adhoc

completed
2026-09-23T20:09:37.100540+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
245.8 s
total steps
326
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two turquoise baskets at the back and a cluster of small pale objects near the middle of the table. I’ll bring the right gripper above the cluster to distinguish the object types and line up a first grasp.
move_to
right_x0.3400right_y0.2400right_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]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.371, -0.0193, -0.0261, 0.9992] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2971 right_y=0.0024 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6496, -1.8667, 9.4701, 1.79, -0.0122, 0.105, -0.0659, -1.0462, -1.5932, 9.7846, 1.6825, -0.0562, 0.0757, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.24,"right_z":0.16},"note":"I see two turquoise baskets at the back and a cluster of small pale objects near the middle of the table. I’ll bring the right gripper above the cluster to distinguish the object types and line up a first grasp."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe right wrist view shows a cream-colored plush animal just left of the jaws, with the nearer basket behind it. I’ll shift the gripper toward the animal and slightly lower it before closing.
move_to
right_x0.3350right_y0.2900right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6163, -0.3801, -0.0219, -0.0338, 0.9995, 0.8825, 1.549, 0.9848, -0.2497, 0.6815, 0.5327, 0.9991] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1827 left_yaw=0.0026 left_pitch=-0.0049 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3346 right_y=0.2373 right_z=0.1451 right_yaw=0.0289 right_pitch=-0.0415 right_roll=-0.0345 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.5385, 7.1316, 1.79, -0.0415, 0.0415, -0.0122, 0.0479, -7.0632, 8.7726, 1.4579, 0.5397, 0.1783, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.29,"right_z":0.13},"note":"The right wrist view shows a cream-colored plush animal just left of the jaws, with the nearer basket behind it. I’ll shift the gripper toward the animal and slightly lower it before closing."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteA cream plush dog’s head is now centered between the right gripper’s jaws. I’ll lower to the height of its head so the jaws can grip the plush rather than passing over it.
move_to
right_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]: [-0.0189, 0.8059, 0.6159, -0.3805, -0.0219, -0.0372, 0.9995, 0.971, 1.729, 1.1069, -0.2752, 0.7181, 0.6037, 0.9991] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0045 left_pitch=-0.0072 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3314 right_y=0.2851 right_z=0.12 right_yaw=0.051 right_pitch=-0.0715 right_roll=-0.0588 right_gripper=0.9991 state[joint_eff]: [-0.212, -0.9368, 7.0359, 1.7314, -0.0659, -0.0024, -0.0122, 0.4581, -7.7333, 8.9504, 1.3309, 0.5885, 0.188, -0.0073] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"A cream plush dog’s head is now centered between the right gripper’s jaws. I’ll lower to the height of its head so the jaws can grip the plush rather than passing over it."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper stopped descending at about 12 cm, apparently against the plush animal, and its head remains between the jaws. I’ll close gently at this contact point and check whether the jaws retain 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]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1072, -0.276, 0.7227, 0.6106, 0.9991] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3308 right_y=0.2855 right_z=0.1185 right_yaw=0.0471 right_pitch=-0.0717 right_roll=-0.0596 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.306, 7.1179, 1.7021, -0.0269, -0.0659, -0.0122, 0.1299, -8.1436, 8.5949, 1.3016, 0.442, 0.1441, -0.0073] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper stopped descending at about 12 cm, apparently against the plush animal, and its head remains between the jaws. I’ll close gently at this contact point and check whether the jaws retain it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe jaws closed almost completely, so they missed the dog’s head. It is still visible just beyond the fingertips in the wrist view; I’ll reopen and advance a few centimeters over it.
move_to
right_gripper1.0000right_x0.3600right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1061, -0.2764, 0.7189, 0.606, 0.0125] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3304 right_y=0.2857 right_z=0.1177 right_yaw=0.052 right_pitch=-0.0752 right_roll=-0.0628 right_gripper=0.0125 state[joint_eff]: [-0.1162, -1.306, 7.0496, 1.7363, -0.0122, -0.0269, -0.0122, -0.2667, -8.4991, 6.3932, 1.3114, 0.3932, 0.0269, 1.072] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.36,"right_z":0.14},"note":"The jaws closed almost completely, so they missed the dog’s head. It is still visible just beyond the fingertips in the wrist view; I’ll reopen and advance a few centimeters over it."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteAfter advancing, the cream dog’s face has shifted downward in the wrist image but remains in front of the jaw tips. I’ll advance another few centimeters while keeping the gripper above it.
move_to
right_x0.3900right_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]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9138, 1.7546, 1.1889, -0.3244, 0.6682, 0.5312, 0.9985] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3517 right_y=0.2827 right_z=0.1288 right_yaw=0.0662 right_pitch=-0.0994 right_roll=-0.0865 right_gripper=0.9985 state[joint_eff]: [-0.1436, -1.1829, 7.0496, 1.7705, -0.022, -0.022, -0.0122, -1.0462, -7.8291, 9.2786, 1.3504, 0.3346, 0.0024, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_z":0.11},"note":"After advancing, the cream dog’s face has shifted downward in the wrist image but remains in front of the jaw tips. I’ll advance another few centimeters while keeping the gripper above it."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe dog’s face is now centered low between the open jaws, and the grasp point is around 10 cm above the table. I’ll descend onto the plush for a lower grip.
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]: [-0.0189, 0.807, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8364, 1.8603, 1.2045, -0.2337, 0.6071, 0.4553, 0.9984] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1818 left_yaw=0.0049 left_pitch=-0.008 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3815 right_y=0.2775 right_z=0.0962 right_yaw=0.0715 right_pitch=-0.1366 right_roll=-0.1125 right_gripper=0.9984 state[joint_eff]: [-0.0889, -1.4017, 7.0496, 1.7656, -0.0122, -0.0122, -0.0122, -0.1026, -9.6342, 9.1829, 1.4872, 0.3004, -0.0317, -0.0269] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The dog’s face is now centered low between the open jaws, and the grasp point is around 10 cm above the table. I’ll descend onto the plush for a lower grip."})
tool
executing move_to over 4 steps (0.4s)
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 gripper again stops descending when it meets the plush, this time at about 9.6 cm, with the dog centered in the wrist view. I’ll close here and use the jaw opening to check whether it is captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8097, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2053, -0.2298, 0.5972, 0.4484, 0.9984] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1811 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3817 right_y=0.2793 right_z=0.0962 right_yaw=0.0819 right_pitch=-0.139 right_roll=-0.1091 right_gripper=0.9984 state[joint_eff]: [-0.1846, -1.5795, 7.0769, 1.7021, -0.0513, -0.0269, -0.0122, -0.2803, -9.6479, 8.5812, 1.5067, 0.3932, 0.0171, -0.0122] 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":{"right_gripper":0},"note":"The gripper again stops descending when it meets the plush, this time at about 9.6 cm, with the dog centered in the wrist view. I’ll close here and use the jaw opening to check whether it is captured."})
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 jaws closed to an almost empty width again; the dog’s face ended up just to the right of the closed fingertips. I’ll reopen and shift slightly right and forward to center the grasp on the head.
move_to
right_gripper1.0000right_x0.4080right_y0.2650right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8101, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2034, -0.2272, 0.59, 0.445, 0.0332] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.181 left_yaw=0.0049 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3811 right_y=0.2803 right_z=0.0953 right_yaw=0.089 right_pitch=-0.1424 right_roll=-0.107 right_gripper=0.0332 state[joint_eff]: [-0.1436, -1.388, 7.0359, 1.7411, -0.0562, -0.0757, -0.0122, -0.0889, -9.5795, 6.6393, 1.2674, 0.2759, -0.0415, 0.5543] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":1,"right_x":0.408,"right_y":0.265,"right_z":0.13},"note":"The jaws closed to an almost empty width again; the dog’s face ended up just to the right of the closed fingertips. I’ll reopen and shift slightly right and forward to center the grasp on the head."})
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 noteThe cream dog now fills the gap between the open right jaws, with its face centered. I’ll close once more at this corrected position to see whether its head is actually between the fingertips.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3801, -0.0219, -0.038, 0.9995, 0.765, 1.861, 1.2755, -0.308, 0.5327, 0.3706, 0.9948] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.179 left_yaw=0.0049 left_pitch=-0.0164 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4003 right_y=0.2649 right_z=0.1065 right_yaw=0.0987 right_pitch=-0.1828 right_roll=-0.1357 right_gripper=0.9948 state[joint_eff]: [-0.1573, -1.4154, 7.241, 1.7656, -0.0317, -0.0269, -0.0122, -0.6906, -11.7265, 9.2239, 1.2821, 0.3004, 0.0415, -0.2125] 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":{"right_gripper":0},"note":"The cream dog now fills the gap between the open right jaws, with its face centered. I’ll close once more at this corrected position to see whether its head is actually between the fingertips."})
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 noteThe gripper is still closing empty. In the overhead view its fingertips sit noticeably to the right of the dog, so I’ll reposition leftward over the dog rather than repeat the same grasp.
move_to
right_gripper1.0000right_x0.3700right_y0.3300right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.7597, 1.861, 1.2755, -0.3126, 0.5282, 0.3656, 0.0129] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1789 left_yaw=0.0049 left_pitch=-0.0167 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4008 right_y=0.2629 right_z=0.1055 right_yaw=0.0989 right_pitch=-0.189 right_roll=-0.1394 right_gripper=0.0129 state[joint_eff]: [-0.1026, -1.2786, 7.0769, 1.6972, -0.0611, -0.0415, -0.0122, 0.1026, -9.7846, 6.4479, 1.4286, 0.2222, 0.0513, 1.0916] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_gripper":1,"right_x":0.37,"right_y":0.33,"right_z":0.16},"note":"The gripper is still closing empty. In the overhead view its fingertips sit noticeably to the right of the dog, so I’ll reposition leftward over the dog rather than repeat the same grasp."})
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 overhead view now places the right fingertips over the cream dog, and the wrist view shows its face between the open jaws. I’ll lower to its head height at this new lateral alignment.
move_to
right_x0.3800right_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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9226, 1.9347, 1.5837, -0.6273, 0.5995, 0.4992, 0.9947] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3696 right_y=0.3288 right_z=0.1518 right_yaw=0.1289 right_pitch=-0.2016 right_roll=-0.1382 right_gripper=0.9947 state[joint_eff]: [-0.0752, -1.3744, 7.2684, 1.7558, -0.0317, -0.0513, -0.0122, 0.3761, -9.4838, 9.0051, 1.0916, 0.5446, 0.1294, 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":{"right_x":0.38,"right_z":0.07},"note":"The overhead view now places the right fingertips over the cream dog, and the wrist view shows its face between the open jaws. I’ll lower to its head height at this new lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe right grasp point reached about 8 cm above the table, with the dog’s head and ear between the jaws. I’ll close now and check whether the jaws stop on the plush.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8127, 0.6113, -0.3805, -0.0219, -0.038, 0.9995, 0.9073, 2.0155, 1.4048, -0.3851, 0.5941, 0.4782, 0.9958] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3746 right_y=0.3245 right_z=0.0775 right_yaw=0.1259 right_pitch=-0.2187 right_roll=-0.1632 right_gripper=0.9958 state[joint_eff]: [-0.0068, -1.1829, 7.0632, 1.7363, -0.0513, -0.0513, -0.0122, -0.7316, -9.2786, 5.641, 1.2674, 0.1197, 0.0024, 0.0952] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right grasp point reached about 8 cm above the table, with the dog’s head and ear between the jaws. I’ll close now and check whether the jaws stop on the plush."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe jaws stopped about 1.1 cm apart rather than closing empty, suggesting they caught an ear or fold of the plush. I’ll lift several centimeters and check whether the dog comes with them.
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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0224, 1.3987, -0.3576, 0.617, 0.4644, 0.1155] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3788 right_y=0.3233 right_z=0.0773 right_yaw=0.1184 right_pitch=-0.196 right_roll=-0.1767 right_gripper=0.1155 state[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7265, -0.0464, -0.0366, -0.0122, 0.0068, -11.5761, 6.8855, 0.9353, 0.0171, 0.0904, 0.8327] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The jaws stopped about 1.1 cm apart rather than closing empty, suggesting they caught an ear or fold of the plush. I’ll lift several centimeters and check whether the dog comes with them."})
tool
executing move_to over 7 steps (0.7s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe dog stayed at the same position in the wrist view as the gripper lifted, so it appears to be hanging from the jaws. I’ll carry this cream dog over the right-hand basket, leaving the gray dogs for the other basket.
move_to
right_x0.4800right_y0.1600right_z0.2500
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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0048, 1.6547, -0.6777, 0.5983, 0.4564, 0.115] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3799 right_y=0.329 right_z=0.139 right_yaw=0.1279 right_pitch=-0.2409 right_roll=-0.2047 right_gripper=0.115 state[joint_eff]: [-0.0342, -1.347, 7.1316, 1.7118, -0.0708, -0.0611, -0.0122, -0.0889, -15.4735, 9.2239, 1.072, 0.4518, 0.0513, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.16,"right_z":0.25},"note":"The dog stayed at the same position in the wrist view as the gripper lifted, so it appears to be hanging from the jaws. I’ll carry this cream dog over the right-hand basket, leaving the gray dogs for the other basket."})
tool
executing move_to over 15 steps (1.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe carried dog is just in front of the right basket’s opening in the overhead view. I’ll move a little farther forward and toward its center before lowering it in.
move_to
right_x0.5250right_y0.1850right_z0.2500
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]: [-0.0189, 0.8135, 0.6109, -0.3801, -0.0223, -0.038, 0.9995, 0.4343, 1.8942, 1.8332, -0.8295, 0.318, 0.0479, 0.1175] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0052 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4769 right_y=0.1643 right_z=0.2225 right_yaw=0.1126 right_pitch=-0.288 right_roll=-0.2162 right_gripper=0.1175 state[joint_eff]: [-0.1026, -1.2376, 7.2957, 1.707, -0.0757, -0.0806, -0.0122, -0.2667, -11.8359, 9.8667, 1.3211, 0.0659, 0.0366, 0.5983] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.185,"right_z":0.25},"note":"The carried dog is just in front of the right basket’s opening in the overhead view. I’ll move a little farther forward and toward its center before lowering it in."})
tool
executing move_to over 4 steps (0.4s)
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 dog is now centered over the right basket’s turquoise interior. I’ll lower it into the basket while keeping the jaws closed so it does not fall across the rim.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8162, 0.6106, -0.3809, -0.0219, -0.038, 0.9995, 0.4267, 2.1918, 2.3322, -1.0191, 0.3023, 0.0254, 0.1179] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0232 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5302 right_y=0.1872 right_z=0.2367 right_yaw=0.1315 right_pitch=-0.2829 right_roll=-0.2161 right_gripper=0.1179 state[joint_eff]: [-0.1162, -1.5111, 7.0906, 1.707, -0.0513, -0.0464, -0.0122, 0.335, -13.6274, 8.6496, 0.7106, 0.232, 0.1392, 0.7839] 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":{"right_z":0.13},"note":"The dog is now centered over the right basket’s turquoise interior. I’ll lower it into the basket while keeping the jaws closed so it does not fall across the rim."})
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 dog has been lowered into the right basket and appears supported by it. I’ll release the plush, then clear the rim to verify that it stays inside.
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]: [-0.0189, 0.8173, 0.6102, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8206, -0.5793, 0.3046, 0.0177, 0.1202] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5316 right_y=0.1881 right_z=0.142 right_yaw=0.1353 right_pitch=-0.2773 right_roll=-0.2214 right_gripper=0.1202 state[joint_eff]: [-0.2256, -1.1419, 7.1726, 1.6972, -0.0415, -0.0513, -0.0122, -0.3214, -12.0684, 5.2171, 1.072, 0.0611, 0.0366, 0.5543] 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":{"right_gripper":1},"note":"The dog has been lowered into the right basket and appears supported by it. I’ll release the plush, then clear the rim to verify that it stays inside."})
tool
executing move_to over 9 steps (0.9s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe cream dog is released at the right basket, and a gray plush animal remains near the left side of the table. I’ll clear the right gripper upward while bringing the left gripper over the gray animal.
move_to
right_z0.2400left_x0.3450left_y-0.0750left_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]: [-0.0189, 0.8173, 0.6098, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8038, -0.5663, 0.3012, 0.0067, 0.9948] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1761 left_yaw=0.0049 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5306 right_y=0.1883 right_z=0.137 right_yaw=0.1439 right_pitch=-0.283 right_roll=-0.2276 right_gripper=0.9948 state[joint_eff]: [-0.0342, -1.1966, 7.1453, 1.6825, -0.0317, -0.0366, -0.0171, -0.0889, -12.041, 8.1026, 1.2772, 0.1294, 0.0611, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.24,"left_x":0.345,"left_y":-0.075,"left_z":0.15},"note":"The cream dog is released at the right basket, and a gray plush animal remains near the left side of the table. I’ll clear the right gripper upward while bringing the left gripper over the gray animal."})
tool
executing move_to over 7 steps (0.7s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteWith the right gripper clear, I can see the cream dog landed in front of—not inside—the right basket, so it will need another placement. First I’ll line up the left gripper on the gray plush, which is currently far left in its wrist view.
move_to
left_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]: [-0.3687, 1.1309, 0.6163, -0.1886, -0.2779, -0.2222, 0.9995, 0.4278, 2.1792, 2.2917, -0.9485, 0.3008, -0.0013, 0.9958] state[eef_state]: left_x=0.3298 left_y=-0.0716 left_z=0.1275 left_yaw=-0.0293 left_pitch=-0.1083 left_roll=0.0166 left_gripper=0.9995 right_x=0.5368 right_y=0.1912 right_z=0.2387 right_yaw=0.1515 right_pitch=-0.2451 right_roll=-0.2214 right_gripper=0.9958 state[joint_eff]: [-0.253, -3.9043, 9.6889, 1.9219, -0.2613, -0.105, -0.0171, -0.212, -10.9744, 8.4718, 1.1258, 0.1001, 0.0513, 0.0855] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.03,"left_z":0.16},"note":"With the right gripper clear, I can see the cream dog landed in front of—not inside—the right basket, so it will need another placement. First I’ll line up the left gripper on the gray plush, which is currently far left in its wrist view."})
tool
executing move_to over 10 steps (1.0s)
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 animal’s head and shoulders now sit between the left jaws in the wrist image. I’ll lower the left gripper to catch its upper body rather than the loose fur on top.
move_to
left_x0.3400left_y0.0500left_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1249, 1.0599, 0.6636, -0.3126, 0.065, 0.0544, 0.9994, 0.4278, 2.196, 2.2906, -0.9672, 0.3004, -0.0017, 0.9959] state[eef_state]: left_x=0.3256 left_y=0.0329 left_z=0.1428 left_yaw=0.0248 left_pitch=-0.1442 left_roll=0.0101 left_gripper=0.9994 right_x=0.5355 right_y=0.1907 right_z=0.2261 right_yaw=0.1494 right_pitch=-0.2804 right_roll=-0.2318 right_gripper=0.9959 state[joint_eff]: [0.0752, -3.8906, 10.0171, 1.6044, 0.2369, 0.1197, -0.0171, -0.0752, -13.8188, 6.6393, 1.5458, 0.0611, -0.0513, -0.0024] 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":0.34,"left_y":0.05,"left_z":0.075},"note":"The gray animal’s head and shoulders now sit between the left jaws in the wrist image. I’ll lower the left gripper to catch its upper body rather than the loose fur on top."})
tool
executing move_to over 5 steps (0.5s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe left gripper reached about 7 cm above the table with the gray plush filling the space between its jaws. I’ll close on the animal’s torso and check the resulting jaw width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1913, 1.2476, 0.5072, -0.0425, 0.1062, 0.0879, 0.9995, 0.4278, 2.196, 2.2902, -0.9691, 0.3004, -0.0017, 0.9959] state[eef_state]: left_x=0.3286 left_y=0.0482 left_z=0.0681 left_yaw=0.036 left_pitch=-0.2143 left_roll=-0.0025 left_gripper=0.9995 right_x=0.5351 right_y=0.1905 right_z=0.2257 right_yaw=0.1492 right_pitch=-0.2826 right_roll=-0.2324 right_gripper=0.9959 state[joint_eff]: [0.3624, -4.2872, 5.3812, 1.5995, 0.1392, 0.1001, -0.0073, -0.0615, -12.4923, 6.3658, 1.4139, 0.0806, -0.0464, -0.0171] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper reached about 7 cm above the table with the gray plush filling the space between its jaws. I’ll close on the animal’s torso and check the resulting jaw width."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe left jaws closed empty. The overhead view shows the gripper on the outer side of the gray animal, so I’ll reopen and shift it inward over the animal before trying again.
move_to
left_gripper1.0000left_y-0.0450left_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]: [0.1951, 1.269, 0.495, 0.0544, 0.1093, 0.0975, 0.011, 0.4278, 2.196, 2.2902, -0.968, 0.3004, -0.0017, 0.9959] state[eef_state]: left_x=0.34 left_y=0.0512 left_z=0.0739 left_yaw=0.0338 left_pitch=-0.1515 left_roll=0.0126 left_gripper=0.011 right_x=0.5353 right_y=0.1906 right_z=0.2259 right_yaw=0.1493 right_pitch=-0.2815 right_roll=-0.2321 right_gripper=0.9959 state[joint_eff]: [0.1299, -4.6017, 5.9556, 1.6777, 0.1148, 0.0073, 0.8376, -0.2393, -12.506, 6.3385, 1.3797, 0.0757, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.045,"left_z":0.15},"note":"The left jaws closed empty. The overhead view shows the gripper on the outer side of the gray animal, so I’ll reopen and shift it inward over the animal before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe gray plush is now to the left of the open jaws in the wrist view and slightly left of the fingertips overhead. I’ll make a smaller inward adjustment and descend toward its body.
move_to
left_y0.0050left_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]: [-0.2462, 1.1629, 0.7101, -0.3, -0.1902, -0.1772, 0.9953, 0.4278, 2.196, 2.2902, -0.968, 0.3008, -0.0021, 0.9959] state[eef_state]: left_x=0.3384 left_y=-0.0469 left_z=0.1347 left_yaw=-0.0026 left_pitch=-0.1731 left_roll=0.0092 left_gripper=0.9953 right_x=0.5353 right_y=0.1905 right_z=0.2259 right_yaw=0.1491 right_pitch=-0.2815 right_roll=-0.2326 right_gripper=0.9959 state[joint_eff]: [-0.1162, -4.8479, 9.1692, 1.5458, -0.3199, 0.0317, -0.1441, -0.1983, -12.3692, 6.5709, 1.4139, 0.105, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.005,"left_z":0.07},"note":"The gray plush is now to the left of the open jaws in the wrist view and slightly left of the fingertips overhead. I’ll make a smaller inward adjustment and descend toward its body."})
tool
executing move_to over 5 steps (0.5s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
assistant
agent noteThe gray animal’s torso now fills the lower part of the left wrist view between the open jaws. I’ll close at this corrected position and check whether it is held.
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]: [-0.0216, 1.2385, 0.5053, -0.054, -0.0597, -0.0547, 0.9966, 0.4278, 2.196, 2.2902, -0.9684, 0.3008, -0.0017, 0.9959] state[eef_state]: left_x=0.3303 left_y=0.007 left_z=0.0678 left_yaw=0.0447 left_pitch=-0.2225 left_roll=0.0136 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2258 right_yaw=0.1489 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959 state[joint_eff]: [0.1709, -3.1111, 5.4632, 1.5604, 0.1441, 0.0757, 0.1245, -0.1709, -12.4786, 6.3658, 1.4383, 0.0611, -0.0562, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray animal’s torso now fills the lower part of the left wrist view between the open jaws. I’ll close at this corrected position and check whether it is held."})
tool
executing move_to over 10 steps (1.0s)
step 212
assistant
agent noteThe gray plush was missed again: its broad torso is visible in the wrist camera, but the fingertips are closing short of its narrower head. I’ll reopen and move forward toward its head for a more secure pinch.
move_to
left_gripper1.0000left_x0.3950left_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]: [-0.0219, 1.2488, 0.4927, -0.0151, -0.0669, -0.0547, 0.0111, 0.4278, 2.196, 2.2898, -0.968, 0.3004, -0.0021, 0.9959] state[eef_state]: left_x=0.3328 left_y=0.0081 left_z=0.0665 left_yaw=0.0503 left_pitch=-0.2061 left_roll=0.0176 left_gripper=0.0111 right_x=0.5353 right_y=0.1906 right_z=0.2257 right_yaw=0.1494 right_pitch=-0.282 right_roll=-0.2325 right_gripper=0.9959 state[joint_eff]: [-0.1026, -4.8068, 7.2684, 1.1648, 0.0317, -0.0073, 0.8816, -0.1983, -12.3145, 6.3795, 1.37, 0.0952, -0.0611, -0.0171] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.395,"left_z":0.12},"note":"The gray plush was missed again: its broad torso is visible in the wrist camera, but the fingertips are closing short of its narrower head. I’ll reopen and move forward toward its head for a more secure pinch."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
agent noteAdvancing brought the gray dog’s head into view near the jaw tips, but it is still left of center. I’ll shift the gripper left and a little forward to place the head between the fingers.
move_to
left_x0.4100left_y0.0400left_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0208, 1.4078, 0.8082, -0.1913, -0.0708, -0.0612, 0.9951, 0.4278, 2.196, 2.2898, -0.9684, 0.3008, -0.0021, 0.9959] state[eef_state]: left_x=0.3868 left_y=0.008 left_z=0.1088 left_yaw=0.0587 left_pitch=-0.2256 left_roll=0.0172 left_gripper=0.9951 right_x=0.5352 right_y=0.1905 right_z=0.2257 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959 state[joint_eff]: [0.2803, -5.3128, 8.8137, 1.5604, 0.0171, 0.0806, -0.0073, -0.212, -12.4786, 6.3795, 1.3846, 0.0904, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":0.04,"left_z":0.085},"note":"Advancing brought the gray dog’s head into view near the jaw tips, but it is still left of center. I’ll shift the gripper left and a little forward to place the head between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 225
assistant
agent noteThe gray dog’s head now lies low between the left jaws, where the fingertips meet. I’ll close on this narrower part of the plush and check whether the jaws stop before reaching empty.
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]: [0.0849, 1.5269, 0.8234, -0.1066, -0.0254, -0.0216, 0.9966, 0.4278, 2.196, 2.2894, -0.9691, 0.3004, -0.0017, 0.9959] state[eef_state]: left_x=0.4021 left_y=0.0423 left_z=0.0845 left_yaw=0.1033 left_pitch=-0.2468 left_roll=0.0131 left_gripper=0.9966 right_x=0.535 right_y=0.1905 right_z=0.2254 right_yaw=0.1491 right_pitch=-0.2834 right_roll=-0.2326 right_gripper=0.9959 state[joint_eff]: [-1.4291, -7.2274, 6.8855, 1.6825, 0.2271, 0.1685, 0.1392, -0.0752, -12.3692, 6.3658, 1.3748, 0.1001, -0.022, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray dog’s head now lies low between the left jaws, where the fingertips meet. I’ll close on this narrower part of the plush and check whether the jaws stop before reaching empty."})
tool
executing move_to over 10 steps (1.0s)
step 235
assistant
agent noteThe last close was empty; the gray dog remained below and to the side of the fingertips. I’ll back the gripper toward its torso and center it using the overhead view before descending lower.
move_to
left_gripper1.0000left_x0.3300left_y-0.0250left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0948, 1.5635, 0.8227, -0.0879, 0.0006, 0.0082, 0.019, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0017, 0.9959] state[eef_state]: left_x=0.404 left_y=0.0419 left_z=0.0732 left_yaw=0.0741 left_pitch=-0.2659 left_roll=0.0145 left_gripper=0.019 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1489 right_pitch=-0.2822 right_roll=-0.2326 right_gripper=0.9959 state[joint_eff]: [-0.5265, -8.0342, 6.8171, 1.6777, 0.0611, 0.0708, 0.8718, -0.0205, -12.2735, 6.3385, 1.4286, 0.0806, -0.0659, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.33,"left_y":-0.025,"left_z":0.09},"note":"The last close was empty; the gray dog remained below and to the side of the fingertips. I’ll back the gripper toward its torso and center it using the overhead view before descending lower."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteThe gray dog’s body is visible just left of the left gripper’s opening. I’ll shift across its torso and lower almost to the table so the fingers pass alongside the body, not above it.
move_to
left_x0.3100left_y0.0480left_z0.0200
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]: [-0.1734, 1.256, 0.6434, -0.2199, -0.1566, -0.1745, 0.9951, 0.4282, 2.196, 2.2894, -0.9676, 0.3008, -0.0017, 0.9959] state[eef_state]: left_x=0.3382 left_y=-0.0276 left_z=0.0905 left_yaw=0.0441 left_pitch=-0.2562 left_roll=0.006 left_gripper=0.9951 right_x=0.5352 right_y=0.1907 right_z=0.2257 right_yaw=0.1493 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959 state[joint_eff]: [-0.1846, -5.135, 6.1333, 1.3651, -0.2173, 0.0708, 0.0317, -0.0889, -12.2735, 6.3658, 1.4481, 0.0904, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.048,"left_z":0.02},"note":"The gray dog’s body is visible just left of the left gripper’s opening. I’ll shift across its torso and lower almost to the table so the fingers pass alongside the body, not above it."})
tool
executing move_to over 7 steps (0.7s)
step 252
assistant
agent noteThe gripper stopped at roughly 5 cm above the table with the gray dog’s torso filling the opening, consistent with contact. I’ll close at this lower position and test whether it grips the plush.
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]: [0.1684, 1.3022, 0.4068, 0.1608, 0.0456, 0.0586, 0.9966, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959] state[eef_state]: left_x=0.329 left_y=0.0514 left_z=0.0478 left_yaw=0.0823 left_pitch=-0.1709 left_roll=0.0238 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959 state[joint_eff]: [0.253, -2.0991, 3.3709, 0.6764, 0.1978, -0.1245, 0.1392, -0.0479, -12.3556, 6.4342, 1.4481, 0.1245, -0.0562, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gripper stopped at roughly 5 cm above the table with the gray dog’s torso filling the opening, consistent with contact. I’ll close at this lower position and test whether it grips the plush."})
tool
executing move_to over 10 steps (1.0s)
step 262
assistant
agent noteThe gray dog is still not held, so I’ll clear the left arm rather than keep squeezing at the same spot. The cream dog is standing in front of the right basket; I’ll bring the right gripper back toward it for a deeper placement.
move_to
left_gripper1.0000left_x0.2970left_y0.0000left_z0.1800right_x0.4600right_y0.2200right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1623, 1.3006, 0.4038, 0.2234, 0.028, 0.0525, 0.0316, 0.4282, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959] state[eef_state]: left_x=0.338 left_y=0.054 left_z=0.0587 left_yaw=0.0951 left_pitch=-0.1108 left_roll=0.0353 left_gripper=0.0316 right_x=0.5352 right_y=0.1907 right_z=0.2256 right_yaw=0.1495 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959 state[joint_eff]: [-0.2803, -4.1094, 6.6393, 1.0867, 0.1441, 0.022, 1.1258, -0.0615, -12.2735, 6.3385, 1.409, 0.105, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.297,"left_y":0,"left_z":0.18,"right_x":0.46,"right_y":0.22,"right_z":0.14},"note":"The gray dog is still not held, so I’ll clear the left arm rather than keep squeezing at the same spot. The cream dog is standing in front of the right basket; I’ll bring the right gripper back toward it for a deeper placement."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteThe cream dog is immediately below the right fingertips, centered in the wrist view, while the basket is behind it. I’ll lower the gripper to its head height before closing.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1181, 0.915, 0.6796, -0.4374, -0.1642, -0.1131, 0.9952, 0.5598, 1.9533, 1.5917, -0.5522, 0.3889, 0.0761, 0.9959] state[eef_state]: left_x=0.3042 left_y=-0.0034 left_z=0.1703 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0248 left_gripper=0.9952 right_x=0.4672 right_y=0.2179 right_z=0.1416 right_yaw=0.1611 right_pitch=-0.2868 right_roll=-0.2595 right_gripper=0.9959 state[joint_eff]: [-0.3077, -3.1795, 9.3197, 1.4188, -0.315, 0.105, -0.0513, 0.4855, -11.8906, 5.6547, 1.2527, -0.0122, 0.3492, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The cream dog is immediately below the right fingertips, centered in the wrist view, while the basket is behind it. I’ll lower the gripper to its head height before closing."})
tool
executing move_to over 5 steps (0.5s)
step 277
assistant
agent noteThe gripper stopped above the basket’s front edge and the dog slipped below the wrist camera’s view; overhead it is just behind and to the right of the fingertips. I’ll withdraw slightly from the rim and move right to align with the dog’s body.
move_to
right_x0.4500right_y0.1800right_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1192, 0.9192, 0.6834, -0.4549, -0.1768, -0.128, 0.9966, 0.5537, 1.9736, 1.4326, -0.2504, 0.4129, 0.0715, 0.9959] state[eef_state]: left_x=0.3023 left_y=-0.0013 left_z=0.1677 left_yaw=0.0846 left_pitch=-0.1151 left_roll=0.0244 left_gripper=0.9966 right_x=0.484 right_y=0.2201 right_z=0.1154 right_yaw=0.1488 right_pitch=-0.1676 right_roll=-0.2308 right_gripper=0.9959 state[joint_eff]: [-0.0342, -2.0308, 6.694, 1.79, 0.022, 0.105, 0.1294, 0.253, -6.5709, 3.8906, 0.5446, -0.0757, 0.0269, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.18,"right_z":0.075},"note":"The gripper stopped above the basket’s front edge and the dog slipped below the wrist camera’s view; overhead it is just behind and to the right of the fingertips. I’ll withdraw slightly from the rim and move right to align with the dog’s body."})
tool
executing move_to over 4 steps (0.4s)
step 281
assistant
agent noteThe right basket has tipped after the gripper contacted its rim, so I’m backing away rather than pressing on it again. The cream dog remains on the table in front of the basket; I’ll approach its torso from farther back.
move_to
right_x0.3700right_y0.1450right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1192, 0.923, 0.6827, -0.4553, -0.1772, -0.1295, 0.9967, 0.5144, 1.8786, 1.1332, -0.0532, 0.3805, 0.0532, 0.9959] state[eef_state]: left_x=0.3023 left_y=-0.0012 left_z=0.1663 left_yaw=0.0859 left_pitch=-0.1199 left_roll=0.0244 left_gripper=0.9967 right_x=0.452 right_y=0.1842 right_z=0.0739 right_yaw=0.1451 right_pitch=-0.1851 right_roll=-0.2256 right_gripper=0.9959 state[joint_eff]: [-0.0889, -1.7983, 6.9949, 1.6777, -0.1001, -0.0415, -0.0024, -0.5812, -10.441, 6.2427, 1.5849, 0.1441, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.145,"right_z":0.14},"note":"The right basket has tipped after the gripper contacted its rim, so I’m backing away rather than pressing on it again. The cream dog remains on the table in front of the basket; I’ll approach its torso from farther back."})
tool
executing move_to over 7 steps (0.7s)
step 288
assistant
agent noteThe cream dog is visible at the bottom of the right wrist image, while the tipped basket is behind the gripper. I’ll move back and down toward the dog’s head, keeping clear of the basket rim.
move_to
right_x0.3400right_z0.0750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1192, 0.9283, 0.6823, -0.4553, -0.1772, -0.1318, 0.9967, 0.5308, 1.4864, 0.9482, -0.2447, 0.3828, 0.0528, 0.9959] state[eef_state]: left_x=0.3025 left_y=-0.0013 left_z=0.1646 left_yaw=0.0872 left_pitch=-0.1255 left_roll=0.0238 left_gripper=0.9967 right_x=0.3807 right_y=0.1511 right_z=0.1361 right_yaw=0.1609 right_pitch=-0.17 right_roll=-0.2217 right_gripper=0.9959 state[joint_eff]: [-0.1436, -2.3179, 6.9538, 1.536, -0.1148, -0.0317, -0.0122, 0.4718, -7.665, 6.6393, 1.5018, 0.2418, 0.1587, -0.0122] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_z":0.075},"note":"The cream dog is visible at the bottom of the right wrist image, while the tipped basket is behind the gripper. I’ll move back and down toward the dog’s head, keeping clear of the basket rim."})
tool
executing move_to over 4 steps (0.4s)
step 292
assistant
agent noteThe right fingertips are nearly over the cream dog’s head overhead, but the dog is now too close to appear in the wrist view. I’ll make one small backward and downward adjustment so the jaw tips flank it.
move_to
right_x0.3250right_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]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.5972, 1.4509, 0.7162, -0.0193, 0.4221, 0.1062, 0.9959] state[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3522 right_y=0.1563 right_z=0.0962 right_yaw=0.1688 right_pitch=-0.1271 right_roll=-0.1946 right_gripper=0.9959 state[joint_eff]: [-0.0889, -2.0581, 7.4462, 1.6679, -0.105, -0.0464, -0.0122, 0.8, -4.7385, 4.5333, 0.9451, 0.3297, -0.0024, -0.0073] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_z":0.055},"note":"The right fingertips are nearly over the cream dog’s head overhead, but the dog is now too close to appear in the wrist view. I’ll make one small backward and downward adjustment so the jaw tips flank it."})
tool
executing move_to over 3 steps (0.3s)
step 295
assistant
agent noteThe cream dog’s face is now between the right fingertips, but the tipped basket rim is very close above it. I’ll make a cautious close and check the jaw opening before attempting any lift.
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]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.6098, 1.4605, 0.6655, 0.0204, 0.4255, 0.1097, 0.9959] state[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3434 right_y=0.1553 right_z=0.0801 right_yaw=0.1757 right_pitch=-0.1445 right_roll=-0.2028 right_gripper=0.9959 state[joint_eff]: [0.0342, -2.0855, 7.1726, 1.5849, -0.1099, -0.0611, -0.0122, 0.4991, -6.3111, 5.5316, 1.6679, 0.2271, 0.0855, -0.0122] 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 cream dog’s face is now between the right fingertips, but the tipped basket rim is very close above it. I’ll make a cautious close and check the jaw opening before attempting any lift."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe right jaws stopped about 1.2 cm apart, suggesting they caught some plush. I’ll lift straight up first to verify the dog moves with the gripper and to avoid dragging the basket.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1192, 0.9287, 0.6758, -0.4583, -0.1776, -0.1318, 0.9967, 0.6094, 1.4506, 0.6647, 0.0635, 0.4213, 0.128, 0.1282] state[eef_state]: left_x=0.301 left_y=-0.001 left_z=0.1611 left_yaw=0.0878 left_pitch=-0.1351 left_roll=0.0261 left_gripper=0.9967 right_x=0.3489 right_y=0.1598 right_z=0.0904 right_yaw=0.1717 right_pitch=-0.0967 right_roll=-0.1636 right_gripper=0.1282 state[joint_eff]: [0.0342, -2.0855, 6.9675, 1.5702, -0.1001, -0.022, -0.0073, -0.0479, -4.9846, 6.4068, 1.1111, 0.1392, -0.2564, 0.9597] 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_z":0.2},"note":"The right jaws stopped about 1.2 cm apart, suggesting they caught some plush. I’ll lift straight up first to verify the dog moves with the gripper and to avoid dragging the basket."})
tool
executing move_to over 8 steps (0.8s)
step 313
assistant
agent noteThe cream dog rose with the right gripper, confirming the grasp. The basket has shifted forward; I’ll carry the dog toward the center of its open interior before releasing it.
