adhoc

completed
2026-09-23T20:59:48.090428+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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-5.6-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
200.3 s
total steps
321
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 noteTwo gray plush objects are clustered immediately ahead of the left gripper, while the tan animal figures form a separate central group. I’m moving the left gripper slightly forward and left above the nearer gray plush so I can align it for the first sort into the left basket.
move_to
left_x0.3300left_y0.0250left_z0.1500left_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]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5265, -1.6342, 9.4427, 1.7998, -0.0464, 0.1734, -0.0659, -0.759, -1.3333, 9.9487, 1.7021, -0.1001, -0.0122, -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":0.33,"left_y":0.025,"left_z":0.15,"left_gripper":1.0},"note":"Two gray plush objects are clustered immediately ahead of the left gripper, while the tan animal figures form a separate central group. I’m moving the left gripper slightly forward and left above the nearer gray plush so I can align it for the first sort into the left basket."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteThe nearer gray plush is now centered on the left gripper’s jaw column and fills the lower wrist view, indicating the fingertips are over its body. I’m descending to grasp around the plush rather than pushing it across the table.
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]: [0.112, 1.0054, 0.5465, -0.1455, 0.0761, 0.0196, 0.9995, -0.0154, 0.7986, 0.6102, -0.3843, -0.0124, -0.0158, 0.9998] state[eef_state]: left_x=0.3266 left_y=0.0268 left_z=0.1404 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.011 left_gripper=0.9995 right_x=0.2953 right_y=0.0012 right_z=0.1806 right_yaw=-0.0006 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0068, -3.6855, 6.8444, 1.9512, 0.149, 0.1343, -0.0611, -0.3761, -1.4427, 7.1316, 1.8144, -0.022, -0.0806, -0.0171] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The nearer gray plush is now centered on the left gripper’s jaw column and fills the lower wrist view, indicating the fingertips are over its body. I’m descending to grasp around the plush rather than pushing it across the table."})
tool
executing move_to over 7 steps (0.7s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteAt the lowered pose, the gray plush body lies between the open jaws in the wrist view. I’m closing the gripper fully to secure it, then I’ll verify the grasp by the settled opening and a lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.112, 1.343, 0.2619, 0.4946, 0.0799, 0.0109, 0.9995, -0.0154, 0.799, 0.6086, -0.3847, -0.0124, -0.0158, 0.9998] state[eef_state]: left_x=0.3328 left_y=0.0268 left_z=0.0451 left_yaw=0.0218 left_pitch=-0.0232 left_roll=-0.0187 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0752, -3.0564, 3.6034, 1.3309, -0.0611, 0.0806, -0.0122, -0.294, -0.8547, 7.159, 1.7949, -0.022, -0.0562, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the lowered pose, the gray plush body lies between the open jaws in the wrist view. I’m closing the gripper fully to secure it, then I’ll verify the grasp by the settled opening and a lift."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left gripper settled at an opening of about 0.165, well above the empty threshold, so it has clamped a gray plush. I’m lifting it to carrying height to confirm the object rises and to clear the remaining toys.
move_to
left_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]: [0.1101, 1.3407, 0.26, 0.5476, 0.0826, 0.001, 0.1648, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.3393 left_y=0.0264 left_z=0.0562 left_yaw=0.0229 left_pitch=0.0301 left_roll=-0.0238 left_gripper=0.1648 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0198 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.0342, -3.7265, 5.6821, 1.2527, -0.022, 0.0855, 1.0281, -0.253, -1.4701, 7.0769, 1.7167, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left gripper settled at an opening of about 0.165, well above the empty threshold, so it has clamped a gray plush. I’m lifting it to carrying height to confirm the object rises and to clear the remaining toys."})
tool
executing move_to over 8 steps (0.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe overhead view confirms the gray plush lifted with the left gripper. I’m carrying it high to the center of the left basket, which I’m assigning to the gray plush type.
move_to
left_x0.4500left_y-0.1200left_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]: [0.1101, 1.0222, 0.5774, -0.1326, 0.0792, -0.0002, 0.1647, -0.0151, 0.8043, 0.6083, -0.3847, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.3348 left_y=0.0266 left_z=0.1518 left_yaw=0.0264 left_pitch=-0.0142 left_roll=-0.0268 left_gripper=0.1647 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3624, -3.6718, 9.7436, 1.8193, 0.0269, -0.022, 0.9402, -0.1573, -1.2376, 7.0496, 1.7949, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.12,"left_z":0.23},"note":"The overhead view confirms the gray plush lifted with the left gripper. I’m carrying it high to the center of the left basket, which I’m assigning to the gray plush type."})
tool
executing move_to over 14 steps (1.4s)
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 noteThe left gripper is centered over the left basket, with the basket walls visible around the held plush. I’m lowering the plush into the basket while keeping the jaws above the rim for a controlled release.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3843, 1.5486, 1.2171, -0.3538, -0.3195, -0.2935, 0.1669, -0.0151, 0.8082, 0.6075, -0.3859, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.4389 left_y=-0.1138 left_z=0.2026 left_yaw=0.0252 left_pitch=-0.0834 left_roll=-0.0185 left_gripper=0.1669 right_x=0.2953 right_y=0.0013 right_z=0.1765 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6359, -7.8564, 9.9487, 1.8535, -0.3492, 0.2125, 0.6374, -0.253, -1.5932, 7.0769, 1.707, -0.0269, -0.0269, -0.0122] 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_z":0.12},"note":"The left gripper is centered over the left basket, with the basket walls visible around the held plush. I’m lowering the plush into the basket while keeping the jaws above the rim for a controlled release."})
tool
executing move_to over 6 steps (0.6s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe gray plush is now down inside the left basket with the rim surrounding it. I’m opening the gripper to release it into its assigned basket.
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]: [-0.3874, 1.5898, 0.9977, -0.0441, -0.3378, -0.3038, 0.1668, -0.0154, 0.8089, 0.6075, -0.3851, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.4423 left_y=-0.1134 left_z=0.1485 left_yaw=0.0415 left_pitch=-0.034 left_roll=-0.0367 left_gripper=0.1668 right_x=0.2955 right_y=0.0011 right_z=0.1764 right_yaw=-0.001 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1983, -3.9863, 4.7932, 1.0525, 0.0464, 0.0708, 0.2955, -0.294, -0.9231, 7.0359, 1.7363, -0.0513, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The gray plush is now down inside the left basket with the rim surrounding it. I’m opening the gripper to release it into its assigned basket."})
tool
executing move_to over 9 steps (0.9s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe first gray plush has been released into the left basket. I’m parking the left arm and moving the right gripper above the rightmost tan animal figure; the right basket will receive this second object type.
move_to
left_x0.2970left_y0.0020left_z0.1850right_x0.3600right_y0.2400right_z0.1500right_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]: [-0.3878, 1.5993, 0.989, -0.02, -0.3405, -0.3145, 0.9952, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.4439 left_y=-0.1137 left_z=0.1453 left_yaw=0.049 left_pitch=-0.0283 left_roll=-0.0465 left_gripper=0.9952 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.001 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1983, -8.4308, 7.3504, 1.4725, -0.1392, 0.0513, -0.0562, -0.3624, -1.2103, 7.0359, 1.7363, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0.002,"left_z":0.185,"right_x":0.36,"right_y":0.24,"right_z":0.15,"right_gripper":1.0},"note":"The first gray plush has been released into the left basket. I’m parking the left arm and moving the right gripper above the rightmost tan animal figure; the right basket will receive this second object type."})
tool
executing move_to over 20 steps (2.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe tan plush is close to the right fingertips but appears left of the jaw column in the wrist camera. I’m shifting the right gripper a few centimeters toward the table center to center its torso between the jaws before descending.
move_to
right_y0.2850
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]: [-0.0479, 0.8406, 0.6559, -0.3794, -0.0849, -0.1394, 0.9966, 0.823, 1.6012, 1.0153, -0.231, 0.6285, 0.506, 0.9997] state[eef_state]: left_x=0.3044 left_y=0.004 left_z=0.1913 left_yaw=0.0814 left_pitch=-0.0012 left_roll=-0.0559 left_gripper=0.9966 right_x=0.3531 right_y=0.2333 right_z=0.1353 right_yaw=0.032 right_pitch=-0.0718 right_roll=-0.0371 right_gripper=0.9997 state[joint_eff]: [0.1436, -1.5658, 6.5299, 1.7607, 0.1001, 0.1245, 0.1294, 0.335, -7.665, 8.8, 1.4139, 0.5543, 0.1734, -0.0366] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.285},"note":"The tan plush is close to the right fingertips but appears left of the jaw column in the wrist camera. I’m shifting the right gripper a few centimeters toward the table center to center its torso between the jaws before descending."})
tool
executing move_to over 5 steps (0.5s)
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 tan plush torso is now centered on the jaw column and directly below the right gripper. I’m lowering to body height for a secure grasp.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.3973, -0.0746, -0.139, 0.9967, 0.9123, 1.7454, 1.1564, -0.2989, 0.6609, 0.5663, 0.9997] state[eef_state]: left_x=0.3023 left_y=0.0025 left_z=0.1859 left_yaw=0.0733 left_pitch=-0.025 left_roll=-0.0582 left_gripper=0.9967 right_x=0.3492 right_y=0.28 right_z=0.1234 right_yaw=0.0618 right_pitch=-0.1008 right_roll=-0.0576 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.9487, 7.0769, 1.9267, -0.1685, -0.0708, 0.0024, 0.4855, -8.3761, 8.8547, 1.1697, 0.486, 0.1392, -0.0073] 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":{"right_z":0.045},"note":"The tan plush torso is now centered on the jaw column and directly below the right gripper. I’m lowering to body height for a secure grasp."})
tool
executing move_to over 6 steps (0.6s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe descent stopped at about 12 cm because this tan plush is upright and its torso has contacted the jaws; it remains centered between them. I’m closing now at that height rather than forcing the arm downward.
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]: [-0.0471, 0.8452, 0.6552, -0.4, -0.0738, -0.1394, 0.9967, 0.9173, 1.7546, 1.1709, -0.3141, 0.6727, 0.5842, 0.9997] state[eef_state]: left_x=0.3019 left_y=0.0024 left_z=0.1853 left_yaw=0.0728 left_pitch=-0.0277 left_roll=-0.0586 left_gripper=0.9967 right_x=0.3494 right_y=0.2811 right_z=0.1239 right_yaw=0.0485 right_pitch=-0.0998 right_roll=-0.057 right_gripper=0.9997 state[joint_eff]: [-0.1709, -1.5658, 7.0222, 1.7411, -0.0464, -0.0659, -0.0122, 0.0889, -8.5812, 8.7316, 1.2283, 0.4274, 0.105, -0.0073] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped at about 12 cm because this tan plush is upright and its torso has contacted the jaws; it remains centered between them. I’m closing now at that height rather than forcing the arm downward."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe right gripper retained a small but nonempty opening around the soft tan plush. I’m lifting vertically to verify it is secured before carrying it to the right basket.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4004, -0.0742, -0.139, 0.9967, 0.9161, 1.7546, 1.1698, -0.3172, 0.6617, 0.5816, 0.0429] state[eef_state]: left_x=0.3019 left_y=0.0025 left_z=0.1852 left_yaw=0.073 left_pitch=-0.028 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3485 right_y=0.2816 right_z=0.1221 right_yaw=0.0559 right_pitch=-0.1092 right_roll=-0.0566 right_gripper=0.0429 state[joint_eff]: [-0.1983, -1.5111, 7.2, 1.7753, -0.0952, -0.0415, -0.0122, -0.2393, -8.8, 6.735, 1.3065, 0.359, -0.0513, 0.9451] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The right gripper retained a small but nonempty opening around the soft tan plush. I’m lifting vertically to verify it is secured before carrying it to the right basket."})
tool
executing move_to over 6 steps (0.6s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe wrist view still shows the tan plush ahead of the fingertips after the lift, so the first close caught only fur and did not lift it. I’m reopening and advancing about 3 cm radially, as the wrist camera looks past the actual grasp point.
move_to
right_x0.3800right_z0.1500right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.9161, 1.737, 1.3685, -0.5697, 0.643, 0.5797, 0.0436] state[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3484 right_y=0.2858 right_z=0.1697 right_yaw=0.066 right_pitch=-0.1442 right_roll=-0.0759 right_gripper=0.0436 state[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7411, -0.0855, -0.0611, -0.0122, -0.0615, -11.7949, 9.5385, 1.2479, 0.4225, 0.0073, 1.033] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_z":0.15,"right_gripper":1.0},"note":"The wrist view still shows the tan plush ahead of the fingertips after the lift, so the first close caught only fur and did not lift it. I’m reopening and advancing about 3 cm radially, as the wrist camera looks past the actual grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteAfter the radial advance, the tan plush’s torso now sits deeply between both jaws rather than merely ahead of them. I’m closing on the body at this height.
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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.8566, 1.8099, 1.3685, -0.4873, 0.5911, 0.5133, 0.9952] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.3727 right_y=0.2851 right_z=0.1446 right_yaw=0.0786 right_pitch=-0.1709 right_roll=-0.0905 right_gripper=0.9952 state[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.6874, -0.0659, -0.0562, -0.0122, -0.8274, -8.8274, 7.4598, 1.4481, 0.3492, -0.022, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the radial advance, the tan plush’s torso now sits deeply between both jaws rather than merely ahead of them. I’m closing on the body at this height."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe fully closed reading confirms that pose was still short of the plush despite its large appearance in the wrist camera. I’m reopening and advancing another 5 cm, keeping above the tall torso so the actual fingertip line reaches it.
move_to
right_x0.4300right_z0.1600right_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]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0738, -0.139, 0.9967, 0.8558, 1.8126, 1.3663, -0.485, 0.5896, 0.5083, 0.0105] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1847 left_yaw=0.0727 left_pitch=-0.0307 left_roll=-0.058 left_gripper=0.9967 right_x=0.3727 right_y=0.285 right_z=0.1428 right_yaw=0.0812 right_pitch=-0.1739 right_roll=-0.0953 right_gripper=0.0105 state[joint_eff]: [-0.1026, -1.5658, 7.0496, 1.7509, -0.0659, -0.0611, -0.0073, -0.212, -9.7162, 6.8171, 1.2918, 0.2613, 0.022, 0.906] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_z":0.16,"right_gripper":1.0},"note":"The fully closed reading confirms that pose was still short of the plush despite its large appearance in the wrist camera. I’m reopening and advancing another 5 cm, keeping above the tall torso so the actual fingertip line reaches it."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe additional advance places the bear’s head directly between the physical jaw tips, with both fingers flanking it in the wrist view. I’m closing again now that the grasp point, not just the camera center, is over the toy.
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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7582, 1.9316, 1.5555, -0.5308, 0.5186, 0.4141, 0.9953] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4214 right_y=0.2834 right_z=0.1489 right_yaw=0.0882 right_pitch=-0.198 right_roll=-0.1063 right_gripper=0.9953 state[joint_eff]: [-0.1983, -1.5658, 7.0906, 1.7265, -0.0757, -0.022, -0.0122, -0.7453, -9.5932, 9.5658, 1.2772, 0.2564, -0.0122, -0.1685] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The additional advance places the bear’s head directly between the physical jaw tips, with both fingers flanking it in the wrist view. I’m closing again now that the grasp point, not just the camera center, is over the toy."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe jaws closed above the plush’s head, so radial alignment is now correct but the grasp height is too high. I’m reopening and descending at this same x–y position until the fingers are at the toy’s body level.
move_to
right_z0.0600right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.7532, 1.9377, 1.5623, -0.5339, 0.511, 0.4038, 0.0112] state[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4231 right_y=0.2832 right_z=0.1477 right_yaw=0.0942 right_pitch=-0.2041 right_roll=-0.1105 right_gripper=0.0112 state[joint_eff]: [-0.0205, -1.5795, 7.4188, 1.746, -0.0904, -0.0464, -0.0073, 0.2393, -11.1932, 6.1333, 1.3602, 0.3004, 0.1294, 0.9109] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.06,"right_gripper":1.0},"note":"The jaws closed above the plush’s head, so radial alignment is now correct but the grasp height is too high. I’m reopening and descending at this same x–y position until the fingers are at the toy’s body level."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteAt 8 cm height the open fingers now flank the tan plush’s torso at table level, rather than hovering over its head. I’m closing around the body for the secure grasp.
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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 2.0045, 1.3609, -0.215, 0.5037, 0.4007, 0.9949] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4278 right_y=0.2892 right_z=0.0826 right_yaw=0.107 right_pitch=-0.1673 right_roll=-0.0769 right_gripper=0.9949 state[joint_eff]: [-0.0205, -1.6068, 7.0085, 1.6825, -0.0513, -0.0708, -0.0122, -0.1026, -8.3624, 5.1624, 1.033, 0.1978, 0.0269, -0.0952] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At 8 cm height the open fingers now flank the tan plush’s torso at table level, rather than hovering over its head. I’m closing around the body for the secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe gripper has stopped just above the empty threshold and the wrist view shows the plush visibly compressed between the fingertips. I’m lifting vertically to confirm the body comes with the right arm.
move_to
right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7528, 2.0151, 1.3544, -0.1825, 0.5041, 0.3958, 0.0416] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4304 right_y=0.2913 right_z=0.0797 right_yaw=0.1105 right_pitch=-0.1551 right_roll=-0.0717 right_gripper=0.0416 state[joint_eff]: [-0.0479, -1.5658, 7.2274, 1.7118, -0.0611, -0.0513, -0.0073, -0.1846, -11.7675, 6.8308, 1.0965, 0.1538, -0.1148, 1.5311] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The gripper has stopped just above the empty threshold and the wrist view shows the plush visibly compressed between the fingertips. I’m lifting vertically to confirm the body comes with the right arm."})
tool
executing move_to over 8 steps (0.8s)
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 tan face remains visible in the wrist camera after lifting, proving it is still beyond the grasp point and was not held. I’m reopening and advancing close to the verified table-contact reach limit, while staying above the toy for one properly positioned attempt.
move_to
right_x0.4800right_z0.1300right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 1.9759, 1.6249, -0.5419, 0.4858, 0.3916, 0.0436] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4309 right_y=0.2959 right_z=0.1506 right_yaw=0.1217 right_pitch=-0.2035 right_roll=-0.0934 right_gripper=0.0436 state[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7118, -0.0562, -0.0513, -0.0073, -0.3761, -14.4889, 9.4701, 1.2234, 0.315, 0.0024, 1.0281] 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_z":0.13,"right_gripper":1.0},"note":"The tan face remains visible in the wrist camera after lifting, proving it is still beyond the grasp point and was not held. I’m reopening and advancing close to the verified table-contact reach limit, while staying above the toy for one properly positioned attempt."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteAt the farther radial pose the tan plush is now beneath and between the physical fingers, not merely beyond them. I’m descending to the lower torso before closing.
move_to
right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0742, -0.139, 0.9967, 0.6876, 2.1166, 1.7248, -0.5182, 0.4324, 0.3256, 0.9951] state[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1847 left_yaw=0.073 left_pitch=-0.0307 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4681 right_y=0.2933 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.2448 right_roll=-0.1156 right_gripper=0.9951 state[joint_eff]: [-0.212, -1.5795, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122, -0.6496, -11.4393, 9.853, 1.4872, 0.2125, 0.0708, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"At the farther radial pose the tan plush is now beneath and between the physical fingers, not merely beyond them. I’m descending to the lower torso before closing."})
tool
executing move_to over 5 steps (0.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe open fingertips now straddle the tan plush at 7 cm above the tabletop, with its body centered between them. I’m closing around the torso.
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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.1394, 0.9967, 0.6868, 2.1551, 1.5894, -0.3351, 0.4244, 0.3248, 0.9963] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0729 left_pitch=-0.0311 left_roll=-0.0582 left_gripper=0.9967 right_x=0.4677 right_y=0.2941 right_z=0.0705 right_yaw=0.1378 right_pitch=-0.2404 right_roll=-0.1057 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.5385, 7.0496, 1.7509, -0.0317, -0.0708, -0.0122, -0.2667, -9.812, 5.7778, 1.2137, 0.2173, -0.0269, 0.1099] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The open fingertips now straddle the tan plush at 7 cm above the tabletop, with its body centered between them. I’m closing around the torso."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe gripper settled at 0.20, a clear grasp around the tan plush body. I’m lifting it vertically above the surrounding toys before moving to the right basket.
move_to
right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1658, 1.5791, -0.3023, 0.4168, 0.321, 0.2005] state[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4693 right_y=0.297 right_z=0.0653 right_yaw=0.1473 right_pitch=-0.2336 right_roll=-0.0969 right_gripper=0.2005 state[joint_eff]: [-0.0479, -1.6068, 7.0222, 1.6874, -0.0904, -0.0415, -0.0122, -0.1436, -13.053, 7.2684, 1.0134, 0.232, -0.0317, 0.7888] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The gripper settled at 0.20, a clear grasp around the tan plush body. I’m lifting it vertically above the surrounding toys before moving to the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe overhead view confirms the tan plush rose with the right gripper. I’m carrying it across at clearance height to the center of the right basket.
move_to
right_x0.4500right_y0.1400right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1559, 1.9301, -0.7067, 0.4065, 0.3168, 0.2033] state[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4723 right_y=0.3016 right_z=0.1492 right_yaw=0.152 right_pitch=-0.2753 right_roll=-0.1157 right_gripper=0.2033 state[joint_eff]: [-0.0752, -1.5658, 7.3231, 1.7167, -0.0855, -0.0464, -0.0122, -0.2256, -16.1846, 9.4701, 1.2283, 0.2662, 0.022, 0.2711] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.14,"right_z":0.18},"note":"The overhead view confirms the tan plush rose with the right gripper. I’m carrying it across at clearance height to the center of the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 220
top_cam
camera top_cam step 220
assistant
agent noteThe held tan plush is centered over the right basket with the basket floor directly below. I’m lowering slightly and opening to release it safely inside.
move_to
right_z0.1100right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3843, 1.7638, 1.4422, -0.5785, 0.2146, 0.0868, 0.2055] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4512 right_y=0.1458 right_z=0.1606 right_yaw=0.1404 right_pitch=-0.3173 right_roll=-0.1134 right_gripper=0.2055 state[joint_eff]: [-0.1162, -1.347, 7.1726, 1.7656, -0.0415, -0.0806, -0.0122, -0.2393, -12.0821, 7.0085, 1.4383, 0.1636, -0.1294, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11,"right_gripper":1.0},"note":"The held tan plush is centered over the right basket with the basket floor directly below. I’m lowering slightly and opening to release it safely inside."})
tool
executing move_to over 8 steps (0.8s)
step 228
assistant
agent noteThe tan plush landed just beside the inner wall of the right basket rather than inside; the basket is to the gripper’s right. I’m repositioning low and slightly forward over the dropped plush for a quick recovery grasp, after which I’ll shift farther right into the basket.
move_to
right_x0.4800right_y0.1600right_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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3859, 1.7836, 1.2884, -0.4156, 0.2047, 0.0818, 0.9957] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4466 right_y=0.1465 right_z=0.1146 right_yaw=0.1526 right_pitch=-0.3299 right_roll=-0.1114 right_gripper=0.9957 state[joint_eff]: [-0.1162, -1.2239, 7.159, 1.6972, -0.0464, -0.0464, -0.0122, -0.2667, -7.747, 6.5026, 1.5849, 0.1538, -0.022, -0.1832] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.16,"right_z":0.065},"note":"The tan plush landed just beside the inner wall of the right basket rather than inside; the basket is to the gripper’s right. I’m repositioning low and slightly forward over the dropped plush for a quick recovery grasp, after which I’ll shift farther right into the basket."})
tool
executing move_to over 4 steps (0.4s)
step 232
assistant
agent noteThe dropped tan plush is now centered tightly between the low open jaws beside the basket wall. I’m closing around its body for recovery.
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]: [-0.0471, 0.8467, 0.6552, -0.4038, -0.0738, -0.1394, 0.9967, 0.3843, 1.9518, 1.3048, -0.3115, 0.2081, 0.0742, 0.9968] state[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1841 left_yaw=0.0729 left_pitch=-0.033 left_roll=-0.058 left_gripper=0.9967 right_x=0.4661 right_y=0.153 right_z=0.0586 right_yaw=0.1482 right_pitch=-0.3761 right_roll=-0.1311 right_gripper=0.9968 state[joint_eff]: [-0.212, -1.5385, 7.0359, 1.6972, -0.0806, -0.0806, -0.0073, -0.0205, -10.2906, 8.8274, 1.4676, 0.0611, 0.105, 0.105] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The dropped tan plush is now centered tightly between the low open jaws beside the basket wall. I’m closing around its body for recovery."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteThe recovery grasp is secure at a 0.21 opening. I’m lifting and shifting the plush toward the actual basket center, which is to the gripper’s right and therefore at lower right-arm y.
move_to
right_x0.4500right_y0.0800right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4042, -0.0738, -0.1394, 0.9967, 0.384, 1.9598, 1.3083, -0.2863, 0.2188, 0.0593, 0.2084] state[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1829 left_yaw=0.0729 left_pitch=-0.0375 left_roll=-0.0575 left_gripper=0.9967 right_x=0.4718 right_y=0.1531 right_z=0.06 right_yaw=0.1486 right_pitch=-0.3551 right_roll=-0.1446 right_gripper=0.2084 state[joint_eff]: [-0.1709, -1.7436, 7.0222, 1.746, -0.0415, -0.0757, -0.0073, -0.3214, -11.0701, 6.0103, 1.0818, -0.0757, 0.0904, 0.9841] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.08,"right_z":0.16},"note":"The recovery grasp is secure at a 0.21 opening. I’m lifting and shifting the plush toward the actual basket center, which is to the gripper’s right and therefore at lower right-arm y."})
tool
executing move_to over 7 steps (0.7s)
step 249
assistant
agent noteThe plush is still hanging along the basket’s left wall, so the previous lateral shift was insufficient. I’m moving another 6 cm to the gripper’s right to put the grasp point over the basket interior before release.
move_to
right_y0.0200right_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]: [-0.0471, 0.8509, 0.6552, -0.4038, -0.0742, -0.1394, 0.9967, 0.2256, 1.7638, 1.335, -0.5499, 0.1177, -0.0471, 0.2084] state[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1829 left_yaw=0.0732 left_pitch=-0.0371 left_roll=-0.0573 left_gripper=0.9967 right_x=0.4477 right_y=0.0852 right_z=0.1202 right_yaw=0.1394 right_pitch=-0.4165 right_roll=-0.131 right_gripper=0.2084 state[joint_eff]: [-0.0752, -1.5521, 7.2, 1.7167, -0.0659, -0.0611, -0.0122, -0.5402, -12.7795, 10.8376, 1.2723, 0.1636, -0.1587, 0.7253] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.02,"right_z":0.15},"note":"The plush is still hanging along the basket’s left wall, so the previous lateral shift was insufficient. I’m moving another 6 cm to the gripper’s right to put the grasp point over the basket interior before release."})
tool
executing move_to over 6 steps (0.6s)
step 255
assistant
agent noteThe held plush extends well to the left of the grasp point and is still outside the rim, even though the gripper itself is near center. I’m shifting to the basket’s outer side and lowering while opening so the entire plush falls inside.
move_to
right_y-0.0500right_z0.1200right_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]: [-0.0471, 0.8547, 0.6552, -0.4038, -0.0742, -0.1417, 0.9967, 0.0563, 1.7409, 1.346, -0.6392, 0.02, -0.1638, 0.2085] state[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1819 left_yaw=0.0744 left_pitch=-0.041 left_roll=-0.0587 left_gripper=0.9967 right_x=0.4394 right_y=0.0248 right_z=0.1215 right_yaw=0.1302 right_pitch=-0.4798 right_roll=-0.1091 right_gripper=0.2085 state[joint_eff]: [0.1026, -1.7436, 7.0222, 1.6777, -0.0611, 0.0024, -0.0073, -0.7179, -11.1658, 10.5094, 1.2918, 0.1392, -0.1343, 0.7057] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":-0.05,"right_z":0.12,"right_gripper":1.0},"note":"The held plush extends well to the left of the grasp point and is still outside the rim, even though the gripper itself is near center. I’m shifting to the basket’s outer side and lowering while opening so the entire plush falls inside."})
tool
executing move_to over 8 steps (0.8s)
step 263
assistant
agent noteThe overhead view shows the plush released just in front of the right basket; the basket is farther forward than my initial radial estimate. I’m moving low over the plush for a final regrasp, now using the observed basket position for the forward transfer.
move_to
right_x0.4800right_y0.0000right_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]: [-0.0471, 0.8551, 0.6552, -0.4034, -0.0738, -0.1425, 0.9967, -0.1379, 1.7424, 1.3415, -0.6407, -0.0879, -0.3264, 0.9946] state[eef_state]: left_x=0.3022 left_y=0.0024 left_z=0.1818 left_yaw=0.0745 left_pitch=-0.041 left_roll=-0.0596 left_gripper=0.9967 right_x=0.4367 right_y=-0.0413 right_z=0.1195 right_yaw=0.1361 right_pitch=-0.48 right_roll=-0.0974 right_gripper=0.9946 state[joint_eff]: [-0.1026, -1.6752, 7.1179, 1.7216, -0.0708, -0.0708, -0.0122, -0.7316, -7.4188, 7.9932, 1.1648, 0.0806, 0.0562, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.0,"right_z":0.06},"note":"The overhead view shows the plush released just in front of the right basket; the basket is farther forward than my initial radial estimate. I’m moving low over the plush for a final regrasp, now using the observed basket position for the forward transfer."})
tool
executing move_to over 4 steps (0.4s)
step 267
assistant
agent noteThe right wrist camera is now looking directly into the empty visible floor of the basket, while the overhead view is occluded by the arm. I’m retracting to inspect whether the released tan plush is actually inside and to reveal the remaining layout.
move_to
right_x0.2970right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0471, 0.8585, 0.6552, -0.4038, -0.0738, -0.1421, 0.9967, -0.0265, 1.9244, 1.3422, -0.4885, -0.0376, -0.2638, 0.9949] state[eef_state]: left_x=0.3024 left_y=0.0024 left_z=0.1808 left_yaw=0.0743 left_pitch=-0.0448 left_roll=-0.0588 left_gripper=0.9967 right_x=0.4674 right_y=-0.0022 right_z=0.0588 right_yaw=0.1656 right_pitch=-0.5151 right_roll=-0.1032 right_gripper=0.9949 state[joint_eff]: [-0.1709, -1.8803, 7.0496, 1.7265, -0.0659, -0.022, -0.0122, -0.1436, -10.3179, 7.747, 1.0965, -0.0317, 0.1197, 0.0073] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.297,"right_y":0.002,"right_z":0.185},"note":"The right wrist camera is now looking directly into the empty visible floor of the basket, while the overhead view is occluded by the arm. I’m retracting to inspect whether the released tan plush is actually inside and to reveal the remaining layout."})
tool
executing move_to over 14 steps (1.4s)
step 281
assistant
agent noteWith the arms retracted, the two categories are clear: plush animals and marker pens. I’m switching to the nearer blue marker and positioning the right gripper above its midpoint, leaving the plush animals as the other class.
move_to
right_x0.3600right_y0.2200right_z0.1200right_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]: [-0.0471, 0.8623, 0.6552, -0.4034, -0.0742, -0.1425, 0.9967, -0.0216, 1.2503, 1.1339, -0.9161, -0.0376, -0.2657, 0.9949] state[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1798 left_yaw=0.0749 left_pitch=-0.0482 left_roll=-0.0585 left_gripper=0.9967 right_x=0.3137 right_y=0.0035 right_z=0.1821 right_yaw=0.1678 right_pitch=-0.4777 right_roll=-0.1125 right_gripper=0.9949 state[joint_eff]: [-0.0889, -1.5795, 7.2137, 1.7509, -0.0855, -0.0513, -0.0073, -0.5538, -4.7932, 7.5556, 1.0916, -0.0757, -0.0269, -0.0073] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.22,"right_z":0.12,"right_gripper":1.0},"note":"With the arms retracted, the two categories are clear: plush animals and marker pens. I’m switching to the nearer blue marker and positioning the right gripper above its midpoint, leaving the plush animals as the other class."})
tool
executing move_to over 19 steps (1.9s)
step 300
assistant
agent noteThe black marker is centered exactly on the right jaw column, between the teddy and blue marker. I’m descending to tabletop level at its midpoint so the jaws can pinch the marker across its narrow width.
move_to
right_z0.0050
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]: [-0.0471, 0.8642, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6525, 1.7283, 1.3125, -0.7345, 0.2718, 0.2977, 0.9986] state[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1791 left_yaw=0.0749 left_pitch=-0.0508 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3506 right_y=0.2128 right_z=0.1095 right_yaw=0.1967 right_pitch=-0.5232 right_roll=-0.1286 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.853, 7.2137, 1.6874, -0.0952, -0.0073, -0.0073, 0.2393, -8.1983, 8.8957, 0.9841, 0.3004, 0.2027, -0.1538] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.005},"note":"The black marker is centered exactly on the right jaw column, between the teddy and blue marker. I’m descending to tabletop level at its midpoint so the jaws can pinch the marker across its narrow width."})
tool
executing move_to over 7 steps (0.7s)
step 307
assistant
agent noteAfter descending, the black marker remains just beyond the fingertip line at the bottom center of the wrist view. I’m advancing 3 cm at table height so its shaft lies between the jaw tips rather than ahead of them.
move_to
right_x0.3850right_z0.0050
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]: [-0.0471, 0.8661, 0.6552, -0.4038, -0.0742, -0.1425, 0.9967, 0.6544, 1.8404, 1.0801, -0.3576, 0.2687, 0.2955, 0.9984] state[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1786 left_yaw=0.0749 left_pitch=-0.0523 left_roll=-0.058 left_gripper=0.9967 right_x=0.3551 right_y=0.2178 right_z=0.0251 right_yaw=0.2106 right_pitch=-0.4954 right_roll=-0.1109 right_gripper=0.9984 state[joint_eff]: [-0.212, -1.8393, 7.0222, 1.6874, -0.0415, -0.0659, -0.0122, -0.294, -5.7778, 3.8632, 0.4176, 0.188, -0.0415, -0.0317] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_z":0.005},"note":"After descending, the black marker remains just beyond the fingertip line at the bottom center of the wrist view. I’m advancing 3 cm at table height so its shaft lies between the jaw tips rather than ahead of them."})
tool
executing move_to over 3 steps (0.3s)
step 310
assistant
agent noteThe black marker has passed out of the wrist camera at the grasp point while the blue marker remains visible to the left, indicating the jaws are now over the intended shaft. I’m closing to pinch the black marker.
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]: [-0.0471, 0.8677, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6189, 1.9091, 1.1446, -0.2768, 0.2413, 0.2668, 0.9984] state[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1781 left_yaw=0.0749 left_pitch=-0.0542 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3873 right_y=0.2285 right_z=0.0264 right_yaw=0.2317 right_pitch=-0.4363 right_roll=-0.0681 right_gripper=0.9984 state[joint_eff]: [-0.0479, -1.7299, 6.9949, 1.663, -0.0611, -0.0464, -0.0122, -0.7043, -6.4615, 5.4769, 0.5446, 0.2076, -0.0855, -0.0122] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The black marker has passed out of the wrist camera at the grasp point while the blue marker remains visible to the left, indicating the jaws are now over the intended shaft. I’m closing to pinch the black marker."})
tool
executing move_to over 10 steps (1.0s)
step 320
assistant
agent noteI could not complete the full classification within the remaining control budget. I identified the categories as plush animals and marker pens, but repeated wrist-camera offset errors caused missed grasps and releases beside rather than inside the baskets; only objects were repositioned, not fully sorted.
give_up
hindsightOn this setup, an object visible near the bottom of the wrist image can still be 8–12 cm beyond the actual grasp point; for the central plush I only obtained a solid grasp near right_x≈0.47, right_y≈0.29, z≈0.07. The right basket interior was reached near right_x≈0.47, right_y≈0.0, z≈0.06, substantially farther forward and farther arm-right than my initial estimate. Verify basket centers with the overhead view before releasing, and treat gripper readings around 0.04 as empty; the plush gave a secure reading around 0.20.
