adhoc

completed
2026-09-23T20:04:05.673695+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
215.7 s
total steps
373
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 several small gray and cream plush objects between the two empty blue baskets. I’ll bring the left open gripper toward the nearest gray object, keeping it above the table to line up a grasp.
move_to
left_x0.3500left_y-0.0550left_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]: [-0.0193, 0.7986, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0208, 0.7986, 0.6106, -0.3782, -0.0124, -0.0231, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2961 right_y=-0.0004 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.4564, 9.3197, 1.8095, -0.0122, 0.1587, -0.0562, -0.5812, -1.4427, 9.7983, 1.746, -0.0904, 0.0513, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.055,"left_z":0.14},"note":"I see several small gray and cream plush objects between the two empty blue baskets. I’ll bring the left open gripper toward the nearest gray object, keeping it above the table to line up a grasp."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe gray object is now close to the fingertips but has shifted to the left edge of the wrist view, so my sideways adjustment overshot. I’ll move back toward its center and lower slightly before closing.
move_to
left_y0.0050left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2916, 1.1519, 0.577, -0.049, -0.2405, -0.1772, 0.9996, -0.0208, 0.8032, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.3456 left_y=-0.0561 left_z=0.1293 left_yaw=-0.0091 left_pitch=-0.0426 left_roll=0.0063 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0134 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1709, -4.5607, 6.8991, 1.956, -0.2369, -0.0611, -0.0171, -0.2256, -1.5932, 7.5009, 1.7753, -0.0464, -0.0708, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.005,"left_z":0.10},"note":"The gray object is now close to the fingertips but has shifted to the left edge of the wrist view, so my sideways adjustment overshot. I’ll move back toward its center and lower slightly before closing."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe gray plush now lies between the open jaws in the left wrist view. I’ll lower the grasp point to about the middle of its body before closing.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0067, 1.1748, 0.4625, 0.0845, -0.0246, -0.0257, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.3425 left_y=0.0102 left_z=0.0962 left_yaw=0.0264 left_pitch=-0.0667 left_roll=0.0056 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0137 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1709, -3.3026, 6.4615, 1.9902, 0.105, 0.0562, -0.0171, -0.1026, -1.306, 7.0359, 1.7411, -0.0659, -0.0611, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The gray plush now lies between the open jaws in the left wrist view. I’ll lower the grasp point to about the middle of its body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe gray plush remains centered at grasp height between the left jaws. I’ll close gently around it, then check whether the gripper holds a nonzero thickness.
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]: [0.0074, 1.3941, 0.3359, 0.4587, -0.0418, -0.0143, 0.9996, -0.0208, 0.8043, 0.6083, -0.3843, -0.0113, -0.0235, 0.9998] state[eef_state]: left_x=0.3497 left_y=0.0136 left_z=0.0488 left_yaw=0.0356 left_pitch=-0.0384 left_roll=0.0242 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.0205, -3.4803, 3.7949, 1.0379, 0.3248, -0.1587, -0.0171, -0.1983, -1.0051, 7.0632, 1.746, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush remains centered at grasp height between the left jaws. I’ll close gently around it, then check whether the gripper holds a nonzero thickness."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe closed reading is only about 0.04, which is borderline for an empty grasp, and the plush is still visible ahead of the wrist camera. I’ll lift to see whether anything actually comes up with the jaws.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0082, 1.3987, 0.3313, 0.514, -0.0509, -0.0151, 0.0397, -0.0208, 0.8082, 0.6079, -0.3851, -0.0113, -0.0238, 0.9998] state[eef_state]: left_x=0.3553 left_y=0.0155 left_z=0.0571 left_yaw=0.0445 left_pitch=0.0079 left_roll=0.0271 left_gripper=0.0397 right_x=0.2955 right_y=-0.0006 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1846, -4.6291, 5.7231, 1.2137, 0.0269, -0.0317, 1.0281, -0.0889, -1.4701, 7.0906, 1.7509, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The closed reading is only about 0.04, which is borderline for an empty grasp, and the plush is still visible ahead of the wrist camera. I’ll lift to see whether anything actually comes up with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gray object stayed on the table, so that close was empty. It appears just beyond the fingertip position in the wrist view; I’ll reopen and advance the left jaws about 3 cm before retrying.
move_to
left_gripper1.0000left_x0.3820left_z0.0480
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]: [0.0082, 1.132, 0.5632, -0.0231, -0.0521, -0.0189, 0.0443, -0.0208, 0.8108, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.3512 left_y=0.0157 left_z=0.1322 left_yaw=0.0475 left_pitch=-0.0305 left_roll=0.026 left_gripper=0.0443 right_x=0.2956 right_y=-0.0005 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0479, -4.7248, 9.4154, 1.6142, -0.0415, -0.0073, 1.0281, -0.294, -1.3744, 7.1863, 1.7216, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.382,"left_z":0.048},"note":"The gray object stayed on the table, so that close was empty. It appears just beyond the fingertip position in the wrist view; I’ll reopen and advance the left jaws about 3 cm before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteAfter advancing, the gray plush fills the lower part of the wrist view between the open jaws. I’ll close at this new position and check whether the jaws stop on the object.
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]: [0.0082, 1.528, 0.458, 0.4778, -0.0532, -0.0219, 0.9985, -0.0208, 0.8146, 0.6075, -0.3847, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.3835 left_y=0.0161 left_z=0.0522 left_yaw=0.0501 left_pitch=-0.0308 left_roll=0.0241 left_gripper=0.9985 right_x=0.2959 right_y=-0.0005 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1709, -5.1761, 4.3009, 1.6923, -0.0513, -0.0073, -0.1001, -0.1709, -1.1692, 7.1043, 1.8046, -0.0317, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After advancing, the gray plush fills the lower part of the wrist view between the open jaws. I’ll close at this new position and check whether the jaws stop on the object."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThis time the closed jaw reading is about 0.08, larger than the earlier empty grasp. I’ll lift the left arm to confirm whether the plush moves with it.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0082, 1.5333, 0.4561, 0.5144, -0.0593, -0.0261, 0.0806, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.3874 left_y=0.0172 left_z=0.0571 left_yaw=0.0575 left_pitch=-0.0013 left_roll=0.0226 left_gripper=0.0806 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0752, -6.0103, 5.6684, 1.37, -0.0122, -0.0073, 1.0281, -0.0615, -1.3744, 7.0496, 1.746, -0.0513, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"This time the closed jaw reading is about 0.08, larger than the earlier empty grasp. I’ll lift the left arm to confirm whether the plush moves with it."})
tool
executing move_to over 6 steps (0.6s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe jaws still hold a measurable thickness after lifting, though the arm hides part of the object in the overhead view. I’ll carry this first gray candidate above the left basket and keep enough height to clear its rim.
move_to
left_x0.4630left_y-0.1050left_z0.2350
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]: [0.0082, 1.2869, 0.6609, -0.0086, -0.0597, -0.0338, 0.0834, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.3782 left_y=0.0172 left_z=0.1246 left_yaw=0.062 left_pitch=-0.0727 left_roll=0.0202 left_gripper=0.0834 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0752, -6.5299, 9.1966, 1.9023, -0.0513, 0.0464, 0.5934, -0.2803, -1.3744, 7.0085, 1.7118, -0.0415, -0.0855, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.463,"left_y":-0.105,"left_z":0.235},"note":"The jaws still hold a measurable thickness after lifting, though the arm hides part of the object in the overhead view. I’ll carry this first gray candidate above the left basket and keep enough height to clear its rim."})
tool
executing move_to over 11 steps (1.1s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gray plush has moved with the left gripper and is now above the left basket, which fills the wrist view. I’ll lower it inside while watching for the basket bottom or rim.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3466, 1.6199, 1.3548, -0.4549, -0.3275, -0.2672, 0.0857, -0.0208, 0.8185, 0.6075, -0.3855, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.4566 left_y=-0.1007 left_z=0.213 left_yaw=0.0588 left_pitch=-0.1137 left_roll=0.0175 left_gripper=0.0857 right_x=0.296 right_y=-0.0005 right_z=0.1737 right_yaw=-0.0004 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3487, -8.7043, 9.4154, 1.6679, -0.2613, 0.1832, 0.7057, -0.2393, -1.6752, 7.1863, 1.7118, -0.0122, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gray plush has moved with the left gripper and is now above the left basket, which fills the wrist view. I’ll lower it inside while watching for the basket bottom or rim."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe descent stopped above the requested height near the basket’s front rim, and the carried plush hangs toward that edge. I’ll shift a few centimeters farther into the basket while lowering, rather than forcing the same descent.
move_to
left_x0.4900left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3489, 1.6669, 1.0645, -0.0383, -0.3378, -0.2771, 0.0857, -0.0208, 0.8211, 0.6075, -0.3851, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.464 left_y=-0.1027 left_z=0.1441 left_yaw=0.0678 left_pitch=-0.0383 left_roll=-0.0164 left_gripper=0.0857 right_x=0.2963 right_y=-0.0005 right_z=0.173 right_yaw=-0.0004 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1846, -4.4103, 4.4103, 0.8083, -0.0171, 0.0806, 0.6081, -0.1026, -1.5932, 7.1043, 1.707, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0.105},"note":"The descent stopped above the requested height near the basket’s front rim, and the carried plush hangs toward that edge. I’ll shift a few centimeters farther into the basket while lowering, rather than forcing the same descent."})
tool
executing move_to over 3 steps (0.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe gray plush still appears to hang over the basket’s near edge rather than fully inside. I’ll lift slightly and move farther forward so that releasing it drops it onto the basket floor.
move_to
left_x0.5200left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3347, 1.7378, 1.0641, 0.0814, -0.3412, -0.2783, 0.0857, -0.0208, 0.8234, 0.6075, -0.3847, -0.0113, -0.0235, 0.9998] state[eef_state]: left_x=0.4826 left_y=-0.1015 left_z=0.1345 left_yaw=0.0851 left_pitch=0.0067 left_roll=-0.0352 left_gripper=0.0857 right_x=0.2964 right_y=-0.0006 right_z=0.1725 right_yaw=-0.0007 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.2393, -6.2701, 7.4051, 1.3895, -0.0122, 0.0708, 0.6081, -0.3487, -1.0598, 7.159, 1.7363, -0.022, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_z":0.17},"note":"The gray plush still appears to hang over the basket’s near edge rather than fully inside. I’ll lift slightly and move farther forward so that releasing it drops it onto the basket floor."})
tool
executing move_to over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe arm did not advance while the plush was low, suggesting contact with the basket edge. I’ll raise the held object clear of that edge before moving deeper into the basket.
move_to
left_x0.4820left_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]: [-0.334, 1.7386, 1.0649, 0.0948, -0.3412, -0.2787, 0.0877, -0.0208, 0.8242, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.4846 left_y=-0.1018 left_z=0.1371 left_yaw=0.0861 left_pitch=0.0189 left_roll=-0.041 left_gripper=0.0877 right_x=0.2964 right_y=-0.0005 right_z=0.1722 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1573, -6.5846, 6.8444, 1.3455, 0.0073, 0.0904, 0.4274, -0.335, -1.4974, 7.0222, 1.6825, -0.0513, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.482,"left_z":0.25},"note":"The arm did not advance while the plush was low, suggesting contact with the basket edge. I’ll raise the held object clear of that edge before moving deeper into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe left arm is no longer rising normally and shoulder effort increased sharply, so I won’t pull against the basket. I’ll open the jaws to release any contact and let the plush settle.
move_to
left_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]: [-0.334, 1.7275, 1.1564, -0.041, -0.3447, -0.2886, 0.09, -0.0208, 0.8249, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.4868 left_y=-0.1019 left_z=0.1552 left_yaw=0.0942 left_pitch=-0.0107 left_roll=-0.034 left_gripper=0.09 right_x=0.2965 right_y=-0.0005 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1983, -14.8034, 11.0427, 2.5177, -0.0855, 0.1832, 0.2711, 0.0068, -1.1692, 7.0222, 1.6728, -0.0464, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left arm is no longer rising normally and shoulder effort increased sharply, so I won’t pull against the basket. I’ll open the jaws to release any contact and let the plush settle."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe basket floor still looks empty, so the released gray object may have landed at its near edge. I’ll withdraw the left arm to inspect the drop location and uncover the remaining objects.
move_to
left_x0.2900left_y0.0000left_z0.1900
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]: [-0.3359, 1.7298, 1.1625, -0.0521, -0.3408, -0.3, 0.9954, -0.0208, 0.8257, 0.6075, -0.3851, -0.0113, -0.0238, 0.9998] state[eef_state]: left_x=0.4865 left_y=-0.1035 left_z=0.1545 left_yaw=0.0952 left_pitch=-0.0184 left_roll=-0.0425 left_gripper=0.9954 right_x=0.2965 right_y=-0.0006 right_z=0.1718 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.0615, -9.1282, 6.5573, 1.7656, -0.2125, 0.0708, -0.0708, -0.3077, -1.5248, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.19},"note":"The basket floor still looks empty, so the released gray object may have landed at its near edge. I’ll withdraw the left arm to inspect the drop location and uncover the remaining objects."})
tool
executing move_to over 16 steps (1.6s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWith the left arm clear, I can see the gray plush is only partly in the left basket, while several cream, spotted plush toys remain together near the center. I’ll use the right arm to approach the nearest cream toy and sort those into the right basket.
move_to
right_x0.3500right_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]: [-0.1139, 0.8143, 0.6586, -0.3958, -0.1791, -0.1909, 0.9967, -0.0208, 0.8307, 0.6067, -0.3855, -0.0113, -0.0235, 0.9998] state[eef_state]: left_x=0.3001 left_y=0.001 left_z=0.1977 left_yaw=0.1242 left_pitch=0.0186 left_roll=-0.0568 left_gripper=0.9967 right_x=0.2967 right_y=-0.0006 right_z=0.17 right_yaw=-0.0007 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0889, -1.0325, 6.7077, 1.7607, 0.0659, 0.1001, 0.1245, -0.1846, -1.3333, 7.2137, 1.7705, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.265,"right_z":0.13},"note":"With the left arm clear, I can see the gray plush is only partly in the left basket, while several cream, spotted plush toys remain together near the center. I’ll use the right arm to approach the nearest cream toy and sort those into the right basket."})
tool
executing move_to over 23 steps (2.3s)
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 noteA cream plush appears at the lower left of the right wrist image, just outside the jaws’ centerline. I’ll shift the right gripper toward it and lower to body height.
move_to
right_y0.3220right_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]: [-0.1146, 0.8188, 0.6559, -0.4026, -0.1764, -0.1944, 0.9968, 0.8917, 1.6875, 1.0523, -0.2413, 0.6678, 0.5854, 0.9997] state[eef_state]: left_x=0.2993 left_y=0.0004 left_z=0.1937 left_yaw=0.123 left_pitch=0.0044 left_roll=-0.0577 left_gripper=0.9968 right_x=0.3444 right_y=0.2582 right_z=0.1168 right_yaw=0.0296 right_pitch=-0.0824 right_roll=-0.0306 right_gripper=0.9997 state[joint_eff]: [0.0342, -1.7709, 7.2137, 1.7998, -0.1197, 0.0073, 0.0024, 0.5402, -8.3624, 8.7179, 1.2967, 0.486, 0.1783, -0.0171] 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_y":0.322,"right_z":0.07},"note":"A cream plush appears at the lower left of the right wrist image, just outside the jaws’ centerline. I’ll shift the right gripper toward it and lower to body height."})
tool
executing move_to over 6 steps (0.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe cream toy is still left of the jaw column and its body reaches the bottom of the wrist image. I’ll move another 6 cm sideways, advance slightly, and align the jaws around its torso.
move_to
right_y0.3820right_x0.3600right_z0.0600
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]: [-0.1146, 0.8234, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.9825, 1.9125, 1.1908, -0.1757, 0.7338, 0.675, 0.9997] state[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1923 left_yaw=0.1229 left_pitch=-0.0008 left_roll=-0.057 left_gripper=0.9968 right_x=0.3494 right_y=0.317 right_z=0.0867 right_yaw=0.0272 right_pitch=-0.0536 right_roll=-0.0063 right_gripper=0.9997 state[joint_eff]: [-0.0889, -1.4017, 6.9949, 1.7167, -0.1001, -0.0464, -0.0122, 0.7453, -7.3641, 6.6667, 0.7692, 0.2125, 0.0122, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.382,"right_x":0.36,"right_z":0.06},"note":"The cream toy is still left of the jaw column and its body reaches the bottom of the wrist image. I’ll move another 6 cm sideways, advance slightly, and align the jaws around its torso."})
tool
executing move_to over 6 steps (0.6s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe cream plush’s torso is now centered between the right jaws. I’ll lower the grasp point toward its middle, then close to pick it up.
move_to
right_z0.0300
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]: [-0.1146, 0.8265, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0409, 2.1254, 1.4548, -0.1978, 0.7658, 0.7238, 0.9997] state[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1914 left_yaw=0.1229 left_pitch=-0.0038 left_roll=-0.0563 left_gripper=0.9968 right_x=0.3633 right_y=0.385 right_z=0.0806 right_yaw=0.0394 right_pitch=-0.0171 right_roll=0.0442 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.6889, 7.0632, 1.6728, -0.1001, -0.0464, -0.0122, 0.3214, -9.4838, 6.5436, 0.7595, 0.2906, 0.1538, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The cream plush’s torso is now centered between the right jaws. I’ll lower the grasp point toward its middle, then close to pick it up."})
tool
executing move_to over 4 steps (0.4s)
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 right arm stopped descending as the jaws reached the cream plush, with its torso still centered. I’ll close around it and check the jaw spacing.
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]: [-0.1146, 0.8268, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0462, 2.1544, 1.4158, -0.0494, 0.7776, 0.7189, 0.9997] state[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1913 left_yaw=0.1229 left_pitch=-0.0042 left_roll=-0.0562 left_gripper=0.9968 right_x=0.3673 right_y=0.3944 right_z=0.073 right_yaw=0.0389 right_pitch=0.0336 right_roll=0.1033 right_gripper=0.9997 state[joint_eff]: [-0.212, -1.4701, 7.1043, 1.7216, -0.1001, -0.0464, -0.0122, -0.4308, -6.8718, 3.8222, 0.9402, 0.1245, -0.0122, -0.0073] 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_gripper":0},"note":"The right arm stopped descending as the jaws reached the cream plush, with its torso still centered. I’ll close around it and check the jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe right gripper stopped at about 2 cm of jaw spacing, consistent with grasping the plush rather than closing empty. I’ll lift it to confirm it leaves the tabletop.
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]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1764, -0.1947, 0.9968, 1.0454, 2.1696, 1.4094, 0.0257, 0.7757, 0.7197, 0.205] state[eef_state]: left_x=0.3 left_y=0.0003 left_z=0.1908 left_yaw=0.1232 left_pitch=-0.006 left_roll=-0.0555 left_gripper=0.9968 right_x=0.3714 right_y=0.4012 right_z=0.0734 right_yaw=0.0369 right_pitch=0.061 right_roll=0.1499 right_gripper=0.205 state[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.746, -0.1343, -0.0659, -0.0122, -0.7043, -7.8701, 4.2598, 0.9206, 0.1392, 0.0317, 0.7888] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The right gripper stopped at about 2 cm of jaw spacing, consistent with grasping the plush rather than closing empty. I’ll lift it to confirm it leaves the tabletop."})
tool
executing move_to over 7 steps (0.7s)
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 cream plush has lifted and remains between the right jaws. I’ll carry it high across to the right-hand basket, keeping clear of the gray plush and the left arm.
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]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0454, 2.0903, 1.5917, -0.2924, 0.7513, 0.7177, 0.2079] state[eef_state]: left_x=0.3 left_y=0.0002 left_z=0.1908 left_yaw=0.1229 left_pitch=-0.006 left_roll=-0.0558 left_gripper=0.9968 right_x=0.3696 right_y=0.4042 right_z=0.1352 right_yaw=0.0571 right_pitch=0.0163 right_roll=0.1099 right_gripper=0.2079 state[joint_eff]: [-0.0752, -1.347, 6.9949, 1.7363, -0.0855, -0.0464, -0.0122, -0.1299, -16.5128, 9.3744, 1.453, 0.4615, 0.0122, 0.2906] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_x":0.48,"right_y":0.16,"right_z":0.25},"note":"The cream plush has lifted and remains between the right jaws. I’ll carry it high across to the right-hand basket, keeping clear of the gray plush and the left arm."})
tool
executing move_to over 21 steps (2.1s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe cream toy hangs toward the near-left edge of the right basket rather than over its center. I’ll move the held toy a little farther forward and right while maintaining clearance above the rim.
move_to
right_x0.5100right_y0.0950right_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]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.416, 1.7218, 1.4036, -0.3447, 0.2546, 0.2832, 0.2114] state[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.4751 right_y=0.1652 right_z=0.2052 right_yaw=0.0472 right_pitch=-0.0738 right_roll=0.0844 right_gripper=0.2114 state[joint_eff]: [-0.253, -1.6479, 7.0359, 1.6777, -0.0806, -0.0757, -0.0122, -0.5128, -12.547, 10.8376, 1.7558, 0.0757, -0.0952, 0.3443] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.095,"right_z":0.25},"note":"The cream toy hangs toward the near-left edge of the right basket rather than over its center. I’ll move the held toy a little farther forward and right while maintaining clearance above the rim."})
tool
executing move_to over 6 steps (0.6s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe cream plush now appears centered over the right basket opening. I’ll lower it a little so it settles into the basket rather than dropping from high above.
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]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.2195, 1.7603, 1.5707, -0.4873, 0.1173, 0.1734, 0.2142] state[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.5045 right_y=0.0951 right_z=0.2304 right_yaw=0.0245 right_pitch=-0.107 right_roll=0.0753 right_gripper=0.2142 state[joint_eff]: [-0.0342, -1.4701, 7.2, 1.6825, -0.1001, -0.0806, -0.0122, -0.2803, -9.0598, 10.1128, 1.5311, -0.1636, -0.0122, 0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The cream plush now appears centered over the right basket opening. I’ll lower it a little so it settles into the basket rather than dropping from high above."})
tool
executing move_to over 4 steps (0.4s)
step 203
assistant
agent noteThe cream plush is lowered inside the right basket, and the basket surrounds it in the wrist view. I’ll release it there.
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]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.215, 1.7775, 1.3865, -0.3748, 0.1032, 0.1612, 0.2172] state[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4924 right_y=0.0926 right_z=0.1623 right_yaw=0.0361 right_pitch=-0.1957 right_roll=0.0585 right_gripper=0.2172 state[joint_eff]: [-0.0342, -1.4974, 7.0769, 1.7167, -0.1148, -0.0171, -0.0122, 0.1983, -9.9761, 8.253, 2.127, 0.1294, 0.149, 0.2955] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The cream plush is lowered inside the right basket, and the basket surrounds it in the wrist view. I’ll release it there."})
tool
executing move_to over 8 steps (0.8s)
step 211
assistant
agent noteThe cream plush remains in the right basket after release. I’ll withdraw the right arm to reveal what is still on the table before handling the remaining toy.
move_to
right_x0.2960right_y0.0000right_z0.1900
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]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.2146, 1.7809, 1.3705, -0.3553, 0.1001, 0.1555, 0.9946] state[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4925 right_y=0.0929 right_z=0.1572 right_yaw=0.0414 right_pitch=-0.1959 right_roll=0.0564 right_gripper=0.9946 state[joint_eff]: [-0.1162, -1.4701, 7.0359, 1.7265, -0.1148, -0.0562, -0.0122, -0.1573, -9.7026, 8.1162, 1.3407, 0.0513, 0.0611, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.0,"right_z":0.19},"note":"The cream plush remains in the right basket after release. I’ll withdraw the right arm to reveal what is still on the table before handling the remaining toy."})
tool
executing move_to over 16 steps (1.6s)
step 227
assistant
agent noteThe cream plush slid out over the right basket’s near edge when the arm withdrew; the basket is empty. I’ll regrasp the plush closer to its body from the right side so the next drop can place its full length inside.
move_to
right_x0.3550right_y-0.0400right_z0.0800
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]: [-0.1143, 0.8379, 0.6559, -0.4026, -0.1761, -0.1947, 0.9968, -0.0631, 0.9867, 0.8532, -0.6044, -0.0807, -0.0204, 0.9962] state[eef_state]: left_x=0.3008 left_y=0.0002 left_z=0.1884 left_yaw=0.1233 left_pitch=-0.0142 left_roll=-0.0538 left_gripper=0.9968 right_x=0.3079 right_y=-0.0016 right_z=0.1936 right_yaw=0.015 right_pitch=-0.1698 right_roll=0.0522 right_gripper=0.9962 state[joint_eff]: [-0.1162, -1.6752, 7.0496, 1.7802, -0.1148, -0.0513, -0.0122, -0.3214, -2.6188, 6.8034, 1.5653, -0.2662, -0.0806, 0.149] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":-0.04,"right_z":0.08},"note":"The cream plush slid out over the right basket’s near edge when the arm withdrew; the basket is empty. I’ll regrasp the plush closer to its body from the right side so the next drop can place its full length inside."})
tool
executing move_to over 8 steps (0.8s)
step 235
assistant
agent noteThe right wrist camera is now filled by the cream plush, indicating the jaws are alongside its body. I’ll close here to secure a more central hold.
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]: [-0.1146, 0.8398, 0.6559, -0.4042, -0.1764, -0.1947, 0.9968, -0.2096, 1.285, 0.6189, -0.0433, -0.1932, -0.1204, 0.9964] state[eef_state]: left_x=0.3007 left_y=0.0002 left_z=0.1876 left_yaw=0.1232 left_pitch=-0.0175 left_roll=-0.0528 left_gripper=0.9968 right_x=0.36 right_y=-0.0382 right_z=0.1027 right_yaw=0.0174 right_pitch=-0.128 right_roll=0.0459 right_gripper=0.9964 state[joint_eff]: [-0.1983, -1.5795, 7.0359, 1.7167, -0.1294, -0.0708, -0.0122, -0.3487, -3.0564, 4.3966, 0.9255, -0.3004, 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":{"right_gripper":0},"note":"The right wrist camera is now filled by the cream plush, indicating the jaws are alongside its body. I’ll close here to secure a more central hold."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteThe right jaws again hold about 2 cm of plush. I’ll lift and move it farther left over the actual center of the right basket, rather than stopping at the basket’s outer edge.
move_to
right_x0.5150right_y0.2000right_z0.2600
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]: [-0.1143, 0.8433, 0.6559, -0.4042, -0.1761, -0.1944, 0.9968, -0.2157, 1.2884, 0.5991, -0.0151, -0.1856, -0.1276, 0.2065] state[eef_state]: left_x=0.301 left_y=0.0002 left_z=0.1866 left_yaw=0.1231 left_pitch=-0.0208 left_roll=-0.0518 left_gripper=0.9968 right_x=0.3589 right_y=-0.0416 right_z=0.0984 right_yaw=0.0087 right_pitch=-0.1242 right_roll=0.0343 right_gripper=0.2065 state[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.7314, -0.1001, -0.0122, -0.0122, 0.2667, -4.6564, 8.0479, 1.3651, -0.2125, 0.022, 1.0134] 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":{"right_x":0.515,"right_y":0.20,"right_z":0.26},"note":"The right jaws again hold about 2 cm of plush. I’ll lift and move it farther left over the actual center of the right basket, rather than stopping at the basket’s outer edge."})
tool
executing move_to over 21 steps (2.1s)
step 266
assistant
agent noteThe carried cream plush is now over the left side of the right basket, with its body mostly over the opening. I’ll shift it slightly toward the basket center as I lower it.
move_to
right_y0.1350right_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]: [-0.1146, 0.8494, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.4614, 1.9934, 1.9648, -0.7315, 0.3061, 0.2893, 0.206] state[eef_state]: left_x=0.3012 left_y=0.0006 left_z=0.1846 left_yaw=0.1255 left_pitch=-0.0282 left_roll=-0.0486 left_gripper=0.9968 right_x=0.5127 right_y=0.1994 right_z=0.2416 right_yaw=0.0425 right_pitch=-0.1509 right_roll=0.0204 right_gripper=0.206 state[joint_eff]: [-0.1162, -1.8393, 7.1043, 1.7998, -0.0904, -0.0708, -0.0122, 0.335, -11.3983, 9.4017, 1.3016, 0.3346, 0.1783, 0.8523] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.135,"right_z":0.18},"note":"The carried cream plush is now over the left side of the right basket, with its body mostly over the opening. I’ll shift it slightly toward the basket center as I lower it."})
tool
executing move_to over 6 steps (0.6s)
step 272
assistant
agent noteThe cream plush is now visibly within the right basket’s outline instead of hanging past its front rim. I’ll open the gripper and then verify it remains there.
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]: [-0.1146, 0.8513, 0.6559, -0.4042, -0.1795, -0.1951, 0.9968, 0.334, 1.8778, 1.5761, -0.4431, 0.2028, 0.2134, 0.2086] state[eef_state]: left_x=0.3016 left_y=0.0006 left_z=0.1844 left_yaw=0.1261 left_pitch=-0.0282 left_roll=-0.0487 left_gripper=0.9968 right_x=0.5115 right_y=0.1436 right_z=0.1835 right_yaw=0.043 right_pitch=-0.1604 right_roll=0.0351 right_gripper=0.2086 state[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.7509, -0.105, -0.0562, -0.0122, -1.0872, -10.5504, 6.0513, 1.4139, 0.2613, -0.1148, 0.5788] 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_gripper":1},"note":"The cream plush is now visibly within the right basket’s outline instead of hanging past its front rim. I’ll open the gripper and then verify it remains there."})
tool
executing move_to over 8 steps (0.8s)
step 280
assistant
agent noteThe cream plush appears to be resting inside the right basket after the second release. I’ll move the right arm away to confirm that it stays put and to inspect the other toys.
move_to
right_x0.2900right_y0.0000right_z0.1900
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]: [-0.1146, 0.8509, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.3279, 1.8736, 1.557, -0.4118, 0.194, 0.2092, 0.9945] state[eef_state]: left_x=0.3013 left_y=0.0006 left_z=0.1841 left_yaw=0.1256 left_pitch=-0.0297 left_roll=-0.0482 left_gripper=0.9968 right_x=0.5134 right_y=0.1425 right_z=0.1828 right_yaw=0.0473 right_pitch=-0.1463 right_roll=0.0423 right_gripper=0.9945 state[joint_eff]: [-0.1983, -1.5658, 7.2137, 1.7607, -0.0659, -0.0562, -0.0122, 0.4444, -10.0718, 8.4444, 1.2723, 0.1001, 0.022, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.19},"note":"The cream plush appears to be resting inside the right basket after the second release. I’ll move the right arm away to confirm that it stays put and to inspect the other toys."})
tool
executing move_to over 18 steps (1.8s)
step 298
assistant
agent noteThe cream bear is still partly in front of the right basket, and the gray plush is partly in the left; a smaller brown plush remains upright on the table. I’ll pick up the small brown one first with the left arm while the other arm stays parked.
move_to
left_x0.3200left_y-0.1500left_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]: [-0.1143, 0.8566, 0.6559, -0.4046, -0.1795, -0.1947, 0.9968, -0.0643, 0.9173, 0.794, -0.5674, -0.0731, -0.0257, 0.9949] state[eef_state]: left_x=0.3019 left_y=0.0007 left_z=0.1829 left_yaw=0.1263 left_pitch=-0.0337 left_roll=-0.047 left_gripper=0.9968 right_x=0.3004 right_y=-0.0028 right_z=0.1943 right_yaw=0.0097 right_pitch=-0.1229 right_roll=0.0394 right_gripper=0.9949 state[joint_eff]: [-0.1162, -1.5932, 7.0632, 1.6825, -0.1001, -0.0708, -0.0073, -0.294, -2.0171, 6.694, 1.7753, -0.2466, -0.0952, 0.0317] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.15,"left_z":0.065},"note":"The cream bear is still partly in front of the right basket, and the gray plush is partly in the left; a smaller brown plush remains upright on the table. I’ll pick up the small brown one first with the left arm while the other arm stays parked."})
tool
executing move_to over 14 steps (1.4s)
step 312
assistant
agent noteThe small brown plush is visible to the right of the left jaw column, while the large gray plush occupies the left of the wrist view. I’ll shift toward the brown toy and lower slightly before grasping.
move_to
left_y-0.1980left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.762, 1.4612, 0.5293, 0.0738, -0.6567, -0.63, 0.9969, -0.0658, 0.9218, 0.7868, -0.5797, -0.0799, -0.0444, 0.9949] state[eef_state]: left_x=0.3104 left_y=-0.1422 left_z=0.0548 left_yaw=0.0984 left_pitch=-0.0818 left_roll=-0.0002 left_gripper=0.9969 right_x=0.2978 right_y=-0.0019 right_z=0.1876 right_yaw=0.0244 right_pitch=-0.1462 right_roll=0.0315 right_gripper=0.9949 state[joint_eff]: [-0.212, -5.5179, 7.706, 1.3993, -0.5739, -0.1001, -0.0122, 0.0342, -2.2769, 7.4462, 1.7314, 0.0024, 0.1538, -0.0073] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.198,"left_z":0.04},"note":"The small brown plush is visible to the right of the left jaw column, while the large gray plush occupies the left of the wrist view. I’ll shift toward the brown toy and lower slightly before grasping."})
tool
executing move_to over 5 steps (0.5s)
step 317
assistant
agent noteThe brown plush is between the jaws but slightly right of center, with its body reaching the fingertips. I’ll make a small alignment adjustment before closing.
move_to
left_y-0.2220left_x0.3230
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]: [-0.8993, 1.6588, 0.654, 0.0509, -0.7189, -0.7528, 0.9969, -0.0658, 0.9257, 0.7868, -0.5804, -0.0826, -0.0456, 0.9949] state[eef_state]: left_x=0.3071 left_y=-0.1937 left_z=0.0349 left_yaw=0.0748 left_pitch=-0.1002 left_roll=0.008 left_gripper=0.9969 right_x=0.298 right_y=-0.0014 right_z=0.1864 right_yaw=0.0273 right_pitch=-0.1506 right_roll=0.0328 right_gripper=0.9949 state[joint_eff]: [-0.253, -6.5026, 6.8308, 1.0965, -0.5299, -0.0122, -0.022, -0.0205, -2.1675, 6.8718, 1.6093, -0.0024, -0.0171, -0.0122] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.222,"left_x":0.323},"note":"The brown plush is between the jaws but slightly right of center, with its body reaching the fingertips. I’ll make a small alignment adjustment before closing."})
tool
executing move_to over 3 steps (0.3s)
step 320
assistant
agent noteThe last sideways move stalled against the closely packed plush toys, but the brown toy’s torso is still between the left jaws. I’ll close without pushing harder and check what the gripper actually holds.
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]: [-0.9112, 1.6703, 0.6651, 0.0383, -0.7338, -0.7792, 0.9968, -0.0658, 0.926, 0.7868, -0.58, -0.083, -0.046, 0.9949] state[eef_state]: left_x=0.3062 left_y=-0.1959 left_z=0.0345 left_yaw=0.0873 left_pitch=-0.0969 left_roll=0.0047 left_gripper=0.9968 right_x=0.2981 right_y=-0.0014 right_z=0.1864 right_yaw=0.0279 right_pitch=-0.1506 right_roll=0.0327 right_gripper=0.9949 state[joint_eff]: [-0.1026, -6.3111, 6.735, 1.1746, -0.525, -0.0708, -0.022, -0.0615, -1.9077, 7.0632, 1.5946, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The last sideways move stalled against the closely packed plush toys, but the brown toy’s torso is still between the left jaws. I’ll close without pushing harder and check what the gripper actually holds."})
tool
executing move_to over 10 steps (1.0s)
step 330
assistant
agent noteThe left jaws remain about 1 cm apart after closing, suggesting they have caught fabric. I’ll lift and check whether the brown toy leaves the table rather than assuming the grasp succeeded.
move_to
left_z0.1900
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]: [-0.9092, 1.6737, 0.6678, 0.0395, -0.7334, -0.7856, 0.1064, -0.0658, 0.9314, 0.7841, -0.5869, -0.083, -0.0463, 0.9949] state[eef_state]: left_x=0.3071 left_y=-0.1961 left_z=0.0343 left_yaw=0.0924 left_pitch=-0.0969 left_roll=-0.0009 left_gripper=0.1064 right_x=0.297 right_y=-0.0013 right_z=0.1825 right_yaw=0.0283 right_pitch=-0.1654 right_roll=0.0339 right_gripper=0.9949 state[joint_eff]: [-0.1983, -6.9675, 4.9573, 1.2137, -0.3199, 0.0171, 0.5836, -0.1983, -2.2632, 7.0906, 1.6337, -0.0415, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The left jaws remain about 1 cm apart after closing, suggesting they have caught fabric. I’ll lift and check whether the brown toy leaves the table rather than assuming the grasp succeeded."})
tool
executing move_to over 11 steps (1.1s)
step 341
assistant
agent noteThe brown toy is still visible on the table in the wrist view, so this grasp appears to have caught the nearby gray plush instead. I’ll move that held fabric farther into the left basket, which currently contains only the gray toy’s head.
move_to
left_x0.5400left_y-0.1000left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9092, 1.441, 1.058, -0.5896, -0.7258, -0.7876, 0.1076, -0.0658, 0.9318, 0.7841, -0.5869, -0.083, -0.0463, 0.9949] state[eef_state]: left_x=0.31 left_y=-0.2015 left_z=0.1709 left_yaw=0.0893 left_pitch=-0.1055 left_roll=-0.0007 left_gripper=0.1076 right_x=0.297 right_y=-0.0013 right_z=0.1824 right_yaw=0.0283 right_pitch=-0.1657 right_roll=0.0339 right_gripper=0.9949 state[joint_eff]: [-0.0752, -8.294, 8.4034, 1.1306, -0.4518, -0.0269, 0.1148, -0.1299, -2.0581, 7.1179, 1.5946, -0.0855, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.1,"left_z":0.23},"note":"The brown toy is still visible on the table in the wrist view, so this grasp appears to have caught the nearby gray plush instead. I’ll move that held fabric farther into the left basket, which currently contains only the gray toy’s head."})
tool
executing move_to over 18 steps (1.8s)
step 359
assistant
agent noteThe brown plush moved with the left gripper after all; its head is now over the left basket, while its lower body hangs near the front edge. I’ll advance it deeper into that basket before release so it does not slide back onto the table.
move_to
left_x0.5750left_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]: [-0.2897, 1.9198, 1.7267, -0.5842, -0.3244, -0.3191, 0.1091, -0.0658, 0.936, 0.7815, -0.588, -0.083, -0.0471, 0.9949] state[eef_state]: left_x=0.5266 left_y=-0.0945 left_z=0.2055 left_yaw=0.1443 left_pitch=-0.1663 left_roll=-0.0009 left_gripper=0.1091 right_x=0.2967 right_y=-0.0013 right_z=0.1799 right_yaw=0.0288 right_pitch=-0.1737 right_roll=0.0341 right_gripper=0.9949 state[joint_eff]: [0.1573, -11.1385, 9.6889, 1.6777, 0.022, 0.5348, 0.1441, -0.1846, -2.359, 7.0906, 1.5946, -0.105, -0.0171, -0.0122] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.575,"left_z":0.18},"note":"The brown plush moved with the left gripper after all; its head is now over the left basket, while its lower body hangs near the front edge. I’ll advance it deeper into that basket before release so it does not slide back onto the table."})
tool
executing move_to over 4 steps (0.4s)
step 363
assistant
agent noteThe left arm is meeting resistance at the basket edge, so I won’t drive it farther. I’ll release the brown plush with its head inside the left basket, avoiding a stronger push against the rim.
