adhoc

completed
2026-09-23T22:15:47.677222+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-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
243.1 s
total steps
416
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe overhead view shows two turquoise baskets at the back and two visually distinct plush groups: gray/brown toys on the left and cream/spotted toys near the center. I’m moving the left arm above the left-side cluster to identify and align with its frontmost toy while keeping the right arm parked.
move_to
left_x0.2600left_y-0.2000left_z0.1800left_gripper1.0000right_x0.2970right_y0.0010right_z0.1830
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3801, -0.0216, -0.0296, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0124, -0.0227, 0.9991] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5538, -1.8667, 9.2786, 1.7851, -0.0122, 0.1245, -0.0611, -0.8684, -1.6205, 9.7983, 1.7021, -0.105, 0.0269, -0.1001] 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":0.26,"left_y":-0.2,"left_z":0.18,"left_gripper":1.0,"right_x":0.297,"right_y":0.001,"right_z":0.183},"note":"The overhead view shows two turquoise baskets at the back and two visually distinct plush groups: gray/brown toys on the left and cream/spotted toys near the center. I’m moving the left arm above the left-side cluster to identify and align with its frontmost toy while keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left wrist view clearly distinguishes teddy bears (brown and tan, with visible round ears and muzzles) from gray elephant-like plush toys, so I’ll sort bears separately from the gray animals. The brown bear is just left of the jaw column and near the fingertip row, so I’m centering over its torso and descending for a grasp.
move_to
left_x0.2550left_y-0.1700left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0752, 1.2514, 0.8574, -0.5571, -0.8165, -0.7948, 0.9995, -0.0193, 0.7986, 0.6086, -0.3779, -0.012, -0.0231, 0.9991] state[eef_state]: left_x=0.2578 left_y=-0.1986 left_z=0.1686 left_yaw=-0.0193 left_pitch=-0.0272 left_roll=0.0142 left_gripper=0.9995 right_x=0.2959 right_y=0.0 right_z=0.1813 right_yaw=-0.0039 right_pitch=-0.0057 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [-0.2256, -4.506, 8.8, 1.0867, -0.7106, -0.0269, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.17,"left_z":0.055,"left_gripper":1.0},"note":"The left wrist view clearly distinguishes teddy bears (brown and tan, with visible round ears and muzzles) from gray elephant-like plush toys, so I’ll sort bears separately from the gray animals. The brown bear is just left of the jaw column and near the fingertip row, so I’m centering over its torso and descending for a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteAt grasp height, the brown long-limbed plush is clearly a monkey and is about 4 cm left of the jaw column; the large tan plush beside it is the bear category. I’m translating leftward in the arm frame to center the monkey’s torso between the open jaws before closing.
move_to
left_y-0.1250left_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]: [-1.0199, 1.3502, 0.4297, 0.0017, -0.7937, -0.7483, 0.9995, -0.02, 0.7986, 0.6086, -0.379, -0.012, -0.0231, 0.9991] state[eef_state]: left_x=0.2549 left_y=-0.1674 left_z=0.0569 left_yaw=-0.0035 left_pitch=-0.0272 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.181 right_yaw=-0.0047 right_pitch=-0.0069 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [0.1299, -3.0427, 5.135, 1.3309, -0.2564, 0.1685, -0.0611, -0.1162, -1.2923, 7.0359, 1.7167, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_z":0.055},"note":"At grasp height, the brown long-limbed plush is clearly a monkey and is about 4 cm left of the jaw column; the large tan plush beside it is the bear category. I’m translating leftward in the arm frame to center the monkey’s torso between the open jaws before closing."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe brown monkey’s body is now centered on the jaw column at the correct low height, with the bear remaining to its right. I’m closing the gripper around the monkey’s torso.
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]: [-0.8886, 1.1778, 0.2966, 0.0463, -0.7185, -0.6373, 0.9995, -0.02, 0.8009, 0.6083, -0.3847, -0.0113, -0.0231, 0.9991] state[eef_state]: left_x=0.2553 left_y=-0.1243 left_z=0.0547 left_yaw=0.0173 left_pitch=-0.0277 left_roll=0.0058 left_gripper=0.9995 right_x=0.2951 right_y=-0.0003 right_z=0.179 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9991 state[joint_eff]: [-0.1299, -2.988, 5.5863, 1.4921, -0.2564, 0.0904, -0.0122, -0.3487, -1.4701, 7.1179, 1.8388, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The brown monkey’s body is now centered on the jaw column at the correct low height, with the bear remaining to its right. I’m closing the gripper around the monkey’s torso."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe gripper settled at 0.13, well above the empty reading, indicating a secure hold on the monkey. I’m lifting it clear to confirm the toy moves with the jaws before transporting it.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8871, 1.1759, 0.2951, 0.0658, -0.7021, -0.6167, 0.1299, -0.02, 0.8013, 0.6083, -0.3851, -0.012, -0.0231, 0.9991] state[eef_state]: left_x=0.2563 left_y=-0.1282 left_z=0.0559 left_yaw=-0.0039 left_pitch=-0.0249 left_roll=-0.0001 left_gripper=0.1299 right_x=0.2951 right_y=-0.0002 right_z=0.1789 right_yaw=-0.0047 right_pitch=-0.016 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.294, -3.5761, 5.4085, 1.3016, -0.3834, 0.0513, 0.9695, -0.1299, -1.347, 7.0222, 1.7118, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The gripper settled at 0.13, well above the empty reading, indicating a secure hold on the monkey. I’m lifting it clear to confirm the toy moves with the jaws before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe brown monkey lifted with the gripper and is visibly hanging beside the jaws, confirming the grasp. I’m carrying this first monkey above the left basket, which will be the monkey basket.
move_to
left_x0.4500left_y-0.1800left_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]: [-0.8867, 0.9768, 0.6147, -0.4759, -0.6914, -0.617, 0.1322, -0.02, 0.8032, 0.6079, -0.3851, -0.0116, -0.0231, 0.9991] state[eef_state]: left_x=0.2548 left_y=-0.1285 left_z=0.147 left_yaw=-0.0101 left_pitch=-0.0455 left_roll=0.0122 left_gripper=0.1322 right_x=0.2952 right_y=-0.0003 right_z=0.1782 right_yaw=-0.005 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9991 state[joint_eff]: [0.0889, -3.0701, 8.8684, 1.3651, -0.3883, -0.0171, 0.6032, -0.0752, -1.3607, 7.0632, 1.7363, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.18,"left_z":0.2},"note":"The brown monkey lifted with the gripper and is visibly hanging beside the jaws, confirming the grasp. I’m carrying this first monkey above the left basket, which will be the monkey basket."})
tool
executing move_to over 16 steps (1.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe gripper is above the left basket but slightly toward its right edge; the held monkey remains secure. I’m shifting toward the basket center and lowering until the plush is supported inside before release.
move_to
left_y-0.1400left_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]: [-0.5465, 1.6871, 1.2942, -0.3653, -0.4404, -0.3504, 0.1333, -0.02, 0.8078, 0.6067, -0.3855, -0.0116, -0.0235, 0.9991] state[eef_state]: left_x=0.4399 left_y=-0.1752 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.1078 left_roll=0.0381 left_gripper=0.1333 right_x=0.2953 right_y=-0.0003 right_z=0.1763 right_yaw=-0.0048 right_pitch=-0.0244 right_roll=-0.0007 right_gripper=0.9991 state[joint_eff]: [-0.0342, -8.8957, 9.5521, 1.8974, -0.2222, 0.0708, 0.7009, -0.0615, -1.5658, 7.2547, 1.7118, -0.0269, -0.0757, -0.0171] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.14,"left_z":0.12},"note":"The gripper is above the left basket but slightly toward its right edge; the held monkey remains secure. I’m shifting toward the basket center and lowering until the plush is supported inside before release."})
tool
executing move_to over 4 steps (0.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe monkey is now lowered into the center of the left basket, with the grasp point just above the basket floor. I’m opening the jaws to release it.
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]: [-0.4576, 1.689, 1.0424, -0.123, -0.3729, -0.2951, 0.1356, -0.02, 0.8082, 0.6067, -0.3855, -0.0116, -0.0231, 0.9991] state[eef_state]: left_x=0.435 left_y=-0.1385 left_z=0.1113 left_yaw=0.0024 left_pitch=-0.1418 left_roll=0.0454 left_gripper=0.1356 right_x=0.2953 right_y=-0.0003 right_z=0.1762 right_yaw=-0.005 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9991 state[joint_eff]: [-0.1436, -8.8, 6.694, 1.8144, -0.2076, 0.1001, 0.4762, -0.1299, -1.1145, 7.2274, 1.6923, -0.0317, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The monkey is now lowered into the center of the left basket, with the grasp point just above the basket floor. I’m opening the jaws to release it."})
tool
executing move_to over 9 steps (0.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe jaws are open, but the arm and basket rim obscure whether the monkey settled fully inside. I’m retracting the left arm to its home pose to clear the overhead view and verify the placement before continuing.
move_to
left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4576, 1.689, 1.0424, -0.1326, -0.3733, -0.3035, 0.9953, -0.02, 0.8097, 0.6067, -0.3862, -0.012, -0.0231, 0.9991] state[eef_state]: left_x=0.4336 left_y=-0.1377 left_z=0.1098 left_yaw=0.0079 left_pitch=-0.15 left_roll=0.0435 left_gripper=0.9953 right_x=0.2953 right_y=-0.0002 right_z=0.1756 right_yaw=-0.0047 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [-0.1846, -8.2803, 6.612, 1.6777, -0.2076, 0.0317, -0.1734, -0.1299, -1.2513, 7.3504, 1.7216, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.19},"note":"The jaws are open, but the arm and basket rim obscure whether the monkey settled fully inside. I’m retracting the left arm to its home pose to clear the overhead view and verify the placement before continuing."})
tool
executing move_to over 13 steps (1.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteWith the arm retracted, the first monkey is visible on the table just in front of the left basket rather than inside; the basket center is about 10 cm farther forward than my first estimate, so I’ll correct that on the next monkey placement. Meanwhile I’m moving the right arm above the frontmost cream/tan bear to begin filling the right basket.
move_to
right_x0.2800right_y0.3000right_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]: [-0.0776, 0.9588, 0.8024, -0.5259, -0.1257, -0.0738, 0.9966, -0.02, 0.8139, 0.6067, -0.3851, -0.012, -0.0231, 0.9991] state[eef_state]: left_x=0.3113 left_y=0.0016 left_z=0.1947 left_yaw=0.054 left_pitch=-0.1122 left_roll=0.0335 left_gripper=0.9966 right_x=0.2957 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0047 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [-0.1709, -2.2359, 6.8581, 1.619, 0.0904, 0.1392, 0.1245, -0.0752, -1.7299, 7.0085, 1.7705, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.3,"right_z":0.16,"right_gripper":1.0},"note":"With the arm retracted, the first monkey is visible on the table just in front of the left basket rather than inside; the basket center is about 10 cm farther forward than my first estimate, so I’ll correct that on the next monkey placement. Meanwhile I’m moving the right arm above the frontmost cream/tan bear to begin filling the right basket."})
tool
executing move_to over 26 steps (2.6s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe wrist view shows the cream bear about 5 cm left of the jaw column and a few centimetres forward of the fingertips, with the right basket clearly separate on the right. I’m translating left/forward and descending around the bear’s body for a centered grasp.
move_to
right_x0.3200right_y0.3500right_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]: [-0.0792, 0.9642, 0.8024, -0.5526, -0.1196, -0.0784, 0.9967, 1.1286, 1.6585, 1.1641, -0.5343, 0.8211, 0.8364, 0.9991] state[eef_state]: left_x=0.3075 left_y=0.0003 left_z=0.188 left_yaw=0.0503 left_pitch=-0.1444 left_roll=0.0303 left_gripper=0.9967 right_x=0.2786 right_y=0.2946 right_z=0.1485 right_yaw=0.0229 right_pitch=-0.0614 right_roll=-0.0251 right_gripper=0.9991 state[joint_eff]: [-0.0752, -2.4137, 7.1043, 1.8632, -0.1294, 0.0415, 0.0024, 0.5675, -7.9795, 8.4855, 0.8571, 0.696, 0.1294, -0.1001] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.35,"right_z":0.06},"note":"The wrist view shows the cream bear about 5 cm left of the jaw column and a few centimetres forward of the fingertips, with the right basket clearly separate on the right. I’m translating left/forward and descending around the bear’s body for a centered grasp."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteAt grasp height the bear is still left of the jaws; its torso edge reaches only to the left jaw, so closing now would miss or pinch a limb. I’m using the remaining lateral workspace to bring the torso onto the jaw column.
move_to
right_y0.3900right_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]: [-0.0792, 0.9688, 0.8024, -0.5571, -0.1192, -0.0792, 0.9967, 1.1011, 2.0014, 1.2148, -0.2924, 0.7914, 0.7967, 0.9991] state[eef_state]: left_x=0.3071 left_y=0.0003 left_z=0.1858 left_yaw=0.0506 left_pitch=-0.1535 left_roll=0.0306 left_gripper=0.9967 right_x=0.3068 right_y=0.3348 right_z=0.0497 right_yaw=0.0286 right_pitch=-0.1089 right_roll=-0.0896 right_gripper=0.9991 state[joint_eff]: [-0.1846, -2.4821, 7.0632, 1.6142, -0.0562, -0.0464, -0.0122, -0.8684, -10.7009, 7.9248, 1.0525, 0.4176, 0.0464, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.39,"right_z":0.055},"note":"At grasp height the bear is still left of the jaws; its torso edge reaches only to the left jaw, so closing now would miss or pinch a limb. I’m using the remaining lateral workspace to bring the torso onto the jaw column."})
tool
executing move_to over 5 steps (0.5s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe bear’s soft torso now lies between the open jaws, though slightly left because this is near the right arm’s lateral limit. The closing path crosses the torso, so I’m closing slowly via the standard full-close command to secure the plush.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1515, 2.154, 1.4696, -0.4232, 0.7887, 0.8433, 0.9991] state[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.3066 right_y=0.3889 right_z=0.05 right_yaw=0.0525 right_pitch=-0.1223 right_roll=-0.0775 right_gripper=0.9991 state[joint_eff]: [-0.0068, -2.3453, 6.9675, 1.58, -0.0855, -0.0269, -0.0122, 0.4718, -11.0701, 7.7333, 0.6374, 0.5592, 0.1148, -0.0171] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The bear’s soft torso now lies between the open jaws, though slightly left because this is near the right arm’s lateral limit. The closing path crosses the torso, so I’m closing slowly via the standard full-close command to secure the plush."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe right gripper closed empty, so that bear was outside the jaws at the arm’s lateral boundary. I’m opening and moving slightly farther forward over the more rightward tan bear, which is better matched to the right arm’s workspace.
move_to
right_x0.3500right_y0.3900right_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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1519, 2.1632, 1.4723, -0.4255, 0.7738, 0.8387, 0.0098] state[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.305 right_y=0.3903 right_z=0.0448 right_yaw=0.0617 right_pitch=-0.1383 right_roll=-0.0827 right_gripper=0.0098 state[joint_eff]: [-0.0342, -2.359, 6.8718, 1.5702, -0.0562, -0.0024, -0.0073, -0.1983, -12.5197, 5.8735, 1.0427, 0.5104, 0.0611, 0.8034] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.39,"right_z":0.12,"right_gripper":1.0},"note":"The right gripper closed empty, so that bear was outside the jaws at the arm’s lateral boundary. I’m opening and moving slightly farther forward over the more rightward tan bear, which is better matched to the right arm’s workspace."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe right wrist now shows the tan bear’s torso and limbs filling the jaw path, with the basket walls on either side; this is the intended rightmost bear. I’m descending a few centimetres while maintaining alignment so the jaws close around its body rather than beside it.
move_to
right_x0.3550right_y0.3900right_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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0668, 2.162, 1.6836, -0.614, 0.7208, 0.7303, 0.9948] state[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3431 right_y=0.3882 right_z=0.0918 right_yaw=0.0656 right_pitch=-0.1732 right_roll=-0.1203 right_gripper=0.9948 state[joint_eff]: [-0.1162, -2.2906, 6.8855, 1.6581, -0.0904, -0.0757, -0.0122, -0.6222, -14.5983, 9.0462, 1.0965, 0.3736, 0.0366, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.39,"right_z":0.035},"note":"The right wrist now shows the tan bear’s torso and limbs filling the jaw path, with the basket walls on either side; this is the intended rightmost bear. I’m descending a few centimetres while maintaining alignment so the jaws close around its body rather than beside it."})
tool
executing move_to over 4 steps (0.4s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteAt the lower pose, the bear’s plush torso and a leg lie directly across the jaw-closing axis. I’m closing now to capture the body securely.
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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0792, 0.9967, 1.0538, 2.2364, 1.6161, -0.4763, 0.7162, 0.7136, 0.9957] state[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0499 left_pitch=-0.1584 left_roll=0.0313 left_gripper=0.9967 right_x=0.3498 right_y=0.3879 right_z=0.0453 right_yaw=0.0635 right_pitch=-0.1801 right_roll=-0.1343 right_gripper=0.9957 state[joint_eff]: [-0.0752, -2.359, 7.0496, 1.6288, -0.105, -0.0708, -0.0122, -0.7043, -11.4667, 5.8598, 1.1502, 0.3834, -0.1441, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lower pose, the bear’s plush torso and a leg lie directly across the jaw-closing axis. I’m closing now to capture the body securely."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe jaws again reached the empty reading despite being under the bear, indicating they were too low and slid beneath the plush rather than pinching it. I’m opening and raising to mid-torso height while keeping the same horizontal alignment.
move_to
right_z0.0800right_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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0523, 2.2559, 1.6062, -0.4553, 0.7055, 0.7136, 0.0133] state[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3493 right_y=0.3882 right_z=0.0334 right_yaw=0.0665 right_pitch=-0.1926 right_roll=-0.1361 right_gripper=0.0133 state[joint_eff]: [-0.1026, -2.2085, 6.9402, 1.6044, -0.1245, -0.0562, -0.0122, 0.0205, -13.9966, 6.8308, 0.8571, 0.442, 0.0122, 1.0965] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"right_gripper":1.0},"note":"The jaws again reached the empty reading despite being under the bear, indicating they were too low and slid beneath the plush rather than pinching it. I’m opening and raising to mid-torso height while keeping the same horizontal alignment."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe attempted raise stopped around 5 cm with high shoulder load, likely because the wrist is wedged against the nearby basket rim and plush. I’m lifting straight up to clear that contact before re-approaching from a safer angle.
move_to
right_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]: [-0.0799, 0.9749, 0.8021, -0.5632, -0.1192, -0.0795, 0.9967, 1.0523, 2.2421, 1.6711, -0.5797, 0.6949, 0.7078, 0.9948] state[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.166 left_roll=0.032 left_gripper=0.9967 right_x=0.3462 right_y=0.3858 right_z=0.049 right_yaw=0.0671 right_pitch=-0.2265 right_roll=-0.1738 right_gripper=0.9948 state[joint_eff]: [-0.1983, -2.5641, 6.8855, 1.6679, -0.0562, -0.0317, -0.0122, -0.212, -16.1983, 8.6769, 0.8181, 0.3883, 0.0611, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The attempted raise stopped around 5 cm with high shoulder load, likely because the wrist is wedged against the nearby basket rim and plush. I’m lifting straight up to clear that contact before re-approaching from a safer angle."})
tool
executing move_to over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe wrist has cleared the rim and is now at mid-body height; the tan bear’s torso and leg visibly span the space between both jaws. I’m closing at this higher level to avoid sliding underneath it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2364, 1.8145, -0.7685, 0.6792, 0.7052, 0.9957] state[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3451 right_y=0.3881 right_z=0.0815 right_yaw=0.0684 right_pitch=-0.2607 right_roll=-0.2016 right_gripper=0.9957 state[joint_eff]: [-0.0205, -2.2222, 6.9265, 1.6044, -0.1099, -0.0562, -0.0122, -0.0615, -16.9641, 8.5675, 0.9109, 0.486, -0.022, 0.0855] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The wrist has cleared the rim and is now at mid-body height; the tan bear’s torso and leg visibly span the space between both jaws. I’m closing at this higher level to avoid sliding underneath it."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe gripper settled at 0.038, exactly at the empty/grasp threshold, so the hold is uncertain. I’m performing a short lift test; the overhead view will show whether the bear rises with the jaws.
move_to
right_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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2257, 1.8183, -0.7692, 0.6678, 0.6964, 0.0378] state[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3445 right_y=0.3902 right_z=0.0868 right_yaw=0.0822 right_pitch=-0.2627 right_roll=-0.1898 right_gripper=0.0378 state[joint_eff]: [-0.1026, -2.4, 6.9128, 1.5653, -0.1148, -0.0415, -0.0122, -0.1026, -11.6308, 5.9692, 0.9499, 0.442, 0.1734, 0.9011] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The gripper settled at 0.038, exactly at the empty/grasp threshold, so the hold is uncertain. I’m performing a short lift test; the overhead view will show whether the bear rises with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe lift test confirms the tan bear stayed on the table, so the right arm’s edge-of-workspace approach is unsuitable. I’m parking and opening the right arm, while sending the left arm above the clearly visible gray monkey at the front-left for a better-centered grasp.
move_to
left_x0.2600left_y-0.0700left_z0.1300left_gripper1.0000right_x0.3000right_y0.0000right_z0.1800right_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]: [-0.0799, 0.9764, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2265, 1.9976, -0.955, 0.6426, 0.6914, 0.0388] state[eef_state]: left_x=0.307 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.1652 left_roll=0.0319 left_gripper=0.9967 right_x=0.343 right_y=0.3948 right_z=0.1284 right_yaw=0.0965 right_pitch=-0.2864 right_roll=-0.1857 right_gripper=0.0388 state[joint_eff]: [-0.1162, -2.1128, 6.9128, 1.5849, -0.1197, -0.0317, -0.0122, -0.0615, -13.7231, 9.0051, 0.8913, 0.5006, 0.0171, 1.0281] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.07,"left_z":0.13,"left_gripper":1.0,"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_gripper":1.0},"note":"The lift test confirms the tan bear stayed on the table, so the right arm’s edge-of-workspace approach is unsuitable. I’m parking and opening the right arm, while sending the left arm above the clearly visible gray monkey at the front-left for a better-centered grasp."})
tool
executing move_to over 33 steps (3.3s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe cleared wrist view shows the two visual classes reliably: gray/brown long-limbed plushes versus cream plushes with dark paw pads. The previously dropped brown long-limbed toy is now centered on the jaw column, so I’m advancing slightly and descending around its torso for a second pickup.
move_to
left_x0.2800left_y-0.0700left_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]: [-0.5762, 0.8936, 0.5903, -0.5537, -0.4522, -0.4328, 0.9988, 0.0387, 1.0439, 0.889, -0.6834, 0.0925, -0.1795, 0.9978] state[eef_state]: left_x=0.2589 left_y=-0.0719 left_z=0.1289 left_yaw=0.0284 left_pitch=-0.1841 left_roll=0.0364 left_gripper=0.9988 right_x=0.3034 right_y=-0.001 right_z=0.1789 right_yaw=0.0487 right_pitch=-0.2848 right_roll=-0.1856 right_gripper=0.9978 state[joint_eff]: [-0.4171, -2.0034, 6.0786, 1.5897, -0.4225, -0.1343, -0.1441, -0.2803, -3.8359, 6.612, 1.3797, -0.0269, 0.0024, -0.0708] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.07,"left_z":0.065},"note":"The cleared wrist view shows the two visual classes reliably: gray/brown long-limbed plushes versus cream plushes with dark paw pads. The previously dropped brown long-limbed toy is now centered on the jaw column, so I’m advancing slightly and descending around its torso for a second pickup."})
tool
executing move_to over 5 steps (0.5s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe brown toy’s torso is squarely between the open jaws at mid-body height. I’m closing to secure it for the corrected left-basket placement.
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]: [-0.5037, 1.0634, 0.4088, -0.263, -0.4122, -0.3889, 0.9983, 0.0334, 1.0435, 0.8886, -0.6907, 0.078, -0.2005, 0.9978] state[eef_state]: left_x=0.2667 left_y=-0.0621 left_z=0.0571 left_yaw=0.0532 left_pitch=-0.2534 left_roll=0.0758 left_gripper=0.9983 right_x=0.302 right_y=-0.0001 right_z=0.1775 right_yaw=0.0677 right_pitch=-0.2939 right_roll=-0.1886 right_gripper=0.9978 state[joint_eff]: [0.3077, -2.9607, 5.9556, 1.5653, -0.1685, 0.0611, -0.0659, 0.3214, -2.7829, 6.7761, 1.5263, 0.1441, 0.1734, -0.0122] 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":{"left_gripper":0.0},"note":"The brown toy’s torso is squarely between the open jaws at mid-body height. I’m closing to secure it for the corrected left-basket placement."})
tool
executing move_to over 10 steps (1.0s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe close was empty and the toy remained visible, so—like the bear attempt—the fingers passed below the raised plush torso. I’m reopening and lifting to about 9 cm, where the jaws will meet the body instead of the table-level gap.
move_to
left_z0.0900left_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]: [-0.5014, 1.0729, 0.3973, -0.2466, -0.4042, -0.3931, 0.0107, 0.0334, 1.0435, 0.8886, -0.6907, 0.0769, -0.202, 0.9978] state[eef_state]: left_x=0.2658 left_y=-0.0624 left_z=0.0524 left_yaw=0.0522 left_pitch=-0.2605 left_roll=0.0697 left_gripper=0.0107 right_x=0.302 right_y=0.0001 right_z=0.1775 right_yaw=0.0696 right_pitch=-0.2941 right_roll=-0.1888 right_gripper=0.9978 state[joint_eff]: [-0.3487, -3.0974, 7.3368, 1.1893, -0.3199, -0.0122, 0.4811, 0.0205, -2.7829, 6.7761, 1.5311, 0.022, 0.0024, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_gripper":1.0},"note":"The close was empty and the toy remained visible, so—like the bear attempt—the fingers passed below the raised plush torso. I’m reopening and lifting to about 9 cm, where the jaws will meet the body instead of the table-level gap."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteAt 8 cm height the brown plush’s body is visibly bracketed by both fingertips, unlike the previous low attempt. I’m closing around the torso now.
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]: [-0.5011, 1.0115, 0.4942, -0.4168, -0.4034, -0.3946, 0.9953, 0.0334, 1.0435, 0.8886, -0.691, 0.0761, -0.2024, 0.9978] state[eef_state]: left_x=0.2638 left_y=-0.0613 left_z=0.0799 left_yaw=0.0545 left_pitch=-0.2708 left_roll=0.0745 left_gripper=0.9953 right_x=0.3019 right_y=0.0002 right_z=0.1775 right_yaw=0.0705 right_pitch=-0.2945 right_roll=-0.1884 right_gripper=0.9978 state[joint_eff]: [-0.0889, -3.0701, 9.0188, 1.2625, -0.1587, -0.0317, -0.1538, -0.0205, -2.7556, 6.9812, 1.5116, 0.0024, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At 8 cm height the brown plush’s body is visibly bracketed by both fingertips, unlike the previous low attempt. I’m closing around the torso now."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe jaws again closed empty while the brown toy stayed in the wrist view, proving it is still a few centimetres beyond the fingertips despite appearing centered. I’m reopening, raising slightly, and advancing 4–5 cm radially so the grasp point reaches the torso.
move_to
left_x0.3100left_z0.1000left_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]: [-0.5007, 1.0134, 0.4984, -0.4255, -0.403, -0.3969, 0.0101, 0.0334, 1.0481, 0.8886, -0.6952, 0.0742, -0.2028, 0.9978] state[eef_state]: left_x=0.2633 left_y=-0.061 left_z=0.0798 left_yaw=0.0568 left_pitch=-0.2763 left_roll=0.0762 left_gripper=0.0101 right_x=0.3015 right_y=0.0006 right_z=0.1755 right_yaw=0.0725 right_pitch=-0.3032 right_roll=-0.1869 right_gripper=0.9978 state[joint_eff]: [-0.212, -2.4547, 6.2017, 1.4139, -0.2808, 0.0269, 0.8767, -0.0342, -3.1795, 6.735, 1.5214, 0.022, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_z":0.1,"left_gripper":1.0},"note":"The jaws again closed empty while the brown toy stayed in the wrist view, proving it is still a few centimetres beyond the fingertips despite appearing centered. I’m reopening, raising slightly, and advancing 4–5 cm radially so the grasp point reaches the torso."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteAfter the radial advance, the brown torso has shifted down to the fingertip row between the open jaws, confirming the prior depth error. I’m making one final 2 cm forward adjustment at torso height before closing.
move_to
left_x0.3250left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.395, 1.1854, 0.6334, -0.3977, -0.345, -0.3214, 0.9952, 0.0334, 1.05, 0.8886, -0.6956, 0.0742, -0.2028, 0.9978] state[eef_state]: left_x=0.2998 left_y=-0.0564 left_z=0.0872 left_yaw=0.0755 left_pitch=-0.3112 left_roll=0.0898 left_gripper=0.9952 right_x=0.3015 right_y=0.0006 right_z=0.1749 right_yaw=0.0725 right_pitch=-0.3055 right_roll=-0.1868 right_gripper=0.9978 state[joint_eff]: [0.1846, -3.3709, 8.6632, 1.4872, -0.1929, 0.0757, -0.0513, -0.0342, -2.7966, 6.735, 1.4725, 0.0171, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_z":0.08},"note":"After the radial advance, the brown torso has shifted down to the fingertip row between the open jaws, confirming the prior depth error. I’m making one final 2 cm forward adjustment at torso height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 270
assistant
agent noteThe brown torso is now at the very bottom of the wrist image, exactly between the fingertip tips rather than merely on the camera column. I’m closing with the corrected radial alignment.
