adhoc

completed
2026-09-23T20:17:09.673861+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
231.3 s
total steps
391
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 noteThe overhead view shows gray plush objects on the left and tan plush objects near the middle, with a basket behind each group. I’ll bring the left gripper above the gray group to line up a pickup.
move_to
left_x0.2000left_y0.0250left_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]: [-0.0193, 0.8013, 0.6159, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.6085, -1.8803, 9.388, 1.7802, -0.0122, 0.1636, -0.0562, -0.8684, -1.6479, 9.7846, 1.7021, -0.0855, -0.0171, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.20,"left_y":0.025,"left_z":0.13},"note":"The overhead view shows gray plush objects on the left and tan plush objects near the middle, with a basket behind each group. I’ll bring the left gripper above the gray group to line up a pickup."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe nearest gray plush is centered under the left wrist camera, while another gray plush sits farther forward. I’ll lower the open jaws to the near plush’s mid-height.
move_to
left_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]: [0.3763, 0.2317, 0.3649, -0.7197, 0.2836, 0.1658, 0.9996, -0.0154, 0.8032, 0.6086, -0.3786, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2007 left_y=0.03 left_z=0.1321 left_yaw=0.0315 left_pitch=0.0037 left_roll=0.001 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0118 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.0342, 1.5658, 6.2974, 1.7314, 0.2222, 0.1441, -0.0171, -0.3897, -1.6479, 7.241, 1.7802, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The nearest gray plush is centered under the left wrist camera, while another gray plush sits farther forward. I’ll lower the open jaws to the near plush’s mid-height."})
tool
executing move_to over 6 steps (0.6s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe left gripper stopped at about 9.5 cm above the table rather than reaching the requested height, suggesting it has met the plush. I’ll close gently at this position and check whether it has a secure hold.
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]: [0.3763, 0.0063, 0.1516, -0.6369, 0.2657, 0.1646, 0.9996, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2036 left_y=0.0344 left_z=0.0952 left_yaw=0.0457 left_pitch=0.0903 left_roll=0.0402 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.3077, 1.5111, -3.412, 2.0586, 0.2857, -0.022, -0.0171, -0.2803, -1.4427, 7.2821, 1.7558, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper stopped at about 9.5 cm above the table rather than reaching the requested height, suggesting it has met the plush. I’ll close gently at this position and check whether it has a secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe jaws closed almost completely, so they missed the gray plush. It appears just ahead of the grasp point; I’ll reopen, lift clear, and shift a little forward and toward it before retrying.
move_to
left_z0.1600left_x0.2250left_y0.0450left_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]: [0.3717, 0.0063, 0.1661, -0.6426, 0.255, 0.1627, 0.0114, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2031 left_y=0.0352 left_z=0.1002 left_yaw=0.0508 left_pitch=0.097 left_roll=0.0461 left_gripper=0.0114 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.294, 2.2085, 5.4496, 1.8291, 0.1197, -0.0024, 1.0672, -0.335, -1.3333, 7.1726, 1.7753, -0.022, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_x":0.225,"left_y":0.045,"left_gripper":1},"note":"The jaws closed almost completely, so they missed the gray plush. It appears just ahead of the grasp point; I’ll reopen, lift clear, and shift a little forward and toward it before retrying."})
tool
executing move_to over 10 steps (1.0s)
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 reopened gripper is now aligned laterally with the gray plush, but its body remains just forward of the fingertips. I’ll advance a few more centimeters as I lower, aiming the jaws around its body.
move_to
left_x0.2500left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.3813, 0.3389, 0.3588, -0.5533, 0.2592, 0.1646, 0.9986, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2219 left_y=0.044 left_z=0.1423 left_yaw=0.057 left_pitch=0.0495 left_roll=0.0297 left_gripper=0.9986 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0233 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.3761, 1.2923, 9.4427, 1.9609, 0.1538, 0.0366, -0.1343, -0.1573, -1.388, 7.2, 1.7167, -0.0366, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_x":0.25,"left_z":0.07},"note":"The reopened gripper is now aligned laterally with the gray plush, but its body remains just forward of the fingertips. I’ll advance a few more centimeters as I lower, aiming the jaws around its body."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteAt the lower pose, the gray plush fills the space between the open jaws, and the commanded height was reached. I’ll close and check the jaw opening for 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]: [0.2771, 0.5545, 0.0868, -0.0734, 0.1802, 0.1081, 0.9983, -0.0147, 0.812, 0.6079, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2486 left_y=0.0415 left_z=0.0687 left_yaw=0.0494 left_pitch=0.0322 left_roll=0.0176 left_gripper=0.9983 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0342, 0.253, 6.3795, 1.7021, -0.0464, -0.0073, -0.0464, -0.3624, -1.0598, 7.1179, 1.7216, -0.0317, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the lower pose, the gray plush fills the space between the open jaws, and the commanded height was reached. I’ll close and check the jaw opening for a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe jaws settled at about 3.6% open, which is too close to an empty close to trust by itself. I’ll lift a short distance and check whether the gray plush comes with the gripper.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2771, 0.5552, 0.0856, -0.0586, 0.1829, 0.1043, 0.0358, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2502 left_y=0.0415 left_z=0.0711 left_yaw=0.0491 left_pitch=0.0452 left_roll=0.0159 left_gripper=0.0358 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0889, 0.2256, 7.0496, 1.6777, 0.0073, 0.022, 0.8425, -0.1162, -1.1009, 7.2957, 1.6972, -0.0464, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The jaws settled at about 3.6% open, which is too close to an empty close to trust by itself. I’ll lift a short distance and check whether the gray plush comes with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gray plush remains visible ahead of the raised jaws, so the last close did not lift it. I’ll reopen and aim farther into its body, slightly inboard, at a lower grasp height.
move_to
left_gripper1.0000left_x0.2850left_y0.0250left_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]: [0.2771, 0.5556, 0.4908, -0.5106, 0.1822, 0.1036, 0.0364, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2471 left_y=0.0407 left_z=0.1627 left_yaw=0.0504 left_pitch=-0.001 left_roll=0.0049 left_gripper=0.0364 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1983, -0.253, 9.5521, 1.8779, 0.0024, -0.0366, 1.0379, -0.294, -1.1829, 7.1316, 1.7363, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.285,"left_y":0.025,"left_z":0.045},"note":"The gray plush remains visible ahead of the raised jaws, so the last close did not lift it. I’ll reopen and aim farther into its body, slightly inboard, at a lower grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe gray plush is now centered low between the left jaws in the wrist view. I’ll close on its body and check the settled opening.
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]: [0.0937, 1.0187, 0.1211, 0.3397, 0.0254, 0.0051, 0.9988, -0.0143, 0.815, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2894 left_y=0.0263 left_z=0.0522 left_yaw=0.0516 left_pitch=0.0061 left_roll=0.0073 left_gripper=0.9988 right_x=0.2959 right_y=0.0015 right_z=0.1749 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.6496, -1.7436, 4.0821, 1.3065, 0.0562, -0.0806, -0.105, -0.0889, -1.1419, 7.0359, 1.7363, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush is now centered low between the left jaws in the wrist view. I’ll close on its body and check the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThat close was also nearly empty; the wrist view still shows the plush just ahead of the fingertip contact area. I’ll reopen and move several centimeters farther forward and a little toward the table center before closing again.
move_to
left_gripper1.0000left_x0.3270left_y0.0050left_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]: [0.0948, 1.0191, 0.1146, 0.3794, 0.0219, -0.0006, 0.0386, -0.0147, 0.8158, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2926 left_y=0.0275 left_z=0.0578 left_yaw=0.0587 left_pitch=0.0388 left_roll=0.0055 left_gripper=0.0386 right_x=0.2959 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.6889, 6.5299, 1.3455, 0.0073, 0.0122, 1.033, -0.0615, -1.306, 7.0632, 1.746, -0.0171, -0.0806, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.327,"left_y":0.005,"left_z":0.035},"note":"That close was also nearly empty; the wrist view still shows the plush just ahead of the fingertip contact area. I’ll reopen and move several centimeters farther forward and a little toward the table center before closing again."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteAfter the forward adjustment, the gray plush reaches the bottom-center of the wrist view, where the fingertips meet. I’ll close once more at this new position.
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]: [-0.0452, 1.401, 0.1623, 0.7399, -0.1074, -0.0715, 0.9957, -0.0147, 0.8192, 0.6075, -0.3859, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.3286 left_y=0.0077 left_z=0.0428 left_yaw=0.0662 left_pitch=0.0682 left_roll=0.0059 left_gripper=0.9957 right_x=0.296 right_y=0.0013 right_z=0.1734 right_yaw=0.0003 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4991, -2.7966, 5.2034, 1.4628, -0.0269, 0.0562, -0.1832, -0.335, -1.6342, 7.3094, 1.7363, -0.0415, -0.0659, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the forward adjustment, the gray plush reaches the bottom-center of the wrist view, where the fingertips meet. I’ll close once more at this new position."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe jaws stopped measurably open, and the gray plush has disappeared from the wrist view, suggesting a grasp. I’ll lift it to verify that it moves with the gripper.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0456, 1.4052, 0.1638, 0.778, -0.1146, -0.0772, 0.0896, -0.0147, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3331 left_y=0.0086 left_z=0.0504 left_yaw=0.0753 left_pitch=0.1038 left_roll=-0.0 left_gripper=0.0896 right_x=0.2961 right_y=0.0014 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0359 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1709, -3.9726, 4.547, 1.4286, 0.0317, 0.1734, 1.6484, -0.3761, -1.4154, 7.2274, 1.7021, -0.0757, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The jaws stopped measurably open, and the gray plush has disappeared from the wrist view, suggesting a grasp. I’ll lift it to verify that it moves with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe jaws are still holding an opening after the lift, and I can now carry the gray item without crossing the tan group. I’ll move above the left basket, keeping it high enough to clear the rim.
move_to
left_x0.4550left_y-0.1550left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0452, 0.9504, 0.5087, -0.0204, -0.1135, -0.0807, 0.0896, -0.0147, 0.8242, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3344 left_y=0.0085 left_z=0.167 left_yaw=0.0766 left_pitch=0.1049 left_roll=-0.0038 left_gripper=0.0896 right_x=0.2964 right_y=0.0014 right_z=0.1721 right_yaw=0.0005 right_pitch=-0.0408 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2393, -3.2205, 9.1829, 1.9023, -0.1099, 0.0073, -0.022, -0.2667, -1.4427, 7.0359, 1.7216, -0.0317, -0.022, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.155,"left_z":0.24},"note":"The jaws are still holding an opening after the lift, and I can now carry the gray item without crossing the tan group. I’ll move above the left basket, keeping it high enough to clear the rim."})
tool
executing move_to over 15 steps (1.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe overhead view confirms the gray plush is hanging from the gripper, but it trails near the basket’s front-right rim. I’ll move farther into the left basket and slightly left before lowering it.
move_to
left_x0.4950left_y-0.1050left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5163, 1.5997, 1.2228, -0.2214, -0.5179, -0.3309, 0.0896, -0.0147, 0.8295, 0.6071, -0.3859, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.447 left_y=-0.1491 left_z=0.2157 left_yaw=0.0724 left_pitch=0.0523 left_roll=0.0124 left_gripper=0.0896 right_x=0.2966 right_y=0.0014 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3214, -8.2667, 9.6752, 1.8046, -0.2466, 0.1197, -0.0171, -0.3214, -1.8256, 7.0906, 1.6728, -0.0317, -0.0659, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.495,"left_y":-0.105,"left_z":0.22},"note":"The overhead view confirms the gray plush is hanging from the gripper, but it trails near the basket’s front-right rim. I’ll move farther into the left basket and slightly left before lowering it."})
tool
executing move_to over 4 steps (0.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe plush is still over the basket’s front-right edge, not yet above the bottom. I’ll shift it another few centimeters forward and left while keeping the jaws above the rim.
move_to
left_x0.5300left_y-0.0520left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3462, 1.681, 1.2751, -0.2317, -0.4229, -0.2802, 0.0896, -0.0143, 0.8314, 0.6067, -0.3855, -0.0124, -0.0162, 0.9998] state[eef_state]: left_x=0.4808 left_y=-0.0926 left_z=0.1953 left_yaw=0.1385 left_pitch=-0.0105 left_roll=0.0287 left_gripper=0.0896 right_x=0.2967 right_y=0.0015 right_z=0.1698 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-1.306, -8.4581, 10.7829, 2.0244, 0.0952, 0.3932, -0.0122, 0.0205, -1.6205, 7.0359, 1.707, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.052,"left_z":0.17},"note":"The plush is still over the basket’s front-right edge, not yet above the bottom. I’ll shift it another few centimeters forward and left while keeping the jaws above the rim."})
tool
executing move_to over 4 steps (0.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe loaded arm stopped short of the deeper basket target, so pushing the same Cartesian target would not help. I’ll rotate the gripper over the basket to bring the trailing plush inward and pitch forward to improve reach.
move_to
left_yaw1.0000left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3424, 1.6958, 1.2884, -0.2321, -0.3916, -0.2623, 0.0896, -0.0147, 0.8314, 0.6067, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4845 left_y=-0.0973 left_z=0.1928 left_yaw=0.1074 left_pitch=-0.021 left_roll=0.0279 left_gripper=0.0896 right_x=0.2968 right_y=0.0014 right_z=0.1698 right_yaw=0.0005 right_pitch=-0.0484 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4581, -9.2786, 9.9624, 2.083, -0.0024, 0.2759, -0.0171, -0.1573, -1.4291, 7.0359, 1.7265, -0.0513, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":1.0,"left_pitch":0.25},"note":"The loaded arm stopped short of the deeper basket target, so pushing the same Cartesian target would not help. I’ll rotate the gripper over the basket to bring the trailing plush inward and pitch forward to improve reach."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe arm’s yaw maneuver changed its actual position more than expected, but the plush now hangs beside the left basket’s front lip. I’ll bring the tool back toward the basket opening and lower it cautiously for release.
move_to
left_x0.5050left_y-0.1300left_z0.1300left_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]: [-0.5846, 2.2021, 1.8568, -0.5556, -0.7692, -0.6338, 0.0896, -0.0143, 0.8371, 0.6067, -0.3939, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.5276 left_y=-0.1975 left_z=0.1444 left_yaw=0.3518 left_pitch=-0.0375 left_roll=0.0873 left_gripper=0.0896 right_x=0.2958 right_y=0.0015 right_z=0.1665 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [3.1521, -12.7385, 5.4359, 0.1685, -0.2515, -0.0024, -0.0122, -0.0889, -1.265, 7.0496, 1.873, -0.0269, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_y":-0.13,"left_z":0.13,"left_yaw":0},"note":"The arm’s yaw maneuver changed its actual position more than expected, but the plush now hangs beside the left basket’s front lip. I’ll bring the tool back toward the basket opening and lower it cautiously for release."})
tool
executing move_to over 7 steps (0.7s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left basket shifted when the arm brushed it; its opening is now farther left, while the plush remains held. I’ll move the plush toward the shifted opening from above rather than press against the rim.
move_to
left_x0.5150left_y0.0300left_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]: [-0.4381, 1.9724, 1.3609, -0.1844, -0.5381, -0.3466, 0.0896, -0.0143, 0.8417, 0.6048, -0.3996, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.5049 left_y=-0.1326 left_z=0.1051 left_yaw=0.1777 left_pitch=-0.1027 left_roll=0.122 left_gripper=0.0896 right_x=0.295 right_y=0.0015 right_z=0.1632 right_yaw=0.0009 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [-1.1282, -14.0376, 7.1043, 1.9658, -0.0708, 0.3785, -0.0171, -0.0615, -1.9077, 7.159, 1.7851, -0.0464, -0.0269, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":0.03,"left_z":0.16},"note":"The left basket shifted when the arm brushed it; its opening is now farther left, while the plush remains held. I’ll move the plush toward the shifted opening from above rather than press against the rim."})
tool
executing move_to over 15 steps (1.5s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe shifted left basket is close to the arm’s outer reach, and the plush hangs to the right of its opening. I’ll raise the arm and rotate the held plush toward the basket before releasing it.
move_to
left_x0.4700left_y0.0450left_z0.1900left_yaw1.1000
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]: [-0.0483, 1.8328, 1.2984, -0.2165, -0.2672, -0.0944, 0.0895, -0.0143, 0.8436, 0.6025, -0.408, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.5075 left_y=0.0258 left_z=0.1299 left_yaw=0.2127 left_pitch=-0.161 left_roll=0.1255 left_gripper=0.0895 right_x=0.2935 right_y=0.0015 right_z=0.16 right_yaw=0.0011 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.9778, -12.3692, 10.0855, 1.707, -0.0708, 0.232, -0.0269, -0.0342, -1.1145, 7.3641, 1.7509, -0.0464, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":0.045,"left_z":0.19,"left_yaw":1.1},"note":"The shifted left basket is close to the arm’s outer reach, and the plush hangs to the right of its opening. I’ll raise the arm and rotate the held plush toward the basket before releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe basket interior is visible beside the hanging gray plush, but the plush is still near its right edge. I’ll rotate a little farther while staying high to swing it over the opening.
move_to
left_yaw1.6500left_z0.2100
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]: [-0.1921, 2.1124, 1.9858, -0.9615, -0.741, -0.9142, 0.0895, -0.0147, 0.8471, 0.601, -0.411, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.514 left_y=0.0252 left_z=0.1894 left_yaw=0.8931 left_pitch=-0.1485 left_roll=0.011 left_gripper=0.0895 right_x=0.2929 right_y=0.0014 right_z=0.1578 right_yaw=0.0007 right_pitch=-0.0957 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1162, -11.3026, 5.9556, 0.2418, -0.5348, 0.0464, -0.022, -0.1709, -1.388, 7.1179, 1.7216, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":1.65,"left_z":0.21},"note":"The basket interior is visible beside the hanging gray plush, but the plush is still near its right edge. I’ll rotate a little farther while staying high to swing it over the opening."})
tool
executing move_to over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe gray plush appears to have slipped onto the tabletop beside the shifted basket; it no longer follows the turning gripper. I’ll reopen and park the left arm so I can use the right arm for the tan objects without a collision.
move_to
left_x0.2900left_y0.0000left_z0.2000left_yaw0.0000left_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]: [-0.141, 2.402, 2.2429, -1.4979, -0.8341, -1.6482, 0.0894, -0.0143, 0.8539, 0.5987, -0.4107, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4644 left_y=0.0699 left_z=0.1225 left_yaw=1.4687 left_pitch=-0.1705 left_roll=0.0424 left_gripper=0.0894 right_x=0.2929 right_y=0.0015 right_z=0.155 right_yaw=0.0011 right_pitch=-0.1045 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.4855, -16.1436, 6.3111, 0.3443, -0.5836, -0.1099, -0.022, -0.1299, -1.5385, 7.241, 1.663, -0.0415, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_yaw":0,"left_gripper":1},"note":"The gray plush appears to have slipped onto the tabletop beside the shifted basket; it no longer follows the turning gripper. I’ll reopen and park the left arm so I can use the right arm for the tan objects without a collision."})
tool
executing move_to over 14 steps (1.4s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe left arm is still close to the displaced basket, so I’ll lift and retract it while bringing the right gripper above the tan plush group. The two arms will remain in separate parts of the table.
move_to
left_x0.3600left_y-0.0200left_z0.2800left_yaw0.0000right_x0.2050right_y0.3000right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0891, 2.1544, 2.0472, -1.3304, -0.598, -1.4136, 0.9972, -0.0143, 0.8593, 0.5972, -0.4084, -0.0116, -0.017, 0.9998] state[eef_state]: left_x=0.4514 left_y=0.0631 left_z=0.1518 left_yaw=1.3141 left_pitch=-0.3964 left_roll=-0.0387 left_gripper=0.9972 right_x=0.2933 right_y=0.0014 right_z=0.1533 right_yaw=0.001 right_pitch=-0.1091 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.4581, -17.1966, 8.6906, 1.3309, -0.3785, 0.1929, 0.0366, -0.1573, -1.7573, 7.3231, 1.6532, -0.022, -0.0757, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.02,"left_z":0.28,"left_yaw":0,"right_x":0.205,"right_y":0.3,"right_z":0.15},"note":"The left arm is still close to the displaced basket, so I’ll lift and retract it while bringing the right gripper above the tan plush group. The two arms will remain in separate parts of the table."})
tool
executing move_to over 25 steps (2.5s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe right wrist view shows a large tan plush directly in front of the jaws, with smaller tan ones nearby. I’ll lower onto the large plush’s body for a grasp.
move_to
right_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]: [-0.0841, 1.4948, 1.6188, -1.1656, -0.0761, -0.2073, 0.9981, 1.3239, 1.6352, 1.1751, -0.8185, 0.8364, 1.1484, 0.9997] state[eef_state]: left_x=0.3601 left_y=-0.0133 left_z=0.2527 left_yaw=0.0926 left_pitch=-0.4731 left_roll=-0.0375 left_gripper=0.9981 right_x=0.2061 right_y=0.296 right_z=0.1401 right_yaw=0.0239 right_pitch=-0.1356 right_roll=-0.0222 right_gripper=0.9997 state[joint_eff]: [0.2667, -8.4171, 9.4017, 1.3553, 0.0317, 0.2369, 0.0757, 0.8821, -7.4462, 8.1299, 0.3394, 0.6716, 0.1978, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The right wrist view shows a large tan plush directly in front of the jaws, with smaller tan ones nearby. I’ll lower onto the large plush’s body for a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
assistant
agent noteThe right gripper reached about 6 cm above the table, and the tan plush fills the space between the fingertips. I’ll close and read back the opening.
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]: [-0.0826, 1.4979, 1.623, -1.1839, -0.0677, -0.21, 0.9982, 1.3266, 1.7569, 0.9634, -0.4503, 0.8375, 1.1599, 0.9997] state[eef_state]: left_x=0.3571 left_y=-0.014 left_z=0.2508 left_yaw=0.0894 left_pitch=-0.4913 left_roll=-0.0437 left_gripper=0.9982 right_x=0.207 right_y=0.3028 right_z=0.0607 right_yaw=0.0244 right_pitch=-0.1253 right_roll=0.0202 right_gripper=0.9997 state[joint_eff]: [-0.3214, -6.3795, 5.7231, 1.3407, -0.1392, -0.0122, -0.0073, -0.3897, -6.2154, 4.0821, 0.3248, 0.3053, -0.1197, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper reached about 6 cm above the table, and the tan plush fills the space between the fingertips. I’ll close and read back the opening."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteThe right jaws settled about 2 cm apart, consistent with holding the tan plush. I’ll lift it clear and verify that it follows the gripper before heading to the right basket.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1862, -0.0704, -0.2108, 0.9982, 1.3266, 1.7657, 0.9562, -0.4068, 0.8371, 1.1637, 0.2086] state[eef_state]: left_x=0.3566 left_y=-0.0135 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4973 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2082 right_y=0.3077 right_z=0.0585 right_yaw=0.0258 right_pitch=-0.1184 right_roll=0.0499 right_gripper=0.2086 state[joint_eff]: [-0.1162, -6.2974, 6.5026, 1.1502, -0.0611, -0.0366, -0.022, -0.1846, -8.6632, 5.9966, 0.3687, 0.3639, -0.0855, 0.7937] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The right jaws settled about 2 cm apart, consistent with holding the tan plush. I’ll lift it clear and verify that it follows the gripper before heading to the right basket."})
tool
executing move_to over 8 steps (0.8s)
step 236
assistant
agent noteThe tan plush moved up with the right gripper, confirming the pickup. I’ll carry it over the center of the right basket at a height that clears the rim.
move_to
right_x0.4300right_y0.2150right_z0.2300
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]: [-0.0826, 1.4998, 1.6207, -1.1866, -0.0704, -0.2108, 0.9982, 1.3266, 1.6512, 1.2507, -0.8253, 0.8021, 1.1599, 0.2114] state[eef_state]: left_x=0.3565 left_y=-0.0134 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4977 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2056 right_y=0.315 right_z=0.1535 right_yaw=0.0398 right_pitch=-0.1527 right_roll=0.0468 right_gripper=0.2114 state[joint_eff]: [-0.1846, -6.0923, 6.0786, 1.1502, -0.0904, -0.0562, -0.022, -0.1573, -10.1538, 8.6906, 0.6374, 0.6813, 0.022, 0.2857] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.215,"right_z":0.23},"note":"The tan plush moved up with the right gripper, confirming the pickup. I’ll carry it over the center of the right basket at a height that clears the rim."})
tool
executing move_to over 18 steps (1.8s)
step 254
assistant
agent noteThe held tan plush is above the open right basket. I’ll lower it inside the rim before opening the jaws.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 0.6117, 1.7168, 1.5135, -0.6506, 0.3969, 0.44, 0.2143] state[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4167 right_y=0.2133 right_z=0.207 right_yaw=0.0278 right_pitch=-0.2077 right_roll=0.0229 right_gripper=0.2143 state[joint_eff]: [-0.0205, -6.1197, 6.0513, 1.1551, -0.0513, -0.022, -0.022, -0.4581, -8.6222, 10.1812, 1.5751, 0.2076, -0.0171, 0.2906] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The held tan plush is above the open right basket. I’ll lower it inside the rim before opening the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 261
assistant
agent noteThe downward motion stopped with the plush inside the basket, indicating it has landed. I’ll open the right jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 0.6094, 1.7351, 1.2144, -0.2668, 0.411, 0.4263, 0.2177] state[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.4232 right_y=0.2137 right_z=0.1383 right_yaw=0.0283 right_pitch=-0.1463 right_roll=0.0409 right_gripper=0.2177 state[joint_eff]: [-0.0342, -6.1333, 6.065, 1.1551, -0.0513, -0.0317, -0.022, -0.1573, -5.3128, 4.9162, 0.862, 0.0073, 0.1294, 0.3394] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The downward motion stopped with the plush inside the basket, indicating it has landed. I’ll open the right jaws to release it."})
tool
executing move_to over 8 steps (0.8s)
step 269
assistant
agent noteThe first tan plush is released into the right basket. I’ll bring the open right gripper back over the remaining tan plushes near the table’s center.
move_to
right_x0.2250right_y0.3750right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 0.6083, 1.7542, 1.1965, -0.2649, 0.4019, 0.4225, 0.9955] state[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4199 right_y=0.2126 right_z=0.1224 right_yaw=0.0333 right_pitch=-0.1793 right_roll=0.0242 right_gripper=0.9955 state[joint_eff]: [-0.212, -6.0786, 6.0923, 1.1258, -0.0952, -0.0659, -0.022, -0.1436, -10.5094, 8.1709, 1.4042, 0.232, -0.022, -0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.225,"right_y":0.375,"right_z":0.18},"note":"The first tan plush is released into the right basket. I’ll bring the open right gripper back over the remaining tan plushes near the table’s center."})
tool
executing move_to over 15 steps (1.5s)
step 284
assistant
agent noteA small brown plush remains just ahead of the right gripper, with another pale plush farther toward the basket. I’ll advance and lower the jaws around the brown plush.
move_to
right_x0.2630right_y0.3970right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 1.2869, 1.8893, 1.6306, -0.9325, 0.7376, 1.0729, 0.9964] state[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.2308 right_y=0.3798 right_z=0.1717 right_yaw=0.0792 right_pitch=-0.197 right_roll=0.0342 right_gripper=0.9964 state[joint_eff]: [-0.0205, -6.1197, 6.0786, 1.1551, -0.0708, -0.0513, -0.0269, 0.4444, -9.4701, 8.2393, 0.4469, 0.7302, 0.1685, 0.0806] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.263,"right_y":0.397,"right_z":0.055},"note":"A small brown plush remains just ahead of the right gripper, with another pale plush farther toward the basket. I’ll advance and lower the jaws around the brown plush."})
tool
executing move_to over 8 steps (0.8s)
step 292
assistant
agent noteThe brown plush is aligned with the jaw column but still has clear space below it in the wrist view. I’ll advance about 3 cm so its body reaches the fingertips before closing.
move_to
right_x0.2920right_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]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.2324, 2.0548, 1.4231, -0.5354, 0.7025, 1.0054, 0.9964] state[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2558 right_y=0.3938 right_z=0.0611 right_yaw=0.082 right_pitch=-0.2169 right_roll=0.02 right_gripper=0.9964 state[joint_eff]: [-0.0205, -6.1333, 6.3248, 1.1795, -0.105, 0.0073, -0.022, -0.8137, -10.2222, 5.7504, 0.9499, 0.3736, -0.1343, 0.0024] 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":{"right_x":0.292,"right_z":0.04},"note":"The brown plush is aligned with the jaw column but still has clear space below it in the wrist view. I’ll advance about 3 cm so its body reaches the fingertips before closing."})
tool
executing move_to over 3 steps (0.3s)
step 295
assistant
agent noteThe brown plush now fills the space between the right fingertips at table level. I’ll close and check whether the jaws retain its body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.1706, 2.0987, 1.4117, -0.44, 0.6678, 0.9405, 0.9965] state[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2806 right_y=0.3917 right_z=0.0426 right_yaw=0.0812 right_pitch=-0.2272 right_roll=0.0239 right_gripper=0.9965 state[joint_eff]: [-0.1709, -6.065, 6.1197, 1.1502, -0.0659, -0.0317, -0.022, -0.3897, -9.8667, 7.4325, 0.9548, 0.2906, -0.0708, -0.0073] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush now fills the space between the right fingertips at table level. I’ll close and check whether the jaws retain its body."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe right jaws closed empty; the brown plush is still visible just ahead of their contact point. I’ll reopen and advance a few centimeters to catch its thicker body.
move_to
right_gripper1.0000right_x0.3250right_y0.4000right_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]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 1.1458, 2.1208, 1.4117, -0.4072, 0.6495, 0.9039, 0.0245] state[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2901 right_y=0.3906 right_z=0.0338 right_yaw=0.0884 right_pitch=-0.2362 right_roll=0.0153 right_gripper=0.0245 state[joint_eff]: [-0.0342, -5.9966, 6.2154, 1.1648, -0.1148, -0.0562, -0.022, 0.1709, -11.1111, 7.3231, 1.0134, 0.5348, 0.022, 1.1062] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.325,"right_y":0.4,"right_z":0.035},"note":"The right jaws closed empty; the brown plush is still visible just ahead of their contact point. I’ll reopen and advance a few centimeters to catch its thicker body."})
tool
executing move_to over 10 steps (1.0s)
step 315
assistant
agent noteThe forward move put the brown plush’s body at the bottom of the wrist image between the jaws. I’ll close once more and verify the opening.
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]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0893, 2.183, 1.4963, -0.4088, 0.6159, 0.8352, 0.9954] state[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.3175 right_y=0.3951 right_z=0.0288 right_yaw=0.093 right_pitch=-0.2508 right_roll=0.0007 right_gripper=0.9954 state[joint_eff]: [-0.212, -6.0239, 6.065, 1.16, -0.0855, -0.0366, -0.022, -0.6085, -10.906, 8.7863, 0.9939, 0.2759, -0.0269, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The forward move put the brown plush’s body at the bottom of the wrist image between the jaws. I’ll close once more and verify the opening."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteThe right jaws settled only slightly open, so this grasp is uncertain. I’ll lift briefly and use the overhead view to check whether the brown plush actually comes up.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0863, 2.1864, 1.4971, -0.4065, 0.6075, 0.8299, 0.0416] state[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.318 right_y=0.3954 right_z=0.0268 right_yaw=0.0977 right_pitch=-0.2573 right_roll=0.0008 right_gripper=0.0416 state[joint_eff]: [-0.0479, -6.1333, 6.2017, 1.1551, -0.0952, -0.0659, -0.022, -0.0205, -12.3009, 6.0923, 1.0574, 0.4127, 0.149, 0.9353] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The right jaws settled only slightly open, so this grasp is uncertain. I’ll lift briefly and use the overhead view to check whether the brown plush actually comes up."})
tool
executing move_to over 10 steps (1.0s)
step 335
assistant
agent noteThe brown plush remains visible in the right wrist view after the lift, so that close missed. I’ll stop repeating the same grasp and reposition toward the upright pale plush at the front of the right basket.
move_to
right_gripper1.0000right_x0.3700right_y0.2350right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0807, 1.5017, 1.6203, -1.1927, -0.0704, -0.2176, 0.9982, 1.0859, 2.1098, 1.9003, -0.8932, 0.59, 0.8261, 0.0418] state[eef_state]: left_x=0.3554 left_y=-0.0127 left_z=0.2476 left_yaw=0.1 left_pitch=-0.506 left_roll=-0.0423 left_gripper=0.9982 right_x=0.3194 right_y=0.403 right_z=0.1529 right_yaw=0.1082 right_pitch=-0.2741 right_roll=0.0012 right_gripper=0.0418 state[joint_eff]: [-0.1846, -6.2838, 6.147, 1.1209, -0.0708, 0.0366, -0.022, -0.3214, -13.9282, 8.9094, 0.9451, 0.3932, -0.0024, 1.033] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.37,"right_y":0.235,"right_z":0.12},"note":"The brown plush remains visible in the right wrist view after the lift, so that close missed. I’ll stop repeating the same grasp and reposition toward the upright pale plush at the front of the right basket."})
tool
executing move_to over 15 steps (1.5s)
step 350
assistant
agent noteThe pale plush’s torso and feet fill the right wrist view between the jaws near the basket front. I’ll close around its torso to move it fully into the basket.
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]: [-0.0807, 1.504, 1.6203, -1.1923, -0.0704, -0.2207, 0.9982, 0.7273, 1.7226, 1.1923, -0.453, 0.4015, 0.4965, 0.9966] state[eef_state]: left_x=0.3558 left_y=-0.0127 left_z=0.2468 left_yaw=0.102 left_pitch=-0.508 left_roll=-0.0435 left_gripper=0.9982 right_x=0.3652 right_y=0.2374 right_z=0.1073 right_yaw=0.0889 right_pitch=-0.3116 right_roll=-0.0171 right_gripper=0.9966 state[joint_eff]: [-0.0479, -6.3248, 6.0923, 1.1648, -0.0611, 0.0171, -0.022, -0.3761, -10.441, 6.612, 1.4725, 0.1783, -0.0317, -0.0904] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pale plush’s torso and feet fill the right wrist view between the jaws near the basket front. I’ll close around its torso to move it fully into the basket."})
tool
executing move_to over 10 steps (1.0s)
step 360
assistant
agent noteThe jaws closed empty on the pale plush because its torso is still just ahead of the fingertip contact point. I’ll reopen and advance a few centimeters while staying above the basket rim.
move_to
right_gripper1.0000right_x0.4010right_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2214, 0.9982, 0.7204, 1.7187, 1.1835, -0.4362, 0.3832, 0.4911, 0.012] state[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1025 left_pitch=-0.5084 left_roll=-0.0439 left_gripper=0.9982 right_x=0.366 right_y=0.2382 right_z=0.1068 right_yaw=0.1015 right_pitch=-0.311 right_roll=-0.0005 right_gripper=0.012 state[joint_eff]: [-0.3077, -6.147, 6.5299, 1.1355, -0.0952, -0.0562, -0.022, 0.3897, -8.212, 7.1453, 1.0916, 0.3687, 0.0562, 0.8034] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_gripper":1,"right_x":0.401,"right_z":0.105},"note":"The jaws closed empty on the pale plush because its torso is still just ahead of the fingertip contact point. I’ll reopen and advance a few centimeters while staying above the basket rim."})
tool
executing move_to over 10 steps (1.0s)
step 370
assistant
agent noteThe right wrist view is now largely occluded by the pale plush at the fingertips. I’ll close and check whether this deeper position secures it.