move_to
left_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]: [-0.263, 2.1075, 1.8515, -0.6132, -0.3126, -0.3283, 0.1111, -0.0658, 0.9386, 0.7811, -0.5877, -0.083, -0.049, 0.9949] state[eef_state]: left_x=0.5567 left_y=-0.0899 left_z=0.1531 left_yaw=0.1745 left_pitch=-0.2532 left_roll=0.024 left_gripper=0.1111 right_x=0.2969 right_y=-0.0013 right_z=0.179 right_yaw=0.0299 right_pitch=-0.1763 right_roll=0.0329 right_gripper=0.9949 state[joint_eff]: [0.4034, -13.5043, 10.7829, 1.8926, -0.0562, 0.3297, 0.1929, -0.1846, -2.2632, 6.8991, 1.536, -0.0757, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left arm is meeting resistance at the basket edge, so I won’t drive it farther. I’ll release the brown plush with its head inside the left basket, avoiding a stronger push against the rim."})
tool
executing move_to over 9 steps (0.9s)
step 372
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]: [-0.2546, 2.1395, 1.8698, -0.6128, -0.3096, -0.3294, 0.9955, -0.0658, 0.9417, 0.7784, -0.5922, -0.083, -0.0494, 0.995] state[eef_state]: left_x=0.5619 left_y=-0.087 left_z=0.1431 left_yaw=0.1825 left_pitch=-0.2663 left_roll=0.0268 left_gripper=0.9955 right_x=0.2959 right_y=-0.0012 right_z=0.1762 right_yaw=0.0303 right_pitch=-0.1866 right_roll=0.0336 right_gripper=0.995 state[joint_eff]: [-0.6769, -14.4752, 9.7299, 1.873, -0.0855, 0.2759, -0.1929, -0.1026, -2.2632, 7.0632, 1.5751, -0.0562, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [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 · 5.663 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, 0.7986, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0208, 0.7986, 0.6106, -0.3782, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2961 right_y=-0.0004 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4564, 9.3197, 1.8095, -0.0122, 0.1587, -0.0562, -0.5812, -1.4427, 9.7983, 1.746, -0.0904, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f309238e56ca33afbb661c6c139906b89aa0a8e495292862805a8b834fee053b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7531454f6697bbfd0ca0d25604ca8e39a753bb4c7205ffb62385df93c1178388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e6754d34410f4cb280f8244d1b37b7ac76a11026948d12bc2034155c946049",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.052 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_06672f6dd205d3b6016ab430c46fbc87d0b2f741538e830e76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.055,\"left_z\":0.14},\"note\":\"I see several small gray and cream plush objects between the two empty blue baskets. I’ll bring the left open gripper toward the nearest gray object, keeping it above the table to line up a grasp.\"}",
  "call_id": "call_EOTdBfZgPPdWojBK2hP7nMIF",
  "id": "fc_06672f6dd205d3b6016ab430c87dcc87d08e4a924453e4066d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EOTdBfZgPPdWojBK2hP7nMIF",
  "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]: [-0.2916, 1.1519, 0.577, -0.049, -0.2405, -0.1772, 0.9996, -0.0208, 0.8032, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.0561 left_z=0.1293 left_yaw=-0.0091 left_pitch=-0.0426 left_roll=0.0063 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0134 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.5607, 6.8991, 1.956, -0.2369, -0.0611, -0.0171, -0.2256, -1.5932, 7.5009, 1.7753, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abeca246ffb0f8a33d0373fb93d56e4b6ea81ce6b9904c4ea7fd40bacb2ad99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6be7257f1114ff69acdb46cc122c5fe7f231fa417dfec49a8ad3f4c60dc7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abfd5e986e93951d8ee089b283eb78d57dd4ae2c19ad0ff580157abe8f302db",
      "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 · 2.657 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, 0.7986, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0208, 0.7986, 0.6106, -0.3782, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2961 right_y=-0.0004 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4564, 9.3197, 1.8095, -0.0122, 0.1587, -0.0562, -0.5812, -1.4427, 9.7983, 1.746, -0.0904, 0.0513, -0.0366]",
      "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]: [-0.2916, 1.1519, 0.577, -0.049, -0.2405, -0.1772, 0.9996, -0.0208, 0.8032, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.0561 left_z=0.1293 left_yaw=-0.0091 left_pitch=-0.0426 left_roll=0.0063 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0134 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.5607, 6.8991, 1.956, -0.2369, -0.0611, -0.0171, -0.2256, -1.5932, 7.5009, 1.7753, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abeca246ffb0f8a33d0373fb93d56e4b6ea81ce6b9904c4ea7fd40bacb2ad99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6be7257f1114ff69acdb46cc122c5fe7f231fa417dfec49a8ad3f4c60dc7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abfd5e986e93951d8ee089b283eb78d57dd4ae2c19ad0ff580157abe8f302db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDPDKqsmVVCDeLjyKvEBhtj8onY_YVQjw92djrxrkknjuQ3zdmpGHyqOHAqMFHv1Szye_wI4ahDncAgdL9bNO48E9kkTk8k8DDijC6dbXdwEa9ScAWFfyVdSc_IK_gsqKJmNxfh5vyslzQ_HX_1gv8i1y7RqX4HUHCr_biTu7C8NIzpBDR-DO29jx0N14QU19tWi-3ixL-SK81p5K2cWPWmgzZff6aud1Y0EjsBVyqDdPSOCjZuHERr6chb46ls1KVsYpDBhO1Gahv_xR-Ouctqz9we_KkrQ-_oFNB5PEcIkh4cFIcRVyDdiLdhXUIhOJ5fcmBHNzLEPXRQnlk4rsHIJNOkdxwsvUIfg9AVJ_4ZktJTvnl_4UEq94UWc4DO7Tk-sHkk88lBnEaMms0RldEI6H8Kexe5CHtpr2iESfthidfJ9U3MaJcXl4cCWZnMXnr_57lT3A0j2sZYYE9LjOSIzZmkZB12lRsPQWwnuJVKfOWI-ClYlfT6_T8hD9WmHmQ8UMz5F3uVXWX30RjAl-ZmYKBc3Hke8zdGnobznS0EywmOSG2MNigrIDMxeAX0a8vs53X3OsRZ5tyrlyu-LpEBsFed6g0b4K_of3ahJEfSHXmHcOsFDy5EfqSHlF1wHWJlx2UIBQ-OCWONA9HWSB0IlNhWLkOt-2TO32sq6kcDHl_2woXCFKFsitqWtttj1zj99k4GQtyd6vXhqtQUBeF-OqeJuT0--9x52dmd8aU8WXV52mUipX9e8tkHXH-0xFnmNtHhWEg3QvZIe770SjB6mFT25SemlRyCvko8tmmLQ8XLVr5YeIPOKPOvO11w0gbpFQlOFJCKa5zTn459QoRzTWOqJ9tYk74-QD1NDRYfV0MBEnc324yFxGSLR-iFSutMbzTnv3xP-53ZQPE5YIl6JAgQXu70rQvxEfW7fopfAkIh1FhW5PK9q3fD6gbj9iOlYmHozN0ksA9EOBLeL_Lf0SZP8kSK_sY2ff9G3W_dZTIo-z0eeiryoY3yFVB44n0LxTCTDZQrY58Ci0ZhL_yA6AalA5ygxuKgRLgIPFfSXZak18m_rQrF06TYS4E1oJaNCveJ_X0Gdg1zJ9Z74etz9wJlBJUlnMCLBTt828RIOkwdTPhm56c4WSXIiLgg092g7zeoO2hXhh6_XwJxCJrNiu2No7dPe_K969fURNJUz-wopPRSM9OWpuCUr0-6hVxXBeUKTBIrAFWrR0vDErxE7pr9nTVGbVI64R1LR6bHkDG2Lrxo29stFzhy9CQkDq7vjfgIeO-oqKxjya0I3ZJ4j6dCHqHcKc5B12TgBrsL42iueTOChvD4KBpykGg7W4vR7nSq94TGGxbmA8zJ0r3wh5czkWzNj0JM4GdkQokbhra958OQqLwhzu0qs_70pXYmc4VCo4C_yopW93yep8w1S2i9PSX4-SKAR7OZ4M3IUFGqiflB0PZWKLtFhEGuZsdB9XR3U4K4ZjJQ4B4Bn-_HJPclyCoU1ITvQSkBRc0VLNkgmgURgYCcEoi-_oF-Zaxa8Jd0zX76hBZGCMiv1yNN427qo2anmS9b3dbtF6EiIYkOAXk-fCTKAzOVhGVyP-EUeJcf_poEVtaPGnKE8ECoDIYAaSvYhPJhfWUoP9kigBMZgKNJzII5YdzJp0mySV6p_4AfrzvyslrOs_B0xn24fbrXhTWzeFUYRr6WZPORolSUZeY7R5iqIkikafZKgWSG_WOUr7lDOB9pSDei3dhnd_2SdyaL1ahH1uFrSEEn1hUGPqvFL8o9RqUOuJCANyGYnv2Ayh8o7V-geLJ7_wXTExB_2QUq6V83Szlbn7uBw3Ddmq_I-2NXlv9E9x8go8fzRWfQdbPQ_W5ASCpCZL6BaZD32_b3DnWEWHn0EsPPQdKP_MaHeB7QaEaNhi9Y4eJ_dF11qwnqs2Ap3_ew5eKs9GKIVEkDFNpyVgIYsKr_6ELMyhdQwmegCjbo_3PXboFlJvNMyN7aeobLSZLjzlORPIR0gtbzqmlwC1Q2xtXnPCNcoDh1dJCqbChrO1evRp6MUPu-0xtK471GSCT0BiU-q0TqHIFFGu1KQGJjVv9Bt9obeVDZ4UoRtg5ZQV5_gvGpmXBWwb7Zb6PTHBCLq5eajIIFqclHGoN6NMmvl4TYgjc-HKBgzzKPVRw_NdSVKRndQsZHGrhyKMpan3YbGKRcolZ0NctB6RrJIFl9BEnyE36vFDtt-uPIZ6614pg2Df7HiDDCbDgbU-9cbI0popndHNRC6edY5jpACOYLsKZZgyf5Y0PFpKHLwCIq39Ep4qyribIK5A5UclQqU7nHU8Wq-w==",
  "id": "rs_06672f6dd205d3b6016ab430cc631887d092a51f78cb166db1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.005,\"left_z\":0.10},\"note\":\"The gray object is now close to the fingertips but has shifted to the left edge of the wrist view, so my sideways adjustment overshot. I’ll move back toward its center and lower slightly before closing.\"}",
  "call_id": "call_12ufZxf36zwVPLhDfJcc2Hwf",
  "id": "fc_06672f6dd205d3b6016ab430ce73ec87d0b2538c006ce8ca15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_12ufZxf36zwVPLhDfJcc2Hwf",
  "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]: [0.0067, 1.1748, 0.4625, 0.0845, -0.0246, -0.0257, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=0.0102 left_z=0.0962 left_yaw=0.0264 left_pitch=-0.0667 left_roll=0.0056 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0137 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.3026, 6.4615, 1.9902, 0.105, 0.0562, -0.0171, -0.1026, -1.306, 7.0359, 1.7411, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc69feedfbed8cc27128e5337ad91bf1c5997bc13d80c0526ff7cba770b163d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192da2e1dbf21ffc1876a4e789aaa5f235d22ef2d32c5df028a9fd9c42fc3705",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74677ee38c5cebd86d0054d93b4fd8f794812b6764f11c8aa718962a9e8d3d59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 1.688 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]: [-0.2916, 1.1519, 0.577, -0.049, -0.2405, -0.1772, 0.9996, -0.0208, 0.8032, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.0561 left_z=0.1293 left_yaw=-0.0091 left_pitch=-0.0426 left_roll=0.0063 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0134 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.5607, 6.8991, 1.956, -0.2369, -0.0611, -0.0171, -0.2256, -1.5932, 7.5009, 1.7753, -0.0464, -0.0708, -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]: [0.0067, 1.1748, 0.4625, 0.0845, -0.0246, -0.0257, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=0.0102 left_z=0.0962 left_yaw=0.0264 left_pitch=-0.0667 left_roll=0.0056 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0137 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.3026, 6.4615, 1.9902, 0.105, 0.0562, -0.0171, -0.1026, -1.306, 7.0359, 1.7411, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc69feedfbed8cc27128e5337ad91bf1c5997bc13d80c0526ff7cba770b163d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192da2e1dbf21ffc1876a4e789aaa5f235d22ef2d32c5df028a9fd9c42fc3705",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74677ee38c5cebd86d0054d93b4fd8f794812b6764f11c8aa718962a9e8d3d59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDS7divlScokuGSBohKD0FHwWjTKvYjT14vWwSgKGByb5fE5WnPzUEHVnVPule4Tl5rmWZ17I9YpEN77OjENhWNGl7M-Ac1QuvWJJE5eSUxgP7s2gjIKiaEsjQsSB1yWfOJpt_TjGM0Soc9S4eJwnLYTn_RAdQz2NxZjyT0IeUnf6IFJYtbcPjfhS73v23eezwAvfQX_BGQ_pMoRyUmDL511gAZpd71IdHd17AcpH9RTWx6ay6BSYj5RvRr1oAL8jcJXpQNlGH-QEzkmdcuZejYDSGvwZA4KUIbFaPU04hYpaMOVTdPM9NMB0EqKGlWN0YSe0q3r4b8lDO2RfSmkzNqKlyJdlrU96cxRUWKOXeEXLVUlRJGspBJDardqO_IYjQtnoGkkQ5YStQPtC5ji3YPc8rVmCQOHjDYVGHLGIYCB1D0oHObWayZvGOblxRmr_W9ZuqH5uXJE3jQjDJVVd05BsqH1KmUzJpX4oH5AugDFF6Pc5wA3HKKEHEH-Q-cYbsur6iS4dIDPmGGs_OfwrA13hCOQO7NSd9LY1Ha0bmLy15g6fWd6H0qp7e2pQpcHivrVnF4mSCVeOTaHEyuZZctidCRSoreziCOL1I-8t_9FTzg1vfN73qYWco7RNfk42IKUFVrAjMUMnqlVjUg9mS4xeQGPPUus6JAsYWK6gZ-pRlk-F0TpymCjzjhZsAXXpJkgD5hSb4vRqTiLb0p_ZdM4fK9nnH8wnebWQDD0r0NRmON04KqYrf09iypzP7lDS2y8yJlUxZjhhZIEt2SqgWhB0JHuuuh8DcglckiVoWkQVMtNWpXIG9sHLcxyPTgXgNQudg3atAjJ6SAHUP8PknFm-_Kf4EO7bBRs-LriVMMgKbDETfWO-ODu8SFHhrZdOQdJCTVcuGVPl4MO070LFnAtQmhNG5RAnmwDsyN1jSXzzz4RdUbcNudmrfaLzpal-EhJbUjbz3n10FR5IpcwjQGUmN6bWSEKgoDaxKudh9QAzvKPM9ESQ7wsVOryX9eH7qrqDx82qQ-LxgA0lYPEkDHaoHrd5mcDSKkGJZLqL_ubD1ciRo3GQDxQen-_l0X3_AB8lJ6MwUkecz_3Y3tmEUPaDF55DhVizL97S6wQWMuOTLObQJiF1v_OCI2T6CIVQB-yqRaCp25cRbJzXImn2yzw10ljXAkZwK4o-b60LVjNYfg4lzKQFKKrwbjJgGdl9FQSodL9zn8MsLCDCxhIrr9phQr2DSYe_UT0oNc4DvQcakSzwN1zE39TJNOXDX68TZAGixJUyM21hncFScHn6JpjiGeEcdnRMVedfRUlotB7v7V15WclCAjE3-bg_uQoRpoI7t0IveI21s2kbkyPpzkShxcvP2ECSnTWm2OawKSy4LZW2wcPPUvtufyKryhEITpXBzQ568Kaezp5YLwf2u8Lx4NAQFOMEC1Hnrlaz3C5cdAAzgiUOctepXaKTyl17qf52UuU0ifGGX7JLud3ZZ2FewgrNMPBRGU3Cou5JWUbesPL10u17R6_uUQ6ZWIEvlIUSRuUjGGjjk2NNtJbAndYHPsee8qsD-dXJCKSupfhtVS_c2ArkeEO7D7IPr4Q-vj",
  "id": "rs_06672f6dd205d3b6016ab430d144c887d08db49d212e09a1fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The gray plush now lies between the open jaws in the left wrist view. I’ll lower the grasp point to about the middle of its body before closing.\"}",
  "call_id": "call_YVsvVmUQabjQYrw4dg0w1qn7",
  "id": "fc_06672f6dd205d3b6016ab430d23da887d0b219c3bf6d4654a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YVsvVmUQabjQYrw4dg0w1qn7",
  "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]: [0.0074, 1.3941, 0.3359, 0.4587, -0.0418, -0.0143, 0.9996, -0.0208, 0.8043, 0.6083, -0.3843, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3497 left_y=0.0136 left_z=0.0488 left_yaw=0.0356 left_pitch=-0.0384 left_roll=0.0242 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.4803, 3.7949, 1.0379, 0.3248, -0.1587, -0.0171, -0.1983, -1.0051, 7.0632, 1.746, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d445780c0e5cd16d9f788e0db14b64416be1dc466049fe02bfaa333c89470ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f3da08f6567be3477a447ab08ed921488f57ccad3b0e92f33b62203f61c4d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9e2ed60f7265054fe54ce3583e412ce3d3c23f7349350d4634800e58cd467b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.335 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, 0.7986, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0208, 0.7986, 0.6106, -0.3782, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2961 right_y=-0.0004 right_z=0.1821 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4564, 9.3197, 1.8095, -0.0122, 0.1587, -0.0562, -0.5812, -1.4427, 9.7983, 1.746, -0.0904, 0.0513, -0.0366]",
      "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]: [0.0067, 1.1748, 0.4625, 0.0845, -0.0246, -0.0257, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=0.0102 left_z=0.0962 left_yaw=0.0264 left_pitch=-0.0667 left_roll=0.0056 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0137 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.3026, 6.4615, 1.9902, 0.105, 0.0562, -0.0171, -0.1026, -1.306, 7.0359, 1.7411, -0.0659, -0.0611, -0.0171]",
      "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]: [0.0074, 1.3941, 0.3359, 0.4587, -0.0418, -0.0143, 0.9996, -0.0208, 0.8043, 0.6083, -0.3843, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3497 left_y=0.0136 left_z=0.0488 left_yaw=0.0356 left_pitch=-0.0384 left_roll=0.0242 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.4803, 3.7949, 1.0379, 0.3248, -0.1587, -0.0171, -0.1983, -1.0051, 7.0632, 1.746, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d445780c0e5cd16d9f788e0db14b64416be1dc466049fe02bfaa333c89470ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f3da08f6567be3477a447ab08ed921488f57ccad3b0e92f33b62203f61c4d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9e2ed60f7265054fe54ce3583e412ce3d3c23f7349350d4634800e58cd467b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDV_4aONXRsOnO5Al7NCBM2D-iexRCBB8dSVlP8cXExzEm1lfcHE3rU8hm_nqDqIsZEO4paxX1xQ_6y2x9Y1fBvkKS97GCSQrCYrvGapAeNkHvURtCbya3GDvmBiCc9LSB1AVYjzC80OUy6E7nqmSnbHIwKXvhPGTvOYu0q91OSTovJSUpDW_3GC_KrjYUCBdCWbjq8wqrOXQ2k-UK_yeiYPEMgEhsNfyW9-q92Gr4VXPEyxGHbp1Oc9K7w16tl9xsfYkUw3tYipF8Bq-_Mic3XQbeZG0rmv8ZdcSBkfVp8w0Z4SPk2Owm5YjR9QVxdK1d0ex7yitYpZfBKZ69tJIFusVNlRNY24QJEQjIdlt3AOs1Ivvo1USRLlYGOWlbMXpkFuR6hljHmZ5lp_GgnIlvWlLGOAkcpUAFx7yaikcpJ-ItbFEnzq5iAKqwvusbKymy2Ve0xcFVzRMUGMHN5a1fZSJcEWYO6igaQQs7JblmxJ9SYxnhte6wa3cSgcgIHoS0azqv7lBjTy8ILO1tHzWKmWAXxr4bpBSqKiEgRHbryoPQ7zI4RDkyfOvJh3F2QABsQQ15c-xuOsgwCGPNJUGKSJgHikXbNc8cyrip7dtoCkc6zAh_G78SMttzbMTlk8yMP2-H8YwygI-HdiXO5ljEqQ1RjPQTUWzmy5GNEzV5WngjSQ1Pl8Wun7n4N69NhneMqAOfLFGisr-pFIx6PwgEbX1si9tvSwLnrehvGHj4SEkK4WJATwwK0ImyJg5ZjyPHvQBf38NKfpw_27oKjxARAQ8w4Cdt4xoywS_PA_boZ_3ubvgsKmP34eBjrRTESD0hJZufRPWxLX_TxvCTP90SPDhDBjSU8pBlzkzkPW9w4c-o_Xh4hRZ3WWEjRyFt4d2nQ2UME_TDxYoM2xD9fnqcTr3RO9H7h-FgwxNBBoEq6wbgfbrmmE4KK1KMUT___ICixGKoGqxHN3_QXdmrH98S_2upZkqVahwQrm8ut9twrw1-khMVU_KgeWexHnZUvVZ6h9mxil0HFLCxqZ2G8YXLFHLEbgbDKkGWRuPIYQiBwfz_v4isqqhOj3a-PVlfml1_eDQ3FZqsZFDIinXIPVjTxeXW2jUiZIjkytEqYWmXBvUTOQHbYHETfK0jZvLNX2argyfYIYww4xl3fES--E4lZnLb6AqbV4STNUsXt2qdm1c-u0RGtOyAwff1XiTLP6wkNfC_uJzx9UY2mJyYL4jJuNw==",
  "id": "rs_06672f6dd205d3b6016ab430d4a9e487d0bae6929b47ad5fb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush remains centered at grasp height between the left jaws. I’ll close gently around it, then check whether the gripper holds a nonzero thickness.\"}",
  "call_id": "call_E4EvDXIuLuWSr46DVFmoSofI",
  "id": "fc_06672f6dd205d3b6016ab430d4c83487d0be152863bbc5c10a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E4EvDXIuLuWSr46DVFmoSofI",
  "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]: [0.0082, 1.3987, 0.3313, 0.514, -0.0509, -0.0151, 0.0397, -0.0208, 0.8082, 0.6079, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3553 left_y=0.0155 left_z=0.0571 left_yaw=0.0445 left_pitch=0.0079 left_roll=0.0271 left_gripper=0.0397 right_x=0.2955 right_y=-0.0006 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6291, 5.7231, 1.2137, 0.0269, -0.0317, 1.0281, -0.0889, -1.4701, 7.0906, 1.7509, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d78f4dcc18e07c2c3e8e9271638e9b5cc8757801cd6b0df1a391b9ae39fbc80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e1487908d54c5863fd42b5bc84fc045b24e22eca71fbca8f3f59cd3006637d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4555cdd7c53e1af701ad19d891f832e6d2ead775f8d7c38145ac122de697d4e",
      "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 · 3.643 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]: [-0.2916, 1.1519, 0.577, -0.049, -0.2405, -0.1772, 0.9996, -0.0208, 0.8032, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.0561 left_z=0.1293 left_yaw=-0.0091 left_pitch=-0.0426 left_roll=0.0063 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0004 right_pitch=-0.0134 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.5607, 6.8991, 1.956, -0.2369, -0.0611, -0.0171, -0.2256, -1.5932, 7.5009, 1.7753, -0.0464, -0.0708, -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]: [0.0074, 1.3941, 0.3359, 0.4587, -0.0418, -0.0143, 0.9996, -0.0208, 0.8043, 0.6083, -0.3843, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3497 left_y=0.0136 left_z=0.0488 left_yaw=0.0356 left_pitch=-0.0384 left_roll=0.0242 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.4803, 3.7949, 1.0379, 0.3248, -0.1587, -0.0171, -0.1983, -1.0051, 7.0632, 1.746, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 1.3987, 0.3313, 0.514, -0.0509, -0.0151, 0.0397, -0.0208, 0.8082, 0.6079, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3553 left_y=0.0155 left_z=0.0571 left_yaw=0.0445 left_pitch=0.0079 left_roll=0.0271 left_gripper=0.0397 right_x=0.2955 right_y=-0.0006 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6291, 5.7231, 1.2137, 0.0269, -0.0317, 1.0281, -0.0889, -1.4701, 7.0906, 1.7509, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d78f4dcc18e07c2c3e8e9271638e9b5cc8757801cd6b0df1a391b9ae39fbc80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e1487908d54c5863fd42b5bc84fc045b24e22eca71fbca8f3f59cd3006637d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4555cdd7c53e1af701ad19d891f832e6d2ead775f8d7c38145ac122de697d4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDh4omZDHX31NpfgvDQfuM53_ZWY6VJJD3q3BTq7sycIFCstU79CCikbQcirLAc6QpgHBlElOEGPNo-KxMwk364w4XROnbmsYHCpEsmqjuvq5aWSebuMH3tON84oArWtoQ2daYMHBOsg_tFURak3dbQ9aTTle2x0HKBLY_8BmMoFdNP32v1sIZQmO5ALgDhYdN4BdkiQheaNdmh4Mcdf95x5JTf-OeFSUD8ZWnM-D3-LbMPhVE33fnHne2zP9k0fpddEBSCPDu9PaAvbaPM1e78JzPXJhViptMBUXxfrJ9LtVT1L0moeBWYm6HjdHLK7UqyMcfpECPah5EyA3W8eRGqyVyB5VPeZwOKCdEt6y8lyrVU2vKJXsCN8UlI8l6eywgwYFTvEHVCT727QP8kTISENhh2QlpjFpwYowuZQRQfuj48r7hOo53wdPmfMs18YbmDUUjA3Opp9R8Slpu9y2fG6iTl_yowaijaenK_ieZC1JsltQ1vEbZVPwrgIsT30CZUxS9Egm5kJmXmAAz4S423IHsf9KrEwEWkY7yxZtNIPHKScFQps5t8HK_X8A2pD6lLRb8nfjafSA6aKBxWBp7PrxxYtsUnvDCrgDjp79GxjNuR5PJBolyBlCevT4wKSQK2YULFkD9ze6t2LgZO89ILUNOlp7K3TK3CawEn1Lxlq5uE5IoRYhEYyxp0z9qLXYPcFnauZSj9fDwt9RDMpaFWSbu52bJjOFR_EfQgNszCcQsCebO7QtlE0poF3hTYRv7Plm0W1XGcrFBw-R-js1hbhJkthks6qiJ5h25Yi2El2kPFtOHj9T6w0-mDtV_HABhn9f0Pbnvoa5nmQ5DVTXVRN7ZjaHw1gUYHjWjSWIDKrdlBM6C073FmdlPmZlvcLBsKZ1zmgNOPKtrYBbDb3ArNAwwVBJ4OWQExtt_ZgYz_DJWEO7LjgaRst2kzNHG_h1oCxDUXkZuPeM7dHxLOoDWbIDPdsfCuHdiS1aoCMJWQQIiaxq7tY3Yz80RZZgo4Zpf59rUKMtJvu_MRcD2-5jyw5PXVgrFPxEuJGwUeJKvxsnvx4hx0BLzZnRz4-93KU7rKmEdMBTCNiD1iqowTKGqKEv-JisQsTJo5mustcZbt4ci4Se1QfK-BGi8xf5fhIuPIfkGE303JcmvdIczXppmBeuqvXyp89taEWKUDGNE3aiZasC1P8kdaCXxW9rC5lEmKo8RBLFXrOrS-nfr4D6gU9BYHX1NIqfm1e2wMCCZb9d2P2GkLc774lEwGvH8i73koxK6Yaq9_4kz58I1kCuDWzzUY0Tx6Rw3N2IMC6CB1vdDx52v6FMwdMsW-Lq7U-BW6Q4pv-CdqiPBIGY6Z4gY4yFX_pKQPdFMIfY8ddI2AGI5exSCSKWlcpnGEnuF0vnLNsOCavCAGP4PAN_qeGZ0Ur9ud7s9_KSGfDnKuxKx7RGvWgKIoWr7L1cVOSIrlqmUuXL93pqEx5AQHdRBf_2NFlLT99B2MxWKph9oi4ERbaaFv4qIEqy2iuBcKwEDFWIgOuVTsTyEz4UX3nEsU8JPI3z5et3ZOnbfWB5I-cbgVhfFJnJmS0cunyogG4Akix3I5YPmG2usopejD9P0eCCdMgh8RcACfvdezKe8x-N7HtGg4muryj164FlTZT7CqQftVsCu8Fpo2AfjlChxS5eOwbg==",
  "id": "rs_06672f6dd205d3b6016ab430e06d9487d09bd937b5e1207167",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The closed reading is only about 0.04, which is borderline for an empty grasp, and the plush is still visible ahead of the wrist camera. I’ll lift to see whether anything actually comes up with the jaws.\"}",
  "call_id": "call_XIwjtn0PfMAbULOlobGcok2d",
  "id": "fc_06672f6dd205d3b6016ab430e133b887d095c39c01c60ea209",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XIwjtn0PfMAbULOlobGcok2d",
  "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]: [0.0082, 1.132, 0.5632, -0.0231, -0.0521, -0.0189, 0.0443, -0.0208, 0.8108, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3512 left_y=0.0157 left_z=0.1322 left_yaw=0.0475 left_pitch=-0.0305 left_roll=0.026 left_gripper=0.0443 right_x=0.2956 right_y=-0.0005 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.7248, 9.4154, 1.6142, -0.0415, -0.0073, 1.0281, -0.294, -1.3744, 7.1863, 1.7216, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24e2da1f5d1a0ab21e067c347035dca5a7649cc42b1c1c5d0eb54783f98b0de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e20c2b12908f8d8157d8e2d8d83b1bf593e8c2b8381e3a6ce7891f8df805b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205bd09575fbd4e4d67b081717a3326880276328f775a238598a30d6c3e0fb85",
      "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 · 2.937 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]: [0.0067, 1.1748, 0.4625, 0.0845, -0.0246, -0.0257, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3425 left_y=0.0102 left_z=0.0962 left_yaw=0.0264 left_pitch=-0.0667 left_roll=0.0056 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0137 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.3026, 6.4615, 1.9902, 0.105, 0.0562, -0.0171, -0.1026, -1.306, 7.0359, 1.7411, -0.0659, -0.0611, -0.0171]",
      "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]: [0.0082, 1.3987, 0.3313, 0.514, -0.0509, -0.0151, 0.0397, -0.0208, 0.8082, 0.6079, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3553 left_y=0.0155 left_z=0.0571 left_yaw=0.0445 left_pitch=0.0079 left_roll=0.0271 left_gripper=0.0397 right_x=0.2955 right_y=-0.0006 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6291, 5.7231, 1.2137, 0.0269, -0.0317, 1.0281, -0.0889, -1.4701, 7.0906, 1.7509, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 1.132, 0.5632, -0.0231, -0.0521, -0.0189, 0.0443, -0.0208, 0.8108, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3512 left_y=0.0157 left_z=0.1322 left_yaw=0.0475 left_pitch=-0.0305 left_roll=0.026 left_gripper=0.0443 right_x=0.2956 right_y=-0.0005 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.7248, 9.4154, 1.6142, -0.0415, -0.0073, 1.0281, -0.294, -1.3744, 7.1863, 1.7216, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24e2da1f5d1a0ab21e067c347035dca5a7649cc42b1c1c5d0eb54783f98b0de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e20c2b12908f8d8157d8e2d8d83b1bf593e8c2b8381e3a6ce7891f8df805b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205bd09575fbd4e4d67b081717a3326880276328f775a238598a30d6c3e0fb85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDDmbkwmv-srXs-btKnaLXbXaUfE_q2UluJ-eJUM6TG_28-PxHlFPjVHRw46a1anztx2-wzKl4AUqoogAcYaNHI33JRS9AnN369VxAZ7Bc4MHYjWN6UM4JRx9R_3p9rN6ry9lDmiAQCArgYEH_rF-DqWiVLOZ-gMIAFnnSWZA6g0XwXiRNDlvqCKQrgQD9htz-VdJ5zROV0n7a5HQc5UC5N2ULAU5SaZZfQmnTHBhyFQv8tBZCwu_fYuPBbvJTzeiTkDq3yGE_ovMhO9flk4eN8HQeRva0TQArMXm9Fqh--J-Zzacvoo2AnS_r3PnCt_g00MHAhnfqkwDKLb7f-hrEsAgJM1RvVfxxdxpgFuZ5kR38MPBnQHmKvqCnPN7mvCLMdii9CqrUduruz94tb_24HpPRMyXOm34VHEhmignqDfHcYUfLF6stQ72l8MgmaKu49IYUrEZLxVmHmH0-pO5D51UtzZhFxluf8A1Jxy63K2OMv-42-PuuPPcUacx-HeyrimRW199m8xMSg_S5sJ5GZYXhqv1nwRI1ia7eEa4DT1NmlQdEEet-dOJS0B__8Fzq02IhFdskK8ETO8f5JgOZ58B7ps37jA7_F3L1czi1W-niIhNFJ4zz6qAiS72J2zZ3pqgp7PhW7TmQvTELXOTppgmghVqBnK5hUAYYZsXxleuEMGaJAApO9_zvSpS513vGG4a0VwMqxalCI7hoc5ajQCNFJk9OFDHqsArPsgTvSinhl02CZGCc8R5wgxrN1RbY7QoAaYOuCPJJnDM5jhZGxZmf97wlg672h4trUsSqZkqbYWC-s0RXHlEFDz-LJut2Dp3s31i9kF_lQF4IA7nWQzpznyxtkFqp9qtskhLrlaHq4ktnKlLRj5kOUrRcEnEELclWnMS4zulAgPq-Id90yY0MKKOVlMn23erQUDrWMPOBtAr7k9kqaql4n05CIqifw0jZFh53hwpb5XX52RHLoQLvtSVZAByy3mMeszrUvS3RQBvTzjDgmXQvKvI1927ReYJHdxktySLVAezXNM4CRd8a98oruVYeBGgBp0h3zEPbHBTzFehlpgkajtMAhqvYptNP15zJp20wBME_feHGeDiaOP5ISe-OyTJKO-H6x8mlC8vndTtbPslNv1ACZPfIYXBWM2XB1tgO6aigore9cQvfGPa94xuYbvTjDiaINiFMDLFHYt4qfp2k8S0R7V6zEet9-YU8Hf7PqBVqeV53bBlAF8cMEwMX-cQ6wiwupZjCvqPb38ODB4RD5zJo_tA28b9txgBoeSAgrwh0r_ARxsfeyM-LGPUXqkrNat2KkN4ku8OXc1gzsvu2WD1FJ7-4I_-7oLDJ22RUwjrB2QCHIWt1IAKCikyxXDc0ID91N4qVo75qz8ZJI2ijhEF18rpU3Jmzqc2yw85QcUK6TXBceniYjo-CAYVf8AEdqXAdtlQiPydbWulPSNC67HQFMTw_VpxJN-Gs7nkPgfEpCpouJFw7Yxz3Ye63iiLvM8jfoXocnBaPgld29b9EB9lLT2Bwq477PcpF7t8dYq8NGHDR7JyCsO9im9bwvQo1H8P-2gNe9tcILbIlvG52bEj9K-LMSPJ_9iVQa7eL1Q3SUTQVYma7_2NkIlfngXRzE1N7xG3Me9b_VAojXW2GtyZKaN9tp2vgJ42Y_-LaE1ewqfHb21koAwN-7YYEzwvEUuKFbUt0xgULH-eZy3di-Xv77X3MiYZB2ICXiJF0QgsbtD5ZGjQPbHl0mTxR2YY7zmiQboy0BCgqq_VnrrakGFhei3_R34ryqlL_uudjqJcnLMf0l3T-Ne-sbjQYfe0YwPUbQXSjQF_JUe0Z47orrkaet49pmpYQsneXbgAPZBjbM7MtqbtnvJgG_OtN32yB2Y7HdslNWOB0QW5_x0PvxnU_wgGPGnrFAAk_keOCI8dLwV7VhB7Fw81IQUvQRt47THUHUCxjddWOIQTY148Vl7OQihw38iBeXxD8hXGFdqDx3tLUk4rYVQVpm8DoSqsihRzzObEiV2VKSGajjd3MXEqaW6jp9kiRgs0J3P2ev--oxDmnhGRIs0AMdnPG5LVXKuztOTFU0ycxol7_FBsIoSXulv6LN8O8bf85RVov09ixM1eKucNg==",
  "id": "rs_06672f6dd205d3b6016ab430e44aa487d0a94c5b36ac45ee63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.382,\"left_z\":0.048},\"note\":\"The gray object stayed on the table, so that close was empty. It appears just beyond the fingertip position in the wrist view; I’ll reopen and advance the left jaws about 3 cm before retrying.\"}",
  "call_id": "call_G9PHxQebZaQC6qdMhd9aUDV3",
  "id": "fc_06672f6dd205d3b6016ab430e61d8487d0ab9f9a5d098d90b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G9PHxQebZaQC6qdMhd9aUDV3",
  "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]: [0.0082, 1.528, 0.458, 0.4778, -0.0532, -0.0219, 0.9985, -0.0208, 0.8146, 0.6075, -0.3847, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3835 left_y=0.0161 left_z=0.0522 left_yaw=0.0501 left_pitch=-0.0308 left_roll=0.0241 left_gripper=0.9985 right_x=0.2959 right_y=-0.0005 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.1761, 4.3009, 1.6923, -0.0513, -0.0073, -0.1001, -0.1709, -1.1692, 7.1043, 1.8046, -0.0317, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb224618db80b71aa20452ee163dbfb8e941b3a0e1c2acbf5447b4bc8c94c614",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b6fc5d92efe89c9794035e24bba8e4a78c25e31e5bac21b5d10cfd99cb6e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d9bdd43db2deefe57607f93e3c084c9707bf83675134f47f2bccd98e9ab127",
      "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 · 2.005 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]: [0.0074, 1.3941, 0.3359, 0.4587, -0.0418, -0.0143, 0.9996, -0.0208, 0.8043, 0.6083, -0.3843, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3497 left_y=0.0136 left_z=0.0488 left_yaw=0.0356 left_pitch=-0.0384 left_roll=0.0242 left_gripper=0.9996 right_x=0.2954 right_y=-0.0006 right_z=0.1782 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -3.4803, 3.7949, 1.0379, 0.3248, -0.1587, -0.0171, -0.1983, -1.0051, 7.0632, 1.746, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 1.132, 0.5632, -0.0231, -0.0521, -0.0189, 0.0443, -0.0208, 0.8108, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3512 left_y=0.0157 left_z=0.1322 left_yaw=0.0475 left_pitch=-0.0305 left_roll=0.026 left_gripper=0.0443 right_x=0.2956 right_y=-0.0005 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.7248, 9.4154, 1.6142, -0.0415, -0.0073, 1.0281, -0.294, -1.3744, 7.1863, 1.7216, -0.022, -0.0415, -0.0171]",
      "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]: [0.0082, 1.528, 0.458, 0.4778, -0.0532, -0.0219, 0.9985, -0.0208, 0.8146, 0.6075, -0.3847, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3835 left_y=0.0161 left_z=0.0522 left_yaw=0.0501 left_pitch=-0.0308 left_roll=0.0241 left_gripper=0.9985 right_x=0.2959 right_y=-0.0005 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.1761, 4.3009, 1.6923, -0.0513, -0.0073, -0.1001, -0.1709, -1.1692, 7.1043, 1.8046, -0.0317, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb224618db80b71aa20452ee163dbfb8e941b3a0e1c2acbf5447b4bc8c94c614",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b6fc5d92efe89c9794035e24bba8e4a78c25e31e5bac21b5d10cfd99cb6e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d9bdd43db2deefe57607f93e3c084c9707bf83675134f47f2bccd98e9ab127",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDDtSPhdnd0jwAu0E2lzUQmnsq7Q3Fv2GY73lbua9AEUIvu3VWCyw5MjJ4tU6yhgHpZvtvjOFNtHDT9jVoNLspMP06hBHnKuxQootY-rgNoAZoWKEWdbKIAztZ-V0lzrD4L81Mko-XWF1Z2_upwvbqEkLs9emz9CAtBNrZDWsBFzXxBK38g2ZIemVHyoN1NHpVjIodwZhX9XYXPLmf3F6K3mvGcOC61WOaxqFEAIo1-pm9StGgW_-VzODSxoU-VLPWKI5G-Bo9pAZJMxlZqn2YFHGz8GUMY0ODQ0eHKEDsu8owGuuJttAlO6gm4Jo8bVgWJnqoxbdA__tvBgib6a2kkmaf7XT9SAiem_tcfvWlAU-LlhWv-ITpJRwgSMuo6-wWjXcKSUtFUei-2XOF1pSQaOuBi2WxoLGW2ykbj_Aq-uHJ7dkmCmcDZleeqk1DXNZYas4RsQsfRoBINXlcU0GrvBGx_cTJX3j2EKgQvANvV_M0ydpu-9HVhcKWHGcrbw-S9XiNYQ5Ga6lyKVMyOL5p9zn-WN--qzACTeykwzx9VpeSV7ec5W-ab3k5EXH7S6ovlv1BZH8TONqHoU-wLoPbfI0B63x2a3dnpE-dli-lVxA6jtVHHZPUUBygsidJKX8_XdT5mCjTVDK6Pz0PP4xSYBdeuPot_AzotGXXUs3T5sLZe4mTqhk6Ba46mCj2t50AIiaCLwS5_3RRCen8-hxa1osTAgFqVf1RcUhSg-6QwLFJenVRs394GdGLhJVS9L1YlwkUiXBKSZ1-Kiu5rDR2haGeeJwi1uBvJfUan9PzSHD-YT-EkQO8IKq8h-3UNQzgYesC8cMDr2Br2Ctyy4uiG_NhukgUeY1buvIoaBeMSb74kdKJOcugX0bLlXZjwhDbwU3IBGdxhC3M_8zOhWAPBCA6S8LAYmD7GhD8IEdsaxANT8pSk4O87poMkcEA7NU-isOQQv5EiVN-vZ0j9jxMnC_XzY8AE1rPKZnoKzZRvVltZpuYdu9M6D1RXcFveKW2L_mo1-rdC_TfllQogSNS1kRPwUmchBqEiDE6t_n38g33DHTKqEBGljNDsaKDivUvhssw0JHfcb6hYAaWMn5NE12Oj3K74M7208vVFQvRhFv_7uxz4OTvWe_tnBBPATh-wgR_DbsrDIvzdgPwAUaL6zoGokETKhy9xyCZ5Q4JpF1cIOr210S6jBJTfjBpD1E-xP_xgptUDJfFV9AGuUp_6102REV-bc3EqDxiipOTqzVu8Pd89gnNqOJ1MGuuzNPnVTEQmMu01Z8kKyzdFMkKAyCndyJNS2xgAdGrX0ovsU46yaEmNemaBV6Q4c8kSly7RJqpPUdoB0Bjoy_uGuFsgjIhKQxl0m2GFJFZyq8nXJaR85UocnPpDBHJsqbKuSKLyIDMfBudEGpihS6nvoTk01wgRaT8II_PLsh-AjmxFXC6PMPTNiLJtT_4B6lX-hVAd5FfZ7ndxXofX8SXX6aWaN3PkDf-EmE8JhWGIPqVzKevI7kWehXdgz6WD6FCQZVGI27pAx5VrzWJKN3bi9brCNlFYTJUTOpPvDPfLdQa5tRdigrBLwdZ9YQBxf9hDMnHxQZkel16NdrWSEav-UvoHMpIKbY307z-VUfTguAw5Lt8DGO2EIlzp_D9B_WAJJ-JmNS0HlOBgUSSbgVOG54wkg2WcngfArUU7_k9-ppcVKgpzLuf41psv2Q4Anvbt3kPUL",