move_to
right_x0.4300right_y0.3000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1192, 0.9287, 0.6758, -0.4583, -0.1776, -0.1318, 0.9967, 0.6086, 1.3476, 0.9554, -0.3847, 0.4072, 0.1238, 0.129] state[eef_state]: left_x=0.301 left_y=-0.001 left_z=0.1611 left_yaw=0.0878 left_pitch=-0.1351 left_roll=0.0261 left_gripper=0.9967 right_x=0.3469 right_y=0.1609 right_z=0.1686 right_yaw=0.1818 right_pitch=-0.1506 right_roll=-0.1811 right_gripper=0.129 state[joint_eff]: [-0.0752, -2.0718, 7.241, 1.6239, -0.0952, -0.0562, -0.0122, -0.0615, -8.0752, 9.853, 1.4872, 0.2808, 0.0464, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.3,"right_z":0.2},"note":"The cream dog rose with the right gripper, confirming the grasp. The basket has shifted forward; I’ll carry the dog toward the center of its open interior before releasing it."})
tool
executing move_to over 12 steps (1.2s)
step 325
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]: [-0.1192, 0.9302, 0.6758, -0.4587, -0.1776, -0.1318, 0.9967, 0.7624, 1.9209, 1.6688, -0.5941, 0.4938, 0.2264, 0.1291] state[eef_state]: left_x=0.301 left_y=-0.001 left_z=0.1606 left_yaw=0.0879 left_pitch=-0.137 left_roll=0.0265 left_gripper=0.9967 right_x=0.4259 right_y=0.2959 right_z=0.1881 right_yaw=0.2071 right_pitch=-0.1727 right_roll=-0.1921 right_gripper=0.1291 state[joint_eff]: [-0.1436, -2.0308, 6.9402, 1.5995, -0.1001, -0.0464, -0.0122, 0.3897, -10.4274, 9.0325, 1.0867, 0.4322, 0.2515, -0.0073] 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]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.507 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.371, -0.0193, -0.0261, 0.9992]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2971 right_y=0.0024 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -1.8667, 9.4701, 1.79, -0.0122, 0.105, -0.0659, -1.0462, -1.5932, 9.7846, 1.6825, -0.0562, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144ba7c69c0a02347151b3b356024169b9693cd406c049114b1829f2b84f0be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d40253f1b02a7c35026df29bbd75151b0b36390b6d9de660d5c56b152bb307e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41befea06671b8d94ee7b8ad843804fd5e21ded0d5ba015b44e60f468ad86859",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.715 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_07abafd5897e38d5016ab4320fef1087d0ae81709f1471cf22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.24,\"right_z\":0.16},\"note\":\"I see two turquoise baskets at the back and a cluster of small pale objects near the middle of the table. I’ll bring the right gripper above the cluster to distinguish the object types and line up a first grasp.\"}",
  "call_id": "call_cwXSrH8Cicx8EjuqKkUonUmi",
  "id": "fc_07abafd5897e38d5016ab43213d07487d0aac0fbe824e8aace",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cwXSrH8Cicx8EjuqKkUonUmi",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6163, -0.3801, -0.0219, -0.0338, 0.9995, 0.8825, 1.549, 0.9848, -0.2497, 0.6815, 0.5327, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1827 left_yaw=0.0026 left_pitch=-0.0049 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3346 right_y=0.2373 right_z=0.1451 right_yaw=0.0289 right_pitch=-0.0415 right_roll=-0.0345 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.5385, 7.1316, 1.79, -0.0415, 0.0415, -0.0122, 0.0479, -7.0632, 8.7726, 1.4579, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20474a1847c20b4ad98082f135ac6bb594433f8c0a3f2da30ed22b9f3ea3d50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfc8c78ed84f366a73b40ae14597fb663c94d6f5e426f4a1a04dd2f47753d0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb20b1c932a270167dbdfc83898bb23aa8fe97000ef9a4c7e043aa4aef28908",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.463 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.371, -0.0193, -0.0261, 0.9992]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2971 right_y=0.0024 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -1.8667, 9.4701, 1.79, -0.0122, 0.105, -0.0659, -1.0462, -1.5932, 9.7846, 1.6825, -0.0562, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6163, -0.3801, -0.0219, -0.0338, 0.9995, 0.8825, 1.549, 0.9848, -0.2497, 0.6815, 0.5327, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1827 left_yaw=0.0026 left_pitch=-0.0049 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3346 right_y=0.2373 right_z=0.1451 right_yaw=0.0289 right_pitch=-0.0415 right_roll=-0.0345 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.5385, 7.1316, 1.79, -0.0415, 0.0415, -0.0122, 0.0479, -7.0632, 8.7726, 1.4579, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20474a1847c20b4ad98082f135ac6bb594433f8c0a3f2da30ed22b9f3ea3d50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfc8c78ed84f366a73b40ae14597fb663c94d6f5e426f4a1a04dd2f47753d0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb20b1c932a270167dbdfc83898bb23aa8fe97000ef9a4c7e043aa4aef28908",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIo1j26hIyw_-JApfrG5OmaOypayWLGYLPAsPAmfWn5fwV30N77tu4J0FVMJpUnSpRsuyn0Qm4bQZH0oDefHLwQ2UckJoCjdHDhV8gg8Rk6yIk6PwCZDUX_rX0svV4C60vmbnRrjVTIJZqqYGM57R58Aq9510gukpg5bcXaKjTL4Ch7COd8_QSkTsbVZmh3EJ9OQJVd3kM1im2GLLTelSa6K6FpZYKhWSmx-nvHr-errJC-dZvUCbkW9ibcsY6th-I3K6Qzwpo-cB0AusDr-HPW2RUQn9J8KaNWnE0BBucuhwdAHJ-HFexVH0n34HAhT1vDgFf5BMOpmdRV73VM3-2TuvBzHNEfo6-h1WkROnDuyyzzOmpU4oSW-UtC_mY53M8S9CoNG0WZ5BiUFRB1yfSLGZYNz8bcVKXDn5hLdsLwRcJArn3ZHhgN0CdZ9oPiMXIPBgWqNsRhcPvxCk1JzDzulOO6jbttyvvXTB7lx2Tb47KNTZZS12l7FPEBsrg37lVflW8K6KkpDItYDq4qSjeXU1914fkI3NVuZmVwx4hSSN99dTgyqdAKiojzV1PXVp02D81Ta9Go6GYeADiUbOj-Viw78yIYAnFE9va3B2moX7zDZqRTnCmb34wFAyAutT8mPXf6VmM0CUB4h-DvO7iUA6ndtMLbVgnLzex6Z5rXcl5ZfnW6uirVVmFDfFWV7H8ntRL2XdRpb4Alc6s08MhrVWEwFLV70C8hkPR024vXBqKLQiPcktI4gkg8Ztp4-AIUTcfeij873beNE9AzUEWBgOJIeoupYtc3wzlRg7CRkS7JfTmJHtswaDbbS6SRReCFPCg-9L9MTQ_OxcMtDFFqePYL2_KZR5R6CSqrupmun-lwXh8tpIbIeSgUBGqzFSPLelx5K4Q3-kRtDWq67CMpLmihB817mN39Oe4ypNaS-ixXu5p_HJ2kY3RYZtAfP_7A-jXhrUrxnK9SYVot0sS_DqCI-n8aI6Mvu2ejFLRK5pAKVHkNmWzAa3WxbYYlkW9Fz7uQ_UxgIv6cVYqmwIBVQRh4q08DxLmI4MVWRCrbL_weL08qxhf5RQUilJNCanELk6TxLdfUInIPWoV6D1wSo9SpHIAeFin1BgG42knqGL0JGkyZb_KQ4PSIBsItbBf6ZUwCVScQSQoVRfpP76fWcRHmNzA6X0Po1FG1r5uBz241JNCOypdg29wOHZuHakbZrzGjhqe-wKNoxwZIVXZA-hAxWFlU8EoG1aFoCtWJsYcBr8FbJlOb2ATw6yq6JhszAhTv8GOmaNiY14u5lLjBrl5qZbY46NWmJEWQRe6piwFK3D4mI3HkSGsxUPvW1UDWeIRVud21DHysLMECVe_ZlukS6MQ9VvS_2CBIIc47uUC5HBOGV0TCMrGDjyTn8-GBRvzAE_iRY_mqNIsZrBtaPzrjbWdknglGs96eUoZ8Vi2lCUzePFPbB_XiV0Yppm7uaxJtu3G0ezvANEoJ0YzngAuaD_HLDK9QzVtpzkKbn_IQR04ZClfoffVrjSm3k5ujoW9pSppQdfNmdnkHcG5u1lliBKalEzSsyroL_Dn9VIyG9asuGC97_dsscxnu2X3i9exAE7mDtoqEgPZhrrYC1WI5Fn8tPiSmytDGNeJONcp2ulOlt3eErsPpOdBo1jTgzriXvJK7KyJg5qrZobQAiiLtmlGMk2SmKE4UWVPAv9JwENyxzKkYHMy0mi4ArG7jkvHAZtCGO6bvSodDQ1Trt4DpZ2wr2iZrr7U6mx_zTQwVHH_o3mxbvyv68V9zNiKpBnuohxChLsNSD_vQJewTiw4eoxJVSzlCQVj5a5i7PNevz0qn5hH58QyL2NN9aPQmsUjiUwXdz38gNW7Nqb5zehj686Hy3_e4c93SRnC1BRjyQfitlUmheX8oqVVMuXfBdGf5LlGM0P0uRicAgc1ncN01c1We8qrey7C8oZMsdegWrx98NwLLhy62neznSkKgLdkWVzc5SL9G_3gU2GuPHRjh_y-H0qLd_ZZ9BvVHvYB0Zs-HmDt2EIJftO9kT7anQ8r3qFT-GN9KBzvCfT2MzSfU_gWKoIAMh9Yc1kmrzDs6988rTf0KKjWkw4NgQR5nNkPSKfLlnPegicHbWcwCK5dAWRZO98G88rMvUQoq4mPx3SCUBa-xjyk8s0bBR4dUlNsE76xCPUH3pk6q5EEJ7McnQ5WBR7Mpq9D2A3M4yIUA3bHjDU6AW8xPh2yhlrWA5-B6XRTnULveu8xClQz0ZnS05S63GCl-lsBJc5jy2lH2sY0wwHxFIT5v_IASrCUgTdLKHcS43dVTddS7rQsCRw3_x96u-NTtEel1myEa-E6E3UxxXbM4MkMlgW4qlyYhnNh4Zn8XWDEP6pvzLlUmXSzoYcFgXgpiZvZcwJP3-sJ3U3AgGWSddNryZyTn3r3j8vDn7HN2TMH0g-mHF2mAAMeYOm5uoCCV-_M3d9D6DD6Rri-Sl1w-wLwXlQVtZt-JG8Co7Su6oYKl0JwFWzw43mf970cQ7OYwBlI72HcJWs7US7t3KxgFoTUMq8RCB8CEYN_t25jAU7mqnYiGK_yEM7Kxx_IKv76fNxzoyUIuijMLhsMysiTI56m424AKk2rfFlEclUoy2la4HEZQiNyP0E4LWFSBdFiUCjo1v_Jid5GSXyh_tPOyXaGDdGvJrKSZbQmlFwE0lkWpLf6OCS3tZSnuIfVYGXfVtgGA1ivqaxB0i5emmDumb8sSC6YW4HiG77QjsKBFq8xrp0N66Fa42IY1xvp-ovqIACyCWj1-MEo10dWeUn-SyyoDrOBIOAg_RnDlofOVJRIUmLUjNIAah017np82wAz8g4DDSK-WI1UBiQ1zosVsmTshYrLv_GIPnJy5lm7q6gyNLEkJF7-k_DNe13-ttl7xDME1MtSBNMSzDnakEIPu7-Ps4E7EyeMrmsMoutthWx0UmZFEFhjLd1vPpYQVyBXm9JekqcWVIVKn2lKWfsO4xcvh5ch6gsOyhL6T0kHJDx9ptexDyNcx5Rkv0MVED96pmS0vgJNJCKUPLEkbGainucZIiB-mEF8CjhFelJL-MIgwkWEDM7YOn_XgiKp_QtRfdqrz-9GT7wfw8nnBjbIj47XsEv3J_uHyiAyzfBpinTGO8wRP9GxpPou2thaDeLCTyfxJERFLVA09BRPiFi5mvVANIBtjBZuu_X_fsAZ7r97U3dV7I7mpBb0RB0f1S2VqOdzaVvTLS2hKg9tHMFH8tJgKI5pDxnXQ",
  "id": "rs_07abafd5897e38d5016ab4322369e087d0abc9669bda3e5e1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.29,\"right_z\":0.13},\"note\":\"The right wrist view shows a cream-colored plush animal just left of the jaws, with the nearer basket behind it. I’ll shift the gripper toward the animal and slightly lower it before closing.\"}",
  "call_id": "call_dO2q29NNaBEuklVQGRXx28G3",
  "id": "fc_07abafd5897e38d5016ab43227210087d0bab8ec87b99742e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dO2q29NNaBEuklVQGRXx28G3",
  "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]: [-0.0189, 0.8059, 0.6159, -0.3805, -0.0219, -0.0372, 0.9995, 0.971, 1.729, 1.1069, -0.2752, 0.7181, 0.6037, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0045 left_pitch=-0.0072 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3314 right_y=0.2851 right_z=0.12 right_yaw=0.051 right_pitch=-0.0715 right_roll=-0.0588 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -0.9368, 7.0359, 1.7314, -0.0659, -0.0024, -0.0122, 0.4581, -7.7333, 8.9504, 1.3309, 0.5885, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b02b2e1f8d077bd1b63b66f5a56eae1e05917dc04b8d2200e5a4a15b092aa05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bac5d594d1680480293ebcac494bfe8f4c382a3d3b662d580625ce0bfb19830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29a2f98502ffa4a0cdba98300f8ab857a0396edaa2c70d90f07530151df2022",
      "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 · 4.042 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6163, -0.3801, -0.0219, -0.0338, 0.9995, 0.8825, 1.549, 0.9848, -0.2497, 0.6815, 0.5327, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1827 left_yaw=0.0026 left_pitch=-0.0049 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3346 right_y=0.2373 right_z=0.1451 right_yaw=0.0289 right_pitch=-0.0415 right_roll=-0.0345 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.5385, 7.1316, 1.79, -0.0415, 0.0415, -0.0122, 0.0479, -7.0632, 8.7726, 1.4579, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3805, -0.0219, -0.0372, 0.9995, 0.971, 1.729, 1.1069, -0.2752, 0.7181, 0.6037, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0045 left_pitch=-0.0072 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3314 right_y=0.2851 right_z=0.12 right_yaw=0.051 right_pitch=-0.0715 right_roll=-0.0588 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -0.9368, 7.0359, 1.7314, -0.0659, -0.0024, -0.0122, 0.4581, -7.7333, 8.9504, 1.3309, 0.5885, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b02b2e1f8d077bd1b63b66f5a56eae1e05917dc04b8d2200e5a4a15b092aa05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bac5d594d1680480293ebcac494bfe8f4c382a3d3b662d580625ce0bfb19830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29a2f98502ffa4a0cdba98300f8ab857a0396edaa2c70d90f07530151df2022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIuOVRwnedDUatsWZcuBeBl3_x8jI07rjDK3nCE-86T5_X36NDyPX2zCKyykqwn-5ivUw7gzlbGls5wmi_usP3Msn1eARJLiVI4TML7Ut7KhsPhEDM3nR5PjxqwlB320K9MosEaeayqZXLP0EY_pht-CUVW-5xKkqpPu9q1G7JTI2AK8LMQod9cuJnc2jOz1b9ypAwZDl_t-R2pa8EA1gOXocZCJFPe569rVZWoUc53wWVc2DIYnR58x9xHe13rPXJ4tw7wuCRLMQv0RCetABx-Z4wNYFgpy_G5jlyzjHE7j6EH8Zmv2HQQxkQbGHYu59cqlA0hC8xsmq_jRIezmONorHLaJk99CDJnzvzbWnUwBmnuNS1_JCZsdYHPfcZcwNyHMMsLh7JVT8_DMGAVuplAM3DBVpUnQONzlxtmDK9gq2vYCaS_SPJ4C1Gerfmrutz_8scqYZOhgGi_shzTVffqy6_jPcshVhqUvvnoDJ7aV69xTWm0ZxM2RuUhhqpJMqO83as4jJFyYcUudEVQCPoyL-5qUNGqsPn0329gAa17UIu5hVMP-Zpm0kOgiRhecKMOF5TxQQNmEfFIyA22vEeeII75sc_YWCZ36ZjiLQVRV3Hjpo8dEQnZVuOQvFlFRb-R2IwKmNtVbHUTN6aO3BBBfqNojdQgz9JEoQmZA7CXv4r1vLak5KFhGWypa5x0YKn6lk5BRbbEw7j44q6gd_YY8Niw1pgEOsYiqtY0-4Ytkd2Lr9Yabw3V9hLh-gcWDGgdPuNHJtIL5iCPEkeJsr5BbPE_4IQkJhufgzha7rWORzzHGmu50ELII7ETaRC3rb9YzLtzRA6DOL_6CZWGvddNNES04-Bz0byW583At7Z0S_zsfX21b5EfB4xthLUPmmFlHEEPGybLUJrCWMHJ_OV-rn5sUfIwhBdxn4_TT3LlNgU4vlVlK-y7lSRtDIWJ2t2gQAAwvOnRK5_Aci_BjyIgW3gAGo7Db5UaUIUmO0HRyO_p_JgV47rAkpm6z2fUkl92dGmQMcMFi01kegLdxYP8i_Q9c2SSsJ8ybwmX5XUlvlH0Pz-gFKftYjr_DyeNQpnngeTh6OZiDnhyoOmC0k2YTJaOX8vokWkU1bVpZH6KM1W8wO1pPq89f6apY2cxOTpFvJ13ENTQ0uKw3K0UUO_mZ-HAeHgkGWIWT_lEAvDY0txNWrqy4EekHHGlmI5KpWoEBrtqqOcQBGnmtUbx1oXKxA_w3MlCoOahG-kFOWXaK71c6b4ugjavzmNAbCFpUkoJtlUhiAcAxV6KtwIDsKpkulkVhyVZ4LMxbkAMHtgsrRmUu66SJ0sQCNgtb7zNYRdVABJOcWQi9A4EgvKoCt0IiIVFeebaQOgIE5salTYrzHXqbvIuYvw4Db-fMMAZXZoAYykpdAwU_jR4R-wISCQi67S5Qlu_U643GvPFqWWgeA6sNMU8PadXtaiCZJrI6wu4XE3GpcEwYnwS860D81EuWoOUlTp3PCkQMBwCZoqsFeKaagYXl6qRjSPk4u5vOGi-VOycfyHbz8lsD6ux1CkEwax1q2NqfQyvUUrT1t4Ej42DkBzWFcU9B6h_hYOFm774ChTeXaHm6yh3Cq_0wI2f2kFe2kX0qrjO4FSrPkj7cJ41yXGoq-AYs69NRYtdKNbokqRK9_vxcBh8CHZPbiqVXjmHNvdNwUehqDfmEYOPm69cLMC6cdauQJ1mdpZI2WgnFWA--BkQtPWVqSDmVwJ49Tv52_slIlbQ3JRAlLgkDsFbp5d3jg-sXu6ObbUjk5qDDdCUYsFVt2QdA2JlM2Zi7lx0AxC9wlUNJDcf9EUn57XiawC5_yLkODTKycFnQp547ZH3Vf-SMUSOE-KZa3Sz_3inWp3Ho0NT8tLW-ZRYmrirySg9m80oRNpKmx_vr4jOCXBQRBNOgw9EeXy0rTrZnkD0wzySFf3XGSiANLIp9VzqIWoATnCSJNvxCA-FpSJ6ETgmvTw5QkvX4TqfSVO326kJRO7wOKTz0bpp_9YRdypE0ipEb76vSs6ExGzDUFaTNyJb1sKPZlBcIOYld5IC1JvzHlO1By8V8HHTfIrpU6Z2LidxmDDwJf01OenQSi9YFsoaBbFz_EobBsLFkvZF5BBdQDKVql-8MMwkKEomy3dx_N84lExfU3PtY6od0IB-qPqppx_gKovoLKNXasuY67Ag32Sk_RtG-Z40Y4O_-ovejQybpN1WxIlYa-6hRSkAUxvJ2oIzp0mc1M-6yioyPCmahrQA_h9uLO4fq4hTdqo=",
  "id": "rs_07abafd5897e38d5016ab4322aca3087d0be00f9a07b0be3bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"A cream plush dog’s head is now centered between the right gripper’s jaws. I’ll lower to the height of its head so the jaws can grip the plush rather than passing over it.\"}",
  "call_id": "call_ASUS1GkJqGnVif0iEr0TafjI",
  "id": "fc_07abafd5897e38d5016ab4322d7e2087d0bb4fd82ed0eb119a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ASUS1GkJqGnVif0iEr0TafjI",
  "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]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1072, -0.276, 0.7227, 0.6106, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3308 right_y=0.2855 right_z=0.1185 right_yaw=0.0471 right_pitch=-0.0717 right_roll=-0.0596 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.1179, 1.7021, -0.0269, -0.0659, -0.0122, 0.1299, -8.1436, 8.5949, 1.3016, 0.442, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3295736229212904e2cd715cde8c9928a51fbf433032467a058ee531db33de8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824753976f265c1f06de82ce17ab28d2cbd2f9d728cecc1868798aaaf17aaa68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1804419891f358a9b650b98e2cef13e67366e848f32a0331eea7a3ea5e57cef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.624 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.371, -0.0193, -0.0261, 0.9992]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2971 right_y=0.0024 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -1.8667, 9.4701, 1.79, -0.0122, 0.105, -0.0659, -1.0462, -1.5932, 9.7846, 1.6825, -0.0562, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3805, -0.0219, -0.0372, 0.9995, 0.971, 1.729, 1.1069, -0.2752, 0.7181, 0.6037, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0045 left_pitch=-0.0072 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3314 right_y=0.2851 right_z=0.12 right_yaw=0.051 right_pitch=-0.0715 right_roll=-0.0588 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -0.9368, 7.0359, 1.7314, -0.0659, -0.0024, -0.0122, 0.4581, -7.7333, 8.9504, 1.3309, 0.5885, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1072, -0.276, 0.7227, 0.6106, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3308 right_y=0.2855 right_z=0.1185 right_yaw=0.0471 right_pitch=-0.0717 right_roll=-0.0596 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.1179, 1.7021, -0.0269, -0.0659, -0.0122, 0.1299, -8.1436, 8.5949, 1.3016, 0.442, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3295736229212904e2cd715cde8c9928a51fbf433032467a058ee531db33de8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824753976f265c1f06de82ce17ab28d2cbd2f9d728cecc1868798aaaf17aaa68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1804419891f358a9b650b98e2cef13e67366e848f32a0331eea7a3ea5e57cef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDIyCmhsNB0pUpHeY8QA47Bxd99aUfLxhr3v3FEJd7tB6_u7ttREdLHjFY8dHUNTSIDBx6TTvCJxtFp-wNO4NxcwbeTkY_OeO1FH1tpV-14X6zxfgAO2kM2ZkNc2plBFomZUCVOP2vBlOMafZyKvg27VJD0t_L5W7dZIBscHJK5Ka750ysy9Nog0kYTSbbhE-93qxP8349s8he9lAsg_336tqPsVGiWVjOBB5XTr8vLzth51f7VGC2SmwkPwK7L_NgIXFcIgFkjjT4CRx_FXjPpGuvkkyiSV1xdMZy0Dh7DBHnSNb05hRrsnyXU1PnXZlRY4xKbM9Nm1gQCP5lvxOxFEAfZ-OlN22C1j_LVxdXBAC70oRBNJKwxzO8yQaU7efuXKd0Y3-r1-a3ZfvFXqK8K1bwkkXvl3Dsy5HkKQ1IvuaUzsEBdgeWrie_FMnP1G0utfsG9qJCZMF4GKwkHlnTmtG9jFGT5vCT5-ZuaGO7avcNCL6ePJpZqncNQg8CSmxhB5CQ1eCaH6U64fWZvI8nPKBYYMrozInaBS_Iboma60C8urGLaymu91linplsU3Yl7NiGkDe3H2JTnWH33Uvsidu3kFOt_xRNjmsrjKx7_yTbIriPO5yIc-moE7AJrM3Ue9uiTp8RgzF1PaVoNkrQCR6X1Qic18CMgrjOiMFvoKbV-JSvZ4hEg-Uro4pp3Ldm-zi1ZB5TyYEGMC4_aOucmbuY5EHg-oZTCXyRjX1KhvqGFV4eIYP2sliBIkF7wP7Fy2TQQHnVOJ1HoqNbG_1kPEjBgNPMe6X_ECP3US4Qu5naalD6iBB9VeHwgkdyy0yN03k-Eidw9lDf0qow1wQHHN65--fPBUBR317bz5k2IPkd4ajY8ES4SqIn0byAYbtCfc9MZDX6_QclV0adeffHkgE2-0u2LZNWsiTZWZMS4nfls841jeGGhEN4qK1w78edCLmy6ANChSdlTuqPVhrELh5dwy7KjdqK_dxkfn0Dvd_RAav3L5mkxJaZMIN_avEWYRC6_DIWVZxlcQuGkLQQQF5rYowKS3ckwfRDo1bb4Tc5r00iGWZHUhNsvevux-ZbPnE5C1griYYeEmMzXWgQo3cIL6Uyr8ChbzCKAMzOtm1An4I2Oq0_964FCpJKfzlQHbxIVDc-eLnSxv8XYv7cn6XGpypXfwImNxqa1c5Rl09EIXIXHkVkvnlZ9-AMxpUTU_nklaVHgyZjFi_g5E7uIJRDjufKbeJu8Hli-cSFePJVFQo29pT0Sy7vAeFOf-v4-xizhsWt6i0LYuyx-fXkIt1WyWTeNeE1ab_m-bkpdF3xDJ6gTt32lCEYwP-UHe4bS2ACScK30KBMS-2P8Z9zf12bbqcoTZr7pgJZVH5PTVbBbe1WY1jsldykstH8qdPaCcYSQzd44wVWtea9KNlrB28FegWTAYNmlhUsRZS-6Z8v8-AyhPDZ6Xglg0OyZVME8l8_KwvuDYBmz3Ypvtp0jlX6EiOj0gB7v9VfUeRu9Jk25uoWYWXzdt30X3tSfteTbfJIvF3UltQyNaxlUn4LAqhHjpDSx8F-viG24w339swo-x0x0RyGm-J_G_FMykTgmY-nK0AapanDQ50EvE-vKgffoZFQFEOBQDfHBjBI_F8ZephpN7u-3__w2DQT-TfOc22I7lAf2HPlhBkYLEbXswWyg84q_9K3p_9Bc00EDKvPTDHf7VAdBeVNkErxjvqtyMgj0Z4t4GE0xCEq6aWkXbCt9mHOwuQurUAt1NBDu-Z8bZSX_H7zzn6Ae5zLcUY0CrHfLUviZMbmIXPRMoA5ONzUIBaKSsi_tAPJ9BZWc_S2M=",
  "id": "rs_07abafd5897e38d5016ab43230381887d090c3f577bcd72531",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper stopped descending at about 12 cm, apparently against the plush animal, and its head remains between the jaws. I’ll close gently at this contact point and check whether the jaws retain it.\"}",
  "call_id": "call_HF4l9LDn79tlahC3Qqoe9NH2",
  "id": "fc_07abafd5897e38d5016ab43231d52087d0af0d8ffc867f2122",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HF4l9LDn79tlahC3Qqoe9NH2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1061, -0.2764, 0.7189, 0.606, 0.0125]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3304 right_y=0.2857 right_z=0.1177 right_yaw=0.052 right_pitch=-0.0752 right_roll=-0.0628 right_gripper=0.0125\nstate[joint_eff]: [-0.1162, -1.306, 7.0496, 1.7363, -0.0122, -0.0269, -0.0122, -0.2667, -8.4991, 6.3932, 1.3114, 0.3932, 0.0269, 1.072]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0826051d1099f142f5b599518e6ba9eeb85d6128432e9690c4e991752923c090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b499a9891a5e28e3760c835a0976883ec814505cc287ba3a1acc1eda500dec1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8a322048b89ab2010840a9f0f81961201a262e546a985daa225debe01dea93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.028 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6163, -0.3801, -0.0219, -0.0338, 0.9995, 0.8825, 1.549, 0.9848, -0.2497, 0.6815, 0.5327, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1827 left_yaw=0.0026 left_pitch=-0.0049 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3346 right_y=0.2373 right_z=0.1451 right_yaw=0.0289 right_pitch=-0.0415 right_roll=-0.0345 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.5385, 7.1316, 1.79, -0.0415, 0.0415, -0.0122, 0.0479, -7.0632, 8.7726, 1.4579, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1072, -0.276, 0.7227, 0.6106, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3308 right_y=0.2855 right_z=0.1185 right_yaw=0.0471 right_pitch=-0.0717 right_roll=-0.0596 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.1179, 1.7021, -0.0269, -0.0659, -0.0122, 0.1299, -8.1436, 8.5949, 1.3016, 0.442, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1061, -0.2764, 0.7189, 0.606, 0.0125]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3304 right_y=0.2857 right_z=0.1177 right_yaw=0.052 right_pitch=-0.0752 right_roll=-0.0628 right_gripper=0.0125\nstate[joint_eff]: [-0.1162, -1.306, 7.0496, 1.7363, -0.0122, -0.0269, -0.0122, -0.2667, -8.4991, 6.3932, 1.3114, 0.3932, 0.0269, 1.072]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0826051d1099f142f5b599518e6ba9eeb85d6128432e9690c4e991752923c090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b499a9891a5e28e3760c835a0976883ec814505cc287ba3a1acc1eda500dec1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8a322048b89ab2010840a9f0f81961201a262e546a985daa225debe01dea93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDI4b8nmKsuoBcyAraVGkN5YjHSGk9Upb8xtzuHGiXb9ezpZZMPRrhFqxBm8ewfvhVq217dOSLVjEpfUz7sRmE-0_HkjrALdyyHpOLLpOMRpvUYDLTNaFE2B-yaCtPCx5jWhU-Aps_Uf5xU7DVZFCD55KCraLJrdbeBho_X6oSg74bIMfLOsL4TQ8tgD8SJDkDUZhL9oUptlpU0jPtEyl7bvvagOdzBUk235Qx6s5sbL24MZmNsxLLhE2Ao-chw0OAiYvSSHFbmQJeDJ7AWSG9yXUA2TMO9okKZZqw3hdCRh56rsn8hFW3aRUc9QLXWHoCgXoWnh9cPdWqXVtiegFjtWBKsECIo1qKWAqO026n2tnw-BgsXWZdab-ujKF_w3sv58-eJCiHcBYJ56YMJscN_SCCnl3rAzj6Mcm5V_p43uY6OBtFTVHLVtqoWusiNhrpGnjx1ycAAi4uB1Vw90ReWUUi3xjBg-Hf6_xJSAM1AeRpZ8l_BkZ_bO_zlIIvYkPO274C6f7ugM1klcfCq1kZPxd2WYVEMvEVrW1XvOh0087tblxZ1_kGhrTmSg65HVfxFh1sfDLe2sDghVAl_XprCVVW-6P7MPov9ruL4DNThEdNCVxneZVU0z-Z1gyNBRv_IfqbAH6zQCPDhFzHNW5HOIYBbDV7Y37j6AC3eDa_LKOOUHOd1wArsq566SSbHaBNuN1ZY_MwGHXqk0usaC6VGnvcBw0ag08i0dkWblsZH4Kc_IOCL8vaH57NRzocyXhti0fZtgHBAJUsUPNhOdFIEXRq-2su_sAQiMOaGWWs_xVFo4EnZhIJh1eIntvy-lrgQbinhD5OTBnXoTcvpdfLC2ZjkNV6JTX8usmn7PlaHbN-E3d0t3K1UIVlpwLUOa_pqK5Rveye6CEZqv9slsliInvQzPJMXsol0ybGbXoNc218SjBrjPSxDMCqJYOwl6zGFdy4wqAX0m-Mr-h8INKG-R0DkReBtTK-Xp6y0fdbAjBVKpDdbwu8FZG2tIfHMXpc2joYArJGS8_qh6ldJE5kwrS07DGtQMDGaSwHCEWTlF3EMWesjzjGOAxyxpIkFJmqY5jj_iTTAtYJ7gp4DNjJL9vtBoASi5mr27PRC-IAbZ1iXD8VqM_8HrCtoRlcKjWZfo43fbJQFsb4cfa1P53xo7TV2sDV88Hn3GbEV8hKbrTrvjOHG7qKJths3oaRa1UzBkeEPSFix9NBr9Y7GAue3xsv7I5Sxl5uNADbPPu1dVTiHvY7hJaTJnPZndwdcuQ2F1T5ciosuH7Xqob6eaMuBUwK6GCN97-vg_7RqRgssEwge_MxDvfCXII6x_aGq3D46MpZaZ3dNRxiE15ftrEMUMQSXnTvB3jZQg6T6_Tb1un2lBzxTWzo1cCm-_-Ucx3-EpuCU5p4aKYZJsmCrxSLhZjFvVi2NmRQzNzcS5IQgs5m7soWEeZsAnl0FhtEQ9DyzJTETKPLP52miQNy3PsbEqmuOrJ2cQwpwGiMijWmoYlZvnRafACN6hnoZUKsszxqrzO8Z4_wANAXQEqDRJl-w01wu6Bk4BsEGEsqGuu5WWH2lfSlVrUXxNzx9Gm9xgze7oFEbwpT7lMgpmjj6cmlS3KKCiUvpso4GBCkzKWkqPu5Ud9AcY1hNrGtpk96Q2I_4FTzGaa92Jt-C5QufopDqsu8vPPjQMd3c7paryfBJg3lKpUwSVIfku63iRMyVp1aEtFv2dKq5xtM3SZ_jTuN3Camo_Nj9xjGr1zJfKbg4JLW11TjEiC_mQZy-Evf3ODxRygZFGW8YYjl_rnMFUXNnELt6M-eY7o83e1lza6YdIrvF1LJmDKovMF8oZH-oUPxRkjsevixhHARiiulc3n8jz-tBBCDrfcaohq1BFUpvwAVQzy0Xf7NkYz0N2TaBG9L0p7Ef8ZT2oXikYeQtwtTHvI9YtyUaGtSlA3UalvXUsCCwEr5tsEhfp9fg_JwHJ75csMIFgBNckUgyl01rz0PxeIhsj2ZysOxFwwti0GcMSiYH7uTSKIH98j0k3pJlWcb-STPnIqNf28r-43MN9lIQWGIRMlFfqA7juAU3XMV050uWoYbelcVvLaVqBob1eSMDVHdVPrF5cA920GWk53xBl_uVu3wiZPChRSWUT6uMsu8iemmstmdp_NlXff-bUFDsOt75rThehWPoziN3yI0fcPZzicx4SIzVXnznvQ6V2Yn99NRcevfibMnL8FcNiO8X56UL2jw1f1Z3PsN8I8qc5XHtJRTkGz1_MWrZC8ajtNCHRr1hQftfOCGMPWH4UurdmPlX2LnQAQQ_WwBm-seyQ0kfuo_MKkQ9qeCkUi_Ed_WsjQZWJqVo9mseW7OQX1XmojHchNpi35vbD0_JalMd6zrKeLuJd8AJUFAapI8kIMSJL6LvTNT5_ayI_fenLI4WLrL-q7cfGPMv2Kx8uX8y5bwBAgNC8ae08LFQqokxfA4QE6bNsDTTNQasFFz3HYuEjkBD1Ba28t4kMjf0-Kb1Gu5HpmVJH2ehWltgmxD3vNxu5AFHQGj-EgRjuJ-EI1UosHtZKF729LMHkouBVyYpUsM_uXphq9W5Iul0vvVtXq5nEuqXRfIKGPPGic4J_Uuwu40XNd1-xr554whd7uPaRvBCSmE3mUZoLODl9B-TPfFazcZmorsIQoVdLpsBvSxC4OEGJ7FSOO-zPM9FSzoX6GQ==",
  "id": "rs_07abafd5897e38d5016ab43234c73487d0a145741b89c14207",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_z\":0.14},\"note\":\"The jaws closed almost completely, so they missed the dog’s head. It is still visible just beyond the fingertips in the wrist view; I’ll reopen and advance a few centimeters over it.\"}",
  "call_id": "call_TZBlJXTPoMF6erLuHaRqFTco",
  "id": "fc_07abafd5897e38d5016ab43237248487d080fb6070bb173aba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TZBlJXTPoMF6erLuHaRqFTco",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9138, 1.7546, 1.1889, -0.3244, 0.6682, 0.5312, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3517 right_y=0.2827 right_z=0.1288 right_yaw=0.0662 right_pitch=-0.0994 right_roll=-0.0865 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -1.1829, 7.0496, 1.7705, -0.022, -0.022, -0.0122, -1.0462, -7.8291, 9.2786, 1.3504, 0.3346, 0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87107c742d0cd41c519651c9d6dc246da999d947f1926bcb802659136be50226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d1fa01c84c35599a25fdf9ad12b2fce2bd4e1b5fe7414feaaf314ebc87bbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6837397a767e9e7af03447a89cfafaa8e00d0201c48c58571c432dde8291d533",
      "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 · 2.811 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3805, -0.0219, -0.0372, 0.9995, 0.971, 1.729, 1.1069, -0.2752, 0.7181, 0.6037, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0045 left_pitch=-0.0072 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3314 right_y=0.2851 right_z=0.12 right_yaw=0.051 right_pitch=-0.0715 right_roll=-0.0588 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -0.9368, 7.0359, 1.7314, -0.0659, -0.0024, -0.0122, 0.4581, -7.7333, 8.9504, 1.3309, 0.5885, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1061, -0.2764, 0.7189, 0.606, 0.0125]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3304 right_y=0.2857 right_z=0.1177 right_yaw=0.052 right_pitch=-0.0752 right_roll=-0.0628 right_gripper=0.0125\nstate[joint_eff]: [-0.1162, -1.306, 7.0496, 1.7363, -0.0122, -0.0269, -0.0122, -0.2667, -8.4991, 6.3932, 1.3114, 0.3932, 0.0269, 1.072]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9138, 1.7546, 1.1889, -0.3244, 0.6682, 0.5312, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3517 right_y=0.2827 right_z=0.1288 right_yaw=0.0662 right_pitch=-0.0994 right_roll=-0.0865 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -1.1829, 7.0496, 1.7705, -0.022, -0.022, -0.0122, -1.0462, -7.8291, 9.2786, 1.3504, 0.3346, 0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87107c742d0cd41c519651c9d6dc246da999d947f1926bcb802659136be50226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d1fa01c84c35599a25fdf9ad12b2fce2bd4e1b5fe7414feaaf314ebc87bbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6837397a767e9e7af03447a89cfafaa8e00d0201c48c58571c432dde8291d533",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJCcKmMQuoukVzioCTQFrGRkxiRHLg8T0bqljb8fTm0BJviPjdb6ERIobWtmGTYya-TinC0j1JwcSEvUybx7uGJnX_qqYh8tPRju7h0ayI0SEiDFbpwUVKqrMFh8ke4u2dCvdhy3ZvNG946LMHh2i6avcIi4wLcErqDJRLOCIDjb2h3HykHduIDNoS5XEqhVZRnlbOdaZ2_3u8lNQEzFFkkV0rKu7FhpJZeDwswJAErV6jcseiqAKVq1ipqhK8_UiQms9JHhc78uyMmg6eB4xoXH4oYluA604t_jz6c2ze0EzYvZOPLgV2lEv0iZ2DvmEPkODU0Ujo0IlSo9mQdptuwIl8B-3kms7yt7FBEgQWeg6Nn2CpgnOh9SAIDN38d6eUsyj6snIMcPaboj4TIXPfi_uQoRTv1LE9XX5pfHSf3VqebmLL2C5Eb8YJp8ku3Hrrh1vAij7LaI51J8sf2sDEhjXg7i_6osLWJKwiKEiXDT7U6TJJipZXPOkmUR-asspoAg6wt3pY1krz9VIlLJ4w_KUq4GQ3n4l2b9qqGFZYoPp6q1hXjj-eQ7b7XmoiWnCY6D-I-fSJ11anIsPbUKhfVHqEgy448CHK5DKMc-h46S5X1z4sLn9Pepio6p23MH5_Q9dpE6QmNbaae-n1DYkj5KzxI43MKymhAOMw0ovnAz3PRy9-pdWuqNnutvTBtoik2JMCeZ2lAy02IeYTTRVmB2lwsrihGYK9JGgWUhxx8Y6SKcGKGE2G1vFts4zwMiufAVYsRh4VQ36p7eA4WewBL8-Bo0v9XYmyatz7Tih1I0c_2wNVK_TLT_aoz7_1ozwb4I2PLMAMkcCnYei-GJAW6S2Uer7whMkg-VPDv4kwJ-NUO9ExtX7sJCcJV_1kKsN1rljv39M4yud2RxYZi_5DDG_ivU0BgqpPpL6Aqdx44VUuQImIYr6auuHMzLo_27WW_xJ09S9LHWe-lSHDmwSBG1qTE42uUyglS2Ieug1VfQ2RncneApfSnieO-9s3bCPY6scypVkVoYf3liyy1xzkTcPJmBCtoFNglAf8lzC2gMy9MZkKFb1MhEaTMSEcNhIcqMxaQCURpFZj7YFDeb7v-rUBUu5W7BhrSNP5wWKgkBu9LUm15NfRyk1vVotl1SM2o1KetDI1b3LM3WM10WT7xdb1Lj3IKiSz9E_Ni6wvOAR3w6EsuHhGR5yO7806co5WsNjqYCaiLjd-MkK9woVI3t__kHofraMiVFD1xB-PRq99dYX5_FLE2qxe6GUeiz3OhYIR5G17KG5MuYNLywXFsTiu-rfiw8QA7V2HXt98iDZLZFVu7Ezb1ojA3k8YshaOIn8Gn8acXDUGMs_Bpo95XnBhzcKzzTxspJmRd8JoOk6QYICnFK4qX48UsOghPfjd031isVUtIWmVhlccI8hIDgdLlKBqIvr3eA4KGdvO25m33PZrpVc4t7aY1AH8jyI_srZLjBDrLivFfpPDQAkIxRHHOW8cxp9_WVKumf0_YepzQT8USZaRTJ9U_Twi-EqaK2iD6beIsISx2FHEQymvHyLE5Icqr-gh6XdsOswzoPNMGF56P5PEJ9sqHSSrP48wupYzTIhkt6d0DXmIgjZMlKsPD0iA1swP9yao2gX6iL5cEZT_adh_9fi4CgaRBCMLxLT013JfHkqKmAVU5olcGbsoA4WABe4bKGn79xHMi_XrUbS3vMUfU6-uMGzZew_W4I8dTOJcJ4M6vnYOH2aO2oP6yCNWU40KeIjCfzQWqssUwrsCQ9VSLEJ5IjtvD3buT1IL-_uoB1iRf5ZpI0cuSlMkcaj0Eh5kr3Rp7srz8G2LSfQNgwoVfr_MohFTGtbGItgobDAb85s4r9dsIZQnzyYZ9lgjW6qaKbKiR83MhyEZ03Dy1AXEmqTF8_1fG1M7sfJ_69kUZWywWqzsIDHOrAJ6jDfWQ0V5FKtNF3I54ZQFRJYeGZMtbE9aX9sWlXgpi3grkJ9zeYeaDqTP5LfRsmQrPy3MZk8TdQ5R_ngpDZ5RQCzgf3YrA1rHNZlVzYyAWX7QY74T-CZVc151QHzbFetnJt1zScT51egPu68OOayufF7zTSQ8YI08Hzgv2Yny65mVIYMzckcGFYJ3DSm8yYkoyd0jh1V95aFhBuUh7yPOB3OHicu6G881j-nhCIaHDRbHVVLB8456Va2uM0-YIQY-CfvPabAKf5Gr78Pll7zqIohd4BA9X0SukgaU-2jhtzIk8VCXT8HQN7rmzwgebhHTb-UeO-P7h0eaK4o1yL8R2Ug96cjhb11SQLEIyWDmG0KYGkR6t9vGSLKpdofvZPmFIxntu_aJHLQrEClfT4IIVhHvwL0RKUZJ3X_98R8jEyxak0LKZcBbI6H_iI3Hqr-Xcb2SAzIccKK0BhYm3BjKPOC32BmixdJl2oEea15AVYCeY6DTYyTA7CfS1GDEEkKx3WTcUMFeDeS1b2IdVH97PWcVZMhyKBFZULAst7c_VldganBOlxzdE_lXg2apX7DLSUQSKRSHc8j2_vYZQZeMN5MtcF9FgrdIVQKcK3dnUdaMLcsCm-vIqQHhqHZjxDeC22YL4TFU8DY-hMSVcTOqlf3JzWs6ZCNSeresVWQbiovPsEa7DTmRbfeAFCdd2kYAW0Ep8BDHtQeBxEbpVKQg=",
  "id": "rs_07abafd5897e38d5016ab4323f10a087d0ad054152c9048370",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.11},\"note\":\"After advancing, the cream dog’s face has shifted downward in the wrist image but remains in front of the jaw tips. I’ll advance another few centimeters while keeping the gripper above it.\"}",
  "call_id": "call_pNRng8BfkZqVLTIKmrtaO5hE",
  "id": "fc_07abafd5897e38d5016ab432415d4087d0bed6e7562ec8573b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pNRng8BfkZqVLTIKmrtaO5hE",
  "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]: [-0.0189, 0.807, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8364, 1.8603, 1.2045, -0.2337, 0.6071, 0.4553, 0.9984]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1818 left_yaw=0.0049 left_pitch=-0.008 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3815 right_y=0.2775 right_z=0.0962 right_yaw=0.0715 right_pitch=-0.1366 right_roll=-0.1125 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.4017, 7.0496, 1.7656, -0.0122, -0.0122, -0.0122, -0.1026, -9.6342, 9.1829, 1.4872, 0.3004, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7660894a7b1264bf92de32e3806d3d25a74543923fb8b92452edbe181abbe496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb852a870507f236189d6f0bfbbd5197a3915a543783c961b1782a801b2247b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d65c6a67814ad182e85a98338e469b1fb942753e03dba715d063a0b004d379",
