adhoc

completed
2026-09-23T18:55:19.339567+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
250.6 s
total steps
399
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two blue baskets at the back and a cluster of light-colored objects between the arms. I’m bringing the right gripper above the object at the far-right edge of the cluster to identify and pick it up.
move_to
right_x0.4300right_y0.2500right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0216, -0.0257, 0.9995, -0.0212, 0.7986, 0.6109, -0.3744, -0.0124, -0.0254, 0.9993] state[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1847 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2967 right_y=-0.0005 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4718, -1.6205, 9.4564, 1.7656, -0.0122, 0.1197, -0.0708, -0.4581, -1.4427, 9.7846, 1.7314, -0.1001, 0.1148, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.25,"right_z":0.16},"note":"I see two blue baskets at the back and a cluster of light-colored objects between the arms. I’m bringing the right gripper above the object at the far-right edge of the cluster to identify and pick it up."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe right gripper is over the right basket rather than the objects; the overhead view shows the cluster farther left and closer to the bases. I’m shifting inward and back to line up with a piece near the top of the cluster.
move_to
right_x0.3500right_y0.3500right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6147, -0.3805, -0.0223, -0.0265, 0.9995, 0.7143, 1.8011, 1.2503, -0.186, 0.5755, 0.4057, 0.9992] state[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4249 right_y=0.246 right_z=0.1454 right_yaw=0.0204 right_pitch=-0.0373 right_roll=-0.029 right_gripper=0.9992 state[joint_eff]: [-0.1709, -1.7299, 7.2684, 1.7411, -0.0269, -0.0415, -0.0122, 0.3897, -9.4564, 9.0735, 1.5702, 0.3687, 0.1099, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.35,"right_z":0.13},"note":"The right gripper is over the right basket rather than the objects; the overhead view shows the cluster farther left and closer to the bases. I’m shifting inward and back to line up with a piece near the top of the cluster."})
tool
executing move_to over 9 steps (0.9s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteA tan, fuzzy object appears at the bottom-left of the right wrist camera, just beside the fingertips. I’m nudging the open jaws inward and lowering them to the object's mid-height before grasping.
move_to
right_x0.3350right_y0.3850right_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6144, -0.3805, -0.0219, -0.0265, 0.9995, 1.0286, 1.9598, 1.4147, -0.4076, 0.7673, 0.6979, 0.9992] state[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3471 right_y=0.3455 right_z=0.1199 right_yaw=0.0363 right_pitch=-0.0658 right_roll=-0.0466 right_gripper=0.9992 state[joint_eff]: [-0.2256, -1.306, 7.1043, 1.7363, -0.0073, -0.0562, -0.0171, 0.4718, -10.0991, 8.7863, 1.2088, 0.5592, 0.1148, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.385,"right_z":0.085},"note":"A tan, fuzzy object appears at the bottom-left of the right wrist camera, just beside the fingertips. I’m nudging the open jaws inward and lowering them to the object's mid-height before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe tan plush is now partly between the open right jaws, though it sits a little left of center. I’m lowering to grip its body and using the last bit of inward reach to improve alignment.
move_to
right_x0.3500right_y0.4000right_z0.0430
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8051, 0.6132, -0.3801, -0.0219, -0.0265, 0.9995, 1.0847, 2.0895, 1.4956, -0.3874, 0.8043, 0.7612, 0.9992] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1811 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3404 right_y=0.3795 right_z=0.0939 right_yaw=0.0352 right_pitch=-0.0531 right_roll=-0.0354 right_gripper=0.9992 state[joint_eff]: [-0.0479, -1.2923, 7.1316, 1.7656, -0.0269, -0.0415, -0.0122, 0.7863, -9.4291, 7.747, 0.8523, 0.3639, 0.0317, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.4,"right_z":0.043},"note":"The tan plush is now partly between the open right jaws, though it sits a little left of center. I’m lowering to grip its body and using the last bit of inward reach to improve alignment."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe right arm stopped at about 9 cm above the table and cannot reach the intended low pose at this far inward position. The plush fills the space between the jaws, so I’ll test a gentle close and check whether it actually holds anything.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3801, -0.0223, -0.0269, 0.9995, 1.0931, 2.0975, 1.5009, -0.3836, 0.8112, 0.7757, 0.9992] state[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.18 left_yaw=0.0013 left_pitch=-0.013 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3385 right_y=0.3831 right_z=0.0931 right_yaw=0.032 right_pitch=-0.0472 right_roll=-0.0254 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.306, 7.2137, 1.7363, -0.0513, -0.0513, -0.0122, 0.6632, -9.9897, 7.3778, 0.9353, 0.2662, 0.0122, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right arm stopped at about 9 cm above the table and cannot reach the intended low pose at this far inward position. The plush fills the space between the jaws, so I’ll test a gentle close and check whether it actually holds anything."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe right gripper closed almost completely, so that was an empty grasp; the tan plush is too far inward for this arm to descend onto it. I’m retracting the right arm and will use the left arm, which has a better approach to the central cluster.
move_to
right_x0.2960right_y0.0000right_z0.1900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3805, -0.0219, -0.0265, 0.9995, 1.092, 2.1006, 1.4998, -0.3805, 0.8013, 0.7738, 0.0135] state[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.18 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3383 right_y=0.384 right_z=0.0905 right_yaw=0.0375 right_pitch=-0.055 right_roll=-0.0239 right_gripper=0.0135 state[joint_eff]: [-0.0889, -1.306, 7.0769, 1.7216, -0.022, -0.0513, -0.0122, -0.1436, -11.8906, 6.3521, 1.1648, 0.4274, 0.0122, 1.2039] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.19,"right_gripper":1},"note":"The right gripper closed almost completely, so that was an empty grasp; the tan plush is too far inward for this arm to descend onto it. I’m retracting the right arm and will use the left arm, which has a better approach to the central cluster."})
tool
executing move_to over 33 steps (3.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteWith the right arm parked, I can see several small plush figures between the baskets; one gray figure is nearest the left gripper and tan figures sit beside it. I’m positioning the left gripper above the gray figure for the first sorting pick.
move_to
left_x0.2900left_y-0.1600left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8104, 0.6094, -0.3801, -0.0219, -0.0265, 0.9995, -0.0128, 0.8486, 0.6682, -0.4553, 0.0269, -0.0299, 0.9981] state[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2958 right_y=-0.0049 right_z=0.1788 right_yaw=-0.0224 right_pitch=-0.0738 right_roll=-0.0255 right_gripper=0.9981 state[joint_eff]: [-0.1983, -1.6205, 7.3641, 1.7998, -0.0317, -0.0171, -0.0171, -0.1299, -2.0034, 9.4974, 1.7118, -0.1587, -0.0562, -0.1294] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.16,"left_z":0.13},"note":"With the right arm parked, I can see several small plush figures between the baskets; one gray figure is nearest the left gripper and tan figures sit beside it. I’m positioning the left gripper above the gray figure for the first sorting pick."})
tool
executing move_to over 15 steps (1.5s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe left-arm view reveals that the figure under my previous approach is a tan teddy, while the gray plush is farther left by the left basket. Since this arm can reach that gray figure and its basket directly, I’m moving over to grasp the gray one instead.
move_to
left_x0.2900left_y0.0270left_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8505, 1.2018, 0.6014, -0.2447, -0.6502, -0.5518, 0.9995, -0.0189, 0.8532, 0.6682, -0.474, 0.0174, -0.0452, 0.998] state[eef_state]: left_x=0.2814 left_y=-0.1531 left_z=0.1118 left_yaw=-0.0353 left_pitch=-0.0773 left_roll=0.047 left_gripper=0.9995 right_x=0.2934 right_y=-0.005 right_z=0.1739 right_yaw=-0.0123 right_pitch=-0.0974 right_roll=-0.032 right_gripper=0.998 state[joint_eff]: [-0.1436, -4.3282, 9.2239, 1.4872, -0.398, -0.0708, -0.0171, 0.4034, -1.8803, 6.9675, 1.8437, 0.0513, 0.0806, -0.022] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.027,"left_z":0.075},"note":"The left-arm view reveals that the figure under my previous approach is a tan teddy, while the gray plush is farther left by the left basket. Since this arm can reach that gray figure and its basket directly, I’m moving over to grasp the gray one instead."})
tool
executing move_to over 17 steps (1.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe gray plush fills the left side of the left wrist view, and its head is slightly ahead of the jaws. I’m moving a little forward and as far left as this arm permits while lowering toward the plush’s body.
move_to
left_x0.3200left_y0.0500left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1276, 0.9321, 0.2951, -0.0116, 0.0479, 0.0807, 0.9995, -0.0196, 0.8555, 0.6678, -0.4759, 0.0147, -0.046, 0.998] state[eef_state]: left_x=0.2901 left_y=0.0323 left_z=0.0777 left_yaw=0.0308 left_pitch=-0.0872 left_roll=0.0445 left_gripper=0.9995 right_x=0.2932 right_y=-0.0048 right_z=0.1727 right_yaw=-0.0104 right_pitch=-0.102 right_roll=-0.0309 right_gripper=0.998 state[joint_eff]: [0.0752, -1.5932, 5.3402, 1.7851, 0.2027, 0.0659, -0.0122, 0.0342, -1.7162, 7.1726, 1.6337, 0.0171, -0.022, -0.0171] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.05,"left_z":0.045},"note":"The gray plush fills the left side of the left wrist view, and its head is slightly ahead of the jaws. I’m moving a little forward and as far left as this arm permits while lowering toward the plush’s body."})
tool
executing move_to over 3 steps (0.3s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe left jaws are now beside the gray plush at about 5 cm above the tabletop. I’m closing around its furry body and will check the settled jaw opening before moving it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1917, 1.2228, 0.2955, 0.2527, 0.0975, 0.1318, 0.9995, -0.02, 0.8612, 0.6678, -0.4789, 0.0147, -0.046, 0.998] state[eef_state]: left_x=0.3139 left_y=0.0471 left_z=0.0467 left_yaw=0.0251 left_pitch=-0.1105 left_roll=0.0513 left_gripper=0.9995 right_x=0.293 right_y=-0.0049 right_z=0.1706 right_yaw=-0.0107 right_pitch=-0.1107 right_roll=-0.0308 right_gripper=0.998 state[joint_eff]: [0.3214, -3.3299, 5.6684, 0.7643, 0.1783, -0.2515, -0.0122, -0.0068, -1.7026, 7.0496, 1.7851, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are now beside the gray plush at about 5 cm above the tabletop. I’m closing around its furry body and will check the settled jaw opening before moving it."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe jaws closed nearly all the way, so the first gray-plush grasp was empty and nudged it closer to the jaw center. I’m reopening and shifting slightly back to catch its body instead of its leading fur.
move_to
left_gripper1.0000left_x0.3050left_y0.0500left_z0.0430
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2016, 1.2579, 0.2981, 0.3641, 0.0906, 0.1238, 0.0124, -0.02, 0.8623, 0.6678, -0.4786, 0.0147, -0.049, 0.998] state[eef_state]: left_x=0.328 left_y=0.0544 left_z=0.0591 left_yaw=0.046 left_pitch=-0.033 left_roll=0.0616 left_gripper=0.0124 right_x=0.2932 right_y=-0.0049 right_z=0.1703 right_yaw=-0.0091 right_pitch=-0.1116 right_roll=-0.0332 right_gripper=0.998 state[joint_eff]: [-0.0068, -2.5778, 5.1214, 1.4237, 0.1636, 0.0366, 0.9841, -0.1162, -1.7162, 7.1179, 1.6484, -0.0611, -0.0171, -0.0171] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.305,"left_y":0.05,"left_z":0.043},"note":"The jaws closed nearly all the way, so the first gray-plush grasp was empty and nudged it closer to the jaw center. I’m reopening and shifting slightly back to catch its body instead of its leading fur."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe gray plush remains just to the left of the open jaws, and the last lowering move stalled above my target height. I’m coming back toward the base to give the arm a better downward angle before another grasp.
move_to
left_x0.2650left_y0.0450left_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.197, 1.211, 0.2092, 0.4667, 0.0902, 0.128, 0.9954, -0.02, 0.8639, 0.6678, -0.4789, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.3176 left_y=0.0508 left_z=0.0598 left_yaw=0.0395 left_pitch=0.0267 left_roll=0.0748 left_gripper=0.9954 right_x=0.2932 right_y=-0.0048 right_z=0.1698 right_yaw=-0.0088 right_pitch=-0.1135 right_roll=-0.033 right_gripper=0.998 state[joint_eff]: [0.4581, -3.1111, 3.9863, 1.3602, 0.0073, -0.1001, -0.1245, -0.212, -1.5795, 7.0222, 1.6581, -0.0659, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":0.045,"left_z":0.01},"note":"The gray plush remains just to the left of the open jaws, and the last lowering move stalled above my target height. I’m coming back toward the base to give the arm a better downward angle before another grasp."})
tool
executing move_to over 5 steps (0.5s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe gray animal’s body is beside the gripper at the left-side reach limit, so another sideways approach is unavailable. I’m turning the jaws across its length and lowering a little to try to catch the reachable side without shoving it farther toward the edge.
move_to
left_x0.2700left_y0.0500left_z0.0260left_yaw-1.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2325, 1.2728, 0.036, 0.8242, 0.1165, 0.1715, 0.9967, -0.02, 0.8639, 0.6678, -0.4789, 0.0147, -0.049, 0.998] state[eef_state]: left_x=0.3003 left_y=0.0537 left_z=0.0543 left_yaw=0.0275 left_pitch=0.1468 left_roll=0.1239 left_gripper=0.9967 right_x=0.2932 right_y=-0.0049 right_z=0.1698 right_yaw=-0.0091 right_pitch=-0.1135 right_roll=-0.0332 right_gripper=0.998 state[joint_eff]: [0.6222, -1.0188, 1.9077, 0.5788, 0.0611, -0.2955, 0.1148, -0.0615, -1.6615, 6.9402, 1.6288, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":0.05,"left_z":0.026,"left_yaw":-1.2},"note":"The gray animal’s body is beside the gripper at the left-side reach limit, so another sideways approach is unavailable. I’m turning the jaws across its length and lowering a little to try to catch the reachable side without shoving it farther toward the edge."})
tool
executing move_to over 8 steps (0.8s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe wrist rotation could not reach the requested angle, but the gray plush’s right-hand side still overlaps the open jaws. I’ll test one more close at this position; if it is empty, I’ll switch to the better-centered objects.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.5251, 1.3708, 0.1009, 0.8238, 0.5068, 0.4572, 0.9968, -0.0208, 0.8688, 0.667, -0.482, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.3009 left_y=0.0794 left_z=0.0578 left_yaw=-0.1622 left_pitch=0.1588 left_roll=0.2269 left_gripper=0.9968 right_x=0.2929 right_y=-0.005 right_z=0.1676 right_yaw=-0.0093 right_pitch=-0.1223 right_roll=-0.0332 right_gripper=0.998 state[joint_eff]: [0.1709, -2.3453, 3.9179, 1.1062, 0.3346, -0.022, -0.0073, -0.1299, -2.0581, 7.0085, 1.6337, -0.0513, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The wrist rotation could not reach the requested angle, but the gray plush’s right-hand side still overlaps the open jaws. I’ll test one more close at this position; if it is empty, I’ll switch to the better-centered objects."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThat close was empty too, but it shifted the gray plush toward the center; its head now appears to the right of the jaw column. I’m reopening and approaching the head from a little farther forward and inward instead of repeating the same grasp.
move_to
left_gripper1.0000left_x0.3600left_y-0.0250left_z0.0750left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.3519, 1.3029, 0.0631, 0.87, 0.355, 0.3893, 0.0172, -0.0208, 0.87, 0.6666, -0.4824, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.3076 left_y=0.0514 left_z=0.0694 left_yaw=-0.177 left_pitch=0.1959 left_roll=0.2575 left_gripper=0.0172 right_x=0.2928 right_y=-0.005 right_z=0.167 right_yaw=-0.0095 right_pitch=-0.1242 right_roll=-0.0329 right_gripper=0.998 state[joint_eff]: [-0.1162, -2.9333, 3.494, 1.5507, 0.0269, -0.1343, 0.6764, -0.0615, -1.4701, 7.0085, 1.6581, -0.0122, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.36,"left_y":-0.025,"left_z":0.075,"left_yaw":0},"note":"That close was empty too, but it shifted the gray plush toward the center; its head now appears to the right of the jaw column. I’m reopening and approaching the head from a little farther forward and inward instead of repeating the same grasp."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe open left gripper is now ahead of the gray plush, whose body shows at the bottom-left of the wrist view. I’m backing the fingertips over its body and lowering to a firmer grasp height.
move_to
left_x0.3150left_y0.0120left_z0.0280
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2512, 1.5063, 0.2241, 0.8989, -0.3199, 0.1322, 0.9953, -0.0208, 0.8715, 0.6662, -0.482, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.3546 left_y=-0.03 left_z=0.069 left_yaw=-0.0597 left_pitch=0.1787 left_roll=0.2576 left_gripper=0.9953 right_x=0.2929 right_y=-0.005 right_z=0.1665 right_yaw=-0.0095 right_pitch=-0.1257 right_roll=-0.0328 right_gripper=0.998 state[joint_eff]: [-0.2393, -4.3829, 6.0923, 1.6972, -0.1832, -0.0073, -0.0562, -0.212, -1.7846, 7.1316, 1.5946, -0.0513, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":0.012,"left_z":0.028},"note":"The open left gripper is now ahead of the gray plush, whose body shows at the bottom-left of the wrist view. I’m backing the fingertips over its body and lowering to a firmer grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe gray plush now occupies the space between the left fingertips at a lower, more centered pose. I’m closing on its body and will verify by jaw opening and then a lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0719, 1.755, 0.0525, 1.3708, -0.2008, 0.2127, 0.9966, -0.0208, 0.8734, 0.6662, -0.4824, 0.0147, -0.049, 0.998] state[eef_state]: left_x=0.3277 left_y=0.0153 left_z=0.0418 left_yaw=-0.0245 left_pitch=0.2128 left_roll=0.2856 left_gripper=0.9966 right_x=0.293 right_y=-0.0051 right_z=0.1659 right_yaw=-0.0099 right_pitch=-0.128 right_roll=-0.0331 right_gripper=0.998 state[joint_eff]: [0.1846, -3.6718, 0.1436, 0.7057, 0.0562, -0.5348, 0.1343, -0.1299, -1.8256, 7.2684, 1.6532, -0.0317, -0.022, -0.0171] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush now occupies the space between the left fingertips at a lower, more centered pose. I’m closing on its body and will verify by jaw opening and then a lift."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe jaws settled at about 0.038, right on the empty-versus-holding threshold for this rig. I’m lifting straight up to see whether the gray plush follows before trying to transport it.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0689, 1.7576, 0.0498, 1.4364, -0.2131, 0.2207, 0.0381, -0.0208, 0.8753, 0.6662, -0.482, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.3311 left_y=0.0182 left_z=0.0557 left_yaw=-0.0142 left_pitch=0.2719 left_roll=0.2939 left_gripper=0.0381 right_x=0.2931 right_y=-0.005 right_z=0.1654 right_yaw=-0.0095 right_pitch=-0.1295 right_roll=-0.0328 right_gripper=0.998 state[joint_eff]: [-0.2667, -4.8615, 2.5641, 1.2039, 0.1294, -0.0317, 1.2625, -0.2393, -1.8803, 6.9402, 1.6532, -0.0171, -0.0513, -0.0171] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The jaws settled at about 0.038, right on the empty-versus-holding threshold for this rig. I’m lifting straight up to see whether the gray plush follows before trying to transport it."})
tool
executing move_to over 7 steps (0.7s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe plush did not rise with the gripper; the near-zero jaw opening was an empty close. Looking at the overhead image, the loose toys are farther toward the center and nearer the bases than my left-side approach, so I’m moving the open gripper over the central pile.
move_to
left_x0.2350left_y-0.1900left_z0.0950left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9657, 0.2409, 0.4889, -0.2131, 0.2161, 0.039, -0.0208, 0.881, 0.6651, -0.4858, 0.0147, -0.0494, 0.998] state[eef_state]: left_x=0.3313 left_y=0.0183 left_z=0.1551 left_yaw=-0.0108 left_pitch=0.3081 left_roll=0.2873 left_gripper=0.039 right_x=0.2926 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0096 right_pitch=-0.1402 right_roll=-0.0332 right_gripper=0.998 state[joint_eff]: [-0.1162, -2.4137, 9.1966, 2.0049, -0.0317, -0.0024, 1.0281, -0.1846, -2.1949, 7.0222, 1.6825, -0.0269, -0.0757, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.235,"left_y":-0.19,"left_z":0.095,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The plush did not rise with the gripper; the near-zero jaw opening was an empty close. Looking at the overhead image, the loose toys are farther toward the center and nearer the bases than my left-side approach, so I’m moving the open gripper over the central pile."})
tool
executing move_to over 19 steps (1.9s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe overhead view is clearer now: there are gray plush animals on the left and tan ones in the middle. I’m tackling the gray group first because the left arm can deliver those directly into the left basket.
move_to
left_x0.3100left_y-0.0150left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1545, 1.2911, 0.5472, -0.244, -0.8761, -0.8341, 0.9981, -0.0208, 0.886, 0.6628, -0.4896, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.2361 left_y=-0.1896 left_z=0.0912 left_yaw=-0.0414 left_pitch=-0.0029 left_roll=0.0332 left_gripper=0.9981 right_x=0.2919 right_y=-0.005 right_z=0.1596 right_yaw=-0.0095 right_pitch=-0.1512 right_roll=-0.0325 right_gripper=0.998 state[joint_eff]: [-0.0615, -4.2735, 7.3504, 1.0134, -0.5836, -0.0904, -0.0122, -0.212, -2.0171, 7.1043, 1.6777, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.015,"left_z":0.09},"note":"The overhead view is clearer now: there are gray plush animals on the left and tan ones in the middle. I’m tackling the gray group first because the left arm can deliver those directly into the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteA gray animal is now centered ahead of the left jaws in the wrist camera, with its body extending down between them. I’m descending to about body height while advancing slightly so the jaws close on fur rather than air.
move_to
left_x0.3190left_y-0.0120left_z0.0310
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1253, 0.9878, 0.2951, 0.094, -0.1558, -0.0772, 0.9981, -0.0208, 0.8883, 0.6624, -0.4892, 0.0151, -0.0494, 0.998] state[eef_state]: left_x=0.3052 left_y=-0.0072 left_z=0.0844 left_yaw=0.0346 left_pitch=-0.0295 left_roll=0.0332 left_gripper=0.9981 right_x=0.292 right_y=-0.0051 right_z=0.1589 right_yaw=-0.0099 right_pitch=-0.1536 right_roll=-0.0333 right_gripper=0.998 state[joint_eff]: [-0.4991, -2.2496, 6.5573, 1.9609, 0.1734, 0.1343, -0.0024, -0.0752, -1.9624, 6.9538, 1.619, -0.0171, -0.022, -0.0073] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.012,"left_z":0.031},"note":"A gray animal is now centered ahead of the left jaws in the wrist camera, with its body extending down between them. I’m descending to about body height while advancing slightly so the jaws close on fur rather than air."})
tool
executing move_to over 4 steps (0.4s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe gray plush’s body sits between the left jaw tips at roughly 5 cm height. I’m closing now and will use the settled jaw width to judge whether this is a real grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1368, 1.2972, 0.2279, 0.4915, -0.1841, -0.0593, 0.9981, -0.0208, 0.8921, 0.6624, -0.4896, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.3253 left_y=-0.0085 left_z=0.0472 left_yaw=0.0373 left_pitch=-0.0067 left_roll=0.0602 left_gripper=0.9981 right_x=0.2921 right_y=-0.005 right_z=0.1578 right_yaw=-0.0095 right_pitch=-0.1577 right_roll=-0.0325 right_gripper=0.998 state[joint_eff]: [-0.5812, -2.4, 2.8513, 0.7497, 0.359, -0.3541, -0.0171, -0.0752, -2.0308, 6.9402, 1.58, -0.0269, -0.0269, -0.0073] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush’s body sits between the left jaw tips at roughly 5 cm height. I’m closing now and will use the settled jaw width to judge whether this is a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe jaws again closed empty: the gray animal’s head is ahead of the actual fingertip closing point in the wrist view. I’m reopening and moving forward and left to put the finger tips around the head itself.
move_to
left_gripper1.0000left_x0.3700left_y0.0470left_z0.0410
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1352, 1.2938, 0.2222, 0.5617, -0.2199, -0.0551, 0.0163, -0.0208, 0.8932, 0.6624, -0.4892, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.3322 left_y=-0.0027 left_z=0.0614 left_yaw=0.0671 left_pitch=0.0633 left_roll=0.0693 left_gripper=0.0163 right_x=0.2923 right_y=-0.005 right_z=0.1575 right_yaw=-0.0093 right_pitch=-0.1585 right_roll=-0.0327 right_gripper=0.998 state[joint_eff]: [-0.3487, -3.1795, 6.3658, 1.0672, 0.2906, -0.0171, 0.8523, -0.1709, -1.9214, 6.9675, 1.5995, -0.0708, -0.0366, -0.0073] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.37,"left_y":0.047,"left_z":0.041},"note":"The jaws again closed empty: the gray animal’s head is ahead of the actual fingertip closing point in the wrist view. I’m reopening and moving forward and left to put the finger tips around the head itself."})
tool
executing move_to over 10 steps (1.0s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
right_cam
camera right_cam step 249
assistant
agent noteThe gray plush’s head is now farther down in the wrist image and clearly spans the open jaws. I’m trying the head-level grasp from this new pose.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1047, 1.5742, 0.318, 0.8341, -0.0216, 0.0463, 0.9953, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.3761 left_y=0.047 left_z=0.0607 left_yaw=0.0851 left_pitch=0.138 left_roll=0.0635 left_gripper=0.9953 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0095 right_pitch=-0.1604 right_roll=-0.0324 right_gripper=0.998 state[joint_eff]: [0.4581, -3.7128, 4.7658, 1.3358, 0.0073, 0.188, -0.0659, -0.1709, -1.9761, 6.9402, 1.5702, -0.0269, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush’s head is now farther down in the wrist image and clearly spans the open jaws. I’m trying the head-level grasp from this new pose."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteThat head-level close also came back empty. I’m changing to the tan plush in the more accessible center of the table, where I can put the jaws around the torso without working against the left reach boundary.
move_to
left_gripper1.0000left_x0.2650left_y-0.1700left_z0.0650left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1009, 1.5761, 0.3237, 0.8627, -0.0216, 0.0452, 0.0121, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.3808 left_y=0.046 left_z=0.0686 left_yaw=0.0818 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.0121 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0093 right_pitch=-0.1604 right_roll=-0.0327 right_gripper=0.998 state[joint_eff]: [0.212, -5.559, 4.2051, 1.619, -0.0122, -0.0366, 0.862, -0.1026, -1.6752, 7.0632, 1.5995, -0.0562, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.265,"left_y":-0.17,"left_z":0.065,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"That head-level close also came back empty. I’m changing to the tan plush in the more accessible center of the table, where I can put the jaws around the torso without working against the left reach boundary."})
tool
executing move_to over 20 steps (2.0s)
step 279
assistant
agent noteA tan dog now fills the left wrist camera, with its torso between the fingertips and its head just ahead. I’m moving forward a few centimetres and down to close around the torso rather than the top of its head.
move_to
left_x0.3000left_y-0.1900left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9756, 1.3464, 0.4114, 0.1158, -0.7612, -0.6437, 0.9979, -0.0208, 0.897, 0.6624, -0.4892, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.2666 left_y=-0.17 left_z=0.0634 left_yaw=-0.0354 left_pitch=0.0042 left_roll=0.0035 left_gripper=0.9979 right_x=0.2924 right_y=-0.005 right_z=0.1565 right_yaw=-0.0093 right_pitch=-0.1623 right_roll=-0.0327 right_gripper=0.998 state[joint_eff]: [-0.1162, -3.6444, 7.3368, 1.2381, -0.4029, -0.0269, -0.0464, -0.1846, -1.6342, 6.9265, 1.5702, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.19,"left_z":0.035},"note":"A tan dog now fills the left wrist camera, with its torso between the fingertips and its head just ahead. I’m moving forward a few centimetres and down to close around the torso rather than the top of its head."})
tool
executing move_to over 3 steps (0.3s)
step 282
assistant
agent noteThe lowered gripper straddles two tan figures, with the nearer torso directly under the jaw column. I’m closing on that nearer figure and checking whether the jaws stay open around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9138, 1.581, 0.4641, 0.2939, -0.7559, -0.6365, 0.9981, -0.0208, 0.9001, 0.6624, -0.49, 0.0147, -0.049, 0.998] state[eef_state]: left_x=0.2937 left_y=-0.1765 left_z=0.0366 left_yaw=0.0189 left_pitch=-0.0013 left_roll=0.0104 left_gripper=0.9981 right_x=0.2924 right_y=-0.0051 right_z=0.1555 right_yaw=-0.0098 right_pitch=-0.1661 right_roll=-0.0326 right_gripper=0.998 state[joint_eff]: [-0.1983, -5.4769, 5.0256, 0.8962, -0.0024, 0.3541, 0.0073, -0.3624, -1.7846, 6.9265, 1.5946, -0.0513, -0.0171, -0.0073] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The lowered gripper straddles two tan figures, with the nearer torso directly under the jaw column. I’m closing on that nearer figure and checking whether the jaws stay open around it."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe jaw opening is again fully closed, and the wrist image shows the tan dog to the right of the closing point rather than within it. I’m opening and shifting the left gripper rightward over that dog’s centerline before trying again.
move_to
left_gripper1.0000left_y-0.2600left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9047, 1.6135, 0.4736, 0.3794, -0.7174, -0.5827, 0.0122, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998] state[eef_state]: left_x=0.3014 left_y=-0.1897 left_z=0.0383 left_yaw=-0.0273 left_pitch=0.0155 left_roll=-0.01 left_gripper=0.0122 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998 state[joint_eff]: [-0.2667, -5.3402, 4.8889, 1.3358, -0.3101, 0.0073, 0.9792, -0.0615, -1.9897, 6.8991, 1.5897, -0.0366, -0.0415, -0.0073] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.26,"left_z":0.045},"note":"The jaw opening is again fully closed, and the wrist image shows the tan dog to the right of the closing point rather than within it. I’m opening and shifting the left gripper rightward over that dog’s centerline before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteThe tan dog moved sideways when the low gripper shifted, so sliding at table height is pushing it instead of aligning it. I’m lifting the open gripper clear before repositioning above it.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0416, 1.7725, 0.7105, 0.194, -0.8139, -0.7242, 0.9952, -0.0208, 0.9035, 0.6624, -0.4896, 0.0147, -0.0494, 0.998] state[eef_state]: left_x=0.2999 left_y=-0.2514 left_z=0.04 left_yaw=-0.024 left_pitch=0.0101 left_roll=-0.0025 left_gripper=0.9952 right_x=0.2926 right_y=-0.0051 right_z=0.1546 right_yaw=-0.0096 right_pitch=-0.1692 right_roll=-0.0329 right_gripper=0.998 state[joint_eff]: [-0.6632, -7.1179, 7.2821, 1.1209, -0.398, 0.0659, -0.0806, -0.1709, -1.8803, 6.8991, 1.5556, -0.0073, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The tan dog moved sideways when the low gripper shifted, so sliding at table height is pushing it instead of aligning it. I’m lifting the open gripper clear before repositioning above it."})
tool
executing move_to over 8 steps (0.8s)
step 310
assistant
agent noteWith the gripper raised, the tan dog is plainly to its right in the overhead view. I’m shifting the open gripper above the dog’s head and upper torso, then I’ll descend vertically instead of sweeping sideways through it.
move_to
left_x0.2700left_y-0.3250left_z0.1350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0424, 1.544, 0.9089, -0.2333, -0.8089, -0.7341, 0.9966, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.2999 left_y=-0.2532 left_z=0.1324 left_yaw=-0.0227 left_pitch=0.0067 left_roll=-0.0126 left_gripper=0.9966 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998 state[joint_eff]: [-0.0615, -7.9795, 9.0188, 1.2234, -0.442, 0.0855, 0.1392, -0.0205, -1.7573, 6.9675, 1.6142, -0.0415, -0.0269, -0.0171] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.325,"left_z":0.135},"note":"With the gripper raised, the tan dog is plainly to its right in the overhead view. I’m shifting the open gripper above the dog’s head and upper torso, then I’ll descend vertically instead of sweeping sideways through it."})
tool
executing move_to over 7 steps (0.7s)
step 317
assistant
agent noteFrom above, the jaws are over the tan dogs; in the wrist image one animal's torso sits near the jaw column while another is immediately to the right. I’m lowering vertically and nudging forward to clasp the nearer torso without pushing it sideways.
move_to
left_x0.2950left_y-0.3250left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2137, 1.7432, 1.15, -0.4255, -0.8848, -0.9356, 0.9968, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.049, 0.998] state[eef_state]: left_x=0.2703 left_y=-0.3233 left_z=0.1301 left_yaw=-0.0416 left_pitch=-0.0081 left_roll=-0.0212 left_gripper=0.9968 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0095 right_pitch=-0.1692 right_roll=-0.0323 right_gripper=0.998 state[joint_eff]: [-0.2256, -8.0068, 7.5966, 1.0134, -0.7009, 0.0317, -0.0024, -0.0479, -1.6889, 6.9128, 1.5556, -0.0171, -0.0122, -0.0171] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.325,"left_z":0.04},"note":"From above, the jaws are over the tan dogs; in the wrist image one animal's torso sits near the jaw column while another is immediately to the right. I’m lowering vertically and nudging forward to clasp the nearer torso without pushing it sideways."})
tool
executing move_to over 6 steps (0.6s)
step 323
assistant
agent noteThe nearer tan dog’s torso now spans the gap between the fingertips at about 7 cm above the table. I’m closing around it and checking whether the jaws stop at a meaningful width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1599, 1.9011, 1.0336, -0.0475, -0.8764, -0.897, 0.9968, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998] state[eef_state]: left_x=0.2961 left_y=-0.3308 left_z=0.0687 left_yaw=-0.0122 left_pitch=0.028 left_roll=-0.0863 left_gripper=0.9968 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998 state[joint_eff]: [0.6906, -6.0786, 3.3573, 0.7106, -0.1587, 0.3639, -0.0122, -0.2256, -1.8393, 6.8991, 1.5604, -0.0122, -0.0269, -0.0171] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The nearer tan dog’s torso now spans the gap between the fingertips at about 7 cm above the table. I’m closing around it and checking whether the jaws stop at a meaningful width."})
tool
executing move_to over 10 steps (1.0s)
step 333
assistant
agent noteThat close was empty too: despite the animal filling the wrist image, its head is still ahead of the fingertips in the overhead view. I’m opening, raising slightly, and advancing the grasp point about 7 cm over its upper torso.
move_to
left_x0.3650left_y-0.3300left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1633, 1.9034, 1.0271, 0.0101, -0.8913, -0.9058, 0.0126, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.2985 left_y=-0.3357 left_z=0.0739 left_yaw=0.0001 left_pitch=0.0578 left_roll=-0.134 left_gripper=0.0126 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998 state[joint_eff]: [0.4308, -9.5795, 6.147, 0.7204, -0.3004, 0.0513, 0.6667, -0.3761, -1.853, 6.9538, 1.5556, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.33,"left_z":0.11,"left_gripper":1},"note":"That close was empty too: despite the animal filling the wrist image, its head is still ahead of the fingertips in the overhead view. I’m opening, raising slightly, and advancing the grasp point about 7 cm over its upper torso."})
tool
executing move_to over 10 steps (1.0s)
step 343
assistant
agent noteThe forward move placed the tan plush mostly below the wrist camera’s field of view, which means the fingertips are finally over it. I’m lowering straight down onto the torso before closing.
move_to
left_z0.0380
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0031, 1.9038, 1.1412, 0.0044, -0.791, -0.7647, 0.9954, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.3595 left_y=-0.3235 left_z=0.1022 left_yaw=0.0235 left_pitch=0.0519 left_roll=-0.1398 left_gripper=0.9954 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998 state[joint_eff]: [0.1573, -9.4564, 8.4308, 1.4286, -0.1538, 0.2711, -0.1197, -0.0752, -1.7299, 6.8991, 1.5849, -0.0659, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.038},"note":"The forward move placed the tan plush mostly below the wrist camera’s field of view, which means the fingertips are finally over it. I’m lowering straight down onto the torso before closing."})
tool
executing move_to over 5 steps (0.5s)
step 348
assistant
agent noteThe descent stopped at 9 cm, and the overhead view shows the gripper now past the tan plush rather than on it. I’m raising it and returning above the central tan figure, where the arm can descend farther.
move_to
left_x0.2850left_y-0.2000left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0008, 1.9953, 1.0943, 0.2874, -0.8268, -0.7834, 0.9966, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.3731 left_y=-0.3347 left_z=0.0887 left_yaw=0.0746 left_pitch=0.1416 left_roll=-0.2713 left_gripper=0.9966 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998 state[joint_eff]: [-0.3487, -6.106, 2.4547, 0.2173, 0.1978, 0.1929, 0.1197, -0.2393, -1.853, 6.9265, 1.6044, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.2,"left_z":0.15},"note":"The descent stopped at 9 cm, and the overhead view shows the gripper now past the tan plush rather than on it. I’m raising it and returning above the central tan figure, where the arm can descend farther."})
tool
executing move_to over 12 steps (1.2s)
step 360
assistant
agent noteAt this higher vantage point, a tan dog’s face is centered between the left jaws, and the gray dogs remain by the left basket. I’m lowering vertically at the centered dog’s position, aiming low enough to grasp its torso.
move_to
left_z0.0120left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0046, 1.285, 0.5987, 0.0952, -0.8265, -0.786, 0.9968, -0.0208, 0.9085, 0.6624, -0.4885, 0.0147, -0.0494, 0.998] state[eef_state]: left_x=0.2901 left_y=-0.2076 left_z=0.1509 left_yaw=0.0748 left_pitch=0.1517 left_roll=-0.2939 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1535 right_yaw=-0.0096 right_pitch=-0.173 right_roll=-0.0328 right_gripper=0.998 state[joint_eff]: [-0.335, -4.1368, 6.735, 1.6142, -0.2515, -0.1148, 0.0024, -0.0615, -1.7436, 6.8855, 1.6386, -0.0464, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.012,"left_pitch":0,"left_roll":0},"note":"At this higher vantage point, a tan dog’s face is centered between the left jaws, and the gray dogs remain by the left basket. I’m lowering vertically at the centered dog’s position, aiming low enough to grasp its torso."})
tool
executing move_to over 9 steps (0.9s)
step 369
assistant
agent noteThe gripper reached about 1.4 cm above the table beneath the tan dog, much lower than the earlier attempts. I’m closing here to see whether its lower torso now blocks the jaws.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0119, 1.7603, 0.5713, 0.2443, -0.8375, -0.812, 0.9968, -0.0208, 0.91, 0.6624, -0.4892, 0.0147, -0.0494, 0.998] state[eef_state]: left_x=0.2877 left_y=-0.2058 left_z=0.0138 left_yaw=0.0672 left_pitch=-0.0117 left_roll=-0.001 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1529 right_yaw=-0.0096 right_pitch=-0.1753 right_roll=-0.0328 right_gripper=0.998 state[joint_eff]: [-0.1709, -7.0222, 5.6684, 1.1648, -0.4518, -0.0855, -0.0122, -0.1026, -2.0444, 7.0085, 1.619, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gripper reached about 1.4 cm above the table beneath the tan dog, much lower than the earlier attempts. I’m closing here to see whether its lower torso now blocks the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 379
assistant
agent noteThe jaws fully closed again and no plush was secured. I can distinguish the gray and tan animals, but repeated attempts have not produced a verified pickup, so I’m clearing the table and parking both arms safely.
move_to
left_x0.2960left_y0.0000left_z0.1850left_gripper1.0000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0119, 1.7729, 0.5713, 0.2638, -0.8375, -0.8192, 0.0171, -0.0208, 0.91, 0.6624, -0.4892, 0.0143, -0.0494, 0.998] state[eef_state]: left_x=0.2887 left_y=-0.2072 left_z=0.0121 left_yaw=0.071 left_pitch=-0.0084 left_roll=-0.0131 left_gripper=0.0171 right_x=0.293 right_y=-0.005 right_z=0.1529 right_yaw=-0.0092 right_pitch=-0.1753 right_roll=-0.0326 right_gripper=0.998 state[joint_eff]: [-0.0889, -7.706, 4.3556, 1.0183, -0.3687, 0.0415, 0.7643, -0.1026, -1.9487, 6.9265, 1.5995, -0.0659, -0.0317, -0.0122] camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.185,"left_gripper":1,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0,"right_z":0.185},"note":"The jaws fully closed again and no plush was secured. I can distinguish the gray and tan animals, but repeated attempts have not produced a verified pickup, so I’m clearing the table and parking both arms safely."})
tool
executing move_to over 19 steps (1.9s)
step 398
assistant
agent noteI identified gray and tan plush animals and the two baskets, but could not securely grasp any animal after several attempts. Both arms are parked; the baskets remain empty.
