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, 0.8005, 0.617, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0012 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6479, 9.6342, 1.8095, -0.022, 0.1783, -0.0708, -0.8, -1.5795, 9.7846, 1.6777, -0.1343, 0.0708, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096061ec88d1d14394b2100fcfc4d8683896c075bed656b343d1bb98c2fce143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4f513045be0644662228c7ef6c01287c5574f1e7eda08e96c86e213c786070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda35d21d94e66b7520f70d7ac1131f3e7083d0542acbc2fa84a97f45fb2b5c2",
      "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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  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42c53509887d0b3465a871ae71a7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.15},\"note\":\"Two empty blue baskets are at the back, with several soft-looking items clustered in front of them. I’m bringing the left open gripper over the leftmost item to identify and grasp it.\"}",
  "call_id": "call_7UZGs7Pz4avLQSeGPb6nZQwn",
  "id": "fc_0b48cdf4dec88b2a016ab42c55df0c87d094ea45889731064a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7UZGs7Pz4avLQSeGPb6nZQwn",
  "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]: [-0.8299, 1.3334, 0.7536, -0.2188, -0.659, -0.5583, 0.9995, -0.0193, 0.8013, 0.6086, -0.3836, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3134 left_y=-0.177 left_z=0.1344 left_yaw=-0.0109 left_pitch=-0.0389 left_roll=0.018 left_gripper=0.9995 right_x=0.2953 right_y=0.0 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.2718, 9.0051, 1.58, -0.4762, -0.022, -0.0269, 0.0889, -1.388, 7.3094, 1.8584, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbcd3f1e021719e06d8ba28143c267a72e2f77ace69fd3fc4e17036aab31c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a818014a7b0a623a01940b6af94ccc2680ee822e816fc3b17db62391b11dc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b3de84d42b65945a29774269798441de24d591519107beeebb1cf983148f8b",
      "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, 0.8005, 0.617, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0012 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6479, 9.6342, 1.8095, -0.022, 0.1783, -0.0708, -0.8, -1.5795, 9.7846, 1.6777, -0.1343, 0.0708, -0.0366]",
      "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]: [-0.8299, 1.3334, 0.7536, -0.2188, -0.659, -0.5583, 0.9995, -0.0193, 0.8013, 0.6086, -0.3836, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3134 left_y=-0.177 left_z=0.1344 left_yaw=-0.0109 left_pitch=-0.0389 left_roll=0.018 left_gripper=0.9995 right_x=0.2953 right_y=0.0 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.2718, 9.0051, 1.58, -0.4762, -0.022, -0.0269, 0.0889, -1.388, 7.3094, 1.8584, -0.0317, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbcd3f1e021719e06d8ba28143c267a72e2f77ace69fd3fc4e17036aab31c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a818014a7b0a623a01940b6af94ccc2680ee822e816fc3b17db62391b11dc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b3de84d42b65945a29774269798441de24d591519107beeebb1cf983148f8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42c5cd7c887d08a64e29df39b604a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxjbRkNNI11QYSj9z9XjV3r8_FdTlLD34ePI1413wpxi2pL6ogSx0GVjggDivdoXuDNi9gKUOiHAzyUcdfZLRt-OFOzPb3u80K3KLsjLwDpRAY-9jBW5u6-PLzrpO-O_hsaOENa1PyCBIqguKajyAfoKAYkMi0RND-lm73LYDMG33ZQ1ZJdMvt2hixUZ3oOw1tcuB4oldqgPLz0YL6ZseDBVxK2IxS3HSvWv9ApMFogU7W--_ozW_iVgjyUycgw4ODMjW_mC2zDK06A7u2MCgAb5xS1wnQZ2IKEl960ZikJEJV0D_nXNGtJMwwsNs1tyQm_WO_N6zaqxUWQCAn02NYKJg1jaOVA38MeJX35MsDuFxVl5HA6h-kU3GPqXMwL7_QPSSLYlBqZ9bqg6s-6VYbU2-nUGm_6_aeHBuedW9tmIbnlaesEoa4Y5kafUq6949-RqyRzUGV_cDNBjPjm7EhKfIWEWnYky9bpFARGpCYK7vzFNn7K7kIosmy7xkQ75izQJKYWxXvqoc5-8H5CZwk-AfF0dCUUr76j46mKhQs_YqPRjbA8rXT-YHIe1E0dRbwOK24F0TvaRj38qNifl1N1VYvMW5_RwCHpFjV_-dHWVK-qfzM10LKM2r9DHGvnJo7p1o1MZnTHesiPKbXt60Hyj7WYy35B3DMrDEETemggo96iXTdXCUGUjvP8OGEJUPmNFiXxFdFJN0EyO0JFWShIz4OLZayxgP-ai7J9kHc7OTjdcxGxrfIVy3lJ9n9d1r7V453aqAm-X-uXBEa-dYuyZTzPGgBIBGIFEb3fXQGQ2nR8CUPv8Ar3y9DKmmQUEFOmp6834DaGVcaiWFnCz2B_sFx5is-4pxbPg7RdEdhIGxStX5Z3yCmLF5BYImGyTFA8rq0HCTH6cSkQmeP-fFv7ZG9dwJQHIM5YH3FSTCOcw8diSXjTMiM8xV8htSUW4QYQ5N2dFFfT_RDhjqbfo2lw2Fdk5DAQwS6MISjaAS8pFfEaUZ-VgPf5X8RFwqnhXPhWkPJumthg_Vcfi84vugSQnh4c380GYs7YYo0viqAblU3Z0JkXU7W7hgxFHrOxfliVLGYxGj1UwkrAM3jjMG8MXlGvlM7Oq2CjPZRR1QKRBElb1hTLow3bq-Y7Fuj87YuZM0uX0t-elG1jYvmNyXYpgXUJeqqsozohzbWSxr_H7CIH_ZpqdT2SEMmLVj4sFJltlKHs3coC0dpZaQ9hdrOAc2nLNCI6Bbeygz99V4QaAQ3kHE8nVbKIiRi_EF1XWWPtymt3l_nv3W9Z2y3BmKEoGoa7XDhO_tB_a68uXLecuy4BolV5bZMB2Wf4j-0BwzdvOSJ18lEML8s6xr0eECfPDhpDCOvnS_A5MPy3OxXawFaM8MeRiaxoSNVvzrMlDqBibWAyV40Rz6ZHE8oC-65q8hwbaWAv_OTGD19lyDebpAWy1LOGevMMeetU2tTWEzEQIBcaTHhmk7sZL0D2MaHA31C1yrqgYW4stRw5miGsWTr_NQEUdc1PLJA-kYQ5zo1JD8b-FvYkjhnFTQekiohlO8pA1mH6S5WoRwL15KJhndfmxMsN4Jc3xUvBav_fyxPWLO7wgRj8-8l3Z4cfo_r60fney_MgyA_H0f8GuiJAXfN2r3gvOhzwy52epwTm8JDZPx1ABf0xxOwhAJDeioudVI8QrolD-wcmZeok22NKjn84eCtBHDLpKsToQR4Ea13OcvlbQFrDue1tVYwcN-fpNRYSqLzYx4xhf-I2CVR73dcI4zOQGpNafXpCy15z_kl2mhptLkb28YfDCFFejOPtxdVnlC6Krz7BowNFFQhtk2RLDT_iUojvedyPZNbrj4GUe7pL_MehlXueN1S86ojQNyWBultRqJCH-gXkG_tJcG49-B7lyPe6EuQbxQecZkBs33wF_lHluH1qTbD1OwONSWvPtIP9413OTjztp1SY1ccvFW9mbOG7vuZhiMkdsdzzj6cm3XavUn-PGwo4oFhOEQ==",
  "id": "rs_0b48cdf4dec88b2a016ab42c61473c87d0ae8ede132ab02f62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.02,\"left_z\":0.14},\"note\":\"The overhead view now shows pale plush animals on the left and brown teddy bears on the right. The left gripper is over the teddy bears, so I’m shifting it left to pick up a pale animal for the left basket.\"}",
  "call_id": "call_fr4yxn4RDs1MGEab1pYtorFv",
  "id": "fc_0b48cdf4dec88b2a016ab42c62dbec87d0b4b3a85929d3c963",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fr4yxn4RDs1MGEab1pYtorFv",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1062, 0.812, 0.4782, -0.271, 0.0509, 0.0364, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=0.0256 left_z=0.14 left_yaw=0.0268 left_pitch=-0.0407 left_roll=0.0165 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0047 right_pitch=-0.021 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0444, 6.8171, 1.6777, 0.1148, 0.1343, -0.0122, -0.1162, -1.4427, 7.0496, 1.7607, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000372fa4cce49f46856b9527d2acc8dc3eaee86af00a83ac76c2c34b7d0d07c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a9d84727d89f399cffca2be7917e1785e0bb1806a47c48cba23cc79fdf4424",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7612aa573072b4bab5bd58a3d86e733c9be903b612e2de620116337b5f4978a",
      "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 12 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]: [-0.8299, 1.3334, 0.7536, -0.2188, -0.659, -0.5583, 0.9995, -0.0193, 0.8013, 0.6086, -0.3836, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3134 left_y=-0.177 left_z=0.1344 left_yaw=-0.0109 left_pitch=-0.0389 left_roll=0.018 left_gripper=0.9995 right_x=0.2953 right_y=0.0 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.2718, 9.0051, 1.58, -0.4762, -0.022, -0.0269, 0.0889, -1.388, 7.3094, 1.8584, -0.0317, -0.0415, -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]: [0.1062, 0.812, 0.4782, -0.271, 0.0509, 0.0364, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=0.0256 left_z=0.14 left_yaw=0.0268 left_pitch=-0.0407 left_roll=0.0165 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0047 right_pitch=-0.021 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0444, 6.8171, 1.6777, 0.1148, 0.1343, -0.0122, -0.1162, -1.4427, 7.0496, 1.7607, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000372fa4cce49f46856b9527d2acc8dc3eaee86af00a83ac76c2c34b7d0d07c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a9d84727d89f399cffca2be7917e1785e0bb1806a47c48cba23cc79fdf4424",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7612aa573072b4bab5bd58a3d86e733c9be903b612e2de620116337b5f4978a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxsZclFOpiLBSDsQ90nFISR1OxhVU1bUdzHpEgenj_gaoa7GXrYJpXvwfU5atsAwqzU7sNpI3lmQGqWySJpE0Q6ljaLz96rK2mbqCyZvVsc32uoxWrUhSmfC0Yr0N-Q3S5y78rm7SlqJkCjFKjHoQvcBT9BYnl_QdVLXcFb2i4L0KkZ38QNkS7BRGuvAlBXrduhdt2w8Gp9etw_DTNWxIwFeEPiXTlwOWZbJ_9-g3AZBqoWyYb40OoGSFA-rrhkiKoKfIQ_0z4GVwKzAq6gBrR1hcfPqMUqvHcM6TfpPmPaseB_8DxF8pKoPNg0fEPctXHUnjNfbZjR3H2m1p_zf7MMc8pPlhPDMA9i8Sn1kevEMqzSIHaawh4g9gMvEt-2ja_Pn-B1s4AslhoIWq9fvGiPmsi5t_eqwFRCqlVnnmYrDo0dWS-eVHZOyJTz1MaBVsFsscO9hylSxeOy294zyOufGNbjaBqPgF8nTQY6qYAA_MUNrS3q7FwTYTUCv6a68gsAC1TpqnexaC5rgiV9P9hyzPDTrtUjKSqYs18MPNYI7zeYkdIw89hoDZdDaERJEszCPwmO5p9d0qHf-YldFBQNkHZScjbU3SQ-HQWNN5wD-O7V891wxHHwGKFw-AyDUKCtWZ5wrlvbB_Mv7afumq51BXx1-Wiatecj5zTXeStGkWucReTETiR4eXn4j0Djx5HAS11bFA5jy25Sx-n3S2HRpnREANHC__lkkrqAjSoLRLDrPX3Bl2ZZNC25uDbT6Xn2-R_zycFB-4FVrjZaT2AwaPPyEbB24Gyf1Cb9UotbWcNnBdHGYum4AkzguxlSghqKXsKhs21tyo7ZtvQk-_68ftAIbUOhOR6aMd7IbIFrbO-x23kHQIUak1IQb2GytorlmMvWgY9gKwVQhYlbAv1arGRbyfU5fslBTN1DM2eP-SPQMA0qu5vZY5abmck3Y_PtvuYx3Q--4v6gNVwQmjjOzh9jqNodOZG8ZVc5T9_AMH3ljfNg2VaL-IUozX5Y8SvS-daEJ3wOjYVJTfByrTNwiIyV9aHTgyY9IeRGYqgG6ueAUISHCL0IEv4n5q_EC1DsY3PiRa-QhNImjI8xZSBloZ-6SNyS1TD01QzvIRAonMtypyx1QHIw4oPMni8JlA1UUhLyrTZbJtFc9yucppQ6SBNu1Fz6oipzcOiEKvbFU_YN-eXDryOFIcpqY-4Zxu9ohDPckki3p37mFpHXoH1qIHaOPpDWIzEb_mtMuppWKEBcwdHUJLv3U8YXCgBXsxFZQvit3ZNs8fkEYZW5dK005GA2bVji0LbYHvoHbfn2j9kLUzjgYZkgJD6YCt3gfnX3Y4Gb_VXVZsmfsKHAKcBU1yUB7fUOVkf9EdgygfBUCMCzVGyfpzQf8zBRsv55l1yNZHEmIw48nP5cKet0yTYCJ-6Jv8G_66qXbSJ_hxZa9PpBMzFK6L26GsiBszDwCfUYfP5hdtRuj4jBfBhdAArifdfJ5ivovswUU8qRwsK-qSAAdAFdDdxsBE_uUAm_Ors2qenohGA-D6h9Kx3BA6wzQA2YVkeTVuII9ND3p2vYjh9gxsVlKEtT1KOzKLgYnyW6aJsjnis9xs7YNzSjl0ewwaJMS-Nl4PnXZAUoBzSDS0b3OrJFWcM_BL3V0MBNoSGxNK3tCUutzlMUqpZ5EiT6M-upgmIMjQGwkpsKP3Xqgw9w3YED0mYMKFtbNAXBsYajstRbra5ZcPzvLiu9Mz1W0LKU4WyF4PZH0TdO83Hi0qmlsurDMmEPilXyuN8KdYrnPaefO3YUiaXEZ7Tp7H9_QiADxkJldLmAvkrEahkWStOhXTfol9hagLiiG07f2yQayCSs9SQ5R1sKIrY0in99TxnpLfy6UcPcdLj15Zfsm2vsk_phEg7owlKqxqZsdhVglAI7YBiUKpMYC9SdCbW9gO9clYOhKYSfhJiH9nDdkJQqe9Opg4u6liRbADipoC6-YUzWBgceN-MLmRwBLB9_i7-nOTuKAVwvLSk_rGdLPdLOyf4Bd6ffFCv3m_hwzDCvX9AO-ARmS2-C2oJpWIeCOmVoQiS1orO26lAxzq5eBzRtoXYumiifIeBCcsd-SRS07eRda4MFMx31sw6IQjrWfQktp1q1qsOo9DuoEIh48kpmah5_dvJO0skkM3eEtJTIKbrHSh-fPhwCByXYCCjIBVzmykdWaqgeXhSYd4VzVmYYY4s-k3QeIkkX4lfIdOkcK4-cD-G6v_qcbzlSqZppm4lDSTn5w6KGaxQUnZkDazCXrAQhvqZAUbYHW2p7RNaOHsqS62TPb2fSdRx0RpA26-LLOv3q6iOCcHkzGfYKV7zTEhe1b0vLbTMdBEsi5iI_g1QJXZcQfukdKMYnKOSYuMY2MI46-dSmH1qhOAf39LvXO8betCDNMlqIkFuTcOH0JEu40_ovMGirDNuBj8mk4Eqp-nEXsW9NKUSJipvrxpYC9bHNELNu4VKNQLxqATa5dWgMF89zeuqKx4duexsODCnUXPz8dpUjN8cdOIjpkDsFRYPdvpJz0H5yrMFWHvUrBAZMZr2b8iaik9SMblwhaWEeN6Fh8vIA-XbxW3VKo-_33WI2f5IiyyEF5maZ94-N4wiokrxLp8ql4tR_lwCcZ1T6Aa69VVXnmmppV5nHipl_BkGUo7KpXgvGnGgEYcAbO8RzjF2lEEq0XhnF8KsjrgIZ8Vz7hJUscrU2UAyJALH8B-cGFXLBqJwsaQjlhz7YT5k22HE-gKqUV39tXS8FQ3sgYxzgEx9kqGQA_Opj79BdxDejk1ICCJT-YqN3yyM9nJDXCvvnFLAt4vk3o691CBmqYhiMpIZkZOLDJPGACzCExWN8VghHinEGshnOnp7L-TZdjQTXZivjE6VGsgBssg==",
  "id": "rs_0b48cdf4dec88b2a016ab42c67c9d887d0afd5c0db6d6bf80f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.04,\"left_z\":0.14},\"note\":\"A pale plush animal fills the left wrist view, with its head farther forward than the fingertips. I’m advancing a few centimetres and slightly left to line the jaws up with its head or upper body before lowering.\"}",
  "call_id": "call_SgYw2qImVOCjAPAWidqg3der",
  "id": "fc_0b48cdf4dec88b2a016ab42c6b24b087d0b475e78fbef982b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SgYw2qImVOCjAPAWidqg3der",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1585, 1.0397, 0.5274, -0.1577, 0.0795, 0.0528, 0.9995, -0.02, 0.8078, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3199 left_y=0.0406 left_z=0.1191 left_yaw=0.0456 left_pitch=-0.1041 left_roll=0.0065 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1767 right_yaw=-0.0045 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.1521, 9.388, 1.8681, 0.1245, 0.0659, -0.0171, -0.1709, -1.7162, 7.0906, 1.7509, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b58d6f738f70ce22a237df53632cf6e42f20ec0610ceea56646d7a7c597821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b890de01ef54f230accae17af3209ba014f2da7ff81fa012da19f29588465b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0efa25c184265ca1e8ae57d9ab0e52218b52ffbaf53c77c7414f2e2e3ceab7b8",
      "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 12 changed as sent

message 16 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, 0.8005, 0.617, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0012 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6479, 9.6342, 1.8095, -0.022, 0.1783, -0.0708, -0.8, -1.5795, 9.7846, 1.6777, -0.1343, 0.0708, -0.0366]",
      "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]: [0.1062, 0.812, 0.4782, -0.271, 0.0509, 0.0364, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=0.0256 left_z=0.14 left_yaw=0.0268 left_pitch=-0.0407 left_roll=0.0165 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0047 right_pitch=-0.021 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0444, 6.8171, 1.6777, 0.1148, 0.1343, -0.0122, -0.1162, -1.4427, 7.0496, 1.7607, -0.0464, -0.022, -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]: [0.1585, 1.0397, 0.5274, -0.1577, 0.0795, 0.0528, 0.9995, -0.02, 0.8078, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3199 left_y=0.0406 left_z=0.1191 left_yaw=0.0456 left_pitch=-0.1041 left_roll=0.0065 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1767 right_yaw=-0.0045 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.1521, 9.388, 1.8681, 0.1245, 0.0659, -0.0171, -0.1709, -1.7162, 7.0906, 1.7509, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b58d6f738f70ce22a237df53632cf6e42f20ec0610ceea56646d7a7c597821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b890de01ef54f230accae17af3209ba014f2da7ff81fa012da19f29588465b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0efa25c184265ca1e8ae57d9ab0e52218b52ffbaf53c77c7414f2e2e3ceab7b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxyYkpUrC9wuBnQWZLS2_SheYYXD6hGrHZBwPS8OVHP94dxmaT79kA6FGtrL9jzDE-HcOhlAWhoPZBiPHI-scfNyvyA4EoROjpB0UihZcax8asLfo1QPs_TqiNDtmF1rWW1-djToO3VuT_3r9eK3f11v1BXt8Vm8gCKDTmvlnya4iiWsmHvsT9JM2FFh0sQEZ-BeqIZ913lOmI3uy9iUAN6snsICTI53dF8IdBGbTZyN6s6MJtCRv5wmxT89V-xrEVtbExHQDRHGAHZZXxIdfBHWQJyuLWaaKnFgrBlnonoC6s2yweoaoXQBD7soYAIyFcKAbmc8XHIUOFKFr70naH_FXW8cqdUV920fLyV6l75fA1meCwREiNPxypZKhAmzQqh-_QTN6oWgFsxR1YW42yxrzMH8b4bg3StNBCpRfUcpAqATLNYWwCqLFwhiJkbHglVq6Sao5g0MvVBv5CnMh5r_6pnMcye07mdk_k4w23IG1DpOQrJX_RMu6Hcpub7Pw4fMS05pJFlXETPJCSVy_Jl93LygSvp5ff7LeZibLaY7GBOhj04vzi79CB-GnmJVU9K9mVCQlvdl-7fEv3P_xPT7tGolzQ0hhQMqrmUGJXHVbWT7e9q7AoHwGIzUtdyJFwATx-wfmzmFdFoVA1QRAiLsI-b8RNEcvfLyPYi303JSZ87ruY3h762f1pMoZrz1uif8ZoKyHPqngbo3TPySAZxHOsep5xioMl2mWbu0YRUUSL98V6AHDBAqXUvc2arKy52yLO9Mde5Jx9gxS0w6rqrjRt3O3_57oPmLaXX_ZD1gvVivl1VA6cj6gCH8B_pQdV0FU4p8brfO9OU-UXZ65IqNpt14nWMMImMQ2Ep5qAKSXJ6zCL0NBSrA6UiIJLN2ERGgMpU8Dpdj-Oir5hNf11tgl7FFHQizDCQkO4nf5qNKAqk6deszuAU5jcDW_zK8iXTvtqSsodb7fbwGaZCuINmJ9RKAAAKEpVQI2Mq3XC8h8SzWtu93VtCynr7qKWxn6kST7fz6910fXCGgEihFj8gj2hd3y9FFgmwrKzr62YkxNsUrRUqS1O7Sv00zdq6HxqtcBA1pMmMB14uV4ALGHyWeRH7q_D21Ms0N5lqXMVOYW9HNWSIBNor82Q_5mP91CAJrl7vgSWGGsXR-gCKI4t9b6lC83EQOHikWQ3YRaGRlMtIpCd-ZSbyUMYmTVo1Sh0HpsDu5zzXJEn7ssv5a_7i7daBdQ2cLJ10lh6gJywmj6ceN64xt4_PsPtsa5hPBG0LhACV3AO5IZvQmdgQD46uFM7zZsIYNd52hlfNaKdXNRS__AaaJ9dlOofNOkA67sth6CIKOE-3uMy3SO3s13HU45TZqstCXWOxFC6PZXM2YwN0fM751PHVkg0WYnyJS1fop37UgGx6ciKxMU_dbJfVtVfAHIkAmVQkt7d_z2i_HAFElfj1F7b4JK6Gi4ZdDojUQjK7xkInzNqvPGQ_Lllf7k4eD2ZBFgdSNcFPhCKbkIUqIefpJ8oSNpUwbZmZ1mNWt7Z0ihoLrCuAH7YnPFR_sqcFO6KDcBFp8rkPQHUAlOJcV65TxvH81FpnabbMTpfwKrSXnv2hd59CvghRu7DUnLQdH4FaB2CPqV2iPSyf6KGJ6TqEZFPT44y_c0tbZppvG4kuAh-r4Ss20MWPyIn_MevIyqVAqP3zt9TA3wnwswrS6gbgFSyBdfXnzA5FfOeETwcGTCgJnoXCa40aB8JZqNOZxNygN2vy6pknTyJgq5DRINuXqbSRM-1MmwnFj_wYeo2P23hNEB-cSXoG0gtZDR5bFxCSrwgB6dQ9lWX9Dt6wSlHDer9qump5y3dmACDtXQq_19xCCyBuQMZC1EzhgnIIP8hHHjc8QZb4L98Gv7BWnwwWiBN3ewiQP3Z6aBNMfgobIiERmM7p4fpsfWukN2uB4tNGVCrGLrGyGtK8JtBmyCZsyhrX0nrJcoGhTbGXTLSYAOwQ_vvzxoMsq_LKC5Grr69nCVolrNTeIMWE6DyPJoAIuMpOTqp1wQ3tXz8fcEsD7bsD1_y10T0lCR_G9ogYmbaQ0Xn8IEG-5naV7gPbR3j1M6KzqvLX8LH15D10H9EVWYxTvwPhCGOaY7cyGu6oGSCG7fUNt8XsWH_JkzlHYjx5bX6LDMUS8JBYUGjauytsfl5GLGjCrKGYq2S6E4Dn_OkAUvdtE8vljGySwClsOrRJTTbucFIi9y2G_rpbPCQwtdT-aN6-DpsIi9aHSA==",
  "id": "rs_0b48cdf4dec88b2a016ab42c6f06a087d0aca74f74c9cee938",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The pale plush body is now beneath the open jaws in the wrist view. I’m lowering to roughly mid-body height so the fingers can close around the soft toy rather than pressing from above.\"}",
  "call_id": "call_xgzN0nR6200amhSidWJ1q71c",
  "id": "fc_0b48cdf4dec88b2a016ab42c71543887d09b4122b6fac1a999",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xgzN0nR6200amhSidWJ1q71c",
  "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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0045 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.3846, 9.2786, 1.8681, 0.1148, 0.1099, -0.0171, -0.0342, -1.1966, 7.0359, 1.7118, -0.0708, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe2aee86f05bd5a5613b627c460c09b47ad231455e1b8bac26505a2e7575726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404e830727bc1173e466b75fab8e532421b3091f3c6fd8ec84e50889ad938ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920d7edf5bd824ed75567f0cc173aad9a3a731e117baae771bdd8b5dd4bd3d71",
      "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 16 changed as sent

message 20 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]: [-0.8299, 1.3334, 0.7536, -0.2188, -0.659, -0.5583, 0.9995, -0.0193, 0.8013, 0.6086, -0.3836, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3134 left_y=-0.177 left_z=0.1344 left_yaw=-0.0109 left_pitch=-0.0389 left_roll=0.018 left_gripper=0.9995 right_x=0.2953 right_y=0.0 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0175 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.2718, 9.0051, 1.58, -0.4762, -0.022, -0.0269, 0.0889, -1.388, 7.3094, 1.8584, -0.0317, -0.0415, -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]: [0.1585, 1.0397, 0.5274, -0.1577, 0.0795, 0.0528, 0.9995, -0.02, 0.8078, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3199 left_y=0.0406 left_z=0.1191 left_yaw=0.0456 left_pitch=-0.1041 left_roll=0.0065 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1767 right_yaw=-0.0045 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.1521, 9.388, 1.8681, 0.1245, 0.0659, -0.0171, -0.1709, -1.7162, 7.0906, 1.7509, -0.0415, -0.0366, -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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0045 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.3846, 9.2786, 1.8681, 0.1148, 0.1099, -0.0171, -0.0342, -1.1966, 7.0359, 1.7118, -0.0708, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe2aee86f05bd5a5613b627c460c09b47ad231455e1b8bac26505a2e7575726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404e830727bc1173e466b75fab8e532421b3091f3c6fd8ec84e50889ad938ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920d7edf5bd824ed75567f0cc173aad9a3a731e117baae771bdd8b5dd4bd3d71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCx6VBpY0Bk3Kvjda_p7TD67fcZMUmR6qgZbR9gmp_BxTt2oZpk4vMU3ffqlNBJGxfG03v4lYP28nmHq6o6iEhRFmvKUXOVPetDic3VdHV4ChEeBhVHrU-S4ycoaOWLwo5aHGSzk3U1CCE0lp3y4dzsd6kBVhsAkFp2wK0dwIU5beDxBDKbD4Ec2yCrC_GamnIp4t-tZe17NukHPo8AMZI_FA6MEnA21U0iWJqCBuWQ1_JSREGJq-S-f75c-a3twkc3VEH70PEfKQ7t73P8DSC9F5oZ5z0UycdF4HcBUA3RuRHc8SoiJXwLHKRDhy8AwePuDYvylVw4c2GTlpze2Un5fYahOqbirfecW4YJkojj5d_vbkJn-G23O1GPa3dQNuNwt6UlFQqlCy_sXCGZuYSq4wTpBAXl2_qwlOCsZRDzjzb0gPD0W98sIdbbS7331z3GtErAHdAqwyuKJBy3ORNzp6Mmxg6iNJeeGyZjyLzTg7L95RqDN_EI4hsitJCdVb_tQn3EEwYC_ik_U7qFWXV2-u09vYS20YpsQWpxvTqpWgXN1ziCgmX0T7ar9BJvxb7pdy6hptv1A0-ZpJRpTBQtEAhUrzKTFSBOW3GRYoP9gzXbp0g9VdAK6a1NTAfTZxlMKDSpu0xvenH7CN-DdYlG6eBd3IhknPYphvjpbvMhy1KeSwmZtCOA_wPWh5HkmgYyfi69YBk2QdW5jnoLQqhXTtXz8PSuOY_T_I9ddjyxtZDbokCoQJ4DBjxSBHJFqaqmMYKrq5-mCiiNJkRl9q5WpDiyPHJLIK6gTIzOXNEJ65lHweJRQ8iTPBENGe6EEo-hBr0N9wSl7oa_qW69qzWhKEvEoD7MUxG6MIIJYgTn011QsbxCuS9xMsAf31ZI-Fl9wFvXxQNFeMkIcazNf8APGosglfrNVn4DUHUc17ZUGpLbAUsISBo9BD7LmVE1KFwkk5lzioVf0V4qvWCtRUdiLEdxt7nqVnxdPcMikDA-7MLDHxd-I0H61ujprR71P_BxyN9HbA2aYUA4EkmQp8AwHmYwyi5XBqYqLE4u3lXAu56qVlj9ETkXg6edcqwohTTKJG66ff9DW4IrM53BP2b8D3ArAmP-51SH0PWXvfHPzKLEbrWjSOASlTYkDI0kZDhJNeTPUwyvO-cEB558Ppio9W4T8E7ES5PGtu7sF7ER9ZAUT4EIfRHL9OAxCA5ycdgTqRc02FFTIGEahwgPNNnJj1fRTs4ixt0XDB5-F2hmr3pkt_nfNWgAOIiScq9T6FXqtaLSOXS39d4A6jwipNCQKn7oOQllYeLiB3vKmVXoaLttrfJfiX8X5vbMhBWlpmj_k-Q1tcc9rogfcqCs6MZjJ8IgfQRqjV9aVhA_Sc13pRcRZ6FbFurQjeBZLcJE3Rg9-oZtNkGsYIVS0-0PnFfES7EdvT5NnaYGyw0Kq9pk-iOn3ZTr49Enp9w-_DoBXcV7CXbHcL2Q321w03fOYSYLFTDoIQNQhWdU04PV6sMw-5-u41GFPR2RaScdvdXhcd2iEhFiOtvZq1aClbmJNdzptjGxjli467K0lYh0egyK_NoD76uuW4NOKIj1H-UpHceDvLm-QPpsIEdcIYMj0INbhDrcIWXdKmURTd3kyHee4kwfx55IO-QiWQqLwHiSDwCRa1dZhu7_SJRFkHNb_1WJrCfxdfutWYYflSgx93GMbY92qSP5iOfoTktsJnXKRMwmAuiqpPa65ttHE8pjpTf0W1XJPUExRkFKpZKnIGN_FNavoMhLOhS59kRGOvCH9gucwbNdeWCeeB3R7QeRP5pVTbZUo0ZakFe-hTx-dJmsRFVCaMWsP_yiMf33jhHCpj0qo-_u1voEvMtj5hPSTaQ0bMEb1zN7f3jb3TQKQ7IuDPz8dMgv3GUF0uJ8n1__M2eP3izo6CaymlJb_OnjutAM5x064VpE3bYQKEUZ0XPBUwd6OTAm-cvz7bxlZhVgPOKb_2Kac8XZEwaoW-G71KoD2XhyvdOAC2kgOi1QdniG1-GqWHPaBm1mTraUwpYJdbhFJ",
  "id": "rs_0b48cdf4dec88b2a016ab42c78cefc87d0a0f6a497caceea3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.015,\"left_z\":0.075},\"note\":\"The downward move did not track at this fence-side position, so I won’t keep issuing the same descent. I’m shifting a few centimetres inward from the left edge and trying a shallower approach to the plush.\"}",
  "call_id": "call_c2gKwUZGYrTrnui5IuYC3RpJ",
  "id": "fc_0b48cdf4dec88b2a016ab42c79aa6487d0a8c51e84abcbbd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c2gKwUZGYrTrnui5IuYC3RpJ",
  "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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0047 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -3.412, 9.306, 1.8046, 0.1148, 0.0952, -0.0171, -0.1162, -1.3333, 7.0085, 1.7118, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14446084342e35596076c0cc86e76b5ff09cf8e3880005837584962e4e8b681b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03018eab5afd86fac71f76c147343dd17098d0ced819beba06b7196632fd7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f38d89dfe874ae2c411a8cf989e4bdec086c14d195b507409562ae90690a57",
      "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 12 changed as sent