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]: [-0.0471, 0.8688, 0.6552, -0.4038, -0.0738, -0.1425, 0.9967, 0.614, 1.9224, 1.1511, -0.2722, 0.2317, 0.2623, 0.0109] state[eef_state]: left_x=0.303 left_y=0.0023 left_z=0.1779 left_yaw=0.0746 left_pitch=-0.055 left_roll=-0.0578 left_gripper=0.9967 right_x=0.3893 right_y=0.2291 right_z=0.0231 right_yaw=0.2374 right_pitch=-0.4417 right_roll=-0.0633 right_gripper=0.0109 state[joint_eff]: [-0.2256, -1.7983, 7.0085, 1.663, -0.0806, -0.0513, -0.0073, 0.2256, -10.7145, 5.5726, 1.16, 0.2515, 0.0513, 0.9158] 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
give_up({"reason":"I could not complete the full classification within the remaining control budget. I identified the categories as plush animals and marker pens, but repeated wrist-camera offset errors caused missed grasps and releases beside rather than inside the baskets; only objects were repositioned, not fully sorted.","hindsight":"On this setup, an object visible near the bottom of the wrist image can still be 8–12 cm beyond the actual grasp point; for the central plush I only obtained a solid grasp near right_x≈0.47, right_y≈0.29, z≈0.07. The right basket interior was reached near right_x≈0.47, right_y≈0.0, z≈0.06, substantially farther forward and farther arm-right than my initial estimate. Verify basket centers with the overhead view before releasing, and treat gripper readings around 0.04 as empty; the plush gave a secure reading around 0.20."})
tool
give_up: I could not complete the full classification within the remaining control budget. I identified the categories as plush animals and marker pens, but repeated wrist-camera offset errors caused missed grasps and releases beside rather than inside the baskets; only objects were repositioned, not fully sorted.
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 · 9.588 s
model
gpt-5.6-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, 0.6174, -0.3798, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.6342, 9.4427, 1.7998, -0.0464, 0.1734, -0.0659, -0.759, -1.3333, 9.9487, 1.7021, -0.1001, -0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48468d14ef974f9eab812dc87315ad6ebc64d9f39bef6667d3a0fe5850784348",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606b5da664f270feb4f3b48437868630189c2b86c980b648e597f6604041481c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c9a580fe2df06158d04a66f0bec86777131e6b4af5c82399871540cc4a4cc0",
      "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 1 attempt 0 · /responses · status 200 · 2.858 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_08fcc85769f27564016ab43dd3207c87d0a232769799dde414",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3bAUzQ6Jj8frm4UppNvWaMkU50e6hsGT5uMmt5UW6I-AL6GXdgPdyb6e1nn2ltQ0mFdmxYcRzPqI3sL98EtPuB2TJsJrojrqBMf7akt8lJvxSMIHr78aUof3Le-zMq_Jkna5WQG9hE_c1kW_DHN8eA4iAJW7kmtjkK520v04iLOUjof0cni9wM-i3xdvLK1DKbtr2XzNGnZo4AmWc4ZIMYBTaWKQKHGZ_cI682hKy_Tm9etcX1CL38cJB8Cc_qQF1xJOPDZrkYBiu44I_QwP-b3GABd6SfqyXF8yQarByTESkW_K6kq3F9V-HYugAe5dPyg2DOlXzkbH4jwEIsRRrRllSUs56VoUUftfFwhM12VbdHz2_3KgsLvLasXbDsNXmsGY6eP2JovzpXT7wPf4JQCt7uze-hrF2XhYMs-LlvklrrQCoTZiq1PkKWocivK8378bUMMi9lkE7TBlXwJXhSwbKdoS8KTFq1YcZia1Zik9rdXEIBzFmI-eKmkHi3pONLLdeT6j7KtX30FHMhhdyAHSmCfZfQjADGrDNK-x82tgybTBuVPCHz00quFdeFcTqPitqKBjeR5ZEivSdPOygl3FBRfJV2_3kgdFsFWbN_slLem5YZnvBWBEq6gztEMEAo9R0CGgowORzVMSjDQoAEom0iEcmS1Raq7S-SS2dxiR5w7YNAWtztDANVzdtEoXz3QMNElZf4SF63I484BAB7mUhRde0rIIc6XlQQDSpXZG1YewjZFdfLxRIz-VBmwiG91Cbo2RzRRykYN6q3qO1Z1B5qAHTignPChnkdHzx7GANMN1a_sO7jpH3IyytNQR90QayuM5WQWN57amz-VMpkSC5zxgdRdE5LTZp19HrRuqZI14HMlaA66UVL2Cp64OVUSCSwke27Cn0SKPuVgzS8jsyT78pLu1UiNnk_JXbab7FAMe6DF7sA8XUVRZn8jIaaZQKBAlxoXvivk5gU7tjqbct8zKKYLA05DX0s5TCe3zZkPF80AIkpHIMVcIqm5rLwncieAwCIEa2dGJwLmb7PE-20NE7jNlx7iFFIVKXH1qdH0GSRnJ-RFzOxJpjFTObXci2cEhXEeVjxye9EYdjK59r7lo7WfKvas82u6WSJpF6gSz3mIu3of8MF43vzCmVeWH74XRfu6tKOucf2Fu3ET1El8CNRStJJZROv7GKoHeee6KqNP_y36TJ5MhUSfrFzSBiCHFIj6qQ7k3o-Hc0S3-P56wGzDfDDYjBAKGoMyEHa2mK-AMrIG6D-EhnZD3d7Lf2ecMyxXC34kX_lHZ0yOw3pwQOW15hqdtsvOda8086KrCxtL5vUGQLaG9k5Of7WdpZlcE0lM6E0EyxlO6RDiav0-GoOXDeJd2QFrl-rhcUX5FCRUhxm--Tkv1F-vblj2K5QbgIF6DpDo74ZStbNQTyI-dJyliIQP0Uz6cy7TwCQKRCenLStoS7-aOz-KwWCrkkpRxK1HrAFXb64pgkMt75Nk-Rkfz0LAmu_Sqd7vWOG6FP2xPn4GLTHUZcDWdZz_aW2zqkKNjmqOWDKvE3rHkVfLc7SEmW2pE02lucgphd9xpvyrVwqjYlN4ya4pPLWdnyFTx8O5yrOzHbgpiuI-05CTKKOmdotFtka5tN65pQcw8-ud5ZHJ5IkhZQvmCkaxfL1BD-n-863HIbDEqEG_iR07gJxSUNHJjtzFb-7lLelr9V0BATls3G--yw3P04STmSi259gJoYuj5R_mXkYcfWcxtzncPTEMZWEhHL1ZNMIGrYeSy5cbVfqQk9_VDy4e5FbxX-R3RA5mDWuOTUy06mnnh0077PvgOGtuzpZJPVGzTjIaKd8O61TdFAyxUnMomgRFabT8wOPa-36PJ8TLODnhxf_-DMzcFKAZEI36-CcZJBnBGDukl7uK58C8-CuHw54Wnw7n_nDMjFxYmlL_9xHPQJPtWK6xXD_cqk5O3BF4825KTUvO7wyywP3QTZczjhWX9ao224XJmbrlMpshJgRpanNm0qCZSdc33EKgPP61_08bUoIk0sNKNP0DbRD-lrMD4EnzReDnuFDll0Xlz_2NSpEK2N0f37L8y7prpJC6ENUSgBxuOL_TTh_M3f74gnh2aPtL-80XzYku_SnK-MM6-93qkRccDGXeUyaxQLPOMEP7Ot0hI6oOqAxNZn8vjZYd05ugwUYZT1EwSrCjJt6iW4XulCItbkiY8l5VDhI5fjAgg2G4Q-ZBzNRe_ZyE13YgsgQpDzW6CQaKpukgpIHDBhKLqK2UIDSlWd5rjSQmQWzvdHS8jux4cN_RQXPQ6UByXthx_nrhlalidkncethugFEXYMrX5CgaCCR_07atgev0eAqhlRa_1DBtyDCNREhVIpG_fq0mnv1usyt9Q==",
  "id": "rs_08fcc85769f27564016ab43dd7e48c87d0a2e7abb0c70fb020",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.025,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Two gray plush objects are clustered immediately ahead of the left gripper, while the tan animal figures form a separate central group. I’m moving the left gripper slightly forward and left above the nearer gray plush so I can align it for the first sort into the left basket.\"}",
  "call_id": "call_ZJY3mlvKRYTZSYqQziXmfix5",
  "id": "fc_08fcc85769f27564016ab43dda8d9887d0bc8819f45bd1d34e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZJY3mlvKRYTZSYqQziXmfix5",
  "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]: [0.112, 1.0054, 0.5465, -0.1455, 0.0761, 0.0196, 0.9995, -0.0154, 0.7986, 0.6102, -0.3843, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=0.0268 left_z=0.1404 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.011 left_gripper=0.9995 right_x=0.2953 right_y=0.0012 right_z=0.1806 right_yaw=-0.0006 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.6855, 6.8444, 1.9512, 0.149, 0.1343, -0.0611, -0.3761, -1.4427, 7.1316, 1.8144, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41e1f5c1ce2a2e448befa656f6821f6c2e487212396e890645bc51c631f9047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e757b532666bd5fd910d6eeacd84ff2d8f41ba50930561daa6135a44ea025f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b34fcdd786193e69d5b08aba939e7ad9abb194cad249de603b22f0586be24b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 1.975 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.6342, 9.4427, 1.7998, -0.0464, 0.1734, -0.0659, -0.759, -1.3333, 9.9487, 1.7021, -0.1001, -0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.0054, 0.5465, -0.1455, 0.0761, 0.0196, 0.9995, -0.0154, 0.7986, 0.6102, -0.3843, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=0.0268 left_z=0.1404 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.011 left_gripper=0.9995 right_x=0.2953 right_y=0.0012 right_z=0.1806 right_yaw=-0.0006 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.6855, 6.8444, 1.9512, 0.149, 0.1343, -0.0611, -0.3761, -1.4427, 7.1316, 1.8144, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41e1f5c1ce2a2e448befa656f6821f6c2e487212396e890645bc51c631f9047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e757b532666bd5fd910d6eeacd84ff2d8f41ba50930561daa6135a44ea025f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b34fcdd786193e69d5b08aba939e7ad9abb194cad249de603b22f0586be24b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3fo0bxfVpbvOJ_hTbPYl9VS4a_Jxr_ANwsdabxhGRzNLSixfUNb6_mndkm4Qd0gD6UuissQ5glq7o9VmbSEffvv1KT7e76nKIX2-KQf1uIy6EMQcr_Q6a2agqqicpqS9zWZU9XzavvpVVXHr1laWZt6HXTho9gB47q_Nx33IVp24Ps8jggx-xJW_J5GFEM2IjV6D3UxXNreXR4Ia_zxkUdDIOdb0DsJoppXc1RZ4mcwUeFGHZGJxO3MCL7PtsLnrBOGseoTSnkNSueO7tBj6v_6WSE-7ErzXaWy41uOLygD9MIH33VrXAlibt5Ts7-fQuWWr5a906WoABrPlcMsi3Oa3J_S5Zvp0XX8QY1uDaCDFZkXwa09T2dXIM5HpuyDLuO36BIV-PTFHHtOWELvnQCcBwIzDb32ImIZAMgGq0GI8rYGMwZvgxsaaNOJ7P8ACGiOwkcDUUGQkc4AmlMvY9fFKE-7rWB48VlEw05R2HU7EA5WVyCkszjFgOHNG1qsyoqOlRuocQUN_v9-mXI4YLtSh_g9oavxUs5YzCsBh_oH0ZDmWUzIqZb9V9VBETghPyII6qk0pJWxAKIol7ryfrCXFgD4wVOyendB4QGneOK3WVYY0b_hdsA-An_yl8cyON4fBJNMIMx7kRqT0NMQkTOInH4JO_46QwMMxLWhygtKR5kOD3F8bB153a8ZISakXdNSisQMpI7Wk1irS922o-4ETmaILMo0OzeEhamKFXiA1JyAUa31sKZF-Vnxua57pum4P9fRHtLjFu-BUCJqTA5hxuCo49W3Rctl-rBKpk8PgCYc1INCiQosYFrSwfGMv0UOMSSCbYOrkdHA8TMC460x_Nac1Z7pJtzfVBMJz7Q2wVYkyHnimlqppUKQrq0kLMwQhels0yoSHNt6wRnAMEWBVfHOJm_ber05AW50H1BEWrJd2u8J8HBNMmPke4oHn1hopUWTnyGHrX77PKadEmVROoipvbNSZR1imhy5EHXjbFMnVz6zs8pTieoGtYduqeI3DY9zON9RyLg8Gthmt0v_7bLFyEVTckO_WwOpDPbWtKR4D_oHceJqwVkhdKasQtZbOARSwbxFpcA35jEZQn1fgJ-dOnF6LdEx4sBPGW_SCOd6I04t3x1Y74ye0D6mfrjj3lypLfYdYOZ26O43WjqRGLvGieZZpY6U4QjWb09QZpfnApIVIVGu0EbvG6sJRhXsgHHku8z10yyywvIua5BQL_e-0HgQfidruj2BKrrQ6SmggHEjBu7j5fwDKXLf0YkGxDrinBuMHTFLatV404pp1W8-IsCwH7tE8WKwd0r3G3KCxG1SsPDd5qASG001yVVgDG4ObkQiIRjhk2yeNUc_WqG06JrctqeTF9x46Iy50etcrdcEKb1XJbQOE0PVfd9M8eVvdeAF233Q8UbBIDNeDZPm35i1LSRwyqult-27iOwD614IggGI-nPgwt0WUpr8INIIaQkOhwOwthT0rxLh7TgbGjQ7oRyWQa076qU7bOku13xJ3GMs63cj9FS-1ePFmMeIQ5foChXl5_C5SvfaXxySUI-D1XeTqA_va54d54Qdf3iSU-RrK0sck251fpQoQsUURhWL8ERMJyyOdraGIuZE5IbvcROMXem_hs1EI12rej8aln5YXOwOj5rbjfP",
  "id": "rs_08fcc85769f27564016ab43dde10c487d08da0fb9af04a0ab3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The nearer gray plush is now centered on the left gripper’s jaw column and fills the lower wrist view, indicating the fingertips are over its body. I’m descending to grasp around the plush rather than pushing it across the table.\"}",
  "call_id": "call_1wNmmsZDylT1xxWma4zKAqiB",
  "id": "fc_08fcc85769f27564016ab43ddeb3c087d0a7aadc0a182655a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1wNmmsZDylT1xxWma4zKAqiB",
  "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]: [0.112, 1.343, 0.2619, 0.4946, 0.0799, 0.0109, 0.9995, -0.0154, 0.799, 0.6086, -0.3847, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0268 left_z=0.0451 left_yaw=0.0218 left_pitch=-0.0232 left_roll=-0.0187 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.0564, 3.6034, 1.3309, -0.0611, 0.0806, -0.0122, -0.294, -0.8547, 7.159, 1.7949, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f86958986873a89a9b0974e1370b3ad7d1d3e7fdd5561d482c2da1cbe19a2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ed082d5dad7ab8b1a0b56811ed03195b984e4648f288edc36834b7f83dea81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bd6cc89b4a2104d5ead0457df65d3dc8a5f82c7381e8849304ea1cdb0c83bc",
      "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 · 2.972 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.0054, 0.5465, -0.1455, 0.0761, 0.0196, 0.9995, -0.0154, 0.7986, 0.6102, -0.3843, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=0.0268 left_z=0.1404 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.011 left_gripper=0.9995 right_x=0.2953 right_y=0.0012 right_z=0.1806 right_yaw=-0.0006 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.6855, 6.8444, 1.9512, 0.149, 0.1343, -0.0611, -0.3761, -1.4427, 7.1316, 1.8144, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.343, 0.2619, 0.4946, 0.0799, 0.0109, 0.9995, -0.0154, 0.799, 0.6086, -0.3847, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0268 left_z=0.0451 left_yaw=0.0218 left_pitch=-0.0232 left_roll=-0.0187 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.0564, 3.6034, 1.3309, -0.0611, 0.0806, -0.0122, -0.294, -0.8547, 7.159, 1.7949, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f86958986873a89a9b0974e1370b3ad7d1d3e7fdd5561d482c2da1cbe19a2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ed082d5dad7ab8b1a0b56811ed03195b984e4648f288edc36834b7f83dea81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bd6cc89b4a2104d5ead0457df65d3dc8a5f82c7381e8849304ea1cdb0c83bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3jxuEM0bOyxbei6gTu2yBsJ6RfZZhnNxW_1eL3eOdevK8MkZE9IjgGTLoW9lAlPFRKlBhbdG_jorTknnQLzNMsHQW0SC_XUCN2QRXe0m2leyfSHbqh9vPswOs4VJcqvxaAjDWTs442yswcmF8kW_1fVU1CKAiZxwsEvPh-cliwsTvn2FDB2xYznzzUP67dw_uqtNUh3ykXt8cerhsPeg0yjlt2OkRa-DncoHb7sv-oCa2xU84IBMKiH1LtJvhUOuCDjG_hyOESuf3bxsye3Zmo-F8NIMZk7T-Q6Vm0_lbXRVJPyjUrO2MhGGSV2-TIDfPrMwOCZNbbD1tkNrEWnLQ4ALKj92hraiDCzpQm8QqiCTW2j1WCxbOoHE3mLMecE6fPFVasOTs-lowzXQb2YHCReMMY4EfWzqYu-GXzaQX3N5QCPTKDqA4ps4qcY8IftIFR04307PVnvVkDjqzKs83SJbTAa54v9P4jAEEv65eFfDc18gNvsc93m4LKhSHaub2BI2v8SUR9I_iFTRaJFCCOwsxB4d3e3d5ndrtx4NfTey9ZROvr07o5WUckQpAPWRXtO6NECUepvb3S_IiO7p7K2oakMLIe1ADU9q82XLS-dfNQPpv-rCLezB7xwNGKFsNSKdaUVA_S5VWUkhN2DN9kX7bi6-8mtdOLDBBuDLi9dpI34HHOQlafuzYC9IzB2YibxCoGFEQ4DDnWjQ4xgtcoJm2_0sNUNp4iA2QDXDAJWSrTs03Y8psTf3RS862m3RE7YW5DJLQJXS6BLtrM9R-SQHCcEBuU9qw45pc7_Zsc-HxONMvGHslhif5EYH-215BPb_cKgW_R-NyobJoSFHJh2Z1u0BATfbMYp8_p49JmWZcGmXt8zm-GKUO48I3QLadwxP0x5APW5RyK0CQT2afs9GokdB4BGJdR274TcpvHnDHgVzTa1rS7HPGd3ANmEIUiAAj0GGfZGsHh_2drQZfLKpmFqHUzi7_0tv88sftunPyfRSmz4QtP8vr1mJzRK73BAzlzRD66kLnPe9hdMu6XmnsSzFOc9jG3hs0-DNXE9EhaEYR-CmYCc_GNwxhKPrtg5iOM1iiuJlNdFrMLrlDkY12J8bkx5MBnTR1_B7qBVUc6UypIclv7_6P5bieo1T7wgSb__Aam2M9QT6qNQVw6oF9c2h-8hrqthYWxmquLkYWY9ExdMCCFZxOSC-LyTRzvbQv8rBYZLmpGeSivb6OZhbM4i7mDoptKIdyadD6RGO0=",
  "id": "rs_08fcc85769f27564016ab43de29ac887d0abcdc04035e31051",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lowered pose, the gray plush body lies between the open jaws in the wrist view. I’m closing the gripper fully to secure it, then I’ll verify the grasp by the settled opening and a lift.\"}",
  "call_id": "call_5Wa96DaezWPmCEKEoucc75g0",
  "id": "fc_08fcc85769f27564016ab43de2c30c87d0a1726463738e1c6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5Wa96DaezWPmCEKEoucc75g0",
  "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]: [0.1101, 1.3407, 0.26, 0.5476, 0.0826, 0.001, 0.1648, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0264 left_z=0.0562 left_yaw=0.0229 left_pitch=0.0301 left_roll=-0.0238 left_gripper=0.1648 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0198 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.7265, 5.6821, 1.2527, -0.022, 0.0855, 1.0281, -0.253, -1.4701, 7.0769, 1.7167, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b81e7e876783035b7d278cfc0a372735c0eac71e5dcb80a0ebf2ab88faa5800",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62782822351d459ac3dee2569ea9f2c7852779fd2b045838dd68e0ba15d4bda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348faaa2f38250faac1efec557362fdcaf1ec2e8a852976f1578f1fc3b93cd25",
      "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 · 4.531 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1849 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.6342, 9.4427, 1.7998, -0.0464, 0.1734, -0.0659, -0.759, -1.3333, 9.9487, 1.7021, -0.1001, -0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.343, 0.2619, 0.4946, 0.0799, 0.0109, 0.9995, -0.0154, 0.799, 0.6086, -0.3847, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0268 left_z=0.0451 left_yaw=0.0218 left_pitch=-0.0232 left_roll=-0.0187 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.0564, 3.6034, 1.3309, -0.0611, 0.0806, -0.0122, -0.294, -0.8547, 7.159, 1.7949, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1101, 1.3407, 0.26, 0.5476, 0.0826, 0.001, 0.1648, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0264 left_z=0.0562 left_yaw=0.0229 left_pitch=0.0301 left_roll=-0.0238 left_gripper=0.1648 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0198 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.7265, 5.6821, 1.2527, -0.022, 0.0855, 1.0281, -0.253, -1.4701, 7.0769, 1.7167, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b81e7e876783035b7d278cfc0a372735c0eac71e5dcb80a0ebf2ab88faa5800",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62782822351d459ac3dee2569ea9f2c7852779fd2b045838dd68e0ba15d4bda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348faaa2f38250faac1efec557362fdcaf1ec2e8a852976f1578f1fc3b93cd25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3wnNmfxlg9VwHpPLNv_BdYaLnEe7ivT_4NYHXyeme8DVuCBBIndG39HJjWDBv7av_gkyIZQ6J99VJSCJCD3awNIOM6XDNdndYPwXuRvPpkYicKPs6wBmt17nXujTpWeMVVXpZIMq5eSiWJQIaC3kvwgZHj8tLeqNSC3qvYqPG0Xwm3z2OeJV33QTKEqj5Hxd0YM6BmF8Acx6f1ye8351_FuL3h8JLJOy1kkh-o5ChozlbMCjDET3POw9_lLgN6XBjwVCnlnnPBT5Xr_AadMX_4-C-cKirWygHeVA93GEEMg-3i8qrDJyA_NoOUpY514zVpxZgsBLFezINnaEC1Mk3NrQyg2B2rmHt2xqZoV-XxsxoluV5okM5iZOpwUprzkuh9taKN2VPP2W9OrBQjeSXf3IkmWVP4N5zAqjro1V7fTZKrEWN55DzivzJ6i4oNKoQvQXW8w4KoRxzNfLdSfuJyz8CCY2InX4dle-1QKQ_tk3sFPW_m-jI8onYTdGViZ64HzNMzKAqqJqWSDtQkJh5l2GHHucg5ezd2Dn5DpodC48aB4pmi6dUvY4ytWnST5jXui3T-aOW5Ypf7eRZYC9dt_k4TrNB6eJ7BrZWhexqO-FKW9RPFcaGvcxj8NzduJUaIXqy9RUiPFKcw1rptzkSMUgs60iIJiv15TD5XgIu6XONzKJ9-Au0vkXbN5EYS4JN7PsDEyicMcDyjFpwtNwJUwNhA-Q5I01EPbDR92jZ7-rv8EqneMRvU5rWBKWeIOd2a0MY5IkQ1pxEcJIYdGAgpfBd5MHp4ZLPwwhCuf4ArvQMm-12xm-NdmQBQpcqJ170nUR0WQv8HttD_o7kXQNzhLVB9EzCDUd8_lTRW22Woe-SAfnv76RGwlLlpbTGlPPB_m1KF41vqsJVch8iJu6pxKnxvZG1qUgD3I0oiGT--HCorMUBCnsCSdsn0eDMVOjN86gHyrLnZHvIA7Yu4hIrmqMY7yff-9aMuJHTmcQ9SX_Fyfd63l6xxWuvA7sFcz1pouweYuO1lvWCUKAwcXlPFpq7qsiaedJowk8ttywJOgN4iE9avIJ1H00zfb4Ax2PoK9MwDaityUKKL_HH97vig_5-0i8H5yeSVeqI7rr1YmvMNvz4tjyyWilIaFi59OiRoe5iiw9ofm9y-DICCMON3OCvZ_mbfRAYHTZzNKRo48ajdxv0V8mP2Do7zpN9al-FvhxCP8xkiGdS4pBXO_unjpA==",
  "id": "rs_08fcc85769f27564016ab43def9e1487d0ac6f59f95f8f2155",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper settled at an opening of about 0.165, well above the empty threshold, so it has clamped a gray plush. I’m lifting it to carrying height to confirm the object rises and to clear the remaining toys.\"}",
  "call_id": "call_VA4L3LaaBy3CdCwDFr1zZFoC",
  "id": "fc_08fcc85769f27564016ab43defdf5087d0bdbc10623d8b5209",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VA4L3LaaBy3CdCwDFr1zZFoC",
  "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]: [0.1101, 1.0222, 0.5774, -0.1326, 0.0792, -0.0002, 0.1647, -0.0151, 0.8043, 0.6083, -0.3847, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3348 left_y=0.0266 left_z=0.1518 left_yaw=0.0264 left_pitch=-0.0142 left_roll=-0.0268 left_gripper=0.1647 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -3.6718, 9.7436, 1.8193, 0.0269, -0.022, 0.9402, -0.1573, -1.2376, 7.0496, 1.7949, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a84520b9350a858228fea28e7b51235af53dd5184bc3c44ede36dab8d2597af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b29fbcb84e05ff3bb13bf1cc2ecb6da83a8ece517c732ad5fe68976ac44d133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b723e49e584c225081e284f67611c3e8087cdcb71a6b02ba0ee38bcc7586343",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.655 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.0054, 0.5465, -0.1455, 0.0761, 0.0196, 0.9995, -0.0154, 0.7986, 0.6102, -0.3843, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=0.0268 left_z=0.1404 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.011 left_gripper=0.9995 right_x=0.2953 right_y=0.0012 right_z=0.1806 right_yaw=-0.0006 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.6855, 6.8444, 1.9512, 0.149, 0.1343, -0.0611, -0.3761, -1.4427, 7.1316, 1.8144, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1101, 1.3407, 0.26, 0.5476, 0.0826, 0.001, 0.1648, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0264 left_z=0.0562 left_yaw=0.0229 left_pitch=0.0301 left_roll=-0.0238 left_gripper=0.1648 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0198 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.7265, 5.6821, 1.2527, -0.022, 0.0855, 1.0281, -0.253, -1.4701, 7.0769, 1.7167, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1101, 1.0222, 0.5774, -0.1326, 0.0792, -0.0002, 0.1647, -0.0151, 0.8043, 0.6083, -0.3847, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3348 left_y=0.0266 left_z=0.1518 left_yaw=0.0264 left_pitch=-0.0142 left_roll=-0.0268 left_gripper=0.1647 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -3.6718, 9.7436, 1.8193, 0.0269, -0.022, 0.9402, -0.1573, -1.2376, 7.0496, 1.7949, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a84520b9350a858228fea28e7b51235af53dd5184bc3c44ede36dab8d2597af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b29fbcb84e05ff3bb13bf1cc2ecb6da83a8ece517c732ad5fe68976ac44d133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b723e49e584c225081e284f67611c3e8087cdcb71a6b02ba0ee38bcc7586343",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD33H6XTCatwqiqOjlgxh-Wb99zFN-JScv03GIZaCmURgGOsDJpnxg4RFHhhPokOljprDPXQ7fuZlsRqw_vY8FZWVX8ErL1ZcTQSjdVxwlbtV3Wdj-2ooWdRDRf3l_vP9QTJwokwp5cn1Y2oBcr91saIODqJZsKp1G_GgVQ9A8tWyCFIsDLKT2pCvkg-zj3YG9A7YTeDMVfz8oJwyIioIPi5QDDPy1IR-O-I85YXHFQ-LeTRj55BkF_qBmZosbS8rxwDOlp2RZJzqF0XkN94C4J63L-Pgp4OeglFyfMewhI4IX7TYTltCEHwlIldCMsiVLRICGOf4wAzSr_Cl5KA4Lc44k9OyKwoPW7JtAzXdDzmwhgbvSH06tI7Ta2A8oQAyUNA_gF3ViWfb2L27IA5DXgliOCGJYqu_NsrA1Qhd6SMHEyvD8k4WVTYAtCiIpsnNyRv1WElkGHH4ppiChyarPr7bpsFM_eB1-iWN_2CHOPdk_rdVWiL32OeQiMMqQt68QwmJN9fNIgP4RAQW9CtbM6ZxpBAZzZYAfUNIQl4QRqCMuD87aG8kJq2TtIiEot3OoG60cRF2RX6ryZVmElB9Nbq6fM7baylH3EdV0raM98IQjp4gC-spSbRBIpqBhOQnfKFQUP2M8muZK-QEGzgCAlWY6cNZSfSwW-erAroF7KD2_i6-I-iKXS6LOD975Y6kaRfzwjwGQ0A2ylTD8EVSZNuISY_zd4wqL_AqtPTPh0yIvxSZB6rJjOiSNUinJnnQuPlBVaLBJFMxLQ3JjyrNcpycBt5yoZz_4m-2HTYIcoFLyCyOGVhbi-niv6_HBd1b2eJ5dHXGPHILuMk1TDDS7ZyxRu1LZFExgzykSnrDlGGNl6csU9l7teNZCSt2NNqytkl2uf5NWIcJgh_im69pITZ2YxMr3tlK4WFkKCnLvJl9gL6K049aQDQLVp5t2jwSu4rz82VQR7NWrHWpxHddFyTTag4I0Ani9yB2MXSD307Ku_WuI4cykoFGDYjLnP06Nb7hLdodCyewuqpqNmk1oZ_obXp-3W4EAbZTdYt8s950zTi3ItYynfPFZ7yazc7rn8z-P56gsgTnjRdUb0zMgJGkeSeP8iCVEaxoWYeqmrYlS-YKE59Sbby-QAS-apYgxmL19x2n2tmSA7nAQ1yr6Q6q8NBH7uKaf4y4QZZKlCtjZDvGFTOqSrQzxL2aRqL6vwJoersqzGb6f9BQ8tqOSM4ZyOt8agALho-T_pMBCnecoueGLzl0X2qH_Tnyhgly_8FKoBnCwUy8dOWFPu3_6bnzxICY5X4-LTgwY41lA7wvkUh7ynEqwobUZaKzRqnXXtSPHEhTYOD28IHA3IMwhonYkhHsRM7HxjK-MpFhDsLdFy3BhsEbSUBT4UDVCv-aq4_r6b45H-d8ozvyXV1_IhcbAeCQ6YuO9NhzVJAh62Ghk3LmUATnDHSULsjQ1SValTQPpT1l12jzdCQXMGXLd2j6Om6y553FIvI8-E0_ksxCtKSoK9hkDjh-dIXt5Lrg4dxCbzWtTR1LG8QlsEiTZaZOViprDcY8bz9B3pifrSr8EsfQr9DRA_t4BEqj7jwpSBk01ObFyq4i-C0fItJIhYZ2berHsbiHL852YfcuwJ23Vq633tcQmo4wkRJM5t0-jqAhaA62uteEZEhrL5MEwK6K3iTRpWT0VkBwPo3ohlzYUbPUieMlhFIITMeupZTk4cTgu_VBsHa9XouJRhxLSFoQ2YAvjZIc25K-ybuacz_9_CHxlVdQLr_PN5xjcCSaWhRqUlhrx8TGLdrl8L05eOA-67eACx4MKJWZoZecs5bDeGI3WKKyuxtgtWYC6ogMZXRDBk8sF0fZuBwzFG7N-RO57Crs7uNFmVNSkZ2D3RYa-sXqdZJlAh3u4reBCPIjj1gfEp1biwbb25UmMuO7IBKQTx-cPlTQlQ7LAR-KPIoHGDgzX0nqiPQc9A68CTVasdS",
  "id": "rs_08fcc85769f27564016ab43df53e5c87d0b8471a0529f0fefe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.12,\"left_z\":0.23},\"note\":\"The overhead view confirms the gray plush lifted with the left gripper. I’m carrying it high to the center of the left basket, which I’m assigning to the gray plush type.\"}",
  "call_id": "call_KIzAXX1qekWQ84DbiLpLvIYb",
  "id": "fc_08fcc85769f27564016ab43df7151c87d0b47e8c7d8fc2340c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KIzAXX1qekWQ84DbiLpLvIYb",
  "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]: [-0.3843, 1.5486, 1.2171, -0.3538, -0.3195, -0.2935, 0.1669, -0.0151, 0.8082, 0.6075, -0.3859, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4389 left_y=-0.1138 left_z=0.2026 left_yaw=0.0252 left_pitch=-0.0834 left_roll=-0.0185 left_gripper=0.1669 right_x=0.2953 right_y=0.0013 right_z=0.1765 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -7.8564, 9.9487, 1.8535, -0.3492, 0.2125, 0.6374, -0.253, -1.5932, 7.0769, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb4622ff9af797c6fd9559e1620c2735e4a14a4b34df50a371b7eef846cf066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f47899d7272aa471be588b92612e6e60ceed9c0f5d8b0bf9d0ca82d2836165f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9f7caf127f02a180dce3f48b63e631df85104d1a5246290c6dd089f532b129",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.472 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.112, 1.343, 0.2619, 0.4946, 0.0799, 0.0109, 0.9995, -0.0154, 0.799, 0.6086, -0.3847, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3328 left_y=0.0268 left_z=0.0451 left_yaw=0.0218 left_pitch=-0.0232 left_roll=-0.0187 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.0564, 3.6034, 1.3309, -0.0611, 0.0806, -0.0122, -0.294, -0.8547, 7.159, 1.7949, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1101, 1.0222, 0.5774, -0.1326, 0.0792, -0.0002, 0.1647, -0.0151, 0.8043, 0.6083, -0.3847, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3348 left_y=0.0266 left_z=0.1518 left_yaw=0.0264 left_pitch=-0.0142 left_roll=-0.0268 left_gripper=0.1647 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -3.6718, 9.7436, 1.8193, 0.0269, -0.022, 0.9402, -0.1573, -1.2376, 7.0496, 1.7949, -0.0464, -0.0464, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.5486, 1.2171, -0.3538, -0.3195, -0.2935, 0.1669, -0.0151, 0.8082, 0.6075, -0.3859, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4389 left_y=-0.1138 left_z=0.2026 left_yaw=0.0252 left_pitch=-0.0834 left_roll=-0.0185 left_gripper=0.1669 right_x=0.2953 right_y=0.0013 right_z=0.1765 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -7.8564, 9.9487, 1.8535, -0.3492, 0.2125, 0.6374, -0.253, -1.5932, 7.0769, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb4622ff9af797c6fd9559e1620c2735e4a14a4b34df50a371b7eef846cf066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f47899d7272aa471be588b92612e6e60ceed9c0f5d8b0bf9d0ca82d2836165f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9f7caf127f02a180dce3f48b63e631df85104d1a5246290c6dd089f532b129",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4Dh2BswNj7ZT5CnvD_6cvU3IWE8AhnO6XpzC9EsjQmuQRUA2xSWOzQU3_GZoDRssC8qZZueLHe6cV2Hv28qCwGSc9aEwmgPnFJGCr7zxM0tZX-XXPCXaTzThjRFptISb-4sBSVYZhgbuswk524FZ7yJhPFLUgKUEfE6A5Rgcujzjcak6msgz-YQ8MSyMk7ib2PXCE6f3R18y0nO-hIQe6LTc4l2Y3AhtDL5X9Hahnc3B9zwwl7PSNw0a4w_QUL0OeyPsRlD-l6f60MlPLMNILCPKWiwn0kIzY3PXN-y10misd14-u8SCYD3cwqziyQ6gCFFiyI2Q91W57G0U-MsGLVc5mmDr5ZEC19bDuIerQGwfwYlfRmpRXRSY2I9_s0wUWgG13SMrHwEl3aM_UdnilHUGhpyXjejVniuh7olDOU0tNxE8DfBWHgrZS-PYmjrrAuooWLC7Qs6JIJtv1WIG2ATX_sKC0oVhBZoiC0d7jwoay7rneculckKP6EO6sjlH6teOKmgMQGnB_4cS6Y9JiQp2dxA3W2w8BWpAH3PP2y38LUQ3nl9bPmOiT15unZ2nTGJYvIcAN7Z15plvrKGTg2pUv2rC85aRWGj9ABMzqpkXz4I5MbWP1_oDqZiRY4ZZFcstFnipiyrxtKSS546msUwZ-jt4GSBeJJ8T-Q_U7wT-9iV38CeDnYjQ6Y36KatmU8KAlelLZtlWEcBRdw7lN_Vu3Dyuk5HPRI0e-cl3cvP2MCe1vt3jNwTMCPAZzmBQQxvGclkcnndzJFfLd2K6RoU-CfpOASYb2aZHUAKarXaW-rTimn8e3IPMxgutjvIb2teXHrmVfVcFMbACM6KMNN6u4bm8UEPwrEXDupSyZrd3XRvD5fg3J3tz9niBZ0AhZXuPpuzqe7AdwVEec5cyg3rgl_dV6ZQ0jBtaem6OQ2pX1CBZl9FOxvuxRZZKOsGV3yGJYihfA5sKGiHL3qv5ZafJNdgwurwzPVWQ7T4gowos-5ATMYLzjLCdB4bCkdP9PGLLcF6XEmj23-Z22D0ut-sYDTEOzRR9uYezEya25ZfwGdHgVbxEj8Hr3Dm167CofvDC8m6r3UDfZVwi5AxJfHy-yengvE7bbhs-M1U-VHnwaOQVKhJJbxj6gb2KwrBhptLOrLOkU11cS1EjmdMkvpmMWwQqaJ_HZMqq7t1zE0vFpzYOfdJUQbG8BiJEzrR1q1olxxixOHXw65kRimvGtxAiMuiCfGGG7_Xu2XR4CrNonoWEKEKVeFTNPqBtGE4unB8a4_i5krQOCEu7aFLygh-fERiAtVGa53EdflbkF4FPZwFsT0MccdFoVoW-gvL6pCAVnKkR3uQ7V4PQ-fEIxsWHwO_K4T-wgjgq0-tCqVS-Win79teZdb0r_AiwlZUxBt3ivJM8PnDtg07wGEOF8nv0ln40hoGQ00OaM7atnDNPK4JMDV3GuJOV7GivMpmZ5hrRz0XtMRQPHn0dH4KKpqV4dilqGyALX4926EUiWdg-VsAp3iTFDXd9M0JNGaaGqtDra9Zqybc8_03t6FjYfKE8YijsHDrLk7UPZlk9pOqsI=",
