmZ1BUIYxXJmk9F4Nt7ZzuJQkfs0rwMs03GtqAt1WChAOI4o9mt1gFR04CDHe8RcO4M0lQ_Jhk9GDoSnhNuvetZ41ypU8SB7Um__wUsGPIS7JI0OVXndlWtEpu_L4khbtaKrHNYPTfhPKKk-nEOca6wSLmlmfILfOI02KwZdb1y5c72hZ8OctgYUye65IqnJDjDB8JC0iwxD0uoaULV9tMtb3EV5niRBxhBEALshXrUjlSZQxeX2EoQab6p7WXzCEeJDDSiQ4OpiNn3jOJWhoKyUu9lkmrlhhi7IW-46WgUCxYVITIEnLTRPwcHTN3ckaifS5Hr5-0IXtMWoWMl3H5NfWwh-8cncQ_28sIJF2uOsKadlJD9O1y3p6ee7lqRDIpIQpO79ZzllsdKU8NfXDdxZSeaWB2mgPBMbFrWhXSFAaAVx7ccl1r-xTC2nOBG5I5WgBhgLOBdaT4ODChImvobNsp4m3NHthduZRyzOH5pWZbmlxUr6r3TOSCyhW5qFDhNnxyKvBmRSl_0ITfuHuqWW2Bup0likIZ3m4T3BVkHmh70fJZAAhHysAGNqgdv3_eAM9Pqyu7nJWEWtlBnbbcBoZn_CpOxR8NbXvLnEusHxtWgWG0VI7zhqNif0SqvatKNsd-wmzUdWBwrMHxmAZJPBY6gIe6bx7-NVVT61qzuaZLsls691yWu8W0Ilxbop3tMijqeLyRQe1Sqk0Dy0d6eanBy_baUqdMG3FS7j4sMZhh3qBprtVL0Me029VRRRPjPT-ez_zjqifuAzfRp1M-bHwx9HF90zvrC62qwvKyuXg0LwcAe9IvTWig8c_VgeJTvWFnaA062uZppCoC9CkhKNiZ-mswR3UR2WhXUuWEXYIJWVAS9EScC9BaMuSnJoQXC8EGwCkJFpchBZkNm8hf4JBZjKrdgpQ5Q9zoa3hZCsIMXY963EM36XEucfj5BMdIOz9uzkeKdn1uKKts3yacamXhcd33OcXLeoiqyFxKgOWSGR2AH7ccuiPNziyEFOkJvlQ6VVpxaU3J0B3T9muaKfpGloYaOm9xhhku-GfhMcFe-skstVxzxnRse0j0CXt9xC_bcv-5fBgM0Je2dAwYlWp_Q_aigUcvOu4c9QZU4DScCu3RPaxXBc7dibkNnUJy3uE4vQWzgz4N63t_xFQE_HhNmOV7fcZVctJoVfRn4Yiah37PapbwFisWSBnY20ymmf33pp7A-3VyFXXDtjU2GRhLEcHhQDY1EryOa6sTfmikX49u3JFbHl60P71wVugT7usDFQd7mPOh20T1TD0jMJTxqA47clUURW-WAUE9RlgVE5BzLflGAyZWPkcu8NORpjo8XVYzznonsltWrdjzM0ep9Ofgqcq1zy7JYII93ZvbuGxyxjtHw8pupmo7GygCqbSaLIeQyXAhAyWlZUinsmBeRRzIsDfxdCpIkLSgRHFhGEfjtFnmXX8V7q0Wy3kjY6H6Onwr8qmXrNP0itvyUAe01KgQh8ee3320Z6Pwy6lBPozpwHzVxNGkKdNdSB7E0dPBETbmFrx_NW1uvTIYBvM8NhKyyVkHVwCxrzbFsbA7S1dn-VUjJALNTmxIL95EkkVs9lTPzraakw8oogZFmPHQqvtUrqiUwRq2YMIu2OL0nnod_fEHX8IKA2VhP-xxrT2hKHncpBpNvxbD2hkZ__-zFodXQM5rjw-UhywKO33NgbAiuHyclnm_z28ixtZgSM3FUQqRykdr5MeyYSU2SCB7B5sgaKb8u0Pn1ZT5Pp9Acdzcjpmc0hPoqdsJweioaSeRDL4ojn-kRBoNx-80hqZIP5txNu0muReVGC0e54h3EnTOj4CENvWD-G_MkTzivehnltUKS7zgMFoD5JIOlvOA5agp1TLxfdtdSn5ZV0zwSK9MurvpJTI62wVyI6HEavpZ0ySyezk5QPdx2at5BmAw85KhddDmph2WpF47e8Wbdzc4Ic-uFX6hfC90s-YnWJV8a4=",
  "id": "rs_02fbb14ec849eeea016ab41fa0f77087d08f617b4bb4f9c405",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.09,\"left_z\":0.2},\"note\":\"The grasp remains partly closed after the lift, and the pale plush is moving with the left gripper. I’ll carry this plush type to the left basket, staying above its rim.\"}",
  "call_id": "call_2SGIHr7tUCuJWCLTBGFRKEnn",
  "id": "fc_02fbb14ec849eeea016ab41fa363b487d0aa911a5ce6e62721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2SGIHr7tUCuJWCLTBGFRKEnn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2928, 1.6165, 1.2453, -0.4316, -0.2535, -0.1722, 0.1511, -0.0208, 0.8097, 0.6067, -0.392, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4444 left_y=-0.0839 left_z=0.1695 left_yaw=0.0026 left_pitch=-0.21 left_roll=0.0724 left_gripper=0.1511 right_x=0.2945 right_y=0.0007 right_z=0.1744 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -8.4855, 10.1812, 2.0488, -0.1636, 0.3053, 1.0281, -0.1846, -1.5521, 7.2137, 1.8242, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de15defb4942886d696974873f9afce232909c90306502cb5b34fa3ba6783bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8690cb42a4a00c81282689a625b1b301c3a0dda20834d6b0a7c7496951c26bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e21d248baccd525f6ff42c4cd397bfc8b3b65b1d7cc428493b5165230ce69b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 2.156 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.6333, 0.7395, -0.1963, -0.8345, -0.9134, 0.9996, -0.0208, 0.8032, 0.6086, -0.3782, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2549 left_y=-0.241 left_z=0.0549 left_yaw=-0.0171 left_pitch=-0.0763 left_roll=0.0501 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2974, 5.1487, 1.16, -0.4469, -0.0073, -0.0171, -0.0479, -1.3197, 7.0359, 1.7216, -0.0366, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.4696, 1.0634, -0.7193, -0.8085, -0.9215, 0.1476, -0.0208, 0.8051, 0.6083, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2524 left_y=-0.243 left_z=0.1597 left_yaw=-0.0223 left_pitch=-0.1121 left_roll=0.066 left_gripper=0.1476 right_x=0.2954 right_y=0.0008 right_z=0.1778 right_yaw=0.0007 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.3077, 8.8137, 0.8327, -0.7009, 0.0659, 1.0281, -0.1846, -0.9231, 7.1316, 1.746, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2928, 1.6165, 1.2453, -0.4316, -0.2535, -0.1722, 0.1511, -0.0208, 0.8097, 0.6067, -0.392, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4444 left_y=-0.0839 left_z=0.1695 left_yaw=0.0026 left_pitch=-0.21 left_roll=0.0724 left_gripper=0.1511 right_x=0.2945 right_y=0.0007 right_z=0.1744 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -8.4855, 10.1812, 2.0488, -0.1636, 0.3053, 1.0281, -0.1846, -1.5521, 7.2137, 1.8242, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de15defb4942886d696974873f9afce232909c90306502cb5b34fa3ba6783bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8690cb42a4a00c81282689a625b1b301c3a0dda20834d6b0a7c7496951c26bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e21d248baccd525f6ff42c4cd397bfc8b3b65b1d7cc428493b5165230ce69b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-27ItEN3tqX1NuJtWSwCCUhc2l0qSFtIRBgT9z2qSLm2Xh1BEmCKRDZMLH1fDBT9IwdIgxZ0__cR9jjDoRR_bFYX1Apn7eKujZdeiMgDOCtSXW2aJQP69xSUG9OU6tqmsBEjoc0lDx4CBiAwid_Ad8eTl_QW3eySgEImDLIxw5BQuu1j64T6w4LhyAVgW_SHwf3MBkV30dgcbdbJEmIaoOAS-gCG22lpxHCclD8RIQIBT5K4wS6kALg4AXil5aknytNXTthJ4rFvPYNaLFmZVaEfe2uu25NRug7EgGgs0S2L1GIEneXCwzfsgEROVEMYmv_mxNMv3O1Qopl4pEN623iD7q-h-z8iTpdjLDHxrMTzuA4brZz3wfXoai60P-TiFTFmWi71xKeGEy1yBsp9FxVYLYNmOiqZnfcS1wmQqUI7hOe22iHZTlGiOrLTwwu7-NxEIX0IzxaFEMGDtwK09qZ79zHvU3hn9bt8a8gpfnbqR2eJH19AqJtISqssGmx_TeLELR_izD8nki7BHdW-NiMur04pcahkQ6ScCjm8ah0HjgQ5b0rRh35rVJ3KM9Wiedo1QQSSYAhiALQGghzJjy2sFHCJTVaxp2qkCiKJa3oDe6rsQdYqtr2r17_66TG9ehyj9CNBAZ8Chq9WmAtf8gFkV0RXuBn3zCfBExJDLcMC9nyQu5ol3Y6z7j5uGQM0QDzv_y8tPpJisS1TVreWqnX_RFrtUZTWiK_BWbiIEJ50mmKwYqvc34DR-EaarZiefkZzSwi00RpYxwLJSBr77ido7_gWOiMHPJmWqALaeSxCi3lKeq7zQgNP-dO9paSk1jY70mwzoeBofQw5gLg9fByS131MKGa5FF6iVTQ2ulyZci4_ORvc9wuWpyfJD0eLn55PVyvrw7dKnL_iHfHf0bRJQX_T7SjZDbsliUnyhfo-kSzq4BivXY4pq9MJpVC4o1G0XbMsEnMBBBAYYiqm9cXiwawv_7fV8Jw-VpCUShNhsRjtMpDeo8UgRifb3xSncoJFx-7RhgBwDsz6pQCTuNsoo5c8HEGNjZgqU8-UM364C1bpZzU98xwpW3XJbsJjc8YepcInwrJBVIhanzQTbCVhzt0ybaWe7lHg9o9HlaGzCr-4g6kE6NBrwm5m_mjaBchVwc9elAbc_0Vkyijlqqxln0IU0vpH4EhtFjlRYXyzRy1ei-0CSGX9UwOPvVVlgm8RGcaRLWugNZ2zm7kNpdOZ1XubmbTjU3bjicwJtVUicWgSyi2XBEnW2gSFMiHTm7PUljSqloWTgJxpLrPY0HQX0nX6tJKc935ZOeJ8MIpSm-gz3_GvYYmToP3WHnjS-3AodbOGUiTE-71M3lC1ncORgvPVF6j-vcp1a5BZQPM2-1cdpSwulnbSrHSpIXEMGyccEG2pRWXGYQp5E-Nbj1wOer6jN_UckVVeEQzLLGD5QRT0Q5J6mFatkdISOSsxURcT2Y-vqcBeTsVQ7D-_u_eTU_BTeumxNGTgqt8c3Bs22S46Xw2fxHDJbvMKlgpLBnziIzoqGOSFvC9OHwHq8vGi-CR2VZuiGs81r1UaWnVGSmot8hytNmGK1TOdtmHm9-6mkHiWog79DWnyFqNex_h2bLX-5QZSPMRF-w2LcGugZjOfq9Ax0tvi9yxycbOoIfI_V_uyH4DJpX26RciLm8D0Np68rYiH0tdIZ35wZ9qv8RJgxnrykaY0ieA0lpzPETb93X2JbTRkMAB_-jQ_s6bQMkWxxeCMkOXosy3mMbXEuVSfQAnJfK38iwJGmspmyz",
  "id": "rs_02fbb14ec849eeea016ab41fb4df4887d0b893b06fb523d3d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left gripper is over the left basket, with the held plush above its opening. I’ll lower it inside the basket before releasing it.\"}",
  "call_id": "call_IbBpBjOcBfwK2BNczUdzJbi6",
  "id": "fc_02fbb14ec849eeea016ab41fb5fa6887d09809fcd821b14344",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IbBpBjOcBfwK2BNczUdzJbi6",
  "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]: [-0.3038, 1.6596, 1.0626, -0.1585, -0.2535, -0.1719, 0.1511, -0.0208, 0.812, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.0905 left_z=0.1217 left_yaw=-0.0113 left_pitch=-0.1648 left_roll=0.0587 left_gripper=0.1511 right_x=0.2946 right_y=0.0008 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8547, -5.641, 5.012, 1.1453, -0.105, -0.0513, 1.0281, 0.0068, -0.9778, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c36e84d559a4fe6467d32da7566e1201da8892292eb53b5d0a9f65bd2662a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c12a3ab4ec3a7d8ec65d21b105cc6db83f8cb20aa1a55260d4f927fe43a42e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a172c3ebe89947ee02c08ff76f951b0eae0659cc10a7fe5467de2d9bfd4f86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 2.303 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.6348, 0.7383, -0.1886, -0.8379, -0.9146, 0.143, -0.0208, 0.8051, 0.6083, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2555 left_y=-0.2414 left_z=0.0552 left_yaw=-0.0151 left_pitch=-0.0714 left_roll=0.0459 left_gripper=0.143 right_x=0.2954 right_y=0.0007 right_z=0.1779 right_yaw=0.0006 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.7761, 5.4359, 0.9451, -0.4029, -0.022, 1.0232, -0.253, -1.4838, 7.241, 1.8242, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2928, 1.6165, 1.2453, -0.4316, -0.2535, -0.1722, 0.1511, -0.0208, 0.8097, 0.6067, -0.392, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4444 left_y=-0.0839 left_z=0.1695 left_yaw=0.0026 left_pitch=-0.21 left_roll=0.0724 left_gripper=0.1511 right_x=0.2945 right_y=0.0007 right_z=0.1744 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -8.4855, 10.1812, 2.0488, -0.1636, 0.3053, 1.0281, -0.1846, -1.5521, 7.2137, 1.8242, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3038, 1.6596, 1.0626, -0.1585, -0.2535, -0.1719, 0.1511, -0.0208, 0.812, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.0905 left_z=0.1217 left_yaw=-0.0113 left_pitch=-0.1648 left_roll=0.0587 left_gripper=0.1511 right_x=0.2946 right_y=0.0008 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8547, -5.641, 5.012, 1.1453, -0.105, -0.0513, 1.0281, 0.0068, -0.9778, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c36e84d559a4fe6467d32da7566e1201da8892292eb53b5d0a9f65bd2662a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c12a3ab4ec3a7d8ec65d21b105cc6db83f8cb20aa1a55260d4f927fe43a42e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a172c3ebe89947ee02c08ff76f951b0eae0659cc10a7fe5467de2d9bfd4f86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-5ajX_YIlRF2ulyfYG7j4ypK2W3hGJw_FxKi4Gu6KqgOPfd5SyuMh_eW5cDmcYeg_6WSAMNDBDTtPbg1-jq8YgNnWS9I01WGdz2f6kAvbcAtrtV1GwTSCrjLCe5d44SKJlM3AsuolgiPbHU85Pta1VBOdQz2GBlb-tEx6CMAxSY25zC8Q0Hbh6nsiDne9DXUL5v_JV9wJlYcbNTJVDi4oYQ9_NpvyFQM5d_YMAUoq_F28pD23GdopkzAmBGcjXJa-CFl7C_uFagKE1WzagTeiVGG1HTNRN7cyZWIfn4jm6h0f4fmK2-U-ZJSI2AdUlfH7mMgxnag-MefnPAryYxNaPk3LyKzyi3hZESq0MwkoRzkhG2su9Nno5ytBMUosUQDKr6WSHaapeLp-FzF4eNwccHw6-4tz0W4Ayum4zTiFZu-3PdJwBxl8FPjCV3bBi7R7b7AHvE1zT7bCxvPrDIQ3FZVn63kfP-y85u1ZiwEIEdMMPbM6MUYK5Kb8TZTeYb88H1RSPuPhZ16uwOJUJdrw_TWMmAi1q--faWT5sAcQZafnZIJcdicuFRcQo5awNaZ4GXEybEqHtZLrzFeLxFQrI3ULQPrxVQyLHX3aFP6f4pqggJ3bHj_TgdYseAVHnJoeusp0lX1s2q9obym-uhzJGJpA-BuadKmdDqydMpxKNSY-n5CZ-t_787bjd_sIen2XvamifpV-dihnIeakp23dmRZMsz3VK6kh4Za23_OjSNctGzgJn6kTB8RCE4x6ymvBrMKbYhTB-6N-7HnUcszQAHknGjYO9EUjs7hutP6pmED7QP8TvzKBPfh6z9e6psBn65eBoktTR2piWQWjkg3Ba65eJaqwsEyIaV1tFJQHtXzpSuPXd3SEvzGixDwurRtYSwKpwXvRHMD1lSfYeHa9fXe2KTorcd4AzQVYdKZhdyCVEg6XKgHnz6c9lKdGnjLgt2jg2FPb64X0Lx5ilfZNi31TRQOSZZGWURK7kmGc4_p8CCtv1XQUInSETj2Jd1Y5qlQ1w-g14M7Gl9tcH9qefN8nmNTLJhJigcEZ3NrckBFIUXS_mBnApm2AXlC4kRLo-EWaVEtBgo_kEfqroNgOp-VmcgK8zkeIfWu6l3xLBEtfl1SAgTBTtMRkGpLDoAAfYF8ylt9ImSkGBFq4ECpQrGj9mmow5v65upTCVcLIAwjmnjxKOYUwrdl3n7Jw6i6ZUOesbmuZCjH6tuSwxdOmGR6m2dTsrFYEYJGAnmLQw0EzpQWFSf9AumCiC95eH5USkTRqbq12p4nWYZteBsO_PCxDH38ijjl_9kOxBiGjLD90=",
  "id": "rs_02fbb14ec849eeea016ab41fb81b8087d0a92c4062a237df86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped short and the arm effort changed, consistent with the plush touching the basket. I’ll open the left jaws to release it there.\"}",
  "call_id": "call_W0c1HlvoBpkI9gfQkaczChDO",
  "id": "fc_02fbb14ec849eeea016ab41fb8614887d0b5d222750d2b00ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W0c1HlvoBpkI9gfQkaczChDO",
  "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]: [-0.2958, 1.7092, 1.0183, -0.1471, -0.2497, -0.1795, 0.9955, -0.0208, 0.812, 0.6067, -0.3927, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4394 left_y=-0.0845 left_z=0.0844 left_yaw=0.0026 left_pitch=-0.2441 left_roll=0.0749 left_gripper=0.9955 right_x=0.2945 right_y=0.0007 right_z=0.1737 right_yaw=0.0006 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -9.0598, 6.8718, 1.6044, -0.2125, 0.0122, -0.1441, -0.0205, -1.3333, 7.0085, 1.7265, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:146a47fbef0c90a7eb4badd3186b09fa919a0b2eac97fcf890a54b6b27e02c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b1996940e9fe9588b7de33ee6a9180da4893aa501140fe40b88b4c4ada83c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c2df294ec267ff3a4e69e173533c59077d89b2adf61694286c7f83f27a1b63",
      "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 9 attempt 0 · /responses · status 200 · 9.244 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1507, 1.4696, 1.0634, -0.7193, -0.8085, -0.9215, 0.1476, -0.0208, 0.8051, 0.6083, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2524 left_y=-0.243 left_z=0.1597 left_yaw=-0.0223 left_pitch=-0.1121 left_roll=0.066 left_gripper=0.1476 right_x=0.2954 right_y=0.0008 right_z=0.1778 right_yaw=0.0007 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.3077, 8.8137, 0.8327, -0.7009, 0.0659, 1.0281, -0.1846, -0.9231, 7.1316, 1.746, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3038, 1.6596, 1.0626, -0.1585, -0.2535, -0.1719, 0.1511, -0.0208, 0.812, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.0905 left_z=0.1217 left_yaw=-0.0113 left_pitch=-0.1648 left_roll=0.0587 left_gripper=0.1511 right_x=0.2946 right_y=0.0008 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8547, -5.641, 5.012, 1.1453, -0.105, -0.0513, 1.0281, 0.0068, -0.9778, 7.0085, 1.7021, -0.0366, -0.0611, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2958, 1.7092, 1.0183, -0.1471, -0.2497, -0.1795, 0.9955, -0.0208, 0.812, 0.6067, -0.3927, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4394 left_y=-0.0845 left_z=0.0844 left_yaw=0.0026 left_pitch=-0.2441 left_roll=0.0749 left_gripper=0.9955 right_x=0.2945 right_y=0.0007 right_z=0.1737 right_yaw=0.0006 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -9.0598, 6.8718, 1.6044, -0.2125, 0.0122, -0.1441, -0.0205, -1.3333, 7.0085, 1.7265, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:146a47fbef0c90a7eb4badd3186b09fa919a0b2eac97fcf890a54b6b27e02c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b1996940e9fe9588b7de33ee6a9180da4893aa501140fe40b88b4c4ada83c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c2df294ec267ff3a4e69e173533c59077d89b2adf61694286c7f83f27a1b63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-8wAKeywYBGkph5ZfWYVZHFYd2_mZ9Hx5xYMTgnEmHHTWd6UhRag5EWp6s8aUi_D9_7uRZsNhfnm2oevMUgQfR9fx-vflbP7_WGl-JoxWGAkeHAvMPjzAZ7yjqf2KiPdi5yvPwXLg1hNmyWukpNw-G9BB0ZQkRmXw2VHj9y2v04G36JZPPGdxTtt0xKnkvarEEz9oK5fOBbJryzPQr_evmcHuYgrfu22VgxZ-TFdKX3xWUPtckMqfoiXHkPcw3k0e0wzl1vFNL7x-6v2ORIdkdoqoe5q2LuBncxJrP6c5cjTYDZgxiexKJ16puHCG9oMv6IbJ-t-ar23jP4SKJgngmMrbHeNVJDJSk3dWYEZ7Prop5G5MKlZm-I_Wy9eYTxnr4EV-OfVE7FQbbeNEp97CWFO0a8Ut_yeyISoYLsxLBBzRHT9LRAZ_9bZck_-hZ40JHuaaV_gLOrA48Mq7LAAu1L66k_mlhj39btKqSR4V76q69MM7HHs6mwOpYvpdOZs5zkpAQ7OzxleYwujAVGO-vKlkCrVWJ1Nx2K6nkQYUkr4x5-XCN6XqlQVA7wvcHGtMtEfc5wIlintzT3OuQZ1UvhEfe7fgrEEf1g5YDd_oM4p2R9CN2Na-awjh6l1HlFWcDT9GX2YtujTSiDRXi4G7oQxu9P6QNrk-BQcOtBP_LvoIatlrPUqoO3a2eF0YoIf59hBjfH4QflVGFCjWOmPIEt2Kt5LpCd3QqWee9bvL4DZG3kkNEwv-_Hs3823j8t0saz9CGHUntbqm35rOkB9AbWx6-FMYypX4_KyYBuRX-pA7eNGaq7LDDaTEe183wCL2F9NygyLyl4D7w3K8vvKuOAJQX0Wpv1kEDcrAqhEKVIJHTGlxoc00nFxvDPvE6azW1Dz6hLPlIu_O6EJSpiVJ4Omu4N23XxuaS07g4zmoWq-UAkquS-L370SFe3xeZ-51v3KJn0TxoWndaH7HvfZSHVo7CPTLbeoUtswXr-d-z2fEQBTlB4YcCVMpPjfxp3jaFN4HaYJnyLgya6lA31CJsnIDehwSeS2jhe-Mq2nXm0360mAdDsXqDQO3wnZmY8q7ng5pGPOJhKyl4NBCt3MCS6lIik9IPZbb-b_BkPjyzdk3p3NPLEHTvQclignoNpFaooIs1XvOBK0UWWvXssHvbpLkzWYDkBePOF-cFzO87tR2Glb1L3eCR8W73w-OScb24pM1Yq07w4Aw0pHLLNfO2cye7fUMouzo7uCis6ipq0enZis8okS9b6oW_wgLjORRG3JOrjftw9r9JWeOrQhmEl08lKfld85Y_lxjjXAMbNl3B7aOtKgfhaSf5bSaHvlJ9viwkVQLjnqjhGIWcs6oyoD2EDZD_8-5B6EeLS_CRyF-3_y7FcP-yL3ELPE-LlF3mgxjRQuKYW7ORhIm-N2sLZ8Lpuzg0qbIzKxf2HsqSjS7vTStt-0d9DF1ug5No9Wr4Ib84TwvBnRrUZn8aTE-baZa8IPL19K63RsS---aKIMo=",
  "id": "rs_02fbb14ec849eeea016ab41fbb01e887d09279006b1430a8d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.13,\"left_z\":0.18},\"note\":\"The jaws have released the plush, but the gripper still blocks my view of whether it settled inside the left basket. I’ll back away and check its placement and the remaining objects.\"}",
  "call_id": "call_YxceqnIrqyCZNeIbYG9AhKos",
  "id": "fc_02fbb14ec849eeea016ab41fbba3c087d0a880a5130e507d5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YxceqnIrqyCZNeIbYG9AhKos",
  "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]: [-0.5869, 1.3579, 1.0241, -0.5846, -0.4065, -0.3893, 0.9967, -0.0208, 0.8165, 0.6067, -0.3923, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3374 left_y=-0.1362 left_z=0.162 left_yaw=-0.036 left_pitch=-0.2581 left_roll=0.0738 left_gripper=0.9967 right_x=0.2949 right_y=0.0008 right_z=0.1725 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9538, 9.347, 1.3065, -0.3297, -0.0806, 0.1148, -0.294, -1.347, 7.1316, 1.7851, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4192fd14b0d3392ff956ede75d3e4cbaf4790b0b44248af86b0ffdae42a332f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b021fda280810fdf44b3a76006d22658eba3f72773c37e76f791bb57357735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81417fce54b69945432d149d981137905014f831ee03edf8c4b1cda8d7addaa9",
      "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 · 2.475 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2928, 1.6165, 1.2453, -0.4316, -0.2535, -0.1722, 0.1511, -0.0208, 0.8097, 0.6067, -0.392, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4444 left_y=-0.0839 left_z=0.1695 left_yaw=0.0026 left_pitch=-0.21 left_roll=0.0724 left_gripper=0.1511 right_x=0.2945 right_y=0.0007 right_z=0.1744 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -8.4855, 10.1812, 2.0488, -0.1636, 0.3053, 1.0281, -0.1846, -1.5521, 7.2137, 1.8242, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2958, 1.7092, 1.0183, -0.1471, -0.2497, -0.1795, 0.9955, -0.0208, 0.812, 0.6067, -0.3927, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4394 left_y=-0.0845 left_z=0.0844 left_yaw=0.0026 left_pitch=-0.2441 left_roll=0.0749 left_gripper=0.9955 right_x=0.2945 right_y=0.0007 right_z=0.1737 right_yaw=0.0006 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -9.0598, 6.8718, 1.6044, -0.2125, 0.0122, -0.1441, -0.0205, -1.3333, 7.0085, 1.7265, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5869, 1.3579, 1.0241, -0.5846, -0.4065, -0.3893, 0.9967, -0.0208, 0.8165, 0.6067, -0.3923, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3374 left_y=-0.1362 left_z=0.162 left_yaw=-0.036 left_pitch=-0.2581 left_roll=0.0738 left_gripper=0.9967 right_x=0.2949 right_y=0.0008 right_z=0.1725 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9538, 9.347, 1.3065, -0.3297, -0.0806, 0.1148, -0.294, -1.347, 7.1316, 1.7851, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4192fd14b0d3392ff956ede75d3e4cbaf4790b0b44248af86b0ffdae42a332f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b021fda280810fdf44b3a76006d22658eba3f72773c37e76f791bb57357735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81417fce54b69945432d149d981137905014f831ee03edf8c4b1cda8d7addaa9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_G4Y42VaDXDQ33jAkhCLyZd2P3r6JwpVUKlPwWVd39-mqDzfi5Z0n4AM-TzZBLZ5XTYQvK8CuthKKJiCNQ7mN44kQq0iznnL-FwQYHiF-ZmSmVCFF2m7JU6LR487MgWjAy_y9CRhpAUTz2lehp-BTOs28ZSz5YC4bgI-3R_j1xENsmg9hlykkD6xe-0kSHpvIoJLdgOqnfwPS8qLhqJV6dKvljqYp1upB2uHkuDyQucg3jsEa95eUDexKlz5bJPMI6i05p0NEJf9joF99ewDMEzHg6tLRXjnQtTiMrkcwr7JOsH9bwyMX6InhIERWRJVw6xfnLzqxeEldZhlfJAWQjnHF5YRk7kG5rFPZbvjvDfWJuV7En1dMqWZophtbiUjyil4o9rpm8q_YP2klpowlsaTQz5KFwP8H4Lk_nHpjPm6wO6B8_a6XgJk2inMnBGfBEJ9LfkrLa_7onm-4GpCaB7RwttboQqpY5-KuGsH_kYGkSQogH0q7jetfyfoUjExJaSBszkPXsbIftAXs05Bg-Ok6WJEO6tI0UGhams4Fav7xUkyMfkKXdXRzKL5hxfxc97U-AAj8TW393ufY9mPc5HCLO1yHu-r2eiymRFIXXgVhJ1bDAj5HqEISAiL1fd_ObbLB-1MIkDlni0HhrNkPR2ZeDzs_0Vo551h9iui2R37hhwRMdm1F41gGt5IGGhMqHJW9bLV9nmWNLAMn6TxvotZpY2miV_mzENE162hGeEop5R6kRADfhqgdM7pNvvXzOErmF5KQBtbvQkc466YSC7IROZEdnvRWMoKEdOfGEB3OcenpnNaF2CrYwTgMzMedysqmy9sfG8sjjXAS80x66lgLfvfPQPYMhjARsrHjqW-4R5p9wz-HrcOEtGzC5XwhyYILb6j2OJjGu6GMYy2J_qmEYShtZGVQ2lGSdHILVgJQnMHaQBxQXkhKIrCOTLLX7vA70V6c-oxXu059_GPj5oX-e2NxrH2gWcjtl79x6gGvlwh9SVoiLAHMc1A-3VUofbiCR_coOd6AlVKlrMtg6sOEqeGUyxURW3gJe5ujHV436cpHK4qO-QYQb6NAV1lkBtrJH7JSma7Wj0Fb7PG9v8EM0k3at13MmEWWcy8-cpSCTy2FpTppZDXtscUiDJY5hVmq-bdM0LPwx6oIHPwCtopTqXRKUeji9AivsPFUQw-LXAG--ymg5Po1ezKsp5whMbgwOjP59sk79pL4RJkT7U2nbImYFFDo7esC_-V3JzShLqVsANppgJ747qNK3GbrG5GhztA2LaMOQAtGX6fiRr3amC3a1Mj6kBKoYwtOck3gIBq3lySSEwwapVs1RrTKCRB57DTSzoYjFWOu9_K2Fc9t1YOtsXygTG1QNHnJXa13IFy3-HTnKa3IirwuOmeYo_PArxibOX_6WkgY7OnLH3MIoEdsp0hY0KBPSYFIsDbmIlHmjzlnSvJ2bqS9ifu8M4ajTM2bw92UyJHdnhoy9cNhAxVN-BDIY0cDT60WvRmISy1c97KXcpLr1O-CUKV4u4IWFlq9y1tAOCcNx99-y_OlzeIJzJUr1F19_oiEjZRM33Uu8VaCvzOFLF4I1TODVJgOfxjOBpnsGsWpHVkxcCYmdfj06rDpH5wi9KWXYOIPgZoZL6AO_ivst4xDSz3x3fJhiEDLyZhyT5PBcwAtGs_SOre7om01fOrxe8JPcfUfzGyKZn7gta8hT7mapKWlM4_lu_3EBsc6LKUzg_ZD0CDMMrVBP_HTXttU1cFKu75LgS0fWkZTqwqFgJloNmOGsvPGTVdE10Bz185HKf4DnMzXg8cvCFh0YvGlaf1QnM4qMDH7VWdp_Yoep1v6QxApbV189DqIQfhewXFq0z2ga_KNR92q6WzPEFEzSnKNQ5ESIgmdM0rTYEfm2Ir8EKrXPwIyIRB7iIm9qVxenLIKus3lMR3-APaG4_uOMHlTHdT8nHrs3D53f6J5BAVA9385mkgOPkUpMh7SqjR7TDQ_D_Je3xW8L5jYjb9nCIZOgFzwhunbNQcA3g-BxMMv-lUKPjHKuE-WohV9RU69-DUw0p9GiehbZULPxoJGFQr5lvtH_JfQf5aKaE6BYc3BiXNPO66-ZmZss3Dz_uddeGxy_1In1jMoFHmmL55DQYFNTUi8ZDV4YiEdkbJVHBxDA9Rape-VoxOeWgg4KQvp6QjSwd3eFqJwo4HPH6o5g9h069vq2UppkPtNk8_ZwKbI7j3fngVsdguCxVQAjDBScJ4y_NbWvjP3yaVNKu8JRCVleVSaWjguqMaEz4KkD00oIoRkUNco45SsRbbXxfKAt8pkMI9HSJZHB_TIqDXvMW1eeXe3-sP2m7DDpf1cmY3pymNlfBJXSUi1-srkQ_CdKXSXYibgqwv_swhcmjQE0fKptChmWrY26EN1G5Uc-UsHhwKpcXx7iGdUym64Xsrqi2yVXoEo1GriP16zVZXGUBahxTmfagHN5fzPPa37V12dDGQ77GsQlcpnBZaMMceVENVDVsw59KVgEYUozuxz_eUy0dFURuTVTXjQxMXMBC9nIlsYszyfsBp4Pn1UkwcYPUuLNkGo65Rw2IoXhRol9Pcf2Sua51Jw-gS6rWN49QuPIyj8d_BGm810HxWeaaq7FQmLaq-fCMk_ECWKFn2Ye0v8vbY1zDvl2DVrjbxJsrsJMfLBZGnkE-N1vCfwLNjjKvWDNzEUpRRfdDbKbUZcYtZD_Z1l3Gz6IRfUN5Km1sTw1jVovCXi7TxLkWgPPDl-q_m0QnXdCLxpYc3CaETp8qqgNWFMYdfiX9SXMs2hwPmJc3t4NBOPYRjfJ2qEPJWmeBr9KYi2TCe1xi7XXph_3kegL4oqChfUV4uIFUpxsOY_cYSL43_AHMIINYsvwKX1nr9zVBQUIDNvFMPzvoDwZGu1j3QjoNfid23NsS-jnq9e7s_UizMIQC4xnkaoQzgAxC8ovKZvoIAtsyMP7DzzxTMFUzVZg24a__qbUpvrUR5LIcFvpg1S_ufBWHHwL_WY4YVgKz_Xk6DKf7ZKn2Ohm_Nz5NrxXD7_3ZUlOz-rbH9Be0SDah_uDB8e6Ya9hdtNU5EifgjKK0O0VlVt1d7oIBIzasulYDnc4mmLkzA23j55oWPpH6DEQBwUU7x7BPM_7gYrCqM3QCzh9cbAwJT0kWX4A9x-D-MjyGfWysal0ClGYdPIaAMcuASZnka5UE0hke9ZtDg3wHjv35L0dligAWeN1GRKPNF1FeNBMRiEbgpyfyXzTsVg_3EeOqX_pC5gCoAOUvAooqmz0DNFKhlsAXQcn7oKUv4cqiLqNk3deukdiWdZ63_OogV9glbtMLFHElZfly8UgolYqLtwmG-flfHZ4W9fMgQNeWNYmoVU4jPizMMXV0eavkG-ZzBlDrOSmHMow9mEcdlGq0oUb5XyQM17zM6Lqrm-G6VN-YT9qqGJG5OvcYqxKB5l6t-shiKMoUqZipDFiP63ZRzsHExuaU4PUBuUffKyORidZLNHVrrm_l6pOKX7KLAu4iSaygigyelbSjYI_9ypOxoTd2vX3XsPTKx-nlbjxpeZR2JCQW-iaQnVEF_SkylD_OyNJtAtTEkcjfjll6zYqJ-tnxUIQnSdIqUYTkq9isTtOmpFSZCVphqp6276L5tqD8wQTAfU5jGygn5YmgMbOZ74WLGPJGYFJLJkzqngbegswQT5dLHGmP9EYgHbt3hMaRnG-AXuapvoPzw==",
  "id": "rs_02fbb14ec849eeea016ab41fbe19f887d0a6ebaff7ac103e93",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_GEP83fVntkTLMg1sBniBKMZ4MsyJ5CAO-ked-0dzT7NztTuqmg8HvadUPA8hqkjUo_K7R-Zhc7dvRqmT_r_WnyC5TPk0W0CoLtk1r4HOkXCwJ0OoblMZMzHA3cpTNvp8DiATJiZhKR7xkybbgQFN5dgGIZOvnbGQ-JMUvGBuP12iKQSw-IKkackfTw6IlIBebmEz7_UCV3CCrxgnv977fO8-yy1P2BDxaZFH_h5QDWsZCYk0pQgPJbl2ECCAc0viNXG7UwEi-S2Mpybt0U6MPLTgH4cOniu1csc3n1mPK5ge-9YWe03qjtGapirGe78-w8j_ItZlOtbt-cCFMqAasbE-Lp2n0BhVN1cGZF56yPgSFIjCyvgDl8pUFsVsHucMCXwBjeHy12sBmTVqVCeb0J_V_Z2SS8raEow0HcpH2frnz9EMDL2tsOIrBqnDqMyMvtRPQi7sD96-KsXOwehbHPNmYVaxB02Jucr9dRs0Bgl3w0ZJZPaod4c8UrpN6SyCzkMAhnsYncsEc8CF7iXFh8EQmRONCYxA04cgAJBvyN_w35cWVD87oYnbSdzFloR1BO7ARdeiK-NqitUFHNRW4dv665ViNwCRlIIkP9VUYVYo6EAElWKUbs1U-1GR7eLz4uyVH_7jCviFl6lU_0tUOyiNk2YjU0veUV8qjU2_lluRTMKODP0KyS-wIGVXUj0CBciDQ3gc1txupn_YwGbteHmuVzHmxFyzXZL68ZI9lRzy_6Pe8L_0cjOquU-c36NbIyCD73HNJqG1ZzmA82imnKIT3q6OXcJxnFZOsLbSHLl-HhkM5CX1X8ACqPK0Of5GJk4h5FIrKfP8Kn0mK2OlMm1jks-ZZbHZKabSg69UbyhzkUnV6N4tZeXCUoCFH_M54kqtmu8F_THFo6aJPQk3e3CxkcwaCWmcyBAacSRROfJg4WYHtCHntNXOCsUaENDNHQJLGT3uEhOM2s6Qe5zJal-oWH3ygGHj9By6TE72iV-GXqGYqIykyjy_8Fl3DDlF4dqjD9jSGuxZay7TNaCUEa-tzdEfDcbg54oi_CPpegRKhC-cY4cFjUKt6MTs87SWSXURIAbgwF3YHKZo7Jh6L0acjtotisiaelVsWmERHMINREkCzvx_Lq5utyxjk4U0M3XuIJNrLHfQY1uoZjwuBNELCi3ms66xouylS0BW4UP0rZUWqjRqCvGELhQ_1jH4Q1y6A-V41uxki0rnqR6YQI9LJjryhZJCrUcXOVxjjeR1sJdG_k4Ku3d_QaRpL8MceFd850lIisL4M42tpG82Zbh6OaMBK-cLMIf6bussX9IcY2Iw0lqFoNLFbOs5je1PgeRcv4mlbvxdLfD2fi5Xs_6j4FAaOKSwSGHaUitHNkBNh4V7m2PFwKD8GIC27pla1pARYYllLyisqbq5Zxw0vJbkXGdpsk0r9-q5lBCICm28ABH41-CHGZFbIxkd43_kjzoMrBmuBjEEBcpbcXYz0QLLnkqv7C8WioMt_4A0AfqrCkyPIf93_pjAStN20zmfHThnqbgoaWZgUy-i0tfoRkKEozHFqxrpmehNylEJOwKB-5zxrf5xyTVgtB3Rl1YJypZem0ajjyageBVP725Jzhn8urrjgepWZPEWYjANJK7ytU1MFnGxfmgEK_yQhKIxiDuRwZJ50R7D0Fyor_lklSGEtPGRSxmRMvLXYd1rsfWEK04qLkrtrrO-F_7N2l1GRuWe4lWgEZSj-17i6iPnVG8-EIBZTH95rVeRVsCsGp9-ArrRmRJc1q7y3i4xnjaRRyg9KLdsnIM_YfSDIJotY6TkWQGbf_wU8Wjo-ZMO7urhsuxX8b1xeFl7UPYLUzRtMaRoeE7hpwax53evq9hfypM1DFSzJ05rJhbU79IeAqAiPH4ajmDNkSqYRPgPESPnb3oyja1kebshGwooiYeuNUsuIAjGwSKg8Wsoc_s_pieNZS8YQp0fIyzwBqKvfwt8pzGAVhkLaQvuFpiFaEMyeqsFjru2_Tx42ffsG9cpon8uY-P4r0DaNEogsOZTbSFeo2_xCvly1FxQ6ndJy0-VeMJHBsow2hxVv0iwAbspmCZciFemIgym6Yt_x-axRG73Q",