give_up
hindsightOn this rig, a plush can fill the wrist camera while still lying ahead of or beside the actual fingertip closing point. Repeated closes with settled gripper readings of 0.01–0.04 were empty. The gray animals sit near the left arm’s fence-side reach limit; move above an animal before descending, rather than making lateral adjustments at table height, which pushed the tan animals aside.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0586, 0.804, 0.577, -0.3466, -0.1173, -0.099, 0.9979, 0.0059, 0.9318, 0.7624, -0.5941, 0.0235, -0.0452, 0.998] state[eef_state]: left_x=0.2963 left_y=0.0069 left_z=0.1724 left_yaw=0.0803 left_pitch=-0.0075 left_roll=-0.0098 left_gripper=0.9979 right_x=0.2924 right_y=0.0012 right_z=0.1713 right_yaw=0.0073 right_pitch=-0.2019 right_roll=-0.0356 right_gripper=0.998 state[joint_eff]: [-0.4718, -1.4017, 9.388, 1.6972, 0.1392, 0.2125, 0.0024, 0.2256, -1.6068, 9.9624, 1.4432, 0.1099, 0.1245, -0.0073] camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I identified gray and tan plush animals and the two baskets, but could not securely grasp any animal after several attempts. Both arms are parked; the baskets remain empty.","hindsight":"On this rig, a plush can fill the wrist camera while still lying ahead of or beside the actual fingertip closing point. Repeated closes with settled gripper readings of 0.01–0.04 were empty. The gray animals sit near the left arm’s fence-side reach limit; move above an animal before descending, rather than making lateral adjustments at table height, which pushed the tan animals aside."})
tool
give_up: I identified gray and tan plush animals and the two baskets, but could not securely grasp any animal after several attempts. Both arms are parked; the baskets remain empty.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.371 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0216, -0.0257, 0.9995, -0.0212, 0.7986, 0.6109, -0.3744, -0.0124, -0.0254, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1847 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2967 right_y=-0.0005 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.6205, 9.4564, 1.7656, -0.0122, 0.1197, -0.0708, -0.4581, -1.4427, 9.7846, 1.7314, -0.1001, 0.1148, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2529542bed3c4ec47df68eb8b82a2a49251ee3e4a4a20d7890c1b49d4399b703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ca7e2d3063410ca796dd04f6591c1c4d0d134d1efde6f95bc7b0d6f15073b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0da0f1ac21529c6fe051c46d9b21a640f0905624c50354dc17ab1ff5c19caf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.566 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCqah01Nlp1PzKfe80nfs9JR0XIofJau6U-WUmF24Vj3SS2CTjFxUDjOaliJooSn-1S2PGYDn05TOc_0dXR15v137ywGC9QzPls6Ju-ZUM8WXbEwbcWRk3K6rX2syBaaOpwpLikAvtKF44VuNrz1IGMa0OJ2yBIQ1WH4z6uExzLJk_5c8x_YVWwq9OufVHrEh7lg8TxOSRAqfyCQ9YTJ2qUlnHKZY-SQNopoy5HcnAv3Fw7BlzKGjIJIIlYiXWou2pbXubp73UWZEj2pEUHtKtzKIBE30H6YLBFl1U-gHKKGde-NjUL_pQFyyiAt_jsmWE6sSCIuj9lGZNwLfF2-PJYp51Tz_IXrJtwk-R9T0U7hL2W8MInix3eoWyMCbgTlInrDMuA5Dh3qUT5U-ko0-YIjdnV8wcs7UKW2N6JXsAPZOyv-E6Qo3sCDDvYQ3L6-NMglrfkVE6WCkpYDqVfhuZk_8DrezhOtbkXyZaOoPg_lGctUNcozUmLA1CPmiyPMfYdG8-YPOS6VvgakPquJqSFjBDZpz6pgsoJfzKxP-t0v7xmMjtvAEVxAROzDpZb9AiGVgIHDsSinSBmbq9FczOVXS95lQB6ob2qpecuHHeny1MT92FZK-h-vkUcBtfE8hc7PEatx_zH2RXpKnMEI1QdMN_9CFGRXUXV2ObcaLxdFHo0tdhrR1cvXqKFWVPdmzpnQODj_OCMD_LiZYhFGGohc1Znpq8iWHfLqRmDsh9cWNh5W4vrdhoXUZTS2bT0jGLfv5yK_ypENxx6JYRI50Kk5Ij1hrLReS0XqYOMLHYO9suDReaJ9SnLMUcM1mS7UGo4_QbXyvgU5Y-xBs8OPJKya2bmaUypsi0p12q0UoGtGzhC0qRN_2aN0QwN7JUvO6ybkDfdLSzPH5-8yuVJ6PFKnurx14we1wNfpPNC_IEWfotHesx5Ng8zcB63qdT1UlLVy3aP7zz0BIS8jcRgEd0tvprABYVziEs1HPHItarkMqqfu1_aWnczYyfokOvi6sK_Xd4nF0E8QwJCQA_rvfhHaHDdsGpcjyQ4Swtk-OugrOAt4p82WxsRIbDbVe3bwXwQz4-AHpQVzN2dzB-_9wllXXHZRCmA9N2D2C_cKpgsAdLupAjNekSEMxzzw3YPzPuI3e3jiGHwbygTR_cCcvJwJTkSEbVSReOy1nhve9Hk3RFXOwNvhDrDSE4IZWJNr-5wVD4xAEv0FWY9B6BDKWl8sQ_ZcjSYxyY3MJD3nb9tH1Lzq5EsTt_7ke4owGq0L5gc0slgnJ5biEplI3AUFBYjuS7KYdeHEk31Ts3W_A6OogO1DeuIOMmg4Y_vyWK8FNIu6vCcro2_4Ik_pt_6XXs-9fiaU9Zp1gRwUuPkrhyinXpKetiHz8zuvRFxbhUiBT7qI3D8704G-pZJVT6Td7uvbvAfk-pConOfbniPRc9PgzzVlj26MFzo2X0Tjf9eL42aMh7TEHzKYdTsmhyicY2ycp55yAAVXcqd5bYS11-fzqNiujouMNhGuqBLbn46yJcSg6wiBFqvPdsMwgFCtiYk7xM4mEf4laFnAZqJU33hoQK8euymA6znDg8-EEQ4uAQEG9RfRHrVBwYpCM80gnHkTwRxOYRzqwFynGDbr47QeggTOA9aihJ10FGs7H6FRl1shHg4P2BGEF95p50Xm9hcX9rqghXE16uDZI9aAtHiZErFePTFKVEMGU364T2WY1MghJ7l3Xz69XVPKboUG53J09CracjxOOyriTMzPwpCvaStfhCXzktrH0dVHfJpoYX439ED2SUFhaEgvve26SWxaIy5b8kdNnuHroG187z14Qcffuf0KGOtYtOgAS2xiht4pw1x1f_sMKg0Kpa2Jq1xFLDKo56I6Mg3yUp2Hpx_FE7qW9VLaJ8E_P7hE_Uc4LYwlfjZ41vZ6pnBo_rKtfgux_EqSNfUrXUKr7zORa87J70JQWaMeszq3aa1WlzbCdUx9n6sMfkrVhxCIjx2KDm0_H-TBLSt_xG1T6BnILSpMcLPa3J01oglW4GE9eCqFufnqi7dqB09vpx7ZCubQoJqHueiPuD5mzeINNDthbQ4iOChL5b6jP8twX9Gf-CzxMPncNNkCIpCP-5vljzcZTDkBIKKeQi0jsCoekAlNrG5UzxvgHBif6WJqdPv57bXI_0DBjppuH1IQo3VLV70LFhcno-qmm24iE1YMrzESzRZjFeGTT9O8_l8QKE6prKfCLvszJdCljsZviFQUPtFb14TT6UQx42zAKxVu1AyNFeoCjn4Uy5kIRxmmN9CEAvvY9Y4yR0QA1olNOemBhF30gJI5XHDQ0fPnJvAOPrspn93plAyaXcd7KuAaRZVX6U4KGnXQgTWdrCtW2dpiX1Eki71cb88iyECZ1jiMXMrQ1ghe9TrN8wXD3dJ-osmPiOo50BZDgePuKa073aZ9N8P33XJCn29Q6UGaUByNzej7UO718_3k8UdrQOu51cyQT-bE72MqqJnreYPQh4vJ96RzQlTER3-flDuyt8Fo2BATgRoHn9mtVW_RoyPyx5rbBdzmptpTis5Ww0l-IKaTCOmIfs5W1E-JkuQyZeNo78WjgkFkIi044zRX-3rL_2TH3BLeLI16B7rjx3174HrRxJ3u64mWdsetcRcjwp-j_ZBi6LnW_aD-AMZZYX950oSXrGhSokdXRi2i04DemvtnzrvRuJ8PsaP0hRtVTFWv5PVnRvptqlJHzL3sRhdhZOGwUcsYi_3qeg2OEJjazkOr2kFRCMSaVQAKACqta8uzTWYuGn9TBFoqyHQv2MYecm_Vv6H5ZOcM5ogzFb1tm-VhcU1vYv2LOue81b1UcOHkrF5_Ef_NQE-xC602e2DXMk5200twX7ksXfEPW6UGnPHHdaeyjXOf1-Y_7bjOYtDgSM2zFou6uelUEEGVdq55W041Q2tM0-MetiSibC9JJ1j-Iu6fEVJMrOpEMYjSPJldNqycMMoJJlT8B4_xl3rtsarYOQCjdKPOe2EMO2rRej7c2r8-k__UeHUFZTeDtNbkmaY0ZM67OaPm7i75wx0JUqbyV9lvxWeqRDBg47KrEQhvkOxetQRUQ==",
  "id": "rs_01a32badeff79e5b016ab420a63c6c87d092e8694484387fda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.25,\"right_z\":0.16},\"note\":\"I see two blue baskets at the back and a cluster of light-colored objects between the arms. I’m bringing the right gripper above the object at the far-right edge of the cluster to identify and pick it up.\"}",
  "call_id": "call_VLLc4ka4jRHs37w5n2FdxEtz",
  "id": "fc_01a32badeff79e5b016ab420a9ccc487d08e76572d6257a21e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VLLc4ka4jRHs37w5n2FdxEtz",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6147, -0.3805, -0.0223, -0.0265, 0.9995, 0.7143, 1.8011, 1.2503, -0.186, 0.5755, 0.4057, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4249 right_y=0.246 right_z=0.1454 right_yaw=0.0204 right_pitch=-0.0373 right_roll=-0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.7299, 7.2684, 1.7411, -0.0269, -0.0415, -0.0122, 0.3897, -9.4564, 9.0735, 1.5702, 0.3687, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae225708e0fdcb801d989c0ac5a6903f81fb0fcd7dee1affb1e38e45dac22882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049e3974baf456d4b9bd8aedd20b565c11309d17d200f4b73eb024ea8ba1077c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab0a08c671afe50b1c60fe39a657a6a2252aec78535f8d8b28a0ff89d53c726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.525 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0216, -0.0257, 0.9995, -0.0212, 0.7986, 0.6109, -0.3744, -0.0124, -0.0254, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1847 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2967 right_y=-0.0005 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.6205, 9.4564, 1.7656, -0.0122, 0.1197, -0.0708, -0.4581, -1.4427, 9.7846, 1.7314, -0.1001, 0.1148, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6147, -0.3805, -0.0223, -0.0265, 0.9995, 0.7143, 1.8011, 1.2503, -0.186, 0.5755, 0.4057, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4249 right_y=0.246 right_z=0.1454 right_yaw=0.0204 right_pitch=-0.0373 right_roll=-0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.7299, 7.2684, 1.7411, -0.0269, -0.0415, -0.0122, 0.3897, -9.4564, 9.0735, 1.5702, 0.3687, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae225708e0fdcb801d989c0ac5a6903f81fb0fcd7dee1affb1e38e45dac22882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049e3974baf456d4b9bd8aedd20b565c11309d17d200f4b73eb024ea8ba1077c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab0a08c671afe50b1c60fe39a657a6a2252aec78535f8d8b28a0ff89d53c726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCC_xW656WBYOMNRbxsTsnmlJyZgmR9cykE7EgWqYUKLrwWBtf_XTcG9DokHwXPLDMU7JOjH2J6sn2_ycrXv0inqcbC0Z9jkKgsaSl7NzFs6epu5CQHunoqyt9NbrB1xvkUnL6nOxp6T-IW85pBKR-kIDg4Va76UKyP0R4-X7UP59e9OmEJ1V7-f5Py1YYm7O9LN__ygTulPMRj-hpuyynbiDSeT7kGYvINqO2_0Ibanz6ElzfNLY_Q5aQPNh78oc0kIkTaRoOo7DCwLXXVsoijMFFM7By519WQOoq_hawYudX8l3-NvqImGOO0cbDecQ_-LHPNnvYQi-b6eBr91DrgnSoQ5WMTruHkZYslK-t3xiogFeTwcmvgMogM8ll146tmj6TwnwBOGiIjYM7aIzzHyWGNBijw0fF2cUGunpeIKHob5T-k5Hrh9pYm-c8nLPmf2HZOtjVnKF-YWfXyBbUnzJ6OEttliYNpI9xSyGgDuAGf1BLePF9NtW_PF_htmgZ9ktjcj28JlO_2dHYmiI6hTk_44E1MSKdrknw3kMOgwvQpzXVlTpbN8edWDbdc0rfGXN6mn_1J5ouT5bxO88Tr016lrZbaV16MLWTyImNtcS5l22FdOCo6R0Rah7A1ejBMlqg8QwVQcq0ozS2xROXjVH0Hnmlb8gbNpSeGZgnumUvE82A-EbmLIDK3uk4LU1jiJIaQnf0COIi0_iUdUhUCOBAG-xnbZ9A-SChSErX82ppzKFtfKbgFvvcGR2WufYeTtdzHS-yTc_xGLRCcLzLUWA9D2lFh-U_CGKTuAn9CUl0T2iqcageprLmBZMf5wYAEc1MZ32vSL3R6esji9hTh2oPzmftjLhpkR-xiGAob66ecer9kBdiWflfDeTGaZUpyAE9taXnO1x_LkhgqZkPI-wL2yi6mQzIniLEZF7KXnkaJcKjrHZtozx1jUI-b-IBIAbwQPEkSrhXGeSDu2QYrl3KXcrHAt2pyl2pj9bX7DGueoPksv_Y4lMPh8kK95ZDq18MnTUF1YrBaXMo8sMH1L5n432yQOBsxsQ2MxzOMRAPjC8RW-bK83Kn-JHe01NAjOtvMhwKil-lSzw6Bxgo8xS0ugiJh5AvS7L8JzgX6cEz-ZPSnTld44_uDxaGjeYXZaTL-D8m95fSPhWXkfWwv9-QbDU6Rw4HaEBWZnDv81zylbSUKj3VcriznQpLWbJew9rHZNm6aAIoKcuXGw7YfYyH841Bftkx-oDpY4WfX7k1N0Cj6yZWhUsz4MkqqSA0b6xHJ6d8dH2nhwzz_o4HPMS3bOnCisSZNzEXfwzkRJRQFMAMdH4ExEdtL88TyAG7caba8RycDtwX8M0hY-zXqG4ENmhg6w1rDOvXmKuDTdNbM8ERgaODDb8h8j-39UTfF7dkb1QSem7xYekqrPgkQlgMXOzgRI4rqG06njxvN2ZqDKB3YxTFSK3Y6jtW3aOK3YTiwOyoO-kINnBOPRWH7eeTE8TwSTVjxq8lL2_UbiXmrOqt_lE8GMlhz_KiB_ReBDjz_c18Uhxu1FzW4rQQcYOLbugkTX5CYSa1abaB1xGpwis3CAM6f_uk7UGwGuzElPhj13oUG_7ydjmDMrllL6Bmo9aL7uU7DQ1W0_EctEtYQ-e7dbo1WAsM5RLgZ5WKMCmhLzYsDvdtPl3cWZPR7gbo5XTEMOh99yb45uYtJP3BMBF54efyfQXK8c5EADYJb-qm1ctOo3CWj7RNYbs-EE4Pf9K-xABpmqAyXjeanYj7UDktS0628tZR6hJRdUxE2A8bzc_g0o8Jo7LCmLvx3d2QhxdN2gMIrRxQhdA7FNSdUyG1Kej-2jAC2Epha-WIHRGVAWOlVxeXF3mLOhr59wiKH3zLeqKx7uVy3DRgfqZV1FawUUyAnzoz-J44qmZ9rzYkPjejIg_qT_4URlcg0jxy98M_Cf1ADI6Ii14lWWFcGV4gwvSc-2KXguCV5_7L3XMSGVzL2Et-ux_5_waTxUJYzepnrnBwIzLbYqJ5kgc74rGuZgUGL0Zpq5jzCD9BWa6oFyQM1B_1Zvnq1tVg3QY4KKj3cw5IAc79SD0J5klmlGBvsZ0r91Qpt-c48SqwSxhmL33j43c9HaCzbjVZedsK9SU4WtmZdorG3LL_cKkD2CMhHC1fRJDjQozyq9s2fZynLvsSYXzayg2rw3oWHkF3PSY_w6InOcBF0TKdGRNLLxD9I9y9dZhMUNy7Epx_lViiTV9rzhtiMQx9ITdbGiETKGIicR3GP9mHwCO6-r4t5PhYGuClnKc6z5StfN0Cw7vLjr6BEwNWEVkj6xkNlWx6ykVdVn8ph9C6UF_wYL6baI8zpIISrZAiTNTqIl-wHz63wrRo-gT_9lpC3sIzQdi-kVz0TW2I4VUiNETKE1jA1hV0c8E-SzqyDrG7c0T1wa",
  "id": "rs_01a32badeff79e5b016ab420bb9fc887d09d0ab93b3d448fad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.35,\"right_z\":0.13},\"note\":\"The right gripper is over the right basket rather than the objects; the overhead view shows the cluster farther left and closer to the bases. I’m shifting inward and back to line up with a piece near the top of the cluster.\"}",
  "call_id": "call_FRDdU4wGVZzSLxI6KrJsx7Ww",
  "id": "fc_01a32badeff79e5b016ab420be550487d0badd2fc2efd245f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FRDdU4wGVZzSLxI6KrJsx7Ww",
  "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]: [-0.0189, 0.8043, 0.6144, -0.3805, -0.0219, -0.0265, 0.9995, 1.0286, 1.9598, 1.4147, -0.4076, 0.7673, 0.6979, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3471 right_y=0.3455 right_z=0.1199 right_yaw=0.0363 right_pitch=-0.0658 right_roll=-0.0466 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.306, 7.1043, 1.7363, -0.0073, -0.0562, -0.0171, 0.4718, -10.0991, 8.7863, 1.2088, 0.5592, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbb867a355b06427d2f434a061b22b1d3a0486d06d57b428c71381785958884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bfda56ad7c7ce6528a81a5f3ff79e0343311c3c6775b31ae9837580b1effea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbd0d214356106762f4b12afb0f5669c73e93d68e92a678ba467769fc80a884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 6.181 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6147, -0.3805, -0.0223, -0.0265, 0.9995, 0.7143, 1.8011, 1.2503, -0.186, 0.5755, 0.4057, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4249 right_y=0.246 right_z=0.1454 right_yaw=0.0204 right_pitch=-0.0373 right_roll=-0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.7299, 7.2684, 1.7411, -0.0269, -0.0415, -0.0122, 0.3897, -9.4564, 9.0735, 1.5702, 0.3687, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6144, -0.3805, -0.0219, -0.0265, 0.9995, 1.0286, 1.9598, 1.4147, -0.4076, 0.7673, 0.6979, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3471 right_y=0.3455 right_z=0.1199 right_yaw=0.0363 right_pitch=-0.0658 right_roll=-0.0466 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.306, 7.1043, 1.7363, -0.0073, -0.0562, -0.0171, 0.4718, -10.0991, 8.7863, 1.2088, 0.5592, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbb867a355b06427d2f434a061b22b1d3a0486d06d57b428c71381785958884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bfda56ad7c7ce6528a81a5f3ff79e0343311c3c6775b31ae9837580b1effea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbd0d214356106762f4b12afb0f5669c73e93d68e92a678ba467769fc80a884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDIoXYCyixWz8P6EEO00IAO4N9R1gWPOwJNTDXAHe9jK1Q0mjoSYoU_Rp7h4--M_ek2GcmjmsiqZSyPNCEJ_SvY7eWqykmA0Pr_Sm7D-Ce5J14mkccKN6lclMfFDmcl50OTYiQQkwG5_EpE_46jU0rB6voivSfwIGy6kBPi7R-Nt5yIDzBhtBFxS9F6btBg59ymr1RbyFYdn6APHQFY1DBZgg4YQDzd6OE3rmoL_Unbv1ecICLnfWoDocLUL5Qh2DY0lQmdkNqD9SuXuAEZCeBeDlRXIp44GlcmgbbjwPm9nhjZHjM-_IB4dkPzmj1VkH42QnB6_KAw0USwtW7k41fDlYMazUf73rBKGAR21Gv_5Yi9PXVYl6eOpuLdS8Jq1bOdZdf7CyP8pw17ajvObuMUqi1C78CRjZdYGIZLRvhbdH1LKQqyHzAXyP8JMspNS2W1ma9dAETHYOGZkmG1L7teXQZCNQ6j7GdfdgvVzyEHpXKOKY7wyE6edL6qY7qaVnKTKQfWita4nAiFp4fC6ws5BlUM2PW0KZ5Mbn9tE6uAgtB4UNb_vyObVfWgnHLC1wtizJEucTaKboMjsKsyTPl172ayCjHkZb5xMpu__7FSXUg-RS_ADzpWzS-2PVEE-wWdSsImqpgDuTEnRjDietsjZ8yi8blRRdVjbeE9dbxGRKWgJ-rB1Xpab0O0xocmzZgcIYNXDgN-ek045Sr12vNeVPHYMr3nP2RsouRHwcVxNPkz3a2yzvBo86H5I4yhgnlPagE3p2hpGPkGS8AhkaDEZsiG52jsK6sWf2leig64W0vktpJxwoCoE5NwT4xlqB5QyZI5pOjcwhejjIqGzYO7J15x_9d7mJWsKrd1HiP1PdQtdsed4nPUyCMKbcayHCgskbXs__uoq1Bk_MiMrR3acfVQvbIISCzcTNrsWCYZ1H_9Y2GL1MIAHn6HpUS-JqNR9DNkJBereGU0v-uX2DRreYtMGfIGnoRaGHlPcbc_vMVWUr_HzPlOaur7qH90QkAM-58PrtzsZM2fbPZA08UpFlvp58uAYNhcDL_ewclJ3v6OcpgmUo0lU5ZUs04W8WXWyH9q90zmbAPuRXzY0YkqfcGcNOlT0M9XgV_bmyCXGXXuwBV0o4aLRMAslPFQUStJEoBXfigTAcI0qfUOAkkQKTqcMy48PzvjiHUbtG7jZTNaS8jOdaNnLO4V_hKEecfria2P1SJS7TOfMyWPJpb4kMFIef7gwjQM9Wn5qw1CNXXZdYP8JrAOsbTHx4TCMF4cwNnv_oEBqkegn4usolKuuVEeR-Bi0vSLIS-d3qQ8pLzniDX3GQmsIuQsHXVq9CPK7ennXb8S1BPIhApcEe2tu858ptuo9G54uwUgg7ZHKsKJcIU-nn-1KEvoK19TUMCyFWJvCvdIIpY_j5iV8ETlGFRTFmVsNhUZYP5hN7lm2RQWZoZzmpbPE4wKkFM7b9vjjSofFfup8CeQpRBRcow9T7OShSBo4FY33iYmTHcjz_01r4VmesjGFvof3p0K6_Qu3sd_NsdmElBOKITUNxrSFuRbe2B9I5TCd4DistP5zpw4ZD5gl3mVhKXtGQdaKMLvuiBvdGPIgBT7_zsCDd6fWhNkJyRAfP6pFebu7oJ9OTgSc560ugncXTZRzrG3kDfAvlknfKWm53YjgLluvaDLvQK2PFE1lVxbr9ZlXZIO5jP3HS2e7zNNotImzb-D37KNsdRUypwvPVVqQfgifu2xrkvUQrLsAncqV95ucNY07JBMjtRyHErlhWPmEcBDUmx_q-QPYgMo6GCeeE2L2t1LMNVCOTsOxfRAfOozPt_M1DpkBM7K8kXGZC6k4WM-CvxlGFbvhhW1TJcn3ayypBXPRvAFKxRrANb-RPY3uYTFeWWyCLTKyKOD4ctrgRFTsLzIVOUHTNC-5ga145gv5BGiNVPYAEHoISq35NYJ20PYIABvABBdTPeZv_MXHn4y5vuTM4pCrgNqLMH3IN_PntysKA5cNe6vuunV_IrDOn4t2yX43BhPsFztpnAeIjexNiFI5NcyHNzpHkg_BwWEGqRZgNLWkRPHHQNWu10h6ScBGJlKLS_MHka65pJ4sZlon-90kvGglkK29nyURn0163hZ687uXnNSh95_23HdAVL9TQlaEukLoyhMGlJMoUFiGM5uts3k6GEv0XsT3W80oOJowvZJ_rO4NKteknWUCtd8wAFwyI9mCpTF66ktI-bOmZAoGapcs1rbFbhb9KOkBq0Q9Giv20DTkdjAwlpbcBvNmO_-f4HZ6ZrX9iUHa7p-v0BToRBYo4gaZlpfGjU3hqxvzw-T4jha-8WhnMfSA757kM9c6st0OdZecJUcZAEwZvzWUdFu1dsYuVAIFbyiitcNvMiS8QbEymvw_7HzT-dKl4AlicIi9J3s6Q-xplt-sgitKepoyCf55fH7-3yf0VyEK9WnxvyXM7H7HpZ6FVGYhgo=",
  "id": "rs_01a32badeff79e5b016ab420c4db2487d09e5ebce1cd70c0da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.385,\"right_z\":0.085},\"note\":\"A tan, fuzzy object appears at the bottom-left of the right wrist camera, just beside the fingertips. I’m nudging the open jaws inward and lowering them to the object's mid-height before grasping.\"}",
  "call_id": "call_3NMyWFwBE0F4F6QoICvuuLtE",
  "id": "fc_01a32badeff79e5b016ab420c7421c87d0987cd47e348f0bf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3NMyWFwBE0F4F6QoICvuuLtE",
  "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]: [-0.0189, 0.8051, 0.6132, -0.3801, -0.0219, -0.0265, 0.9995, 1.0847, 2.0895, 1.4956, -0.3874, 0.8043, 0.7612, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1811 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3404 right_y=0.3795 right_z=0.0939 right_yaw=0.0352 right_pitch=-0.0531 right_roll=-0.0354 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.2923, 7.1316, 1.7656, -0.0269, -0.0415, -0.0122, 0.7863, -9.4291, 7.747, 0.8523, 0.3639, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f7435ff6e47cf51173816e98f38266c33aae83a7a8e7d45dbcbe2a7f2bc8b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fafbddaba7d842fdad74b53f55b73b05705f53549d8dab5063f5649fe106d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf147ba772d3c9b866af35a8f90c018cbbcaa5fd0cfa5f40663ea41fb5f83d1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.638 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0216, -0.0257, 0.9995, -0.0212, 0.7986, 0.6109, -0.3744, -0.0124, -0.0254, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1847 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2967 right_y=-0.0005 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.6205, 9.4564, 1.7656, -0.0122, 0.1197, -0.0708, -0.4581, -1.4427, 9.7846, 1.7314, -0.1001, 0.1148, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6144, -0.3805, -0.0219, -0.0265, 0.9995, 1.0286, 1.9598, 1.4147, -0.4076, 0.7673, 0.6979, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3471 right_y=0.3455 right_z=0.1199 right_yaw=0.0363 right_pitch=-0.0658 right_roll=-0.0466 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.306, 7.1043, 1.7363, -0.0073, -0.0562, -0.0171, 0.4718, -10.0991, 8.7863, 1.2088, 0.5592, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6132, -0.3801, -0.0219, -0.0265, 0.9995, 1.0847, 2.0895, 1.4956, -0.3874, 0.8043, 0.7612, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1811 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3404 right_y=0.3795 right_z=0.0939 right_yaw=0.0352 right_pitch=-0.0531 right_roll=-0.0354 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.2923, 7.1316, 1.7656, -0.0269, -0.0415, -0.0122, 0.7863, -9.4291, 7.747, 0.8523, 0.3639, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f7435ff6e47cf51173816e98f38266c33aae83a7a8e7d45dbcbe2a7f2bc8b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fafbddaba7d842fdad74b53f55b73b05705f53549d8dab5063f5649fe106d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf147ba772d3c9b866af35a8f90c018cbbcaa5fd0cfa5f40663ea41fb5f83d1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01a32badeff79e5b016ab420c9dc8887d0a1310e5ebb9760a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.4,\"right_z\":0.043},\"note\":\"The tan plush is now partly between the open right jaws, though it sits a little left of center. I’m lowering to grip its body and using the last bit of inward reach to improve alignment.\"}",
  "call_id": "call_W4VEh7goekLEmtqaAtujs6w5",
  "id": "fc_01a32badeff79e5b016ab420ce086c87d09de8386de575c10f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W4VEh7goekLEmtqaAtujs6w5",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3801, -0.0223, -0.0269, 0.9995, 1.0931, 2.0975, 1.5009, -0.3836, 0.8112, 0.7757, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.18 left_yaw=0.0013 left_pitch=-0.013 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3385 right_y=0.3831 right_z=0.0931 right_yaw=0.032 right_pitch=-0.0472 right_roll=-0.0254 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.306, 7.2137, 1.7363, -0.0513, -0.0513, -0.0122, 0.6632, -9.9897, 7.3778, 0.9353, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6913d43b98652096377e726e8eb664ee8ee5e377bd3f3552fa7e8588695b0acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98bee556ada1353030b3882bbb8cc55c24f2614f08bbfe67e6c546a8e2d66980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f655e3e480166eb240ecd6599f87e629c5dac60583b7ec6f66afe81b76c206",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.117 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6147, -0.3805, -0.0223, -0.0265, 0.9995, 0.7143, 1.8011, 1.2503, -0.186, 0.5755, 0.4057, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4249 right_y=0.246 right_z=0.1454 right_yaw=0.0204 right_pitch=-0.0373 right_roll=-0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.7299, 7.2684, 1.7411, -0.0269, -0.0415, -0.0122, 0.3897, -9.4564, 9.0735, 1.5702, 0.3687, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6132, -0.3801, -0.0219, -0.0265, 0.9995, 1.0847, 2.0895, 1.4956, -0.3874, 0.8043, 0.7612, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1811 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3404 right_y=0.3795 right_z=0.0939 right_yaw=0.0352 right_pitch=-0.0531 right_roll=-0.0354 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.2923, 7.1316, 1.7656, -0.0269, -0.0415, -0.0122, 0.7863, -9.4291, 7.747, 0.8523, 0.3639, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3801, -0.0223, -0.0269, 0.9995, 1.0931, 2.0975, 1.5009, -0.3836, 0.8112, 0.7757, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.18 left_yaw=0.0013 left_pitch=-0.013 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3385 right_y=0.3831 right_z=0.0931 right_yaw=0.032 right_pitch=-0.0472 right_roll=-0.0254 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.306, 7.2137, 1.7363, -0.0513, -0.0513, -0.0122, 0.6632, -9.9897, 7.3778, 0.9353, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6913d43b98652096377e726e8eb664ee8ee5e377bd3f3552fa7e8588695b0acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98bee556ada1353030b3882bbb8cc55c24f2614f08bbfe67e6c546a8e2d66980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f655e3e480166eb240ecd6599f87e629c5dac60583b7ec6f66afe81b76c206",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDRBjLHh0Pdz5T9eNE6Z97CnONf-egTdHttBrWCZCTrjtKKDsZ8kUObbE3X8J0vseBHpUx6g4ZHx0S5TAWMdnFSXh3ASLTM93PvXdvyleUWBCc7aIMrHRl4S5QZmOKHTAoLmx-HxLdiEcZTpIlMExaAvxuGSnJeEj5GZzKbF2DsTtn5XO4fx8h5XCUWh-2GB73K1_WPYB8Ewpk92awv9vklhiWgBwVRJ1PjRTeqYfWujlk-q3bQ_AXEV641hFYt5sfYY08QxVOpifif1keVRep4wFNmBZMKxKF_6pT3RuYndE0GEtWpPDWfw5wd__vCtqYTsiewgTfWhgPXrjZXpSciyP-FaKVgLLKSV5D_441dow3rbT7t_692iSNDZANqjgLROOcV9RRHS1o_4tgPapGiVvuHnKNJ0Ec3TQh7GCO1BRWUA2i62JcvuVWmKOwo78mpCa2YA4w6zo8KPp34c2bOgCf-LQ988QWUUCodEJTjSK5NEsjtja6MABGLepOWz2D0bu3yJeKEsNLoAg2HhMwKyTRp4FIPsPWuwcFEWid0-ytBt5dzGJJc4b7cc151e7UFJOkcPHseXGmEPXnjDEhr1K5c5LO7FnGHciTiLADYRPMnxrV4a30TV6y4_DFVRUEtFH7boaqWLISIMJHs91hzno9TwqRIjfAzO6nawtgu5eNTg_OGYHg13NFkfBuLr519Wo7BtXhOMhY7YesjZUMimhCM4xKR2t5irR6jhy2kZvkm7du86l9OxyZ7Lr7OdujITRLD2qCAmaPeuKCfXsg2Jv_zqowC4XHM2kbO08Mtn8j3mjM4SybTEP0HpEMHQ122aVONDaZqh1T3Q-v2BCYnL_hk8lneBi0mNk4qJDglT2cnb-HBDGflCVpMQ0977Jv7dxmWSuROpHFSQrJkfCV6UpVH-wimYh1tTGbALlVvnaAGeW023-14xlLehBWAc8XOqFjRnBH3m4W0pmaqYfbVGKp6y3V1oCdJbpqn5xR4SyX5HM6BZtkGuqym9HwgnUyeHs07NWF1ZMp8gEPShYX4jmhoDUhwdZFmWkC8l_JfMyOIxjs4QmAf-O9OkPRCuhRhqeIK0_07e8aVRxGWbuIQZNXmXRgrsRIrHZ7rVIP8_nu7AD1BhWjuLdIcMQCEhsVeLuUDAMqYTaIAnBiDtMxCLJPi3pD12glqBSvCo3WSSU9mJg821z82q2kSs8_nAl6SPGFT11SR6hGy3qOriaDcAvjSyNHanFowmolgg4L4gS-EVcLGuR-i6vvo5qm5MODcoUwu3kzkqnszbI4LhnxxwihvOXUNzMCBDnKQTMFk5iYjJ_nvDf-pujh05NBj3DoLM2x7qo2XKLRvBnQ1NrOJYc1MwA-znmTXslT9__z5He58rv77qPgZhnpwp5uuOmYiTdkfa9Al5BXxMwWDasC05bOiEogdGyTRhcjrqwhXU9oI6c9yC9zjI1DODUlQUUQy6ShgbMgkwjcEtnmYfjhH7JcktkdNQ4p8YYHhke5Msq2X5bBqS0Lwb9_nXehTp_XiV-FY5tpwXU9BGGMI7Eg5rBYVKR4S9ppsAxYl0GzU5LVr5syKTE7a0ubZ1J7XvVDJOh2DyMDsoEPwccHJQfcp29AkRhEcRfvgd2-ETnOzKZM3-S7pPZp1PSeMMkkHZ2ci",
  "id": "rs_01a32badeff79e5b016ab420d04cb087d08e4ce9086e3cdc0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm stopped at about 9 cm above the table and cannot reach the intended low pose at this far inward position. The plush fills the space between the jaws, so I’ll test a gentle close and check whether it actually holds anything.\"}",
  "call_id": "call_U7B4YiRDscwpWBNdlncRZ4cb",
  "id": "fc_01a32badeff79e5b016ab420d12f5087d0909cc84d3d6d0fd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U7B4YiRDscwpWBNdlncRZ4cb",
  "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]: [-0.0189, 0.8059, 0.6113, -0.3805, -0.0219, -0.0265, 0.9995, 1.092, 2.1006, 1.4998, -0.3805, 0.8013, 0.7738, 0.0135]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.18 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3383 right_y=0.384 right_z=0.0905 right_yaw=0.0375 right_pitch=-0.055 right_roll=-0.0239 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -1.306, 7.0769, 1.7216, -0.022, -0.0513, -0.0122, -0.1436, -11.8906, 6.3521, 1.1648, 0.4274, 0.0122, 1.2039]\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:6eb76639fd8180434a3ed80e4f632f66f8fd6627731796d7d7869841e01d8359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60e84ad5853811f5f402dfebaecc0fc40a8b610a8d5dbe96f94f180fd6783b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd9c8d3c0336818d5f09ea690697542ea39c2f77b64b266b0e57860935404b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.827 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6144, -0.3805, -0.0219, -0.0265, 0.9995, 1.0286, 1.9598, 1.4147, -0.4076, 0.7673, 0.6979, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3471 right_y=0.3455 right_z=0.1199 right_yaw=0.0363 right_pitch=-0.0658 right_roll=-0.0466 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.306, 7.1043, 1.7363, -0.0073, -0.0562, -0.0171, 0.4718, -10.0991, 8.7863, 1.2088, 0.5592, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3801, -0.0223, -0.0269, 0.9995, 1.0931, 2.0975, 1.5009, -0.3836, 0.8112, 0.7757, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.18 left_yaw=0.0013 left_pitch=-0.013 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3385 right_y=0.3831 right_z=0.0931 right_yaw=0.032 right_pitch=-0.0472 right_roll=-0.0254 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.306, 7.2137, 1.7363, -0.0513, -0.0513, -0.0122, 0.6632, -9.9897, 7.3778, 0.9353, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3805, -0.0219, -0.0265, 0.9995, 1.092, 2.1006, 1.4998, -0.3805, 0.8013, 0.7738, 0.0135]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.18 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3383 right_y=0.384 right_z=0.0905 right_yaw=0.0375 right_pitch=-0.055 right_roll=-0.0239 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -1.306, 7.0769, 1.7216, -0.022, -0.0513, -0.0122, -0.1436, -11.8906, 6.3521, 1.1648, 0.4274, 0.0122, 1.2039]\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,$blob:6eb76639fd8180434a3ed80e4f632f66f8fd6627731796d7d7869841e01d8359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60e84ad5853811f5f402dfebaecc0fc40a8b610a8d5dbe96f94f180fd6783b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd9c8d3c0336818d5f09ea690697542ea39c2f77b64b266b0e57860935404b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDWNrIH8b0OLQrk7eIHf2Zf179UVqEQNwDwECkAUCen5aOxgwN7VpF0vvJ_bdF9l28Xbi4yM6AC7R95GrfsjtYUXU8lMVx_gwfaCF716s6T8MP7q337lw_3KZL0IMVbvnQRpeetrvHFmJALjT4XZcsIO5eEGwY75BfYvqrgZBWaWBjPG2C-CPcox9UKxLKtP6OlYdpkT6khUQzv-6l-GJ6sj29f6H6PQ_d3gqKnCWxdr5nlQEVVHn1PEmmLcjbCEyBUIszpuIXjfE1u7U-RsXX-PAZicRGuDqlUKRmMMIx0EIFFECahPMxh4tfNhtp-tpT4b8LWA3T5DvlM0L1VaLaqMRb2_sH2x1wG6F7D1Po1nZSUrJruhKl-eVqx8gFE9c9mKRHDf4DRsMRH7xsziks0sXrPyYTZ2f5LVoOoWujrSAbHpKU6HsClzpY-2zH9H4eUqxvThrtnP4nYPbhhvLA22NMwRfCZg6C1eFZeSt897BtW1CTU2ld5TTth_3q5D0wwKlIypGbdHlXf_f7wUcl-1Uj4Jg0yaa4ujLxoOrEcyuFyVdx3QoHlzD6eDuhpDVzkb7eNf8vbknHxOpQpq2DXadWBAMo03UY7Pc4j2t4JKT8xFTNfhuYOCxUy7cRHLJ8cn7iLPTcx0elMfU5EbdgLPbG3BFfHLOtrGi9C0DDMkMpP5Ld5suevOKTK3WRWsKcRi4_cx7b3OPtsfOsX-Ao8psdtAIkMmpb0zgD-NM9--jjdYSXK1j6ZmhpzljCHufBgQHaoF1-I-in7sgrppcl2a4Rhoew2bC_KU_McMdCar8Q099zV9MCOw-hpDdEaFntw33DEXbpLO5pRI1tRQbfhbtvuzaIDHVO9B795Mzauq96Auahb062lpObLgxYDbEFVUR28qz8Z83o1O_6GvR8CGf5zD3tvR-iHmZIYYkBTlDWltnaegchk9CvYNN4kzrJ_vBRp6Xg6dEi-tDTwwuquSCbGfNUPMvb5NXs7efh2jnLXp3qTeYeVcS79kVs3hj1yhLXsK2b6cAPv0JzQLN1ve3nCKh0HQuNvgxT6Cy2eEbBTFvnY0Z43IkVd0yUoQKzxy9cW_g2tUE6bSGERqqElhj9AOi5opj3ZciRb_zcJLPX93yXGMjajaVeXdwkeFkMhdhdEC6OAkheZvtytXk2m9urMw-HNMtMUQZ_dTs5bR4oqIcBi9OQlFIBYFm2AVWc9Ym4ZhDqgm_QQ1bYinVC52geJPPwF4Ef-tAehKcLhSkkE8dusjRNot5nSI4UOJqwRBfMucggiOciPfUqIUs4BSkOuglhbumsXf_Fyz6lvj3uzl_hTArZTskcR5GxFcF4_xx3iFT_cEwV4qB4Ydt2NXoXi3iVPeWmnjpig2SfygGQPnW-_1Y0XUngyajxXNVOjGkuPll41X8W6MowTiW9nz7I1T6JJc8dffZ2xpKtUPDB3WVnJUjQqppgIdUae4HAo1zLJOVNNij-wo1tPzbF3tAkDLCWC2QQoxDmyWoDAgJK0jPL1dcyKIZ9hXkVD0C49zbjDWSlPYs0y_r0ihOBGz6sdDLTysGZppdt23GI1KBv-AdTNIZvCipNp64VSbzoxitZbOYai8H7Hh8IQ4aIcZ9rqPHHNZzmIit2LBsRPpiL3eYchgZuoKBbLFEsZZe8wTNhXWQjQJwyoZc6BdpEm_Wz-mwfG433J3gCDKUVbwzzlTwNAmoTmCbdHcfuHZyxK6epeoL8G7LlAInaRRgPKvXuPjg8xBKLg9Qb-PzPrd2PJiUoJ7VmVSPwL9gPVc1jmpTH74idnCqq7OkzYi4o6SgisDgDbF-sKCaAbJrwFP__PvKDZXpuL7ftbW_rYXGzbwp66B1n5KMhCmmexuA-9zDZnBryh4kBLj4tPwn0X02I=",
  "id": "rs_01a32badeff79e5b016ab420d3fecc87d09e1f3dfb6b142631",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"right_gripper\":1},\"note\":\"The right gripper closed almost completely, so that was an empty grasp; the tan plush is too far inward for this arm to descend onto it. I’m retracting the right arm and will use the left arm, which has a better approach to the central cluster.\"}",
  "call_id": "call_0X2qx31jmKTbGSkr5Q6J9O9B",