  "id": "rs_08fcc85769f27564016ab43e01b2b487d094a0c25632c6b29b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The left gripper is centered over the left basket, with the basket walls visible around the held plush. I’m lowering the plush into the basket while keeping the jaws above the rim for a controlled release.\"}",
  "call_id": "call_zXuMYDG3jVT0BCu2sKLBPuRB",
  "id": "fc_08fcc85769f27564016ab43e02804487d0a265b9db3fe4394a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zXuMYDG3jVT0BCu2sKLBPuRB",
  "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]: [-0.3874, 1.5898, 0.9977, -0.0441, -0.3378, -0.3038, 0.1668, -0.0154, 0.8089, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4423 left_y=-0.1134 left_z=0.1485 left_yaw=0.0415 left_pitch=-0.034 left_roll=-0.0367 left_gripper=0.1668 right_x=0.2955 right_y=0.0011 right_z=0.1764 right_yaw=-0.001 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -3.9863, 4.7932, 1.0525, 0.0464, 0.0708, 0.2955, -0.294, -0.9231, 7.0359, 1.7363, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e481401dd8b3b6dc461b9e1863d6f1e41406b0a1cd4b9cd7350de2b0e6241cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aea073db6755cb0911e0fb2df43a1fae0eb8818c79ddb5a08d23bf49e6545ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e7624a9b9a42392046f9b067f51a020546850a1a5ee26f418f310ffe562584",
      "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 · 10.67 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1101, 1.3407, 0.26, 0.5476, 0.0826, 0.001, 0.1648, -0.0151, 0.8024, 0.6083, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0264 left_z=0.0562 left_yaw=0.0229 left_pitch=0.0301 left_roll=-0.0238 left_gripper=0.1648 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0198 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.7265, 5.6821, 1.2527, -0.022, 0.0855, 1.0281, -0.253, -1.4701, 7.0769, 1.7167, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.5486, 1.2171, -0.3538, -0.3195, -0.2935, 0.1669, -0.0151, 0.8082, 0.6075, -0.3859, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4389 left_y=-0.1138 left_z=0.2026 left_yaw=0.0252 left_pitch=-0.0834 left_roll=-0.0185 left_gripper=0.1669 right_x=0.2953 right_y=0.0013 right_z=0.1765 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -7.8564, 9.9487, 1.8535, -0.3492, 0.2125, 0.6374, -0.253, -1.5932, 7.0769, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3874, 1.5898, 0.9977, -0.0441, -0.3378, -0.3038, 0.1668, -0.0154, 0.8089, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4423 left_y=-0.1134 left_z=0.1485 left_yaw=0.0415 left_pitch=-0.034 left_roll=-0.0367 left_gripper=0.1668 right_x=0.2955 right_y=0.0011 right_z=0.1764 right_yaw=-0.001 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -3.9863, 4.7932, 1.0525, 0.0464, 0.0708, 0.2955, -0.294, -0.9231, 7.0359, 1.7363, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e481401dd8b3b6dc461b9e1863d6f1e41406b0a1cd4b9cd7350de2b0e6241cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aea073db6755cb0911e0fb2df43a1fae0eb8818c79ddb5a08d23bf49e6545ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e7624a9b9a42392046f9b067f51a020546850a1a5ee26f418f310ffe562584",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4GnKFyf0NWV4IlexPjqNyoF09kF06cXpzLacIz9Oe0HfmCx7YorEMxLdvlZl8wQmI7GjCKNhMMtDY4PHbhx5NByIQxafe94cKNLQag6MGjJ9Fhf94IkDHYiQTI0jT7qDIUvyztD2S0P3ZWFpLxFtqnITu4MTz49mbFdXwH2Tg1dGJZbQy_EuxWPJbuKyd3wxaBs2s7W_8VEW2xVJPhRgSIzcGztTdXJ45Sey1VZKICHQbNAiLA3mazWkcLGuwplVdl9dB6FT9wsXhTF0jUv3p8dsnYKaM6x3lSoScvc9JffMv0i9obmOMFPbTL0ZGIYC83u4C-ti-AYKnSVn_tJumwQV_vgPkNXkzVd2BEdb1j6bSE7pbdjawFtbZ-5B2eHykebO5gmhJOh0_6eGxpK5UXS4WMfWFiTS2PmcXDHvZSDGxgJH1JyILQFWZJDptlqqWIjfiEz-dUNOK9GkPXHTrSz4AWyW5yTrPNnssVnm2oJoBh-W1gyG9S25FEqGz52Dv4acr970F90G3i_NoK8MZ8GgW7aR-_5FD9ZXDw12L5v8LD6Sf42t3MmVZrfTFP5cuMvFdDSCxUKw_V2GRcu2cTbczLMAz2EXOeMt1x362vrtkk7cAfxYqXWhXcJNGYj1xg-3aQ2aRSTdUD9m7xkupXnHicFgzGLpzRNF3bARx3DWk6TN5gTEmMYBlojUYbY4neLo3k2b-LcL2IZEsfRBDGLRHs2SFrmC1ZBrLTrpbPoPKSrUbwV7V_XNHI9cKkzu0fTUnFrMyoxIEmELoVYhamGfPhJbfHwpTOecITlhuNwlAOtge5zhtsdJTYhEp1aUPUeQydlsGl8OL4m59ZO4Zui8-fjB3ROV1vLdbPzHUAPrXk0Waf7GkWqhbPYu8CJ2F1CB7AJUnegF2LAHfEwk-hSwXFWdFiJZzlWMwJbLx-ZuTv9luCaJMGqb2OxPZ1X8ENTa3Q-NJEKlsQqZMPnBD-CcMU91XvhSp0K4BI-3NTLpsmS--_uvP2GIjU2jjbTvy6Vf26WzIFrCP_ZOmhKl_9WxYxadQbH4aJUQhBLnrw69yr1vbiv2XCCPkc09JmIMgtO_2XEenAnPm1DSPumtx8QhfBf7KTSIYNPUhmweOinUZ2AcmP5e7UNiawC1Ak8x66zUEKEPiLOl8Qiof-3A2Mm7djns9tdSU-gYJrsCChEdKiB8dnu0egjdAja1G8kjm23yVfoOe6BpKderRxIi5N5w==",
  "id": "rs_08fcc85769f27564016ab43e05566487d0a1ab25b7802c06ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gray plush is now down inside the left basket with the rim surrounding it. I’m opening the gripper to release it into its assigned basket.\"}",
  "call_id": "call_A3WF8MbgCYDcPRjUljgKU7Td",
  "id": "fc_08fcc85769f27564016ab43e0578d487d0a2790072283a7630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A3WF8MbgCYDcPRjUljgKU7Td",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3878, 1.5993, 0.989, -0.02, -0.3405, -0.3145, 0.9952, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1137 left_z=0.1453 left_yaw=0.049 left_pitch=-0.0283 left_roll=-0.0465 left_gripper=0.9952 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.001 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.4308, 7.3504, 1.4725, -0.1392, 0.0513, -0.0562, -0.3624, -1.2103, 7.0359, 1.7363, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae3f60096e3bf5890295dd19535b76ed7a56eed65ff4955a891c32f0d4515e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3600449ddb1fcdb2e0694306f8ce0103ef68a2f54ed3ce0fc1abc34f6acd9073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9670e05e263b17a62b31c83d35a9e71545651a01590467375f4b33c24f40031f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.489 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1101, 1.0222, 0.5774, -0.1326, 0.0792, -0.0002, 0.1647, -0.0151, 0.8043, 0.6083, -0.3847, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.3348 left_y=0.0266 left_z=0.1518 left_yaw=0.0264 left_pitch=-0.0142 left_roll=-0.0268 left_gripper=0.1647 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -3.6718, 9.7436, 1.8193, 0.0269, -0.022, 0.9402, -0.1573, -1.2376, 7.0496, 1.7949, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3874, 1.5898, 0.9977, -0.0441, -0.3378, -0.3038, 0.1668, -0.0154, 0.8089, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4423 left_y=-0.1134 left_z=0.1485 left_yaw=0.0415 left_pitch=-0.034 left_roll=-0.0367 left_gripper=0.1668 right_x=0.2955 right_y=0.0011 right_z=0.1764 right_yaw=-0.001 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -3.9863, 4.7932, 1.0525, 0.0464, 0.0708, 0.2955, -0.294, -0.9231, 7.0359, 1.7363, -0.0513, -0.0708, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3878, 1.5993, 0.989, -0.02, -0.3405, -0.3145, 0.9952, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1137 left_z=0.1453 left_yaw=0.049 left_pitch=-0.0283 left_roll=-0.0465 left_gripper=0.9952 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.001 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.4308, 7.3504, 1.4725, -0.1392, 0.0513, -0.0562, -0.3624, -1.2103, 7.0359, 1.7363, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae3f60096e3bf5890295dd19535b76ed7a56eed65ff4955a891c32f0d4515e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3600449ddb1fcdb2e0694306f8ce0103ef68a2f54ed3ce0fc1abc34f6acd9073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9670e05e263b17a62b31c83d35a9e71545651a01590467375f4b33c24f40031f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4RvYNznxAorcNSno-uQyFwWfoEX0Gvw7CHozOU3p7ywn3RhAiIgc50UseAS3dHx4VL4BmqqcLiu1L6Zkpx5N7L-02PezQ4BgUgsH6MM-XPUUdj7t0F-QufVhPdFuV0hgmWVVHMJCxSoeIojaPUQVkwDE4Ztnxk6NGgHPq9hzD9UJBYgX_l5jG2DVWd23zXviH8AJq8BJTuPRUUHevMGLnnVFR8c2moUg_K3W7hRABrUeIHVZ0b9IPvhF3JqRKiiIua-espspjQPBvQdha0U4D2cUGFBo8isOkPJsNiq_v1qVWQmdJFRJfw9q2eLsidb40_vmq0Z1tLWVZkR57QuOiNOM0sTHDHF3qujhq-nr-NySj4sgDpGtdQ1DSkcaYunN2D0rVpoMG7jlRX4aktyW2OjuLVsve3JWF_3eEcUyRbYJizbuE1WO_RnHaNHmNpi9POXV5SB8y1SAvBGJsAE2ftdg7ijiPnRSII_udP8ep8PVMfAiqt9rSjwEnd_7sQ2uqdkkNlSKdoo4w3B8nDy-9YiUYC6xq4Qpn8xFvfvfDLzCpaUvhi36MDYrriYybLBDbwq7RS0u3Cw-fnXu8W1_QEGwNjxYyaHMt0PbS3_hY_MUBHCrkxuVGB7JO9RNRDm6tzyzt5EBua4HWRq3GvJjpIE8Y5p-ek42pb0_VK2HqvDgWAUtZEqTlDpWjitnCVINx7Vd6ZoIv3QOpKWJKcj9F2RHSHxPLOFvXg0wH1QA_kKm7j0j9QJnv83e2plXcw-AqKyposEpMedGWRuo3RE1RiuTZYNpz7XNq-4S_UDNuOQnpFtZiNaZv1WJM5P3q9pFh6pysN2C0HRXLJfydLDwCZb7HcBowZ5jyXW9ku12BYG4LbK7fwG48UpfcFSGILj5Gu53PJAUP5HsRu7LNtiar_OttgsQldwhhvnexmseGhsBH1rBrHHrTmJL183loJnUaP86-TnYqR8jHLRiQ25c_7flGl_N_CjWeACscec1rcxebmgamFNMJ9HFyA-FjiwtDpVa671SENASf8Qs0JGaCP4n5xxwzDZSYgRMyE2Uy86kGsE6Tkwrl8OQdcHfQKLilwHQ8DZkD4hFhZEZjI7kSYQTMAVf9sMJtI4uHF-Ss63ZR-PYuEMuPYtlW_3z86mGNs1pqo8eEfAeZFQ8jp01wBYfe07vCT1c9pn7bgWaHjkT8rnbw7XK68mh5k5j9jFgJ1RnEVbl1O5MRHKUTpXZ4X2j9rurb5FMllmS036pCzRRqYuMsFg-Hzq0JRCQSnXHinFa77x3axdhfLi0rW3lKYoNC0DdP0MJ5Jsx1W8t-wxF3ucrkhvEdiGy9YWQY1vhMiZoTKGj-oKOBcFRjk-CWCF1Zc1SZVVDuja3NI1oEtSiB1LIqK7lMTH47kgoAVZZbc5hPevGOApWh-0paPQyEubRUudLTeB6fjzAXe-5VRjoXnM6iz0RIMLu93jzjHxtG7ZIGRH0q-xB7062Uu2OoXNHsoLxUzVsoOp78KkhJbt-GMnrHYPzSxN16gaoX-_W1glPv-zMR8y_04B75js-z6kKAhlgZiegVsYTU1i93b1PmEDfyWPP5UzpaS8UbLCxxkZlbeDOCyC6U6D7mnkv9jtXK9_M7iQU5_vKf3jVyi94e6nxScVIGX1Y6Q67U5r4BCCyTft_MbIyvbGrszsWNY-FGYi7pZOWbh3JfGa7aKd6hpWZXel4EMZ5EvumfAkReJKsaiAaE_Pj3PYW_ec19Rw_ZLivD67C2c5Hkeb0JsYn78jDQPGQeM7Hw77B2uMElBPhJi4ECyHWETJ3WygToZKK1_BuohPf11ZPCvCm-_POREAyqq9H2cFjfs63Ib7Y7dGRMmlTo7s8OsaTEAkIxC3YWDDl-__ATLAUAchvOvm0C7-cGxv_Y4jRSuv_OecgIJGLQAWVJrmkXJaHPMqJofqLhdV07Ymv1fEHdFcui5wlilMz3iD-me_D-L4zm2Y4Z1DeGNK16w0EJhIGBT4-tWRU0fVCtveG-nhJXEQu4KVW-T1u-WiHGoz4-wEaTYElL_KhjIg2mSxQuBLmPi2OmNUdyyIje_huVQSsKyTpdFR4WzMh5R-cN8E1Ylk7rh68sh_RR7tZIlxEfxT3MZg1a7OyiDsdpMF3lwa9QQcprA4gFmRz14_31sr2a_oH80E-25tYV2aw7SYGHFMBzrdqtRfIsIfJ2MZFuVYlzFES-uRuESej3ieM3wWQFECxDG5rh4L38BRZwrJLGm-pt0I8MA6jGfmnkTDZuaAJlxTZwPZAOvIP9x5jusU7xWvgFjVJtYSpCL-erDpdeTmrW5jnMhKc8c45YUgkkSY8JNKASpkuUUS_WUIscDjFnWVE80Jyfi__G1Z7ZE3Z05ArnlS3EtNke87l5V-gX9Tno7ZM016rq5jn-4ZY-vfbfFgRctWiw7gKcRngnVQWLHe6NRV2vmbp8LaLZkjbl-ZrgJJWV6RUif0FuDJsbc1VFupsIpvOCIKb8jfzEY4J-2VZk_60yLQteyJG95I1e3yxWbgnWVDYxbPcpbPvw17CsnEFyLDTeQ9Yb4dmvzQgFEA_Uq83VAeIGkHhrMhuZZ-7dBurs-ULXU7M9UKITiZszXwo8j1NjXYqSjbKCnlOfwJuX6iHIFpA3qXpBtj0vTl258tjfbOaKmDGRYQJn5wafgZNO3qAd3008vILxRy6zH-sT1H7ohGb6zeEcS-qpTuGaIFmXjdMZvud-L60CS_lcpzQWKkwp-wBQ6pmc4-gRi-89YxuOJLR6rzEtg5cnoWggfxfbyLl0qzZk4X7tYvK6t_4ce2Bii9NW2uYsVVRiNJ_KrCyqy3TwkkV6m7ed54-91uhMDpNTidGJt1fUg4yycHqRJ9kLoHTZIpDbmOnBsWCuKhb5q_9hX5WIQtTFG4FPBIF7z622aNnwbPpGKmT38pfpYMjwAxaC2FS6Xq6cjbi8db1xBUPbY8dRXEMDmeMNslTm_P5dL1lE0EYdIw25CqMzikBnttohFXJdjFcED0hRGH4BlxOUfN4qT2lWcD9hYSSUdu_rHBrxqGlmfbf0vHf4mY2iUbQivEKXxMzizM0ncukNXNb4d807McYi14wWIV1wI-fqets8E-8BCl518b-spSw49IvrwEOl3YTwHfo4MZw1jcdQx1MKC6TJBHm3fA0Jt-znqWUElNvReMqxmUICSJenMrDrkSx103htHKdJKZh-wTA-fUU8HuRtvO1meDoPGA8rVRlM9WSHRgRc02H7zTWAf-NODT0aOW_haHpZ7pTj8D4ePQB4wxiVbl1wULuW7D7PfEfr2ecYZU2Q6d9IB8dy6nkBVuIKEb0GdO0JBwZaUkpWC_vBqm8x_LHO_7c2QMfSIa6waCwecYRtS9A2CreTuX4TRGejDWpDfgfHL1F_YhdQhsY3_pQsRsEPoLnZMcY5wtXt69jeZQGSAmM7bujYkpOnds6aiEWYgMwwhyX9fbQI5UMulhFSsf8Gmsw34UYWFLdTybBbZ_6ZBiymKT1T3QaKbN5YEyDZyk8Uf6oGfxEEYhThl-xRptQs9OF23rfBtSMdS4WLkjFiV6u0zq5bCP93qN8ydM80TMa5yzPFD85hjG5eIxaqMmNTDWswV807LMNbyLZaQW24ygEdlC3BqxM1fdfQSiCAuk9UxRAwPnqbTD4L7FJ_mNg89whIKVhsVEh-XYormocpI55re3xUGIfEamxPsY9gJ22IO4ziG315dnoNreCHcl6YJ9fi37aKLv4cCtgcALUdOBGTKKgnLxE9OxAw_LCmL0m0kue6BErzR8yHhQl7fivHM8C3PcCmW_Pj-1xMSkTqQLE2NLsE3nK8Id8a3_HdL7fH-jEMc2t5UhqFUUD4FlUvrK44JjcUXfEAVHwX9dXnQltaggDW1Tr7a0f8o_Wp3atuJM-HAq-onSVIzBkqTKoj5nms9zEc=",
  "id": "rs_08fcc85769f27564016ab43e0822fc87d085490373cb378201",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4RtrnYVLclXlBob4hhjUtEJY_JNXEIFPX8t2ZchqbVU5P6cAiLANn1eG4Pczsu_rogw6UeNBvxquwbbyryQxB50tMo9opy1aaNiJBNRtUhX-sixTgHc8Ep7DAQZXL2ZjbzJi39Si01-sw0DO39MF7eSDw93e5I8hspAoS8LEh6bWwCo4ewrzpXWlF8YkF83PIIDR1k_PzbKdkUYbHXZsS_VoD1auygTkoFBNsubLnV7_Hj5-gQWx0giaVP9zSfyHJkVYC20SVri9f6rrKwH2QhwhAEH6MD8ei7qhiXoEEidWHDDd_-ruT297_WzoMgJPFVpngI5muBo3YMQx6CbnZb3sm_kJI0iPlnsd2wuf1Cv-BT3eI_aljClvru_5z4AkkLMoO8sKxZY77a5dAcMctlmjSx-GMjnsJg8EyHbqy_Zh0jP40tJTCIj1jQbslMcVNWCh2meUJarxTjpaK97yUueVlySZTKJG1wNWkpE11Fg1Kj1ZHacoSNYxLwDLno5Tb1Sa4BolK22GPtQGkpWFCYC4ffI-IKuhHC10sySaXZC59oJARfEfspOccCvMmarv2S4ko2YRNN1OURvaGkqG1a-4OE5mWMXB5x2AOzVDcGVgyGRe8T6JWJzHkA0AQlrl05nO3A-3PEr0Vuy2UONlWOE0fYGwe3GLoFwxG8djWQi1vfj3PtaSwbTF9hYXnIfI0kzQR04BNf4SPbGKeI_ddPKoITc7yICGj8zQdeZYMNoqd48g2GH9SLH_c_8-UmsJrYT8LNwnLqaXnvizQOqH0sjyOSmrruJ-FwvlliKDRPlkysfCdJvpLF4QHSYPoCQPA9j2pcPZcbDxrg_-0GK8Q8RDFxACBcN8H7A6TD6I68L0EVHbtTDZ_L9wMwr7ruf0xg4htZhnuyhHXvANt4acGaHLE4tnk1U94E3DJ0LuyLMNRO8uizI0wHVegZ1VMVjN3zereS-jj1X4WQnxvsPFAhijSN3Dfn4rgdzBsDmTg5BLMwij4vh1d2vnQeZ8rnrgOt5RYNiNQhnhf88OoimlgVAFhfHWcibGxnrmHOvooykKr5TL3RLkuq3KdJc43x07me2MNeCpQaqhTJpn2tYDs5BS2FhBXh5pxyKLW9RFYQK4n_Bos0DEIKh4CBl3mCFVLBFwioXcrZyvEo21cJUpanuVtPihX1zRw3yQfWFkOZgkRZgP4sgl4paWM0289s6H-axbCyTUJup3Rx_09l3zQ0PizJJGZvpEqHlPyBNhXyM43OsCOJABkUGfYUXFbGBxd8AqaSqTamRUy6WLnp9BNVRUbaTQHB6JH3ighBRfRxjvx9bTe9bGe2cdUHRi5DEJTRQzhBSi2q2b24zSvhoL2GrasdiPt05fWwhWi94aEg2hLvJmwyAiuqwnarTh4eZp2-hlR7kBpeqsa3dzLRAMrpxc8x_TKnzJv-8Niceck7JyH4P479a4QNnyd_12LRLlIrNR9gsFliysbRLQsU0uQy5VFAj-IdrFs3fDYCYu-epyiwaZoXhHpFlP8jdPSk1OsmLGmxLTpJN1AVkL1ishF2rhAZmKjePyLSNwp79KBv_sLvcaTTj9cvrLGbP6hwBZTRFsR7zRb6bxQRJmBMyOU1AlIXMzalgL_XgB2PoCrbnb9FH6vq9qAwjRYbGkY6HAAoaV2w68xOOYmzZ7sNMNJzF7Hs6_rZKb4BUnF_UqY7FbI5LNPBobTjUiaB_XttXpKo_Cy2IEz8VOk6_ZStUJX5qgimomM3NGetp9zGvTxT2UKx8yXb-fhlcFpMGHxkc6-_ek6l2U1Edm8KJfCYd5o9qT0oexz7L380E0mjJuRbhbQhOV30n4zPNS6n_iw7Q4sGenRVhUV9gv25pNRRXYo1ZP7P0SO66adC_-zRKqdZbxGvq8KR8TGyPbiCnCDhlp4Xj1pSNE1AHlNpm6h17Q2ADU0alAjilev3WswhpOOMrltufOx0QluUMtW-XZL6964otwVDGiCsjoaBbc6lkA-ZetiHiiVMkseQw2Y9yeHsu--ku94XVyp6PNV6lCoYR7XEzq3IOrqBE_dYYrv-FvpJDymklsSNPvLT15ZbHxTBOpy73lGJNO2uzKgtKQekW0qA-JNn64n3TTKJQMQIvfxI1j7kCVPx4-D0Jd5onAL_RZVu8c20DLne6CR1u0ZS1R1Ba5UuS2dVWuy2807y-2ZJFa2Rl5A-tJ2VHpiGIRBtt7uaoTAJCJw8vbnEGxGvOrnB0rAlD35FEwz81_Eczy8SOBsJiqgchM6dFYw326wuJ43qUanEA6cb7O0jPrrzx9ifr2e1nSA5SlWn9CZCJIKJ_vOV17XJrIjrcMrNiwlAiqsq3Ku3B_8nSZo8dg-HlQcj3_Hdx1vGdeLXwqHEGCk7Kcyo-g0xNINPjh0TMVnfni6mXGWYyJz4fH-USYI2Tmqy",
  "id": "rs_08fcc85769f27564016ab43e0d696087d0ac73fdb614ce392d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.002,\"left_z\":0.185,\"right_x\":0.36,\"right_y\":0.24,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The first gray plush has been released into the left basket. I’m parking the left arm and moving the right gripper above the rightmost tan animal figure; the right basket will receive this second object type.\"}",
  "call_id": "call_Wvw2ilsAPvbe2BzxzcQMbgtl",
  "id": "fc_08fcc85769f27564016ab43e104ae087d0b1ed394b55c0d8bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wvw2ilsAPvbe2BzxzcQMbgtl",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0479, 0.8406, 0.6559, -0.3794, -0.0849, -0.1394, 0.9966, 0.823, 1.6012, 1.0153, -0.231, 0.6285, 0.506, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.004 left_z=0.1913 left_yaw=0.0814 left_pitch=-0.0012 left_roll=-0.0559 left_gripper=0.9966 right_x=0.3531 right_y=0.2333 right_z=0.1353 right_yaw=0.032 right_pitch=-0.0718 right_roll=-0.0371 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -1.5658, 6.5299, 1.7607, 0.1001, 0.1245, 0.1294, 0.335, -7.665, 8.8, 1.4139, 0.5543, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a0fdef90ab22879caa3372aee3dcc434c45fdce9c053b44ecdcd779ba570ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9c846dac646d00470cbd45f3332971781287e6b1eac3c6fc23ceb561e30621",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29138b50431ffb8f028b4cfebc4924b680a9d8661ec30f193406b6bd0e21c988",
      "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 9 attempt 0 · /responses · status 200 · 2.614 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 36 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3843, 1.5486, 1.2171, -0.3538, -0.3195, -0.2935, 0.1669, -0.0151, 0.8082, 0.6075, -0.3859, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4389 left_y=-0.1138 left_z=0.2026 left_yaw=0.0252 left_pitch=-0.0834 left_roll=-0.0185 left_gripper=0.1669 right_x=0.2953 right_y=0.0013 right_z=0.1765 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -7.8564, 9.9487, 1.8535, -0.3492, 0.2125, 0.6374, -0.253, -1.5932, 7.0769, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3878, 1.5993, 0.989, -0.02, -0.3405, -0.3145, 0.9952, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1137 left_z=0.1453 left_yaw=0.049 left_pitch=-0.0283 left_roll=-0.0465 left_gripper=0.9952 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.001 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.4308, 7.3504, 1.4725, -0.1392, 0.0513, -0.0562, -0.3624, -1.2103, 7.0359, 1.7363, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0479, 0.8406, 0.6559, -0.3794, -0.0849, -0.1394, 0.9966, 0.823, 1.6012, 1.0153, -0.231, 0.6285, 0.506, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.004 left_z=0.1913 left_yaw=0.0814 left_pitch=-0.0012 left_roll=-0.0559 left_gripper=0.9966 right_x=0.3531 right_y=0.2333 right_z=0.1353 right_yaw=0.032 right_pitch=-0.0718 right_roll=-0.0371 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -1.5658, 6.5299, 1.7607, 0.1001, 0.1245, 0.1294, 0.335, -7.665, 8.8, 1.4139, 0.5543, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a0fdef90ab22879caa3372aee3dcc434c45fdce9c053b44ecdcd779ba570ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9c846dac646d00470cbd45f3332971781287e6b1eac3c6fc23ceb561e30621",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29138b50431ffb8f028b4cfebc4924b680a9d8661ec30f193406b6bd0e21c988",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4XBq-jMMJVYLs_ndRS4D9xJh99igXAEmb6CyV5M_3BmirHh6ef8TeqCYLt6bD7odboyQbK-5ZCT1OTgrzKSITcy9ivYbrDBe_JOZ7Cxst-xtQAepFXA0snIkitHN1fhYNR32fKE_hjeqY8WvzDmfO05HEhCztmsB12UiuZHe3AQRaJp8nM_Zpoybl5F8BSXSeKb7awIXuOOY3rqBCjwmXn5rNrTd6C-RLsT3XrJTQCORZvjx1863Qqk93kkaD9q7clgDMRFP_1395FTTLBsEwzjZWocbDkLO2TcSCnmYM9oCvzkToim9HBv0j9w71J8kFX_gyYwCBdT79At1OVbmGTlunbegGhVr0mH-H0gkhe4gyltoy2Ii5YPwPDsy8Ng3Dm5aEtqmnQqEYvHxgJEAYzUbE6nVh9S9D1HtlYOLZD0GYpV6bpDw3QkoPOGQmQamDILecaYu8EntbMiOe7bjIPon8_HHta_3-_i0wYZ9rKEuQ0ZTLWoEIi67DIhq-sXv7fFj4EOLvAW6GS1l4J__zymSxBryS0t7KaOZWpnZmwa6iVxUmgyFnjXhXdNQHUYeRM4OQbXweDDt_LxmNXJggNNXsarITZItn1wQ_gmK2bZ9o4fiaHp08Ry8AFs85y2nnR124-FFcxTzY2zlsSZ95xMVA2FnnBgeSJIz2japVHMfIJjWlJtr1lV_S42YmS0-1vGksVcL5BHMUCtAdjb7eZfzVERa3dGLdS-WPc9QPnaCOYdOrHtymAKNCnEB6ql_zMT3tM80x75aDghDotcaC151oqlV-4PWW1x4xQ6WaEODZTIao647otu7aQ-b8hQz3b9O7HXZPcGd7SVD6nzLZUwLHkETDYNn-AgjmEBXVnVmljyVtiQ8MdlIBThiRIgGygitELmUqprjyZamYLhEpaMc3lnwO1xOLhuFPgUzh2kyiPURzv6YqMFQi1E_Wpsle9ahlgLj9sOS6gViFQwvSEpAZ5PK1CDXma9gIRSm3AX6VhtQgaNM78o3ALSU3n990fBhDIR7Eq6sKlHCRrFC63X-X-BONXSSv8iKWNvXPVMGhYR4izfT41dRpD95UaPyd9IGDablC8Il5_wJPx3fqIjUu6I-faX6cLkMDJa8JPbR_uei5AiTeX6OdgH-LnZQgkH84dHeRU0lSmNW0wXDnRgAAcNpIME_7BFrWQrXc_PRlts7oCiL0lFyas7osVwm8oYYT-ruYyGcPo1evGqnIZqcycdr47vH8upQWX2bj0a6tETakFSRLz3Ru_jlVXANlbIpuNh_vFwUZ_0xxTy9mU_0sYxsDBu2A0kBDUBmXd5LpOCZnyKevdMMebpIs9MrdVbI6sMIeUCHbI801H069qDbH8JjGFi6V0_yyIC_2SmcrQ92g_Pcpk8jIz28SM9RoaKjqyVt4GrSPojat8VDWZ3phZfQeVkQc-z6Yl4PU-rGJJHpN5FrEsA2UTsJG4LAX_MJvv_HpCc3st4Cn8Wy999prUiiJHhcnYAgjZE1xC9lnpzkJevwgQfI4aXqJgCRf-PrAOGttMFFPUWUolGwSQj7WpI8OVC6iLNVMO01FF4VqR5tOLlEPOgbBsdO9lXjznIi4RkkiL7MewZZfsB0WrDS_0fmaWTzz-IHvKTYG-4IbR43dPxfVJulMsHHE7w0yI51b0gviSQo_MxJZRLzbq5BJ5FAMDUMTcA3ExY6qqKiNRL_-96TyIMpBw717__CrYUM5RfeZp96kvTPFsYyFfstNSqr7cJhqv7nnCAoG4RZPDIpckYp7ydwM0dyNeEwFHIDrjC5ZfnMpmzfnft_66nA==",
  "id": "rs_08fcc85769f27564016ab43e1519dc87d0a25271b55f43aa2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.285},\"note\":\"The tan plush is close to the right fingertips but appears left of the jaw column in the wrist camera. I’m shifting the right gripper a few centimeters toward the table center to center its torso between the jaws before descending.\"}",
  "call_id": "call_klwdrOwXqtfDETnLbFh8TSNj",
  "id": "fc_08fcc85769f27564016ab43e165d0487d08fc0d35071bc5630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_klwdrOwXqtfDETnLbFh8TSNj",
  "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]: [-0.0471, 0.8452, 0.6552, -0.3973, -0.0746, -0.139, 0.9967, 0.9123, 1.7454, 1.1564, -0.2989, 0.6609, 0.5663, 0.9997]\nstate[eef_state]: left_x=0.3023 left_y=0.0025 left_z=0.1859 left_yaw=0.0733 left_pitch=-0.025 left_roll=-0.0582 left_gripper=0.9967 right_x=0.3492 right_y=0.28 right_z=0.1234 right_yaw=0.0618 right_pitch=-0.1008 right_roll=-0.0576 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.9487, 7.0769, 1.9267, -0.1685, -0.0708, 0.0024, 0.4855, -8.3761, 8.8547, 1.1697, 0.486, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90339e0724bed12ee315bd6586a92b10686758b590493be9ff788e320973fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2bd775a611d777678e7bad869e544c2eec23cf970305d2464c5b51e29d105c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3c338c7d62f8529374b6fc1cde1d52fe6d388fd5a40335d6652e26aaff3c02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.753 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3874, 1.5898, 0.9977, -0.0441, -0.3378, -0.3038, 0.1668, -0.0154, 0.8089, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4423 left_y=-0.1134 left_z=0.1485 left_yaw=0.0415 left_pitch=-0.034 left_roll=-0.0367 left_gripper=0.1668 right_x=0.2955 right_y=0.0011 right_z=0.1764 right_yaw=-0.001 right_pitch=-0.0271 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -3.9863, 4.7932, 1.0525, 0.0464, 0.0708, 0.2955, -0.294, -0.9231, 7.0359, 1.7363, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0479, 0.8406, 0.6559, -0.3794, -0.0849, -0.1394, 0.9966, 0.823, 1.6012, 1.0153, -0.231, 0.6285, 0.506, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.004 left_z=0.1913 left_yaw=0.0814 left_pitch=-0.0012 left_roll=-0.0559 left_gripper=0.9966 right_x=0.3531 right_y=0.2333 right_z=0.1353 right_yaw=0.032 right_pitch=-0.0718 right_roll=-0.0371 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -1.5658, 6.5299, 1.7607, 0.1001, 0.1245, 0.1294, 0.335, -7.665, 8.8, 1.4139, 0.5543, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.3973, -0.0746, -0.139, 0.9967, 0.9123, 1.7454, 1.1564, -0.2989, 0.6609, 0.5663, 0.9997]\nstate[eef_state]: left_x=0.3023 left_y=0.0025 left_z=0.1859 left_yaw=0.0733 left_pitch=-0.025 left_roll=-0.0582 left_gripper=0.9967 right_x=0.3492 right_y=0.28 right_z=0.1234 right_yaw=0.0618 right_pitch=-0.1008 right_roll=-0.0576 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.9487, 7.0769, 1.9267, -0.1685, -0.0708, 0.0024, 0.4855, -8.3761, 8.8547, 1.1697, 0.486, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90339e0724bed12ee315bd6586a92b10686758b590493be9ff788e320973fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2bd775a611d777678e7bad869e544c2eec23cf970305d2464c5b51e29d105c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3c338c7d62f8529374b6fc1cde1d52fe6d388fd5a40335d6652e26aaff3c02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4a-ORK4E_1hlhJTwD5KeRXtjGl97L-UcF6FapmfFxKKbvIVszfL3BWdeWuPwJ4-bwV_TT6-R197_uou_Ypp03YKEsbPTdnm7NMmN-8NYi--jAQol99LtZf1tNWxeglb1wxnFNcZ1C79VZBiMMPBhYEIiGBLE7TTsOfWaKHGkxK9KutOzdJ0hnY27J_VXArthvDoUJl43v-qn08gqBbuSRGFify9kFF89rO6RP2kr3syP4_z_55t9ucFcgAKS7yX0Ax8hbBguHcsMz-SOu70Zjnpu6ecaLAXiwnH9p0QrTq0mV_ILK_Cm_TcLpSbI6tavzy4e9gkP00VOoxbQU7WPVU5oc4RKADTYJ-TH6On4y7gbSdy-Q-j-Oa5i6NIOxzpWS405M6-jUN0xDTJuErOuDHIWYtWB5W6ItQ_URSOdwhaMFfTB7KiD0SlUzZ4t3NCJLg1upYc-00l6ZC79hM0Z6NoDSPbBjVI1PtepVdWBFwXrn9buEiFxNDFY9pqm--vnf2LbQzJC3jzmOu7N7YtP2j6i0WwQ_NsfOnKQcVmKQPz74L-zTbhJUjXz343CUA0p31PtqbjmvUMsTrP6xMF_2ZoXEEEtUJ7r7ruikp3JTjiuOQj-b2VJxxo19JpeBL3RDUYXq6_aNE6KVSfyKdoVZsr-lpvESv4havaRgMAwJeH47FKviYpz0yeYDaklIUTqc1KXYyTzHWNmS7TVVjgO4OCRC6j77MXVqb8MWG7om_CSkd6K2LSMCVKpt7SqFFW8bho3BfUiE-E3oRAeH4G5oD5LW11rR_oCAMEiah-WnymBaHmHNcLKuuk-jhRYSJkNDjQ5xVhZJfhI9r6aBfkNYfARBdbxgosiLQm1LFmuRX5EwoY1sGAA7-AmMRteb3RCW4uGUGETUqDC4ieITXN958MVSw92_olSa-gYjXFgyda8qP04cuPwNbkkZchaOd6Wt0roMmxLeL4lo0krZ9N5Uqu9CxNNWi1EiU_8lxDLnvFrsy32RxB0p08GWPd0YH2uLbFK3yo1DJkS7G4TP5yRHEEXaAi_t1BQICsoM6X4o4fx8JE2y6vpkTbL2jAe9-Xwv_h-tJ2cpAcc7HTZdAqegtJ97blOwgVjPUaQ5DNezWwLPVtwTnEQJ3GS-lV4m9VYEQDOA2oVbZB2oeGLxuv1CY8AHjspK8a7yifb1q7FqeMksqbzR5j1x9Il3HpQoIhEdbnew197fyoIqkS0q_-a99teNP4qnuKgE5Z6iKSlVgI0Yh6fd8jKMbQdTeWjKpwdSAi8ST_HAZzKKWzPqbBcanc2OhBb0xWPoyYCEUWeAkiYA=",