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]: [-0.3679, 1.2564, 0.6559, -0.3599, -0.3325, -0.3092, 0.9966, 0.0334, 1.0508, 0.8886, -0.6971, 0.0738, -0.2024, 0.9978] state[eef_state]: left_x=0.3116 left_y=-0.0545 left_z=0.08 left_yaw=0.087 left_pitch=-0.326 left_roll=0.0933 left_gripper=0.9966 right_x=0.3013 right_y=0.0006 right_z=0.1744 right_yaw=0.0727 right_pitch=-0.3077 right_roll=-0.1861 right_gripper=0.9978 state[joint_eff]: [0.2393, -4.2735, 7.7607, 1.1013, -0.1099, 0.0708, 0.1294, -0.0479, -2.7556, 6.7487, 1.4921, -0.0073, -0.022, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The brown torso is now at the very bottom of the wrist image, exactly between the fingertip tips rather than merely on the camera column. I’m closing with the corrected radial alignment."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe brown toy still remained visible after closing, so the wrist camera’s fingertip projection is farther below-frame than expected; depth, not lateral alignment, is the remaining error. I’m reopening and advancing another 3 cm while keeping torso height.
move_to
left_x0.3500left_z0.0900left_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]: [-0.35, 1.3163, 0.6575, -0.3233, -0.3283, -0.2874, 0.0103, 0.0334, 1.0546, 0.8886, -0.6956, 0.0738, -0.2024, 0.9978] state[eef_state]: left_x=0.3174 left_y=-0.0514 left_z=0.0677 left_yaw=0.0925 left_pitch=-0.3484 left_roll=0.1144 left_gripper=0.0103 right_x=0.3018 right_y=0.0006 right_z=0.1736 right_yaw=0.0727 right_pitch=-0.31 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [-0.3077, -5.5316, 7.7197, 1.3895, -0.1343, 0.0171, 0.8816, -0.1162, -3.0701, 6.8308, 1.4725, 0.0073, -0.0171, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_z":0.09,"left_gripper":1.0},"note":"The brown toy still remained visible after closing, so the wrist camera’s fingertip projection is farther below-frame than expected; depth, not lateral alignment, is the remaining error. I’m reopening and advancing another 3 cm while keeping torso height."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe overhead view resolves the confusion: the gripper is physically left of the brown toy even though the wrist camera makes it look centered. I’m returning to the previously proven pickup coordinates (about x=0.26, y=-0.13), where the first grasp produced a clear 0.13 hold.
move_to
left_x0.2600left_y-0.1300left_z0.0600left_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]: [-0.3122, 1.4006, 0.7902, -0.3786, -0.3111, -0.2611, 0.9951, 0.0334, 1.0546, 0.8886, -0.696, 0.0742, -0.2028, 0.9978] state[eef_state]: left_x=0.3426 left_y=-0.05 left_z=0.082 left_yaw=0.1021 left_pitch=-0.3624 left_roll=0.1206 left_gripper=0.9951 right_x=0.3017 right_y=0.0006 right_z=0.1735 right_yaw=0.0726 right_pitch=-0.3105 right_roll=-0.1866 right_gripper=0.9978 state[joint_eff]: [0.5128, -4.6838, 8.5812, 1.199, -0.1294, 0.0659, 0.0708, -0.0889, -2.8923, 6.7214, 1.4335, 0.0171, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.13,"left_z":0.06,"left_gripper":1.0},"note":"The overhead view resolves the confusion: the gripper is physically left of the brown toy even though the wrist camera makes it look centered. I’m returning to the previously proven pickup coordinates (about x=0.26, y=-0.13), where the first grasp produced a clear 0.13 hold."})
tool
executing move_to over 8 steps (0.8s)
step 298
assistant
agent noteAt the proven coordinates the brown toy now fills the space directly between both jaws, matching the successful first pickup view. I’m closing around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.775, 1.359, 0.6888, -0.4866, -0.4984, -0.6506, 0.9987, 0.0334, 1.0584, 0.8886, -0.6971, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.2647 left_y=-0.136 left_z=0.0589 left_yaw=0.0422 left_pitch=-0.3771 left_roll=0.1203 left_gripper=0.9987 right_x=0.3017 right_y=0.0006 right_z=0.1723 right_yaw=0.073 right_pitch=-0.3154 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [0.4855, -4.9983, 5.6274, 0.8962, -0.569, -0.105, -0.1441, -0.1846, -3.2342, 7.1043, 1.5263, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the proven coordinates the brown toy now fills the space directly between both jaws, matching the successful first pickup view. I’m closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe toy’s orientation changed after the first drop; at 6 cm the fingers now pass below its upright torso. I’m reopening and raising at the same verified horizontal location so the jaws meet the body rather than the floor beneath it.
move_to
left_z0.0950left_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]: [-0.7746, 1.3594, 0.688, -0.5003, -0.4942, -0.654, 0.0101, 0.0334, 1.0584, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978] state[eef_state]: left_x=0.2622 left_y=-0.1343 left_z=0.057 left_yaw=0.0462 left_pitch=-0.3898 left_roll=0.1271 left_gripper=0.0101 right_x=0.3017 right_y=0.0006 right_z=0.1722 right_yaw=0.0728 right_pitch=-0.3157 right_roll=-0.1858 right_gripper=0.9978 state[joint_eff]: [-0.212, -4.6974, 5.9966, 1.1013, -0.3004, 0.0171, 0.8669, -0.0752, -2.7966, 6.9812, 1.4579, 0.0122, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095,"left_gripper":1.0},"note":"The toy’s orientation changed after the first drop; at 6 cm the fingers now pass below its upright torso. I’m reopening and raising at the same verified horizontal location so the jaws meet the body rather than the floor beneath it."})
tool
executing move_to over 10 steps (1.0s)
step 318
assistant
agent noteAt the higher pose, the brown plush’s torso is clearly suspended between the open fingertips rather than above them. I’m closing at this body height.
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]: [-0.7746, 1.322, 0.778, -0.6487, -0.4938, -0.6552, 0.9952, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.2604 left_y=-0.1327 left_z=0.0829 left_yaw=0.0531 left_pitch=-0.4042 left_roll=0.1428 left_gripper=0.9952 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [0.0752, -5.8872, 8.3487, 0.7839, -0.2906, 0.0122, 0.0464, -0.1162, -2.906, 6.7624, 1.453, -0.0122, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the higher pose, the brown plush’s torso is clearly suspended between the open fingertips rather than above them. I’m closing at this body height."})
tool
executing move_to over 10 steps (1.0s)
step 328
assistant
agent noteThe body is laterally correct but still lies beyond the closed fingertip wedge, so the remaining miss is radial. I’m reopening and advancing about 5 cm at the correct y-coordinate, combining the successful lateral calibration with the needed depth correction.
move_to
left_x0.3100left_z0.1000left_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]: [-0.7746, 1.3201, 0.7837, -0.6582, -0.4938, -0.6586, 0.0102, 0.0334, 1.0588, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978] state[eef_state]: left_x=0.2602 left_y=-0.1324 left_z=0.0844 left_yaw=0.0557 left_pitch=-0.4053 left_roll=0.1422 left_gripper=0.0102 right_x=0.3017 right_y=0.0006 right_z=0.1721 right_yaw=0.0728 right_pitch=-0.3161 right_roll=-0.1858 right_gripper=0.9978 state[joint_eff]: [-0.1983, -4.3009, 5.8325, 1.0085, -0.2857, 0.0366, 0.8767, -0.0615, -2.8103, 6.7487, 1.4383, 0.0171, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_z":0.1,"left_gripper":1.0},"note":"The body is laterally correct but still lies beyond the closed fingertip wedge, so the remaining miss is radial. I’m reopening and advancing about 5 cm at the correct y-coordinate, combining the successful lateral calibration with the needed depth correction."})
tool
executing move_to over 10 steps (1.0s)
step 338
assistant
agent noteThe forward move brought the adjacent cream pawed plush—not the brown one—into the open jaws; it is one of the cream-class objects and can be sorted now. I’m shifting slightly right so its large paw/forelimb lies centrally between the fingers.
move_to
left_y-0.1800left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6437, 1.4399, 0.8993, -0.6384, -0.4438, -0.5449, 0.9953, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2024, 0.9978] state[eef_state]: left_x=0.2989 left_y=-0.125 left_z=0.087 left_yaw=0.0824 left_pitch=-0.4365 left_roll=0.1632 left_gripper=0.9953 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.0728 right_pitch=-0.3165 right_roll=-0.1857 right_gripper=0.9978 state[joint_eff]: [0.2667, -5.2308, 9.2376, 1.0623, -0.1832, 0.149, -0.1441, -0.0889, -2.5504, 6.9265, 1.4188, 0.0073, -0.0366, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.18,"left_z":0.09},"note":"The forward move brought the adjacent cream pawed plush—not the brown one—into the open jaws; it is one of the cream-class objects and can be sorted now. I’m shifting slightly right so its large paw/forelimb lies centrally between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 343
assistant
agent noteThe cream plush’s paw is now crossed by the right fingertip but remains slightly right of center. I’m making one more small rightward translation to center that padded forelimb in the closing path.
move_to
left_y-0.2300
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]: [-0.7849, 1.5799, 1.0264, -0.7059, -0.4732, -0.6727, 0.9966, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.2942 left_y=-0.1751 left_z=0.082 left_yaw=0.063 left_pitch=-0.4618 left_roll=0.1726 left_gripper=0.9966 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [-0.2803, -6.3658, 7.8291, 0.7204, -0.5055, -0.0513, 0.1245, -0.1709, -2.906, 6.735, 1.4628, -0.0073, -0.0317, -0.0171] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.23},"note":"The cream plush’s paw is now crossed by the right fingertip but remains slightly right of center. I’m making one more small rightward translation to center that padded forelimb in the closing path."})
tool
executing move_to over 5 steps (0.5s)
step 348
assistant
agent noteThe padded forelimb is moving left across the wrist image as expected and is now close to the jaw centerline. I’m applying the final small lateral correction before closing.
move_to
left_y-0.2700
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]: [-0.8955, 1.7256, 1.1797, -0.7765, -0.4946, -0.7799, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.2912 left_y=-0.2237 left_z=0.0784 left_yaw=0.0528 left_pitch=-0.4743 left_roll=0.18 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [-0.4444, -7.241, 7.5692, 0.5641, -0.442, -0.1538, 0.0024, -0.1573, -2.7556, 6.7487, 1.4481, 0.0024, -0.0659, -0.0122] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.27},"note":"The padded forelimb is moving left across the wrist image as expected and is now close to the jaw centerline. I’m applying the final small lateral correction before closing."})
tool
executing move_to over 5 steps (0.5s)
step 353
assistant
agent noteThe arm has reached a contact/kinematic stop near y=-0.23, but the cream plush’s forelimb still lies within the open jaw span. I’m closing on that thinner limb rather than the oversized torso.
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]: [-0.9066, 1.7367, 1.1908, -0.778, -0.4946, -0.8021, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.2902 left_y=-0.2289 left_z=0.0779 left_yaw=0.0555 left_pitch=-0.473 left_roll=0.1687 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [0.1026, -7.5145, 7.6786, 0.5983, -0.4664, -0.0659, -0.0122, -0.1709, -2.7145, 6.9675, 1.453, 0.0024, -0.0366, -0.0122] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The arm has reached a contact/kinematic stop near y=-0.23, but the cream plush’s forelimb still lies within the open jaw span. I’m closing on that thinner limb rather than the oversized torso."})
tool
executing move_to over 10 steps (1.0s)
step 363
assistant
agent noteRepeated pinch attempts show these oversized plush bodies slip around the narrow fingertip contact, so I’m switching to a controlled push: the closed left tool is already behind the cream-class toys. I’m sweeping them diagonally forward-right into the right basket along a straight path, keeping the tool at mid-body height.
move_to
left_x0.5200left_y-0.4000left_z0.0800left_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]: [-0.9066, 1.737, 1.1904, -0.7734, -0.4938, -0.8051, 0.0163, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.2907 left_y=-0.2297 left_z=0.0778 left_yaw=0.0553 left_pitch=-0.4712 left_roll=0.1629 left_gripper=0.0163 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978 state[joint_eff]: [-0.0889, -7.9795, 6.0786, 0.6374, -0.3297, 0.0024, 0.7253, -0.0479, -2.7829, 7.1043, 1.4188, 0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.4,"left_z":0.08,"left_gripper":0.0},"note":"Repeated pinch attempts show these oversized plush bodies slip around the narrow fingertip contact, so I’m switching to a controlled push: the closed left tool is already behind the cream-class toys. I’m sweeping them diagonally forward-right into the right basket along a straight path, keeping the tool at mid-body height."})
tool
executing move_to over 18 steps (1.8s)
step 381
assistant
agent noteThe cream plushes have been swept to the mouth/interior of the right basket. I’m lifting the left arm clear and positioning the closed right tool behind the gray/brown long-limbed pair at the left side, ready for a forward push into the left basket.
move_to
right_x0.2400right_y0.4000right_z0.0800right_gripper0.0000left_x0.4800left_y-0.3500left_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]: [-0.7803, 2.7907, 2.891, -1.3487, -0.4706, -0.6949, 0.0185, 0.0334, 1.0615, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978] state[eef_state]: left_x=0.4694 left_y=-0.3469 left_z=0.0713 left_yaw=0.0748 left_pitch=-0.4544 left_roll=0.1485 left_gripper=0.0185 right_x=0.3018 right_y=0.0006 right_z=0.1713 right_yaw=0.073 right_pitch=-0.3192 right_roll=-0.1859 right_gripper=0.9978 state[joint_eff]: [-0.6632, -13.6684, 6.8581, 0.8962, -0.1636, 0.2125, 1.0281, -0.0889, -2.7829, 6.7761, 1.4237, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.24,"right_y":0.4,"right_z":0.08,"right_gripper":0.0,"left_x":0.48,"left_y":-0.35,"left_z":0.18},"note":"The cream plushes have been swept to the mouth/interior of the right basket. I’m lifting the left arm clear and positioning the closed right tool behind the gray/brown long-limbed pair at the left side, ready for a forward push into the left basket."})
tool
executing move_to over 34 steps (3.4s)
step 415
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]: [-0.577, 2.6476, 2.9017, -1.5036, -0.4431, -0.6842, 0.0185, 1.1286, 1.9892, 1.6062, -1.2201, 0.6548, 0.9504, 0.0086] state[eef_state]: left_x=0.5017 left_y=-0.2319 left_z=0.139 left_yaw=0.2549 left_pitch=-0.4755 left_roll=0.1363 left_gripper=0.0185 right_x=0.2523 right_y=0.2898 right_z=0.1074 right_yaw=-0.1171 right_pitch=-0.4271 right_roll=-0.4219 right_gripper=0.0086 state[joint_eff]: [-15.4598, -16.3487, 5.4222, 0.7741, -0.5055, 0.1001, 1.0281, 10.4684, 3.535, 14.2017, 3.7436, 0.5641, 0.1978, 0.823] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 415): [image omitted: streamed camera frame] camera 'left_cam' (step 415): [image omitted: streamed camera frame] camera 'right_cam' (step 415): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.65 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"
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  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
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  ],
  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3801, -0.0216, -0.0296, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0124, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.8667, 9.2786, 1.7851, -0.0122, 0.1245, -0.0611, -0.8684, -1.6205, 9.7983, 1.7021, -0.105, 0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0515cf8d00cfae4af07300d751adfa39f82482d13dbb148ef7c011380b68f279",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f886e6402ae0a30e28c0792521cf04e6dd5f31e17bffeed7bb32dab6305e3dac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547b2a166f3ed27127bb0027f9c77398cf2c57f1b2b7fc51653687e64d576099",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 5.606 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-sN7iHVy_Mcmqgh-HaavFR7p9AyWMNxRrdEuY-hExeQsd5XKGVLuTln1EM6Ipko59V36SUl3sKs6PxQ3eejYgavftUpFpSc2Umzqu-5zITCnMdmqT6F5UdS6PUIG_0skBDan1_DA6rRCvJMwOFiGA193bM_N6rhZLwyjh2FfSE20nZfxRJCnuvHNzdpeLz8ALQq6dSlQPAuR-RXZEQLqf7_0SaPbUiv-kTJi8sTuEgNQ2kQnAYA_bI1O_VOrTwbCJsW-TxVzbUnYGTJgb82PxqZViKJOgf72-gf052lljtdszNcZ0HSxUlwjN4FzshPOA8oSWI0NDAdszEjOadbNlasxo3oonjAQTK0ERIBjaHSTMHDc25nFDVsuwiUBws5gKfx36G6RhiV2ZAeFyaD4Q-_1kvFCrFTOGBWFvJ3egQ4tbitJ1Lmb8TA8MsSsYEggi-PMowx_lUoA3WeresQf7cVl3d8FgbbRzSzpj8WdDp4GtyUiRzhN_t9a2ujM8z1yzNa_AaVEvvSJdnZ_scTu3GOc8KKuCrqdkGg1nC_Vt0A6L8c_EU8JeeoAPMfHu4krQu8fvJ8k6IWOi-nhjI3pBHclKXsppRXekgy81e8fYzRZ-eE2NnrqRfl9flYfd3tCNJZ3ICehpvBBoAktVW-nY26Of_0gzN89s8VcRJ1ge7u43zg8WYebcajrFy4TsmynIu6wsO1jjhBKGDW90kVoh3inwU2fK4vdQbGE4rvaDEanAdqLwfic2Uqv1_n3QHSXh6PW1Oy9YCa9MutZqeZ7rClG0sZzucqiuign7l7fqY74_Lj1Sjmfo8OTegyCB1Oz_IQteRy3j1G3rHpk_0994ozFI_ALxTxtjx3zDYzQB7MRrXOOaosAcYCA0KAxPXawZGxK_gy6OvCTztHjTJgPjl3dQ_4DLz4z3E8MkzsX3Sa5LBW54CZxlgI6hYqlHv-itnW4Edx72Zdg4wBxDeQ6bOuKIBYGEopYf7QZMW_nEGaKUhJzj7NQ_GBVS5pyKUP63Pc69ATMoUikxflzrknyMEXq6wdpwcY1wVAOW-0g2mTv5hUdOx2Bxs0RG3dem0lbZvIc8sBQL_sPKuXkzwHyoq3c_PJLTmJEEvnAdYfpBiGGPHHPP5oqX2dRetEnYix-s5raF6-Rbnaq-zxW3tPFnfUpJilPYZfMCA3g-u9ZIq4z5QEaZuBIW2-EkJ5ccJ48rgJCviq-ZgZvc5w5FS2xvumoDyYYWbiDAZy2r_6To7prBrgeC1-Qoy1AUvM3mx5SIbSgtGvdBniRaIyJb5ReUv7Mjz44BHdXT9yr--e68XmP_dFUvM7HSLhO22VNUPzLSRhSXKjFTKyb5Q7zfS64fLmwaFkEbnBv_MI5hcbF8vJW8XQK6GMUd4nwt7igqxxAT7k4FoTn8A0zd09eVqur4mSx3Y08mpCJpfDXDapzbj5cO_ESMEKoE9o0PykUbg94cdWSK9RNQ6Cv1YfLNU6sAOnrKAyCg63b8ggzV8ZuSlgYupfejIWpq-4ackkwoC_x9RLOEoHU7V2LFtN4SmxZBKz31OWTgCX1yAeTeQe4eL7_z1lnhy2KeYv94acvkJj0ieEeEKR-_oJDKFtevSZmY_SlZF3skumpZBUj5oFwJXmadI22V8oaxTRFgbN1SA4sLvT_DpGDNO7_IIxv0aoPHlHLDrrzO2lEf-L55wQalF_m-M9brSSYu1wqMt54Z6BMynnyQq_2o_f-ZLGddjbnwAltfFZraMPDiN4CNoQLVrczbGeazixlRpAz4L9EmjUU-H818CHikiiV62HpBlv0flGqqgQrUqmtI-e0bEsS6m5EFEXwshlHHBXOoitxuVhLYs-3JotOZoHHe7WQguORkjOJ7PFcSkeb5DpQn_-2QD-NmHHyG-jb05T0WQ_FnXAFi-gbHyAk3Tqq_RHXSffA0izlrBnoUpFCnNuTlVVj2aQ1d-iWZRZLOrKNdIXrCaVCS_sUitlxVMiPS4zxF8VScH9VBmPspLQqWn5g95-E9Q6_qjCHF7CxIUCgUKhPKLmUllmv3DPJ43h-5DwbRIiUyLr-TMd1nX3XIzGRkqQRxAw_2gv0yCypSKJn7cgRx1ZFH_5vPUxtrN9lmY3WU82lopRbwP3g00fWoq6y1JlfFNoHP-HEhqwAOcZUoHjthwjBCXh-4ayBVNCSbNH3J9OTjPVsgsPPngIzXyhJJubHsPinO1XJION4j7zsjn9i-rUPN8ccR1kXHYsUCDxDOIXwTixiuspWlKsj-w3Sss6IgiseW0A0Vf6JS_0NQMIrLbbc8i66WBIcuR1QmD9CjR0D-MGbvniSx0ad2WwToJIta31yeJk2MOEYUxjEuTm4lcFbLAzVgT6dFv-4jx4ZEznnO8hw8kIxHBqB-rBd9-h_P_QBndLZlsiGj1o4fiivdnxvr83nzLpLaF4k_GhZE-Wr-WwxXKP64Mrr_MbOu3fJfU-9457Eo_6Z8yoO4dWbhwc_pjBACdsdDuowK38OCutsIxacROJSL-fiWFjTku8yFTe8emmxFH83reqsazls1AC7dPrc7A-RfpBxA7HQNBo0b0zvJYNgkTggjtxdJP6fJywPOFg1AO8K_yfTUpB30_FUjGG2emSSFc9byknMi6bznmL15X1IEBAHGc8q69AdcmKzP9PJKZ6TM0mLDbknkICEKHuLMeH6nPwIWhLQ4f_Z5Abzi80XQRy7oo1seuzDzbkegcDuI0Q-P0pUcdYSSCxpNedjDYg5vzvpX5q3P2jPdgWA==",
  "id": "rs_05f62207e9a2b651016ab44fa8468c87d08f451a168b7f11be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.2,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.183},\"note\":\"The overhead view shows two turquoise baskets at the back and two visually distinct plush groups: gray/brown toys on the left and cream/spotted toys near the center. I’m moving the left arm above the left-side cluster to identify and align with its frontmost toy while keeping the right arm parked.\"}",
  "call_id": "call_WtJzzvh4FO5N70PMgR5UBtCB",
  "id": "fc_05f62207e9a2b651016ab44fab31b487d0819781aa7aff3e03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WtJzzvh4FO5N70PMgR5UBtCB",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0752, 1.2514, 0.8574, -0.5571, -0.8165, -0.7948, 0.9995, -0.0193, 0.7986, 0.6086, -0.3779, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2578 left_y=-0.1986 left_z=0.1686 left_yaw=-0.0193 left_pitch=-0.0272 left_roll=0.0142 left_gripper=0.9995 right_x=0.2959 right_y=0.0 right_z=0.1813 right_yaw=-0.0039 right_pitch=-0.0057 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.506, 8.8, 1.0867, -0.7106, -0.0269, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa928d44490663af1d9e756db3cbe60b970cff798c90a5981fb87064829b495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7456939de0f53dc202bc4ccb934e4e148cf14c670e1cd59b9aa7f06c9cb39d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3c502c9400a751e25692bfe825853892420b94d48349c09187e2165e668199",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 9.112 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, 0.8013, 0.617, -0.3801, -0.0216, -0.0296, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0124, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.8667, 9.2786, 1.7851, -0.0122, 0.1245, -0.0611, -0.8684, -1.6205, 9.7983, 1.7021, -0.105, 0.0269, -0.1001]",