message 20 changed as sent

message 24 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]: [0.1062, 0.812, 0.4782, -0.271, 0.0509, 0.0364, 0.9995, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2913 left_y=0.0256 left_z=0.14 left_yaw=0.0268 left_pitch=-0.0407 left_roll=0.0165 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0047 right_pitch=-0.021 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0444, 6.8171, 1.6777, 0.1148, 0.1343, -0.0122, -0.1162, -1.4427, 7.0496, 1.7607, -0.0464, -0.022, -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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0045 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.3846, 9.2786, 1.8681, 0.1148, 0.1099, -0.0171, -0.0342, -1.1966, 7.0359, 1.7118, -0.0708, -0.0317, -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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0047 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -3.412, 9.306, 1.8046, 0.1148, 0.0952, -0.0171, -0.1162, -1.3333, 7.0085, 1.7118, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14446084342e35596076c0cc86e76b5ff09cf8e3880005837584962e4e8b681b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03018eab5afd86fac71f76c147343dd17098d0ced819beba06b7196632fd7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f38d89dfe874ae2c411a8cf989e4bdec086c14d195b507409562ae90690a57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyCdqzk6hkPCtff9T-SJW61MD4LQS1gNIFYCQlO185w2EPvjU-b1YME4C-Bbo87ORRs8j56h_sJHJ7CYjYtmo5cfN-LRL6UuRCS670v2gQoC5V4Ns7qKbeBAfEW7PLIh0aozq_7cSubpokxBa0DW_QBw4qDsd1N4m4t3cCr91fj1YxJ7wm0z3-mHIwqTj7aq-Dj9xJKwiLFGHPAEQfHhcgY4gdVUsum_fnvgcUk7o3GZk01Fy1frDxBGFZ7n4d-Q76bJCd38FTAQvE8yh3uIB8RyIMamDP4dYLmKiV23EMSlwlXWI9-rlvfgQSZzneNOP8xhbPhNM-Ud6ZxKtNzlB2PBj4H4MwQjoCk4cuOEzp6wHQqf1S6AQWgJCI_BXZYYUfJNGX3Vo4OHrX4OUqcVtY2KIpy24N5YcNrt4Roept-3gm8GKn1dqa6eWVoxX2ZDsO-h0NN_UHbwBFV17End3KiMC6n6n86gsTss67n7p72hSGkIM3K4Muc5wX7qgtMJ05LDlEwtumRUIoeVpdpLnwVvFYMuQXwdMKKQ6fpq_G-KU95meT1XkSkWdOD6HLugVv91GCuo1H2s579zyGH9BW2aa2ddemrrQiUfeU0iHNdW9JzUGd7nlWNxJgoA-Dvv3AYd37GbBmyV1nmOG-sYMpPOBTGbqbUdLKfBQ0EpGbykv__SeuYKBaTOEpMvQ4iNMT-mpCDObXuVR3RiXQpFKjPULO0aL0KC2YTn9HqjYWpwVUK7Wyfxa677a1JgD8TXF5R2lgmkY-azBqHfjEjnmLW0bM7W9CCwbxaSE02KHWMMCTmAO4FxNVHPAg8h70YIGXDOWfFK1_9S8Nnxuvs9UV0iO3JZSQeYeA5R1YX_sL0h7XNDtYRHm7B4bWsZue_AAV8gD2pym9emZdFmUfphArImPh6oYESln00p0OZMFNOErkOhQ13Doz8s3ZgPIdFoGpbKAAfblX_ASGTGkv72VQf_nLaOekJth2f5by4ya8mZLQxvVyReH9DxBQbd6oXVFTuD0eDuiqyGGOvN9WF7gk05Zz6SCYUMpcSyh21kekE4N3BoOV6QnKk8DxGqm8Csv1NOr9CDPQ66xASOI9-nFG7HIDqHhWELFKIs5LSK8NY3ALn5U2vlUIEHKlmE69Rnm3mH0yH6u44gqG3OWhxMJNy0bANdI2rxB_MbS8xkg4Jiu_sfIgBQh3X1FzI60XyzohUEhDRNwJwygT-6sGJ9YuXjZTpWN0K8OLFa1T5tBQ8NR4aBrNZNvxY67niCdBB8ybufZA0lzpzZGesDJP4kw60Y3yNMzao6GKFya5SYQ7bSQCawikyln4tLM3PEW1CPtJLVpLYw7b5Svde2dkQ4DbTBburzEkVbYXfV7Iug65oGqv4lcuMK8Za7Bn_jGC7PZ8cnvBTTs4Vvu4thZ9fSNyk9CQvCylB5qbuyFxPUtasGCEJ0TaiDHjw7YXz8TM2YSYC",
  "id": "rs_0b48cdf4dec88b2a016ab42c80a10087d0ad4902823e03a201",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.06,\"left_z\":0.20},\"note\":\"The second inward/downward request was also blocked, with no change in the gripper position. I’m withdrawing upward and away from the toy and fence to clear whatever is preventing this approach.\"}",
  "call_id": "call_KxL4oHW2dqRcZH8zjm2IIUDx",
  "id": "fc_0b48cdf4dec88b2a016ab42c812e7087d09f2cfdde8267c255",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KxL4oHW2dqRcZH8zjm2IIUDx",
  "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]: [-0.506, 0.8619, 0.7689, -0.6636, -0.4046, -0.3649, 0.9995, -0.02, 0.8108, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2688 left_y=-0.0654 left_z=0.1899 left_yaw=0.014 left_pitch=-0.1195 left_roll=0.0071 left_gripper=0.9995 right_x=0.2956 right_y=-0.0002 right_z=0.1758 right_yaw=-0.0045 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -1.6342, 8.9504, 1.4042, -0.2466, 0.0073, -0.0171, -0.1162, -1.5658, 7.1726, 1.6874, -0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155766e7739c3dd9251b41f020547780da8dc4de474d8b849fc9ae1779bd1861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86b2d0760e11da80ec80713f72223e3efcd7f1bfd552ff05eaf172d22989948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bf30b0a993eca8eb242510f0f1753c0d5b0f51e9ae70133697bc5986894b07",
      "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 16 changed as sent

message 24 changed as sent

message 28 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]: [0.1585, 1.0397, 0.5274, -0.1577, 0.0795, 0.0528, 0.9995, -0.02, 0.8078, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3199 left_y=0.0406 left_z=0.1191 left_yaw=0.0456 left_pitch=-0.1041 left_roll=0.0065 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1767 right_yaw=-0.0045 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.1521, 9.388, 1.8681, 0.1245, 0.0659, -0.0171, -0.1709, -1.7162, 7.0906, 1.7509, -0.0415, -0.0366, -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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0047 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -3.412, 9.306, 1.8046, 0.1148, 0.0952, -0.0171, -0.1162, -1.3333, 7.0085, 1.7118, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.506, 0.8619, 0.7689, -0.6636, -0.4046, -0.3649, 0.9995, -0.02, 0.8108, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2688 left_y=-0.0654 left_z=0.1899 left_yaw=0.014 left_pitch=-0.1195 left_roll=0.0071 left_gripper=0.9995 right_x=0.2956 right_y=-0.0002 right_z=0.1758 right_yaw=-0.0045 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -1.6342, 8.9504, 1.4042, -0.2466, 0.0073, -0.0171, -0.1162, -1.5658, 7.1726, 1.6874, -0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155766e7739c3dd9251b41f020547780da8dc4de474d8b849fc9ae1779bd1861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86b2d0760e11da80ec80713f72223e3efcd7f1bfd552ff05eaf172d22989948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bf30b0a993eca8eb242510f0f1753c0d5b0f51e9ae70133697bc5986894b07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyKmRt2vcxFWK-gUv_rUe8p1Ij_ZMmoLtYNC5Ory269l9eMkzdo4wOVWeVmEkKCKt2W8TlPZjgAxirFqrgm-Y4Q5pWDkxVeZp4y-wbNTT26zbftn5nMfxVOgjCRt0dgl2ClYf1_YMmv4_Gz5o4U92va7IblK1T2JCLyROwBVtWh0MAflSCPuU8EeR_-QkVkhs4kLvjwp9GP5i6qRyZuNYgJ-9WwLCiUq0Bvvwj42ykUNrBUUEyBiU2GJXNFdpkmRoBvkWqMv69pI7xGM7hHQfqdX_1sfirzcXUul7B3Iusm7Xl3swqtCz878r3SKgbObicayKys7czaNmM6sFMJbXNqlF8T6OCwY5N9KwdltR0P-dijoyXZ7TLpifWdIoavreCc_92JTtgyI2By6KaIcyl0H7_6FeL45CHFo0mfMZRoIgt_K0sf0ACk9qiKQ_jTXb3mT02at0Whq8Cb4jZVzKadaOXcuSHk_3MRzFcRWYGqMPfbcnX0ZNfE2Ux2hblHdiTTIhKrMnYsnqy5tKIZtjiT6af35dK4FnV5wo_ZTb7neT-gbqP7vNI_fueWc1MMrYZvfpFsRMZhJquLWzyKmNDTBouSj7uXGAL26plX8R38u5JMpgsV91Yj6GgY_yAdveAmNCadrz2Lxckv0XW62CmsmmR-CO4CjvHm4TttYrlnm5flXblzgFFeT8_Hir_HpmGC65ZAUbK2isBhmlUcgr5qKTV-XLe7Xu5akyW-hGtu1ThuTQlJ_ZQYJx937ktPSGYSb3lBufxYWW7QhfITF7l5tDkUMtDT3-mtiQM9tIxVCeNzO_EJiAoQAW3DUcqIr4IrYwe3QyUaj0rgoDJkt2wqoYt3-TPWofQ0RdY0QP_5X58yuenaCbyUTOQfBCvSYVcja_4bXbQI1qGVSG90g4PnXEdVpRUe9njQYVi5RPqTHTSG6zeZk2-ApR5qPOoJt3Dc3Py7hbgirHUHYVPHixwVpkvhjUfeUb34hjE8d6T57CI9T6Gjj0pPQ4hWnWteWA6vqgfNQ7738AdQPEV6PivcJEalypGuHb76EbvEZYv9L4epn2LWZtczzacZKjWIZpMvAECnzXYAZhYp8l2MA5NCQ9NcsygcTT3MJK7D2troj5df_QEu3TlKHe-4dTpCNje-ktCk-9fZRS6jx3ZMt1G46k9zLVQHND-vJUQAZhHkg7ZPCk8UpSjKjqJj1BdfDbN2iWcfkYQuhbAsk0jExVOwS0ftlTK8XU2wFML-gfDgnJ3JwBJd35xulP7uhFxztA-xf4AfgMLA4Fiu6HZ5WBUuUDaA5QJNNqymXvoXz2ZOldsvtqqMu5u8c4ZA0NT-AQvLo_mBBlYU04faDBNcavrbbeDofjCmfSVrinVVMwVYgUZ1X13Qbopcx2wrzHFgrBy_O7EjMsHr0kh2RuZvRo1ILja3hnDp4OSLqCNwDSLNjtRPxfcgkWMRjgCIkSeR9rHBd8i2VR_VZppXFTBJmmGvRgU3A1GDn4-EDD0EzH-Fs5cOUpPOx_PS2zgqexHpiYjjnmnCPJAwzX-_DvOnfltS6Qg00WuSHZeukxeuvDKj_RQkzVTybEUp0rUUBgL5EBM-7yNNNvFuxIpCJPDi5Dt9Q29CFtFPFmWqdf59sG1Gv8kNPSeegm5eJ7Nveq-FSVRY0wN8bvnwVEbrtJpATz76AqIDXqhtlE_GNv3TLrSpO120GseloKTgRr9Kfr03oomt5HO4eXzq253VpJiPxG1lNJDsz01lFcipozb1w-Gyo0s0C9Dcz6oyKQ_7nfvw9MnMk_gDf0Wqwzk9Qive0pZzeCH5glbQULg-NAfLYKex9M28mA3pAzjUOTJ-w841_g0QyLezwHpAdjJURMhv2mI2V1UXUekk4woJcJ_eLlBiLLYCtH2MrZSwGmaY0OngFrhTw-6MyAEnXqojVQf7IkBDEQ004aG3t5lPiO5vlcDHc_XEFx7IV7LpojM7s9jFdK2zqkamSic8eI1dtSJ7Q-LYz9NN4PlVzeFoJliOJo8-o18BsIca2vbua61LXWNcrjASJ2at_9wCQ3PFhW6NASNFpJeUjqU7SzeNyN6bTb0cdLUF8SCT-W7NH3fVz0kW03UPEK5B0C_ilSXGWIAOGS7CoCwEwZFEChKDET0zs2u_B4PlInJbIPUOQxP6mAiwdntSbFmvrmnGDhnU0uTaVMECwSvRJYQ279fFYE92P_LUeusjQVn__4I2OzFGi64I5pdd5HAfArPos5MPSW09f8dJFJNnDX_YHxBZHvOF3_T_BuT4yR1pruL6bIKUIMo53HvDVH2-bhMFSXIy9Dckout5hO3m8dgFpTBfqbl13wdu9DIoy31gfrQN58IDLl9S-5wtC9I7BeUB31oinJVFDy0jV7QTxPViI-qfTDs2QmB4kYU=",
  "id": "rs_0b48cdf4dec88b2a016ab42c87b8a887d0b1f094fb2c2a599e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.19,\"left_z\":0.11},\"note\":\"The arm withdrew normally. The large pale plush sits very close to the outer edge, while a smaller brown upright toy is more accessible near the middle; I’m moving above that upright toy for a safer grasp.\"}",
  "call_id": "call_0DlxLS7mdJc2mEUMx1xMlWtb",
  "id": "fc_0b48cdf4dec88b2a016ab42c89ed8887d08ddbfd15b3e85699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0DlxLS7mdJc2mEUMx1xMlWtb",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8814, 1.3991, 0.7521, -0.3271, -0.6369, -0.6796, 0.9995, -0.02, 0.8124, 0.6075, -0.3855, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1822 left_z=0.097 left_yaw=0.0013 left_pitch=-0.165 left_roll=0.0433 left_gripper=0.9995 right_x=0.2957 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0048 right_pitch=-0.0317 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.3265, 8.9778, 1.2625, -0.5739, 0.0024, -0.0171, -0.0479, -1.4564, 7.0632, 1.6777, -0.0366, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a44d65d381bb7fbf77b074711eb68d87983e92be328a999dfb1f7f317b0f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c49bdad3d476b2ed3bc83459da15b0881cbf921a40a1e6a9f3bcc86244c944b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1f7cb392e016bf640f96e399f1545165ec3ac709401c41fbf24e408310ae28",
      "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 20 changed as sent

message 28 changed as sent

message 32 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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0045 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.3846, 9.2786, 1.8681, 0.1148, 0.1099, -0.0171, -0.0342, -1.1966, 7.0359, 1.7118, -0.0708, -0.0317, -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]: [-0.506, 0.8619, 0.7689, -0.6636, -0.4046, -0.3649, 0.9995, -0.02, 0.8108, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2688 left_y=-0.0654 left_z=0.1899 left_yaw=0.014 left_pitch=-0.1195 left_roll=0.0071 left_gripper=0.9995 right_x=0.2956 right_y=-0.0002 right_z=0.1758 right_yaw=-0.0045 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -1.6342, 8.9504, 1.4042, -0.2466, 0.0073, -0.0171, -0.1162, -1.5658, 7.1726, 1.6874, -0.0415, -0.0757, -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]: [-0.8814, 1.3991, 0.7521, -0.3271, -0.6369, -0.6796, 0.9995, -0.02, 0.8124, 0.6075, -0.3855, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1822 left_z=0.097 left_yaw=0.0013 left_pitch=-0.165 left_roll=0.0433 left_gripper=0.9995 right_x=0.2957 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0048 right_pitch=-0.0317 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.3265, 8.9778, 1.2625, -0.5739, 0.0024, -0.0171, -0.0479, -1.4564, 7.0632, 1.6777, -0.0366, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a44d65d381bb7fbf77b074711eb68d87983e92be328a999dfb1f7f317b0f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c49bdad3d476b2ed3bc83459da15b0881cbf921a40a1e6a9f3bcc86244c944b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1f7cb392e016bf640f96e399f1545165ec3ac709401c41fbf24e408310ae28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyPfIXxT1GFLQMEI07RX9rWO_x1hFBzPzxWz_N-8Ozj3ZVlRrJ69WyyUmyEw0gHdLoVAPI_oWtjSva8yBOev2rwoh6LGFNwJ9YAxCXy6afqr4-y7AWhRVauJIxEas_PkDLm8iSK11H4ZA2vLnzTEyitbQVEzeX6ndjpJ3oLhv3x2rzi4Bort0caSutCgOG9aR4kCQtc-RUWm0ry2icor5zJPOB2bkfya8ygpfWi8NAFxycB58n-1XNSpEKSu7f3IvjtoAO81RSXwM8TT6eAZT7r6zwpQ4GNG19uXv2AWoXkn_nywQTlSLe_Umwf4OcGyOuCVJAyQOpK3Qv4w8LT6JHxzQcRDcE349XIVuxKXPR4t95ROeA0MigX0fuM9Yz2wKS7FgGBScbVRd8GJlT0UedFHxH7d0j36VoDiQmmG4paE93DXQooY2X0dI9yVI-wBaO-LpS8yRK2t8cecOBjV48MAPW_B2NTgVmm37xcARscRXoUXxypokBCbX3a42dmjsOXFbP8QtFdIn-P4nXKzXvK-Ds9mpyV-DqPcBkH63UT20M699GAx4j2yqRIPWaeIsm28F0GnRCqHyy8_F6-IpM6ZjQ7CoubbRb27m1-Tl1_Bg4T5nitrsUIBmjyDk_5sOvtEH19xVDUtQHd_-DYHZO39TM52lsMN_mfK3MABcX1v8baR63Gw0-sGNfYBtNtXzbEe7G9eEfnAo9RzDr-T397FBUhCW65u0ZflTmjG7AVsofLGQz1eejfvJOKIqtG73A4N0IJ4bCrpiW-4jSESUqqeh-7ZdromMPgaqsXxpnHQK-HZrE8YZCjQbP2OlvJeVj2V2hcRn2oR1JVG88ddWM_YCWDkM0Ii9YbqSUCOPPFEU5hp2GJJSY0kvLq509hORkSdBzxGzFvb4ZdEMmSC0SD78RKZOqHdvabw1CrOqCpNZUxOIAbeAfKcqIKfcKpO9XO6TjN59m8xCXFy4NAI0ykt-eNE8pPPqxjm-oTTi0SZOXVppXtjhdmfkc-Xdtkb3OE6Ee4a7kBK7GQpPpqszL3YpZ2VUomg3nKoAHGhDMAtiejtWoGfxXKS_ACj6BQeumNYprlATpgW6qsPBrFkkfaMiMwVHuqUnwnh039kXyTl_oVk9iH3RG4uzLwJpi-dR9MBSyQbh7g1N1SljPAvFtxUmYGBPFH9VETTwJOv2GpjasfeHDnTQQDFbACD35_UA92eJDKl_Ro_P5T8cKU7wtcIiyUDUYrPoAxHYBoZtpjoEx9SZD4KNRwacu6kVrlDXJmdWU4ig1_vjyW5cmQjiiqZmoFp7z6RTtFTx3LPIeR5mzxqptulZfrgxVk7PrRNrY3R1WFyqVg0qcByFdwoXr60hPU3LwwVTJ7TV-TPYpAvX7-drHD-wJ7FVOJBQ2c59_7yOjPcnCMAwY4wK1cUf09m-qtNII3CHExKE9vbUXLDwfEjZh_rLjw8qAZUCW5xKsL40P4Qj8zwMfl4EGGXxPY3GJWsmKpUparUXL7tPx8PhNKsPtV-Muex7MjjZqxBEUj__mJ9HaxKj0gvEtEdunihfR9PvBuvhzOgDPDm79ydMUjEOU81a4_HOefeBSYMlPI4permJosYTSxLSeWVw-vT8WvC4oWknbVQh4ausESgvq3MLMYPRSFupYDRGfl35UvHmhZDxXeD2b4YlHHZ-t6uLmw0cgozQ8TWy5H0Vg5ClRZ8HTGw1fjJ-s8vNoDDLxD1Gygjf-HEopppD-S4MihyrHL8Pf3xHy8yH1Yq2AZpnl_xUVTwfwjpjcpuGW4rRryk4wKCLcuKzeJPKsilNYS8w==",
  "id": "rs_0b48cdf4dec88b2a016ab42c8d5dc087d0bb4491bbda9ad0bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.065},\"note\":\"The brown toy’s head is centered between the left wrist camera’s jaw columns but still a little forward of the fingertips. I’m advancing about 3 cm and lowering to head height before closing.\"}",
  "call_id": "call_CEvOj4WLw874tIa67zpLievt",
  "id": "fc_0b48cdf4dec88b2a016ab42c8e6b5487d0bd3722a64de21c6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CEvOj4WLw874tIa67zpLievt",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7944, 1.544, 0.7288, -0.1383, -0.5972, -0.6121, 0.9994, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3185 left_y=-0.1774 left_z=0.0626 left_yaw=0.0226 left_pitch=-0.1781 left_roll=0.0566 left_gripper=0.9994 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.1197, 5.5316, 1.5653, -0.1832, 0.1392, -0.0171, -0.1709, -1.5385, 7.0359, 1.7558, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867607988771641ed4ce931360837c2cc9720b688ad19df838b7b00346086c9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5742ee36e1de9bbd738125278a825599b9068f2780e1d58683f852d14ab639fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c500ae8ebb9b17732f38e88d44ae1cb160e05766f0f855af78bac392e1d2001",
      "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 24 changed as sent

message 32 changed as sent

message 36 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]: [0.1589, 1.0397, 0.5274, -0.1513, 0.0795, 0.0528, 0.9995, -0.02, 0.8082, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=0.0408 left_z=0.1204 left_yaw=0.046 left_pitch=-0.0977 left_roll=0.0072 left_gripper=0.9995 right_x=0.2954 right_y=-0.0002 right_z=0.1765 right_yaw=-0.0047 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -3.412, 9.306, 1.8046, 0.1148, 0.0952, -0.0171, -0.1162, -1.3333, 7.0085, 1.7118, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8814, 1.3991, 0.7521, -0.3271, -0.6369, -0.6796, 0.9995, -0.02, 0.8124, 0.6075, -0.3855, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1822 left_z=0.097 left_yaw=0.0013 left_pitch=-0.165 left_roll=0.0433 left_gripper=0.9995 right_x=0.2957 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0048 right_pitch=-0.0317 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.3265, 8.9778, 1.2625, -0.5739, 0.0024, -0.0171, -0.0479, -1.4564, 7.0632, 1.6777, -0.0366, -0.0659, -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]: [-0.7944, 1.544, 0.7288, -0.1383, -0.5972, -0.6121, 0.9994, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3185 left_y=-0.1774 left_z=0.0626 left_yaw=0.0226 left_pitch=-0.1781 left_roll=0.0566 left_gripper=0.9994 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.1197, 5.5316, 1.5653, -0.1832, 0.1392, -0.0171, -0.1709, -1.5385, 7.0359, 1.7558, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867607988771641ed4ce931360837c2cc9720b688ad19df838b7b00346086c9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5742ee36e1de9bbd738125278a825599b9068f2780e1d58683f852d14ab639fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c500ae8ebb9b17732f38e88d44ae1cb160e05766f0f855af78bac392e1d2001",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCySYYMvNBUV3vRWSlBXDIzptQ7S-528Yf90cS6yVAvLWI4bsAQyoNlBMhAJdmLativhn5cgy4yALQkmYGGU4MmDOgfAR3i6EkBxtmIcHNfS1z_I-Z1helXloQ77quzhIDLbtBUwmuxPexmrd41z7gRmJxEb37l29Dpdf421ulJ6u8bZdzwMtMWAaYUN-BD0JGPr4wu4fWymyFm0NA5cUn48qejKmRBjV8_S4qa-hjQKv7Az8_Q8pZXK7Tdc7sqa5i0Is8M4God3AtMK-erLn83VGx8XAzLAVRYzzba5wYNxgC02hf4G8o8BZAvQYe1wdd9lT8qLIUhGkPrlbW8rFwxOm_ekxI_sMaskPSnSJEv8wr08LSAVHe-B_6bEJ4leL_1Ley2vUV1-Km3_29vNdfSHOat3_w9_q8WPx2HS4w8LaqARW8nBBqZvdhotyMtkKJw_htfnUz03NBNcedoJt4EDRuTcMLAgRmnZAN6q_vE2vCpE_kkyQ-QauvuDQ1Ax2H5pDCPN933oUawRBs7GIvAeE8hgO6JhcdyX8Y03crHNQ_o4hFlJE8L_A_nUDnKu9kSbNRcNix1vjBl05iEWBfcwa-vaUJ3Oolipqp8K1zAF7tJQCE38ivHDkCbgEL4puuDnvrC0wdyg8xM5jPRwalhO4CSUFsSTFeynUH6MZySXqsEUVoLJQplcIHrsRWcyDOOgObXC6a2KRvu__6HjXULZ6D7_4gUFG4uoryMGBa3gHXEH440Ab1kZF1KMWsUBolX6rwZQR0tUosizwQG3KYk9krYl7xsx7rfAHflSNy3KS1ou0aKoysh3TVDWqRloOYDONectZlRd5GXpOT1nRSvjyq0wy6MWXE1XXIeSwGz_g1mQwPpKHO6E62ljcGyzdbF0hHR-132hMIwtFduf7T7nc2S4nXaht15Lqm0bqSF-y5B9i7RkkrCRJHiJaRf-5fPMzFHifBjSNwevTVeMt4H61_y_8Ign4m-34qvGebMd2v0o3bYBd5bT92xRH34N8U_qdE7C38n_ODEGivQVYs-4iKRFIu7xsubFon3ZyIGx3QTc8ONaaT6wsHQWyVVt7c8y6DhALoB-DP-9hT-913g2k7VTgm8HfFzNEGZgLbealHqQNSVM_6frDIoEECwRtrnYdSAWKlT1pC4d6J5GlML6nVs2-0wB2dnfN0Zw3ZUZXHOGYCwRM-Z6bcQz62PKtJsVgIw_tBfOgnBUGrxiPVRMdWfbGq-LzahIKezFw5slkooXhf25YSkiXkS2MHl5eFkUUK7wisTQnJa6xDIfwThRTiD96NwbaUxRuo8xdbfBJs0c9IUAgnwq-7e-qVugRM1qD5IPO3wxsW0DDwI-TcCldw==",
  "id": "rs_0b48cdf4dec88b2a016ab42c91792087d08301ec72442f57c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown toy’s face is now centered at the fingertips, with the jaws on either side. I’m closing the gripper around its head and will check the resulting finger spacing before lifting.\"}",
  "call_id": "call_ZJuWYc3hEuONVdWOOpNNCEFX",
  "id": "fc_0b48cdf4dec88b2a016ab42c91cc8c87d09637c85080167a89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZJuWYc3hEuONVdWOOpNNCEFX",
  "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]: [-0.7959, 1.544, 0.7273, -0.1394, -0.5983, -0.6178, 0.0124, -0.02, 0.8146, 0.6075, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=-0.1772 left_z=0.062 left_yaw=0.0253 left_pitch=-0.1791 left_roll=0.0549 left_gripper=0.0124 right_x=0.2959 right_y=-0.0001 right_z=0.1748 right_yaw=-0.0044 right_pitch=-0.0336 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.2838, 6.0376, 1.2772, -0.2808, 0.0171, 0.9792, -0.1983, -1.3744, 7.0632, 1.7265, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5362abc3b56688d1162dbc909bb2f2b25eb2b6bd1bb353752548301f0e7a614f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96652338861435d5524050d2ed871c07ebb3bcc96d4c24dd96b1b992fa83bb21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830999efd75bde02481dc1a5761ab76eee1ae6dedae237839c29b4ca4eb3c760",
      "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 28 changed as sent

message 36 changed as sent

message 40 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]: [-0.506, 0.8619, 0.7689, -0.6636, -0.4046, -0.3649, 0.9995, -0.02, 0.8108, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2688 left_y=-0.0654 left_z=0.1899 left_yaw=0.014 left_pitch=-0.1195 left_roll=0.0071 left_gripper=0.9995 right_x=0.2956 right_y=-0.0002 right_z=0.1758 right_yaw=-0.0045 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -1.6342, 8.9504, 1.4042, -0.2466, 0.0073, -0.0171, -0.1162, -1.5658, 7.1726, 1.6874, -0.0415, -0.0757, -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]: [-0.7944, 1.544, 0.7288, -0.1383, -0.5972, -0.6121, 0.9994, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3185 left_y=-0.1774 left_z=0.0626 left_yaw=0.0226 left_pitch=-0.1781 left_roll=0.0566 left_gripper=0.9994 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.1197, 5.5316, 1.5653, -0.1832, 0.1392, -0.0171, -0.1709, -1.5385, 7.0359, 1.7558, -0.022, -0.0806, -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]: [-0.7959, 1.544, 0.7273, -0.1394, -0.5983, -0.6178, 0.0124, -0.02, 0.8146, 0.6075, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=-0.1772 left_z=0.062 left_yaw=0.0253 left_pitch=-0.1791 left_roll=0.0549 left_gripper=0.0124 right_x=0.2959 right_y=-0.0001 right_z=0.1748 right_yaw=-0.0044 right_pitch=-0.0336 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.2838, 6.0376, 1.2772, -0.2808, 0.0171, 0.9792, -0.1983, -1.3744, 7.0632, 1.7265, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5362abc3b56688d1162dbc909bb2f2b25eb2b6bd1bb353752548301f0e7a614f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96652338861435d5524050d2ed871c07ebb3bcc96d4c24dd96b1b992fa83bb21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830999efd75bde02481dc1a5761ab76eee1ae6dedae237839c29b4ca4eb3c760",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyWmWnfO900TLgEK4FDA_05ffHzmO-HBOnK541lJ9ioHx5gVFzCZ23FBE8Tn8HlJ-SV-gLKpFJo4hQIvbElBsrlIWxsGH7YK9LFidGbizmBo98-QcFhQzfJ9XsH8CiSUa9errhX5GCkjpEq26Y7YujkedxQghA4B6QPfGaGoWST1ZVXkvqceb3GZMcHijRFOcQpucn_Y5-eCDdV2EV2iySPH_HLsvzqEWpbTtJyxu07d53iKn1NZvl8MiavfQPIq-VM8jZJaH6y6vJOwDGDU4chq0k4yQ_-PRN5PK3QnlFH-AVlVila8lwt-VPMluW7mf64GzFoklNVCH7jLJNCZz1O3Q5aLMCE6A0__dmYublHmQTGhdW309K_4k3Hq01Kog0Vk3OZlV0RnBTVNYNqSRalIPnpmKfJN0SOKyCifNiRiMtFi1uO74cGt4THApa_peIKfS4XxajK2IZDfuta3QlFcnwqcP4K3myQ5kqRL-8dSpLPP8MyjpbMUjcIKg2cIKIt32JTmi-Jpgzo6KckKZC3auMV6hE0VcQI6tFZKCVqCBCQ70PdXKZUm0SzBewaEPRGmBjWDlnasOU4qT6QH56I3OfWHmBQZhBrU2HCLD7r2wV_wEE-sRDHOf92xJOZkJKwZJWDPu-oDd7b-eaUdQnyON19f6cnMFaVCizoOL9TN5YPFpw0hgx7IsMia7uvFI7b2O9CWYIEhHoD2UmaOxMPek73dnpgNBImDMYT8zsQDWqqbwMbQwnAVg1EQ5ul_eu67tidrsr0mcAiprhclkbUXbjKvGfZWAscUNv7rXvZgQrpwMH8qMf3ogEkKEX7xauMKGqwVxOxfK_2ABwgNUp1QAo-bcDvkoKb6CLGPGRA2mcpgan6JAIs5OsLHJsgNADU-JTkzcFw_-jnHfY2H8feT5-JlhdBbcEMj_lvFnkeeF7nuS38cXdySkliMArLzfRwAuYKRbfCyTWaATwFcmlcaALJRyT5o4MQP1__GqG_16UHsYRG-GDHaNnKcAFiS6PqzLflOj3-NYrdXehYhgfu40hMFjdfl0069qjTbUGjUSyusXryQO07EYC3e6ouoSGedO-Tm79XM7fIhx3Q7_pFcGs16iveWW3b4x5JC8vacQVIVXkA60O0CLJfpxCjX17mws7JJiV3tYi0LlfQ4wChVwND8CKjgjDUwsP57n3ai9gDOQY69F2w_fIjQRqHfRLOQu4--T7GP6oBe8khUVnKhf6CjrkU8iIkb7-4mcV9tkT_EJ91eXuzvudPPQuB3J7kNmgu5PTcbqlC8FSSsomYIGnR3TP6YtMGelsBAdxfuQB0YQlg5atelpMKG6Mhq4L4H05viW7y8diCb-aqRG1x7HdC6cE9uGFGsEKtEso47cWJ_cQLCvdMZ-UCyif4AgScQqfKEx5KdGs_TR_ZirQSQfGb_BXLiLT2mlsfbmvEihGg49yMzsO9hBBnZU48RD1Nh6WKNkgdDH60Y7a0lrmnhWViraxAPdY_XrKmhG_Qjc0xFulZG-npDYVMKown2QcWXSvNxpPc7FdUZUhupZEZn01qQuOnSQy2eOZyXw-tpjdQlSUnw4SQ0O61tLJhHK6y_V1rH5nxTiNM39WHf_Y7qrwwdmnxZYeFlP0MVGipHyHxpQir8i78MQfNjjRvNDeF4rWdlTbhd6YMdf7JAe-g0wpAOhkBRltM7VzpavmLAjQ=",
  "id": "rs_0b48cdf4dec88b2a016ab42c94474087d0acedfec2194135a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.342,\"left_z\":0.065},\"note\":\"The fingers closed almost completely, so the first grasp was empty; the toy has not moved. I’m reopening and advancing the grasp point about 2.5 cm toward the centered head before retrying.\"}",
  "call_id": "call_SWlgrqvsmAbfzkijXt2QXfGz",
  "id": "fc_0b48cdf4dec88b2a016ab42c956d3087d0ae6162ab203fdc11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SWlgrqvsmAbfzkijXt2QXfGz",
  "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]: [-0.7395, 1.5951, 0.7628, -0.1341, -0.5686, -0.5789, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1698 left_z=0.0551 left_yaw=0.0418 left_pitch=-0.2053 left_roll=0.074 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.065, 8.2393, 1.4676, -0.232, 0.1441, -0.0269, 0.0068, -1.3607, 7.0496, 1.7167, 0.0024, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26e8d635b92f7ee3eb3256a0c39cda39ca5a9e525e95261f215832bd14f2a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8569c5205932d52a7f64dc9148270f22e74904e9abefd1f8969df3c86a0e64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e82e2ecc961b3f27b706ab893bac3fef25efdc04c3b593c170c9a59fd975ff9",
      "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 32 changed as sent

message 40 changed as sent

message 44 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]: [-0.8814, 1.3991, 0.7521, -0.3271, -0.6369, -0.6796, 0.9995, -0.02, 0.8124, 0.6075, -0.3855, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.291 left_y=-0.1822 left_z=0.097 left_yaw=0.0013 left_pitch=-0.165 left_roll=0.0433 left_gripper=0.9995 right_x=0.2957 right_y=-0.0003 right_z=0.1754 right_yaw=-0.0048 right_pitch=-0.0317 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.3265, 8.9778, 1.2625, -0.5739, 0.0024, -0.0171, -0.0479, -1.4564, 7.0632, 1.6777, -0.0366, -0.0659, -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]: [-0.7959, 1.544, 0.7273, -0.1394, -0.5983, -0.6178, 0.0124, -0.02, 0.8146, 0.6075, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=-0.1772 left_z=0.062 left_yaw=0.0253 left_pitch=-0.1791 left_roll=0.0549 left_gripper=0.0124 right_x=0.2959 right_y=-0.0001 right_z=0.1748 right_yaw=-0.0044 right_pitch=-0.0336 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.2838, 6.0376, 1.2772, -0.2808, 0.0171, 0.9792, -0.1983, -1.3744, 7.0632, 1.7265, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7395, 1.5951, 0.7628, -0.1341, -0.5686, -0.5789, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1698 left_z=0.0551 left_yaw=0.0418 left_pitch=-0.2053 left_roll=0.074 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.065, 8.2393, 1.4676, -0.232, 0.1441, -0.0269, 0.0068, -1.3607, 7.0496, 1.7167, 0.0024, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26e8d635b92f7ee3eb3256a0c39cda39ca5a9e525e95261f215832bd14f2a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8569c5205932d52a7f64dc9148270f22e74904e9abefd1f8969df3c86a0e64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e82e2ecc961b3f27b706ab893bac3fef25efdc04c3b593c170c9a59fd975ff9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyZVNADfnaed20DoizGdAitVRjS8dqjxJ-BklulpIyyUZevziUQul9y-AxqxaSOvXHJCfD4rUusgHUGBtn0ISLFb6wZByxuOrx4yX5ix83YKa_O7uo3n_5RmPefUWU5wM_btlffX5eBzg9QZhCgCfiun-Hu8X_7vngvKtPMMgN_HQWSTUQRU1W49CQ7MWEulqi8L9kKCM4bDCXCclYwVDdc874TZ5UFV9BII3VdAdVfKte721J77-Ttui6ZLipzIAugAiuLMF7d1ooj2_2C8a6hmLjzG8EuYKcyJ3NsqjwWC_L3WFxmGfJ6zgH2MQevYRfkBQLcg4FjmHvwmiArLIzoVAwRkL9q4q62KrJVQGsgw4ONQCp5CEVfHIy-EtqoR9lkW0yHs9H0_Afw307EbEyC5m3kuZ5rLpr3I_7TwH42Uu1DXfGgIHV2d27XJ47gIZ7WuzAy7wcpSHbHCmDUHA5LguUkEzU-gKNCnzrSWGvKzq1sem7nvIEZkmK7BFLoGYyOG0ZfmtQaCPSS7ybuzrZcsfoIwDclJtb26rTyxFdI6LMvSSRfRpn3eK8VtqGD1LkJ9rTkzR8RZ7XdRWF9nNKtpGM5IyX5Ic26yeGb5HmonKWXMzsUnUJc7vmuDLAlGmngub_uE93vO3JqexCB4ET8fMfeX51-V4IesIYtJLOilR-gIwxpR2SeuxBVXENdIziqo4gvkx3aurbWWkxYmpm1L5mRu-dDqTUyZ0ayqxrIdbQ82f1vnY8swaI3utNnvyeE_hM508Vj5kIbldYhIJbj-aGfZk0EjkB-AHiu3uUW0G6fgt5JOBZ8INgWPzYVyMt2mWgIHRQVsnZEgTWlWYa2ZebQ0QFocI2hOEsbyxG-2YYynPH3xuGIe6IMMR46xUgFJ0C8t7uwi7T5uluk6UeSmWC4RgYpwJOjqlyr4VIkg2t733YKu7u9dhVxg6M-VvgQLffwlTOZqRI1ZsiPe9kBhY4MZiS6oJ9OoeiJTyV4gBuq0CZwYkdo77gmNo5ZTVZ50WL54P9zcpDG9j5yvyv_Ci7-PGkDUVpncoMjrP0lIg7cBZh4fRoSXNh945uVtTfByoOBMzJUO65FXt163HzvWG2fAfH0Ws-0BVI7dIduSKDDlWNZKNkqstfauAvgzuplDxAd7lsywDJQMzNFezT9BvEbGm48t7ud2RX3zXxlrkNMS18Laz5FOidF2bXcUfmxTNTp_JvYFlLywVwKCjhFS8rOphJDCW-3Isac7hpIbs-KguE_wFiSkC1TISEZORPs",
  "id": "rs_0b48cdf4dec88b2a016ab42c983d9c87d08e82321951664e76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the short advance, the brown toy’s head is now at the bottom-center of the wrist image, directly where the fingers converge. I’m retrying the grasp at this new alignment.\"}",
  "call_id": "call_LXRWkcIsnf9B4RxPwV674ztQ",
  "id": "fc_0b48cdf4dec88b2a016ab42c987d2087d0a0674a64e3948558",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LXRWkcIsnf9B4RxPwV674ztQ",
  "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]: [-0.7364, 1.597, 0.7628, -0.1371, -0.5682, -0.5835, 0.0121, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1684 left_z=0.054 left_yaw=0.0478 left_pitch=-0.2088 left_roll=0.074 left_gripper=0.0121 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.8581, 5.8462, 1.2527, -0.2222, 0.0366, 1.0867, -0.2393, -1.4017, 7.1863, 1.7265, -0.0562, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bee9cb95ec41d48832048ad3047f24c02b3b1310a8c8c4c0b9bfd4cf3d3f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5523f61e05f429aad8ff483dfb94c65a18934dfcaa2a1349e25ff5d9747a0754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c07199e466cefeae77413d5e86c3522da003e1a88cbaa64d73c9262de11d02",
      "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 36 changed as sent