      "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 · 3.442 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1072, -0.276, 0.7227, 0.6106, 0.9991]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3308 right_y=0.2855 right_z=0.1185 right_yaw=0.0471 right_pitch=-0.0717 right_roll=-0.0596 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.1179, 1.7021, -0.0269, -0.0659, -0.0122, 0.1299, -8.1436, 8.5949, 1.3016, 0.442, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9138, 1.7546, 1.1889, -0.3244, 0.6682, 0.5312, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3517 right_y=0.2827 right_z=0.1288 right_yaw=0.0662 right_pitch=-0.0994 right_roll=-0.0865 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -1.1829, 7.0496, 1.7705, -0.022, -0.022, -0.0122, -1.0462, -7.8291, 9.2786, 1.3504, 0.3346, 0.0024, -0.1636]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.807, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8364, 1.8603, 1.2045, -0.2337, 0.6071, 0.4553, 0.9984]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1818 left_yaw=0.0049 left_pitch=-0.008 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3815 right_y=0.2775 right_z=0.0962 right_yaw=0.0715 right_pitch=-0.1366 right_roll=-0.1125 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.4017, 7.0496, 1.7656, -0.0122, -0.0122, -0.0122, -0.1026, -9.6342, 9.1829, 1.4872, 0.3004, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7660894a7b1264bf92de32e3806d3d25a74543923fb8b92452edbe181abbe496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb852a870507f236189d6f0bfbbd5197a3915a543783c961b1782a801b2247b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d65c6a67814ad182e85a98338e469b1fb942753e03dba715d063a0b004d379",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJFCbqHtUf-8PglxWhdI8OeQFElmRZQQN2KrxewaTXotiSO_5jC99rLshudJyQL_fPeMqOuaS1GsYo48C_T2kwbDJvFlc1uZCXnw_GvexEJiCVXTPrxAD2jy1ea65B5MmpdfVYPC5xWNh4-WaoAZfHS72q5RgAkfbY_CssNojquPJ7aZNcJjwNu2_jXf_snMDcTHRQ9ykPqQTlTUv_8RAs6YEG-EB83cnCiSdjd9bYhLNdkw0_sSm-WO-dKQ9BgOOPrfNZLEvb5nVXO0XjgjTPCm0Fw1etLx0tEVv6NzKEHBcAP1MFVanfOGonZnOXhjO0rczOYd34RllOK2vP91FVwiRatxBcUk97i168hdC3mJMkoYwjOY_uMsMGTJJszoHZvIZV5bGQCxUXVDTyKYnPoqSvjDU17_freYeUCQZEjN8046s4lITj8K3mAnLOnZIDdVWvZ0LM7ANVpzvjB7dmcne384x-XfKx1q38x3NOCtfDUYQMvo8cmje1TYhthtyBgpd3h0FT0k7s8M4twZ331_meHNLKxg-29HdHTExhGxJN5RQXXyUb0DB_sA_V3o8NfAIOBETmYzsCo5juybesWa_mYdj69hq9ms_jdkFb8Yh9_cHeNGX618tqfcLH9auUvuiRiebbRB2sLmMyiWtvPe4fvr__MmC1LlVuX_dcdvaaM5sykPhnmgy6HcUqi6kPjOcTPiVYTcNy88LYBayBiESp7txpPJ6z3KsBKPTyVxdlLLVTUCnHRexDtBRW_xEAUpMvXLvGGw-dr-H1pjwc6u7JV2aTb1OMlMEBTeFFKnFMaZngD32wDmzMg5YHnTPtdm3i3jObg4RygpOUvJ8EVqAWiPOPXCL8kQJsAkmPFuF1gj97eerJTk71abM4KlDxFlACJ96697ZrHOQNMwfqQ6XAoQgHFdrRo1E8L3T59Bie_vs7mGGnfDh0pz-5No9A5AQFdLpkYLUaWz1G017t9YGGA2hhobAVfHTHKKt8jE8JKq4wdCiXBroznKGQmTgEOzQD5D52d3KuCeuKNwy5S3lpymOXRVUGESWVVR3qbKLz9Hy2EwAKKudMcXtxZ7rKEU4xX6pHxt3GCNlnk6k_mr_wm6rAHh14ZZNtZynyL2AGXZa8Vmtr-GKtm_0SMrV4s9h4f1A2bAMHLgqwfSM5Qc2ZwQl-hTrRstZpxhk0qdUq0j65d4FcbkXo8JP2oJLFotTComqnrtUU_OAdpqr1aZlFu1-QvbtAEkj3ZihYycvAjw7xTaci_wppSk5DzKjll2jlSWHnw5p-1QKqqiKPsoS-3MsyTu0uX7Ze3FICL1_NBEUV_TVd-Ft0u5fUCcBd1mryi4JpcVNqH7nsKynSxC7wl7yqKwFU4KtvSEbvWkXCdei6nWm3IN8Op6VuO_i8CpMsAZXP9B8HstwLfMBLHksbyfXHhlzzHRQlvrjSOm0371C8fD1EhDeyEviqH_ojd5ZKffM7ollbbDTH1vowHwps_XotL_vH1b3UgcNJfGHo9VXlPBdyMNSttQCguPbDzHLLkHVyOicXkuTaY_iW-XM1kFfYJUSAHQzdojbArJfWPrtS26XbrMuF1oXkE3ovclJS-Ciz1LOp96WpBNnM1tvpjq_WL_vBD15_cbuTdp-5xA5nLtgN7Aae-m2k6_GHv1uR9UpFNW8iypfUVM4Ei3i8vZmhTDKSoJEHCxxS5Fpzf_hIQnaMsBT-cGEpUwWyRpyPO0BoMkn6Gyf2lGTZzgR2BC7piWkkG0UuhtSBxrLXX_dvpQfkfrl0ldW-TKBLoZr3cTxYCJfK0c2K_eciJW7joMnrWPTmmeKwtZnQ-Cpw=",
  "id": "rs_07abafd5897e38d5016ab43243d0c087d0a5b1496e7613e222",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The dog’s face is now centered low between the open jaws, and the grasp point is around 10 cm above the table. I’ll descend onto the plush for a lower grip.\"}",
  "call_id": "call_EZU6wO7XsyOiu27j84BL9ofa",
  "id": "fc_07abafd5897e38d5016ab43244f94487d0a9128c8f972627e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EZU6wO7XsyOiu27j84BL9ofa",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2053, -0.2298, 0.5972, 0.4484, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1811 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3817 right_y=0.2793 right_z=0.0962 right_yaw=0.0819 right_pitch=-0.139 right_roll=-0.1091 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5795, 7.0769, 1.7021, -0.0513, -0.0269, -0.0122, -0.2803, -9.6479, 8.5812, 1.5067, 0.3932, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc1bbb794c93771caba152eb6c047e40cfe547eff2c40a0659f17a64d082a74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65666f1386ccf129ed3bc184e940e34ab846ac2b853f5a1d5909e1c44b61ead4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bedb5a3ceb80a82d6efbdd6754e17e7cc7ec2a426414b4c464c5f7a8dac3496",
      "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 · 4.475 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9741, 1.734, 1.1061, -0.2764, 0.7189, 0.606, 0.0125]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3304 right_y=0.2857 right_z=0.1177 right_yaw=0.052 right_pitch=-0.0752 right_roll=-0.0628 right_gripper=0.0125\nstate[joint_eff]: [-0.1162, -1.306, 7.0496, 1.7363, -0.0122, -0.0269, -0.0122, -0.2667, -8.4991, 6.3932, 1.3114, 0.3932, 0.0269, 1.072]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.807, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8364, 1.8603, 1.2045, -0.2337, 0.6071, 0.4553, 0.9984]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1818 left_yaw=0.0049 left_pitch=-0.008 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3815 right_y=0.2775 right_z=0.0962 right_yaw=0.0715 right_pitch=-0.1366 right_roll=-0.1125 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.4017, 7.0496, 1.7656, -0.0122, -0.0122, -0.0122, -0.1026, -9.6342, 9.1829, 1.4872, 0.3004, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2053, -0.2298, 0.5972, 0.4484, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1811 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3817 right_y=0.2793 right_z=0.0962 right_yaw=0.0819 right_pitch=-0.139 right_roll=-0.1091 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5795, 7.0769, 1.7021, -0.0513, -0.0269, -0.0122, -0.2803, -9.6479, 8.5812, 1.5067, 0.3932, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc1bbb794c93771caba152eb6c047e40cfe547eff2c40a0659f17a64d082a74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65666f1386ccf129ed3bc184e940e34ab846ac2b853f5a1d5909e1c44b61ead4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bedb5a3ceb80a82d6efbdd6754e17e7cc7ec2a426414b4c464c5f7a8dac3496",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJJPax026s8n6J9gu3uHybufEbHCJvZ-wwX37izUEwt6V1BRUWmygCm2y4KwIsslep0SQ7LlhPrW0p3LD9jBrGrQSsDxXgFMYUHj_Ea83akE4Ij2Mn5BZt6jqz1Vg8GikScEBzLw8XEDjQX77QM5b2EvVxncovAK3S1FbN3ICwpoodYH8ZpHAY8WeuITSXEqyDFHJ7MdFz4vnEbPigtMY_Zc7I8oU5rxvXj-TT16fMUJUnEDSoEsAxczjJNd2DEhq7PH62Bmxto2kjYeQBXMoP8_5RXEzc32b8HkbN6HGwxCGa_z840zvaLnS0qPIJ_jXZtCJzllRCqlu84NC6SWRLsr0K_pYRmSFnL66dqUEnlfosKepbOUcfGxIGprmm1M0Umw6e7w4Wjyjx8-GsFPhqoNHGbYE5cBesIhVFlEm8K81UaLAbFRtDcBXUC8o_TkLp2o2fhRpkFlzA0SLiHeaI9zd6mt3pGy0apRxGYf_QHxsDjlpLnQgKCSmBlQzGNNMB20o4S3f2NvVfcp5cEV6wL-a0A527bPhn-XDZwEBHN-8A1CX0iw2H8bfNpEevW3_GZ9Zi_BHzLGMfw5mutCD7FmiGKw4X0WDC3_-uoB3M0LS-tD76aVtQ_PRm8Sj2TqivFoshLdhOFfZwA2QRseyZgvKudfPnzjnNYh2eS24udiwbADnQLMNj0RjHTSvtEG1DsZb2apQzHdWUP3_Bp1DWMxF9mpMgxivDx3CqBc1wFNRDQqlPp3N55txy8PWYiMod2-7z7oAf6yumP8kquj0jJ8S9p4KnuavM_qx26NuM0Tx4lhaPCNV-klGeRbkjXkEwLmOR_Av-g_71ArCGU9E2ca2WoMzEmEIllYjDlKgCLHkpHcqAjzXJY2R89k-e-U7z7RtZ0kX6ydi8LtnjApHbiw7Djy0anZdqywO-P6SuNcEtKqWEmyib24cVnsDvSw-d0Dgwfpv6UMyNQmoR9vtAcngvi1MmUKD98duxN_Ct-hOY0GoszvXcxi_Kw4oC6b3fO27U588T8A13xgd7aqhCDcdx8gPGpPW72gFA2Llq47hsxYnZGp4kzeCZEDRcu3aBYJUao5L-gxbuZkeXAc4aal25AvzX2ewGWc3LXEcmYNCkCLchxFIHliNK8GdhBdaY5mefsKrJkIFSKqdQ0bZP1bycILkisvMvpZ39aTdWPcyYkdR-lZrKnr8AUMybhPU0cFs3a4zhgw73dK0Wzw2YrPOFheevqOvTAQGgCyqhTRbshtc_z1qZJL5HGzPotz1cdYFi0Bln2EVe0kjAuzLGUrjeIzTJAS2n3K9NBO_TokSrg_Jjzg-laAkQnq9LvIzwQgLjoG4o2OSZRbVMEHjZi349acEY4yjFzgQlEUJ3shfCknbTkbR4ue1LEZw_x1LH1LBtoiU3nuwMMukbPcAynd0pKVf_XbQB1YCnUZoyeUwuk-FlglllqSzENtUw_pLGHIxS1ibqkGkvqDeURMg525N60NxkYrJMq0uRDgTxqUq7o7F2WNze-Au0SbQyh_mwpWEopM_Cnk6M4aIa7U2anOoQ9lOaaxdbaPY-6SZAlCfJZACHxweyUpMc095-x3Zmzc8uwXKlvCKDhjizx-Q2m4qT_dBvlGj5xJVGTDSQ2B616BxJ0HriT1sCrnMSMd3B4lC-XJhkh5yskckGQ3O_PPwaMY7jI7Xnx3AOu9KNV0o5HhYaW6oci_G-qHt3m9hqpfQs8xVdvrISj1zHnQFdOiwDsoPnKAARpZDi6mMog8AaMXuYT31XjFkajPZSyfx_MIJKrUY_UETsLCudr10VD8A3KAcUl-UUBm4f-ZhXVqNUmuxeIjeKFWFy8VtoAw0xcLhtN5T_1jQ1l3QiyWSGuac4OWP1AG1SKDI-Q7sjJbRQekjQa4SaUSUR3_uldu_vvHh72Jh5GmJHUlOnaWqo2AHNCUTRna7Ylz5xb5QtVVknNsOWDzWBn1LOU1WF6mSX4RRsLCSRLJfF1bIFkwajroRuc_59dTRpO-08zttVdLHcxVtgVxRxbbcYrFzcpSTeQ",
  "id": "rs_07abafd5897e38d5016ab43246d5e087d0a66641ee37c494ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper again stops descending when it meets the plush, this time at about 9.6 cm, with the dog centered in the wrist view. I’ll close here and use the jaw opening to check whether it is captured.\"}",
  "call_id": "call_AySnubTRpD4yVfrPnPmbj9Xm",
  "id": "fc_07abafd5897e38d5016ab432488b5c87d08523cdc02e85a5bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AySnubTRpD4yVfrPnPmbj9Xm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8101, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2034, -0.2272, 0.59, 0.445, 0.0332]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.181 left_yaw=0.0049 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3811 right_y=0.2803 right_z=0.0953 right_yaw=0.089 right_pitch=-0.1424 right_roll=-0.107 right_gripper=0.0332\nstate[joint_eff]: [-0.1436, -1.388, 7.0359, 1.7411, -0.0562, -0.0757, -0.0122, -0.0889, -9.5795, 6.6393, 1.2674, 0.2759, -0.0415, 0.5543]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b11e3cb89715c83389bcacf8a19d1fef171f456a1dcba1ffdda97f22100a251",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d928b3013fc2c62d3d16ceafa47986a97920a6be2766dc8f916d1bf55206a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba9b6478f3c1c794b3e439a7c5bc01a2dae3f5a3bbc3d4f32ef15f76d85d32b",
      "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 · 3.187 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.9138, 1.7546, 1.1889, -0.3244, 0.6682, 0.5312, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1821 left_yaw=0.0049 left_pitch=-0.0068 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3517 right_y=0.2827 right_z=0.1288 right_yaw=0.0662 right_pitch=-0.0994 right_roll=-0.0865 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -1.1829, 7.0496, 1.7705, -0.022, -0.022, -0.0122, -1.0462, -7.8291, 9.2786, 1.3504, 0.3346, 0.0024, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2053, -0.2298, 0.5972, 0.4484, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1811 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3817 right_y=0.2793 right_z=0.0962 right_yaw=0.0819 right_pitch=-0.139 right_roll=-0.1091 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5795, 7.0769, 1.7021, -0.0513, -0.0269, -0.0122, -0.2803, -9.6479, 8.5812, 1.5067, 0.3932, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8101, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2034, -0.2272, 0.59, 0.445, 0.0332]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.181 left_yaw=0.0049 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3811 right_y=0.2803 right_z=0.0953 right_yaw=0.089 right_pitch=-0.1424 right_roll=-0.107 right_gripper=0.0332\nstate[joint_eff]: [-0.1436, -1.388, 7.0359, 1.7411, -0.0562, -0.0757, -0.0122, -0.0889, -9.5795, 6.6393, 1.2674, 0.2759, -0.0415, 0.5543]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b11e3cb89715c83389bcacf8a19d1fef171f456a1dcba1ffdda97f22100a251",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d928b3013fc2c62d3d16ceafa47986a97920a6be2766dc8f916d1bf55206a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba9b6478f3c1c794b3e439a7c5bc01a2dae3f5a3bbc3d4f32ef15f76d85d32b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJO96jEDJvnywe5al5YIOZdDHPTD4jqSphT-xflnfF-agT7T_LXAB8N-vpitkhepzKC7tkX-PekfJBSJ6ky88X3KwuxzMBpSp5Ut104HEP8hQIf_HbHXTfu5XwbtYqgyNTc65fG0kClmfdW9MK7Bf0SXGORNSCmlQU-JvvQDIsHtH3gBKlRrz84s3QJSI4N8vpJxtHt66yuLpCJdUUkD1WuQp_dFt-0iFyR9HZfW4acyz2nfvhPAZX8ZZ8dIWqn9XxCCEy91zFbZiyRkqLCBWK0BjPv63ms9zLhLRPfMZVMpd4GdjM_WuYWQstsmc06s8eT1lVTgDBv-5XDroBhQZ5aFfB-CEh7q__Ajbavk9vOL2Ph2jYAQ7SqCpVpJXJB8cafbtsfIJm9SmispIWdXbnVpJr2KeXtDHuS7cLCSjLdpZVNrgeNw0zpvGMxbtdVjPALcoR1P3OSwpKlOVoe3MarTj307FPjRUHtrxPmBTLZiwJLJoHFWQxFNC5iw_YZQDjV1yvUNA8dfuM46AME5VfnNc_n-eWl9Vgf2YJ3af7BtJLcNAFNQwWOOgvn1SsJXZhomEvIOq4GHG4lXYivEdv-t_5Sz4usIjfBGu2bJhkqhB2soUgysV7EAqbnAV4NVH9ZrwoYAFcNCV_Bw_bWR30zShWHNLYM8UlnJjlT9H8e-dM_jRyFENEHrUcvEkOSQgNnmIri-Xa2d2Q3n6e4u9jiX-VtGiUY4cXXxQ1wwWN7kQ57aPukfscwKxZmwIKAKn0N2pQa_yRGKbRSY2mmUbaS8fcnkM6EYyuVmLVmEe9R3FxBjRlBfB9oOS2H_B1RrcrAsZMuhaQQUZIG_AXaziobVsBnsukcsTBZz24Ooy9HikgzS2DmEumaVPaCe7unhYaMbMKnLcghU5Y0pfAEhZFGSLPMaQ1AwDfbP1ndpoUHC6xrvK9gdVtliaDLzBV5JIZOmWX70aOp1VKSfzGEsZn0l7793hElhnH6nVkgHYMZpZyE-Z21Eu3raUMt3X-vpOQwa2wje1s7gMbUHcysanssF1HD49OsFZ9sX9p1PhHFfmNyFu8FiqYKPf6zEsbyWxoMHog6MDXQE_DWqHb6mioAzGrPhU34rRwt7P3EJAYdKKMHDcADWjlTUD9DJyFyXYyQv2VovHlxWCE4aFre52VG7Tf6iEygHHhPhHdRHu3vwYf_3m2WMPRHhFORfs68m1dwhsG7mydhirPTVjvvCpNj8eAf0SdjjCoVdzRy3II_jsqvMRQYmEzbZEZE3tr2Kh9zlvp7iCDSpm5BHg4eGeMSCrlUpp4kvutcsjYX-EV_sK7DLU_TPAfwkibdW9-wdSUPES2ohrniBprBliqWtGhikpCqVGWgctUpgmctsjGoJO1RhYAcfjtSq6Dh_faA6nyfp2RDhNx7PO6sb7itKFBEteMlJJ0GgY7bTA-cqTc96HckgoxmHhAH8nRjpGOsxOV0BUgehCO0bifCkWcyF3jWGiv90aqVC_cf9wp0zmKCCfum1_0dz3_wlWTsb5lvBTmtRv72VQoLcGlURcS92QRcALnRWJ5WGwQVbrRcpAWSqGOltdvurJqQAFlT71S2zYdLPgxLmog3hRpngrtnCLufTlyPHfurdo8ZLYqUaR5miXZ_vVBY7vNVZN37RbMp0Rs8KdFpUMY96uWYkwrefvREyqqNYL9TtmXvZ1VtcBMaNzOrKyNB8esA_cdrGlB2TLUxegWLdRDNkYujIG7PdkUtQXDBFPNq1Sy9e_LqyFApeUxvt_BTq2QhCD3tjQ3SHWvv59rtsNGSTze9vQtn_H7Lca0wZfbR5g7jJz0v8nmnefabiGf_4P--GN2LGOXMUtsnGxwhZDLcjX7Px4rjq2Lu4y73e4CRDT5IYdA0aHfT1l7DAyN8u01aDcnRAU2uqITcxqKsXYX_0cYdYhSuqiJb6ZloevA2hcElAlD1ar7q6iY6aMMzI6uP0eL-bs7m5Ypq3SFi-mlpWu-RtxSo3hOUQOUaEcAJtTdjD4RXynugY2lscqPs5A1rOIEY1EiiMd6fPcFSj-HEgiUaZV0oFY6w4VqHyBQ6hav602hNrCsfoAjAZO_6t1bPmDGT1eRcItrxG-lRm8mCgH0gikTDOiZivPXkBIKyowHdISO15gz7-lERTtAq1IeFB_pbq3-0wIhH7tJ7K0-I6E0pukanH_kzjLCzDaRPD7lg9F4vErV3oQwSOdk9OZzIbmzCpYPfFnCRpk4A1cERrfvM3ieaWjbXBvI03wtgFya1JMwclylBeS0Z8p0HXlhhgr2CFmaHpdbBVkrZ5MsE1c8vqPAsAHQfHAqZRZGPXV47BUyUioIHCoXwhLYRklX4SD2fXL23Ib8KGENsISHBSCOGHfr24_rMDQ6gQtnqZAlWIEw0cO8qkWZC5wL8vk6UQ_gVO7Zr9hBxkVJmI4bs39P4CdmJEK6qbLhRkfRvoVk34t8HwpA2QSbaUuAxBhIuyPqc7TnfpefkX4rXXIZu1ovA6SKz5F1Iydh4BYR6xxD0UWChn0_vQp16Z79aMkNgNbbBEEEgjAetuMbhqXoYUCkb_38aslBe21R3OJqdtwwObF8hLgUJOaG8Orlvvq-QlP38OBrLsifVHhy9HvqsbBd0qrmU98rYK4rsUBatiz42AzY0UNHMBJzJlK4NgP7X9xXClPg3ePY0Tr3J1w8r9jTNwHOYiR6xNWh0Lt6p-2XiUm1VfaqQERQkhc07-v9JhBJ8l99U9GID2MrxQ09uXfxg1E0ceqHav_vTXOzilOD9hxZNNuvhMzcDl6MhCfwzCDLnA4u6UpzdWGIiz9S0VmWjlw2BAY1BRu51IzLnOswuht_qgqwaIX-j2T_e39QOrSihz2dcfzO-R2dSx6CbLgTz7VYoPMOWt7zFEvBDnrRlEEJH6O_QCKAcCD1BEycXJh1hNGUNNG7O",
  "id": "rs_07abafd5897e38d5016ab4324b618487d09dedd79c21107619",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.408,\"right_y\":0.265,\"right_z\":0.13},\"note\":\"The jaws closed to an almost empty width again; the dog’s face ended up just to the right of the closed fingertips. I’ll reopen and shift slightly right and forward to center the grasp on the head.\"}",
  "call_id": "call_7LCytF3vQbTjiWsdBD6Qr1OW",
  "id": "fc_07abafd5897e38d5016ab4324dfbd087d0a06d5b134d8fb67a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7LCytF3vQbTjiWsdBD6Qr1OW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3801, -0.0219, -0.038, 0.9995, 0.765, 1.861, 1.2755, -0.308, 0.5327, 0.3706, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.179 left_yaw=0.0049 left_pitch=-0.0164 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4003 right_y=0.2649 right_z=0.1065 right_yaw=0.0987 right_pitch=-0.1828 right_roll=-0.1357 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -1.4154, 7.241, 1.7656, -0.0317, -0.0269, -0.0122, -0.6906, -11.7265, 9.2239, 1.2821, 0.3004, 0.0415, -0.2125]\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:80c6d49dd3fabc8959b1642810068388a3d47b50dc12c131f15e549cbe0fb751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9003094c2694b0d49a637a099dd17ec8e1c78ba5104d235ef023df7bcdbcd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f5d873606b825d3480675018646e34bfba9eef82974409b6680b566d5b1c2a",
      "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 · 11.06 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.807, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8364, 1.8603, 1.2045, -0.2337, 0.6071, 0.4553, 0.9984]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1818 left_yaw=0.0049 left_pitch=-0.008 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3815 right_y=0.2775 right_z=0.0962 right_yaw=0.0715 right_pitch=-0.1366 right_roll=-0.1125 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.4017, 7.0496, 1.7656, -0.0122, -0.0122, -0.0122, -0.1026, -9.6342, 9.1829, 1.4872, 0.3004, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8101, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2034, -0.2272, 0.59, 0.445, 0.0332]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.181 left_yaw=0.0049 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3811 right_y=0.2803 right_z=0.0953 right_yaw=0.089 right_pitch=-0.1424 right_roll=-0.107 right_gripper=0.0332\nstate[joint_eff]: [-0.1436, -1.388, 7.0359, 1.7411, -0.0562, -0.0757, -0.0122, -0.0889, -9.5795, 6.6393, 1.2674, 0.2759, -0.0415, 0.5543]\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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3801, -0.0219, -0.038, 0.9995, 0.765, 1.861, 1.2755, -0.308, 0.5327, 0.3706, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.179 left_yaw=0.0049 left_pitch=-0.0164 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4003 right_y=0.2649 right_z=0.1065 right_yaw=0.0987 right_pitch=-0.1828 right_roll=-0.1357 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -1.4154, 7.241, 1.7656, -0.0317, -0.0269, -0.0122, -0.6906, -11.7265, 9.2239, 1.2821, 0.3004, 0.0415, -0.2125]\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,$blob:80c6d49dd3fabc8959b1642810068388a3d47b50dc12c131f15e549cbe0fb751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9003094c2694b0d49a637a099dd17ec8e1c78ba5104d235ef023df7bcdbcd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f5d873606b825d3480675018646e34bfba9eef82974409b6680b566d5b1c2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJTGuh5sGjcUTeWK3kliyB5zirweCgw0ulx-X80u6IKfj9CYhoibudXZq9TO-1SGqxdhaZbzRTE0VVRq7DKUDMjWnETG4-DaosjFM4yn_gxyvmQHuTYtx91tES9G8-586pQcovAA9kjQBpRzoMrznLUTMMMm2hzg4ebtRoPAHlAkgt3rXzJfjqpXfHPpV9bQSQVSvVVahVrMwCDFA6I_Mxuwpq4GOXEaU7OYNfC9jJbIVTEhLf2UjIznh1IbgJMjgF7eoSBcv85BbiEJwkgZ7tHyksCCmozlX8C-Y-RIx6NuSB7WfR5ZDYqkqeuR9NxpVStIu7e3_TSawh265hCJK1lwm7kN0jL0IDYPsEpO54ccJFalWJkuLoFiMALeio8N6TaLMd_o2FV5e1I1V2JJGay10cQoTCI5KhzU_h_hLxpKxndBE1jIXtZJXEW9h6jlZZG59kejqxwk5o7jJv84SWnwGQbUUCpWIra2PgK-z_vciZeo4-EDoXOIHdE-A8ig3B58Rmd0681X80k0aeQFT7pwzFeIiPAyXdIlA4g6rbq3nxKquUGaTZvpNQQ0N6D5VU7o4jBS0rMcggl-mltAL9k9hzkGN4qRWjAcZ6dYwT65txWzzcZwh1GulaG2CpKU1THz5jiq1YSRfwyoiwaXyiM7jiLcxlCHWNhZqgnXIWSL6qX40279Vwm2jgMhINWu0pFJmrsZudxbEyKagksgAuN5J7kH5qQ1vMJZ0VAj7IXvKKLfyq-ByOYWBxM5TQy9Yg4pJh1EYk_q6qqVxX_ejE9GoTTC6bsadWQgngezwkenS2S2-eIocp14ueUW7Y1bh1Vmg0vvmSBPHN3E-wI7AVdPyEjB8Eepqbbjkym9GNpmxnnxa85QNe3N3b70O1nC1A47_WUYzhxS8fEqpDwHt05X1QS-7j349H7o4hNnn23BUZsFA9di-KJTuj5ujAkmVSXc5CmrVRMGMptKAhIucrsoxD0QJM26jK4X6jK_gFvhkbXJQkE5yPlFzrw9MT8SjapmQX9Bw5EyqswIOhaBt9SztPzz3qtoByCqitXwOGPZ365jO1MlR3aE6RKWTAqGXkchVkvenau03HMk1_48tZi-bEkP_8CXOPHNVU4QXHU5kmk1uH-05QfjUY3PN-nPkWZRQ2a9QJfWFH9gQ_740IHN_nkTPXB6lAtkpWhvsIgO-97HybdYRyhh961_vdryQWy1uhPhLfkaujQm9CtE2ziTI9GkXnko1VFQ4ebP8Uszb74C9LqcnLJ5oJhdeyezDEtauz09dKAudYhf3uPAh93sBgxvYxYpxYkfQCOWUZnktYJi7ZWIUvjwnv-taqpQ_oRLOnl3B6SUvATyLxPVGaCabWoEofZ8ArUt7LK4RQGJRq5zhXXzX3F7nWEjDAsLa72ufm-Y1sjXhcgXrS51-qPX_LQ3tj96q9CK9cfvl_owIkNv8GBNbx3cUQWboQp_NH7J-d8QbLHLkr_2HREHwgbTD_aSRZjP8zO0cY3VA8lQR5rP2xzHa1c0bGEuALqZdzKY76aHUUfURl1dOO4-JomOHJ38NIuWEFXQj4tvEuHj1BR0bDC3ID196fzV2zeFR1dU2TTm847NCkoUHKVcQpU3tK1TVfaJ9nlU5svAj12DDg2-EsuyY0JR0rIMpJDhl-b01n6a9-ce8ftURD1Dq-l5flWr4N7p08bcoPq9ZbkOSo4sozh35TjvOYNqYIuTJ7BkNS7T_KpjVSd5CbPB2cDwJff9ZkTAqjuPcOHg19GFHf0IAWBsyFt0k_GwDsdn-me7Iyvreqca5JHwZ7BDPlLHg==",
  "id": "rs_07abafd5897e38d5016ab43251b9c087d098b2a7fa699bd433",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream dog now fills the gap between the open right jaws, with its face centered. I’ll close once more at this corrected position to see whether its head is actually between the fingertips.\"}",
  "call_id": "call_AsPnAajUzMqkDEoasXVCZnIc",
  "id": "fc_07abafd5897e38d5016ab43253230487d08464f9ce89b2ba68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AsPnAajUzMqkDEoasXVCZnIc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.7597, 1.861, 1.2755, -0.3126, 0.5282, 0.3656, 0.0129]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1789 left_yaw=0.0049 left_pitch=-0.0167 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4008 right_y=0.2629 right_z=0.1055 right_yaw=0.0989 right_pitch=-0.189 right_roll=-0.1394 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.2786, 7.0769, 1.6972, -0.0611, -0.0415, -0.0122, 0.1026, -9.7846, 6.4479, 1.4286, 0.2222, 0.0513, 1.0916]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65bc5e92fee5c9486ae7889fda8410f7e8c4b576520994320f9be7e5f190e23d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e715618cf05dd5beaf78b198ee54e2b6694034af6b55eda2c7f6737d5c7ccba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a8085056488f7c19b847fcc8210a2f5bdfe9b4a29b7e3e1c7bea3372489084",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.141 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2053, -0.2298, 0.5972, 0.4484, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1811 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3817 right_y=0.2793 right_z=0.0962 right_yaw=0.0819 right_pitch=-0.139 right_roll=-0.1091 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5795, 7.0769, 1.7021, -0.0513, -0.0269, -0.0122, -0.2803, -9.6479, 8.5812, 1.5067, 0.3932, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3801, -0.0219, -0.038, 0.9995, 0.765, 1.861, 1.2755, -0.308, 0.5327, 0.3706, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.179 left_yaw=0.0049 left_pitch=-0.0164 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4003 right_y=0.2649 right_z=0.1065 right_yaw=0.0987 right_pitch=-0.1828 right_roll=-0.1357 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -1.4154, 7.241, 1.7656, -0.0317, -0.0269, -0.0122, -0.6906, -11.7265, 9.2239, 1.2821, 0.3004, 0.0415, -0.2125]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.7597, 1.861, 1.2755, -0.3126, 0.5282, 0.3656, 0.0129]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1789 left_yaw=0.0049 left_pitch=-0.0167 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4008 right_y=0.2629 right_z=0.1055 right_yaw=0.0989 right_pitch=-0.189 right_roll=-0.1394 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.2786, 7.0769, 1.6972, -0.0611, -0.0415, -0.0122, 0.1026, -9.7846, 6.4479, 1.4286, 0.2222, 0.0513, 1.0916]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65bc5e92fee5c9486ae7889fda8410f7e8c4b576520994320f9be7e5f190e23d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e715618cf05dd5beaf78b198ee54e2b6694034af6b55eda2c7f6737d5c7ccba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a8085056488f7c19b847fcc8210a2f5bdfe9b4a29b7e3e1c7bea3372489084",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJf1moXTntumC4TwrB-yNbMW024Djo_43wwt08tl6MYKcMihgKiEdazAc-Gyh_NXoYnLMCllNj9e1vtaP-dAJBdLabLFg3Zz4njhNLGPITCOGkMnIppB3OStVigOlLg-qtw8DG83zf87cmavSvktF8wF8LKabenP8sdTU14KIGQiyImdhh8oN7n2pKi88lOgsJxb5CSHyhuwyc7wB713lr0VINj66YW-f435pKs-RE_AXKV4v5YsA_RCl5xeuqdyKWgAKy2sD2jnJ0-dnL11IWskgQtH78BU1zXG2z9XQDG5F9_HTMIdg_IHy4QkwKq9nBNGvHaaTHrSMeidYoXuFBNYjfO1ov1Z1QcaNu7lz99ovRTn2xBFfm6MJpZ57_WAX8FgUsQwmqkgZmQq9InPFfCUAzsSN9D9-zXAAmUUZwCK-Esx_P76d_qyGQHaA_ESwkf4NJY6h4Zd5mSX7b4rfrnzoYgKcBoXhtNr222arKRfratPJn4VsFxOMrOlzRyVXxc3YjiMkF7ZtURpBFRXUsL9Xj6ccwGQgJPE8edTflxacVkd4EIKbopNSoBx4sYY4PLk4_gP9fK-kX-7a2JMFLAfc1F3SOPpDvbvQqBd0kH16mqGmcJbIYFHUS83FTt8UnDcrASwKkgTxeRzML0m5fsXZBXAr-ciIaf6DFc-xPayOtXGVjkIbEITZKN8W2WA5hwc4hmxqXlVq-92WVPGd249qbyyFL53Koz0b1KYEaUv_SCsN9Ghj14XURUQ1xQxoszCtFB-lhD3c0_6L2gmhjezRs1ZGUHYX_kOgTMTf_CZhLxZiOXJJVUcNsfULbI54a1s2d5477jKL1NqDuLqA6S84KTAR-vgVTfXXtDdYQMmFt9FMfiRU_RewIT73qVTM7vjO6agiA3Eopr-HGlhI7hRXv8b4cr-DF8XUrp2HcyDmHcnpxUEGfNtEt_LlP2hrBLbJ8CkijuGGfTUyBCEomIpVWBK61pf_iba_rVmhfmVYjBCcf3gfIsA21_zTnBjBh4zd9Vbxh7SC3UxnPmS-hHxVQe3pgVGGIW76XADwb4rADMZ5UKPRSCRBxTUmmIZMvwS8B-Y1ylmwPrcYirt5ufzz63O2dsLA94Zxq_uCeQOv4JG8OpZucVXixoQ-m409NfC4qse9i-P-N_ocVDs4KmPSZHKn9Xl8EIteIFr3s0TWNy0Klvjoep-4N6XuSxbAKySr4tP3GYb_UHvYfCBqVVQVgpsTUMfk1kTwF5Tz8fnJuzNBxk0Opp5bAMgG36XiiRankvuMCCU7wl3_Hzv4MTnt1QGCVZMNvff9lBoYYHiiOPzzXLoRCOk8OPva-pByMAYPpbHUI-Sjw8g5h_LJIDHn3hQPRlUkwMtApFzmmZUr3ovTM8dJJ4a4pxEX3-fjFtNJHpIW_b9GlZY8QQkQMg3biJzgZEHRAs9pw72Ocg_QqoKszZSqqy1AM_bZdANH7vZT8dwl2rlKFjp4NJAfUI16W4GgKhr2pnxmRKnqJD9mW-TtfX20JvxQT_xqvVt1ntcA_XDSLDvRXYa6ttxlKIjlwBYlqpdglKXjLCezpWPV3mMd-udmbKrkY7OHstXINp_eVf7cfbA1KE-vvYqeu2_4HBZPJ6uwPtoP7N1yHxI2WAaJmuApM-L62qnVdjQav6dAb8kkfGjmbgsA_V9tIHjth6x2Swe06-Esz5QgSXXuwA6t2Pzy8JifeDKffGTbIu_H8A_teiJ5jBaT7WSSpWK1ODAmuQon3O3Tmna4btbkjgwfUKgDa5btJ_XJm2wDInmiRBQCMm_vrAiXgV9zJJTO5Lu3fVCI1cFS45lnP3jomaFPIaQx1bMOCw-165hPfS6XUPn-x6lAgqd7AFv90l4TheCplnFGTqlQGX2e0u60pSFj9an0vAGNrORptvDcMzQX5qiaJ_r0mpPxoixcz1kvpFOXzwmEo6YbAGdAddJqOif4_mmWwVd2SCfLB52HG3jMyB6FPGMSPmBhbgjRglQExr88DB2Aafpu3lXGNYXti8E7nj5TR1chkAXXZm5481f2iz9wNh85Xw9BqCvlkS2GmMMEZH_PqhcJ7aPtFvNoskVbKAVaEcddwTNVCgEEykNhBZQNGvucsIJ0gmbOJDPbCKTlit7sx8lSbreF8Ad3nxxy5ENLXv_W8NSFFa7LqfAOjI914YokcF12nrY5_mCryF54F1eQ0GolhGpu2mu-F6NkYmhUrhLVXmXXnd37I2PRJeq5iaOPvUXAiyZcgYbcJXQpO5Y3H9TlsZmPfNJskA-YZ-H6WSEiCNkoEse216hgznrhLz61nwx0oJiVPzfH6VOCWltOxYskh6gA2j9Y0XOVk5rljBKcM0nptnS3yPVHzwuL32FszTce4mxfHBDV4NzcGVZdndUcepky-ozfKOQghDpXQEYmpCoNrh_XrNLWAkSfXybdqFolOdAvHD7Q01oluLJwsGhzR6YaEyxSm2TCL0uvCGJH5zMO14M3VrtTj0uK-FEWmhOzCjKHYkYu70AoehgU7cijs58P_AnYLMeqPTkyFlC4VoJkI46IHbSjIwsLcdaNC5oR9MfKEwAgLkE46JMZH-2EsxEH3D8yxY1ISFCdZFTMZZECjmxGOtyvzLqr3aev_n45eGRU278naj9HISBx0rJqgIqoqiFklM59GxckOQAr-1QYSVHZeSs-W1h2rESRUHG7UWG7PjCTvwFTlwfVGXkGJVNQey9JB9kNipCowCl5bnJfFnqSP2T-DuB_k78ulvHPBYr4y247S1yNGBHq8yxc99eDXiTIdTFHHuTDKsqc1mrHvhMP7OCy6jM1wX0PTuzj6jSI_CokyytgW-auYmvwH-GFQ7OtuiBdJCtXgi6pXltbqUyayykifeBx_92rZcQdigzHYYP9UXR1Gm_ztV5qaHxyrKNGdbdyL2omlq8hSxd0fY7xneY4sZnwGza4rt---PQc-YdM54-kFworJ5KnMUteoaF9KGTVXyn1qqOtnHll49g-AKG6QsVbS_WvXghdKYCWhOG7mMEdyClzyTz_6CxPMqrMnFGpx8GMFeo_-33mAtqZg7cAlZHLGXx_1_FPt4cKvLpYG8bpYGRb9XSrpNkYWXqy6SiqmCTdMLgwP_5Va0kcjNvdz3upKty7qjap527TzKr4B1HFlt-jf0NcS88jnhxfPsdcl-8L4LuI64r6iIITdjzL4fXmUhaStyCU6c0xXT4o4qiWsBOaKQmOnd9uMDTt50gaPrg1GpQS0plQL6uPEfbZyBqotSjaGopCyapmFHq3wxU0qvoBjgoTj7NSqh6nBCphwOKU5EzGREGpkMcAG9gi_vVsSoiCErBX5dsIi56g1r6uHWJeFNPW1yqe2ktOGifBbzWA0u2MGrwryxUMlKE3rt_zlp8Oe2AQUvg-9DYeM34DbIqaojb4GJj7eSp3hG-QYYo2MmXG6fVama7-MyE6ucXCd2gC2x7WCE_lt3FB6x_V-vRe2w_nmFLphlZ4q83G5vaN37WSUTxnHvyLqCcKhYjmG8psz4NQ2FFKNMGq2aYEAiiNDz8vdOGqYzzTUIb6FLoEMDHod63x8RxfehNHlm97uuzlHlUDRFDyXWnvXHvN7RmI0HT2FHOi_l-wyp9TfT0b29-EKUBOBJOfV5CEzciAZcO66b7m-kZnsfnzsBsJkCcprmnG8MYXko0BnK4XEFT5rlBCyr6PfhD9P6DmAnSHjvHZPohk_EDRQllQ==",
  "id": "rs_07abafd5897e38d5016ab43255b1d087d0bf0a5fadc86e3200",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_07abafd5897e38d5016ab4325a151087d0933aac26e13a19eb",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJfIZv-4DddWjGaPlu6AzigT8BLoUUlyygApMZUJez6MBc6ahQziBR0NGGLkhanZ2GQR3yQ0lMF3xM6IcW-2yCLHV9fTNrTulIj63e0O3HLrEmXkjxHtr7ZINuTD2EimVo4LpwKdOA9ogtxPC_6MLBirpDvnJXwWwzzX775vnfrT2oASvTl_khDIr67VXvdVQyO0_N6eOKIFWk3DS0vKdZiEy3i-3NfqCMQUqvEQ8wcaB5M_o_IWihFV8X2cD5a3Qv12oJVusNB-xqgb0pJ9lD3JI9_X5BhtjRZF3v0QcA-0tTqgu-1F6ea9KkpFJXV3e0Jm3_UZF-fplb0Zw29Iuy7CLqifAUF56GjVsjGG_h4yGl6HjHVzJjhMsH1ZcGhAkwXoq6VSTl8E1grwLEXUAPi9-hrBiiEXTyMTOrRymf-xTuQc4yC8pHHwkzJ3YsA3PisHzaT4S9Ni6sT2xk9hKROwr3mNu79qNBOWJGzVIi4CgSfuccMqDrSROsCAXKURcejl5RnmEreZFHzEneMU8S1qWwJ8GXTUf0l9tEIDsHpta_oE50vZJ8L-8NQZ_LW1FttUKhtBDyVItn9eE7gstJ5LpG7fXHiUwCNh5kzzTjvnOePMrFCeGv6MR8sTDQL_k_PbPX1MQgWMJJMsYiz1M-1hzdjf7riE9C5EtFLOpPOk4kDOJrwmw35KJXyjlbBK6bmgIdieXpoY6SNTLcvlYzTn98suJWtPufFDGsdnjC77H1q1Vqc2OjKch_Ecb-aYWgw5StSgFiogLWXwP6HLkO5KKIj7_DsYksKfLuAHQTdnkFEqRrfSNNrzaRDahEAPzrB0fjPOUWElRAxC3jphH7ACuZ_pJuSGqqfuowsTLAP1ahYZ933fTUu7ATV6ms-bU1WhYPb5SLfwnrbOf4xejn5gnSD8sEQ-ZaxwduhDNJDhhldN9K-4XhLrHLMkXDWx9DDBP6Ce_KWresXcmjZThx7QoaA9YJpx1NWZWMU9mjBFdHoz94ubtZ9dtBBVdJlWx17tGL6F3iFVr6sIy9R4LyVNUDEn5b68V-H0-gQhgdzrTO5ScZWGVxw5gmybieuLYwfSwiXPmLiu5k5KLMNZEx8dftYxBoi169_lqjJ5htujtwZ3i-3RUKzv4THYx4VQa-rlueHaGOOBjTUfDYMcLwX3a1mIHxl8sF1L3INxs5wHT5dMzJBHSJDxYCbZQ-KrVtd8H8F5WOqw56b8E8B8by0uN-QNujf9I2EyR81aPp4LBp31yBRBscBKGr8ee7qp6no3fVxteSx8c5bQyLi9sRwSLWoVC_Lld7jQ5vqt5ZhFjP_q8K4xIUiqD2g-8QwUpwQB4ruH2v2HHo7__zZ3O2NB0xSDiR1PgqPTWNNRnnsbjBh-l3IRUoobwK2gViz4gR0_HBd43M3fp6ZBZW814JF_mUNEtsm4RO2ZtXDyCiAM84AP2lLpwHkc3A-OfeF6aE-GV-LFJPCLW2Kw5-gnM5eCvmFyqg_mY5sEqodbH5LSvsMpObU6Jyzarxr3c20zxNPQDev6txw0zyPZisgQp9ofA==",
  "id": "rs_07abafd5897e38d5016ab4325e920087d0baa3d01fcd02e3e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.37,\"right_y\":0.33,\"right_z\":0.16},\"note\":\"The gripper is still closing empty. In the overhead view its fingertips sit noticeably to the right of the dog, so I’ll reposition leftward over the dog rather than repeat the same grasp.\"}",
  "call_id": "call_MAbrTgj5HurV1V4WTCqZ2uHd",
  "id": "fc_07abafd5897e38d5016ab4325f159487d0a8ec89f730e82ede",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAbrTgj5HurV1V4WTCqZ2uHd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9226, 1.9347, 1.5837, -0.6273, 0.5995, 0.4992, 0.9947]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3696 right_y=0.3288 right_z=0.1518 right_yaw=0.1289 right_pitch=-0.2016 right_roll=-0.1382 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -1.3744, 7.2684, 1.7558, -0.0317, -0.0513, -0.0122, 0.3761, -9.4838, 9.0051, 1.0916, 0.5446, 0.1294, 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:604995a3939b65f6d1dfeb9b9e6b2806e47af7eb3927815a2d9f27bd6a4b7c50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961017f764668d74c00c9e08ac9452c3da10a7f31dd51bded8ec9b022d744752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f9475dbb189a3808c3083167f46dd2c4225a928e12e8b7aecc6bd344ce5596",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.272 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 48 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8101, 0.6159, -0.3801, -0.0219, -0.038, 0.9995, 0.8356, 1.8603, 1.2034, -0.2272, 0.59, 0.445, 0.0332]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.181 left_yaw=0.0049 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3811 right_y=0.2803 right_z=0.0953 right_yaw=0.089 right_pitch=-0.1424 right_roll=-0.107 right_gripper=0.0332\nstate[joint_eff]: [-0.1436, -1.388, 7.0359, 1.7411, -0.0562, -0.0757, -0.0122, -0.0889, -9.5795, 6.6393, 1.2674, 0.2759, -0.0415, 0.5543]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.7597, 1.861, 1.2755, -0.3126, 0.5282, 0.3656, 0.0129]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1789 left_yaw=0.0049 left_pitch=-0.0167 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4008 right_y=0.2629 right_z=0.1055 right_yaw=0.0989 right_pitch=-0.189 right_roll=-0.1394 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.2786, 7.0769, 1.6972, -0.0611, -0.0415, -0.0122, 0.1026, -9.7846, 6.4479, 1.4286, 0.2222, 0.0513, 1.0916]\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 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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9226, 1.9347, 1.5837, -0.6273, 0.5995, 0.4992, 0.9947]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3696 right_y=0.3288 right_z=0.1518 right_yaw=0.1289 right_pitch=-0.2016 right_roll=-0.1382 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -1.3744, 7.2684, 1.7558, -0.0317, -0.0513, -0.0122, 0.3761, -9.4838, 9.0051, 1.0916, 0.5446, 0.1294, 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,$blob:604995a3939b65f6d1dfeb9b9e6b2806e47af7eb3927815a2d9f27bd6a4b7c50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961017f764668d74c00c9e08ac9452c3da10a7f31dd51bded8ec9b022d744752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f9475dbb189a3808c3083167f46dd2c4225a928e12e8b7aecc6bd344ce5596",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJjeTwlzFnwQNNnCmWzFsHNub67mIQOZ-XcJqW9E4Dha38HtC5v18zCzAqbYm9L4uALqL0ti0RKDeQiI_UQubm9IwUr6a_9o7d2TVlbjha_xdzg9cC1R4iXcIOBpNC-0_448mkVD-vAWhS7I2Nwjd2Y6Olf9MLNSz15RMF5aexvhEINFK1AYK2fylv6IBv68gkzLSYUkswAyRkoGNQ9gzlTqcosg5UEeuk9B20HgWD0sN19s0m5qW2PVQm9vzx1FTaUiLyvY7_zch319ENSy_KNnRZ0f39nSTPmtboX2UmBrXox0eFA_pcg4toRtn_1R7ubA78jYpxftYx2uMt_pxJZ9CM7wJ16OcfA6N1xuzProefogHd6L7CsRayqDHhpqLdTZgNhWncImiyPd9jfUElWZw8Ky8x4AGav9CqUJbmxiudsdknIAKawLo7ZqkPcwbkU-OcrvER49-p6-g-_N2Vk7qKLuM0k1zBDKFWsth3-SzpvU3iieS1F4carYSj4XX6hufhIfLU04Bal4HyTUfcl2854qA8G_OkAubPAk2nyYGGjsuQ8GrQu5oJO6BWfaEP6aVVQDd-6bU2XgqHbVwOb4RptbOfUAdzc8E_ZtSEaBLVEprD-DiAXo25KUjaOBSvkyZpUnjymCExvc8wiwQGdW8LBl4KAht2B_KOzfEtnPXzOQYyMm3cBLjtjQadzOy-mNaGJb9oGPGa5edJu39KYQLPLbWUPd5iylGKe4OgQkMVVfmFEaiomyylLDOloLCShhR9ApqLRm_3jotlxvu70mwGjGmmIX83AwYLbma9_IZKv-SzsDzlgMKsUBwy2Qmpk5V60XtBD1x7AN1binGxbOzsAI3ujc3nl8-Qy3sbNGj-f80PyaMtkc6h5dfDxVrDZTQn0AX3os1jAt8s6tJATrKklal4xeZZkVjvysb2eQZQ08S4FSlKdg6DDHF5Z3qjcCYd5LKFt3K6XyYCRqJTbYq279kK0AvAqb8NeSv5NpifswyZdC762hkansDYKojMiqCvKGekgk_NtOakyNCheW6pGVoMzaFKZzlzX-nsE6HWFVUTQ3UZpJeKnUThcVQODq08gWntATsxf6rmTLcbbU07aieC5CUiCaMtbS_9TyMhuwCIhgnckrkBTO_j_miYcPfHYb_h8jD4Wd12u2HhoVVHZpEBZvt3MTy1D65B1XufOsssd_QSthaDpXDKNuuDQM4Y7DL1893xTVP4ImGNJ37O-JjTu7Z2Mpt-VaTg9UbMuYjtz61YOroDPJvCdAGRZHOMrB9LUp7l1pqixxmtbfvmUdytOxFwjtvISqrbIsf8Cd8H0pk1c5BcaHxg8s3bKkodWLFBUyi9ppVzB7cAFvII_x05Igp0lry3SYyYxN70JG_HG4JTvlt_rISLnQxdXysajSdEnQnWfrWNHw-Z7txe5TfpDcLI8H_CmYUn1RcGfU7hB71pdEbSQywYn6aH244zXHjZ0_64HAMBGQZrxOJzFP3hUNxx-mQE_gNdJzaQiFO3EjSe32O93U3UhJuT--g1CYJzRkRlNOPB-9rR4N6ne2Svgqkh-LupPn_x0E4kWQflWK12cAWN4JLT4JE1WEC7fabdq95jkkG0bxWdbbv6Wkt_q6SHcJzARmeg5TVaiSsYsinBbNoWhcYiyc3zr3IuCTf5o2Tky3wOHRB3YPiiZPwwHEth82Cxoy_yg0EMltEG348kN9m9mJ78YlRcGc8UgIyAj-ZW_-B1E4DvXy8C1DdlEsfg_XX5CKLAqJHootDuUIuWC5IbQP3v7PgTRvJNtMYwQ8HwoOXxjM5EiX21NqJH6G7fvsop1mMT2EdiYYIhuUkF4UNHcb1svKwO16g_3EkzD_l4qaPLrSFKgcqPp-O41EVjnIFFFl-V0aKu-zwGra6v0aRptv3fkwOUA8xFCNWjVPb6Ro2CSTsEVZDzkoS7bP9dTPEMYOxZn3iPFp7Se1h99vp3GQZrP3ORaQobyvrk9gRI0U2j9sqO7SbaclE-qsjm3nItTbw9VftkI57Ib7Rpb30avUCMGaRwhqpK37MFNRWW0aIltMcQj8kt9krLSraAWOHnvaFctoXQUimyViD_-8BLwOznA_zmC_zMWSUu6hwbVqaaG16qWItoixFR_NahWHcqDJd8_l6c=",