  "id": "rs_08fcc85769f27564016ab43e19000087d0aa1906b91096d871",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The tan plush torso is now centered on the jaw column and directly below the right gripper. I’m lowering to body height for a secure grasp.\"}",
  "call_id": "call_YOK1pWF4fEqqpdh0KJihlY1P",
  "id": "fc_08fcc85769f27564016ab43e1967d887d08a1b7649ed0a376e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YOK1pWF4fEqqpdh0KJihlY1P",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4, -0.0738, -0.1394, 0.9967, 0.9173, 1.7546, 1.1709, -0.3141, 0.6727, 0.5842, 0.9997]\nstate[eef_state]: left_x=0.3019 left_y=0.0024 left_z=0.1853 left_yaw=0.0728 left_pitch=-0.0277 left_roll=-0.0586 left_gripper=0.9967 right_x=0.3494 right_y=0.2811 right_z=0.1239 right_yaw=0.0485 right_pitch=-0.0998 right_roll=-0.057 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.5658, 7.0222, 1.7411, -0.0464, -0.0659, -0.0122, 0.0889, -8.5812, 8.7316, 1.2283, 0.4274, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ee8642662c364bf23a60ea72e5deb24feff1844827d35ddfa0e966df06241c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e680d0b547203771b2cc93196a6cebe5c84ca30e5edd8bb1defd6c731844ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517dd58670d65099deeac5a276defbf549648ef700adc3ed2c545b72432a25c7",
      "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 11 attempt 0 · /responses · status 200 · 2.798 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3878, 1.5993, 0.989, -0.02, -0.3405, -0.3145, 0.9952, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1137 left_z=0.1453 left_yaw=0.049 left_pitch=-0.0283 left_roll=-0.0465 left_gripper=0.9952 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.001 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.4308, 7.3504, 1.4725, -0.1392, 0.0513, -0.0562, -0.3624, -1.2103, 7.0359, 1.7363, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.3973, -0.0746, -0.139, 0.9967, 0.9123, 1.7454, 1.1564, -0.2989, 0.6609, 0.5663, 0.9997]\nstate[eef_state]: left_x=0.3023 left_y=0.0025 left_z=0.1859 left_yaw=0.0733 left_pitch=-0.025 left_roll=-0.0582 left_gripper=0.9967 right_x=0.3492 right_y=0.28 right_z=0.1234 right_yaw=0.0618 right_pitch=-0.1008 right_roll=-0.0576 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.9487, 7.0769, 1.9267, -0.1685, -0.0708, 0.0024, 0.4855, -8.3761, 8.8547, 1.1697, 0.486, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4, -0.0738, -0.1394, 0.9967, 0.9173, 1.7546, 1.1709, -0.3141, 0.6727, 0.5842, 0.9997]\nstate[eef_state]: left_x=0.3019 left_y=0.0024 left_z=0.1853 left_yaw=0.0728 left_pitch=-0.0277 left_roll=-0.0586 left_gripper=0.9967 right_x=0.3494 right_y=0.2811 right_z=0.1239 right_yaw=0.0485 right_pitch=-0.0998 right_roll=-0.057 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.5658, 7.0222, 1.7411, -0.0464, -0.0659, -0.0122, 0.0889, -8.5812, 8.7316, 1.2283, 0.4274, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ee8642662c364bf23a60ea72e5deb24feff1844827d35ddfa0e966df06241c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e680d0b547203771b2cc93196a6cebe5c84ca30e5edd8bb1defd6c731844ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517dd58670d65099deeac5a276defbf549648ef700adc3ed2c545b72432a25c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4ddAc4haTdj2qjvkxsT9uoVdB-Bogg2gjy5diWh6OE-AtteQtvL-D5usd2GO9k7wkVcTXSrixXPKS3BvNsnPXxShc8YpbCPRn1OS1H1P_8eMmVlKxKovjJbfVYCeRznEqBNGEYC8UIbJbkEQkf65fnaIA3nKqQ0z-zbWLv6CbKYjxOLUWKW4ydMkTFjzNF7Td445dbhAHMVsMs-8mqEFBDpUVZh70-27fJmwueZTWrio0lZmZDbhW-HhO9gi7xpdbKfk-cC2QLKCgUMlv5mhwrccwrdUeTOMxG7phtfZdLXRmSUL0MXpgdVllYsb9ATT9xcrB1IB4tdN94ICJq1iSpVgOg_WoiEsLlRKo_F8TPBMsyxO5PPATaeqbWgJZTFZcOTjkH6sNyoWnAghM6H0l5ZiBuBKln6eEf8aD9Wx2_fJWqXdftV2GjZymsN_qW7ze72-3I5ykq6XYHU9mvY_v20RW_J5dVP9R5mvdr5pVdhp_EwQxVXlBaQN_wOZRU1jignmQ7iaXA6X5_9P7oeM-nw5vgwvmyhLg2kMPe-sql77D0POomGxTU7lhOn3EFkHtmDdQouP_SUDhEEKEkWwYSrp1bofmbFR8K1JqOMdltPxAgzWBcaOvrAJBEVgepmgfEI3rf05zGOZqPGxh56Uzu1tFe0Ts8ia9KdgSwcLqCj0GIjaVu_Gj84GQbxam5xamhNuPdef8cHOz8Wr7k6ZWXlL4W-dOZJALAl6K30Phs5vFLgNq4RkX6wn7yGc0cpvdI9rwbZmkrTPFCtBQmhhWKauyHjH3GiS6Sr2ft91UBCxcWWaBp-j_O1KED2nhAltfUrB9UIFcg9x1UBaX1DC9Q8D6yBGu4hIuxJcOw8cmHDlMPM1oNae1dzNm9krEHL7CVSDnv2mty1QLrMzqj2MhfI0T33C4eSdV8jblHDnYvAXO5t0VrMmdvIph5qIXqJX_Z7qEKWxmA6tbH_yUpoINQ6arIs5b9XglscBeiPx4BVvBhGzn7Mj0a5NoH3y9-_I28ZIndpuVDUHVw5AXitikGl-IMQ8E5MGjDVuHNo497t9TqKCuQBGswZ1JyJ2QTJm-YIpXJ5ZPcpAyLhsrytPH6fpDROfUfmNAAqglZd_gybNCWM4e-9yAQV2QcthShpAl8OrM9eQdPIfiAot6qBe0j9q-Bt-M5LBMuDNP073_697abGYMmHRgILWYPw3fyHS7Qd-pxzjZTqcQAQfvGp9hUkaDZwxWsDht8O3VSc4gkeHY2ze8Qy9CbiXcDV4sNk_xP8Si5aGGdnleYe2lP_0-KyC1JqDGWlohvdGXJ_ELyMPY8gpj_qildaYb4eWZgqpBa9cQ7esZWwdXBw0wpMA7NGWdYKIc4TUs4ghdZC6cN7dquH65jcjmhCrSZmSh_2R2yvghW7Ifkxpz6nq_tA0pOLs5-RnAGiLxKpPHFEnTUbYkm6sq9EXh3a6HYBGSjU6_2sYF69ptGV9FXDZUoU_ar53ZSlMpva998JzhUMfKc0XtiHMfy58KDdHrp06A21QF9jFxDByqF0VW7OChZaZv5KZqCct7zT4H995UxmH0cpYo=",
  "id": "rs_08fcc85769f27564016ab43e1bf4ac87d0a1584d4d488fb681",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped at about 12 cm because this tan plush is upright and its torso has contacted the jaws; it remains centered between them. I’m closing now at that height rather than forcing the arm downward.\"}",
  "call_id": "call_HqCR0uYNqz3IzKWelJ51KXYX",
  "id": "fc_08fcc85769f27564016ab43e1cf19887d0846776ce71fd49e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HqCR0uYNqz3IzKWelJ51KXYX",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4004, -0.0742, -0.139, 0.9967, 0.9161, 1.7546, 1.1698, -0.3172, 0.6617, 0.5816, 0.0429]\nstate[eef_state]: left_x=0.3019 left_y=0.0025 left_z=0.1852 left_yaw=0.073 left_pitch=-0.028 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3485 right_y=0.2816 right_z=0.1221 right_yaw=0.0559 right_pitch=-0.1092 right_roll=-0.0566 right_gripper=0.0429\nstate[joint_eff]: [-0.1983, -1.5111, 7.2, 1.7753, -0.0952, -0.0415, -0.0122, -0.2393, -8.8, 6.735, 1.3065, 0.359, -0.0513, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef390e8fd907fbb5ea920b59580857141726e4143090f069aca589f01aa0748",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e93e30e6d976231817c85555de1998e218930d4b528833d717d43262639e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dcd425e8cadfb71eb65817f87c274c20793c50e44a985ae6a814ee30fce6f2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.311 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0479, 0.8406, 0.6559, -0.3794, -0.0849, -0.1394, 0.9966, 0.823, 1.6012, 1.0153, -0.231, 0.6285, 0.506, 0.9997]\nstate[eef_state]: left_x=0.3044 left_y=0.004 left_z=0.1913 left_yaw=0.0814 left_pitch=-0.0012 left_roll=-0.0559 left_gripper=0.9966 right_x=0.3531 right_y=0.2333 right_z=0.1353 right_yaw=0.032 right_pitch=-0.0718 right_roll=-0.0371 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -1.5658, 6.5299, 1.7607, 0.1001, 0.1245, 0.1294, 0.335, -7.665, 8.8, 1.4139, 0.5543, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4, -0.0738, -0.1394, 0.9967, 0.9173, 1.7546, 1.1709, -0.3141, 0.6727, 0.5842, 0.9997]\nstate[eef_state]: left_x=0.3019 left_y=0.0024 left_z=0.1853 left_yaw=0.0728 left_pitch=-0.0277 left_roll=-0.0586 left_gripper=0.9967 right_x=0.3494 right_y=0.2811 right_z=0.1239 right_yaw=0.0485 right_pitch=-0.0998 right_roll=-0.057 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.5658, 7.0222, 1.7411, -0.0464, -0.0659, -0.0122, 0.0889, -8.5812, 8.7316, 1.2283, 0.4274, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4004, -0.0742, -0.139, 0.9967, 0.9161, 1.7546, 1.1698, -0.3172, 0.6617, 0.5816, 0.0429]\nstate[eef_state]: left_x=0.3019 left_y=0.0025 left_z=0.1852 left_yaw=0.073 left_pitch=-0.028 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3485 right_y=0.2816 right_z=0.1221 right_yaw=0.0559 right_pitch=-0.1092 right_roll=-0.0566 right_gripper=0.0429\nstate[joint_eff]: [-0.1983, -1.5111, 7.2, 1.7753, -0.0952, -0.0415, -0.0122, -0.2393, -8.8, 6.735, 1.3065, 0.359, -0.0513, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef390e8fd907fbb5ea920b59580857141726e4143090f069aca589f01aa0748",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e93e30e6d976231817c85555de1998e218930d4b528833d717d43262639e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dcd425e8cadfb71eb65817f87c274c20793c50e44a985ae6a814ee30fce6f2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4h0HUYmCHonINbRUvgooNc5jhRW3Y76iV73UZjw0q7rLU5e9gAKc5PysGEIOJXvrHcwlst4mEQUlc0dBai5RuglUuG5_RtnKuNv9GrWcip0J0AIfYEKj4ZaCrU1Mskt0KeD7ytmmpuHKsueuwBM2ZcxEAnQh-b3FWwk--2cXg_SObYWZO2rk3D8aGvWjP7-RUoJfhSq9Yf-MA_XBAhsuLpnre7lhuYQWqhgwmeD2zPvOaE3SZTsbPyY-8m6oQSCtZZekyXqkQq9yApO0RSVde5nmy0_dRCJDqjYYaSZTtR900be6ps4o2AuJox9M-tubpR27lHxAKbCslwnE79ikySvVIZIJqSNq078NRM2d_u5gsyjwFxh1NeQuXWUdCwILnc1cPi9IrXvL1rQGQYFKW1xLQdCOXnTsPd0LSuHuwIJtR6ZP-UUecRorJ8XEXFl5pEnSLFgdO2MBR_ddwMH6ehtkpeW96_blHs17yRILTx50W69cTRGY23zgXzISLL-_Uc1BPnkXgvZ2nO3C3t4CVP9tGsvvtqvpy_a0zULaYLbEvItOpCoTKpiU-TjuXG1CRMPQkZXC0Z5-WlHNXIjrHDgmPCMXK-onDTNlVp_9Oxlxy8A7S2BcvSFms4yd3q6qBAVOIU2kKIcCBkzCLwwAt6FrsKObSmq0iGGUwcQa7jXlWN_XYH6s4P7mn12mAcmqZmbBbLiERLcXbM1wqJFRUZp6HGJ19rEwWhCbPD86G-nuqPm9m-yW5R5r3pvAO6_498PRDQSX3TX1ML8ll-RIVh2149SxsJNj0L1Gu8yIQPkJO1devZsrCZ2y5nIKH2TJDM8IPdbuZFkRS2h8zY1fr27r9zWLIiSx0cT9YIDn0Xj0aU6o14iKv3wEHcGVZElp0BzS1WsCpynpR2ZNMQQoQ5YY8_RsUfk3sGT2WgA8Z6wcJCocOrv2tiZKqbUERYs_xik0cJ6mWelbG578qhqMLznpJJ-RIWbmYRhw_bgWN_Y_dra93PCtfMEaxQWvhpOUB7DzqsG9UfzSjZkMTNUckLaH7_7ZQKRAdFwRAJS9unxO6FfYz3tA9NMJL2UdcAMNFac70pHw5FKV-vF0xs4qEg7qBmYIu27VwRPjg12DATQ3cP8bnu0KJd6Xn_5vlFG0nAEUCgmjTNw0L5-GMFlV9xCRgGd2skSVqVw_RIW5MZvYSPhJarhrTmLSkNyVSH62R-sheF3bAxJ3CaU0vKCnpx7dLwcmUAItXOrE1bn0ObU4_N8tfEuZFUk_PU-bEmHpXkRMlD9_CoDl2QRrutiX4CpF1ETogev4kTWORT994XSt5l7LetWC2rKldR3oKatg3DDWHCx0_ksvgAWZ0_-uvTiJAlCvA_0KlbKZQp1I9Qe5BwnCf08fTM5LFgRO3JzUQS8gr2lIW0jqCpuqVr1dfdUFbUym_6Fcqlt3pwO2eCgi6LUGApXSWFgGgMJW07PjRh",
  "id": "rs_08fcc85769f27564016ab43e1fb4cc87d087c030b18f8310ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The right gripper retained a small but nonempty opening around the soft tan plush. I’m lifting vertically to verify it is secured before carrying it to the right basket.\"}",
  "call_id": "call_ncCkCNsSlGdMNTqXOaM0VQx9",
  "id": "fc_08fcc85769f27564016ab43e205eb487d0aba0f906d25650a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ncCkCNsSlGdMNTqXOaM0VQx9",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.9161, 1.737, 1.3685, -0.5697, 0.643, 0.5797, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3484 right_y=0.2858 right_z=0.1697 right_yaw=0.066 right_pitch=-0.1442 right_roll=-0.0759 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7411, -0.0855, -0.0611, -0.0122, -0.0615, -11.7949, 9.5385, 1.2479, 0.4225, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c658fcb52f4b035e5115325d6aca97e9a59e56f99662eec6d0d018a0639503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea543afd3d4bdb828ff35149cbb7fef4fb0e7ba7c4af45a45f7ff13e8faeb282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455da08a1f43960ed41367203bcf69255274a6811037933da032c7dee9326981",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.037 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.3973, -0.0746, -0.139, 0.9967, 0.9123, 1.7454, 1.1564, -0.2989, 0.6609, 0.5663, 0.9997]\nstate[eef_state]: left_x=0.3023 left_y=0.0025 left_z=0.1859 left_yaw=0.0733 left_pitch=-0.025 left_roll=-0.0582 left_gripper=0.9967 right_x=0.3492 right_y=0.28 right_z=0.1234 right_yaw=0.0618 right_pitch=-0.1008 right_roll=-0.0576 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.9487, 7.0769, 1.9267, -0.1685, -0.0708, 0.0024, 0.4855, -8.3761, 8.8547, 1.1697, 0.486, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4004, -0.0742, -0.139, 0.9967, 0.9161, 1.7546, 1.1698, -0.3172, 0.6617, 0.5816, 0.0429]\nstate[eef_state]: left_x=0.3019 left_y=0.0025 left_z=0.1852 left_yaw=0.073 left_pitch=-0.028 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3485 right_y=0.2816 right_z=0.1221 right_yaw=0.0559 right_pitch=-0.1092 right_roll=-0.0566 right_gripper=0.0429\nstate[joint_eff]: [-0.1983, -1.5111, 7.2, 1.7753, -0.0952, -0.0415, -0.0122, -0.2393, -8.8, 6.735, 1.3065, 0.359, -0.0513, 0.9451]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.9161, 1.737, 1.3685, -0.5697, 0.643, 0.5797, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3484 right_y=0.2858 right_z=0.1697 right_yaw=0.066 right_pitch=-0.1442 right_roll=-0.0759 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7411, -0.0855, -0.0611, -0.0122, -0.0615, -11.7949, 9.5385, 1.2479, 0.4225, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c658fcb52f4b035e5115325d6aca97e9a59e56f99662eec6d0d018a0639503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea543afd3d4bdb828ff35149cbb7fef4fb0e7ba7c4af45a45f7ff13e8faeb282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455da08a1f43960ed41367203bcf69255274a6811037933da032c7dee9326981",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4l9sTYCwNqPeP__Ngylk4BGSJ6u_efRTSZxiqODtHS2gWwMLdYRXWDPTlEFGpEQB31-CDa0xtjdcnjlyenQuNHjG1w5dC7yL6BjfReUdsVwsS6dwyeDsLF3OZ4zmJp93RXykKj9Bo9pqyOTe9_qgAU8h-5Xql60FB0CIiE5I4dag4xjDF0mtOAHFhxMr1MV-C5rDTk7tCy0LjafDtexmNLdYfkxXRnt44HntLufkNXfw3WKJ5p_sWQ0fYEunln_cxUWPqHbicmT0JxljwIm7MHo8dhzrHkZf4TOLIZF-_0_vYSCErlIbQlvguaFn8hkFJ4YRiTWMSNX3q6-mwQ5v49MkuFWQcGtD8oq3QE6Xq---PLEWcIw1q-nHIDk1IkND4v7OEtoqWPV3zhZV1zRN2fAS0wLw6zVlB6P2yeTCHo9LJ_vDZOJYLpamcQ-W6xa6vFV9taYyBPPhtgLu40j_KCo45e2ZPDQIHu51akBXyqsG9rcsB1QBfysE7ZEfpX_5Ss7TVNzZV8VO475eUfRiZ6ktwjMp0kQQYIK-Ji1WCrsyX02yykLSOqTi0Yv5jjcO_qFx-zvuC_OPXU_SSgmWQY2_akm74kG9z_pPU5DTk0B57x_tlzw0MhGYxoDyhMu2qCPrSjmTNCmjaXKWlTaMcZqxrwRctgfCRTnj3gNIfsBn8ZaA-hz8vpEWEI5F5jDsdBKzG-CrK3O4YJ5w7NXXsigjG94-WbSd9Y44FmQUXn16a29TrdoNZPMiRGnCmYq-839heZXJrZ-_cQrFEYOZlq8GfBfWFJ-GusB77NW8mby2oE6tLYMtcouXVh8hjfNytVpbc7J12USVZsL0h0lLVnrNFB3M1ySrmLXkQPu6ZuZrikqwYWP5P-7gD9Id2TVLlnYwJmbQV1pkBUqrr8ef_OprApA1E0RSkowrM7cgfb3N8V9QtM3tdWDoKRrlRLGztbJaudUONDbs1vIWBOK_4FSowbkKydJxTBmeXrsD2wODSmJPTGVJJsVIOaZ2Tve2JkUMtunxf9s-S4eDkvUDPrOPu9uhrR_27rIscLOes2wfN5OywYg6C4XfUGIwCSEP666radJesaMu-SiPRxWBrU_XPWyWx6O3ZHzUln5rJSg7-sUS4UfUGOB86Pk2POdGgZmkba_7-bvS9WvfQnhDa36wC2dahyfz4tsH5U_KfZJZ26pwkp9JuhJoD_Y4F0ZTT2En9PZXCjlinkt6cew8V2YEAVwfzHAZgniL67aUW4-G7swjs_lXDS5ujfGci0wP0lK4kDoFjH3NJZj4rrOsM3dDuuGrBJl86_j4ce58IcmzbgYlSxTF0U2IclNk1ICQUCJM6nFT-VO1uBBa0VlLdnveVCrjLLsaSuCcysrDauwkGYBniEe776D80ClJukUnq39QzY7dXm_wJczbXllEqfkoePJZeY2COloEYJkrRIaTZfMaFG0DHwrwVIL6YMubEMfv1DWdh9uyWSuVXn8SFShVC8AStb_bjI7N4nPw4CvoyFOrfMtRXRHTGqProt07Fns-WLbqf304QjA_72z-ljuU0Hf-9ZqZ3yXC3XojYgy02wrRn50bpB5CkMVOJEJWLg1wuyxcVgWi3mk6v1PMUnHz3DCtMTKGsYD2DvPCAMsPNvSgS4UBOdb2SuJ6yQoGbeoAObJAAgpdxfhSKizrKuVDh_Zf46e2e_p3qMbjUbLU4A-qz7AwHQoRfH0GLKck2cyAGU3r2lRuS7Bbpuu7Q5tZYm1fiwPydoqjsWX-ym_PCwDBjqwnbXgArjXmLOcLNX7oqagyOZFJcaJXkjxPgq2sK8jCd5EqmzdgO1bBFzZLRqIytAl8wGe5em206m5yKNyBDg403haeYYGVj9TljAEVWQ-3M3McpymieZ_Hf13F9XyJOGoqMzPvRI32DiwKmm27VzVCawv-UuVgh4MNTH-H4PApO__23kU74b3IIoaWSg9ubgG6_sjgQD8iZZxeHpU2zfVl7vNHgVL96fvWu0FEFXaVR6EFobNU0heqmQPBlKMYTIrm5a1t-UJBrYnjzWzONkeCTWjVwsQtMze-2ZM_zZOfMm5PGkyT_2fyuK7UyobdaeUFZGWSsOhyln7VqeriLyhCU1GeWDfxYdQ8USabr4VF8jJC4Ws4edJOde_UMs2mA0eYCAw2-MaUqimx9_",
  "id": "rs_08fcc85769f27564016ab43e22ae6c87d08884db653adc993d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The wrist view still shows the tan plush ahead of the fingertips after the lift, so the first close caught only fur and did not lift it. I’m reopening and advancing about 3 cm radially, as the wrist camera looks past the actual grasp point.\"}",
  "call_id": "call_YJDqXonR6qq5x87MQt2EVvTT",
  "id": "fc_08fcc85769f27564016ab43e24170887d090e781b523657176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YJDqXonR6qq5x87MQt2EVvTT",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.8566, 1.8099, 1.3685, -0.4873, 0.5911, 0.5133, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.3727 right_y=0.2851 right_z=0.1446 right_yaw=0.0786 right_pitch=-0.1709 right_roll=-0.0905 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.6874, -0.0659, -0.0562, -0.0122, -0.8274, -8.8274, 7.4598, 1.4481, 0.3492, -0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0cb12b3e56205676906943a5c1b21629ff5c63e40fb40d4a16909c4711eabd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf43eb534604d2767e1d56fc63867466b9155ef755dd552e6423bff56ad10158",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3efd15c02f8507317d0e7f94f6d0fd561001d2f07f0e829a5237810cb5913aff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.021 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4, -0.0738, -0.1394, 0.9967, 0.9173, 1.7546, 1.1709, -0.3141, 0.6727, 0.5842, 0.9997]\nstate[eef_state]: left_x=0.3019 left_y=0.0024 left_z=0.1853 left_yaw=0.0728 left_pitch=-0.0277 left_roll=-0.0586 left_gripper=0.9967 right_x=0.3494 right_y=0.2811 right_z=0.1239 right_yaw=0.0485 right_pitch=-0.0998 right_roll=-0.057 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.5658, 7.0222, 1.7411, -0.0464, -0.0659, -0.0122, 0.0889, -8.5812, 8.7316, 1.2283, 0.4274, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.9161, 1.737, 1.3685, -0.5697, 0.643, 0.5797, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3484 right_y=0.2858 right_z=0.1697 right_yaw=0.066 right_pitch=-0.1442 right_roll=-0.0759 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7411, -0.0855, -0.0611, -0.0122, -0.0615, -11.7949, 9.5385, 1.2479, 0.4225, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.8566, 1.8099, 1.3685, -0.4873, 0.5911, 0.5133, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.3727 right_y=0.2851 right_z=0.1446 right_yaw=0.0786 right_pitch=-0.1709 right_roll=-0.0905 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.6874, -0.0659, -0.0562, -0.0122, -0.8274, -8.8274, 7.4598, 1.4481, 0.3492, -0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0cb12b3e56205676906943a5c1b21629ff5c63e40fb40d4a16909c4711eabd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf43eb534604d2767e1d56fc63867466b9155ef755dd552e6423bff56ad10158",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3efd15c02f8507317d0e7f94f6d0fd561001d2f07f0e829a5237810cb5913aff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4ozqQ-DhrNb64CSncf1yeFWC4SK1wXh7vunJ2Wgj5LgykLRY5lX3U0vFdCPlPGomMW7NcFZWfKrh9YX4DeZF4BGod291Jz1JD2C6-hfgY6FkwWlkNMcElHwCU51FQSVfPwYH4jytTFkVtqxifrrl3yBiHix_Bo8rmTZnUwyCAtDz0KEsY_vBWYZEyMDGcoIS2IDbHhqvg2miV1cGIkfoisE5DWbvav8-xTi-orpk92XAZ6zLwd1YhwC1x4OwMpngtWEvuFn41P-LIK49QJJHFwuvxxZXHQjq4UAfr0kcJw3d9QGefylU_D3SqdXz63t5X5tgcxShdQw5aSd0TyKLRBw-CVzkjzmniNKLAWmaM99ErSHe7xtgE2luEBC7DgF-VPcs9aeihvpMtv-vUf2KNLtBSXJTAVRXklvzZ1BsTh5wjo0Vo1grrXKV_vWtoTqP84GOi0zau3re5IomDdvuAhzOBDNWJyvSN3hLwBRlFyc0Cu7tAoQMbmv6iEdZRIjIdmdrI60zvyCBptk0DzYeQnNklFXydsL3cVPzdnflhSY7ifWX2QheK4CU0YOVVHb8IKGfKIkS7sAluoHgf_C3gbz9VyoqYGW6m5lKWiVCVa7hbl1ZQVAUiKmYsDmAD-4TOJz8-iSgOXSw8rjobD2f6SqU8he0eiOLjklz09AC_W9_QTMvjiIjw0AZD1tcBRP7Kk6svyk3f5FQaVdB-YZv_Ic7vB-coOHIvnXbktddm1SJVpJZInGQJyJSjs3ANSB3H4H1j9VGSr6nikb599HXr-aih3F6yrxyoAV-63ONhoGvaNVHj7jCCCioM6Oww-gJOaRtX5zyqcjp0bzFTN8P5lYGuPNf09EmHkFxSbZwyR02wYTQFQSGp6oiRpZ4dh36X2ve0h6f0WXIqJ51zZqFbJQDglqAA7Arl0P39eYMo_utuTwoF-vbQ__lTLXhPyYcFCC2rJzegpwNyPsWKSar4UmwGV2jKdOwKSAuH3-CHCU9cM6CVBQugcIYApdPRc-4T6CihwuBdxMI3JdW9JGbvgcmTnuQyI_kUD6Z5ygrI4s6QzjGGoCGhJIjZnyqcVnwmOPyAuc_jaHcfT2_MHAudfYWwJOoNPrLh1NpwQanDY1VvE_U5e9sbc3XroXUY8eU1gvsBKs7gQ9pYLlYEcG7Esxd1_7yzogJJ8l8pCj_1mI2tBd9ggEnhFVSSs_55Ww-UVegfDH_pMwEi37UoCexjJnes59JWXRdl0RznlqBHXVBGGtABs2WLbYkAHqtS6AvO6SFxZaS8kyYwQZ39LqRTJpaF9LP59wU8iHcna29nDl4k=",
  "id": "rs_08fcc85769f27564016ab43e270a8c87d0a1e83d139f950ea2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the radial advance, the tan plush’s torso now sits deeply between both jaws rather than merely ahead of them. I’m closing on the body at this height.\"}",
  "call_id": "call_mQ8QK5H9ZdUskMaHV4w4hV15",
  "id": "fc_08fcc85769f27564016ab43e27468487d0a197e1b46e98b557",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mQ8QK5H9ZdUskMaHV4w4hV15",
  "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]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0738, -0.139, 0.9967, 0.8558, 1.8126, 1.3663, -0.485, 0.5896, 0.5083, 0.0105]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1847 left_yaw=0.0727 left_pitch=-0.0307 left_roll=-0.058 left_gripper=0.9967 right_x=0.3727 right_y=0.285 right_z=0.1428 right_yaw=0.0812 right_pitch=-0.1739 right_roll=-0.0953 right_gripper=0.0105\nstate[joint_eff]: [-0.1026, -1.5658, 7.0496, 1.7509, -0.0659, -0.0611, -0.0073, -0.212, -9.7162, 6.8171, 1.2918, 0.2613, 0.022, 0.906]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887bd7db8769c58bde54be98714f459e0ec0d3676d6c287c2500a29b939b04eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c40231d84a0c9e5aa79a81eb412e45d3ed8daf6908c60bd95678e1183f5d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b63585d419383d5bf79669dee77115a3b115bcca2014c90970fd24b8198a173a",
      "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 15 attempt 0 · /responses · status 200 · 2.885 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4004, -0.0742, -0.139, 0.9967, 0.9161, 1.7546, 1.1698, -0.3172, 0.6617, 0.5816, 0.0429]\nstate[eef_state]: left_x=0.3019 left_y=0.0025 left_z=0.1852 left_yaw=0.073 left_pitch=-0.028 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3485 right_y=0.2816 right_z=0.1221 right_yaw=0.0559 right_pitch=-0.1092 right_roll=-0.0566 right_gripper=0.0429\nstate[joint_eff]: [-0.1983, -1.5111, 7.2, 1.7753, -0.0952, -0.0415, -0.0122, -0.2393, -8.8, 6.735, 1.3065, 0.359, -0.0513, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.8566, 1.8099, 1.3685, -0.4873, 0.5911, 0.5133, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.3727 right_y=0.2851 right_z=0.1446 right_yaw=0.0786 right_pitch=-0.1709 right_roll=-0.0905 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.6874, -0.0659, -0.0562, -0.0122, -0.8274, -8.8274, 7.4598, 1.4481, 0.3492, -0.022, -0.1783]\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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0738, -0.139, 0.9967, 0.8558, 1.8126, 1.3663, -0.485, 0.5896, 0.5083, 0.0105]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1847 left_yaw=0.0727 left_pitch=-0.0307 left_roll=-0.058 left_gripper=0.9967 right_x=0.3727 right_y=0.285 right_z=0.1428 right_yaw=0.0812 right_pitch=-0.1739 right_roll=-0.0953 right_gripper=0.0105\nstate[joint_eff]: [-0.1026, -1.5658, 7.0496, 1.7509, -0.0659, -0.0611, -0.0073, -0.212, -9.7162, 6.8171, 1.2918, 0.2613, 0.022, 0.906]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887bd7db8769c58bde54be98714f459e0ec0d3676d6c287c2500a29b939b04eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c40231d84a0c9e5aa79a81eb412e45d3ed8daf6908c60bd95678e1183f5d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b63585d419383d5bf79669dee77115a3b115bcca2014c90970fd24b8198a173a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4rXCJ_jjege8M5TBx7UO14a_AH9c_UKvj37LaowCcZaMic-TN2f3KUMqWcjGZFucCgoqXRjxUaR2KJHn31czHRTYPYHzKKdPEicYkbBip4OMyhVkitB7nFamn5xv-CU8v9CKp6d1_MSTM-LFZigjR3-QedmD8id0WOCUSkRNN6NVU0l2pxkjCujCteiYCf_xNryrbtrmDa4IaCZypvxk9kBRswFcvNL0kmqlhY3YhXwB3hmkJfTmtX0cchzNht6j--TLg6P0FCPkSTtFp4e-HUESSGhbRcSX96tesCCGUZ7IPJfrjknz-vMZICdKMIbK9r5CldewcLrY0BPc3rTG9zSWwOJXzRIwWuidLyQOqjNhFXD-yZndZTmhd8E8trw_GYQO8etzlNBDBYXEjqe4tGqAt8jHWtbWj6UNBBaCgYD3Ed9xYUvTXdmD2eH-wiVmW1ZBi6SWVPvjKLUlsGG0cE6I-Xs7xErw-wxbcu3Lm6wOFkv9EDK7YTo4B5g3wHT-xo9WJRc8lHm6XUgI3zRO2iAP3-DmW7VsDLv3yW8r1gYfkIEGxU6tgT6mmokY7GD1RsIPtGR_XBHTy0f1wgYu9gDwM7EWyjkWCjvR1sxXSNKvdDbCv7n9HM3K1lOgH7mysv99LYY2b51jBT-aUZq4Ay7moxFDyccgtxlIvNCRfDLMxx_fsI0YmGSoUK0HYQA4Xu2mNAAeiYJb5AQY1i-YOQdoHP8TkBmW9wkQwkxqDtDxH0Ax2UcA4qBUJvgHTkOanqVPxaOLMh3s_jaUkPswmXtlXe5WmULBJhN5f0DAoAXxzqANvK253ZnxEmrhcoS77LdTqdASiYOT2Y4m_6ygiuNXlN2Nofif6ebsvyJNeLlxpXckuBibLK7F9H0T3hBjEenKYgzOWpGadNYy_qQ2lWpUflv9UTWvmGC6CDtLBOz7UiKMwzuNUtj54N9UnT-Z6beENg7hVXErxs0ROHpgokyRynVcwJi0X5TlkrvGgT0XvbDSrXYobcSEp8tDHqBy9S_9FC4Z5xweV6SfLx3g7_rwyFfbOljVuISDYmIexjaqTVk8Welx3ioC8NOA4Q1LJNj9jd1ko-gtd498n-85--aELdZkYJ3zZgKY2GfFnx1j3MjC9SrK6GNN0OmW34RvuLFHB-dyy9cr_RtwtEI7g-U-A3Vff0VNbYldJw7Dy9ZWv6HfHBBtOpep9IzAqAIfgakWKwfbqtR2hZyMaGZvHECLEwV3M7K9jgchSEcx4OUg4-0nSSpW4Fkr0gE2nDrV8mf0--gkki6bRH_8GpoV84a3UWezqEsiyiUorcedNepYVrRJb09OFgOAwFImGyrAkPK-QVgskVAbb1gqowbUuYWYnvWsZGupsXdWqXEIsGKWS41mpqUDT6FnUUPPrgI50Ixza0KIgsV3P01HZ0gdKTGv1FWtfxy6J8Qug-kYcTbdv4nzGDwxo8Alv8wWZes3Cm5gDpHvP71U5CAG2kC4R7Uv7B6Oa3Wfh2CRE_BcB-JNGYZav3G3lm9gM75-d85yZIMnbfMR5B0tuJ972Wxb7oUw==",
  "id": "rs_08fcc85769f27564016ab43e29fa1c87d095e2fa2e5558eeea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The fully closed reading confirms that pose was still short of the plush despite its large appearance in the wrist camera. I’m reopening and advancing another 5 cm, keeping above the tall torso so the actual fingertip line reaches it.\"}",
  "call_id": "call_2wdA8lDxOrNDMw8LCUIeTm7o",
