adhoc

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, 0.8013, 0.6174, -0.3786, -0.0216, -0.0158, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.0128, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -1.8803, 9.265, 1.7802, -0.0366, -0.0024, -0.0562, -0.8821, -1.4291, 9.7846, 1.6728, -0.1099, 0.105, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbd712332ea94a57df5906488c2c613f5896f149fb53c983ddcf43407e7c0a98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36c8b581445000796df1d4f73f0ca7c32c56036f93e3d6521d8161c6ed2de9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7c86c93ed1cab926e5304d9f7c176445384d3825e596f3611c059f3937771c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
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  "id": "rs_0978b5fafe184d3d016ab42acf357087d0bfe120b95f2ecfc0",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0978b5fafe184d3d016ab42ad3e33887d0b227d41d74bc1594",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.19,\"left_z\":0.16},\"note\":\"I see two blue baskets at the far edge and several plush objects clustered in the middle, with visibly different light and brown tones. I’ll approach the brown object on the left with the left gripper to locate its grasp point.\"}",
  "call_id": "call_gIma3nJBlAimkA44lIJ5mMMo",
  "id": "fc_0978b5fafe184d3d016ab42ad42d8087d0a2645bc67ec6641d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gIma3nJBlAimkA44lIJ5mMMo",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0588, 1.2282, 0.754, -0.4652, -0.8089, -0.7544, 0.9996, -0.0193, 0.7986, 0.6086, -0.3779, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.1885 left_z=0.1473 left_yaw=-0.0223 left_pitch=-0.029 left_roll=0.0228 left_gripper=0.9996 right_x=0.2959 right_y=0.0008 right_z=0.1813 right_yaw=0.0001 right_pitch=-0.0091 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.2598, 9.1419, 1.1062, -0.5836, -0.0464, -0.0171, 0.1026, -1.1419, 7.2547, 1.7802, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e375f8f206591fe1aed13787a962f4a289eb8bd27f7923cab22f8a8b4b7567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3028f3ae032e4e2aa15edfef9fe4953bdcd54c238df11107c5af50f2d73a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2422975a8d6995d6cd9cbe6eb324787adb358d6fc9b806a5c0425fd956402f87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "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, 0.8013, 0.6174, -0.3786, -0.0216, -0.0158, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.0128, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -1.8803, 9.265, 1.7802, -0.0366, -0.0024, -0.0562, -0.8821, -1.4291, 9.7846, 1.6728, -0.1099, 0.105, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.0588, 1.2282, 0.754, -0.4652, -0.8089, -0.7544, 0.9996, -0.0193, 0.7986, 0.6086, -0.3779, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.1885 left_z=0.1473 left_yaw=-0.0223 left_pitch=-0.029 left_roll=0.0228 left_gripper=0.9996 right_x=0.2959 right_y=0.0008 right_z=0.1813 right_yaw=0.0001 right_pitch=-0.0091 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.2598, 9.1419, 1.1062, -0.5836, -0.0464, -0.0171, 0.1026, -1.1419, 7.2547, 1.7802, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e375f8f206591fe1aed13787a962f4a289eb8bd27f7923cab22f8a8b4b7567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3028f3ae032e4e2aa15edfef9fe4953bdcd54c238df11107c5af50f2d73a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2422975a8d6995d6cd9cbe6eb324787adb358d6fc9b806a5c0425fd956402f87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrcgVGStrp1YfbYaMh-Al6K24ZdacDS1AFQFpPJzz3YRrNzQKe9RYJMU4O975H7S-EQ78rYo23OBFyae_KpfrKf5a5eaPlGk052eLXRJkXuNEETMmMkPvEg59S6hPLpmmiqN62rTSGYGEKDQNAVMgBU-sL8bRrhWPStqoYIweniKb5lEtXAUQzYQUPKliEffBhZHMz1TgRWdfLrfgBsRO-0nWmAE6U5U0AkWft03YVViOeuBoq-9YcVSfqLQhp--qYJXn5NOIfXDQaCa32ljWHTV-qwy_b_Iw8lZ00HRaoOmxbIEi8hAP_EvrukrXYNXM0BrGv_VtbcoQZ4ELCP8oBx8mXKxUeVcKoU24AooH7-to6xkuuJpjCy3sA1OL5arzBt7PS18vB-5UnRCQmrGKty7kcmNBlKBFa7ivvJLZdfA_cyOkOSuhbi3YN0VoFhcZ-8y9QKgqLZ7sTiNfOFL3InDAQTlaYaAMxWo2tcK6_BMKZRiQczkb2U_IIqyYDkYCZt_dozdKK2ot8rdZmJZU3wZmBzKtFF_4AUshQtU-Jte-j8ycT3WqqMCkWs4dd7i4Q3pLIf8OjNnt8UrFyCjkvp60TspOsNFfDhuKTbufonlkBLUQMYWHJgvvBpDS-l_modRwjIyJ9ktlTa_llqLkNo2IQsNaN0HcAXpMYuBEykcegNbCG4f20FC0EPUhxntyV9-sfjqKsV0g7kmAHd8OeXMg4fFFdcyY1Sp0M0SDp9m7b24nEH3BNCc7cQqcANuCxY_iS6bhWhGjg384LshFAr4aMLdzOmIyb885Enz4u75ZeCXxbN0sIctRZfJdgaV5bpL5G9mUmt6Q7oG91wnC70LbiYnZuAXWG2SsR7Uxf2IZ4_b9uaNZ844CHIfysI1jAETL_4IYib8-Wfme66TIxkz8MN_liIwzGRc_O0ag17TrJ3ZCh-Z5DX5om5BHQc7pMIB7r8NbJzh9JBBCr5S9k-qWvgpqJ1T_-xLmAOWCXqdriPESCegwsP9_hKDeR-bpVaeyOD_AV7LKofenux8UMIVj4rlBRb5xD51C7G9gacNpPqmfgCL2zqWnOTOnH8x6AavlwFHeB2LcmzXWhBQ2eu-87YsFUtJPnshL5NeWVo0AcXVlDwvGyL2LP6rkOK2uT3fLpvMlX7qe1BCrgO7O1nD4LMPMOzXXoZ7Qp2inoAAfYECV7IEuJBkFJIqLPx9zht3-Ap0Xpacd8PSykYzzKMXQs6jgonlmHWsxYQAZLu90jkttCJWGQlqE02w88iB43CNtCq2WkQDeVd5OoZAPZTz3GhM7mOusOmU7b6BmbWkpSjoBMvH2Cz9bzMiMulNUdmzXRJJ308fYqpgD3WKk99i8iMhLkOjqste-8Eg8U6RWgPBjgATA6Z0YmBuIm7dsxwIuxLhAxNnqeKe-AmgmjW5SMoEsxEdMs95fJTmqcNiYlkV-KjXB7wf06adIuHf88C8tMNsM58bgXRihgFBtUvqY4wPnifBNWdc61kLhZpN7mpThryDy67PpX5bjHZnXb2Jqy3zFtxFYrGSd_2R_1inWDlurDGi20CdOQu8upyG3TsVKNWPiCalL9TCz1n45neaQ-w7nTM9muyZI8xBROjZAXn6KKjdW065mctJtxA1maBk5vdghcrJ2Oq27RE6mclz2GqcM_SlXnnCTb53Xq5KGNtJrHkerUHUhsHaKzEOtjnzaGsHbRoA7FyHPKV52WrCvCpwlUob18dxDSb6Z94lKDfNLOXY14JUykwnZTLcQDY59WWRENG1ZL7y3x6H5Ybe_AaKHJ4dJhbIt7_wLN0VlpbEo1VKupiwSTC3xbyYqihS1PWb9_scpreG4wilBLSapZiM78_3eIYTfxdaAMzSw0r-v2HwJfdMORX3xr6LCq8Ce0Bn897I--vUSLNqN1U7JlmnDah5OA2NOYf8sppFlXxHyhjKEIS7so-_sT5ErtB_-pxUHr1nXio8YwJbyiCKRwYNZaMnpRk9zGe1Na2tw==",
  "id": "rs_0978b5fafe184d3d016ab42ada6edc87d0a986b045ada3f043",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The left wrist view shows a brown plush directly on the jaw column, beneath and close to the fingertips. I’ll lower the open gripper around its body before closing.\"}",
  "call_id": "call_TyViwRElcWJMn0F9weUCqaaT",
  "id": "fc_0978b5fafe184d3d016ab42adbf13087d0a4b32103da39875c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TyViwRElcWJMn0F9weUCqaaT",
  "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]: [-1.0607, 1.4391, 0.4927, -0.0204, -0.8085, -0.7673, 0.9996, -0.02, 0.7986, 0.6086, -0.382, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2544 left_y=-0.1857 left_z=0.0521 left_yaw=-0.0167 left_pitch=-0.0429 left_roll=0.0357 left_gripper=0.9996 right_x=0.2954 right_y=0.0005 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0133 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.9573, 5.135, 1.2967, -0.3736, 0.0757, -0.0171, 0.0342, -1.265, 7.0359, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c1700e11cf0d00f9ebc5a5ed0a5578aa24cec29475a8f54b0bc5cc2cc30b13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42dd45eb1341bbea9fe592640bf4d7972cf839cc3b7b85bbaf2b62e2587dc81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302467e485ee0e3d11fd3d1385e70f3e423244c101cf1e17235a65adc3c97e4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0588, 1.2282, 0.754, -0.4652, -0.8089, -0.7544, 0.9996, -0.0193, 0.7986, 0.6086, -0.3779, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.1885 left_z=0.1473 left_yaw=-0.0223 left_pitch=-0.029 left_roll=0.0228 left_gripper=0.9996 right_x=0.2959 right_y=0.0008 right_z=0.1813 right_yaw=0.0001 right_pitch=-0.0091 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.2598, 9.1419, 1.1062, -0.5836, -0.0464, -0.0171, 0.1026, -1.1419, 7.2547, 1.7802, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.0607, 1.4391, 0.4927, -0.0204, -0.8085, -0.7673, 0.9996, -0.02, 0.7986, 0.6086, -0.382, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2544 left_y=-0.1857 left_z=0.0521 left_yaw=-0.0167 left_pitch=-0.0429 left_roll=0.0357 left_gripper=0.9996 right_x=0.2954 right_y=0.0005 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0133 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.9573, 5.135, 1.2967, -0.3736, 0.0757, -0.0171, 0.0342, -1.265, 7.0359, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c1700e11cf0d00f9ebc5a5ed0a5578aa24cec29475a8f54b0bc5cc2cc30b13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42dd45eb1341bbea9fe592640bf4d7972cf839cc3b7b85bbaf2b62e2587dc81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302467e485ee0e3d11fd3d1385e70f3e423244c101cf1e17235a65adc3c97e4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrgsNqS08dvf1GP5N5_HGP4-hRW_kRkeJxsb9CF4DcfiIyvBSnRAy8icYiVSm7g78lMd3V-A5PzTg8ukGfm1srPiEbO0ge4obb8WbJKM2Ae-ri2BA51NP53QLyqt_bwF452E-qBQXIKFdQ7W8ZgdmA3HRhQKNXEXUSa2yqNHCDsK_CWaRmKALanKRLsFUAXYHSjJmmBzFI51HBZe1g9wy7FPC2A8jHoJRzDk9FlDYZdBIw7q6fIdXO2rPVGSBK3LwN93zqL6gImOlqOEEKBR1XHVZUErD5u5TCHgvViLzfimrLj3pn3XgznSnQ5L4bGQuxq2o_f8K00_yE9TVl7HnAXipY7yZRBpR0XYb87bjo0C0STI4ohVmKRZWcCb8wD8EXxr3aF9gB_klCMdl9mx8TmLOGsTRMzIZIz4df6hAqk-emeY1lEhKFaNSLu7jtZLJZZ3f77D1DppVCCJ4RSJBxEr53p3UCVpKXyVAlbdqEnQRCNcILjPFIHdvG4F52WRJNrxPd5yPuFMJxp5fj6-usxoZygtSFN7L9jp_RnThqgXPolt8CDtLw6HXsXUx8SR99Q186ApAzE1TEK9sx7UIko-_3AfSZdTLvo7EIFWyiMYNIKkyVytBo9nOfPrRvDcPIZTPTsgSq9yoD2mCa1aVaYhSvaaonLyb18kmjZiqxoiiPAwo6u5PGXBNoQsWDhYHv0aVshJx3DLV6NizGZ0G6X5G-I_Gwl5zslZimrNNv0N-WTVJ-npERYVa6-ss6c42FxWylUXdCJZ2s1Yk3hvSML8AQqntIBMxrsS2ZvzPrJdkJwV7ePqAfBGNJXD4fDOixrLZHx6WQvFwUXjQIX8WfpSp7dRsKgDJdilmttEwnws88TaxPqXSnA8ANHzhLniS_scGbPENOOhlACaVP0-G7zJSoX-NXei6bZY-YQcFBQs9a3LwjdGiFJVc-ujh72utgpdBKnyzBWKSmLd4nVC93w_1ecEGmceD7dtK8I_cEnE4SYus6b00UYau5XWGNgl6qAxNuWMqjk-JRg4_HWaN8qNriT3PamiTHLESDiRQ5vuUWnl_rT4lZq3uccWxlsMB0ifPyaZDK0XT6UWrvYEkB8GQmprDNQtLAkIEqwJooru00MGCT2I-6whR6wX5ILhzObGv8f6zsuVetTXoDCEpAA6xoygnUmYBpYfZBz92PgPHksKGlGCZEFB2CzJ9TnHp_4LGvzjg1MIR8-wbOv3Ca1vQ==",
  "id": "rs_0978b5fafe184d3d016ab42adf304887d0b9e5510f08b6babc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At grasp height, the brown plush fills the space between the left jaws in the wrist view. I’ll close on it and check whether the jaws retain a nonzero opening.\"}",
  "call_id": "call_VNN7LcaSZKt4CWinSLKvLRot",
  "id": "fc_0978b5fafe184d3d016ab42adf5ff487d0a1ee05da8be6f34e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VNN7LcaSZKt4CWinSLKvLRot",
  "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]: [-1.0611, 1.4391, 0.4927, -0.0097, -0.8097, -0.7677, 0.0143, -0.02, 0.7986, 0.6086, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1872 left_z=0.0534 left_yaw=-0.0166 left_pitch=-0.0367 left_roll=0.0266 left_gripper=0.0143 right_x=0.295 right_y=0.0005 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.016 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -4.8205, 5.3128, 1.0769, -0.3785, -0.0073, 0.4908, -0.1709, -1.2786, 7.2137, 1.7656, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e665a24c895b0da22eec3aa7885070d37523621fb754cbe40540895f91224830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec5fec693e5980c317e90d80f6d62b7de2c5be27b53d990e51439a78de73f31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3fbdb2f09e6398101099e2a8575646326c273250490c571f521022dfd1e1cf4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "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, 0.8013, 0.6174, -0.3786, -0.0216, -0.0158, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.0128, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -1.8803, 9.265, 1.7802, -0.0366, -0.0024, -0.0562, -0.8821, -1.4291, 9.7846, 1.6728, -0.1099, 0.105, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.0607, 1.4391, 0.4927, -0.0204, -0.8085, -0.7673, 0.9996, -0.02, 0.7986, 0.6086, -0.382, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2544 left_y=-0.1857 left_z=0.0521 left_yaw=-0.0167 left_pitch=-0.0429 left_roll=0.0357 left_gripper=0.9996 right_x=0.2954 right_y=0.0005 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0133 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.9573, 5.135, 1.2967, -0.3736, 0.0757, -0.0171, 0.0342, -1.265, 7.0359, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.0611, 1.4391, 0.4927, -0.0097, -0.8097, -0.7677, 0.0143, -0.02, 0.7986, 0.6086, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1872 left_z=0.0534 left_yaw=-0.0166 left_pitch=-0.0367 left_roll=0.0266 left_gripper=0.0143 right_x=0.295 right_y=0.0005 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.016 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -4.8205, 5.3128, 1.0769, -0.3785, -0.0073, 0.4908, -0.1709, -1.2786, 7.2137, 1.7656, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e665a24c895b0da22eec3aa7885070d37523621fb754cbe40540895f91224830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec5fec693e5980c317e90d80f6d62b7de2c5be27b53d990e51439a78de73f31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3fbdb2f09e6398101099e2a8575646326c273250490c571f521022dfd1e1cf4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrk0L5AgjDvcgsk7jpo3nruUFSmx7jSvIlRgH11Kb5diiWhXohkHC1Uvp_QxYc_XUSmmLQLFAddrUgCliG-sh1BBpo55oWQkVupJlfS5kY7o2cnamJhOriavcva7pnq9ZsO48a3_4sW7VobSrUpCW3sh4IXwx6YNiKVEUj9E9RXxAeUzMU-QFGzMldeNIh87BbsBWoyzkIxKoNr49H2FbSUFL0NoQRD8zuiztopJDU7L68rV3Scd6iSaQMniZFFff755XEZs-JfygFb-qDyzidyaRoaHo7gCALcj-0bJlJLw1dgtG8ewVrDImtIYbwy85xERn2dCw35DX3saMY4vBdBHd1RHv4b7CzhSn_IA_AzJuJDBumacZuvLUGNgJTXCX9g74K4_uPUoIkMBgBVLt-7_Z7lgFWk-D42215THA1oPHgvj07swI3pLvWKF-fsWrsK1l6e0jWJP8stFbhPLiIyI0d8OSQh1mEDINh4B1HyAnrea3ZN37EZzKiN8Mhp2a6o3lZSUpD9yZ8Irne1KwLjthviC-TiC8JQFlKK9BzYnz65rf7Pl5VHjdB8ukfacutzrLoFm1FQ-Zvk0XYb5VmiDo-IuOk1dBfW0yOeqNWaphrXkI3f_QlRdgJoBz4U8Ru74-FeUG7qwQu7Y2AyCk0bUuKRPlBFQDxHk2OX1PkyN4WlJV-cEJWz6MSduZPobz2KycZLzMp8dYDLHvyA_XfAq1Oqora0Gf6Qn8pBFcwMZ7fGvrMXurZh1eILqvRkLwtz-93zDof2JzufD-IzMFEDRXWjOAGoFeU0wNWlGS_mcrNliOx6QMWbEJdfxWWTHL2FIDT_VhdGk63TH9sdAkUW4YyUjMxl8_nXEIUdu5WTKixLQRuLbxVaVhPgmrur34sjMzt1uglLgLZMw2Qk0_Aow84bn2PSZ2xjBMGrf-lx0Ld9X8jSaf8KjMa0xSM_aBJBb-7GxPWwwaVsYPewnAOjocfgOoWkQf8HSfcixGIBVpyYKFMHZlpgLKg5c9_BqyUirbbhpU464pafy2rYrjaf0S9-lFN6wi12_iKPV-XJZwndmjsqs7xC_ori82egl_8BNzx0pq5Xf2OFA8YJXqwDt8dCgK1C547Cvl2QSjZ-t7XJOFf5TroQpDq-kE4QbgcP5hEWL-qZe06pc_v09yg_C-Iau-4Fcsg5bgXjVS2E8FyjHxVAX0lvPFqUOCq0EuwHO1UHK2mFe2Kr584qrkXehucYoRNFUBoJiOjm50GPU36P7WfzysOoMkrIFQ_eVtJO_cSWiTVJ5VqemvSC4N3KPfROLL39Is8e-6h5I_UJOEEHZ9EBa6CqwTl2AQTcGAMfpYRV3-xG-qQwHEs3nC33aLKwwJyExhJeBxiiU3HN6kL_ccoGNFvn4ev_KIgBRpE7Vn9WBLvnbmwvPZeSJ0AOSjHT3myzOGIQ7DbKnOViNNwCzsVzm5lM8ghZiqnBAQuq95Exs-evPTMGDhCZGbmzssdOy87MfsGy5_Ronyi1CWGKXwXW1esvoyQBoHXG67bBC1HMSPRCTwIJehFG9iUfI26SK1UHyBq68QU1-51_c6089ydRo5N0lcpsOjiQ4H9a6NxPEcQgmBEJ2PWefOeHhrKTjGJBH92LLzk-0J3i-zYHt-kOGikEo_MSD40iWXrAYKogOIvnhLovD6aWsROI23FRq3c9TFuxFCc-v88ryC_XhumsO1-GEnit4WyPRsFnqFy2xAJVR3lQ7AVWiQk9qqGpreOXM3S4MPD7bTovLyTnSHMpgZuwCXcpt6GcX6UjOO0c58EGxf2SQQmszchHuN6vj5vHSyFMKchdenoTJEv_aWKw1OZLLFfNCqQ0WJ_YtRyfPgIrN_BydGffE9GCZg==",
  "id": "rs_0978b5fafe184d3d016ab42ae1df2087d09c11ef01e5904096",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.15,\"left_z\":0.075},\"note\":\"The gripper closed almost completely, so the brown plush slipped to the left of the jaws rather than being grasped. I’ll open and shift a few centimetres toward it, then make one better-aligned attempt.\"}",
  "call_id": "call_9DmvBsrs96teLcgw4w7IDIlt",
  "id": "fc_0978b5fafe184d3d016ab42ae339d487d0b24ffbc4cd33e783",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9DmvBsrs96teLcgw4w7IDIlt",
  "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]: [-0.9688, 1.2255, 0.4377, -0.0757, -0.7551, -0.68, 0.9954, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.1562 left_z=0.0782 left_yaw=-0.0077 left_pitch=-0.0242 left_roll=-0.002 left_gripper=0.9954 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.1094, 4.9846, 1.1795, -0.2857, 0.1832, -0.0269, -0.1436, -1.0462, 7.0359, 1.746, -0.0269, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0280870a078afb880c3c2a683865c68960106c43e5010509bf44a751ec054532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cbd74f1b8a84c9ceb21b3a8d5baa82d9b43f66ef07d6041e0422e3d70d8c70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81eddf971bbf36e1ed504819310fdff1edf41729dadc3df18cf950f57c725512",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0588, 1.2282, 0.754, -0.4652, -0.8089, -0.7544, 0.9996, -0.0193, 0.7986, 0.6086, -0.3779, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2566 left_y=-0.1885 left_z=0.1473 left_yaw=-0.0223 left_pitch=-0.029 left_roll=0.0228 left_gripper=0.9996 right_x=0.2959 right_y=0.0008 right_z=0.1813 right_yaw=0.0001 right_pitch=-0.0091 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -4.2598, 9.1419, 1.1062, -0.5836, -0.0464, -0.0171, 0.1026, -1.1419, 7.2547, 1.7802, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.0611, 1.4391, 0.4927, -0.0097, -0.8097, -0.7677, 0.0143, -0.02, 0.7986, 0.6086, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1872 left_z=0.0534 left_yaw=-0.0166 left_pitch=-0.0367 left_roll=0.0266 left_gripper=0.0143 right_x=0.295 right_y=0.0005 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.016 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -4.8205, 5.3128, 1.0769, -0.3785, -0.0073, 0.4908, -0.1709, -1.2786, 7.2137, 1.7656, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.9688, 1.2255, 0.4377, -0.0757, -0.7551, -0.68, 0.9954, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.1562 left_z=0.0782 left_yaw=-0.0077 left_pitch=-0.0242 left_roll=-0.002 left_gripper=0.9954 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.1094, 4.9846, 1.1795, -0.2857, 0.1832, -0.0269, -0.1436, -1.0462, 7.0359, 1.746, -0.0269, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0280870a078afb880c3c2a683865c68960106c43e5010509bf44a751ec054532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cbd74f1b8a84c9ceb21b3a8d5baa82d9b43f66ef07d6041e0422e3d70d8c70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81eddf971bbf36e1ed504819310fdff1edf41729dadc3df18cf950f57c725512",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCroJSO7HLHERcLUGyJdB7eQh5Y0hpq5wCylyjz2AMKCTd_0HbxH8GJpqNYaQ1R3qyElXtj8SPfZ-CxlTjaxHyh885A8f7-J-9N99tSaKjLls2i3uGi6u7zr7tUu9u8PZxbqxEt-a02opTGLm3i3c5m6WQWvsbwg6awQfqZDcv5yLHi-KTSPOmsSYatEhWd3VJqqyx4_mmC5_pmOes0upZWEnBsJQuVWpeQ9lOnpm3paYXtp_nOgY5fOWaZv2-aRoJp9td1AVQz1aayDeCAIzMJBJRVs2WyguNy5c58Vz1-McNAqgBKX-bIHCJAfxrwiTf3HIgsOE1EEfYC3vJeJ4ZuEqxxR7B53rHRScEhauuwX-hiaHzxPTdMobt5P596BDyfF1_Xy8jMoYxBR83LHYDMeHBIjzMfcUPkSj-RNSerGQ0D-LI7aGE3ow8Gtw2_6PXRC-FIgPBZZyVnx7pALMQqHalPEB1W2BayGQLnYawxH2stHd4m06e1_3Ya6nFYjdAdas3eMa89T4aGxQSFX8pGph9qP_f50cxRPHl9rJGJMw5IUl1BOHBod0isrhY6Kk6Pk1tR4JjiVO7OGL0IWDsfZjq8eqIrvOa4N7bp2QjL_bS8QGR_Zpt9eQLrA2u7iqstmIFRjiMk-BmEruy7czXDwVvXE_XI9lqaw_NtzfEVB7Ytl9p9Ela57SUeXKDAAO3cC6OJFWE4qB4KNJzYcpEfwJfViUTtv1fbjlsNOZ8W_YjlU2uGXyxO4HeeXhG928xF_l_Tx7l-OCpJUZsWPsfz_0-WlzF4pJU5JuPOFHOqRZS2QxAMgx3x2IOs44I9usjDVAZ1DRsXfc7iyxNJUa1iDez4_oKZ7wa1P-0sS7RANwoMWtvi9j2DQMrZACuMMFzVgvLZ4-el47pC3gRr7PoDpLVTc5NvjQMPFWlYeXr3Q1ggicD16CygDya_Gm5KnoI8qLTod6u78vucvJYKrmTqSIeqPqdNRoU-VcbTyhwVWZK-P0Mp3zGjkZNXU641pUB1Q5obeZWCext24Wjv6ny-yT820Nz7u9lOUShidJLUBA7TO1UegRlQs0Lv_8IVMccawO8zhfcNkBLvr1-4KPTm2d_UlrXpZd7PD-GCRTpIaavjRWyX_Lh2dMDv9SvnHoofqe8RFO6iYFjETs13GDo0A3UjoQVWqE9K8t45jkdAsSbU-O_iiSfMWxzuEpVoIUnkX7L_N7WyrpnuxlWYs46Dh4rZU1-bMVEtsArDpfa3t8VAmVA5cnli4db36lr0IBwjn_ZLzCs3ZxlQXo3Jpt54XXAgzy_K8fmqlg9HDU0fPYTc_r8BkCLxzC1uMURd4rzE4NJfXyn2V7QPhoyN5TIUj1yMCGsEC2kzp7vd4DydZIUt0BLIfZ3PVy2lL_9YjThd33HCvBKj3h9aQNVAEFb4XTapDAKWEvaJvmqmKuoa_wr9a_P7yXzUjzVGSBnhtiOfbFA9HyVyzyr3K4apP9RVVvC5wXJxLI9lReP8PKpyswXtNGEESN5qhSPWosJb1yS0qeQflbM6w_hW99XnK1BknO-TdYsO610oR3FJvQ9sG7kW0oejkuaa5Xmk0-x62ls9k5AA0FI63uDdHV648xhFOl-mmPeleo2l9XG6V7WKDV94wsoyKSVdcDuS9KEBtj4S9Btpmo4_8ltbT1T1RG_6EsNzbMgP-WLRU9-vDVIehQLZMcYll8ZvVuI9qlpR75ue2ZouC-XmrhKVehW7HWhfEpbenRJYXnBXXuLq-bNpArs6N_sPXKY6Lw76akXI7f8g0-KL6Tdf4QZoOOUwgTJoRZ_v61ZiN1JbikOfNFEvWa-7WWZT6FLvcB9pSmQJ6iT6wKTII2kpQUonja9WBNcMIgoG1ekqQroeyRgAqBjIizrol2dmVyWW3KpPgOxJ9LvAO",
  "id": "rs_0978b5fafe184d3d016ab42ae5e4b087d0919cb31641feb321",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_x\":0.245},\"note\":\"The brown plush is now centered between the open jaws, though its body is very close to the bottom of the wrist view. I’ll lower and draw the gripper back slightly to surround the body rather than its head.\"}",
  "call_id": "call_Iv9yIMKox7jx0GGtDT2tkgLj",
  "id": "fc_0978b5fafe184d3d016ab42ae7494c87d08d172fe35aa08441",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Iv9yIMKox7jx0GGtDT2tkgLj",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.3663, 0.3191, 0.1112, -0.7795, -0.7391, 0.9967, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.242 left_y=-0.1543 left_z=0.0309 left_yaw=-0.0187 left_pitch=-0.0477 left_roll=0.0202 left_gripper=0.9967 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.5624, 4.9983, 1.4237, -0.5348, -0.0659, 0.1245, -0.1299, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23969a632d4242da5a4954dbf5c6e77c19663faa1691190b5d316caa317238bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61b864501f6ba37b4075d316b9aef64988d01fdf80e5a008276c3f65676ada6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8679425338cacc6e89e894672c3f8884ceca734278ff2580fbd1af7f817d21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0607, 1.4391, 0.4927, -0.0204, -0.8085, -0.7673, 0.9996, -0.02, 0.7986, 0.6086, -0.382, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2544 left_y=-0.1857 left_z=0.0521 left_yaw=-0.0167 left_pitch=-0.0429 left_roll=0.0357 left_gripper=0.9996 right_x=0.2954 right_y=0.0005 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0133 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.9573, 5.135, 1.2967, -0.3736, 0.0757, -0.0171, 0.0342, -1.265, 7.0359, 1.7949, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.9688, 1.2255, 0.4377, -0.0757, -0.7551, -0.68, 0.9954, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.1562 left_z=0.0782 left_yaw=-0.0077 left_pitch=-0.0242 left_roll=-0.002 left_gripper=0.9954 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.1094, 4.9846, 1.1795, -0.2857, 0.1832, -0.0269, -0.1436, -1.0462, 7.0359, 1.746, -0.0269, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.3663, 0.3191, 0.1112, -0.7795, -0.7391, 0.9967, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.242 left_y=-0.1543 left_z=0.0309 left_yaw=-0.0187 left_pitch=-0.0477 left_roll=0.0202 left_gripper=0.9967 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.5624, 4.9983, 1.4237, -0.5348, -0.0659, 0.1245, -0.1299, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23969a632d4242da5a4954dbf5c6e77c19663faa1691190b5d316caa317238bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61b864501f6ba37b4075d316b9aef64988d01fdf80e5a008276c3f65676ada6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8679425338cacc6e89e894672c3f8884ceca734278ff2580fbd1af7f817d21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrrzSLmPOHJsfWG2XqMKz-kDOAHfWod53YDGB_Mi0KS7HGf9qm9u4nHhx-eCjp5063zeCpLRW69vSwjeuXdMzAhYJGS6Et6XP52sUcdtDpASHbuRVGn61VHN5rRTGlz2pPN4pUFe4juCA5-gqEbCQkgS6EZCzkeP_UL1EyWsafwSY8k-OqABjgA06J8mViqe3jo-ZCaK9_K_7V_SyMR4pO03lnjPKaGxk9IoxaMPKrHdHDyKl4RGyDUipIFkSkJP6_R7sOMYbwSU0JUk4yKWrUGqrc9_T_Tmo-qTfiP1evzSsC0Pfp9HpbEay0Icsz2Ya8n33gUx91Ab5z9DxABXTmYp2CCwVyMPwt-bCtTpxDmyoIXDDi2_Y4LS0MlxM9cC52jXoSSFOvAKT4D1w_ikvANZ1SKoiEwfQP2UCRzVtvNYCiW6XL5q6DxFD7iYy8-uYYDc2PHoF1EE7O-Ib0gwP7DjsH5D5TmbtBPvzrmsZwW6mm5MtlMc0dcnTj_W31M8GgiRVXDA3zCcBGGk-b-eIc0qNy6-rFfi-tWBJZKYXACpbXRWABfLXANXg0bXYzYjWCpMxoEWMDx0Ck3uoBoj1BiuBKBvEQ9sjPDIj7qh4Lcr5VOGlsjhCdriY9B7Etiw59eNyj3SJ1vfhRKGPkk1P5tY062tfH6TWi1ettQ5gCmz-zMOXny8qBVvDqi3yZOk1N_N6mlBhRuDdhnGVUDfzkMEaKz-hW0pCh5MtlzsJFBBi15i2-L48sfKHBJLWd6V7utSMOtysFOhY-UE0Q8Begyy8Rlo40oiIwQWUYQIVTkTWF2UofstP_39JCMP4Z14TdQHDmY4ZAssbo3Vot-oMXdOKZ5v-xmxhWSRXOVtxDSkpKdrytcfjjQnQ7d3l1s0Lnj7m5IwSW9w08cMtfsUZtqVKXAH8rL6PbPsdY7UirudjIJrQTHCv5MS4sgSEee2TKWBbUIsXunoz_UBOOiq5XYV62MWhhBf5VlRPYafm-sD2MveNT4s19Zk4esbinwfGXLXtluEBeF8MKXrqkHX0UWA7XcJP_1UPjugGWPvoQMPq1wqioE1cG2MkbNaN_-JtUli618YdVXE3ZE7yKxin2F06aL_ENePq7wZ7MvtlXk_EGQPn5pW49O5sKmpJlcEFRID9mzYVHkJ44b6THJLKEPd2KA_X7jtgYD8j6NCS7bR_T6BpzG0ZRl3CIst7I1H437OPoe4fHVy346cnMJ3FUMV8xbC0aXEyhNFPWX6h2yasp_tt6WjOw0EjYr_2nOAHEtFEd6MJ3tHtbqeUuB8R2CPqrVjW1YrgStHbFsK2VlsCLyydtMRGH2HGKKTcH_6vPGhfe4KVnPeZ9DhDHBIeFeTQ56lp_sVrn6a3vNAsLmpQQdQ7pMMPpxH-IGoRzlNMK6LwbH4B7a82ymm0x4keoVOGyrdLRArxyLn4CeniPYbaQ=",