  "id": "rs_07abafd5897e38d5016ab43261be5887d09d3793db79818610",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.07},\"note\":\"The overhead view now places the right fingertips over the cream dog, and the wrist view shows its face between the open jaws. I’ll lower to its head height at this new lateral alignment.\"}",
  "call_id": "call_7qs4rcsbhS61INqy22ubxRq9",
  "id": "fc_07abafd5897e38d5016ab432634f9c87d0aa581c8a8533ce9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7qs4rcsbhS61INqy22ubxRq9",
  "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]: [-0.0189, 0.8127, 0.6113, -0.3805, -0.0219, -0.038, 0.9995, 0.9073, 2.0155, 1.4048, -0.3851, 0.5941, 0.4782, 0.9958]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3746 right_y=0.3245 right_z=0.0775 right_yaw=0.1259 right_pitch=-0.2187 right_roll=-0.1632 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.1829, 7.0632, 1.7363, -0.0513, -0.0513, -0.0122, -0.7316, -9.2786, 5.641, 1.2674, 0.1197, 0.0024, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1382207c09a78f5cd2d55363c7d226148e8de5a8038cbc9118a52f631b989bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e47c8d8f8cba57fe5ff3e174200e173710fdc287725212c3eaa519faba226b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4e4d5e989c1bf79fccbcd7d0607938e6e808b9e440c37b016b7e53c9cf5e13",
      "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 · 2.367 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 48 changed as sent

message 52 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3801, -0.0219, -0.038, 0.9995, 0.765, 1.861, 1.2755, -0.308, 0.5327, 0.3706, 0.9948]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.179 left_yaw=0.0049 left_pitch=-0.0164 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4003 right_y=0.2649 right_z=0.1065 right_yaw=0.0987 right_pitch=-0.1828 right_roll=-0.1357 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -1.4154, 7.241, 1.7656, -0.0317, -0.0269, -0.0122, -0.6906, -11.7265, 9.2239, 1.2821, 0.3004, 0.0415, -0.2125]\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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9226, 1.9347, 1.5837, -0.6273, 0.5995, 0.4992, 0.9947]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3696 right_y=0.3288 right_z=0.1518 right_yaw=0.1289 right_pitch=-0.2016 right_roll=-0.1382 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -1.3744, 7.2684, 1.7558, -0.0317, -0.0513, -0.0122, 0.3761, -9.4838, 9.0051, 1.0916, 0.5446, 0.1294, 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]: [-0.0189, 0.8127, 0.6113, -0.3805, -0.0219, -0.038, 0.9995, 0.9073, 2.0155, 1.4048, -0.3851, 0.5941, 0.4782, 0.9958]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3746 right_y=0.3245 right_z=0.0775 right_yaw=0.1259 right_pitch=-0.2187 right_roll=-0.1632 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.1829, 7.0632, 1.7363, -0.0513, -0.0513, -0.0122, -0.7316, -9.2786, 5.641, 1.2674, 0.1197, 0.0024, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1382207c09a78f5cd2d55363c7d226148e8de5a8038cbc9118a52f631b989bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e47c8d8f8cba57fe5ff3e174200e173710fdc287725212c3eaa519faba226b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4e4d5e989c1bf79fccbcd7d0607938e6e808b9e440c37b016b7e53c9cf5e13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJmBizN6rKdu6esBJ8tuhq3RO87-5D7xb03gbL9FRco2mvorb7RD44_8O6rL0ioQ9bW6iEOATOUXYdoUdftqN8Z_bwpSoKGoAuvMazucWwHL8fxQ210qUNOf1uuO5VgasSIzJKEKyyp8P2OKT97vZUO1zSY3U9P0eCZOeu3sWoi7GnQ7H0m96d5HBAfVfOeRFz4g10XRhu0GWH-sbKJcA0OBuyc9zjiKg6vCKuGduPzNgIbFj3JyYZIAu8c08GTi3bEzpl8Zh5oEEVHj3a7hydJJstaIYn5oQkafp-xAHQNCBZapVnvqG-AIdiEfZi-vRyjzEQt0umQ-bgWWI7chiBgHD2qj3O4BCjTOmZ2ZWzbwUDCUW-MoA7OTl3UxZwkXP8hoRl6PyDZ7WIHywLcdurxHz5kI-0qd-_-s-3tV4ca2clGjaMBs1H3I7rBmuHRXRywzIxqQJRG7DIdCS6wybDFny9mJmA9m-S2eA7uVxebk4T3Be3Wg6EE_ayJjM6Ir3YAfgGv6ybWJmLHTckND9KLxtl1s__-3FpmG8LG-BFWTFls7ZyKn3MDjdUtK5h3d1UqINrD0Y5khSJJvIn7WVqM9iOjv_kKAFf-G-lLnvttRuak3ibm0lyDc36QU4XrMFpaQRZPuwZ8n7ZJEfaqXiYVRYxDPnk_JN_5jqnJmtHay1U4pkgPSS_Jse6MaHa2bQEdri0Feeiovw4Qzu2oxoSUUNonjzxmFnieKHplkh2STj7wYngPQalOmybY2WkUI-4QFk5--a8s4ylauH_pI98lVNAhEuDCguCnTwVA8wNH_uZ2AXKGnv7ADn79FrkUb_5ZmrOy-g606RZzE7ABlN1QEF6CwztbWJttc_WRheZgnUlqCdQGQeFNVBOcoxY4ddX1uScMFltR3wiEsKEugBeAPVhYWS9uZn1cOMpP58a9TFJLpasADLA0yEVuQVH7cbnO8M-a6W5QBpiQY3sjku9eI8PV9HMU39khcm8N9EZ1rS60QY0bjsCI8MjhSC9eApGxHvY7Y8oxeYuyinKCK7RHNyj0qEURhzLZoGEIjUBhoN8By4xM4hOJ4cc5bRRjnwxMeFPRUYAGmCmODysPsaUH_FBbDJ3f-hO6znK7X6I8j5gwArrnXGKEGbm_FzlOLxqnQEOAxnOu8_Z_y0H13o1L5_BXFVjt9aEfWK1X9xahoLwoh7fxZhprBfOlpaKGoI8qfxKHLpAHc8eD9gsUB0oy4ApoImd5X1eMoDWSMjWpM8n-I_8RnJAQkUXZol5vC8wRc6nbeNNobZxEpabYg-vRFCekOQHJVxLkAZzGXisnpI9Q5nMHD2SV3NMBe6nh9zhk2iQtvuD8PvaaxFseFlS588y43xXHAeuGIGmJPDl6i3gSliwX_UT2hdlOv10hVcenHDJV2SA-2kh9ODFjrptYBpKxaabf0b_ltyGWUDaqiPzSuIrctWqOw5RrXGa30q_KeXdsONfXrdWa5TJ1Slxfzg==",
  "id": "rs_07abafd5897e38d5016ab432656a3887d0bab84a49706d9406",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right grasp point reached about 8 cm above the table, with the dog’s head and ear between the jaws. I’ll close now and check whether the jaws stop on the plush.\"}",
  "call_id": "call_NYTtRtcRgrwuWoFOM4mYGWbS",
  "id": "fc_07abafd5897e38d5016ab4326605e487d0986f318c83c9dbec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NYTtRtcRgrwuWoFOM4mYGWbS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0224, 1.3987, -0.3576, 0.617, 0.4644, 0.1155]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3788 right_y=0.3233 right_z=0.0773 right_yaw=0.1184 right_pitch=-0.196 right_roll=-0.1767 right_gripper=0.1155\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7265, -0.0464, -0.0366, -0.0122, 0.0068, -11.5761, 6.8855, 0.9353, 0.0171, 0.0904, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0518845098e7011951e4717fddbadffc5d545780fe4abb1c0ddad297d68fbb65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4c45134d8899294dccd7ca5b13eef43876fd6780252e3011eda491e778abe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8543370fd1dc90bc7bd1b23779df7dec0c4f28a115af3375fcc02b8277a70ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.756 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 52 changed as sent

message 56 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.7597, 1.861, 1.2755, -0.3126, 0.5282, 0.3656, 0.0129]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1789 left_yaw=0.0049 left_pitch=-0.0167 left_roll=-0.0067 left_gripper=0.9995 right_x=0.4008 right_y=0.2629 right_z=0.1055 right_yaw=0.0989 right_pitch=-0.189 right_roll=-0.1394 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.2786, 7.0769, 1.6972, -0.0611, -0.0415, -0.0122, 0.1026, -9.7846, 6.4479, 1.4286, 0.2222, 0.0513, 1.0916]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.8127, 0.6113, -0.3805, -0.0219, -0.038, 0.9995, 0.9073, 2.0155, 1.4048, -0.3851, 0.5941, 0.4782, 0.9958]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3746 right_y=0.3245 right_z=0.0775 right_yaw=0.1259 right_pitch=-0.2187 right_roll=-0.1632 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.1829, 7.0632, 1.7363, -0.0513, -0.0513, -0.0122, -0.7316, -9.2786, 5.641, 1.2674, 0.1197, 0.0024, 0.0952]",
      "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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0224, 1.3987, -0.3576, 0.617, 0.4644, 0.1155]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3788 right_y=0.3233 right_z=0.0773 right_yaw=0.1184 right_pitch=-0.196 right_roll=-0.1767 right_gripper=0.1155\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7265, -0.0464, -0.0366, -0.0122, 0.0068, -11.5761, 6.8855, 0.9353, 0.0171, 0.0904, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0518845098e7011951e4717fddbadffc5d545780fe4abb1c0ddad297d68fbb65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4c45134d8899294dccd7ca5b13eef43876fd6780252e3011eda491e778abe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8543370fd1dc90bc7bd1b23779df7dec0c4f28a115af3375fcc02b8277a70ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJplaYc2fXB1D9zlGVNdMUoOuASn8B-J1-hUF5xnIQ1uHmf2lrDIYvYWwQ9a-zVVo_Rs8LD1izXr0yAZoSfo8z2LTb97nEo79X6H5YbZWF9y02ggi8Vk4RqzNgTXhG5fK_hiwGYNjQwc1FEc1U6L67w9P9oariIZJQLQnIIF0sGI3Q5ueQ4OjRY8jtL3rOllm4TmYnuNL9_tOEnCF-E3JQpjFa8Whvo_k9VxYPbA-9B1wXcseelqbiOxe3vNYYAJHantbHSy6iADl5vCVz3tX8GlpPMoRpy3E6tofSaVM8slKCnsfvEwFfEzd8c-sLEkLufPcCp59DsfpS5m8cYmKGsQGWZE5W7ak0y_ihByjWESx7vBk2kDis2-2U1oHyZYUb997Ty12p-J2EOgyZMDF7RN6_bhtyLP2GSH17tMyR1Oo3jtObsj5it_BCLEUpjXIyjhUsR99vO9g_cVFUphSmV8N8mhT3z-abKT-buFNTehd9rEUGpbzn8horHudiWLqE4kV2IV62K1c1NSBIkgvBA-V9_Frw3uQBxKe8maDUv5OOec0WqPrkppEHL0TJlCTbUpZU8jcxgLVC1uOuvHbTRjDs15rQcxxboiXp-vUjvHsc9xL1gAu9zJisCRiMha67_T4PCTLDnUs0w1gnx60CB9mYJwf2n8fcuslCFWqIi8sHxIVhgpHoYakLqBOl1rHh1RLDzT_AVJ2741fXPwfH-PyQwcNlpg1ytzsbei30tc4jPFlydLA6fX624jNOZbwQs6USCHFrmwNUfDIenaNkuMPWvyc3xyATZB-apPO2_6l2Q252Ta4kzTw3TduBqXR4wdMl_aGLmzUJXxP6kjrv_GTibFrymBu66yM_UkyFX3MhfHQ2D1Y3NOhEj4mUtljbAFhva89YLWjtTEn7sNJGnlFwjhUVu2CWcKbUpEdpfgO-D_NAoYMcM6-rf8Ko1O14WdbtKg3JPNKJvNrsP0kOoVbpy0celrDMtzLVNxKlsMO3GjxSVXSJvXccgOs9JuHcpr9ZYnq2FQYSHBTn0o-BVzdR8fPp6eBWCwS6SVr1_h1tIIvNNzOQ_lyrINN4RM0O-G4_P138ci8wWd7zhDuwii9I3PCmij9oEy9aJDB81Ny13qfXBWEKTd1W7HasToy1k34Gvytl8iDRzefLGwoKknwVV7Sj9N2cAarVhMHcyezKKWU6Zzch3BQ5-JdAYR6BMoKzwcz9WJLC2cwjSlY3oZNscEddOC7C6h0dyDdl2WHX1HQ1fwxu3BGulMk58kNJSWs6-qAZljO5-pC4h08mGgQ==",
  "id": "rs_07abafd5897e38d5016ab43269222887d0847e49b49460b993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The jaws stopped about 1.1 cm apart rather than closing empty, suggesting they caught an ear or fold of the plush. I’ll lift several centimeters and check whether the dog comes with them.\"}",
  "call_id": "call_6IOn54sERVaYCQsllwdIbj3W",
  "id": "fc_07abafd5897e38d5016ab432696ae487d09bdefa211b90c990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6IOn54sERVaYCQsllwdIbj3W",
  "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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0048, 1.6547, -0.6777, 0.5983, 0.4564, 0.115]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3799 right_y=0.329 right_z=0.139 right_yaw=0.1279 right_pitch=-0.2409 right_roll=-0.2047 right_gripper=0.115\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.7118, -0.0708, -0.0611, -0.0122, -0.0889, -15.4735, 9.2239, 1.072, 0.4518, 0.0513, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15761e69338bea7377b9105b7004d095ec291bcc9373f8851a2ffe3844ba246e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a41152cfa67f504fe051f3240f65c79831d27382331d2ba5fedd9022cdc5fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34eefc129009dcb91f4094f9ab401ce7a031f7443c543b0a8efae1821e415064",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.626 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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9226, 1.9347, 1.5837, -0.6273, 0.5995, 0.4992, 0.9947]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3696 right_y=0.3288 right_z=0.1518 right_yaw=0.1289 right_pitch=-0.2016 right_roll=-0.1382 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -1.3744, 7.2684, 1.7558, -0.0317, -0.0513, -0.0122, 0.3761, -9.4838, 9.0051, 1.0916, 0.5446, 0.1294, 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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0224, 1.3987, -0.3576, 0.617, 0.4644, 0.1155]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3788 right_y=0.3233 right_z=0.0773 right_yaw=0.1184 right_pitch=-0.196 right_roll=-0.1767 right_gripper=0.1155\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7265, -0.0464, -0.0366, -0.0122, 0.0068, -11.5761, 6.8855, 0.9353, 0.0171, 0.0904, 0.8327]",
      "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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0048, 1.6547, -0.6777, 0.5983, 0.4564, 0.115]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3799 right_y=0.329 right_z=0.139 right_yaw=0.1279 right_pitch=-0.2409 right_roll=-0.2047 right_gripper=0.115\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.7118, -0.0708, -0.0611, -0.0122, -0.0889, -15.4735, 9.2239, 1.072, 0.4518, 0.0513, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15761e69338bea7377b9105b7004d095ec291bcc9373f8851a2ffe3844ba246e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a41152cfa67f504fe051f3240f65c79831d27382331d2ba5fedd9022cdc5fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34eefc129009dcb91f4094f9ab401ce7a031f7443c543b0a8efae1821e415064",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJwgs6VKdTpDlbGRaiHcF2Eg0Rc9zlD5NBAvH0Ewoxs84LIkiso-aWQ0T_VL15YiV8yYROkT8x4Lh60xs8QUc6yBQnW4lyKNqzqEh9xAODbcpwo3J0uVfydI7RPP98uEBKY_EeKYG1kiFGfxjzTkYuVv0DUO2Cia2zaE0hwR-_CYhMkbYEC96ucDBVKKxA6V5yutpmdDpW8JKYhaby7zhaCc7Yc49rAtL9VeVftZCx--vBGOOOmgStL7ILSChjxbK6i1EA6B79-7KTk0UWu-QwvUbbyvKEiEr9Mc-PmFSBBaSX0wBSkHL-KTHIphF_omEnFmxhypLtF6P7LrW_fskIR8KTGVDTcMB9g0FFKX-EQG3Yr6Kl0y-TZeIhxxcxLnZiD35Xj4u_CasKlg_yYZemQlwj3Pzk1zZ5_TgApSeM7mCAoobApxP9cvgGXiOUv8FehwAjnM-tDBI8dhDuzKxzJNWqHzBWMEY0Cu845f-0JVAnvDAClR4Yazdxq7GCV1QhyL3OAU7FztwlUaKo_FFrhanMmMIy7tz1kDlk5zsfDZpHKiDiSarWsRKVbkkLSHty1JO3JnQD-3ToQsoU6U5A0VeOZ0NElISe__e6bJfCojCKQLXSeTP0bkAR_eoP9HIaZpnuRuyNcZUZkb0Wr5zu2LQV7ch1YNPuDxFdxt2B3C3elfMFPsJZ3pYtn7aw1Ms_svscoBH_V1zHi1AjqpZa3lJhe-TEP80B82V1gLZ8gCR22D050jUEErPusv1BYWV4wU1NRBb-kAykOolCfcfDxrlcXwpszrBsnvUqMXYXSdb_b6eeMSDA1o-Umm5mvdFPE3g_jMsp3xTYSWBUnfgLlT6ZjzjzGiNVEFzbhUjCn-9hKIu1O7zZAVJ9DSZbak5Vfo7WW0MonfUZzVgeNBtuofSGd57RN-9G3dFRbe3lvERBcxII6-enZsnhtQJ8x6pqt9TpUSQXt1oXxqAKC0x15zA2998YTPqAt-3v3ggLucRkhnA1f1CFqtNa7e2ifmi8YXV-LVVBbxuU1CPmgDw3QNfJfqAmCc8BFcLyjz73Wley-3vGRWhK9ODJDPIH6V--SI0GfhIhlLxRC3vl_oCOaAgVFYOY9XEs7m7qTWxXE7rDBHfqsDyf9rdI6MvFRmlPQjQgUOILR_RNQkOlrhI5VLGGccGbbQrZOB0I-N0ebiTKO-QarKJcwjyFUxbmfSGU-UySwGCdKrtizAKsqZVBTbNFXUKkgISHZUGpcIHCwRBDKNy1Ljhqj6LePwFPZp_6jgYDWpWtDknvObTasKqTWrfuV6TbfECOldEly2FZbjhplD4lzstM3D5b4No3GCi8fKg_HKYrF3biNAW3vyZo6yLXEw7zb_tWD6mwd7zSZudYPhkmDuZ-hhkUnaIZ3kuNa0fosAxN7CrUrP7Wt2DF6nxBSr9XCvM0ihiZlKaNmkQcklS2Mq0aclM4SqqRY2boZk6x-yp4RNlOdqwdV7c7JqifLwu997Ya1W7iHNdgA5xFBq304javwOWiThi0P2V_3NFQ0z8i8q4qXtNlcB7je-5FhblDVB9CRyAiOdCh1YQzAy15W6JUHefQX39G56eoCzo-PhbGoPldbwF_CCfx9Cvqf9hLoxPc15aHhlU9TwJHXiOXBQR2g2Us6G8iRsvkW8HjtscuA7hj8mQUjtcMIHOYkPxMXp8bLYStIv-e6APp5tirUwptlIcz0-PosnmvLReznFpm9kp3ttcoBAdskeGYouCzmfAgKKdn8xd2WzqOPwY-qvYyR9Qlc4n7NPkJtuNtHCUQPMfR_hLhVyUS5zCXbaqYj6JeJVYoz2JWw40Cwqu2oxEkDObMrTrwQ2MMMdwx1wih7nJfBauuJE2bINncAuexU-E0w0rvLQfbkNDXI58hwI00_m75b5_5u7DQnbG9wLvy4n9CisNlkQpOKX84lMpKPvZ6zNp3FnS3Oa_8ep9nrXZxIkCwDm0YE3xEPYbCoJ4vb334DX6eDGHXD5Pm5frnxmgngdWf_gS-qyfBoDrhI6_VFYTelt_J6p-pO31t3XhJBmVgf7pfKRK3QyH-khO6ZOH2lgP8LLzLQ35DhtufFN40qTa83YYRb1OJnNgiBxVqGGsmsIeUPXHh5X_t-nWHevWb7wqCFTuOtZOily4pG3lK-kDamQq1ydDY1xoU4l-FJUIro8WFSUHe2DFd6BlNKLMYIcG04yGyLjpKWF6QDMsXumjmgvSttLeX-SvTehsgeu_Xrg-e9HnO5ATrAbUrjzw4KznuLV17Cx-d_g8YOkMmAELCch8-6_nztfM4ZqnRlgm8lpjwRGf-M8bERUPinZQX37Z5vYuHD4FEl29zJhtWXMnoyhfh6WBrqdt9jAfVbzmzVrL6J78O6eM09XOF4mBPFyhWHGCYkte2qECKTpkdUrK-SKLIgcaZaULBQERj-Locb-2B6z0ui9yN4a9NO2vVFKKDwKGXxaEOTF2zfnT2OMeIHf5zbonKtaYzNti66R1qbmID-PXXSwJM_ck_RpmFphCMQSJ0xaXzs-7zqnfg1-1PYhjxiDcHdAXxjADQy_bRTf1KE3E4Pbz5hAZXT59uQkcTWbi6MgO1nm9HOGyzJiGK20SD59AkhO6e8Kt_xygvjcbwjKL_d5OvS4j3JNDJIKY3lArEgUXSBy1L45TJxUxaQv9-b0jKjbCIXrwmiwYYfDUJkz5L57nuSvi-T5wthhwCHJpWr5aUGgKmGtNdKiVdZeKmqi-9FNa-FBNKGePLwkCOA4ylZvTuhHwUhDftZXf_mPV36OhS6ffW5S3cv4uFjCGVeOiPyrm73rCa75ZH3TARQoKuQu1HuNo1Z-d9I60KqOSI23aGXqevOOSN0mRi3l2bSMB4UIE_DIoxj0bydkj8lhCXzSSkqWF4gQuqxaATrzwfeqEpiS6nO2J5NnRlecoY-9oH7HIJkvPceWen5om5SyfJr7-CHzgAoHnQwqzzOkP04AjIFQc9BajLY5a-EjCmwnuVxiXSXfqLpQtf6QlBe9sQ6dn3blHBXNjCc5sAwcwI5DIxVkM4WF6GyYkavt3lX8JJvpUi9NqaMAuliu4N2M7lZM3Gs4sWO16VR0UeliOVnKEMt-rW9eXZeaqZGWH95NSgqVxRHB6sSaqw3REQyWTFb6gN8Dn8YUcvWG-RfVMbu-2A_psQBeSVmmfHTkBZEa99Yg44XQObIvJ3deQe4Ana4uCcAUDr0oYzMy8JFethk8_a3B1xbW2rLUcLl1GOLr2K2P9vqHZXQaq0YobQXSeqcxg==",
  "id": "rs_07abafd5897e38d5016ab4326b7e9087d0bf1a194df6356bcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.16,\"right_z\":0.25},\"note\":\"The dog stayed at the same position in the wrist view as the gripper lifted, so it appears to be hanging from the jaws. I’ll carry this cream dog over the right-hand basket, leaving the gray dogs for the other basket.\"}",
  "call_id": "call_yMHqK8UdXCcsde0wOGb58Jyf",
  "id": "fc_07abafd5897e38d5016ab4326f6d0887d0a0df30c91187635d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yMHqK8UdXCcsde0wOGb58Jyf",
  "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]: [-0.0189, 0.8135, 0.6109, -0.3801, -0.0223, -0.038, 0.9995, 0.4343, 1.8942, 1.8332, -0.8295, 0.318, 0.0479, 0.1175]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0052 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4769 right_y=0.1643 right_z=0.2225 right_yaw=0.1126 right_pitch=-0.288 right_roll=-0.2162 right_gripper=0.1175\nstate[joint_eff]: [-0.1026, -1.2376, 7.2957, 1.707, -0.0757, -0.0806, -0.0122, -0.2667, -11.8359, 9.8667, 1.3211, 0.0659, 0.0366, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1748262e0dff71b7b0e08ed7ca188c2c67ffa4f94b555d58d663b0b61a187f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780e8490cf4bbe0d698180900b0dd56d2fe0669192ef09486a871384b203af15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4d02c532d9e0803ffe961ee6728e07da07e7c88f06f744040496e5bf0dccc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.06 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]: [-0.0189, 0.8127, 0.6113, -0.3805, -0.0219, -0.038, 0.9995, 0.9073, 2.0155, 1.4048, -0.3851, 0.5941, 0.4782, 0.9958]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3746 right_y=0.3245 right_z=0.0775 right_yaw=0.1259 right_pitch=-0.2187 right_roll=-0.1632 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.1829, 7.0632, 1.7363, -0.0513, -0.0513, -0.0122, -0.7316, -9.2786, 5.641, 1.2674, 0.1197, 0.0024, 0.0952]",
      "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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0048, 1.6547, -0.6777, 0.5983, 0.4564, 0.115]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3799 right_y=0.329 right_z=0.139 right_yaw=0.1279 right_pitch=-0.2409 right_roll=-0.2047 right_gripper=0.115\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.7118, -0.0708, -0.0611, -0.0122, -0.0889, -15.4735, 9.2239, 1.072, 0.4518, 0.0513, 0.5641]\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 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]: [-0.0189, 0.8135, 0.6109, -0.3801, -0.0223, -0.038, 0.9995, 0.4343, 1.8942, 1.8332, -0.8295, 0.318, 0.0479, 0.1175]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0052 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4769 right_y=0.1643 right_z=0.2225 right_yaw=0.1126 right_pitch=-0.288 right_roll=-0.2162 right_gripper=0.1175\nstate[joint_eff]: [-0.1026, -1.2376, 7.2957, 1.707, -0.0757, -0.0806, -0.0122, -0.2667, -11.8359, 9.8667, 1.3211, 0.0659, 0.0366, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1748262e0dff71b7b0e08ed7ca188c2c67ffa4f94b555d58d663b0b61a187f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780e8490cf4bbe0d698180900b0dd56d2fe0669192ef09486a871384b203af15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4d02c532d9e0803ffe961ee6728e07da07e7c88f06f744040496e5bf0dccc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ1jh90iBhBkLjixe7YYWyypM1Vob7kRJv8Y5KK2mf3wDQ6V2ORbtXVIhzmmXDnxE4fCXDV3-To9d3PEa9gySZs0QRd2d4llp-uYPN-VWkwk21wWFNL2IQRn-8sUbYLi8DiCOxlwQq0njRzDFZRX_B95Dc1lypYf1NQIjEW6mnA_ia59DasqzWnzKVQGP3Fn0ekz38F8OPitw8OjsfomOC9D804-DDZGobE9dR-AzSZcMVqJ9Yr8anrQ0FWvD2gbBtCHzNGveDCIj9kXDV_x2bUoIjplYaw6l5AisNvpOduiZhzs1c-d3WSGqSWpd_xX9pV3QMmiOK7EoPHNWK0Q3JoNYYg0BzJDRyVmn52OOVzHrHjrMqpH3ye3rCMh6ycSbZd3Px_08zXp1vTWygWpt18j7w97PpMjE2sACo8j_qoBcyzqev1BTz65uA6i1lwF-2u1LKXAz3s4r7Cn2GQbfXVXOVkw42vsH4P73fjajIEVqj6W4IfnySkRNMbT-9VV40FgnZW_HFaMd4lIjSysLx4Nfcp1nUkMYG2BfNelfgxcXfn1ZzMIp2aXNLNBny2KoqyVN9dSiQEQpZ2KBdO6J1Yocx3nK8cG4OQpjvFkkq3u1yaRT4mjGC-hvsgynazXp6DZWCv3cV8IB0353UEevraZdm2VOQsOseuCi1ajFOJn9HvTDAGg2w0fi89ybXNaAE2IYEIwNiuxcELMoGArjfxjJxdnrXfM26JL0nk1-k7suA1DlBErWk4Hn_sIF5rv1zovn7M4KDoODbKcdWE670VeplJXTxbAEG1Yc5QaSGykNG7aESErB0ylEGatEpxXXmQIjXluMXNflrmAXtCpEltKoNugNSEWZhLETsbeJElaDsNpQZ9kQvVU-oEe6kvAVv0l8zcI7uq_wYTMoV-CoRJVWu6-u0FePb-d4Qz1zVsr7aVVBhGLVRfCgP4AII7G0SjuPopNp8x8MhoBVC-WGtCx7QZSpQlgkBkTxCj0HbAwIJHizByqh-I1IqLOC7Wv9TAoG3gNdwG5Ds8p4cBJEq3TFsj9uy24DgeUao4PEgOOeJxzSXBuuvNNtGKR6gauQ-asDy7EBHYUC85_UZ26uSGroLIU1rRLht5X9jH0YwDFY3KSIBgrSOjPCF8TzWtcpc6wAqmOoszrkhCkMswRvl6LCnYXOZJnEpKwsSfFKzut864Atsy7cwGyykT_GEIaZuRQn_T5eSeppgtx8rujTTrqvwm8fsZT93iApjyhj2XQ4d3tGF1BgkFBaYHGhPCJ-ly2eEy-yTpgHpZtPzt9zokBAYJIOG8EbclMF9gUIyrcE7Xo4ZrSNRKUw2tVuXlYFgDCYi6s7M49xIjlegO8qGRC0_odYC0T5JQH34L86q7LJI8lzztxCPeYO-6L1gXcozV-80Rr02mLGYBwazInV6TP5qesVMRdrb_kLE07XQc0xZ8bAz0EtGrgRmdcEDsrpGDJ6oEDvg62R00ajUxZW2m4-ofM227Q89CxRxcsu-eW7IK-BO_IO5PhQqGv55GOOI19QHOfTVLDrQMKNY1eEieUsE_TTxVx18Y_UNuVDBpP8kLmcvIwPFhiAATG-XzQAuEXVQOqp6d4rxddgDSTl5sWMHjQ1Hlek-Uq9oFEqToADa4qAebhLVGZx3DGEk_T7KFYV8BT1Rw_fjWw5W5UjQ14smtsiqIl3bEMh4IwT1Qvwh3k6b797R3S7NnqRQGS8YHr4IifEHeAj2sjmDWTh-hmRIxbNy4b0iBy-LMA_MqC6VjOMvhbq6EegT2USf60cY7pT8L8KAKzWVc5nIG48MXPgvLvw5ePOY2bZXIc_Eo2yhyFkyUywkR57K0d4qjaHRMV8HLy6jI7sXxAH2bVbEXTuKPu1hmvSE1rgJVBs52l5CtvomtJ8B-I3aKPkMCuMebBI8xCMZ-4ygEQZcKe4fDBHPJQgaCyzn93qSrnZpy8SUnnNkt_vXGMMSMQrXIphMxZn0YreUlRlM6V5tF9MLaVg==",
  "id": "rs_07abafd5897e38d5016ab4327354bc87d09d447d2eb655d784",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.185,\"right_z\":0.25},\"note\":\"The carried dog is just in front of the right basket’s opening in the overhead view. I’ll move a little farther forward and toward its center before lowering it in.\"}",
  "call_id": "call_kPhbpnoLwkhETvqlE9zUxwq9",
  "id": "fc_07abafd5897e38d5016ab43274bf9887d083ae2c19e67b5f5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kPhbpnoLwkhETvqlE9zUxwq9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6106, -0.3809, -0.0219, -0.038, 0.9995, 0.4267, 2.1918, 2.3322, -1.0191, 0.3023, 0.0254, 0.1179]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0232 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5302 right_y=0.1872 right_z=0.2367 right_yaw=0.1315 right_pitch=-0.2829 right_roll=-0.2161 right_gripper=0.1179\nstate[joint_eff]: [-0.1162, -1.5111, 7.0906, 1.707, -0.0513, -0.0464, -0.0122, 0.335, -13.6274, 8.6496, 0.7106, 0.232, 0.1392, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d22b3855a46dc09e3a46bc3d69e28ee5e482d2783747d5451f5e0a30fdc7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f9609b8b5dd818b0537e6aae0a64bace9206c4a4ff6197e6a52ebd1c9e00ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aefd2b5431ed0d73032a9519f00a5dcb3753e74509e4fe7de58d8d67f6f40e9",
      "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 · 3.805 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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0224, 1.3987, -0.3576, 0.617, 0.4644, 0.1155]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3788 right_y=0.3233 right_z=0.0773 right_yaw=0.1184 right_pitch=-0.196 right_roll=-0.1767 right_gripper=0.1155\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7265, -0.0464, -0.0366, -0.0122, 0.0068, -11.5761, 6.8855, 0.9353, 0.0171, 0.0904, 0.8327]",
      "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]: [-0.0189, 0.8135, 0.6109, -0.3801, -0.0223, -0.038, 0.9995, 0.4343, 1.8942, 1.8332, -0.8295, 0.318, 0.0479, 0.1175]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0052 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4769 right_y=0.1643 right_z=0.2225 right_yaw=0.1126 right_pitch=-0.288 right_roll=-0.2162 right_gripper=0.1175\nstate[joint_eff]: [-0.1026, -1.2376, 7.2957, 1.707, -0.0757, -0.0806, -0.0122, -0.2667, -11.8359, 9.8667, 1.3211, 0.0659, 0.0366, 0.5983]\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]: [-0.0189, 0.8162, 0.6106, -0.3809, -0.0219, -0.038, 0.9995, 0.4267, 2.1918, 2.3322, -1.0191, 0.3023, 0.0254, 0.1179]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0232 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5302 right_y=0.1872 right_z=0.2367 right_yaw=0.1315 right_pitch=-0.2829 right_roll=-0.2161 right_gripper=0.1179\nstate[joint_eff]: [-0.1162, -1.5111, 7.0906, 1.707, -0.0513, -0.0464, -0.0122, 0.335, -13.6274, 8.6496, 0.7106, 0.232, 0.1392, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d22b3855a46dc09e3a46bc3d69e28ee5e482d2783747d5451f5e0a30fdc7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f9609b8b5dd818b0537e6aae0a64bace9206c4a4ff6197e6a52ebd1c9e00ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aefd2b5431ed0d73032a9519f00a5dcb3753e74509e4fe7de58d8d67f6f40e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ4ZHypx6P_nAAJ4RRWJ5gn0AGAWRk0HETtVZRdM9xyIBdzeASfyTCi3V57COn25hn-Y5mvQBxWAwF7eh7JwuPUMpEo3PvrTHEcECH7aLIWR-_kP6PhN2v3MhK41-KJUeGt5-4SS3PiCPi8J2bx2hiks3nyJZHTvlPHccEVyS5_ZMJMPb6912ZhNIA5ITR-4Zh0CK0DJ_eppwhYRhQQp75talvRAcU9H_TXO-sHafDF6m80SzyAlODG4ifcKFZknbjfy3LLqUsnK2fKWk3JiGMqQs3zuYJ1jiFsahbCzOxJJvkSPeKVQ43h1lRX2qKFXSWfn3X2j1a1PJbIl3uRXjtS4ounAV6EhvHIsfZf_aaZ-kIVN7XiZQYMcKfD5v6jHXUdgrIIukWl89PLZ0WmURj7O0qLlrm2Wsyjd658Y89kuelc8y8p4ACOU8Y3_mYNNbKDRwwNl1WkgIKyfQVMkEpqnHcso7oFqWAkl8IS6l9NyTSdsrgPdAWaPAhkh70H7ipoT843i5EBxP_2-PsaJWVS4BHTSBwSs1HMkYLFlynxUvtmi48NEI_9zL70ym2UDiTb82lcj2EbIWzbJayeB1DggNTwc1Gk0QRNVhEBAz4e6KG1j9Ag7beHdpi05S3uGBPGDKEgzxRbokWOjrE3jEI5biQMOgLWUYwl10_pY5JtmCwK8GBPFaw9lX9eZrfNYSFJw5z1XGkc2tlS8kXx2qpHbNKqEBlYRXCbAPVn3qfe0UJbyqfql-Mx5nYXKZxPVXrCAVLHGe4ZpCsry1lGV2edPmiKDwmeXpdjL9TF9okvDtNM2PQ0NkbBWvGfxuc8HV1zEcSq-3PM0e4l-k2fJ0ZGBlK58_JrM8tUmD1_C43ytcmOam46RoY54fbarZMx7AWY4dG88bBYD84HuRt0xL3HDS7iZnwO3c0OJN-TdvY6F5WWCq48f3oF8tCdiGK9yEtDr1B2gkrs8KJZzpkfpdihtTepzgIN22WL0NZNCB3NnMf0frvBQeiyr5MsaQB1OrbV3B18bPDLAkgA5A8peu1ykLrkv-T7piTZQAP0Kd4Vuj4rGgax1q_SmORmXvayx3ckkxyO0bGyAd0_uET6_nqoBw9OrnOcl_kAWNGv3BanLbFFoxXDuz_S21v4sRuE-4mrz4Tsoaru-2v1SMNjo0V0bvuAo3BKogFIVUbv4CDmPLQU0D11umBb0p8lw21Z58fzTL_UjlQeIz4r9bK78lA2HbNjez9po7vWywn9Pbt4Tl2619kDHJ48wTdBUgQ5Twkekva4ZJACSXIakvyPZIoQ0bpcIUUxbje4N5d-mz_fnBvdACzZwzbiSrgTYcpnf-JliMLb5P74AL8iq9TatmiCL_VxmLU6vI2ULHgIUfIL7vBbU_KtS0fOol4CWhxvwM2hDLGCZqE3PkGQPj3Xyfs0791jbBWK2WoEQOBq9yAvs5r23RgI_s9xyVTRwZr_SHyKLxRE0iLgHu9MKL80Y36WKtmflDxMO8LQc27LL5HYQOGTsCTmCJgYNsYx7AR5qAZKDDbLlvy1mJduNGUc78sS-H7xDtlNv3RaPjrC4MXWfVS9wX6J5CNueW4XAyeDhLV4c1wC2IYDRmYFfb7F8on4TOm-sEefNwfvw7nHHT8Irb2zQ7VVkXEpF9qUYZMWSItkaBSeDuJ9Zf5SdAUwS9BoE18bcCJCtejPkuDLK7cJQi08Y9YnckqpNMBIKo-5z38eUE9L4_oNUfS69wedHfMllSxn4vPucaOAEWEC0KXqPNI=",
  "id": "rs_07abafd5897e38d5016ab43277443887d08abf08362c2e1d8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The dog is now centered over the right basket’s turquoise interior. I’ll lower it into the basket while keeping the jaws closed so it does not fall across the rim.\"}",
  "call_id": "call_pdGu70kgHbrn0QcSchNjD6GQ",
  "id": "fc_07abafd5897e38d5016ab432782be887d0bdeb7115e245da5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pdGu70kgHbrn0QcSchNjD6GQ",
  "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]: [-0.0189, 0.8173, 0.6102, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8206, -0.5793, 0.3046, 0.0177, 0.1202]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5316 right_y=0.1881 right_z=0.142 right_yaw=0.1353 right_pitch=-0.2773 right_roll=-0.2214 right_gripper=0.1202\nstate[joint_eff]: [-0.2256, -1.1419, 7.1726, 1.6972, -0.0415, -0.0513, -0.0122, -0.3214, -12.0684, 5.2171, 1.072, 0.0611, 0.0366, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aeae9acc2c921d6f8b52196b9c35e75a37172a94d01985a1ed09c6e3cb9e6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32841dd52d32f7a52291ca10b145a0d94cb67cbdfdb33b9d6e5e59fa0e35b889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4415e5eb9a878e93d27bebc880c7892d6df83192b4eb6ac68f6acbffca63756e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.412 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]: [-0.0189, 0.8127, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.9058, 2.0048, 1.6547, -0.6777, 0.5983, 0.4564, 0.115]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1781 left_yaw=0.0049 left_pitch=-0.0183 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3799 right_y=0.329 right_z=0.139 right_yaw=0.1279 right_pitch=-0.2409 right_roll=-0.2047 right_gripper=0.115\nstate[joint_eff]: [-0.0342, -1.347, 7.1316, 1.7118, -0.0708, -0.0611, -0.0122, -0.0889, -15.4735, 9.2239, 1.072, 0.4518, 0.0513, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8162, 0.6106, -0.3809, -0.0219, -0.038, 0.9995, 0.4267, 2.1918, 2.3322, -1.0191, 0.3023, 0.0254, 0.1179]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0232 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5302 right_y=0.1872 right_z=0.2367 right_yaw=0.1315 right_pitch=-0.2829 right_roll=-0.2161 right_gripper=0.1179\nstate[joint_eff]: [-0.1162, -1.5111, 7.0906, 1.707, -0.0513, -0.0464, -0.0122, 0.335, -13.6274, 8.6496, 0.7106, 0.232, 0.1392, 0.7839]",
      "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]: [-0.0189, 0.8173, 0.6102, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8206, -0.5793, 0.3046, 0.0177, 0.1202]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5316 right_y=0.1881 right_z=0.142 right_yaw=0.1353 right_pitch=-0.2773 right_roll=-0.2214 right_gripper=0.1202\nstate[joint_eff]: [-0.2256, -1.1419, 7.1726, 1.6972, -0.0415, -0.0513, -0.0122, -0.3214, -12.0684, 5.2171, 1.072, 0.0611, 0.0366, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aeae9acc2c921d6f8b52196b9c35e75a37172a94d01985a1ed09c6e3cb9e6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32841dd52d32f7a52291ca10b145a0d94cb67cbdfdb33b9d6e5e59fa0e35b889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4415e5eb9a878e93d27bebc880c7892d6df83192b4eb6ac68f6acbffca63756e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ9liPzd1QnLwc0KCLj_dUqLFNDQXqSghZNtpNxxOWROOehJ8yUhrlDHK9_3G0Q90GjkaFwkPyrbAJBuqmsoqO6YuSpK7FIWmvI03WnRrMVyw8Rlvv-y-3P9d2dCnEMKJ2keB8uOnOgunGwoj5Z11OwLGwUJK0k6sxYX06iCgT20ELzzlQdTmHJROV3PCojNjE1ZtI7tKOVgAXGIXKhketO_Il9Z4vdzXS9qMh6Z4LHJxzUG5VdTsyOETJaaxbuZ7LnclFdul7X9uU0o-79ZgMpxJ5WV-88RiK1VFqy8ZCQTN6Ny01A7CgoRwrvrKuXUxFFm_EpJcGu4Vz2cfcvtV9Ac-U5GyQdoiEvkrSePiloyBmD3cjvl2ZVU3sY5hfacHi8DjlfYcf16sKlf7cYVPKT1HC533Y6c2x4Pze1feYzwseFr0W0_dYg2MGPHudtZfvpe8ZykBf5WBOiWf7KmEZTtV5Md51vM2CPzSR8viNUGCfuP2dlQs3bwsrxWLrh2_MKwcnXAeFV1tVbe2n297qPmWNuN9gGyx3w3CBrvIYhfN3X-9jNrRV78UqIOPWa8vpqcD_4QZyiZCRXF02p4U6xHVmOrOyGHDjAsVjwU2T3XC1lcsjD2VaJbPDEvv5yOdGc45fM-y2uBGdyOmK_aUH99VLkPULTf9Pet5iCZCBlcXD3Ra_bgwnpvvBPp06L01XspWr_zeItKdWaWXpi0-ms3YilFZ36qhOsVkhZ55qRw3K2lpKQv_Wml6e5_OXglOu5IaYAF8XwfgQ9AlXt8G43CDOzrua3sHutOxWKV3Ci-fTREKGiPvSx7ZR6TR7oNjEIzV20YKfsXylEAv5xiOT4yHNgtGNOygqOopVOU-v8-mSRDzIdVw5NufB9gDG-ltcLS6r2Nlm5ODw5iLW4EMKdH9nCtl1s-k6cmrTBlTifNSIh6Qnm-zG_R_GkQOhjJJolV_ReNbhv2VdowqKFS311fsUtx-c6D031LHiO2myIEuB4oSoGC9TZxNQIC6yjWdXDVY8geqCzZqsxl3-AzhmUkHKdayaqJN158i6QSWwzJocSDxp2nfZM5_8s0ZPR6RBOd2qs6Qx8MDGwETpsZ6n5-FKI6MKOUr4M0DRjB-hhTKt5U7V7zzVpJrCcnhaN2Cv_9WUXqGNnp05A4g7FvOoS2Pz6GuNtFzxu1umK3WPp1U8=",
  "id": "rs_07abafd5897e38d5016ab4327bffe887d0bfcc2517f0563295",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The dog has been lowered into the right basket and appears supported by it. I’ll release the plush, then clear the rim to verify that it stays inside.\"}",