  "id": "rs_06672f6dd205d3b6016ab430eb1b9087d0ac61486dd98282ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After advancing, the gray plush fills the lower part of the wrist view between the open jaws. I’ll close at this new position and check whether the jaws stop on the object.\"}",
  "call_id": "call_5gY4ni1nrnL13q6usXmqTY8H",
  "id": "fc_06672f6dd205d3b6016ab430ec782087d0b26ec96eae2e1704",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5gY4ni1nrnL13q6usXmqTY8H",
  "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]: [0.0082, 1.5333, 0.4561, 0.5144, -0.0593, -0.0261, 0.0806, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=0.0172 left_z=0.0571 left_yaw=0.0575 left_pitch=-0.0013 left_roll=0.0226 left_gripper=0.0806 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0103, 5.6684, 1.37, -0.0122, -0.0073, 1.0281, -0.0615, -1.3744, 7.0496, 1.746, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d164088cb4203f27ea6d2179afb22e59a24ca9a7991b44b8d914279029a4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2435595ea4626dbfb7fc3ef3813a0b2be3944588820d8764965a02c149a3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ef07f8e1875f36720c878beb6e9e6999fbea649291cb457a0d707961375841",
      "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 · 5.807 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]: [0.0082, 1.3987, 0.3313, 0.514, -0.0509, -0.0151, 0.0397, -0.0208, 0.8082, 0.6079, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3553 left_y=0.0155 left_z=0.0571 left_yaw=0.0445 left_pitch=0.0079 left_roll=0.0271 left_gripper=0.0397 right_x=0.2955 right_y=-0.0006 right_z=0.1768 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6291, 5.7231, 1.2137, 0.0269, -0.0317, 1.0281, -0.0889, -1.4701, 7.0906, 1.7509, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 1.528, 0.458, 0.4778, -0.0532, -0.0219, 0.9985, -0.0208, 0.8146, 0.6075, -0.3847, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3835 left_y=0.0161 left_z=0.0522 left_yaw=0.0501 left_pitch=-0.0308 left_roll=0.0241 left_gripper=0.9985 right_x=0.2959 right_y=-0.0005 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.1761, 4.3009, 1.6923, -0.0513, -0.0073, -0.1001, -0.1709, -1.1692, 7.1043, 1.8046, -0.0317, -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 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]: [0.0082, 1.5333, 0.4561, 0.5144, -0.0593, -0.0261, 0.0806, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=0.0172 left_z=0.0571 left_yaw=0.0575 left_pitch=-0.0013 left_roll=0.0226 left_gripper=0.0806 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0103, 5.6684, 1.37, -0.0122, -0.0073, 1.0281, -0.0615, -1.3744, 7.0496, 1.746, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d164088cb4203f27ea6d2179afb22e59a24ca9a7991b44b8d914279029a4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2435595ea4626dbfb7fc3ef3813a0b2be3944588820d8764965a02c149a3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ef07f8e1875f36720c878beb6e9e6999fbea649291cb457a0d707961375841",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDDzLfLmq6b_Xh4fGrDcFd4NXk6PY0I3A9PqrbiiGQRfEQ-t-3KViu38wEsTxN9mMfWfnAHO0ApUA3SEt9KmO3b66XaTbGXwE4t2pUtHklK3Da3k6RY8f6bfq-gMSq6wQPng60fAQ0h9_OVVMbFzvku5YQS83o0v-B9ixrsv1hi7fEddo30YFoke4yWkyaOjyNzmNqjzWVc_t7LSs3pkgJspttze_KEmp7k79vT0iahaGR0Lmapkc9RlPMgbU2Z-C1DlrEThWVEF1vEF4yugZaZws-o3EzUFEkq542BNqseyzmUOR-umWUDgc2fHJqtT0olBtDuoc9-N91zaBuFkmCUkozHSpuY6RNTx7wzDfsESMungsop1SEFLMCE-D_2bJTtiV3IdtMu_8wWZKn5ACw-LtI_SpoqeKECOVHBjEzbI_75_5M0zfAYp4V0rSOhKHf1eXjCoVmyX-oJqNV9DahonNin0bmYYDwuyoqXdSU8bZmy1knm_tfq5p4i1_dnvROXe_6xY3XMzcvgTyhw-alXNTXJglU91YSiCNxu2ZY0nAgYFGwVvDftOqn8Q5Jbxq-n-VwvDCGsS9H79075X6ZLBgz64rVHLoSRkKHIivvMNf3F41-IqCmnMR_FlwN_SZyRmmuMHF59EIacrO-Yrn1KO1HGk3TA-gZVO0uziM4q-ob4BzPzlwYyYoRnoJWifYDqZeCMF9-oUOcHtM6r8BEfmc3tPH1XxTcn8wQFQUGGBWNSNtQicF12i2FsXwN7CrM6vxu2gAdpw2D_5kma-6ex9cb2wOZFUBtQVcDDwGhI-exhfbJFjDsjKDpLoeLSeTx_Cotd4jIoGIz4o2fEsJqrLExO1Ea8EnAKyiaj1IqbGhw8IigNtWt7sARKHgPejxai5TNvkgXMxx2pnKxV3420qB7KUA4Aysrs04EL_sGL1mBF1CVWo5ZM5xeC0U1yiH-8u_xCHKPqF2Lt0iiJCv2RGbfw3CfpBwk6JinUnyuoq5TknCdkfRzcgV-m7BpkvAtPscvPRK4r8FshHxFeBQkgj4XQk7vyyj3LrKboVpmyjGlxzbG7CeTGzG_jwWiZUQ4mR0-eqmxKX8MYNWjp6Uwoe67DcQHCItsjmo2JCX5Hx52LnZRSl7z-qOvYRgGu-yB31XPKc0c2A10pStrBLBl7d2II_RrwpIOZXOTik2foT8tWo3JtGqx_CHsMj-EwI5SY6nzkD-0WaHQ1H1JcNVAloH9xMTOSGuoR7_ZBA6anCMgM=",
  "id": "rs_06672f6dd205d3b6016ab430f2f0dc87d0be81e91998395c55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"This time the closed jaw reading is about 0.08, larger than the earlier empty grasp. I’ll lift the left arm to confirm whether the plush moves with it.\"}",
  "call_id": "call_D8nbVD91Qn4B8hVgFwE8RZHR",
  "id": "fc_06672f6dd205d3b6016ab430f3210887d0bf1c321a6184fd47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D8nbVD91Qn4B8hVgFwE8RZHR",
  "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]: [0.0082, 1.2869, 0.6609, -0.0086, -0.0597, -0.0338, 0.0834, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3782 left_y=0.0172 left_z=0.1246 left_yaw=0.062 left_pitch=-0.0727 left_roll=0.0202 left_gripper=0.0834 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5299, 9.1966, 1.9023, -0.0513, 0.0464, 0.5934, -0.2803, -1.3744, 7.0085, 1.7118, -0.0415, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f417b8c601cd761962dee17fa3b7768c555752c32d416fe550f929e90137934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdff67502b355f6c26c3e42a9277745cdca04c92861d8040f2e4b1f3c030871",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3921c5eb8313b91bad5a14bb2664f298c847ba50e57e4f3890c9daa18dc9d6c",
      "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 · 4.339 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]: [0.0082, 1.132, 0.5632, -0.0231, -0.0521, -0.0189, 0.0443, -0.0208, 0.8108, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3512 left_y=0.0157 left_z=0.1322 left_yaw=0.0475 left_pitch=-0.0305 left_roll=0.026 left_gripper=0.0443 right_x=0.2956 right_y=-0.0005 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -4.7248, 9.4154, 1.6142, -0.0415, -0.0073, 1.0281, -0.294, -1.3744, 7.1863, 1.7216, -0.022, -0.0415, -0.0171]",
      "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]: [0.0082, 1.5333, 0.4561, 0.5144, -0.0593, -0.0261, 0.0806, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=0.0172 left_z=0.0571 left_yaw=0.0575 left_pitch=-0.0013 left_roll=0.0226 left_gripper=0.0806 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0103, 5.6684, 1.37, -0.0122, -0.0073, 1.0281, -0.0615, -1.3744, 7.0496, 1.746, -0.0513, -0.0659, -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 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]: [0.0082, 1.2869, 0.6609, -0.0086, -0.0597, -0.0338, 0.0834, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3782 left_y=0.0172 left_z=0.1246 left_yaw=0.062 left_pitch=-0.0727 left_roll=0.0202 left_gripper=0.0834 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5299, 9.1966, 1.9023, -0.0513, 0.0464, 0.5934, -0.2803, -1.3744, 7.0085, 1.7118, -0.0415, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f417b8c601cd761962dee17fa3b7768c555752c32d416fe550f929e90137934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdff67502b355f6c26c3e42a9277745cdca04c92861d8040f2e4b1f3c030871",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3921c5eb8313b91bad5a14bb2664f298c847ba50e57e4f3890c9daa18dc9d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDD7tcTTKh4wI9EWIM2jcM7-UIebeEEO1OLMArKxRlTNY3imYUBC5FmT_LO85yW1ciMbHPu3ajFBUp47F7vKCcdUyXaiGltsDoJ77YzTRjM-JCEbu_FCFseHFIf8m6Bv-Bd7AuHqbhAqD8ZLw9HDlc5OGreLqSVkwDaCYA6fAw2rwtAi3eLROMjadibLbbFdcz6JHIqW3xidcrW569TPt0mNJtzpa1sFnqSmdV3I5eW8KqSAJDz4HohYjS5jBIixhcg1YAqjzSOtqqOgTHLPvlBMhITg0uo0pDT5mkTig-qAQY9Xgn6mwNJFaVlwEhf8ciAIF5vz__MevANSKLdpuhiHLU4km5UVE0fP3heTpuRDrVmWWqVRNqzxSAQUPeZgrkk4Msg0NTiK_4JtwH1ZhdjC_LozOhOVxFtf55V_7b-5eQAsDijRcXkBTuclpPXMoLQt88lRcVZj5t70ORqH3_39erJ05PBUJWHmxb0OCwarqqmlZ_CVMjHNP6b42KxxuW1JdKtIl74NxEkgBZ8acLEgu5olm51aoWBRyJc7LmuS5VbBBzoSoVNDaNWZ3QSz_gtKSijSsjGN4FYo511CKtZMHN1y0oHCAvd5keiyNpu_-mnBr7_IO1wRMTXxMeewhPwX47NlRv08lJ1R4wLA671W2ErO1JiAUkwPYZUHnHKsS1_T2rKgzwGVASYhlO0PiLs7Y5ZvGbpb0YFUqXzSPHnai7GX_Lp7AuqT3t6jXPysH2st7Zk3gy-oKLZnP3nDRLfie4yX3y5vMZmhPmSqs84yiyUK355xQGZXI4pVRx2aXUw4Qur9Emj3_ndDrbyJ3fqHI-8L5oDo1LF_u9f4eNYLCtxIiA9jymB9L-fYJfnakx-_NKZvoJcPjfaGD_81c36HBhifvScwAWgnMfoOPRqccMFiJ4k9ep327c4xCuWM38x6yNEktFMqmOx-vtIbQLN_yG5U0sJ2z_dBs6QzQwrU34xpDd-N6jnwus3Ts6I3wdgtIftI9P_gNDb0dxIqd40WNG4kodWGZA_pmwdwB1KJjTKf4iz4DQr6Bay1c0VVLyPK7gyQQbNhirBVR3xx9p4yk_Hw2W6-bm3dQByuB068AcnNgnrRnEdCGPQ3ZGGGC5vbQthnz42sSJEZR95eFmikQnxCkFQIsa2ab_nLNbiXL_pRXJZ1TyRD4tDJSAFBLap5-vqVQrrHrn4Y5kKZekcl8D_LAT3V48VNLvXcWl2vddhFyZVBVl6xdo7P4QFNd5k2mme9DVIbMue08DnskKJahYQnstuoxQ7hU5e0VBkJ_pQ0JTQKpipbMGijglPjw_sIK58-bipZe_PnPx1kfh2fi_YnOkkQdwywetssaw_gK4XSOBcYkv57XI8AkkhTdHird5IuPuQB442EoJLFHR5NxTaSle7tu11nZt72lUCumrW0lIcPo5w8CWZobsEOb08nrhZ0APpPX3eeTTUyU7eh8PqSVMbzJTn29jVetzwbwRKRksf1XZESdDbLieIyTT0rvnr6VInAQEiFDd6CzkEfP5n1R0ZR6EtJg4Bde2DHftXInaA2gB8JO7mnPQuZBO_Yj2eKERdoGO7KHV0t-QDlskugcRCQ_I1crqfuf2KsxioahlWvRnTXxLZCuB-r3bBrvRN8RcEszRUELL9x_dkyg7pdT3kBVeOfCIhGBc4wHuym_qjQd7mhrp_wI37n33D0EOm7-aKNlKw6AYNvpRs-yaq6jHpdaFvcLMD7Kwy1jpK6J4A5ovcTh6UtsvBJCv_5OBIka4Lu7iK4QCuYEkj3V33To6pwsoNqsGLIOdWwUbivf_NfMUhYYF6rdbAcs__WJdPwmV4JQ2S4ZT3HNAmSRsc4LRZhp75PB-Lxk_jLH49l4k3ywUxSJ5WZvTsdrsh4axLKdArlzQ1LoFB2VmfQ1jvnpPSpdr4dC89YgsEra-J6WRiJNjdi0IlxlXMhYuKNI7H2qHhK7QeLENB8ktAXHUcaCDKYKCSHaqk2mY_On_j1u6iD9YIQ2E2wNUgBZ6F8E9ey5kHTViYcB4yNlrY1WzcrOUTbnLmyuTR-Q7_eVF_slZpiU0d9JyhdF3vuFA9NwViIzvTOK0D08zhVA42QQFO6JMNvaJo1RrV67JVCWRiMVRoMUnPMJzQZ6WJ8Z7beEES_1VAQ3dBt04o4IC4mhHTsYR-2dJFjvwGSCo8EyTbyfq_7zBSujl5PMuj8wMWqw_oOijKhQxxKxj4_hyUQ5i8avB4a9hOmZx3DtZlJTJM065RS2GCp78T2pjbiKs1iw1he-r7u7B3FZr_kgFZNlm663KCIgRFWjpXL8_o4eu2PC0GTBWwgy4C-RoAUfUWt_Phv6X_T8i-j50020uGtFLwKcJy2gUXbtBjgZqWgEF4ePZEE6PwLVOt-YANE6jYCHD3vHl3x39JIVbq9-FLoF8K9rRqBNreYytlJaSq27ei7J5a-e3r42F6_7AYCiD8ikKEwSK-4MtpRj_Hz-gMet2UMEgwMhFMPEy5CD4USyB7-THawdqDFVsWkVTu4FWWWzTNJkhsArWXa6VqDh22nU1RCKrwPTVsK9iEZf-nau9LlPp2nhYfYnLNWhDb3uPl2FGEJAtu9MNAtLrPo_3a0SAwCMQ1zUcFIQa2rgdjcVIyMWdKTaEBPlI_EDimPPljJR_kHe8LaTXk46Dej2EatHjL9bbOhbrjk3rel3i1JeOqF5lghfu9cb_zvsVG9i1MGG2FHr4FzQWIyr41Vy8X0WWNYdLDWCevTg9oSMPXv9wIt2nRRpaU3y_aZda79cVoJTJEb8hTC-xcxFign1E995QhnvkkdFCSlR-O3Ow93DM10EqAf3q9A5hHKXT96Q2IxaCArh0SnGzU6IFIl3Sg5Re-RF4Ab91-sr8PUYNWeog8BSFGrOLzFvo9BRjnsbKxLLacNBB6D_fTdTadjybE_fqqrP66ZGlfkQsTdZoJin91XeACqSs3cu-a9rB58UWbAEATJAZpBLT4yteyTukDdUjplmSt-nRD056RV6lCOrFZV0RwYJXl88uhdOizJr80cIMCmBS6ImOjWpJxIaHtVBPLvzgm5LPn6Z_qjocgvM1He1lQzbIWXFPOiGGlu_PDaMx4h9Qv7LiBZs1wXTXoI_mM0l5ruXGy2pFj8veLLqgWHMUtojv_vnh_VxYVv4yLJUIHmBsb0nXwECs050Zik1Km2wXVe05x9ZF_7yD8tQSTCfwClybGXXCPBHOzEo3j0WVoOzCXBCnlNiwoDWJJ_qR4f3_vDiuGrYRvW_PPEqJqmFjGF8jsJaDwFoGNiyJb_WKQK6fbrNoeu8iipBfm-PEcQHMG0l8HUSlPnclVD2qoL5Libqbk5rL9Gwts77buCErx7Tg1Wsif1Q6K6foBL",
  "id": "rs_06672f6dd205d3b6016ab430f7103c87d0b40add71b227091c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.463,\"left_y\":-0.105,\"left_z\":0.235},\"note\":\"The jaws still hold a measurable thickness after lifting, though the arm hides part of the object in the overhead view. I’ll carry this first gray candidate above the left basket and keep enough height to clear its rim.\"}",
  "call_id": "call_1x8EwkF60YCUimbWeoXJNw3K",
  "id": "fc_06672f6dd205d3b6016ab430fac82087d08a5eb1d59c8a44eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1x8EwkF60YCUimbWeoXJNw3K",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3466, 1.6199, 1.3548, -0.4549, -0.3275, -0.2672, 0.0857, -0.0208, 0.8185, 0.6075, -0.3855, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4566 left_y=-0.1007 left_z=0.213 left_yaw=0.0588 left_pitch=-0.1137 left_roll=0.0175 left_gripper=0.0857 right_x=0.296 right_y=-0.0005 right_z=0.1737 right_yaw=-0.0004 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.7043, 9.4154, 1.6679, -0.2613, 0.1832, 0.7057, -0.2393, -1.6752, 7.1863, 1.7118, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796922080d039a81934c03dff25b397ffc74fdf10c4507a3dcba74ffff752cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33036a7455a7101890b68925ca6425060347e573e4c888f721e7958095a116a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40880e94269deb04b549abc05b173af50c45038972724fd60afdce8c6915b7b2",
      "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 · 4.868 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]: [0.0082, 1.528, 0.458, 0.4778, -0.0532, -0.0219, 0.9985, -0.0208, 0.8146, 0.6075, -0.3847, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3835 left_y=0.0161 left_z=0.0522 left_yaw=0.0501 left_pitch=-0.0308 left_roll=0.0241 left_gripper=0.9985 right_x=0.2959 right_y=-0.0005 right_z=0.1749 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.1761, 4.3009, 1.6923, -0.0513, -0.0073, -0.1001, -0.1709, -1.1692, 7.1043, 1.8046, -0.0317, -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 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]: [0.0082, 1.2869, 0.6609, -0.0086, -0.0597, -0.0338, 0.0834, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3782 left_y=0.0172 left_z=0.1246 left_yaw=0.062 left_pitch=-0.0727 left_roll=0.0202 left_gripper=0.0834 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5299, 9.1966, 1.9023, -0.0513, 0.0464, 0.5934, -0.2803, -1.3744, 7.0085, 1.7118, -0.0415, -0.0855, -0.0122]",
      "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]: [-0.3466, 1.6199, 1.3548, -0.4549, -0.3275, -0.2672, 0.0857, -0.0208, 0.8185, 0.6075, -0.3855, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4566 left_y=-0.1007 left_z=0.213 left_yaw=0.0588 left_pitch=-0.1137 left_roll=0.0175 left_gripper=0.0857 right_x=0.296 right_y=-0.0005 right_z=0.1737 right_yaw=-0.0004 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.7043, 9.4154, 1.6679, -0.2613, 0.1832, 0.7057, -0.2393, -1.6752, 7.1863, 1.7118, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796922080d039a81934c03dff25b397ffc74fdf10c4507a3dcba74ffff752cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33036a7455a7101890b68925ca6425060347e573e4c888f721e7958095a116a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40880e94269deb04b549abc05b173af50c45038972724fd60afdce8c6915b7b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEE4kLLcah2HrLpanrvrJwveYUGMqbAdzcuQWDAOXUaqhTmnzKzo5R09UTrsWtBKMYzzZsJ2IDNAUIqjfOiQE3RaZhsrp053367JeQ1h4MSgENTuzqj4bVYAa0Og-rlEKtJXPiMMASn0MZdCOzzH179vUCTzdTg5JcLKDe8MAzFiekZ_c0LvDgrW1BhznwTMEP73mCsoVEyZBqhlLdAwdcdv7vBmWCswb8h3TWuLILtOgJNIqhXVsQYFCSv22tKL0JKVIVxAq31OHi1QHFSXV034PTPyVeAU6K2Eb8DmlzwBAxWgw5lon2uIEgoM9q14tfS2tcNIs_VJw3-XSE8FUuntjA3o-h9kZJ3UfHVzDR4YgQD8rzEG16uAGr_Tfyn0y0SFEDSSXRAw-0_FKSwSko5-KEGwHNqmuv192o50Z86eeYp0o3ryClV3mMZdeNuMPhR4Rq_Xrka4Vy1zFe2wq3TYARZA3SJ43FpDPCmYYJFwcLWwOjnG8x9x5MhEzw9qAcpAisXccYEvR5fCVPgoRwYCSmURlGQ0p1QdIsMaCq2nK8zwcHqtnpv1mBV6ffTRaEr_T-WxX0AaBs3ud6DDCJ7xFwLLz6GYqnYDUn4M1MUDoDehDm1e6Oz8oj5T8tW_AJfDkvCWbRmP-YK4Aayw1etrmUuECzArKn_GUzxWqTzXXcyE7bUSzDS-K9mO18mZ5ncLWqPeA-P4YhndTdL4UHR7L8nGS-98xvP9sKJJKIGNXauOimaI6wAxJQkU7BXwWaoxmKO4cCZBvlaasL93xqrhaYkC4gkoUmA-AKdw7GBZPVBMsg02WplRPHrN2_BLs4UmiXnuWwk775PK-lhEvwTNJ3MsjquaUhiVh_EWcVAYkSF2Q1OiuX8rgLBhhWnS-Ov5a-7Wa8K4r4C_2lHR8PX4hqdZmLEHEPH25SEU7D8c7BBvZQ6AByanxSHkLCmJrFx-9MbM-cDExfZXzv6Hnyzv5wf0VdvGBvrg1jacAwl-RQdB9WCuB6Y0qZHis7tgcU6iJ8bgDApF7z8eI_eNra7WCmgSaRxc2jp5HhVyf29sYpwI1hcE7uKJAb-zxrhbG3FBkXXLVbvc7eJ6weu4YDdk-5IddjhGzdMrBF_u3pjUlZ5e4oBQOrMH4BTFYmiWFZpjniEGM6e9nbG-BUpquOzPQ16zC7qbl-FWBVlqUBtvW9kOv1mfEbzdhwO48YtH3Now1eq66o-DFuPUuRcdaLLiX8cMoLjhKCvIIFmySslkU8EOM-x-cu8gbkvomP2YP-_RmmGE60ZpOKuk0fKyJXcD5F5t7T0ig57VyrVealr_4M9KZ5zLnuZ3g9nBshvivA6BozWpupBbdfwRdyHJmoCB0MAA_RZ-0aMrkqlqA9Z9N-i52nN4CO11O3qx49WYj80zCpGI1wBdlg3fkzEOGpe4x8AsgkOxddbE1Rr18zZStbY5kyyCwuV186QgstzSAxZYdSXcN8K5Oxtw44X0YScNpVC_OlD70o9_IXYv8G-MlQ8hXRvOiwbYRrG4GlksLRO7AVbgAw1-GElnHLF0lkY9r5k1UaJtR0ZpXIiThBo5p7eyoEcgvWUJB86YI_4ZLYmBVFYKjjirvJXgafrRLAdl4gkBrX2iFuW1xim-OnyOUtMHMb_M9bZKwMXFGLnbDO81iRgZBaLsiJ-9MvlEXFU0JNa4CG21PDO9WEqlHpJOmIQBXc4TEyz9KvwRK9uYQmPmiKSXVdRByDc5zoa3K410NKFakQ6zQ5QghxKQgT_GzA5efp-lIMOW7cX1tfuAF8kltcUIx7j20CZBbumQ7-G44sH2rG74K7vKOF8Qb_h1KxDF8KzkXuYGM9yjZvfpTMG1HdY5tHWmvNMsnmWLGkjmL53wzfX9jJkW5yVREbn9KDX3ZwTM4k-Thl0POLbgN-qMvVQbD57noLNociVSf2LXt1leoEk-YKWEvHmOgSSMADuB5aSBDbGq3VWu5ZxtCk4mT8HkcqxOLzsOxPAKAcAXTacSuYgN6W1NPH8M42PqodCucahZ9uGz8qvsgGq04VnBgfidbCP3wckr3JZels8RZbfh7ztFMsXlQS9QNRJjoCY1wgm242yeKdHoTswdL_3DoBJNt1V6KzjBLr4RLyTru_fwTGvb_TH0UK44E35QRWWPcyWmvu-MHuSxmCTl2ilVVKmZ2cFj8TW4Bgx4pfBq4_DhCD1P8WeZQCoixu0H0GDJhOFCJ0H9jUDtti801euua_Y4mCed_KQ6l1Y6fZUDfHKhG5Tek9GUlg67DDQaSK_4SOR9dyzISDMaf4s9Na7vKe-CGzbQcPqOZX5Sg0_S01bGAfqcD92EKzhS_SlCx7HdnzrVFRnosHzgLekRT5obOdP0bhfV3tP--Y4jV-mqtKN8SiiZjd8XOiqE_636l3BlAV5vSQ00JMWCrvWJX2tO91oxaglNaUUrck_oUiCDnAFANIn5loLYhLghzGA_IjddSS3VWxmhoe_NDgxYXMF5vPAE52z5-oqGvZC_rPsh0XYJTYJa1mbgUXklK50Ky89WQpuzg5YKLBNSxf4Z5TSdbnQm6x9tgSAQDYYpzhYciNPYd3eqc2OPIEJHiLzKazndcOQsVsu2IVSXWI-AyC_OoSpWHjACPFxkZYwskmf0zOEckqoZMXj1O3ujawzzYU9E3yHCH9Vy_m-HHhKPbBQlldLTSArl5uLrdgs7r8BPAxSffs02gJpp2Gz21V2Yt9Ptfkaz5-Qoh-lDUDoB3hC",
  "id": "rs_06672f6dd205d3b6016ab4310195ec87d08252430126127a95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gray plush has moved with the left gripper and is now above the left basket, which fills the wrist view. I’ll lower it inside while watching for the basket bottom or rim.\"}",
  "call_id": "call_L19vxg6SCHyP4SfuejnXaohg",
  "id": "fc_06672f6dd205d3b6016ab43103d24c87d0b2cd3aa9e9a89515",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L19vxg6SCHyP4SfuejnXaohg",
  "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]: [-0.3489, 1.6669, 1.0645, -0.0383, -0.3378, -0.2771, 0.0857, -0.0208, 0.8211, 0.6075, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1027 left_z=0.1441 left_yaw=0.0678 left_pitch=-0.0383 left_roll=-0.0164 left_gripper=0.0857 right_x=0.2963 right_y=-0.0005 right_z=0.173 right_yaw=-0.0004 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.4103, 4.4103, 0.8083, -0.0171, 0.0806, 0.6081, -0.1026, -1.5932, 7.1043, 1.707, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3bf46550965e68a49dfe1607f845c547b26fa4c314123833016da3716af5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594272791874ec2f001249e4b76ae033cbe111ef4b71b2404bd16a865ff70769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d02aa867ada6f4db0ff9fff20aeef763ccde7c0680075552d6873740e714bd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.181 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]: [0.0082, 1.5333, 0.4561, 0.5144, -0.0593, -0.0261, 0.0806, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=0.0172 left_z=0.0571 left_yaw=0.0575 left_pitch=-0.0013 left_roll=0.0226 left_gripper=0.0806 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0103, 5.6684, 1.37, -0.0122, -0.0073, 1.0281, -0.0615, -1.3744, 7.0496, 1.746, -0.0513, -0.0659, -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 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]: [-0.3466, 1.6199, 1.3548, -0.4549, -0.3275, -0.2672, 0.0857, -0.0208, 0.8185, 0.6075, -0.3855, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4566 left_y=-0.1007 left_z=0.213 left_yaw=0.0588 left_pitch=-0.1137 left_roll=0.0175 left_gripper=0.0857 right_x=0.296 right_y=-0.0005 right_z=0.1737 right_yaw=-0.0004 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.7043, 9.4154, 1.6679, -0.2613, 0.1832, 0.7057, -0.2393, -1.6752, 7.1863, 1.7118, -0.0122, -0.0171, -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 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]: [-0.3489, 1.6669, 1.0645, -0.0383, -0.3378, -0.2771, 0.0857, -0.0208, 0.8211, 0.6075, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1027 left_z=0.1441 left_yaw=0.0678 left_pitch=-0.0383 left_roll=-0.0164 left_gripper=0.0857 right_x=0.2963 right_y=-0.0005 right_z=0.173 right_yaw=-0.0004 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.4103, 4.4103, 0.8083, -0.0171, 0.0806, 0.6081, -0.1026, -1.5932, 7.1043, 1.707, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3bf46550965e68a49dfe1607f845c547b26fa4c314123833016da3716af5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594272791874ec2f001249e4b76ae033cbe111ef4b71b2404bd16a865ff70769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d02aa867ada6f4db0ff9fff20aeef763ccde7c0680075552d6873740e714bd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEKx6E_2RYywemAt-OFib0NsZUtl8nZwoDlVVM6AS7mGgwSE-51esQwsWueQhsWamyY5FqujqDiFKfcQEQlcnIt7tR47PDTM7VyjdNSNGD13fezUOBns_3yw2vbsLE1lzOTzn4k51eUUaXxaevdPH86Gm8bLmWWb7c-5k5lC4UxoX3DUVhHnwT3RFRQhzYCAAFzRHU6fs8hfcuVDpdVC5RbgtnmJBi2OHuBx5onmCV9FU8vyGV1_8NVZAOTkAWPf-BjHnO0GI6NgDe29_C28_LI_oNEisZSkbT_EO_bUVq0qFrOMoVCshgfqI-Y8FgpPkmyjxw_41i-87dFFrfF4gjt6IWzS4TguFbZ_z8OpqMAuw6xsvREucbGVTVARIhBnQC37VTZHv3davQ0AfmHF-z45L-zIT9H0j4w3va-1CpPMN__zoyreeMZ_Kz6b2ip4HHHSgcmIIt1RqReWYjtZZ_oJM28PeoDwJgSOwE_bEFhyL70vCyB-8IBTZMxIPQg5elkn_8RkphcEBImhBOiFILWH92QIrqpnHgUgLLrx766oJm0L0xJz38vqdut7pRkkrq_nYvNPr6MPs2Q5cntnOy-H8ARWHo4U1cbOPYhX6cshyiwwNidt35BLEHlbAvRMrs07FTFvPezHILShu5GEMdFSQVjf7JpROJCiBPj8jJ1NTXAEc9AFzTqvFzgmQu7_JqbRgAkWfcGV9j-EqKppIrA2vQMwVkhRZxYsxeOGyokhaaH024Wo9otK_c0aJ9pBBFI1YVkiQ4QAPAI2p6OCdVa3v0gBduJ5S5QN2TPExV8sJnwcjfOOoShZ3oFn5gGDXTpkszcAWV6kvzt4dq8lfePNF6YXe7oGeG_YbP2RN7M_qNqcXT2yhiBPa5X9olCfBRuHRx9b8B4AT2iRF16CddyXQqDc3Vk8AcRBeiqFZt5HymRyiF2JOZLTS1qBjso08yRaMWy-eq9G4cdbJ1-Tb8NZdSsxx75AP_8XY1YwGy92tTBY6s9GT0PcsQlQI6fBwUFomah__KZ-w-oVIijYjrz8w7S7wnO_yvrOWVDHG6-0-dxhSQ1YsRZCE0j7v1N3mGN0FNtARRtr1brgAv08DEQK6FQoUEplzLnJtVXbo-HCc8oQ22zswz4MA1Bf3F3NC9RCKR0yVAKiW-omMcUTnQO2fGwgfFjvM4mHuQkCmDnlVTv3-sAcoNZEQjppGsVxlncvITR0_sYfwnu7tEstaptUsVr3RCp4lFwkojunPVEcZJQU1fnF8nLo4VHurFkW7iFzc49mpD-TjM15PPTkVGe9zIk-FmPTNcYwl-9kIi-7FGmndnzisrBf-c_iDkV0geXwM8gYQ73RLLZTRUvA1w8xQpD1M9cHQbAe7YHU31PQEnVPFc79xf3n05gUf528oIaA07fQID-nr68fqMM0dRW51jsRIFkYJ4MO3JADMPA5orGSO2ouQQcUi388Nab30Sg_Sy3i2CDqJw0UMjSH8usbOfvEpSu3QDlBfjDEHVnz6q1CTOi9fBq_wlpX_39vKudYT2OWCBTYvF_RHFAUczkXWOXuEyQGdqPckXv5-sZClXo2r5hG5OekY5MySfBpsP_lxF0kzqy-mUxZiUePUw6ttVsUAg4nxT4JuJmih4hdnicSp4Z02-ITTNx5dujpNBtKHuGxX3P5gjKdWaeGtyXbCbHPhmM54k-jufbG7Q1b2EatSnCpshx-nkJc4Zi0mV1YoQhN0_08YA4Df1sNohsKILfvhFbtJtyrgGfp40rUqx_ifWCvsk70VE2rODsWCX-8BVFz3Q17c9-mQ8WOI4Bst-tytBxAZfDT05ZjAhQJO4FGNWDHc5TmogNvFqMWk6L0iz6FwwmcYXKzYu6npQFimahXqkDYTm1dixxHlwBWA0Q-juKGn2uHZgTWEFmSkWRDHcr4Q_GBcQw9NzbumqjDFQM19vMmbEMyZqzxAiCaoC5OH6nOGkFyTdAlqTjMcHoWREBsk_p5QZ7_A0SkFshCpHDk_Orf5WMT49XYhM5dt0KYVyck37XvNp1oEOpuoPCgGIf5CY0Q3YZfMow9KsISi2kEMOuxupMOaCLZlDRo_CygxZ3aFtA3cHx3TLRudVIe--tiKl1r1bmFEO97Cwt6NUgpcXs4XJSn7jS9IIC4nKdpXPbGBIs9Fg-ARe84j1cGqCCJmCCOVR3RWxcewgK9o2q_Ci98HGjwL58OEvxLJI_WorsAfcTyFjfWDlj2D7G0oOb1HvQ0MmuZWS-Z8WoFkCM_JuL5zfrmHbJZEv_SmB7RE8FydFRiRoXne2ZpvI8CPa-DfOJSzbRPMpJtBQKvOD_pEYQtMjElaHYptlZ4KcD_SgHk0NCy9yB2mZ2x8QCfmbDs7dGUa4QqVcKYV3y0BRAY0t4DaWi1slrFj0ZuOPJlg3ekQkIah8LJHzj128DpiKZM8tP5HYo3PFUd5eemNbgIZ9-g100gMJrPyNnPnMSnASlelGZmJUAu3MwtLQRiHSkvwkT9byYvXzN6v1_uPbLHjhSZYASyV0NEkUe_hYNDqRlUIwsoZZ5Qjvs_r57XrWw6OhACWotZo43pefu0Rwhjeii9fq32k9v0mA18LScOTPPcHi4Ewe_vpk6iPr-d7gb4TWLLim8y8pNFcE-L94io4mI5B8IJ8OEnkIBSBzP-sce9Y-bqcPCKEuchz8s",
  "id": "rs_06672f6dd205d3b6016ab43106871087d08fed10b651e9370f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.105},\"note\":\"The descent stopped above the requested height near the basket’s front rim, and the carried plush hangs toward that edge. I’ll shift a few centimeters farther into the basket while lowering, rather than forcing the same descent.\"}",
  "call_id": "call_WmcDLicBqP1s8QjvtkpUDq0z",
  "id": "fc_06672f6dd205d3b6016ab431097f3087d09adce3a8b9974a8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WmcDLicBqP1s8QjvtkpUDq0z",
  "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]: [-0.3347, 1.7378, 1.0641, 0.0814, -0.3412, -0.2783, 0.0857, -0.0208, 0.8234, 0.6075, -0.3847, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4826 left_y=-0.1015 left_z=0.1345 left_yaw=0.0851 left_pitch=0.0067 left_roll=-0.0352 left_gripper=0.0857 right_x=0.2964 right_y=-0.0006 right_z=0.1725 right_yaw=-0.0007 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.2701, 7.4051, 1.3895, -0.0122, 0.0708, 0.6081, -0.3487, -1.0598, 7.159, 1.7363, -0.022, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cccd09dc584776cfc504b788568f192267331bc5999908dfab6f6471a6f4c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c4a3fa546b9b9e9bfab6e493934d7280e84812bc58b58ab88a4ed9707a2c51d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622ab9fd619b4a2c1a8f0ba0e089714885be519fba39c44085ee338b199091ff",
      "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 12 attempt 0 · /responses · status 200 · 2.346 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 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]: [0.0082, 1.2869, 0.6609, -0.0086, -0.0597, -0.0338, 0.0834, -0.0208, 0.8146, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3782 left_y=0.0172 left_z=0.1246 left_yaw=0.062 left_pitch=-0.0727 left_roll=0.0202 left_gripper=0.0834 right_x=0.2959 right_y=-0.0005 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.0263 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5299, 9.1966, 1.9023, -0.0513, 0.0464, 0.5934, -0.2803, -1.3744, 7.0085, 1.7118, -0.0415, -0.0855, -0.0122]",
      "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]: [-0.3489, 1.6669, 1.0645, -0.0383, -0.3378, -0.2771, 0.0857, -0.0208, 0.8211, 0.6075, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1027 left_z=0.1441 left_yaw=0.0678 left_pitch=-0.0383 left_roll=-0.0164 left_gripper=0.0857 right_x=0.2963 right_y=-0.0005 right_z=0.173 right_yaw=-0.0004 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.4103, 4.4103, 0.8083, -0.0171, 0.0806, 0.6081, -0.1026, -1.5932, 7.1043, 1.707, -0.0415, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3347, 1.7378, 1.0641, 0.0814, -0.3412, -0.2783, 0.0857, -0.0208, 0.8234, 0.6075, -0.3847, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4826 left_y=-0.1015 left_z=0.1345 left_yaw=0.0851 left_pitch=0.0067 left_roll=-0.0352 left_gripper=0.0857 right_x=0.2964 right_y=-0.0006 right_z=0.1725 right_yaw=-0.0007 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.2701, 7.4051, 1.3895, -0.0122, 0.0708, 0.6081, -0.3487, -1.0598, 7.159, 1.7363, -0.022, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cccd09dc584776cfc504b788568f192267331bc5999908dfab6f6471a6f4c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c4a3fa546b9b9e9bfab6e493934d7280e84812bc58b58ab88a4ed9707a2c51d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622ab9fd619b4a2c1a8f0ba0e089714885be519fba39c44085ee338b199091ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDENWvpbhns2m9k_zOr6gQq7bFLWF0CPOmNSYuVljPINZ7AF7aCvyA43VBfbDQhyE6cEifKX8Lx_3r-mLTeegLBnDlm79iUoH_C00Vz0Dd3vcOY8Hgp9BKI_WI1nNxReBsZOTTtFtPYABoyGQPlI2h7w04FUNuXs9UiHqfn-VmyBHIqBQFnF5TA95cM3ewYJlmcagTxp86Y1eaCS6hj08a8UstqJYOGA4b2S5R55FjcmzG3--prHRqEIunlpbn-MX24Rm7FrjW1BEmxZpRwGkECQjyHmUNtweUWiJmlgSfaKAmslQeVEV0cuKc2OwU_fhaz9nycJYdCzvXyGYIbkv57VeJDkPJ1vulKDnGizpJ1XB9gYvrHP_Dg-NCkKviMW5RhHC14ZjHSGtZLBpAHseIgndwHyeX7vflB_G5tThXjQlUxnhLXSb_X13k3SSPYTdLyHZi78IGK3zvsGBH-PCtiZyi95ydPYOrJSHbuRWTHj0Hr3g31C2qINjrzrWsL8ltEUPvDHPQgWMTpBqApy7NGrxVojgYtGSZLdQZ-cTUI-gLBETU4HfhRqHa8PvD2714H1uXTQ8hqZYw84pNe_9dQYMgz27_o9DU5J54_jaBirrFrj93f8FDMMdMfouKw6lmh2BrroIdKPOCc62fSsKFZqzqqBAqKlpCN8_h9X_6sMMECZUsZShOmDbKSFOlQVO0nDIu0ngizEqPQm4ZiA4bZz-PxmUFjA0oojPwcReyqeL5nerm6a5jYtigb8HKjSBnd-pxnw37Mc4mPZVpW5Vck-YjYzgDvNJ5stpf_7QFg71xERc9sR8Y3HrZkQEMheUyZlwyhVIHiXRZDS3MF5Ai9h-dV5AfVSLLtgWBGnolV60jKggkLW7hTQ_yE4KSmb0_Z6bAhty_PPY-d_bwA2lD1CMHqvUVT2gWMirJhC-57uGYjFAE8Tpl_vZkrezTcFJ6F5EbxhHmFwjyYFwTHLdSJw1sz24wUNB2atpf9_QnJj-2r629V5xS4jT7wKVQpbYS3ujsBNasUL1wHL3cDLrQHR1y_IuhrP5j5Azoss67w3BuxwRGyJ_-AKlngbt47t7Dt-OtBbpDLZMBNvgGR1yz3rZ_5Qs1Kunfd_qgnSQydi65dx4dIP1e5IDYsPmyIMX1LIrEqEam4TTReVkVfQKaE54wOC7lXuj6beY0E1cnud6Gllw2taDGJcERNe7-DIVolIJMi_OvtnhWKt1qkjh4pBu5QsJk71GSYpiDGJPLvP01zbHqOeCTdJVMPpPpAGzPrcZO7EHO-BubTuvINbF4tHv3gckC-bsnVwJRbDQVX5OjWYEIcbvlaar3F3IR8rtjZ5UNwJA-Pxy280ZNbs-H_YRKfoGpuI8Xvfw514IUJngNwakFu17nwqG0UPeUqVlMa67lFZY1yWcpkCucmL5pnlYt8IK_IN3NjvWQlfxl_XXMA7qIa8QcAjL1Nstwp7o7t7BYoOTOw7n-sFgYNOAs6aXeSH2nZF3cJjg6dNM_YXI1mX4akh6kFvFTWCQ2qeTIQKHsqesfeuCZ2TgFyu9kdtsYDonFTrs1xWSBq4b3dQx5wZKj38pxFnRy0jS9mBJzDpUGUx2XFnxqWxS79KkrE4P82xdzLA4C1o35qAlcbZuou6JA10Oiru1uNg3io3lRj5O55Pr8x-s1q4cDeH2hdYRSTmvZMe0kisFJO_s_1-kNdih99Q8bCExz9Q-4M45VoRqiJfVBXHlOb7v0eWmye05zeIa9rYx_IGQ8GpUbCO2orRC7TadGn3SA1_uK4-SG_S02wskfqIMN_1jHdi3Ud3iMe-FEW_2hlMNYLSl55hDTNvlc5aZiXSeZv0BfTLvPhL9Xi__I8JiGFOnzgUOxDvnx9zwkH1FjD_FkdGOx63KMmCD-phGxFZGNnq46DPoVVc703kLYZCghSbwk_VOaMnfQf_I5_J_qBX2AZJnyPZkN4Mzicyt19rmUM6wTG1GTzS_U8LyY1avGi5p0Ya7nY6xWdHe6To9GeooB-VQGdJFwWpTqVR3zrf7xU2tIlCYzue",