message 44 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]: [-0.7944, 1.544, 0.7288, -0.1383, -0.5972, -0.6121, 0.9994, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3185 left_y=-0.1774 left_z=0.0626 left_yaw=0.0226 left_pitch=-0.1781 left_roll=0.0566 left_gripper=0.9994 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.1197, 5.5316, 1.5653, -0.1832, 0.1392, -0.0171, -0.1709, -1.5385, 7.0359, 1.7558, -0.022, -0.0806, -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]: [-0.7395, 1.5951, 0.7628, -0.1341, -0.5686, -0.5789, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1698 left_z=0.0551 left_yaw=0.0418 left_pitch=-0.2053 left_roll=0.074 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.065, 8.2393, 1.4676, -0.232, 0.1441, -0.0269, 0.0068, -1.3607, 7.0496, 1.7167, 0.0024, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7364, 1.597, 0.7628, -0.1371, -0.5682, -0.5835, 0.0121, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1684 left_z=0.054 left_yaw=0.0478 left_pitch=-0.2088 left_roll=0.074 left_gripper=0.0121 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.8581, 5.8462, 1.2527, -0.2222, 0.0366, 1.0867, -0.2393, -1.4017, 7.1863, 1.7265, -0.0562, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bee9cb95ec41d48832048ad3047f24c02b3b1310a8c8c4c0b9bfd4cf3d3f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5523f61e05f429aad8ff483dfb94c65a18934dfcaa2a1349e25ff5d9747a0754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c07199e466cefeae77413d5e86c3522da003e1a88cbaa64d73c9262de11d02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_0b48cdf4dec88b2a016ab42c9baccc87d092246cf149e1b934",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyiqG29kbGB36OKixVoLJRMNLBuzNPYkBaMf5XQCJEb63BO2vlYjDLd4BBZAc79_RJ8nytKVc6DdsbJUPFfN201DXt4AdwWog5l-EO_9q4c02ktHyID4QO1Z31E9grY-Wtjw0K3HloBTjuohsktURuqhSGIckENtEzj8uFP42Ue8juQLdw_m3ShQ5Om7Zvp9EXH6DW7xuU3Fc2BCMK53XM8ivJ2nKxvB_cChlb9wDkrhZuQmZazbIG0kkEFzwF-9Mbi9VxI5y97-xhdF87j90ajZSyWzfOPcRYih2YhP4fMQyaKpjKlL9bz9rm0CXhhd2s47OjKVIhep3Dr22RaA86r33leVdzvzqPrJ5waY_YWtZSL4iX2Hg2tR-94h-sZuyGRZc8Dyugh3PkuKH_E2kGp4DcL35xMPki44_owxHH0pKnmXVezsXB0AMntRhfJUtSXK6js6bru0fZsZRC5lGQVtnE7M0whArL4zHF5f75sTf_absMAihhj9cNjTKqvjgdyI4vkfuRvGRUIzKaAvsOoSY9DGB_-VSz-TAnQZj4SYNZBe4XuBAdR70QT8UVyhCWc8WrH5ZS7mrqnpH6eoPumOEqpRxFL2ufv_u0EcoeNXtZJ_BxkmIwp9Va6dcFq-qT3ySe7Oeo7uQuqhsTLKxfh_CRm-mVSCaQ-AV9blp-pImUwb1tNz5m_Gl55EndbBqSE9620C431fP3tIPxDoEf7F_xFEFZOsVz1wbK5Ap4xyQXJ_UwvEJkoLO2REP_57NpTL3g72LHvUbe2B_ZSQLDo8VUIWvv_vWNDUKvRZooIebHaKuf76lZ1KadnO96aIJXKzKfK2EdoqjyGgSpctCL9Zs0eF2Y5-KVanXUZiEoi5PbnOJBhXKMaPhjrGobYSLljRS5oq_uaxzJkz3K1V4N-M9S91J2OrqucKtD5Obz8Po4aJb2mqYXV39L628Rc1-rguS7j1urLe5Pt13c1LOKThjWGcQ0qWC8rxyP3ti6cp08zdBS3KVMRm26XTLxQYPnrB3H1VWI70ZstkusisUtd0F48nxw87Elv52bBUcshkqcNDNkImAPoQyfNDiziVQM6HGw4JL1IZ_k3rvtd4XdpvmK6FCK1CmGzyky2h3AGkGpg0qplWt3itaIHviwO_4Zt1fyokEV47LfsI_oXU0r70qLHlBqbskrO_wbIreuCLVYxtIuE1QjXFv5FRJDOfQilKGQ2aZVgddkEjpIvj6rswsQO8aWuuomro79w6ZS3eCQgpufyWWTJiD2iRXw9bya06KUJKp2z2bsRzwGoaf_4-JyXAvr3cYiy6aWB0onyuPNtiO6g-d5jsO9uk03cC6jLEODrX_kluTBUaZNb_mjwYgOq6M-DSlLTitZ7XrndvvnUWlLiZCw0aaibvMgAq3Z-NYnv6L23p7rFZhAY3hysKd0vkPAyHbP5bawULxN4LmsSY7Fjxvtsf3NggbLUTAEUiawT1qBej6JW2Q8354LKA-XRh-wi0TdWaTarsrudX21Uex-nCjdDpCzw2Zc8SEHeYmsKpfUE4iIG0EWli0MC_1Pebst3KO-Wn3cwWLJWO9lDg6dHcZ7mULvyvWO6ZsIezTud6bXxRiLE5gqWYp9iEsbvW_3uvg0H65-p_PNyiL8=",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_y\":-0.19,\"left_z\":0.015},\"note\":\"The second close was also empty even though the head appeared centered, so image alignment alone was misleading. I’m opening and changing the approach: slightly back toward the visible body and much lower, where the fingers can surround the toy rather than pass above it.\"}",
  "call_id": "call_8dEiP4x1Q5Qrq1EuamlMIEb0",
  "id": "fc_0b48cdf4dec88b2a016ab42ca1455087d093c541c11ff882d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8dEiP4x1Q5Qrq1EuamlMIEb0",
  "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]: [-0.8177, 1.7176, 0.7414, -0.02, -0.6071, -0.6636, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3241 left_y=-0.1931 left_z=0.0233 left_yaw=0.04 left_pitch=-0.1988 left_roll=0.0562 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.1744, 4.3009, 1.1453, -0.3639, 0.0562, 0.0562, -0.212, -1.265, 7.1316, 1.7411, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16046bfd0312013dd352b7861a554426bd0fcfd1e2ca2b006229f6130b0d3884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:157b590b90dc02ccdba15b5084209a41040b0668734f7db1526175e8e4b44bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77df2c5dcb005374d94258618631dad027d2aca1ad24e5343113aa53e0625a6",
      "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 40 changed as sent

message 48 changed as sent

message 53 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]: [-0.7959, 1.544, 0.7273, -0.1394, -0.5983, -0.6178, 0.0124, -0.02, 0.8146, 0.6075, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3178 left_y=-0.1772 left_z=0.062 left_yaw=0.0253 left_pitch=-0.1791 left_roll=0.0549 left_gripper=0.0124 right_x=0.2959 right_y=-0.0001 right_z=0.1748 right_yaw=-0.0044 right_pitch=-0.0336 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.2838, 6.0376, 1.2772, -0.2808, 0.0171, 0.9792, -0.1983, -1.3744, 7.0632, 1.7265, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7364, 1.597, 0.7628, -0.1371, -0.5682, -0.5835, 0.0121, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1684 left_z=0.054 left_yaw=0.0478 left_pitch=-0.2088 left_roll=0.074 left_gripper=0.0121 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.8581, 5.8462, 1.2527, -0.2222, 0.0366, 1.0867, -0.2393, -1.4017, 7.1863, 1.7265, -0.0562, -0.0415, -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]: [-0.8177, 1.7176, 0.7414, -0.02, -0.6071, -0.6636, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3241 left_y=-0.1931 left_z=0.0233 left_yaw=0.04 left_pitch=-0.1988 left_roll=0.0562 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.1744, 4.3009, 1.1453, -0.3639, 0.0562, 0.0562, -0.212, -1.265, 7.1316, 1.7411, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16046bfd0312013dd352b7861a554426bd0fcfd1e2ca2b006229f6130b0d3884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:157b590b90dc02ccdba15b5084209a41040b0668734f7db1526175e8e4b44bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77df2c5dcb005374d94258618631dad027d2aca1ad24e5343113aa53e0625a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCylJ5wycbsSNvI045CQM3dmzqK4gRu2Jm7-ZdOZkScUJ6sG8H2BPsyJc2e6kLo_pad43mHnKnAta1PfTuTGxp69W1kK3uaRR-266CpIAetGYUipvcIBLSuwKot61YEbmk9bU7XwqFZK_2ZPfqEcvKNny5BGvyB9PArRYv2AUZRiaUwAnk-O1S9GxfXoYKw8qljp3zRu-mrSWi8Dg3-wtHOSDL4ez_byvvaGHC0w4dHDmvUSsV3WIXTUQzuGEF-y1ayZ_jOsxTnih6vXhLcMHaGeU8pRe60Ay97lGoaw6Db9FwsnA8eomMRFPqZd16_s_Tgaw0dZM0JdYb92y5po2bXU5He432zYn1O-c6SQHSTbgw9yL1TqgqX5P4BGVPiiM77gIQ62LzNhm4-poNw-YJM7QQyW9Hxvv8by2Ltqy5Vy6p1vTeLJPB2STYmzhUOIbzT88OzxVQr-xtC7FYJAtTdTEPzwPJzJt5QxV7MLLbfByQx32-nzvWQJBXGyCGcuvTkRDUfzaVHhYU9gXsBreDl-nJlWx5TkFaopVNq2XyhSlaPG2s-KOQmuD6LyDM3EAUjqkXLt5iP3wO8HMpFPdbYvSs7yqUNlguVm7jSQqSi6bb1oG9n43RM4WS14DRT2a86Fp_PSv4mWRE4K--VXPg_9rhLv4GfGVbhISUNDymP3pQBK5zjb_-BZjxTwCrNsebaefkrc7-JwlWCBxLYdnRPZAL9OEKhcxkz47VwFZx9JAJn_L3oW82TxwYwUT7Pn69lfR7eYbSMEE6uO5n7xEA9AN-3w0BeOQr2o41Xgx4hv0XCMpMGhpA2QVG1eVjko32kqiU9ykE5B7cS_snHhN2sFrfGvcCLBykfQ84IjCI6VMKOD7tp1rldCO6v0gA0xfhVoSWRdnLj1Ge9v81wR0Aj2r2mwJKErR20L_Xp0z-85LqepG5RF6kSgvs-shul5-uTOle698OJunaIs6hzmihQq9fpkGn5lHuTx6fDiDe_urn9sVJgFBt9wvW2oZwlw3Xz1U5FBBR_fGh0xpvGgYLWmI16HlrIT0aRLWQrsSArifroHNtKKDDGKBl59M8rkDpnWPLrPRKHfrHEPRrEBfbKgRci6Gj_2S_UVt5OSS1silRXsBkV1l_dUe9HGZw6UkxLn6Nont5mkp92mqfhDMgHfY0wtC-sJZ0F5QG7M4BMrjJ5s_YRA941Hl7wFri5bNnHuZsWW4V8h6olJc5SBbqNhvoeW-3WbDRx4P068LNamWLGCZ1nuNdetBrSeCqp0IqQ6Uhky0TqCw1B3pj-1aubiN9v3YAXkRS0VSA9M58PNPgAx1XNMJ34A5XwpGMvcKdGM",
  "id": "rs_0b48cdf4dec88b2a016ab42ca42bec87d096230a585ecd093b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lower pose the toy’s fuzzy body sits between the open jaws rather than just beneath their camera view. I’m closing on the body and will use the settled jaw opening to determine whether it is held.\"}",
  "call_id": "call_0hQkzlLqAvl5Cll8wvH6IJf8",
  "id": "fc_0b48cdf4dec88b2a016ab42ca4850087d0a5482fd4e181e044",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0hQkzlLqAvl5Cll8wvH6IJf8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 1.7279, 0.7383, -0.0139, -0.606, -0.6662, 0.2081, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=-0.1932 left_z=0.0195 left_yaw=0.0399 left_pitch=-0.2041 left_roll=0.0592 left_gripper=0.2081 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1709, 5.5043, 1.16, -0.3443, -0.0024, 0.8913, -0.1162, -1.3333, 7.1726, 1.6874, -0.0464, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a57c6dc853a29a972e7231738844b01fc403bef22bdbd346fd8f5fcbc11d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95cb7ba980c5cf58d5ebb31bf47356b0799269dd417624ac0bb1c544c8a389e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1751c7e0be427ec84b19245f6180f52aa4ee31c61c645dd8abca673b175940c",
      "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 44 changed as sent

message 53 changed as sent

message 57 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]: [-0.7395, 1.5951, 0.7628, -0.1341, -0.5686, -0.5789, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1698 left_z=0.0551 left_yaw=0.0418 left_pitch=-0.2053 left_roll=0.074 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.065, 8.2393, 1.4676, -0.232, 0.1441, -0.0269, 0.0068, -1.3607, 7.0496, 1.7167, 0.0024, -0.0366, -0.0122]\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]: [-0.8177, 1.7176, 0.7414, -0.02, -0.6071, -0.6636, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3241 left_y=-0.1931 left_z=0.0233 left_yaw=0.04 left_pitch=-0.1988 left_roll=0.0562 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.1744, 4.3009, 1.1453, -0.3639, 0.0562, 0.0562, -0.212, -1.265, 7.1316, 1.7411, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 1.7279, 0.7383, -0.0139, -0.606, -0.6662, 0.2081, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=-0.1932 left_z=0.0195 left_yaw=0.0399 left_pitch=-0.2041 left_roll=0.0592 left_gripper=0.2081 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1709, 5.5043, 1.16, -0.3443, -0.0024, 0.8913, -0.1162, -1.3333, 7.1726, 1.6874, -0.0464, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a57c6dc853a29a972e7231738844b01fc403bef22bdbd346fd8f5fcbc11d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95cb7ba980c5cf58d5ebb31bf47356b0799269dd417624ac0bb1c544c8a389e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1751c7e0be427ec84b19245f6180f52aa4ee31c61c645dd8abca673b175940c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyoNDCqciCBR2bo6HcEcEe0in521_BODwTaDXNgBs13hudVGS11fB0CQUQOnoHhArp1fYUa48JPpcZVEb8_aZGcOLwpivOAyqERoi0hnc9MSrubp-c9l-f3fIqwFD-bb7r7Rxvy-wCnxKBZE_wkmZXC0BFlDJbpJTargJKE-YfcILlUb94VZEzAzk7z7ma0M6CJArLSRkhDxULodGbEWnWHOk_gDcWEgwn9zz9EAr4oN7g_oN_2uNS18NRrVjj9ik1A1nnJ3_BGGo_-kpgJlc5mjierem-plJedYgAKRCRFCzab4cdjrBCjHIw4H4FZlqQsXHyBnaov4VpG9d8riulbV8BpU4RINVuJA1yjMt2rz8-VgJQ_BYFRjUPiiAl4XpP9eotLrtPR2u8MZsz5g0i27-KUzkM207xaQKAessyhU_qk7EGtVk6Qdomjg4UL0wfj3ogBBibHHZsoezmiQhN-3gMaJZ1iZVMYg9ALqu1oGwXLna9UA28fQEAoKIGE1Hfm74TemuFazUEsCM14q4woN4rsfUI7jGZC0IGRiKebt0yhMzYlmokgdhzTy83B62YO9KJHrS0RIWUSC-qKOkWPd0b_34HHTxujMXolrLYc6De-4GPAOV6osbBUnPi94WVOKjkXPCoqJIevSNtzEb925Lkf0fXT547fnypIB9xJmo9bd1_JfzAdkx0vbiQKs-kmU80p7nqKICIu7AdW5COi-yfUuusU-fEyk-QGBHDjpYrDkn11J82_imDCLsggltsHT3BOfKc5QRvhVZs8oe3IPRRHpmK-0h14JKjJI-aMcOFj9qAaUnX81VFguO-dt32F53OxbBnGUWc8-XwD26KS96YUAWznIR6kf5BqHrsjDGkuz89-TEKyBRvNVDIpJkL0Mi-ydm26aFjBmLFcWUGLMF3MwJ6geV7W9wOxhV8E-YCgJp2n082D9jY4JgaKqkFMUf9ZBWCvHME1v4DdKlreCb0y0opGAHmVbBI3vHc5SNaE1TBox-ch5n0zTEIMq4kMFtMpKDiuwvk_iH9KJYHFZSdzIsMVUL5x7pFdRuQgb9odEF9SWhoYtVej_PS0LHi9ay4l_Gsttvh4bDr4gWNRCrt-qy5_EDfmUnMFaJJVEAKvtD3IKv5v3fwTxqmDJ10DnGQ7b5s3EetAv1VKvheGh1lwxXuIvy0ANHqODgNzTMu252Xaj0DhhYE3u2W4kNaBoZvGy3wEEyTt9iSQwVIt5SR3JWJB9YP28wDvb9CgT8e937l5ep9Gk0_2PLZZRZ7wc843mXo2lO8NowLKmwZQvh7O1Y27u9Dw-SEBcAQ7y_rAiR6Gb_FAouV-8rxB7g5qqcpPyr3K1EHzmJYCiaEQWQ1_thI1cWIgk5vdL0eW_js=",
  "id": "rs_0b48cdf4dec88b2a016ab42ca72fc487d092a359c0d9255066",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper stopped with a roughly 2 cm gap, unlike the earlier empty closes, suggesting it has caught part of the brown toy. I’m lifting it clear of the table to verify that the toy travels with the jaws.\"}",
  "call_id": "call_gs98ltidbFw7mzlh0wUOxehw",
  "id": "fc_0b48cdf4dec88b2a016ab42ca7936c87d098610ac243c66411",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gs98ltidbFw7mzlh0wUOxehw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 1.4982, 1.1126, -0.664, -0.5987, -0.6823, 0.2106, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3197 left_y=-0.1912 left_z=0.1515 left_yaw=0.0519 left_pitch=-0.2381 left_roll=0.0794 left_gripper=0.2106 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.0045 right_pitch=-0.0381 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.0752, 9.2239, 1.0574, -0.398, 0.1001, 0.2515, -0.0479, -1.6752, 7.0906, 1.707, -0.0513, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbc21abc97e97112d32fa32c7eacd3b4d1eb78b145a186b31dccdb54881faab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86930975a923e65c8844c87fae87d7820049f45641d9a74af405ecae93639ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509bad69b629878b6cd9908c34de886f1a4c385cb2bf45c134a4aff3f30c3be6",
      "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 57 changed as sent

message 61 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]: [-0.7364, 1.597, 0.7628, -0.1371, -0.5682, -0.5835, 0.0121, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3326 left_y=-0.1684 left_z=0.054 left_yaw=0.0478 left_pitch=-0.2088 left_roll=0.074 left_gripper=0.0121 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.8581, 5.8462, 1.2527, -0.2222, 0.0366, 1.0867, -0.2393, -1.4017, 7.1863, 1.7265, -0.0562, -0.0415, -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]: [-0.8196, 1.7279, 0.7383, -0.0139, -0.606, -0.6662, 0.2081, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=-0.1932 left_z=0.0195 left_yaw=0.0399 left_pitch=-0.2041 left_roll=0.0592 left_gripper=0.2081 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1709, 5.5043, 1.16, -0.3443, -0.0024, 0.8913, -0.1162, -1.3333, 7.1726, 1.6874, -0.0464, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 1.4982, 1.1126, -0.664, -0.5987, -0.6823, 0.2106, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3197 left_y=-0.1912 left_z=0.1515 left_yaw=0.0519 left_pitch=-0.2381 left_roll=0.0794 left_gripper=0.2106 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.0045 right_pitch=-0.0381 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.0752, 9.2239, 1.0574, -0.398, 0.1001, 0.2515, -0.0479, -1.6752, 7.0906, 1.707, -0.0513, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbc21abc97e97112d32fa32c7eacd3b4d1eb78b145a186b31dccdb54881faab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86930975a923e65c8844c87fae87d7820049f45641d9a74af405ecae93639ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509bad69b629878b6cd9908c34de886f1a4c385cb2bf45c134a4aff3f30c3be6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
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  "id": "rs_0b48cdf4dec88b2a016ab42cab756487d0983c2160a5676873",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.12,\"left_z\":0.19},\"note\":\"The fingers remain partly open after lifting, but the overhead view still shows several tan animals near their original spot. I’m moving the closed gripper away from that cluster to see clearly whether it is actually carrying an item.\"}",
  "call_id": "call_VV8kkgrpz4GlbTK1667Rktrj",
  "id": "fc_0b48cdf4dec88b2a016ab42caf5c1487d0a0d2f9083aa8aa9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VV8kkgrpz4GlbTK1667Rktrj",
  "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]: [-0.831, 1.116, 0.9833, -0.907, -0.5987, -0.6914, 0.2124, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2543 left_y=-0.1256 left_z=0.1901 left_yaw=0.0437 left_pitch=-0.2313 left_roll=0.065 left_gripper=0.2124 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0045 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.1385, 6.2974, 1.0623, -0.359, -0.0806, 0.1783, -0.1846, -1.5932, 7.0359, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5be889b1ebf7672d00aa0aa6ca65a0adebfc2b81eed865aaadffa2c87e12c10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe5ce80b00472e97e043ae523f551cbb16fbfabeefa5fa77ecb9845ffca57c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15f80337d95a69cc92958af194bdf8b15cfe89c4a905e8780e9be4dd0abf13b",
      "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 53 changed as sent

message 61 changed as sent

message 65 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]: [-0.8177, 1.7176, 0.7414, -0.02, -0.6071, -0.6636, 0.9953, -0.02, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3241 left_y=-0.1931 left_z=0.0233 left_yaw=0.04 left_pitch=-0.1988 left_roll=0.0562 left_gripper=0.9953 right_x=0.2959 right_y=-0.0002 right_z=0.1748 right_yaw=-0.0047 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -6.1744, 4.3009, 1.1453, -0.3639, 0.0562, 0.0562, -0.212, -1.265, 7.1316, 1.7411, -0.0122, -0.0464, -0.0122]\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]: [-0.8196, 1.4982, 1.1126, -0.664, -0.5987, -0.6823, 0.2106, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3197 left_y=-0.1912 left_z=0.1515 left_yaw=0.0519 left_pitch=-0.2381 left_roll=0.0794 left_gripper=0.2106 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.0045 right_pitch=-0.0381 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.0752, 9.2239, 1.0574, -0.398, 0.1001, 0.2515, -0.0479, -1.6752, 7.0906, 1.707, -0.0513, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.831, 1.116, 0.9833, -0.907, -0.5987, -0.6914, 0.2124, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2543 left_y=-0.1256 left_z=0.1901 left_yaw=0.0437 left_pitch=-0.2313 left_roll=0.065 left_gripper=0.2124 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0045 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.1385, 6.2974, 1.0623, -0.359, -0.0806, 0.1783, -0.1846, -1.5932, 7.0359, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5be889b1ebf7672d00aa0aa6ca65a0adebfc2b81eed865aaadffa2c87e12c10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe5ce80b00472e97e043ae523f551cbb16fbfabeefa5fa77ecb9845ffca57c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15f80337d95a69cc92958af194bdf8b15cfe89c4a905e8780e9be4dd0abf13b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42cb291e087d08402f517f1b6c371",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCy67Ol1p0WTo8YcGPNl6nQqpcAELNBoodpU55D2NOoj-8_4jF-tDBE9SfBPQOg_r2KzsU4kCgjyPHF4I7__rFr9dPYQ3CtKYcoHvRgx_STRQ9tn4pFpXxhChmGfvnq0AUjq0iEYqNb4eZs8ybL7Qn6PtAT2bJmeJeVNIhndFePXs5z42Mr50iyApIJ1Sv7ZSBehH8vNAUOPQZdLIp_daTDqh1Yaf6eI17Fmp6tZBFoNgYXVAfAcLmfW2rwamoMFimZKtGluKXsRtlZo0fsptJgnfnkJCGhsMl5fvxIQyGsu4h1e5hAHiNefUPYVKWiwN4oveG1y19yzT3E4TYRV6Eewdf4zz7Qpx9MrR37b98yBCrtPrtTuhIpWuZbx-C2UDZy47kshcITm3GL5-zILM7Wbovg771ga5jPg0bQ0R1-Issi-KRfgZyFaitTk4vKZpi7cu-s1vEdGllN9LTg04V3dvXYwt6HQkaPPjaXeYaj2j8HaZ9DArl98-N_9tAx9eKmGhs_mqDrBd64SMHr0Wt3A2WXYDYO9NJh_jxWaeJ6wZdjjlYI9Q64oF33RWGwecabUeFhXfSpZ-5vgh_O_bZA1lVsn-hAF054KU-zRAPHj0XqhI5X2Y-umY7BwwuGHI46tDi30vDSbg4SGtBHV1rCyAw9a211ZcybBLR67jb3dOm4R3RB9M9TCak-6DXpq8CqRHcaSbvNqpkyIGjHiH6Xnczg0LUsWwAQWWJngTD5O-LOi7Cl5McKxd--NKjiHp_jjmrlM92DkLYNBnXHhiLykXyxxzSS1zKW8VCTxNDLRLaFh-vHIua6OzlCTXQvceKE2idCqCsjL8RB2iPfsgyltnDEhmFHJgyBDg2pUt5bu4Ay3PdAUILYdWiyYwuP5h5NP-C2MHzvzVSbEDgCl0ChzAmK6xVAPo75kDJ-sI2KP7cx2lP7Ln-RT6q7n1esD-NOcIInQyVxtsrkNPFyu667SBEasHoQc9xF8Y2GzK4rXgMlCvAoPeWX3c_bDd2QJ6U1Kk63D4NNcGeqWkbNKJj3Pwuvcqj8MvgraFQizE-EItft2F5arPI4b8Y0NJMm16ePCkstQCr91HZ8FemaQ0ehIH5CLMvTIk4JLAUqXzpsl5gGJ3a2elKrbcUut10bIKzwEG6CwrH0d6tz3DHOyrG7UbUZKGNUgiBjQ65YsOOgKjBNxJKoGPI7dWwENddijPlyy2hn8ZL-koDmlM0X4WjY1lGa5o6EdD-J8-v82hWai5JCdKVW8lwTFQ9XU19B14veBiC45PL3D3EEPteyAg1acCOvGv7UviupAg5PCmSDZNHxEsLxlWcalMnwP1EwzpMMmXsTdz_8Z4P52HKBr7gfbR6Jhgizou6qZzpUmdyAwOsVuWsS7ekehOEubGBBXKTmYdFVidnAOrBJYtogNu2ee-uu0DaYuznGGrE2cLf2mv8hjzDY-XN3KyJXQLSDrOamKoMMtRbFwwS0SsGJViOQd1PaChSGqnh07H2jPc771Rw6vxHiWUgW-OwnU2nsNZuCXhPJl-rEZNCQcChpKRHQZM0k1GqbbEwseTVCbQE0x-c-Pxtkr8Iag7KPkUog-t5-avAcZeWFtEy0Sh_I64M9vx-kxBpS_qw3iAqcHrWrSQt-YkorcuLMdgkLAeBpBA4Ha-FhqBQSGcqwj2KooAZhLme4Typi3qijiyTBdrWSuw_P9INvTGbjv-66vZeioV9ErGbmKz8ZLiLQg4K4USZRrMHAAsbCDJvjYyoX1uso5EEKjj_8PM4hLVVwXmLCNXVgIaGjR_F4MZaA9tAhLHFFgHk-jylv6btLcctNeoaFVYcZ38d6s5a_UK8OyowmBPphry5RqU7e2jeJr8A8ok67Ltf1ml-Hl5oeQD7H6UraKUuC8ME7Wm3EpOv5422YVdNG11kznIm-en1B8J52fCmgQwWyNBBLHedtyqg01Psefi_5k62YuLFwnHpaglr3Vrt5yq4W0W28EhKHUiTIgRIegFLi9SIt8Fjq4KvuE-tVXCiRxIUj88Ro9Tswy_TW1Z9RioBEtlWZY4OudYCiysC9USQf4lVs7U-xmPHqblhEFo-TPnLuXe7QVNX1-bUSiT5YrTtrOlf93IV3G_2sK-T3g20wSvPXUN4lUnRa17uDsU9-o1hS-AP_akVCO6SUxrRDQNdrwHrlZOdX97b52Oak7eNHDB5BN4Lb9gtvgTdhW3EP8c1TRylAY8xstwE_uUwWAwyqQXHOFvRTXX4a0lAAkxYXFQW1PEcXOsi50WiEtI2KfcJdG3CLx5ZC7xfX85mVNf1_eGJImmaO22BfdOj6swyk-bq3W8HZFLl6Q1HoGVLk7I8Y4mToxuoYavK14YHF94qItZFzYFWvuwX9wyc4MERkH74M8Y5ujH52V8a6Q3gx6p3JgpY5hhSx2AkyuwzV7QBST9dG_dVXsecBQ79c3mVmNnubiC_B55_nkJsglt69n3POu6kO_7oUOY-Cix6FGFVfgy6fK4C1KSI3IGzgXW_vo3X2lRAQXihP3iw8IHc1Y34usUgz9pX9zAn0kOLsQH1xkGtTBbQw1-i8ZTeKOZO_GjGlkxDIpYg-9dmIyHAe1IT96m4-6X7Ko7woQRASoavFvhP7-oW0Knm-oLTr5aiz6fcep24jZ7-Yira2hyVtzOG7-IuvOTIsWF96-NFc4wVew_vwlCRkLA4mDraZtMgBS3qRfHaXBSuAn0GGZJXOPmgYTcrd4tR4NAo1lzNvYI4io6dhSCf65vlLpYhTGCK-JCMkvXHQxmcwTmziwVNUA7zTdILdiR5fGwEsHsFSMeriZj_wHIMYB9bkR-qrRRg==",
  "id": "rs_0b48cdf4dec88b2a016ab42cb6a1cc87d0bf917046358e487a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.105,\"right_z\":0.085},\"note\":\"The wider view reveals two distinct groups: plush animals and slim writing instruments. The brown animal stayed on the table after the lift, so I’m switching to the more accessible white-and-black marker with the right arm and will sort markers separately from the animals.\"}",
  "call_id": "call_SKwCkQIrRQ6Eyjh9XHbVZY41",
  "id": "fc_0b48cdf4dec88b2a016ab42cb97e3087d0bade42ace0a63a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SKwCkQIrRQ6Eyjh9XHbVZY41",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.1194, 0.9825, -0.9123, -0.5983, -0.6968, 0.2153, 0.6807, 1.0248, 0.3485, -0.0753, 0.5232, 0.3943, 0.9998]\nstate[eef_state]: left_x=0.2537 left_y=-0.1249 left_z=0.1884 left_yaw=0.0485 left_pitch=-0.2375 left_roll=0.0685 left_gripper=0.2153 right_x=0.2667 right_y=0.107 right_z=0.0789 right_yaw=0.0259 right_pitch=-0.0745 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.7829, 6.5162, 1.1648, -0.3297, 0.022, 0.2955, 0.1026, -2.7556, 6.2291, 1.707, 0.3687, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8589be71e9b0d92fc935bf12346e699020fb72fa0bb75abf7fd11e49246d98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac6cc09b860dcda4530d36d128b54aa0b55bbe0a288563086844efdf7945e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afa4189fe62d503cf7daf00339abe6e9661492205139ed0077b61e5c8f956f2",
      "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 57 changed as sent