  "id": "rs_02fbb14ec849eeea016ab41fc3eb9087d08242e7b0ff1022ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.115,\"left_z\":0.14},\"note\":\"After backing away, I can see the plush is resting against the right edge of the left basket rather than fully inside it. I’ll regrasp its body and shift it toward the basket’s center.\"}",
  "call_id": "call_JFr8ONlkcY06OghgryYWjolw",
  "id": "fc_02fbb14ec849eeea016ab41fc59ecc87d0ab46832e4a3a4f86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JFr8ONlkcY06OghgryYWjolw",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3908, 1.6089, 1.1328, -0.4595, -0.3016, -0.2668, 0.9969, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4069 left_y=-0.107 left_z=0.1248 left_yaw=0.0094 left_pitch=-0.3178 left_roll=0.0885 left_gripper=0.9969 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.001 right_pitch=-0.045 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5419, 9.0188, 1.4383, -0.0317, 0.3199, -0.0073, 0.1026, -1.7436, 7.0769, 1.6679, -0.0806, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8193993edc48f5e92c8915e6e138b1fa5c916583515527519df6a046424231d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82eb7736a0204073843fedd47f7e17e5e428f215dcfd9ba31b2547c2c7cb7860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f63733fd19925fb4d16fe481939d963b2f5afd14355206b0eb94013c0e92da5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 1.786 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 46 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3038, 1.6596, 1.0626, -0.1585, -0.2535, -0.1719, 0.1511, -0.0208, 0.812, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.0905 left_z=0.1217 left_yaw=-0.0113 left_pitch=-0.1648 left_roll=0.0587 left_gripper=0.1511 right_x=0.2946 right_y=0.0008 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8547, -5.641, 5.012, 1.1453, -0.105, -0.0513, 1.0281, 0.0068, -0.9778, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5869, 1.3579, 1.0241, -0.5846, -0.4065, -0.3893, 0.9967, -0.0208, 0.8165, 0.6067, -0.3923, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3374 left_y=-0.1362 left_z=0.162 left_yaw=-0.036 left_pitch=-0.2581 left_roll=0.0738 left_gripper=0.9967 right_x=0.2949 right_y=0.0008 right_z=0.1725 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9538, 9.347, 1.3065, -0.3297, -0.0806, 0.1148, -0.294, -1.347, 7.1316, 1.7851, -0.0171, -0.0757, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3908, 1.6089, 1.1328, -0.4595, -0.3016, -0.2668, 0.9969, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4069 left_y=-0.107 left_z=0.1248 left_yaw=0.0094 left_pitch=-0.3178 left_roll=0.0885 left_gripper=0.9969 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.001 right_pitch=-0.045 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5419, 9.0188, 1.4383, -0.0317, 0.3199, -0.0073, 0.1026, -1.7436, 7.0769, 1.6679, -0.0806, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8193993edc48f5e92c8915e6e138b1fa5c916583515527519df6a046424231d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82eb7736a0204073843fedd47f7e17e5e428f215dcfd9ba31b2547c2c7cb7860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f63733fd19925fb4d16fe481939d963b2f5afd14355206b0eb94013c0e92da5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_JJ3AOXeVJKSyaf91zU1Ti5E45322jciLCb42rW2ouRxCNuIFroRqOZkHl2cjd62JrYyXYheoQyj-7_PdzVL6pgIi3wxbXbrzbeui0ezTm7dr0e0ChQ1k2rwx0aCbYsoWu1aCDA2hBDxfk3TG7m3Bb_JbNGNtIXqEt1B51DmGqmyTify0VU3v6S7W-2mFgRShCsHeXvZF3NeYILYcB9b70I-9aG368kxeqG52sb1h-iY_x4LhE4873S1_A3udnvZjWXybRai_7BAm0TRdgevHVwBhKkMSLAQIkDBc1x8TUaG-khJ92lVaz-N558eqLqxwZbBzHKpDRoFqyvrEUhosVg8UpSbex8wTuNFmmFmKeN-anvAaB4KZZnbY2QuqtkEIGbDUkYTCyrAxyFOjV__30Nd4XqPueshHFM3tlaOpEMCw0lHOnicmJKxzSQWj6fs67MG3x0xmfiirvzMBj5AlGt36KxQASQG659DZd24yIO418ap1RUIF_rzDhd4gKRDcFDs3exfXlOa8t6qG0wP3IJPqRd6oa-5PrPjaT2FSYB1soJsr19ho5YxiPM7tos4WkOtZICjKDTJNx0-L4uaFtAHucQ4MXnQkTcNoFZWT4JKfNFyE1V3masyfMM1nclN_M9dR4kIDN3hSR7w3P8SzdufNAD0SkDRaEDBmsbpZlA8H9KuVIU4YTlI-M-7ivVIUNfSj9yO0OQY1qahHq6eS05vZoC-4Z3KmpiPIYj2NQN_2O6fYJ58VtjaFLzAs8ZujfnQbLrsPQEO5DvnfijhdGnbIcisrqNZF6N1_RCZU7eR45qi7lvgqaH3d6-RvWUr8XWLdZqUOZ7Xo0LR5r79Ax8yXYNmP8VJzENc-gvWf05F4djYJS3glk2farI7JCrI8aUn41KgKqfrMUBwik2rmYCbJErl7jCKjIE0ku9eaZmKevucYfzd2DXp-QS3nzr0uc5qHby4g6PZTUiBwo2XC_Lj63ZPRCvKjhP1Dr2i7PYChMROgAaysG6iP54BUNlDzjL-DvE42QhwIPKy5-_32PY3QLbyLK18EOTcS68ywvFWTGVU4Yfmft5Y9oNoMxboHNRFQRS0japAMS_8ihrQp4sU-BKO2yGiH4sA6sf18PD7rhTEF15WBmTNOwRClUr8Wo6f2bBLTVdg_MZfRrg324KJsn0gsYg1OOgwkDM5IIWNrGYITOJuuGIYV6OD0JbJxQv_p5Xbi3keA0NpMsA-G-rKAePH88n-0vXl_OA-XXnd-ZyQVZQsvpyz1RuwMRK8ej9bZ9YPqyS6kisYChTbp_sWr3j7I-2mVl5cF82BsnGfMr9HzD7sByuQw7afuel24F",
  "id": "rs_02fbb14ec849eeea016ab41fc82ab087d0bb70ef274cfa8518",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The misplaced plush is now directly ahead of the open left jaws; its torso is within the jaw span. I’ll lower onto it for a second, better-centered grasp.\"}",
  "call_id": "call_bjrqWQr44z02Jwojhskfrh6x",
  "id": "fc_02fbb14ec849eeea016ab41fc89a9487d0bc591d3843413376",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bjrqWQr44z02Jwojhskfrh6x",
  "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]: [-0.3893, 1.6794, 0.9825, -0.2882, -0.2913, -0.2623, 0.9969, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1043 left_z=0.0639 left_yaw=0.0065 left_pitch=-0.3671 left_roll=0.1037 left_gripper=0.9969 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0454 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.5145, 6.6803, 1.4676, -0.2125, -0.0855, -0.022, -0.0479, -1.2376, 7.0359, 1.7656, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5353edbec7001da0e9a76b51fae13e2b7812d36994d90e673ec93366516d3e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e092b1ec4f1b6edd640bea8df7e6a06a4948226d07444d3bee93f3d241aee0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753d620bffd15d71042b8f284fb58641dc6f892dcdea57aced6fdf63f7d5307e",
      "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 12 attempt 0 · /responses · status 200 · 5.022 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 46 changed as sent

message 50 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2958, 1.7092, 1.0183, -0.1471, -0.2497, -0.1795, 0.9955, -0.0208, 0.812, 0.6067, -0.3927, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4394 left_y=-0.0845 left_z=0.0844 left_yaw=0.0026 left_pitch=-0.2441 left_roll=0.0749 left_gripper=0.9955 right_x=0.2945 right_y=0.0007 right_z=0.1737 right_yaw=0.0006 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -9.0598, 6.8718, 1.6044, -0.2125, 0.0122, -0.1441, -0.0205, -1.3333, 7.0085, 1.7265, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3908, 1.6089, 1.1328, -0.4595, -0.3016, -0.2668, 0.9969, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4069 left_y=-0.107 left_z=0.1248 left_yaw=0.0094 left_pitch=-0.3178 left_roll=0.0885 left_gripper=0.9969 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.001 right_pitch=-0.045 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5419, 9.0188, 1.4383, -0.0317, 0.3199, -0.0073, 0.1026, -1.7436, 7.0769, 1.6679, -0.0806, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.6794, 0.9825, -0.2882, -0.2913, -0.2623, 0.9969, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1043 left_z=0.0639 left_yaw=0.0065 left_pitch=-0.3671 left_roll=0.1037 left_gripper=0.9969 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0454 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.5145, 6.6803, 1.4676, -0.2125, -0.0855, -0.022, -0.0479, -1.2376, 7.0359, 1.7656, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5353edbec7001da0e9a76b51fae13e2b7812d36994d90e673ec93366516d3e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e092b1ec4f1b6edd640bea8df7e6a06a4948226d07444d3bee93f3d241aee0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753d620bffd15d71042b8f284fb58641dc6f892dcdea57aced6fdf63f7d5307e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_L2Ac8BXX5KiSOnnWDaTCSES3MKsvn1wE0x1bC1K56_egwSzZ0zVlgclJukYT7ET3D6COtKarva7rgY_i5YWaue9l7xc_WjR3-wyUPgcveHFyLKYunZhpQ8qCLv-6pBlqFK5AfUNsPlLljI4vfrDGU9NV3HUc2YRivK1cE-mwWL39NsiQtmwFe7aUTNu3Q2aruwxApGwC6WU-EXiU1r7VtKh_3SXObqeDZn6Z6F_vDh01uXaiXI6CHNuZI8aiXrK8kZqC2pJ1WIlMcT17V32FMiqXbskDYEob1ZWWb0QM9_ydC5IpPvDRsGmHGQpyBi_Ahjv_oTvK0HIU2mXMWYCKg_VbcHKo5ct7cgVl_l3AJ2XSjh4FwC9j0soN2jb3mbM3UqK_UkIQxZ0yI6CSKMqFwIVkzNm9gm9g_9r2Zc6jfQwFXEey4zynMEYcOWMlKlDvFpyezz_om6hofklYnLAdlAf1vUxPd1kxMpfgH_dZkdoinNlXAG4-RsMPtRgH2M_28oUwycn-EEKoF4rcWXFssRApG33LE9vte1yH4Iy3C8CKNfM0_oNOZ8iUslDMX1O0RBKAZOFE6ikNSQ-_OVLU2s-rvBqyp-WJG9RMFuBR-UWr2rB7WY0OOPy8xj-pnbQRvOAafrlihBN8oxp_tsdU3cQkkMZbH2Qm6AA7Dt8lXRKsutypv7nt5XuFTAzdQe26D9nF0AIpkmv9FHOk0R_y8nJrC_EWDWBiWHYlNVo_CnFNXsAMK3Q1ZtQcG7N8RJXhNZTKP1tqQYH9AAYDqSrp-B0uIaagFCJkQo0E9ySWfYfFzy34QEzhwLXh3Peqz70io4aonDk07UNMA3j5yXc1guZzaZfNtUzfiGNtqFJkb3ETVswFG_xMN4mjptwt5emJYHo7x5LR4H8hB5dnYs-cubqd6mTY5W74WS53vm7t_QcO8eaI25HWIqrjav_2DF8lupXhIXpUWXUvdL1ih5wTH6wjO-7W2mEt8Jl-YLWjXTEljvAUcUv_KcjRpIlmJevP_dubmq_-ExExygzc26SIbZkWA5JSCnyk0lBOX3s0hP3BE9SB3TcgUn_2s7ktEy4qwDn2kgCkX4oaGMf3qWP_-yymLfRWMVIJql2B0AH92Upr6paygdDzIzHnmA6K7XLIsR9_oj49i32aAkgRG5DmC-5Of25TFUHB0XgB-w_pxFKM=",
  "id": "rs_02fbb14ec849eeea016ab41fcaada087d0b9c7bb4fa5a29583",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are lowered around the plush’s middle near the basket edge. I’ll close on it and then move it over the open center of the basket.\"}",
  "call_id": "call_jSuebAUl0Ah7scKIZZWBX6E4",
  "id": "fc_02fbb14ec849eeea016ab41fcac74487d0b0835d85974a1555",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jSuebAUl0Ah7scKIZZWBX6E4",
  "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]: [-0.3885, 1.6981, 0.9657, -0.2741, -0.2905, -0.2691, 0.0323, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3942 left_y=-0.1028 left_z=0.0526 left_yaw=0.0138 left_pitch=-0.3866 left_roll=0.1076 left_gripper=0.0323 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.001 right_pitch=-0.0492 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.2786, 7.3504, 1.1062, -0.149, 0.1441, 1.0965, -0.1846, -1.5521, 7.2, 1.6972, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82104d85ae22f6fc74308a6a21f4ea60ba1781b1c61372b7720f6733e390fe0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab935ead95d29de9c3b202ea32050767174b9966ed9742b0ab773257a859e80a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36a3bb68072acb838d4939f3f6dd027f1852b4127d5704de65c403399870a02",
      "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 13 attempt 0 · /responses · status 200 · 6.505 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 50 changed as sent

message 54 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5869, 1.3579, 1.0241, -0.5846, -0.4065, -0.3893, 0.9967, -0.0208, 0.8165, 0.6067, -0.3923, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3374 left_y=-0.1362 left_z=0.162 left_yaw=-0.036 left_pitch=-0.2581 left_roll=0.0738 left_gripper=0.9967 right_x=0.2949 right_y=0.0008 right_z=0.1725 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -6.9538, 9.347, 1.3065, -0.3297, -0.0806, 0.1148, -0.294, -1.347, 7.1316, 1.7851, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.6794, 0.9825, -0.2882, -0.2913, -0.2623, 0.9969, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1043 left_z=0.0639 left_yaw=0.0065 left_pitch=-0.3671 left_roll=0.1037 left_gripper=0.9969 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0454 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.5145, 6.6803, 1.4676, -0.2125, -0.0855, -0.022, -0.0479, -1.2376, 7.0359, 1.7656, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3885, 1.6981, 0.9657, -0.2741, -0.2905, -0.2691, 0.0323, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3942 left_y=-0.1028 left_z=0.0526 left_yaw=0.0138 left_pitch=-0.3866 left_roll=0.1076 left_gripper=0.0323 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.001 right_pitch=-0.0492 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.2786, 7.3504, 1.1062, -0.149, 0.1441, 1.0965, -0.1846, -1.5521, 7.2, 1.6972, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82104d85ae22f6fc74308a6a21f4ea60ba1781b1c61372b7720f6733e390fe0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab935ead95d29de9c3b202ea32050767174b9966ed9742b0ab773257a859e80a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36a3bb68072acb838d4939f3f6dd027f1852b4127d5704de65c403399870a02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_R576Kw3OaneJoj-dVPHXTazZwU8XOcoDFjzHQZycuTQxTjZARaW6Yi484360ma4dtaNzoEN8Naxe_yeckAc8CSzeBhlSeVvGQhhXu9IH_BNS6_1kIFPaSxSrqbqktbnTJZD_ZY5WwlXE2wvDFhc8VRzQzJh3lo1bmRIvKcntH1TR_qVp58sy1PUn4bE7Ipx2sM47m-HJJ_siosfV5wBLd5FCXJm6AYWIHFrIzAzLeP0CfmJhBZf8A7ggGh5G3-__zEZFjI8H0ZgqKOfGlfQDImx7mkZWDCScFKCEaqo6-_WR4TA7ECLzeyt6N6nZhmkhgZDl-0Vo-nle7zQbWWSpEnF58U_U6tZptVVeDaoXNKIWfHjzDWpo0LPV6tvJedD2Zxo8Oj75Em_SivYKGC-lIlKPm29y09CX32bSvaFfnlGxoXNIhxC8PT4TouJF0p6T7M_zzjdYcHp03P6Q5o5O6jMWsX8iMbRnbzZHVAduHAaGhjtXRdLpKCK97ukcnV5o22fO9zTJ1c1KrIXCvAwiWGT9e8zqx9sz5P5Hml279vfdj-GU26yAWMXMqXZNDt_ACB22tAunnvgLtBCy6eRzxKFV6oIgaAmz3MseFCzUwDqxjQYN_irlDsNJuVTWND-F7Mr2Y5jGjWhEwjI6OlMT06L-ZEjwoTFmM0s2m8wXP4Dxa7-zyKwNPf5woeodYKYbTEIFXryxasF8HRq8tuBPe5GEwNspRyhgyogadOabhrPvAz_Y_tR2-rqDW9wB5BAWMuCwmf91PeV3mDHnQ7HUBqRhdn7UgAJrEDaM9bFObahB0JVxdmE8gCmxQ25ZaKY0dDcATrFcU2a_9BltpDClEpu25T-cl0r0T1URRrcPogrwnTmeeRkpdReh0GxM3STsy_cUNYT9kOzBJnZvm29rIovoFfbUMHG6scK0UwQlhXgRbjqD4rz6v2iLzYI-B_68uqgOkS8cyiJa7YPlmoyTZXL4c52YNMOZNffwi7Lec0NeDyDq-wnOUJ3K1EL-m2DeSKbM561gfaogr0B8SuD0-HFkx1aWVREK9tcnzw3HnhNrVpnhApAQdoxJDLsbk8L1zlRtRE-1wJLu8n47CfqPirXKkX7Z5f6wX-sOHXcf7-VLvnC_7EzoaR5v2SF7Bbo-Fu56Z9i9lnVhkCxvAWlUl-UgKNjuxr0U17rNkQML_nfDPo97iAbZe-xaoBQ5pm7Uptt4b8yKFhfF5aot3L-__kzEhHzrzgp6aOS79fN4o4W5L1nvs_WUwA1Dap4lcEuKi4xVLuYQQ8MaTH0FZETCD_YKC2nXjGgTkARKW4ggNsirZO7ZZx4EQ8hwAP7Dlsy7glmwB2g5wQTOdVbLE43jnOx_EmdviinqY3fJ_awlBMwtrJZ4emgNflZqKdOj72wsyeh78lDxPhdLIOdT6A12d2UQzbR_Y5dfjtSY5iC9zQatwgm8bi9nS65HdyWLVZYtiW2pvJLdg82TbHF-YjSG2PL1YoQSkLFEZvArgh5imzKUWROlDio5Gh3arzOyFMn8VajNo4PRCSPEy69NCPd6A-IQ1_-fVJIi4baR7XU2HfiPvxmVVJEzSooMjCJZDULkLh2LBDczaBb-hguNeuHADff7OAKz9J1GPExyWGOFUxAYJTqxDFaQnZlI2kfomMtkAEsuAIVnM4n5hxA_Qh36cafnM3M3vM-tijFv___y1PjrZrTWZuLGl_XB0KNt0dUE7LymnSUYGcPTYViTz0ctcMfvMi9XpZBWhMi5YsAgEwtDgvLIkhsZtpRNyRM7kHXoHuxBpANsMZ4gRAysfZsk1CmU3dCZfgM8fWT8N3CAzs5qP2Ywx950mfJcLYVblKh_yptslJheSoPXSViNN7d7zLSWOw2EAUOHB-U6Gk21SGHB8CiPrm0Q1v9qOMRrK9vGCTkz6r6Tl93GhkcQWjC9aR0LqjLehfJGqFBYhz1_kCOnmXiRF5qdlOdJv3B0j3InxGuvKlpfd4oOIAbCYi_7ZZOLJKqGGyRSkkDMsxF4QT2bi9DiPDm8dW6EJtI9023ORoby3eBRB2uov7HM_g5ny2wnu0vwWDuxU4KmpiT2UAdA70JGuHLfUNOB_LuD9gnDoQXVgIKC-gsIzN6aQPUZWAKQh0Hx-09EHch8gQjdIFN8bCyGeMdUy0u7Iiat5SxBY1lMaOCJUmZIyGBTq9Y5-wx5NdP4uN63W3--s1UatpYsaIyHQtqzSJEH8eeSzgD3Ta_tHgg6F65rQirfFLniWjHGDtJCiDiJafWerjGkCATHo3n6fq2vidOu4BNOpl40CGWTcTfF-LFBHu9msDZ3OGJMSHeUUodtn8HBBZbJofrZ_omh1cVcMCoX0jbOgBTku2X7XXGNLM9CGlrSX1RfxZ9z_aBcpTmF0aLo2CWR07s1AtetDAV5KggKuzUhwL8nYH1F1Txi3pMcvLFFboN-3Up-0z4786RwG3lsNolFy7YWqHFueA16OI6MvGqHcZp81y5FIKZSGhr3ecE13MAAIBsVwnM_1DLmAAhLBjfMXC3z6XhCuWZuhzChvFrRKXelcylR3UP6WXVvifrICXapIyRKyK07CClM3hsaAuRaJMcq4Q_klL_HzIlvEtLuRWbmWHYbQvZbrUJvv1K0Xq9h_F8UZmujQBQqvWwKUE9aZQMo5hBaibGael-dLac85CA32MCXQAHWHGNJFA3W_e361_nUTMCjIfgxHeXigL0c2doU=",
  "id": "rs_02fbb14ec849eeea016ab41fcd79d887d0ad00081e16b2562c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.12,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"The second close settled almost fully shut, so it missed the plush at the basket edge; I won’t repeat that approach. Two darker, upright objects remain nearer the front, and I’ll move above one of them to sort that type.\"}",
  "call_id": "call_nXssZ5sPd4rHtGvTFHXBaAfp",
  "id": "fc_02fbb14ec849eeea016ab41fd0a0a887d087d14778ae7f067a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nXssZ5sPd4rHtGvTFHXBaAfp",
  "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]: [-0.7189, 1.2072, 0.9833, -0.8726, -0.4252, -0.5465, 0.9954, -0.0208, 0.8299, 0.6067, -0.3923, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2639 left_y=-0.1293 left_z=0.1575 left_yaw=-0.0306 left_pitch=-0.3865 left_roll=0.0914 left_gripper=0.9954 right_x=0.2957 right_y=0.0007 right_z=0.1688 right_yaw=0.0006 right_pitch=-0.0538 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.6427, 8.7726, 0.9841, -0.3883, -0.0366, -0.1978, -0.0615, -1.3744, 7.159, 1.7314, -0.022, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae3f59279eff4efa5126a33112457d43d218763618c4a1b819f3f5a7413cb54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec3685180669689ad13881aaa995fdb2a2b5607e3ebf4937d2e2bf07ed2557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e17a1f4ff9effb20c2d6531bbfe7f5b85bd50cf5864195f94577aa72b8ec894",
      "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 14 attempt 0 · /responses · status 200 · 2.915 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3908, 1.6089, 1.1328, -0.4595, -0.3016, -0.2668, 0.9969, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4069 left_y=-0.107 left_z=0.1248 left_yaw=0.0094 left_pitch=-0.3178 left_roll=0.0885 left_gripper=0.9969 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.001 right_pitch=-0.045 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5419, 9.0188, 1.4383, -0.0317, 0.3199, -0.0073, 0.1026, -1.7436, 7.0769, 1.6679, -0.0806, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3885, 1.6981, 0.9657, -0.2741, -0.2905, -0.2691, 0.0323, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3942 left_y=-0.1028 left_z=0.0526 left_yaw=0.0138 left_pitch=-0.3866 left_roll=0.1076 left_gripper=0.0323 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.001 right_pitch=-0.0492 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.2786, 7.3504, 1.1062, -0.149, 0.1441, 1.0965, -0.1846, -1.5521, 7.2, 1.6972, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.2072, 0.9833, -0.8726, -0.4252, -0.5465, 0.9954, -0.0208, 0.8299, 0.6067, -0.3923, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2639 left_y=-0.1293 left_z=0.1575 left_yaw=-0.0306 left_pitch=-0.3865 left_roll=0.0914 left_gripper=0.9954 right_x=0.2957 right_y=0.0007 right_z=0.1688 right_yaw=0.0006 right_pitch=-0.0538 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.6427, 8.7726, 0.9841, -0.3883, -0.0366, -0.1978, -0.0615, -1.3744, 7.159, 1.7314, -0.022, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae3f59279eff4efa5126a33112457d43d218763618c4a1b819f3f5a7413cb54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec3685180669689ad13881aaa995fdb2a2b5607e3ebf4937d2e2bf07ed2557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e17a1f4ff9effb20c2d6531bbfe7f5b85bd50cf5864195f94577aa72b8ec894",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_ZAxZ_V5CQsCp1aPJ_ncG_mp9MQF59hHBJ4TfJEYT5KZdRd2ajbstONEVLNLXsFkh1vu5p-1xc4F37nO70PyMmT9_PJetpPDpizo9Z-inCLWyxxo5EAGkD0OFaJMgIoDiktJWttQperGrGA9lgKj4UAj026z4uKGnBO8ML3PhLZ3IQvGKPnwIkiFxybValV1mBWXfsEZDRtETa7oBQFVaPWskd2TrbGuP8Tef2KGeAbMw9OMXsORnGtRlUwdHWsJz14GGmeMmbCMlmyB6a9nkh0BWVKTBBeI4y0UQnUzX4SnDZpdSxC99_vOD0Va4D86U5nHozRE9wqPFoajxvzm_gUXtN5hLz3c7GjFqoPHsaiXUMWkcyIDETYFN49cjTkpri7OMmlkFLICWWLJpz_IMy2OsC1vWa4mnDwR71f553oCBYOmiQYjjlQtqbv1hRtjv1m4IZS6RxrJxjR7ZVVtXDAfOAi1F2zvfxeMaLE058CG_I-0zyK3Sr6ZEOyjGLY7iJVQtOZokfYb-Vpq26si5o7N-hy_yWkdOJF-_GP0EDqBaXdLfE8BPJMcDVyv_Ux4TF87N7jYahSkNAcT4X4hrpx4mtvy7Kc9LA_VSO_A4DuFXTleinK5S91WlGcW9gpwnxarzEHZxCtxcYlsBEVz80dNidWe_xXpHylFmsEGxP-17mAIoaWFp_CGrdJW8il1nfBXBKJa-KAEyhw66ctLcmHoKRSQqaBmDhIKALjodqzQiYvibqnjfmXdsh9XWwWRHeGYTbRdy9zMwKnl238CkUvm_NlEZhM9jkxbOMKhvPcwarbHdjpLzAS3acdbWTIsHlrOBrv4rxmbl9dKPpYzApFR9ZpuTnnEYw7axQmIdoL_X8tVFzy1vrC25qNkLbxVTKVces6NkDtlmSv9-83D8A9Kb4elNypKJamRf0sy7T0okXnFixYHCXaKpxgBrzM0-Mzolv-QaVGSngbEvYezs5spTdH3v_wgJqRY8Z0B7rF4I32BuJclW_65k87hY0rm3Yvubp7JebM-71hcmFGISxR6uGsRA9wJ8uXcJ9MstTEJevude_ZlFdJvrPX0ZjsVVkJkYDE0VgFWQawvCCg76QO1L101YGvtWsis-aCg3SbGBLLijh9N7f7wwYJn29CS0lO7IYXbP7BarUK8sF6eprYljIcxz3bb00MLpbjS8twxKh-n0X5FhkgYuAit7OIadgnEv0Qg5GpKLJUSrvwU7SPMmXzYqjQYTUxS6knEk9Mhob-hYhwzpBUd5mXyQP0-7NBgJT9pF_3hQjjBhLmaNBJXSQidlMIlfsP9eQGeo7WZHKshMG472k8GOvAIxW7XiiTuRFem2-Lfzxl06FCYHJzY3bmzOt1GhlSDsaFVQW1rJK3n7CSmrZsAO0UDCt-vAG7pIeIRDhlW6JOjdkjGf2dlC4YFL4lP6AZ47Yw-oI6BPd4tFTSW3lW-MieiRZfavlfNKc4mgBYnpbiBzQcETWvlfEpXAcdM6qmhOfGb-k0hV3ODzUtemlPOej8z2StwabE_oqg-LadGFrYasMD2TyOXizFdBzxv7OCAh71u7SPbO4HZo-Yn9j03cplTGFx0RBCw8H8Vf0tHSMnA6O4Xgdt9xPNzX7XJ7d9Rnbw8ybI0p-4_ipWM7SnWWaDDUJ4qsE-hCp0RkA5Y_xpJUMUQJRKg4nemj2-XhUCKVSPNgL06-bKPcyl37mmc2uVb0JgGUkr_vBV_lVEpZXId8UZ76u5KgBmc5S6zc80Hg4e9a7k8fZhmeh57kcTzoAr4fhwEC9XEY52rZlVg-soKKcUqctHJnzsOXuf4Z6cBvyFrG-X8rd5WLFqC9SnKH9MtZyi0udTCenTM4ByeitV9dVWTM_HeD6BqLFjwAxXJO6RW172sprqkc-Ky8bm56BANTv8BYioud4w33CjVRsOB03XYyU34StuhW1OxWhd281aCFFS0ZCpzgQOzxEJVepnj2SCjqQ_ra2Vkw1k-P_yTpPh8XLGAuatEuLnzUiYuTj75gpuvgXXaKLh7-0bEaubfMlkPMN-VncmJwI5I3Uk-8QsfufdOc0YdzjGpaeV3aUQvW1lHXEPtjplkqffWs5aAYe6-CTJLHTED2rWNohQ5p1F3K2jrGC8eLIaUnMckPhaya_td336jF6K9wuZ_JBcbaP-NOioTjAeqp9NfMU0f8sqfmW_oVhWDIsTCXKUm95xwAByOwuo_3aqJ_vKJdGmlYgmSBKL2F3oXBAxc-f0f6PiuO2ggeAGqTeAAHX9cWKaM0uW0jqYCs_37zPQEniRoERDrcS5FfQcJoqWTHTDTgu3icMbbffdgDp59eelmjz-E9UXDqA7-FZ6dazesXJ3qFqB6yREH4eitb-fcJ9SOpoICbqFGLeuQVHiGlvKfEO5x5wQLT3mUGlM9JKKa-hc8mZJph-K7NYF0QOXCT8FwhbphMj9W8Z9oIUpQVdphhVklJ0G1OYMlyRLalectjYgqkwg8FPH5l8dzsogpnUJ4-MdN_rkwoSROMO9Emka5OnL6Bmsci5oKX0zcoALA5ico1S9oKRQtZWXFZa7t1CmniKSmubKPyngUtp82tB7V7ipvx8SwWevQGROgxpSyfryF9Bl4HGKS9o8OpY3skdsLHYKHxkz_x3RDOVhQpnop9K3-aIs5whqjMLlgIEGraWIVov5jwUNlSQP7CcB9gNCju8wit02-s4OIHwm3ej95tk-mWZnNG8QSrPcMOyprhZhEf7vXCYHLeXbx71ygqChRxXw52aZemXvoElkVsBF2GB6aA7RgNDHXU_REF-QuSxeAdV5LdWGkMv8AVfNscJmwls3Too7DmE4hA5pOzAUrcFhLvlKi1dZMb6zl9-PNLEHgsQSYJmttod8N-GV_kBEXkZvz7xXiSusj2owuDjLWYh5o1DS2RHXdYOWsHAcg04B5A-xFXZxERX7VQB7uGNNQK2znOsWpVm2cCyHCakjl-qYJ8jE0U7sv8yzgcmykqGutXMtQNuE3kJkzn8F_1F_uPIWkwFLgJdw2koDINIBD2zOjL53nvqoRnBvnGddcjI2oq1X38FN9LTgVSb5vvvKnvEfbva0YEZCO45ttL5RuzMMUvJSbxBODrU0Wa6fcO-q-390GX6GH4w1CmKLCx1cZ4Ce43_GEYUrFNqw-Qxam8j9SwtKzmkrhifQQv8Ih4pGucoq_cL3YeBiZhCLopXamZu0Wvdn0QqPjCazRS-na0xfqbT2tt_Lp6O6cCFNTnEeDt58SiA",
  "id": "rs_02fbb14ec849eeea016ab41fd3c5c487d089470da4821eaf45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The left wrist view now clearly shows a small brown dog below two cream teddy bears, with a thin yellow piece beside the dog. I’ll lower the jaws to the dog’s raised head and torso, high enough to avoid catching the yellow piece on the table.\"}",
  "call_id": "call_WwHP6KnlbC6MNOncqroFU6Cw",
  "id": "fc_02fbb14ec849eeea016ab41fd8404c87d0a38f397a71d0ac5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WwHP6KnlbC6MNOncqroFU6Cw",
  "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]: [-0.7189, 1.2644, 0.691, -0.5785, -0.4221, -0.5556, 0.9967, -0.0208, 0.8307, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1225 left_z=0.0701 left_yaw=-0.0122 left_pitch=-0.4301 left_roll=0.1222 left_gripper=0.9967 right_x=0.2956 right_y=0.0008 right_z=0.1685 right_yaw=0.001 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.8222, 6.2427, 1.0574, -0.232, 0.0366, 0.1245, -0.0479, -1.4974, 7.159, 1.7118, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49047ad4bdfe56a0fc07100af5e3ea6691a545a9f9c9948199cf96b300d4113f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341f44a0e57b867aecbcc263536ae34beee90b244bf75dffffd77c80e54cf329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8f69f22a889ef0d6113da64bdc0737be596b6280d3966445b1038740b6c702",
      "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 15 attempt 0 · /responses · status 200 · 3.746 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.6794, 0.9825, -0.2882, -0.2913, -0.2623, 0.9969, -0.0208, 0.8211, 0.6067, -0.3927, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1043 left_z=0.0639 left_yaw=0.0065 left_pitch=-0.3671 left_roll=0.1037 left_gripper=0.9969 right_x=0.2951 right_y=0.0007 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0454 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.5145, 6.6803, 1.4676, -0.2125, -0.0855, -0.022, -0.0479, -1.2376, 7.0359, 1.7656, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.2072, 0.9833, -0.8726, -0.4252, -0.5465, 0.9954, -0.0208, 0.8299, 0.6067, -0.3923, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2639 left_y=-0.1293 left_z=0.1575 left_yaw=-0.0306 left_pitch=-0.3865 left_roll=0.0914 left_gripper=0.9954 right_x=0.2957 right_y=0.0007 right_z=0.1688 right_yaw=0.0006 right_pitch=-0.0538 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.6427, 8.7726, 0.9841, -0.3883, -0.0366, -0.1978, -0.0615, -1.3744, 7.159, 1.7314, -0.022, -0.0513, -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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.2644, 0.691, -0.5785, -0.4221, -0.5556, 0.9967, -0.0208, 0.8307, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1225 left_z=0.0701 left_yaw=-0.0122 left_pitch=-0.4301 left_roll=0.1222 left_gripper=0.9967 right_x=0.2956 right_y=0.0008 right_z=0.1685 right_yaw=0.001 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.8222, 6.2427, 1.0574, -0.232, 0.0366, 0.1245, -0.0479, -1.4974, 7.159, 1.7118, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49047ad4bdfe56a0fc07100af5e3ea6691a545a9f9c9948199cf96b300d4113f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341f44a0e57b867aecbcc263536ae34beee90b244bf75dffffd77c80e54cf329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8f69f22a889ef0d6113da64bdc0737be596b6280d3966445b1038740b6c702",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_cjATOmPfsDjFhj_mc7Ehx20zrrAI209Cf4ZO0SHMdUOsWh8mYgJlQkrOhLfxRSUPqzGVEkxyOtCS9Xw2GcG82lYCA_tzB6gvwu0ex-0jU0CUN_Ykys3k97RTJ1XwmqdIFCvEBiA9xyTOqUCwOxv4d5LUDy8ak-I1bz9l9WJ6lWvFAKv3yJ6juEpVU-vuhkcHVPoxjR0ocre3-o48X3Bu9Wmi1UOn3jIcFXHosLymhxTc3rOuBGEGQTFBxZ_AU9DsaqUl-bBssEZd6S68ruZGgfS3y9Th9vzZQisrCYefaGcnIvqU5z06BoML6OMTI7og4WPmus-xRE1-3lj5oHqI_SO2gAd7R-T2RjwrPLrmTsLqa7gRCGjyI_ThdXzlWQR7aGWn7o-g7R-5fd3J-7-OeHkewLof6xwyJb8SL8VlG40gJDQ7uUX5yPzn0vbDheUdG4jBkOl8m5QzYna0hhdAI2rvgrIMYtlNyjhw9UfFyPbqFAcFxqh5XHHGnumSUdnQVvTpI_Pld0sRCYt9zHbBKW6Mrnxm7FulvsB-mC7aqT3anZ5Z7nBY1FKYD6BXSILUkTGb1kPzQXuravAyAnunR4bqJPgMho1Y4IfVTL8N2ptN9NrVZb7nx2k3gyzWUit8VRCiQtVN1eFBeEEIse6OcRwpvw8Iu6Qe3YCWj44zFdto5O6RtuNxc1S7LjTP4c0y190tt-J7OS7jrkBjApqw8QUIL__6MuLka6DMS3yyrCgRiTl-MJNMtprimxKUhmcGbWATMG1UnKH_6NCMVD-bM-5289qnyDrvcRSfAsJNPu1lkjjiNwuMgdAMqsT2ch0DydzOmXNPfuYi_hpp_djcdvXmduPrEW_KrjT1Km2z26cVRG4e09WWDh2z2F0aXTCB2I0FsN5o_kiQmsp20CTkh8vWTjDl5zj2pinmNsMhHSLbcdxYpjjzuphW_c2A0d6vz6DVynwQpZ-YL-wbqmIWEfw850P9DD9GkADSlBocVfr4nZSEivga36P39vXWbVJ-62L1bnDwFe9wgpQICxCnFiPfok7GMalN2U6-4GrMsfgW0Kvv0YZ0FPNKmnIt2YT9dlSRmU9Zdbh8dsdwaTiK89XsUNtHIU-Ox3XQVQCk5XF63JFsJDRuzy5REcs4_b36dMvMtkyJnn_vGEKbKFolHN_9V0noOKrcvgqkZ89MJIZKbkj0CPeyYoWqh4NutaC7SMBD-eSLbiLZzD-Z3E8K8O9uzhAPLxrnxK18VEzDnISnjv6bLPGgM7QnFU-qjYL_ZgEqBWWFhaE38yBnTT463jsHOlrIb9xFZMp6oYikIEic5hGYaLpitkzSbovewLM1x89Ds_cD-JNte903nGGSaaQ==",