  "id": "fc_01a32badeff79e5b016ab420d5626087d09b343373729a3977",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0X2qx31jmKTbGSkr5Q6J9O9B",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6094, -0.3801, -0.0219, -0.0265, 0.9995, -0.0128, 0.8486, 0.6682, -0.4553, 0.0269, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2958 right_y=-0.0049 right_z=0.1788 right_yaw=-0.0224 right_pitch=-0.0738 right_roll=-0.0255 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -1.6205, 7.3641, 1.7998, -0.0317, -0.0171, -0.0171, -0.1299, -2.0034, 9.4974, 1.7118, -0.1587, -0.0562, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6a6b70f1dfee3456282b5226b9eb5c0e38235b52909df83e76e2bd4ec244b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ed97600854f65aef00bef7e978f72bda213ad34b7dcf7c4d83c268084f0c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2c0a050253ead87295502d9ef56ee1e03829900321bfc3b432d770bc7c46d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 8.434 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6132, -0.3801, -0.0219, -0.0265, 0.9995, 1.0847, 2.0895, 1.4956, -0.3874, 0.8043, 0.7612, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1811 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3404 right_y=0.3795 right_z=0.0939 right_yaw=0.0352 right_pitch=-0.0531 right_roll=-0.0354 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.2923, 7.1316, 1.7656, -0.0269, -0.0415, -0.0122, 0.7863, -9.4291, 7.747, 0.8523, 0.3639, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3805, -0.0219, -0.0265, 0.9995, 1.092, 2.1006, 1.4998, -0.3805, 0.8013, 0.7738, 0.0135]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.18 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3383 right_y=0.384 right_z=0.0905 right_yaw=0.0375 right_pitch=-0.055 right_roll=-0.0239 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -1.306, 7.0769, 1.7216, -0.022, -0.0513, -0.0122, -0.1436, -11.8906, 6.3521, 1.1648, 0.4274, 0.0122, 1.2039]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6094, -0.3801, -0.0219, -0.0265, 0.9995, -0.0128, 0.8486, 0.6682, -0.4553, 0.0269, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2958 right_y=-0.0049 right_z=0.1788 right_yaw=-0.0224 right_pitch=-0.0738 right_roll=-0.0255 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -1.6205, 7.3641, 1.7998, -0.0317, -0.0171, -0.0171, -0.1299, -2.0034, 9.4974, 1.7118, -0.1587, -0.0562, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6a6b70f1dfee3456282b5226b9eb5c0e38235b52909df83e76e2bd4ec244b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ed97600854f65aef00bef7e978f72bda213ad34b7dcf7c4d83c268084f0c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2c0a050253ead87295502d9ef56ee1e03829900321bfc3b432d770bc7c46d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDgr0yN_z2YJf4Eag4HQLczHO3nmLoTiiL9KT8mWRcp99fYqQQlUL3EllqGQzbE8s_Lb1WXCZgO0PLPEgT7cHyZ9jeaeBs8SiHzZrvek1M6QWsHUKdndiXXa82ISRgKdx07ieqleLBjd2pb2SlcElmLnUJSwcA65__K8mSnNRPIU0Grw7XIMJtpUssCHVOYO1UwpX1v1Hllokp4skuyHyQpfC3vuUoOJKzA-KYaiT5dIQQG83LgwK9-fBPd_o0yd-LluRK4BQmOwlPP7GoVwMK74IE3slQALq1ZIjNNP3S_T5kdpntCDOp4jL1cmJ7RMtkInA7YoHsa2EHPWwgBA_QVgirj_cmvJHHscWedK_AJAnL9D-9zAqEJd5pJvSw5jqZ4vList0ckDZX7po-CXdAKnXk5LZ7JBlXHMmucb-5A8vdeyLViDJKhYGG7n58l-g20eslNQoOtfnam-6K2eaz-QHp8iGA5Dz-MwEQ79AI4S-cEFLu_dIGSyOc6iANtic28ttaOtVxgvE8pfii40FJjfZI83ZTgoP44o_ohiC7OWHCAqlU_D0BsGHVKLxHKMu25dMNzWTDXVOgj7ku3YViODao0--JLjkEoMVj4oCKXaTXiN2meS9TEPjV1amG3Cpupd_LKbsxZBsyN-yKJGQBP7Yakh-aPWVcShz1L33CrTqCwm7SQtfmOgpeEgEy4Twntkj1_tYypuKAWZt8gGMuDmRAT4TZvTgXdl6yqbmHFDHNzW5MVzN7bUqbx4mXlO2Cl3FuVifoEONAq-f0GbGXczQl4x8wXF9sm9PBcWqIwHtWi6vnd5rx_A5eigjkoWgNxz5hip8cwEA8W3kGUTxWKNOqzRw_etb4wldgrhVp4KjU7W3aKYZF-FkZBGJ-FSdoM_W94mT3GTMwQvb7RHJ7Y4TV2q-JtPK9ZuWK61V3cQ-RVQpZoBB3CP5Faq6wR17vSvKyT9UzS_Uu3D2Qnt5kmpUa_iZ-0OD9GRdisyzzvJHJwdF_9AdOznSZi0xN9ODHRUZDA3Rwtu18mSlBFJOgopjNx7droIn8dE8Zfcf1htCjfPH8pwLPf33W6jL3A71xROQ7vBdJwlUnuA4CdadzHhFFs1k2a5cmdZ5L3fLQjdIuOVg1KLY3oC0Lrc7Egm_NT9upW44U7F9bs82JGjvDLGySZcJJaWYhVGvORjB9n4CGUoTejwxMH9RLVZz1-otilJm2NfIhMzrz_kg7bria62R4zzd2CTUtmZiKb6d3Ns_DP2Xx16B59qzCfRvwEQfpFQhZlccBJgPpGwzu6ypYwus1KVOUDoI8jddK128tkbmmXcPwF99m6vk5Soe1BeZae6hc7QyK580Pw5viFYzV6WnRlLG9gJaPlMZKO8Au3e64VIZ3h5GazHKEUz8W20lVLPknHIJQ9rXCe45-Dvz333gmUoD-eS5ddaJOBo0PZj0SET2gASFXbcIaR41c-WMLZ4jhXRyvR7k6-ZmIqj2PJaRQcw20iIFNjJ7JgGSeaVvIKzUHrDUEv6rNd5zf-3nx-yLG8sCDEMrRhqLnf388M4DguGVHmkrSVcvuHZx2zWNJD9rA5Pn2jFCBpb6gQMBVh-gSi8DDqgp5fmdHkM3yllbL7NshILDdD4fjQbhJ1sHIy4__Wc27hKgktrTzyGPybHvi63LdasDrYgJEP5-z3yT-CmldDZ_ExMiDZUArj_8VwrLhpETxfrKAwaU2LS0KpIZlgx1L0x2ZZ0v0zS0wBbzZkofDDVQB13Zakn4-7iQAfQWwfFz0gPmakGeZ9bdeS69uV-wvg1eRkkyX2ZDg4m0tMOF0ZueyGUAq_ptbo8W-kLlE5T7plFn-I3GrI3okcl8Rwr1gGx-M3-kBeHoJJw4wmoHidOK5cmyiMZISq4OlbQr9e0jx4tiaEEWGd0JwiPSJZml29UOcTOJFU5Smy5lhWk-zf3DIG5sfAjiUttquqMy4czrLHmVfdejU4q3DbIRQ2hm79CrPG_Qk39a98fbPv2vS18aW5bR18uGRX-fk=",
  "id": "rs_01a32badeff79e5b016ab420dd793487d09d7923f0b241570f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.16,\"left_z\":0.13},\"note\":\"With the right arm parked, I can see several small plush figures between the baskets; one gray figure is nearest the left gripper and tan figures sit beside it. I’m positioning the left gripper above the gray figure for the first sorting pick.\"}",
  "call_id": "call_0m3KN8vHyn6Cm80wVAHdlUJu",
  "id": "fc_01a32badeff79e5b016ab420df1e6c87d0b01d2bb8c9da2762",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0m3KN8vHyn6Cm80wVAHdlUJu",
  "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]: [-0.8505, 1.2018, 0.6014, -0.2447, -0.6502, -0.5518, 0.9995, -0.0189, 0.8532, 0.6682, -0.474, 0.0174, -0.0452, 0.998]\nstate[eef_state]: left_x=0.2814 left_y=-0.1531 left_z=0.1118 left_yaw=-0.0353 left_pitch=-0.0773 left_roll=0.047 left_gripper=0.9995 right_x=0.2934 right_y=-0.005 right_z=0.1739 right_yaw=-0.0123 right_pitch=-0.0974 right_roll=-0.032 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -4.3282, 9.2239, 1.4872, -0.398, -0.0708, -0.0171, 0.4034, -1.8803, 6.9675, 1.8437, 0.0513, 0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a69f3ca664a56a2abc1879e9f12dcded3393f57dd317cfd5848a02caab46116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f131777a961d99f52937bd91436df5e89299692b42d9760ab71bddce393cd36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc2af12a41605fc4fa15eac8d65a463f6fd8ffde77908b79242ef7bcedaac7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.961 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3801, -0.0223, -0.0269, 0.9995, 1.0931, 2.0975, 1.5009, -0.3836, 0.8112, 0.7757, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.18 left_yaw=0.0013 left_pitch=-0.013 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3385 right_y=0.3831 right_z=0.0931 right_yaw=0.032 right_pitch=-0.0472 right_roll=-0.0254 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.306, 7.2137, 1.7363, -0.0513, -0.0513, -0.0122, 0.6632, -9.9897, 7.3778, 0.9353, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6094, -0.3801, -0.0219, -0.0265, 0.9995, -0.0128, 0.8486, 0.6682, -0.4553, 0.0269, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2958 right_y=-0.0049 right_z=0.1788 right_yaw=-0.0224 right_pitch=-0.0738 right_roll=-0.0255 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -1.6205, 7.3641, 1.7998, -0.0317, -0.0171, -0.0171, -0.1299, -2.0034, 9.4974, 1.7118, -0.1587, -0.0562, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8505, 1.2018, 0.6014, -0.2447, -0.6502, -0.5518, 0.9995, -0.0189, 0.8532, 0.6682, -0.474, 0.0174, -0.0452, 0.998]\nstate[eef_state]: left_x=0.2814 left_y=-0.1531 left_z=0.1118 left_yaw=-0.0353 left_pitch=-0.0773 left_roll=0.047 left_gripper=0.9995 right_x=0.2934 right_y=-0.005 right_z=0.1739 right_yaw=-0.0123 right_pitch=-0.0974 right_roll=-0.032 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -4.3282, 9.2239, 1.4872, -0.398, -0.0708, -0.0171, 0.4034, -1.8803, 6.9675, 1.8437, 0.0513, 0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a69f3ca664a56a2abc1879e9f12dcded3393f57dd317cfd5848a02caab46116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f131777a961d99f52937bd91436df5e89299692b42d9760ab71bddce393cd36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc2af12a41605fc4fa15eac8d65a463f6fd8ffde77908b79242ef7bcedaac7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDpavqUpmL8_E5e6_nc5P3aYbUFdffZc-BuKzbno3ZEPnOOCY3vHBVhjtGANx5sbITScJUKX7_wsS97-sZHEXXp_IFATaJBPYwjozcAdXs0EKUpivp7WOqUAmgBXJ87Ifzi_06U9qT5nRWByoSrVwLjzgPl05kuPVqfkFAPTtgAWVaZhpfV0al91W7trTOm4WUNwm9so65S3SBSu-QUUdjPPzGMsn1_TuLz5iQEVt_AJZYoG3n6TLFhNGIAZTPSvrkzVGy1NMPL1fqdl4FfUzzegNryCAOpGEnZ3xvJ5tu7h8L4Oj6PZaZPWq03Cx-3LWmsS52RhfqOYKHMITZ7tNxLJtTIQJu-0d2Z0hZNjGTrQA6km4ZmntNXDZPw4BgZyJIu7RNKU-xmBq5-_SAnedw-DDQVazAQrmP6tZ6DvM3HO265vDCe1Z3xN2uZGkrlYDG3O8jtP7bLjABD8aaCWCJgNSlY9nuGlfviVILKBbzaYyPIb31mEDwo-VlPzh_hWpasmkofqQC5w--qgmg7REU8kS6nAGOR6o585lvEc30jzDT7z2904t8k7QcuCTpy5t7IkRJN6AVNJDNzq67JWvRFC9m_UOamKfgpfy7TKemgJFRCCdKAEhF0Rz8QtRMAbgMzxcVaojPPx9s007W4poLDC6Oh1mvpukz0MPZpcON2Mc_G2P3qRR3Z4rYE8FPiDRFNjFLe2Sm69fPsT6xljAjUqMYPRfmXppQCPgFxNcI5Ctdcigt_37cnodjnjzk0GFsHe1QcLBFbPr0PGVwx75B5iqdMWckIPszI48Ncxvlu8YB0cfTmSug9OitXFmoxCWK0CzL-jG1oXGcWcOSYXFdKRZt1EHXDJ64D4u8-Y6hAR9ul_oKWAg44jZ29QztOd0RweGoq5vrvRIlxSAIegczSPYGX506K3lLso5zetxIdP8jkGOKSKB3xqZbBY9Zu81a3GrU4ZwT1HzAjfI0WXDdUvKhE8N8_EsTmYO4BSHMnu6IA8T4_jrPtsAZMLscDctfdrr3OF1e-31BnhGVZMNL0Is_pZK4DV7UCeYGmnnfvYY4_22ywwrHqVkpahtnF-CTtiTmmBpRU9Jg5WmMRfnsRt5UWmzQfcUad_QGubV9ZNXn8sWwTJ00bVf5l1f0PH10nLVp5cErRfgba-h-DNza-5DaPKmNkkuR4M1Wi0foOr-MxUtgx_k8EdXat6gMQYQ6ga0x3ukmagtsuKiijh116odl90BftHQQQ2bl6mx6cw0WBnv9DFHGHZwy8vHTfJQKZpLxlEdY3J7JA96jloU7TO-KBtEUEojY2HbonREftl7p39TKQG3l1DrY_8pypvYJIygQA_R79GTF-Cj1Pkw_lcPxqwF5-1MwEbocdYzu8tjuQPxFzaSav0Elbg50Xb6woP7I44jUieLDy5kda6q5Y58jny-0yHUzBKdn1YMqYEQsGzvur5CmrJCMVBOuA7JfuazmEVXPAVqKz0IbBmo4sMAnOFXSGKwXuxUcAEBlmxxTecFKLxL_qvyQTO-hs9p_csLmYyhJOdBaCUibwRbQv_Je4HE1kcYlOIr_nYCqFMhRS_DhgbyB6icOExZkgsVP91eLRQwqztycTk4XRMF1qnPgtMMspUcNRgJSqyQdHP3t5ucYA4LE4xFdkP4uDj1dni22BKup4tYRoFx0EMmlQe0sI_UKWP_FLoY8wtqFNaJgw_mcnYNlcRW8DWeQK6McGkW1Dt5_OX9CyOGCYRq_EqGD5oqqTiuUnQ5lDoanU_BnZ2mF53CtCsbEiTDrqnftD_oekB-mJRoZc9q_47NzGRnapD7zDGpZ0UIk63kvFk5VZQBQUWM-nEFyo4H6zQMnBU7R1LlLueZNgVqvgY0_lnQraiHJo_jOXMsu9R7qONP527Gn5KNW2g-CBJ8wX1cs74haVbmEiaWA3id_Wz4ff2drZfXbss-2WjR7IvK9HpHhjEIaNx_cJlXggjO08muMr-Z5YDc_7qyfc_KouUPmwVrvHpL16ycwZ0MpTzSduTkxn17BJm3p5V8WJcBrAIcwdElvdmhlOg9d2_uGRrFY0p-vNKideQGiYmx_i2f_J1e6KzRU62Ju7LP_fDD_YtDnSO73ypLWprXX25PVnHpTe7jcMWx_G8eCObO5mAEkY7vwMwBCWwIl8Zopg4E3RLFmfwXHre8bdFbkzbXXw4MAiYeJR3Gmmo4rsZttr7mo5NbUcFhXLKwSgS9DVt3kZEfBM3WIzr1cmsgdJaElgiCigvP2m7D1-ispdXrq5FrtcmuUIhYkunbk3DFfMHMoCefQN3UiFT9bFES8DLFHhNaONLA3D2az7tRilWx8_QKS6VS7nH_yOS9OLflGtV-DKprpc_22kJD0JIWNBWzqsTy77LO9w3ujC6DjgnmjPYCBRAr57unhLc7pAgO2g1qhe6994zCaHrAHgE8ewOAZTXjAyJYWKr4_clQFIOcqvcBf8xMQVZLXZOQqKb6Ed0WArueEgVYWadTW7Lh1rr-qAhmwK2zzeOAcad86CZJDM3c5zxJpakUghPzJVUFdIu06aEBPX14IcFQMMwmY6wizS5n5NLk7Oo8YhybOxSm0ZoKWA-QwpgeuDiWuFyjvjiRKzZSopoaScdBRk1cFrruifXuKI4CCJYY5zaP5Xkr8T7Y5C7TAci1jvjKYx-vt6aNHCoLszUm0Igoh6LDdY8a2_3BxJDQI0EZZ89WAw6MgP4fniMTExn4p211psiebnv8sWmJwgNU3p6mm6MMBd2LElDui1AQvc_1_netgaTnFuj5AB97A2GSROgRsx8TCveSyAmlMXDvAd1GG7DjC48y5V-76wn8qgL2nY5QzeMw9wywUaouEiao7F0yKSOc77wcIKyS7vAnA6eNKIgkVWu-FfQdp8_e_H1ZeV9w-9nzcqv2cCa0BjrgPYJhyCMFasgEfSkMKLG-oqDar4BlgBSYOgjPRGmQwGcveZLg8MSGr4kRbQUb9sxCnqvrYb_poV1zU6oDJe6iy3LPOa4lGPDtgdzbay7Yuztx5Ubq48nlfS5BDRDA8L_Ni4r6oK7MhYbtgTo9qSHtkM9UOsxgI4ULbhCNcMYEEpZRZ0cDTvrPrbqpp1R_o6ghNt91cRH-dVzCn4W74rCVxcjtBQxcvuSdXvNwTUqMyDtKzfGVv53Gj5xK7nUDAQFpGfvJ6rMJ3dr3hYL3ce-hQITGN_xetTvFnqQWot2ZbUC3PqLmmwd2VhaV-OPZ8PWwXc7AJmkGTXjJIcEQIeOPi6u84rxlHxvrswDTS_nJFFF6RuD89Z5zVuKlXGccpV6-DzU4wlSuZUegL_U0agZDGN0bkKGjNzxcpCtp9IDLLSyY2RY81m7TcqvAnQQ2gjRyeYJ1PP9wqIF4I9tpVi92QI3Sc_3cSroGFVpZTPx87Pqz4zTOzNS9isz8SCrRlqpuF73TxWCS675Ad2Sy7K8qa_F56-8v0KLZesY1gaGVhWKXyntPUWRPmoPYLlsv8zDMGkNuC-jnPEXhwri3cswJeDGIQ0zPAZ5bbpa1bH1JfIki79MVn8O7JBIBv5epEW2XXB-qilHpSM0iUifNjzhtsdwmd7lY5HrW5xj1xZDgZKzzaUpgo90QOjNKa8uDmCQWPQ5qxXzuIpejofEachgBBzvcHKSGzPz0mQexiNmg==",
  "id": "rs_01a32badeff79e5b016ab420e2898487d0946192f164be9eb9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDpMK736BUY81BvplUm1gW-Y26O5x-xA9Qym_qIFSUSC3cKQo7iJ1P5V0J1CdTjol0O5I_K7EBJotHpTl3PvoMsx8LYzNS5lrUB8Av-ElAGr68_JBq_pgLDHf2uCsVvmz2Y3W7RLEKSifzaAf1v54viEYDDmUIkMmskBNNacJ_Z_jFTkGSBmVUHqZmzJ6shJrULSUjxm3hF9dmqmuMIJu1JEIj2od6Oxprv8aRw-MTkyG_87syUXYoQbq87Xm4w0JSrp94H0IENimYJZv3B4j2gDRofF11PBBvTnuBAdGqry8T2CweeP4W4EBFtYggtx0AhP56AqlVe8U5gtBlZ9f8kZBX6W8GrXsPpbWJx2hx7pL88Mfleshz2udiWF-sD_7ORFmugNivGThajCd240srIMhFnegsUyayJ0b_UfkplWP7ElA3K2WCaFSeTjRFoAGUXqAakYPB8Ygkkuut0vBhwtmplvVCqFnPU2R-_f1ku1Z1y3IP98jvQVPO2vuIUtlV_2atqSriSYaMMIGb6MW7gVA7RtLpGGhycTkDvugSbIf6Z0BFvhZp5pSEnMX5rN4V4za-HiYJHo_D84ZMGNb_4C2cNY0wpzOiT8ymsE6xETfMPhvAHXrrzVdD0kbOYi1CbzV3CtP6o5bsa-GY8hUM1pPSh7C5ssdudTaAGTLR0_el7NX8kA17ii1l84F5t9rLbB8tescpdICVEKDQwjFfSnNVVONggZfYYqPyGOKapD3btVcb_p4j3qlqNrPOkV439ofNO4GNQn5Mwqgj3qOc9HE-wlgpTfzK65dzZjseiFZqnpvGS6QbaqM_kssjtZX3uDE9bWrm1VzrEA7QGKIEiTPxitRkDX4kF_D6VT9ExEAvsv4grLZ4qJ73wVnNUv0FsZQkdLr1Xzokxu09DiYEA_AND5VqE89giEdcrhZuKI4H5cvN7tba6Ze2Nfn82IrBRSEFlLUqc846XWHKnVDEtiN6BkoqcJov3Mh_OckdXcFURRasgioXxHb38uErHsc7_yEMT6g7oGy3ylxPdlGKzlcfjyFZx0-O3z1yHdbQFE24qONZ5nQGPDMSpxXY70OSjyncz-5CT843R2mn6Er37JIs-ge3nyl8g-UySjvTczcXx7NXwZYvnyd9PH81foYsGKcIZdWgK26ooFN3bBDzG7TIyZ-r-dWJ2aAe5a4ucuVGF8LNRt8wjw8RhpzAUihk2YTE_OiuXq4cHhhemfYtyVeNJT3oW5NfJCxf5ahSdPsdUT5Z2mL4vvZVy_gBF7j_xkLK3PARB8OCO1zb4O3OyfxUPpyrs3yZM6GHgMu60LPzKe8R8Kfnh5AW5_aDQ7vdAX3-3iS6ZgaJE9sRt0aI1tc20yNd8Ra-NJ7ZIVpHtpqpep3iwX-9VuNdofFEA9G796OL5mImKRpGnUHQv0ZdTjowi34vyGBNSR4VnddWMMtiJjoUeCu8uHQdQYrZ8X8v_8GJXjoJmKpOAwUgp1v7WozqJna9FKpk1FPJeWn4NLHXas9QIA0PPyMzYF_kJWO2fU7mPxE-ODo26x7YhX6V9ZjJ14nDeIBCnAe0nb-rvFKA8OxgggSYEW39Uls4GYgPvlnK0Gu0dL3ZTgsnnw5S5OJPeXlaWQQZH9ptp-_pytSYpHXw1nFnf5UplIHJgA-8SJBHHHmZ62KTQNTzANhH4KFilYzlpntH1vHcrJxGJgwCnBH8H5Dpk4UwbXeQiiOYpfJq-9ehe9QKBQ7P_4hzQFUzyqDSaNmNTFfu8_NA5L5JxRYBHeaOLjG6uIcOzMIJ_qNSynv6Nx6Ad_ysoO9CMFsUDka4w0LAETc9wFGnlBXr5eV2iL9kx7FJjJzPkzhPXGp__Aw3NyqmxZdESxgReQ3jBrDCRX6zqKeXOXChG9obgfPwlhPz91f2Wk0fqXUEINnY1Vn0_bb3ctB2uFdFa2w3jVlTZg4FGg-hKHrEtLBCX_1sn05bgAE1iOIT8CIl_RU2rku67RihMaV3FVgIDCz3cas_Sx6ZAMd0p_7dzWFC3i2_uz0CdDXITN3-u84FAA59ONvmI1UiQwv0MDB-dDE7DV6syyQpJ3rd8zwNbZyd9UCArMDc7vpmweMEXh58mLE-7R87QEjzfCERqhKs7_4wlmg-H2OSq60nLXEi0cm8xRiZ9TdA5EEzogZdZUraNhJSZLPSYCjXCNZ067N4c2caRJyLBHHuNjRA8oAmr3tA=",
  "id": "rs_01a32badeff79e5b016ab420e702b487d086c8c913dd367337",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.027,\"left_z\":0.075},\"note\":\"The left-arm view reveals that the figure under my previous approach is a tan teddy, while the gray plush is farther left by the left basket. Since this arm can reach that gray figure and its basket directly, I’m moving over to grasp the gray one instead.\"}",
  "call_id": "call_tB6gzLtYgaRiVhQxJTh83by3",
  "id": "fc_01a32badeff79e5b016ab420e8e49087d0af5dad5ffc8223af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tB6gzLtYgaRiVhQxJTh83by3",
  "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]: [0.1276, 0.9321, 0.2951, -0.0116, 0.0479, 0.0807, 0.9995, -0.0196, 0.8555, 0.6678, -0.4759, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=0.0323 left_z=0.0777 left_yaw=0.0308 left_pitch=-0.0872 left_roll=0.0445 left_gripper=0.9995 right_x=0.2932 right_y=-0.0048 right_z=0.1727 right_yaw=-0.0104 right_pitch=-0.102 right_roll=-0.0309 right_gripper=0.998\nstate[joint_eff]: [0.0752, -1.5932, 5.3402, 1.7851, 0.2027, 0.0659, -0.0122, 0.0342, -1.7162, 7.1726, 1.6337, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb32b754313002fbdcb2112132935186541358e90952604ee4b79df122180ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463871e58406830c3eb40271c8b831e0e51e1ad2610ecad1cb79a8064648e834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571c3bf19d58aa750b69998a4eefa98c835335b61a082f132c0801513dcebab4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.22 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 35 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6113, -0.3805, -0.0219, -0.0265, 0.9995, 1.092, 2.1006, 1.4998, -0.3805, 0.8013, 0.7738, 0.0135]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.18 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3383 right_y=0.384 right_z=0.0905 right_yaw=0.0375 right_pitch=-0.055 right_roll=-0.0239 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -1.306, 7.0769, 1.7216, -0.022, -0.0513, -0.0122, -0.1436, -11.8906, 6.3521, 1.1648, 0.4274, 0.0122, 1.2039]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8505, 1.2018, 0.6014, -0.2447, -0.6502, -0.5518, 0.9995, -0.0189, 0.8532, 0.6682, -0.474, 0.0174, -0.0452, 0.998]\nstate[eef_state]: left_x=0.2814 left_y=-0.1531 left_z=0.1118 left_yaw=-0.0353 left_pitch=-0.0773 left_roll=0.047 left_gripper=0.9995 right_x=0.2934 right_y=-0.005 right_z=0.1739 right_yaw=-0.0123 right_pitch=-0.0974 right_roll=-0.032 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -4.3282, 9.2239, 1.4872, -0.398, -0.0708, -0.0171, 0.4034, -1.8803, 6.9675, 1.8437, 0.0513, 0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1276, 0.9321, 0.2951, -0.0116, 0.0479, 0.0807, 0.9995, -0.0196, 0.8555, 0.6678, -0.4759, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=0.0323 left_z=0.0777 left_yaw=0.0308 left_pitch=-0.0872 left_roll=0.0445 left_gripper=0.9995 right_x=0.2932 right_y=-0.0048 right_z=0.1727 right_yaw=-0.0104 right_pitch=-0.102 right_roll=-0.0309 right_gripper=0.998\nstate[joint_eff]: [0.0752, -1.5932, 5.3402, 1.7851, 0.2027, 0.0659, -0.0122, 0.0342, -1.7162, 7.1726, 1.6337, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb32b754313002fbdcb2112132935186541358e90952604ee4b79df122180ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463871e58406830c3eb40271c8b831e0e51e1ad2610ecad1cb79a8064648e834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571c3bf19d58aa750b69998a4eefa98c835335b61a082f132c0801513dcebab4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDvNh71msGVTcouWg5rVwsEmlmSm9U2lz3QOjT8Uf9Q33lkgXa1Qk-H84_nfSHItcp80aSWFNWE1WkXFZ96kGeE5dxXn-j6BQxZH9DFHQfLQtxeoNj6JYadnS24wIAMvu-vXlMdXMW0FZw0f4hkUfVr1ug5A6GiohYnMaIberlgAdlioLfBAURQA5QCOjaaZGRjL2MGuwQe3PO_p62IXo7XQip18sm-hQdHam4SAiFQl_UIPW4ONoODoFYS6OMK9NOJoZ-MmhMJIvTJ99G3e_Nh_ZLMHqh8LAtaV5fS1FL0WHJzhYNOYa6s4gV95GHgFfzTa7_4GQKE4l04Xs7RUClUPAWJnKr8ZZyAFohyl4VYUnaCqw66yjnaOvc1xAGiQS1BFBvSzTxu5HsEpKgQ29kYUoyECr5l0n5oFVyLzyeNaMFOmdDqCRJQgDVJ9xq5cQEJaIOu_ui2Q7JqQtzuFJQnYiG-uMUJsUZAUoUW1mm-yJK8OjusPRsRVuH7ZdTmiwlZJP1KKxfgXDnle25hz_4WqDEa8nj5mXW73kTvjj3Sy8pXQajblG37Y269S-MDXU5wb92yQo30hr2jT5xEMKBxp3zl8qJHbDp398qGABcOz3Cq2ITWzzuIYIUZRC1L74xrufa0XDiZYonCnIYjfXeXySl4nbrwSFu7-whbLjjOp37znR79nR1gKsqA_2RN1YKcTZ_Sb-U_FHCE75dOQXR5oeEQKfHZvKgPuaq2AbptNE0jtyTKmVZv4CokAkEkFi9Qbk2T_L5hk_63q5IkTiDsXcrnHYTea7FhtkV-n1QPZryPvEI6qvmdtVYtp9m8-ECyw0eIwDBYHAwqxkLHWrZcN68-4NG4_2qUNUU_bsN163x-051y8rVBmZa15EygNG2gCfvvG6BaXW0SLzavo-IbiDnvIsdW6rkZuloPbWATFlf-7RDbwLJcyWtE2lIRZ7RvBt_0yUt9ezlwRZfzWNGs22FHTPU9JE8gucEqlVByrWlAchqfFI6eQNqeJZG4v0FsXYOQ9ZWqvgzU1qNkvNonO_3vwXZ1w0fj9iGqiI9OCGMWtRO0fkiYx2Ecw0Ie94VezDHos_LMyyyT7IMDyVjxbKDjfFLj8miWpPTkR-LfWjY2mIbj4q8uE1D-37YonVLRUmpCRST6p4YgW-w_RsyJToO-WsGoz3v_M_CJc9b9aTgdeNqgK2EUWMzEqeCATMzGJzTMl1NnSb-qlGmjdfO4D52dDNNaS15xG1w5XLV5evnE3eRbeWqdHe7Xab3Ylxh4_rvXKAePs6_5Rxu88ImACo09wmCi4JG9Z1ghX5M35lNg0n_bK0I-RZqYdXEHC5FeXZ0PPNlqXqcQ8wE4tiwRTmhdTbPNt625ec2GiYmV4RQZ_GJQVqoA8ruiikx7NV6G3-lKbGI1OV3iIO0SNeEaPvQ8EvtgJms4ck5RxBUuXQkFKl_gdlSB72HYghfJ4WgD3q7tp7aF5SoHsrPLKTqt0CvlIkcOUvcE5wxtJTtJ1MturDLZWn9f3EhNetOY3Tr8Ldv2LViG11zpKxc3bFHVUP0ZNZfqx5drlgqMjYg1DitX63ssZT8vNQd2sq7Ha7Y7_V0jfcrpDqtDzRwYC9W7Lgit3baVQFR9wfx_BTJsurRioMiUZVxYhI7cvLQUqkMRI6s5_0T3z4lz22a2hywAo9EuQh8jR6NuaGZ8ERC1ivJ6yM-wP7agE0CMTXqcqvwy25tXhF3KyAh18hz51j6PxzMU8G6EFGsKMTNn44fxirmb7tVShYYhEY-8L7J4c9grh-P0zDgpHzwZft4m_dtR4FwWqOA2e1QhvRaw8mi8_Tsf3mCB8Mx4WRfsHQyyeZ764OsIlEGZwLdDRquKe6xI5fEd_klnHOVeq43DfeMnWMYVkQXgxx7AR-64jhcDfjL0VuukLS4HDswWJeviBDShAcenluq3T0fcqqJ9bl-goQdxB_OQgym0fYv6jsh4qVk1A5IEPoNS2c5eLmT2MsZIK-osYbHIwm5moG0qRpKzl3FXYiqitve8CEiboNcRFxl1HtmVT9mSiKzgKz-Zqppto9N11Pcr3hWVTl8trICSmfvNY_vkHFnG1IPKdzfMkcmcohAGbYf28F96ov8FV7SgjA==",
  "id": "rs_01a32badeff79e5b016ab420ec8e1487d08190e5c302e2b64a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.05,\"left_z\":0.045},\"note\":\"The gray plush fills the left side of the left wrist view, and its head is slightly ahead of the jaws. I’m moving a little forward and as far left as this arm permits while lowering toward the plush’s body.\"}",
  "call_id": "call_5ZXjtHuS98mXtvuG0TjDjfKh",
  "id": "fc_01a32badeff79e5b016ab420eeba3487d0a2e241a69a45e52a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5ZXjtHuS98mXtvuG0TjDjfKh",
  "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]: [0.1917, 1.2228, 0.2955, 0.2527, 0.0975, 0.1318, 0.9995, -0.02, 0.8612, 0.6678, -0.4789, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.3139 left_y=0.0471 left_z=0.0467 left_yaw=0.0251 left_pitch=-0.1105 left_roll=0.0513 left_gripper=0.9995 right_x=0.293 right_y=-0.0049 right_z=0.1706 right_yaw=-0.0107 right_pitch=-0.1107 right_roll=-0.0308 right_gripper=0.998\nstate[joint_eff]: [0.3214, -3.3299, 5.6684, 0.7643, 0.1783, -0.2515, -0.0122, -0.0068, -1.7026, 7.0496, 1.7851, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7e9a7516c52dfc8a31c393b7bc89445f78841d82a6e5c06b96f06feeee4a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bfd9b4c9e9d5d03932978b90e61434382774dcb4dc7177c528c975c9153b16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533418e71b2f87d01950f3134dd1fd4518efab6612c52b4aea078abf7c1fb9ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.888 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 35 changed as sent

message 39 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6094, -0.3801, -0.0219, -0.0265, 0.9995, -0.0128, 0.8486, 0.6682, -0.4553, 0.0269, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0194 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2958 right_y=-0.0049 right_z=0.1788 right_yaw=-0.0224 right_pitch=-0.0738 right_roll=-0.0255 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -1.6205, 7.3641, 1.7998, -0.0317, -0.0171, -0.0171, -0.1299, -2.0034, 9.4974, 1.7118, -0.1587, -0.0562, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1276, 0.9321, 0.2951, -0.0116, 0.0479, 0.0807, 0.9995, -0.0196, 0.8555, 0.6678, -0.4759, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=0.0323 left_z=0.0777 left_yaw=0.0308 left_pitch=-0.0872 left_roll=0.0445 left_gripper=0.9995 right_x=0.2932 right_y=-0.0048 right_z=0.1727 right_yaw=-0.0104 right_pitch=-0.102 right_roll=-0.0309 right_gripper=0.998\nstate[joint_eff]: [0.0752, -1.5932, 5.3402, 1.7851, 0.2027, 0.0659, -0.0122, 0.0342, -1.7162, 7.1726, 1.6337, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1917, 1.2228, 0.2955, 0.2527, 0.0975, 0.1318, 0.9995, -0.02, 0.8612, 0.6678, -0.4789, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.3139 left_y=0.0471 left_z=0.0467 left_yaw=0.0251 left_pitch=-0.1105 left_roll=0.0513 left_gripper=0.9995 right_x=0.293 right_y=-0.0049 right_z=0.1706 right_yaw=-0.0107 right_pitch=-0.1107 right_roll=-0.0308 right_gripper=0.998\nstate[joint_eff]: [0.3214, -3.3299, 5.6684, 0.7643, 0.1783, -0.2515, -0.0122, -0.0068, -1.7026, 7.0496, 1.7851, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7e9a7516c52dfc8a31c393b7bc89445f78841d82a6e5c06b96f06feeee4a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bfd9b4c9e9d5d03932978b90e61434382774dcb4dc7177c528c975c9153b16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533418e71b2f87d01950f3134dd1fd4518efab6612c52b4aea078abf7c1fb9ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDxOM0xL88OufKpGF4E7NiKU5wX8_-QG-TmNar92nRQ8yHKbrX-V_pZSgDWJTGIOiXWVH4nX0Aw9BpiVK1fhsMUco46EQKYIpzEiIIWN8wQWapOQ14Bu7k4gvJrOzZZNBHYGygaJDu5TO76MWIzqhXJGOPXrp6xNVk3J2oPp2OMvgDB82SaQ0Zy9TkgUKzrcNqI_REUX6LGmP6Mb7vCcMNpUt0p4ZDRJRkKJYJl8Xz6Fld33PlLP4W32slJ5JWh_6HGlWjB_Cq8yjgDdcJ--kKE3dz47UfIa8YELc6uX2W-GOcOgYODT5bXiUYahxcdCrwjVip8y4RaDo8MMqRyuvNt3t_2S6Et-U-qL224jXI-JXdAFp3iOcWuEXTFnzecVMKtjHFGzDPSk-4MwpJqMN2mXAa06Ze0oaGweHoww9y45KbetUFEfmav0Qtcm6bYUlIKnj_foLuIuCrZoLRXMDNDueXcV2AOA7DYvDJhfXG2uslJ5wWSoW4jTfZUanDJnLfBxKwwXZijw8i7u6I9QAz_0kVvJRIOujO_jx4BSVQbwo9SIdVCRZ4J8vljl6oa2-ULTWLsUoLeNAjVCM0XcTxmGgNo7d_ZIFNywalguvGnT3DQZ3lffxP1BYSya8U7vpY1Xpz30aHC2RCBTGXlRpibT4X34N8RhsJVqM6XZKA0tlC4lCxiWw_0-1UJdNwHqlDkk3gpDfPSuzwNQLy0paBlEzwDxxSWWh0rTUT7hMN8ce3L5xSLsqeCMs5kfq71ECZKQLl1FYlv70TF1Y6_g8yfTRBH7D25Gqp1obtJ2-mGi-3PEFB8mkKDm6KU_NLLqoPoJCFBgD-RapQo-ojXIVDJeijv3rRufApj-E5kIdxiHrvyEv_Cefkt0J6LqBOgsnHuOUiBf4YKNvvKTuteSMoqYlPa5Fe6nuQUpjCCsoZndOOFuDkL397t7x8GG63BcAycNOepE5cuHrEIRBH_1A3VUdy4WXhZJJa89h1jwWsw5lTvZCzrJhHqg5e8aLB4ojZZZ5VC6YH9cKSYGw4JKj5gUKnn2RFN4QsTevLbDC7SRccpXp3Y_aPEhxr2It6CFvXOI4G0qRaKIOgfucRPqNqsTK0XD34mxd8kiMjD-FoHTLwhJXMiISRyobzjQUDtpVc60S7pCReuniREYiDVKDOBubl6Z74vDBj9dT5cG_Y821Jik0qznD8zCJjkMKroyQlTHo029vIrY4qDnsQX3hLE7Fl-DkRnAhx0z1A8QgDTDT9oS9PYf_dVeFuMvhthHiwtaEGZ9iE0P1eToiyrekvl38FX4VxOqg2encsUxtSnnxB7yQdwlGCb7SrRRb-6vO6q_r4XTKyzEuI_4C1QIqV82H1_FJ_-DinDoyE80hXkJuKaM7a2MVCrfPu_TgB5wTlZ",
  "id": "rs_01a32badeff79e5b016ab420f0c25887d095dc48200534564e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are now beside the gray plush at about 5 cm above the tabletop. I’m closing around its furry body and will check the settled jaw opening before moving it.\"}",
  "call_id": "call_2FnepFKLaQtvRwpygUBQfz4z",
  "id": "fc_01a32badeff79e5b016ab420f1479c87d09438e4143b4fe131",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2FnepFKLaQtvRwpygUBQfz4z",
  "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]: [0.2016, 1.2579, 0.2981, 0.3641, 0.0906, 0.1238, 0.0124, -0.02, 0.8623, 0.6678, -0.4786, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.328 left_y=0.0544 left_z=0.0591 left_yaw=0.046 left_pitch=-0.033 left_roll=0.0616 left_gripper=0.0124 right_x=0.2932 right_y=-0.0049 right_z=0.1703 right_yaw=-0.0091 right_pitch=-0.1116 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -2.5778, 5.1214, 1.4237, 0.1636, 0.0366, 0.9841, -0.1162, -1.7162, 7.1179, 1.6484, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078e9143b4c94e3c59b29f85044994c9efa5f86146be5f6dea19ed7f71ba7b63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc0f99b66c16a245124c1a63520c66f244e6879f09dcce6d64821bfd1201e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0617c3f7b7100aaaffd6f1f914444b4dc6320f1229bade2ef9b8fe92145eca85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 7.522 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 39 changed as sent

message 43 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8505, 1.2018, 0.6014, -0.2447, -0.6502, -0.5518, 0.9995, -0.0189, 0.8532, 0.6682, -0.474, 0.0174, -0.0452, 0.998]\nstate[eef_state]: left_x=0.2814 left_y=-0.1531 left_z=0.1118 left_yaw=-0.0353 left_pitch=-0.0773 left_roll=0.047 left_gripper=0.9995 right_x=0.2934 right_y=-0.005 right_z=0.1739 right_yaw=-0.0123 right_pitch=-0.0974 right_roll=-0.032 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -4.3282, 9.2239, 1.4872, -0.398, -0.0708, -0.0171, 0.4034, -1.8803, 6.9675, 1.8437, 0.0513, 0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1917, 1.2228, 0.2955, 0.2527, 0.0975, 0.1318, 0.9995, -0.02, 0.8612, 0.6678, -0.4789, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.3139 left_y=0.0471 left_z=0.0467 left_yaw=0.0251 left_pitch=-0.1105 left_roll=0.0513 left_gripper=0.9995 right_x=0.293 right_y=-0.0049 right_z=0.1706 right_yaw=-0.0107 right_pitch=-0.1107 right_roll=-0.0308 right_gripper=0.998\nstate[joint_eff]: [0.3214, -3.3299, 5.6684, 0.7643, 0.1783, -0.2515, -0.0122, -0.0068, -1.7026, 7.0496, 1.7851, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2016, 1.2579, 0.2981, 0.3641, 0.0906, 0.1238, 0.0124, -0.02, 0.8623, 0.6678, -0.4786, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.328 left_y=0.0544 left_z=0.0591 left_yaw=0.046 left_pitch=-0.033 left_roll=0.0616 left_gripper=0.0124 right_x=0.2932 right_y=-0.0049 right_z=0.1703 right_yaw=-0.0091 right_pitch=-0.1116 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -2.5778, 5.1214, 1.4237, 0.1636, 0.0366, 0.9841, -0.1162, -1.7162, 7.1179, 1.6484, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078e9143b4c94e3c59b29f85044994c9efa5f86146be5f6dea19ed7f71ba7b63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc0f99b66c16a245124c1a63520c66f244e6879f09dcce6d64821bfd1201e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0617c3f7b7100aaaffd6f1f914444b4dc6320f1229bade2ef9b8fe92145eca85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCD2lwUoxPg8D7TS7kO5X4QUkUQNP-TAroxDaeN2QRAY5B5mm0sZJ9U48Ezpy0zVgPqNatcG_kdqN-AM-pNXMM3RJxyVpdHv-kmsA5XOS9wGDQK9Mihni-PjSei7u0dcrR5aK3zfMRrqxtJnMLfC4aL2yGvcNujA3bOOZFGTxA5fcn4beJxbQWNqsBZvUGlCdvmpBkKEOiFzG9HlfUu2fY47eu8d5ZTpQUVbq57ClmugpaZcEgFMnD8Yo3ebGNDtfkOcEJ7_VQXl4QoZbkFIlHOzdC9kIPpX-6n6PDHTPQiGsJTr1s_4BIQ_XVYOK4YGqBUtc1qsXQoQRxlhOW-esqKKOonQG5InHHIuI5WGE_YbLaYe3rTBD2MNO81kguZ0vmR2wbYoX8ddCL89FniZVRhoS-S1BG_b_E6iI8jWuOLx8cIEClASG_fvWijb6K_UH1Qr4udo8nid1OVbMl3SJGKWcjeEQ0vWF_0AIahqALPI3jGe1453WckVtVhTJ0FIDTOlfF3h74bYUB3LONhPcYB36VtT_XSrlIZESqk5qTKvI7gjZYIF0XNMU0scxtJs0pTBrmwvCctEj-KeyXQcwrZCgnxB7NEcmb0MmEMlEQb6ivaE7QGvu6ZZBgCoRWub3ME-FBbhcCcRVswBGEv37pdV0WlYkLTMzNggBD3zaZznbPWUJK4ETupVrA-LU6GRQ56hCRE8Sf0eKyfXVVUQp8S5RYCdf95Se79dp57TLwddfUVC2eM_mDc47O-7w3WfRVQtOnCQxHHsoaDnTFz6EYsKkic-ativDWwIsvIGvGFfnn1Y5WYT9AFIearbI7nf96N4VFxl5xFU-ljjcvWYu0tf58m8JnfBXf22F7QwqiUR6xmAPUIaWDupbDei2alDY4UlsSXN4DjyIjdE6B9p7JOgxcC93hadlI0lHE8QtXkeV2tqy8pR29qt_op2bK6ftZte18zA_zXs5pfircp1_j8ZiOR-d4W1J7CbiGbVxLpxXQo0FbhRkQxkNdXjTrI4qkV6SJjqB9ieDXKgXqxOZeeFS82waF_TiQHMK89yBipCvIC3yl-cHv7Qdyja3M0BmXZh6rW4pL1SYnfcGjMnraN5fvNV9l_OE6glfmzwai6SG0KJTJA83XitaTyB_O8vKyji0oirJpW9YQogvbMn3gaHw9zP_m6cK4Yiwl6flAkY8iGvnhU4cPHgNBu3u9ED6eo4corIs7-X3eJ0ZFUJmxMUpuj4_GqE1CYaitZWa7pMF29mKl48qLPtJ_rDaMVaGrag29iB4dttrvGdSbLxO5vLgAPRr3YPNIqwTqotC90AdqH1dWsMZ4JgfcuSWsNxp6y9uBH_D5J2enU2FxSRjcNpSHzRiZup9MBnbucOkhqWkZcJUXaTu17ciBI0HUcJ_94Q1U_raZoU1GqLREQ8D_2GME0e0OeCbegrmyehirljI7TYin7aEdEqqL4L_aKycv33PzXLdN2MyjZLjcBgHDi4u_tVlwZe7pH1j-8Oh66AkIUKWxZyxSW5yaMi1OINxd9p_iOfHLR2t5HNFkf4mk60AKgh1zc7np_OFR67m6-uQrjJrzF169Vu7AP7PFc0hT9I90o2DHOfb8Pjq-3V1T7m1H4vfU8zPpg7Yh46yfiDGge1JC6oYg4Ugp00UDOArTER2yoL3p6cQiPZ-e-vWOJZypetY9_pGFUWI1Rw2Wv-XEj6Ct2DNvzx4Kw4skqeXJuD61smO1xbfwfywhnNg-04-WY8qKWApfsp9OeThCubDOXjYRDPS00kOcC4NNkn8RAanA2Azkcoxl1bJnB39i5IpYMDHlcgoeoRUXOfXNYTpxGK6u2WUrnKGhlLBR1bstJqAc-JAXz_fRXouQXRqnprFH_r7D7ED0ICrK0eFCNTMEK6IOpcNVxd-JbVU_PLn2P0rkTk_xr_E2EVPYhKQrvjZot3VUxamvGIiRVOfA3h3QtW6ZC4T7maVXeNHVbLS_GEd_vXcPMXoJlPRbADusYoshpsbxwqdyWJ5-L-TKNJGFypImbM2sFFOT0xclnUR1RzORHmAFqt3V89Fl-rqSD1OVPHbHZml_lDirinOjxSU_dtJQ2dhk3GEYrVNDxf5twFnnlnjwIOXwweMzPrFtcXfFYeLDNQc8NgJKg2tfc85ZA=",
  "id": "rs_01a32badeff79e5b016ab420f3fadc87d09dd308fb986e2f4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.305,\"left_y\":0.05,\"left_z\":0.043},\"note\":\"The jaws closed nearly all the way, so the first gray-plush grasp was empty and nudged it closer to the jaw center. I’m reopening and shifting slightly back to catch its body instead of its leading fur.\"}",
  "call_id": "call_ysYlvj2VZvzLzhu11BslnkDx",
  "id": "fc_01a32badeff79e5b016ab420f5d47c87d0b0a94765385e24a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ysYlvj2VZvzLzhu11BslnkDx",