  "call_id": "call_kP2xUGFSYWcl6ig1QGRH5hJd",
  "id": "fc_07abafd5897e38d5016ab4327c18c087d0b78b50fcf2f8d1d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kP2xUGFSYWcl6ig1QGRH5hJd",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6098, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8038, -0.5663, 0.3012, 0.0067, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1761 left_yaw=0.0049 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5306 right_y=0.1883 right_z=0.137 right_yaw=0.1439 right_pitch=-0.283 right_roll=-0.2276 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.1966, 7.1453, 1.6825, -0.0317, -0.0366, -0.0171, -0.0889, -12.041, 8.1026, 1.2772, 0.1294, 0.0611, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eae021c8cce5f321966e04c20a0b31b9621c5cd3f42d27872eb2ec6ae674409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c22c6d12fbc25665b4be0859270181fd6a1acb507e111ae7dbf94ed038d3b14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5348397fe103fde5a45395f22c0148b9baca9bfa918f264d3e2b0dc08729dca5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.705 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]: [-0.0189, 0.8135, 0.6109, -0.3801, -0.0223, -0.038, 0.9995, 0.4343, 1.8942, 1.8332, -0.8295, 0.318, 0.0479, 0.1175]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0052 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4769 right_y=0.1643 right_z=0.2225 right_yaw=0.1126 right_pitch=-0.288 right_roll=-0.2162 right_gripper=0.1175\nstate[joint_eff]: [-0.1026, -1.2376, 7.2957, 1.707, -0.0757, -0.0806, -0.0122, -0.2667, -11.8359, 9.8667, 1.3211, 0.0659, 0.0366, 0.5983]\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]: [-0.0189, 0.8173, 0.6102, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8206, -0.5793, 0.3046, 0.0177, 0.1202]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5316 right_y=0.1881 right_z=0.142 right_yaw=0.1353 right_pitch=-0.2773 right_roll=-0.2214 right_gripper=0.1202\nstate[joint_eff]: [-0.2256, -1.1419, 7.1726, 1.6972, -0.0415, -0.0513, -0.0122, -0.3214, -12.0684, 5.2171, 1.072, 0.0611, 0.0366, 0.5543]",
      "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]: [-0.0189, 0.8173, 0.6098, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8038, -0.5663, 0.3012, 0.0067, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1761 left_yaw=0.0049 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5306 right_y=0.1883 right_z=0.137 right_yaw=0.1439 right_pitch=-0.283 right_roll=-0.2276 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.1966, 7.1453, 1.6825, -0.0317, -0.0366, -0.0171, -0.0889, -12.041, 8.1026, 1.2772, 0.1294, 0.0611, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eae021c8cce5f321966e04c20a0b31b9621c5cd3f42d27872eb2ec6ae674409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c22c6d12fbc25665b4be0859270181fd6a1acb507e111ae7dbf94ed038d3b14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5348397fe103fde5a45395f22c0148b9baca9bfa918f264d3e2b0dc08729dca5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKCdkJ6aZYYhjc3KNBoiUUtBV3uNHoupwLq42Y7caKzwysvEU49vW-PzRsnEElArxJPZHjSh6CWiwyPHg1KEs3M5skCDOg6esekCPOvsP77sI1Ldg3zaFOszL6E4zP_CT97mNhbRVtypVObXoeqqFnT3_prpX5sr4lqKyAOqGjqHRRh4gD0RgnXYUwtdNZd9uRoYaPYRdk-6nCXdH9joo3-BOSfKyguGt_WVHHPdJ5ePSJky953w6AsUkHL0uW5UV3X9iXJ59P2qZT3JtBQoCS0Cv2v6aHZ14HsWeg1eZ9dqXLHFssJU0tGOscGZ2btl51V3GFVPCEZN2HVAuSp_eZFTXD14ZKneQuQ2VKP656WO3T07BhdEK5nwKQAxfJ4rpIn8UlQOkTWZbU99LnSLmuu5LHEqSESbMfhObepX9iit0AkQf3OptM5UMDv7e-t7QgmbyS1JxMiqfCZ0YJyJrDkLqEl2kVa8WApDYzaqTfmLspqwGD22Tcu6UWPtGC6UsdcmJWh5RyDKJF07xmcg8bg9g5i9brA5966mRw50IrSgJ4-TLdqmOpcKPA2TA5oSsW7JZo4EsrNxbEYys_pdEkfpiKnyoNfC8Itqbi__4IQf7iYm5ZXuFSraNJQSdxzdGgLz8Q9PCA0-gSheiauby9lOTSTgZfrpr9k-J00FwOcGywVM6D8cbjENxhxJwHO4cmvTlP8mYM6hgSxrAkgI95k8dlIYDYA3p_aKHIKVLcNTbaowV9aFU8yHyMCYxg3UhPlT4sbVvEVPufmslu4zGd6O_0QoB9WnkYRt_GBUEiprP2M11P_4JJsBZO6ZIav0pmIli5igUpmjQLKGgQz0BITWwmrGtQ4CGir2epRpuXc6JNtBfUhnLzoVTOLFXA3dDX5PPvM5GXfvZzyHAbhVG7C0-aUJdh3uU8FikqD4yE7Kxjark4vzY_dOdgHwgLK0hLRfFb9kpdvprlmYCrpfGiarbgd4O3GJ3R_sDcd_hhHPkBN_Lap8sy6PINdOFAVpIMl5RW0AFqbOqFNrQ5oj6okliuCml6-a8FdeqZt2tzumlyL9c93VcOyCc8sTDj9k65uSPx7vY6EH-6eGQsWofqPX2QYKdpYCRHtihBrBgPPHCKISidi2NhTgxvc5X0waGwKYwFxMjwjjr1vhbPo_SpVRyFftmCWF5_qNC-lPg9bgsrt5mGCe4tQJQhSTmzQfsYYOLiIeV3NjCda12O3N4UiLJo7X88AOpwu8Uh0XRgbsvPDAOq18jgBVTsiQjxNSVKiKkVhZCslTHitG5LyX8A5s1temq1owuUFu_SlXYJnFpieEt3slthpv-Btx1xCT56fEFvUPnIQUllTBR4SpC_yGb99SMCDbHjAKv-KKDkH5nkDPISjZxjPWK0dPVRLIK1ePGVXLAT_FRRjYGQazBZdQwnRQfRLdlY5PReIXy74keIq3TJRBB5T32Ljmb3MmY96kgbZGNo-8xGu3mJF2SHO88UbCzk1EndTPTI9do7QxYBbXCndn66ALouIYhIixSbFGxPxWBDGDyLcMsT6JaOZzzAWldFZxqpVGFpji8CFjbKdXw_K9rIKFMCEviP9V0yjiDmyDRTpmiS9-uLLqa6lb8J9KkQNmAZTOYcTBQS6_FBFWC5RABBc1O6XbtBifWft_wDvlZMkMV-OjqX_w3qWu8Cpn9U4jqnwTHVzHMICx3WB7d6b3ewcRVltyC8pi3U4_gbfSO9tAOC4W35spwPgmNiRYJ4F_ngEh29l5Kc3YPqT-bXRzJes__13_xTmS1zPHSL_QZBjMiD29AMuShUQ3WVQmHwnRg7xUzzW3pIlAK2pofJ_urpWUQ7ElUReq1Ni3BjgbWUZcOKUgTGUWk6JCeXmH0MPk6QCykybwhxmrLj4d4AZBO6j0aJHCUyaQfRARWAAEHAEekRt-B4IIHuo4_nRqaTuHK2E0jXf6uHlUTSj8iSCGPrP3RcrlxHLEid10LUofzwqK58nr4Cel_HrkJMByGyINY5fnC9ifdYo5psIHk5y0UEV0HSDI6rfxBaaWyMcDgk48fCgim1WoToCQHYGWPqd0tvaB2UpEK_U3byHKkgbnLOjHTWUMBs0t80DojWL8SldtnqUNxC_u5olgzmI7yy0DcKTcrqR5tK51NUNWzGl66I0D2fccmP6CkEd1LAJibWaKx1HDDrz84kRAIOoXJatr14iDNcIQuP-eLOX2ih_UYePZozROlb0VIMUboeBKQVtoUsmz5migBuO-ZZAqaizq2-wbDW7R2oy50H9e9RuLJaNuK51Ok_bTix3qtVSwQnSnrSf_dtiAb6prG90qYiBQxlbEiJjDu0AgL9R3yFoPJo-afV3QdyV-EdSsPvAbCC_cAaiTTc6O1nT71vImgmTeK3_1fbahV_Q7Jdh9vmDnmeZHHRE1U_gy4Ct6zMWFJO7FgCPmjzrbr1fCW1Fdg3Dq89Uz15yZQw7vuPJzRNMLSFhnEgH4LHUfeFWfQ3DAFsxqUObGe4a3Dj09dQU34H272Vpqv4aHimKp34IwC1eo8BWA4GMhjfeTNGNXtMlYdjQ8LyFmeeitVlgi41Jb_7az_Lpt3JuzE-GVga6NbsWyfY3PVnCvbiyF71qH755N3COzHspjq70j9jgHF5Nb0pry-J7mSxuoDcxG9xaAuVf42jJVyrFl7p3hV0PU78OXmmOM1l_p7rvzTjrjnY8nf6CbQ_j0G-njWQirB4VJh50NZvH5s9bL5kXcUp2L2bAY1UV1bAU_sMm4_qJqY_hYN1fFgoURU4gPoEBUn2E5AwlG6EyVTiOiZF7qyzR",
  "id": "rs_07abafd5897e38d5016ab4327ef42887d099c0c9212e9bbd4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.24,\"left_x\":0.345,\"left_y\":-0.075,\"left_z\":0.15},\"note\":\"The cream dog is released at the right basket, and a gray plush animal remains near the left side of the table. I’ll clear the right gripper upward while bringing the left gripper over the gray animal.\"}",
  "call_id": "call_ecuygFkqsa2RKK4sqWq0o25j",
  "id": "fc_07abafd5897e38d5016ab43281b55887d087a7f984bb712638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ecuygFkqsa2RKK4sqWq0o25j",
  "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]: [-0.3687, 1.1309, 0.6163, -0.1886, -0.2779, -0.2222, 0.9995, 0.4278, 2.1792, 2.2917, -0.9485, 0.3008, -0.0013, 0.9958]\nstate[eef_state]: left_x=0.3298 left_y=-0.0716 left_z=0.1275 left_yaw=-0.0293 left_pitch=-0.1083 left_roll=0.0166 left_gripper=0.9995 right_x=0.5368 right_y=0.1912 right_z=0.2387 right_yaw=0.1515 right_pitch=-0.2451 right_roll=-0.2214 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -3.9043, 9.6889, 1.9219, -0.2613, -0.105, -0.0171, -0.212, -10.9744, 8.4718, 1.1258, 0.1001, 0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b02bd23eafac95e92a3a691b568178bb61b35e7a679d6539d037a9648c366a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b64f7e83ac1022d85cb74939acfcc0070be832308c72cae903b07488cf7914d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9419087ed9c4fd6abaf5ccf126ff2672b23e4211554f03e89d780dd222cf0d43",
      "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 · 4.067 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]: [-0.0189, 0.8162, 0.6106, -0.3809, -0.0219, -0.038, 0.9995, 0.4267, 2.1918, 2.3322, -1.0191, 0.3023, 0.0254, 0.1179]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0232 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5302 right_y=0.1872 right_z=0.2367 right_yaw=0.1315 right_pitch=-0.2829 right_roll=-0.2161 right_gripper=0.1179\nstate[joint_eff]: [-0.1162, -1.5111, 7.0906, 1.707, -0.0513, -0.0464, -0.0122, 0.335, -13.6274, 8.6496, 0.7106, 0.232, 0.1392, 0.7839]",
      "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]: [-0.0189, 0.8173, 0.6098, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8038, -0.5663, 0.3012, 0.0067, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1761 left_yaw=0.0049 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5306 right_y=0.1883 right_z=0.137 right_yaw=0.1439 right_pitch=-0.283 right_roll=-0.2276 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.1966, 7.1453, 1.6825, -0.0317, -0.0366, -0.0171, -0.0889, -12.041, 8.1026, 1.2772, 0.1294, 0.0611, -0.149]\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]: [-0.3687, 1.1309, 0.6163, -0.1886, -0.2779, -0.2222, 0.9995, 0.4278, 2.1792, 2.2917, -0.9485, 0.3008, -0.0013, 0.9958]\nstate[eef_state]: left_x=0.3298 left_y=-0.0716 left_z=0.1275 left_yaw=-0.0293 left_pitch=-0.1083 left_roll=0.0166 left_gripper=0.9995 right_x=0.5368 right_y=0.1912 right_z=0.2387 right_yaw=0.1515 right_pitch=-0.2451 right_roll=-0.2214 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -3.9043, 9.6889, 1.9219, -0.2613, -0.105, -0.0171, -0.212, -10.9744, 8.4718, 1.1258, 0.1001, 0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b02bd23eafac95e92a3a691b568178bb61b35e7a679d6539d037a9648c366a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b64f7e83ac1022d85cb74939acfcc0070be832308c72cae903b07488cf7914d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9419087ed9c4fd6abaf5ccf126ff2672b23e4211554f03e89d780dd222cf0d43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKHNkOHISgdP5aoLp4m5CxJu90k3Rr2xC_m4PpEz1YUTfByzJq_7qsp3bq_iIMpWagzDnQQfC9c7keg2bFQN53M4KN59YWCjvNX-NG9UYfjJR4f77-kttyBFWlKzIA-pFvxHz3NYh5BdLTxtbFboGQ6FO8iStTy5VoO4u8PlmJKLAo7zD_EqWCvBWqLYj4asx78DqtOfRfdFJbUebtE6sYnpAKDWaUqPQ-a6n4NUY-Ce7OM6Zqp6blGN85RmmJ5bG5GPsDX-jnmssxBcGu1W1PXsSuA_JSVx3VZr2sI80qvqzlmYOSls7dfBTJcwBxvsJm4eQX5u09aqeQgvtfhuGIYIs-mwVHg5K1W0UgI9Cy4rpJZFc7XHuHAFSEG4webfucPwAbEbArXV3YIvFk77Q8dzn4tgBCmTmJxG0bDstAfDjMkI1XZKOP2q3cdE5Z-1JvyYr6bip7_95qqpENCvDiKtvceiFVjCLtfSLCrMyPm2-5eAP45rmprhM7EvAORwXWtDV20KF6c-PjFMJ9x2y_uZdV7-kUwKk3bMJohdBOm2Gv4q94vtf9tg5BFscLICULDg0q2Le4CmjTPhEI5MBWb32m6_RjSpEJPc_xojKjhnZvEcVD_UnLebEZvuWFYD8f6fKHJTBMtcohSt-3woRsXcWypCNdsKKmRw3C7Q3fW9TXb2xHT-EqxM6rF_jYNygBq04vvWCb6igNSD1LEVs9hcLJTeWaTwXvY1EPcLwBob1lrMCd10yGERFfSccFJhQl04pc7TP95S6pR-eMPJ28U3JgpB_xySRiJCwPbFFPiOdLaE82gaV5Z6weSRsktdaVATMP13UlMrS9wpH8ZXyoPLquCDlcR7MLqrDJV-ReXoEX9hwt1Rp1rf14AMfr3SxbFPyCjXAn4xC2bkWhStclPVn3US9QvGSIDHlijdsJdsRPDOzL_XJ_ZpQYgKAosAqfsLS0yJ__3poVqbAdF2v5l1z2dKCNqD0qCfF8FVBQsaQnYb0QZGOhm15fze3sybP-hCm9DeK2Ik4y6soQUDmG4eDGEORx-KnZ6jYjDD05m0vob11G1vRAD3U-351Inv5tH9fpPTVe7RGXCaQ0SQGOru4Z14OfP5NjR1A-CSbv6nakpr6ITS2jShSi_Tz4uvzKHLLFXgnsFAuWNwt2PAEiyDopOWWBTYRflFCSpUeK95QtTHaxk7QG5v76PIGVzm5rTtQE_J_zFvwvbS0q-f7XjdLuYgXKpE5N0flwy3wO6KXYm1nHvJW1CNke3eO9aXJ4qVjAXrWSgUkDvMKSg7Q8YdRFDC5Zj82e21RJ5FUQsV2Cj4ZDKg7GEdmhT-_FOfpSjOIlj1SMWOq4BnQeNyIsQnUsldHe5mDmTdyK_RirYMvT9aLT7Tu6PpTuZlLpFOioNyStXkwCq8ryHDtoFR9ua8VeOWMUmK0EPtteBm_huNxQ6b_EBQAaElKtVgW-V0Y_a95966tJnd_R24i1DIFaerdFufhk29Obx9JffW3LBN_PBcxS-WgOfQlZsLiEpt1OlEQ0z_Qe1tEnifJxYqR5q_APlsW_HMrg-EkwaJa2c5FtrkMa3u8wjqvfQTCFuz_vwTu68n9H_mctP850RbFfUIXXOGAjkaO_naeFgky87y___-mLipW6_2GJcB58NbSTFvuKJwndH0_8FNJAj7pBE7wlQaOl14wd7kZeY3aWZXzruT2w6RVVYVB4G3YX_ldpRzt3y2gLddjgWY1nz5wsAHuo90OOFznpbxF1uF2GKbXFB3iF3G1KpDgreq84RTrlbMlAMHEHHB1U1yk6qnGpo4vu7uBBAL7oMOP4LPS683nl3RnmrIloJhpCOkcdOT7p9wPjdPYJQ6ThDghaLCEBfgDgxKS7moxp-QwlyYD8KU7sea2NSAAslhZBLjV4KxOWtrVOKagv3ZNtyfjHOlxQhDQeJDsAXu9xv_n2sM6arzWcxQkdFiIYbtW4FscUGov5SqGTLDVjbgI6WvonFyO1pCNAAcMMDC9yYLlggt5S4t4vwJz0sWkQ9ZCLSl0FZ44Ahqe8cWiQt585PEyJwWwZ6Thmvl8U-7nyCFUsYRKFcn4YAJfSKSx2MBVZADH3fcrIXfDQRJUTPf4r8dHXlkyWttMWbtImjoLIuVo6Z6DeSQBxjkRjNWwX2ci8e4X3RrxXVb636mjkQGCP-BGmq32TXEqRMU4_7_74mLJkvJo_Iuh_oXQqQuuT4UomwUCFsv8caC0Az5_ixTeaa-PFtm_n_VQ_KkZIV7OTf6K15djIbQsSCZ2m3l8I4S7m1xVfDp_VCLGszIawbIRaNjiKxSGZORcLrQU7K3lrfh5kAcmXpatIjtSMMSfKI-eDqbaTH5_irkZDv7-q1PjBhtseCORXHINYLJaI7nFWtHeqzzkNeaXqSJ0t6MDsvb3a5X6zzR-C8QbVJQpoPE8EqX7jca-4GfGIpparTgn5VuYLPc7Lt5GlNWw3p8YNqs-cyOLdwSP_Yp_k0GDoPYGrVBSLhjwxJlMMRRc-y4Xy7zOeo0NHc9EjGm0HjtEjd2XdhLqUfnpIEhdLI-kaqe0L75mSGaFhFhDMrcBM_rhGow742k3UdWTy_bTVXK_ZxwUul1Nmoz4ND-6nqs_K4ATMWhgJLCvicxbHE_q8mp4RYaKTNbGRz28heORolJhv-d9cPPC0TzMe32RbUaNmv_bQzQWcXBzQFty66mXPaoZtDRUaRn2EWbZXLSBvsCZ-T75fXII4LR8h_0i3_y3Y0JROiMRGR17-mATlskBHl4c8cddz5EQrNORPXtLloj8-cFzkCr17Bht5li9EH5fd0_Tmi4vFvffyPwfcd4xjxInmF8dyxH_8wEu0hI_xTfokF2dnDcsPvY4yD",
  "id": "rs_07abafd5897e38d5016ab43283f5e087d0b3b6f0e420665551",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.03,\"left_z\":0.16},\"note\":\"With the right gripper clear, I can see the cream dog landed in front of—not inside—the right basket, so it will need another placement. First I’ll line up the left gripper on the gray plush, which is currently far left in its wrist view.\"}",
  "call_id": "call_EUL0Rv594tk2if14IrUxNmlT",
  "id": "fc_07abafd5897e38d5016ab43287018c87d0befdc96af0099609",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EUL0Rv594tk2if14IrUxNmlT",
  "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]: [0.1249, 1.0599, 0.6636, -0.3126, 0.065, 0.0544, 0.9994, 0.4278, 2.196, 2.2906, -0.9672, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3256 left_y=0.0329 left_z=0.1428 left_yaw=0.0248 left_pitch=-0.1442 left_roll=0.0101 left_gripper=0.9994 right_x=0.5355 right_y=0.1907 right_z=0.2261 right_yaw=0.1494 right_pitch=-0.2804 right_roll=-0.2318 right_gripper=0.9959\nstate[joint_eff]: [0.0752, -3.8906, 10.0171, 1.6044, 0.2369, 0.1197, -0.0171, -0.0752, -13.8188, 6.6393, 1.5458, 0.0611, -0.0513, -0.0024]\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:f65871f389738cd87fc6f05bd39c092bbc4909af3f4b57108038a66f619324cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e670f45bf16d5e40f50187d3f48952349fce4f793674c8b447fc54335748466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5c6314313d58bddee70b306c221d38b7f29210a46feb27884b604828fdfe4b",
      "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 · 2.56 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]: [-0.0189, 0.8173, 0.6102, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8206, -0.5793, 0.3046, 0.0177, 0.1202]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5316 right_y=0.1881 right_z=0.142 right_yaw=0.1353 right_pitch=-0.2773 right_roll=-0.2214 right_gripper=0.1202\nstate[joint_eff]: [-0.2256, -1.1419, 7.1726, 1.6972, -0.0415, -0.0513, -0.0122, -0.3214, -12.0684, 5.2171, 1.072, 0.0611, 0.0366, 0.5543]",
      "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]: [-0.3687, 1.1309, 0.6163, -0.1886, -0.2779, -0.2222, 0.9995, 0.4278, 2.1792, 2.2917, -0.9485, 0.3008, -0.0013, 0.9958]\nstate[eef_state]: left_x=0.3298 left_y=-0.0716 left_z=0.1275 left_yaw=-0.0293 left_pitch=-0.1083 left_roll=0.0166 left_gripper=0.9995 right_x=0.5368 right_y=0.1912 right_z=0.2387 right_yaw=0.1515 right_pitch=-0.2451 right_roll=-0.2214 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -3.9043, 9.6889, 1.9219, -0.2613, -0.105, -0.0171, -0.212, -10.9744, 8.4718, 1.1258, 0.1001, 0.0513, 0.0855]",
      "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]: [0.1249, 1.0599, 0.6636, -0.3126, 0.065, 0.0544, 0.9994, 0.4278, 2.196, 2.2906, -0.9672, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3256 left_y=0.0329 left_z=0.1428 left_yaw=0.0248 left_pitch=-0.1442 left_roll=0.0101 left_gripper=0.9994 right_x=0.5355 right_y=0.1907 right_z=0.2261 right_yaw=0.1494 right_pitch=-0.2804 right_roll=-0.2318 right_gripper=0.9959\nstate[joint_eff]: [0.0752, -3.8906, 10.0171, 1.6044, 0.2369, 0.1197, -0.0171, -0.0752, -13.8188, 6.6393, 1.5458, 0.0611, -0.0513, -0.0024]\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,$blob:f65871f389738cd87fc6f05bd39c092bbc4909af3f4b57108038a66f619324cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e670f45bf16d5e40f50187d3f48952349fce4f793674c8b447fc54335748466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5c6314313d58bddee70b306c221d38b7f29210a46feb27884b604828fdfe4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKMHIpgF7D8Z1XX59hXNLDOmFPaQIi90uXdN_svCQuRupI_Z5Tksu58VfyIXOaBTTDI1Pfdfzpk3fhNxMaW7Sut8Z3gwHVP4r2DHHTKr798ThLRfJlkCuiBkQHfRGdZrbBe6n07-JmmINKoiWpv9wzko3YPAyVMdsRm37_Gb2Nk7-sj2QEvEUuW0gdZbJMjyJ7w3TB2KgWQByCoGFGNQbvvbcnNFr2b2mPNgVTycN6kYYGM0Sacf3aRJiXu3Gop6MMWTwZIE_w3CbY7-XRX1hgLlD19MnN6WTaEHOelZZLZD-WmCMwJrlAcXxFYXnO3fasV1LHot1u4REI__ymuW_G6VYF-8KheD8fulmHNq6R-y2ng10b2-L36BU52VJVAAC_HNApwoPI4YAk1nQZ5WC1NhivOoYOTgFNa2G3fJMy1ASBPJ6uVKcDwwc2yd1cFJLP7KtRu8VFeUTEXlmDIgl4Q37LxmAZq6YIFVhTj-AEQRHQ__y9TS0zh8jibaBEAqTIz8ntK5n3-LB6RiNUfJWeOdPv7soT_0S5p7NetvEZ0yuE68cC7OekLH_4Gb-fvPsk6RPgMu7mjvy-QGvSaxPOPc3hDgjuooNLcllKXoZ089joP6_Wg2q7ssuhcTfhNr5FOxz2ayaO1LX4r1hFRNSDpBPLYTYgJKe8aRSzTzP5BqYVyQH0bEJfBYrKW3rJD9k2vjmec9YRTDODWOITP5Yc-_DRXiwAztohSjlU2Z1gFUvN0BKeFIV0Mh3pZo9poQxCJby3x6aQuzrlwyGiurK02zHWwTqGDg8NnOimKmq2C4egwxVfW1fuv5mTIliRUCHDlBuozzyeA29dukKPYexIavnC5i23tHG_N3vpkU82-6fKMYkRnzNAa9RrbOUiMutiJnX29ZLrOAkPNaliPSdmizwlaewUIJhO_TtKh8SKDc2593F75h56u16rZ2hh-ggVUwGTLejE4qdS0FZH1JvnvpWqksyHTewNtl_VZ_QNBPJZWsXsIZlAZ1uzyNL7k4oVjZDOkjxOhxFIitaS97LYqXFGqpAw9I6syh_3MNyTgqRaVn_dIPVZXEdGu8R59WqlQ77Rauc7x-YV5QFALfFdanl71_1TqJFCgPiXpKUNJ5VQtKofPdXGo0JkoAowKnec15Px71z7n1ZgFC4MXxnoGt8MP_efMrZASMhH81KPVV9nifHvguXHwiXNfJA2-6ASpO0uuBr2GwlgIC1_ySJyVu0Fnu5BGGZtc8kq7TiuUt1EgPjGRKoCCLq-G2IB4bI_JWbR0LASPh1tK1Ed7nof_N9mb9DQvmw8UHqvBhRBRiSqeCCykbiHgsPmFnIbQbIMkL-nScTgvPltvNXMylNq6JCBVDFqQhwvvOskKgoai-C94FbSvI0R9hN4vxHPFUQIGqbcg4OXJpjMCaj9s5Jx0neUEqAFF1t5C29eX7ShYrzqwGuDNoNRKZNOeKotFzPstyg6Km7E5XjoXLTcS1bwfMvbUY2grmq9SQodW1I0RUr1OHthl5mg5vJYrf7_GjvdW7P_yURjnl6ZmlWs8UamJ6zNhKg-oP9n4iWgoISlzAO50l1T13ws3MwjVpt3EbipZPyQF0lb9oWD88FFOBFbMPF8aimmvjmCkde1wf9IEAtHYhzUaqm2WZ3FfJk9AP4Dwi53gO4djvHcAYh2dhHOp0SFZmBKvBuVbBupl_PNnR2zSR1rMs3mikx44ggcUJGRKH0pbsOWPGPA4l0b6iEcV7lowAKlapcIAk1ED-2vmJxU4yVi5c7FVnDj4PlzRGzPrnkMmzy5bF7s4xKmRwcq3N_JW44mooH8Wu0CjMx5T4UXbzfUdbxncQ5TVf3L9SMKLSbsDhaacMOIwkmEhSTT2voRFP78_XShZIWO5Fm7zXiOJfeiy4c5Vb2oG-KgmMda9dp2CM-2CLOtitRKU6V-GYZdmqgtn7h7Y30rLLMO88Uv54p1C_6JQcvyc3q30zHN5TFJczAF0lxqrB2vBhwQmcUTin60uAlceBW7HIL9QMk1xdYKLZfMCVjxe8ImvYQu61zO16Omd-y1ZhFgvNx4YdCiKk1ho21_2H0Cw5IF1LnSyWs9qzNUbkDFCsNqEMV52M8_QbSzJfU2E_npdgT_AIDEJFXYJMlW3GJlqFxpUo9w=",
  "id": "rs_07abafd5897e38d5016ab4328a4ef087d0a8f2342be41bd5c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.05,\"left_z\":0.075},\"note\":\"The gray animal’s head and shoulders now sit between the left jaws in the wrist image. I’ll lower the left gripper to catch its upper body rather than the loose fur on top.\"}",
  "call_id": "call_myQJd1RW5tcW1kAIlrQzbhRT",
  "id": "fc_07abafd5897e38d5016ab4328c0d9887d0921663cbe0bb911a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_myQJd1RW5tcW1kAIlrQzbhRT",
  "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]: [0.1913, 1.2476, 0.5072, -0.0425, 0.1062, 0.0879, 0.9995, 0.4278, 2.196, 2.2902, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3286 left_y=0.0482 left_z=0.0681 left_yaw=0.036 left_pitch=-0.2143 left_roll=-0.0025 left_gripper=0.9995 right_x=0.5351 right_y=0.1905 right_z=0.2257 right_yaw=0.1492 right_pitch=-0.2826 right_roll=-0.2324 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -4.2872, 5.3812, 1.5995, 0.1392, 0.1001, -0.0073, -0.0615, -12.4923, 6.3658, 1.4139, 0.0806, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6792868ea225eccc287736f8e86edd8536d90ed60f69c304d89e52c3ffd3c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a84fcf8ea5f2fde288f416e853654475e9e8eb7b8779ae7592c2d16e967e65b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87878c9f213e0f63f1cebcce685d3f062964e4971034cb8c7dab5f6b68aef839",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.206 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]: [-0.0189, 0.8173, 0.6098, -0.3805, -0.0219, -0.038, 0.9995, 0.4278, 2.1139, 1.8038, -0.5663, 0.3012, 0.0067, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1761 left_yaw=0.0049 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9995 right_x=0.5306 right_y=0.1883 right_z=0.137 right_yaw=0.1439 right_pitch=-0.283 right_roll=-0.2276 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.1966, 7.1453, 1.6825, -0.0317, -0.0366, -0.0171, -0.0889, -12.041, 8.1026, 1.2772, 0.1294, 0.0611, -0.149]\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]: [0.1249, 1.0599, 0.6636, -0.3126, 0.065, 0.0544, 0.9994, 0.4278, 2.196, 2.2906, -0.9672, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3256 left_y=0.0329 left_z=0.1428 left_yaw=0.0248 left_pitch=-0.1442 left_roll=0.0101 left_gripper=0.9994 right_x=0.5355 right_y=0.1907 right_z=0.2261 right_yaw=0.1494 right_pitch=-0.2804 right_roll=-0.2318 right_gripper=0.9959\nstate[joint_eff]: [0.0752, -3.8906, 10.0171, 1.6044, 0.2369, 0.1197, -0.0171, -0.0752, -13.8188, 6.6393, 1.5458, 0.0611, -0.0513, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.1913, 1.2476, 0.5072, -0.0425, 0.1062, 0.0879, 0.9995, 0.4278, 2.196, 2.2902, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3286 left_y=0.0482 left_z=0.0681 left_yaw=0.036 left_pitch=-0.2143 left_roll=-0.0025 left_gripper=0.9995 right_x=0.5351 right_y=0.1905 right_z=0.2257 right_yaw=0.1492 right_pitch=-0.2826 right_roll=-0.2324 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -4.2872, 5.3812, 1.5995, 0.1392, 0.1001, -0.0073, -0.0615, -12.4923, 6.3658, 1.4139, 0.0806, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6792868ea225eccc287736f8e86edd8536d90ed60f69c304d89e52c3ffd3c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a84fcf8ea5f2fde288f416e853654475e9e8eb7b8779ae7592c2d16e967e65b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87878c9f213e0f63f1cebcce685d3f062964e4971034cb8c7dab5f6b68aef839",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKPzOszcsaeoUV3obhdM4xE_dT__nrm1wsm5rmlIIzqRcxX4yCgBQfJKoilR4AOVyQM0J6j64T95N4RmTggzFSwHk6EjabtQix1vBOyJub3ghJou38CzFF1ZGCnIxcLa9YUsDid5QK_KfIp7nHGSYmN4iGu6CB1I1PIsCLxlIVzQs5-hJJBbVHmdyFL-mpfb_9zHnsgnmbZGnJZMHfxCkcFdweUBKlAHuyIx2ABKjeK-ySA0CASixgkfKkqTocQceDYmw0crb5J3ND_0F5Aj9sckw54dMZrc7zwZKaR_HldhvqEyzPaFjLGg7xy7ipgVluZX0oiWHbH0PQ2M9-1xvmp_USOPJiAWs598_4U9EAkP7elmmik8Br0IU7mwPHWl-nbWu2ehHEgFgrqZqnno5OBOqfC1YOgI30-VkOAjh4VP4kRuzirjMJeOopaok0OBa-AkTlvazVIZtqujYpA_aRATRFSl60Ew2VL-wiDXKDcEmGp4VXDfhQk0-DShzBe2SZ_n03P4JxRR9ZM_6AyneeAx33kQiRd3ZYIkQx4gXM0kFFwL1cTQCFImVNMQbws1lfbLdZP87_9D19C65wFIfROoHRRG6-_aMyZEferWhjgWyRj1IhTatAHTGSJafVkrHyAc01VvxC6bZN6CMWxgft_B7c1oMDPgegP_U2SL04w8npo9MtLqXX7U9_VkFOULkwpuGlVvXFPdPxhgIZtco6A0_I5JdGffBEBBaF-x3FcIHZV7Nu97K8TXXvZqYsXdbJhTFae6pIFyd-fCgXs1BvpO9Doi5PSPqaQ0nTwBi_iA9pU2m1W2BZYtloVgSGmqugiBZhaRGK3o8rytlp_57ICHjzs0kOmQl-lewSrkwxSoBbweInqGd90xXlvTwY9knkW2s476xmHBz2chn1GhKhEZqU68IubDAWb5DKyYV_e6r-1nRce5DvJQGZoTCeitEZLmJRqrpBLbdxlleRYA-DnQsvZJK56o_IEliBxvq3o-QnbmNJueii48jMt6xQbQkr_nqGqygYSym7PibcOlxTZyUwl6H5h5ED0FXElFzzJ4hfrBdtZV2DlNXzn1KNig2y2iX7gmctNaaLJMj869FU59VCfHknqbzESGOnTO-wB-DNEv93A3iK9_hOOKsSTuyl5LemFX-9V5FjkUSDx4vR6P0zk8fVePQZvDG9HFM5MPbjLGbRqwrx7uOyozxFjC5LYnb1dTvp38mGVtfEBDcS8-_dxA2cfssim-qQob3Iym-MMZCe6qsBqRIP7xhm2aLj4PnzcJEeztZKNZMUc1X7I8g2hOnQhiXyp_1jP97xIaqw1eslx_aTyR7fBTP_AoRbDUbNiyWox9o-YcI39BmtETv7fETg4AsyB1EAZS9Rz_e7hAq6g0nNn0OAgkQcmN40K",
  "id": "rs_07abafd5897e38d5016ab4328ea27087d09e26a356abef8a41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper reached about 7 cm above the table with the gray plush filling the space between its jaws. I’ll close on the animal’s torso and check the resulting jaw width.\"}",
  "call_id": "call_aUFPtlF25lS6pUsA4dzaTtHq",
  "id": "fc_07abafd5897e38d5016ab4328f1ca887d08d5d23ff7604ba9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aUFPtlF25lS6pUsA4dzaTtHq",
  "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]: [0.1951, 1.269, 0.495, 0.0544, 0.1093, 0.0975, 0.011, 0.4278, 2.196, 2.2902, -0.968, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.34 left_y=0.0512 left_z=0.0739 left_yaw=0.0338 left_pitch=-0.1515 left_roll=0.0126 left_gripper=0.011 right_x=0.5353 right_y=0.1906 right_z=0.2259 right_yaw=0.1493 right_pitch=-0.2815 right_roll=-0.2321 right_gripper=0.9959\nstate[joint_eff]: [0.1299, -4.6017, 5.9556, 1.6777, 0.1148, 0.0073, 0.8376, -0.2393, -12.506, 6.3385, 1.3797, 0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3a35785390f850e409cfb1c00a8d76feddefbbd7f76c6bd356ad01c02acff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650823926ff4ab95168e0200f0a2319f7b9fffc1c0d419c6831cb470fdb0bc3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25afb22ec10b71443109c4d1805729428986a1468e171bf9a5dabf7b8c36ff69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.966 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]: [-0.3687, 1.1309, 0.6163, -0.1886, -0.2779, -0.2222, 0.9995, 0.4278, 2.1792, 2.2917, -0.9485, 0.3008, -0.0013, 0.9958]\nstate[eef_state]: left_x=0.3298 left_y=-0.0716 left_z=0.1275 left_yaw=-0.0293 left_pitch=-0.1083 left_roll=0.0166 left_gripper=0.9995 right_x=0.5368 right_y=0.1912 right_z=0.2387 right_yaw=0.1515 right_pitch=-0.2451 right_roll=-0.2214 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -3.9043, 9.6889, 1.9219, -0.2613, -0.105, -0.0171, -0.212, -10.9744, 8.4718, 1.1258, 0.1001, 0.0513, 0.0855]",
      "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]: [0.1913, 1.2476, 0.5072, -0.0425, 0.1062, 0.0879, 0.9995, 0.4278, 2.196, 2.2902, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3286 left_y=0.0482 left_z=0.0681 left_yaw=0.036 left_pitch=-0.2143 left_roll=-0.0025 left_gripper=0.9995 right_x=0.5351 right_y=0.1905 right_z=0.2257 right_yaw=0.1492 right_pitch=-0.2826 right_roll=-0.2324 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -4.2872, 5.3812, 1.5995, 0.1392, 0.1001, -0.0073, -0.0615, -12.4923, 6.3658, 1.4139, 0.0806, -0.0464, -0.0171]",
      "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]: [0.1951, 1.269, 0.495, 0.0544, 0.1093, 0.0975, 0.011, 0.4278, 2.196, 2.2902, -0.968, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.34 left_y=0.0512 left_z=0.0739 left_yaw=0.0338 left_pitch=-0.1515 left_roll=0.0126 left_gripper=0.011 right_x=0.5353 right_y=0.1906 right_z=0.2259 right_yaw=0.1493 right_pitch=-0.2815 right_roll=-0.2321 right_gripper=0.9959\nstate[joint_eff]: [0.1299, -4.6017, 5.9556, 1.6777, 0.1148, 0.0073, 0.8376, -0.2393, -12.506, 6.3385, 1.3797, 0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3a35785390f850e409cfb1c00a8d76feddefbbd7f76c6bd356ad01c02acff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650823926ff4ab95168e0200f0a2319f7b9fffc1c0d419c6831cb470fdb0bc3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25afb22ec10b71443109c4d1805729428986a1468e171bf9a5dabf7b8c36ff69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKVRZevwydchUyxG-gmO6B3jfpn2laX8MJDyOIzStkA2MZGE23PDw7VeN-pL1V0z697ejRq0ZnUw6pcl3y6dy8T_8O_46Byfy47gjdAyZNEHHxDsMYFn9Rpkm5_3JxDM_zHm9vRHbahLE3P-lgSxSYD5bZYS6iS2vm7q1RJfRv9GvPSUVfs9RgFYlE6ExuZbLgB1CQdyDCf1tuVi7qYvvaKN-WAndyR1La1Hrg3V42Zdy1L_gd3PH_bUcGwtvp2JudKzjC3Sa_Ci8MbePhiI31DYgF8K-veKPn_UosMgJCnbC2num6JuHC-0FaO3NDX6Yr9mO2cyhDPH2kBsXYGfCd5gnQx6oa6s2kzdX-tjJwsQgyfUX6LVv8mHLPUCR5TSDzuSwFjlz8CEzaR7-tRaj1EH5_XF0LIcQGHVNaSKuWtGLJIwf8pyBRkVMAFIXWJqNu3aXV_LaGtZ9nrKpMiQjpeorDEkhBnlYZi2BXsPomoJBt6rCUhj0p6j-Ly5BYFxHHWAVk_cd-tf7iaKK3tGBVz55hygCJP2QGp8EDBO-Xdso8NszLo7A4zUlfdB7EjWtYAumNxQlpm4XT4Lci4fE2PRTROIhqGJhgQFfAHS7Alfgt56dePgEDnkRos-kWrtw5KYqTV4QKth8IMutZGtKAbtL213psMbX0NJVlHMFLvQENPCiiVVWpCIcMPh25cX0FjgrsFl4b_BmxBik8gJOXMIGNfv9iH5HpIIyhm1nGTkUE7nCBzmBNn_x10ca1zu2Hrh9VCFKZPW0pC8g4og_DRZIsIbRZ_I_KgaTdE_ESoXyMuRnytW46mN90j6-PgI9ef91piKgdybjhEgmdLIv3sy8VYA48Vd3mTpp6KsFqDczSwjc3POvNfOpsvtpz3aqQWuF5x84jZxwCA8J9wwls9xw0WtzAae1R_rIu8SJdy1_HwtUyK_V7Z6XinjPDgdD5IgWPisb5DI3TT4HryUu-tsXCc-qmgq-uZLY2eDaLBOcmHbS3O5KNpfBWFGZFUvGA2MVlcz6eH98DsH7il9X3Xfo4OHGPx9-Zm9rG5KV5jczTDqkAZkg_kznTHj0FJ47bPWhLzhIubh_EEMoCQUDxAcJUGhBm1IETPi-egRYucBnlK7nYQDGd_vQXVZ6SwkiMGi4_Gjv3BsYXJ2MIc9WogHh4n6clzeiUCiuV9DK2JWThmu1wDQ7mS0oQ0k4m2EsYsW_bcU9xCpO0n5clWYOXc2M5cjfCcooVHYqLb1lCbNGqKZxRiNUZwHY3itGUnqiYIThEPpwgsbqKk-RAaV8CchhQqOpj6VNxskArwMobz2WWU0lPmPQAszKboAD8j6vB7fyRB80SrHJ_pFNL6O-058C85zomMpnAjhXYtgIUI7Mc2s7JUCRO_2e_y-X9MnEQMu35BKY5measj41LRDBlcd9_HGODk6o_IVEWDoDnWvhwkxO05e4OfhkGsJOiTYIBYbcHeY9ocXEqh54XQBLf_r4eMd5idPiM0DzBzzJajxO8rHfqlx_upvq4l-8X1wZN-PgPbA-4W4mDNyrLqLkG1gglzwhO71SNX92vMUJtp8PpDnIitVNt86C6GgbQL3UVm6sjbzLFVpIIVeibXX2mRyFnOxNnsdiGYW7NqNiJp9PN4zEyuA12EJQ0KnrdoL2tnBN1FwnEarPr8TPhoeN2xapl7EaHU5HpSzjjajo_NHJDl6fX3TfS8xFRR94552CqIyn0AL7cHJD1bb3vAHlWgSunEOViKAG6eBZWdq5ngDRwuXqhmIbOsEbDS-lieGXAumgtqsNmkgFOXUp1gvJb2RAEDsXI3tlNaUc1FN0xSO25iJ2vdzZ7ylV_ZcGj7wJ8AFCIKbY5IaeqoWFs00Ht9C6j7LXSQp2RsGDnWSZtd_vK3TgCPy_anhtggbTCgdSa7YXzaI3_2afWRIcAv_DUf3_L6A2zGLul4nIoEFzdjqIyHAbVESd_NXC_7lDDlrY53LxGxMnmv2t9PVolww_wnoq5144WXQ70oTUPJ-8lYKz744hxOvIRjpzaOBV9Xmmk7f1Ex7zretIWvpYapIhGRDXD3fgd_3381X9H_jyDHsosCE97mD4nsGcfh_43qDlyicFfYhthX_uplrCxYljiPu1iDTBWn0aJLvGmdp00KZreX6cxWMFCfUcOSA8nH_aJA92mvSAZCBWjD6iMG0Px8bYr_NCPhrq7Umx8fNAXJ4ZYf0EYiGc9smNL-xba0yzRSj8kRnyvaDNZDE6vlMBCfsScxBK5xNdq363ZQ8WOPDpSoscpHEIN-LTNh1m2a9anhSUDPckt8JY3YLjBueMvFpkFZKFtwtz-omSMCKKg5SRMB9GIrsiE1Z8P6OpoxDTh0SLlEZM8JXaf59oRQAtkpsBvE3_P7tu31w_cyHyVj_4kULo7w4CYwZ0ZvwyKZcab3HKfF88i5QOk76dp-iOCVzowiAh2cFUa4B51VYf3YNcl89GIMb-ev_1Ax8dAA_GRQJzhh87W3TTsX65QhJbM5jQACGechDEK4A1ij53bkSgIM2OyYeLDOLUW_cSgv6wx35i3Lxe3pJULg3QGbc3GZWdAtcqGzSCKX-lCrmKJtTVVP7OpLusaNqVc5GkE5w_xXqW6_Y-gWKB01y1v8aJtpe3OEjVL5XoYJtTkszghaL0vHmHPgkSOzqonBu5IOwPvx-lxWRhdb7PkaTmFJ57YPI-jnqPyHhjkPfkodMcp9Lu88zehXhALq1VsoePHdEzYZM2qCJTK1XXLm0MvgBtw-3g0GaWACWRsbLQ2onWvNg1axqRi2YroQ8VQCkRcpvJ0HstWaPLS74PeIs5LDBl4rE1FrtnIjD9WXcoJ8sBL2b8Pbun1JSC46hRQfUrk6xC6VrA8GiFguRbl-urMTx5JwHt4ihU4K3vMnKLsT5qPLj-QE84No2bZUTfs8e6Z_8SpkhlxzjB-mwWNFMPR9-_Gvbf4pu9uho4cdopT9F-_9txHLd6CWyj3f-AWsPMXQTMHz_CMVU-15X5IFEo67573ElUMPVoAIWFM-da0R27rZHBE0wIeHkSt4OCZungfa8Q-nV0KiQ19JS5xD5ylN9q1BUNNZtrWACD4qN1kr_pCJ0bPqpSjDuVJIWWIhLgVlHHb26T7T3yYYdXCXKwWWQv93jdd7zlyaBdWO_Nvw1q_BCXI-yFZTsxyYtHcr-nopHAS9xdixSDtskHBYZTYGqzLkkwbH467mNe9iD1YarYRYSlwvPvAFLlg0QEUr9hUuLDVxzUvnwey71BdA3FKLdyAm1ObCaR6a0xAd4vz62zV0XULFnMLZsFntlmGRF_Rqta3FcthLz9A0-KgiwF2PclnXsw==",
  "id": "rs_07abafd5897e38d5016ab43291ab9087d09cf1648d698e5ab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.045,\"left_z\":0.15},\"note\":\"The left jaws closed empty. The overhead view shows the gripper on the outer side of the gray animal, so I’ll reopen and shift it inward over the animal before trying again.\"}",
  "call_id": "call_AU7J0GBLLEsdKxbx7G5IGfIg",
  "id": "fc_07abafd5897e38d5016ab43295454087d0a502924fd6f24ef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AU7J0GBLLEsdKxbx7G5IGfIg",
  "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]: [-0.2462, 1.1629, 0.7101, -0.3, -0.1902, -0.1772, 0.9953, 0.4278, 2.196, 2.2902, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3384 left_y=-0.0469 left_z=0.1347 left_yaw=-0.0026 left_pitch=-0.1731 left_roll=0.0092 left_gripper=0.9953 right_x=0.5353 right_y=0.1905 right_z=0.2259 right_yaw=0.1491 right_pitch=-0.2815 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -4.8479, 9.1692, 1.5458, -0.3199, 0.0317, -0.1441, -0.1983, -12.3692, 6.5709, 1.4139, 0.105, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6012ae67ad22623138271063b22648f691cd18d43b132ea8832c32a36355d4ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2743fbd574f5533ecdd3fa6163b190e566826ef6253704c1f2ccc1aacf1e4b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f5c348476bdb94ba4d4cfe8afc6ede26348df9e1ae6a98c94c082e38c371ae",