  "id": "rs_02fbb14ec849eeea016ab41fdb4af487d0ac3e37c8beb64054",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown dog is centered between the lowered jaws, while the thin yellow piece remains off to its left. I’ll close on the dog and verify the grip before moving it to the other basket.\"}",
  "call_id": "call_9qfjEzjUiqC8GTgzCtXX2jBw",
  "id": "fc_02fbb14ec849eeea016ab41fdbdfc887d091529ce647e6dcea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9qfjEzjUiqC8GTgzCtXX2jBw",
  "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]: [-0.7185, 1.2755, 0.672, -0.5636, -0.4191, -0.5575, 0.0154, -0.0208, 0.8326, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2528 left_y=-0.1208 left_z=0.0622 left_yaw=-0.0083 left_pitch=-0.4434 left_roll=0.1297 left_gripper=0.0154 right_x=0.2958 right_y=0.0008 right_z=0.1681 right_yaw=0.0008 right_pitch=-0.0564 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9026, 7.5419, 0.8132, -0.3248, -0.0269, 0.6129, -0.212, -1.6205, 7.0085, 1.7363, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaf1f071ae98976462956b0dfd382bd01f5e724134436b33e26491ded8fba5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8eca2a12e07a505f6f05bce6c21297c486e7b208f9c6cc6eb43f7dc14f02a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a959013fa51a11fcadc5bd7aa2fc318c6fdf5b4affb7d2f2368c803f7c8f757",
      "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 16 attempt 0 · /responses · status 200 · 2.162 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3885, 1.6981, 0.9657, -0.2741, -0.2905, -0.2691, 0.0323, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3942 left_y=-0.1028 left_z=0.0526 left_yaw=0.0138 left_pitch=-0.3866 left_roll=0.1076 left_gripper=0.0323 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.001 right_pitch=-0.0492 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.2786, 7.3504, 1.1062, -0.149, 0.1441, 1.0965, -0.1846, -1.5521, 7.2, 1.6972, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.2644, 0.691, -0.5785, -0.4221, -0.5556, 0.9967, -0.0208, 0.8307, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1225 left_z=0.0701 left_yaw=-0.0122 left_pitch=-0.4301 left_roll=0.1222 left_gripper=0.9967 right_x=0.2956 right_y=0.0008 right_z=0.1685 right_yaw=0.001 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.8222, 6.2427, 1.0574, -0.232, 0.0366, 0.1245, -0.0479, -1.4974, 7.159, 1.7118, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.2755, 0.672, -0.5636, -0.4191, -0.5575, 0.0154, -0.0208, 0.8326, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2528 left_y=-0.1208 left_z=0.0622 left_yaw=-0.0083 left_pitch=-0.4434 left_roll=0.1297 left_gripper=0.0154 right_x=0.2958 right_y=0.0008 right_z=0.1681 right_yaw=0.0008 right_pitch=-0.0564 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9026, 7.5419, 0.8132, -0.3248, -0.0269, 0.6129, -0.212, -1.6205, 7.0085, 1.7363, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaf1f071ae98976462956b0dfd382bd01f5e724134436b33e26491ded8fba5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8eca2a12e07a505f6f05bce6c21297c486e7b208f9c6cc6eb43f7dc14f02a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a959013fa51a11fcadc5bd7aa2fc318c6fdf5b4affb7d2f2368c803f7c8f757",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_h3sj6IVGdxUy4ge5sMA0bjzSwtb-_cPPbEil2ug-WyCSZFTB0yaAfgjPGVjkHcIoHF9vELgVJJQwShU6gI-DO9zhYF0ta-Sx1h-4P1Vbq9DyChFjCiA7cenGGJLf59yHzA6JZtjNeUXgtHG37DOKEGfLxTmhqhy8dz3LD8o2qAhynFiUaEv1tb4WL8wuUxipem9J6opBAmk_JQjsPePvCIZ9D6BIF3A8mY_Q3tbD29e90GUJpuNeYnIWCGCwIUwRjzD0JKYzbFY9LJ59sOhNkKE46MH37LcfPO1NmZA1ZPkLrXX1mRe2g9ls4mM6vF0RY8AHmO5uN1snLSJBQp__yBgvsWUy6dNqLHEA6N0OM6uj_L2H8DBo6Iml24dMtXeTwl-wbWoU1XZ-_jtrzcAP--d3Kn60Gzw_etNRTZsEfNt9f5q6ahKNEhuBMkYOwBEg0EriyZV48rgwjTnOmBx9TuqI7_LfxijUthTyqYRhiIP3V16Xd0aQiOjVKEwp23uBGOlW2vEGy5P7zEDsZF08O4JfRyVcMUhylWXZYq5gddL4UmfpFergNhV6g5QIYqQH1hC8fXnRekmfrbgrtdiwggDiVAmFfiwel4Me7HTZIQ8sVVh7wPBwiRd1OTB4JQ9PbqoSy7ydF1LxeZyL8Tex_cjp3rkZHPJxxdldWwF-JjEHLUe2Y3FGR6WGQjaqe5PVpvVteBoMHjEIGIWePnpSzq04OzL-nnZg7l5f37IJ1bU1MawXL4jLlh2nf9wvFvm9V0XaGS50u8qXPebcj8sBpy3pK0Vj0I8nmi-KdFQJrKO5hDtS1S_JprDSBx0IYBjIYbAgqWQ8PQOKb4fyHTeXfmVvEGaDflBKZ0K4miarMz43c1_Y1pWRDxzEtgPq5w38xow4QLrVz8LQ84EmZvlhJfukZj65CaTlH7JsJotHinISOMO-rHZFd3G72D8L3hTM9VzDcf4MYqUiLKQjyvt5LQHZhdQqVN4cxycc_BetrMqTz_LiK0VveHnCMZYciE5psbTdvNg6RH73vxp_hUQYUshAE2WlPQleX_IjvHzWo1ftlmAto4_CUrs9f0YKxV-kOPiR3dUMBsul0Cl8YhOigUNamUbKVj4cC5RG1jlmYumpzmqwpdWqv6axOScGHX4LVPK6ZOePjuYCCVu5STck9hjDB3pVrim7LjsbaX5n2MhMaO0gUNalbvEvw3-9ro44m6sVU74AynytAqmBmkFR1KYZsG9OcdCQxAKejlr6cHrYB5c1MVUseR1fo59kn6Ldh8w8Xyl-wZ7WmM_sny093IKtU4sc7i0XlSoxHObeDr8p7hRANcYUlsOHK18jO1-wVyLbEF5az3nQkBH0_LFoFFuNjF_b25GXRLGTyrK3o0UdotJpcXLRwYriywoV3GMHH-feZnQiEj-V1vTRKEi9A3PIE9udzsRfdnZ3FIzHy5xBi2mBuTouRui82XI4nyQk95nB727kvDBSQuiGUyAEpfJNu8UDDYwX6Bg1mjielDDRTURUo-HoMZ4JlTb6R0oLt9ID8rDUjsMwXIYZeTyrLgYETXi04xiXDIaYK8wiQewv1EcVPbAcJ2g_rufXqItRcvZOSB6yB2TPgQx97HHfaG3XRJoKk6o830Lv5QgYx8jg_e7GvO_SFVkH2YEdRfROkXtiTmUVFqZRdWukgGdkjrLn7NAxoO5rz5JWM7xzz2LuX9hghkikc0ETIuzHEw_cvAA5fFjNbk_mOJdTzUPx_-Q==",
  "id": "rs_02fbb14ec849eeea016ab41fde948087d0bad7fe886f9514df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.283,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The jaws closed nearly completely and the dog stayed on the table, so that grasp missed. I’ll reopen, advance a few centimeters toward its body, and lower below its thickest part for one corrected attempt.\"}",
  "call_id": "call_5XLT9l9WUZhzdTNXAJ12iGKC",
  "id": "fc_02fbb14ec849eeea016ab41fdfd07087d0834ed56f01d093b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5XLT9l9WUZhzdTNXAJ12iGKC",
  "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]: [-0.6376, 1.4216, 0.6708, -0.3946, -0.3882, -0.4881, 0.9954, -0.0208, 0.8326, 0.6067, -0.3931, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2807 left_y=-0.1203 left_z=0.0372 left_yaw=0.0024 left_pitch=-0.4493 left_roll=0.1313 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1679 right_yaw=0.001 right_pitch=-0.0572 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.6496, -4.6974, 5.2308, 1.1062, -0.1392, 0.1001, -0.1441, -0.0889, -1.4564, 7.0359, 1.6777, -0.0366, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97038ca507697580297f4ed6f7c3d743d775a48d882e1fd85f553d6c123e0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5712e62100131149e1001176c840f9742cb3ac65207762f1ebfb43e0ef04ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a856ca4830a107c3a9fdfc891f9dee322d93a32f918c8e75bed739eab818bd",
      "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 17 attempt 0 · /responses · status 200 · 13.13 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.2072, 0.9833, -0.8726, -0.4252, -0.5465, 0.9954, -0.0208, 0.8299, 0.6067, -0.3923, -0.0185, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2639 left_y=-0.1293 left_z=0.1575 left_yaw=-0.0306 left_pitch=-0.3865 left_roll=0.0914 left_gripper=0.9954 right_x=0.2957 right_y=0.0007 right_z=0.1688 right_yaw=0.0006 right_pitch=-0.0538 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -4.6427, 8.7726, 0.9841, -0.3883, -0.0366, -0.1978, -0.0615, -1.3744, 7.159, 1.7314, -0.022, -0.0513, -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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.2755, 0.672, -0.5636, -0.4191, -0.5575, 0.0154, -0.0208, 0.8326, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2528 left_y=-0.1208 left_z=0.0622 left_yaw=-0.0083 left_pitch=-0.4434 left_roll=0.1297 left_gripper=0.0154 right_x=0.2958 right_y=0.0008 right_z=0.1681 right_yaw=0.0008 right_pitch=-0.0564 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9026, 7.5419, 0.8132, -0.3248, -0.0269, 0.6129, -0.212, -1.6205, 7.0085, 1.7363, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.4216, 0.6708, -0.3946, -0.3882, -0.4881, 0.9954, -0.0208, 0.8326, 0.6067, -0.3931, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2807 left_y=-0.1203 left_z=0.0372 left_yaw=0.0024 left_pitch=-0.4493 left_roll=0.1313 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1679 right_yaw=0.001 right_pitch=-0.0572 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.6496, -4.6974, 5.2308, 1.1062, -0.1392, 0.1001, -0.1441, -0.0889, -1.4564, 7.0359, 1.6777, -0.0366, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97038ca507697580297f4ed6f7c3d743d775a48d882e1fd85f553d6c123e0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5712e62100131149e1001176c840f9742cb3ac65207762f1ebfb43e0ef04ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a856ca4830a107c3a9fdfc891f9dee322d93a32f918c8e75bed739eab818bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_k_7dxmfvVDP3F4Rm1QdcB0XEx_epq4mgMddgAt4gyE42mOVM2ZSNk5znxpXQp3flaUVS9N4yfy39tNk8AdS51avSEq2KRenHBR8IKwmx5ttMK9MQfjRLsx_SZGfbdyMj7hlNj3wfJ6qBNeleWE5orwOUOk4X775O41Dlx61jjjTAPNBhrVVqEMzTVHln9fw087RU--BvD2ZxePUSmb5QzbwrXB6QOVN7cSS1O9tW5Ohm3iGfEw1FCLN6LDoW-J1FO0iicpPdZxG7vhBP8g31LUzWjof5tel6rX-4kJ_emTCBJM0CwRg0UZwh6IFgkiqchGJOfg94q2twe2RqPPyp6k5CaUZQLBMJCeKSTkApzF9jkoNTtWQRP0aTbLDkxv-IQapUc6Ry-zzC2YN3MI1yZjK88emS_MdhURBUCaHZG-Jc7S5YJU2NR_B86teGf6ERzPJoS7ScUswVNee_v8ALmNf8Cj49yIalDWcOamMblRp_OJrOSsRlpvcmC7lkd4PJgrNQ40_blpvHKTSWqUxYlHEVQIeONLyOGrLq139WQohDT8BEGH-sAiIaeE_QxOZ3CG5zdKZN5WWiZvig1izlR6BEc5IeD0gvF6cODpByD4pdySzXjweuloSqx0nrgsS-DQ0SQQ9HMbxjiFkUAn1_aYAc507nANx5L5hORbkve6sWAwYygUFuPvCeQtthyJAn3esBG2rSDC8hj8rygVWLKQjYu7a4K4cYF_dR80nKe59-q91FM5Yx1D5O0TLKao5vIsPNrmrpkANavuj09bpbMA3_LmCtbdh_FFONHdjqTtRKNFrdl2wkoF_47LbAk0RVBDhmebt0XQnR1A7YfaoUESHMqS3z_BRXs45w-xZ-6AdshclsgWnoTJyxstkOYNRlsA7rxHRGJWGlmMRnG7yyBnBzsEZIjFXxFZ9L6Iv-fKJ_V3Iuumq2K-deywBZQ1kR2OwC-aP3lxVYJspc39pgQ2QnLjqeUtbgAZMXMUH1cL1CVu2-FBh10acGQ1AsUxxnRC-GIDYHL6XlMaKXXv3znGoSdYe4sdNm6GYO-BxZQ1H9U2YEoVKi2N75exaDHYGrCgxzwQDpGh3KH-Y-2FTpqa42_JKAy7n3cqZ4hlZNKt4D_GIvk4dQCfma-Lbb_qt70djVgb-rfprdpNhAtZVckjyYZ3yX-Fi7wvkeoK4wkyWbxtgp3KZyRaniZfY8BRx7-CnBlrss1VvCdChhOBKgzX939FWJCPBNQohG7rFv8wktVy3BoDoJ0ZzWTO0RAvzQV",
  "id": "rs_02fbb14ec849eeea016ab41fe340fc87d0951e715501531b9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the correction, the dog’s body fills the jaw gap close to the fingertips. I’ll close once more and check the settled opening; if this fails, I’ll switch strategy rather than repeat it.\"}",
  "call_id": "call_DCS31ZpQJ1MEalmi8zEQNOqb",
  "id": "fc_02fbb14ec849eeea016ab41fe3890487d0a8eed6fca5de28f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DCS31ZpQJ1MEalmi8zEQNOqb",
  "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]: [-0.6342, 1.4307, 0.6708, -0.3798, -0.3889, -0.4885, 0.0338, -0.0208, 0.8345, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1207 left_z=0.0361 left_yaw=0.005 left_pitch=-0.4443 left_roll=0.1279 left_gripper=0.0338 right_x=0.2959 right_y=0.0008 right_z=0.1675 right_yaw=0.0008 right_pitch=-0.0583 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -5.6821, 5.9145, 0.9451, -0.1832, -0.0659, 0.5983, -0.335, -1.4701, 7.0632, 1.7314, -0.0317, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f89fc55318217ad0774c4ca93ce0a87636c7546c1cb368ab9aad8f7f65cd4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee12377528683fb3eef333c77700511c94f89a3b01c72578a9f294685131d050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52760d1e1d54e8c1e1bc6a7fc5db3ad7e2e642bff9154cb0a6f39a803384bdc1",
      "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 18 attempt 0 · /responses · status 200 · 6.713 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.2644, 0.691, -0.5785, -0.4221, -0.5556, 0.9967, -0.0208, 0.8307, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1225 left_z=0.0701 left_yaw=-0.0122 left_pitch=-0.4301 left_roll=0.1222 left_gripper=0.9967 right_x=0.2956 right_y=0.0008 right_z=0.1685 right_yaw=0.001 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.8222, 6.2427, 1.0574, -0.232, 0.0366, 0.1245, -0.0479, -1.4974, 7.159, 1.7118, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.4216, 0.6708, -0.3946, -0.3882, -0.4881, 0.9954, -0.0208, 0.8326, 0.6067, -0.3931, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2807 left_y=-0.1203 left_z=0.0372 left_yaw=0.0024 left_pitch=-0.4493 left_roll=0.1313 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1679 right_yaw=0.001 right_pitch=-0.0572 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.6496, -4.6974, 5.2308, 1.1062, -0.1392, 0.1001, -0.1441, -0.0889, -1.4564, 7.0359, 1.6777, -0.0366, -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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 1.4307, 0.6708, -0.3798, -0.3889, -0.4885, 0.0338, -0.0208, 0.8345, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1207 left_z=0.0361 left_yaw=0.005 left_pitch=-0.4443 left_roll=0.1279 left_gripper=0.0338 right_x=0.2959 right_y=0.0008 right_z=0.1675 right_yaw=0.0008 right_pitch=-0.0583 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -5.6821, 5.9145, 0.9451, -0.1832, -0.0659, 0.5983, -0.335, -1.4701, 7.0632, 1.7314, -0.0317, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f89fc55318217ad0774c4ca93ce0a87636c7546c1cb368ab9aad8f7f65cd4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee12377528683fb3eef333c77700511c94f89a3b01c72578a9f294685131d050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52760d1e1d54e8c1e1bc6a7fc5db3ad7e2e642bff9154cb0a6f39a803384bdc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_ycouony689gQ4w-UZkyWyoQrO6OhxjiyN6PfriLhX_lCZMGuxd67xGxVCSd3emKFrqM5IzMw6g8_zL6UiJLx3j3GprZTmhDx4ixmcvsEY45FDz4Vx3BfC3fTOHMsxVFmmhaxF3uBf8r7HTa8Solj98OjEDRc6Nwg6gCyMjbXABstHSyinYK5meN42oH6vtiKzvEhutdbJ3JxwKV9aa92JSirvWZqIhK3ZVMtbV5_HiISW19w3WN6zdRR9qBUTKp-uQWtoytj6T4VypEITFx6f-nSfJ8b9LemFjm7wlnCxEnny0_EFjyPHtXmHxhi8e4o2LsVg1Fyzjn637-ctsfRhw5cjGUqdIrTHRWAIze2d7telfuWOzZL3Fq6VWXc_7l1H-7Lbi_CDr0KHKHlDuUTL60J5M-yvreTwDtbeE-9CupoHNroZYqhQy2N37Sl6buCfy-cCSpFHj5BhnGY0Gn-5sAzMkCQJSWOJkdlAzwd7MSdIjM92TLpDU_YtUQAt6YaCV4p8bigiuPUql8-Qyueg9B-yxrAqxHXILfeJq0uN4YnKjlcMmvNphRie2vFsFZ1M75Uz1_nXiG7KobueViKpkIQ-xtv6A14iY38UChxm0EtneMrB7VIae78OwtyLAlvAzdy9ubt_m0Feuoeu9dlcjQ8frkAtBHWHM5q8BLCT5ZObzLmSswTMTv-kGdceJDKg0NAdBH5uL5Dfv9YxN7f08tE7tOt7oiFrVItck7Z5pkgKk4MF9UwlVyL7Zlk0GR0G334724gY51Y-VZouiWMXOhqD51TctwXD0cjtFa_uqkNBBTammpmC1a8lggxrVlj17QTwryyteX5o7P8FVumQTOFtesd9-7LgZzwxHDKzR2hGKyTzEmrvOUqvKb5OVL2jNB8D1xHO9on_h5lxs8NLJMQc3AspKRNE2qjiM80YdZBW-FaH6H-gxmfBm9m1dJk8x59r4xPGP9OaMpt3me4ItFhNOEYhebyh3HtTeGYUUfGrEDYoU4tDrNQFBd8IBrtD0H1uwbNhnD5lHz4s53eqb8iS2TpFvCx4gfSQNZok0RYyWmoAlJaf_q1-8KBmYT-asBNCMoD82TY23z-BCz3RBFy6M6W34Z-90QQvJ3Uq4bvOOMTHPHHALs6gc9n5Y7m1tLggdQ15tQ7_pXTkJn_Cew7mBFAFXigvh0YWkCqXzY_LmO4xqVNI1L8P3DTCWIduVRjNFq8yZfeLbf3gQIU4TArHQI2W2yyZ3j8wl8TGdAfxCx7fRvmonHZT5wHYNA3zfGRt4IlVtXcvWT0P79wBpWU8c6WpeBqSxCGHwn6GvDWwEI_JrASjm34uIdQjrVJy_qowIEYZedulJEzLi5vz-ao5Ks5rt5LGVCc8TO4qj3ZcyaOVDb0OfmWyv7LJ_u18siOOGNRF1SNoNtj2NO50e80tAgTcpPbTO6XytIRT1gc6V-DVtuHn6KwTIP_1FSnEkfzdwK4mLQSJuPSqhC5C1ApoFcaoXwYinZfvVR3z2nzaYN7H0DdZvD5SwM3Be3E5ce9N6ij2-mGeeErmNEiTGhO0KXv2etZf8o6tzCeGXDol8ruAKS5jKInx67RNml3rtgLxAF8mZHsUfdq1F7IVMUNrUZegobdnZhUBoHtJW3IWkV28CKM312TArDFQMzYha32xa6vkT8FvDtAmTx9fknIQI0WN6aVSXRNdh8UUMv6Awfz04hFFdUaZDuIV7bFaYy-KNphTJyKoVMwQIr1_1x7t3G5V-vDfyNJ7CzLyJQTAmCkVYkqsRnGjM2hE6iznlK1BpqAgpg1zleR0DB-6j4Ny4VuESgSeBL98WRTYgTPZT7OPcqCP1H5uYhz8nteUVoCrLlh6Ps2Jbpl1s3KPEi9an_NqOMJYhfpJ2QKOSd3u9DGhfrpQlncEW6r-KCwOOWxbfxy3S5-BPSadxsBzkiUZcfG3BPzMHywY3m2rlS8Bh_MtEkwVUUWbVfH-g9zG-JUyzEaYxABJKbc5SQd-AnJgwgbJeQjrC3FkTjNAeM67GRbb-8BilwmAsjfTwL-vfKvcvtb4b6p9axSCVOy5NBb21RZ3uCveMZc696yJIEigciUGO_aGGob81186_wzAxgqQXTSddgWd67FlYlDg7iFcSON0wmFs18HRv6PgKAFoIbgztYxt88alXlmtxSd8mRetIxKQm2J666MZm-JLAjiKYtVV2TaXlHWmls4mhbG7WjIO2jgYLAqizERl8423isgkNRPgCQyNn4812X1U28PSs2sJgmEXrDKPq6MuqFpvMJ6A54sX_6s3zmIzagRiVqwHvNFkZkiLTR_xq944vRJErWPtZMWEZCekv4uHUs5xbpgIKhi2OT0zEmCSJl9OdgbDwbbnUz8Ary0a06XDcEM72zjB7BVJy2PJY8JekUSr-NN_sofJ7-989xSmcouyZgJcLkYsquxESrZycMEThVIcDfoH5y5-On-uvibTbS7JcgRJ_TdoCIyFZak7trvtif1MMRGELtWKTPNV80DSbEpK6PWN8zb_pf5c7utcwXSzXr5uQHtJIvCXPye4nKlKaZFpVJPo2-i-C77julGCJv_UB9Tgfcpc9Qd6-9nvRsXZajquQjsLp4W2hkAz95eXdfBe8yJQFX8HaM3S2hsU2mhKJrY3KTq8EcRYpIR-wPFJsj3fJ1jxAZedEH0Ehz_uOlm3YzcrF1Dfd18cQTJj7BiH3cch8M4PR37rlWUIvrozUs_cWjDEudBJ1aGpJFg2k86wkFXE461OgRRbmjp6GEq0inkcQzbKaRjAgEPXpoj9xqO4Mqr2loPZONTntScAAoCeoEk_IzA7dQJ21ZBjX02Rwd3fc4e-x3DOY6blB7xmX2-__RRt_zSmIl-lf2ZQBnmre1IBztkPwVjRnM-sY4YB8YWjpRsw68Jp2eaxtgjCN9-Oj-qkmptOxfoFNiqeVjE2XPYsAHE-LNEWaNkqeE9GgDvQLhluSIAT-RTGl4K5d347hfuEPxnxTXbQJKlVud_PYPkmWdZ9sIIkZ_P7XnpNJgfflM5I6YNyKRaxmfLujf6I0dP-6kJFkR4epGpvze_vqknP8U3XpdJI_Z15sdhK3EEWnC2nUvIDWksb2u7-6ZI5EF6Svp17bpToyE0aRPtleXcoZirxwQF4rnmDXQEpQOw3bu-KvcEfZxWNfyRc6pyC38xAzgAZJ23e0Zr7mOCxjfk-d5c92xX79elBsKTcGi_ATkt6EU117wihxZhFz7nZSryPtq17wHdculO5kcnw9BmrWr2Q8OlTWryH3B1u9bqDHACdq4t-GA6fs8Gm0_u6dJPHc6Pq1-J5Fujv7V7M8bjIp_xnjMumCVBpfwlYwHVHojuj7pcxcU7dCqT2Cx8vnPYH7ldahDNeniA9cHKxxIALJxfA6iz_xwZjSS9lxqGIdYWEm4tJPMHswWmrpa1_70hPk2NURrNUJKkXlk1hqQig5jVwRhNaWRc7g9jzIhgVAcWQ72XfxEV35sTdaYxk3qv8sNc-8xYEYHMgNMVQ2YINtQ7p5ij82iDtaTQpnFP_DRsT9fQ_wcm0r1S8R-nhxNETxcaqs-m24_zc",
  "id": "rs_02fbb14ec849eeea016ab41fe6367887d0844348cfef0631e8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_yu5DMtJbaufUgY38HWPCO1lsxYosr8hr8e5UO6QZCirNXGwXImQWAqh0Gow1Sm1XxmTSCI67Udwu-1gc_8fLEctAej3cIQsZ7c2g6phV8bxt6sBj_4iXLVGCIAAyg9XjwBc8zuPdWfKIQTykZuOW8qaaF3M-C1_wVXgKQ2UGnbSsQpxlSgtbBx81eq8R7_o5KEdG66I003lnCj7Z2LdlG-BE1NpTvDoohUMQ6_vsB9tTRXYjrwnkc2VhVU3ZF-rg-77LLSIB13cNv0-PquEHX_MJ4kyO3tF6CyUKcoAWHmOzawhR1sIU0aqDcqgEbrm5FlHNHzzTcyXqbuMbY_5h8FSwK9sIyR0-VVct1EbwgTo0XDpY4P-o5Gly8ZL66Pn6wUWjAY4sLn_n7lQN2YvTTtpBlFmt4oMqfrMqtWI-Dzdle74GCwfR7sWH0FSI0gacP_xp5dKX-3Kof_uIpktDKvYU5Vr29h2leVRbbna_sAhU_ANluqZdTZ1RUec8zZ8Am6mNEqYwgCS0Cq0ZXaG8atTsl3Q20WyG_XjNKPQyrNpRa2k6jknrSUWMGs4Udpm8mVJHdqLqqNMljwVuIWcAlCu-YDeie-ppbFfsJy9AQkBUdJ3ho3Fd-F5r1EV2h_OIKPtNHRnFKXDzssGJ9dNhO6EbmUiQKoH9q3-S7gH0Dj6hg-jXMOJghS0fLYNRmywXv5ovWsQazWhFQaIeUG08T0WZiHC-mpSFU0VCpT7wNsaagKnk_cAKw5t8qxe7wF3-ol1id8xovToEIhxahM_QD62nDIwhju-6pQ9i2Qod3UlUg-AR41N462sZaiazcXvxacvqfR-0PEyzcELOBNXqqb3I9qfebLoJcQWn0Vu3K6DVVt8XSNlpsdf9aHKegbq5RkjH12DU7o6sYoxjUNaqLwNvc4Tvp_USSsNy1T6knkWVtmw_uq7jk4cl4NRD1Y8KhV23zzSafsgRAM2ahbqwov8Y1K_008CoZFpLfZRflwM1eFkZBQLf3BfiaqbOBFsO7FIyQiBaBDPsm4iE90pb7OqR_p27FY9rv6SeQCXJK9jLOPrsUOX1AJPjBrLcvVaJv8wpIrcMxWAm-COzeOTjNugV-HVHju5eeOYZpq40o2M9HlPnXbz6Wc-WSTwmtgb-9apc9LyOmUbKJXbb5fQ-TUh8te7wPPLLkuB3B2N_IIv4dhZlwAgJcgcXlG3Ixjc-k6bQWsd_2qbK0rU2iwxgz8e6j0IhwHAxOYhmtIclO_DSJSfui_JjaC4IlM09rB_Pxq-94cHWbjobfX25hCgDM_NXE6BKyhEIi10qz_X9hKCg-b02GAVoGNhc_wBVU1dr59WSYOoWpZhz3X6Eg1vMpfRdK6sRvzbEZajunE3y4ziAvEXZWbWyeTTrZ2yuMMWxveEcdGzRkYvn_F6kW3CAxtrM74rk5dNFZp9uA04poCgMOVr57YF1HpnCd6FYtoeAtF8dkajHAT37_U5aYTMzI0T2F3RTpdxlp_Cle60owzhmqgyCq-wyutSdvfKQ2or1Q-GmnwspQdKrGIYRxRWXSxh519OYxhpgsR06ZcnF0o1DHe2kNYIjFTTEdSYOTfMkKiW792muhlcX5CDcT65dRyH0Y5Cz0lT86m5FC1WJ6V5iffWVgZcJ6wRCmo3t9zhfPIbnYzCNGI1m5XZdkXv8zuCULGA9oTesd-zm1XPSvSKBo2miztK8x8ZxkqjkkoWb5QN9mRkkW6wemwoj8zs4h0840iRaRQnFBMBhWzmYWRTt2Bg8mRabYKNjEmxSsg0Vgwcysa96XtxhBuTsr5-zNaN0I8Il6rwE7wiUniEyNa6_z1K3v2g-eYoUPtaHWNkpYiKhjo62xSlk-7qjB2Co5L_zXI2eP2xqYZg1XGiyQ-sBS_ooTqBcVIHW3DCwDKYCQUFI4zrOQODZK8NNjvlDufL7JpG_5n8jZYgoYW2l99v8F1ha5Cqa3JgSq8gztPNNIdzVmJSuhL0MYxKqFC9aiVCJLf5D4y6OIR8Vo0SVrZp9aXQ8IHdSs-CukWsLAgw9VXobtJHMddOR0wDGz0ZlDh4UUAFLksPVZ9yYSBei2aQ6lfVguB2K6MCMCCgQWGD8PRzaU2sCZnZCOXESWbXYG1bqUzb8KhWXp09uQu6tQ_nCxLh5JRnVW3mgVdkjtlmCpDEVOSDSjExoL5g8v0GmvLNKmnldkI1yKi16OHQpwtPz-NsCS_pnsUir0CgmwxUMVK1yrj8Wf0NjqXgGfpjQjBAq0MZEJL5ebaN7Hr8bZ1obWeqoHI_t7zQKnu20iSmN0ilExtliZYH59KkFSqNB9mm-u7I6b7w-niwebpXCv00UIT2nEI0o-AXk-wmlAYXAe-Hty5uuRZUka3zp56j1pEWK_pUiY2NHInT9KsFUgHuWacZG44LB0e-yMBAZQ8G1mKMkt3-Xrk7y9Su-4f7SkGc8t4NwfxcWAXTzPUKUoZ9Oy5er3jPUzIGaL9_4OQa3ocXLp9Wj5ffxLxUWf6XKFOuboPYboPwI3OTW0Ks_UYCHL9dc8uOQ2-vD89q1MfcU7TNSUXjIr6_9_RznjnWPZqxmoxw7p9XxeFMqn4KqxVdm0EfHJp3ku0pMpqzVU-FKG-6QdzJfpgtXT9pwDwOlhw-dMseLe1zeZ-yqD-ZW_gtlBvCYJtnHAUsGGzXj0cukKuuHl3t7a0bFghPiNFFpQYZwcYJ4IgSfRtIg-CHvX2ErGsaVq5aPqIKM7rUz0k_4r3Py4Slp9X6IQfz63wxRcZWssyFLevOwtHzDp9Du4nVaP_nFxMLpNaPdl8Acxdy8cU-hdD0jgPIZPP2PkVOe_DC9-W5Lw4q0CR0Bx4kFmNhy05pvwajekyfvKjp5kdWGYbSOhkeCMZasNgEUh2lqxNNfDJQKtW8I4-9fnktmVQyK8NdPImkXjgjGbNGRI19m-YVbfYCFjezNGZiMQJ7T10PMOFtZ3fL-syj6iAWLENiCPU2zNOqKUAf-U1mLTI46-wxImoLtaDbvili4cdCXgbVFzd0FZJxmjFRgZ8m5-ypmbkbcDQ6GCSqQMuf_DYuFQk2L0KB5qi_3OmG-eJcUPhJcoz7-_WJe6sX1IUEhttPl2gNCVcq9f5cvCp_noN9Gsjq0qZDPckK8fEB8L9ixly3k86cGnRT9NJaT6Jh9o8Sd3vhb3Cf0928ACADhBquSfxvctPZ4qIlUCosN3tr0yGIDgBwQKF2R1Q2oTQRlYhfVqSfWE-ITv5Xh88HVbp1h5OYheXs-0Qy8_v-h3stq7gFgm1vUP2qFRlC6UpNP7JtZY2j87mnhRgLtE62-o2cuWLk3-S1lA9aa4Cj1O41-jylvF3MO2-yyRnTJQnS3ymOmd-vnQLAmIk9KUR2BUlDOr-lmTFVY0HpflOYyN7igojm63oflY7Fq4sXJVdsLnaWQKZ6nu9D95eEmPUzP_a9PwwFyJUja63E4F6uWuF-j-AhoDX4IHMXcN8K3aJPW8mch-HaUd_rhvc5LvWsFmLCKHlaIqz51GIQUHmSVcKuphNBHDYQKNLe70QyjeNun1zcHlCRqCbajQhNe7EJ30u3bwk5yAfS92gSqSVQJPjM-87vcK_M4qFs_qAzjllEAunA9YvoGd3SEieJHJywzxoHiYSqP9n8Gw7QyRTDs1c3PwT-wa83QzqO9aGxO6bxZNRg87blZOVINW55sLtPlsjUMgBBFOdtJRu2p6aqlRiAW3ABiwU37ZZmb5Y2koEMF1_nMpY8FlIFGARfzTjHJXlZFxTkoRNvno2OEOPHhqcybbV8nZnRuQjNslwXcMCrfaJnfAMvtkssb22vQDXsd45a4GGaLaSoVuk2TcSHyqVkAWNbaltf1cq8J5qnZxL-YxHkU91C9s9EszqXCwYQMSsMbQseS9kz23nxqUp-_5IEozJTv9OYgeho0hC0H7nHxy1wLCMa1HCnpCTB9QdhKFH_RTVhQgDT_yyJpCrzBUuWIgrjHtHZfqRV6d575pyXGHO7VnZ0aBnuuxEbtUhmji3mj8qHV9bmA3oBQJ8ztnhShrCxsvDusHgJ_QSyTaEU_wN0es7cxiNkEsuJqNR-5NIgyV",
  "id": "rs_02fbb14ec849eeea016ab41fea579487d092d04e91f4c46019",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_yIE9dp9bUDFRTKOOHvgO3vHyLonUQc_ZzbLXCx9uFy45TVGxcOP5RRVnbTbuMKWgdBn0E_o0SsTVM-CfayQ9RGV82PwnSj7ZBvsxhLaR0yYrjGIks_aV-8RrXAVr1Floy-LA73cLmBr-HSatvMIWpOjKVkhEt0cQ9pgIPbAppVLkB5o6_Po14zuNDQm5FnfsC0AqXqz2AsJZQpgV6hBaccWYuAssj49JW3NdKWveKrNNUt0FGVf7DkH9ZzE_LK-Lo3PjtLtRepHrdhWeyzM7aXCCa_0DAQRFp2_-4b9vbmnzy6g3HuL0GAbI5wqnBMoIpT0IcGGlTxDrodZbLeBXnTGXrhepAEyC5xgsSlkA-Lq1_ofsFYsBAPdJY0jH4dKz2CU7dhVVuIdNVhTI9MElsTThQTH09hZ5FZrMw_eqe1iUUXlCMErg1eqy7XgEcvpYvD-_manhoLKDvj41nF7KoeLIO_F3-mbTGprs-9MtCWgscJj6JZ0lQO5LkEXenBExXmTeoQIyzWsIpTGLvBLsxETIpAuvgtddm_bGfXFfpbR6nzkrcjWR7BLDoSFti02e8xk5XdjUN5iJ0gy_eA7JA9WeItsL4W5ZGOiA8Y3UDP7p-mHz9To4or0PfSs8HFTGQ15BzunvvOUPxtdBbdBYf-x_qPpwTaW03QS_M_CLsU0cr25rb46MVcZGMIzREluF9odE1G-QNoYuPrlhqCllRy5hSmd9NQzzsQp-2C02uBSKjk8pqHdXfmaVCyFuahrO74O_Hxr1di08oX8V-JlHIt_IsRo8mcKNHHaDndvzt_3Kz24eeKLjIAABcSi-AUhG_IAA_wxkmXvF_zD-X8lfR2Zkvw_RZpOngIY-kwskMjFiDYYa5GnU3EzyniYq8nUJ-gBCYzqMGErjUafnUJENYGCV3BDulf9tsXEIQ9hcPtHvNTiXoJvJWGz9du56jqrbk_-5HtporjOg3mLzP4yZI1aqR_4isqfq7xl_S55H8BCKTu5I0BBHcH9M99_gAVFAyx8tlhiekdQp2BiI61xUQm5RP75omxvmbcSlOZ2VG9vVLu5UdD8F0gTpdW2Mzw3RAFpXJFu-gZQesedmi83ZeNSK_dBFEkf6BM1jTx8v_fkS2iVdgm2U2wKx8fNABA0enQNzEiKSHeIJxE63zVrNhege3LaUY2D3IVsfEzMS_ncNw79imbJcO6LA559cZATAG7JyHr0OC_1SfIleqg7p91ft_pGNXQSPGgDwNZfgW9Ttqk9BnVckwpcWURfDjIpqdCr4xNaNxSa9SmjTXv5M_8biO0OxSs7fRhi7WazP5trHPe2jdOZFRC6muOJ49lZlEMhy88W9Cz3lSfvW9FUdzhn2ixjh1EqYKtYal-HFXRJ4pCBYMsM5I2A6ZEl42XFSUI-q2p5qzEz57MRgynOS23O9mwjzFiFgcvyo74TpdRSmxBuVJbChYVXpIAqyST3YQmYhZwsgZ0QFXtnuz5kPj1Htjl4l0jBbBWo5O6eh_ysW-whA6hhymDe26lhCdIrzaD5Mz12N1y0hwY-37_bjNgzPsIOE7z94FdXxhO3XipoZqwurwA6--r7TTXYkat9h1PRQ52wEQW7OoQBCFbEzVI8kGREN6PAL1FyZtA3v1XW_BouZNhPokgDYk5ipzBrRofnQlcx7z6mdebLQID5vUCEWUoVCN9zmomPwQLiIhWROJmVxVtZQT2Bpy_ebx4tR6hh5CyVEBCjLcJa7tkZB3aXr-akIweu3s07BTwi9jGKT7S5v5owMNShG4YEJdtomcT0v4izjPa0oYn_L5bbUcMTxr-PmJ8gzPOcXAPQ5zQUNK6t-Fb_lrd3-uw4GPynwojvaI3hxpv6gYWIe3iL2gFb2y0ZxGwq1zBBicKBN7danYcqDmTdq-gvzu9OsfqgTOajYi885q7PxVAqG-YXHOTL51pd7h6V7QYzNVN5qkAfouDY2P7OzrcoV0oIyQ5it_573t44rVH0DKCDqv0RXqK1Gb9t704nguUvdVPl-QurU6k34AAuo8wRQL3ABDzub9_0nMJ9SQbK56hsgSCqAdEeOHje5bU7V8pOqhvivYVntNABrinIMLWjnC_xwE3Di2S9GQgS4ykgCdfUDbr_g04HRjmqvuGZvas_06nHT9oPwX-_wjAlUmIg7U0NGg6L9wMHu9yiSfv3kTarVaziP4QM7i8TEC8fMDf-ogZSw89g4v4qipcGNzCiZDTyT-DE9BmiTuRYN81YJGMUSaNTExjkeG2OSMKOvY7mjSc930NEEX65VNksESzEF1oTsG79SdUoONBe9iGfMDygUQwiZ5wawnoxERCc0-eTD85_92LwwGWGY97nIQ35VvAHzjZOMGC_AAAdq84Ekrppg72s-IxJhQTPeSjJRKa0ZPvuPExuw=",
  "id": "rs_02fbb14ec849eeea016ab41fef236487d0aad9976ee38f4f8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.28,\"right_y\":0.275,\"right_z\":0.13},\"note\":\"The dog has slipped forward on both close attempts, so I’m leaving it for now rather than dragging it farther. I can also distinguish soft animal toys from thin marker-like items on the table; I’ll park the left arm and bring the right gripper over the pair of thin items beneath the right basket.\"}",
  "call_id": "call_o0EIw6NFqz6b5VUq9FBclRm7",