message 65 changed as sent

message 70 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]: [-0.8196, 1.7279, 0.7383, -0.0139, -0.606, -0.6662, 0.2081, -0.02, 0.8146, 0.6075, -0.3851, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=-0.1932 left_z=0.0195 left_yaw=0.0399 left_pitch=-0.2041 left_roll=0.0592 left_gripper=0.2081 right_x=0.2959 right_y=-0.0003 right_z=0.1748 right_yaw=-0.0048 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1709, 5.5043, 1.16, -0.3443, -0.0024, 0.8913, -0.1162, -1.3333, 7.1726, 1.6874, -0.0464, -0.0708, -0.0122]\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]: [-0.831, 1.116, 0.9833, -0.907, -0.5987, -0.6914, 0.2124, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2543 left_y=-0.1256 left_z=0.1901 left_yaw=0.0437 left_pitch=-0.2313 left_roll=0.065 left_gripper=0.2124 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0045 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.1385, 6.2974, 1.0623, -0.359, -0.0806, 0.1783, -0.1846, -1.5932, 7.0359, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.1194, 0.9825, -0.9123, -0.5983, -0.6968, 0.2153, 0.6807, 1.0248, 0.3485, -0.0753, 0.5232, 0.3943, 0.9998]\nstate[eef_state]: left_x=0.2537 left_y=-0.1249 left_z=0.1884 left_yaw=0.0485 left_pitch=-0.2375 left_roll=0.0685 left_gripper=0.2153 right_x=0.2667 right_y=0.107 right_z=0.0789 right_yaw=0.0259 right_pitch=-0.0745 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.7829, 6.5162, 1.1648, -0.3297, 0.022, 0.2955, 0.1026, -2.7556, 6.2291, 1.707, 0.3687, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8589be71e9b0d92fc935bf12346e699020fb72fa0bb75abf7fd11e49246d98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac6cc09b860dcda4530d36d128b54aa0b55bbe0a288563086844efdf7945e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afa4189fe62d503cf7daf00339abe6e9661492205139ed0077b61e5c8f956f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzBAJ-Z8xRCYWL9FfP1NKidFAW66L5beyS2Qb7qH1XO4vf3bEpK3bcoYnVDVTNYOlHhdKUHrTE0iQPtDnjNgIpMDxM5uKJlyUCQctQy1bACFDQTbN5bBQzaTuhdnCLAibx73RvoXqToiKJH54PxEizn2FS6wi2gFnuvCH6t-JBBpQh2M7qhagCjQ2_e5W1OzbJ8ehYAzaGV4Zud9havBd0_kiOh3uEqrQlqi5vC7hg40DB5MgTbxREMVdvwJlvCN48A1fR6qV0ouS7eS9mlbcJKnX_Bhq_Y9MqTsKFL7_eIVJ0NqFaru8xxsKWnXa8jn6XCb3D203Gy9aK9wxE55u0TLf1-L8WOQDShhFrQ90r_82Syb6c4e3Zip26zhmmhjJgyX3TfE1IAKQpqkOPmpcAp2iMt1Y68MWG_Q0Yisl0552qayJ-gDAd0v2uLisaBjfLPltXeyB9M-Bspey94x7QnnKyjyGzZGlQSV40KfAylssKpc0bfAu2Az9tujkBbQNPpdKLlxBnTfHrNRZnMmaxVm6C0rit5Gs3zBJekO64fPhAOlxVav1XSbSLk5VFSGgDutWt-FSVQUa38_QGRfd8Bo8kBnUBS5_tipzVisV0U_txN_XhRohXuSqaI89jF_NltBaHDD2KRy_G0lO_csemFSBJAnZLFobvN9z6rulsDoz5_YQB3MAtotlawPdNOuyw5YJkYQe2frRSifqruyveEgfA9QOIq9NqsUQIRKdrrPx9KgbMdVysEnvlG1c5TEut3SpZMBbA5_I-zHdh76IkfhTCo5dc7WE9EekPuBldF78b1Ai7sm1_8rgktrzVGu5A_2EWeJjU0XB94-w2r74KXtqkW1_n2xNa2JAvWwcu3jAollxENzMLzXJ7HvqzhVMq4lyqXCT-KTJkYQx_1En9o56tXUkHD_Fj2dL2pYRPlKdi03JrAi8JtbYSnskVaOIUjEgTTDpTymhpux9yz9CCHljn2ulQupCpMD-NnxdFgg1tr6qWRf5HYLBEzsX-cPRw8F60jAoOIgaUZwXIPSMRg4nonDHaHLd1YO78PDXWFalj5zHWU9x_PYCybK3N_n2nepMqLOl424SOZENKCaXXPIt_hbKsZMNbeywMRPWzF5xYbfChAWQhrOomwtFFx6adhIrAJ58em3Zgz7tSDyD7I3sGIEqs2g8dNndsOgT0LFFNp20u2OpGy4xVoewhVOAKhRvTT-VGPKGXezmP4jrmI2Bs5MlPd-u3svC-TPiw2d7pXayfUIiQR7vDzr-0fTMr8Mh8mIXXsG1uMaP9GicGZ2iP8D1Gj8MOCoTlXCmGmPYYykvrwU32-Glb7JBTaVcnu0_c7IEZYgphVdX8KYKRWOip6V83srb6BzmrsEV7VCQjRkMCNnadSlbAXALxRfNM2mddXTtu3UADGxuROEYga2DdUqvIPCAynbaBMi_c0EU1MyyTOpVyoNsvN1t2bntupCfEfr8B9dbzVWIsnIkAmDZaE-7fQ9kd6qdi6W83YRnxLg6I71rl7vSmW6HLktB0ce7Jyezbi58O8VMWiQlxst10lXzFsCJTN8H1HUtc_YzenQmyk3ACLEFRsxxLiJmDdVO0Adp8z4eCJu3p_z0Meq7jkeTNK6ADo2klD--dEacVXaXdDO-AM8fnMQAonD6qmjhPEsVBWVUd1bnvOx6Ekgd4hxHI2FTR9BKzxUotV0PSWDtZD2XQYOS70uIeOyxFeoqc39RwD1Kjf4a8x-AbZ0cftFd6jTMBFQYHNUDCzC59EjvYbT-Xz4pGNatS_ihNhPraWYPSvsVVCwNI2Jbx7wHklSiEP20l0ILpZM6XKRE8pnVLsY-obTD27M9wNPrRvh5ZylP-07oRbmD7bigI9K21fAfgUhSvQZZUszFgRFMKboVBdbSUWUuhRgv-p-aPioeGgvdj4e6KIUB8Txb2fMnR05cdF9qgifGtlIeKiIeunoEMna0PprUh3FXEqnB7y4EBPO5xQbK3w6dFCozda_0TCu6S521-sPCwUJxiL8rcDpCRTtO-Sq7WLjv3tm0tRPumsv0yeGaHFRXSz-E3OAqJZOdQ1Jf7EK6C-xDIp8IwNyss_aihsJhPQYE1X3kFdYxjmVXHzhJAV-RYkF16zbCOQWAZJFNWWeTnzeYs9Fx1Y9pKHMdO6E1vzRQjXCM5-JGBwT9NbTMX9dcbtQjy__G5O5xcOSlJ9lLXTFd-e3aQl6QcCyMCbFcs8HctiGWEszBeSbLD7Uq0QxcRHKg7Cnx_K_wAkOncyygt0itPOCX5mg9nWDnkZAQqsaJR9g31rt_Dc5OtRYEZAX7l6Qoqlq-cWcSfVqY6-rFwhfUUKiaXddO1gukxvFmXl6C90C0ewmcNIrI1odrHyg7pk72Z4XtbaK7iisQDMKBhvqlYrSDz6e3hZYwjHgT9VFFIqzEMb4AZKTi6lTK8H6skPpZUUDj4rSubZgmK_rxcEdN12nTyw5N_BkhR9LtB5NO6BmYKfB3oc791KcPlJq1l8rUOAYFHRSSB0imVngovLJIe6p0oPmT7iCiRb0YG0F_MO3whbJcyd7trPKftHlPsZcoqUE-mhThYPppbEYqzNpxtKqoMG5yf-_RXlj_SCDA_YEjie_-dygmZhPBqSpCWlItCXYcTZNcII3bFinmnt_lQIgkk=",
  "id": "rs_0b48cdf4dec88b2a016ab42cbdc62087d0a34916328fcc724f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.065,\"right_z\":0.012},\"note\":\"Both markers are visible in the right wrist camera, with the black-capped one just right of the jaw column. I’m moving slightly right and lowering near table level to center the fingers across that marker.\"}",
  "call_id": "call_LNByC7O4wTdUHDiWY21yJZnb",
  "id": "fc_0b48cdf4dec88b2a016ab42cc0c39487d08a3f9a611ebfea28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LNByC7O4wTdUHDiWY21yJZnb",
  "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]: [-0.8299, 1.1206, 0.9825, -0.9131, -0.5983, -0.6971, 0.216, 0.4492, 1.2217, 0.086, 0.4519, 0.3519, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1247 left_z=0.188 left_yaw=0.0498 left_pitch=-0.2387 left_roll=0.0698 left_gripper=0.216 right_x=0.2684 right_y=0.0658 right_z=0.0143 right_yaw=0.015 right_pitch=-0.0762 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.7692, 6.6803, 1.1404, -0.3541, -0.0269, 0.0659, -0.6769, -1.6889, 4.2598, 1.4579, 0.0171, -0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bc6ae351e80558732eb1f71a96a972c2e230550cbc2dd78f2e0bee379902bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8442834db362872d3bf1aded77db6946a1bc8a019b1291ebba3dc28d56430690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f456eb7598686200945dc493fabeb0a01eb17b112ef0675e73c7cf7ff1de7ea1",
      "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 61 changed as sent

message 70 changed as sent

message 74 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]: [-0.8196, 1.4982, 1.1126, -0.664, -0.5987, -0.6823, 0.2106, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3197 left_y=-0.1912 left_z=0.1515 left_yaw=0.0519 left_pitch=-0.2381 left_roll=0.0794 left_gripper=0.2106 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.0045 right_pitch=-0.0381 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.0752, 9.2239, 1.0574, -0.398, 0.1001, 0.2515, -0.0479, -1.6752, 7.0906, 1.707, -0.0513, -0.022, -0.0171]\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]: [-0.8307, 1.1194, 0.9825, -0.9123, -0.5983, -0.6968, 0.2153, 0.6807, 1.0248, 0.3485, -0.0753, 0.5232, 0.3943, 0.9998]\nstate[eef_state]: left_x=0.2537 left_y=-0.1249 left_z=0.1884 left_yaw=0.0485 left_pitch=-0.2375 left_roll=0.0685 left_gripper=0.2153 right_x=0.2667 right_y=0.107 right_z=0.0789 right_yaw=0.0259 right_pitch=-0.0745 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.7829, 6.5162, 1.1648, -0.3297, 0.022, 0.2955, 0.1026, -2.7556, 6.2291, 1.707, 0.3687, 0.1587, -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]: [-0.8299, 1.1206, 0.9825, -0.9131, -0.5983, -0.6971, 0.216, 0.4492, 1.2217, 0.086, 0.4519, 0.3519, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1247 left_z=0.188 left_yaw=0.0498 left_pitch=-0.2387 left_roll=0.0698 left_gripper=0.216 right_x=0.2684 right_y=0.0658 right_z=0.0143 right_yaw=0.015 right_pitch=-0.0762 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.7692, 6.6803, 1.1404, -0.3541, -0.0269, 0.0659, -0.6769, -1.6889, 4.2598, 1.4579, 0.0171, -0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bc6ae351e80558732eb1f71a96a972c2e230550cbc2dd78f2e0bee379902bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8442834db362872d3bf1aded77db6946a1bc8a019b1291ebba3dc28d56430690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f456eb7598686200945dc493fabeb0a01eb17b112ef0675e73c7cf7ff1de7ea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzGm4FwBpmscd7mrqsa5RxXstl9ida_fJbLPJHeFXgC8Elyz0fCa6KaPrnvD7Y8a54AGH7AvEqCtWfsmY_Cwf_RuqM92zDO750JpA7dNlZ0fWTNjjrQ7EwfHCxHIpKPS8cpihxLKliV_BGD9wvGkc9KqdVjgW8-rDEoaulmAPFl6BQYvctmwr2hUWvAlJtr70Ce4xvRQQ47IfEPwI8oUrTv-MqoDVdte6d-dfxGdP447ueGaCcC9L6uCumxB3CtPPR0sYKp5ZoHtnPASVLWBfKLH1k-VVFdLCh3ePn1sWfKeXF0Z160FVFaGe08SDAzfqcADbndSlC3AJIQDsDS5KG6VezzNFckOpFOm2kGETEpTLmVSIFd3iAgnQCF5MiG5nJEMxBKJHF2bAaU2dCckShtDfrwTIkv_GSfdPult-71aNjbBbu1QwoZk1CDRq-weiH59iIcdmmkXEIRCnoazxTVjJ6WsZ2U1ycHeWvDtY7zgcD1mGdLvbeWdUMaQTHPA_m_9N9bBGY36FLhbSZKpnGgDkJR4qzct2QAMBlbh0cDGidrCoyHH2J0lmMaVK8mTW5fDMSerku7kaKUUldqIUFoKhH_nHilM-dsg_ruRKyAqKRUKuk_M2FpY6m52dh6zMIwiZQUo1VY7HiePk260TwFbuGRQIfYOJoOykqvWQ40e84AgLovzgn5TflIYZ9GLAQXdhKlU5vZITEt0rizIT-jGWE20b4Z7JsX0u3TGTtmWEWCaJRgeX_I3TDdXUFU4CLVpbWXjSsdBzQdtSmK5XPRY5pK5deLtt7O-4iLb2tfyRztSlrblAIUOUb2U_ZNUFHDiXReLU9p_oUeS3iKmlu46Ar6QMYAWMyVb-SptYLl0j8aK6SnagRHZJFMmdtSmVQRcgsbJYcG8WoGIry-Su8n05oNqd9W6ghY3LlCho97SuzHbpQRspfiHvFzAfRhFLy9eOCuybqihJtpH6LkkIUxJhsmPmPyLUKF2QhDMDQIomK7HyxyEC6Y66BTce3oTAyOCesox8nhew5sgr4L5cq0N4Kno9CIrPOgeEL8iLKuRzsREKzGUrubBtO2IHCwdFtOv3hugyVQT7MdNyu9UnbZyHrpvBf_DQRnF8cWoReueSoQvaOFs6T_RtWimYEL539y4LbjoXVnb0jeacTwO1gdwscO45ozBhAMn7FiUuxnkdDjq9v-mXOLhnofiUfGdZQFC0UKiPgb-39e-cYKg2k4lHokrkarMsoc6tpav9-Z-3NKrytaoXwrTj7peJX0eHTPatZSVz4c-MvJVdLRFA5q1eoxpUSIn6WnKVWr2Gl-wDxHttgMBZY6H1livepRsUWiCRQ7tI9onbMHeCM5wTD1Q1ME9yq86BkTT8zOcTd36lK0TCg2SHI4lSMWjtfvRR9FnfCPd-vNZfhiO3KcFuS3hu6nm9QomGIgctedXJ1VYqdtCktaQEQjvGjeygvisGlDShzxzBVuE-dXf5BbrvXWab86KAe2IPHTAa4i9uy8uZOKyDCp9nN-nulacsTlgh2XbFSj_t5k_XYYEj4EZ_oUdbvTLi4_CRwNlzPK6vVbkhghFOLiXNydOL_RqN2THadXG4ytPaygDEIEk9IzgqzFxkQwTaryDtOfqI3Zh5fA60FFd1flGlpIPDFpBGmeiVRquTlfwkj1Ggl32SQqIBqCZXD-RqpSjU5NkuA61vKHCvQKjwOjNZj52WmcOANUXVA4MAqo1vjgyL8Q6Z060YXfzqoDm7VKF70RxFoB6C4U_p2xEaPiLnzzJVb4eFcXxlI3WC1-ml9Att7X6-xeXOMIH4Fd5635N91_nFYv6DrDZ4oh2HAKj3uCAodT6KwHir9zaoaAxgSeeSNidrmI46fJi2o4-DX1AmtC9gyqwE048AB7emEknO__U-cDZTkeir3j",
  "id": "rs_0b48cdf4dec88b2a016ab42cc449ec87d0930ebb56718c13ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_z\":0.005},\"note\":\"The black-capped marker now crosses the jaw column, but its thicker cap is still forward of the fingertips. I’m advancing about 2 cm while staying near the table so the jaws close across its barrel.\"}",
  "call_id": "call_dIcMmu4BYzJLaZpssgOvzcuP",
  "id": "fc_0b48cdf4dec88b2a016ab42cc598b087d09461eeeb3563dfb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dIcMmu4BYzJLaZpssgOvzcuP",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.831, 1.124, 0.9825, -0.9127, -0.598, -0.6971, 0.2174, 0.3908, 1.4204, 0.1402, 0.6445, 0.3073, 0.2165, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1253 left_z=0.1872 left_yaw=0.049 left_pitch=-0.2409 left_roll=0.072 left_gripper=0.2174 right_x=0.2965 right_y=0.0682 right_z=0.0141 right_yaw=0.0077 right_pitch=-0.043 right_roll=0.013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.2752, 6.4342, 1.0574, -0.3053, -0.0562, 0.1294, -0.2803, -3.2889, 3.7538, 1.1013, 0.0611, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a842fbfc0c2e104b8426fd940064998aca044e8fd816ef01e40873edd6e28b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0689a307b5254534e7625c9bc999185b6214de8e73b3989db97969827f60a5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9841492117acc8f35847db63f5380ea4c9129e61ed39b15089f20ba22fb7d125",
      "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 65 changed as sent

message 74 changed as sent

message 78 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]: [-0.831, 1.116, 0.9833, -0.907, -0.5987, -0.6914, 0.2124, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2543 left_y=-0.1256 left_z=0.1901 left_yaw=0.0437 left_pitch=-0.2313 left_roll=0.065 left_gripper=0.2124 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0045 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.1385, 6.2974, 1.0623, -0.359, -0.0806, 0.1783, -0.1846, -1.5932, 7.0359, 1.7021, -0.0269, -0.0611, -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]: [-0.8299, 1.1206, 0.9825, -0.9131, -0.5983, -0.6971, 0.216, 0.4492, 1.2217, 0.086, 0.4519, 0.3519, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1247 left_z=0.188 left_yaw=0.0498 left_pitch=-0.2387 left_roll=0.0698 left_gripper=0.216 right_x=0.2684 right_y=0.0658 right_z=0.0143 right_yaw=0.015 right_pitch=-0.0762 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.7692, 6.6803, 1.1404, -0.3541, -0.0269, 0.0659, -0.6769, -1.6889, 4.2598, 1.4579, 0.0171, -0.1832, -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]: [-0.831, 1.124, 0.9825, -0.9127, -0.598, -0.6971, 0.2174, 0.3908, 1.4204, 0.1402, 0.6445, 0.3073, 0.2165, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1253 left_z=0.1872 left_yaw=0.049 left_pitch=-0.2409 left_roll=0.072 left_gripper=0.2174 right_x=0.2965 right_y=0.0682 right_z=0.0141 right_yaw=0.0077 right_pitch=-0.043 right_roll=0.013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.2752, 6.4342, 1.0574, -0.3053, -0.0562, 0.1294, -0.2803, -3.2889, 3.7538, 1.1013, 0.0611, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a842fbfc0c2e104b8426fd940064998aca044e8fd816ef01e40873edd6e28b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0689a307b5254534e7625c9bc999185b6214de8e73b3989db97969827f60a5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9841492117acc8f35847db63f5380ea4c9129e61ed39b15089f20ba22fb7d125",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzJJVRewh1Lq9jV9WvFIS-vYHLOoRRpD-ypd41nYumcdvKyRCRsgKx4VGBpWBRtQjmhirtMR8hbqbBuQkhLBtAr9VGH-ZsuUnuatuxsXu3NjHFJokOorl2oJO1R9H4agYR4ezc08HDjowpHluRZP7Qm741uYjpdTn2R1mmeiEnOeTJMVlRflJcYLne405g9pBCjz3jyIV-PV7JkJEk6hPfvYLW6btjJnOkLhqAtN9ILDQt7dhHRcuxd0jzjxTs52C63dIy2h-X4MW45tB5xTsYMBZmaZpbzskrWv64PPgzILTf1-k_mnf64RUMEeG6k9wbwqtyGZdb-RAfo20cddvkMM7hPTYrw7yoxnsKa0ab9lC_NXsz-h6-XpzpoG8v4IJ0QjWPMro29oEzCQw21K0PZ37BhXOjCC-3jqGaDAFc8GkTVOa-89kClC35qs-c2oQ9eVLa2DCHhGH04pAOEW-zMaeVeTMj9TPu8a6H_tC6IhPsLQCaimSb7hXHXjBPykvOypQBpDdRAsFaPyBGOwzfIMePXBb6_1TGecwhLbDwK40HxzoCs5f0wljK5IvsIYJ5uoME37OVgUhm-BwUFZjQY69EEiQKsvySD5kSi2EYKYY-EAZ2PZUGcviKcAdPS5R0ns7Xl3foyMe9VE5fs_m_jZxE4TsspWMt38J8GBr_btDa2UU5CXr_YNmd2Q0S7eR27Cwgfy3vvfLQdWfpyWnMfoZiw8yWcYTtqZdYnCQQ2-iiHjTcQwbKC0JQmXcj1ZQZhvcDFkV6uxYTSOf7k45neh164R-TLoDEYt-bB28IJW4zUFfbQH9mnP9Kcu-Jbm0AkWpSs_0gw2i03X6wNWJVJ9y8P8e9L2p9WDiCWbkZuOskS7R9-EAz6sQ2fIdKZSL_vx0a1wfwFXKpsvpSUlQi0ZZtiaCgTARfD5viBrdDJZsJTc-2nH_DQ5ER0xvBo4q0DZTUL1SGo3pL0XUCuCkzlGaTvvk4hOT0CttH4seXXf6slMRADGbTOGx1ZzjQpq5A7-IdJSiEj5wpqtGW96HGH1dNNgGlL_a18hPD_6lU4Z4MTPN-nF790jxNSJdpFRXlFshCF_-AVRoLym37kZlmLKuSdX0Mx-OwR8WlOp0yHWLqbQwo_mxsUDw7ugy_YLj-vCxyEF_zrB9kRjU6BQ4KhcUfROEy9RzNe7tqGM-JdL1UJE6tqoJdEI_lEnso0OjfdgI5cEEACQXJf1Fd0qJLB8vhBMzYxXc2VJE65y8kfMywPv8xX_IcLXMvhHK5pDx7GVQcs3H83-2JnFOi5sb2UTa8G4RRlQ9ufU8kOnSTZR323iZMFzSeb2TNPKcFGuuQp4aJLRm3PkA2IWuAc1vpEVCiEJ50vdEO3X8TfooaWRs1Cv7AJ0Ef90hDPscqvZ1eiJ7IreHF3xK2_79RRJocqH8sw-IT-aGnKCSPbdnC7Iub87xMp96TpQQuPq1CjB2WTN6GKXWd1toK5Fxogqon4kqnHMsYiNC31pPZ-EwUPVO4-2t15jh-Mvf50LD-6KLSPISAzUfLUVPhebjv2ruEACA==",
  "id": "rs_0b48cdf4dec88b2a016ab42cc8308087d0b8aa362bee7219df",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"right_y\":0.045,\"right_z\":0.0},\"note\":\"At the new radial position the white barrel is beside the finger tips but still slightly right of their centerline. I’m correcting that small lateral offset before closing, keeping the grasp at table height.\"}",
  "call_id": "call_pS4pRMXyXIYsiPNpjb9XTTM9",
  "id": "fc_0b48cdf4dec88b2a016ab42cc9190487d0914bb9de4ed1e19a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pS4pRMXyXIYsiPNpjb9XTTM9",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.1252, 0.9825, -0.9127, -0.5983, -0.6971, 0.2196, 0.2592, 1.515, 0.1028, 0.8459, 0.207, 0.1631, 0.9997]\nstate[eef_state]: left_x=0.254 left_y=-0.1252 left_z=0.1869 left_yaw=0.0498 left_pitch=-0.2413 left_roll=0.0731 left_gripper=0.2196 right_x=0.3065 right_y=0.0474 right_z=0.013 right_yaw=-0.0113 right_pitch=0.0053 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.2205, 6.4342, 1.072, -0.3297, -0.0317, 0.2222, -0.7043, -2.441, 2.5368, 1.2967, -0.0073, -0.2662, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd4de154124c33edd938be4dc1e17743cf570f217fcad41c1f354243f7476a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe5e84772830c761e90e8adab6966fdaa092d6ac48766531e8653d9d7b9aa88b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71da90304f0d75c2978a1da6afae49eaac1310f9f2d6269750cb14219661b940",
      "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 70 changed as sent

message 78 changed as sent

message 82 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]: [-0.8307, 1.1194, 0.9825, -0.9123, -0.5983, -0.6968, 0.2153, 0.6807, 1.0248, 0.3485, -0.0753, 0.5232, 0.3943, 0.9998]\nstate[eef_state]: left_x=0.2537 left_y=-0.1249 left_z=0.1884 left_yaw=0.0485 left_pitch=-0.2375 left_roll=0.0685 left_gripper=0.2153 right_x=0.2667 right_y=0.107 right_z=0.0789 right_yaw=0.0259 right_pitch=-0.0745 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.7829, 6.5162, 1.1648, -0.3297, 0.022, 0.2955, 0.1026, -2.7556, 6.2291, 1.707, 0.3687, 0.1587, -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]: [-0.831, 1.124, 0.9825, -0.9127, -0.598, -0.6971, 0.2174, 0.3908, 1.4204, 0.1402, 0.6445, 0.3073, 0.2165, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1253 left_z=0.1872 left_yaw=0.049 left_pitch=-0.2409 left_roll=0.072 left_gripper=0.2174 right_x=0.2965 right_y=0.0682 right_z=0.0141 right_yaw=0.0077 right_pitch=-0.043 right_roll=0.013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.2752, 6.4342, 1.0574, -0.3053, -0.0562, 0.1294, -0.2803, -3.2889, 3.7538, 1.1013, 0.0611, -0.0806, -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]: [-0.8307, 1.1252, 0.9825, -0.9127, -0.5983, -0.6971, 0.2196, 0.2592, 1.515, 0.1028, 0.8459, 0.207, 0.1631, 0.9997]\nstate[eef_state]: left_x=0.254 left_y=-0.1252 left_z=0.1869 left_yaw=0.0498 left_pitch=-0.2413 left_roll=0.0731 left_gripper=0.2196 right_x=0.3065 right_y=0.0474 right_z=0.013 right_yaw=-0.0113 right_pitch=0.0053 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.2205, 6.4342, 1.072, -0.3297, -0.0317, 0.2222, -0.7043, -2.441, 2.5368, 1.2967, -0.0073, -0.2662, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd4de154124c33edd938be4dc1e17743cf570f217fcad41c1f354243f7476a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe5e84772830c761e90e8adab6966fdaa092d6ac48766531e8653d9d7b9aa88b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71da90304f0d75c2978a1da6afae49eaac1310f9f2d6269750cb14219661b940",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzOUKIbDZ2B5ArWYhRrwWYoTaXqVZ5Y591HYkBgFIcobY4vcCe9RlH1jjf3E0n-Vat_SsVsa9Il8KUFSfrOR3GH89e35m6MhlTrpyL66rtoTLpu57GGEwrfL2CsKySc_QEEQ1XQ2svo9EQ467gx9rTn9a7vfLW_d7jxnw8nLrzMRadVqlJcYnjjogLTpUsfDTmjbhfoQVrhu-IAGXryis7WWAhx38Ct5_IfJZMMi45Xd8_eQ_IUKZOIRyrc8UidmdH4jqkGq4L5-gW0EHpzIMTw8H9ScIMbwhMeDj1WW4WJ4mvkpTrqWUNPY5RXDSaLEfMP9v-XseTMbitQypKpwy8YBbSL4cFzB1Dy4D2wFH_v8U32OSJqbjZ-k66ghsd0nP0Q-p15AerVYHurJ2g45R2i-jbVyzE7qLUZZp2escz6MSdfH37RhygPhfi2yDQVq2qzMoDLJnN_LKLa3ity3THJ3PqqDtUUWqYBAKSXOs3SyzlPhm1m2XK6Q2rlWhLhAjF2NMa9vmAOgPhSYfrZmP95AKBQ3qXsfCUKFEE9PH9Rd1JRdd2AbidKYrJa-oxTkIq6PspdwJZ5MMNulUoUidsqlSDfcqB0qFCm5-DAk3kYfCfmidKzBpmsk7NAFN3u9f6pByc1daTwYDVNSv0hcMoZvribP9qM7K4s0fuhvN_RONua-1awqoS3inCC_vE8lxh0wDgFADuxY6ofd4f3hqdcwp_8xh39DekCvtojWALm9Pq6mm_98t-dmLdBL4jIY_NyYqjD6HiiK-MJoCgT8_CQaCKF7DE57-7_sr3svxIpGa1MsoVYWi7RDMKHqOo-n9S4LPVUqf4DHQhx56t_jGAyV49kGjJniPsk8_cFCmF136hno1gZIx2Cvm_Mg4_mMXdcZftu2GYtZq-So9X-m1ycbhmiWpusd9P8-jgagOFed3jg0wmI7cdE8XO-W6SZwA1a_UPHlOGmWbhHmdHOfjsxySVpIg0XgsZWnz9SuFhFcs07H9nSQBfpqCYipWSrkpTiDBvu3j4C0fLh2_sQPJDkMNO-AQNuVebo5gLgjF_zJL14Jl_EqU9zQwU-kcK6850JJJLNqEEcZV1noa_pMeDH82reuX9XTWxSoH0csPAJ8dABHU4zIM2dCEHVg4IPXM-H_pPPWvbMbCB8hiY3I7l5Vxpye-jKbWVV560VjdB7j67pTtayc3RYEWZlJ5L0C7Azx-Sq2dqdIo2z0yEftZHV4_-0tKQ2GdzqRKgzZoijewEJf2rPUKxbSZnAXAmG57HRDgnOnXA34dRv0VWJ7lZ2w3RFxFkcoxdeXsX8VIE209me58LceVB71WXZ-srad1Y7pZL7metdGk8B9pduJnjSLCdbHBr2zqqiXB031xmLNG1C5sRzb1WR0Dnxg-Jyn89zyvU2KEBBLK1ryCve2pz8XfvDO1_MLDFnl6nLOIDhz1_8BhUj0ddvVvc14UTgwiqFq39nF8l-OwyDqOooXqqMS8aziPNN7xthBD8j6aSKw653kCJPIn5XOT86xXIp3q2mhcU0JbLL0bI0-AzX_Gkif2NxZUrkaLZobyJOTCMT6LhzXYX63tSZW6RQjua4sT8GgU1wPfW248SeJGMpDjvKvj2iedyAjRbAAGSbVnH_R614tgw-C7KoEkiAf9d-qvnK-jZNd2AhbKZ6Rag01hSq4n9pWYO-QYjUnyrLAPbf-IHTiIZoKNGCWtRynETr--OGpI8VCSbpsGzi_ua0oOP-BgdZRvae7eJh6rKZI7mbi8pZwCDmjxBT20gAvxiIxnGlszjiZGuWyr5VFXDS_hz120-Hhsr734BHOPH5J-HTuONYSGqIghtevaYSUUIVHZ1r3UE9Og_02plaWE02yLuEU5Phcn-URZR84FeBTQp15FVoHJUIVuYnzUuxuj8x8TLp8XJMUDDVeVRpuQyJF3ih-_ixV_s6o5-l0qB6RAd8fpzcUtE47cPTqLaHdP-zAgJ0miyC20V9cKcfflmqeo3c4qR2VF-LTeZC-PgRzpw4SZ96GZw2uNbu4oNqkv4Yx5Axlm1SSFClqafE4aUPruGYKQFf41LMpkhJF6Zm6IL8JTYJLWTusGG2CZ6GbVXTx8sfWQqufe5yglxYS4dxUjXQMcti4MEhamLDpNHrV2vPgfMwtyZI-c4ZeJPDo64Mt0cPwKPIJMXrxoWVyOs5KCD1X76Fnq4LoGrz_8MX6cCbdOw=",
  "id": "rs_0b48cdf4dec88b2a016ab42ccb75a887d098abb0d278119881",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.056,\"right_gripper\":0},\"note\":\"The last correction put the barrel just left of center; it is thin enough that a small adjustment matters. I’m splitting the difference laterally and closing around the marker at table height.\"}",
  "call_id": "call_XnJtBSjgD4q6ERjAf5JSU4iI",
  "id": "fc_0b48cdf4dec88b2a016ab42ccd8a5c87d0be8ceef3cb53b8b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XnJtBSjgD4q6ERjAf5JSU4iI",
  "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]: [-0.8307, 1.1248, 0.9825, -0.9127, -0.5983, -0.6971, 0.2208, 0.2546, 1.5169, 0.0914, 0.8661, 0.1898, 0.1307, 0.141]\nstate[eef_state]: left_x=0.2539 left_y=-0.1252 left_z=0.187 left_yaw=0.0498 left_pitch=-0.2411 left_roll=0.0728 left_gripper=0.2208 right_x=0.3048 right_y=0.0486 right_z=0.0128 right_yaw=0.0157 right_pitch=0.0102 right_roll=0.0272 right_gripper=0.141\nstate[joint_eff]: [-0.0615, -3.1385, 6.5983, 1.0867, -0.3443, -0.0659, 0.1148, -0.0615, -2.8923, 3.1521, 1.3455, 0.0513, -0.0317, 1.0574]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8637280234aa73bb41b38f8e9c784328684baf8166268036e3634206ae84dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071d6f82baa3f37968a52aa1d0585278b035d7e4f3375c6c7dba181d6e36af29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93825ddb8d2e7f062405f543de01dbc7fad0a1024cbcbd2a636d1d3847bd5dd",
      "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 74 changed as sent

message 82 changed as sent

message 86 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]: [-0.8299, 1.1206, 0.9825, -0.9131, -0.5983, -0.6971, 0.216, 0.4492, 1.2217, 0.086, 0.4519, 0.3519, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1247 left_z=0.188 left_yaw=0.0498 left_pitch=-0.2387 left_roll=0.0698 left_gripper=0.216 right_x=0.2684 right_y=0.0658 right_z=0.0143 right_yaw=0.015 right_pitch=-0.0762 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.7692, 6.6803, 1.1404, -0.3541, -0.0269, 0.0659, -0.6769, -1.6889, 4.2598, 1.4579, 0.0171, -0.1832, -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]: [-0.8307, 1.1252, 0.9825, -0.9127, -0.5983, -0.6971, 0.2196, 0.2592, 1.515, 0.1028, 0.8459, 0.207, 0.1631, 0.9997]\nstate[eef_state]: left_x=0.254 left_y=-0.1252 left_z=0.1869 left_yaw=0.0498 left_pitch=-0.2413 left_roll=0.0731 left_gripper=0.2196 right_x=0.3065 right_y=0.0474 right_z=0.013 right_yaw=-0.0113 right_pitch=0.0053 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.2205, 6.4342, 1.072, -0.3297, -0.0317, 0.2222, -0.7043, -2.441, 2.5368, 1.2967, -0.0073, -0.2662, -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]: [-0.8307, 1.1248, 0.9825, -0.9127, -0.5983, -0.6971, 0.2208, 0.2546, 1.5169, 0.0914, 0.8661, 0.1898, 0.1307, 0.141]\nstate[eef_state]: left_x=0.2539 left_y=-0.1252 left_z=0.187 left_yaw=0.0498 left_pitch=-0.2411 left_roll=0.0728 left_gripper=0.2208 right_x=0.3048 right_y=0.0486 right_z=0.0128 right_yaw=0.0157 right_pitch=0.0102 right_roll=0.0272 right_gripper=0.141\nstate[joint_eff]: [-0.0615, -3.1385, 6.5983, 1.0867, -0.3443, -0.0659, 0.1148, -0.0615, -2.8923, 3.1521, 1.3455, 0.0513, -0.0317, 1.0574]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8637280234aa73bb41b38f8e9c784328684baf8166268036e3634206ae84dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071d6f82baa3f37968a52aa1d0585278b035d7e4f3375c6c7dba181d6e36af29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93825ddb8d2e7f062405f543de01dbc7fad0a1024cbcbd2a636d1d3847bd5dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzVEI7tbmrGPMe_f5f-cIwLDu0i13m2dCwqN6GyficWrAurlS4GJ9SubVEBaVOVWWc7rnPdghMGeFKRaMEd2iDIed_6G33tMYmRY5jEjdtEgkL00bPnrBcLcRpbWkbHI6aEwjQxNVZ2DEzKxWbcQt_O21ByQegkq_V4WxKfsbRoKL0OzyK1bnUthcPx4FoywC13vSgx74Haa0zRBlHGEniVuJ0izU-BX3PKz_I8_tVgrYsSZJ01cPxwhqlMJEMvdvpLQL_3Fb_IKdZGayfY8_beJB3D7iTSadPpPHEKQMfsj3PuqpQ8krnd1v33o3dDaWcyZJsPszW8QQlE4sb0bdVVbllC4xSNvES0R9T9u9hdZaf7LHSfUxH2AahglEJfeAQx0MX86BD748ZxtBxtDZxbOcwdSCIR6GOn5E1Ryq4EyGbb3USiwicPAA6RP2SSey-j0KRXKMoQFlk55U-bsN86lzsGXpp_zVqa5g_eosSJdpUwlWxbrbo1iYN7RqiNkvfjuHYR6yd0sIuhjb7_TJNX7Zungzo-hoT4tteIEXyLruqO6gcsYnFGrYgmbCXXgkZmjDQtc---dQ4TC4VgDL6zLxulxDSH7BArMRloZQ_fHFpsu3kIwgBpGItfj0KNgOtcl9EGvHD74gf0XW0FL3_gF5a5lVAwuYtPK0PZ7zs-gaPCYz6xnfxcOLnd-1GddbCLo9sbonRNF7AxNNvSwAVzfkQMEi1vmMGxYcdBqwK-Gemq644t44X3UQjrKy35h_KfoA5-kpIb7U0ymyc-Rdi3so3tnWpsmhClWjXEWGfXyXOMkTvtxdRI-wb-E05AudLqjWDAB-UGuseUzO7a2UDeImUQXYr_1pkNjkpZzAYaUq_SqjSPdQImeKE6gXIocj55LZ23xNmAza3AHjua5AuhY2ZOALWu0XFFjatC_sm0dASLR0FhIgTYKTVasKxsZ533a-CatxUhc8YwhaTNY0LVX8fYdL6ijX7Xtn8XHRZHZ6vGNIpt8VJyc8_MFiji2EO4-5FHguD2VVc_q9vU_pRPVutEw4pRia4tUfQ40pe8CC5H3HUUsuP_16GyGN_jRjATcChB1l377aPFKo9iMATm3DC_BNQmX125HvN88b33kkxL50Sl2KCkrEHIEixoehYTBVMRxpXCt-93CkmOZjsktaRhmYLYd_0ky95efyBcLyYAb1dkFY3zwq3ZU_kzXYUQ5FOw_Bzm3AIfgzhLDCxOfQT7p-PGWs0yT0gjKi0SHn3CyofcMNfId3D_hrwqgxsC4EL0IiuJvxROp7CiKItfGl_JRU5oOqRusOJWk4PzlzQ=",
  "id": "rs_0b48cdf4dec88b2a016ab42cd403ec87d09171cdcb2a384f9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right jaws have settled about 1.3 cm apart, consistent with gripping the marker rather than closing empty. I’m lifting the marker and will confirm it comes off the tabletop before moving it to a basket.\"}",
  "call_id": "call_IUIZl7vmUDVxvbKE121S5FSd",
  "id": "fc_0b48cdf4dec88b2a016ab42cd45d4487d0a6662fae0e202972",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IUIZl7vmUDVxvbKE121S5FSd",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.1286, 0.9825, -0.9127, -0.5983, -0.6971, 0.221, 0.2546, 0.8787, 0.5182, -0.1921, 0.1814, 0.1268, 0.1415]\nstate[eef_state]: left_x=0.2541 left_y=-0.1254 left_z=0.1861 left_yaw=0.0505 left_pitch=-0.2435 left_roll=0.0758 left_gripper=0.221 right_x=0.3068 right_y=0.0506 right_z=0.1572 right_yaw=0.0248 right_pitch=0.0159 right_roll=0.0298 right_gripper=0.1415\nstate[joint_eff]: [-0.1573, -3.4803, 6.6393, 1.1013, -0.3346, -0.0513, 0.0024, -0.2393, -2.8376, 9.853, 1.6386, 0.1099, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfcb30cd766be6bb8ee4617c362b86715504fbaa27bad3676f53eae12cc784e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5444a57a89d3aa3fa1dc8a602fa1b022c9005f4398c005ee0fa21cf39a569302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc22b60ce2ee6b7e61b445598920ebee075484d5495b6ab87ca1fca7f9556abb",
      "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 78 changed as sent