      "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]: [-1.0752, 1.2514, 0.8574, -0.5571, -0.8165, -0.7948, 0.9995, -0.0193, 0.7986, 0.6086, -0.3779, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2578 left_y=-0.1986 left_z=0.1686 left_yaw=-0.0193 left_pitch=-0.0272 left_roll=0.0142 left_gripper=0.9995 right_x=0.2959 right_y=0.0 right_z=0.1813 right_yaw=-0.0039 right_pitch=-0.0057 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.506, 8.8, 1.0867, -0.7106, -0.0269, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa928d44490663af1d9e756db3cbe60b970cff798c90a5981fb87064829b495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7456939de0f53dc202bc4ccb934e4e148cf14c670e1cd59b9aa7f06c9cb39d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3c502c9400a751e25692bfe825853892420b94d48349c09187e2165e668199",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-251GILuytX_WqFA6T0fyCMQSRSiml9Q3vb2I9riFMRnh4jb-shx_KCf8sFEjUIIjQ8wypTjL5jEJJIoWdOJ1AyKxk6ml_PHB-iAdzo-7Qe9Q2_WU8__IfTk6iAFkYqueHeIvyrbB6dNv1cYtP1F_knx7MTDRGBv2ehDAYxa8Wcp2D4e5-a51WyZkkDPuWgNQCqsCSTnP2OvjRvo5Y6_q_wcGtqdoV4EHPDyb2hzT05cDPUh7mLh2RlKBz8eND9JSXTkMqh8fQnSiegqZ2VDxaNh43M-s8TTAbh3IsgqptQHhklTXibaFiJUxIOeopky6VzXox8Y1jEOxAYoqAag5fnp_FXbkyrgJU-Xm8pJjO990hFzLFwVu2tFGNyiLp1S54Lvbg5zXvOiFdFvjgDzt0Piv5-B93fUn0PYhwbOKjvdp3vDEGVAgRx1A0U4o_qOUu1Ds1db9Myg0pi33-RDY1uhY6hGAccWqVX-ch6I4k7WWW4uDsAMUQ2-mHPHcfTeblW_jmEFfmxO1qGz9FlC7mvKSN7Cq2vschsNzt7Hkyb6GdIf3PI8-GUeFQk3-iDTuxXVhj8boNwstkDEDb_TymjLlhsaLd_NAKSWXJb4PK48_qIEd1vBiOtt3ebUwmPVE7S37RalZpeONXxO2TDZ1-USeFAhl1B0dMTgs0EgKrhyRkZXQFTm9nmT7qdhe9T6Ajj7NL_ZIyKqg0rF6Jvedm11XHj_PI8LgZeRg7nzfnm5XrHIXTlsg-_mzIHmRomGF027TRAIjatEHtWoORqUWK7I7RplWzZUr23r8Lc5gvjkzXV2jzR9pppg9DlwaqtMvai46YFHKzO49TLXyBejsMfpPa3L1kmOS79Gi6w9bDay4jASjQW5QcbeVRcUSLAOIw5YeeInrKomxadMJ4P-pH-eE9ljiC_7l6IeXvG2cNtkxQpR3IM7zwpOcDNUgN9eEOcY9ALDreq-_9IfEHJyOK_Bg9qEWHbUtKTBmDpBJWw_WXKemBAgsirq5hFPgVFnEp6HOuXqhr_BIxPNnio6UF-si9DJSvAEdptPYJLspX7opRqHnn9D_fLEjvxtkRJd8cDN6s071Kb1JrTbiUn1181e82dmiAtIA4XnWyNVzAD-64gVIKoV9AepK8nm-sJMXC1OA-YcyQOraiQWVS8lZk8zl41SM9EWehX88rxLsCya_GNgWQJj2mwEuAHOWBUHzJGdxwSVVx6MC9glFe1h0m2jOb2wIVZmdyO3IijPDUxuq_N0rdB81x82LUvBV_no3NAwcHe-xzeAMOT6XGv4Etvon0wXrA1SpFB4-L6LTmSRXidG8qXE5HR1kh6JtKPQanRm9gzfzVbHlBYAD3PaatwUXAeAPLDq1rFbRjv3W5eaDVNCWJEohyHrsaqZf70jWscG_YzhjaBNT64Z-1ErzM8_Xl4DENPZxVudPIYy4lA4_oxYNtGR1axRqifu36QdbSRQIzlNzr3rE-Us1glKkuuL-VVkYOU1vpamJP0ldyj18WrYXnEDU_KE-4W7vpUVUrkIuk1LP9Anbk_LTLmnodQcbMaozpwY6Fz5rrtj4oqIIZffTqfJbtet-TSB0ZoKraroGtK2DswuHOfDyxKoyCPvzJ0jlXfQXhalj35v0_gBlLoDKc5qh8JhSE_hfaQGpm-PYklgfsyMkLkQqiyNUISI2BGhIum7l56qgOpm8K61oWiU3u83XvtsYAEgsA2ZKsSPbdStGOavCf4CuWTifSTvjA_jw1mjQ9w1PMuibaWmlZJxcjuYGfRyPlnxCO-x-XKk42VzQ4LaZFFg2o62YsHiwBnJXyo3G2_IXK6PATGhgptXif1GhHLPsw_1NTuW1lIijo4zaBqaiyzNhKyg9rhfibIPKzMRlIxkwSdGL-yNWyH06guP9Z7vVLiCQbSzSDLUVy5LlHVfNaqvsoDurbAHsyTmu3DgiTdzpyEheDEgYh_eUONxcts22dL_fanCFa-47rQVgqIIdMlUanc9x56FNFbIAPONh85_JrIKlsLc4cSsSQFvb-qH4Jv9FyTUr44B72CEU1jGaskNB37WTOKQN1Vg1i_Al0j978CWOhyd-zWdyACgBFwgpXPhVV0sw3TihCQYzJ4ifyCJjB_5Ze-EM1Dg7qJjq5vGNX7t9SKgV0mPiwZQSldpAIKuzbt_-JtHT9VO7X8jwvWMviC0cl9y0RIQoybPNnMekO4WRRFNuSeFtgpODH1GQvFJBEtWEjyuiEEuQHFMtrdwc9v4wpBRsTrF_YVdTg-5UYmYr0N_3RjKHy8M1mSI-kzCLrA7vt_HPwiTsVr5On8aDmKpdcxCYJrt1Tf6oBJu2bcJqr7vhxOy79NPYXz9m0VMaN9VBs_95m02br8Ixma4cBK0eIEpsSIMc3r5_y7VHZiz-6QcBVc95mRpW1Fw7YoR6aYph5bwuwx_Ui46DtQ7F3eliQQbVlpl1OA-cJohOVYfrCpxDM3znc-BL26z5ko-zuWBGy03Q2dQyezB49ktcWO5sVfq9hmqGIPokgkp6EAvoxu7HElXk6T_eaSmDTqW_xdn_NCeNON1504Cr0KGzOLuOQiX8codsNAZGXS6rwBEvel0UaZJEY2AQ6ebr8MxreJM8kGgzYs_652S39ira97I9W5oaZI3S56ANOKoqHxfc46p5T3jMLG6ZmBriRF0g329mFigI_CybK0il5Xp3gwKzvdD-nzK-9qgJDTnOQOCiBYxTumrARHHYgGYemjnWczQHGUZdlHhUGRhEi8fxRE7bXeCU3UWDfjU9sJqMXpDf4Y6oez1UsPEUWBFBLseL0c6lXhkYI4Hh8JS1uDEuXdI3fFahgAvnPNFoFaORvtOl5QjLapZ2nQNMO4nzKrgPkYBCJ-0IwXKbwg6wR-v3S8Gi18bvXKysTm94hnqsyHtcCQYAL1DskjH1WDHlp4_SrwyKtDTHQgCL9097kixD7vsNp0bZZFojlhgCF4tbwlfqaSdvItCEsH2rsp5zqINFSkunApeAQvUdlHxYoCFnZdbEpSQTIhqFoYtGLSMYw-W2T48M8G0WAxX3HF5P6gvqiBKPEr-cLxKKUj8Ql4Y9eFOdQPSvbwOOkg5MYCfM2zMOXTSs3CURJqdCgLbAxaMCOOivBqhdeRul1iqqtIFNlhMd2lf4avRTHVWT7-7BDgGRaC3EoGLcFSCRWbhkafeUVKGRj",
  "id": "rs_05f62207e9a2b651016ab44fb20c1487d0b61be99873eacf28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.17,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The left wrist view clearly distinguishes teddy bears (brown and tan, with visible round ears and muzzles) from gray elephant-like plush toys, so I’ll sort bears separately from the gray animals. The brown bear is just left of the jaw column and near the fingertip row, so I’m centering over its torso and descending for a grasp.\"}",
  "call_id": "call_4xm4O7tJ5GItSNlx22d71sWo",
  "id": "fc_05f62207e9a2b651016ab44fb56b1087d0aa1dc600cdf75ef3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4xm4O7tJ5GItSNlx22d71sWo",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 1.3502, 0.4297, 0.0017, -0.7937, -0.7483, 0.9995, -0.02, 0.7986, 0.6086, -0.379, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2549 left_y=-0.1674 left_z=0.0569 left_yaw=-0.0035 left_pitch=-0.0272 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.181 right_yaw=-0.0047 right_pitch=-0.0069 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -3.0427, 5.135, 1.3309, -0.2564, 0.1685, -0.0611, -0.1162, -1.2923, 7.0359, 1.7167, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2665ab6b51876724fcfb64f9d54d9ee0a7f0cf14ae0e4415d3daf634ad4b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72856e50a543427c1dd4b1f7d1c93eaa15fe78380d0ebd8a42e79ec99f0b067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e312233cecae22b5822294d523515a65a5cacd1e45d17f49d9e66b5e01143b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.291 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]: [-1.0752, 1.2514, 0.8574, -0.5571, -0.8165, -0.7948, 0.9995, -0.0193, 0.7986, 0.6086, -0.3779, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2578 left_y=-0.1986 left_z=0.1686 left_yaw=-0.0193 left_pitch=-0.0272 left_roll=0.0142 left_gripper=0.9995 right_x=0.2959 right_y=0.0 right_z=0.1813 right_yaw=-0.0039 right_pitch=-0.0057 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.506, 8.8, 1.0867, -0.7106, -0.0269, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 1.3502, 0.4297, 0.0017, -0.7937, -0.7483, 0.9995, -0.02, 0.7986, 0.6086, -0.379, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2549 left_y=-0.1674 left_z=0.0569 left_yaw=-0.0035 left_pitch=-0.0272 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.181 right_yaw=-0.0047 right_pitch=-0.0069 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -3.0427, 5.135, 1.3309, -0.2564, 0.1685, -0.0611, -0.1162, -1.2923, 7.0359, 1.7167, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2665ab6b51876724fcfb64f9d54d9ee0a7f0cf14ae0e4415d3daf634ad4b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72856e50a543427c1dd4b1f7d1c93eaa15fe78380d0ebd8a42e79ec99f0b067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e312233cecae22b5822294d523515a65a5cacd1e45d17f49d9e66b5e01143b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_BU8ME6u9KBl6rkI_f8LsL4AkOF_4dv4XMZjz-xIGBkrydYQM00wxNPw6HKyx73h-L63chbja9aCygS6_WL06VeCCtQ2jC0U60dmw0Mw4qZd7STif7Ym2ozhVOqAIwYabeBIFqRU00JM4FMQAyua4yUEP4BQesEq8wnACbag5uxKigNH1mCwNdKNLAR7_UAkOv_KSqIlH6ptuWGYNghzrkUd_CEWjHWO7hz9uge2GFgi3NCTW3-wWjb__DVoFgaXoGDfmFLuaS3go4zsNkWp3deqPI87JvaAbJ0xOjsNpqgz_ljuT-IT1OhIapZ5MznwY8NIMj5eqMQVnTeAZJecH-d2n41FyYaSXC7O6gp7cX7b9UEsU_wwdKelNsmbmhILR_e-C4fIcNg22Vhw_2v23Tso9tO6Kr_984FS4BONyozleymKIaAtEftL-EO8l_-QQvV-k1gLQqE1t4Cp3Td5ItxWIqZqgpmKzQn0ZN0LvsWfh29T-4LoDenozjVPOFS8HPsXAe0-KJIy5G7z6wuU64W0eex_aJqmdF8of9Z9Q5TpYgAqXawtfslnKdh2fS_NZSu8jFPwSPwkChV3CEMcA0bT_fv42FzP7oKRYZKV_a8NLh_xL_ghrea74JYSAZ8F7elzOgoUp64A0VAR0nUjusYJ0dgfkKazfRXjEXPA78GmAq3SOx6TpdKxux8Trk9E0J1PnYayzy5TG2LaDun37BnbfcB73O1L5eZ__c4WpCY3_6jEPGTkDwm-0TFOgnGoeVaLZ1a9HlREja6_yl-nOA-YwrJHNOdSuZHsZY4KuSDuTt0gSNOl6neUcsXCoKTReadXsNK-sQW-P-tMrirgo0BAGpZPVDJj16cAbhFsB-e5Fmn09zNO_W3IdD3bXEfvNwsoqRD2BMo1N5HdPMhhiMgxQjmjKHy6TUvsgC_0_Sc9ll3YbFiR5UR_K8GMunyKxiMMsmg7x2AzvsdYADXXU0wZSDAsDaPFn4rWql9WesIqVyyeZq31UtLgFpzw4ZEyY14614gvbhP7m0u2M5T2hp-WTXGFVVdoM14_XLUKORoP5YlJ5Pd0vz5hYdWw753kDzCk7K1ouq_tbc5hicVWyGgo7B4Qg49UNFKj6kFPhJs2zzvn55hYNzEalQrXCMHG-eVk4XBcg2aAPQP96pJIzyRRBoxDCMx3dPyxEx-HBGw9wSTeVWDy9KPBRh-g6gpbRt4ZKk3cFZupVbDfd04CvATYMphrbdGMCty0tdqaXL9X5hle_FznWfscPiX8JMpjcnDfR81SDcVg_cHyWVdJvN3l-4F7B7Wn_6PKPRAt2ZmlWx65diPrtN3dSZF4XrXtCN1coQHb15O-QUHkznFnBFvpZ3hy5J4jDt51pPPad8pCC7I9JvBLGAJnC43kl7XjnhSdwphRAWgUUHk4rcBSDCv36SIdWo0Hi0mEgBi4f5jZO-eAlEFw0HWfOgY6AYPpREeVTC7DDHjOqv-jDMv5DwVLzpV_DXBUB0QNzxqqamBD2hWrMzAxb_uCIQ8Y5evuGoj5ZHSJ1N1a8voOVSpubodi72VfVUWGldh6DhC_Y8vxX3xZ9lNDAV1Fcul5CKBDXUw8SAyOWu66kz-C2qd8ILY3xpP27Dw7JUlhq2_5q4-oCZgtckw8h9fEhPqA4pjDQ3tcxs90fk30qaUV0Hu9iOps0Xw7S2dq4K1oFLxrqnMHB1xZgA3zLjORZPaDS1L5XPG24wpY4dC6bRKZ5_XI1jyffUg5EO40P8M2wuoJcTu1QwRdU__JVwGUzgUCCA9Jy0Ujz2q1YSf4r0AxhJt7RjkKN5ZK4Y5Y5WFh224Ru0tUXtTGUajslMRWGjE_8H8L16HSyNO99JtINJjyDJF931D2LwFgsrLA6JHR_O7Fyhzm0y1hm9M2CPPWDs9Pw8nZ8tbWfNJKesTUdwQtD21GJA5vGU2Qdycwb0e6dOic_xL5VbZL489kSOjFlVyNco7aTr7ryyGc0PhdfpDjNrjJUc8H8dfqatbzZXnWRykP_3XlvEF-3lNay1CFHMdZ7XImHj133vUnyzOYMMP7fJyGxiij8CqHlGu9g0csNPB7-jw3XFBVM7vjbr_OL1P-7HsnWm0bBS78i7jM-xOVX4BMda0c9jU2GXWsVKKHX1ohYjAbCT9rqhEKvCgch_cftoWKxkp2rDQxqMcOhj8pCYa4d2OxzbE-YFwmU1PjTq1EwpWMSRnLZcR7MDvyskR_G_rO33mKLsNDRtwE_dmvkAmodhg7EexFc05MXK0CqUMnGwDsGeKVQxEyYK7zKUTMlHxOO3QvBAcHfkb0ACTPvRQ1ztNfiDugdFLxAI09Q9lPKXgnmOIBwatDM_WxvjnxDFYtVNbkTZp2qr8fQgpJFAYhwkBcEnZtisweD7vKjykN8zZxEClZsiN9hXokXm3HHHxJ1DwDH_5usmhW-pP9vQV_2WwDAWSX_ut7Myj0DAgTKOhclT4o6pJJkDLP3fcEKlqQElSAr6dTy_LGgyXsvRBC2l-Goh2x9hW9VfA526yVheKDZy2uAn90FvGtya3V5a1LtpSbLa0ctaxKhWXWPn2kxPWxJzGpapDd7qX0UgvNtEoi-99861QDNwro1g7MG5RRuNZmeD3NsIlfkqw67kG5LEppC_JLRlRQ6lNdSZetL9yRRCJFtLFqLSKWnnmscTzyot7QByMn5tFovP-bzdb8U7bp_sluzmDmRgwanYWwIUhe8EjMsYJX5t6MeuOL0PeULmLutcRxC_0rY8yXSOMkkuYPveaHYHLFPcbrUI12uoOpOUC-GZmQVR7FdXxQxWCUsfiJ_GXfoCcwTZabVED2r4Js7pu72kczvFb3W4X9CwmdeIqVoIf0lXHTF2BKnDen_knWFtvNtYR8qTCYffmcfqBMaXUsL3xujsl71DuLM0nyqBT4LHUI6dbR2_WtbV0J0vEfRq7Jr6LmUXIRotXLrLi8IhJMQfGFTKDwTV3ZKZJ5HiHfydUdtKLhofto1ZKWn_cfNwenZ9yQ_r-WZPV14beZ92sDH4jp_-M61y_JHJsgB1RwqEBs-L4Wsx-xfHf-E8F4PSy8Cg-iSOURju2V71_aFQB4Vu6-lDQytqrC4BhGy9t8WeTmsKe1A_fKkc0cb2A5B3r7Rzx-Zyndb4UcrHPvEfNKTJBMKvVtSeacXCIH3_uu8xFTXgLCaoy9bBqJRkr2MYtGkMQG_YO95AZvAKBl3gfb5MnOqT7CcPWXSXC4qdlH7A2yuYEULRyUCY3yzH6zWkPOU34-SOQ0nQLP2JphkXr-pGG1kHpb6Fye7ZJn6ijJSaZMdCQ1Qys4UU4LphdBsFCOsKSyW0PrI-o3FprXaYSp-h0tgky3tftXs_-qsgymJGDohVBJdgk3XKm9uT8drZrTNNXykrC32LWDoRQVE0zfkNt8sFmTNb1GJu0sqoI2blg0shIBV8Us90i2w9_K3png5dyUOvn5yr_v-BFX5UYVM8QrvKSlvMXu4dimH9qXmgMcKkrGYkXIs7I7tA8cLGH1WQJgR4hiLIvUMLv5ia2Tdv5Qx54Du9hEPeBIA31L7NFbVtBc8QGQYpqMyQpa22NYXEI3cVD4pILAX9mJ7OXYUpLAC25NJXqAMgUBvBtkPqifnejYGWfec5IlODTrWtUiYUGypMZpthZB6ADQJAJ8olNhK210xelN5t1SzPQyBgAVyazhxP1dGvnFomKYp7ebRYShmdPqBpTlkdvz48IRH65WjxRDvuJyqyMdlM_xOUcEqNZ5kzYiRNg18HOkNegJCHtetG-1tHRQYlpC7pdoLknptXcnQh1zrcxxhUBZC_4y_1DAE-Qw7nIihEM1PLXbUZmnIYT4D0RIs-yrx0jYxLFFYHeGXf4M0o4IusP1M_WkHsSjxzrnLG-Yvx1xvUTy2Wjt8b6Jq68egJ9gXLbR4Ngu4CNeRNRhd8NAI5OVcMiMFg-uvdlFfhggO3Fs-4r8Eq2RgPiXv066vJuafNjji_CyW1OViylmx34kR0TKoH3FcsEaMa1m7tf1uwJgiCEVh3h3co-D2MQW8h7zhzk6UNIzw-azhult3iP2ryGRjX5EVnD8AU6Vvgn2LntQhGkqVI4N4yozOPUUIaVP-sVHIzkLc7wvny75uh5x2Cz2DIv42uD2B9VTUj1Nc2L16WiovHlpQqf_aeL3ZRwo1ELdyDaapgoiFWYTFP4Qs=",
  "id": "rs_05f62207e9a2b651016ab44fb9972c87d091b2bac083369f44",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_Bpm7fKz0FTPbxQ8X8tgtN5GbttmG6bjnt_a1Zuht3k9y77KNeH-ZJnopNyI_bfZZsp6GahRkx4_QEzT3E_SdYriNDIKiY9bXluTAmpuzaW-gTjZjoBMYxlc0KXYeUQFpv9KxPXn8Ugm41UsUELzZIinDZKjFHH2Wv_Yv0AZo02KDF5ZyqZLP_IWiKmQzPkOWAyxhKvBQQOslHv4uiHh7A21dudglYuo9UWehzdwX7FpVjkBCwsUfhj-0vOLa2uK80lzWLVSc_nRXtH7NypUnHqV8WtwZbAkpSNoKxk33zXHDvkaNTc3Pd2wZN45Gsu89R9emaXBOXzPUMQ2hhQSrSi-NJNct0LuuYik1qHro3TiFQbSsuMPXJUwnnUfXxypQjihM7sqsx7GjrjrpwpeST09Fg8aJPka5_y13VbDoChZOooTzpZv6maoT44RKva8eZABWsGUcq_3SHqVvqXsP5r_Yi79uHwCmI5ilp754XHtjUqdinJlmo6ZRSaJMhGIIIYLBVeUkQhwtL308oduJIvgvrwuD99xBsxarRnWmPXpuJ1UGg7XhQOpOncOBau3jkagUUgFAbJCUtVLEFlKUVY2tR5kBH7VpWXXLxxGgBrKy2da_5ZV2rrbZdvtAxVHZaveWEWZ6VVRcCLt-Cut-Z92mOwAQEFBsmoJRJbPtlupyLIaoF5ExkjS7sVZdn36fj9Hq3gLjVXjiOjrN6w3EuEIx7KOJ3P7PB0PqEveRq1STcFqZjd9uu_6-Oq31PAwC-xqYj3ZhBhzPPd_8SpNa6ED6L93QXwlFH1-UOa33iDqPSyhE8i7tIC_54nSxWYexZc7fodhef5tI8N0ZOLcXk5DM1gcXo6YyJRQc_i3_Eqy4mb4ieVc9sroaZdp8keSEaqXnj_xEawkrsKOJJSvx4x2HoUztFydFmegM9l4HgEGBDdcL2KPCMW-ucYJJVvnKsbA6bbgj6eTvKGdWqfV9mVA9tiVGIBeXQfO3HVzQvucwhgDNT_pUnAxxepMtFPU8fm1mp8TpS_tWOIakAZD5Ne1hIzbS5LbLsByvpXPT6JFmSm1Yp5W1xCTBwQs7LAEzj3K028MtBoxXC8LY8k9fDYoYCGfIpZ5IAnQFFN1YEQzyO-OHPf5OBF42P1IOtprZLSkwzwpY9JYirExbA7akyl64ylCmrT4CWa8Bt2a9a0DSQFnVr-uzR-Y4twHBIusPKkfYST7R46yrZ-zztYQNV14OW98ZiOisdHBPbiNIu3NAEXll9qVbf2SaZf51QlFF-9pfmlMyKZnaKqmK7Lh6nEc7zcgrgOPokfCj9Y5s94W6rqdGnQT-TbIDsJAi_N48S-cp8kEZQfiZKXEy8CN_ehuXhG2wZkvSfMY0jkTTCycLGsUBOgBMyJ-BVq6fq65WjL0qFvjbC-1rwS8aMjpNHeMHJykMacpvaGN325Lx5LPFOuP1Gu-S-GKl9oL4AeK6gVxnEwL-c4fLLUjwm_1Ri9BvHdHyNhB5nzv2APsFCPqHC-8nO5rktLx5oKK-pL6KVDioWmPHghw8lLX7vAWczx0DpKpDUrEZY-WLmu-CHb9QjK-RnQS1nS_6hGD6vlZwwN2iWR5vg5DiV-yR6NDaO-FVfi6SnwwdMs-NTR0F5pytriBj56e1meFR1ATwbeIIosc_6hhxOzuFvFQvERb5ZFCAGzR3INfKntFXyVqSfTF2MQmVaZRYbXcYowBAHK6A0p5OvTYfquEeJxJfyyx2LwYewRaT4AAZLMlASrwTnRq4biWrW_MpWZIxVF0e2kew79CZTY78K7cE-698NG76J9oAHNAKXr0xFLVMmL7PYy7gIfHGPUoGAkIRLuhUu1qdHfcNQvDkyK8e2DGlcSpfpPWmmPImx_ys4YHHlDGycuI70CvbP6N3a2P2nKbmYFmDpFRf8pKd2CGYUTuXIWAzdtP6w-jjjR5QtSezWxUU38QjPyUqbtIvy46LlSS8jTOKzQHzPeHcyCGP9fwteY12R_KvNnzOl4zuvNR0lP_KnWVMdNSFLdnsnLrsrqXnEHLgwOUtRpKysWIQv3vheu6kdLaxB-XWVNN4J2hnXV_YMhmR1hCMnzIKxg-xUWH1pCwZOz2V8FnLx8plbShSoVf-jB-vubUXlz78n8imMeFRi4_O1IuMzwiDMtSl3JivXqqqcUtLv0ITJWEcZhyL9FQbCR8wXKklXYy-aqyS5aMRlgHNTRpZhVUQ1WkMfybra7fC0EFmb4CFSU6QPv7CBsXovjjx_48uMSTS6DdLlbchsAszA0nlNHkaNKMGgTBBomFC4iOwukNNNnHUoUik48FrSlLig7vaMdRiCgRm6TQVirOvnyGDN2miyTbIjy-CF9icr9Yjn8soAgVVLtivbzwMaTsEYQAhDOwmRkHbf00c1QGMIrW13Dys5yeVJE8XhqEV4cW3hulcUNHYhCSWnMn2zQp2L1Pzg-7uRzv0_Ngq9-pj60SQ3_pBFdV4s7Tk35sKIdMdPggS-_vGFlxf168aI2g0UuEVpKrxHpYoST_2FC6k=",
  "id": "rs_05f62207e9a2b651016ab44fbe859087d0aba5c9029bc3b025",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.055},\"note\":\"At grasp height, the brown long-limbed plush is clearly a monkey and is about 4 cm left of the jaw column; the large tan plush beside it is the bear category. I’m translating leftward in the arm frame to center the monkey’s torso between the open jaws before closing.\"}",
  "call_id": "call_DCrU9zwVFZKq9kwKjUFaaC4K",
  "id": "fc_05f62207e9a2b651016ab44fc0dc5087d0b711e5c560be9b4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DCrU9zwVFZKq9kwKjUFaaC4K",
  "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]: [-0.8886, 1.1778, 0.2966, 0.0463, -0.7185, -0.6373, 0.9995, -0.02, 0.8009, 0.6083, -0.3847, -0.0113, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2553 left_y=-0.1243 left_z=0.0547 left_yaw=0.0173 left_pitch=-0.0277 left_roll=0.0058 left_gripper=0.9995 right_x=0.2951 right_y=-0.0003 right_z=0.179 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.988, 5.5863, 1.4921, -0.2564, 0.0904, -0.0122, -0.3487, -1.4701, 7.1179, 1.8388, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be6394df418151ef39c17431611c672da165879f8f2b04328fd5639214d61ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e36d6e53abc3c16b3ae16decef2ea66bfaa3574a3950c70c5e17a07cd6f8fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89080f0cf1543d666db61d46bccfc77a11628ffbe25233b620c633b791f8827b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.181 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 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3801, -0.0216, -0.0296, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0124, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.8667, 9.2786, 1.7851, -0.0122, 0.1245, -0.0611, -0.8684, -1.6205, 9.7983, 1.7021, -0.105, 0.0269, -0.1001]",
      "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]: [-1.0199, 1.3502, 0.4297, 0.0017, -0.7937, -0.7483, 0.9995, -0.02, 0.7986, 0.6086, -0.379, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2549 left_y=-0.1674 left_z=0.0569 left_yaw=-0.0035 left_pitch=-0.0272 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.181 right_yaw=-0.0047 right_pitch=-0.0069 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -3.0427, 5.135, 1.3309, -0.2564, 0.1685, -0.0611, -0.1162, -1.2923, 7.0359, 1.7167, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 1.1778, 0.2966, 0.0463, -0.7185, -0.6373, 0.9995, -0.02, 0.8009, 0.6083, -0.3847, -0.0113, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2553 left_y=-0.1243 left_z=0.0547 left_yaw=0.0173 left_pitch=-0.0277 left_roll=0.0058 left_gripper=0.9995 right_x=0.2951 right_y=-0.0003 right_z=0.179 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.988, 5.5863, 1.4921, -0.2564, 0.0904, -0.0122, -0.3487, -1.4701, 7.1179, 1.8388, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be6394df418151ef39c17431611c672da165879f8f2b04328fd5639214d61ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e36d6e53abc3c16b3ae16decef2ea66bfaa3574a3950c70c5e17a07cd6f8fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89080f0cf1543d666db61d46bccfc77a11628ffbe25233b620c633b791f8827b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_FTEcoeaW5zM5aaBhaoRAMLAd4-2w-XX00r5KmwxL29HOCa9qSgzT0uCzS86QLhbXvtNMAk2VHMboqtFxxIZelE67Uh2lmLM_JlJ3sJsxdG93BU3FAGnXBTKBqBngPB4NsmnSgF8rfyV6J1QXfQfEgpI3QszGipsl-XeBBiKmpm6LuAvmUPyi_O_dAsX3gOP-uqp967j7pVUKr89h3QzIWUn_6PwLSnxB5Ssu3VHeq2P21XFrP_7OkmUt4cpbspobY7PK5A_mS3vHDi94JXlpri0oI-iBVwra4qpoUEOMKS-TaKfZplS4b2YWl2l9lqbwbfs8fyzD0YRTV_tm3T8Zx4d7rdd031X8YZBpy61VM78lIIqg2q33qJ-f3SIHS7oybY0qCSNltQ6AxttMjZx9daVjuEw347YdHS__5bCniBZG5ml7q-foHSho_Cm7fPiuu0IAzCV0Tki3ai5_pEtDMccBIAHujEWYMfqQFBcrkD2mGNXfDVqZVhIRzw6sLKbgh9dJcp1CaljAIXBzjObLXOalZymJVZ8IChAaokWhY5PptZJbFtWSdABh2fvbvyNizthh0TQOIuYTKh5JKSr-KraqDaqz2eGqPlnMHCIVRsJ8sM73hkbGGl1-nfhCnUdrMCMNiPp9WfhpNIx-71dxxKAXCn6uLZNbPc4jnay9mtzbJ3HAxipUegxh7B65XjIFKD2AhceuEo1ii2a97J_36FkY8muwNg0xsQ8aYvCIkFkHDlaPKRvPsJayqzYZx4MZNWHgM3TBT42-nD3b7IYnv_UoG8wGMrw_-_sYubsJ-QsPILMkNuXorLIdcFTYWXzoNFcFiVx037Lj7Xlpz-NHbWmAckOehvH_aHPpygs3VwvoATgCuNBoF0oLAUFW4-GyftVFHpQOieYajpuaz84Q1P1nsYCtQEgA0O4rPlhmCXDPWKhY2kwzHDxEuEOHUDnnWerJFXal2jg56qS7b_iOBdNtOajBdAcetRiTANZCwY39lEuFIWZj8htjChGOhsSyjhfkEqLafJLTBCHWgTHBRaS3mIQdcABe-OJfMLZzu1UKPNCuhlyv4BNcsid2hQ8uahRGdjxupsQHncJrXLmpTObcGu84K6Bue_FfRvUgEKWSH2JRdXEKGDQ6JcLILt-WlbjIAVkpodtxS6QCKSdl1z33OL7jCjRyF7BE3mf07O_QDdIR2umOSDUrdIre17cvRsUBezVNpXiiStFyNDBwPCpy9Cs46fWTabtDCEpjCUKWL52-_jbiUs-h35Grwws2FfFFkLFZQA5r7yPjXPxUM0dErDu6tZN2BBdW7WSiadMOJZz3IDIawgxYB1ZC9tvcU6yGidU7ekMPzYo9NfVlTumY7IYF2Jk6GfQaKpZ6F98cU-Oi7scrKVMhpkgVUxLcu",
  "id": "rs_05f62207e9a2b651016ab44fc381cc87d0a6d3e1925bc49136",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The brown monkey’s body is now centered on the jaw column at the correct low height, with the bear remaining to its right. I’m closing the gripper around the monkey’s torso.\"}",
  "call_id": "call_0pmxu2e6OsIBqhHfs4pETB2k",
  "id": "fc_05f62207e9a2b651016ab44fc4495087d0879e939f7f19ad02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0pmxu2e6OsIBqhHfs4pETB2k",
  "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]: [-0.8871, 1.1759, 0.2951, 0.0658, -0.7021, -0.6167, 0.1299, -0.02, 0.8013, 0.6083, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2563 left_y=-0.1282 left_z=0.0559 left_yaw=-0.0039 left_pitch=-0.0249 left_roll=-0.0001 left_gripper=0.1299 right_x=0.2951 right_y=-0.0002 right_z=0.1789 right_yaw=-0.0047 right_pitch=-0.016 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -3.5761, 5.4085, 1.3016, -0.3834, 0.0513, 0.9695, -0.1299, -1.347, 7.0222, 1.7118, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a297a1cb405d16035847ac06afd8467db4fd4837834800e9259c2791ccba5f15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7dcf4973c6f5736273aadd96ecf23d8017d0967789af0d9fcd9faf08e7d2b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00c246664916c0909684e9e06677d3547a0e873c228393ff1831fbbee11281d",
      "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 · 3.931 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0752, 1.2514, 0.8574, -0.5571, -0.8165, -0.7948, 0.9995, -0.0193, 0.7986, 0.6086, -0.3779, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2578 left_y=-0.1986 left_z=0.1686 left_yaw=-0.0193 left_pitch=-0.0272 left_roll=0.0142 left_gripper=0.9995 right_x=0.2959 right_y=0.0 right_z=0.1813 right_yaw=-0.0039 right_pitch=-0.0057 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.506, 8.8, 1.0867, -0.7106, -0.0269, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 1.1778, 0.2966, 0.0463, -0.7185, -0.6373, 0.9995, -0.02, 0.8009, 0.6083, -0.3847, -0.0113, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2553 left_y=-0.1243 left_z=0.0547 left_yaw=0.0173 left_pitch=-0.0277 left_roll=0.0058 left_gripper=0.9995 right_x=0.2951 right_y=-0.0003 right_z=0.179 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.988, 5.5863, 1.4921, -0.2564, 0.0904, -0.0122, -0.3487, -1.4701, 7.1179, 1.8388, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 1.1759, 0.2951, 0.0658, -0.7021, -0.6167, 0.1299, -0.02, 0.8013, 0.6083, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2563 left_y=-0.1282 left_z=0.0559 left_yaw=-0.0039 left_pitch=-0.0249 left_roll=-0.0001 left_gripper=0.1299 right_x=0.2951 right_y=-0.0002 right_z=0.1789 right_yaw=-0.0047 right_pitch=-0.016 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -3.5761, 5.4085, 1.3016, -0.3834, 0.0513, 0.9695, -0.1299, -1.347, 7.0222, 1.7118, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a297a1cb405d16035847ac06afd8467db4fd4837834800e9259c2791ccba5f15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7dcf4973c6f5736273aadd96ecf23d8017d0967789af0d9fcd9faf08e7d2b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00c246664916c0909684e9e06677d3547a0e873c228393ff1831fbbee11281d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_IF2Rso2lwks2uSmoCNHs9Fk7haH2q54YFsi1jFZ6F5xQmdUH52VaauEkR1-kc1D7vjQ6Mye-q9LM7O1JiO8n0RgbQo_wfDLv72l7bBfoHSZrexS4056O9ZKFkR5UVMvmbjS7d6kjdemsAnqCIBcrppSq6OP49-aVmaKRdEXvafJIvGxIq-DbQc-SyVaDkaFGsTne_7SG-EzqcKrtTnFiHcNZ8AD8E7Lcqt_YcdtQv4rQozYkD-Si182INnjbn5BX435Kgx_qnhPgxDLwz8e91NnVRPG_KM8_p-t5ABWxEeHbPdm2E60RY4ZK5NVPYszwaMxp4bH3F5NVjb_Mx8wisuM5bjsCL65iovhJqIUzaYx37O6rjC4Udf6rovvs9HA12Rp2aBdbzjNzu7S1R-IkrYRTZaPJ6ocJWI7mfKUJmJ_kbRfmyjZ50AXCkSzBx4wsfIt3aSSdz_x90Nj3qZZ9gZdhWu5Nr6sHUSeWpLk19-EFjVplFn_YFiqlkrb5bsec1K-5cnai_2TsIMnWyAEPQSgPJyfV5NRmMpCD6hL4409Ua1aQnlyz8qaGktjnWHETCxLMXkjra-Lr5e2KHHHQd9a2l4C5L0C7cYrraW2PDb-seA8IgH9n-gRSjlyEV3vXm2WoNIrUaVz40TB2bcgM6BgLmAB5h3k753hk5ERAAsFFSq5RbuMsoIQpUum5kbycvIG4aq4AvCb0JPFlsp0DL90kShH_JhjJ4V6r0-kTe8fsUaM9i1IZai7EqcGAkMX-X7T8ZpXVMDjfSbTRfcRwt57-YHO_b0hkwFzrgCm9Db6eo-Xrr1UfLn_mDEvUsYkYED9KR3U28Jcgf8rsEUqEfD7X2nf7BfeUiP3E62pLh9I75bCwqAoljwL1OfKKt8DCdZIYp2id_dBLSqCjVJjdfKyXiGES-WQyslY_-LQhHlriebZNiRYM2ioG3tWm-P1X4GmWEwurxiVmVWS0RhUNOLdyF1lVdwnhan2ha65mOuV8dnMwoWFEheEbFHrjLvc2Jgw4fab08N9SSZNCV8Pswc-a0aAJTJS9U5O9NTt7yvk9i5l2DzIMsO1lthpyGtnM5mKxvs0MfRYJMi6MWcOubpsz4iO4Jb5yBCdY-Gnyp2jaZrXFQqW8MLZ4MuaRQU-fQnEyuT6Xh0HDz4gKKkfsvotKQnPa-HE3ZiqxJt9_zjg-kdLLjBlqbE9JL3gnnbrRG1oXbtk9gSSq2Ojo6az8zDB5wUVKOHcsOWuJHwsLRqVUB6ERI4yqHxrwPwPr8tOhC",