  "id": "rs_06672f6dd205d3b6016ab4310b91b887d09427c6c7014a2e4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_z\":0.17},\"note\":\"The gray plush still appears to hang over the basket’s near edge rather than fully inside. I’ll lift slightly and move farther forward so that releasing it drops it onto the basket floor.\"}",
  "call_id": "call_0Phc5vnl8YQT94kmNMpJXbAN",
  "id": "fc_06672f6dd205d3b6016ab4310d162c87d0b4982807b045a3fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Phc5vnl8YQT94kmNMpJXbAN",
  "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]: [-0.334, 1.7386, 1.0649, 0.0948, -0.3412, -0.2787, 0.0877, -0.0208, 0.8242, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4846 left_y=-0.1018 left_z=0.1371 left_yaw=0.0861 left_pitch=0.0189 left_roll=-0.041 left_gripper=0.0877 right_x=0.2964 right_y=-0.0005 right_z=0.1722 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.5846, 6.8444, 1.3455, 0.0073, 0.0904, 0.4274, -0.335, -1.4974, 7.0222, 1.6825, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be4cf31408032523857ebb4482a7fe9ef8cebb46e2ef2b0c3d6b49998a3f763",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b405fd285f4fb86903e0f732638285ff7210b85d595b83ab689a040bbfe1b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4bf7b6649f1d261d279b4d5552b0bd5e1d8c730316775b9bd486b64420f311",
      "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 13 attempt 0 · /responses · status 200 · 2.578 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 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]: [-0.3466, 1.6199, 1.3548, -0.4549, -0.3275, -0.2672, 0.0857, -0.0208, 0.8185, 0.6075, -0.3855, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4566 left_y=-0.1007 left_z=0.213 left_yaw=0.0588 left_pitch=-0.1137 left_roll=0.0175 left_gripper=0.0857 right_x=0.296 right_y=-0.0005 right_z=0.1737 right_yaw=-0.0004 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.7043, 9.4154, 1.6679, -0.2613, 0.1832, 0.7057, -0.2393, -1.6752, 7.1863, 1.7118, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3347, 1.7378, 1.0641, 0.0814, -0.3412, -0.2783, 0.0857, -0.0208, 0.8234, 0.6075, -0.3847, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4826 left_y=-0.1015 left_z=0.1345 left_yaw=0.0851 left_pitch=0.0067 left_roll=-0.0352 left_gripper=0.0857 right_x=0.2964 right_y=-0.0006 right_z=0.1725 right_yaw=-0.0007 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.2701, 7.4051, 1.3895, -0.0122, 0.0708, 0.6081, -0.3487, -1.0598, 7.159, 1.7363, -0.022, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.7386, 1.0649, 0.0948, -0.3412, -0.2787, 0.0877, -0.0208, 0.8242, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4846 left_y=-0.1018 left_z=0.1371 left_yaw=0.0861 left_pitch=0.0189 left_roll=-0.041 left_gripper=0.0877 right_x=0.2964 right_y=-0.0005 right_z=0.1722 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.5846, 6.8444, 1.3455, 0.0073, 0.0904, 0.4274, -0.335, -1.4974, 7.0222, 1.6825, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be4cf31408032523857ebb4482a7fe9ef8cebb46e2ef2b0c3d6b49998a3f763",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b405fd285f4fb86903e0f732638285ff7210b85d595b83ab689a040bbfe1b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4bf7b6649f1d261d279b4d5552b0bd5e1d8c730316775b9bd486b64420f311",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEQVY39XwENd4NM-aoi2QJAirIjz4nPIHxG3vlaxmcxyFzsuMv7bsm8k4TNG2ECKNn_saCAnq6JayOkx23u7z7QPEdugfIxMKDlVKaZcJDffxDvStX-ZJ-ocdbsjYTZWDpaPS8QbtX8jDDtqX9vExbb_nfKTESGK-1q_aCTnbo-5zYozULW-58NJDMNmcMG1VJuUOJk9fifGjejJuferWSdgaysdvrWJBKgZHf8iq5Wo2oc3y5gXYVdYWrEIpQLlQA-yFeAyAWjaDKRNzESk9xCc5ZwnRyGTMtzgdUgpUTNJ419A9vwkCrxNN96sTqsBVtBMoetsaYRqj2uTAjg9AN2K2QTO8RixH8MMDuSf85k9WpunOBE4zPrgv5cfOHARM2_aTIKq_QhuBKCmZzdhEEV63gzT7r7VIjPQdSh-L5Qay2mB0QGXI-9lX6aH90Gc8zT_shY3CGQBnfFzfxdTDsPXMtoVPtLFWBvrcHaE1_WltFJ5rulUwF3_tH7vzNLLvUR73q-lCSmcfgGmLdmjQLoKVsL1IxMRScVCxhf6ytfAundcUaK4kZ-mIOkV0ipsvTuYCL623C6oYBkGPuFjMPrRWI_rHrkUAPa_cQgGgoSFw6emCmCBrVPQXQzBTWM1rqzJAQK_iu09iD2VWA67dxNSNxSzowEoOt2mxgmurKH0YQDquFvTnUeh08kN5Ty5i6dCQ-BwFkTqdMlBlh6jcue7R3YBbgIZPbj9sV1sSn-qFX7Zt3Peq5ccin7aqcr-y4p8NISSSKbvjnN2qZU2WK2ECGEeeKglQSfFRr10PhmrBzDJpX04LnFJupkY3QWtzFnehenA_AyBDvpSFraRVPM9sMfAB93vVTJqlmuLRFmMFhNapPbhyKFiMeoejZNzfQcc3_A9ZP8UkacBsmC7HaLik0gBG8FyHJkzQ0-x2JgOIGwSSmmZKMh_R_Pvp7KIEwMdGAMsrWdQLa6K6YMupjX22yjipI3DlAdazAVi4_oBTQnLzWxTtVATMV-FrubPkg1Pm2cMpzOZQUbaXl-4qwJOq9Wp_HGEPQVFYxggf5LeJuLvb-u6AyI-e9OnM9TtdgRQA5gJCjdrEwheU4JSV90WTP59m3988TRtYkbsW-knrhG71LkwmUF8ouQGIFm-Ho0922hCd65kVLL4E4qHSoZf_ruUHYSGeRzPlSC2WUztJH2WPilhc2sPtzE5ylKNVaSR_ZlZKPhW1PzoEtJjKHTGUxCbzn6GDgYCXtRhSsVcsJfI6G1a34mVGeVMlDvvzLewfh3GuaIGQNE1yO6N7QfCjEVeZir2Vh2z5AmUs8aQhuhfntquCPeSapRHSRva6qHcyk9TFXAaBUcywM-9wcod0nfzMtN0mC8OuW_oznAUUhakiQm0LvF1dZIVJSPUqrVzlicWi6ZnKdVWtp15AdUpkivLSiTguBIN60lFJ4FBXwYnMkqImb0Hh25GGx3hpunLcTk-gm3QQ3Y8W05RpontGwTh-UcecV6ZnVI3ogNNid8b76oajKH59TR97iLQ9XFVjMoVuKqqw36sToTOv9OWYh7Pneq0L_Yt2oESUuD-b-VNgGwzh1WoLWvFseP0Q6iT7ASFzJjhrJavHKJjOeFWw==",
  "id": "rs_06672f6dd205d3b6016ab4310ef73487d08699d376a8d2ac04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.482,\"left_z\":0.25},\"note\":\"The arm did not advance while the plush was low, suggesting contact with the basket edge. I’ll raise the held object clear of that edge before moving deeper into the basket.\"}",
  "call_id": "call_kFMZBPGIx2CQn9MsFUNeImdg",
  "id": "fc_06672f6dd205d3b6016ab4310faa1c87d08b7b07d6bdf352c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kFMZBPGIx2CQn9MsFUNeImdg",
  "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]: [-0.334, 1.7275, 1.1564, -0.041, -0.3447, -0.2886, 0.09, -0.0208, 0.8249, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4868 left_y=-0.1019 left_z=0.1552 left_yaw=0.0942 left_pitch=-0.0107 left_roll=-0.034 left_gripper=0.09 right_x=0.2965 right_y=-0.0005 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -14.8034, 11.0427, 2.5177, -0.0855, 0.1832, 0.2711, 0.0068, -1.1692, 7.0222, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d920fe1e7b1c84eb84b175606b7922034687be279231b6105e813d804ec5f670",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a38799839653522ba3e97c8d0727750a37089a217c328c8e1748ece656649c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18af9c426a867148167ea002bdecf127b053fbb16e7b3f74bc13a95c9dd48916",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.31 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 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]: [-0.3489, 1.6669, 1.0645, -0.0383, -0.3378, -0.2771, 0.0857, -0.0208, 0.8211, 0.6075, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1027 left_z=0.1441 left_yaw=0.0678 left_pitch=-0.0383 left_roll=-0.0164 left_gripper=0.0857 right_x=0.2963 right_y=-0.0005 right_z=0.173 right_yaw=-0.0004 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.4103, 4.4103, 0.8083, -0.0171, 0.0806, 0.6081, -0.1026, -1.5932, 7.1043, 1.707, -0.0415, -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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.7386, 1.0649, 0.0948, -0.3412, -0.2787, 0.0877, -0.0208, 0.8242, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4846 left_y=-0.1018 left_z=0.1371 left_yaw=0.0861 left_pitch=0.0189 left_roll=-0.041 left_gripper=0.0877 right_x=0.2964 right_y=-0.0005 right_z=0.1722 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.5846, 6.8444, 1.3455, 0.0073, 0.0904, 0.4274, -0.335, -1.4974, 7.0222, 1.6825, -0.0513, -0.0806, -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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.7275, 1.1564, -0.041, -0.3447, -0.2886, 0.09, -0.0208, 0.8249, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4868 left_y=-0.1019 left_z=0.1552 left_yaw=0.0942 left_pitch=-0.0107 left_roll=-0.034 left_gripper=0.09 right_x=0.2965 right_y=-0.0005 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -14.8034, 11.0427, 2.5177, -0.0855, 0.1832, 0.2711, 0.0068, -1.1692, 7.0222, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d920fe1e7b1c84eb84b175606b7922034687be279231b6105e813d804ec5f670",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a38799839653522ba3e97c8d0727750a37089a217c328c8e1748ece656649c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18af9c426a867148167ea002bdecf127b053fbb16e7b3f74bc13a95c9dd48916",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDETBwQyirpY9KRwKydjEsDr_U6AabIA8i7Pl4LmcURHkWuVmanClj5TKI5x0_bqcF7a1PYekkN5r4HVjVYdnJsKNCr_y1cSzzKAziJmucUIINQGyEsxSehpZO0UAktzydXeuRKhe8cPXrQflXgc9P1lTmb3j0nx5biIG0_bbrS6ktTSSl5hVklUso937KJqicIGZfwzMGqsJNNhnkrCzSN5Cdx9vzgYXomeDmSuCkmr66GhsdR1cBTch__z_UUWUKtUf5r0MGT2DZSVu-JPFl4ysKdHCanJbTTiM6xg53--iwKzHE0Q0J_qpmuy-hTBndBm2rYuXXOyQNZqJlMST3UhNq3WPbXgFHhjxLdhtxLnor6MRBOw6oPlOB-edFe_1QYgTbbDWxfrNTP-UtOVN3ILtuuFr6XQCprwhARsX1lKQu-tqlnzx8I_RZb7R19XOw6arR742XngraP_HU3hGbCUuMhX33QfE1BXbRy64xYmjVPU65o__XzjkRsKh-15cLFHu4zw79N1oTZ6LgMsOH8ay0R3GM-Ytz-jyHHVuQD9ZcBoFPXgKyjuRoxQ74PPhvYOIMVZJI8b8uYelJUhP1S-Cqjt3Ev2PHgvEQVOlYRyRl5CO-GuQ3rdRgxXSpCKOahA_ttZJ5zlm56FYKSYpITfcg9JvRs00tyhWKW_PUyH3a_OZrVVfrBPBXr3iVf71FZ4InNmkK2SPD8IWZOemyRlBMuMpeTqowmodPzO_kZUPkpAQkMO2saJkZC_bvFej7KCBujSoWNG8YjR1ysHWh6AytHwVaudqObQr6z7bbq2UsysgQgQ-fiI-Kxv59bB1ZXXRSsOIJOUQou7F6iPt0hYvv17b0iKLAe7sCjYNjcb2LqMiQEpQLSvW8NmZtMryEB677pXJBFfQhuuSx57dpjOdqEy67ib63PMZ1PmEyA8knMj4omBFWX2eEYVpD2HTTRXlHIkwBrPfy1noLoLYraG8BDV934BzXgZt4_6cE5hiInRqsl-ShMJILtvrchPRNDyPnPlJqzDRFPpnJ54vssaLh9RWf5AAWByFkR1gmPWwegKxcsbLmA90jQbY3iaUrmqMGcXi6XkDNAlJM8XkBIdntVAHIKCyPMFRapGMj7wsOJsYp2BPVtIZKiWLS4pU85N1CUYMuvV4UyiiFTxf4tfq5DvJt8c-SG9jFp-Uu_HPYtGkg4Y2-QSuouBbPbrcyLFI4lBnl7UmIPAM1CmzekcrJyYRhxZfPa7gIxhHBhg7RuQ_00HuBzOoAuJMIPLGm-4_q0-StY6CfM_KCQFftyCvnttyCpdxfLzQuH-jL8fn1rAAS1M91Pe6CT11NlP4KQAthXd2AYFmOKGNGrr8U_RxBbRLs0kNPQFlEcQulpPyvDgreEuU3GRDlW1hCIYrf4VZTVUQ2Q5VVC6IrazwsiGoCz22qPl51L5imXMYi0hZpg1NHR4lZ_yX2uIjvL52afalBjxY7vGxeClbQxJ6Tj-oSCzHWsQZy9FNQaj34MuF1QCO5s2u4uTlUenBHpYNkVZ_XfbpP2ESXcFSaWpFGZCYQ==",
  "id": "rs_06672f6dd205d3b6016ab43112476487d0b94e99abcd5403cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left arm is no longer rising normally and shoulder effort increased sharply, so I won’t pull against the basket. I’ll open the jaws to release any contact and let the plush settle.\"}",
  "call_id": "call_AxFOpOgvMZdfgRAn3075rLjk",
  "id": "fc_06672f6dd205d3b6016ab43112b75887d0a9c3feb107d89732",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AxFOpOgvMZdfgRAn3075rLjk",
  "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]: [-0.3359, 1.7298, 1.1625, -0.0521, -0.3408, -0.3, 0.9954, -0.0208, 0.8257, 0.6075, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.1035 left_z=0.1545 left_yaw=0.0952 left_pitch=-0.0184 left_roll=-0.0425 left_gripper=0.9954 right_x=0.2965 right_y=-0.0006 right_z=0.1718 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.1282, 6.5573, 1.7656, -0.2125, 0.0708, -0.0708, -0.3077, -1.5248, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd309933d9d8dce9e5dcaba5954079d1a141c2a896f48aceee7be43a5ab1045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8bc62ecb5238be78c0db6c6d81f5761d47a32f2171c5f39fa2c3bb09d23937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb512389fabbc65abccc2962c83d62bba920c19d2b9c79cdb030ad924c338d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.303 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3347, 1.7378, 1.0641, 0.0814, -0.3412, -0.2783, 0.0857, -0.0208, 0.8234, 0.6075, -0.3847, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4826 left_y=-0.1015 left_z=0.1345 left_yaw=0.0851 left_pitch=0.0067 left_roll=-0.0352 left_gripper=0.0857 right_x=0.2964 right_y=-0.0006 right_z=0.1725 right_yaw=-0.0007 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.2701, 7.4051, 1.3895, -0.0122, 0.0708, 0.6081, -0.3487, -1.0598, 7.159, 1.7363, -0.022, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.7275, 1.1564, -0.041, -0.3447, -0.2886, 0.09, -0.0208, 0.8249, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4868 left_y=-0.1019 left_z=0.1552 left_yaw=0.0942 left_pitch=-0.0107 left_roll=-0.034 left_gripper=0.09 right_x=0.2965 right_y=-0.0005 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -14.8034, 11.0427, 2.5177, -0.0855, 0.1832, 0.2711, 0.0068, -1.1692, 7.0222, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3359, 1.7298, 1.1625, -0.0521, -0.3408, -0.3, 0.9954, -0.0208, 0.8257, 0.6075, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.1035 left_z=0.1545 left_yaw=0.0952 left_pitch=-0.0184 left_roll=-0.0425 left_gripper=0.9954 right_x=0.2965 right_y=-0.0006 right_z=0.1718 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.1282, 6.5573, 1.7656, -0.2125, 0.0708, -0.0708, -0.3077, -1.5248, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd309933d9d8dce9e5dcaba5954079d1a141c2a896f48aceee7be43a5ab1045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8bc62ecb5238be78c0db6c6d81f5761d47a32f2171c5f39fa2c3bb09d23937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb512389fabbc65abccc2962c83d62bba920c19d2b9c79cdb030ad924c338d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEX7FAaA1izY3VB-ybV2pt29V-9rUS1hj4w0W2CX79B8sejOJJTsTsl8aYpyzt5WLt6lekcV3eivtqULhCh6dEcMMFsNwwRVPXsfAYftatCSRLAEd7XqEmeYJmc01PKYGu0YCfZKGHKh8RuhP79pyMzyN8aGbGHiux1SPmPA1HDNPW6qFxsZ0swM-oyqg2oSmnlNamdFdhqowfo4W1EI0pGnBJevdLRmSX-_VaKBqop0ovnoXGAxWWOg0wig8wPpwfzVFYp4KldTYJFmFPiBZoCLl86MJmAkZh0ufKhlwXmoZIUQq63hHR_xcHRwwnpGlWyP5NCJsVdwO5SY4pGr-_ab7BZzL8wsGIOMVjs07c6AcnIFDsN0N8IArm6nTStfH1WaP3mDvQJ3wd1r_oZVZ5g427VyzfAH97MGNzMF8mElpzGHNhZGsADtdILnxBNq_9cvpAj-dxaWAvd39zvabaxL9CaHOpl5ok5Rd29kJgh4AWlWw-LXYZ1cM9kFV_J4QbDO6PjTI5mqVqKgt1CuXdiKgXpiTFIN0lZ8B8fwlCpacb98RR-PTU0GopilRWWBCvsFSoWhMf-0q3ZRYtcDN1F8AF3E7QySK01TiHRVHtPYsIrPm-rV_wMbExJh4_6ZXQqdM_3pmYTa12E_RHmTQmKXGccRdd5KBWlMeT6vjvUwh_62tGw7BKw0o1nxtkJcZ0u8WgAFWEivUyyeN4HWBe0OeTVSY_CPgAIqXO_es7czfT9CRfbXd0N08kIqPJE9ZK-25fUZs2QIFVJ0xHhuvia3oD2jj9WWsYo8w_3Oh9-lJVV4Vqx3WXndDu672V1RyfDqTHo6aEvPaySoR8vsd6U-w-i48e6r6eLtOpMzvbWU_bww46oUSxa7DjhOToYgoA11E8d9er8sWLHwG45EDPQldAB3khQbBWCg89vuGyH9q46bqMtHicnvXEVuwsLUC_u7zjzV5TwH9M1qoa41rVn-eu0nWsUNsmQF91xiNutghT0_zg1dOWTVdRCrr5HGmx5_c6IPW8Axi-BYPxv-rhPcjP5tqrMuPpzInMe8xEoj7aMkwtPIzA_uCr27YNf2RV-kwNCE1IjhwKuP2wandGxW10Xpa1bNd51NwYXg5QHSVHmjXnnrf4COU72SWpJ0Z0SirkcLb-vzNscDYfJX4Oep68OXrYpqaePHCYG36ZQWaVthI5djY2ssITDXbgg4-qKp24aWpuv1TU3bsNOZY1XsqCvTOwGWgSHgyQFBF8YmUxDMcfmaJBKLU214ocVQfso0BUYqPweYhAy-9TyeTXWqmuQlfJBvdUO7CW2vxGrypMJ9xDS9ugzcqQ2MY9lGLXypD1vHAbHex2_9mRX2X31u7F8Q8Yxgz5ihoToCrLeC25r7giMpcSQhGwyxSrP5jta_inBmg0TpEujni1T7NxhjSod5P_pnwToY6zWUR3Q5aiNhZLagKi5TohOFGQYLgsrD5f0DxuMAA6GcvwFIdSYyLI2VCrGXFqFaQ3dAU4kLXVF6bUOpapTsqkSeN4rDTv_lJFu692Nxv6VG4gSjNwyn2ZcnuyT8YttZk4e_6h2eZSpo71zrLlMEP_ikL1NLCqQBLF1YglMwa2-Ks_0KvyNoUgS-EYfUDmWakFKuocGBmPjo0dnC_IQNdL5ZfsEL-vWGgBNBeVaHCxkFEjdc_1K1rXDjiTnCYvR7f991ZFJZ6CPoX3u_HVVvZky187Kd7KJ1vPQcIY3NhqAMrl-XydLW50KiKWAvg_TRKuC1v7EWOUpxmO22DazDfKRKs3BzybeT_L_llGBvWSWXLhlnoL9wHUPhvnm1xuT826jDrH7G_XzTp65fcHJNVZV7sHlm_fULQP8QGrmsfLP2_K9_dw7s6mi68pLrSpifSHIllecGbvx_377xUzsGBBmpUInZEYBfWMX1TQ15NwBBBAbdqD9YsFKFyshU1-f5PM6HW8ix_hFxf_k6TplW8DRdwT-Wyl6p5ml8f_9MT8krPcabCkhG0aST6-MlRBz7rj43cWN9QEny9WuanttkQknsTejGRqG50x5NHJiqB2GXb_Qa_1aQss9h-dW-avsFpJs2jj0ZHgs6LEz-Uahe8tIJ1aRkqeS",
  "id": "rs_06672f6dd205d3b6016ab431159ae487d09b3968f28ce13907",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The basket floor still looks empty, so the released gray object may have landed at its near edge. I’ll withdraw the left arm to inspect the drop location and uncover the remaining objects.\"}",
  "call_id": "call_r7wW3QrTqP4cgdpG0o8vhdCU",
  "id": "fc_06672f6dd205d3b6016ab431170b6c87d088d2b34c47f9ff94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r7wW3QrTqP4cgdpG0o8vhdCU",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1139, 0.8143, 0.6586, -0.3958, -0.1791, -0.1909, 0.9967, -0.0208, 0.8307, 0.6067, -0.3855, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.001 left_z=0.1977 left_yaw=0.1242 left_pitch=0.0186 left_roll=-0.0568 left_gripper=0.9967 right_x=0.2967 right_y=-0.0006 right_z=0.17 right_yaw=-0.0007 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.0325, 6.7077, 1.7607, 0.0659, 0.1001, 0.1245, -0.1846, -1.3333, 7.2137, 1.7705, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7f2f371382243d34767a64888c3314726f98fb81e2df5b851db8493097d043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6a24c2248c44a829177abcaaf15c870a30ada22034798436aebfc409d85245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3462cdefce754c18e3eaac9008482b6a4ae31c2077257505a282258f8fbccac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.372 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.7386, 1.0649, 0.0948, -0.3412, -0.2787, 0.0877, -0.0208, 0.8242, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4846 left_y=-0.1018 left_z=0.1371 left_yaw=0.0861 left_pitch=0.0189 left_roll=-0.041 left_gripper=0.0877 right_x=0.2964 right_y=-0.0005 right_z=0.1722 right_yaw=-0.0002 right_pitch=-0.0359 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.5846, 6.8444, 1.3455, 0.0073, 0.0904, 0.4274, -0.335, -1.4974, 7.0222, 1.6825, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3359, 1.7298, 1.1625, -0.0521, -0.3408, -0.3, 0.9954, -0.0208, 0.8257, 0.6075, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.1035 left_z=0.1545 left_yaw=0.0952 left_pitch=-0.0184 left_roll=-0.0425 left_gripper=0.9954 right_x=0.2965 right_y=-0.0006 right_z=0.1718 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.1282, 6.5573, 1.7656, -0.2125, 0.0708, -0.0708, -0.3077, -1.5248, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1139, 0.8143, 0.6586, -0.3958, -0.1791, -0.1909, 0.9967, -0.0208, 0.8307, 0.6067, -0.3855, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.001 left_z=0.1977 left_yaw=0.1242 left_pitch=0.0186 left_roll=-0.0568 left_gripper=0.9967 right_x=0.2967 right_y=-0.0006 right_z=0.17 right_yaw=-0.0007 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.0325, 6.7077, 1.7607, 0.0659, 0.1001, 0.1245, -0.1846, -1.3333, 7.2137, 1.7705, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7f2f371382243d34767a64888c3314726f98fb81e2df5b851db8493097d043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6a24c2248c44a829177abcaaf15c870a30ada22034798436aebfc409d85245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3462cdefce754c18e3eaac9008482b6a4ae31c2077257505a282258f8fbccac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEeNRAiBRwGQTqBqL0MV8EPpIfRYjfGNF8vyr6hmDpnMIgOUxNj3sXJ-PiDL0lOMPD265rL6qk5Xctcrw3we0rHNGRCgPZ6Q_hu246qRnBfPIYQTzPEocsxB_M2yThpiysWWT2N7MfDOC1eJLhuReV2-z5jr_KioMchNS6OumY5-pwem6HoEZVe1qUUAZW3vtn0J47J5OqaoTBxwyto8_rvZtFMILm_P5PFl53Cz6WKEyjEun1SrhhPes4ggJM9SnhltTRiaiBOEQyoipOmoeO_NkWlJITNtkQUHCOnTe7z_5zz0EfCyioTPmzJLDNe3ud3oHoumddHp0lSisYMuwR__2ZHGHXI9Qn8XMNrVMZc4921aPzieyswaivnNtXcd_oNuuK1I6bRMXa-Zkp1LB95oygwD1VhFiUrLFt6dSd0jgf8CMnSVNnRKkOiwWKjsYwfd-S4IN1e1pXwrBG27cxBEpy_U_S7Rl0duscs4y2adDEyP6ZLG1qqyuOIg_e1q5mb1_knKFLHDBoB_K74WF_VXme_8_cZ9sv0B3Lec4LWBgMYn23r4FxT_erNNdGxmKCAq_-WpLAgcC6Lya5A18_QCfUUvuLz9MeV-Y83A6vpDrAvA3RP5Ji8xtTvDNtzUt-ig1rHt80FL5g1iSxESPERAcNmGbQWPkw5kqKb2YyCRZpxDBR5ckQhthLDtdXxYyMFH6MX72-lyBXqKRrC8bsdNGj247cP7yv2UKolug9UVNZ4elg_Ts-rdWvqxHOlehee1zIHwrUWBUi7bitNOF77AXnnJcXE_FJCtfq8pNGo0rVg7g5OIn1K0aFpRX2GuNxvwLkm2MzG3NEazU6Qexnf39gXkPj9Kf8wUuK3iKYNxy2AZu89UDtBVUvN3rZTIHGQG81JufDPuXKzLvTmn6kaSMnc-LyXYDIw3-rrOaMA-T6vWOfPaI-ERkiwRTGfDpAhggIc8quXHQYRFwoj0Xf2e2_1Tjo-aytQxwKXts8ldv7SY3kuzmsd6jqUhAaMIBcneQ2eHv1JuNpZD1chMNjvFYCQ3k6d4n1vbLBkoI5TMTKP-GfkouIDRl2xiYwpK87Uxww5xfQk2hTS97mv4DZ2wiHrhgDMEd9RWcLGsYuYTYoRr2463FSgJX8O2uZGaKu0uxVcohoLRPfUWSZ1v7B1hTPxGqF1OqcLocw44KSoVOkPgKWFbz4E8esslXMqeLaEV_10lgZVdJ1Zl1MKuT5D4c13_QUtuqeBF7VazeohSQZQ8vF9ZmoChQEa9xZt-ZwnCYXRfhLKxsSzN_O8mVx4xfGoMNnvZOItS4J9k_zDYSZ8S3JKdTqqfilmuJn0M_t2Z0lr5LIvdWbv1zUrZ4vDpqhUP4ukCk-PjmFGOZzilXYOGnctIC5dOKdPpZ5etg-WyawPd2cSdeb7VPZuEDcn9k0ty06DC7BB0rFGT6yCfEmk3KexizQwKuXiq-fIfxG9Ahw1vMEesVW6emA4lAQ70-OP16zJS5_TYrxrBmNQseFj9-3VDeTxXCFy1FmHMTqMholSNsIuZ8poyi16VqIhD_X3uoTp8A9hJyhQn9mpHy6w21C0ScKzuHYwwxiThE69X0cojdWe3aGZK5Wp9mA4UV_czB9Eq4Xj8OInfsseDOsIK1WnSWrdR7eulksAsYc6uMI0uxI0riFmbgBU3vnr9Xds9w5cEMMIEH28uCzdLLomH6Ys6PZ8EHpSa86aZ7cX5jElx8kuERXTvjcNDPCAA4STSauuZmzfeaMmlgh3x5Y5ThvmM0dgxjGOoLODKQmOdZvVEsS1zQgAoJBfs7aQh51OHeIIN3PVgL5gOnRcNCHOLfXu8_Ne7QwehLxbBaZo7K43JbBcWVe7eqgaa9aLEpv_6VKTdy-A0_gzAvvvJheDMJMZjkmKtCadHDCgsPT-e0uTrc7Js2p-SFsY7GPbHkd1RxEHko55blhUbWL_bTTU4ET9yU4kD7SJF28jZWY61tCa-NeixiMl3Pf15aPwB0F10oSYLFTsl7SdC9w8UHpjEzMSH-bvoeP75IpyaV90UANgNRgCl2sTtGBoQ-cctFz9qQ7PRC_ZJ1wenxIE7EVte3KT-gEDmcI1DnJD-Rxj6xI1CGv6STWVCoMGhuI5GyiwQ5gT7ivagWxcwo-xU02vwF_Uic9XwUqVNV-KhYvvYoldMTKL9-ZGnOkdRnt9oqe1P9_vGcTJOStOUQ5fv_cIoG29LDNs2UqVEZZ8tXxQxcUR-0cmfBvUi-3YkwUJQtcZexk6okBtg_5wv8nSqwxVIvXN0JVqV8rrwSmOIzP6BFiqJ1uBqgeiu6b9DIwqRSH7XKr_y0-1JpPFLhudrsE7JPW9Sl0sinDq3oklPjq1FJsHh2Zzp9ObMTFrWBMV2bOxOHVtByNh5OVwrRKjApoaUjrzT1yJyn9lr9SoCCb6JEn357YBOBXhRR-0C8sR-26OfnzR-cI4OG0YSBDJdTSZENjO-P2Gb6EAHasO9LX_654m5humDo8YVaMiPY4IS-YiUn5O9z19Gf128Ou9NmeelY7nWCjISDM1Sfh0uPYy9AsUMgxEe-nU2js4QF4AexP-kbUCFA49599aLS7I0QcHQOzcaDHZm_Heg7DnjETz4cPR9mMiTB0xIX6h6AktXzekVfMUjbkUT6tZO85Hgkyt_xkvtWL9--pdl9aW_9OvUvgPAfB-PIo5Ot_oi8y_neFWUpbvgFb6kuLBj83JjU5lLrSpwSeBkcuuF-3QxZfEMDsDOwG_kc59PMiq_y9m0RG50r6q4ZEHAde9bHXUF5KKfqYGQnYFMHRna5Jv3EQnpCT4vsms7mF0M0YYOyu24D2Z2MxmI2rQmwMl_tB9AqdKG2OGQZv1ARxhvq7-TTYzqyrjoin6d-EwOTb-69X-fEz8VUbxdXH4USKkGxmAqkhgqmmDNNAPhIrqeR7ZSVup",
  "id": "rs_06672f6dd205d3b6016ab4311a65f087d09189441085ead7ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.265,\"right_z\":0.13},\"note\":\"With the left arm clear, I can see the gray plush is only partly in the left basket, while several cream, spotted plush toys remain together near the center. I’ll use the right arm to approach the nearest cream toy and sort those into the right basket.\"}",
  "call_id": "call_8ZHTm6MIZLqeuSEoA241SXSR",
  "id": "fc_06672f6dd205d3b6016ab4311df2c887d096874cacb7e1322f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ZHTm6MIZLqeuSEoA241SXSR",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.1146, 0.8188, 0.6559, -0.4026, -0.1764, -0.1944, 0.9968, 0.8917, 1.6875, 1.0523, -0.2413, 0.6678, 0.5854, 0.9997]\nstate[eef_state]: left_x=0.2993 left_y=0.0004 left_z=0.1937 left_yaw=0.123 left_pitch=0.0044 left_roll=-0.0577 left_gripper=0.9968 right_x=0.3444 right_y=0.2582 right_z=0.1168 right_yaw=0.0296 right_pitch=-0.0824 right_roll=-0.0306 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.7709, 7.2137, 1.7998, -0.1197, 0.0073, 0.0024, 0.5402, -8.3624, 8.7179, 1.2967, 0.486, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ccee733a19a3cdecf09fa54ec79ee55a424851142c79b6c800aad3f92f5550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cac037042cacce27b2a4c107bfabf3883c927ad0223ff006df1d72e10db4010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4644f4e44ae68329a2a23959d4996c4366c7b874f901545bf387e62b8c8932ff",
      "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 · 3.145 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.7275, 1.1564, -0.041, -0.3447, -0.2886, 0.09, -0.0208, 0.8249, 0.6075, -0.3851, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4868 left_y=-0.1019 left_z=0.1552 left_yaw=0.0942 left_pitch=-0.0107 left_roll=-0.034 left_gripper=0.09 right_x=0.2965 right_y=-0.0005 right_z=0.172 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -14.8034, 11.0427, 2.5177, -0.0855, 0.1832, 0.2711, 0.0068, -1.1692, 7.0222, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1139, 0.8143, 0.6586, -0.3958, -0.1791, -0.1909, 0.9967, -0.0208, 0.8307, 0.6067, -0.3855, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.001 left_z=0.1977 left_yaw=0.1242 left_pitch=0.0186 left_roll=-0.0568 left_gripper=0.9967 right_x=0.2967 right_y=-0.0006 right_z=0.17 right_yaw=-0.0007 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.0325, 6.7077, 1.7607, 0.0659, 0.1001, 0.1245, -0.1846, -1.3333, 7.2137, 1.7705, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8188, 0.6559, -0.4026, -0.1764, -0.1944, 0.9968, 0.8917, 1.6875, 1.0523, -0.2413, 0.6678, 0.5854, 0.9997]\nstate[eef_state]: left_x=0.2993 left_y=0.0004 left_z=0.1937 left_yaw=0.123 left_pitch=0.0044 left_roll=-0.0577 left_gripper=0.9968 right_x=0.3444 right_y=0.2582 right_z=0.1168 right_yaw=0.0296 right_pitch=-0.0824 right_roll=-0.0306 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.7709, 7.2137, 1.7998, -0.1197, 0.0073, 0.0024, 0.5402, -8.3624, 8.7179, 1.2967, 0.486, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ccee733a19a3cdecf09fa54ec79ee55a424851142c79b6c800aad3f92f5550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cac037042cacce27b2a4c107bfabf3883c927ad0223ff006df1d72e10db4010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4644f4e44ae68329a2a23959d4996c4366c7b874f901545bf387e62b8c8932ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEmzP1QBfPdwqZnIkisiIznCKEyGh8sL9ubgPZz_4SneyLPJbEpEq2ZTcRPVp4Y3VEzYf8_wtKUsxcnXRsx_zrWqe8FgqAO51ADK_zXGUAD7PoC-oODqtY-cVMy1Xzog9eRlekwxUX9-QHCfPKrVbc9jLdzAEcgBW4eUbojlM-ftpZRKH2PO6VgC6EPFa_YXWio5S29gPuGQLTPDKi0r512YPCVmb55mZDCVReOqahwamY_9t9s6PP5p5Afaf908OLBrXA1VLl6XldDbDTMOqgxLglqdnaGjvJYsn_IQcIm9pY8dyEWpJys-9qaUVPShhkWT0mNksPDolKZbwBYB-6MDKXQ1mCbpD8XEyPPHY_g5oxpuFOGB0OnjwqZaemMJMj0qFatDWLUEbACQyCdWzT679Dwxsqt83L9Ik0Mx1RKEY4XUddY8jKbhp5RK0CFT_0YsFKqgpWE0y9nFn5bHu80c33Tknzej_LdzdyC2nisg-kNHh5ixJNhPHAfUb2ifzKsiVcd5efGR2rAMm4uGZj-fDcnH-eRVlfHRlmRwHhxgtVV6wDICAWmTZr5Ih_c9GRw1HNc1NFUvTjlKvQar4t92CbaIITazR9LYBlzbBZbFRASvPBxOyV3LOIuAduYUuyf8VUNsonlVSgK1ZRc9C9T1smAAw3r-3Vzp3tyxVRGgR6PbBsbZe6nrzTxbn8bLQm7DhXLl-fBPMrWT1WaAwCPETLr-X-LtwSLlTBE9sYoAYLqFAl8IPZYUrFDOb1Js9JluRXLcU62Cpab1f3P_Ja1v_uH-N9hlShIUXvsiFCoSD7Se0kyzDbshNBlgvotgt0fBAxn8MzJH8Bt13kA3J14upbBjVsoQY1XP_9kaBPZLo1BWkRKgfjLTRrgsGpcI40m2BlZ3xfL-iWM4taPmvQ7XytLPaq9Mso4Zf70Ar_hgD_MCHqTxpobKfgl5ELocn5plvNA9-EeIBul9TOEvwM1nkHBZ0tK2EIXFccEOy6ffd0ygn-dJJSn5VOTuOkpYuNUEI29gHxU9becOqN3eLH8VciszVWpREQNTtBswhTZE76YfYI5QNo4nKgx1i4Ld6SowmLP4iUFknnAwY88fLnUtEqKkjFixUb1OafMAkvMl5PnsE1E4dH9NeGstfyEThIDyikz3hmCbVw2ipXa3-n5MHiruVj7C9fhNBkiT7NBX9L1mIo_DIsuKAgyyGRG1lDGSqzqb0lgc9OjBx6I6h2ugiDEfBB7B7UNjvcMbGmKwb-ads6NwUaGx5Yd-Zw6ji5Htv6ulvVoWDAOhUrMMgo3W00SdhbGJsw8jJwB-CZTDCw_Ddz3p8x9bzzqtU1yX0UvierxC5RO6O2ZHzRkh5uqUPxtCkw6B3K0l_3STazgELq1l-1BawsE79vyiP4BcpA07Bzb_SmA9Md2aX1vKmItptUqDf4NT3T8KFFJeYIgQKFROtJyM-F2ZPW1h6itXv3Nv74HX-yYXQmwQmdohDNI8bvPb8RVVwm6Ik0HxHaN_u9bhgTLJ_v57tLazZikfnWMb_7at5cVl1VHYadFPt9gQjJPi91p7GRYkMPxiZ9ZhdpY2GYYR0F2pNHDoZAUKJMUPNq0jea4ZdoDH94JV7Wev55_o1HnA8HJ0mjJwXy3lwrDbcFxlnf-Y8VdztwHNMlyzniXaACZ3yoqaSbDT9f4AVh6DII2b8URSsGeB3T_wfCgxTBAL291vIQaT8eY6H4-GP_kHmrae-Z2MOfyT64pqAzxhSrodzhelflyWFyJrenhak5TB9gNby3nS-GJJale8HHYaLlRpzQeAm1DKg8FoTiPP0fkOUzk7BdXDN0EcgosCjs31lyfnWBp8E1x4b4l0KRX6jl2OpqWyVVEzu00lLs8Ai8ftGEWuGrn_F1AvcB5UA2b_m0K0nRdDdIlMh8dFvdo2HRoMMB_1H12yTIvF7mu_tSnCbDx8qL2JtIUzNC41mQfkOmSVBs8EWhh-MZQ2I_1P5SIyzz2O3CGR0nmlsMenUeqx0QOZh8BSnDq7YUwt3kcRTitFVJ3Ceuz0y0hH02iSihupzPhFz39_-IyRk5DbE-K2GqAL4Q4Uhkp6EcS_d9qqPVqy4biekbYI-3msXIsOHP8xK43ohFmqXFE9KNE3GHTxG3ZlzN9Ys2EWzfOd7dl8WzRSIKt8j_x5ck6molon1FUT-gjMMOUo8jo6y1aV5BdmyM7o3Y3Rr1vvkmDNVTJyAYVJsRyRoh-KbsMAjK_UhYIlAHqyeuKna1Hyd_5WIoQnSJmDMOXKwFkuL2tOBd5wPQcD3e2fuSdIWGLsNWvfv-YsbWTSJpcStSpqA4W3xbfLALig8RdZ1Iauj5ohQ_7sJ6uwknZCRUVK_wbfgUFg11uYOv7C1FW79uvkec0fUlhX_MR238n_xpCySk78Ow2HGPbiMpL-AvFjfRK-8xGNK9fx2Sawv3_sOTA3ifmKT5qu0N_d2As8YzM1_nsDI9NFHle77OXFi7_t_5IozA5qmYUE6IBS9x4S-ZmYVuI84jYkhHGN1qsWsO6Gr9u47HEuTDCsfMpxPYt6rCe6cJ471YKzNRJ5ln4xYQ7ZHaF4wvUAQcjMjcwzgVHJz_KEkwvWMdw99NiMOLWcrmQmdGiEVH_30IiNPaRUEJZBLh3mXpEv9I8wnQXsZ_xcRU=",
  "id": "rs_06672f6dd205d3b6016ab43121e3ac87d0a62778dcfe836ba0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.322,\"right_z\":0.07},\"note\":\"A cream plush appears at the lower left of the right wrist image, just outside the jaws’ centerline. I’ll shift the right gripper toward it and lower to body height.\"}",
  "call_id": "call_ZcOtbLYRxY9k3u1zG6s4BX1F",
  "id": "fc_06672f6dd205d3b6016ab43124dbf087d0b165ddfb46d5d6c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZcOtbLYRxY9k3u1zG6s4BX1F",