  "id": "fc_08fcc85769f27564016ab43e2ac7b487d0b4c58b762b196d29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2wdA8lDxOrNDMw8LCUIeTm7o",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7582, 1.9316, 1.5555, -0.5308, 0.5186, 0.4141, 0.9953]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4214 right_y=0.2834 right_z=0.1489 right_yaw=0.0882 right_pitch=-0.198 right_roll=-0.1063 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5658, 7.0906, 1.7265, -0.0757, -0.022, -0.0122, -0.7453, -9.5932, 9.5658, 1.2772, 0.2564, -0.0122, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f56edb31609ca86b4ce24feebc6f96374b57436bdc14015579177d317aebd4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c962993ac8a26a860d4d144bbeaf39507f5d5f45d9ea255c628d9dd73df645",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd7b406af04804d79f2312bb67c04e1714947e080fb6e91e2daef07216d5e4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.369 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.9161, 1.737, 1.3685, -0.5697, 0.643, 0.5797, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3484 right_y=0.2858 right_z=0.1697 right_yaw=0.066 right_pitch=-0.1442 right_roll=-0.0759 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7411, -0.0855, -0.0611, -0.0122, -0.0615, -11.7949, 9.5385, 1.2479, 0.4225, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0738, -0.139, 0.9967, 0.8558, 1.8126, 1.3663, -0.485, 0.5896, 0.5083, 0.0105]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1847 left_yaw=0.0727 left_pitch=-0.0307 left_roll=-0.058 left_gripper=0.9967 right_x=0.3727 right_y=0.285 right_z=0.1428 right_yaw=0.0812 right_pitch=-0.1739 right_roll=-0.0953 right_gripper=0.0105\nstate[joint_eff]: [-0.1026, -1.5658, 7.0496, 1.7509, -0.0659, -0.0611, -0.0073, -0.212, -9.7162, 6.8171, 1.2918, 0.2613, 0.022, 0.906]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7582, 1.9316, 1.5555, -0.5308, 0.5186, 0.4141, 0.9953]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4214 right_y=0.2834 right_z=0.1489 right_yaw=0.0882 right_pitch=-0.198 right_roll=-0.1063 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5658, 7.0906, 1.7265, -0.0757, -0.022, -0.0122, -0.7453, -9.5932, 9.5658, 1.2772, 0.2564, -0.0122, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f56edb31609ca86b4ce24feebc6f96374b57436bdc14015579177d317aebd4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c962993ac8a26a860d4d144bbeaf39507f5d5f45d9ea255c628d9dd73df645",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd7b406af04804d79f2312bb67c04e1714947e080fb6e91e2daef07216d5e4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4vOAerOLMx4QTsHL6S8qNlUEejEYqmM7006F3mnDvTj9NvSdE0YzhvxoROv_I9LWXWtk3cC3vhLPKLU2z5c7eBhWq4Wr0by2OKSXzhJtmQ-KD506SKlm0yvqOfHH6BJ8ZyCV3koW8lB-yptvb-F614r8xMvGN3okK_jQrDqVlEZxPqDnH88Q-z9Zb8ML1L4A6HZJG2S_QTH_qIUOCARTFs00OIbr1KUW09Zcsy3MHO6p98caN4C6-L42cfHt0St19KjfL4M7zAey46CeTZuG-oNaRh62sQsSnNTb2gpFETspTkbFvPP-NnI_ZHl7VctMwCeh26Uly_8tERnHH-p0WEqRRnPxOwOYTPAYPfg23Xn6ZKuFGdYkCPZdlKuoTjhx5gC3S9RNbtD5AIZtRWPvazAyvJi_9V_dpapoZBP-uS590V5z1wtXKOcBi9UksG0AYORIj2bQOj_PCQyc-2IKyLVl2jMAq5We6SWrilhfVkqUUIg6sQhrNlNbDcxrGsBw3Y9WLUZ48nAq0Y8NpYX3_a6okrJCnj1gbHYMPKsNGSlRTS52FWekslW9m-H_-Nd8zFLifYFpPsTAig814dCp_joEECmdTIAabcwjXQJP9pfvZgxsmao1Tp6r7k5pgPLCHULbs9iQHBP7kTvSwwDKJmro5MUkruNzmZj9hf5cJRVTkFCZhO_jkYEgAFDcdYbAK7ZL7qX3PzjPoxRwTCZKGcdFkpScaoVgTRVMEnwfmIHkspaQMNdp4NxPkbZ-SzOpPiRhvZAHJXWcO-AzeP8ej68jNGsEeQlb5RvMsXXovepublDrsSSfkzeOyDjbx-MzSOWKoEjSk9Plqxifb4AVwejH3ySIgICUP-LCbplp63gloksm97k8-56JJQg1siIcDcntjcBb5FFFpgXRhSsFQYCVd9svNFDqjl2TH9WANOoX_4ufV67tM_n5a8S0xtv4dWfmR2anT-NYgZmquMi08Rl00hBeO_8MbeE_VW3sJnjnNawBnIj5R_I91kQ7-AJCVMHSnMTTQEIIvGXZkMqU2Z2dYNwczeE7HP67MIePuRQFo4hUM62wwxMOQWO3CYXhTkUF9fSA3zuUf4FjziRyELNR8ZUXKlPv-da9mnJnMf2YCsYk0qpFeKJRQkerePoYnnk_01L8alZ84xtJYzjuacKIhJQ8yZOdFnnstEecLED_Ja8qCL69TcmZD6U_P_N2LnsIYhYw2vxKbmVKI9eHJ6h1yoYp8B3GZv3okju3k2ACRYbngwdtRUu12GxG_JG5NxFISamqd22lUj9gA-r7F3EI0Xm61fqnkzW0vjfVddlwAJZwFkeBHS4Qi7RX3Wc7BHBJ6qvhoivjrPv0b3tlYZb61O1WXPtmZVNNB2o4qx94NSR0JEs1f5C7vW3fNkJ1fI9bgG21kcs3alFsqsoWvnICQdpOTkLdo97LZ-H0yS1AnFxtjgU1zEDUaMaGrWTe_EhVsP5nSKMVfnYrhggT2xOg==",
  "id": "rs_08fcc85769f27564016ab43e2e279487d0837ee63832ff8e79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The additional advance places the bear’s head directly between the physical jaw tips, with both fingers flanking it in the wrist view. I’m closing again now that the grasp point, not just the camera center, is over the toy.\"}",
  "call_id": "call_KBtsECykqLXmF5ELPW1YHE9y",
  "id": "fc_08fcc85769f27564016ab43e2ee49087d0b2726ff78e4a9636",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KBtsECykqLXmF5ELPW1YHE9y",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.7532, 1.9377, 1.5623, -0.5339, 0.511, 0.4038, 0.0112]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4231 right_y=0.2832 right_z=0.1477 right_yaw=0.0942 right_pitch=-0.2041 right_roll=-0.1105 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.5795, 7.4188, 1.746, -0.0904, -0.0464, -0.0073, 0.2393, -11.1932, 6.1333, 1.3602, 0.3004, 0.1294, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de773ba5d1f6774d2b03b3c8d6c9464fc5b8280f29e2bbb9e609bb100cf414fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750929a890bb8673f556e263058f76eade2b3c8dbce946ac067e01e6d4235845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bd53c852d1b3bad66a4b478752c798999dd1c6f9a0a15afdd558c0fae96269",
      "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 17 attempt 0 · /responses · status 200 · 1.996 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.8566, 1.8099, 1.3685, -0.4873, 0.5911, 0.5133, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.3727 right_y=0.2851 right_z=0.1446 right_yaw=0.0786 right_pitch=-0.1709 right_roll=-0.0905 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.6874, -0.0659, -0.0562, -0.0122, -0.8274, -8.8274, 7.4598, 1.4481, 0.3492, -0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7582, 1.9316, 1.5555, -0.5308, 0.5186, 0.4141, 0.9953]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4214 right_y=0.2834 right_z=0.1489 right_yaw=0.0882 right_pitch=-0.198 right_roll=-0.1063 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5658, 7.0906, 1.7265, -0.0757, -0.022, -0.0122, -0.7453, -9.5932, 9.5658, 1.2772, 0.2564, -0.0122, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.7532, 1.9377, 1.5623, -0.5339, 0.511, 0.4038, 0.0112]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4231 right_y=0.2832 right_z=0.1477 right_yaw=0.0942 right_pitch=-0.2041 right_roll=-0.1105 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.5795, 7.4188, 1.746, -0.0904, -0.0464, -0.0073, 0.2393, -11.1932, 6.1333, 1.3602, 0.3004, 0.1294, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de773ba5d1f6774d2b03b3c8d6c9464fc5b8280f29e2bbb9e609bb100cf414fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750929a890bb8673f556e263058f76eade2b3c8dbce946ac067e01e6d4235845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bd53c852d1b3bad66a4b478752c798999dd1c6f9a0a15afdd558c0fae96269",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD40717bvXMaNv9YyUGdY-fxqRxG8PetzkIVY4oTOo3oRBmg_N2XPnzmezn_W8ZT6UY46iZFh6xbJ94FTO9zR_DQhW3kQrXOKkiVIjrRjavSs0orlnVKeIv429fU3Hr8NSOYvT3gknZ3Waq7HfsrmRB0q15zkoxk7PTEhotRmzR1DyqGFyzXXB-xLZtKq64uylKULPeX2Ab0D9Qghk0_g7ni1GmN7Jpdp-TOwUt5vThgap--TRYx4VUS1Zd2J5J7nXrAy03ItlKwNN0rqVHNEaJSZtJDt6g2YA--0NyzdKNk3xddC6FETJAr15XI5r052gApBUcqIcyllYa4nR6DXrZO2ZoEhQxBdtJ_Qah41nlVBOBgrK-tXuB1fSiZC82FM7ig5wkOeOs-ssd1nmoH53o93yyhpTPgWJm7upPRwvP3pVDaNcsCH9xBokjJTSr6xGt2vZLi7HoPWHgNTTXwkY8Az00MR9VkzbHjWuAWoQdJw9T46LjmvRxpuK0trmsQJZgSAyBNd3MeJOgbUaqthNavVsoGbTPneesGPexArbHflrjx33QuxGtVVngFuqk9BHEhTEQUvaQuAl68KKrll-JMLdrtrzrOyNEZ_3lOPTiL2FXkTjb0xexDqfVhu5NEwiU-7zVegFqXifZ-_K9lsgLqJ_7gbO0x2ak1j6n83WDAoDzJOrtzAbrmJmNJN-60xWa-Y105XZ_9CkxA5KlWtwuAVfwlsGwXc8FifjJ25_DuzfWS5DWnB2_DU3u_6sFMZoORS4OQoB3m_3v2c9EA6K5dOaqFOGQ9TGbRCXW5CDqgotwjw9xoxQEs1Qz1y1sbupILlNfHGbLt7uqmbGNrvk_2x6EVtFO0DYbuFj7MfAB-CSYoecQbJLUQIMskSgyQztojDEagnMRA1u2QPTd8U7QW-FFzdm4YyLUo07NQx8MIM3uC9dJZQ7L8X2fYr5LTBzeLKg2yb1pdi_NO2YKgKCnt1-V52715KJv_a56Oq1OG0YFLNEI8OSItr1Azj2R_LgxojX5l4nXHKJnMtbrvrNvOpjrAturqZoQ5Awk_FeYgtdfbP6juMESeKYgWrI4BMVyHtBdR9vej8EWU_OhpXwmILIG3UF60UemH9nPreWaPLMFwc-2iTFJmJlYQFWIXcXkgLq2jgPUrVBO9gh0f94btrtWZHMQOWQyxrCU9ZsYIRXyTorV5WjfYxlsfuvGZ-VPcSYzwFOWQ1nYeIVrvoo1tvEBPbjgpUswp6vp_bKJjWNilUXqOXuvo0BCN1MY5fmcTpPYI7PJ7rxDa458ad37ARe0D-RHUK7E6dye_dFNd3Y37UA7oh8eGo-YMOyHUlGYDiwa37wzqWpE2a2YAizDEKURUFsZ-cCXN-cnN-nI1y8ZfPWHRnD95z2-8ygquvAZwubzl9zPTXIUiSqUty_VkEBPozVB_GfJqfaKDTetdq42wQnk7C3EvdAhWAoib6mDvTmTYbbN1Y-c7azaiJt_UBtLMfoVYUrPizYMgsg65FpZ70Gmq92mdXkTPltgMwSeD-aRDgwP7y0XYZd3Vj6rvY4qp6CJKTyq1ijTZVibgBwdFOGWxvEGJ4gOcMHgz2sTX4Ttbwf1f02e41z2SRLI5tMSTrjHdkOO1qZ7zukeaTmlwucJi7Wa09RgXf232w-V8Oy8g82FCsleLSu9TVkinqWRE8-7soEEDFu14prNyEiGnT8fXlq_B9spQkRPd7BdOl3Ek2oELfznyPQm66mOO-Bp6LmgEuQXqowut0BdbtOX108fkDOKCXqJ8cup1IvowhhaKuBumE753bJtfxBheRlPQ_urggXDU-JwTdRPEMBySMUAYqIec4CJZPVgAKJV2dq1iA00rSvW4r9rGHTP8iJZGlb6l53vjV45vRqjdXvJXcqldq_dN3Yj4O-NAmJ4vi87b7nidmxiV91U21ctQIOjeXHOCWlkKZJrXhYjjCBEFg9IVimRykGW9Ic-AWWk7",
  "id": "rs_08fcc85769f27564016ab43e31d61c87d0a0fc808bc3d45d60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The jaws closed above the plush’s head, so radial alignment is now correct but the grasp height is too high. I’m reopening and descending at this same x–y position until the fingers are at the toy’s body level.\"}",
  "call_id": "call_IuiRM9JIkTK8lnciJG5PnNtT",
  "id": "fc_08fcc85769f27564016ab43e33352c87d086eb7159a677ec31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IuiRM9JIkTK8lnciJG5PnNtT",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 2.0045, 1.3609, -0.215, 0.5037, 0.4007, 0.9949]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4278 right_y=0.2892 right_z=0.0826 right_yaw=0.107 right_pitch=-0.1673 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.0205, -1.6068, 7.0085, 1.6825, -0.0513, -0.0708, -0.0122, -0.1026, -8.3624, 5.1624, 1.033, 0.1978, 0.0269, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8875bf12320070a9f2f3b2fccc73acef57c28125f69d659c8ba4bcef408b5b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff80fd30b7d4f2e20502003e9c94f2e5050234113ba5beb34a16dabd36110a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31177ce12eae3c71b700c8760350074e835269fa5ab17db3743f3ceb1ed160ca",
      "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 · 2.24 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0738, -0.139, 0.9967, 0.8558, 1.8126, 1.3663, -0.485, 0.5896, 0.5083, 0.0105]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1847 left_yaw=0.0727 left_pitch=-0.0307 left_roll=-0.058 left_gripper=0.9967 right_x=0.3727 right_y=0.285 right_z=0.1428 right_yaw=0.0812 right_pitch=-0.1739 right_roll=-0.0953 right_gripper=0.0105\nstate[joint_eff]: [-0.1026, -1.5658, 7.0496, 1.7509, -0.0659, -0.0611, -0.0073, -0.212, -9.7162, 6.8171, 1.2918, 0.2613, 0.022, 0.906]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.7532, 1.9377, 1.5623, -0.5339, 0.511, 0.4038, 0.0112]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4231 right_y=0.2832 right_z=0.1477 right_yaw=0.0942 right_pitch=-0.2041 right_roll=-0.1105 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.5795, 7.4188, 1.746, -0.0904, -0.0464, -0.0073, 0.2393, -11.1932, 6.1333, 1.3602, 0.3004, 0.1294, 0.9109]\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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 2.0045, 1.3609, -0.215, 0.5037, 0.4007, 0.9949]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4278 right_y=0.2892 right_z=0.0826 right_yaw=0.107 right_pitch=-0.1673 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.0205, -1.6068, 7.0085, 1.6825, -0.0513, -0.0708, -0.0122, -0.1026, -8.3624, 5.1624, 1.033, 0.1978, 0.0269, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8875bf12320070a9f2f3b2fccc73acef57c28125f69d659c8ba4bcef408b5b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff80fd30b7d4f2e20502003e9c94f2e5050234113ba5beb34a16dabd36110a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31177ce12eae3c71b700c8760350074e835269fa5ab17db3743f3ceb1ed160ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD42ishhwA8_z7_ww1WkbYakHjlifcLX7zKXncAjfbTJ-t0AiaMm0OUQv51qupDRTPFiHEdDlbUiPfbslRYWe92-NarVKCytcYHp-Y17YmAjYJvcMDebEXYooTCiCyDHapxMAFV6-f082XL3pZFxJ9JoHeNF3rLp98HCbgrucrYpJ2ozkeDFYIktKRPVvAiF_7M1HRJ64suEl5XKtVcBMm-pYAdCjuU58MtFPkN-dInehMklJ1EiyhtBPiBTAKp5vFuDYv0oWZfiRpWzfsLYArYDpXMCCGzNatsn8Zpu4yudQ-YihmdoSSP_8ESxgPJbLZHC2KxE4z6aDk8ZToQ9s5CYVzEldv2ubrabQEmU_m6yf6cpdDiERhwZggD2gEfN0BaK84mFTYE8GfTw3G0CtNMQpI-2b5mcTTjo8MRzrEKUzSUODVPrmvEgSF8XRm0C3oJms4428YrRh38s62fViQlNmeIhvWJAit_8b---xAp_jjvk9VFGpr-YWwoWIyPwP3w0ppUJNW3kf7nWzzSncwjvsy_0uNr1NyfblCC_7xIS8UrIfWbatyCzo5XQDPB3xkQRQ0dUlMqyyhO4ty3OnCPk1iKPVZ5miteTSmRtENXr_oWYuuAnKTGcHKw8gp3py8axzlJU8UkRBFvR7mVLDaDmnNsMmKs9e3xUIaiy-QWx1Sj6faacQSb7_xfUXayMw_CahSlEUod5T1WP_GQQGWf8P5aTbFad0D4SRo47LZJD-uc7zc5_jRwFKxOHjgJL3uMudjlVI2gPH7QAfvgtJAC4pWFvLT3p7GB-2w6g8jo1o09DrlPHkh5VvdTrZmMh1lRARG6iDilRNpYKwjE1vQWVdb0nAXiIC0s81Ob_0diGjJpbmrgSnizPOisT0xI_8YhArktgprSjf3RDeYU62VpEQOzUu0Rs7Iyl8ub2XRnBsoJ_KdJ_zO_Irsad5NwPOH7Ncj8wgY5y2dTfranwsNljPRymg__x_qR3-7MuhV-YnwpwAFBX16vsQWr6_DyLI1D-xwvJOmdwOqP3pBIkY8csLhe27bi3Z2Uf-fikWNVoCIDRBIHtWj_Xd5sKEOjPVRsxsFbW7QdzsMkfy7JbNGgGv29CoeVo1atBRtSSHpwUdwlWUCBC1wp2JvFeJGI9lLJI7AmX3RgeCTr89uEz5EMsRXCxXAnwOC-jJSLbpzYQ90EXSyFjPRNdLYJT0daRXvs1-mQLmvEwzjopRrqioA_kGQ==",
  "id": "rs_08fcc85769f27564016ab43e36099487d0bf94fe19013f7d5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 8 cm height the open fingers now flank the tan plush’s torso at table level, rather than hovering over its head. I’m closing around the body for the secure grasp.\"}",
  "call_id": "call_vIUlbQl5TUdtfYzKdDgNZjdh",
  "id": "fc_08fcc85769f27564016ab43e3630e487d09a247451d1cf3695",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vIUlbQl5TUdtfYzKdDgNZjdh",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7528, 2.0151, 1.3544, -0.1825, 0.5041, 0.3958, 0.0416]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4304 right_y=0.2913 right_z=0.0797 right_yaw=0.1105 right_pitch=-0.1551 right_roll=-0.0717 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -1.5658, 7.2274, 1.7118, -0.0611, -0.0513, -0.0073, -0.1846, -11.7675, 6.8308, 1.0965, 0.1538, -0.1148, 1.5311]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfabaacdc17852b053bae2130f89d6655627b8ac86b52f99cdd5190791805fec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366cd89e669840686df67146fd7a4f241bc3612940adef9d3760bd60b49a21f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77455bb485cf459c4a87a61bb996cf449fe9b622a343d538b3cdfefb343908d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 5.467 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7582, 1.9316, 1.5555, -0.5308, 0.5186, 0.4141, 0.9953]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4214 right_y=0.2834 right_z=0.1489 right_yaw=0.0882 right_pitch=-0.198 right_roll=-0.1063 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5658, 7.0906, 1.7265, -0.0757, -0.022, -0.0122, -0.7453, -9.5932, 9.5658, 1.2772, 0.2564, -0.0122, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 2.0045, 1.3609, -0.215, 0.5037, 0.4007, 0.9949]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4278 right_y=0.2892 right_z=0.0826 right_yaw=0.107 right_pitch=-0.1673 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.0205, -1.6068, 7.0085, 1.6825, -0.0513, -0.0708, -0.0122, -0.1026, -8.3624, 5.1624, 1.033, 0.1978, 0.0269, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7528, 2.0151, 1.3544, -0.1825, 0.5041, 0.3958, 0.0416]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4304 right_y=0.2913 right_z=0.0797 right_yaw=0.1105 right_pitch=-0.1551 right_roll=-0.0717 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -1.5658, 7.2274, 1.7118, -0.0611, -0.0513, -0.0073, -0.1846, -11.7675, 6.8308, 1.0965, 0.1538, -0.1148, 1.5311]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfabaacdc17852b053bae2130f89d6655627b8ac86b52f99cdd5190791805fec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366cd89e669840686df67146fd7a4f241bc3612940adef9d3760bd60b49a21f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77455bb485cf459c4a87a61bb996cf449fe9b622a343d538b3cdfefb343908d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD46ZLgLBPieFJpHrSJW5UOqZAs1g_QXSwwswggaYtEElLjnq7e5Vl62mvWodNAeKCTvy6K8qDZyuoPN3VcCDJGh2Tn7BEl4fkPr8DclrmIPBIZPteEOj52lyHuQww1u4Q-FSw3oXowjn9iHlvZ5bksmTz6D-5Apu1AGF4qvWyD7tARUbypZanVZ4FAvWCQUFlEKPwndxz0QWpi1GwzCRtjiG3tFigeNh3XHcRQyoMyk5XquI1UFFKan8CbZRGkNsUIsWv5UrADbh4muahKrST3YvrzzOOmbFJ6GQkhMqwYmXpNbIIvjjEfIKGSFVcJiTD9E0OOY_lq0IaybcfDi6DuKrKTZLRPfXsYil2JFHa4B_zK6GYlq677WTI83jWpmwyfuXoeqZsEkZUOrVc1_44gN-cV3WxzOL-1jvS6-c3Z-l4_wZQlP4TvYQ5-MeIpfV4ift_Tal3KUq2A6me23PnVP43VUp9SsYzR8S0bER8udK_iok38gjciWjSn3Nzi49vluW_C9iZd7X8_XVKAAzvD303fym_qaWcbIE_fre6NMVB475mOEKuxZjAlawB_j7G86Kuim4HZMrk6vR3Xts-xaGzJtyYIryC3UpCOdqwUwm67UPmqUBAc6lBU9q8op1L7yEfUFpVDSbO-B1Uk4h1xhbtBj7y9Ux_tRSkrwRWg0zYPtFgTvTTgaf0wgr33eUDysizf5OQN_3_krpSFjq19kqLNeDruld7RgH5jC_6tYsiF5UlFMI5cX-W4fulcBY55Lk8VfhVPThYHzw7x4thuD9c7sahMFZGVPAvQOszBITL8WJFSh8kil4rJ1UzsLKZxFd7tPLNzyt0ajRE0XhG1wJlAZC_XuUwPC7CvruBUp9s-j8iECKDsevggwn0_gXoBLt1yRm0HFJ1M5Dcta-EDFk4VpHgn4k53pnQyrc-F6RwZ11qLovWWIcwrbKwkalCpRM-g5cuQtIMg6oyCRzT1bDWNek_g5BCr6RN-l5fFw0cPB8JdpF7HRNnIXgmm5_LRGFye6ff5QxNYvgW_qaP373AS2K15dGkIlBCMONSvvGVjRiAqT3DyylEaiAuMETkMfnRa7zgC2Zu7RsqDSclObjzSFGr-FX4bAqVyMhzVR0UerPLxsJOZY3F54vDaqG_ueOLNPFcrWeh6Gh3HXqwCtXdyc4WhlAlWY_lXYHUwohlbXI7gW9N1zai680Zud7o964LpKdq1rReztl1xFcj8Tqf_2zrOoUdMiciGg3gBkIcY3FicUOekjIfGBO2cWf7hfRcqlzQvemBsiRqNRldJTVhzAWVNbraKDi5A6L_099qreLl3uRQzTNw3e7GDnnP6FngO0E-NLDq1JizMFa9G5Sg==",
  "id": "rs_08fcc85769f27564016ab43e38f9c487d0b062a97fe993b0a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The gripper has stopped just above the empty threshold and the wrist view shows the plush visibly compressed between the fingertips. I’m lifting vertically to confirm the body comes with the right arm.\"}",
  "call_id": "call_vb35gOWPyLAOwQabfmR8Zngw",
  "id": "fc_08fcc85769f27564016ab43e395cb887d0a111c77630a2bea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vb35gOWPyLAOwQabfmR8Zngw",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 1.9759, 1.6249, -0.5419, 0.4858, 0.3916, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4309 right_y=0.2959 right_z=0.1506 right_yaw=0.1217 right_pitch=-0.2035 right_roll=-0.0934 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7118, -0.0562, -0.0513, -0.0073, -0.3761, -14.4889, 9.4701, 1.2234, 0.315, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ca7ab3f94861e73e1b5eb058c2de1b4bb0027cb72185f00b4218a921ff72cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742bb4e70b16df25cc038e1a22bd9bed4203ed551027b1ed9410e41731aa1dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f5edf271eb36ac42dec36875112571c1a9dec8ef964da76a90db2af6bbebcf",
      "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 · 1.953 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.7532, 1.9377, 1.5623, -0.5339, 0.511, 0.4038, 0.0112]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4231 right_y=0.2832 right_z=0.1477 right_yaw=0.0942 right_pitch=-0.2041 right_roll=-0.1105 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.5795, 7.4188, 1.746, -0.0904, -0.0464, -0.0073, 0.2393, -11.1932, 6.1333, 1.3602, 0.3004, 0.1294, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7528, 2.0151, 1.3544, -0.1825, 0.5041, 0.3958, 0.0416]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4304 right_y=0.2913 right_z=0.0797 right_yaw=0.1105 right_pitch=-0.1551 right_roll=-0.0717 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -1.5658, 7.2274, 1.7118, -0.0611, -0.0513, -0.0073, -0.1846, -11.7675, 6.8308, 1.0965, 0.1538, -0.1148, 1.5311]\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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 1.9759, 1.6249, -0.5419, 0.4858, 0.3916, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4309 right_y=0.2959 right_z=0.1506 right_yaw=0.1217 right_pitch=-0.2035 right_roll=-0.0934 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7118, -0.0562, -0.0513, -0.0073, -0.3761, -14.4889, 9.4701, 1.2234, 0.315, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ca7ab3f94861e73e1b5eb058c2de1b4bb0027cb72185f00b4218a921ff72cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742bb4e70b16df25cc038e1a22bd9bed4203ed551027b1ed9410e41731aa1dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f5edf271eb36ac42dec36875112571c1a9dec8ef964da76a90db2af6bbebcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5ApyTWAcKHsC8_WnQWbFEmkNam3BbYpBuDu4yUbiLzsTTm2QeL3llJGvoCc-CQrZvV10mrFIvJsst6gS0jMKtp_Tmwk0iSLtDAtYNRz1g5HQU1752WNEluJEfXZgMDZFf8fhzTtPU2sP563S4mIfgJm-_QuiQ2H60Z7_jtIKUOssbbi3Qe3LLIkH2vtRnTeCBNbR8aZwVU-l1PCkFTYPnQmRyvLvikb4kY_dFWrRRiiG8xKln53e6Lg7J9eLjjzVC-oF-SqktVTUC5vV_rMZoY1UZ9ga5EIhy9g7Xaz78xe5xDY_bYUwZN4ztMxBNwN2FzM0M2inuY3PLYq-c74n3OS20VYV7tCQZESEJ897JdG2LtCkPloN7ZqWWdHcvS54A51R5fJuh9X_MZULXTz1jBwQnZxTpHj9u8DJSPuPObtpT_4k_hWCUcyYUw17cU3NXPtcfFzbWIDIQBok76wN40zpvxf0tzPM4-Mgg5vScjPJeLjZgAYoWxFJTdBKTltctgok3YkkRy8x1FlDD79v0F_D-vJMR8Mze1Qx7sgTwEe0cxb6Ct0Uf_hN1EXgnlIJwM2mF5jqXlK62C1L8-ZZlmCflAS1hmRFxXcgomvZ0kHdb-NdO8FnaYDWHm-m427ho85oWXrsIEfn4VTB-QOkvKhHXYC5ILWoyfkxnLwnp-qRR_br4UGQYKK_X1Y87G9whOjwooCzBdiG90ZMqniV2FdCt53hhguI08NcMEFY5lh8SrOOZZvhVYA53Otnx7Fk3rnr3oj24vA_Ns0Vsacoa0BDnpA70Gmh4fw1YeDsbv-JIP7hHEVzutAqIrswOAbn6pxlqT6wNmjsQ-fhH5f--4EZ4MkUjYlH3QQcUMglizl0TvtX5DCPshlO49ajvAmPiqD16do7gbABXuyUNhW3RLluF8mBXa1LBC82NAJaVpx5ttp836SlZxEV9DSZ-ggmOtIWBsjIsRotnKwhNjEWBLzmE_PT0PwffF9dq1DlJlBc-MRNM_1nrPxfxXFUzMetcR-VVzljnR4fZGnFocZdaXTXIDPNqs6cmXPJbPbOIJZfnvqgJHHpzGMVnYShswgE8C9hnbWtqFhoHkSxnYafc0TTXF_QExqf50FLcBokZw8qqKkg3QuiAT5xHnopa7Rax0nik5iIwQ1EcVgvmeX4qEe65sXWEEWq4qNU_muO-guAPS84G4F3273ALNDsYIudamYJihRiBWSJvm5yWJtlxYe2OXE3iXf8_YyrmoHGVC8N7S8n_qxLql3EzrPyjoi8EHxwpSCWWD33s6wW_W0vyO542TpZgbJJBSkbaz7eKUNhRoURGwxhHqAqgtaMJ4XupDCJa3xgCo2PHcTZzzZGQ9p5UZTkvq7Uyj-EUheJuyV3VFa9KpkNgKGBDKVN_yC3L_JOrDwU_4eVdEzQps3sD88l7UR_sTk6zvBUfI3MnpaQ1dP0pCW2NENnQXXt9DMjA6-Vn-psrGAi7sIQbm_6raw62jnqKv9XTtaxvUQko3mPWN_9SPRkqaayhvaJWt8rx7yF1nQ6V2KtTZDzPcx9QPHz0KJfr3C4BH-TRBIwfrTuxLs0XSQr7nL3mGNnHsSg3xVT-YCKGmgCPxhSnnjiOtE0IWEpIYIVrr2S0l7UZU5aUnHld1gnJT2w5IUqaUWxHc5Nyngp0DHyC1RTg1UTfiHmyex4lUHVwdySpPRVyaRwrDfdrClLwBFBdWfIIVSER7r7OX2PYJEllBSirpise1A4d0Q9UW6AEo-I-p9g6hONtueQsY3NQ_dgY9-_qeNCzgLCXQnl1r9uXakqUgzBNOaSfy814huOcHDKHrRjADvJoUkguTTYjqSGsfiXeCmwe1OUtEqKYTCfNlpW-78Bat89cab0HJuHY1yhStxJBi8JGJ-TP_1x7l4XkSTyMrklw66dej928gfPg9QvMDgxKPAmE_6uSbxJOimq9TL_VHG2hpohypW4CXgapNEGBSEPVED3PXhUOFgldh_Q6KG8nWU6-HlxYlarzNPXEYQXsCm4I_jYDviYp0SLhWtqzYTW-QT303XfaqIoYv0iFSJWkV5JZEbm2JafzU22Z0imP5hS9CvINfJVHaqjGb-F5ay1jXTFTmJ8Q_0zYnxBEFT7vUcJnboWc2hGqUpo8HmvJAEZ_ZRkxI8Zslh6Y7j4VjDRwPVkgJ8cfpl-gu4ylnp5OpLO0oBUmj8OVy6u03pLk3ydWxunbzj2BKuKHWzGAS3yP_P-m58U7u3Qpx7ueZy3PJrXkqgOxwcGKWCNSXsmZosp77Ei831YIYg1hz1AmgmBoHv5Qb42N1hR7QCgvYIA-TvVum7k7Z93Luoi4cVBCgmqCA59ZFjN7Eqtz9n5FFeaBGBhSisqJrbO4qFOFyXPlXBzS6xSeRPxSRqX3kDJvzOMxozR-uL-E2fG9Urii9TFGogJo1-Em8MW9dSJ61eaDb6AQ8gn8ggC1bq1LVq_vhWxx-1lRpbN3qgUUTaOU3CPln-RaaUrylyA-68L_jf1nBAoJNdZW7tL8YdEf6LxUZhD7edjKWtVofJ0m9UwroysVsFFrlKb3_M1lPsRSvjS72gkpLIq0Hfax1StkZl74ymNAVeuGvtW1884kdW1o6w1D_J_bgW8qsFxoThs5GlxUT2MCoGzRDqkG2qbGOXqbQQ_CumZlyV14mtFUjUJAwaIyxdnXXy2V3ELdI-fBfU5uQwFYuPs32_cLrQxysCtodWtPDCa-1vQZGNuSZvLD8beSTGtbvGPL_VZrGuCGZrAJkH4C09YfrZBtR2susbNc4i8AjWbDauL8RyaQnypk6K7VmIuPZTTtzqdxBziPSgt8gPemfXP_4EOYboFbY6BJk4ON9wjm8nBgGOmpm2vcMpXTI",
  "id": "rs_08fcc85769f27564016ab43e3c884087d08486921d980adb67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The tan face remains visible in the wrist camera after lifting, proving it is still beyond the grasp point and was not held. I’m reopening and advancing close to the verified table-contact reach limit, while staying above the toy for one properly positioned attempt.\"}",
  "call_id": "call_PfaTpAhb3L0FuOIlRhptSrpj",
  "id": "fc_08fcc85769f27564016ab43e3f388087d0b6d62601635dcb98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PfaTpAhb3L0FuOIlRhptSrpj",
  "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]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0742, -0.139, 0.9967, 0.6876, 2.1166, 1.7248, -0.5182, 0.4324, 0.3256, 0.9951]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1847 left_yaw=0.073 left_pitch=-0.0307 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4681 right_y=0.2933 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.2448 right_roll=-0.1156 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.5795, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122, -0.6496, -11.4393, 9.853, 1.4872, 0.2125, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a213df0f0eece08ed693bdf79c663031a8e6565524572f4fc3f5e410210e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ccdb6a7913f5cedd454022f1f9a1eea479604859f3f284122ae6005d8532e91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ec608a7ebd456bb51f9cf104fe57634bab2a96cf307d08a3a7eba30dbed174",