  "id": "rs_05f62207e9a2b651016ab44fc765c887d09bc9972597ee0450",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gripper settled at 0.13, well above the empty reading, indicating a secure hold on the monkey. I’m lifting it clear to confirm the toy moves with the jaws before transporting it.\"}",
  "call_id": "call_XQvo6KvIw0CDvcCogWEdZD2z",
  "id": "fc_05f62207e9a2b651016ab44fc7acec87d0b8c0a5dffa5ce588",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XQvo6KvIw0CDvcCogWEdZD2z",
  "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]: [-0.8867, 0.9768, 0.6147, -0.4759, -0.6914, -0.617, 0.1322, -0.02, 0.8032, 0.6079, -0.3851, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2548 left_y=-0.1285 left_z=0.147 left_yaw=-0.0101 left_pitch=-0.0455 left_roll=0.0122 left_gripper=0.1322 right_x=0.2952 right_y=-0.0003 right_z=0.1782 right_yaw=-0.005 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -3.0701, 8.8684, 1.3651, -0.3883, -0.0171, 0.6032, -0.0752, -1.3607, 7.0632, 1.7363, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98b84e8253af3313e5cb91032316366b312f44218466697521f37bd7eb24aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a078d1c4e5886bc0145ef928d1016499e74e85b0c644dcff07dfd38c5c648f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9288cf6eb5233135b7938a467066134976df2d9479442ceccf4978f78fba559",
      "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 · 5.597 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 1.3502, 0.4297, 0.0017, -0.7937, -0.7483, 0.9995, -0.02, 0.7986, 0.6086, -0.379, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2549 left_y=-0.1674 left_z=0.0569 left_yaw=-0.0035 left_pitch=-0.0272 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.181 right_yaw=-0.0047 right_pitch=-0.0069 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -3.0427, 5.135, 1.3309, -0.2564, 0.1685, -0.0611, -0.1162, -1.2923, 7.0359, 1.7167, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 1.1759, 0.2951, 0.0658, -0.7021, -0.6167, 0.1299, -0.02, 0.8013, 0.6083, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2563 left_y=-0.1282 left_z=0.0559 left_yaw=-0.0039 left_pitch=-0.0249 left_roll=-0.0001 left_gripper=0.1299 right_x=0.2951 right_y=-0.0002 right_z=0.1789 right_yaw=-0.0047 right_pitch=-0.016 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -3.5761, 5.4085, 1.3016, -0.3834, 0.0513, 0.9695, -0.1299, -1.347, 7.0222, 1.7118, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 0.9768, 0.6147, -0.4759, -0.6914, -0.617, 0.1322, -0.02, 0.8032, 0.6079, -0.3851, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2548 left_y=-0.1285 left_z=0.147 left_yaw=-0.0101 left_pitch=-0.0455 left_roll=0.0122 left_gripper=0.1322 right_x=0.2952 right_y=-0.0003 right_z=0.1782 right_yaw=-0.005 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -3.0701, 8.8684, 1.3651, -0.3883, -0.0171, 0.6032, -0.0752, -1.3607, 7.0632, 1.7363, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98b84e8253af3313e5cb91032316366b312f44218466697521f37bd7eb24aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a078d1c4e5886bc0145ef928d1016499e74e85b0c644dcff07dfd38c5c648f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9288cf6eb5233135b7938a467066134976df2d9479442ceccf4978f78fba559",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_NzMq5qD0esmGyYrjqFMyIGnHJS7V0YEbgi0LGgWlJqybIjP901uLQx6QQMTXR2QDhDx0NsHwFCsEw6xD0rv2yJhmhI4Nqw1lOsEeqBik4uGnV2h3K9jeMaZuBjEOV4bSoWPfmNvjdKOxTHWMdFYXulm_loyl95K5RLUFben0XZi8eqgSRj2G1xZ7KyCkaDf1UbQ3C4685bEe3qQPUCAJLlCmzqY3vqP0TlksOU2EEcttXhCVf_lkiY48WNLUjiMHULzy5eLK9Q_WVnrNUEEmjDalYMqda5JH21LjEo4b6RsakmAqqnGn1haLkmzkkw7kyebWtjqZgwuqcGbZh7vn6wDuimSYIpozdVDGC--pMmZUy0-LUnOMMfIIr1nsyTEUcz097N_W8gC99U-HXMKjmAUbA0aj3GjSD8E9wxwTzDFuq_Bhv5vAtQP4_2n3GXlinmbvBV2cvmL3oXnJrXccyDRqYhvBohglDQhjxTOiLi3Ay6oRF2Qhb8mIKa9_hgtxCFNSRRdA4qxGnWByjfdI5taESeF9yt0F91jKSPV9Gxafs12GX96p3zL3XwnWwjzEXUoEY5i7qYNqicTZCaLMuKSasK8oeCaydYs9Vbk-AwD_0jTSjkcb_PVkLnaQI3NgUzvJAxhHJ_7VzZon5AzmJ4v3sTXrhrWtblkLI02wkctqMNUYPxQbhAJ4YDRcW5FnSe_whNARtw_znsdtnYI1vw0Q0R8N5AYKs9Q0bR4q7InzAQ7KgoZHc4cIy8LLHHfgXmYy_ChzTFGm5-EHHleY_FFFKMciY41MSobOkGX7MoXoVuYmRPePdeEuPyGo2iQbn94nBI6s_HpY9wAT89yN8_DZdHeN9HVaLjR-K9zziQ5sVvbakSpDCd6Zi44le-y5Qo_pvmuRpNyjPLRIi2NTiSK5jqHfNnBVQM-TP_M3S_x9E02nMjTLfw-1-Gt4BuFsjCJZhbmpW_SwTXSvoUg0gRKvarlPZRi2BJxGm4H5xfks3_7VwrvAoz2luvge2_RAuLBi_mpnhO3jhbgAAOZRmYDUgzW3mcO056f9ce96A0Hex5WiqWhTmabtbfZ1YaSJkjLTcg8ODf5oUfmSVBMZBYkH-RxmFyS-Z0V01xzdLarVCk660Od2nKKxTKkMIYxWdQxItkRJrZhVmKOSnzS_uFd9Gqe7ZxLoopL5f56qTOUAwRKSkMDHe7MNROWfCQ_tUCaoihgvkmGBa9hhdHvB_0A-TBTiPvnDJXkIamy6JHA65L3Kca4NIRRIG7pOhU9-nj3LM9zn7ODN8O_vB_EhE-OLqeEPOrl82ITVwjSZIk2BAMrcaHOwMNNFo2ytyCV9XQgTVV5_vLl9Vhe9231J0mG0zMIWQqD7aT749AT13m3WrquOLBtyiK9iXa1HlmpGrYgfdLlbiM3FacvjrOKxJZUNAnSxcW0QkgJFwV-O9r1jUMnq--FCqIUyisLu1goMo0s_OjROTyr5F9WGkXnPJj_7GRh-CRzdboUeyW-vBl2Fpp5sbrVv0kzO1xhFmjQrwfdCfo4iHo2PHGYIje7kEpSgFzFOEEPGFEmgApBx5aVQMbOZBV0funYW9_2bT9MoNHY8UXEnDtkMrp8GenbbycnyEmRZOZpHjAy2FT87eAaAgIzot6mLjXoi0cLDI0QqZaX5X9TQ2Ff69osOWEriN2yVWxM3Zl4k9Nh4HfkIr_mMYDyA3yKExkPSPz4qQNoRdZDt6AKT3KFilEetxTZoH1GnublCrnx0l8Fq_eP6w5M2sdkMfVJMcfCO8tgN4ptSDrlFAKgI7jJS7TBLyEHiBKW_U4XSq28G4XBATvgV3WloqdP3hFZ4uwXoziW0wpicYT8Ys1pRxWS5SQvUljLwIgDCgykheHjFHhVEFPyLyBx5wM5laqYLD_fVip5Xtt8lmAOzQIDCATM6VzND-_w9Kdvzj8bVAgr3_On_AU9BvQq_faUdOreQ6vUPQg8HZNhcmlfkSYLNTi74cBEDfLSBfmEPsnfTPbR19Yt-dh6E9a945Hq2PMG8ajZKzPgtJSHW-oN1F9u2SA1pxwpznKE-B_X4-HZSXzLotjSGc7MjLMMSshlZAE7mXDfHCJaqqAaE2GO-y16YSf3t-iaV_0L2uhjCgdSqHPWc9FiKsf1ym5lZsRSTtH0lNVIOk2jJj4o1J2_CGWxDKdKGQsZSHtVbXA7BSxrjLczRyYbItKMQ3eghT0QY0wZoTxxpjIPoPanTR",
  "id": "rs_05f62207e9a2b651016ab44fcb666487d0815a3fe901b4d921",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.18,\"left_z\":0.2},\"note\":\"The brown monkey lifted with the gripper and is visibly hanging beside the jaws, confirming the grasp. I’m carrying this first monkey above the left basket, which will be the monkey basket.\"}",
  "call_id": "call_mKShCOweZmQU7vSOibK2oB9v",
  "id": "fc_05f62207e9a2b651016ab44fcd04cc87d09298249ca3407df0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mKShCOweZmQU7vSOibK2oB9v",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5465, 1.6871, 1.2942, -0.3653, -0.4404, -0.3504, 0.1333, -0.02, 0.8078, 0.6067, -0.3855, -0.0116, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.4399 left_y=-0.1752 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.1078 left_roll=0.0381 left_gripper=0.1333 right_x=0.2953 right_y=-0.0003 right_z=0.1763 right_yaw=-0.0048 right_pitch=-0.0244 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.8957, 9.5521, 1.8974, -0.2222, 0.0708, 0.7009, -0.0615, -1.5658, 7.2547, 1.7118, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ce8d7f62f1e4b8ec8f053660fed9f547727eb2025bb79bcad36ee828f3cb5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c50b7ed229747e49b9df15b9210ce19b7dcaed1f4cecba52d6eea1a8993d0ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1024c4f4bba554d7571cb006e4202eb65376e70a97783e93f6375712a12ace4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 1.699 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8886, 1.1778, 0.2966, 0.0463, -0.7185, -0.6373, 0.9995, -0.02, 0.8009, 0.6083, -0.3847, -0.0113, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2553 left_y=-0.1243 left_z=0.0547 left_yaw=0.0173 left_pitch=-0.0277 left_roll=0.0058 left_gripper=0.9995 right_x=0.2951 right_y=-0.0003 right_z=0.179 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.988, 5.5863, 1.4921, -0.2564, 0.0904, -0.0122, -0.3487, -1.4701, 7.1179, 1.8388, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 0.9768, 0.6147, -0.4759, -0.6914, -0.617, 0.1322, -0.02, 0.8032, 0.6079, -0.3851, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2548 left_y=-0.1285 left_z=0.147 left_yaw=-0.0101 left_pitch=-0.0455 left_roll=0.0122 left_gripper=0.1322 right_x=0.2952 right_y=-0.0003 right_z=0.1782 right_yaw=-0.005 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -3.0701, 8.8684, 1.3651, -0.3883, -0.0171, 0.6032, -0.0752, -1.3607, 7.0632, 1.7363, -0.0366, -0.0317, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5465, 1.6871, 1.2942, -0.3653, -0.4404, -0.3504, 0.1333, -0.02, 0.8078, 0.6067, -0.3855, -0.0116, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.4399 left_y=-0.1752 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.1078 left_roll=0.0381 left_gripper=0.1333 right_x=0.2953 right_y=-0.0003 right_z=0.1763 right_yaw=-0.0048 right_pitch=-0.0244 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.8957, 9.5521, 1.8974, -0.2222, 0.0708, 0.7009, -0.0615, -1.5658, 7.2547, 1.7118, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ce8d7f62f1e4b8ec8f053660fed9f547727eb2025bb79bcad36ee828f3cb5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c50b7ed229747e49b9df15b9210ce19b7dcaed1f4cecba52d6eea1a8993d0ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1024c4f4bba554d7571cb006e4202eb65376e70a97783e93f6375712a12ace4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_juQClapFlqJ6isXsRw8aCeUz7iRdjF2mI6z-1edbh4p7UbD3B_sx4Jdz9wlal6FpTWkrqz9B11gqs5sNWU4hXnIBJ-Z9yxURB9nlXFb-L41o_QLE-ZHrEcVne9PLStZ-Ne5HN0n3LzvDZ6aI6ttxNyEWHx_lDwKWyv-_QhISUFl7u_6kUN3-WvEEGu-I9M68WyDjTGK6fbxJD8Ko_IFTrMLEn67RBS_foA4IxRn0sZ6CtzDYlzjXprmZALBAYx-XimMOdeETmv4aU4A9atU0EbryifI2T5hjjVZGTMvnCLAEYqj3EGYBuHws_GxMFD07LBDaDAs8Wd6524qWD23-QRJoKO3zr1VhStTLZnsd-5H0D29NZtYyVwCznBGtt6wOnQD3SI06IgdeLE5JuzUsjzp-XK-omV8xUDfkrE7Y93IXEbVMH_ttClOeHTWMzV6i0e243looTmUKwOlgZPp9RuPMsv_iQL8HZWSPc1up6krmj2BsnOOG8rV9okVEzjneWNlYkjQdd82Qe9U8EkNnACmn-UJNIe5BRdU7BD2-T-EMGLMUesa0eXqaY7Ipguc6kXU5pL2EazTI6MeMGyPJ5tf2GAYlPzlxC2hYspHyX7iU4lBXHf3R4PgF-bG2tdalcyFECQ-qN6UnNkTf6-w5xcu-dhIbPKZiWDtVR6qJDH343esPqORYmygDi9Jwv1LA9bwDv_cytx_t_Jsn_GqxRHsuQk7GnyqS0cm6InH_QSlRFwFYeJwTSM5u6Yi05pORQBo07NJrjqjL9iPWpsU8x1_mBgAI08qB8AM8Vcy7SWPYSnPqz_ULS3AS4u0pNq35jDlw7wjLg2Ffr1EIORAs30SP5y6SQWYWAfTJlxBpN6p5CfVMHKurrESWdS2HdnY76GxLnlz7dgnTOQSikPZkQH-SuI_F2Wip4PBLTJeJjiW_bTvErOorF6tSQg1SeKvW1D1MRhoiTl11W46208q7rDwMvAjduW1l6FBY_HZnH5uZ5QwaR0_ZyOt53do9xT5eQVW48NycEbVtJnNfVQUuwHSU2WE-YvItYNQGOMOcH3AbmVi1fi9F3zObT-40bxJxIw3aa5HrPzw8pACnzHkpuhVxMTtLHW2L5uZKA6rUd0hh3_wjZq4dZgl7gDHBHxpM3Bwi2EU7nZbn4EnsV3--Xo7k85IXJIGzy2I5g8p49lgjfuz6ESGNF3Tu0KLz6EtM9KtCRqjmfsv7Niu_XDkrs-pL9zE0usUNzhWvoB96xbrNB_f_fRks3ipY-SyJjrq0928KN1Ks_sNqCL8hCqumwu8IH79ZgBPL-hR75aNXTuNXTXmtIrdFGh0DH2SP216FfZowpKTCcUm6s0kSkRNmWn_a0xIFk9dqGtP5dZ9fiKulcpJOCod0-Ls8tTgdJisJSqa6joQyS8CMoi397IE9Y_KA70Qc4g-lt3qLzWuJtfz1f9e99M5VB4FEd-wGVoa3BphEmtZHv9EyNIxRR3fl8TjY7PDc-b0Kz_FYVKAPSybW6A44_ZFygfa5LJv8SXNBA_F_BvnFQwDx85cGbDxdZ2wN3mEB1htghuC0vqxt1tnAbJHE6Nja2rYxRGn5nWHewutZFWBcWm41QzXWWzCm70HKEqeGjx77A9LoY0L54hrH7hpVUTP0PUvCZfu2pKxMvt7uqXL1QUruCOJczrDtocW_QMzEo-IFXJf-3C1d5TsifsamxeOxe6P49L-FPfN26WiuqgFJIUGP5VhmHaI0sBva1BQ36XzDlGxa90vHG1RCRe9gkuVO7ZRC180tzEtLzJxJdeZ-V0GU9js_1vTUOXL9Pasu74aDCzjzqR065kM3P1LSEC92CscwM2mqx-lmnnwu6dacL9mp2u2fp-VnXxK8blDCfA3ZxhNhF0HeDQUAPdv0WIU_6UzXislU3S_XaViVVW8nV1FwEkHgHMGE51fHQjEMNXoqef80lc94cTzlPaypbqSKWITiFs6wwuoeOF-u4IjrcIR6t78PrYvuTHpVSC5rgFStmPCtfe6NSdRk-1w6S_ffIertd5KOxIhr79ZsVq4eAywfD4Q4LHDE_ogzT4lJ5Jn7j0mLBKkmoXzZlKWi6ynKcqIA1MG8O-uUETuvSHEA2xTB9zbT7DmNuJRab9No6fvANvtDkm3fPw_LjPMZhVNj0uCo9MP3OGj7jaJ5kdnd_pM7oL8A0bVLx-k9GytTZSUlGVsYb7SpskABlmCaFPNDCr7iUnUduJrL2Eg8F0l-56tHIcRLBCE9hnhrvyEwmR_nvmg8_AiZSo9BC_nXu3aQXNKM7bOmX8G2Rb6I55D87lSJL8g-1uln3e8S6I0fhhPLNtOJbsPxvihMEc8qEDhtLFbDbmeSZq0legaiOuAhscGiuDfOdjYSZz0JUs2_CVj2LBz3Egm_HJVVxNkkI6RE-fK0MZ6_mllQFBDg96Wnyj68V388AYIHddVbsCs1btS3dS-neDmtmfmX6-9_AW5wt0QwHWi9IXMSZdihq69uUciJbcrLsUleI60xm5M8uhR0PFVtWsHP7HFs3xSz8elpJerga_0GE00wP5JS1nhn3lNmShLYQkC9wXEMQk90meRdZhy9xfg5JnJIfGs6ueTS_6lYk0IzihoF_k9uPh8xF_MQwTv6UCirkNULGvi7UeSzoF3bu749tJczYVa-WmvtNZEoivLC2o2cNQLSyEJpWXIkan428uggjMUolXBIH1-H-aICCncBNv3a56ZT9mXs9zegP_Q3OdzKADHWjjMpCJvBx0aupLGfElA0K1_3iT-t6zIuxIBfzspWfsOdezBnuSxt1fMfmRmGaDykGsoffRO6F_X_nwRWSawu4rCKZyh55TtmHhAvGn3OWHfIX8aqrtJIXm4tzyLH9C_3Ubs4HdamW-veYQT1memYPuRfRA_O1rNPE7IQdTcagXWN2OkpdBrUQhNFQeEZOqwuaUE-tDUPvCnIt-YtFY-PxbX60qfIXcckPX2A-3WuW4ofyN56WXAgVa8Q4fxlB",
  "id": "rs_05f62207e9a2b651016ab44fde73e887d09407094006e4d4e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"left_z\":0.12},\"note\":\"The gripper is above the left basket but slightly toward its right edge; the held monkey remains secure. I’m shifting toward the basket center and lowering until the plush is supported inside before release.\"}",
  "call_id": "call_YeFbjLha7PkjWcP61jJjFSPS",
  "id": "fc_05f62207e9a2b651016ab44fe25e1487d0b3edea66567a47ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YeFbjLha7PkjWcP61jJjFSPS",
  "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]: [-0.4576, 1.689, 1.0424, -0.123, -0.3729, -0.2951, 0.1356, -0.02, 0.8082, 0.6067, -0.3855, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.435 left_y=-0.1385 left_z=0.1113 left_yaw=0.0024 left_pitch=-0.1418 left_roll=0.0454 left_gripper=0.1356 right_x=0.2953 right_y=-0.0003 right_z=0.1762 right_yaw=-0.005 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.8, 6.694, 1.8144, -0.2076, 0.1001, 0.4762, -0.1299, -1.1145, 7.2274, 1.6923, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b9457279996552f9aac96bbbc5d804d48fc893dcbd3d4761306b0bd44f045c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304f4219502db7a35ad8465b019a82afb153562fc0b58ddeb5cdd034dae53fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754a467287230a981d2940b27db181ecac47449d46638b1c10f9ed9f1b90fcde",
      "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 · 2.74 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8871, 1.1759, 0.2951, 0.0658, -0.7021, -0.6167, 0.1299, -0.02, 0.8013, 0.6083, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2563 left_y=-0.1282 left_z=0.0559 left_yaw=-0.0039 left_pitch=-0.0249 left_roll=-0.0001 left_gripper=0.1299 right_x=0.2951 right_y=-0.0002 right_z=0.1789 right_yaw=-0.0047 right_pitch=-0.016 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -3.5761, 5.4085, 1.3016, -0.3834, 0.0513, 0.9695, -0.1299, -1.347, 7.0222, 1.7118, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5465, 1.6871, 1.2942, -0.3653, -0.4404, -0.3504, 0.1333, -0.02, 0.8078, 0.6067, -0.3855, -0.0116, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.4399 left_y=-0.1752 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.1078 left_roll=0.0381 left_gripper=0.1333 right_x=0.2953 right_y=-0.0003 right_z=0.1763 right_yaw=-0.0048 right_pitch=-0.0244 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.8957, 9.5521, 1.8974, -0.2222, 0.0708, 0.7009, -0.0615, -1.5658, 7.2547, 1.7118, -0.0269, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4576, 1.689, 1.0424, -0.123, -0.3729, -0.2951, 0.1356, -0.02, 0.8082, 0.6067, -0.3855, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.435 left_y=-0.1385 left_z=0.1113 left_yaw=0.0024 left_pitch=-0.1418 left_roll=0.0454 left_gripper=0.1356 right_x=0.2953 right_y=-0.0003 right_z=0.1762 right_yaw=-0.005 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.8, 6.694, 1.8144, -0.2076, 0.1001, 0.4762, -0.1299, -1.1145, 7.2274, 1.6923, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b9457279996552f9aac96bbbc5d804d48fc893dcbd3d4761306b0bd44f045c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304f4219502db7a35ad8465b019a82afb153562fc0b58ddeb5cdd034dae53fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754a467287230a981d2940b27db181ecac47449d46638b1c10f9ed9f1b90fcde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_nRsWUMOaKSMot1OtJk6noyNpz7cSOl8AuDSuZjRbGu2pb1mpdkLo-xqayUxEh8KTezZPdn-jQgx2cEeluLTsuHG5rz7qbPPKEE66VabFWerjDR5gRtwUgC68Jn8Ml20LN_AubCfVWakIXTYf6Du-1wuwlch6EeLaeicjFICmYE2a8CNIYZ_-61HPvYkLQ4sNxbduY1dLOZ3u5vnkh9cpD9lUW-rkR3rBo0iUpKot2Dw1QBl0Z0z0n6vT0LhBwh_xrINvFUZPRfHnFnqVP_fB6M-DD7LFDQaJMKf1LHCg7RpRfV5rb8vOZBr41cEm5O9aJJ0tqiIksYSqc7CmZg_56dqJh2mLhoAVClyVfblU-pUtRKKdjp-XYv8kpiuRgbTgj7nEzVWoGee-sx8nApoyTMVO1AoIkQu-ZwA0ubyEMeJgZfOYc7IOiJwwGfqTOLk5vHJxGIKTNgK3hXQe8_tGkIjzT5e4Um5KUTZJJjeCIKofroZymeNbSoVwAGBkCJps6AYaA_wiKQ4y9T5qvznMRkAk8ROOJir4pD7HiDvOLBJFeorH47jWGeejeG1Pk57ZmHffx2APDWBuN73L2o6ExKTdogRrjahxbhxuDMGZyErBhoKAOxNZuDMLi7sB9ij__tXMtdmuHStp7gBtEdQP0vs16ewEvuhIrCwd-JBHaSeLS-dV1y8eDdbcpS0R7C4CTwKjZ5NfaHfBCOJMCXXAmvTq48OPATevnaQxJpUy5xiSOZgAMJL9GIvrFfQ8qtrJybfKPgyZhVR1vDpEXMLMf5t7i9qkIL9fllasFi0zD_l4N9DGFXVfagjzUxj4y0mv2QehxikHX5tvysvSEKmSpnS_uNKKUjb4fSHAC0zTUotNG_NiOMstbHx4ztIMtuZc5UMePlHQb7qWSB0kV29jm8b5j6o0J1Wgk5_LA9dA14yzQBA3F1ZBTiSZeeK4B2uCiWncTzDh3zW4uvUaKrOFZbIcJYgDyponFxs59sqb6OTQZzsEr6dUaHCYbe0FkUE5osmNXdtIJIoDsuDIKivcJuAgAIh8RuOfXVrt9cY8s-uxjpjyLtY3cfcbiXPYQnWQmRcZpcckb_xoDyTiEKmDzgL1qbZ-olQNdXgJ5HQ3DdMNOWapxoyeJjI85Xin6Ki6z8a1tnvlLsHUhHyW2WOyze5YfM2Ex-zFw8Jr-vlvcSjw=",
  "id": "rs_05f62207e9a2b651016ab44fe6ab6887d0b44423354da13e0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The monkey is now lowered into the center of the left basket, with the grasp point just above the basket floor. I’m opening the jaws to release it.\"}",
  "call_id": "call_SZv7bSIHLf5KoOmugLdMcWWW",
  "id": "fc_05f62207e9a2b651016ab44fe6c42487d0b18e25ece1ffbc0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SZv7bSIHLf5KoOmugLdMcWWW",
  "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]: [-0.4576, 1.689, 1.0424, -0.1326, -0.3733, -0.3035, 0.9953, -0.02, 0.8097, 0.6067, -0.3862, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.1377 left_z=0.1098 left_yaw=0.0079 left_pitch=-0.15 left_roll=0.0435 left_gripper=0.9953 right_x=0.2953 right_y=-0.0002 right_z=0.1756 right_yaw=-0.0047 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.2803, 6.612, 1.6777, -0.2076, 0.0317, -0.1734, -0.1299, -1.2513, 7.3504, 1.7216, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14eeb0f9098528ed958f758ddab221d0085556fd06f5ac1e0267853a71aa13b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8bdc04ba968e157f7eadd047cc10285f12f7dd7582c3c82b1dfdbfa1da6991f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76650c8bd9c3204677a35b7160df762fc5ba301672ba20d75446245b9072cd9b",