  "id": "fc_02fbb14ec849eeea016ab41ff136c087d0979bdfd1ba96d5b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o0EIw6NFqz6b5VUq9FBclRm7",
  "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]: [-0.0937, 1.1717, 1.0607, -0.9173, -0.141, -0.0292, 0.9981, 1.0855, 1.6009, 0.9936, -0.4072, 0.7708, 0.7891, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=0.0008 left_z=0.1781 left_yaw=0.0379 left_pitch=-0.4576 left_roll=0.1252 left_gripper=0.9981 right_x=0.277 right_y=0.2691 right_z=0.1183 right_yaw=0.0327 right_pitch=-0.0938 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.0137, 8.9778, 1.2283, -0.0464, 0.1783, -0.022, 0.3624, -7.3504, 8.3624, 1.0525, 0.6569, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6a8e962c84073acd3421261cc990f48a811239513214e25427719477ae1370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63d410eaff308f4a599f2c36109272740202af4a56c4b687b6d5a58d40f8927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9ea58b01aa2d032b0d2c8a86eadaa6644fa793733206cf52344c9fc850f8e6",
      "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 19 attempt 0 · /responses · status 200 · 5.431 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 80 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.2755, 0.672, -0.5636, -0.4191, -0.5575, 0.0154, -0.0208, 0.8326, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2528 left_y=-0.1208 left_z=0.0622 left_yaw=-0.0083 left_pitch=-0.4434 left_roll=0.1297 left_gripper=0.0154 right_x=0.2958 right_y=0.0008 right_z=0.1681 right_yaw=0.0008 right_pitch=-0.0564 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.9026, 7.5419, 0.8132, -0.3248, -0.0269, 0.6129, -0.212, -1.6205, 7.0085, 1.7363, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 1.4307, 0.6708, -0.3798, -0.3889, -0.4885, 0.0338, -0.0208, 0.8345, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1207 left_z=0.0361 left_yaw=0.005 left_pitch=-0.4443 left_roll=0.1279 left_gripper=0.0338 right_x=0.2959 right_y=0.0008 right_z=0.1675 right_yaw=0.0008 right_pitch=-0.0583 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -5.6821, 5.9145, 0.9451, -0.1832, -0.0659, 0.5983, -0.335, -1.4701, 7.0632, 1.7314, -0.0317, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0937, 1.1717, 1.0607, -0.9173, -0.141, -0.0292, 0.9981, 1.0855, 1.6009, 0.9936, -0.4072, 0.7708, 0.7891, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=0.0008 left_z=0.1781 left_yaw=0.0379 left_pitch=-0.4576 left_roll=0.1252 left_gripper=0.9981 right_x=0.277 right_y=0.2691 right_z=0.1183 right_yaw=0.0327 right_pitch=-0.0938 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.0137, 8.9778, 1.2283, -0.0464, 0.1783, -0.022, 0.3624, -7.3504, 8.3624, 1.0525, 0.6569, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6a8e962c84073acd3421261cc990f48a811239513214e25427719477ae1370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63d410eaff308f4a599f2c36109272740202af4a56c4b687b6d5a58d40f8927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9ea58b01aa2d032b0d2c8a86eadaa6644fa793733206cf52344c9fc850f8e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_7508s9bfKOg1Z8pxMdztdx9d_KCyRgB5emA5kNGd4wvsRt1e3rYv39IPd3ZxURVhXkLC-YvreMaFpbiuNV8xcCs6wMhSSUVuOQ71jsSEuQYmoFy4JwGSuSkAT4QtZpGRhDmt67_AM8wrnN3Pw6BOV-GY-xq_bLFw2yS-HVaU7FHAgciZ1fiF4m161gcwg5VRB7ZnWas1mHy4mHzDyRzI6Nsw4dC79bV-sKy6xthiUZlGgIheTZ59gJMuBiXkQG4du0oltLJjuRq7I9zJEbSYEW1hOCt9f2AnvtHcMQggfThB88PVMSFoTJT0aVVf4T64gJ-jkEgya2Hdifyym__nbqU70KM_TA90-ArxQrkUQeXUKE4t_Pctui3fPp-wCeEZcMLmTYoOpJWeidRiqsHQgz6mN1kmK6lkjKido2T1XizTqVKdTOUh7caxBaMEm2-tlm5l20WdetDddCD8aXe83qUebRGkoSwhH987do22XNO_LL7bSP8-6C9Ps_LUsiOWUZY34TAEPxp59rI6iB7i7ETSy48CNlBL0BBV2kefKDkN8fV7TJfwPsnuqHs4FxkqzZF1KvVIb2L73EAbpd5F10FgqiZcAJwK7vXytaFPkjH4_Dn8kocJu-WYBmR1d9aH2sxoqwdoFE-zW-53T1xyI8zdqnzT-HfzSbd0FJaL-i5k9fTq8HLEygC1DIlSmghFdtXIpPUMyyG-stDsd491cdD0dzLeeEY_PeqVtUqGBFF17jKDcXmy0kxg0cDk3EYMJTu9Eb7RbSSSDDLlP7H84aSMGEHNoBMfFtenFNJ5EMEp_z3i0tDl75p14B1mKkNBK3fbhkXc6Rn4ZmamxIJN-57Tzl2ARdTChcxI8cG-_XFNdMc2APJqglUeywpRc13YBplPxOWSeSMnlQYeLVDtlj1p6i9-hJ8sYG2w4FK2PdYLH-g_h-0_VZpt5WSNMvO4tmLswLyqto7QCHGT_JVcjjv81064nV_XaqeWwfoZlv-TI2A1e0slWlpFuF6Dhh7RCq16aiWKqY8fCyEc4gOOYx6WCb52Yh4039wOj_T36ZA_8XlrVpfdJjMaEaAa5VRTI_qdE3IN8TnAFHEsH77TpHhe4CwfltQBuKfvsmZmdOtQ3xMZ_jyAcl8oxbzmwmEIcyhFsMA4GuXF9nhjfetl0irhfUEy-hcceuBceZ5546oxYaNzNy4-DALk7jA3fzyouaxwF9Ll7culgjZdMQoktVzhJK-8L8WI8iAfqhQ6srXt5ApUjlVkm2_hW3lAfHX1hD3T1dZTqUnROl4uv2Yx4WuaVzZub-bOVirYRIra-BqU1r6Z8FajyVk_EcE7u08H6Y23m6TGTRQtm44cpw-Urgu3t_Ego_KPGw1MpSDX1OTCP0G6VhX5j8Qr5x22X0y_K6gZ8sySQmfiGne_gdOPpLB8fEP8Ks9WB2UmSV9hFcEd4NQCMgxfoZ5tvXG5YYMMQMnQaahJw34ieoG6qyIx1s8klkIpp1GZx98uXHPspyUZ3tLvNwen6_pD3HVmfNB8xGi9PRwjMzMBSmfEg_uYk1Cw3DtbKHM3XZJzMNZAsVX6Eol_7SdvmSC0mwNnI2skSiHnVMRH0DFcO51DZyxN_cbiqkyi6w6Tx7OvT1zv1KsUCa7fRmqV8ZdX_BfG3rbPxRvpfQSXHzTLC8PAEGk6ZHCmtUXpYY1SrSIh56Yn00ycSFGi7lGlZrVM_Ja4vafHDl2n_ydQvekU6MrSXHhCmtfEcdiZC2CWAG7aUZ-cjMJBzmXKTX8dqp2EU2Rpx4Kp7mVVdFVdUr0NuQR0AdpVsYNIPI-VC1LAph1kYNKWqPrbz00OeiFZvx2Ki4Dz-eXQzr3KOj9sMeFf0S3ba1LEOYCLoEPeWCHPzNGuf0Atp3fpTa8SSiLnlOZ2mgNUTUHTUTR7uWvarM1x9thYGHSUeesh28IV3IHuRmhIkXwfKXvTpGyjayDLvPoIhynD2NsA4aSLZ_7AoI338R2PqcmeuX3XXy2Jbb3fhqf2__xPDYZWTZSw5MjjQb-WfWe_cVzcI3epBuCGnGXhNef-gpK5KDBCfmiZySdBmgtddjIAauujSdOKIgk9xuSVaeTUQ7ja5LgeUaXj9Tqf7_YNhhBWU4Spz-umjEbUDQfUJCcmymX3XVpCwMRr7E_76DdNW1DhdnsyxdvlAq2XAVQ9ec6A2cijbuy7DBk-4gSqKpWqpJ2gUUW2lyc9dm5XJ46A2ZE1__YbtCSQ7ogBK4326KbmoGVJ1D7IPQ1KFILkSOqUVL_PatQ5OnQBpS2ifRtCQAm4Ls4PxCEDvuQGOejMKGVLXI4S7z6797oqwgll_aYjNbdquBYFgZaMF9eyI8Uv0WbsZgw6rin5Fh8leOQcCThQ_dfXNvmT__lfLrRrUCE4o_McwlXp9OxIDpBipR-IbS_vP0GTxTlmsJrs2HXjLV-P2j_wodFoBdZWMQjqxVpSUC2hdjWt268qudulBLvHBNiMePAwt1i0YvRE1i1CZRs9urESWYfwIhGdGvFQ6jlXHf_lM6GiydPWuk2FBP7z6tOQtgBOXxxEAF3dDGogG9Z2Blt8yeWPojGWtWo3nX3yCZwysgzHSHV6AASGu9mk1flz3eRfE-0K191aBoz2rHpdtcc61j8yY7rkDY-S4KsX7s9wlQ6o4WO8ZRNDm0BpMRWGO6Who-d39kIq7CffJ1tc-2Jf104SGYNh3o6_aJzVOUoXQD6mUWtDSEQWsX2kJgflyeMdNKmlS95MuHnEo8EKZN0PCfufRjfcd0yGKXl9njxEqPD49zr124VdZ9Q_WUZLgiCNEoYLEpi209o6tQSug7HLBZYgNNdNaE6N7C6bM-ecM_EG9yEvUwjkz7BFy6WkHvMg6YNJZ97EcGejTVG-Deu_rrgAD6QNn4bAEkh0hoKGczSI-lu9Wi5UPjSqyEguFn_z4MgP7PAsBV1xozPB6QZt4X9ovNB85uNpgUtjEi3CkAMWbbho5hgGDS8wVun8it10kQZLohK9OL4Ag03g31QKc3wwghX0_zOsyM4Uz1cqP27N4gsNyJl6OjeBKh01bVV2nZxVrEvntq37I4zqp0LxFZ0KdhIjsCkeF6PHTE9tc7XEW8N9C19ULVsBkhDnJFRIZH9IVDr0xlDgplEE9nXClIhzFKyT7ZOy7m1DVDVe2LolquIMKxZIYTKv7BZw-u6YZvQlimONXDSzNrz_Fdka8d5WEfqQaNU94Y-uTqtEadwyRpJPlph9q4CirjUn4wTaafkSfLKxSw_UWvhS7nG4peyKfFBdSRV3S569WVuC1GqJdFKfLWMKP6dtiNr3UxgY6AadxIsgeS-0qoYfc3w_d2IHFvNEgx7gNaRStCxD8ChkACQcvva6Z5b_3ePvBUtr5WkZdaWe7Bawa7aRqAQ==",
  "id": "rs_02fbb14ec849eeea016ab41ff73e9087d081d729b9fd2fe428",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.245,\"right_z\":0.005},\"note\":\"The right wrist camera confirms two long, thin pens lying parallel under the right basket: one blue and one light-colored. I’ll lower the open right jaws between their shafts to try lifting them together into the basket.\"}",
  "call_id": "call_0rmGkmOkcjxmU9Y9YbmAspL3",
  "id": "fc_02fbb14ec849eeea016ab41ffa95e887d08fe73a7caea64bfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0rmGkmOkcjxmU9Y9YbmAspL3",
  "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]: [-0.091, 1.1717, 1.0649, -0.9268, -0.1337, -0.0269, 0.9982, 1.0531, 1.7863, 0.6922, 0.0864, 0.7609, 0.7563, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1783 left_yaw=0.0328 left_pitch=-0.4639 left_roll=0.1204 left_gripper=0.9982 right_x=0.2749 right_y=0.2438 right_z=0.0124 right_yaw=0.024 right_pitch=-0.0982 right_roll=-0.0473 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.5897, 6.3248, 1.2723, -0.1245, -0.0757, -0.0024, -0.759, -5.3675, 3.7812, 0.7839, 0.0611, -0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d4483dae13d69aede3c5f7ed292c1ba6b09186dacc957cd237dfb5755fc551",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4413a0751496faec379252951139f4868cf9328538394082474085519f88aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6361a82f9e2ba66c03d448368eae834a7cb2349eabed64203215aaf289d8a26e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.182 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 80 changed as sent

message 84 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.4216, 0.6708, -0.3946, -0.3882, -0.4881, 0.9954, -0.0208, 0.8326, 0.6067, -0.3931, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2807 left_y=-0.1203 left_z=0.0372 left_yaw=0.0024 left_pitch=-0.4493 left_roll=0.1313 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1679 right_yaw=0.001 right_pitch=-0.0572 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.6496, -4.6974, 5.2308, 1.1062, -0.1392, 0.1001, -0.1441, -0.0889, -1.4564, 7.0359, 1.6777, -0.0366, -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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0937, 1.1717, 1.0607, -0.9173, -0.141, -0.0292, 0.9981, 1.0855, 1.6009, 0.9936, -0.4072, 0.7708, 0.7891, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=0.0008 left_z=0.1781 left_yaw=0.0379 left_pitch=-0.4576 left_roll=0.1252 left_gripper=0.9981 right_x=0.277 right_y=0.2691 right_z=0.1183 right_yaw=0.0327 right_pitch=-0.0938 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.0137, 8.9778, 1.2283, -0.0464, 0.1783, -0.022, 0.3624, -7.3504, 8.3624, 1.0525, 0.6569, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1717, 1.0649, -0.9268, -0.1337, -0.0269, 0.9982, 1.0531, 1.7863, 0.6922, 0.0864, 0.7609, 0.7563, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1783 left_yaw=0.0328 left_pitch=-0.4639 left_roll=0.1204 left_gripper=0.9982 right_x=0.2749 right_y=0.2438 right_z=0.0124 right_yaw=0.024 right_pitch=-0.0982 right_roll=-0.0473 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.5897, 6.3248, 1.2723, -0.1245, -0.0757, -0.0024, -0.759, -5.3675, 3.7812, 0.7839, 0.0611, -0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d4483dae13d69aede3c5f7ed292c1ba6b09186dacc957cd237dfb5755fc551",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4413a0751496faec379252951139f4868cf9328538394082474085519f88aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6361a82f9e2ba66c03d448368eae834a7cb2349eabed64203215aaf289d8a26e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAB-bcJn_cacN09Yy7T3xmG7VfUwIVKYffvl3YQhzdDjl2kqwXnpu-SK98gUR1g_xGV8x4unGxt8ra5DMUd_S5V7NZFX7u543RfKp-lqmoqlB5pfUzMIQSReKLDZLKzzwx8PVLqVb4hhgz3i1ocL2CUQJD56LwdLbwwTWZC0axuQEiXHZl0qRrwKjAQmwZl0gy2Zj7ZXa0bi0ka3NWYszOkdy_tCdpv-6ojhS19rhOhqUoOIfjT8teumRkLtvcOLND6FQx5yp6xZeiKvKu7vXYVPTN9F5ShA2cplkA0cBiV03n7PNRNy1yAD2P1t1mmcaX5NNwn6AstrDWLBOfqOmGgh_UHVfmW_B0XSXMhtltVclwOz0QJkCnU2Msb2RO7-hZtbT-2CpIhz3zzVUwKGoeHAYVsSg-ljdASgh7PcyxMgqnfG2viWyeJLBqKLOx2EUABWY7j9AJU7eq8e1LcEikOPk3-gQJfOf46yLe_3u81TVXAwrnna-t4bvAz4ZTjO6olWxa6ldh8imROpTqSIpjw0f_qAMi65vPQBuI3mTvp3Tr64vAfJefu8cwfbE-2dpmCjskwIgsyDmD-8QgOMspMJkRzXOtLwIq7vMmcGWeeDKE42I3DADXlMDS_g0OKxB5ERko-EZkqTwmh8e0PjpPeITFpYnju6eIcRXEBOfHaM5i-_luOUymVnEORmClXU34huCb6edSRdiJiCOIDnu4t-ctRjWfcXTmSWuw3qums6fJ0xVlSVvjKXZ4VIBrhwoDhwLduJ6gffRq6t51K1Ja-cJJrtGjpy3hiAo5uEd9a3Q9yclsgA1TeGYQOo-2gvQRB8s5s6Kh9ApnAczov2vUlQ9hjoAUkTSrENbxOpjEQdNw8nve3IApy65Y6enCuwbehrEYoOV73ErI3lElIiMtC900u8mgxE2S2E0X05CQS18ST33S8qvH0LiL2KyvCnouq5Qfy8GnCs-o7Vbz_N3Q-8sP2xVkD8x8Jkt46xHNGitmtuf6Uai1PYlQOiTAxysGVzH2tM0Uh_iXkT3KOsjTR_enEV1Xk7fvNSqrshi05xTxYNasl1IGXkdOyZojgNBA1jXeLxkHyMWPw02QSVkpyNAv8T6ZasM7bgDOVUstnw8tJuSY1oHyqcrNSn9ScCOXrOaumZFM-TaxlOXXnZpMtytDC5a2YCsYvY8m05hY_7f6_o_D45dpDfWCjciiU8niMESgfY6IOpzKYLnulUmX62HsmwhV6ffRMJn-UToopQbsVVkK0jqvyPCGZ7-D28T9EKBp3vAysyCULanRFBiHrlFxZvXy6u1i8ob1xX28fSZi2aYg2NYAPZBcI17_-GimZgaSyMdgiXADM9IgDd6awBh2VU--yEV7i_p8bq3nAwAVwvcxBZodOAf-WdO0TyjD3Ck1gopg5dNX_SYr5Att5RWOZajCIIjHz4n6KiiX0NaLs1hsCGkce91CYTMnVotte3A_gJZTdh8nKZdodsFDiFCsHetj9astUPlB7QtGOimRuTk8JTHdKTqI6yofqMt_jbmxJUy8gqu5onDB_oPWz5VNRN2Q3G0yWBGrzl1xK9uy0nAgfDS7jMvE-Gqop1k9P6-1pG_5f6Bkn6Sol3zBX1N3sR3eLFPaeIr-Th_obATmOu84DKhHNvGE0bmj-oDlGTKeLZg8jtJNZqSCXs0M6Haq4U36KsyTNT407tcLBaMDUk2_pmA9jeNrvAHn9ki-7ft79EbNgkqsXqshwFI9YR5typJWEGBeFCyADh-jfMgHiDRHnRTeFOmhtDwtuzW_-RsRhalA4-v9DAeVMpBEzAZ-Ygi2JWIr8i8FBj6_p0rC5K1VPdkKeafAjxlz7JE4qRxBFzW0aVFBimZ2prJdCVYkEW2NhLFwc9pLme4JHuNnQbXGAeBbfigdOYNq1P0WMu05GloRSghFp7EZgsuCIgPkRwYdeGGAvSNv0kttu15ngDjjIf_ota_Wrt73SKCpL6hljwm-nlMRASP51qmm9JSX8E-_ZfMuf0l3HClrznNjRu8txYSVUdIAABrOQThFwK9hk7IKFMe54ZXZYQ8EsYP4AmhNbEsxo4DzMatgb0JlwE6X4FeJwa0BeyHVWQZIEPmEmmcHuExiElNNvGtIgt6cEuTJcM3vAdYkqgPzIS5sQDvG2peZVIcA0nXWydhnhlaqjH3vXYrjKvc2He2wYZ8HKBhqhgq9VsfTid30YeZZLcXAPbnDojg7YXfGzJy_ACd1bTmDNhGZwIIi5I4v4QpVbuo2Rx_i8oVKjJWW_KHXK_cP2gBVkk-3ELM-wLgwrHiJtrpv3aovtNN9XBfpkI3LayiKtUCHVUuvqtlnHff9CmJxM7OFC1p6bkyM3b5yW",
  "id": "rs_02fbb14ec849eeea016ab41ffd125887d0bb48601dd4faedcb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Both pen shafts lie between the low right jaws, although the light one is nearer the outer jaw. I’ll close gently and use the settled opening and a lift to see whether either pen was caught.\"}",
  "call_id": "call_116fU5Z32KxnMhMoRh9JPnK9",
  "id": "fc_02fbb14ec849eeea016ab420006dd487d0af254da63aa10ea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_116fU5Z32KxnMhMoRh9JPnK9",
  "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]: [-0.091, 1.1725, 1.0649, -0.9276, -0.1333, -0.0265, 0.9982, 1.0523, 1.7973, 0.6846, 0.1059, 0.7513, 0.7517, 0.1349]\nstate[eef_state]: left_x=0.294 left_y=0.0004 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.274 right_y=0.2442 right_z=0.0078 right_yaw=0.0313 right_pitch=-0.1048 right_roll=-0.0461 right_gripper=0.1349\nstate[joint_eff]: [-0.0752, -3.6444, 6.4889, 1.1893, -0.1197, -0.022, -0.0122, -0.1573, -8.3077, 5.2308, 0.9158, 0.4371, 0.0024, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b3ebee9112c012f91d73d9fd6a627b39c5d914954d6bde5499297806fe7359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604158aa97a12c42242b1a6e9bd77670ede345e49da24d99b3141d7c2509a20f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97032f6d2194e33773041e70a889e249b07b24a758822f7c915a3c560d178f82",
      "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 21 attempt 0 · /responses · status 200 · 5.287 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 84 changed as sent

message 88 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 1.4307, 0.6708, -0.3798, -0.3889, -0.4885, 0.0338, -0.0208, 0.8345, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1207 left_z=0.0361 left_yaw=0.005 left_pitch=-0.4443 left_roll=0.1279 left_gripper=0.0338 right_x=0.2959 right_y=0.0008 right_z=0.1675 right_yaw=0.0008 right_pitch=-0.0583 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -5.6821, 5.9145, 0.9451, -0.1832, -0.0659, 0.5983, -0.335, -1.4701, 7.0632, 1.7314, -0.0317, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1717, 1.0649, -0.9268, -0.1337, -0.0269, 0.9982, 1.0531, 1.7863, 0.6922, 0.0864, 0.7609, 0.7563, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1783 left_yaw=0.0328 left_pitch=-0.4639 left_roll=0.1204 left_gripper=0.9982 right_x=0.2749 right_y=0.2438 right_z=0.0124 right_yaw=0.024 right_pitch=-0.0982 right_roll=-0.0473 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.5897, 6.3248, 1.2723, -0.1245, -0.0757, -0.0024, -0.759, -5.3675, 3.7812, 0.7839, 0.0611, -0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9276, -0.1333, -0.0265, 0.9982, 1.0523, 1.7973, 0.6846, 0.1059, 0.7513, 0.7517, 0.1349]\nstate[eef_state]: left_x=0.294 left_y=0.0004 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.274 right_y=0.2442 right_z=0.0078 right_yaw=0.0313 right_pitch=-0.1048 right_roll=-0.0461 right_gripper=0.1349\nstate[joint_eff]: [-0.0752, -3.6444, 6.4889, 1.1893, -0.1197, -0.022, -0.0122, -0.1573, -8.3077, 5.2308, 0.9158, 0.4371, 0.0024, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b3ebee9112c012f91d73d9fd6a627b39c5d914954d6bde5499297806fe7359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604158aa97a12c42242b1a6e9bd77670ede345e49da24d99b3141d7c2509a20f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97032f6d2194e33773041e70a889e249b07b24a758822f7c915a3c560d178f82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAEHYreLKapJ-gFcTXTII5q6mskdyp_m_15rreM3jLs3P6lHinW_AAz8gMmQzHmzUtyufeLF1kDmGVLRjEsJ7sigHxhaFy-YpXu_OCW_XtXYLxSlG-QUGzMZPT7GIshUlLHKXK1afUPxQreKcelfiQdW00dSz3hm7gb6UX6yV41Hatuapb6Xx8kdF3vS2Xe5PJlLWdaZWJzQbETidxD4FIBcUAhdqpV5I2u6SPQ1lE_W6B8PljG4-wQPWK6Vtfdt149zKXeYdz0oe52PLCXCP_jw7BmClDh9O5sjbzH_c_TYgDjijw8jBjTatmtjx9zS417Pfxn0NE_TIHANuOcjwmvYDE7Q4amA8kwzwu_Yz5PrQsRhj3Bm8Z2yq7V5V7XhCscbEwgf9zlfTNWNaPMn_dAEb05uh5DroBMPAeqhXFSctGhe35fbObZnG6NdAruRmfuY4aUkexxpZFjAu3Qb3umhoALxPDMdhvBKFN-fczJtat4vDvnXXCoNQxH1QugHfxNaq1VT_qLkwz-o8bqlDDFJX1OKQeFrppGmz3igc-Tq_6qWzsHIKThwHzR1LzLfqPy6Ggmwo8VxnEvCgtaGisB_XpspwdBegd1e85XbRj6srubfq37gphOGs9QHjK5GP5UVIL_r6WXRSTwUisZAMUYwal4GKk0mjIiUv_m2RCZuucKcI1DOAPaN8YMUzWTrJYVrTbNAUMU_Fr1D2bfTQLvJ_6X2VpEU-7Ad9X0ZBavygxox9aRPAtHDmur5f6xjpunbo3WaY1Ikj37WIeOXredy8IhQSpsRcGbbNk2KR0uOUWVL9rtZr492TkCeuhSpOO8Zy7P6MYyaQJIrHGCgoC47B7LwsUkPXP2ghMp8SqvTghxw4DbVmvfu2NzDfz92E5SdcuxJGK-Uswwh6yEPFXbZDWYt6dtTRIq4J49uxYfr1Ehtf9C6BAGrzRfbJzcTQ4w0GUeW5sfUJ7MjsVb4xS4UAXK5VAZdxdsMuMhaUJqvNJ6Fb_50_6PH0odh-0RCe6L8CeBC9nLsLDXsjDfzzzvOURtS4Sroy41S85EYEAgw6H8BCCKIIAd831_PHBk18zQlilogsTP33uFFEHBsTHY50DzAbDy_cqwamlFlOkyjOODPs3Pb8mDhN6YpHrYoajEl3OuPIrAgE65HSLVblbE9egG7V5WKYKIgzJAUpzlzEPqHmS06wcGO04HO-hPkck4-fPnikbtGqzstcR0C6zJUge_jlHObRgdzPaZky9V7sBHG6LMlXzG0WyFOIxw6CuJ6bQYhPEw4sFh7UcJBgxaJQ==",
  "id": "rs_02fbb14ec849eeea016ab420037d3487d0bdea2f2b985a3485",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stayed noticeably open, about a pen’s thickness, after closing. I’ll lift it to confirm which pen actually came off the table.\"}",
  "call_id": "call_T8nCwKQzR5A0WoeF9fRoOxm3",
  "id": "fc_02fbb14ec849eeea016ab42003f58c87d0a0914c93e7d57821",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T8nCwKQzR5A0WoeF9fRoOxm3",
  "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]: [-0.091, 1.1725, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 1.0523, 1.4921, 1.0363, -0.5468, 0.73, 0.7483, 0.14]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.1781 left_yaw=0.0323 left_pitch=-0.4647 left_roll=0.1203 left_gripper=0.9982 right_x=0.2747 right_y=0.251 right_z=0.1513 right_yaw=0.046 right_pitch=-0.118 right_roll=-0.0356 right_gripper=0.14\nstate[joint_eff]: [-0.2256, -3.6171, 6.5436, 1.1795, -0.0659, -0.0562, -0.0122, -0.1846, -8.1162, 8.6359, 0.9158, 0.5641, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48654f4c8f8fe2de1710138f5c9bdae17274529f859b694db33e872c10e49a11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9e0ce5582f40c28f4651bacfc4f0d3b97891a000fa5e0a58be57d6ccf80b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02b601893eed09d4c92ee58e07fdf150a9ce57c03ded30cad497b97ef4175f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.12 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0937, 1.1717, 1.0607, -0.9173, -0.141, -0.0292, 0.9981, 1.0855, 1.6009, 0.9936, -0.4072, 0.7708, 0.7891, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=0.0008 left_z=0.1781 left_yaw=0.0379 left_pitch=-0.4576 left_roll=0.1252 left_gripper=0.9981 right_x=0.277 right_y=0.2691 right_z=0.1183 right_yaw=0.0327 right_pitch=-0.0938 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.0137, 8.9778, 1.2283, -0.0464, 0.1783, -0.022, 0.3624, -7.3504, 8.3624, 1.0525, 0.6569, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9276, -0.1333, -0.0265, 0.9982, 1.0523, 1.7973, 0.6846, 0.1059, 0.7513, 0.7517, 0.1349]\nstate[eef_state]: left_x=0.294 left_y=0.0004 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.274 right_y=0.2442 right_z=0.0078 right_yaw=0.0313 right_pitch=-0.1048 right_roll=-0.0461 right_gripper=0.1349\nstate[joint_eff]: [-0.0752, -3.6444, 6.4889, 1.1893, -0.1197, -0.022, -0.0122, -0.1573, -8.3077, 5.2308, 0.9158, 0.4371, 0.0024, 0.989]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 1.0523, 1.4921, 1.0363, -0.5468, 0.73, 0.7483, 0.14]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.1781 left_yaw=0.0323 left_pitch=-0.4647 left_roll=0.1203 left_gripper=0.9982 right_x=0.2747 right_y=0.251 right_z=0.1513 right_yaw=0.046 right_pitch=-0.118 right_roll=-0.0356 right_gripper=0.14\nstate[joint_eff]: [-0.2256, -3.6171, 6.5436, 1.1795, -0.0659, -0.0562, -0.0122, -0.1846, -8.1162, 8.6359, 0.9158, 0.5641, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48654f4c8f8fe2de1710138f5c9bdae17274529f859b694db33e872c10e49a11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9e0ce5582f40c28f4651bacfc4f0d3b97891a000fa5e0a58be57d6ccf80b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02b601893eed09d4c92ee58e07fdf150a9ce57c03ded30cad497b97ef4175f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAKwlLHmIkSfP3lcSFHSCUScIahoATcWLpnXJqifmue36wJ9tTMVlsuhKxy2BBcu4UEHM0xNBv3ntkGxJy5o3p-0gYUaICocvnAoSJT66i5tA7G7UIh73TOUsglPwejBWBBOgLxwuuJlAVwk1xVWEaTgx_ExQ6JLhDS9GnMqvZbDAsgXkEo4Yn_xiVkbC9mdQYHFTs4m9ugGr3qTWneCRBe0bRKQIWDLOFG-XFVgFomKrepBZUKVJ_Qrm-PvuNpXp6wsToL6BP__EUPuC9n6twNFxzoIsxoRFmWOh7zg15h0W8Z_mhF5pV_xXmffUpqpD8NyXY88Gk6dcZu7asVuftOscOntP_MLdKotUjOHHflQ8ZpFbsIgyYPegLP7HoUn0CxbD_S8hXd-4-TcMKeTPFoGzYaIdy7wMDY7IKJ5K0HZ_B8WzokDqGOsvsUyw1n6BWAhYGTmOU64ArveeucVb5Te6tBQDm4a4i3eL_QeP9BY2U2UCdNtMKgJ19IcalS2SUwUegBlSmDgjBl6IVtlSs3lBmeLnQF1NxKSMiq30N54d0vEVHDRfX9AgaKoogtuf5kEXeO5b2PA2v_gH3TCIKohTYOn--B0ktJNIHh_Z9nkeNwRFBjCtU2l-XhgQbDXj5qiFAF6npYY-5zYJENh7B0xficZR4y1g1Lxk1AhFIQLl81rGayx-kyezZEZ_Y2Ntlj_0Ac3_3N7kRVVodw5pAJhD9zvhBzXE-STA8USo8NfpO-QsEyPBR5gFyWChh4ICSIYGM-CofjauHyi_TSQTS7IfrWEx0oxsxAuaWtkFQJsDbAiuoPLmrZ-wi_RcANjkYeFdOp2ZroxPNwhKKrmXRhy2bKymZg2g34-_ZTXrc1uGMGDELZMWhH8ODYW6n9buYuBJYhAeWtvGNerjTRZ7iQhvzt0mdfriGIoJDtJ9-aiSIj4QUEQe5AaDR_QMXvYRo6K3hghkX-yO-6vr5BhvnY_adfVcmBNmf-S3nlud6_Iduy_GaW0J0IL85DvUNEImda0BEJPJLx0xwzvidKfbRWIaIq8rD3BQRvVxoRnsR837bTiSlACRiAGLIOvX5Xx7f31DF2gt3xfwUQqOdFDbahC_VETQVrsZMC0OXV_Im6vvA1qp5m4tiep3W30K5baSP_EaKngm-5d_sTe2KkyQbqAXdgzpsaYs_fWv8s0SZR6fpNaeQrELPjZQT_zJ9KeIjCn9CLPUFGhE2UCzYTp9X9AZrlrV7qjFyMxJrJiK_TucJ0L9tXusvMOhHn6pFftgVmMLFArRj8zYBcJwwGaTlFS7ZLrF-bqzcEjqbS7yxGw-4Az3U5k2vKO3WjZsdZB8ZhFEmz5DZxWR6Jss4jzm1zaiQagN68nsLXHafAKa6Ym7s8D55SvmTBwJdm9RofDvzbHZyfzOY9KUKXC5M1LfqIxjXyXrHMUd8rWNigKeUVJNWnXnjzoDRvpXb4_1NkyU1DUj9e4QWJ07SZDkxf0EJzVYjoJ4JKwct4WwJ08-8E_iZ6k2awSakbOHyZi15v2sY12zqXSe_bS3hbiQzr1p1H5dOqIXXDj0m2dXElQCmQfN8qRTjgXTP7ez1z0-hSlvNkmSEwkrMx-3x-M04-Ko7_rWfoKctKDs1Z6YPJm1XyMpp7RdNpDvzGwOGmyJgWgbiAOnfwXeZYjQ3ynjgRsf6h6xNAq1a_4PZjKaVI0rkwzbTfjlojuHyT2pbB2a_v5iSplUAq5gCpdN1tXS1Y06U95u4tpRkCPpOvqxq6ehUS0FZFRKDlb-gnMyoiWlTkE4pG4JbEZ5NX5HtiLseG5kvbDcluebeJr_OmDmJBBpVSV6cyXMIPGHXsyK_qwHULG4MYBIN-4_nmMynFhewtk4dDUe_1fHn5uA88aI5MI9sGQEYTd1dmzuLfuAI_Jj8Y-7j7HvVvgBsX0w19FpNz8rLxDC16SCR6V_SiTHyUfgyJWFEOWpupKRb2z2c_jPgrvb9D6EFgEEVrnFX944JlTU_alHnmDk2kszivzBJG4EodL_EiR2iW4kNYVKLmjpLvAdxsPO0VHD2bgcKM8yUnI3toDuNIRT1cwhiHPy2Tb34782-GhOuC1g52hTqrPKOSFoMaCQzJAdgcvB4XESLQ35IrC7Mp5A_jCsb3vmiQy8MPZfYu7h7j4u6rdsIKF7ilhdbCBD7RmSoxy3YvB3IYxmralPtKJqJtVFcCgWV4MbzWgaVC0ZOXewhid3fXw_lQtPbn2h33_0ndmNhXxMOhzYHX0SiqKX-i5tzsRQPA9f8tCLD80zNDL2Y1s9VrTkQB4ADMkBAC-41-n6lg4i3ZKE4H2S2fsav-jGH83517slXJLydWOGsKzpJcfPpTLN9FxJJuhtf81I_5ENY_1Fg8CqK4mNvsIpAUqP32zgoCOvzV82GhMIW0_zzqBohizRcR2O7XFd_9RNyotogAetUbVkJm0vw3CQroPtT1AYywQOJGhKHy-zto2-ZZqq9NPLHXy8TQdX0fVxyaqXQxPYEiki4_Yu1sLHPCuFl3ViVggh-Ie8ODK-7l7eV81mj-dMcuqVeuvMYmOYbLlu9oVOjmb3gTl866SPQbrHBV4UuU3HiZChRU48xMxTpBy6_yN4Zoo4cUC3TQYH_3aR87-owfT8tk3tjGuX1uQk-wmI33cfLxdlqNI6j6ru-UPSHP-86rMfebmzLKZHzyZNPobP_aXqLvh7TQpvQ6umNu64Ha9cvrK36PmYovJfNSIplQkzO807and9bueEh7JYbGyBHU2d60RnSpdR1Z51hJq32CCoCoQyQ5hGA9clBcDkq1bwlKeOrDGU8Y4ncod4OVYYybMX1UZELXgxyq9Ady1qpBWby48xFR3heh0vc8jWqS3bedrTfMNCmDyKatbflMUZjYSrPxJcQ22DLqZwnvMmTb1skoAkrhgt46OVmi-k1TRaTNq0K06l9XoBclUdQq1_NAXq6px4_DAx3CzCVBoe5Qal-TTWDUynlilAmBWtaayWW0adWPXWPTPFfsaKfxhYZZH3peN_3OUb5UWBCWbpFI0XYqEnA=",
  "id": "rs_02fbb14ec849eeea016ab42006aa4487d08a4e2fdc9e1db923",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.18,\"right_z\":0.2},\"note\":\"The right gripper is still partly closed after the lift, and a thin item appears to have moved under it, though the tabletop pens are partly obscured. I’ll carry the apparent pickup directly over the right basket and verify after release.\"}",
  "call_id": "call_9Fe2G0rIs6FvDi23ktsR8kY9",
  "id": "fc_02fbb14ec849eeea016ab42009dd2087d0971368af9dba1360",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Fe2G0rIs6FvDi23ktsR8kY9",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9283, -0.1333, -0.0265, 0.9982, 0.527, 1.6802, 1.3384, -0.45, 0.3893, 0.2859, 0.14]\nstate[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1778 left_yaw=0.0324 left_pitch=-0.4666 left_roll=0.1206 left_gripper=0.9982 right_x=0.4329 right_y=0.1785 right_z=0.1828 right_yaw=0.0337 right_pitch=-0.1579 right_roll=-0.0515 right_gripper=0.14\nstate[joint_eff]: [-0.212, -3.6034, 6.5026, 1.2234, -0.0952, -0.0269, -0.0073, -0.4581, -8.1162, 9.7026, 1.5556, 0.1734, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc36eca597b42eeabde759b99c2d519bb73dda7dcf739f99ec6bc92aaf8b81d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f41ceca4f9907fb6ce4edbb443ff170d1f89bf079e460bc5dfd52c2559cf642",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3b9e5e75f3df6851a6f10ad60d4c9fbbe5158a3fcf5e1c9c35924a1820da60",