  "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]: [0.197, 1.211, 0.2092, 0.4667, 0.0902, 0.128, 0.9954, -0.02, 0.8639, 0.6678, -0.4789, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3176 left_y=0.0508 left_z=0.0598 left_yaw=0.0395 left_pitch=0.0267 left_roll=0.0748 left_gripper=0.9954 right_x=0.2932 right_y=-0.0048 right_z=0.1698 right_yaw=-0.0088 right_pitch=-0.1135 right_roll=-0.033 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.1111, 3.9863, 1.3602, 0.0073, -0.1001, -0.1245, -0.212, -1.5795, 7.0222, 1.6581, -0.0659, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e291f8183b4cba3739de8a5eae2fb49170b7e9bee33cb0231021eb1dcb520785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109cc1e50ced9661b8d53e82404b774acc3b5829d985c3ba304f43352b090291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba0707527f3257761543a2047eac8d588b84c39bdb60ac5e2f3fd5bb39fac77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 6.857 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1276, 0.9321, 0.2951, -0.0116, 0.0479, 0.0807, 0.9995, -0.0196, 0.8555, 0.6678, -0.4759, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=0.0323 left_z=0.0777 left_yaw=0.0308 left_pitch=-0.0872 left_roll=0.0445 left_gripper=0.9995 right_x=0.2932 right_y=-0.0048 right_z=0.1727 right_yaw=-0.0104 right_pitch=-0.102 right_roll=-0.0309 right_gripper=0.998\nstate[joint_eff]: [0.0752, -1.5932, 5.3402, 1.7851, 0.2027, 0.0659, -0.0122, 0.0342, -1.7162, 7.1726, 1.6337, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2016, 1.2579, 0.2981, 0.3641, 0.0906, 0.1238, 0.0124, -0.02, 0.8623, 0.6678, -0.4786, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.328 left_y=0.0544 left_z=0.0591 left_yaw=0.046 left_pitch=-0.033 left_roll=0.0616 left_gripper=0.0124 right_x=0.2932 right_y=-0.0049 right_z=0.1703 right_yaw=-0.0091 right_pitch=-0.1116 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -2.5778, 5.1214, 1.4237, 0.1636, 0.0366, 0.9841, -0.1162, -1.7162, 7.1179, 1.6484, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.197, 1.211, 0.2092, 0.4667, 0.0902, 0.128, 0.9954, -0.02, 0.8639, 0.6678, -0.4789, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3176 left_y=0.0508 left_z=0.0598 left_yaw=0.0395 left_pitch=0.0267 left_roll=0.0748 left_gripper=0.9954 right_x=0.2932 right_y=-0.0048 right_z=0.1698 right_yaw=-0.0088 right_pitch=-0.1135 right_roll=-0.033 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.1111, 3.9863, 1.3602, 0.0073, -0.1001, -0.1245, -0.212, -1.5795, 7.0222, 1.6581, -0.0659, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e291f8183b4cba3739de8a5eae2fb49170b7e9bee33cb0231021eb1dcb520785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109cc1e50ced9661b8d53e82404b774acc3b5829d985c3ba304f43352b090291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba0707527f3257761543a2047eac8d588b84c39bdb60ac5e2f3fd5bb39fac77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCD_wvMmhrHplx3k5djy44vjqExndFYiIkIWDyXY_AipNkvEJerWnm6oEoauxlHtYuc0UOufK6QvBxrqEQ5gXXmjB4H1cKb0-PD8H4lkiS7FLCO3pPAPCw5_DTG77CZEWhEmh2l1jYDq1nYAOKkj_UBSy6NPAlLZ0EgfbtusHlSs-GLbWr9ulZGgrn3Z7FdIdME99dWa2WtjV61qJV0ppa6B6ukAFHV8yTFphswielVDRa-egJUu1VeICJzjlSrH_JHZxlEQ8_6RLope7vFnj6XNUlc6lTa1o29taeNbRm_095rUr1VIarEMA74cLqKwFcybH-tykrk_3u9mcTMcTuRwlXWwKVCGT5Px-Vkqk8PtHHYSGDNPkQLdFD9zH60ZUzGr7YYHRORPFJ0wu5btfKNo4SWNaZgPBniJVafqBErblXAV7nFrthIuvfPMiV6xwSUln2cLRtitYP1kxkwr4wcInM3btfJvA4XeSAPu05QlpK8bnU8c9QSHvErGiDX5FmUoSx0GeMNP4nK3Ys7ksoMHFhDNnpsjWbXsWGwXfkkL8jyBKDVVJPQST_jWGXhkkhegPAsM31abG70IyrekwUj5uJkVo-k0Ghe4GSzh5B4I4Q0jxO-GSCCfBWisvl7XVE68Z5FyPZWPazU1t_8NEBBJkq9hviajXzmrFms7oAWSPIyFVh6KwEVdUIPGKhb2bf3a33ab85MqjqHpwQHRIukYnwMuaChvCkrXGCeqS27e8dRCyBRmFs33WbK7pADeiEi0-b4CJKQddGOxyD1uz2eY9NNYqsL5hadKMsS7qlLk7Q9oQiOeJWCyMTf8-fY7rbzOszX8if1lMtwROGMX9QNrOVhvbz1_zBFRbl-RLwfcCIfiQn40TkbbakhQvgBmMrOe576RUKbyR53rXSewq9PGzuTnkv5Mwmcl-xpEynhJt7U5UsP-wymRvgFfnipmbVJBnS-k6gIAfjnC_a0n-chcbZceZSIm9puw9fNH64yIhO4lOEMOJ_fEhWqhPJ2esCZEn0DWKxjs2Qkf9M79Ekm4qHr2jFRP-knPEtprTOjG-fEdLLXk3mX1Pk4RKJgZWiQcUVzZbQ-tic-KxykeZ7016md-MdX8ejlbxEKdWufzVTkkt1tOPqNZIKgTESJo31DJXa_eUmroONeZsaIohT8QaoPHv5L2JlgysoSG4pbwcJs2JAKyVEXTBNcLzVZa3EETVA-tqj7xrbtJDmRQ1zeUMs_YxvnzDe8BQHB2lki0ZZlPmSCaD1nz80cS6IMtI-fnM0kV3lmE4MbW4Any7GHwkJ1kmZaVDEVZVYG5_opIYcNut5-MHZC3toAmX1SzIDNYo8dcnzdWXqiy1PXbx22rYArzRYQi61B8OZAnGiIZQAO6_k1Oqb3itM_3HyvxLiz-9j5mt2gGJqID2OvdtyOeNnMlF8hL3q9WnJAqZliEE1tjFvO_odV8x3NyRme2GTAeCHJLKRkHRujtYfWNMn_eUzzhkj3aO3LWMtfqPUgfAYXLKg2UGJs3UBSFO8qYD56aGjJpyxcg8NkBaaO-lKaHz4MkQKAXhiZdPyoHOI10hPq-FsBfcjlQ2LQt2Fdhpb9X-o-g11hJl_AZD8mRS4SvhqNSDXxyYT3ghtz78zwPyIfL_fnr1oFJ6VoemGIfNHS8gkT3o_YJdi5T5__Fkuwqn0nNLAt_bbW9pLE1cJ6KY7wV3u6IR4bYl0PRCU_IEF8uShHZA-_gqEL0Lzj8dbceF6iWBOoFD_HCcUj5pzttsO-r0DUQigKxy-QXjqx_VAoY7Kpxcpn92W922KeS3YvlfPP1vuwcWig4HPdhHwiHGserY5OvfjF4q6DMDSEVZVdOXQ3vDIHNFPONPlYM767e_rKtv1OayGMNkz5RlOjViLEEFlRf9X3CWQElucG-McT0PgfalPwNEXYRN98yagLp11GA26C-LUgQ4T6aqI9QXDy4AzimCrO6ONV5Gy7kG73WfesME3SoJ_2ZXHkDm2AfNftIBEW_Lnt4OBS03zQlRLDxOw7YpW4YkzJmhT63X3B4AsJASZe9r3efQJkHbY0cch5V4uJoXjgSt2VlQ6dAx7-cHesoW3Y0CYZVGCNeKpG4BBUR9oxBeS1RFcm9r3ElNdUuWWLZ4j5WkCtstt1ic-rFSBemBylvDHiFcgHxAkoYFWHlkV9fOV8KSabYrCoWL-gmfIjEqgmxIuZD6gjhMWbM5KlOdBNlXfd5w__T3kiGLuG8ISKtSdaiVNuWMUx8d84YOW0BRIHqzqdyF2jO8s9aGK4bA4Af1h3KgIkVD6Q06M7BiSqLamv2siYW8cwe9hX_Iv-XCjy_nERMT2Ix0u6jK1fvpCE9nUEz01Lb55rxW6zjfOqcXdgxLdM6LDyFBLRD5Sqje5Xhm65Z3Qk3wZdqUeu35Ur2DmyT6-SUFrNLsPE4z2h825EY4PXc8yrs8MNQViImpeOq0d3VbUgdjJEqxRbYzALjj8hpUFIFy7XbPkwjw50sP_8o93TNUs9GXElk3ejK835Ytf1nZkoqC5UJ_3wnsiiL79TVPJF893ay2r1i927c9x9T8Nseq5dm3jziU4qfE5t7r6aUY6eT8WtklZMks6_JMKGn6ySpf8vvZin5ayOsZQKFfPYaOlcDthGg1dcbD1u75mOlxmBbra-zTSsouPPhSTV8meZMgrRQO3KsoV0tRxF7RMJi83lWN3RqVLIQYXXBOjQS3x5oBKwyZSaYIXP5sNibT2Dbo7cntOMGXyJEqY7jofqbmxS7WsBc3n48Dj0bEHfmS77YZSV6SO0Fyi39P3_-HFXwsc5jCTpuzeIBFsiF0Qto_JsimSKPLMUynDshV4qEnCoYwmWuxCNwevGfFKIM1GS_oq27ZXhuT9vxIOdhIY7wDWw-NaYX6O5UCdTrsYZBQkTRz3aR8og40Fgs-QVsZrcQ9edcI1Ohgf5tozQZdItk0aKX-M3oyPp247tE7lWBeoGF4aw5-_dH6l0kTRZ4_79iFsEHBb34-KLTSCQuu2dj7oS3OaD6PtDfnz_CVL8CuyWDso1F4AdNb8MpvY8AoVKT4yBcbCFSYalEAkt-xEGfYup2fNqQ4iT7r0G5piRMDWnO-NMWqkvRGQpRQNQNa_bG1GI4N0dsZyznJJuu04c_PeQ0Hi5Ef9ncxIReVssI_aL2tomy8AeGeFXha9yKYMgn9PtGbzAKnKhPrcx6Nq5lskvAh9iWJnLomHivR-YaDJzI2RebCfMN_Ehyv329Wcfj4iVr7iqSC8be1_3aJ7kBU6gHWaZSrxdOFO3QXBG3KWb4_Hwl8kPyDl7v5aPY39HP0aQeCh5q1xo1fmrF9xI5aoUfP4B_JjUcPVxuysZKKZ3gxrBbKqOTNCNMEUcGOrhixJNFe-rjRtkwW9eKPVRcIMxLRU_QW3fJZCkSZUSyihm9q3ocExaQr_VOWJbes16sj-Gg7QuVscW6eV8fQDHxxsWHuo6PbcWvPn_S5uruc4w-mpm1dc5by6QBOlC2vEepT3pxOyi3NBf6KU4nTp7X2MEi3u35-5RTsTs2pvgem6gmnqTDqwg4eaHVnZvwybDND6Gs2JdlTncWA2UzFQYoRXfhPklBU-h6OyYB564uUnRTgmeei84BjiEUXCUXYNWk_q4U2ya8gRox1RoSwPJyY67weOKaKm0HDHKMTxwIZRQ-TccpVb7BmqL6Q4D4qblyO7pY4ro2uHSabi0F081YwkPre-AaLJYfBp_qVipOXey7c5nRSZ5ajHG1sCmT5v9TmCOVKX_S6N0vAIJw1SXWE3_ClWNyw4B_zebZeC79d2dhUuPAbXwQOEVqsZnfbK0gmAkv",
  "id": "rs_01a32badeff79e5b016ab420f89d3887d0bbbcae0181e1f869",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCD_GHmUy-PGEYAFjqrh9ZdIA6vSqMpct8WAkp5WxSV2NASn7j1BsD-hqqHZiAgMHhexZu-gux6xxXExOA0hR1G9o1i2aTOZgYOsD-h4RerunkxSABqTG2tqssCd4h2DvQ9yPW033RR1IHJ8WvbQ5B7alfUY9TVRxqWAbV-mMxAYt67NPmJR0LBnhSONtS28fMNFQvc-tuhl6Tfjqxr3Lau6R5IGFwl741R-mQGlTZmH6qoJsM8EyZl74mqdsWMDePKGOATBoFkOIKA5ts0mw6PhUbISY7dWRNLFIg_2pSUJo23IprhktPLoT56JHpp4GJis6S6ynxNMM0h9MNO1T35m8qhjn0-0DuifzKqcg95q-EbBRwUcn6Mm9e5u5yO9G6kxmuHlw63IyfxolzdUCpvr9N38q19SJQyARFj4c2KXytjBeJGR_1tFxa5YrnyPFKNMdnTNwCCs3WFUOP-k1XCxqXlHLewdPsw5LsauKR-BzDvgXpjRmG4GZEJ10CSxqFu3T7q8hLLFttLD2AOUGdr8-aWm87Fa12KRcQor_0LDj7NMtymCfpu59cLE8OBfjJC2QpOasWEL2Q8RxxKHq4dQ7mCYD-rNlOjxQswNIGZGGLfKziRifW1dwvJHCu6U-f_1KFvT2sTkCvPGLmRmKORTep15ZgeNr4isIbezddonc7VSGS4me_0izzGEOCBIjtUnyMcW6JgFF-btsyqCAonm1SdL3avvxBiJtZBGNlA9qMYWKmCxs5XWNFhzC1dD-aF1i9-qIzpjGDjQwwJtRKAnJCEJEFXwpjtW3v13hLZtGmGqfYVaBUw1j16146PmMBlJXVobboO9r8gn6IUNwhIHIm8-g35GvlnznqIS0yQarh9kQI_0XVTur4oboxyPKMl541INR7nGOGUy1RzXAAnLW1oFdjLsR9vrVTRYurYExJLuOlLmQe7ioCi7VW6h7XJ0KaRAK1qDSTGcqEnntTrs2dB8dfgKuNJCywyv-SLh2FIB2caj_yecrtHVWW5YeetlQMEMNuy_hd_7Jk_kVu1IVW7uHuJOLn8-jlda3ix0JYIGkcYIPGM6fXX3_k3jcZW83ssMJn8aYHnM37q7EWIPNs0U4eL-S6s9QTnbKF7LnjSmOKI9NmVXxqzvl6TNrU3u2iIjWpygZSe-XImygZh_-T0zWCsQP-BTp4krjHbJSOUfir04ZUskaUSZEoljE3bvzdVtisHpNJwu1TNfBwoTEumHpLsWePS0vAk-M7_bb79lR_trR01ph6J8gI1qo5YGE9rrsGFTOJE0NnsgtqtUuctKx7YuihlmxG7EoDZspQYfrj2hKAoCWUOF_DIFOWEOboxmuyiitX_1ZrjEVHoXP1of-z8to3ueIJnolN__krejXGRrCsuv0AhDk0t0ftSVvNChMwSIWIilQsuJHpe-8zQxTmmS8Gb6KOND6Y0RRUo=",
  "id": "rs_01a32badeff79e5b016ab420fdc2c087d08dc76ffd7b249665",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":0.045,\"left_z\":0.01},\"note\":\"The gray plush remains just to the left of the open jaws, and the last lowering move stalled above my target height. I’m coming back toward the base to give the arm a better downward angle before another grasp.\"}",
  "call_id": "call_SOs3vUWtBSSVRgnlo0AGwgld",
  "id": "fc_01a32badeff79e5b016ab420fe4f3087d08934f489535a7065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SOs3vUWtBSSVRgnlo0AGwgld",
  "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]: [0.2325, 1.2728, 0.036, 0.8242, 0.1165, 0.1715, 0.9967, -0.02, 0.8639, 0.6678, -0.4789, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3003 left_y=0.0537 left_z=0.0543 left_yaw=0.0275 left_pitch=0.1468 left_roll=0.1239 left_gripper=0.9967 right_x=0.2932 right_y=-0.0049 right_z=0.1698 right_yaw=-0.0091 right_pitch=-0.1135 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.6222, -1.0188, 1.9077, 0.5788, 0.0611, -0.2955, 0.1148, -0.0615, -1.6615, 6.9402, 1.6288, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9ca4b2fc2c1f89090a69f9f7a1c14ba533ea90af412f0ce5fb2996f5924886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6647297aeae3cfa99932b60be3e95d0293323165ec9d6478866df1e0c8dae134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada477167c4bcb979efb14581bad278c787fcfa8ca3fa938ff4806531f60cc3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.801 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 52 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1917, 1.2228, 0.2955, 0.2527, 0.0975, 0.1318, 0.9995, -0.02, 0.8612, 0.6678, -0.4789, 0.0147, -0.046, 0.998]\nstate[eef_state]: left_x=0.3139 left_y=0.0471 left_z=0.0467 left_yaw=0.0251 left_pitch=-0.1105 left_roll=0.0513 left_gripper=0.9995 right_x=0.293 right_y=-0.0049 right_z=0.1706 right_yaw=-0.0107 right_pitch=-0.1107 right_roll=-0.0308 right_gripper=0.998\nstate[joint_eff]: [0.3214, -3.3299, 5.6684, 0.7643, 0.1783, -0.2515, -0.0122, -0.0068, -1.7026, 7.0496, 1.7851, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.197, 1.211, 0.2092, 0.4667, 0.0902, 0.128, 0.9954, -0.02, 0.8639, 0.6678, -0.4789, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3176 left_y=0.0508 left_z=0.0598 left_yaw=0.0395 left_pitch=0.0267 left_roll=0.0748 left_gripper=0.9954 right_x=0.2932 right_y=-0.0048 right_z=0.1698 right_yaw=-0.0088 right_pitch=-0.1135 right_roll=-0.033 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.1111, 3.9863, 1.3602, 0.0073, -0.1001, -0.1245, -0.212, -1.5795, 7.0222, 1.6581, -0.0659, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2325, 1.2728, 0.036, 0.8242, 0.1165, 0.1715, 0.9967, -0.02, 0.8639, 0.6678, -0.4789, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3003 left_y=0.0537 left_z=0.0543 left_yaw=0.0275 left_pitch=0.1468 left_roll=0.1239 left_gripper=0.9967 right_x=0.2932 right_y=-0.0049 right_z=0.1698 right_yaw=-0.0091 right_pitch=-0.1135 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.6222, -1.0188, 1.9077, 0.5788, 0.0611, -0.2955, 0.1148, -0.0615, -1.6615, 6.9402, 1.6288, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9ca4b2fc2c1f89090a69f9f7a1c14ba533ea90af412f0ce5fb2996f5924886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6647297aeae3cfa99932b60be3e95d0293323165ec9d6478866df1e0c8dae134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada477167c4bcb979efb14581bad278c787fcfa8ca3fa938ff4806531f60cc3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCEGW5jL2k5JUr-Z-wq3LGSExXBQ430a3JaHLN3IGphanEOaa9e8qCs9m94UL4OXCk97ItmrtspC72gZhpnSVT0f7AmoioINe1o6QN3RiMMlX68jZ-hEoio3NsXgkTAPRPhz81NwPluYJToCwH2p5o7HcONw7g73ovDvyFhYz7QZruhQJQ960HRPraGF2zlmhqXLP_v7v0AHnd2wWPb_PcD3ZX8LUCt_vVyKJ94gZlcsQq7mWa0YDyBeRbs4j6OtFftwrlg_uIpeCLAzhfsr9Vp64aRJpMrzOkN3ejtV-9J-P5yVmz3BRJca5tdEFbM5-acg8c9VdlGpHhz4x1HPSkH-1WlWvpMMU94-ciNkSFlaNiJNpOuRT6IgJzSw8QnyuNxReETi-YiiY9T4J0ABiHkIe0Jm6pPzSV39W3MgL9gHWF4QnMF62Adr975uNT3gbyPbXFo_VtPfb8c0p4OejvTHMOTXcABLX9tFTUETCJ0tJK6Ch3eorkxNy6Q55vJ1HCOQDVl4ETWGBMHWdrRi-T1tphCztTlNWBUESYqdGKLWGKPCzc-c5nLldFSHlIgBDwyyGl4IDAYPw5Up5CxGsGaij7C2hY3ZUzEVZPiksUDt-CUbinQ1IA6njzRJSWzeDNOHLH7lkTCA1cP4gYE8on7Ul5dfFaErldq8VGccgTXAajx0POZYHf7XttcC4sj3gOwNudoPDjSIERkwgXRbgBn2D8qGnul4_JfYnb4tej2ASxn1oZwzznXj3Nt3-8DrkLDbvKHpA-pI7A2-gLNZcRH2RPrIkavLRN1FCfrbR75d1ft92iUBIoqoeeqx0lo-aHmoTPEH2FE-u4xt3oZj1h99sAYBlNQyBdZ0GF65U6sB9mjfnIECw_Pf_AHAZWtcwRxKu2a141D_SZwFnVl0i9ZhvhARsjwvQWUEeW1KaBjxxQDE89wlqvt78Eb7cYZFY_rziJ36-G23XwTHo39egs9CqXB9XmKctDMiduRIsTtJzeXyXjf3LGDs-Fa98G8AwZ2xHviFdSqDf5NVnuKtcBuxeeI0aEc9zC5SGJof3vJ3JjC4m_qTJLFpVFOXl7xpEePwyWO921MyEDW4-mfqDhroxgIdkmw6oscwUUJ9nsPQiAVoZSevejEC6KEdfSO4rGs-xazE4U6W7M8toEY-jRiH7MXDqUWX9bhLr8EG4o7myzBtdTyqBHioHntUOvPPek7vmhnP1TVqFc5aNs0dg-2oL3x1OAQjjcinXz5PrKG9fBRclOh-teZs4IDdeATpFWj9wilg8W0khFhVl5WyqsvWZ8cp-1ncII5MrFT-aVePhr9Bo-XDkjWvr9JTEWhJxanZycSQn5pbK6MiOTNahtTXWuFTiMlnXHmjiFWaci-jGM-wxVYcA8aY5N-He91eae3OViLCSRyemZDymShF_DgCZ-3CNisDF3CUP8qxU4Ru7m6JcqkDS28b3XyMRkyMfY8yrN_2wNOGEjP45pp5nlD5DQcH9ITDkSaD1aIGCLhpIS3HlfwS7rQDli4pkhUrBKmzR11au4zz-eH5w3HFzD_NZ-9BHJKZpABBGpWIRurrrTVsBOrIS2dl6AHJ8_YTI_SrQsS2b7uiarUUp3Hk9LsFisIc4KJSihT_pdUIZv5aAcDhHTNaaG_X35vAxqfl91eNXP1qW7jlQ9sarhFJ3KVPPP9LnrXDKnaAdumEnE3u9QWtBAWUR_7n_iFD-Kefc6hyMFxDE_g16iyZ814ceQKJ4dc0G__Fk2DU5JLtZQDoqkW12gcVS5oAZUGjjs_usXdhAow1Ccd5uKsMBI0Ee8cIqWnjM-eaMRJIjPjav_XPgcEzZbIKlXtEv1fvIv1YFRQYBhK4K0aZcjuGc9m0FDaGVKBO8IiGQWM0apWm7FwPqFfDGBl_RCKTqdhyFMjiIfb9zYdZkW4dtSXyZn75PAztRqedNIE0HO0E49_7qWifV57dhQ8kR3_2oMGdH3pRjnVcP4eslfK58b0WvQ_7p9dTv7XnFHHCj88so4vjN27GEjfPJ86fikq-wRpkqpnsgS-AoyuX9kkVhJecXcTbxfXpG4eV5Pv0378LbZ54bhZKETgNZxpfaiK1SgwPNNsmYftXeYZ4aNgsWQa5VTlzCP1f5Kzz5nYYocnEiHF1d5M2dXXd3JHpfIVTYJtbonLGftfi0MnbkvL7ZTMJPeULDCQ9jr1btycN7QAJ9OYh0qv8pJihr410Mw84DtMcfSXX8OTZ1oYpo1YNpn82BR5fsdwTxCLeBVe7Ur_xUWw_h2fJ30YMu5A4UQaCSXPl11kMTPbuNiFPZiW1XYkPfp_LaOq6ocuwmanOqp8FevMBT7-dt-feaqzCyuEzNMwPJ7GY0lLQ2f1KGdNwxbSN7E4rd1-Vepbe1ZkEGIus0sN0g_hdC8o29Ujjdu1H-voRsup-WrJqDJoN-tkSxRKPFG0ZaN9PIHD8EnDs1Px6-SpBsOovzqFFFNrR9qyWmTZwrviKzo9U875hRwgutDR8uFtCNjmsOtHwFKq3Jyja8Yk9XZ1dDX6-TdR9uLAN44VynoSDSOU8c2cOPYHWUI751N1YMYxjJKHiVK8SO9jKAFGzreIIjZVu-BViOelPN0nUkI0lHCqIgVaKxg9a9FqZF-BtSL3IW52d-VS03A5Y3gxGKXwv1gXSQ9QprXnFlY3Gj9d7EeZ_PHg5XOBJqAkrpE01RVdUAY84rw9Wt1Mm8NFhKgjcny55owH7ONWT8NcG1zb8wR71p0DEii9-3CvRsafU3QL2p8qODaaaJa_40NrwLpCeOI9TOFG_Ejucw4a7OKkJu92Tzgrt1pAVJdny0jia8x39kBT1sbKSwMpkUbuT-e25H0JzJoeJy5Tuq8hkbgJP6AIgHYysIVxhcopsbXigZKCNg5FX6nGhOKIyhSiYIEjZbXtvib5qBbVVCgScP5__8Et6mxsODJi_nybqD73AOpQHCtVg2uktVCAfDNnuQ92C8qZnvJK_7panNNUxdVpJk8LB1quAy_IzVhJZSI9ZurKzTyoB0co1yRV00vWqd4x73_5V3SDAK6Pup3BYdtN7Jp3O_a-8F3o6vGDXzGP_SDrVUyDOIlnUUn6RFEYmS5fCGY19jkeb1bMWIEVafwLkidiAZH6YZaK8ifbAnCJz-O5sMZD5CcIQs7sToGRdQJko5BRyPWXiNbOP_X22kTnHbsR8jXuEu3S1xtTgsVhseM6uM6jJ9uLvmXkoyj5XNxVlMlb_2pTVhmhST3azKPkUjtAV8EL5n2jtVQxUhVD6AK15WGhkPga7pUzOVYayjFIX3RqXgyKHQeSzTYNsq9qTztGKT_vPu2lrDBpgSsItH_zrlovr144zX8uie8Y3SVmSCCWVTBEkt_EN272Y4LYqwdrjemXM1xhbwcujUFan3J6O1lYoOxlmhpgDZbrMZP15jYvcSM80TKlocvLKL3WwGPAqR9saeJYMUoieF-YpALDZc5aSnqP5Yb1nBiqifOH0xUqXz8zds7bbsfKDPfGBITS4H9QKxXBBRg36SpS4hsbEsVxzimLgiiPcT4Y0_Umi2PQVGZ4iHV4yB597TRXjnSppfG05JkzWIugCJOiJ4xChmcK7zPgKLlYheQhVJcOVcTc=",
  "id": "rs_01a32badeff79e5b016ab42100e5bc87d0be8f51f611c76775",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":0.05,\"left_z\":0.026,\"left_yaw\":-1.2},\"note\":\"The gray animal’s body is beside the gripper at the left-side reach limit, so another sideways approach is unavailable. I’m turning the jaws across its length and lowering a little to try to catch the reachable side without shoving it farther toward the edge.\"}",
  "call_id": "call_ywAdqUHDRVw1rRDxyGNMzSVx",
  "id": "fc_01a32badeff79e5b016ab42105620887d0a5a9c3b475248add",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ywAdqUHDRVw1rRDxyGNMzSVx",
  "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]: [0.5251, 1.3708, 0.1009, 0.8238, 0.5068, 0.4572, 0.9968, -0.0208, 0.8688, 0.667, -0.482, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3009 left_y=0.0794 left_z=0.0578 left_yaw=-0.1622 left_pitch=0.1588 left_roll=0.2269 left_gripper=0.9968 right_x=0.2929 right_y=-0.005 right_z=0.1676 right_yaw=-0.0093 right_pitch=-0.1223 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.1709, -2.3453, 3.9179, 1.1062, 0.3346, -0.022, -0.0073, -0.1299, -2.0581, 7.0085, 1.6337, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a12640d88337c6865b6d0f461c19f87235a6c411d15c64ff314ffae26098130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdba2d0a02d85785532db4778e0f2e083e735834c0eb9ad4f90423f20902e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1266f5275a09f2b37e9a9b8682864003670ebbfb5c3d532308a756c3dddd12d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 11.01 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2016, 1.2579, 0.2981, 0.3641, 0.0906, 0.1238, 0.0124, -0.02, 0.8623, 0.6678, -0.4786, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.328 left_y=0.0544 left_z=0.0591 left_yaw=0.046 left_pitch=-0.033 left_roll=0.0616 left_gripper=0.0124 right_x=0.2932 right_y=-0.0049 right_z=0.1703 right_yaw=-0.0091 right_pitch=-0.1116 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -2.5778, 5.1214, 1.4237, 0.1636, 0.0366, 0.9841, -0.1162, -1.7162, 7.1179, 1.6484, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2325, 1.2728, 0.036, 0.8242, 0.1165, 0.1715, 0.9967, -0.02, 0.8639, 0.6678, -0.4789, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3003 left_y=0.0537 left_z=0.0543 left_yaw=0.0275 left_pitch=0.1468 left_roll=0.1239 left_gripper=0.9967 right_x=0.2932 right_y=-0.0049 right_z=0.1698 right_yaw=-0.0091 right_pitch=-0.1135 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.6222, -1.0188, 1.9077, 0.5788, 0.0611, -0.2955, 0.1148, -0.0615, -1.6615, 6.9402, 1.6288, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.5251, 1.3708, 0.1009, 0.8238, 0.5068, 0.4572, 0.9968, -0.0208, 0.8688, 0.667, -0.482, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3009 left_y=0.0794 left_z=0.0578 left_yaw=-0.1622 left_pitch=0.1588 left_roll=0.2269 left_gripper=0.9968 right_x=0.2929 right_y=-0.005 right_z=0.1676 right_yaw=-0.0093 right_pitch=-0.1223 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.1709, -2.3453, 3.9179, 1.1062, 0.3346, -0.022, -0.0073, -0.1299, -2.0581, 7.0085, 1.6337, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a12640d88337c6865b6d0f461c19f87235a6c411d15c64ff314ffae26098130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdba2d0a02d85785532db4778e0f2e083e735834c0eb9ad4f90423f20902e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1266f5275a09f2b37e9a9b8682864003670ebbfb5c3d532308a756c3dddd12d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCELL14NwSZlRdl1WPfl1ztosUdemy46JvNoORRB1oBMiWOeZv3SISCrlHyiVuEQlyFPvnLJv35F6ALQmO-xKDCwYF-bNzGc-h3eVo59EMEph4K_2vFY97tFdcsmqmYrzF1OW6kVhQwqJSAXN4uzSpPBVpc6ekKGRfByiY5xIwohq2GW0KiTLS3ECVRQstyW1KDCnjXYrjy9UQdHjURhqp-fyPAnFrblnWHGwsFwhu8c-0pAjcBa7dxNgijXsaODxZSKacGHWBxHlUtNsWsjEaiShXZ2yUjntKO54kpYnhkyAgmV0NiyZJp94BjbL9ZMRMVNtdV6wClAFc8AjjtEYbZmmyg9WkGGoXJD6r5CbsFf5yvDmTM8ObowU8q9j3eNWZyG_Gme5FzbkgCnsKWCzLGl200TSzf-ucWAiPkKBuLGFSBKlXE8uN0EhlEcu5iUYu92LRZ-phG-parbvJW6JqHODjviZMzfd3hNNxHKWaUsFU3crCitiG4UScYRJfxMVY6AoXPwh8A7N2OSvOhoOHV17qib5Qr2sxEaHIBones4zpzPHxNOO7Gizqfg-nTDc_gXVQjiANWA-6HNkjXsxftr_iWF0nr7iOEmt5FrAIIwDQNP-DhCBYr_3l9k250nEe290jAzkLi7h-nw03B_cEwz0G4uMXCHfl6lvT-_yUJF5Qz2yOOw58r6bkLO-mUkuhfr8hwcHf1Yc00GEVAOLcGQqFou7_Mh2JVRGEGLIECIfW3I5z-kJzpNc2oUdsa80jHD98l1xDSZLCW0dc9oJorQWFX17Ie2UCVyqcJ-WTBIFW9uPjcQPwyIDiElVQ-pLnHZsQBi0BlxmaKX3DZ3sEQLfUOC9sU-GjV1q4EgDaY2Pump76Yv40MrH10WHbx1svQBrELzk_V_C7V2rDajccz053j6-9gtSS1aaheRtVh0K0ckX-J31fMRdbx8QLWvZ87svOQ3ej7ww9rj051s045bnimoc7F22ENIvGk2BfLZQCaPyfkTGkTo4NrJBiyOYfJD_hbjg3OU7krwqLO3a-6HaqfvnxD7BCZXtlbQp__P5uUndQ3maR0enquhq3tElddMk37BdAM7HJNAGBknPmznDsnrQV2disiV_wreAcp_CUAc8izWqaUt16FYgn3JfQ5QuP5IwpWktG0bH1-VaGhy2LzesnIWl76fE_VdfgDn_YRhFyDYujBW5fwWBGcfcGVCpfpqlrr4uJqKsCPlsUR-uEmY17EnhXIK66SJMmqsur7jLOF_2-mbOP26MTAkhu8a3xQM12dSexKucnfFiyncSUxeYnffylrZCDAU1-ZTuitB8WpLocYzhi_fJkJtfSlV8Oajmxvw5YZE0jquMa3K0Wh7c4WlrRLmpI2QFkCIqepqvxuZswKnzXF38tC4bzWWJsddjITL5Y7xxHx9w3n4EEzrTraXTE1SUoHweCtivhHCg4J7JdM763QuDucJOZz-vvQh8fiE_mfmtDsqofiO7pKUW-VW5jsGFQ6XNXI1ZL-ZWhPLRCLUFiGBDD6qOahWunXVkiCpi6UPTU9hlS-IwIXJ1yPTE3dwQ1z5mn831GlCGwv7kWDXBz91Yi0Tj9wIkMunTKVhJkG91t-GY8xVHinynzA-Ca_gWuaoBevmZTQfV_V-R3g2GAVfaxYCR23OmkvD-vH2Ggz3kVP1eDI448RypV24AEu_ie5L9B06nGG7bwZtprzJyX29Ivd5B7lab8JyAD3M4FU3NyawpYLegS_wHqjnNv5JAWgj_58X4dGeDIHbCGqC6jcEeF1xp69CFBeA5CnKyp-fYgJWtUI3Dy8iHWtIMvqqJP6QI5idGYEdrfQCWceIwoeFSdw4MxEsOrFaf2__TEWjSo0mjgVxv0ADADFeqanGQeMhbn3zq5LUiL9dzdKA-G_W2uYEW08Pu2s1SFXi8NgxTs798VyMYIAk1qr8HQ0DhERCI0zVfEl4ldJ2TqN9lfCfiMhqo0OKTgdoXTtCSXJ-ZcNl_98k29PeBGyQR54xmh5NoCrQ9TcoSZn5eILLqSomItJ7nA0oyqjaG15yGSOYkFtOTZmEpo2Th3xAD7ZJusWQC2jgCIkL9Bcu-LmNhy1RWGUUXh80ZjWUYdDqx4q8452F5uMbX3fqvzGc505_rU2C5i80R_ZiDI5xeSLBsuwhazDcqcuxnf-3190XplsbDJ0IWpZZpjHyoMKBugBG1uH4ZasnYhnWwS2-lyBl8SBvYiZI8gtHMeqL4MMSc4a-S93bGbRHqNQ0pyW-jeZ6QTSY7j0kzRCRodvqW_rpDPJVZt04Bh2Fha3KWeofJH9oPqGn4Dlae4k6RIMatY8jf9WMlmmmxmk=",
  "id": "rs_01a32badeff79e5b016ab4210962dc87d0b95d255d515dbb9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The wrist rotation could not reach the requested angle, but the gray plush’s right-hand side still overlaps the open jaws. I’ll test one more close at this position; if it is empty, I’ll switch to the better-centered objects.\"}",
  "call_id": "call_8BbvKNNrNK7xXhjWBSTZhHwi",
  "id": "fc_01a32badeff79e5b016ab4210b2fec87d0bc2e88a6d087e61e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8BbvKNNrNK7xXhjWBSTZhHwi",
  "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]: [0.3519, 1.3029, 0.0631, 0.87, 0.355, 0.3893, 0.0172, -0.0208, 0.87, 0.6666, -0.4824, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3076 left_y=0.0514 left_z=0.0694 left_yaw=-0.177 left_pitch=0.1959 left_roll=0.2575 left_gripper=0.0172 right_x=0.2928 right_y=-0.005 right_z=0.167 right_yaw=-0.0095 right_pitch=-0.1242 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.9333, 3.494, 1.5507, 0.0269, -0.1343, 0.6764, -0.0615, -1.4701, 7.0085, 1.6581, -0.0122, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577324534a8e64a017d3fb860ba508883aaff7d792c3fb5bfddc6888cb6b4ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b368dac002ffbdb8965bbec2ceaa2ea6a3709c351cd3ad31189cb78acd0c721f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5135c978a664f58e1856671fd68a72d0d9db56c6baadab9d437854f72c087f6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.838 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.197, 1.211, 0.2092, 0.4667, 0.0902, 0.128, 0.9954, -0.02, 0.8639, 0.6678, -0.4789, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3176 left_y=0.0508 left_z=0.0598 left_yaw=0.0395 left_pitch=0.0267 left_roll=0.0748 left_gripper=0.9954 right_x=0.2932 right_y=-0.0048 right_z=0.1698 right_yaw=-0.0088 right_pitch=-0.1135 right_roll=-0.033 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.1111, 3.9863, 1.3602, 0.0073, -0.1001, -0.1245, -0.212, -1.5795, 7.0222, 1.6581, -0.0659, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.5251, 1.3708, 0.1009, 0.8238, 0.5068, 0.4572, 0.9968, -0.0208, 0.8688, 0.667, -0.482, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3009 left_y=0.0794 left_z=0.0578 left_yaw=-0.1622 left_pitch=0.1588 left_roll=0.2269 left_gripper=0.9968 right_x=0.2929 right_y=-0.005 right_z=0.1676 right_yaw=-0.0093 right_pitch=-0.1223 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.1709, -2.3453, 3.9179, 1.1062, 0.3346, -0.022, -0.0073, -0.1299, -2.0581, 7.0085, 1.6337, -0.0513, -0.0562, -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"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3519, 1.3029, 0.0631, 0.87, 0.355, 0.3893, 0.0172, -0.0208, 0.87, 0.6666, -0.4824, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3076 left_y=0.0514 left_z=0.0694 left_yaw=-0.177 left_pitch=0.1959 left_roll=0.2575 left_gripper=0.0172 right_x=0.2928 right_y=-0.005 right_z=0.167 right_yaw=-0.0095 right_pitch=-0.1242 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.9333, 3.494, 1.5507, 0.0269, -0.1343, 0.6764, -0.0615, -1.4701, 7.0085, 1.6581, -0.0122, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577324534a8e64a017d3fb860ba508883aaff7d792c3fb5bfddc6888cb6b4ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b368dac002ffbdb8965bbec2ceaa2ea6a3709c351cd3ad31189cb78acd0c721f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5135c978a664f58e1856671fd68a72d0d9db56c6baadab9d437854f72c087f6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEXCeLS5oPNF8G_uMJwmOrZ5maXkSprCx-yhRL6kpjCl0F_q-rskvG8DwDkASQWel5VIWsnGToOMjxBG80VLQKiP607hrmdPlPP43TMmBqqXANTycVwPfGwsR3NZyQNtZLDDEkbixu1222Blw7N4yTSsu3zZ0gB0SJHLQfj9pAYGgINuyhCNBAFPsy7zO1lJ6PWiSJONcDDj_BPjetK3uLIphNue8h_Yjauz9pW9UXI6XTofMHMowARTwd7_duGLtGKvuC_QH8-zE-EsBKux_Dj0NR1DyyrnjuHF7ddM6M7An_W_rvcqjw0GH-wWvIDXoJlxxFVidQ_o_C4Rcb8O_IWbt2SiCDJiL6Q_3blbWkHVZlJas1QLU4JUYHwAbxrb1VmlgrizBBf8BH8WSRN3n1ewqQ0-i_vS4vdtnrvyI5bBIAvE2PxQsbWRc4wVLzVEeVdiChSryFRXjO6DqXBLAZ2MtD5y2QRRakP7LDZbUgYkNTc0pkJsrni6ws_YGwgNTDMSa2jni3jzYJwVOx2_kl6oxKbVAnOnWONdHhLKGaTYY_bfgw6NzTJEfoDmySlm7r7Jl8cQ-SK_dq7nBwj9cY1vzVyhypXclnsbexev9iXZs9zaZuWhEUbhTBk3wq3JJJxSm4GtHZTmOldwfqlQHcyuYKN-m5cFV6SgSnrouKcL71SmCv7XxYrmi3O68pLCx-lEjB5m3KtFXpzmuJ-qeJnwRTP_JC0HrjQrt6xhNT4jo6Z-6MwmsF3R1Vc6uDr9sinTsONw7MFGnaNkrfb90dVmJoocZxJQ_UsrEchC5N99CO6iQRfP5rsdDU8MXCjvNKxn7ao-B6XHVU0G7EMsm3jK3HxG8AezDMGAZ-bcC_skMACl-NwCmnSzd-9rhZtOpvIHEbBktsGv-4SR15wbAhVP9e4nkTzbsfMNK_JFZgzUR2PScUEXPGGoPTPr-fV6frH7NaDdywkEff3nZOL4BkQotW4-envoBG1eURMusA4cYBu-7fhQtoMJ4n5rQOOtCe-JCsvyIAxtDOsJX2kw8q8Wv2zzLt4wczzaSWe5JBAtQjyaEeTNy_HRMvk7FKEa3DD2uGEAbeQVturpS-BPaizTiZuujnO6Clpkh0C_Q1eVD4EaLlumnXIQsD724_BxBx-dfgDXWlOzqpTTYAg3JuZXMR9AZ_2nCX30qI7XKpODE8k9cBDPVWKMFAxC19mM4FfGonrDnCIOVvl_C6y1G8pNGgeMxmMuoV5XvbX6c0uT7mXGNuJJ1378qRweKgNCroLKEUOS3fY8UZpJJrykkqTVvsWYQOJxIa2YNxnVZugVN4d8AX957TPMgokledtEpip2tkvsf8Gw8TD84x_Dx7_BFIIz1aE7H7ejyBk9eLXccYuC8DJBFL06eYwHTleE9Ts_erpWj4RxA5LwXrhMBHeqJZd13c27CCXzlH7bB1w6sjoqE1YDwgMEgtvHm4wN7hR0-5gHm3_9A441dFTXOp63oBXSQvJ2qyq_Jb3yrkfkM3wEGGxnz3W7O3FvzanrYOhq50cNVQZVYVaZe8rgesedNX-RtRR5zjAZSxpM5q3nGhnOQTGNBTX698xTfH3Dt6Wal_3cFGhOY6x65vQ9Migy1rzzpq2qHempBIQzVh61Iy5wOoNsgUHNVY5I0lSglxtdHtt3i5p_oIaSPx3eKX0lAmle3PtO7UQVrxUfndkwOphgKIQIR-lBGo1O4qIVYuru7m74hBSsM7s2fZcoSvd1t5NqfVQ4yJd35uslI1efP8KWUcWOnZ2IbzA0uRtoNpkFW43R_dQyKV-z8w5xnj84WcTt4G5yOFYUmtYVq99_oqUpYwX9KrwThpMxdb2OaR9NPt1KbSeXEIAWlUxzCFvQS0AWrFZyMI2Y4OTdhJVnAHcEqPZM_0bUcRXYtagAn4--DbnTyZWFMZuJNx6IAEgqSItVcVS66kQzruOQjvlUf2A9mE9odglJylLeI1U-LSCdtYTSPh1rRXT75T1UOCqO5cxjOET-f51PLU5ESL-PRD6lOHzcrdthoruKxcUgn1_2r2gyhnYgnFVQIRQy5gO4KdzwJwD4NKirAm5roorMFKekspXm4luIgboWM32ss0Sb36rmnrL0zAkqzwkOpww-3TflQNGu5fr_P2vb56TJqTDRrNRc-VBSp4OdjSW-AxhOjISIL-aM81rhOXUxx-qErIDLoUADI_DTEYZ-RK4GEBwdEjPP8Zl4MoavRQyfhTCFQUa_BXoET_Pva_qPCaM_rSvXXlnInlenoQTgaNJmuv-Xm4Xzo7AUXd3bi7GEtfj0HQNO_WmkfPJP4lLbmsLpwIbOEPx0c7LFqxnRM513CjphSfMbw_oxR7PB23pfwEF3usIsUdzcIZnSSlAoqksAVWV8muaIHYr0Ybj1jv8iqPbTABcmHZXF5eoX0PILCmh-xEgvktk7XHtvmuNPDnUeoiZKOyrIkTJkvDS_0LRWuuHpHgQht8Wf6mqYo40S4WNrWHyrCsPA-vThyqw2QwFPWOb9EDUST7rc_QHxET042rcx7jTfEp0C3hQ7ikW3D42D2LNvuwnBvIMaUuEIHzHO9phyh8vsdZWO81UQHjXbLCqbNFOL7KdGzsyZfqP4zYaxPWkFFmPmgRPkQvtfDE_hqmF80A2LHCfp_2ZMRO3JYsg2JyQS-KBNIAt1MgxnDY0MTTnS1UrpEd7YedcimYi4tmAnqxUaptnfJuo7rxx0fHAvsuI24yErQZjnNfjDlAN7xTJYM1BUdsFsZ8x6ykZ0Aj32pE_qrI2P1ej3mRZeoAseCKXxX4ok30SVmjt6BZ8wLrbZ1z6npGD5GaHp7dHR9vJ7oUgnQj1d-c0fbzh26rt-PpuZJqjEPZxvH4gj3NbMtu9RrGGTriDJukPc5aAkUWxopYcWa9Hbv5HMW6e48RY2Ety9R7tBrcFqYi-lWzalFzWbguaYWxCCJvTtqqYPhqol_m9gSHuAFqHCG2ewXjMqOEPI_jGcFZLJfPPC1VoVrFFZ4CVY2VB8fHQkIqpLZIq-wxHkVFQrW_OJZMtisQv6xFHE-KhYSeoW9cCNz2zqnYMD_3FgSukixEB7_GqhzkJwWbLuN754PMuHGXM2ByHW-wCkpiaO9RYBcsxYV9oNa7aDoBJ-4WeT0ann7-c8bLAj6daEzImTZRUTxv_Ae_D30nNQ7eXI8MQKDh37NrnhEcbKwToadVVSeb2JU4KJdsVEX6psB3EjSNtqOyRpNbvpqyVagtjpVX7Kr7ofWH6pkf5F3RPQDgb8FvMNlCd-XYLw3q5G0rS59Z6anPGzNBVcBYObuK6K3shqGQ8LkjuhkgAiQoKN3KDoylSFFyhMBI4he1P-FwCYhkfMAsWm1YNh1ghlANl_nrjSK431wLVg6FDDbbWz6nG3P8Wb-ra8-X-F53iBBgZPktyfdFYfreJGzIAhokHTlu1bbkKJL5KXAIDcJBBHFJsi9N9tmPWAyN9QSgjjKJtfTK4LZAF_AQtpcBG39uu-p_ELf4D_2FkVRzuc3A9Yn3nnNOYYWCFsgYtdH_KinXgb-Xr6y5DjMIri8pZQmNgIXFlakRWKTuvnIam3jRotxQ8UzoHC0FWw4U-OLq4jizj6ch7btALhM3uufpFrF_qnFEGXBEqtBSFORybE1GKI_juKAMGIUDeTjt5MMPCbVKE6CD52GB1RBfBP_2j1JZoBxDeq3twDSnD2ul0n3qLApyQtl5AoldMpg==",
  "id": "rs_01a32badeff79e5b016ab4210e0c0087d0af149a20ef4bfa74",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEXNmTBEsv1EHij4k7Xzi-_z7zsjMQYVtDIsupyPqGxh4SwrGNpRAdhZPUZ586dTvpOnzLlBxA7cdVQ7-PYGd17EqrsAglA2I77Xo_RPa_yjq4MzwVjwR8WcKuB3pSMuQR80YQiLzsa__bMGebKB9iQWNe7brN343eDh0UfH1m650Z-7QahvdJ-vf640b45-di4ic_R3S_JpXHOUN-1_RFsVPQY3xYKYTo_tfkRqJrczMLfQZqpebj11MO6KFylTj3IMYMiII7QIzvp33Q4th0fm4AqJqeix9_34s0M2zJE0T6T72iWCaOG1yZipH27tYPw89O97LL57MBllOfiExtAHPMYgiW-6cDURR9vmNVTqUW8Vf56Ml31PQc4DD1iqWTk930jMVeb00rqU6nOL1edAKzkwMZDDroW1ZxGPO1VUGxmYEuofQX-H-MaLyIfpLvwhmsQBFu9xyA3hC1rrF-qo3exYXq8fAP4I_EnMPm47-fCMtrpwmeO3HUdAXeA92XP0WIRJy234a1BI-uKMiW2AVqHChXnWtV9I9THsAMoIztVYhVje0v5RIbIDosbW0pHscA-uJhMZfLsNfJd3Wup0rKgmqynrMJT-coe5oG-YWfMh0aJSuEwdgSWT-pUcV3bx9eX3EfFZVBx4YPPhRQeCATGDro8oCFOE-puzfhXIiON9uKunHg6ekBSt1YKNIxnuOiNVfQ2yvBg78Q4j59DC_dzTiKLvPANiDWbDcH4iK4UwuP-HgpvJ-Fm5tJUC82mNlDxeh5Os7qIOkJfCK4adZi8E5GELkE_A_PbKuHXAWsLlMFkHsztGpwtpUv-w2by_uOlniIGcNLLjp7ilNoaYJEctiQy7Forc692-Et367RR1uueqSajcHMB-qcGioUK7UsiGnXMDMGakf1Qieapd0eePLd_N35TTcxDKLTfvs32222E06bIKbqpuUirzSmp03y3Z8G6tiGtpbLRWAzCwTjEVfFTcPKTI5qOYTyzewu6sMmf0lMtupTX6wBnXToFcpn8vZuEkKotq8FUEn0cXWre2NC2H8JTq1wRdzFbD90niAbvuskzB72uHNmbRNMHJhYtyfYdlkgJk4_uf8pcwGFYc5QYay0xdW3teichGuTR6twPTshyeBVhpsDRjwqaKpCuATnfpTj-UAZwPB6owZiDPzdkt8P8oSokXUbb6YnJM2UFgvJD8OLDUvG5XAKQw3zuL9kewKhOOwRHeSD9YAx7dez48QjrJlQhUX_ok0tPf1Sorv8OiaOAqro7kY59ZkbQEdBUUEbtwfyADr2mcT04PfRminx1hjnmQOa8FSOv79_J67QAOk4vK1ribpm01NfStzKYEhqbQLYjUAGTbdajNfbOGoh1z63sOHFqwRcJgSOQ803ZFbp_GFzJcb99en4eAA6SdPXHYDBEpvgLSB_sSXawWd_7_veOh_pMgVfZUBVrZcYXbpvo2h_NHjFyBXYj877qvQQYGGj6K-HDod8bJWH4vs0w6cyRJw0Ebalb7gHBejv1DWQgaxqP6ufNUnig1qhnLacbDK00-p2UkhXycOCpKy3laSnCtxKDWkUzPcTJBA-Pw9KnC-bbIUokwG_fCuwbZOD91EB3incO9FF_yCX92OMFfYLyUxyMwaw7AwZTLDDeD59Ief3xY1F7xN8Cc8Mqky5JxfmPT5EigghQe7j6Emy4lIahC4mBc3IGogBSzEc_6ImZR_bCRtlghpr4jRFuQgZUfdeKwHNT2sAf3W0dT4lh169XLDPH6YcFDYCDOzaqMLOQc-x8hmyyyV9N_Symf2_li2pkY8kDc2M55DO2m9Zn8eJbZpsu6rB9kaDQ1hKop8a12dCicQewpHSi4RZVYUy7cr9qTkEi9Ft78y4KZNQBV5cM9uQaFl2lb9hljNM0LkohwOVtnI3Q2Lyvsz7eaGAiGMAvcQFofTOc6O3oIWZH6nTeR32luLUu9CWSqhCHmnCT_2AUi8ulERhV4EkC9yN85erFNusP8V_-9qVaMVY6-5BOWHsUDV3TIWZkRFjo5KerxrBAs1ZlVcv2xiJsy2k_NavCiO9sFkMYjagX3YmrL-NKfslBmtANIUYF2gjj1WunE2hhRbMbaOY6QcIcfPd9GO4btitOExl08QZyOz4-RxQqxjxUyg5SDO19Gl1F0wcHK9pibepteboJZJItVeQQNU3kXlsQdBD6li2fuWLhWq8gbdwrIlBSkEo-1zs7sSF8zJQpnwme9X-0nqjXU7sWbsJRbx-YNM0cNHzoUBPBspKVimFWb08Pe8lw7K2i_mMSIzz4ZTkhY-sIyo9N8XCSxVnHsIUZGWJtOH1sINKTB_8P2-O2bN742NchXPlzPQR8UlYJY_SfXrZ-tDdbOwVTdm9GNHMxCmFxHAblzbMOFx-lDSxEgPHEYQDssg4pfqN_rTZtN8iPMbvKtjTMz5D1Lyx4pdAEqDbUKxdlyaDAilyYVCj-0k2Mmpkc-DDO6Qefa3Y01AuuPHIJbmb5eCLWPckE764U7So9iZqiXTF4EpvN38O2rA40dlGy0kLqU977Z-xGDo6bFenJYzNjmDfK9Z1Av8Ny9s82OoECR9qVheT8BvqtHhNhPi1hHvWVBapGwt5Ss1E6puVAdwzxYr_UtK3tng6O83Twkchrfhdy6qNcG2NIoMAsroStDzegH7dg7c9jKEgBBhwPzxGGpcME13uvg_XPOq9YyQ_sn5ub3U1fXl8LPZROBR1Zh-5Y45DkhdIRHmKKmxQWXE3PlmjzFqB8zRH1BNWG2y940XCblPY_aFp86MCN1HRye6991r5xwa8S4EJfnxPHCVBUnUib3xeh_NotDLZkh8NEDY9gfSl5Vs6iaT0IbC-WAn7__CzJCRTzD4aDyvjw9YWS4x-ZEBZU_p5dGqHkwA3RvsO3CrUuZWnaAy6Og3mzJ6Gels-XtSAJxhSi",
  "id": "rs_01a32badeff79e5b016ab42113039c87d0ab56335ae6b0666f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.36,\"left_y\":-0.025,\"left_z\":0.075,\"left_yaw\":0},\"note\":\"That close was empty too, but it shifted the gray plush toward the center; its head now appears to the right of the jaw column. I’m reopening and approaching the head from a little farther forward and inward instead of repeating the same grasp.\"}",
  "call_id": "call_VdN3xMVGn0bVjApI73OS3LKE",
  "id": "fc_01a32badeff79e5b016ab42116e38087d09b3ed17b369d74de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VdN3xMVGn0bVjApI73OS3LKE",