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]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2218, 0.9982, 0.667, 1.8069, 1.2537, -0.4324, 0.345, 0.4343, 0.995] state[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1027 left_pitch=-0.5084 left_roll=-0.0441 left_gripper=0.9982 right_x=0.3901 right_y=0.2357 right_z=0.0942 right_yaw=0.1075 right_pitch=-0.3407 right_roll=-0.0189 right_gripper=0.995 state[joint_eff]: [-0.0752, -6.1607, 6.3111, 1.1062, -0.0464, -0.0464, -0.022, -1.0051, -8.4581, 9.4974, 1.3553, 0.1001, 0.0366, -0.188] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right wrist view is now largely occluded by the pale plush at the fingertips. I’ll close and check whether this deeper position secures it."})
tool
executing move_to over 10 steps (1.0s)
step 380
assistant
agent noteThe pale plush still did not register in the closed jaws and is resting at the front of the right basket. I’ll reopen and gently nudge its upright body farther into the basket with the gripper.
move_to
right_gripper1.0000right_x0.4400right_y0.2200right_z0.1100
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]: [-0.0807, 1.504, 1.6203, -1.1934, -0.0704, -0.2253, 0.9982, 0.6662, 1.8107, 1.2552, -0.4332, 0.3344, 0.4294, 0.0124] state[eef_state]: left_x=0.3556 left_y=-0.0127 left_z=0.2467 left_yaw=0.1049 left_pitch=-0.5092 left_roll=-0.0458 left_gripper=0.9982 right_x=0.3896 right_y=0.2371 right_z=0.0925 right_yaw=0.1176 right_pitch=-0.348 right_roll=-0.0158 right_gripper=0.0124 state[joint_eff]: [-0.0205, -6.1744, 6.2154, 1.1306, -0.0659, -0.0171, -0.022, -0.253, -9.6068, 6.3111, 1.326, 0.2857, 0.0611, 1.1062] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.44,"right_y":0.22,"right_z":0.11},"note":"The pale plush still did not register in the closed jaws and is resting at the front of the right basket. I’ll reopen and gently nudge its upright body farther into the basket with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 390
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]: [-0.0807, 1.504, 1.6203, -1.1927, -0.07, -0.2253, 0.9982, 0.5667, 1.8915, 1.4025, -0.4938, 0.2642, 0.3351, 0.9946] state[eef_state]: left_x=0.3557 left_y=-0.0128 left_z=0.2468 left_yaw=0.1045 left_pitch=-0.5085 left_roll=-0.0463 left_gripper=0.9982 right_x=0.4288 right_y=0.2224 right_z=0.1003 right_yaw=0.1308 right_pitch=-0.3716 right_roll=-0.0187 right_gripper=0.9946 state[joint_eff]: [-0.1436, -5.9829, 6.0786, 1.1209, -0.0757, -0.0513, -0.022, -1.1829, -9.0188, 9.5795, 1.2186, 0.1929, 0.0317, -0.1099] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.907 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"
    }
  ],
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6159, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.8803, 9.388, 1.7802, -0.0122, 0.1636, -0.0562, -0.8684, -1.6479, 9.7846, 1.7021, -0.0855, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ede852a29f2988392d4f095c34963187149ff1a8213ddbb0c50f2a39e4ad8ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c2a4d4c965c386cb9c89b91e2d3f1130856f58df7408f8c1f47f514a932b12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35c4780bd1459702c5bbe3de681a54ce3972dac11f099efe27c8726dca74052",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 4.486 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "arguments": "{\"targets\":{\"left_x\":0.20,\"left_y\":0.025,\"left_z\":0.13},\"note\":\"The overhead view shows gray plush objects on the left and tan plush objects near the middle, with a basket behind each group. I’ll bring the left gripper above the gray group to line up a pickup.\"}",
  "call_id": "call_57piq0IOMtroTHE9nbF7aU9I",
  "id": "fc_0eb908feb2dafbb5016ab433d9aafc87d0a823d582be7a4a00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_57piq0IOMtroTHE9nbF7aU9I",
  "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]: [0.3763, 0.2317, 0.3649, -0.7197, 0.2836, 0.1658, 0.9996, -0.0154, 0.8032, 0.6086, -0.3786, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2007 left_y=0.03 left_z=0.1321 left_yaw=0.0315 left_pitch=0.0037 left_roll=0.001 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0118 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.5658, 6.2974, 1.7314, 0.2222, 0.1441, -0.0171, -0.3897, -1.6479, 7.241, 1.7802, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92616696dfd25e78bd10729ef6a97d6c33718d73699a9374f23741dcfc73c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0749ab0a9480b55cd7f1d4b97658bcb3af8f221437eda90bf63c6182a815a6a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fe2f59495629e0a581c7bcbb204687db702d3ac497760df8bc968afa2afec5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.943 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6159, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.8803, 9.388, 1.7802, -0.0122, 0.1636, -0.0562, -0.8684, -1.6479, 9.7846, 1.7021, -0.0855, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.2317, 0.3649, -0.7197, 0.2836, 0.1658, 0.9996, -0.0154, 0.8032, 0.6086, -0.3786, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2007 left_y=0.03 left_z=0.1321 left_yaw=0.0315 left_pitch=0.0037 left_roll=0.001 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0118 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.5658, 6.2974, 1.7314, 0.2222, 0.1441, -0.0171, -0.3897, -1.6479, 7.241, 1.7802, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92616696dfd25e78bd10729ef6a97d6c33718d73699a9374f23741dcfc73c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0749ab0a9480b55cd7f1d4b97658bcb3af8f221437eda90bf63c6182a815a6a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fe2f59495629e0a581c7bcbb204687db702d3ac497760df8bc968afa2afec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDPgyN1_u9wlyTfbZchwz2szCPdEsonoKdy8r2LqipSzpfj5oNT6h99afNP6wQlkVGDuR-ohJfUfkXIpV2-WlY1cocvjEHolS-KZuq4ge-0hnSWMAppr-R683UsrbG-z0bOoR6_tyxWgyjTB2Uq_u28liVAqgCu778DZ-UjmAuraaGpvmi6v6cfoG4wSYeC46lJokbfM__pG17SS72ATWQGHieFDHtj5V9DdxgQkgWB5j_LdZ--B-UKMwcgMWGgUlS0Xv6Gbu2VD6j7QX8H8Hj3G-B_AlioUi7j4wv5N4GVgm1hEtWf66aKZdbDV8sMWHxZZsM1eVDk82cNnVUXhW_R3oSv3U2btdzWzD2eztrq9lqQPK2194f2J2ywhi5zPoFkEHOZz29uzAfHawqngV3z5mFDpA_Kl5ZBPzLGn-a12-UlttOIcjpr1aSSb8HgHpC0GdvaOVlzjruyzqLIfEYu9jmdz5MnqtWTrcRvHOGWlVE2zKmOZCtLpFBOZmkAypufFMrTLggMoMYyuEhNu4Z3mU2JiyLZosVzU4ij3gx9QWHcgFl_MKyjcOrKO-buOGIRj-uIS3ZbCKsj15tWWq2bajPaXM8pZqUGZBDiKNIR2OW5cWwud1CD6RFvEH0sof3qhCnBvnwmKmk1dWdVg6pFyXxPzRYi84NzQxjsLJHQqTCkJ_kDj3Vrbv0s3mW6myOMqFOdzuTa1gCh_aGOXVCV9H_feeEY8OfgaCgQ4GJNpi5VMX7X329ovG8uTrFqbEsV99G_5Ixt5U7d0zI_ire-AGJL9iUJwHi7zQWmTPFok-EMnbzo0WktLd0-m7fknRwURAAfFl2JywUocbsAuq5ziNDZv_eeKwx25_VStMpaUmEVX3L3lGcLlKUKd-W0TYd4ltMzDYwNJir76HFtKiTHpIp6FCvXl5tLsExZ06bhfa8lTsE2WZS0lUYbFy2p-H3WZpNzdahcDn9Qe6uytccAAxgRDcyxvBMh0Z_-bOetvTHq2WdW4idU1oUCOnjN7EnCkpaVMWf6bbMLJMbbrbAbAQ5zzPnH61aGLRI2l7rflvP9OcZYOOZdTNYJKGtgYa3HkLiIpdyF2OSlkR2a6TjAaXIAw3A9elIBFrtYtxF5Un0QdhZe4K3gQKujQY7CmMqOqCIee4lEYCvgcfaMIsweX_YP9wCBk31XoJv1_Wv1_UutokgtncTJ1TtIq1NzE0jPz6wyLAZHSPA3JeAt_0jjBvhZcviOI8tSgnTKpFG-knB4ecTdh0cM7baeLkX8rCeZaN2AYvhla1X6FR5w00x3WSg9MFnZNnpQRzlRlaXozAIQyobte0ZhFJU7dazwahytMJPv_ROPNxGWcKsE3G_FO4bu7UJDZJkVKezr1WJwXwPHAxvmAHcw71VotaezRFp9BZup54mGjoCDIRSH_-wPkxN1YzVzmxraM75gctSelEDEo3jQqQtwfqESGSQIt8kks-jgbi14zpmbUnU-zic8WEmjb0TreYM6JLCxQn4RPIOlYUuHq5Okw9xZAOT7qWwjQFHG9czzJZU8Wx3LBm3GrwNau-YbmihpyMHKjpdcb8cxOHH680pHqGOyjeLuqmZwE0qFgBqwVE8TMHVr-mIp_rmDJju79unEaSGvP39yO3MdX_1cAJLL6QuoDfEpIWBgehmMM6gUzqc9PJPCZ4xrIN3o7pFIdF-9ppQtD3npCWqshdiyJIQLwiv_JPMHuduBXo3OuuhInvKV8o4pCOOfYeaZd2ZZ30WEz2Jxfv7DsANa9kmrk5VefuJweTuAa5jfV20uut2hKrcSO9VIaxFu2Rnxt1--_Va8Nsuhy_hcvafmtZayJFyFqEd_3YEK5Csk9lynfo5L2YW4Y_QCT98xVb8tkkEBY0ad9NTgmHtt__tNksOYV7jIACjqTuYTbTv63iyOuxcXPdMOgUC3MLtmS4D4yuiFlevOkfCJWnAWbroxzbHaNFQ2G6jW6-Tb6N7QsILzhT7aLkQ1dTLkpuDXYCDDXCFZ_A3C35GKXV3hv9I8craZ3L0lJagmbjBB7xHe-cbFq0nMcQ8eJSO1XayF7avOKC8fg4F-3-qWuR7gBmrfDz8KUAmrKSjnr1yVYyvvV7iM38oWINQi4w45kzqBFcg9nMWsp5Hfj7DwUVRGLs0sFkcZ5BsWnJj9SA0RM1jjcYeiIvSfv9-HY_GgSOGuVb61oBII9mjIZfpVf0Df3a8OQWIT6MoLNde-4eRksXKDvylnkmqO4VBxKmo9rPPvmvOFXl_fBhgFKFd3msQ4uGJKv8NixLatqgG9jfDfUzBySAXHcvGz6q6jL6_yUM2a3HhvD8G4hrZpvUC6mQrOVQ_9gAykaADnfmXvAIr8KdS3Fo3ZznzeC336azW18LId9RFchzWsAP3j5hnvqs28rOd7aBsHR9AexnJd-QDEeAvuQ3rqLgGlm1FoUw3l0-jxOJdwn5dB0xTW88H8ef3pl_o7ZLPmnsoSn8XeKDCL0Lmm1OKJIz9O5SgjqWUgDk1q0Ou67EfFx-NG-uybBLpPRNehof9xFjCMNCH8gu9zNtPAnI1nAxCbLgvm7_SjlcjbZNRUrsM7S6oDKoNWMHUBBS7M_6_8rLQccNBTu5bPapi3z",
  "id": "rs_0eb908feb2dafbb5016ab433dcf48887d0aadf284c661b7b96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The nearest gray plush is centered under the left wrist camera, while another gray plush sits farther forward. I’ll lower the open jaws to the near plush’s mid-height.\"}",
  "call_id": "call_gdhC8GNTLYCfYKCmrqGYWwEF",
  "id": "fc_0eb908feb2dafbb5016ab433dfc28887d08f5b3370b704f4c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gdhC8GNTLYCfYKCmrqGYWwEF",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.0063, 0.1516, -0.6369, 0.2657, 0.1646, 0.9996, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2036 left_y=0.0344 left_z=0.0952 left_yaw=0.0457 left_pitch=0.0903 left_roll=0.0402 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3077, 1.5111, -3.412, 2.0586, 0.2857, -0.022, -0.0171, -0.2803, -1.4427, 7.2821, 1.7558, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dfbcf61737027e9c758d040d33d14d39835ca7b085d2c1cec97807d1477824",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec9d54535057ec65451a291e072f541f062fa8d1f9b8e6f975189ef3ba02263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5808fa864c22d2bf0d1e8e5f082a407858b303497380d13ccc0e95fab71d3b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 6.704 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.2317, 0.3649, -0.7197, 0.2836, 0.1658, 0.9996, -0.0154, 0.8032, 0.6086, -0.3786, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2007 left_y=0.03 left_z=0.1321 left_yaw=0.0315 left_pitch=0.0037 left_roll=0.001 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0118 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.5658, 6.2974, 1.7314, 0.2222, 0.1441, -0.0171, -0.3897, -1.6479, 7.241, 1.7802, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.0063, 0.1516, -0.6369, 0.2657, 0.1646, 0.9996, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2036 left_y=0.0344 left_z=0.0952 left_yaw=0.0457 left_pitch=0.0903 left_roll=0.0402 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3077, 1.5111, -3.412, 2.0586, 0.2857, -0.022, -0.0171, -0.2803, -1.4427, 7.2821, 1.7558, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dfbcf61737027e9c758d040d33d14d39835ca7b085d2c1cec97807d1477824",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec9d54535057ec65451a291e072f541f062fa8d1f9b8e6f975189ef3ba02263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5808fa864c22d2bf0d1e8e5f082a407858b303497380d13ccc0e95fab71d3b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDPmP2dVkMB0_h-9yx6iMQdg1wTVZJLR72T3PRZ28hiI0bqW3106r2_zmoRjSjMmyu1-UBOGvpP9uRVYL6wsVTTiT-SQpMkPx6fHV6TJwq51jBXvnEf4hcC9Yn_OOEVuDb_vHfxFjBSx9CQcgHEpo2fwjcpNfrbXmXYykbfZd-cQPOqYICp3Cj_doUmlvtjz5dJtxOJlmIw3PZB-t48XhTMGYbw5SQ8Gw4VJPqHLkk516-zOQlLaWXYCHZhgkX7hRQZDclr9xSJQ9kWUxuerEcd2ZtP7qVv_rXpVNz4L15ysdCf4fnGUGuRQArWsc2j0-e-QNI7kVGkldYoMSf1o8SOWQwbIxsS530wFSoaduqIhRDC868v80TklLXdb7tZCK0J8dfnqhi8SaMiMMf7djFR-7dGlSWWnq1hQBDKUqozTBgFbZo3q3vweQVH-fjH-A30e7NWVZ81Ae5uLDxgMc7xiqYofb7juTzG-5a9tSxZNm_cKAof6gKfv7el9Ag8UeFkY-iwBJyUp5xlG30YHqJ7Twdg8VYzhFBwAGghKeJ28RAEtqNg7Y4lz3-VZ7QI1ICbZ9b87m2Pw-vc7MyuVGTvn8cZ4pxRic78iYrKiDG8jgG-pmUUxlfD4TnrbYRClASmT0wcFpMlvGHhWDHzPCuWL-WiNDUGT7z-_N9dzHBZZQVse5ktcazIbRoDwCWun0axO23qsXav2WHbVcKUNqULsWd4HtQGpLDm8iB3U2aNHsqGQw1RILgVmaByC3pU-k4moxUjkX5ZKOaou3soWZpjfpHsQUp00mvJMCl9ZXje_77LJU9Tj-p4A48ud1KYialrwgQz9smNYQqAs5z3TO4wrl7xjf4lMeYwoSrO-gnl5rIpXk2ViggTgh0imdRXgT_VFnz6fRkYd8TYETcFBTgUB0Wcv0UK8aG3EDb2Yf6DrVEBbPpsCpSC_XmJ1BU1h5a1x1mcMD_kMxdrdkBZ1GXbhLUspubvRGg4DpUjIFwqnVveDs7RHnxGM_p17Qap76YrcIm_4WXvbY1_88VXsa38Fhp8z0-Nn7Fi5rnKszrVQyTw7PHRcU8SMESB306VUNYSbNFPHtVQ4q7AtQ74IXv7pCNFHCyb4_naxiQmJjkiDHY130BFj-UXRX_-3vhWMVujFqI7x_lKsQBxAYr6Dy0DvOTkF9Bbar9VaEWJOAnjOkK0IF-5OAEtcxGuUXOQ2DVzukIg80VBjXxtBmyrBDhTPYte2iO0pap-24NKK6BDAnBYJ45mhxI4h7R6qsAiA884M4Ua0bGXCke7M9Ks41kr8GRMMaCSfTm7HZFSpqe8kaXIEUds_qSXsCNS3z4LV-zJvGy2q9VlGvjBaeJ4mvsMbSq1h03OA7zhlg_OE6DcUYCYzixqraWdyUC_-BJQ5-nl7p1Hp4DRHysCh449L9wFtK0zKLpCldHGs73OPGjr6MZjPjbMWSumxbztTt7KsFZrJ_rb6G1FWNaMybe8QVSTZ2us02YxodA21AtjAleFMGj9CGzy7Nf43352SaFIpguAoZ9oi39Mn1oDWAuEFD04zXhb95dEg44NoV544eLzxz0ib9guCTWzUGtmyrfBo9kOl8rNYMpo26qsH2a0BlgQVYotJxvxwQlaZc5RAPqqX39SFZaCn-4gr6s1eocvJ1NcRExxgm8LFpCPlAbqrFZ8mMg==",
  "id": "rs_0eb908feb2dafbb5016ab433e4df9c87d0ad83fb4d828a1592",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped at about 9.5 cm above the table rather than reaching the requested height, suggesting it has met the plush. I’ll close gently at this position and check whether it has a secure hold.\"}",
  "call_id": "call_da7UyHiHByKhffj6KvfN3I98",
  "id": "fc_0eb908feb2dafbb5016ab433e5eafc87d090ddcffcff7d0062",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_da7UyHiHByKhffj6KvfN3I98",
  "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]: [0.3717, 0.0063, 0.1661, -0.6426, 0.255, 0.1627, 0.0114, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2031 left_y=0.0352 left_z=0.1002 left_yaw=0.0508 left_pitch=0.097 left_roll=0.0461 left_gripper=0.0114 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, 2.2085, 5.4496, 1.8291, 0.1197, -0.0024, 1.0672, -0.335, -1.3333, 7.1726, 1.7753, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462c3f5810d8d66b5cbfedf9ced5a8b435328e9e0daaf5df30db86534b2c5b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2c1fdfa53e5eb1e2736241f28ffb484059434839ff77be5da48b636d035342",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47048ad75569ae18fa5521f4534401e4ca5b97e41764bd1cc1b00225abedbae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 6.31 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6159, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.8803, 9.388, 1.7802, -0.0122, 0.1636, -0.0562, -0.8684, -1.6479, 9.7846, 1.7021, -0.0855, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.0063, 0.1516, -0.6369, 0.2657, 0.1646, 0.9996, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2036 left_y=0.0344 left_z=0.0952 left_yaw=0.0457 left_pitch=0.0903 left_roll=0.0402 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3077, 1.5111, -3.412, 2.0586, 0.2857, -0.022, -0.0171, -0.2803, -1.4427, 7.2821, 1.7558, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3717, 0.0063, 0.1661, -0.6426, 0.255, 0.1627, 0.0114, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2031 left_y=0.0352 left_z=0.1002 left_yaw=0.0508 left_pitch=0.097 left_roll=0.0461 left_gripper=0.0114 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, 2.2085, 5.4496, 1.8291, 0.1197, -0.0024, 1.0672, -0.335, -1.3333, 7.1726, 1.7753, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462c3f5810d8d66b5cbfedf9ced5a8b435328e9e0daaf5df30db86534b2c5b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2c1fdfa53e5eb1e2736241f28ffb484059434839ff77be5da48b636d035342",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47048ad75569ae18fa5521f4534401e4ca5b97e41764bd1cc1b00225abedbae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDPvDU4bjdNl8ilRy29V39OqT4NX5OxbpG46iAAn-RQa-VxpLEaiad1bKWfeM4RnAgnLfaPd08DYP40gHy4DCD0QJvHiYs2dAEJ06-7aRNY8iuvY-gcLEaWDbdx_q5ie9zkcXUPhVu2ACgbPi3NUC9HoaCY-bM2kqbq89lKgqwaRK1nt2okz4H4rU9IYmANrkvRrEWbmfZioIdBij7Va7cUtkhWyZMs9j5zb1CY49PuS12vh2MVwwNdePdD_lnF8c_T729HT4my4gV7gvssLgvQ2lN57V5Ys7ve0O2j2N5jkNwebJWWWkXcouOKiQQvSVpnV0hWoSxrXAgCHDoaK6jdVi-vgPDKtuFyL6m7Gl-Kp05Z0OuTVXyF_u_i6a5fjedZOUlCxjIRxYAlZeAHzQ4S5XBCZidmf2-Rux0bm7ZWavkfolal-Y2bZc2UythNqPV9MVvrj3ZYl5hDByywoGxDaqB3suWFLY-vTLtafPvJZzLFO7bLXG-ZyZt5z8oldTH00kIz9EaquxzrsymbSty4vRDav4UBz5w-RO8GQ20XRPNlwDzkXeXcRKozZwIGXc_XfEyqR4Ui8pz-9fQzEM7fYNOmRAdKkTZrz0z_Eg7-smNTY16bzz3NMvYmrelG7O5O9QxtsN3wizkDrtVpEz0-2B8ulc-jQ3jm1EEYlonl5QnPzE6gKElXt-0ZrR71WmZ0pd8g2AVnRHTSDxSpWKOLarlvmNTTmsXQ5d_1XMOZXIzFGCRXwdvoRbicol2VjdNdxT1OJr1S7a-moLvRM8LNwTyBpJQsF1LfcsTX1JJzRlWM7jsHZGHtj2wK6p0G50O-hO9u0nh97DEjf9oVO8cp1oQcJ3ZGb5UG1wIq2pvjD0J0dbLKYcpd_GshmiXIqmEI4H6Uuxktwd0w3xSPFZ6XjgYoa7klrzwJObM-s3cGa_NWEhUx7OWY6ZNvBO4gdA4bVtMIcplf16Hpe5CBwzESH3CINud7qdLHtOPf_R4LOmL5OsfyEoBcMgBjsIVyWBhuuRXHahd0QICATeM8Kx1qUUvMLhE7l4IJ8wyoHca_PQ52wQ0FbugTzMMo8z8kewrpVSruHi3uIh9Kb5MduoR5WCLG7albmkVujlNdDwHa5LJ2emR180RoOSKRXAZSwmU1UEdPbrDdnQXxVWEHwRhewWTlo2F-3ZS-opYIjqqyLaRvDKdZXgz9w9DD_zHOjiQeeZff8qnG_A4pvB4EvBDDZPKSrRUXg6HRjJvUKg5Edel_56qt7O-D_lmKuum9b-S0hnKfxdzA2Qe2DLApM0YyAoXat8GEGnhbfD208rMWDL4F9A4FzMqwoCB7XzmihvCvcyUw8_lc2au80g0R541efwe45Qk1xuMTMI_iKudh_PiHE-rF2FFTJ-VzEKwtDN8eZRoEmCkm7JAkRimsfCXPgWvLILWoBcXzr2cZ7p9IMPTpvbJq6SsPqbQGGoaGwOWsGuUV3GRMbY9gNz-0rVVi1c0zCS3i40QFq6htZ84oiZ8yVvqabojT8NJ9w8fUYroy1yuj1ueyIsQSCE6Gzl8ykngcZRhpMbhUgAqQhv2ksXvuoHkDfQWWeJwCNV3TXovz_fZ0ogcH0onDESy3PHWuHloW2A0_ccYBeu3FFAVRme34r-56ZYQb96FHTuOUikttfIg-dAjXi3zEeY99SoplJnp_y5LzwjZOe2JYJJeveMD_eYjr2O5yozutKNu-cDiJ-jqHDiZGe_PDj6vWESxpxxV91y4YD7vvhEu82ticHiazlGDPy72mJDHdYIaIp37QW3F7Tgz8xW2sbKAfNBw3xVWwrku5VwQFJMb36QPwIm5RuHkl_FGkmaT4qJMsnCSUnXnPoeu9-kXmHAGGpEwOSLwULsDc2znS_waijqdTXJpp1Tadxu9n0VeVChdLd_nD3mLpKK4GuYgJwylnWH1GwmDZly9CqS_zt2pYlq2bdf_R8sDSY-nP2FATAYRLVZXcyVxJNVTvFyzFobvyCrcIWZILTxRTCsJeQmfppFyj5E_m1umWtjx0wPZRFJkb5L8dfNtgmfAOCrsBCf6UmNkF06H5sruumUROVi8DBpFdjf4LpKL3xApYT0S46iED0q32eBaltxrPB5VMA087BD9QVifEsjtLvHMr8F_fB9hLdsZKWagYgjj1v1WiUE-oo3Edeh5le0Gu1liyrxMVRg3SSjNKn7AzpYXsZRWsrivDsYMOKT_TxXT5pgGdFpLzW2Es8o07lXS_7R-eEIUeJmj6uKjAXPd44JTSFOKfc91tWUiCyex-3tkOCP5jtkSbGSfa8nEOqq79bK3EhuNEocs2d_XC8CeguRXCLo0Lc-hkIUsePDq9ZPo8TFQqPhEMqT6Nho5olyO5c-gDZDOTq--x2UuSttmJF3Z00xM4IQHXmfvXeCGaBxDIcJ9iwmm9fdbxPgPivubXPXgMuRYpiF42KU6Qedjeu4fjfFIeOLDIO9TBoiNR-2usMeiefjaw3GOpsWGxqT4ofY8o2l5i5E9i7X3D4QfY3xzby_1rb4HM58cnlnnAsn1FnsVQxgajAD4hmbTpjsEgl19gfF0p-r-61qU1FMOExKF6SQDBMS3EtUvIOgVjVMNLhQh1eru7o8ntEmOemrCShFhXiVCXrXDgL01I6VrvN8L4teK3WM9VMtYkYfmTBDbKYbPEkaUKmKLuv0xAEgPzixbaoBEzo5ZcciPrR3IgWwceZt8RbZr_Bw1gjh2Yk129EZqHYwfqpapwT2pXVNDbLx-1Th08kOCVixMLSBSPYPShhfeEU2SaV7NPEezCLaLvEtvAyUxiDF-Io6O56WSC0SjJ7FY2x3fJb98HJQBxrKr_bG8e0dyw2o8dNjJH_J4r8igH7kR08FIhCz0C4jS7x9hiFuR29uKQ4Dm1CQB_Khe-I0hwrdKOkMYrDni7qdYxid1g5Xs-Kt6HyJV1FA6uQFZsGyD3TprAz-So4DxO2pftVLLc9ZQBCnsp4SqscnZNAqlb726mCpRDHF6PdUhqcUdcUx1dgS1f02HE3xa9omafmiKFDtg2tYMLgT5VXnNTEwqH1G4yEj3guoLsjVkEK3qxoM0L4ihkqjSN7djvZKtH3DEZ8YJZlxW6El9jM66SAfe4rSBp_czANySQ1ymqWmQRSHvlROCj58oyoVURMJUQUbddmt5gtqck8MjESGCVLP4qDV3QMgR6g-dpc7gG-3vLlbcghMApApCYCVCJwJ_fZQK16HQFBz2rwqVrqnvquYPYqf0_8VpxgCAPVcJkATs1mJ4lMmxw8l9URv7naCu-QuYZL-u9uKo509kThuzfsSNWRp7Qh0XbkdyyVdIM8moo7r04h4h75CUti8N6Eo7fq9j1wY4GSwGX6u_1p9FI2UKuvissZZ42q1G_QSSOsiupGtC7NsuwdYvlA6JNZeaZ5w_Gywpl8calpAkSJCnAEdiWLywVFvJGMEOwi3SJ55ZdhtEiZBWved_vgr-0r2qZQEY3c5XzN1Qktj2oPcOA170eiVtA2wree",
  "id": "rs_0eb908feb2dafbb5016ab433e9a4a087d0bdfd7a6fee6fe1ab",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDPvJ0dOrJja80vcD665KnQlv7HAR_trXWfNfvnC5EJkjy16bFKZ_oo3s7jLNpA0rpxVUhZRLT3DPxmeC4oWROxMzDzwQHHMiwcmbTYAi3iMj86bZZYGwzlsyxxyeBzD5R_ggRyHjrIW92NUNnXTmBHTa9rGKjEkshKekEPX1oOITY9WRER33l7sUtsbaeSyKQeqiwE03wyq-HuW5zGxK-ukuiaLKjMf2eg-PenMusLvAUKVnpAKaN0a1P7ZmhMJWALvAGmui-xcZ3nQqkhhicTpNIsPoLtI89M5amtJBg7Gmxep6ozldpS6SU60RlLcl5MbHn8UtJc5YDJ5W8GSShkS0pKRPN1Y1FXrrpbJ1TuqWYF2yZFDg6pqldO4mpWXuKMY6fEpOSmfBqlt6Fdjp1jST0UOOSt0jUz1pytgj5pFoEEBlQXSlAmRXPcvaxkNbi1J6jgZOQMWXw7LZETOIna2JAIzWSJjozXwkE_lIF4a4u11gU-pW7bCD2jPPWGcxaG0zBx9j67aAsmaFRn6ro-QKLqbSSFalwtzb9QZdM08vbKj5d__PnvPw0WrbL6cSKZ_HK4kbq2IutCuW4DkKc5cg45_bzBpPTdwNahdQCS_gu3Lus-tJiavwXGTphldMVgBBeG_jeyqbuu_T7pdB0VHx7sWW_lY2FMBndT0xfIloB7LGlxWBWhKmhF5U4z0BOgUDhue9vS2bQSLYJWHGQnAq1fjCEzMocVGj5hSHLntuKRHdOEx_Ob33bGZsowOU24rVLY574jTsvOcciYqKeoz5B1M7Qeu-HLcapCsAvkxDNGrrLNRTvsuYJ1uiFrMWU64ucd4QBkDUkj4BTwKAgCsuNVPy1YLFD53P_UrieWxJaY5xXIgRD1gCaK8QJESYOwbMW6OmT25VJnFd3lgtBFOxyHAP4bhRferuUOL7nf56GWz4SPHNuCcunCTiU7GOdSMXZSvektR5oM7QbVZdJsYY2V79sDGPhn701FtTT5y2GK4PIon2UZ0O-Rv6mjtDx2pEMPytgarDX7lEb1YwTrODZ0q4BlV4sSOqpiucByFOYXCXJCNR7XehT4M1X1jQq67m4zmFw01_NK1_kg_vIX9RLYxAWTh-riBtOti0PABBNDz307efl6MjW8FD-RNprvU2BlbnigCMrWn7SrfGbLwW5cBkua_4_FCkBSlG15l2ziz2GgYhmkYJZC-wtF8dQJH17tT1h6SDFCV48db9f2xJ69veqbIGVRc426psPTsFnhoa3RbUnx2qRobCGSjY3ESXkuPi9PQEvWCguVndj0DYAkgQRrULzSZjtnm1Pb-W5sIZbGlRy2DtuUoOR3PGMIh5P28AA18IxwwwlbSTQXYjCgUBFLZpEvbU7_4lXAaVSDr4--SCpMoa_O5ToF4aUUZiCCAzWzcNeEeaK2x0RoIIzWrOxCCUDWCG4_etBXOpuYN9qvfFSKiwTfdSmO4QPIcRS9ViTb9EOMmQZGjHShz9UOQSKnCMEQ0iSWNbY_bxUi_xjCHXc3K6oUdCAOO6Dw8kqgJ-4Jp-y0yVAE5D7Gt7wNEUa_BhJUHHoHFRMrsbA_Vd5zBm9eePF2dfjfyxWFO",
  "id": "rs_0eb908feb2dafbb5016ab433edad8c87d090d962f97ebd212b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_x\":0.225,\"left_y\":0.045,\"left_gripper\":1},\"note\":\"The jaws closed almost completely, so they missed the gray plush. It appears just ahead of the grasp point; I’ll reopen, lift clear, and shift a little forward and toward it before retrying.\"}",
  "call_id": "call_Lg9WAUzCY10IfSKCAizwOvXT",
  "id": "fc_0eb908feb2dafbb5016ab433ee545c87d0acaf520da4fdaa01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lg9WAUzCY10IfSKCAizwOvXT",
  "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]: [0.3813, 0.3389, 0.3588, -0.5533, 0.2592, 0.1646, 0.9986, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2219 left_y=0.044 left_z=0.1423 left_yaw=0.057 left_pitch=0.0495 left_roll=0.0297 left_gripper=0.9986 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0233 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3761, 1.2923, 9.4427, 1.9609, 0.1538, 0.0366, -0.1343, -0.1573, -1.388, 7.2, 1.7167, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc328248d61330ade71a38c3476a7386eee45c06928ff9982205d02f64216230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2412ba204dd915953084d0ebbcf6b4801a2736d1ad4635120feec92d82fd5783",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f2a8ee925ec289481354f61326157998c75615caa99ab2bb046bdfd032eceb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 1.703 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.2317, 0.3649, -0.7197, 0.2836, 0.1658, 0.9996, -0.0154, 0.8032, 0.6086, -0.3786, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2007 left_y=0.03 left_z=0.1321 left_yaw=0.0315 left_pitch=0.0037 left_roll=0.001 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0118 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 1.5658, 6.2974, 1.7314, 0.2222, 0.1441, -0.0171, -0.3897, -1.6479, 7.241, 1.7802, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3717, 0.0063, 0.1661, -0.6426, 0.255, 0.1627, 0.0114, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2031 left_y=0.0352 left_z=0.1002 left_yaw=0.0508 left_pitch=0.097 left_roll=0.0461 left_gripper=0.0114 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, 2.2085, 5.4496, 1.8291, 0.1197, -0.0024, 1.0672, -0.335, -1.3333, 7.1726, 1.7753, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3813, 0.3389, 0.3588, -0.5533, 0.2592, 0.1646, 0.9986, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2219 left_y=0.044 left_z=0.1423 left_yaw=0.057 left_pitch=0.0495 left_roll=0.0297 left_gripper=0.9986 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0233 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3761, 1.2923, 9.4427, 1.9609, 0.1538, 0.0366, -0.1343, -0.1573, -1.388, 7.2, 1.7167, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc328248d61330ade71a38c3476a7386eee45c06928ff9982205d02f64216230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2412ba204dd915953084d0ebbcf6b4801a2736d1ad4635120feec92d82fd5783",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f2a8ee925ec289481354f61326157998c75615caa99ab2bb046bdfd032eceb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDP3YtU2Yo5sYtYx4xcnX--va0OmKPC5VqgpU8aec9Q0lR7V9-uZDKYANRF6BqtYIVm15vW6xIpgV4PaEo1snNiZFVWCDJhnwKlyVmirHDt2l71e7MXIuFO2fe8UsUgOgA33cyabMhY2PQ26kNWLFoZ_pI7gtZk8ymXtAI0Rk3Pmxp0B6_YNxIHlsy04-23TT645JQd0gr-SFWZsz1-muic69NmQtMkUFxF1XxsGtyugMbKgikqGv7sQ8rg8zX91yBW1ZfJ9zsE5LL_OhEPOUS7RzpUF3lpfpLi8anP769NcB3JqyLwdk--Bw22GMOGrSAbtntRFZ9mcBVf7c9UednkmtPs_OiARR6EQQavrlA3oWT7p5NLMNpgi9BYTyzosFwKdSrNal6PKotBl1aFd4GmD5nqT6qpnLbCmWVkofVcINhVu1JUBdWIOx9RKFpYuC4pXWFFUBuuFzSVPKVbm3eKYS84ktOsbvvCAe_h6KMXdgvADq8bYY8wqV6PVm9_CKMM53fshu-4OY8W5phyNlVEPby6PvQH23CUIEUAVvzkLinMSKNQBK5oFXzbtfttALFO1-6hU7A3VQ9iQwwmXfMYvEVwW7adX2RFz0uID-Krx8yfMVi2d9OoXapU1jklmkhqKkYZkt1nUVdQjZbV7ArNXhETSVlEdm_P-_lK2nkdxOcDkso7VjdunU1H0bjXiTYjiVJ_CqfLB73RRNtjOmUN-JYtLWn4vbykiPOlD33Az__WoST_NSujUbV_RSzOPryO3jaTY3kbWel76xt0vLjoWJz9sllULVoGycRKSXrXXaMBGebnLmvWtrEvDwzk_hyWr4H-T8rWNMig1onMy29oNCq90hLjnu0jT0BFRdJ3d5pomuRwr_aquBw6VKXL-waPEQcxaFNPAkYHAq3q7hmHVTxyILDUtUfjXaMjnyP5hg903QHllI4npr6cLk9D-T0IFPZR2MKSIDegdtQm16cx3W5mhHbWcF8x7LAbG4sQ8tbZeb-SPdojJhQcQLJhdr4z8G21AmmiSxLaI-ZFKIYM5c-omgiYmqb7UwhwabMHZDD9kiDSu2ulBxlVSYXjJyMVK_dV1HXVALSLAAD0WuO7ZqShKR9HpPRUHPMapDsdSOKGo6ehROMN28_6ofs9cpq-F7jd5JOF1C_lPPhLS8Crmj9LTzjsZYcxqfWFZCWeFmNKTgGLxroqh9N3moN-xFwHBSAwHjymV7Dofe-TvhOK6JJUlf83nabSb8QVSebB1Zt2MdlecRsrvJtbTkopyg60DaHTJbXNe5EKzfqZxJVU5kwT9QKBZZcp_XK8KrSd-IKwIuaFrxqwTWCCHl2-FaTkAtJWLVxKtdEMzzga6Wo_wWMjYYsv38R18w21FiTOH7N4-gf6rgTt1dpuBkFi7rMxGjDUHJ5cAitONMjoWsipMacj2tnVEKgjOkYqp_UgWYZKZfXJapLkLkleycEm84_OsTmadJGCDpofOS2YcXQ87oDtiajuULO_jEvn6YEGLz5Qqo5zz08EJ_fnYDhb6pugx_ZLoYt4mM5KMdkBCQd9svfwwjP4lYRcfM6w-wyME2_anKnCXFxP36NCfluBVLaGv3c0Wsr7ybbKzqgBYMx_x-xRVJmupxnNI_kh7M6sLBnO-irW9SVLGMcPNXRlwBUKp11DhBC0Lc-bzjqyyRST9umZ9WrdjGK6Zyvi6OgfOEbC5osuxy7J5XHT6yoUhCjAU_EZNf0NDBALJzc7f4W_5TbakyW8PfysvvVwTBHagiF5GwllAP4tZ6vu2eIdEJN7cXwQKUHB3lrVHV1vlGJsRWKbRSTWMQI1CXHHArqgVvQX5R34jpOzcZFKFqPGBWHR13Yt9ovZc-xz8KjM3nDJUV4uutsEvVhp5Du6yBOuKspEgW5tIryDGUdd_JWBjDaFhkhfv_TwIKx61idHaW3LC_pQ_q5EDgQCr6VtZBy-oS2q6TUNlmKEKtCv_21QAExv-3UocuR0PoW7qoG2RWbejtWt4NpRh2fWFrn6aongGJRWSBrfSK2IGuLVoaV9z95vkG_rdU41bRNPpjaDNa3dG7pUpmzgNpKw7Ou1-DKNC4l7CkR_jls8b9QIjRNFrdJg3dAnBNZAJYctH0WABRQRhLS0ASv-I9y52qV6bRHqsHfrEI9GquDiiLyPp7Cp-1zN6LCWJ9yiKSKyibmhVM725pQc4BQ_P_GHN3YFh5K9Vy17_i5AdxUxAz3dJlWdn-yZs5UiyWaBssDGYNizQW2KN6oAJqDNNBusSMgSAKys5H42puiCJ3ueGLs0Ujvzfi4Sh",
  "id": "rs_0eb908feb2dafbb5016ab433f2e50487d09c530f2cb04aede2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_z\":0.07},\"note\":\"The reopened gripper is now aligned laterally with the gray plush, but its body remains just forward of the fingertips. I’ll advance a few more centimeters as I lower, aiming the jaws around its body.\"}",
  "call_id": "call_vJo7pign7GTtBBFZNviloxnR",
  "id": "fc_0eb908feb2dafbb5016ab433f69b8c87d08be052116cf53550",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vJo7pign7GTtBBFZNviloxnR",
  "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]: [0.2771, 0.5545, 0.0868, -0.0734, 0.1802, 0.1081, 0.9983, -0.0147, 0.812, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2486 left_y=0.0415 left_z=0.0687 left_yaw=0.0494 left_pitch=0.0322 left_roll=0.0176 left_gripper=0.9983 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 0.253, 6.3795, 1.7021, -0.0464, -0.0073, -0.0464, -0.3624, -1.0598, 7.1179, 1.7216, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0265479b5d5ce3bdeea1e9930287128b398266f5748d7d605644e486ab2d478f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bfe60d06a0076de6c2217cbb2a91d8452bff39d70225cc951ded987b1d898e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f9be28317ed481d225c2ef9d32b4ad28523c3d63230cea989f5281dba353b4",