      "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 23 attempt 0 · /responses · status 200 · 3.262 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1717, 1.0649, -0.9268, -0.1337, -0.0269, 0.9982, 1.0531, 1.7863, 0.6922, 0.0864, 0.7609, 0.7563, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1783 left_yaw=0.0328 left_pitch=-0.4639 left_roll=0.1204 left_gripper=0.9982 right_x=0.2749 right_y=0.2438 right_z=0.0124 right_yaw=0.024 right_pitch=-0.0982 right_roll=-0.0473 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.5897, 6.3248, 1.2723, -0.1245, -0.0757, -0.0024, -0.759, -5.3675, 3.7812, 0.7839, 0.0611, -0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 1.0523, 1.4921, 1.0363, -0.5468, 0.73, 0.7483, 0.14]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.1781 left_yaw=0.0323 left_pitch=-0.4647 left_roll=0.1203 left_gripper=0.9982 right_x=0.2747 right_y=0.251 right_z=0.1513 right_yaw=0.046 right_pitch=-0.118 right_roll=-0.0356 right_gripper=0.14\nstate[joint_eff]: [-0.2256, -3.6171, 6.5436, 1.1795, -0.0659, -0.0562, -0.0122, -0.1846, -8.1162, 8.6359, 0.9158, 0.5641, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9283, -0.1333, -0.0265, 0.9982, 0.527, 1.6802, 1.3384, -0.45, 0.3893, 0.2859, 0.14]\nstate[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1778 left_yaw=0.0324 left_pitch=-0.4666 left_roll=0.1206 left_gripper=0.9982 right_x=0.4329 right_y=0.1785 right_z=0.1828 right_yaw=0.0337 right_pitch=-0.1579 right_roll=-0.0515 right_gripper=0.14\nstate[joint_eff]: [-0.212, -3.6034, 6.5026, 1.2234, -0.0952, -0.0269, -0.0073, -0.4581, -8.1162, 9.7026, 1.5556, 0.1734, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc36eca597b42eeabde759b99c2d519bb73dda7dcf739f99ec6bc92aaf8b81d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f41ceca4f9907fb6ce4edbb443ff170d1f89bf079e460bc5dfd52c2559cf642",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3b9e5e75f3df6851a6f10ad60d4c9fbbe5158a3fcf5e1c9c35924a1820da60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAP10qNSRmCjXUhdPPthJFa7ZA23e2yphnUOrkjY1MPn_7pckQ7HiUPhJrQr8YJUItuGCnzaFO-dQxViWp3-ZoeOwlsACF-cr2A6_0LtWqwhQSYS3f7jgTB0tDhm5-hRo_oqQV_c9o_Lxftt3Z_zC3GOs4U4q5SoL58hGRQq_rSjqDbrXccOfG_uyean24vtl259SFobEM86HeqgDxhqi7jn6BKzLjHiNhC8qrR04F5Fmt6eRkovyRX-3Lpd83S-R9_5342Xa9PD2_366Rd8lQG5paLsodLmQGC1yHg-jFcgfw2VB50bmID_InBlUpqdwXYtNjEvaVZA2_0WQbVNM-Bm1_eHZp1fjeijdcV4BSDFGpZbG0rYNE_p5-WxoodeU2NmnGejrcYF3TLevItAFVN5BnyVHvh0VlY9uBbUlYBh4J1CrFRMbz0sIxZOVGyqodicQ-nRH8vJwHis61ZWU02qbqCf2fWAi2EjSYffWCkPsvQ3wneyv4pzJzwhQ_UP_BjFb21Pk7rz4dBngn1Ajre3RiSwICp0qtQxPVosnlqMKYkEUCR6XC0xSvdoY5eYj-IsOQanrefbCF6B4kGQGB7SuIOfJPWT_cm8qkphPEC6PB1q_KewuAL8IChHLy6jxfU7P7rMZFYytyu1WCBWPd0aBEskz_0r9wfnbxdw3GBO-lU8RaIosnqyjT9lQ3iMAYK56m6ccrmT1FhpJEkwFBNPmO9atZyNTK3qTw3iogZiXNV1vp2oT7kaB9LrKh_PZOR-6AH8u7XvhwmrLAJmDoq6Jq5kFGQvmbTD_J19igkajJI8lifHl9BkerId4R_jxJsMP8MJjjsfYCn2hXTFB2iTgpPhE4Khey7iY7dqbz7LGL58ronIbBBoCJmiTwyOleEPzyaN2lEwhXIM73LY7c3QwCTvKei2hGXtI20STyS87Oww8udRRfZxEcbWUIN-hofOnTG84PvLmpxAdOVf9dONDHkxZBrzd8494f3IcYcKDpafsluP6t_wyA3U6v-bjNd93vkjE_q-rIwtYjf-H7WdRxWRyqMGMi7GN0ZCi22ipsVcUWeaRvRgAYG_Q_34aXb-ufnB3dmKdiZX5oASMQIp-DLbFzbTYtsIuIzThGF_s1Muh_g8uqr9pPIWVF9zmK7DRRDJORzM3Kg3rF_trE0bRMoRdRflgmI0sK5vV2eve211UWRCAWeuGMYwhYCQyOzCt6FUwj69YpFykd2hvU_7NXjVIrUS1mK7SbMQjFXN8FzBBSvH-UN5XkYYs-luFH9Bi0edWfO8EXAb1M15p8LnRrLWXboswfFffB2mMZYQ6z2OBR_B1MD3eVKy9IMj7byvulsVeM1KgUt1kVpkLF1Mbu9Tv7lecGRKYTHfvJjQsgcCi-b0ZrF4pESeNw6_Ih3CUy9mAlCN494OY5XWJIbdJ3wX3Jkq83tfvZd9mt68c-lJuUjCs8oK6koQdhPdsNKSchAkyGWKMxMpQOJaXY2o1TpGHdnHLBKbYHjNC0Qx6uFYZH6ljdkIrxeeAJ59iU-mEwKqzs9QqW4d8_iLgfN-IFfdaZJjvDqoCDJkvJH785QHVOb-sY6WX7ytMQUzPRHwj3zVUGtBKR1eJ20gzQ6PC4k-pq5NC24ZDViX6E6qL3Gqca9a8Ml2_WOtokGG_pnFjOtoJwDlp85PxCgTXHw3PDPYFAt1KAUizRT-Vr7y0ZRTljYv9nv_jFxL6aSuLrcO6LDZejlamFoIOiYEwCNJTYSPrvkTG70vZ4YLcEBb8qf__NQkbpfoJXu__Cf12iSoZvgB2DB7PfGcXC3VeEB993kCp4tBPHcFcXM_VVVpJeOS6mHMpm617H5WPSrRvIbhkHzBb9-W4mr1e-skn2t7TCWdsmCma_oel0M-hc3zC2QowtmSj-oCZY6uqacvCOXPeOOt6RYXQHicIjKD0jYU3qx0RQ3UuEyskV63lp_D77brNzIcx60qPzylf0zEC6t",
  "id": "rs_02fbb14ec849eeea016ab4200dcc8487d0abf7ec3071370d2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The blue pen is visibly held along the right gripper’s jaw axis and extends into the right basket. I’ll lower it into the basket before letting go.\"}",
  "call_id": "call_wGvT5nA0uMeTkxa74Ngc0hF4",
  "id": "fc_02fbb14ec849eeea016ab4200ec2d887d09e40008b4d31a433",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wGvT5nA0uMeTkxa74Ngc0hF4",
  "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]: [-0.091, 1.1728, 1.0649, -0.9272, -0.1333, -0.0265, 0.9982, 0.524, 1.7393, 1.1225, -0.2058, 0.384, 0.2691, 0.14]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1779 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.4279 right_y=0.175 right_z=0.1082 right_yaw=0.0415 right_pitch=-0.1875 right_roll=-0.0754 right_gripper=0.14\nstate[joint_eff]: [-0.1162, -3.6034, 6.4752, 1.1844, -0.1148, -0.0464, -0.0073, -0.0752, -7.0769, 5.8188, 1.4237, 0.1783, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d19257ea31106991d2c07c3140c7c4ba1e0f6a11d4fa2427e7bdc62a833188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feaea0950f8c1d7ac07fad778757a7e4d04d3cbaf652894017044f9a4f95e854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ba94db23e77c0610f06cd379cb1da6d395789ff2205ec7595f57eb2763eee1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 8.63 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9276, -0.1333, -0.0265, 0.9982, 1.0523, 1.7973, 0.6846, 0.1059, 0.7513, 0.7517, 0.1349]\nstate[eef_state]: left_x=0.294 left_y=0.0004 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.274 right_y=0.2442 right_z=0.0078 right_yaw=0.0313 right_pitch=-0.1048 right_roll=-0.0461 right_gripper=0.1349\nstate[joint_eff]: [-0.0752, -3.6444, 6.4889, 1.1893, -0.1197, -0.022, -0.0122, -0.1573, -8.3077, 5.2308, 0.9158, 0.4371, 0.0024, 0.989]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9283, -0.1333, -0.0265, 0.9982, 0.527, 1.6802, 1.3384, -0.45, 0.3893, 0.2859, 0.14]\nstate[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1778 left_yaw=0.0324 left_pitch=-0.4666 left_roll=0.1206 left_gripper=0.9982 right_x=0.4329 right_y=0.1785 right_z=0.1828 right_yaw=0.0337 right_pitch=-0.1579 right_roll=-0.0515 right_gripper=0.14\nstate[joint_eff]: [-0.212, -3.6034, 6.5026, 1.2234, -0.0952, -0.0269, -0.0073, -0.4581, -8.1162, 9.7026, 1.5556, 0.1734, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9272, -0.1333, -0.0265, 0.9982, 0.524, 1.7393, 1.1225, -0.2058, 0.384, 0.2691, 0.14]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1779 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.4279 right_y=0.175 right_z=0.1082 right_yaw=0.0415 right_pitch=-0.1875 right_roll=-0.0754 right_gripper=0.14\nstate[joint_eff]: [-0.1162, -3.6034, 6.4752, 1.1844, -0.1148, -0.0464, -0.0073, -0.0752, -7.0769, 5.8188, 1.4237, 0.1783, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d19257ea31106991d2c07c3140c7c4ba1e0f6a11d4fa2427e7bdc62a833188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feaea0950f8c1d7ac07fad778757a7e4d04d3cbaf652894017044f9a4f95e854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ba94db23e77c0610f06cd379cb1da6d395789ff2205ec7595f57eb2763eee1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue pen’s forward end is now down inside the right basket. I’ll open the right jaws to leave it there.\"}",
  "call_id": "call_VLKcokJ6MVcRlnQmqLeszONp",
  "id": "fc_02fbb14ec849eeea016ab42012714487d0b90aa0100dfd48e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VLKcokJ6MVcRlnQmqLeszONp",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 0.5228, 1.7447, 1.1172, -0.1921, 0.3805, 0.2668, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4651 left_roll=0.1204 left_gripper=0.9982 right_x=0.4287 right_y=0.1755 right_z=0.1058 right_yaw=0.0446 right_pitch=-0.1861 right_roll=-0.0734 right_gripper=0.9948\nstate[joint_eff]: [0.0479, -3.535, 6.6393, 1.1893, -0.0806, -0.0513, -0.0122, -0.2803, -9.2239, 6.8855, 1.3211, 0.1343, 0.0464, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3a12776f6768de110eb3101e640bee977bc47b70cbca3547a883f80fda585a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd09cd855ca24e4b1f278147b79bb14b901c4bcdfc6850ba2dd499b31413cd0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0735441ca0d6d9e169e456496ba4734bde0d1bdad83885b7defd954bd32e8d4b",
      "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 25 attempt 0 · /responses · status 200 · 7.651 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 103 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1725, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 1.0523, 1.4921, 1.0363, -0.5468, 0.73, 0.7483, 0.14]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.1781 left_yaw=0.0323 left_pitch=-0.4647 left_roll=0.1203 left_gripper=0.9982 right_x=0.2747 right_y=0.251 right_z=0.1513 right_yaw=0.046 right_pitch=-0.118 right_roll=-0.0356 right_gripper=0.14\nstate[joint_eff]: [-0.2256, -3.6171, 6.5436, 1.1795, -0.0659, -0.0562, -0.0122, -0.1846, -8.1162, 8.6359, 0.9158, 0.5641, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9272, -0.1333, -0.0265, 0.9982, 0.524, 1.7393, 1.1225, -0.2058, 0.384, 0.2691, 0.14]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1779 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.4279 right_y=0.175 right_z=0.1082 right_yaw=0.0415 right_pitch=-0.1875 right_roll=-0.0754 right_gripper=0.14\nstate[joint_eff]: [-0.1162, -3.6034, 6.4752, 1.1844, -0.1148, -0.0464, -0.0073, -0.0752, -7.0769, 5.8188, 1.4237, 0.1783, 0.1343, 1.033]",
      "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]: [-0.091, 1.1728, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 0.5228, 1.7447, 1.1172, -0.1921, 0.3805, 0.2668, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4651 left_roll=0.1204 left_gripper=0.9982 right_x=0.4287 right_y=0.1755 right_z=0.1058 right_yaw=0.0446 right_pitch=-0.1861 right_roll=-0.0734 right_gripper=0.9948\nstate[joint_eff]: [0.0479, -3.535, 6.6393, 1.1893, -0.0806, -0.0513, -0.0122, -0.2803, -9.2239, 6.8855, 1.3211, 0.1343, 0.0464, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3a12776f6768de110eb3101e640bee977bc47b70cbca3547a883f80fda585a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd09cd855ca24e4b1f278147b79bb14b901c4bcdfc6850ba2dd499b31413cd0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0735441ca0d6d9e169e456496ba4734bde0d1bdad83885b7defd954bd32e8d4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAcKDHZFdtBfNm554WeS9KRkroQMhecShHm9suEW8ajZiGV6-6QYHDDhfigLXRScStfztQ512Gp9KeGTbqxZzexA5KW02vRaytQ8WGXSwn5HP4Hg7_gLs8cqPC9oJlzrgnHI917fSHiMgkfykX7Sm_1wqZjlTcmZDot5kh4n8youg1UVCaIzHFY6_PsYdCJFSOL81tXZlWUfU9YfJ2jrMCFKnB_M8-KTtTmZGjVoHz1uia0UbfJfivH-VclfRV58xlbuuBpptK1NZvWXJ6HUQUMElDwpdmtJ-HpCPm6fTdEXoh-D_GvMjlafWR9T50eEFa8OuQdb8rq_D0ISBr_ljTdW_ebDnrtdqRfNIBxLzi6B-cfFMQi-wzZVgPKevupF9ZROMyWbsQqm2vTLos3cOV_Dyhl7FprLB1cQJ6odv7RZOLgJJgiJE1mK-91B1HOxLKbSiaxTXQdixWylSqYSWaPaGT0evZJ6urTXhghLHHG_IjNXMDxvSS-u9cJxxxAjbEq1jYiFm1BE6ns4AAJxU97bdHk33vYlaL2b2Hb-Tli8ZzyjGObM_BjFkAV_eBVBOs9QNmRPqTLwQ6Z5JZOlg0SPr1C5INx4GmR9-Ygv1tyqBEsKk3JuvTg2ucJNaoRSh-BPeogFr581CzLLrbREaI-Ed51iM0nu-KnFIjGLbVv5Q5p6HH0PROm3L_qq8qu0XpPFpk4CuWNMej7dq06WnR09iSqr10KAPEyH-g_PuSuDCYocsv34QMbjmWv8GRVETFwjCFu0drvAdovyqLHd2bo-DVzj_Aj6-hL9Tupxq4WIzr4VPjpV43d0OJnQSVLtwk4hSa83UdLeICYoN89O22woKc-tTZOAxHXXCL_cLXcS8ocJae1rBa1jo2D831VASZiA2T9jHpahiYbjyZmlhMhOpvaW2bqCIu3P04EHuu7P5IzpmyqbwPvms95cItvhCC_PQ6JZKwcWJ_vTGecKxjR6WrXij4waqWBIZgRCm9cFLeZH5ZRmr1jOXnej8k4hNMeCSQ5AbLgk5Fmqn2PxBUS5KRZDXr1debds_Q1xjzXG5ZNErxibuqJ7QGG45jS1ssmtHMJQUrbzSrQc5Q6Dr29wRTsgw3Gj67e5dOmgm_pR2gk_iufivmPW_ZBUkWSU6fTSiT-o1ykFByIMIperW3hO7sGsRwEq__kmjAq5QgNZ_tiNAlsFkoP6awIUAT7sy13732DTOvutLXkgaiNVB14wU8W5_dNaKp00v0krinSccR_ML_p2IdsSJKsQPoNF4BkLmCG-LQaFwUUl7CI-wnPxjZdlLmMLHOC_NAkfOOdJE6_dAm5Icx2P1PRuvRKlqjZ5Rm8LhjEtkvqzegpxsw77fH1c3f-hWqXNs4_Rfw6NaXfS0XoMuieNgJNLOMyc2bfNpyIQfjRELrfj6j4BUPxJtOdHLKA7-OzrhAE8_gcsUt6IvgBCrTcGojjAdh8viMTTXXyDnZxESFHOei8N5kz1lUR1GKn5MtXXHF0bKErjVs8kBWwTHyiAOsq-RXphed7Ot_pbM9DJnBxMCJbpdgzenerCpflDZqZMMDf6XwOfgNvW7SSobDOaC8DE0Gra9vt_DTYlNOgEe3lp0DGEipkIKOsTelNarUecKMqMWneVVABU8sfRuD5zf9VhmDK4VYZFhTxUCeQCnh82iOa4Y6rQ5apBEkOn3tHYlHCI5ifkLuqXzcgJ2fppq-jXtKONidCWbkLuvaf7fs9FUe-3zmk4y5fYTXck4TpItdLkbATTjqpGCXR6LM4lNblLFnB-pNAuJTj2tOWrK3uTmvI0Ag5oyUxrtdiw5MBgnt8aynvZHN_Bd9df9bAHb_u29crmN9iDPbawxbxU2EBZT5sWxqMe4LlJ6aGxcPO6OwA0cqi9PiiADOPEPvIeQNz_D_Cu7EQwp6QKkTNFNi_BYJ0tiH7qiUaa41KLwef0WtUMELB96DoYsDQSawEmdSMwlPUYuR30zdncppTZqa3uGVIezyAdiU7NWIIAGK8BLE3cqDPsPjrkiE2mMCpAkATLV21aSlPLjoiboKg4tMEFE39Tt3d96_meh8ObMhuMsEiQMEBrBDeIHgBnGhBN2BAk63VtjXyqcctC93T-tkOrM_ovQtpVFRZskWHTAL1B1NfPhZVE7bpG8q6n8GJLf29lrfcLtPUvidHcNQ3KNZPpwngbyyDdUmQb2lNTFPzfuKzC5f8kk_Bv_GJUNtBcm0wCvDfv7ZOZOI936e2kFUIXJikqM509k1LMny6dSNwemFSwQhL3kwIvOFu06kPbREwyyKcpXiHKCyKrktKtodLnk0MNmLowvtwOKiXnqGtGPctjrogXEpHrm0UlOSN4DiC-k-GM8P4QzKXVMftShKj2EgB3RHCJo3hhWHM4H2NHcT1ZNvsS9292JtIREcp27gfQVhZoOX1sq-S21R5i1MIY0J7FdUANQ0dJDErE0ShY6IVyOh91D6sW00kb-zqZlcXPvDNYAYlPReqohw7SKn54M8dqYaJiZLJuTi_c-Es3ezNkKvuqheLqiRAz9LJoWY8fv_AldeMcF7U9H-YkErrI8yqjVcMcbufkA91bnX1c7XuUd8MjX_zc-crDXG2Plw8XyhLmUFQkMnCB9SFPHwvzhmKXQj-hs7hPJmQgEKoOc1PeKoJVWd8aJbGjsRT8TwC2-WrUO5gpTuYLCF4OafbgYCqZyr326y2oC3JKG4ZRbI_COgRYZpTlf_QFuO0M8bxJQqbAukfLRc0np2CSqFzV4i7lKDRqzG5DlT-DYuSitGDHCccUmug656wgH650VS_jpONEBPaTPycZysCwyEF6OxxjDIIVp4mt3hqE5Lbe8UdrHhYDVR8pa-vPNmf0ClTIW3fknD6cI4aUiSrbYX7lCasJ1pdHqweIwkTClCzS6u5DYwwANXoh1oBoevTEVqLBnIZd4XS9ZYV0LuGNiDHn9SZ4QRRmCpPlQMzJHb5OsK5Ty15k79_vEc2AmTH4dHC4DynCuQep5c-cKxp6BAnFarsKrCM7ERFh9PGx5sa7CQRomOUnJmfYOwmK0C7ot0eqW987LadxnFowiJ7_Fyo5DI0mAn56G2KBrB9hne1kmgbLs1KTQOAxP8E_kfa3Iit_HnZklN1KJxpSnslMYW0eoiZKhfsWGJBanTQ9ZisIoF54iUJG2R1qIK04saRrLMw618dXjKz0EHe1C2rpnt1B3i0CGZ4jldau8CEETjZ2GQLKNV8EA0HhRK1X8qaiPUPoKA1sXjSI508p_NtGIRhxDQ6pm3awM9V2HxvATRuwf0g6gAOz2FEbZQwespV5QzPMBgmh9EOm2IQB4p-VGeCyt3cA2BKHc-uizXzXGUCb4-Tcwbtp4GfIqe8mUylxacdMuPdZCAbTlWdvurRA2KS4ZzDD0ff9PPc2RYonO8M4eWyiK4S-6U4aalmXeXEZN6gs-wFKptAPX9cFWyMkHXr3htzawLlJLY0dFNyZpV7D8mNvy01dYt2isAKs9Lj9XhG0tIiGt5fMOfMe96QPr5f_kEMn8thv5j0_DsYHSQWh60CZXDBy6pYBEyFGAl1JII4QfrT97rhnH3UEkNYz4bfC8dgoY-Nsr-UGdyjsXfY3urfcvTkZxWuI4G71viy7aFdWmjbSCmqIPyE6tOIyM5w4b0qyXk2Y7kWCeedwuHWIcncRV0MvReC8xged0tLna3pSsRBoVfVIkmR826H2VtySYRYGP--kg==",
  "id": "rs_02fbb14ec849eeea016ab420150d9087d090240912adc05116",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAcMhRU7rDkoh_FfNZSEkLgWanVWVMTvbDBfZYGkdyi4PNkNYRtTIdIxMFo0bDYnbUp-Hk-638fEySnQP7yty9oDOBYRs99pEi3ahPt23lwFu_L_9Z1r0bMtMfL19W9u6mY4XOY402RsfUspW5wYcub94sqdQQJDjfKsOW6cthW6a7rug0SWsEbv0cyS-eb_ftfeGiEmgP6bHUPWfj7rFXUSIFHKMfVKZYzejS7Pk1JLERcld0uclY60cPDpxWJ9LUIrJNAhQcp_KQGn8yf5sCbtAa6Db1TaWk9zNXePCsW_SqRjYBAKdwzQmkFepexG5tDeiqPkdwmRW138ntCtLqpjEuGUv2nWvMr8hlfAdwoo_1YwKxDsRri43dRyTl98tddBhckK94Kk24bC_Na6-INVGClhdLFyNLgGLG0QfSd_dtd-0Ty9SX3p4vlYnd1GM__WFhC9B4KDB-hP8c4_OS5piASHMN5AkuYMRU28HvzfF9dvJHu8-hqpwCSS8G2z09YV2bDTji6DjAgJb96l-hZRtz_d8eQqnuKtEsWkDdfVZJ_VvurArmtWW9tTKCU4m_kV-kjQ0WLrUhgpeE2mIG84V4MjEc3hTnGqxlsrgf9_2P42HZWdXdxqwj_4vrvc9zuad5C7q0Vf_hy2n0Q5gkKdR7tleMJQtOuOndvVIwiuipHuXFrxKzeHcKDrH50Zf-i5XglEm--DncR5dyqL1uXHYk9yqdjlje60ob3NhEDEYfPjvGLTL6xoZ_05Z4-TgPfzINCAk32BxI5BqMyWPZY2NoemXtXnISfhcJykNDsUgXR8vwk6ilf3WNLoDIPzdNo-a3_fiXfhKKSB5JMoPDm7wWc-zv8TjNaO_x2jLi0zv52gK2XKd613LS-Zaub__pVMJC0t6CiQfNa9ey5PPeOkbHckHMbmC5rwMT_j-2n4hRpoLuuAKL7rxHsBBkPjQIlUCa6SJ_lSKWi8ZzlftoSkjvPNoSC0JUZUY1CuHRiYBbTUDUiAnOgLkdsKxE3qhluEshLHap3e7Fe_OduWBz3T9062KAPNy6Jdlcd9N5JTjsyaYqD6LIyXiCHXvwBcMDrBryEzRhUvI8pDfcHtq-RNnCht01eDRtkVduOyKIOnVXUXeNKEaVbKF8oLgwBgI2SHQwOIk21Rq7OBtTSv1Zj1aE-1nHNbMsgjVJ5EC-slPa-y8OL8OnEiY0ZSVu-k5rRwTlT1nuqyedHZq4Q74taDLLUrEAx7hqLt3QDLINBZQ4LXiw0I1uTcyQMO1RZmEbaVEokg1KHDLQX4eQ74dC-TfDTtHP2PZy2KmciWPb1TGqxLMPh23x6Edu7l6zeKxMlVjO5tNEcjMk2WOpmW4VFnmLHHTjJ3aS1XFIqPELPPHSVqi61tU46BfwD_bH_6WslXaRuaHarJIRCa2xd434eQE6RDX4n6elc78oNiLQiHjghy7hPKmUSFWRtNOz4KUl4nrTbqwwo_IzAAhIfFTpoIH8X8JlpTPpIX1zuJiSOASGLHLNTAGgsgPgjF3yoLmbLPeiKQgXkL5aYeLaB_WVOm8cEgS7vw7hIAlryPjHKPmzokaOl-S7UNIVlbmeBZXiECsC-Ye0IlAlsm4sRx2GdZn865059E7NWq0I_KskBckEA8Wjvrk-r-Wcab-GV2Ay5u39sxqCrsWydOb8MoBchgE6vCKia1MNI1Zsb8Kb5n7XtIVzIaop854SnapxoLov_9LIdwFtQEtG3E9fJ-OpILwndfdKhTdkkbYbmm2iyNY_JDNU3cA3uH824oG4CcrYyt_2g-kZWl1znjeT8UIRUZ-5JidDj4_OV-8R3s61-TJh4AYrm5dRP1-coTJfIeLt24wxrSYcokLBTGtD-MVdC36rFi6D9LTAfarW3udoj4moP39QiDdkDmK5VoGkrLJgjVYgXbCoEIeg7lkT3hkm2GiQwU0ZQjFfvElnO67hTXV2V2SlDoox9K7HII58TIKTSMZ5FZGohPUuVR9kJ60f__jOYN2E40Hx-HPt_qZexX71Sx3c2ftEQZpMj3nqbDVsYnKFZX5h__hPDGwhamCEmzzoUXd3Nj8jVS2hrdo6ImEMW1s7EFNsJ8uI684DiIV-xLBxUEnlXV-Cr-n61n3wczcIDxmb-1oe3LTgV-Lh4x19d6onvDVItNbYkeegpfxGukp3GIRoZPDHE3gL47OAPJ-wV7Cs5CfRu0MLIcDwBzgE=",
  "id": "rs_02fbb14ec849eeea016ab4201989bc87d0976235072de52270",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.27,\"left_y\":-0.05,\"left_z\":0.025},\"note\":\"The blue pen has been released inside the right basket. The yellow pen lies between the gray and brown plush toys on the left, so I’ll park the right arm and lower the left jaws around the yellow pen.\"}",
  "call_id": "call_oS5rqWvZikRcZui1mC6f9XYE",
  "id": "fc_02fbb14ec849eeea016ab4201b970087d0a1cd9f6bc7851dec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oS5rqWvZikRcZui1mC6f9XYE",
  "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]: [-0.3641, 1.24, 0.5236, -0.3496, -0.2398, -0.2565, 0.9982, 0.009, 0.9611, 0.8085, -0.5591, 0.046, -0.0692, 0.9962]\nstate[eef_state]: left_x=0.2734 left_y=-0.0555 left_z=0.0346 left_yaw=-0.0032 left_pitch=-0.4588 left_roll=0.0951 left_gripper=0.9982 right_x=0.3069 right_y=-0.0018 right_z=0.1896 right_yaw=-0.0016 right_pitch=-0.1509 right_roll=-0.073 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -2.4957, 4.9026, 0.7741, -0.4713, -0.0904, -0.0073, -0.2667, -2.5915, 6.7624, 1.6484, -0.1538, -0.022, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da885fa0a9e4267f909567752c5496ef2eae151ba7b3cb4bd4abc0c3956a4499",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a8b0c445f5cda488228fffcb35ac618946f4e5375f6a8ede61b091957097c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4473e056dd9b9a32746d1efdc4036b80da3772f9e334894e80c62aa4a46e07a4",
      "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 26 attempt 0 · /responses · status 200 · 5.692 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 103 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9283, -0.1333, -0.0265, 0.9982, 0.527, 1.6802, 1.3384, -0.45, 0.3893, 0.2859, 0.14]\nstate[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1778 left_yaw=0.0324 left_pitch=-0.4666 left_roll=0.1206 left_gripper=0.9982 right_x=0.4329 right_y=0.1785 right_z=0.1828 right_yaw=0.0337 right_pitch=-0.1579 right_roll=-0.0515 right_gripper=0.14\nstate[joint_eff]: [-0.212, -3.6034, 6.5026, 1.2234, -0.0952, -0.0269, -0.0073, -0.4581, -8.1162, 9.7026, 1.5556, 0.1734, -0.0366, 1.0379]",
      "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]: [-0.091, 1.1728, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 0.5228, 1.7447, 1.1172, -0.1921, 0.3805, 0.2668, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4651 left_roll=0.1204 left_gripper=0.9982 right_x=0.4287 right_y=0.1755 right_z=0.1058 right_yaw=0.0446 right_pitch=-0.1861 right_roll=-0.0734 right_gripper=0.9948\nstate[joint_eff]: [0.0479, -3.535, 6.6393, 1.1893, -0.0806, -0.0513, -0.0122, -0.2803, -9.2239, 6.8855, 1.3211, 0.1343, 0.0464, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3641, 1.24, 0.5236, -0.3496, -0.2398, -0.2565, 0.9982, 0.009, 0.9611, 0.8085, -0.5591, 0.046, -0.0692, 0.9962]\nstate[eef_state]: left_x=0.2734 left_y=-0.0555 left_z=0.0346 left_yaw=-0.0032 left_pitch=-0.4588 left_roll=0.0951 left_gripper=0.9982 right_x=0.3069 right_y=-0.0018 right_z=0.1896 right_yaw=-0.0016 right_pitch=-0.1509 right_roll=-0.073 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -2.4957, 4.9026, 0.7741, -0.4713, -0.0904, -0.0073, -0.2667, -2.5915, 6.7624, 1.6484, -0.1538, -0.022, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da885fa0a9e4267f909567752c5496ef2eae151ba7b3cb4bd4abc0c3956a4499",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a8b0c445f5cda488228fffcb35ac618946f4e5375f6a8ede61b091957097c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4473e056dd9b9a32746d1efdc4036b80da3772f9e334894e80c62aa4a46e07a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAl-GkSeHHVl5J3yUdUSHsr5-Bz-M374E4l_aWNDEWNt2deJPrKkCvaq72o-u1toLIfBhnianvqOCd_lBE0MUWYSyfGGPTbA6YIvfLCIU5S4GA7rNg7L-TysN7taXUoKO-9rq7c6TnoQ4UigIlleXzk6qImOlx22LAiM_-PunFw5N2ZDyTcEovuoGv5_G3WXGYMTtx8deFlCK7a6_i828byLIE0VclLs3hv8yLn_L3F0aPn8qH2XBVnkqpFZm5RuFFOLvUL0T2X33P_b8cnaEOMpaC652WQiIIRYtwcVa4hmh_-vcHPkM8RCSwaI5A8V3_sX3su69nPhRoaow5qmvuPJXk_OaExs1Fu78h8DdESV26i9m68M8XZ1pGzyWNbgDOahP4yanBOwmKegXudUIpdhpkBmGGGQGaYVy5XSi3rN9tjZ5-HnphnXvIJnMoyik-sFc7Q5zLJdZnTZX75VEn6c1KKAzeN48IH-iWzWsfcEQz0mBjB72ue_fzc7nA-ZGpAg6WkIjYx4jFmlQg8VjgZThWsnT2NfaoEAYK3qzKxBitqAGmKjD8QDU1IfcUMpVNFOmBE1D6_ArpJ4Dqy25HAS1Sbeg-krt0CZ0JWHMxtUPH4wTXeaZ7OuQsd4T17GhJ14nefdFjGNlvUrq_9R83MPDOmhUBJ4w68_vZc-kNx2khdI5DCEY8_6QmIA1GBCD5_ADuU7DZ_NTF1gcnhJdCkA0TQmfOGe0NAHaaWzAPt_3fIIsp_QAXM-Z5QA5xgurimIGudCFymPaFzGb8JeB7FD1tU65gqk08YX3n55VbLVaqzOZK_zs4lnHqifBj5YgReJOeEjbbk0ffDOKhGPJ_bC_e9lS24IeXuAISQJHg1Ecx-E6HKovfUeL-4-mXpCtyiuWzWVsJpsAqDjW3xzqCsBeNfSHsehtPpDEBQVIJgnfTakvCj54MB0IZcLo0Y9hQKb-En6Oz6Ma9o2PHi_9lQ9UNLmp91w8jW9pJEZW-FPCfCL-B4cPj0sWLah0iUUf3oTZBay3NO4dcaDv2oEQIBycTz8_EH99nT93esHnUOBPv4rfxXuK7eK016Sz2PPdkPlZriQth_rzvA88TWS-irW4M19KG0iVLa4BisxryNviIdUsbbJedjC36fReNQ7Wn1VJmiekjJQdZXfqoiikJbzAMbhqs0AUqFZXBteaCgjOiQwJ5oZqlryNzwu6IDI35WuUZ4LKcRIkT33sfpArXZmJsYEBkFj3zkDrIta1eKdxpLLi-sleZzl_70tmWwU1XRZkRA2aP5uwDwCv35WQGtNCgmMGqtjmm6UqllNaqBi2UFHTzeCEk3wuWvfKVEfDmeoF3BedhR6sRKLJHM7yyyT54jbfc9V_cNaSS9jJyHVqrQPgfb2e18GNMwJl2s2Wmocz_cbmaXfnuUUUFnLZQXtWg4c5KT4rJQlnTrCHTO9ebCo5yNeGE71-MXzSttYcfI3vokAf6t7LtTivm7ABTGkmyDy8PPTq6GhfKrBbs3s6UhLWQ_URVr5JsNTUeauQuM7TkxNiymBTiTKN96I_FD_D9Ve3mxA6-ux0Bzbox_zMe3ZUgpKLSZ08V4oFloRjLidZrloOVgibPl6zHaXI36oZRr-vr6tMR8WGNSVHeDTLtWTHMjtUnpDp-SbNbi2To4JjawT2z_XkZdNlLEZay9tVYGq9Nxanwhfp5ZiP3wfwlZSe_VYZ1s6eaVR0q4EijUFtexhr2g4N_TLk5EY2k3MkOdwBGXUZMb3MZhnGVd_95Ny6oI1IWOZaAsYhhhyLnvIgjD8jIrtTAiCaNS5FqviT_mXgNzawvmIGPUiMZXIMA5MVoCBmk1nj51Ygzd2Inchxh4z0BsPI0UuXX30L41_8SG6ljqJgLmYRUpopr6ayahLhAdFZlQLQYtoBUZj5hrmRL-v9XDnTBTOSRj-CBNQCc9Jt8_7J7HFkQkNHqJg8HYx3T9rWBtCSootItmfqT30inIRmsU2blEfKtooqqfT4Lxxdr5OAYlQzdlnuCoifN4I8hD4mPP6ueLwuo_nHv5Z2EGfDfrXdI6ki_wouMMY1ijHxogFqL43tZuhLkYWCbNShECjltw2_KAPL1e7p1ygUZ1-ov9kqA6mehe3gFFv0xghOrBBDPzEXpIS6LvJhUiU-4leZmv6kPP7o-fIlwaK-MSIzhG7YZJ4BinSMf4htgCBZYVayocZUSoIL-HYN762eVJKI5y3Z5yKuR7SCCEniU7YsXfRyBd8jtcbMw4DfvRaraBo8uyEKH04MfUFgmZaGpJ5kT6KdPlrT_I4eVBjIwzyrtHdSO4-5UtqOzIfX8qcloN8tU-N2sKkKZOljfrhQk9uFNYhuo35e2QLCjkESakt32P-Fka3Du-E4zWinlfIAwbeTcM2YZr1cciDVSuCIojOxLZERIX5eDMEHJ8THu_s8e4N4Bxplq4Mu0Nxs3Yv-c9Zh0eK91AwKYKV65NvLBI20xVcsJ8qqshdqGoBnM_F2yuE-95Z9Qco4SUKFjh4N01zDu_VHMqt8iykJf8pkXfcyXFZCioMFr8IRK_SAz1Ree9JklmfSt5HLo8Mg8tVdEaHmTljOv20ILxfuGNIUd6oeTCoyXyjZ7_4xDEK42knSsrhKGCzbkGVRtAQ97uGUZXsjDzf6K6K7iSAqNgOqq1fevrtX6DqIPL3SmukEElrl_0-q0hCX-XSq4DXuc7WG0xzfIPI7AaaQXvh93_s3bTp5TL4cQLncCwNlAfgFfv4hPtBULl-abMSCKFCNGdJnkwjwDbFRDoYaWrt49LiKcUMjnG-xYoLeAUmCAy93tTs4wUh-NHEcjmeiq_0xHCJ8dIywLVwNI140lCqKdw6QT6tfFZgXEplfMtDyiY8y6ggGhfDCAcqczpgUlAQ5RsQloYXm6yMCFMUw6yLYMXTAJh-VkNK59SsshJuTNSBwfSRTNSdNczHra-Cr4e4vZkYldJz7cU-zbtmoQyt89R3RYPMzqQpidDv7GVkgmija5sIcGtdL9kx93ECaPkJJ95TgV35Tynon6AQRrG_1OZFWbSrOViYsmYfh1yu5ifwS2OlWgfom44jmaTzitszIrKMrjt2dKqeUSdd8lnVNdpjwPLba5kVO1eWP9u3U9Cyys3_5ZvnHpFUEPtDWkfeB09-XAsx3zpTq6LjFCJO6cHnLtxMcjMOD4QDlo930u6NlYeY_xNk-vhcwDwj7d2tTtnpiXTL3BRGCq9ETodOhQSKiPCdHH1kxWfeT-LlJ7K0yD9P6M1N9MUB1m7COZsCuevBKlMha8LM_l5q1OjVFgSJ1Rpahb0CWuJ3PSS1-dLtHMio6C_kH7lxAOE79rbsL86SceWBCXHPSbMvZM0aIxK4wG0ECY53nSPnC2Z3bs8STZEh7cCYN71E1ARKhAYi6R70F1Cd6kNW6XIVcjcG6NZ4VQWr-NBJh6f44kH1yYwFCaMGhyEY-pk7-x3q6EuVBlCLUz16A8FHCiKPh17O4yXxYxw-ooZa6fF80kQw-xh8HcjOxvF1UmxiIA9ryC935MvwoMYJmb-gNuSuAWiGyMd2IcmQEddskrgIKzBkoZCyEm3ZyECENIIzhK6khidf7GUn4zrS8c6mVteUewNfb9xwoRULom_GphmVsBT9Vlz8fJKVIo_n-os_ZNpmPsOisR5sulGqc_KWydb8b7bZ0o=",
  "id": "rs_02fbb14ec849eeea016ab4201ee57887d0968d11dcd32c5fe0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAl86gk6O72g2bmrE50-eRKknLaRHtKgaoSAaDwt-SbOdu_z9iF6EJZEOnVeh0rRd7nxk1rshVuwLF_jPyHbu-Hr_kZOC_CZPBMjIFeO_qYHuV-Y_0aqxN2ZXk57yUJ8ZqpeqCUCgcLymEV2Jr1PB3G-yAP4IJTNEeci1x6MC5HZbgXSqZexIDJ0wsr3eQaT9YWNAtvRBDtzO7r9RsEzNIUWJKGWT8Iy8jmDDapQGBQb5bpMFAdjYfGYFDqJ8Ze-YmQ9vQCvYZBcfOtFJYpQME_ZZRR_aJ7HIloseAwaEe8TCP4fWkCjzPUNWC8Dpn6-luc2Hp4WubpHYMmscGsJ6fhilii9E4vSfOg1JDQvOsG-_bGliy2OtDNDulyla4qqdwz9saWRh2ZdzUhYHNsVHI6v9QVori2YXpzVZJVeRpM7sHqn4LEQM0Tw9GR43nDU7CR2IBmzjFdsjk1cryJrBh4M701blCSVAMeWWfv41lDUYrI1CUjPHU3Y7i0i4KlyfriE9O5lj5n2nYkdrH9Wv-eB-LMlbeEtno1RvjMjrGevRr5yeX5RWFuryEMa7yW-SZDFr8K4beo3d6t8FCAeesxXmfRykIamZDm8mw8RD44UwwfM8_sykRwtYvRUxBTiuUY41bRL2ypq7uurWfgu9uXHKg_6pvOZZ2_v3PR_4A0m7vfOW-C7iTLwxAkIqBVO_NUoxrfdEGgdwIW3_PP2C9ltVMdnMr8bYVWyjUs-RNAYwvbeisPD_IagVn9SpYzy4iteOgqI62YYAfym8Vs7ym6xMD8jv3RuafyJHMoZ4sCfNKH-HLwScLrCFnhJGfdLenes_lDJW6hXHNKZqIKTIJDe3GIPWa1L3ViZ0YDzyQkzrBR084GGAwU92JO0PyA2GDuFcdsaQZBabK5GTg5fuiKly1R7fjDebB1CURVCMYFzIQdMzJOI4o9D4K9kgjS4Al8ccCbqFxUoFYLijpHrbUABvkKt2kwbIBW6WK5wVqzYdNDfxSsqfbaVr4mYPCLexm_QCfpk5Ise566BJj9I-00epqXHcrTqCAqqb6ygM9tGl8brZUQi7JrSO8o1FAUHRjaiw_EO9-t0vZHbYhxNCplxsN4Xt7bzHn4CdbZPExb3Bd6lMl17HRTPBe3xBWav3C8xZJ7JkqpNNBYNH_w5NvdfIAbhrt9GCtlFsXp2im9CEiajO6OO5RC7D9cdi1_fjtP7AEpQ-XPjM6hIxkQ7YluU9iPOFI40Tnc0uUjBdDJBF6mk8ISIAdi9z-aOl824YTvaoYeGPR0gm57Slq_AoluzxkDR4z10gjn5qZnnhvO1wDg5jJsnNRytTAt42HrI_7rucshYp13HGaHG0A9wL-DRu94EuCP4VRoh30oRGZQ8EbhIab4SHEOGlnwt4gs2pPPNND-g9W5ajMnjfmqyJ5tv0LZTAixLe_sio7ChjiZTpI62dDHk2yNjClmXQwmH_yuv5v8a2m6-QionwPrQ2yfgcVlNwahHg8adbVpf4PCgxoByqtQMaQCuqxkshHXRiZYIA9TgxbXxvuMS5H6EaXzLiSHUOeVPC6KWCn7E2vbBT2ojatV5vF91hwWOooLwnj7HKZMES5jI7gPkha3JFoT9jm93i93UY4ZFh26aIfPQvhyfZ0qa3aEUyisEROXxmYmS8Uru0oQwUEkM95EUgYgLLDDVRM-0a-7Lv7925ibdp72sbp_nMuHZc76fiG9jv5h",