      "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 21 attempt 0 · /responses · status 200 · 1.871 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 2.0045, 1.3609, -0.215, 0.5037, 0.4007, 0.9949]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4278 right_y=0.2892 right_z=0.0826 right_yaw=0.107 right_pitch=-0.1673 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.0205, -1.6068, 7.0085, 1.6825, -0.0513, -0.0708, -0.0122, -0.1026, -8.3624, 5.1624, 1.033, 0.1978, 0.0269, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 1.9759, 1.6249, -0.5419, 0.4858, 0.3916, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4309 right_y=0.2959 right_z=0.1506 right_yaw=0.1217 right_pitch=-0.2035 right_roll=-0.0934 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7118, -0.0562, -0.0513, -0.0073, -0.3761, -14.4889, 9.4701, 1.2234, 0.315, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0742, -0.139, 0.9967, 0.6876, 2.1166, 1.7248, -0.5182, 0.4324, 0.3256, 0.9951]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1847 left_yaw=0.073 left_pitch=-0.0307 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4681 right_y=0.2933 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.2448 right_roll=-0.1156 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.5795, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122, -0.6496, -11.4393, 9.853, 1.4872, 0.2125, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a213df0f0eece08ed693bdf79c663031a8e6565524572f4fc3f5e410210e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ccdb6a7913f5cedd454022f1f9a1eea479604859f3f284122ae6005d8532e91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ec608a7ebd456bb51f9cf104fe57634bab2a96cf307d08a3a7eba30dbed174",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5DBW4N6J8ZrJ5XcZUAdfIJXOS6TnwdcApx2hIfOXJe4URsjidfnWekS0s42knVzSLQjNccJKt6Jpj8U5ZoaPrI0pQdg6IbLZb7Vk18AZBrNsMGxqchjh04348ytvRDLULUdeMO5YQzlhEvGzBF2_ki6AVmuME0a5Ntj3LOu3tG2yRwXKJTprwm8UUuRDVgHkrlQ58TgYZABQn9eGyrxcQXJER5JfvBvi6JMwYRylCZNuJ-JSEM_6y3ejw5vtHwzZpLuKbXavalJ2MJBt9jMEogvfSJ2fPWwQ2sjHOHDPuiCoA_22JKNwa7qcPVbgMREC4xqBsNddvRFfxj_C5wEschzfQ9ywup_inD3u6SHQFTuBwxAVBgJctgiY2Dib3-2zmLN0Ab7DTZ8sSuCtJ1oVlqPZ0Wn2jWYbHVJ-i450mLwGsTDh4W8qvI0CFdysD_FbClXFZtYOLkjc-IVV6R_OrhXQ6rJ-iMRrg4Ki5Z392AhaLq85-kb4cBEq76NTUnPIXic2yYABN2kfbs7mAmexiTWhoAoLcJ3AQ9tO03-0JPA7csHm-Q0_kpK5qTjEnvFJaJnOQgCwzvnbyr0TWBpIagqBKb2UywqLnqvcV2x-jK9YxPdWwQoZjqll5jtOjhAePyXRBzLuMpRLcZfr8QlbKfygxYE8ZqZZws8BRcOwOiU41vlmbJ1w-QggiY2osdaxeY5f_dKeu0K0IOdW6sk5zoLbhVeSpIXejgdedp3VnVvC34tU5bprak7mvXjS1ShgpCwIcau95Yd-4d8GBkfz437-uZOMIpRkcCvjYk5aATtKIcpAvnHwE9uB6hKOok0pxZ2Zwjzly7-5mRbAreQKdefZDXbvHd1elKJckFMuffTXKrBZptFk_WJo9CXU5Zx6WEXDZrAnknTF1o8dVuyO8TH_fJ7P_749EpMJ0D-ZRZnorZ_vDGQdiY4_xebVL_oag_qqZObZjcDis3mg6KT5iAiASK0-n4SZ4_3WZ6tCSTQEciIanURbnL0-JEkGyfGurbm7gPiGAF_cAPIpPy-btfJRUCWiY0Sn20bBugFg3sHZ3TMIOdBcDjUjxivd1fLrW6RnMV03I8PAZEwEjH42fizjq9A9amk2811QIOyoDF8LT8L7TmUoxzKfS_8HkPXUVWOEpao0PLXLVkQ68qOeTo_FxbqaRcoCzmBCvbjSNxWLerXdDQ6aNf3mrNnCjTae3mkLrOnjDXHqcLcR94ZKDsEEoVAyuGlzLQSJpS6TStnnuuauAI0Q7km8lNHNDjlq5C4K7h1QgMobCRia_nOT8hqQ==",
  "id": "rs_08fcc85769f27564016ab43e424cf887d0a27728482100fdfe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"At the farther radial pose the tan plush is now beneath and between the physical fingers, not merely beyond them. I’m descending to the lower torso before closing.\"}",
  "call_id": "call_J6ldvWohzl1M1witUbhh8SXF",
  "id": "fc_08fcc85769f27564016ab43e428a4487d099ef199b73764434",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J6ldvWohzl1M1witUbhh8SXF",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.1394, 0.9967, 0.6868, 2.1551, 1.5894, -0.3351, 0.4244, 0.3248, 0.9963]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0729 left_pitch=-0.0311 left_roll=-0.0582 left_gripper=0.9967 right_x=0.4677 right_y=0.2941 right_z=0.0705 right_yaw=0.1378 right_pitch=-0.2404 right_roll=-0.1057 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.5385, 7.0496, 1.7509, -0.0317, -0.0708, -0.0122, -0.2667, -9.812, 5.7778, 1.2137, 0.2173, -0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2d56dac8ed82f2fa88880c6c351ba2169f2712abf826d2d4fb9633ed53cf4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03a69ebe378544a96d684496dd6fe5e43f1b3b1838b926ee919c4a9ed8ae00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fcc6470b483b54eae20dd3b678b8036707347e5bc474ed1fa0cc061478b1a0",
      "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 · 3.58 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7528, 2.0151, 1.3544, -0.1825, 0.5041, 0.3958, 0.0416]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4304 right_y=0.2913 right_z=0.0797 right_yaw=0.1105 right_pitch=-0.1551 right_roll=-0.0717 right_gripper=0.0416\nstate[joint_eff]: [-0.0479, -1.5658, 7.2274, 1.7118, -0.0611, -0.0513, -0.0073, -0.1846, -11.7675, 6.8308, 1.0965, 0.1538, -0.1148, 1.5311]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0742, -0.139, 0.9967, 0.6876, 2.1166, 1.7248, -0.5182, 0.4324, 0.3256, 0.9951]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1847 left_yaw=0.073 left_pitch=-0.0307 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4681 right_y=0.2933 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.2448 right_roll=-0.1156 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.5795, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122, -0.6496, -11.4393, 9.853, 1.4872, 0.2125, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.1394, 0.9967, 0.6868, 2.1551, 1.5894, -0.3351, 0.4244, 0.3248, 0.9963]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0729 left_pitch=-0.0311 left_roll=-0.0582 left_gripper=0.9967 right_x=0.4677 right_y=0.2941 right_z=0.0705 right_yaw=0.1378 right_pitch=-0.2404 right_roll=-0.1057 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.5385, 7.0496, 1.7509, -0.0317, -0.0708, -0.0122, -0.2667, -9.812, 5.7778, 1.2137, 0.2173, -0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2d56dac8ed82f2fa88880c6c351ba2169f2712abf826d2d4fb9633ed53cf4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03a69ebe378544a96d684496dd6fe5e43f1b3b1838b926ee919c4a9ed8ae00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fcc6470b483b54eae20dd3b678b8036707347e5bc474ed1fa0cc061478b1a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5FcjiZjf17GVwx8SEpAe3Hy1n8abeWEhpAIiK8h3owoS0Mq5MfBOsPbh1nxjV33TLmYZlMVrT97bwcA5BYt4malJGzdAJR52BqCbKTY4x4NCykU6K8STVecIbejxQIMLupmqVqWRSzxYfpFU8WVs94HiFVtfCxFfDgNaq2FvohK4Sr7sCHKtECds1zZN5RpCr_fnBKX-SCXT336W0JAo-UmgUdFDa8sZAff8R3Yav7G4sD0DoJFYgcfToC-wS1KO2ELO2Mm86TN-0SY_gNruDt_dAqANPdHja8krogVRqKYulpsdr8Oqu7I2qjSMJ2003vNZWSjQNpqP69Uqka8ZyqUwE-PCiSHit01lvQmuWGN4vFfHg4mNlpnaQjk96GQ2d2GSmIBSC-1uIHn343asUZEx5pFWYCXLRjQx88Yefh4AppsjXSn2iryyrFWQ9_G_lNZLNfSS2MsphxST9WJi1yBdQIw5p_uOCAhiOHSyUtp3sD9ojntOGUiZJWP9Mo1A9ozpj84k5pj0BRERd0743BXWkZBD_sK-5TOshHtCWzeuNGfVUcbuOeYSShMWybtvKSK3xmnIIDs3UpuD6LsoFsx0z1ABXfrz2lCO_m63Ww6o4dr3HuTYjmi3xDLXOO352R4Wgp6sAPAWKdj-e5h1DfYYifvgSurR2xT6xdfTQqcdXfF6BoJ18QIrLQ3LMpYNz_OPV57E4W1zN-3OPZ0qvh-Hnqhp-aWTnmoVgM2_Nqp_If3oE_ClvpJzcThkdwMYGCaoDoqBdgmhjL6BDtPbWWAhc2vSwfr1pz-FZdtEDRXKCe6m9N4gMpXgXIXQ1ybeavLxEOMmkaSNilmy_t5c0zkdGrdLbfrSLdrb4T3VeiMJ602kPVBcO6Xu6rs5biIw-AEfvYC3TWk1qzgZ2a6jfGVljL60Ss29DD2p12WSgaCbbX8Qkn9HF_35MKnGhYRP12oh7WBYNciyRNU_r2WfRsBAu97P_oDVY4l3opoV26t0m_qi9bt2dF0UcL2i--HBP6FGCy55qRq0vDXNqFf9YTfZcq1KA0sjIB66wN22bJ9jk3xSDjsTNyM9YbSUNXWCqsZnz91uEz3QwF4uZf6AivBXTo1KIiLWK7wcXB9IAKhUH7riaALrL4pUGmHbOHmej5EVAY-eCpQSRVvkNc9-AbrikGttOZvPcCfUV6nvJR7c2n8AXZMtplyWIXMyXRt87t",
  "id": "rs_08fcc85769f27564016ab43e44ae2c87d0ad25203a58d3ccee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The open fingertips now straddle the tan plush at 7 cm above the tabletop, with its body centered between them. I’m closing around the torso.\"}",
  "call_id": "call_FUqdGaYbCQSYZ55lVVSdMOVO",
  "id": "fc_08fcc85769f27564016ab43e44c8d487d095ce0e7b07a53309",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FUqdGaYbCQSYZ55lVVSdMOVO",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1658, 1.5791, -0.3023, 0.4168, 0.321, 0.2005]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4693 right_y=0.297 right_z=0.0653 right_yaw=0.1473 right_pitch=-0.2336 right_roll=-0.0969 right_gripper=0.2005\nstate[joint_eff]: [-0.0479, -1.6068, 7.0222, 1.6874, -0.0904, -0.0415, -0.0122, -0.1436, -13.053, 7.2684, 1.0134, 0.232, -0.0317, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4695a220c2419caf590b8218493e212b200bb3c722e2c41d984030feaeb07f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6055a0d2c5ac4c76c8a2bdf64fad798e287db4b3c928c5c0c2281008c45189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcef550b6e00992bd0d43799c53595262397020b272c5e8502c7ba1e7eebb723",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.426 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.7532, 1.9759, 1.6249, -0.5419, 0.4858, 0.3916, 0.0436]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4309 right_y=0.2959 right_z=0.1506 right_yaw=0.1217 right_pitch=-0.2035 right_roll=-0.0934 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7118, -0.0562, -0.0513, -0.0073, -0.3761, -14.4889, 9.4701, 1.2234, 0.315, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.1394, 0.9967, 0.6868, 2.1551, 1.5894, -0.3351, 0.4244, 0.3248, 0.9963]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0729 left_pitch=-0.0311 left_roll=-0.0582 left_gripper=0.9967 right_x=0.4677 right_y=0.2941 right_z=0.0705 right_yaw=0.1378 right_pitch=-0.2404 right_roll=-0.1057 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.5385, 7.0496, 1.7509, -0.0317, -0.0708, -0.0122, -0.2667, -9.812, 5.7778, 1.2137, 0.2173, -0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1658, 1.5791, -0.3023, 0.4168, 0.321, 0.2005]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4693 right_y=0.297 right_z=0.0653 right_yaw=0.1473 right_pitch=-0.2336 right_roll=-0.0969 right_gripper=0.2005\nstate[joint_eff]: [-0.0479, -1.6068, 7.0222, 1.6874, -0.0904, -0.0415, -0.0122, -0.1436, -13.053, 7.2684, 1.0134, 0.232, -0.0317, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4695a220c2419caf590b8218493e212b200bb3c722e2c41d984030feaeb07f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6055a0d2c5ac4c76c8a2bdf64fad798e287db4b3c928c5c0c2281008c45189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcef550b6e00992bd0d43799c53595262397020b272c5e8502c7ba1e7eebb723",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5KC1YNz710jXVMoe1lXLpdPoqq7DL5Sou3DAVN4kOiggQDWkEZCbgXwI-PtCYwjokXJaCl5Wrl2tMgdWwscSu0yVmpGjBVa56zLWjk_xM7-VRxYRTc4e7JpMSmeBk5aVu1ULPS11r9K3r8wJT1voZLnRBtTR21Q8adOT11rcqT05gLgihY01iXBHFZlKfql0CU9kYT2ed3de-V-_uj6KLtuz79vHj8mugRmuCs267weGsTpKjPHrVmYMkFqtEYpyqPVcKsQlyso2sr-BWY-ZpaVE3Qlm7qRSbbjBENbXkyX9SML3K9gXo6Y66YMjj_CThlz2pVrHJM5NWwd6LW87plAwKqh_wmTTeyo7f0yGQKy3Rc7LDEVHDICh1lCHWHPEM7X6aXOjTv9hcR4JRAMm8jLG1Bf3XTk6vc-brC5NyZnjH6aPb2HWXy_AENd0wpuYkmOT0ljWJWDhIFy1GycrYTqE9EVugeP7DxfTfMQSywQWlFLetkjFyqauhHh2dvWc8MmHE8vp0SyZ-KJGwhO7XI71oH8AZeJztiwP9s0H7xyfkzZK3bhju9IJ1TsGCJzq1UUH6ihXpLRv1Gk-mFPDezAVyTgtzbiDlhKEYGk2FL_jeS18_-bQLDzn-0B4pY1xHcMiouTs2G5sR-hHU7SDfysxvVYQxexJVuJm8L-BPH_7ciKc5y9wcvP3NKk5Th3LiIY2-XeUEd_qXdur-HAjI8nKFLbBZdw2jW4gYkZ1zzq4DD2TQTsxc0qsimLB1Qc8_eQCdolCGINAsRV15lGxq_KrhKbyXzGlRX_9yHY_dWmOuyCqpOQgdIlR7FidPKlN33xDpJ-TEQNhNLIRMiucg3MNYLXZcHknZeLjnelgpoL9JmUYm53igKohLrmSoXo9hVkNMPMwlAhn64UsQU66TqN5ng9OaqPsN0eMx_LiIK4AHs-ksMkcoqf21l74HT6JScN7ibmgAr08QB6Cu4nyft4be_6PSGGNefUehGFFtLA0MmtVscmhLjs1dBPimtTaKm04QQ_szU0h6jyM72bTrWpZwR4NNra5o-3lxpfwJT3rP8Uh-7SxIo0_Vb4VEj2v3kLX5XAvLnfbiYysVHrFx2gRw3pyaoR13Xd94vC1bh-9ycR0GS-PlpPisAscNstIRfd09P-eWX968qrsK07mIh2k_b1Lg17ocFBQw3tNiNsDNlmia_u41Rf3OCJ4yTIMg1_v41kL03n7pC7HrfsqwAYxmODgtCo_dybpMibun_RLDxRiTjEQ9QKOe7Be2b9FbzmR0S9PTYgC3ZM9gCzH61sR3-2n2Emw33iCn6M2OKKCUV85XsZqK9rbl-OUYmNOmmSAgOdYFMq96etjoZLtEm8AUjz5d5zymHZYlRLQIuEB8y6xSvDPVrTsxPdJWARkr6yP7tSUPHL35BsGt0Jhq5EZnZHkzosPfNzzpRtNbokwrZjCYaCf5WwSfOpPohIaQUE3G-70J6BKhwqMUMRR5oaLvVV5PwhNJuw9Nb-dRyzqnWHWdWXHWiSQsWCJ5i3E84F1on56ogNgYKgf34sd2f-hlFbJXegsaQ_QWONbmiZYtSpO-6lLCexLLdjwqh-68BoxE48bVJZpkNAdASvbFKwHneE480BMeW9b9Kl54iBZYLTlpKPmxX9sbW8NmKRIqD-nu6BQVNrA8CnGtze9RX-0abIl5mJdk6Yy2tmog43C1PwoHJy7OdM_HnOcet_XTyxpAr9n6kSMyuuRc9kEHE5LPlzLe1FTx17skaY-b6jdZXFSSlQAWzB0fVJHtEE_pOExP-uMmmVVjz9hQ1kuo3PiAKapgClY_mgIRyqBwpr0ieJiwWSLQnACMoyL1NwAX4K91IP_ETJIYx8u7f91tHvZqlgnKtcdH-RR3JPtSRclPz0OyoHPhiuy1ttBXgQacVnLTyxbYM87ZY8dn1f9s_3nXMf7PD3UuHLf5gXcs_k-ffR36bFyVcNkJJIpqqisWv",
  "id": "rs_08fcc85769f27564016ab43e47abdc87d086b9e820d7d8c171",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The gripper settled at 0.20, a clear grasp around the tan plush body. I’m lifting it vertically above the surrounding toys before moving to the right basket.\"}",
  "call_id": "call_Wodprzlurovc7wl7y939akUT",
  "id": "fc_08fcc85769f27564016ab43e493f5c87d0b3aeef4f255c5b47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wodprzlurovc7wl7y939akUT",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1559, 1.9301, -0.7067, 0.4065, 0.3168, 0.2033]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4723 right_y=0.3016 right_z=0.1492 right_yaw=0.152 right_pitch=-0.2753 right_roll=-0.1157 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.5658, 7.3231, 1.7167, -0.0855, -0.0464, -0.0122, -0.2256, -16.1846, 9.4701, 1.2283, 0.2662, 0.022, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38583a09d11b2346547fd16ed98faad66b5a2b5589003e907cffd68f1d8b6e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40435f41df8e17faab7eb7a87e6c240076afadc8714cd5bdd688ddd535a145a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bcb40ded911184b554956980643b7d2cebd19387c1272e982adf274347a3e9",
      "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 · 3.366 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.403, -0.0742, -0.139, 0.9967, 0.6876, 2.1166, 1.7248, -0.5182, 0.4324, 0.3256, 0.9951]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1847 left_yaw=0.073 left_pitch=-0.0307 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4681 right_y=0.2933 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.2448 right_roll=-0.1156 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.5795, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122, -0.6496, -11.4393, 9.853, 1.4872, 0.2125, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1658, 1.5791, -0.3023, 0.4168, 0.321, 0.2005]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4693 right_y=0.297 right_z=0.0653 right_yaw=0.1473 right_pitch=-0.2336 right_roll=-0.0969 right_gripper=0.2005\nstate[joint_eff]: [-0.0479, -1.6068, 7.0222, 1.6874, -0.0904, -0.0415, -0.0122, -0.1436, -13.053, 7.2684, 1.0134, 0.232, -0.0317, 0.7888]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1559, 1.9301, -0.7067, 0.4065, 0.3168, 0.2033]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4723 right_y=0.3016 right_z=0.1492 right_yaw=0.152 right_pitch=-0.2753 right_roll=-0.1157 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.5658, 7.3231, 1.7167, -0.0855, -0.0464, -0.0122, -0.2256, -16.1846, 9.4701, 1.2283, 0.2662, 0.022, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38583a09d11b2346547fd16ed98faad66b5a2b5589003e907cffd68f1d8b6e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40435f41df8e17faab7eb7a87e6c240076afadc8714cd5bdd688ddd535a145a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bcb40ded911184b554956980643b7d2cebd19387c1272e982adf274347a3e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5OKifgCjhwFnFAtnGy92h5xx35OpOk6DJXCyRl6AVJW1OKW-_8ymFxOlSjBaiNFZmHsrgmTRs05xzakVrxIk0_wq-CgIAkD8X71SNnuzLlimwWCI1KniFVufQSnUKz2wz5uKd8MQHxJIFLUZKbjVimwjuk9byuc7rApCERadkrysQwPNKb5CmCaayrZAuwxcP5fWdfZ9OwLi7Ol3-NnlP0HA65m7ILRtIS6H23TxI80dJ2qqGAAw-1d0sewgqdfEUu_fW_88tJqzGeHE38KL54eiHu2NQBJCCQVxLQvK0QEsG4au2m3xOlcruzrYMXE_BbG9tqPJLXat5RQXeA888M-Z7uVVL83-xcajUYNShmWveQaEMjZ4SUpPxvr7CWylvfhBBiwpB4LKX1R1SeIyXPgLxsPbzvaAPN-jd1iyi9ZAUprkbPLJ12FpTEiBJTR8rCYhaFE7eexx7WL5qNbgdH2f4Y3O_pk7aee492binmjZUMHLaMULAkchCQ1GWWHuMQOaJHcoi_OKz3_DLF_OQjkp1l7YmiTlB_ayAfgg8Zhg5rZ0aIvxrv0s6VMxmyjI5pSwE9Y5a_wP72tL7nsLLv-xX5Qler24fXjFl75w7t1mC4fIKHsoZbzD9eViVoj6KbXlubcSjSrwdAOVZtSn5aTVl3YNbbv2gaUaMw5Bd8s5xm7W0cNO4ou9lHXhQQax6sy1BiEIt3VoJF5CyGuhrDwh8KxjxVzfEAu5pPpmArLq7nqrcRe_ZzA8rCYmBBsRThsKC6F4I17I2VsfANDAqxdkbtJ0Dl3sAy97mlbW0x08X_R7UdDFTGOKJyuYfmyens6P9IShsgtHPC9KDwnOzd-tp5l9ok4beXjULYzEFcgKOkZK24C37pGSNzgLu04xKoKZkDLaYO1G0f1LGNxoPe26qSiNN8ppdllNjrdgGQoDawd0eZGEDZ3lVK6tl5mrtJTV-2b9sNb4G2C5f2lz_fSBHUCIxP7ZOkFFz5L7_pThPFI8Ck22YQSjpnbXRhAbIrAfN7ajpd51lxAtvIuwbm0LwCAvr_Tj2sxyZanZXYNiLzSlOvqXXKVCi7OaXzwunEbiB-4CNG4W-7BfiPaaaAysP9I5xGAhqDbQFhxTookV1Qlvwqxu-rX6wFPQhHA1zEWR-MIqyCB1zUPKctK-FjJsXsGmSXh0w3-pC8FmReQzSGNkrCdCNcHeAR0VCKlEhzcTBfyLaAuuen-t5JHCqmG8v-UitJSDOvneDNsozn3y-mRa3zpeYMb10kTbzWFM-IGIH4yK2ncsZoOJSZTCqJQYebfRmpbedsCE35ZJJRYFi1nPE4lS8hqXhI36EIPXeAeQXFW_KJ_5bTlK19KXMuJJGhDKyp9yeViMZwfFRgADCrXN8KbgKDvEai5dWOF4-8fcFFkL4yR4rWbXdruSl5Ql0aV8Le8afLE8YShvOQN7Zx3Tcmulmo4iGDXmYIj5vZ7TmaCaIj-e_U8OufQdKCf2aaEfAeaCnjaaIuFOxssJuJzyB14RN1b6UO4EpNEEQ6NgDLygMyHlRkgI5if13kPc18ySzHMTlepBIgcgW5RAV5JgR2v24H0PlL3Lt4tlNfiovsgHIFCoLpq_OZogWVPA==",
  "id": "rs_08fcc85769f27564016ab43e4c113c87d0b0557a4d907c3d4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.14,\"right_z\":0.18},\"note\":\"The overhead view confirms the tan plush rose with the right gripper. I’m carrying it across at clearance height to the center of the right basket.\"}",
  "call_id": "call_nUQFzJ0gcWoWwql9rZkp8PZ6",
  "id": "fc_08fcc85769f27564016ab43e4d4f6887d09b7387254d74b403",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nUQFzJ0gcWoWwql9rZkp8PZ6",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3843, 1.7638, 1.4422, -0.5785, 0.2146, 0.0868, 0.2055]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4512 right_y=0.1458 right_z=0.1606 right_yaw=0.1404 right_pitch=-0.3173 right_roll=-0.1134 right_gripper=0.2055\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.7656, -0.0415, -0.0806, -0.0122, -0.2393, -12.0821, 7.0085, 1.4383, 0.1636, -0.1294, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f584410b876257199876e6266891b547afcddd007e2081b4b94f4ddd51143952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aba53815e4080e4c3ab25e93ce64e9aeed3b85b525db5b6da19bb7ad59a0dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5eb81092a92394717186f1f8d4bba6ff8ca0b817195ba182495980871b53fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.41 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.1394, 0.9967, 0.6868, 2.1551, 1.5894, -0.3351, 0.4244, 0.3248, 0.9963]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0729 left_pitch=-0.0311 left_roll=-0.0582 left_gripper=0.9967 right_x=0.4677 right_y=0.2941 right_z=0.0705 right_yaw=0.1378 right_pitch=-0.2404 right_roll=-0.1057 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.5385, 7.0496, 1.7509, -0.0317, -0.0708, -0.0122, -0.2667, -9.812, 5.7778, 1.2137, 0.2173, -0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1559, 1.9301, -0.7067, 0.4065, 0.3168, 0.2033]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4723 right_y=0.3016 right_z=0.1492 right_yaw=0.152 right_pitch=-0.2753 right_roll=-0.1157 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.5658, 7.3231, 1.7167, -0.0855, -0.0464, -0.0122, -0.2256, -16.1846, 9.4701, 1.2283, 0.2662, 0.022, 0.2711]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3843, 1.7638, 1.4422, -0.5785, 0.2146, 0.0868, 0.2055]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4512 right_y=0.1458 right_z=0.1606 right_yaw=0.1404 right_pitch=-0.3173 right_roll=-0.1134 right_gripper=0.2055\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.7656, -0.0415, -0.0806, -0.0122, -0.2393, -12.0821, 7.0085, 1.4383, 0.1636, -0.1294, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f584410b876257199876e6266891b547afcddd007e2081b4b94f4ddd51143952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aba53815e4080e4c3ab25e93ce64e9aeed3b85b525db5b6da19bb7ad59a0dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5eb81092a92394717186f1f8d4bba6ff8ca0b817195ba182495980871b53fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5SzKXl2MxKJN0hE5f97fDrGthu9YcfL4vPnLj_eDwObjzK8hRn01DE2L2NxwBbyuyEHnLG5hfqw7JlEeapSKmoUIQbxXLuoUnwmAvvdnoQwFFIjdyW78L2B2rqGOBYO9xR2Gy8Ka-RE-1ipoEHG4dCWGpag9OU-zxRc-uh0KzwLZP3cg1MqBBktwu4TZJMOsYVIKYT0wj323Tx5ZsBuOyJwS1wdU7Pa6aPy3HV5YthAbxsmDa67YHjLksT5wu02VoGLtQ7aTb1Ygk5sz-iW5gRdkOPOPpDq14rRIb-X8_xvNnn9op8DomKb1iDMCHZdJy5EU__pgQs4R-fEBb5AF7yiVRySI5ra8bg4rVB3bd_hbMh3ckOCB1c4GYdN1f_4qJVFz22jL0u7y583qEaMRziqPPbLHdspjVl6u54pY-bEtr_lg9iI9xTqNxFTVicoQY31DPMVgwFuiylojG1Su_-JSFJk1V12KxOTPER93CcGB8PdvwbcFfxUH_gXeMRNEpbA4svU7KI2cfZcmmFPHvFGiP_3tO42mAESfTEUX11nyInOQ781T5ejiYf1PwkmNRpQubxDyg4k6SQoj2OvIxuIz8Iq0ShDSgSU5PbUzvdZRhUKraMTmdgnltv5dav8vlH8wx12zLCtvVdt4oIh-O5hrTtZBJSU7pTbB041dHVo3YVobhyvGOd2EROV0_gu17jAg4FU1i5WYOGGU2zDMQZg3DYhtDIHIut0JCeQOPzEn1sa6wnganny2O_b4hpUB7TmcOEEi9kkjuUXevZHV_GHSIWq8YYyPGtBfHQmtX_7BLbVmBBKHC1BfR0eZ_bDCsMi1ngeM4BtqiQ2UNCHdOG6qZ2t8Hr3POqUdQrZDoXsYXv-JTI80_mCV2X-P3utAY7mgaZIMPjAzofrjGf1F0SBBxW7cYQGtpwHLiMFzkg3HnmLD4iwEhfuFJYCVy85WG4fFPOUNYNHwHlP_CjJvmcjajGdsRBhpKB7Y32YJ8sflDJc9ZivS8PLUmHhOpZHhZth917ORVKKveBItQXodAeOPJXbWNGMxXRkrl723OvquhxkzouKZngixse0LOovg8utk0rztgBq_FYD-8pLxerUi5YmeS2c2a3_ZodyrI7RSAj4egeJW0N3aRekjZPq31yX_A0bN4wRxSChPLo25WEhY93N7YWrTbGmIyFwcZAKthp2QIk_rKOsQ8IPUlwwIhjraelxxlgBVoWD28eZnfQdBxpJJUy8loNNpIg4_LnWIGdQvIzkm6K-cVLsXPpyTvvJK5ss7IHD7hBC0SMlnPXuCTlIUlHNqK-DnacO1CWAejf9n652iiCNCPDpl7f5UE1c61TkAEGsYhfYKMquBjRYQciafDKgy5F1QlRvc0zoYE0OR5mCL9wRmqgaw8AHdO7l48w4jbb21tCRmrxIbRomk162bcfUiQAwzh6JwQFLqbiZMF-Q27q96pGxa2JvNP598PlUuUqJv9puknp1tIC3g==",
  "id": "rs_08fcc85769f27564016ab43e51865c87d0a2d5dc1f0bf965da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The held tan plush is centered over the right basket with the basket floor directly below. I’m lowering slightly and opening to release it safely inside.\"}",
  "call_id": "call_wQFLh7bCeX4NztzazJ2l0Abd",
  "id": "fc_08fcc85769f27564016ab43e5203d087d0bc40c7d6e2c4a2c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wQFLh7bCeX4NztzazJ2l0Abd",
  "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]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3859, 1.7836, 1.2884, -0.4156, 0.2047, 0.0818, 0.9957]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4466 right_y=0.1465 right_z=0.1146 right_yaw=0.1526 right_pitch=-0.3299 right_roll=-0.1114 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2239, 7.159, 1.6972, -0.0464, -0.0464, -0.0122, -0.2667, -7.747, 6.5026, 1.5849, 0.1538, -0.022, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a819ce0f7cfc66ce6b17c6ebe847c65578fdab1df6084a4c76320475390168ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2031700a48cb332738c484025d11f8770772d42900a7119ca9fd590b986531d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d005dd2a1ae31fc91406b9c0827a26df21509fa74195bea3da10561b479a3907",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.418 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1658, 1.5791, -0.3023, 0.4168, 0.321, 0.2005]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4693 right_y=0.297 right_z=0.0653 right_yaw=0.1473 right_pitch=-0.2336 right_roll=-0.0969 right_gripper=0.2005\nstate[joint_eff]: [-0.0479, -1.6068, 7.0222, 1.6874, -0.0904, -0.0415, -0.0122, -0.1436, -13.053, 7.2684, 1.0134, 0.232, -0.0317, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3843, 1.7638, 1.4422, -0.5785, 0.2146, 0.0868, 0.2055]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4512 right_y=0.1458 right_z=0.1606 right_yaw=0.1404 right_pitch=-0.3173 right_roll=-0.1134 right_gripper=0.2055\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.7656, -0.0415, -0.0806, -0.0122, -0.2393, -12.0821, 7.0085, 1.4383, 0.1636, -0.1294, 0.2125]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3859, 1.7836, 1.2884, -0.4156, 0.2047, 0.0818, 0.9957]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4466 right_y=0.1465 right_z=0.1146 right_yaw=0.1526 right_pitch=-0.3299 right_roll=-0.1114 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2239, 7.159, 1.6972, -0.0464, -0.0464, -0.0122, -0.2667, -7.747, 6.5026, 1.5849, 0.1538, -0.022, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a819ce0f7cfc66ce6b17c6ebe847c65578fdab1df6084a4c76320475390168ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2031700a48cb332738c484025d11f8770772d42900a7119ca9fd590b986531d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d005dd2a1ae31fc91406b9c0827a26df21509fa74195bea3da10561b479a3907",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5ZLMsVVp_Y1W1L9B_qreDrTCOhtD_QuG6xGxd7Ju8xKy-GfeLAMdsRiD0XKWXjvGX63A67PvOkAa7L7ZACdpRAe8ho2qIh8NsTLTSdqyfbKm3K-uJ6_zad57iPnKLqArUBPwX_Bjo8MLCZJzvoUJvQhZ3VhAelRboxg0FPQlCu5HlkhvFKdzxVxdoslPUf0X3uURApKimgE4IhIBBvJz7y3vS0W7LrK4bfo3jEtafj9FtDL7TbWmEmBpVmepy7pj2Vnrdcgxb1J2I0ibdOUg9a60aMJIvK3BJTNouzS7flC4UP9RltYnJXfavC_CQmRHDkWPBPIDSc3C5H0IQiWqQKNDZQEd-Mpm0s28aKs8fKsyRk5i4MdvIq8RPQxLTCArwRWqBe2Y_ERUpMBEUUAbpVuA0MOT4TRV0btdj6bzB2AuhTteej9NL9A51MsDJrQtq4RVITMaww2Jq0f3h_NVVNQT3etL5K08q6TtAIur1_LTHoRFRj5yXFxPxmc--1RSeJtrF_KNPGKNnHeYMil-rqR_lek0kpw-EAsQUtwIJGd0YW7GaqIBt9S7E0tlFwY5wvyiuNdLrmhBn8KvcacekfotdSYQhOho9UoYbCCI1DKfVL1O3OXfdozXU-6ck9XrDObgDgucY7qpZTaBHjwxAtAlDelRGcZPKTQx2wSmMy4b3hFjHPYXJM-qF-DAgW6CTwyt1e_CeoGpFmA4U3hLLwsm9roszTUVEWvhhwd_NQtgGaHC0OQlgngHrtuhJKBnwD4hTH6Lrerp04-oyE-EFJSPcTEZExn6i3F_4qDZtYlv60ftn0rLYFt8BEN4qM98UAc-93kbBDuM4oAEqahvTi-XMXDHAkM-XQVJ1mwAcsZQV7c_1dnpKpMjtS-d1BzbwiGvoH9N456AJpYcfd38_sNn7f7I_FnUYgELHyE_jJHGr76vRQaXP3O1oqgBQ-h7gV7penN32UTNe1F3ZQvX8tCIcjkVRs9-DtjlzJgrB6pXddhTgJ7W56V7qS8iq37I9phxuj0YXLcFh9fIaMoBFEDiFd5MyRDXDqmOwqmmI3crpHOjy1aj4iGfbdPa90-gbN9xwuYIV0-RysHD5u5qfoPb6NFIy-q_hXlm_X16nfvhmHV-ekvGVhqSjXiw6JET66HEozwGBNL3rhAxrfoyj4prL5FXss6Grv2e_-Au17BVpdXuUFncQYelmnIoxrF8dkFoleg4PU75om2t3g0W-yHi-iTzX6F8WArQ34bq2bPQqHr6_8Dm0jQVhmOvy-XcrXVPpuM2dE2p3kLcUG8S4vhtGg-Uru98OAdH8jSQfiFlQyhnHunaH8JBpL4Q924mwpmi99BwW1WBKgZhDMDiCe_w2zI56gzstcdIxCX-ZsNLljU3MttTTx7tIno4hK4NisOSYfPIE8Spiu-P68fyS1Ic9Zl3R2UBKTDsQNM4Oqvbs66b25LKUL_oKq9qJK4lRM2336vIp3nilveNmKijb6PKZiLFW5jLNWPUUuxKhi0_X3k5-owpRTiXgfLdqwW8C8YqRY2ApVaJx4hPsidRfFRNOy4l4UONT5igUuLwozrKhNKo-4kYAVj9WXSvRzhZehFA0CJ1xzsm_zoRTQasuDZuv_UrN52xTAM0Qod0pP8sXkEi2fviRrSLHlsYqmgR4gbt1AKmzjaAjD51YfaULR4KkS2Q06pPaC2nug8xN8iNvqjPhhg_IzdtVFK5q79ESkv4MD7E_JWoHzeSwokVhuNTGmb8ZEP5pZ_JZ8A0VLPLNQUByx44ZA1MhHcmSJ1m3d_TLZxKhBVkuie6iwOJxtGWcvyxLPYxo7J4xEkQ16JjZSoX5VPgpR1uyzCiRv5v3EMSDH9zUHNArUo0w6nGeR_0BNQKVZ-k0hOxVCLJ7bqQLKJXCrtVN5zOmtNH5vF14HHFZUHs7tZSGkbZXNrI6fMq55nmQGiw9vQd4ULJQLRLSSOZpCRBEiOqrZxaM9kvvOlQe1dhTctwF8y7fKQy3g2oo1T96KKhX_lVC84gbNj9k1mDtuPAYE8dXgx4v5iF1-8CnztXNiquzi8Fq_7iwtfusEyIKw744HNXKiqFPb2lF9YNFcrP07tfM0seafPHSVPEVkYpUmZEKlZdAa5AbxHEYihYZ2VnhtqGpNSVYODgT5Ip9zjC8WchpC9ed3eBvh5CN1UORgDSUhBEQG-N8X8UKCecx6wLBIpH22KgskY_D7NpzMrKBCjPwxttLkZEWZKfQIOLVy1e2gpwsy876asRe3tdsRGPLl-80ZsP8se4bb_zTViZ_he17QxA78gX5xjjx4SiEsCnkQCEEo6Z8D8ommA51GJ4p-wS8bE0U-wk0h9vxRQ1G65SXecHiBwuwhPAcKZVinHhLOLeHdG-zu3VsEOilIH9HczeuflRyIpsZknmMHc7wx1jbs4kJzAi1qVMpKk75kKyeCNa5cHIRNQMRnlNyL0QgngYpbP1x1czgf5GI_6G7uBnybJz_a1po8emxM5WpyKU1xx3cND4fUaVNXQItiUsPJIkZepRTIvxOHWw_Q6tk7f-NmDi2VvSEIz_X23vFofyreFJ5C7gC_AnvqNyL-PObOmzFGqzyJD3iU2-qVJmX-eX2-hgGOdZ4iufuapkMY3JcMs3ygiRoSM1zbVWTFyCq2Lyv5UO06bFKBr6dTe5Nt7PAHMrC8Eh_F6nEGyYzeeFJrwhEvwtQXMWNZuBPqqHw42lz1VNSMCYPmiYFKo4t-fKOqARm7EUT6v0C4p3CtKknP_vGklGroGN39aErKVCUO5d94KZf-BIsfn1HJmbTlcqvO8y-vn9tsXQ5PyKIWMlmYLgOCLuWAfZeWwRqcDk6n6p-_xuo5kNo=",