  "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]: [-0.1146, 0.8234, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.9825, 1.9125, 1.1908, -0.1757, 0.7338, 0.675, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1923 left_yaw=0.1229 left_pitch=-0.0008 left_roll=-0.057 left_gripper=0.9968 right_x=0.3494 right_y=0.317 right_z=0.0867 right_yaw=0.0272 right_pitch=-0.0536 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.4017, 6.9949, 1.7167, -0.1001, -0.0464, -0.0122, 0.7453, -7.3641, 6.6667, 0.7692, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0330c3e39ef0157617872e85639e114bdff3f65773693992188fb52700e4fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4eef0622db27b23dded4d2d69a7591f5cc7cebc5ce9c3ce5905f3764b02c01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4632b48b5359d8f1e8ecdcb36a4621d944bbe706f28c1cf912acbf514a0e0644",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.338 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3359, 1.7298, 1.1625, -0.0521, -0.3408, -0.3, 0.9954, -0.0208, 0.8257, 0.6075, -0.3851, -0.0113, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.1035 left_z=0.1545 left_yaw=0.0952 left_pitch=-0.0184 left_roll=-0.0425 left_gripper=0.9954 right_x=0.2965 right_y=-0.0006 right_z=0.1718 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.1282, 6.5573, 1.7656, -0.2125, 0.0708, -0.0708, -0.3077, -1.5248, 7.0222, 1.7167, -0.0464, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8188, 0.6559, -0.4026, -0.1764, -0.1944, 0.9968, 0.8917, 1.6875, 1.0523, -0.2413, 0.6678, 0.5854, 0.9997]\nstate[eef_state]: left_x=0.2993 left_y=0.0004 left_z=0.1937 left_yaw=0.123 left_pitch=0.0044 left_roll=-0.0577 left_gripper=0.9968 right_x=0.3444 right_y=0.2582 right_z=0.1168 right_yaw=0.0296 right_pitch=-0.0824 right_roll=-0.0306 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.7709, 7.2137, 1.7998, -0.1197, 0.0073, 0.0024, 0.5402, -8.3624, 8.7179, 1.2967, 0.486, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8234, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.9825, 1.9125, 1.1908, -0.1757, 0.7338, 0.675, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1923 left_yaw=0.1229 left_pitch=-0.0008 left_roll=-0.057 left_gripper=0.9968 right_x=0.3494 right_y=0.317 right_z=0.0867 right_yaw=0.0272 right_pitch=-0.0536 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.4017, 6.9949, 1.7167, -0.1001, -0.0464, -0.0122, 0.7453, -7.3641, 6.6667, 0.7692, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0330c3e39ef0157617872e85639e114bdff3f65773693992188fb52700e4fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4eef0622db27b23dded4d2d69a7591f5cc7cebc5ce9c3ce5905f3764b02c01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4632b48b5359d8f1e8ecdcb36a4621d944bbe706f28c1cf912acbf514a0e0644",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEpS94pTaivO84_S-3jjq0tW10oqXx0LCKAqoy7MU5tEZad25i70f32dYlIbottWrdvDX0FMFBpUGJ-BIgVtm4Xp3N47uTzVw-fY9NsyNHTUGLMKhUEilb2YexyfhY17CZpeR2fqhnABFPMYJUqh_fgffdwOgmDa6Epi-525dO0wH-vkn0HbFrRqs90SWdNrHprqzxIlXzLBPHivsdtJmmo_BJOoYKAf5UQa7BwYzimc9A17aui1Lwyrrvt5qDF0LKzYBLQ6miw6NxqsZM_ZWnJlFtg3hYGEN1K1d5-ifyUV6q0MzhyUzZerqcnoFWV6LEKkl0geBBb_NtakJE_h-zsegkaP5djgH9HzhDJlMGkxj1MYmC5yYDtxV57f7KCKFoetFQMhYhymzDaNTfCrbc9qG8dXFtk4jGK7vq-jf0spbK90zPd9wQ8AAX5LJSFho01z-42MwCNRePkPZ4J9vG_cC1AZiox9Lw3oiAKszK8lLEC7ZratOPHjKZuIzhmCKliXai2aHi2oZoirE82uuLcOB61YmQ7XYBiMuneQOo6HSoRHgmFfFq9bpeh5HQ9SLTv7P7meRaMBiceXWZ748sWnC92nqi8ousKRiaxz0YDCyT796OBdkgQWA3ngM6mt_UE456wwJHMs5OEZZPtapg2vD6N5zxvMMYQx4lsF4S1RVNSNR32hb-Up2Zwx2QFyrO9-sUFnb-gqkA5iACKsoQJFuFjaSqYEeJT-lHpy1Pwpqoy5udPQw6JdfcT-UQLObFHu03zv2JcgQRENQUR1021GndBHVEbmOVSf4wEkYtO_oPb6ijPI4X87dYLo71AlZT4pDEAEuVFNlKsK3Gpoqt8ehQHfbHUHP26vWNfe6K6kkk5ds3-cpS8VuqLPaJGROzEQ434O4a3gXVNY2zW_NQsvnUbvhbEV9Afq7EHVz8CFVEnb5xUFm6McGflkB0r25p35hnkHGj6Mqk2O6Q7FBfSRyL-iVxd3p3khFYzjkoSWIlneDWHTxJzSXslTFGCrh_yVRGpU2UB3lg_LUqmMDGrOPOK9VElavV_JBTnZ2zEWrQndrRyn28HCM6Xmq57VX86AWWKSWLUWOf_xIMUV1ZJil-MZeU-PU2pTgBEJglscc4lmtJz4vP9lSWpJiC06JsTCwFJfDsbV7ti7wHvuldRthnTOxthcd6_JdzOnJBfTz7lOJNGyWirPUodfexJbQ-4AmRD1FOqLzO9RnYj5fp6OzVZ4Jm0LmAe9l36523qe-ovNvvkLfRV2VCX96db5Wu-GW0Qu75ktvx9IVHvNV90V00SXr5W8oIsiU0sk2KXcbpzAjHWvFHPs_iZIYe_VFicY8bk8WjMoja16x-fAX5xBjLizH9ogxuFLU3LRSEv6rkaLUXoyfVGMME4q_REU6jF8ksdNbQ19W628QbJa9EWsIi4VJaV4X3h0K1lsnpjS2IzBCa9ENuIH0RLwvxfETB205qQJNO01F3vxKLBcIbvZJvjAztlQic4T-rI3CoVcWGnewcBXKpmLTfkkSyUDn3AIJJ4dr2GZafUfTwxLa0jVWelVfmzwJwFeAdhP_KwFIWz32o5oFudPXdt5lh1XfMB-kOuSRcAIhB0jY6YdW-jO0IcQnggHPGRKbeXNSlSSjTwGfdG3inS4fZp9KDWG6R5t0x_7GnputINpEn-QgkwBE7H22WAWdjC3yGNY6SN1AMdHk1-_CQqaosJ2NO_1k-mnpFItSBj_DRh4EHHbXl4xyeYZZTcJXYGv1DKKeB5zPASepYZ5C0XnAUkUueAjdS8my4pqxoF_V74V_cl_DAcz-1mqeZvFGcOBb53WniUZnbyKOabdcLUPZ3_deWd33W0C-HCUnZRT01Wus79I2Z5dg==",
  "id": "rs_06672f6dd205d3b6016ab43127a45087d0843769c8894164e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.382,\"right_x\":0.36,\"right_z\":0.06},\"note\":\"The cream toy is still left of the jaw column and its body reaches the bottom of the wrist image. I’ll move another 6 cm sideways, advance slightly, and align the jaws around its torso.\"}",
  "call_id": "call_us5XNMGv4Z6o6hdJ9shO3IYV",
  "id": "fc_06672f6dd205d3b6016ab4312923e487d08b6cf928182b3b6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_us5XNMGv4Z6o6hdJ9shO3IYV",
  "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]: [-0.1146, 0.8265, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0409, 2.1254, 1.4548, -0.1978, 0.7658, 0.7238, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1914 left_yaw=0.1229 left_pitch=-0.0038 left_roll=-0.0563 left_gripper=0.9968 right_x=0.3633 right_y=0.385 right_z=0.0806 right_yaw=0.0394 right_pitch=-0.0171 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 7.0632, 1.6728, -0.1001, -0.0464, -0.0122, 0.3214, -9.4838, 6.5436, 0.7595, 0.2906, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f669ea4431c04de92f1612d1725b533d9d4462284ee43446b7944650121d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e409f377f2feb998bac40c225208badc0916c9285389e9fa13dc53215d277ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11797b9df89ed501ad915a1973b29248c161021cfafbbd832ddee8fadf6f7fa2",
      "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 19 attempt 0 · /responses · status 200 · 2.118 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1139, 0.8143, 0.6586, -0.3958, -0.1791, -0.1909, 0.9967, -0.0208, 0.8307, 0.6067, -0.3855, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.001 left_z=0.1977 left_yaw=0.1242 left_pitch=0.0186 left_roll=-0.0568 left_gripper=0.9967 right_x=0.2967 right_y=-0.0006 right_z=0.17 right_yaw=-0.0007 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.0325, 6.7077, 1.7607, 0.0659, 0.1001, 0.1245, -0.1846, -1.3333, 7.2137, 1.7705, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8234, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.9825, 1.9125, 1.1908, -0.1757, 0.7338, 0.675, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1923 left_yaw=0.1229 left_pitch=-0.0008 left_roll=-0.057 left_gripper=0.9968 right_x=0.3494 right_y=0.317 right_z=0.0867 right_yaw=0.0272 right_pitch=-0.0536 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.4017, 6.9949, 1.7167, -0.1001, -0.0464, -0.0122, 0.7453, -7.3641, 6.6667, 0.7692, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8265, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0409, 2.1254, 1.4548, -0.1978, 0.7658, 0.7238, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1914 left_yaw=0.1229 left_pitch=-0.0038 left_roll=-0.0563 left_gripper=0.9968 right_x=0.3633 right_y=0.385 right_z=0.0806 right_yaw=0.0394 right_pitch=-0.0171 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 7.0632, 1.6728, -0.1001, -0.0464, -0.0122, 0.3214, -9.4838, 6.5436, 0.7595, 0.2906, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f669ea4431c04de92f1612d1725b533d9d4462284ee43446b7944650121d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e409f377f2feb998bac40c225208badc0916c9285389e9fa13dc53215d277ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11797b9df89ed501ad915a1973b29248c161021cfafbbd832ddee8fadf6f7fa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEsTo0DtLXUUrG6pEXBrv5QHWtJkNHTeFahi4M18flgW9xO2HqGFua48ntGXprsl32ila1zf9hwNVv-sTXv4Vf_jQqdiHJv79yepyrQJnM0kUOPQkGa4uAFRovht3Z8pHK7u-xqkATe5X66ZCfxv2q9b30f6dxwWyHQOM1ftPRiktx0Si5f0Omfkc2P98167mxksWsZx3aYBnNjhqE_ihrlOxKlDiCXJ4Xl4OUa5VM8Lndh8XmcYfy_ySlZwrDC2VNntVTVCeHQ-wPg_Cq5evBKuC30Ec_Y6zKukM-bsfibCK49g5dKPoXqjVNTkpkcFw7FmIhypSrSnYfw3p9FQ5guGPMNkRXKqfZ650-ATA43llu-nMQm8M6ooxe-oeRiZLaj5nJOczSY7AnbMaO4MgudBC1zAXAYspgTYYbXrAzYk7JXfVd6TNFWAi-xNUgVEFiNxivq7NiW24AiBzXHzFG4GiCOiL7EgdzVHCWPZcUQm2jOQUyAnXj1BBkafUeSDtj1mlm_vILHAYG0FClv2t7uVATktK0TaCTBToJGZjEdhOXO8kUVOgynH_0fKhMye4fmKjWe1OPPgwR3PPJIppfiexJ1AcyWSBf3_MYiqPddX9yTLRd7g4cE7S7-Y0b3JC3B4t8ky0ru0pvxI7xYJmXGb2jTZ-aTl1u1gjfty4kvGv_u45LVD0Fo6Oj1lQomVzh_Ag9UQPETS0lX-QynCB2XhDrEP7Xb92uRrr7ynQQq8rDy4GXq4Rlzp1zrh4yrWm5HUViH8gi0VzPMmxV4OVK_IsZViArVfJpe1u0w_J2ksINVdbpEHeWz5_lxuynXOtdg0pO0a8eajsJF63jlQa-zLj4aHSPmSIq8n1na9hxCZwGgcWeUVKupgvEhDTQt6DcL2sHX2V-Dlgdh0Txs6eUxD9jcb_Zr8rLj0ECdmdI9aZJH1y7J0E-SZ4pDshSuh_K4frzfgwnbwt50FhzYZzBWMOwQieUs7xHmSQrBLmk5o1S4422KPVzLv55tedrqHxdQDr0iCQLrjLGZGjuAfwywgVF7yfTQ9I0FsfZcCgCtC86szmxjEqLsCKoPTQ4o5SgrlvcFUqmibuSPOuibl5HEP_V_U5xhSVePARQ_h8Rivk00i94kZ3YWxFo8SxwTpaKfR53nArgLLg41tglZYEOfZayI8B0Ay9b_wy5irCqEbicPB9xhArMJnNCAse6DjT4pXEsE0KHHaU-Z-xBSc-0QJNpm6JdRbeqF1SHVtsDrhXZ49tb-K0FHPdMMun7UGAj0uRrhiYwUQZthvGSz0eO14uDk9KUOfs2HX4E-Xy63VlwI_286K3b1dMqn8OivCeyMT8rbtACmwJdFsL-sWm5H0TejVolGZZRJCg9y-yYellr33sU-fvxB5P8jLwLMuhqNY0AR6CvjkhXj55E9SeZR5H0GOxL1LGfIXJpOfFThhDyaSBVegrILO4zQJyPeluCi",
  "id": "rs_06672f6dd205d3b6016ab4312b8fd087d0946677a56dd41987",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The cream plush’s torso is now centered between the right jaws. I’ll lower the grasp point toward its middle, then close to pick it up.\"}",
  "call_id": "call_myUK2MwbcvloZtwk9fim6NFo",
  "id": "fc_06672f6dd205d3b6016ab4312c17e887d0b496a1bdfbd377f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_myUK2MwbcvloZtwk9fim6NFo",
  "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]: [-0.1146, 0.8268, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0462, 2.1544, 1.4158, -0.0494, 0.7776, 0.7189, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1913 left_yaw=0.1229 left_pitch=-0.0042 left_roll=-0.0562 left_gripper=0.9968 right_x=0.3673 right_y=0.3944 right_z=0.073 right_yaw=0.0389 right_pitch=0.0336 right_roll=0.1033 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -1.4701, 7.1043, 1.7216, -0.1001, -0.0464, -0.0122, -0.4308, -6.8718, 3.8222, 0.9402, 0.1245, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4392f5e9e636eb2cb6a84065fc18d259cd6f6ebbb77dd3771abe24b294d22159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a934458b8f34e15e1209e58cb405434185172090ee3cfbb72855f2125646392",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3774c61e5866760765b8a180a5051510e3a57249412022aca57be702d80d3ea",
      "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 · 2.544 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8188, 0.6559, -0.4026, -0.1764, -0.1944, 0.9968, 0.8917, 1.6875, 1.0523, -0.2413, 0.6678, 0.5854, 0.9997]\nstate[eef_state]: left_x=0.2993 left_y=0.0004 left_z=0.1937 left_yaw=0.123 left_pitch=0.0044 left_roll=-0.0577 left_gripper=0.9968 right_x=0.3444 right_y=0.2582 right_z=0.1168 right_yaw=0.0296 right_pitch=-0.0824 right_roll=-0.0306 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.7709, 7.2137, 1.7998, -0.1197, 0.0073, 0.0024, 0.5402, -8.3624, 8.7179, 1.2967, 0.486, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8265, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0409, 2.1254, 1.4548, -0.1978, 0.7658, 0.7238, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1914 left_yaw=0.1229 left_pitch=-0.0038 left_roll=-0.0563 left_gripper=0.9968 right_x=0.3633 right_y=0.385 right_z=0.0806 right_yaw=0.0394 right_pitch=-0.0171 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 7.0632, 1.6728, -0.1001, -0.0464, -0.0122, 0.3214, -9.4838, 6.5436, 0.7595, 0.2906, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8268, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0462, 2.1544, 1.4158, -0.0494, 0.7776, 0.7189, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1913 left_yaw=0.1229 left_pitch=-0.0042 left_roll=-0.0562 left_gripper=0.9968 right_x=0.3673 right_y=0.3944 right_z=0.073 right_yaw=0.0389 right_pitch=0.0336 right_roll=0.1033 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -1.4701, 7.1043, 1.7216, -0.1001, -0.0464, -0.0122, -0.4308, -6.8718, 3.8222, 0.9402, 0.1245, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4392f5e9e636eb2cb6a84065fc18d259cd6f6ebbb77dd3771abe24b294d22159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a934458b8f34e15e1209e58cb405434185172090ee3cfbb72855f2125646392",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3774c61e5866760765b8a180a5051510e3a57249412022aca57be702d80d3ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEvcecg5lDltfC_W65hIn1JkOTISTEW4Ozl5kRFfgAvalbTDvn_NdT5CqH8pRfNia8NBfFkt7IDM_m2xb_FID7narvcKKVfjNxi2G2lqAg4HE0p7F8B27HNFtYATrOUp-OsHpXmkIFlEoNf82SJ3vBWrbHRmba5ARVCnJfbFGJ3rTcEuBVxudADwqJUDh64DoBh0xWpxSC1jKIsOUJybHWuk4cgyBVCuQ5-vO0FfQ4aax1_0uVAFFaw-EW6XpRwPa6KqvfFyyrvR4fq30nwZjeTha5_4yz63uoQbWQzQTiY-L6JbtrGvY6Yx8XwD7cMeyzOK6pefQIANF0Y4KY2KQuNmuQo4a3jtwO74AHBFXiNRP6d196vBkyrXL7YtfX5M3mMvaxILU35lcsE0vQimVua29hIiNjXDWCgSj5ygQ3YcZ3ajzZ4WEpDkp8_CakHJRH0JWXvmGekJSngDZgouoAkPNhySM1x_gAsBQHEmw23lkUIcqRcbHv-Ibvv03Q-yxzd32Irx28aW07SlBMSiQVvPvwM17wrChijqAp65CouuJwyxeDyXdnlbmm94jB_UB5fP8pnS-ZK7YqrJPDTIGBOlaWvzxc7XKK6wOmI5Syez7y5weiznQJjCmUNZoPFrjXP4vM4f6oFfvCM-_J6DBJoM5sm4Dl9efuiy-kOhEf4BkLh_tq7RIIjPQrOeYL1g1bP_2NiAXtuaPMuqfpOe4iu3dx3bh6Qwrdx2sXS6_O0D6otjt6rWZrK0u7kFXCFgFCl8TDCH8SLIsTJ6r2fV1Sds0IjXFpT_D8IRe8qPo8wHMFSAG7lYKUYAbRua1SfH7iLUdNwZMAgl1YJphGaH3ScbvxK2PwrIGbutJSzVyvqYJzTJLAtyXXz1EfYxavg-ifftsO9VA9fE4XwNQjTVsFuRG4D5O__YZKW_IAZw8gZ2vqqTO4kYJYtvHf-q746h6AbeJkB3c30hEf8dH3dP5kN8ylbn6KJa7CTNJl_zc6-gXQ_Eg-bmy0wp2W1TKzgrbqNhw9Ex2vIJFtLiOr1T0zu8NsLrDPOspUqfxKD83C91Zj28OoWUmcAscFgnwvB3KxULpF_Kcvk_tm19w6C5mxFUFc1nB1SRSEOVOD7piHMxsbvbXCqAqlTylgT9Sdy8hMkIWh9uI23sOh7eIXF7ju7_HLpSAW7Ha7HTDGtUsHnM2MpxepdZ9WaUsIuP4x7dbZH-s8PpaXrr29cmMNre9iwYJB4DZwJz9ac9Ecr9EA37xXMQ3qrsCyuHrJjO-tsz71xui0gSThFird-dghYo2dVJ9PNMWdU8U-mB-6ruY9qvpRvIUUjWo3ao-ybZ4pQO7fdezGj1KwR20IgIhqkGuLNRw==",
  "id": "rs_06672f6dd205d3b6016ab4312e21dc87d0a46bbe81d61bd2ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm stopped descending as the jaws reached the cream plush, with its torso still centered. I’ll close around it and check the jaw spacing.\"}",
  "call_id": "call_rAOGj53VqKYm4r3pke2SKxIS",
  "id": "fc_06672f6dd205d3b6016ab4312e925087d0a0b7b45dbbf4c565",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rAOGj53VqKYm4r3pke2SKxIS",
  "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]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1764, -0.1947, 0.9968, 1.0454, 2.1696, 1.4094, 0.0257, 0.7757, 0.7197, 0.205]\nstate[eef_state]: left_x=0.3 left_y=0.0003 left_z=0.1908 left_yaw=0.1232 left_pitch=-0.006 left_roll=-0.0555 left_gripper=0.9968 right_x=0.3714 right_y=0.4012 right_z=0.0734 right_yaw=0.0369 right_pitch=0.061 right_roll=0.1499 right_gripper=0.205\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.746, -0.1343, -0.0659, -0.0122, -0.7043, -7.8701, 4.2598, 0.9206, 0.1392, 0.0317, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e7639bec0e4696caf4474b0f55515ddbb887e5c5e741007e09e61eb25c15b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2cc05827ef1eb70423b3b44ddf5079cfdcaa14a5eb99fed7c216e898ff6faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0683469a400ebfb676a7acedd0eadab58572445d305f30e847b2cc29c63655df",
      "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 21 attempt 0 · /responses · status 200 · 3.026 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8234, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.9825, 1.9125, 1.1908, -0.1757, 0.7338, 0.675, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1923 left_yaw=0.1229 left_pitch=-0.0008 left_roll=-0.057 left_gripper=0.9968 right_x=0.3494 right_y=0.317 right_z=0.0867 right_yaw=0.0272 right_pitch=-0.0536 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.4017, 6.9949, 1.7167, -0.1001, -0.0464, -0.0122, 0.7453, -7.3641, 6.6667, 0.7692, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8268, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0462, 2.1544, 1.4158, -0.0494, 0.7776, 0.7189, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1913 left_yaw=0.1229 left_pitch=-0.0042 left_roll=-0.0562 left_gripper=0.9968 right_x=0.3673 right_y=0.3944 right_z=0.073 right_yaw=0.0389 right_pitch=0.0336 right_roll=0.1033 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -1.4701, 7.1043, 1.7216, -0.1001, -0.0464, -0.0122, -0.4308, -6.8718, 3.8222, 0.9402, 0.1245, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1764, -0.1947, 0.9968, 1.0454, 2.1696, 1.4094, 0.0257, 0.7757, 0.7197, 0.205]\nstate[eef_state]: left_x=0.3 left_y=0.0003 left_z=0.1908 left_yaw=0.1232 left_pitch=-0.006 left_roll=-0.0555 left_gripper=0.9968 right_x=0.3714 right_y=0.4012 right_z=0.0734 right_yaw=0.0369 right_pitch=0.061 right_roll=0.1499 right_gripper=0.205\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.746, -0.1343, -0.0659, -0.0122, -0.7043, -7.8701, 4.2598, 0.9206, 0.1392, 0.0317, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e7639bec0e4696caf4474b0f55515ddbb887e5c5e741007e09e61eb25c15b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2cc05827ef1eb70423b3b44ddf5079cfdcaa14a5eb99fed7c216e898ff6faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0683469a400ebfb676a7acedd0eadab58572445d305f30e847b2cc29c63655df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEys5SQnGQRTbNNgDIaeztzighWy3DFmMPsGMhJtXLC0B3i57ciGkFtXTNPbXS-RpOa3URGKQQ9kDUL6O_-hMuf5io9dUgm-6Li7pzQMJ7kz5Ucf8hmCpclTLg7bjyMnbgcBgM4yQtbMSJ5YbgGPm3nRCRa8bbjyNZ3p9YBiMKOwc28dfQJ_OiaHOe1UW3mPs2qFV03sf2Mq6vtuIeIHJ9dWaCOxr5zUoQ1Oox7Ht263ARrQ4JXqocZRdJS6WWAxA24Ak_aFof6w9qSMBvOYHsX1JwJ9SkeCx10OUrV7avUyDu4ZMLGa0NIAAckfPFULymQmm7PvheC9qBF3HnUqMm7l1pkKyn-yrTcltSu_rmamIgqmdY35bN81cnjtBQKKADot4iCrrwFFXnDcNcnVPR9PnMFXhqiD_DjoKh1dUYoBdXZ1EmoecJAz-1GVJhc6Okw01k1uRN_QUxmHa1iSjhGQLVqsRaDKhxkpl1oV0t1bYJJ0ha4fuEirSeIS4Q6FoWyo2a9uDB60wzlIAVwwjzNPgsEKeItawq0SMSfI1KQv92hdZx6ISf6ZeavQlV-ud_Cw56NcNHglW_7cpDYCrjdijdxam4qGPxBZ_0NX2JLRy3LE_MxTNPSA2jkoWmdM8mIWSMsxU0HzVu1f87oDYgOhOmHMt8mhmFiXaTjl40Ca6nLBwIsuLLqZCB3_Z9C0D8O3UqW-Zb28jP2QyrR7dmDY8uLUErUPfS0uDMP3O1rW0rmR6Aol9ClwVSKdVXztGwO7p7J9uqaOsB8-tn1ItYE8mJRQ-WVikdwRm1FFjNKLcIVf86xYfolARprt0P8yZfX0rM5A5EMtPJhNVXZYh8rl4D1AYzmpuRY64nopuRZP0OZexXKDcqZaOF-rudhS_K8HRk1pLH19tqxzYfp8UAQFd1VVp2cRZ1snLkT6JRT42SouB6sMtiTsJTDz6x4jtvhXCan9Fe0WmOILm-h8LaGw4WkL5mir8Bne797qL1Q-5i4F3E9Ga4TooBx85IWCwt5qRrmHG4N-YViA3RHxzvhwYAcoebng1dnUMMSpCRk-rq2Q2Lt2o5AWKe948ycHx0clJrm2yfJoZsqkg7F3sN4LuXIOQblgQU9-bu3HA-2os7kbJOZlgdiv36_hl-8bHu6nRNIDfZLcoSb5mG-w1pxS5PMbLMC0QtrugXwx5h7aEuW1F225G6ehSA8vt5KkyM1_vYrF2j7U0ZJtutPRZn9siaaT_san5lMWzi1eQjFBeJMXE2oCq7l5GDAOC-E94smP_Ulx1Eqls3p3EVG0UbfTQwT5eEfMhmwD1Jmji8hkbQNTAjgkuSSUscub3lRw5o1DDyKqNUJJK-Sb431QwMJtFb9m4j17PJNGcLDGrkaOYVKTlqQ4bABAIiMuBXJbok83wO-SK-iG--1f2k4lJCIcAoAsFRDP1ODy-l1ajEhXTt22Lx7e5mPXcAGiiHHF0M5w1MqXTAHv-_2iHNYYUHt6VMJNzx6kThkwglSM_6m-iwPE3pvznX0xmeRL--ee_heg4xDkS0e6eowYHu-ZiHBm6_BCwctni72qZcGJsZtoB-_A2WC4r6BDLicVqMzuA5heyn2CTQN95Q6CfHHQDq49g==",
  "id": "rs_06672f6dd205d3b6016ab431310dfc87d087b79de6a66eb95e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right gripper stopped at about 2 cm of jaw spacing, consistent with grasping the plush rather than closing empty. I’ll lift it to confirm it leaves the tabletop.\"}",
  "call_id": "call_DsJoiWPhr2g4OmIBMvQFawp6",
  "id": "fc_06672f6dd205d3b6016ab43132298887d0ac4a2d842a535350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DsJoiWPhr2g4OmIBMvQFawp6",
  "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]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0454, 2.0903, 1.5917, -0.2924, 0.7513, 0.7177, 0.2079]\nstate[eef_state]: left_x=0.3 left_y=0.0002 left_z=0.1908 left_yaw=0.1229 left_pitch=-0.006 left_roll=-0.0558 left_gripper=0.9968 right_x=0.3696 right_y=0.4042 right_z=0.1352 right_yaw=0.0571 right_pitch=0.0163 right_roll=0.1099 right_gripper=0.2079\nstate[joint_eff]: [-0.0752, -1.347, 6.9949, 1.7363, -0.0855, -0.0464, -0.0122, -0.1299, -16.5128, 9.3744, 1.453, 0.4615, 0.0122, 0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e1f941694097e7aac94404db28fd05cb7df8f4239e22520fc46dc44242fe34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6586a04b2d63e2c835417ab0a8cb733ec434a6b506dd2f0003125b4c25d6aea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a8cb519c5793c0244ef81a1d800507a4fe1dc824078aeb068dfadd948350f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.178 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8265, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0409, 2.1254, 1.4548, -0.1978, 0.7658, 0.7238, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1914 left_yaw=0.1229 left_pitch=-0.0038 left_roll=-0.0563 left_gripper=0.9968 right_x=0.3633 right_y=0.385 right_z=0.0806 right_yaw=0.0394 right_pitch=-0.0171 right_roll=0.0442 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 7.0632, 1.6728, -0.1001, -0.0464, -0.0122, 0.3214, -9.4838, 6.5436, 0.7595, 0.2906, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1764, -0.1947, 0.9968, 1.0454, 2.1696, 1.4094, 0.0257, 0.7757, 0.7197, 0.205]\nstate[eef_state]: left_x=0.3 left_y=0.0003 left_z=0.1908 left_yaw=0.1232 left_pitch=-0.006 left_roll=-0.0555 left_gripper=0.9968 right_x=0.3714 right_y=0.4012 right_z=0.0734 right_yaw=0.0369 right_pitch=0.061 right_roll=0.1499 right_gripper=0.205\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.746, -0.1343, -0.0659, -0.0122, -0.7043, -7.8701, 4.2598, 0.9206, 0.1392, 0.0317, 0.7888]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0454, 2.0903, 1.5917, -0.2924, 0.7513, 0.7177, 0.2079]\nstate[eef_state]: left_x=0.3 left_y=0.0002 left_z=0.1908 left_yaw=0.1229 left_pitch=-0.006 left_roll=-0.0558 left_gripper=0.9968 right_x=0.3696 right_y=0.4042 right_z=0.1352 right_yaw=0.0571 right_pitch=0.0163 right_roll=0.1099 right_gripper=0.2079\nstate[joint_eff]: [-0.0752, -1.347, 6.9949, 1.7363, -0.0855, -0.0464, -0.0122, -0.1299, -16.5128, 9.3744, 1.453, 0.4615, 0.0122, 0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e1f941694097e7aac94404db28fd05cb7df8f4239e22520fc46dc44242fe34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6586a04b2d63e2c835417ab0a8cb733ec434a6b506dd2f0003125b4c25d6aea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a8cb519c5793c0244ef81a1d800507a4fe1dc824078aeb068dfadd948350f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDE2oajVVQYmTberXhis6tiMgV--22oaaGeUho6cMO_hR9Nv1LPF_qO8v-w6lxi6HTqtd2_MZVHGCh5aAemW14lnsWgdb4tENt46i8SBiWrzFAq5D5wuzfxnnO2u4in0LcLjWZX34mvOrhriNaBbWbP32HNGvdOq0yfTIgBDMhiio83esRu3AtWPbzMaSKNaFNIjYgW7-JUfBJRuYf88hGwcHbAyrPXbvnPlOGBfAEI8KZyVk2kefImClG6xFMVftB6wWhPawn_R_FgCBBdzS6WFZMiZhrAhOCrDXpds0RzC2Eco1WHQzyZfKJV01bCHgD8Z3CFDstwDADUTTioFy4korZQvjourwPbrS8RcNecOjliBKHC-Bdw5_z2CtrwMtnjXVfEdpFfXe3Yu4NHygvyIIyjyfIIIyIq54q934IuKwjyhgxgTZgUqOBjU5I1IVlH0X2RY9pKtVz_yWtfTDDCbe3No0mrmStLxZ92QXDF2XvENsQuplOk3aLROMRgr4IrdnuYPTuNQs8KRIlyxVKzLfCar3msToM7VqlZ9RQo1_AlrZ319u7ja4UKPotBYd4VX6LofeHm3qPItLexcF7f10W3yBNWucfuEWx_hreUxacsdRnswnUZm1K7Alh0GwOe5eR4NCC2uXgxEWDVHql82i0Zr2mLDWmdAuQA1F1RTebNDYqlGxUtky7nY14ByYiJxqM5R91zOM8lW-kPuVzxwsEdVRT3iQZdjEah-THBBOXqSC1clozrsNCUtR6kaj2r7n60IYsumuhwyIpBJHeEJ1ovTVWkhr41w8kg_4fiEqAUc9FD4xdZGvPuyeA27Jaip59NpDMq0pTnFQu3pJkzg0_rt3mdNJYbptWON_-vRaqT2tRkh8jYgyZbbReFplJArJwRCA2L1eH7zC75RHUsERL7UaAlVHwrKu44VYumlhOI3DAezDTLQMkp-7KKXT5qFpCkJqEanMS0fxb85fb6ZycyQ2nftziWKs-8hQdf02gSQ1uyITUq71QuzuW7NjLbqoNAtLDuPU9koLo7PTw57oicyKn-i1hkgUpgbN077LPhn9rs0gpXZAV8qPyuHKK_gGxNptzIVNiQ7tXiQOdez68gV2hUI6A3et3O3eOFnobj8YqfFQmP10YM4UOtGPO4evP4GIxeFxqM60cVFTwduMe-cCMKhIh4bGvFcTQs0QfaM9s7nEv4kMK9tYov8yqtdJ31GEsNj0sXmnPmqXEDzkoSoAGCc8zje7eIj-hITM3xLU0B881UBulKG11JdiSa_3kZjuIPy9plmTpTqZaG3jvVWWqQzltNuSm4eZ_vSHWTK1TnBZMZfikPhNNjaDz8UNewrdgY_nDV2I648PfCpffsVJfY528KKD2P798PgZ1qfJPR5s4z6JaLb8_VkG_X3IdDsJykW4nm5j4AiFD-4xsXZ9v3DT-Vg7uCgTjDmJkfAP9ywsUG3bc36EQx-r3-1UbEwf6GbZi5vQDc1367aGYIj_AYCRiG9Fqejs0VW4KD392ACDpNG4kuDirQ2xY8L2ZB0_9JF9E6AJbRC11esA4QRMx9UeWaW89AI439Y2Rm_4e5IO4NjfLjIzhZisSQEkcgRuzU6VsdtepMcyMl6H0WLBicix58Du9nkzQ7qjiOMAP-G4T7yM8r3lFQSmOLzYk05tq1aCRyrrbXAeAFjp_5Qw-BcGX9fmDfAVufHSrBFsfk4Ccv9Sw2ajC_DgP3X8UGAvw4Xl9_Uo8Z4uyv5YrHvYKUozW6Y2CMcb_prugq7ssEuJyhjN_cfdw2pG4LSy1-v42TmRyq9PYqy4medBTMrY6Z5U7HkgevCZkM0J4PiFrM7R-n0-0Y2MzET4Q9K3ahpWmOFDLl0WplZfR90uRzHpXMx4XNWHnjLo1u2mFQ=",
  "id": "rs_06672f6dd205d3b6016ab4313472c087d0aa11725a378a6551",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.16,\"right_z\":0.25},\"note\":\"The cream plush has lifted and remains between the right jaws. I’ll carry it high across to the right-hand basket, keeping clear of the gray plush and the left arm.\"}",
  "call_id": "call_qveKGIEdfy9IhmaiibFx5ybY",
  "id": "fc_06672f6dd205d3b6016ab43135998087d09cd3609873dc87c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qveKGIEdfy9IhmaiibFx5ybY",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.416, 1.7218, 1.4036, -0.3447, 0.2546, 0.2832, 0.2114]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.4751 right_y=0.1652 right_z=0.2052 right_yaw=0.0472 right_pitch=-0.0738 right_roll=0.0844 right_gripper=0.2114\nstate[joint_eff]: [-0.253, -1.6479, 7.0359, 1.6777, -0.0806, -0.0757, -0.0122, -0.5128, -12.547, 10.8376, 1.7558, 0.0757, -0.0952, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afed9d95e3d443edadfefe0d06db3a65743372af31809de39c5e61a2803c04d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6f22d22d1121d3ba87f153e982a587dbf66dd183b366c1d76e81e7a3e791bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54419aaed4a17a0ab80965e13ee109e442df7640c043d8cd34de7b7059fa0f89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.486 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8268, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0462, 2.1544, 1.4158, -0.0494, 0.7776, 0.7189, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1913 left_yaw=0.1229 left_pitch=-0.0042 left_roll=-0.0562 left_gripper=0.9968 right_x=0.3673 right_y=0.3944 right_z=0.073 right_yaw=0.0389 right_pitch=0.0336 right_roll=0.1033 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -1.4701, 7.1043, 1.7216, -0.1001, -0.0464, -0.0122, -0.4308, -6.8718, 3.8222, 0.9402, 0.1245, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0454, 2.0903, 1.5917, -0.2924, 0.7513, 0.7177, 0.2079]\nstate[eef_state]: left_x=0.3 left_y=0.0002 left_z=0.1908 left_yaw=0.1229 left_pitch=-0.006 left_roll=-0.0558 left_gripper=0.9968 right_x=0.3696 right_y=0.4042 right_z=0.1352 right_yaw=0.0571 right_pitch=0.0163 right_roll=0.1099 right_gripper=0.2079\nstate[joint_eff]: [-0.0752, -1.347, 6.9949, 1.7363, -0.0855, -0.0464, -0.0122, -0.1299, -16.5128, 9.3744, 1.453, 0.4615, 0.0122, 0.2906]\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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.416, 1.7218, 1.4036, -0.3447, 0.2546, 0.2832, 0.2114]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.4751 right_y=0.1652 right_z=0.2052 right_yaw=0.0472 right_pitch=-0.0738 right_roll=0.0844 right_gripper=0.2114\nstate[joint_eff]: [-0.253, -1.6479, 7.0359, 1.6777, -0.0806, -0.0757, -0.0122, -0.5128, -12.547, 10.8376, 1.7558, 0.0757, -0.0952, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afed9d95e3d443edadfefe0d06db3a65743372af31809de39c5e61a2803c04d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6f22d22d1121d3ba87f153e982a587dbf66dd183b366c1d76e81e7a3e791bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54419aaed4a17a0ab80965e13ee109e442df7640c043d8cd34de7b7059fa0f89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDE8XxaPGHoRZGuCiJhyaOsuxUjYJYlFXxYi4Wk5dLlq3o26SS2OsqX0wiHnGKiKq3ODCr3Ofa_7O4rgh3FGzBD8uzjrD6X-80rP-nhS8dNKgIo6L7kggqQ-5iquLbalJ9CtElQ2lJGNm0ZSWT72WdVPwBXVlGxKvKaYcPdPAFGJlySCepvp-Wx1fuaYLbTdpCs4sWKXYfcebAZ0Yznct0yrZVmbtAVNt3nNYKWVHZC-Z4OT0-QIqqS9QrwvHvuguU79Yt7mOP2bjziTP4-ukzDGtL4IJ365SLiDHmeUBVoYLNKtD2D9bFjmXly5V6nHsXPQXWTcQ9aM07Lnw53WWUYc0fe78h3dzdr4wFKPAk6SdBQ3rcsbylV-1O2NQ43zRf1uSGL9aSuvY9rC6dtwgZmMQMMwCrRvD3C7Hu8WqbzO_7wphQZ8R3YZ9C2m2l8iqF3a4Aj6U41g2fxWFPcDL9uY-4hELhNIEzGeBFo6WXxsfxyw7wCMVRYx9oRvgiPbweessBJUlny_xd9e6beJp31BJ7zx399RVSSTyCKHj1fZK1BIdXP6qCmm5l8SzZAoYlmvDlSCJtV9AwqD2q9Lkns0azSWngpi4T1US82JQK0rNNoXmSq_z7hgO052XjWZyQgNIc6a9caPe51SQOIwyja30regORwF6LwPl79oYjnLHNsLgWz0I681Xp6DRwQPWZU760-3sDGtap-GbvbGU1KS5BYOlpuz2DErSYUqzDw3j9CNCUmeSUVgRUFX_RTKMNb7onL418gICDw99DDCAphd6Ro0RBAIRJgqeLX_INZ_1mF4nIyZOMQS1EUom4AyW6pu_wesDUIzF97ScskjokvY6Bwl5ROh2LAotktQylnCgqScJZMyzZeAXHDgZ8cfG9lbceHsdtRkOIdCjIf6mtgiuik3MAXbm3syM_e_eXHT9LZ8zisq_HgRitK5cdthYtEYb1-7MZvSuy-XR6TXfMfBNLdSAXGhT2iqMC-AXaac2fqPAn5SQoJ18vt_MhvdUDDXZi-5T9wX1VNkmpNl8J2BVbMmbcHR2V-8bpBjoBC23Bq2RfBf3lOTBCdYRS9_fNMbZUmSAK5hMyZB0Xgthl9d0DAFvDcpvnb0HM2YtNzPodhdFUV8rF_9dmtEo565DlCcoZd1mhugQpr5U_WF4sbmsPW44irfmR8wmRlX7ZSLpV-avgnG6VdUzgnCc5W6HQP8l7hueIvddALaeYshCh4g5IFInKXAHZJjAO07cCpn2bGLl2ZjRdG_7vq7xHPTfzBuTL1OLzrujlh11Ffc2qNwFWhonUZS7Mt_ru8-qO21TT1V9G13i_4baxibZKtRGkbw13durzFaKrSGIAtWie3pwNUnVol63rymtKNTCivN0biETWuTBrLLQ1JfYT1dtdYCwrA_9kBIwMMIG0ndpbqcFrsXxMtkgVyNdbbfuBGdS_hZXS13W3vl-cU99J30KRdA34vu68j_uwmlEBgUDSULZqk3wg0aGwmxlS2KeQLoDTgBrSAuAjpir3y7rkBtedobd7dd4X_U4BCzP0qrpoh-n9mAg9m9dlmEm4QCkow31KCxdlcDJjZeWrr5mhd8kCvjy0gTS6EIlRvl4l8LGR-0NeZKgeicxyadgbD85aSILIzZJW-Y94POTQlvrcKg-VBJDio8lCeG4XppFSvzIaBpXJuuyBoLJiLcPoCx-bIgswZMv_tlLqF8sr0doRE_Z5b8VwFQLPo0gaXPQBW-dlGuvREm9YgUEUIzEgktLaAmHwgnE0thOxAvMtb2WQCZ1F5mEu43g1dBIT7YSofAZqVDbesmIVqcZneP8nOXREWQn746RgiqsIBX50nDLneP2qHo9JZXenisGJZ8iXkDgy9TSor6DvDjxS6idomzuYVoerfuB3PdckpgPX4vyc_baI7b59_0PEBigWBO7JVwxwvpmPb7ViEyqaaKXFLKsKsuWA-8lsop5Gh7mZHbS2Se6C69-4dDP23WEC79fGHLnWLP-PeuoYhmOhSJdPlSRWetqpJBYZuETQ9uy1quqw6IUwRmgLat0p5wxBorX4YiQVSc-62iQB3iiqXDbnIQHlAmgaLman4GSyJnPgeIB1zMzEBYoLODHyKOAEtunqHHRIwyk4l0t7hoZu53ozle9ci6pjIuxmAWU8mB3e56SuuEk7vs8da6CLXcsiwwFoHinVQzyPfrRTfO363ehkP1YLZnfB7Bp6WVoTmFhUw4i9Q_Q7D93eQ3lYHeqUYxx6LOvkC6itvf_TjRygMIlXi-m1oKo4Rm0WSgO9aTdh2SwA9xWN3jM4AnbdLePp4TMgAo8iMV9QUGostOSmzMUsXlvS2IvQ_keC7HJvEmcBY8n3VmE3TMJ4bw32SOglyfrBLe4b0GCceLQAXgV4uKZOyLnXn7DAuOJ2fPCxb-r1apMkn5nAdpdohSZip6qyjr7vRZpQ6Vwgo1qoey7RqPPag008Ex-14=",
  "id": "rs_06672f6dd205d3b6016ab43139671087d0b84de7e0304c351a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.095,\"right_z\":0.25},\"note\":\"The cream toy hangs toward the near-left edge of the right basket rather than over its center. I’ll move the held toy a little farther forward and right while maintaining clearance above the rim.\"}",
  "call_id": "call_m21psX9I4iNws5oLTm2dZYaD",
  "id": "fc_06672f6dd205d3b6016ab4313bb8f487d0a273c4d93e59dddd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m21psX9I4iNws5oLTm2dZYaD",