  "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]: [-0.2512, 1.5063, 0.2241, 0.8989, -0.3199, 0.1322, 0.9953, -0.0208, 0.8715, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3546 left_y=-0.03 left_z=0.069 left_yaw=-0.0597 left_pitch=0.1787 left_roll=0.2576 left_gripper=0.9953 right_x=0.2929 right_y=-0.005 right_z=0.1665 right_yaw=-0.0095 right_pitch=-0.1257 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -4.3829, 6.0923, 1.6972, -0.1832, -0.0073, -0.0562, -0.212, -1.7846, 7.1316, 1.5946, -0.0513, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b816cb1cb3d35268494d142a6bf0584071c5378bcd9a444afc8ba307ea85d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6808bfa57f546da63cf53e11aeebcd084e5489578709a1a69082e767d98b8307",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c030967aec4f61590ab3ebc80b65be0f935c11f72196e855cd3285d0ea92b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.439 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 65 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2325, 1.2728, 0.036, 0.8242, 0.1165, 0.1715, 0.9967, -0.02, 0.8639, 0.6678, -0.4789, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3003 left_y=0.0537 left_z=0.0543 left_yaw=0.0275 left_pitch=0.1468 left_roll=0.1239 left_gripper=0.9967 right_x=0.2932 right_y=-0.0049 right_z=0.1698 right_yaw=-0.0091 right_pitch=-0.1135 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.6222, -1.0188, 1.9077, 0.5788, 0.0611, -0.2955, 0.1148, -0.0615, -1.6615, 6.9402, 1.6288, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3519, 1.3029, 0.0631, 0.87, 0.355, 0.3893, 0.0172, -0.0208, 0.87, 0.6666, -0.4824, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3076 left_y=0.0514 left_z=0.0694 left_yaw=-0.177 left_pitch=0.1959 left_roll=0.2575 left_gripper=0.0172 right_x=0.2928 right_y=-0.005 right_z=0.167 right_yaw=-0.0095 right_pitch=-0.1242 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.9333, 3.494, 1.5507, 0.0269, -0.1343, 0.6764, -0.0615, -1.4701, 7.0085, 1.6581, -0.0122, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 1.5063, 0.2241, 0.8989, -0.3199, 0.1322, 0.9953, -0.0208, 0.8715, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3546 left_y=-0.03 left_z=0.069 left_yaw=-0.0597 left_pitch=0.1787 left_roll=0.2576 left_gripper=0.9953 right_x=0.2929 right_y=-0.005 right_z=0.1665 right_yaw=-0.0095 right_pitch=-0.1257 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -4.3829, 6.0923, 1.6972, -0.1832, -0.0073, -0.0562, -0.212, -1.7846, 7.1316, 1.5946, -0.0513, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b816cb1cb3d35268494d142a6bf0584071c5378bcd9a444afc8ba307ea85d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6808bfa57f546da63cf53e11aeebcd084e5489578709a1a69082e767d98b8307",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c030967aec4f61590ab3ebc80b65be0f935c11f72196e855cd3285d0ea92b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEbGmMCImNfqiwl5XXY6uenKpOQB94_B1-XgmH53tpU7HKzGWLSaP6Zfl5MDYu-hskhKm--2vq5gWB5Mzr3R3iK9T5voaKbweO_gSmWDl2TY9o71b2TypG0Xy56R1ZlGuHcJC1u9pyljZHRnrA7pDVwoex-6V1mqNV4LR-SoHKyailqO_WBvCGONRaWMKC2BVlk-LM-a3hYQQo4_lQD4TfNNhvb3bBotffPrF22uKCitFtiYy7DEs8tHIZtCZB-WL3Zo_MKOe_qNTF9K4_z28vf9Vstos4Yle5I4mTuMlCPPz4o6JMYPg5ZEVsFmoRmxNaXhoGfuOnyjflUhFJ4ZQ-Tg82hdkhyZbRU3Tb20mwK6l7pvxt5LiESr_LFjvozAdVgzGOhjWOHkaRkXxZygmh7OYv_12d5U2tKU2AhXQDaQsH_sUlQjQ3tzeKOj_Rb4D3fweviiLXasoV717HityalnDr_2Ti680Rk5-qAHur9rBUd73EE7TMj7_S_fwuNPi-cldXCkpE07AZWuSM8WoLWqk3MScRoRsJzBIQzCv-dJ1JjS816og8AmZmNv4EC044-YiwS1ekzTqWe2CK2dVzm4g-4Og4G8lOnt1mq7iNNTyMo1M65oitL0bN6s_IJVu6nSC7F4tb4ggUjAOu1XPxu5KoECHIAROR9xm13eTdmiwqHNqnwqFqLXbkNL71D6GJ3lwNqoa_7nDbMvQP6j5ujtFcPlNXlZPxe70bc3nAtMpXyRv8Z9Y4za09GLiVw5JD-rajnSHPNRyNt80ZOxpK9Ukjal1FPakrkpnq_M13tGqRNJUwCOqiF-uJzIexpe9eVFjlXYnK0R-TgxXFjgxHu935kCi5eUOsOk-nDtDxd-CoGvnzg01v7wffOVYMbC8_NnuNhMgxH1XfNfe0CgrszzEB_PzAPhdYS8hgbHUVtB5nMxwMctfeXaYq1lsDhIJ1sh9YMDO1-uWx1U-7AdUtJy6oRFQELRpO_haVRujWHzkNtARwEVAhjxZyZRbfvq8ly8gYb-rgVhjgHdobc-jtKu9x99G8D_CUVVKYxDefIXuGEW_nV3WkJiJGCr7CVW4b846FvN1Msfkp03pp3LUGHZUyO7qTYsX95mXt3xh4Ryz3EivvpEsj2g5hbK4d3SkUFay_CPbG2zNvWiFEHoi4w6c-GahAlF2PR2zVelqww7DMyejaAxhnQKE4dZK9ZQCAl1CAWfYstQFN4jGVJn-fYQaZ3h8jKX1RLqp9qrRSzOA1pHERqH45aND9YNo4vxTkO4PbJByJOBolAvGc60W0oUYX0sofr3a2bgaTF2uEe0e4KBlLBFw5zyTi8wnzKTzGfwkFQcNBrq2a8LfMlziHQbPZeaE8QcptEnk6yj1G_Az0u43gdeLBkL6fLlFWMexBrcP2CS9YXbMgQHuso-EKW843DXq9B-7Ufy_zXvra_qw9bOMi-SkqozriM4lg9T3Q7Ap074LcH_ZiFoWAFe_eMWBvfx4_hD6yziGJaj_DPa3h50KlnVeL37g7YKCa8Er7b1PWFcS7tagFlEcMnAJHdgnuyP5QoIIVx54ayN9it7VSjPyk6spLg05SgLg3qXKFcsiRtAA46Hh1B_KdMDKND-XTJabSK4sONkLAwHPAsos-zAnAMCHR45EH01EAoJg5q78ba98NH9EKRq2tH_KEaPX2dkXSrlLrFxM4Fn_5Sf5U=",
  "id": "rs_01a32badeff79e5b016ab42119d72887d0a2ea015173c3fc05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":0.012,\"left_z\":0.028},\"note\":\"The open left gripper is now ahead of the gray plush, whose body shows at the bottom-left of the wrist view. I’m backing the fingertips over its body and lowering to a firmer grasp height.\"}",
  "call_id": "call_OEKVKt0DL4dnKLKlIRpLMl2G",
  "id": "fc_01a32badeff79e5b016ab4211ad12c87d0b7e9f684d9969746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OEKVKt0DL4dnKLKlIRpLMl2G",
  "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]: [-0.0719, 1.755, 0.0525, 1.3708, -0.2008, 0.2127, 0.9966, -0.0208, 0.8734, 0.6662, -0.4824, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3277 left_y=0.0153 left_z=0.0418 left_yaw=-0.0245 left_pitch=0.2128 left_roll=0.2856 left_gripper=0.9966 right_x=0.293 right_y=-0.0051 right_z=0.1659 right_yaw=-0.0099 right_pitch=-0.128 right_roll=-0.0331 right_gripper=0.998\nstate[joint_eff]: [0.1846, -3.6718, 0.1436, 0.7057, 0.0562, -0.5348, 0.1343, -0.1299, -1.8256, 7.2684, 1.6532, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00047245058c39e7ab3bbb96ba5001961f0604c3b773bfe45c07c94c5e6b0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a44c56aeaa6363d527750a8408f027464fe77f85074f321de1b274c1dc3c71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44b7acff075e3f0099a8a5d98ef4fa9d1ebdf4ab557dcbd18c2613f7a34ba8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.309 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 65 changed as sent

message 69 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.5251, 1.3708, 0.1009, 0.8238, 0.5068, 0.4572, 0.9968, -0.0208, 0.8688, 0.667, -0.482, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3009 left_y=0.0794 left_z=0.0578 left_yaw=-0.1622 left_pitch=0.1588 left_roll=0.2269 left_gripper=0.9968 right_x=0.2929 right_y=-0.005 right_z=0.1676 right_yaw=-0.0093 right_pitch=-0.1223 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [0.1709, -2.3453, 3.9179, 1.1062, 0.3346, -0.022, -0.0073, -0.1299, -2.0581, 7.0085, 1.6337, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 1.5063, 0.2241, 0.8989, -0.3199, 0.1322, 0.9953, -0.0208, 0.8715, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3546 left_y=-0.03 left_z=0.069 left_yaw=-0.0597 left_pitch=0.1787 left_roll=0.2576 left_gripper=0.9953 right_x=0.2929 right_y=-0.005 right_z=0.1665 right_yaw=-0.0095 right_pitch=-0.1257 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -4.3829, 6.0923, 1.6972, -0.1832, -0.0073, -0.0562, -0.212, -1.7846, 7.1316, 1.5946, -0.0513, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0719, 1.755, 0.0525, 1.3708, -0.2008, 0.2127, 0.9966, -0.0208, 0.8734, 0.6662, -0.4824, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3277 left_y=0.0153 left_z=0.0418 left_yaw=-0.0245 left_pitch=0.2128 left_roll=0.2856 left_gripper=0.9966 right_x=0.293 right_y=-0.0051 right_z=0.1659 right_yaw=-0.0099 right_pitch=-0.128 right_roll=-0.0331 right_gripper=0.998\nstate[joint_eff]: [0.1846, -3.6718, 0.1436, 0.7057, 0.0562, -0.5348, 0.1343, -0.1299, -1.8256, 7.2684, 1.6532, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00047245058c39e7ab3bbb96ba5001961f0604c3b773bfe45c07c94c5e6b0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a44c56aeaa6363d527750a8408f027464fe77f85074f321de1b274c1dc3c71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44b7acff075e3f0099a8a5d98ef4fa9d1ebdf4ab557dcbd18c2613f7a34ba8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_01a32badeff79e5b016ab4211d396887d0b35f116f93c732b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now occupies the space between the left fingertips at a lower, more centered pose. I’m closing on its body and will verify by jaw opening and then a lift.\"}",
  "call_id": "call_EG8vaPJrgsRJpnjNdeNR7TGs",
  "id": "fc_01a32badeff79e5b016ab4211d915887d0848b53a568901246",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EG8vaPJrgsRJpnjNdeNR7TGs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0689, 1.7576, 0.0498, 1.4364, -0.2131, 0.2207, 0.0381, -0.0208, 0.8753, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3311 left_y=0.0182 left_z=0.0557 left_yaw=-0.0142 left_pitch=0.2719 left_roll=0.2939 left_gripper=0.0381 right_x=0.2931 right_y=-0.005 right_z=0.1654 right_yaw=-0.0095 right_pitch=-0.1295 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -4.8615, 2.5641, 1.2039, 0.1294, -0.0317, 1.2625, -0.2393, -1.8803, 6.9402, 1.6532, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0552df4442760777c15bf6fb14e09fa06500a5d138d0aad36e398f3dc81a4ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de097196be697b1b987ae60de8f5af17011268112ab34db04f40a3ed0257d21d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c16f1f9f8c5da23650741a89a66999c179de988c0cd7d2eb522f0581c082e8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 8.337 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3519, 1.3029, 0.0631, 0.87, 0.355, 0.3893, 0.0172, -0.0208, 0.87, 0.6666, -0.4824, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3076 left_y=0.0514 left_z=0.0694 left_yaw=-0.177 left_pitch=0.1959 left_roll=0.2575 left_gripper=0.0172 right_x=0.2928 right_y=-0.005 right_z=0.167 right_yaw=-0.0095 right_pitch=-0.1242 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.9333, 3.494, 1.5507, 0.0269, -0.1343, 0.6764, -0.0615, -1.4701, 7.0085, 1.6581, -0.0122, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0719, 1.755, 0.0525, 1.3708, -0.2008, 0.2127, 0.9966, -0.0208, 0.8734, 0.6662, -0.4824, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3277 left_y=0.0153 left_z=0.0418 left_yaw=-0.0245 left_pitch=0.2128 left_roll=0.2856 left_gripper=0.9966 right_x=0.293 right_y=-0.0051 right_z=0.1659 right_yaw=-0.0099 right_pitch=-0.128 right_roll=-0.0331 right_gripper=0.998\nstate[joint_eff]: [0.1846, -3.6718, 0.1436, 0.7057, 0.0562, -0.5348, 0.1343, -0.1299, -1.8256, 7.2684, 1.6532, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0689, 1.7576, 0.0498, 1.4364, -0.2131, 0.2207, 0.0381, -0.0208, 0.8753, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3311 left_y=0.0182 left_z=0.0557 left_yaw=-0.0142 left_pitch=0.2719 left_roll=0.2939 left_gripper=0.0381 right_x=0.2931 right_y=-0.005 right_z=0.1654 right_yaw=-0.0095 right_pitch=-0.1295 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -4.8615, 2.5641, 1.2039, 0.1294, -0.0317, 1.2625, -0.2393, -1.8803, 6.9402, 1.6532, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0552df4442760777c15bf6fb14e09fa06500a5d138d0aad36e398f3dc81a4ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de097196be697b1b987ae60de8f5af17011268112ab34db04f40a3ed0257d21d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c16f1f9f8c5da23650741a89a66999c179de988c0cd7d2eb522f0581c082e8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCEhz5d9YBmTJFKgFEfZPr9I4DWZqqkT5GaxhdB0Nnnt61oGV1ikA71L-01Pjildv5jGgRAYJAr-3jwiEZ8u95BROLLbhkB8qXgXfjL1w2p0FAGjUJBknNq8Ovgnl-S0-pd6UOFuU3Ik9rjXQHYbpmNbPHGtsx5-wQ09iV-L_AdCtspcjMefr6v0yxXHgFQUFAaGLHp-Z9CniuVxXk4LUoMjpkEIsXNNW5qNIJFSZ6ueXnFIUJELmNPn-PqCS41waRelRSP-bQByiMkcngS-kwMD17Lxd7yrlUehBNk8hqvuzIF3gUyQtMx4YkV08WP5Qb1dI4Qj3Tjp0BfxQwwqL7kW9ce2ORqyAyyie5AkNstEGxadynaI5zpOXHQxSyoeCPLbDq3m99tUtyNWmSIbWJhMV6vX65RxiKeCJzTWrrKCPq7aMR3eL_2K-CoDsDZ45AolSp3_LFpEOUokcwpbKjEu2UfQ48ReYFLkDh1Pqin2NR_zMUUWWTsuTPrZjRMwzlvTYU_oKi6-wDV3DdkqHH5wPY9WiYjooOjhuDVegISIlQPOY3lajAjS6i6xSQBE7oAH4SmO1YRtqtERVyg3r-ZnAxy1JmHEbsDXVKcDJV1k_yyA9K18NStmLMJJI77Y92dabE4bf4rcNVV88atAZ3j4pTL3I9xniHMKtNxCO4XHB9dmdBNVRzluekfKzRR4esMmKZdU9OEbVzoyT-Q0wGh3b_g_IW-z075hOzT3RW8bqbIqgS6zgdPH5E5lXpTNTv9j3a5GynS6U1yCqkmdNlFdcAp-wzWiqghqnOoxfu5RUjWpI_zxlponEwdF8n5rfaexPmq7SDCivtzIFzvPxQEoTfWpnMUYvStUlpRqrTmcQmUhzJ4K0-xrtTzkZ5fImJ1sOD48sFtS96HHPhdwKpky0OHaDKuJcPPH7Sl7GnT-ACj5YA2H-JoUBiQQ3y9GhxejisI438EYfg1Q8pY2w0oVgZ3QhyRyJQpLtKoBU78zC5jGsRCN72z0JMyi64Yo75KGqWHgsIJc6o__wWyRJE7k4qwkWKgefsrIpHKtRm9kK-BUWQt4M5x6z8bdZ3P-6yfvaVH6rIewKj84EUMSQaeuXicZJPviSm2DFGaEcLfq9fBdViy7-bp9iHvZoHe3NvmuF7qk3ZkvtTrpOIZdgntgmAIb7ajNjvirFjJbDenG64fOKtCtDfxDQi2J__va0EGzXq0bFLCmnWFHTlnr9lkg8uxVhPJjAWrSLaPzpfItroouSf5uasfhtoLxk_KA8Ongc0urPMGWT_w8vzgtLXDSXboLhTw3n8exZjecYDB-ewU=",
  "id": "rs_01a32badeff79e5b016ab4212091ec87d0b6f4196813d9030e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The jaws settled at about 0.038, right on the empty-versus-holding threshold for this rig. I’m lifting straight up to see whether the gray plush follows before trying to transport it.\"}",
  "call_id": "call_xkeEdtQ3iIsD8KbcnucbKn8E",
  "id": "fc_01a32badeff79e5b016ab42120e99c87d08a87ea1c2a74b250",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xkeEdtQ3iIsD8KbcnucbKn8E",
  "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]: [-0.0685, 0.9657, 0.2409, 0.4889, -0.2131, 0.2161, 0.039, -0.0208, 0.881, 0.6651, -0.4858, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3313 left_y=0.0183 left_z=0.1551 left_yaw=-0.0108 left_pitch=0.3081 left_roll=0.2873 left_gripper=0.039 right_x=0.2926 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0096 right_pitch=-0.1402 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.4137, 9.1966, 2.0049, -0.0317, -0.0024, 1.0281, -0.1846, -2.1949, 7.0222, 1.6825, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033ea0768f7fda5019d8b2edc837317987c9a5b15c9eba5cb6760e9e39b35a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9faad4ce0a759c54a01ba74d200dfaa81fdec128ef73a770ae96a20d957ea648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89b4c0dfea75ae8f1efee7a54107f4ec08512c1f28f71cde995921a368e725e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 8.698 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2512, 1.5063, 0.2241, 0.8989, -0.3199, 0.1322, 0.9953, -0.0208, 0.8715, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3546 left_y=-0.03 left_z=0.069 left_yaw=-0.0597 left_pitch=0.1787 left_roll=0.2576 left_gripper=0.9953 right_x=0.2929 right_y=-0.005 right_z=0.1665 right_yaw=-0.0095 right_pitch=-0.1257 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -4.3829, 6.0923, 1.6972, -0.1832, -0.0073, -0.0562, -0.212, -1.7846, 7.1316, 1.5946, -0.0513, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0689, 1.7576, 0.0498, 1.4364, -0.2131, 0.2207, 0.0381, -0.0208, 0.8753, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3311 left_y=0.0182 left_z=0.0557 left_yaw=-0.0142 left_pitch=0.2719 left_roll=0.2939 left_gripper=0.0381 right_x=0.2931 right_y=-0.005 right_z=0.1654 right_yaw=-0.0095 right_pitch=-0.1295 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -4.8615, 2.5641, 1.2039, 0.1294, -0.0317, 1.2625, -0.2393, -1.8803, 6.9402, 1.6532, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9657, 0.2409, 0.4889, -0.2131, 0.2161, 0.039, -0.0208, 0.881, 0.6651, -0.4858, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3313 left_y=0.0183 left_z=0.1551 left_yaw=-0.0108 left_pitch=0.3081 left_roll=0.2873 left_gripper=0.039 right_x=0.2926 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0096 right_pitch=-0.1402 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.4137, 9.1966, 2.0049, -0.0317, -0.0024, 1.0281, -0.1846, -2.1949, 7.0222, 1.6825, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033ea0768f7fda5019d8b2edc837317987c9a5b15c9eba5cb6760e9e39b35a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9faad4ce0a759c54a01ba74d200dfaa81fdec128ef73a770ae96a20d957ea648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89b4c0dfea75ae8f1efee7a54107f4ec08512c1f28f71cde995921a368e725e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01a32badeff79e5b016ab4212351e087d0b009cde5b807dc91",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEqkP0qZ21U_oX_Xf9HI5n7H09fnjKAh-BShpPVsqtXJj8KD7SpBc0HALIBxyWtIVoF63IxTnNvjmRBkVI4K8P6igUNBudVxXn7uSibDPI2zn__MgB4ty_JrwIrnqRLFXl9FyjL-gVOAugFJOUPMGsNTQaKRZdUhG2bov1yfy6UsQI-IEHay9UUhfQmqyHkDJB9nWrvOwmX6PtXHnngGhuzkxlsdegsHFrY1soBpNKvqKYklCabhzWXJCx5dxgEYo818Gi2OfrVzzHl0Ieqnvg-w_1B7ZlQndBFFeFaWAQDUsVGxMypkwCzGW6FD8LJdoVWvkO2LTIVKhojrQcshQk-NbmhIaORrsSQrkFdry3RaIF94UtTO0XE-Icros4HxLx_RCogjgkK6jPCP6ds1VD7ncVdQ5SuIPDi9b9LbZDQYHBg0aZFSaBA94Qx-cFcLUQKLez8ihShK9OHQ6NP2QTY-16hb61MZnBS7sq9A4sJq1wrYimWLAynKt8M-Pq0Vppwd0e1ZoUUFtRVzg8kz6TTg5dR7VWuZE27UBQ0B1SWPb02zO_uDkbFOs6yZ3rah0Z08vL0HGyEFEdKovto1PX8AWV54Vx61yVb7ud239gejOVl7D3svYR8N2YAr_maTobIe4Nh4wWVrn6-8G6OBUjHYp7vCHOnX3S1ArQ7zb0B15qkZ8yfmmLybmHy8WaUAjSr9GIi62ZtK_InTjX1kobOUMkh4ig4bvHdk7ncaPdxvZV7_QsztNsRqdmW56NVybUzDVGWzKile9vK6kzdbMwNNtDP1naZ-8GHxFMrQKswAuqFuzEd7J66IjgL8plhbd2LVeBtP-_yIaHQlXI9uSzuxDx-VE5qd6MJ0jS-wz-ReabYORpCTZkW5OajoKI8gFEz6IshznuzlmtzSCmnP-FbXkxBC6rJcCHSPz0KkEJoSjYOfrRHXtN3iFJNdw9Rl7B8fO460NMppAUbKNg6toxfAGXW0CemiGZVQZ5v-3jGut-BZ4byy4__SqoNGDgxccfKmRg8QzGZyDt6ETawlM7n_cwrYa9uQqVU5W6m0L_Kgt98XQIOx1ovA1IP_s8nwE9BCsZGdtPHTcjmVsbqjUmwY4GO7F2xIquLVOkwlwlA5c-F9Mvi-iwVVGN5co7VXr152EkuemXZfRJycBtI69RKMCN68ekeH0TO9Jr7F50XL9AcGp9iNlitZW1lZbNBnWHRiAFwExq2s8Glh0wO-V8bvqwH4SN_WfguQy7-5Vp6g56pNoR6cP7fng8XN5dwCmsuhWcvcbbDjnvbzeQWLT_9GKKS9TTiZYsRBgdNR2qrxc2W-rxjMiHYG_L-6KjMbUWF2YIyObSI9ab6nuV6BLKc7v5RDl2dNQXnlWWz9PLMn8JipuPA8YXVHpy4dimnCDKDv5sfrGKpVmyRJ2i5GTM6BPZMIs7tWrfOmYaQIwK-nUmNNFSFaNQ3gCJMjkO4PmYbGv9VnF0hiqjhpfk-rIAvt595reV5GEWuL-uaAh35KhfSPeCJmc7KdI3jdn7Qix-VzJR6rKZKgU0Vs_NCOZillpowu_Y8OVRBZ1y-f9ZCXx7bte82aSdZu2Rv4LWJcPrIeCE9N_WMCcRD9VJm86eFBfZjZsyZNWbvtQ1XlV8ygqlLXMBYIqm0TmXMZWeB7VOQb6DUCGZPxW6khZITBSzuFdVxD4gZD8rjfwixvrYiYXwBPLAHMR_3Q3hN847TM9Iwnf7snrW8Pjc6E2X2fAihJ61Y_8ofMoThs9wVMMmHRzqkuNLJJTaXA-NZpC2IDeHy4x7zcc_VBQizikLUqU3rSxD5JHrJIoIbdJYvda9Lk_tcbCSYf4nCIZFpCBuYbmYvL7xe6JPUIDnJCVE2E4KQnekLOAkYGSLk4uThOYIJonwXButSj2_VoINXKyh6F0qMWdoECGz4usHnDQh2J68Z1ICsttERTNgi9nPi-iCildKGmNJUKyz0TWmDG0vqyzpU3WKH26OAT_W9W6Wr536BW9nGmvloqECqRvhZCpOWGN0W8tMAoxJLPGaKTXuKSDo1",
  "id": "rs_01a32badeff79e5b016ab42127f10487d0809432fa69df86ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.19,\"left_z\":0.095,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The plush did not rise with the gripper; the near-zero jaw opening was an empty close. Looking at the overhead image, the loose toys are farther toward the center and nearer the bases than my left-side approach, so I’m moving the open gripper over the central pile.\"}",
  "call_id": "call_88q0YsxRXGiXHHC8R0OPeHnd",
  "id": "fc_01a32badeff79e5b016ab42129bb6887d08117d425523bdf6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_88q0YsxRXGiXHHC8R0OPeHnd",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1545, 1.2911, 0.5472, -0.244, -0.8761, -0.8341, 0.9981, -0.0208, 0.886, 0.6628, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1896 left_z=0.0912 left_yaw=-0.0414 left_pitch=-0.0029 left_roll=0.0332 left_gripper=0.9981 right_x=0.2919 right_y=-0.005 right_z=0.1596 right_yaw=-0.0095 right_pitch=-0.1512 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -4.2735, 7.3504, 1.0134, -0.5836, -0.0904, -0.0122, -0.212, -2.0171, 7.1043, 1.6777, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010428580047924e0edfff57274065404a49af1f8217d647a264cb7d43699ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7626b1e5c6a41c755b6693eb485926723aacc0334fe61d16e139b13b86c2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938d758b8dd0aa14a2dd6e43ebabb53cf817b71e26a9157d6086f8850bdbc352",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.604 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 82 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0719, 1.755, 0.0525, 1.3708, -0.2008, 0.2127, 0.9966, -0.0208, 0.8734, 0.6662, -0.4824, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.3277 left_y=0.0153 left_z=0.0418 left_yaw=-0.0245 left_pitch=0.2128 left_roll=0.2856 left_gripper=0.9966 right_x=0.293 right_y=-0.0051 right_z=0.1659 right_yaw=-0.0099 right_pitch=-0.128 right_roll=-0.0331 right_gripper=0.998\nstate[joint_eff]: [0.1846, -3.6718, 0.1436, 0.7057, 0.0562, -0.5348, 0.1343, -0.1299, -1.8256, 7.2684, 1.6532, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9657, 0.2409, 0.4889, -0.2131, 0.2161, 0.039, -0.0208, 0.881, 0.6651, -0.4858, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3313 left_y=0.0183 left_z=0.1551 left_yaw=-0.0108 left_pitch=0.3081 left_roll=0.2873 left_gripper=0.039 right_x=0.2926 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0096 right_pitch=-0.1402 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.4137, 9.1966, 2.0049, -0.0317, -0.0024, 1.0281, -0.1846, -2.1949, 7.0222, 1.6825, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1545, 1.2911, 0.5472, -0.244, -0.8761, -0.8341, 0.9981, -0.0208, 0.886, 0.6628, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1896 left_z=0.0912 left_yaw=-0.0414 left_pitch=-0.0029 left_roll=0.0332 left_gripper=0.9981 right_x=0.2919 right_y=-0.005 right_z=0.1596 right_yaw=-0.0095 right_pitch=-0.1512 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -4.2735, 7.3504, 1.0134, -0.5836, -0.0904, -0.0122, -0.212, -2.0171, 7.1043, 1.6777, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010428580047924e0edfff57274065404a49af1f8217d647a264cb7d43699ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7626b1e5c6a41c755b6693eb485926723aacc0334fe61d16e139b13b86c2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938d758b8dd0aa14a2dd6e43ebabb53cf817b71e26a9157d6086f8850bdbc352",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCE1mZOiLPlgtFxsEyxJedM0HVNy3xRoUqjAS4bfO2609x-T005KJSaaMop4Ox7Z-C8KR8btLzX7YUnLuGYmUZTwKhRouBcpShtqm92l82gMHb75DGzYwt7mCLqpwih8Jo0qa5xkTHEk2Va3MHyNusI_ELlovoNqPve5590p6Yuj_DfIvD7BVpWhEQ7Ubw4YVELPyS6exBxVttyKYdv_cDXResOz7TLinPMmyeb3ECy8Bsr7A1Gm6kpR4l6B3CLEfFEfU7o6RBrnC0TRpuLyjyC3ejc9GzmQ1fbp0-yGgremqe-7XEsJxbOZgGA8TsjXuWlN9cSCf1JDu8obZRAiHszUdSo05LmeUT0LECUX0PyGMXp020gQQYJ76j07y1YmJ9gk94Vk-PyoFvYtM1-lzIqioKm2CQDEifq2azk2BcFWLwxOehuFv3riUe6z8sfwy3vV-QNnD_7izXkHMUbuEei636GQP-K03MoY8Xgr4d3OED2L5kfTVHaBxggVOB_la6sNGdgJKgX9KnB6wEA-9XJsNiQ9e0XEo0XVTYbQBr1A6il8sttILCdvanQ0on5aABADAVPYwLiNsA269qsPfcM6ujTSlohmEFmjdrTceUCTYUYdclTs8YJFCAi_VCkXQdXnTdtpN2p4rdWbq70DxPeD7n6grXAjyISUmUXjDva_bSY9EfI5NChw_H1vBQtdyC4FwhAZGcu9jYNpM44qyEbewcPEfeJGp7GvqnhBIGxZw1TAQRNA6LVUlUio49WJP0gBxNd3rZlNQ45mIvAPG-0jo8srxrj5IF2hL6-1c86XfzNVuL5ky3DQgYXVe4Ax4KO0KsTHcHPAQLPpILvP0eKWh2J2PpitRzfPtPdkca3C1SL4s9Oe1U2ce4ZBm01f37xuCMq9GmvKXY0SPzbTSI7gTfDKqCm-lyFVg_NVqDet2gwkj1UfOxvkOd3-0THWuxXOVtofUzpXji91Gp0NltT5SlZEdC3q9o--htIsoEF-gOy3uWKWJUCD2CyRuZEDD2FYgVPAQxSsGRxXy9ACY9AgwfX_hph0KrN8HufNABI3VCYxUllDvVNVtShcPhqR-tTa_kx95LcoXFU2EM68k1_Mouo_eD8i_PDZ8eyQfnFe40dG9QKZM-dnom5SttzixaWmTbqfdcI4vgFZTEe3Wbs2_TKeBxVftOm2zJsBlgw4MJb-xMWwmWvdb8JIz2Lxs75Vl0kZLW2bA7W_SC9FXp6fNsG44GuwanHQZrRirYMWMotjhXLDxhGuaaSXRQri-GRYIc0dgj4Dt4645aGCAj36JTP4QxpDmjxhG8OJ7rnl7NxGkGeD-f2zV6qWeUYPuPwvPhSLZACz59ZRGuPwLnOTgluwlrArOZMie74pjk0o4DCzNmirQijmPsZIyQfdYGL2mdGS37mKnY_KOWOnuL0VWzJqcFx99DDKsLVRxk9tjPU3KRCIzbvHwfusAPvMs3ZMWTib3b4USaCJzztANgVxnGQPnmJCnfZjTtzPsAy4klNFgssING1d_u9mFWV5zqLo6zgZFoF1l53cB3uSHydDxWMAfjPZft3_wae7n8oZM_Xdz9ZSjWXt2hnP4dUy3RIrfUEWp-QgmrTmz8JJ-2rWtOV7Uwd8YOtBPrOyNF9bZf_y6e16Yf9SY0ufdXfiQlGRFLmbVz8UIzX4s6KZmD6g3q-4UVQNHRk7Ky0GBRQwgnb5FdpYBO3IrbLdq4zEHceR0iYk02-Id0EpY3hDFa3tbWYwXnsDxIaTxVv4qHzQnECcwjexfFZjse1V1Eo4L1xZDyr4kzixCQ3OkCrmV4eUO3FFCqBAQkM0nwY3B26G-_zbXveWSl70Jb8u85o9CXnrKK9nvvZjXq59FOzc9hEq5sPbHDRKvzE1yLIBCGmngVHDYA2ZmaNFT7jVuxNXT9mULlPRsSeUekVtGHVPig7OoIcuhvgd9sLv4HoS_mO8zWo0p03A6MpG1WQrBxbMGWTBqp8_VzOSdUBSrKMTlZuAkU7guUvFhaYmaMEntFTALG42JPE0DeTAYVLUgmNmds2whtf7WGijWtdK_0NM77MRfjy2LQOqPtkUjQ0R8ME6qPc5UnbsclqOWNfkYsOSbtsNGVQrCkTXq2IofxVt_V1C7wHrxLZe-0BdGxnmNK61EPnRawC6ZTCz7SSr4iLGvVF10yAcMdHaWVpYb85A6kzN7lvFgY1y4rSdLYQLGsVJHRBZ3isuABGbVgokCL9TDgmfL4ahhs18qDAZyUEHKxZ4lNeyd09SZ2pRgjbZPjQfNBlkTndb8TDjDn-ejiCEpU3PHiJQPopgHDSEx_nwMLeiCk_PPKYh-M-2DeLtsMR01DyV5plHaAAk16kmGpUw4fbK8sBar-Inp6aHynMSz_xa7u07bkx7P_e3afoBSRN3RI8yX_dbqHdnGCh_P5eEO_A2ElCqDwGYxi00NpPvnKHKaKk_-eYjbc0Cs21gzWAgfhNCZcdth083qszdjKL6BMlns3WqveQOUis6Mf2DiEnOhiLelZozIS1MTVmlr7uBTjsaY6gc12o7Sn9CkAA0IZTL6yMGimQYkJxlQWs6Rj8DpAjjV1kln-Z3P9mgrdR8GxloP0hf1qtWZoW36PX1tA5Jpk8wy6EjS95haFoUwgjLfG6FR2lTzXNRplR6jl_4VXhkKmw1WAkNRPIaWfWeLBncI1IdazgatXGKOEgKFJO7IRMrLRTAK9e5dndHg8negrmfO87F8tTiT_-x14NdNmDH3KCash4vUlwv3w2xfPkc6PY1Yu389SsnJ4yrSkIZ48w9ccEz3gOlnxU860gDLgzHE2k4rULafR8TR6ULSIL93dzZGS77BESIC-__q3hUEJFghTY4-iqOw_bNAbec-Goa_e5ayT9D7OxnBy6RjwOuw9GuzWe_ChyfILnLA85oSSS8CCd2ZAowXVzyt_5iiltsf0yBs5ZCgkLP4-brVo0I17VjlJfhOlqDfifk7MPQVhDngktl957hGbqAeORetqQpz2o9TeycdUc0zCzQy3725SiflxZ32SBh0tZgL9BCauH1m41gmleRO8ZiSdpdfZZPqbTcKX65NAIOROToIh5mHhhLo-4fm5difexwz-yWgaeEVX6Vm7y1DFExr6CE54Y0RPp3wB_pUfepLyFpvzwJjhrHUKuFelO4RpeTdMK2aXjor2yN54jqnvkX4WnDKo1qfXwVFBz1G9S_QmmCJnQIPSJkNJFn7ZkPqH9I7VO_gbbkEPgtyhLxINpYWdfB2R8xQ5is6mwXpxvgBsviCCBuGtYUk6mEXu9dOzShrVc0YAR1lHZonuBY6_LCEifaAMV898CP4FRnxH8CPahtKWZDVQ==",
  "id": "rs_01a32badeff79e5b016ab4212eb41087d098f9795395837898",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCE1KPL9T1QKd5qe8G-AXE-sFoO-8HAiinaOIfYdMXhZkd1O-gBbjJs4xyFGacRFnF1ZNPfcrtYEvDOPSYv9p7xynnbLdMTIJxqEOpCh7MNIrGoT5MK-J7oIIxsMepsDaDLyG0hJ1b657yu5BbR3XlWW5rh1kFUgJrM_rDwoyvCNQbHywZfbQ6uDH7EQorXX3EYLLS8Nm3nCzU_J0YdF52apPp4EdTHqbPgIJUxzrPJDsiW3R8DxpLflIO0WhCF1GkoUARr5TnyeZe32cEsV42KwF664jbKdNdpNvELNWHBy8NZ6gosBenpthIEjn2SD8mHvQf0Znz0PmH9FeMjU2kvFmzRCIjDKdi1eFeVpjC_npzEFoSNQTix2LI812no8Bbfk_dpF4-9ETH6-EXoRIMW4qs-MKRR_pCmtjr2rbwyJCz7ByOVrMnWtqvx-ZcV41cK7OhR730kcbWPaOHRBl5-s39Bvv3rPRaNRqdaWlamroolBqrAr8-Mj8d-KWcaAyWCkQLqyMPPuz3kTaVsUXEuKgVyxQjowfkcLl-ZoNy_GIomM42GXY-sFTuUS5V4Wc04Uf3XgtuiODJbvX4OAnhjTHY-vsKlgq0UHT1a5cmpIzzmrowpqH00UrV-J1Fvbsdr8w0_FpznbGIpKsPePd0lqQPwBOUFspu7eXqC55J1gXaNAAZhCJ30S038xOI3ZDFpbsC665-jt69eNLJjQyeeHrbDip1ypyDjHb8jd5lZZ_Ohqw9STLesHDCW9nuPvAt1RFVbLFPq78CEGZVJzj-B8W6bjfkdnKm0WwCbjs387zIdo7sAQ70B-xAjvKT78jcSNLPu7RImA1zfqqHiIQ3PJJAp_qDQ1DvymNGa-3OEkXjrYrYAPHUtZNqAZ0cAytJLxn4dzBD_cwb5FeDcmj9TTAAhz5y1dOZZfapLV2B3NE78IHCOyISkwEE-tAU0EkDh7dfF8cifKNQzOV1ps0SKQivm6KJRvrcQofhEuD2GiLQGSpD8_6ZVgzqaxOibrShxzprWK06ogDtaMzYBYUpTmYRHZ8I1zIuQArTstjMPNUlnEd7e1RCXmEehf8GMibPGdJN0Q1HiadLYD-nq-UX99vb_SZzCEnt5JUk85aSdHzrfWMU1-jB7yj2vWXuXjSMWeqp268Db_EAMLQpa1ryRdfD1zk-lfzjdoiJDMMTLdizqGMwZvKPxEsoaWDuQEMdqrC3BN3L9qAxNo995BgLayYzDdlwzXn-S7pzpRORsfXkl0nzMKC6rXTnRGQqCCqY-4B1maG9Pe_YdspzGe6QVgqJlOMQQ2qrzVID4tJil1Iw3PEqZ-SpTdLND9rzB6DlhO4cNMMcL1Ke6uqSclYMLkxY19uAYqh-WQefgOVJO2_3UqL1EhCIbQrTisywxz5sgdb3dEiA_IKob19FyZFo-80Fo1yapgZYye074Gguy2pacR1LBTxm19pc2pqCtd8yRWjYA891GAfDPBjQJJBK7JRK867SuPYBqcbr_3hRwZCSV5oOAGmeQttn6rOS0yCnN2IFnYdZ5NHTibD2IikWjEdz0cXnnzjqJIU4052EDallM3dHA1TpnQhw-71CKMFQKQiS-bSW-3C8EgBQYEWE943jI9EZeSmgKVBTpgf8szpGM2_fZLR4aUpAMsoRRpwWLL",
  "id": "rs_01a32badeff79e5b016ab42132bc7087d09443ddf1ba193280",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.015,\"left_z\":0.09},\"note\":\"The overhead view is clearer now: there are gray plush animals on the left and tan ones in the middle. I’m tackling the gray group first because the left arm can deliver those directly into the left basket.\"}",
  "call_id": "call_NhkjvMLVZhPESVXkUBFrbEug",
  "id": "fc_01a32badeff79e5b016ab42134a04887d09931a08e539e539e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NhkjvMLVZhPESVXkUBFrbEug",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1253, 0.9878, 0.2951, 0.094, -0.1558, -0.0772, 0.9981, -0.0208, 0.8883, 0.6624, -0.4892, 0.0151, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3052 left_y=-0.0072 left_z=0.0844 left_yaw=0.0346 left_pitch=-0.0295 left_roll=0.0332 left_gripper=0.9981 right_x=0.292 right_y=-0.0051 right_z=0.1589 right_yaw=-0.0099 right_pitch=-0.1536 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -2.2496, 6.5573, 1.9609, 0.1734, 0.1343, -0.0024, -0.0752, -1.9624, 6.9538, 1.619, -0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970988866868ece6b6ce913819527014508665403e0c2746af07306fd712f075",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3d8762898c366776339af0b61de79a7063a44bc650bc742533f1ff4f17aa52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921fda7892fa5cb495d39414743d727168fdbe39fe9b04682abf6555940a533b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.914 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 82 changed as sent

message 87 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0689, 1.7576, 0.0498, 1.4364, -0.2131, 0.2207, 0.0381, -0.0208, 0.8753, 0.6662, -0.482, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3311 left_y=0.0182 left_z=0.0557 left_yaw=-0.0142 left_pitch=0.2719 left_roll=0.2939 left_gripper=0.0381 right_x=0.2931 right_y=-0.005 right_z=0.1654 right_yaw=-0.0095 right_pitch=-0.1295 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -4.8615, 2.5641, 1.2039, 0.1294, -0.0317, 1.2625, -0.2393, -1.8803, 6.9402, 1.6532, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1545, 1.2911, 0.5472, -0.244, -0.8761, -0.8341, 0.9981, -0.0208, 0.886, 0.6628, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1896 left_z=0.0912 left_yaw=-0.0414 left_pitch=-0.0029 left_roll=0.0332 left_gripper=0.9981 right_x=0.2919 right_y=-0.005 right_z=0.1596 right_yaw=-0.0095 right_pitch=-0.1512 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -4.2735, 7.3504, 1.0134, -0.5836, -0.0904, -0.0122, -0.212, -2.0171, 7.1043, 1.6777, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1253, 0.9878, 0.2951, 0.094, -0.1558, -0.0772, 0.9981, -0.0208, 0.8883, 0.6624, -0.4892, 0.0151, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3052 left_y=-0.0072 left_z=0.0844 left_yaw=0.0346 left_pitch=-0.0295 left_roll=0.0332 left_gripper=0.9981 right_x=0.292 right_y=-0.0051 right_z=0.1589 right_yaw=-0.0099 right_pitch=-0.1536 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -2.2496, 6.5573, 1.9609, 0.1734, 0.1343, -0.0024, -0.0752, -1.9624, 6.9538, 1.619, -0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970988866868ece6b6ce913819527014508665403e0c2746af07306fd712f075",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3d8762898c366776339af0b61de79a7063a44bc650bc742533f1ff4f17aa52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921fda7892fa5cb495d39414743d727168fdbe39fe9b04682abf6555940a533b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCE6ujQWLqf7jXmJzUjBg18s1RofBWo-6eoz2TXUdCRdAZVfBauOsqbLc6HVFDX7bNNlobIVA_FvX9CPkiNdcUEUyv_rC5VTtWFHafMldRvGmr8SVWNkwau4lqsCBCcNuSWnQQaWD20cqcb79d5Zgnf1-aq4LSuwWDo8_4c874VWOQ4SEWa2jhGiek_SPMQvBiVM4XoYzfoVxC1qMmtoWPuTAUowJFLiiBC4e1xEdoM_VOj9peUmha9KDt37SpnV5SddyHYdiSS5YtgEpd3w0uSk4nYbVVvmH6nCEN93ZXYT-KgkBfWeVM957qfDuXThUCFOlIP1T-y5-p9_40ygKuqcJHEmUgtZ5l7Bc0naTLtD_6F2Fg5rrxLA5jvHt41HQ--RH-2TQdQQ-XeexOUSUeUbjCqwOzXEopaaP5ZDL0e7tamh8Lwpkf1bHrT36GqE0zZT2BYZAlIjcrt7gFrBJkI-4PjRGhrHwQWLPDzCQ37OGGEsqaxFy9LdgZA7N8oRg3S5BCOFcyk5M-bSpQRG3jtT4tti6zpiuCNpmMyya8j5TXFN0n_fmk7gA0Ifv9G1xBtITXTFE8chvsIWPjUmcZlPquOZfHMx39qFH2zEdzBgCIpUTgU8wBdA8cLPJQcILt3kz26xMwFCneivlXlQO03q7852PPlEae0-M2fQFeLlPCvhhXH945fQ0C7TQqz4p0vHWpSkfDr5m5_66v6ZBmRVo0fehaB8BQHP47TVlds-8ocx0IsW1AmyVBrSd0NFj9ywOtij9E1C6LjZP1S_XzJOooPBilFnQIFvwLReKzVFcE-EiRkVeNaOLT6koev5cB1_avFlgpVUixzL6P3rn1lW_C_cY4OcdvmKrBuzhEbvTjGZX2i_OP9P3-bimCG6YI0IVh-eXiZ8JSD1hOUPvfsYNmQauHEYK4GF6emIOw2-6Jf9dDzU-nWnMTCg9xLqDsETXwk24FthPFuYDYb8-2kL_Xs9eiy8ZWjMuaA1ociXUaUrY_lyXjoied4IX3CSoTQeKtVaD3UCpLP1zDPNFCzSTBkHRZBfgG89b5bs08Bize6PASXk2yspkFpipmd3Wj5OWhvmypHr3uNeyqNGU33vfVzTpSBUdhkjfW8HGJE2j--1y8ZRsHrB7FJFnAoA89HEi6I4qPbrHExewIVxJyyYtH2SZWDNfezVT5Gdl3-b05RKgkWOmNcPMh9_OeeyKrQw3AIHJBqK7xXf2yvDKN-ZdgHpNPcy0qKXAWy58-otiZ80FbZb6fp0lBnAEox3QxzG5U7UfumgDj3VkJdw7B_G1gTPLjijgLa6ayGShOt1zTk2OWcGXePp2gLcl9K66q41c5R1fsLzaHa_l2axmao9v6f6Al9lhGH_zxJ9t5hv5rv_8bkQBirv4vj3zEarSMJRkcsXZnqARow4Lpv59Rq2FuBVe4b_E9zzv6G3fU_UZZxh89X2h51S-Z5Z7s4zsKxRlCCslKF9VIDL-DoVNZ_HimZWl0ZIrUR78M_9sHsLqid_0cRS0xou7dOPBXpNnVG72yTgzGUAO52P8cHH-U4B8JMjsX3PcfcDP1KmfTYBszsJ85kTlNuu1DoLYgVrxemRnnLJglph_nm9PEr_lsMUM29fF_cOIqQt0cTo3ulkrJLe8auxAbJgylzkYgJWI4ZAJ8zDNySkLI0HsxjhmJSYU-4z7UPgrExtJCzBZJz5lnlwTVaTQPizaF4LuRFMoHJ8ADVfw2y-mrZENDOjSxIkqT8_sNvbgXJD9pnJRsfjKsYMhsqDCXf_4MsEfV2eI44kZ6suE222Mg-6QZ1pE6PPX-NdNRbBo2mKUenvmsmSUyqO-gjy2Rne3m8fJKYT_eno",