  "id": "rs_0978b5fafe184d3d016ab42ae9eb0887d0a6f0ebf7f73ad6b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lowered left jaws now straddle the brown plush’s torso and pale face. I’ll close and use the remaining jaw opening to tell whether it is secured.\"}",
  "call_id": "call_ruA9vR6QeNVAH01YowL8cqXE",
  "id": "fc_0978b5fafe184d3d016ab42aea8f6487d0a04816ffa148cd78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ruA9vR6QeNVAH01YowL8cqXE",
  "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]: [-1.029, 1.3663, 0.3191, 0.1219, -0.7868, -0.741, 0.1111, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2433 left_y=-0.1548 left_z=0.0329 left_yaw=-0.0136 left_pitch=-0.0371 left_roll=0.0126 left_gripper=0.1111 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.8222, 4.9709, 1.16, -0.2808, 0.0073, 0.9353, -0.212, -1.1829, 7.0769, 1.7363, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9521c721d473de884297076749a47a005f0e692dd84ead48d76f4854b31a71a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b087476cce3a84e9ed4ed72b574477dc003b0b0508fe288efd011272d3f13be4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039d09b6c646fc12ae2724a00b2f5d65d0a41ac61ae8994d47c94b895534f5d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0611, 1.4391, 0.4927, -0.0097, -0.8097, -0.7677, 0.0143, -0.02, 0.7986, 0.6086, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2553 left_y=-0.1872 left_z=0.0534 left_yaw=-0.0166 left_pitch=-0.0367 left_roll=0.0266 left_gripper=0.0143 right_x=0.295 right_y=0.0005 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.016 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -4.8205, 5.3128, 1.0769, -0.3785, -0.0073, 0.4908, -0.1709, -1.2786, 7.2137, 1.7656, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.029, 1.3663, 0.3191, 0.1112, -0.7795, -0.7391, 0.9967, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.242 left_y=-0.1543 left_z=0.0309 left_yaw=-0.0187 left_pitch=-0.0477 left_roll=0.0202 left_gripper=0.9967 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.5624, 4.9983, 1.4237, -0.5348, -0.0659, 0.1245, -0.1299, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.029, 1.3663, 0.3191, 0.1219, -0.7868, -0.741, 0.1111, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2433 left_y=-0.1548 left_z=0.0329 left_yaw=-0.0136 left_pitch=-0.0371 left_roll=0.0126 left_gripper=0.1111 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.8222, 4.9709, 1.16, -0.2808, 0.0073, 0.9353, -0.212, -1.1829, 7.0769, 1.7363, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9521c721d473de884297076749a47a005f0e692dd84ead48d76f4854b31a71a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b087476cce3a84e9ed4ed72b574477dc003b0b0508fe288efd011272d3f13be4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039d09b6c646fc12ae2724a00b2f5d65d0a41ac61ae8994d47c94b895534f5d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCruKK_3yqyBZH06TXlHuO3d9axqdgLFKL-1aaJKpW1RwySorUIX7v9GuycdTD39GuyYt6aSvVUDpLtuNTSQM3EcUvqhWj_yybX4t05j0OqttKs5O42156RbBM8QnRZ6AWPIazO6rAYRsK8zV0vpAPcCW9vwocU2wNLCZ5zwqbvtlvl7PDfY91ZjJL_ja-uL87IKQt_vPdklQK4P3z9iTfZ20XT5FGc3YYk7DmZUvXcn0pikSaV9iXWewxHiTYiPGWY22_uP_iA5BbmzTy9G5-dtCiGoinFj1GlF_A8mzCU50bnLFcFTWy9R0f9DpdNYw-mrHFGMXp-cjtUFARCbjQ0aJHAT3INUzBF7njbHqzGHwuy5S_06nvD_ox_4KsPKHE0bcU3ET_675-3O-SvmWWD30Es1jsNgeHXiJ6nWS6wh4pgNGbTZLfVvzplwHadGWkBEipPLLVEleHKRnBbktCzyYk8ZccsOTNAEGcNO2aysHSmmIpwp3nM6aONpVUSqEwSGmn8wjHxt_Kk6eaD9ByvKkJBM2bVBfCCrFxiqd6_Erqoh6JKdMugwQvI9uoLJC-AOQ8DMHeSycrlnI77ONmJtu86aToQ6c_u5iSEVohevpBFLkp0JJphM1UMelDNypzI2k7a6ZVif-21ckR0E-FqY5M-cqWFC5nOWANIp4G7bddv32Ix-eXGC80inc4Jb0PCeknMlnKKqXM8xqyRYxSPcQrkEcmS_v6CuboF_McO6BrlUduR68whR1-uSC1mNnJb11uxGlOz3gsXpJSkfzsqQz8qLcVeL9-U2MexVfnNd69dYJrS2S-PYG921t3tkFmd3chHQOMev6Q7NCNceC_Zif6OoI8mxUITq9tI_PPWwNKdjGWW4ZrnLgjMXPjG5L5bMnlxvlahAlaKC294B5QqOeXoYg51xY5_1mU2B0GxxhGRimvPiVwS0XRG9AXUDfsUICaiLzq4BgV8n_p1hQu819eDFHUE4kQMtm04IYFElxIWnokZBMK2yPS4vEh2wV4cNEoN6wwgSRNPLgECxUqWLkb94PVWkBHby1Nb6yY4gZorckvDdil8_g43sK9owM2-614Se1l27No8EYcXKWfVoIuhF4rq6_3ViTWtwlEQ1tTWML4HH-9t-UVoXsr7WQ7goadUdmk1jCC2RnevUIZOc5i4W_NoUzZs6E_3w9tVa1OofzNCMTogf74icqq3YWU4Lp7AlxvB5jpSsPB8C70x9Vw==",
  "id": "rs_0978b5fafe184d3d016ab42aed2f1487d0b07fa3a062d38110",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The closed left jaws remain about a centimetre apart, which suggests they caught part of the plush. I’ll lift it clear of the table and confirm in the overhead view before sorting it.\"}",
  "call_id": "call_lrgzACBQFl3EakBoClW1sHS6",
  "id": "fc_0978b5fafe184d3d016ab42aed579887d0af8a786ca8bbfb12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lrgzACBQFl3EakBoClW1sHS6",
  "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]: [-1.029, 1.0706, 0.6827, -0.5518, -0.7784, -0.7422, 0.1135, -0.02, 0.7986, 0.6083, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2426 left_y=-0.1556 left_z=0.1485 left_yaw=-0.0176 left_pitch=-0.0504 left_roll=0.0204 left_gripper=0.1135 right_x=0.2949 right_y=0.0005 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0167 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.7402, 8.5402, 1.1013, -0.4713, 0.0073, 0.5006, -0.335, -1.2513, 7.0359, 1.707, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be5868209ff33849694f17ac6e69d6abf3767ff754db6ca5aee5af10e63a6ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef829ed7d9820e5ceeb1b00ba6ebfd63c416b057b9a11d3c3d2b228c361ce67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d120ea35e974e6a15183d9ae6a5d0c963902772417e076e7c62597ccbe429c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9688, 1.2255, 0.4377, -0.0757, -0.7551, -0.68, 0.9954, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2586 left_y=-0.1562 left_z=0.0782 left_yaw=-0.0077 left_pitch=-0.0242 left_roll=-0.002 left_gripper=0.9954 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.1094, 4.9846, 1.1795, -0.2857, 0.1832, -0.0269, -0.1436, -1.0462, 7.0359, 1.746, -0.0269, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.3663, 0.3191, 0.1219, -0.7868, -0.741, 0.1111, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2433 left_y=-0.1548 left_z=0.0329 left_yaw=-0.0136 left_pitch=-0.0371 left_roll=0.0126 left_gripper=0.1111 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.8222, 4.9709, 1.16, -0.2808, 0.0073, 0.9353, -0.212, -1.1829, 7.0769, 1.7363, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.029, 1.0706, 0.6827, -0.5518, -0.7784, -0.7422, 0.1135, -0.02, 0.7986, 0.6083, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2426 left_y=-0.1556 left_z=0.1485 left_yaw=-0.0176 left_pitch=-0.0504 left_roll=0.0204 left_gripper=0.1135 right_x=0.2949 right_y=0.0005 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0167 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.7402, 8.5402, 1.1013, -0.4713, 0.0073, 0.5006, -0.335, -1.2513, 7.0359, 1.707, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be5868209ff33849694f17ac6e69d6abf3767ff754db6ca5aee5af10e63a6ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef829ed7d9820e5ceeb1b00ba6ebfd63c416b057b9a11d3c3d2b228c361ce67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d120ea35e974e6a15183d9ae6a5d0c963902772417e076e7c62597ccbe429c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr1fs6UGlautMM5ynh3D0iE8xoQzLIzDU_WhJabe5iML-TpTWpsJnJQsTYkbjUU8ZDANu8M5TcEUSl03QwqO_FqjBp40t4QTL6-IhjRBj-AI0clqHNepGAJZiSuSTRLANpX6OkWrRhvQ7uzcpyfNcQJj4O1A-rtPh_SiuH5M1UJbZw1EDvaeCodOVeqF6tqQ9tOZQbb_8ChGDJrn0MaxV1kmzcKrR2y9EyuLuu41UHVxlfe_aTM9MQnQ04o70KFfrC9ulCZig_cUDcAG2wvsU51HpFH1Oy5kFmbdWDcdgy5K8BjDHzOlT9IEAinXQbap3Bovc3bDztnttDsttYNCTaI80UIS0JZ_WUBpTbrt8zox-4f1_0BJAq6-0mzkM6mpltViR3n-C8RlmttbjCwsqWOLtPvtYt0LMkOjsgB1p0i50H9G_qq-4ecR6uC7yCqhxPjU2owMOl9m7oo8U8kdgqP4O-PyduxfWKa8GJlUo4SPHJYAHbmHVOjnQb7axVcRcYlPzFg88lSKHz0W6EcYhZ6YYef5NaLcrHjc51s78_c5NK14wkwuptaR_rbRCzsa4yGGJ4C4s1O-GLj00CcnDF8LtzYSIb7nFk7JV6D1kVQx7Jjld9YcKvVAi5sbzvogAH_CrBdgROfmcWh2vPtF4NfgN7cE-hGp8EoQBp9tDaMvVXAHIp8dBVCsQz0D2pzGkMXeDbp-HWV5XMsnzKMC7Y3p91GGY_7tFk6bJUH8INi665eMdvR23yZJtdWV6hG1vKuOjefTX5-Sehu_uj10rDs6Qx6hS7P5sgun5-_l47WOt380Yz8YRcFD88z_pf7xjlY0r-USs2skFBBE14lJgBSp5VbBLy0HLmUXHQPVHs-MJmxXOCoAFh-mCTkzumeeUmOPGkG8kBoWkXUB01_-CL0TIS_PA3z_cSFCn7HkXHiWf4aKCSwWlO6GQzDvxs9QFKh0b63a0JBxqgkRpe9NrCtJKLHNS4t_r1O1v8VS9Djg0oH9NU9DBO9gAiG3f2Oh9y1-ClV0oBYCP6uWTu0hIefSfUokFrsSbVU0rZ558ZRNL1lmXCSxJdYjLF_G1Unea6IPLFf0Hjt8FTA6qSy3mmPhQKtEKGQUxDBsUd4-svCwLD8HFc64xEcCNT2bSKg5cleQM4Vyp0_UvUxpO7sPKKktCWx2BL7-sUSczI5nP_Mgts_UxjqIGr3iMaNl_kg_gn02GplLBhnJtQtGnEMn6lwZYizayALUhzh65dSFMxuH1HTZItwaEJuCCe0Zlnz6-CpBuNvjul57OOwlCjgZ3zOurV7V2SSLsRLmVXgwUThq2bj2Zk5EglzqOnm8w9eN09BedeupnZVBWTKltv9UEqWPsY8eGApKiHtWP_tQp2eQnbntIKYvAOkfV4g5HUYJdAea08YmgfUwvfZjPjCBwzB6pyyXjBnusPyiH5ePLT0N6OcPp3dK9116P5778__9GC9lCHDsmhHsgU35jykH36DTxr2l1yVd1A2n4jMWj01-3aCXPogtnoAyYiscCM6lemuuLDwGlGhlrjFsP9XszD9kPlGXQ46StZYFzG4bWqi7GtcoZtz_lpFgT19tsstPvCHF9cDNb6q_GKVgE6RjQly18_PWGSZOK-TvOx_GjLu_AHjLDBg9CXNyJSIyVmoLXWIvAZksUwCZjlkrwKMaxMTeCnc0Oj5AVvKhMUOQJ7JUvWFws2ft1UqrGOZ2ojjFBj-dFFF76q13eHAd5FLDfJLQmHHpG-9gQEehUA-6_bXkA1hojvWtkbOmBVadU88NYQcfij8Zc9H5GuQxeyDHEF0c1YJEtoUfXZn4HmYie5ffb0i1KC6Oof25sULsKOaAZnUmMQdUwg4-lIz_PI-3Ri5rwPUnPvwSGt8aPGzBI-ejtrMUBidVTgXQlCg9N6I5zvPJqIYnRTMd4P7scUoeETgtm-nlH_b7NhMNQl_h8QRAyDx6053F9gjQP5qmUWmwIaKDMU3FiUXKDYq8WuHInsq6qKYxZQU-vzagZptBGEjwSB5pPgE6tTAajFMroYFdHEIKT9ptJ8xEXhWVVOQWneCbDMmP51snpP9K15NZFDC9WNZ51gn34sICR87XXaj9BFy3-rSJodCErOTm_Cp0Hb9jY90NpbqNZjWq2DqUfihE3aEZFz1i0p_2_Z1Pwdp9RQzXncp0B6iyQ4R3Y3OuqHE7Rrc9GcRoOsIhuX6X0ZPUUD45JlaYIH_TFWnBS0F4Y32xpbMnArW7No2m7JOYdn1FWORBxLssFqdAVtkllOAF-pKqvVafx9lAQ6VU5OSwgyfxceiiDFBd0CL7o6CIkrdMeoevNhGUQY_flpSl3HbXGkYEEY9zv1z2mcQd-24DDiXn_Np8VrghOsmpnD_O6qmvmh6Rz83pus_JFsQX8-sioI3WPzuXdxAOzeut27YReNGu2IPxW_vox-M3bZdMN7OfK3MGWY3Y0zDTXKUjxyhb32I9LS-N449UQVV2AsycNStuMvS8xmJdnsnxuQjUhgJ-lXl_2Z3FPcts8d5u_LtApGUrNzzJahz28UUz-X06Mpyb1yKLREARafJetwK_Gl8yaF77jhpy4yefidoIF4GlGjqSvo8Zcl2r1JCsHGw73Pb-WQtmSra9A9yxjOGCtRIlS-LpIPqDiffcnFW7xEXfLaP8ij04k0X7AOyE1JMwsdc0TFZ6oMabkI-2DGoshvNQlkalS1vVe-k9H4gEsCHp61dUhj3FYxr7tsZzyyRtWqiMugiuYNT5xMn225in3aHBVIv2TG_zCJeEBwfTkat9nHpbTqTjoSRocxcj6yCJpR2B3r5mR0Z5xqzJ5oIta--rdlfMD2aTS_Vt86XkKsshNqEDK_5Y7V52gKMjGUWle7VguYDmocw155k9HIvgEgpvy8lXVarW9xHSLr8jB2_Yh4=",
  "id": "rs_0978b5fafe184d3d016ab42af1ba4c87d09fd724d22392cabf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.19,\"left_z\":0.24},\"note\":\"The jaw opening persists after lifting, and the brown-and-cream plush appears to travel with the left hand. I’ll route this brown type toward the left basket at a height that clears its rim.\"}",
  "call_id": "call_IU95Ss9g3Zngg3jsPGY19dHe",
  "id": "fc_0978b5fafe184d3d016ab42af4698887d0acc25e54a66aad63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IU95Ss9g3Zngg3jsPGY19dHe",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6437, 1.5654, 1.3403, -0.5297, -0.5152, -0.4091, 0.1153, -0.02, 0.8032, 0.6079, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4014 left_y=-0.1879 left_z=0.2266 left_yaw=-0.004 left_pitch=-0.0767 left_roll=0.0211 left_gripper=0.1153 right_x=0.2951 right_y=0.0006 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -7.5966, 9.0598, 1.5556, -0.1783, 0.232, 0.1685, -0.1573, -1.0735, 7.1043, 1.7363, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ee331256aad6b736481a814d9c3bbcb21311808421b981d6613c6831902ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb8836588dca5a041117317885b0f6636c4770d8f8737fb2de3c493869d2c6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594808617e664436762bd372d264a71b7fbe2f1676fb279e63f568bace832c67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.3663, 0.3191, 0.1112, -0.7795, -0.7391, 0.9967, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.242 left_y=-0.1543 left_z=0.0309 left_yaw=-0.0187 left_pitch=-0.0477 left_roll=0.0202 left_gripper=0.9967 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.5624, 4.9983, 1.4237, -0.5348, -0.0659, 0.1245, -0.1299, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.029, 1.0706, 0.6827, -0.5518, -0.7784, -0.7422, 0.1135, -0.02, 0.7986, 0.6083, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2426 left_y=-0.1556 left_z=0.1485 left_yaw=-0.0176 left_pitch=-0.0504 left_roll=0.0204 left_gripper=0.1135 right_x=0.2949 right_y=0.0005 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0167 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.7402, 8.5402, 1.1013, -0.4713, 0.0073, 0.5006, -0.335, -1.2513, 7.0359, 1.707, -0.0073, -0.0464, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6437, 1.5654, 1.3403, -0.5297, -0.5152, -0.4091, 0.1153, -0.02, 0.8032, 0.6079, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4014 left_y=-0.1879 left_z=0.2266 left_yaw=-0.004 left_pitch=-0.0767 left_roll=0.0211 left_gripper=0.1153 right_x=0.2951 right_y=0.0006 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -7.5966, 9.0598, 1.5556, -0.1783, 0.232, 0.1685, -0.1573, -1.0735, 7.1043, 1.7363, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ee331256aad6b736481a814d9c3bbcb21311808421b981d6613c6831902ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb8836588dca5a041117317885b0f6636c4770d8f8737fb2de3c493869d2c6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594808617e664436762bd372d264a71b7fbe2f1676fb279e63f568bace832c67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr8PpA6jcx--EuU8AK5lCn9GoniXDz1Fx1GUzdsZRyQO1EEl8-l5hqrsMRjNszRQTl-hDWCuflabKWCRDgSWLHQ2zHZ8UuLsBqejxJ-eEr8Vt-pFGPWp4hG5LK2U2HyQ6aBNSafcZlO9YZFF47k2brOkSqJcC3jBcnv42bjw7gZesEn5su9aS08ERAQ1-h3lMzsmLMzAteVwi4zh4VoMBxikXYt4Oo4RlrskPPR75WUGudjSlQNRY2bL9NjEjMQpySqXkzB0WPW8e9LuSUR1aIzsKw6Tq7UxZIpJljipqCllx8pkdMkRdU2T3DeSMe5Eq7N8dHjBJfXO8KSQytlCeojNRfGMWCxBvJCSlzQVHIvgCIkwFriHvGzPBMVvnra5L-E6Ye_wHypinjNLIjBGpu0rB-Rad3ESQU_lQWw0AM144DdLbc-tTan8LhVgQB0_iqSV7J6u-Eq4vwe3EnA8l8SCDw0Xt_rGtZf3HzwlMKo9FbRI_tIT-bGyRo53zNpRs1jng-aQCBOoFyrvMt96LuIeCAR6HJ15WWAudZR2ajk9Kw7FhEK8_ur-CXsxaoMl-W7psRd83w5GBI-uwoDklH5b_FSE19b0J_9Kf3rMeU4OQfk4ne09HxmuvLrF-2wBvxXtJP16exkG10OXtnwlDb84eLSDJ4rW99CTvzuYyWjSPYR5nhNyHALrBnYyJn-esGD1aLx_no3qce7CirykBJAo6U_oHb0KW96KDf841hAyBpAOuLUS1GXNp919cH2fJ-Q8k3Kzv5chu6WkIub32eWOk0eEg3E00FS79KA2siuiSMUnRGrpo4emjJK8X8xTrmsl2uchDAaDqTn6NOFBq9TP-JNptPN1rIKLj_Qoda9aXYaOC6EukOdeVQ5eAuNOVQyvIh25JEmkjhbNJvl5Y-X4ifQpcC5AFuHwftLm97iKXd_B2vRin0Z4T4hwozxeWmzP9pfz_7JfDZO1876QSyI7iJcDmYimbsmPm6JSZA9lhUPnun8dcxoQEtaGz8mkG6CwdM1y3DH70IkMZRSeFNqqvUioHHyf1qNHl3fZTfIVwDE-CNcSeYau2bCoHeARR7LEEIkHyMsmF3opZuLcahzFeyO7Lwwy612lt3zon_DPcPEw4Rfzxs02zO_Fc3Ko5u3_GSSbMoIGQ2gUXIwarohGjF1YJoxTfQovqXgMnFsy6DxZ3gZL7jOC8J71QZBcs5ObpSmQVznMyzoOrV13Ai1WcZyKRTG41wG8MoQ1PLEnPe5yJtMJyhTJghXcm1ISWhTCQJp_m8ajO24-xF6zPFo8_ajmqC-AxmDHiN_XWnZWBaAi0UY3SQa01zxwVQg0lOAMoYazs1u0rlSo0VrgnfRvucrmxInFfJvziKA13YMFshcQIUeoCLpKnk4g1botEQxUmeTqnHBNjz8451TWJhbgZOlx-PUEgefZCG9xBkelBLHLBgVIlLtVclP_EXk0DiG_Cgst17O0HhMT-i3RgRSijs_B6FJUOuoty8THoI499cXMeCfBneylvGJtiMjEpArrK5bkd8kvxibBQMqumGHHCNG-oDef3YaY9sMFLFDg1efWGp14AVKIE0fzdJOpCmVBep6Q4h7u0hlVGC98GHVlSqX4dtT1fDmGtghEpq9GSlOEkMIGvheQMGxw6Dtus2wJU09ABONDgyJRfs29sl8U6rK4mhO5WidQVZJrwE_2kBZeyaqvQpcYpeCEQxp-V50poU2ifWht7f3c3Qfm3gwgzopCL2TBejZJhGH7FY_qc2N4VOuMeL-_BMs6VI-ehj0mq9tFDyHsqW3DmO_ohb2ZA==",
  "id": "rs_0978b5fafe184d3d016ab42af9f0fc87d0a2c58408e5ab250e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The brown-and-cream plush is visibly hanging from the left gripper, above the open left basket. I’ll lower it inside the basket opening before releasing it.\"}",
  "call_id": "call_wOzwfVt4vzJNhYl5ltuCTniF",
  "id": "fc_0978b5fafe184d3d016ab42afb742087d093b478e15eea3770",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wOzwfVt4vzJNhYl5ltuCTniF",
  "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]: [-0.6407, 1.5955, 1.1042, -0.2928, -0.5152, -0.4118, 0.1181, -0.02, 0.8032, 0.6079, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3984 left_y=-0.184 left_z=0.1553 left_yaw=0.002 left_pitch=-0.1002 left_roll=0.0366 left_gripper=0.1181 right_x=0.2952 right_y=0.0005 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0217 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.2957, 6.6667, 1.7753, -0.2369, -0.0073, 0.2857, -0.1436, -1.265, 7.0769, 1.6923, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b0cdf653b52b7bff7941363250998a2b12a3b6860b1a284813682806064c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6dfbd9024a48e99338335555043795a0e3d367e02127765dde54a8a4ea667d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd425212540f61282cf2e52b40ebe775b55c50ff813954515738ea4a180f285",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.3663, 0.3191, 0.1219, -0.7868, -0.741, 0.1111, -0.02, 0.7986, 0.6086, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2433 left_y=-0.1548 left_z=0.0329 left_yaw=-0.0136 left_pitch=-0.0371 left_roll=0.0126 left_gripper=0.1111 right_x=0.295 right_y=0.0006 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0164 right_roll=0.0021 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -3.8222, 4.9709, 1.16, -0.2808, 0.0073, 0.9353, -0.212, -1.1829, 7.0769, 1.7363, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.6437, 1.5654, 1.3403, -0.5297, -0.5152, -0.4091, 0.1153, -0.02, 0.8032, 0.6079, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4014 left_y=-0.1879 left_z=0.2266 left_yaw=-0.004 left_pitch=-0.0767 left_roll=0.0211 left_gripper=0.1153 right_x=0.2951 right_y=0.0006 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -7.5966, 9.0598, 1.5556, -0.1783, 0.232, 0.1685, -0.1573, -1.0735, 7.1043, 1.7363, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.6407, 1.5955, 1.1042, -0.2928, -0.5152, -0.4118, 0.1181, -0.02, 0.8032, 0.6079, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3984 left_y=-0.184 left_z=0.1553 left_yaw=0.002 left_pitch=-0.1002 left_roll=0.0366 left_gripper=0.1181 right_x=0.2952 right_y=0.0005 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0217 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.2957, 6.6667, 1.7753, -0.2369, -0.0073, 0.2857, -0.1436, -1.265, 7.0769, 1.6923, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b0cdf653b52b7bff7941363250998a2b12a3b6860b1a284813682806064c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6dfbd9024a48e99338335555043795a0e3d367e02127765dde54a8a4ea667d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd425212540f61282cf2e52b40ebe775b55c50ff813954515738ea4a180f285",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr_BrP5lSQq7rY5nz7wEVAS4wZFDgv-OLCAoiu1Bikzx4tiyBB_I4LTAk6KQ8tEcq0LDBeomd_cVuahrRxO-hhXRBBqd568DUrDoi-x5bqylrqxfmAD_zRWY_kCkUsAXfQXdvP0MVVZNM1A2LbC1QQrkabPA7hexDGx0g1bpEW55itU6r7arOdAxM2K_7f7X0MOOowhA45mlxXqJgG3_PIoEGM3YkgTldsN9-_FKUhzmjfwzIizIdXrT9A_T3quLYxU7Ii4hWywxuUzgdanG1H60Gnj0Z4JPS4H8-YgXWye7iwAtdVG73-hS-A_TNKi-v_5pBJePDtrMX-cgdvfpEoyCCsBgeLtThYRSQ_iz5k4_9o_YQk4T5nn25fxOZnPyqv3zoJnOkeWii-tJqmGzt1h2MGx_e-nRRrcwZ8gZXJUsfAMxXl8OEMPq8fLlvYum0mz7nOZfY-LoDpfMFsftVscJrHsDxlZIIoO5_BUXEkBDZ-KL-GmfJo4Vk03xTwMLmTgeZPjsz0cw2wpwYxqW3G2QB6_fdmdQWdV7mCb1f1aNEkg2iRn4JRT3ZPuSTEa-eS_uytrtBfjkU1VUxGfnYFN6G60IqVX4Q6hAet0ADIDZj_qxNDpgoBJd1p1z7Yg4Yj3Y2K5E52aM_wbr67dWoBOvlqYgNfMWYzSxaXdSEauB20vbeqKL_EhMcpYsBQipVOHhEcD_2t1SA_4wZLS_Fr-uNi9YAdnfxsSn5ZTEDJQP7Q3wbLdiJSIANvcIOyYcnPAxRJvSzVCMoaGSqxkUW-H7hyUeRAQJexHz4dTNT-MtfSb9VgbXQD3JNA1YG8bWy6aXijRsPOUtdpinv4fT3U9SbfjSEPbsW-lUhCjIu7bLFsCKaUvb7yiLDU7dTzSwonC5UKwfrvu9dOnxNMsr5C5yl3a2aRooZpP5oRkzZoOXvxJWJk8ZFiUSQtTs56EiWi3H5JLK1NYCrqCNmySS5mm00cwWX68lsqaH8N5ZqO2OTNPUoPvnRse_OFy_GZE2quvQt5DfujTsQcdy5UErlOuRQRQ9hhqWfCxjuLs-ySAKyVBLPppaWbtJ7Y1ZZHMEW5wLXApfitTjpE65ZU-PGbAzFK6YoIS9bGe6Fdv8SAZrioDIad6T6Jp-5-ISu_Ds0IXZ-0RSZq4uXwqRzLI3Co7KjK9aY38OfPahgThNwPt2WOEozT9PejBdzJn7242EnLKW3-O-NgT5fyQ243WtpD8syG8LLyhgHjN6ROmhxCpxwzMBtM4JMl-7Pt_HMtn0bbCPOpS2OVBI-_r2h_9vZDa8fZawsPOFcVWGt5V3kl2Ns0=",
  "id": "rs_0978b5fafe184d3d016ab42afe86cc87d09a14093196d78b58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is inside the left basket’s footprint, with the gripper now low enough to drop it inside. I’ll open the jaws, then move away to verify the placement.\"}",
  "call_id": "call_vBJwVHcKijzKz5RyVdmjtTx6",
  "id": "fc_0978b5fafe184d3d016ab42afeec3087d0990d9974be0bb860",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vBJwVHcKijzKz5RyVdmjtTx6",