  "id": "rs_02fbb14ec849eeea016ab42023acb087d0b3c54e3d2e74e297",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.005,\"left_gripper\":0.38,\"left_z\":0.012},\"note\":\"At table height the yellow pen is left of the jaw center, and the two plush toys crowd either side. I’ll shift the left hand toward the pen and narrow its jaws before the final grasp so they fit between the toys.\"}",
  "call_id": "call_123ha0umJzFnH1qOiP05nUM9",
  "id": "fc_02fbb14ec849eeea016ab42024d85087d0a51a04e43e94c195",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_123ha0umJzFnH1qOiP05nUM9",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1158, 1.2419, 0.4343, -0.2146, -0.128, -0.07, 0.3851, 0.0074, 0.9649, 0.8085, -0.5785, 0.0368, -0.0864, 0.9963]\nstate[eef_state]: left_x=0.2765 left_y=-0.0058 left_z=0.0171 left_yaw=0.0274 left_pitch=-0.4506 left_roll=0.088 left_gripper=0.3851 right_x=0.3041 right_y=-0.0007 right_z=0.1849 right_yaw=0.014 right_pitch=-0.1748 right_roll=-0.08 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -2.8923, 4.6701, 1.2234, -0.0122, 0.1148, 0.2662, -0.0752, -2.6188, 6.9265, 1.8095, 0.0855, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d940f596ae4472bf5b5b5c53798f8c78a6c995113f3a82e80e6bb048acbf9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d416d2a9e70dc168ea2ca66bdc01081b6a5764bffaa165c12d7097d48b70cf22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04d9c61223b34018a3aeb591be5ca9c8f7799f870962f54d20d6f7573dd5550",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.687 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.091, 1.1728, 1.0649, -0.9272, -0.1333, -0.0265, 0.9982, 0.524, 1.7393, 1.1225, -0.2058, 0.384, 0.2691, 0.14]\nstate[eef_state]: left_x=0.2941 left_y=0.0004 left_z=0.1779 left_yaw=0.0323 left_pitch=-0.4655 left_roll=0.1204 left_gripper=0.9982 right_x=0.4279 right_y=0.175 right_z=0.1082 right_yaw=0.0415 right_pitch=-0.1875 right_roll=-0.0754 right_gripper=0.14\nstate[joint_eff]: [-0.1162, -3.6034, 6.4752, 1.1844, -0.1148, -0.0464, -0.0073, -0.0752, -7.0769, 5.8188, 1.4237, 0.1783, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3641, 1.24, 0.5236, -0.3496, -0.2398, -0.2565, 0.9982, 0.009, 0.9611, 0.8085, -0.5591, 0.046, -0.0692, 0.9962]\nstate[eef_state]: left_x=0.2734 left_y=-0.0555 left_z=0.0346 left_yaw=-0.0032 left_pitch=-0.4588 left_roll=0.0951 left_gripper=0.9982 right_x=0.3069 right_y=-0.0018 right_z=0.1896 right_yaw=-0.0016 right_pitch=-0.1509 right_roll=-0.073 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -2.4957, 4.9026, 0.7741, -0.4713, -0.0904, -0.0073, -0.2667, -2.5915, 6.7624, 1.6484, -0.1538, -0.022, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1158, 1.2419, 0.4343, -0.2146, -0.128, -0.07, 0.3851, 0.0074, 0.9649, 0.8085, -0.5785, 0.0368, -0.0864, 0.9963]\nstate[eef_state]: left_x=0.2765 left_y=-0.0058 left_z=0.0171 left_yaw=0.0274 left_pitch=-0.4506 left_roll=0.088 left_gripper=0.3851 right_x=0.3041 right_y=-0.0007 right_z=0.1849 right_yaw=0.014 right_pitch=-0.1748 right_roll=-0.08 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -2.8923, 4.6701, 1.2234, -0.0122, 0.1148, 0.2662, -0.0752, -2.6188, 6.9265, 1.8095, 0.0855, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d940f596ae4472bf5b5b5c53798f8c78a6c995113f3a82e80e6bb048acbf9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d416d2a9e70dc168ea2ca66bdc01081b6a5764bffaa165c12d7097d48b70cf22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04d9c61223b34018a3aeb591be5ca9c8f7799f870962f54d20d6f7573dd5550",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCArCTHDnZCS31AUc815j2TiyC2ftZgc4tgW3vZGUBv168LfAedUgVlSzj7YvLT2_dSdPwGuZ-Wi1YGgKvp2RVoiipW3SH2KW1ukfSV8j8PV-wrfoqEJwhd51WmypYgCu4oodjv_CQSpU7H9Ykw4R1iHYXGYTvtop--deQKoBcd7pE3uDxjEu5r3hIInSWBhMZoC-sFbwRgqTNrIUSrorMwYjXBcZ5uUde1f3WFm9f1sOOkKE8TWwbUdor603CGuq08P3Gh5vJ6ObzuQv8UCr_QLwU-NefKTDfzSSmVPELUs4RQBRmxaff_0VY3qMRoZRT59mSSdoEkoEHCUDNQjktdKGmAPzBSzITOGP5mPlhY8ih8pSmY7uV2HgRuD9H5lnS0OoVJ_6vn2B-Cw3H19zTolS254WJidhYghL6iX7qB4D5zfFjQffXBfv2LBn6ubZ4-aY0XeJ8QB_qOANX3Funnq3zm688IsXx4arSZaHwQVPGEeF75FC61elxMZmrClXp2W573-3UP6R3EocCgRQu4RznfqsQzay9dcKMLiun01oOeUCmIxIuyFpaQzCK5BME0-qJAe9PhEl77oxzHZYDJMz7ESFztW8Q_wMJck1I593VW5P5CDHX4f9PSUdgx2zhfPX2Nc8UhtM3qWZt8YzvQ_Dwe8SGFeRZmz2nLD_KlAKPcSWkLuY5bix_kI-AxgBxWuEBW9RLtxyBtoZIHQ1xciS4IKnM1AOTlxqhqP2aR4bBBsmwOio_0In5rVa9XSNudBXoSHxhGZuIuZS5Cdibn5dOvSRgE0CfE8WgTnuxutg6-JVe1oO2niLL0H7EQ8iL_6ItsjQ6QmTSYoG543tp6x3JAvtJNz-UgJXNv43gIyXZia66r20E7KUi8v_5hw7iawelIY4CCZLKUPbvd4LbcvSeCJfcn1Jco-dIKqrpAjTIJWucQtYJpOR3_8n4J-dwY1O5IXQK2ECYgHTs47eTuY8c7AsFaw3Ljdo7bf3eIFWKuxP9TWmcnHT2j1ON3Ofd03FgCW31k-UrTg2Pf2IFpEBGfb4Dmf-B4MtZgWuM64c0PAcoXMzMJE1_qQ7ApICxCY3tQbrvoi36QW-ZZurNG6_05w9l7ACV2aNGBmJdLPzUDm4nFscS3yR3Ryclpg-yLGl662u3NK9ShrOXxMSEyVbCWhujIF1JA6Mjng_K712vHuwpAA1ZMpWDe4pVn2ifgUP5YxFOLfN0_PUWzMkFuDjUScI-T1VscRtekKZBbGKkpKISDkLLYuoWEo744WPvcs38qxB6ZMprs_dr23VDYq2-OPL2eQjcjZnwediMsZOF7KoKwHqLeKG2uylBoJodFio9Bw4K_OxYRusXsmTDpxodbL7d3bzEDh7YsPPtCf3E0qW2sgc8oZkOW4F2ouOiQX0AhZXTXhyKdGGqGbbuqjkYpJZA7N-96iyUjj3-W9HV8-y9nGwikP_Z9wBSYccg4AXkhS5AUsk5rAcwPC1zA7-vxU96n7l5GHzUCD7d8VnXhkuxcYTD6ldLGD48TY2Jn5n55xCh7zZGVRJfkirpUmcAyWySJq4jIIGp3OyUK7UeCFekGMjBCn_OyNgJj5ioCB8A48oczTa3STMLXoADIN7ZNexq8z9RMpodMdvqS__Co4eQSNRl04eGSCr7Pyiiep8hlPvgssWvnA8oFOPWa5yXHuQxZZSouHiGRXRPnQyjW85XW2rul1s0sDfkE-nmbiZV8zonLk-LecXnXzExjyqHDciUFsn9WaGgVGyZF_jdnCQJcuP1kSkLeeMg0I0yqYPtoTu-bTNUyRji2-4DvwW7N9J2S-KRBaeAX3KK4qKj8gE6uZQA83fAdch1SwV3OXvmtJzPnVL73QrtwDKE8h6v6wvoHuyQyOLDKW1xSZY8OGCw0bJ2wJMggEhpwqMiIC94TaJMzulj4y4BtYmg6eQ7K6kqdhT42M_poTdK3ZjguahKt-u8Jv4G4iiSBDn1ZeOd9Z8fHlQ3mWyOkrBTfINAJGZUPq7pgeYzClw7c8mfYY8jzToSDn-A3uaOZeovO-VG_oiKEJ1XCS-zOUm9vvsjewQQisTqYIFUjmaGE7dJRrRi0ObbtlICf11bFOk3xLZxttiRpNiZNUb7uiuWzIClPQIj8mox6E2wq56DC_myqVYQNgdswgKh95DUNEK62KbhnWkupYH9DN6ir7LcApgpZPDhycs5wjL4dqdSPBWmBD2Mka6KefZj9-k_mKpoYNVmYAgQsc__G42Sx9QGQtlOYpsf7rxuGNgg_fFJ-SQ0BvVhs47fifpyqtM5Lukp8pDezMeQPLqBaeN_wjCy04GNvt0Jfg3155Cfio_sltG7ABExuAath7Qi8qFj5N6nFjoWznO6QolqxsUxr2y5MWHK0dag6EqQwn3yz31miN-nRJk_a7tLUJDC21WOqy8pENRGuZziXxVfxpG2DF2d31ciTyb0KVWNnqRSZWm1QAq0NLx-K38TjYLrBVIGZh9uLrMO8TDnUOgl0xxkP9hnI4zNiK31-2q__EyE5IaWVMrPS4cVtcRhPTd2B-ISeXhl5bNZnsiFEh8syWbadbbom9dqLw9qn2av2ybuscFvWaxSNEhKEVhRuldjdKoi0-nZHG69iCWlszZCPsVfhMsP-UKqJypEFPFdKjHRUHwv8GiWjZv2XFLPbpcfjmaJi9JhWeOUjT6SxY2Mq7oT6GRhmMBQEFQwGlewn7GRjcn_zA7e3VJZnQ0d3z7BgBe6f2baRSWh7ya2plHRC51LAEWmzT1ivM3jpfG-I6zcmH4kjccT7K8Y5zcgoZ4GCZmLFzyDuddezbkc0qfOpNKQwqriM89yuyuGYnqm5n4apdbvoGn8xX0HRdiBttHqVWOlbtgH_xvwq5z0o6qGwzfMBOf9rnZYnxwBKPOqz5soio1dZnQ5-baMuDMvWNDJVIJdpyCxm8LXq53xpnll8OyxHFkQyp6jgzyyJiEW9NR1d0SjBRrSJP5a5NQNP6ATCyNCKAcIva_5yu8J22WolB7l_DUNhakMyHgF4fuVsf_gT_scwyS1kfsHQnjhrmZFza2tYhz5dn3ZMk3xjTmH4K503hlpMiBDzqtowsP0vd_SbT1D5KRvCHs0g6DLOsMRWlpgp71XReVIYjS4ukWvVQjZ56Qm5I1odwKrjcwkLrsgkOHoOhvzfy9YnRveNq_MefdFsef7DlaF3voAxvPRE5TaGQbHnZD5EugxWMgSOvR-bRagtfWyVF0rxc8lq60joxdeGuQxfJ064hw8jZp79sZvmJ5CjOS8dDdTP-c6IyDapdQXbu_8y5Ed-7rhLATqZ01jwTUQWy",
  "id": "rs_02fbb14ec849eeea016ab420274b9887d0b09be02da5d1bcf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow pen is partly buried between the gray and brown toys, and the narrowed jaws are now alongside the brown toy’s torso rather than cleanly around the pen. I’ll close once to see whether I can remove that obstructing toy first.\"}",
  "call_id": "call_bA4SyjrIiZXf5peWNhFN2mhx",
  "id": "fc_02fbb14ec849eeea016ab4202b356c87d0a5f095f477bb45b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bA4SyjrIiZXf5peWNhFN2mhx",
  "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]: [-0.1135, 1.2419, 0.4263, -0.1932, -0.1268, -0.0643, 0.1039, 0.0071, 0.9649, 0.8085, -0.5793, 0.036, -0.0898, 0.9964]\nstate[eef_state]: left_x=0.2782 left_y=-0.0056 left_z=0.0171 left_yaw=0.0244 left_pitch=-0.4378 left_roll=0.0883 left_gripper=0.1039 right_x=0.304 right_y=-0.0006 right_z=0.1848 right_yaw=0.0161 right_pitch=-0.1758 right_roll=-0.082 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.5214, 6.5299, 1.0379, -0.1343, -0.0952, 0.6764, -0.1709, -2.3043, 6.8718, 1.5897, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b95152fe52739818b488717a42c1261d7e98edb0120162e0d9e38caaf1b0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c0033b3cf52f9e479d44b87bf6676bc5629046ac97f5597a39232c6bb9fd10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4231c83b85a5874cd8a060a7f8ce04822d1d4b5193bf24ec9ead8a14a40f37",
      "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 · 6.612 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 113 changed as sent

message 117 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]: [-0.091, 1.1728, 1.0649, -0.9268, -0.1333, -0.0265, 0.9982, 0.5228, 1.7447, 1.1172, -0.1921, 0.3805, 0.2668, 0.9948]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.178 left_yaw=0.0323 left_pitch=-0.4651 left_roll=0.1204 left_gripper=0.9982 right_x=0.4287 right_y=0.1755 right_z=0.1058 right_yaw=0.0446 right_pitch=-0.1861 right_roll=-0.0734 right_gripper=0.9948\nstate[joint_eff]: [0.0479, -3.535, 6.6393, 1.1893, -0.0806, -0.0513, -0.0122, -0.2803, -9.2239, 6.8855, 1.3211, 0.1343, 0.0464, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1158, 1.2419, 0.4343, -0.2146, -0.128, -0.07, 0.3851, 0.0074, 0.9649, 0.8085, -0.5785, 0.0368, -0.0864, 0.9963]\nstate[eef_state]: left_x=0.2765 left_y=-0.0058 left_z=0.0171 left_yaw=0.0274 left_pitch=-0.4506 left_roll=0.088 left_gripper=0.3851 right_x=0.3041 right_y=-0.0007 right_z=0.1849 right_yaw=0.014 right_pitch=-0.1748 right_roll=-0.08 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -2.8923, 4.6701, 1.2234, -0.0122, 0.1148, 0.2662, -0.0752, -2.6188, 6.9265, 1.8095, 0.0855, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1135, 1.2419, 0.4263, -0.1932, -0.1268, -0.0643, 0.1039, 0.0071, 0.9649, 0.8085, -0.5793, 0.036, -0.0898, 0.9964]\nstate[eef_state]: left_x=0.2782 left_y=-0.0056 left_z=0.0171 left_yaw=0.0244 left_pitch=-0.4378 left_roll=0.0883 left_gripper=0.1039 right_x=0.304 right_y=-0.0006 right_z=0.1848 right_yaw=0.0161 right_pitch=-0.1758 right_roll=-0.082 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.5214, 6.5299, 1.0379, -0.1343, -0.0952, 0.6764, -0.1709, -2.3043, 6.8718, 1.5897, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b95152fe52739818b488717a42c1261d7e98edb0120162e0d9e38caaf1b0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c0033b3cf52f9e479d44b87bf6676bc5629046ac97f5597a39232c6bb9fd10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4231c83b85a5874cd8a060a7f8ce04822d1d4b5193bf24ec9ead8a14a40f37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAuctXbZNCx02Rg6vtoRmmGTsb8gfaJwlR8_tBs3w3AAwCWvhGrBn9Z3D3b6CnQAFn-PsctjeVwjLvkcdLo5XGWtlA4zK21buWQG--XHqJwn-GIQbDPOLpJ9q-fUoqOSXFEaYTnQDs67wTqhZjkcqI6cjIFk_AuCfarMeECbsKq5F8vkqQHZ7j0Cas-fAevBu5prDZKqcd6QFCXpxf7xHAZyW7Hku9JJJtsqdU_qXwLsz6WypljNfz4q2HpnTE7rwjrLYMjYqmRxJIRZLBh3hMXh_Jg8gh6swMqEfsXpLaIoxrwaiH4y5B9I917ECJJskmfhf8b0zeawiuFJziuTDjViZ6v0DJvDBQSngEgllJ9FNJdOE6Gz4BJrWY4tYz8sNBDZlLFFV6M4TE33nskJHKFONC4iaA7pyOwE8wNzX_F21fNpyg0d2e9BAgQomQ7ZY0cEZgGZ5DIJop03Ffp5naMebvOQ8MqCpP5nr6msL_xJ1xLYPEnbfi-cltAx-ywmQLe2bCBxoXJc8Q0Kbd9wrjltt61Vz5HtiAwTE9wNX6Uoham-hzDLJmwBbRvKXG-bfb4_54g-RY-7vIwckJob54YUup8WZqJk93OKi5hudH-UjbiLg5sMk7mAANGi82EaYGzEwHEiDR1o8y9EQtdViQVFkklmTgfbBnmFHHGdOmc5gAf5ZGTNbA8gYrbrwOD-SKjS-flG-6BpPAhxMFaxh_AhuCznNMGcmwCO6TaOiHuzit9hD3MX1lMfeCp05O8VMVdmY77ZBkxQIn7RTTHgvkGTXz2oSpnEwKETTCYWrNozriqs9bFa0zE10_n9wGyNsm72dYRdb3fBEE1ckIPFTPuyAxJZXZwcSURkO9_JBAqzhT_mIfsrknJKQP2_x5CUS0KwaT79Sm9WPRqEpJV6yNckiuLj9BZWBFeG7rgXdHvPqX0TduBuztxQjHhoJ-Dkq4WSQPnBkoUpN8OQae35hXlgyP1CrIt5DK-cNMgFd-iA8R3cLpcpDCYKnsM0enTBd5PiRD_Obm1n0I6_B-WFjL6L0Tsn0f9qoVY3BX0VRXlVGKfWovApoYdy64tHkmtj21pKDb_UC3kyHg6lzjCyR0FLR9TN6ZI9are58UnoWqt76tNFzfFqwbF5WP6ZkOhMMC5L0Gcs5KtloFNYVVnXElaDDRgtj7SsKLpviAL0QkplNsrY6PZ1oFcX2jdKb3mvrDCF4rMy8v1bQYXCVLBWC5alsYOd3o40hX4GAiLD7hLaz11pAhE5a7m2WIN_x_1APClCu7qagnjfW0YHXM8W-HXBuC61ya_NMCVpqwvp0IS3Os5fdwmLQ3YeXPF9NjiJRXfLhh4tPutwBqKkd4c59LK0VKZLdqav6zDFhzeD7hVNeF4yP0bSERV8kNqQ9GPXzV3Ytsba-QiIJdUsi5Ds6HNldr65p9ibcpM1ZN2z0RIVRI3k05VHA2Y3Y4nFYLwYzPYvE98yw3WU7milA48kB3yoQ==",
  "id": "rs_02fbb14ec849eeea016ab4202dab9c87d092701b1fddf3828d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left jaws stopped at about a centimeter of opening, consistent with a pen rather than a plush toy. I’ll lift straight up to see whether the yellow pen follows.\"}",
  "call_id": "call_PvV4XHyfPGfFDiEhGOrv3wwR",
  "id": "fc_02fbb14ec849eeea016ab4202e3ce487d0bc49e2aa0bd0f3cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PvV4XHyfPGfFDiEhGOrv3wwR",
  "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]: [-0.1135, 1.0889, 0.8822, -0.7952, -0.1265, -0.0673, 0.1065, 0.0071, 0.9649, 0.8085, -0.5797, 0.0364, -0.0906, 0.9963]\nstate[eef_state]: left_x=0.283 left_y=-0.0062 left_z=0.1478 left_yaw=0.0254 left_pitch=-0.4309 left_roll=0.0851 left_gripper=0.1065 right_x=0.3039 right_y=-0.0007 right_z=0.1847 right_yaw=0.0162 right_pitch=-0.1762 right_roll=-0.0829 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 8.6222, 1.1355, -0.1001, 0.0024, 0.2564, -0.0889, -2.0855, 6.8581, 1.6386, -0.0073, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9046a73c29f57963102a7a2c668d6362c6477b24924bf7c819c219d2dfa0541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0d08ddb82e66fb06c8878a6a980203d7625daf6175c828bcf7347305bfded1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb431a74c239350b576617f277b5b1e7310fdb4f5b7c861e3637795c755039e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.818 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3641, 1.24, 0.5236, -0.3496, -0.2398, -0.2565, 0.9982, 0.009, 0.9611, 0.8085, -0.5591, 0.046, -0.0692, 0.9962]\nstate[eef_state]: left_x=0.2734 left_y=-0.0555 left_z=0.0346 left_yaw=-0.0032 left_pitch=-0.4588 left_roll=0.0951 left_gripper=0.9982 right_x=0.3069 right_y=-0.0018 right_z=0.1896 right_yaw=-0.0016 right_pitch=-0.1509 right_roll=-0.073 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -2.4957, 4.9026, 0.7741, -0.4713, -0.0904, -0.0073, -0.2667, -2.5915, 6.7624, 1.6484, -0.1538, -0.022, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1135, 1.2419, 0.4263, -0.1932, -0.1268, -0.0643, 0.1039, 0.0071, 0.9649, 0.8085, -0.5793, 0.036, -0.0898, 0.9964]\nstate[eef_state]: left_x=0.2782 left_y=-0.0056 left_z=0.0171 left_yaw=0.0244 left_pitch=-0.4378 left_roll=0.0883 left_gripper=0.1039 right_x=0.304 right_y=-0.0006 right_z=0.1848 right_yaw=0.0161 right_pitch=-0.1758 right_roll=-0.082 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.5214, 6.5299, 1.0379, -0.1343, -0.0952, 0.6764, -0.1709, -2.3043, 6.8718, 1.5897, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1135, 1.0889, 0.8822, -0.7952, -0.1265, -0.0673, 0.1065, 0.0071, 0.9649, 0.8085, -0.5797, 0.0364, -0.0906, 0.9963]\nstate[eef_state]: left_x=0.283 left_y=-0.0062 left_z=0.1478 left_yaw=0.0254 left_pitch=-0.4309 left_roll=0.0851 left_gripper=0.1065 right_x=0.3039 right_y=-0.0007 right_z=0.1847 right_yaw=0.0162 right_pitch=-0.1762 right_roll=-0.0829 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 8.6222, 1.1355, -0.1001, 0.0024, 0.2564, -0.0889, -2.0855, 6.8581, 1.6386, -0.0073, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9046a73c29f57963102a7a2c668d6362c6477b24924bf7c819c219d2dfa0541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0d08ddb82e66fb06c8878a6a980203d7625daf6175c828bcf7347305bfded1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb431a74c239350b576617f277b5b1e7310fdb4f5b7c861e3637795c755039e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCA2HpNIMMtLXmjknoKwNBixd2eyc3tTf5yHTj1rPKfTbtEsaoATrAk9WM69ojQDOe3d8drzKi_sRaiIMinEKdHuJd35W_j1Q-pCucQsFDsQfPvgXt2PhynzHs3yiAhkdDlEayDfBKkRo3MdtyjHAqxggN2OCz5-BnWzKm1A-3IYMc_YKkyx-xDu_p79PXhW4Vr-Gpzf2rDAy_l8IFf2ES9qC0dyMhLiyDogCHp-qYa_e1V6gl08iQIycPjDzbVYq-aDUHXjJMh9gyT_aPeIw0JxS_06S1vMVReXs2A9TPIHWf90b8Ox9EMdkMi1kxI1sr3plxkSDTP2FAbKPLsB548jLUB2fR04oC7yPY4jdfjQyTqqEvDzH5ue3_AOVoTVwBwfSSZa3GfNUrgzuRu7Az6fK4M85eWKWe4HKTByub3XJYXhOe53CkCAO9iDW6jX-QRWhEeEqU0rugWX7SglCahsFdusOR4iUPG35P0ncVmqJylgOkXHpF40N8AI-iqo75q1WInJmNldtabHRLDsMIwsKyNGbxHokc6lHopI4TF_xkjedxtQSW1sORWIHD5-nCZ-RWb2lxecRVyXv6qwog4SzLiLaSEwabuQXbs0RFMw52QovRrjHjo1MmaQNCKyKEc3VaFpHkjFuQQuBH96TKNTtguysKruV_i5wsvATjHXILe3oAm93nj_WkPVoUIY4FWtIQchlTBli-u0SowFiA_eAJz3VQMER0xwGPBBWIoMa9ehs8euNMeOYufmT6Lc_6GTCA3W8dVsU8gPimRtPpn7p09e7VOlMNalE6jpPKZtpBSiAtCUiGetms0XOs3HmmwavsZ92yqFCj_hqJF2P_znMIQsumRypL3wbqT6dRghy7qmKpYH_Aje484004Zi8qrtPyIP1_ViqQfXlaHd5zFuT04C00azeFQXXrSGg3z7AbyIfoM_fshAlnsPXQI5zHdB-vbtNdHe2aVPNnQSpyg2MVw3XZrSI_NKCsvgp-Rxgjw97b1MvNiGs28-wQSyaSF_01hY326Eci3DnjVFq5SvwKZyJBmXqfa4Dm38QMo0pBcdk0SRtsi-eWDKZK23qLsvOhQ8Ptxv3eHr3mLcYVZTW8_nJ382o6dJdGofgfJ0-vQS7K_TVeMVEhZ66DKeoDVj0CPb0Tblu17JcgbChmw5nqIPDz97BoFv_zYoeqESKez2VMjNXCpkqJ8KsgRb2h_lbSRooovQ7joQiQxzYTOFRbXOmw97BhwQUdbEh0HXLMoCcnDdV60VlhAvsBSXt-dtVOsL-ks5R4ts1Y_NAmg-p9KrIsZwtxVNOdy3LXXF6SYi3zVwkWU9YqfgWVPLmTIiUc0ICoijGSLcY7-nXpZKbn5_96cWlyhI1D77am0YbElAy21zldRbhXTtUqks9X7DCtRMAQ4FWpWSpx_q0Ysbs6DeCq7Pl_vp2XlhBDGDVGlalU-vyz94xnU9dI5SamppBJgVerCiMJa4jKZU_IpnckW1-VFrTR1y8e_HLLLl5P1-E4mlKCIiVGiktJNY7KluBXwq3__D1o_LUVuglPuxZGPHXM-n4b_NlAUuv_-zdg3wSlVY94PbaFajtHqt9kHETnFjCy21B6NtN-DNBV85BFTZsuHxvFYpWPF77eAuPrCWAVq-ARoJMMTFHD7yUu1nozCbjWZvOswbih5gvUKBKaewU4GlSuggYx2DGcGtSwCgOyK2sQnGC06f2Js8GW4MzBFVgtQEPPfDP21MA-thxxKXqIMnrBxlkS5HIqPodzn2p3UMbMbB8vLNw463_h8iqb2TCxbY1MKts0EJ3XOiWnPMKWjFxYENOZcQH9LIHDtdG-qyncUPMblRPAjOGLGH7Xeq0_UCVP-DbbI0EDPXn3IEo-x8-6ZjeAH0f1-PrEGPHnkA4spoAEMqvGBiEq37a3mni7UkfX43VNSxX2gQRwgltSe1Wopv46p4bhtpIe1egH6pr9J-weguXSriZ3joLNkIiCVklkTTapcCvZjvubBBdRKAqq4AfkmT9Qve2eB3By_IPi_Lpk6aum5lJ6ZQk7J1aRwu0z6EX1tBzI2LbU1_X6BwUsZTw1ewITfqaK0uLsKhCZ3uvbMjEC7rinsxo7BUJkOz_WscuyVhioqt1DwrbyUzZgIIDABYD3ogVsuZi0XZBx_clNcwXBwqXsC6weQ8wNLOWFY9MVCgMrSfHg8OqF71_9T2WAPvhCmKWBKyh3YRS4_qu9Omx8QNVQJLEpoB9w5RjuDSJGvRB--WndfvUcol488KgG2YiACCd5KdKFi6aSOG8mJ5lfYB_AkJAdJUmqCMP3D6qSvsks0kV6rQFI7KN5prN0mtUnKeIt6askutM6g1FAQoyG758U3Dinh87aF-Mijtb73XEiYzRS4RrPChXz2EJlUQU-vyCVY8XamNlcOzdAUOvaT6bLsGLF2AZWvVc87NZj7AriqX-Q_1StLyRBnjeK4AYfyJAGGQM3aqe6xFA8PctixbtwHoxWg-e0D_5BM7HXROUvxXNWwTa0trMUkW7tUiLu3p0uBOY-WNzds1gqWZmjNhjQT8gSoribJd12Ty9fH2_PO-MT8LF-sRUWMcyT-kXQ0q0DPznYkde6wABRcmvIrNC6vQM-AUIzwVOoPsCylOJifXLhrkkrax096PDktgbQhXVKjF4E78P9nsGJJFg2xvrZx1znqR7zP67IzkWLp6-1rcOE79BaVMOhNKdXNMzMlZ5axDJ2RvxS8ZPvPH8n8Er7BLGySewqcI6_03ZCDUQT4TQ5wxjlBY4t7kcMQNg8pYWfANOJYlzuvQM0C_N1_dQ0ORQHoxY9pDTxOTaMBtthaLDgdLHbfYbgFeSSmzU1we85EBqfO08QwxhK7A3ve7b1ekPVAU_B6K4CR4bxtpfk-OlLprTehc3V3Nc68cpzj9zA-aq3fAyJhr0QXfEISk0BuNYOPZvFvZ7uSjYlxxjaYrQp8jYGbfv2rhKsPCodRB0F8DPuSrktQRGLpMsm9Anx0yQKZZeYErKT0ML6wZuCtjdn62mKOfAv8HP7yBRuPSaqExJZzFcAULDkQcbi1BATFJNx8LvzsGWHc_BBE1o2BSbHHZBWHMLPRaU4ZDJEvRMCHo-Qt7dxV0h__NpsHkT8QbGaDXfvgIOTKaHXYSs_yFOw3CowsjYThjSY-qtKsW14rCO0TFIpxE0B-H10P_rTLqi1TnK8FPGZMMVk4QAHjy8gDRpk-luSjQduRkiTHKI8eDDWmTI2NJ8P3UjDgEUGXF2toBLff613dX3zbYZ_2aFw5-39VGC8zvuQqMgDkvkL-v_8sB784UbFVl2bP5NX5Rri12vKrWMUd6NPfI_wQZiDVpMgLP6aGT1fP93jok-IPQ1Dy1eDXYxaI0rHxUzzK9pFRe8WO0rHVN6eFFoQ5ggIzFhqR8WSA49qYouG0l2YRkUdZjLgBr3Q5juTGydwJUPP0CaCq-Lui1am7qOdSHuSJVsMqWg9G3NBsCWxmoH-Y=",
  "id": "rs_02fbb14ec849eeea016ab420315b7887d08af6e1cc54be53cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.31,\"left_z\":0.17},\"note\":\"The yellow marker disappeared from the tabletop when I lifted, so the left gripper is holding it. The right basket is beyond the left arm’s lateral range; I’ll set the marker at the center handoff point for the right arm.\"}",
  "call_id": "call_juUYOiK277tkRhzszWimLL7O",
  "id": "fc_02fbb14ec849eeea016ab42035085487d0b0e11c83d2d550b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_juUYOiK277tkRhzszWimLL7O",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.9646, 1.9514, 1.7855, -1.1393, -0.4728, -0.8913, 0.1084, 0.0074, 0.9649, 0.8085, -0.58, 0.036, -0.0902, 0.9963]\nstate[eef_state]: left_x=0.3136 left_y=-0.3048 left_z=0.1566 left_yaw=0.0291 left_pitch=-0.4752 left_roll=0.0883 left_gripper=0.1084 right_x=0.3038 right_y=-0.0005 right_z=0.1846 right_yaw=0.0167 right_pitch=-0.1765 right_roll=-0.0823 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -10.3726, 8.5402, 0.6129, -0.5983, 0.149, 0.1783, -0.0615, -2.3316, 7.0632, 1.5897, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afefb629ba8d20043bca3bd80ea9086620afc0548e030dd02eca752b77c8f32e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cf10c911c5b0681a299d292523b4d8f2003aeffd46024551adf4dc3cb71f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6b095c07a1181c88e4d385cc5d8d8067357a9f392faee51ff4376bed8f5d2b",
      "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 30 attempt 0 · /responses · status 200 · 3.934 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1158, 1.2419, 0.4343, -0.2146, -0.128, -0.07, 0.3851, 0.0074, 0.9649, 0.8085, -0.5785, 0.0368, -0.0864, 0.9963]\nstate[eef_state]: left_x=0.2765 left_y=-0.0058 left_z=0.0171 left_yaw=0.0274 left_pitch=-0.4506 left_roll=0.088 left_gripper=0.3851 right_x=0.3041 right_y=-0.0007 right_z=0.1849 right_yaw=0.014 right_pitch=-0.1748 right_roll=-0.08 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -2.8923, 4.6701, 1.2234, -0.0122, 0.1148, 0.2662, -0.0752, -2.6188, 6.9265, 1.8095, 0.0855, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1135, 1.0889, 0.8822, -0.7952, -0.1265, -0.0673, 0.1065, 0.0071, 0.9649, 0.8085, -0.5797, 0.0364, -0.0906, 0.9963]\nstate[eef_state]: left_x=0.283 left_y=-0.0062 left_z=0.1478 left_yaw=0.0254 left_pitch=-0.4309 left_roll=0.0851 left_gripper=0.1065 right_x=0.3039 right_y=-0.0007 right_z=0.1847 right_yaw=0.0162 right_pitch=-0.1762 right_roll=-0.0829 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 8.6222, 1.1355, -0.1001, 0.0024, 0.2564, -0.0889, -2.0855, 6.8581, 1.6386, -0.0073, -0.022, -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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9646, 1.9514, 1.7855, -1.1393, -0.4728, -0.8913, 0.1084, 0.0074, 0.9649, 0.8085, -0.58, 0.036, -0.0902, 0.9963]\nstate[eef_state]: left_x=0.3136 left_y=-0.3048 left_z=0.1566 left_yaw=0.0291 left_pitch=-0.4752 left_roll=0.0883 left_gripper=0.1084 right_x=0.3038 right_y=-0.0005 right_z=0.1846 right_yaw=0.0167 right_pitch=-0.1765 right_roll=-0.0823 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -10.3726, 8.5402, 0.6129, -0.5983, 0.149, 0.1783, -0.0615, -2.3316, 7.0632, 1.5897, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afefb629ba8d20043bca3bd80ea9086620afc0548e030dd02eca752b77c8f32e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cf10c911c5b0681a299d292523b4d8f2003aeffd46024551adf4dc3cb71f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6b095c07a1181c88e4d385cc5d8d8067357a9f392faee51ff4376bed8f5d2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCA9AoHGvUozIV4rGrefJqZxPaNXIrM6iPeEi5UpOxldI2VLIRyy_fzLXxsrrb6Yg5PhGuPdRSR-RdNyaAWFHMog_tn9fMTAPK_-oc7T-4G8b6KUiHGPwZj_3ZufOU8Z3hYAdf0-UBP_CEOokwiExgdFG4ZYhjjwjEbaHJVhMdsA3hAxEBfEbGLTHRxfIGMxDEzyO1Lqbzd2Cb1sZTl2cyQl3pVrKKOP2EyEoyomLPWQOi_naHNpqNf-zjQGGxylZ16rGIsuD2kNlz-hfRfgSoLdnf3P8ihIFpTsHVUKaZLvDlcpl8Zx7NAesVDw-0v2_e7NWzPPJJyG0bEq_te5DnHI78c4E1dkYy8OLRl_ILRGeYd894lWBlJIvnszynn5IxkzzTGDIy-l2_ocUj6z9pqQwRHv6qiSvJCMRsgIJTfMXAoXVNLO86qcTH_gGB5R7e7pgwO7IbvnTy8hHym1cDAx96DJ8D-4gVqP8xXarqSCrIlH8j7OA7gxFVCE15Q7I1nLSaXGQqXR2xpoE06h94TUV5bhSkc6Sa3yxVu3pY56Juo7a3CyoGoJeh2UcegODHE2NrmKq8WqWC1ro3h7aZhScoZsB_LWbcWAKz47P5OCb-2IgkvQQ9OXUDD3CiuIwIgYs3Nyc6M5FZqL-kaljjLgxGNvzXn6MSXcX97UpFpb6LiVzpHdhQytkFbelyQlLr3nDf8KLDBAQ_wRBMz-qU3YAuCBB1O7DpZ8Kj-HdtFVeZP3_a7FrvVEfvjWaT315_Y_3IRaEokDoA0hlVIx0zBehOonLcLy6KVCmkGwtDA3zuGVcQKPjQlLUEWkQrKtyV0_2nsQ6TD0lhcrAZCXcg-xeEZgmheqV_Bv9YCr-D05JFQ9y0QwvARzXeAbhWCjFCEfZb2bF1LBfBefuVq_A3NjXj38FsvbapYq5WoGP-PjGGYiQeYLnMTmcsFNSUiHeCW-FNLKxgAZAkYZV61MGuh9Zn9z4uVkJ6J7C-HKCRnhxGHOrzVxvn5FpzfaCa-Wlb5vmDK2DCDoQKNzNqO2WE9yyF8Hurgin_sijBHbnJ6RWj16Rap_jJL2jjuzwZPQMnOcZE36xS6OFR0gC_zRjwt-5xfIG4gM2lic1JnDHut3CXjQ60lTw-MkQ1ukjZWCM4va0s4mi1IwNyMs6Bg_YzbQk9MmsZzaW-g_BYtdD9dbMa2uw_mNcou5PRbszf8P3ki_ky4gF7Ba0AM-w9U-9Yb69OqAaODkIOoVS567hkktRX1ruglSeUxDU6a_OBCnh-LWiI4LeMsYlsuCqw1u7CN5Rvg99zI5NmBc_Ni_ubSX8TFt4w4kaNdai2tBLvYz3V5WYf_grbSjLj_4xrbP1cr9-BTFzjL_PGl_9ojOtBZYop9-rxpMoImXLu42fn1NQcj5MzVXcMsQ1UChAX46k_bU1mKLb9k1qH6HM-50brqj38Cxq4eO2QaUeQKpLIjD61jzlpjg7RNxgewThgcr1qcNX5UYVCY_YV_e25pnSIfEqrumz2QnSxbk2u2yqnAibzS4nYDtayXlsU9qgqW_2JijW_Cz0O-3IZy3zVpE5FKFUHtgtvZylvIf1vuVDmx1Ik-m0V-nevqk9Rh5HXZHdiJE8CIxAF-sM5t2-eM3-p1reXiRI_ox0wP7H7fPEcitSL-8l_XZ6qLLbiIkyJmwhAUGbS44bJR2eNi6Pafq1jOKUYzA1O5eROIfLklODk7EN8Uc2tS9H_bg8FV_hsYAsnBSDtm5zPmfT0HAOm4TBvZFFH35JWLd5FGNYhd2BMcUzhGe7r_NoCZk3F-IH2oC-Lqq11fM5feAZpKC1JFmxr0YspLh3N6YdNED0uaMCDKdBXCzZ2iKqPmRRezBTrFuJ2WQppuTfZ2Itel79D_waKWFuf1p4oQp4jCsLDKF2pFpfotYlMBNgmxGOQtgt7-nxjYw6sMzbS-vcVwOnmq-xkoPsURHj1TSftgqquTOUWuvv46VJKqW4eSCfomqtfQZBSRwMgyRo45NqruPHnyKtXfI_beLNOighNFKc5jQJXyjHeMuMmn3QFTidSa8fPVbnK0Hn8PGl-POXok3an0kT4PIIcv-2V-QUw2-vejwq6k_BMjfnN0bHxqZLOp8uyPS0JPHjB3hR74Ux2eQyQmUv4IFSiZojHJWxfq10iri0ihNa7pGNa6D2joTXPJhf0Bvh8xLR2wkbUKh3WRLlTgL-2tPUxtrfLtoHLEYS0ep0rSmR_zfzxAh72wvROsNbo2eYLArFExdlbVDlnMFe9lkTLbpM3Y=",
  "id": "rs_02fbb14ec849eeea016ab4203a472c87d08b58ef5858d92cad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.335,\"left_z\":0.105},\"note\":\"The left arm can in fact reach the right basket’s opening from this crossover pose, so no handoff is needed. I’ll place the held yellow pen directly toward the middle of the right basket.\"}",
  "call_id": "call_i4e9un3HduHuDFHjwcEn7Bca",
  "id": "fc_02fbb14ec849eeea016ab4203c417887d0804ec4076610240f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i4e9un3HduHuDFHjwcEn7Bca",