  "id": "rs_01a32badeff79e5b016ab4213801d487d084f1a75e70cff496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.012,\"left_z\":0.031},\"note\":\"A gray animal is now centered ahead of the left jaws in the wrist camera, with its body extending down between them. I’m descending to about body height while advancing slightly so the jaws close on fur rather than air.\"}",
  "call_id": "call_REVMVXkcBL19QAyjGZ3KWIN4",
  "id": "fc_01a32badeff79e5b016ab4213956b887d0b2779a37b15e9346",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_REVMVXkcBL19QAyjGZ3KWIN4",
  "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]: [-0.1368, 1.2972, 0.2279, 0.4915, -0.1841, -0.0593, 0.9981, -0.0208, 0.8921, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3253 left_y=-0.0085 left_z=0.0472 left_yaw=0.0373 left_pitch=-0.0067 left_roll=0.0602 left_gripper=0.9981 right_x=0.2921 right_y=-0.005 right_z=0.1578 right_yaw=-0.0095 right_pitch=-0.1577 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.5812, -2.4, 2.8513, 0.7497, 0.359, -0.3541, -0.0171, -0.0752, -2.0308, 6.9402, 1.58, -0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13582773ba185bb1170f02f53e8afe6fd42a65ba611c95768c093efa4f14d94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0394b9b59b24e1655d5408714bc12e6afc3751bd6c4a60df0bbf72c8316dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1831553328cd8525a79cd2b226054cd9065adb4761b130e22f45dad5c0824a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.488 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 87 changed as sent

message 91 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9657, 0.2409, 0.4889, -0.2131, 0.2161, 0.039, -0.0208, 0.881, 0.6651, -0.4858, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3313 left_y=0.0183 left_z=0.1551 left_yaw=-0.0108 left_pitch=0.3081 left_roll=0.2873 left_gripper=0.039 right_x=0.2926 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0096 right_pitch=-0.1402 right_roll=-0.0332 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.4137, 9.1966, 2.0049, -0.0317, -0.0024, 1.0281, -0.1846, -2.1949, 7.0222, 1.6825, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1253, 0.9878, 0.2951, 0.094, -0.1558, -0.0772, 0.9981, -0.0208, 0.8883, 0.6624, -0.4892, 0.0151, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3052 left_y=-0.0072 left_z=0.0844 left_yaw=0.0346 left_pitch=-0.0295 left_roll=0.0332 left_gripper=0.9981 right_x=0.292 right_y=-0.0051 right_z=0.1589 right_yaw=-0.0099 right_pitch=-0.1536 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -2.2496, 6.5573, 1.9609, 0.1734, 0.1343, -0.0024, -0.0752, -1.9624, 6.9538, 1.619, -0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1368, 1.2972, 0.2279, 0.4915, -0.1841, -0.0593, 0.9981, -0.0208, 0.8921, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3253 left_y=-0.0085 left_z=0.0472 left_yaw=0.0373 left_pitch=-0.0067 left_roll=0.0602 left_gripper=0.9981 right_x=0.2921 right_y=-0.005 right_z=0.1578 right_yaw=-0.0095 right_pitch=-0.1577 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.5812, -2.4, 2.8513, 0.7497, 0.359, -0.3541, -0.0171, -0.0752, -2.0308, 6.9402, 1.58, -0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13582773ba185bb1170f02f53e8afe6fd42a65ba611c95768c093efa4f14d94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0394b9b59b24e1655d5408714bc12e6afc3751bd6c4a60df0bbf72c8316dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1831553328cd8525a79cd2b226054cd9065adb4761b130e22f45dad5c0824a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCE-LH8hqBWK0Cq-18i_irmOk-83YzoIFdW1mwemjOt_p6rBexfNeVZFt7SPtXvnLgh3Gvn0hBefoT8Cm7oy1kLqa8JniUh9vCoJqYurpnpq4cjYctw5nR4u0uhkMpvJ2RXNJZ8jl-MJm6O4Nr3ONWrx_kdVdctg-pMSv36DLImoAl4vqc2WtXrfkTwA2AdcuQNkILuLA-g-MZ3KzkyS4n94VKs_JfVrutbeXLqGV2rmVzSPC2pE3s_33LQEYofgJECTqWq5NQGloorVzr0xx26Fe-qlbCHuPjocSpgkk2t_9q0klfCInBnXikOwA_upcIyi7xHZ5tXmDbpunwF3jTNhJ4a8XoiOty4dv_p8erQZRUHjRYsGk6IcUQxfw4-tNXuHjfUIpDH-MIHAExTxEda4rKh3k3bzrUSlGxppYRlQ8sJoTJel-5gWHLhPI7kqXoDsX_1gMnMvKgf3W3b6cikwWxj1Ye7_wGNnG0rEcQtXl17DjUWkhDEn0oOrkhi_aoUVerVdaqc65GoShFj7g7XK2rSorTwlsWrEoQwJV-_Rbexly2FrOPbhQbjCJRNj11-dMVRsPosgxgrBgd4a7JmIF160-QnHYo8djkILwbt1J2nIalN-YPNI4A8HGy5m6p5J3sDhGDGGHkCHn38pXiqR7gDx-rSL448BGrP9HYqaezT6j_4c9VNCKkezvW5w4ozWvPaNucNvmEByZpvZxk31oQz4p3LtAXEenqRMbzW1Wq8DLkCKSHl3ExG2787C98cp1koUMxC7h-2QGhXZ_UqKdJhcqRzT1Y1XfUAtLD3trzRmr3tVreWecVV6sDlETRMYIkvNcq7nqkHDBOUzSVGdMEfDkPsebUGqqMgKNTFvLFvt-SgNv6oKaLkLSrA0A6pOSPwdAQdtSeu-8zWQset5mPQOPTI2wKpnj7Kghe5zqViuWeJlGgt6gQHq6ZDVp1fJfGk6ohiVeYyg5CwzM8e9Y4bUOC6RaOT9F7Y1coTJa-3Mnh83dKHU7V0pZJTRDYI0GmYipwYKKCVvBa2lYL8AL5rVlxwU5P4tZGoCLPwSOxDRlY5R3x-4nS69oSnJ8LM1vUdOVQf0ZWUB6C8KrKryBQvbWUxpejMPWhfIY2hPnD-gEk1SoFE8hr_dB1MFmq2TwUDpcfNdwWwyOgXZxpDJHlBdMaZKYrMdyvgYnPh5gvlsqKbDaRr6UFkCm50WgNm8YMrNlVTfrDQhH0JFp7n7QFy-sB7sPwLZtL-As1-iYMtaCL3fll2PSJY9UaUs0GMLt6dlX28lYJDb61wjy-E0h9JmKBWJTm_u314nkdUfCAeBtgcRiXlvvaX-2WkZfsxacP7HgZCtezq8rXUhcJXb5gCjvp76yUTa20hpLA99q6lRi3Inz3_9Klvtq-EOoLXEh3cGmn0k52dggyLZH3ZBriays7-BXwz1zqumWOeW_Ok=",
  "id": "rs_01a32badeff79e5b016ab4213cb61c87d0bbe1e50e941d4bff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush’s body sits between the left jaw tips at roughly 5 cm height. I’m closing now and will use the settled jaw width to judge whether this is a real grasp.\"}",
  "call_id": "call_avbZvbiRa4OE7LNDmSjuXr05",
  "id": "fc_01a32badeff79e5b016ab4213dcb2887d086450f0a4ca9d1e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_avbZvbiRa4OE7LNDmSjuXr05",
  "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]: [-0.1352, 1.2938, 0.2222, 0.5617, -0.2199, -0.0551, 0.0163, -0.0208, 0.8932, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3322 left_y=-0.0027 left_z=0.0614 left_yaw=0.0671 left_pitch=0.0633 left_roll=0.0693 left_gripper=0.0163 right_x=0.2923 right_y=-0.005 right_z=0.1575 right_yaw=-0.0093 right_pitch=-0.1585 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -3.1795, 6.3658, 1.0672, 0.2906, -0.0171, 0.8523, -0.1709, -1.9214, 6.9675, 1.5995, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f49fb3e4dbda1188b96e06c9b9701d6f0cc179a0c39294e42e55720a9e4e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e247c722b66de4fcfc096f0f629d2cb89b87038033bf2f174baf9ca46f7e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d62303f4db79c25e5a3691412f8b1a6ad2d3d615ec3417f586c34d8cafebcc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.335 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 91 changed as sent

message 95 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1545, 1.2911, 0.5472, -0.244, -0.8761, -0.8341, 0.9981, -0.0208, 0.886, 0.6628, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1896 left_z=0.0912 left_yaw=-0.0414 left_pitch=-0.0029 left_roll=0.0332 left_gripper=0.9981 right_x=0.2919 right_y=-0.005 right_z=0.1596 right_yaw=-0.0095 right_pitch=-0.1512 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -4.2735, 7.3504, 1.0134, -0.5836, -0.0904, -0.0122, -0.212, -2.0171, 7.1043, 1.6777, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1368, 1.2972, 0.2279, 0.4915, -0.1841, -0.0593, 0.9981, -0.0208, 0.8921, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3253 left_y=-0.0085 left_z=0.0472 left_yaw=0.0373 left_pitch=-0.0067 left_roll=0.0602 left_gripper=0.9981 right_x=0.2921 right_y=-0.005 right_z=0.1578 right_yaw=-0.0095 right_pitch=-0.1577 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.5812, -2.4, 2.8513, 0.7497, 0.359, -0.3541, -0.0171, -0.0752, -2.0308, 6.9402, 1.58, -0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1352, 1.2938, 0.2222, 0.5617, -0.2199, -0.0551, 0.0163, -0.0208, 0.8932, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3322 left_y=-0.0027 left_z=0.0614 left_yaw=0.0671 left_pitch=0.0633 left_roll=0.0693 left_gripper=0.0163 right_x=0.2923 right_y=-0.005 right_z=0.1575 right_yaw=-0.0093 right_pitch=-0.1585 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -3.1795, 6.3658, 1.0672, 0.2906, -0.0171, 0.8523, -0.1709, -1.9214, 6.9675, 1.5995, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f49fb3e4dbda1188b96e06c9b9701d6f0cc179a0c39294e42e55720a9e4e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e247c722b66de4fcfc096f0f629d2cb89b87038033bf2f174baf9ca46f7e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d62303f4db79c25e5a3691412f8b1a6ad2d3d615ec3417f586c34d8cafebcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFE50s9Jhl1SNSm5f1G78BhIx6ZYKrjMDbNbdOhA86OxF-28Oh-tM2PoxMOodVMTwZamOzEfEiZIdLfc8fK0Ao48MPryihddmZZCtaJzop5paGz2_Y-NDmQ6ko1SWc6CVZmG3huxsq4i1JgWMsJRlM8ZTPog3JiUsFy8XETLzqN2kq7aGmZBrPFAKK6ISqsMwiYmBsXeC749O8LstSPl-gNAlGR4cqB3cMZ6SXW0t75F90pKOf0PIssd8SHFk01titBiu2n2SCKx9vaZUyKjPJumLBs1hNLVn5SxOtgPd9b8HGWxNe4Qc6__nH9Vl_bJk9O9oZQZ4l9iMr6TVU8XPNm7Rd8WNl6uS8GWidQ1NA1cRvTOBhgGDZHedwiHI_SmKHwyk-rgPEV5LI2FAfi-StYfjUsdkXraddO4AF_CTxoTfEVa9mKzCP_h1fB12i7fQx7Dp57ufRz6D5YVGFMrQBAlFksRXtUNE9n35tlPqvwXOlAK9Z7vVsxoldWiOV70Yq834y_pkVWUGBxkBspeGIP9NK8HgILgr6KBOj5UtTi_iu7PW1y3Zffi3KDgN8VFCHhYL4xsfsNKSuUTy1xteqJBvdav-tiWWPF-L2UCLEouxH4bUqrOUHLIpZwthLQaJRkX13ixtfNC_EBhssh6aTuSThl1-vRU_bBt_Tb96qMfD9wSOcUABhbzRpcVG66jBpWmxPtMTEY_aCkDQW_nQokGCCVHS7141yLxgZUW6kNtb1I002IAJfLfk54r0DVt7myz9m2fnuRfh6SOlWNZWB-gx5I4UTMrZr3JhfS1HJnn5xdqWU-r-FD5mr4JwRwcT8w7QDqlpLxd0N0mI2h_dMdXyKmuFMcVNFMTm3CIGxiMCgXoxWRFzPnuSZ1bHzrrdSqUPvqXRy1SJ9H07I8iwwBRwi6t0FGRewhWsoqZ_Zf0638mIThEboW9EJ4NefxUOt3CxPredBXy-4S2UtP-6Tto1UT99nnL5gn7CJx9KCNVCUawoABByVOA5sYE5NNbTfPS_DoWZPbgqqZfetdmpf_oDCUBiKyQuW6gLt8qxLC48fbxbInJ0DUx1YGnL3Qj9NsN5VLDF4XiVZpbioqZpkQGTmY1rNb5QmRzonwjY530wuTmyXnzxr9uE51BqvNBIA39E3c7geoE189xkjjprbE5q3sbH-dCGqWjVVNOqZYWibNJYinsl8ipko13yDWps5ZECoSxmE_dmbRTa4BneBovsw9T56s16XyDoq0GfSGyws12GAePduGeE5PoLW2OCCgowIVhb8-0HNRYVMN7bR1goFFo_F9XPAMvb1yyE6oTjrTXceafCsqOysSdr7jSsLzAXCFNIB7gbyzqGPBV9MW3zwm3uRtPrHfJA7zZ_1jKvjxywp5eEBiDgnrULOfvvQr_49_X_m7PV7-7hsARqDYXxZKM9v1L191XumIuGmtgIQaQEGHAo73WrhJyQb0OfwqJHkowzLUh6d913EkAg_wbAKs74djfsXSRMOhnu49rA1O6MLD_X3NySWL4sHpNrKMnTrj2Fyk__8WF61G-RkSRehbwf1AhMIzhzp9nvqOH9-Fa6Ux1t9A8D_p4wEoZ_boNyk1QXR_CX8rtrux2F_0A2v_eEw_MjYl_WxLfpANn7Dds7HOuTECNNNTaFtINTgEHfLUPDquJnSt7CdzroAweABV1sxYOXYcesCEh2fblVaYGQEB-OgdqpXd0474M1252fARDLOQII6dSSHrW_wtTBY1Be_eaj9eeQ1Ojlicyh0YTSXQJc2IilY8Hm_nq2pn9EdC29Yk8633TOOIPLnul4BXY8qGJwomk4-RQ5LhBrQn9mFw-Wx-Doso1fAzNWrC1KjRzCNhZpcuqBn1hTGqtqPtYUMZqmo4Uv0ETWdiotrJBv7v7ntB2verOMxPceZNyvtIECQpMm1VYt3kmF7edeZwz_nxmmvyVujnvVtyzrYRa1rEObW8FIW2FDXPytw1fG0aya5JxmyEz1hht01Yo1VC_qrI84Njf0k1TZx5ikMTLtitZTIbIgP2rJmFdwOVObbvcWYK9vkuxnsZt4fjBUIz1pjJ4j5KDWEJKhKvzNH2Q3wR4zezY6e0ZfGA9LyOj_RVswFewRQFceOsH2tjnLtV6RXCAzNYItsxZQtf30e9B_pmbNbvdVa8WXxWNiS08C2uhOM2hTxXAe_so4aB1bngnRWHB3nWQRb9R4OOghJmLy8jbCISA76-jpYPwAz0DqsEzt2so_-Bbdftjae0HdcLcjaP0eHmPK_wuIS4mizzrOGN7I-VG6fh8C1Gwy3RjBdB8CiqI5BeQ-jDhTuOdftLsQuSPio0onFh4S5ehbhC7zyQHz_U3VSCxcVfs76cxzKwchZbfDxH8RhwM1SHqvw-SKXif8GxLL0a-eTyJcYz36pmAnSOeycf1MqXDgPz2eZnDFMBx6f-LretE5n9RPisXYdJmQouPGNwObtDV2Sn4inF1vFdSkESHBEmPZlwb66oqaH7umE1GVxlMdeHPTF0xQXY6340M54j8JztrIhA8psQ7nsfgdXAnON00IeAp53_HiE4sPUll5dQycTy4S6OCMDO1ImWnqgJuMnI6Aklh0QTomDt52IWBCMJ31RSxLo1OpB63Bs74kvZWzg6lnR0vZrphHoQip0OlFS92chkb_5MFThhMyzQI8rax-B-qMY3mVei6VWsqbDLj9-t2-hnDWwQmRthQDJ2G85k6f-2PTIrq10xlDaKEK1p2ZTn-4p82UofbUYEEZRH9MVc9ClXJq287KqjApgqQmSVDLc4OviI0fey8w_mQ_uhSUyTod512UJKVtOEzGipWLD-uy1YsBK0lNnoCi9uOIPFycAHTt58j2s6dT_e9bTrYYkRRYnjuCWo0yCiOdyMw8dH2EeNWnOSI8XcJTJWeQdcsOgubKf6cOw8WpTnP-GCT1-40A4ZcJSx1um4J_ynIZ0n1o5CI4rlejDOdd-qKfa43FUlHjOkV6WIBaEAnRSSZFKo-c77hAR_XuKz-gbJ4FUTeQ==",
  "id": "rs_01a32badeff79e5b016ab421409f5087d0b2fbeef3d0d513f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_y\":0.047,\"left_z\":0.041},\"note\":\"The jaws again closed empty: the gray animal’s head is ahead of the actual fingertip closing point in the wrist view. I’m reopening and moving forward and left to put the finger tips around the head itself.\"}",
  "call_id": "call_qLZ3ha8AnbnT8t3NLtqPhCaR",
  "id": "fc_01a32badeff79e5b016ab42143e87887d0a5a4b0a27e5b8f64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qLZ3ha8AnbnT8t3NLtqPhCaR",
  "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]: [0.1047, 1.5742, 0.318, 0.8341, -0.0216, 0.0463, 0.9953, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3761 left_y=0.047 left_z=0.0607 left_yaw=0.0851 left_pitch=0.138 left_roll=0.0635 left_gripper=0.9953 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0095 right_pitch=-0.1604 right_roll=-0.0324 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.7128, 4.7658, 1.3358, 0.0073, 0.188, -0.0659, -0.1709, -1.9761, 6.9402, 1.5702, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966a8a144a469e54e4dd704c4080ca48e49590328f140781f17122517e927794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975a209a7becd1f12e4ae8bc830f6aa0b163e09b3fc546e5648a1cab1de268ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2144d85ad23b4e8b7ac8b64d7fb611bc870ebb617d03c7f3f9d6cf2b513112a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.26 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1253, 0.9878, 0.2951, 0.094, -0.1558, -0.0772, 0.9981, -0.0208, 0.8883, 0.6624, -0.4892, 0.0151, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3052 left_y=-0.0072 left_z=0.0844 left_yaw=0.0346 left_pitch=-0.0295 left_roll=0.0332 left_gripper=0.9981 right_x=0.292 right_y=-0.0051 right_z=0.1589 right_yaw=-0.0099 right_pitch=-0.1536 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -2.2496, 6.5573, 1.9609, 0.1734, 0.1343, -0.0024, -0.0752, -1.9624, 6.9538, 1.619, -0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1352, 1.2938, 0.2222, 0.5617, -0.2199, -0.0551, 0.0163, -0.0208, 0.8932, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3322 left_y=-0.0027 left_z=0.0614 left_yaw=0.0671 left_pitch=0.0633 left_roll=0.0693 left_gripper=0.0163 right_x=0.2923 right_y=-0.005 right_z=0.1575 right_yaw=-0.0093 right_pitch=-0.1585 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -3.1795, 6.3658, 1.0672, 0.2906, -0.0171, 0.8523, -0.1709, -1.9214, 6.9675, 1.5995, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1047, 1.5742, 0.318, 0.8341, -0.0216, 0.0463, 0.9953, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3761 left_y=0.047 left_z=0.0607 left_yaw=0.0851 left_pitch=0.138 left_roll=0.0635 left_gripper=0.9953 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0095 right_pitch=-0.1604 right_roll=-0.0324 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.7128, 4.7658, 1.3358, 0.0073, 0.188, -0.0659, -0.1709, -1.9761, 6.9402, 1.5702, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966a8a144a469e54e4dd704c4080ca48e49590328f140781f17122517e927794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975a209a7becd1f12e4ae8bc830f6aa0b163e09b3fc546e5648a1cab1de268ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2144d85ad23b4e8b7ac8b64d7fb611bc870ebb617d03c7f3f9d6cf2b513112a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFKqpMedy83IBrFmPFj3_fImm1z2kzQ1s_-ZZ4_pcFoQ1-wDYONqUCbYH4U02YyCBukskEwafgoZZyMx1DMLH-tB6HZJy5rWj6yUOF485ZMUEvjh8idSjYW227CqJVqNo89wl0OCjhPlrUiptP64QyVa8RyCvfRBf1-Kpv-GF5Lw56xB_kH3320hXglGTOxkh5l2hvRBhiXd6HTwbA7u8GUP2z5XCRrvpK2ANgMy38FenMa6OWYQV6nMr7GYs6saEcTmcHS45AyIv3uuvBvL-2YgqdMKiaO22esNLNEtkMfVdFt4OHzQPp1-1QlMLEoeny9RMWSiacEvk-psbMMP6bgTh6F4JqTZgO3LPq09UKAzpIa7VjuAsCLdCmME6lw2vw1bc0XDPdgtt4-noG5HdjOz0V0QK1afdY7QOAwNKAbXl9P8LY3tDrVg3KWiGe2abXKjmifn98V2HkDjmZfGd0HVhiVxN0aBv4v-JM59SGgJPJp-BuMaOqGDBhHLcxLSEQ9AcO8GJPWzXnZcNvanpU_LzGGfL74y25BIO-OYKamjKVAsqy_cbPwGSYZ_Eqay92y49hIXXpAt5j-DptlulTILA4KbBrOaFeXemHHEqyZBpRq6y1XZmTyU8uOjm0nKx4M-oxiZYfFqUYEL2R2f9ZpmE9b_cuBAtERpAlBFz1nj_UKNQqIp3ZKESga3hzMwALI7HXzhSTYt4XdN_hNgG55cNLX7S3eRnrpu8MpH6Yd6ydSsSb2a10TS6KwSMEFMD6srw_874LBpq4rA__lIVnTt1r9JTt55N510RnObFvithmjV8PXEo9o1R55K66eH-RwqctoEzzgOJiFKC0Rr_RqeRwTY9ofsovVndRFXddoqwqRpfJlWet_L2o4-8RZ68WdRFE7IlIosR1hniKRRrtjG-KD6FGJ8h8jywmT_TGzAQXhFouxsAX08rJIgWwecDteqldGF_thOjHC8ouPYQ8cuIK5V8uks2TcGFnT8AQ7z2HyK9xy9BN6Ap2VTYVSN7QHboHeYH6qjnE7dmD92rtdhUxtHcwOTAtwGifdhkeut_7BM5YslPtzdQjDdP4OATXYhw_3a5rzNfQUslJvJ009XTwtqAzWQpFVC8aN2sWt2pm73wHZnH0cltZwmPoIven5motjzZO8PweAraC6Hsl1lGYevvdzBxOZSzFNGPOcuY01t_T9R_HL-62uFkPZMonWKPW-40nEHUGgUQJqsQ11N48GDSNqmLQcFEPuzHXUxJPlm62maQZq93xlqVlXqSopKW771t-OsrdsIxfo5B2ZQnDjwfmOZYmQaRQu5mmARflCBgTSxyOamqNiDysa9FNGTy9DqwAl56nblmPPSETvh81HQGdaP25UBrs-D4VjcuIDkOKnEEGM4e41-lyg9zsyFzmMAFyduiVNYGcbG4XvJw2DcY9BH2kYDp0DlAy_1VR9MdTZNODS_MRyXyw8uc3Xu3ar6HyU7SNaQsf21qqjN-07nweysdwE3bAzmXDHVKelDofIsAa-Ojy3JbafPVoJY5bbbgOhGaUDHnG7a2y502HUKYf8uZv66kIqH7_9XJjTB-QrweJLn4CGNVCYfwqCP-fD2d6twUmQICr3XFnAH2kJPu_cbzy1fzVIxWmcGlg_jmQfziO6LRUzYbA0ODA6NeyawzH1TVO8GIg14zgvdReQ7CYyeRi4PZW-mrMgytfAAIFxCoXNh1A35f429osNfSjIfBzl2Gqfwd2yyaMa_JPUOUh6wBP6JBRZNfdQklV203U2HmX5ChNA5t7j-jIkplS1QxELcRdunSvvtutkHb-ZUUt5s3lmPxCm17cIrqtkkJiAwvrQcd98wdxdmyReAT9skfldhzU6Jz0KAGNSng83AlD8pJio0HgCxf9SZ44e1_kzdjcn_dW01euWKZC-1aLf-ktyAZUfrfC_vraBcLoooKtTM9172saE74FUPyazRJ0SiejLkQQFwbco7pu3kLNOqzsaKkIemuI6r515CAEQ9JZCsEoY1pMZ067WTv7EGvcp-MWpKfXSlIa6om0Faje9faiiDn25h35ybAYPbw==",
  "id": "rs_01a32badeff79e5b016ab42146f21087d08834a0ecae9c421d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush’s head is now farther down in the wrist image and clearly spans the open jaws. I’m trying the head-level grasp from this new pose.\"}",
  "call_id": "call_5BjwzTSIUcXsfh0OdocoIORW",
  "id": "fc_01a32badeff79e5b016ab42148d3e487d0a52ddd71aa7fd507",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5BjwzTSIUcXsfh0OdocoIORW",
  "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]: [0.1009, 1.5761, 0.3237, 0.8627, -0.0216, 0.0452, 0.0121, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3808 left_y=0.046 left_z=0.0686 left_yaw=0.0818 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.0121 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0093 right_pitch=-0.1604 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.559, 4.2051, 1.619, -0.0122, -0.0366, 0.862, -0.1026, -1.6752, 7.0632, 1.5995, -0.0562, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64d91823baed77aea9a4b8217642c6862b5d4967e82047348d260a3233ebe9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d775bb3fd3e00518c91c3a1e412af75eaeb85ecd3740155dbb1c0368905330",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d136a66efe37377d6b7e07a6e6cde5c82fe1f0e3cd6eb030a01c508649d5e6f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 3.272 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1368, 1.2972, 0.2279, 0.4915, -0.1841, -0.0593, 0.9981, -0.0208, 0.8921, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3253 left_y=-0.0085 left_z=0.0472 left_yaw=0.0373 left_pitch=-0.0067 left_roll=0.0602 left_gripper=0.9981 right_x=0.2921 right_y=-0.005 right_z=0.1578 right_yaw=-0.0095 right_pitch=-0.1577 right_roll=-0.0325 right_gripper=0.998\nstate[joint_eff]: [-0.5812, -2.4, 2.8513, 0.7497, 0.359, -0.3541, -0.0171, -0.0752, -2.0308, 6.9402, 1.58, -0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1047, 1.5742, 0.318, 0.8341, -0.0216, 0.0463, 0.9953, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3761 left_y=0.047 left_z=0.0607 left_yaw=0.0851 left_pitch=0.138 left_roll=0.0635 left_gripper=0.9953 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0095 right_pitch=-0.1604 right_roll=-0.0324 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.7128, 4.7658, 1.3358, 0.0073, 0.188, -0.0659, -0.1709, -1.9761, 6.9402, 1.5702, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.5761, 0.3237, 0.8627, -0.0216, 0.0452, 0.0121, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3808 left_y=0.046 left_z=0.0686 left_yaw=0.0818 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.0121 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0093 right_pitch=-0.1604 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.559, 4.2051, 1.619, -0.0122, -0.0366, 0.862, -0.1026, -1.6752, 7.0632, 1.5995, -0.0562, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64d91823baed77aea9a4b8217642c6862b5d4967e82047348d260a3233ebe9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d775bb3fd3e00518c91c3a1e412af75eaeb85ecd3740155dbb1c0368905330",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d136a66efe37377d6b7e07a6e6cde5c82fe1f0e3cd6eb030a01c508649d5e6f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFPj8tA7PfYvhxHtL5gEoECdk3nV3sWwrLs44LldBcnDCxDckUCuewmE-DVNC7BQGCZ1jpaH0BAGjnWheH0pePfTnv2npFrntZhUdax45Zlgid5jHYfssqLMgIXeZO48TWZxi8zeizHxhzSQNf4a0uJx1wX7huvBteAHqc7lDHXkmk2wGmCZo_UEvNFUBnVwyV-4yLWybtHt1f9HUocCSNIVZluBIe379mrvXtAEOR2AR6tLiWaN4ILOIPzrUkZhdylWO0CFd_Wfvt7P0tpKwfVDMoQMDMmv_mSuFmjUXPxGBe_DgS65hkI7lTGzZievsHauoPDnssSRCmf-Kl8gWfnQBKgIDyMa0bCcQ3lzoxbS2rX2hzKc4epo8ylHPkOFqKx97sSI4BrvvFScN0pFW7BJyqlVbhS_aS6t43ADQn-bsuo4k-xhRRa-F8RCwhiEjPUI3Z3tJPwRI0ivqP5x6jm13z5rrQUbeSQpKTQ1SS4K4T6o6DriB_WuH7xcCss_HtFTGv8xoAEojWYPsv9Bvl9IFta0qcbWwUjjQrs3jlU7p3vQtlEEfW1dvB03TOaEcX9YG9Wk00tIiXq1qw2CaTETTwUoJGOX6hw6euDAOWtBKdsBktdhcTQtta5WdSxMUZVIZbPgrQSGaS6VCT4P9fkseUxGUVhSrUEfMZG134BTzYvl4TLWZs1q0YBLursY7T3B_YCqEYejkXf6m1ufAOLRTYNaHQZ4o1Vwv-F1fxGRpO7qI_2D1bPhRk5uzpV-yD2nWdwE-_ps7SZZDwnwnns8-jyR_nc87d9d2z2JLjfCyQQiJOWeF4tSDdfXcxBPWFttz2QINkemsaMFY38xrMFFK3ELmqoEkdgBUHbamstRKl7JM-_raC-mRRktfASV3mwBQafMI_gF2khs_fQJPRGGhUXcZ4E-_Bm4DJe-UeTfp_d93Afd6QIRZbPENhhcaG2LtBZwul_h1w5JnspIsrh5aFrbi6yM6GTR3qIsAUkMjR335JYfTcMt4JWeqw_QkZep-UZb-HT64faDFG6UkLvj95cTlsWE3wGpSyvG0YRH_T5LW7P0s9WCyIWRNKLD7bMd2V2-v9HlnUX9gJxHppBkLkSTFjnNRElYihnZ-zPGI7cM7tFGNOSn8z15G1ibD0fvK0Y1hMRem0POmC-isBVVJ3A-UgygsTbojzwLpTjz60-WW8_OCC-r6fJEEAY5FeC_w-L9Zc8nYj8FoX8stj8OmrfAIeDOpN6dRy0mES7gg1zu2RDnBSRXZeUN6VJfGIsOM2qIEV4AhfNnvm2ZCNlpLWjH5HXA1uo8YaPz0XEQtVT-aSqLdyhIL_cZD6ep5nNE90_9jgrPckeoiuKWgBrEKPHpl62CYR9ntWl4SNaJ8ahD0yt8fV2e82rBNxOUk-DU11fsvS9W2DyAOvk19Ybu0Xg10Rlg7xTyWHKnrn5cW_u9rKHB610ZW_j0fiN3nedigMzv_pbjUP6-vBlGuEjPg-pGQdkmXzWNd0Wn-e4vcrH_F17Pp9EVxaOD3E7H52jljhOk79hhyqREjxAs0rrPnbnANPx34YAlzB-ivEzS0LrB0Bz8bbUaCdmlpJG6PGbLYVdUNC0jZOTA_IJNoIbpOR6DEeRIoY5BkKRdYomPeGbEIcELZaEaNTkZIAT0O9a1fIj3JJMQ9_DG4zk3gBDpUPVxvg0u-4hxli8XQIezXwNe2LhBEw6xjFT9Ai3kLTXCierp85z-nAspbuL61M2ne2PvOekATem2X7kwhIQ9GwwvukRMITSWCOX4jy8hBGWpxPtQXFd57eOcSCKVxtfDsm_bY7iNagi-NIphkBbf2BeLDgHf7gHkYwr8aAANOSDeloNQHDYaWhhmlsnEkWMhQWoBYDODxIO2hNNjlypODz43eUMVpGeEQrFrKG0o5QTK17sbVauhYsx9jjxODO5PJWLe47qyc7gE5tIE-G9meFWG2fAAQJX2u8pz4FcfB7Daybgsu1Yo6snoPPMU_7ALfwkUnDULuUG1D2cN8lBggTfw_a3AI_uRRiFLa6WY2y2pj_p3DnVxhdQ40U6VVz70vvFKL6zx0s41c9GqYM1zEeB9gKoUOs1W45Py_eCSQl3zMbqx-E-8E1uSY-sbCiIo1GWbpZA0bC6bqsB10SaVYHg2cqk8VneSGW4kiFfaFwMFCMjj-9BeBQ_9OtUiOAU5IymVJNzgBcvmKBLZ96jd7VNyj3g9SlU2yPWWqtGPGfF-wXxx6blcjFwDn9tICgF1GGg0KlBt4UzfyOb4npYEavXJR64SEnPwQ-f6VevJugO7ZS19ZmiWhb8JLwgMVb-W3ORNkBh-9Wnr99Ot-Ug2tWaElAZpuAXbG7thMlo39dVFls7JNln6F5pOkyUGSaTmj_cMPQlWCYy2lFZYVUsL5d0TPARs2ay7ao7V0wMBWHIvrL5Lkw9qCI8IoXCyTQpblIfSsfFB6CM22BzZ_uu3M_JJ7hdldiUd7OJB40sCXRH",
  "id": "rs_01a32badeff79e5b016ab4214c534c87d09ad144f23a85d670",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.265,\"left_y\":-0.17,\"left_z\":0.065,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"That head-level close also came back empty. I’m changing to the tan plush in the more accessible center of the table, where I can put the jaws around the torso without working against the left reach boundary.\"}",
  "call_id": "call_EEUrBMh2kRi06XktPimdAG5e",
  "id": "fc_01a32badeff79e5b016ab4214e750087d0b7b22c5c6bde90e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EEUrBMh2kRi06XktPimdAG5e",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9756, 1.3464, 0.4114, 0.1158, -0.7612, -0.6437, 0.9979, -0.0208, 0.897, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2666 left_y=-0.17 left_z=0.0634 left_yaw=-0.0354 left_pitch=0.0042 left_roll=0.0035 left_gripper=0.9979 right_x=0.2924 right_y=-0.005 right_z=0.1565 right_yaw=-0.0093 right_pitch=-0.1623 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -3.6444, 7.3368, 1.2381, -0.4029, -0.0269, -0.0464, -0.1846, -1.6342, 6.9265, 1.5702, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba80130afe478d318de0c341f11f6c39e7d75758e98790ee039033bda0f268a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b535697d9bafdf9ac9dc532a70b2ceb0bb2596bd10b2a64c6e3f8e2e7ac5ca05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6254470dad5b45dc984993dbef113996251979bee64b5b0ee2cf8ccc0c4324db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.703 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1352, 1.2938, 0.2222, 0.5617, -0.2199, -0.0551, 0.0163, -0.0208, 0.8932, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3322 left_y=-0.0027 left_z=0.0614 left_yaw=0.0671 left_pitch=0.0633 left_roll=0.0693 left_gripper=0.0163 right_x=0.2923 right_y=-0.005 right_z=0.1575 right_yaw=-0.0093 right_pitch=-0.1585 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -3.1795, 6.3658, 1.0672, 0.2906, -0.0171, 0.8523, -0.1709, -1.9214, 6.9675, 1.5995, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.5761, 0.3237, 0.8627, -0.0216, 0.0452, 0.0121, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3808 left_y=0.046 left_z=0.0686 left_yaw=0.0818 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.0121 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0093 right_pitch=-0.1604 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.559, 4.2051, 1.619, -0.0122, -0.0366, 0.862, -0.1026, -1.6752, 7.0632, 1.5995, -0.0562, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9756, 1.3464, 0.4114, 0.1158, -0.7612, -0.6437, 0.9979, -0.0208, 0.897, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2666 left_y=-0.17 left_z=0.0634 left_yaw=-0.0354 left_pitch=0.0042 left_roll=0.0035 left_gripper=0.9979 right_x=0.2924 right_y=-0.005 right_z=0.1565 right_yaw=-0.0093 right_pitch=-0.1623 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -3.6444, 7.3368, 1.2381, -0.4029, -0.0269, -0.0464, -0.1846, -1.6342, 6.9265, 1.5702, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba80130afe478d318de0c341f11f6c39e7d75758e98790ee039033bda0f268a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b535697d9bafdf9ac9dc532a70b2ceb0bb2596bd10b2a64c6e3f8e2e7ac5ca05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6254470dad5b45dc984993dbef113996251979bee64b5b0ee2cf8ccc0c4324db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFUOpV8jpTUizZAUslhkzA0Lk-xY1qYahpUVaBQJGluI3iFuMwwtKY-ThYy6o15h1QtBF1pVxqHsBv1x_FKRr1IA66_Zpricwm7x_2xYUDNu5gkaNiqsrnEd1bfvIb8NqyPnx0plA6wxqa_F-h-XyUuDU46F47i3SD5aW7YAOn7xFcKLKDU-p-ff0InwbV6ApGtQPzsppUzGD6PDYYgr35vqPfQ8ZD3600gkE_iTZWv_Xsf6PcbJyn6nUEyXWQ2fHW_cYzTjO8L5etR7ZGCC0VXvoknQcz5CKXGZO7uaStMwiqU1hWDdIRQdP56_3webOwsdLHm0gfqYEjro6_DQJeRq_rSs1F4UCR17shCZ0QI1iXK7pCbl5ltiOZS8BfSaW-qImBD4TY5rTRytrKa8XTIQsDcWU0bM9k6Z2xQ6t3iK1NG4TYhTRJQEZN687X4k1v6z-WGaFeORADGjsvPsTXPA0m5XwNP6CVLeEoJAqgP1zDWXmHhXapum8JOTL47LPFcNcNuWlXV9EgLE013x29W4C_2MmTiJl4VbigOGnXmI54zEXzB8Pg2iP89JiFMJZ8OdABmQKbQY-9sTUKmHIJaXUZnIfGLnGj1SS4KDxk9RqQE8JhrWwxGUo7nSXWzJw1m42CydyWzz5JJ0qG7ibCMIS3FSp6WOFKNNcHu3Gw9WeNyKfk5m648B94QI9SxXNsouYAeNiGkdfnOMqaBft5FK1rlpYvvZDUApKgyf9ZVMt0i1nqG2wPSrL7OWhxIvuk-Gm2IXP8voFTr3rq6T6kH_0sazVsIMTq6w1_6kS9QtKSZvTZoOxb4RZ5YZs0xH1F850TETCd4ndwqTMXhCsFKBooKQsmFdQKiKBSea7miEf1P-Wx7COwjAOTYx4DgeeCiAlAcu_eBGpOhALsten49fysMilNFS-5Gz93mTPchG4V4E4CHd6yHrzfJNJNvC4uwJ2AAhzQey-Twm-bwLinIacZ2jqAw4G5-_LE-Dcw1dSjRCJRRvl0rSwARUTyRbqG6kqD7a1ojfUsBk4qRC4IsKuPF0ZwtkFy2ls0Hj1QJSL0335jmYqhUGYPTaqxDt-A31XnfcjEEBpC2qNpQYW2vWnRe2RoSujdTP0zHbGiVF0OvkcC-JhX-F19fAuhxWKEt751F1X-9MEcywv7dXeJth7mc_hMxUaktZpKm0faztNBywlLN_PZ0k-o2BpDrduIDDQPPGzvUERa5NiYpwGiZs5hdgG3HBPO9m2gySMIbPQy8DOXzQ_3tvG-oOv2usIjMFeq7RqGE0L9COT-T1ZfHd9swqlDROhpyWeldKpj0sVrKfSzXF1JhXhalTjHmfZs21IRgDA5FUgie0P3FtDsuPfLehYPy32llJ221HRXQLAzll19VriApPp8gZuTfV9AD4XhPyPWXvppTodLcH1IOf7XIhgDagEXq4YZn3QD0kcQkphA5ITV-PBVxaToy7BZ2IXwFgA0zDsijiHaazDRCFTe6crjmhZHUHn5pMoQxFKRrg_ItCYc6WPhkYxzJunZV59oL-N0EZPIDE15pbrslMMK5mt9sA-8oJYSOQLujxoHVWXmChGYqEa0JYCollQ23D8a8SkBUSqanFdydOta3TGKtqYueI7BmhQvDGmQYOFGfdRQb9Kc6b9jD2JzLzdg-MG3DGfmifIjIp0nfKTFhFGSFBtBE9Dm3bt-fPJ7Gn_9wz6U9Lq6AtO8-eoQNyvNgfH96m8jh16kK163QN7ISw2KmXLZFZhHr40LISIHE_-xvqih_ttwL2M8BuRqtqPNtBiTZAHjH-ElUhZ3xzZYDpFCUryFGZEXa_m_kRc8R2SrxlJnRY88YQdJCpH-jFYUY8lf7JxbApA0x8SUz15XWS1AkfIy8PIvF5iUqDzYoOwy0fTSzZzgMngQ1YSU2lIwsBpBihhR6MPEMXv7-MjZ54UamcHhLUowXxLp4Xq2Mu-s=",
  "id": "rs_01a32badeff79e5b016ab42152a44087d08af696ce547d3c4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.19,\"left_z\":0.035},\"note\":\"A tan dog now fills the left wrist camera, with its torso between the fingertips and its head just ahead. I’m moving forward a few centimetres and down to close around the torso rather than the top of its head.\"}",
  "call_id": "call_ijDktr964YfnEKjcDha14RLk",
  "id": "fc_01a32badeff79e5b016ab42153d03087d087c58758f37c44fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ijDktr964YfnEKjcDha14RLk",