      "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 · 2.33 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]: [0.1249, 1.0599, 0.6636, -0.3126, 0.065, 0.0544, 0.9994, 0.4278, 2.196, 2.2906, -0.9672, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3256 left_y=0.0329 left_z=0.1428 left_yaw=0.0248 left_pitch=-0.1442 left_roll=0.0101 left_gripper=0.9994 right_x=0.5355 right_y=0.1907 right_z=0.2261 right_yaw=0.1494 right_pitch=-0.2804 right_roll=-0.2318 right_gripper=0.9959\nstate[joint_eff]: [0.0752, -3.8906, 10.0171, 1.6044, 0.2369, 0.1197, -0.0171, -0.0752, -13.8188, 6.6393, 1.5458, 0.0611, -0.0513, -0.0024]\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]: [0.1951, 1.269, 0.495, 0.0544, 0.1093, 0.0975, 0.011, 0.4278, 2.196, 2.2902, -0.968, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.34 left_y=0.0512 left_z=0.0739 left_yaw=0.0338 left_pitch=-0.1515 left_roll=0.0126 left_gripper=0.011 right_x=0.5353 right_y=0.1906 right_z=0.2259 right_yaw=0.1493 right_pitch=-0.2815 right_roll=-0.2321 right_gripper=0.9959\nstate[joint_eff]: [0.1299, -4.6017, 5.9556, 1.6777, 0.1148, 0.0073, 0.8376, -0.2393, -12.506, 6.3385, 1.3797, 0.0757, -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 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]: [-0.2462, 1.1629, 0.7101, -0.3, -0.1902, -0.1772, 0.9953, 0.4278, 2.196, 2.2902, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3384 left_y=-0.0469 left_z=0.1347 left_yaw=-0.0026 left_pitch=-0.1731 left_roll=0.0092 left_gripper=0.9953 right_x=0.5353 right_y=0.1905 right_z=0.2259 right_yaw=0.1491 right_pitch=-0.2815 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -4.8479, 9.1692, 1.5458, -0.3199, 0.0317, -0.1441, -0.1983, -12.3692, 6.5709, 1.4139, 0.105, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6012ae67ad22623138271063b22648f691cd18d43b132ea8832c32a36355d4ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2743fbd574f5533ecdd3fa6163b190e566826ef6253704c1f2ccc1aacf1e4b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f5c348476bdb94ba4d4cfe8afc6ede26348df9e1ae6a98c94c082e38c371ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKaX_0jh_MJY5eVpwIRtyb-pdD4y-E5x031xkOeFu_4A5t9DTA9_lUsiQ0po5zG-NXGVgk7PAYXs0yvj4pZFr2rGGIO3AhQucJ1dFSY-ccojAbZLARe7ByVaMIOP1ipCOhpRgnM9U7rn9-yeEFz-CW_NpDnzgGUznx7TE745TnaxvMrFX6itPYgsE37mna23vfsyHugZ-CMWq3Xu42vqp6P4-9275ILWtbkPWfnFSskjhdHTKWT_WZaTeCKEqGL6Jd9X8_XAvVRt8y9TJF3YopWKAJi8UOwGWoSHWCECxdNyxjBSPXsqVxdvH32Icb_v9xpXejqGzZAHFAmcw0ZjJshysDpN7NkAqmtTrLphTJUpO4PJdwJPbecxRo6RiNLLHPqZ6tr0hHZKKE-KSb4eh8UyuEyC74y4u9-megi4nQ9GdJSq9rDWyJGHVJn9C1alU6ZdzrtHsjbBMxNw3-O81qU_Vd2XH-l2KXZ9s3uEqQMFZtgzqDv7XpxfbjSvKoq5hWnCwvH4_zhR-VU8rljY7c9nm6s1cf1vkXzdkDPoN8zSFyiiDmBQk6skF-RVSE6tgSSQxXLgECIrkpCl1A9zoDjqbZalBMlEma21WHowPUZUw05JoIaoyGIFGfxNMhUdJPIMHBKy6wnMY5jyGhluT0n9-saW3HXuQgI6ePbKFtOB09OUabO6GBFNnbt5oJp7tYsd40gXqn_yuDqHiaKiokGiwohcHKy4V0vrwAwP1Y5KxDl59f3_DfXbSu7W3-Nk1DvJdHZKBF7duzfD0j95TuE2eR8-1YdjJTzJgzl8wBs2MINx1KgePkYL3_MXvVdeGuSGVepfSy9ky8JeZBogk7gl_h50rVKfXwIYKY5bohugFZldBRZomsdtQkIwoEcXIgaOPshTuB4-ksKsLU7h5v5BrDD80BKG8tqsqm0CnzqYM8SnPrZG5JyeqIkJj8Gax_YzHAt638c4nknS1JuzjieAl4NRJntMdPmpQUyW2lOw4l_O0Pe3E2O27lUXkckfq9K_dhBShJngz1yvkZlT6RdojbDbcgELQOYG0VQsa8D6H0hlacigGJIKqt1L3we_vxhB2UHkxFzJHHbF3BH0k0aMhbUMF_GOCoLs74TjjomOmCDIZbFNLuE-6QQvsAVcu5YfdDX56_sY46pHPstY_1rshZFetztJvL4Wb3G9rglvlj4uJSBjbv8vmIY0ywC00jNb2KLPZlN5iOuxULPJOxJfkoFjsldoIZhNaYG0e8SmZZVY9CkmBsFg4Mc9Mp2aog1i5D-3AM_kW5m2qATMozhslQ0HP2nmxWS9dkGcep9VHotlv5LXMPcU2LOE06VT82qhwFjC7MGAzMEWtLlJWQvHsFtXhjR52GorNOGl5BCnO4efoo9sxhI2fnF7at5n9BF9AUJr5JbG2PahyOVN_ifPzPA_RioOAtb_uBwOeluX364uTEs7EITn21i1poL7Pok7T3JNI1XH0t0OzSGt2DokoiwE5AqUWIQUL_dYj5rmM2WAYLVKODqWSOd7evpcimZwZ2H2py_7eCQRUp6_jjgS7oizGQhQJVWXcUAAaZq_cvkV3nZTkWdFhCYAC4Ur8v-uzqxsf-eQ6_RLJO4vTImtuQYfSvErSu_xKZdAPZx8kRU_8BWvk1RoB-XvRBcmRvlaVWmm-Vk34eZ3zawZwl1IjESmiEYL2MsSHDbrZKtRvL1eWXhnGJcrcDomqRxrFw-lN9Zo-Ch_nNoi49Kny_X_JuczfW4IUJMVyICMR3rjjt3zdbuZlYRkQBqWEx8C1_5-UcWlrGlHBVn5m-C1J6XZr5qDVLm8FRMS3FDqHc2jP8fJQ1p0txFLS4z_Mfivces5QD46ybcqIwniuWFqqKcTotXXd_41fCxy90k27IXPu_9_R9hKp17B8G9SGNvg-xERT-N6FQIBqEhV8KqG9GUN23bTrWJ_kzniKKU4FADxkQwICqT6Ef2A0EAtNyR7l4b7KbRciGCjHmej593zQyTFtRW1i3oBuYh5S2qjeSk0_TJ0vYlxlqMqk_Ui_VHO31u_16dx2KTjwKLxMU5klox3087W-fd5g2vcLkIuDbJgbcvGQDgLg8gVTHtCKF_QorQ2zAwJnfRjJH5Tw6sc8uZM7aCyYAxHUyp6M8-jWpY865o_0eOauihmuHZn-gX42X0IDZg0_5FYVFNcvzgE8zJLjraB2Q9uDO_nYdl3qeWTQNHlTbVpXMTuUH_E3-APtQLHuitkzQLkI2ZTUZE7Q9j48kkcLUlbf-SifIrXxBJ9G1a4nYG_9uQKfzd45i32-nE",
  "id": "rs_07abafd5897e38d5016ab43297dcf887d0904413311e7b5570",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.005,\"left_z\":0.07},\"note\":\"The gray plush is now to the left of the open jaws in the wrist view and slightly left of the fingertips overhead. I’ll make a smaller inward adjustment and descend toward its body.\"}",
  "call_id": "call_SwiAoH7afw74WE3z7cSB6fKw",
  "id": "fc_07abafd5897e38d5016ab4329a0fec87d0818c793df7388572",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SwiAoH7afw74WE3z7cSB6fKw",
  "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]: [-0.0216, 1.2385, 0.5053, -0.054, -0.0597, -0.0547, 0.9966, 0.4278, 2.196, 2.2902, -0.9684, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3303 left_y=0.007 left_z=0.0678 left_yaw=0.0447 left_pitch=-0.2225 left_roll=0.0136 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2258 right_yaw=0.1489 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [0.1709, -3.1111, 5.4632, 1.5604, 0.1441, 0.0757, 0.1245, -0.1709, -12.4786, 6.3658, 1.4383, 0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2dbc0a634270b23b8b6bbfd923228580ebf24600e715f8cb3fa5071d0ddb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed7745aaaea7b106619c8d0e307f8ab62efba9aa374fe08a245f6bec30df470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcae538d86b0a6dfe7edecaec2eaba2206ae902d7fe7351fa8a19120d67e4fa",
      "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 · 6.806 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]: [0.1913, 1.2476, 0.5072, -0.0425, 0.1062, 0.0879, 0.9995, 0.4278, 2.196, 2.2902, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3286 left_y=0.0482 left_z=0.0681 left_yaw=0.036 left_pitch=-0.2143 left_roll=-0.0025 left_gripper=0.9995 right_x=0.5351 right_y=0.1905 right_z=0.2257 right_yaw=0.1492 right_pitch=-0.2826 right_roll=-0.2324 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -4.2872, 5.3812, 1.5995, 0.1392, 0.1001, -0.0073, -0.0615, -12.4923, 6.3658, 1.4139, 0.0806, -0.0464, -0.0171]",
      "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]: [-0.2462, 1.1629, 0.7101, -0.3, -0.1902, -0.1772, 0.9953, 0.4278, 2.196, 2.2902, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3384 left_y=-0.0469 left_z=0.1347 left_yaw=-0.0026 left_pitch=-0.1731 left_roll=0.0092 left_gripper=0.9953 right_x=0.5353 right_y=0.1905 right_z=0.2259 right_yaw=0.1491 right_pitch=-0.2815 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -4.8479, 9.1692, 1.5458, -0.3199, 0.0317, -0.1441, -0.1983, -12.3692, 6.5709, 1.4139, 0.105, -0.0659, -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 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]: [-0.0216, 1.2385, 0.5053, -0.054, -0.0597, -0.0547, 0.9966, 0.4278, 2.196, 2.2902, -0.9684, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3303 left_y=0.007 left_z=0.0678 left_yaw=0.0447 left_pitch=-0.2225 left_roll=0.0136 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2258 right_yaw=0.1489 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [0.1709, -3.1111, 5.4632, 1.5604, 0.1441, 0.0757, 0.1245, -0.1709, -12.4786, 6.3658, 1.4383, 0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2dbc0a634270b23b8b6bbfd923228580ebf24600e715f8cb3fa5071d0ddb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed7745aaaea7b106619c8d0e307f8ab62efba9aa374fe08a245f6bec30df470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcae538d86b0a6dfe7edecaec2eaba2206ae902d7fe7351fa8a19120d67e4fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKdP3syPv8EDP8A0smftoi4iBop0NDIE46_jCiYrLIvvF265wOW3E4sNOX6BhfQ3yvA5I23Prbf2LT2gexIQI3gDIUMDNNqkiTLwl6GaRJEZnMjRGNB86kmoyHG5VhEqguhTk1WToCemyfCrWPw8tipYXbFtigeyukpG7_fhAZ8dAs77pDAdLjrX727AnUiG_pEfBDEJ0txsR5fiTO9d7jObP8Gf4MZCZyKfdtKKZhPuE8b5d5GSG0iiRVolw_755rW315fShWwlnK00PQbOWH6lCy56VuGjxxCSU5_EQGmGWPzOUOIKm2GgHPBcLQSgobrgC_kzAQKM96SSqVxrKsYE2uyXDwQHk2Um90DyWuUflEXsX7fYv-yIkN2nAnu_OeSsLOd31IXTDp-Q_K2fYPFz-XTTrQixgHFIJPch-iXLXJFfS1L6ivONDfr6YghuIpC9VFy3H7ZyetoiSFw_3kzLXH60BaPn2ib8VddICbPOJfUnhypTKTVFV1R0nAMm1VA4X-d4ckMee-Jh_K45KVyRJTadgVFJf83l1Kzc6G4Bzh64tKwpwafbQQ_h9xA5vjjzhGQSy20p5bBKL5DieWlpRUaHV2Ud4yUfFeTwDyWIhcAB7gnyDzMDYqQhEtmjjaU5wQQDTicNi8F_ScmsArUQKG4iL3r0YuhL2AotMbyDejmmNorCaKBRCXqcOWdN8axHESdP-IgVS6UA0YGmGa_7Vl0Eg7RDcM7FEU10j_VH8liWqqVSF9TTs-hCpYk85swGSAyfcbmON1PJ7uMZALQqSkGDgmQhcuHYBFvRCIcRRhu3_dQ_jvKlF-OWeXAw9C2e_U-zaSkHSZi3INXX85-490M4xTf6Uf0RTT8pCqy5JBfiZKSD9zmi017zkoVibq2r33WKtYQ96FzxiS8pSFdd5cNtA84D80fVX22jGHVrHAk7u_X_-ZzvLG0G8jqcD5EJi-lkRQZpfL-lEu7U7-pW8sI82DfqOYrm-36FXp4tUfX7FY8LyGaw4fz7Fl9fhnY2Z2iHNyCjer59P-WRcSn-aq-ykH7phbSLmWVus8ZdzjWSbs6Q6sr-pIvR65bsTWTiZTAD2N9hLQPoKo0ht7cS5oEJzDQBSJdHoyvMCz0VUQgzbwySCQXj_qBfBfI7M-gnqXm2GsFKr5qkkTJS7JsSTj4m3L0LU2nXKdETCnDT2fKBdaxVGL5nwoWPje5C3g0lQXeXVSZYMlxl8_wznWMRjMzZhuP55J-0lB3VlO-CMNSMweKjdmQcMBYtiPC0opJFnzexZboGOQjUzLM_ubRpjszRtkVF1Tc96iTH_ez0ciRDz2KIRt_LwY1AGHJ9vCGIciljaOG4hHM8W8nAZTJTmI85O4wMRQdDGmfLWSGv42sMzGQ_u6POnDrlZPEmYSziZYg-CHsOlsRZW6vhvtEPGnzi25ZIoM5ZaN5hlfxsO6D6iJMcPMNPx2FNdoSTKnRRg62uc3PxQN4E7kP5QxDCMwLc-RazSHDyT0ciMGa0rv-1WYb91IDr8Yy9ktWfz473FAdEnX8a1V4XlQDEWvdpaLfCQzU9_PQVwDAa1WRNXU4NFkIm58FYgzPbJLE4WneG4aron564GhlTpLuH53x9n4dincfp-ElPF4Q5tiKm_31swPn1uFPHQ3gOrN6y6KgbzNZPiyaOirx57gaut3ZABrKQ_81grGXQnK40n73XfM=",
  "id": "rs_07abafd5897e38d5016ab4329c391887d0838d44e8ff11cd5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray animal’s torso now fills the lower part of the left wrist view between the open jaws. I’ll close at this corrected position and check whether it is held.\"}",
  "call_id": "call_c48jm68mtpEHp8RIfiGT15aM",
  "id": "fc_07abafd5897e38d5016ab4329d010487d08b8fbaed51eb6b7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c48jm68mtpEHp8RIfiGT15aM",
  "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]: [-0.0219, 1.2488, 0.4927, -0.0151, -0.0669, -0.0547, 0.0111, 0.4278, 2.196, 2.2898, -0.968, 0.3004, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3328 left_y=0.0081 left_z=0.0665 left_yaw=0.0503 left_pitch=-0.2061 left_roll=0.0176 left_gripper=0.0111 right_x=0.5353 right_y=0.1906 right_z=0.2257 right_yaw=0.1494 right_pitch=-0.282 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -4.8068, 7.2684, 1.1648, 0.0317, -0.0073, 0.8816, -0.1983, -12.3145, 6.3795, 1.37, 0.0952, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dc11cc5a1e32a01b0803dd6391a8311cbe6da1483ebef72817d9997f24077f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85daa62aee310d8b407b86eef3443e22c1f11beb1af40b4ae62e237b509997f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16063e975099719329365e8b31ff840ba75dde1b66c43a61d99dee9b9fa29345",
      "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 · 3.563 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]: [0.1951, 1.269, 0.495, 0.0544, 0.1093, 0.0975, 0.011, 0.4278, 2.196, 2.2902, -0.968, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.34 left_y=0.0512 left_z=0.0739 left_yaw=0.0338 left_pitch=-0.1515 left_roll=0.0126 left_gripper=0.011 right_x=0.5353 right_y=0.1906 right_z=0.2259 right_yaw=0.1493 right_pitch=-0.2815 right_roll=-0.2321 right_gripper=0.9959\nstate[joint_eff]: [0.1299, -4.6017, 5.9556, 1.6777, 0.1148, 0.0073, 0.8376, -0.2393, -12.506, 6.3385, 1.3797, 0.0757, -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 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]: [-0.0216, 1.2385, 0.5053, -0.054, -0.0597, -0.0547, 0.9966, 0.4278, 2.196, 2.2902, -0.9684, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3303 left_y=0.007 left_z=0.0678 left_yaw=0.0447 left_pitch=-0.2225 left_roll=0.0136 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2258 right_yaw=0.1489 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [0.1709, -3.1111, 5.4632, 1.5604, 0.1441, 0.0757, 0.1245, -0.1709, -12.4786, 6.3658, 1.4383, 0.0611, -0.0562, -0.0122]",
      "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]: [-0.0219, 1.2488, 0.4927, -0.0151, -0.0669, -0.0547, 0.0111, 0.4278, 2.196, 2.2898, -0.968, 0.3004, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3328 left_y=0.0081 left_z=0.0665 left_yaw=0.0503 left_pitch=-0.2061 left_roll=0.0176 left_gripper=0.0111 right_x=0.5353 right_y=0.1906 right_z=0.2257 right_yaw=0.1494 right_pitch=-0.282 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -4.8068, 7.2684, 1.1648, 0.0317, -0.0073, 0.8816, -0.1983, -12.3145, 6.3795, 1.37, 0.0952, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dc11cc5a1e32a01b0803dd6391a8311cbe6da1483ebef72817d9997f24077f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85daa62aee310d8b407b86eef3443e22c1f11beb1af40b4ae62e237b509997f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16063e975099719329365e8b31ff840ba75dde1b66c43a61d99dee9b9fa29345",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKlKc0oaW9BjAbtD3Fi4io1buRgcbLywImEXAMjJUuB1ZMOjZFzEYCmFFNzNVN3cF7tNWwaqcWNTESyp3UclXA6Cga1H8S5CmPciLVg9nPVpqTKiwlhI7QAyDqryhJ6SvVLxorMuODvPA5IryNZa9o9qteAgICcfARoG58lZburyOVPlal_o5LXAJkrTWhZ3LISIMENIUL_KSBgpQgUpeqPzCt-uIPHDFBENbmOucdZAgEQLkJhVcWbymJv26bIxuUZPW9ohxwVU7eqO2XCu8n8I7hdDndAZFCIYL1TnVfYzCbJKYv1r_h4Lj07kqH9l1uRhBXh193si-e1wI69hJIGQOGMbiMUFUyAsGWQz5t2yRUdCDcDw1nYkMWPfgSMx51s18fYcARdWzyWqy0ceF9FkGbInfVt_sILzXuepMJq_B-5xDtZCNQVwiove8Hj1n0MCjtP2HzHrl8oXZUsHMSQjG9iuNd4be7c-ajzW3zL9wSkP04r7W4BTJ_JDiscAQAz4n1N6bws0qyMw84XSRTxsMqc9yy_sZo_7avLwqBopccewthitwi05AhD1IAX3csAeQqD0BCU1ibNYw99BDO3MUICrmHqIL1CEZZKhuyGlviOpzPGmOntDU050px6wKm_FB8yXftaKabAotb5GMbDN-XMsIP5hGOCczR2ntxlL4s0ysLjTh9O1SttWLJT1NVSuiLRpXrNlrwyAW7RXaU1WEsEDC6BvtQjo7ZWHQr7SiJXqS1bBM5ZNQo4syFLQI0aN6NrtrYobYtUw3IGwcm3Y86B0r_W9At6MQHeYDyLkJz2LCSXsaE0pXAVLnLwehvxK-YdvIeDihZQGYGX2eHbAUzfWypEae23-HZ2f7rkUag2p0Z-xDppVWfSYdwoSFDcVLtziaAU7QxVxQuRb-vXqjWMtllmEWwBnY0DTacfd3o0IeoupkiI5V9tTHCmU6mtpPMlrhIiu93NDtDiiMJWoGuda5g1v6JNJFs5nKbqmfJnNUxe1AY_mHoPOepSRySMfFF0TfnublZinoPRbzWQiaxeeJX5762M9fSCwz4QkJRiYdhh7JQD1NxmmFGFWAoFWMWIG6eQcljdzYEkRe2tnFDEdUmerwo0or-9qSug-2VEnYXtvEB6k_WOmPvHIp6xNQdMIbM8hMcllVzMs6zmbw6fUIu5QAb_MKKMq_DJWL3zADqCAbJ8EXfFDhewMM1-aVxInWFXKmzZ3kK_3-BSdLhUZ2nHwikKGWhA3jCElvWkaWVKZnF_0URKCEvxG1qWsyldZObaiq5MiVpUTofZ39cik6c2HyvuTks8rFgp491x2yqfTOwajkGXf8H_q_W1RBJWAmDi6m0eLNhSyRWWdHFdMpu0NAZLrUlBIz6T3pppOz9DQGmdF5L7j6ml44ORiGe0zpJwcdkyG5y4yLtKFa8TrNoL99BhDIQlbWz7ecHetT5kuyMkYS_glcWymydnCscFfQ2OtALdyMQ7ex7YewCnRTuzFuW5luARpTGpA62HKBGUcpYPI_D8vPWXT9DKb5KEuBJZGtHWqRKA2TsCnRwvQrQTK5SJcFGBKeMTm9zpjQVu4-p0yGQtapLbq2cGxJgnioJktsjxmnq_i10oYT-W-18ZmKJongn70k69K3-Pr-Q2ceOhFEfQoqGrifuRhngMrwdlXWputU-iu7m_QQjlQ575aNCHaQwB2CKdMJ4vN4LfYjVg8vgeNJviKCcBWaHqX-nm_kFdJPyAITXBvZk1OGuPh8hH4YfWnlOkkuIf_3T8jLvhVcx1oPOZ6mtXgqu22t2wGcvlK7qYkAviV5eMxDwfi3QQn13-Jb9js2Ww_Mv74c_SubWaZONaiYR2iQJvQ67TthzNOg7s-csiolobQXzg7rluxiUznaGW2tX-10UAleTksd37CwMlWTsCh3DafmbFI6IRr6CWicdIGR5KBy7s6-lS8PvEU-Uh90QGuX-R7Avur6VvuhKaYs6H6TreZgz7qCYiUuTpwFbEC4kmOmXyVucoW9vBaqjNZsaiN8XF5QnDcJL4C3XlPJX_fntftRSNXyz_B7tsNeoSedwvrAuMY57YfKTpe3B6QQ1reKRnt9ngqmGOVSt4P3htV0TNH5TYmt_im0eoejyiioZIb2kaSZ7DXFAkVqRMmW3nkXMemlspJ0L9Bg6NZQ9cozMT-tO_ngxo9gn_2uv4_LqYbt747oJUsVgbwO7H_OBU8dqH4ZKKj_qOF-gxkGhiqqAPPqyts1xoiJUg-Xp8gEBqfngTrbED8JtEHh-vIBC7JSH_HpLkepEkZcMbUbUB0FMPQEvTwQuBp20a9W20GkxS3sgIqWRUUwBNV4ksb58PzTdbCBVexIh7MtdVAC1-cF631b7B2Jd-pSedi8cSU8CJ_PvExWNb69Q8LcDW_CjCQ5xCgl8CvJKQMCn6aGQZdnueDGeZZkWcD_BCsfACMxiPs2YYs_F6HGR9XgsCrhMLQR3z8HLwnV4JRSjuQDrlXGIGnIjYTswVVGYwnYgPWIamp0A5yG9_Rqg8-SkzDnOOXfkWV7dWP5kfq7Q2NdxMY8EmWy3fFnnRlBnwskxcl51iuQpkKFYRszjJjpMTA4KNSBB6ST0fz34VduduMqhWFiW4uxr7_rNX-iYHnyRj5v1KHiaNmWLfW2_DXAXTHjcQ73CcR8hvueNVjRnMnvKqkU6t-iZ2gaVWTEKBcNxGV7ldoxsc6UT3yrYDHXZ9uhgLfxrJwo8fNQcPMzudyt3uVY84Izn_clH7bL_--qC4i_fOIkqmpLVNzqWLOYLmsBNLCdBHHsFu6N5d8pwcSlXlSOPZafjBk-pdvsUCBYEq1yQXaLo9HFuMMUMAmA6MV1LPd4kOJst2X15sYkytV0K3KOPgxIlpq3C7Eci3CqkhKE4hSNWL_0EhrA3jrtm4ydXF3ltOvZ319ef5TiCowJvBCyj8FE_Zeh6VU2uPXA-IIy7w4iouHVs3utaz2EufXAKxXhrPKbhYxSSFHc8CuRAfmLYqnPpme1bCj6nTNPCJ1A==",
  "id": "rs_07abafd5897e38d5016ab432a00f1487d088cda9ece2f46a6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395,\"left_z\":0.12},\"note\":\"The gray plush was missed again: its broad torso is visible in the wrist camera, but the fingertips are closing short of its narrower head. I’ll reopen and move forward toward its head for a more secure pinch.\"}",
  "call_id": "call_7eWAR0L5lg3ZiOakMmL9KRUo",
  "id": "fc_07abafd5897e38d5016ab432a4001c87d0bd1755d1ca848c9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7eWAR0L5lg3ZiOakMmL9KRUo",
  "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]: [-0.0208, 1.4078, 0.8082, -0.1913, -0.0708, -0.0612, 0.9951, 0.4278, 2.196, 2.2898, -0.9684, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3868 left_y=0.008 left_z=0.1088 left_yaw=0.0587 left_pitch=-0.2256 left_roll=0.0172 left_gripper=0.9951 right_x=0.5352 right_y=0.1905 right_z=0.2257 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.3128, 8.8137, 1.5604, 0.0171, 0.0806, -0.0073, -0.212, -12.4786, 6.3795, 1.3846, 0.0904, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989fe115ebcc8e62729bd3c5d14f5f42ef86292a669d921bcecc009b05f082e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984decf78fc16be2b4058c2ed112347717e82a24f6bfa97a6cbc6e7dcb073b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac8b33be36241c9ce456c2f62360ce6220fd6d83a6d1a7ca99bcffcbfc26af3",
      "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 · 3.156 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]: [-0.2462, 1.1629, 0.7101, -0.3, -0.1902, -0.1772, 0.9953, 0.4278, 2.196, 2.2902, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3384 left_y=-0.0469 left_z=0.1347 left_yaw=-0.0026 left_pitch=-0.1731 left_roll=0.0092 left_gripper=0.9953 right_x=0.5353 right_y=0.1905 right_z=0.2259 right_yaw=0.1491 right_pitch=-0.2815 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -4.8479, 9.1692, 1.5458, -0.3199, 0.0317, -0.1441, -0.1983, -12.3692, 6.5709, 1.4139, 0.105, -0.0659, -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 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]: [-0.0219, 1.2488, 0.4927, -0.0151, -0.0669, -0.0547, 0.0111, 0.4278, 2.196, 2.2898, -0.968, 0.3004, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3328 left_y=0.0081 left_z=0.0665 left_yaw=0.0503 left_pitch=-0.2061 left_roll=0.0176 left_gripper=0.0111 right_x=0.5353 right_y=0.1906 right_z=0.2257 right_yaw=0.1494 right_pitch=-0.282 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -4.8068, 7.2684, 1.1648, 0.0317, -0.0073, 0.8816, -0.1983, -12.3145, 6.3795, 1.37, 0.0952, -0.0611, -0.0171]",
      "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]: [-0.0208, 1.4078, 0.8082, -0.1913, -0.0708, -0.0612, 0.9951, 0.4278, 2.196, 2.2898, -0.9684, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3868 left_y=0.008 left_z=0.1088 left_yaw=0.0587 left_pitch=-0.2256 left_roll=0.0172 left_gripper=0.9951 right_x=0.5352 right_y=0.1905 right_z=0.2257 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.3128, 8.8137, 1.5604, 0.0171, 0.0806, -0.0073, -0.212, -12.4786, 6.3795, 1.3846, 0.0904, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989fe115ebcc8e62729bd3c5d14f5f42ef86292a669d921bcecc009b05f082e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984decf78fc16be2b4058c2ed112347717e82a24f6bfa97a6cbc6e7dcb073b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac8b33be36241c9ce456c2f62360ce6220fd6d83a6d1a7ca99bcffcbfc26af3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKp9VKBmV8l77kgWDZpLc7AberhLKeHRrPiHiXK-DBO7sAZmnSYbzm-F7DCA09mhbCRSHO_xD4x4PfHCjeTA_vi-9sTc94_WXw1chc5YNglXT9KWdqkd9aHbEB9upBs1ad17ECsuIA79HubNWhyIlUvTxOtpKcx-7pvLVY-7e-3SN_tU6FKZWjnH78ObCzp01N7-CQVvQ3Zbv4ZthaeAlGqQTGVc6A8q5C23Nabr04dkTIuAIPfa8z-EcrRvBmjgjNeTJt0ElIAVfIDXN3ujb9AP-H3wD4SXOqTmY3lu3Tn8qMneQKUayugtWQmJdj274RpkyPmKlPNMzMZyWk-0xU9pexvcSuUjZPNDjcXrp_6UzpLF7TYCVEIkWXa_i7_EtDBeXqi8zizdJVlKSq0ioIDksf6OeI3gJRgFCbjeUbEwHzT8booGgDL8l81JVrZ9WS6UtKcXQe-uBdIEiJW7YaEEBEpr8wKHkvfchjuZBDzUb13a9-MT9AA5zxViCyxjS_-dULSLpCWP_NzNrviWKwHFh3-jFagaG_FExG59Z4FkeQYYNE6df1AqDuxZ4Pk9gM5I_v7Nc2iy9JSrHIQlibm0FFIlVTB4e2T-fNlHlId4GZQ-Ih2vNCQV3xH6UgtK1rbCBxgTG4HjIzr5F5SqhN8iX-1CD61VRl1Qj99yTjnYviTaOAa6R2FWZ3OvXrmG_cEVJarlI6alaHF92Q2750hVcWPaN8NfA69Xcm6_zz7ofv6rom2MYAUoxrnWF6jNqPkUnYILuKZNoekhNr2Y0KcYah_5Sg7iVlgF4H-i0gCfBVObQxcff6latGlg6MWPiKBSqocLgofwGjU1nFsJhfdMiEcj1uSgUEx8CSie6cso2yLJ1-k3uZQjPMRefqeOQ_HXfzZdKb2SJQ5qr0CH7exO-lXOkZqD-lWb9QPfzlCZlUR4jwt8u-diO7vn-UHy6k5pe-qr_xBlQdjBvZsXpfg5D42mNxVwsRUQUKzsJ9p_LW_uj-SRWfoPAMSNDouq1XQg-5JC-gsO32HF0oZn_BiLq_lSsoqNSN71kU62vQIwdgKYjl6vh2uQZpOGzvrg9Bsb5pwsLF7JDUMY1JMcOTIgBb1-5cX-AxtrP56BjlVWP38eSg2Ok-Cdz8Ehwh6_GqWQumB5LoH8xJGPipiBuqkAga9rMp4QA9vjs7i8wCYAnOe8PTMHDARi_JVKwcxan4gM7Vb0e_nc_P42iLkoeokf1V23QWO-tLE96yzgvtPKQax3RTRezfIo9DIFD_p9NIBX511-1HgmGuRXGC1Gf5-9Lg4fgfqE6RUFEjt_nmn4i2Hf0gHniwO9HTkIyaIYhGAZx1UCT_NtOVcmrgPGzfTGY6td8xGfE-oYLoZqTzYuwojtDp4rQdRztBhXZBhr6Au49I3qwOIMhFvRlfpW2No0QSylsehwarHAFhLSk0lAlwLdK5n_BGSDTltZf0tMKUOf0ibt6FixBdLa2zuQks_MSkEBS-VA98LkB0kwgKNN23kNn-3V8391xFrBk6aXhb_bXwyT8w8hswtIZDuuZoay6rR4aKDARe5Y4a5HMttZx2s8PgbtRkSxCKnp2_wW3mrMvSViuTDSorQZO_4M7YogsaV_EaMzF3sXtKiG9sJLttKu-OsbDhaBhmiZTgOTt7_buWjxU339k3Z8XOpKNLtAEkGAhLCbkKR9blZ6hzQufRV3I9jDmsxa1LHg-vHLjoZvi82ic7az4vkp1HLaF8aj6HJCbjTrpSsw4Opm99EgvIxxmkIyhpPDz1mJip3xZNW6_yM5Md_hMNK-cMeHKvanu1LtVY0XKobZy-VfTzqI-E=",
  "id": "rs_07abafd5897e38d5016ab432a7697487d0a1756d24ae5eda53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":0.04,\"left_z\":0.085},\"note\":\"Advancing brought the gray dog’s head into view near the jaw tips, but it is still left of center. I’ll shift the gripper left and a little forward to place the head between the fingers.\"}",
  "call_id": "call_b51buW2Yu9EiuStXDZ9l08xd",
  "id": "fc_07abafd5897e38d5016ab432a8d02087d08ae20ecbef4dac98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b51buW2Yu9EiuStXDZ9l08xd",
  "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]: [0.0849, 1.5269, 0.8234, -0.1066, -0.0254, -0.0216, 0.9966, 0.4278, 2.196, 2.2894, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.4021 left_y=0.0423 left_z=0.0845 left_yaw=0.1033 left_pitch=-0.2468 left_roll=0.0131 left_gripper=0.9966 right_x=0.535 right_y=0.1905 right_z=0.2254 right_yaw=0.1491 right_pitch=-0.2834 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-1.4291, -7.2274, 6.8855, 1.6825, 0.2271, 0.1685, 0.1392, -0.0752, -12.3692, 6.3658, 1.3748, 0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e13fae36b77f4f4a9f42ef87aa30884922baa13361c0f029f6bf594e424677a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce5556118221659329b47b2ef3c38f7987ccc596e0074fe6b78967e4236c7384",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f851a47dfa1a19178feba3394e732774fa0c9432757fa42576204f2545f11051",
      "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 · 11.22 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]: [-0.0216, 1.2385, 0.5053, -0.054, -0.0597, -0.0547, 0.9966, 0.4278, 2.196, 2.2902, -0.9684, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3303 left_y=0.007 left_z=0.0678 left_yaw=0.0447 left_pitch=-0.2225 left_roll=0.0136 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2258 right_yaw=0.1489 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [0.1709, -3.1111, 5.4632, 1.5604, 0.1441, 0.0757, 0.1245, -0.1709, -12.4786, 6.3658, 1.4383, 0.0611, -0.0562, -0.0122]",
      "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]: [-0.0208, 1.4078, 0.8082, -0.1913, -0.0708, -0.0612, 0.9951, 0.4278, 2.196, 2.2898, -0.9684, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3868 left_y=0.008 left_z=0.1088 left_yaw=0.0587 left_pitch=-0.2256 left_roll=0.0172 left_gripper=0.9951 right_x=0.5352 right_y=0.1905 right_z=0.2257 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.3128, 8.8137, 1.5604, 0.0171, 0.0806, -0.0073, -0.212, -12.4786, 6.3795, 1.3846, 0.0904, -0.0513, -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 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]: [0.0849, 1.5269, 0.8234, -0.1066, -0.0254, -0.0216, 0.9966, 0.4278, 2.196, 2.2894, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.4021 left_y=0.0423 left_z=0.0845 left_yaw=0.1033 left_pitch=-0.2468 left_roll=0.0131 left_gripper=0.9966 right_x=0.535 right_y=0.1905 right_z=0.2254 right_yaw=0.1491 right_pitch=-0.2834 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-1.4291, -7.2274, 6.8855, 1.6825, 0.2271, 0.1685, 0.1392, -0.0752, -12.3692, 6.3658, 1.3748, 0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e13fae36b77f4f4a9f42ef87aa30884922baa13361c0f029f6bf594e424677a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce5556118221659329b47b2ef3c38f7987ccc596e0074fe6b78967e4236c7384",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f851a47dfa1a19178feba3394e732774fa0c9432757fa42576204f2545f11051",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKtw3JvEP3lVlIhNg5tRl-IQsFowFzyW9aogrqzi-nyZjU--f0vtZGm2pZ2V7EubmHFoSkKzZ_T6npepM7hh5ga-UQq5BPfcYZS8P1oxDuE9wCNlONIMADRKCb9ayD4ExtpjGefCHBAI2kEtyiiVYK8xNF68ipHFnaz3yS7NH8t0u_8krt_e6wmxBMfx92R5DsgxwpBWNnMtgJQ7zBy6sSran4pfPm5gzMUuZjeyGLRoxpTaRGKfp5J3jk7vDY5lmxmVsKLhbxK17AtOhqtZjYhlAaiYExDGvG7XvgKmMN-nQPKfTL5wgdOLyOAb5aXQ1VixHSG4_kFY3d19C0WBD4nuFlFit4iK6haWorTWHzlGEYvRf1hwOOgR3xG149_KIcghTZbuoVmCFRIPiaKx-NlnjKo8rb-9SbP-aRveM2wf-r5rVWyelTUzwIkfs_5BGUufFLJKyem1qHP6mgmmQdnbkUcvlxyv2bgfxotCb2OdRVklRPXgFtE9Yv8uLTlzwyX70LvrPheGXHRy9Mewp8sdooEWcNrE4z4wDADrJvLWBQ_hZSvpdGdaaSdyahfLIHXKY2PlBeKwiti1odlTskcjWHlk1F8c8pEAWM-lHURXf6dljikItZ-THnhvIY80P3BxOvrlZQSmUBHvQhPDxPVplt_omVYjkuwDxIcE3p3WaaGZkAITQOkKbz3CrFvjZzgUfeN3bpowEB3P8L9aESUm88VHAb0YszYbuZisWgbzW2ekyi6U5uvR7m4_yuaVNsfmL1x9fp4CEwwf9usJ1r8oqou_qyXVndn9mkQiRSGzxA_NOZn1ul2g_VJSxCvVMD30CmCf0gtuVXU9jNVV02ayiTJV4t_tDfj1JeUj_LC6qMJRW08iHy8kOnqkzlTE0jRFniygrG-XKFZuL2mQmTprujDm1QloNtPkLxS_xZFt57yx5O6NneuWhDU1L0cirHNGFdVpKOtCQhmfgCy6_d-lcmZYBTJdUMv2q9F54nN61ii06vr5vHFuOjR1DF-ffxQW8HEKOJbet5qpR75aHQ1G_qQIlWnPcROFaIfivyDhylG4iZXxpwSu39YE9zUlb0fBStwjaZp1uJelFZzuqYO5twhRCcsL4RbaYGP1QAjDaAtmIeZxDQVfSc_KaTRH5O7f4hLwbfCZl3Ig5tEVEqQISTsEdxcrGCGDjbIg3BUWsySgjaB_r_Fy_SbLLfsz2eKKlX5ifA5RWXPo0OVQFVYLtUg3ViztSGzQVzQ4MGMR6ulxg-SvaSgELSnIc5pjH0NEJEBKGeUuYpbdpREds1z2n5yKFN6vucFvTIBTywFnBPviVvSjDSqtXwPUUujwN4r_07LR35XGUADZRprGsJCOnT0pVso2eaeQrTO15mo3Rk1Jx60UIqqpF5S8Vd9br7J3SyJ8v6zmHtmvxSvPEeSt1tX5dW4A73TgwDYRg-by5vGKNMWk1KeSXT3JaSGVT53Jq9t5IKfGePP9LjL2iBjtBTNdaoZ3VZTUa97H3epG5jUGUTrtBsoN-8tTKgUf0hn0n9Fcp5FBDAkxfW6Ac43eE9ajzCfzoRufMN2d42YiPbZzXYWxtNtZqrD1MTpqaI7BPxUhUMfbdTmTAdl9Ik60DvBt6fvIS4hRYASym4ZY-GaGRPI1f0bwFmypJ0HlgYPBUS9Gi1tSPdPs_PpFqfzsnO2WLQBwAnZ3vIOxg9f5EBMvdj9UyIx745NKGWnbkp0CXDrXApVDmg4EgVEv37TBkNeiLx5tr3yAmRvL7zQalQm9DtKjOBUc31IOJi2iaEt",
  "id": "rs_07abafd5897e38d5016ab432ab333087d0b7c447cddf12f282",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray dog’s head now lies low between the left jaws, where the fingertips meet. I’ll close on this narrower part of the plush and check whether the jaws stop before reaching empty.\"}",
  "call_id": "call_LWRZgJTYAV5T2ti6JJ9zgsaE",
  "id": "fc_07abafd5897e38d5016ab432ac498c87d08d9f66e76225ecf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LWRZgJTYAV5T2ti6JJ9zgsaE",
  "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, 1.5635, 0.8227, -0.0879, 0.0006, 0.0082, 0.019, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.404 left_y=0.0419 left_z=0.0732 left_yaw=0.0741 left_pitch=-0.2659 left_roll=0.0145 left_gripper=0.019 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1489 right_pitch=-0.2822 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -8.0342, 6.8171, 1.6777, 0.0611, 0.0708, 0.8718, -0.0205, -12.2735, 6.3385, 1.4286, 0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051beb0a681caf26309629aff7c27fdb26e129d091a026640dae1b178850dd62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706ff36dd2475493619a761ed722efc3fa8ce0156256c4e73c950d77b78e025e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf77b3c60087f0d97208aa5031c7186bb705b8358c14179f96ff7e9625edfefd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.069 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]: [-0.0219, 1.2488, 0.4927, -0.0151, -0.0669, -0.0547, 0.0111, 0.4278, 2.196, 2.2898, -0.968, 0.3004, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3328 left_y=0.0081 left_z=0.0665 left_yaw=0.0503 left_pitch=-0.2061 left_roll=0.0176 left_gripper=0.0111 right_x=0.5353 right_y=0.1906 right_z=0.2257 right_yaw=0.1494 right_pitch=-0.282 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -4.8068, 7.2684, 1.1648, 0.0317, -0.0073, 0.8816, -0.1983, -12.3145, 6.3795, 1.37, 0.0952, -0.0611, -0.0171]",
      "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]: [0.0849, 1.5269, 0.8234, -0.1066, -0.0254, -0.0216, 0.9966, 0.4278, 2.196, 2.2894, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.4021 left_y=0.0423 left_z=0.0845 left_yaw=0.1033 left_pitch=-0.2468 left_roll=0.0131 left_gripper=0.9966 right_x=0.535 right_y=0.1905 right_z=0.2254 right_yaw=0.1491 right_pitch=-0.2834 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-1.4291, -7.2274, 6.8855, 1.6825, 0.2271, 0.1685, 0.1392, -0.0752, -12.3692, 6.3658, 1.3748, 0.1001, -0.022, -0.0122]",
      "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]: [0.0948, 1.5635, 0.8227, -0.0879, 0.0006, 0.0082, 0.019, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.404 left_y=0.0419 left_z=0.0732 left_yaw=0.0741 left_pitch=-0.2659 left_roll=0.0145 left_gripper=0.019 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1489 right_pitch=-0.2822 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -8.0342, 6.8171, 1.6777, 0.0611, 0.0708, 0.8718, -0.0205, -12.2735, 6.3385, 1.4286, 0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051beb0a681caf26309629aff7c27fdb26e129d091a026640dae1b178850dd62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706ff36dd2475493619a761ed722efc3fa8ce0156256c4e73c950d77b78e025e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf77b3c60087f0d97208aa5031c7186bb705b8358c14179f96ff7e9625edfefd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDK5A-oPcF7tYL8p-v21rCDQDJHAt_KeBdnM-_0ijF3mpT8F5-jkKx4TLh9Mh5vHbU082yzlkSiV8BVztkctDi3KzBcJQsvN5sXAtYSwBsakmcG7QTZZUfAjdrBj7x0f94ii6bRx6jobLeFcDhGkuE2-tqK4lDHj9j1q2hEvSC3YawOe6wRfp0XGCXbAPjRMC0HfSw0QZsMqY-Q1FptuVsbMiMPwsWhxEJUUtneeraYz8jx4Hh4UJihpZHSYVYLjdIWrsNR9ly4RFJ654GOSuzkcryZZUUuCvx3zTik6_WvSjgE7yMOEBlvQtCSJ1G4H4JiP3Z0cGdqziucmHdfgLcX0hGrphhue5-6Fevcs3bKBCQhY6Mu4g5SaK8l8oDyNS_XgN16nIjPjwGrRKdLRu9sNFEz5q_2fZJAivJmF99no0hImvzr2OAtIMbX3YUgptH2bM1ojZlZAYynOJM4dF3MHjPqIslb2ChXzX4NCkNjoC_R_2dnq4lbmnjCCu27aHqwvvNNdPrakIYLfVbzSv5n2fvMV-ubmaSKyUqriFyDRKxaKQPJ6qQJFaEHB3RunGnt3XW87ywp-G6Uz652NZBkX9XKid0_uf9ZYwAhAeinqsT6QQYNn2ZaPa9hpC50v1sf9sr2Ec37LsCnpNPIL8vLRDRvCqxeho7AdJKKSUotOzsCjaEUu7BwMQi2eVW3QmnDxBZ9aOZ-jlk4SuyTK7mrWBePmpkTmoXfmwg0ZS2F3IAawpqyVPSj4qXiitQcAlCIB_TKr5TFsdp1pFbb_vAM3pN7zmV_UXnZ029Jc8XnAmcbBLcwlBaG9lfAMd4gVgOPNTFLIOJDos2OejALdX7C4arn7eQYUauE1xj95n7Ib27EJFm1AuVEfcn3ziggmQ51xwV6W-gwL0d4HZU6hY4MkMm7BSaPzxJebRD5Y8Ol-MCDaVFf4YTSco3BQsuxqk8EwnJcEolV39WiybXdt2-Qyxj7igAYWh85XtCMd4JiqZnTGjZB_825Cg4tHXClBlGRpLVpnpSl9vkl4Z43_tbOP8fROioaTVh4UUnPQU8UE1CHVSUHrxWm8I89S9F86U9K0um2Xj1msk98CaBNuH1qzn8EN3nTrkYzz40LscBJFPy-mXfQVdIhsTz7_ZDHNPG5XoZkzxt6C2IP2ZSrrwkgU8pOPv4ZfWR7f9lQuHTjOMYrAYCqVDUtjHwG8p_NxnwMlzQSuCfJ5KilJ9R_Yz2j5n9o5HP9wvb1HtK9cToAs60LWcfljlC2V5UI1g2bEm-ORgvsWj2ntsI17CuG0GiT4KLowj3zCau5waAJsCuOoX4EKzWGW3yiT1PP6rXC6Sofgho1dKE4UUsSRFDNKpqXrcsFSBco1W2ynr1s3JPvb-XgjQOhFdqx1NM9poVVMrjgl4s3xXE_PzphELZg-wXE_8hSGu1W4WDknX5SHxzoE8c-Je2tw-lleHCAZHAEyXuCML4SComtyRKk1lDI0qWkeqFI49ng8IyU0md5QC0bWjxVFAxb6Mn2_BFKZIqP8p6WnC9xHR3U8aW-ijIzPl0xsVsK5thW0MUAI2vrZC5dwyUaZtR-qpuvxexkYogTQ8XzCSIDRj59nSMlrbrlP7FejFy30y-qfMYxCBTaAEOH18TIlw7jcuVqMtKmqyPdZlJhPg6qM1LO-MJMvbe8M0leXdSOXbulM_WhL9vFkHXzgE1cT6Yp3iJwP0y7TJ5xHql9YQhzJzRkv_Ir7Nw8I0U7yHZqMIupHvKthD2G6mQ_0yZHOHYt0w49142VpgQvAdB7QXyjKb19G2yksZWcJe7mlWChP_l48Ji8yZlG-IXrLDiPzvEcgM7M5lkaA88tXHm1tLy-pT1gb_gtwVlsLhuKM74eCnfajg-fgFxkN5gXrADzuYTu2UGVALnfcdfA8Ss0zDTOBcpLHdBe9CuSW4LaCLgascjCHy07hC7A5fLEg3lzTL1pCygae-h3zJ-EwmA2WX8MEJY6KXMfbdIcg-yI4KAaDAFXK4YfHhRH0y0AlMRaq3kWzlHutqePb_PJH08ElCaj0ztw4brdp_XrIcUg-wIIlAXB2vy0WUHXjf1UadORcqwvz3fu4c1zulDtckSX3KqRmjd5uuLTCLIEhh-ni8JGxkDYKQCNZc8NTyPiIJ4p4QUskyM0e4e_gKZpjXt4ut6p2a_4HJQWHosz53FCugPOUzmRh7T2hlof_ez5lDEn-SR9RqPsiXaG_mirhmCbLo729oBZWEilf_UvRAe-mqcHHFIA7XkkqgDHHnV2B2fJt-m3AJQSmam8ND0Qswz88ccPxnACqLOtsEBkOZ8rNjTWt6fQXowWY1BHMl5cOAkKpw-isHkfXDyiGXD88wTUdQKYDo5nzjAS3xb1YTH6LYI0zqxwaBmNhjwp9GQ_fvR0q5LW9l1X4Auvdr7SyOq9_swwCSUHbDB0-bVMvT9LzqPgONQFlEkU6vLQ7_pXyVy2eE0yYvQ379NPKtplBNIvhaychELcYOmthB1PneFd3pez4gjXG8dWqXyhi0bUxBQJS3BtFcBCvNEPt6KyhA-LbApNQOwZ4pyi_bykWwGT3OyogkW-bnSFSLYXY7IvFrVfm3-FFZDAJ23iPZwyQvn_cTrRWS86KRioJ04kY0PRqC2JOKueJPusVJh9qpJ5ipqtkcnAKcjg7dz-8cpouTwcDez0_YL-SuFrf4kIsRfP5F-Y61Ytr-gn--88Wup-c5to5PLuVwTqnADvbZBWQv0NuWH8-YWhdC_FSz2ZGYxbmWE8GepbazjZbSSjykh0cCQCO7mLRkgOvGpzFOckXHUcQjQ27rAzpXVzV-aWn_MmszZpn4gW7l1X-uDdMy4n1YoF2X_SfRGI5LyFBevQWkyhjIDK9GQUb1YjPP0npRt9i_A12hjSt71IJP5HI07EdvelY4CfxziFNg6E9h7OQW2ALMapUzw3_lNo44NdcV90brW7QBzXz6z3aVGAzv5_GnJCBDm8lpYkm9NdQtdT8dp6JbR2ttnAgasSvaHKMmLh5ykZdlXjMcr5ax0Yq8QuTXHODASgRWD1TselS35CT6RbbdS7w4Gg0sDhn_x2ONInre3VZpnR3Ry-Jug_9IgzzjD4jwIKAy0uex_WRKS-rm2mP63xGSxJl5dFv_SWtjejceFbnirAk_DGTC7DLeMLe2j-vvuIfFA-Qwn5JtDviO2MJRg5i2e6N1TnAXTvE6njc5_ligSselLrowG69K7bxKSxXdspKoJzN_iJt8Pl3tjyhH-8bd-tS0ME2c0dK5HZmCAfbz5L6-fdL-SMlscYpuYNBvy23J3ALYQ-hGMIDbYRb3kDJJ9u1gVM3AmctnAuE0OWZqtQq2Svr4jt2Iq00pq9_oYvcEKM3rS_ETft3DL6f7iruo-s7_rocBTQ3sNsHA0tmwua8VnLQQKv2rPrbTyetFQ5XCex_tqANLfddkquHYzmn4mArh_2fb4MfqI9ZRqaZ_rKyhZWgsOleymtf-k9Yg_-HA20XrHPE2HcntBPc9W66V3S0itiYbLTpgf3UvALddywohKsucyDeMLE5FOxizliGlq2mXB6sLKvgLSaLF6D6UZtNyPGr19P4ljIb7_3SCppyzzxVQ5kdSJU5dDX7npB14S7W30j2zRye1m7yoG-d-0Rt7V4q6Ed1mcTPRZ8mtVXU7UUMvXbsR3ijVEdpdpnQAS8ZD0IeeeQwY8FLc0lm7En5g_ExhSWgYeyLmA==",