  "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]: [-0.8684, 2.2135, 1.9865, -1.1004, -0.445, -0.8455, 0.1099, 0.0071, 0.9668, 0.8085, -0.5808, 0.036, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.3745 left_y=-0.3193 left_z=0.1041 left_yaw=0.0924 left_pitch=-0.5127 left_roll=0.1177 left_gripper=0.1099 right_x=0.3038 right_y=-0.0006 right_z=0.1839 right_yaw=0.0163 right_pitch=-0.1792 right_roll=-0.0823 right_gripper=0.9964\nstate[joint_eff]: [0.3624, -10.7282, 7.7333, 1.0427, -0.3248, 0.4225, 0.149, -0.0889, -2.3726, 6.8718, 1.5897, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a44b9bf5a1d3d2851e898081e5ada8cb3ed68a6c9140f858f5501f0f2611c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dbd94e34a4dae10e0ecd0058fb5e58af690e91899dbb21b809b942dd2bb187c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3403b8b44bc47010b8fa1563a7f6312ed8d7988f60fd4331839f07b6e8659369",
      "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 · 3.306 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1135, 1.2419, 0.4263, -0.1932, -0.1268, -0.0643, 0.1039, 0.0071, 0.9649, 0.8085, -0.5793, 0.036, -0.0898, 0.9964]\nstate[eef_state]: left_x=0.2782 left_y=-0.0056 left_z=0.0171 left_yaw=0.0244 left_pitch=-0.4378 left_roll=0.0883 left_gripper=0.1039 right_x=0.304 right_y=-0.0006 right_z=0.1848 right_yaw=0.0161 right_pitch=-0.1758 right_roll=-0.082 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.5214, 6.5299, 1.0379, -0.1343, -0.0952, 0.6764, -0.1709, -2.3043, 6.8718, 1.5897, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9646, 1.9514, 1.7855, -1.1393, -0.4728, -0.8913, 0.1084, 0.0074, 0.9649, 0.8085, -0.58, 0.036, -0.0902, 0.9963]\nstate[eef_state]: left_x=0.3136 left_y=-0.3048 left_z=0.1566 left_yaw=0.0291 left_pitch=-0.4752 left_roll=0.0883 left_gripper=0.1084 right_x=0.3038 right_y=-0.0005 right_z=0.1846 right_yaw=0.0167 right_pitch=-0.1765 right_roll=-0.0823 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -10.3726, 8.5402, 0.6129, -0.5983, 0.149, 0.1783, -0.0615, -2.3316, 7.0632, 1.5897, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8684, 2.2135, 1.9865, -1.1004, -0.445, -0.8455, 0.1099, 0.0071, 0.9668, 0.8085, -0.5808, 0.036, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.3745 left_y=-0.3193 left_z=0.1041 left_yaw=0.0924 left_pitch=-0.5127 left_roll=0.1177 left_gripper=0.1099 right_x=0.3038 right_y=-0.0006 right_z=0.1839 right_yaw=0.0163 right_pitch=-0.1792 right_roll=-0.0823 right_gripper=0.9964\nstate[joint_eff]: [0.3624, -10.7282, 7.7333, 1.0427, -0.3248, 0.4225, 0.149, -0.0889, -2.3726, 6.8718, 1.5897, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a44b9bf5a1d3d2851e898081e5ada8cb3ed68a6c9140f858f5501f0f2611c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dbd94e34a4dae10e0ecd0058fb5e58af690e91899dbb21b809b942dd2bb187c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3403b8b44bc47010b8fa1563a7f6312ed8d7988f60fd4331839f07b6e8659369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBB213kxgkGCBd05zjnVdgAXdkCN7IAnEXd3ZIlGIpyUqVdlgBloUsYQnmMwHwwhBtIzP_lcshAIHx2iYiL076GR7O0MYAYUaYIFgvPUH_gObVyY8MG-u-66n6qPAGc0Y9AOtoq9F-roxQ3PJtyWRL0pAwSZmVHp8TJBvuqt3IJa5qsTQHwzXH1L8wfc7mt-x8CoK9z-0-siuaryNut7wyOzrAyGTrEOWRVNY3AuhHTsufXoJ58MKrOn1dNgnnJhjLXitFUHDv8o3QWKtsfaO0GzNenDqzEo3vE77Di44Ek-k18W2wWMCMIi2CzVjFWbrO9UV-RmRHRxX-mMxsU-bbSCRGZL9Reu5uvpmWAiZ9BmeKtv0wslYJpLXRuxnhyAQqyVAsxxVKoXjpNW2hX-IACBqY-ju-uApBYfQqIMVyqeiCwB0RXMHvwf4zTo-GJsHR4Lpe6bmVcXqKGf4PDdMsF8elF2RGRFwTpxsNK5nGvOiglPgexR6Gta5YKt8FDwQqbc6LXVa6_J_C6FQQrxAtmQCpe3s9Ax8jC5cpYsekRAUv2-ikLcQJHNJ7vf_msPglPVZZqwLDE1b4axrhAd019dNqHCDdBhTNhMpOd2X-Yn7I5dPkg-kGF2YcdmeveaQxnUwjFm6LPzH63VTE69j9MSsuKunbKVedyvhqVFW7Gv4JF-ayjhIHNpTVmL7UpeQCOj4AWbeSIivgEzAcySGnqGiNDjDaWMNWj0nf5XWBvvRP31reHy5CT5oyXTQ6DBDuNT6y_xPCAi_DrDn7T3YvrcNYe8WCHgozRh6uLAEO634hcLQRMVI1Vo2g4RkbKYYtkI3sCgGQ7PDvfgTQVcEeHJFi929i-pSRAFWGO-ucjzjAkPpH7qYDQcj-9XtGYt8FM3qUUnNO1UcJrlgDTihKzhY_Nvuy_wNy1FoPUpj7qAxqf-Yxy-YxLIttrXUuCy_lTD3Z9PBW0Fl83x0KW7gTYI445QADwYDHL8Qhg8X0q6TRJNrf-TLT36NRIpokRkVnaUFPoMCUUGTzxtA0gBMRRfEqpkSNLn_3QM73DX94_EpTjLrU9vfRZx6WeUEWiUKP8hZdQ9PrcEV08MqJyZDRxtvMhvTApDbi7kVzO6qjJExx3C5rI3Q7NmsJXV1ewkSfE12RKMg0uYgemVtmyQEJC1168xVOHOeEKb7Qd47EMtMFb5DCGBPARPUtw132iooh1tGAAZGuCXEz32nZtm5cjZHORxyy3Nf2Mu7TPVbpyQNaaAzbDSaEVkKoTWpMO8v82cJswllnv2PurlN3W5ki1MnCvEy5wrCmDNehxthtYxN8ugM63ZyWj4WsQvzmTWEtJ-9R8ym8uVOTI1K7PWUFdX72Cr8fxJUE-ukYocUSp3IA5aSA9f1sBOsgNSlK367ZgJDcndKxCMQCmF3SHHJurIVSm7F7YA6DWKTvA4INJBlZLK3yseauoc3GuIsEpd696LN5xYYDlSrLfMHXwk09Mp40pZHLh5nnnog9ENz6btL-pvRzja8ECtTGotctP2r21JCrsUw3SNiPp9fzs1C6hTfq7haMlDO1Tzz7gtVCVlgzRI1mxxLBesOpQDkd8vXrI07R5fhsFDObI-IBqZ3LAFUZfwAhiytr23h4BDFei1G46yzJ8vdvzgN1O2phI5gFWw2JbNkBi4RdQyR54Q-pIlP5jA86Jl2OK7iCSaKeB_vydJt93RexuUSsW0iD54weDNU63YswnTKCR6dUr1RCKeN9ZIrY70JObH6zruAxLw7xb0Da7o5CULoIKczlJh0ZO-_T8pLdaP3oIOejCgqTTVbGpTCpqAzccRwlXSO7WyB7q2eDjVI_KxGNfZbMGHvUx5m6bOoqQtc38mEnglc-y1gw9ABUEHByXSrhBLaPab2vMfxUg3PEDE3AIvAubxLx1NRaqQC0kIE5DnfsNqHk37InRFD618uw-hCILV9sB2bR4f0tVkJUhsT8mOi9hl5D5Sm-t89yZnpNd40VYl6JO4w==",
  "id": "rs_02fbb14ec849eeea016ab4203f453487d0a4e72df155616549",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.34,\"left_z\":0.08},\"note\":\"The left fingertips are over the near half of the right basket, not its center yet. I’ll advance a few centimeters and lower slightly so the yellow pen drops into the basket rather than onto its rim.\"}",
  "call_id": "call_BPCIJhaWXUF2asIFasDbp33s",
  "id": "fc_02fbb14ec849eeea016ab42040a0c087d08c030dd7aa75be32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BPCIJhaWXUF2asIFasDbp33s",
  "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]: [-0.8375, 2.3924, 2.22, -1.1584, -0.4412, -0.8539, 0.1116, 0.0071, 0.9688, 0.8085, -0.5831, 0.0364, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.4064 left_y=-0.3331 left_z=0.0858 left_yaw=0.1279 left_pitch=-0.5172 left_roll=0.1139 left_gripper=0.1116 right_x=0.3036 right_y=-0.0007 right_z=0.183 right_yaw=0.016 right_pitch=-0.1834 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -12.3829, 7.6923, 0.8474, -0.232, 0.3785, 0.1636, -0.1573, -2.359, 6.8581, 1.6044, -0.022, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd3615625fbe3c8ce9df9f7381f2cece95626f57b4724c03c0619f9727651b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c3e3e8130342d5039d85e20be93849cd3e1901ff45d49e2efbcd817c668ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b0b1e6200ca7fc4e0eb10ec203d44f35a98c705bc674ca391971f2791d6b2e",
      "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 32 attempt 0 · /responses · status 200 · 7.848 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1135, 1.0889, 0.8822, -0.7952, -0.1265, -0.0673, 0.1065, 0.0071, 0.9649, 0.8085, -0.5797, 0.0364, -0.0906, 0.9963]\nstate[eef_state]: left_x=0.283 left_y=-0.0062 left_z=0.1478 left_yaw=0.0254 left_pitch=-0.4309 left_roll=0.0851 left_gripper=0.1065 right_x=0.3039 right_y=-0.0007 right_z=0.1847 right_yaw=0.0162 right_pitch=-0.1762 right_roll=-0.0829 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.6444, 8.6222, 1.1355, -0.1001, 0.0024, 0.2564, -0.0889, -2.0855, 6.8581, 1.6386, -0.0073, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8684, 2.2135, 1.9865, -1.1004, -0.445, -0.8455, 0.1099, 0.0071, 0.9668, 0.8085, -0.5808, 0.036, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.3745 left_y=-0.3193 left_z=0.1041 left_yaw=0.0924 left_pitch=-0.5127 left_roll=0.1177 left_gripper=0.1099 right_x=0.3038 right_y=-0.0006 right_z=0.1839 right_yaw=0.0163 right_pitch=-0.1792 right_roll=-0.0823 right_gripper=0.9964\nstate[joint_eff]: [0.3624, -10.7282, 7.7333, 1.0427, -0.3248, 0.4225, 0.149, -0.0889, -2.3726, 6.8718, 1.5897, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8375, 2.3924, 2.22, -1.1584, -0.4412, -0.8539, 0.1116, 0.0071, 0.9688, 0.8085, -0.5831, 0.0364, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.4064 left_y=-0.3331 left_z=0.0858 left_yaw=0.1279 left_pitch=-0.5172 left_roll=0.1139 left_gripper=0.1116 right_x=0.3036 right_y=-0.0007 right_z=0.183 right_yaw=0.016 right_pitch=-0.1834 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -12.3829, 7.6923, 0.8474, -0.232, 0.3785, 0.1636, -0.1573, -2.359, 6.8581, 1.6044, -0.022, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd3615625fbe3c8ce9df9f7381f2cece95626f57b4724c03c0619f9727651b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c3e3e8130342d5039d85e20be93849cd3e1901ff45d49e2efbcd817c668ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b0b1e6200ca7fc4e0eb10ec203d44f35a98c705bc674ca391971f2791d6b2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBFkEyxAARmeh4LLKZtxABGiQailoYW-2vSDQshqNciy1MOruwIuS5v2Gc8rWT5n7_M_Fl5zSexAnJpgDjPny79SqyDfSsFjGs7FqEvEfICiY7v8yFSCHmrqIEBLA3fP3fQYik7-PEohKUozkWUbPSDyhAlMcjh9XHNhAqoyt0fwX18J1uep5i5OENsbtzhBKA9Lb0YSZ_JE18FkLwXsur2fOm22rLkoBU9gELc1UWpBuDNniDYo4KNFDlG0MLo0w_Eu5TPbK0JdoWwYO1hx2s1UblP0_OaMHa55E3W1fYeX9bcGZLLPMhzgrNvmPBE1K-x00Tec5T_Ght5wA5q0Sc_ZFady8alX9hQ_DF7NAv-V-1pp5u6oSgcwwwHL5zSlGd_9pM3KcxPPdgc0sSr--jhaAGkux2f5Un_y2363-HWnjFDBjCm59LCjv6wCm0OR7VV1vNyc57XyJSYJrmKaRTVK4JQQiTqShY-fFOa7QC4DDFu8o5M04jnRHPYFunNwASGXo-I1qn7qNtvM60HWnooyIG5mx9DYrsiuzqhD-QKjeZnZUrWb2lXO_aPnIBQkXLgGnBn7CM62r88OvBvekewU8kGhHOsMfYh4F2AgoqzZ0P1CJf3nIOVxw-Y_oBadG0RPDMQvCXRx0h7ahJvTHAgHT4i-L-9bjsnrNXlabrbdnYjqEuYdyP2V6su2yseDDXm2mMCSlr4vHuX_AJio2C1sam6i41zruXPgpf9jX8hvMfnlzi9S7k8RuaLT7IAUgRX01sZhUZy-SJbTSwTzifnqf21Co5Em5SFce0Ax8w-27ukelMkgCFkYPvDfb5B0G0BqwOj_bgxLBrFXIxSekEnn8JOATTDQBXiGjbGrlMafuvFtv7xzW1GdI7eRalDNJRJmBFD1V9Gq8wQXen-pAh2-ZSzxphPiddV4qvQJ0t6u9I1A8hW2Hg2sB9k2AFcEX3lV-JfZ9NjmfamPI-R66reY6mzWPsv3gV62iA69N-mr5zslDFcmJT935BgSwNZUf8bCu8ylO49x8_yn2qMi7MC8uRSvb1zQbDgxrg43nYxS8_8O7LM2w40ByH9uhIH-ZZZqgqHQGXF6cvAXKOAS8WaX0Yq0mxTT8X4bPTSNExcT3OUmbMYuVRu81nrKZ_AZBcATR0a8mHdbcjqOu5vPX_eboRUSG1rIndHzIO_40__-yRFiiSelbs3m9xE6mVSDjacuiyxYc9QVEq2Hk8_CTqCD33QTeKb4dalHucpD1Zaj7SY5hh5l0hR4ypW31AxjrVwxW9HyDWjWB9C28qpeMCfwm57FEemqqEpaTMsb9UIg_VcMZB_gg17jLfgdZcLFWCZSbDi0_XzGjMopnKraBqXEiGxHFEuGKegpoHCpdG29idtNznJFPusWrId4DlhcOWa_7fCNH_IPR-E2usPbWZc-1uA8JEKsGtN2nKmix4HnScQ1Ns9latPnL9EH0EXFz5O5kQaHaDFjcctNdmnr-Ty_bhtEaaj-eWzMjaXKICXYgJBmlPzoITsMwosluSbk6necyL5q4Np-PWWP-gc-zb9RfrpcU7zPbpdfQ7TOaehOD_4-KXsI3yfMdBlqX82vmfG2Lqc_md6W9nOq6QfgieEIICSWSETcijWN_Obsa3HofFm070LVn6BNr5mqkfrAz3HF-gGw1-gR2Tf_9U5A24WLsMPiL_K47IeTgQFBesUHtWqskxiqZLg5468EO00yPM3bU-hpKECfTIxi1LhWvFagCPEdtCvFTEX6M0E_HeJKQvX2Y5vToJv9QIk7hnZ0uv6GbtIMVkURlH4a-vv58JRYOXkblImaPV29Lq7pNPIJMSS7kHTP0Gb70O0TmCRRoTWakoFAk9aVY_x5AiIj6oRCmeDj73ktC-0CLdusJz5KrhL37fcUJ8zGBsXJqD13J19Lu2gy9no55I4oWseBkalMpwZ3MCGN1vG_mxRWdCrroOZoyBKPYf2EkQWZ_immn1bBTfX6xqpsAlbu66xbUqsRgINL2fWT9eUqvt0gk7iUvbLmN6DdVpHvuHgoXA3tjSF5XNVDk36fwFnxVffELNp8g==",
  "id": "rs_02fbb14ec849eeea016ab42042f04487d0bc7b8a1bcb932ca5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The overhead view still shows the yellow pen beside the gray plush, so my earlier identification of the pickup was wrong. I’ll release whatever slender item the left jaws carried over the right basket, then reassess the remaining objects.\"}",
  "call_id": "call_F7hPZFyTs4shHsvresUZOll6",
  "id": "fc_02fbb14ec849eeea016ab420445b7087d0ae0956d24479c179",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F7hPZFyTs4shHsvresUZOll6",
  "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]: [-0.8307, 2.4371, 2.233, -1.1629, -0.4267, -0.8307, 0.9954, 0.0071, 0.9691, 0.8085, -0.5835, 0.036, -0.0906, 0.9964]\nstate[eef_state]: left_x=0.4072 left_y=-0.3321 left_z=0.0661 left_yaw=0.1301 left_pitch=-0.5512 left_roll=0.1515 left_gripper=0.9954 right_x=0.3036 right_y=-0.0006 right_z=0.1828 right_yaw=0.0165 right_pitch=-0.1842 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -14.106, 8.4991, 0.8571, -0.3883, 0.2369, -0.1783, -0.0615, -2.2085, 6.9128, 1.5507, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47aab900b47c420b188a205f4559add3c76203d887d19cd3dbc0bf6c9a8934f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbac9486a484b9f973a1cb1d65bf08adb145ef16f40eb72395db9845d738724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d98bd4dc73e03db35dffe20392603e8126aaa0fbb5f1817c07e2ee84b2cf729",
      "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 33 attempt 0 · /responses · status 200 · 4.141 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9646, 1.9514, 1.7855, -1.1393, -0.4728, -0.8913, 0.1084, 0.0074, 0.9649, 0.8085, -0.58, 0.036, -0.0902, 0.9963]\nstate[eef_state]: left_x=0.3136 left_y=-0.3048 left_z=0.1566 left_yaw=0.0291 left_pitch=-0.4752 left_roll=0.0883 left_gripper=0.1084 right_x=0.3038 right_y=-0.0005 right_z=0.1846 right_yaw=0.0167 right_pitch=-0.1765 right_roll=-0.0823 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -10.3726, 8.5402, 0.6129, -0.5983, 0.149, 0.1783, -0.0615, -2.3316, 7.0632, 1.5897, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8375, 2.3924, 2.22, -1.1584, -0.4412, -0.8539, 0.1116, 0.0071, 0.9688, 0.8085, -0.5831, 0.0364, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.4064 left_y=-0.3331 left_z=0.0858 left_yaw=0.1279 left_pitch=-0.5172 left_roll=0.1139 left_gripper=0.1116 right_x=0.3036 right_y=-0.0007 right_z=0.183 right_yaw=0.016 right_pitch=-0.1834 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -12.3829, 7.6923, 0.8474, -0.232, 0.3785, 0.1636, -0.1573, -2.359, 6.8581, 1.6044, -0.022, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 2.4371, 2.233, -1.1629, -0.4267, -0.8307, 0.9954, 0.0071, 0.9691, 0.8085, -0.5835, 0.036, -0.0906, 0.9964]\nstate[eef_state]: left_x=0.4072 left_y=-0.3321 left_z=0.0661 left_yaw=0.1301 left_pitch=-0.5512 left_roll=0.1515 left_gripper=0.9954 right_x=0.3036 right_y=-0.0006 right_z=0.1828 right_yaw=0.0165 right_pitch=-0.1842 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -14.106, 8.4991, 0.8571, -0.3883, 0.2369, -0.1783, -0.0615, -2.2085, 6.9128, 1.5507, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47aab900b47c420b188a205f4559add3c76203d887d19cd3dbc0bf6c9a8934f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbac9486a484b9f973a1cb1d65bf08adb145ef16f40eb72395db9845d738724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d98bd4dc73e03db35dffe20392603e8126aaa0fbb5f1817c07e2ee84b2cf729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBNM8jxC2op9D7DlkOZVSm06wR8yN2RecM498kR9NfgjWQmCG5320nqXsSi-HFK4kZs0luv4ptGHAikgfOX0821Hie6cND3wum06T-3SvqCp5JicX5Bn7X060TdKsRNvGkXcgqDUK0zSao1KZR3hVsS66vyoJLSPhMdAaKlMyNm9YZLDOtqw5lmVRIeyts-FgEIWGhce2hMbmpsIPNLX1sPUKzMlcMFxLNb28t1Zy07CpQqGJVTRp2onF2-zIKdxoZGmHQQMHKAaiixArXq8nf55Tzna32fNjPIHdcyjJIowdx03ceBWBbmVCmv56wSCHS-fbhxQvfRf7rWsrUgWO_pkxgI44h579s5HQacFKwwxfHK5fsrgLOR9Do8zi3VcvqURkMLpGoy28FPtnsPjrma8nTuC1DvRRPifTFsMvdVTlhZ3bYRzA6SPPrAE0fyPPoBHwWA7N_6NTpnX-mjUQniWTWg_mefklR_ic_4pE2il6qu14I2Pf8ti2foHrilxwdlQjLGQ32MVjYW1lhA-rifupqBgA2YxVI00gXJKS0U8zB73IFV0CGou5gzqOdqZsAGO3GPmhGI8WjwbIoKQfThywvwLT1DaORww5VFgzCdV_MtO0SpnaE_3KnW6TALRBVRrkoJxAXt3kfUW3u7Yv-UjHd3d3vl9WK3rWgUF2BOSo3zR1-Q49YFGJV0kxNHsTT1uUHNpG-1KXmCwK8Z4Tt3zCb0K74kMfvco9y9oB_IZhu2OP9mVpdQBho_D3xF_jMOzIwqy8BIMGhwhrvPnLFxDpqB4TPDL2rGGUBsEe7Wb2PIPH_N8XOSKWSiQTEHzsqyQFMSRVs0P0OjDVVmPlYXhowanvpHTwCZ3UxfgNzPtFAB0_tP8eyJnzeN_tuyo8KLE4KLHjaZkT2RPKO9RvZ-gwQHJ7lpTD8OS86JdUq216LjkjOHZGkyZrEGQvcEjF51po8o6oYLKzP5oVBqWOYbL_EniPetExjOhrd5REArXkPld1QkAtFiT4H-p00KGGxQSLRQIIAMer0WJ6FfldJBlSaeYnN5nGI5XRqNrjq5-4ena_sGm32FY71faACg5chH4GtA4zWB9gifaZpm2zYn_JYGLr5UdUMnDBHdMyTXTdMlUJygMJSDNTOirgJ1jJV2vFSigEpfkyTv4dEzbhtPV78FZr0PGO3vI6yHH3v7d8SfVCumxYcF4w48kzy6y_qL5q3O0v5wyEOu_xr2YRgNsDcVWh9s-msnM3xZo0wRy7mTTMgLIzkpBxEQEHTcXjBNBo-raj-Sy_Cgg0_An821FtUo98JJFDBuvtYUyiqs1n6QV4K5LJDIKC6Gd5rxNs773Y8Bvuf9mCLUj8Nq36aG3cDP3UqoUSX8mGh1uM8RDzk_SMNSzaR55Dkqw4TlW8zoD0i8vZmap_bS3RSszddHwkeWg-x8Av4gTqiBBt-rK8uWZwgcwwUxTAeR2u9b11QmiZPsEFrX-Tfqt_2_uSMuzCgC-9ec_nZB6N2Iolcgj19DNEZGG2zdzVIhSlz40B4oL1fMbOUiWFloSmokzW1aUdEjH-SMbuXy91njRX9ed-SfX6K2pDpZRC3v6RdY_gIrm_5sdYiE2FNBTES3DEHurbjZUfUNiEZ3H4FjDegiirfLkbM4LPtZiDkqGvhNiy_yFVzU5gVfK8qL_RVn2foalB2EKwxhjhNV6GkP6l9e_3-GOX2KDU2IqMHQDR_y3NByWArSMr6QXzSZGMC4TnkbJwQGCxMlVmrNlbPBjudu6e5e5tMs97lSXq1M-wXk8NJlM9PYX0b49dsW7pQd4gYP22lwYW9L_tF5MkwoBPSsOBbSwCu-o_v2VO9GP0ZAfVF5z5TS3vojm_jg7H1uLOupalNfvy1hM4Bo3U4DQoo2kJJzc2rvr4AA9riLo36LZPO1mlIRA9B6XhxarkmmBsp-gFpHLLd5AZnVABphl-LTFniVSvnNK57wAt__0NoVPUTxXaQg3t20D6uRH2lDgUqWDcVnkEplVASwcBudr8bBXJtYqJ8SoUCagEG7bu7O-xphzD4xFTWWIaEY4o5u80reQVgfPeL3QMF_xANmLZlhzp18Ga-3jefYA54fb64x4jHQUJtMlditm5CUoSsktV7EkIFRfZFowo4ghxyWVW3M4PGVMuGc1bzmZQi4yGbeQP_lLc6BKjKUYYr0cIfsLyJE-adg3pGT-h2iQvMqvZgynu9FvTdWvJ19iu5Fqb65Hrplg1CWvuhu5emvG2QEy7fTawwZTLn34LNSnnnFi9R3w2SOsHMnP5_WATWztieFkoc1SZA_-eQWePM0xslAuOByTzH4N8mW0k0xgZAiuf7MyxJRmyCQP5U1da_BBuXkEJ1ysep67pEGWLptcTZDXP-7bWFyF2aYw6J2ppRCQck-Ozqhz-n0JOM0gdFUMg4miLYrzaf_CtODPXy7P0PB_y_6YAGMPOzA5ILq68eSgsH2QJfUK29Kl7GtI63zdyXLgLkOusArkxRlTfvP3b8TTre-eOAaLQYQwDaIRUpNISaxUevet0kEimnCb6O_xXkIFfDBJPktuSckvwvawYmByn09nrVBFgdcQVXeiR2TCnJOrx-qpseuECI_LYAL9cpGLogdr0S1-2y-oWCIczTsPzkwWl3xZgn8jP2DGhjPWI1d6-ms_llr74PVlPYZtZ74USI3tdpZgZx0EuzXy1mwaoeiM62mUI6ZuW_8RgZ10UVjMwyKmNN21FboiahyWNlUPsYsbDG9pHaFIoSm5O6dHSFwX05mKJkyOyJH5KEX1Lx4P3L7URN78Ib0qW4nX6dXfDffR1cScLbGQ1vFTWkpOVfOjlF6n9e0C5iuor6seiKWlh6RXUgoG7kTLxalrj0cbgKsfoSw5megh3xPKkjIr5ehZBomvW_lMamgNBXW1Qya7J1dheBC50dov8ZktfUKg5coyO2tkgTnQfHi7l2SX7ArJr1492axeXqcV6dqQflLVNBzu4_DpnE6_RTDLr9RiUU--74hA3-o10l5qN0whNlmM-PIVGl5EpHfm-gI9FKXEcL39PdsEI6kzt04c23B3WcuF5yqhxM6BuxlFQ0YQUjQHvTfSBWvON-pjuGlHOJBLM9qZ2OKERAlGSc-7ciJgHRl8lpkZYrivImhXRn_o9rCToTKKsHPiVzL2ig2H_97HnUf__bfMq2a9VjEqgj4upXWvKZEL2goKrm2WKmegYVSBpmJ2Zas0U_J29PKk02QcqrHgVm4sHeiapH2Px2kGuLRhy9MbBP_HRVeaG9oyz2vY-VMbb_-XirKqoVeFv0i-xtdfIonzHPaYTminhx7SRk_p36MZUBVZ84vvhjH_rByQW9XXewuOfNIpmuGmJqM3P893U97Kyv9IIeTHBWfrUGnGEjFpaQJFpkvdpRX08zpH1RMqUhTUKptn5za9vtpSFO2xqhTjt39l3gdPMxA5zDwiXqu6whWK_5H4kqRGF6_1wPmkikAgmvltMIlo-SyO1EIvo_qqcm0CdMuuzaqkiyrNk8DNH1DHlAbwSzUtJJE20hhgOSseOFM1-ZrfF6xxiA=",
  "id": "rs_02fbb14ec849eeea016ab420475bd487d087137bb16a512531",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.155,\"left_z\":0.14},\"note\":\"The gray plush and yellow pen remain near the front left; several cream and brown plush toys are clustered just outside the left basket. I’ll move over the brown toy nearest that basket so I can place at least one more soft toy inside.\"}",
  "call_id": "call_k8r2MiCm7p6d98ZpXpBiZjRr",
  "id": "fc_02fbb14ec849eeea016ab4204bc3b887d0b4b9348f23583727",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k8r2MiCm7p6d98ZpXpBiZjRr",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.961, 1.6993, -1.0069, -0.345, -0.5232, 0.9967, 0.0071, 0.9752, 0.8085, -0.5873, 0.036, -0.0937, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.1597 left_z=0.1253 left_yaw=0.1628 left_pitch=-0.5687 left_roll=0.1612 left_gripper=0.9967 right_x=0.3033 right_y=-0.0006 right_z=0.1804 right_yaw=0.0182 right_pitch=-0.1942 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -13.3949, 5.3675, 0.823, -0.2125, 0.0952, 0.1148, -0.1026, -2.8786, 6.8581, 1.5751, -0.0464, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a057410fa0c3b30bfa136961527e38a6711b991a93897b46011828ad66f436ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5461edbbcd1cf827314ba8948fbdc322d51b683f8f2703ae91c477a4c4657d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbb29289dcb60c441078a93eb884108ad313f04a2ca9f7f446b8f7453328cf5",
      "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 34 attempt 0 · /responses · status 200 · 2.125 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8684, 2.2135, 1.9865, -1.1004, -0.445, -0.8455, 0.1099, 0.0071, 0.9668, 0.8085, -0.5808, 0.036, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.3745 left_y=-0.3193 left_z=0.1041 left_yaw=0.0924 left_pitch=-0.5127 left_roll=0.1177 left_gripper=0.1099 right_x=0.3038 right_y=-0.0006 right_z=0.1839 right_yaw=0.0163 right_pitch=-0.1792 right_roll=-0.0823 right_gripper=0.9964\nstate[joint_eff]: [0.3624, -10.7282, 7.7333, 1.0427, -0.3248, 0.4225, 0.149, -0.0889, -2.3726, 6.8718, 1.5897, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 2.4371, 2.233, -1.1629, -0.4267, -0.8307, 0.9954, 0.0071, 0.9691, 0.8085, -0.5835, 0.036, -0.0906, 0.9964]\nstate[eef_state]: left_x=0.4072 left_y=-0.3321 left_z=0.0661 left_yaw=0.1301 left_pitch=-0.5512 left_roll=0.1515 left_gripper=0.9954 right_x=0.3036 right_y=-0.0006 right_z=0.1828 right_yaw=0.0165 right_pitch=-0.1842 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -14.106, 8.4991, 0.8571, -0.3883, 0.2369, -0.1783, -0.0615, -2.2085, 6.9128, 1.5507, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.961, 1.6993, -1.0069, -0.345, -0.5232, 0.9967, 0.0071, 0.9752, 0.8085, -0.5873, 0.036, -0.0937, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.1597 left_z=0.1253 left_yaw=0.1628 left_pitch=-0.5687 left_roll=0.1612 left_gripper=0.9967 right_x=0.3033 right_y=-0.0006 right_z=0.1804 right_yaw=0.0182 right_pitch=-0.1942 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -13.3949, 5.3675, 0.823, -0.2125, 0.0952, 0.1148, -0.1026, -2.8786, 6.8581, 1.5751, -0.0464, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a057410fa0c3b30bfa136961527e38a6711b991a93897b46011828ad66f436ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5461edbbcd1cf827314ba8948fbdc322d51b683f8f2703ae91c477a4c4657d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbb29289dcb60c441078a93eb884108ad313f04a2ca9f7f446b8f7453328cf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBT-ntHxqnyIr6N1y8zp5X3TjUqasShbOf-N0P8j84-sUo2OHLHUF1VqQyZJU3d7wi_sm1blLR_ksAx9qWHMRUyyypuSYY1BtAs_vxjnePmKEINUfwqXvZF4P2txoHCCWOpA4RXaV9jHFBGrHmV4tIFjnRhL5Tmz3EsZx0KECkmSuSFmpcv7SCuqwSIX6W_F-bndYyyfvmWpCAeZ8OmHeFJ3fwEofQyQ6L6nNITuOOvbO-znc4f4pjlNEULiEw1PHN9Fpvk5gHeu5Rzw8DarbnfyZwK3cCNWkcZ6DEVmMA02CNSMFmYCleOnbKKhy0TntHfXLJ_JS-RYgi341nK-MzDoYhvmXiJz7WqKgngxGdb9o1OmfQqzTxvbOpMwaAIVUA7qr7ilpIp5FSJqnQfeIk9ZKfo_SlK3bcCITMjxkr-jeb9HoeuYsp_hCukmcs3-NmLp9nXWAUEeeuqjigPWLF9bJsv4SldhCihPa5oPGFMlCqlRV16z4SHsmDIBe8TMaVmwkiOuP_zrQpfZawZwo8QxXfgiFVBXSCOxOheOhwhzejtW14KSnR2xyPvzTgGSoYVlXi-sAZcp4Z6m1pJicK_hijVUQB_8j6rLQ3Mqn6rYekV7zsjRGwRAqqMGrp9NxOJSgMNnWFFfvsPXRYt2kUyzOpideRmVZDJbrUAkf9eO8xtfqNkncWYhAk3-YeM6Az4gNyxY5INP9-46eGibGnJJMJUoceAI103ScFZJRl610TGncWZqKBOyd7OBnrwEe_P35vDi7K8sXKstHEOoGwElNvfk-ZbN3koc-CPCd8fqCmrj1lBtlv_1Suqcd6rriPLQ0B1ri1Z7_KhfbbGvY4znTsf8uer1sHUaL3gLpa_Vrzj0OGYhGjrLXC_lPEvEm5JlpXv21ZjxErQg5jhnjGLJofFP49loWr4UM6jytkEo8LuFbkNCXKsB-6d-WtL8W8d-a1Vev6IeH3TkXUCZvZC6P0G4_1cntweiK57PIUf4AoxWSTklzAAZ0_OQCzdERo9UO8NwYKlCzI2I4dCeNEasBLT07Pd1zvfCbEPPoUFlcIFmER14rGoAYkJ42bPd6ZW6Gq78cRn8EnWhwB-fG0TMqfhp8UC-6-g6m4zGlAbyttLAuvkO4D9P75kaIrHxs8puxD0AceZhhawUkpwKZ0ky_5KZ4xWYkEjuxGC0rUiDKrMygbXwppHuzs6z2zahJ627NqvsifjmlFRcjANfYksixLrWBZYRPRZlFKbbKxrnxm95sPR6WinV4QBGeePgfknmK96Y2unKPHtqclJsnyfKkcLHUIHTQwYFHo1RCaU4rOZMtR-SGf7UtV5XjfeE8ZdBSL6uo1WOIR8_74hu4uCy_FiuWul2x4yIPhISePWq-C_sHq-T8hwLdw-Nb4FNW7E2ZJtvwmB_NygRSbkkurXlkBjPch-VWp3km3QPIs3mvpX04UPY3EEODU0bOVX1K43P2RkZbr4Zppid5cGlE7KTAJJEAR2gzpQbc4e3xQDGqIdEFv4LNEB_jcg7L0Hr7FnUhjsKwFbcVIYwyqqHFwsl320V6QfHUwMHuHJyiHcHFMwBbBKxl5GlkHViZcESDG54gLGvOz065HHUXqzs2xeNPAsIuIG4qCDdPJm1BtOnCkjvlAu_FTQnslmPiHFKraFE3OalVy3jbk3dZDoBngES_d6pyTYWQlCJ5FF_Qm33JlQmUlUfX7L4pDDliAbtxW5khgKE4kcn4E2qt5tdGOsapfAJG9mYiko90ix_z3VuTYlO4ORPjVg0AqudTGAgaaZGeTCdhY3LeZBe78sKw5Bn55f1foiyajMreu_U0EErgtX_EbuNUT_TOnNBOEG_GR_-H2ocNztDX2Fprka2EvfPbe6RrNgsrWN8CzU8yBHrE4AdlBljeNv--VBpw1AJScMsqg1MbkcZoV_HKHbu8eWKhUpn6PkylCaXWkm5baDdrCd__5VFoJexedsIio_GeM5xyZjfjxvK7zsDaDnEi3J-bXUGM4qyDKJAXWu4-NIZPkX53DNRLLR8A0679VOER5lJ9xVzOrnP6fa35WijpnvMTNKZw8bwq1wKo1uvLfg861TKr39mNEbZCAv6E7qvkmi1wBXqeYuqOyJk4XGp4vUaiHsqpEso7HKbNkmu63jEhCxrOPAmS4t04HIMGRpaNTCAI3Kyt48PEFGkWNx2ec9dn-XsU0n10_bKIZGvgnTxkP_7gJmBFks_6QgJHmycP1JXvERUWE6DfLU2hHI67UPsEG7GVMgHTXQ48i1irPCq2w=",
  "id": "rs_02fbb14ec849eeea016ab42050de8c87d08941f23159972898",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.12,\"left_z\":0.055},\"note\":\"From above, the brown toy is actually near the right basket; the left gripper is beside a cream teddy at the edge of the left basket. I’ll lower around the teddy’s body and try to put it fully inside the left basket.\"}",
  "call_id": "call_vtODu3jijTMNy8ISFgwoI48A",
  "id": "fc_02fbb14ec849eeea016ab42052b7c887d0a681d0ed22f1660d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vtODu3jijTMNy8ISFgwoI48A",