  "id": "rs_08fcc85769f27564016ab43e55109487d09a255cf2c6d5c1a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.16,\"right_z\":0.065},\"note\":\"The tan plush landed just beside the inner wall of the right basket rather than inside; the basket is to the gripper’s right. I’m repositioning low and slightly forward over the dropped plush for a quick recovery grasp, after which I’ll shift farther right into the basket.\"}",
  "call_id": "call_2LWQ4xu6qUDHpyw3dW3QKPiG",
  "id": "fc_08fcc85769f27564016ab43e57ec4887d0a1e7cb590d323941",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2LWQ4xu6qUDHpyw3dW3QKPiG",
  "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]: [-0.0471, 0.8467, 0.6552, -0.4038, -0.0738, -0.1394, 0.9967, 0.3843, 1.9518, 1.3048, -0.3115, 0.2081, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1841 left_yaw=0.0729 left_pitch=-0.033 left_roll=-0.058 left_gripper=0.9967 right_x=0.4661 right_y=0.153 right_z=0.0586 right_yaw=0.1482 right_pitch=-0.3761 right_roll=-0.1311 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5385, 7.0359, 1.6972, -0.0806, -0.0806, -0.0073, -0.0205, -10.2906, 8.8274, 1.4676, 0.0611, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa517c7c55c8de88cf85469698ea69c78d84e5c0fb5a3552c08c4cf1537e1aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b67be76e967a71582357ed929808b361862671544e810df287da8fc4c4738f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa7fa42c1aeb2458dba2ed58438aeef66b4a73ce07d2dfa1a558885fd06551a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.975 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0742, -0.139, 0.9967, 0.6868, 2.1559, 1.9301, -0.7067, 0.4065, 0.3168, 0.2033]\nstate[eef_state]: left_x=0.3015 left_y=0.0025 left_z=0.1846 left_yaw=0.073 left_pitch=-0.031 left_roll=-0.0577 left_gripper=0.9967 right_x=0.4723 right_y=0.3016 right_z=0.1492 right_yaw=0.152 right_pitch=-0.2753 right_roll=-0.1157 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.5658, 7.3231, 1.7167, -0.0855, -0.0464, -0.0122, -0.2256, -16.1846, 9.4701, 1.2283, 0.2662, 0.022, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3859, 1.7836, 1.2884, -0.4156, 0.2047, 0.0818, 0.9957]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4466 right_y=0.1465 right_z=0.1146 right_yaw=0.1526 right_pitch=-0.3299 right_roll=-0.1114 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2239, 7.159, 1.6972, -0.0464, -0.0464, -0.0122, -0.2667, -7.747, 6.5026, 1.5849, 0.1538, -0.022, -0.1832]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8467, 0.6552, -0.4038, -0.0738, -0.1394, 0.9967, 0.3843, 1.9518, 1.3048, -0.3115, 0.2081, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1841 left_yaw=0.0729 left_pitch=-0.033 left_roll=-0.058 left_gripper=0.9967 right_x=0.4661 right_y=0.153 right_z=0.0586 right_yaw=0.1482 right_pitch=-0.3761 right_roll=-0.1311 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5385, 7.0359, 1.6972, -0.0806, -0.0806, -0.0073, -0.0205, -10.2906, 8.8274, 1.4676, 0.0611, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa517c7c55c8de88cf85469698ea69c78d84e5c0fb5a3552c08c4cf1537e1aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b67be76e967a71582357ed929808b361862671544e810df287da8fc4c4738f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa7fa42c1aeb2458dba2ed58438aeef66b4a73ce07d2dfa1a558885fd06551a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5cpjeS2xQPDjODCul7b3k_MfOK5-edPF-Y8ggCLTh34Nn8G43aLSe2p3P1fJtSLarbJdK2RHLJz5JBG0ayfxOE_ggyIXhOWXjtkIzObcfZ4djycPhpqIXVfQOQZQfd4eZjoYdVNc1j_INCu8HEI8LQE3jNBl-lijD797Z98QonE0UJemKAFTq8GfDBBfTIV_OZbmxEnXr9XDTNZbro3xsZhXTsXtiBtPVcf33L9n6Ja-9q8RSHY3I1Y-lN0LYPIuhKqSbgoWr1dquEFD7rIsx2mym3MKlxAdDzaVMdJwueB3fTO2KWR7bjWyrjVuH1xhGK0L-JIZbsMF_tvpz-_hB9Hudc0d3JQuh_LNh8wOJouWEAp2MERhjhSBwo9X1e6wVTSjBDxQcmdAyxXxs8ZerrE4FUnMjh5sVmnRt5WATsmOi_XpgVRCMu01K-_KcULXHvyjtl4RqpuMHUZ_mu5S3VYjFF-vL0Wi-keUlAJQjmdbthCc4yhmkak9uOObR2u2nw_jdHTx18yqbqQuRMBZH0ziV2qDxRUQMzbyKneIYS78euFC2xElmclFXP9rdOTajgo55phmsV1AtSBe2CWXO0JWhrtwP7id0t_Qu2Nx8xcq4Zg5MF-IUn2v9Plgi2oF5vcfB0hxMbVuhL718SJexAQExWYxYeRKNDGJHtCWc7x8WUsXLDU5TyEBnQyBkOfdbctPscOTkszDCbmuW830XRYUVF-QR6IqCn7ps0wJO-qSR3iZiON4NZkfCFb6y0mIwigKwaefDegteCWvX0UxGjefFmbfMAQIKNhNhnMlivHKB79aZn5cHwOlt-8spklrGe7BqdJURgLp3uy-OV01zJvjORj6-IBr0RAWtysA_zV7LCNR3ItNSS_IcvUcknNk664z2inWemKwtbACgh_-99E20U65iwXIbAzRUapVz7ttc0SXKh0cwYRx9z-ZGBrrdVWvhzyA0Y_BCkQIw2LgqM96YExHPYLTMBqIVLOr9Wgdmx4feHuGb7qP2iwni60NeCljqVG6fDoYZab8HxoXjGufI1hWzQp2UvosAmUozFimQ19e4UJfKsw-HqoxgkJPC1f8fVNopGJKDE6aDG2blHMdNE0pA90m3jH-HlipqDGw2ieKwz1t1wBdVvR525YSPw-IivIvUHEAPd8ND5hw8aMDBZ2xRgM9q8nUtDeQrghsutCaAey74WUf8EmWaqL6pVfVC2GZ8kvFecQpKFWZ6Nug==",
  "id": "rs_08fcc85769f27564016ab43e5c03e487d0a2a9d021641723e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The dropped tan plush is now centered tightly between the low open jaws beside the basket wall. I’m closing around its body for recovery.\"}",
  "call_id": "call_3VA9JL5Mo3zJpo6yq1dBmkCy",
  "id": "fc_08fcc85769f27564016ab43e5c1dac87d09c33d7344cdcbf24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3VA9JL5Mo3zJpo6yq1dBmkCy",
  "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]: [-0.0471, 0.8509, 0.6552, -0.4042, -0.0738, -0.1394, 0.9967, 0.384, 1.9598, 1.3083, -0.2863, 0.2188, 0.0593, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1829 left_yaw=0.0729 left_pitch=-0.0375 left_roll=-0.0575 left_gripper=0.9967 right_x=0.4718 right_y=0.1531 right_z=0.06 right_yaw=0.1486 right_pitch=-0.3551 right_roll=-0.1446 right_gripper=0.2084\nstate[joint_eff]: [-0.1709, -1.7436, 7.0222, 1.746, -0.0415, -0.0757, -0.0073, -0.3214, -11.0701, 6.0103, 1.0818, -0.0757, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779ca30a6ec29059e019339ea60b40c7c17bdc90bd0332e8a32ba0ef359a6252",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e91e393ddd7099d03b73222f9344b6b16334035ddf4b674db64c644d01c3155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876d56401d90e9c9ffa0bef633f5da63b07259b3f184659893e45af139c6041d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.647 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3843, 1.7638, 1.4422, -0.5785, 0.2146, 0.0868, 0.2055]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4512 right_y=0.1458 right_z=0.1606 right_yaw=0.1404 right_pitch=-0.3173 right_roll=-0.1134 right_gripper=0.2055\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.7656, -0.0415, -0.0806, -0.0122, -0.2393, -12.0821, 7.0085, 1.4383, 0.1636, -0.1294, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8467, 0.6552, -0.4038, -0.0738, -0.1394, 0.9967, 0.3843, 1.9518, 1.3048, -0.3115, 0.2081, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1841 left_yaw=0.0729 left_pitch=-0.033 left_roll=-0.058 left_gripper=0.9967 right_x=0.4661 right_y=0.153 right_z=0.0586 right_yaw=0.1482 right_pitch=-0.3761 right_roll=-0.1311 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5385, 7.0359, 1.6972, -0.0806, -0.0806, -0.0073, -0.0205, -10.2906, 8.8274, 1.4676, 0.0611, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4042, -0.0738, -0.1394, 0.9967, 0.384, 1.9598, 1.3083, -0.2863, 0.2188, 0.0593, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1829 left_yaw=0.0729 left_pitch=-0.0375 left_roll=-0.0575 left_gripper=0.9967 right_x=0.4718 right_y=0.1531 right_z=0.06 right_yaw=0.1486 right_pitch=-0.3551 right_roll=-0.1446 right_gripper=0.2084\nstate[joint_eff]: [-0.1709, -1.7436, 7.0222, 1.746, -0.0415, -0.0757, -0.0073, -0.3214, -11.0701, 6.0103, 1.0818, -0.0757, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779ca30a6ec29059e019339ea60b40c7c17bdc90bd0332e8a32ba0ef359a6252",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e91e393ddd7099d03b73222f9344b6b16334035ddf4b674db64c644d01c3155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876d56401d90e9c9ffa0bef633f5da63b07259b3f184659893e45af139c6041d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5hFPNhDAplJJqjZwMQKVKXDuj-e_ykdLprC2oxb0Kv0_0tAU8FL0VWfe_H328gRFl8KEIo7pSFja3w8ZYkE31xtZeP3ZgyToYmqdgKrV6nyoYSqcpoleMBPWB7wIWww5OjnlF-uKNsWq9G3toDdUzoZXWHaV6IyI57z8rD4WzLWGGjxsps4sYA5yKJAXTMUttKTI7BoJEred-No5CiNjPzYPXBjSbVT0xPXhaOR6y7GWlmh-lAGgACfezt__2ziH1vojBSz4dQuSB1BOkT3nn-u_XWxUsHSYwtN0Dd5O46jAiE4Lu4vmFsrjqDHbo0zYQ56gppW3a11w-ktU5ohMASwCn-HdaZevpQDry_8IqUHnyDsW_GOGOgmee4-P4FOJ5X1-U8b8ffKnPh7Wyyf24HzimmPRyx3Z47q_rmWuVpUbWIdnmVXAgdYTuu4oQdi1MMypN-gkyf1FKa8m2hZpUCL2C3cR1GhRCljS8tby8xJnL2QIQLOhyCGIf0e1nZt4ousoU4JMA7qzG2RJP0nSxrebP8jws9aUQWi6JtmZOlvUbEcmclHgLWHSJlnsq5Sq7V1bnA9CnsA3tGEg_ke_rWp0l5oiD7RFUD2LzmkWchcSFPm6IpBUcWx2-zE5PTBNDMdTuXpZNFqpAjuiqQfv4--qaJA2Y6nImnqgao9sOeqe6gMu0FmyZaS0fhUQ6HxxLjSK4g-kxj-Vb6g7BTQa-LboMovN6eLbRbvqfofpH5CW7ZaW4NQEyieHhJZJCTkf4xcp2ggY2XwY9DJbpNGvJKxqiJVA6ASnJtQKIoEmSIIBaMmdT48nWl9RB9rGVgrLf_uaCh8R0J6o5JLdYxYQbNv4ZDMGqCL_CGLS7Ed9xGE5gBOA_Eres-A8YcxOljyqItWGdSun39DeucYif0XGKcGwgufFqv7XbszebAJc7kOhObkl5rEamDNgIYNgKxBab4iv6A-5QexboZ26Psg7u2yzTRvNX7UnUJzfmz5j1XF5_z2m9BwbpRv6oUCs9LVnUOWy853J0_V2aWORU4NdTDFvzVSuZIXOt_8cs-RCJiCMvr0bPCgtiJgS-nYWodoeHssfMAwRd6PQpyfy4St9gxVak0FseSKZyDowUr8MntacrUlcViZHmetOim6Dk_OwfV1jMh0NrfbSFuuAF0JP-yXddxwwfX3q7GUn5qqfwrFeZefhn5PHhy8fRsQFihpOrQYAC07KOyER7z2gjwOVLoWmn9lOv2OIIRka7Z6sCFphPobNWRjGB20euqABrjOfoj9YVIv52k8IOEwejh_9AIB2POfkBMuxqVZHFVWG4motz60XuKxXpslYkkqAIXZ64zzjwl3ONrckAS9SlTUyKiUTDwBSniJuD1tWD9CSDpQrffp9XifJbBpcmcvKmdU8fEd63bFgebjPl3-GvL-WLue1P76R2qJoFW_4IrHeQiXyzPc1vtWOGlNhqSIoyw83kw",
  "id": "rs_08fcc85769f27564016ab43e5fd66c87d083f5688bcfc9a394",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.08,\"right_z\":0.16},\"note\":\"The recovery grasp is secure at a 0.21 opening. I’m lifting and shifting the plush toward the actual basket center, which is to the gripper’s right and therefore at lower right-arm y.\"}",
  "call_id": "call_ibK9k3dsshE8xmdFzyg7Pc2t",
  "id": "fc_08fcc85769f27564016ab43e60800887d08d397139a9808755",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ibK9k3dsshE8xmdFzyg7Pc2t",
  "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]: [-0.0471, 0.8509, 0.6552, -0.4038, -0.0742, -0.1394, 0.9967, 0.2256, 1.7638, 1.335, -0.5499, 0.1177, -0.0471, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1829 left_yaw=0.0732 left_pitch=-0.0371 left_roll=-0.0573 left_gripper=0.9967 right_x=0.4477 right_y=0.0852 right_z=0.1202 right_yaw=0.1394 right_pitch=-0.4165 right_roll=-0.131 right_gripper=0.2084\nstate[joint_eff]: [-0.0752, -1.5521, 7.2, 1.7167, -0.0659, -0.0611, -0.0122, -0.5402, -12.7795, 10.8376, 1.2723, 0.1636, -0.1587, 0.7253]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae42d3cbc472e03862e64c1e501f42d1e5b6a46381bd931714137e60928430ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36d0837592701043a507d87c50898d44bba331d2acf3e6744b6d0d4e266a44ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b732f5a1b68987b603f8879f3f48838808504e22ed89184e876e9d7b9055c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.605 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8452, 0.6552, -0.4034, -0.0738, -0.139, 0.9967, 0.3859, 1.7836, 1.2884, -0.4156, 0.2047, 0.0818, 0.9957]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1846 left_yaw=0.0727 left_pitch=-0.0311 left_roll=-0.0579 left_gripper=0.9967 right_x=0.4466 right_y=0.1465 right_z=0.1146 right_yaw=0.1526 right_pitch=-0.3299 right_roll=-0.1114 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.2239, 7.159, 1.6972, -0.0464, -0.0464, -0.0122, -0.2667, -7.747, 6.5026, 1.5849, 0.1538, -0.022, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4042, -0.0738, -0.1394, 0.9967, 0.384, 1.9598, 1.3083, -0.2863, 0.2188, 0.0593, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1829 left_yaw=0.0729 left_pitch=-0.0375 left_roll=-0.0575 left_gripper=0.9967 right_x=0.4718 right_y=0.1531 right_z=0.06 right_yaw=0.1486 right_pitch=-0.3551 right_roll=-0.1446 right_gripper=0.2084\nstate[joint_eff]: [-0.1709, -1.7436, 7.0222, 1.746, -0.0415, -0.0757, -0.0073, -0.3214, -11.0701, 6.0103, 1.0818, -0.0757, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4038, -0.0742, -0.1394, 0.9967, 0.2256, 1.7638, 1.335, -0.5499, 0.1177, -0.0471, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1829 left_yaw=0.0732 left_pitch=-0.0371 left_roll=-0.0573 left_gripper=0.9967 right_x=0.4477 right_y=0.0852 right_z=0.1202 right_yaw=0.1394 right_pitch=-0.4165 right_roll=-0.131 right_gripper=0.2084\nstate[joint_eff]: [-0.0752, -1.5521, 7.2, 1.7167, -0.0659, -0.0611, -0.0122, -0.5402, -12.7795, 10.8376, 1.2723, 0.1636, -0.1587, 0.7253]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae42d3cbc472e03862e64c1e501f42d1e5b6a46381bd931714137e60928430ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36d0837592701043a507d87c50898d44bba331d2acf3e6744b6d0d4e266a44ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b732f5a1b68987b603f8879f3f48838808504e22ed89184e876e9d7b9055c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5lDCsH5OnpGA0rLIjbp8SzWDZMqxDbLw1cgU_P4SiCZFuxPwZR83EBmnlF1TZI2nOiXsMXehj1da5awkrVTkJnqnu48I2tbe60lW340VvHKP32kRC60xaqhW-RqoyL6nZWagy1twy5Hv50WQjXVW9CNU3OrzWvP4cAOfeRxomQGkhScMf2VV16uwAdEhGIl5m_lGdebVkq6yZV0Tq2mXgPkjNF1pY5lMecZch6E2ds8m-PO4yLsyw5DxhE8aD3xP6gIoXjEiqLO99ZEpGxASYbV8kmq-MrVOPSlVG5Ukec_nDjQPNoGxXzeTURyNjMqvIdhRHUqIUI1ftVTH1M0m5RPMEsHAyBU8NW7mbHS1JtEL2c9CUlbEl1DM9ILTh6tEm5ggFEWOUFTj-uXvYH4-Qo2MOdJzHTyxw6DZgguPF49iI8vv6eHjN0L3zLI9jNI9oQ1Gq71YJIxnyM94dxXWp2Sn9EA6TQjL3UB_cP791tNReMGMEYKIg0H_ogEPxhKzGWBMHU-tKvidlQkubAm8HC8F0yg9Z_npsCYqRXNzO-NI2V-3vPWl1uzZdwwiIcvuOnm5k9RtQa_E_ZBj6BuwUJarVJBJtLOIJ2JAYQqHdqME2AbYG_mnVtdSrZdZzAm8LjrmH05mYzZN61tsaX7Hj-7OWv0REHGBsgDuT-CaEXCH5jLx2Yk0okvEC1t6MhKL8zWmrBlerZNqWlYy12--oUNTwmnSiT26oytk5d2rAo_AL9J4hoi-TvKUNJ4HfSi6uuowLLJ7kHw0HvtgN4D272wmH5QE-boayujk-Ciy7yET20-de3cRG7l8SLMbeIYVUNW5GJyInswXsdUEDixrspOMU0z9_TmZR61STO6AsESkTTERJlX2eUG3UqbH0tegBa759hA7qU0l43g5VogeHgfM5pZQf_i7BRqvhurGC89muAOvBe5AMarVyMTHHPppOHmKemDolxW4QTyCMiZYFxA3HUZmzLrxDX5HwsiBrPD35nIWSuwQ0Z9Ze-MtXgFNnBW_cE9CKyFp7pC74D3mgUTbHywroPHwMIEIUFX-EhMOSzgfBhOnLcMNHSqcY3RzqCSv5K8OvNJ3Bf-vKJxDS0GX8AuttXF-nV0s4pYbIEPxtxZZJIuI348RQjMYFzfWi3SKG-M5QkVIbGPSUjuTNlkyzBcbms8tUJ7_RqJAcEGeuBKfqN7uShPU-1_j_d049uO44jtWHxlieDJNup2-DY52OzHfcVkQHb-pfsjH7PKQYI--drFc-jTeS8GLZJ2qX2HPV80W3k8ecR-AmRWk-7g1BpxzSfk-PpsHc03guLMZh5P_O6bkjkdTzLdgh-FbK0tqL-7MPcwlOE285xGhM8AQkB7r_1Y4UBwKpXFIeBZmXOUcTquIvfCOBURs2a3y-fu6aoefOTdwlsV_KzzfNAKrZQmLWCFa8A5AcgaRI-B6PNkM65EaYC1k92_g8Us0SgxSu-K5GneoUG8xn6BmY4R7oU9gu7y8oIaADJ_GaCVWgs-3luu1GG0x0B1XB_2nDn",
  "id": "rs_08fcc85769f27564016ab43e637c1887d0a4bd7bb86ded7520",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.02,\"right_z\":0.15},\"note\":\"The plush is still hanging along the basket’s left wall, so the previous lateral shift was insufficient. I’m moving another 6 cm to the gripper’s right to put the grasp point over the basket interior before release.\"}",
  "call_id": "call_UvZngBASIYJZPcAhcRyZNH6J",
  "id": "fc_08fcc85769f27564016ab43e64122487d089145a5a6cd77897",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UvZngBASIYJZPcAhcRyZNH6J",
  "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]: [-0.0471, 0.8547, 0.6552, -0.4038, -0.0742, -0.1417, 0.9967, 0.0563, 1.7409, 1.346, -0.6392, 0.02, -0.1638, 0.2085]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1819 left_yaw=0.0744 left_pitch=-0.041 left_roll=-0.0587 left_gripper=0.9967 right_x=0.4394 right_y=0.0248 right_z=0.1215 right_yaw=0.1302 right_pitch=-0.4798 right_roll=-0.1091 right_gripper=0.2085\nstate[joint_eff]: [0.1026, -1.7436, 7.0222, 1.6777, -0.0611, 0.0024, -0.0073, -0.7179, -11.1658, 10.5094, 1.2918, 0.1392, -0.1343, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5893f9eb4bfbf13f5627682f4aab2d49ff65e9a2c1b9aef8093a8d32ecd4c593",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935717467c3263f54b1e422d20697dbb901ee984d1734ab9239ceaf28a85b04e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738a056f137069c2008baa4c45de195fbb8e1342130eabd0a26dc140e43e7689",
      "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 · 5.643 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8467, 0.6552, -0.4038, -0.0738, -0.1394, 0.9967, 0.3843, 1.9518, 1.3048, -0.3115, 0.2081, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.3015 left_y=0.0024 left_z=0.1841 left_yaw=0.0729 left_pitch=-0.033 left_roll=-0.058 left_gripper=0.9967 right_x=0.4661 right_y=0.153 right_z=0.0586 right_yaw=0.1482 right_pitch=-0.3761 right_roll=-0.1311 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5385, 7.0359, 1.6972, -0.0806, -0.0806, -0.0073, -0.0205, -10.2906, 8.8274, 1.4676, 0.0611, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4038, -0.0742, -0.1394, 0.9967, 0.2256, 1.7638, 1.335, -0.5499, 0.1177, -0.0471, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1829 left_yaw=0.0732 left_pitch=-0.0371 left_roll=-0.0573 left_gripper=0.9967 right_x=0.4477 right_y=0.0852 right_z=0.1202 right_yaw=0.1394 right_pitch=-0.4165 right_roll=-0.131 right_gripper=0.2084\nstate[joint_eff]: [-0.0752, -1.5521, 7.2, 1.7167, -0.0659, -0.0611, -0.0122, -0.5402, -12.7795, 10.8376, 1.2723, 0.1636, -0.1587, 0.7253]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8547, 0.6552, -0.4038, -0.0742, -0.1417, 0.9967, 0.0563, 1.7409, 1.346, -0.6392, 0.02, -0.1638, 0.2085]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1819 left_yaw=0.0744 left_pitch=-0.041 left_roll=-0.0587 left_gripper=0.9967 right_x=0.4394 right_y=0.0248 right_z=0.1215 right_yaw=0.1302 right_pitch=-0.4798 right_roll=-0.1091 right_gripper=0.2085\nstate[joint_eff]: [0.1026, -1.7436, 7.0222, 1.6777, -0.0611, 0.0024, -0.0073, -0.7179, -11.1658, 10.5094, 1.2918, 0.1392, -0.1343, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5893f9eb4bfbf13f5627682f4aab2d49ff65e9a2c1b9aef8093a8d32ecd4c593",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935717467c3263f54b1e422d20697dbb901ee984d1734ab9239ceaf28a85b04e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738a056f137069c2008baa4c45de195fbb8e1342130eabd0a26dc140e43e7689",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5ohiLCClDFEmLwNoZZ_lxaxcu0lO0PKwWvK7-XXSWcimqzSOmNphdrdY5921-QFjlFx7Muj0dihbDGfcGHgEqfA-RJPdKw_q8aLsQ7DXzDwIqvywdiIqtvOqC3ncSmgzSKh3HW_3Nb0XrZiIFhT2giN0mT_RDnvcdRfCn2Sf12M7yCJiM0VoWLE2eVTQ-ls1ovrs5syd2tCGqbmeNzJa1aqKqmq5NtdbSC9dt4kR05VQE3UB234LWSebVlsZ9yZZ1VtpJRjZCg5ffJlBOgdvbDebASNwaZRtWQ9FTaoJ-I6AmUewl7HjUIwcMuOWE_e-GA0Y2O7_FEppr5uMLnS0PKoMMisjvu2bFlHx6l3iMuKHpFh9uf3nnBmF-90QvGd07gpMwF6VQFDesQO0EW7F7lYAvJf_wwuv-Eqk_u6JUn933-L2CYcCNUXsbgY9nQGWwaVEeZgXVYrQM7HAJm6ontORi32QQbqLjg4N16hsuctKbRB0nLM2GYPwdIKXqhX32hLChBhRJ5pIKuCQudRQuHpg4Jou_uoq6deOjeM00GUiIf8OoUgj4f-UkjQIMZo5NPB2Amc_Z5PLOPTwJ72NfT0PILyZNARgF2-5M55tvjcslYJqSzKcYztX1Om4asAg2Qoqmn3Gr2vPbMQwjNRmM1dLkzvVt833DtiV97OqAQjvw6UCYncsWpUkY1MwTUhmKKdGIvSsQVS_cAfAb8feyz_asS9F-DnGoMAGuMkGAemKvFRYIASwV4oUJiBIFqJtBV_uRshLj4aNA5dRNzVwmu1xdT247SN6wOJmRU-ZJYLL2kVHOBoh10cXFPqTgerYD8AjXmjgZaPpoMnlL7cl-MZUnGxCBhCDTlg-5bia8_YNUGl8iobeOJzNJ8N8rayTFafoKZ-VeAVMoCpTppJ1wrZPID6CagTdsfOHaSEYOAswu-mjZkA8Q5ml-Q6rfMQwARUihIsU7q6drRL76mCIgAU3-Iqx-lLHP9f3Ik-zld0EadZx0atf98iSr13sHEgdVInzQf1qg4wZpUx2ZNKcCXARhIw67sjb43dZ5GJUY-7Fzi9IfGwswrPZhMXN8Tn0ugiobrdyS_U9FwsqP6viUd2k0ulcJY1iYYOMP-bkMC2aoEimy94-j57SNN0utcsAGWT0Gad4KxWStsYoAs92villh6MbtT0-baBiLBVmLg85SEbJ6SEQ-GYU2h_KW1KtAT4TYaYkF1EzPQG45tAeh9UBae74VTXmoKVi3EIh9RrjZM-ttOiEThFcMERb7clnithM15tqsQLpbeo9cITPrRfSCs11SYWaZVnkXyBKE163ECkhM8R8WNB8pXl8nN8WNPgU9W6XzGfOkAdmWv5o7oa63dkAlu6AGSA3sh3oElIuqjixHhMiPOG3-33Il3DV-oPSn7ltUNrJSenaUFPVcPZN8NGCK7GEZh1qu1GWIP27x76ny9cLZ3OU275XekyokVsnRBSqF-ejy_HknqixEoawLMb1gwzpjmhNGNM9W4pUbwTLxhAK01u7VF_DD_yAK9nKRttMB6e-v6uU2rR2AItZwA_RNgmcwMl7KcK6jHMA0=",
  "id": "rs_08fcc85769f27564016ab43e668fb887d08fad2bf7bc24ab9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.05,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The held plush extends well to the left of the grasp point and is still outside the rim, even though the gripper itself is near center. I’m shifting to the basket’s outer side and lowering while opening so the entire plush falls inside.\"}",
  "call_id": "call_G0EWwWp46BG1YSErdXLEMFle",
  "id": "fc_08fcc85769f27564016ab43e672fb487d0baa6b9ce1e3348b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G0EWwWp46BG1YSErdXLEMFle",
  "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]: [-0.0471, 0.8551, 0.6552, -0.4034, -0.0738, -0.1425, 0.9967, -0.1379, 1.7424, 1.3415, -0.6407, -0.0879, -0.3264, 0.9946]\nstate[eef_state]: left_x=0.3022 left_y=0.0024 left_z=0.1818 left_yaw=0.0745 left_pitch=-0.041 left_roll=-0.0596 left_gripper=0.9967 right_x=0.4367 right_y=-0.0413 right_z=0.1195 right_yaw=0.1361 right_pitch=-0.48 right_roll=-0.0974 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.6752, 7.1179, 1.7216, -0.0708, -0.0708, -0.0122, -0.7316, -7.4188, 7.9932, 1.1648, 0.0806, 0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415f2526e555b9a1c2e01e95a5ab1a8d57dfa88d3234b5207fdf4839df53266d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9add53817947750ec843d4ff733796d559491c7c2569a0a810d12aae43c823d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1097aef8540b3e665dcbd3af5e82bbe3c612d07c127700920b44a8811755362",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 7.185 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4042, -0.0738, -0.1394, 0.9967, 0.384, 1.9598, 1.3083, -0.2863, 0.2188, 0.0593, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1829 left_yaw=0.0729 left_pitch=-0.0375 left_roll=-0.0575 left_gripper=0.9967 right_x=0.4718 right_y=0.1531 right_z=0.06 right_yaw=0.1486 right_pitch=-0.3551 right_roll=-0.1446 right_gripper=0.2084\nstate[joint_eff]: [-0.1709, -1.7436, 7.0222, 1.746, -0.0415, -0.0757, -0.0073, -0.3214, -11.0701, 6.0103, 1.0818, -0.0757, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8547, 0.6552, -0.4038, -0.0742, -0.1417, 0.9967, 0.0563, 1.7409, 1.346, -0.6392, 0.02, -0.1638, 0.2085]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1819 left_yaw=0.0744 left_pitch=-0.041 left_roll=-0.0587 left_gripper=0.9967 right_x=0.4394 right_y=0.0248 right_z=0.1215 right_yaw=0.1302 right_pitch=-0.4798 right_roll=-0.1091 right_gripper=0.2085\nstate[joint_eff]: [0.1026, -1.7436, 7.0222, 1.6777, -0.0611, 0.0024, -0.0073, -0.7179, -11.1658, 10.5094, 1.2918, 0.1392, -0.1343, 0.7057]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8551, 0.6552, -0.4034, -0.0738, -0.1425, 0.9967, -0.1379, 1.7424, 1.3415, -0.6407, -0.0879, -0.3264, 0.9946]\nstate[eef_state]: left_x=0.3022 left_y=0.0024 left_z=0.1818 left_yaw=0.0745 left_pitch=-0.041 left_roll=-0.0596 left_gripper=0.9967 right_x=0.4367 right_y=-0.0413 right_z=0.1195 right_yaw=0.1361 right_pitch=-0.48 right_roll=-0.0974 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.6752, 7.1179, 1.7216, -0.0708, -0.0708, -0.0122, -0.7316, -7.4188, 7.9932, 1.1648, 0.0806, 0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415f2526e555b9a1c2e01e95a5ab1a8d57dfa88d3234b5207fdf4839df53266d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9add53817947750ec843d4ff733796d559491c7c2569a0a810d12aae43c823d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1097aef8540b3e665dcbd3af5e82bbe3c612d07c127700920b44a8811755362",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08fcc85769f27564016ab43e6a8db087d09f3fe9f4df102f2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.0,\"right_z\":0.06},\"note\":\"The overhead view shows the plush released just in front of the right basket; the basket is farther forward than my initial radial estimate. I’m moving low over the plush for a final regrasp, now using the observed basket position for the forward transfer.\"}",
  "call_id": "call_ahLQASD8vQYN1U7931hq9LbX",
  "id": "fc_08fcc85769f27564016ab43e6d44d087d0b60a1e85397ae3eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ahLQASD8vQYN1U7931hq9LbX",
  "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]: [-0.0471, 0.8585, 0.6552, -0.4038, -0.0738, -0.1421, 0.9967, -0.0265, 1.9244, 1.3422, -0.4885, -0.0376, -0.2638, 0.9949]\nstate[eef_state]: left_x=0.3024 left_y=0.0024 left_z=0.1808 left_yaw=0.0743 left_pitch=-0.0448 left_roll=-0.0588 left_gripper=0.9967 right_x=0.4674 right_y=-0.0022 right_z=0.0588 right_yaw=0.1656 right_pitch=-0.5151 right_roll=-0.1032 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.8803, 7.0496, 1.7265, -0.0659, -0.022, -0.0122, -0.1436, -10.3179, 7.747, 1.0965, -0.0317, 0.1197, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa91f51a5c0ddbe4a5e5f27d9357f3dfe0eb5cb4bde3064bc2719104f42b11e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e20b0a4fb25205f79a601a0e80a2d34e31389a385435d7430b3a7c3b841a482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc51ab7d8a2bf8c3e769df452dca5fd3f75e597cd8b8419138c848b37fa7117",