  "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]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.2195, 1.7603, 1.5707, -0.4873, 0.1173, 0.1734, 0.2142]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.5045 right_y=0.0951 right_z=0.2304 right_yaw=0.0245 right_pitch=-0.107 right_roll=0.0753 right_gripper=0.2142\nstate[joint_eff]: [-0.0342, -1.4701, 7.2, 1.6825, -0.1001, -0.0806, -0.0122, -0.2803, -9.0598, 10.1128, 1.5311, -0.1636, -0.0122, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb4d33dfe30d6254160071c724dcc18091ec6b6e795385a2d31d64ba8cd01fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b465511466cd1ee5c41bf9ff61c3e0a5731d6325b2a0ae87804e9434761d0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca7e5d9ad2670e05774b916f42fbd8304dfacc84f2588c12840331d58b3859a",
      "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 · 3.622 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1764, -0.1947, 0.9968, 1.0454, 2.1696, 1.4094, 0.0257, 0.7757, 0.7197, 0.205]\nstate[eef_state]: left_x=0.3 left_y=0.0003 left_z=0.1908 left_yaw=0.1232 left_pitch=-0.006 left_roll=-0.0555 left_gripper=0.9968 right_x=0.3714 right_y=0.4012 right_z=0.0734 right_yaw=0.0369 right_pitch=0.061 right_roll=0.1499 right_gripper=0.205\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.746, -0.1343, -0.0659, -0.0122, -0.7043, -7.8701, 4.2598, 0.9206, 0.1392, 0.0317, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.416, 1.7218, 1.4036, -0.3447, 0.2546, 0.2832, 0.2114]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.4751 right_y=0.1652 right_z=0.2052 right_yaw=0.0472 right_pitch=-0.0738 right_roll=0.0844 right_gripper=0.2114\nstate[joint_eff]: [-0.253, -1.6479, 7.0359, 1.6777, -0.0806, -0.0757, -0.0122, -0.5128, -12.547, 10.8376, 1.7558, 0.0757, -0.0952, 0.3443]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.2195, 1.7603, 1.5707, -0.4873, 0.1173, 0.1734, 0.2142]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.5045 right_y=0.0951 right_z=0.2304 right_yaw=0.0245 right_pitch=-0.107 right_roll=0.0753 right_gripper=0.2142\nstate[joint_eff]: [-0.0342, -1.4701, 7.2, 1.6825, -0.1001, -0.0806, -0.0122, -0.2803, -9.0598, 10.1128, 1.5311, -0.1636, -0.0122, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb4d33dfe30d6254160071c724dcc18091ec6b6e795385a2d31d64ba8cd01fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b465511466cd1ee5c41bf9ff61c3e0a5731d6325b2a0ae87804e9434761d0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca7e5d9ad2670e05774b916f42fbd8304dfacc84f2588c12840331d58b3859a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFAmGmc0cmJskRprOqMtx2a_zSMd3uDOEqDCVDJClHAQOEIK9BmXM313JqURMUV2XiZfwImDbCsyfPblHtww0BElHBd8iKfIcqHKyOJ40bAM-IKk5tW5cVgeu0gk9lwFW-oPkhrcjNk9ydTCKh16-rJVoEIPgextQIr9vhrI7IzitaBtXRyUmK9Hq4v3F7BoGF_1T3dPyjS3ZheLEDxQJWVCGKAHhomS-eBq9CppKkN26DujbQYsCk4Y4HksCES9E5dj-pEhEQ495dV9_pey3lzMSdc3UOgnUlnKA6NZCxFv2iUi6WVEWoj9E9cQ_yAMWyjgLrh1srji838Wrl62LyQv2slJqwEywMzSyINB242aYDBKbQKCHbU1mZdKC5Uq60QxLhSiZzJLSyh0u9-Hl6oAVzkiJ1OD8HwkdTR38JGnC4G02mKK_hp1uTpih3hnoDDAmupTODfc5_jG9z6pUmWzVOjFXsCIwUc1k1G2GFkrw_wx6NI8Ix-guc39Fc7bYyNop4EM5N2Od7Rg_sNSH-LVKyG0KeM_I4Yv8-rKN56-EKN9EQYIHvtX2eln4luk8EtBzw3DCV1okl46AblGpxiEfETnImokuI-36_MSS4H__Fe4xMuWaa_GNSZBqdStzQ6_hB-rJIX61RHkYeSpMRIuNx12-JrZXXw1KL_Y7CePN_2o5nVRApb98hWYh2p_uejJBdc0JBl_FqOXsCujrNNOjimotUDH1Q8mKD4eUGkNH1HCLd5X_QLqBDAMLwIPYSTTIEcgKfeogVFF3Xd_AGcPnKVkEXfUxRYdBxiy4DHwxoSwUolcMcJ59UGiCYG9Sv2WJPkEPUht-52IsbY-aKbPhpxVDoYXZAi8KZ50wCZILVzUDv9WQc-ailXZQg4NvcWlZRSE3_SsNOAA_VcvBKCVQACoJhXXRSjbWLmW_QxgE4GpSdRvx6WW4tusCdV_6RNt8Prax5C0Bb0xFl3YU1WLj31EP6lGmEOsGdY6avdYfIxzxEvvMGpYdrbwYXNdv1a7sn_k8-8R7zNJZkblsirQIVAkL3Jq1izEg-W3b3Pc1yaP6JZjfYkFew06i6Q6E_ywae7nIYFd3GYDg_vWZqXe3FeBSA9E-xNZfzsP0lT3vQUEs5U7NoSyw3bdd2CJ_WZYVYa_B3zfYDK-i3z2C5ViTqRLFGrXE9ri5ahnK0mVqjtGc9uP5cpd7_rVfZp2UlVFrwMe0YwyAXp0I2im81kxtk3aT2YM2LcDdKbMVIgaDiqonzqILjA7evbh6Wq_XgGmMizFR4GmMj7AJVcGQlpQHZK9ldXJPJ0gX5MpPIfbteqJ358-I82zs7i5BJpF6VAD3bRQBaYasgbPjboIChck3Ozk4C6_s1TLCGVWxY_4vBTGx8294hpdM4JcjgjQK5FIiQEqC_zYSG5ssIg77jdwMaOVeAA3K9shRoxws5yiwkAXkdgC2De95UlIynxVc79SPHZV9BJwqcbPgeNasSJ35btibtwTQouUZ3keB0VjtEk-m1x45xpSm7Lh10IPGz4hfcFzslBhaIpiaGTn4uAz3Dy3F1M9zKnSAC9cO_cArnlHaQEvZ9Thhgcje6qA5x6o8bzE5plGwFmH134sD5f_6K2g4L7-B9GiIOeJyGIdoEn-OvolcZgU9cMYrR1YL8kYfltDahbcns3PR7SMZcX7N7tF7tFRwKXPVSeCJD2PwT6xLF1FznEykQZ255h8ILOji3ujiulMGKXObbBkP0G83sc4we4-LPjlIvhtGndOwi2mJGhchg6Ke9uFLswnvmY",
  "id": "rs_06672f6dd205d3b6016ab4313ea12887d0875728aa84276ebd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The cream plush now appears centered over the right basket opening. I’ll lower it a little so it settles into the basket rather than dropping from high above.\"}",
  "call_id": "call_ISlGQgZ2rmmiWjL9Lzh7zYjw",
  "id": "fc_06672f6dd205d3b6016ab4313fefe887d09c00e63b469632e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ISlGQgZ2rmmiWjL9Lzh7zYjw",
  "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]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.215, 1.7775, 1.3865, -0.3748, 0.1032, 0.1612, 0.2172]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4924 right_y=0.0926 right_z=0.1623 right_yaw=0.0361 right_pitch=-0.1957 right_roll=0.0585 right_gripper=0.2172\nstate[joint_eff]: [-0.0342, -1.4974, 7.0769, 1.7167, -0.1148, -0.0171, -0.0122, 0.1983, -9.9761, 8.253, 2.127, 0.1294, 0.149, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5d19e353bc56d3d1f5b7427e54ccbe298fcd53fbfbd23ad872ce1920921fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1033a123f2b96bc70446e90dcf3d3b99027e54c90aeb28e3321fe38da0e3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e4ad5eb3736571716b452fb73e880fbbb0556e9152b200cc850504097640dd",
      "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 · 2.089 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8288, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 1.0454, 2.0903, 1.5917, -0.2924, 0.7513, 0.7177, 0.2079]\nstate[eef_state]: left_x=0.3 left_y=0.0002 left_z=0.1908 left_yaw=0.1229 left_pitch=-0.006 left_roll=-0.0558 left_gripper=0.9968 right_x=0.3696 right_y=0.4042 right_z=0.1352 right_yaw=0.0571 right_pitch=0.0163 right_roll=0.1099 right_gripper=0.2079\nstate[joint_eff]: [-0.0752, -1.347, 6.9949, 1.7363, -0.0855, -0.0464, -0.0122, -0.1299, -16.5128, 9.3744, 1.453, 0.4615, 0.0122, 0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.2195, 1.7603, 1.5707, -0.4873, 0.1173, 0.1734, 0.2142]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.5045 right_y=0.0951 right_z=0.2304 right_yaw=0.0245 right_pitch=-0.107 right_roll=0.0753 right_gripper=0.2142\nstate[joint_eff]: [-0.0342, -1.4701, 7.2, 1.6825, -0.1001, -0.0806, -0.0122, -0.2803, -9.0598, 10.1128, 1.5311, -0.1636, -0.0122, 0.2906]\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 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.215, 1.7775, 1.3865, -0.3748, 0.1032, 0.1612, 0.2172]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4924 right_y=0.0926 right_z=0.1623 right_yaw=0.0361 right_pitch=-0.1957 right_roll=0.0585 right_gripper=0.2172\nstate[joint_eff]: [-0.0342, -1.4974, 7.0769, 1.7167, -0.1148, -0.0171, -0.0122, 0.1983, -9.9761, 8.253, 2.127, 0.1294, 0.149, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5d19e353bc56d3d1f5b7427e54ccbe298fcd53fbfbd23ad872ce1920921fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1033a123f2b96bc70446e90dcf3d3b99027e54c90aeb28e3321fe38da0e3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e4ad5eb3736571716b452fb73e880fbbb0556e9152b200cc850504097640dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFEyHBsU_5gKAY_RiRGf2wdP1rppTWOJgB6XO2rYZX7sfeEw2xxFxHLxPS1HX0-7sNgEawMpz-VLa-5lv7q7XTlGvM2SmImEZoUyfd7ApNT-2HWTHU81K32JVGIwETJtKgdjRbVbi676P0PZano22tsgneBbiCgskf1ILLSab4WhD-6GZUBn8eKrxtWEy9478melDAXed0O3cG6Dpz4L5nbFmVmrfVg6UzpV6FWowub-2ydTXo7jV86U0tCb7WuqQOC3lH1W_UGmxdUNmRLTDG3kq8ah8uBFhWkzw0e0QhZuMW9phkLNeHWNWNXvy7bMa__M-2Ax22q8ethxa90k2CDhRBqUj-hTIHBk18o9TFpJCJaNB4uho_iy811FKD0DeOld9tXGoP6Up8ELFeSvm7OYjaUhnsfvKZApPNY8VghES4QwsWS3f8Iv6iTXuQjd2DPWjQxpL5YidPN0dzL24Cam-9dlRzztn-HAQVa4k2oAuGfrsP9DkTD1B0GyjJs0Dk0Bj4xKRahbLjD3MchjsekAbg1QBErYEJL39QqKbmXlS-W-GKRiHqRx9zn6FdmecYdIc9oM2z5MC7LLt7Z-UQ87Lv0Pl3zBNh5hpULOq8sNVHZFTg3707wELqIuNt7XRQJlm2T42wKItv-giqI4TFqmA40EQwnw0rrixKWxi74NBUtaPsf9UEVY6N7-uHG3Jgbnqm40HOspBvvCRREjn88CK7CuA0Sq44TgGRKaIZ3YfnRrq_cURanLnqAEdWjUXhE18S0WYqm8mWU3CzTWzI_piJ_i4cb10BLpjqXuH7tOOPDU-cru_Y26tnAcnasEqhpe847dVoRI7CNlAl8bdRdOkuFVopdn_lxX6eCvdv_EDeKon_QDUVc-9J4XJzNTuw6Rll7IJCNA9Uqfm25mskai5vbexvpkSpsTKsSLOtdawY4nJttM09bkzg9oairDzLnZ3elZbCENaijWg5W86QzqOQQ5IMKH8_vHbKLdPMwZqC-zcE5MZDge1My5vLbbqQmOAxQ_Hrkr7pGZTzoDTmux0IoGKFGgBz7dM3RxCdoBxaOq_DlmbdZF6IpjtAiygEimLFRLeFLTQWE6AJIdqpDSgGsITro9vRA0rWIclhvMwBWo6gvfmy2zRLTLj6CBTFMIa3XU-cbJ_uTg3K4AL8GN07WXI3qyN-yYwuC8VUG6khCGrkBZjojIOCAZ-rxpz790Pv53pV2z9Kr1vRhIRFYRQGStQxb5kz7JMd3GY7Hun0=",
  "id": "rs_06672f6dd205d3b6016ab431439c1887d0907ffb1b58134692",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The cream plush is lowered inside the right basket, and the basket surrounds it in the wrist view. I’ll release it there.\"}",
  "call_id": "call_NJgi9EI1XsFuXbGXDfZ6V81z",
  "id": "fc_06672f6dd205d3b6016ab43144087487d099cd2fea79359389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NJgi9EI1XsFuXbGXDfZ6V81z",
  "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]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.2146, 1.7809, 1.3705, -0.3553, 0.1001, 0.1555, 0.9946]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4925 right_y=0.0929 right_z=0.1572 right_yaw=0.0414 right_pitch=-0.1959 right_roll=0.0564 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 7.0359, 1.7265, -0.1148, -0.0562, -0.0122, -0.1573, -9.7026, 8.1162, 1.3407, 0.0513, 0.0611, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82ed072f57b4f790e72b215adcefeb7cffe634a42f1b7ced458d228da5dc6f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86752413beacb81a55a4d4c298b74a5ebd2c85a1a8d0100a4c63339766188af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f8152a377d6777ad3cef2e59a2504bed2bcf26cbe6092d7151b596bf955006",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 10.14 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.416, 1.7218, 1.4036, -0.3447, 0.2546, 0.2832, 0.2114]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.4751 right_y=0.1652 right_z=0.2052 right_yaw=0.0472 right_pitch=-0.0738 right_roll=0.0844 right_gripper=0.2114\nstate[joint_eff]: [-0.253, -1.6479, 7.0359, 1.6777, -0.0806, -0.0757, -0.0122, -0.5128, -12.547, 10.8376, 1.7558, 0.0757, -0.0952, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.215, 1.7775, 1.3865, -0.3748, 0.1032, 0.1612, 0.2172]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4924 right_y=0.0926 right_z=0.1623 right_yaw=0.0361 right_pitch=-0.1957 right_roll=0.0585 right_gripper=0.2172\nstate[joint_eff]: [-0.0342, -1.4974, 7.0769, 1.7167, -0.1148, -0.0171, -0.0122, 0.1983, -9.9761, 8.253, 2.127, 0.1294, 0.149, 0.2955]\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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.2146, 1.7809, 1.3705, -0.3553, 0.1001, 0.1555, 0.9946]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4925 right_y=0.0929 right_z=0.1572 right_yaw=0.0414 right_pitch=-0.1959 right_roll=0.0564 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 7.0359, 1.7265, -0.1148, -0.0562, -0.0122, -0.1573, -9.7026, 8.1162, 1.3407, 0.0513, 0.0611, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82ed072f57b4f790e72b215adcefeb7cffe634a42f1b7ced458d228da5dc6f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86752413beacb81a55a4d4c298b74a5ebd2c85a1a8d0100a4c63339766188af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f8152a377d6777ad3cef2e59a2504bed2bcf26cbe6092d7151b596bf955006",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFH017YClMnT9mpeCaucRuxuMcUu_7tt86jfBBTvwjwg83qUZmG9CApZ-EVqtOVii4kDmN90dk8GCrOP-ibAyDcra6tblZmJ7_dGfLTC3eIKUtZvJk6fZwVLrlk76Ry7kFjZWQXGWmy-wBFiVV7kxl4FBCB_9MlEMFQa4vIrZ5sU3T265qgw4XvrgpyuU7INAH3Ywe-1DvFhAA9XTM8cgHdumz_uAJ_79mIiWmptx7Gs22eusI8FS6aVUhkUPh94zLzSc5WUmjFeKOBV2C14cDBFXWENlGi7PnZlOnj_uHB-0gV-bnrjogXYO2Tac8gskpS7l9_vzRcgEl4cjyMHfCdVqJKbX0s6o13n6fqaXGDC_faTQKA3rovXCKqaeRjWKlXnu-j_r__A6YK1XmBRLJv4foIu-uG0n9lppDv-hnJAWho3S-WCmJtJVW1pH8rETs0LYVlLK7JnEKKPpki7X2-NxbP3rL9gci-PuD1hjkxYMTVq5SW7AE-vkGhnx9FVeBC-3ozGgbCxFrW7dCvA0xGD539tf-4_8C1iEMuN8eVIESFAJ27gdyXSxTDUiDGF3sPpPAPOg2lVSMhDKevEX4Hvjm57xolN4OLgiZKd9baBquZIdxqB68UbEeBrla8wGm6aNNcSvjEV1173vWNqpX_GByIitzojzwvOJFDCPW7HchgwROgr8Q5ik0oc7RtS_gDU-oUzsrTZOvSvp3tYa5UIQHQJrutB9GKIh1JEgKcV0sVo8vMtL1taM0T_e4Ju459ohjuOjPKz4bdJwwyDMywWQEZsqflu7i3MBrqSuTNItD4s-l2_FBnMx086Hm-iOgCKIK-B1U7Bhlecju7PVyovw5RYlYZv4pvVCeuARRsL48j9ETzWOmr4cBs-16OkW9V1adYChoWIWmquIL1e1sIFyXfzUfkuZJuard-LUNsgbgSK1LFhiOm48pXgfD6nsVc9SMry6HPLDriraykq6pd_GI5ErqLnpCUgEwlWVMZ_o1Q3Q1ZO8LzSr-mgA0IxE5rQc6poDBzuWIajp5B3jw47amoEdj7fodLkisfoQiFXGZH1d3p47U6aiAhEjkl_aHlMkcL7MCTMr-XwmdpRJryAxowUcly5sJIc004n_Qphx38a5cWJDYo9EPJNLlWZgi0qGMKOSF2nkpdckBMWcXHZxxknG_J6DU2d3ZhCE2DCwuUjUM2Qdxb9OjfBmf_5ZyPa0-VTTsg96ybGvzb9ukPtMreWUZ7SwX0ilzh98pgcpBSqQZDeSm1MZOuyC_ZYh8jPoBFAawhr94etpgO8I5IJ6elunZtlfts9aG6KQXY2CSTC--GPhD2xLNQIJoCPuLbS5AdT46M2-plqLHc18C32z-O-qQRE90QkNga0M2ik6YR79LhmWuD76i6FpJYy87k3oSdReheJweDE93MuYs1TCykHDKGefUMfEcPgtGxF9dvXDIBaYQfWzDD4vCQe5nL",
  "id": "rs_06672f6dd205d3b6016ab43146273087d09fa00c16023466d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.19},\"note\":\"The cream plush remains in the right basket after release. I’ll withdraw the right arm to reveal what is still on the table before handling the remaining toy.\"}",
  "call_id": "call_B0Hx2TlUwHKjcBIF4C5ryYf9",
  "id": "fc_06672f6dd205d3b6016ab43146a0b087d092042d91e875353f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B0Hx2TlUwHKjcBIF4C5ryYf9",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8379, 0.6559, -0.4026, -0.1761, -0.1947, 0.9968, -0.0631, 0.9867, 0.8532, -0.6044, -0.0807, -0.0204, 0.9962]\nstate[eef_state]: left_x=0.3008 left_y=0.0002 left_z=0.1884 left_yaw=0.1233 left_pitch=-0.0142 left_roll=-0.0538 left_gripper=0.9968 right_x=0.3079 right_y=-0.0016 right_z=0.1936 right_yaw=0.015 right_pitch=-0.1698 right_roll=0.0522 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.6752, 7.0496, 1.7802, -0.1148, -0.0513, -0.0122, -0.3214, -2.6188, 6.8034, 1.5653, -0.2662, -0.0806, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6519dacadd910cdb00a11520ba1bec53f190812670d7fdaca6df1980f426c7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2dff6f9aea76b610a5212e8b742ac932ee67536fe26392981c0d4e3700244c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89ab43cfde470712ebf4588bb2a81655102a3a9a27387e13fdcd2209c0a669dd",
      "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 · 1.899 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8314, 0.6559, -0.4038, -0.1761, -0.1947, 0.9968, 0.2195, 1.7603, 1.5707, -0.4873, 0.1173, 0.1734, 0.2142]\nstate[eef_state]: left_x=0.3002 left_y=0.0002 left_z=0.19 left_yaw=0.1229 left_pitch=-0.009 left_roll=-0.055 left_gripper=0.9968 right_x=0.5045 right_y=0.0951 right_z=0.2304 right_yaw=0.0245 right_pitch=-0.107 right_roll=0.0753 right_gripper=0.2142\nstate[joint_eff]: [-0.0342, -1.4701, 7.2, 1.6825, -0.1001, -0.0806, -0.0122, -0.2803, -9.0598, 10.1128, 1.5311, -0.1636, -0.0122, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.2146, 1.7809, 1.3705, -0.3553, 0.1001, 0.1555, 0.9946]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4925 right_y=0.0929 right_z=0.1572 right_yaw=0.0414 right_pitch=-0.1959 right_roll=0.0564 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 7.0359, 1.7265, -0.1148, -0.0562, -0.0122, -0.1573, -9.7026, 8.1162, 1.3407, 0.0513, 0.0611, -0.0464]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8379, 0.6559, -0.4026, -0.1761, -0.1947, 0.9968, -0.0631, 0.9867, 0.8532, -0.6044, -0.0807, -0.0204, 0.9962]\nstate[eef_state]: left_x=0.3008 left_y=0.0002 left_z=0.1884 left_yaw=0.1233 left_pitch=-0.0142 left_roll=-0.0538 left_gripper=0.9968 right_x=0.3079 right_y=-0.0016 right_z=0.1936 right_yaw=0.015 right_pitch=-0.1698 right_roll=0.0522 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.6752, 7.0496, 1.7802, -0.1148, -0.0513, -0.0122, -0.3214, -2.6188, 6.8034, 1.5653, -0.2662, -0.0806, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6519dacadd910cdb00a11520ba1bec53f190812670d7fdaca6df1980f426c7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2dff6f9aea76b610a5212e8b742ac932ee67536fe26392981c0d4e3700244c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89ab43cfde470712ebf4588bb2a81655102a3a9a27387e13fdcd2209c0a669dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFSsdTia9rFQhXg5iLSkMPcCECFJsuRN2snV852ohgsu_0RLSfR4x1DTivq_R5MIiL-QRP18uMk1Nf4-5Mdi4xaCagwLrBjQRuvxroUfXuVA0P2gZNdPuUt4Ykjews9Js4Xab4DreXdkSxRTI7RvjpAZ4E2Ix8RCZJewB2UzQwJy1k8UqFNMRo5AA7XpiFUJjX7s3wOJaC-a6Lp11Zr3wBWTmoUKXq7s3UzcnjRE2LgemeBtw0tDf0aOj7xB8NqDhHWkyV2LnUjZD1ZkDZ3qI_K-ey3oHzXumebS0fpB7oONZNNOyRLxCKMUEpvdlwaWYUMQmUIvwsrAqGVVIsY3atcRmRQy8ZC2nn8fsVPPYIDOZmCIAs6gwECHxrVtA3bQre-PsXDKeru1SOKPHHJ_6-mDyWeyDzfaQgCitH2h5NfWOMnp_HvazNvUFj-qq_ORmMmb7iVIkZU2q-qlcoR_wYgT5Aij0AmVkwcoYUQHaUyRL0r9DkqJp0V0JaYJA15VusAcBpiwsKKeqn0QE79xI8_jZa36N-UBFaBf9puI4l4ssH0DTsoruWJnGoItR5bSDXb5Y--1g07afCUNSfKHzo1jN-BpoU-NEo5yS8QjFuR92QwQEAmTpQ8MhGz-G_uGgvSfanjEqP6tfDfUsu--BFAOpixlNTs5gKM1bS9ACVYWMC5jqDY13eYo8__NVz1x4ydb8CQ1zUcnZgvs-vstO0czOBxNlQwELZnAZ_wxnDLT4ePUSF-1W-hQ4gZv6k_92w7_2OL2SdZly1Typk-yJQmJtc6VXi5_u4-UlcP4yQtnZ2DUkEUfUaZXWu88bHU8ZKLGZIABQXP3DGUwuDgSO0wxe5DmIz2cQWlFBQqzsRs3dcnpUmfEj6uoXVsKUmx4zxdVmHtcZZRh4HCnOmQokzlC6_Qb_npBuYpeLLtnLkQGaBn_RGvON6gE31zeIW9BZj9s0U_3K38Xm9IoRCEbSgRYaMMZtLd_gcmvIfxFoQ0UtYj09EqpLcoUrF7NEGhs4lj1YzKx60x1Mm7vtBsvwOD3tzzojZ6knO6uUWiF1S8REniO9KVX-tcmRg5RUs4ENeEvvR9ku4RuqfDnDEsHk-z3dLhTI79PHzfxK_ZQDS_jgzF8IJ0ZeLTuRdfAbfzUvabkVS6PxU4RjnQLFVqcdcZJJKpvsvxSzWv6r7rO9E0w1aSQzMOeuB9ZaxJQbhrh_G2nSGnT-tGin_mB08y2-4v0pKmiop0lqq9XSgrdHkKYZwAbkqSjxWWphsVi_fad-yWEKxmGTtUGUGdrti1x4xug-S_0twoFU6kI_x93RJnMSVFmNzPmqsNUnxHdvW-a7tybMF03OAOKgMS3rPLUak2_R-Vyb7FIGffsf1A_3-9jEJTtdrZlC3_DV3C3umN2StppyRN9iRV4SASdyQJC05sD-OrCeArR0I7sHJLnOthPephrzwLDHMGIwFKH0aqyZaWVKdIbitGdpKdNMnBNku9YvLcRfFCyAx4rokaniZBaLnifdP0aGtpcse6aoFjmQDRVdpWiMma6ZxGwB6oQNxzvTmIiIEGBnvMLg9-iG6DOJn7f_TSpHRYDAyBRjzkufaDXNOGHstgx_a-LOXf3Z8MCBuJ2pyrtmS6tKHXTXSZ-YLrbzbBzvqKKvRgyEyxYt8oSJnRnH4l0d7xZTnQzqcZDGu5fQRAQ0wK-UB1dFjXPUyjNE2FbBb9gqRTvVwGIVaE9UrIYgT5tqnwKdQ8fxpkFsE4MJ_2qEaTxn1pIcOnHpyNIphj1mCt1lXWIfOq4_d-Z6wLqRG0ghBcGadDavt8APs-jOyKPcrJ6euAfvuDy6FBLYipxGFuKZEQd3ybCYOinJD-ILqMW3-SQTQbALRFzDnvnXDmMtuQ8WbPZAWCjdXzxzjE8XdnordCNgXgpQV2H03-VJF228FrDjFm7c0Gu-Af51kGBHuLDpit2b3X5IKRH09_GdOFWsKYMxsyJsbOoFzP4FP1Rgo70PZ8ntmgxjPfNABzfP51zVMurPBPBro3AUALyaLr7PyPcKt7Lt5A3LYq_fAGu1TbN7Qk-4HJ-l4-twLLUCRtFzgJcMhO_Zj-gyN4qPvuP4gTV2ZbqK8l40e-fkJ5XOGert6m3Z_KmSJL_Ic2gp8h4GAZOZe_lcg1ihl80ghUsZbDvrpfBWqNLaSwAI3NYGtxBfHLYNCz_BknFDAPNGuO_sUcKb-TdXNLdM91NrKdmPMLyTzRfamr-oBWGTdod9uzAfBcge89ORwTOkNRAp4k4HPOxaTdCrOJfCgM8rduV8u-ZX1b-_swEzQnh-IcVoAtPKu9pR0OCYGt34V5GPUNChngaLKiKaPwavx1qMSjrFGA1kB366e6Ed5VLqYYYgdJ3Dtvhj3Bb2lcdsh2qF-KCA4aX01Iq3JrP5O3xvd7F7e-gUOrZKz8jEBDkIrH7zDP9uAfrTyJhXf2S70fHeduPefYXqx3P__hF4E9TsfIcnUxNiZKDN41uf3iqvTEAnaPI1nRi0EA67j8BSVsN8BQWy7TLd0EyepEwr5MphJ499eLRrvKCgvKS28CxCmWk5UDfT1N6B4uIU2WRqBJkP58jwnBe68TyTI0kqmRBE6ru6C55ATU9jTnJNFuVBu0kdYh5hS4EL4aDzvSIfKbHDvSBE2Ni-b6e1IkRiU1Qo0Cq7xbGrHv3nnBr7QOHhT2__UhJcs2e_1hEZR2g_10fefKsX_cRSoWcQtgPdgoKGJ7AqFLMSDxrRfj-6xJNC3NN2Djhbx6-_tEhhbxKWVZSqrt9_zu9fzaqbYroU7N6qjntbJmzIHyeOe-9ybeehhDiecC_okVMtc6H0bWsz8vnKgJfgjBrBD9J64iYnmawrLot-26FXQr6rD7ixhzGEYCtZMOz2mRuCD_A1GXLXkz7lhiHAIMqUm9C17-cg2GjA79CZ8GQIBJOSzlibOhpgmd7vqscLBJGSxpy5GmhFZCS509Y2okjfwQ8J8EAdzvGEaag_w4x-frqCNDcS_GfQY3ef6tKqdx6cV7kzlNFJEpUIdvHhmnkgCYGjII-3bMPSGrNpCBQOiWykkUutK3UaG80ClkEYmqPwLazVmaZQp_ZmUK7BjYHQ0Y_0-N-xmr8pmjrjuFAT1B7pa3M_bpHzvbSAYo9eyIa4-a2incfvljuXwnAo7gAmUWTvP-A6KrPF4vAg8F6KL7YGjbBwFIP1kzwo9qbUCOPifpDaqU6tByEBN2k4xFUFtPPOQMI_Cx-T4mcJ88k_Dfswkp-bA_beNMs1D1kJBr5WsaDVM6gT5-rVYr_EWNyiX1sU649lVYKNSR_E-uZOJz8wiEx-WDa8glQZmqgVbOap87bS03_q5HYBM5E6HeCIcb35zngczrW8Vlw_5TOzH-h9I7tWWrP16GPlBo7mCmAoVHYImhWE060sxfsy5iX88MPv8l1CEaTe6oxsIXJ_1lB1BtMkA7E6q8_dJU_kg8j_bD70Lb-jAh_ChgN09DdS5WsHlzVkh2y-j_I4LdzPpLEGRL_PIHZp9xpeYmuRxcdZKtXsmGZSs3I8I4oeIRVDEE21NFS4n5JEaCfYXzw6xz81qWQ4ZVZL34B-xZjQWNZ4T_om-daEu0SCUFn4nWBOa593nD872ElTtCTl27pgVN6WEcMUAhatCRPohZ5Tp7SqQGZ4obMv1051neWpm8lE-y7QEXSv7O4y8ImEWq9NuCoKdKEboNN2-yiiboXouzgTk6--zasOIiOGp06ibllZo7i9nQPZN7ILAxdbsqv6GDcs6A-GRAx0wwCF-l8K0y-OHQkqL94xzZBKOtfJyIvCYuddU=",
  "id": "rs_06672f6dd205d3b6016ab4314af83c87d0bd60adfd70402762",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFS2cU0sPii_1AzAbdf6E2lNYhCBOqIQb_oYpCeybdbeftB-mAyhdi7hZYrZDrM5lbuEpRxGZIRIgAJwa6lgb0zcqSuP-XrpQokrmW_sqqpDiWm6PuuTWJC3FIHXiXTEWBRcYe8eiayD6hj2EPAwssW5bDrXufaB3HPlrZUnX04GcfnnqRFrURWDOHMfkz-GJYInMQ5MkKPYlQLhSW98dmfSQ5SPeXUC_3kJJreDfMr3z7DlABVDGr6AeC8OWFHw4CSaRU4CqQlvXFgmyta1X06weYQKduWzif-W58QiJQHfCSdX_WhfBGj4rLDpUuB8ghxAGcF5zWe5ROwONbuN_YplFbZ1NfXQgJdPbDcJ4mH_b6xypxib5iYqxi5ZlU6oI0o0DmZX2-qastmPuvicVtwjZ4WdQ9RYV-iHtSA_-31MfxlFls_p1CHAAt2IpJ0oxhM-vHXRApfV6pn1tdxoWolaYHqH2WAFydCn8aqkDl3SiN8yXo1mEzuu-XVKthpHcfFaOFRrDS76hIShvXIl6JMJ5iG5OUsCS6FHWwgyFRrDrEsLsouT3GF18XzI4D6NNX2RreZQsTeHEHlVqSS5-zVX7rjxRw4uM_SwLdXD0_pMgG5CuxoZjUWgLVAFACNPcF1dfzuzmfCkagAayd6SwllQe5w1LCCoV5ymHTSYIgVN_9N3uhFexKZqEfDKkA1y9Ro0l8QYyiklu__cWb7ACb2eegdcwx-HwlMpz2K8Cz3jfGjul0-4imBsD_SEUZ-aeIXgYgNE8ZJsUo3Al5vn5ZbePZFRfhGp4ruDIHyO7NcIUqAcl9d_OE1MiRBHkIA45fCC1CehH6gEYbS9vobdgnU6w_hJ9K15OQ8DLEvWeHxaYVdGAtbfD7untohmBsji1QEcO9Pp4Qbl6qygUvyWesJzyOxsoloiRCKMhlSnLBONKl86OzDKbS_eQ5M0oIzTM2PghABiPxbfS3oOFugDerzs9J9_RrJ3BxQWsWwDtH4qzycERCJq9cmEPBnHLqE6rMjOYcGMSIbeAU-0EFuVuuLmeApObRDAFcBQnd2ZW7E4qp3beif4k0mpvXu2gu7ibrDjDJDb1kh4Gf_e6rWELma5b4DnVObDhdwDWfv2LUOposDHdDMChdEVqxxFlKBWGbyGP5pqSqux5U-2NId7WTHAyXnhV7lBfynzC8Gok6JWgeExHQjWpvSbC41kPEwCry-4m6u2WUXXUyZXLyunjQGBIRHYp5jDNKf4xPAuS9Xdbd_H5CKPGRxmps5Ftxj5esfmma7R-adHQGFcF2xxV-6XSM0eVuAGepzgzQi7w1H5cQz5Pniqh3VEsgsj-oLhzk4KiTKejJx4yIgXtedlun23C4hulZZ35xFHFDtmo5jRoFPkGymsTgzXKDKePs2Q-TBPSRWIcpwGupHjnpEPyQ5bDXSM2ZRSG2DQ7iIb9mLdJMBJ6YA0OnTGoPB0hlc_gd7rlH_RiVG-gcP85whrCMAxtsc77f7DNQagT822XE3hmj8INIDEpVOt369Jrl6m5Rb-HHIl8XhC6wwpjbwR0lAXAF22ed3QGzXfmFQGFXxvrExYpbbfMzdSumgpSjcwzFqlmtHSQi3Kd9zhtwFDwY3gYzUGX3URqqKFIyUu075lp0vE24ICdWyaLP4eU3FV5pynpQxFix4HqU3q3m7RySIqRqfTenE0vGTJEaY3XHpEDVJa2a-ZyzPCikKTDUAfc6DpQ198d0L1j1acCK1AQcCLHZY2_WH7n-2v8wi6L2c7cyzYDyBm6DAhrl1N3mWOMfWKsjV31C-aHEW0rA5BijSXhgwklC3zLDKoi38vTG0ZpN4RH49uZG_JgPsLUjwRKLZQZvPcQhmG0fcbgHcIwkZ2Frq5HfnhGMO_OSg0SzrxCkRFeIgOzGdl-Gx6asY_P0winfqUPyUdkxUnWvgaGovWuzph9ndAPdwgOBl8Ac1MiTezJkJd316yaX_0oiBIRAYvOlTVE-EWxTE3SItYRlaHrNrfVcBQ5ZRztAW0dQaYYt4mqpf8AM5C5I7R4E6EEvPteBSPV7pZzxYNKsl6oacMSR-T8MBHC0WiYTtUOaoSTB1D9bMqm3XmPqngQUz0HAdLES8sE_vkkWxLgDrbWOC6C0xsUF4BbFFqkrXaOKy3vA=",
  "id": "rs_06672f6dd205d3b6016ab4314fea7087d08109610dd10f7cd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":-0.04,\"right_z\":0.08},\"note\":\"The cream plush slid out over the right basket’s near edge when the arm withdrew; the basket is empty. I’ll regrasp the plush closer to its body from the right side so the next drop can place its full length inside.\"}",
  "call_id": "call_otvWOyLO5HowoUY2qAa1pfqQ",
  "id": "fc_06672f6dd205d3b6016ab43152003087d0990d4ac7890b0be0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_otvWOyLO5HowoUY2qAa1pfqQ",
  "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]: [-0.1146, 0.8398, 0.6559, -0.4042, -0.1764, -0.1947, 0.9968, -0.2096, 1.285, 0.6189, -0.0433, -0.1932, -0.1204, 0.9964]\nstate[eef_state]: left_x=0.3007 left_y=0.0002 left_z=0.1876 left_yaw=0.1232 left_pitch=-0.0175 left_roll=-0.0528 left_gripper=0.9968 right_x=0.36 right_y=-0.0382 right_z=0.1027 right_yaw=0.0174 right_pitch=-0.128 right_roll=0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.5795, 7.0359, 1.7167, -0.1294, -0.0708, -0.0122, -0.3487, -3.0564, 4.3966, 0.9255, -0.3004, 0.0659, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7ceb38f939dbc1b7307803acb666deb824fea75899345dc9dea5775d465e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6010f41cfdbe8be37003f64044f91a20368b733b5fffa8f5376848ecb1bb99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26d9dfa2e5dfe510d6455dfc9bb1577387334fd4dcd504f718abf0693df750b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.998 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.215, 1.7775, 1.3865, -0.3748, 0.1032, 0.1612, 0.2172]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4924 right_y=0.0926 right_z=0.1623 right_yaw=0.0361 right_pitch=-0.1957 right_roll=0.0585 right_gripper=0.2172\nstate[joint_eff]: [-0.0342, -1.4974, 7.0769, 1.7167, -0.1148, -0.0171, -0.0122, 0.1983, -9.9761, 8.253, 2.127, 0.1294, 0.149, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8379, 0.6559, -0.4026, -0.1761, -0.1947, 0.9968, -0.0631, 0.9867, 0.8532, -0.6044, -0.0807, -0.0204, 0.9962]\nstate[eef_state]: left_x=0.3008 left_y=0.0002 left_z=0.1884 left_yaw=0.1233 left_pitch=-0.0142 left_roll=-0.0538 left_gripper=0.9968 right_x=0.3079 right_y=-0.0016 right_z=0.1936 right_yaw=0.015 right_pitch=-0.1698 right_roll=0.0522 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.6752, 7.0496, 1.7802, -0.1148, -0.0513, -0.0122, -0.3214, -2.6188, 6.8034, 1.5653, -0.2662, -0.0806, 0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8398, 0.6559, -0.4042, -0.1764, -0.1947, 0.9968, -0.2096, 1.285, 0.6189, -0.0433, -0.1932, -0.1204, 0.9964]\nstate[eef_state]: left_x=0.3007 left_y=0.0002 left_z=0.1876 left_yaw=0.1232 left_pitch=-0.0175 left_roll=-0.0528 left_gripper=0.9968 right_x=0.36 right_y=-0.0382 right_z=0.1027 right_yaw=0.0174 right_pitch=-0.128 right_roll=0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.5795, 7.0359, 1.7167, -0.1294, -0.0708, -0.0122, -0.3487, -3.0564, 4.3966, 0.9255, -0.3004, 0.0659, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7ceb38f939dbc1b7307803acb666deb824fea75899345dc9dea5775d465e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6010f41cfdbe8be37003f64044f91a20368b733b5fffa8f5376848ecb1bb99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26d9dfa2e5dfe510d6455dfc9bb1577387334fd4dcd504f718abf0693df750b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFVNOvGuPxtEmpKpjpikzmCzids9k7W8WQ2FUVSMwE-Cxbh7L0hlSzc3ntgl4FKUwEeHsf9WvoCbFQ7HxGlhNhWJD8LscMHc3_bD6kVRW_BjJXx7a4EEgnUN5Wix74HVFW0REtpFZOUqsZM9L32DSWlKukE-nroD6SLVOUqZ9X_oKBFMxbLCCtxpgcJfjOHiC_Ll-CuQ33HpXZ3iel46ZbprUgXpYdgVNR5wnzkxzQXuXowOry9SQubr5P0jL3PCm-YqENCpTKW6bdMb-kyKQhPYhU4VAn_SdC0hthh0tqCt3vrydIvQO5loiLpJ7EdQYl_zLUxOb-ZQ7CVPaP9ThxquliIy_W4VfSlF32if0j_ZZN7Hz7WUbLNEGZa6jyqmU5l_Mj9rW-pg6SmRFfqc1wsT1KrUfxC66fALDgty6Fzo8aZy5ptY9Wm__FrN0ndY8x-7dMMzEHnu8Uzasqu21HF69AVxp9fmPVjQ1_-qC781j_U4RGm-11LegeteZg9KfqN9zNQDH9GSU_LqP0SuktDI6PpY2wuE78GXkQm6sspcNbr-K0UY2DX7sy0LaWCjQZ1u25wYaSxAvwQCrM12PWRsbtptdPLWfnFu3Ls76Bwng9aE6nVaGGNgKve-UXDoGgFb7779cuSoEZKOzsxDXH9w1Q718QfGHwS91VKU_4RZ95ZcHvUCQGkPrdxSG4_WwgptqSrC33QHkOR4q6ItukImEZG1BQNBuOghL6erIevWIuQHN8RKkWcYB5tpMSl-51unxu0AStxQR9AbgoeE_yGwwKHxdMvZNlUOazbg5bHgMu0DFYRBFZDHm4n3HrDoaEkJO8rb-xyCv7tV3EJtuOQwGEZfIE4zuX8l0dkUWsu3zb2xbHdOXGq0ccgOs1IHBG9GUPbHkwG-Maaqq-S8U2cFJGEpbe0X_NLbAhxzGFFRTh1QOoVjknLp6dud4Wn3vmOgIj1LIfIoa3IRejY57pbdIc1Qje9Q5eAzQV7HpK4aBgM8KrzLaq4JEIqRmpif55cY-jzneHS36q2hWd2qDjrjDyrgSFmCcfCbzUfsaj1y3z_1w1DQ3MUTOzYjm3JsvlsiKKHRSyBSXpwjIYLYeAt7NLP1BNrhSfvhAZFMBiPGow28MpV6yF37heC5Pxarhe1xPpM4OL_cCWCnPs_n2OtLiZU1ExAQSCVpHs9VQMxpv7mbY3MeNkLZDq9Ezt8vdPmUwQdZg3fRNU1RygOgZodAWHng5s0tCmA0vjsdloeqp12HTUgRkMCu5W2feIkkACq3-pLmuPAMHIvFA5jfB6cV420F1GLyFa-ip8-Qp7pYns=",
  "id": "rs_06672f6dd205d3b6016ab43154ace487d09cd273462e14befe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wrist camera is now filled by the cream plush, indicating the jaws are alongside its body. I’ll close here to secure a more central hold.\"}",
  "call_id": "call_FGgtI00MxgWGd8bT9uBs2Khd",
  "id": "fc_06672f6dd205d3b6016ab431550db487d08265e972e99bafbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FGgtI00MxgWGd8bT9uBs2Khd",
  "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]: [-0.1143, 0.8433, 0.6559, -0.4042, -0.1761, -0.1944, 0.9968, -0.2157, 1.2884, 0.5991, -0.0151, -0.1856, -0.1276, 0.2065]\nstate[eef_state]: left_x=0.301 left_y=0.0002 left_z=0.1866 left_yaw=0.1231 left_pitch=-0.0208 left_roll=-0.0518 left_gripper=0.9968 right_x=0.3589 right_y=-0.0416 right_z=0.0984 right_yaw=0.0087 right_pitch=-0.1242 right_roll=0.0343 right_gripper=0.2065\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.7314, -0.1001, -0.0122, -0.0122, 0.2667, -4.6564, 8.0479, 1.3651, -0.2125, 0.022, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb699a450dc3538945e5ab20d127aaa23fd176528c1351d6e3c71bfca646ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45245466b47e351eea6ae2f4702b523b57a39b77023c1142a6ce7428643023e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a31286f99ade9f1b12f2d78ee95c05773ab5cf2eec1b15adf1682650a6896b",