  "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]: [-0.6399, 1.5974, 1.1038, -0.2981, -0.5152, -0.4191, 0.9956, -0.02, 0.8032, 0.6079, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3978 left_y=-0.1832 left_z=0.1535 left_yaw=0.0071 left_pitch=-0.1061 left_roll=0.0355 left_gripper=0.9956 right_x=0.2952 right_y=0.0006 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -7.6513, 6.7214, 1.5067, -0.2711, 0.0464, -0.2076, -0.0752, -1.1419, 7.0769, 1.7021, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8721c2e71436aa4adaf7f16196e2bcc43de710d018a498cc38b754d131ebe294",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6671f5b52181838eef2690bcc1ccbe3e2d95d761e416446f2222be7e052373",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065ecd97ea4a8d18e2c202bee8cda1d989187c11a6fd4596c2a536aa9b64a969",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.029, 1.0706, 0.6827, -0.5518, -0.7784, -0.7422, 0.1135, -0.02, 0.7986, 0.6083, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2426 left_y=-0.1556 left_z=0.1485 left_yaw=-0.0176 left_pitch=-0.0504 left_roll=0.0204 left_gripper=0.1135 right_x=0.2949 right_y=0.0005 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0167 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -3.7402, 8.5402, 1.1013, -0.4713, 0.0073, 0.5006, -0.335, -1.2513, 7.0359, 1.707, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.6407, 1.5955, 1.1042, -0.2928, -0.5152, -0.4118, 0.1181, -0.02, 0.8032, 0.6079, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3984 left_y=-0.184 left_z=0.1553 left_yaw=0.002 left_pitch=-0.1002 left_roll=0.0366 left_gripper=0.1181 right_x=0.2952 right_y=0.0005 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0217 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.2957, 6.6667, 1.7753, -0.2369, -0.0073, 0.2857, -0.1436, -1.265, 7.0769, 1.6923, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.6399, 1.5974, 1.1038, -0.2981, -0.5152, -0.4191, 0.9956, -0.02, 0.8032, 0.6079, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3978 left_y=-0.1832 left_z=0.1535 left_yaw=0.0071 left_pitch=-0.1061 left_roll=0.0355 left_gripper=0.9956 right_x=0.2952 right_y=0.0006 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -7.6513, 6.7214, 1.5067, -0.2711, 0.0464, -0.2076, -0.0752, -1.1419, 7.0769, 1.7021, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8721c2e71436aa4adaf7f16196e2bcc43de710d018a498cc38b754d131ebe294",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6671f5b52181838eef2690bcc1ccbe3e2d95d761e416446f2222be7e052373",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065ecd97ea4a8d18e2c202bee8cda1d989187c11a6fd4596c2a536aa9b64a969",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0978b5fafe184d3d016ab42b018e1887d0b89eb9db259d01d7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsJje-mvdwgCxJjeNcvLH20ivUbE599GrodUl9RA6OE2H-Mo8nN-JpNy7GMtSu84ETu75ZMZWOJQi4gl0DWXKudWBQGLYOCm5GQREHH3saEzdAyeO8WSGSOpr5QUn6h_5sD93gUnLcuA-a_JAF8jTpc132L45Eqig7hg2DvDPMn38uRDaUQE8Gvk7Kcut0SgKa9v8G8WnFat8Hh6tD9Himedm2ViWlr0IhzTofW7eYzy0wAmNNYSwfO_ucwnZg73cHmHSYTJV2npngwpcyxuK6UrY-nkFzB_pMLH8Ku9WvsAEv6LS2YE7YQBp7Bsdi3M3aJmtKYM5l44nZbun_G6ny3-yn10bmXJmProLMYjUz41BBYIwk0VX-NoM5iXKM1rrQGDDHF4SsT-oUrNglcMmEe9zi_o7spmnIwCUEF9Bv4wUN-9zkPLVvw7jYV4Zz4SetFf4_PuygZyOJfrBtj0fn34kVy253_M5dGNyi9g28K7OgdWdBhYnMiDYKMmfWuTeg54EzPz3p2lvUwR-2OxbYRrDoRHAYxqMu71hI79bdLFRSixseZQzPYiclzC6EhSnqCDn21LwJKqg71X5goajnSGVUiF7RRAXg-h4tdkjAewKruiCarN5iYZBi3y7BRlV-PA77I66jeP0bNRZp8npJytUgZQD78R01HkbHFLwy1OQ4F1XcPRhkejhiZJvXbz0GNkVg-Qsr6h3KP1tGwzYp8XNrC0uI_kNXyZxx_fCk2-U4tE_C0OYYtyHhnRvhz_Q5u-y6YACGZmyVS0OgcLF86ylgygwbvi3NrLLFTxy-SXRFvVlPNzmjJ5VoBVc6-h9fh7-p_oCFV2BFwWZO6plHObOCEQsxeocZ-_xaiLNC-hVx60kXx_06dBubOKSPXav_K9SwF5S8pZU8WPj9jlb3sDlYH73X15X76yRm1iPqxesHEbgVKx3ob4bngOmCXmYm6M6bE36YZ7U9LwsvGWS4Aj2O-AsKmBjzXcUFxd0WOlOsLWtX1aElMHtRio6uyVF-iaWCPhgUAFI-FaCvXOBmDF8j0aw1sxb6pnF22wYuyHULDteMZiY4TFqJfwXYchSFJN1ako0iUy33w3k4-VJox40vF2dehIM0ep_njkpoQbwLzrMCC79y0fUIUsm832RTft8rdrdQlwRzgbyPSCAoeigZDU_nt0rBgbtJQxNi16tb38t0qpReuvtBf4vN8YJunYsRz60YP-iny7CgziQdjazQbHf-Ou8ZwAFQ-nUH-XNTzN-nLgwwFMPd7JwACFi2fGmxdulmPZ8Ax5qL9FlPgaufDXKsvgxxoqMcQC05AqC0P0V7wHZBEVoW-nGgMgy7NQIOBENX-A0vqQrD1saq59cqKXhaXFh55qLoVBX2MiTTG5_RkRYkOizSbJ80dJxh7IILmc6KyNnWkZtimV60gdiRW3HBh4f1vCJE-bRy86jgWdYzTQTuWRlI_D2fVgz2XA6AmTImnGUJvR4E1U-88_Jzw_6M0yRwJwZUIun-2DX5b4ssGnprD6pBRNOGTOzXakUD7ow0BgvKk7QsNByWfmyrcWl5Plg9GT1bYAdJZDZkDPJgDgul-M6bSieS3-Ox2W3ayiaMvd_kY1ldRnnszVe4b_1pgf2jH2xj5byy1btI_I6pk74xpTZFMpx-koKYb0valm_D1hwqEFLmD3oE_59-vMH_ht26vx_VCJXtknVtgCb3pR8c3HLe3xJg8pa-8A_7QmZqD4xDc7-IQ1p91F88RqzpaOYbxfDQ8xdiUYM61QdQfP8BF1GSIHsw0TdrGbCGmLOyupyYR18yO1oyyP2y_cjjIiVFg1SqHjLkXterGBk_tBkurn2fWoXJtyFpR8ZyDeI7R3b-Iq5wWt_A4K2KCBih1Yn9uUqbeyvuicB9N38S4Gy82jrvy5zCeD04kZpv7LJROKP-PQQr89QnKIv66GsVkkSiAEm3LcOdMlmnRyVKQnZWYflnX-RZzCTYU39S7JVEG34L6hMWe3h2ABT8KodGBVf7KobdybfkUuzWokJ29_o9_9Hzu9NlkcLjpG_wg4ObIRyd2QWXvqGJotWPqNj-eKcdC6AA-39RK6dVdUhIyAo5NmrWg9BNzWgq5DapudjigidkiWFKXBYz9ko4sXW0V5kPKmE9vJBZowwTcZHRkXVuTpJeLXQx7xEUBWF4AMDIMJi8zokTqegCf8Lx8Ge1Qrj8kHHldlnygqi9kTrV3pgX9TyJcIFMgarJ4ZATJNbMUcJiHX3Zc65ZmaaabfdGsURvlR2OGqEquPRdZIMW7SCxRvSvZkhyMYC1YO1VU-h_x732wuJmevw6bgGxTiSAOzA-x7O0K9kjQv9F3A2N_gt16RyzK5LkyA6WGgwRNTbfwKOKpowFdSjNKS-LimDtfqcHEXSAViGP6CCRIm62UHXOPAnZ-6RFIyMAORL5UTWlbQ8yNbsRJhIqxkAiWonMCjbiiMQamtpDFu-mPhq3DaTsrYzTS86zLl5Im",
  "id": "rs_0978b5fafe184d3d016ab42b062c3087d09a9d26e90eeecd4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.025,\"left_z\":0.16},\"note\":\"The brown plush has settled in the left basket. The remaining gray plushes are by the left edge and the tan plushes are near the middle; I’ll use the left arm to collect a gray one for the right basket.\"}",
  "call_id": "call_8Ht2lolKYdCyr4yFhVkLNJYs",
  "id": "fc_0978b5fafe184d3d016ab42b09006487d0a9dad007ac169f9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Ht2lolKYdCyr4yFhVkLNJYs",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.086, 1.0569, 0.7036, -0.3141, 0.0071, 0.0502, 0.9968, -0.02, 0.8051, 0.6075, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3333 left_y=0.0311 left_z=0.1609 left_yaw=0.0454 left_pitch=-0.1057 left_roll=0.0361 left_gripper=0.9968 right_x=0.2953 right_y=0.0006 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.024 right_roll=0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.1368, 6.2564, 1.6239, 0.2222, 0.105, 0.105, -0.0752, -1.4564, 7.0632, 1.7265, -0.0562, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883c7b17cb7210117434593867f70b5e80748a1c3792e2633dc9ed72d62eda1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a226c505913164b1c32409a419986eedf199ac2abc1b36f4fb6b37837b3b025f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c206dd35c61f05f71f79f3983981d2ab491d144db574ab882f0ad686fa411c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6437, 1.5654, 1.3403, -0.5297, -0.5152, -0.4091, 0.1153, -0.02, 0.8032, 0.6079, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4014 left_y=-0.1879 left_z=0.2266 left_yaw=-0.004 left_pitch=-0.0767 left_roll=0.0211 left_gripper=0.1153 right_x=0.2951 right_y=0.0006 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -7.5966, 9.0598, 1.5556, -0.1783, 0.232, 0.1685, -0.1573, -1.0735, 7.1043, 1.7363, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.6399, 1.5974, 1.1038, -0.2981, -0.5152, -0.4191, 0.9956, -0.02, 0.8032, 0.6079, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3978 left_y=-0.1832 left_z=0.1535 left_yaw=0.0071 left_pitch=-0.1061 left_roll=0.0355 left_gripper=0.9956 right_x=0.2952 right_y=0.0006 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -7.6513, 6.7214, 1.5067, -0.2711, 0.0464, -0.2076, -0.0752, -1.1419, 7.0769, 1.7021, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.086, 1.0569, 0.7036, -0.3141, 0.0071, 0.0502, 0.9968, -0.02, 0.8051, 0.6075, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3333 left_y=0.0311 left_z=0.1609 left_yaw=0.0454 left_pitch=-0.1057 left_roll=0.0361 left_gripper=0.9968 right_x=0.2953 right_y=0.0006 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.024 right_roll=0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.1368, 6.2564, 1.6239, 0.2222, 0.105, 0.105, -0.0752, -1.4564, 7.0632, 1.7265, -0.0562, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883c7b17cb7210117434593867f70b5e80748a1c3792e2633dc9ed72d62eda1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a226c505913164b1c32409a419986eedf199ac2abc1b36f4fb6b37837b3b025f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c206dd35c61f05f71f79f3983981d2ab491d144db574ab882f0ad686fa411c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsQKw2TzFP-6IBtVJ4Z_pDFxX4h7wMlm2yZW0OqLCbiyRv3jawIWH2eOQx0gyfjuxTt_78V6khBnfYTfvAQIGfTWuFOsdOcznUMOXUONqO8fOn1aJDfyEKW7agtTuWAda6jy82XSAneqwssDHba9J5A0qhCcIoyMFrb5SVcqq-C7nKYo5lcq6sVOdUB6bxULM6cbPD3imireo__cA-t9-5gjAOhFOlyPVTx8KF8ZwQtrq_PN8-9m-HERdB3a7RRflaz4EkNIl7_5S8rheRp2x6X1yQtrn1CpyLH1eXsIVyKUdFwDZ90f5P4xTnhOhDAHZaGJ8kRdAYv7kwAhHhLGSDZ4D8eUhrPob-lAl-cNk7JHYybWOxIkHZXvNUbi7oxp5gIP92ci3TyPEudPvpp1cv46HUKIinRwS6TphGvQT4uQHKGEoyK-oLSPrTLCOMm4igErC5-az9u8t-76DwTY_zLZAkfPasZTBod3MMUHBqTWkGTKeUI8UUWR0yAbiomcs376hJ0AzSqGqf9HzvMgjjMtcinIpwkeiygfrRqCCU2p4zIZhRvAJcGrhbQGTfp8IvKGt5nDWGN3i0PbXU19lctBSzsyd-DFNX8AGy2bGVHEDTCLoYxOYejQgQqo5OiR30xmftKWcWkQ0mzdlFSg50P4phIJHacTiG8SS9kVTeZXvFQtOuW8mJBGFAl6fKWMwYgAHq70JqJRQPfEVleD2SFmrl9G70TK1FvOhaqJEco7RI2yoMLOYpeveB9A3YnX38jFhzNhxFxX8Q-eUX47Ex9GD7xTw55raQcOOWo-K_yiPJEkrT-kxlihUrgLPQVFMC0iumlSAKuIBwrnNJmmbLOzQsqTV7CO9v9LhCfeUD3S60ifDXWi3GY4eCmLJw_Gaf7kpjTlC-J3V3SDNqFszMpVA0sCawB2n-72TYicMIXgAV3TCVbrfedLnZVxH2LVWN-NVAaw44ApaRn6HCgk8heVhmBEHomr0NMs5wPYZqMospauP1KzbCwtUZX6DmcpUhwu8ROfVukLbL5qSuNgAqCDcIzBBpTiVZcUTAnbtS65LSqj0rI1Z06rcYrUypJQ3SEy0otzHvfVBl2-1cREqt8ueYZPj0hZSimJOkWKcskqujeh-V3qMXEPa5NvQNGa9kPu_EPiZ_SM_q-ZJmTCz46oPbWzsPd1508kRgNWoCSdRStIb3I1tLklzQwiw7dxr6ZyOIeu82wbzkV1VCZLgIpD3dAGURN2lJlwggrF5mPMkABpxZsZ6mWxM1z9cWZzERvynEzckUYKXWyBdtk99wvBWVKCyu76UtTqtVX0DQMxXoo_ifbS9XAO2Oc4xpetQxjTagBq_lxJvqY9bOS9J2xX8DiK3vMEySD6f7x2dCI0ap665yNW4pqPFVGPE3iX0hpuhjWsAl7LTlWnqVvdFyfRbJavfghEi0JUqnyRirIolzj7xx4YWiC9Jg7BfKRvrxzqwJr-_ql9a7L92drQj_G3PQ9AErIlXBbr1pNUYqVxFECNf-w4zWeZjY3wS_Z6EF2SfHhqZlTDVfGGmJj6PTy0AtMuDehAhuRDmVxLAiY9JwEsbDe_d_e2M_nMFtWEoogJb0lah3teOkB38U5tYl0rn58l7maGab-NQleIxYllwX6bnQOp4-UTocJjYm3V4qJ6n-zfC4e_1C5YIsDKgLYBITV7bJGqqy6v_igDLcEhjv3yryNeP14rohgjsuyvn8Aq8evSMpkXLzXFPqqKcABnU1vqzWHS8UqYgxdTY-pD7_Oor1BMbtaCeW1aL0j95hrhXU5t2llNcewVMUSzV_PQCVBl6RVYaTtB7XkldUdjF-NjrGlSCiotH0PaHs7O9ym6siUuYDqqJUr0-hlj_Ict1MQJhJhGToGBeY9AEfOKZITEtRR7Gt0BhbwV8aNeAogVAeWfNOrlXusYTiBFOHurN46YEFq6Pk57lS3gegvneE=",
  "id": "rs_0978b5fafe184d3d016ab42b0df12887d0bfdc4b08dcd6dfe4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_z\":0.038},\"note\":\"The gray plush is now under the left gripper; its pale face and gray torso are centered in the wrist camera. I’ll descend slightly back toward the torso to bring the jaws around it.\"}",
  "call_id": "call_2ht0e5wub1S8KZtrGTs3ZEpO",
  "id": "fc_0978b5fafe184d3d016ab42b0f9ed487d0a248553977f8c751",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2ht0e5wub1S8KZtrGTs3ZEpO",
  "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]: [0.0906, 1.235, 0.2928, 0.3023, 0.0036, 0.0589, 0.9968, -0.02, 0.8051, 0.6075, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.322 left_y=0.0322 left_z=0.0512 left_yaw=0.0483 left_pitch=-0.0786 left_roll=0.0463 left_gripper=0.9968 right_x=0.2953 right_y=0.0005 right_z=0.1775 right_yaw=-0.0006 right_pitch=-0.0236 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [0.294, -2.8103, 4.506, 1.1697, 0.1441, -0.0757, -0.0024, -0.2393, -1.2103, 7.0496, 1.746, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79984f03f0fa99bfa2cdff996f54f6d5d2d345fb32b949e140cbbf716254124b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77400478dc771145318404cc5c30eeace9d8e160651c6233bae2482df3258e38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fce57615899d75bd4c07279c7a9ff94dd2a956fac0e562440bb2036e7444e63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6407, 1.5955, 1.1042, -0.2928, -0.5152, -0.4118, 0.1181, -0.02, 0.8032, 0.6079, -0.3851, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3984 left_y=-0.184 left_z=0.1553 left_yaw=0.002 left_pitch=-0.1002 left_roll=0.0366 left_gripper=0.1181 right_x=0.2952 right_y=0.0005 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.0217 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.2957, 6.6667, 1.7753, -0.2369, -0.0073, 0.2857, -0.1436, -1.265, 7.0769, 1.6923, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.086, 1.0569, 0.7036, -0.3141, 0.0071, 0.0502, 0.9968, -0.02, 0.8051, 0.6075, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3333 left_y=0.0311 left_z=0.1609 left_yaw=0.0454 left_pitch=-0.1057 left_roll=0.0361 left_gripper=0.9968 right_x=0.2953 right_y=0.0006 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.024 right_roll=0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.1368, 6.2564, 1.6239, 0.2222, 0.105, 0.105, -0.0752, -1.4564, 7.0632, 1.7265, -0.0562, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0906, 1.235, 0.2928, 0.3023, 0.0036, 0.0589, 0.9968, -0.02, 0.8051, 0.6075, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.322 left_y=0.0322 left_z=0.0512 left_yaw=0.0483 left_pitch=-0.0786 left_roll=0.0463 left_gripper=0.9968 right_x=0.2953 right_y=0.0005 right_z=0.1775 right_yaw=-0.0006 right_pitch=-0.0236 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [0.294, -2.8103, 4.506, 1.1697, 0.1441, -0.0757, -0.0024, -0.2393, -1.2103, 7.0496, 1.746, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79984f03f0fa99bfa2cdff996f54f6d5d2d345fb32b949e140cbbf716254124b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77400478dc771145318404cc5c30eeace9d8e160651c6233bae2482df3258e38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fce57615899d75bd4c07279c7a9ff94dd2a956fac0e562440bb2036e7444e63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsUnMv5iNp3FsJiNfuVsYN6YwTXZ37gDFZdPoOr-TyOjUec4JWEuNv53gdKrTN5c5qrAESI01WO7RarNty_pXCP9gaabzkrqcgdvuueO0q6YLCIT3U7Cx2g5i4TD1C8c6N6cguPIks2NHCEr5j5CuMnn39J-v9ieCuEiNrj8QMLwts9RjeokCEgqAW4oUf76tYDEpCitfQ0urUDpz-ecTf0l_fGJGwBxF8RDfOh_K5yuixzXOLrQG5X9IJCJW6_iq5dUD5lFqUUHFpvMVW2k0KpKC76Zsqbs4f_0MyOCqJxiP3rwD9oDcfjRFQGa0oG_jbaTcP7q8Q0AdpRDHQ4HtLPZBdHFFO_cyHeTKufC3O-WbMVf4FLo7Dmv7SF36b-Zvez9nGtpxK1NUL-Shvi2FHnwh7DcHbij-POvstoQPPSWN3spINK6IIkJIHxm-DyH8MNMO6eHCRy0Vs7WHtL4vrPsnQrs9ObbeUArqviBDgoWelUi2lHp0nK3YIKBB1sunw5lHwyFtv2Db12Y2hTWonA7c4QySedO5x53WIGt_4XL8SAWknmBNzDNXeZ_DR3nEFxUhCn4pwIwNwTuMe0gcvBY3PVU50qAX-bf2nzANPQ7GTothBzS6BHJ9B9yDopnPFKBY-2JXAAbCuD3wTO6rcMeRm_SxJo5rvlcF3S5C-HeLiZ2HeqxQ6TzG6pKIfAMpFrbgbMKlXqgC6mIY2IMBW2PyheT1QdY8K9jDKzfm8uFT5uRmZ41OnB6AgTfd33vSwYT-i-2AYLoa6UVqxky_eAGPTT_IxwVI-rRZU7QKcvG-ZV3d14Y5qK_V2irxtKQRVuGrpJY7yAu0r0y6-F0MQFbeiJCFQPNjNroqG3NOBec2cFb9LUBTD_Pzf6_cPb1s5ns1IuNu--zht-wjevIJfhZcidL4A1RPfg6mHm-6EbzZ0epP1Xh8UFDz23B1K0Ip13kFHCfIOVpUfa53wJjW535kcgj5tmoaB9moYdFdJEMoTit5uLDCISYfvqI2t1ZAiBflor_VBrJeGTUrIY7TdkBNuQeM5erWZXH2JLhfGFhlFswJIb2AYFwAJZy4wNueH54ZwqyKEonjOgf7LIO7UKk0pTGQYusxTIReCBqZds_Q78UvYGndVEqHHi7EuFG3ya9R4LYPrIRpE3EcgAbDeelZ8Th4oiib3Tc5IclpA8t9e7CCvI9disbR19ycOyTT9hui6mRPA_Kk-iyvbsMp63ypIdsORfHys3-HnDP7X-pA9NKaOLKEt7DtibfvLEx4uH78zy7HyZfsD6K3cYXgafnS1NnhJ7SfRHYQK28McfGdJYyvkRmHIglZIaPrnSdPt9v0RJqDnDCyufQzksLtZkjLevAI5ce5Gj6jeNrlRjYds=",
  "id": "rs_0978b5fafe184d3d016ab42b13646087d081201ca2bfc3710a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper has reached the gray plush’s upper torso and the open jaws surround it. I’ll close and check for a retained opening.\"}",
  "call_id": "call_HIV2d7AlFZzspVUsV5I2xVnq",
  "id": "fc_0978b5fafe184d3d016ab42b13c95c87d0aa6235c43834da46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HIV2d7AlFZzspVUsV5I2xVnq",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0895, 1.235, 0.2859, 0.3569, -0.0181, 0.0597, 0.0394, -0.02, 0.8097, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3274 left_y=0.0362 left_z=0.0595 left_yaw=0.0652 left_pitch=-0.0314 left_roll=0.0611 left_gripper=0.0394 right_x=0.2955 right_y=0.0006 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0293 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.3983, 6.3248, 1.1941, 0.1441, -0.022, 1.0281, -0.0889, -1.7026, 7.0906, 1.7607, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e805cb406cc39bb3a810c5a323d2b0ba1a786a9c7f1afcf855764a1518a703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1389be5ad146592d5f3bdca3ff2a560103524f9ea8faa6ebd71c6d230a947f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccda37578f20fe2e6979dc7f3a034015ab42d9f13bb6b93514869d1675337184",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.5974, 1.1038, -0.2981, -0.5152, -0.4191, 0.9956, -0.02, 0.8032, 0.6079, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3978 left_y=-0.1832 left_z=0.1535 left_yaw=0.0071 left_pitch=-0.1061 left_roll=0.0355 left_gripper=0.9956 right_x=0.2952 right_y=0.0006 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0217 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -7.6513, 6.7214, 1.5067, -0.2711, 0.0464, -0.2076, -0.0752, -1.1419, 7.0769, 1.7021, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0906, 1.235, 0.2928, 0.3023, 0.0036, 0.0589, 0.9968, -0.02, 0.8051, 0.6075, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.322 left_y=0.0322 left_z=0.0512 left_yaw=0.0483 left_pitch=-0.0786 left_roll=0.0463 left_gripper=0.9968 right_x=0.2953 right_y=0.0005 right_z=0.1775 right_yaw=-0.0006 right_pitch=-0.0236 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [0.294, -2.8103, 4.506, 1.1697, 0.1441, -0.0757, -0.0024, -0.2393, -1.2103, 7.0496, 1.746, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0895, 1.235, 0.2859, 0.3569, -0.0181, 0.0597, 0.0394, -0.02, 0.8097, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3274 left_y=0.0362 left_z=0.0595 left_yaw=0.0652 left_pitch=-0.0314 left_roll=0.0611 left_gripper=0.0394 right_x=0.2955 right_y=0.0006 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0293 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.3983, 6.3248, 1.1941, 0.1441, -0.022, 1.0281, -0.0889, -1.7026, 7.0906, 1.7607, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e805cb406cc39bb3a810c5a323d2b0ba1a786a9c7f1afcf855764a1518a703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1389be5ad146592d5f3bdca3ff2a560103524f9ea8faa6ebd71c6d230a947f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccda37578f20fe2e6979dc7f3a034015ab42d9f13bb6b93514869d1675337184",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCshU0zgxNw0zL7rgg5AGSf7KVrb06IORmZD4FsBnxPlCydkEXugQY_yaqKfuT3s63GbjMriiXcY-5OnNUhIFPtD6W1LDwOEss1SeM0VAUiKA4OZz4Ml8WTEe9VnytxYlXIVMv0YMA7Pc5uqki3djWEk02bcMFl4ZfUFrn68R2Z3FjldnyWetf7A0Y7ycVN6TQoYF0N-TrQKD_mSMJ4LYWUeO7ofvykoP2qAhprrH8Zv7Y6Kj-Rj21Y2DSEM7SuQ0p9b98P01CKfXpbH6csCfCRtEr4M_eRjv974-nZ9KcKaq00iNAsrjdsCs1f1nmO0DYzloMhAGCUkzkMsLXsExWWbbaXGJ3jr5BMLRO0MW1fLr_1qyG3WiCPMP_koW2UGXcYD0d7fWf5DhUAD7JEHdU8Rdy6_EHL0P0DoiREDHJW6JW5Bsbu6vQlXlTCfL6a_pjmvoSmTabWtOS_IJyFhWexSBp9yya7aIYEfRK7JST5Me4PZZhTQVLM1odM0Hl3ky3WlS15WJq-1TEQNmDEF8k01gz02WVz_lZOeL_-QjnGk6_IFQSgQJjxHJRkn7a8O7lNduWW1d6xVKpLA8H9d_0alkko2hwg3a6djOZOlpfZ1devCOsVCbz7J4f9DQ0KztvsRLStm-5WsvazrZiPwS42EIammZYG7pvwX9B_eh3abgiQSW0eeaEpm-x6CDBk49KTl8R0EpKGeF-OK6-0tQN_ZSWm6xkRlbsb6cVquIleuV_EqxoXiAPtRoLsRxgnzMGVKlGihePhhwFevpPOkB9Ij04a2hWabxe0d36PfGDopoVkwDM_tViW5v5G-6MWP0e6fXXqLpECaCcVTZwKidTPwANLQL2PCnHn7lqd0Pc7kisCvC7JT_CbSUtGgehaqO9aoDI_5aFje-UeVSLkuLXVP9WwEdOgGcnwLJKFHmZp9gFmwwYDQ4LvoeDxfAhAfpAu1b_Q6z7k6Dbk213E88V3MZtQ6zuCn3TsPvH6fIRpwSpijUSY40nY8jtU4q_WSdltOqNd3nMMUQByAEq10MTFkUfjr0Crq3_F_rhnJx56mhRpcgBT95B-tJDUL-lhAaOixx0nLz-UL7EzcbuXlHXx6jwe1tIRcQCrkcdKMKYoLeySeLeReXhFyNYTqd_TceSjL0whi59ydbhWWZYbxVTDfBG9Dvq7p17ARrNd8trPZ5PGpA1zSgdsw6H6V4xXMABO6tA8hMrzmnNBdyQjdiR0ZzKBhs3ugadhPX3g9tdHDtsARiXlja5SPeenR3jA6bFF_aM2cxD9-5ISFPbzm7yLJAZigiy73ptcnsgRig99el4uh3PQt3nF1HaXtzTTZUCiXEzBXA8RtICvZuwtUxOAFmeMWPa0n-riUmpEjAi-t9ABYXZlqs9JcZR6UfuhcVlg04p10gdwppF4ZVGyvmlMcpw==",
  "id": "rs_0978b5fafe184d3d016ab42b2094e487d09193c7083e179def",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The gray plush may be pinched, but the jaw opening is borderline for an empty close. I’ll lift briefly and inspect whether the plush rises with the gripper.\"}",
  "call_id": "call_tcWO1gq7BGlM1oQg97jGRPqV",
  "id": "fc_0978b5fafe184d3d016ab42b21216887d081b6d3ab9704280c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tcWO1gq7BGlM1oQg97jGRPqV",
  "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]: [0.0895, 0.9981, 0.6552, -0.3, -0.0223, 0.0525, 0.0437, -0.02, 0.812, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3234 left_y=0.0366 left_z=0.1603 left_yaw=0.0726 left_pitch=-0.0819 left_roll=0.0566 left_gripper=0.0437 right_x=0.2956 right_y=0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.0316 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.2462, 9.3607, 1.6777, -0.0171, 0.0073, 1.0232, -0.0068, -1.1966, 7.0359, 1.7558, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c574bbce435cc6806807023af872d28af73a011f3d1cdbb7386a072160cf559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101a5280b5cf01519087a7e35723142cc5f5932d19b43afb432869717e8414ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97453d105901c85c72f7c4ed662fce9a95857eb657f0b3b62f626d33a141cd16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.086, 1.0569, 0.7036, -0.3141, 0.0071, 0.0502, 0.9968, -0.02, 0.8051, 0.6075, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3333 left_y=0.0311 left_z=0.1609 left_yaw=0.0454 left_pitch=-0.1057 left_roll=0.0361 left_gripper=0.9968 right_x=0.2953 right_y=0.0006 right_z=0.1775 right_yaw=-0.0003 right_pitch=-0.024 right_roll=0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.1368, 6.2564, 1.6239, 0.2222, 0.105, 0.105, -0.0752, -1.4564, 7.0632, 1.7265, -0.0562, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0895, 1.235, 0.2859, 0.3569, -0.0181, 0.0597, 0.0394, -0.02, 0.8097, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3274 left_y=0.0362 left_z=0.0595 left_yaw=0.0652 left_pitch=-0.0314 left_roll=0.0611 left_gripper=0.0394 right_x=0.2955 right_y=0.0006 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0293 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.3983, 6.3248, 1.1941, 0.1441, -0.022, 1.0281, -0.0889, -1.7026, 7.0906, 1.7607, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0895, 0.9981, 0.6552, -0.3, -0.0223, 0.0525, 0.0437, -0.02, 0.812, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3234 left_y=0.0366 left_z=0.1603 left_yaw=0.0726 left_pitch=-0.0819 left_roll=0.0566 left_gripper=0.0437 right_x=0.2956 right_y=0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.0316 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.2462, 9.3607, 1.6777, -0.0171, 0.0073, 1.0232, -0.0068, -1.1966, 7.0359, 1.7558, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c574bbce435cc6806807023af872d28af73a011f3d1cdbb7386a072160cf559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101a5280b5cf01519087a7e35723142cc5f5932d19b43afb432869717e8414ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97453d105901c85c72f7c4ed662fce9a95857eb657f0b3b62f626d33a141cd16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsmgpsBD016aQb9-i2ied-ldQlfrVD3NGHxiRoa9gFitAXQ4hCw85GzdeZfypg4iZZ1VjH95zCzcABkhEtk1OJtesVgWU9fDJdKj16sXSHBdXiUsptiKJcE100HbG-bYawASOVBQtiU2fNUumT2THodXzDS_A88xHMQoVqGqi7wLuy_jz1dSFDEMwOtJZWD36fXcee6bKEoqldnRnjfjQtMVzdX1WgsUdJhmSPNC78_dOQJrKVOs4T1E3xKehLAWXnymBAuybafl07CZ28VAU8ExhrZoHCgrm7MN9ydalsa92CefWggp_yWErnAdBTmej_U0MMEwsfbngDn_awPfFqP9GGKqry4JOfNrrSf_PdVliQYU-e286JPWdnt5zj5tbggJiyEIHOn0pmFgIkxOd-F_lOSDGWlTZAvyNjHt_VvU3ZfF3o1-Q37FKicxtdQsK6qkF3pO-EJglTqGFJMEaEjRMmteSr_dROfHF62taStYwa5yxYCsX7JdrBa7cP01ZuXO0yv2QC_Lwdzy7OWsmpikmZRNZgENXIqC-oW93NTRW3MXOaDh2ow5ghL8boK_EqYC_ZAJxnBBUXsxshr0i_JUuoJriKsvX04HqVr9dLzlTFjaauUKW5S0Txg8ae-WlBa65ZgxYST0fVmpJfV95ihLjlUA6yFFSClKjub_f_wVLt31RU9BUkCEjspIxvZtW9z8yaj-wc5C-x5IG0D1s5ssuV85jOYogzS0ZhgwKPQIe6LX5T98iy5t0zYNx22Rl4sjk5IFzTNnwWVTHO9nw8CjJQ_0TTu1pWZR-Cu6-uwUtWqwgtr845hS0CbkRv6j4q2uwNvMZstcBdWI1XERxcMzsvYIqMErXKuX38oCoLMx_lzPPGkE5y-yOK_SjvZ5fnW9uUvBPvWQWujaCxjgywIQqRxfxRJnl4Vt1QDWSVoaZrBnoOXFP5CZmeWk1nD5die8BRdBEvRomWuRD0idvu9KyHp_A61KRF4hbbCxNH_m4nJY_txcy3aEfnXZHrUbM61GazrQqllkFHFaldjJikFv1cO05Dup9TwO152SXmWLkq4U4loZilK5OCzAnNgckVs4am3DrY-n7a6H-kWmeli4y9pG2YMgfsZt9X330JOUgni1GWng0t7at1-7BqL_t9Co-VaovzYEEfKZyEmxqAfhlvoJ-wUYkV-kXx7z93SkK24lKEmJj3T79wmOhGcewfunr8mAo-VbnkXM7jny4OfJdqyMqFdi_jnzyzrW81audRIbuArLDQPfY0QwLzJKnIzegylBOedy-LiAUP8oy-G0uHUjH7mD0eqkhm34uS0e327eZgtkZhaistpBPrKERO4D6f9zUjaAB9HE8feUPvoy_49s5CSBAdnZql-cDN4mFibqzqVh9gHF3kR_4SBreSjRSPW-AOZFiyapV8xM0iLFNr7zUQvTlvIE-PG_aEip09INTEiploYvN4ewpJiv2jgYApe98avwISHFWikFrd-v-ZLQ4F3HsH54cEPsVmL_mUmlFvi9TM2dIu5RIf3KF8nrE0OIXFiRtXiIAOkFMFdHom9iZSqpoWjVjc3YxdzV4C1If4nJJ-Tulzsv3zwfGDhOaM5a5YooVRAQa_E1tEa7NlWPk9C2hXdS7zeyF6NDrczXbgleo9WyW94GQljbgBagBGP8CSeYwpnusvNCzkx6uA6JlJEXmPg3fN0C6BY2KU=",
  "id": "rs_0978b5fafe184d3d016ab42b2544d887d0b81495378c89e3e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.39,\"left_z\":0.25},\"note\":\"The gray plush appears to rise with the left gripper despite the narrow jaw opening. I’ll carry it over the right basket and check that it stays attached through the move.\"}",
  "call_id": "call_b5yXBqlP4xj7JCNzpOWZYYhN",
  "id": "fc_0978b5fafe184d3d016ab42b261e7487d0a8faa0544996dadd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b5yXBqlP4xj7JCNzpOWZYYhN",
  "output": [
    {
      "text": "executing move_to over 38 steps (3.8s)",