message 86 changed as sent

message 90 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]: [-0.831, 1.124, 0.9825, -0.9127, -0.598, -0.6971, 0.2174, 0.3908, 1.4204, 0.1402, 0.6445, 0.3073, 0.2165, 0.9998]\nstate[eef_state]: left_x=0.2538 left_y=-0.1253 left_z=0.1872 left_yaw=0.049 left_pitch=-0.2409 left_roll=0.072 left_gripper=0.2174 right_x=0.2965 right_y=0.0682 right_z=0.0141 right_yaw=0.0077 right_pitch=-0.043 right_roll=0.013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.2752, 6.4342, 1.0574, -0.3053, -0.0562, 0.1294, -0.2803, -3.2889, 3.7538, 1.1013, 0.0611, -0.0806, -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]: [-0.8307, 1.1248, 0.9825, -0.9127, -0.5983, -0.6971, 0.2208, 0.2546, 1.5169, 0.0914, 0.8661, 0.1898, 0.1307, 0.141]\nstate[eef_state]: left_x=0.2539 left_y=-0.1252 left_z=0.187 left_yaw=0.0498 left_pitch=-0.2411 left_roll=0.0728 left_gripper=0.2208 right_x=0.3048 right_y=0.0486 right_z=0.0128 right_yaw=0.0157 right_pitch=0.0102 right_roll=0.0272 right_gripper=0.141\nstate[joint_eff]: [-0.0615, -3.1385, 6.5983, 1.0867, -0.3443, -0.0659, 0.1148, -0.0615, -2.8923, 3.1521, 1.3455, 0.0513, -0.0317, 1.0574]\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]: [-0.8307, 1.1286, 0.9825, -0.9127, -0.5983, -0.6971, 0.221, 0.2546, 0.8787, 0.5182, -0.1921, 0.1814, 0.1268, 0.1415]\nstate[eef_state]: left_x=0.2541 left_y=-0.1254 left_z=0.1861 left_yaw=0.0505 left_pitch=-0.2435 left_roll=0.0758 left_gripper=0.221 right_x=0.3068 right_y=0.0506 right_z=0.1572 right_yaw=0.0248 right_pitch=0.0159 right_roll=0.0298 right_gripper=0.1415\nstate[joint_eff]: [-0.1573, -3.4803, 6.6393, 1.1013, -0.3346, -0.0513, 0.0024, -0.2393, -2.8376, 9.853, 1.6386, 0.1099, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfcb30cd766be6bb8ee4617c362b86715504fbaa27bad3676f53eae12cc784e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5444a57a89d3aa3fa1dc8a602fa1b022c9005f4398c005ee0fa21cf39a569302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc22b60ce2ee6b7e61b445598920ebee075484d5495b6ab87ca1fca7f9556abb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzZIe89Rt-9ispAYSyO6rPNwGeHuQs1e8qYbppjGIt1bn1dvShMQQ6bVqjLPaoB7cqxsd87J2yFNySS3Uigh_A9JMj6epEmlBF0nHyhnRJENf1YaJN0yoK-m4sjmqli0UEcHnJfAZ2tJxtIn3wauwbIpqo2QAlSkW9AGMs7qZsVCfuy7wHXQj6qxms1T8XPVCQH2Hgo4g_PYj5-thaTutJqBEGcJavB5C6-UxHUUaxOnoqih4GLZZrtEWQlzQxvpMnM-isRsjg1R4EuRg37hciPW3MwAF0jNppJW3J7UpvCStyO4CEA-eKwX-OSx6QqqFZmIvNb_WcT2l6S4aJoe69OU9DytH7NIdC0CA-AWvoYmOesHCry6duhAAGYprqxjKZSL4G34PSdx5uKrlmS2iDH9PiJG6zL7py8locDVfU1GPN-o4Z3pYRYsNCGSh7TVFhfLn_zM6Y1NIz3gL4qiWe2TZ0ant3t90syzypdd8Gy6cU1230tNShf1EX2zOm4bVVjKkMbQjcJ-lU3F-Ho10VlZv_lkSYR-MAwKkl-OuLTZwLAo0fi5-QvqdP0btDO9jW72V5-KVRXRtQFkzfuVI6nsQ-62lE8GaEyf4bCrpwLGcvtUZsaR2DQI2c0GDobgtVX9WF4i8ulhA00pde9M0xkFQ7Jasy1-6sqB8MNQNEJJAvIPVBz8m-27NQE2OJovSKmctJl0cG2Ir7I5DF3wKA2mgDD44uju1KqbtYVPRmebvmqwV8KfvhDO-tQLdb4FScQBcos6_N4U4yMXr1oA5ML3o79hQPdFF7kEkfc7FucyuLw8suF4_yBUKc9aha0r7KA4FCEZoitC2BEQH8eNAZ0afXnEnc9UkZUKA_UJ_T8QSBGTWSqDwk71ZUb1QMJTkkPeRT3k-PtRJUWy5x_HY7jYp5Ubnhy5rs5YGrcMnZJsQWmPJbcpFywyePKC-DxPj3GGLLEa-9lHFLP5elOL91PymaAHaFijI7u3VMigu-K__3r5ZWcDHRXslwnsfyniku0FPtnV7yuz15CTxiXpGjJERfhWXXGBFccN2i2j42LWRjiYHnxD6CmJpKPpoJOq1mq9DVxci_iKLx3V2_slOkpgsqsZvknVtzjKzymkVSFnjkK7SNhEtTggSHKAp32-pix9g7gojXrNTrk2AkkgNjSoDSydOC3wzT12DwwdIEqBknHOAVcBOJCkHYC5JPItnO0j7QRnn1nnVdgLWTOQep0GRDxZxhPW9HpyPFU4nH2QQkkpIMxzwXg0rvuEiqB2i9u1yRVSy6I36J51qK0E0uekE4bxC4fy0FnvXhBN9MPcobLczXwwqFJ26mLwcuFr0UY3uKZjMMqOdHbaPQJPUmD4WSLZkl3ob1_6tWfxZcjzo7J8HPBmC0UOV4u_kvxsAaa35fJQx36Y2Jn-1G2O7FEKTAoNB7wH8NZ0EXnWdOEr-Q4LngUetuQzDAMg30VfakgzJVoVp3Zlp7Qbub_AoT5zsUXwFH4oSXe0n90vTl11WdwEn2UTtru0EqePKqFORhjI04ljVCMOUDIY_gG5ANH4wIxs8XtP-aitKkdBqGvwN_AqEahpXCuuvy27svb9lWyO_gLBf2X4yLVYzZDFLoKkO9-srV4SM-bu_MIqPi6un60j5v3yMMEXEh2IzU7fptg-vztKACSC-iPCqi-bZrD_6ooHWKOFw5Px-ZyF7igBphRaCTjCwFFm12s_emuG4RaGm-RnbWKr0v0rMs2JNHdYAD1rgcfZbedEPxaFOfKWof48ltBb1p8qwvXOX6Ze_6QeZRHBOpPuAlCUad1ygnevX7mVhvLBZzwE7tAxu5kfP9VTKWrBEIaKJVKXPnxqALqkBHMVLJg25gSt9t7Q3viWpRuNyhPQHz3IRwRPZsxZuFSr_NHJCVd1rh7ofE_Ag418H3q9lizhS6j2SD02afACOtma3PAHySZ0dZGKL61D-e-3wn9XzPyd019eimD7zaMz9eEV8mICw3Mjplc4EFhWOuj89Xa8ton_lBXqNjqz-sQ8QUhHocxm0oJYdLLa5qmXh1jiVXVhInePQjHSekSQDoF48eKhYAuW6HSmpDg5GYX0IoEVp9Rhuz88Xd0Yar2r5Gcsb4JrFe1sjzyNVU8vAo_VHYdoYLs8ZWVN8HiFH4UY2lre6k0cqfGr4EETD_Sq3EVXVgIkC60gxWn6uLb5kQU90yzsEUtoA-vycvT7L8KYlodyAr0437VKjGN2xX-ymHA9hzd7VBD1H1vtQ952S07WYtQSj88XaCsbbx6pb3svWRcIBuvHAbxgUdNUy5NBIYl3_Wb6nfR2mtyFl5Q5D6k84eMNON_SrL5n2Q78U-agL4Gd-aRHBYFrWXKxRLU6MgQKeszUef_Au0f_m9cWA==",
  "id": "rs_0b48cdf4dec88b2a016ab42cd71d6887d0b0f59022bc95d6dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.245,\"right_z\":0.22},\"note\":\"The black-capped marker has lifted with the right gripper, leaving its tabletop position clear. I’m carrying it above the right basket, which I’ll use for the writing instruments.\"}",
  "call_id": "call_FjGfBoONkMdzAgQNw1pVKvkZ",
  "id": "fc_0b48cdf4dec88b2a016ab42cd9408487d0bb8436c44ae075d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FjGfBoONkMdzAgQNw1pVKvkZ",
  "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]: [-0.8303, 1.137, 0.9825, -0.9138, -0.5983, -0.6971, 0.2223, 0.664, 1.7493, 1.3945, -0.3111, 0.498, 0.3492, 0.147]\nstate[eef_state]: left_x=0.2544 left_y=-0.1256 left_z=0.1839 left_yaw=0.0527 left_pitch=-0.2496 left_roll=0.0834 left_gripper=0.2223 right_x=0.4394 right_y=0.2412 right_z=0.204 right_yaw=0.0551 right_pitch=-0.015 right_roll=0.0076 right_gripper=0.147\nstate[joint_eff]: [-0.0205, -3.8632, 6.5299, 1.0867, -0.3394, -0.022, 0.1245, 0.3487, -9.3744, 9.2103, 1.409, 0.4371, 0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbe04a4ffb545b3550a9e4035d6a63b10fb298e4b253a096529919d6db19d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a20d259bbe6d581e3c77a5c3afcf94320818a4c7ec85f9b9c3adc1adc3138526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d86f334cbccc11555cb09a107a70e85637bfa48eaa09bae2902b8c2b7263e5",
      "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 82 changed as sent

message 90 changed as sent

message 94 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]: [-0.8307, 1.1252, 0.9825, -0.9127, -0.5983, -0.6971, 0.2196, 0.2592, 1.515, 0.1028, 0.8459, 0.207, 0.1631, 0.9997]\nstate[eef_state]: left_x=0.254 left_y=-0.1252 left_z=0.1869 left_yaw=0.0498 left_pitch=-0.2413 left_roll=0.0731 left_gripper=0.2196 right_x=0.3065 right_y=0.0474 right_z=0.013 right_yaw=-0.0113 right_pitch=0.0053 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -3.2205, 6.4342, 1.072, -0.3297, -0.0317, 0.2222, -0.7043, -2.441, 2.5368, 1.2967, -0.0073, -0.2662, -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]: [-0.8307, 1.1286, 0.9825, -0.9127, -0.5983, -0.6971, 0.221, 0.2546, 0.8787, 0.5182, -0.1921, 0.1814, 0.1268, 0.1415]\nstate[eef_state]: left_x=0.2541 left_y=-0.1254 left_z=0.1861 left_yaw=0.0505 left_pitch=-0.2435 left_roll=0.0758 left_gripper=0.221 right_x=0.3068 right_y=0.0506 right_z=0.1572 right_yaw=0.0248 right_pitch=0.0159 right_roll=0.0298 right_gripper=0.1415\nstate[joint_eff]: [-0.1573, -3.4803, 6.6393, 1.1013, -0.3346, -0.0513, 0.0024, -0.2393, -2.8376, 9.853, 1.6386, 0.1099, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8303, 1.137, 0.9825, -0.9138, -0.5983, -0.6971, 0.2223, 0.664, 1.7493, 1.3945, -0.3111, 0.498, 0.3492, 0.147]\nstate[eef_state]: left_x=0.2544 left_y=-0.1256 left_z=0.1839 left_yaw=0.0527 left_pitch=-0.2496 left_roll=0.0834 left_gripper=0.2223 right_x=0.4394 right_y=0.2412 right_z=0.204 right_yaw=0.0551 right_pitch=-0.015 right_roll=0.0076 right_gripper=0.147\nstate[joint_eff]: [-0.0205, -3.8632, 6.5299, 1.0867, -0.3394, -0.022, 0.1245, 0.3487, -9.3744, 9.2103, 1.409, 0.4371, 0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbe04a4ffb545b3550a9e4035d6a63b10fb298e4b253a096529919d6db19d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a20d259bbe6d581e3c77a5c3afcf94320818a4c7ec85f9b9c3adc1adc3138526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d86f334cbccc11555cb09a107a70e85637bfa48eaa09bae2902b8c2b7263e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42cdc740087d0a8e76036278a7d2e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_gripper\":1},\"note\":\"The held marker is centered over the right basket’s open interior. I’m lowering it partway inside and opening the gripper so it drops into that basket rather than bouncing off the rim.\"}",
  "call_id": "call_eGZkpaMTYSfdtmYQaNosxZjl",
  "id": "fc_0b48cdf4dec88b2a016ab42cdd9d8c87d0aa97f7030748bd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eGZkpaMTYSfdtmYQaNosxZjl",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.137, 0.9825, -0.9134, -0.5983, -0.6971, 0.2244, 0.6655, 1.8362, 1.1561, -0.0223, 0.487, 0.3435, 0.9948]\nstate[eef_state]: left_x=0.2545 left_y=-0.1257 left_z=0.184 left_yaw=0.0523 left_pitch=-0.2493 left_roll=0.0831 left_gripper=0.2244 right_x=0.4344 right_y=0.2405 right_z=0.1133 right_yaw=0.0677 right_pitch=-0.0492 right_roll=-0.0122 right_gripper=0.9948\nstate[joint_eff]: [-0.0205, -3.2615, 6.5573, 1.0672, -0.3248, -0.0513, 0.2125, -0.1709, -8.9641, 6.3248, 1.8046, 0.2369, 0.1001, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d985ba78148016f93d4c727d656fe1b5583648bd1de11cee3a93e3ba8a199",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f422d7169efbb954dc81b2509121ec2a1c3585d852f9d2018686d31702a20f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e07278bdf44387e30d581a1ba78a3c81011ed34442be1d6f523d142c09ab545",
      "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 86 changed as sent

message 94 changed as sent

message 98 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]: [-0.8307, 1.1248, 0.9825, -0.9127, -0.5983, -0.6971, 0.2208, 0.2546, 1.5169, 0.0914, 0.8661, 0.1898, 0.1307, 0.141]\nstate[eef_state]: left_x=0.2539 left_y=-0.1252 left_z=0.187 left_yaw=0.0498 left_pitch=-0.2411 left_roll=0.0728 left_gripper=0.2208 right_x=0.3048 right_y=0.0486 right_z=0.0128 right_yaw=0.0157 right_pitch=0.0102 right_roll=0.0272 right_gripper=0.141\nstate[joint_eff]: [-0.0615, -3.1385, 6.5983, 1.0867, -0.3443, -0.0659, 0.1148, -0.0615, -2.8923, 3.1521, 1.3455, 0.0513, -0.0317, 1.0574]\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]: [-0.8303, 1.137, 0.9825, -0.9138, -0.5983, -0.6971, 0.2223, 0.664, 1.7493, 1.3945, -0.3111, 0.498, 0.3492, 0.147]\nstate[eef_state]: left_x=0.2544 left_y=-0.1256 left_z=0.1839 left_yaw=0.0527 left_pitch=-0.2496 left_roll=0.0834 left_gripper=0.2223 right_x=0.4394 right_y=0.2412 right_z=0.204 right_yaw=0.0551 right_pitch=-0.015 right_roll=0.0076 right_gripper=0.147\nstate[joint_eff]: [-0.0205, -3.8632, 6.5299, 1.0867, -0.3394, -0.022, 0.1245, 0.3487, -9.3744, 9.2103, 1.409, 0.4371, 0.232, 1.0281]",
      "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]: [-0.8307, 1.137, 0.9825, -0.9134, -0.5983, -0.6971, 0.2244, 0.6655, 1.8362, 1.1561, -0.0223, 0.487, 0.3435, 0.9948]\nstate[eef_state]: left_x=0.2545 left_y=-0.1257 left_z=0.184 left_yaw=0.0523 left_pitch=-0.2493 left_roll=0.0831 left_gripper=0.2244 right_x=0.4344 right_y=0.2405 right_z=0.1133 right_yaw=0.0677 right_pitch=-0.0492 right_roll=-0.0122 right_gripper=0.9948\nstate[joint_eff]: [-0.0205, -3.2615, 6.5573, 1.0672, -0.3248, -0.0513, 0.2125, -0.1709, -8.9641, 6.3248, 1.8046, 0.2369, 0.1001, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d985ba78148016f93d4c727d656fe1b5583648bd1de11cee3a93e3ba8a199",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f422d7169efbb954dc81b2509121ec2a1c3585d852f9d2018686d31702a20f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e07278bdf44387e30d581a1ba78a3c81011ed34442be1d6f523d142c09ab545",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCznKSjrTrT9IgtvVRYJAyPArvqY7DzhSNwzDCvvkMmfbCuhXvuuYQRNM1woits-96jH0_bWW2AlTGWCnYDVfTtEFGycyStUzOee34hWbX5naii6DrfRNaAYQ8E0DdFl-5PLWhjO0FFtKO8UynkamGksxSU9CcrFpz2qD8-Clez3ZaRg63FKpRESuU9IyHRdF8Wn74dmJZEXbWUmHeAOAzTnyKsHqKNzQYa68VbzqO2g_Z6bCOia3ZxehPq5wnAFAlKfEsknj93n4e6jBjCMvSBMHcoiJtuVwWe0KADwQUud45zyoGeVtkBF0JhVzYQckRCwdpakKYQVTR9uyh82ttTJRmDZsoVx16SWCh-L4x1QBvCsFW9aKMea9pynfnNjfy1aaIOVMVyHzrUY09i05vp444Pd9zpzhCBs0exay0sWbL-82DWrAciEqMJiKOTkYU36KVlylWRNmWQD0kd7xXZvFocs_FbHzasgN4qJQ2RXAWAf6x1cCbMukgF-I2Rdo620IFXqZkaFSBRv4uDvoldjb-M2A8HQ_9lrI11iPQ0ARed7JaoCQMh3bhx-hOElLr4RhxIEKkb96z3OFS5umYouGk3D2BqoFOVOPkHuIn4FtbEpXrwENDHkt_fbxaCpq1GSuN4vUqZULOOh80TVOPaFGeAenfA_en_Ea59PQU1ktpAxkBqkV5jc9snZyw9xIOf94t6l-fOpWXZDS75wbI3J0Yx0YK7qUD59jzWDKfGCQ9WFhQjbX2e9uT48mJV9M-w2vDRyKmbE3Ed7Lx4wIO-kDgbGTEPdqu7IHOVA1Gjtp116u4QUvXHZXjr-G3Q2BbCbIA-zdOeqcw-hoj93B702VtL-RqZCzgDn4y4OETSDRSUM-QYjxum7mM_iHeWKAWpMW8GuNpa54WBrTpeNUvCuzbfyniPc6k9oUv4dXpj_Ce8ssN1M8vZBZs9Mf6BVWSlEGtLEGPiFQQ_TndIihKFE1VdMJncoHcxyW6BViv-pEg4lcn1oEWmwrI48rhPVZYc6YqErNOy2YWYTzcYS_XbLOxJK0qdxw_gm4Cud6Q4sso2vkRbJMYvgyqiZ2_f1WYOupy-5C2llxPgKgT2rCG168bRXn1pE-e5mosiiiRIGi1vdAQgYffDDHoZsfvf7EKRmCQRdj9ElehCzx2FpxRPCY5QWUCLUwz8TWFK8FFp1OgNXevHoZqQo4M39hTB7vR155BdJUwWlPRW41URz9PlTx6o3tluhkVzXm1149Sw2Yz8AiJgSWYq8TJ1rjd2FmwoKJwVwn9PJUPu9bueeWgeBu0rL3DfbwLWMro90UWObI1ALiqNTrx4x_LK26O9mW5K7wp13gtDq0RfSiKNUbWKO5xnmxAX64n9xPPvKT7LtLOAycXWam7S0FUlOn_HBEIUldcuC2uPg72J9KQQi8-SHz1-S7sCGZZW5hnHY9QApBsQzNt40Y2wM6rmYXrJb4SGGKHnOMJYeeA-80-R7L1bqQnsb67vdId5vNPu3i9dmrabZXE35ucoPxkgHCvV5Ijt6CYM7YSOcsBMSbExTA-5yIEDiduL2MxOSkI3tfTvNDBOGU6fGaSPNEM4HZJSBE6OGhgSoEXGbKYSdhzo8yFEloXPpiW9QUj9lq_3Rx7NhNff7-jXloWYaDsnysjE1oBF2oGcHt6rIfJe7ruvhp5zSzk0lipF0B5WHEj7v9QIEXscSN1XI-5kHzyM7znAHRxfU5SpCCpJZhuzIZ6_Rm7AGF2hWUkZBdGChyg3-eb8tWat7sLigxa3vbTfvFMQwpt_VtZYzk9us-zYjQRvgq9tMY1uR_BeT-gl10TlGypvUlOv0wZPqmC9nsRtic_d84-I9lv60ExPfq9r6Ng1ICTYRr8gO4PbUoLsOGxEiBSCLLErVLNj3YstD_DrWQ0tSofVDtLIITtpZ25HHRtqRJw4NROg-LO9G-VvRGKhauZrZ3T5H4JHmtb-T3g-5R_yhhDDAPDUPIzAuyg5Hx7zG4lO9x15Ii5tLboylH9F3KVSACttlKNizi-fSmIhQxSSBGWd_Vu6qbZvK-ww6Kmc4tvYuNL1INHBHyiI1UdKEe56B1MMwAIPinvoK5XVAmuysR8Cf3tsXCtH8tCm8mTsPWH3c9JnOGJkhmscGQkao6mqxDsJmUUFOzbk5aBcsJ4SRt0C71OLFsSUnEkv-N4FPUQkoOk4bxwnLZyfC80VgplgQQMHbgheh52VDsnTBrkGkXzillK_f6ExHVgj-x2qKCGsnuivK1EqkyikuPQbs_2e_N5qU75J1x2xd96kme7yBRMui0AFDshiqPvik0UImKh60qBVTqsQac4F9xFvZTjQBH3RHOqbUP70F5hHaxHovt0IVBugOJ6NQ_x_sFdPtx1Tb9uSb85bPTzRzgWIQnEV_kVg2NJCIF6Ae41-PJppGO6hai3ZBSoaNy_cAhWMTgNoEQXrKBudIln4RgCfYUy09Ae6XWFrUVsG4W3kQcG7JtPxAQyoSgq-81OsYKgPrb0PZ00jQIfkv2fUyDDkMLvJQIcaauvp93Kh1hcljIVelacpEBSuitYBE7V5PE0k1dZRqKgaI9Hvlt4UG2-osZJAnYVeiIJGU-lv5CLojhAXPPxFi7A-xX1Xiz1zxkgbACeirKn-5iRTRAvDZpfYnxf6Aw_wuZSLeKHuUUT-RtQgjiCLFH2jppUUt8-yKMJps9vCd4io4nlugbAseRleB8V8XQkoAlTlFfp7xLVBfggn07t9s-jewrHqw57hvrh1WcfzsF8-0rRBVY6AntpnT6-fUbkrjTtZ52afwQsQ3ioXs_j9zzdOAz_Qscr6JExebaKsrvEc1UoiCD39nm4hhLJotKQsjJ-KY3v8A8oqgVUHdPOrO3r9VVuXesk7Rr7kR5SBE3IW8_f2Wx6qzrgyx7YxPebBtgk_ZuVU8423d070iThdbelgpiAhhOJdA2KuoS-W4vDO0ySQ8m-NK2AppGZj1aO19hS3C3Yzc0NdLcHZjbkDyCBn_Kg__BfsXw0O_lpuztoev0R9qkEckd95k5VmHot5zb_YWvVDrdpMurr-qYfAvsk2b5FUy7_qNZ16yffaoS4k0p3EhwO6KXROQUrA0icAuWZPJV-9gIhHFtjIYuEdgduSkj8L5YzcsK1T6lcgHVdUbekpn_-YP1l7q5OgXtx3MhCSXHY0mE2ApZm9eULDw_-3NUs_VHX3km1SY-jglLEDo_BBZ9t79KbePhIdzr9wBr543MIZsyHoDSjtKh_KGmTldUnPrKoLoSr6nbcdGSrN5CH8DcQz7Ib9AmXlPpwgKSHhtBZXwyGdbCUF06M2xDzsZm8pks4WkKTZbNqbuOCzecYT0ZWFxvdBNoyBUXieQ8LBZZVOvdT996so78vmmLqWxGgGi7NDMVoQ10B1SIFI9eEdVYW5_z6tVfwUG_pJkWh0mJM1AjfsN-wQTkZOqKu6ON7q81hfHmWtbj0kum5l24gnfAMjakaMJTFr3lezlvuymPz__fJi0dVDDEQ853-SR-X1MC25soOICZGmzxoLzjaTO_9KB1bWEf-S7mh0Q6TObHcOP1jTYS_FGB-zRQagBsoy0XH9RJjg9SzBNxwD7Pqd35SM1ki2E5k8tLNPSE-OGv8CbiyXST_bBJOqFrRSX_TCDVB10TMaqF5DuhNtmeLwIMdIhRDDaSB2Uqcr9ODZC3vFP24tfqdwaYCCBfkabkaLJ8RTzLNajxgkkqWs4Mazyx6cDOln7Y_h0uXaC1_yg6hmWJQqJrsJbRrSJsQ1Qle8_rgqKhCAeIp486_xkFKEhLpd81V_9SSlk6yg=",
  "id": "rs_0b48cdf4dec88b2a016ab42ce04af887d0b655f25456c6b191",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCznGGxw7mzCmD9z34ZIlHYpldI8GNJbJghA2t16WRcoNmgXytdoElVV1vDAhPP_PTG_d8y3n9OOQLW3V39UuUvmGzQrAqZjD0YP2LcuzOd0oASx10WGtbR4SxoB6RjXSUBOILbjpXL8RrVs8AOleDOD-TxSz5CraFLoTk-M1DoxrnCSQNi_OY01xKeLAKoewl4D8v7UwbGEKH1JRzyDZk2x-2SoJt_eWrD7ZVlzNCyZYDX-z8VU7_mGL4trsaulz4LiCOVAyZaMcb1lgckV3cZucxvT38XdY-jxm720Q0QY_TsS9JWXYPTU2hOq7DDCY8GSEV-VEzMN2CQUafSpl_Vinhm4tmItWvHQ6NJ9jHu-zxq_gsCclSIHFuEuC8zvpYaUX3E15i0AHYOHVl3Bi6yQ438J2mBXGsOr2sGoLc_NGhUSsvVBsyvXmIeQd3pAr8DQt7pYyDbyak4NtblsKp03eNpq4FmRYeQxmBgSh2TV8-JYAI0BObWlO2wKMpOJN-Wv6s--ByhwszfBbzDbIkwdhm5Jc7sz8YGFP-RcfG70X8trZePrY7kxSaksxLjJi4workpWc43N3G7LacPBVlccTXorQ6g4WpZUlAJGesiwP2KwVosalM0Y1ti64to3qq7iJnwxi_5lBuLlqSWQ5ZiGWsol9LcAZc1pZn6FXjHd75cet-46aBiYINJkKE3tHjJamwkdc03PGarbMjFClUH3RYxUkCWntj8aXTpVnoHWKAx00vid0uoVMdgbtz8AXjJZZQiMRiqgIph8v0WyLW51Rk8vX0RZ4Z2Lzx3mFXLGsUqaOIN2I7v62qNZnr7E-dWPzbiIzXDHxiVdFEy-ikGXJOGb3EHeS4LO2FJfC4vNJS5rMLVEB4muNekZ5OeKGZEz8i9IEDORRAeJ2MCGzKrUZ4B5bZb6h1AutplzLfQquVZdXKrn0kHLrgeUrSMAqh7VJRIvfv_C5y6OyM1K6HpUGzajjzEC-hjXEAX5wWjh6vxLKrxjjklmbGBoPaoxJL9_v5xk6K_K6jPK5yC-OI_egrnVk5aBxXqZG1NEjzMgA0Oz8yl-vDBjvmK6mWMegHhljVJlzgW7hDlE_JdurgwQHncVweHHY7W8BLJsE2-0eoCyvZZQIfIuj9YnWsvNIz5737_BVDjHALdi_2Q5ePm1Y2UEpjlIPhvdZSSOTmTt6uVQ1I0O-F0Z-kMrhVDCEUKAf3kHN2xz2RSb54bVUjdmZQBtM4R_tbpoJQRN_kjWhYRMC-v0_ULiQCIVFpd2zgXJQ545DZjKL-qrc9nBuyS3_80B655WlEu-3X6eERCTldILrOx3I04VDBJxhyvHhmH3WZ1gZMlVBBcpZh0QhFhydF5xiSq4mtpshFQdUDpqEdVu_FZJ72njYS2oVeH01Ozs9t_JCJoHvMx0VVyuVzth8BBBnTudR2Rp05QeShPgmfh5wKtwvSnfWs7MvDNDcxMVQTZs66Ghiu6YexsH9AWjPa6i_XD5z5oeH4VKlpPOS6TL6TU0obujDMwE9ebXBAaIM-edY7jr1y4MSuU7ssLBci-wRywHPzsPg4d7bYUo_8XbbvWtw9nWCKvbxHjvKx1I-bULFGyY1dVnDjyZaS0Ej8aEQaHUsRzXKja_cIYC1_16xPqQpKY8D9Ud9ukp4UUajeh12da-RQ0TrF6GCGTLNcVa1bnfcI4sByCRT3YQtftW6RYWGHqvAxNmrFsdcYmLWcq3yhB9uiDM6E0J82HZfMe3ATjlBXGUMPAOiDTEFZuwRLmaEIMLWNMftIHc2hxGsn8x2o5-vUy3u72lUmlqvRuOnC6Yjb2U_ras1lAaNZJ6AUKifOuDnPRkJGwfPp8VpGDF6yJLRpwPe-adfwnHBvY94BuVGnjm7efkBkXN1-hHmfxWEVXL2ju6fpI5qC-oQyt7baTTWaK-M0Fdco1KaX9G595FMYZb3984G8r-eIaI9Os_1bnxpXmIequp47r45H5EXSwM6_SkauUJk1DzITKFV6q0Hwrd4L8C_Kb7uk_PjMxCvHNqISOi3qXmqyHz",
  "id": "rs_0b48cdf4dec88b2a016ab42ce4d11c87d0bea3de361d3a5b1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":0.035,\"left_z\":0.095,\"left_gripper\":1,\"right_z\":0.19},\"note\":\"The black-capped marker is visibly resting inside the right basket. I’m raising the right arm clear and reopening the left gripper while approaching the pale plush animal from a less-forward position near its body.\"}",
  "call_id": "call_BAFBieZ20aN1EijGKtP7aHLS",
  "id": "fc_0b48cdf4dec88b2a016ab42ce6371887d08eb33a5bb0c66d36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BAFBieZ20aN1EijGKtP7aHLS",
  "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]: [0.0803, 0.8841, 0.4877, -0.45, -0.0765, 0.0174, 0.9978, 0.6655, 1.7947, 1.3293, -0.3, 0.4778, 0.337, 0.9962]\nstate[eef_state]: left_x=0.2628 left_y=0.0383 left_z=0.0927 left_yaw=0.1204 left_pitch=-0.2829 left_roll=0.0829 left_gripper=0.9978 right_x=0.432 right_y=0.2404 right_z=0.156 right_yaw=0.0756 right_pitch=-0.1049 right_roll=-0.0476 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -1.2376, 6.4205, 1.6581, 0.2222, 0.1636, 0.022, -0.1573, -12.6974, 10.2085, 1.4676, 0.232, 0.0171, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b045c10a61c713869dcbd10cfcde5bdb967dced0e56c7ebc32838fcab1c89c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1e61dc0696b5a226b24c725d68a3ca118cb86c8e5e7d6fb0209a7281335bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11db3f0c64b69734168c999679f5bce6ac4eef3767d03b508e046620461fbc9b",
      "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 90 changed as sent