      "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 9 attempt 0 · /responses · status 200 · 6.698 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 0.9768, 0.6147, -0.4759, -0.6914, -0.617, 0.1322, -0.02, 0.8032, 0.6079, -0.3851, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.2548 left_y=-0.1285 left_z=0.147 left_yaw=-0.0101 left_pitch=-0.0455 left_roll=0.0122 left_gripper=0.1322 right_x=0.2952 right_y=-0.0003 right_z=0.1782 right_yaw=-0.005 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -3.0701, 8.8684, 1.3651, -0.3883, -0.0171, 0.6032, -0.0752, -1.3607, 7.0632, 1.7363, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4576, 1.689, 1.0424, -0.123, -0.3729, -0.2951, 0.1356, -0.02, 0.8082, 0.6067, -0.3855, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.435 left_y=-0.1385 left_z=0.1113 left_yaw=0.0024 left_pitch=-0.1418 left_roll=0.0454 left_gripper=0.1356 right_x=0.2953 right_y=-0.0003 right_z=0.1762 right_yaw=-0.005 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.8, 6.694, 1.8144, -0.2076, 0.1001, 0.4762, -0.1299, -1.1145, 7.2274, 1.6923, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4576, 1.689, 1.0424, -0.1326, -0.3733, -0.3035, 0.9953, -0.02, 0.8097, 0.6067, -0.3862, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.1377 left_z=0.1098 left_yaw=0.0079 left_pitch=-0.15 left_roll=0.0435 left_gripper=0.9953 right_x=0.2953 right_y=-0.0002 right_z=0.1756 right_yaw=-0.0047 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.2803, 6.612, 1.6777, -0.2076, 0.0317, -0.1734, -0.1299, -1.2513, 7.3504, 1.7216, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14eeb0f9098528ed958f758ddab221d0085556fd06f5ac1e0267853a71aa13b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8bdc04ba968e157f7eadd047cc10285f12f7dd7582c3c82b1dfdbfa1da6991f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76650c8bd9c3204677a35b7160df762fc5ba301672ba20d75446245b9072cd9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_q9ytQz6MAv8yWl32JoKNUS8jXlidBqkZIH19OOqINT-v3Fmx5nkCrEKlWuAa9XfTyYQeu-hQvj_cjhot6Ug25H-SZabhw9RWEqOu7xrWy_MF7c8d3AcFTmIiwWsDlVTtlVFAsfgXXgVZOzC9v28ttqJ7fXxuwcMYqCroM4AiwRFWkovvIhX6p4o4Q06nycws0clhxXuejnNT35xhJJ3WylFsakfx1m2WM7yBiRCHSWWNaKs0XWVJ59i-Bl7KxmIGWMLzI-KYEs6BUD52rCfepBjc8HC1p3Od-u3u6TMyTN8PLfdC_aBWVO_aaiPdkE-JtNfhB5BSOOYMydjeKgnKHVT8WtbooyimXdcjyD0nyDaZBKzrgzevjGBOWSlelhJiCtswQKczQJ7AK-q54DkAnFRz4HOpEB43KG7j3hO2MYHm7koGfRWYkS2x_MxXgzACQHp0pA8iiN_X4F4KNI7Fyujr-UjpCm4eFqTyENWBYcEii0dNO7PpKpl5Kbd-mOdfuWrZkrli-DWbGCsHKXYAVZVcFZIGWWkfc-ho02O0n0ryGrsKNTNku9-4N-4AjOWJeXyp7QFeScKSjZRg2Ioy8_yh1VZ-Pc6l8_3J0FhQ6Afxnw1VLar7EMdZO2FV4DDvYBchYDNNBNkVG0ROpArfPFu1kOVgyIo5ogdF5VvUgw_cc45kLY7Q05xCyZJOVkrX62aRbgIOZO6j0etGeCgP3GI15_CqE9tP2y2LVTaJEWt_EpSGYIOaokOteqEFwsJCQ6zam9JqKX0Z-CptVEojCJwBbmSktvh4dsDQ9a6Jyk-4Hlr9C1AjVITGvNLWTR8NSwJBFkTVAp_05F-2x_FGkfzXYzLPKdY5c2K-zK4St2eCKPgKqHkAs69IWeWUxBqrWTQH-I8KTkDPnehbyM8UcDy6x1JZk-8e06FW9klpJEOebIIwyHLijlaRLrrBOz1Lfp2877z4wjUEMZFJqm6JXyFYL8oEnfc7iPPd00qmE7Zdu9BM-SnGPfNMs0ALvdivBxDQNWaJR4_Q7WStD6VA9gfQk_BtIJKByZmZrxb5AIQKffZBDWrn-rV69giFRe1YvtCX-Dqrdc3XEAEmLGsQuaReUzecBp19pNb2FVei1dtej2d1ulfzHcw75VtguDMkyinLhS5zgJ8fhG0W2fbuNhON0P5d4aWLE6-Na7LPNWAQ2eeQKcZilI3c2ujzmPsrpN_Wu-HivdZYvaMlqfSApMI91TlAKRLHy-sNa8exfDy3aItHqcUMTBEj_kVrQOvWN3tenx9ta--izbNAhoGRPhE1jnBsTnsyKaeVnDRufTAZAbSKp9DvEXsOwgBUwSD8sa7TmlZ_Dexp7GczMJdAO0A03OBZNvDMSvd46hbgSJD5IOyTQ2VjR81UJbeDm3S1NfZmCfiixbUtoqRZLUOpBccDr9--OPMgmca2llgq1HnZRLI4xMLOCruiKOlY70yfXbkzVXLihvdLSOlVxjpDrSLO_21X0oPSf3-z81I7FScPhFSDIoLRBuRSRdBhwQPnnE-MxfleR0TJwu5KIdI29bzMBQAxgRCBJKC3qSlJCOJdtZGyMMB2A8s3kTYaGYw17MPs_UrBPcakPHBqkOAGLmeuKwy3wzcN02z_Mt2q5p2BM-eRFagbzE_WYbgyPQ5Vf95p14GLU3lsUr4YGE0FqELBZhZR-qWjJMVxLg7BnynWLXDOSKoOBQEn3JMjQyq4aE58Y1YLJfS-dntlKQwYEwOvG5w9W_yCZMCSCRvunkgKzYfhkBoqkbVNjX8eQATTXW2hPxsaSBI7Uk7b1hnh-w-awEBy5-CnpRV8cUKgUQsoKOKkFFZtMEZyoD8BkG_JNdUD_d9TbGWGOE8tFvUfFkRVP0cgX2HkA_ygmu2c4i6A=",
  "id": "rs_05f62207e9a2b651016ab44fe932cc87d09585cc05fc22bb0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The jaws are open, but the arm and basket rim obscure whether the monkey settled fully inside. I’m retracting the left arm to its home pose to clear the overhead view and verify the placement before continuing.\"}",
  "call_id": "call_AGkPqd141HSgUBQx4tj3dQjw",
  "id": "fc_05f62207e9a2b651016ab44fea1f9487d095179697d7d2060f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AGkPqd141HSgUBQx4tj3dQjw",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.0776, 0.9588, 0.8024, -0.5259, -0.1257, -0.0738, 0.9966, -0.02, 0.8139, 0.6067, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3113 left_y=0.0016 left_z=0.1947 left_yaw=0.054 left_pitch=-0.1122 left_roll=0.0335 left_gripper=0.9966 right_x=0.2957 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0047 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.2359, 6.8581, 1.619, 0.0904, 0.1392, 0.1245, -0.0752, -1.7299, 7.0085, 1.7705, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bcf06c058b225754e490595f9312084105f9f7bb181b684f3b21daf2a81712a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e07fabed0d26d7be6504ef8644731e4acb70059c70300d5a4acd2f3fa81aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cef861249699bcb17058b739bcdd1dff00326cf6876476f0bf35acd58a7404b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.136 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5465, 1.6871, 1.2942, -0.3653, -0.4404, -0.3504, 0.1333, -0.02, 0.8078, 0.6067, -0.3855, -0.0116, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.4399 left_y=-0.1752 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.1078 left_roll=0.0381 left_gripper=0.1333 right_x=0.2953 right_y=-0.0003 right_z=0.1763 right_yaw=-0.0048 right_pitch=-0.0244 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -8.8957, 9.5521, 1.8974, -0.2222, 0.0708, 0.7009, -0.0615, -1.5658, 7.2547, 1.7118, -0.0269, -0.0757, -0.0171]",
      "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]: [-0.4576, 1.689, 1.0424, -0.1326, -0.3733, -0.3035, 0.9953, -0.02, 0.8097, 0.6067, -0.3862, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.1377 left_z=0.1098 left_yaw=0.0079 left_pitch=-0.15 left_roll=0.0435 left_gripper=0.9953 right_x=0.2953 right_y=-0.0002 right_z=0.1756 right_yaw=-0.0047 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.2803, 6.612, 1.6777, -0.2076, 0.0317, -0.1734, -0.1299, -1.2513, 7.3504, 1.7216, -0.0269, -0.0464, -0.0171]",
      "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]: [-0.0776, 0.9588, 0.8024, -0.5259, -0.1257, -0.0738, 0.9966, -0.02, 0.8139, 0.6067, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3113 left_y=0.0016 left_z=0.1947 left_yaw=0.054 left_pitch=-0.1122 left_roll=0.0335 left_gripper=0.9966 right_x=0.2957 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0047 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.2359, 6.8581, 1.619, 0.0904, 0.1392, 0.1245, -0.0752, -1.7299, 7.0085, 1.7705, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bcf06c058b225754e490595f9312084105f9f7bb181b684f3b21daf2a81712a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e07fabed0d26d7be6504ef8644731e4acb70059c70300d5a4acd2f3fa81aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cef861249699bcb17058b739bcdd1dff00326cf6876476f0bf35acd58a7404b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_zE0ISmj3z9jJn_ln7jwhcT0xpcLNZHou4i4LOMw7W_DfhOR1_8Zp03FjCD6RuhUTyKcknQ5iuD-MXLNRe0bUZ9Sm1IKTpSmbrlNqYfMl0A7Ka_C8ZygIr2Xw83AkP-IW3xQVCRHCNdlpFzxV3KnRflAryIOYmmggTFXFMYdqiN-AbPWlG__lutDjfyPxVdNw7Zicde8QnUeCOR4wuCZvQ1g0boBesCDPQIuw6g_qUKaStv_gVgGHbW41V7uqWRJTZ6COg_7p-m3FA-u6-qeBIhI1xEHa5HozqZMXtXczC1Tq0zMJr12Rp0KWib0KjVizr3_3kdAg9pKK3lAMzT3g_j4TsSxqh-I32NtCb1KsYPkhNJJFGdpOP-AzlML4QwhuoOvOoYTX7N7k_hQCh2kLs0fjH_oiy0xYWGQ_y2etbqs_yisCTpR4xYJ0awiXFQ3P9rxNx45FWMcB2OUHOvpTYSJdaFQ_3TGQFh9AsT83VdWQIUEs7eyCi0w7J0aeOz_Ps7GQkVf8XAvYDRlaMSvTyGsByjA5DnWk8ZqIqAdSjtrEDjQE-4kPgr1rPkTmpZYAQI9ryzyqWO-hPStziIDHn5Y4a83rr46LB2GssSxlGZButSdti_0VTKnmIlx6gi_T7hkx9KRZtYDeJy7GJegu18jbw1Oh-zKkM_EJNwKL3ZiVNz6jhzaPrxZEI5bQ_h-MoHAszmNocSzLyzxVKIFq14AppxwdT7SupnuZhgg-RYZNj9ezJTZHVQ1rMWuHUlrGgze2mpXfc7v_CctmRs-udh0I3dw13HfxaRojYqBagqRSedNfx-kAsAT_GtOtZnBsYZ9qBugemBQBgR7awHjya0FaPiRXLeos_AdRd0d0PlWxY2GBdagrVKQujzT_s_35pFPKSN-A5uFnGmI3Y034TywvW_NI3xS2vb9atVrSv45A7-drXNstj2u_ZtrAM4EAPG7RCOky7UCy_gxihTmTecy_rNXxDVuf5_EL90D6MCRDAbSrjVP2yUWwmAm-4L3rweTtG8VEmniCQEJBimBvIep9j1r-9IaZcMHnblB5KNhaVwCDPYSdqNCYDKjOaGUjJl_6r9SR3QtvBqwwWQr_rw3P_Y-BqltaF8BGOOowxMG-DU38W6zkANksNO2NK971uVVeOYDxHpyNjCkgmKOyP_Scg961Q4liWPP9XiBjocm6bithgw86fZQ3MkqMHJwlLYWqIE0CdXwMTRhZmWlwA1eXPW29LTu_s7yVvk0EBrnTW2sKm3udMG38eepOMT2TLW6dhXJNUG1ot7l7gB7Pve-HNK8YMqHrhGLBr3725aWC2HrAuH4XotietAJ0QrHoJfJ1I2RgHqTkkD4cEWDNPPvGH2QecpyJxQXuR78xzNOwDNHT3xJaSOOcuXfaBpFYNzQ_vs6KX1fpOyzRv706EdXFgZoYdYJFIucGfFP4W16pz9Rb-mbhjQkH0mKJCDz_Qtyq9Xa0rfRcuguiiEqlpHy5_zekjN1TZSKQmv1fTkXe0P9KSKZ9ajeOcwA__iPN0puTh2QbwbFb2SD_Zytd3rGXLU5bAPco7Wtomuhnje5Q-utkhT_gTqjExn-jXCfYxIIOsgIqDrTmd_21h3_mQSdT9dytmNi5x_EU0NoXlM1_9IiNE8aswcqeOKa114fI3dghmjadKiS2AlQ677o4Vs0cArEDfUg4vL_yuSGd5Y5I68fsxspyPwlCQkaojVH845pt2VGxxPqJKa6LUqXXvtaxr6i-2CumwSNgyyyaYSKuNpCjwaenbeg91GZcjLuFYhITTE_sRViHMdGvrIzIvso0PXNbkWX-Ydcc-j0AnE4kJvQ61HdiI6dB4svmc5URjGEf_usx75T9TDUMxaHvz7c95FMdHbXMmBc1te8QXrHwF7w6hv8ErjhPbWMreKKPpwDnlIWIYL2NYBNzOZQaW_nAermDPLHy20CuipBjTNIwqvHSbkg8Tngyw7Gq805zNm3ePDtroPszBknLxsujwzmMllvcYu4E5x6Ux7ajBVuD--fd5g7SU_pE-8IrXVtU6ZgiPC0ZEjccNRFPdPINGqhBEX_Yt8u5iXAqv5-YOu_eFqTeqd7hln_PpxOtsvKFlZlayo3sSpviWdvyfBi1-bp8p9ukeWMpLjKc1wuxgTzkUe85ys6c5s03f44og09CLUFUBDL_P1qa-8Rn23WwA0NTaDcqOueen3my9E321Em6v0_BKJLL1PDXYUZU08yZ1nbW3J7IDLCR2OyinxNDEVOGRAElEpfsmQ2xx6Q3KeTEcZryZmxPjIEm1_NrRu850sfnTb3E0A4DVWFQl98HJWmVMNjNSumb2t_5Z5KjU_Dcw_q993Q6Zvorc52aRZ-5nn4eOpFxoHjy-z-PUz-p7dfN-Ux1hzGqI7zloM4bilfETPOdL1Qbh0gJT_Lvzo9suQt36JSIn9coENIiH_0VQlBF4XiEY9OvfnEPR1zXpOTKSpPACCXJg0Q2LiFAWCIgDGHkM1nkxbfFBtuWJG83W_5yaQWMQ5PTh2NBZHkddUMY4w3WrlLryrGlPd7Uxlb3-TPKZ9Y7dYr-Zcelbmfonq5XX8olrgDWaeyCV1VHcBNO-ckjKlx2ZtNxCrJa4LlqR8GMtYHV94aROzmwdlDfsUtnHgCOIMvO5WLe2t8QueWgYCQLvzJ8b4eg9nNTIdz6NcNguC6pDGMxr4aqlnz2eh3vIknlp6J-Wmd2YrP_Kv3uNi6KYVoWtpofYKc2Ou3yZrHxO3spPrbL4U2zWRc8qG25KVWLvx1fPSZl9v_qnlPs0l8kwEAySnUj66gjAEAQAd3tKiqpz1SmZPrcxYPcMJZGyr97hUKqq7kS1bLsSB1xDC0B04IPraLf4ICezny3hpgFBCr_-5yNs6-JWf4paE2vKb3BIp1ZHYtWTVC3xMPB8kQFmunCk_d-m7ciHVYBjXQDiLkVo2zv2mDO6WJDGEjknTF8CHFoQ_uGCIJUZAFTV4hWFP5LTzEGWstK79yJpA5-mKGrbSDnHQbzDhCIcaPu7mu--mR_ZoiKRdAhrU0z87kdN6v02wJvQnCBZgY5Dq13NuWzWU7nz-whcgBupiX_SjRa6NzW0xe8pRkuCSzIOh2v0YXlmK_sjK2BquDBcVHU5dufaQgMmsczfq4tWmBzhkJ2bk__UegAASNhGK9E-kt02y8jQQ3ZtsexPWF5Y2yFjSJdyA1v4AF7xqO1_zR7YzWPzTEIr5x0TdPwVRe3JQkXLCz5T4QGgO1dN5pKtZ03jXu-huUq7a5Pu8qldLQ==",
  "id": "rs_05f62207e9a2b651016ab44fee21f487d083788e9e9fcc0f5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.3,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"With the arm retracted, the first monkey is visible on the table just in front of the left basket rather than inside; the basket center is about 10 cm farther forward than my first estimate, so I’ll correct that on the next monkey placement. Meanwhile I’m moving the right arm above the frontmost cream/tan bear to begin filling the right basket.\"}",
  "call_id": "call_W7CTm9Q3D0ab5QKa1kacq5O5",
  "id": "fc_05f62207e9a2b651016ab44ff2676487d09c5a05bed6ee02fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7CTm9Q3D0ab5QKa1kacq5O5",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.0792, 0.9642, 0.8024, -0.5526, -0.1196, -0.0784, 0.9967, 1.1286, 1.6585, 1.1641, -0.5343, 0.8211, 0.8364, 0.9991]\nstate[eef_state]: left_x=0.3075 left_y=0.0003 left_z=0.188 left_yaw=0.0503 left_pitch=-0.1444 left_roll=0.0303 left_gripper=0.9967 right_x=0.2786 right_y=0.2946 right_z=0.1485 right_yaw=0.0229 right_pitch=-0.0614 right_roll=-0.0251 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 7.1043, 1.8632, -0.1294, 0.0415, 0.0024, 0.5675, -7.9795, 8.4855, 0.8571, 0.696, 0.1294, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf27d5d71da65fa5da6ad593aec2fdd05d0fd9588f0acf008c00c5e22e7140b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94a7ba44ad4e5f1f3a4c3e0e305c870c1d95535ddcf9453b32909ebde7a399d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09e812c27fd0788cc137b3e9cd1c83ba8b062373fda2417cef96c3dd1ea877b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.756 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4576, 1.689, 1.0424, -0.123, -0.3729, -0.2951, 0.1356, -0.02, 0.8082, 0.6067, -0.3855, -0.0116, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.435 left_y=-0.1385 left_z=0.1113 left_yaw=0.0024 left_pitch=-0.1418 left_roll=0.0454 left_gripper=0.1356 right_x=0.2953 right_y=-0.0003 right_z=0.1762 right_yaw=-0.005 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -8.8, 6.694, 1.8144, -0.2076, 0.1001, 0.4762, -0.1299, -1.1145, 7.2274, 1.6923, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0776, 0.9588, 0.8024, -0.5259, -0.1257, -0.0738, 0.9966, -0.02, 0.8139, 0.6067, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3113 left_y=0.0016 left_z=0.1947 left_yaw=0.054 left_pitch=-0.1122 left_roll=0.0335 left_gripper=0.9966 right_x=0.2957 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0047 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.2359, 6.8581, 1.619, 0.0904, 0.1392, 0.1245, -0.0752, -1.7299, 7.0085, 1.7705, -0.0611, -0.0611, -0.0122]",
      "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]: [-0.0792, 0.9642, 0.8024, -0.5526, -0.1196, -0.0784, 0.9967, 1.1286, 1.6585, 1.1641, -0.5343, 0.8211, 0.8364, 0.9991]\nstate[eef_state]: left_x=0.3075 left_y=0.0003 left_z=0.188 left_yaw=0.0503 left_pitch=-0.1444 left_roll=0.0303 left_gripper=0.9967 right_x=0.2786 right_y=0.2946 right_z=0.1485 right_yaw=0.0229 right_pitch=-0.0614 right_roll=-0.0251 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 7.1043, 1.8632, -0.1294, 0.0415, 0.0024, 0.5675, -7.9795, 8.4855, 0.8571, 0.696, 0.1294, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf27d5d71da65fa5da6ad593aec2fdd05d0fd9588f0acf008c00c5e22e7140b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94a7ba44ad4e5f1f3a4c3e0e305c870c1d95535ddcf9453b32909ebde7a399d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09e812c27fd0788cc137b3e9cd1c83ba8b062373fda2417cef96c3dd1ea877b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_8KHANzRTNBWTvtXwEUUNGZvLqMu5571o5JMrIE8PzY9HamY8paf1IL87ZOLfoLdUg6P5yICfr4W3yecqYd1z0jOmoATDvzVeUU93kwxm-g22iTcWNNBh40BBOS5dj0_13Yw2YqbkDmIsd58U0jBqrvT83o0fHVioR8f4Zov2f3lQIyPazlJuGJbRhPRd_v5BX8va0j6GtkJe0J-mv1g-suqPY7LbS4Zb3uKym1qCxssGo1W9Jtgj-9y6xtU43XXAYtAxjUDRl4l9c6TitfVZMnXZLEL9xfnHn_QXhOGQV0k8J18_4_t1wlW65LLuzLZ7V5cDNNXqxM8qJUKHAkvznJtsQmW5FnlDHRRd7p_odg53wJusLmBQrj7WRVH9E2lguptpX4iVtgTlokUKqcJyu0seFBAVy_c6gGUj7ilAVdSlAcOQmNV64kC8vZvJPwEEkEehThoz8ce6tEYDku87xyFbe_P3NSzCnWWqDpG27Lgiv3KhX-LQ77rkbzDSSQcRDuBBgLA1eY5M_E71wYB-Z8mUpVdfZhToEV4u_PuYSN_xvDIa4ZpLlWBpZZLB0wjkJ1ggXIlP-6jDifP9Fepq3esRPZzBp2B88DN3tolcVxh8ra8twLPmnwUsQIY5Ci7-dmGhx4DGl0mPXU7LkPoi0LL15yLhLAo2poomQHRIw1cROdfvIDaxQZP-e-uLKvOG-B1PzlbGj0ezPguEj4ggJzuKpv6psPjqy2JlQX2kKVQqxUCioDaQSm2fl0DWjVlnIcfob43deYscTKMaMWj7GSC7eT-qd4c-FD94_gaV_mwxOvgjKxNY_AZLGl-0ffNnUJMU5yICH-8O2QwTWLqkFJDmPFOKxcI2V9oqP0M6SJ98PStgHsldPB3BjUlkjm0SsNeC3uZ7dKkJu1dfdhUVMi3JWeczqcsYXOgnvBQ3c-dQg68lF7A3do9fKdlmICXoE_BmRP_AIBJGUjMHPYvkMUqahCaQSEclpd2v9g0J0Dq8Q1Je_yRbTH2p4SRZppNl-HWdUi3tTi3RFPgQSNrYVaAdC2Lnuk_Xu8d01yBEME8012ky_bA_MNyF0_VornvQ_9pISwt2Vh0srQRw6KlWJ8XefdHOdfe0OtGTRZLuIRNkgt_pFfrTah5XWAR2JDN5evXU8GbzUMsEFAfoXD0p0OaIoS1FV-D1bG_9C9CyEqBfVpXkU8KeMmZuKSlwCHWrw-9fvPQaXPgSCaycWjvuBvPnbCaiHs87_XVLBcdxb00VrkAlyh1X8y5q37yM2BREX_I-qTPU8xvmTDxXrstRNk2nByB2-DZMljxyPXntTItnQHLdjnUSiC6QZuJK7pYnKWhYEz5uDCdi9hJK9wC-YRTxSI4M9HcgmUadY4Fmq7vlkN_pgpXzHT0m2oTYdh2R88MFJgair6lsCxTr8plSHTc1ggUMwEOCPHlWG0EeQcmuekuh5OVvh3bBhX6kvil16yCq6F6BZ-K58g-O1w14o40RuqVMdDW0gcdJXuTPshILiYnUyP-CCJYVHy-O3lSRVUBR_VBX14ZxTI76fCUovYHh0HmEKAqQCq2F-tyxa3u-Zzt42qZhMiquy12Snnm7CfNrPHX700Kj6ddYWsOS_5iBEaxyiVaEjYrmH5nIAZYKS06BfRUCz9gll4X9_Bvw5DPFnXVUYNJzj6bm2cGZfIcXU_LNxOmnophwTLdltreJqOvgVEip8UY5n0TFyf5y8U30m75ZGYxXJlAiAmp4wFBhQE5mNp5lqGn0fa7pnZpxkfYFNb9a276jdnHYZPFNAyELtJkbL1zNcov_LmPRAw3-D5lnjWdT9kZvVj_sUSOG7ha9_J3r9kpnedw2GiSee9KsQ6wCrnUX8XxwtkSDa2-NaSBuYwIxXc5q2xhuq90qcONFtp8eYJ0bsks8AWmmB4CiMLyINDksLt-y65o9QvMVW2hPk8DfKRlxzV3tzf0BOChJS4Fhcuy0VCZDPSGR2rBDixFAzoCt5u9M787ZZPcVXTsRP42Lu5uSEwjsSace1Z8QLEsvbDxkMp6TIOfe8hDh8gZ6o4SQ_C6WZy39OVzyyyi1lVg3gxg6tpn3Q45sS1QZcl87ekjpugg-W_mF9tNMD1Xz74STdmt3yPLkbhRgvzN2-xauLpBjxtPu9clbMKN5pzmBes3Z1Dk0DY_0emBQ7iQjf7-gKKJmnpeKtN-J1n7CZfa54py-jfD0xTHm6qp2U-SgMjfRU_zS5uj3Y6vgsc467eKPainTtw1AbiztMhx19QE1GtVHrEdoxOGpouC3GTWkKqAGOSeBPeMLxNsGaJXGlk7OjcsaxTzD6XHWGkPa6pgwK2AaT5AkWbDU6dhYXIrUPap-rHRmu9LXDf--nXACCQNDAY53Z7xM1IYq0_gM7Sj7rs3WdtPImzwkdRMC7EB6rGcq4hOyERMyZrsrSSAE3ZDiNZJfJ7vEYjD_T2C6GVRpuOsHc-RnoSXCE9kkiFYZB3FI7K8ZDsaR_VB38P746M5UGRhviJ_45lSz1jUVw6soKFr18E_VYQx_EZuVAmW6Emfgwz9dxTLYhVUgyvW7inH1o9my75tM2UrxA88UykfggfADKrK9-N6SNhqnM-I-a3OODS9FcaeWjR8c-W8I_Rrcjo0XIxpr7KnFE569a768ausur17X7iwlGNxvnhUUfCY5NNSbOusPyUi4PItKGQfkrfwBf7QaDCCZddymxVMuy94ARm-Tm3bUljY6zztfnb4gAJJW5VPm_R_KlawCT8fZRRCyaIXpaPxIATT3gUiVeEEjYcnSsFEPPTq8RiFTULJ6VBzswD0GGikXvphX_UbxXtkGC6L97X4-Mu-y-kDIdwQKbTDoTpjNY5Gi2oASlCXXASdfrpbVH5kTDHLjNRAZZ91Mle6wFyBYM4oN8TueNy5yX_N0W86LWck70ryT8NseZOzEFAk7l",
  "id": "rs_05f62207e9a2b651016ab44ff80a8c87d094b5757fbfa0e047",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.35,\"right_z\":0.06},\"note\":\"The wrist view shows the cream bear about 5 cm left of the jaw column and a few centimetres forward of the fingertips, with the right basket clearly separate on the right. I’m translating left/forward and descending around the bear’s body for a centered grasp.\"}",
  "call_id": "call_l29rZtUFMdmIaufyCerozq1K",
  "id": "fc_05f62207e9a2b651016ab44ffb72b087d083af1e93766d8f32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l29rZtUFMdmIaufyCerozq1K",
  "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]: [-0.0792, 0.9688, 0.8024, -0.5571, -0.1192, -0.0792, 0.9967, 1.1011, 2.0014, 1.2148, -0.2924, 0.7914, 0.7967, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0003 left_z=0.1858 left_yaw=0.0506 left_pitch=-0.1535 left_roll=0.0306 left_gripper=0.9967 right_x=0.3068 right_y=0.3348 right_z=0.0497 right_yaw=0.0286 right_pitch=-0.1089 right_roll=-0.0896 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -2.4821, 7.0632, 1.6142, -0.0562, -0.0464, -0.0122, -0.8684, -10.7009, 7.9248, 1.0525, 0.4176, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28fafed5153ffc9b6aedcff9eafbf471673c5c3e9c680d47b4ef5d654ae9ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14f28d1257297ac1b38145d502bf14ae1f72abe570c4707552bbf60539e72dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ccd711865001f5d80b54370ef4c89eed151533678e265d7793fcb88b56ed72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.313 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]: [-0.4576, 1.689, 1.0424, -0.1326, -0.3733, -0.3035, 0.9953, -0.02, 0.8097, 0.6067, -0.3862, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.1377 left_z=0.1098 left_yaw=0.0079 left_pitch=-0.15 left_roll=0.0435 left_gripper=0.9953 right_x=0.2953 right_y=-0.0002 right_z=0.1756 right_yaw=-0.0047 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -8.2803, 6.612, 1.6777, -0.2076, 0.0317, -0.1734, -0.1299, -1.2513, 7.3504, 1.7216, -0.0269, -0.0464, -0.0171]",
      "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]: [-0.0792, 0.9642, 0.8024, -0.5526, -0.1196, -0.0784, 0.9967, 1.1286, 1.6585, 1.1641, -0.5343, 0.8211, 0.8364, 0.9991]\nstate[eef_state]: left_x=0.3075 left_y=0.0003 left_z=0.188 left_yaw=0.0503 left_pitch=-0.1444 left_roll=0.0303 left_gripper=0.9967 right_x=0.2786 right_y=0.2946 right_z=0.1485 right_yaw=0.0229 right_pitch=-0.0614 right_roll=-0.0251 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 7.1043, 1.8632, -0.1294, 0.0415, 0.0024, 0.5675, -7.9795, 8.4855, 0.8571, 0.696, 0.1294, -0.1001]",
      "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]: [-0.0792, 0.9688, 0.8024, -0.5571, -0.1192, -0.0792, 0.9967, 1.1011, 2.0014, 1.2148, -0.2924, 0.7914, 0.7967, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0003 left_z=0.1858 left_yaw=0.0506 left_pitch=-0.1535 left_roll=0.0306 left_gripper=0.9967 right_x=0.3068 right_y=0.3348 right_z=0.0497 right_yaw=0.0286 right_pitch=-0.1089 right_roll=-0.0896 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -2.4821, 7.0632, 1.6142, -0.0562, -0.0464, -0.0122, -0.8684, -10.7009, 7.9248, 1.0525, 0.4176, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28fafed5153ffc9b6aedcff9eafbf471673c5c3e9c680d47b4ef5d654ae9ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14f28d1257297ac1b38145d502bf14ae1f72abe570c4707552bbf60539e72dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ccd711865001f5d80b54370ef4c89eed151533678e265d7793fcb88b56ed72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAAb5Vs22yZJp_TTga0xJ5QXnK92qmHa2xYQIDnweG2FzhavxX_U5ZOBHv5zUBVC_t_3pmnsbLCVAoXgX2psJmkYnIUWwPgiPjlIXO_whq04rv-Qq28Wl2I3HICsex90_mckBR8J33vculvwdhZx5DdHxkVKvWLT2EBLqTOw3XUYeMcl-sb20JzZvzSzHtAEyTdOcrqQuRABJgIhP0IsBFYuh-9oCoLhpxkzwXYjSMcpdb4LOGnaTcR8oFGMxVpASFPm5AkkDOw0jg5zh6UUtYlDQuqpXmFsEI3AVjCk8pJ3gRmY4Cv9VW3MCSlul9mamcBGq6ARj1L6jYdsZaewzns7Yf-1klnMZLh5DKuRqjtx-41-Z_znkLka5Q0qslbie-x9aVwnMKOSisSoZEM3Ah37T-yq0xig6N3cXw-efhRLSrBA78hLyRnPcWjwRMq3Uf9tP5w0bfqKCmlVSVPVh8nt9-cvsDmKSAzT80TQkpLeX3nxDjPj9VBOmvbaenza3Izf_T8TNyKQQMshc_6aF7mZo-DDzgHO0xpm-W-TvmwX1BeVkE2KUKWUNACYzxe1CxpsXiUl9NIdo-HyvgjZZ_e0bly0abEwW3bvgyoBAc_hfw_6CSN8Y2_71P3W1GlxD9sY9lgMuC2-Kqfi6R1a0CRKl21XZjQppA8K6zGdLdTQGAay17u_6bTnewdXb-bkmmrymalrRzHkx9DimPtWdJpMNlfRuETnQ0y_jyGe5ppdXSoql82lfUUPdI4baWpMcoifx-wZKeSqmNID1jDmmA4c5DVL_DFDcdTKHqg2UBxFutJYYkY-U31Tk0OZa4wK-iEzeX-yhQ2pEAWgXvycSLcjM_0D1gQPfkOgiVQkeeYDBw7PCkQjSI9x9JWtBzMO6pezGR9leQtbf1nxoVDoFXY0tsLuUfaeSxQHTIBjxfbBBGbRcrijKuMyY4SHPeCFuqslxZ_x-BzLHAaOnm4QLzhZ03SOnks8vXji81xP6WM1n365r3hqlLo-9hHILrx_oHGCNbNO4L00jvT1K2wlVfrXLPkq5lJ-E1b586yg9vMeqgnzUxhhNbpfdlAy72r7QiJsSlWJ-R9UW7rfUV0dKMuab6qqZ9UfXB8IXy4BiIzjS3pA0AvBcD9HK8SclzhUFZob7Jk_R0eczqO3ftqBywV7UasYaS42HAJlXhm_ffnuloExIKRUyYFaK7NAzB4aiEmbAsa-eIF-50v0BfM42d4yqtwPVDNRB-n5nT5G0nx3XYsvJk_G9U-w04X1XPDjBTD2LL4EmM2UgGG9ds9bPvYhw1Utwiu8X4XRhKXFST-qyORj-doXXR-6kvhkVU4iW8efGqJmK7IVO9py__WDLp1pN7pv6mPh9jdvWBXNnQ-BZcQtVey1PA_MFFHEkUwwImiMazTA5iVpec1QVKDSMpmFV_nxOsxI-J3clrxWm158yUrT27U7qGY0wI3SpQ1DJQXrDm8V5Dx554XYQpVvx8kcmdFKQI9mF7wnsZLh5jOOoJC84iU9YwFn6C4OHfdLFDnQjeQmPHG5-jA-Uc8Xl3TxZHSMEB3qoAHoixY5fZ9y15GIQns9kDef7JeVv_ZXKO_",
  "id": "rs_05f62207e9a2b651016ab44ffed5d087d0acab6a27bf3f46ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.39,\"right_z\":0.055},\"note\":\"At grasp height the bear is still left of the jaws; its torso edge reaches only to the left jaw, so closing now would miss or pinch a limb. I’m using the remaining lateral workspace to bring the torso onto the jaw column.\"}",
  "call_id": "call_L2dRgyonCkYxg5NSMUEC9TBF",
  "id": "fc_05f62207e9a2b651016ab44fffb57887d092704953de89fa46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L2dRgyonCkYxg5NSMUEC9TBF",