  "id": "rs_07abafd5897e38d5016ab432afa4e887d0aca0877693086741",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDK5SFAuWpvqNZf8nRFmuGOOB9p3h1x568EILWgiMeBq6xcPa2Dmp9kdeyDUbjpGZevakrLjIZEaiS7GA77RH4MQAWCTyJtHRBo65as54CVUCkin7qxxCT8XEXdCnmCL2d2C6zfpoDDaLkSBhOXnahVKTGlN9o5OYjRA6_nMGFye6mF_Fymds0hx_5dJ0A3k1M--ojF-7juDBofeKlCmKOcJFObZQBF2lwO-Qp590bdcjxzRRArFTzuLCRZxwZkU-yt6i1mptb-z-Jai7_BHGvix5AVxwDam0MpG9WuqzgYQnIoVYDhaknv4PbxVPuX_ZJbpaxqLjc0MnmZ9fEn9Mzk8BjPsIT1LGpPupqfdZOVrg715Mne_nszQl3u4VM-LB4MG39zGuSBFXwqaiD9nx4cSUfBaIKucvj6gtuKdjtgMM8ENY3FcWYdlh-tPCaPR-j9MePo64qq0cMzs6v6VRGPk6r_F64iNtz1gJ50oPE_ACow0TIWZQjgh84nEYWJAzaAeqhGpZlSUStxY3-R-8CXHKi50Yk4YeZ8KzfeOA4NOjH4HjCrmerf3kHADSlwcbs-rrph6mDH_-iuUN0df8CfJrhYgNRKdIFQepskX274hGMygcad8Ao8f5nTQ6gRzvyFZVMeRBkHsjTQSpIUmzvbBx1kxZAFqnF9Sg4GwK3m4qvY05HC4crGE7EFl4yxMtWZiqZMDvu93zwL2AHrSI9R-2RrVo8ekGmCipEikrfHWD6UGtlo4MJ22BZ6HpZ7Lue5XomLw3Lg-_pKpBXkIp2y6Gt1ztF2rM2R7zQtvrJRbPtuSqw8pHLrMxFGsxYfCjufleenKGAOmVCnyHW1_ZgVnLL3ICKjtIkCONxuYhSpkMouaarfpupEu4AgeVTmhrpRISYw0Ytj84dvk4KHGtneR33WAs-ob7LYv4BWa2NQ_gQbkjymuLm73yzoK7a6mFa2whc7Qh2p7m9qbeYHHZ1AfVlcAI1xjCugm6M-CgVNIc_0pYxDQxuDM-TQxtR1U0ywARSAW-BVqJGqGG0ATrqYKzIinP1KZB9vnj_GLMZzTk30qkHNUT-HdEadZfs0q-iYmBA0ca5ACUtjxC387sE0m31aO2pLfEBkXe0EbygCK--QDY214lETG0te5RmkZlqrn39z40q8jiBy5HpCMXoXPeSlbNHenpHOQYbrcsDlP3sPZdrXK4EWE79XXidRg6B38vZlvPjyPnaYaGnbbzA0gJqEw2qamu1vg0c1X3dGFcIs2i8VZEKBASsFhS6xPrvL_e86I9UHyOiYymuAQR1WAVmKuDg50ggVC6yX0It5qPNKxLI98C1YvG7X2AO8yBVf9hC0bnH0PyfxYjNwcgD4w7VTi65t-lxf02Pg8w8GGC6qIUMvlSxVRil0bdDluF5QenF3rHMLWgwAaaVu2aR0nwQ4uMUvLPFJMpweHWpo8zdFqjtBYmp3TKrVryRG8_CKVA7D54y6vdMJA8K8l9a8qD-511o2kgmF4YO43SE0c7VDGz13auiGLaBAbSnIHksWEuitJZZwJ7yRJJa0U_6Kvs2Q597u2IFggGDdbB9qTeuB7AANK7h5ZH1N-JA3lSU7XTsH6b84roT8i95selauHMLQqGdqbDvUG1S37v8afiLEALqyjkgddZJ_Yfrr1oWomS0JXD6gy6_NtK6_AHL1G_-qfm29aC6_OjEfTyuLOwTA41A9d7ANpCVSjDsTMbIWfSs416GtfpB4xR1NBhGol3tu9aigQVJwg4PZZrmcEgZP7qzgRPQfJz9RhAER7qjm6UP9JocAEByDvCqiX9f8yldvJIHBMpR4PRjyJKUBVnH-rreLOfz8RZZAO7iXU4dHMb51MLnbUsPFgusDK2MEfvdkLAytrGR4ocIooGu3j-8EWxQiwW8GaJ12AR0U_bEn0B5ekXFZSoiPOMqPoaadHpElFEVFzCoWq6kfY0FuFQBc_onLjnpazpVAUl9zEOnvR-44e37wzRwNDHGTVTSks03ar9EQhPoV8QxYZcROG2L3HT5TYaZ9aun5f3zvyO6WbrQcDyK97SxVNzZnE6P6kr68qquhyp3vdREw4-Axw7vbc-DFH3kiyXqz7YH9Qk1NQkL3q2eWSldWEQMYTBoUHyHzgqxTVHB3MkuXPj9ah5MnuboQEMbPns0DGyj9CoGmxNfMIEVgGyNQO1eZ6rac846mW_s_py36ddgFDNIxaibFJymRogSuwNN3L3S9hSIBcfORqN4F3Kj2VtHh-YIBrRXW3CyqQ74r3aq1RwdpRThh3sPkPHl6vIVWrwtuNE0txOFImE1xM-FcUlYAiAi-vqggtgqO0iDfmYM2ETjb3Hm2cq8aHb74MDDvntURTZCx6Xu3agp-j4Q4CfwEAdHsm7TRcZ7Op3YMbg4Gy4KQ3b3EJOQ0AYBP21ClSwISq_EBkFvJYpA-5tnCKyhXszZ_ZgGRvJpOf4WLHZiNBOUPTjZ0xPhHsDH_dOA2k3dsRMfoXUxNv16lWTfvOD98EcbKzGfH0QZip-JdCCW5bB5atCh9AgePdyodBnNwbeKg51o-UlCcNtbWjRlvYUjNeT4kMu9gK6qF6TangciJDA8s2qUm670NQOn1PHlXfKOGr_hbsOXDd7Z4jX3DOZC5p3bgYtAcy43ELVZGRc6TEHsugLtcrnp8bJAF1izRDHowgxylMyX56CiMWvz2SsPglTZZ1k4GS35igzlUtOOWI2ttqjo-CEBk_0p_swHZNGDSsqBA71U2XuVJ6rPGRzKEow0P621kdx1hN3sWsWIOzONqE6CFYD7L9bAjUp-jExkEl6UevA0mk2X-_C7hg_saTKkm2vz2ZabfdDtbK9I759EyC8P6CpBjhrDZxoVJixQW7cLXZI6Fdk8I4yVk0rky-y6YkRbHSk54bbaNa4t3UXwlmkVcpwKSCc4EbFmMf5R9oaSYAqrdsmCL9e-hyxOqaJV6lZ98ncwYtduhFLRD5c5LPn5fefTyv1sXhDEZVG4DweLC917wdR3rZiHevNcgh7FjgpFI6t9RSdO1RgE6i7kP5G0Zex7_gAVsNjwQaRTVWYY2wgNUEzr_O-D2dTacrBTEGm-n3pYnk7QgrbrRXELKMFIqbPKizS-ORurXBHLORirKi2DKvPaX7VtJplg3_IoT0rAz4jjeopc6NJKO5C-850GS7h7EF9len_REpd75pWImfKZmSjP5TyXt8uDNL1VgIolasIx_gZT1djz2QwgmNYkBLr9vS0OwcJpuKTrqtyniFEaDXIElFg1kNQ4B2Ch56Xz1WinEuwFWtEj1NcPDM7tFC8pQe8yQmV3yU6wST_kNckSJB4DmPo3Wz09HW0LO_h3SS2RAzyhODB7uoAU--eYulTDhqSFXPXBdcry1H8fsqeJrBbrZJiR0B-NSx1z_rSRnR49PuhyHnwfisydD0iwd2EGtVT80uIVdzDRXXUpHiaUr7gnVKWtcQRhoSnlSmqtKirl3xqWRbVjMGxIsK0drK6ugrd3hsc32V3Ri3PZ-aSGVJGCkMRGGVvdEOxdJLQIJ7jralzqU89tTb0wC0XuAARf8rV9DsWVUPqwFEX-TS82HqV7GwN5qccVPhLCrstg==",
  "id": "rs_07abafd5897e38d5016ab432b4ac9087d0b4240927f9a8217c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.33,\"left_y\":-0.025,\"left_z\":0.09},\"note\":\"The last close was empty; the gray dog remained below and to the side of the fingertips. I’ll back the gripper toward its torso and center it using the overhead view before descending lower.\"}",
  "call_id": "call_GL0NdzANqdyLCvcJvwwinDGE",
  "id": "fc_07abafd5897e38d5016ab432b82b9487d08f514a977c05765d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GL0NdzANqdyLCvcJvwwinDGE",
  "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]: [-0.1734, 1.256, 0.6434, -0.2199, -0.1566, -0.1745, 0.9951, 0.4282, 2.196, 2.2894, -0.9676, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3382 left_y=-0.0276 left_z=0.0905 left_yaw=0.0441 left_pitch=-0.2562 left_roll=0.006 left_gripper=0.9951 right_x=0.5352 right_y=0.1907 right_z=0.2257 right_yaw=0.1493 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -5.135, 6.1333, 1.3651, -0.2173, 0.0708, 0.0317, -0.0889, -12.2735, 6.3658, 1.4481, 0.0904, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e353fbc7430bc8fee40fa3188cd137e3c98260a52188bb8addc093091a514a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024a8b82e1d6477252fe979016e54b84a221d0d81a2bf5686ee65a031305d453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d22b5abe6593c4d96b816ba319994d488c01b5540abddd8744506dfdd36269e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.219 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0208, 1.4078, 0.8082, -0.1913, -0.0708, -0.0612, 0.9951, 0.4278, 2.196, 2.2898, -0.9684, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.3868 left_y=0.008 left_z=0.1088 left_yaw=0.0587 left_pitch=-0.2256 left_roll=0.0172 left_gripper=0.9951 right_x=0.5352 right_y=0.1905 right_z=0.2257 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.3128, 8.8137, 1.5604, 0.0171, 0.0806, -0.0073, -0.212, -12.4786, 6.3795, 1.3846, 0.0904, -0.0513, -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 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]: [0.0948, 1.5635, 0.8227, -0.0879, 0.0006, 0.0082, 0.019, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.404 left_y=0.0419 left_z=0.0732 left_yaw=0.0741 left_pitch=-0.2659 left_roll=0.0145 left_gripper=0.019 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1489 right_pitch=-0.2822 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -8.0342, 6.8171, 1.6777, 0.0611, 0.0708, 0.8718, -0.0205, -12.2735, 6.3385, 1.4286, 0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.256, 0.6434, -0.2199, -0.1566, -0.1745, 0.9951, 0.4282, 2.196, 2.2894, -0.9676, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3382 left_y=-0.0276 left_z=0.0905 left_yaw=0.0441 left_pitch=-0.2562 left_roll=0.006 left_gripper=0.9951 right_x=0.5352 right_y=0.1907 right_z=0.2257 right_yaw=0.1493 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -5.135, 6.1333, 1.3651, -0.2173, 0.0708, 0.0317, -0.0889, -12.2735, 6.3658, 1.4481, 0.0904, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e353fbc7430bc8fee40fa3188cd137e3c98260a52188bb8addc093091a514a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024a8b82e1d6477252fe979016e54b84a221d0d81a2bf5686ee65a031305d453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d22b5abe6593c4d96b816ba319994d488c01b5540abddd8744506dfdd36269e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDK-cWsoWhJcBqbhMWrDgohVmPK6jAMvphB5iLo47VTg6zubsdjSHkgRM7r2boAC_Q3mLrBszURdDafGkaERh52-175iy_mbNT2T0ergNDMuG5hQJVh-m681Y6Ace55gGpO1Qzp81f_2cOTTqiVzJwA2Dr8BO8pO-k4ID0HEBkNT3AH0pOX9lQGoxrNmEpj4lZI_FUMWONfxmEDeLA1X3lvivriDPTpc1CCEYLe0Kk4cAxMIkxCIohxjwgk2-H0XteRDzWC4uxfKodqLCu85Zm1Tv-ktcSu5OM-LPBlOlHUhi0TOJOUpTTboPldT92Se4qitCongFGKDd1LjnBRi0SDSBfeJvSDRX-o9d5SEdPDO-p0cmrXcQANjPOs2OUjM7fWs1FJ5VZ4R4OzIp8H4oVfh85WufdXHGUNWeH91tdMjXtzSPj2jXhq8icwvwr5iBUpm13Fvs4Y7r4GQWpuS-ghLxUDS4TKe4fR0vZ9RmQF6Ow4Y0Bel0ok7WKlRR8StavHWQxCoUnXUCa4jO-JdEPFIKNbQCX_jXmVKXq8lLxZO_xL7FvG4xn6Pctc1RCoz1EcXAFLJEOGCi67mlIbjS5uq5n_OmTKeptkClNIUCiWoY7vknA6hIsnAmQRzQd2Gj9nQwpO3QLOpqWcly8wVsKFs30fKAik8PHMa3TrU0TBwJ_d6wntBOL4EmsIPFRsBNcpLW8I_zu4rXMl2kBG8w3hljWaldMbqSTuuopmik3o0wY0L0pBfQZ-XzHZRE5P-T0OuYHWDhCh75PIbz-laJ_A1vRwdgUpNjX0WCPzZ4hcihz8l0Jh1C5D82Zo5-IbDZH8bSOst_MgaMcRO9G2oeWxNNZPdoK6VNAaMMuvPXpyw49-GlbX3l4uXsJ6SoPzclLrQz0AdWA5bcab4_UTMH5zjcQm1iH0I-2v9E4rQhNwlXvb-Z_m230neQApqWOkoAN3WIf5ZHZXlwJ1lL6kCmZWoVhlyHQvF9v8sNxfhhSW6jmrKEXVLwoRVmk4e0nDr_s-_kr1KeEWCuJH1vHZGZFinAwGwRPO-UGgFatKFKnjBqpt38Zzkug6qZYcSEAJ54srUqnRgSoM1zgdz5iQw0-LNQ0C0wB-keiVIwGnAF0Xg_PO2RELieoQ6isP9ipKt9V0O06S27TSfWZcO6qTKcomkNsUsmEBeUYMJFxprIoRHTv1RMJazHXZSyOPS-dkfvuGrX6p6u7WIZharZm75z7FqiS85Z2b3Fg66Pa8v6ldEBagK4RYCyJhrZ1HGenSV2z-5a-4B5ERHqG6r1SaqObOdUBGIh5pgEQN-rDu4vkVpnStC6e6zlngBqC4O4q7OY8ZRcBGtZN3ZeLuEbaKj3ysdMP9g8n0tkZla9dPYu4pTS0o3IeLTRhpClQTOvAcEkeLsaaeZqirYoSfPK5twVUvGF50FAB6D2Mhh5l_Wt53RtJ4oPQpo_chVcpUPsb0I2UZOcXfat7QKb1sbgdcODAjJu242grmbW92jfvncIHUgzrJu7UKEyaENOwbQVDdKrMIMtkxhWUK4g0mN9N9HSZqcj7cjO15vYEu5dn8a5q2T0qni7OS4FxVQLQkl5kW3eGJnv5S_mgSPw622GK9M6YFHMwWDDv-VcIniGJqyNo3HRJBa1YbCFfXA3Ves8Up_1fZZG3ZmJNGyxCijM3jktTxaMtk2i1cn1r505vdgRghEjArxcvLu7Mnig9nljwVi1KprL_GDm_4K86gRE--esCqWDc0jDtJBSIvxjDUZ2LefYs8nPenuPLo9uuoQRB4g6KP3z1-zQqjBsgLIpDuvvBfmuMWDDL30UIMiXzcDMifQQyOHehXtPMSY1yEzShberirxeCYnCiz8_nkyUZoa0QP0IIAcXJ5Mb3nKGK-1g10EYU5aZYxgrbAcXA_D0oPgPb4mSb9o8mZkMTTtdBoEjEMqcJJVt7_by6g7hdmhcAQGo3EztX3gZ7z1pqLvZM87yb_NFKWwUbZj9xl57wQ3ec4EZkvwVMHPQ2sl0ay76NfttP3ZTcENMDb-rGVtGK4aPP7t",
  "id": "rs_07abafd5897e38d5016ab432bc1dd887d0b83778faecf489bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.048,\"left_z\":0.02},\"note\":\"The gray dog’s body is visible just left of the left gripper’s opening. I’ll shift across its torso and lower almost to the table so the fingers pass alongside the body, not above it.\"}",
  "call_id": "call_GC2OOrEPYVZeInO3hL9YY5EL",
  "id": "fc_07abafd5897e38d5016ab432bd6bd887d0949c60ffb7031fb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GC2OOrEPYVZeInO3hL9YY5EL",
  "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]: [0.1684, 1.3022, 0.4068, 0.1608, 0.0456, 0.0586, 0.9966, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.329 left_y=0.0514 left_z=0.0478 left_yaw=0.0823 left_pitch=-0.1709 left_roll=0.0238 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.253, -2.0991, 3.3709, 0.6764, 0.1978, -0.1245, 0.1392, -0.0479, -12.3556, 6.4342, 1.4481, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fc8c4abfcbee85874cc8f04a806ebdcb29b0b3107a07f0ced0995126c25dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f025f66c2e6a307b76d5b89e5d46afcb191051d2e9bb01f578462791e712e740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bc3e6ac7628b9fcf295872072cf2ee51c676cf99eaffe78645def83e9f0255",
      "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 · 12.27 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 125 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]: [0.0849, 1.5269, 0.8234, -0.1066, -0.0254, -0.0216, 0.9966, 0.4278, 2.196, 2.2894, -0.9691, 0.3004, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.4021 left_y=0.0423 left_z=0.0845 left_yaw=0.1033 left_pitch=-0.2468 left_roll=0.0131 left_gripper=0.9966 right_x=0.535 right_y=0.1905 right_z=0.2254 right_yaw=0.1491 right_pitch=-0.2834 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-1.4291, -7.2274, 6.8855, 1.6825, 0.2271, 0.1685, 0.1392, -0.0752, -12.3692, 6.3658, 1.3748, 0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.256, 0.6434, -0.2199, -0.1566, -0.1745, 0.9951, 0.4282, 2.196, 2.2894, -0.9676, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3382 left_y=-0.0276 left_z=0.0905 left_yaw=0.0441 left_pitch=-0.2562 left_roll=0.006 left_gripper=0.9951 right_x=0.5352 right_y=0.1907 right_z=0.2257 right_yaw=0.1493 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -5.135, 6.1333, 1.3651, -0.2173, 0.0708, 0.0317, -0.0889, -12.2735, 6.3658, 1.4481, 0.0904, -0.0562, -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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1684, 1.3022, 0.4068, 0.1608, 0.0456, 0.0586, 0.9966, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.329 left_y=0.0514 left_z=0.0478 left_yaw=0.0823 left_pitch=-0.1709 left_roll=0.0238 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.253, -2.0991, 3.3709, 0.6764, 0.1978, -0.1245, 0.1392, -0.0479, -12.3556, 6.4342, 1.4481, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fc8c4abfcbee85874cc8f04a806ebdcb29b0b3107a07f0ced0995126c25dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f025f66c2e6a307b76d5b89e5d46afcb191051d2e9bb01f578462791e712e740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bc3e6ac7628b9fcf295872072cf2ee51c676cf99eaffe78645def83e9f0255",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDLBubfkD6WA62UOy4e3D-VKNZaC53Nd2nJxKBnOKu-1NZIiF26xbf45cr4ky_syBKH7iQdt-6JzzypkqXY0ii5r8Oe8M94V_yiyJYY_2V7KHOKTuSNBJbXXzjrf-kAO7o5Hamio1_s186ATMpFvOmjzpwcVp4OAJKIKLhG_RKDBqcJ1CJCTGSwSj-4tzpA-IXgFjOS1mw8hZ91jr-cYKX7IZbGBF91RDygXYitTV7KzZ3FlNlmRxrVRTojwW4HZmUKW-95JLHrrsj40C2YkvED8YPytjYiGZmaIJMjtBNNKBuY6eQYuxyQcdnEfAoGVpra4apdU9SSfzCXZO9LEvsEpe7YXB6S4E_2_2FH5ET6tjJGEPxbNGG-hYDNynj21NmIzTQ_QXwfqGGOHlg5O5Z9owVAnYmAxQbP2TJGBgjMJv1MI0iE1R8yIq3hEQ7jPEUi0exyJAkYVeNqzxc-zLn2V4otD-YbMfmJN164sc51ahIcerXprdJT9_ecA0nqevWUWyiPiWb-hKsmYZD92zA3eQKxh65UeK6tyqzw0F0NqV7z5yt4efmixidtEz43-QoM1kUKfogrRFjo_ltR97PEuC6CkDybgUFoEpvwTL0FQtFjld2-6iYOz53zrZMtb1JzrrJF_W-0xHqb0jK37Bd4xdLfS5vYKfOV8AgaI4CzKMVWy9zAGk1j0EhwKJCd18rT25YG1CkUIQOaQhBkH_KYwWRRGQwY83IQkVerdneXnQL04LyID2qKZi4sJK5TEJzSxatkMaTRdVHhhg34bgi4ZRdp8nQw0-1ayEy89QWxsxdwDGSOLlkdVt9YAc7aSrKc4bwYP9-05LaROCohHsuGwfZu_T688moXSQ55pyJ3XV3tBUvX_6Lta72_tmuOoqFqwfC96_amFFef9i3TVNakXERxQg2te2IBWSPLn6pwI3zl27s9TkerZh-R2CHCKOFW5eye_JUErgE17uUM5zUYcIcg3mTMV-RRCP3MEYwBnlsWQUrN-faedF3yQQnOrVeybMym5cdRdFUXPR74UXbW1jo0XN4jhPTBrTGS7rN5uN6Q703Y4aBhw-tOkhtEdi2-fpO0KtRQbVgqgvKmUT-kbqjFUrW4HSRBm9c642hF97eyT-44_rsUSMLcyn6pJ03rYbbac8GEuBS_YGUSW-4Q7IDDKmKh-DL1KNdI8xXXKfF2-QdXVbXf_x8JLX-rYftaPxYyBC1Do4fiwkfKXiFNGtf6czP1wHV1cQbvQ1rh5u04dP7N3jYZMAsMQVK8kKniH77eoN6hp6LhH9UBsdoKKch22I2ZAQ2iMjKZFQQeWvx6s3QpeA1v7CRhHmYShbJoMXKQJ-l9VDHQxv5bKuJE7hk3pga-fSL89jybSjD-MFz7xmYgmt8muwxAoefQibda1UaZqJA59aXL3Y8LxxLPye-l94uIqZ7W7K-PisQl7FMnFDp6j6sX8DFFTXXI9yQdRwaZYLfI88hHVuxWIsk6V02mMk-Xie0dLSJ17AwLfYT8=",
  "id": "rs_07abafd5897e38d5016ab432bfec3087d0966880f761438ec5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper stopped at roughly 5 cm above the table with the gray dog’s torso filling the opening, consistent with contact. I’ll close at this lower position and test whether it grips the plush.\"}",
  "call_id": "call_pLxaAYUKnto3iNnhoxheLDmz",
  "id": "fc_07abafd5897e38d5016ab432c08ddc87d0ba34e9fd227e10f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pLxaAYUKnto3iNnhoxheLDmz",
  "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]: [0.1623, 1.3006, 0.4038, 0.2234, 0.028, 0.0525, 0.0316, 0.4282, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.338 left_y=0.054 left_z=0.0587 left_yaw=0.0951 left_pitch=-0.1108 left_roll=0.0353 left_gripper=0.0316 right_x=0.5352 right_y=0.1907 right_z=0.2256 right_yaw=0.1495 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -4.1094, 6.6393, 1.0867, 0.1441, 0.022, 1.1258, -0.0615, -12.2735, 6.3385, 1.409, 0.105, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa6c4f980d65b633c79c96112156929fbf589a47b152fccb4bbc2a7385373cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72de1197881ab8d03357c2a2f3408572ceb9c9236f6f4c206a2ab1643e71d83c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eaa8452fc141cc172063524a65fec2b57a6c2374ba6f8176ee00709f63c8c80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 3.222 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 125 changed as sent

message 129 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]: [0.0948, 1.5635, 0.8227, -0.0879, 0.0006, 0.0082, 0.019, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.404 left_y=0.0419 left_z=0.0732 left_yaw=0.0741 left_pitch=-0.2659 left_roll=0.0145 left_gripper=0.019 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1489 right_pitch=-0.2822 right_roll=-0.2326 right_gripper=0.9959\nstate[joint_eff]: [-0.5265, -8.0342, 6.8171, 1.6777, 0.0611, 0.0708, 0.8718, -0.0205, -12.2735, 6.3385, 1.4286, 0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1684, 1.3022, 0.4068, 0.1608, 0.0456, 0.0586, 0.9966, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.329 left_y=0.0514 left_z=0.0478 left_yaw=0.0823 left_pitch=-0.1709 left_roll=0.0238 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.253, -2.0991, 3.3709, 0.6764, 0.1978, -0.1245, 0.1392, -0.0479, -12.3556, 6.4342, 1.4481, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1623, 1.3006, 0.4038, 0.2234, 0.028, 0.0525, 0.0316, 0.4282, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.338 left_y=0.054 left_z=0.0587 left_yaw=0.0951 left_pitch=-0.1108 left_roll=0.0353 left_gripper=0.0316 right_x=0.5352 right_y=0.1907 right_z=0.2256 right_yaw=0.1495 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -4.1094, 6.6393, 1.0867, 0.1441, 0.022, 1.1258, -0.0615, -12.2735, 6.3385, 1.409, 0.105, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa6c4f980d65b633c79c96112156929fbf589a47b152fccb4bbc2a7385373cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72de1197881ab8d03357c2a2f3408572ceb9c9236f6f4c206a2ab1643e71d83c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eaa8452fc141cc172063524a65fec2b57a6c2374ba6f8176ee00709f63c8c80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
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  "id": "rs_07abafd5897e38d5016ab432c442e087d09961f03d40822e9a",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_07abafd5897e38d5016ab432c85ff887d0b853dc7f8bd1265d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLOijkbZBYF-0aq0OTqbekjQE_k_VicnJSfTQtoHhPbnV8m4z7pTGhx0xEoqwiFhRBG63qGoKcQOu_8q_TMVS0at7TBdIfBVScVz1yvwl8JmlFe1_dIzESqqOodWwNCDqvvgl2-K-uiNA5FTTmH0SkAj7KnuFk8LpevZmq8zTUEdgcWOc__EKTOSU2kClNbaY98lStaw_ORzVWPPKFNaee40EUQAJKeM_7lPuKAkEamu57aFDCMb6fgYLg8UyWIPStrwJ1_UoTFOObvWTJV7LZ_cbOvmOBJBMZpPe6B4bVN5MUEID3UfUqTKQF-wWjFab6kReIHqi1XokCKWr8UG5ObI6Db9WuWreY4LsljmkW05Bd6vk8nOvCYv8GPLFnKrWv7uysqr4zL8ioIvwfqgJfzD4_gWdAh3W4vrjoYZ7dVRs1-M3tM4DH4y6jzyFfB0yC9-B1O3oCZJ_j218DlBFKJu95VAr7ZFKdOIggCsfLiOXFirvD2Efn1Z3CqQOS7O77cyuNG0-oH7KRu7wlea20aCKx3AmEW9kE9m-IZNzp1NKqSEQpVa8KNMSzXa4iJojkcD_DchbPo3azyB7SjgQB2Z5L4U965YLeFThflpevUwTmmvHxPH274_NAauUJ1StbdBRzs_PBx7KSOFlYsAqaJa6V4BUCLlrjSXBZwARgM43waCW_5NXHkwhwXfms5O0Ji24UhdQ5bJ7Fb2H06N0so9cR0_jqw8ouoUhkGf31-PTwTRMTcchVkkmLr_Gk9TGZ1U7USDZrkGJg8P-D0qtOQkAaHRyymKQfF3s06z6UAessluSWShr8q_WnOgVi1jGt54KCRMnxTUojAyybZf1R0CkFnxr6mYwSz2RwTuZyHrXvqbbSiHipECVrHo-dHPX3MP09tw8pi6I3oXRM0-IPYtH12FBG1rsTsftU_w8-CIBOGmdZyVUu_0OVn9gjUgv4PmLJTuyiTDmdNgTpCePDZzRjD8zyzUX3mwUIDyPZmEP1oU3hlRjZgMoz4K6t0FP1MHEGGSJGYV1KX2P_yHup1kJC2v3AUUl9jpcLp-ven1RedhBNAQ0zWzDOslMYgT6Ji7StcXnTBm4xqZGxuhEbTMQYqhkEuzCc0GOn4xGWi3lnPLLS6UC6jt1NM6-FpGuuXsILrOfcapKhoiGQG_B7RAqyx3p1dX3gSInTFa2ZBhcm0PcvHIU6_i45Dn07Ntj0T",
  "id": "rs_07abafd5897e38d5016ab432cd196887d0a1695f73ce122c88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.297,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.46,\"right_y\":0.22,\"right_z\":0.14},\"note\":\"The gray dog is still not held, so I’ll clear the left arm rather than keep squeezing at the same spot. The cream dog is standing in front of the right basket; I’ll bring the right gripper back toward it for a deeper placement.\"}",
  "call_id": "call_jOkYoMB2mM7uig6lHIaXQuz2",
  "id": "fc_07abafd5897e38d5016ab432cd43b087d0b5b2a5556c63ae97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jOkYoMB2mM7uig6lHIaXQuz2",
  "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]: [-0.1181, 0.915, 0.6796, -0.4374, -0.1642, -0.1131, 0.9952, 0.5598, 1.9533, 1.5917, -0.5522, 0.3889, 0.0761, 0.9959]\nstate[eef_state]: left_x=0.3042 left_y=-0.0034 left_z=0.1703 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0248 left_gripper=0.9952 right_x=0.4672 right_y=0.2179 right_z=0.1416 right_yaw=0.1611 right_pitch=-0.2868 right_roll=-0.2595 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -3.1795, 9.3197, 1.4188, -0.315, 0.105, -0.0513, 0.4855, -11.8906, 5.6547, 1.2527, -0.0122, 0.3492, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d27bb341b4210dbbab38c02b6f4bb2a929e7208d1c25875949498e7badc6a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ec444eb9602f0c9911fa23e6b8252602b18cf61105279e10203d877e31f199",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c4177c67b403a9c511071eb475736c93bdd813e5b93fd018c74d2079109400",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.452 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 135 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1734, 1.256, 0.6434, -0.2199, -0.1566, -0.1745, 0.9951, 0.4282, 2.196, 2.2894, -0.9676, 0.3008, -0.0017, 0.9959]\nstate[eef_state]: left_x=0.3382 left_y=-0.0276 left_z=0.0905 left_yaw=0.0441 left_pitch=-0.2562 left_roll=0.006 left_gripper=0.9951 right_x=0.5352 right_y=0.1907 right_z=0.2257 right_yaw=0.1493 right_pitch=-0.2818 right_roll=-0.2325 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -5.135, 6.1333, 1.3651, -0.2173, 0.0708, 0.0317, -0.0889, -12.2735, 6.3658, 1.4481, 0.0904, -0.0562, -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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1623, 1.3006, 0.4038, 0.2234, 0.028, 0.0525, 0.0316, 0.4282, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.338 left_y=0.054 left_z=0.0587 left_yaw=0.0951 left_pitch=-0.1108 left_roll=0.0353 left_gripper=0.0316 right_x=0.5352 right_y=0.1907 right_z=0.2256 right_yaw=0.1495 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -4.1094, 6.6393, 1.0867, 0.1441, 0.022, 1.1258, -0.0615, -12.2735, 6.3385, 1.409, 0.105, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1181, 0.915, 0.6796, -0.4374, -0.1642, -0.1131, 0.9952, 0.5598, 1.9533, 1.5917, -0.5522, 0.3889, 0.0761, 0.9959]\nstate[eef_state]: left_x=0.3042 left_y=-0.0034 left_z=0.1703 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0248 left_gripper=0.9952 right_x=0.4672 right_y=0.2179 right_z=0.1416 right_yaw=0.1611 right_pitch=-0.2868 right_roll=-0.2595 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -3.1795, 9.3197, 1.4188, -0.315, 0.105, -0.0513, 0.4855, -11.8906, 5.6547, 1.2527, -0.0122, 0.3492, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d27bb341b4210dbbab38c02b6f4bb2a929e7208d1c25875949498e7badc6a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ec444eb9602f0c9911fa23e6b8252602b18cf61105279e10203d877e31f199",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c4177c67b403a9c511071eb475736c93bdd813e5b93fd018c74d2079109400",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_07abafd5897e38d5016ab432d078b087d09e4e93f9dec41823",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The cream dog is immediately below the right fingertips, centered in the wrist view, while the basket is behind it. I’ll lower the gripper to its head height before closing.\"}",
  "call_id": "call_d6CryRT1mtFzAjzpFE8SsSiY",
  "id": "fc_07abafd5897e38d5016ab432d1eebc87d0af1b0576b2bf8286",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d6CryRT1mtFzAjzpFE8SsSiY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9192, 0.6834, -0.4549, -0.1768, -0.128, 0.9966, 0.5537, 1.9736, 1.4326, -0.2504, 0.4129, 0.0715, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0013 left_z=0.1677 left_yaw=0.0846 left_pitch=-0.1151 left_roll=0.0244 left_gripper=0.9966 right_x=0.484 right_y=0.2201 right_z=0.1154 right_yaw=0.1488 right_pitch=-0.1676 right_roll=-0.2308 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.0308, 6.694, 1.79, 0.022, 0.105, 0.1294, 0.253, -6.5709, 3.8906, 0.5446, -0.0757, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1d61c0c58178a1d24c22b373f78f40019bffe89c09d6cf2f26d38bb9de1328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e2671834ae74057e074bb5ffabda44e0ce3a367d64572d86b2b6967ebb9685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd007db081218c79ea4e055a98a05fcffa07b23a8bf8fd3bbee44f8c312b767",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.523 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 135 changed as sent

message 139 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1684, 1.3022, 0.4068, 0.1608, 0.0456, 0.0586, 0.9966, 0.4278, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.329 left_y=0.0514 left_z=0.0478 left_yaw=0.0823 left_pitch=-0.1709 left_roll=0.0238 left_gripper=0.9966 right_x=0.5352 right_y=0.1905 right_z=0.2256 right_yaw=0.1491 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [0.253, -2.0991, 3.3709, 0.6764, 0.1978, -0.1245, 0.1392, -0.0479, -12.3556, 6.4342, 1.4481, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1181, 0.915, 0.6796, -0.4374, -0.1642, -0.1131, 0.9952, 0.5598, 1.9533, 1.5917, -0.5522, 0.3889, 0.0761, 0.9959]\nstate[eef_state]: left_x=0.3042 left_y=-0.0034 left_z=0.1703 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0248 left_gripper=0.9952 right_x=0.4672 right_y=0.2179 right_z=0.1416 right_yaw=0.1611 right_pitch=-0.2868 right_roll=-0.2595 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -3.1795, 9.3197, 1.4188, -0.315, 0.105, -0.0513, 0.4855, -11.8906, 5.6547, 1.2527, -0.0122, 0.3492, -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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9192, 0.6834, -0.4549, -0.1768, -0.128, 0.9966, 0.5537, 1.9736, 1.4326, -0.2504, 0.4129, 0.0715, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0013 left_z=0.1677 left_yaw=0.0846 left_pitch=-0.1151 left_roll=0.0244 left_gripper=0.9966 right_x=0.484 right_y=0.2201 right_z=0.1154 right_yaw=0.1488 right_pitch=-0.1676 right_roll=-0.2308 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.0308, 6.694, 1.79, 0.022, 0.105, 0.1294, 0.253, -6.5709, 3.8906, 0.5446, -0.0757, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1d61c0c58178a1d24c22b373f78f40019bffe89c09d6cf2f26d38bb9de1328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e2671834ae74057e074bb5ffabda44e0ce3a367d64572d86b2b6967ebb9685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd007db081218c79ea4e055a98a05fcffa07b23a8bf8fd3bbee44f8c312b767",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDLXrSGTOXcAwhD1ms8MrwrbcETHsNnjnQbul6jps1f__M69LmCe-9_EJEbEWLSDDyM9oMFgyiQlHWLdd8TtOInApsdKQwdMsMULlm7fYA3_DNzZRkVtRHMehz_eE_92PbMFxzwYzdp7KQ86OkeHfqoIFopeIwLSF8V6-NAQdVbrsOon8UlE_kijlVa0NCtQcsMKDcx001JGpk3WFU-75W-Uh9IQPYxMECMjrdn4hADSylitOE7sxnFo-DmVQFbk99YU9IT3GsOShHGlvs5yxTOEL6PdZWawU92D7FEaYF1FPk1E8VDtk2yXHfzljE5-Bt3bBNGXqRyjMxISQNyLwsm1rtCTAsXMI2guQBCZ99gTb8m62oc09ohnhO5q0rc5aM6cdDUD05N_yVY3qpbu0egKvOdBTlwcQLGKvnfLvMEyuF6tehWnayQWJ-8aXmv2ImHU4pGqHZ9XBhD9W3gxfOPZLcGFKF6JQEadKNHsVbljpdMxpEn0p3K6gDPe2IJTHC3SVuX4LTDbOt0Y-dIs1BWhIMJDlmSi-zDo24OUwnJqJn38R5071m1j-emZl1-vF-IrVtmWME1GJ3XhprBROq3zI0qk_7KX2kkrbsHyiaK0dcYKcZ9lo83AfR1kdR-TscopkpPCeYpwktrunpajeqPMgnQvitdFCw09kd5nD5XDRN84b0dMexSMTZpotdMlZBL0MUrQ3KPV1sph2y_-nZ3lsxXLgAo9IEAJYEmcsrFNFX2-GOgIDKuy45For7AOdlWVUTNdSj73KT4V-Roq5KKwzS4wjbrmxCijWi-oodEPF821wS813_XR1kSWZjVZ2KxNi5RnWb4tLIx1RdSV7DkfkWXcEM1Bw7hHOOCddPce9k5yHcBSrdb9_-GyeHcHus6ZVxk3ziK3RzTeI81hwCymFi3sVW49zM-NZAiC89AMVB-ogfG4vZEDfIPJjCzxOr47QQFYebIVb94Rc8hkwx4Rj9QmOjGGnRtRoEEmchlijtE1nqNGdIEW4tmT1UmFbHKm_yyOu88XiurSp1rFXRLJMTtnEVZmkvOe7rKQ5DtL1I14dRLIL-Vf3mJMxmYQY8R7bS4HKgY90-h3LgRLoCTfSR8aLiMHaOrVxFnuVs1HulaHOC9RuGxKTJb6aW7sOqUDT0WhirT813ZF816sOQkEhQYB3K4sE857YuW_aYrzfta55PkxkxYt5huzFH9fdn2RJcOppntns6jDCWnb3nC-92l0N0mx_YTuHEvRys-rhkbhx5XleKxEQoAxqWrg9xn5xggYBWfyOlajxvJxoQV84GQjBPA2bl7BauTKGGpnekozwpWacWUSsUu3R-t6tLegNEk2jNcvsFNzi7350QD-cf3JjRpoX0YUWlCWzcpra_OrP4AKdSsvV1itInDl-09kqd81TXwg-5vPhMKYZaDxm-6925ncRz7CV5G1WPdisGPeiQm-BHtpBPHqWmI9oxpbjUGhUS-SrIuwuEoUqDMW_agVeJhQsCvgdFStpmhwbFaFVMwwzCILdNmhLqidOhFVugVXtjWkoJ8uSBLo0mQyFSXXF8GkZqGAYu3rTQodZIcVhPcMkuyEicmVDV9_MWZK-p9ZcoyXoOvJGlKATFo3O-zAvvfXdC-LaVg5lhLynp_RzVJKjGipWR-q-KkdjN9tsYGfFnPZA1fgwS0cDOFAnZkW5IahDR9pvG-_pnoMTSILWcozRco3oMqXtcAa8siSFVdqJKhB6-42oF3G9vIPryMIfgWF0Mix-Cq7hhF_IfDwNoirkKZIgb_T0xJna5nFW6iL011VyyHG4zjQNyei4LpDspINFnyFGaVgy2tyvDurwiHvpSuLLwGedIaLaY6t9dN75QDFACoSh_3K24X1QhxrDZI0dAlltJFDfvfB5gbyVSjJ22cfQBtXqXWgRme1Gx5U64iKLaRkJXPye9PxUrEPU9aNvd0mmY8bOJXljs0xW15cvdzmOqf0kW6tc3_FKFBOqax9qNf9kBQ8F4j5Ng3tzKZ3Yoa9CDoQfGgkt2TNeqpORp0qVR-R__K1OmFIrfWUO0jKAgmTsitUEb7--88TztiIDN0KxRKRsWpeWI9iCw91ntLED8W8RjpucZ4ZcbrEYKQpvB61UHWw_-1Z9uf5fkzaACg0_WKA9XolFROcg0qiKcXuz1L9-mCL-ibgJqKNvYZOVz_Sfd3RR1LeLQfZ4hf562dymxCYQ5J7aZEsSYTRvA3O3iowDAyv4ONdE4EH1H9d7sKvlSc6U_mktZCfED62VICjnxR5cQIyeCqtodBsHx_B2AsIOwXHLGzs",
  "id": "rs_07abafd5897e38d5016ab432d4709c87d0b3e71b0e678f3fae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.18,\"right_z\":0.075},\"note\":\"The gripper stopped above the basket’s front edge and the dog slipped below the wrist camera’s view; overhead it is just behind and to the right of the fingertips. I’ll withdraw slightly from the rim and move right to align with the dog’s body.\"}",
  "call_id": "call_3eaHo9LU00H9APOAvfUZt0Wb",
  "id": "fc_07abafd5897e38d5016ab432d6568c87d08196c2bc9c43aa15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3eaHo9LU00H9APOAvfUZt0Wb",
  "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]: [-0.1192, 0.923, 0.6827, -0.4553, -0.1772, -0.1295, 0.9967, 0.5144, 1.8786, 1.1332, -0.0532, 0.3805, 0.0532, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0012 left_z=0.1663 left_yaw=0.0859 left_pitch=-0.1199 left_roll=0.0244 left_gripper=0.9967 right_x=0.452 right_y=0.1842 right_z=0.0739 right_yaw=0.1451 right_pitch=-0.1851 right_roll=-0.2256 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.7983, 6.9949, 1.6777, -0.1001, -0.0415, -0.0024, -0.5812, -10.441, 6.2427, 1.5849, 0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2aefa1e68136cc7fcb1bc23ae17c269c9161f06760dc90e1267932c9fd9232",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbdec044dbe5241824467c4d522955fd9c1eeb0cc67ea7ac3e6c68695d809c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f66eb025415ace7d0904441b2b31e45e0e23496c6bdfc877b7bb97d3193e1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.212 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 139 changed as sent