      "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 · 2.628 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3763, 0.0063, 0.1516, -0.6369, 0.2657, 0.1646, 0.9996, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2036 left_y=0.0344 left_z=0.0952 left_yaw=0.0457 left_pitch=0.0903 left_roll=0.0402 left_gripper=0.9996 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3077, 1.5111, -3.412, 2.0586, 0.2857, -0.022, -0.0171, -0.2803, -1.4427, 7.2821, 1.7558, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3813, 0.3389, 0.3588, -0.5533, 0.2592, 0.1646, 0.9986, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2219 left_y=0.044 left_z=0.1423 left_yaw=0.057 left_pitch=0.0495 left_roll=0.0297 left_gripper=0.9986 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0233 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3761, 1.2923, 9.4427, 1.9609, 0.1538, 0.0366, -0.1343, -0.1573, -1.388, 7.2, 1.7167, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5545, 0.0868, -0.0734, 0.1802, 0.1081, 0.9983, -0.0147, 0.812, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2486 left_y=0.0415 left_z=0.0687 left_yaw=0.0494 left_pitch=0.0322 left_roll=0.0176 left_gripper=0.9983 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 0.253, 6.3795, 1.7021, -0.0464, -0.0073, -0.0464, -0.3624, -1.0598, 7.1179, 1.7216, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0265479b5d5ce3bdeea1e9930287128b398266f5748d7d605644e486ab2d478f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bfe60d06a0076de6c2217cbb2a91d8452bff39d70225cc951ded987b1d898e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f9be28317ed481d225c2ef9d32b4ad28523c3d63230cea989f5281dba353b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDP7BkQ8o9HHytIioLq5sziFhMqks7t0uas6jP3xg5v70_5Ynovjju7MgFES7KbuYxhxmJU1gZ8YlznaDPbLzsmoEv03agAJwDzq-Ksuvw-e4jnnoCu33HkuKzG6vHygolt_dXCyHFyY7qgzfw-iKEU9z-SZ4S06iYuxqZCO1sUnK2hf4LuzaxDw557TmAVap4tIRcKaDdXvQnwTlZzX1G1N5UsJ6OyuBJO9iysCCz1TLNRnEjjZnFKcaSl067ExPSOLWHtp6HOUJ2vUyIKXk92FbO5yuGmrxYe2thNjtpYTUPRo6C4tLSqx5eA6ViVymITZBtQqYoSBXt2zuvC2g-G9__5R5ejU6uijcZ4d5WBuRpwPifYRqDtE2pf5fU3OIkBgmtLAkvhVau8NYf4utzoc5VFsUUMPAzS6nkG6bkzV082R8HpYIXccoLts6B4z-PkLafF_YRbx2XGfwmtknDFoeFp2Vo8rkYoBuWgZj3p1NJaSLv_V7LrXnlZgbo1a-chsZ_iVXPgLmSPIfbYEaiEaIEinvAY9tFF6brOCCMsnkHcUdRwBFsgYhDW6oZx_SbQNeGd6WJLvJRyh40hV9bvwV7CFHraqK_2cXJ7kkVgMC7ehI9tmVVHlU3iYdbV70hUy7Xt9eQytfiiKtMVsLQY604GIbQItsvq5q_1mlXmoJ6zZCZnczwQPwCR85mLvfAtfCYbJbQUtONHnxyomccprXNXN9JwsHP1vkEjZZqE0XmFLZfwY5VxAVu3NIU2CIcax5rrXtmwmMHKIFEYCn2mKRDwRqrz1PCcDPzBSuwVe4QTaGHpVh5R9w6Lixj3QLq5jegm9O8YHDIeV10TMJI5MWqRlIO5M8mRJ1abcapEcrZnjlSYnPteaMjef_CmyM1HgQwkdBv-Wq1HC3Cds4goq9J0uF84MAbWBTgROpyb2E47AQ4XHEVk4NPtCvwIU2t9YvGS-lGAemV7dLYZrr52-qXW_uSJ6XBnp9aJjyRuKwVhgDsmt3xh1EKWKYalioxFGv_QS26t4Joz2mIGO0lsMkZiE6wyX4BFEl_svCJL9_jTkHGQq-n8pDj6BeQ8XvO79w7WGR5OwzsxJB0xz70zBIjRtNGd8bRATgOaLnXb-52qKO1-ibHAneMUPDQyJcQD5KOmYmVABgpQy0_LtoP326ayqbpu8q3hq16CCw9JMHBDS892ExPvK1p6_So6MbMVxtP0YclbaYEByqv87EsaSNavAoCk_wf-pm72fqFPB4KMZHAGaDTPRjIRJcOt_J-e0",
  "id": "rs_0eb908feb2dafbb5016ab433fa917887d09d012eb76bca3729",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lower pose, the gray plush fills the space between the open jaws, and the commanded height was reached. I’ll close and check the jaw opening for a real grasp.\"}",
  "call_id": "call_wH8arr33iTATCOrw55smRyvk",
  "id": "fc_0eb908feb2dafbb5016ab433facea887d0bd839db2cf6eaec8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wH8arr33iTATCOrw55smRyvk",
  "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]: [0.2771, 0.5552, 0.0856, -0.0586, 0.1829, 0.1043, 0.0358, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2502 left_y=0.0415 left_z=0.0711 left_yaw=0.0491 left_pitch=0.0452 left_roll=0.0159 left_gripper=0.0358 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, 0.2256, 7.0496, 1.6777, 0.0073, 0.022, 0.8425, -0.1162, -1.1009, 7.2957, 1.6972, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5919848b83d066c3a605835ee3a96cf44a738142cda153027955500f21434e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfbac74cb7412b9107745b6ce7041e1b67a7026c657117ed02af73166ddd3490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83bd550e55d267f4eda18f29639a05980b72da140b42f2210debf4cc69e27992",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.129 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 24 changed as sent

message 28 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3717, 0.0063, 0.1661, -0.6426, 0.255, 0.1627, 0.0114, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2031 left_y=0.0352 left_z=0.1002 left_yaw=0.0508 left_pitch=0.097 left_roll=0.0461 left_gripper=0.0114 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=-0.0003 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, 2.2085, 5.4496, 1.8291, 0.1197, -0.0024, 1.0672, -0.335, -1.3333, 7.1726, 1.7753, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5545, 0.0868, -0.0734, 0.1802, 0.1081, 0.9983, -0.0147, 0.812, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2486 left_y=0.0415 left_z=0.0687 left_yaw=0.0494 left_pitch=0.0322 left_roll=0.0176 left_gripper=0.9983 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 0.253, 6.3795, 1.7021, -0.0464, -0.0073, -0.0464, -0.3624, -1.0598, 7.1179, 1.7216, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5552, 0.0856, -0.0586, 0.1829, 0.1043, 0.0358, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2502 left_y=0.0415 left_z=0.0711 left_yaw=0.0491 left_pitch=0.0452 left_roll=0.0159 left_gripper=0.0358 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, 0.2256, 7.0496, 1.6777, 0.0073, 0.022, 0.8425, -0.1162, -1.1009, 7.2957, 1.6972, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5919848b83d066c3a605835ee3a96cf44a738142cda153027955500f21434e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfbac74cb7412b9107745b6ce7041e1b67a7026c657117ed02af73166ddd3490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83bd550e55d267f4eda18f29639a05980b72da140b42f2210debf4cc69e27992",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDP-EMszGAuggkV1oTg-Me0uZoc7bUOFRzMAZUMWsVj2Il8_07QyJHrbvgLfEaJSgTRoWuLqj46QFyhCB4FDMqY__py5fcrMKI894kuNy7h1plFAA2jAg8W2--nszicdVZl_4HeUxIAIa8Ov9U8GC84JYKwCukTfyKKww1UIIbTTnru3gBx0V8DaHSrp8sykmuPpsAiTHXEo1YknX1yRvSfZPtqPoAjKvspm7-ex23Y8UiT2T_RQTqBE04F5tv4NGGGC_L4UAgXfAjsMBXXn8Vov9BYqQG2giu1ssYlDzHfJFjf2pTiNWAw6y6mdCtIF6GEp1QAqR2DTlvV7gIYlqjEMb0sZdP0crS6IL_PRBgMZk2bY4WiRk-tk-kxrhbdTTVifwnK2FAeNsQhSnoUG25wUEXjtd8vs7zvUDxGMKLOtkZ8otlS4_RS29tp1R7lCtzP73fYoOUg6fPuLSh2YKXGVNcqkoGHm9pgnKpBBIgPW4T7K-L91CLNT0Zwg-sPJNnpgI3fUChrbCRcve8z38Vxa3_Cygynslo84nwynd9adQoQRIDLhT9GrwlZe79j0TQsrx2fWjZOGGfRvdpu4kg76M_U5kBD2kigheZwp1Vi8LdFfgQQkcHSBBF0s150c1-jL7-I2VjPD7_BenNN_LOiNZ4jc4u-U16Qcoxy475qqo6Q1T-APPdl_Jwuo3fndXgPwHniRUF2oWq2njkMEPZBuA7znkNj7Rj83pGkQ9FlPbWzxFkQUjsPUw3X71dN0LRvfl0W3JWnFzOM3X_iiE6sYumGrJC76pMCSZ1k0s2bnr7AX2w54Mr7pfjIoi1Jt-yltqGzgB7lD0PD56l40qT19M8xZiE3KTRXeQN31xZrUOYl9XbEphrWmxsbs6OpEQKP_mPz7nqN3UbhxSCsdQ-bx4NQT8lU9OJz9cKv-1QK5rBj-riiIhya5u1bM4ifyVKOhUzvefoyLcW1TCBDULgg1ktuSE5n23bGEsO_PCHk1Z_ABbamyZZW2eDtn5AZKm-Sf8mU7CPWXADisBqM6HL1FBI1B-BFzBOo7PljkrBn5iI0qdj5ZJfHLMCeL9mVz6VrFBWvuSQ-N3lEGjEBQiPtZorOJe2uhwjv6nzw7Hzi-m-IymWEJy_fC_ugAV34Cu76taWpz_amkHzJJhB02mCcSS0xl5lVGo7cAIk5AIyYvshKOx0Fy7SjEQvVbDm51fkGsN_5VScDBQFvkLebtMLJtNQ==",
  "id": "rs_0eb908feb2dafbb5016ab433fde4f087d0a13397022aac76b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The jaws settled at about 3.6% open, which is too close to an empty close to trust by itself. I’ll lift a short distance and check whether the gray plush comes with the gripper.\"}",
  "call_id": "call_KeGEy6kW4tPSFWS3Oi31bwpJ",
  "id": "fc_0eb908feb2dafbb5016ab433fe038887d093a11462a069f06e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KeGEy6kW4tPSFWS3Oi31bwpJ",
  "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]: [0.2771, 0.5556, 0.4908, -0.5106, 0.1822, 0.1036, 0.0364, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2471 left_y=0.0407 left_z=0.1627 left_yaw=0.0504 left_pitch=-0.001 left_roll=0.0049 left_gripper=0.0364 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -0.253, 9.5521, 1.8779, 0.0024, -0.0366, 1.0379, -0.294, -1.1829, 7.1316, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ead24c188052c65d3a89f4fc8c5f181a7372ea675640e5679364354ea93e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4d66be3962d49549843fcbadaf0f77a9331ddf6e18b33ff7fddaa83810aa3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0d40962e136c4d345f4e78f57e426747cfe3d0edd889f29e9dc4ee4772390b",
      "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 · 1.557 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3813, 0.3389, 0.3588, -0.5533, 0.2592, 0.1646, 0.9986, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2219 left_y=0.044 left_z=0.1423 left_yaw=0.057 left_pitch=0.0495 left_roll=0.0297 left_gripper=0.9986 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0233 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3761, 1.2923, 9.4427, 1.9609, 0.1538, 0.0366, -0.1343, -0.1573, -1.388, 7.2, 1.7167, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5552, 0.0856, -0.0586, 0.1829, 0.1043, 0.0358, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2502 left_y=0.0415 left_z=0.0711 left_yaw=0.0491 left_pitch=0.0452 left_roll=0.0159 left_gripper=0.0358 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, 0.2256, 7.0496, 1.6777, 0.0073, 0.022, 0.8425, -0.1162, -1.1009, 7.2957, 1.6972, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5556, 0.4908, -0.5106, 0.1822, 0.1036, 0.0364, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2471 left_y=0.0407 left_z=0.1627 left_yaw=0.0504 left_pitch=-0.001 left_roll=0.0049 left_gripper=0.0364 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -0.253, 9.5521, 1.8779, 0.0024, -0.0366, 1.0379, -0.294, -1.1829, 7.1316, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ead24c188052c65d3a89f4fc8c5f181a7372ea675640e5679364354ea93e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4d66be3962d49549843fcbadaf0f77a9331ddf6e18b33ff7fddaa83810aa3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0d40962e136c4d345f4e78f57e426747cfe3d0edd889f29e9dc4ee4772390b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQI3V4z5BKYh0OzdDz8jcPbIeVMw4Z5A059NtpPl5zvKk3a5m-BXVuR1PZwI2laWy_MciFz_T-KF7gtEsYZcFRTrNOroHJhaWOFXbe-vu6UukaUcaLoRcOl0HM7PQb3mTNmn8GchIPHLhj-b8yUyGHqvysilhB8QNCpGvW_X4J2ueIUfKxIPIBF_DeYBOFvK6LT5ldTn5RztUE6_9OvQ7tid7noLV36ggCaqjMLUq1jTAuge6Urs9R9hLb58oLh591oh1Iu6DJN_TebEb7JaRPeda_OmC6k-Bli_6Pz4_Up6NGxNFWDY4c1EDjMHb7hhUrK8wKMk3G9zgw3x77bBBS8arYuSsov4qpMtgTEbKCV9J0DxX8TH6kEfyxAp-k9bWrKULWmbaSdGOe55uUQuBaTid3d_-Jhvg2QwYq4QN3kRrBy3MzZI9b_PxeBcd3pP8SBsGV6jFjJu9_M1_iaULvG593pxi9YzoQnQWOEHEiapEr_D50ADNBLSNf8EAfKh5bafFV88PKDwZjB4r_IZqbnxO4x8XIIIxaQ474Jo8mDWKe9uRH_kPrgTpkONc3FYnJmIXk2--fvieh1tCA14P02xnDGhVCa6rFbXPzptvzRlovyNECCBcThEzD336YezIkBAZWpYPjLcjOBK-1jyHx9tum_McRHWHazC6EqHNYi_EahxUDOvow7DcYU9zUk1j_w1L3Ex8KF-pRfHvRORxuStQUV-EWzXKnAP4JjVzGUwl9-biwwvFi7nKLD0blKGA9yjCR9mK8OnAviI3fcKhZLTkuANRk7oVEZAMBCUsuCnJxOnhrCvAwwkhJUPsdIKE6C4mhzzvcwTsJgCBmqf_hKQ6LLwfR973p43HrNHkmVvh-gWipo4nA5RTIKxiQuZO6lIEdC2h-MHgtpHjAbXVok8jWhNne5Rc6rrcEN4e7bBEou0HENepVeGrsVyQXg0O2E5FFljVOJtGmYpcfI2zV3Pr07ZAjx9ZlKuh2j0lv6CFxJRwU_MHozNo3yTVIy9dJWs__XD-awmDcg0pbd-4O249rMaJDBBIThDEOnRvkSu1JmwYcQINyYPJjEeH4cm35riz_i0FSuuL6vpQJRSsT10C1Oqmv1sCnujbt3zN_vnSnFzmlSax1K26Jkt2mH6Evm3o_FRTrNihJtIEJveWDLrtRmlWSVtwmp8OP3UaZWaBG5qpqB4AbwCinCIyVeYQKygLWV5OdtrTd7mtdvBvdp7DK2JmJX8gQQiA4l2shWOihdNCNC_NGPy6jD547Jgyu1WwB6_IaOx8C5zbfNCjOHXSWUS_BUOio_5sxAEMERnApRP-y-tm2Egv09PzwNseuNR4nLtzA6LkViEc0pF00Rp4ROqR61O89nz6HcZaVlswQMVBV7RYZfZU6YEX3oDEom0gbUxJe1HC1kPztzeLOnIqxr_nO7UoQXDQLWqhCxTx5KDRB_0fVpiUg6MkCpxufFsKiow9GEhjySC4FDi-84Uy4dg0dlGJMLoDDoW7hvAEILXCTFOMqig5HBrWfQjdcAXu7XTpZZkLd-L_b5xK6HpTTvGunripmlNSrleIwiTtHsLg4aec9nd3s6hV9FcCXhFr76O8WF4mzDJpF8c4aPLRT3Ve76Fw3y8aq9CMLv1cazYJQjGU8MrFX45Zr9d3Mherw__asf6fZrmg8ZxKtM-fK_wVzgzkfiUGftghx9RonyZzz170i-Zw_xCRuFgI093YCf9tfy5XkLcta8cphw57HYpDL7afCmJtxvHfcrU50GTUkQgZBVkrcnrnlr2gFpOz-bqp8LAxKW6bBthJ-W4w9fsryTpEHFANW7qO8xJ8Yn_9y0yp9Ch-totjWFcopzd6sZQGnLn9OFZz7kqDF8YOvxpXJ5Q90e5YBk06W0dbs7sFqXi74wogmw4vTToBJAt8dGfaloT9tVAP9HG9GKW6Bl65gg_-rDQapmFjiLD_wqLzB9JofkzOiRgmSUTUgGZGI_k-L4fVPGw94MqCDx4lVriDpL1l_ULH6RSLl8vDqJWyboHxH6PMID3vQCJx8ek4WPHC-rpr-cgeXbMwqXH-IJbauibaMK7GJIAmV2JVElkrqkW7uKudRskJ7m0a16-O7k0mZvuVTjVFGomdXCF5L4iAyUmNkISIeRk16RLmlaQ_3BseQOo-ZSj6mpmiA-B22FXuOA1_rdKEshoNNcceX5C5dheOX_R9mnMN2OG1jIRhJd_BZ1aqqo2EkE1fz92FqtCfaPscyUwAGf5xR15Z2zm4HYnw8f-cXVe0BezXwkXgVezeektffozaqnb9PuG54WpttHyo62pduEGrAU2ca7u-Q4bnR0kgCwx6cNdcFAUWQAFnfw1G6JIoHTbsWruPqrR5EGcN85qqFWrvvE_X3wvFv61x0N3-hKfkVfy9nw1uPbP3xRmTFiWowXXsU6OXrl6PbqTRdDt2ZuXGa4x3KgvG-8lo-Tu0ND3FBmJcv2cDFRQWRzHXxPft-M4GDMbxJjB-hSmcSFFJDVBBba58ZLBWorNBPNZsY9GqMgIHmRVyjX0mNS0VSQz8DhrDvRRba3LQvOu7TfikIIY6d78obZ7UbK_egSeh8nBRGPx9hVymSZAUdS1QaZ8wx9BeA3vNLMBr13ARB4-Hs9DJWr8rzM5vfYkvv-dTHlOpcydUKofizX9w_IRXmhKYSMqaajCAnlZNc9XiYCRWik9QXIMP8cuuVNEsOLA8mJfUX8dHF3O-fj8HgBFznJXgQN4davDlDC7R0Jwt98Wj6zk4umLPSIsGxJ8u6xHcL-T-PeDk31Q6r-x1XHtN2qBeiB2SR21CVTU4A1lqWSPt6pgprO41_T1gTsEg1fOiHHUfbEhSJXtsmddZP6Cuc7xMhzAYlrURtwfNtXNviC8jvGpxBk9eGxzKuK52QHuOqFN1p4iTZzTWpBk28_aKeTjjbkXiTF3nnZiKF2Q1_3q5IxSd4Ze_HPXaxGqrbmQ538WJZQh8Xuxel14UXNL2l-guwViaN11RljPCIdvsQrxh2URtfmMtFBtxSb9vKcm2YvDBG7Oy3aJ7k0KJkokGVX6p2zYTseFTK2q2sgKoL3Ecu_qp1-BUJMDwylnbxxXn7UBWSTfHI=",
  "id": "rs_0eb908feb2dafbb5016ab434042ebc87d0bf14663b17e34a1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.285,\"left_y\":0.025,\"left_z\":0.045},\"note\":\"The gray plush remains visible ahead of the raised jaws, so the last close did not lift it. I’ll reopen and aim farther into its body, slightly inboard, at a lower grasp height.\"}",
  "call_id": "call_84tLEjqwyK3jGTqnh7wtNqca",
  "id": "fc_0eb908feb2dafbb5016ab43407a10c87d0a4f21b592892ac0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_84tLEjqwyK3jGTqnh7wtNqca",
  "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]: [0.0937, 1.0187, 0.1211, 0.3397, 0.0254, 0.0051, 0.9988, -0.0143, 0.815, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=0.0263 left_z=0.0522 left_yaw=0.0516 left_pitch=0.0061 left_roll=0.0073 left_gripper=0.9988 right_x=0.2959 right_y=0.0015 right_z=0.1749 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -1.7436, 4.0821, 1.3065, 0.0562, -0.0806, -0.105, -0.0889, -1.1419, 7.0359, 1.7363, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30de148ad1a0629e83d7785213bfb08ec8ccc4f80e8e6889b6ba3f6c9d808143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e76ce4d2c881771080bcf4204e78f8df15994ac3072dcb1790ae233fd1d5d36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd040024807fd9b98fd2dbde72e638c6e46eee177eb89f831c749dc941fc2d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 6.631 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5545, 0.0868, -0.0734, 0.1802, 0.1081, 0.9983, -0.0147, 0.812, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2486 left_y=0.0415 left_z=0.0687 left_yaw=0.0494 left_pitch=0.0322 left_roll=0.0176 left_gripper=0.9983 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, 0.253, 6.3795, 1.7021, -0.0464, -0.0073, -0.0464, -0.3624, -1.0598, 7.1179, 1.7216, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5556, 0.4908, -0.5106, 0.1822, 0.1036, 0.0364, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2471 left_y=0.0407 left_z=0.1627 left_yaw=0.0504 left_pitch=-0.001 left_roll=0.0049 left_gripper=0.0364 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -0.253, 9.5521, 1.8779, 0.0024, -0.0366, 1.0379, -0.294, -1.1829, 7.1316, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0937, 1.0187, 0.1211, 0.3397, 0.0254, 0.0051, 0.9988, -0.0143, 0.815, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=0.0263 left_z=0.0522 left_yaw=0.0516 left_pitch=0.0061 left_roll=0.0073 left_gripper=0.9988 right_x=0.2959 right_y=0.0015 right_z=0.1749 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -1.7436, 4.0821, 1.3065, 0.0562, -0.0806, -0.105, -0.0889, -1.1419, 7.0359, 1.7363, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30de148ad1a0629e83d7785213bfb08ec8ccc4f80e8e6889b6ba3f6c9d808143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e76ce4d2c881771080bcf4204e78f8df15994ac3072dcb1790ae233fd1d5d36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd040024807fd9b98fd2dbde72e638c6e46eee177eb89f831c749dc941fc2d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQMb4SgYP4GZH7JEHbgzLEHuqDJdalOhyULmKtviNjiTeZvYAoMyrySaJ_602ToxWuGq3wjaKl4vqYWb61uHA3aa4KrvCwhLJS13_AS-kBS4Rw1NQPnximC-kPTscMgTVk1ZyZwZkoeQkrD3qpq2PC2sDBXKEUxNgnpyNpuLTzQaB281ENNulQZnP6g3lmYYRBuhQlswNoZn_5T-34j56fWpmo2wNxuW4rsljLODucT3IfkFn2Cec6DwFjdgzvHuEpVGYKK3GTuUlq2XoQkrReG6PzMU4Ro3uxzesVQYhwM-edi5s5ERuqq8UggFEozE29Un3FRbLDTyylI-FHREE5XII7jBug5eRw3RloWOTjuWx1eMD41AHUFrdYKcyCgHqWPnyBUlI61xSHwLN9RWFqK1d-fnQ48fgtQa1IsETuKzsmWrJQ1fnwDzpm-EXORJnTkaDmcChHiz9XbypGewGiahWUcIR61zouMh73deq1Y_G9uuvAEfi94ei5yP6VETl0kUyKsCdDVGdEh-Ap1dbPd72tMEsBcLayE6rjJu9LsNps_tPyxwmSYnopJMZfK7CzZkkstfqvgjLvqVdM-UivfpZRsn-4wphQOKRGTbL8WsYmGQIfyMWfhFlnIqy3EVdrxY_3y98btebOjXv-27rIOnEBMZTT7q6AQFKxGBbhlBGiKbk288vF0K7d8NOjlcoQ2C-oQVB7SYyGtwDlqdD1tLZ4XYH2rIoY_09u0gXDUH6xjKiN1UiwVp64_jjCcYCy7JMfPVPUK367sIKU75eO-DAgkigTVoqwF9fsatoiI4lupD1gP8NhniY_qhbSOqRYSER88AYbhtq1-qblnYSnJUSJDk9UixpzHJwTy2bcJKnCNdEwzQETN428_QqPRJ0asblXGIRUaojdX_glLzgfw69-60oiAuPkKwXt4T2UhXQLS4NOaS-226nbQLDf1Nb_H3PBQV2frg7Mz-zNJvvmEt3rCxOBG89uylofcPgaYVG5P-8bQihwrObSrG-RutxYTq4IJws36vbF1wOrgmMAIpm4IlZ9W7ezWgGAnpxyMMhzw6wyPi758LLRhj-522n0p9hhXZgpsaktnENC-eE3-VDz3a1IJ9AZH4y7K73HBghz228Ekzw7e_kVM-DEyOwOKAmrFSQjvqw9QnSmCJtsARlKxWQrRHv-H_iVFyYKLbAdJGKAKyEuT2V2aOsVL75XfhFSzP4ASthEzy35EkpYo-KRBAtiY1Qy8X0eirwiRlrw=",
  "id": "rs_0eb908feb2dafbb5016ab4340c301c87d0a330a78e3b3055f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush is now centered low between the left jaws in the wrist view. I’ll close on its body and check the settled opening.\"}",
  "call_id": "call_UcCEMrxUUu1f9mdkutjRCLbc",
  "id": "fc_0eb908feb2dafbb5016ab4340c656887d0b9ff26d25415b1e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UcCEMrxUUu1f9mdkutjRCLbc",
  "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]: [0.0948, 1.0191, 0.1146, 0.3794, 0.0219, -0.0006, 0.0386, -0.0147, 0.8158, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2926 left_y=0.0275 left_z=0.0578 left_yaw=0.0587 left_pitch=0.0388 left_roll=0.0055 left_gripper=0.0386 right_x=0.2959 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6889, 6.5299, 1.3455, 0.0073, 0.0122, 1.033, -0.0615, -1.306, 7.0632, 1.746, -0.0171, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b1ecec2e924a8eafaf0321453b650802c13bf9fed354b42288657b1b5b8fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec219d2c95564481672387c06fbfe8b153d213b469ce799b697b2b758d618c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6d173aec0091d4f181da22afd9440421705d34d78b0bb5439548cf12980fee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.183 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5552, 0.0856, -0.0586, 0.1829, 0.1043, 0.0358, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2502 left_y=0.0415 left_z=0.0711 left_yaw=0.0491 left_pitch=0.0452 left_roll=0.0159 left_gripper=0.0358 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, 0.2256, 7.0496, 1.6777, 0.0073, 0.022, 0.8425, -0.1162, -1.1009, 7.2957, 1.6972, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0937, 1.0187, 0.1211, 0.3397, 0.0254, 0.0051, 0.9988, -0.0143, 0.815, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=0.0263 left_z=0.0522 left_yaw=0.0516 left_pitch=0.0061 left_roll=0.0073 left_gripper=0.9988 right_x=0.2959 right_y=0.0015 right_z=0.1749 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -1.7436, 4.0821, 1.3065, 0.0562, -0.0806, -0.105, -0.0889, -1.1419, 7.0359, 1.7363, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0948, 1.0191, 0.1146, 0.3794, 0.0219, -0.0006, 0.0386, -0.0147, 0.8158, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2926 left_y=0.0275 left_z=0.0578 left_yaw=0.0587 left_pitch=0.0388 left_roll=0.0055 left_gripper=0.0386 right_x=0.2959 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6889, 6.5299, 1.3455, 0.0073, 0.0122, 1.033, -0.0615, -1.306, 7.0632, 1.746, -0.0171, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b1ecec2e924a8eafaf0321453b650802c13bf9fed354b42288657b1b5b8fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec219d2c95564481672387c06fbfe8b153d213b469ce799b697b2b758d618c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6d173aec0091d4f181da22afd9440421705d34d78b0bb5439548cf12980fee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQdyKC5mNq4uoIyj5HNBR9NJQwCO9S08BslP5xF4Mvhmc2wrgOF9ay7w69Wc3Jkok4uuQBfINbP0E3lkO4ccmYeVZ_DRC5IThMcm7ILPHKMyfshuK8IMaUdEqWujKrwzn5HPLShmjkqERWCn4Z9fiT58EzNapw7qMyfdQ8X_lqalhOyv-X0MH4FfTdKMEJff__HRmyk7_cfOhFAORx6LDT79MtbkFp6qjjL9pJ3tWjlv8QYI6ZIirEDHLBkZBKNabkCrhXXLqnaRvO9DRJGSjRxHTV9YnK2UDzn_Wtz6Rt0jEcMWnGzuKnmrwAHveKNoYq9fbmfBCsdtKy7QmGO9oOeBKTVQ_p7fkSiOdoAnpXGFwLmKIa_j_4-JQrtdwEayWuCQdsIzMHCVlehpNwla8dK93l3IvUQHjRXJRPwVJO7b5cRjOUWl6pCyAt5balFo4VTWZUTPTxfMfeUJzsmT6BtmvlCGytoaDdfkToYGF8b5hmSBYviLOloKropcyE_JuGLy9yl54Y-QINQu4MMeBL1jabOOmW7gBPyISUHEPvswO4P4G27bxGdbxcS_6NGLEffegcG6qa18QPYDENGu4HRJYXppRpOr2LONcHIxZJdOCchbh9TYIQv3FNYUthnpC4gZvFHo1RhI1iMo2qzVAVqaWH2UGht2CSwYT-OmdvV_otsFbfy_gEdcewnKhILVi6TFUy6QO4aalMP7-E9kRhnYIHkI4A2_4eLZlOL3bqZyDAwkY22v0TXqvWbEv3bQswbC5vWjeEPeZbRG5M9n-G5gQFyCSuBaUAJDVBy4Am_Pqc_1gseOLifcCQCEv2dLZZfjLBKZrJxQ_BXmvCejdDn8p7LAuYlLB8HQbSY4pXKHkFnI4QMAPLJuYKsUKwtmKd50TWZP0EucjzeY3ze5wcde-9hsdfdW-Hqd7Bebz8Ar7DwNByET55NBZd6nLEd2MAbl4b3eskeLPkUGroDOqVP7-23SvL54etlLeEfESvmqkwSs6w8J2eKhixcCgqi8PE9CDu2CxJjqvhWjA9xEsEH2bqX_9dBz-rBjHzXkGKYnbsczpTv0L61uKqrBAYx0H-c_1SbxLSVQUDjvjZBv1W0iYFkn00M1Ky4XYQdRT1IGKHp7oinunGKipkur-Wmudn0ElC3gt230DcvqDStxZd5iAEN61YDuWzxBQ7epVSau6GtBfW_2Tv6-3Xgx7c-5oCLkxeeSXU7n5nODRrZOMmktYD2j7jhxRN44d9-g4xNV4SjmDECR7PLSdfin6H87ThRcRVILN0G0La54Kw_kiKcycKSR6Gu_61rEU2otuJOLXnTtIaE9r23i5_FKezmXzLg0ahOt2hUkxMDncNcN0RWBwBDMAfB_C_oRW14ZtkSiet82UUFj4XD1tmvnZ-RZmhCE00W6u3ItsIJ6GJ4e-n9yNiZBjJtA10wUdi5Uq1T00UO0dcr9XpWUWqUcUnhy48gqvu_uAtpbqotArgG626frjoUZcU8-WoqIA0LnWf43Q_YjLGbA6q_GBtHhsGX0xqfkFFHnh8ZS2q42pTdacHoI2JhKnQZLszGW03UApfM2fzIWt2AeGdF4sENVInP8qTJ83njL064KHS6SsQKRDOSH9BcgJZY4_xzCpGEgFVstr8HZHtVMre02JL37Vuu-bx4dYBzlt8hcRBgcKZpm8v1kOb9vOHhwxhGCMyfSCKGtNCM6ZO9_vbRQty3lRvYw8gnW01ld3tRXCo7uDVy5h1VubL6nxm523khXV9tf_KNJiYzLXXy0T4xKBvCqqIw4Lth7KsnAxA8lIBfA7LWFZj5NQfwP6E4o6jEKZHDRRGZWh-H0KAn3KmbRUyofHT4ii3KVh8V7e5rWuAx1XCM2Hl0maJcHOO1Akr6PTJFzGpUPH9frYcn9KrVmnfLzBHbUvsa0sjRHUf-UwgBLcEs8LULN9fPE7cUKoCOyrm5vcmEq-7w9mAtjSpnIjsUjKCD4rF1m2DI-r5pcEcVBwU_xiuc1JzV3oJJ5aJPvj4H5grcWlAMSk2ptL0RwhnPVKUh4Gu5Ygkv3fSpF-4TLtc_QNBkmedEFr13Z7onDQ8U03q7kV929ZfpaPTQ1rWaFP_e7Za0o2NNDTnXipOHUgIpXYOZ5q2E0cWkD7FsGMqfXnrFq-nj_Ta4VvAnzGNJDc-um62B1TL_5A3jai2K7AV4EC1ZRU6xUeD1_cDfkEUTf8uSJiIqTTBoJUEBCL_ogy6gy2i2_q9BqKNACxkeHf0_NImFVHX166b4sV3d9-i2PyqXZBC76dvnI2O0WwpOO1hM4UeLWpEDlkOHJae9yDvLG-v0DQpL4rYcvfUBQ5xKeWoPTxR48yIKgeIOX4TKsN0PWKq_BiH9UcRqKmLRUWwHNwU_P3_88saNabEZfz1LVdzV5qqaUompBNawVAkh7t2m-FVD-XeFyQfXi0yQrOeizpCc3izAvQ-KMQ2FhXQr-EkRWl8=",
  "id": "rs_0eb908feb2dafbb5016ab434186c8087d0a8b5da852eb193fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.327,\"left_y\":0.005,\"left_z\":0.035},\"note\":\"That close was also nearly empty; the wrist view still shows the plush just ahead of the fingertip contact area. I’ll reopen and move several centimeters farther forward and a little toward the table center before closing again.\"}",
  "call_id": "call_SQlgP3ihrhDAoJqqavbjBWEx",
  "id": "fc_0eb908feb2dafbb5016ab4341ccf1887d0b1b539890a1876d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SQlgP3ihrhDAoJqqavbjBWEx",
  "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]: [-0.0452, 1.401, 0.1623, 0.7399, -0.1074, -0.0715, 0.9957, -0.0147, 0.8192, 0.6075, -0.3859, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=0.0077 left_z=0.0428 left_yaw=0.0662 left_pitch=0.0682 left_roll=0.0059 left_gripper=0.9957 right_x=0.296 right_y=0.0013 right_z=0.1734 right_yaw=0.0003 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7966, 5.2034, 1.4628, -0.0269, 0.0562, -0.1832, -0.335, -1.6342, 7.3094, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb1c1b57c9a8a0ab18ceee194a4a34500f5eea5b9cae84e98eb4853fd61ec88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f27310b957968f5b380e2dff3c69c20e1101ab5419fbbf773aeca9c018e725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfdf0b3c259efbcbc746fef4ee87af30123d4bdde398f999ec790bb86d49ab51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.261 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2771, 0.5556, 0.4908, -0.5106, 0.1822, 0.1036, 0.0364, -0.0147, 0.812, 0.6079, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2471 left_y=0.0407 left_z=0.1627 left_yaw=0.0504 left_pitch=-0.001 left_roll=0.0049 left_gripper=0.0364 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -0.253, 9.5521, 1.8779, 0.0024, -0.0366, 1.0379, -0.294, -1.1829, 7.1316, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0948, 1.0191, 0.1146, 0.3794, 0.0219, -0.0006, 0.0386, -0.0147, 0.8158, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2926 left_y=0.0275 left_z=0.0578 left_yaw=0.0587 left_pitch=0.0388 left_roll=0.0055 left_gripper=0.0386 right_x=0.2959 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6889, 6.5299, 1.3455, 0.0073, 0.0122, 1.033, -0.0615, -1.306, 7.0632, 1.746, -0.0171, -0.0806, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0452, 1.401, 0.1623, 0.7399, -0.1074, -0.0715, 0.9957, -0.0147, 0.8192, 0.6075, -0.3859, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=0.0077 left_z=0.0428 left_yaw=0.0662 left_pitch=0.0682 left_roll=0.0059 left_gripper=0.9957 right_x=0.296 right_y=0.0013 right_z=0.1734 right_yaw=0.0003 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7966, 5.2034, 1.4628, -0.0269, 0.0562, -0.1832, -0.335, -1.6342, 7.3094, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb1c1b57c9a8a0ab18ceee194a4a34500f5eea5b9cae84e98eb4853fd61ec88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f27310b957968f5b380e2dff3c69c20e1101ab5419fbbf773aeca9c018e725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfdf0b3c259efbcbc746fef4ee87af30123d4bdde398f999ec790bb86d49ab51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQgmiAArS4bQg1YcHH5DJl6Fs50BCdYBhEf_HL9YoHEMtT1QXM87N--xsQlkLijpED8rLAAeh5ofYOH4uNj9PLWCVdL0jL2zI0uJpE02lzJ63-ruIHaXNagp1oJhBospd3vKCqSbQ0b0MIaNxxO7Dtmt84z3J83acedQ9SxIqv3ARqwKaNkHE27WeTA_zBDfuf9TM2zSgN_hAKqRcrPqcIFLK5wcIcLSYLN_Upt2roySVsVRMrMQCaqZvKLOmruZf5w8ISJnw4hwUPB2amlQ6iqBPr-ReAmU_qsSvvqpFNqzF6eEeK65iZq_JRHDSIu6LgwT9VSdak-ehwwdTuLLPZwJfjs-0rm0npwHzEKVEeqt93TRt-sf2gWMueknJQDdtJ1OPUEeBjTOCJecumD2BRI-C1L38CgBGMZo1FHNQJQFzyZX-xwx8FuEWJ6yn53kJPCsOxOsE9L8R-0SFWJu2ZPo_V7xcUuqLuEDxHvfbax9OvFIGbs-EhvHeY_ebV2PCqNwzk8X7YOQ5vAoXKU7dGK9vn28mUy8-QVoaLr19FmP8dzAk3czVp8hj4ZY-bbwiXKZ7UwZSPAuOuqvHjP1eUbAizTXs3NfDdHsqPLGJW6wtcy9k_ZuiRgqYGciafB7rqibJxKT-eBXQqkeUbSSSfb1hRZ-Z2VOXgvTsE7rfcZcyQ9UlpgoQnJaLsDKZXJnCjnsx-Gvi-t2Ufk7NVUD2CCFv7QA5b_l7HRy4fBWOf6R9HcEaswUykZQ45tfJOyClDOQb1UoP0-6YbTQ7QarnKCAyAzOenxZBN_8Q-VXtCYzkbguIk14hkAIxqr8_F9JHyd_rxARf7XOtShez6-mVKRMgyTlMPs_8_CK1NZbnJhfY7U97xlslcqRXxCfyIw7XDl9dqpHI-pn9Axm_rMhyijN_OrHHX2YhdaqeFU7SKPP3nmCr7hUzFQmdP0_L9GWxEd6vMDM6bHfuCSwZj-dbSo9qH7Q5D4cUVioYRG-SVrf4OVPosOh8UAROBNRHI7Ia31LXHgXVQYXZhW5WJ0TsZ0SsHdtJIjK-E9RvzPSuU6dTuwMm-ICXwV8kb6hRCMAUjRvHIwZqNfVczk7ZjIKUAM7OPKCxcZe1MpdxgGqfqtt4rlf1ibdzpp4lKw3FzBCYUrGH5J7q68EapL-2nRuzAgLEZsnBmkNgrpjqIFos_xrwynPQu9A33ZiHAOC-yYGiP98tlJZqzDhi7E5bOvGvdX86NU5bM9kmBnLnh7YzqygH6obIfdJHq6QmozdSk9v3OFKkifJXbgOCjNwUFogreKH_M0Iwp2bdc7wLL-dKf8XtbRrKrr65ZO2U3ciMCKprhm65s55zE4FqQx0OnOqPtO0V42lS2UWKvvWUz-Nj544T97hHisY9AhCF3nbfuJmSCGfteck_J69-mMm73HD2B2hoRuigF0yQKt1qxToQ1CaFV8qxN98laC8H3eSU1tsAwlSgyC__V-fKRNg-62PHv0xaR95GDt742rsh3TgDD-2MKoujkPj3dLbFvw9Ziwi-r-",