      "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 29 attempt 0 · /responses · status 200 · 4.557 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8322, 0.6559, -0.4034, -0.1761, -0.1947, 0.9968, 0.2146, 1.7809, 1.3705, -0.3553, 0.1001, 0.1555, 0.9946]\nstate[eef_state]: left_x=0.3003 left_y=0.0002 left_z=0.1898 left_yaw=0.1229 left_pitch=-0.0093 left_roll=-0.0549 left_gripper=0.9968 right_x=0.4925 right_y=0.0929 right_z=0.1572 right_yaw=0.0414 right_pitch=-0.1959 right_roll=0.0564 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 7.0359, 1.7265, -0.1148, -0.0562, -0.0122, -0.1573, -9.7026, 8.1162, 1.3407, 0.0513, 0.0611, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8398, 0.6559, -0.4042, -0.1764, -0.1947, 0.9968, -0.2096, 1.285, 0.6189, -0.0433, -0.1932, -0.1204, 0.9964]\nstate[eef_state]: left_x=0.3007 left_y=0.0002 left_z=0.1876 left_yaw=0.1232 left_pitch=-0.0175 left_roll=-0.0528 left_gripper=0.9968 right_x=0.36 right_y=-0.0382 right_z=0.1027 right_yaw=0.0174 right_pitch=-0.128 right_roll=0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.5795, 7.0359, 1.7167, -0.1294, -0.0708, -0.0122, -0.3487, -3.0564, 4.3966, 0.9255, -0.3004, 0.0659, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8433, 0.6559, -0.4042, -0.1761, -0.1944, 0.9968, -0.2157, 1.2884, 0.5991, -0.0151, -0.1856, -0.1276, 0.2065]\nstate[eef_state]: left_x=0.301 left_y=0.0002 left_z=0.1866 left_yaw=0.1231 left_pitch=-0.0208 left_roll=-0.0518 left_gripper=0.9968 right_x=0.3589 right_y=-0.0416 right_z=0.0984 right_yaw=0.0087 right_pitch=-0.1242 right_roll=0.0343 right_gripper=0.2065\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.7314, -0.1001, -0.0122, -0.0122, 0.2667, -4.6564, 8.0479, 1.3651, -0.2125, 0.022, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb699a450dc3538945e5ab20d127aaa23fd176528c1351d6e3c71bfca646ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45245466b47e351eea6ae2f4702b523b57a39b77023c1142a6ce7428643023e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a31286f99ade9f1b12f2d78ee95c05773ab5cf2eec1b15adf1682650a6896b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFaeF1wNdmCToFtGFAS9RWjFSM-N5THtM0wQRHDsM0JkLlEvjGbu52CtLS68-8Mi7rwmV0ERlRZRgxrSQ2kDmq_bcc-HkxiXFyLEGmATomNgRRtAp5QirujmLOTVwheLNFS5vUz2FA9X0b3dkQuyo0KkJFuSU_uiObVCw61zowIqWLURQdhgxH9ZVxNoxwMoAWFfyDbvzA37J2PgF8AIgb_25tyrCU-eyJIC-tfXCy5juFhbiIHEiMqXUMSxDKEfaxxnua8yj-E8qOoo5eZEWdd8f4Onhneez2HBSUilEQs4Wmfm95LsQw4rYVE77mqd2Eg4yiYKsPlA9TyBhEjjEDI1Kl7ifAwjKxn26qSAiPr7FuJSCI--64YXdoEI7C59aenykiCO0cLY9Hummtl7ZQ7rTEsBJFxMuWpBo-brWWYotNlfVsw99QSHGvnQvHR8Lj4Yu80oiVWj7qAWqaIs6MCSDYerW9gCbvz7YYHQ5JQYD0g6AAqkb5xQoN7we1pVKkLCyR5yKv1H6Ku7P4HO1ofFdn0MBu6L5bJCga-TDH_ZQ6aGzkUhWf5JXAWIKQ8sPtt0umtlsmqrgeJo7DM5MXnuRPQCAmzmcwFrawzkfPInJdOSzO0yxiMrIPdM-wIakmHr06wNYwPJ8mb1N9SfWLWhYY38cChlw3VtQnDQKEGKuvEyZmelGl0-pdFrT1UTZ38ZJfp16a-i4Xc4a1Fyx0XH0CnCpwFZWCg3E9Wt_77bWqFQwd4hbqBQrXLpwAlwkOI4X-p8qrCs1LLIJVb6xRtV7SjBPruWEKf-S9WmB5b4ktjQqdNbGjQRVyE9jDeX6myMQampnfkH6-CU5-5Z6nB8us6eyrS2qCh6aqEmS1ibk472yWHC1EnUlI9C1e-wf8We2hJmNmXzwolZbhubAnt0reuD_MRjEMdS8YSUBIQ2uT6qTwiiGy10YqM5IjlIqAvTuJkZQjImOBLoCCk1AuD3FXSwCaMZR9Ev3fvqlX-29fmiNcgI5kRQ3DuY8HV2h0CFvzhjmsxSIAkYlxLvj1YizLz_16AwshIPY3x9OGEU-6Pl1S4zIdB6ILgo_FdoJnOsuvEhd8cGjsRzW5IoRH8N-Xl5HU5IhGi4mFqSNJqxWeRq6cT1u-rVfxPEp8cMEce3tCOM4yaElBmbCmIOArh0gPrFe6MINTaOKpB2C0CbD66rH3FGu3o3lZeF5hGA7ItC_H-2QPFSwZH5OMzhFjKMVLIqLKDbV6MWL0OPsWRaDcfpnCGB3PwoxDWuPWKujEkWB2ntrwnuliJnjhvE9tviL3f2zGPXmHuhgWIa6mkKXw3zBsBK6hFbRUzIXJUU8CqBvIeDhMkSkRZGTC99M6wJiEEI6nnh8ejlZHeVl7cT3A6UJIIdPNfahvxzThDKYtk7YpX4NynigCi8RVdGXgW-zcVWNkdua1ROW4hedW9_WqZ2R71n-U6M757_INLS5W-SuMuzOZMnCRLfP-ZFfgiIteH_-zOqBke-ztXipDc3uMAWCu-eSC3w5zLiUiSTH3K0oe39MZiSsIL1vtlXCf_3vcPjctjwCZTEeGmArX02y3KJvyli-VX8mJUeORbCNDaNR7uVniKsbg60Re0AdTHs8q1sIDMvjuxFiziZaWkjFt4_hYLa6ZDfwl03WbjlqeXmVr1FyY6E_ikIUISoZxn7YeNC2d8AOzFL0Bhl1JEcsXRQN-tQt2-PJKXyKKTNIpwn0rUmBu3cIPrYVLnwtIL0XLlaQnlOhzYzqm57cj9sXgE39AVfzDeBXWkIHEi1y8KiuRq8Zq8Ffhf6B_g_kpX_Oc9j9gIS0oMOL--lfocpW9QPTWiVBeundx6Rp0o-dDz74s-PTBnCjZIZ_MVPFcKvASuG5AvI0VQKxs8l1y2kf3OHIXmq5jG7-YnbD4MGOAU02xvZc2tT1TGG8sLAyju5AbDa7gxZqB6k6aknMJvCSEKDYNwm5WufezlvPMH2SLz-SKHUjvpbanGLlU7PyrfIJqfcGq0HsXu7rsG3444gA5cldMuRbvfjTCJdgWY2tP2zyiFWwmpdilh3958nXDFPsTs7nya_ZEtTDik82052pKImFxgL2r_Qiv0eZPH--Fni6RUezf7dA6qJyPZE8EetvxI7UNk2ZJLjMiHYjnC0SQooOAjhvbMsTsUfO7vypd-xK2sL0VDtXImVeMe_NkDOH3mx7z4BNCi_rtLwgkI4YjQabLW2A_PxaGXYpFVI8GkHgSwmBvjwE_HdxfFT_0Ywk9NC_V2z46zX5i93kGNsDw=",
  "id": "rs_06672f6dd205d3b6016ab43157942c87d0b6ad64c2e4873536",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.20,\"right_z\":0.26},\"note\":\"The right jaws again hold about 2 cm of plush. I’ll lift and move it farther left over the actual center of the right basket, rather than stopping at the basket’s outer edge.\"}",
  "call_id": "call_7pEMMJOinXlZGUM2Qxbs9KsI",
  "id": "fc_06672f6dd205d3b6016ab43159b84487d09a30750826c9aa1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7pEMMJOinXlZGUM2Qxbs9KsI",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8494, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.4614, 1.9934, 1.9648, -0.7315, 0.3061, 0.2893, 0.206]\nstate[eef_state]: left_x=0.3012 left_y=0.0006 left_z=0.1846 left_yaw=0.1255 left_pitch=-0.0282 left_roll=-0.0486 left_gripper=0.9968 right_x=0.5127 right_y=0.1994 right_z=0.2416 right_yaw=0.0425 right_pitch=-0.1509 right_roll=0.0204 right_gripper=0.206\nstate[joint_eff]: [-0.1162, -1.8393, 7.1043, 1.7998, -0.0904, -0.0708, -0.0122, 0.335, -11.3983, 9.4017, 1.3016, 0.3346, 0.1783, 0.8523]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10392502968b55745342f0d549ff462d1e6bc7a69070fb7387633d37de9ac19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb17fac09d978ef137d075d8f5ba0f89f94ebdad3984f6aee08511501459482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17c29cb279c8d9a2a60fa2b7b91e5a3b66392d7d4da78947c5ace91d729062c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.458 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8379, 0.6559, -0.4026, -0.1761, -0.1947, 0.9968, -0.0631, 0.9867, 0.8532, -0.6044, -0.0807, -0.0204, 0.9962]\nstate[eef_state]: left_x=0.3008 left_y=0.0002 left_z=0.1884 left_yaw=0.1233 left_pitch=-0.0142 left_roll=-0.0538 left_gripper=0.9968 right_x=0.3079 right_y=-0.0016 right_z=0.1936 right_yaw=0.015 right_pitch=-0.1698 right_roll=0.0522 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.6752, 7.0496, 1.7802, -0.1148, -0.0513, -0.0122, -0.3214, -2.6188, 6.8034, 1.5653, -0.2662, -0.0806, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8433, 0.6559, -0.4042, -0.1761, -0.1944, 0.9968, -0.2157, 1.2884, 0.5991, -0.0151, -0.1856, -0.1276, 0.2065]\nstate[eef_state]: left_x=0.301 left_y=0.0002 left_z=0.1866 left_yaw=0.1231 left_pitch=-0.0208 left_roll=-0.0518 left_gripper=0.9968 right_x=0.3589 right_y=-0.0416 right_z=0.0984 right_yaw=0.0087 right_pitch=-0.1242 right_roll=0.0343 right_gripper=0.2065\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.7314, -0.1001, -0.0122, -0.0122, 0.2667, -4.6564, 8.0479, 1.3651, -0.2125, 0.022, 1.0134]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8494, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.4614, 1.9934, 1.9648, -0.7315, 0.3061, 0.2893, 0.206]\nstate[eef_state]: left_x=0.3012 left_y=0.0006 left_z=0.1846 left_yaw=0.1255 left_pitch=-0.0282 left_roll=-0.0486 left_gripper=0.9968 right_x=0.5127 right_y=0.1994 right_z=0.2416 right_yaw=0.0425 right_pitch=-0.1509 right_roll=0.0204 right_gripper=0.206\nstate[joint_eff]: [-0.1162, -1.8393, 7.1043, 1.7998, -0.0904, -0.0708, -0.0122, 0.335, -11.3983, 9.4017, 1.3016, 0.3346, 0.1783, 0.8523]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10392502968b55745342f0d549ff462d1e6bc7a69070fb7387633d37de9ac19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb17fac09d978ef137d075d8f5ba0f89f94ebdad3984f6aee08511501459482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17c29cb279c8d9a2a60fa2b7b91e5a3b66392d7d4da78947c5ace91d729062c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFhvcCrisgkZrDjALsve1yR-i6JqJ5DmsxwNPVOIk-Y62wvK6f7-E7QYa9lhxuvgXqSnKHzd2XsUA-td5C1l9mWcb-p8dDFH9JEE266MW1PhBKC72FVzFLl8fUQ6avWDLinKi-cKoZ_auHEvYEj0msc99Ed3iZI42pIzqT__jmnwlI2BXjuxtamwjq8LBXsJCGTUmPM-2sXfkkGVjyoQXnbVmcMMNrZDttox3aGb51UXViVc0JFx8K8ok29J9n6-L5QHWMZlXo7-zbyur7iVNpHDnlKcHaD2aiRqwPoV9kotZM-K5icagUJWviSoRR2T27dyJQ8u2nawLFlsQ5-lYKwgb0OAAS8brDMjSwhCK5b1ZSQISoViNyPIDjqprrPKensrIad1iwgGDkZuYtWrW0G9YpROCk02MfTU_UahIs_iNsqG6R6MbtlCHOstPQo961aQF6DUllvkUWIBspkvCPPk1BCr0sN8NVv77_dkx9mphMjFlPkD4Y8tNl2UvVqmOK1zSnVsiBmdb0E0l4M8WWiFfacUHZIawBqIgOMQ54jvgZvs6y7zrzcmp62vzwDGLuu4xVfT7sN_ByYVQJCDA4SwtdUidXPmRZ-5hK5sWLN0qB590IXH86_h7FBha9YN2wVKXlQn-NjqlSOsnQX4P1sb7ceCs4C53KqhthHsYpM5DIUDxukrtgxTsqRPvbTmTqam0LILnMC9FYbOVkq5ddigbGTpnqxkgnJQWZT5a-3iw5AHhJGRKC0SrG-xGZROvkyCe0dMnyV9P9oSs3K4vw-OXU6KiuBwl1SjI6hQBY9i4eAOcM5o3qx78sezGFfaQPvYMe3SV1cpGOQmESzchR-ag_ab1XNKaU7kv84iiP1RxN32p6ziHniewJSeSu5j69mnR4w9ydOG3s9p4R3gUD3SODQWMwXEurCtVl2q7Wlufs4IiZqW8Y7xQcGUi3LKu2uOt3T8m1NtGtHbAD8GqgqFmNL_29WqbusDH_4uO3SBjsQLdcD6XhcyjCjjWXo5dajm_T89D8ycEcm2WJ2x1v-THPPogVqJi_v8Gda8JiUcTumx37oaSBt3wiaqBu8F1rg2pkzC6xxygpGqZb8XaRF7fkOOLEsi0lbVRT0hcDToIhu-uSzaFs1QMCTZ7ZQkeiK3-aOSwiBt1AE7mgbv8NsKJC39j6S3_KziD21uPvudrm-cAeUpeWh0UtW9boeVJID_rxx-6Blq1wB3eKd5rKZS4zba-Txgqnk7ztepIkwjr1sqBrRaj-4sgyz55Qx87IGvtfHIg2Sx3aSP4OgibRA3cd3PpgRrJPVmfuyli9N9HJq-VjIzynmD7rUuBkGfP7HJeHKhGu5u59fI5egaviXyVECyiIUlhSVjP6KZiQvP60AphuBAcs4WWME31xPC65nmxb18UgUcHu1cwapyacmH5occZo_V_lzkFDnJKmzDoC2aCjFANkX__BDaMHzJXRuc8qboSwOOvpFNqyIJQlzVXsx2l-4oi6E3qDy-BC8pLzi6UltJvpXhzaUyGkzHy1UeZNqtRjcgAEPYfwSxZwxkC7XdwlHKuUFbRI3qnhvDJgJWC3-XC9H3m_uhJKKzlqTW7t1rNTom_YcRFdfSJqnpWnq-29WY2-Y4yNeyivmXDA=",
  "id": "rs_06672f6dd205d3b6016ab4315e138487d09f4624f7b2eaffe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_z\":0.18},\"note\":\"The carried cream plush is now over the left side of the right basket, with its body mostly over the opening. I’ll shift it slightly toward the basket center as I lower it.\"}",
  "call_id": "call_71MPOOpLS43WRLp2U0phzqkm",
  "id": "fc_06672f6dd205d3b6016ab4315fab1087d0aaa8bbefc40bd3aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_71MPOOpLS43WRLp2U0phzqkm",
  "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]: [-0.1146, 0.8513, 0.6559, -0.4042, -0.1795, -0.1951, 0.9968, 0.334, 1.8778, 1.5761, -0.4431, 0.2028, 0.2134, 0.2086]\nstate[eef_state]: left_x=0.3016 left_y=0.0006 left_z=0.1844 left_yaw=0.1261 left_pitch=-0.0282 left_roll=-0.0487 left_gripper=0.9968 right_x=0.5115 right_y=0.1436 right_z=0.1835 right_yaw=0.043 right_pitch=-0.1604 right_roll=0.0351 right_gripper=0.2086\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.7509, -0.105, -0.0562, -0.0122, -1.0872, -10.5504, 6.0513, 1.4139, 0.2613, -0.1148, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98040e4ae4768909d9fe2190e06ab591a368cc957207e9690c9fd2148a62a82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a781a3b5fbdc8cc6f9ea5102386334fdacceb3325626b006c5d11adaa91a4196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c63e882ac8fc6e1350b12a73b5018f93174fe7cc02b375c69b5704ef7758cb",
      "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 31 attempt 0 · /responses · status 200 · 1.989 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8398, 0.6559, -0.4042, -0.1764, -0.1947, 0.9968, -0.2096, 1.285, 0.6189, -0.0433, -0.1932, -0.1204, 0.9964]\nstate[eef_state]: left_x=0.3007 left_y=0.0002 left_z=0.1876 left_yaw=0.1232 left_pitch=-0.0175 left_roll=-0.0528 left_gripper=0.9968 right_x=0.36 right_y=-0.0382 right_z=0.1027 right_yaw=0.0174 right_pitch=-0.128 right_roll=0.0459 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.5795, 7.0359, 1.7167, -0.1294, -0.0708, -0.0122, -0.3487, -3.0564, 4.3966, 0.9255, -0.3004, 0.0659, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8494, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.4614, 1.9934, 1.9648, -0.7315, 0.3061, 0.2893, 0.206]\nstate[eef_state]: left_x=0.3012 left_y=0.0006 left_z=0.1846 left_yaw=0.1255 left_pitch=-0.0282 left_roll=-0.0486 left_gripper=0.9968 right_x=0.5127 right_y=0.1994 right_z=0.2416 right_yaw=0.0425 right_pitch=-0.1509 right_roll=0.0204 right_gripper=0.206\nstate[joint_eff]: [-0.1162, -1.8393, 7.1043, 1.7998, -0.0904, -0.0708, -0.0122, 0.335, -11.3983, 9.4017, 1.3016, 0.3346, 0.1783, 0.8523]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8513, 0.6559, -0.4042, -0.1795, -0.1951, 0.9968, 0.334, 1.8778, 1.5761, -0.4431, 0.2028, 0.2134, 0.2086]\nstate[eef_state]: left_x=0.3016 left_y=0.0006 left_z=0.1844 left_yaw=0.1261 left_pitch=-0.0282 left_roll=-0.0487 left_gripper=0.9968 right_x=0.5115 right_y=0.1436 right_z=0.1835 right_yaw=0.043 right_pitch=-0.1604 right_roll=0.0351 right_gripper=0.2086\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.7509, -0.105, -0.0562, -0.0122, -1.0872, -10.5504, 6.0513, 1.4139, 0.2613, -0.1148, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98040e4ae4768909d9fe2190e06ab591a368cc957207e9690c9fd2148a62a82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a781a3b5fbdc8cc6f9ea5102386334fdacceb3325626b006c5d11adaa91a4196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c63e882ac8fc6e1350b12a73b5018f93174fe7cc02b375c69b5704ef7758cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFk1CsQXiePOUM8oa3oX2SI_0LVOXBGMDi5jrYWQaKxUY6NigMn7WGUAfSrrORepfsve0qF5iE3niHylI4e4LygF8ec_jcE5H7aQUuE9Rzl9xgG90R1kJJhYj9pCna6PR-a41heW7YpnYeEXQqHzexJJhBA-OBBbk8U1fixRosc2kbwswamlRsceWtDH5JbbY8FM7Er36G5IMZ_CGwnb6i1jwpW3kM305FugQGCBomjwbEOVutqcCJfZQP84eJFihXVEkXIfO83VUxbXgHeVLlsZLfvaO9b8NC78b2WiYxQkLBGJj07S70e3oJtcCOWiuP_SbXg2upfWf48zwl84XbfBozw5LRbwnpoiWghbu57z1R6ZE-a1lMSCEe5mgC6PovsQ8oiwobtjFtc9hi-DUGlcXU1oToK6_scVGe-oFVnMEGNJPFDFr3EkPTW1K8XEEAZsUCF2qtEoOEBImcKSiyTJXElieC-CV1zNhXp2QBzn9whPMDUIPxkvI9JP1XKcut3UmS70RJZyPXGOO9TrKVwLxn36Y4ONwT5kJUGXOKi8010DM2UAkIZF1LeFKBYPtvmRmExy-tKcVOUTzRUbel4YUB3luk_80HSZJs4NXO5R3_oFMhmtwBa0SQf2SpUfuh_6wnhMeXOPofjreS-X36NZtU-eGYbpw_qMxwxZXThKutp0wPjKLUMEjBVzTA55yEHlQNZBlvdzjHx_l3RtpQtD3WO5J7rpMpHR0brddQ3evVwFX5-588xcKpFBHoNlkFnaV82Ew06F4pHmdPu_WoEBjKVfjlu792IcsWRl9H8-pPiUyN2xLX6kI_NRbbMD_YJXQaXhpl7Xpyk_dIwb4-sSMTD1O1fiJnbSIa3nGDKGL4njkTcE9TcTjK01lrpDtAvB71_ttKF0wuQLGlaKRgn459gJzwdFmZ7KzMorcAF_V-Pb1l9D9uG6Ef32u7nEZBhfPiJh3yAfpD60cX2UCGnKvAZmR8rZIUmV7d7IGOT7uQ5Bjd9ucCNIwI6Pp70fLVodOsrLbokbbHHmOaEVgT351-_VErin6ut0xYTZwl-qGXdoGi4I-DL0CXVWUjmZwbfS_5Rqe0MfUZsX5jUL8N6RlIEzQxPkloQ3QVhQ9Xmr_AldLfHQF57cMygv1pDk4PXK1VE6t_YHGayjXVlE7Qmx_UEjsHN8SlyKpzBQdgz8ay3jHIpLl54HX6IE7HP2KvKBsPMsz2zZ1GJdvwiDzNyrreipKWRNQ6mXuAxlVz1xUoNUdfvFazeKZTO_YN2I0yDJA6-QRT8R59d4xzio8BD9P40IhewNXYFd_qiitTQS-EE5xbt_CMvsGKWUAjMP4cyXjLDyM-TBJEzYlbiwBnvsFGWZI1T0-8gcblq5oSuwmmXuMzgzhBNQT6y8VXAF49D",
  "id": "rs_06672f6dd205d3b6016ab43162cce087d095fe6008d9664d7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The cream plush is now visibly within the right basket’s outline instead of hanging past its front rim. I’ll open the gripper and then verify it remains there.\"}",
  "call_id": "call_cdKvjXvcARWLm9sLlzJDG3tu",
  "id": "fc_06672f6dd205d3b6016ab43163367887d0822096268b8ffcab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cdKvjXvcARWLm9sLlzJDG3tu",
  "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]: [-0.1146, 0.8509, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.3279, 1.8736, 1.557, -0.4118, 0.194, 0.2092, 0.9945]\nstate[eef_state]: left_x=0.3013 left_y=0.0006 left_z=0.1841 left_yaw=0.1256 left_pitch=-0.0297 left_roll=-0.0482 left_gripper=0.9968 right_x=0.5134 right_y=0.1425 right_z=0.1828 right_yaw=0.0473 right_pitch=-0.1463 right_roll=0.0423 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -1.5658, 7.2137, 1.7607, -0.0659, -0.0562, -0.0122, 0.4444, -10.0718, 8.4444, 1.2723, 0.1001, 0.022, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b2f7e40ec46057010af517c90add36fa64f1371e5351129e3c764b85b8d540",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f277478f5de2e6e04a8596f2424f592fc4998651c0967fe6a5e4742d1fb497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173c8ea069daeecb59ad075851a2b5d07c91d2dc8a2480eb87886f81887d5e71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.638 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8433, 0.6559, -0.4042, -0.1761, -0.1944, 0.9968, -0.2157, 1.2884, 0.5991, -0.0151, -0.1856, -0.1276, 0.2065]\nstate[eef_state]: left_x=0.301 left_y=0.0002 left_z=0.1866 left_yaw=0.1231 left_pitch=-0.0208 left_roll=-0.0518 left_gripper=0.9968 right_x=0.3589 right_y=-0.0416 right_z=0.0984 right_yaw=0.0087 right_pitch=-0.1242 right_roll=0.0343 right_gripper=0.2065\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.7314, -0.1001, -0.0122, -0.0122, 0.2667, -4.6564, 8.0479, 1.3651, -0.2125, 0.022, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8513, 0.6559, -0.4042, -0.1795, -0.1951, 0.9968, 0.334, 1.8778, 1.5761, -0.4431, 0.2028, 0.2134, 0.2086]\nstate[eef_state]: left_x=0.3016 left_y=0.0006 left_z=0.1844 left_yaw=0.1261 left_pitch=-0.0282 left_roll=-0.0487 left_gripper=0.9968 right_x=0.5115 right_y=0.1436 right_z=0.1835 right_yaw=0.043 right_pitch=-0.1604 right_roll=0.0351 right_gripper=0.2086\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.7509, -0.105, -0.0562, -0.0122, -1.0872, -10.5504, 6.0513, 1.4139, 0.2613, -0.1148, 0.5788]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8509, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.3279, 1.8736, 1.557, -0.4118, 0.194, 0.2092, 0.9945]\nstate[eef_state]: left_x=0.3013 left_y=0.0006 left_z=0.1841 left_yaw=0.1256 left_pitch=-0.0297 left_roll=-0.0482 left_gripper=0.9968 right_x=0.5134 right_y=0.1425 right_z=0.1828 right_yaw=0.0473 right_pitch=-0.1463 right_roll=0.0423 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -1.5658, 7.2137, 1.7607, -0.0659, -0.0562, -0.0122, 0.4444, -10.0718, 8.4444, 1.2723, 0.1001, 0.022, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b2f7e40ec46057010af517c90add36fa64f1371e5351129e3c764b85b8d540",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f277478f5de2e6e04a8596f2424f592fc4998651c0967fe6a5e4742d1fb497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173c8ea069daeecb59ad075851a2b5d07c91d2dc8a2480eb87886f81887d5e71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFmOHVq_8RJVL2zyDGhu2lSiCN3p0uzjwgddWCRYicJ6Jl0HOdxIZtRMMGAetJtxIjBOqMZZ9r0JrZnGo6T2VzHRjrDFExEz7iK3EBEgy0vV5egtY0YRoCLYhb6wf7MjdK9T15293-20_rAQn4raLG-3TXT_BIUOlrlhLVyu3yweosOe6Op7cnBTm1EI7QpSqAqEzZBsekMDaDKzPddZ_Xa3y6iPUB4TQmpGIT5A6vhvKBZJcGrmaHYwe6cRcVTev-Z92eaNSRppdM86w7ke4nkL7GyfcEbYcvfxDoVRD4U28FESn84Qnsn_Hujq-O3SUHwMCt4NIE2_iqXzSJhyxwXpp372PDopDefSxpJ78uGcSW_Zbyd6b7j48HSVn6TepmphrkPsOC7jn9W8n2q0u-laOrCDHuAIs9wMWYfp40Q14NFpfjw3cW265ioOlvyiGMGv2Mb2D0aW9Ix8P0kT8-nfBXIg9WF7XRolaPvkbE5H2ufyMHAJJGFY38zQrJWXssKgwcUR8lzAyLtlVK96vJjK3PJaziWO2Q06Y6sohA_WfBB9hv0KGUK6_cohEg6AOCUMwfTI1nwFx-Rv3WFpyMGTxbZmE0AODaxb05Z7AOiq1WJdjtwaJsaqpvzoPkbvPiap89bXD2Wfr9VWMzSrv95DUbmvADkyeOB5CoE0A0BBr_rojWkalw5os3W482Rmey8BUh5qY_yIt_hbLiOtF-i17KYVDZfzAFgKIdHTHjFNBdj-U1aBwsS-FdNCvJ0fvQrxUMI4NJ7SFpwxT8JNtCuRdD1gcqdmUZXSV2vaP1RKa0x7hgl7vC2N4HZvwGAFHtvpYGziAc6P_Qe9JhWnXar6sEdDxd-tgNq_HNZJb458gd0V2G4hflaBc1IBKok5DBiJs898ojO-QB2z3uOX2Fo1eHvVgiuQatIabrUchrRMlh8Z6r9Gggum6qIIPXWMB71T4ZqDcnDIWEKqhuTuhgWZzjXad9l163zJtSPc5U94XPEzw8KW0enFsHmH8RMRiuU5XNGov8QJ8KFeB2f5F8mcCcuS_7p1JifV9JmBpD11nIdRpEZpHPcPUG3StvdqxfWjTdWEHhLjeBQntUZtW0Xqg2xBag-u-JO4reValgT3ntt9EyYGvQfwrR6AvJMC3i_MfJpf8Onu81eql31ocKugenwu2BL27OQ2vx9SW8laeh61DaF3HzsbxcQ1XgPg2f165TPd_HEnLgrvbCsf1Phhx_dYxMN8DTShwvI46Eea0parLU2h-yXm6hO7jowMmut",
  "id": "rs_06672f6dd205d3b6016ab43165dab487d0859b5b6bf6be530c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.19},\"note\":\"The cream plush appears to be resting inside the right basket after the second release. I’ll move the right arm away to confirm that it stays put and to inspect the other toys.\"}",
  "call_id": "call_Of5ShH64Jkd4FihvWSs6aKkA",
  "id": "fc_06672f6dd205d3b6016ab4316615a887d083b41b0c57da2060",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Of5ShH64Jkd4FihvWSs6aKkA",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8566, 0.6559, -0.4046, -0.1795, -0.1947, 0.9968, -0.0643, 0.9173, 0.794, -0.5674, -0.0731, -0.0257, 0.9949]\nstate[eef_state]: left_x=0.3019 left_y=0.0007 left_z=0.1829 left_yaw=0.1263 left_pitch=-0.0337 left_roll=-0.047 left_gripper=0.9968 right_x=0.3004 right_y=-0.0028 right_z=0.1943 right_yaw=0.0097 right_pitch=-0.1229 right_roll=0.0394 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.5932, 7.0632, 1.6825, -0.1001, -0.0708, -0.0073, -0.294, -2.0171, 6.694, 1.7753, -0.2466, -0.0952, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004304e8505273ece11afe618a613d416c1c00555f6736b477a9802fd2f97093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21298e786fe0d2e510386d9c259ea11c814af546d30e78c3c1ee4de996c990f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fc22d19972cb6087d013b12aec585f2d65e255dc2698cc5bf310c568bc8296",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.555 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8494, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.4614, 1.9934, 1.9648, -0.7315, 0.3061, 0.2893, 0.206]\nstate[eef_state]: left_x=0.3012 left_y=0.0006 left_z=0.1846 left_yaw=0.1255 left_pitch=-0.0282 left_roll=-0.0486 left_gripper=0.9968 right_x=0.5127 right_y=0.1994 right_z=0.2416 right_yaw=0.0425 right_pitch=-0.1509 right_roll=0.0204 right_gripper=0.206\nstate[joint_eff]: [-0.1162, -1.8393, 7.1043, 1.7998, -0.0904, -0.0708, -0.0122, 0.335, -11.3983, 9.4017, 1.3016, 0.3346, 0.1783, 0.8523]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8509, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.3279, 1.8736, 1.557, -0.4118, 0.194, 0.2092, 0.9945]\nstate[eef_state]: left_x=0.3013 left_y=0.0006 left_z=0.1841 left_yaw=0.1256 left_pitch=-0.0297 left_roll=-0.0482 left_gripper=0.9968 right_x=0.5134 right_y=0.1425 right_z=0.1828 right_yaw=0.0473 right_pitch=-0.1463 right_roll=0.0423 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -1.5658, 7.2137, 1.7607, -0.0659, -0.0562, -0.0122, 0.4444, -10.0718, 8.4444, 1.2723, 0.1001, 0.022, -0.0562]\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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8566, 0.6559, -0.4046, -0.1795, -0.1947, 0.9968, -0.0643, 0.9173, 0.794, -0.5674, -0.0731, -0.0257, 0.9949]\nstate[eef_state]: left_x=0.3019 left_y=0.0007 left_z=0.1829 left_yaw=0.1263 left_pitch=-0.0337 left_roll=-0.047 left_gripper=0.9968 right_x=0.3004 right_y=-0.0028 right_z=0.1943 right_yaw=0.0097 right_pitch=-0.1229 right_roll=0.0394 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.5932, 7.0632, 1.6825, -0.1001, -0.0708, -0.0073, -0.294, -2.0171, 6.694, 1.7753, -0.2466, -0.0952, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004304e8505273ece11afe618a613d416c1c00555f6736b477a9802fd2f97093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21298e786fe0d2e510386d9c259ea11c814af546d30e78c3c1ee4de996c990f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fc22d19972cb6087d013b12aec585f2d65e255dc2698cc5bf310c568bc8296",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06672f6dd205d3b6016ab43169b7d487d0a316af0c94340fee",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFwwlexpgjNnAhlr1RD62cFEI49UpPp5nxaJoOwcgPPQHWEx9DDeQOZSb74pSbzcez3W5Th-uU_ouscreDFn8ksgXqIJ_TcMGRKomF4u-uuYUABEM-M49DPU2647cwMbLMgZrR-gA93ZNZyu2LzF0cunJZGCl28-71vrK8V1V7GaGKcWOTi3IvqaW9fwqOamkOurgSSoX5MLUphfnZoNuDvgE0XXwTHEx8KuRlv_rHLhtts-GLLRFc6E-MPG8q1XTpVMaxPTxl74u27f336lNeiIuuhlgooxm4EF_vw-qn1jIiTFgX0_h9htJ8BVf31LL2FW90m8sI_S6_vxo5sdrZVqgMXH5rryoVaEdQGxStLo6CeHExDx7Dont4yzf2zysq9Z7c9xlAsWtsN81vYYFEQj386tKubH3tXUi2P50BRPn2ErQsgtVPeMALVu-1B0qEDus2qL1wtBomS5DNpncJJfjs7ucEiH_gnpc_ilEyBeo6xNSAVAsm6jb3rY8GsifrdrSaz1_sSD1e5ytOLiSxl8SDwqnL0PBsSBMiwbLxXvaZajfW1OTH_K90OonR8wyoDaAvBS3lw7DbwG5fBvaE-EKo3XuLXuXWyHr8ZgGwno1xiL9K4jNXTCgu5Raud2YPmEjPYcC_K0fhz_X-BHKcdxovCDb1oBaWJ6BrB5YloXqZ5I5Sao-5WEo6q7dWdI__4Mn0u-5XNsJRdVPSxWcun6GR36F8w76En_U7fXgZcddBAX0yftb3fdrEa4m6ZrltCIV85-FSifG4fp0htzd4CjQ9cKwHoG-w0OwfxOW3n-GUZYIKW3wukKsoi969Hj7kWYSmK-6Xa0rmLJjS2FKQceSTOdiXx5vyjNYNSGr_OiTWrFgtaw3vtCzzm5PRS2FH4_HBUEPUQ7t0AAHhbxqSzyWEwt0o1hGfHsMLzedk44nyw-FsmlSECi6XE37LHt6pSF2GlfB2wB1GCet4aScyQvoWb4tIEW2lfwU4qWeumtU1r2loyJVFdLs6-7joQjPU2B0e9rcGWM-9lBG6VOSsguVNqpmQkZAdmxCKWeO-PHOa46HvT5QClhlbiWoL0yMKOpy7CHJ55y_RVlx48oIN5nOaahdoY-NfiLNunzaMyj3P7uWE_qXLyckfWHqsRfWtZDmcaSYs5WIJVcyaFtPTIpBikfzrjult4vU4dfohtUUoiGypZkLjMpkKSzPSD98GQOtK9XJg_2WzrbSNTwtYl9687uZWWyzB6e5yJEYVb9iX1_rx_ZgXjdrOLbKDoBBjLfNA45ni3l3Uvo_slZNmohH__mps4b143PTixxO1MNsmX72cYHZiP3t4ldAU-C1Mi82OlGfvM1z5VIC3CUbuo4T02xSzrCj7-aluXkfWnBm7fhcRVyVZyNJmEYDYz3mH_UMJuCIyLzMUjE5bcft-UkFywh4H54aQZtKeYkvBoxNOznzWQsF_JD1H3ThSDJ7c9MJI2p9Yeh5YLp3X_jyaZcWx_pcxtCGBaTn4VXFeXgyrJsNKYwhic_gdSekC1S6P72jTHvORPVa3-w4IFWClI7vb5TBgpAN5OjbYIHFVQnZbzcdLTCEX8W77MzEaT4Hko4esmV8SOUfkJDXWFxsFy6ZwZlWFNdAn8nkQa1LGO086bVoekWzf9CtlPqRHjBJhfS4eBLujJ3KDmYlnkAf5TuNE2OPYCcLvYpu2GJ1WHXkcJPw2JZH7F8AMJN_CDkC8_O-7Oscz0tsq5BeY2NEwdjAy3DYwKK8VPkrWz5F-VxNmUGxVq5LL1CbPZvuCY17DiSqZZ8J6Yv6BFW36mdm4r0I7dU2Q_nmvOoDI2zZy90Sbyh2YRbZdmMg9oCotMXJLDlKcxDiMUzKCyDHLdSae6d840hiFRsW2NAleNqTnmRhkM_210IAxByRX5mS4u4tE5-dJ7wBQ9DNhV4zwUpjIRDVXWlx5_IrmsMTdPd94JkPjpsZ0JLRSUbsjwHf15v_3W",
  "id": "rs_06672f6dd205d3b6016ab4316e107087d094121a4120cd4a47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.15,\"left_z\":0.065},\"note\":\"The cream bear is still partly in front of the right basket, and the gray plush is partly in the left; a smaller brown plush remains upright on the table. I’ll pick up the small brown one first with the left arm while the other arm stays parked.\"}",
  "call_id": "call_vYrnujFgVlughbDlBWYxDuE0",
  "id": "fc_06672f6dd205d3b6016ab4316f3b6487d09c24e6a4aa837d52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vYrnujFgVlughbDlBWYxDuE0",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.762, 1.4612, 0.5293, 0.0738, -0.6567, -0.63, 0.9969, -0.0658, 0.9218, 0.7868, -0.5797, -0.0799, -0.0444, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.1422 left_z=0.0548 left_yaw=0.0984 left_pitch=-0.0818 left_roll=-0.0002 left_gripper=0.9969 right_x=0.2978 right_y=-0.0019 right_z=0.1876 right_yaw=0.0244 right_pitch=-0.1462 right_roll=0.0315 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -5.5179, 7.706, 1.3993, -0.5739, -0.1001, -0.0122, 0.0342, -2.2769, 7.4462, 1.7314, 0.0024, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc717278e52b4435ec5464fce0e18822c55f1d1d9fa2a8c2bb41c65c39c1b98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d2d4628483c5e89b2ec3cd0c4e59907bc167ac81ab7c102e845c7524999487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:822dfa9e25482d5a4a022dbe54b024e883b4be17d543b0db027c29b563ddc57b",
      "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 · 2.843 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 136 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8513, 0.6559, -0.4042, -0.1795, -0.1951, 0.9968, 0.334, 1.8778, 1.5761, -0.4431, 0.2028, 0.2134, 0.2086]\nstate[eef_state]: left_x=0.3016 left_y=0.0006 left_z=0.1844 left_yaw=0.1261 left_pitch=-0.0282 left_roll=-0.0487 left_gripper=0.9968 right_x=0.5115 right_y=0.1436 right_z=0.1835 right_yaw=0.043 right_pitch=-0.1604 right_roll=0.0351 right_gripper=0.2086\nstate[joint_eff]: [-0.0615, -1.2103, 7.1179, 1.7509, -0.105, -0.0562, -0.0122, -1.0872, -10.5504, 6.0513, 1.4139, 0.2613, -0.1148, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8566, 0.6559, -0.4046, -0.1795, -0.1947, 0.9968, -0.0643, 0.9173, 0.794, -0.5674, -0.0731, -0.0257, 0.9949]\nstate[eef_state]: left_x=0.3019 left_y=0.0007 left_z=0.1829 left_yaw=0.1263 left_pitch=-0.0337 left_roll=-0.047 left_gripper=0.9968 right_x=0.3004 right_y=-0.0028 right_z=0.1943 right_yaw=0.0097 right_pitch=-0.1229 right_roll=0.0394 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.5932, 7.0632, 1.6825, -0.1001, -0.0708, -0.0073, -0.294, -2.0171, 6.694, 1.7753, -0.2466, -0.0952, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.762, 1.4612, 0.5293, 0.0738, -0.6567, -0.63, 0.9969, -0.0658, 0.9218, 0.7868, -0.5797, -0.0799, -0.0444, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.1422 left_z=0.0548 left_yaw=0.0984 left_pitch=-0.0818 left_roll=-0.0002 left_gripper=0.9969 right_x=0.2978 right_y=-0.0019 right_z=0.1876 right_yaw=0.0244 right_pitch=-0.1462 right_roll=0.0315 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -5.5179, 7.706, 1.3993, -0.5739, -0.1001, -0.0122, 0.0342, -2.2769, 7.4462, 1.7314, 0.0024, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc717278e52b4435ec5464fce0e18822c55f1d1d9fa2a8c2bb41c65c39c1b98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d2d4628483c5e89b2ec3cd0c4e59907bc167ac81ab7c102e845c7524999487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:822dfa9e25482d5a4a022dbe54b024e883b4be17d543b0db027c29b563ddc57b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDF05snnggU5T-fDxwX67rzfWtZYCTr9zllQp-ntHZm79uoYar0_u_htWuW8w8oqF4RMr4JQGEbKJELvo958DHvlHA8KefVnxWPXIJMvw8vfFoo2aXkAR42QcwkSLm3TGvenWSKRglQbiTA0GNpJuJKiZg2lWbfacQ5gtEv_l7_UTxU1r67vrvfTgVKI2gDHlAdEiyRW9wIs3nMp7k2LTXgzab-GQMwLqG_O9eVj5gZoeOM2qurCd2W5kMB1zAapwrXVXthpTiaPidmuHSbrOBJQoQiElDLguKcCLm1_UBueI6qspUZ5h4a5iEJOoEPS5tdohs6Bf02sn88xwQ4Zw--GPaAs17v5PKjUYdTixZy0b6DTwY4kY4ZTPDtnjIIbrCfUsPgT1O0O7WKCwcjdz3j8n2THuzsno2deTmgDKEPiDpd48c4vt28LcFp4H8bP1LOpo9xQFAQZqsgBuvuAYsO7pMRgKq7Ml1UFdKuehnOnvQgi9rTm1CbkE8xfGD_lcs9eTb1hX7gWNV42hKw9lT-S1fa4b5rC6vY0GSY5GPkf6UZ_zg0ZBiost3LSSdKzWPTPgdMuDc-93f0XzID5kD4v-5MdxFx4f-XDvWaZjfB51NsKAEqtJYgA3_NtapMGXWJyqNRXD4LOOQtoGIIHUmfuZLB_SPMHZjujXskoGQ4lO3G_0bgMjE10MBTb_gHxh4sGLd5wNe_IcnmffZ0ddvwRwyx2dgb5gud3AQ2iAOiA1UnEiiAYbaCcQkWQz3eE5iqH0YMjNj8cF8iRQYQw8t5lsqdM5NriIWRvs9fcV2cRKcaP1iE3Dd1rfwsvU5K4Uu-7j08-hp1BUU3vQMZbzoSNHPo9P-ln1U52BkMoHJsiIExYgrMU4WJ6JPBU9lN6Ml00zP7m0FmK9b6GIpmwHqsHdVd74rOy9bSS9U9wZbNkwf44jVBpIGRTNr4bW1leUEBGhT7J15IJKzRdyIzvnLTh4fdQAQQXjgSYagYsIkhH9QK1s5kjTe9h6c0JBylcAH-D3_EUWNZlh_Mlz5OUe_PTD_KcCdyQ4eDm0Kap44E0LTS4Io-tfw2JpW6fxDVTPZ_itLK_L8C_yWyFbQN8X_wL-HuyFY6-rultKdf1f6im6ihWHSwMsVfVUC37YavGW70fXEE9Dj0l0u-niwZD-Hnwox0sGZQUFzsbwEO0ZqKK7Mjn9gDKfY9ZsqTCb9f5WkxmjS3LB6U3OrbxxN2wTPIjI4lRuAJKq7tYUZIUNCpwm7mSX_cItE6z5TbMztkDTmTOY1yIeK6XOvj_XZFkdEXcJTJ_VMyxECIXkdHCJfeDEmD-NXh1p8SZTCh8vmNlKpCKry8pYsaLY8wSGVdiv16CLnABx_jyKMDl5vmzrtzAKTFz-gIjCvWlY8X5VOfNVYz7AG3IplELynqEpSHvmc0Qp01lfZ1Zvk9q2s5akJ8Ox9ouKmtR_xuDKHJ6o8I1LSbydQrmrJ8KHM4htwOPJmJTXjd2uzWjSuY24x3VS8LAgxd3F0zkFeer2g3-1g9ZP7RYwdctOdCwmHWzovj7CTHNEADKyGv_NsgDaZynSlxdMjl8Zvk190B0hGdn5LcYQUiU",
  "id": "rs_06672f6dd205d3b6016ab431727be087d0b5edb225f60f4787",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.198,\"left_z\":0.04},\"note\":\"The small brown plush is visible to the right of the left jaw column, while the large gray plush occupies the left of the wrist view. I’ll shift toward the brown toy and lower slightly before grasping.\"}",
  "call_id": "call_LzGCnH37kqyLnyEFkQRsj4Yu",
  "id": "fc_06672f6dd205d3b6016ab431733b7087d099f767d4c06c279b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LzGCnH37kqyLnyEFkQRsj4Yu",