      "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]: [-0.9943, 2.5488, 2.8086, -1.3437, -0.7753, -0.8211, 0.0437, -0.02, 0.8173, 0.6067, -0.3862, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4076 left_y=-0.3935 left_z=0.2071 left_yaw=0.0685 left_pitch=-0.1236 left_roll=0.0806 left_gripper=0.0437 right_x=0.2958 right_y=0.0005 right_z=0.1735 right_yaw=-0.0008 right_pitch=-0.0381 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -14.7761, 6.8171, 0.5641, -0.7302, 0.0464, 1.0281, -0.3487, -1.7436, 7.1453, 1.7314, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6e0b2cd01d3d2d2a0f8ba488a9fea0fc32e3f91d3f0b64a948767073d97a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d77b73ff81edc56d9a2aabd30c3110e4d86563e3f5742f1679de51c593ea616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f2e30e7913e156fa02e693db59682fcff3c70dd1de35dea0de075113f6f9ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0906, 1.235, 0.2928, 0.3023, 0.0036, 0.0589, 0.9968, -0.02, 0.8051, 0.6075, -0.3847, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.322 left_y=0.0322 left_z=0.0512 left_yaw=0.0483 left_pitch=-0.0786 left_roll=0.0463 left_gripper=0.9968 right_x=0.2953 right_y=0.0005 right_z=0.1775 right_yaw=-0.0006 right_pitch=-0.0236 right_roll=0.002 right_gripper=0.9997\nstate[joint_eff]: [0.294, -2.8103, 4.506, 1.1697, 0.1441, -0.0757, -0.0024, -0.2393, -1.2103, 7.0496, 1.746, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0895, 0.9981, 0.6552, -0.3, -0.0223, 0.0525, 0.0437, -0.02, 0.812, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3234 left_y=0.0366 left_z=0.1603 left_yaw=0.0726 left_pitch=-0.0819 left_roll=0.0566 left_gripper=0.0437 right_x=0.2956 right_y=0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.0316 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.2462, 9.3607, 1.6777, -0.0171, 0.0073, 1.0232, -0.0068, -1.1966, 7.0359, 1.7558, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.9943, 2.5488, 2.8086, -1.3437, -0.7753, -0.8211, 0.0437, -0.02, 0.8173, 0.6067, -0.3862, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4076 left_y=-0.3935 left_z=0.2071 left_yaw=0.0685 left_pitch=-0.1236 left_roll=0.0806 left_gripper=0.0437 right_x=0.2958 right_y=0.0005 right_z=0.1735 right_yaw=-0.0008 right_pitch=-0.0381 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -14.7761, 6.8171, 0.5641, -0.7302, 0.0464, 1.0281, -0.3487, -1.7436, 7.1453, 1.7314, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6e0b2cd01d3d2d2a0f8ba488a9fea0fc32e3f91d3f0b64a948767073d97a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d77b73ff81edc56d9a2aabd30c3110e4d86563e3f5742f1679de51c593ea616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f2e30e7913e156fa02e693db59682fcff3c70dd1de35dea0de075113f6f9ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs1hQ0jL_Zjj7Xm8GZ4H5xVVGk2NmID8qE_ZTAd1dl3uoJ3xGlas9VQxtv2Zwj71XsQhsvdspkGECUtcLBvrNyTC4VfKXDflMfe4Uw_OVUQvOYXNP-rQN6HruA1XgbqH4s3U9lbc6Xo9Zmsa5B7TzwTsb2yqx12EoLXWl4TCG811xjI5A2L6Yhd1wLYSxIJQFfMXTQxvJoafLbwhbYBZY8TmxsCu1DJ315DTaf-tcmOe9gt0Ok71kkRMyWubYjM76wmMf53_nAOMaKLaVb71gTRA3MeHKBeaRPjXlFJLfC4zCkLnpmOAK9hWKpyVYIMqF4y1WfR7cr156X6EUo7oS3uKl_yTSDYG_kmfdprrJTnwah3OQnK72P1kReirmMGTTZqEBvIUU8QPqWT-LcgdRz_BiOUv6lw20uVdqpp0TdrpUn7Txq6dTlBnwZLeS3ng3APx_dJoKjzLWTYyf829cyimKQO6D0bW6Mmd9EGzuwN_DnRcWU9dfGYDnqqvaTHTTQzbM9czPL78W_ErtRK-m_pdJNrOnJZa7GRVw3jCaszrb4FILQ7qlq7_2pEsb5dqqUj6PPyHoyp6ZOc_Wsluo763JFWNpleFuemI_H7ruuduI6D93U4XyTLuOSn3Z6q65Wt5ccZ4nDw0OVoD5e5ggY2I55ygsPfRVjW6Do5M8it0Ey4dhasxD0VK9ibieKdWGaGABleocb3E5A-Bh610XqnhsmDgM4lEOIDfPXapste-aGWuaTi5mG8c5vdxv66P5z2peq9vB76EUBEXNUjwvVcf-fAqRwscC3vEFUbsxW60mzgpKpNbo-_-8ZBqn2pIXeX9O-dqivDZ-zbD-ICF5feltLrpA_FgY-123PRUfaqBGiPen_WAImLFlp-WZ0wrku_YAbsba64RbOtiiUC6frr72SrpXoZHv2ZgfyzBegI2eq--7czx4SantxZzgqV3nby1QbeEHABpPgW0-551uigFGLgP4SEGepqXCy9s3M35fZcpXdq73Ml9Dxkow4TE4FwsD0TuDcXnB3iEjd984BPjkpDiKg1aB2u2XbmXNZtynYSj5Z-NyhEVBokJF2MOKeyyc7s2nYq7VnbNNNnQI3D8gaYC0R-93UX803WZK2T1YCVX6ndWdZAJ7UIgWTKY2ah36gTNmMXrSn6qmVH_D0KJcC6MhTnRjhYp7QDrQY2x7DBdJ818N3dE_MbClw5nwBCcW7RwsHSu20OUOxjt8Q8bcEdN4s7_kbNj9SGXee8bGJApyPgcvMymkh6nwJs-_hUMpxlMhUYdylHIsTUNRrISd4PnmqK8mg3yiD7bx4G1JKVxL2NXEu7I24dM5Nox9KyavEPbvS3BsOfFSg2DUwEUxUM4nv6b6Wholsf0ro6hlOL16wkBQLywfxtetdHmQJ5YqlwJ8me4LoKluJr-9qHkFgou8GlcjjhZHVtiXb2zExJa7348vXfsVLbFp8WgfY7X7CaFnq8amK2RHd2iNsrTiU5Cw100_sUaL8ijWP2-4rJZpsQZqubPRaETTJW2_ekRyBpBlte-5PzzgAt1zpJ3OwTTA2e4Q4Ezc4FlfbzaUtWzvonEbv2bokNZG07OkjF7OzLMvyMoI9ZxEcz2VQf5ZqLlH4qm7qQdvzCDab7rOzMWNZ9C1NE8vAtswENTxkLQ_1S7nF9fZvCxsFcDOSN4HDYg3jdDEpkwQa2s6LJB5bPZYBa_LyKzgCtEPqYRmn3ilbXr6UUWbvVCt1yfbg0DlAdSGakP2H711ebIk1Ysx-pzv-mjmrOxgnnHkKnGJ4EeIyY8PqtD4SwZts9n0JQrPk_4PAK8RvoFdqmdXVOO1gXwTUaQd93d3hBV1vQf3T6",
  "id": "rs_0978b5fafe184d3d016ab42b3236e087d0acaf6c2f0dc3b393",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gray plush is still moving with the gripper, and the right basket is directly beneath it. I’ll lower it into the opening; the arm is sagging a little at this cross-table reach, so I’ll watch the reported height.\"}",
  "call_id": "call_mr5wMluYf1ftBiEtQkRTAMqw",
  "id": "fc_0978b5fafe184d3d016ab42b34046887d0a8e5a8c3fe7d5248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mr5wMluYf1ftBiEtQkRTAMqw",
  "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]: [-0.9997, 2.4004, 2.3466, -1.0901, -0.7792, -0.8211, 0.0473, -0.02, 0.8192, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4013 left_y=-0.3883 left_z=0.1589 left_yaw=0.0723 left_pitch=-0.1495 left_roll=0.1352 left_gripper=0.0473 right_x=0.296 right_y=0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -14.8581, 5.3402, 0.7888, -0.1832, -0.0366, 0.8425, -0.212, -1.1145, 7.3094, 1.7949, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07faf19322235fa23cace813ce2a5cace2b1fcc19b2b902167530a50d30c46ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b000b4c558ad305f8e85b4018542816bb168af92c614340ccebf56326c9eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a2cfcf7312901ede85196291251f95ec0e230eb9fbbe5578739a675aaf94ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0895, 1.235, 0.2859, 0.3569, -0.0181, 0.0597, 0.0394, -0.02, 0.8097, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3274 left_y=0.0362 left_z=0.0595 left_yaw=0.0652 left_pitch=-0.0314 left_roll=0.0611 left_gripper=0.0394 right_x=0.2955 right_y=0.0006 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0293 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -3.3983, 6.3248, 1.1941, 0.1441, -0.022, 1.0281, -0.0889, -1.7026, 7.0906, 1.7607, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.9943, 2.5488, 2.8086, -1.3437, -0.7753, -0.8211, 0.0437, -0.02, 0.8173, 0.6067, -0.3862, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4076 left_y=-0.3935 left_z=0.2071 left_yaw=0.0685 left_pitch=-0.1236 left_roll=0.0806 left_gripper=0.0437 right_x=0.2958 right_y=0.0005 right_z=0.1735 right_yaw=-0.0008 right_pitch=-0.0381 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -14.7761, 6.8171, 0.5641, -0.7302, 0.0464, 1.0281, -0.3487, -1.7436, 7.1453, 1.7314, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 2.4004, 2.3466, -1.0901, -0.7792, -0.8211, 0.0473, -0.02, 0.8192, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4013 left_y=-0.3883 left_z=0.1589 left_yaw=0.0723 left_pitch=-0.1495 left_roll=0.1352 left_gripper=0.0473 right_x=0.296 right_y=0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -14.8581, 5.3402, 0.7888, -0.1832, -0.0366, 0.8425, -0.212, -1.1145, 7.3094, 1.7949, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07faf19322235fa23cace813ce2a5cace2b1fcc19b2b902167530a50d30c46ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b000b4c558ad305f8e85b4018542816bb168af92c614340ccebf56326c9eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a2cfcf7312901ede85196291251f95ec0e230eb9fbbe5578739a675aaf94ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs7eIXp-y_wVOqScUpvB4EIL35h7-C5PWyEyadQ1UnMF6ZYUEkz4kPaIQCAvKHA9okMVWEh4B91cUl-fbpTGktIn39SHb_C6Y7GiPHCblAK1rshR4UGzYYGFNXPQcZUUg-oGthpilS78Q3kH6JSPvxdDBf90sLY38Bf3WfJqGGcIVNflfurTREItpWaVrGVBN_EJGqQ4uhZxRFREyAtRwyt5OsXhr681-gmyaKqFWQSxzf0rAJouAOMDcFjxS90YQTQFNDQ6PJVzbQDeYqZGPSO6ZMMOWEY9GRpTVmv9f49S_HJu3TzpO4N92WbyfSDlReQsazBonXvaRa0Ey3JbStWlD_QxWX0ddX5Y9_PYaCrK5qQk7jT-szQXUvnwBfr-e_vFKZSdRzYFGbbwfOV-V08Ix9INpo10G-StjoZtNrq8bq6Ui1QIO0GQMWuAM6WMjGPj0xJuVV28gyDkVNdpV9ZfLESEQuIansy9EP_ld3sgp0mhaZVVxOGlF0AqVAFCzdZoz4ZSI-DYzLUcLZ6L-0MW3MmWKDKQTFlJJHH-u9xm013ALYcSpZdHHcidC2P_rk5-UQgvJQuv8Eb5BkDQDXQaxcrsSPQCo9dfbB1BAC-v_9hCRq8GWQVDW8AJXkwtADVXlT4Jq-8YUJ0jNd1vaXozMGS5SZWjxfpN0eeG67GHYwv0VUTMQMBMt2zTDLC9stkW9M7m_xP1V2BmovgdT5kQ1SxNZi2eJboaSeU3gdzPF7-ecHfU1g7Oaq2mQOu4HcLWCYhHNLDvBS4LVPDPA_7lVYYK2W2AvMCw6ryMaDCB_elLVjAHjtakYeel2rHP2pC6BR2qkRA2d6xxzk52jlcKMELZfuPVnn8_2_PlfNf5ZUTZV02gpI9t1o-X3oRnmeGi4Qd7g42FXdn4ee1LAZ2iLnOHopxpjogRLvLKObYmXGKW-1iDCUARW-bgSZSQrpRhygZg81w03gcvqBfbolqiatJyKozE_RgKjimyRwM9dl3qttWmLt59YYKb1BNIo7XSKywArlvdmZW37y78FJLie7r4xc-6EMtUNBl7XJrn_ldAtk_e4N5_2NXtf0VQ4RX3yCP7FqwfSadqlrij-AML92vYUpZCWL3Miv0h-dlMUpefqwBLzN5YOewJxnJm6fuXRw1oIb2kVOxYF_wVXCSd2o6n1Wy2O6G3zXo1iIf9560XnZl_htJuuNso94p63C3RAGW4o2yfUEkXeJUqdLGHikZDvRW2V0_QErC7I-Uiz5G5bpZgFHopUuC36cEhUp6w8-tnIbuFzYdeOSB1jwllC329tCBD_Izwbfk4Cg9wPNy8PcUNTAHtfF-FCtXKJADU5KWJLpd50Mz6ztAe4FXQtSB1lW-32xSlsFfrCm0aEJIgd-ZJbQ2zmoXBDvkRMhAmfjyJe-pGMoYffopPFczZBuOLcwCIDebUV_aEo0Pv5u7di1PP2DLQauK1URj0MD1Vw5frwq4mA6_nammcluQZ0MxOpDGgSE_vBguSt9crF3AAtMTfdI9HXKV4c2OllW24Kp5pBSRp5xu6GpXI42Fl9B5OipUyv3qECm3QLsi6xsI8jSFFF-DaLnE3DFrIMKwlT6wkAL_LrFLq9Gtt83hlk2YNv1cwqSJAr5lCl4dZ2BwTfKQ5hiYXq8JkgtZaV3I4PyRihg79t4JkoD-VW2-O5CzJJNS0GuodEXVjmc3KC7DE8Q7Po0kb8e6AqEKmcr5QAZZaPoJFdTbBbzeP1ARoSp_SjHssuVCzs26IPCnonSaIZbhLzcHIKyUZxC3111MWfH8_A5RSlKajsDHR8QtxohUuMF9Lmvl7BnUJoTBFkT22WiSsZcw9YB8-XUhPilG6nH_sXeCcS7zAIK8Czf1z8dsnYoHuOu7peTkaEUwlDbFjk0f1DGWCxtC6AkYUwCJCNlP-Snmo65j1zxrP4GBztCHmYhtl6aTTERLHO65vUjvPSru2eaBkaqAchY0gUYziZnz7VbpomPdjZo5sEWh_bOqDDymtC8pS1TKenpigTZ8dVV86sV_lwnrrgFRw6nDd8cRVio6GIFycGjsGpkaXXsdE6gHGs3AG-DkstA0CQFrQsyDD5IhqI6qPWGV6dQtxPm9-H89ALOZ7aOtdY4MVZawHEGREnEiGzW3mh8w3eXRTBeMcG9Wag3OS_D5XQwueeWEIAIkCL66C6vUOW7_Kil4hQCyXRClozJLgOHoGyaCvP8LFL1DvY09uisfYE5j4r5QyGftvFqttRlDbhQZWqGGZY54sgVRQ8_nDoY63uSr7_aWLql_Upipnzxqnn7EtBdVU68ktrPXF-c3DcrheHuP1bqyqhDqZOxZcxt4aN9ElklkDM7lglzxeBxyOFJ216sc5mj9YDX1z3LFQ48wieSwmUlp-XUd7-6eGj0kNiNaZOae2f5aE2BDmaIdAIYr2YcBG5MHhHhSX-NXyvv0x8nt9UDMADDAltLMSp8ZEeoAyPG_jk-YdAN8rwhqnq4vRL7sZWOizNzjFGUfD2If4n-ajovU6KuZgtroq4hv-5pHgibytmJ0Z8SjvO80CquApWJ28uNoiDrY0mDxVoYfedVDIWEcOxGZ4iAFBCvrhc80htqnKjBBc5uPPwm4PTztlnD0C07SW852YMge9ME__V5X0XGXIbKKdrEdTuZP1ftiIuHBnaB2_JOVp26Ba639fiV2SqenJXRhqMsuFNv0AWgEDpFVQ4pfOilMNlGa1Ob3k4XumkWGFUVINNiFc9KbTEl9q58uoHqkBn-chJPL_6kduuFqIZgLhegTGUExtTEiOJEYKGmAwfyaCmBENOc4OA8FtKjOtkE65zKqkzNujvhi3kBpFQdS-LBREYnnj41ML9Ha_swR-A_uW0SJuwmIm61FzulR07E4bMMv7w6I6AXUJa8fXJ8_lzYYrASvZbN0jnimDtM3FUXFw4P-ELpGTPP_IdH95ADwmuHOLQEFSQiWSTkOXUgL5BxggAIGWymm_w6A21II8A0-wy6xrrNuxWNIhSRDmDpCHZWjVARIK2ATBHXT5D6uQBh8xf6siARFvvfbz3q9nekXvTd_9tK8kkvqHLX8CZwyXEnOenkKsIADBXQVEUd9uFastGykmQyw4dyXBCJOzxOYjC4fkpV3qz44fiYqP0_vq1ip11m-zucZ9PfebxOGFKf0KAAVmwcg8qOvkI3zKiXEb9UnXQfdPZqe_I2Ms2ACQNh4yT0VS1upErxZsMOBfEM7SXc_RSQ=",
  "id": "rs_0978b5fafe184d3d016ab42b36a4f087d0b857f41e24692260",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.24,\"left_yaw\":1.5},\"note\":\"The gray plush extends to the left of the right basket even though the gripper is over the opening. I’ll lift it and rotate the wrist to swing its body over the basket before letting go.\"}",
  "call_id": "call_6ab1Y05QuF5d2gYnhkCVj8DO",
  "id": "fc_0978b5fafe184d3d016ab42b3a64d487d09758025bbef612da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ab1Y05QuF5d2gYnhkCVj8DO",
  "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]: [-0.6842, 2.2902, 1.9903, -1.5738, -0.9089, -2.0346, 0.0501, -0.02, 0.8242, 0.6067, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3943 left_y=-0.1371 left_z=0.1253 left_yaw=1.1535 left_pitch=-0.0657 left_roll=-0.0691 left_gripper=0.0501 right_x=0.2963 right_y=0.0006 right_z=0.1718 right_yaw=-0.0003 right_pitch=-0.0442 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [3.3846, -5.6, 0.5402, -0.0317, 1.5018, -0.1636, 0.6667, -0.0752, -1.5932, 7.2684, 1.6874, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7301cd2eeaad22d3218e144c01b06c3f94bd0e281e33b7485ff61417a2ccb3eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd60f6121472299b4a0084a01bb4d11290681d94875bfafc75a94e442d67f3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e13fb0402260330107f09ac99ef196998e0f908bda12169e35d5bd56448025",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0895, 0.9981, 0.6552, -0.3, -0.0223, 0.0525, 0.0437, -0.02, 0.812, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3234 left_y=0.0366 left_z=0.1603 left_yaw=0.0726 left_pitch=-0.0819 left_roll=0.0566 left_gripper=0.0437 right_x=0.2956 right_y=0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.0316 right_roll=0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -4.2462, 9.3607, 1.6777, -0.0171, 0.0073, 1.0232, -0.0068, -1.1966, 7.0359, 1.7558, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.9997, 2.4004, 2.3466, -1.0901, -0.7792, -0.8211, 0.0473, -0.02, 0.8192, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4013 left_y=-0.3883 left_z=0.1589 left_yaw=0.0723 left_pitch=-0.1495 left_roll=0.1352 left_gripper=0.0473 right_x=0.296 right_y=0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -14.8581, 5.3402, 0.7888, -0.1832, -0.0366, 0.8425, -0.212, -1.1145, 7.3094, 1.7949, -0.0464, -0.0513, -0.0122]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6842, 2.2902, 1.9903, -1.5738, -0.9089, -2.0346, 0.0501, -0.02, 0.8242, 0.6067, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3943 left_y=-0.1371 left_z=0.1253 left_yaw=1.1535 left_pitch=-0.0657 left_roll=-0.0691 left_gripper=0.0501 right_x=0.2963 right_y=0.0006 right_z=0.1718 right_yaw=-0.0003 right_pitch=-0.0442 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [3.3846, -5.6, 0.5402, -0.0317, 1.5018, -0.1636, 0.6667, -0.0752, -1.5932, 7.2684, 1.6874, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7301cd2eeaad22d3218e144c01b06c3f94bd0e281e33b7485ff61417a2ccb3eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd60f6121472299b4a0084a01bb4d11290681d94875bfafc75a94e442d67f3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e13fb0402260330107f09ac99ef196998e0f908bda12169e35d5bd56448025",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0978b5fafe184d3d016ab42b3d2c8c87d0852151e917cc6116",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtDV4pL6vYqHuffNcj-Llv6IgnApx8RshmPL79m9iKtXQ4BkXvtCGcN8D0nrWwbjALmpWnxRtwd--rdODFqzQkrPhiDENa_tQNAPUG6KWvJHVxp31cLaPUlsjJzt-5JBmtdcXQQiZNydILs99wmWZiZmGj1d5xio2g-Rbv7KlODZkiRAY_c-O4pIaQm4CJrMtWjSR-K024zVLl0H_H-H4vmsiqghg00WlRbdIS1YhM6JbLtHQeB0VdLuUnITTQt__zrmUM1OCJWTWqHiPHKFUcVXVM1l7A0qUhjru0KwXrHP08hiwgGv031xSkBJjFvzRuwtO5ySIrlVPzRssVdLpFOIU1CVV3FjSB2XOsNvppqN7j8eUmQrI3RetI0AFTuxkchcSuFTlOgAddbUaaB1cH_UkNZAZ2g0fj1HoT10oxclkf_obioUUtt3q_I-9GiSMf54I1-V11FM1lgTDf3_HStdHrisWp50dHcHvR7FQ__hy-aIaoy6ZFcKLMoCk75KbZufoMuSE2j3zpi4rRzafc4t1ARUQvP8KF45eB1SJbXhDBflPnHUNYQ5YCXD-_AynN6cld6i3w4tASLWJSNaGJwB-_NP15xAhBCVjDK9O7RhhSQ2H9V6vhDCWRxVemdoSyNoZ-_W3X-ye5vI9PJyO2fMycupiBbKlverWooPEzwTFXM5O1fD4Z2UoRRYfzcF4Rp6i7YZ3tV10ttW8SDzTO6nT7XfbEAk6X-ffSJa1kxf4L_YBWRoctQSTLbB0NremtF-dvt_wmAJHkYvSA3nDVbFwkGy_r_MmaCKeUF1R8MXYm8may54ZAd8pI6X1qjAAPdBciPOL1qOb3S3_99UoeSLRuDbHAhhvW1m3EyCsXSyW83loNmUCyo_1G_2nV_t62MkwFOVtBDPLovdCPM_fg7y1_E2Qp1YjdflVe_kVHptXpDBzzjBIvRi3X3v5YY6iV9T_yDlhiIfRdyY0iI3wODznIvYrp3ecUJZ_0qrc-n9Fm_JK7T_nDlF4Cn8cH3XgSNTkFLUQvwb8TGS7KziA4jB4yLRL5D4-yatfkqmc8lylnycKsSNRkQaHDAU02WCXib8QI1yiu5knOppSF9QW8RGFBLyp3r2TyGhTi8uFxOLjMXEPFjKo5aE5ycgQTTeT57OhZdZq_NuafDO3JitAevOn2Td7v8bT0bvHgvvxuncMdHDk1gYZUVpLRZlT5EM6Us9UoaqUcTXTFMvr--ZnZ0EyPDdL9Yq73zFmW0REX7PMn8FtPNvKa7Xd5nOV47mZ2YkeAdPFEFPkvdYSXp-bzFtdwjE_E9K87PJRkQKGucg701OF0OLhcaK1OXXno8MntD8naaD7JaC7XtpkHLDIk4g_ElZ-azzul0JMa9W97PTd1MM1igaxriWEHyLm4yurthajci81bcOSaaeheJNlC5sf0K7Mi9VSYzJghzKFwGI1Hjb3reJyUuqpGSWPkjRokv",
  "id": "rs_0978b5fafe184d3d016ab42b422ab087d0aa520b955e25704b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.19,\"left_z\":0.21,\"left_yaw\":1.15},\"note\":\"The wrist rotation shifted the arm and nudged the right basket toward the center; the gray plush is still held near its front rim. I’ll move the gripper forward over that basket’s new position before releasing.\"}",
  "call_id": "call_pjGewGIBmNkQ11USLzGUvNpN",
  "id": "fc_0978b5fafe184d3d016ab42b42be8c87d0a27d6b6c0bab824a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pjGewGIBmNkQ11USLzGUvNpN",
  "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]: [-0.7219, 2.4275, 2.1185, -1.5475, -0.8619, -2.0151, 0.0522, -0.02, 0.8257, 0.6067, -0.3882, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4052 left_y=-0.1734 left_z=0.0902 left_yaw=1.1185 left_pitch=-0.113 left_roll=-0.0583 left_gripper=0.0522 right_x=0.296 right_y=0.0005 right_z=0.1708 right_yaw=-0.0006 right_pitch=-0.0484 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -18.8376, 5.4496, -0.4274, -0.7985, 0.0806, 0.7888, -0.0615, -1.0188, 7.2274, 1.7265, -0.0171, -0.0366, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cf75278abd2d411453da28438617bbd6e149b25e9270239afc9a4f2803661d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d012aa399f791951b963653ba67d20c50cfff227b02d0c600c857a6dd1f6bc61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854922195ef3bec2431da5dacc04d624b79843426fe6f187f4196c6b7799ee24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9943, 2.5488, 2.8086, -1.3437, -0.7753, -0.8211, 0.0437, -0.02, 0.8173, 0.6067, -0.3862, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4076 left_y=-0.3935 left_z=0.2071 left_yaw=0.0685 left_pitch=-0.1236 left_roll=0.0806 left_gripper=0.0437 right_x=0.2958 right_y=0.0005 right_z=0.1735 right_yaw=-0.0008 right_pitch=-0.0381 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -14.7761, 6.8171, 0.5641, -0.7302, 0.0464, 1.0281, -0.3487, -1.7436, 7.1453, 1.7314, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.6842, 2.2902, 1.9903, -1.5738, -0.9089, -2.0346, 0.0501, -0.02, 0.8242, 0.6067, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3943 left_y=-0.1371 left_z=0.1253 left_yaw=1.1535 left_pitch=-0.0657 left_roll=-0.0691 left_gripper=0.0501 right_x=0.2963 right_y=0.0006 right_z=0.1718 right_yaw=-0.0003 right_pitch=-0.0442 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [3.3846, -5.6, 0.5402, -0.0317, 1.5018, -0.1636, 0.6667, -0.0752, -1.5932, 7.2684, 1.6874, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7219, 2.4275, 2.1185, -1.5475, -0.8619, -2.0151, 0.0522, -0.02, 0.8257, 0.6067, -0.3882, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4052 left_y=-0.1734 left_z=0.0902 left_yaw=1.1185 left_pitch=-0.113 left_roll=-0.0583 left_gripper=0.0522 right_x=0.296 right_y=0.0005 right_z=0.1708 right_yaw=-0.0006 right_pitch=-0.0484 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -18.8376, 5.4496, -0.4274, -0.7985, 0.0806, 0.7888, -0.0615, -1.0188, 7.2274, 1.7265, -0.0171, -0.0366, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cf75278abd2d411453da28438617bbd6e149b25e9270239afc9a4f2803661d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d012aa399f791951b963653ba67d20c50cfff227b02d0c600c857a6dd1f6bc61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854922195ef3bec2431da5dacc04d624b79843426fe6f187f4196c6b7799ee24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtG98opSv_vWAWxLpCYOe1OD7dnUG2W-muZJlfFgKckw0YdT6Y1Z3BjIu0pgZL4Syd4PcqVEtN8y9ky5wKq7wrX_GbxvJUn8hslw6H95HumZ-Bo4o37R855ypIhDa3FqWtezKyB32SqAGCYFtJfHFGcz5Fuq5IQP1zz-Z99zIXBSkCnLRw_-lTsV22BBPMNV2dyiNT9x9NlV9Qr_oUJA1RZgNnI1FVCxDLervNYQMzm6NHByxeA10afrbJtjmUTbsq6FNwF5mXFp1yCXXqIb8e27CJzAkqkzedMx_RqIAOdBhnn0F-06AmnNwPJYPyteMRjyR42pC6m0cIm9vUnfRjxLYCmjaDzj1OXuq_hLmeY4Ybc0P0HhoEMRiN9A8wAXCmC_UjyH1S22u8iSaFUMVz3f6_JH2JAEhakO9808s-Zd4Fs7YFv6Cf6uGFHJ5Ot4gV_blmkzwVPlawp62AE7SomO9466hDxzVlH1kuva509Kq-X7uxX-cPGR6CobHo2iuMQyQr5bWN6DvJ4cSI9Iuj2Bmsx2bCy94jAXH3ZR2UOByFlwEuH7Ye4GbwoKeql4SK1T19R2c0YVbmihsZpwBqI1pASTLeETg9NHL651W1VLP6pag35c-Rv06KE3tFKfNiFsOlPasKZ9apTI2qHbhLpZFJ5yIx5E1qqMZIDzLQEMG8PlE5Vgj_cjfZqV6LQOhqMVtc__0hkhqs7bxkvxfxK2uljh2s_AQMbqleJzDjWzI6LFGtgW9P_bq0ZYenGW_X-UmKlD21dgjTV2m2Eqw5x_sD0JevYRUSdrLnp_naRyPwZACSpqOJmvFw6vQYPXqJmPgRcMlKmnvPVU6LzbCi2GW665L3WNKF9l_yqVOV-tr8NKabMik_KM-IU0GIQu-r86j74PKQCcDugFgqoUT9CBF0KhTgPk9urTcxDqpvCvY-_ffHFk0NA58Kf9Y5gpWM72AEQL2yKLkB9051eSFpOkpyhCigbYd-8k4UjzZrTtUWYPEWOy2wkyEAwWLWY6KQhsk3IlQwKROzt6wha6oHY5frgyzoUEgWl_J_FuBwDVncrZQjf88eM8BuMwRvyWVJLVkoJFEWAwD37y1KLAwCd8UHerqPYTTyk1MaF5ILUiln7piH_BWqFEv5uXlctQhBuDF_UGkbxc0iYUWI8OKfqEqu1X7qokgXVI4sTQytJWS2Irk0Am31RUP1hT8OwRmoDhVGm5A5OosjPGyJvSutGGQd-sIK0Rt3fNskLICr9KhxW3iToof3Xvv_I2M3O1KzZEfz5Q1R26cOKH_68bKf_jgK5IHLXB0wPLCvIoiP7fLF48_ndNuWfMewxd67N70YB3L5V6GF72Bt73dcwV7Uuth0t3dLKjV-vAp-U0sSjByne0EwM0X8v7XDPA53qyWFIgxDNWvYu5TqUHABEm24k-BaaQfnW9GfIMd2yVCebvejfVH0F6Wx1mUgyNNEz8Z5XHZmKsmQqvoUKmzXoMLwfO4wOWIrsl0TgAHRd_tQ2gvKV4iqMRyitf2Cpai65Xv_Q",
  "id": "rs_0978b5fafe184d3d016ab42b450ffc87d08f71c816cddfd96b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is now within the shifted right basket’s opening and its body is resting low against the basket interior. I’ll release it here rather than risk pushing the basket farther.\"}",
  "call_id": "call_JfBvzlTwdqQ6iujMNFPG2PCm",
  "id": "fc_0978b5fafe184d3d016ab42b45bf0487d0bb491a73fa871cd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JfBvzlTwdqQ6iujMNFPG2PCm",