message 98 changed as sent

message 103 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]: [-0.8307, 1.1286, 0.9825, -0.9127, -0.5983, -0.6971, 0.221, 0.2546, 0.8787, 0.5182, -0.1921, 0.1814, 0.1268, 0.1415]\nstate[eef_state]: left_x=0.2541 left_y=-0.1254 left_z=0.1861 left_yaw=0.0505 left_pitch=-0.2435 left_roll=0.0758 left_gripper=0.221 right_x=0.3068 right_y=0.0506 right_z=0.1572 right_yaw=0.0248 right_pitch=0.0159 right_roll=0.0298 right_gripper=0.1415\nstate[joint_eff]: [-0.1573, -3.4803, 6.6393, 1.1013, -0.3346, -0.0513, 0.0024, -0.2393, -2.8376, 9.853, 1.6386, 0.1099, 0.0122, 1.033]\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]: [-0.8307, 1.137, 0.9825, -0.9134, -0.5983, -0.6971, 0.2244, 0.6655, 1.8362, 1.1561, -0.0223, 0.487, 0.3435, 0.9948]\nstate[eef_state]: left_x=0.2545 left_y=-0.1257 left_z=0.184 left_yaw=0.0523 left_pitch=-0.2493 left_roll=0.0831 left_gripper=0.2244 right_x=0.4344 right_y=0.2405 right_z=0.1133 right_yaw=0.0677 right_pitch=-0.0492 right_roll=-0.0122 right_gripper=0.9948\nstate[joint_eff]: [-0.0205, -3.2615, 6.5573, 1.0672, -0.3248, -0.0513, 0.2125, -0.1709, -8.9641, 6.3248, 1.8046, 0.2369, 0.1001, 0.0952]\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]: [0.0803, 0.8841, 0.4877, -0.45, -0.0765, 0.0174, 0.9978, 0.6655, 1.7947, 1.3293, -0.3, 0.4778, 0.337, 0.9962]\nstate[eef_state]: left_x=0.2628 left_y=0.0383 left_z=0.0927 left_yaw=0.1204 left_pitch=-0.2829 left_roll=0.0829 left_gripper=0.9978 right_x=0.432 right_y=0.2404 right_z=0.156 right_yaw=0.0756 right_pitch=-0.1049 right_roll=-0.0476 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -1.2376, 6.4205, 1.6581, 0.2222, 0.1636, 0.022, -0.1573, -12.6974, 10.2085, 1.4676, 0.232, 0.0171, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b045c10a61c713869dcbd10cfcde5bdb967dced0e56c7ebc32838fcab1c89c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1e61dc0696b5a226b24c725d68a3ca118cb86c8e5e7d6fb0209a7281335bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11db3f0c64b69734168c999679f5bce6ac4eef3767d03b508e046620461fbc9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzsVRAY8bUhZA_10sBADcGsMs-v9HeIcV1LeuTV0tpFXYOH3Dr3m8Ml3mbrRWH1X00-lFvM-R-Ow2t8N805hdyjnI_oTzXhsNwgdvxWSzcC9RlxrLqrV6LHOJ-UjRer2GITinZIC5kJmt1xlFsRfBIixGWP7IYUoPOlYeqSALorOHT-bohURnlaUomcIuQPdWYXOAbmf4CN8HFbW-UIo5STH_ZoOkXeiO5c0xwZ3Es_3yARa8SybMt3i9QentK5qLnUy80X4IW-KLfiv-6pIL0Xm6WkDNzNVy0xo2hKm9Qdh7ZFNvyrguy5eHryohAuw4JI-VJn-a4NodU9j67Xxf7xnpHQa5EXtmP5Vp1i4dDQCYFR7W-F3_jxC6-gadbTRHf1JQuGJQNt0OktiZuWRYovphPB26bR80k-7jBbDMtC09vla8ZbVBjqbxKP785R9PipRQOEwJguygP8DoUfGdaoaLbkc4_V20tXRX0u8uRYS2u5ULcNg3DQnDB8u8ez1NCP6bpiyXJ2DGJtByrkR8pUenVqinTyT7BtFKf2m9CKRzn3uckkSPWnlconaa4bwULrfLb1XO97kTkKDpGD-xb71ThdwUzQRysk5wUDInPDzNBtOmEFsdy31RaZ_hwE3Glvr_NhhSUlX_oL5bbf-QjadRAWKAfo19DF8Ry-A-pKOqE4vZ-Bj1ppGHSaqUgebEREVfZkvFF4o5ALVhNSChX-mnG98qfYOQaclCoOceOZJmbmWMeFKE2XKa4xt3DNkflCSX2gHWpFUeBJL-wkuQQfPQu9NbjiAtyYDXTGQAHSSr43CeuN0mXGzYyT6czPBgy79lH1__mShw9zjYPG_-UMhYoZpGnCg2vgf9NLDKIiqrr_W7ZkniXE5bNkja7ejVR2YWU-iHoV5AeIW0fi0A-iXA-EZUM8jWhcNSQddRcNbkCSh2kzIp9F25MINuQmNz6SW58E2VFS0h-DnzvXXUKpY5IkCt7R3tbAA-qwhfrtfOz9EfKBrgDM95rxGuNTTASU2ZYh2NyFvR41olJbE0ABdTNy9saGwFZvXtjoGlgDd96Htgs0qnITYVt4uMv2ldwwCRmQgm8bRP50vo3hbbEYJGLWzHf4dOnRHPcTpsgOiAAKnfHSzwT50FWvmJ4Ab4kjSKM93zbh29SkeFTeFpd6ghhNwA_3Vd1BTfIdyj9Ljylw1QizJfvvbaDp2TP8dVCJQPIDYqaN8Mfx6BlTZ9gR_QpdbgkGKnxb2Rt_VzGbuL_PfjusIOAtBTVO6JyT5YlQ3QIXXuQM3P8qs6Ayej4cms1XIjS31DWBW-ZlQF4jVJhdivCpeJK3mSPNd0b1BvXFM69Ca32ScIsINSGZkDTYpgdzuWTVwNhdeOOBCAkFlCy_s3V07a3WWEJ0JPbGPycDI-Gqdm6Phh4vVlnHIaE8Q6yMwghIHRIToNbMECRPOhsynFohDU1pLju4sYF3K9CGNigGY8gHdCjUfK3NQWIerbmTE_Op9Nn1vN93_22X34HpuQ_cYWwI6Nn8iZS3jpV--1AjRsrYsAn2wf8ow95CU_jzs9f3kYwGT-4MCMA24hMyJvj2aaeYJMEjzHk2MT5vvC42fcOupWsACHg8ogahMyTIU_NRGR-9bRHOdrndPNMFeNcJpjeP_oyTTRlHVny0NNToubMTVESeRJIzLrTVEfiWm14p3aKvg2pgRBBPoPkA2vQUtrlumw6i7HHcJuLK47Ud04iugTdrQTpT91beOxJ6HZXAADk0wCHyNrEQEJhfNHBBBoq250LpsjQYAVxIsPmDTQVgi1q1AmGqq5LW5w==",
  "id": "rs_0b48cdf4dec88b2a016ab42ceb10ec87d08d0b0d66bed1f00c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The pale animal’s torso now fills the center of the left wrist view, with its head farther ahead and both jaws alongside the body. I’m lowering toward its torso to get the fingers below the fluffy surface before closing.\"}",
  "call_id": "call_dlflwE5hOCr7453eaFDWN2H7",
  "id": "fc_0b48cdf4dec88b2a016ab42cec253487d09ec9f9070562645b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dlflwE5hOCr7453eaFDWN2H7",
  "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]: [0.0799, 1.026, 0.2733, -0.1585, -0.075, 0.0261, 0.9981, 0.6655, 1.7897, 1.3334, -0.3168, 0.4667, 0.337, 0.9963]\nstate[eef_state]: left_x=0.2518 left_y=0.037 left_z=0.0197 left_yaw=0.1146 left_pitch=-0.3482 left_roll=0.0901 left_gripper=0.9981 right_x=0.4298 right_y=0.2409 right_z=0.1567 right_yaw=0.0838 right_pitch=-0.1155 right_roll=-0.0454 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.3726, 5.7094, 1.58, -0.0806, -0.1294, 0.022, -0.0615, -8.9094, 6.5573, 1.5995, 0.2564, -0.022, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3952d7808396b3198661ded35a63eba0081765f2a75c5b562aab59a83dffe88d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce947fa371dc061450c289f11d743367540d3231581ff362ef18446f96feec6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63253720878ab588ffe9449a6b94f8e56224ea53bbc3463ec735d889246908bf",
      "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 94 changed as sent

message 103 changed as sent

message 107 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]: [-0.8303, 1.137, 0.9825, -0.9138, -0.5983, -0.6971, 0.2223, 0.664, 1.7493, 1.3945, -0.3111, 0.498, 0.3492, 0.147]\nstate[eef_state]: left_x=0.2544 left_y=-0.1256 left_z=0.1839 left_yaw=0.0527 left_pitch=-0.2496 left_roll=0.0834 left_gripper=0.2223 right_x=0.4394 right_y=0.2412 right_z=0.204 right_yaw=0.0551 right_pitch=-0.015 right_roll=0.0076 right_gripper=0.147\nstate[joint_eff]: [-0.0205, -3.8632, 6.5299, 1.0867, -0.3394, -0.022, 0.1245, 0.3487, -9.3744, 9.2103, 1.409, 0.4371, 0.232, 1.0281]",
      "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]: [0.0803, 0.8841, 0.4877, -0.45, -0.0765, 0.0174, 0.9978, 0.6655, 1.7947, 1.3293, -0.3, 0.4778, 0.337, 0.9962]\nstate[eef_state]: left_x=0.2628 left_y=0.0383 left_z=0.0927 left_yaw=0.1204 left_pitch=-0.2829 left_roll=0.0829 left_gripper=0.9978 right_x=0.432 right_y=0.2404 right_z=0.156 right_yaw=0.0756 right_pitch=-0.1049 right_roll=-0.0476 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -1.2376, 6.4205, 1.6581, 0.2222, 0.1636, 0.022, -0.1573, -12.6974, 10.2085, 1.4676, 0.232, 0.0171, 0.1343]",
      "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]: [0.0799, 1.026, 0.2733, -0.1585, -0.075, 0.0261, 0.9981, 0.6655, 1.7897, 1.3334, -0.3168, 0.4667, 0.337, 0.9963]\nstate[eef_state]: left_x=0.2518 left_y=0.037 left_z=0.0197 left_yaw=0.1146 left_pitch=-0.3482 left_roll=0.0901 left_gripper=0.9981 right_x=0.4298 right_y=0.2409 right_z=0.1567 right_yaw=0.0838 right_pitch=-0.1155 right_roll=-0.0454 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.3726, 5.7094, 1.58, -0.0806, -0.1294, 0.022, -0.0615, -8.9094, 6.5573, 1.5995, 0.2564, -0.022, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3952d7808396b3198661ded35a63eba0081765f2a75c5b562aab59a83dffe88d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce947fa371dc061450c289f11d743367540d3231581ff362ef18446f96feec6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63253720878ab588ffe9449a6b94f8e56224ea53bbc3463ec735d889246908bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzw1h0Ty1N6_Uh0iqmM4YaJ-UVS4S9Ax-wguTM8HzZhBX57esec-JuERqyIBbaihT5IgclUr5Y1VO9SjXRWNNimU3jqv-lspz3WO8kBEX8WEhgVbGI77CaE4rnWQ0NVDybXm8zaKxilIUU2tVto8hHpQuHNkV0P2C3ltD5U7cDKUEY43BdPTk7EXQRReBAqEZj7bj1caSgJH2t_9PvijfpU5U2BsYuzO6ctbHd4XgpU_u-HNxWPT9y_xZF7K9pAwpJX_RC0fLm0TkaU7gyGIjHeVtKvDTL9E1CMTU2R_S0SVWyXj0zfvfvE_BlopIe6IrQhqJXYYybXHWwLWmZnMZz4tZpUY_lu752PS5jC3XpR_zL0v3Wcy7HqPe2L7Sxayr4APCOSy20_nyaDVLPNLhDYioRHoHCptnGS12qlOnGE3LCI-F7NiyimJK0u4nZR1qG09Nd3ooEPrtJSb2Bo4jVSaf20wKw6bnmUMDPCpk_7Sxp-izH85ypkr8_RhHzRaVbHABzwHKiKCW7KmA3u86ASVH2lXJ6VGIqKQAavEJ51hj0qQh9-jmmmC2M_XVAz6h_89VlUxgZtLHiiepYoMO8-lzfHIjU0nDXlaFn79ULYtplcuLWHLcnWRehiVI6TEm35zA7fXlnMYiMBlWyInFfSAfF7DGzt_BQIsyzCbVHyc8X1FumOLCc0DCzFdZjjeUGv-Zmb_5Ne3RqPbNwPo944eX3v5F3-HYvRouwTyHmzTxRzwcPpD1Fx7mey_5OaFBBtxxMnpp4XFz6kB6VLPFzyT6BVPuxqI5HCUbdRcFKfUo-QYcxnFdps-ytYDXjOW5XcGLHjf3hiVJWR8lfy3ubMzq29oHsqy0QpycGEyhS4PmeWeulGIZtdrvR9RX81vbFO2a9OSuuzLh-fB-k4cyfwUIJelWsnUm6ZhemnV2bVYmyN2QZaK8Q8SjvjnQ8Q6x3JK0ZXnXRvlJb8WjQJMdy9EgZcbGWCi4GdrHC0gKLee4ogbN2BMk8zhUMBys7y-Zpzmek-ThF7mhbdPNvQQXPmm-XvCsvfJEo8nTzhuhG7HQDIGwVofYgxw3GRHNIdQh_vENITojMcCJ5R79TLYYSQ0BQmNsS1QykmSrk7KrYyWiKhh2oN5BYeYyh-40AKU6MkylAT23Mflk-fCrGSj_hH3UtA2re-vb85RJ16lbowzBzdRbOkVD92kBKr5i8UrY_KyQq-h_gD4oCNcp4cYeEsl3TsQ1ftKd2Wgu3xbPMlm0xx5BenyiGUuobWyAMhNbfpck-NBSIuZ0-KSK0XAget4MxBieMP9vwnUjSCffM0HeNqxGipG59DmbBInSfuir1V",
  "id": "rs_0b48cdf4dec88b2a016ab42ceea0e487d08bfc3e06d8a6572a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lower approach tracked successfully, and the pale plush torso now lies directly between the left fingertips. I’m closing on its body and will lift only if the jaw opening shows a firm grasp.\"}",
  "call_id": "call_vLu6r5XiTlCeNBaSTKQXikE2",
  "id": "fc_0b48cdf4dec88b2a016ab42ceff42887d0938d2a2f2139d8dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vLu6r5XiTlCeNBaSTKQXikE2",
  "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]: [0.0799, 1.0264, 0.2619, -0.136, -0.0742, 0.0261, 0.1153, 0.6655, 1.7897, 1.3323, -0.3176, 0.4599, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2525 left_y=0.037 left_z=0.0187 left_yaw=0.1137 left_pitch=-0.3375 left_roll=0.0891 left_gripper=0.1153 right_x=0.4292 right_y=0.2418 right_z=0.1557 right_yaw=0.0891 right_pitch=-0.1197 right_roll=-0.0424 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -2.0308, 7.0222, 1.1893, -0.0708, -0.0122, 0.9548, -0.1299, -9.4974, 6.9812, 1.4774, 0.1978, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e0d55de1f67a09304e89266fcb8a6cfe91cd87099c76cb3c32c5df805dad06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0039e7c748d609f2c6ac5c3f36a567aa51313d8efab0343e45dd6b9755a0ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48a04be655c1d470e448a96b5471c954f62eb60d3ece9848a643e6931ff0c3d",
      "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 98 changed as sent

message 107 changed as sent

message 111 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]: [-0.8307, 1.137, 0.9825, -0.9134, -0.5983, -0.6971, 0.2244, 0.6655, 1.8362, 1.1561, -0.0223, 0.487, 0.3435, 0.9948]\nstate[eef_state]: left_x=0.2545 left_y=-0.1257 left_z=0.184 left_yaw=0.0523 left_pitch=-0.2493 left_roll=0.0831 left_gripper=0.2244 right_x=0.4344 right_y=0.2405 right_z=0.1133 right_yaw=0.0677 right_pitch=-0.0492 right_roll=-0.0122 right_gripper=0.9948\nstate[joint_eff]: [-0.0205, -3.2615, 6.5573, 1.0672, -0.3248, -0.0513, 0.2125, -0.1709, -8.9641, 6.3248, 1.8046, 0.2369, 0.1001, 0.0952]\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]: [0.0799, 1.026, 0.2733, -0.1585, -0.075, 0.0261, 0.9981, 0.6655, 1.7897, 1.3334, -0.3168, 0.4667, 0.337, 0.9963]\nstate[eef_state]: left_x=0.2518 left_y=0.037 left_z=0.0197 left_yaw=0.1146 left_pitch=-0.3482 left_roll=0.0901 left_gripper=0.9981 right_x=0.4298 right_y=0.2409 right_z=0.1567 right_yaw=0.0838 right_pitch=-0.1155 right_roll=-0.0454 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.3726, 5.7094, 1.58, -0.0806, -0.1294, 0.022, -0.0615, -8.9094, 6.5573, 1.5995, 0.2564, -0.022, 0.0024]\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]: [0.0799, 1.0264, 0.2619, -0.136, -0.0742, 0.0261, 0.1153, 0.6655, 1.7897, 1.3323, -0.3176, 0.4599, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2525 left_y=0.037 left_z=0.0187 left_yaw=0.1137 left_pitch=-0.3375 left_roll=0.0891 left_gripper=0.1153 right_x=0.4292 right_y=0.2418 right_z=0.1557 right_yaw=0.0891 right_pitch=-0.1197 right_roll=-0.0424 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -2.0308, 7.0222, 1.1893, -0.0708, -0.0122, 0.9548, -0.1299, -9.4974, 6.9812, 1.4774, 0.1978, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e0d55de1f67a09304e89266fcb8a6cfe91cd87099c76cb3c32c5df805dad06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0039e7c748d609f2c6ac5c3f36a567aa51313d8efab0343e45dd6b9755a0ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48a04be655c1d470e448a96b5471c954f62eb60d3ece9848a643e6931ff0c3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz0rWELLWzvCxReeJkgSQ2ElzZ0cx3TizAHbRbVPRSk9yqz92-PtL9LUO07lgN8KjHO-j7nUHzQvP-_8MAGKtKnzKlCql4D1kpoipPDs0HhVLgWB0iakTeHVwcXRA6Gvo8MmJs9djMDZJAojJDe6y9iT3sTO6Ln1-3iqcYRAOkOhNT_zt0Z1X03ppSAZ4_R88w7RLfluqvLjmx20i-cbQmIQ3rONvDfLA0oEpbZGLlhtQthtUGSByFTmdESux2AWAzQGssixdLgGSUxdPCno_eC09q2_XFHwCRALst8LT_dveilCzBSDS2g-yQ2fPTOHWtpYGqiWTx3F1ssFsXveI60ziERJjttzjO1wYriDY1VyikFqquKS-h-6jGjfVQ0lbBiUUWGr11NojLKQYhcMamrCXpG1_ICDPREVh38ePp72eLXw5bvMV5UcOYoavxV78tzok_a_w9a6cXFBQieHooykdU2_YnszecZF8mpryIT65AQc4v6zMqchq471Tb_J_LWnb6gkCJX9PitCCs0YaAUwK3bJEt89Sw7FLAw62ysACOq_-Dfv1h7SkPRJiv_O5_uyYE0K7_eHJaI3RBMS2p-DLiaocd268RMMDqBY6u-3OmDVRHTIp4eMLye1zeMUNDlgM8SusZlgt0_omfCrGe9sV2plMH3rnQSiaKsgFxFPiu170hJ7QXLJQa8flfnOv6vDPUu8voPJs6WxoVAj2B2u97W4xmXEBojijFGZT6zPFAL_Y1PXH7ww4Cn100s6OwfwHvVDrr4X_7WwTms_m7PfKZTXL2J10FJXFyl9Fml27RMYkSeHqEPii5ltU6ND9Q1UK1rgCzt8MuYv1HHuCPhYWenIIOQF9F2uCEpKiZtIJatdBUKjZnN4LBw48qdLCF1P7xfpWwYvmwyVOyjj86aSjcNveDprF34L8axcXI9L3OeycWOoIAG6IBpetZHrmKRe0GFeuR2nNLGETXjF7amktrof4LS7kwbzg_QVWSUga_wJGes08Q4sLS7c6KFat1J68zYwkTjFyVxmGdAZAaqSuIVlvnayggUMLCZdX98seR3EvFGRV1jivyHgwh8t4gMPWbsn-XmgEWkKHtaO3zcJ4h9TD1m8Cjf_HP62m3bkGnY4L9pL8CGC0DVO2H7GIoe0ivFPtflUr_YJ5kkXBNH8IGJWZCHQtzkElLReBIbZVosZkbe-LX4ysWsjXSZSUDRvq1kvabhLS7_-Uy2a6GpygQbiDEHChy6ePT6GgoyjSBSVKG-RPIM7AHre0nV-MBG",
  "id": "rs_0b48cdf4dec88b2a016ab42cf3082487d08e3739add8d56ff9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The jaws stopped just over 1 cm apart, indicating contact with the plush, though it may only be a small fold of fabric. I’m lifting straight up to confirm whether the whole pale animal comes with the gripper.\"}",
  "call_id": "call_ZlaO7fRrgqfSv4mu30x0fdkd",
  "id": "fc_0b48cdf4dec88b2a016ab42cf35c6887d08e9a948ca48ecbf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZlaO7fRrgqfSv4mu30x0fdkd",
  "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]: [0.078, 0.8906, 0.7822, -0.7929, -0.0742, 0.0246, 0.1166, 0.6655, 1.7897, 1.3323, -0.321, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2548 left_y=0.0366 left_z=0.1575 left_yaw=0.1127 left_pitch=-0.3382 left_roll=0.0881 left_gripper=0.1166 right_x=0.4287 right_y=0.2415 right_z=0.1551 right_yaw=0.0894 right_pitch=-0.1229 right_roll=-0.0439 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.306, 8.6632, 1.4628, -0.0659, -0.0366, 1.033, -0.1846, -9.4564, 6.7761, 1.5116, 0.105, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73048ea18577acbe40ce5a5dceb4d9fbe24dc562dc642ff3caf15092b64d41bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52178dc18c44be907aaffd4c2dde90d3b8a190e5869aa086cc30296a1d92caf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4cf4767ae910774f97e331a316f47552a14b7ed99f881e6969a38413a73491",
      "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 103 changed as sent

message 111 changed as sent

message 115 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]: [0.0803, 0.8841, 0.4877, -0.45, -0.0765, 0.0174, 0.9978, 0.6655, 1.7947, 1.3293, -0.3, 0.4778, 0.337, 0.9962]\nstate[eef_state]: left_x=0.2628 left_y=0.0383 left_z=0.0927 left_yaw=0.1204 left_pitch=-0.2829 left_roll=0.0829 left_gripper=0.9978 right_x=0.432 right_y=0.2404 right_z=0.156 right_yaw=0.0756 right_pitch=-0.1049 right_roll=-0.0476 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -1.2376, 6.4205, 1.6581, 0.2222, 0.1636, 0.022, -0.1573, -12.6974, 10.2085, 1.4676, 0.232, 0.0171, 0.1343]",
      "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]: [0.0799, 1.0264, 0.2619, -0.136, -0.0742, 0.0261, 0.1153, 0.6655, 1.7897, 1.3323, -0.3176, 0.4599, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2525 left_y=0.037 left_z=0.0187 left_yaw=0.1137 left_pitch=-0.3375 left_roll=0.0891 left_gripper=0.1153 right_x=0.4292 right_y=0.2418 right_z=0.1557 right_yaw=0.0891 right_pitch=-0.1197 right_roll=-0.0424 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -2.0308, 7.0222, 1.1893, -0.0708, -0.0122, 0.9548, -0.1299, -9.4974, 6.9812, 1.4774, 0.1978, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.078, 0.8906, 0.7822, -0.7929, -0.0742, 0.0246, 0.1166, 0.6655, 1.7897, 1.3323, -0.321, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2548 left_y=0.0366 left_z=0.1575 left_yaw=0.1127 left_pitch=-0.3382 left_roll=0.0881 left_gripper=0.1166 right_x=0.4287 right_y=0.2415 right_z=0.1551 right_yaw=0.0894 right_pitch=-0.1229 right_roll=-0.0439 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.306, 8.6632, 1.4628, -0.0659, -0.0366, 1.033, -0.1846, -9.4564, 6.7761, 1.5116, 0.105, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73048ea18577acbe40ce5a5dceb4d9fbe24dc562dc642ff3caf15092b64d41bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52178dc18c44be907aaffd4c2dde90d3b8a190e5869aa086cc30296a1d92caf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4cf4767ae910774f97e331a316f47552a14b7ed99f881e6969a38413a73491",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz5uXFoFUaJRLUb5ZRs6m66HXdUlibSZ_t0FYDvRY6zmWZAek5NwZHgdMR-iRoVYnZUfXoLlWgsb8ZaWixHmdSOSMcK9BKdsW3t2tCzs0xLYtt_6Hb8e27KV5lEDu8kEMxLXdfc41siiLa_AyzQtc_eV7dF56wxhdXqRLYrxkLgg7kH129X1qE_vOT9oQPq36AWicrsGGpsG2_pMPwIOHEt4hLk7FjTijjrNWUJ0ozfeI1Jhs5xh2pmrq-QQtSznLydTW6xRkHE8TOZl6u9quxmQKOVLlw71cnnT43kMzlEZyNobtXhw6CanAYcnnaHWdc8E5K_-JbP9e6yq4DCKT9oMQW36gxkyJ8I-XGWXZddnv_-Js8UMpJ8OGNIg6Vr67jMoRERegYzpdYBKr62pEUNs2VAHv2qMYBk8sjRaj7-fZPn6ia_k24VfhpXCAv_ygTmd6OZ4UcHiE1DVQkK5GAzwkjMAT3IGdEMfXQuumsL7PT78SHSWmBVaF3zAjhzhQJ1FTqMnOIOvJO5u2JouYxuLd8RMXr6rtLLi20DM8rsgdm37m2YMJIs4TaquafGhXe3CTKWq8HdoEPyjDPzUAIqRD-pmovyYf3QTHMbEbA_uFjJncjuESUjBwOOT_vshLT2_c2n-QM6-iN7ahlmjMsoyiSh604u9BQd1_iPNZZOgq2R4HyYLw1aBaCZQ1HK7b9dxFE-67fX7dDqirnjSmllNq8zx2KOwJBfsWvuPB_RL8lfchXd1VuAICp3HAB_Uh6A1NJBsT-eK4Qn91sX6z2a7sWnTmN5oqUuzpodlsSHKuc7NBBnLjNfapbf716q9m1c79X0cD8nNtZUlY89MQvZLWi2hM-i2ZGOeITLi-C7AKE-003kpjmf_U7nYGpkxSWvOzz-BEZzI_XwYlPliZPxwzgmjh0E8obd5fogWfZj-vGte_KqEF1AGt0b1MLh827Ne1uMS3L9TV3J9FyVnbhHtXEVrFqW08TLWRo-1brovI5D-9mHHEZJD3cxD484u9UKnIXD7sxl7XzalNlHdzIL4kwWFKht6MDtYJE2C56JZiyD1lx-cYzF4IJD5tjfIsmlbsX63Uarwdw1AkQOnh2p92vvVMt9QLI0JLjGSRZ6Mzo-ImiOaXqh0YoA7tMBR6Z35U8xuBw_jlrr46nP9WHIzuIHcOPxr7zqBXQ9uThC_jLy5f4yEjcng5s6L1HrBnNQDMfHL-23BWCpX1vIU5D_oTx4D17Cmtr8g7FShvq7eoW3JpjT1ian5WLiRio4vuMT1qxwjar7-twPsxRNx49VYJ_Wmo8jqk6LYPzQNPpOmkOpUkMHXWFDFfGZuHEx0XhFK0sgOVPHqeplgPwwgun4Zi64anFTstc2BpnOlF9UizlisrvFcLD7ZmmQ-W4r2EDY1g8-ioJuGXAo9EYlHy3yqDMFxJ2iPsTLXWbk2Quynorog8ROSDEHaieYln0GGk5JXC-D3ExSWNPiiXtS79yhv2n5oIkwEO5ttHn7fevjjM3_6TA7hT3CFl_6xbcAGTDa6_KqenPv1Ru3kgkCddrcFCnThFYzT-HyDJW_63X6Ka4-KAx_xOSaqQxBd5_Ttx4G2Za1Rnh70sja9N_o-spWZtWBE3I-bzNxB2msWESBhe0URj5eOPkR-jgvcM2Wx3MlmecSoCW9ui-d92LueS4Rr8ovJQavuDUQJEZzXc6vNlKW0Iiae2e4tbMD07PMRiRlrLKWVbhARnnCoXP1oscrHxIO_BAqM6Gwr25EAj5f-ngWN6Xcu-AO7_xIt7cGuCLqxyu3FIceLLL054yVCP4Ebtht8-Sp5fgi4GrD3BvV7LA15WIVGXzPxODOvG3j3e4S6tZWlREb9BgTTl5xIUKl-rN2cHcUK9BE1y4Lk0Rop_tUSFqSWwjbWVzyNJZGLA5kOEnUDur4Xs9b4oK6zKO68SRBhu_NL7W56gcF2hfm0virNxImXudhQ9aHhsgI2KhwAL3F_yWzCS1y5rQJ_qjNwqdOgP_uNkkX-Fa_4qUjgAZQH1GYoW5lFGIIaK4y0TT_a-ojAMgG4bjZyDN519x6HHD494CkJJAxiu8qIRQ6Joh931HgBY235CMovCmSWvQJ",
  "id": "rs_0b48cdf4dec88b2a016ab42cf66d9c87d0bacb2db8582b0abb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.165,\"left_z\":0.22},\"note\":\"The pale plush animal visibly rose with the left gripper, confirming the grasp. I’m carrying it over the left basket, reserving the right basket for the markers.\"}",
  "call_id": "call_FQxlAOsKtB1qNExKDBDXjgjY",
  "id": "fc_0b48cdf4dec88b2a016ab42cf8757c87d08c72a9b5514f9f40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FQxlAOsKtB1qNExKDBDXjgjY",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5713, 1.7279, 1.6264, -1.0073, -0.4126, -0.5449, 0.12, 0.6659, 1.7897, 1.3323, -0.3237, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=-0.1615 left_z=0.2002 left_yaw=0.1097 left_pitch=-0.4025 left_roll=0.0915 left_gripper=0.12 right_x=0.4283 right_y=0.2414 right_z=0.1547 right_yaw=0.0896 right_pitch=-0.1251 right_roll=-0.0453 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -9.0872, 8.8, 1.1062, -0.6129, 0.1929, 1.0183, -0.0752, -9.4974, 6.735, 1.4676, 0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c30c1cd24a3abb54262366a955f6f691ab88e3e2aaafec2c74f0c7a42b6613e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4a84676e95dc075afb79bc213f8c123be56db633c4647564b16a88360a02e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12c0f25f633fe0047d18f8c7b6753146da0dcda00aa7901a4ade5b33ae6aba3",
      "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 107 changed as sent

message 115 changed as sent

message 119 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]: [0.0799, 1.026, 0.2733, -0.1585, -0.075, 0.0261, 0.9981, 0.6655, 1.7897, 1.3334, -0.3168, 0.4667, 0.337, 0.9963]\nstate[eef_state]: left_x=0.2518 left_y=0.037 left_z=0.0197 left_yaw=0.1146 left_pitch=-0.3482 left_roll=0.0901 left_gripper=0.9981 right_x=0.4298 right_y=0.2409 right_z=0.1567 right_yaw=0.0838 right_pitch=-0.1155 right_roll=-0.0454 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.3726, 5.7094, 1.58, -0.0806, -0.1294, 0.022, -0.0615, -8.9094, 6.5573, 1.5995, 0.2564, -0.022, 0.0024]\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]: [0.078, 0.8906, 0.7822, -0.7929, -0.0742, 0.0246, 0.1166, 0.6655, 1.7897, 1.3323, -0.321, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2548 left_y=0.0366 left_z=0.1575 left_yaw=0.1127 left_pitch=-0.3382 left_roll=0.0881 left_gripper=0.1166 right_x=0.4287 right_y=0.2415 right_z=0.1551 right_yaw=0.0894 right_pitch=-0.1229 right_roll=-0.0439 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.306, 8.6632, 1.4628, -0.0659, -0.0366, 1.033, -0.1846, -9.4564, 6.7761, 1.5116, 0.105, -0.0366, -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]: [-0.5713, 1.7279, 1.6264, -1.0073, -0.4126, -0.5449, 0.12, 0.6659, 1.7897, 1.3323, -0.3237, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=-0.1615 left_z=0.2002 left_yaw=0.1097 left_pitch=-0.4025 left_roll=0.0915 left_gripper=0.12 right_x=0.4283 right_y=0.2414 right_z=0.1547 right_yaw=0.0896 right_pitch=-0.1251 right_roll=-0.0453 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -9.0872, 8.8, 1.1062, -0.6129, 0.1929, 1.0183, -0.0752, -9.4974, 6.735, 1.4676, 0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c30c1cd24a3abb54262366a955f6f691ab88e3e2aaafec2c74f0c7a42b6613e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4a84676e95dc075afb79bc213f8c123be56db633c4647564b16a88360a02e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12c0f25f633fe0047d18f8c7b6753146da0dcda00aa7901a4ade5b33ae6aba3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz_d-2rVhVWd-XycDCoy4vWCPh17r4VMp1NBMkE_3Wi8_TjYcT8qrcalHpxsR1phLTz1n_dQEKUnx68_cLF0rZvYiqGimO8STQ9PZRRDCYo45RKS04BgbL2WfdJuDtrIk3R5Hw2tNRTaJxe5VtSRQulgkB0vjSPt6oKmAS8UZF6eFsAfYEm7L5OMSFrY_gulvZd2V4mUxw1NBfWVvSIMDAKy4x8dUtcxPplNwiBukc7lNd2LK2h88PFnjaSu6tUWkURJ_4M98XuX2yPk0ye9k9ngPUS4ZODTtKSHron-q0EWvSczbBuwN3dWeiks4T8pxDlyeAryxpO5dsyEBgXFf-FziYeOcoapG-AAeBloHzKT67LuBSgJ2NuGzcUjM_6shKgzE13pUmpQLWL9m4_DQbt5TTu-aN9lS-O0yimTKL2zqP8dCH84hmA1ikfH6V0dnROSTUxkVn0ww1ArckY2fMwj-r8dI2wdhBEaHga42u0KTxyqCT0ATtqHfglQxwNzGN1v7a0ziiosXu308Q0ak3nKemT-IT5Tl0V4Tt32g_3YnI_6NkRD-_aF_6kow7om_hiunPT0uYFoHsgaaozV5KynC_Ar-7mxZukufLiBV2cxEZFitpFjdKJBJJiK-T6aXt-2XI5TXYX1vQ_Do5Pcbuso-l17o19EiwQtxBEFtWXfSZt-3q1KSRs-ILAHm5Z4gXiCoyEbS-S3mEUdt7ntuz4VX5Bk7SlKfsHrUn6_WoC-aYGINg8Ku6sWuj6xnFxu4q_dcs2G-57ZdYRgYKhae5eREvo8hWw9voZ_MwMB8KyOcRtdKKmT3QGXQr3wJ7a2QvSfN9LNV5-tEEbdaEzHLExDZN1koVqpHR8rXqNyKTdDjb0i1W8yH62GYeoLhdLpnhwAcWU8IC_n6VaG7crJHnZMc8_EYWOkYcmfqR1HZYWAbW0Ine9mxTtPAK9zDBZ9NN0uUaZZ67h8Gi5ux3e7591nsaprvqaHIuT-knqF5gqAIPuE3OGrRmRYJojs378rGs9Ywo8vSGEcxjKTlYaB6hsoqdOBEnt6yHARMTz65JdZb0AbVIgmU0cHketEBrdiYmt83PbOsebT4eYdDuQ2eg-7SAJ30izL5M0injib-AFnI3oyN2RFVx9M3ak7YBqD4C6sAnlACJ0wE2nK_EGhtKVd2sPVpEaI_8rDNbR5QWBhX7mDwYc_bJe0cJfXZ5uKtx_hp7z8oLg0Byul_Bvp_2UlsFYz-JRYW0p9IvRjVlT-Q8liBCONFiJT8JjK4JgP2-05iqjGebMyST61iwqrA6NkXNFDMJ9_tMvm5rME3wxcTDfwaL09okQ2b4wfVy1GlE6GGOJOgT2bYBQERf323YiJ3rpw8QKwGcFzZX5NyzgxY9pwlEMohrsnEHU65O7re-PxJ6YF1vFXRQ9CBgYu81CF3STOybPpjO6TSATDJRC68wzktTI96AFp2US-gVIh4uYaHvQI5sqzD8hDshVnoM-tRdazFvN9IlCGNC-qMr6grT3Yw-ZY1HaOJ4yFFcqdVsw4lfy-hbZLhiftmYA4VJcbAFAcGh68_1i_0OSO1w4zUbUQeADFnXAdmhec62EyURvbziEN7MwpOwBFVovR8DXjk9YfG40kgVsFi_cPR5JsHeGuun8T-8Spk260sJZ0WVOQN3Lv6p7RGkMrL7BYpXX-FiU0e2uzYfdjz959IuuURYZiz65OtFn_JAEbTzg8Qm90P6dWwMYO8IVUtQoVhhCipLVtQzbh4WvvVyLfwIZzFCduKGBdYpvw8x1ZMdox5wpEAeyTK-Ve4XCpchejTUmQQKWwEq3AMFYMFC5TnXr-VAtaRHi_3-U6reQXn6qXlWEtpHEc5ZWxKHz0Urph96rELR69noKhurnF2p7ZLGendYWfcIzzYPJ1-4555AlPQVMqmM2UwOZe8HCWjzEChrVKw==",
  "id": "rs_0b48cdf4dec88b2a016ab42cfc104087d09d9fa7ebf4d9d8c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115,\"left_gripper\":1},\"note\":\"The pale plush is over the left basket opening, with most of its body aligned above the bin. I’m lowering it below the rim height and releasing it there.\"}",
  "call_id": "call_Q7XaKYVjNKWJwOYCtPRAjlax",
  "id": "fc_0b48cdf4dec88b2a016ab42cfe9e8c87d0897c0a549aeeb371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q7XaKYVjNKWJwOYCtPRAjlax",
  "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]: [-0.5709, 1.7348, 1.3144, -0.7185, -0.4042, -0.551, 0.9953, 0.6655, 1.7897, 1.3323, -0.3248, 0.4595, 0.3374, 0.9964]\nstate[eef_state]: left_x=0.3832 left_y=-0.1593 left_z=0.1162 left_yaw=0.1158 left_pitch=-0.4302 left_roll=0.1022 left_gripper=0.9953 right_x=0.4282 right_y=0.2411 right_z=0.1545 right_yaw=0.0887 right_pitch=-0.1259 right_roll=-0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -8.3487, 6.3795, 1.0623, -0.3248, 0.0366, -0.0366, -0.0205, -9.4427, 6.8171, 1.5409, 0.188, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404c3ffe4505fd35dd9142cb8c52052e2c325f1379789e9163c2967dda976989",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b56363c25cb8ca759a7ee5470dc6d93f8c0261cb8f764f596f390024cb447d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a8b188f49906deb60a63aefed60c57f8237cb403ad0408010bbf67b6722d5f",
      "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 111 changed as sent