  "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]: [-0.9138, 1.581, 0.4641, 0.2939, -0.7559, -0.6365, 0.9981, -0.0208, 0.9001, 0.6624, -0.49, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1765 left_z=0.0366 left_yaw=0.0189 left_pitch=-0.0013 left_roll=0.0104 left_gripper=0.9981 right_x=0.2924 right_y=-0.0051 right_z=0.1555 right_yaw=-0.0098 right_pitch=-0.1661 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -5.4769, 5.0256, 0.8962, -0.0024, 0.3541, 0.0073, -0.3624, -1.7846, 6.9265, 1.5946, -0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6303207c42398d94a0863ce71cd4c082de9bc716c9144fd9d9fa1fc54a27772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb13729936d00a9fa52b7dbbd89437d8d15b3d5ec1d1586e2bae8036cf56fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae756e5233eed0fdac558dcb3137b21eff17eee4cd71c3688297aa1463ca9c8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.487 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1047, 1.5742, 0.318, 0.8341, -0.0216, 0.0463, 0.9953, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.3761 left_y=0.047 left_z=0.0607 left_yaw=0.0851 left_pitch=0.138 left_roll=0.0635 left_gripper=0.9953 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0095 right_pitch=-0.1604 right_roll=-0.0324 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.7128, 4.7658, 1.3358, 0.0073, 0.188, -0.0659, -0.1709, -1.9761, 6.9402, 1.5702, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9756, 1.3464, 0.4114, 0.1158, -0.7612, -0.6437, 0.9979, -0.0208, 0.897, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2666 left_y=-0.17 left_z=0.0634 left_yaw=-0.0354 left_pitch=0.0042 left_roll=0.0035 left_gripper=0.9979 right_x=0.2924 right_y=-0.005 right_z=0.1565 right_yaw=-0.0093 right_pitch=-0.1623 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -3.6444, 7.3368, 1.2381, -0.4029, -0.0269, -0.0464, -0.1846, -1.6342, 6.9265, 1.5702, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9138, 1.581, 0.4641, 0.2939, -0.7559, -0.6365, 0.9981, -0.0208, 0.9001, 0.6624, -0.49, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1765 left_z=0.0366 left_yaw=0.0189 left_pitch=-0.0013 left_roll=0.0104 left_gripper=0.9981 right_x=0.2924 right_y=-0.0051 right_z=0.1555 right_yaw=-0.0098 right_pitch=-0.1661 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -5.4769, 5.0256, 0.8962, -0.0024, 0.3541, 0.0073, -0.3624, -1.7846, 6.9265, 1.5946, -0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6303207c42398d94a0863ce71cd4c082de9bc716c9144fd9d9fa1fc54a27772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb13729936d00a9fa52b7dbbd89437d8d15b3d5ec1d1586e2bae8036cf56fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae756e5233eed0fdac558dcb3137b21eff17eee4cd71c3688297aa1463ca9c8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFXtvNA57EasWVcVxgwMBzQFrBMbR0-B7D5lap4gS0At33ygkGhQMyDpBsdr__J7ejHrOqBGk2OJ8qxGqjak6SxMkFAXMgBtmwhRJaGUds7QYrUcZZsmTmMsX4oXfq-98CPXpf7LWw_P3Yjh1QpsBrVx8gXp26xwwJQGv1bhx_xn5HlH1cT_du3f1pVscWwgSx0XzbsqxFnbEPAJrYahmLVjm59-bfXpC3k2DKuTz5kGWS5exOzdHx1h-qc6Es9kvF_miuHMdINnk46bdcnd3f5WLnDvhs3xqq1NNGWwbE6X5EKOO3HedoWgU6o2zaTcmRgVEjzT-UE6eBWt06Pg68Q-TpgO2QaQWvBohZRN1odK2nPhwU4w_t_MlXYUKV0MQYEE7WiNf3s9JSvH96O2u8lueoWFYGKk5Q_FzgGyUFRG7wQvTGy0yu3R0eFBRLla25AclQ1z4k8Wbrsyl7TgqK3N1tKvoV-toHRjDlMdePsjaC-w5Fn54aX3q9_wfNhlx9RYMSS1_CDivgjKV51x7-pQJLdW7jKmzveFZJ6U1VE_PP0YkS2Vi3Fkcvk8_26vLwkeQ5IWaJJ_5OycFYML11fG3H-9bXtMVwaMdCkCxBQl2x9E7LC4eppUC_fNmUuu6lZmdJOm8SXfIFcaonD1DrnOK1rcTlCXgmgHnI04l25Lto4aXBGJcBWvXooTkj6BpSijvNWXhdobzGuC9oAMELbWM8xo_9qsPu6eLqbIveedsJSYv10i939CihbxTgIkOOXXqMYQNzFuYNzzAte2ukrqDFBKBjY7jXsDd3FcU0E9USH6jvYTqTiMQroRmhzvIlHqGAjXCrNkzOiNsi-1z7LEW8tXZWmhxBPM6rgCQl5KtI5deGbVw4_VwHp06l6C-JRwHhPrwnJY5n1ASscjk22lDsMbQseSxIs0yssIS8vEfObSEPs1-klLodl_1TshEO0tsmvoYb_2WZOwJEbfVOkbQX0lR5-2CViPmYLCx3s2udDoFY61SKT57IgAzTHHXEuXppQIlVP9Xa3xcNf5RufUHEbBcIAGqrzBOlckLTnEcxrCB0CVYG5D4Zsz8pwx-f50RCgEXBC-SCti9Xi16uAEvsEHmhr_Uy1OIo9rQPhaoOeYtsc10lKzv4EJDFvRZoQQpnJjdD1bU98pxM6np5UHF3sbiydWswD4K-0jyDeh17sqlGUCYqz9vCl6Hxt9boax9RQIZVZ-646rN6REacDl2df1lgUxdBTK2pOaJtdCX2sta6OJ7oxDl85Tp1EDLchL8NtvZhsbMwWhPN89w5jj8CvvO4giUfhvHFTO0cP6zJegKQZa3HzQu9c2o4Glqq2OOn8yCWIVv-gIsmkpR9AtsU8LA-cYfRdGbZgMhno8fpBJGEDuiVrjX1Fx4ChU5o0xdrTm77J-8EM-ha2Ghm80--pKK-skSt10Cx-mh1ruS9O56ayAzZpwCjjEyxj-noQcVlB5VwQDtZ8W3UfuOB0yE2hIcyN0C5ZjNljWAtHOGdmiAGDgrGxJIdd5bmDb2ZPQfDFkpYqjSLDV8-_XP6-t5R-vaZ3lviyBoXe_f5xltyRgeq6ptTMkl3PYSj-2gGOjFGlLgh3E7CKBEvlRbleRbrnXzSXZfFfRiKBx4UmIsGGaaSnMoVXfZmUrcYxOKOrTzZ8Fq8iDD6qQnjzQ7a_VaF_k4QvpogNotnXmHFJGWJKO3P9dAF6-KdifVjRU5dEGd4VOBDICZ1DVVaw1bUTF2v3vd3X_OhQbRqBYZhgGqs=",
  "id": "rs_01a32badeff79e5b016ab42155d15087d0ab04d1303e5ec13d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lowered gripper straddles two tan figures, with the nearer torso directly under the jaw column. I’m closing on that nearer figure and checking whether the jaws stay open around it.\"}",
  "call_id": "call_iGAJU1skjqUj3A3FsZxemjfa",
  "id": "fc_01a32badeff79e5b016ab42156e1c087d085ca97fbef39c896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iGAJU1skjqUj3A3FsZxemjfa",
  "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]: [-0.9047, 1.6135, 0.4736, 0.3794, -0.7174, -0.5827, 0.0122, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3014 left_y=-0.1897 left_z=0.0383 left_yaw=-0.0273 left_pitch=0.0155 left_roll=-0.01 left_gripper=0.0122 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -5.3402, 4.8889, 1.3358, -0.3101, 0.0073, 0.9792, -0.0615, -1.9897, 6.8991, 1.5897, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93bbd3330d3eb2a620da5c56d5afe5c8a1852e8243c17a5b80e2e83a6bee9af2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56177a6173fbb613a0d453a7f04307f01c72d7da5e23ea2c1edb72570864725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf9dda6ba5e01bb4f63a13d7887c022596dcb0719858534e9a0f349f18f60d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.871 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.5761, 0.3237, 0.8627, -0.0216, 0.0452, 0.0121, -0.0208, 0.8951, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3808 left_y=0.046 left_z=0.0686 left_yaw=0.0818 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.0121 right_x=0.2923 right_y=-0.005 right_z=0.157 right_yaw=-0.0093 right_pitch=-0.1604 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.559, 4.2051, 1.619, -0.0122, -0.0366, 0.862, -0.1026, -1.6752, 7.0632, 1.5995, -0.0562, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9138, 1.581, 0.4641, 0.2939, -0.7559, -0.6365, 0.9981, -0.0208, 0.9001, 0.6624, -0.49, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1765 left_z=0.0366 left_yaw=0.0189 left_pitch=-0.0013 left_roll=0.0104 left_gripper=0.9981 right_x=0.2924 right_y=-0.0051 right_z=0.1555 right_yaw=-0.0098 right_pitch=-0.1661 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -5.4769, 5.0256, 0.8962, -0.0024, 0.3541, 0.0073, -0.3624, -1.7846, 6.9265, 1.5946, -0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9047, 1.6135, 0.4736, 0.3794, -0.7174, -0.5827, 0.0122, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3014 left_y=-0.1897 left_z=0.0383 left_yaw=-0.0273 left_pitch=0.0155 left_roll=-0.01 left_gripper=0.0122 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -5.3402, 4.8889, 1.3358, -0.3101, 0.0073, 0.9792, -0.0615, -1.9897, 6.8991, 1.5897, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93bbd3330d3eb2a620da5c56d5afe5c8a1852e8243c17a5b80e2e83a6bee9af2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56177a6173fbb613a0d453a7f04307f01c72d7da5e23ea2c1edb72570864725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf9dda6ba5e01bb4f63a13d7887c022596dcb0719858534e9a0f349f18f60d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_01a32badeff79e5b016ab42159f28c87d0a648d9595eb85e07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.26,\"left_z\":0.045},\"note\":\"The jaw opening is again fully closed, and the wrist image shows the tan dog to the right of the closing point rather than within it. I’m opening and shifting the left gripper rightward over that dog’s centerline before trying again.\"}",
  "call_id": "call_Sszxr95hTc0rwCpoUsvFVY6t",
  "id": "fc_01a32badeff79e5b016ab4215abbb887d080fe3934c8ae856f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sszxr95hTc0rwCpoUsvFVY6t",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0416, 1.7725, 0.7105, 0.194, -0.8139, -0.7242, 0.9952, -0.0208, 0.9035, 0.6624, -0.4896, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2514 left_z=0.04 left_yaw=-0.024 left_pitch=0.0101 left_roll=-0.0025 left_gripper=0.9952 right_x=0.2926 right_y=-0.0051 right_z=0.1546 right_yaw=-0.0096 right_pitch=-0.1692 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.6632, -7.1179, 7.2821, 1.1209, -0.398, 0.0659, -0.0806, -0.1709, -1.8803, 6.8991, 1.5556, -0.0073, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52952c7501cc4e2e03935aef03dc51ec53641cf211f954faac816b23fc1de994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b060c714dfb9b41098900e7a152c1a11e33f648ed55ec2dc706b3d6f4b6570a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7b97e0b4394fcfccdf2c968224b33a83bff75a25202c6b6d826e8ac91658b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.897 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9756, 1.3464, 0.4114, 0.1158, -0.7612, -0.6437, 0.9979, -0.0208, 0.897, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2666 left_y=-0.17 left_z=0.0634 left_yaw=-0.0354 left_pitch=0.0042 left_roll=0.0035 left_gripper=0.9979 right_x=0.2924 right_y=-0.005 right_z=0.1565 right_yaw=-0.0093 right_pitch=-0.1623 right_roll=-0.0327 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -3.6444, 7.3368, 1.2381, -0.4029, -0.0269, -0.0464, -0.1846, -1.6342, 6.9265, 1.5702, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9047, 1.6135, 0.4736, 0.3794, -0.7174, -0.5827, 0.0122, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3014 left_y=-0.1897 left_z=0.0383 left_yaw=-0.0273 left_pitch=0.0155 left_roll=-0.01 left_gripper=0.0122 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -5.3402, 4.8889, 1.3358, -0.3101, 0.0073, 0.9792, -0.0615, -1.9897, 6.8991, 1.5897, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0416, 1.7725, 0.7105, 0.194, -0.8139, -0.7242, 0.9952, -0.0208, 0.9035, 0.6624, -0.4896, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2514 left_z=0.04 left_yaw=-0.024 left_pitch=0.0101 left_roll=-0.0025 left_gripper=0.9952 right_x=0.2926 right_y=-0.0051 right_z=0.1546 right_yaw=-0.0096 right_pitch=-0.1692 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.6632, -7.1179, 7.2821, 1.1209, -0.398, 0.0659, -0.0806, -0.1709, -1.8803, 6.8991, 1.5556, -0.0073, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52952c7501cc4e2e03935aef03dc51ec53641cf211f954faac816b23fc1de994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b060c714dfb9b41098900e7a152c1a11e33f648ed55ec2dc706b3d6f4b6570a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7b97e0b4394fcfccdf2c968224b33a83bff75a25202c6b6d826e8ac91658b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFg4NPIz_Vu6ZK4V9F0nrPU9AuryML_kJevwTkXwLPklFzhQ3b3si4B1Oi1nl3MLy-pgJ-pMH3ITVjCFolVAGDjO1XLDoYB8JlCcO6_GbVvv9Q68fUQ_SQ3c3-sTeg021Rw_mEBlLzUSb8PKeNMGCedMhojgSC8kTytx222VmGqf6e4JNHkDjgrgx6s9ZxvBqjl9MQLk-uX14VFBQF_T4te8yYHpX_bmQpPkn5j10VY4hB97ho11JbYBm9DLd4rFmmfrLw8wPQdpFo3K9uRvoM6nFPZAFVpYIzXRKINEhQFwjedPiy9bN55P7z2ZEz440fcC3ehe9Y1OJA1CXkjORycNYQZZMchqer3qHLBYxlhwtxJoJfKo9Q-6oNK-kU3MSW-VTI-thLrt-XTSYZHDW-LvUyl5Pmub_RmjZbdLUI7pYGnBjfzWNGOyqtqHABr2YC6MY0RDtpvEAMidmSyK-apV1XxZpZXUcAH7itOyDwPBSfI5cFhZ3Q0ER0bAxQ988ogo8uIn8gaAXhT6bDZkbd83RCLTRpi35zPl-s2xqQBR5Kd_Q4ShwwMRMa2vafSCkbGfxUIaim2csoSUn8EkaoLIrXX7_j9TlWyUoJFXG_107wV1z_8kxuOWN1-l3umnwzIRU12B4obNcpertkqwSkkdWFzRiTdHy6DO9UBApubwQJKjEV4Z1zoVeHUyG-qi1v6xUmTN2UMzm9X2DB_Jnc2CbuAG5yjc3epexk06inEH66EPxjzVzFJDLvsuaOmuUsCFPs3eSOWMelrKJ04keFAZIDcJ7zmpXEGEmd4YBfO6_0LFp94P8lMiRokw1d--VT61mafq2PrucwQTmmm4QTndBlK523uW0XBArEv7Qh3XE5bUPhTfUlLBAyxh3SV8RAoJxKT3HxNil5xKSG9hZdUZWM2GTDdS8RkdiHlFNYvRko5qonB396ryYdjWLjoCS9AUpBdG2Ds0ZCZT3_HO8lYE7Uvtyfax3Ub51LonCyFFpFSsVw3SrhlM4mPHwi0fylc4LBbmrqms9AjykVNHa5CfLCQkO-I3Y0M3xe1WvtiGBYkJ22Ro42a_IQQefcwdrlJlOrh3zOzyTFzvn91W3ViDrVTs84rJTMGFnndGzTK9Ba5GDzoeTBSf7FX3skqj2iRNFmXc15GFUm2VG7d-03frcW0SYW8mwBG04myWHK82_7oCog8sofLx85xovg3_QtZSeX78ZaiPKBZW-oGCacEvBEO51lBFI6MHQINVzWKVpiQNnzzek1pz4WVphtQA6wS1zJOofsYO_86hPFZYFLQ1ZlXMHinhaPe5ZUQXTqJ9MLv0WXK9dXFvgPzSM73Z5-2NzRB8c0A9jYe1AIuYjk5LntfQt2-K42imPa17CoTlW78XnyNm1gORN10zlTd-wABIS8u7DbfEuvlwrIh7pq5xvcPblCB8T2kAuvGQZ9-46WKPPOmvh5LlyxaPOgUnFj-gXwJum5NR8TpLlX6PKt0Z5-kXLBcQl1dHyjjSDCUQJTxUbc_VziA8cHq3WVKaUOAvjqj6HNOLBWckPINdThdwl9PeQVwQPrBw6nvNTQEyxy92Yfh4nyo1t-es3xEQbV9PbGY65E09nD9R926OrUDTf6Sd5Um4bQbH4PYR7CFPJ4RWdfU2UXYBBqDppwpnZX98HrK_MMsBL6V2BR2oVXtsIXFBa5LfDW0LCF-pN2gABsEb9BnBzeb65FmVT7thIUyZsk2bSujJuD2DMlUCOWX3vRn5TuDYYKSVBSQx9W3ehjcOzmciW525dFseLKnGTi3czwQeZDBmKnLQc2nv9kRk44V7-Ocha3MCi4dwz5pSd0uZGTVlM2xiqOI8UtY_sBBc7kwQnq9E7c6ZeVkOuMWrRD4PnoHw7pPesx4HwTi3Tf0VR8BnzoFLhpfTxO5zFpWskNPZF9vJoM2C4dtm1YJdILGxnIgEAL4thHAhmMEVRA2X6-h4Jtii0N-38MM4PS_vZdZZUtpWQgKM1emik8maUX-Pey0lw97Of4JCPCLqslKb-OAUIkG9DpjTK2dwaRiOCMf3ox-GPy8z3gyqvbJxozTU_kRyozSL0Mmi-t2KptZK3ajwwAmO_thlsegyzYkcNQ5ekQqzr2G7lZmca4VnM20_WYxKlCVfMfpAfhkAUjzPVK0X1qtj6yAJmGfRNK4Z9HthZmg6UKRLbJA1mdStdc5C2vr8xrSaaNFouNCCEuiN-0c_FBxFzHLISr-GCoskmNWA1Ix9uX8L2tI-AA7FCl6K9fqjottIXNU63-SQEk=",
  "id": "rs_01a32badeff79e5b016ab4215de45887d0958fc277d1014737",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The tan dog moved sideways when the low gripper shifted, so sliding at table height is pushing it instead of aligning it. I’m lifting the open gripper clear before repositioning above it.\"}",
  "call_id": "call_ABRchfrB2zdsWWclQYDsyiJG",
  "id": "fc_01a32badeff79e5b016ab421600ce887d0830f53327b9253d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ABRchfrB2zdsWWclQYDsyiJG",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0424, 1.544, 0.9089, -0.2333, -0.8089, -0.7341, 0.9966, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2532 left_z=0.1324 left_yaw=-0.0227 left_pitch=0.0067 left_roll=-0.0126 left_gripper=0.9966 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -7.9795, 9.0188, 1.2234, -0.442, 0.0855, 0.1392, -0.0205, -1.7573, 6.9675, 1.6142, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4155da24154203396d98a699e18b79f499bc14975224c7910bf49b15ac1206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b517220050cf81de6865cd8ef0400d95b8f926e7e339b51bab4eb30f653080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1ed3b9e3dd0e774c3c1a1bad62396a2f503493aa739ee1a85c3a961845923b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.356 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9138, 1.581, 0.4641, 0.2939, -0.7559, -0.6365, 0.9981, -0.0208, 0.9001, 0.6624, -0.49, 0.0147, -0.049, 0.998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1765 left_z=0.0366 left_yaw=0.0189 left_pitch=-0.0013 left_roll=0.0104 left_gripper=0.9981 right_x=0.2924 right_y=-0.0051 right_z=0.1555 right_yaw=-0.0098 right_pitch=-0.1661 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -5.4769, 5.0256, 0.8962, -0.0024, 0.3541, 0.0073, -0.3624, -1.7846, 6.9265, 1.5946, -0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0416, 1.7725, 0.7105, 0.194, -0.8139, -0.7242, 0.9952, -0.0208, 0.9035, 0.6624, -0.4896, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2514 left_z=0.04 left_yaw=-0.024 left_pitch=0.0101 left_roll=-0.0025 left_gripper=0.9952 right_x=0.2926 right_y=-0.0051 right_z=0.1546 right_yaw=-0.0096 right_pitch=-0.1692 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.6632, -7.1179, 7.2821, 1.1209, -0.398, 0.0659, -0.0806, -0.1709, -1.8803, 6.8991, 1.5556, -0.0073, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0424, 1.544, 0.9089, -0.2333, -0.8089, -0.7341, 0.9966, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2532 left_z=0.1324 left_yaw=-0.0227 left_pitch=0.0067 left_roll=-0.0126 left_gripper=0.9966 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -7.9795, 9.0188, 1.2234, -0.442, 0.0855, 0.1392, -0.0205, -1.7573, 6.9675, 1.6142, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4155da24154203396d98a699e18b79f499bc14975224c7910bf49b15ac1206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b517220050cf81de6865cd8ef0400d95b8f926e7e339b51bab4eb30f653080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1ed3b9e3dd0e774c3c1a1bad62396a2f503493aa739ee1a85c3a961845923b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFl0-_4gQHsIGJZf-eBfyBne8FxNY01c7Vdi4i32Ir-WUZWxebok593LPPuAxT_2-jcm88WY7L2TA_VOQwhrnhJgXNxPxPIi2aDH9s3908SpJE7WFN2xdmSFMXV-6HujQBkbNjLK5VJhn6VqzE3fF0F1jqDq2rKZwImMOZ96DohM35UQNtTFmF4RtTAXkMrVJVjBs9xGKioefeKDk8GlBZ3ea0Rp5n7OtAcb_-uM3JDO1lENsKL5WlpnXqNpc1nyHqBzHOdwfljAY7baYCSBvtvKbbaNJfYGV13WP8HM8lRwxryYTow4ZIhQ8TtV-JzzxgjUq83XgR9iJ80ClqTIjw5-qW1CPAfs-79GN0qQWrNJHEBJIfVDWLp2YnzxxXL7UKpO4vVFv7JD67EzhRKukGGydat56lp_VCSov_ywNWi5BmEivRTXvAzyu4e0q4ZOvwPEhMunV9uhif9skhJD006mMXV332EqV6HE-h04OMzFu6SLi6-cMmXsrIeWhdhtp1UAztcdsLRmegzkWwpdiNCBy8wFZdFqWrpvc9QjlqmcNrXbS9Dm0cqw3DR6nhgOisdUKjn2LbQhnyXX9zauG7NnJPdh8acxeGeV4UpMn--O6b5dSjioBtXVS3Frepn6bBhQLFz2DsE8dO7NdUBtyRiYtkjCv_-DHExt3d48lYFztUtNXJaY0SB2zPMis13GD_Ky7rubnfgIAQuO228NxdXJ4VIF_VYC-nF3lS0RXYp9IeOyotcrUkjVN_bX_50WgOHiMy9z53XCPQfYLUvPnsTHelNW7w9UJYG_YHDhJOgHAreEp1Ti2wGC5mZXTNuLrM4qdaouiEaPhMrM9avDXTzrZ0ridrk8PF0mMeeHWlyRg9KM092tzB4Q9nzcl_4C9q8e9Cp3QmWBuPXEZCXtqZtx3-oIyX6t350aNwUNokSwz6nEAu-hkeBMCEw-oD8-313vsUyZteGhAXQpQyKR96Ky5mfl4N0G1lzGmC3EONoUQ0H7-dG6mPCXwvqNRruV-yhYC2julXXdyC4I3yUjDbeBp9gvIqnUBNMmEDGjahAJgrg0fQOGGOhxWPyEB5buHWHxH3ud2L71kQ5gHFq9UnHBITha0Rd8FzQQ-dMqCWb6SvoeOmFKQZa8RgeTumslG-45ryEVf-vPolZsBDEA-NL1VHit8PetkPN0w15d8zRDDJMN1nVcUXGQAeX2fQBVKamUjW4K9jLvLhVQHyYZah6LYSt7Erkr3XWXbxSDPDEMtgxusgsEbavAihA3f7_gDpReWlNl0rjnwVdeK45jYjeSpJqUNwFNk2lyxYa9sJla37Y5RelEAUmlDTy4B52gwNS0bOc4vGyjvevX6QEn4g2w82dvIzbSoujxjejdYk2ojKoa4JWPmrC5ISrbSv5LJKNGqD6qKSygxFSTXR-XjYfB0f5fvXXmIpNsdiViMjeUvcL5jMrQI4OkPOUipU5LE5Ba4iKMnDMjDSsgba3ov_vAWf6iwBhZNyv3iVuhznkW5SmnQV2IuY41pG5vZhx0F7NKavgEUXnG57ot5rrBrJQB04Gk9x8RVE-00Tcb2H6arHxc5BhXGKinhrcH_0qbhqdTYhKTQpwYGrGMOAlMy7FfZq-3SGfq7dlA5Nv-253rZqryIfQ2sGZq29D6GQEroufCzPWjEOhW66EXcdNBiQfyCYBwc5bprFso-PLZrTlhCWwXJ_Wqh-Jd9E3ALTnMlDRu6nKrTK08Udv4U7ff81aPA==",
  "id": "rs_01a32badeff79e5b016ab42162bcf087d0b9a37d54976ec513",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.325,\"left_z\":0.135},\"note\":\"With the gripper raised, the tan dog is plainly to its right in the overhead view. I’m shifting the open gripper above the dog’s head and upper torso, then I’ll descend vertically instead of sweeping sideways through it.\"}",
  "call_id": "call_8QlYLmWzoyNmCcilounYvbXP",
  "id": "fc_01a32badeff79e5b016ab4216423c487d0ae4565fdfc1d7ce8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8QlYLmWzoyNmCcilounYvbXP",
  "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]: [-1.2137, 1.7432, 1.15, -0.4255, -0.8848, -0.9356, 0.9968, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2703 left_y=-0.3233 left_z=0.1301 left_yaw=-0.0416 left_pitch=-0.0081 left_roll=-0.0212 left_gripper=0.9968 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0095 right_pitch=-0.1692 right_roll=-0.0323 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -8.0068, 7.5966, 1.0134, -0.7009, 0.0317, -0.0024, -0.0479, -1.6889, 6.9128, 1.5556, -0.0171, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f3418658f485a607ec887dd38f171e8d628cadb42c483a4e6c5caad48ddce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbbda5950dbf3f56b1194e2e75abc0869d022ca2d8f869505d6cb13022b3296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0629e1bea94e6df3e889465c28537e95af8e685f1a64e507ad59c1bb3c3fca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.225 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9047, 1.6135, 0.4736, 0.3794, -0.7174, -0.5827, 0.0122, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3014 left_y=-0.1897 left_z=0.0383 left_yaw=-0.0273 left_pitch=0.0155 left_roll=-0.01 left_gripper=0.0122 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -5.3402, 4.8889, 1.3358, -0.3101, 0.0073, 0.9792, -0.0615, -1.9897, 6.8991, 1.5897, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0424, 1.544, 0.9089, -0.2333, -0.8089, -0.7341, 0.9966, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2532 left_z=0.1324 left_yaw=-0.0227 left_pitch=0.0067 left_roll=-0.0126 left_gripper=0.9966 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -7.9795, 9.0188, 1.2234, -0.442, 0.0855, 0.1392, -0.0205, -1.7573, 6.9675, 1.6142, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2137, 1.7432, 1.15, -0.4255, -0.8848, -0.9356, 0.9968, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2703 left_y=-0.3233 left_z=0.1301 left_yaw=-0.0416 left_pitch=-0.0081 left_roll=-0.0212 left_gripper=0.9968 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0095 right_pitch=-0.1692 right_roll=-0.0323 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -8.0068, 7.5966, 1.0134, -0.7009, 0.0317, -0.0024, -0.0479, -1.6889, 6.9128, 1.5556, -0.0171, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f3418658f485a607ec887dd38f171e8d628cadb42c483a4e6c5caad48ddce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbbda5950dbf3f56b1194e2e75abc0869d022ca2d8f869505d6cb13022b3296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0629e1bea94e6df3e889465c28537e95af8e685f1a64e507ad59c1bb3c3fca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFq5yyKNW0t6Be6g-SsUB0btLvnz5DCRhHmQECYKUZRUPqerNk1f-Cc9vgMJZ98qC8LENZkdS0i7XcKWRXZrideYMyx-CSZN784MvqRZUd9xN98RDFaPl4cNOshbsIDOrMKyijQUwt-h24I9edw6d2U66bT1lpatoAUKKBwq-W_eTT56DWZkVHoxF6wG6kR7XJiDXdRhhOhrzo7xHnOUsUC1UpwqAIhYXk4FZ6qCcEnP-7ItgbGfQT0QtT8QWZ4_-PRKxT0FWqlJ05R4ipgM30IUEG-K56roKIevu_5yXqg2WqAJoKJFMMmySFTbqpGPvbBNCq2rSkyX6ECRV5-1IFbWLQhD-mfEWCAvnXcRaRXsw2Bq4UB9NRR8LSWzocBGHOITGnunSyaa2VRETwxPosMTQDv8MoKs1E5HSxx7_SqOdTaxDJzpZ5mZ4fBLnmvw5xN6xvSHBOouqx0LS_5m7AX1ChqxM34QnUzhF8m6l4hJxgY3dD8ZP7T7lo7gaEhgMOTL_2Ha5qkdwisfOfyjGDPFtfa04BQg7-fzOTI9QV9r6FPPKnwREs6TebYS3NBncTjMb4SvYKv2BMd5Iq4w-W5wP5VICrorkzu74sTxh_CE083EBDAgFuLSLJOS9AiZypaHS-edIX-5FVRG6VyXyS3s1vl5WyyyC0ZtiQtea3lX75yLKIV5DwJsswX7H_lEt3BtDJnpPR-AQsL5feqKmxzXdmd3g0_u1_1J-EFwbB8vQA62gd4xUhLiVybEU25g_QX85HHac17A31bUVK4QeZjb0EEVzwBhQ4-mgEExlsWXakrWbPhbsQkaqhAgZ90SU7De_8yhqJfOSo8RZFOELCY9sWDgVnI8IhkuPvjMbgcOzq5T0HZM8sknbravyjs4bxlbEpmbbzgMRoxpRatbU-bdxO77cxZZmZGyZcRAYf6IuoIMtkmQJUG5ERJ_KWZoEzfQ-FqyL729sjv13lTGkt39hsl7Ti2V5eHVDXeUo5nlISvZDspdgw88EPGmxdMYTW8-KfsGOkToqEXI-eKnOoEGKip2xatLvVvs8mIUlsF1rS6bdJ2u7Kr8dJen7IBxRYEttu-UT_gW6ZwLglGpXgWc6EP95TitIODwCcvzfZssNHvh8uDf3r1xuINGr7PiSIBs3NDvNVqsK1QtaSX6SkqHdT_ZI73HOti8UdtY3Yq0MmLMw9rfD4Ei5u0z6E0d2LT0O0g3IRP_tUk7dN9Z-SjXPYUJXIiR5LrswiNPIS5tXMifIDg88bFfZYaDsJFDt-ZZFlxxXbUKo687RgtIczBhAJnQU8olH5x2CGqEmd4ziFijwfoA48ru1U8EOnW4V_JPQv692HM36DLCo7MnzPmgdUd7yEq3OLXE8ljSqpDsAjZDdvVGus54V723wFRxgktP0qYWivjmi1lMbAlGczTiJZShxVugE23ijINhfz1DssFSgMa8W2DvMO_lUKrEoKKInuHmC08anXzD-8FW02wtwJ5p1_6leAysTNxUcBkKFK7h_QLM2UzDezrOPnyr-cbOHnAISCt3fVjxE1Qm-54aTSQWsOypQwR20cOkdlFBgpAX9n_-ICgk6YMbTKx6B2hxbMw0ZRz33fABs4nYOIyQBFrL0yLoyhZIGnXJrC90ufS-_F_tui6TlksY5usgMsM4Nr1b0XMJSssP9nn8wDd5fqE-Q9l-dLoXm8bQ1MnYuJqELC1XxbT4EmSUwCycRhTCwoblSoXBWqgVj80GKhncXEbXhzm3R_-ZYQb-9-ZF7a9xK9FsoyEFUfiPm8rJlbAbhybL0WtDbSBct88BS0WDsef-w4oXlllyFJqWrK86JLPJ_qFor6I6JPla9jwCD-BMPiMlmL_UUkxVBWz9ilw-7SgJEDFJa2mhIBepZ2aabYF78sLXyqVhLX0_Z8lIXkbafNmAmLqs5LwasGn0EngXnMVxf07HDGwKDNcOEk3RvOZUVBmv3-OkYjpy_bhU4uidDAqzDs7caFXO4Jq1Hb8PR8ct1e05KKwff8x4XmX0djln9GPB0y6K7naeQeGie0BjItPhqrA54lVzP5ug3fc5bsctegYBo-F4Hs5YyJx9kQ=",
  "id": "rs_01a32badeff79e5b016ab42167bad087d0b94503eb00a5a8d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.325,\"left_z\":0.04},\"note\":\"From above, the jaws are over the tan dogs; in the wrist image one animal's torso sits near the jaw column while another is immediately to the right. I’m lowering vertically and nudging forward to clasp the nearer torso without pushing it sideways.\"}",
  "call_id": "call_E1H9wdw3G8L6Xvd0S0xZtwN2",
  "id": "fc_01a32badeff79e5b016ab4216974f087d0b2187dfe8bd4875f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E1H9wdw3G8L6Xvd0S0xZtwN2",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1599, 1.9011, 1.0336, -0.0475, -0.8764, -0.897, 0.9968, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2961 left_y=-0.3308 left_z=0.0687 left_yaw=-0.0122 left_pitch=0.028 left_roll=-0.0863 left_gripper=0.9968 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [0.6906, -6.0786, 3.3573, 0.7106, -0.1587, 0.3639, -0.0122, -0.2256, -1.8393, 6.8991, 1.5604, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a406f70d28ae5412bb41dfc25ac730d74f246488f171a9f67e998b7a1feb91e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd719d54aa00a60966c701fb8cdda446b0de38a54c6a563a616343a45d574a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d4074f0d6dc243dd1a23863acf65693a8c96bc5a09cf94f7cf98061fa01ef3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 6.076 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0416, 1.7725, 0.7105, 0.194, -0.8139, -0.7242, 0.9952, -0.0208, 0.9035, 0.6624, -0.4896, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2514 left_z=0.04 left_yaw=-0.024 left_pitch=0.0101 left_roll=-0.0025 left_gripper=0.9952 right_x=0.2926 right_y=-0.0051 right_z=0.1546 right_yaw=-0.0096 right_pitch=-0.1692 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [-0.6632, -7.1179, 7.2821, 1.1209, -0.398, 0.0659, -0.0806, -0.1709, -1.8803, 6.8991, 1.5556, -0.0073, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2137, 1.7432, 1.15, -0.4255, -0.8848, -0.9356, 0.9968, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2703 left_y=-0.3233 left_z=0.1301 left_yaw=-0.0416 left_pitch=-0.0081 left_roll=-0.0212 left_gripper=0.9968 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0095 right_pitch=-0.1692 right_roll=-0.0323 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -8.0068, 7.5966, 1.0134, -0.7009, 0.0317, -0.0024, -0.0479, -1.6889, 6.9128, 1.5556, -0.0171, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1599, 1.9011, 1.0336, -0.0475, -0.8764, -0.897, 0.9968, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2961 left_y=-0.3308 left_z=0.0687 left_yaw=-0.0122 left_pitch=0.028 left_roll=-0.0863 left_gripper=0.9968 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [0.6906, -6.0786, 3.3573, 0.7106, -0.1587, 0.3639, -0.0122, -0.2256, -1.8393, 6.8991, 1.5604, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a406f70d28ae5412bb41dfc25ac730d74f246488f171a9f67e998b7a1feb91e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd719d54aa00a60966c701fb8cdda446b0de38a54c6a563a616343a45d574a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d4074f0d6dc243dd1a23863acf65693a8c96bc5a09cf94f7cf98061fa01ef3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFucEJi7Yx1N3wvmIVq50945SyD8k-sX5jxLtWp9wdn1AICbeYd2hTTC5FJ-TVy0vV_EUgrnuBfoxEvZgrH64mHjS7GZJF4mMUGCUJSkdrGdBATjjgFiZ84zy3_r7YL_lXJX83oZHGv8Is6NjNsgpm_Sh3xNVn3vD2zXw5yCAb2lP5MbqljZgyvZB_OgA9K6jzQxZowrlSWXk389qitrzwCPoSpfm-P71xOWjFdN6jAlM82hSwUYWiU7sH6x7NGNtl2KCUz_Nmcrz2mvCUbEMmarXbr0z7u9OGp77B7gCJwyrJDMZaTFhgcviHA72ghm4Dg_sMdW9N_RTCuSjKUC1HTM1oNTooPS7I3LzKw65L_brMBIFD9YbUbfe-upEYTsWNl4XlWmfz_TcHYDr_Bu9js3pr-xm-JoCz32e5kHGULjzCs9n2olMDEH-rkkSQ8H8KaD2roZzCqrRDmz5ddKcVRtC8mIN5VvWDiyZvKs4qzxiwXWUdJdq_oI1ecgR-vEKBni0NYopV10pUJyb5cOuc-x2Xih2SXUEPrXEBZPR3dJ5nA0nahfHzJF-9JFCpZyxYWZ7ymBEKY7TgeEAtilK3J0yfnc5s05VV1avULXaYNCXC1ofaMixdjhvhydJvgdGvU2qzkSq7_uSOuf-7XV9MZFk1Tipqr6E9882m0OZsautVuNemLL4zMaJaEBZxaTp8c_QVFj4u501cBChnf27hlPj2X7efk9gQz4rPQvv-ZoqPUB4pEg1DydMIOYokeKA6f1E9KQZpS-a9h0pKjn702JV6ttYhtb4p8FUN54jSHWLlw8bLCCfLbwxv8KkcjbNhYUjCDJQPSnkiYIXKua_zZ0ezyMd5XlTTFXJoWSbVWpm3zTylBZL7IscVze-idL4wQaSh_cY7oQUbVW9x8qOjYyn7KCvn6DR3BcebQ5t8Fnlsj2unzfcgnLF__hGAIJ404r6Gk3IAngknb7hNBBCP-MOLGZ5QY6zZf2PetYdVDdCwefdqf-Zgd-0JXLqGf48ANCC_NIgyYSo4MBaoYfeiyHZ9imeojbzShUXMeTWQkWHUhK9Y8wn-BVPZztRuZnzwVklpkExkzaYy8YeBIRWdV-eh7JPyojXVMIvCMrD0L16uWjKD4rbkYTEEaMjCEV2v8oDd-dvYIUS4RCFTx6-iWCgkrYLbduSAVtiHwbRQOtxRl4XjWtZ2zpE2ESfTEv19wsSmmtYUnEj6Mfw-9conAagECkJRSkD0VNZ8n4N86-mD4X9BeWz5hjj7caypaZReTqhRCdVj7nyoGNRQ29A2NnOWQYPhsLXwOmYkEHdfsQkAknMMQScTFthdqX_rN_vAEKZs70TDAD0J07nZJjbRr-6dKhZ_vHPyrZj2z4UDXyFVRkM5zVl-ITd98Betvq9sP8EdeImuq6gfkrtVJv5S_qg==",
  "id": "rs_01a32badeff79e5b016ab4216cc50c87d082ad25da263740f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The nearer tan dog’s torso now spans the gap between the fingertips at about 7 cm above the table. I’m closing around it and checking whether the jaws stop at a meaningful width.\"}",
  "call_id": "call_yats4szMmxPgrHHVlipeEoAN",
  "id": "fc_01a32badeff79e5b016ab4216d41ac87d08951430831c0aa7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yats4szMmxPgrHHVlipeEoAN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1633, 1.9034, 1.0271, 0.0101, -0.8913, -0.9058, 0.0126, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2985 left_y=-0.3357 left_z=0.0739 left_yaw=0.0001 left_pitch=0.0578 left_roll=-0.134 left_gripper=0.0126 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.4308, -9.5795, 6.147, 0.7204, -0.3004, 0.0513, 0.6667, -0.3761, -1.853, 6.9538, 1.5556, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370d7cc60819143343ab0499745668341ec236beabc42992417a138df28549e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab23514d59033ff018bce58dcdd834ad128f53f563a77109e08c7fb82d2ebea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acc9afd13a32fa51dabd25f7ca04d74eccf60f946c878539776fe1c9bf9493d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.346 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0424, 1.544, 0.9089, -0.2333, -0.8089, -0.7341, 0.9966, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2999 left_y=-0.2532 left_z=0.1324 left_yaw=-0.0227 left_pitch=0.0067 left_roll=-0.0126 left_gripper=0.9966 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -7.9795, 9.0188, 1.2234, -0.442, 0.0855, 0.1392, -0.0205, -1.7573, 6.9675, 1.6142, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1599, 1.9011, 1.0336, -0.0475, -0.8764, -0.897, 0.9968, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2961 left_y=-0.3308 left_z=0.0687 left_yaw=-0.0122 left_pitch=0.028 left_roll=-0.0863 left_gripper=0.9968 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [0.6906, -6.0786, 3.3573, 0.7106, -0.1587, 0.3639, -0.0122, -0.2256, -1.8393, 6.8991, 1.5604, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1633, 1.9034, 1.0271, 0.0101, -0.8913, -0.9058, 0.0126, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2985 left_y=-0.3357 left_z=0.0739 left_yaw=0.0001 left_pitch=0.0578 left_roll=-0.134 left_gripper=0.0126 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.4308, -9.5795, 6.147, 0.7204, -0.3004, 0.0513, 0.6667, -0.3761, -1.853, 6.9538, 1.5556, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370d7cc60819143343ab0499745668341ec236beabc42992417a138df28549e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab23514d59033ff018bce58dcdd834ad128f53f563a77109e08c7fb82d2ebea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acc9afd13a32fa51dabd25f7ca04d74eccf60f946c878539776fe1c9bf9493d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCF1Bj46BVO1PChU0EM20YFRrGehw4LjeeZnz_Vq7v_X_F-BIBdrf-auiWxmsVFvGafrSg1880ExjXq1gbBLt7x-KLBmIMRQLI6qlKkdPnY0bEJr4cTG8e52vT1-gtkGvDNO7-T9mAeYWKWLUws5OQNLOwZItpBCv4TLn7eHa24FsXDmWNOByM3xluegrlax8KJRcPflQd5Cl3xUWD_T7wk1m_jDG9VdGuLn1WXe7VKZvZhCn0bYdKUHWg5cjiyX_mHVbDC-Jz3sDvxRZyT90yWFYYGmb50_M-t5a2RgskCmQGu7zn-p9pDe-JIv29MmN5cQJGauO_N-s2x2KW6Q6PH4zUk0GphxepYmQB-aM6jDMpHfxwHslTyUgobuCumasJ7khTsKR27fQpdlfrJKRG4FfsS5iEfYgY_BEsC3iAIuKfaBOt2r2GCXjJASJZIFU9nhu0uUCeYKimnAyz0aEpo3G32dHgnsoJE3Hl6hwRGtn1W_dxAQCMeU0vc7ZabPYHgIMMWMZtLSkhF8fgz6IkX6He0Rm7-9IVUvli6AHQKJIpKEf5am5pQksBrgS6PrIbaIc9W_eVw-AJer_qDobDYLCG3UYrMZUBKqzGvJiqB1T53mbls_piUAM7Bpcuf_H4097D41ZGTLT7fdcy0GFPjDZY38V0R90y6XrukyQgnYN-nrcGmlOlIfH_i3Z-S2WjoQsb4TjO-JJRD6kH70SvUvvE0OeuTFBLSzIM4FLySlc4iJyBfyeX8F9tuSDCePZZ24p3ljin_I1un5fbfwDLL8MwQCdXobD-ecZ-COmSKLHGnQlncFjDbjJuFWw_EPyctHbh8AufuVIbmRkAF1o19uyHWaMnvbj2YKz3VX3kko7avXfr_tlrQLkva1qlZ2Dg4REN-RGDgfo3hXdZzNQz9zKnNy5k7dkkZeVIexJjKjtbB_c3F9bv6zg8oS_2blug3MGKwyIe72lHrxrUEQgEOb72Nqd00hLm-4S3vds-63E0WPljoO6Wj8zPqMXTPoCrh5zh9FGarj6ISfDcPRZ4lNG3IXZ32XSGPhw3a3JpVp-f6J7fFpgS5CuxbmyeuqpT0D7vHIOyH32jMuRCsIrlWjPtd50W6tzMrqNfPf7R_ROrUMtklIJSEySFLQVLOsTCuoB-6Tc08Du21o41E7JF3mJt8PnuIo43AWhoZ05MzFvrmV_amPRSVr2oJfLh3V0CCoWVNW462duxSed_fJmjO9Paq7dd3KEFn0S2PNE3yl111mdB30PQeOxQeqiisF2cRywcggVVwdfWhMWfL_mEi6kQ5DXh4f1UlK0Ng88k2lsXeWb6ayD8kkXV_G13OD432wefgTwq74_4cEJFzPf97CyH1ciMx1dn2pVp0YIqDBOCjfnfYiyAoAQfg2BVknxUfaTDp7X0KPR0Fn4B78rBI527xhVXRruxDt4AplLsodG5FYX5RgNkszZ4vLvgIeQYi8Zb3UkuG_nTw7E-0zpWISHb4x5wkLEwTjdIUXgyHjOWE4GDMtdUDz2ZHhbxWzL4ZZkULG-B0Bl4TklMdUiKQHWRuwxRorQsRzPNwbRPPn6aPY_Zn5QcIuXQ-K5wH7o2OgYr_qR3aPhqVYLpOOLiZIsxOBnr6_B0x4R_yhpWSMo1JWtPNq6ZEWzOzIWLf6Wfd3dwmreH767O2-mrTw3YNre6KefGZpvEWDNb1d8wzkj86yYvh-ewf1bPUpUUNjiixdCsaqYvPukN-3ZPUm_h3YPP4IMDAwg3fsbUmD7i1ro4c_9myeZfnrYtbYzDJ1dFaXWei6ZfVRoFNJo--OyuBSEAUItScmNopf5FeSTUFqB4pE4t4ZJctuvv3YrT-DCXShGDswTuTgkGYJvWaGC9bGcjrMUjDasiQO38AsP65x-PoVNwGeIxH5hzaqAopyU0bYVjKS9nPGGPC91apGtgz7WQTbTvkxagZQAAy9WaiZucY7BYVNOQp_SVf71dlvS7ORLqTNsOM7dCktHpr-zxA4PqWWajzfY_vEt43PASbsaSxw_Iij3XS05OLwUlp3iA5Jb1MdPat-JgrOaP9zStUko66lL-WjNN7u-oGgWTiW1OoInHOP3dvScxcC1yec3EM82YcAZwhqI6FfgLpxD3P-XkLZOABB4c-rlERotOyYExfw_3lYgwUM1JTE5082VacZTjR6Yz8WdLoj3noamaQ_ECvUwPWEd9M305vtXhR8klxMthJJiQEDE5YuKZbXQAtUdtftFV9okHle_rvcRmygAal_XGmvt86FokX3JneKtDomKTclgHclJputEzeMftI5bDwwSjjBi9isiD_NranpINcslyoOxISJ9sF_lK5egn3_YYfZDUlUjeBa6UCSkFkgra_NG_efY5jZLFAGuvmeC6_3tV2m5CLHpXjlaUJlle4HozNBzAVYfHrRYyz565GQc9Yy5Ga3zk5H7QoljsSjaZk3RaYf7uwjZYpyUVdJ63mDLC0GoGabWbyyQ72c2V8m9YCyREjyw3yrjz7E7c2RB6RPsQFY4Yr2ut8NzorGXZIvAQLAGYU-b8FsvjIPoP88-3L4G9zf6-D-6ID0om3y2Od3bK1XA-Bl3Pk6dCZ4tXoHVcIZND-MsTZy90BfAOU9iHoKM5XIPrcQbz020ppzNpNxYSNu1mIYKzc5sgVUTFPIWrVDbot8NVch8_xLS-BwtWA7Ux1l53dXWLWo42pbeW3RnouvH7LMsE3J0LHsUPxBPNKe1G50BTlv3Dg0PEmMWFgC0tK2wQurns2o6DOvCkqY7QgmGsG_Xy4jKtgLl1ybMVgWoHiO30CagNjnLl11x9PuSbVTdt5w3afQbVHFMjoWybrGeMw4kXd0n8eG20gxmjVvh0CYE0T0UeiY_wHsvutGs272dD1GPWItmVSHLu42sZpQOyaCeCXglcRRAWaH-8c5KN_VK3s9UhejsCSptcoLnmxgrjSmIwJtkHI-PyRpW_0hXIvTNb9yv2rsudNEn_5SieiuqJyohMipq8PNWQtCDOKJ85IOL4Z0hTQtr9_XbA-UKpXMtC1MZf4jqLCzIIwtGvxbhqZpU6N2SIFPBIa2gOFgr0m5MALmBBknJmNYCiiGb1Zd_yc_vrr2EqG-GS-WtAyIO8IBxj3VFJgP",