  "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]: [-0.7197, 2.4184, 2.1036, -1.5429, -0.8566, -2.0163, 0.9954, -0.02, 0.8257, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4037 left_y=-0.1715 left_z=0.09 left_yaw=1.1232 left_pitch=-0.1177 left_roll=-0.0567 left_gripper=0.9954 right_x=0.2954 right_y=0.0005 right_z=0.17 right_yaw=-0.0006 right_pitch=-0.0526 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -12.2188, 6.4205, -0.2369, -0.5104, -0.0464, -0.1587, -0.335, -1.4701, 7.0769, 1.7265, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5919d0e12df5070da7033fb645181d6842adc72cf99ab3de34e7cd15f41e7cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2190c79236eba79626c3a502748da371c03f188f97f6f537198a51a70defe3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7112661e01d31c94589a35ba0215e29303a5c5e5e0484700d3ae01bfec353518",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9997, 2.4004, 2.3466, -1.0901, -0.7792, -0.8211, 0.0473, -0.02, 0.8192, 0.6067, -0.3851, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4013 left_y=-0.3883 left_z=0.1589 left_yaw=0.0723 left_pitch=-0.1495 left_roll=0.1352 left_gripper=0.0473 right_x=0.296 right_y=0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -14.8581, 5.3402, 0.7888, -0.1832, -0.0366, 0.8425, -0.212, -1.1145, 7.3094, 1.7949, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7219, 2.4275, 2.1185, -1.5475, -0.8619, -2.0151, 0.0522, -0.02, 0.8257, 0.6067, -0.3882, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4052 left_y=-0.1734 left_z=0.0902 left_yaw=1.1185 left_pitch=-0.113 left_roll=-0.0583 left_gripper=0.0522 right_x=0.296 right_y=0.0005 right_z=0.1708 right_yaw=-0.0006 right_pitch=-0.0484 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -18.8376, 5.4496, -0.4274, -0.7985, 0.0806, 0.7888, -0.0615, -1.0188, 7.2274, 1.7265, -0.0171, -0.0366, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7197, 2.4184, 2.1036, -1.5429, -0.8566, -2.0163, 0.9954, -0.02, 0.8257, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4037 left_y=-0.1715 left_z=0.09 left_yaw=1.1232 left_pitch=-0.1177 left_roll=-0.0567 left_gripper=0.9954 right_x=0.2954 right_y=0.0005 right_z=0.17 right_yaw=-0.0006 right_pitch=-0.0526 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -12.2188, 6.4205, -0.2369, -0.5104, -0.0464, -0.1587, -0.335, -1.4701, 7.0769, 1.7265, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5919d0e12df5070da7033fb645181d6842adc72cf99ab3de34e7cd15f41e7cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2190c79236eba79626c3a502748da371c03f188f97f6f537198a51a70defe3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7112661e01d31c94589a35ba0215e29303a5c5e5e0484700d3ae01bfec353518",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtLElWr6q8giPI2bbOIuewGHgf4yPVA_rBK9SmElhtgAJJ2GY2ekhpezm9symJpV81zkY44q8kcdqamG6OUi0TvEGFaNk-rjuGy1L_4HYReOgoLt-EiCw63m7EgDScJEPgeQY1EYVl3K7KtrQCBmMB0ZbHfXuTqKg_kOpVUkLigu8YmXuEawtJn5MIVMWcZ-BnmDex-y0il0Qqsgv7zgYXC_Kvu8PyxnkeyUSXs1VDD3PJmr0bpafsEa1B1oz-WDOSeKEZFXz3lXZAeynHm8FmZrEAMWrmYg2q5Sge__JzAoL-_QxQgh2Y41B_RoPkT6JNoBLCA7PRsufSnmntEXrG2Dp-p6-hSNhyNKmxcnkT1p1IUap1znbFKhJPk0yo66ZYjLQB9KDKTRnYKaXCbfa2uXyP7V8xmkRqOP_Y2TcA_NUl0viDMzxsGP9IoR9Y4DB2hl54fscHFc1iHR0gqRpRu8Lk8sjzslfg2v7RPQeqXwt3Dgqp8oxHFHVWM96YBSw_wsG8avHAWQ-8Y1Cmwlw6vR4aKtOhPndPrpR4jbnAbOpGrkHuLL-2H1yhJ3Fw6JPug_l-DD9-0ck0uDzxcnKbL1-d9D8rxweiw98fXy-TbgB98APbgRlbtc2Hpdgva8Q44pfWrrt1pbytW_nL_mtHoaPx1AjS1eCRztfa8mIeG0HvR2FXplmIknf24zaatVTJOT_dlu7FhBqam0LBUfkEcd8qJpL6ZGC83pi5LmCok-XwKFtstx9vS02UwOSGFjVGDORjuS5XQ3eO0g66RojkwMIHCZdVQBrQly2pZY9Ys2TjmPdlSOEdw_jyKEx03yqbspkh_fxF71Qiq7vkJ-njhCn9VzOca6rNDkTCcBmMg69tobXtUxjSd2nhl163LRgrjNtXrEFJf4TaHL5VHi1pN-mlsYm8oFbdQH27ZHO6iKEjJrjsJ25NjbjEVgfXidZ_0x_8wFajRb7CYbSzVx-MwZwBJhcHEfqfGjqwwym-R3NB-MfdUOuw4vhaDY5b6EX8fl-xnUEp7ud_RGB7o4OC_WW1SWHoMP5Ls46QGtBe98bP2GKB2p3mqhGkE0fjHxxKmC-RrxLDy8tEzn4-MWCmoc-1_kOUK3ydDoUe500OcESI29o5AmIOpWET-3e7vJjbWnF1yvi8Jw-VUObcvn74YjhtkBVkg3ibpR-QPsVP9H_uptRdQp075rAvThfMz90QiHpytp6P3oacbCCFdcbIUD0FFBTJ6pq7gfngBOT_UJcYbcmCQAwujThyNGUQFGx_jnCBD4DHCJLf6bOeERQqKLmcrZIU0LeDjpHp0b-tXQA79FsgUE9TOYCRuhbn8EWZQ97MuHno4gA3OfTjvjwzgS22X3Ix9sJtEfDn6X25t-T2J6USpUW6f8Nhpj6JkJQv9QJaQp06nXcWKWFX1jq-0w8QL9p-6Nl9MyqFUCc82nAmafni9_aqB78lOcQMGf3KXGguIneZAq1pAlIKv_twxBSmBx3l68uvyDepaYoMF7NkwbJVYIIpOEHAvFEyVgFZbWQb3mMDsxybPuBh1_S3oyWxRWW7zmhV9VJs43L2X6L5sTtXejp4wIHuHOfDfKyKLHk5pda4Ekc9LTKz-Q21KbTLHZt9_7_gxCXh4VzTcAw0q5V354Ym7evEPDwuzEFxfF9-Eg7iWAJBcvr55nj-be4-cmoXL1ZfXKGk4zhmFvHMZN1PgR1AVV7XqrU2znB36aJlam7dwqpUevNyL2hiRWgONZRKeXav4ehGyxDh0a7ljJl-CfYR18satDQqrP8z-yazv4nN-Vi0JDaV8y4PGkjkkp6YHrQOCWXo0Vdbb_RJCIctjjjdlgAosi6HLQY4DO_fEg5k7PQmA2b56u21S4KKmKC8X9BUgKKD_dVx8tNs0MLWQgyvzusjYjmypMtQiXnkzV9iXPsv-UMDdGoRc3QqADSPu9ZOmL7DZ7gpQmIrR5eA03Ok_7nXx_ftHUy_29r0C3QyU2L7cWEPwlMB4kBkWK8FEYaW81_UlOhbZmWLlkwzsihaPwEGP3cE-iazAhihkRn92C5cGPchZvod9o1CZ_7GpPFHawV8AVh1QX_ohQhMi8VtEvxfgPLnSCxVyQlbBG17akfmNSIS8QA7LtWWCb3ajdPzICdE2ULCI6bOWg3zqeRMYI0a77im3freM",
  "id": "rs_0978b5fafe184d3d016ab42b4883bc87d0bdcae54e6d630daf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.32,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The gray plush has been released inside the shifted right basket. Two tan plushes remain near the table center; I’ll withdraw the left gripper and approach the nearer tan one while returning its wrist to a straight orientation.\"}",
  "call_id": "call_mHen7EYQNsDHN59LlZmDBCHJ",
  "id": "fc_0978b5fafe184d3d016ab42b4a4e8887d08a0b0e7d6945c24c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mHen7EYQNsDHN59LlZmDBCHJ",
  "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]: [-1.1225, 1.7748, 1.5013, -0.8673, -0.7822, -1.0718, 0.9968, -0.02, 0.8295, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2918 left_y=-0.3112 left_z=0.1847 left_yaw=0.0851 left_pitch=-0.1392 left_roll=-0.0594 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0564 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -10.6325, 6.1333, 1.1795, -0.4469, 0.2076, 0.1294, -0.0479, -1.7983, 7.0085, 1.7509, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2737ab400078aa9e0b87c45be415d4b2885b78320c7337e32b5b5b0adca8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:decf01965b52fe21ed2a5361bf63fd2a8c52ceb47e5a37c19ed87116dde02268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c29ad99929929cd16baca2f6cc8158f2352d37467bf84e70cf3d3fd684ea9e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6842, 2.2902, 1.9903, -1.5738, -0.9089, -2.0346, 0.0501, -0.02, 0.8242, 0.6067, -0.3855, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3943 left_y=-0.1371 left_z=0.1253 left_yaw=1.1535 left_pitch=-0.0657 left_roll=-0.0691 left_gripper=0.0501 right_x=0.2963 right_y=0.0006 right_z=0.1718 right_yaw=-0.0003 right_pitch=-0.0442 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [3.3846, -5.6, 0.5402, -0.0317, 1.5018, -0.1636, 0.6667, -0.0752, -1.5932, 7.2684, 1.6874, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7197, 2.4184, 2.1036, -1.5429, -0.8566, -2.0163, 0.9954, -0.02, 0.8257, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4037 left_y=-0.1715 left_z=0.09 left_yaw=1.1232 left_pitch=-0.1177 left_roll=-0.0567 left_gripper=0.9954 right_x=0.2954 right_y=0.0005 right_z=0.17 right_yaw=-0.0006 right_pitch=-0.0526 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -12.2188, 6.4205, -0.2369, -0.5104, -0.0464, -0.1587, -0.335, -1.4701, 7.0769, 1.7265, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1225, 1.7748, 1.5013, -0.8673, -0.7822, -1.0718, 0.9968, -0.02, 0.8295, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2918 left_y=-0.3112 left_z=0.1847 left_yaw=0.0851 left_pitch=-0.1392 left_roll=-0.0594 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0564 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -10.6325, 6.1333, 1.1795, -0.4469, 0.2076, 0.1294, -0.0479, -1.7983, 7.0085, 1.7509, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2737ab400078aa9e0b87c45be415d4b2885b78320c7337e32b5b5b0adca8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:decf01965b52fe21ed2a5361bf63fd2a8c52ceb47e5a37c19ed87116dde02268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c29ad99929929cd16baca2f6cc8158f2352d37467bf84e70cf3d3fd684ea9e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtQSjKGTll-3OOkPqyZEifvUK9_OfGJ2Uz4oTsXs1Uu8NhEMh0b_NeAMF775fY9o4avDRROLbmYa3W1_O1kIeAqZeJ2BlCmMIic577pzFYa0kZ3kvp3Ps8zbtZl7kDrgXxjYwAbzFJh8zfK__Xp4M-gPvcLUBY2athP_0u0LdUVtPDwpFl0eovwe5qZRchHlYFx9YVGlT-byzMCjeHQxceJhtzxHzwPhpXdF1UiUosAwuOuNXGT0Y-u57qdqM_4KEottWShNyJUY14K6qQIhKDhuSWQvET6OjB4MRwl_ODcPdLrOc1gFXTi_ptM53tTQhrmL-BncRe6df4saw4kXA1QTJSpqq_etAySDCcEyHhX21HYUObETfG4lTi9Kz91uiep8MFT0SEgh6dlwfsF9FzBTkfLKXfQgpu5hscRqMjtn8G8z8xZ5kQqxCWEV1yE0s48IPIc01ZrKEzern5zsKiTrZ9fjOX8MlKNf4WvNXbEyl5PFaNVbn83RMuxz5uTwzNVJ_QJwbhM0hV6FgGgXzIJAMWzO74Cmm45y7SBZHFp2MJu_EiG0WDiPHYeYlInCF4Dvn30qseDeW915-eHAvRKOCCvIM_CibrtduhIJiiTRkQWsp8geVfGw6tuidL-M7tYxsFAzIq-OqspNizuIYWevOl_tcrYOBQesJ8itkFYpGYpr74U3kVmoH6TNqMhhwndxO1gON_k3Y3RqxJ11-kR-9hRVE9A3l8INDQyT5VAe4NBQWIO8adwhMUxyjUVXU9axjhKKe-1Nzj_cNk00YlLROc-GIWSJRXiqyBBidXMOvYByIzt15dpZxhW68Z-DCq5L3JC8OTUYDEx42z6fJQESREv1zNFAm9_y58nJHGqF5j7Jz-KZS78FLrovhPCvhuzOyDAKcIMsu8tKbCEIzI9320c6h9Dnnetjzd0iKHBC-j5ogEccXN4mvhYHcC4bVfwebzZQEgV8nSFG9xqlnJiFJM2YBFHQc1I3Me3fNzra8hPAkRAC4N1Dyb3vXi0PSahURCviDjlskc3oARvrY0k3Spmv3tOxfqazLZmzoRYzUCMBQnggVf-qXLmHrKP1aZ7EJOiNcuc2aTXd8KJ0gUT1-fFXTKB8MLq56_ikOiv0ZOnmaAF6um6muXli_4yrq-hucMYxull-AhucASHPM7G8uQV2-lR2JeAowEDeFd9zp74oAUB2W87U0acJJTEXcnT1oteUFUtZdasdqlqlWAB4RG6K1tUlUtt9luWkNEE9MxGgbS4Y2rKTyOgixT7G7w9E29d4My4NEsLJKDUpbKRGxU_ZujL0jRiau91Pk7Nq-SanA__u4ioya8MlFs-6a_1vFgQypanPZLkHMatBVewfY9l2A-xPQX7fpNiMfpx_USIngQ684oFaGFcoerHY-9dBriIa3KOiO-SEOt7MTJ89x-5Q31CzotSsU35Hf6FU0VEvEDdDjUY6jkT2Ci6zIgXRUKAEOVqfa4iT8l-PlD2BXs6G-CYBmZK2hZPdF7VYtSxvZFL4CNcZHsTc5neauBBNTvl_UhAaECJpPoUJe6EYeOwZKXJRve1IqpMfAxQsT7cvCq5cNt_MKHaNpk8ebp8yHH4d_3zSpCuOqkrzOowH4GCmgx0GeSb6MppkRNxUumpbZLpD6I43Vd_VWUY0x4yejOFie_PbGENFF2zaddXlVKczfnIgsgoKUGXSuTTEdEzt_d1-G97TffiFL31ZNh6hsleLzLlI8lpl_vsT_JpYE03-MQIQ1PpuqidkZzGNA09Nw1S9apxIJDjfievEYnD2uGoVEEwzuyvAoIGuNq75ZFFMBLRzvhouKlRDfOITmGgz4joa4o6asHPUb4ffw8HLZrNqpRnvkjvdGzFX3kVf2NS8XR17WZJHGvYgDug-wZm5pGhgf0lvkFlWGk5ZwLoxrweIkSl3cc0mn638MbwekpxnJqLxoQKwtt44ZrPX26tZ1H8VwTO9GN_ZzslPLokRUvMXGcuKEnjt8skenbWbv4ll5yHHNvcnivVBPhQoTXC562YYrUbxgmDKrLPdb3lW75JtiRuAzEKn8X8VRl_f75AW8hg98xCqP3wx8mBwsRTol-tcqg4cUB5bJ2snY6s13BUWnzythlt3BNAkpFa_4h1ARFYqh2jj43rpgSNrCdZUyqasRqsaxXYmrFY9qZ6ehrMUrHgZmj38zIIs6liyw==",
  "id": "rs_0978b5fafe184d3d016ab42b4db39887d080e51e6cb334bafd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.36,\"left_z\":0.07},\"note\":\"The tan plush’s face is visible just to the right of the left jaw column, with its torso farther down the wrist view. I’ll shift right a few centimetres and lower around that plush rather than the one behind it.\"}",
  "call_id": "call_8rxBfwK08cLlGnnClAMArhKl",
  "id": "fc_0978b5fafe184d3d016ab42b4fa2e087d0a6043d68c9a6e370",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rxBfwK08cLlGnnClAMArhKl",
  "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]: [-1.195, 2.0079, 1.4075, -0.6159, -0.7982, -1.161, 0.9968, -0.02, 0.8307, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2806 left_y=-0.3567 left_z=0.081 left_yaw=0.078 left_pitch=-0.1518 left_roll=-0.0509 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1685 right_yaw=-0.0003 right_pitch=-0.0579 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -9.3744, 4.9436, 0.8571, -0.5397, -0.0464, -0.0024, -0.0205, -1.4701, 7.0359, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe89eb28b483e720f648d5479bd26bfacef2f0d653af62590fa24e4d5a6243c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8983af7021cb6dea7166118241a95e9eb19046d97a6105e942216be3bd69d403",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6511b55a34679547f9d090c4ef7efaa83259e0216840775718b79be5eb7edab2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7219, 2.4275, 2.1185, -1.5475, -0.8619, -2.0151, 0.0522, -0.02, 0.8257, 0.6067, -0.3882, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4052 left_y=-0.1734 left_z=0.0902 left_yaw=1.1185 left_pitch=-0.113 left_roll=-0.0583 left_gripper=0.0522 right_x=0.296 right_y=0.0005 right_z=0.1708 right_yaw=-0.0006 right_pitch=-0.0484 right_roll=0.0025 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -18.8376, 5.4496, -0.4274, -0.7985, 0.0806, 0.7888, -0.0615, -1.0188, 7.2274, 1.7265, -0.0171, -0.0366, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.1225, 1.7748, 1.5013, -0.8673, -0.7822, -1.0718, 0.9968, -0.02, 0.8295, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2918 left_y=-0.3112 left_z=0.1847 left_yaw=0.0851 left_pitch=-0.1392 left_roll=-0.0594 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0564 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -10.6325, 6.1333, 1.1795, -0.4469, 0.2076, 0.1294, -0.0479, -1.7983, 7.0085, 1.7509, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.195, 2.0079, 1.4075, -0.6159, -0.7982, -1.161, 0.9968, -0.02, 0.8307, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2806 left_y=-0.3567 left_z=0.081 left_yaw=0.078 left_pitch=-0.1518 left_roll=-0.0509 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1685 right_yaw=-0.0003 right_pitch=-0.0579 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -9.3744, 4.9436, 0.8571, -0.5397, -0.0464, -0.0024, -0.0205, -1.4701, 7.0359, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe89eb28b483e720f648d5479bd26bfacef2f0d653af62590fa24e4d5a6243c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8983af7021cb6dea7166118241a95e9eb19046d97a6105e942216be3bd69d403",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6511b55a34679547f9d090c4ef7efaa83259e0216840775718b79be5eb7edab2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtUggfvRY_1xglwL8fnQeYpAoshJazeBhLmE-mS6RvkXhU171LJHMHiSDxvDu1Ihn0pJ4DIXG8DIUyAZWuuRJN8T_jMwDTViaWW_sYEltEYuIfwryzTi-i-aWdsrg5eJ2gUHWyz8pJPxMVn3EmG-Y1CbkJ1QqtF_m7umbKJVTob2KWg8l5Baps12mwqlXqbmmqcEnaRok2XMQgYow8PFf4Z5qBFfEch0yWUfkk_WbEfePLsVglzFAb13LZcjGi8AbAF1h_AWZCQdC8qQIfJBScWTtnrcM9hcuShIvFdDhC5cDvJ7go-N6OhNl_1F16LHDc8moBTsW4OnrU-2GXZGM9zan6xjKmstFCIh6hHDNR_GEFkglH7VKSYWerF6tl7ilj-ncdNE06woKnlgKXeHRAK_WGS8uYlCZjUzjtQS98yxyfADto-QCtM3-i_I_MxPX81MjUvaITSJEmsCI6DoQeuiOeEqy5ZQ7Lnc_QVbV8E-NGaL_L7f8mTkZ1qXWZSRXcasZGqepWVvLufkx3L3gFkAwj3YtAF0ABQXK1UoiMbdQCOaFQM63-Ew2SK1-EEhteqfVPSa2PiPbeNIW6qppt_sOFK0hGNhNnff1miZyrvPjU_Egal-m9h0nuzCe-SyU57y_V5fFQnxI6jy3ZO_78SdllrRNX70Vwhy-z_YhXy5V1cOAAt3i14rEzjM_ims2QL-IZMAnAFxccuXini_m21K0HFRrJKx0qkbay5bO_UyXnGY1686YUPNkltGX_iqlnWoBTLM5bw8unH8jTAiu8Yzl5-hSvBadDFnDnkBVusMy3xucGEOzYTahg1G1TwpGV7XJ1yEEYv22g-cMTRv0uSv5NnBPExAAD-iI4FeI1pANoBce4Wv2cRzKv_8Hvc5_3IlBZArCT-4f9gPqjmcazoljhoFiXzZWd_WsVWUc7efZEyyM6rKs8eYX5l8OLm9GQ-y0qvbkiLOS_qdNIkEZfRRjScHhnpoWe9VBCkAzLrEcocLvH9PL76OQI5gnXsSgs_hUM9O4RCnCdwumcMXtK3bvBfxFWni4EJPzDuQe1OqgH1Ju3ASMQh766oJM1J_g0KXGwLT25ut5X8CGoDzexP_wKFvJmdKItIRD4fwwcjDccETW0fu3fxHtGh2Et2BDnanbFwdKQG-ns7IMOx6vAW7KgJt9SBWklJLoZ4EmCXhWLujRAuKuoTyAxyrIzeLpkfZBEb2FTThSM9bGDmaI71QRVrXiBaDrStNMB6LvRFyfGqZ-4YqPuihysmqxAgcO_Tf7SwrU-zxdffVo68Czl8jcHAnscOAfoBlWpw9TPljI8sv4HJuOAKjJz61LwBlTUw15wqYeyVkh2ZDX03n8K9El_z19LZyHg73jNpxL59lRmgwu00vxwxBKYI8orhOWtZxPoPLyy0ic1UU5leDPaYDMxB1iAqN1iA8PipQJuBenlTnI6Jl_6DEJXuS84tUbi3wuB8D5CXQYsPQoVVw6334N5kPRlEMXAH5meF00P5jao=",
  "id": "rs_0978b5fafe184d3d016ab42b52f31487d0b8ff96895f058d54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.385,\"left_z\":0.04},\"note\":\"The tan plush is close but still slightly right of the jaw center; its head fills the wrist image. I’ll make a small rightward adjustment and lower to grip the soft torso beneath the head.\"}",
  "call_id": "call_H3N606kRkXhZy8jHUNxCnoC7",
  "id": "fc_0978b5fafe184d3d016ab42b53b03487d081568bd1f3f66fbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H3N606kRkXhZy8jHUNxCnoC7",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2354, 2.1178, 1.4483, -0.5774, -0.8158, -1.2251, 0.9968, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2721 left_y=-0.379 left_z=0.0514 left_yaw=0.083 left_pitch=-0.1458 left_roll=-0.0657 left_gripper=0.9968 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.8684, -10.1675, 6.8034, 0.5836, -0.4371, 0.1392, -0.0073, -0.0752, -1.5521, 7.0769, 1.6679, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d33508ca232d7b70f32f57be8ca6104855b222057f0a716b4919369ffbb969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d1d7a22c5d0ccdc1e97aa1324c254e881c0085b0177499a1d5fbb3b920e362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5587831c3fd2930c104e2d23565f9fb308d1fda9292d5f22ab7615f42fff5bd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7197, 2.4184, 2.1036, -1.5429, -0.8566, -2.0163, 0.9954, -0.02, 0.8257, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4037 left_y=-0.1715 left_z=0.09 left_yaw=1.1232 left_pitch=-0.1177 left_roll=-0.0567 left_gripper=0.9954 right_x=0.2954 right_y=0.0005 right_z=0.17 right_yaw=-0.0006 right_pitch=-0.0526 right_roll=0.0026 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -12.2188, 6.4205, -0.2369, -0.5104, -0.0464, -0.1587, -0.335, -1.4701, 7.0769, 1.7265, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.195, 2.0079, 1.4075, -0.6159, -0.7982, -1.161, 0.9968, -0.02, 0.8307, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2806 left_y=-0.3567 left_z=0.081 left_yaw=0.078 left_pitch=-0.1518 left_roll=-0.0509 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1685 right_yaw=-0.0003 right_pitch=-0.0579 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -9.3744, 4.9436, 0.8571, -0.5397, -0.0464, -0.0024, -0.0205, -1.4701, 7.0359, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2354, 2.1178, 1.4483, -0.5774, -0.8158, -1.2251, 0.9968, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2721 left_y=-0.379 left_z=0.0514 left_yaw=0.083 left_pitch=-0.1458 left_roll=-0.0657 left_gripper=0.9968 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.8684, -10.1675, 6.8034, 0.5836, -0.4371, 0.1392, -0.0073, -0.0752, -1.5521, 7.0769, 1.6679, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d33508ca232d7b70f32f57be8ca6104855b222057f0a716b4919369ffbb969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d1d7a22c5d0ccdc1e97aa1324c254e881c0085b0177499a1d5fbb3b920e362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5587831c3fd2930c104e2d23565f9fb308d1fda9292d5f22ab7615f42fff5bd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtWNpGwR3B8PF_dm7oLCSEtpH4JW4EkLdgrQ7r9vn0m4C2hpfpOxUSHdSVYayktezC-sWxujlcwQ_MsdlGQddUb5p_HZapI7rtAvoZSHsF_uqhEskAgw8Yt-Ycvzja81JNZpKdYJr9rlFp9b6bnexzRvMk8tLKCfNIyXu7-Hxcep90IcBFSWl11Z3vpji0z2doFf_Qo55reixSqHQYyg9BYpqcKjNcNDiyt_PseVdIn_dIb8jlxIRVY2dSfxZilqOecMNM0-ySguv-WGv_xxhAP5pvSHPiN7ZKIM9huGUQAbMjebMmy1W2UiSo5hslb1wA4MmrG8SiOublHL-ODwA1dyiW16pcuUXRCZMswctyHBzWljvjwFdIPyT4j5bz4QHtbGpGsPHF5-nGdvxB-8_DDWc0SG7zvQ6EQV3VXLM234Oq_CPWaphZfqIa7CN0Qf3FVGn3A6VHwMEM7LefXfG_OpX00NS0AVApcmef3Sje66ztCKdZUjsPZzjUaRL-gE5PJMpvX8pyd987tzmwLTGDrIqbqh1pHldkWi9h5i5SJQOezhdASV2S04VxXu78_T0krMIWug-kiFzT_o34EMJlTYbDppouaWKB-L9QFYOg2GITK-oHdzy8VLRi1C9Wat_PAmuy-UGEC3GFH0Oi_uRBuDduyRfgPVbOKBuDB4CCf3Dzl-XA_vVICwRRwZKUMmYqucigRo5rqY3ZQ2O1xKIkTCKU-CvZ0Lf8lEVznVCRDDEecbHzUh9KmrR4yfpXj_-k--DDNUuF6E46Gy9IDEv_58v_LpUC22nkn7d_scBQVxlxsROGKpnOgnf2AjozbCyV4N1A8k2sdqXeyBEQsDFwyDD9URatiWFM2DaKjqASuJJEthyybuD681TXhiLHC18tQe1jl3whMG8b2Bc0Lhxq7U6Dck06Qk8qaxPdGlEeL6OqabvB5tokZcrut-tkPnmLkKtFjgHPKd1z7vNgXWmLpPqA3CDLeaCkvN_SDkx46z1FXZVjjNrjWrvhCXMrFMfew7sr3IFNGmXWym52Ih0whjjCFMaHVoK5xtG3juwFd7R-qFzspSlQiC5Lz-iqImAP1aiFPiHtcMiDpGN2dma5ueeZgjhhsL6yjfKllVMfL6RuNdY1P4nhVs7NIfq0N8qs6S7kr-gPHXsvbnLfvrULXU-xG9OZQCUhLScyZQKYhNkWlquyCYPygPF_SXFWjqYB_MVTjf0ugC4gzkLckaSgVHe7c2TGxBci4IChCz7OcgOPzwfEPze2AB7zG2o4-pJ9Z",
  "id": "rs_0978b5fafe184d3d016ab42b55ddec87d0a0e627cfe0bea95b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open left jaws now surround the tan plush’s chest, with the head above the pinch point. I’ll close gently around it and then test by lifting.\"}",
  "call_id": "call_rK1SLdWEJVyo6rqE2v3XNwGO",
  "id": "fc_0978b5fafe184d3d016ab42b56284087d096fd24145b0bb153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rK1SLdWEJVyo6rqE2v3XNwGO",
  "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]: [-1.2346, 2.1372, 1.4551, -0.5552, -0.8345, -1.2392, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2758 left_y=-0.3817 left_z=0.0487 left_yaw=0.0967 left_pitch=-0.1268 left_roll=-0.0816 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -12.8752, 5.2308, 0.5543, -0.3053, 0.1001, 0.906, -0.2256, -1.3197, 7.2137, 1.7265, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497ed03cd1698de34072b222de13d419d8c45ea49933b832e7b1a7c641d97af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1059e5dfd3fbd27192ab40d94891f64d5e2dccd6e8d2888db46627f540ae6065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2105320d71abd4be35012b0c71265eb123eaf5aa377c333464d572ba25f953a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1225, 1.7748, 1.5013, -0.8673, -0.7822, -1.0718, 0.9968, -0.02, 0.8295, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2918 left_y=-0.3112 left_z=0.1847 left_yaw=0.0851 left_pitch=-0.1392 left_roll=-0.0594 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0564 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -10.6325, 6.1333, 1.1795, -0.4469, 0.2076, 0.1294, -0.0479, -1.7983, 7.0085, 1.7509, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2354, 2.1178, 1.4483, -0.5774, -0.8158, -1.2251, 0.9968, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2721 left_y=-0.379 left_z=0.0514 left_yaw=0.083 left_pitch=-0.1458 left_roll=-0.0657 left_gripper=0.9968 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.8684, -10.1675, 6.8034, 0.5836, -0.4371, 0.1392, -0.0073, -0.0752, -1.5521, 7.0769, 1.6679, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2346, 2.1372, 1.4551, -0.5552, -0.8345, -1.2392, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2758 left_y=-0.3817 left_z=0.0487 left_yaw=0.0967 left_pitch=-0.1268 left_roll=-0.0816 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -12.8752, 5.2308, 0.5543, -0.3053, 0.1001, 0.906, -0.2256, -1.3197, 7.2137, 1.7265, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497ed03cd1698de34072b222de13d419d8c45ea49933b832e7b1a7c641d97af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1059e5dfd3fbd27192ab40d94891f64d5e2dccd6e8d2888db46627f540ae6065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2105320d71abd4be35012b0c71265eb123eaf5aa377c333464d572ba25f953a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtaSCMwzltK8K0ifGVtMnasq5ghMdAjPaoNGBSbNsXYw2zBk8Yx8mbecKgNWxoW7qEID50TaO3-i2djOUJKSy2fCDRiwiIg1tNHNFjUm6_ELEMm2LWc2dctgfhxX52VkWpkzRzEkA7YoIAy7Xibl86htrPAuVu3qDSOaRISbQE_Od4iK0U53bV0I6jhUxSNbwQEZ8hscWGjLl-JWmTPgQ-RdDX-CmCO7hQHKeCWU4j8nydFwdSyJNoQTn6LXIwY6c6lyLgmeK7qUk8okhvjjjW_lhEWMWa0D-oV-_kCxJIatNJ9xNqxPcDL6zu2k2ur8_TrA49v_LSzDQgZP7THvzoM3Yikd71TgGzWvrXpfhCOF09osZF-7GiIdRqSUCjClw7rcZcwPZ6WG47MPIGxywixoN0lrmnKfgX5utWt2pbXAQrvrwX5wZw5pl7GCYfQDENOlpmhtXtsBbOTcm_F9R3xZQFqk8fvydazMIa_YSk4zyJHPcSqI5cucNp-cENLjr3tmfQbO3Zmv8_bFdoFrYJg-uGwfnRK_DWUXbLm57EjIjdcCYuhLgMzYZ6q7gzFv9HZwfGh5-mzoKXueGMOM90gtMaHGdKlofaGicPdp_bdLfqasawTCPjGHiNca434CfuU9OTIKrHFNr0CQUkKVggKILMHRxbZMls-LXo1E0avMpifJmaMTQ8YG4uIq3vhjjUyvCb6df8-yOMj45xjBkRE3aOaMBX1GzrTvhQmZkHJJk-0dPpJFt5mT-Zlb7JsMJCvf6JZykqFJCaxoagZGvde2nuh-tcUPo_bUAUqyLRWZEuCr_uGFbqLn1cosYgz1A6ff9s2v5Xf2-BnADgGCADfPFXMH_bLn23Bf0PczgK8piwmlRqiAUm3UbLtp1i05AF0ewtZAlgvGu29N9JCISkgO6qi_OR07GWQeFYtpQIODWDRmBmIk09X3gOSlYW1XjkjZZOopDT7oG4CCO_bQVOidIp7I4ZsPMNSX_N9ghiExG9kUt2k3iHnVNJYDKP7hEbEAXcVBhDakySDDtQwPRT2B6z_r3JT5wi5wLib6MdQepRyJJ398gk_xzcepr80Y311xNOjRnl81XoHySJXYF4kxw3ri-yyIqSDo2zE-LfXlLR_QU4Srn_eCZAK-Pstd3JG05njFV2J9G9tVk2aY7zRe-wdFAWG3nopcWTWW3cDskVRXVGLQ76laC0prD3FQMfBa78U3CqdljsZc6jYkeALRBz02I3GhwoTRrpcy4WBLhYc12mK_dAU_WBkWOgFBAmKmrqgl2nywKxI3dXrZqYLDw==",
  "id": "rs_0978b5fafe184d3d016ab42b58e9a487d0a85c8ed4776dd15d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The jaws stopped about a centimetre apart on the tan plush, indicating a grasp. I’ll lift to confirm it clears the table before carrying it to the basket with the other tan plush.\"}",
  "call_id": "call_PfZaaBE0wUIMWNSULnd9DHyi",
  "id": "fc_0978b5fafe184d3d016ab42b592aac87d0a64504adca17fea5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PfZaaBE0wUIMWNSULnd9DHyi",