  "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]: [-0.3985, 1.9919, 1.4944, -0.7712, -0.3313, -0.4366, 0.9968, 0.0071, 0.9764, 0.8085, -0.5877, 0.0364, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4314 left_y=-0.1154 left_z=0.0625 left_yaw=0.2064 left_pitch=-0.5851 left_roll=0.1924 left_gripper=0.9968 right_x=0.3033 right_y=-0.0007 right_z=0.18 right_yaw=0.0181 right_pitch=-0.1958 right_roll=-0.0852 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -9.1966, 6.106, 0.8327, 0.0269, 0.0513, -0.0073, -0.1162, -2.4821, 6.8718, 1.5409, 0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb573821ab5e154780360635076e51b31fc2f59df81f7f47dd87e349382ac41e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed3cf59028da195c84e3bb8786e869c9284c65ac16075573de2b0604876b9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156b2f87f01fcbbc984c0bcf7751e61f8317f5e4d756f72fea8352a5974dce81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.003 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8375, 2.3924, 2.22, -1.1584, -0.4412, -0.8539, 0.1116, 0.0071, 0.9688, 0.8085, -0.5831, 0.0364, -0.0902, 0.9964]\nstate[eef_state]: left_x=0.4064 left_y=-0.3331 left_z=0.0858 left_yaw=0.1279 left_pitch=-0.5172 left_roll=0.1139 left_gripper=0.1116 right_x=0.3036 right_y=-0.0007 right_z=0.183 right_yaw=0.016 right_pitch=-0.1834 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -12.3829, 7.6923, 0.8474, -0.232, 0.3785, 0.1636, -0.1573, -2.359, 6.8581, 1.6044, -0.022, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.961, 1.6993, -1.0069, -0.345, -0.5232, 0.9967, 0.0071, 0.9752, 0.8085, -0.5873, 0.036, -0.0937, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.1597 left_z=0.1253 left_yaw=0.1628 left_pitch=-0.5687 left_roll=0.1612 left_gripper=0.9967 right_x=0.3033 right_y=-0.0006 right_z=0.1804 right_yaw=0.0182 right_pitch=-0.1942 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -13.3949, 5.3675, 0.823, -0.2125, 0.0952, 0.1148, -0.1026, -2.8786, 6.8581, 1.5751, -0.0464, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3985, 1.9919, 1.4944, -0.7712, -0.3313, -0.4366, 0.9968, 0.0071, 0.9764, 0.8085, -0.5877, 0.0364, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4314 left_y=-0.1154 left_z=0.0625 left_yaw=0.2064 left_pitch=-0.5851 left_roll=0.1924 left_gripper=0.9968 right_x=0.3033 right_y=-0.0007 right_z=0.18 right_yaw=0.0181 right_pitch=-0.1958 right_roll=-0.0852 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -9.1966, 6.106, 0.8327, 0.0269, 0.0513, -0.0073, -0.1162, -2.4821, 6.8718, 1.5409, 0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb573821ab5e154780360635076e51b31fc2f59df81f7f47dd87e349382ac41e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed3cf59028da195c84e3bb8786e869c9284c65ac16075573de2b0604876b9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156b2f87f01fcbbc984c0bcf7751e61f8317f5e4d756f72fea8352a5974dce81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBWvZd6r9Age5iHkRVE6-JwOY8vBBAhdgA-nvyOGtE0e-aesdc3aWHVyyP-EtJnipvhyb2nVqDBsK8TUtc26S8eA9nVfJoQMD29hsGXbNKCR9LabfIPUsjol5G-8H-oBIoQO8hBIN2awCRJP1vup4wwz8A7sO_-allsJDBHZgUuK-H3OI6heNeZqsz_C43qQishhe5m_2mkDJhzv2jGEpSuk_171FhHAtBXNs_UaWeHE8NYGIquvOV0N8x3kqMa_BY0YGWFD91XSx3-xU8I6psCHiSMGJlWVePwfYkBm1gJTmNIcX3jU5MYXFsgwj4lnd_8Rr0pwxr4MFCD3WfeOtZ3kdcdWSJBcj528V20qRyM2zvw-6VPJ_sXBZcEQDzK0uo-wOYjKQaw1KJaefbFmBYqkHlo0RFCgCj1BECIUGOmwfjscJNzRa2_sYoUXo6jNrwS8yOES8qIta0QW8btvfK_X8pxyS5yjTVVxRMg_3W66SEX_U2V026YjS5hRw16kDQCax4gT0N6R_H6dNVgtF1qkNFBSlJD2dHhZBHDaP8u0WM7qwj-4hKNEtUa3by_93_qfi_5KqzK-GxDVD4rsLSMx50Vh4j5RcEMhyIORYO1Tb2o3cgh2K-ia2Dn_HgqXH_zfYi1VYWTylVVcaS3ELHwZZbMy7CNKSDvtCEFkB-UyFIDDmav4WFc9SXRDDryQqGwtj6QuDq59pce1Aj53yykYsDrqb_q062Bhj3Sy6kbn37y7RYjzLCOxMg6y6uyubApWE90OPeojkLfaMbScGO6deSwSQtIEjEoVqxsDSKBP3wO-O3BpJ8WDTMp-BlbkNOBgjf3EexvAlBkuRgWY0pAzoFo6p4sXGRsqV8TGuI0sX97eguW32FMjhCuYRTCfmRp60a1rZWoX_kt72JP6r4RwwZivKFgFkA0IjxAn6fuzFje0hBR1ykqcVkmzOaGs_bcD6-UdZBM3FjaQVSao5T1x_ZyTOY95ZmxwE9XJyqaWsQ63ZRKJTGgqXgDStHoV1TwVBdisfeZRuhM0XuprhgEDv2K1zq1zCzyBC80EyRDCNzr98eSsqCIFxQrMKNdpqkav7g7RslbUYter_goAnDSuiu-pCZhQmJ4OtmyckgtIxq3J01Fc_vWM3efldne2_YcIrp73TW9V1LIZio70xLrU3nXcp_9pLEyKf-ZmLqJoijuISD9K-caDrsEwIm7BpExNBZtKfNMYK2Yf00dQr3IDLvAlk75gZQXMxrKXem02AvJGUxad3jCOFcChqExLFGPn1oW1c5prnq7c3rCaR88mqkBqEaFLS8BmPde8mM1jXiIaHv5x1I9QOQfMuBCD-OcV0aVl4fIibaQkqpiqOAl4msz70YDJOHgs_97hrOAuD0=",
  "id": "rs_02fbb14ec849eeea016ab42054fa6087d0bf89598d88dd4de5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cream teddy now fills the left wrist view at the lowered fingertips. I’ll close around it and check for a substantial grasp before moving it.\"}",
  "call_id": "call_u8Am8XGxCGNYuC7lFkn1AX6g",
  "id": "fc_02fbb14ec849eeea016ab4205574dc87d084afe06622ee1dbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u8Am8XGxCGNYuC7lFkn1AX6g",
  "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]: [-0.3893, 1.9945, 1.486, -0.7193, -0.3279, -0.416, 0.1058, 0.0071, 0.9764, 0.8085, -0.5877, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4407 left_y=-0.1154 left_z=0.0624 left_yaw=0.1854 left_pitch=-0.5551 left_roll=0.1727 left_gripper=0.1058 right_x=0.3033 right_y=-0.0006 right_z=0.18 right_yaw=0.0184 right_pitch=-0.1958 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -9.6752, 5.6547, 1.0379, -0.022, 0.0464, 0.7009, -0.1436, -2.2222, 6.9538, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25295a1ea6f996f17b5c6481678b27487370403839819c43189fa5890e3ccdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e7562ab5e3ebecb773cb0fd69aa20abccfd2df31aaa1c36d210f0cc2b01ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ed260ab56a4b7bd677d34a5af05f5640181f73603086c39c890cbdff519377",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 4.474 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 2.4371, 2.233, -1.1629, -0.4267, -0.8307, 0.9954, 0.0071, 0.9691, 0.8085, -0.5835, 0.036, -0.0906, 0.9964]\nstate[eef_state]: left_x=0.4072 left_y=-0.3321 left_z=0.0661 left_yaw=0.1301 left_pitch=-0.5512 left_roll=0.1515 left_gripper=0.9954 right_x=0.3036 right_y=-0.0006 right_z=0.1828 right_yaw=0.0165 right_pitch=-0.1842 right_roll=-0.0825 right_gripper=0.9964\nstate[joint_eff]: [-0.4171, -14.106, 8.4991, 0.8571, -0.3883, 0.2369, -0.1783, -0.0615, -2.2085, 6.9128, 1.5507, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3985, 1.9919, 1.4944, -0.7712, -0.3313, -0.4366, 0.9968, 0.0071, 0.9764, 0.8085, -0.5877, 0.0364, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4314 left_y=-0.1154 left_z=0.0625 left_yaw=0.2064 left_pitch=-0.5851 left_roll=0.1924 left_gripper=0.9968 right_x=0.3033 right_y=-0.0007 right_z=0.18 right_yaw=0.0181 right_pitch=-0.1958 right_roll=-0.0852 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -9.1966, 6.106, 0.8327, 0.0269, 0.0513, -0.0073, -0.1162, -2.4821, 6.8718, 1.5409, 0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.9945, 1.486, -0.7193, -0.3279, -0.416, 0.1058, 0.0071, 0.9764, 0.8085, -0.5877, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4407 left_y=-0.1154 left_z=0.0624 left_yaw=0.1854 left_pitch=-0.5551 left_roll=0.1727 left_gripper=0.1058 right_x=0.3033 right_y=-0.0006 right_z=0.18 right_yaw=0.0184 right_pitch=-0.1958 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -9.6752, 5.6547, 1.0379, -0.022, 0.0464, 0.7009, -0.1436, -2.2222, 6.9538, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25295a1ea6f996f17b5c6481678b27487370403839819c43189fa5890e3ccdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e7562ab5e3ebecb773cb0fd69aa20abccfd2df31aaa1c36d210f0cc2b01ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ed260ab56a4b7bd677d34a5af05f5640181f73603086c39c890cbdff519377",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBaNzzrFUYj_Bvg-xperXv8P2DuJ0VGx7qPKpc9yCVE5F4TxblCtsmIDbLuk-I-Wq8TGylLTmtgxp30ZRFMewp9zRUYmYJ6KLRGxtqfAQO81m3HwxEbW_yH-2lENeWN2YDINd2f_vty7k7Sre-nvziY9zKdxtv9d7OWvAF7z7sbaSvYowyv7uGb9Ba96apXPJPry2ZM7JwguvyEf6wZsjiLBCmilacYwPs02eEpEJPYKu_s4WwH1tqDL2pKZnJI7dW7tNjAbFGE_5ZGjvyZ2is7XzAUnnJfnuP85oZJ4d3QYjOPOiDEyKxRx5DbQvA5FLVwsz3adNf4ISkzbwStSPAg54IWlfZXmTCEmT_5GZiHwkrA32d985dUNCVyXyg_OFbymJ1M8_suanpmuRuCFwE2AC36bLsB28a5qw4iWkdC-p0ZcUL0HVmmGtXkWhlnY6lUP5JZCq8X5aa0q_HPIuynpCvUfkmLKhC9-U87PqTefGKQ8_lEL6K65nduLeiSHkZeBvgejPni6c6JQyUq1kv_Qy2AH21z7lsYDoIwIjQd1wstwAH7xnLIKg8zQGs5uuD_mJ-c6tF6jm9pIILLIRk6OMbAXPpLaUc3_D8X5IHvB8H_qWwZN7J5WrhvrwUlcEqdD-KsiS4TzL1NhgrJCxfL3i3oOiIsxASkau6yB8gWvwUxK967EmTimPXtC-Pj3IVPIEdkW_LBkHOXFVoxCq1I2SjJtqAOCz3ZTMePXdjF8jsiaoJ8vbBzfy8N8QtkNedUH5lcU2agSvXouyOXEHo2pOnWoVKLiZM2jaLWgGi_d1qqSskmb117OQlaYfQf72Ma3b_b1YeLSpsl9fuDtLLb_UX9BO87nyK2fd1R4fQPF56fOHgA_MM5sn3EznSghtIVuKu3knZ_q-AdzAMwf7JJMTYWNPd4-5CusCcv7Q4MnZN-eFoQYhmF76IquanV9tIaopy_AxNQ2jawxMgTtZ7pNvNb5aWLMqfFLIbqb-ZPO6GGtqA1sAGxDkVKTIV7A-tEb_DwKtWoQwfv7OxcoBecW_1aqEAWUodoJRRhYfTEUJbf6z2mHE5bbjKvxQzW8NzXQZnS4WgGY6Dszl6CXsSbTA0GQZ8G-uzhQnaxa6idZkXUr9MSDgz6CkF-vcJnllP4j5A5EuQEV_3CYGfu7ar017eyeRnK0IH_BoWEzxuyyrpocxaXj6TGoogcEnD5whsH8YVpfPK_3k59g3ZO7k6s4po93QYfEbk35X6ZeOb6kSCMLWGYrzAccpdkdBM81DOSY8NPqs47xlx3HjcbXn1p-i0mHr9CTnlQ3hGrZZII1slWPz36CzbjxE1TuXYa8hDvwnQg1ccng2wUQghYPinNOaDgwVg7pRyoHxLl9NUGj2PKdZYNHxzClS0bmIDrDAhVUbIeLUE8XAO03HifaUEWQQ==",
  "id": "rs_02fbb14ec849eeea016ab42058b3ec87d0b890499c6e2a0708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The jaws stopped slightly open on the teddy rather than closing empty. I’ll lift it above the rim and verify it moves with the gripper.\"}",
  "call_id": "call_zBvRAhTmPMg40GxpFw7ZYg50",
  "id": "fc_02fbb14ec849eeea016ab420592cf487d0b9a3589290c40a42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zBvRAhTmPMg40GxpFw7ZYg50",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.9907, 1.8156, -1.0988, -0.308, -0.4389, 0.1078, 0.0071, 0.9764, 0.8085, -0.588, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4371 left_y=-0.1175 left_z=0.1416 left_yaw=0.1998 left_pitch=-0.6018 left_roll=0.1727 left_gripper=0.1078 right_x=0.3033 right_y=-0.0006 right_z=0.1799 right_yaw=0.0184 right_pitch=-0.1962 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -11.9316, 9.2239, 1.0965, -0.3932, 0.1734, 0.2027, -0.1026, -2.3726, 6.8855, 1.5556, -0.022, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770273d10eef664b527f49be8b78d9ae7307f5868ba14fb5283de16bf549873b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f3ecbd4199523843b31f4533edbbcb9911921d746cea0f6740af61d70b66cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5caaa861198f9113735d958c62ac91e10b41ee09f9e034f4b974d7ae1c7b29",
      "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 · 3.679 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5072, 1.961, 1.6993, -1.0069, -0.345, -0.5232, 0.9967, 0.0071, 0.9752, 0.8085, -0.5873, 0.036, -0.0937, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.1597 left_z=0.1253 left_yaw=0.1628 left_pitch=-0.5687 left_roll=0.1612 left_gripper=0.9967 right_x=0.3033 right_y=-0.0006 right_z=0.1804 right_yaw=0.0182 right_pitch=-0.1942 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -13.3949, 5.3675, 0.823, -0.2125, 0.0952, 0.1148, -0.1026, -2.8786, 6.8581, 1.5751, -0.0464, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.9945, 1.486, -0.7193, -0.3279, -0.416, 0.1058, 0.0071, 0.9764, 0.8085, -0.5877, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4407 left_y=-0.1154 left_z=0.0624 left_yaw=0.1854 left_pitch=-0.5551 left_roll=0.1727 left_gripper=0.1058 right_x=0.3033 right_y=-0.0006 right_z=0.18 right_yaw=0.0184 right_pitch=-0.1958 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -9.6752, 5.6547, 1.0379, -0.022, 0.0464, 0.7009, -0.1436, -2.2222, 6.9538, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.9907, 1.8156, -1.0988, -0.308, -0.4389, 0.1078, 0.0071, 0.9764, 0.8085, -0.588, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4371 left_y=-0.1175 left_z=0.1416 left_yaw=0.1998 left_pitch=-0.6018 left_roll=0.1727 left_gripper=0.1078 right_x=0.3033 right_y=-0.0006 right_z=0.1799 right_yaw=0.0184 right_pitch=-0.1962 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -11.9316, 9.2239, 1.0965, -0.3932, 0.1734, 0.2027, -0.1026, -2.3726, 6.8855, 1.5556, -0.022, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770273d10eef664b527f49be8b78d9ae7307f5868ba14fb5283de16bf549873b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f3ecbd4199523843b31f4533edbbcb9911921d746cea0f6740af61d70b66cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5caaa861198f9113735d958c62ac91e10b41ee09f9e034f4b974d7ae1c7b29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBfJTYFRDCgsgZGqSJJV9YK-fee3PzdvpoogrWJvaJgBX_fEPDBZ1Uo4c4ykUaTrSJ46AJqejK3NGlUV-SxCz9zwg6ry1rduedUGOnb0mubAGF3qzTuXN7ZeqkjgI5xd8QqnMsH-LCkqXbfH61QQd8N7UIKHofsnQ_Cfmzed2tO3ib5gTmjyuSCn1y5FhJCKIo4E8NfjxrdDqXjsVlMWn4EwgotXN6l6h5trTvUhgoEq7HSKm7G3thMLPyhrv4dNIuM9AO0ueoKGq3auNMQPSyw1exEadjC_7ncSiu2QdeknKVW8D3fD47SwRLzCObmaYlFygTUaB_gUzkuPTmWetmXbUoaI-JqPfM_w_-tjXnjr8tK1NITA9OnMmU5u72UrfydANGEnYcocjGVslRcAt4QVn04LQBC_KmwwJoK-UlAQA1DAgVh6XDEdrxM5eLDIOJoSfygz_5auIqzbB2XUKUV2KDT1CvyLRdq8mZBa31z9liiHzkXFjyOMQ31LDce7l_gTWrDFeNraH5F1P-xDQ0drmXr7bWN-VlwsRKHcUrsGAU1vk47fcjCQyCn32cF3kkn05GLwreVSZHkPneouMcWANafDhA6vMXXHKRqSs9qjW8hGh4gRCDg6rHEeOlppagqwGgiF-MLvihkXERPLoCcaYzhyFYRzn-Kzw6_ptLeVpkVaf8WnVDQ0r3Thb9-0B9l6LFcOdOWADhD_B9le9iiSsHYA_sqYyHmRU09fo3iqvk3d8JBswWjRAO7ybaAB8ZOAbo8CHcvJMc7Sjk0PabfSyLR2Y2Uxt6h6YketGKmqFI0cg4dLMJi2fy94WPYywxRy_-n94WR8RC0wl_rm4w0hG43YyRdSyUq513JyP-VQFB9C2EJEZNxLAfOTjxf8TGl0aZxkUlX4Nk8LKuGwksENOTh5nPvLDMsjG1G8sYpLOMk0EYd-Ry5yYGhfzagtOd4VKu2TGKeOxdta4eJ0u8fki71FVJFe1hd6kKdH2SPgcq2Sm01XcD0G-wc0Ng7MWLpgsHRKv8-TqRivAcX2UO83ZT88kKeE6mFFnuwbs_ySJcpKZp2Q9Cu4zUO_YuIuDAzekpdVGdcxzOo-VAkBaODCFWT5kHuoXV5xiop89FDfNfqc0nrIp5DEGrzz9VC0dP9oPOWWPthzh2Hn23io4N_7qKoEArRywOSGhOvx-v86dbMNfEMkYNxHAuX32dtMSmYcsNEpCPmMmTrteEsG3IK4UptwSO7sS4sXnWQmk2Fk4-WtCemt0Wb7UFeifwJ7vPsxQrUqMIIK3khWlUfftmhZlulJzRRaYtuogiJvuE8v11k7zkOiZzhYmgAvk6S2vjRoD79SNCXeksBwS0BsL25lbAHZeqqPkNUJ-1UTycTEuv8VdOypEjSG5O7-frjL3Beon9HNEwOY6Jxc8EB_WOA8xYVyHB5f2nTB3IQ3KDzcdeqcN3vccDaWf2Hwm7DUjm8c8OEzhZXRreQAczlaPdTH1hQdcUehw9rrAWF0JlBM4j9fL44AiNKZakq-SeeqsZaAcEtyMrg4Rraa3RHDSScG0YLk82mLoaGg6qCpRo_Kcn_QIomueCOSx6VjZ1PitWwu6rvw7RtJexKDWfb2reWsqdA0rr4t7_5nYobRuQ4-uPQGwfYf4Zm6F1ogVn-6lpO9oUoNKKfhWU1c-ZI5lzPEVriGOJs1y89cgFghPeqtz9PPIIkbgfIaHn8alLxTNr0AY8GjIB0vLZMTJ_sbV0YDEvAmePxrwY8Dej9lLJpN_DaKpr8jntaKhO7I3RwjCA3A5mMzRsEHbSyWxOAV7cPLDeMPgwRsZ7KDHCQobDLH1ZpwK1LkNCVN-XQYniqVIcYW9j8S1TZ3d8yKCpheA0r0Mhw4SGmfxp4EecG5NUY_x34gafiujuLrjt4_w8e64zC2EmCwY7yDVgOW8dcHCAV4p45RG_AhRn6CA3_cxqCb8bMJE2TWA_p5ZGcTqK46VFY1coI5wqHlS-4sPpp6mN6zHvaXXoBIWYiknrSuE9FWTW-1z8Us2Bh86IDAKpkNoXgH_rUJt76Aqz6NXzaNw8gdjZuLnQtJtqk_TOvKhjJLVjhBn57Im2LHOm_DVsIxb6r4XoeIczU7olh_BjIx8TJtfwe6gWtpf5iana5-N3mbMph2kaK7_P_pNw-cjKTzi21sAqpqYkKjVtAD-S6G0G4pVAzTsIrxIzu3EmbtMVjXtI=",
  "id": "rs_02fbb14ec849eeea016ab4205bec3487d0a268b670113dca03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":0.008,\"left_z\":0.19},\"note\":\"The cream teddy is hanging from the left jaws after the lift. I’ll carry it farther left and forward so its body, not just the gripper tip, clears the left basket’s near rim.\"}",
  "call_id": "call_oUPm4qVHF8TjnuY1VPnyNp5e",
  "id": "fc_02fbb14ec849eeea016ab4205e4c4487d0ad919780c683c2cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oUPm4qVHF8TjnuY1VPnyNp5e",
  "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]: [-0.0795, 2.1204, 2.1517, -1.3003, -0.1635, -0.1799, 0.1086, 0.0071, 0.9764, 0.8085, -0.5888, 0.036, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4745 left_y=-0.0054 left_z=0.1716 left_yaw=0.201 left_pitch=-0.6786 left_roll=0.1308 left_gripper=0.1086 right_x=0.3032 right_y=-0.0006 right_z=0.1798 right_yaw=0.0184 right_pitch=-0.1969 right_roll=-0.0849 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -11.1932, 9.0325, 1.2479, -0.6471, 0.4029, 0.0562, -0.212, -2.1538, 6.8581, 1.5409, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840eecb1f5d14f85aa6e76c1d0bacc96940d55a7621a966fc5359745a83c3c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eca17d90db88e80c6ae209e760f5bfca9e552c7de1f4997a4097f2e116a77be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a995b0ba9a38620a7a0c72f067f1fde18058fba831f4903f54f0e5f9b8478d7",
      "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 38 attempt 0 · /responses · status 200 · 3.105 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3985, 1.9919, 1.4944, -0.7712, -0.3313, -0.4366, 0.9968, 0.0071, 0.9764, 0.8085, -0.5877, 0.0364, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4314 left_y=-0.1154 left_z=0.0625 left_yaw=0.2064 left_pitch=-0.5851 left_roll=0.1924 left_gripper=0.9968 right_x=0.3033 right_y=-0.0007 right_z=0.18 right_yaw=0.0181 right_pitch=-0.1958 right_roll=-0.0852 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -9.1966, 6.106, 0.8327, 0.0269, 0.0513, -0.0073, -0.1162, -2.4821, 6.8718, 1.5409, 0.0024, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.9907, 1.8156, -1.0988, -0.308, -0.4389, 0.1078, 0.0071, 0.9764, 0.8085, -0.588, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4371 left_y=-0.1175 left_z=0.1416 left_yaw=0.1998 left_pitch=-0.6018 left_roll=0.1727 left_gripper=0.1078 right_x=0.3033 right_y=-0.0006 right_z=0.1799 right_yaw=0.0184 right_pitch=-0.1962 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -11.9316, 9.2239, 1.0965, -0.3932, 0.1734, 0.2027, -0.1026, -2.3726, 6.8855, 1.5556, -0.022, -0.0122, -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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0795, 2.1204, 2.1517, -1.3003, -0.1635, -0.1799, 0.1086, 0.0071, 0.9764, 0.8085, -0.5888, 0.036, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4745 left_y=-0.0054 left_z=0.1716 left_yaw=0.201 left_pitch=-0.6786 left_roll=0.1308 left_gripper=0.1086 right_x=0.3032 right_y=-0.0006 right_z=0.1798 right_yaw=0.0184 right_pitch=-0.1969 right_roll=-0.0849 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -11.1932, 9.0325, 1.2479, -0.6471, 0.4029, 0.0562, -0.212, -2.1538, 6.8581, 1.5409, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840eecb1f5d14f85aa6e76c1d0bacc96940d55a7621a966fc5359745a83c3c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eca17d90db88e80c6ae209e760f5bfca9e552c7de1f4997a4097f2e116a77be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a995b0ba9a38620a7a0c72f067f1fde18058fba831f4903f54f0e5f9b8478d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBjmlggHMSNsvogzmGgen8eUhWzx8qwgLhRIgmVXKmDR8zjoZRwq7ebmcmY89ViesEvUb_get7R22QudZtK_xn-uU51uZ_DMtEpjceLUU1z5K8TFil92MOUyl4myUuSpjl5YPZhMZaaEqsa8TgxcrCPxCMgxgC-hL6WKLNqdKzRh-NJBkXFF16zrto3JwFrnQ_yNUyYkzmWZCPLBbcDnzXOFoJKzJ-9UJJUfOlVGBFOPF4rXMqS8d7ALkQzntPqtB9CZjuJeGZfNTb8gst4oeSOdpZ8pEIxHwJXKNNYF_2ZqIxufMtYi9OUNyvGwCqgn876_8aHVKWo4VlgHU34417SJu025wsUkqqI3R0l_9BcaM4cgptlWt7Vd3_PLUe5na1IXvWZD-u0nvDm5j9e0oEvbTXYgSOS__wtTLhfEdQSAKtOF2kRMeKFwet9hs8Q-qOFzFBycLfuVJZu6I2kKLGmhnfOUiEPvq2nBtQGw4iauC-NcIui06QiC8wISsgXzdrkplS9kJe_5s4AasVtfDzZhotmBZKnrVodpID-msKl-pCK8KqNRDFUMNofiGL1HXXAwIfFaujd0FD2yCgtdDkmAGhGI9rfDNjVDAdM8DRpb5K-zy87AqfPAkBwpFZT30BQr9aqxwr8khsYDeSNDb53YMmQXfuu5yxJm-ajcAFvrnn2qcqbEUaViOlfcqBtNx_agA4zg8M8OUjvTIRZnZH_o6BaRpCpyEK004zqzyU74CFkRcKY9XoRbGQWiTnCYsPyIY29gDO-dbsmMCrdIKFNfdviLh9lJ4MWSg00Woj0w6_1HXuEhAEwPR4NuPZnMJALRADYYX7KXFvZMebzKvaEzo2BZ_pWiyAwgObi4RGg32_k-VBPSSKhfWRkvOs91DVmyY0uZ48q4YbYBVBfbQm5pPkyXAukSC8bSZFmTv_y8kh72RYok0kNLOD82RpZNEX7cw6fKH06ftb0EEEA3soQQwR8SgyQoSTZg8NTE7ySGh-NHT2FaEVZd57i29CxzIeO7ii5pa7gY-qhiozvDMO6AZ6_4jpgHt93_BJuy91Xum9tPA2YvbOn4DYGg51SUCwglw_CbJ37nnuQnU1ZP7kjQuFk2FaaQJSfUfYauauDHR21FostUazcWr28s1Sht0qIle3hc2geaDR4bN552gAeE8cuMqfYRUbTE1YVZm1t5hYQtFM1L1TF4gZ4-3HyWfJgw-66xa_uv455LTO-AEBktIt7XDOenicGPhNioPpPA79kXuBlurF7avJqQVPXpjOP-JSAKpdc3OJ1Yn2qTrIzMbeHD94puq9yZlNzAxbMPb6UnkDcRPK1tzwDA9NVytALjfFelG-6t39eExRDx4f3tr8ewGmizNEejVr5rT1034YSw4sQKpOpmMOsqiB6fjBmi_5KH768pvIRaXEA5YZZb0zjXZ4hdAYAc9FseyonLoYQBHNVRC_Uaec1kuXlC2HcpLoDPGkP5oXQkw2vCwzdW3vtSAczFhCjMMqlSTNjJB1a4n_sUERb6GIkZMtJlYZRthwKYEv-ZMvxmPMaHcuK075UCUAnMhzdKdye2Uz9gs9xRsZ8yr8llriQ_kuZU9bhfBxRIpX9oEWSC_NseixfakTN3maRf4BUlPNFOur833-J6RGHmIEFzUv_eWTsK-JHpMftUyX2YF02fMhfApBBNB5ktaQ9gC_ORaF9ANVCeL-qi-EUq3WSA313pQoGxNGy3MC-K9h_bYsTjGe2g1-Yxfe0d0ZmeuKI9klLbEdj1lBFOz7Pr3UEQJU0A8aP_0Cf9OMRLbKArCQilyVJQn6SPcEs7SEkCuPwpwjP60-Eu50FH4miEtG_giELiT-c8a-aGswCMeKUUKpBOFzVi7bJK5hxzpWt4vtLc6K2eIoSwgdtfiVgmMAE3rrl4u3TNz43q6sRSZgjgIB3d4VCtifRjwIS7T_Gmw3aNn-j2DkgeGU=",
  "id": "rs_02fbb14ec849eeea016ab420618a9087d098bade1c3dd02316",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":0.04,\"left_z\":0.12},\"note\":\"The teddy still hangs along the right and near edges of the left basket. I’ll shift it slightly left and forward while lowering, aiming to put its whole body over the opening.\"}",
  "call_id": "call_SblGYYaXdPRdlfKWylWGVGxd",
  "id": "fc_02fbb14ec849eeea016ab420631d2c87d0b123e9a3b88b3bd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SblGYYaXdPRdlfKWylWGVGxd",
  "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]: [-0.0059, 2.1292, 1.9518, -1.0828, -0.099, -0.115, 0.1099, 0.0071, 0.9764, 0.8085, -0.5903, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4868 left_y=0.0182 left_z=0.1178 left_yaw=0.1605 left_pitch=-0.6876 left_roll=0.0778 left_gripper=0.1099 right_x=0.3029 right_y=-0.0006 right_z=0.1795 right_yaw=0.0184 right_pitch=-0.1984 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [1.4427, -10.0308, 7.4735, 1.536, -0.6716, 0.3004, 0.1245, -0.253, -2.3316, 7.0632, 1.5409, -0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c308895d034ad70d0e57ae30739cab010698e09ce429b13621e380aa63b182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d70b69ed859edf6dd44cf4ab816243c24900279e103caa790bdd02cf46e745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6253e419bf4045a5574deef54a1187a2ae0683caa72462f87267835aee2f92",
      "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 39 attempt 0 · /responses · status 200 · 2.625 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 149 changed as sent

message 157 changed as sent

message 161 changed as sent

message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3893, 1.9945, 1.486, -0.7193, -0.3279, -0.416, 0.1058, 0.0071, 0.9764, 0.8085, -0.5877, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4407 left_y=-0.1154 left_z=0.0624 left_yaw=0.1854 left_pitch=-0.5551 left_roll=0.1727 left_gripper=0.1058 right_x=0.3033 right_y=-0.0006 right_z=0.18 right_yaw=0.0184 right_pitch=-0.1958 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -9.6752, 5.6547, 1.0379, -0.022, 0.0464, 0.7009, -0.1436, -2.2222, 6.9538, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0795, 2.1204, 2.1517, -1.3003, -0.1635, -0.1799, 0.1086, 0.0071, 0.9764, 0.8085, -0.5888, 0.036, -0.094, 0.9963]\nstate[eef_state]: left_x=0.4745 left_y=-0.0054 left_z=0.1716 left_yaw=0.201 left_pitch=-0.6786 left_roll=0.1308 left_gripper=0.1086 right_x=0.3032 right_y=-0.0006 right_z=0.1798 right_yaw=0.0184 right_pitch=-0.1969 right_roll=-0.0849 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -11.1932, 9.0325, 1.2479, -0.6471, 0.4029, 0.0562, -0.212, -2.1538, 6.8581, 1.5409, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0059, 2.1292, 1.9518, -1.0828, -0.099, -0.115, 0.1099, 0.0071, 0.9764, 0.8085, -0.5903, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4868 left_y=0.0182 left_z=0.1178 left_yaw=0.1605 left_pitch=-0.6876 left_roll=0.0778 left_gripper=0.1099 right_x=0.3029 right_y=-0.0006 right_z=0.1795 right_yaw=0.0184 right_pitch=-0.1984 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [1.4427, -10.0308, 7.4735, 1.536, -0.6716, 0.3004, 0.1245, -0.253, -2.3316, 7.0632, 1.5409, -0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c308895d034ad70d0e57ae30739cab010698e09ce429b13621e380aa63b182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d70b69ed859edf6dd44cf4ab816243c24900279e103caa790bdd02cf46e745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6253e419bf4045a5574deef54a1187a2ae0683caa72462f87267835aee2f92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBnCv8MfkZNCKA2E-4tWwu0gO5b8sXmIoR1JB2nUTZx0Tx4zJH8h9QEOLhVUe8TpLNCC80kFHQAXnpelMJWD8jYESwTGh-ewTiEgn670pFo2sKh2c8lbcTieTBbov5Z7FFtaSWqxxbycgl8FCxVjf5VhUuRSN4LiTVk7SNUSuJlB8IoIWy0hKkRvyyt5mAD6T5bNiLsqoYyy2TGCX1KhFkWFaKkCQlF8gmM7fBxAgHu17fkFKZrEpXUI376s87W6ctJc5jz0_OUkf4Erp9BQMqvsN8zlwYqeLX9cUe8Irto8jYocA2OayNTVHRtDtK2GFDDak099mcsWaMr9_0LQcTvjNAdwFekv8XhXXwqj3nfwMBKtOfal_LoqJakL_Vb5TlZTzadVEO9vu2uiKz2mP_otZL4pszJGv3Dpb4YXEL0ZRb7zd3r62_fcFUKKyJLXEvC8MU2W25Q7B8M5-ADGW6hH0rhNmhdIayygEfBx7IpF99tpLZL5zzEdB4fg5FOqiBK1w56Or9KcL6PQK25UpHLwms0kq1-CJ-Gh17okjZqUJacw9Cv3CeSkMQJGNjFUfCIfmpUSoKVOjhwsJp8jfqddCjLkzSPt061iSQ-0QVonO1D9KhlBiflcqKj6SBIqKCMt9LEQJNye681Weg7GraPx06xZmJE9EQ2ERXl5f0MbYjr4J0umcvW_XfeXGM5aUENNlp4zamU0erZc4A0q0bVYssujOUAT1-AOjDC1DnwKs6D7ieUKZG3323kF3gQlZTTIdRQeKJ_qLtwPgJg4Q2MFuteX-3-xKaFX9ytEPWVwGS65c1iZVO5-_LoQjvUVx-AckQ95boSWMJGdKrugRmzcccPWQ5pEKTYSZoZaAlsSwPG1kiWfPWi6j6MW-fLn5ssIEXN57sDKaqpo4sS3xmuDxEMLaQGoy99fvdiD2CHadtppORjqpP29AQ6FBdQfgD4qqBtSn86KQr7KBAjJeKVbPiX7s5AC_WcttL2BMk-kvRPiQAruVrEYELEfVs2k8BQqXvlPeyUE1dhdRNowzsXckZCxoFNSLxSUBPo4-PnD27Yn-ii3QYo_kzkYXTKnE_cIWvuwdj59BJbPnpXyToSQXKfLbmPDiAGjrLLAmBVDBW5bfCgMqCzF7wL_STJu2CdHm4qUx2c0unER2R-FjWLf3J27f5-Mzi_vo69Unceb9hGwT3xMmjaYC1qswyxQMBM0ziTkIW8ELMXSNjzjxWtIqziSxBxtK3ewnUH5ut9mXHp6TTQKXtsHGESyq6zIPjwwjaZAGqEm5weesFceochIXWcmepsfRIM-KbCpVIFMYPwm4ZEeelPXZfDjNdw8at4-GGOF0mRj3w7AdNWkXf4kBlQdaqIwCHIPKkbNLC4fDJ2ZrawAbrtfVjT-5DFjicJ",
  "id": "rs_02fbb14ec849eeea016ab4206612a087d0ab375035cbc0c805",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The carried teddy is now touching down at the left basket’s opening, and the arm effort rose as the descent stopped. I’ll release it and back away to check whether it settled inside.\"}",
  "call_id": "call_10lTRexi3mTCv9UPP8EZNJgW",
  "id": "fc_02fbb14ec849eeea016ab420666fa487d09d5b9d16c42f966d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_10lTRexi3mTCv9UPP8EZNJgW",
  "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]: [0.012, 2.1403, 1.9518, -1.0523, -0.115, -0.1009, 0.9952, 0.0071, 0.9764, 0.8085, -0.5907, 0.036, -0.094, 0.9964]\nstate[eef_state]: left_x=0.4934 left_y=0.0298 left_z=0.1152 left_yaw=0.1833 left_pitch=-0.6666 left_roll=0.0988 left_gripper=0.9952 right_x=0.3028 right_y=-0.0006 right_z=0.1794 right_yaw=0.0184 right_pitch=-0.1988 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [0.7043, -11.0564, 7.4872, 1.5409, -0.3443, 0.2173, -0.0806, -0.1709, -2.3863, 6.8581, 1.536, -0.0317, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ff31f6f26a59850720437f2b88735c28c755393033415cf4d8e7e086cb52d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa57f99db6890b3d3083e058740bf8cc322ce492ccdf7d51942cdc233d4c123c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6275d50453fd6e701ed65ffa5a094c36d02071678d33e1f86e89b817b13c0042",
      "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]