  "id": "rs_01a32badeff79e5b016ab421700d8487d09258191fcc6bb5b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.33,\"left_z\":0.11,\"left_gripper\":1},\"note\":\"That close was empty too: despite the animal filling the wrist image, its head is still ahead of the fingertips in the overhead view. I’m opening, raising slightly, and advancing the grasp point about 7 cm over its upper torso.\"}",
  "call_id": "call_5kV09Y8XsaQjAIa282VAy7jG",
  "id": "fc_01a32badeff79e5b016ab4217426c487d08282e7bc5ac4fd13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5kV09Y8XsaQjAIa282VAy7jG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0031, 1.9038, 1.1412, 0.0044, -0.791, -0.7647, 0.9954, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3595 left_y=-0.3235 left_z=0.1022 left_yaw=0.0235 left_pitch=0.0519 left_roll=-0.1398 left_gripper=0.9954 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.4564, 8.4308, 1.4286, -0.1538, 0.2711, -0.1197, -0.0752, -1.7299, 6.8991, 1.5849, -0.0659, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa9c0ef9e0adc3a5bb846ebccdaf0941b05a896a7b6bd8e09f8c44a000fcc3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d18d24a0c0ce725363471c1d7a1ff3871b3f0489e936ccb4ef67ca1e67b0ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3137d155bf799fbf79aca2452ee487060636917156a61d06e83ff674339ca484",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 9.577 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2137, 1.7432, 1.15, -0.4255, -0.8848, -0.9356, 0.9968, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.049, 0.998]\nstate[eef_state]: left_x=0.2703 left_y=-0.3233 left_z=0.1301 left_yaw=-0.0416 left_pitch=-0.0081 left_roll=-0.0212 left_gripper=0.9968 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0095 right_pitch=-0.1692 right_roll=-0.0323 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -8.0068, 7.5966, 1.0134, -0.7009, 0.0317, -0.0024, -0.0479, -1.6889, 6.9128, 1.5556, -0.0171, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1633, 1.9034, 1.0271, 0.0101, -0.8913, -0.9058, 0.0126, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2985 left_y=-0.3357 left_z=0.0739 left_yaw=0.0001 left_pitch=0.0578 left_roll=-0.134 left_gripper=0.0126 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.4308, -9.5795, 6.147, 0.7204, -0.3004, 0.0513, 0.6667, -0.3761, -1.853, 6.9538, 1.5556, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0031, 1.9038, 1.1412, 0.0044, -0.791, -0.7647, 0.9954, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3595 left_y=-0.3235 left_z=0.1022 left_yaw=0.0235 left_pitch=0.0519 left_roll=-0.1398 left_gripper=0.9954 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.4564, 8.4308, 1.4286, -0.1538, 0.2711, -0.1197, -0.0752, -1.7299, 6.8991, 1.5849, -0.0659, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa9c0ef9e0adc3a5bb846ebccdaf0941b05a896a7b6bd8e09f8c44a000fcc3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d18d24a0c0ce725363471c1d7a1ff3871b3f0489e936ccb4ef67ca1e67b0ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3137d155bf799fbf79aca2452ee487060636917156a61d06e83ff674339ca484",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01a32badeff79e5b016ab42177990887d0b01ae0fdcbe1ce39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.038},\"note\":\"The forward move placed the tan plush mostly below the wrist camera’s field of view, which means the fingertips are finally over it. I’m lowering straight down onto the torso before closing.\"}",
  "call_id": "call_Zf8mjJ9tgdvybg11YmoVPSUj",
  "id": "fc_01a32badeff79e5b016ab4217814a887d092225c3a435f5827",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zf8mjJ9tgdvybg11YmoVPSUj",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0008, 1.9953, 1.0943, 0.2874, -0.8268, -0.7834, 0.9966, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3731 left_y=-0.3347 left_z=0.0887 left_yaw=0.0746 left_pitch=0.1416 left_roll=-0.2713 left_gripper=0.9966 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -6.106, 2.4547, 0.2173, 0.1978, 0.1929, 0.1197, -0.2393, -1.853, 6.9265, 1.6044, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780604043cee9f3dba16ccc2fae3a4a31acd2e4e2a29a2725415fcc2fa33ec94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a8d2cf907ff2fdb1cf7e2eeb60beff4d630f0996bfff9c6c844279037fa517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c0f42ec24572ed915788bea7d16656ad8eafdb51afca97bcc8c126643e67c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.482 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1599, 1.9011, 1.0336, -0.0475, -0.8764, -0.897, 0.9968, -0.0208, 0.9035, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2961 left_y=-0.3308 left_z=0.0687 left_yaw=-0.0122 left_pitch=0.028 left_roll=-0.0863 left_gripper=0.9968 right_x=0.2927 right_y=-0.0051 right_z=0.1547 right_yaw=-0.0096 right_pitch=-0.1688 right_roll=-0.0329 right_gripper=0.998\nstate[joint_eff]: [0.6906, -6.0786, 3.3573, 0.7106, -0.1587, 0.3639, -0.0122, -0.2256, -1.8393, 6.8991, 1.5604, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0031, 1.9038, 1.1412, 0.0044, -0.791, -0.7647, 0.9954, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3595 left_y=-0.3235 left_z=0.1022 left_yaw=0.0235 left_pitch=0.0519 left_roll=-0.1398 left_gripper=0.9954 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.4564, 8.4308, 1.4286, -0.1538, 0.2711, -0.1197, -0.0752, -1.7299, 6.8991, 1.5849, -0.0659, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0008, 1.9953, 1.0943, 0.2874, -0.8268, -0.7834, 0.9966, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3731 left_y=-0.3347 left_z=0.0887 left_yaw=0.0746 left_pitch=0.1416 left_roll=-0.2713 left_gripper=0.9966 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -6.106, 2.4547, 0.2173, 0.1978, 0.1929, 0.1197, -0.2393, -1.853, 6.9265, 1.6044, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780604043cee9f3dba16ccc2fae3a4a31acd2e4e2a29a2725415fcc2fa33ec94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a8d2cf907ff2fdb1cf7e2eeb60beff4d630f0996bfff9c6c844279037fa517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c0f42ec24572ed915788bea7d16656ad8eafdb51afca97bcc8c126643e67c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGDUAzHQHEk3O5CgUdrF-8O7lWXpPuAvKC6SHLGHVe9AxHnJxBAsriOMRZYCTOheC6O57Oe-WcqON0YQs31S01epW_PjfjGC5O_zu31zIORPzDC7GkQAu0xU5LZL7DArbvYofVmNFeiYBRe8OqVGQ_2wK2uA1atA2uBpwOGGJa_znrZwn-XBP9Cz0jiivC24czBXXDpKuFYbjIyCNaS9zda9o1S3lF_QqegXWPDdZ_1QpWUhLbZs8RRIcbyTOe3Ab54BWToDWUR3k2_9mQ4URsPzOEkXvramf_6f5oVcOsN6_TGfHt8u2IaPGk8buyAyLITnd8Yovtk5PftR5j7M0n15SvGsF2cStw7RlnP8dsl5T5GCOadOmuMY-N50nGwGWWt3aUULn9evOUvFRYFyZP7RNhiJHlgb2hUvksztScODtNdjyBiI7XuuBeMGWtmsLH6qoMoW9qY55oab7VB17BuMj8KnkO3LJOCfhR6NpAIEAnoQPdaSdnTamVayQ2zOWf4coosc4-gfB6Neu2KpXt41BrxFf9HPjR2kIa-Mdt86ZPXE00vewZm_15pggrfBKXd2GEviG8ZcK8uggIEQOljL0WI5s-BI1R58m5al_lrlLX7mmeuax0lstBJ_YUQL3NiJA-rcwwUnLioMDafaHj7Uh1gcPi05Jy8gHRQCBRyQRcdhZ7ezp4UrQ-pc2kxb71HViI623Ekbq3OstkXAUWQm0xzoDM9248Lg7JJZXYqkhMPyYf_mKAiUB6reI0h3Vro9CdXb8uAlqS4wdBYZBobULujiF2UpgA-J6VB6DXocf_BMDj8BZE3qaY69P9UzciaXzxcXbcFi2kZyTJAd5NT8wOqFgLd-pOcCiYKdlb6Rzc37WOz6YIs13zQYTkPEzuMEDXB1EBmjTpt0RcCxTj2_Q_OErnhLgo8sD4hqr7OGRsNjvRDjP5qH6YMo1RUYu3rpW5a_yQFrGDbk9JcPBxrC7q_49ZG8CtperNNjOqwbyLHa2qF65sLVot2ndsVBlhJORd4LT_ILWJhvI9qYrowFN_2yUt-P4zbu5PxPNq8cQb7L63XMQGxmp9CBBQO8tkWozMBt2vq6PO0uTTF9xhMNppT0aklCKVJzmZuwDHP5kg8U17tPPIf62hnTZYyeushOL4IIyrGbWedJoKrmUxt-FSRqeVP98j3--nd2YzqUNGu_4Y3xlVzxP6LuFJ73belC45otR4zmklK0UqKKbo-9chIf7amhYrzyqVflfkhNnPoqJC64cgMSzWqAsMI9k-AcW38G8c8fLOkIlaYrwBQU496-WSUieMNXcG-xQuS_vyHO5DZQJr6a86Zh64KHTOybo2FPJwUF0p6PHBClkej26G7yJEI421Y8o4KqnLANxMGrD04fUJ8X7ZUvI4xs9bNjroGE32pp8EgGeLyz3wsvrocaaP_OT0WycpliikRYmxXiA7fO5ny9zOViavxyqTzCD1sk--ue6zYBc0VjjuIp4VPG8l7uihyCiWYzvMLZU5mj17z56XcAFsEHtwdAVbdHg4xeG_imhYWYE5HOJBxvZ8oea5eDsmHnCQXlaq2FTOwYkAemD-t2WnqD2wmcagvIY_aeG3Ldh8pIBqmNPwS8sx8QMr5oMS53bHjMLR416SY_dW0JEfh39UTz2HfyupHshIq5LvaVEHmc1cQoXOzovDWPZJWEsOUcnilyxeGcB74TaG-Ylp-nlncxlNQwCwb8MIumHQSmVauJrfktMc4GJd_QvklEewHVw7S4sbgoXwGRo5nAYRyeoo2IePm7PaqDL50k5b7KqHud5T0rr1cstJxndhrZ9DxgPeFngBLa7JlrP4xvwq-jHT6ioTfOWTTUbJ-aHWwKM0mabYNbd3NRl0EWmgxGvOASW7pgfSDLxOLIUnsuo9-KdLK6Nj4dAy2G5HYu9hHunZGiIXE5g03Erzt-18kLrSq2bqx92N_PZvJuyHa92aGln2Sxh1adkigQf-oQ9eIII4XqrB8Yrmfa-RhiRP5CbzWSgU8M6rq3qY9KFpL-IF4HyJGYg5hxY9jd9p9kmjuciMNtuaV8kNP00M_suaWfq5A38kknk3lfW5zh-3xFxgkaHZnUyxBVVUdxoqB0YGa04M4XpiTDDJQrQ2Kj7JWl0NyWMarcKC1y0UgtA1VlNHvBYNW6L1CotwjSMoarJ75r-pUa32ELAq1Me8X9KVFhUsORYUUzVaN4bRy1_ipcsfTAgJOILXH0Yv9AvFDyQ6JXOxB9U07V3iauMaX3tDMCRBcErKb1HXWCkHlALAfMN_XYoJhWaUc9RMcwRAfoFaWXR2wqP8Sv5auNBYFtGtSNpJyMQeFo_QJ5FbkZSg2w3UWHDR_MQvqo30Q9i4v2PtxzTHPXoPQnbG37awbASvXnsbKLuw_lVjHj0mrVJgkkaLHGp4ERZ8oHmhPzFc7FjBBm7FIjLFc1xUZuLrRjSZxKUZzUfKdh9mrMt_WR5t2gT0jmAyTfFUBrEB32kdjPcBmu_ExzRij0R2RYsee7tI1rd4qzMnqLVO8wLsUD-0hBNJZdxrprkjXqpTgjgg6Ykx_WVYYqZ8rTBm8Zn6XAG6gHiPZsUR6YxTvqnfK5k_-bUHvin6aSQV649cdcNdcZ3RegkRRUZamTvtHStTLcq3D4So3qHFXFJgHgA2uU2n1EMsnbsbPju1B44hxA_oae4OjKfCA5i4PGqCjyCnvjMU20l6ZWRvgLII9-EdN7ptw-a_rsEWDoavY2EyDSguJucPxy5qwBQUOpgD4Kritlgq_8FROfUTvKz2q3yOPdqY-8ft4GAu-0j2wdyZXCC9jL0dcez0W0ch2UjCevFwQm0Y7ilymAqRCkegSki1sOK8PMxM-4STSvFHbO4wrdJqeez8S5a2HMDMJyxinUHpvH4xjp24c39cP7SmrdsCdIKy-dPL1fOXFf6tazU4Syw0WxGGhkmq2O1vAYijUJUwtfSN8s7bZlzpjYX6pcYVawkfs_HA-9FlEqwXEH7hJR-nTXLfHV9yslTiv-iDmF51qe6nZt1fgf8nYWNlnHthl7jSHSTVZ2nBqlroWM6-Se6w8bGHPM7JWvgx7QR7OWVkiZw34Q9iLQQ1ITFn5XmYbSe64f-jHqfgy4Q1UdWPwmHHu-pigeBk0sQQe9ZwU2DSMrqO4NVnvpgerfjK8d7Fkos98JmK3zzb5Mx8_aUa4TmbU0JZZju_1JINJwgpsPAdaraFlbrsxsSkHmdRmyx4IoxF3cl5o_9iweEdsi3zwmk3vByjzGIrFbHzM79GRr6Ru1kgxNU4ep_pp7FMLBk_jNsxyFuMsf2x9q2REZhZod0PuzxbuDtVDLeD8KPFoVWxHGuKrlxd1vIVTB7J0HJwxf7A4km1ykvMRjm7FOipJvIACy9hxiQe-dJsdeIQPgYkXCE48JePXXHkjH9-Q4xQPor92ryulcUJm1YUw-NEf1WwmjSR_FeqJdOCbsNwtLhQ1lDBzrgE-8_AZRd5ZkV8l3kqRa8-XIms8PlznUgPcShFEAV7vfv-1MEBw-DYErgf4cGLiWGAnf3I6ppHtRTdpjNk-sK30A_EeWz8Ca7fc",
  "id": "rs_01a32badeff79e5b016ab4217c69bc87d0821a8c8966ad21f5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGDziIv0jq6D804gta9o-6alHfOBkYdzFVJ-pIHb1VBStoIjONf-WdxkBFein8lCwthiwlx0mH1I8hiP9AR6jdE8kHFwVmgL5UKBiqr1D1mx0mNWDsilzeMiZ1XY5dMzTLtWCxrsCLiEZoYol1XezYJ2yWTp7_x0w2FBenCGCCCMjAmT-Y1pNuglcMulGHpGTZt3NfNzumrCUWPsuyOV7nCDqlXw2qlc08Xh8efNhd34FHWCIVtgKIMN1TCeKEmgrbJCLTcXvnWXznSdx2phsxu4QtQOH1zzfghl5iAW4f-hhWRkOkwEWh7u8iZmsd4YCE45XtYv6fQwBVtTB3OQLWuG-c3ZZ8coJWYCEMT2kZ37EyxAYsC-24oyWfecq2TIz1O_SUCYtZ9WKEqbdmr01LEk6xidkRzhibiragxvQJo6VGX0kx0jkdUs1_v2stUdKztV9UqtxmJG_qliKaBs8kzMkVTnOBcSPQFhEE5E63P1NuKD8TcXwIThyb9C_PRANld4A45PrLvTRkEYSMiHek1QFrsjJwvIyV5iaEMwL3EopEEbkW-3LHloPddebtZtMaXkwcpVyqv33UHPtvOLQ8eTDrec65mKFNXBkIImJ0NLN2w7bXKOBicHwT3zu0WthLPT-qHgC700zX_kV7zhRWMFaEsSonuU2MUSzHpLHLZAOh74fXJR61Oe9tpzMJROybpna30EtLSxmwhnwtrZnZZuXO6XtQCKIu5g-euYBR_ACIDvi5Y8oqkyo8e8GcVC-LL55NVwP2KnhHKoiZraYpTWegxQQxBZtiCXXe1ehRGAfq8YNtmzyPLRlZC-UcuaLxIurxHNE9qXelh2AYLFT3dyPVSueWGs7K94ShnuVryWirNMYRl8wyZX81SE8Imn99QG_aR3d2kHbxfrKIAYVZziCaAf7slRy5QypPoukPY6OKb31aGTwCSzT4vD1-Gfr0_vCvQ5UvjPxeHA7eNkiEcZYK-jLP8y3mjvQW08lMEZxBoYnOCu4X03gWFA79dokC0m4NSFBXVhnml19RQcDd4X2bAGDZPTuPTDQ2teho7EhzLrffFmpHTfWQjS4AxSMk8UIAg5xOUA7wTN7r8Iy-nTFt-F3b6Bn2q14yvHqVXBFfxQbo2oDr7m93EJI0Nc5iPSJlZt_P1aDbnWPzWBPf4Sz5BIlM_TzOl0kxMCaYJ4tylSCuorSIbll6nsklaz7JcsF4D7JriSrMLjU_n9RRO8eanQTEH6em7Zo-ArFXghd3mKH_6sTUHaUroJhNl7CVxtWpkPyMyihV0SnwXzVkg3dMHKR38MEBdosjhCBGnVShX9SjgZrLGYGkIMLphsODcLqDdnGexPadfzb72RDpyG7RChTuE_sMdN5fZ1u6jsG-OGyIQBoWnnh_x9Qy05s9TmYRQ6cyK-ShHFN4kbRFwxLr9RRuseMa3oxXVtxQfQ-rNQPGo2iSrsKCDXQhb370JRbgFwNJ5HyZpq7oCDUbLrv5GPiZwnGmPyZC3VI0rvmU6S1B6tGlE-EAtwEory31i",
  "id": "rs_01a32badeff79e5b016ab42181084087d0b3e66ac9ec9d2cf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.2,\"left_z\":0.15},\"note\":\"The descent stopped at 9 cm, and the overhead view shows the gripper now past the tan plush rather than on it. I’m raising it and returning above the central tan figure, where the arm can descend farther.\"}",
  "call_id": "call_iQjIuVZlBT4UGBgPthDzQA8k",
  "id": "fc_01a32badeff79e5b016ab42181afac87d081e4073d25e654d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iQjIuVZlBT4UGBgPthDzQA8k",
  "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]: [-1.0046, 1.285, 0.5987, 0.0952, -0.8265, -0.786, 0.9968, -0.0208, 0.9085, 0.6624, -0.4885, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=-0.2076 left_z=0.1509 left_yaw=0.0748 left_pitch=0.1517 left_roll=-0.2939 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1535 right_yaw=-0.0096 right_pitch=-0.173 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.1368, 6.735, 1.6142, -0.2515, -0.1148, 0.0024, -0.0615, -1.7436, 6.8855, 1.6386, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89ee744ae6a3cb094e72e91b0ca5b29b146576fcf3ce29e910fa01b3d3d6094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050c9f183e94773f51b360031d7359d16bf90b93d9baea25a9c51b7dbceb0282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3159248e0b96e51aa547b2454aaf351672f12b7b825693bb2ca41c47ab88f4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.57 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 148 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1633, 1.9034, 1.0271, 0.0101, -0.8913, -0.9058, 0.0126, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2985 left_y=-0.3357 left_z=0.0739 left_yaw=0.0001 left_pitch=0.0578 left_roll=-0.134 left_gripper=0.0126 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.4308, -9.5795, 6.147, 0.7204, -0.3004, 0.0513, 0.6667, -0.3761, -1.853, 6.9538, 1.5556, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0008, 1.9953, 1.0943, 0.2874, -0.8268, -0.7834, 0.9966, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3731 left_y=-0.3347 left_z=0.0887 left_yaw=0.0746 left_pitch=0.1416 left_roll=-0.2713 left_gripper=0.9966 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -6.106, 2.4547, 0.2173, 0.1978, 0.1929, 0.1197, -0.2393, -1.853, 6.9265, 1.6044, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 1.285, 0.5987, 0.0952, -0.8265, -0.786, 0.9968, -0.0208, 0.9085, 0.6624, -0.4885, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=-0.2076 left_z=0.1509 left_yaw=0.0748 left_pitch=0.1517 left_roll=-0.2939 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1535 right_yaw=-0.0096 right_pitch=-0.173 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.1368, 6.735, 1.6142, -0.2515, -0.1148, 0.0024, -0.0615, -1.7436, 6.8855, 1.6386, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89ee744ae6a3cb094e72e91b0ca5b29b146576fcf3ce29e910fa01b3d3d6094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050c9f183e94773f51b360031d7359d16bf90b93d9baea25a9c51b7dbceb0282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3159248e0b96e51aa547b2454aaf351672f12b7b825693bb2ca41c47ab88f4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGIWiUez50WabwQCFFywO-TkG8g1V1A5R4-DjsA7cGhvi9BvOvZWzoPH8iFQnsgvLuQsinQzG232V0cAH-S0uZChYLNoGJ0GkyqUyU8-vWpL4ZpmmxK8iWgxqcl7heM9FUonw7MxGbzjPZ0ImeIRjT2zo_eDOvCh2kj637Y8OhCC8T2YQZOl8cErmM7O55fHA5SjLPIP6oWLbPCDQtq01SAmWWi8ck3yo9YwPInr3KSsfOGCIsIbMslxfQyEdIyaUqQg0GaeniW0qu63At8LZ1tlJ_Dj2pGBK-h-IfWI6xAcSyq4l28G-cmjbyaep7qzz96cHnloiBttalqMbC4l2PDmm0cEdJn1IbEYyDfzwF2QDa-_J5FkFxsy5x6TwBVab_ybJfUKHFqo7ESjVbG6-hZpdRF52YDDivGN5D8PeACXmXIZwS3bHooIqp9SfIt5Vaix84Cy4AxRJQB8uZWjtyVkjq-GIeV9xa5k2y_FpAzWOYlKnas1sy7tnV-ff7T8d2wmpN-OlwKub5g2PQVTp9Qzo7VGZYDg1awYZxdlZ9HU_GoTN5_CJq-XdSK7ugmu5XnpjJ3nLRaPkKytOw020UlC32ucTJmO__fZkDlzCzl-7FXT8gSeJTsu_wA80uKxDKwHgpJFLJvvFnp3i0SaJTSa-uJjdInOt5mS3-BUrMYNadFZqV0BOVTGLUlb9GUe_9NehTHN2kVXl4qrLsz-k0fqy6-fKrCdS2kWjADNos_3REQEpIhHzqBgINM1qFkfpsSfriAyFq3IUcpYyWlk_89_S1iCjBc2I5euSOknfNf95yXCNfR1xsHSOIlu1yMGN0PnzJa9RJW2rnXmPQlw5D3KAMmAtM1Twe-arfHxa1gtqldUFChrlRcR7FlaSjVu7v7copZUu1bbID7EJdxs4GjFF40NhjisAiS94_lCe5KfMwQewHDtycuv3_AlGh76xvQw_9J4hx5sE8hUqGSMtzwkIS9xEXybxkvJnAfWLb5SIA87ev22y4gE17HYykDdxjAqGYUDMdlkt3sraY0SyfKrdxTuZoNtN3UPUEx89gKpQM13X9iv9iJ2SMsPDDzj3pTGmGQEgklF8jAwFv_KSKUw3ZBZsx1_As4az-VnzangnT4fzTgbGiXeFZ-goNf-_R72RDMFuvvet3gGNAY8tfJzNnlg5Jmw2jitJM6NKoVj0CVREuYhN06y_kXJR4u3Bdn4nw7BwOdUVvpO3mTNzy56yKOGJugyXO7QzrO92zPw8ydHKTPm73e6k4hKnHW6c07wdysAju4526yZt7FxIYYRZuzFyorYNaap8Tqi1zzsuabX_xC1kd9SD7wukUGgRnQeBL5EaP0xFctXYQAHpNa0B4SVpzCA5B1GcjkgVk8gsFWK8lQddczstCoTo2oTrpaH1QVIJA4WxMHEUhZVlZ0-i9PRafEbqD9G1HeLaY7ve4r2oRoSN8BLGuX0jHpb1L9bGosHJUDz24jn8I6ITMNGkdqq9iOLs-_FdUwXMD48idfB21dBiD6F9FOR4uZFBa6Shk4tVAi8x_6xZovCqePXo4Ar8__1TVNAJEZGRUgYWHangPVlITkWUtBTsVFoH_V2CgpMqomw9xMdA6Wrt1w0NzRV8E7VM9z5aH9JHC4tHaXXd0khR7M0z7zq_jIMJR8wrb-LSTvLC_qw-vpnnLVweCok1uwi8q0dILu8Zuybx1cwsvobvgFyFZYtwQ4DAX5aN5AUCbNub7xvY7auqZPu_JJh6tleXwvrAxTSCUd0Kais8o5jIREipK4qi9yHXAaKNTjF1q2m-HwTz0xeHiOG7ZdM1ukLNEsXePlDcQs9KUlWZMmlDgSfYHPWh6OcdfM5bxYVXg2mv4g7QgAHb6YM6vwuTdpdJCQV_NQVViufJ-6gg8mhFg9dJm-aCbJPrVX9rqUtjvgi3ImkjqXsAjFxOrCunf5yhBVyuAB-HtgoUw=",
  "id": "rs_01a32badeff79e5b016ab4218615e087d0a2073f81046c53d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.012,\"left_pitch\":0,\"left_roll\":0},\"note\":\"At this higher vantage point, a tan dog’s face is centered between the left jaws, and the gray dogs remain by the left basket. I’m lowering vertically at the centered dog’s position, aiming low enough to grasp its torso.\"}",
  "call_id": "call_836EUUrUwXhDlUsU5Ojil9ul",
  "id": "fc_01a32badeff79e5b016ab42187367487d09f5b9612ebf6a67d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_836EUUrUwXhDlUsU5Ojil9ul",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0119, 1.7603, 0.5713, 0.2443, -0.8375, -0.812, 0.9968, -0.0208, 0.91, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2877 left_y=-0.2058 left_z=0.0138 left_yaw=0.0672 left_pitch=-0.0117 left_roll=-0.001 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1529 right_yaw=-0.0096 right_pitch=-0.1753 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -7.0222, 5.6684, 1.1648, -0.4518, -0.0855, -0.0122, -0.1026, -2.0444, 7.0085, 1.619, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe448666f0ae704bcd25fe5d7ad1d0248e7fb13223a0dd9ae28e762e86dcb0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70d9cb9cde0b3175d9d74b0d7a6a13ad6692e56d3dc242344e90c95054f7b89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13586ceb7aaeaa3852f97c4a8a3b6b35594d3c716560a19a7f768a825762b887",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.769 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 148 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0031, 1.9038, 1.1412, 0.0044, -0.791, -0.7647, 0.9954, -0.0208, 0.9035, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3595 left_y=-0.3235 left_z=0.1022 left_yaw=0.0235 left_pitch=0.0519 left_roll=-0.1398 left_gripper=0.9954 right_x=0.2927 right_y=-0.005 right_z=0.1547 right_yaw=-0.0093 right_pitch=-0.1688 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.4564, 8.4308, 1.4286, -0.1538, 0.2711, -0.1197, -0.0752, -1.7299, 6.8991, 1.5849, -0.0659, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 1.285, 0.5987, 0.0952, -0.8265, -0.786, 0.9968, -0.0208, 0.9085, 0.6624, -0.4885, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2901 left_y=-0.2076 left_z=0.1509 left_yaw=0.0748 left_pitch=0.1517 left_roll=-0.2939 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1535 right_yaw=-0.0096 right_pitch=-0.173 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.1368, 6.735, 1.6142, -0.2515, -0.1148, 0.0024, -0.0615, -1.7436, 6.8855, 1.6386, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0119, 1.7603, 0.5713, 0.2443, -0.8375, -0.812, 0.9968, -0.0208, 0.91, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2877 left_y=-0.2058 left_z=0.0138 left_yaw=0.0672 left_pitch=-0.0117 left_roll=-0.001 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1529 right_yaw=-0.0096 right_pitch=-0.1753 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -7.0222, 5.6684, 1.1648, -0.4518, -0.0855, -0.0122, -0.1026, -2.0444, 7.0085, 1.619, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe448666f0ae704bcd25fe5d7ad1d0248e7fb13223a0dd9ae28e762e86dcb0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70d9cb9cde0b3175d9d74b0d7a6a13ad6692e56d3dc242344e90c95054f7b89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13586ceb7aaeaa3852f97c4a8a3b6b35594d3c716560a19a7f768a825762b887",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGMGzRLLQ9Xt2XBy6UMHaa9vJWpJA8WOPxp4ltwtLJDDbVNoNxXF2XbPz8_kIuEeaH7rRl7_mOMzmdOv9bC7vkJogbRlcNkQKU0aw794VUgO89fFxXT0X3F_4v_nABl5xLociKvj94IPU2ShpcA-xzggZZx7NNZWSNdy3p33WCpHGHNbMrgr1-pBgGhwl3e2mNLPmdASwK8xBIX1PXam5twRjGqUypZq4RftQmFE9LnddbO7qT0a4wtmLN0VVIqQLCalSwtB7zNUfbp3SsZ4KygsmZKRUkRyrNQtaewc3o75mIiVvav2aEzJE4aUag-kuQCku_uMWSuPlCfeXvU5ElmrYKRB18Y5nAekuZ4toVG0cM0mDZmmpkmdgor4F9SEApZFNtRXEzjj1WrfrMaDKAi5p8VGfFvFUQ13bnP2GMdTc6Zegv805MOkNLKZIVHL1WNkya-UgAyU7w5KO6EZt0lHBpZjJ_s9isly_trSlLJQM7uPyj1nj6lpsgBiBt9RsJK5sIkCQhK7UOoRjCdQwqB4-mlOc-g2VN-e0SFqHGnV-2iG3jqHPnHv_u0ALpRG1ZLTOD4cKml9UEGPKjWENyCpI4zE4lMxi2i0YAqW51TbV4crzaQAZd49YkJy9jqM7iHkT-e_gKpgsl9quRt7QIK_zRijuwTuuxzhv-CwxyUGSMcFeZaXdesqrXW4Ah1AlzyYYMukl1Y8H_lVhq7jV0s-XdczehyAA1Y-I-VlnHLDyXai88GzpvE4gPLTLdPsnDm6OvSuabZVcut89TFtnM3NvYdXdfv_iS8zpaj_p1ZPkDr057En8CwhidbKCXkOKUDZWlCFQkixtUa2Ut8qLBb9Py1CozHG41ZHMbk9zlyM0KEvCavD_7PYNMXg-iSoKsi0zW6yVbT916-OH_LssC5ptE7At6RcJwv-jPJTL9ofzbhAOaXGScq89urv0ByNuiZu7oUm5LI8ny4vM2mk8aD1Qzdiiv_gVKr3ZaMdzVYLuaPmQph6mMgaHFQBvZxM6YdHVwkjMotmU0iw8OwROWeFprtuFQybqDlilXAUPweG_VV54UFHxuJUipbcwDE0vI5kariIkeUFM0fWOl2EY0BzH-B046aeMNCbJPEIrr-ckpV6Si4v8fYs6wSYJPq7zAHsuSJGpjuS3suDi0ZfVk26AXa7ehSV6CKXlic81CNiN7hJFkSOi856xl3aoc1yelgrBt-m8NixIURS3UBD0_gIXKcUbGf0hQfsm_H_eyKEeLudIMTfhMru_wPeG5N42f9p3qcCtIF7p2vH7VET_ZyK-O4T0qsZKnRPYOAffztISKuojgLg53xZcjlW3FDlCQvhxlQ4A3fmK2iBvnyMHhxhY4mN3Eb42OGhakw21F_JTzf-EFIvRTg8A2I8ikIjcaTOS9iUlm9KNYDGk206YWtP__SIzoBFjKVStpjNOlkYnS35L-fI7KEMyl8yuuFSitCQKFopPLHQgIrMc2p9e0qEvYTch2HU_-Eoesw8AHN7N4bLraBnMEO0qKAQtwZK2tHFhIyvf3cBncvcKKg2IeaSuyIwbSvPA7Mdl6Wqr3d23Yrv735nSx5wyDrRswBJOM37zfu8TQgN_3frsewbwl4n7LNhXSbadiMAl5VAcMED6UlTAQ_62yokRliXUmTMsY7z9uYhbWgJ1EPIBSxEbLme8RHpFRL1ucVTztHr_fzBD4Q4TjTMkrJ1syDPLfFOi4huiAUw1kSSL7EQEQgux0RTWFX-fqcomx1i9TcmewcbM5RnO1-lJ3AT477BUQk5BR5tkf3XrvhZL03VT_RTACuDGodxqDq_eNH3NjLhRF7DgJjREnvxjqJkxZSG68iRHYTpbp1gzMI1FGWCRmTP-WpPdRDGljWZmHPv9zFvGWlsbvxdpJe9hfDwF41dIwp50mITVATWTUQzONDsogYvXDgYKpkSWaBIB6tRDeepQEYvzKdMQQckIzhls5u3tg0IMMg",
  "id": "rs_01a32badeff79e5b016ab4218a3be087d0a2d253b395181eda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper reached about 1.4 cm above the table beneath the tan dog, much lower than the earlier attempts. I’m closing here to see whether its lower torso now blocks the jaws.\"}",
  "call_id": "call_bzL4MBt2kiiFp1HnlZUnJWHA",
  "id": "fc_01a32badeff79e5b016ab4218b992487d0b08e7285bd01f8b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bzL4MBt2kiiFp1HnlZUnJWHA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0119, 1.7729, 0.5713, 0.2638, -0.8375, -0.8192, 0.0171, -0.0208, 0.91, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2887 left_y=-0.2072 left_z=0.0121 left_yaw=0.071 left_pitch=-0.0084 left_roll=-0.0131 left_gripper=0.0171 right_x=0.293 right_y=-0.005 right_z=0.1529 right_yaw=-0.0092 right_pitch=-0.1753 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.0889, -7.706, 4.3556, 1.0183, -0.3687, 0.0415, 0.7643, -0.1026, -1.9487, 6.9265, 1.5995, -0.0659, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64828eeb13e60dd1fdd45707e80ec1502e71f570be563e321ea432103a0f68d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf7644106516fa2ca53f6328c2aba1ef649a36fe4fac0aadeaac93f0049354b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6812a2178146ce6a91ca418fdf10d1b067d58d1c3f350ebf763c5447e3b605",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 2.914 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0008, 1.9953, 1.0943, 0.2874, -0.8268, -0.7834, 0.9966, -0.0208, 0.9035, 0.6624, -0.4896, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.3731 left_y=-0.3347 left_z=0.0887 left_yaw=0.0746 left_pitch=0.1416 left_roll=-0.2713 left_gripper=0.9966 right_x=0.2926 right_y=-0.005 right_z=0.1546 right_yaw=-0.0092 right_pitch=-0.1692 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -6.106, 2.4547, 0.2173, 0.1978, 0.1929, 0.1197, -0.2393, -1.853, 6.9265, 1.6044, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0119, 1.7603, 0.5713, 0.2443, -0.8375, -0.812, 0.9968, -0.0208, 0.91, 0.6624, -0.4892, 0.0147, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2877 left_y=-0.2058 left_z=0.0138 left_yaw=0.0672 left_pitch=-0.0117 left_roll=-0.001 left_gripper=0.9968 right_x=0.293 right_y=-0.0051 right_z=0.1529 right_yaw=-0.0096 right_pitch=-0.1753 right_roll=-0.0328 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -7.0222, 5.6684, 1.1648, -0.4518, -0.0855, -0.0122, -0.1026, -2.0444, 7.0085, 1.619, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0119, 1.7729, 0.5713, 0.2638, -0.8375, -0.8192, 0.0171, -0.0208, 0.91, 0.6624, -0.4892, 0.0143, -0.0494, 0.998]\nstate[eef_state]: left_x=0.2887 left_y=-0.2072 left_z=0.0121 left_yaw=0.071 left_pitch=-0.0084 left_roll=-0.0131 left_gripper=0.0171 right_x=0.293 right_y=-0.005 right_z=0.1529 right_yaw=-0.0092 right_pitch=-0.1753 right_roll=-0.0326 right_gripper=0.998\nstate[joint_eff]: [-0.0889, -7.706, 4.3556, 1.0183, -0.3687, 0.0415, 0.7643, -0.1026, -1.9487, 6.9265, 1.5995, -0.0659, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64828eeb13e60dd1fdd45707e80ec1502e71f570be563e321ea432103a0f68d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf7644106516fa2ca53f6328c2aba1ef649a36fe4fac0aadeaac93f0049354b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6812a2178146ce6a91ca418fdf10d1b067d58d1c3f350ebf763c5447e3b605",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGR8zTEHboFF3PWIx3GDCMhhjjSMzxA9tBRNy4gM_YjcIDPynvQAoiByTnhGy32aorBjPZqe-qRUGO_qG_2D-rIfzfr5OJUQUUD2fY_ljt947n3Cho6kxkvjQutcyRxC2qPGvVF_MzlvoypyTM7oENyUpSVw9cdr5aDFDE-4ZVURBuDloF4a1Cjxzlp9HvKbXsNJRKk4z6c-mTSlzFqz65uc8_goz_wOWsfnlo55pPaTTyACsmKxXoSgrJ76NRYEpRhlh079pjBucKLaFgF_A4YwY4QgA5oMvSSaRdrQFLE00TVSWzX-GvWrf0q1oDLMyKH3TNNTonWCPha17OJ75DVrSnFV3wRubFRHr68hIgreFewInOROBHHi8HPW51WpJ3fIOJpYYpEUxqABEoSATlv6JWdrHymJQfXstudtEEreZheeMCJ_CsFXDXCu1zRe4ckdsPWdm5Lc-7wRjKrxHo7KgqVc_Idvag-mP2uU3KlzjTgHOlbMqKphuKe8LT0b7xoC-Jhm0tquE3K6G_7m48UgaYhBjAUBepDDkxm9_wswr_TyniLexUfaqaLaK-2tiZ7Z4IFeyOU0cLREMQGMoSMb8VRcqiFNrOzAXtDdNFAIGBo7LCiCsLkB5ru3R9Yvvf9U4nwp3qSgwDyQ740dQLSoog3Rhk42CPqDH532bNtBGemTpW4lm3E-_d0ZtCdyq7WijA-xqvX6EOWCn4W75XWUzX7_yp8JqxcRys0MtO6xBbuuMygEZyYZULfiB-w-0VJcUhygvhimsX0GJa9eF8iGT7nOn_eXAonQocEWWSUNs6fEhY4_LL9Uh9medeSLaYAwK0eVIbfoF40bs8aLAT9CiI75tSHWHGmzuBxwpLWGk20yPNOV19ilV8CZz2siQDGCSTFRSK2tF3TYn_oJuOf2xo0PoQDtkmFdxgavRrZZRaSfezWmagP_KwNqmUSwtTp80qthY6C61PnmaxLdS3xIpApKckiogIlGtbv-QJ8Yqdb7L3Q0eRDaqsT_Csa5T27RDHOkU6qu95iKWqWkEt_YZs5bP7g_zgU5rCChzEA7N0ODyP2tLanzuXRXzKkgBcJiy7BfQI4bRieS7fRpVzXDgDl-kmSgIXiVQw0C92DJ-qp5V7hZ5b09zxpOb4o8q8XODn4Vj4seXd8dJwxk9xLQQ042qp6TRcgyDuwtyTl-uWjohLZ91X8kawclu8YCrVY5279IjlmMwdBdGOWgPZDofkTvnIFfOcYus0Je-jI1EC7ihZjwseL9aisBwdTscm_I6dw3KaZKD68x73yNU4ZO6lpNaB9Jc34KQrW_XY72fqDSDbIp7IU96KFUUEJOapelQPWoXoTSs7mn8eOUi5NgGjLG1lqquXdzQzw1Kv53SCR09RDI159LBBImS3rFMw6LjoUhkotZ58cC9CzgcVYllGGJok37pHr33s4bpV7-WrmLfljHygi7T6oOs58uEoTI8CI84Iqccswx1Bp7geJ8Ne85Xzi6ZRihFEJasGxPsjaJ_Mr0O_idhR3bh8-9yTzLe-fwOHXrylt-OsyE1kpwXY7acC76SPcHi-jyQOZs_Ht5rCbbOI94k0hWOYxGf557nyf9J5_BGNdiW0ApsWNVuEP24sWEKz0Ga4lf_eP1dQggYbJjQz8FetvHfYQUINrpujbtzRNtCfPNJST6A8G_pg4pVspvJQPZL2ui5qWwmfXA6_tped7P1WXRKCZD45IIT2DTDM6-PJ1Ht_6x74tOCZ7Nqe8tDA2H0hT3yISOEEs_RVLaBCIlUuhmCGbzuCM0wtqNax4bEvBpjo6RMxfxH8CaecpIr3Bj1J7rMktUPyZ4er6QE_8ElShi-vVjtw8EbG4m6NPqrIO9eBPXaQY0qldoS1Brh_Aott9I9tfiHasojxjBzGG2954MNf94PuA-LhqNo8TBDCFbMziWWj_2EdDSLsp0L_gNS8p8PJKZyHNcQsK_2OOYI6Oa5VjI3TDGQ2-Y25qvdDR-ED_1EArlS3GFFwi6318xUq-pJt4UpFmydPK8aMRFghrnEBu-tJPYf2n9Dx8gfZ88LLuDB6XxY09sNqGjqzhE9n55GklPCH2nMJEfITSiCiagJXfULxZU9jwHHnPQMYsgmPKi82FlAeKP_pEbR_MEj8vvVcAiEa48-RfcFTb7AUH5J48Cm5weDihhTKp6Yp0pdngzSuj-jyquemnsncXe41T7eiXLCmGPnkMnbVOw1i5MvRlE9m-s0sZ-4ErbV_SpAR8uPJlKkV8G0TFHMy0ok_Trm-t1eNi_ZzqvRL371EB3fyYUicH4Kh_kz55gyb8W10s5Zop_ajRf_NxvcRFD61mcXMSy3gMDTie9UFsFjWjeq2LrrUJPHeOlJvWDbtfZQkgvbPHKEkOWMs4dLeSBcWB_330tL6i1LKX-Pg-7dPpVU4UfYbJI8T9_FHkWwWl3_LwIPevuuNlSrVOfpyLNgbITnMiVcczer59puVF6nhiGhyftCf6XnCpbHcG42Q9VHsyZGr8M28cJ-_AqQe7hIJAj8A2glQ=",
  "id": "rs_01a32badeff79e5b016ab4218ec9fc87d0b475161aca47bea8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"left_gripper\":1,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"The jaws fully closed again and no plush was secured. I can distinguish the gray and tan animals, but repeated attempts have not produced a verified pickup, so I’m clearing the table and parking both arms safely.\"}",
  "call_id": "call_ytYefdDyWwFCMP1glTHASvPT",
  "id": "fc_01a32badeff79e5b016ab42190bc8487d09a989ce1c7ff7053",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ytYefdDyWwFCMP1glTHASvPT",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0586, 0.804, 0.577, -0.3466, -0.1173, -0.099, 0.9979, 0.0059, 0.9318, 0.7624, -0.5941, 0.0235, -0.0452, 0.998]\nstate[eef_state]: left_x=0.2963 left_y=0.0069 left_z=0.1724 left_yaw=0.0803 left_pitch=-0.0075 left_roll=-0.0098 left_gripper=0.9979 right_x=0.2924 right_y=0.0012 right_z=0.1713 right_yaw=0.0073 right_pitch=-0.2019 right_roll=-0.0356 right_gripper=0.998\nstate[joint_eff]: [-0.4718, -1.4017, 9.388, 1.6972, 0.1392, 0.2125, 0.0024, 0.2256, -1.6068, 9.9624, 1.4432, 0.1099, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d05e8dfcedc6c660e9e290252f0b2180d5d2690afd5fae766f896b60725a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340f9305a67dfff5db9eb569472bb2965e7e37201cb77a81fe5ca1bf828f6480",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23015894ab1cc60c18f60c37a9b407de83689610a4b43abfabb3492f7206f0e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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