  "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]: [-1.2339, 2.0727, 1.8317, -1.0103, -0.8089, -1.2541, 0.1077, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2759 left_y=-0.3902 left_z=0.161 left_yaw=0.0984 left_pitch=-0.1542 left_roll=-0.085 left_gripper=0.1077 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -13.9966, 7.747, 0.6911, -0.7009, 0.1245, 0.906, -0.0479, -1.1692, 7.0085, 1.7558, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c631c6b928afe9168a2fbd05c70c43ec0ed4a3fc877313fdc4525df964e4ebd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25976b2263141df4ce4a25c2badd13492e121c4d45342a7b250269a56ef4cf99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e2aab3b6e668d6b23997cdae9d86307ffdf13f087f55e0d0552315865f9af6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.195, 2.0079, 1.4075, -0.6159, -0.7982, -1.161, 0.9968, -0.02, 0.8307, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2806 left_y=-0.3567 left_z=0.081 left_yaw=0.078 left_pitch=-0.1518 left_roll=-0.0509 left_gripper=0.9968 right_x=0.2956 right_y=0.0006 right_z=0.1685 right_yaw=-0.0003 right_pitch=-0.0579 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -9.3744, 4.9436, 0.8571, -0.5397, -0.0464, -0.0024, -0.0205, -1.4701, 7.0359, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2346, 2.1372, 1.4551, -0.5552, -0.8345, -1.2392, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2758 left_y=-0.3817 left_z=0.0487 left_yaw=0.0967 left_pitch=-0.1268 left_roll=-0.0816 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -12.8752, 5.2308, 0.5543, -0.3053, 0.1001, 0.906, -0.2256, -1.3197, 7.2137, 1.7265, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2339, 2.0727, 1.8317, -1.0103, -0.8089, -1.2541, 0.1077, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2759 left_y=-0.3902 left_z=0.161 left_yaw=0.0984 left_pitch=-0.1542 left_roll=-0.085 left_gripper=0.1077 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -13.9966, 7.747, 0.6911, -0.7009, 0.1245, 0.906, -0.0479, -1.1692, 7.0085, 1.7558, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c631c6b928afe9168a2fbd05c70c43ec0ed4a3fc877313fdc4525df964e4ebd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25976b2263141df4ce4a25c2badd13492e121c4d45342a7b250269a56ef4cf99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e2aab3b6e668d6b23997cdae9d86307ffdf13f087f55e0d0552315865f9af6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtfzR9Uip_VSHx7xRc75aC8QO5gkQamllfrXs2U0dw9NqET12JPCJJDRYPtsHWBvlo9T-wRAyLjMN-qgXEVT8816CSAzOmeZGfyI4TzsL_ogL1-k7Z2qybMdWV5pgNidgyq28tqdgocVjim2RwgNUVyuQSgagsv97QmusqgdC0pFwUgSSouz6Mip89yI9SaiF54cCeBRwKTw7HqIItooPxYnbI_TrH2Cd216SrTA2so2Xm9nvQiAXTq5pyyojTTwRSjEakBIly3LoXTRP1tUuOeplVf_0oMGeD8LerR5sCnXn6hWJNhqmy2injmklqkRGQXMeYD78j8zKrAI_nhUosgmwMeO1SNYz52O7EgYZAeakvv-a88e11ujps77MMXQzR9dQXkfdsuO2ccf6QOgfIq9U5zP3Mm9tH0pIILDzCGYQadg4HSh0D7e8IS_SpzD5TVCAQQcQLGbJtb7nYu7j4XmCqYniej-t_Joh6AyPomQ6UaqAHReU6ADUAEKsLnpG0xCSVr-e2KU0_WLlIyZMvNvaL-kMnPV6Q5Aj-oJFEuoQekOTWnXqt5HMGguiUqBkox67RD9T5rsws8TsjQyt5MBIPrFOrq8WsbEo56G2NbAybWXgdq-M4TsPqfRoqn6nfSnDEALfru6eGhDWxTxh4irZcqyRCvhBYVSnLp6I5V6FiwceZJDxtre-nV_CZWGp0voMfmDDHLgWWKwJndhR_F313GGX2aRp8VuesVTGci8nq8ZzkE286tguzviI84N7Xv1dNB759XAz4yigZCMajSyes25w47ZWxfhFc4GPzy_7ZSaAvVgqa_1Q6EeQSD5DT2OTfm7YNXMkfTaRh2GWXvSmojMsivRFOjfqihBk9AJPu_ULd398BX1iwvC015uX7hGjbMK6KttgUZ-urCn60eksGHBjtQH3JxuhkXnD7pwsQykufnYkJJu5n18l58LDSMM3XtXmgkl_L43LvZc24yK6n5v8fHir-qIFs_YTrB3XRlVX5qCZloPkWwY0AB8E0Zchc0Hpv3kT1BolIOj4b6X4YEXeiyuv-k5sngU0ex6kvJwsCbzVgElla5qbBJ7L5zx8CXV1yImqPqsHleAJTT_NULwNRQ9Vj-aW-xJbD44tDL703TQsBaOC7w3lg47cG1uwJL2z2nySAnPOdN_-06cKHUs-nk3OS3jqxBn7jXp6Z6wUqhAK8DYkPsm5EHB0Jq60M0DYuYKXZUBfH1SZCSTXiFPBsefBZAJyZPHwll-__7yzB1EPcm9xrz6Mmid-CsQh0QgSLD49Ep11lAqWoohMdB6OAZ3Ro0cLFRr-H4Kl_5M1Bz6hI4hrCgxGAU7V5YIvejTVyB9yqtE-7J_fKI7_LOz8Ph7yVpAxiVgQMhZArekq8iqpGmgwpoAbiBpCFLS_IULcX6Wnrf8zio-4vIxRex63F1fvorEcscyjZMqHIJ06rj929eGGCmtHleL2mDaQI7z-fY7SXLq02VckLECPdfRKtnvGCepLP4phSElSinfo2N8ZtaifI8lcoZc40Pqr_YodZ5fGe6A26nIJl3nsqpWv85vnc0EpJPvD1vXHkSPw_LPZ_6iRjHvGaYGE97cfd4SylmjW_AWbl0wZAq8tr-mgezKW48B9G3ZoNMZZLXvFl6Brf4Y6Skt2bLNrPJCGxH7fU1uvXpJZbZQIaUAoNegjsAaZdih31MicmKzQIoWx9PdvSig87_pjcZOy9jbQVGteF6eUucnUwbMugr09-HG0LIWXRqY4xis7pIn_T0aBih5rFfnIJJI10YkmUwlLbqtDu7cUkUvcVeNPiytk1uooAyljT8YY3y9HeV9B7vGImXeeVytSDlvzljn6cYLQs-BQuoeBftHGcoBTILUU0LJ4hwuEdm8Cg130BfQFF5sxzfRh09EH3ijddqd1Vq4mD5r4YFzkdWkimpsIOLkjmzQjGd7-QKuDq_u9XntO8D90IPhAqwN9SXDx-YNdduQHyuWA80nceaXgN1eDxxGfMOjBLH0G65WwnY_oicD73oQGnGYehGe0XrTYB0SO7x2Gi3Sqac8nXP6zK-Q_6deg==",
  "id": "rs_0978b5fafe184d3d016ab42b5c761487d0b581ab1144830ad8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.28},\"note\":\"The tan plush lifted with the left gripper. Because the right basket has shifted between the plush and the left basket, I’ll raise the load before crossing over its rim.\"}",
  "call_id": "call_ugvPpPsH26hSriwViAGhYB2i",
  "id": "fc_0978b5fafe184d3d016ab42b5e504887d09ad8e1ad06215c12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ugvPpPsH26hSriwViAGhYB2i",
  "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]: [-1.2335, 2.2261, 2.5134, -1.4826, -0.7849, -1.2724, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2768 left_y=-0.4013 left_z=0.2669 left_yaw=0.0909 left_pitch=-0.1638 left_roll=-0.1596 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.0587 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -11.3983, 7.5419, 0.6764, -0.5739, 0.2418, 0.6129, -0.0889, -1.4838, 7.0085, 1.6874, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ce501ac6f6b344838934e5ecb52bd92930d14b7559b437243effde2276a905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:985fc5d5dea7f1520f78f635be0c9655a5f93e4ca6e8339f12d03588cefd74a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b7dca5fead79597920aa1b29bd2123a1ab6abdea05ac7cfcff6d077d890da3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2354, 2.1178, 1.4483, -0.5774, -0.8158, -1.2251, 0.9968, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2721 left_y=-0.379 left_z=0.0514 left_yaw=0.083 left_pitch=-0.1458 left_roll=-0.0657 left_gripper=0.9968 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.8684, -10.1675, 6.8034, 0.5836, -0.4371, 0.1392, -0.0073, -0.0752, -1.5521, 7.0769, 1.6679, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2339, 2.0727, 1.8317, -1.0103, -0.8089, -1.2541, 0.1077, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2759 left_y=-0.3902 left_z=0.161 left_yaw=0.0984 left_pitch=-0.1542 left_roll=-0.085 left_gripper=0.1077 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -13.9966, 7.747, 0.6911, -0.7009, 0.1245, 0.906, -0.0479, -1.1692, 7.0085, 1.7558, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2335, 2.2261, 2.5134, -1.4826, -0.7849, -1.2724, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2768 left_y=-0.4013 left_z=0.2669 left_yaw=0.0909 left_pitch=-0.1638 left_roll=-0.1596 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.0587 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -11.3983, 7.5419, 0.6764, -0.5739, 0.2418, 0.6129, -0.0889, -1.4838, 7.0085, 1.6874, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ce501ac6f6b344838934e5ecb52bd92930d14b7559b437243effde2276a905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:985fc5d5dea7f1520f78f635be0c9655a5f93e4ca6e8339f12d03588cefd74a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b7dca5fead79597920aa1b29bd2123a1ab6abdea05ac7cfcff6d077d890da3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtjMu_ZpcHq-nO6NjQn6g8xzKj2nTslD_ltxOzYxP_yd1wpPuZlXjTGTRPneEanZcptrt3RS0bJEiGSn3kBYGijmdnXbgsmxIJ0I-LnvEXOWCKFeNd22zGZeIwNyiawxN9f8rToG4zscYBOHZTJVbQZbdcOujUJJWKmN6bmSK1GoBrKQ0_4yFRLDhc4U42vLk97OpdN67buWXFJv1oAd0aQUWCtKXq7K_HNjP7VS7rd0Q6ZUSfrRzoXxqz2ylE9BjS42V4X-n28hPgPoZLB62iHa3kdE4K02gseYTVNSF2fR2cgiqtDYJLTb6dHnWpKnmAI4amXY6EDh4_hdbulqah6RN_Jkdwg9DVAFyI0FB9sMqNfnTBG7dX2Nvk84NzLOzjnh5ta-PMgixvHiCU0J-gdkd0j9M4kXtFwXlPAaxWGc9WDAGdT9Ciwunaf0fYXufwfa31CTTnHmy8SnxdKDdeloauVmVmo0grro9xiYauIQZui8oWQ55a-Lk4tddw__uDpppO3GRNPNFT9yKsK-TRxXYuZmR9jKN8eiINfyepTyYPiBN7Rzps4_G_t7syLNyQafE41MPtzNyKmdgs0hAVxqVllf7PwHpcGR0pAFqB9OirnU2yk0tE6RJTt427dhfZdfHom5koLkUMdYAQqusMfe2bLMDixPNfEZPJcqyO17ph86q_KfbgnIZ8ohVMRwHSUcxrAQAqrgaGqGkLRuLGl5W2GbF50bUyMhe1_MVYMJVMLAVMRflBeH7ck-2CO8_1mEqZ67-_DarY9P3PN359ck5CYP0svJ3bcJRXyLJ3hUje_WGg6QX-tZXlO3Xzt0m_fEPIEOek1R5rdc8jKcwJoZEOZ_PMrQaAFxut_63KBVnNeQi3ELxQRG_PFLRhNP2W3UJ7ZrTOOCi5DYD2BlpOOpUaLket0qq7MN0I9zMr2zXuyPScuvBfKwBG3F73aModJKxHdv3Uum-4xpyfH81DGhPvYECWLU0ZQNJcB3yxS7quOAzm9wM9aaZQevVlrONdqIacmHN4-dmiTAQ8zIDkvtAYwfc3aN3x3BH0zEXgLmfq-DhIrXbKGlp3ZkKVrijGmVviSGDPnCAYNoe0oEeMNJKyJQ0ifi0A4volUmT9PLeInMj5G8NUSKkry7CuicFBzbDTlrezx6psu0PPJRTSI0A5RqHUVhC_5to7wx_RY7E11IXjHl-Va54tii91V0ZnUlUnDnWPQKHdBMonuLwkrNKCZu5MGpiMghreq0ek6_JKlthConIWY-c8XUum8WJ_881Qc6SDgncnR_TTQTUpiR6QKkTm-h8vBp0P4CMjEPnGNwh45bshG-ugjMPvekieooB0iVHMr-RBIGD7WNZ9hU-ul8FU74SbAhNeYCMri9dcaV2saYIC8owf8cL9hwJn58YHQLmWas-nV4Cfmyxd6cHw_Wtkj7v3Z8mgvR55lzo_XAmb7Tfht5V7tUF2mFUo1",
  "id": "rs_0978b5fafe184d3d016ab42b61de1887d0b824a8f426a0d8d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.04,\"left_z\":0.29},\"note\":\"The tan plush is high enough to clear the displaced right basket. I’ll carry it to the left basket, whose opening is now farther toward the left table edge.\"}",
  "call_id": "call_UgR0PUArbcWtYBpXzWXi2VTJ",
  "id": "fc_0978b5fafe184d3d016ab42b625f7c87d0b9fd9569793b5102",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UgR0PUArbcWtYBpXzWXi2VTJ",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-0.1482, 1.5539, 1.5806, -0.8413, -0.1261, -0.3393, 0.107, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4264 left_y=-0.0376 left_z=0.2642 left_yaw=0.1398 left_pitch=-0.2509 left_roll=-0.1476 left_gripper=0.107 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0003 right_pitch=-0.0598 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -6.9949, 10.0855, 2.0098, 0.0904, 0.1783, 0.7985, -0.0752, -1.5111, 7.0359, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aedc62b13e43ab01b62aa2ced01552622137eded36f74ea003b5b1a9984e51e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa27b8799467cb62bea9f20ec25c813ee88bea0a092f27806a3b38f00bac977c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8b7b744682d08c5fb1fb43e725afbeac6bf30ec846ce85c39005bf239a5b36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2346, 2.1372, 1.4551, -0.5552, -0.8345, -1.2392, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2758 left_y=-0.3817 left_z=0.0487 left_yaw=0.0967 left_pitch=-0.1268 left_roll=-0.0816 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -12.8752, 5.2308, 0.5543, -0.3053, 0.1001, 0.906, -0.2256, -1.3197, 7.2137, 1.7265, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-1.2335, 2.2261, 2.5134, -1.4826, -0.7849, -1.2724, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2768 left_y=-0.4013 left_z=0.2669 left_yaw=0.0909 left_pitch=-0.1638 left_roll=-0.1596 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.0587 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -11.3983, 7.5419, 0.6764, -0.5739, 0.2418, 0.6129, -0.0889, -1.4838, 7.0085, 1.6874, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.1482, 1.5539, 1.5806, -0.8413, -0.1261, -0.3393, 0.107, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4264 left_y=-0.0376 left_z=0.2642 left_yaw=0.1398 left_pitch=-0.2509 left_roll=-0.1476 left_gripper=0.107 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0003 right_pitch=-0.0598 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -6.9949, 10.0855, 2.0098, 0.0904, 0.1783, 0.7985, -0.0752, -1.5111, 7.0359, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aedc62b13e43ab01b62aa2ced01552622137eded36f74ea003b5b1a9984e51e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa27b8799467cb62bea9f20ec25c813ee88bea0a092f27806a3b38f00bac977c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8b7b744682d08c5fb1fb43e725afbeac6bf30ec846ce85c39005bf239a5b36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtpg7ODGhO6gPRZdvEFw7N2G2tBLysCjWn-8LMCNQoejAqJTbGwzyL1d1m1q_k7uVRggZ7KOgHBxLmGQew-gAZhI0sqILFZeAmyXqifwwCz9bD-FUf-gChWWBV3HuIOrJAGqAwe2zlGOOYZPPM6Yf9VkVyL7ji6HQWJz50NOBiEfn-0ygKl7M0aMPD0EXUUC6gmUkohC-K7fNvslNCFGX-k1NkVvd55uiyMjXaABp3CiKLjcF4St-lW7rECJqdja4dmCbiD_od-iWPeIXyyQ2OacCmiJPRtCnfUzRYT03g-O_BmUIdGA5OZepGgYq2LLS1mZTLGA7MFno6jZ_2bR-ppJfvef1lHs5BFDhL0ebgkTt6oS0OeTWVidN0xQ6i9Ou4KVKkczL4bf5UoNyWd4VSJS8zEZvPEEuXspJXHmKq8SwJHasfxqYB0PGjbqhFsFEiEEj7g2ryOD2lrIfW3o1niu63mElyA0iiSzsl13mVnshZMbca_3zs43aEj4d4FYNCP-40ChdVMjQnuxO17ZlR-3CvNo0KiiNLxZBb1-WBdd0Azfqo1GX7bfFJyIr00Hpf37JaxeGGmv-mamFEJ0co9_5g4uUHqGGKOjzmKr0-yfusEUdbO7fN6v4qA1Gbi_5bAuJTULjE7YvdpE5X_da8QOAu-Og38ihKp7mVyY9sX7R8ShgGbRRvimUE8Xo4R1ePWlhvcrDQhwVpbEf2f0nXSTSL3fXfDR2h9bwnfnOeTiJYwMWGPfJRPNDFH348N1sIV5rBrYoS34W4b8KlkTKNijSkSK-KVWrBnccow7BRKNVFYulA-dIF462v9uZf7TQWwrFaqZQshIyaZL0xw6FLlD7Iexz164wj_8suSlREt4FKvIidtaNYQV3hmelbL6hxT8-zuruP0Cm0e8vhH7uV_3vp9mFzO0VTZRbQS6ovEHSVS9QHnTCoXnCdb2u7EpjppsRM7vynIFNiyvOi36sNW6a8RHnerRNH2UBTHjyE6rB4keM2b2XOnfBGdPFQxRh_qEz84gXZVxTY18-s3C6SVzknx4fKP1rGqZMFpI1YLxrJAit-yrum72Bn0RF_XJpeJW1ULzevQay1RY0NsoQTz908kLsKRBKzFq_w51IpgdBu7wvSIjcDRz_bC1JUjcMrQDsjrY-j7-oFB75hwOrTDL_-aPF1qr9o1E1RFfidTcKtSH-zwMcmcVCd7ZViaZXpJ438OiqkQ5Y7vFMds_mTeW8GaYrVB_C_ESiVTWSBoRqkYzr407hLGcXXBI-ybpSXCopdnqIq_TP4u47M1G9fQIPTANHAM5XVwhCOJ8-R-RvSBWHbLpw2kp5Y_nZ6QBp7RvJShWe-fiN6l5LkFqVGQm-X6zI6GocLBkoyC3vVgMB2vkjc3P6xQFvY35w9a0jMxKKppQbl0wAkiaywqmJCE55T5EMpt0EfascbM0vyXZMn2HwF00PIl2qxkIHVJSaN4Etm77vOabidM3EfQl4qDZ2KJkRB1OmzRPB7NjHFxkQqbokhSmSNHSlPLmMibf-GBmF3AH-yjEnHdN3HokhhFRQ7xkFlCpdIarWo3qNVLL_QD569u1Wv_fPB9N6vGXwNKlvUZ_InG1igMpUNK9gS5LKO05DmjfwM_30vjzMPZt0WdszLzIWTbNbJ-0zW65MeJdDrsWxMnXb5QEyQaeJqCll0oL7f7YSum9Jskf3vjGxXNlt0EX23d3EORG0_kvrjN7X0LPOiXC5n5aSKuZ1B_Xg41WWV9AbPRL96Ise9qPaHlopy6WgFwgnu2sydvLFuY",
  "id": "rs_0978b5fafe184d3d016ab42b67b61087d0872dd28107e4d3ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":0.005,\"left_z\":0.17},\"note\":\"The carried tan plush is above the right side of the left basket. I’ll shift slightly left and lower it toward the opening so the body, not just its face, lands inside.\"}",
  "call_id": "call_HLIhWKx6DAPomciB07Vb9gb7",
  "id": "fc_0978b5fafe184d3d016ab42b68f37c87d096c547c6bbef912e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HLIhWKx6DAPomciB07Vb9gb7",
  "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]: [-0.0166, 1.5776, 1.2449, -0.5415, -0.0475, -0.2634, 0.1091, -0.02, 0.8326, 0.6067, -0.3931, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4313 left_y=0.0048 left_z=0.1638 left_yaw=0.1648 left_pitch=-0.3171 left_roll=-0.1401 left_gripper=0.1091 right_x=0.2957 right_y=0.0006 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0602 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.0906, 7.0769, 1.8046, 0.0073, 0.0952, 0.6618, -0.0615, -1.4017, 7.2137, 1.6777, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7a67db2837395c5702656a7696da863d04b445897590415ba8c933ef914446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912dec19e29083253fe863f50196c18e23aebf502389dd382eddaae6d1cf1016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfb6ee23836ae8ae9db5e474825ff4e587376b8b3a6dc86d09a998c2af2f910",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2339, 2.0727, 1.8317, -1.0103, -0.8089, -1.2541, 0.1077, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2759 left_y=-0.3902 left_z=0.161 left_yaw=0.0984 left_pitch=-0.1542 left_roll=-0.085 left_gripper=0.1077 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0003 right_pitch=-0.0587 right_roll=0.0029 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -13.9966, 7.747, 0.6911, -0.7009, 0.1245, 0.906, -0.0479, -1.1692, 7.0085, 1.7558, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1482, 1.5539, 1.5806, -0.8413, -0.1261, -0.3393, 0.107, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4264 left_y=-0.0376 left_z=0.2642 left_yaw=0.1398 left_pitch=-0.2509 left_roll=-0.1476 left_gripper=0.107 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0003 right_pitch=-0.0598 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -6.9949, 10.0855, 2.0098, 0.0904, 0.1783, 0.7985, -0.0752, -1.5111, 7.0359, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0166, 1.5776, 1.2449, -0.5415, -0.0475, -0.2634, 0.1091, -0.02, 0.8326, 0.6067, -0.3931, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4313 left_y=0.0048 left_z=0.1638 left_yaw=0.1648 left_pitch=-0.3171 left_roll=-0.1401 left_gripper=0.1091 right_x=0.2957 right_y=0.0006 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0602 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.0906, 7.0769, 1.8046, 0.0073, 0.0952, 0.6618, -0.0615, -1.4017, 7.2137, 1.6777, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7a67db2837395c5702656a7696da863d04b445897590415ba8c933ef914446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912dec19e29083253fe863f50196c18e23aebf502389dd382eddaae6d1cf1016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfb6ee23836ae8ae9db5e474825ff4e587376b8b3a6dc86d09a998c2af2f910",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCttDoRAt9tCYmPDBqXtWZcaOQaeIFMU-NS9sSb9QlmCi1m5rBGcT9xakVXiPjfyQxkFXFP-xSeDF7x90GpLiygQogA4zkbjwf7qleI1B3RTAQOE39oqTuk1Fx_KnxxknYIP0-G010fxMBKvD2rubkMcxT1QnsjgT-bHHCyfAMTdveWk_VEI1EUSENh_Y2RNsiMLqdYnv4miHfXtAXwTt0Sr7XyCBqK75j3-k37-6uIuWLBrlTOucHJtU1xJg2LeTSvu56jiy6-4nM2e5AcDur7myvozw7xXeOZUg6XnQUx7TcvVbCBm9g7EZX5dMd4UHSC5_cnSLBEn2fU5sGXci_YvPcibA92OplW1Z_ZK_5Vdjj5_Z2-zfImMHXPcpuWZIE7HGWSJ4oQuu0ztyFfIRdRhuTywOUXy-drpajCOYWJwr9h8z1N1O4iz_X7tCH6CIHwwK6qtSbP-7Ljxma19nMUna5Dk2zIOP_N_3M9vKoHmhbhJowZ9BZ9Q2Vz5XkcS8IuH4IYEUO3XIsj2_13ZqRioC1lJmfGynzjPqfV9qyWguDbA0ptT0jKf0XFbxXPSO66tNwSDq9BMr23vEm67aBh4ucirwpi-kNgzD55EOBPFUNuVCI_TtF7nwfuPZe0cQYzwPk1HVOVhSMTDiK0SCyRkoNs6O6FqBKD3SVrd1i3znY-MvDB-I1ToblCFcOmGOATZSL6UpNS28GDSyMxoWt2gFyrvoU622Njciw80r2V4MDPC-8RwBLg68WMHnUNC1pcU2XLAzCjnSoebxIbWrOStvQWLoeZpLiI25fNVVzO4ABzNbN45NkYdSgSY8WS9xYRzWsp-_J0TXiHCoqfA7OLXrTCDz9_limaWZDKlET87xHHd7OkU-jPfpxhah-tBBYXHtC8QkLxg-AoiuWpLulhERmV90vVsXVi-zPBHLRG1crKDsNXTl2a0Y7XzLHJ_I-wFbUqpXwkVD7DEmQvY24Di8cGbwKNJCvl1ar579PGATVjByO7-aQtfvbUv95kU9ybsc3g1gnk4JCszeq1O-gPaFiY3BEa7a5LaNdFFSrTckpmtGT0BsuzlHJ2Y8pU5sxGnzd8LPq4aJ5M9MsOVC4FIBtiZA0h2Qi5db8Cm_JoBHqLxK2iN6vLdcVH8ySUy87ffrHYg3Fa2qCiBt8gtLzkT4Nx-oxfE4bvalY-C0b_hvEBeTvKb3sIKbIZ4eah3S2xJRjSwkIE4hZMTdH8UJFtDhPhevhi1MCW_F3QUVtvTRL35wo61H7PtSvoN65gKPKGZX1kpOjF0zOUwyoIYpE_ROg==",
  "id": "rs_0978b5fafe184d3d016ab42b6be8f487d0b0d8c1bb1eb9dd07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan plush’s body is now over the left basket’s interior, beside the first brown-and-cream plush. I’ll release it and then look for any objects still on the table.\"}",
  "call_id": "call_CQBbLVG713eBbY8sw56hh7nw",
  "id": "fc_0978b5fafe184d3d016ab42b6c31dc87d0981f3503833ac46d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CQBbLVG713eBbY8sw56hh7nw",
  "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]: [-0.0162, 1.589, 1.2285, -0.5373, -0.0475, -0.2695, 0.9951, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4291 left_y=0.005 left_z=0.153 left_yaw=0.17 left_pitch=-0.3407 left_roll=-0.1396 left_gripper=0.9951 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0005 right_pitch=-0.0598 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -8.5265, 8.0205, 1.3407, -0.0513, 0.0122, -0.0904, -0.0205, -1.4838, 6.9949, 1.6923, -0.0366, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571ede80fafce3751c6c80a8c6c90f17f6fab5b3842eb2d903b5bd7067e2f4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f391434425c3fe8b405a9fa4a6bd2c688c01b01527e54190edbe43621ba671a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb477b18b725a0b836cdc6ca64752f0646fb4353cd1c5cdfd4a3b8426824c5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2335, 2.2261, 2.5134, -1.4826, -0.7849, -1.2724, 0.1071, -0.02, 0.8314, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.2768 left_y=-0.4013 left_z=0.2669 left_yaw=0.0909 left_pitch=-0.1638 left_roll=-0.1596 left_gripper=0.1071 right_x=0.2957 right_y=0.0006 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.0587 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -11.3983, 7.5419, 0.6764, -0.5739, 0.2418, 0.6129, -0.0889, -1.4838, 7.0085, 1.6874, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0166, 1.5776, 1.2449, -0.5415, -0.0475, -0.2634, 0.1091, -0.02, 0.8326, 0.6067, -0.3931, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4313 left_y=0.0048 left_z=0.1638 left_yaw=0.1648 left_pitch=-0.3171 left_roll=-0.1401 left_gripper=0.1091 right_x=0.2957 right_y=0.0006 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0602 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.0906, 7.0769, 1.8046, 0.0073, 0.0952, 0.6618, -0.0615, -1.4017, 7.2137, 1.6777, -0.0415, -0.0464, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0162, 1.589, 1.2285, -0.5373, -0.0475, -0.2695, 0.9951, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4291 left_y=0.005 left_z=0.153 left_yaw=0.17 left_pitch=-0.3407 left_roll=-0.1396 left_gripper=0.9951 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0005 right_pitch=-0.0598 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -8.5265, 8.0205, 1.3407, -0.0513, 0.0122, -0.0904, -0.0205, -1.4838, 6.9949, 1.6923, -0.0366, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571ede80fafce3751c6c80a8c6c90f17f6fab5b3842eb2d903b5bd7067e2f4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f391434425c3fe8b405a9fa4a6bd2c688c01b01527e54190edbe43621ba671a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb477b18b725a0b836cdc6ca64752f0646fb4353cd1c5cdfd4a3b8426824c5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtyuz4fhhJJ6BtRv_JjHV_AMxRaBM9djrUp-QeWgxgaXTT21Fg6hFPt64aeEWPsYGdwmzdXb_QgzAVDy4CUFYOGC0LsxzLzkC7zOuVBasqOaFPjh2zanS-6T0bpFF5sKdsSaO-4_89qrFqUFALBTvr4mJ9WkaIYrWa2pVl-ufVnO88thYkRwWpsTQyxNsIhX-ULkYmlOtceR6-frPjOIM6jyTkYrKc-1pWmRJ2OygwCA8FC8yNbjJsh6AhDQ25fYiiP5xHZuxiNpcBZMxMsy8pHFm76LiaRolcXEUMwARgtlcX7xET5qwNOtksy0_gwPu-cJp86-whv3M36prOdCW91gNI29cvI6mmAMJhmGdKRu1KTNVPkxEUbr0arCjISOUi4ZlLzMVSiL3xmSGhkEEg39hscJ-b2AYRoHA-WlG9VN2A2CMkXCPHY5efwUfgaZ-nOq-Hprhjzh8ZR3lu3kmENik4SZ7Mmq_yXf06I4pxBPKFBifjkfDmkoBAFBVpBhc8eZz4sgOwwcNgWMuE8h75yinoTvCi_eTTgMY6QJRK8Lk-Oe9QR9cs3NqE8kaOFxHv_AH4nf-CPDeb00rt49pkV3w2H8qiTVLR52ob1cZG8IK0LvmgYjwiA5xvPFhOgRSKCc6B9Iy3peIymBT62KhBoDNKAHQfIlLmGUdCZqgmsZ74DU9XUR8vhBnYXM8tgW1YezRgGzRnjCudejVAxZVY3cjQZDB2Vgyj3q-f1Vu3PNBi1c1uBcvQfGfdSNoA4yzStYxpZy5JqVWY7sEt9kHAlVMk9t7dKIHkP6uZQlDgylQ-eJq9m4pdqI9xDWp4nxLRfzN3YrPuUggDjrcEClTUO7fIKUVOVicRT7x9q5PBJY0YT6WYirMbWlPEqMkW7goU00KMfLUnso1SPkd2Hh_ROkLADEGQR8lp_H5JNesX5F0B57dpXrLztlGKUhHLB5BcPjk1L6ZxNO4bzNkBxxc07_sxPXhgtaz-uMMkc2PpndZ0jWd74LEyDsmUfNqN_iV1bQhBzSAfycOR_j6_N1_HS3U7-nyKR1rK3OzLk3gB-7fdZKuJTbvfhB3eTeFTDGKd0dab3EGKVI8Lu15EVupGNp9U5mzeiFCqnN1hqIKLYDKfOtfARrwLwdLCj_QLwHeV5E_6uyTOWHSwNxPCCAH1K1FeOm26VZbvmdKsE8WErQzhi64Fb_MrOdcr6AmMNYGZzOZcDmrx37UTZeuUyFfCMdcuBm6iXrv_Vxx70iCVxqrKFXiDUHSf6M4OlCYpvmhHm8FdX7ykX2i-rOG6XcMaadC_xbujXp56RLp6O_ENVve3gINlZEWRluoiiYqClPoKLfEubZP1H8_u-a7K8vMOB8863UFyarmLycL0f8n_sWOHX7Vl9x8NyTowg1p-7LyzM2U2UBhGzcX8aM5uIWu4-gJ1HUnEkDL2CgrkDaXlS9exikZDvurQcQLjqpnWtVN1cM8s1YWXqByTWJNjdGQ1J_B42ibdGnf48wmv72YPaG6Q6M5YmQBFhJMYS1r-C2QKZ6ZJ_28bQMLwtZHtGnsZxeoG3PSjRKAgO0qjFnlJU0xfK2uHxHqezeORj-tSKwMPZAO1pOGkxOGP7frUiYryvyjn5kw_oTY2P75FQ7gTU4qmP6F1Ta77wwiZmXQJXNG4HQ1ZHTwz0pGaRwYU-_8zCqt6Qqz3LJV4JvwZNj9Rf07YLrWCVQmAIdLP5DFbnF86ow9i5a6It5DstOMe5xd-3eDELeW8zECJEAPKxdVeYOsuraCxTL7nhO0QAUTFPDhAvGw-Ywz7hJKYD9ERFxtEBuReXRq2hcbse_szqNmEHJRkmJvo2jtFb34RCnJEE8l_zmY2iHamIq2sVECAZFb_G19LWsXsNQyHWJz0Dk6igo2wMdBvFg4Kzv7NJnUktcq8gRfjPdJfjO4fyTe38voatbX7_GecViNP3R6XPLo7p31U-REm2qR5YqLslClCGI_ljSVgTa3p4Zpb1bVbXi-vf9uLh7zx4aJl9sTWDBMvMOzaDxKPI7Zh1cV7rHj5ePkrgqpcGhBfDj0eCpy4RLhzdbdkLgAriYO_jHzVEDKTk9LtjHkJU_VxZQjEM28cXIzj-5muPjua4WSN5LY1KsAa_gwoIJ4P1BaExrYEaU7br7KfQMhV-OTIZiwG1WEA2m6Fc0rakK94Zyl2AFMoYzmbIpWZ0l3pj48m9FgIcKY4vfcbWeLnvG1oY-3fQxFdows3DVt4_Anlvvmv-vyI8jFQiy-kNJY5kO14FJ49yiO-NDX6iUpbj4Ed8A6GXoDEnP3c-yklfufAKD0SjkK6lYZ6iuPpuT-zmZzyNR9A2z7KUg63kVLUUzhYsYa-gX2WLKtkeeIFu5wOAUEwOVy3qcLax8chg_ntd1t0gDntc-TQG6HC8wcyl7aMYsMAgMJhpqm2X3F15GAexeonz2JENZViR356Rk23f0kBzXjgJ7-DTmI2Ym2AFnCOFO3qlkxGgHkx3VOg2qlal3Sa7sUc5SFbjVutWhvwgfwfgneJl24gkyCSCmKL5NoEwuI4FbL-1V_-6fvsj-vBzqHbEvB2SRQRnLg==",