  "id": "rs_0eb908feb2dafbb5016ab4341f80e087d0913c373365f6ff81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the forward adjustment, the gray plush reaches the bottom-center of the wrist view, where the fingertips meet. I’ll close once more at this new position.\"}",
  "call_id": "call_TaVpMp5u1a0mM4Mk5icUogRH",
  "id": "fc_0eb908feb2dafbb5016ab43420208087d0a322f80bafe5874e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TaVpMp5u1a0mM4Mk5icUogRH",
  "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]: [-0.0456, 1.4052, 0.1638, 0.778, -0.1146, -0.0772, 0.0896, -0.0147, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3331 left_y=0.0086 left_z=0.0504 left_yaw=0.0753 left_pitch=0.1038 left_roll=-0.0 left_gripper=0.0896 right_x=0.2961 right_y=0.0014 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0359 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.547, 1.4286, 0.0317, 0.1734, 1.6484, -0.3761, -1.4154, 7.2274, 1.7021, -0.0757, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3f84d5e7809cd369f243f3c691bb3b2b3676221cdfd8da17d9862f39b8a804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3aa4289c531adc4aec08254cf7917abad3c3d776d5192e2e85ed8e4fbd97ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63467d0e6f61719b36a805207692e7ddf3a9b5b2c25d81d250327362d6bab60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.269 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0937, 1.0187, 0.1211, 0.3397, 0.0254, 0.0051, 0.9988, -0.0143, 0.815, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=0.0263 left_z=0.0522 left_yaw=0.0516 left_pitch=0.0061 left_roll=0.0073 left_gripper=0.9988 right_x=0.2959 right_y=0.0015 right_z=0.1749 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -1.7436, 4.0821, 1.3065, 0.0562, -0.0806, -0.105, -0.0889, -1.1419, 7.0359, 1.7363, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0452, 1.401, 0.1623, 0.7399, -0.1074, -0.0715, 0.9957, -0.0147, 0.8192, 0.6075, -0.3859, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=0.0077 left_z=0.0428 left_yaw=0.0662 left_pitch=0.0682 left_roll=0.0059 left_gripper=0.9957 right_x=0.296 right_y=0.0013 right_z=0.1734 right_yaw=0.0003 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7966, 5.2034, 1.4628, -0.0269, 0.0562, -0.1832, -0.335, -1.6342, 7.3094, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0456, 1.4052, 0.1638, 0.778, -0.1146, -0.0772, 0.0896, -0.0147, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3331 left_y=0.0086 left_z=0.0504 left_yaw=0.0753 left_pitch=0.1038 left_roll=-0.0 left_gripper=0.0896 right_x=0.2961 right_y=0.0014 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0359 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.547, 1.4286, 0.0317, 0.1734, 1.6484, -0.3761, -1.4154, 7.2274, 1.7021, -0.0757, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3f84d5e7809cd369f243f3c691bb3b2b3676221cdfd8da17d9862f39b8a804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3aa4289c531adc4aec08254cf7917abad3c3d776d5192e2e85ed8e4fbd97ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63467d0e6f61719b36a805207692e7ddf3a9b5b2c25d81d250327362d6bab60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQkQ8xWcT24ajhgFxaiN78vdB6gK1DmOF7a7Vjxpbc1ooe76mQk6nqI2jicqycr52yy4F1OVySAG2geliuAXeYYNVWfTxr4gUJzKZYR5XXpWWcQZnrE5KLpwPJDbWUVxyEPS0mAiKhlJWk6ovai23Djk4V7QAq1n9-ww86cWF5NsmCYUesDDRX-LzaKkJo8827BwiO4HBUYKlFeT1oPtSW-f6TTs3c2PTSL8dLyMIt5d1GO3CNXNIGo1IvXWy2gRJuQJqoMwxSHXLtwtHsKNV5mNfXsN73It2LRsW0N_c3I2vLVlewMmeH1cexeXV-3Xq43nVxz4uXLUDltqtAn7YNhndK49SuzIFDZb-WY9lZ2oLb3kuTagT50HC95NMOBPy7_nvWKmRvpVWuCfx0pdxpxbcJq-cCtivXtHNSCJFvk3kF8UIOA6OW1m88Aoz_8wpccTYe3nd077zNHxmarqlc91zebBrT-bFxJwhfDfvaOMj3yAYDY4naQ-_EvbSoT0mnZToG1fJfagu-w0z7BBHY__LPzNHom9RdjCyJMCGsZIvqBCzDkAZxuI7CgNbZODmeEcNcn4iuFzORuzhg_UTQruPiMQDNYmQ1Qx-_xkD-3qCLeMZlqyvHljShbMqJiG4EhVUps2WOW33gk4mPc4RTVA-JX65yQIc6t14_PNVVXozniQGmZZz15tTYOAuliS-YUdugNzs8DGLe913OwavAccMB-E8Rf0Fbxo_40nWEMDrnGDIChkfDgCnsg-Fl5NHB2iBkxnmr61vAlKN8B4Fm5SX0zHOi6_Dq_tV0iK8H2q1fupFc_GRdT1AGniAmp-5IP0plF3-TaHtGz28jbY_JeyP3MC6B64ndwIG5z80JTQug6ETw9gp1iSNjfBFY3kL3WJb96EFGoYN_KzuUPRMJhAZVBMTzDKtFQ_HrjvzaP6nUhT0fC07l4sTAOnAEsQjNk398aC7VGJfiVLPQqoj3QvgQN-jS9y8AQm6_s2bpKZme2bnQRYMwf6LfC09m2OQZ2nZgmj5bZYRvtnZpUiKYpxse8WM9PkfncqwYtpLdC_-Z0T8xLbrHvrC3iVX7Dzuzbeifqx53CykvLBs-0RSToJCshescJRTmMcNLK-xq5bnBhWspFOxZAMxicV9s-urXMlMiggLVK-Uq0ivUHNsElWLuAZTooqSIK9VnFl_pUCDIuOjk_PwsNINBstYZKV3a-VunsVoa2bA5PsrXEgmZFA3ai7hAc24-QCAwtIDGtVB9t8SArOKhnp9VP7PgH5Onu48tTUhk7VjtHOwXn6-kouQ==",
  "id": "rs_0eb908feb2dafbb5016ab43423e32887d0b9ef1ea0a3d30ef3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The jaws stopped measurably open, and the gray plush has disappeared from the wrist view, suggesting a grasp. I’ll lift it to verify that it moves with the gripper.\"}",
  "call_id": "call_fQ73KG7i2qaKsEtoRrkQzl01",
  "id": "fc_0eb908feb2dafbb5016ab43424260087d0b8677d30af34028a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fQ73KG7i2qaKsEtoRrkQzl01",
  "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]: [-0.0452, 0.9504, 0.5087, -0.0204, -0.1135, -0.0807, 0.0896, -0.0147, 0.8242, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3344 left_y=0.0085 left_z=0.167 left_yaw=0.0766 left_pitch=0.1049 left_roll=-0.0038 left_gripper=0.0896 right_x=0.2964 right_y=0.0014 right_z=0.1721 right_yaw=0.0005 right_pitch=-0.0408 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.2205, 9.1829, 1.9023, -0.1099, 0.0073, -0.022, -0.2667, -1.4427, 7.0359, 1.7216, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4a9c90d1977fea003498567be4724a737a4c78054e8582758854f9f5c40929",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d55cd965945bba805c845bc5513229248cdb66e7c2b7ab030bfa246f550ef86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f473ae4b4bf8eac621cd72df2d9b14633b58f93114ff6b2e748b248b907817",
      "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 · 4.799 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0948, 1.0191, 0.1146, 0.3794, 0.0219, -0.0006, 0.0386, -0.0147, 0.8158, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2926 left_y=0.0275 left_z=0.0578 left_yaw=0.0587 left_pitch=0.0388 left_roll=0.0055 left_gripper=0.0386 right_x=0.2959 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6889, 6.5299, 1.3455, 0.0073, 0.0122, 1.033, -0.0615, -1.306, 7.0632, 1.746, -0.0171, -0.0806, -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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0456, 1.4052, 0.1638, 0.778, -0.1146, -0.0772, 0.0896, -0.0147, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3331 left_y=0.0086 left_z=0.0504 left_yaw=0.0753 left_pitch=0.1038 left_roll=-0.0 left_gripper=0.0896 right_x=0.2961 right_y=0.0014 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0359 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.547, 1.4286, 0.0317, 0.1734, 1.6484, -0.3761, -1.4154, 7.2274, 1.7021, -0.0757, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.0452, 0.9504, 0.5087, -0.0204, -0.1135, -0.0807, 0.0896, -0.0147, 0.8242, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3344 left_y=0.0085 left_z=0.167 left_yaw=0.0766 left_pitch=0.1049 left_roll=-0.0038 left_gripper=0.0896 right_x=0.2964 right_y=0.0014 right_z=0.1721 right_yaw=0.0005 right_pitch=-0.0408 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.2205, 9.1829, 1.9023, -0.1099, 0.0073, -0.022, -0.2667, -1.4427, 7.0359, 1.7216, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4a9c90d1977fea003498567be4724a737a4c78054e8582758854f9f5c40929",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d55cd965945bba805c845bc5513229248cdb66e7c2b7ab030bfa246f550ef86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f473ae4b4bf8eac621cd72df2d9b14633b58f93114ff6b2e748b248b907817",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQqB1vhMUpkL6ybegb4Mr6EgDfSb6RE0cx4Kei6EBIvxZkpSLsPWkRrMVMR-2dECIHFLO77gdVj2Dl07yuklVMWKMbaAllZdsahkYI1dVQFkp1KZsy4QHUHq6kLIqeeE2IDH_zUrB1mT80_b4zzIe55-_V_vukOVSci-zSAbzxSuSFzf2u1845qZfBmCawegk6ONCMO3CRqswdilx_Ok-30Im8RSeiH-LQNqpnRggTMFJqesHBR5OmkXw-1gstM6U9ineSDP87J-8jHb_qyYJ-rPX_8vQHEdRlgySTugvC9DnLeifvjerbWeeCqHu_y2O0C8Wa6Vyk7iavzE48YEJk28mJmjNX9t6WZxog4kFW6z6VhWNsLMmW3DVACSD-2A2iTbzgR16Ho_9rMvXBw741j3VHtFMi8V4oXUMaoPBSHlJRfens2u3jLqTjBMA-zZJzMLkWf-CqPOgtFNhe5iJqQ4H1uFmZ_cnNoWtXM9vLzH3EZftgzP-RapGPwmFxnI-MAtBYdyD3hHl21G1Cb1CvtY2WnJvtTdABctldfgYydQ6QMsCY343QytAWiJZtEBOsL8a4YG3g2zQCUHgCE5bSkgV4SsJ9xQGp2_XfnhDHxEUBuvHsB9_mwcgB4FWs-rN0UViPn-_hSZ0adfccnPdSiOVGJPuxQ1bNXwhKoTV2cBjCM6WXZs9NzVB4nFqZrA3TS3x7Bx9Vq_DJUwZHhWu9JrOZhQXGMfoUCI5luC-ENrtgpUARTwmjf330G7mMKGvU0S7jl8szF10arETALjRQWtR2iVbLeKLOqmfjHfu7W8z9yRcyuM743-SwU4yKGf8lruM4nngBt4KroDpS-Zomp_BQs2ZVOt4hnxE4Pf_-Ln4e2fdy_bqFd2XE7koo_L_jl-LiXKt3VzaUyXe3xBWuxieZ_bojq6VJPRTF7ZTJ-H2T0gdsYFtbCNiINMDblhNKn7XEaKblJLfTMGnURo_dpc49LF4VDc9xfZHjoD8N5BIe6gYiVUD9VjOPUd5c-9aaOaJYPJxzTStMGH4ShFZAY_6Xt82P7MHimzSHvUt5FeToKDdaEZQghff6gPIt12N0_vvsW5dTIh6mcmQVADxBtoiDPV-F43kA4FzYT8bOcQoduLu-0w-_-CXqC1MlS0wQXL9QTtU1AWEOG3EtJedFBG3vkLX3kKC5Egs2OJ10T10B54VBxhl35Tq1cS46l3qg2gN7Wj3lAPdji7QoaUoVBKiynZZMaBNd23aZCicA0NfGfmmIiXauZqOArTiLIBPCt4C_LXWPbdz2sJHIVynpKGrrUckf3T19HUPt7bVp49o05kO48nTliQo5p5iXeCDOqu-iv5IDGi5ZEIqIyNDoBq29f0lbF-vlltd2grymfm-2ICa9NLZPAfAwPKo8X8GTjfvVZLAUFrIkR8BiPd9z8DaiQ_t-wzIe3FwXE7nQ3RhM-IzCkihr61uyoBeJkz9MrlZ0-JH8Q5G5Dlu7c4THBOK6vvA5kcUHfS_igv-noez0qWFPpMt8AliRV07ir6uYIE_MVe1q2HG6NPG7yNO4384LViPvkseT-yVvBNRiLOuWYv1xF7t_hh3j-wNsfySghXvem_0ONX_WPmkKRR5e3R_5jYLJ-mGe3Xnz-DwHkMMp1RG9Qv4LYh254D7ZZYt6v5q-LUNBx5hOpdMfddtUSNa4SvStSSrwKZ9Dt_mtbrgUHlQ-JV4twLSWJ8ov-rk3WoGD4UAAgokQJOtiorkwDZIZf6a10o-FaE5hDoXPwLETxV5xLWpvQuOoJs-NKfkcIvyDfOcJDW-w_PyaiJTfgQ-uAhJpK73TKzftMPWSUR6r4WsEOjT54TC78COdCjw9v2DrQHGdML2tdgPQhHyGSYfGqTztfNX32UQcmQ7E31neFEi8NyFMafFjiw7Ec2ggsxXWeZwPeTLMJXz4d_OaOPti5Hc8n_rPbMYsg21bWVRI0RYK0W16nc7wLqIPKuB1HBTwCt-_Z87w5bp1qxz-EkkY-wJfeG8GkXXrujbMQKlJpZrmQ2WxEtLZzeVNFfJBnIfzAnsaAGHay_v5Bsyv_yUo9OXa2XbhZNnXG2zpBRHx6SmPPd6frC1MGIVJvQQ9NWdlmCgVYDl5uSj_abd_toerl7x13xK11kXuKyilI0flsgt8GGj3HhGmy0nRsN1Rii6f3pI0VriqcpgvNPBiQGH-FXfw8JNHRRWLfscCfeT-tlVifz3uJC_faPavkIZCe7vrcdghWAgIsr-VVuHEgD7cZ47fV3kSraMK8f5nd9N-FdRSR3Edlj6Xvn9fY-mTctFRc9dGKeKuQWh2bBwg3tMU0t-_BFhY_i8CuDe-GiwPClnN1icpSuYEmM5TAikn611Wq-5bzt4EUkDVZtLwX_bKf78CE0w_DXvuXrXWpADyz4p5Gs2V0nglNLUxv1236b2f3RLHY1CbPh_8cTUyMbbTaydwMT3U5KZJE9Z2Ic6JzdWpwRrtCEQpHpR6dqxvpXrmMgNnnep-FiUZkoHi6W_hopx8YeMkMKipoTY5HgTM=",
  "id": "rs_0eb908feb2dafbb5016ab434274f1087d0af5cfedd3ba9db05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.155,\"left_z\":0.24},\"note\":\"The jaws are still holding an opening after the lift, and I can now carry the gray item without crossing the tan group. I’ll move above the left basket, keeping it high enough to clear the rim.\"}",
  "call_id": "call_YoCigKjzNDc9zEIF7VAUyHaC",
  "id": "fc_0eb908feb2dafbb5016ab434290c4887d0b8256d8a52bac380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YoCigKjzNDc9zEIF7VAUyHaC",
  "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]: [-0.5163, 1.5997, 1.2228, -0.2214, -0.5179, -0.3309, 0.0896, -0.0147, 0.8295, 0.6071, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1491 left_z=0.2157 left_yaw=0.0724 left_pitch=0.0523 left_roll=0.0124 left_gripper=0.0896 right_x=0.2966 right_y=0.0014 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.2667, 9.6752, 1.8046, -0.2466, 0.1197, -0.0171, -0.3214, -1.8256, 7.0906, 1.6728, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40899755c14a8aed428561274dd09ade93895661eeff5f6ed6e5d975599c7d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76f9bd079dac628b75135f4bbbbd6e490d677bb7f859c8e6cce3784a17e3c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc309c2a079a89430ded79b45290590ec914992758ed182cde772171e3ce9d7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 4.065 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0452, 1.401, 0.1623, 0.7399, -0.1074, -0.0715, 0.9957, -0.0147, 0.8192, 0.6075, -0.3859, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=0.0077 left_z=0.0428 left_yaw=0.0662 left_pitch=0.0682 left_roll=0.0059 left_gripper=0.9957 right_x=0.296 right_y=0.0013 right_z=0.1734 right_yaw=0.0003 right_pitch=-0.0362 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7966, 5.2034, 1.4628, -0.0269, 0.0562, -0.1832, -0.335, -1.6342, 7.3094, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0452, 0.9504, 0.5087, -0.0204, -0.1135, -0.0807, 0.0896, -0.0147, 0.8242, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3344 left_y=0.0085 left_z=0.167 left_yaw=0.0766 left_pitch=0.1049 left_roll=-0.0038 left_gripper=0.0896 right_x=0.2964 right_y=0.0014 right_z=0.1721 right_yaw=0.0005 right_pitch=-0.0408 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.2205, 9.1829, 1.9023, -0.1099, 0.0073, -0.022, -0.2667, -1.4427, 7.0359, 1.7216, -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 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]: [-0.5163, 1.5997, 1.2228, -0.2214, -0.5179, -0.3309, 0.0896, -0.0147, 0.8295, 0.6071, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1491 left_z=0.2157 left_yaw=0.0724 left_pitch=0.0523 left_roll=0.0124 left_gripper=0.0896 right_x=0.2966 right_y=0.0014 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.2667, 9.6752, 1.8046, -0.2466, 0.1197, -0.0171, -0.3214, -1.8256, 7.0906, 1.6728, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40899755c14a8aed428561274dd09ade93895661eeff5f6ed6e5d975599c7d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76f9bd079dac628b75135f4bbbbd6e490d677bb7f859c8e6cce3784a17e3c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc309c2a079a89430ded79b45290590ec914992758ed182cde772171e3ce9d7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQwCFK0oOLAkMehdYmOJc3TaqQ29QJiI93o5x6pGWioD3KYnnERA04-YvPH74nCm2MSBugYKJVDizOYQwEW3wM76LgJ-WvWE-17oM4YaBSguVCKmasLwRHOtNuPWOVV10KXzd5Wotmalxc6XcSL2nszEVvBRLY-IoXVzylMmyAK3Pc-8g4-rlVirmm9YB-AioqqrPKfWasyK1zCV0WEcd02N4MJnWu0qGSyYNByzywqECf0JotTFx4ZboD52yBjmEBD50nBg_oSPqYVONGKIMIbr4d39Z5lcty8SIwenNpB8BVq9XD7uXjXFrlRESv7hLRjQrK-v1k6zObiuCtzm2NKq8FjYFyPjcGt4NydnA2nOackj9-pvzgEw9t9vgzdbj8u_JvTJjXX9hFPWPRn3vrnJ-7S6q_gDrYqi5vN_NvWA_V3vp4Ma4nAU0YRXVxJTC3qRsV86lbgnJhXDxXnG6cYuAZ2GMiD-VbCmY1Q5KHQCpiCXrWvl3zEFDwhnQ8C-hiGfhlGqv6rx4A-LxWopEUz-vBZ-IxYUtwzRKCEaGpTbT99Qs6ngM0MPDZjF_gvtkiQxkKlXP6nsThEjLEVR8X4a4auBmIz31fQ4szsOC_brJppB9Cekwor-pIs6rXTRha4UnqHlb4wAdIOdSaoYI0-d6xQv3WnGPSl3yLXsL83plicPy8Ve8ziPcZWHiHtHtWdmnpANLJvte3ZRja9Iv74RpRDErps7ptiU3tqDJbc4ZTfJfSRXC5GJPIycOtJZWeVqmtWGiNzEt_zQ3TVbOKDLzed-iBe__UUPt0ORkA8pOAoTrvmJdf6XIex-kchNXji8rbzHpRQAF8iV-ii-IxzZjgIv0y5Pvf-o8G14qTTRRQSlOeKozV3dSEaZf8U_Wgjb6yRk3XGSyk3HhjVdX1eRmBNnW8wFR8zagObR9RjpPjq95MGv-RKOp-WtYhwYbZsgqkmFiMtDQxoEZCxEcduKb1vdeMWIv_4sBmaW_hmsoHY086iKmacnsYctODaefjvm2iiqo933Z6nGFFsySBH7l49jH_GjRyxKsAuS7CYWKVRo2bIKSbGKQQ8SMqkpO4PKlHDJrqMNAa88-I8yelBWGNi5Bf6bxMV3hnTSMD93VPSIKl5eNrqMHUIM59-3CqjBTm3LtsK79UMYFORwRdkQ6TtClJfzV6N8Un78MFuSbcdGihR8Sw2kfFmVzard8-nz2vEAiOGsBa0JYjyi-8X4gBVAEEJ8RxGPRc5V6aodBe0TQ7-_woXIPSlWoMvTCkZk661PdXrUv-ywIL7qO-ile67caF0TK3Y6HUa6AIpzv4Wr11ZA0R1kpR859O1yEkj6ym1tsfIJvfsbk8bQAWw_K6apsRGan8MdiUPOnssCCO8QWFyGTvLXj5etMBnyQwm5EIngHA_1nqFmiXsVjVzgYdxPeC-RSFu1sWRImxUwGmGXDCFRjvntxPXGYqrR8qQV10hDS585lVLb_tCoQ6fLT1vEpehOVzfn21ESMLQGaa1nEj8kK8_QmIFHmSSCoz8rYbZV0Cuc2aoIZQf9F1MmBt7xMYiSkIgK4S1ir4MRv83wYlJ97m0kmVnheqYSD3RBAANTbx7koBvOlQo4ABCEDu3Zp7jh6U73IxVuEJTlZUuFt53N5a21vdyc_BQkoFG1MLnb9_cUAsRhhpOpDTF_rJfh7lMVncKt5klpdGnyUm-OUUwve9rb89sILCFUe2kyH31JVSYXOK2rzef331lv4bT24HGX5PoEVwQAX9t--XFArzY72NTBJJ5USPxpjOg74yj4OqjSLWE90msw-DcNT8m96AlIlPabJnoSkYAhzw3AKDvYnFQ3YHpoY9K7CtyME_yuufEsbFI08pcRlm17L7pRKYM-2noJmnLCQiArRDcb9pF9nKOeGQXG8w9jKHE8PuHqLOsnKuQYB4Bb4EWvBBEFzrSF4psPqoZEQT5_AsGdjcrGOx6qYyjDlIU4E1bi3CD_JbKMPrt_rBYDypY5_fNX7W-5ljyBg9GDJX-Aql616NlsVZqs5_5VW3Dv-wNsUUUX5YbzITHg75byhJhaSCpxYfvh36-IQb7g1tKmVx_ftfz0VOnh53L_JCYVaw0x0tkINCl-GUFMpiELAd6kDfy5z3e0OqlVBH4xItLfctb4yXljDpupG_ZzVY3RR18MK3FCL3_xCoXbsdd1w71p-rTAw0xpYicWoIKdIxwXN73ZsGZazaKVt57_JZr_QTLlHCHOTsPUSIZU_JxN--ckg==",
  "id": "rs_0eb908feb2dafbb5016ab4342c91d087d089a3366c0ae06797",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.495,\"left_y\":-0.105,\"left_z\":0.22},\"note\":\"The overhead view confirms the gray plush is hanging from the gripper, but it trails near the basket’s front-right rim. I’ll move farther into the left basket and slightly left before lowering it.\"}",
  "call_id": "call_LSHJw2Cu1vOWFlQGjA9eCXzS",
  "id": "fc_0eb908feb2dafbb5016ab4342ec9c487d080ca5f7dac4a1b16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LSHJw2Cu1vOWFlQGjA9eCXzS",
  "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]: [-0.3462, 1.681, 1.2751, -0.2317, -0.4229, -0.2802, 0.0896, -0.0143, 0.8314, 0.6067, -0.3855, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4808 left_y=-0.0926 left_z=0.1953 left_yaw=0.1385 left_pitch=-0.0105 left_roll=0.0287 left_gripper=0.0896 right_x=0.2967 right_y=0.0015 right_z=0.1698 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.306, -8.4581, 10.7829, 2.0244, 0.0952, 0.3932, -0.0122, 0.0205, -1.6205, 7.0359, 1.707, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aded029a142604b12db64a05716d966f7b38a64bb84cace39427d261fd1086d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9322447cd979bdaf693763cf77a4d95efdd847c2dac66fd6c4759d2111da94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b11fcd9c988263b3cde78fedbe73ad19debc53a64d3e1e00c5cea559903e2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.598 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0456, 1.4052, 0.1638, 0.778, -0.1146, -0.0772, 0.0896, -0.0147, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3331 left_y=0.0086 left_z=0.0504 left_yaw=0.0753 left_pitch=0.1038 left_roll=-0.0 left_gripper=0.0896 right_x=0.2961 right_y=0.0014 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0359 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.9726, 4.547, 1.4286, 0.0317, 0.1734, 1.6484, -0.3761, -1.4154, 7.2274, 1.7021, -0.0757, -0.0806, -0.0122]\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]: [-0.5163, 1.5997, 1.2228, -0.2214, -0.5179, -0.3309, 0.0896, -0.0147, 0.8295, 0.6071, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1491 left_z=0.2157 left_yaw=0.0724 left_pitch=0.0523 left_roll=0.0124 left_gripper=0.0896 right_x=0.2966 right_y=0.0014 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.2667, 9.6752, 1.8046, -0.2466, 0.1197, -0.0171, -0.3214, -1.8256, 7.0906, 1.6728, -0.0317, -0.0659, -0.0171]",
      "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]: [-0.3462, 1.681, 1.2751, -0.2317, -0.4229, -0.2802, 0.0896, -0.0143, 0.8314, 0.6067, -0.3855, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4808 left_y=-0.0926 left_z=0.1953 left_yaw=0.1385 left_pitch=-0.0105 left_roll=0.0287 left_gripper=0.0896 right_x=0.2967 right_y=0.0015 right_z=0.1698 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.306, -8.4581, 10.7829, 2.0244, 0.0952, 0.3932, -0.0122, 0.0205, -1.6205, 7.0359, 1.707, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aded029a142604b12db64a05716d966f7b38a64bb84cace39427d261fd1086d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9322447cd979bdaf693763cf77a4d95efdd847c2dac66fd6c4759d2111da94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b11fcd9c988263b3cde78fedbe73ad19debc53a64d3e1e00c5cea559903e2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ0P7w8x9aL6rtrgURvbPxBmm4DbpwUHY9HM6qSn23KuTI-V29Z5VZpBTD3LBZ973Yb3cjI75oV2_zQ19hZ1qlqzYCgli3Auk0AZ2gafQ0EP3ZC8Ne5w7MlC-BqSTOHQwV2MeNQncMGu3SdcTt1dRosB0zH6cDxpTqMMWi_nKGOnEDLUU-OJnDdDXnl-n53mAAtSCM8BkhitqA-_rcQAxh8cfAdWN1B-AGbGaL3VhElX5QGqqlvr1Mu-8zdD_H0cR0LmKwKNsyX3cKtnFZkCjpgDJD_hTFmkanu2kLjFABMowW2-zL5cGVqQMLtoVlqgExXfA16-vfzpEJ2-8khUg1sl07odyKzbUMCbA4sCIkFwNyJpJFrtxTrl-dRDZxh-1yax56lo8_UAfKJCnkr-geUT6yoGm-LyxlMRuJvyaQ0HoYIyXCZuW2ibX74YjsoL4t8QomezzXm0gX6XIbj0-gDYJu6vXiBsPlejnLThnNNYqiJcTRs4fnCKaCinQpJmln8ITasmjM3nR-1KFTok7Hm5qV6bWXAQ45ffr8BK65iyQ4TCKSvuUmttvYFStZHz7uSEXXjUSekw20pliTxT7xH-8vvVzxuapf-MfSRUsW79HG6MCfqKjmOyURrf0Lt5Aga9OwblS4nyS4Ru2Iy_VOlsDaDciuEPQt8U5B4W_EHNfJBc7NP6wO7To5OPP33s61JqqE48JQ5HSOHhlOFjg4GB_bL0Ajjvy701gfOVgBudVKFfgcik-S6pknmvkvfMvcWONBjgt48PsolEhklbtACt2bhHWJpvtH0WoZ7ImD7nbgNP57qKLNh0VHCRHOoQ3ufwqBpKjDE3C0o56yMMtWdz0F7QQIDplGdttplAVfeRBaYCOClUonw_HY3fMouD4Av3wjax1T9CYOJCS8B3-wAI7TFD9UpZvHS6hYhNJCJDSjXqkzakuVObG1Z6kZR9y2UcwKyX4dQ2ERWs8WQxPtRtC9ZcakHNrNJpx0XFIW8tcaTa_PpOrRD_PfLnunKFckmt84EDnEMsiLrcwl9HjK-jNAvUJOZg9l8Rr63juLLM1M_7N7sZS36jpQEjBrExZeZRqrc-2LnSBnKKYxwo7ZgyndszjK87QHeleAgRhMQAokMWkrbM9-3qhHI9P2cPg7mMc0l-GkLTiN4CmSDlBT02N0XyhhvswHLLA3bzxViz-Se_4q4hPQfD6RHuXD_iLHp2VOI6VQnJ4zqn7vl4oxhFkeR603d2f5pBmKMIlT4RalEWe-lmBNkwF5DBm418opRUP8vxT9XbmJFtuzfHQ5oFSB__I9tMWFlHXNQlTykTUA4YSdg5cZ-u1SRVvKKq2Jm5FEN9n8HJTPCYx69UxoirDXL9WHE4jyG9WDKPcVZonsQDmInlakRDv6YMfET7pUFyxdaNA05SHnGl3Polxd6U8I21XATw1_-k7Wy3M9zFOCCeNAtsAEdWG-PSbRZrdvdrcRSPcBgecUZ_agFuNwRt_i49xkz1pSz8W4R_38Sqy-p_fi76jsxGvch85FZhm0e0Pc1GLbwjJR5FYtcFZP-w88GjkPherFCzebWfMnseUPAOyQnCgLDPt0P8y3LeJTeuUGdzJi22J-o6VlMXlf2roWdcQ3YArtrpDxEMfMiuHxOGKrlWtJuUC4FJYjj8JC_8RvyqZ21smtVWkh-ttq7vHp4d8IxnIG22gQWUl-KxN8J-PA_ZFjHFVgA0LB8byPRDv9D9Iwupg-9FSuzUruPWexZ_FKm_smq9HZXI9x53rUgaxNT3pphEC3IMWTMkrda",
  "id": "rs_0eb908feb2dafbb5016ab434327d9087d0939b9b9f6ae7d779",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.052,\"left_z\":0.17},\"note\":\"The plush is still over the basket’s front-right edge, not yet above the bottom. I’ll shift it another few centimeters forward and left while keeping the jaws above the rim.\"}",
  "call_id": "call_KNqHW48rKd73QcsWoDgJQhNv",
  "id": "fc_0eb908feb2dafbb5016ab43433e93887d0b7250ac6234a3371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KNqHW48rKd73QcsWoDgJQhNv",
  "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]: [-0.3424, 1.6958, 1.2884, -0.2321, -0.3916, -0.2623, 0.0896, -0.0147, 0.8314, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4845 left_y=-0.0973 left_z=0.1928 left_yaw=0.1074 left_pitch=-0.021 left_roll=0.0279 left_gripper=0.0896 right_x=0.2968 right_y=0.0014 right_z=0.1698 right_yaw=0.0005 right_pitch=-0.0484 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.2786, 9.9624, 2.083, -0.0024, 0.2759, -0.0171, -0.1573, -1.4291, 7.0359, 1.7265, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92e46a608a8bf742ff3e4929fc691353184b085a1804953ccc925d92d4625ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7920a5f2a41ea44fce6a170eca0c2ef480a35d16c32a0bc09d72508c0375dbea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a0f45c4347f3943c7df23a5be1d3fa022056fd2e7cb73637febeb9278fdbe3",
      "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 · 5.76 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

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]: [-0.0452, 0.9504, 0.5087, -0.0204, -0.1135, -0.0807, 0.0896, -0.0147, 0.8242, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3344 left_y=0.0085 left_z=0.167 left_yaw=0.0766 left_pitch=0.1049 left_roll=-0.0038 left_gripper=0.0896 right_x=0.2964 right_y=0.0014 right_z=0.1721 right_yaw=0.0005 right_pitch=-0.0408 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.2205, 9.1829, 1.9023, -0.1099, 0.0073, -0.022, -0.2667, -1.4427, 7.0359, 1.7216, -0.0317, -0.022, -0.0171]",
      "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]: [-0.3462, 1.681, 1.2751, -0.2317, -0.4229, -0.2802, 0.0896, -0.0143, 0.8314, 0.6067, -0.3855, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4808 left_y=-0.0926 left_z=0.1953 left_yaw=0.1385 left_pitch=-0.0105 left_roll=0.0287 left_gripper=0.0896 right_x=0.2967 right_y=0.0015 right_z=0.1698 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.306, -8.4581, 10.7829, 2.0244, 0.0952, 0.3932, -0.0122, 0.0205, -1.6205, 7.0359, 1.707, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.6958, 1.2884, -0.2321, -0.3916, -0.2623, 0.0896, -0.0147, 0.8314, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4845 left_y=-0.0973 left_z=0.1928 left_yaw=0.1074 left_pitch=-0.021 left_roll=0.0279 left_gripper=0.0896 right_x=0.2968 right_y=0.0014 right_z=0.1698 right_yaw=0.0005 right_pitch=-0.0484 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.2786, 9.9624, 2.083, -0.0024, 0.2759, -0.0171, -0.1573, -1.4291, 7.0359, 1.7265, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92e46a608a8bf742ff3e4929fc691353184b085a1804953ccc925d92d4625ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7920a5f2a41ea44fce6a170eca0c2ef480a35d16c32a0bc09d72508c0375dbea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a0f45c4347f3943c7df23a5be1d3fa022056fd2e7cb73637febeb9278fdbe3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab43435e93087d09445afb41533bdde",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":1.0,\"left_pitch\":0.25},\"note\":\"The loaded arm stopped short of the deeper basket target, so pushing the same Cartesian target would not help. I’ll rotate the gripper over the basket to bring the trailing plush inward and pitch forward to improve reach.\"}",
  "call_id": "call_ueje0EEuEK0eNlnmTLO7ykiO",
  "id": "fc_0eb908feb2dafbb5016ab43438b6e887d0b8786345a78f058f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ueje0EEuEK0eNlnmTLO7ykiO",
  "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]: [-0.5846, 2.2021, 1.8568, -0.5556, -0.7692, -0.6338, 0.0896, -0.0143, 0.8371, 0.6067, -0.3939, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5276 left_y=-0.1975 left_z=0.1444 left_yaw=0.3518 left_pitch=-0.0375 left_roll=0.0873 left_gripper=0.0896 right_x=0.2958 right_y=0.0015 right_z=0.1665 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [3.1521, -12.7385, 5.4359, 0.1685, -0.2515, -0.0024, -0.0122, -0.0889, -1.265, 7.0496, 1.873, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40552e7d4ed04650495290eec9bad311835069effcc4944ed5624b0c2f246959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acfed374d94ea8d0beb3b3606cab317db77d31e9b8d331b4710909d42d1e67fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa23049ed2ef2ae2b89702e9b48d81a00427c7ec110729f7d916ab1adb62b09",
      "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 · 4.486 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