message 119 changed as sent

message 123 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]: [0.0799, 1.0264, 0.2619, -0.136, -0.0742, 0.0261, 0.1153, 0.6655, 1.7897, 1.3323, -0.3176, 0.4599, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2525 left_y=0.037 left_z=0.0187 left_yaw=0.1137 left_pitch=-0.3375 left_roll=0.0891 left_gripper=0.1153 right_x=0.4292 right_y=0.2418 right_z=0.1557 right_yaw=0.0891 right_pitch=-0.1197 right_roll=-0.0424 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -2.0308, 7.0222, 1.1893, -0.0708, -0.0122, 0.9548, -0.1299, -9.4974, 6.9812, 1.4774, 0.1978, -0.0659, -0.0073]\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]: [-0.5713, 1.7279, 1.6264, -1.0073, -0.4126, -0.5449, 0.12, 0.6659, 1.7897, 1.3323, -0.3237, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=-0.1615 left_z=0.2002 left_yaw=0.1097 left_pitch=-0.4025 left_roll=0.0915 left_gripper=0.12 right_x=0.4283 right_y=0.2414 right_z=0.1547 right_yaw=0.0896 right_pitch=-0.1251 right_roll=-0.0453 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -9.0872, 8.8, 1.1062, -0.6129, 0.1929, 1.0183, -0.0752, -9.4974, 6.735, 1.4676, 0.1245, -0.0562, -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]: [-0.5709, 1.7348, 1.3144, -0.7185, -0.4042, -0.551, 0.9953, 0.6655, 1.7897, 1.3323, -0.3248, 0.4595, 0.3374, 0.9964]\nstate[eef_state]: left_x=0.3832 left_y=-0.1593 left_z=0.1162 left_yaw=0.1158 left_pitch=-0.4302 left_roll=0.1022 left_gripper=0.9953 right_x=0.4282 right_y=0.2411 right_z=0.1545 right_yaw=0.0887 right_pitch=-0.1259 right_roll=-0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -8.3487, 6.3795, 1.0623, -0.3248, 0.0366, -0.0366, -0.0205, -9.4427, 6.8171, 1.5409, 0.188, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404c3ffe4505fd35dd9142cb8c52052e2c325f1379789e9163c2967dda976989",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b56363c25cb8ca759a7ee5470dc6d93f8c0261cb8f764f596f390024cb447d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a8b188f49906deb60a63aefed60c57f8237cb403ad0408010bbf67b6722d5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0Fy7OcWXuN27WmJ8VhX1Vup12eZ8YhZX9HoDX21uIqa49HC4yIevPnF_lvWD39WyoebtULfVS5av9wfse3Oh8QpdtFPtdDabyi8bf5wnjus4tA8UjOxTDrtMO4Z17GOQT5hJ6GfNZflINruNpd2aiKxuQXYTkrJO-pS-MXT97M2dyUvpYkZX3PCgVYn6PG3rPkzlO228YhKkfvXbuvWwqScMT75bGkMfQlOi-tc2ZfY4-sZYFlLGvK1WQRtjQNs9fEitISkpRD2PdQ8q1Tnbl99RXL3Wc7EISJ5fzfVnSdqgDSpF--wZl-X6OsFmqwtDnSEiTI_-o8g6UlB8_wVls4re-SxuSuTNBiT_Mi30tUJBF3HXAowYNF4pP8l3WvmLjwfHa-uC_e7Uq9jMbWI1-ZGplnbxak6PT3sOrSZPLpf92UawKPuTbNxUGrG2ABzwDS2qO7nVltyPyOpgfHwvd61Kfy1gh14PVliQCoYtOvCnr17dsei5awO3ZoTRztp7qdxCmVyyXN9sIsjg-8S9axIwyHtw3fGAlg9q83Jd-VIQqRFp7lHMfl6LkndPyoKx26OI2ch4lxTiXCaqPudxwc6L9uHzQiR65kA4hzaFQR2KQU-jqHN4Ol4TMxy8SrImsZVHlGgzDfOVJcAZok66SAueWZJ6muEfs5NyBQ-54DXkPtl3BQjRiZkQ2f_DaFNx9sbbDR0lLjr-uBIQxC4afziUjbhEF-NaL_Ew8Jzui3ZCfQ0aCtEflO4O8BxnSSHlibyG0Fj9TFma3sk9Q22aSWHXYa7fZmoXeqi0pBoK7MhUSTCII6uyoaRl0QLjQsWsWH-HghwI4-IqrXUx68BylOneBNno2fzpFM6hHWkt-MD6MUhX7xll61PPchkClAWoI0HvHNzmExKFzxAL3LtcIIiy0PFoXzoOU8RVEMBrzVQu-V6dDw7v0jxp0_X0RzDP6HCHXPQqMdnsI-0hUBPzb8V9oXaxUezVijqjn5qip8Zm10A5EdBXZkhMyyC5PswTefUh0k9G2Ahg3qAxssZZrlwVOUd2avsn8fw7VPaCMvpT-Zc8vJfbBR-t34XJKtfIp1WtcRNSxAmAIEEl-WVCkoF-KMI0BO_jC-VI823lcwrXuAOEMUXMjJYkMjcggraqfcYJOf35BiZr5goiigVtsisi0ZgsLcMMmIyEvT6FZX-cwwgcRIPJnU8KiJQFtMkJrDKWot1aJki7hOIENqoznT_yn84zUWwec0v1jUz7UJ09Em2qeWG0u-TFRXIUyuTySp5yR2iJO-k7wDz69gSiH6nu33V5DoE0MNOXTL5cgdKqvZyjPOeI5jsZac3pj1kE58GiFo1aAkzi2gpa6UAldy8iBJzJpC86Ly_CXWTLXKqZKkiRKP67XCLvtw_6IOZ6nZ6g4eHeKIB9A8MfeNmEcTVZOIlLgXGbRHtXFDFIzwwHkRQ7sETvvHkZTa3vPTl9g4YDL5EEvVqoY2nzFsSAgITiw-GRRJofhsagkGYtjpuBLggeoCbCES_HGOvtc2kW61jcxkLOTM-f8fz9PZFv3kR_afPEPpinC2t78VPH9Km9LwZvTfYpdwTYs7cmuztEdB1CKJSTZRsbI6GAtu4LnMoP-uaw1w5kypjePuL8HPJwQTJgG2Uq3mWi6d9QWl65ShJvEgmoXLGHqLQfHSpcPxpNd2XQNPb2wlJuFZdI5p03Sj4fgPJ00Mw6lX0R2tRHl90YFafIpf4Mlf8ULLSdvR27mTJxEtJnWCiB6SRJq0HtHH4fUSso-OPmVKSrCHce0e8Vyy-m0IIDv3MIZNsCyGssRkBqXs7alLOGSrV_K2j7yFx7ZoT5Ys0Z08F51xFmTPvBZACwUD5CS9Vx24rvL29ccQn-8sJmjBjY6jgrrByeIdB93D7Yuu6GD0nQvwVT8aFM6p6pEwe2ZPMn-3TPtUou6ZvQh7iDEYRZy8LEgHVv9dUzMIRg_QkKLMm6ufrEsO8fM5i8C26ZkSLcwlKgS-posILlBjNzK6FnHx_V18MeYlU6AP131lXHxIwLuZ--WL_dApHQuRMfZg0IwUEUDvPTK3uA0lm07vGzRyO2nu4mwVYb5nn4bWkKHHhi6MPVBhQx6kTDmKVGRd1UwvtW10gYGz2BETV-z_M40D9MeiAprXmQLkOg59Kqv5Gp4O_Ua7QPFDLONNOId3nJWX0gGyWx1xa83_uxBVi_bmuyavtA2xIz5MkGLWM9OEIe_NWOmiatkDqP_a7MZJpCaBZggDN2-4afAObAXe5o33Q9PptQcbEPAfZua690bsZWc2h-yO_XbgoR7yodw6J1KtgFpZldwOfxytbZ04YE1csTMMexV7RhIE8OkTW7s0Wp4DMDuCRQFvl5DrKnJaygZ-l-SvXp0FeAPABQkVhH-33kdmkmFt4GAPgVgLnVfoSG69RqfzubEllhoCNuuvUizB0rNDWSxb2AURxBy2LqcDyu7neew=",
  "id": "rs_0b48cdf4dec88b2a016ab42d01e7e087d0a851013fe2280e84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_x\":0.29,\"right_y\":0.2,\"right_z\":0.14},\"note\":\"The pale plush is now resting in the left basket, and the black-capped marker remains in the right one. I’m clearing the left gripper and bringing the right arm back toward the blue writing instrument still on the table.\"}",
  "call_id": "call_YjlgblJqpivTut1uN4JOoXrh",
  "id": "fc_0b48cdf4dec88b2a016ab42d04234887d0b32a286b6e1d1d30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YjlgblJqpivTut1uN4JOoXrh",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5713, 1.7348, 1.602, -1.0313, -0.3927, -0.5701, 0.9967, 0.8665, 1.3594, 0.8505, -0.3561, 0.5701, 0.4862, 0.9964]\nstate[eef_state]: left_x=0.3801 left_y=-0.1597 left_z=0.1854 left_yaw=0.1258 left_pitch=-0.4552 left_roll=0.0997 left_gripper=0.9967 right_x=0.2964 right_y=0.2071 right_z=0.1368 right_yaw=0.1197 right_pitch=-0.1376 right_roll=-0.0461 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.7316, 8.8821, 1.0085, -0.3785, 0.188, 0.1294, 0.6222, -6.106, 6.735, 1.3651, 0.5348, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a91cc98ccf2e30a14d2f78406d52963a9e32e6e4175ce4f7a4ebcd70fb70aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8243b3702d2a6b80aa48bd92ccee2f2a1db15c2d857971cd621f1d56ab592467",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdfa36a0441d537cf4dbb64afb674fd11a9178b49fb7701e4bdc210e8ee7540",
      "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 115 changed as sent

message 123 changed as sent

message 127 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]: [0.078, 0.8906, 0.7822, -0.7929, -0.0742, 0.0246, 0.1166, 0.6655, 1.7897, 1.3323, -0.321, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.2548 left_y=0.0366 left_z=0.1575 left_yaw=0.1127 left_pitch=-0.3382 left_roll=0.0881 left_gripper=0.1166 right_x=0.4287 right_y=0.2415 right_z=0.1551 right_yaw=0.0894 right_pitch=-0.1229 right_roll=-0.0439 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.306, 8.6632, 1.4628, -0.0659, -0.0366, 1.033, -0.1846, -9.4564, 6.7761, 1.5116, 0.105, -0.0366, -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]: [-0.5709, 1.7348, 1.3144, -0.7185, -0.4042, -0.551, 0.9953, 0.6655, 1.7897, 1.3323, -0.3248, 0.4595, 0.3374, 0.9964]\nstate[eef_state]: left_x=0.3832 left_y=-0.1593 left_z=0.1162 left_yaw=0.1158 left_pitch=-0.4302 left_roll=0.1022 left_gripper=0.9953 right_x=0.4282 right_y=0.2411 right_z=0.1545 right_yaw=0.0887 right_pitch=-0.1259 right_roll=-0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -8.3487, 6.3795, 1.0623, -0.3248, 0.0366, -0.0366, -0.0205, -9.4427, 6.8171, 1.5409, 0.188, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5713, 1.7348, 1.602, -1.0313, -0.3927, -0.5701, 0.9967, 0.8665, 1.3594, 0.8505, -0.3561, 0.5701, 0.4862, 0.9964]\nstate[eef_state]: left_x=0.3801 left_y=-0.1597 left_z=0.1854 left_yaw=0.1258 left_pitch=-0.4552 left_roll=0.0997 left_gripper=0.9967 right_x=0.2964 right_y=0.2071 right_z=0.1368 right_yaw=0.1197 right_pitch=-0.1376 right_roll=-0.0461 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.7316, 8.8821, 1.0085, -0.3785, 0.188, 0.1294, 0.6222, -6.106, 6.735, 1.3651, 0.5348, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a91cc98ccf2e30a14d2f78406d52963a9e32e6e4175ce4f7a4ebcd70fb70aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8243b3702d2a6b80aa48bd92ccee2f2a1db15c2d857971cd621f1d56ab592467",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdfa36a0441d537cf4dbb64afb674fd11a9178b49fb7701e4bdc210e8ee7540",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42d07d54c87d0a93ad37b0be04440",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.185,\"right_z\":0.012},\"note\":\"The blue-capped marker is now visible close to the bottom of the right wrist view, slightly right of the jaw center. I’m making a small lateral correction and lowering to table height for a barrel grasp.\"}",
  "call_id": "call_oqhLyTBwvisbNbG6Ug2H1CqO",
  "id": "fc_0b48cdf4dec88b2a016ab42d0a587c87d0aeaad5ac4cc16184",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oqhLyTBwvisbNbG6Ug2H1CqO",
  "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]: [-0.572, 1.7348, 1.6047, -1.0504, -0.3927, -0.5713, 0.9968, 0.8043, 1.5738, 0.5156, 0.2817, 0.5571, 0.4648, 0.9964]\nstate[eef_state]: left_x=0.377 left_y=-0.158 left_z=0.1846 left_yaw=0.131 left_pitch=-0.4676 left_roll=0.1109 left_gripper=0.9968 right_x=0.3076 right_y=0.19 right_z=0.0379 right_yaw=0.0849 right_pitch=-0.0784 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4718, 6.065, 1.1453, -0.2369, -0.022, -0.0122, -0.0068, -3.3709, 3.0427, 0.5885, -0.105, -0.359, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a329f02dc85861a8feacd849b8f4a0b82a2bc98142bd5de8461ec3a139f6531",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359b81cab6f05d28b9bcb4e86dec751b42ed77aad552cc89232417a9c3df5402",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622b58e1d21bb2861e443d2f6988d77f44c7d7c0cdf19b8468ba5a671e414acd",
      "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 119 changed as sent

message 127 changed as sent

message 131 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]: [-0.5713, 1.7279, 1.6264, -1.0073, -0.4126, -0.5449, 0.12, 0.6659, 1.7897, 1.3323, -0.3237, 0.4591, 0.337, 0.9964]\nstate[eef_state]: left_x=0.3889 left_y=-0.1615 left_z=0.2002 left_yaw=0.1097 left_pitch=-0.4025 left_roll=0.0915 left_gripper=0.12 right_x=0.4283 right_y=0.2414 right_z=0.1547 right_yaw=0.0896 right_pitch=-0.1251 right_roll=-0.0453 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -9.0872, 8.8, 1.1062, -0.6129, 0.1929, 1.0183, -0.0752, -9.4974, 6.735, 1.4676, 0.1245, -0.0562, -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]: [-0.5713, 1.7348, 1.602, -1.0313, -0.3927, -0.5701, 0.9967, 0.8665, 1.3594, 0.8505, -0.3561, 0.5701, 0.4862, 0.9964]\nstate[eef_state]: left_x=0.3801 left_y=-0.1597 left_z=0.1854 left_yaw=0.1258 left_pitch=-0.4552 left_roll=0.0997 left_gripper=0.9967 right_x=0.2964 right_y=0.2071 right_z=0.1368 right_yaw=0.1197 right_pitch=-0.1376 right_roll=-0.0461 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.7316, 8.8821, 1.0085, -0.3785, 0.188, 0.1294, 0.6222, -6.106, 6.735, 1.3651, 0.5348, 0.1197, -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]: [-0.572, 1.7348, 1.6047, -1.0504, -0.3927, -0.5713, 0.9968, 0.8043, 1.5738, 0.5156, 0.2817, 0.5571, 0.4648, 0.9964]\nstate[eef_state]: left_x=0.377 left_y=-0.158 left_z=0.1846 left_yaw=0.131 left_pitch=-0.4676 left_roll=0.1109 left_gripper=0.9968 right_x=0.3076 right_y=0.19 right_z=0.0379 right_yaw=0.0849 right_pitch=-0.0784 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4718, 6.065, 1.1453, -0.2369, -0.022, -0.0122, -0.0068, -3.3709, 3.0427, 0.5885, -0.105, -0.359, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a329f02dc85861a8feacd849b8f4a0b82a2bc98142bd5de8461ec3a139f6531",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359b81cab6f05d28b9bcb4e86dec751b42ed77aad552cc89232417a9c3df5402",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622b58e1d21bb2861e443d2f6988d77f44c7d7c0cdf19b8468ba5a671e414acd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42d0d3e2887d0827396e219969487",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.155,\"right_z\":0.008},\"note\":\"The blue barrel is still well to the right of the jaw column, and the descent stopped a little high beside the nearby plush. I’m shifting right toward the marker before attempting to close, rather than pressing farther down in place.\"}",
  "call_id": "call_nftLx94ffGPME1UZNhRpCVie",
  "id": "fc_0b48cdf4dec88b2a016ab42d10022c87d0bcc090db535c2c17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nftLx94ffGPME1UZNhRpCVie",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 1.7348, 1.6047, -1.0473, -0.3923, -0.577, 0.9968, 0.7086, 1.6066, 0.4, 0.4976, 0.5003, 0.4213, 0.9964]\nstate[eef_state]: left_x=0.3774 left_y=-0.1587 left_z=0.1848 left_yaw=0.1323 left_pitch=-0.4652 left_roll=0.1051 left_gripper=0.9968 right_x=0.3138 right_y=0.1621 right_z=0.0219 right_yaw=0.0588 right_pitch=-0.0499 right_roll=0.0409 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.5402, 6.4752, 0.9451, -0.2515, 0.0171, -0.0122, 0.0205, -3.9453, 4.2188, 1.3114, 0.1587, -0.3101, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8450a317f4ba070d0074fc32ac85a8bfaccc03d4caca9512f728f2a9651d5db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8ec1c006631babb87769e2b205c6749425c019bf33a546d3985b90c2bea72e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a350bd833c110022510569c29de038f039f0045f6ba7f9971e10a7573232da55",
      "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 123 changed as sent

message 131 changed as sent

message 135 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]: [-0.5709, 1.7348, 1.3144, -0.7185, -0.4042, -0.551, 0.9953, 0.6655, 1.7897, 1.3323, -0.3248, 0.4595, 0.3374, 0.9964]\nstate[eef_state]: left_x=0.3832 left_y=-0.1593 left_z=0.1162 left_yaw=0.1158 left_pitch=-0.4302 left_roll=0.1022 left_gripper=0.9953 right_x=0.4282 right_y=0.2411 right_z=0.1545 right_yaw=0.0887 right_pitch=-0.1259 right_roll=-0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -8.3487, 6.3795, 1.0623, -0.3248, 0.0366, -0.0366, -0.0205, -9.4427, 6.8171, 1.5409, 0.188, -0.0122, -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]: [-0.572, 1.7348, 1.6047, -1.0504, -0.3927, -0.5713, 0.9968, 0.8043, 1.5738, 0.5156, 0.2817, 0.5571, 0.4648, 0.9964]\nstate[eef_state]: left_x=0.377 left_y=-0.158 left_z=0.1846 left_yaw=0.131 left_pitch=-0.4676 left_roll=0.1109 left_gripper=0.9968 right_x=0.3076 right_y=0.19 right_z=0.0379 right_yaw=0.0849 right_pitch=-0.0784 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4718, 6.065, 1.1453, -0.2369, -0.022, -0.0122, -0.0068, -3.3709, 3.0427, 0.5885, -0.105, -0.359, -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]: [-0.5728, 1.7348, 1.6047, -1.0473, -0.3923, -0.577, 0.9968, 0.7086, 1.6066, 0.4, 0.4976, 0.5003, 0.4213, 0.9964]\nstate[eef_state]: left_x=0.3774 left_y=-0.1587 left_z=0.1848 left_yaw=0.1323 left_pitch=-0.4652 left_roll=0.1051 left_gripper=0.9968 right_x=0.3138 right_y=0.1621 right_z=0.0219 right_yaw=0.0588 right_pitch=-0.0499 right_roll=0.0409 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.5402, 6.4752, 0.9451, -0.2515, 0.0171, -0.0122, 0.0205, -3.9453, 4.2188, 1.3114, 0.1587, -0.3101, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8450a317f4ba070d0074fc32ac85a8bfaccc03d4caca9512f728f2a9651d5db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8ec1c006631babb87769e2b205c6749425c019bf33a546d3985b90c2bea72e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a350bd833c110022510569c29de038f039f0045f6ba7f9971e10a7573232da55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0TxJSEAwyvs-tVeQG7Za4nPCwIPs3LSx0PYfPaH-i8bHP4TrwdpOe3VTEN_QDPE4JhSlnHS-rXDWgNzKUgOHhcoARditEJAo4J-nf4iACg4xS9wgs7zFzrLn8QTar7OT8cl0tY4DxZi5mSSdXZWzSEvNbf_oqm3A3QrqnNaZRELVyccvseG3ViR14OzeFpRlmwysgsAVqVwyoh9uyB32mPTYQBXlbmax_m20X-kNZ6jK63-b9Wr2LnhQAS_QjZI4cgEwCOffHlSpF8WEChwwKnx7RYAPsehK4KpkJR7gUM0cV2ql0YVstSBMSz-1CdjliXgNhYjHucMdwZAixxPmn70_MrmJmVAVGyW4gRgKCiAALsVd1ynaiSrVuqGj89ZKZ2tm1MjgflWJjvCPpS6brz4CFu4frrA-5pAO5KrNiu5y8qrPqphoO1JMqLnjFaH_K72AVzphMoV92JJDXX3xOVGwVkCN76XWue6AGJqdf5IbC2qerogJmmf3dZB9ERZKi-xZCh9EUqnrcJ1ogE2efogzbap0AKOsP3Rq2crrQNYkuEU6tmbXB5nMPubhdbWZnQxZAbeV7gY__F8k0Y8h4JjtSfg1aO5rrEbRuN-MiPozB5qVo1Xvbm1yXIrXHgz1EvewlmeHsxJecbJeV_hryJ2coiPz0DNDnjJRWRN9JirI_xDA7J9ACZ0Zo7Cx-sdtzXS_7Fq-akr9aXfLufCv0abIcJM2r1_fkcOShT6LKVpY85aGet6ZxDm0-9F76Jv2h-Imf_SU8QIAHZ_OPOT22R4NNkZkuOseteVAYZc_xrUusPN6U5dfeoNZ7IIPB_O8taxy5SBERAQyS2vqMH-wpbnysIqZunasscbl2HfSm4NUU-IqOsWwhYqzW0KYuKlkW1z--O9pgkjtznYzYxx7HTIj4Q-7hOAhll9S3HlnqA3EiTsVGOOjMv9azp-e4mUPjLq1UHwFpEcnrKoXxJiyJl1iJaqC5csO9ZgyLj4eV34OXuEnIv8LHZv4wt4e93NCQVvzQwMbm-DrnDYLVX7GvcmfnU1RJtvXZIcf4S68tsPVSFW79OXy1e3hyaFxp6hmE6rSSXAPo39whN4PPqtaRE8E5FSuVD0-f7aa5lDBaDg0M9yZTtXFIAzHPM5UUtS5_1Zbq5ttUTGPlXCC6Yr9nBZzEuYiK88bXaDbdX2T__bMFfvm_bpra6O0Lkagd-Iru2gH4djsAhT1vEp2axvKojlLra4tKB39EVNpAJmBtXkDC1XjG78N2xA8eTOr5JIfk9zK3sKBIm9MAuym3DbhPElsmTwoYIsfjcxNDvMmvGxeKBc8QA3-cSaQFfnDy-gjGIUVVAtne4E9gPMTSolgyk4NZr1Di9EInHRK3opjHb4LfUcuy3J1RLI10YIGKxcvqtwvHxU_kC4u96o-QdjNC9Qe9z-m-HTtcioosiGZdhIBwKxzwwQ3VltBYOnXggUbaGMUnoHvJCwWFVt4ABfDegyHkoZt_6tT6ea_j1JBOKw8g=",
  "id": "rs_0b48cdf4dec88b2a016ab42d11e1a487d0850ac07088eb0d17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.137,\"right_z\":0.0},\"note\":\"The marker is closer to the fingertips but remains just right of their centerline. I’m making one more small rightward correction at table level, then I’ll close on the blue barrel.\"}",
  "call_id": "call_JLBoJDd8zILGzSezWnwDmGpW",
  "id": "fc_0b48cdf4dec88b2a016ab42d12ac6c87d0aa35edc891217ea6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JLBoJDd8zILGzSezWnwDmGpW",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6357, 1.66, 0.3325, 0.675, 0.4351, 0.3855, 0.9964]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3188 right_y=0.1471 right_z=0.012 right_yaw=0.0582 right_pitch=-0.0263 right_roll=0.0774 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4991, 6.4889, 0.9939, -0.2222, -0.022, -0.0122, -0.5128, -4.0274, 2.9607, 0.9646, 0.3736, -0.4225, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcae853a1612246a14fe06deec7a8cb2c5ab73063f14ec34140490387b8ad8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fbbb4a73c84a0cf0b3cbb5bd1ab74fea3a434f37c62838e8e1d1244a6c39ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f4f7ab56cfc89ea9a6972f0bef937b5392b59c91ddbf548c63cc6f86b21709",
      "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 127 changed as sent

message 135 changed as sent

message 139 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]: [-0.5713, 1.7348, 1.602, -1.0313, -0.3927, -0.5701, 0.9967, 0.8665, 1.3594, 0.8505, -0.3561, 0.5701, 0.4862, 0.9964]\nstate[eef_state]: left_x=0.3801 left_y=-0.1597 left_z=0.1854 left_yaw=0.1258 left_pitch=-0.4552 left_roll=0.0997 left_gripper=0.9967 right_x=0.2964 right_y=0.2071 right_z=0.1368 right_yaw=0.1197 right_pitch=-0.1376 right_roll=-0.0461 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.7316, 8.8821, 1.0085, -0.3785, 0.188, 0.1294, 0.6222, -6.106, 6.735, 1.3651, 0.5348, 0.1197, -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]: [-0.5728, 1.7348, 1.6047, -1.0473, -0.3923, -0.577, 0.9968, 0.7086, 1.6066, 0.4, 0.4976, 0.5003, 0.4213, 0.9964]\nstate[eef_state]: left_x=0.3774 left_y=-0.1587 left_z=0.1848 left_yaw=0.1323 left_pitch=-0.4652 left_roll=0.1051 left_gripper=0.9968 right_x=0.3138 right_y=0.1621 right_z=0.0219 right_yaw=0.0588 right_pitch=-0.0499 right_roll=0.0409 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.5402, 6.4752, 0.9451, -0.2515, 0.0171, -0.0122, 0.0205, -3.9453, 4.2188, 1.3114, 0.1587, -0.3101, -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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6357, 1.66, 0.3325, 0.675, 0.4351, 0.3855, 0.9964]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3188 right_y=0.1471 right_z=0.012 right_yaw=0.0582 right_pitch=-0.0263 right_roll=0.0774 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4991, 6.4889, 0.9939, -0.2222, -0.022, -0.0122, -0.5128, -4.0274, 2.9607, 0.9646, 0.3736, -0.4225, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcae853a1612246a14fe06deec7a8cb2c5ab73063f14ec34140490387b8ad8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fbbb4a73c84a0cf0b3cbb5bd1ab74fea3a434f37c62838e8e1d1244a6c39ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f4f7ab56cfc89ea9a6972f0bef937b5392b59c91ddbf548c63cc6f86b21709",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0WbAaN841kLwGiOoJoHADg7ZdX6UsEhq1Dalvgn8A5IcvOPyOJDRjonSdhEBF1uo7mamRWqZ2fz4qg5VF2Vw2DRKfgSTJ3i_gqC6xQPFhZEOkmZ29Gu7ncW6yGdRKqKJclQbgeXTRnM4UDLcAxpa0nUZ5i0UJXkdlaYBbd9ux98x1plxVVYao6jQ56sLny8xyaCHW-5MtzJ1MH2ast-z16_4ggNwdeBGp-fnDnUXhGef3uh7tu4_GndlKz4p_uGTRerUu9N5O9lpvjs4PkRz0pFmz-pI-vVcb87ojK8j9NrDj1pX1L5gOoOXQB2nZRkR74tk6QujaQCXTyW5z3O9h8-u8JyBCq1UWC5NLAoTYDLhsqKqK_aNeET3NKEhBfKydz_qEc2fAsnU5j0VZ-Ta_yszy0U3vc7xyFZHSgy3SqBM-miREekELPX4VGUBwNFPN59xgbMcMMX8H78y7VjyCjX7PvEgRyUFJNdN8MuB9xVVqxl71QRUklJMvElqisLaq2F9hS2GO7Eq3UqU1Qw-XsMuPtYFUG7dW9sThA1bX19Tdlm209nX8LIfsKQ6KbdxlWK3j3f07WCuQdyiX3GrTZJCztudQGk9KR-kPgjN9v41gh0SsLp5p7eU1iDKUkk3-AKcrmiqgT1JfVMzDmP_wN98JkYEQn0P2xc8J9s1bua8IqTItP4IrrJaA_MgzD1z2H6K4IhRb1AErEsKm48DzBWNL-U3KWJzOqzGXNm10BXmmaZd-vdlC2RYnlZ9FMO5WIX2Sa6BipR0mlIPb35qaUP5lsrIhTif_mwP92WNqLjMjrp9U__sO5Qtpl_3wVwQUL_3yxce53RjYi-SPiU7GmwRpk6OgnBMnpygs5ZFqnsoGKPOGyYJ4xRUzmHaGpajWVsYyjYQBhWCCmtglQ2-dJj9L9o_RGyYC6xKiUzdSdh3Kcf4SbVDcFtP6kupFLY3Yo_Qk37T1IpTqfyruP2exOgtm3JeIT9p6lJ7vHs4IvPwIk1uH7aK4xvTaNRxb4QfBAlsArN2Tr3Zwnjr_gKNQXJ9qSeXVCG7gkkMo1d8VI_0Ehk9mgGoJPlIC5B15CT8OFp42OgpZKioiEAPc3xJsG_1DLGmoLTvKe8nQduKbMHXbo9aXA7quHJej9TS07r3U1x4reQJvvVHDFtRU31UUET6jJeGsdHzRvetNxCKvNIeMIdVWrAs2X6p5ajtR9oIhnsQcN2hB-BUn-XIDiIzufNZs0BTk6NbUncTZVDvflzkcpTZJutqInG28UGlUsO7J8",
  "id": "rs_0b48cdf4dec88b2a016ab42d15100087d09d6b13c88ad09d08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue marker now runs through the middle of the right jaw opening at tabletop height. I’m closing the fingers around its barrel.\"}",
  "call_id": "call_sd5bRrIzebxvbpaFT21LScGM",
  "id": "fc_0b48cdf4dec88b2a016ab42d156f3087d093587f1e477b7b20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sd5bRrIzebxvbpaFT21LScGM",
  "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]: [-0.5728, 1.7348, 1.6047, -1.0546, -0.3923, -0.5774, 0.9968, 0.6243, 1.6711, 0.3187, 0.7712, 0.424, 0.3592, 0.1336]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1349 left_pitch=-0.4707 left_roll=0.1101 left_gripper=0.9968 right_x=0.3255 right_y=0.1493 right_z=0.0218 right_yaw=0.0696 right_pitch=0.0317 right_roll=0.0987 right_gripper=0.1336\nstate[joint_eff]: [-0.1299, -8.294, 6.5573, 0.9402, -0.2222, -0.022, -0.0122, -0.8137, -4.3145, 3.0154, 1.0379, 0.1587, -0.0659, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e9bcb3db463e58691ce73562c417a93a0ed06b587b1d37cbd2d4c1a6323515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecfecfddeb83c020fb30eda3c69bcb3e103e465de1fb467382b6410b4f4a0e13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab5ba8d6808078d736af82bdf00401ae80085d0cf23bf79866ca6c2c33e34c5",
      "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 131 changed as sent