message 143 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1623, 1.3006, 0.4038, 0.2234, 0.028, 0.0525, 0.0316, 0.4282, 2.196, 2.2894, -0.968, 0.3008, -0.0021, 0.9959]\nstate[eef_state]: left_x=0.338 left_y=0.054 left_z=0.0587 left_yaw=0.0951 left_pitch=-0.1108 left_roll=0.0353 left_gripper=0.0316 right_x=0.5352 right_y=0.1907 right_z=0.2256 right_yaw=0.1495 right_pitch=-0.2822 right_roll=-0.2329 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -4.1094, 6.6393, 1.0867, 0.1441, 0.022, 1.1258, -0.0615, -12.2735, 6.3385, 1.409, 0.105, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9192, 0.6834, -0.4549, -0.1768, -0.128, 0.9966, 0.5537, 1.9736, 1.4326, -0.2504, 0.4129, 0.0715, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0013 left_z=0.1677 left_yaw=0.0846 left_pitch=-0.1151 left_roll=0.0244 left_gripper=0.9966 right_x=0.484 right_y=0.2201 right_z=0.1154 right_yaw=0.1488 right_pitch=-0.1676 right_roll=-0.2308 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.0308, 6.694, 1.79, 0.022, 0.105, 0.1294, 0.253, -6.5709, 3.8906, 0.5446, -0.0757, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.923, 0.6827, -0.4553, -0.1772, -0.1295, 0.9967, 0.5144, 1.8786, 1.1332, -0.0532, 0.3805, 0.0532, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0012 left_z=0.1663 left_yaw=0.0859 left_pitch=-0.1199 left_roll=0.0244 left_gripper=0.9967 right_x=0.452 right_y=0.1842 right_z=0.0739 right_yaw=0.1451 right_pitch=-0.1851 right_roll=-0.2256 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.7983, 6.9949, 1.6777, -0.1001, -0.0415, -0.0024, -0.5812, -10.441, 6.2427, 1.5849, 0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2aefa1e68136cc7fcb1bc23ae17c269c9161f06760dc90e1267932c9fd9232",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbdec044dbe5241824467c4d522955fd9c1eeb0cc67ea7ac3e6c68695d809c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f66eb025415ace7d0904441b2b31e45e0e23496c6bdfc877b7bb97d3193e1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLcy5BJ7vUO2hNvz7aV_Rj2D4jak0mWfEYkl-ezWv1u_TdDpaTh83F0s6Y003cOqHduXJ7r0TD_V6KE9PgooExf2R-mgy-TZ8w3Qk4-7jkVfKqd4nNeeCbkhkIE-qaNsNIJyP6Q8bPU6UKMjshEalR28fOgkEwD8Zk7_4I49CMM9DlwMGQTWRtCjIjXJBx9p0K1-6IUS6orOzrBzwVAQNAl1aX0xsUtG8WGufqvqVPhxzRNsVmECPYDXoqFFTF-UEaGvnIT94mFiBKQuFIEEGJ1gmlyIVw6aEb4KSYAsMtBUDrTtzeJJiiUT5PGInons2lp1sQoeLs6r1oThU6PKiyEBSN4KRMotz5ZXBSyQjG9MVCXCwZ9LkOmTAl-EShZJaKNwDXEMaX4zPXXiEcGhaSc7Hg3T87cmqyRt2eIL8NWUX2geDYcpTWIhWKI-WFWw39LFjdzJU2uuujSrB8oHgjpwJvHa-AHz2SJgCxutUMv1mO9X3wlFbaLvIX-79XJcXVgy386Sy6Im28Yq5UnPL0f9hoBcHzk8Hg_I-CCmCC76y_moUJ8VUvvZFyJLfp8yVwjakzhuMqLRZT-hTxFfAfaQfkzkDImaFfeBRs1TUljTynDqxzzsBOVR-7HSSLnFg8E7tyxHmJXfLjgH-_W7saoXEVn7i8id3dJfcoiHin9kitSvqgYnLkvU9ItqXpNwfwHoaAw5HLtVzPcnHsIh4B-U88Qajz5AU_aq0l8mtSGksdx7AT4-b4b2TN0mfEE2pnOjSqUggSLGUwC91ovpv8xJyEEv12cuX4yxScmP4W1z8TZPiXtK1uNZYEX-TmAIMEipePzGqqeh9f3GixqrfHbB3eGEzQ6Enyhy8JyYemEvWaegys2T6orH0jdPoh1wJCX3wcyBQc7CQdUoQh0BcfOrJopHBBaWC6S6GkyzIVYRj7Wf3RD8pKMRvJ8-WLxrHNmO117NNF24PTryLPQSGBSgZc1YmznzDP3GtIPvGtU_VDa1nSJG26eccoJq0ceuwCD3KZ4-eTTIkfC-kAskj5G-ySkb-Hfq16yOxnFThTbMLqKRKg_gm8EiYjA59QW7wq8EmI5JGWH5Xt6Z5TqebbeSc9JgqLHMs7IxAMpQlQi5cXMcxq3ldkiXUKk-3WdbAng3Vim0Aau2w2SZtLICXMY_P0ICJ9F9zPYgySe1yoCSlu1wdQSwEJZNcwFDd4Aftefa3gxHf_ceyGFqUjLUBMGg5xQyYxPw8OyEpLtf0rwN8fkE0nkEHWyjIGki417B_vc3q4uGiLxlx3_a54IoevuuWCZUZmZIfDmkGvIVemgSA2XICBlafHp8hDDKnakRTT3zIMfq24sFCPJLb0TezrrEQuXxcKMbwGj6DNmUyGRkgaW2ls-jET2J6SwqEd2C6cUC6aQz62rWTHq3aL-1iaX3EekB7zTLqDY4rmgT3GwJtwo2yDutSKVTSw2FFC6LODFxVfBmpVMjRdOCM1inxlV6GhX3og_3NH0Y6oQnBKQPEit_F25eRGWewI-1DpU1CYA8srjJPsrin74RisEZ70L2FiojSxxtkayYZI0vd9A7xWw8eQ1bwSzhILq69WVouZWz6KtjKCiBBFW6Al3-oQlwDufzxQH3nt0_TMUXqAN-vBqAvIlyOzxnsgTqlGTRLDvuPudSbRuXv7JM6X2MC8OmBdLckqP8yn_dDM98vYZJQOyX5GljqhktYfeyA5jPdxkXdmnuaD54zKlWTixAQjoQ7ePvBkmRv5LVgzjPjfJ_T_VvuoTEB7xx-DXKwrEdgU89gCWAOnhlrSwIfCN-ehg7pxmYpuntfcjF4zWfljWsotxiUlW5cXqibmYh4tvv2srfcDXPUWn-4nsSs-L86nAZIQPZJ5wnoZoW-NPLTz_sKn8ahG26IqPzghU4mfCapxjh1lENgeaG71QM8YuG6LUrsT0Q7TX5Wmd3xKFh5XdYe8MEM8YqBvd43D6q3iIR66ONmrtbdFsmnuqwcgimhw05zh8bQj_o6hN97dAoRc3yrgrfxt48CEzVP6SxveCq4VxmUpjpxnqkorOXRO2r7NT9rMkKkGpmTIftRvqfjIMJ9QdiTgX9gfEoELti81bCppl_7MG2kJ0yuEVoOJxwYIJxvOIidTGoq_7fOG5K0qmXx6XEqanrUrkwh9OYLmJ8aikdPVLbMo9uO8WL0HG1eykpAIwwkwI_iGVV0H-Urul_BIsRx1yIKbiu5KEKjfjUlk6R47CPOrysWV-xeUZj2mdYRTg6B12uHeMecgdVKNR_JxJ4mkq8nY96g441o81bbB9qoNyqY_eB90Y30laM-sr1orzPP7D3jB3oSaJf8hhxu71PYAc44tZdp26usSQu2uDTAsnn-KmliJVKL0tcwaJ9TYjs5Hj3aGBNLm5vJy0aWPVy5_WfHsAhh4KeqY17LJC4r6bMppRCiNcs7R8Ddb9zf_uQ4FquB13xA8HR8A0_in_Qk80bVY3S6E0ZubZ9Sv-ieULLx8wOPhIYPBjGV5CfAmcER8GqSfLxRl93kwgQVxTSWChcV09qx1JKvMjPYvpgY_-DJ6nQ3CIKB9COInXr8qg--ElNMJ9MoU1Zklfa59RFYv_QZSaa2wqp9s9oSBEDx0FkPVKg0SIFk_nnhPvYl-1mmH75Fliv9uPuJgNlQMRffR6cPIpO8gJZNW9lnFvL25Jds8x6VsA2SyA7NEQzmjoVT7yyVVdEgEVAcqjcAI=",
  "id": "rs_07abafd5897e38d5016ab432d8f42487d08d8581f7e0aa2748",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.145,\"right_z\":0.14},\"note\":\"The right basket has tipped after the gripper contacted its rim, so I’m backing away rather than pressing on it again. The cream dog remains on the table in front of the basket; I’ll approach its torso from farther back.\"}",
  "call_id": "call_l2A0jW2a5EvH3eRneVPIH3Uy",
  "id": "fc_07abafd5897e38d5016ab432db96e487d0875100654ebb52fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l2A0jW2a5EvH3eRneVPIH3Uy",
  "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]: [-0.1192, 0.9283, 0.6823, -0.4553, -0.1772, -0.1318, 0.9967, 0.5308, 1.4864, 0.9482, -0.2447, 0.3828, 0.0528, 0.9959]\nstate[eef_state]: left_x=0.3025 left_y=-0.0013 left_z=0.1646 left_yaw=0.0872 left_pitch=-0.1255 left_roll=0.0238 left_gripper=0.9967 right_x=0.3807 right_y=0.1511 right_z=0.1361 right_yaw=0.1609 right_pitch=-0.17 right_roll=-0.2217 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -2.3179, 6.9538, 1.536, -0.1148, -0.0317, -0.0122, 0.4718, -7.665, 6.6393, 1.5018, 0.2418, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d4df1a537a41f6d086dd4a936b3eee4dd6db25f1e49cce22b0047267e9e843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:178637dd438460818651f78324de67a12604b54b17cd9f5a1abc56b3aa9e0bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c914d6255a0453fc4652592ad163ca165a5411b50957202c339890dc26d5b01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.123 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1181, 0.915, 0.6796, -0.4374, -0.1642, -0.1131, 0.9952, 0.5598, 1.9533, 1.5917, -0.5522, 0.3889, 0.0761, 0.9959]\nstate[eef_state]: left_x=0.3042 left_y=-0.0034 left_z=0.1703 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0248 left_gripper=0.9952 right_x=0.4672 right_y=0.2179 right_z=0.1416 right_yaw=0.1611 right_pitch=-0.2868 right_roll=-0.2595 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -3.1795, 9.3197, 1.4188, -0.315, 0.105, -0.0513, 0.4855, -11.8906, 5.6547, 1.2527, -0.0122, 0.3492, -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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.923, 0.6827, -0.4553, -0.1772, -0.1295, 0.9967, 0.5144, 1.8786, 1.1332, -0.0532, 0.3805, 0.0532, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0012 left_z=0.1663 left_yaw=0.0859 left_pitch=-0.1199 left_roll=0.0244 left_gripper=0.9967 right_x=0.452 right_y=0.1842 right_z=0.0739 right_yaw=0.1451 right_pitch=-0.1851 right_roll=-0.2256 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.7983, 6.9949, 1.6777, -0.1001, -0.0415, -0.0024, -0.5812, -10.441, 6.2427, 1.5849, 0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6823, -0.4553, -0.1772, -0.1318, 0.9967, 0.5308, 1.4864, 0.9482, -0.2447, 0.3828, 0.0528, 0.9959]\nstate[eef_state]: left_x=0.3025 left_y=-0.0013 left_z=0.1646 left_yaw=0.0872 left_pitch=-0.1255 left_roll=0.0238 left_gripper=0.9967 right_x=0.3807 right_y=0.1511 right_z=0.1361 right_yaw=0.1609 right_pitch=-0.17 right_roll=-0.2217 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -2.3179, 6.9538, 1.536, -0.1148, -0.0317, -0.0122, 0.4718, -7.665, 6.6393, 1.5018, 0.2418, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d4df1a537a41f6d086dd4a936b3eee4dd6db25f1e49cce22b0047267e9e843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:178637dd438460818651f78324de67a12604b54b17cd9f5a1abc56b3aa9e0bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c914d6255a0453fc4652592ad163ca165a5411b50957202c339890dc26d5b01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLhCiimTl1Z6WlxbpGNMNw18x_FbxUTO6ugJSkNpcIfE2xtf1Wvx1q8EpsTikcrrOlKUKjm34vnkhvOuN5IyC4ph848mzzvcgpFbFBchjtU1RuOfDCjgrSYcb9qRHz-krS2WOVtMQytVdoO3uOBZfBj17hU-wf0nQka9d_6UZ037k1rwNpHA2b9s2odSNVYjMF60lDe4y6s6-WUhAgB08yGVDcGv_RrMZ5dvPRpqfGtF1uUBcoZMDFhEt8Q8NkNWcw4pP60bGfz1Ax0-TVOSRoFGfLCnPYNg1pnXmv1j1GjslQKz7SQbFU4_F6ul1FQ-PrEewLCv0a7liDDk7dda2zZZgJ9c39m8ZoPtYOPDSLwF2GHNBEMxRXHKRQ4hUvqmW_L9-yVzoTkRO0tQMigdhN7KbQ9vX_P-WDmv0eVEXxQUk1wbrXxj-UpJFKw1nGBdO97Kz8zeNlofedQnfM1-gbkgwKqw-A6XX9YeUUtLfh7HBjSRAoQ_2mEuWUV1_-Q3Z-Lsrb65Xb2lLDNj27gyjPAIkLd8Y8kl79apy037aEM5Hn-yoMTA0adcTfWIloLY4BisAl5d0s4jwHxyTypI5pOizkd3ZM5NnOCRuo5RaArpg0dXxplIqFzpzSzpT66zHxIjnif6wIhMfYx1xHLauZIvKkHyn-EVfvTkpOuYIICCx2x5o0VoiUZAUjKjvNYipCcFmRTvX2eBTHN5z__-0_SGTDZXJXDYdKI6mM4Cyy5rYBdXZg4hrXYw_-Kw4xJ3-lGSvYsFs4e8kyxYDb7HYp4rheN2qzDKykd_sycavixh6sjDg3orQRDqH5bLLDjKSecG4WKfWw20xeuZ_ARy-XWTnjN914RAntnl29CZ6nPG42wVu1MgzrGZt1LpDKwb4jrgSHVVOkjVWPs04VOFZoiT5Qsoo467ZVFH4kQm6aJ0hR1q7HsPSvc-OC5S1YkG1mkD4QXKyxUkY84eiP4WKf0TEyn0PhQKhBvtKsbfHOCTA004l2ySKo0tJBYGYFEcIkFCFCwTill-EHE6HUeJjxBwW0NmeTLTR1pjJAfrgRQufok_79A4NmCslfOFxpPHq-TGIyxuPaU3K3DMMWhsE7naG8sY3tEY4VJ_NoYUHcfOv6S-MM3yuAykVR5Ev7gpaYv6xJQHORaHz9XywwVTcuftVfncLGValX4x7KUjxcx2PMUVZZT2C_ASRRu6Vri9--aLwgze3zllWMzepUKuEAZR01iEeWxyZe7O9lvhZbcvnNgVZNIeTKj4ymoG8oMKVDrhjelFkUGHN0UzT-3UpSkIGrKCk9uhFqhnckQBim7CExf8g9LNBcVtmCaNTPl0oUMfRw3jnno30IwL_a2iy2YtAEMNFpK7_I4l69CD6a0kDKn679fhILeuJZwHxCb0ULCn-DbjTl8rTvtYNTIQ5WS3CHjVXIB9qXTn0ROs8A9tS98fBX8JMhN9XIMgGG89ZHvGlRDSSzl4NS-pt2sE_R8PxYpwsIIKeSYOZKe-Ju57UnTMIRg4KrHhtbiXWW0Z8B5IKKdlLg5W2bZMGz-paoHbB25I6iU1X8pIfJlF8_q6dGcAKL8ewlL27FzVFhqclalJGohxvsRKHg5l3VA8SpZd_a57Z8fZzOYjFIpsmru5k_IHVdaD_uQGvrwm6ALCWkPk9pwyvubMk4hVQrR31lrwIYqRmDCUpamJ0l37lY42QSEZGdELr3xPi_1pZbiHXb0L0Ldhh0scuYO0NjBgeJXL0gBAjSgktSHWS_7Qva7bdI6DDFzTqywhmvKg7kkAt3Zsr4ROh3kORW20m3z737Y720GK_4DRwwrRr5DBMiuHgYYrT9YPul__o-_ckrP_we1JmhCydoAzGUZ3q51CxoQpcntiQfeLNUWH6ON6hUZ0yPJaQ5FkwslQTQNJH3uKpZ3d15Hl31gOGUV-5dQs6K6UOWAD1TDwjNaXCmyDxI-WShSaVxgwrfESUJUxxeRkwptl8Oxh20-iREvkzLLEcSG3mHuoTN88mhTwly-vSpN91-LIVWAbjAtpWPHaDO4KStOFhi-i86j44lHgf9x5sVNtZu7-SBwYb4dvtOzcQbJLgD-qbKee5gZ5ntQRLHCHe2GpBMRTF9i4P7Tay67dcLr75P3q01Qeh1gYIQW8Ri4545Mg1XbOUyM829xm8VVkQWQa90eybZ-gh2NSW3HxMmGtNO8V_QDmmDuU01-kMit_iaJuxa78_Tanl-dfrsIZH7-",
  "id": "rs_07abafd5897e38d5016ab432de160487d0a46c9dab55174647",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.075},\"note\":\"The cream dog is visible at the bottom of the right wrist image, while the tipped basket is behind the gripper. I’ll move back and down toward the dog’s head, keeping clear of the basket rim.\"}",
  "call_id": "call_cNgOGeju3YjB7s5erbTxSem0",
  "id": "fc_07abafd5897e38d5016ab432e03ab487d0a7b83c70b0d4b324",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cNgOGeju3YjB7s5erbTxSem0",
  "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]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.5972, 1.4509, 0.7162, -0.0193, 0.4221, 0.1062, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3522 right_y=0.1563 right_z=0.0962 right_yaw=0.1688 right_pitch=-0.1271 right_roll=-0.1946 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -2.0581, 7.4462, 1.6679, -0.105, -0.0464, -0.0122, 0.8, -4.7385, 4.5333, 0.9451, 0.3297, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3343562b6b250523982c6045d1e25791714b2e2131f6bcc80ec7fa3564d5159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001f23ea6b1d8df27b119bdd72fe8735d502dde48cc137347a9484c1f78551e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938765db035d10e6ee131f4c2b3541775992a3ed2ac515b544bb7b1e1db77dec",
      "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 · 9.321 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9192, 0.6834, -0.4549, -0.1768, -0.128, 0.9966, 0.5537, 1.9736, 1.4326, -0.2504, 0.4129, 0.0715, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0013 left_z=0.1677 left_yaw=0.0846 left_pitch=-0.1151 left_roll=0.0244 left_gripper=0.9966 right_x=0.484 right_y=0.2201 right_z=0.1154 right_yaw=0.1488 right_pitch=-0.1676 right_roll=-0.2308 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -2.0308, 6.694, 1.79, 0.022, 0.105, 0.1294, 0.253, -6.5709, 3.8906, 0.5446, -0.0757, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6823, -0.4553, -0.1772, -0.1318, 0.9967, 0.5308, 1.4864, 0.9482, -0.2447, 0.3828, 0.0528, 0.9959]\nstate[eef_state]: left_x=0.3025 left_y=-0.0013 left_z=0.1646 left_yaw=0.0872 left_pitch=-0.1255 left_roll=0.0238 left_gripper=0.9967 right_x=0.3807 right_y=0.1511 right_z=0.1361 right_yaw=0.1609 right_pitch=-0.17 right_roll=-0.2217 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -2.3179, 6.9538, 1.536, -0.1148, -0.0317, -0.0122, 0.4718, -7.665, 6.6393, 1.5018, 0.2418, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.5972, 1.4509, 0.7162, -0.0193, 0.4221, 0.1062, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3522 right_y=0.1563 right_z=0.0962 right_yaw=0.1688 right_pitch=-0.1271 right_roll=-0.1946 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -2.0581, 7.4462, 1.6679, -0.105, -0.0464, -0.0122, 0.8, -4.7385, 4.5333, 0.9451, 0.3297, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3343562b6b250523982c6045d1e25791714b2e2131f6bcc80ec7fa3564d5159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001f23ea6b1d8df27b119bdd72fe8735d502dde48cc137347a9484c1f78551e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938765db035d10e6ee131f4c2b3541775992a3ed2ac515b544bb7b1e1db77dec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDLl_Ofi_nV3TWV-7IRNNLj1eMrbUd94akcyw9w9y9HSyOjiRUFFSU4cH5ze6stwEPFHnMTQE5mq6_9hfPRqt-ofQGiM_SE9wbUTstiZeuhe-z4GR5q1uCH8NnnvgFfNAuRLtgZxTtWVDZZ-TXyOaqn5AMssnlM8kvS_c9yQF_8L-7H6ej1jTdbuGji8XFrcL7wNI2_o3F99FInihRTjXVFp-SyHBGnMJFOXvq0wsOVl5XVUMatE_09fY6r64ZLUr5iB8QZqapkrMHP0HmBBv0V-Gd1ngcT1BLxd9iMWco0jTD2_8r2IVSjUTZG7XZBaZl2u5ULIBhxmmgthZ5fffZB2OkAECKYtAY-oW2oMkB-hEHyQ3FjTt0wrLXJksyybjTjmO3rAc6kWLDU7gx6txnNTjQ6zoNcWyGecWfCM2BJeOTk94ZQ3lh-cLyoRpGoWBzOa7CJssg3XS5M6JeDbIpR06J_WUd-eJFtdVO4k_fPIqqzMTYoULQIoZTjHbXI5Goa5D6ypiBkO8OvN0jwvEy2S_8r3arsSfCXcBffoUzgkh_IdSZ5PjkCVBV56V35HfBG_MFalTdNP9Y_VcA_2XQD9rkSlfct9DvOZW9CoqxcUwXj4xhipQmtS4qvwGoYnOEJ9B-2h-LLZclOHOh2u9T6huTnXwZEr7MSnpXyQF_DnH1SnS4ecDsVW5qoFSR6LKYSBukEKyyB4mcyLjJHX93xmPvKIzkicdYxW-oxccYu2n9dxi9pbqVMyAd9SNHG4rus77i7DXUaNTR90VbvZP8I2Fu-sHYBOP3iRHRRIq6_Cj4zPWDLrNYhbZKnZTty18xmSaL8BInvm5R9QmjMJcj02f9HC-wl4lXZ5rAs14lcF6ZrEDZiXaB4J3Cmj8EjUHnf_LjAsnCkmQ0Ij5_KDPvtoEdRMYI5GanLqksDSGq1kxYbjeK6HYvmIDNRr56D2RksA0cq5CyQ9haXyTskK_2Er3Mxhzb8Gox9vwr6xhBilhREsfxiv3n1eHxIEp_XSdpC2IZp2H7An_bUU30M7uDjvwFlIT8kMv-P5dSFaDvRUvJs-v8BMhhozjlX03KZkDgw-i3WX33V15nAOxguAuXYg0mbAM4KZdeWUJr8qAs3EooYi9M6g5HPX3_lmJjM5aIoVlcpQzR49Xhkaxd7kge4fdWTg75H7OhG_rYkGvT6q0CKhAFaligXkRJDiyEWGa36olpabYI7pp6uFgJqsVJWduWX7kBY3mIYICb0DjnQzIgmlW0wUN7vyiPDSiaxRCyXWwQzLMwgysg8105N4DZG4vTD7w7NMNilUj7TnhArAUGHZDoHEGDaasxRPbH9FTA0Wc1oJmAmm2HF-muO9GjO-rrsvvbpy9y9FhQLbP7k3WVd6cT6WEQMDnsyGHS1FhDGKCrdAkLDjulA-PUKS6-toFov_30kcPa5PxKnhP-in4KvVDopMFhfltTXKd9wOC6KOZv3fQQq1BRNyXMD1imqnKzY6L3ey8ar48fmwDC22MWfcTP5GuydffE6omppJ-KLmjBeGuGG4QiiQZLD7MtNPcjRS9KGH_DWQozPwUQJ6lwu1j46EpCTtxkYqBUDF4NfrW7jGj1ADNFSGZNdsOc7KVeqnQj0W1dNYILK9-3nw17wpN_UziPJMci9M0D-L67KTN_UBf2zbQ7K_hxgxQcEBEbBDJpDIoVuFPJ2K2krcxnOAsYo3grZeQvZ6fSKhpVFE7rqfnGTyrIfRB1iAR8biLQG5G8wV1HcK9bzVx4_4OCHLjAodJ1c-rXLkKRQWuuquAfarIqTCRhQLEiYRFsgK6gBk5LgIz8Csm1axAwmu-8ixKXpEDI00Vb8v9GBWb9Y6kpM5RMNCqaEx0Z_KOfhDv9zVfK-WJQ4ESLBnbYuaoUgZmhTgb2YgNd1Ha5PRP7G9_iBSgJh_a1l9oo8VU9u1mbxgt_8qNxWfgWGWDY2D58RidoNeIGkouNcku0mgtCePLZkVscICkUQncoCLPDTBA6MOTGwrcny9VhXK9b-8ZetzHWm1lv0CbEcZhzTgwPpIclT34rpYSzssE7daqgm3G30vq8loBvvyFOAZqn9h1_52bqDEkpWYGT9X8wR_6iREf-caGg2jWSes1IbOJU_9Ag==",
  "id": "rs_07abafd5897e38d5016ab432e2914c87d0a791c18e8ed973ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_z\":0.055},\"note\":\"The right fingertips are nearly over the cream dog’s head overhead, but the dog is now too close to appear in the wrist view. I’ll make one small backward and downward adjustment so the jaw tips flank it.\"}",
  "call_id": "call_3QSyRlW0ZKt6YSI0H2p6kFm6",
  "id": "fc_07abafd5897e38d5016ab432e4513887d08fdb3f08eeaf9925",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3QSyRlW0ZKt6YSI0H2p6kFm6",
  "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]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.6098, 1.4605, 0.6655, 0.0204, 0.4255, 0.1097, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3434 right_y=0.1553 right_z=0.0801 right_yaw=0.1757 right_pitch=-0.1445 right_roll=-0.2028 right_gripper=0.9959\nstate[joint_eff]: [0.0342, -2.0855, 7.1726, 1.5849, -0.1099, -0.0611, -0.0122, 0.4991, -6.3111, 5.5316, 1.6679, 0.2271, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1003a77afde383d24a8d8f407766c9733e6ab68c823a7fb969b94eaf891eb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d7fa80e7ddeb9d22e26697053d1bd0cce6061fae06a83d4f1a1d89b381189d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26fd16bf708a9dbb2b4ed896fcc26749477dc6c352d26dd39c9ac445223c170",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 4.208 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.923, 0.6827, -0.4553, -0.1772, -0.1295, 0.9967, 0.5144, 1.8786, 1.1332, -0.0532, 0.3805, 0.0532, 0.9959]\nstate[eef_state]: left_x=0.3023 left_y=-0.0012 left_z=0.1663 left_yaw=0.0859 left_pitch=-0.1199 left_roll=0.0244 left_gripper=0.9967 right_x=0.452 right_y=0.1842 right_z=0.0739 right_yaw=0.1451 right_pitch=-0.1851 right_roll=-0.2256 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.7983, 6.9949, 1.6777, -0.1001, -0.0415, -0.0024, -0.5812, -10.441, 6.2427, 1.5849, 0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.5972, 1.4509, 0.7162, -0.0193, 0.4221, 0.1062, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3522 right_y=0.1563 right_z=0.0962 right_yaw=0.1688 right_pitch=-0.1271 right_roll=-0.1946 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -2.0581, 7.4462, 1.6679, -0.105, -0.0464, -0.0122, 0.8, -4.7385, 4.5333, 0.9451, 0.3297, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.6098, 1.4605, 0.6655, 0.0204, 0.4255, 0.1097, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3434 right_y=0.1553 right_z=0.0801 right_yaw=0.1757 right_pitch=-0.1445 right_roll=-0.2028 right_gripper=0.9959\nstate[joint_eff]: [0.0342, -2.0855, 7.1726, 1.5849, -0.1099, -0.0611, -0.0122, 0.4991, -6.3111, 5.5316, 1.6679, 0.2271, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1003a77afde383d24a8d8f407766c9733e6ab68c823a7fb969b94eaf891eb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d7fa80e7ddeb9d22e26697053d1bd0cce6061fae06a83d4f1a1d89b381189d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26fd16bf708a9dbb2b4ed896fcc26749477dc6c352d26dd39c9ac445223c170",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLvnbONbYhMG6h-m0lUtFlbzrNU6XAoIPuloB3ia-D1WiPZXKui0YspLIgWij8jF5VVxrUvPgoTtRtHNVRcNGiI1YKggvoCNF6Lt9-cYEM6Ooev5PvaurzxW2PjuJPtUScp-_IrjJHIyjHQMHfsI_a9KusjtugcscfFZWMq1RnHlO6LYiClKoRY91PVOP7vxrGrtHhlO0_QhimIq0Wx-QX8UJLuJNLwfDfPZXwwy0Yr2nC1BNKBCJi2F_Cfq16ucnYZ6EGNilfy1LkFnCa0NohkBOnh_4Ij5efUq9vx-p8ysZPDgCUFwZysFAtcUgQKneOH_AQfeW2cd8Db5eyDEP5uR96HCOphOO4BJP6B-ydbmgHQeywksLCjpgxEQ2QmI2NskxO8DQ3FMy9MuTnh-e4oX0kK-GtGi1NKI4RFnpWcls4tm4ZXtYg8VJCOITscLe1TsWwc42-XTHV9v0L3XaaXalk5IzxsCWAAbhXzRRJffX7IIiLELTHJvQdA5XelHGZfreqZVqd6-BhUT2DtXXnkGJhHbNKgFyJlm-yirCYUY2_FjGNVOihGLVhYyKa-xpNwsaszsjx6WvvlB8iSiGDo2A-nlkiAQHyLe_v6S3DtYj2wzhTLXWXaEhVDTGh7jYRzD_wUlb4XLC0qyhV49omOpPh5_t0HeJqOzkPvB4SCetFAfkBHv64HxOrwdLN7GtixTiWyiLkxOZIfcMByTR2IfvkEBwL29HF62ZgjdNwydGVKQ_P6q2t0QjzUkVgQYO5fv8va0UTrGfdvJ6RmMnnIt2SaWWH4xHIjWSUqAwWyrN5cTGqQKVlBJIcS4YzLgesPhLkRvBTY5YnZOGzgtU0QGhKrbAzwqHWQGDDmM02Tcc33HTAjA0pwbEMzG7eqOHDWfx-hZBjD_weUawCQbUayZKj5P224gr5wUK153MEu2gFEvNFzWRqf9UqWeq4A5BBpVb6tFbjTWKUJw7gK-CmGtAxxbOqsva0AMhYA3pMyOAK0BuHADnQX7DBjz4eTtUufAs_roQRRp_pPXi9gSco0SLhyncwR4J-jENqGz2o27Gp7TEG4QZxEUDE_nTiauCFWp4UGlQzdP6F98-gxst-Qb2fUsg5ycuCPY8Wroq3RkENnxpOYsWkg_xUKKEiYwDiJk_-bF4kDDS5KUvzmVG5oZuA7az3N_btKPjwFcuVzWJhy1Ncx1QkwFJZ_V_SeHBH6fQRKNSNzvQ2ffkN2eG1yoMN1WRSp9LeWtxACXYR1Iq2UPC2VbddrnT1mg2filPNovkxvJ8b9h_mB3fpBkIj0mxkPs5IAJZnYHe6NVS7zNxykDH4ZWhYpR_E0x7Ds-CcFzC4kzMwxGud7tr64_DhaqETQDJLX-aMONOA4CeiZGp1QFUtzgwCyjkDzO6v-Yy6ejxri3D6n0_DbrcaqlopcYur3GDHMvCBujW_uwFAnrusAQ__27D0-loeOlKxktmEhTQAAItW1FdPIxbLHRvnDMOSz_DMJ_yeKLDM4xbDDAradQC4R8YyhAEHhpp6Fh4ypFDDYjnj57RDJ51CDN7Q-LqV44sw1gf-JEz1GqNLIQFS_QcI_NMzVuM2ILQyJcASV6b9IV7wUubhS-9Sp53_XtepeQiZ7n7e8risfNINmhZLexsSKBqmx_JWrPnLMAeYvsprbf2Xi7LfkFkQmk--3DgP1FRvfwXivwYnbEO-46Lh6mVq2kgVVGxjTBZemH4pX0du87Fib6_JQhgXq2NCkOv2_Qyk--WqquL7R2MAb6l0fVjN5x-ZZWiYTpdNdXox_mZasratCWaVusTWJbOGOpzIIaq1OEz3RSLTsLioW6RpUDnigaFaLZJ1im7tK-Yv-gJagaL27lSqjahMVQZRCgZs0WEXC3454oY38V-p8rTngLkTgBdkEWjXg9R2p4Nxi8dSUSU7nb63-thI6xY91bEgfgvHjQqdLe-0Rf4kExwCp2_wosigiyZLkEjdLZJWCtRwo10i_Z3TqCyr2OfrfUi1u8nUCmWg1zMmJswfaL4bTiDtQTjEGTtRZYe3AOYEFWOGwHoYfjxUM3Hhh1w_jgyh04x6-0jflgyMfaUA8pc90f6xlDkCeXt_HPu6rghcOuuMi36bxvU9IP7Clc6BPFT2E2AexZUcrB5eeS2waUPDdljrT_eNdj1crXEVtkE6qaG80-ZXxZeuiq4k3xyup4rV93Nr_bpZMlQ_kYTaEyCfA2bqh9H3hTX3vg3bEEiM8siZlGYh-IjYzIcDqBlFF5C_M6KMpII0gg8a1w3u8PiqbcLF3tT1Lcu7HpXafH51oEmXev4w4_gaVO4qK32t8mpPKvba0iTVHPCtUt8pWEC6fuQFxn1xhETWwQGSuZmIV3tFCIlDuSvcMFRIubYCKzu2ZYWsRfZoKcS6t7GftOfS3uA0NQkE7l6SrhoeRErQFTzU5ic4y-HviaOyT4bR1MKBzaV8OyabID0vBqA5D9lDQYiL5x4XZ6OadsFF6EfwL9jEogYAsuvapQW0iUpOt4JqAXrUNMtLoisxJAlKyVurm5GEh5LVI1TE_F6Yq7IjIC4761ptvVduYxzy2N_sxiPms1xA2sgbGy-os1u6u-q5sVWwumdi0bD2vcD8lVcRKQKdHP2lma6ijUVZg4JziKCINVQrK2LDgQdS2BT4e9MQjjS4zslfr0AMhaFHSa9GSp0YYc-s4cDyeGyEy1S4_OOqj1T9pXZLKjgKuO7p28qBlVeXDvC6NeF4Dk6MO8MikZhD4cYp8ldkxRcf964q0yUZZIQThlUHB2wCsSIt8mCUud_Awf_zR0qP-NMuIXvCOvWwK6PRgnSGfOSziUbClCLqP9PC4Lt4CRehWH_r-QCOBS3Am0622f9jMphK51nfNXCDgqEOKs5AvAoJax11AyPCN9wzV8VtzULXpn2RJKIOlZj9Vu5iRV6rHpodNZ9_ScHT8tETxNv413XWDDsnWAXYxebbGBnEaNXXA0pqPRZC2KfgsfXEva4wHJu1MP50WeAcx6i729-viiBsBJIac4uVbESNHXywa6y77mOv-NVHIqcfKsCuFhMd-AddJN_UL3aUDNoFI8Nmztxa-YMtGa8RTzQa3EUVQdjY9ZywLbt3U26jIBNy6a9wt57BZOPu4Knhp4EfYYkzACvNcVzezRi54cYVS8JqrGoxsTYdyB5I-4JgZCbDT1PXIBIyNuuBC0tiEY_ctUQK2xgn_avLQjDgEO8KaceAgnR8033y1iDTj9pQbDkVX5qte7zW6IyEbYiAn6_HYE7GEZ3gcdO8S0gnEqY9nF5A2-88YvQEsI_DP9iXYSaqkH-bn7IH6f56lKfpTtbOaFzYzBjrWHAhUDiImBNQ76QcmV9L_zqs8wSj6JkJi9wDI-7AcIbxWD8U4-QHmCMiI7CT0rzm0jk14feqPVvEdYwbzxbYjbJEzobVTfNKPF_C0d61fpWl7tn9AFSBbf0F6cN6WJzPd6vmCcNXZb18LdEAA9WK4X5uPgjJCtQymyugZO90LbzeQJtu8aqU5e5NgP_jclu0qIOBYKCU_6A4ectpKbFuR3oURkU9-fQhaGHKOcUEOdptpiwkUOlVg6iRcXNX-JP7UYm7hVhYlPdge2MgpegkChpC2rUmUdPVLZMofYZtyBf2CnDnRSRY9t--yFG7QGnPQtnSwq45nWdp7n3TatRwFJe2CvkNK5vf2_TFOnZCfGFNEdanw",
  "id": "rs_07abafd5897e38d5016ab432e7462887d08cd9e45bf9c34ffd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLv4jF0C_cGeYf144PZiqGaOYIKl6ZADgM3EIb6GzQz_F9gm1ky5CyXph1e65rD_VKPzLLC_wmem-dgrrMrkEzQ0reOekq5UsV2PulDEtNOaTtJRbmN3AmfB4Bs8tFe2RgVii5Jxq9YEOUd9IkGASEn0RjrKYNYG8Kvt9G_49pmBHHxT-4svOnB5w8G8JHIhpHe3qEjD47pnwKLxmgIBI9P5lVZJ9DyQtfsz5Ro9KCJ-hA2E0XzgWLF1ETrMu6H9EXci0CMX8iXhIYETnepBcVszIkNISqfqHrZCYIxSVJnxpRXI3ywCkL6zC2c1p5RJ1d21M4Qt8gfEvzTJfU-4gZFe4pEZJxcY46vvwxhWXkPWhEFgOnzuNZKxriYefSUIGrgaF_cokHhmNHzza0SPTKlYzEPwu3tetH5e7NtVrbXm0_aiPfkdDDfE_xouIvxPNZdNi5YlUxRJSUJAXXt15p4ewSqYdn_A8yXC2B3mBeRjX4eh4MMXI_9yegta1gjKg7IwSR8qlxxORq9QD0bsXz_xkrZzIGMx7pNnpjZyXxuG6rObUe8N1DhFPO4vVxtLX6koZlbFAHCyQpQV4kr933ZVJLDluVcnlVHonYjibDeXLpZtTtDc2ywZMPuA4_erownoMITvIFFWeziVRp7x6LaGdu188pZruDr6wX1EgqwZD3KlwQ48w_66CDr8gt-UlutHQ2muJ6i8ywyRTQ88qI2Cedt8JWNPvpWKFJmNvDN0OiiZ-vR1FRqwyfIhC7qGA9_W_iEVRv03vOpMxHimdY7fJlN4jQbyexXgpUk2slZuyUd02mMV1MReTBpHb-do0soEBMiilw3mCFtm_WbtETRO4-X6-PGdN4mOlXS67ehy6FJzx1TSeKTvQIj1R4gyFkIqjcH-u7VSO6PNf8eAFFsGbe4ZG9OCICM0r0f_yrwpmC8lJ7MTPhHjNDbngEWZx4QqMKX_vYv7SfrrWULhO7f1G2KyMfi3Vq3yQn_C2syeBOIWVAEFpspDrtcG18dazsxIQbZy_J-QuLKA7ogVjQfPRbM6vTf6k9RK5nMhZW_Yzfs1Uo8SRV1--Q5lb7NNoJkCK-miqajweaMUxpU21RQObmkZLggfJCDy4Kjx1td2zdZzFyr4x8kohZKLj06WNUKjXasu3WuOZZgv5e11kkUhzIU-EOo0dr6fc3RPN2k2RuzyBOjuxhnyBhJz-K83w5_w7FjQmq_WNkfEQ_YHyYLG7IyViTum2NNEFJ6MpDMQw28yvx_NSHBNhIlFpUG6uZs23gpGJKjtr2xqagGyH47YmUShzYSpeVkyD8S2ddHXaqjTPk63qpaNJaAuAL_rn322M1dNCHwlw9O8Rhb1C4uimplAYLcdA_HbnaUbtKQzekXFNqx3inM0rOuKMJ928fHSIAcVjFahwnqFWofUYjEcoKtVOXVhJ5q7u6aD8zdUdYHnH-IbJhVirRGh3VRJB2qZ_qKyzJ0m-NtWm2KVWpuXmrlYrE0tcxRMRaSrHmGucU42hGDt-PsZL9UqdfTeqAJ68ou2iT2v5tTozwkH8c8KIOwHHzNuHz3fkUrlJssjgSs5rcRXBYZgORKMog-JkqHXCng6fEPUTf7TaLDa43zPgLxqVPQVObskRmoHEeNlDm3ks3QWdYiDw-lE50eDA2LlVB7D7D986Y2Gbkznx17hw47jxiMyn7rZ1ISfGj2gua_MpyAoCIhD-r9d65N0ebabSCf-P4WqtxYG8zYbnyOyEPjbZ4RClNtH9U6AaQZJeAy5_29ACcxha7vPiHOnJ7yjJJ1wJXgSwbp9pCCI2Ty5LhCYk_a7BQ28HW4d-HFaKEogN09lAUuY8WBtJvBIF6nhXo5pS7Eov9Zp1lNE00m-IC5kMZUCrUlg_PyLBBv3x4pQQU8Gmpt3ZGLCWCU8ClHzVrp0ymAnNRYWP5wY08ADYG9FEMBdioIKV8dxftB9p6jx1xufCSM4w8sU2gN7QXMETZo5KTuEons77dmnRVSCRehJWdBBGqjDUKnivtiRQt95I8hxOBTWEIQHxDh8_54dGQR6oUPIcCf_8ipEKZtkM9Mqlz0T9X9TnslrGIbQEmTpwSL9QoQLKdrA9zPp3WM_vyaWo6MJBRU4-639h_13_4ek-OCEplOzJ3BqLxLOobpMDurEOwUwLfByq0wt3zKbwZVKJoCfyGWg9FXr0YhckJVuHiWvyoWafL9LMsM2ADCaIhNAVk3EOq3cGrmUrcIqzDK9WdHnyinotxNs-eUHzQUo-Q6-91nQyP4AnppKFEmddERyXIWf-Ephv35ZdVMID3LbG49lTnnN2gaJstVC1lweyRypEQ5d-0mF71kWoNrB9cRXiQkt4LslTI7n-TxCsyYERGFfTZw8M7F1zcoI4911SCdyjl00YHsi0GvDqzFp9vp9c8_qQegQjZIuRz4dbK-KOgXceTR37BOEn8ikBDs_eD4XkN4lH_ezVYhgMl9lWsAhp_6eqQTjAr4RrargY-ruuEqUL_AHTRlIVmdhkpjH38k2WCkMxe6gimHug06jL5LMB2Z8szGq_e-pfWpg4KAsY__ZC1clwmlzp8Xj5nCKt01fkLmcH_3VEyYP1rDVcY-J9d6dhOEFyaotv_SoQT_nVKhpiogvyjEgvtcGZFBHnl6zzP8FiMNkSTwYViyuLq1Sdm-u2lm_2uVBdm_aFmatdLHSY7iE5ECWNkhuwtBwt4tfH0ltaGDZSGN3Xw5mCft6xGn4dj-ETBin9cKQQEU6uZ_szml-JLVg9o0RDpC1rUZmQlZkx1nZGa2iLnP76s5y5CQsht_0ErAzjjcVfm4JxckBgsUnuTOTcCd2w9Mdu2Ql7ywh0fRTeKvMUr7xw-IpASH07bZeLs-6t4c6AQ-5u4inwprYkBqkjJLroifNCiJqE6ISo8gf45pDNTVShAkCCGcbC6D6XdsZfmszq4Ey0oaCGE0WTTcw1cLMjodaoVOx5KoL2rajCQWtTz6Wnct8rkPz0tiJeV4Y_R4YQIKABzXS9mTWeAqllm5YaYGn5gSASv1OSKxJ9Pf_qxtuAE-jVHqa2TD71ZOFDr4FhdRlF8By-Bn09-THy_FEmhv_mK5rHp3mqZE66Ayx5jV1y35aJ6j0SnFjlWMTRqqNHF75Ib0jvwoYTXODH3BZzAYKrMAw0z8e3SoK0YAziirm4c39Qmwi341HeuDAxoVIgwYG7k3QCl8naQCJv8VPTy7T7pvp7OovmKqC2tduCckz_tIogLzJByleFZ-63XCVcy4YEpCnJ6pzn8znrgftRYzE1S8rssFJAbrY-cnOgSfRaiiCIe3HcQ0NXfx73HBVH9i4XrF4xHjDQ2ZabQZrOtYBRDDEarRe5i_BKO30OY=",
  "id": "rs_07abafd5897e38d5016ab432eb8a0487d0af91968ad43cc9e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream dog’s face is now between the right fingertips, but the tipped basket rim is very close above it. I’ll make a cautious close and check the jaw opening before attempting any lift.\"}",
  "call_id": "call_WUaXb8dnUIgP7tCZWDyC3lcQ",
  "id": "fc_07abafd5897e38d5016ab432ee7c3487d0a7cce709b9201021",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WUaXb8dnUIgP7tCZWDyC3lcQ",
  "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]: [-0.1192, 0.9287, 0.6758, -0.4583, -0.1776, -0.1318, 0.9967, 0.6094, 1.4506, 0.6647, 0.0635, 0.4213, 0.128, 0.1282]\nstate[eef_state]: left_x=0.301 left_y=-0.001 left_z=0.1611 left_yaw=0.0878 left_pitch=-0.1351 left_roll=0.0261 left_gripper=0.9967 right_x=0.3489 right_y=0.1598 right_z=0.0904 right_yaw=0.1717 right_pitch=-0.0967 right_roll=-0.1636 right_gripper=0.1282\nstate[joint_eff]: [0.0342, -2.0855, 6.9675, 1.5702, -0.1001, -0.022, -0.0073, -0.0479, -4.9846, 6.4068, 1.1111, 0.1392, -0.2564, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd464a998ebac4670372063a9702cbe6702a1406c62b917cf3acc6dc919ed3a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f2a03097a094cf65b94a59b11b1ff80cd99468afa3e0ba5c8830f1e366e991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea59c8fb8568c0deade01bf1faebf6d473b4873c4d970549069309941a1f2abe",
      "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 · 5.646 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 155 changed as sent

message 160 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6823, -0.4553, -0.1772, -0.1318, 0.9967, 0.5308, 1.4864, 0.9482, -0.2447, 0.3828, 0.0528, 0.9959]\nstate[eef_state]: left_x=0.3025 left_y=-0.0013 left_z=0.1646 left_yaw=0.0872 left_pitch=-0.1255 left_roll=0.0238 left_gripper=0.9967 right_x=0.3807 right_y=0.1511 right_z=0.1361 right_yaw=0.1609 right_pitch=-0.17 right_roll=-0.2217 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -2.3179, 6.9538, 1.536, -0.1148, -0.0317, -0.0122, 0.4718, -7.665, 6.6393, 1.5018, 0.2418, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9283, 0.6762, -0.458, -0.1776, -0.1318, 0.9967, 0.6098, 1.4605, 0.6655, 0.0204, 0.4255, 0.1097, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1615 left_yaw=0.0878 left_pitch=-0.134 left_roll=0.0259 left_gripper=0.9967 right_x=0.3434 right_y=0.1553 right_z=0.0801 right_yaw=0.1757 right_pitch=-0.1445 right_roll=-0.2028 right_gripper=0.9959\nstate[joint_eff]: [0.0342, -2.0855, 7.1726, 1.5849, -0.1099, -0.0611, -0.0122, 0.4991, -6.3111, 5.5316, 1.6679, 0.2271, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1192, 0.9287, 0.6758, -0.4583, -0.1776, -0.1318, 0.9967, 0.6094, 1.4506, 0.6647, 0.0635, 0.4213, 0.128, 0.1282]\nstate[eef_state]: left_x=0.301 left_y=-0.001 left_z=0.1611 left_yaw=0.0878 left_pitch=-0.1351 left_roll=0.0261 left_gripper=0.9967 right_x=0.3489 right_y=0.1598 right_z=0.0904 right_yaw=0.1717 right_pitch=-0.0967 right_roll=-0.1636 right_gripper=0.1282\nstate[joint_eff]: [0.0342, -2.0855, 6.9675, 1.5702, -0.1001, -0.022, -0.0073, -0.0479, -4.9846, 6.4068, 1.1111, 0.1392, -0.2564, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd464a998ebac4670372063a9702cbe6702a1406c62b917cf3acc6dc919ed3a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f2a03097a094cf65b94a59b11b1ff80cd99468afa3e0ba5c8830f1e366e991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea59c8fb8568c0deade01bf1faebf6d473b4873c4d970549069309941a1f2abe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDL0f3BP7c-h2ClNEL2U7BJVHXboonb75NZMrR5kfLIkS40r_sbDhp2pcNsN2iZb_Mq0Nn8TLxdjgvyjd890zn2Jpyyswwrox5wocbznDPNjPg3sWII27wIpVE4-RfSrd5ceZ08zzrV-EDwDWb1PC0UwXVebE20lebT2o-5_t-29d0xOJ3Up5fi2W8qKJgzZADAgw-EWarqElhTL9kJhkloQcu8JBWXkfrSlCunclp2yMA44iEI7YXNBA5nJjAurfW5fYdOcko8pX_PkCZ8UQcsT1IwYt0s6HQxxNxpInVXEToYWpcTc3X_Q3gtzgOXd3RQBGRVmKZ20tT-zVDW3XqS1UtDTxzq4nHGOAlZOQvF8JlxHwCFivPRmYYu6Xxt8FZfy5CAi_ZzR_y8zM1c4kRFGB2XzZcEfiBiiv3SuO0VuaMGqj7IrMa-YrtuwTbm2nu1uwSs9yVberxPRhya3__F8VEYgIaj-4GgyEiQQe8bW7yaWbdc3MusNEXC3MG4lpbGQWQ_k4v7t63RVpGbWGZ7oR40-2rrizO5T76V4eocsGXo5PILnk8aqc4wNGwuqFxI7xEeC4AepDcYGuWf9MdkUi01O7tr7B9HNQN609xBMGbluex084NK_G_Pj27mWj7KHsIwSkU9hZJjH6PtIETn6XIdRjP_HZOROwl89cGeWMrNID_YTHaNCZ5mOZsYNf36mosx5W5EGmhD-t3BaAnsIk5VtjpcdgaT9vAnLgQoB4Lyyk9h5xsUwwX1d1NXwFB48nb3DOctznzj4Ix8YM4AM6V3XWApS9f2vp6lmfB5YBfYO4Fi3a6u04Q58x4cEWQWtwblSy7XgpmNQm7slPJ1YBHeAH78UXpdWsBhScnJAralji87d1o3L2ObM4bsWSF83oQkt-ULhIuRfo_Ipuhyi2UJwHg0EI19rYtR3TVG2JA5UhZrvxySdvcMN8Y4avRhrmWH7-3068zqSE4sRYtjDZGnt9eaAkwl8SR7vkOZ3_qTVtMTwdZn4uMmOFStFKu-L3zc3lyna_lt8Xzv9lCQspeTVBKSIAejzE0JNTdYMr9FAFickioAq0eJPfTty9lABiEXJJIlRGOTRf0WBWIAVxhArYvdfd_uwxjjh4iJhF8R1JFZ9VgwvgA-AicNH61Gdc5BGMtS_-NGyLomXu1ZGD2X4tv_IdFusLSHx1KvEMMfenTycBoD5fdlgM4T0FJp6vcwFE-UkciwnJZaN4aRoKyDTR81xtlbQMcoyPkSk6XXf7sS4844eGgNKVhyta0bzW9JOBy5ex-7cAxRFoVI88HBY2CDzfgEaUTCWdqQzOK3FaXSzA8vDM9NmfI-0hfgoGmHqlyXJyV9l4CkNUbq9oZsji0ub4PIgNklhBrp_TZCKMYnQG9ugXZOOY1XyRlvNNqEZ_u2JNQVe4XENtIh-RycZ1S4zhuPr4SRh5rQDZoQcKrv9V0uqk4uU0Pg44N9TzkhfwbdhA-sdgrbUTciOYjgKJyIdq32WzLv8udpI5jGpgK3DUj29cXXFSA86Vg6IU3q1MumgPvZE0e9Z-o24ypguPRCb7OwRMxOwkgIuOYS7qHmHy9K0S6MN_iJOa_ujXY2UUERIiqdBPWwrlp_hVK0SaXbUN_02OlffpfvT8bJ0XcQEKPAAzYKSiZxGuD2pZTBZnFLsQsnI7dGdamLVUWIkNGsJliORhAjeVgkH37aB85yjsW3ZmbcNYCxZXig6EobplE0FMiOHro0gtaISIL4MMX59E_RZVP4pY1PvstLgvGuHMSgTXgSShUzYGG_oTblEDKyufXTfoa7SFSfnm7QAWHa6u2vqNuo-EP15BPgCinNHyWnCPvrF4EyWwStIYhAqyMyZk84GaMeBnrcpZUen-A5zJIu5jJxlH1XkqUD6h6TtGxb3Vn5WvFvGSYpkNXpWJQKohHXuBpcy4AVVfKQiFDuHnrwm22wFSvRlL0dcMqqhSTElNUh-VNFFVnTujt9TD0bgCvlm8PF8b2WvV1E99vjNSgllhByzE3S1YgMRwj92GSsS3M4CeOl8MKAJMbkBvD_z8w4wLBNY8vSU7y_xIriFQQXNAsOA10oP1JeB7P66vv8dy5G61XaprcemKlgbU24mYkwFVfG4mK8CXg6JC1o5bsW_HD7FX-j-vfKtG5RoIXi3xDz_8a9XHTX8bXygu3R0cN5_ei8cShJPaOS9sQMeEU8EKzl-NzvSz0UIAy33b8kEGg_EWDxAU7DgzkNDMCuTSHRVp9fYnw7CnvJiQg7GeHwqXIf-KTbXvpoce1lHmebmXKGZJoIMFb2FOupyzD6Ajhd5aYuEwZvky8XcF_XjzPUZe8wA1V8XFtYeZSUuRomweIGLvvIZUXwsTVV6V5sI7N2GYQPV7Fj_Tg==",
  "id": "rs_07abafd5897e38d5016ab432f1701887d099d963e41d437b07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The right jaws stopped about 1.2 cm apart, suggesting they caught some plush. I’ll lift straight up first to verify the dog moves with the gripper and to avoid dragging the basket.\"}",
  "call_id": "call_yR4nriqQPa5dyGvp5J01PP7j",
  "id": "fc_07abafd5897e38d5016ab432f3a49487d09226b88be7265d7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yR4nriqQPa5dyGvp5J01PP7j",
  "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]: [-0.1192, 0.9287, 0.6758, -0.4583, -0.1776, -0.1318, 0.9967, 0.6086, 1.3476, 0.9554, -0.3847, 0.4072, 0.1238, 0.129]\nstate[eef_state]: left_x=0.301 left_y=-0.001 left_z=0.1611 left_yaw=0.0878 left_pitch=-0.1351 left_roll=0.0261 left_gripper=0.9967 right_x=0.3469 right_y=0.1609 right_z=0.1686 right_yaw=0.1818 right_pitch=-0.1506 right_roll=-0.1811 right_gripper=0.129\nstate[joint_eff]: [-0.0752, -2.0718, 7.241, 1.6239, -0.0952, -0.0562, -0.0122, -0.0615, -8.0752, 9.853, 1.4872, 0.2808, 0.0464, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850b1963a9204787777bb3d8fe0d6a2d90961c187f387fc4288c3a7fb3cd6f9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be8f3dece03c64878f689ecd353f0d20cb7992703bb773238d045f4815dd715",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bacb86eeca3240cb8d4b98b403d6c3e6c90244ce6da09b8a2ccdc9181aa107",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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