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]: [-0.5163, 1.5997, 1.2228, -0.2214, -0.5179, -0.3309, 0.0896, -0.0147, 0.8295, 0.6071, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1491 left_z=0.2157 left_yaw=0.0724 left_pitch=0.0523 left_roll=0.0124 left_gripper=0.0896 right_x=0.2966 right_y=0.0014 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.2667, 9.6752, 1.8046, -0.2466, 0.1197, -0.0171, -0.3214, -1.8256, 7.0906, 1.6728, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.6958, 1.2884, -0.2321, -0.3916, -0.2623, 0.0896, -0.0147, 0.8314, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4845 left_y=-0.0973 left_z=0.1928 left_yaw=0.1074 left_pitch=-0.021 left_roll=0.0279 left_gripper=0.0896 right_x=0.2968 right_y=0.0014 right_z=0.1698 right_yaw=0.0005 right_pitch=-0.0484 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.2786, 9.9624, 2.083, -0.0024, 0.2759, -0.0171, -0.1573, -1.4291, 7.0359, 1.7265, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5846, 2.2021, 1.8568, -0.5556, -0.7692, -0.6338, 0.0896, -0.0143, 0.8371, 0.6067, -0.3939, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5276 left_y=-0.1975 left_z=0.1444 left_yaw=0.3518 left_pitch=-0.0375 left_roll=0.0873 left_gripper=0.0896 right_x=0.2958 right_y=0.0015 right_z=0.1665 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [3.1521, -12.7385, 5.4359, 0.1685, -0.2515, -0.0024, -0.0122, -0.0889, -1.265, 7.0496, 1.873, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40552e7d4ed04650495290eec9bad311835069effcc4944ed5624b0c2f246959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acfed374d94ea8d0beb3b3606cab317db77d31e9b8d331b4710909d42d1e67fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa23049ed2ef2ae2b89702e9b48d81a00427c7ec110729f7d916ab1adb62b09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRA94t8gvLklre29D-RgLOb8tO9DgrXboK1e_FCF5utl2GOMdalWpC_S12AZUrVnb7ePLMhj7KBqXQnoxFJ71nsq-oLNLMQ2VMIQrRTRgcfwIT73fqxgpn7rZR6WtxSmJQyOeLKPn6mn_tjQsOijEcmgBdIDbXIlbChpdsavClpVvrUbi8JCzKIWThlDvRGdtd8K3S5jWUGMPh3QLhzmsKlWzTFJRMWi3p8Yz8Dt20s_dx71ISSXb2QKy1G_KRjWvgP5P-oLBlvG3md-bMRp8S_7qccaQel0v8TvzHTOnQK3wHziamfN8vgLwyqEjgkgG4jgLpOsZN_KnIZGHMBbZD4zhLlfHwmX_FREXfTOuzBD4QzFmFa_xOuG2dAFtgsix1q_mb5vJunr7PfP3HKJRlG2aiKiJvL8jaLH2983pUKVuyJz3yj2DZQ9xeBuzlh4fVMLdjU-rNSnEeJEvkRgumSBlz0vHTdD0RvveYQNsVSJcd1rblNbXt9wY0dGYVLya2hkWpu6ymX2mzdi3MYMOjJnIWIVyMRxvF-8_zv6P-c7gLzRA_Ilu6UADlI_GqNS1o1MuL4G8tBAyex9PnVQXC1DhemE54cEMpDlIsBUYHznmZ9cjWS0DOYf3DZb2eOms5ojVJZL1c-79xjgeP3oVSqQEQMytsD2D7YnkHl2la8MrMa2nfdPYMze_dMCKTN1Gx-A2hM5GwvW4qYv9UPY5txc9vAHvIQT8BKikUCdaLTfWG1nFXy6vSLiR2LEmfWbr-dZjw8PtTafVuzCGZRf3Ut9uxXEuPfC4NbazeEu-2vUL1F2fK0l2N1KKLa2FkFs7TUAA6RpLM6kqOp3fEw_ec29sV758FjiTiwdHku15gXYZPsvfwWUX-B45mMPv1MmvvwPmiWKpNtLIwYO8qXG0fqYkL0WvOit4jjYEPNb6JRMPYmI5tcXsCSVH-sUlblMlgbxa0MFTXo9VKOaH0KWmuXvvetUqkOq7mvzjUVo_5mOYNZlQXfkiXm9Axe4Str0acCFZ0aKVkvOIiU-glWJ-PiS_iiYcfdx53DI1wyunsercY1KXjxjKmE1jhBM6hkY0J9gFV5RePKc9yzj5_1pGsPd2h2V-aSz3ALgXTsbX7FSuQSo1KsOf2MjhYSUFHwzvbesdJTTeBAGEI7r7Pp0gtvhAofzDSBSj2clgEK-3OE3xw0plStui4XXHHU6NoM7OCzi1H5r5RiwH0skIdQ9PzBNgRF_cIInUrCrDdPaFw-ywvXKygcQu35tbA9cE-v2HdkdFlLCR_cUgyxDzRzO6c6G0VyQM6MWTMvQOV7Oh9w1BoDUkt8CP3qQXPoUZ3r22ABXpVmb1Em1uKnrfdGCg5O9tSYH9XIhpcxW5gJxMLKqiGWtN0nsD1EiI_sOFdZvQskTBaf2zeEbzRT2Wp-OYR2HhyJTgTQ5Qd3DoFzBGeSH5k4xLH8hsUH0sqE50Bc63sBLq4Ev_51b4zhJYXp1659wcR2gHQlzM2zU8feS8QArhevcP5JPEmVyzBqy1mMJuQVfW2Iv8scRjBFQqWBGW_F5s7BRzvsAlKKswdAL9pOmxhifEWaFXgYSTSkd6qFmF8lN2s5TOKZcnbypzuhReyFNplLfKF237zW7wKP9-sZ6jgR9rhzpi9vPNIJvAFG0Lq_eWT2SYyYVtinnqINUqzrnljEhEsYF6CX-fN6Ee6LH60Z1leo6Q8MrwFBcuYKQWzSDkxHydneNk1VLddwOhajdmaB9Ok4Y9_pPAwnsrAu09QmWF4u1YAt9bcdYwdQ4q99DUIi47_GgZEh0RNJspSQR6HktEXYdzJjfzG4SiQVwzG3qvOnEhF0eWmegNh0_ioMeTuMTAxliiiOg3o5UCP8MLg2nMGgW-pwJE4NNPLdJRIRrI5_bRTZlL5gUCYE-XU-DRy_P7uj3yuCl9CtTl3Rf1H6lss_5-Mc8WPptz3YVt_JYcQyuloeEJ6d3MDRGCHOLmLnGnjtTyghiL4Q1JR1BGONxEviiqQ9QDeac4p0jvPmUY4aIwh0doqRDb3AsbdCREKV-FpLzFkawml688nf7GH2YVgKtvOgNFo7elNM4SxCyeF-yXOuau0C15WZEx_7xRwjmiNlq9BGs9bXUPeadSo4-4mbHoL-4iclLRBz0tKeo4-g-b1a9DkFMUecSA0nJD70tgsYm-rXLlf-a-5vIchl6gDXQyevAGNW1Jd2cM2mVt9aYJ6zHM3fK_3XMpOZrX78GKcZ4B7z9aZZmG_MGT0jfLOWm8LYMv4B0zys_6rOXrEDzW10hjjikawXyqKGEuKPhgvszUVvCIwYWsnON6mqFgQJbX7AIJGm2b6zO-vmNYbl-S0sz_-YJSs0FWBLpxVDtvAeqC_KSjSPuz_SDYoWUP6yWXhHS6qLVf45t-liavJEe6eyt67aZOaSc7b4857zpnwGcvRmlHsjbd3_ch5na2scEVrYZVWiqHInkmRg1N1EgvhqzVtxugqABZCDTbmbfKYzV9iIxOHYInf2PvmmkdktB-KNbpuEmyQQl001dBQB1LsO9fhK6qMr_8YsRHgFkfeBWX6D6HvqYn8jtWFKhhNgXqGhYHZPpZT7Kv1jLtikqRxTVCdnn_Vnpa_r_nsQPo7-mrjmNn_EvxO6eNf1_r5YWZm88UdAYACnlF-eyTMieWS5VhZYA1FuSxKHosP8FH5gnPKnfeNYxSGjAJpItclsrWPCcu9xz3RMuLqVQgSWJlBkmTd9LacSJevhsXwmVw9ygDdfPLDlruwGtbqqEAx9255YshFSuW85xbLRut-aB18lGL9vyxexZcsdIWFePjxFEAukMmOiUdYla0GOPFoQSz6Pg8XitAlNxjhMs7GpBavq6-CHEnm6xU5-9cUmhQhapQOYZgn21bmMkCV5BK_aIEhPaLJwAobGKlSyAQSDqF1lA96s7vxlVlW8YfsxIcpVi3C7Hu_ItB41TOSNWBX5aCvkNQMz4UAmhqXYwaCRhDqMqVjJZCzqmsU4eDUotxwxztGkcoqMMroK_0Gjpgo3N2yytsSQkVZwLu1YXrJbaR2qFj97RtxDdtlLN_uqDPkdDC2nN6gsDg6HcBhxQskwg5BlBQjpkoqOFdKygQLH4ipcBowRPtAhuq-v3e3CpdQzKfsJXoEHq7cPT43cP8JziYZr_rLgL2aDf-5J7chR264rodn9sDbpM1vyiT_8JgkEPZ2nnmmX3iefvwsL-u3mB-gZg0R3AaDkgXhaHVfy9THoxZgXJzlBri_vq6w4k2wPu8eK5n2i4jIO-qUqwdi8pBdVihcZwSjhMpg=",
  "id": "rs_0eb908feb2dafbb5016ab4343ba1c487d0adbd960208b2192a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.13,\"left_z\":0.13,\"left_yaw\":0},\"note\":\"The arm’s yaw maneuver changed its actual position more than expected, but the plush now hangs beside the left basket’s front lip. I’ll bring the tool back toward the basket opening and lower it cautiously for release.\"}",
  "call_id": "call_G4NQzusqKuZf6QplTd9Jsggu",
  "id": "fc_0eb908feb2dafbb5016ab4343f7b6887d088a8443dc2e9017c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G4NQzusqKuZf6QplTd9Jsggu",
  "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]: [-0.4381, 1.9724, 1.3609, -0.1844, -0.5381, -0.3466, 0.0896, -0.0143, 0.8417, 0.6048, -0.3996, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5049 left_y=-0.1326 left_z=0.1051 left_yaw=0.1777 left_pitch=-0.1027 left_roll=0.122 left_gripper=0.0896 right_x=0.295 right_y=0.0015 right_z=0.1632 right_yaw=0.0009 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -14.0376, 7.1043, 1.9658, -0.0708, 0.3785, -0.0171, -0.0615, -1.9077, 7.159, 1.7851, -0.0464, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60b2f3b74e6775925038afc3adedeb4a96656345dd9d145542200582bde96b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f16b9e980b4b3ea10fae14c5c4b61a0933fe0fe9fb1b268ecd330301cd79a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26734ea3f706c3cfdf24a98115cb718a62fe1328cc7ce9a60fff7bc74c8ca02c",
      "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 · 6.57 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

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]: [-0.3462, 1.681, 1.2751, -0.2317, -0.4229, -0.2802, 0.0896, -0.0143, 0.8314, 0.6067, -0.3855, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4808 left_y=-0.0926 left_z=0.1953 left_yaw=0.1385 left_pitch=-0.0105 left_roll=0.0287 left_gripper=0.0896 right_x=0.2967 right_y=0.0015 right_z=0.1698 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.306, -8.4581, 10.7829, 2.0244, 0.0952, 0.3932, -0.0122, 0.0205, -1.6205, 7.0359, 1.707, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5846, 2.2021, 1.8568, -0.5556, -0.7692, -0.6338, 0.0896, -0.0143, 0.8371, 0.6067, -0.3939, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5276 left_y=-0.1975 left_z=0.1444 left_yaw=0.3518 left_pitch=-0.0375 left_roll=0.0873 left_gripper=0.0896 right_x=0.2958 right_y=0.0015 right_z=0.1665 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [3.1521, -12.7385, 5.4359, 0.1685, -0.2515, -0.0024, -0.0122, -0.0889, -1.265, 7.0496, 1.873, -0.0269, -0.0366, -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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4381, 1.9724, 1.3609, -0.1844, -0.5381, -0.3466, 0.0896, -0.0143, 0.8417, 0.6048, -0.3996, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5049 left_y=-0.1326 left_z=0.1051 left_yaw=0.1777 left_pitch=-0.1027 left_roll=0.122 left_gripper=0.0896 right_x=0.295 right_y=0.0015 right_z=0.1632 right_yaw=0.0009 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -14.0376, 7.1043, 1.9658, -0.0708, 0.3785, -0.0171, -0.0615, -1.9077, 7.159, 1.7851, -0.0464, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60b2f3b74e6775925038afc3adedeb4a96656345dd9d145542200582bde96b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f16b9e980b4b3ea10fae14c5c4b61a0933fe0fe9fb1b268ecd330301cd79a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26734ea3f706c3cfdf24a98115cb718a62fe1328cc7ce9a60fff7bc74c8ca02c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRFaAOe5Uds-5Cl6pKb7FoCZee4oxzN580doFlsAj91z8EHi9DWK9IeYueThec9IJ0IHaWCb7MRpQWcMC1uiJiLNatUEkaQZTXetcWxup_O5RjXbn-x1rG93K_UHJbW0u5hvCzBlXi0DuC8Zn1xDpAkSfmb_OiyY8Gw-i5qYZqOA8J4LYpIpNZeqZsL_kLMppQGuodqCOyuspFvr-I20dKuomqI_ZulVbNoW5eSxTniuZ-iLI6IbKadJ8T9PVAYHeCmPMq5Ql0bokyHNByFj1yFvO4AV1-KKV2VZC8XIVMYVrzXvxokW5Nc4EvLG_LXLSzAXyMcfxNOCTo4R9D_SZ93lhGO8EWoXYQf6C_9q0S20WfocmaqTIVvClhEIph3qip0sMXdi65rTCTdCrq19f2pma27EPQZbB8Tih9eS1EA4bDKjFe-3WjHm5QK4300qfaaaHtAx7t769yTzhFM7G0jdqb61HtQM-Sw7hmFvkg-3oUhWIf3HkJGj0X8xUxylwztzt6XuQjF5Z48TRxkzo-lEM7dO5g_xaDyrmvIHLUdDKL_hq-0ABpnL1vAhy2e-IjssbMuVaY0AeAyeXfk3PJ5bqhrotxe735GLIZl0ROmOyPsbjRgNQw_V710ltzuS-fHcRqs30iRE3Bc-p9PHgjDE8LRJhWsbJUe_00QE5692wwzGN1QNnlztio53mquFibfCe_5TcZRiwRMovJEZfiXAG7KX6TdBseRNdM1gflZwNnMZ7Un7t38TxusbYTuwCRiPfwG19Q3svfdywZs0qRIz2ut-38qxN49FClj9oU0c7CkrmThHXZYg82mK1NUanHFhVCZ3ULVQyUBSmyFDlKXErfrH5pRjKDNsVEg1ewoO2DJ1bMLV5FQMK9pAXKdXuuHnFsxbNVWw8q_EvRKpy0dtaXE41UAK1Hk3OlXMjGg_r3YdY6j1AB79HFMdE0AVbI6QQiNQvvtgBxl54CKiftpuK1FqreI-unabsKeKKL3c5RIui3aHrXuSWGlXLp-YrzW6iU8uX1Q6RIT7U4_H5B0JIh9P7hupGzQeMECPxftPdlwNNJbOaASVg4YMPJ15LmleBIbyBAQ70av5xTrt0dsuWnKQcn53_v_s_M7FeWKWk0ReM68u4uWZ8gALmryhWo4M78NQTbc_ZbrharorQsz7f-eJmbWuxLqOqb9iw11ST2N8o_ysiwsIbFyb73dWVaP5Rw9FdgkujQ_YFM_P5PEn7omu-POuMLoiRPMfstPB1iXx2zZBDyuyY4BX8RZp57jcDXi51xp9wvthiH-33Au1VXqk2jJwYJ--D6yod8PI0B-pvkRXenW_3UIrbE8kOk8CpOu1L6uo6TeZMzhzDZp_d9ibENU97k-EueyZ6mPiSaaVH6hSs4dvOcjhJz9tiBuJheMW9q1MRTY8kUohM5pTZNY8wi6I0asBRrAgEN74F-_JI44eFSApFE__F_cTdciMajPjRZ9MpJeF9v4WJULoB9fpuVjb5ZfVElQ69In_iG5_j7a0NCE-OVG5ZxghNcCirbGjTzIS5GPqsisJOl2aAO-rD-n76HZK4IN3KfZpAZ9T_hxNEcplrQVTgkJFblsCoxt3FjqiVJkx_J0kh3j7fS8yNDhCClG1W32yRUn4erRAEAb4NYTY6heWci3wZfWubzHfr0tjSMQ0kn_ZPqY_P2mXH0wA4Xm6NFgfBXgFdA0LsP850-xR0lV9Blsf8xsvKT_9hGgLX6Y2nX6dPsUYT3qpVc5rv55WNvzN9BL6Nv7Bu3lY2jxtzsXHjqmMrN6CvcMMNZ4qf7duuanX7kQAY0D9Q1lOXb32TsIfJhc3Gqi2u4yVlK8m8HF45IAOGfRLwPDjN8DA-lb3w1i_QwKYbq6wk2lJpyKv_Dv2yXRRV5Ci3AJZFktT5kZeptbORENqQxwele7nTy454wZHFGkAoqliJr4_TJOZY_szNC7DPVEqi2xt6wWDMa7JV0bqoSI3d-g01G5oAdsew7K8O1f5D1FzXYC8o1M03XYJ-biSKpkHcI8FrB2rydKQVF9kaVGokIfgywnx6oy-1_9zVxDh4ngFVUS0Qdd8miLemYvp0RsU6mFvA2J7EBQCADcAl9ELt02FFkY-wHG0lhJJf0c56eyTILmqE65DlTYdVvBO8Jzj6iSgml-5OcDw4qK-FxOvtdncBDY5xgF3JqnlkCjYXG_5Fv0TfXpQIx2yArlD4pbOA1rl6uG55mEZFHw-e_GxC2cKyYFFB1gV0-BVFzYQb8-uQTb6Ip3F_ToPzr-xfAfDqDyd8AiPUV-OlbOF05PSHQgb4gn-2IOYVIYTximyjjS5MCZBCAgZcg-xEenmH2VmtvDDofrjMPh45ZbsXV1H_ajcnvMzPEHtfmRRcfrfYpNXZK8uLvtE9SB7VRHmyac_DuT-pMd4RIFIXZWklpO3B1YH5vxx8TIWYk5W6KUDqPVW3DpxHNhdYBS__TKR-_x9SyYPmrDKln2d4HAuCRUfADS2xQKlNrxXAdiWsCJJmfV48DTgqx_3-eEtZ_lUcaYloiAiPuhtaiAyhx7cw9jK1tbKcF73D9kH8ZxxVQh0xohMxl2oTMEqNzWzg6-yd_WQstOBD197WliHSqCQAy9",
  "id": "rs_0eb908feb2dafbb5016ab43441d66c87d081e4b069c05ba233",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":0.03,\"left_z\":0.16},\"note\":\"The left basket shifted when the arm brushed it; its opening is now farther left, while the plush remains held. I’ll move the plush toward the shifted opening from above rather than press against the rim.\"}",
  "call_id": "call_ngn4imUIeaxB21cWJXm4dFw6",
  "id": "fc_0eb908feb2dafbb5016ab4344491a487d08ee7c1e3f236d554",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ngn4imUIeaxB21cWJXm4dFw6",
  "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]: [-0.0483, 1.8328, 1.2984, -0.2165, -0.2672, -0.0944, 0.0895, -0.0143, 0.8436, 0.6025, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5075 left_y=0.0258 left_z=0.1299 left_yaw=0.2127 left_pitch=-0.161 left_roll=0.1255 left_gripper=0.0895 right_x=0.2935 right_y=0.0015 right_z=0.16 right_yaw=0.0011 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9778, -12.3692, 10.0855, 1.707, -0.0708, 0.232, -0.0269, -0.0342, -1.1145, 7.3641, 1.7509, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656b2acf27a74ba6a15086bc07256eef3c8b3ac0a266c472dcb1b1db7b222380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0236e19900dee92f77778b9c698bdf135960eeb002b9d4ff0e271029d4463bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d170ec8cc8ce863f46a510ad95c38983b83c8ceb1fbe15128fd1ea523fad90fd",
      "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 · 3.059 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.6958, 1.2884, -0.2321, -0.3916, -0.2623, 0.0896, -0.0147, 0.8314, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4845 left_y=-0.0973 left_z=0.1928 left_yaw=0.1074 left_pitch=-0.021 left_roll=0.0279 left_gripper=0.0896 right_x=0.2968 right_y=0.0014 right_z=0.1698 right_yaw=0.0005 right_pitch=-0.0484 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.2786, 9.9624, 2.083, -0.0024, 0.2759, -0.0171, -0.1573, -1.4291, 7.0359, 1.7265, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4381, 1.9724, 1.3609, -0.1844, -0.5381, -0.3466, 0.0896, -0.0143, 0.8417, 0.6048, -0.3996, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5049 left_y=-0.1326 left_z=0.1051 left_yaw=0.1777 left_pitch=-0.1027 left_roll=0.122 left_gripper=0.0896 right_x=0.295 right_y=0.0015 right_z=0.1632 right_yaw=0.0009 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -14.0376, 7.1043, 1.9658, -0.0708, 0.3785, -0.0171, -0.0615, -1.9077, 7.159, 1.7851, -0.0464, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0483, 1.8328, 1.2984, -0.2165, -0.2672, -0.0944, 0.0895, -0.0143, 0.8436, 0.6025, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5075 left_y=0.0258 left_z=0.1299 left_yaw=0.2127 left_pitch=-0.161 left_roll=0.1255 left_gripper=0.0895 right_x=0.2935 right_y=0.0015 right_z=0.16 right_yaw=0.0011 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9778, -12.3692, 10.0855, 1.707, -0.0708, 0.232, -0.0269, -0.0342, -1.1145, 7.3641, 1.7509, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656b2acf27a74ba6a15086bc07256eef3c8b3ac0a266c472dcb1b1db7b222380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0236e19900dee92f77778b9c698bdf135960eeb002b9d4ff0e271029d4463bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d170ec8cc8ce863f46a510ad95c38983b83c8ceb1fbe15128fd1ea523fad90fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab434480c5887d0bd1b055f5b335750",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":0.045,\"left_z\":0.19,\"left_yaw\":1.1},\"note\":\"The shifted left basket is close to the arm’s outer reach, and the plush hangs to the right of its opening. I’ll raise the arm and rotate the held plush toward the basket before releasing it.\"}",
  "call_id": "call_8Ez6iH3dPxCP6rgcg9UZbSyg",
  "id": "fc_0eb908feb2dafbb5016ab4344b9e2087d0869c13898c82c5f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Ez6iH3dPxCP6rgcg9UZbSyg",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 2.1124, 1.9858, -0.9615, -0.741, -0.9142, 0.0895, -0.0147, 0.8471, 0.601, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.514 left_y=0.0252 left_z=0.1894 left_yaw=0.8931 left_pitch=-0.1485 left_roll=0.011 left_gripper=0.0895 right_x=0.2929 right_y=0.0014 right_z=0.1578 right_yaw=0.0007 right_pitch=-0.0957 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.3026, 5.9556, 0.2418, -0.5348, 0.0464, -0.022, -0.1709, -1.388, 7.1179, 1.7216, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d6ded1b185afb4e016b697355d98cc93d6b8c7a4c19a1121a4e03d2abcf8aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cc871346c61bda76abda0052a09fe4003e85e24c6e65f8a5c32d17ef7d1c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db58cd8b5c99650bfe974fc3b410f043e283315fca560250345d1112dda37f5d",
      "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 · 4.082 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5846, 2.2021, 1.8568, -0.5556, -0.7692, -0.6338, 0.0896, -0.0143, 0.8371, 0.6067, -0.3939, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5276 left_y=-0.1975 left_z=0.1444 left_yaw=0.3518 left_pitch=-0.0375 left_roll=0.0873 left_gripper=0.0896 right_x=0.2958 right_y=0.0015 right_z=0.1665 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [3.1521, -12.7385, 5.4359, 0.1685, -0.2515, -0.0024, -0.0122, -0.0889, -1.265, 7.0496, 1.873, -0.0269, -0.0366, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0483, 1.8328, 1.2984, -0.2165, -0.2672, -0.0944, 0.0895, -0.0143, 0.8436, 0.6025, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5075 left_y=0.0258 left_z=0.1299 left_yaw=0.2127 left_pitch=-0.161 left_roll=0.1255 left_gripper=0.0895 right_x=0.2935 right_y=0.0015 right_z=0.16 right_yaw=0.0011 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9778, -12.3692, 10.0855, 1.707, -0.0708, 0.232, -0.0269, -0.0342, -1.1145, 7.3641, 1.7509, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 2.1124, 1.9858, -0.9615, -0.741, -0.9142, 0.0895, -0.0147, 0.8471, 0.601, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.514 left_y=0.0252 left_z=0.1894 left_yaw=0.8931 left_pitch=-0.1485 left_roll=0.011 left_gripper=0.0895 right_x=0.2929 right_y=0.0014 right_z=0.1578 right_yaw=0.0007 right_pitch=-0.0957 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.3026, 5.9556, 0.2418, -0.5348, 0.0464, -0.022, -0.1709, -1.388, 7.1179, 1.7216, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d6ded1b185afb4e016b697355d98cc93d6b8c7a4c19a1121a4e03d2abcf8aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cc871346c61bda76abda0052a09fe4003e85e24c6e65f8a5c32d17ef7d1c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db58cd8b5c99650bfe974fc3b410f043e283315fca560250345d1112dda37f5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRQyKqZ4xg0Y_oXRwnKKHCs-rpdrz0N3RQBxuK6Uz7awdlTa6GdQX2JaOd57R-FclrrKB2XpOVarv4jPwaXl4w_33DiXjNFQMnLCTVhCYNpU7AgHC9LUpw9l_i3P23u6c-ow50-50ZR91yYndncP5pdTn8ekjI5L-VADWwY1vxFuhofokxRrsWTIw5p4bb4B69uXWC4uUfpVZEagrhE-0ovQivhSue4nuwTkgGy0HdGlO1-Vd5_QH3tSlRCpZHzT8j7xt70WhvSRJpiYwXMfvbT6qksQYBurDH2-b1YkfP1TyFbz-gyXEkXyfKhpq0mb95J2bJRyPsSSpTDePIFRS4jBSzX6tjREThIXcUcgh7DXPz79NiSMXqs-mfS5l26YA2r4mkI2nLzJgrT9ixaMA2vlthTd0zVBcQInzjMaq_Ny6pV8jUDThXqrIalXN7NVPaO_hvZJtO3PrTGg140CA0f_KiBwniXs-NF_qF5ud3lG9IQ1KFP7NbRkfYBKgZiBEZDQhUm81OCnxyazjLhO00eItkc3JrDGUZ1pXzE9S_b0FH7pZhy8SJLnuNI2pK0niXNex1oz5mGxQyh2zxaa3T-2CWCiDR5lQhHdFEtlnnTWJCAgjrauoD57KqxwxuJOmZ5exzCla-SmvIcAeBc2pySZFrGDKWF-mG1G2f9lpuXumtOEryQq4575bJRMeGcRxiO52mgA8UsXy-cX7YanKiISr7WvO9NzVEUELR3mvTLtQF9A27eHOz7mO3UQCrnduAxCntg1Ap5CMI34kEPNDAcdTtcmer29f3ppcrSpEZ_v1TBW6TN6Orv4nh66s0VGc4iEIFPxmvui8ARIyJN7F6kEDj-9LlGqadnafaE8DRLnYd9ItptC6acnhjksGQd2Zqwmkyq4MbHrklynUDm2SMuSDeLNIT0zEI5pyRxgOvBJOzy7PVcTVRtNHqpZfxhN9GjPezhrFNyswRZtMsxmIiVvE4Wx4xnosrXJBjdzWDSSGbzAmwGdHP8q38V7z9q9yKmOGIZD6I7SE6_1jvh0jOVdn8aVP-ggoGapbFlmlky4WabIbagc9hlccQIm--yZhdpBY8vkj9UYQytIuS1mHnX2QpK_CEJdzHI4y3fcyG3IN749gg4KMOi0tAQjgNFjWn4jabvr375G1rJ2xAAl5uPBNHdgeYwhnb8yLUNyN6LjZ_gsdVie2_csyEgX1rpd5D3Njqjudq3y3dhx8IM87HJxw1veT0SaZxvzFlw8waLloPyxvyLam5ckNmYUnOu9kSnwd0wzvcV_3Wsjh7unHla2C7sEWqtc7ifmKAeVuEidYT1v7YW1C1uIHeiFIY1KLSqGySTqbAPg28MXlUGG_-TpPz3Upl-fV5dsrC857fO3SaB9ZZpF5IQHriwJwClBrrqbFiL396IpfIbLQah4RJPkxLU_PEH9lIQL109MB6C4svXdwDV-xVzcKAVnuVm62FQjjU6R9UOW80dqG7OaPkMskZ2uK_bI1bJcVczkxAVPUFe9AnH5YRh179Fuu6j5ZghkhStszbnsnWpw6itp3FG4Nlhl7_FdDBKJc_5DSNcpUWQxLikBciUoUpFFQMtWxieafomKvcEjji-DXROck4wqPqm8gl16uKAbpI3AVXV0x8fL4NayRnizg89SrG_ZvDqBm1F7Dc4G8J4IMZ0oY8YfkCp_pffbeb1RiT93Cixs8Hsshrw2fO5l-n4VX3_OsTAEMzrXnnZf9r42qHB8hTNgw==",
  "id": "rs_0eb908feb2dafbb5016ab4344ef46887d08035980d20ed41e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":1.65,\"left_z\":0.21},\"note\":\"The basket interior is visible beside the hanging gray plush, but the plush is still near its right edge. I’ll rotate a little farther while staying high to swing it over the opening.\"}",
  "call_id": "call_uXHIafiYfnN0uQYTJR8EYAp1",
  "id": "fc_0eb908feb2dafbb5016ab43450132487d0904be7e526d6e965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uXHIafiYfnN0uQYTJR8EYAp1",
  "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]: [-0.141, 2.402, 2.2429, -1.4979, -0.8341, -1.6482, 0.0894, -0.0143, 0.8539, 0.5987, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4644 left_y=0.0699 left_z=0.1225 left_yaw=1.4687 left_pitch=-0.1705 left_roll=0.0424 left_gripper=0.0894 right_x=0.2929 right_y=0.0015 right_z=0.155 right_yaw=0.0011 right_pitch=-0.1045 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -16.1436, 6.3111, 0.3443, -0.5836, -0.1099, -0.022, -0.1299, -1.5385, 7.241, 1.663, -0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cca3b54565c9814b24ea643b9f3548c07b216b4d4d5db34b867edf72a621dac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bc519fe72e6063e0ca0b12b2e9dcd16418205d936e76e01edec1aed25e7092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6b8b7c9007410fa0d53655ab922097e89d5ea591ff49db6f31b054531b39fc",
      "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 · 4.812 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4381, 1.9724, 1.3609, -0.1844, -0.5381, -0.3466, 0.0896, -0.0143, 0.8417, 0.6048, -0.3996, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5049 left_y=-0.1326 left_z=0.1051 left_yaw=0.1777 left_pitch=-0.1027 left_roll=0.122 left_gripper=0.0896 right_x=0.295 right_y=0.0015 right_z=0.1632 right_yaw=0.0009 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -14.0376, 7.1043, 1.9658, -0.0708, 0.3785, -0.0171, -0.0615, -1.9077, 7.159, 1.7851, -0.0464, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 2.1124, 1.9858, -0.9615, -0.741, -0.9142, 0.0895, -0.0147, 0.8471, 0.601, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.514 left_y=0.0252 left_z=0.1894 left_yaw=0.8931 left_pitch=-0.1485 left_roll=0.011 left_gripper=0.0895 right_x=0.2929 right_y=0.0014 right_z=0.1578 right_yaw=0.0007 right_pitch=-0.0957 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.3026, 5.9556, 0.2418, -0.5348, 0.0464, -0.022, -0.1709, -1.388, 7.1179, 1.7216, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.141, 2.402, 2.2429, -1.4979, -0.8341, -1.6482, 0.0894, -0.0143, 0.8539, 0.5987, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4644 left_y=0.0699 left_z=0.1225 left_yaw=1.4687 left_pitch=-0.1705 left_roll=0.0424 left_gripper=0.0894 right_x=0.2929 right_y=0.0015 right_z=0.155 right_yaw=0.0011 right_pitch=-0.1045 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -16.1436, 6.3111, 0.3443, -0.5836, -0.1099, -0.022, -0.1299, -1.5385, 7.241, 1.663, -0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cca3b54565c9814b24ea643b9f3548c07b216b4d4d5db34b867edf72a621dac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bc519fe72e6063e0ca0b12b2e9dcd16418205d936e76e01edec1aed25e7092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6b8b7c9007410fa0d53655ab922097e89d5ea591ff49db6f31b054531b39fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRVioB4mW5vvh5X_GhMi8uueEtNsYHxWiU1M-6AVCddFbU6A4dZtGA5GEr82Ck5E0q8FQydyZBdh5LNs6ficC4ePDg9kVYq_malxpt27Pe8ZNgWUmsa2R3yoZKIEBGFaxCR5l3zuuO25yA6wiHjpEzPue1PZUB4USTarPbU1t_vGf8XdeqcBhqvJlbXY81FZpOnW9nPOrU0LQTfn3V2RcdL3Ljc3e6BbVQ9Vw2d8cNVvJw821rd5-ariZl-GuBwQac0yeGoDm3RKVx9raum5XPHvZLYAp8H8vNMtBVgKZyjD1CZnSQV1vVG4xY0k4jSBaD6pP-v-yr9VKfIR51GZdj-3NCo6qi2tATiS8rhRkJS6Z-4wYVyf9sQcIKGLCH8ay6yx7C2GG4FUdjlXThBIe8uLAUxRnt-elQUa1-VW44JM1ZVaCOUmu_IuCBy-vBWtVtQJVgVeSjb2pM7oTLx-G6HVi_UfhxJAQ05NQdgnohE_fqjtDWB0yIns-UiACrYMwLkZyumFH5mjA11vtNgYK5_be7gpcJEjYSzBk7i7LlljVMNLeKsXAEyQBkFQMcDBXCH528ySp8ICJcdCFoqOOfQ1SKp5FdzngSePKrlWzsETEGR_f-7KAgItD6IwosFzNuHQM_ZWuK5-6N_8Zvt3riOA_Nh79g3npvkxj-fNzLFVmE4vE5U9QDyWht-x7IqfTVYAHZTKSCgmbSwHt5Lhsw14LXGbHcx5I1qc-bjDhQvQdL8eTLS-DXXM-e4jXlhwUQ_gRhGTZ6PUcZPHKYhvDazGkoJTHCk_TetwL-1Y48Kcpt5NzJElvfHo2AliIsmEAVblkY3V6eUrsRgVkMZfP2CDPdEb9NaIJrVejRyLwQqVKyo0ooO7rePwksPsEO3UFgKyN2TG_x9eIA3GlvrUzL6cxfC9oc093kovy0-ETu4UBcDvSmWKTGgyxIjUguNEDB-OjbutZxKYr91LuDyQ6pF_HCXf4TCmguE5iZR4qhqiflxT3HIRnV-7kLpnhZc7F8psviNO7WiN3LK3LPT-ZIlLaKA0V0Hy49ZEDIhSp77pIORZY86FkwhQZ4cvtoY_X7VDt1IyEGdwj6QJ2nxc-61nJDVC9OEwCrS3wZdFVm7xl1zMgfK-sksD4NJlqjKGB4QOZNGCl4P2rY_2o2x8FKiYMMQxuGKbn1IUujmq7QoYngdxoQoCd-pz1pEFLSdFQCAQBpyMmI25Xs7M2CswLNK-y0FXij8PvtlVeSeWnJqxMNGxOIioc8pyphYOngnmvxb-Yy53CQHZLSdqRosGfmr73oKBMOHNj3FM5dCb28q2KlJcRZ3WgB8zb3VObDkH8PDWjpQ9hiY8T_6W43RUHnsUJephbygkDTwnWPXSiqz_T7IooEaEaiApQ16Jrueww4tSfey-N1vRUcroNWpFGbhSaQXmuWNpC7tmLckyWRvxAYuA5zc1WT6tu3Phab3HHlpODqkPTcejWXwBrK40xZ1vp2T0SbHQx4TNPSbEXmYIXR-YK7QnvwD942xXIJP40-fXDA9_r5h4S3Enf-iG8rEp6ZKIaMQJI2mA4dcbb3yKNDGSZ91p7HsD1FEf6CQEbi6Vfhf_-o2dVbMaXDsQUBQWIJsEKaAV4AU2kybQFr2zbMaHKqsgwMW8TzoIy49uKSf1uqzWLubBGvgJ2tu9pijDsmZ0wV-LJINvMG3_7S0dzRq6dXE_fCSMbNIF55oW8F4kC2MOiP_yTI4EnNzEO4c01iHrwjtkBOlf4xRJgT8ADsGNKNHtehsUWATxVT8tWA3NW7PhYrPUsFySHlJJi1Rltld1ruqF-VqHM-yqtAwywU5CxxfByAJcqtCqKJSCbjl0yj6iHAz5G_dZ5eznEi36g5Ykr78dW9RwOMSv3RtA-RGcXtBNk7AUebgBHvmQ__JuqTtxNvvln4ZabZS8Xm2ujxDZzQt3hUPOQwYFXtckN0fXrpYOQZJSudACvzD9Uhej988kaHXfHP-pD1Dcmm4cFDjbMseqVuasqJ-pdkValYUDNsXGJAhsGqvboS5V0SB_H6st4hzxnSlpH4Y_Nuyoq7hSvCWBiJuYp6AjQKKe8Mc1laRmXclxyLcYqR4JfrmYQ3L7y7A4gmN5SBknw997eoAhW4xBtI85PRDE5M8qfjuQrBDnQnouG8YT4lSC-GSRyzrTC7W_5L2P4MfvPFtSL2gcRAFHie3XuPO9jbsg7vFvUz8VgE9-SwlBEkvcHu766RlFS2A43jTJAcpfj7AbTGe6gPaU44Ea1hdfOqAieDXTE4DKYzIq4k0r0OL7IWNhffF5YqBPqtaRc8nVgSNDk7FRypZLp2p1_Bd_OqPwuT0uAisBWyU0SFofEYIY5nj9DSZsZ0A2umTCdiWRqT8_hVnbTL3uM7znhqXTMNFjDRz4e7jSUqEPH0B5fOIQ2ERbLBrY8apwYQ5u4QcqFvQTz6avDL-JMwJTbAeS9A8dEgOkTmysr6FFqvgxjXJXZg8Hp1m99uwVWGOnJIH9vbhCRSyKYQ8g25Esx2nesMt9GXvSdUY4eBEyr4gIhfaOGZi3OeIrqQiPgJxYG79aFDGlQ==",
  "id": "rs_0eb908feb2dafbb5016ab434524b5887d092c2c5dc6f3d13d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The gray plush appears to have slipped onto the tabletop beside the shifted basket; it no longer follows the turning gripper. I’ll reopen and park the left arm so I can use the right arm for the tan objects without a collision.\"}",
  "call_id": "call_CyGWA75BTBNLVMXLswjnt92q",
  "id": "fc_0eb908feb2dafbb5016ab43454993487d09578ee47d3aa9fc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CyGWA75BTBNLVMXLswjnt92q",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 2.1544, 2.0472, -1.3304, -0.598, -1.4136, 0.9972, -0.0143, 0.8593, 0.5972, -0.4084, -0.0116, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4514 left_y=0.0631 left_z=0.1518 left_yaw=1.3141 left_pitch=-0.3964 left_roll=-0.0387 left_gripper=0.9972 right_x=0.2933 right_y=0.0014 right_z=0.1533 right_yaw=0.001 right_pitch=-0.1091 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -17.1966, 8.6906, 1.3309, -0.3785, 0.1929, 0.0366, -0.1573, -1.7573, 7.3231, 1.6532, -0.022, -0.0757, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e074b7c533d5a33fc5361aaec8a145dffc543fd8e0ecdbd5c4cc042e5b77a2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1138c12e22717d7b739ef076b630695f06df1e6e3188f0bd752d156fa9b3c724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8218360ddceb52a86ceaa851ee8d6a59dc2cad02762ef3b0dac3cf10fa63028a",