  "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]: [-0.8993, 1.6588, 0.654, 0.0509, -0.7189, -0.7528, 0.9969, -0.0658, 0.9257, 0.7868, -0.5804, -0.0826, -0.0456, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1937 left_z=0.0349 left_yaw=0.0748 left_pitch=-0.1002 left_roll=0.008 left_gripper=0.9969 right_x=0.298 right_y=-0.0014 right_z=0.1864 right_yaw=0.0273 right_pitch=-0.1506 right_roll=0.0328 right_gripper=0.9949\nstate[joint_eff]: [-0.253, -6.5026, 6.8308, 1.0965, -0.5299, -0.0122, -0.022, -0.0205, -2.1675, 6.8718, 1.6093, -0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da821594496eb563c44eb810d2b6f22c0bcf7a5acf10d27f7f51a4fd9eeec95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec2534cfb608fcc71a9d3e93e75fb4a653697d8c20512c83c185e5bdbb7b205",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9c176f4f1bc9bd397acad7dcec34c4e380ac2a705ace03e89034109aa4c900",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.364 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1146, 0.8509, 0.6559, -0.4061, -0.1791, -0.1947, 0.9968, 0.3279, 1.8736, 1.557, -0.4118, 0.194, 0.2092, 0.9945]\nstate[eef_state]: left_x=0.3013 left_y=0.0006 left_z=0.1841 left_yaw=0.1256 left_pitch=-0.0297 left_roll=-0.0482 left_gripper=0.9968 right_x=0.5134 right_y=0.1425 right_z=0.1828 right_yaw=0.0473 right_pitch=-0.1463 right_roll=0.0423 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -1.5658, 7.2137, 1.7607, -0.0659, -0.0562, -0.0122, 0.4444, -10.0718, 8.4444, 1.2723, 0.1001, 0.022, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.762, 1.4612, 0.5293, 0.0738, -0.6567, -0.63, 0.9969, -0.0658, 0.9218, 0.7868, -0.5797, -0.0799, -0.0444, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.1422 left_z=0.0548 left_yaw=0.0984 left_pitch=-0.0818 left_roll=-0.0002 left_gripper=0.9969 right_x=0.2978 right_y=-0.0019 right_z=0.1876 right_yaw=0.0244 right_pitch=-0.1462 right_roll=0.0315 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -5.5179, 7.706, 1.3993, -0.5739, -0.1001, -0.0122, 0.0342, -2.2769, 7.4462, 1.7314, 0.0024, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8993, 1.6588, 0.654, 0.0509, -0.7189, -0.7528, 0.9969, -0.0658, 0.9257, 0.7868, -0.5804, -0.0826, -0.0456, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1937 left_z=0.0349 left_yaw=0.0748 left_pitch=-0.1002 left_roll=0.008 left_gripper=0.9969 right_x=0.298 right_y=-0.0014 right_z=0.1864 right_yaw=0.0273 right_pitch=-0.1506 right_roll=0.0328 right_gripper=0.9949\nstate[joint_eff]: [-0.253, -6.5026, 6.8308, 1.0965, -0.5299, -0.0122, -0.022, -0.0205, -2.1675, 6.8718, 1.6093, -0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da821594496eb563c44eb810d2b6f22c0bcf7a5acf10d27f7f51a4fd9eeec95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec2534cfb608fcc71a9d3e93e75fb4a653697d8c20512c83c185e5bdbb7b205",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9c176f4f1bc9bd397acad7dcec34c4e380ac2a705ace03e89034109aa4c900",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDF3wfv5k9LNAIhE8XSHWn9z0YwCcySmwApxvNhloP4TZlYHri9nZ2TXLjijpOjDwPt5dZP_iE1X9tBkDOKc7nVTipGsq7ZQISa8W8cr2g7J65CAigmyt44dpcNqFUOlAuIIQ96_rLC60WJUvRTMjUK--YIpbT3Y01Mvob7bQerj1wWjWmoTCxSEXTFfDJ4RygJsa8QVeqp2RbFFLjSstieX1AzvgZeNtfhjFW4UOD8tQMYhwvKe6KEgwzw57_O60iyjT9tWW5iadjQBanEWPx5jbJ_tQ4WJlsmLNqYfz0sv2q-q5GzrJl21IK4T8IF5LQrPMwlFPgvjXb1hzAV5sE3eP7mi8VzUYkcikxDZiB5H_bbR_tZpsvR2iwiRHFyqE4cpEK0h-y4NQOuy-5sp_eOi7AGzSnEwxa6qFGvA4fKhuVmXvclPAFbVsfYXj-Rqgdfih0bC3a0h8iJMST1CbWavqBm1q-GCUlS2l3OQl5wfE0DGWg7kR2v1Ur3cAcZ515cWOfREgfBpO7o3B07kAHFt1lzOFBNOlQbnnU5LuXVo3qUS745yKgXFTRGTfelBPh2bgTL7MjMYbjCGKH_EAUSS6mR7fJC0cOJWMC-ZN5MO3VGC2RkIluNuX-kiKRTN5uclf5HmWtHy2zpTRqcp2Uw0bD13SXrO9gqwHGiqTzX1Ek-Msmn-vq_THrSrzUv5k_0Gsbo-jtbDRGcpmFDuzOx92H8pEOlz4lABJ-pfY3sPEfPwqQ92SYgimoUtkrYGIrlVBfR3bZ8lbVZXNGAUX9-RB1YbM7wTFNxvGAub7szBgIK9fxeXmQRsCGVcfI7tIDQxrAQ7_mXseRWabCFK5OFZrJl1d5OhG8tGRmHm0xk-q030DwretIaTf1nOyZ7UeIZJcy5cUmkhxpke59d2ZNkP-MdjYXbmTZOyzkPmTxd6Xr3iy7LiwdYjpSoCTwkeKi_XL2d4c6XZYnEn3D2WzGEsCNGhFbZ6usF8iFBIKBn3VnZGmpCBlgkCxDRRxHC1FsDYjLTsGrn3wYfMal4YtZhny9cSjhIzD3SljXfPfzZt1gu5nMHkJpT3UU_Nalf-7UskdpsDxpOwRDcXkTpxBsv2TxLIegnx6OwO3W3J0tc2cAklTBOlCtnSKItDaqN6mrZ5ZO6hlJqXb7yPc-nCdwsEhoj493GmbBaKr80Hhuj7g87y5JBI_Hmh27edzYdp3P1P2YK9I21qyFA9B2GIDo6WOTDtitv46ZDwdC_qcLlH0GDEDjz6CAgQgYnh9WZtooDig0hOhe4ON3igx1uZAmZti0GK9ghZ4AnqLnD4pf84DENd5EXOhT6tsyFHLKs2BX1sUAPRpvB5GfyePay6vzgplI0rpWvoDGGJpmw5uPzr9plUMhYHZ88OnpA8xWaanYm8KssBthsL_boTnBX_Zw6Y-SFcZZwbHKWdW9UuD_DvBPzeWa-Xm5Qios9ZPYEXcpvMcD6psU_TNXwGSw3eFh_WXtpGwmad7zgMDsHTySR3CYbQnunjAiTQO7M6VViwpD3GlRctiticJQu84_gBCZ2y8lPfZMrtt2_Tw9ME68A-uyGQO89_PFvCEK_z_oMK_YulwXDAfwrEDsFXreJBNOhLuQ==",
  "id": "rs_06672f6dd205d3b6016ab43175a8dc87d0ab3ee6b15b7a1f00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.222,\"left_x\":0.323},\"note\":\"The brown plush is between the jaws but slightly right of center, with its body reaching the fingertips. I’ll make a small alignment adjustment before closing.\"}",
  "call_id": "call_UblJei28ioUNkzydRYHA0XV2",
  "id": "fc_06672f6dd205d3b6016ab431769f8c87d0931cd408440d4178",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UblJei28ioUNkzydRYHA0XV2",
  "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]: [-0.9112, 1.6703, 0.6651, 0.0383, -0.7338, -0.7792, 0.9968, -0.0658, 0.926, 0.7868, -0.58, -0.083, -0.046, 0.9949]\nstate[eef_state]: left_x=0.3062 left_y=-0.1959 left_z=0.0345 left_yaw=0.0873 left_pitch=-0.0969 left_roll=0.0047 left_gripper=0.9968 right_x=0.2981 right_y=-0.0014 right_z=0.1864 right_yaw=0.0279 right_pitch=-0.1506 right_roll=0.0327 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -6.3111, 6.735, 1.1746, -0.525, -0.0708, -0.022, -0.0615, -1.9077, 7.0632, 1.5946, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4f711afdf3989532a3f2e1c2ff8f428608f3a52bafb83a2d6b9016a620656b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ceebfaf7b02321669d4eaeeebe980de0ce57569532b7400ca91f54e2aae0286",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a95921d9d3e351642920f86b3be606068b89e4466c4b1d9bdd5564fe013bfc",
      "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 · 2.843 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1143, 0.8566, 0.6559, -0.4046, -0.1795, -0.1947, 0.9968, -0.0643, 0.9173, 0.794, -0.5674, -0.0731, -0.0257, 0.9949]\nstate[eef_state]: left_x=0.3019 left_y=0.0007 left_z=0.1829 left_yaw=0.1263 left_pitch=-0.0337 left_roll=-0.047 left_gripper=0.9968 right_x=0.3004 right_y=-0.0028 right_z=0.1943 right_yaw=0.0097 right_pitch=-0.1229 right_roll=0.0394 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.5932, 7.0632, 1.6825, -0.1001, -0.0708, -0.0073, -0.294, -2.0171, 6.694, 1.7753, -0.2466, -0.0952, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8993, 1.6588, 0.654, 0.0509, -0.7189, -0.7528, 0.9969, -0.0658, 0.9257, 0.7868, -0.5804, -0.0826, -0.0456, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1937 left_z=0.0349 left_yaw=0.0748 left_pitch=-0.1002 left_roll=0.008 left_gripper=0.9969 right_x=0.298 right_y=-0.0014 right_z=0.1864 right_yaw=0.0273 right_pitch=-0.1506 right_roll=0.0328 right_gripper=0.9949\nstate[joint_eff]: [-0.253, -6.5026, 6.8308, 1.0965, -0.5299, -0.0122, -0.022, -0.0205, -2.1675, 6.8718, 1.6093, -0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9112, 1.6703, 0.6651, 0.0383, -0.7338, -0.7792, 0.9968, -0.0658, 0.926, 0.7868, -0.58, -0.083, -0.046, 0.9949]\nstate[eef_state]: left_x=0.3062 left_y=-0.1959 left_z=0.0345 left_yaw=0.0873 left_pitch=-0.0969 left_roll=0.0047 left_gripper=0.9968 right_x=0.2981 right_y=-0.0014 right_z=0.1864 right_yaw=0.0279 right_pitch=-0.1506 right_roll=0.0327 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -6.3111, 6.735, 1.1746, -0.525, -0.0708, -0.022, -0.0615, -1.9077, 7.0632, 1.5946, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4f711afdf3989532a3f2e1c2ff8f428608f3a52bafb83a2d6b9016a620656b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ceebfaf7b02321669d4eaeeebe980de0ce57569532b7400ca91f54e2aae0286",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a95921d9d3e351642920f86b3be606068b89e4466c4b1d9bdd5564fe013bfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDF6L0WTpxZFe1seWDGR_pBRM70XGRXe5Thf_wuIXCQLF28D8_y5QMtM30c3V5h29JPPnPyCaV37QCaVhD4hLco46bU-vWVCTyanWaSUtHTDQOwEd3JOwCu_rYBRZjk0oDOX8KXrETSXCsdX8vrtoDNzP53Bq94IPiAaJavtoUdp90pt03yGPQQzqJLVYhNRnG0LvgjAREC_yxaLECv7QdH0eWuTXwMJ-uqbym4vhh8fxrgnhWbKJUbvTmgv6_WcqADaRiDhXZuuUxK0OlRwEHPp4HA2A8MLq0_6vfbcMjbL74s4fW5GpBndc224EGqa-4qXweXeOGJHVyOrKCtaR8HXuFnRuWe7dLzReCKOCUMx9o1p9JIvPsavHW1zV-tQwoT7oTd0ruRY_Orf2R_9vuuAfr04-rTU2nbj6toMUy9i3xOBbIQ2keyqhIahLekQ6QpN0ZXYCN0vGPqRMh4bb30oHXnasBvNPjOiG0t9x5uO1G_T79lmadAgd3CjALjjZ3GRRxQuZ2KxuBoB1HdnHRhxmrW7rBTvfd0Zl0BDHICoGhvnMnJYV0fgOEdOQTG6IWtnrnAHHXoeqxLAkggMswzq2-iOdQX5T3YRanJWmH-CxvbEjfWvA3bv0r8Q8OV1kUn1B03HWrHXsK__6x3NbKmlsKCF4-0c92Y7Y-RZnjUWfyYuKeXXXiPBW5y6V1BnyS1hdwC9O1jLc0PU3lJysG-SNSESKhwyknDsyWAQfw39h5v2nyc_FzLXQsAE6GzfZ5y5FXnSmmuSRKteclhOgQizccSXnHjTQyf8frOiG__XnuIu_-4b1BGVQQU-WWv2PKRO8WG-QzPl3oEoJsviZqqaqE96DXB6UrsgBxOZ0i4tD8nfewKkyXhNDbEzfPz0MJaSWRwS7BGE0cKXev7HOYTi5KMto-MPeHwFGVAx7NcFp3Q_TLGBmYGhOfZWGp7fjOwFD1xqDgLcvoUopg-7O-sZOxBNQJcUGeUpYuYdHUceBfXE9UV8WBKoncIvW4p-VT7hgdM1b0pEUn2OSjUSymiAWGePtjUwfiYcfsmjHO8Z75uMGWkZGWX6Oap7K7FNnmkAhOfEByigUmODAcWNE_7IWIQE3tjY6PHO5zqnTz15YCRWbo5RYF8tysQO3Js0yQbhvaanLAE-ILfOS-rSa3V8VgHT9-ZuSW3Pm3DJqd56pw5GE-RGsq1qKlBKzo5YsplqExw9gWWNZRniwmA-K9c6jXtpZ0xMg5Fa01di_KRF7yd7XYoYK6hW-6bwYlWxj1F2CUEoNewqHSVDh_FbfW00yM_lkr8SIaywcP8W8XDQil3JnC78ZZtGWFxHV1BAGbQid2AHEJvAs-v4T-xNgwIYjieUl8g1Znq8TAGCOYecv2BjZpEJMe_yioYfq5PLALSGtqq-yayVXl41rVXIFhuArsEQGhLMekH2J8F1Qtiy8FnIhwOVB0IOSEh0P1ZPL0sAwbOeRCvDjnT-ZH5dxJHiTUrTb8JdAojD-h2NmNM9u9wE7mQbstHHfZFtmaa4X5sfpgliYzrP00bndq3mwluHJOyd6tQrfmkv-d2c2rQAu7UsRkg4YGokoZhrGZWFBrl8dw-4goKUfINXY5XSfzvwjPOeYbFnFZ6AMry0GZOxybLUJIxyJz9DaX5lsM22yfOD2EzdcCHgiiUwTKNmFKJc-sSKqwJurQ3-O_PQrqGQs-AdFy1YgdkbsNZ0mSShJFJnHy5mvNVMCBZU5q7raoFcdCyt7A0pVKmPlxWgTebUZCI=",
  "id": "rs_06672f6dd205d3b6016ab43178e7d487d0a211531d5d9dd9df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The last sideways move stalled against the closely packed plush toys, but the brown toy’s torso is still between the left jaws. I’ll close without pushing harder and check what the gripper actually holds.\"}",
  "call_id": "call_Ngs0JrRtjcH3XQGGhXUbYZDs",
  "id": "fc_06672f6dd205d3b6016ab4317a2e4087d09c0dc70ef178dca6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ngs0JrRtjcH3XQGGhXUbYZDs",
  "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]: [-0.9092, 1.6737, 0.6678, 0.0395, -0.7334, -0.7856, 0.1064, -0.0658, 0.9314, 0.7841, -0.5869, -0.083, -0.0463, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1961 left_z=0.0343 left_yaw=0.0924 left_pitch=-0.0969 left_roll=-0.0009 left_gripper=0.1064 right_x=0.297 right_y=-0.0013 right_z=0.1825 right_yaw=0.0283 right_pitch=-0.1654 right_roll=0.0339 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -6.9675, 4.9573, 1.2137, -0.3199, 0.0171, 0.5836, -0.1983, -2.2632, 7.0906, 1.6337, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e11be1a753d33df3c05785359d007964009dda866f8b4176efbf822791d2d7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f7d7950c6b1565d23fce529b3548978ec8ce145b4024c2db08e2bd8bc9f31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23bb935f8a509265c69fa3c73c05c65c5382e668efc6f3338865e846e275eef6",
      "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 · 7.101 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.762, 1.4612, 0.5293, 0.0738, -0.6567, -0.63, 0.9969, -0.0658, 0.9218, 0.7868, -0.5797, -0.0799, -0.0444, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.1422 left_z=0.0548 left_yaw=0.0984 left_pitch=-0.0818 left_roll=-0.0002 left_gripper=0.9969 right_x=0.2978 right_y=-0.0019 right_z=0.1876 right_yaw=0.0244 right_pitch=-0.1462 right_roll=0.0315 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -5.5179, 7.706, 1.3993, -0.5739, -0.1001, -0.0122, 0.0342, -2.2769, 7.4462, 1.7314, 0.0024, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9112, 1.6703, 0.6651, 0.0383, -0.7338, -0.7792, 0.9968, -0.0658, 0.926, 0.7868, -0.58, -0.083, -0.046, 0.9949]\nstate[eef_state]: left_x=0.3062 left_y=-0.1959 left_z=0.0345 left_yaw=0.0873 left_pitch=-0.0969 left_roll=0.0047 left_gripper=0.9968 right_x=0.2981 right_y=-0.0014 right_z=0.1864 right_yaw=0.0279 right_pitch=-0.1506 right_roll=0.0327 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -6.3111, 6.735, 1.1746, -0.525, -0.0708, -0.022, -0.0615, -1.9077, 7.0632, 1.5946, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9092, 1.6737, 0.6678, 0.0395, -0.7334, -0.7856, 0.1064, -0.0658, 0.9314, 0.7841, -0.5869, -0.083, -0.0463, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1961 left_z=0.0343 left_yaw=0.0924 left_pitch=-0.0969 left_roll=-0.0009 left_gripper=0.1064 right_x=0.297 right_y=-0.0013 right_z=0.1825 right_yaw=0.0283 right_pitch=-0.1654 right_roll=0.0339 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -6.9675, 4.9573, 1.2137, -0.3199, 0.0171, 0.5836, -0.1983, -2.2632, 7.0906, 1.6337, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e11be1a753d33df3c05785359d007964009dda866f8b4176efbf822791d2d7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f7d7950c6b1565d23fce529b3548978ec8ce145b4024c2db08e2bd8bc9f31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23bb935f8a509265c69fa3c73c05c65c5382e668efc6f3338865e846e275eef6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDF-sPJhS-p61SoLiQQtbK-25b00dJm5PqG4Y8IlWlPWOMZA05AeqHQs_NGv6jXwr5s1IJar5dSj2q_rLWoGbh2NIRkwW0pWVK7aLRP9AHEGwpnhKR75hVA_0icAXhgROuzERkJtJeqFr48dkKJNXrDZ9xeeUnCCrWxbskwcnx3jTkbAlFqqI5USH2GTCS35L0brqbSsbsUVSyIsN4cEA2Rk7zxo3YRqAZA5lgmt-ymbwnZwz33MV0sm_a4z4_7_yRapiDZDG38kBXWU7cPi78ATHAXvZ6hfLWHBm-d_aSN3fc8P86e_DH38uW0UcQ6ZFrF539I0xf122oW9Q6hwTarlvuYOX54Ttd6AwlEMWTbflKGDYRG90f-tm0zwLHfMbJ9YULMY7FKA1RfLdVcRsxBwHXjqrqGvNg4gF3qa4W4N7k4Or3E8oR3OZsIhNWWJmANm4xevgcUWbWnfqIkbXYv6a95o1ejFIyuFu_oyE3m_tMzEhIvmaW9xtMo_Qi1VPDOeKnYcNR6PRypDqzoAX9Bdkx8CqULxymQ9YzhJyQbdaRkINMNj7YGAHQBtiEuUw0afxYq3j1yn4I8aP1cN_HJkfXXpGQ3NTSQgLTUFvCvEFjVutmH3qXoPOAbm4oqhvqSKrQVJ6ExbI5qadff1_90aLC4-SYTMWTwTf8HeorN_nqK6kAzrN7qeXReyGqw-BnUyBOVq0kuJ7SFZHkV56p6a4A6hibjoYoO4cVKZfdt3I6I7K4yO91NAEtEMSbHx3AgxkzSLxkdsy585pdgovMWJ9_XoQOgCyPQtTDnLZuYSBst9tJ-B74rFsii4O4xWxUVckddqJKcA68P4Dzrt5vjk4I181JlDIig-WI86Qe6dH275XuqdeN5dhEfIFAuBDbBfJ6UMo24fS5iqPYasE8jMl-ALCvmRSedPi7faR-JI2hNzalsIIEvB5Y_6SnGhD1iNPWnHnKaj1jl6bAxR-kYfHvk1YkbG9xQPFXTCTNP4nf1jGH7hBmWpiRh32dD5fozzGh3Vqj9Omf9Ncp-Me5BQlak2mrnLSPoWGzJEvtQbet1yyzq0aDzVW2nvLKtmdo3E2-ranrhH3FBIH4Kb_tA_fNrglnGPIhPgCu7ej6t_uppDHuQw0P3KBW0M6PzioNBoGrLC7GYpylSTWfXhKf4zgSw83IP7e8Gkd4dr1nCN7GCTKA7yhzTzERx--8iE1aEqQaKSur-ZQW0WtHjV2qTpncQFev9tr_1M4u_Jv-GNqlKyLgeq9w3K66S5QiXOHb86Eeb0tDoyEJZ7_fAQaRwqZoIldFVEYuMgGA6ci9IFUY7Si7-vIeoO6i9Yrdd1XaaHfrPV3lrQX1yozD0MsTEtUMpmMLAteYba48ztBiQ7LDBsEEeZ6CpD8D-6aC2I6FrBxI7UwUqSdl-D9I8i7wl9Ig==",
  "id": "rs_06672f6dd205d3b6016ab4317cec7c87d0978396a9e9e7750f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left jaws remain about 1 cm apart after closing, suggesting they have caught fabric. I’ll lift and check whether the brown toy leaves the table rather than assuming the grasp succeeded.\"}",
  "call_id": "call_UkvmdXk2T3V9LvjTd3uziNaw",
  "id": "fc_06672f6dd205d3b6016ab4317d64b487d0b191cc9e9a724a74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UkvmdXk2T3V9LvjTd3uziNaw",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9092, 1.441, 1.058, -0.5896, -0.7258, -0.7876, 0.1076, -0.0658, 0.9318, 0.7841, -0.5869, -0.083, -0.0463, 0.9949]\nstate[eef_state]: left_x=0.31 left_y=-0.2015 left_z=0.1709 left_yaw=0.0893 left_pitch=-0.1055 left_roll=-0.0007 left_gripper=0.1076 right_x=0.297 right_y=-0.0013 right_z=0.1824 right_yaw=0.0283 right_pitch=-0.1657 right_roll=0.0339 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -8.294, 8.4034, 1.1306, -0.4518, -0.0269, 0.1148, -0.1299, -2.0581, 7.1179, 1.5946, -0.0855, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3fa806d8767608ace01085fcc65eccc934decbaad18308b524efe552e5bd45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51008ef433f3ec72a6b92698b87bddc43dfa28f587ce7bd0f1a89d43d75d7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db05571cedf5028d2a710a8df9e1a4a4d26b033f9db7f90ae52f9b5037ea337",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 5.151 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8993, 1.6588, 0.654, 0.0509, -0.7189, -0.7528, 0.9969, -0.0658, 0.9257, 0.7868, -0.5804, -0.0826, -0.0456, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1937 left_z=0.0349 left_yaw=0.0748 left_pitch=-0.1002 left_roll=0.008 left_gripper=0.9969 right_x=0.298 right_y=-0.0014 right_z=0.1864 right_yaw=0.0273 right_pitch=-0.1506 right_roll=0.0328 right_gripper=0.9949\nstate[joint_eff]: [-0.253, -6.5026, 6.8308, 1.0965, -0.5299, -0.0122, -0.022, -0.0205, -2.1675, 6.8718, 1.6093, -0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9092, 1.6737, 0.6678, 0.0395, -0.7334, -0.7856, 0.1064, -0.0658, 0.9314, 0.7841, -0.5869, -0.083, -0.0463, 0.9949]\nstate[eef_state]: left_x=0.3071 left_y=-0.1961 left_z=0.0343 left_yaw=0.0924 left_pitch=-0.0969 left_roll=-0.0009 left_gripper=0.1064 right_x=0.297 right_y=-0.0013 right_z=0.1825 right_yaw=0.0283 right_pitch=-0.1654 right_roll=0.0339 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -6.9675, 4.9573, 1.2137, -0.3199, 0.0171, 0.5836, -0.1983, -2.2632, 7.0906, 1.6337, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9092, 1.441, 1.058, -0.5896, -0.7258, -0.7876, 0.1076, -0.0658, 0.9318, 0.7841, -0.5869, -0.083, -0.0463, 0.9949]\nstate[eef_state]: left_x=0.31 left_y=-0.2015 left_z=0.1709 left_yaw=0.0893 left_pitch=-0.1055 left_roll=-0.0007 left_gripper=0.1076 right_x=0.297 right_y=-0.0013 right_z=0.1824 right_yaw=0.0283 right_pitch=-0.1657 right_roll=0.0339 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -8.294, 8.4034, 1.1306, -0.4518, -0.0269, 0.1148, -0.1299, -2.0581, 7.1179, 1.5946, -0.0855, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3fa806d8767608ace01085fcc65eccc934decbaad18308b524efe552e5bd45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51008ef433f3ec72a6b92698b87bddc43dfa28f587ce7bd0f1a89d43d75d7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db05571cedf5028d2a710a8df9e1a4a4d26b033f9db7f90ae52f9b5037ea337",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDGGPRLoxh1NIz-QZIS7opmSz10gD9Cucq--pb6fsWZ1xnu9xNUiJuEk3Kk_3TJbrD_9_fujKDkaIpKkGD7R-YLiwvx-06MRhSWdqjuwnYhz5SJ2IA5v2nZ1F3ecY8p0daF5N8SiGnNtd0KxSnJi2jbV0ADSrRhftNrQXtvxi4P_UqPGt5PeFcPuEWfAVvnQXAtKNFv486mPRe1mH2k8Ac8TB4P8hJ-irIAOAKx1jjzsJ8aAHtG4kDcBKJIuahvT0VWUObR7d1wMWXqs-3xbDZ6YJ6kKvewV_fRay_g-DGjJLiiKhcCu0bXClxT7Lrd6CPG1aI_jEKB-lgEptf59doFZB2EWPePdrR3mXzRzHsK3ZlUvcZb0w4NGxtEEPTDGM4DMOmuMF-GwQdBe4GZ8ku37dnY5cGs-Y5S9MnMLmmyaSHdkoK3Bx9HWtqC1y8rhbWtmKSKEZpqsWOBAS701PPCBsYUVVIyBYWkeYmMU31WwXjY2Mj2AkkkUoGbTDfBeuV7lvXOZ5tnj0gbe_ZQwiEuFUt5RMdS3Y_w-Axo_7rurWiM6Jb-MPADiX9CuxiKEeMjIG-Q3fWBSdrITZ6a54lok4YKg0dzJnDzSkIHZx_ssrKFsg_cPKPz8m-Ag3hKKDkZSDpIrLJ-hgVCgnWA_NdNpQkKd1rs-ih9crcYYP-xvJgsU5OAx49FHKiHAGOOhHjXbYj8wXGOHvf-NIl3WORmXHCShsu9QaDuPt1kcrSz2Vl94Qm9Q_ZaPDrVYUpEuJtzIDwnsqUU-95nBxvSa2bRupLbWWlV8Q4Di89upMorf749WqcEjsAFVuKkYYzm1X-ode5NSqLFJGE-8mkI1HuSObWxymNwM1LRTFQ5FsUv2mhtibNg2MRMpo9wid-OSVsrIhvNxLUiu2mtV-IwXEI38xW5vbpM6kPMtsIamvFWpsTm7GT1C5NI1v9uLciUHsIKlOwdWE3wLxm32y-k0PXivNZ7uKP-MOQLqiemjjURs2dkoEhyjroJL0JxN6ZfrvmCbpxH3_7Apek4IpuKu8_SgKgeRBNGZQSml2QOVqzQuM-boB5LCSqS5RKP7Vvl3JB_craEt4Yb8RcqsRUImleSCPmDWe7xh7R6U_S5-mQCYmMyDreBoloc-J5FwaP4xIVBdgWJEH8M05hv8KXOZ8BsKqMpotEOvcJQudWifFx4G5wbHBOkzxGutyZ4HQs7j7HWK9lPNH1FDBmgABx1F1dmFxRtJI6yM651mzoNKkSyF1Yk7ajD6b8_X0jFMvn8epNeVzygXZXEIQ8-jIgP479yPSsPR097Czed3-4Yn-lNdx0MFrczHf7Ds2LcmY47m0_wpuobYcQjYq354ARN_yiIhUlJ23vyy4fk4Q84-SghvnvAYbb8rkoa9ZZ7elS5qdF-76bYOj2yECe-jP0Yu5gSstwe6_ptB4jyTHGQ7ZgXQlwq9rvpAipyyKGO3c7h7QsypCCchG-zCDsifix8S9b8O-SFDjmI76lgEpiLiMk_sHc6Xk5TTn9cTcUGiLp_Yf9TIXTrfJuKG_Mwdk9IKf2jjdEWh-bkrosW5xZqMWt15cGB0Tc8E0lF2iORbxyV3P_vnhdkxjdT7K_uWW3_rguBFwdqNce4k4T-AmjtxkoJt7IIqD52UcEWswtXvWEAs9B_qc0PdkiU8uQd4JRartHfVYujDy453fXaKIwp0Zjc7DkFSDKnGR8TmTDmCczRuihVWkS4G4PeNsNoSKYD7RUhxRgybtdeDUw9v9bNq1hcGiuW2L0bJENHnayaNlw1qopwW0V-cod9ln4wS5JFvgNe3zbpgThmi4jmG2LvwXqLaZaYinhky_avSSYjvu0j9rGjkxGONgLdyGj6h0YEU7-XOTscvDH8yPujonxQZ-kKCBq6tWx6Tm0Mr8uz8kA0werGqHEgWNYpeS0zjNSXMi19P5ZkxgBMluKj81iVZYTxpZAMHyLbTWFq659hqvuIjxnpqNG_vszA93CaKJAUh81UPfQdv7tTTiwU4TJljgqsyvA-EKRNQlZFEP8t7T5bdBgxUn7W4q2B60oe9qK50_ni1GMIFMyBy-eWqxH63l5_3seSiO_Kk3D3Gtn41Kr9yRFe2n-DDhDnaUIHQm_0OynUcGAgX0VqdDRBv4CyzY3m3gUb2oOJOQG74n76d0LluL9uN6T2ORNv9RFQ5HBJBGz_DmBw-Why4zeenVQWNsyJGknIzz9vU3TMcxgOlR8TUhb_runeA9IwK7fHfmXODnmx5mpUsZQfI3emQXWrq5y9vI9izd8sYNNKrP_LSGEePpwQzvnEM-zA4HjRvwwzTGGFEvdsWGKGN15c6UkXHEZQarCpdzwTiKl9FPt84MqkNTjHKABjpsMPWxAfeFapKDauL4ZDZH0YKs0EK8WfS3zZ3jnZ0c9Kf6JQemV4CuSaVIyxfFl7r4qcVJE3OvQ3IAAEaTKEVBF4uD7mle6_CdIw_1FF4TW5Ht1au6ad0CVH0UsRaNzLeb35QES1CUl58NgxTjekUv0rh3IGFUeLldOhdGKzM2Xt-JGry4wanwRsdcyEeV8LJACyMwfFNkkMnXrS3zQs-RHuVRKpK-EhYRYbJA4gEK-QuZoPLnjXxYQbVSbiKLWk7ANibB0FSej-7-CnAz1igxAGWs5KcfSd75JcXZGya5j5aBAI6TrMoLWmxRcfGPAa66aiK_rBkwc5oeq--U_iLjjqhEPpU9XIVzlcqMJXZzxWvwd9T7uaFd579e495HLVWxbk7kl1iDpxpGflu1NqIYuC3KY4Cz3eM55EZLxkZWDzNJ3Z6J90tE8DxK6lw0pe88N4Ot1rASBkYuJXo4y9vj_QJuQUz2HYAc5jaJN5pl7849rkoZYKsdEg3iWvEOQj9ICI7EoIdMQHcsiQmW4tHQV897_0jrJMNhygDC4_QZ5PAkVICHrNUCJkeLrPhseV6GoK8rCh-9yIO-IX2U-n4qUwGKjiVxq5UoS1X1VCe4i0pKA92xfHP8lKGJxvILTL-vFKVDWAJTK8gFPWl1E6clW9fUDdb6auuLbQ_YnHbovEup_cxrYqK5ZMM2waSLL1au9dey4OBE_wz_1wNLVzxphGVSCPl_cWyirTpHDxElrnEmAigbDM83WTtHLol4nGsBRXIi5D1oDswGCmXv35b0tf28fHfp8m2IrnYcFbAJyfHTkD_JXJH0t5lATfbn3kyvsCI33hLSd2V5lRBFHJuEBej_ZmdHJhcG4Do5pdyQyFw0_Uv4p77g3EYDuWrEygvS53Yo54eGxGPQO7b2A4e_hI3ADXK7pluSQDZ6P72Q6KUP_6ZRjremvf7Z86WJvtOM8rSYEBinLV6bf3g37m60ZpzQeJca6HN7oCQzkqProzDLpJyIt6kymd3i1WExJjmHCdsYTxKMG4f9J2huTyMq3T23rgmt2-VBN8FHulEDIlGp02Gexg681qrmfVYM4rF0qV4QThJTn625nGs7QeaTvdJLyWW-5sms-E2x_F_REXOaiADPjX9L66hmuq32y6r42gSyJkeTzYw8BpBfEfO86Mrbpv8rMdYRaoqf4S9iJ5hl-vlY5MFR1uf46BS7l7O3LtAkOEtp74QXVKdq4R9Ch0sjSuGsc8vxhGgdXoyAsHIQa1On5qlL6iszL3TilOuKPBOfNWWCm7DyNwvUzKnOyK-s8EMhD59K8qewXYzIAVTE8l2PggwGZAbyBsRvKyjHBz_LbP4EotSG1IVoOyWUARi_x1YF58zombbR2NCgS1jwLCc1m1SnorUb6t5AEwTJ-HardyTfRXOYHeizygdlc42dO1i6DxED3usGt-U5JMveKp5kD_z4-vCdkGsSVJAHd-h9thHUwSu63HWJS7nd9b95P9Guhr6SkVfh9ocEveipriw-ESAa4j_iWKJSmP_Kk3f-bskZ2KnBpA7YSd9kPreABgnX1BbouQmlBN-OpSGOkuJS9z-chDeuVIQUGAAlQNiRiqdyrv7MU8ESKOdR3fLRx_Vu57RNWzTP_vuGvLuSKjnBEm90NcHu3hXTG6xDHz8wNbYdcafWbiPug==",
  "id": "rs_06672f6dd205d3b6016ab43180cb5c87d08b13cb90e1b08171",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDGGVFEeHaGD1LV8eGMf47VN9p_6iajMvNnbqGUGKTDvsxwjuXyhkCRQQ44C85X9EuRDwHrkZ4N9SjegVU7zoqMuKVeNJrWIRLgaF07Jy_u17G7rSKPijBWw4YCpPEjIPaId5qUQFxPTwejHnfFGo3mByaKDEhk7WI8WlAN3BX7uldWgIf95AuRfwQxBnH6q7PEcpNqTRevoxdpbnc4IsfBDWcbAViT8nUdIUEE--E00sjqxc8sLt3PAau7fGUGb2pA6-HxSDLQKHVCYJ6L2Y2l5Tk1mXsbiA0a4DrGLa38FUxO5FDToxRGcFO5lFQjnoWIsCB_Pzb_rsT2gxQIg_XRAMNg-YlVlLrUGYsgkRs1m7-BWCv7Z-GUHalFUKf9R56zTWb2KSBzPBNnVRG1FC20NGyn3ZZxxaPB287zg6bpRyUjaMaiLyJyffKzxbhZ_K5gwloI9c0oCZYD8vxJLN2morB8WcdYFOqvCLTGDDlaZOhWLO-mMw9Doj25slRWMp8LJcMkQPvoashwSqXFM345pQzysHjQMT29LIOrc5i0zrm1ImX81NeX9wg4Iu_Q1OspZAMe7ya3D-McoFcqGVP-HcteEb0YwfGRj5NGrHCrPN9EJQRnCPjIei45E_pWpHswZHpJN9GQQN9Bc3O-uPFm5gApEGkk0nFmANRL7CrhzGeY5iOsy_sSPmktYj1GeyEmMSN1PRUvECPNYxHN3yn8jdrVb7JddtCea3DXhCrluGjuD7Oh4_SWUsU7Ev4GTLTCesC8YNVyE0SgAFMvmSmlIHf-l4fvorjMh_WMKEOUSzyLUqOXvuJZM_3rb1Cu5N8-uXTxVDvhWQ-AnWUW27Jz7KcDGJpg9Sgxky0QInLcozHXTRCTmAX5jIwa7XQJhM1nzyJrhYFmAcYAcKuEhnctra3x3F_sIEfeH-PKTeQQ1U3tkLPRX9uqZjwy-SH2KOV0eVJH4UDSRjRoSAISkVJfs3v6iNuNPsbuLanCVobZLEmJW8uneje8o9Ne75CK19yWqSatrfdJ7mdR1Jn5r-gp6v0_VBDZHZp25IJr0utlLya5ZlDBa47jxLqFSFrRxr_0Uutm0g265XTJYuUZpaA_fcIlSMJsG4A1naR6GgiBBJPIwUVtYfXUmgLBPx86KnJVZAzwKT1GnU4jL-EOgLIof5Kvea49x3w_bLK5oksDliF9SeQpi3QhJjk9HgPTVEI9GB-9VQU53FbK9KZ_YmhMqoO70GJQt9zGhYtge-lhloaRyP4GQFzJDgG_qzvH0VoORLr7YicUqfOmQmVU7KIFn5yEwHNvVXXSXSMgd4f4cIC0Z_28_jI3RU1HoQJPZhjiuYF0WYg3ECVt76xfAVWYAprI_Wh1xLLjuRri7D7Bf4Z5PxiBDL0HqpZQrQhzaFZc-fdIUOry7Oz7YCb7Rg34IkkTBX-OXtKaCMir14gVXWofPcaxMP5_XsO9cWfV_FVIEMg7A4BKpAwQ-2xhFUcGcNJ4WqCwFubae36OsLwezhUhN83mGnXASNf7RXnn88G_WSZ4LyDw0PoJKELF27udBKQOMVLwG1wFpYyAw5TOpzYvwU5T7IP1h5tDKy1e0Ifyvna44GT905o2hzM_EMkfe9mCLsRrqg600n2OJ7w43dwi8ih4HIg_2syQaIoLUXtC0WrBf1znLmeG2IB0v3G-qi-z6N3sMgT5pt3ROboN2cr96_D2nnd9SzTA_gQDaMdG3POEIuWTHAIs4TsSIeBifI8-925Gtu17RI4sgYsZv53RokwrZCx6g2TtAXjW-OU_em7atS-tqWbuSeC_65Kd-aXhRIJlfNAcQiQxtEvs7RjOfPj_VX_EFEat0PDQKjpPZs5PNvNLVlNfUu41BJtQdscP0pWZk8sd30BuLPjJk-XxJAuKRrkCMLbTljR30RwQhW19iUUjy61p1ZvRmU4-1Yg==",
  "id": "rs_06672f6dd205d3b6016ab43184ccb087d0ac213de2d332f7e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.1,\"left_z\":0.23},\"note\":\"The brown toy is still visible on the table in the wrist view, so this grasp appears to have caught the nearby gray plush instead. I’ll move that held fabric farther into the left basket, which currently contains only the gray toy’s head.\"}",
  "call_id": "call_RMQyRAAge37sM3iSl3lChx2j",
  "id": "fc_06672f6dd205d3b6016ab43185fc7487d0b76b215dfd6f5b04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RMQyRAAge37sM3iSl3lChx2j",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2897, 1.9198, 1.7267, -0.5842, -0.3244, -0.3191, 0.1091, -0.0658, 0.936, 0.7815, -0.588, -0.083, -0.0471, 0.9949]\nstate[eef_state]: left_x=0.5266 left_y=-0.0945 left_z=0.2055 left_yaw=0.1443 left_pitch=-0.1663 left_roll=-0.0009 left_gripper=0.1091 right_x=0.2967 right_y=-0.0013 right_z=0.1799 right_yaw=0.0288 right_pitch=-0.1737 right_roll=0.0341 right_gripper=0.9949\nstate[joint_eff]: [0.1573, -11.1385, 9.6889, 1.6777, 0.022, 0.5348, 0.1441, -0.1846, -2.359, 7.0906, 1.5946, -0.105, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1d407ea826cfcd547373330632dec139f6e36402778368b6ca5ea3f58a62b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14eedce375a9b729ddd2084cbc5e27806e5747952321fbc1fad7663ce968b12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6859544337c69db78d2b6a17fa26224fb646df167022fb0518642a24067384",
      "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 · 3.382 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9112, 1.6703, 0.6651, 0.0383, -0.7338, -0.7792, 0.9968, -0.0658, 0.926, 0.7868, -0.58, -0.083, -0.046, 0.9949]\nstate[eef_state]: left_x=0.3062 left_y=-0.1959 left_z=0.0345 left_yaw=0.0873 left_pitch=-0.0969 left_roll=0.0047 left_gripper=0.9968 right_x=0.2981 right_y=-0.0014 right_z=0.1864 right_yaw=0.0279 right_pitch=-0.1506 right_roll=0.0327 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -6.3111, 6.735, 1.1746, -0.525, -0.0708, -0.022, -0.0615, -1.9077, 7.0632, 1.5946, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9092, 1.441, 1.058, -0.5896, -0.7258, -0.7876, 0.1076, -0.0658, 0.9318, 0.7841, -0.5869, -0.083, -0.0463, 0.9949]\nstate[eef_state]: left_x=0.31 left_y=-0.2015 left_z=0.1709 left_yaw=0.0893 left_pitch=-0.1055 left_roll=-0.0007 left_gripper=0.1076 right_x=0.297 right_y=-0.0013 right_z=0.1824 right_yaw=0.0283 right_pitch=-0.1657 right_roll=0.0339 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -8.294, 8.4034, 1.1306, -0.4518, -0.0269, 0.1148, -0.1299, -2.0581, 7.1179, 1.5946, -0.0855, -0.0562, -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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2897, 1.9198, 1.7267, -0.5842, -0.3244, -0.3191, 0.1091, -0.0658, 0.936, 0.7815, -0.588, -0.083, -0.0471, 0.9949]\nstate[eef_state]: left_x=0.5266 left_y=-0.0945 left_z=0.2055 left_yaw=0.1443 left_pitch=-0.1663 left_roll=-0.0009 left_gripper=0.1091 right_x=0.2967 right_y=-0.0013 right_z=0.1799 right_yaw=0.0288 right_pitch=-0.1737 right_roll=0.0341 right_gripper=0.9949\nstate[joint_eff]: [0.1573, -11.1385, 9.6889, 1.6777, 0.022, 0.5348, 0.1441, -0.1846, -2.359, 7.0906, 1.5946, -0.105, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1d407ea826cfcd547373330632dec139f6e36402778368b6ca5ea3f58a62b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14eedce375a9b729ddd2084cbc5e27806e5747952321fbc1fad7663ce968b12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6859544337c69db78d2b6a17fa26224fb646df167022fb0518642a24067384",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06672f6dd205d3b6016ab4318a2d8087d0a4eb864a0e0a50a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.575,\"left_z\":0.18},\"note\":\"The brown plush moved with the left gripper after all; its head is now over the left basket, while its lower body hangs near the front edge. I’ll advance it deeper into that basket before release so it does not slide back onto the table.\"}",
  "call_id": "call_u7o1EKCLaTaKggXZX2H8puWm",
  "id": "fc_06672f6dd205d3b6016ab4318ce88487d0b832978a32ee4432",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u7o1EKCLaTaKggXZX2H8puWm",
  "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]: [-0.263, 2.1075, 1.8515, -0.6132, -0.3126, -0.3283, 0.1111, -0.0658, 0.9386, 0.7811, -0.5877, -0.083, -0.049, 0.9949]\nstate[eef_state]: left_x=0.5567 left_y=-0.0899 left_z=0.1531 left_yaw=0.1745 left_pitch=-0.2532 left_roll=0.024 left_gripper=0.1111 right_x=0.2969 right_y=-0.0013 right_z=0.179 right_yaw=0.0299 right_pitch=-0.1763 right_roll=0.0329 right_gripper=0.9949\nstate[joint_eff]: [0.4034, -13.5043, 10.7829, 1.8926, -0.0562, 0.3297, 0.1929, -0.1846, -2.2632, 6.8991, 1.536, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2695709246d7af6797a1bc6c2c824cb7497410d2250b543c5451af905fbd47b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c2d9505c191bd5fed054472d7fd7789387b82f0d6980c1b7a5832ca3760cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def317812954ea4596c1b2c74ffba26155e809746184f7658446325ccebe07e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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