      "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 · 6.506 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8509, 0.6552, -0.4038, -0.0742, -0.1394, 0.9967, 0.2256, 1.7638, 1.335, -0.5499, 0.1177, -0.0471, 0.2084]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1829 left_yaw=0.0732 left_pitch=-0.0371 left_roll=-0.0573 left_gripper=0.9967 right_x=0.4477 right_y=0.0852 right_z=0.1202 right_yaw=0.1394 right_pitch=-0.4165 right_roll=-0.131 right_gripper=0.2084\nstate[joint_eff]: [-0.0752, -1.5521, 7.2, 1.7167, -0.0659, -0.0611, -0.0122, -0.5402, -12.7795, 10.8376, 1.2723, 0.1636, -0.1587, 0.7253]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8551, 0.6552, -0.4034, -0.0738, -0.1425, 0.9967, -0.1379, 1.7424, 1.3415, -0.6407, -0.0879, -0.3264, 0.9946]\nstate[eef_state]: left_x=0.3022 left_y=0.0024 left_z=0.1818 left_yaw=0.0745 left_pitch=-0.041 left_roll=-0.0596 left_gripper=0.9967 right_x=0.4367 right_y=-0.0413 right_z=0.1195 right_yaw=0.1361 right_pitch=-0.48 right_roll=-0.0974 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.6752, 7.1179, 1.7216, -0.0708, -0.0708, -0.0122, -0.7316, -7.4188, 7.9932, 1.1648, 0.0806, 0.0562, -0.0317]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8585, 0.6552, -0.4038, -0.0738, -0.1421, 0.9967, -0.0265, 1.9244, 1.3422, -0.4885, -0.0376, -0.2638, 0.9949]\nstate[eef_state]: left_x=0.3024 left_y=0.0024 left_z=0.1808 left_yaw=0.0743 left_pitch=-0.0448 left_roll=-0.0588 left_gripper=0.9967 right_x=0.4674 right_y=-0.0022 right_z=0.0588 right_yaw=0.1656 right_pitch=-0.5151 right_roll=-0.1032 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.8803, 7.0496, 1.7265, -0.0659, -0.022, -0.0122, -0.1436, -10.3179, 7.747, 1.0965, -0.0317, 0.1197, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa91f51a5c0ddbe4a5e5f27d9357f3dfe0eb5cb4bde3064bc2719104f42b11e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e20b0a4fb25205f79a601a0e80a2d34e31389a385435d7430b3a7c3b841a482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc51ab7d8a2bf8c3e769df452dca5fd3f75e597cd8b8419138c848b37fa7117",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08fcc85769f27564016ab43e700be087d0a264c8e99d13ce90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The right wrist camera is now looking directly into the empty visible floor of the basket, while the overhead view is occluded by the arm. I’m retracting to inspect whether the released tan plush is actually inside and to reveal the remaining layout.\"}",
  "call_id": "call_TNDoOuAbL3qebbDyxab22sIm",
  "id": "fc_08fcc85769f27564016ab43e74ecd087d0a2097875670f46c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TNDoOuAbL3qebbDyxab22sIm",
  "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]: [-0.0471, 0.8623, 0.6552, -0.4034, -0.0742, -0.1425, 0.9967, -0.0216, 1.2503, 1.1339, -0.9161, -0.0376, -0.2657, 0.9949]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1798 left_yaw=0.0749 left_pitch=-0.0482 left_roll=-0.0585 left_gripper=0.9967 right_x=0.3137 right_y=0.0035 right_z=0.1821 right_yaw=0.1678 right_pitch=-0.4777 right_roll=-0.1125 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5795, 7.2137, 1.7509, -0.0855, -0.0513, -0.0073, -0.5538, -4.7932, 7.5556, 1.0916, -0.0757, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f3a78cd7118bd066478ed3cbcb44f601825c5a2e4bbe2f1ee7daeda2ea22c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324ea818b81a1feb4ac7a30b2d00950874436382e94918b8465252ea87a6a9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2222c0d94690e58443a26a252c743989859ea7cb0c3f1f53771829d68c024104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.503 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8547, 0.6552, -0.4038, -0.0742, -0.1417, 0.9967, 0.0563, 1.7409, 1.346, -0.6392, 0.02, -0.1638, 0.2085]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1819 left_yaw=0.0744 left_pitch=-0.041 left_roll=-0.0587 left_gripper=0.9967 right_x=0.4394 right_y=0.0248 right_z=0.1215 right_yaw=0.1302 right_pitch=-0.4798 right_roll=-0.1091 right_gripper=0.2085\nstate[joint_eff]: [0.1026, -1.7436, 7.0222, 1.6777, -0.0611, 0.0024, -0.0073, -0.7179, -11.1658, 10.5094, 1.2918, 0.1392, -0.1343, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8585, 0.6552, -0.4038, -0.0738, -0.1421, 0.9967, -0.0265, 1.9244, 1.3422, -0.4885, -0.0376, -0.2638, 0.9949]\nstate[eef_state]: left_x=0.3024 left_y=0.0024 left_z=0.1808 left_yaw=0.0743 left_pitch=-0.0448 left_roll=-0.0588 left_gripper=0.9967 right_x=0.4674 right_y=-0.0022 right_z=0.0588 right_yaw=0.1656 right_pitch=-0.5151 right_roll=-0.1032 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.8803, 7.0496, 1.7265, -0.0659, -0.022, -0.0122, -0.1436, -10.3179, 7.747, 1.0965, -0.0317, 0.1197, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8623, 0.6552, -0.4034, -0.0742, -0.1425, 0.9967, -0.0216, 1.2503, 1.1339, -0.9161, -0.0376, -0.2657, 0.9949]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1798 left_yaw=0.0749 left_pitch=-0.0482 left_roll=-0.0585 left_gripper=0.9967 right_x=0.3137 right_y=0.0035 right_z=0.1821 right_yaw=0.1678 right_pitch=-0.4777 right_roll=-0.1125 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5795, 7.2137, 1.7509, -0.0855, -0.0513, -0.0073, -0.5538, -4.7932, 7.5556, 1.0916, -0.0757, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f3a78cd7118bd066478ed3cbcb44f601825c5a2e4bbe2f1ee7daeda2ea22c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324ea818b81a1feb4ac7a30b2d00950874436382e94918b8465252ea87a6a9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2222c0d94690e58443a26a252c743989859ea7cb0c3f1f53771829d68c024104",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD59h2sAsyD8WNlKw2U_9qa1dM04Zjmq-bsRXR2sFNJnXZZIXU2PYyqNnNZ4xfGa4Y8WPHkPAp7bOJy-0DLf-M_iZNsD1or5dQDMKPAXj7DKnSMfUIlHiBgfQxar7XfoqsCSck1PF9QDiVu5SVboc2moTrUpyAOVQEI04F5CdLgTw-tMU-JKOsWHijprmpu3uYgpCNnMb_a46wARtNuINPKjIfdoKpqRs9Ks1pUnPDnn1i4oHj5maEmnsXZ4j3wGqzLabWWmz1rmXlC_wN_zDM_NoMFZ0_o8ycZiVPwaL76NK6UOmC7fcQ7pG8B9WDGqmgyFBJ4Cw8vvddrzWTT_ExVfhspZrkSVb9kymgZYFfaPwa5rDcyyI6n2o3MzQ6-7uJBQIHh4zsaHNHGEASk97FxCDlYToct_YLEOzhmWgHiPS2f6P_JEBnJ496-JmVDLjI-HxovYBKRzewEu9mamKrFPNzH00uaP8KXoO8CigTAY4xydWKAUhjrk1jobeSNEOS_E7ZjjQwuP6PzMGyPz5JPNMpfSrmcoAnMpip9IBzhJW1Lh_F17nFvIde2Mmya12rpWRL7CWaPTeV7TqvTCXgoX7aPof_mNmxzCN2GWaZBCph6m3CWHzaiLRQfjEV0KMhko7wd9p7qXliHaXMyXZ3SQBMuoVUewf9JggiJNyVqQsFN5klE_8N3pQNCvS2XJKgSNrOPjRWF5ivi_avVol7fyzhaA6ZCQXOV0IkRklnNhXiCf9YXDBdjOWRU7JRoECBC-riZL00rwh5gumLd7wXyoxfOjUhw8XUfagDBKUU4ImS3lTn9-GyU8WTG3mTRFUuBHIysR00aCYBwss2Br_k2Q8m9edX_t-qOENUw_UdxnweVYdk8btX3HrY06cthwqfnHd-8jvOx-xdSPiGsbzBALcHhVFi1tHfTgteJf8dVOhxNIB-5F1S7SdruU8k1dk74zDP9Z0RhjEejY_iFgzkp5VDdygKzgw9gNs_mpSzA9IUv_EucVnpnZnu2g6QZx3GHzveNVGOgx7T45hJGIKtGFTSfqorwPVcXwCdd-GiMzJGS21qqaxCGoLwIDCRQWvfP_nD5gqDxDUZByludLYWo_3lNbFRFyfYvrRx5Ek5WSBbv6SHrLbEKi0iGoozdTJ3F5UkkYHiMeuqI4lR6DD1IFSIOKqfK1hSppqrapZ4cJfJjhyelYmkef0G6MvJ9ExlO4JcsMNybA-YcbNrDmQDOJ3W574klgN-gZ0P4F4-8O3x-_hIoObrXefG0QZTCvD3Gs15BXH5RQVNU0dy6agOzXno8St6OfqUnR6f3wobB44fcX5dbZtQj5zVwqG8kIYHnTzdnI_nxpjA_fgTRE3arfVrcmhQsJ5XnF5lPh4kzgMp3LOv9sWHmfqJ0PrHmnzGZYoANNzb6vBaPMPBIfTe1aTVPRlLUrLZaWuL6-iTLpqey4f-KCCvLBC643004lcIVDbFmkKEYH3os-2_j0NcvfScnmAr_G4Jm0G3BijWV6pR6qAbYcdniEKxQ4lh_y2DO9JrZA4jo8_VxkgVh2Z-hUlvrefU9ilpbThwDvxguocD8cLDTAgeJ85XGSiFyMPikibkYW3RCZGVJj93wTEdicUOJ7W_dKHtKHTv3pgJ8PMatEtR0FP6JrqV0ZOvteif8Cr7uJaPIlGQ1YJgBAewRZW9OcbLiSIKXV0U-7TTPupmZHQHkvyGleO2LQlPwtUOUm40PpzqpEEymBCAhJtfqtpjnkfXqqOMwPJcWxKyyvvKxK_nptz_Iv9xHetFqYvGXiUe25n-IWYRqKSUKkOqi3Hlu5Cu7WKZqVDDRsOPy0-n2I1ioZe-w2FVtxnZb13-6SSg05jaEx_HMEaQ_OJaRwNVao7O8wBiHYT6rEjZdr4OGd4DRHw1AwTZGaGRgFvcmZBh8Hx4LL0vBlZZYX7EYdd2uDax6glplPwQhIBYD1WaKPshpkKc1lLUfHKCRO9SOH9tSramu8zFJzNDrIw41-bj8Uzuic_TdwSbu7P4xMm9RACesvVUTri6o3qTYDVAcwFrPBwD9xKKxa1fi4xcZCq7yBiKQlgRy43iaDt1ZAEoDA_7abu-4CQVLMGwkBi5QhWQygTS4Rp31qUk1QW4QZnCWvI5sbNHpY5HdSArJUeAlPiO7APCnG-tVJJNByYzBssvP8fT_JRbnt347rK4UlnvuLtawLI51dJ3vTF5lEYre7kRXdoJnRswN-9SGOyBlW4a6SlB5Q9Op-kijEpUKTkyMMfBFIgX6qWJxo0j7okb82mp_Bys0PzN3BRSCATIxUjAC7u5tXjnrT5fSvixcE2TyPx_qvFp3HadgPFMkdy2H0BsG1IJrK7xCFOjuuBUPb7-bGRWkWtYJW5f3U3aOZw7MgKZywCfC79cMNV7-jA4KtwM2ojW91h3k--OJwEi5ptoyGhhrtIYI70s-V-bH5xQRdeBzVhTn89y4w9FKGAzptNjLllBulhcvlEFV2ijBe03AznQVV3l35XGjJdE-9qaFjOaMZR-Atu3nKVzwhzbVCTGo4o7-eXdwoYr1T5Ugpi_nAIZ4SUHoI_vd0y4WCtkpsETCxlk0TVJqeFyjl9DY8WjkZ3w_b99kTNJsjW0p-1Pc-IL-e-pfX8MLyp4dgeJQ1WjbNj4dZC4JCpInJi_CiBDejiBZGCCB1tkWGb6J3zpn1O51bMcbzFJZG7PL2vLSkA7snLajZrCJx01RDXJIgSN743kLW6kIp7DT3gq8_VyADwXw8DSsFhAAoIFrE_NEz0O0cfzNpPGr1zJeSQEQUKINvDWXmuTWoLM6VfjDyWTi5A2ocEyPcswNE2lffw1kUZ9fXT94ZBP56NFD7bRGztePSnLaiJOaoUzMSWyXYdD2JqNq_v9e-p--yXYf_Gfr3RU4satqFE_UiP4Y_M7UU86grPn5dufocRMWFpLxYrq1sPL1DVHN-dQK8gur9MC9u7JjnqsvQInHSDVo2bz3xlcFKzUlXogCeA_I51-2f0FZAl9a2_KbQ2469SsQJ1bNDm8mmphh_vbpWshWvN0G8_BxzuyTwDMieKc2a1HrmHI9NoW0bXKj0KJeYzBJUxxZYFRqJfJUwKIWF0ti-DvkjKE4cmbVCezhVnx-fsjXSHr6x4rhwQvuE5NuwJeaFdtRB9SsxwVXWQDUgV-oLIM1NoapDGPYc73jth6o3q-7HRsXQ5XAqDJmHfD6rFXYzdrPaiUjQUJdvN1mRpAyWXrgxSDoVd7dAHnQREY9BYb9eqW2hjxXdXVM527Vig0HNox_QZFpCvIrHInfOE-3FDQIO6v74lk-kto_s8j85KS_20apHtmojQM1MsIgNr7IMIASUsryE9Vugl6qQz7_yL1M5MQKZ434mTv7wZFvHsGeGe2p-MqZtHicfRsp4sMJ63hFCIQ4UV2FId42lhJAhpzOjGkuqu9tWjYCnoZZ2UAd4r3IpDYm4p54cxyE7FLvmGPCEugOVP7CgTklBffHMz_4kLlz8GWxIuyeLrRVHVBxcHmpUuJGGp-8gQHL49gVoWue121zYbgYcGH-81XWizx6Wg_9mLTloeaOo12avecMOBF2NntVu-bDgFxtyD734K9D6B77yDIVHbKblJSuc_DXkHOiuXKXuqUkowYX5bDcjCKKpOGiJ5wmHY1F_CHxWNN-Cod5eyqo-LmM2l_ayPWI71MWs_pPn6FR8sXVAUjciDCxTOSOp0jZ5VOblxjrkmcHbwCFGgTGRDx4UF0fHxxGXITZCjGXjsonjJg7SJpWFrkLQwSWfdLLZOmV4pRA8Nd-0uAcSQIDaSwEqXlEXglSuUECrrzRXGreEK92IPWjrtrQIfLwktuGIgz9x8o-3Mp31SpQ_5fhBzGkqcoqclfsLU2Zv2__Otb-dgZ-aw7zbZLVnIF4F5NcSkXp3hjvbzA==",
  "id": "rs_08fcc85769f27564016ab43e78701087d0a52678d019813c9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.22,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"With the arms retracted, the two categories are clear: plush animals and marker pens. I’m switching to the nearer blue marker and positioning the right gripper above its midpoint, leaving the plush animals as the other class.\"}",
  "call_id": "call_55lgztVUmIZMDpYEGDlyfwXj",
  "id": "fc_08fcc85769f27564016ab43e7cd99487d0839f31c3f0ee7c30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_55lgztVUmIZMDpYEGDlyfwXj",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8642, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6525, 1.7283, 1.3125, -0.7345, 0.2718, 0.2977, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1791 left_yaw=0.0749 left_pitch=-0.0508 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3506 right_y=0.2128 right_z=0.1095 right_yaw=0.1967 right_pitch=-0.5232 right_roll=-0.1286 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.853, 7.2137, 1.6874, -0.0952, -0.0073, -0.0073, 0.2393, -8.1983, 8.8957, 0.9841, 0.3004, 0.2027, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07a44792c0e1e6b073f661d9980c91eb56a1434409f25975deac6dcdfd77934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565d8a42f474f5957751f246a960e55a7d5ee6944212b01ea2292adad0f4ac9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695a1dbb8e49d5d9001574cd73061c676f92ef3b921c8b29f214e2490d323392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 2.914 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8551, 0.6552, -0.4034, -0.0738, -0.1425, 0.9967, -0.1379, 1.7424, 1.3415, -0.6407, -0.0879, -0.3264, 0.9946]\nstate[eef_state]: left_x=0.3022 left_y=0.0024 left_z=0.1818 left_yaw=0.0745 left_pitch=-0.041 left_roll=-0.0596 left_gripper=0.9967 right_x=0.4367 right_y=-0.0413 right_z=0.1195 right_yaw=0.1361 right_pitch=-0.48 right_roll=-0.0974 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.6752, 7.1179, 1.7216, -0.0708, -0.0708, -0.0122, -0.7316, -7.4188, 7.9932, 1.1648, 0.0806, 0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8623, 0.6552, -0.4034, -0.0742, -0.1425, 0.9967, -0.0216, 1.2503, 1.1339, -0.9161, -0.0376, -0.2657, 0.9949]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1798 left_yaw=0.0749 left_pitch=-0.0482 left_roll=-0.0585 left_gripper=0.9967 right_x=0.3137 right_y=0.0035 right_z=0.1821 right_yaw=0.1678 right_pitch=-0.4777 right_roll=-0.1125 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5795, 7.2137, 1.7509, -0.0855, -0.0513, -0.0073, -0.5538, -4.7932, 7.5556, 1.0916, -0.0757, -0.0269, -0.0073]",
      "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]: [-0.0471, 0.8642, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6525, 1.7283, 1.3125, -0.7345, 0.2718, 0.2977, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1791 left_yaw=0.0749 left_pitch=-0.0508 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3506 right_y=0.2128 right_z=0.1095 right_yaw=0.1967 right_pitch=-0.5232 right_roll=-0.1286 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.853, 7.2137, 1.6874, -0.0952, -0.0073, -0.0073, 0.2393, -8.1983, 8.8957, 0.9841, 0.3004, 0.2027, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07a44792c0e1e6b073f661d9980c91eb56a1434409f25975deac6dcdfd77934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565d8a42f474f5957751f246a960e55a7d5ee6944212b01ea2292adad0f4ac9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695a1dbb8e49d5d9001574cd73061c676f92ef3b921c8b29f214e2490d323392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD6DwnVeyLMJRmLkfRiviYDGTUiOyCngzg3mNky1hemoqcQwggMD21i-17VIdRdDIAnzrWTP2A7KQYzvazMThcb2sOcxZfYuLUdbQfXdGFVL6V17S0VO35MSkWJPVoTvwJSN-lwReV3F_FKfYQ6ogQop3mU6S0OZcfzwlJFw2T-xHv8pHCyxF7EGvZsRSq2hnO3ZQFYxmQ6091i_vIOyu12kipIKb6FFmmgba8PCR8jCrsa1oSrBQ12rB7We_AJqspLmnNZ8nh-LRvh4em_psI4pToo_1ki0qMqv0pnbupLiAVnnIo-o557mvV-DDSOkeTQWRIo7BWvG7NbS4VJYd98IrlNESU9eHnyu0OWadexP-5teTnqkE9sefFeV55Pc6Lr2jZYcZaj4wvMDeVVt9S3m9G1ajB9gUJbuQ9nLpvRU31VNe-gXmua85fP_dqeAXogwzp_Lk5oFIPBSEKJu4LS6Nrsr52cFnFs4Ja7MWN5K5UnX0zAvTOypYRZhkzB65LfJfCYfFXqThD5pZ_BG5NTFnzvkHBriVbykowUJphxUwrDZXqMQRtuU9rJ_VHDkIPbfeWW9FuIxfhuvxAYH93Zr-h7lpCg3XItTsLK2GFE3_ODuurTod5sb-o9dSImh6waVy2ElSx6MgCmp2Kr7g9xef-sA_eejlu7irgTvCCPC2FXCrU_YBfXlCwOBZFSfaBAdQb51PeQkbN2m2b96PXWXycwrs52chdFulTXtj1d2nmA24965rmARCN06TNLBIWRIRXbKlcPDaBva0mQDw-Sx7Uo41gV58WSTXjzkWq_bIX6Li52VbQmGOXmDZhzKSfRUvlWezANqIIAh845_fupVeYOrE3-c9MwSqeSBLNyGXI3qvgMNY3GPGLtoFVbChfwABre9Q7tKGZX2-EDBXfP1yp8lfcAyxwB7ddLR0nQkw9oI6ME2TS2KtPTDaXGHd4hi7F-bI4-w_ilPYZOhnm6xuIBKL24_SyrLalPkxlmGbqHnYnEM_lWsCgIOc7Qi71cqNGXXo6kFIE2qnkorN4U05-C3YI4ozQNwQxqXQATHqtHxSsCb1Cyc3w8F3pPnhM5H1Kaqbl_rTkG1zCcrS-6HvRcZGSDcMa3dB7Cq6rQn3bTLQ8goOo-SmU0XB_n_xHCLBRrviZ0VCKaeADoUv6eoW8yQeGEGyquI6j7iC8vgkyTJkYd1gZ1QBPvyQiQ_V-025qJZaD2sWiKN9h8y4orODs50GQvXP6N7Xnw4KBilg37kgg0qzN5dMLrrNMi1OSde7NAo6E8z1UmGUu4IOL1vcrzyTOnGsfSSo8PVzBfhiSfncbucZjwpCbADsympEi01lS1TJSTgh1l5Cr_HCk0ZbCWxbHlc4R9NHyjyw32nokV_NfDWwLGZmZSZOBVznDrowyuZ6F0OoyBNwU-V9c3PAfo9TS71xQ_jVzJS8iWHA5dDAobCK3XUCI8jHDvRvyVLTk9oFo4wX3m3-8Mfz44BzzjvGY2SGDMIMyQNiWg8WB7K4WWJLiWUC4RfrFcX-fN-HdFcG232I1buvjdbYxGizIl58uL88aM20pUNMQrFjYAUSzpnulhiDSmXRwaBj7q-AtWSzecwAdvzGsDo57-53Uqi994EGD9r49G3lRuoiWQyBnDQyHIx7inl8Z3WeBI0msmOctqUD7NlNJuSX_VrsA==",
  "id": "rs_08fcc85769f27564016ab43e81940487d0b05286ff41171391",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.005},\"note\":\"The black marker is centered exactly on the right jaw column, between the teddy and blue marker. I’m descending to tabletop level at its midpoint so the jaws can pinch the marker across its narrow width.\"}",
  "call_id": "call_fHZpqOSwl5e5IULoYUMZrwmj",
  "id": "fc_08fcc85769f27564016ab43e82aa1c87d088c6eac8d9851e66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fHZpqOSwl5e5IULoYUMZrwmj",
  "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]: [-0.0471, 0.8661, 0.6552, -0.4038, -0.0742, -0.1425, 0.9967, 0.6544, 1.8404, 1.0801, -0.3576, 0.2687, 0.2955, 0.9984]\nstate[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1786 left_yaw=0.0749 left_pitch=-0.0523 left_roll=-0.058 left_gripper=0.9967 right_x=0.3551 right_y=0.2178 right_z=0.0251 right_yaw=0.2106 right_pitch=-0.4954 right_roll=-0.1109 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.8393, 7.0222, 1.6874, -0.0415, -0.0659, -0.0122, -0.294, -5.7778, 3.8632, 0.4176, 0.188, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b25f91ee00d618ac0f92edd84f377fa9db4d9eec20cebfd219920ed8cf81e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077c2cb8f87069a49ccd48741919bc50353f982f83bb17710133acf8c09d4086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14533341046b552d9a01e6529376cf00c520acf0ed9493e8b6877e72be30a85c",
      "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 · 3.076 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8585, 0.6552, -0.4038, -0.0738, -0.1421, 0.9967, -0.0265, 1.9244, 1.3422, -0.4885, -0.0376, -0.2638, 0.9949]\nstate[eef_state]: left_x=0.3024 left_y=0.0024 left_z=0.1808 left_yaw=0.0743 left_pitch=-0.0448 left_roll=-0.0588 left_gripper=0.9967 right_x=0.4674 right_y=-0.0022 right_z=0.0588 right_yaw=0.1656 right_pitch=-0.5151 right_roll=-0.1032 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.8803, 7.0496, 1.7265, -0.0659, -0.022, -0.0122, -0.1436, -10.3179, 7.747, 1.0965, -0.0317, 0.1197, 0.0073]",
      "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]: [-0.0471, 0.8642, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6525, 1.7283, 1.3125, -0.7345, 0.2718, 0.2977, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1791 left_yaw=0.0749 left_pitch=-0.0508 left_roll=-0.0581 left_gripper=0.9967 right_x=0.3506 right_y=0.2128 right_z=0.1095 right_yaw=0.1967 right_pitch=-0.5232 right_roll=-0.1286 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.853, 7.2137, 1.6874, -0.0952, -0.0073, -0.0073, 0.2393, -8.1983, 8.8957, 0.9841, 0.3004, 0.2027, -0.1538]",
      "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]: [-0.0471, 0.8661, 0.6552, -0.4038, -0.0742, -0.1425, 0.9967, 0.6544, 1.8404, 1.0801, -0.3576, 0.2687, 0.2955, 0.9984]\nstate[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1786 left_yaw=0.0749 left_pitch=-0.0523 left_roll=-0.058 left_gripper=0.9967 right_x=0.3551 right_y=0.2178 right_z=0.0251 right_yaw=0.2106 right_pitch=-0.4954 right_roll=-0.1109 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.8393, 7.0222, 1.6874, -0.0415, -0.0659, -0.0122, -0.294, -5.7778, 3.8632, 0.4176, 0.188, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b25f91ee00d618ac0f92edd84f377fa9db4d9eec20cebfd219920ed8cf81e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077c2cb8f87069a49ccd48741919bc50353f982f83bb17710133acf8c09d4086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14533341046b552d9a01e6529376cf00c520acf0ed9493e8b6877e72be30a85c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6GpnqLEqa5Q4wzzWqM-CykgIkxbYbDGGsLv9dSA7zPuoDZkrBEVayzptVUdXIBECfh2EsSeenRX3g1oMckhoiAfIAZB2tesYnFHFiewrRrlf1i_SPJgUpUJAmGMhG6lHMkLukdiQljgnGUTi_LL3GCR-_rUrb7mwJbbqS3BsM8GlwnEF1BEY5F-bjPlh2LjJ0FgeMddaI-r_MXtDVZ6Sb_tWu5k-zeSOZXwaPCjomT-W2_6gj5SDN_Lb-TDwQUbwsdmgAmKkowvbVa0WNEdc72bmBx8fj_hr79lOOiIiOnCM_x_Z74GYJJ9ffs-GIzxYKFNjj_dMAbBGTvwARkkQCArCbJcCnL2hcFgLyQ-lKZZfiNtKvLy62AZZ1k15M4RkIChq1ALlAsPrEUYA2z9QiU6FXMZ46lZbjonRI1nqhWnTaX1FvAQjPF2y8SGXgAPGPRCcXFOCcmca3a9x2qJapb3GvaSoab5PBw6MafGwPEkAMExlTqgrIIjik_fPWkTK2-eAH2-uUDRx7gOTE_LspgQS1Th1kPaPRma_4SQwhB1kF0YzW-jDNZn6n_QdJ5pZYO2mziv5il1Xu5qWpAt2WRTJA0fWZ0c9v1QPxRzYhzKsEoXQRbu-YuHigfiUpZ0NN-NnIFbsC-l3XI72NyanJyiVxB23hWy4lknz4qje6tuTp2kZwXz9Yzrf6AritG2krau4YCwY16Vav0-wm4EBtZ18b_fp8CF0rBca-p18WaLFfk9exNrAQdbZGQdldapyOMrAyiLE1_1aZgxHw13lrQ-RI837b2DU25nXvWj-LTSqTd4r0EpWDrplKDXY4yn6zcIG7Nbr1eWqeCfKRHHbBz-6De2iivYW9rUiCo0f5ferz4pG-WuWFAhMQ29_cVF8XFjJaPlVD6D8R4kwns8UqoNLY4723ZAms71ZYjUdsD0pyDLuTSc2J4Y_Sw8x9nXp8kTVZ7KFxMJhcg1Yp_vLdGp8Lm0ap9TFHHRYsv7WUKJrmwBOLKl-oYaNVC1goC2CmfIfJFYz8AZX4kwwwraVQw9O_-7Ze0uZTuYS4kxYBvk3MutS_M8y_3AVt2PpNE5yqsz6Z_05jgSPaRDLRQP4s3lJDhN5V6aZYKwcl0t6ySvXQ8sbQHf1IZFcu2d0K_oqBmG2gMXBP5MbC_Vkvd3v2Stpl-XqX1S85rv0oSJn4sW9Fx6dEgIWkVr1PALdYYw7tz2AztQst_XK94ofECk3eZq7WBuZoNe5xl7qzENFyQOmjzodPK4B1LBjw1252qr2dDS7SbF66vaZgnyEKrP88iITimJBiLdqNMr56C8xxHCI7v9NGUkHpcmmBaLFb3_u0tcUfd1lWHa4Vr1hV7y3fl7wDi6GAFcDgxbhhhxfYchGbDaOGOP_SK8viEdXT8Hf9qYwvhVcfirrvH1Vxr9FdoCFhNFVw0kjE4867yl50d9AiXQ3g6P0irQx5Os3SkD4NAU4eUtNPeoK9X_RHeBL1mjAL7ogfrei-7BlSPpSyvaKE=",
  "id": "rs_08fcc85769f27564016ab43e85309487d0988d7545ba49efec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.005},\"note\":\"After descending, the black marker remains just beyond the fingertip line at the bottom center of the wrist view. I’m advancing 3 cm at table height so its shaft lies between the jaw tips rather than ahead of them.\"}",
  "call_id": "call_FATcNV60mIqYCmYzBqTfuVW8",
  "id": "fc_08fcc85769f27564016ab43e85bff087d0948df836a31b5a26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FATcNV60mIqYCmYzBqTfuVW8",
  "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]: [-0.0471, 0.8677, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6189, 1.9091, 1.1446, -0.2768, 0.2413, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1781 left_yaw=0.0749 left_pitch=-0.0542 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3873 right_y=0.2285 right_z=0.0264 right_yaw=0.2317 right_pitch=-0.4363 right_roll=-0.0681 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.7299, 6.9949, 1.663, -0.0611, -0.0464, -0.0122, -0.7043, -6.4615, 5.4769, 0.5446, 0.2076, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12e9d8b9e86356f36a21c1f791961b804737884af21c9c53a78334fb2adfbf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2aa25e37dc15d331cfe13c7fac2b4a576909af19f10c86e19a6c2759e78f774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b1a76f128c3f796369ee40e6fdebe51b3d97fea939c6f0c365c4a6d3ee107af",
      "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 · 6.391 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0471, 0.8623, 0.6552, -0.4034, -0.0742, -0.1425, 0.9967, -0.0216, 1.2503, 1.1339, -0.9161, -0.0376, -0.2657, 0.9949]\nstate[eef_state]: left_x=0.3027 left_y=0.0024 left_z=0.1798 left_yaw=0.0749 left_pitch=-0.0482 left_roll=-0.0585 left_gripper=0.9967 right_x=0.3137 right_y=0.0035 right_z=0.1821 right_yaw=0.1678 right_pitch=-0.4777 right_roll=-0.1125 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5795, 7.2137, 1.7509, -0.0855, -0.0513, -0.0073, -0.5538, -4.7932, 7.5556, 1.0916, -0.0757, -0.0269, -0.0073]",
      "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]: [-0.0471, 0.8661, 0.6552, -0.4038, -0.0742, -0.1425, 0.9967, 0.6544, 1.8404, 1.0801, -0.3576, 0.2687, 0.2955, 0.9984]\nstate[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1786 left_yaw=0.0749 left_pitch=-0.0523 left_roll=-0.058 left_gripper=0.9967 right_x=0.3551 right_y=0.2178 right_z=0.0251 right_yaw=0.2106 right_pitch=-0.4954 right_roll=-0.1109 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.8393, 7.0222, 1.6874, -0.0415, -0.0659, -0.0122, -0.294, -5.7778, 3.8632, 0.4176, 0.188, -0.0415, -0.0317]",
      "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]: [-0.0471, 0.8677, 0.6552, -0.4042, -0.0742, -0.1425, 0.9967, 0.6189, 1.9091, 1.1446, -0.2768, 0.2413, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.3029 left_y=0.0024 left_z=0.1781 left_yaw=0.0749 left_pitch=-0.0542 left_roll=-0.0577 left_gripper=0.9967 right_x=0.3873 right_y=0.2285 right_z=0.0264 right_yaw=0.2317 right_pitch=-0.4363 right_roll=-0.0681 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.7299, 6.9949, 1.663, -0.0611, -0.0464, -0.0122, -0.7043, -6.4615, 5.4769, 0.5446, 0.2076, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12e9d8b9e86356f36a21c1f791961b804737884af21c9c53a78334fb2adfbf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2aa25e37dc15d331cfe13c7fac2b4a576909af19f10c86e19a6c2759e78f774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b1a76f128c3f796369ee40e6fdebe51b3d97fea939c6f0c365c4a6d3ee107af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6KzoI-Bp_sG5vGlUB2jodhoDYwYstUn-2QtxzS8tEPYwqAbviweimBiwP1cPnSUk1m4TAPJP6UhphIuqizwgqJ0xXKAzjD8kmCMnOjL-p-A-CLIA566vGyFhPbvggKwLRj44EOIqhvEOFeh1HcIBXQ0ilff1vJ5EIHka76eIh7x4jbR_bs_uHbopPi1Re6_hyIw6Jysw9-SkoMPP02JFSLcjKDN-gqrhXnFd7wWs4eWAgRIkzlId2LwAlD4cBfpzucxDgUQ5hiv3kQuKExOo_LDkxt8VwJbuhjl3UxzpnbfVD1ibV39sFoi8Z-TSZjNpjoUJ-S8IaW2al8x0-fOEFJWQH1el-AWBat3HM-eRdWzfOx_UYlF22NncSYicxvYYKP4vK_ojeYnSPalCACkpSY99usuUlu-XcEkZZ96-Xl_c35_PuOE5jWM7tzmWC-DAIRxoCduAXg5w43UFegaZJj7o6elm4YO66M3IOfV9CyiZq0qKDbGVYujqwr80dNDCSTcY_bFg0e-BiFJyeMAyRYs4QsprdnZsaioEjBmGj0HgQHv_nCdyikSyaegLzEA6yCeIELpL7Zh52tZ0reT3u-yaU6Bcaxm4bGqfu5o2RzNWeq0Hsn1bU323soEtv8tb40M7O0i8EWdb04G9OMjx_pUyjW_QYI1uiJb6N53Aa_YTC6CJCv07dXgWvfUW9qDNkeiAy-Pva6tDtUfwKIZbvW76OucyYl7dAoORIdxQclUjow7W0gfwMC-JJAmvCAQrKHCT3Acsk_tjF3KDGuvG_f-Yzw-S2aXbTMu_kg9vk65axBYn-EhzgE8V6XMdScJnJs80-33g88wMLHq-63FFCFY8HdFB2F0s6T8HnJ-JHpaLLoiwM0ZdAUZawIJbDJm_EFPiqyEzQgsbK3CvDVtBwaG5P3U73mGm7yhi9pL-HlO7TzrcpOEo7m7SvnF98UesjViBzQ3nLvmoMOzWWOMQYnjDGMZBpQ4UbeEnM6E_eUPFAOqMSG2RqgRa99oQbEoPipm6gv0yPTXHkecHFyBVoDhY0eL0nYZPTYGPfenAUEKlbOwqS26z_eS67jEzqY7wKk9zSHFJBpRP9WLHCWKcQ5MCGBqCof3yHHj95Rg6Rzo-pmjf9B80EqWW03WIUJ6jg47LFKMFE2JpLs5ohacNdyeDyHSKCm6EJB3BeBl_NbqY0xdZbT1aALUt6idN6BtWa0NgFBAFRR6ct3UNbWjwS8GR3E-JqW3RnQ6ZccP-1o9O8mNEbZq4Nc5jhWIUn9nIk-jY3VBkISG09DcSk3EvY_qw==",
  "id": "rs_08fcc85769f27564016ab43e88430087d081510eb681f69810",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The black marker has passed out of the wrist camera at the grasp point while the blue marker remains visible to the left, indicating the jaws are now over the intended shaft. I’m closing to pinch the black marker.\"}",
  "call_id": "call_GC9kR8y3Vn1ZikZzhePKP3EQ",
  "id": "fc_08fcc85769f27564016ab43e8883b487d0a4520dd04f15b787",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GC9kR8y3Vn1ZikZzhePKP3EQ",
  "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]: [-0.0471, 0.8688, 0.6552, -0.4038, -0.0738, -0.1425, 0.9967, 0.614, 1.9224, 1.1511, -0.2722, 0.2317, 0.2623, 0.0109]\nstate[eef_state]: left_x=0.303 left_y=0.0023 left_z=0.1779 left_yaw=0.0746 left_pitch=-0.055 left_roll=-0.0578 left_gripper=0.9967 right_x=0.3893 right_y=0.2291 right_z=0.0231 right_yaw=0.2374 right_pitch=-0.4417 right_roll=-0.0633 right_gripper=0.0109\nstate[joint_eff]: [-0.2256, -1.7983, 7.0085, 1.663, -0.0806, -0.0513, -0.0073, 0.2256, -10.7145, 5.5726, 1.16, 0.2515, 0.0513, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a0451dae0b240515325d6f8334429572b3bac31598c8c4d0da20ca33453c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5daa110d0ab05019501203ae9717ae5cb2edccd3d7f654eb95af35ae568e8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952549cd2ef8fc9714d5cd87251b06e0034c48b883533f10affee94c9d89f117",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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