      "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 · 2.787 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0483, 1.8328, 1.2984, -0.2165, -0.2672, -0.0944, 0.0895, -0.0143, 0.8436, 0.6025, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5075 left_y=0.0258 left_z=0.1299 left_yaw=0.2127 left_pitch=-0.161 left_roll=0.1255 left_gripper=0.0895 right_x=0.2935 right_y=0.0015 right_z=0.16 right_yaw=0.0011 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9778, -12.3692, 10.0855, 1.707, -0.0708, 0.232, -0.0269, -0.0342, -1.1145, 7.3641, 1.7509, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.141, 2.402, 2.2429, -1.4979, -0.8341, -1.6482, 0.0894, -0.0143, 0.8539, 0.5987, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4644 left_y=0.0699 left_z=0.1225 left_yaw=1.4687 left_pitch=-0.1705 left_roll=0.0424 left_gripper=0.0894 right_x=0.2929 right_y=0.0015 right_z=0.155 right_yaw=0.0011 right_pitch=-0.1045 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -16.1436, 6.3111, 0.3443, -0.5836, -0.1099, -0.022, -0.1299, -1.5385, 7.241, 1.663, -0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 2.1544, 2.0472, -1.3304, -0.598, -1.4136, 0.9972, -0.0143, 0.8593, 0.5972, -0.4084, -0.0116, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4514 left_y=0.0631 left_z=0.1518 left_yaw=1.3141 left_pitch=-0.3964 left_roll=-0.0387 left_gripper=0.9972 right_x=0.2933 right_y=0.0014 right_z=0.1533 right_yaw=0.001 right_pitch=-0.1091 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -17.1966, 8.6906, 1.3309, -0.3785, 0.1929, 0.0366, -0.1573, -1.7573, 7.3231, 1.6532, -0.022, -0.0757, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e074b7c533d5a33fc5361aaec8a145dffc543fd8e0ecdbd5c4cc042e5b77a2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1138c12e22717d7b739ef076b630695f06df1e6e3188f0bd752d156fa9b3c724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8218360ddceb52a86ceaa851ee8d6a59dc2cad02762ef3b0dac3cf10fa63028a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRbijs4LL8ko-eNX2qzxJJXJAg1j9uSEiqgS7OtAdx2tTthxVf49eRK8X-NWxhK7Wz0TUBl1FSnpi1m__IigIQxp-bnAFqet51Bug5pIzwKtQGBHq6eBtXmAnFRqKDoNYT85dToUWhAD4hO32VJOGfsXIMgl4so9_U4VUSazPvy8R3MXBlt4GoZwgcbaRFROcv6Q9fRvGZscgkDZtLobKS50ce3IGEKZxZ0WRxXbEtLeNMLqC2YyHq9mjme4hMvthbg95GtSllrIKC0yWyTIQL44SfVXPigev2ysYR--0EU1YSd87Qi6mh8TKXPApFxGAzRK_fmfMxQc8it7vXtwd44z5nbh7vDCyYwnkNJQOy0DwrjdwOpI76wC7iQ9XGNFNAKVbWDdCDWf0w8yCDaEKwlp1D35Mkt7Eqaa8aurFVGjsyaKUo_7K0jYG5xkZ6BvSRw4_N5WJhUdMfibZAEcyJUB0HMZ52BYRDFUPCN1Wd3DiIoHvCkEtofNVc5ia49Lamxk6TOxRPdZswalY85E8xTPedyPYyNcKMsIH6Y2U-lLpbdxpldDEG2Spugx5LvZIRwTenFLX8JsUUMwYfwWNuN7PaXuUYztUn6c14S9Jcvor6Hc3oBrfgyUsVtNSx5Y93Zw_FdO_nzAJjkVvwJPpbh5y2wF30DksZoEd-D7Kq9wa6ocp3yXTMTrNoV9yEElWjAzCa47Tp98JQjy3PWZpDHMN3DlxNUrrQsb-4eRatiyT8-EdJUAmquCWqPg0FkPSHc2MRThiPqUhV4UgbxNXAS_nZO8BFiEMGbsFOOoVm_R2L78cp2ycpaapG8SHnXk2vB_bfeC_pBHKXXXbLUWD_aECz2wnjYLotMHQ_U45OPzbWTqwYVyph86Rui_ntGv_RyiPYYj5sw0s6U17QgZnWg7yg98LYeYXhJYIqXQ7lLOKUtfNCWzD5EsjzUe4pKfBb6nixD3y2LJCOKlM2wM1e6m39NjhQyDpAkzvN1Z6CG1TnkUwE7n7_cikslOcli1Ik6-nYh5aDzFQEUHmulhGkl3bFELbGMnn3ntNNlINwiJugS7nfvt-TtKoNUcQcwHwCFEDdA2k5HvMbJLbJPGhwa_cGMb7dotGvkBGnXFmAbhUfGrdI6vaHg5K0tN-pgvsExNrUm2Fi2PAgNbksybXXFfJl-HupVMj2E2NSfQjtPHPhpyCkTXAIQ0vl44fg8TCof6CMM0zIgWREc2J7K2GszUbCImMbaVZRvrsYGpumDHdU6Tu4WVxsYmjjHpV_UQuU4-n3CWau_J05V09haUDg7WaAXMTPcNVU3X4ZsbiFn0_e5fY5GLBku48HiLGazn1n7KGmpkTkxsAjtzn0jehtlHNQGe31ijMeUB5fnCqENOBAgIz8RsAEVCU-_d5-xLD0AOzg56bbVwzxQEAa83_y0MJq8m6KDDOQSj9fTSaG_X_1tdzYtsq09ZE2_nPFmPA_kOkHFnUfgLIDnXq4oVyuC7IzdeJPpdS3ycHBQkLxCX71LUP3cTerQBHOLM1sfVAK9__BCngWpA2mNJs_EE-hKsduTrO6hSigsWk9HQdfSVVxTMRhkrIZ8NflbtoNpkG4dl__ERvt9iAc6fKjrRIYZ3yToFw87D1ltHfpxE0wd6SDeGrz8Sgtjrvt6Qz9Y7V37ioX-8uPDh8aFNxc2Eun3KXkwGSLAl-CXQVgIMVlrK-3t6bmRByXj-v4ewk23rH4nfoaKOxLc8ynAArJxlj1LwZ5XdRRgzrK6O1wtoMBwPvYaW42jtR_aabxiLBasjK6_gx17Cm3zqvzvmiLqLTS_os_P3hQ975OfRZuOzhJeKyX3ihFFLesA6aI9PkYGaKaAyZTKgQyTgI8PZaBntWp7OzPjMOBzZjEWeV_G_YivTlsuf3SUyBVoUGg73_MkrAoas3mU55cHZaJiMm-vss8gqGjdT4H29IJG-a85L27OnDDOdMKYH4vDZEpY4b9Ryxv64OUFnrgU85wvU0pqZqfvIS8HrAuhnergZWzcJ5K7p80MRcUBUqiVnoQefghAEsqipoNyC1m_V_b54vb_CLuVr6hohsnjVlOeLDpE9r-g7R1DahdxEv4Y6sk1RTjmRW7iZBwNUpwlHv5C0tI4Wic7mO91-N35-7FszsMJjFHfzynY-sWsKYUGFG8aBHMlyOVDXMl3uRkz4-b9l_ljvvQ1q8H1ttsf9fXmXDDk6qJlg9xlUikRyAdzg3QgAep_ea7u-kUJosC95EVWTgdiZB1D9p7Z42cOj3ZKqt5Y44UZ5kXoT8wF7-9AJOZZW0a1IjPH",
  "id": "rs_0eb908feb2dafbb5016ab43457e19c87d0be9d8a535977431e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.02,\"left_z\":0.28,\"left_yaw\":0,\"right_x\":0.205,\"right_y\":0.3,\"right_z\":0.15},\"note\":\"The left arm is still close to the displaced basket, so I’ll lift and retract it while bringing the right gripper above the tan plush group. The two arms will remain in separate parts of the table.\"}",
  "call_id": "call_X4L326oFmnUBwtvh6oqK65o6",
  "id": "fc_0eb908feb2dafbb5016ab4345a104c87d0a2d8274bf8f368cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X4L326oFmnUBwtvh6oqK65o6",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.0841, 1.4948, 1.6188, -1.1656, -0.0761, -0.2073, 0.9981, 1.3239, 1.6352, 1.1751, -0.8185, 0.8364, 1.1484, 0.9997]\nstate[eef_state]: left_x=0.3601 left_y=-0.0133 left_z=0.2527 left_yaw=0.0926 left_pitch=-0.4731 left_roll=-0.0375 left_gripper=0.9981 right_x=0.2061 right_y=0.296 right_z=0.1401 right_yaw=0.0239 right_pitch=-0.1356 right_roll=-0.0222 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -8.4171, 9.4017, 1.3553, 0.0317, 0.2369, 0.0757, 0.8821, -7.4462, 8.1299, 0.3394, 0.6716, 0.1978, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63fd31508a01ee4388fb65009ebc339b7feb69fdf0299c896b875e9a24e943cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f24ed0af58fa5ffa3abd1c29862ceda0455a27b4d3117ba92763be0088defb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73416f67e3daa17fb7f9b05e9eaa4a9bcde56227ed697111d202f24734488f9f",
      "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 · 2.546 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 2.1124, 1.9858, -0.9615, -0.741, -0.9142, 0.0895, -0.0147, 0.8471, 0.601, -0.411, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.514 left_y=0.0252 left_z=0.1894 left_yaw=0.8931 left_pitch=-0.1485 left_roll=0.011 left_gripper=0.0895 right_x=0.2929 right_y=0.0014 right_z=0.1578 right_yaw=0.0007 right_pitch=-0.0957 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.3026, 5.9556, 0.2418, -0.5348, 0.0464, -0.022, -0.1709, -1.388, 7.1179, 1.7216, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 2.1544, 2.0472, -1.3304, -0.598, -1.4136, 0.9972, -0.0143, 0.8593, 0.5972, -0.4084, -0.0116, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4514 left_y=0.0631 left_z=0.1518 left_yaw=1.3141 left_pitch=-0.3964 left_roll=-0.0387 left_gripper=0.9972 right_x=0.2933 right_y=0.0014 right_z=0.1533 right_yaw=0.001 right_pitch=-0.1091 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -17.1966, 8.6906, 1.3309, -0.3785, 0.1929, 0.0366, -0.1573, -1.7573, 7.3231, 1.6532, -0.022, -0.0757, -0.0171]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0841, 1.4948, 1.6188, -1.1656, -0.0761, -0.2073, 0.9981, 1.3239, 1.6352, 1.1751, -0.8185, 0.8364, 1.1484, 0.9997]\nstate[eef_state]: left_x=0.3601 left_y=-0.0133 left_z=0.2527 left_yaw=0.0926 left_pitch=-0.4731 left_roll=-0.0375 left_gripper=0.9981 right_x=0.2061 right_y=0.296 right_z=0.1401 right_yaw=0.0239 right_pitch=-0.1356 right_roll=-0.0222 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -8.4171, 9.4017, 1.3553, 0.0317, 0.2369, 0.0757, 0.8821, -7.4462, 8.1299, 0.3394, 0.6716, 0.1978, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63fd31508a01ee4388fb65009ebc339b7feb69fdf0299c896b875e9a24e943cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f24ed0af58fa5ffa3abd1c29862ceda0455a27b4d3117ba92763be0088defb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73416f67e3daa17fb7f9b05e9eaa4a9bcde56227ed697111d202f24734488f9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRgJLRAvH5Z5XpeDFbypatf3vENjdnDIzkE0YsTFZDOiJoYzvMW9vHA4Ei1yi8kMQafMY-dqTy74nBLro5S8E0j5zVNJ_7M39ytyKQeuj3HORdy5xThkoAzDHcU-msvnqrdbHs9z2t2E3P2xi_ECkRBu2vMF5S4F23poWzeM9c1ceOcy37MMKtsuz0c1SOebBm7QbLXeCdlQIlQlYKlRB3CxbOeIy0l7127XXKCWPvquMJpRCbWOA5hPGvLHfKIPCCyjdcjomEG25Ek0KkMkjEm94UTmRGC9L-7iDs7RqVq0Q2RXSkc2PzxDVTOro7lpFwtsuLdTUatNxpA1a3p2RFvFq6XUtba6NrJbGkkmpTTaiGADncA33Uxf8xv3gWJ6QRR8S-kKjM2RDBQQSFeaiRE1eXU0hTVSgQmFxcVZfDipCHC0ti-_uDMqedfZzWLJBXKx7IJsw3wZ9RD107o8ZYYvhaQQ6A2zO4pncGLWXiwC8ehXR9JEpnw_OVCxabcdvFK8hNBCIBpI7x0u6FI6grF9c6KfQNhsyf9JZaG47Klik7UFjDy50BTEMCbvOt4h_8zOiAfiz-t77lHTcWCm4Y7DEzIXoLcJ-BiH31Rq2ttmBqBtQ-6HXJ4NlfuSAvxjG13NCRnGLNHumgy8ktUYJeIE8GyFQsNVq5XZ-4W_ZFi_OPgdNbcFkHBfBD8BsSfCJ9KUweDR14_ghLVtlmFO15Y2Kjgc-wdQ52SQEsbfa-fbPZtkJy0E4qKYGJcXG6VA9vM-1Efgp7-_jQDjcMWAN0NdibdF9_F_1gb3RfXo3dkPdX-LgI6vDxSxmjnTzju4jk2BjWJxdkPvH0tYXVBIPJrolNfIvh1lSmTsZw20xCMgHwYg8cRUOM6YiwZtJ80qdO-7HqfSxCJeVIeG9jqoxUJeohuuPQwdkqxuo7A2ND5aORyvKAgroXYZhIJsMLkLsjXM-mV6Jk_LyOGolw0yowBakNN-I9JQqQ8PmQBCPeUklDHjpz_Ogi6HNY_bCuxesRCuv5d4WUJXKHOVT8eAswtZpxrZTzqOKz1FgVtiwnCinQtBGGju-jOcpl6eg7DXAWbR7fEcg2R3p8D-tzAapmW89LzvEG6dZOXh7IOQc86k4IQ0wYenDZmzf0-uNoz2tg98KJ4FnsvO8A1UXA2JSaDAdwrZFmmHDHkmyTCAprZaNwibmHf68o_05d2T1fFrGWM5Z4p7VtT3_ZV2BE2f2-6RKVZdRkXUgyfoOWtFIbJRVSXRYDz3NnuAavai5j36YJ6k23_zRBoWF8FCzbn3clxxbR2DXnZ1x9qcpLK0jx0ch1LyogxjRiDj-qlbd1_3iHXIC_-96tWcRNj_AJStjJPlCKKOdOGByxHrFHDG0WbB4I_q8Oir5QnOT5xef84AiFFym8-NWzXEAbJls_eEbggSq7lQ0AONylcT7nQYcAbJJixytWya7F8goyMOPPrgdf7gygN0SP3W8IOOqeQVyuxFUKZ8TicLxlwGrZIcLcD5xkEvJuTh_l3xLcL6DZUXlI4lKdjRcxzoVzcKyonHTakcoz2YqSzP7FHzGulnZ__kQuDSYKTq5B4LcuiIz8GiQEoIj77NfCcdhGJKJgvSjkiNSau9mSd2Cz2326eR5w6yIcA3nkQQ2caX45UlHUd1-gFBrFjoaWXW1KglKpn8oib7lbPnRJoeNE76oYgW2NEofI=",
  "id": "rs_0eb908feb2dafbb5016ab4345f7fec87d0b1155a70b95b172c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The right wrist view shows a large tan plush directly in front of the jaws, with smaller tan ones nearby. I’ll lower onto the large plush’s body for a grasp.\"}",
  "call_id": "call_LVy9IwuACZ77ud8jpAOdfyrm",
  "id": "fc_0eb908feb2dafbb5016ab4346045cc87d0bde76a6de2538484",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LVy9IwuACZ77ud8jpAOdfyrm",
  "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]: [-0.0826, 1.4979, 1.623, -1.1839, -0.0677, -0.21, 0.9982, 1.3266, 1.7569, 0.9634, -0.4503, 0.8375, 1.1599, 0.9997]\nstate[eef_state]: left_x=0.3571 left_y=-0.014 left_z=0.2508 left_yaw=0.0894 left_pitch=-0.4913 left_roll=-0.0437 left_gripper=0.9982 right_x=0.207 right_y=0.3028 right_z=0.0607 right_yaw=0.0244 right_pitch=-0.1253 right_roll=0.0202 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -6.3795, 5.7231, 1.3407, -0.1392, -0.0122, -0.0073, -0.3897, -6.2154, 4.0821, 0.3248, 0.3053, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec93a4ce36471b5313fc295b3ae7d5bb7f68e1bb35ea5f9d2d1a2dd4fb540c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44288a1c6586c471204db1c419f779e6d388de2678219c3ed9e533e275ee4e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68a2f2649f68755cbf48f69d9cbd8fa69decc1424243baba4173fea66497755",
      "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 · 2.31 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.141, 2.402, 2.2429, -1.4979, -0.8341, -1.6482, 0.0894, -0.0143, 0.8539, 0.5987, -0.4107, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4644 left_y=0.0699 left_z=0.1225 left_yaw=1.4687 left_pitch=-0.1705 left_roll=0.0424 left_gripper=0.0894 right_x=0.2929 right_y=0.0015 right_z=0.155 right_yaw=0.0011 right_pitch=-0.1045 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -16.1436, 6.3111, 0.3443, -0.5836, -0.1099, -0.022, -0.1299, -1.5385, 7.241, 1.663, -0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0841, 1.4948, 1.6188, -1.1656, -0.0761, -0.2073, 0.9981, 1.3239, 1.6352, 1.1751, -0.8185, 0.8364, 1.1484, 0.9997]\nstate[eef_state]: left_x=0.3601 left_y=-0.0133 left_z=0.2527 left_yaw=0.0926 left_pitch=-0.4731 left_roll=-0.0375 left_gripper=0.9981 right_x=0.2061 right_y=0.296 right_z=0.1401 right_yaw=0.0239 right_pitch=-0.1356 right_roll=-0.0222 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -8.4171, 9.4017, 1.3553, 0.0317, 0.2369, 0.0757, 0.8821, -7.4462, 8.1299, 0.3394, 0.6716, 0.1978, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4979, 1.623, -1.1839, -0.0677, -0.21, 0.9982, 1.3266, 1.7569, 0.9634, -0.4503, 0.8375, 1.1599, 0.9997]\nstate[eef_state]: left_x=0.3571 left_y=-0.014 left_z=0.2508 left_yaw=0.0894 left_pitch=-0.4913 left_roll=-0.0437 left_gripper=0.9982 right_x=0.207 right_y=0.3028 right_z=0.0607 right_yaw=0.0244 right_pitch=-0.1253 right_roll=0.0202 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -6.3795, 5.7231, 1.3407, -0.1392, -0.0122, -0.0073, -0.3897, -6.2154, 4.0821, 0.3248, 0.3053, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec93a4ce36471b5313fc295b3ae7d5bb7f68e1bb35ea5f9d2d1a2dd4fb540c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44288a1c6586c471204db1c419f779e6d388de2678219c3ed9e533e275ee4e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68a2f2649f68755cbf48f69d9cbd8fa69decc1424243baba4173fea66497755",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRkJnzrewqsryjrDVorYdcEF6W3XlNtGNV64vTYpCH4FmFA3ZeR59ncie7nIbuO6_YloTlPkOdh9ElJRWbQIwOl_vNivM1qz65XEJ3iLVE7tmGoKuClInVOmYF9oHsCYPD5pZE-jcGY9ETwbkm1MmLyUPI9N7HKjK7MipRlbfWSY4NycbOESzibrMAUXcPtdsk85cps0JHVTG_m2bSfoZlAMC4yfNuo25UFjAzTjw1Z6tkGXg7e4mgyzfl7kuNRJY8awvfZtfddWNvQTOGgwcBg6dIUPAsEpqw4p6eGH0ADOv7yuPM_72OrleJWIp1sDY17pKH5wsxvSE5g2QrKtRskc05_dKFmcqkF-eXtvLDkh5auYtW30i6G4uKF7Fs9xxsekYaMGh4xmbS8HTqb1S8cf3884QId3ipzDf2Eu8PrdG1N25FEdgoElyx81iWmDHIKpHsCFQ5hprfSHDxGLCna7CQqvroW-7Z8hr8AhNoI6UFw-KNVkZZg1XxYG9NnwTwz1NHcR1-tCNs-7kUUleOMKPHMDCT1EFfpRwT0_c_vUPhbp_PyUhUMkCyQ8WHS1hszsbM43NbtOAl_YvnoK1gy3xKCi_QGbXteB7N6YxGnfTRqXhXM1q4W7mBY95amDnt6V2xQANrsjwK4Rip1JNBn_s3IUZA30LPeHy3_bwc25nOSPdzlo0Z6HCyK3yQxCBFiBXQAaq0MV_WAs_iAd_-rGPJTd8LBystSEbK0NYOF1jwyj-VEEhDsLRhA3tBrtYLjJUKkproYlOyXIZuhJ-pFDoTeTkOg-yi1B_gCU9mH69FRb-cP0q5pijt0OOm0m1cA_zCR24P-dyQ8AzjqaEL-DQL6IkVY-MDJpNL-x_yk5DZZGsjyu8cOE7lrgJALFKuF8Z7uZLKJSaeeFfZz6vzTHJAGLbVQ2pzQj6sy6V3PfolJ5pWmMoogFWXNa4LIy_Wru6DiqcbBpZ4Mhux7dL22rgRM0qIqnGGE4JqD3Nulr2WkHE6U89mTT_T5LPuIs6f2LTvOhqmZL4qRsHiUYmhQcbWCWF5hEvWW2cbQrvBRXrAfkiFIZmOHXjRqP5bRQTsF6scqA9swcejoOXnMr607Fn5ItaxH56jpKLZmVcUOM2inFoWMdp4172fUNyNcwVOM-Vk5dJe4E3P6uOfuyPlZ2QrSpRxqpVf95EaGitmGRIbse-9S-y1YJ9ljTt12zJViTPYIxA4lxAdjrXBum95E3KDwkFQxmdKznP-PQlzrZbw=",
  "id": "rs_0eb908feb2dafbb5016ab43462942087d0b315974bfa45e9d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper reached about 6 cm above the table, and the tan plush fills the space between the fingertips. I’ll close and read back the opening.\"}",
  "call_id": "call_58z3lUMMMDDmjEhcYaAG1eEJ",
  "id": "fc_0eb908feb2dafbb5016ab43462ca2887d0b5676eb1481a635a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_58z3lUMMMDDmjEhcYaAG1eEJ",
  "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]: [-0.0826, 1.4998, 1.6207, -1.1862, -0.0704, -0.2108, 0.9982, 1.3266, 1.7657, 0.9562, -0.4068, 0.8371, 1.1637, 0.2086]\nstate[eef_state]: left_x=0.3566 left_y=-0.0135 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4973 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2082 right_y=0.3077 right_z=0.0585 right_yaw=0.0258 right_pitch=-0.1184 right_roll=0.0499 right_gripper=0.2086\nstate[joint_eff]: [-0.1162, -6.2974, 6.5026, 1.1502, -0.0611, -0.0366, -0.022, -0.1846, -8.6632, 5.9966, 0.3687, 0.3639, -0.0855, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff64b28dedbe10f1085ac95338344ebed560e18f4b590eba29b5eb11c7f2d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f704d6b05a8e3091e90ba6159f2720f38ab67d8c79e8e56cd9530b8a1f89dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c6e1a20bd2a52b06324f45bb8153a88fb14d06e4a5ff59e631c0052736160e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.738 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0891, 2.1544, 2.0472, -1.3304, -0.598, -1.4136, 0.9972, -0.0143, 0.8593, 0.5972, -0.4084, -0.0116, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4514 left_y=0.0631 left_z=0.1518 left_yaw=1.3141 left_pitch=-0.3964 left_roll=-0.0387 left_gripper=0.9972 right_x=0.2933 right_y=0.0014 right_z=0.1533 right_yaw=0.001 right_pitch=-0.1091 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -17.1966, 8.6906, 1.3309, -0.3785, 0.1929, 0.0366, -0.1573, -1.7573, 7.3231, 1.6532, -0.022, -0.0757, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4979, 1.623, -1.1839, -0.0677, -0.21, 0.9982, 1.3266, 1.7569, 0.9634, -0.4503, 0.8375, 1.1599, 0.9997]\nstate[eef_state]: left_x=0.3571 left_y=-0.014 left_z=0.2508 left_yaw=0.0894 left_pitch=-0.4913 left_roll=-0.0437 left_gripper=0.9982 right_x=0.207 right_y=0.3028 right_z=0.0607 right_yaw=0.0244 right_pitch=-0.1253 right_roll=0.0202 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -6.3795, 5.7231, 1.3407, -0.1392, -0.0122, -0.0073, -0.3897, -6.2154, 4.0821, 0.3248, 0.3053, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1862, -0.0704, -0.2108, 0.9982, 1.3266, 1.7657, 0.9562, -0.4068, 0.8371, 1.1637, 0.2086]\nstate[eef_state]: left_x=0.3566 left_y=-0.0135 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4973 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2082 right_y=0.3077 right_z=0.0585 right_yaw=0.0258 right_pitch=-0.1184 right_roll=0.0499 right_gripper=0.2086\nstate[joint_eff]: [-0.1162, -6.2974, 6.5026, 1.1502, -0.0611, -0.0366, -0.022, -0.1846, -8.6632, 5.9966, 0.3687, 0.3639, -0.0855, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff64b28dedbe10f1085ac95338344ebed560e18f4b590eba29b5eb11c7f2d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f704d6b05a8e3091e90ba6159f2720f38ab67d8c79e8e56cd9530b8a1f89dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c6e1a20bd2a52b06324f45bb8153a88fb14d06e4a5ff59e631c0052736160e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRnC39jraWWFZErsHYXfCenm9-41TfkBZx2mbXR970ISeHyDI-eenceHeK3q1Wib5nxpnYHX7IZegFQIHb6RlcRrDptydZXe6bVRyz9uM-GmdMLpJrOYO2WzheHIVROLfWrf8h2cr_n4E2YGrg6fpUpMeG-PnLebepMbpunfTbya0qPWxS9ucrOVKs7V9GV5FEUNXGk7ezB_TKh9a4a344fYN2mA3dP5sCIfjDkRCGWBGFIBZUEqoqUYn4H7oX-Q-gfYl5yFvKiq37LyJQ2qTLQQ9BO6wdEkYCuxx0-k-tX9t-ubdcqb5DrdqpoxSeBZcZYssj24q5T-zbnVwRv8WF1NRQs5xwAfuyWzWW8hqC43v9FsT9_k2KRPv7Anh2rjEmWyzfvq4wPxUyoFnH9DIPSoUDyBiv40qbBEkj7QjI1Rv0zE-F7sGKntG_bfeRcw-K_2R7Ef_yJURIDMD_nUh5aKMWgkeYPLJdKDtCZzJHe3kU3W17MKNWpHrngSieUMUYYuJXQ_dr056qZmcD18G94XlR9zASqb7Fa1UoqqZ_9daSgLwDj8RpQktiqLccBmNgPpDqvLS9-fU-iF70Y_fyET2Gyt9_86cLMbM15eLRjmFYakOme4SHK8bzOjCDhPWogEstneO4yuOBYEc2abQs8Thfqex6D4n6o7TvHlJyIiVKyHFHUj-BLhY5JGqRL7UE9YeWkG9WRR41Yb-wQoctYd6yZU1C3i2foN8NSaaF-MIkThC4f_bKmRzvMnPqmyEG_lDEGe09K8IVL8oiA02SAc-tNuU4ZWmNizrxSXaDHF1v2B89zyxg-5T6mybtpgco3i6Pvd6hKsTlJx9jsIUV-ic-fxiN9WOI5wK0BWqXb16r2Hi-Y5csihMHpL9IJNc-Vluil1Vw-7d7rmsUU27Y3VAsXuVmsPmzIhFaOSPmtDY_LeKr7aFXqCqPr9ZdGz76IgHdLrDACcQcreEfodqMGlE1gykh-FZGaZ1a8BWniBc1XJeZSZGhWzUXAQRpEUOqCk6qmn2RNZjUyYkiyz6HZHTxFZClOYYhY-wfZKWaKMasixTkgR3Y-GrbQ-mbEkszkiUxHhbnUF_Vc6x1AqekPxsZfWK234_V-_NF3zTKraR0ka2J7Q5rozD4jAZq3W9ZFRwM5siwGDE6FurYYs7Dx5CPgRnADKpXYhEGiNcIafT_d8n6yc8wlcS31oTPGsd64rKqH9Iz6PQ9nSnhU6jcs3gC2ythg6Tcqf77LOR5Z0wvjE-5klwRvvpMEcAPXuGJO6rpOW9RuHMNYq2gIvprmQJGzpIamrAzJsgoTfuRJy9CX7NZ2GJlUrhm_DzsuVJssoFWINB3RgGwkg7L09vUB38EsTom9S9GRA5SM9cmni8s=",
  "id": "rs_0eb908feb2dafbb5016ab43465e98487d0919d98492419e5e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right jaws settled about 2 cm apart, consistent with holding the tan plush. I’ll lift it clear and verify that it follows the gripper before heading to the right basket.\"}",
  "call_id": "call_qKVq9Q6uiqfVvssesUs8Fj1x",
  "id": "fc_0eb908feb2dafbb5016ab434666ed087d08bdec123138f8dc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qKVq9Q6uiqfVvssesUs8Fj1x",
  "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]: [-0.0826, 1.4998, 1.6207, -1.1866, -0.0704, -0.2108, 0.9982, 1.3266, 1.6512, 1.2507, -0.8253, 0.8021, 1.1599, 0.2114]\nstate[eef_state]: left_x=0.3565 left_y=-0.0134 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4977 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2056 right_y=0.315 right_z=0.1535 right_yaw=0.0398 right_pitch=-0.1527 right_roll=0.0468 right_gripper=0.2114\nstate[joint_eff]: [-0.1846, -6.0923, 6.0786, 1.1502, -0.0904, -0.0562, -0.022, -0.1573, -10.1538, 8.6906, 0.6374, 0.6813, 0.022, 0.2857]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ceab0cc2e327f5d26dba9e1e016eb2e14ab1b73fef372ae2e5146db1d816441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88cee1e3f704e18ad158189ac20abcc5ff4ffd1b83adf78594f077c0a3cdc0e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb33e26b6a598fc7848b8be8e726e80b71d22cc7573f3da9a19f159ed8f1943f",
      "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 · 2.821 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0841, 1.4948, 1.6188, -1.1656, -0.0761, -0.2073, 0.9981, 1.3239, 1.6352, 1.1751, -0.8185, 0.8364, 1.1484, 0.9997]\nstate[eef_state]: left_x=0.3601 left_y=-0.0133 left_z=0.2527 left_yaw=0.0926 left_pitch=-0.4731 left_roll=-0.0375 left_gripper=0.9981 right_x=0.2061 right_y=0.296 right_z=0.1401 right_yaw=0.0239 right_pitch=-0.1356 right_roll=-0.0222 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -8.4171, 9.4017, 1.3553, 0.0317, 0.2369, 0.0757, 0.8821, -7.4462, 8.1299, 0.3394, 0.6716, 0.1978, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1862, -0.0704, -0.2108, 0.9982, 1.3266, 1.7657, 0.9562, -0.4068, 0.8371, 1.1637, 0.2086]\nstate[eef_state]: left_x=0.3566 left_y=-0.0135 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4973 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2082 right_y=0.3077 right_z=0.0585 right_yaw=0.0258 right_pitch=-0.1184 right_roll=0.0499 right_gripper=0.2086\nstate[joint_eff]: [-0.1162, -6.2974, 6.5026, 1.1502, -0.0611, -0.0366, -0.022, -0.1846, -8.6632, 5.9966, 0.3687, 0.3639, -0.0855, 0.7937]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1866, -0.0704, -0.2108, 0.9982, 1.3266, 1.6512, 1.2507, -0.8253, 0.8021, 1.1599, 0.2114]\nstate[eef_state]: left_x=0.3565 left_y=-0.0134 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4977 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2056 right_y=0.315 right_z=0.1535 right_yaw=0.0398 right_pitch=-0.1527 right_roll=0.0468 right_gripper=0.2114\nstate[joint_eff]: [-0.1846, -6.0923, 6.0786, 1.1502, -0.0904, -0.0562, -0.022, -0.1573, -10.1538, 8.6906, 0.6374, 0.6813, 0.022, 0.2857]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ceab0cc2e327f5d26dba9e1e016eb2e14ab1b73fef372ae2e5146db1d816441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88cee1e3f704e18ad158189ac20abcc5ff4ffd1b83adf78594f077c0a3cdc0e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb33e26b6a598fc7848b8be8e726e80b71d22cc7573f3da9a19f159ed8f1943f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRrvZu57j5R6JZtz7rzoIShdr7bEdgBORx36HgS8m1RDdweJL56MAjHUjIlSV1aa2V7MGyK8J2B8tj4cIfT1PNWkL6UmDFy3x6yoqtdlb9OvWRcPzPhY9xn4s9cMY2DaDwp1oI-rmAUVcCHmDh1qo5YpWT3hPT-Kgn2posLeeXl7YLpWYaCnE2QyUmh2VZrxUipk-va3Ai6BNN__CPdvkFbRxrw0_XTnf0eAVovlaKioOIlDPxhhxb441mvr0YUYs0PiPGRp9U6faymxFkIAKK4YyL6Mj1fXrBDdTDG4dOkXDvnrd1DlchVvWqmJDfM6y-W56dWPsgmb7VQr0kNErY4Crvxzk7nQt-BiLpkSiyk65-cubalbuGv7ho9bDLRFgl4YggJY-VG-2MTg1grvT6mNpMraeMfEgQ9UTdX4fDAfEiDOx7_YadD_O1Eo93R0OPblEqVbLgTytUZUCx1eAkDuQMZj_kQ1N_RqbCLuQmPhzVxAwggqINTh5f3vovKgt6SIwu1598_ePnLIp03oO2uPBWi9dYZol1de8jVnrata7CS_Jg0jYdmzOSfxf7gK5SJTKfZYRn5J6Nfoh_J-puvtq2HJhbFmMHZwZgpTht4vzd6mcMiGwG0cAnvNjMgv7xuNTNX5os5Msk26GuRNGwJi2OTuexG2Z-NF0cqUAskn-HBssRLes7wYFQGaBOvYJKtCagKAL8PHtxlM3hTvd58NEktdXAGaHB3oT_R-fZLKQpppghXDt5DJFJ9f4yL6KSpheg3vjI2T3AFHiJTAoSvrLKmgTb0n03ghok3KlAmtpxISJRKScVkvE5oVV7ttwUxPSsQVpBr5QHBoVcDkfimml3vbbxMPZEeZiFamcgIrDlX482Dwc2-okTAkHcWnbWASssFYVGH2nXLCy4-bbxe3eu88hlo-_MkFxE2h-eveg89bQZqx6zk0YDbQPoO7GIWG6rGsEW0AlXVGmrdnNux9ui4aSqMrHN5Wb9ZfMbIaQ_40TIawoaM0e3Zuuu-z0-_NpNClhKpx1IYxWzMzXt8f1uDsn-c_fME7rWvS1g8EwCD0ATFflNVtouHNYsUBiGds18yYFBF2qAI-D88-qGTYUrrS-Z8QyJ9KFlXJjskN_enle8hMlMv8NrzfaBgPVUWdfxhLmfB2y7L1vaXS5l3OYqasPKTPkh-OpwipufnlYkiyP9m-wr6JVMqLghrxsb97tFoGv34GuWWe0M5RdccKVJXB9PDCyv4WVH5rgtGADiHqYWDtV6Ub3n2DtpIyRuQGiwcBkJuOrglZJu5pbihvz_7uCm6DD-cs4wE2hTpJ4tUBr9bIDdgOtD4q_DVi6ttwhFhkj1mjL2oY-D9oBinKUIryT9athgOM0-RSeiLgzHu0iCT0aQAz6_xZMaPg99QjCBQuksCksn_X3S9Py9rclY-8zGJHzlABdke22rj5Yg3QqeZEHuXm3YfQJeXtbWCZ01cSGrIp9unbVDgDpPaTmGyiqQ3PXwchmC5An_624-tzxB_rpqE7TuelsYR4n3XLFL06KRdlc4BbqLT-G7KLMsvKhcRMSRYJSE-7wcvpV20EnqGJOwavUKr-BIvqjpscwpgjcN6ROKe0IdGM7bOWg7ReJQ50MFT9jdTF5qslzPzNug7qofuoiR5u45_n1DYlyDlYRlDOznIZi9-0aqLjFY1F4rfhadiThY6EtzqjU_j06P0uawSnaOwIfXU6twZKdpxzVW654un-wVZ6PI9oJWrPwy1YdfIkfthB_L8_PuUO1MNMKMEDCz_SOUGcsmBiwcf0ncZksjmp_zwqjLyGAnuEIMazhW_eREtvK3rser37baX8sgWSGpaqO2T4u03EewL1Q89Ck6W8JSApynX1nJr-bQSjZsAmnOr0ZiZiunilUl2tustuNAGUKU4J0c0B6eBEFdb3pUnnP5TTqn9j5hFME0YtWHPLhmxTD-NAmFEfHHTyk5xoUb-CZRzl2FYSq6UdNByGC98w2BOItysppkqSeaRBBclC72IB0xsV-Vo3w112-h8Q8XsUyFBKD9PZcvia9tEMr1LlWH6jCpP54ClfJJhpTUFW5LA6LsGhsmlJMbZdsC0a8ga2vJxZLBBw3c5pmoaBy_j0SwvcA9hI8cVbVdmFUoDr2Z4QjjeCblnKzA9JdamJ6_NXV3wDkNx",
  "id": "rs_0eb908feb2dafbb5016ab43469151487d0b4d634dc4676cc32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.215,\"right_z\":0.23},\"note\":\"The tan plush moved up with the right gripper, confirming the pickup. I’ll carry it over the center of the right basket at a height that clears the rim.\"}",
  "call_id": "call_UmbSEEVz1xKtug3272974Fxo",
  "id": "fc_0eb908feb2dafbb5016ab4346af25887d0b1811dc657a8dec8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UmbSEEVz1xKtug3272974Fxo",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 0.6117, 1.7168, 1.5135, -0.6506, 0.3969, 0.44, 0.2143]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4167 right_y=0.2133 right_z=0.207 right_yaw=0.0278 right_pitch=-0.2077 right_roll=0.0229 right_gripper=0.2143\nstate[joint_eff]: [-0.0205, -6.1197, 6.0513, 1.1551, -0.0513, -0.022, -0.022, -0.4581, -8.6222, 10.1812, 1.5751, 0.2076, -0.0171, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393eac4268675c18364ec460bc9207ff0648e9c578bdcdbe6be6848919c07578",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf31e416883d3d918f56986e7c472d9131b1a98fc6dffc5d3c0ce9cc7f111fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555c32e044a7d16586c46bc59fbe7a836dd5b1a558548f27b0a4f5c86e644f5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.687 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4979, 1.623, -1.1839, -0.0677, -0.21, 0.9982, 1.3266, 1.7569, 0.9634, -0.4503, 0.8375, 1.1599, 0.9997]\nstate[eef_state]: left_x=0.3571 left_y=-0.014 left_z=0.2508 left_yaw=0.0894 left_pitch=-0.4913 left_roll=-0.0437 left_gripper=0.9982 right_x=0.207 right_y=0.3028 right_z=0.0607 right_yaw=0.0244 right_pitch=-0.1253 right_roll=0.0202 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -6.3795, 5.7231, 1.3407, -0.1392, -0.0122, -0.0073, -0.3897, -6.2154, 4.0821, 0.3248, 0.3053, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1866, -0.0704, -0.2108, 0.9982, 1.3266, 1.6512, 1.2507, -0.8253, 0.8021, 1.1599, 0.2114]\nstate[eef_state]: left_x=0.3565 left_y=-0.0134 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4977 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2056 right_y=0.315 right_z=0.1535 right_yaw=0.0398 right_pitch=-0.1527 right_roll=0.0468 right_gripper=0.2114\nstate[joint_eff]: [-0.1846, -6.0923, 6.0786, 1.1502, -0.0904, -0.0562, -0.022, -0.1573, -10.1538, 8.6906, 0.6374, 0.6813, 0.022, 0.2857]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 0.6117, 1.7168, 1.5135, -0.6506, 0.3969, 0.44, 0.2143]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4167 right_y=0.2133 right_z=0.207 right_yaw=0.0278 right_pitch=-0.2077 right_roll=0.0229 right_gripper=0.2143\nstate[joint_eff]: [-0.0205, -6.1197, 6.0513, 1.1551, -0.0513, -0.022, -0.022, -0.4581, -8.6222, 10.1812, 1.5751, 0.2076, -0.0171, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393eac4268675c18364ec460bc9207ff0648e9c578bdcdbe6be6848919c07578",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf31e416883d3d918f56986e7c472d9131b1a98fc6dffc5d3c0ce9cc7f111fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555c32e044a7d16586c46bc59fbe7a836dd5b1a558548f27b0a4f5c86e644f5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRwzLZVSpbO54jwEozuahH5x2l4YRxKfK15YVLZCiZdaA2jhjnUcDbhELVYnj4AQnZB5bB_C8A2UfCe7Y5qhXP6GSFEhbIKm54A9Up6fKoJa_dti0L3R1fHalCYjKH4LiVZ3R8InAY6AYx0-eHDQ12fvrQ1-v7P_Oav3TxUcL6q-tSQAC5DpAueTtoqgM3vBfuwiTF5WtcNdx4XOfl3fiufjK5d1O6A6NsgNOTQJW7LGjPYZPQ8gBhQy1dl90RB_iV-Oe4FzWGrb0FxGrm0XXgqw5kHfo4IkY4ojZji_Q6llOWe4jCKGszITCF1cN8TqsXKLPBopB9EPxVQEXqMAfsdpjBwUqlxCwity3oSVNnuP7Yx3N0SxV8dIb2ATOvas3HE2Ti1CxA5ujuGtn3eaDw4hn9T2xCAUEI5y5T3TKgLUAuJleCQlGwLT_VlEdWpGUC38cOKlAV5Q4N7uPQJwPDYsxRLtIZu8t-nO-mIvSSMHKA-r6_jI-mEXk23p41HXdM_W3gcOCmF8sEURFciORBq9GxMP7X8Ot45A82e1lodM6wh2VVFEyTkd6eFNGlT1B0m_JEtSdpzgAmqdBcN_xNdYUcgh1UsnMEpMh4B3CCfR-rRl_YLIsh8ij8EjjWAQg30qQ53-m8ThYszq16ZSsM33IyQyLM-qp-KlUCsBgj0J8HlJQLNVDLvoX97PXgLS0pwyqBWcPW_zH7duAGdJVsu0aQNTgZADmv5fGl4xNr17VlxK2MJAP-ODbnkas8J384Y1GpELXagpXbT6Usq9osiRKdPxDm3Yr6ew7598oc2kfUhsd-Tj9wOPetNHDiO7hdkPukzBDqFhnjSxqkXNT51_k4TsHPZbAT1BjLoWbUzfYBezuKAjqC0fRYMXDlhFvlOL6GXgr9HhPLyrH4jaRxaCUDOiZdG7e3GkhAcUotHEwjnIw3ESXXkg3h63hbDNvFr0HBPpT3TmGL8Y7b2g_2ykqOCr7YSY3uf2XwtBWyYdpM6GEOtWy2kGHauJA4ydXisommK5fBmBhIxCeD3TRRTzA-Y-YB90p9qfDQsOr6fdJ-vDTgLbyPk58FxYwzVBGWzUoomR0dNjIiW7RQtX_xqY9vObowg544UHNh2_QXK01dKC5kCtm9OspxFlY3lhQpmqfnPQlMuqgbRvlsswocrrzQw0gH60ssm543C3MZB8hTmcOwexES7kO_prqQYVTaKHfe0qHviNC8ychQ-KpGLIxtcQuOflHKDwscVIDTCffUb73zTmbj3AW9lX109iJj8DkcX8y9qafC51v4NQbIhbVqN1ArP46EZJPQKxaaXsDcgCFB9Q6TJJmCr0DoK86ZiwYkwfMGkZLKGOFJEqoAT3f2D5B4Zab__M0zUsGQhwee2tyLG9FU43Meh7Fd9onfLGCloMgr-kZ_5ZDntjRJOEl5iJ50XuXFTiUO_E7I12o6b8y6cBokLezmkTlt3gv3hfzZMY1JoKJK9viYcWAB-bXWtV7DEYxMfLrz3pwJz4UHqdufdt2clewh8YSkrMWRRFrKITcjYzko8lxAGH8uhraOMy6EVwDRQ5gs1K6JI9eQ=",