  "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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1515, 2.154, 1.4696, -0.4232, 0.7887, 0.8433, 0.9991]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.3066 right_y=0.3889 right_z=0.05 right_yaw=0.0525 right_pitch=-0.1223 right_roll=-0.0775 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -2.3453, 6.9675, 1.58, -0.0855, -0.0269, -0.0122, 0.4718, -11.0701, 7.7333, 0.6374, 0.5592, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dbb9000338787e8c2956e7c58bb1670b1e8755e14d1d00fccf8fb30b445e38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0aa57c0dac8a25af67abe6cb4123d1094e03d34bb9a52d2efef44a6063fda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79b484c4525c1dce3b63786783421bf279b4bcf4f77c722c8d795992f3ef510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.506 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]: [-0.0776, 0.9588, 0.8024, -0.5259, -0.1257, -0.0738, 0.9966, -0.02, 0.8139, 0.6067, -0.3851, -0.012, -0.0231, 0.9991]\nstate[eef_state]: left_x=0.3113 left_y=0.0016 left_z=0.1947 left_yaw=0.054 left_pitch=-0.1122 left_roll=0.0335 left_gripper=0.9966 right_x=0.2957 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0047 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.2359, 6.8581, 1.619, 0.0904, 0.1392, 0.1245, -0.0752, -1.7299, 7.0085, 1.7705, -0.0611, -0.0611, -0.0122]",
      "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]: [-0.0792, 0.9688, 0.8024, -0.5571, -0.1192, -0.0792, 0.9967, 1.1011, 2.0014, 1.2148, -0.2924, 0.7914, 0.7967, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0003 left_z=0.1858 left_yaw=0.0506 left_pitch=-0.1535 left_roll=0.0306 left_gripper=0.9967 right_x=0.3068 right_y=0.3348 right_z=0.0497 right_yaw=0.0286 right_pitch=-0.1089 right_roll=-0.0896 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -2.4821, 7.0632, 1.6142, -0.0562, -0.0464, -0.0122, -0.8684, -10.7009, 7.9248, 1.0525, 0.4176, 0.0464, -0.0122]",
      "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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1515, 2.154, 1.4696, -0.4232, 0.7887, 0.8433, 0.9991]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.3066 right_y=0.3889 right_z=0.05 right_yaw=0.0525 right_pitch=-0.1223 right_roll=-0.0775 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -2.3453, 6.9675, 1.58, -0.0855, -0.0269, -0.0122, 0.4718, -11.0701, 7.7333, 0.6374, 0.5592, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dbb9000338787e8c2956e7c58bb1670b1e8755e14d1d00fccf8fb30b445e38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0aa57c0dac8a25af67abe6cb4123d1094e03d34bb9a52d2efef44a6063fda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79b484c4525c1dce3b63786783421bf279b4bcf4f77c722c8d795992f3ef510",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAFhznsoDfDh8rN3WHh-Sdye51DNRHG6yGJ0IvBmtMLT7f6Jn0U8Vg2jwu8fbJd-m5JKmTS5phIqw4yL7VVsY4y5_b4CRP3zmbdCqI0vesnK6rVP9Td9RHYmOXRS15EW0P2qFApbVFz3fT9U-i4zHgX9cMkmM9cM3qEJP96AhrPkIv0-oXpPkEAEZnY96r-VQHdQSW0TUZFoZrPOluaXRrqkWZXiE3E8JckqznhrxsiNHifRIbCNY36QivCRKh-yM3OfU3Z3DYrzCrGeFcc0NVduhou8XzXnqlgIKVzSPB9ah4vLzkr7bGthQm_W_zbYqN4oCH1R8PC6Rucy-k8k4w-7-tZw5wWNJ8lqhu7Tu8pRCjmblHAtJMm_vocbe4loe1USZq8WMqmHW8G0ymV-pCr73mcy7o59vqpb7AwMyM4UOGtlRP9XXuJ3bo5WOTWeY7UBu-h4gTCJ2Z7Bsatc3CKe9tLWTYubWlkIPrtl78FaO2BVw1ei5L0ysH7jIAwZZSvAdqgmh6OJG8SqY-3NPj0SNR8dxPGYuqz48rTy7FlZ8KR1zSSDQq7T9yCj2PizBPC0EUvFPP3cvFRblLn0xFuJcv70vOyUZ8d9ziCDGPuCTl-Kiw4-ofJjJTePAmxFlBC7Uh_0SMnythaiHhIUC4XmlptWJNJXRTdePpi_mYW7owT8NTU0OugTWH0ef4qysHhnUpMWJ-pitD0rWWz_4XN-7pxz7mBCzPgxb4SSmJuav0mKhHc_uuc7RZZftgZCy1cceUV4jaRNkY3rbKceCMbSlRymONQe7Nw_lvq35YbnWqaqBKdDZHiVaGwDlPIVhK5HKSmd8fo2DzFQO0hHm0iDxNVMAwfCMQeV-xCojlT8SHBhr8DSJbod2LCafmEQ3QUcaL0sTdWREQQf00XgBWcCLsX7ZorjZnXoIoQlHXaa7IPeWVe1f9pf0oO8gISUT2DEnl_sLzc857sOJv-Pd_IOOcteQD6q-yY_WKcBru_585vc1ioX1QHjv6iw-4-dVLdECHSaFsSy8E9Ug0uSipJakyR7o1q6RnTTMSJibkAmQWXlRdtT9P91FyyO98gWgeKYtEc26AflyYBsuNvk425BQhN-VHgwlW6kYDnkTMMqnysvDq4_rX756_ZrCGzyhusR09sJnf1z3XQcrVMKt5LHqkEUHjpOPuth1RjUDBLi2zNKiD-hy6m_A2JyzuOhGVitHFY8bDrtwSfJMLj4Heb7WKVizRKF7QPGxo4V9FteuRk30p_bFzjZi7a0LeeuNjmXqARVvtrc598BCwpGGp-utmfGq3sVUBmwFmgZgrKj5t5dQzr5lVDdNnNDJoF-1QbiZ7nlzyxO3_BAFpPn2yVtlNfmbp2lEC1oy1ANOmEJYHS-vt4sDnoPtTbvHW-7MmcyOsXVFFBcsEOjical7cZUPZK5sPZfpkWH5b2lSSgAibK2ycwPDNJkZOsu67uzihBRZ4GvR9TlSyyI0Y2qfN0oB9ftuV9qZMphRfNsnV63iDi72w1HaNIhWXW6g3whtSC0NQWyJ_qSgcAaS8X3rrQMW7ei1vQJnHx-BWR_tgTbAMnlk1P-4vv-ChJ62fYVj043j6n7_W91_1Ex6Njw5DlaUnVRtVQKubOIPK0Dr2yETm4y3FfC868eDq7LH7uDCT70zifnntC5yZYfgRm79j_QFKrK4gh4UVNqwc_TpbUG8j0d1IS93aevPdB-JUI9nskyyqCCK4-JiLvOpfoSpRjFli-q4mz2_ohNl85XI7j3CtvSCv3e674mpjSG1hb-X1RPFs75Gmg_jMBDL4AaBCdS4UqS5xx6KOiSBMW7lCS4ilArW_EphGcpd84m6F_djgfpZIkO0YI34O9t8F9avmDQIUoIaN4msAmgwL-QQVj5bz4b78xJeC1VeRYyXJFvWM5_nFZauiefBIU7S9SnrEQu5n4oAe1lIu-GSS10wQn3laVrIKcksQEgx23sC5eXH7gIPCS-tWZdShQrWx6QFzdYF2tx24kG-aUkuZdyUPldg2X_-eposDAwcqV3fmUiTCZiKIHyApoNQKytd9Ht3MQ9fw8wOlJbYPNlU_eIDCzjx2D5bnl--67n1_ZkdEL0o1aHOYiQsu4vXV3a89iWHb1vpr3ZrQdZJ_ZWgHlulM3yRlGmKswdDxHbAxmWlPSnE6YxRufajBC2SO_9i6rZM1IOmHXnE-c-49g2YU6QVnaF_proID1LmiGgxzHaEHeS_ub",
  "id": "rs_05f62207e9a2b651016ab45002860c87d09dbe72ac0b1d1dee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The bear’s soft torso now lies between the open jaws, though slightly left because this is near the right arm’s lateral limit. The closing path crosses the torso, so I’m closing slowly via the standard full-close command to secure the plush.\"}",
  "call_id": "call_jNi6KSFMX0Fi7NDPIPpBBVGy",
  "id": "fc_05f62207e9a2b651016ab4500471b087d0aea1042f0878a259",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jNi6KSFMX0Fi7NDPIPpBBVGy",
  "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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1519, 2.1632, 1.4723, -0.4255, 0.7738, 0.8387, 0.0098]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.305 right_y=0.3903 right_z=0.0448 right_yaw=0.0617 right_pitch=-0.1383 right_roll=-0.0827 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -2.359, 6.8718, 1.5702, -0.0562, -0.0024, -0.0073, -0.1983, -12.5197, 5.8735, 1.0427, 0.5104, 0.0611, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b342312c09f0a46cf88be9fc48cbb2c365f286687f5e50702020ec223feeb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455c0d4cfef628b00226ac49428e010111b0efd5c4f7054c79e5258b05122e57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52e1b8bd5f7369473987360260a65380e675217e0f7ad67b872fc179fa3c452",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.68 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]: [-0.0792, 0.9642, 0.8024, -0.5526, -0.1196, -0.0784, 0.9967, 1.1286, 1.6585, 1.1641, -0.5343, 0.8211, 0.8364, 0.9991]\nstate[eef_state]: left_x=0.3075 left_y=0.0003 left_z=0.188 left_yaw=0.0503 left_pitch=-0.1444 left_roll=0.0303 left_gripper=0.9967 right_x=0.2786 right_y=0.2946 right_z=0.1485 right_yaw=0.0229 right_pitch=-0.0614 right_roll=-0.0251 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 7.1043, 1.8632, -0.1294, 0.0415, 0.0024, 0.5675, -7.9795, 8.4855, 0.8571, 0.696, 0.1294, -0.1001]",
      "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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1515, 2.154, 1.4696, -0.4232, 0.7887, 0.8433, 0.9991]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.3066 right_y=0.3889 right_z=0.05 right_yaw=0.0525 right_pitch=-0.1223 right_roll=-0.0775 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -2.3453, 6.9675, 1.58, -0.0855, -0.0269, -0.0122, 0.4718, -11.0701, 7.7333, 0.6374, 0.5592, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1519, 2.1632, 1.4723, -0.4255, 0.7738, 0.8387, 0.0098]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.305 right_y=0.3903 right_z=0.0448 right_yaw=0.0617 right_pitch=-0.1383 right_roll=-0.0827 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -2.359, 6.8718, 1.5702, -0.0562, -0.0024, -0.0073, -0.1983, -12.5197, 5.8735, 1.0427, 0.5104, 0.0611, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b342312c09f0a46cf88be9fc48cbb2c365f286687f5e50702020ec223feeb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455c0d4cfef628b00226ac49428e010111b0efd5c4f7054c79e5258b05122e57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52e1b8bd5f7369473987360260a65380e675217e0f7ad67b872fc179fa3c452",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFANBLL7vxIA4PZTq8odUg1fdCecMrN1b67w0sajiZG0HQDf16JDl4LS4o29ODczyfGFWyU-mCOLO6mB86MFLMFtOVcmFpvK8gTsYRalTuMpv1f16ppD0MYJ7-0nsOuOp-vIPA1av8Ef9EqG2qMUxWQbft37X3j0_0KROnGfBUBULYeXjxupKIv-hmrgkZALYhw1LhDaOciXwqGTihgaAROiWsiiVUMSwZqV4RBJaAW_hYAX4aHayBOcFExZOa0bMvB3mM3IfX6zMRP20iRvscCHsGgjLNSeDfR72Jxlc8rTgw_0ZpEnGrEJBQhS2ugvZ94x6V_Nf2Xjn0S7_j-mNlWi4NQS98Z4x9vSLlBCacDtWk1kRJodwaTV49WvxQF4qCK0OvW9tL0-2yLDknuC5nohKhqKLt3Dc-DXyFv5ZnwIfmgZ5oAEHHnMBaj4a5VmsAqTHWnBb8QHKmIfFEg1inL6t2Y9ZEwWBx2d7WHea62VhJwkuiC7aN6x8Ln9Khzzcg2pSL2BMNzMyB4WEYPPUqrGKwNtFOB0UwpQ8MDeZLu0M12b_5bpNyDl5kMneShKzuPcZ84hXJPHJsKSPpOBspdHDyllEkjYhSHoL50KSqr3zbSTXBTmhZ13slg2-hr8e063BHZBmEoMJBQjm6OBOx9Sj55n3DApxCfNLoLkGSuhUoqig6-hxCWehItWjCpFBTW62DHzmbu0uNq-Dd9scj5q-GJpzuIe8ahNB08hZNcHYwSpWp-GSVkn-m3tcYQN_VEB5rkt8uKM9EYLusppvX7EpBLNv5PeQl8yBtXMU50rJMgbQWwQ02xPOj0lTAE6AFiYi4nxZm2IA40_RgavogwqwYc4RJ6cBDY50R4k7L86gtk6x7LTFpQwlAb8A4O-HcjH2EdxsXoUwOT6UivfJNNTk5t4e3w93QLS3_CZgNA3429rMxDdd6Tw7rEMSyP3owTo8F60e6RHzHbMLrQQi6hTxzJfe1w0lxKlVmvzRs7oK7DTmXkAiEETZzs6VI3EDQ1lGfNLJzVDs_R1fbegjQK6os5KSWc-qBp6N3MxbjuWcASu4Nc4jN4jp_8GQ5Zlc5evM1tQ8QduRsDDJmrnmbKMuOrFjwqK_Xviltrj5bLIgsxxjOg9u6xIBXlma1yhm3COCPqUFkVmZIqjbjADaWfn4N3TM2Tk2aMR4XCDkhKTZIMbLo0L-Zx2tt97Q_yOHDjGPNIZE6Avl2IljaY2z6mIPoPNrTbSDM5_5SfaV7_Z9WucWq92aA3ti-CP75-DquRnze95_nPi0yctkdcDGfw9fxeynatrjaRuaMwOtS7kdfEICiXpYnaE7ukpeKl8sJe3DYJtADEQlk7WoHUHfEWcK5mwwnzP-ySWyuWgvD_BcmkWGuSb7Veqy0YsAAQKplkj-fqbT1JJY_4EZBSO-gKgQ-Snrz3DlsyHF-7Ds2iofN7KhB8ULudjihjXaVgMPnk-BfEskOQA7DhpzjINHloKZc3c6SUOuNO1fimAOkUIbEOv_dGAbUm5Oz0c-PD-0jgU1T1LEXCLC9joTuJhbjTLuz-M5CBzaymsD4tMYN2r-Jntnhq16j8B-homahHeIC2ttyAVTUgcr4EWQ5RocIYep9Pzz8-oBHbVH5uoXffPzoxlvJZYsMkqI4w3vi2Jyup7qCLv5nitVIekyuKZgh52CHzdRPBebVG7seDUpNU_T47ZWglbblLB5N4Ad0Eh4wOLYKBB8bB-pYdZoytr_MDzaezXbx4O8s_9F8u5oquhATNwjDTeXsq27gFKDK8pGxxg3_WduuMeM9ymOeT6SuNYXjDM0TbmlxyxSBGDIEj_p5AZO-y5m0X98f0qKfXOBuISjh75yHytg4mKDzhFmEGER2NefRxU28j2ds-JFyipdrTr9RbsFP9LjPI8lZpY7kwWw3pXYApBH4DdcEeLsHAMGwu3F0ZpzmRZRboAuF3JgaWle9aYxkT-hxzN34DCwoMQeDcvlcG1XChIs8LI_GkbW7SQ-YgOvr86zpVufMgV-BWJOXanVh-TF3RjQxGNLxIqx75tSyMcr_OLI8DXykBpdefwmeNsrjnR-U44JHcJIuy-UetW8ywb6Iv66x5pXvPTmnH3KTqZYWJD7z6dpiFdyXUHUlUECTM0GYwE-ordnFRi-1tdlKYtPrSas0nF1Nnqmh6XXj12883J7msZ5Ty2ufu3nMEIAckn1NB65BEPZvtPG7daIYq9sDtN8Ks8vNHMoZw_eme-QFWf9zQQPYrwlJy3dc197fqwXGmp1bFdEIfGBeyNZPO1iExlikU_rT4oxeicThHFLw5QlWMrw1oUUebdLzlnomF1Atcdcp51gZjr38Nru67CTYXby9hwYE5COfIQaKUl356-4RR1mBTRyfyH3SWbbAGN5Us8sIsODXyNmPPS7u5DeqU1UzADNFosfnyd_qZKj7xiojTUBz_I2v7CEagc8ulowejm5eSOuHdIZiPbSeMg9JCd84Dmdvcs3ZCm0mpn3biIC0wF873i-HVqbtiSAJyaOE_8tYu_61zongik6dl-ajOxmqNxgYl3F3n-ewzXJCoVk6yM4MNxNjuOQyquXwtAsJBpbTnB2qEMO-xPPPaxWmNJmQFaghRtkGtfeyoVe-lmrxw6gVYt15IcpijAQHffR-9U1qpg66fMm6XHShqjez1nOkrthwo34sS780Thsf8sRmE6u_epMxbMun2RXJt8hcEeKqJNFXxEPT4AVjaJVA1-5LH5aZf9JYdu3LMU7QxMo__5PxcgPwWYooYWxQJwNvjxFSle-H36k2_DBqLQFsjyhFWBpgTdLbu7eQIvkP-8CeBYpxnjDZAhd8qTxFruChGSHf_Ycj8KzczMxOnvtGSdvu8WhOawMJWre7Euofvl55dY6D6FJ5v10HDhfK6qSsGH5lL9A8wWtIfLxUYiDJODPOGNtRDkhkFGPXpdzYvTZZwHoOlSZI3LDleXVItpnTbl08IeZ3wjgG3t52K7YtQsEVg8ivKo0bN1oXWhycVC2JMSO-55zED13rAntYqVp83GjW3H6VJYVyvdArsy817iZHau7dauIb2eg1ChgFw1uzqpXA5EDKibzcR2CrZX-lT6h1qloY6c9iLzRd7J-xw7nMM0ithzrxW7bD4oG4cSqE3V3FoBN9njBNCIq2elsLg6_Eu6El_Ji7_IhN8oJ1lDxYm46Mlns8nERTHEZvYprm7nguSU1Q==",
  "id": "rs_05f62207e9a2b651016ab450078c3487d0ab6523b77531bfec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.39,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The right gripper closed empty, so that bear was outside the jaws at the arm’s lateral boundary. I’m opening and moving slightly farther forward over the more rightward tan bear, which is better matched to the right arm’s workspace.\"}",
  "call_id": "call_Y1eCvzlQQgcHUDcaNeD58Iyx",
  "id": "fc_05f62207e9a2b651016ab4500c062c87d08d3dda0981bee818",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y1eCvzlQQgcHUDcaNeD58Iyx",
  "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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0668, 2.162, 1.6836, -0.614, 0.7208, 0.7303, 0.9948]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3431 right_y=0.3882 right_z=0.0918 right_yaw=0.0656 right_pitch=-0.1732 right_roll=-0.1203 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.2906, 6.8855, 1.6581, -0.0904, -0.0757, -0.0122, -0.6222, -14.5983, 9.0462, 1.0965, 0.3736, 0.0366, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c47d42cb3a6ed4df8fba2ea447250c536c1ede53be7860609041dd94da305e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67566ffc14e0b1734df25d33850731420f9b3ecc3379dbfe4a0a729cad953a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d159bb8455cc6698f164a5967ae8ddf8447c789e8643be2ef6db0fff6181047e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.71 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]: [-0.0792, 0.9688, 0.8024, -0.5571, -0.1192, -0.0792, 0.9967, 1.1011, 2.0014, 1.2148, -0.2924, 0.7914, 0.7967, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0003 left_z=0.1858 left_yaw=0.0506 left_pitch=-0.1535 left_roll=0.0306 left_gripper=0.9967 right_x=0.3068 right_y=0.3348 right_z=0.0497 right_yaw=0.0286 right_pitch=-0.1089 right_roll=-0.0896 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -2.4821, 7.0632, 1.6142, -0.0562, -0.0464, -0.0122, -0.8684, -10.7009, 7.9248, 1.0525, 0.4176, 0.0464, -0.0122]",
      "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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1519, 2.1632, 1.4723, -0.4255, 0.7738, 0.8387, 0.0098]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.305 right_y=0.3903 right_z=0.0448 right_yaw=0.0617 right_pitch=-0.1383 right_roll=-0.0827 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -2.359, 6.8718, 1.5702, -0.0562, -0.0024, -0.0073, -0.1983, -12.5197, 5.8735, 1.0427, 0.5104, 0.0611, 0.8034]",
      "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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0668, 2.162, 1.6836, -0.614, 0.7208, 0.7303, 0.9948]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3431 right_y=0.3882 right_z=0.0918 right_yaw=0.0656 right_pitch=-0.1732 right_roll=-0.1203 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.2906, 6.8855, 1.6581, -0.0904, -0.0757, -0.0122, -0.6222, -14.5983, 9.0462, 1.0965, 0.3736, 0.0366, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c47d42cb3a6ed4df8fba2ea447250c536c1ede53be7860609041dd94da305e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67566ffc14e0b1734df25d33850731420f9b3ecc3379dbfe4a0a729cad953a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d159bb8455cc6698f164a5967ae8ddf8447c789e8643be2ef6db0fff6181047e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAR35NEXRN3bYpdjPuFFcOIrv2J-MNTMTw9bTsh4yL-Cx1LOh8aN6rs7AEPw_VrSrUfQm9oRiJVP-Q-7qa7HNGwg3Y6MOksGBidHrWiBBjg7-8MemZ2tbblrEaQQk2aV87FSmIBKRmH0bkdRu1KuAvLvAgeRQDeUSIgWvfE2BljN4NvICVLw5lA0dP220X9wmcjniYgodrINkDI_Ns__5yC2BKq6h_dSIhB6Npff-RVgcZxa4iRe1brbMGYT-ymtDmHp7hEqVGEmt45MhJOOMzvRERU7gHJXNRtHItuxVhnVCK6s9MXO3F2u0KDbZGGHQOuPG6BdaKbpwD0Q194R2id05asseUwJjL5SK4lf-n0YO9HiERm24q5J2NIjc4P16hGbmVG9P00ZHH0wioAxdbZranuY6lDn1uaKMdj6Dwx4OKPapxLRRuL5L2kDQYy57qKy-_372woG4mi2hewiL0EAe0nsEjAYS1lO-yKD-prI8dFkHePFp4ZiHXQ4pbpu3JHQ4M87sSkEJ1jtStab7IbsRDVpLYXgys0ElHoS_loS5fLNzwsdOvyHe5KeVDQKV9IeFNILNIub7yv7zfv6XmIqTWnICm4TDCR5LMVQPMRAYDxwLDaSdtJ776t2IbTq156nKbRi4qgTn9Z-28BX0QsIjeSFPBg98hmAtvIqgh-mxmHPpKkEY9E3qG2h6MATlYWg7l2ofUbf6Dc4Umku9-7kpPeKzT_jW7-SxqbHlCfQewcdhDNEJcd4gkT-3TqK_9NLhBLnM50ziGz5fHgwpkmjf9IxAaZGSGf7Z9ZitWzVbIVN4m2OAU5ca-pS6_WLB_I8izTjuODMzKHD23tdqk-U0r45z262xnOyvVhT5OJyxHvYfgDTKUtEqShpsA3jhboOzzw6cm9TdLC0STIZ15xKn90Q-7PaF7syNQrCaplEoxWg_S3ckRbpMdTu8TLy_Z9hfvdxcsmbH4G72Q2ucrfwsAWKmAKP-CfDmXjB3rIUznezWXK18oOFsPxDVhIYIXYEUn26wtrrNKdCuv4HT6cIClFOJfcIquJ8IdpZpAycCKGDMY1O2TDM0c4rWIwqo1lK_gKK3IKqDBKz9dDztRm82JG1PmqmQWO17d0s5dz-FuURA50KetKCzApIAu7ukevSO97p_N8-AQAtewonNczPLo0T0Oh6TWW4U18-DMpZ7MI-BaCnnw8kJAc4h4TZJsgbuhn7pmJAiGi7ME2gxvN0OOR5-Cxj187sANLsRoF-GfNoYWXv9_y8w3DBeXPhDy9r1wcojZ69Na-QrM1ksPRzk4r789J3jTbqjEPsGCoLCy5izxmuYknv4r-GCPLjox6Q6Z5yzwlPB6cYVHIGw8PYyla-07s1TPiuIn_D4keToo6aVFxWt_r9dvsrNK6e28ybjHPCiG1BmVhIOfG4QaiqJ2gD6CXaUtiaQ74gZco0f_bA0g44ibOjg0JCgB-i2ULFAbfCCunGwl0dlrU80yIf-CDCBvfXkI-EYucrsjoEuIeo78MVuaa8hb7_XvSU2SyHD32bWpXu7n8yjZljPIKCpUI224rO86jZGfQSFEAn2Nib3QdbQ7cq69vDpNhNpfqZVJhOZhQPYigcfkEHiI_nmfKyo5Ccmp5q1QKkhKga98hPEp4e1dlbM4d83YItL0jwYaVzsJOBLO6ju4n3A-AQOScqNsNevGCrTFwjwDsygJqT0qKfgKD-c08KaLwxAiULyDT8gxlXvIzRvqJNPS3ZgXCGfFly7DrGePA_1mCIks=",
  "id": "rs_05f62207e9a2b651016ab4500f5ef487d09e14b2c91d340364",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.39,\"right_z\":0.035},\"note\":\"The right wrist now shows the tan bear’s torso and limbs filling the jaw path, with the basket walls on either side; this is the intended rightmost bear. I’m descending a few centimetres while maintaining alignment so the jaws close around its body rather than beside it.\"}",
  "call_id": "call_LAfxh5wxRfxIfnVj3NcfZywg",
  "id": "fc_05f62207e9a2b651016ab4501061bc87d092d16889dfcb62ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LAfxh5wxRfxIfnVj3NcfZywg",
  "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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0792, 0.9967, 1.0538, 2.2364, 1.6161, -0.4763, 0.7162, 0.7136, 0.9957]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0499 left_pitch=-0.1584 left_roll=0.0313 left_gripper=0.9967 right_x=0.3498 right_y=0.3879 right_z=0.0453 right_yaw=0.0635 right_pitch=-0.1801 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -2.359, 7.0496, 1.6288, -0.105, -0.0708, -0.0122, -0.7043, -11.4667, 5.8598, 1.1502, 0.3834, -0.1441, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b27374c692fbf8599662939b2f2a0a4f81414d8ebf31801db8a11f9fb42e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6bc2940434306c34707558cff81a2c3d380b1933aeaa06e502bc6e98c5cec3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1238be58bdd2664479018fd90a3d48e25e18970ae5b0a818bf53ba24fa59fce9",
      "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 · 3.152 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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1515, 2.154, 1.4696, -0.4232, 0.7887, 0.8433, 0.9991]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.3066 right_y=0.3889 right_z=0.05 right_yaw=0.0525 right_pitch=-0.1223 right_roll=-0.0775 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -2.3453, 6.9675, 1.58, -0.0855, -0.0269, -0.0122, 0.4718, -11.0701, 7.7333, 0.6374, 0.5592, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0668, 2.162, 1.6836, -0.614, 0.7208, 0.7303, 0.9948]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3431 right_y=0.3882 right_z=0.0918 right_yaw=0.0656 right_pitch=-0.1732 right_roll=-0.1203 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.2906, 6.8855, 1.6581, -0.0904, -0.0757, -0.0122, -0.6222, -14.5983, 9.0462, 1.0965, 0.3736, 0.0366, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0792, 0.9967, 1.0538, 2.2364, 1.6161, -0.4763, 0.7162, 0.7136, 0.9957]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0499 left_pitch=-0.1584 left_roll=0.0313 left_gripper=0.9967 right_x=0.3498 right_y=0.3879 right_z=0.0453 right_yaw=0.0635 right_pitch=-0.1801 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -2.359, 7.0496, 1.6288, -0.105, -0.0708, -0.0122, -0.7043, -11.4667, 5.8598, 1.1502, 0.3834, -0.1441, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b27374c692fbf8599662939b2f2a0a4f81414d8ebf31801db8a11f9fb42e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6bc2940434306c34707558cff81a2c3d380b1933aeaa06e502bc6e98c5cec3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1238be58bdd2664479018fd90a3d48e25e18970ae5b0a818bf53ba24fa59fce9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_05f62207e9a2b651016ab4501383a887d0b26b6731336a299b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose, the bear’s plush torso and a leg lie directly across the jaw-closing axis. I’m closing now to capture the body securely.\"}",
  "call_id": "call_CiCwgUFVi9edJRD0fs2lBnZM",
  "id": "fc_05f62207e9a2b651016ab45013c79487d085ae8784d3673dfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CiCwgUFVi9edJRD0fs2lBnZM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0523, 2.2559, 1.6062, -0.4553, 0.7055, 0.7136, 0.0133]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3493 right_y=0.3882 right_z=0.0334 right_yaw=0.0665 right_pitch=-0.1926 right_roll=-0.1361 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -2.2085, 6.9402, 1.6044, -0.1245, -0.0562, -0.0122, 0.0205, -13.9966, 6.8308, 0.8571, 0.442, 0.0122, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e645ccc652db788affba6abf4bd0d722e378f15df2d6987f80c854043ab99dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bb037d97ed2911bb49122a09bd3e329e90474742a5282c23e139389e5f0927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d7d244c0010f0b89ab0c7ba6d9ebb4741de661c2cccdfd8b382b9b91ad722f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.646 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]: [-0.0799, 0.9688, 0.8021, -0.5606, -0.1188, -0.0792, 0.9967, 1.1519, 2.1632, 1.4723, -0.4255, 0.7738, 0.8387, 0.0098]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.185 left_yaw=0.0496 left_pitch=-0.1573 left_roll=0.0309 left_gripper=0.9967 right_x=0.305 right_y=0.3903 right_z=0.0448 right_yaw=0.0617 right_pitch=-0.1383 right_roll=-0.0827 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -2.359, 6.8718, 1.5702, -0.0562, -0.0024, -0.0073, -0.1983, -12.5197, 5.8735, 1.0427, 0.5104, 0.0611, 0.8034]",