  "id": "rs_0978b5fafe184d3d016ab42b6f68f087d0b32be839ada89daa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.16,\"left_z\":0.22},\"note\":\"The second tan plush has been released, but it appears close to the left basket’s front rim. I’ll move the arm away to verify whether it settled inside rather than hanging outside.\"}",
  "call_id": "call_hmsawkovKjlWhypKXPsCK2fw",
  "id": "fc_0978b5fafe184d3d016ab42b717bc487d0bc99fe23ba576c4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hmsawkovKjlWhypKXPsCK2fw",
  "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]: [-0.7708, 1.3354, 1.2629, -0.9874, -0.44, -0.8711, 0.9967, -0.02, 0.8349, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2841 left_y=-0.166 left_z=0.2104 left_yaw=0.1127 left_pitch=-0.3546 left_roll=-0.1454 left_gripper=0.9967 right_x=0.2959 right_y=0.0006 right_z=0.1674 right_yaw=-0.0003 right_pitch=-0.0617 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.9299, 8.8684, 0.9206, -0.4078, -0.0562, 0.1538, -0.2667, -1.2103, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457e18b6e719211c6aa6919f8105c840f1112aa1cb62270321f5efb698feee1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eeed5b4c004322c8ade0c020d5057f6bec5f216f5586c9887cd5d5d4ab738bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f932dcf23948f5399d05c3df401a3f1248d098c241d7051a975f24bdf1fe4d31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1482, 1.5539, 1.5806, -0.8413, -0.1261, -0.3393, 0.107, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4264 left_y=-0.0376 left_z=0.2642 left_yaw=0.1398 left_pitch=-0.2509 left_roll=-0.1476 left_gripper=0.107 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0003 right_pitch=-0.0598 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -6.9949, 10.0855, 2.0098, 0.0904, 0.1783, 0.7985, -0.0752, -1.5111, 7.0359, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.0162, 1.589, 1.2285, -0.5373, -0.0475, -0.2695, 0.9951, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4291 left_y=0.005 left_z=0.153 left_yaw=0.17 left_pitch=-0.3407 left_roll=-0.1396 left_gripper=0.9951 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0005 right_pitch=-0.0598 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -8.5265, 8.0205, 1.3407, -0.0513, 0.0122, -0.0904, -0.0205, -1.4838, 6.9949, 1.6923, -0.0366, -0.0269, -0.0122]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7708, 1.3354, 1.2629, -0.9874, -0.44, -0.8711, 0.9967, -0.02, 0.8349, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2841 left_y=-0.166 left_z=0.2104 left_yaw=0.1127 left_pitch=-0.3546 left_roll=-0.1454 left_gripper=0.9967 right_x=0.2959 right_y=0.0006 right_z=0.1674 right_yaw=-0.0003 right_pitch=-0.0617 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.9299, 8.8684, 0.9206, -0.4078, -0.0562, 0.1538, -0.2667, -1.2103, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457e18b6e719211c6aa6919f8105c840f1112aa1cb62270321f5efb698feee1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eeed5b4c004322c8ade0c020d5057f6bec5f216f5586c9887cd5d5d4ab738bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f932dcf23948f5399d05c3df401a3f1248d098c241d7051a975f24bdf1fe4d31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt7QDSQz1PA3RbknTObiYQHzm1lyekZ7V4_LA9ni92EyfmFfT_boFZW2dRg2ifa_5fTZcbJMsth4M5BaYo-i0QRLQi5Nm5ilBhK_F7j3etKjA5tvEdwPRibTcGVoPAG10mmyPbsX4uoxQQFXTl2TB2hYXW9rJcKug-8JG7RlPwfu3mtKKbKmN0h0JClgEHLEU7k69Aqv4gDLcBbec90FHCMGWrRPKvu5h6Iqh2RoejnIkiQ1kbX4PPyeTNd_y1CAaqbBIyfgvF38-GJeUo14IZ-EzIManhLKMZC2GMStuoyeT2CsWEQ-MykA6sHAEx6KQdqN4SEp_5rE-9YLPajjxpQ4yl4sF1tdH_BPikAMYvA6p02HMwe1Cvaq4GtX0yPmFELd5voNjELnrHM-5IwSkuLRFkDj1Dg85UcLt29MELlVL21Ke_S_-h_c2zXvDSVaZksB5RbZfG8eL0d7ohT8jai3DvKzFyiLVQAmDf7a967AI5kK3z_7BqlJT2mN8RPqmLIu_z_WRHU2YVaBP78Vo_ikPq04-0VaP3jO06-pzBeFFwnQFQeRIROUDrVNGtnRP8cELtxm9xbpSW8c5BgKibC0ujhDJCtWOlpAKP5uO70DC4oTHn2lcp82rM_gK02vy1KcLcAupBrMYvmLXR2uUFFEwd1-weKewnFtyS0Zo5UfNnYLe0N4BvuwTpo33Oc982V5IaPNp5DayJ6oJfvOTk0UVowWL1vvCrbpN8oQSWVS-n-c3j2bpp4lAPh-3lxWsd_Q0vQ0zEHFpM8aIA-hpgqXEWYEEegAIwirHthTDGHpAVdv9_kaYjG2sNXbRXsgJGVh_T0U7HGp_qTR8iWQ9FJtQy-Nfx-IABy_cpMiVsrUUeU6nrS2dTPnb8G__2wQrAftQ_Vi3rIzpRGJW1V1h-DHbaEyjRH59P3BV1zcONSLkbPUsf9yLRxG_esqOWWp64d-A9PmmdGcT_Vfh_eUaFN9HZzMTdrj6CnmKp_7Op-OJdvZAs2u41y5sBszCXnTvHFnt9w71yKbg1GjpPyHdp9ILB7gKx_GxEwFpMzXQjmgM3N-FDlUGo2FKlj5VnQqy5Ia9L2bHn4dMsevOk9egTf8biwlo5fDf7xogZq_JreOK8Q8Cey-ENTdGUlUt0Z45VRiAzyDKFD5NqQEIoo_Q6FDudn-oFXq0UGi8b0uVjWFsDaIDpPoBg2Lianha7UEVCJkzLLDfqR6EB_XPBdgze8VQ5LzWlarXg7w5ZtdtnvPAgxhZo220kFouiIX5UU71N2wuwjH8m9jO6Npxidh9MK6xvzZQFhT9AgXDYUYbJlkerP3MC4zx2p--7b1PD7w3KPd4Z0sz6GPnUt0hQKNx1y8XtEGH7tM71PPrG4ORN6yDm_bPxPkp4tvb1Y0T_xJqLT7wvP_rv_rSWSPytfCB18SKg2W1B33ltO1lnMR_Ptpa9-X87IHgfhRmfVM5wAzXuz2faCYv7LEODzxoffMcw7_umIu1hW-MX7ZP8GtZfA7x3KHew73Ti_ixGwc_URUdHrdNfb2O2cOGNhBRoAj_fPdOkf1jLRyFBusJ7vbWwGL9QlZxO29zKRJt-NOHrMmmlbRkMaC9pVh3zt_1emWrfp_4Fz13aUQ50n4Box4pRZucus8J8FC_wWojnaMFTJCn_8EElXNz7XfVBQPR6J6dzdX_c8fbyQku2cGbrcKli2-HHasIOwXFWc3BDSjlpkeKIR4-KAiBwZdSsLxxp_hA7Vv31TF3ZklxYZ4TrzmWUW4P4ARd9Rhhm71lyAgEk8g4M6GmOzCiwUJdYWKb6oqcmS2dlRgtJTNBUq2qRULlc0cmX-WpEJTQdii6Ffs4Vi5wwoBYtzdj0AA4GixcdmP-pl_s-TqV2F0DE6rvPebqSBIln1y2j1ElylZYM7cVDaRKNU3VkuEXpRUoU9yagAqcIyc8TSbzpoVeGtWSEPfgzZFId5IikI25ccmkdobAsMofKT1rZATNuSZ-AGYBITSJNNH9wqnBhgjN0CY8EEcNG1fbMFTHNCmywmvUaiI23_vvjlbqklf67-qEyFCUsaBSxiedBo5CYIlbdHkWaOLyvawvou2TZUBnBG_iD4eI293m2QBQ6tr4Br59-ByIIlVyjlp8GeIM7P6oScNdwdGnedEzJHKLfMvxK1lLJL-KofFNZesECt_gJschIBcbWyhbEacffJJtdKXl7LYzYDFejdxHq_uoKdHnFGlg0fbzdfSKEckhLOfGfGv1QkjcYoAQF_CtJkXNvBedOOoNYFr1IZT6Q=",
  "id": "rs_0978b5fafe184d3d016ab42b798ac887d0855160ad7e5efb5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.04,\"left_z\":0.16,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"With the arm clear, I can see the second tan plush resting outside the front of the left basket; the gray plush is inside the right basket. I’ll regrasp the misplaced tan plush at the left edge and place it deeper into its basket.\"}",
  "call_id": "call_nsPrPLpv4WB9uGp6cEUWtyDq",
  "id": "fc_0978b5fafe184d3d016ab42b7a486887d09fe22f4c280ab45b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nsPrPLpv4WB9uGp6cEUWtyDq",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1658, 1.042, 0.6216, -0.2085, 0.0841, 0.0353, 0.9968, -0.02, 0.836, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3314 left_y=0.044 left_z=0.1501 left_yaw=0.0679 left_pitch=-0.064 left_roll=-0.0197 left_gripper=0.9968 right_x=0.296 right_y=0.0005 right_z=0.1671 right_yaw=-0.0006 right_pitch=-0.0629 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.7009, 6.8034, 2.0537, 0.2173, 0.1587, 0.0024, -0.0342, -1.6068, 7.0359, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315b1b54a117af69fed4d003e022c2b00cd87fdcd269fc80f477abf8675d5648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e467fc8a9658a0d7179dad6b2af0ab6fd10d7b1048a4627f2c53a8bfb75948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e057711f1544eb70ac72ea394ceaf6167c896a0128ba31e0128bd197ead784",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0166, 1.5776, 1.2449, -0.5415, -0.0475, -0.2634, 0.1091, -0.02, 0.8326, 0.6067, -0.3931, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4313 left_y=0.0048 left_z=0.1638 left_yaw=0.1648 left_pitch=-0.3171 left_roll=-0.1401 left_gripper=0.1091 right_x=0.2957 right_y=0.0006 right_z=0.1679 right_yaw=-0.0003 right_pitch=-0.0602 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.0906, 7.0769, 1.8046, 0.0073, 0.0952, 0.6618, -0.0615, -1.4017, 7.2137, 1.6777, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [-0.7708, 1.3354, 1.2629, -0.9874, -0.44, -0.8711, 0.9967, -0.02, 0.8349, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2841 left_y=-0.166 left_z=0.2104 left_yaw=0.1127 left_pitch=-0.3546 left_roll=-0.1454 left_gripper=0.9967 right_x=0.2959 right_y=0.0006 right_z=0.1674 right_yaw=-0.0003 right_pitch=-0.0617 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.9299, 8.8684, 0.9206, -0.4078, -0.0562, 0.1538, -0.2667, -1.2103, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1658, 1.042, 0.6216, -0.2085, 0.0841, 0.0353, 0.9968, -0.02, 0.836, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3314 left_y=0.044 left_z=0.1501 left_yaw=0.0679 left_pitch=-0.064 left_roll=-0.0197 left_gripper=0.9968 right_x=0.296 right_y=0.0005 right_z=0.1671 right_yaw=-0.0006 right_pitch=-0.0629 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.7009, 6.8034, 2.0537, 0.2173, 0.1587, 0.0024, -0.0342, -1.6068, 7.0359, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315b1b54a117af69fed4d003e022c2b00cd87fdcd269fc80f477abf8675d5648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e467fc8a9658a0d7179dad6b2af0ab6fd10d7b1048a4627f2c53a8bfb75948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e057711f1544eb70ac72ea394ceaf6167c896a0128ba31e0128bd197ead784",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt_QmHesTAPRXw7ktvJa2L3TWEijkugjgiOsxzXHVHoD7h_PcCqhVBXTXWB2Jc1vJrqL_uafs5edayVa9wLkvNwjHnjtBhPdMiovDUoIQNnp5sblZYGy0FmYy2hFz3lyi1GFqXpqxOU9KY-8rE99JAfApHf1zqYL2vKA_UPCbKCOMgu33djnmLD9kbcvqnQHR31aJYQR0n0GZkP8jxV68abLSaZ_7ouRMjpJ3vqGj90do405Y8WMZSC1Nckk4y3hGDbjwiChCEuamyMs5rapDBaOm8sMcDZMr5AWC5bnj3tWJEwLSCtoy3OZ2FJqlyPa_L9E0u7d3mpFisUMNywsstH11T16Y1TSo27MCgNNAaRly2CYd0BSGAecpL6lKeN4xc7r4ixH48X0CRm2prqZwibzoOpCl7qZCEbzDJCvGYreRaTGS1i9dL09tvMM4vcrUH7SZ6oIPkvWFMTRMIneVAYUOCx3Kxs-TLqZn_wsvxOEsrZx1Kozgn7SUbpVCxTZ4OkyY7HVZCynVM43i2NLbUniETUAw8Cl6vW7cJQ1eN0BfcxPRFOLKFFkJ_DZV5voHnXPUpQENme2V5RRnCUPFCb6sRyblC_v3LZutbsTBsrcer5XRJSSsx3ovRNNb5Bvj-c84hAPVUm8bRD1pdYilbMrgZh_KOy0qc9t6fFkzRC3jjZEhLie8H1bR6d78_26z8fmUyuQDkstXdtoYQGYxZ3mpGwNSpsli1A5gb3wYhd6fIm9pmAjrJh96zY5F9ZUshSzZUy0AW3wE0l1ne0bD1N55VTrlK-ICZ05-Y4lQoVw60zUsAthJckezsXQQDyyyLpBfAkjFNO3B-Hh-1PNaxWuHRP9gDmLaRRaYx9Mzz6XrR9Dmr5Sg2Zuib_KxoJKrYg8MWZk-No37r-mLFeHwQR7glO-gsrpBUPGDJNTA561kbaOihms_G1Aagp2XxurqtzALubHarHMjqYNzeoSrHq9juTlXR9JRH_U3uEOJnOBp4rFRjeR78Cj7Z9MfaUM2Ps2GltlEqKncLDRNZ1ggTkuOasOWhWa_cEIwGMsTBRNotQHM4JaClwfAEtFo-e7e0o1z7ctJ3sYQ--NSWnHvLQtpsLF9HMu0Jf0MSp75e_uJY4UcIT-8AP_ebU9YldnylY7SgusckEdI6gjOkUMCGetuMncaTHB-gKftWcb2voeozm_svTtupLrtLXDq9HEJogm81ppdsGJqODIXZmHl00_0i-qW9-egagQi_-TGBNIvAPPFSi3HLKxm7Eoll53WCQI-KOOXzkkyGReHLnwQc4aRc0sJeHCFn1jiOouQH8Z3NVoRR2Pk-s0jAOseWfCyq1W-cFXJzYtQ_nCVd5nfseVV_2D9UO8TB4uWY_d64eVBYdGTI0pShwPTIjc3EHr2X9QvbtDjg9otQSs7wcWN9RNxgX_xKq6mEcCxVKjHPLwItACq2YnBLMNUvMMC09JuTEkzTQXi1EUm73pAB6l-5PSvYVsfuR_vq4c5K206qHDlLizcaApW8G8UB6kereTt82Jpuh13SGT8ypH9Gg6Co4_w==",
  "id": "rs_0978b5fafe184d3d016ab42b7e54dc87d0b32d13ef1abbcd04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"left_x\":0.32},\"note\":\"The misplaced tan plush fills the left wrist view and its torso lies across the open jaws. I’ll lower to torso height so the gripper can pinch it without dragging it along the basket edge.\"}",
  "call_id": "call_NGMvYeXgjo1ep3juOXzlvtWo",
  "id": "fc_0978b5fafe184d3d016ab42b7f190c87d0af482b1981a79126",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NGMvYeXgjo1ep3juOXzlvtWo",
  "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]: [0.1699, 1.2037, 0.3077, 0.1902, 0.0929, 0.0448, 0.9968, -0.02, 0.8368, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.3101 left_y=0.0402 left_z=0.0452 left_yaw=0.0587 left_pitch=-0.14 left_roll=-0.0257 left_gripper=0.9968 right_x=0.296 right_y=0.0006 right_z=0.1668 right_yaw=-0.0005 right_pitch=-0.064 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [0.294, -3.6034, 6.2154, 1.8779, -0.022, -0.0464, -0.0122, -0.0479, -1.4154, 7.2137, 1.6435, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4871699aa73b1dbd223f2c3006ee915080119216b5bdee76c13e99cff93048",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095c5349188ea99c73002344165dde72c3daec06e9366b64a68a58cd6e3abc92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90965c6eda2c4c427bc36ab53cd1269cb78c1299509546a5a3180d109b9a6ed1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0162, 1.589, 1.2285, -0.5373, -0.0475, -0.2695, 0.9951, -0.02, 0.8326, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4291 left_y=0.005 left_z=0.153 left_yaw=0.17 left_pitch=-0.3407 left_roll=-0.1396 left_gripper=0.9951 right_x=0.2957 right_y=0.0006 right_z=0.168 right_yaw=-0.0005 right_pitch=-0.0598 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -8.5265, 8.0205, 1.3407, -0.0513, 0.0122, -0.0904, -0.0205, -1.4838, 6.9949, 1.6923, -0.0366, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.1658, 1.042, 0.6216, -0.2085, 0.0841, 0.0353, 0.9968, -0.02, 0.836, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3314 left_y=0.044 left_z=0.1501 left_yaw=0.0679 left_pitch=-0.064 left_roll=-0.0197 left_gripper=0.9968 right_x=0.296 right_y=0.0005 right_z=0.1671 right_yaw=-0.0006 right_pitch=-0.0629 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.7009, 6.8034, 2.0537, 0.2173, 0.1587, 0.0024, -0.0342, -1.6068, 7.0359, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1699, 1.2037, 0.3077, 0.1902, 0.0929, 0.0448, 0.9968, -0.02, 0.8368, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.3101 left_y=0.0402 left_z=0.0452 left_yaw=0.0587 left_pitch=-0.14 left_roll=-0.0257 left_gripper=0.9968 right_x=0.296 right_y=0.0006 right_z=0.1668 right_yaw=-0.0005 right_pitch=-0.064 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [0.294, -3.6034, 6.2154, 1.8779, -0.022, -0.0464, -0.0122, -0.0479, -1.4154, 7.2137, 1.6435, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4871699aa73b1dbd223f2c3006ee915080119216b5bdee76c13e99cff93048",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095c5349188ea99c73002344165dde72c3daec06e9366b64a68a58cd6e3abc92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90965c6eda2c4c427bc36ab53cd1269cb78c1299509546a5a3180d109b9a6ed1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuCukqj-CFstzvoXVhgLpjaMxUn7ap1q2J0FIMwS6EZdflzQCeoNTfHdIkOuSGUmohouqUcNyJ6kfeObkoXSA9EXjQiOwjnTwWpf4gcCGztyWBosOVGXEp1eCaQ-BLJHWahVJVajwRQEJn6n5WAA8Z96-6UXR_XfR6T2Wj82QkxDmi-bLMwH4fq6ts9V0QbWzGmkh3VvcVFmBIV07q7lpwhH2kRde1-SUBnh81wZeG7l3zNbN0ypqpwGZxu1XKWDwJa4xBkB4EZ1WLl60U76Kbwyu2lBLu9Ck4b_YR6OEqGbR8sM01XomDSSRDgWy0Eiw_qdBacb4L4EDLsgUa1WMBXR-70-KrumKQ8jXdqzjM7mg-KEq7pOTnlZGhVi25DcZv1Wnl_dhnKMUZrN5fQUPVh9ZOeS2KLR2V8EzFfJreyFR6qYMSGr-bM_lP4JGNfZlbycQ2xaAMRtluv2WEKZoHRuO60zJHB9uBo7iI-j9Hh8Qu7bAACs_6O0oV9eoFudLZGl7XW1hef7GfkHi6pz1naQJBtdwRnZzuSY2clthsJJoOUoMcOFGNfUzCacxQ5c1oHjnlZo0f5AOXxSGM55n-4HEkPolfcDexchxkNV442bJWNuVKqyktSNgc3_67kYEgJ_bMyWupFZUIi-D_P3mmlNc8XBRMIUC0I6_AMC-VVBtsmfoxvjQJZ88u00xmc2LLTkrMLDdrzX9Gwjic8vlPkkzy8DCfY6iqPAOelm1NY5ZXKW1ie8CTJeXr-nXFfmMWK_iuJ1oig9S3itXQ_nzy48s44H1lUQhx-gv9UJ88woGQHR6hMOswCZ7UW0GvZtb93WugYnsCH9jtR8OfIttE2F4pPlm2LUkQZmzjH0fN9jLKHQjbiP2rsT6K0NUK82VeBnnKRHciyI8Eosu20QEvLhRmSiwIpkRcNVOw1lUu1GdXlF7cQuem8onOw9VNZ_HQXRiG3m0dW0GnvhCg5o8tgSvErM_fzOVjGI3RLI3ClFpewWO-yeCbZdGzGdUBVM-y35T25mLlDUy9FbMNaGklL9W6T7grtgzS-G-FRDdMQH-Q_ZbKE8OtMFpEFmzznwLh1zxYX3ipHDIOv_i6BVXlxECkm5UALbC4GSA2MyO9oBzpk_h4mc8AveZhFWth4Ne5ul54SzHfrW5ff5_oh8G3jmrkCIfg6nMl-zPAVBtmHPB0=",
  "id": "rs_0978b5fafe184d3d016ab42b81bc2c87d0bd5c0fae86fafa9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At this height the plush torso is pressed close to the left jaws. I’ll close around it, then lift to check that the whole plush comes with the gripper.\"}",
  "call_id": "call_SGcPBH3s0bSQcWALHbtv9jNe",
  "id": "fc_0978b5fafe184d3d016ab42b81c77887d0afa04fa5b02b148b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SGcPBH3s0bSQcWALHbtv9jNe",
  "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]: [0.168, 1.2175, 0.2905, 0.1986, 0.0895, 0.0444, 0.1228, -0.02, 0.8379, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=0.0394 left_z=0.0361 left_yaw=0.0595 left_pitch=-0.1626 left_roll=-0.0262 left_gripper=0.1228 right_x=0.2961 right_y=0.0005 right_z=0.1666 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.2872, 7.1179, 1.5116, 0.0122, -0.0317, 0.9451, -0.0752, -1.6068, 7.0085, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125782078ece9d88195b6b5c698d7e8990485106a7465c64fd45758b31f8faee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567e056be194f991e81dcd7c74b1f80e8a26526c765923891cf898900f633c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4f92fc410f1f24effbe9f62980df33bfceb16f34090c8cab562bd5a027f2fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7708, 1.3354, 1.2629, -0.9874, -0.44, -0.8711, 0.9967, -0.02, 0.8349, 0.6067, -0.3923, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2841 left_y=-0.166 left_z=0.2104 left_yaw=0.1127 left_pitch=-0.3546 left_roll=-0.1454 left_gripper=0.9967 right_x=0.2959 right_y=0.0006 right_z=0.1674 right_yaw=-0.0003 right_pitch=-0.0617 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.9299, 8.8684, 0.9206, -0.4078, -0.0562, 0.1538, -0.2667, -1.2103, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.1699, 1.2037, 0.3077, 0.1902, 0.0929, 0.0448, 0.9968, -0.02, 0.8368, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.3101 left_y=0.0402 left_z=0.0452 left_yaw=0.0587 left_pitch=-0.14 left_roll=-0.0257 left_gripper=0.9968 right_x=0.296 right_y=0.0006 right_z=0.1668 right_yaw=-0.0005 right_pitch=-0.064 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [0.294, -3.6034, 6.2154, 1.8779, -0.022, -0.0464, -0.0122, -0.0479, -1.4154, 7.2137, 1.6435, -0.0415, -0.0269, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.2175, 0.2905, 0.1986, 0.0895, 0.0444, 0.1228, -0.02, 0.8379, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=0.0394 left_z=0.0361 left_yaw=0.0595 left_pitch=-0.1626 left_roll=-0.0262 left_gripper=0.1228 right_x=0.2961 right_y=0.0005 right_z=0.1666 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.2872, 7.1179, 1.5116, 0.0122, -0.0317, 0.9451, -0.0752, -1.6068, 7.0085, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125782078ece9d88195b6b5c698d7e8990485106a7465c64fd45758b31f8faee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567e056be194f991e81dcd7c74b1f80e8a26526c765923891cf898900f633c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4f92fc410f1f24effbe9f62980df33bfceb16f34090c8cab562bd5a027f2fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuF9GWXrnlv0XedXeGAk_LX8M1xmQuXTWJuYggKWxw4F4hee_sTH5TVUKdsth14HjMcDIoWd26tL768E2i-z4Mq3PIi0AAgUcybf1o7h6q7h_nqyoJBy7Afe5P4ULg4N0RDPfVF29BRtWvO4oNLpMTi9R3VcWGwv5R6CS7lYLmC1znZHXf_9aqvnWVE6gZVOUytEmHxWG8gAuKtrxRrn7cLfxJyBcGN1nJ9-a2hAC6Nube8gCQw3XejCc8nz7fOfurfs5NF7pXnqXfbylBXquRj5C8bM8php8WMB3kCLLcYZiUInD0TidNMo9srZ36osDH_EYkdpqGe8LZsJq2Huvf3iOhoSV93WxAnBMOQRF1Khg2XVXf-eTMM5q1PbcVClhC-Re7NY-5N9eYLqWEeykLg0O9bevRWZYeN9iie98goxH_8usNjWEiObD3-cPvHcgU-ChqpwRjlwqE5jdlKHO3x5lTaxqGo3qIL8uLokHwGnTQfCLs-qNUgPgUVVmwjNfYtOQYL92ScOxu33znosdoRmqiLiYKqPqx09cxKXuTlrO6c0InjNScMJRo9IHjWfCz2N5JDT_6TGiJbgZKFxfVxMGWJ9qnPkm5gel_O-9abK4KH8PKxas5PYsI4RbB3IYM-BTmuaW_16O0ELFl7omsHXPpi3ilGq__CCqz2HbYGEFanEH4qj3hPdRnyGkMhHANkYzS-ChJl3ElSe5FPn_3gwvu-2v_pmB7LbNB9CQtkinLPxjZ7cOz_3Znqo5BCrFyDvXfw468IKPJiIUNcFHJjYtdJVuQSA5uNYdG-qNjQT4_TFK_Z9gpnF3Z0WpZm6CHgARkOeQgmwiIFD4n7RwlQuTGGraKwnvvf6cjP0pXSIi13DUPfuaZPwnXFWOrpT6uFoWx5GCGM2SI02BXMDiZKzYsyQYB41g6LR9hmUpraVyO9WjuDehIwYHA5NNqpqovKTRqJ1-VYw2aguTwdcSb4WXoQQBBSMWI8BQwU5HGATNV_M09mo1jKFCyOtZlu__WOiMsp9HEP-TiKRR9rTU4a-esqRFJPSqASqQW947EHpRqroXBVuzFu_Yh2yJA3f828wUwCJTSTVKwLwjuZooIKX8mNbXlSjj_J3UAPfAcMTpnrtBzQKyb7_lPwaEtX2ahPd2p-HY563sT9pEAwJ7XJg2EbrJggYhofor3AkCIl1NDi19rZVL4sO8oH-N-tq0rpDmEtx9JHq_JsCotZLGQhnQ==",
  "id": "rs_0978b5fafe184d3d016ab42b84ba2c87d080447078c45a0e63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.26},\"note\":\"The jaws stopped with a clear opening around the tan plush. I’ll raise it high enough to clear the basket’s front wall before attempting a deeper placement.\"}",
  "call_id": "call_WMKRELUuo5GXcPZbMJ7BQW1u",
  "id": "fc_0978b5fafe184d3d016ab42b84d3b087d08d79e67e783ec19d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WMKRELUuo5GXcPZbMJ7BQW1u",
  "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]: [0.168, 1.0409, 1.0832, -0.8001, 0.0898, 0.0326, 0.1228, -0.02, 0.8417, 0.6067, -0.3923, -0.0158, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3053 left_y=0.0394 left_z=0.2412 left_yaw=0.0651 left_pitch=-0.1919 left_roll=-0.0385 left_gripper=0.1228 right_x=0.2963 right_y=0.0005 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0686 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -2.7009, 8.841, 1.7216, 0.0073, 0.0806, 1.0281, -0.1436, -1.7709, 7.0359, 1.6874, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d482133fae2d3b2efc83d8a378a3d0feaf75c810b5d970bd475463f20f13dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5912c9f1009bc46fbafcaa7109640553efce019470156af49b927780153af507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370eb711fe312488476a5a6d29f4af5828ec887679175f40a9928f3fa3325322",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1658, 1.042, 0.6216, -0.2085, 0.0841, 0.0353, 0.9968, -0.02, 0.836, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3314 left_y=0.044 left_z=0.1501 left_yaw=0.0679 left_pitch=-0.064 left_roll=-0.0197 left_gripper=0.9968 right_x=0.296 right_y=0.0005 right_z=0.1671 right_yaw=-0.0006 right_pitch=-0.0629 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.7009, 6.8034, 2.0537, 0.2173, 0.1587, 0.0024, -0.0342, -1.6068, 7.0359, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.168, 1.2175, 0.2905, 0.1986, 0.0895, 0.0444, 0.1228, -0.02, 0.8379, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=0.0394 left_z=0.0361 left_yaw=0.0595 left_pitch=-0.1626 left_roll=-0.0262 left_gripper=0.1228 right_x=0.2961 right_y=0.0005 right_z=0.1666 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.2872, 7.1179, 1.5116, 0.0122, -0.0317, 0.9451, -0.0752, -1.6068, 7.0085, 1.7363, -0.0269, -0.0366, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.0409, 1.0832, -0.8001, 0.0898, 0.0326, 0.1228, -0.02, 0.8417, 0.6067, -0.3923, -0.0158, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3053 left_y=0.0394 left_z=0.2412 left_yaw=0.0651 left_pitch=-0.1919 left_roll=-0.0385 left_gripper=0.1228 right_x=0.2963 right_y=0.0005 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0686 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -2.7009, 8.841, 1.7216, 0.0073, 0.0806, 1.0281, -0.1436, -1.7709, 7.0359, 1.6874, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d482133fae2d3b2efc83d8a378a3d0feaf75c810b5d970bd475463f20f13dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5912c9f1009bc46fbafcaa7109640553efce019470156af49b927780153af507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370eb711fe312488476a5a6d29f4af5828ec887679175f40a9928f3fa3325322",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuLvaTR8vK0hIiHyEK6Ew6Vfp37kpGM8yiCvJ06z_qXVypso8v_o-Q2Y1V8AiA7aE7X4lK7L6LH47NsrXoknDqf0SVDMXJYTUz0gL-HbI5HQt6B4tLv5eQPOLOBiQMEklW8SU6izzM0dkvlpPAmrmeO3Zg0mSaBLF3Nre0gqaaQ8VzxVZnBF6joam0jAV2MAVq0FVrKTGyX8D6jOyYvlkc9HCJtHLakgCCso7XZSg3iqzlq8oKGr9RH9x5Zoo9e3jZ2-lg3aec-_hxxVBKbc7D8ckK3T53fu-_QPYWMpUek9Lk1DPBAPL_7AT78WYo4PJcByV21OevzTSA8zxLaIhPJbCRXqucd06UuvwoutBJkcQ9OuHgoZxmZmdZX0P2E1FaMCfowYk24nupEg86xKlS1DqtDyy2ureb-BPCgOJ_wMop9v2hqM31yAsAAD2KCAI_FI1Cf05lMLzBpWohI_dyhvdsjUd-E8kOvamz49uMuFmnSfOW8YUPWtR8lRCKmEDe5bJKDmpzfIL5zuN-kCQgy1pJT3gTBUbgIyMVRJAW-ae4wsvy93_S0iUi8oN5VUnRah5-Oq-5i92JMLYWpXTlIAn57KQ5ce6ubuTkbzl8bN5TX7zWjVBjqb8DHzWKFPDJTddUL6RiC9bBtPYARxB4CioYWhB8IHOzIh121iZ_vHdEYhZzU585GE0An7wMwHQA8yPP1he5T8lf_MrcNTUVPX7EsGL_JXbSty0LrUvGW6ht_MV_nHl3EzlAFRyGtqEjUvH2xMXaYdIGsIv69vS79aTWJaEdA9UmhtS2GCHyBAmTvP5iJbzdrB9pYxDfQ7ZVJQphq5f62jQxjE0EUQyTbMpjlesrID6nmojKhNOntAzM_-X1-tEPv9A6ucpisJCVDuhkM-4AhC2GBlFWrGSHawG8BHFxUI0hB-pWlHFK_2NfCYYGfmoJOgjLyO-w9ofJZEANEB5ED0Kk5Y8eWhaf_1y0SJSYG5rfVV12gKCHlMSEn-m5so8VKNYAyy23kWJ7VCSE3xch0iroKtdLH_zgehI_WJOjR-7ydb9jr9SXoBt0mxCGnY34LMs9kxvptFdkxu1wr1ui1zvb3VKbNVoVjWD5qaJOqeXyKjx_Ih89zPYBphfRhJo18SRcMuwrgLCPCHS1wmO0wdMwOw7WiwjBhjFpjIiLg5rZnS_7noSrd_YB7wIEjHaIviYbcOZG0Klcqiu-F1rNbJUWZUfXGiGctKOnyvq9826JBifg6K9d_5Dz7MI3ANlSg5KZ0n4oW715RVqq5tXoplDa1VqsIQBhwYQ2vfCkrHMzZ3BfGbXMZXrkuxwp7Ho3tZlwSzUBR3X5lxuchmAAAsYAqU-rH94kCziFK_EFFTEF3cD6QKs1sw-Wint_XkBSpdeeFNww43kXcgZm8h8CnmiYNElu5-FRRlZx7nKoMicNh2zMObVhukHhYmFrHB-7RMuRJpJSQgn5ZWizSrCaBeSuwJ2fDqRwXaO2JYmqIdre-gSoJ2TTJK1J_sjJjMdfG9H5RgFD6wSl3QrF87DbC74CZfrPCzWHTGuPrtFUcC707txTIhz4ed7S-OhqhTzY3vwGMhR-IrBza6z2xklkQjxEGMU-HDYf9jOQfVCGH3wJ0Zu4N1d-77662DlfWGvHZVRMo2SXP0tnmD4yS6j7Bm4GBqrbtnbvJAbRJZWKL5hNCgq_CYW1UP-ayoYhgWfVG9yYukMSLFeFB1ENr1cFZoLadF92p60vat5XVWMTMivL_Qi7h64LyqEcFLGiQtOiWkE-NJEk0XcH5LZWhQ4wzBDQpOW7SNH6enIu9HafSmRhm52QbrnSsHAEYyOXZ9FaPmIGNyoI1t5_y_UR4lZx_5MaxogSsSHxxN6Ce8bWtyf5aPRe5tucHUUyBlYe8lAhbitgwQhktMr7ehDISJBa9FB_TTc19TFbo5HzGeKR01KW4JjMihChbskKrX2Mw06PZhYGNgyxRGd9AfjF4J1j5FUgC1b8Hvw1GmUJ8YImou3VmHAxv2nsMimQz3KY3SFdiiL-ux9dSS_5kcmsToa8cRVKQnGRVFn6uAuQLWqNoeCt_CeDgydNZDOKTeccdbrHGZB1xXf-WuOqY",