  "id": "rs_0eb908feb2dafbb5016ab4346eb9dc87d09e45d42c8cd8df99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The held tan plush is above the open right basket. I’ll lower it inside the rim before opening the jaws.\"}",
  "call_id": "call_R9S6wnOZa5uMkNWrKO5ZBsGS",
  "id": "fc_0eb908feb2dafbb5016ab4346f87a087d09f01c55883c7afa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R9S6wnOZa5uMkNWrKO5ZBsGS",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 0.6094, 1.7351, 1.2144, -0.2668, 0.411, 0.4263, 0.2177]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.4232 right_y=0.2137 right_z=0.1383 right_yaw=0.0283 right_pitch=-0.1463 right_roll=0.0409 right_gripper=0.2177\nstate[joint_eff]: [-0.0342, -6.1333, 6.065, 1.1551, -0.0513, -0.0317, -0.022, -0.1573, -5.3128, 4.9162, 0.862, 0.0073, 0.1294, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10402c9a095ca880471c4df8d8e56296b6a7872b60ab42fc751247998803d328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d77648dd1c2afb25f2345f6c46e3bb9546ff2e5b161cbfcce23b6ed1e12cb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbbf7a7228a5307ac0cdaa1ead623b7f88e8639332b0de70e3c682877aee522",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.686 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1862, -0.0704, -0.2108, 0.9982, 1.3266, 1.7657, 0.9562, -0.4068, 0.8371, 1.1637, 0.2086]\nstate[eef_state]: left_x=0.3566 left_y=-0.0135 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4973 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2082 right_y=0.3077 right_z=0.0585 right_yaw=0.0258 right_pitch=-0.1184 right_roll=0.0499 right_gripper=0.2086\nstate[joint_eff]: [-0.1162, -6.2974, 6.5026, 1.1502, -0.0611, -0.0366, -0.022, -0.1846, -8.6632, 5.9966, 0.3687, 0.3639, -0.0855, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 0.6117, 1.7168, 1.5135, -0.6506, 0.3969, 0.44, 0.2143]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4167 right_y=0.2133 right_z=0.207 right_yaw=0.0278 right_pitch=-0.2077 right_roll=0.0229 right_gripper=0.2143\nstate[joint_eff]: [-0.0205, -6.1197, 6.0513, 1.1551, -0.0513, -0.022, -0.022, -0.4581, -8.6222, 10.1812, 1.5751, 0.2076, -0.0171, 0.2906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 0.6094, 1.7351, 1.2144, -0.2668, 0.411, 0.4263, 0.2177]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.4232 right_y=0.2137 right_z=0.1383 right_yaw=0.0283 right_pitch=-0.1463 right_roll=0.0409 right_gripper=0.2177\nstate[joint_eff]: [-0.0342, -6.1333, 6.065, 1.1551, -0.0513, -0.0317, -0.022, -0.1573, -5.3128, 4.9162, 0.862, 0.0073, 0.1294, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10402c9a095ca880471c4df8d8e56296b6a7872b60ab42fc751247998803d328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d77648dd1c2afb25f2345f6c46e3bb9546ff2e5b161cbfcce23b6ed1e12cb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbbf7a7228a5307ac0cdaa1ead623b7f88e8639332b0de70e3c682877aee522",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRzqw5yDQNcIabmQTwhWht50mw7s3KhHsRv26pZ4yx__8ZnL4y6HZsLgGRr0fGQXrtIHq_eXtyWP86t9PVOU4Lm96uhyvPS9CCP6eGGZcpFI1H1A5rT2dBVCJ1DIca3-3q52SQ420VuUax-DjetOwPcGGZhEn0C-SzGvhBDAW_lxhxmWXCVY2K5kQrnadgKm30fmJXZNvHj_vnuPlPhNJgKP91RivgE6AqY5uHR_aHD547MjmAKwwYWpUuBcYX16f8mGFlcUJTAlYBxKw1YYYlIxnYT5D1UaLushYoVM-4FEFtieb4SQKWTYV-CyTq8qhiH7cB3_C1yf6byF0swJQnJb_9ewwZJumkjSzgYq5XfdTd1M2lzp1tfqUh8IWP_i1qLT076P2YtcHvMVy4EahuUEiITRghn58Q-xBDPfHfE47U0ntNIXFW7pPmuNxoIq3XuD20LISn5ZmOS6r6pr9rksOQZQz-0agq6rO16lZzpG8Dfbx31SsdudahlpWc6jyws2H23vQN5UdI_kfox8_cEGwnnqn8Xe3VE6B5hpvSU69lQxo9ND-FZfkWErcyJZ6HEBoGVURRWrHmP1rfvajceDLuJR42KheEjqOwDJkkFbGtl91luYQNG2sUbVGUZUwTG2wQ3bkVK8S_WnsxfOEz6E2Fb6FszpnK9QXF-y9104d4bVJRpIFDZCarK_KM0ArRrTN8zSutXc-tyKUUr0XoQxeCkLS-Hqp6s9DMxZz_Y7KJdAq2-gE5sIP5QiQiy3pq6XToSWnZA03wefCLRkcXJelvo3V_WTpkM9zJmMwnc87rhGsQAysPl8BvpGdfub9CKtW1aFeXHIdTWFZVKbX-8r5AQTzDeh0hBvcK5fan0yFfhBCSYsG2g5GFN1mwnFCq5ex7WewAkpqmRUJz1lZSB5iksDsD-DQdJnByjtVcqvLoZbg74VB3apY_YlxyxslEH2gsVF2VOLzufJ8lh1kMw3g5Q9NMx76HzeJ72EBmrVrxgqSAnv3IsUoFBufiviUCP5lYce-c37rqWzBMnEXWFFEZVzG8r4Uz5v2KMRwwt1LRJa5aMK7Q5vmYqTpJaef9YPPlu5dN1BXs5-E0ZojwozKCtyG4Wf7-izJy3I8CQHLWlQj_OVacrHDtlLqid0gmfa2v8c5p7sSokcKMZAUyplAsFEy1JblO2JKE0VEfxVY7g0KhgRmJDdrA-39mMwXLBnOGBaeJDeWja9NzBy1nlyHParSjoQfkfECD0sC9zvAg=",
  "id": "rs_0eb908feb2dafbb5016ab43472804087d0bd5ad3d1794fd801",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The downward motion stopped with the plush inside the basket, indicating it has landed. I’ll open the right jaws to release it.\"}",
  "call_id": "call_7EzWCQTKtWBSoR8NHRu7oTnS",
  "id": "fc_0eb908feb2dafbb5016ab43472d3b887d09b5dc9fc18c3c511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7EzWCQTKtWBSoR8NHRu7oTnS",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 0.6083, 1.7542, 1.1965, -0.2649, 0.4019, 0.4225, 0.9955]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4199 right_y=0.2126 right_z=0.1224 right_yaw=0.0333 right_pitch=-0.1793 right_roll=0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -6.0786, 6.0923, 1.1258, -0.0952, -0.0659, -0.022, -0.1436, -10.5094, 8.1709, 1.4042, 0.232, -0.022, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b41c86ce48f0ad8e55277104d6673b3d52faf696521827ccebdd5f104211475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d999fff9a0349c3110749cc986110aeee335e787c70de18b9b53595946082b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe51155c7511c567766b836e17c452ab62eec5982c60a78978e8e6a542cdd1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.792 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.4998, 1.6207, -1.1866, -0.0704, -0.2108, 0.9982, 1.3266, 1.6512, 1.2507, -0.8253, 0.8021, 1.1599, 0.2114]\nstate[eef_state]: left_x=0.3565 left_y=-0.0134 left_z=0.2491 left_yaw=0.093 left_pitch=-0.4977 left_roll=-0.0402 left_gripper=0.9982 right_x=0.2056 right_y=0.315 right_z=0.1535 right_yaw=0.0398 right_pitch=-0.1527 right_roll=0.0468 right_gripper=0.2114\nstate[joint_eff]: [-0.1846, -6.0923, 6.0786, 1.1502, -0.0904, -0.0562, -0.022, -0.1573, -10.1538, 8.6906, 0.6374, 0.6813, 0.022, 0.2857]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 0.6094, 1.7351, 1.2144, -0.2668, 0.411, 0.4263, 0.2177]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.4232 right_y=0.2137 right_z=0.1383 right_yaw=0.0283 right_pitch=-0.1463 right_roll=0.0409 right_gripper=0.2177\nstate[joint_eff]: [-0.0342, -6.1333, 6.065, 1.1551, -0.0513, -0.0317, -0.022, -0.1573, -5.3128, 4.9162, 0.862, 0.0073, 0.1294, 0.3394]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 0.6083, 1.7542, 1.1965, -0.2649, 0.4019, 0.4225, 0.9955]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4199 right_y=0.2126 right_z=0.1224 right_yaw=0.0333 right_pitch=-0.1793 right_roll=0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -6.0786, 6.0923, 1.1258, -0.0952, -0.0659, -0.022, -0.1436, -10.5094, 8.1709, 1.4042, 0.232, -0.022, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b41c86ce48f0ad8e55277104d6673b3d52faf696521827ccebdd5f104211475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d999fff9a0349c3110749cc986110aeee335e787c70de18b9b53595946082b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe51155c7511c567766b836e17c452ab62eec5982c60a78978e8e6a542cdd1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDR3vwTsap-Nud7KJuesbyJXFbPsysnemWxhq--TwzO5qEUovGqMRpeH88iXPq307WU4ErQCvd2sYG4_H--MR9qresC6jPa7eZIAs5zWms17DTMocnsruvg5Q1rYebkRygpx9kd1tZBruoZKkhnRjTSJNby3m2BzUbrsewjJThL002HjEEk6uGgKQxH8vDNqjYxGtQJKet2hfbnX6_0v4_X0wBS4YN2PvDSXNOvKAh_1Bw-gJPEITT96e9efW34g6708f8NSpUBY1IaLPoZxWKn7152iXCO98cApQ1rilRD30wTshm0hYyKNej2ao68rdR37BQpd-j--btzhYWXkxFXSoTY7kd7awLPFtgoiB6GQHxyVw1wpieH8FKZoeZFmfwNuxd5a7YHP17rK0baK6_smBpgWfIGgcsNE5s-fgeACffDviNMz4PdLKQ64Xdn3cqGvVNCvl0AEr6VEt_kiXaowzrfZa-jYIIXTl1TOqW_yziksQkzbd9jqht0exeboMBpHHOyufg-fNWoppB3Qx7emyVxub0aNx9VmkNm_gc6K94KolUBWye8Tlwx-BGcflhhn7lCeXZ9D5oDe-7VERdcKBaolCfEJ1Wyv0jVAdsu0lVb04CyRgKGfZhadDOPR1ScSvq9TWNi83YBA-mZhGmeaZnBPUyey-ZS8YBwh9FmITbvCala2kp9oRU1v09AZvHu0w40UaSqz90SnW8zxjE-F-rcdM2phIxkpFVn3Rh8E4Ot7jr-8MFIl_XSbgcyCU0DHP7xCV8ThhvX9OSs2nuv5GH92PR-K8_OdQhAoPePH6lKHlmQgHo81eQlF3tEnFsq0hwVXsWvIM_Y1sZJ65mZF86rCEQB2hiwtXONrPeCMAzJI03BDqlWWfEiMKG9587mQltINH6QMGWp16eqKWjyOrczJfTGeSJ1ZloXHVCk1jvfE8GvRDvosE9xrUTE8kPzrsbEE09BQgAm0w2FUvLthP59kS4NA7tHtJtRFKWtG__AeqN-X4UtCvAkflfJD_Ainl5s3ARA3ubCHfDhX9TuC-mC1Ce7jiIomAbRDbkMvsPp7yQc5X1svfHTh2mc95hObVomSFEXqihJeK_tiyy8gP-RPR-59ca2dCM0E-HV8wbgeiieXqyqCamtOMJLnCu-TyzykQ_2tnPiJJndY5fN8vt-75QLEOe2y4btjk9MsWI3ii5v1-Pd2tjCdlbS9dJfhDd8gEaGtbs2GoBXd-Lyq6Vs0gksi875ddtJSk_Ko8amgTyX16d4AD3dvv9WQCvoBbeBq-M5Y8JfjFtLImzq0eZVewkoRQzS-fPv9KNTKPUkE0Lm6elO1ziEcQ8r9vTC5fKwtAjFDDMKL1pfEdJFDWyLS9D5n9cogJMZaK7h3RPW2PvznYyaz9SJ9R8lgCj_gksLtY1EAoHxSdC_xQ90gIHM4KOos1KT7ST4G6cMrMyZG3MY07yg5ssDgYlWlZC3c8sScBTWjLDGZHi4K1PZ7zoxy5zxl5-luECt4SsaDGykJMNuBa32UZP9i4bPaxLtiKbV_bgqDUPGEhRIVJkBD2Rgx_IMmrW8t9ffI8DHrizPXcj5ZYbcahIWr3g5HxE6MogV1JCpjS2m4L6sKe3PSUJ7KL-aqY7kPctG98u7Gtb14rAt8Ju7I11EBOylSE31qsJelf5cU3jdWXGg0Gf4WXEtPeKHPYfC-LtZh_d7HwV6UhlUGM8SmaoyLef8ulq-OR8j8w50AxI5QT66LmPOMBothSC-yHXnQNjJm00EA801z_qOb3BihdxeMKZVie3ls1znhLgBsiOPOVA-2i5O7znRqMpZd30BnatQcSbhy-3NVZClZcb2gWlzVDJKKNOjl",
  "id": "rs_0eb908feb2dafbb5016ab4347565b087d0bf42274dac103f83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.225,\"right_y\":0.375,\"right_z\":0.18},\"note\":\"The first tan plush is released into the right basket. I’ll bring the open right gripper back over the remaining tan plushes near the table’s center.\"}",
  "call_id": "call_vme9mdXtp0KUxmNpGn3mbAFH",
  "id": "fc_0eb908feb2dafbb5016ab43476cfcc87d09f1a60e175df900e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vme9mdXtp0KUxmNpGn3mbAFH",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 1.2869, 1.8893, 1.6306, -0.9325, 0.7376, 1.0729, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.2308 right_y=0.3798 right_z=0.1717 right_yaw=0.0792 right_pitch=-0.197 right_roll=0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1197, 6.0786, 1.1551, -0.0708, -0.0513, -0.0269, 0.4444, -9.4701, 8.2393, 0.4469, 0.7302, 0.1685, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e32492c8c56cd5989b5ab7c8e83d19f232d2b2e7993ac4368e9e9ba01aef42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a90b0bdfa2c8d556481f7025f53b6550a49f19408a387078e383d94e2605ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85832ade0e06e3b6ab8a8865c799ec68bc3cc47635caf66a57ebd850d5d62040",
      "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 · 2.376 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 0.6117, 1.7168, 1.5135, -0.6506, 0.3969, 0.44, 0.2143]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4167 right_y=0.2133 right_z=0.207 right_yaw=0.0278 right_pitch=-0.2077 right_roll=0.0229 right_gripper=0.2143\nstate[joint_eff]: [-0.0205, -6.1197, 6.0513, 1.1551, -0.0513, -0.022, -0.022, -0.4581, -8.6222, 10.1812, 1.5751, 0.2076, -0.0171, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 0.6083, 1.7542, 1.1965, -0.2649, 0.4019, 0.4225, 0.9955]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4199 right_y=0.2126 right_z=0.1224 right_yaw=0.0333 right_pitch=-0.1793 right_roll=0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -6.0786, 6.0923, 1.1258, -0.0952, -0.0659, -0.022, -0.1436, -10.5094, 8.1709, 1.4042, 0.232, -0.022, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 1.2869, 1.8893, 1.6306, -0.9325, 0.7376, 1.0729, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.2308 right_y=0.3798 right_z=0.1717 right_yaw=0.0792 right_pitch=-0.197 right_roll=0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1197, 6.0786, 1.1551, -0.0708, -0.0513, -0.0269, 0.4444, -9.4701, 8.2393, 0.4469, 0.7302, 0.1685, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e32492c8c56cd5989b5ab7c8e83d19f232d2b2e7993ac4368e9e9ba01aef42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a90b0bdfa2c8d556481f7025f53b6550a49f19408a387078e383d94e2605ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85832ade0e06e3b6ab8a8865c799ec68bc3cc47635caf66a57ebd850d5d62040",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab4347a63f487d0b51e79c08022e331",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.263,\"right_y\":0.397,\"right_z\":0.055},\"note\":\"A small brown plush remains just ahead of the right gripper, with another pale plush farther toward the basket. I’ll advance and lower the jaws around the brown plush.\"}",
  "call_id": "call_RHLbT8LZYmqZSkwQ4c4avlNA",
  "id": "fc_0eb908feb2dafbb5016ab4347d750887d0b6bd198241a324a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RHLbT8LZYmqZSkwQ4c4avlNA",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.2324, 2.0548, 1.4231, -0.5354, 0.7025, 1.0054, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2558 right_y=0.3938 right_z=0.0611 right_yaw=0.082 right_pitch=-0.2169 right_roll=0.02 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1333, 6.3248, 1.1795, -0.105, 0.0073, -0.022, -0.8137, -10.2222, 5.7504, 0.9499, 0.3736, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db2d6aa6326127a7749d6be2633de7e20d9e58d8fb58476b3ee14019cfc4453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:539ae60da67ba2a481e268801d94d93b2bddcf1e288adfd8bf2a670304d4bda9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffb77c0d49af91ace383c06ddf5c0e0511e6a08f7ebebb35d0d8c8deaa1e16e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 1.741 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 0.6094, 1.7351, 1.2144, -0.2668, 0.411, 0.4263, 0.2177]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.4232 right_y=0.2137 right_z=0.1383 right_yaw=0.0283 right_pitch=-0.1463 right_roll=0.0409 right_gripper=0.2177\nstate[joint_eff]: [-0.0342, -6.1333, 6.065, 1.1551, -0.0513, -0.0317, -0.022, -0.1573, -5.3128, 4.9162, 0.862, 0.0073, 0.1294, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 1.2869, 1.8893, 1.6306, -0.9325, 0.7376, 1.0729, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.2308 right_y=0.3798 right_z=0.1717 right_yaw=0.0792 right_pitch=-0.197 right_roll=0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1197, 6.0786, 1.1551, -0.0708, -0.0513, -0.0269, 0.4444, -9.4701, 8.2393, 0.4469, 0.7302, 0.1685, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.2324, 2.0548, 1.4231, -0.5354, 0.7025, 1.0054, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2558 right_y=0.3938 right_z=0.0611 right_yaw=0.082 right_pitch=-0.2169 right_roll=0.02 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1333, 6.3248, 1.1795, -0.105, 0.0073, -0.022, -0.8137, -10.2222, 5.7504, 0.9499, 0.3736, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db2d6aa6326127a7749d6be2633de7e20d9e58d8fb58476b3ee14019cfc4453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:539ae60da67ba2a481e268801d94d93b2bddcf1e288adfd8bf2a670304d4bda9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffb77c0d49af91ace383c06ddf5c0e0511e6a08f7ebebb35d0d8c8deaa1e16e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDSBJJ8OxgvB-loXz5fEBXD6lL3VawGJnRNi9P7qa4IryKObHXKFvvYCDFhBBFIKLBUJ-2OXNtvoVmUI_fdTfuP_3IlGvOCi3aG1U4B6V2Z_N3Dr3HNymvZ5HpXrRuiD7A13esRQRnUZUXEKqZZWRfcf790IS28zrvZ4HFzSE0L-NeBGzSEJBuAm_Q7PALOBGXdi51QaPFm9g82ugjuSeEkmLovsKd1fefGmvazn9C7lGxONTTpdEQlFPt2qdg9-7NOp7rfGax5kJPjNZB5QHKLTD9PWGLr4ByWIVChrIsJFW5iPIji-Ub-Ky4XM7DGfAL6JkQFUu1zpn3UO86id6cCTk_2UHDZt_AGZ-nOwzEhqxtk5qilBoqOCMxgy85OmLpc-EACs-8lY9Ro35SU_3hwMkegmMAKC35ASwgzMbNFaTSRiSjEk586Y28YIp7n3V-tBmf1UBBWp4nhB0yrvsrTZS-7E32_RfIWjOS9zld5YWTF8fgztuk45EMXWdhkEB0plmlDE62QX-i8Axf2ZOdmTXU0ysEDc8wRaIZI3_RF-ZIVQ2Utnclbht0YdoAGQzhmpymYKyR7BYqXLn0E8S1EX4jNQBRZSh-hQ9ewBPJ27ZuhTNyoge05168UjhEzbHah4a1XECiBlmBLwZZhRXP1hQhbZ0DEYVPMRWjagaaSP3QGUfrNqlZjAoM7R3fmQmi8cGFbARxm8uKJXqw-7JYqPWKLx7XhGqtfl4AfyPwe9tVIQtf2KlNYV4P1druE24slcfo90QVkDcrSmrm2GI4LRTHINDl2CvtkMRdi5Lm7uf2L5dTZ1ycBsPw9HsToAAUSydcIrG9mFhX3_ArxXgNTZZGzu1MhBL4mts1CFYTRfZd8OW9OQG2CsNrqQmhhPAYAYKZN8qIdtMhyijgexxv4wuKx0XNZGOo19iIBKPHWHmROSnHf3AfGAakGnIuTNIhMi6KAgyRhN0iP-9vhq-eedidGToVO_3s49BuKMMLde4wT84Xj3xftHtzSO2o692txUaRkGzZdtTRREdwHYWgxCpE-3gYDzH8pl5BNHeOF9ApnIbHckLNECfVRnnYRBCZZBtE_4aJoWoV0kOcWGFOb51Z8EeXaKOCR64vtziqJrRlnVt9SXCaL9UTXCzI_ZWWx6GiFBxy5sd9L0XmghU_ufzME1yaRbb4CmSJ-bLl0wbEkYQdCFoZZyLja-WOQ-rz17ybLc0QgBJ9eC9C9mIEZotJEwgsLIGfs1wrQQaXr8I3quh0Yt1dmbs2lArrbtRNuGT0Mta5jqTovWVyxdyHCszCpxjG4fx6Y0NNcKNHjxXZtGTjwQFu_po5EGEZpqHn1ZCv5ugYr0HUWTZAPsH-MRcdDlb6D_rEaei6DRdimn4i--QmsqhEhf4cLNqf34jkZiJHnnnpn_63adGPQ-MRehZISM-pj-kdd5sazxgDryes_GXNGuVLFkgz9OJa2uS3yy",
  "id": "rs_0eb908feb2dafbb5016ab4347fe24887d0a80eb321f34fd906",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.292,\"right_z\":0.04},\"note\":\"The brown plush is aligned with the jaw column but still has clear space below it in the wrist view. I’ll advance about 3 cm so its body reaches the fingertips before closing.\"}",
  "call_id": "call_dY4VMC8d4GCcK9nk2zHZVeSu",
  "id": "fc_0eb908feb2dafbb5016ab434809f5c87d0a83a56793f3191da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dY4VMC8d4GCcK9nk2zHZVeSu",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.1706, 2.0987, 1.4117, -0.44, 0.6678, 0.9405, 0.9965]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2806 right_y=0.3917 right_z=0.0426 right_yaw=0.0812 right_pitch=-0.2272 right_roll=0.0239 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.065, 6.1197, 1.1502, -0.0659, -0.0317, -0.022, -0.3897, -9.8667, 7.4325, 0.9548, 0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1817371e8c9bab7d185e212523188c98a9b9c73be25f4df1bc63a1fd7d53a529",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4bd489ea541f13e8e9f7d0722059584d9fc9de01ff8b36ec189403542ef1bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6726e155362df2313c5b25bd64cc9197528507733ac9129bebdc5b7a496201",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.64 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 0.6083, 1.7542, 1.1965, -0.2649, 0.4019, 0.4225, 0.9955]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.4199 right_y=0.2126 right_z=0.1224 right_yaw=0.0333 right_pitch=-0.1793 right_roll=0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -6.0786, 6.0923, 1.1258, -0.0952, -0.0659, -0.022, -0.1436, -10.5094, 8.1709, 1.4042, 0.232, -0.022, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.2324, 2.0548, 1.4231, -0.5354, 0.7025, 1.0054, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2558 right_y=0.3938 right_z=0.0611 right_yaw=0.082 right_pitch=-0.2169 right_roll=0.02 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1333, 6.3248, 1.1795, -0.105, 0.0073, -0.022, -0.8137, -10.2222, 5.7504, 0.9499, 0.3736, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.1706, 2.0987, 1.4117, -0.44, 0.6678, 0.9405, 0.9965]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2806 right_y=0.3917 right_z=0.0426 right_yaw=0.0812 right_pitch=-0.2272 right_roll=0.0239 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.065, 6.1197, 1.1502, -0.0659, -0.0317, -0.022, -0.3897, -9.8667, 7.4325, 0.9548, 0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1817371e8c9bab7d185e212523188c98a9b9c73be25f4df1bc63a1fd7d53a529",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4bd489ea541f13e8e9f7d0722059584d9fc9de01ff8b36ec189403542ef1bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6726e155362df2313c5b25bd64cc9197528507733ac9129bebdc5b7a496201",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSDUsrVAV1uzsANsNF4EW47hq1RNC2GllN2TsEsxik65YERWhioRjF3jivXmJ5MLRYvJZbbstP_kVjB2jTz-ImJQIgqf6TQUEwOxwuudOZPIanpU0Sk6QL3daaPfwf5xUjihH0cpQi8zRrnqond_Vtr26H8JjJBJpdsKvM-IomBnWkUPnQCz_AEnffRczdpFf4aaNVcswOXEUbyYbSgzf7T8e8YKUNqMlg80KtrSrah_TKE4B_0Ir-nFYsGnROmuW3Yveyd3aqOtTYT6PLMOW9m65vW982jhX4SjVI88kXBapTC27Xk-6qNOSQJQTamnJVgr5QlTxggNfxQC-B_pBTaqh5WM_eK3rEkBZNyyIIr0VHiA_8kdfhd3q6cBTmqXTK0-25qFFZCDr--imXDfOeq_4DBTNMjralSaFqTZyGIpHKuiWOlgRBMAxGnec3vyJsyA4ksfQ9lSplRR92AyNYFLiRZ5oai33b4wV8r7oPqvCSM5WANOCQNtio_vQ6yIy7_TS2OymeSEcWfMMvccipsr_jDKitxPJrycCpmIymwsLgXYtuco892ROkB1ltHO3KHkTutjCRVqQM49Bs1d2f_vX2AxVQaKWPOQJBqOOOrvaMk-SQ8mQ-tJ6YvjNaDkBfDDkm0xYEByH8D5I8IdlEkJitzGdcjKSGp948Psi24exuVCWtmnbpQ9yLIhnEwJ_6dWJXPAQ6Ey2duPT4MULTjgdsAxCoGcT4CBM-JS4nzuWH1PXYQIcCHPi1kAzrafyuP4pqzkxM8-Jr_A8NEhhe2JGuza-2OvKCQaqGyy7v7thPyYAGxNdNF51ksG1e9cB07LAay70ef3ml-jsfRkx5hKvcqshsvblJFt342E0Fe9Y0VhPe-vUq6PC4QsuIx8tAMJ1fdJExBJzcGS5q_b00sVWgkzwpKenj0qDB-7sc1shqmVeW53wjIUpbBBj9CjsKXZO6btJs8Qu6oghE5ubRK1ypDfw0nxAw397nsiND7vkHPtebgNl57414-E0_HOSu6zB5Api1PKLWZocGZIg4oH-zzW8otCFRNC1t074n8s7w-0AMsE-SQn-3k_LjZiEbR4ip14NLbqTIhX-rUP_N7ew9OVbdKK2sgo_jAboELJFenp7tQrUA8_a5YK3GyhzoG-dt7uj4tUuaMfEhLyFlHOCARSKYJ3qpNRiSKiWWWEw3wo8iaT_UI_AI15fs5e1xKzt5uq6Ch6PMmzJTOHjKqQg==",
  "id": "rs_0eb908feb2dafbb5016ab4348281ac87d0aeb1ec50de145cd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush now fills the space between the right fingertips at table level. I’ll close and check whether the jaws retain its body.\"}",
  "call_id": "call_VsSs15HK7BKgP3unn1eePioZ",
  "id": "fc_0eb908feb2dafbb5016ab43482b2a487d09f403e480953367e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VsSs15HK7BKgP3unn1eePioZ",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 1.1458, 2.1208, 1.4117, -0.4072, 0.6495, 0.9039, 0.0245]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2901 right_y=0.3906 right_z=0.0338 right_yaw=0.0884 right_pitch=-0.2362 right_roll=0.0153 right_gripper=0.0245\nstate[joint_eff]: [-0.0342, -5.9966, 6.2154, 1.1648, -0.1148, -0.0562, -0.022, 0.1709, -11.1111, 7.3231, 1.0134, 0.5348, 0.022, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0457a004ba6dc0d14601e1cf3cd7630e5be8afe2004c9d0b548525165b9313a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0568aaedc9b7fde7e698546d2f0da28fabb85906786e4a9a7daf5f2303915e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6f9721a8534ea518a9de16c5e691621961ccc0002d8666540251dc8e9a654c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.123 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2108, 0.9982, 1.2869, 1.8893, 1.6306, -0.9325, 0.7376, 1.0729, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0934 left_pitch=-0.5011 left_roll=-0.0395 left_gripper=0.9982 right_x=0.2308 right_y=0.3798 right_z=0.1717 right_yaw=0.0792 right_pitch=-0.197 right_roll=0.0342 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1197, 6.0786, 1.1551, -0.0708, -0.0513, -0.0269, 0.4444, -9.4701, 8.2393, 0.4469, 0.7302, 0.1685, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.1706, 2.0987, 1.4117, -0.44, 0.6678, 0.9405, 0.9965]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2806 right_y=0.3917 right_z=0.0426 right_yaw=0.0812 right_pitch=-0.2272 right_roll=0.0239 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.065, 6.1197, 1.1502, -0.0659, -0.0317, -0.022, -0.3897, -9.8667, 7.4325, 0.9548, 0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 1.1458, 2.1208, 1.4117, -0.4072, 0.6495, 0.9039, 0.0245]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2901 right_y=0.3906 right_z=0.0338 right_yaw=0.0884 right_pitch=-0.2362 right_roll=0.0153 right_gripper=0.0245\nstate[joint_eff]: [-0.0342, -5.9966, 6.2154, 1.1648, -0.1148, -0.0562, -0.022, 0.1709, -11.1111, 7.3231, 1.0134, 0.5348, 0.022, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0457a004ba6dc0d14601e1cf3cd7630e5be8afe2004c9d0b548525165b9313a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0568aaedc9b7fde7e698546d2f0da28fabb85906786e4a9a7daf5f2303915e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6f9721a8534ea518a9de16c5e691621961ccc0002d8666540251dc8e9a654c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab43485567087d0b4bab59fef3f39c4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSLI9IpFsKgJqetVRlPEwaeFdQ4U6_MyTkxQotczLCG6mj8LD7aVAjCxuS68ihoI3810Q7_azn0zTkIWJRI9CWGSbUOP6ksKpctXIb_Ib0ezdkdVSp6L1DmbuynttVbNUWe5pU680DRBkvIN0RGRo7TqluWWoF1VBapPK2DlWvIFnwCdTkbBd9D4EtkftpEF3C4qDmeThv9RmzekRiNR3Ud3xTFt06UzratDfnan8AlhKmllbarXsbx31AXk3Uzcc7-fKO31lC2WtSg5dxmWI3NXTVYzewr7IENcS0mL0COQpy3cE5FUt0AvllgAaAm5epPaOK1kt8k0UIjo9ZOK0XICIenhHbX-wTD1EPCsxOyVANfaFA03_C1fAEcruCJCgeLIk4syeXpIOqojLZxPxwospur0X4-ZPVnjk-yc9VnML27b-SgNkgp9LDW1fQMGtwYNZWeJI-06CJI6J8jST5q4k5aVRLeyOuSXJ-DLV9jRL8VZQXsWN-5LxE5SXQFtjDIQg4AwNMpMWNPeeTPIkv34JC0_VLqiCwM9UfbzVFyGc5hDUoVOkvU3BCMBAOtpxILkoK38odWfgCxtnoeMrj1_uQJidRWrrp46MD7ff-SAe0g2cTVDQ5gVHR28ljcFa37iUyE9vElmvBM5GAkblsgEBm3zDvSrgs1IbOHsfRtnEeKxRSyBl4j7JHhMBfwyJuFQ1TDb2Hov80O0K8VU7HAV5LeWMvO9PdZ0jYp2GPe2vaNa8jGPuqQoNEr0qESd_rKmbvF1DkCCXM1QtDdSFmNjqgHBzShoF-IBZYwG3PdU9SNv_6P-aEXD088J8sE6JANIQOGLPW5QcoeVSMgeEHWuu4fn5cKEVd6k8WAh0Kh0H3tCfE9yzbR4zB0b1V6rkvbJxx2UEqljn9_VBvlEZPe78FyEFJexyIvGv1t_RBSJl1RNvpHpOCFDIPu0FhYRreKyVJ3GcJwyrWQ0fm4bJngj-B6jhqBzstBKZQqx9yirC2_Rc2jxDuEsIRxB7CEXlcXPaNY-dZlyJaPf6Z4xI9FGO2jmq1xwTvkpBPPHIs8gjJtEU74lP6SrolIZUXhwluohs-D1m7mK7f-qUkac49yGw52EzqqACG2TcZ7IPXj6D7RdV7ZZdPEZ3cRvJoJin3H-C4xg-qJ8wdlCoSc3xH7JccIBP40gzyKrCRE5f3RmdCwsFVerOI0UdfyREaqsHxDFiEcEPRslI9WaMpuJDFBZmQVhDu1aTBGfNBiPMZJNvEwRBQKXv35dTWhKGaJ_iwVsPSv8kgzqHMlm5s3Oz3_qSMqYnNQFqT3pbKhJsOZrytFJUKhk7EoLhlIx2dWLVylr-ipYCwG3ALsWeCmgYBtpf822LVn13GeQ7ZPTeTh1erKAeH105xBvEE_GbzIVXxeSgMGWc17rYahn6r9bCyRO15LsYbsL2bYR0JNnKDTQFfPnFOeNe6gj-dzYfxrjD1tGdSlDWFy0oZJ0mmUko0GdnIw13Q_l4ME43uFq7cK02uO9Kyi16qBCMz9pBHNhPTc",
  "id": "rs_0eb908feb2dafbb5016ab43489cc9487d0bbaef75b43d1de77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.325,\"right_y\":0.4,\"right_z\":0.035},\"note\":\"The right jaws closed empty; the brown plush is still visible just ahead of their contact point. I’ll reopen and advance a few centimeters to catch its thicker body.\"}",
  "call_id": "call_WGoairnkv1wlIoySVjyuqmso",