      "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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0792, 0.9967, 1.0538, 2.2364, 1.6161, -0.4763, 0.7162, 0.7136, 0.9957]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0499 left_pitch=-0.1584 left_roll=0.0313 left_gripper=0.9967 right_x=0.3498 right_y=0.3879 right_z=0.0453 right_yaw=0.0635 right_pitch=-0.1801 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -2.359, 7.0496, 1.6288, -0.105, -0.0708, -0.0122, -0.7043, -11.4667, 5.8598, 1.1502, 0.3834, -0.1441, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0523, 2.2559, 1.6062, -0.4553, 0.7055, 0.7136, 0.0133]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3493 right_y=0.3882 right_z=0.0334 right_yaw=0.0665 right_pitch=-0.1926 right_roll=-0.1361 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -2.2085, 6.9402, 1.6044, -0.1245, -0.0562, -0.0122, 0.0205, -13.9966, 6.8308, 0.8571, 0.442, 0.0122, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e645ccc652db788affba6abf4bd0d722e378f15df2d6987f80c854043ab99dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bb037d97ed2911bb49122a09bd3e329e90474742a5282c23e139389e5f0927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d7d244c0010f0b89ab0c7ba6d9ebb4741de661c2cccdfd8b382b9b91ad722f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAYk1B7Oqi15Ds88KB_2xaR7eggccmMmW7jGWf-7vnExKWHirgDUEFHswOsOk4meDNl4i_xQw7hOlI1im2JpHJiWQQkxtoG1cF3FTiGyWYNvt1Pa-RwMhHoE97QHGRBGGeqRFEyy9UZyXIEROwWHCUcmI6hey5PYVzkzC073PrLAlq9Avs6W1JT4xKHb3KF0a65W9MJPt-5XiUil9LqoCB7d4d202X7rvkoEqkjvpW7NzbqKfV6aYaa5rQwCfci21J2h_ea0qC0D6lmse3RAZRzTc0Mr4E_7I7HSwnnn1HvtbaHC2aFOS5ZNGZTlSz4LHCMSh2IyBFQ_spqdMxfbKMUfhqcH3nsMaZAi7MK0EDNrN4sRwpLMICtoI3xDmZ10OqwKEQbVPr-kPgPvL5im76iRDvk6J43-HbAT5pWons2kx0MMYDxyp15hAtD9YNg7btO-5BmZ_tNIWSH6kAwAEk8S_jtdKFmyg7IyNIhtEWyhvt3XMa5uQqBkEleMUV_WIuS3t5IfN2pzyg7nlqRTuGt3LNp-rtXJzF5gehrsuM3OYSAOPGN0GMt7ckHRSRDCyguKIru8tI1cnThqsR_R-aEzCW5FpeSIRMrINK5m_mnOhA4J9YBdc3mCvUg_6LYJgDiOGAnBXj2z_gfHFBnlbv7hIRiNB-Ot6i7GhcSyxYYXClBDOirIln_vjrLHpuVoD1_77Nw7YToO722WFylJxmN2DU9UW1qWyA43KfesuMA-yuQ880qFlPpHBhQjlTNDstwSGr4N-FQdotN3xRX7c87EaISm_wFXGC47o60oCipRt8Rx4wLDRjvIkJka-WNziQ4RPpxy8n4nBEyN4lhV1PabzcBU3ugGIE5nldCw2719jZV1zFZURYHaQjZxkOEOSCAyZILhvMatGzWv9aD7EFN7reKtn-Qu5n_MRGOO2lkcZ-6KUh_1p9biObelqp6CVyYcgh4VkGZyipvfCd4QU5DVSgNqK8BkZOmFO65qwW-xcCsVsQzQs0FI6g7jWzKzfg5VnyCFJDHfzLVqEaJ6TDbKZAuyC6nPtv-kfVdMByYfW7SA8ojfIS_rePMoMSL_mZwXy39UweUvL66-pX7VdSM8ZI2ZJbS2KZYSj-UNUfOuJAWnC5wytiWmUsa9c2ctnSHqfNOElH3q3YwQAN0zgcxKMzWg_lzbnwfys7QQOohJvT0hDc68jzocLFo27PsXb3Fi34033cJawk-NzVQyejfJMYlFQ9MXfQgMAiynW9bgadR7yfdeN4tv8P8qrQOUXmeJ8t58d2W8aH394btlTc5HkeP-5D-vhjhgjwN9warDzMWe0fcxDx5Mj6Dtj33du3I4C4f6fpM2-a7qG0VVWx94kMiJWj-fOtjxnEoatqOdeizEzN41lPBzpYl7TLCn7LNICTx12dpsSo73gpWxKSzQ3cSOX_Fugkpcvh1g_rGuPk6h6grmYgMJ9zO452rxYfFSe50xvPY2R039vpbS1h4Tfbpzz3_MJlTjhh8q8VYC2FN9XR1wd3fgTNa79eheKf2obVFwrt7QtDfHzCb8cgXM7je7-L1bHI-Nsf8AqBf371-3Ny9X-6NffL-mun4IpRkftWwmdQhIRt4PfKZzMjaaScjuVAly870fi5EmAR-pex47Zwy9koju2cx-39kgladsevBu18w4zXxm-cTz7Rj6619xJWdAIO8QCVkeCcUiUUqVEZH3rGJCOZ-zlKnap0IZUEq1iSzSltUChVNJiHPCn0ugFEj6dQgMJ6fVYZmr7yWGPtLFAkaYhFPGQV-d4FaZn29xzTTuIzJnyy5bSpZ-7kAWmpTXNuMX1gYLNiBXvY=",
  "id": "rs_05f62207e9a2b651016ab45016a9ec87d087aecbc11594ba82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The jaws again reached the empty reading despite being under the bear, indicating they were too low and slid beneath the plush rather than pinching it. I’m opening and raising to mid-torso height while keeping the same horizontal alignment.\"}",
  "call_id": "call_Qv9OTGNtasUiLWH7CabtRKfR",
  "id": "fc_05f62207e9a2b651016ab45017d09c87d0812a062a12d818a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qv9OTGNtasUiLWH7CabtRKfR",
  "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]: [-0.0799, 0.9749, 0.8021, -0.5632, -0.1192, -0.0795, 0.9967, 1.0523, 2.2421, 1.6711, -0.5797, 0.6949, 0.7078, 0.9948]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.166 left_roll=0.032 left_gripper=0.9967 right_x=0.3462 right_y=0.3858 right_z=0.049 right_yaw=0.0671 right_pitch=-0.2265 right_roll=-0.1738 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -2.5641, 6.8855, 1.6679, -0.0562, -0.0317, -0.0122, -0.212, -16.1983, 8.6769, 0.8181, 0.3883, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca3a715451fa53d3cbf2c5773aa534219b9cce896252c256a48162a58b9e790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd0469b851e5f1b3adbf86960080a4f800abc69d4f705c2b89078ac2d20e857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881e007d75a8f358ba7ee4c8dde5f725d0b24a7d645c2928c1694c4bf0f33c23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.749 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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0668, 2.162, 1.6836, -0.614, 0.7208, 0.7303, 0.9948]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3431 right_y=0.3882 right_z=0.0918 right_yaw=0.0656 right_pitch=-0.1732 right_roll=-0.1203 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.2906, 6.8855, 1.6581, -0.0904, -0.0757, -0.0122, -0.6222, -14.5983, 9.0462, 1.0965, 0.3736, 0.0366, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0523, 2.2559, 1.6062, -0.4553, 0.7055, 0.7136, 0.0133]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3493 right_y=0.3882 right_z=0.0334 right_yaw=0.0665 right_pitch=-0.1926 right_roll=-0.1361 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -2.2085, 6.9402, 1.6044, -0.1245, -0.0562, -0.0122, 0.0205, -13.9966, 6.8308, 0.8571, 0.442, 0.0122, 1.0965]",
      "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]: [-0.0799, 0.9749, 0.8021, -0.5632, -0.1192, -0.0795, 0.9967, 1.0523, 2.2421, 1.6711, -0.5797, 0.6949, 0.7078, 0.9948]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.166 left_roll=0.032 left_gripper=0.9967 right_x=0.3462 right_y=0.3858 right_z=0.049 right_yaw=0.0671 right_pitch=-0.2265 right_roll=-0.1738 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -2.5641, 6.8855, 1.6679, -0.0562, -0.0317, -0.0122, -0.212, -16.1983, 8.6769, 0.8181, 0.3883, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca3a715451fa53d3cbf2c5773aa534219b9cce896252c256a48162a58b9e790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd0469b851e5f1b3adbf86960080a4f800abc69d4f705c2b89078ac2d20e857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881e007d75a8f358ba7ee4c8dde5f725d0b24a7d645c2928c1694c4bf0f33c23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAeA5DBCVSEPIJj_NdG-VqRHwFxZejmqOjKarUNaG1Q7WlU3kuOcPvyiJatnMHL_mMu80KHbOkQ4_1DeKwxqcaHEek7MZbfkbqXwd2FUXEG0FY_e3rGz4GVe7nM3rVsAf2jALhlwwyPxuN6XGwtCxC3Fe-ORbKn7r9i2_d4qXau7PMhU6thc-qrRxway_1ldoJODCIST2k55YX1_K3VBx9Edu1DEJl9Vx_C4AlV9o-SXoUD_su4NECsKmjM5a-2MZSWsZ9fLOoqeqLivldLjxaU3N7R2EIEBzyjmV0Xwm01RtQ3U_GXVv8xQF7A6ESm4wAku_LdQpt37B4pSA7LJW3XUoXzcjSBfLtnWLTo2V9fwCRYmgb7OP-8yLhAuKxuVGaDXLnQkeD7DOeldfb43bJo9pV13ehYU3HNLVLlAUuXGmNojjvkTaOv-vaZipK9VomYWNMkFEYSsK7j8a5smxszzx4SNqkG_qZv0BM1PWIN4agGQa7YKBFYuOf5wcmSP4L32Jil-vWUx8ysmDFoNZiDL2T6ugKL1_bjlRveFsilm0aF4JGvPNJPfA2hT4so3uulrAqTTuXqSCFQ4M8f2Z8FmGeINIrUHFjG4Y2rDKNr1Jf1MyAjUnmaTnMA3tpXUXgd1Z1dFIvUsKDXF5zVkryyeICc5qcSWwGcJuY4Y_1IfbZ05IicakiiI8Zb1Ai2-eDhWAuL6NKGN8MFLk0SEtNlfnOmHbCCqcAP2zPeGV0K7lYn0_iZQ_uDyvfqwLcBQlWOjQ2V7RxqCtNVuTAa8-fefsknR7POqiyM8m-ZcMaMcILta8YXM6kWK_WFZf-CM143wSJjs27aqXfV9f_xRI3SofWu9T7IU_yIwj7DnQ401v9_ASjmR3WXP82F2ZO3tuzZmHaFTQsypDAMwm_QZ4mTksknQP_7Ajeu2D_vIfP3cq8cnOuru21QkMxGLEjrnNPDR8aArDeVKthg30Vn52LQ37xtvqjA1bBpDs7Y1LduZy-ztOZZdov35AGUONiTFk20XynnCb4osHq1QUTdCk_zLen1wuBxcFGl2nLS8kugxsFGLfRz4TylsICgSXRuKP5M9-k3pcBFG38RhGqDnwWLOldf2rEeTg2IDJtSIEYUduhCCDsDjaYn4TYxRhMAW8d0Vx_7SjXkt_yOdFcvpPmibpHcMJVphTPPbMznPE8dgT_4pD1mq3mklgu_IOjFPCaMX8TplGJfxexArJOZaYOlNjcLt_8Pf0iS-bUxx9PRXPanSsk_XT7BEXXhMtyssnUuoHBzEs_7vOF2dloj5fBaOf3VlglFy3Zk-HEkfQg94Mi2DcwegrYuyrYQKQh_GnSoQal38yAOLECLzbxGqKcCrncjTHMbaMgbpN-nVjh7QWD3En5ueDzY85zK5j67bJNfQR4em8cTlDDOPDHfLx2IK5m9JT2-Y4NCM0aDyrbNFx4VQBsg0uK3B2z-GFN8lJY-qzU6kjHWAB50SAQFBDFjAy13N6XRWdmphHnwo3C9bLkPd3HLP--yZhnF0S9MJL9k3u7O8sfyP_AvxT2n7Njhrs5ARE_3JtTfMI5ciQtz1qCT8V8u-Bi7Q1S9XTOCWZJH1se8Z0wkzzQtV_bkvEnjmc4oHg6mqHejgxLNXQJoLbCtOsc_jTdyM0udjm_BP4FE9Rg6SO0GHLRfnTHn7JsRM1q2TOtL5nYO-UFwTucvDIGXKYmZ_Mk0IZnztY2ykDbkr6SbU3HbNOo5PKH4bj8rOQ==",
  "id": "rs_05f62207e9a2b651016ab4501baccc87d0916d7909116c8f59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The attempted raise stopped around 5 cm with high shoulder load, likely because the wrist is wedged against the nearby basket rim and plush. I’m lifting straight up to clear that contact before re-approaching from a safer angle.\"}",
  "call_id": "call_HprcW2kJiXuLiHaNmTRW0aga",
  "id": "fc_05f62207e9a2b651016ab4501ce80087d086ae1cd632382cac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HprcW2kJiXuLiHaNmTRW0aga",
  "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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2364, 1.8145, -0.7685, 0.6792, 0.7052, 0.9957]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3451 right_y=0.3881 right_z=0.0815 right_yaw=0.0684 right_pitch=-0.2607 right_roll=-0.2016 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -2.2222, 6.9265, 1.6044, -0.1099, -0.0562, -0.0122, -0.0615, -16.9641, 8.5675, 0.9109, 0.486, -0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e481a9f6dc8f87334e0293a06f5800db4c6dabbd7cc38d08429d5fc3554bd58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca36fdaf696adb8b786bb076283bb81289b441a1aaca4a7aac148e62aa3ed6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563401f17e8480e1c316f585a6596b33817083f753c113d66053c7a155e43c64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.181 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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0792, 0.9967, 1.0538, 2.2364, 1.6161, -0.4763, 0.7162, 0.7136, 0.9957]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0499 left_pitch=-0.1584 left_roll=0.0313 left_gripper=0.9967 right_x=0.3498 right_y=0.3879 right_z=0.0453 right_yaw=0.0635 right_pitch=-0.1801 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -2.359, 7.0496, 1.6288, -0.105, -0.0708, -0.0122, -0.7043, -11.4667, 5.8598, 1.1502, 0.3834, -0.1441, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9749, 0.8021, -0.5632, -0.1192, -0.0795, 0.9967, 1.0523, 2.2421, 1.6711, -0.5797, 0.6949, 0.7078, 0.9948]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.166 left_roll=0.032 left_gripper=0.9967 right_x=0.3462 right_y=0.3858 right_z=0.049 right_yaw=0.0671 right_pitch=-0.2265 right_roll=-0.1738 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -2.5641, 6.8855, 1.6679, -0.0562, -0.0317, -0.0122, -0.212, -16.1983, 8.6769, 0.8181, 0.3883, 0.0611, -0.1734]\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 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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2364, 1.8145, -0.7685, 0.6792, 0.7052, 0.9957]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3451 right_y=0.3881 right_z=0.0815 right_yaw=0.0684 right_pitch=-0.2607 right_roll=-0.2016 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -2.2222, 6.9265, 1.6044, -0.1099, -0.0562, -0.0122, -0.0615, -16.9641, 8.5675, 0.9109, 0.486, -0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e481a9f6dc8f87334e0293a06f5800db4c6dabbd7cc38d08429d5fc3554bd58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca36fdaf696adb8b786bb076283bb81289b441a1aaca4a7aac148e62aa3ed6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563401f17e8480e1c316f585a6596b33817083f753c113d66053c7a155e43c64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAiVdf80oEsGbKk-vSk9HZjDYqU6TOGxRQZFHUh-P0YcCqueQY_ztmHmdpLk6YQmtPoE5UirGvju-ketpUaeFArTHkXw4EXFy6iG65OjWm0DHI6hvONtFUJ8lhBUhmh41pCuVBIgoZwU5_9mbm4JyA7Yf5-X91kOBNh4egZGzEJajCOnZLPvVJT-Ea9ZLmkg_Sre2UbKPhbbC3ovpIJCK3x4wLiWeobutNpFm8Vfp6AiKb4BiNmffifW0PuXfP6c5cfQ3jOXEYDljr-kl0h-jSnUibSYli8Vmd8aHF8F851ZkVNEfnCqMzPuDgmzb-jAdbT0VQDuM1eImFu2LrxVgQ_Pnv6KKBwnUdXqeSJn2UEkzps9gt99xxF2FTch45KDALopH8Xfc-_lL2Uh-I_o9--B5e1uTkHuG0MnxCf1pQQwLUi_M9pTFAlHvSy2JIqZ7QrnyzEUu50neSCuiH5lzigOpDEGePINNr-J0cJR3kq2f8kWQ6YC6-163_S3Oh8WxX1HA5oYYoLcwZg3e7piNx6evYg_5W92KNG4Mmyw2gCWN470uFExtzYIfUMZPXJnYAx6BdRjEWB7uFEHEYdbp1--iBLBc8Z5-W2l3F0KrdrcdbXlJ0EqKqt5G1gzrIO1pvzRjbQlabyAcTfPsoq3X1t3lZ9qBljW9vicJjBGg7lFz4vliuiwG1AINXyr90PsweczIoXNrQsCzkhMU332FYgoU6DNIlblAx4OVIMjxyUdxOKoBiSMpglowJh8VLD41NKsH7Y9X8VrvQ1CaXikD_HFi2wvvrh0yxwZ_RxfVubuamW2lDLsvdXF9EVMDjrURQWpSZXdfDIYhNzN7dPLDPrAzfwHS_TDpmeGx6JRNQcGQJcFgfpm5mptPhncBI5_AxO3aDMwDY8Q4MFbxCHCluuP3nRwdq3PuqAjv4WoIPoe6kpYf_oP6g862yFRz77rMXqt-SpH9PwjFiJxwzwcBLhsVtXUm6gcsm99LL5XXXdXwJu_gQe3sGj2gZDPonLtam4ZLk3YzDxCEbiTVnBvnjvIMMtKc_C5-osikTO9OgsBlp8y8Eefb8PCzLD9aRQZlJqDwQEH8-xGFTQ8bUrMym2SEu9skLOLwq4HlyvLPVebUHHGeykRxbWjydGEsTJKADGuJYCKQr-wGZMBJPla6Sv-6F9op9hyzL7itAI1lugyInrh0idusM9ZR4pQcvW3b3zNZK6NuXwCAlaXCXZzKKsbPAYKWrPF5muxHWx5zcuGNjJBkmr49mSlSejVnh_Hyb682l2bQbKtG4rFLCEtq3TD1vwcRUqgmbdx2HI2VxVl4INcRp9xBb3eAwVJNN1j5blRUO_Xlt92e-_Txgh-IJAVuuz8s09mTfubLVfFXCUIGD3XqoCvAYkx7YnSHY1yn1cPqrCk6hrvN0APMclmz-7rRQ0K6O-bE4i1O4KMcFXyXxeEgXQ9lr1RAuCIrTbu38NE1_YWrVHZLXSG7qVMPykng==",
  "id": "rs_05f62207e9a2b651016ab45020c2c487d0aa98622a662eea48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The wrist has cleared the rim and is now at mid-body height; the tan bear’s torso and leg visibly span the space between both jaws. I’m closing at this higher level to avoid sliding underneath it.\"}",
  "call_id": "call_6UBDywjRhRfMVnoklpzHA34U",
  "id": "fc_05f62207e9a2b651016ab4502177c887d0ab7078e31028e488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6UBDywjRhRfMVnoklpzHA34U",
  "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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2257, 1.8183, -0.7692, 0.6678, 0.6964, 0.0378]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3445 right_y=0.3902 right_z=0.0868 right_yaw=0.0822 right_pitch=-0.2627 right_roll=-0.1898 right_gripper=0.0378\nstate[joint_eff]: [-0.1026, -2.4, 6.9128, 1.5653, -0.1148, -0.0415, -0.0122, -0.1026, -11.6308, 5.9692, 0.9499, 0.442, 0.1734, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd94e4d76ff558c4a8bab0e99c8e454f48533b0ec566b75c97c97994d22972d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef1a121430f23339d45bfe2f49f04da2e3e9381a55aa34853e900765e69aff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c391a308a9bc89f5fcd21e3f1422a1ac07a50fd2ee10337195cb09629cb142",
      "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 20 attempt 0 · /responses · status 200 · 5.133 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]: [-0.0799, 0.9699, 0.8021, -0.5606, -0.1192, -0.0795, 0.9967, 1.0523, 2.2559, 1.6062, -0.4553, 0.7055, 0.7136, 0.0133]\nstate[eef_state]: left_x=0.3066 left_y=0.0001 left_z=0.1847 left_yaw=0.0501 left_pitch=-0.1584 left_roll=0.031 left_gripper=0.9967 right_x=0.3493 right_y=0.3882 right_z=0.0334 right_yaw=0.0665 right_pitch=-0.1926 right_roll=-0.1361 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -2.2085, 6.9402, 1.6044, -0.1245, -0.0562, -0.0122, 0.0205, -13.9966, 6.8308, 0.8571, 0.442, 0.0122, 1.0965]",
      "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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2364, 1.8145, -0.7685, 0.6792, 0.7052, 0.9957]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3451 right_y=0.3881 right_z=0.0815 right_yaw=0.0684 right_pitch=-0.2607 right_roll=-0.2016 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -2.2222, 6.9265, 1.6044, -0.1099, -0.0562, -0.0122, -0.0615, -16.9641, 8.5675, 0.9109, 0.486, -0.022, 0.0855]",
      "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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2257, 1.8183, -0.7692, 0.6678, 0.6964, 0.0378]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3445 right_y=0.3902 right_z=0.0868 right_yaw=0.0822 right_pitch=-0.2627 right_roll=-0.1898 right_gripper=0.0378\nstate[joint_eff]: [-0.1026, -2.4, 6.9128, 1.5653, -0.1148, -0.0415, -0.0122, -0.1026, -11.6308, 5.9692, 0.9499, 0.442, 0.1734, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd94e4d76ff558c4a8bab0e99c8e454f48533b0ec566b75c97c97994d22972d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef1a121430f23339d45bfe2f49f04da2e3e9381a55aa34853e900765e69aff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c391a308a9bc89f5fcd21e3f1422a1ac07a50fd2ee10337195cb09629cb142",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAlHl-YA65545t4j0R20eLOK45-RnXenKnP8ETp0DxTN_ESiXDN68tMATYoZGW7vjfdF-sHbbVxTRyirRd3b6OKyhp_zRL3lMCxowzUxLUKqqRagzVGRoGH3u6Qh3O7v9vjvdCBK457CbbXa2RctJmVKA7x92AKug8fd3_7a-J4_p109Sx2feDgJMAeQg0GxBf8WNxFLuZ1mr8C1QalzxDs68PT9wPufNeS4g0PTXeMFejyT7qA4kIOddvhktNI8h_zfSDBxYTaOfZqCybOJuUHHpnozOrotKbgsVxGQusXH5Pu7KkcVPoAGd-VZqHwqB1aE8TKnuKRaCqnbkMrEH2qIhZUoyD8MdNqjTbaIqkt3e7y4cXneHROI8bV18CFe_1bCF9LtwVpP58grpoXm376vzWQ7b0UBAA7AmpePAJ4ASfyZ7qbnfy_Y70DGrER5zVjSc0-6nrBZI2P0fDcI2XhlnOKwInUouNkPTWZ8WQp-NkChGBIDgFrDZeRyO7Z_Wctr3CzJKtehllfKmuuOid6ip0NQZokeO4Kq91mnVIEiPnhIef5cqgUR4Cqrj-77HepzAGyQPs0UrUF5hEBN4IoJIY9Wmoow-vRG3WTF5Wim6qEwGCQymDS0LC9sBZK2mGAYrhWV11hRtwNAuRdqfLKWanD18rTbz4qLEuT_tuIhtz8-lGGJqMXr6ENZNDEPFVMw0w-jzkgNZsDKmBzIqSl4Nshi4TX_tK2kldHXy-bVTV4dwmH8A4UDyquf6PikApfZr3Bsyr5eNa-nbaKOd_-lyt3f8eigvhv2PkJm_jlSfTC5q1zOzR7jLvh3_LqMky0thBn1hhkaQm1l1XEchWQYpbM85SoEbvh8U0M86lthi1NoOFFfkKeGZtfv3oXd5GHYX8DpNNAtmP-OCcM5QPQKraj2PsFd5YxkSnFBo-ZrcqnnoatdpUnexB3rKEexE5u39CAsUcJqbVv9RirAaVp7chIrIuvJ1qvWPJNecczk-zy_vi8f-t0QLltRQEdgF24UWc4I4xS98TP1cDUORzverySHHAxeOIrnOzNYyIKbMGTpPNBNubJrKBXKbICQgdzsNQalthFR-IIk8Sv-3YyuV7fwfxokvHnzCccdKg5_FjNs5zvzvw5RjszvCS9tyaf4EI5DJyiZO3cG47MLPpnMmzakOwCLOfeon5sOmouIk9sY4oRzzI77BCREVH1w3phzknwPC0unj5zRsasOxz15En8OS2Xa7RsrNSjUlKCskUM3O0MCO1_TTpEY4MOE_7bhElamBzXQpXtE06W7MkV3qbJuEuTgwCFkNYXCfTboqtkwBQEXZPDtrQ2s6yoEKhu",
  "id": "rs_05f62207e9a2b651016ab4502467a887d0ae3d7fddaed56dcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The gripper settled at 0.038, exactly at the empty/grasp threshold, so the hold is uncertain. I’m performing a short lift test; the overhead view will show whether the bear rises with the jaws.\"}",
  "call_id": "call_y5NI6iIUBHADEz15ulHnWpd9",
  "id": "fc_05f62207e9a2b651016ab45024a9a887d0853043b7cbd053ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y5NI6iIUBHADEz15ulHnWpd9",