message 139 changed as sent

message 143 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]: [-0.572, 1.7348, 1.6047, -1.0504, -0.3927, -0.5713, 0.9968, 0.8043, 1.5738, 0.5156, 0.2817, 0.5571, 0.4648, 0.9964]\nstate[eef_state]: left_x=0.377 left_y=-0.158 left_z=0.1846 left_yaw=0.131 left_pitch=-0.4676 left_roll=0.1109 left_gripper=0.9968 right_x=0.3076 right_y=0.19 right_z=0.0379 right_yaw=0.0849 right_pitch=-0.0784 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4718, 6.065, 1.1453, -0.2369, -0.022, -0.0122, -0.0068, -3.3709, 3.0427, 0.5885, -0.105, -0.359, -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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6357, 1.66, 0.3325, 0.675, 0.4351, 0.3855, 0.9964]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3188 right_y=0.1471 right_z=0.012 right_yaw=0.0582 right_pitch=-0.0263 right_roll=0.0774 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4991, 6.4889, 0.9939, -0.2222, -0.022, -0.0122, -0.5128, -4.0274, 2.9607, 0.9646, 0.3736, -0.4225, -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]: [-0.5728, 1.7348, 1.6047, -1.0546, -0.3923, -0.5774, 0.9968, 0.6243, 1.6711, 0.3187, 0.7712, 0.424, 0.3592, 0.1336]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1349 left_pitch=-0.4707 left_roll=0.1101 left_gripper=0.9968 right_x=0.3255 right_y=0.1493 right_z=0.0218 right_yaw=0.0696 right_pitch=0.0317 right_roll=0.0987 right_gripper=0.1336\nstate[joint_eff]: [-0.1299, -8.294, 6.5573, 0.9402, -0.2222, -0.022, -0.0122, -0.8137, -4.3145, 3.0154, 1.0379, 0.1587, -0.0659, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e9bcb3db463e58691ce73562c417a93a0ed06b587b1d37cbd2d4c1a6323515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecfecfddeb83c020fb30eda3c69bcb3e103e465de1fb467382b6410b4f4a0e13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab5ba8d6808078d736af82bdf00401ae80085d0cf23bf79866ca6c2c33e34c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0ZWYOjoc5mOg5NPhYHLOF2bYHx9iqsPQotO2MjhK9bkm_VmCXKNRczHpqHX-iXwk0XF0cO5vPJiNCiIa9ENMfrYEACW4ixU7R3x9VD723d9qLt4C6DBWr_RFNf3cRkNji7VtgxqJqbZueLXQx-RwRGnDkeKhGJIzR47MKFmhlAQNfOnk60vvA5tEKhCW2z5qDO-j7wG8XDZ-MFEWJdEH6h7sVDWAjGNTNs_HF3RR70NJS2Xfpe_2U3ICd9yXgnntB1Hgl3TJDV7VxMxiXUWOOBN9oxvJYD9re141ZrBHPJHMWCyuBetltjlgw8qal7OkW428fKRS5vY6ufdxmH3CweACb9LBJZFsLKaO53RiXphCfFQN7wmAjX3xl3q-3S0nixmf6IG739Gs0QdCkUD4yA88DxORLOOeSnQFhHPgd3Z6xeE6MEVQx162OkD_Fl-pP9s8cQWDxg-kLLqTg-M9Ii-9AMYMljUPa0WZhCbM9Bw_BY34y4CfR-hOfcKhrIUaxy3aDd2Ks9uuqmsqYOXDJLBfNjjjTkqh6NB_Q4Wknxaf5NtqovB5eA9kvForWtPenibaqTCunr4VcBp6MoQEXRE4on2idTj2IrZYwj-tmNT5v5XqNuNOVC0sFThZsd9y-_beayk-q07ABUszj6J1J8S0O_b-Y7WUKNMI4-bcZVFECJOf8CbbEiWKi9xBENM3jrM39om0JikmldfSJqjmRwdc8TZIyE6TAKqoSPXtWlYAlNJDjVFsiyLQcNwZ04xkmhSklu41hHxi3jDMG3avPmVhWZl-UaRAM0C2jXcBy_O3pfOsPYTOULwLngWIaOSDuDf6oOSvGKxr8YkT0Pn2fYwj2sTxpkzvliW94w1pHbIbILs1vI5S8qWZmlXaLbB0GAwiqollL0XaRqLNMDOIJzYLy6FRuNzC4aGp38JoJaFKKQYRSYz7QxqTAx5LnReUJP9YSQFz2sRdWMXSp89Gp53tq9fVpkcKNNxSs0PeYT9v-W6xNcDOD5oRP8Hsdpt8HnEpYPmDdoHcdrHqeiAtmZ6fnWxwO74jkqS3Dzj8IfP5o8i4uu3sKjB50UBPv1dEmFNNXfSSEgmVVfBaAvKPJ-bokpD2FHUBHhCgTnb9Gz_xV6R3ir5sKIAQZ4hHDo_WTQoX72OqL1-cGQYNqRU1W5ERvobXCSPPmiR6KVr6cF31KRCZM1v-xxGVpIr02XeW_Wb_-M8LRPMLWxpBmurNKqu_9_pHNAGle_SXLJkmWh6ojsr8f8Ofryg6M9_rRr1PXCks531ja2KxVITIj_hHfUVQ==",
  "id": "rs_0b48cdf4dec88b2a016ab42d1864e087d0bfcfa304b64bbbe5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stopped about 1.3 cm open, as it did on the first marker. I’m lifting to confirm the blue marker is held before carrying it to the right basket.\"}",
  "call_id": "call_QyoHCb7FcQMn5K4O9CClCGLP",
  "id": "fc_0b48cdf4dec88b2a016ab42d18b1e887d0b492f5f0297418c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QyoHCb7FcQMn5K4O9CClCGLP",
  "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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6243, 1.1774, 0.6338, -0.0513, 0.4072, 0.3546, 0.1348]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3244 right_y=0.1519 right_z=0.1505 right_yaw=0.0859 right_pitch=0.0153 right_roll=0.0955 right_gripper=0.1348\nstate[joint_eff]: [-0.0068, -8.4991, 6.2838, 0.9988, -0.2271, -0.0611, -0.0122, -0.3487, -5.5179, 9.5521, 1.8144, 0.2369, 0.0073, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb5e3543ddb9fa97aee1422977e33852ccf956539176ab785d0ac11ecf0d4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe7fc7ce09006c53aca9c875b5f80918185e1a0eccc44314a1f897294b8f67c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eabbc665faafd25ba7ab61c6ead6e2581418f3662b8f55fe5623654c49905f34",
      "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 135 changed as sent

message 143 changed as sent

message 147 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]: [-0.5728, 1.7348, 1.6047, -1.0473, -0.3923, -0.577, 0.9968, 0.7086, 1.6066, 0.4, 0.4976, 0.5003, 0.4213, 0.9964]\nstate[eef_state]: left_x=0.3774 left_y=-0.1587 left_z=0.1848 left_yaw=0.1323 left_pitch=-0.4652 left_roll=0.1051 left_gripper=0.9968 right_x=0.3138 right_y=0.1621 right_z=0.0219 right_yaw=0.0588 right_pitch=-0.0499 right_roll=0.0409 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.5402, 6.4752, 0.9451, -0.2515, 0.0171, -0.0122, 0.0205, -3.9453, 4.2188, 1.3114, 0.1587, -0.3101, -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]: [-0.5728, 1.7348, 1.6047, -1.0546, -0.3923, -0.5774, 0.9968, 0.6243, 1.6711, 0.3187, 0.7712, 0.424, 0.3592, 0.1336]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1349 left_pitch=-0.4707 left_roll=0.1101 left_gripper=0.9968 right_x=0.3255 right_y=0.1493 right_z=0.0218 right_yaw=0.0696 right_pitch=0.0317 right_roll=0.0987 right_gripper=0.1336\nstate[joint_eff]: [-0.1299, -8.294, 6.5573, 0.9402, -0.2222, -0.022, -0.0122, -0.8137, -4.3145, 3.0154, 1.0379, 0.1587, -0.0659, 0.652]",
      "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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6243, 1.1774, 0.6338, -0.0513, 0.4072, 0.3546, 0.1348]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3244 right_y=0.1519 right_z=0.1505 right_yaw=0.0859 right_pitch=0.0153 right_roll=0.0955 right_gripper=0.1348\nstate[joint_eff]: [-0.0068, -8.4991, 6.2838, 0.9988, -0.2271, -0.0611, -0.0122, -0.3487, -5.5179, 9.5521, 1.8144, 0.2369, 0.0073, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb5e3543ddb9fa97aee1422977e33852ccf956539176ab785d0ac11ecf0d4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe7fc7ce09006c53aca9c875b5f80918185e1a0eccc44314a1f897294b8f67c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eabbc665faafd25ba7ab61c6ead6e2581418f3662b8f55fe5623654c49905f34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0dcwWHXgDbNkaqlUup5Df5SBOsAwQ1EiMo9ahoLXWL1s435_x4TRRDfSgMgdH_NBNVJ1gnBp3ZWM3DhhPaHzwf3pDfAIoJrkEtN4vPBL_pIdPr8vt062sp0SCH1y42BhHSHzh0n4v-_XtVaL5RIYB5LONYbdgy4C9navG6vCNIAlKNzsLQAZgr-aGhVNv7odOnXuFd2K_auMoYPUZmd6stppLixvjod_MY6F8GxI46e_unl-i7LtB--Cuj0pE3bJZP4CrRkSLw2AZsCIERGieyBAJ_Tcn6gC2WMPFOFkOQZOTBXbJue8CVWJH14IXLHR60TT0cZtIQ2LW_LPt6Qqp-DSNv418SRnHq-nsHl4GGZc1_KIxTPrpKilMt4aM0HEA0Drc41hk0Pe9LtDuQZI5Iffhcchkr6EYcF94DsT_qSk_sZDBWPcfB1koxtgUwvEAHxTk3sbX7Ga9fjbGiERLgH-s-qfEnwlKqp05hhXUqff-OYl72gtzC2IRkNM24ia-Fhh7CgVrvfrL5hpqdw472RaWdSL0Om2N_BEMWtOnfm_KEzf09QIVZeD74x2QUi1QjFqUeUFW70OLET344B_SkBc2-OYCnYF6BEXQGGURIHmYZ_hBPaWbXJ1l3h__-8sqRubTaq848jqt1O1GutHtUMeCQM9-hzOrXAXuzRyNcn6DbvEwtL3hREv5xQxvRydco8nukxDhLAH7uL5YbUFptn76O3diH0FFaoWjd9dsRvM62lsANPsQ-ol_A_Qxq4zWv0wj9REZcmHBOJKN9rCVxtSHo4Vb9LVbFx8ROXu1XlQTvr5EAk54r_Oea7xbhWbY6yF8NLnnEz8HKwSbbChpUCJp359dibYT5X9RTvVgcHBfeHfeXSKywesCLvEeNftqRCfw42ZCJLzkCKz3l1de40Z0VqSNwKmFcEC3R6oWdZtWyzIB5y6enLOagBhUWlMCEQNVwowCeyp6hzwYx_ZyelFBnyXkuIXHFOn3hOHasUpE8nNWUw2T95GTHEUKbzRHo079f8CqjhDK3GlIRRvHKiY8sXWlhVlxW0BDKD7rEzo_ES0_XSxX74LD-uHCiDs9LOXs3oSH_eJu9SzlmXpcUio4Lo4lwkMl4t5m_ifpGRtZUzrYoZZI-jy5PUkexbgKjMuMuWkOpRZ95Z245HSOZCWN0Gdg-nAXe9tFn_Jkp--pJwPvSy2D0wm3Iu_WPaVSQnzsAgm9m9G8F5zWYi4s6XVqkehL9en1KxyP6odUyOd_2DQgMbnjEa8L84slFqDC3lH1qaQ51BxHFeGQu17OslCYZcYehSD307fsixoSvB8LpfHoTiPvKwVLu9xGgWqoWkflAASIz7odKr6S4EkpT-NhQ0aixQBcwOaU2ngM7iYhA4P7h0uHspnbBVoBs62xcKeOiiGF4htjYL8lmUqZoFIHhHeircgOsxrJp6i-ducnCgFQZz2_4Bd7ma67Pe3tcZYbsNkl20YA7pK2MEKHqPz5EyR5rTxB0OFkjGgVaB3iiaS0XWjOhruQEUb-WaQIgRpLTRMkCNQGaFrMa9u9-ckobJjJ6CwOJKMZzoXH8LIofLJRDoo82uAUQXC55-c7kKtgVCP_SxFsMrpbBfPwvxpE-NPpxyZ3y_zO0RAfeHBeL36YAV8ExwW63H4In5tecRDEf8C16NM1zZ9GX_xlqQ8bX6lQvaE3YMvniuA74U2odILQCaFmg53Q-wESxBKjzFeZLQe9r0oSbCGvZBKWnbuUpNHrWYv7SGf-aofZ5TqM-cDmSgkF0MCHV9B6kiQuUzyWrHF3d5GHyNmjY4b60e97SdmrT-fEz4T3AVhlh8SZqE6JNFl9REL6MDl_A0jNzu-9zBAwFwpAJ7nxVhDHArA==",
  "id": "rs_0b48cdf4dec88b2a016ab42d1b712487d0a80c853a5e28d69b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.437,\"right_y\":0.24,\"right_z\":0.21},\"note\":\"The blue marker has lifted off the table and the first marker is visible in the right basket. I’m carrying this second marker over the same basket.\"}",
  "call_id": "call_pYECgHg82bmSD3ZUyLOwemK3",
  "id": "fc_0b48cdf4dec88b2a016ab42d1cb14c87d082ad6118307df730",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pYECgHg82bmSD3ZUyLOwemK3",
  "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]: [-0.5728, 1.7374, 1.6043, -1.0573, -0.3927, -0.5777, 0.9968, 0.6357, 1.6875, 1.2541, -0.2279, 0.4061, 0.3519, 0.135]\nstate[eef_state]: left_x=0.3757 left_y=-0.1576 left_z=0.1828 left_yaw=0.1374 left_pitch=-0.4748 left_roll=0.1144 left_gripper=0.9968 right_x=0.427 right_y=0.2328 right_z=0.1832 right_yaw=0.0993 right_pitch=-0.0419 right_roll=0.0599 right_gripper=0.135\nstate[joint_eff]: [-0.2256, -8.5265, 6.3248, 1.0232, -0.2369, -0.0659, -0.0073, 0.3077, -9.7299, 9.6889, 1.7314, 0.2027, 0.0855, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b72cddd90e3537701ff1cea27c9d7f532552fe646ef783cbc99c71b5eabe6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386d65ef3c8a0562432b22f6d9ecd780e6947ebb600849d627184da9d8bcfff5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e79e6da53556c1ccb694c45f6f8b2d24a26c478e91f24e1a88293cf8c887fe",
      "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 139 changed as sent

message 147 changed as sent

message 151 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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6357, 1.66, 0.3325, 0.675, 0.4351, 0.3855, 0.9964]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3188 right_y=0.1471 right_z=0.012 right_yaw=0.0582 right_pitch=-0.0263 right_roll=0.0774 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -8.4991, 6.4889, 0.9939, -0.2222, -0.022, -0.0122, -0.5128, -4.0274, 2.9607, 0.9646, 0.3736, -0.4225, -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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6243, 1.1774, 0.6338, -0.0513, 0.4072, 0.3546, 0.1348]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3244 right_y=0.1519 right_z=0.1505 right_yaw=0.0859 right_pitch=0.0153 right_roll=0.0955 right_gripper=0.1348\nstate[joint_eff]: [-0.0068, -8.4991, 6.2838, 0.9988, -0.2271, -0.0611, -0.0122, -0.3487, -5.5179, 9.5521, 1.8144, 0.2369, 0.0073, 0.1148]\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]: [-0.5728, 1.7374, 1.6043, -1.0573, -0.3927, -0.5777, 0.9968, 0.6357, 1.6875, 1.2541, -0.2279, 0.4061, 0.3519, 0.135]\nstate[eef_state]: left_x=0.3757 left_y=-0.1576 left_z=0.1828 left_yaw=0.1374 left_pitch=-0.4748 left_roll=0.1144 left_gripper=0.9968 right_x=0.427 right_y=0.2328 right_z=0.1832 right_yaw=0.0993 right_pitch=-0.0419 right_roll=0.0599 right_gripper=0.135\nstate[joint_eff]: [-0.2256, -8.5265, 6.3248, 1.0232, -0.2369, -0.0659, -0.0073, 0.3077, -9.7299, 9.6889, 1.7314, 0.2027, 0.0855, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b72cddd90e3537701ff1cea27c9d7f532552fe646ef783cbc99c71b5eabe6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386d65ef3c8a0562432b22f6d9ecd780e6947ebb600849d627184da9d8bcfff5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e79e6da53556c1ccb694c45f6f8b2d24a26c478e91f24e1a88293cf8c887fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0h9y1E-QxktOINjPDoxsOa8iGFb8_MMsrWHd8q3M1zQO8eEBfqXQWRCw3O5cJGt2ja8jBdfKTp3SDg1FszxrBFW8wc1uo-PlrU6o7mSNW-7Wupjm8ZfMoD_bmg96IUB4NOmhcgYqHkxWN7arzrq1DjM2sODB0KYm1p4tfUM-cWiCR9HDyzBO8QarW-1-2Gg0_XPnXGlp8brTDoHqelJYPjSqUaz7g8x1pl332AWrcVTsR1rmo8WQfYTODVwqf3b8N_OaC04jDBwuO2U469oEy3uR62yWlKDqfruXXftEfmWB5JBkMCJqxeEp2COneJCo9UP2yINuy13Xj90ogJtXqN8z_wufEhBZj3pbZm1mpiSzerWffG4wH4zc2MGinC8wbd0NGl0OCLvPRuhy-5McDSXE2usbLptX0pLLXHxJhUt_JbnLhYYh4DLIKfpQHrzzTHOjOiA_FE6lwY7iiUix6W4Vdt9VSLxOPqeGPAh_bcuteYMNztxegWSUSGbcNK1F7Vhfosh3gHxP0m4b6z1OPpzstXVAwU9-7z9Z6eEWP3AmNMfuGCmYRBxEmS6ydF9Yz9yeeDWw1BZu3AKx7WJxi6aTULtE5cLVwH2uudl8hKR4fj45O_zF74rKyvxyHtO_FCyHdENAm1Jb1fViqtVqVmzItdoiXm-Y-0NiPyH2tOArnpat4nxYNBs__ingcb3DukhMFFHVekFvd5IfAwJR21qs-oQT3wbUNQYIfC-4h23P2uLnKYzb_wDVwZ8xjw-4jQURh_mnLjOZPEthqE2w_bTd2mWktpfXBw53exO1Dg3_si0bWZJEJo2cPb8W_JU7Q9JzjXAM8fzHWL9-pusudHwU9T5s8IBKiXlH2wxJw-cQXhn1Ls4-c76PJaHlHEgeJ2Wf3tqu2XR6qvm1aCmo5CnB40ke-Lq5dlXULXClzblAkt6pJc8qJ1M4Ep6gRAzTZgSbnwHCZp8WK_ul-MDEeqljFkPabIRRh5ih4Lo0C2f31ZRQr-5OqeAwmKzvqVRvPCM5_PVhqXMCwWVjMxmmD1-jIghjwT-NSIEuVB6TnJ7bIgNeUoD8h9vU93nVZK9YsO-JOjAEN1H20TkgrOCffMqR6tytBl8cVIUPftlzXJR_Hw8VmcwruRXYTl5ajKAmOvqSNaGJyeBWiKJsCaYLOkW9deIe6XtvNBB1d-n8xvS4SyctAyLVqXQQ_k9Z2jyc1LHUAPmLwXdm2aUBI5NFoV2C5Qz8TFvLuuQ_KyxpjA_FaWGmwrVn-otAY2GFDsS1spQOhpgjq5VXkIkkvuOh-Zluvn7-WgxFvfE3HW6GMPpjy_wL1U2np8ya6HZ8OQROmtJs_pBcbmcRmCg3E4Fw9xtX2S1-Y4jU8R-QFOQhsMVxM=",
  "id": "rs_0b48cdf4dec88b2a016ab42d1fc75087d0a914565f09ab6923",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_gripper\":1},\"note\":\"The gripper is above the right basket, alongside the marker already inside it. I’m lowering and releasing the second marker into that basket.\"}",
  "call_id": "call_KfhxuI9SC20RQPpRFKQo6dhw",
  "id": "fc_0b48cdf4dec88b2a016ab42d204a6087d09b9eacbdc745bd3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KfhxuI9SC20RQPpRFKQo6dhw",
  "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]: [-0.5728, 1.7374, 1.6043, -1.0546, -0.3923, -0.5774, 0.9968, 0.6334, 1.7679, 1.063, 0.0605, 0.4107, 0.3511, 0.995]\nstate[eef_state]: left_x=0.3762 left_y=-0.1579 left_z=0.183 left_yaw=0.136 left_pitch=-0.473 left_roll=0.1123 left_gripper=0.9968 right_x=0.4288 right_y=0.2318 right_z=0.1186 right_yaw=0.094 right_pitch=-0.0261 right_roll=0.0655 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -8.5402, 6.2564, 0.9109, -0.2173, -0.0415, -0.0073, -0.0479, -6.8171, 5.6547, 1.2967, 0.0757, -0.0464, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd571c458c0e0bce38ca7f4acf73703208ed53bc8a8468c3bcf43771bbdfc223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c55e45f1807ec6f5aa66e8097ee02d0e49dc8eb082fe9f4307a7a6bf9b3054c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160f31db27a2a8f7eb888799f196420515b0e90a6c21d2ef94a6243b32f2dd40",
      "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 143 changed as sent

message 151 changed as sent

message 155 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]: [-0.5728, 1.7348, 1.6047, -1.0546, -0.3923, -0.5774, 0.9968, 0.6243, 1.6711, 0.3187, 0.7712, 0.424, 0.3592, 0.1336]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1349 left_pitch=-0.4707 left_roll=0.1101 left_gripper=0.9968 right_x=0.3255 right_y=0.1493 right_z=0.0218 right_yaw=0.0696 right_pitch=0.0317 right_roll=0.0987 right_gripper=0.1336\nstate[joint_eff]: [-0.1299, -8.294, 6.5573, 0.9402, -0.2222, -0.022, -0.0122, -0.8137, -4.3145, 3.0154, 1.0379, 0.1587, -0.0659, 0.652]",
      "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]: [-0.5728, 1.7374, 1.6043, -1.0573, -0.3927, -0.5777, 0.9968, 0.6357, 1.6875, 1.2541, -0.2279, 0.4061, 0.3519, 0.135]\nstate[eef_state]: left_x=0.3757 left_y=-0.1576 left_z=0.1828 left_yaw=0.1374 left_pitch=-0.4748 left_roll=0.1144 left_gripper=0.9968 right_x=0.427 right_y=0.2328 right_z=0.1832 right_yaw=0.0993 right_pitch=-0.0419 right_roll=0.0599 right_gripper=0.135\nstate[joint_eff]: [-0.2256, -8.5265, 6.3248, 1.0232, -0.2369, -0.0659, -0.0073, 0.3077, -9.7299, 9.6889, 1.7314, 0.2027, 0.0855, 0.0024]",
      "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]: [-0.5728, 1.7374, 1.6043, -1.0546, -0.3923, -0.5774, 0.9968, 0.6334, 1.7679, 1.063, 0.0605, 0.4107, 0.3511, 0.995]\nstate[eef_state]: left_x=0.3762 left_y=-0.1579 left_z=0.183 left_yaw=0.136 left_pitch=-0.473 left_roll=0.1123 left_gripper=0.9968 right_x=0.4288 right_y=0.2318 right_z=0.1186 right_yaw=0.094 right_pitch=-0.0261 right_roll=0.0655 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -8.5402, 6.2564, 0.9109, -0.2173, -0.0415, -0.0073, -0.0479, -6.8171, 5.6547, 1.2967, 0.0757, -0.0464, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd571c458c0e0bce38ca7f4acf73703208ed53bc8a8468c3bcf43771bbdfc223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c55e45f1807ec6f5aa66e8097ee02d0e49dc8eb082fe9f4307a7a6bf9b3054c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160f31db27a2a8f7eb888799f196420515b0e90a6c21d2ef94a6243b32f2dd40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b48cdf4dec88b2a016ab42d22fbe087d0867906fad6bf50d3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0oCmxRRigi2uH1qeGNj9y0DtaIUC-Ce7lqndxv4YgiT7vNIDsn9Wab4QHFp66OHvACBlHz3sNpT1VzHWJ4FMPJJCZ7YWP1GOyf49f79GyoiHIXccFzC0Eyq4ntfgk9bKcsZA7AF8nTQz-JHoPzlEkInEj5Qz7qXopQFMFnH26ZfFUlKEosdL0kJ3Va18-tRek0XbtsnKSuuKVoZWt4AbGBM2YPewOVVxCa8gMM8XpjR-c_E-J9n1MS4NFXUa7oIuuVzmnOkuGXkkUFRYcO3vR_pzduTRtgqu7_w59oGUjfF4n4K9-NNXYrjXt5-J0fk8FqusM0XpaamiIk_iyl7e3N01eMpCHzQ1G83TkUZDiBd2N_mBKzV6HUBXMG_depy5gN1BvUOzW63qHnaRgEu0Mg2uVM_4HbKmEKCyWVEZsUmIblahuXXiMOEyqvHRYKi7GSaLjBDNLVM-R1bWtgDgMODlmNVEQxtQ5jqHzj2EM8XFdvT5EwgDZ8yGIzshz9u85ocxIGQctOnn9OrIQVchTTEMoc6iqJMvtgK3FVuJXgVFkFTT9Fi974QPtcwkIFb32_WNwWZazfny3vzup4IZrEFkp0iuh0Q2m7-8nTdNYrs2DYRYTMzR1XV1S3btghw7M0ENHqJY0QwMkTh9Cq0Cy6LR1DmLtyHAw4AsYEPNU9xOsBnFfy-QN4eXdEbrzPeg9fFCklONYwvEox9P5DvU7CDPPkM-N65wZku5C_Qd1YpQdUZVgWmyzCfE0LIqTOXPcw1hg2qSvEoq0QsYGvrlemNVESqRl_bT5t4ScsmK9yZI7DRroWjHa4zEA5QLbv-fkdwTOOWI7dCEqBDhGAq8CfS_VF6otKwyn3AzxFyMwoVIGKJ0Q-sjW0fCobuihR8EMQVLUQOSG_bIq5d-HeX2d_5WJdnQg9_AKqclbTgoRwPx7vZ0FrId_Xm7tyxjyDOfP6WKJjkCNOacJdeBAjtHhbzj8M3_FtAs-2sSE9DmmXY6LhTZwfzRzffzp21gn292XupQk_57V3IpT26UmWLXp8ctGyZjhQpQngeFmjCa1rqQkW9DAzPN3LAtZMZ3aqzSx1RalpxzakUaHAANM5EnTYkVE4klmuRezxRyyVK_449bgfWOmbwNqrcYdBrnAnAAwUkhSR3ybcKBTsfu3nBS_-vSeV9f-dLU-VrhxV1IdgIu_0D9gmgDrQqDU0qGU1BOVWOlyLeub_gQyJxHn4P39F4qNq11l86SPqizsGVIEChCgBupDWNc3XC2CNmrIOqKaQQHP4STldJC1R0YWoeyIn-3xcBG42lSTA5qz_-7Lsf-FSqysr2DaSpm9mc3E2zkTezob6Rtq00Tfunf7efByBCCrqq9f8CTKA3mcWml-3KcTMP4TEcGiiCSBF5vNhSHlzmt-ShKhlyTANfGjMWwh1rgar1hHO1uif1NKnBdAOG62t9CUBYPDogHyVO30lV41Z",
  "id": "rs_0b48cdf4dec88b2a016ab42d26ed2887d0ab7f6fba121ffc1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.16,\"left_z\":0.065,\"right_z\":0.2},\"note\":\"Both writing instruments now appear in the right basket, and the pale plush is in the left. A yellow marker and two tan plush animals remain; I’m moving the left arm toward the yellow marker while raising the right arm clear.\"}",
  "call_id": "call_m06LSeuYxadxWkrYSjAa5EqG",
  "id": "fc_0b48cdf4dec88b2a016ab42d27b53887d09246d12763d0c900",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m06LSeuYxadxWkrYSjAa5EqG",
  "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]: [-0.7536, 1.5707, 0.9565, -0.7071, -0.4343, -0.7383, 0.9968, 0.6334, 1.7145, 1.2533, -0.2207, 0.4061, 0.3466, 0.9963]\nstate[eef_state]: left_x=0.2805 left_y=-0.1564 left_z=0.0608 left_yaw=0.1328 left_pitch=-0.5252 left_roll=0.1634 left_gripper=0.9968 right_x=0.4296 right_y=0.2334 right_z=0.1717 right_yaw=0.0993 right_pitch=-0.0595 right_roll=0.045 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -8.212, 6.6393, 1.1013, -0.5348, -0.1294, -0.0122, -0.2256, -11.9863, 9.4974, 1.4921, 0.1734, -0.0269, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74b42a29d8630f9dba6039df05808d29d7b5c18e085aaef0460bcc193e9fe3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c0f95eb76fcc1c396080ccb9d41e397d86cd6565e0fcca1af3c18bbfe8d3e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81a141719bd2a3f0b2c3853d0c807ee9b3b126cd58f508ca5a5fea7914f8a17",
      "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 147 changed as sent

message 155 changed as sent

message 160 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]: [-0.5728, 1.7348, 1.6047, -1.0542, -0.3923, -0.5774, 0.9968, 0.6243, 1.1774, 0.6338, -0.0513, 0.4072, 0.3546, 0.1348]\nstate[eef_state]: left_x=0.3761 left_y=-0.1579 left_z=0.1842 left_yaw=0.1348 left_pitch=-0.4704 left_roll=0.1098 left_gripper=0.9968 right_x=0.3244 right_y=0.1519 right_z=0.1505 right_yaw=0.0859 right_pitch=0.0153 right_roll=0.0955 right_gripper=0.1348\nstate[joint_eff]: [-0.0068, -8.4991, 6.2838, 0.9988, -0.2271, -0.0611, -0.0122, -0.3487, -5.5179, 9.5521, 1.8144, 0.2369, 0.0073, 0.1148]\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]: [-0.5728, 1.7374, 1.6043, -1.0546, -0.3923, -0.5774, 0.9968, 0.6334, 1.7679, 1.063, 0.0605, 0.4107, 0.3511, 0.995]\nstate[eef_state]: left_x=0.3762 left_y=-0.1579 left_z=0.183 left_yaw=0.136 left_pitch=-0.473 left_roll=0.1123 left_gripper=0.9968 right_x=0.4288 right_y=0.2318 right_z=0.1186 right_yaw=0.094 right_pitch=-0.0261 right_roll=0.0655 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -8.5402, 6.2564, 0.9109, -0.2173, -0.0415, -0.0073, -0.0479, -6.8171, 5.6547, 1.2967, 0.0757, -0.0464, -0.188]\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]: [-0.7536, 1.5707, 0.9565, -0.7071, -0.4343, -0.7383, 0.9968, 0.6334, 1.7145, 1.2533, -0.2207, 0.4061, 0.3466, 0.9963]\nstate[eef_state]: left_x=0.2805 left_y=-0.1564 left_z=0.0608 left_yaw=0.1328 left_pitch=-0.5252 left_roll=0.1634 left_gripper=0.9968 right_x=0.4296 right_y=0.2334 right_z=0.1717 right_yaw=0.0993 right_pitch=-0.0595 right_roll=0.045 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -8.212, 6.6393, 1.1013, -0.5348, -0.1294, -0.0122, -0.2256, -11.9863, 9.4974, 1.4921, 0.1734, -0.0269, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74b42a29d8630f9dba6039df05808d29d7b5c18e085aaef0460bcc193e9fe3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c0f95eb76fcc1c396080ccb9d41e397d86cd6565e0fcca1af3c18bbfe8d3e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81a141719bd2a3f0b2c3853d0c807ee9b3b126cd58f508ca5a5fea7914f8a17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0sVyipIK5OHMH-h-Ef6DilH3CUQGdFQIr5AJGxzM-69UUppHTAEQj4HvUrBNjYXVeSt8wkRMn98qEdRLlYKrPU2g96Jh28u86RXsFfP7Ep6aTf_ypFqeh3mv3T0cowq3Eek_ziTA0U9Tg0G6DGz1mKbpeoYKmhONZZuk7A3OXz_XmpdqqnT7KfQi-ufT7v31MKA7-lGvvZcFhsT4kCqf9uEmyg61U169GGSX0VPurNy4ZBoMkm0i6SQymrRZYCQNGIThMD52DN6iSx9133V7jsy5HlMUgMnk2lmIrbhVOpejT0MLccskvjW_vQIvD08doFxZVfiGyjGkoWD1QBiuVe04U_eRvY9wvPDtr_Hhf0TkYd0kEHKsTjkl26vHiScbMxTtWUEj8-5XHU5AgZjjhxi-VU9K3MXjV6PI3IBa4QIPzDN-asZOdRQZiCxee2JnCBNywFiY8OZTeETbgFzV60HcHsVAyy7BdD_od0zKD3H09FiAiIxwrhH1UFnCqzWgA3t4_LLLwSfkpVGUnDx4gzWiqZclPGr4huVw_mhmbj08tAoBay6ypg7RAz5PQhW3OZ6n4-M4NrR8PrM4lvHvZOJ0F7MHIbQuJEVfMHdFZWDFI6gQPfiiioMn4gYAqaCfro6vuxhisiz5UT5W0W4e7YAKhzepMYBSi4nbmWvK-nh3k0G8F-wrPxhfwJqeUPKHynwi0g7ktxaeiEjSjaI1hJV0qyx8wk0nuSqKgZ5VuUcstI8r9-_V5Nl9xKtUg43ZCg3l62ON6Y6XTfxUprLRmcQgrLbll39KSqTHEuzCuuSngpZ3rJPzU4_FBcEDwErhg8nZWduC8f0Fe_5YVQ81B7ILDmJ5QKa1t0q3miNYdGdpl1Dzo9ViIfzKjcgcbMWO53caHmaLBMqt4yNHXxmqe3aeFs7pMPrvaKYHa1KC6j_oKosm2nkZmD-VXCLrhXtiXkE6rcXXYxNK3k6_mSr2ExbKySqn_GbUOw8Ekfr2iySgJvJHEdyOMoKcKCYHAM-eQqy_2mBxDoyBA0xk_e1qPV746Jzq3vXP8IPXwe6P0lGPzy5riKpBY9IlBU42nH669TJALRYa9ROVaQBsqFU11RI10uegBGH-OnCKf2Y11EbTN2Ls_DYcJItaCHQES_mUrlIo2v93_AMXKAtmWH4ijqby3vitYQRFdnQJz_yGtjssdeKUyvhpfZRHh9SmnT4Eo3qVOITVB9hHkn6VUaoy0CyTA-XibGMmfx4kdlGFlkY-OO4kTbXSkki3vpLUdj_lG9L1taTnjs-3jz3D2fnv6VikgoLBlmctQw5kuLxdoztNHDsxBNnqf2ozzE70nbsdu_IQFr2SNwnDGOyMbqJCJFavs_JtNGHMjwlUZ6X38H1zLpFUbHkKeOVQDrexbo2dTTxqtcjd6spn83YuOXI9ASfmYFgdYppjVrAkkY8u0Co8Xazv-p1BX0O0UmOfKeMjUftTv4Dv63VRAXSuTBGIfZxoNx_4_4-K-JXGV-yp4wETObEC6NBaphuVPSzPStFLavguvgHs29U6i0Nm_eB3yeipgTSJ9NQJcgdEl4IghepEOJoc7fmQU4KrKKojdP7omoLp1qHerc132cPU-Rup_iD5FDOsHCFjEee-VNqhSzNvUILT4fZdPZNeZ9NObNSkTq7NP9d5ASro7T2uM90l3YG7RhqHHoYExy-YJElQC8st0PdymnV0Gs8IZyRlZaxvVZJElbKaUsNpb1wa8dYyVfs4QJtLNtHHrF5cLL-QAjBStnHX97FW54mzPpHVAiZ-jn1tY0-BeRNqGAZPll4Bgn5EwL0dmnIWZXexq49ci9jgjGPT7dKyGEDC8HtcPhFxLfK9KF8ZWsvshDUkfU3HKVOUZjHoIflO4cLj_3XeaTBg6nWFE3by-47pnTP5iFvviMbzvUB2xm4dtSrTdBRqelCw==",
  "id": "rs_0b48cdf4dec88b2a016ab42d2a8a9087d0b635122cf629640e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":-0.125,\"left_z\":0.006},\"note\":\"The yellow marker is clearly visible down the left wrist camera, a little left of the jaw center. I’m shifting left toward it and lowering to table height to grasp its barrel.\"}",
  "call_id": "call_OPxWB2mCrwrcL7g0itmCfhGw",
  "id": "fc_0b48cdf4dec88b2a016ab42d2bfb8c87d084c64a6ec6d889ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OPxWB2mCrwrcL7g0itmCfhGw",
  "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]: [-0.6376, 1.6276, 0.7864, -0.4835, -0.411, -0.6537, 0.9968, 0.6338, 1.713, 1.2556, -0.239, 0.4061, 0.3439, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=-0.1187 left_z=0.0081 left_yaw=0.184 left_pitch=-0.553 left_roll=0.1941 left_gripper=0.9968 right_x=0.4277 right_y=0.2322 right_z=0.1701 right_yaw=0.1006 right_pitch=-0.0719 right_roll=0.0354 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -6.3932, 6.0239, 0.9548, -0.1245, 0.022, -0.0122, -0.1983, -8.6769, 6.7761, 1.7411, 0.1734, -0.0464, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1405abfab14fa4a8a7ae562adbca41c19e98b663bfeba26360bc0c53be916367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcfdeceeb178b98752f8af67cc8941619f41eabdcf67808f87318b778f72355",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc969fe5cfb1294dbb8c65c3414400e28c4e1a1d6b6553be5a394bd7cb7c732",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}