  "id": "rs_0978b5fafe184d3d016ab42b88532087d0a79768c566a29c61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":0.035,\"left_z\":0.28},\"note\":\"The tan plush lifted cleanly. Its body hangs toward the front of the left basket, so I’ll advance the gripper farther over the basket than on the first attempt before lowering it.\"}",
  "call_id": "call_zmgrCzaytrpUfFaC7CYgPPaV",
  "id": "fc_0978b5fafe184d3d016ab42b8a1a8487d0a70505b583bc0897",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zmgrCzaytrpUfFaC7CYgPPaV",
  "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]: [0.0818, 1.7393, 1.7508, -0.886, 0.0219, -0.0643, 0.1228, -0.02, 0.8471, 0.6067, -0.3935, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4653 left_y=0.0379 left_z=0.2459 left_yaw=0.0902 left_pitch=-0.3129 left_roll=-0.0618 left_gripper=0.1228 right_x=0.2964 right_y=0.0005 right_z=0.1638 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-1.0598, -9.8256, 9.7026, 1.9902, -0.022, 0.2564, 1.033, -0.1436, -1.9624, 7.0359, 1.6777, -0.0366, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd6dc4ef7f5f376da2b2016dae8b1653f9e364095e478dfa8f78437f6c674e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3bc06efd9c44f99f20e2c1324580bc526a02229dc6dc039d31cfa3be0fb9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c79fea90b3f0537218b6c6925d5cb7c19ef394af20d1bd77bd03a00c2bb89d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1699, 1.2037, 0.3077, 0.1902, 0.0929, 0.0448, 0.9968, -0.02, 0.8368, 0.6067, -0.3927, -0.0166, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.3101 left_y=0.0402 left_z=0.0452 left_yaw=0.0587 left_pitch=-0.14 left_roll=-0.0257 left_gripper=0.9968 right_x=0.296 right_y=0.0006 right_z=0.1668 right_yaw=-0.0005 right_pitch=-0.064 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [0.294, -3.6034, 6.2154, 1.8779, -0.022, -0.0464, -0.0122, -0.0479, -1.4154, 7.2137, 1.6435, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.168, 1.0409, 1.0832, -0.8001, 0.0898, 0.0326, 0.1228, -0.02, 0.8417, 0.6067, -0.3923, -0.0158, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3053 left_y=0.0394 left_z=0.2412 left_yaw=0.0651 left_pitch=-0.1919 left_roll=-0.0385 left_gripper=0.1228 right_x=0.2963 right_y=0.0005 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0686 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -2.7009, 8.841, 1.7216, 0.0073, 0.0806, 1.0281, -0.1436, -1.7709, 7.0359, 1.6874, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.7393, 1.7508, -0.886, 0.0219, -0.0643, 0.1228, -0.02, 0.8471, 0.6067, -0.3935, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4653 left_y=0.0379 left_z=0.2459 left_yaw=0.0902 left_pitch=-0.3129 left_roll=-0.0618 left_gripper=0.1228 right_x=0.2964 right_y=0.0005 right_z=0.1638 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-1.0598, -9.8256, 9.7026, 1.9902, -0.022, 0.2564, 1.033, -0.1436, -1.9624, 7.0359, 1.6777, -0.0366, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd6dc4ef7f5f376da2b2016dae8b1653f9e364095e478dfa8f78437f6c674e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3bc06efd9c44f99f20e2c1324580bc526a02229dc6dc039d31cfa3be0fb9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c79fea90b3f0537218b6c6925d5cb7c19ef394af20d1bd77bd03a00c2bb89d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuQKdu0z_WXjlp_6A7imMfaSBbSBwWPwE_x7864XqT-eqZ9wrnoWB-Sztl6cbKt5GgtckYDPZCl8NAb52RTdSxAZiz_kS_wBy9nEWAdbvEB9TLnsfpJ4dO23AD4ysCzkTKKYkXQfW-8sTRb9w2yUxeHuIDpoU83EKYoxplg9_5TVMLUtad9OAE2AA2-Pr5pX6ANR27HzWI_S5ZIvOe4hPi6rR3OFvXZDKcp8hifBYxVd5ALLyrqylSmN8_APovetefqtGqbuxh0UMTlNB3BiYI7JwI_Euc-F-cc3W69IMeV0pRKyEZUiSyemM0BJzv68FSK2GeqrzvlHDtkY-eBg5BbA4zjAnzJRBH-WiyB9z5JkR7HGy91D9i4VY7Fcn4MY2BOg3jCyCuCmwbQvZgNZie7jtmH5hmStLoFZzU-4kItQ5RovO_XOx2alh9DGO5RlN1rpOAjI6sL7IiyvhfHFHZMX0s-n4jqmv58RdZzGqIED0HmvhmapW_W1CZs7VgkmZ3SQ-t63xMM-9iOuoUZW7A_VEqH3WjwTjoE8Tp2iT15lGRM-bdkTg9jUpLC5AebFqw5EZPy2Apd0d-cIKQWfYtq7UVaVvVf_XYJoC15N_6SsaS8RkQxGepFgo0pFpmVqu5ACDevCwsYOluZxRptAe6Lb_w9AHAYs882tL9oSrhvVQf6s6dkoZNa8EYX_MKD7Hi4aN1dzmKd6Pif1eojBwbHxhOI75h3erDDUyakXr4K0oSE37yX7ZykqfQlDCXzSaGakUur4mFu4cTa3fSsC0doGZ2JYfzVw5TKKxXohbDeEHbtLx_deBgLcuKQ98Qdui1nMOZMiJNWkTRmhCpN4lc3--fVXeSLpw59t2D71HrhdXax5Q0wgf4O3TCEOckr4X-fGNRK4cm6Iq4p-HS0CnoCr6iTylm8D1ecOeZLh-qp-P9ftCEWjcQkxElIuOwhQ16hWHcHUaOUyrv0ZFKHMSOPzG7JSfsYzTlgjvpWEntKeyv04UCsaL9T19VnHcYxIBlSF9hcW_l4hxHKv7kfB94w-qKrEm4zI2nyf54wWZZRx-HCLWuPwyLfuxhMtNhdyyEDrG5i8MQDOhJd89qzsiYBL_vfGV_YkLhKcSKGoDsEzq1EZwDD4NfEXRVK3No97feVWCy3zFG_Y_fd2WpXm0jPc1ScfAoCXEYKO4yRJgAarhtMHEBquQ1vTQJ0LpqzPmkRSz0uXFXEHmr5xvbgQCWUd3d-NRtnt9cfe0Q_23aHHk077ef6vlDGwhyWna3Bsotgv9rG41Z3_hNKtsgqxjrwwB0UYHhpxglqzvPcx-I3aXZaDsfnx4eSPYEBR5FinsWVrI9GKyi1NFoz304APr8N-qOJ0KioRwupmmjGD-UqhCfI-enrq-MbD5o5qxPsjjH9l0Cyue57j2sR_0DjmWgNOLCutfFCLCVUcvPb_8vgVP20QN98zZBWvbjyl6nvq_c9FR_e_9lAnTEa8jvooUur6BqbZfRJTWtZSAuV2zdZYIztIEp765w4etHYa-xG9c58EpYYYt52qoxvgHC63fubyoUfYfqXRkBbqPKjpM3CnypCGn3F0dt1Y20yH8zWfqfNl1H6I4_nVSKS0AuWa6k-7maYz2ibk1otvgoac4nI6HnYclD3EWlu6KAbwGwfX19JzmuzPMocBepthGpDmjzZ9mWHKh5HRPst_mVfOn-KcUQpyiTKSMDoNjL4LJdpSY7HIn1sxx-hJQfH1JwW75SXoDp8IYuFKec-AlagvF_BmnYnwOyUTgg_i_NJEk64VkwMZqF760xn9er16nYJiL4pBOyYlX5X6js6BcobUlfV2F4AHkFcjNK-gHcJ7GkZfHLxseyRTWnWxLTNtl_7xZ7KXTkArJrjU1SSJ5n2eh-u4mE7ykHmG10xuVsdiH5Bd4bnulG9qn__ZSYRuYlLRV5_v-j6MKTYFn7XmFO4ZaBR2uiSgnupDqt1uHCndndVR07-2hDtBAeXT4HxiRj4shf90g==",
  "id": "rs_0978b5fafe184d3d016ab42b8e90e887d08b1132584cc04d9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":0.02,\"left_z\":0.265},\"note\":\"The tan plush is above the left basket but its hind legs still extend beyond the near rim. I’ll advance a few more centimetres while keeping it elevated, aiming to put its whole torso over the opening.\"}",
  "call_id": "call_gFVxYrfglQiIdqO2XEF6glDV",
  "id": "fc_0978b5fafe184d3d016ab42b900d6c87d09814c597977ee8a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gFVxYrfglQiIdqO2XEF6glDV",
  "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]: [0.0399, 1.9511, 2.0392, -1.0405, -0.0025, -0.1215, 0.1228, -0.02, 0.8497, 0.6067, -0.3939, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4993 left_y=0.0239 left_z=0.2376 left_yaw=0.1038 left_pitch=-0.3918 left_roll=-0.0754 left_gripper=0.1228 right_x=0.2965 right_y=0.0005 right_z=0.163 right_yaw=-0.0006 right_pitch=-0.0781 right_roll=0.0031 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -11.9179, 9.4564, 1.6142, -0.1441, 0.2466, 1.0232, -0.0615, -1.6205, 7.1453, 1.6923, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8761ecbef5cb4aeeb02880519a48c1bfa4a9f0ab55990931d119153cb093718c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e638862c277598a371945cf17443f665d2d20cc3ba15d0dad6ddb6ab1ee235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265844d339a13db6f4ef6f4ea23c3a3af8238a0701d6b0e1a279702d7e176806",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.2175, 0.2905, 0.1986, 0.0895, 0.0444, 0.1228, -0.02, 0.8379, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=0.0394 left_z=0.0361 left_yaw=0.0595 left_pitch=-0.1626 left_roll=-0.0262 left_gripper=0.1228 right_x=0.2961 right_y=0.0005 right_z=0.1666 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0028 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -4.2872, 7.1179, 1.5116, 0.0122, -0.0317, 0.9451, -0.0752, -1.6068, 7.0085, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0818, 1.7393, 1.7508, -0.886, 0.0219, -0.0643, 0.1228, -0.02, 0.8471, 0.6067, -0.3935, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4653 left_y=0.0379 left_z=0.2459 left_yaw=0.0902 left_pitch=-0.3129 left_roll=-0.0618 left_gripper=0.1228 right_x=0.2964 right_y=0.0005 right_z=0.1638 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-1.0598, -9.8256, 9.7026, 1.9902, -0.022, 0.2564, 1.033, -0.1436, -1.9624, 7.0359, 1.6777, -0.0366, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0399, 1.9511, 2.0392, -1.0405, -0.0025, -0.1215, 0.1228, -0.02, 0.8497, 0.6067, -0.3939, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4993 left_y=0.0239 left_z=0.2376 left_yaw=0.1038 left_pitch=-0.3918 left_roll=-0.0754 left_gripper=0.1228 right_x=0.2965 right_y=0.0005 right_z=0.163 right_yaw=-0.0006 right_pitch=-0.0781 right_roll=0.0031 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -11.9179, 9.4564, 1.6142, -0.1441, 0.2466, 1.0232, -0.0615, -1.6205, 7.1453, 1.6923, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8761ecbef5cb4aeeb02880519a48c1bfa4a9f0ab55990931d119153cb093718c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e638862c277598a371945cf17443f665d2d20cc3ba15d0dad6ddb6ab1ee235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265844d339a13db6f4ef6f4ea23c3a3af8238a0701d6b0e1a279702d7e176806",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuWwU1z85QRv0aNiUtlZbPgfbsKVVK56pg33oyELRSxELvHyv2_KSWJ829VwKhb3cfhvJg9XLe0WxRmHua1ElHeZMaGWAwJcVPGd1I9MmdwNsgVO2G4kCezvIl7f7ZGfdDHx-lCse5VhpIhbEUtl8L0qKCwUEtPY-ExBZN_ygKuMyTNZewpq7pASB4ejUN1ujLPX4pUjtZanjc4KGgbQ71yr3RYdgyNbeL3LVxThIV8gGYR1qV3kn5tf038zpFaKyl8oq92_Nmz_vCBvXi2tEf7gOJ6bfXvhNaAgp5cRJw8OVULlV9pWuUFVi3MM_gh-Va5NHC0Iea9m_pmXrfxX0bZt06EjfgVJ8w__giOEU4KdDCb9ljCh16q086yXdAAOIwoKNB3miSRRK1U1KySNIZRkAZLgLSE3NGUyC8k5HXFHQg4vZ_zvNotw9_wZceJril-6m3quw6X0mQFSvxH9pTwctSfOfldH4Uzigsk4ttYpbxF7sLVoolh9gTUH3_J2H8irbI8YKC5PYrVgCQLwRAbYIFCg9m-NcIZF6t6jCOIX2tzlvHHnHotOPHEpxP8oQxHpOE6Xn9VrFCTm5uZuNtgH1UGCb0mEcH5dD3oDFamsxQRZukDxpwuJIQYCzDJ5W4EbsQYScK95E0mDrCqYmtv-rb41TuYs0ylKhN30HD2GvxA-pj_AHBbqpAivhHsroLGxrN4-Mu2Lk7iHF04sgWMs-AuFeBkiiVkKChIr8vhd0jXAzcklVfIOOUpZxWOz072Gk_JexcEkDR5wcvIvaskH-b1pl9yjHfDDYXURmCiyV66NE4tDvFfuU8qXyWLlNbSn2691B2EXgNvrHvI1IQS4daBJybmf3033HmsTCR-ygxWaen0aQdnJNIkftbKt-pVt_LAE7Vl0csGfYwERSyA0qfmAvx6cxazXROZZVC875DDzUT6TfKlx9kc0N3C7joHUste3clbPvf-OUGKWvOrh-3tKsN8uFlkf_CH6jwROmWJiBfkLdbpVe7VqykkIU88aFXBDyz5RL9wyF_GL4Qqjph4iC-YSBmE_Dzs670jaCXiBDhPZxR0VltpIxBAOVjlC-F5cG2ZqhlebKZEHSXbN6w501O0TqD9QNSaFChjeDQbdWuETudwSMs9PUlMf7auyUyhe5fvSNjVxbmMOiE1kEfo_nL5zSBALBI2WivrBSefGhzf_cYQBwTglLHhsnagcIPnoNyxiO3yU4Hnonqj0pTP32dWECK9CTS3ELtkUxfpiqtt1izYJh0p7lSogNnDfeH0Vs3FCFC0kBhgQCzqcucxbA3gpGOaOpbQwGPheQGaIZ_VfueNIoVGiLQAIiQzKt0uo1qR76E0WUbpo5q2tA==",
  "id": "rs_0978b5fafe184d3d016ab42b950e4487d08b122cc535df68d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.165},\"note\":\"The tan plush’s body and legs are now aligned within the left basket’s footprint. I’ll lower it into the basket before opening the gripper.\"}",
  "call_id": "call_NwPbeXwZlKHeuEBmL0rm8D3n",
  "id": "fc_0978b5fafe184d3d016ab42b95af7087d0b8e4fc4eed66f838",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NwPbeXwZlKHeuEBmL0rm8D3n",
  "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]: [0.0303, 1.9751, 2.0743, -1.0698, -0.004, -0.1284, 0.1248, -0.02, 0.8513, 0.6067, -0.3927, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.5007 left_y=0.0195 left_z=0.2352 left_yaw=0.1001 left_pitch=-0.4102 left_roll=-0.077 left_gripper=0.1248 right_x=0.2967 right_y=0.0005 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0785 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -12.0684, 9.4154, 1.6679, -0.1538, 0.2125, 0.5153, -0.0752, -1.5521, 7.0085, 1.6972, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6181962deab48cda1507d85bafb877c89fa84514dbb3b08becbbae50296664d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c4b0a6122c0fc2c41fe6003f7ad934dd38ad331ed85a026f1b86894cd79572",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:239fea80ff3205f9483d2c4aee00738ba52a6241b5a2935f71dbbcef4918b066",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.168, 1.0409, 1.0832, -0.8001, 0.0898, 0.0326, 0.1228, -0.02, 0.8417, 0.6067, -0.3923, -0.0158, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.3053 left_y=0.0394 left_z=0.2412 left_yaw=0.0651 left_pitch=-0.1919 left_roll=-0.0385 left_gripper=0.1228 right_x=0.2963 right_y=0.0005 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0686 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -2.7009, 8.841, 1.7216, 0.0073, 0.0806, 1.0281, -0.1436, -1.7709, 7.0359, 1.6874, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0399, 1.9511, 2.0392, -1.0405, -0.0025, -0.1215, 0.1228, -0.02, 0.8497, 0.6067, -0.3939, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4993 left_y=0.0239 left_z=0.2376 left_yaw=0.1038 left_pitch=-0.3918 left_roll=-0.0754 left_gripper=0.1228 right_x=0.2965 right_y=0.0005 right_z=0.163 right_yaw=-0.0006 right_pitch=-0.0781 right_roll=0.0031 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -11.9179, 9.4564, 1.6142, -0.1441, 0.2466, 1.0232, -0.0615, -1.6205, 7.1453, 1.6923, -0.0317, -0.0708, -0.0122]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0303, 1.9751, 2.0743, -1.0698, -0.004, -0.1284, 0.1248, -0.02, 0.8513, 0.6067, -0.3927, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.5007 left_y=0.0195 left_z=0.2352 left_yaw=0.1001 left_pitch=-0.4102 left_roll=-0.077 left_gripper=0.1248 right_x=0.2967 right_y=0.0005 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0785 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -12.0684, 9.4154, 1.6679, -0.1538, 0.2125, 0.5153, -0.0752, -1.5521, 7.0085, 1.6972, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6181962deab48cda1507d85bafb877c89fa84514dbb3b08becbbae50296664d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c4b0a6122c0fc2c41fe6003f7ad934dd38ad331ed85a026f1b86894cd79572",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:239fea80ff3205f9483d2c4aee00738ba52a6241b5a2935f71dbbcef4918b066",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuZ4ArtZxT8IQVjuy905C6f5rYpk6ykfBhr9XQUL3EPchkwhmwop78Tc6pjqG6lklLPULbm--b-QYdR-oApGDS-g3dgDDWGuN4dV3oGoX5f1sIyBTYnTdufbF1S-lz1Q6XJ5PHHsih5dd5VgPK_9tb2JCY2EYvlZ6JXSG8hgg13VWWNY9E7SsUwQFnhBtRi20rOWP3nhpYWYjoFqctymAzE8YahpEqXrTjtI0eQL3Cnsgb4cOzVZu2lBfjkqVfTRZGretKO622TxIYHTF64WSfUmorMsJ-V5q9EMzNR3ToKHe94TTeCGjni1EqFhGw54bMZ3HYz_s9lcCKAaGWtzO1XlbPLN7sp20aj9jeaVGfSWxQTNzsSJ0l2NZ_1ijllW8TgxaiENu5MjRIFrJAEx66qi50OKgfEtwaebfWUwpSuqo0E2hSGD-tD1IcFdKuHHCNUPbagVmPpGBVKVs6nuj0IFYtQCf2VY4Q89aTU0-sNmuyprq2DXPPWA7jC3_OEOaM1sriHrN4pZeOHXZ4kDtwYSB0gjK_erDmL1SZNRZbv3bwNEhlteddRIJc3TM_-PB_OcHOierueqqeInM_v6yKWSrL5ngwp7i1thDcw7H-BocB74vbXdzYUHG5NzjjzDJaAVtS-cWNe2f6kuvnpo0OnsX7CIGGP48q1_cgfXKPZPL5zapSESxihZRHc3C4qL7d4y0ZYsFazIWXMGV8QA5GRvd4PoWzdw3HpK7TyZvRfoi_gsyjkCAoH7RDx_OCI3gnbmU68x12j2X_Hoyfa16gdAS9uDrq7_wxtpj4PhrxuhFCf68xal4uXJNI9N9IhXYTuTMV7Qk1CIKEmw2-BPdwthnQaZre7dyiW5L6ZjnxstnmoZq2rvG8oGk7Z_CSpco2UmP2E3H_PenYHAmGHXwmGt0TKhwlzAkWfPablo4SFF1Nja5DMiQpZ_5SPtGXRQE5Fe3yIDBr0sBAnKJ3r6QdcPA8wIX5AnA9j5j-XxOA0tbFej7yGp4pHsaiYxYy6DgVuMFm85pB37up7EKtJ29aokGYaq-AVxFchWNHhGZVfcv8pe3ZAFmV9RmyyxoKYR9okxTMsFky53UgJdzkVbnxf3wz2F5BgJIFQhCqAKpWQNB1nrSc_9YWVkbPFVaqhE4mAdm03gRHjFOiEA2ITFZu34mIszlES8dc4kiyWfGAqf8AFqfwPtfplF0fa35CUFgWkHuPmot64V8Em7UkVFqxM12vVW5mkqxpNjYrY93KHAiGwfHgE-Haw9x2gmbBaTi3CyhEZx70nwRtLQNnB0ov51DkZFkY9CA6ZwMI_slTllB4Iv8EbnbcZ_Dsx9k_LVi_pt8EQz4IRxV07aXPyqBBOUusDPolaIAp1luteY3Ej8fx6CztUMPl6QcKEF4W_BTe3Mgs0K8i0qoaqnfoQck0-EnB-JEUWznJgV561jUuhYkJf_dd5MdUOpPc9lA2C9H4daI02KJd7h7gB99EF6LocJLXJv0MWsA0aIIlPsHAPaU0JnaUIznR5B9vlRaPmUS_0JfZdWxYeA9dbAmfTouP7s6DiHLrmcI-sXLyXy7xgr1o=",
  "id": "rs_0978b5fafe184d3d016ab42b97f97487d0b6cfff4869424618",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped with the tan plush sitting over the basket, likely supported by the plush already inside. Its full body is now within the basket footprint, so I’ll release it here.\"}",
  "call_id": "call_tgYuiy0uUmVcF365OTRwx8p4",
  "id": "fc_0978b5fafe184d3d016ab42b98b1f487d09efc8881a01e21c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tgYuiy0uUmVcF365OTRwx8p4",
  "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]: [0.0303, 1.9751, 2.0739, -1.0809, -0.0036, -0.139, 0.9955, -0.02, 0.8513, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4984 left_y=0.0193 left_z=0.2335 left_yaw=0.1064 left_pitch=-0.422 left_roll=-0.083 left_gripper=0.9955 right_x=0.2967 right_y=0.0006 right_z=0.1628 right_yaw=-0.0002 right_pitch=-0.0785 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -10.6051, 6.4615, 1.3455, -0.0415, 0.1148, -0.1197, -0.1846, -1.5521, 7.2547, 1.7216, -0.0513, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b4ccac8f0290724062d3bdd266f4f7edab913e7e8d919a2a455a510cbe0643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64453f8c00a52523c0dde78ae52ec7debe0edab18e5f2b0d7adb102daa9c00ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d3fdab0680242918d65b80f03d5b3f22d092bfac233b5685c436a59fc3c48e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.7393, 1.7508, -0.886, 0.0219, -0.0643, 0.1228, -0.02, 0.8471, 0.6067, -0.3935, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4653 left_y=0.0379 left_z=0.2459 left_yaw=0.0902 left_pitch=-0.3129 left_roll=-0.0618 left_gripper=0.1228 right_x=0.2964 right_y=0.0005 right_z=0.1638 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-1.0598, -9.8256, 9.7026, 1.9902, -0.022, 0.2564, 1.033, -0.1436, -1.9624, 7.0359, 1.6777, -0.0366, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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]: [0.0303, 1.9751, 2.0743, -1.0698, -0.004, -0.1284, 0.1248, -0.02, 0.8513, 0.6067, -0.3927, -0.0162, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.5007 left_y=0.0195 left_z=0.2352 left_yaw=0.1001 left_pitch=-0.4102 left_roll=-0.077 left_gripper=0.1248 right_x=0.2967 right_y=0.0005 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0785 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -12.0684, 9.4154, 1.6679, -0.1538, 0.2125, 0.5153, -0.0752, -1.5521, 7.0085, 1.6972, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0303, 1.9751, 2.0739, -1.0809, -0.0036, -0.139, 0.9955, -0.02, 0.8513, 0.6067, -0.3927, -0.0166, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.4984 left_y=0.0193 left_z=0.2335 left_yaw=0.1064 left_pitch=-0.422 left_roll=-0.083 left_gripper=0.9955 right_x=0.2967 right_y=0.0006 right_z=0.1628 right_yaw=-0.0002 right_pitch=-0.0785 right_roll=0.0033 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -10.6051, 6.4615, 1.3455, -0.0415, 0.1148, -0.1197, -0.1846, -1.5521, 7.2547, 1.7216, -0.0513, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b4ccac8f0290724062d3bdd266f4f7edab913e7e8d919a2a455a510cbe0643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64453f8c00a52523c0dde78ae52ec7debe0edab18e5f2b0d7adb102daa9c00ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d3fdab0680242918d65b80f03d5b3f22d092bfac233b5685c436a59fc3c48e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCudJ6siv-pxzkYF8TroAr6ffsyc3Derm3PELZyg2l5WzAa1nVqAHXwJYOuXrA5_ukJaW-k3-12kpBcJSpxsyvDk2d4gyAAb4aVwYdcrUDwdn8drnmtu67Tseu-CX9Z1MtfTcVWKuO28eYluUHEtNfAa02nFXTJy5jJrulEqeXtmCWMjhwpsQnYhUkw95Tci9wvYNh0_-w2aPzF2G-_mzoL7rgrjwMWJWshpymdR7Rc453cXVLmfwbH82Bd1ApMjx05FDfa_RPeIcsY883cIHMaM0XMeZ5rRlQMFvjpLSYBzdzEyRBrhrrddITJXE51D83LweXjh4tb7jtVQiuFTWB7Vnftf2rPupXP4E0mtkQocWMoGRrvk3r2GqCbJ7USiwLDwj1R6p2lVfKmKKHnSzB-62p4DHn3RkYPBoUllUk1dC5BSrkhyx0fcozotxoLeEBF4adkn563npf0llNIZLAxKeI-1zBUFg8PTmjqezaklrgi7HxCyhCZciPgE9_DFHx5xJ8fe-ZZ3at30kj9VGERHesdyLC1blXmpEcQK_ZxqkegkfQBtlVJN7ajZjOB2oGX0de95AuNhsv5xhq6DVE5AieHqG-HzAiWzPlTQ2oymzpVK3ycWXCpwb2UhEdfGvxGD-djCYFX4oSy0mgugt-eVTHFxuk45uupBE9fm6e5V9eYmHky4dQmyQ0jBIR9z6_728W8NE0Gegj0HoYL-ks7pMp6odgc7sZ17n6DwU4h-WRfG2GwkmAnhAxBLvElfDWoTYzyG3Jo1WMgur9FdMaQ-I6u8G_n8NSyEzh9Jrzn6Za5ZwfmggRmjfLlcfeIscsAXad2oJjSkwwxoQvNgEFkmUA0nlxkgSSwAJAN5R7PzGmE_VQLspPM4IlKxxUBczUtYYDQfEThhizvWvkdkcufwWUn0G00ZXzbYgKLFkTNfT8NrAKUCnGIagAuZJ4qCP0k5-fjZv_lwciHia2yl4z-2T7y-Ot7alRtByD3Dh1QKosw-m2EuRCxUaEHyT_yBT9sKYBal7J-pv_JtWZ1IG2kgE_EiVmZ0q-7eOiOdjxT9bK6Nq_TukT26UHbtAnpFwHtJtAlNRjow-Pdgkgdun2qxrjBaQ8jNWJrtUBnB1YV4wd1jhO-YPMcVPQgGgGc9N-fd25V2CFg_Z2t_pc4xLDNmkL9eWSYI9db2_8BSAeQszxKeVyx51_BjiJEVtfZuLsHpDWRNxM3uHxiksumze7IbB3naz4j8MOnKgvcaunQcuoKG8oWmd5DmXkq3Hmpu8Bg4Td2NtBNB5mvtTgPqvBWuVLPERx0abjRAHZYXtA8WAE-2TiRn996_xA5QDeAxR0qJPUusNI6C9x_b798ogipyPVDgfv9nEByaBO3IX9c9HLm1MDUET83alNTwmwLKkuk-o1q0RPgGTq5eYJqIpNLDFjEK_-ZPC5N6FMEugWnuV9ZNa-SK44H7EE-TQbpQwRwN0f_XVv2K_9NCAelR26AMEK16JaUdS8HF6JE1w9YwNDP6jMoVTENOldwdQIZ3CN-gpD8HBwzBDsjEXkiGwQ9U31HjJZjfbF0yz7xpYkyqsjN5rgwXj44q8fD5oxFXJwyLr8c6ct34_wVjJ7RMIbJfq-eKOd2yb3wPxwePuu6c51tjzUX-GfbLOyd2HWIdqy8vH7_dkUSPuFkNsdF49UDS00j4HuuB82ORPWmp_5tVaeONfMMqKeyJ9BFB269xX-g_4rRSeMUtMgH75ikE9YVId1iyMdJLX8pCRGjL5IN5Ny1XytHyPeqH_ujSOQrgZZCHI5eGiAUqoGRvZXQ3aLjfh8aeYjBhHUOJjByjfbAe02hhukUASD_pLItxAPq3o2kufUNzYozywMmNopYOuCCLU0VHe7qmQpHgTnivRjzK__wWvQ7celLbYr0MiNOaY-S3NBSDAByD2P0_yTY6cSo7o11rhkKCPZvjUtNYzdZtVTEAQK_s9mJ1Um_Tgl0poCHXzmGRTYuDo2Tr0_D0c7JJzA==",
  "id": "rs_0978b5fafe184d3d016ab42b9b686c87d0804d15c12fddfe99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.16,\"left_z\":0.25},\"note\":\"Both tan plushes appear within the left basket, and the gray plush is in the right basket. I’ll withdraw the open gripper so the overhead view can confirm that the second tan plush stays inside.\"}",
  "call_id": "call_JFMIim1tJUzyucBZ5iGUI439",
  "id": "fc_0978b5fafe184d3d016ab42b9d0e7c87d0a2baf75b18b15016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JFMIim1tJUzyucBZ5iGUI439",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6991, 1.4593, 1.549, -1.1877, -0.345, -0.7334, 0.9968, -0.02, 0.8577, 0.6067, -0.3923, -0.0162, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.2986 left_y=-0.1683 left_z=0.2458 left_yaw=0.0481 left_pitch=-0.4339 left_roll=-0.0914 left_gripper=0.9968 right_x=0.2971 right_y=0.0005 right_z=0.1611 right_yaw=-0.0005 right_pitch=-0.0846 right_roll=0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -7.4598, 5.7641, 1.1062, -0.4762, -0.022, 0.1197, -0.1709, -1.894, 7.2274, 1.7363, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a9401fb08aa45b5ab4749d3d133e93241c0c517c30c0f85f319b902f0940e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b515df134cd294e9eb2c8ba130d6e54efd40e67569269a2e898250ebf61229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747d4c5692f17e8ebe146a3e39d14c079be03991f197aefd801b93c94b5fd722",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}