  "id": "fc_0eb908feb2dafbb5016ab4348ab3b087d0993bfeae3d0db39e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WGoairnkv1wlIoySVjyuqmso",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0893, 2.183, 1.4963, -0.4088, 0.6159, 0.8352, 0.9954]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.3175 right_y=0.3951 right_z=0.0288 right_yaw=0.093 right_pitch=-0.2508 right_roll=0.0007 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -6.0239, 6.065, 1.16, -0.0855, -0.0366, -0.022, -0.6085, -10.906, 8.7863, 0.9939, 0.2759, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330d808b23daf3bbbbbf292d0e194cd0bdc7899802f17de151a810baa096b60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9452d75718ee49fc90c8650a9804cf45be6dba952c2edb9ce298c677d24e1281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58500924edce4f8d5580ec8014f3481c5986eb3f6f77a8e77170be6832cd97cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 7.568 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 137 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.2324, 2.0548, 1.4231, -0.5354, 0.7025, 1.0054, 0.9964]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2558 right_y=0.3938 right_z=0.0611 right_yaw=0.082 right_pitch=-0.2169 right_roll=0.02 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.1333, 6.3248, 1.1795, -0.105, 0.0073, -0.022, -0.8137, -10.2222, 5.7504, 0.9499, 0.3736, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 1.1458, 2.1208, 1.4117, -0.4072, 0.6495, 0.9039, 0.0245]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2901 right_y=0.3906 right_z=0.0338 right_yaw=0.0884 right_pitch=-0.2362 right_roll=0.0153 right_gripper=0.0245\nstate[joint_eff]: [-0.0342, -5.9966, 6.2154, 1.1648, -0.1148, -0.0562, -0.022, 0.1709, -11.1111, 7.3231, 1.0134, 0.5348, 0.022, 1.1062]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0893, 2.183, 1.4963, -0.4088, 0.6159, 0.8352, 0.9954]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.3175 right_y=0.3951 right_z=0.0288 right_yaw=0.093 right_pitch=-0.2508 right_roll=0.0007 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -6.0239, 6.065, 1.16, -0.0855, -0.0366, -0.022, -0.6085, -10.906, 8.7863, 0.9939, 0.2759, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330d808b23daf3bbbbbf292d0e194cd0bdc7899802f17de151a810baa096b60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9452d75718ee49fc90c8650a9804cf45be6dba952c2edb9ce298c677d24e1281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58500924edce4f8d5580ec8014f3481c5986eb3f6f77a8e77170be6832cd97cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSOZjQgjqSgiKEBP4NMwoKH5UQxkKFWPpq8gnJuYCrzKje5LGvY-R69su9LwXfrzlEyg7SBxp9jQ2ZR9I5RQ--sLeX2VdBTEzQIGemSfa8DKPg0oOn3-QlxDuhTTpwt82RQ8JtHMOs4IfGdZL9qls3DVivv2Sy1WKXIS4L43KNpGHqZ3IxZbYJlUGqam5gHZMgQOjuq_mCETL5qyO_Lq-LZ1hp8nCYl9U2PJ1E6vOskxUK0XlCNvl8_V6uFH5v-gYT7qxXW7iKhsAcMBEILucaCXmBD-pjdXvPLiiZr6cxt1_Nvi58_nJpNhG0qxiSG81uHqPUebRpop0NL8E1uzXCpmpE3s4cy3WFkH2vtW6WQHklmoIWGIap1w4D9y_DbVzdiJXZAscIO8pvL2IuA8quu2FTouxG47ar41S_pd-9aVOHKkUajuf7g9hM8BiT30O66vl6WFClxClz8IYDoMqDijKnxsHhJKAHg7hU_dZe19niFLe7gvzJN_ucgaQL_dhf1ExTcccYR-lzn88Tqlu-j9I60i_hJ7Dk7FFofwGa_hFG1yZxICnW8NaKfKI62-iHQfifdhA2BHBJSF2GL-lzh5e6AHl0NGm5_xRgKE3ckEW98v4leX8vmVLCc9y_mLUxeqoWFLfknW6cbj_B-m4oVUxbdrQXmTK99BsfO0cRZrs8FvevI781KNRaFLy7-zt6t3CWvc3dRmn_Ql66-pfPzl-2owRSyjMb-r6lY8tNmUvS0i8jrye4XBqVyPS-onD_rUz0lcJlM37rjvO7mwOUByiK68Yq9FYcvDkHJZlWXdP3oI8pVWEHO1NVosblVzNTZz5tQxEGjN1huI0ifjZI0dndQFconrQ4cfEc81Zfe8zpugR3IofMsaTce-I6d6nfubZTgwvvzIkwZDbuBzbo7g9y_dcfoTtS8WkhjAYkCLKIab-kC0Z0ek2nTKhmrjpfk843SSmK_pwwkodQze_oOcs4wWKmFnr1UID6dmdpwbYXwdQ2XInx89zqjdzxpYdz1WfEOi1-PX3kjiOIBEnZpKznMZaD6JyOyMucTv76vMIp-5OobWJlMEgDSTl70sL8OcYrs1L3Cy_Od4n4KAdG2xQCOAQ44T5d8Nr-9KDgJRsJqA25qddaItr0HgvNqswYgBFSDslA2o2HN7VA0Z7l_M9URRHKhu9j2MtJFEfgjsFUHCgGrpm2pq2BXVU-M-wW3QWGPiujiqOjywnnoGYRiiA==",
  "id": "rs_0eb908feb2dafbb5016ab4348e1a3c87d099f7632d54b4b081",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward move put the brown plush’s body at the bottom of the wrist image between the jaws. I’ll close once more and verify the opening.\"}",
  "call_id": "call_scsFRA72ka6YZaUTuUlIHudF",
  "id": "fc_0eb908feb2dafbb5016ab4348e3de487d08273d79659811ee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_scsFRA72ka6YZaUTuUlIHudF",
  "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]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0863, 2.1864, 1.4971, -0.4065, 0.6075, 0.8299, 0.0416]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.318 right_y=0.3954 right_z=0.0268 right_yaw=0.0977 right_pitch=-0.2573 right_roll=0.0008 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -6.1333, 6.2017, 1.1551, -0.0952, -0.0659, -0.022, -0.0205, -12.3009, 6.0923, 1.0574, 0.4127, 0.149, 0.9353]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1db2082d2f7dbfe9288d14d8acdde996a6b6131e6461c2c72635a68b81c074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576881a041df0a81ecd0456add88da77f8770e18f767c5500f30d3222c3401ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494b5d95c3eb3d3031c2e0fdefedc59a1ec3ca08d805b8db7285eb5c52a3d3f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 5.037 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 137 changed as sent

message 141 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1896, -0.0704, -0.2104, 0.9982, 1.1706, 2.0987, 1.4117, -0.44, 0.6678, 0.9405, 0.9965]\nstate[eef_state]: left_x=0.3559 left_y=-0.0134 left_z=0.2486 left_yaw=0.0931 left_pitch=-0.5011 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2806 right_y=0.3917 right_z=0.0426 right_yaw=0.0812 right_pitch=-0.2272 right_roll=0.0239 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -6.065, 6.1197, 1.1502, -0.0659, -0.0317, -0.022, -0.3897, -9.8667, 7.4325, 0.9548, 0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0893, 2.183, 1.4963, -0.4088, 0.6159, 0.8352, 0.9954]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.3175 right_y=0.3951 right_z=0.0288 right_yaw=0.093 right_pitch=-0.2508 right_roll=0.0007 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -6.0239, 6.065, 1.16, -0.0855, -0.0366, -0.022, -0.6085, -10.906, 8.7863, 0.9939, 0.2759, -0.0269, -0.1783]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0863, 2.1864, 1.4971, -0.4065, 0.6075, 0.8299, 0.0416]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.318 right_y=0.3954 right_z=0.0268 right_yaw=0.0977 right_pitch=-0.2573 right_roll=0.0008 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -6.1333, 6.2017, 1.1551, -0.0952, -0.0659, -0.022, -0.0205, -12.3009, 6.0923, 1.0574, 0.4127, 0.149, 0.9353]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1db2082d2f7dbfe9288d14d8acdde996a6b6131e6461c2c72635a68b81c074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576881a041df0a81ecd0456add88da77f8770e18f767c5500f30d3222c3401ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494b5d95c3eb3d3031c2e0fdefedc59a1ec3ca08d805b8db7285eb5c52a3d3f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab434912c4887d08a653607a7fab8e8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSX1g5fYubS36VWEhxrhtGL5Zg7hpRTculx-TNgKTF6d3vt7jW_Y-9JWpBveTXfk7bsIB7NTc-ZT3aE9BXkGhThmX_5-rMAZeYj4AAit7V17DqTMvqY-PyufYk27dyvHGMGWeK17vZe7Ol31u4LARNuZMvjZcBgRqexu_prAbt84ulhX5LlwP8vhiJrFPWYm7fvo4V3SZ1Dnmlipi4SGMnZIkrIYuodG2n6B-KVWf-_waQaFI7ph_aUrRDZ_4ryF0JLs7HjrRa8qJLgKuW41blt2XCAmeG4ticdW0G4NG1obkpTKHpfsjTFEhGm3i2LN5mZ2l2hJE0PI1qwD-bCeWXXkhdy-2VOjmpl_4lw789ELzPY0ayviRA_9gtIwPzPNvyBn5vMdvRxQlKb06l7k7yYCwhuIsStPBYyHcXiNpP-7649KLn-FXy8ImOWdFn8IGZg4DO07N2AvOcAECnVQheYou6vGlvVINhNZgR2Be1cOAaKtHsWW8s2pyWHAMO_REifGDiMpXqp4TfXaJWxMAIjcBgorHKmIbMPm2AkZuUwAo_eOxtncYQJJtuRmUSdcJmlqvDbLP7zgT3nLBcIaGOgZVebVV-a5V7SX7nEBQ4hu82zXESVmiAjRqIiICvdT5ZugBJwo1LDUJwBLo7OFOgwHU_tM5pmwIU-dVJdHj6IXip-z7muBXIHdXvBinxAze2cE07wELaxhAa8tQoYDCfzLby06FbLfMlRgiw1_t4EL5-ZHnu2WidsBQHpsA9hDRJjcCfygwaMQHQ1Y59zTRfVTofJ5rQwRMAyPZkfXXbWVlXhRH2Emnisr0xlcuYGYhMAtdoyNj23Kt1Up6uuRRSRYTev3qxwMy-6kHqV4E7I-FBwwFxc6-8zL8yCoCCfQc_XU8Fa8D8Komk8otLhczo-jZFa1B7WDBOy4qeLqHhjK87GVD3_ruOUVxfnhvdsIWAITJhk3TF7C7MSakXfmf3WYy9y37iuWcjzdLzdEkcZUuimHp7fxrdoYfHjd6g-TRCIN4clBFwUcetwIsFGE5wmOgrWOXoW_Yv1lcwQmx-NZEsYMNCn1TISPHSjQ2e5lRIKdhbe7jy6wdi9iUGO41iVpMtSZPd2zZ6j4oLEF62FWcQQA8XDLvmEwo09yR8YMIoZCuf7Frg_vpptcHuQ5xZJVnDcRHK5-JJlhTBS25k1a-5P_6zWvPmg-ceE06aZllD7azLWjZbaR94Ysfo-4i5ZWqMUfDVB2oCP_O4djtDyPaYop33d6e5Jd1_m095zpvYti2-j7A47QlvU8jdROVAYmbyNlyjGLJzLU9d8hVbyfpD7wkf1S0_fOHBSVdRNyOqCSb_awnfAzd4cysE4iNYrD2M7WE7fzbu8xWOgbGDAIkgy5weKMGlFMj1LPsTaVusnNI73kpox1Txu-6VFnQ4jsReemaqOTOIssc3XWK8zHFRWoC-RYcR9SLSirm1nLFTqRR94Mpl619XNapUEXdTsLWYhQb_d7WNvY57AJlo5pOfDusQB1ctOaH2BIH95kZDIhz5zA1u8CplRqZ8E_8ldTrhLWHef3Gp8s-lS1vbbOGoDVuAEfN8EOBbjw2GnC23ip79u5NHTL5cSArc8xBFf5D-AxHxDL0A8GEBMbkstAh1ouYmjvzmErAZAvp274dZ0Or76G5mcPXKw0doGcGe9eAempjZAAacEiarR9oyxIhzQ6bE_duU3SgJLQ07kgL-7jBuhXvAwBarrokWYsCmCmJGnVerigtqLuHy1wNfzWdQefRVjH0qtttRMYjTOvLQcXXhyG76_RPvpXd7aoj000SC9RLsBfcHLobNkFdobGRau8sgOpn1cO6TIcCpRDEQuDVZYy9Y9r6YLIZpTWzVHlIuRIxGqakfgU3R4pJyyQIdNzLTLiBd0cLwg4sccz_qdY0o3bZtI1hnFxprVld2a1AA2iP4_50uTy1dwroo7Goo7ru4KtxJK6DSJxlX_c6Xmjz1MxrjA6aN-2UlTEhftqg==",
  "id": "rs_0eb908feb2dafbb5016ab4349529d487d0803b11bdfd30ab52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right jaws settled only slightly open, so this grasp is uncertain. I’ll lift briefly and use the overhead view to check whether the brown plush actually comes up.\"}",
  "call_id": "call_c9HM0O2vxMJzMBZ4Qf5cm5aa",
  "id": "fc_0eb908feb2dafbb5016ab43496cd0087d09ecff13660cd972e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c9HM0O2vxMJzMBZ4Qf5cm5aa",
  "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]: [-0.0807, 1.5017, 1.6203, -1.1927, -0.0704, -0.2176, 0.9982, 1.0859, 2.1098, 1.9003, -0.8932, 0.59, 0.8261, 0.0418]\nstate[eef_state]: left_x=0.3554 left_y=-0.0127 left_z=0.2476 left_yaw=0.1 left_pitch=-0.506 left_roll=-0.0423 left_gripper=0.9982 right_x=0.3194 right_y=0.403 right_z=0.1529 right_yaw=0.1082 right_pitch=-0.2741 right_roll=0.0012 right_gripper=0.0418\nstate[joint_eff]: [-0.1846, -6.2838, 6.147, 1.1209, -0.0708, 0.0366, -0.022, -0.3214, -13.9282, 8.9094, 0.9451, 0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a63581244c3f7c11a2f742546e5e5f9c9152fcf97db4d0413a5cba10873ce2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764cac65521d66b5a6032f2e79f97876b10177b72b8d929f383d9b8f0a0bb5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd861016221f9542a33dca2c2e782ee250768e47ce2aea25a10972b04c8b859",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 3.196 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 141 changed as sent

message 146 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1904, -0.0704, -0.2108, 0.9982, 1.1458, 2.1208, 1.4117, -0.4072, 0.6495, 0.9039, 0.0245]\nstate[eef_state]: left_x=0.3557 left_y=-0.0134 left_z=0.2485 left_yaw=0.0934 left_pitch=-0.5018 left_roll=-0.0393 left_gripper=0.9982 right_x=0.2901 right_y=0.3906 right_z=0.0338 right_yaw=0.0884 right_pitch=-0.2362 right_roll=0.0153 right_gripper=0.0245\nstate[joint_eff]: [-0.0342, -5.9966, 6.2154, 1.1648, -0.1148, -0.0562, -0.022, 0.1709, -11.1111, 7.3231, 1.0134, 0.5348, 0.022, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0863, 2.1864, 1.4971, -0.4065, 0.6075, 0.8299, 0.0416]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.318 right_y=0.3954 right_z=0.0268 right_yaw=0.0977 right_pitch=-0.2573 right_roll=0.0008 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -6.1333, 6.2017, 1.1551, -0.0952, -0.0659, -0.022, -0.0205, -12.3009, 6.0923, 1.0574, 0.4127, 0.149, 0.9353]\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 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.5017, 1.6203, -1.1927, -0.0704, -0.2176, 0.9982, 1.0859, 2.1098, 1.9003, -0.8932, 0.59, 0.8261, 0.0418]\nstate[eef_state]: left_x=0.3554 left_y=-0.0127 left_z=0.2476 left_yaw=0.1 left_pitch=-0.506 left_roll=-0.0423 left_gripper=0.9982 right_x=0.3194 right_y=0.403 right_z=0.1529 right_yaw=0.1082 right_pitch=-0.2741 right_roll=0.0012 right_gripper=0.0418\nstate[joint_eff]: [-0.1846, -6.2838, 6.147, 1.1209, -0.0708, 0.0366, -0.022, -0.3214, -13.9282, 8.9094, 0.9451, 0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a63581244c3f7c11a2f742546e5e5f9c9152fcf97db4d0413a5cba10873ce2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764cac65521d66b5a6032f2e79f97876b10177b72b8d929f383d9b8f0a0bb5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd861016221f9542a33dca2c2e782ee250768e47ce2aea25a10972b04c8b859",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab4349980f087d0bdba562f59c37063",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.37,\"right_y\":0.235,\"right_z\":0.12},\"note\":\"The brown plush remains visible in the right wrist view after the lift, so that close missed. I’ll stop repeating the same grasp and reposition toward the upright pale plush at the front of the right basket.\"}",
  "call_id": "call_MJtwVCwzlcaw2hmhzkYkhWzP",
  "id": "fc_0eb908feb2dafbb5016ab4349c70ac87d0a444a7b25d103dcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MJtwVCwzlcaw2hmhzkYkhWzP",
  "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]: [-0.0807, 1.504, 1.6203, -1.1923, -0.0704, -0.2207, 0.9982, 0.7273, 1.7226, 1.1923, -0.453, 0.4015, 0.4965, 0.9966]\nstate[eef_state]: left_x=0.3558 left_y=-0.0127 left_z=0.2468 left_yaw=0.102 left_pitch=-0.508 left_roll=-0.0435 left_gripper=0.9982 right_x=0.3652 right_y=0.2374 right_z=0.1073 right_yaw=0.0889 right_pitch=-0.3116 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.3248, 6.0923, 1.1648, -0.0611, 0.0171, -0.022, -0.3761, -10.441, 6.612, 1.4725, 0.1783, -0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33bb1ff280d89b39249df023af6cb751deb3297314c9922e696b9a01e892d70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:918ce46eab94f0414521c079c2c9cecb8a7f66b2892945531cdf8af58753ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f6c0c66b48ee1fae0403bd4146d3ee63a37241399cd5a025c766eab7a2a967",
      "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 · 3.284 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 146 changed as sent

message 150 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0893, 2.183, 1.4963, -0.4088, 0.6159, 0.8352, 0.9954]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.3175 right_y=0.3951 right_z=0.0288 right_yaw=0.093 right_pitch=-0.2508 right_roll=0.0007 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -6.0239, 6.065, 1.16, -0.0855, -0.0366, -0.022, -0.6085, -10.906, 8.7863, 0.9939, 0.2759, -0.0269, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.5017, 1.6203, -1.1927, -0.0704, -0.2176, 0.9982, 1.0859, 2.1098, 1.9003, -0.8932, 0.59, 0.8261, 0.0418]\nstate[eef_state]: left_x=0.3554 left_y=-0.0127 left_z=0.2476 left_yaw=0.1 left_pitch=-0.506 left_roll=-0.0423 left_gripper=0.9982 right_x=0.3194 right_y=0.403 right_z=0.1529 right_yaw=0.1082 right_pitch=-0.2741 right_roll=0.0012 right_gripper=0.0418\nstate[joint_eff]: [-0.1846, -6.2838, 6.147, 1.1209, -0.0708, 0.0366, -0.022, -0.3214, -13.9282, 8.9094, 0.9451, 0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1923, -0.0704, -0.2207, 0.9982, 0.7273, 1.7226, 1.1923, -0.453, 0.4015, 0.4965, 0.9966]\nstate[eef_state]: left_x=0.3558 left_y=-0.0127 left_z=0.2468 left_yaw=0.102 left_pitch=-0.508 left_roll=-0.0435 left_gripper=0.9982 right_x=0.3652 right_y=0.2374 right_z=0.1073 right_yaw=0.0889 right_pitch=-0.3116 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.3248, 6.0923, 1.1648, -0.0611, 0.0171, -0.022, -0.3761, -10.441, 6.612, 1.4725, 0.1783, -0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33bb1ff280d89b39249df023af6cb751deb3297314c9922e696b9a01e892d70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:918ce46eab94f0414521c079c2c9cecb8a7f66b2892945531cdf8af58753ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f6c0c66b48ee1fae0403bd4146d3ee63a37241399cd5a025c766eab7a2a967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDShWmdw_3wbi3DtPqjq9eV-lmKth5KEXioF_irP1C0pHG07q5UNeV6hEL8P72b_1Tte5frVaZTVzIHlZaKrX3JO6N1hcDCtb1EvOAy3z8XYi65NazyboqzteSoG8pVHl-cl9Co_L-xXYQjCJZvlKKetx6ABrf5QyU__PzrmjnRNQ4DzOoI0SPSnRnP-f614x0WUHsa8h9O15wuJtqE187pXc_a-w7zAArX7Jqo-85lAJlB-VRTUSNA7X2hWp_aUZtKT2Nwm8dPUOqhFUWUYW6xHsq5pk71fqIcR7UuaE2M2lp6MaMYu_XaVFt6ffuQvNX-JOuOI_Pf6d4_7Mx1TIluGZJL_zaLKQcq0kOp4OsadA49RZBLLlL303vxPH1pY2VzsxlcvPwo82X55bTeWD4T34jlhveqdqAlWiBj1ukPsI1VTwjzWh6hXyUM7HJH1bYh9C_UVjslRya8qzGT_pPHaso6H2SQytjp8FelbZ4RP2nKSQAqkCyZNtk2ZGcvg1uV8N8m9YLAcJ6sWBbj0zN_2Auo98-0G3SyJb4vo5geExWSULsCZ9W5N-eMhPttG5iVHVlk5JUpLKDwuuBR1gNG2h7dwjgTDNtZcZArdyel9NyqIaGZTcGNqNcSv4zU8N7wWtgPnQ3940gjwURn54a4ErA4mcKBkOwYlmQ7jGP9eT--SZUMwb9UQ5IK-RL1h1mSqCEeV71q0kLNFHz2pgZX7nLACeFGyipZKvjxoneg_eDowi_S_6fM_TSYZKGFq8o4-BXRHSlCcgfz_ffqZEpFV_lxeuBUog7P-LZKla8ozcx1r9mVTNK4vKQL5ra56LUGJtsG7PWzmvUbKkIgmoq2nzOzLy3smjIh_TasP1AHv36pwHXboI_GzNhbdM04rKOQI0bzIwxi8mqPun0QEu6UsFczK6mRZUHU7bUruNvEzwqzh7SQ6sE0xYMYx8_keizzugLJFKcCrQdSME6rprsqJB1enafPV1F8QgCZYMJA9EsIBR1Ds2CpT6Ij7NIennfylpUOxZotwG9L7r5XlC2ySJHEYPeCzHNIsGkb-s3nSsfdlaAkF5JWnq-Qefy-dlzj_w8UUaqi9d01q5qwglzuQ1iUb3rvlqULFUrmb47JIY0OaNKX6x72f1_giQJ_98neEbpKhXSubG7YoXhY5LiDE80Ig_i8cN2vJgkEemw4r9TT7dk2RYOCMyteAbsHe-C96iI-BdIXNiEHJ56-qGwQUIq0Q60LKnKraSjl5h2pR4Clohqt1zYuXjQ8yFx7_jXfCjCwva8GnZVdmzEWSSr8uaEz1_a2hmEyyLx8PXbCZ05cG7zOB6He3wNeZ8HN3MVZXqfGENOJDMcMy9nLPkcwKriEXKupbjs7e_yXoibmndBC10QKhDaB6Vqc6MITndPSeTzB4YH_UyslSP1bxsKizb_yx1VS9vbXeZxyOzXPW5jCxcr0iJIdppskoxE9MEmwjBD3rnN5Lpl3xoZXWO2GCpX4L9t2COmwyXyGz2v1EWuUHfGKr41uf6rhd0A5leKF4xzSkVOaHIP0rGkmdUrYwdK3NfmVbIjVPK5jeR72xJpFKAAn6PbwUGtiKXc18VtOMUDVGt3JdfqiFoav00yb2dbTSGjaq9S12GMWBCevWbgnuhrreurr3CbLUKJcEvlQiC-rmJ1Wk2lzOKy4yTMrNsa5jHUxtcCdBXJoSr6136cZ8OiCE9_oAzid1ju-qlhpxYU4h1hTEnRisbeQ4owS-TQ==",
  "id": "rs_0eb908feb2dafbb5016ab4349fff5087d0bccbdea6539379ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pale plush’s torso and feet fill the right wrist view between the jaws near the basket front. I’ll close around its torso to move it fully into the basket.\"}",
  "call_id": "call_aUAMQTHpoLfQ9kbbCr01T5Is",
  "id": "fc_0eb908feb2dafbb5016ab434a1148487d09ad785364dc2f1ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aUAMQTHpoLfQ9kbbCr01T5Is",
  "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]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2214, 0.9982, 0.7204, 1.7187, 1.1835, -0.4362, 0.3832, 0.4911, 0.012]\nstate[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1025 left_pitch=-0.5084 left_roll=-0.0439 left_gripper=0.9982 right_x=0.366 right_y=0.2382 right_z=0.1068 right_yaw=0.1015 right_pitch=-0.311 right_roll=-0.0005 right_gripper=0.012\nstate[joint_eff]: [-0.3077, -6.147, 6.5299, 1.1355, -0.0952, -0.0562, -0.022, 0.3897, -8.212, 7.1453, 1.0916, 0.3687, 0.0562, 0.8034]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4bcb2a1044c711a94a81365c65dc8b5ab7a2c3e8ea978a6c09cdece1671aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296e4b39b0ddfd68853d22a93bfcc263cc7a97e5595260867e911d8341d0798b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74cb017fe4c04021c27360460574686bfe1eaa5fdc31b53825a5458e0d60e4c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.957 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 150 changed as sent

message 154 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0826, 1.5002, 1.6207, -1.1923, -0.0704, -0.2108, 0.9982, 1.0863, 2.1864, 1.4971, -0.4065, 0.6075, 0.8299, 0.0416]\nstate[eef_state]: left_x=0.3553 left_y=-0.0133 left_z=0.2483 left_yaw=0.0936 left_pitch=-0.5037 left_roll=-0.0389 left_gripper=0.9982 right_x=0.318 right_y=0.3954 right_z=0.0268 right_yaw=0.0977 right_pitch=-0.2573 right_roll=0.0008 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -6.1333, 6.2017, 1.1551, -0.0952, -0.0659, -0.022, -0.0205, -12.3009, 6.0923, 1.0574, 0.4127, 0.149, 0.9353]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1923, -0.0704, -0.2207, 0.9982, 0.7273, 1.7226, 1.1923, -0.453, 0.4015, 0.4965, 0.9966]\nstate[eef_state]: left_x=0.3558 left_y=-0.0127 left_z=0.2468 left_yaw=0.102 left_pitch=-0.508 left_roll=-0.0435 left_gripper=0.9982 right_x=0.3652 right_y=0.2374 right_z=0.1073 right_yaw=0.0889 right_pitch=-0.3116 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -6.3248, 6.0923, 1.1648, -0.0611, 0.0171, -0.022, -0.3761, -10.441, 6.612, 1.4725, 0.1783, -0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2214, 0.9982, 0.7204, 1.7187, 1.1835, -0.4362, 0.3832, 0.4911, 0.012]\nstate[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1025 left_pitch=-0.5084 left_roll=-0.0439 left_gripper=0.9982 right_x=0.366 right_y=0.2382 right_z=0.1068 right_yaw=0.1015 right_pitch=-0.311 right_roll=-0.0005 right_gripper=0.012\nstate[joint_eff]: [-0.3077, -6.147, 6.5299, 1.1355, -0.0952, -0.0562, -0.022, 0.3897, -8.212, 7.1453, 1.0916, 0.3687, 0.0562, 0.8034]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4bcb2a1044c711a94a81365c65dc8b5ab7a2c3e8ea978a6c09cdece1671aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296e4b39b0ddfd68853d22a93bfcc263cc7a97e5595260867e911d8341d0798b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74cb017fe4c04021c27360460574686bfe1eaa5fdc31b53825a5458e0d60e4c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSmJYGItIcI8kuYudlfkVr_xKboe1LdFK4BuuKIFlU8NiabmDAQhOJAU2SPDqUpwhexlYubb4vKG1Zf9h2mVh-GtJOZr2leEDBi8MTl9dYq7eT5Wp7d_5QAFMG4FmDifL3GNW_ZOcKenH1A_DHdX00h2JdT3kt0kDDznZ5T1XRf1LXgcnhIs92T9bheVaYtqQ9CG0k53gqq9Es0PlLg1GiscDaDTtx-ni_8rVMjyqBit1tlLIYZwdHMZMud7_bFEJRokThBRwQJ2wsbbYi-B7lSGdsgZ_83p6_8mncTsEBzeAYWUrh5tMl6U-UcisSEjhT4Ke-S7zCgWproBGoVKpO52RB9J1ngJCC2W77Le23zHabcA-5y34L5_ipeClCS8p70suQ0iPIuyH7vVn5uZxhQyegDLWOxhNVn6XbpJBY7D0MMDqiUyx1mymNvxxW4acjJ-kFHx62didelNJCHhyM2rC6dK2vL6B_YaPdpuhZkLa9cFHxqSO6za8dhFVftrAqWStjRHbnvJNRqWjN3R1AmmNURHX_ZJGDp-TJ0FFJMqQwA2_ISSITng-NdoBGn4WMxRYMhWmoNZJgzxMPemRysMJrwEZEg-y5M_h9m3q6gO5b9V5fp3ymLrXsbpffB5IDUwjwXP5CWwqnaBK31U56Vch-G6QqOBaiw3-k6bV5i9m0H5NA8AoXymELqbwIZjLbCUPA8ckFURCOPtwQSGgZNwiHr9JWxhuKJky3oKtwsR783nF-PK1Pxg9aM3Zrim-GRFOUsGN4pWmuwTS8hT_GAX7aKa9I7YRad_X4jT5MhF_yPvEv81QvOO4n9h1pGmzA0o5SMyJbY9txP-unzUGXsF8ZTV7jWg-wKiAHqFSn_w7vUPOYZxnpDwW4O9ibBuuQtzSB5_QA7cg1AXbYHUDDzKkmlBdz2UBIqGF3GI8K8CcWZPOYK4YMI7l9ZAw-pm3Xqt0_hdHUT5dlpV1sp5lkNiv03Y0bPz3vlLg6DVcbjDQPIUFEFyADsZPXmvleaZEZwhmXUfYafdkp93_BdcnXO4BlMFx0ft4RY5c991VblfrMJLlmMKTMzYCbleDIdhmLDRYgp67I1QadZb-YWGtn_AlnXVGhzSyay1cpANRcrNHp4V9L0O9BUsdoh0E1sxhnx30NCZV7xji6Jfg5C3P5_pqS_slK02Or2MwIVRLvbLMLARHaZj_b6VhJ5UyWc688ddabkFE7prV2semsxP_s_uaLA13FWgZtatjkZJBwehkXLe1oqO0Gq_BMFrt_-M214S7aZ3zp4W-_Jasshm5v4Ao9FyB7T4bD5qfU9rF4rlqgfm5g6XqL7WLq5z_LEGQ61U9JyOXBZ30X0PdOqjCX8vn6qpplZ9SSMy1-5_STEJ-nKWWAUkc5iynEHyVOdR-annNVdMI7w5caXCxruBXxabkd8lcjqaiqgmJJFUTei_PZRfePfrW1hc1sX9yXN7-z-3PfitQt-VCeayyUFxT5zunX7fN2EqaqxNDrUhYogNGJhXSUwNoYjmSmLDqpzLIyfQbVtoHaX6ol8D-8QvtAog_kwLGDLh2QcXZ2C3-46xR2qOczCjo7pFGQ74LPpNqgGFGXa52glL0vLFekFyftBtP65JZrzGRbivCwtk9Id0uxqeYRDF9G-ueX1D94DriMBaYXm3LOiFKQHc8kaqn5FM64GG3QQ9JRk5BhF9C-jH0rm81WgX4ijd1NU3Ye5H_KKZ3qjrjisaNGBOwN9ySxZnLjXHFu-SkvSq6EoQ-ZKDcpoOMMNv-75OcbpSTY_UftwkU4zyAcPQaBH6zKGYOEdBJCggbqWLpCkFhYpsLhZ4rTei6JnK1XIa8kCywqUzg0QE8PwuBsWmeKu2E8gCmmA2hWHOqYdIZtkxT5Dfa3eo8lg_uSJ5wApT7i__P4_0Ehj",
  "id": "rs_0eb908feb2dafbb5016ab434a4054087d09472ef295ee4a6b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.401,\"right_z\":0.105},\"note\":\"The jaws closed empty on the pale plush because its torso is still just ahead of the fingertip contact point. I’ll reopen and advance a few centimeters while staying above the basket rim.\"}",
  "call_id": "call_dOG4I9zIvQJ3g2OUZdfQOpHj",
  "id": "fc_0eb908feb2dafbb5016ab434a5714087d0a00c08a671c3f5a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dOG4I9zIvQJ3g2OUZdfQOpHj",
  "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]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2218, 0.9982, 0.667, 1.8069, 1.2537, -0.4324, 0.345, 0.4343, 0.995]\nstate[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1027 left_pitch=-0.5084 left_roll=-0.0441 left_gripper=0.9982 right_x=0.3901 right_y=0.2357 right_z=0.0942 right_yaw=0.1075 right_pitch=-0.3407 right_roll=-0.0189 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -6.1607, 6.3111, 1.1062, -0.0464, -0.0464, -0.022, -1.0051, -8.4581, 9.4974, 1.3553, 0.1001, 0.0366, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372616283f08dd15644ba63858a74bb42893afc3b588621798c1c81996434f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af63c272c52d1330f5fe0bca9681c92e6c6b2c9d139dd48f13dc74ca35992b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e003c99fb99bff3b0ffd5164d9bd33f9566e6151d74aed7bca483a327059219",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.913 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.5017, 1.6203, -1.1927, -0.0704, -0.2176, 0.9982, 1.0859, 2.1098, 1.9003, -0.8932, 0.59, 0.8261, 0.0418]\nstate[eef_state]: left_x=0.3554 left_y=-0.0127 left_z=0.2476 left_yaw=0.1 left_pitch=-0.506 left_roll=-0.0423 left_gripper=0.9982 right_x=0.3194 right_y=0.403 right_z=0.1529 right_yaw=0.1082 right_pitch=-0.2741 right_roll=0.0012 right_gripper=0.0418\nstate[joint_eff]: [-0.1846, -6.2838, 6.147, 1.1209, -0.0708, 0.0366, -0.022, -0.3214, -13.9282, 8.9094, 0.9451, 0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2214, 0.9982, 0.7204, 1.7187, 1.1835, -0.4362, 0.3832, 0.4911, 0.012]\nstate[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1025 left_pitch=-0.5084 left_roll=-0.0439 left_gripper=0.9982 right_x=0.366 right_y=0.2382 right_z=0.1068 right_yaw=0.1015 right_pitch=-0.311 right_roll=-0.0005 right_gripper=0.012\nstate[joint_eff]: [-0.3077, -6.147, 6.5299, 1.1355, -0.0952, -0.0562, -0.022, 0.3897, -8.212, 7.1453, 1.0916, 0.3687, 0.0562, 0.8034]\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 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1927, -0.0704, -0.2218, 0.9982, 0.667, 1.8069, 1.2537, -0.4324, 0.345, 0.4343, 0.995]\nstate[eef_state]: left_x=0.3557 left_y=-0.0127 left_z=0.2468 left_yaw=0.1027 left_pitch=-0.5084 left_roll=-0.0441 left_gripper=0.9982 right_x=0.3901 right_y=0.2357 right_z=0.0942 right_yaw=0.1075 right_pitch=-0.3407 right_roll=-0.0189 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -6.1607, 6.3111, 1.1062, -0.0464, -0.0464, -0.022, -1.0051, -8.4581, 9.4974, 1.3553, 0.1001, 0.0366, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372616283f08dd15644ba63858a74bb42893afc3b588621798c1c81996434f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af63c272c52d1330f5fe0bca9681c92e6c6b2c9d139dd48f13dc74ca35992b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e003c99fb99bff3b0ffd5164d9bd33f9566e6151d74aed7bca483a327059219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0eb908feb2dafbb5016ab434a9278087d09710991e5195a6a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wrist view is now largely occluded by the pale plush at the fingertips. I’ll close and check whether this deeper position secures it.\"}",
  "call_id": "call_n68BVbb6m3zBtapyS2Ctqe0K",
  "id": "fc_0eb908feb2dafbb5016ab434a9967087d0826062ea6b7dad4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n68BVbb6m3zBtapyS2Ctqe0K",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.504, 1.6203, -1.1934, -0.0704, -0.2253, 0.9982, 0.6662, 1.8107, 1.2552, -0.4332, 0.3344, 0.4294, 0.0124]\nstate[eef_state]: left_x=0.3556 left_y=-0.0127 left_z=0.2467 left_yaw=0.1049 left_pitch=-0.5092 left_roll=-0.0458 left_gripper=0.9982 right_x=0.3896 right_y=0.2371 right_z=0.0925 right_yaw=0.1176 right_pitch=-0.348 right_roll=-0.0158 right_gripper=0.0124\nstate[joint_eff]: [-0.0205, -6.1744, 6.2154, 1.1306, -0.0659, -0.0171, -0.022, -0.253, -9.6068, 6.3111, 1.326, 0.2857, 0.0611, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3396cf7a4a340f06b812c538e6db6771b6c67eef8242c54d95243bb91e1b9ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05794f71bee2519758fb662d0094cacc5935030f39fbac7f902aca47ec3aeb08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60a456b3f585a91843d7134bee11a625690ca2659aff0970859e84d95fd5436",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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