  "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]: [-0.0799, 0.9764, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2265, 1.9976, -0.955, 0.6426, 0.6914, 0.0388]\nstate[eef_state]: left_x=0.307 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.1652 left_roll=0.0319 left_gripper=0.9967 right_x=0.343 right_y=0.3948 right_z=0.1284 right_yaw=0.0965 right_pitch=-0.2864 right_roll=-0.1857 right_gripper=0.0388\nstate[joint_eff]: [-0.1162, -2.1128, 6.9128, 1.5849, -0.1197, -0.0317, -0.0122, -0.0615, -13.7231, 9.0051, 0.8913, 0.5006, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810319f8b290d4be374878761abbe7b10cc10ca94e429c91d09257604c73eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7788d7e169756dffd1ac13de931c71044c54af735754f0a3a4742d5159c6588a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b663c530b401f9adb7d9d00e767ce605c69b52ba43d67c8ee370792092938cf2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.854 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]: [-0.0799, 0.9749, 0.8021, -0.5632, -0.1192, -0.0795, 0.9967, 1.0523, 2.2421, 1.6711, -0.5797, 0.6949, 0.7078, 0.9948]\nstate[eef_state]: left_x=0.3065 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.166 left_roll=0.032 left_gripper=0.9967 right_x=0.3462 right_y=0.3858 right_z=0.049 right_yaw=0.0671 right_pitch=-0.2265 right_roll=-0.1738 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -2.5641, 6.8855, 1.6679, -0.0562, -0.0317, -0.0122, -0.212, -16.1983, 8.6769, 0.8181, 0.3883, 0.0611, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2257, 1.8183, -0.7692, 0.6678, 0.6964, 0.0378]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3445 right_y=0.3902 right_z=0.0868 right_yaw=0.0822 right_pitch=-0.2627 right_roll=-0.1898 right_gripper=0.0378\nstate[joint_eff]: [-0.1026, -2.4, 6.9128, 1.5653, -0.1148, -0.0415, -0.0122, -0.1026, -11.6308, 5.9692, 0.9499, 0.442, 0.1734, 0.9011]\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 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]: [-0.0799, 0.9764, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2265, 1.9976, -0.955, 0.6426, 0.6914, 0.0388]\nstate[eef_state]: left_x=0.307 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.1652 left_roll=0.0319 left_gripper=0.9967 right_x=0.343 right_y=0.3948 right_z=0.1284 right_yaw=0.0965 right_pitch=-0.2864 right_roll=-0.1857 right_gripper=0.0388\nstate[joint_eff]: [-0.1162, -2.1128, 6.9128, 1.5849, -0.1197, -0.0317, -0.0122, -0.0615, -13.7231, 9.0051, 0.8913, 0.5006, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810319f8b290d4be374878761abbe7b10cc10ca94e429c91d09257604c73eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7788d7e169756dffd1ac13de931c71044c54af735754f0a3a4742d5159c6588a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b663c530b401f9adb7d9d00e767ce605c69b52ba43d67c8ee370792092938cf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFArjTwgrJpCMidrPz9V9T3rf6-7PkLGeSq4U06K_ydLn8ydJmH6PCRq5mtbWmZPRbat2pWQwt1p9Z54Kxdoj1iARPuXnvL0YABJCIuiMsStx7Uibw-hpIcHJzwPyvMneMkZG3Lhn1bzUU255-c6Xol0bKUMmDy7TZWs14uveahhhlOamG9EIkKCGXsuLMzJxsI4f7gLeHWM6WjLMxO6r7S-wSxeDrPBm7wIRp5V_2tbuSYsRlulFoOLOG4GF2JMCQwHJ39ljrscMJNFyD3sOUth0Dw5Td7dAWUvGZR4kPXF7OBluX0diDzOnY7IMudIaNA85Q7f5AeodVDzuXsGA170kYJvkYZLiudJ6VNMC419DwUZJ641D-D2Br0DJwf4Rpi9Zh_S5PoOdgA_1ae2u9c-yS3lCYr-Rn0Asvqia8X2HA82m_yUoMQ4i05I4_9qce0IgCIwVBqZcOusn7tgdhmoEHECMmFHLwH3cIYCEnSDnPT-WP57fA5d-mz-rWWcbwbSC9bRBC4iZcLvEdcn-htwSn8DaO6lCF-YiJaf-LyMDMw54x3kDjNd3dEUzDxslFvZyBpLpLc_zhbrlyuAsUW6chz7rq0ajUA6187tN6GBLCyVvHaFRzuWbAvOcLcwqtEUulx9GMyCnVNPXPIe6rQ6i_zG3FImL0YpEzFnGWMPuRDU94jdGHErAWYo1M2bpW7TR1JkGMzML6hnIdKoKPkzvucS7IRXOPTJkaM95eQf0FuQ-zYv1Vn_qOl0Me8MDV_tOXz41g3vk0kM5sSlrNGSDvxoJ934n1l1hRMIlNNX-2rHkXgTOmZuTeG8RVaMCCA45Mq5dtlI2v4iFM5h88GSvBa-BM18fUv4i06wVtcZlkJFhu6g7tYp-vvVXkArj_0ksbF4iEZD2AFBN3I8nNnq2NVKQEP91KHbgk-LnGZP0jtFW8lwwKR5RoVq6JBHC1frBDqBUybhP39oj8aqo8L512YX9Iy45Hjd2kmq8ddyYdYSDLuXJTZ9ww5DfCm0615LgRjjsgn4jTA_eNVahNN2WxEZFi85FPXRY8XqaZQ6wZR0mAskXM4P5DQfHUUnV0_KcAaHXFC0VZ8Nc375dwdCgBOwQiSCrEXBFBi_nSfqy5GpceVVFUID5pj_MVuBtNwdW-qn3KrtFZNBo5mdqLJSIWJ5gs4amRzHnrq6Xna5k5DMUan7dCkg3Wqo5kK4O8Rt34VhjkgzA7yoQYfFF_cwjM9RBwgMXoM2IHTidxsK8kxuZLsTtijpNq0sbsk5PLVBC_khUsMLgZGOjAtYbHUs-4sN8P0MQQ0nUZ9QlnrBXFma0fDzYkrKMfS5WltcT9N2Ra0Tnrzw7vt2TwFdqGOzT_O2fxRLeDPPEd13QKQiM0y670gv_f0LJ-zbaDDaNb5mQUHNuMXMPX37IQ43qJppYX3kbieedBnIa3OE2wJkExQ31BzmrolfKBMA-8RaKE-jPVy0F-sJAldlvLzC4T7tjTJygIr5z5hxS9_Ew-mXF1Wvyi50RD04GzQhtaeBqVTDYO3q0Mv_FyFydbZQH5j95koKszw8DlOFpo3I61Q2TklJ_wZw3DeN-G8Ozqik2mn1MLIvg40ARP8NmyjkaPIie-Fqgk6qql4rH6KSFF5KnoZKE-T-EMfhPgwg4yCRm-PrZ74Jg1ERjtXfplehF-garK-XbO-aijkDfQliExh1o47oqeM5NRTxxZhXU9afkEjWv4pNWND6jPxtQjEPWzBNHRXQFW_POdLwjuV_TnHoB_OFbPvcRXpCVWeTf7uv2vdmBTGmozM8GTH9KpYZxRmATA9odAqc0HEHdaixzRk8lZ7ks9Fr9tAaT0rK9cHZBH-w7nlOPNmp2GBtXGJLTJwpwaYJLq1NmdKDvf0WAgguq7ehFHV78n2vnNJvqEDmYlgTlxcTo3L6g9SxVlFi58StgXxZmO6LB80VHjJ0YuSKlb6QXOqmakGBRlEclPJzoM7y5VooiL3eD8q-1QrBVhrgfVtPGrKBv9y4jtdUM9dR9wTbs2ZG5Mbbgsy-MkguSHfFH3Q49PdXuJt5eqiDVFITc_i0jPLnMLNWb10rT3EKLd1B7IEgCJcztsbuDSqpGdNmMRbdE234Rma4cgHnYF042rf_WFbVCxAIi0cWA-aevfor5CfdSsUm0GoA6Xq-IP4u4OKIINwzsyIRMeF1Z-37G0ArLET4k5mU6iKd6VHX13-mrbTuflnsgefCLUO7rUe6A_1-67r0c84CHGn8vHwa8Ua5uVlq4k65ggdaYEwjcnol5UxUuOfdD1YB65FPahWYmjN5wGznVzI6e6wXqc_bLZvCro8iU35j5ThRYRWXVvmDUYASFayg5Le-NtlwNvZlcuXkkyAWr5u4q-FGwdiH-rpVvwBIpjHuT6ENI--nU3xvtmjjvFMXOHTiSWHKV0VnvQFLuImvCw-FVoxapaIvfElLPn1KAKrEFo2oJQASaDuVWcopbVYmnhTNHO-KVWbci5Qmj1_4Exi0u2w-5Ussp_eWZ3FHLOiNMGmUC3VIzw-1XvrCpvjDMsHdAtWbUoddr2numOjpVlG4CJ9QyUinzWmupxtiZmd0svBO-A50gVG7kCVvT6Sum4-2L2CoHb3pAU4hUW6F8tpzCb-weiu6_8I1fJC5MqQ6pGF6hcw3ECc=",
  "id": "rs_05f62207e9a2b651016ab450270ee487d08598297e79b55f4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.07,\"left_z\":0.13,\"left_gripper\":1.0,\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The lift test confirms the tan bear stayed on the table, so the right arm’s edge-of-workspace approach is unsuitable. I’m parking and opening the right arm, while sending the left arm above the clearly visible gray monkey at the front-left for a better-centered grasp.\"}",
  "call_id": "call_CL4Zios0lwRcUw6VucH5hjCR",
  "id": "fc_05f62207e9a2b651016ab45029e54887d0a987c484e7cbd223",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CL4Zios0lwRcUw6VucH5hjCR",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5762, 0.8936, 0.5903, -0.5537, -0.4522, -0.4328, 0.9988, 0.0387, 1.0439, 0.889, -0.6834, 0.0925, -0.1795, 0.9978]\nstate[eef_state]: left_x=0.2589 left_y=-0.0719 left_z=0.1289 left_yaw=0.0284 left_pitch=-0.1841 left_roll=0.0364 left_gripper=0.9988 right_x=0.3034 right_y=-0.001 right_z=0.1789 right_yaw=0.0487 right_pitch=-0.2848 right_roll=-0.1856 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -2.0034, 6.0786, 1.5897, -0.4225, -0.1343, -0.1441, -0.2803, -3.8359, 6.612, 1.3797, -0.0269, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf00b4a44f62763c8e4459df4c87de7c3ab4a2df978e8747e9f9c961cb655115",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19863e48556b71f064ec6b32a8e2af9c4b42c68ac71faf14cc43b4778a679e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf760be15ecc58d4f7738872f91403eb93384f35c5abe8d63ce4b5a06b6758f",
      "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 22 attempt 0 · /responses · status 200 · 1.636 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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2364, 1.8145, -0.7685, 0.6792, 0.7052, 0.9957]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3451 right_y=0.3881 right_z=0.0815 right_yaw=0.0684 right_pitch=-0.2607 right_roll=-0.2016 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -2.2222, 6.9265, 1.6044, -0.1099, -0.0562, -0.0122, -0.0615, -16.9641, 8.5675, 0.9109, 0.486, -0.022, 0.0855]",
      "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]: [-0.0799, 0.9764, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2265, 1.9976, -0.955, 0.6426, 0.6914, 0.0388]\nstate[eef_state]: left_x=0.307 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.1652 left_roll=0.0319 left_gripper=0.9967 right_x=0.343 right_y=0.3948 right_z=0.1284 right_yaw=0.0965 right_pitch=-0.2864 right_roll=-0.1857 right_gripper=0.0388\nstate[joint_eff]: [-0.1162, -2.1128, 6.9128, 1.5849, -0.1197, -0.0317, -0.0122, -0.0615, -13.7231, 9.0051, 0.8913, 0.5006, 0.0171, 1.0281]",
      "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]: [-0.5762, 0.8936, 0.5903, -0.5537, -0.4522, -0.4328, 0.9988, 0.0387, 1.0439, 0.889, -0.6834, 0.0925, -0.1795, 0.9978]\nstate[eef_state]: left_x=0.2589 left_y=-0.0719 left_z=0.1289 left_yaw=0.0284 left_pitch=-0.1841 left_roll=0.0364 left_gripper=0.9988 right_x=0.3034 right_y=-0.001 right_z=0.1789 right_yaw=0.0487 right_pitch=-0.2848 right_roll=-0.1856 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -2.0034, 6.0786, 1.5897, -0.4225, -0.1343, -0.1441, -0.2803, -3.8359, 6.612, 1.3797, -0.0269, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf00b4a44f62763c8e4459df4c87de7c3ab4a2df978e8747e9f9c961cb655115",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19863e48556b71f064ec6b32a8e2af9c4b42c68ac71faf14cc43b4778a679e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf760be15ecc58d4f7738872f91403eb93384f35c5abe8d63ce4b5a06b6758f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFA0mg6hOtZKFDEKDXpeyWhsh63PswJBpmmk_97aouaKWO4lrAlOoagT693wElbJxUdgiI4MJblHERYAvPcOCPrE1N4dM32nzGbwxogVY600tHh6ADSW2FHR6jzA_Xx48iQtNxSJELsl57mCZt7nIMfP9skbJ3R1COaD10eGCFmG20anVuUHQ_vIda9axQdxItWVLr0XcZX06OsXn0mF5QTOx1iAgLR8TFV1fwpFd2JGK_qUEvmMM-885fbEJEIsI586n7ImWHpbFHvi1SJn-aLDKVz39gAr1Q_WFhNZN25BrgoDxNEUituAHAlEi8V5udgqajT3VQ7CyGw_l0hmeqj5ZTqIJa38jFxuNSLmH7Tmd4OzGIk22DYkCjvSfmaNTYSWql08YWDD4jjpjQT2yQF_eljzZImOo1etQC-36zDDOABTQeYOrh-ra-RxUFSfr1YuQo5L-1ALIFLjw3BNPp4FThCPTDudn9CGCKr0N3VxBvH6bue8qRNrDB68NH1pWMCnnWV7F9BAO8Akl9f_cLGpTmq-iE_og3a8Xv1-57Ay440p6-2oyQ4sTSJv5ZRWO4_fmUSTY6QbtG7HjHSp_RHTlYjBYDLe3C6x5q4EkCSCzheZ1CSXlaMrrfH7PKV6SA7jOYNqblN5csVcZWSys_8XZTgWTykwJgxv_LQHu55JciLTJdQPO5iL7TaIFisDe3OBKEtS4Rd6ICBsmI-VcEtUR1vuYgg6IiqLazVBqy_Zvj-SRDjOQN6ELyJoWAFfwnHzzH6Myc0BctlFTRsFKiTe9d_CQSObFCKK8Kr7lGCf1q16B5mtUlMlLVLOwgmPCDYANf9xL4sacKV1t7yhvBth9gWVpqsgOlAb12Rq5Pv3Prs0Bcdq_Mr8pTKtZzMxTnUh5K_aaVsRhFm4Of3AY1zIzj1_6pwEYrfsQxmO9EkQZSSMn1qjpHO4Nkh6GgVij1okrWZ6ZiPjlpgEypnLabdpboICIyuL1jdtYS1iztiv9lA9bgG4_Jvg73gp2o276RWD7NWFhUZoikxo-DhnD-QlGMWqnfYv-gw7ahmFqpKiax_INUEdPHeCpYXr6KtydZ7xYmM8cWiJOOJNlt-tqw-HEy4280pgJzW5epr_8RO-Co0yEPP3YncH3RpzC9eHf9pYliMxjtiUpIIjdSRxiiWbV3whx5s7aFMRVM24bj-wFAS4sPJpO4yRAQitYve6DPLMm9xSAiAgFKZftMHOjExbcn6ZnLVp7snM8E12s_4x_8KQycGuC9LR8qHH4OosDjL4HldfYTjLSJRhnxa_eFMITJP5YgJ1Hz1Snj0fnbejcIuoFUSXE6mYyh-IYa-yORwFzPRfsadJUFsa3amdkwI-jb8wyZNcb4PgWe1om74_u7DCg8o9Mzq2TYatklQVgPHPgjt2srUYPLIfyCaavsOP-uQqXvef2cF21SOQkV2RjpWc5KwLlF5l1rhgkfbjZkrBgefh5tFklYsfCZVWwaEeXf9miqWKadZfK_yMSyzr3k0APktzyWZDc74giQdEwk3km0E12qLIA-n2ecAqhqD4UgrO-XjL-1Mhe6oTAUn_efNm9nR5ZHhKEZkB7uCouYVQEmfJlXFmoKQON4c0e1bjxnw7MIwj5iwMrqoUVdTuSbEXsh6KRSTCzckjj0x11mlCC5T3xE6edIc-a7k6GCNKRNfpTfj-UZ1gD4NV8dUfpIAil9WMt1_yObALcB5E_2dn66cXHhB26wff7sy7aTVg0Tj3c0CTvyAOVVRT1JbWVcl5ssbELh1NnwAwQ-x-5RUDOrSzhbShv_LthAcDTI9mj3QDRltMcUwP2R5hmwKjHNlnqxetpJvb9I3R-zYKt8nubdxBCaRIADZenxH67AGsY3Dz8TU0aCSuktqr0EMmpWSeVDU4oKt97AdRSnu0jS5cTiiUnl6lzWHFSEx5GFdDGm3wa8mo-XeO3w7YElfg84oVIqbjQmt3SD7d1rtWt79Gg5jjN8GPnfhePCUb4LGIVBgqjhG_FIy7kyxhoZg4fR5Y82KpTFlCcw1WGhMNT1611HXaB2-4cSmyRz2jf3p1J58FYBzHPCzlOMGvg7TS5Wp9KCMtEdjNWRWDDMWZOLinAs5zLQ8jiQKlwiYsvtj1iOyXuluEosPPqHqz-gesc279HWeQhBbfsX8x56vtIwLf5VPlH4ADl_fizxoRfxEN5suNJG6DBIMqwndQcTeNyoTiKBqFDzsbEcf_dtsSSaUl8ug5LEeZQLpLWVWJO2HAw9NqVt9MhcRK-L4Uwpz0ukNttjojaFOOCnFyXmEBm8WyPEPXLyh-zJCHbyyBwgxqbF4wP9xEnwAK_qyH2IoiSXiZYuz-mLIm6Carr3ynN07l5r_RvG1QesxiOxzzNCdK7lFTMf-hbs3_EoIwtSCkhW2wcG-IMSJ67z6Xl9c3QsNxUhW1puBvFwIUlq5W8s5i6QDqSbSNC4-aU4ZIcT04c-j9XrwCDU-SLoQnNxB6Gv6rZ5Ujqlff_x62fUsVvbMxQkuwCniim8SRZPAzrQSWt6JLhEFTrAh1usiWl04Wq0WNsVDRgQbBYFc8QFnJfj_9feItcvHjSvfGtomWEXFs2_9bwc38bMWyA-w6S7AAIsy358tIvylrFXpd_buisy-ELLaasleLXcqvGSIrwBubrepz69OLR3CMwvfHQMDnZdG0rx2SCTz-ZpWwyXt65JmbT6jPkkKASw_YwKkMXXx-EiQoaEW4CklWeTXcR1vl9RA9IP0Avajqs5YAZjwXvIEVwsqAOB4ZgdqL4Te-vTzWfVuE8izSVztP3ZNu_UlLUIrNGpGYWttOhgE97XQdRbMlmuVvPe1uMtsvzXjiMy1Ii-e2yKYGlR2cOmQfqUGUEkzUaVOKK3gu20xZmhW5WyUzkvb0rG3IqWMmqtlpD7HeMDkW2eV00CW1gka6HlCuyYCK3CNCjtoDsTHoC4HFDzolCOWJnftI7RCaoIlLzyWfN-6eZ_vrxru9_ktMHEEOf7YkvQpZT7OEWrirvk2scTRQHQ==",
  "id": "rs_05f62207e9a2b651016ab4502ff1ec87d08a413e6708c1f761",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.07,\"left_z\":0.065},\"note\":\"The cleared wrist view shows the two visual classes reliably: gray/brown long-limbed plushes versus cream plushes with dark paw pads. The previously dropped brown long-limbed toy is now centered on the jaw column, so I’m advancing slightly and descending around its torso for a second pickup.\"}",
  "call_id": "call_dmlJn6aEIh3w5BGUEBASZjHW",
  "id": "fc_05f62207e9a2b651016ab450334b9487d0bfbe18e441463c50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dmlJn6aEIh3w5BGUEBASZjHW",
  "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]: [-0.5037, 1.0634, 0.4088, -0.263, -0.4122, -0.3889, 0.9983, 0.0334, 1.0435, 0.8886, -0.6907, 0.078, -0.2005, 0.9978]\nstate[eef_state]: left_x=0.2667 left_y=-0.0621 left_z=0.0571 left_yaw=0.0532 left_pitch=-0.2534 left_roll=0.0758 left_gripper=0.9983 right_x=0.302 right_y=-0.0001 right_z=0.1775 right_yaw=0.0677 right_pitch=-0.2939 right_roll=-0.1886 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -2.9607, 5.9556, 1.5653, -0.1685, 0.0611, -0.0659, 0.3214, -2.7829, 6.7761, 1.5263, 0.1441, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbf35198963845cb1031ada4733f0c904a5299d1799f373f1e7660e0418d3bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d3984c2f6bd94e43383602164edb36f177fec354b7cc57bc92195ba6acea39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430717fa958163ed4a5b2913bb29b42b7f5705772c1ff8209ada99f0bfa21fd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.606 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]: [-0.0799, 0.9752, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2257, 1.8183, -0.7692, 0.6678, 0.6964, 0.0378]\nstate[eef_state]: left_x=0.3069 left_y=0.0001 left_z=0.1831 left_yaw=0.0503 left_pitch=-0.1641 left_roll=0.0317 left_gripper=0.9967 right_x=0.3445 right_y=0.3902 right_z=0.0868 right_yaw=0.0822 right_pitch=-0.2627 right_roll=-0.1898 right_gripper=0.0378\nstate[joint_eff]: [-0.1026, -2.4, 6.9128, 1.5653, -0.1148, -0.0415, -0.0122, -0.1026, -11.6308, 5.9692, 0.9499, 0.442, 0.1734, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5762, 0.8936, 0.5903, -0.5537, -0.4522, -0.4328, 0.9988, 0.0387, 1.0439, 0.889, -0.6834, 0.0925, -0.1795, 0.9978]\nstate[eef_state]: left_x=0.2589 left_y=-0.0719 left_z=0.1289 left_yaw=0.0284 left_pitch=-0.1841 left_roll=0.0364 left_gripper=0.9988 right_x=0.3034 right_y=-0.001 right_z=0.1789 right_yaw=0.0487 right_pitch=-0.2848 right_roll=-0.1856 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -2.0034, 6.0786, 1.5897, -0.4225, -0.1343, -0.1441, -0.2803, -3.8359, 6.612, 1.3797, -0.0269, 0.0024, -0.0708]",
      "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]: [-0.5037, 1.0634, 0.4088, -0.263, -0.4122, -0.3889, 0.9983, 0.0334, 1.0435, 0.8886, -0.6907, 0.078, -0.2005, 0.9978]\nstate[eef_state]: left_x=0.2667 left_y=-0.0621 left_z=0.0571 left_yaw=0.0532 left_pitch=-0.2534 left_roll=0.0758 left_gripper=0.9983 right_x=0.302 right_y=-0.0001 right_z=0.1775 right_yaw=0.0677 right_pitch=-0.2939 right_roll=-0.1886 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -2.9607, 5.9556, 1.5653, -0.1685, 0.0611, -0.0659, 0.3214, -2.7829, 6.7761, 1.5263, 0.1441, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbf35198963845cb1031ada4733f0c904a5299d1799f373f1e7660e0418d3bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d3984c2f6bd94e43383602164edb36f177fec354b7cc57bc92195ba6acea39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430717fa958163ed4a5b2913bb29b42b7f5705772c1ff8209ada99f0bfa21fd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFA2NoT-yCSyHOHIC-2q8x1p9uPS6_X1mhP62Ps2pPgDm1zq91hBnqU80cRDcDGc_HMj5iPfJu1ua9YTlBDSOc_PCiZG5Ag9qCApE1mJfxcZ483yFbpUDXYmwugctZXTNaxbkJONWPAEYqfDca95ru-hW3sAK1aOJKPy3d47HbvyTT-pTM3FIBf7VjUd5-S-8_wSEa-AQeKCeUQvXrAV4kg25dxqNFiDqP36xcKNcbZCPIubq1vUbKN_VSit1Oq-Wsu8q2zeynjJ16cDbIdpGgs3gCtwBaoJem-zVoQxspqro6-pbyl6tWY9SA0-j3DuaPR7DJs6Q95zjDm1th1fzQ3fCoCcCqflsf6jZP92ZQrEs_H7MrQIocEtgaocF0dOWpV33xg1FZeEh9gHYNYHpbsexk4T8DSzC2o63rpR5AqelDV__ERw93QNVrXt7-7sZCcK90mMgNpgrJ2Lk5B5-R439P0TEeH5tRfds4nGuxyJH2GE9kQ2vYDG1_Kkfogst1Hh-caRr8E_dUiX39AS_hai3so-hA-D-QbrkfZJMr1C0eLGmYQJaj_-7akGcYr0kRv-yEOBXls2_4nCPzXyWdRnoeJ88rGm3V9RCAjFAF49Tmd6snKO0QotUyGUlIq20qfwApOZpS3oj2AJqCpl_tJS07TS_DKzuPI9SgA7b2YTd7dpnRdF0rMoMe9eIlEma_EtcYc9Y-4W7lGifUDNyp0i7tOkVZQ2iOVeYgs8TvDq2LEEY4ZgdMaot1z1lT6tow3ODaXIva-ttfJZxMeVOqNvdQwDH7KabwPLmxywPh35wgANJ6Fv71AZszUPgGCmRB7j2UAQxicIuOQ_0nZ7poNHIjuf2VZ1fF5d9c8rS28NlIIskJG5XTyYSgFYEbRY45mjjxvxRfVyFb_9zFb-0nv_V5XV1yBbzAvJGaQsEU9TkTNMQNppEfhkPCXa41kl6tGNTu4d5Y1gNRKjlV5hkLur1zhDdMH-2I9Sh9N_QMWIQul-9Xop2wM5aasJ4KUoXu5Cd_ZHsuqbHApZOL8tGjpkAA5v-Z5wZHKXaqiLX_lFmIPp7ytkBd7ERg7J2w39lz1TsJkjefOi7BgXnAApR3o5Iy6rvDYdxv-qExMWqrvKV0xly8BAphcRR_m89FTN0qcrLEVhNNJzaRosJwlqCYvdwQM7oGxnCTeoZ202LOYvuVpIbIr8TWB7eUC3gcHlWZaC",
  "id": "rs_05f62207e9a2b651016ab45035a6ac87d0bb92ffc55c2aa824",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The brown toy’s torso is squarely between the open jaws at mid-body height. I’m closing to secure it for the corrected left-basket placement.\"}",
  "call_id": "call_o0R4R5MuxJsvSqsYqZ2gYWr1",
  "id": "fc_05f62207e9a2b651016ab45035c5e887d08049b6800b2fea61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o0R4R5MuxJsvSqsYqZ2gYWr1",
  "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]: [-0.5014, 1.0729, 0.3973, -0.2466, -0.4042, -0.3931, 0.0107, 0.0334, 1.0435, 0.8886, -0.6907, 0.0769, -0.202, 0.9978]\nstate[eef_state]: left_x=0.2658 left_y=-0.0624 left_z=0.0524 left_yaw=0.0522 left_pitch=-0.2605 left_roll=0.0697 left_gripper=0.0107 right_x=0.302 right_y=0.0001 right_z=0.1775 right_yaw=0.0696 right_pitch=-0.2941 right_roll=-0.1888 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -3.0974, 7.3368, 1.1893, -0.3199, -0.0122, 0.4811, 0.0205, -2.7829, 6.7761, 1.5311, 0.022, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54698344f08ab23cc25d236c8e888f3b4687887be749a8447b0e66cc0f0be6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79390fafcd45cdec4b776da965db211a669e565360b0fde2404af95888ce1976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daeca43b4f12154c8f52a18f9086cb3bdd74254f04ffbea688998c853f4602b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.516 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]: [-0.0799, 0.9764, 0.8021, -0.561, -0.1192, -0.0795, 0.9967, 1.0523, 2.2265, 1.9976, -0.955, 0.6426, 0.6914, 0.0388]\nstate[eef_state]: left_x=0.307 left_y=0.0001 left_z=0.1828 left_yaw=0.0503 left_pitch=-0.1652 left_roll=0.0319 left_gripper=0.9967 right_x=0.343 right_y=0.3948 right_z=0.1284 right_yaw=0.0965 right_pitch=-0.2864 right_roll=-0.1857 right_gripper=0.0388\nstate[joint_eff]: [-0.1162, -2.1128, 6.9128, 1.5849, -0.1197, -0.0317, -0.0122, -0.0615, -13.7231, 9.0051, 0.8913, 0.5006, 0.0171, 1.0281]",
      "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]: [-0.5037, 1.0634, 0.4088, -0.263, -0.4122, -0.3889, 0.9983, 0.0334, 1.0435, 0.8886, -0.6907, 0.078, -0.2005, 0.9978]\nstate[eef_state]: left_x=0.2667 left_y=-0.0621 left_z=0.0571 left_yaw=0.0532 left_pitch=-0.2534 left_roll=0.0758 left_gripper=0.9983 right_x=0.302 right_y=-0.0001 right_z=0.1775 right_yaw=0.0677 right_pitch=-0.2939 right_roll=-0.1886 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -2.9607, 5.9556, 1.5653, -0.1685, 0.0611, -0.0659, 0.3214, -2.7829, 6.7761, 1.5263, 0.1441, 0.1734, -0.0122]",
      "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]: [-0.5014, 1.0729, 0.3973, -0.2466, -0.4042, -0.3931, 0.0107, 0.0334, 1.0435, 0.8886, -0.6907, 0.0769, -0.202, 0.9978]\nstate[eef_state]: left_x=0.2658 left_y=-0.0624 left_z=0.0524 left_yaw=0.0522 left_pitch=-0.2605 left_roll=0.0697 left_gripper=0.0107 right_x=0.302 right_y=0.0001 right_z=0.1775 right_yaw=0.0696 right_pitch=-0.2941 right_roll=-0.1888 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -3.0974, 7.3368, 1.1893, -0.3199, -0.0122, 0.4811, 0.0205, -2.7829, 6.7761, 1.5311, 0.022, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54698344f08ab23cc25d236c8e888f3b4687887be749a8447b0e66cc0f0be6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79390fafcd45cdec4b776da965db211a669e565360b0fde2404af95888ce1976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daeca43b4f12154c8f52a18f9086cb3bdd74254f04ffbea688998c853f4602b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFA5_TxF123PKu7EcrhrZp9TX-01GWom6fgMw3-6ybQrETXUalQ6bspr1JTHUPtwszY6r9qimOLqdUaZmheVaUR0qErpgOpykUzfHjhZCZXnl5LwOn_9_p4b9wbf03FbecuIEXoGghSpZlZS8kAl5RsBKuIRrp2FAjMSVnLJqiDYXYGlwulvCVe6BX-RNI_lBl2PPNeH3t1Xwyc4whDsiSeLoNpISlDckAJiDscox_-mY_1hUwB96sqfuKlYNE3weAB3xGG7xhfkfXVT_fSWEAOdGSeCQw5o0XH8np2AJAQU3AqIZxgIFaBAl-l8G-u7x33GwvUwkVadky_R25yiABwvVCwFHrjaA35WfKH7CLdQiT59FYkUoRFqYuUtWHaCUA2_zhMt3VTXfjL6oeDyiuRTKJNgz5lZiceiw4oH_Bsxdm2SvoeDxFWFZ_kHeaFjhygqjLncLzYrkkItSn2cfzinrmLX45iGi9Cokk26GmQoZaGD-j8QzfetXRPu6WxB_iXppU6-YRSp2ouMmzWhMLTgNz_4uGVd3zf6kwYC8hfGTNACbzRodN2Zfh1TH04r2lgrJZbEZ8h-681LhUXqDR9UKgevUPPOSa7SezXlC-f-xr_SNBuFlrn2PkwcBcZZaIap_qRHkitFuDC5G0_323vFEdJ4FNaZAe03Yy3IROFq5bIe6WdOMS01y8iN9bqbobuhRm2Mbx5kW02qyANLx6q44qxJG5KeRdZ6zGX56RWrHy9ILO2aBqU6SZi3n73QVi6aOq9KiYxXNB8vlV9TI2P4C95D_vUGlUTF0QFUZzuojKO36emWG-RDlcMt58ECtp4ECwqGDn_f3wJlJvo4nQLbV1BtAwa0B8uo-OJnOpR1LNyIhLL2t0UD7Si0xlf_CgAZIwWbTuWBe9xM_ZVhLNY7aWM7Zk8oZTqm4ubRUXYP4KvQt_VjYMCzxx4i7ktrp1IazWmz4_EKXtwOXXe7ZO7YaIgTXRtk42DqKtSc6RTSe5uyqsjIugU3tCTYrA8OD3o53u6OB2_uRws7toSxstKSn_mbKL4nnLfLKhn914CiH8HROP-BZo7vh4Ipj6ra0K7gZ931Jv6SeMOogoIHo7DXY8DfRSsuFzURvJZVX2_p5xpo_v8dSXUDKltKP3K7tRvieh3c-zu1Li4gCpoUDvkeSffTu_4TINwUcUGFhUUR8B0qCsgC20cqIk0fZt4eLGQr2z2CQ8vUtZFDg4lOO1D0K05Ed_-g6aHe9hAZUlnRydDpPZnp7qz2stf2OI6SH_uZqeadgQUZ8yIADggVdCRfHSNao7FLmN0TWTRUEVN7JILWzErkW2CmqChFl-Y3Fa9J",
  "id": "rs_05f62207e9a2b651016ab45038868087d09f17987a6a2df326",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The close was empty and the toy remained visible, so—like the bear attempt—the fingers passed below the raised plush torso. I’m reopening and lifting to about 9 cm, where the jaws will meet the body instead of the table-level gap.\"}",
  "call_id": "call_yVEm6MNBcqngdQQRgFPOLnKZ",
  "id": "fc_05f62207e9a2b651016ab45038c63887d0bf0a2c4e3ab1c25f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yVEm6MNBcqngdQQRgFPOLnKZ",
  "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]: [-0.5011, 1.0115, 0.4942, -0.4168, -0.4034, -0.3946, 0.9953, 0.0334, 1.0435, 0.8886, -0.691, 0.0761, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2638 left_y=-0.0613 left_z=0.0799 left_yaw=0.0545 left_pitch=-0.2708 left_roll=0.0745 left_gripper=0.9953 right_x=0.3019 right_y=0.0002 right_z=0.1775 right_yaw=0.0705 right_pitch=-0.2945 right_roll=-0.1884 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -3.0701, 9.0188, 1.2625, -0.1587, -0.0317, -0.1538, -0.0205, -2.7556, 6.9812, 1.5116, 0.0024, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4798a920fea343787ff279cfaff1b5a34bd9b2ad418fc366f38b1a7d3e243a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c083da4883d8a0a3ae19237ec0a13f6c645d939d9695fab9582fd881970464b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5f6dcf76df10e289968ec8b626c458ea6287437592e52d526779ca8312922c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.964 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]: [-0.5762, 0.8936, 0.5903, -0.5537, -0.4522, -0.4328, 0.9988, 0.0387, 1.0439, 0.889, -0.6834, 0.0925, -0.1795, 0.9978]\nstate[eef_state]: left_x=0.2589 left_y=-0.0719 left_z=0.1289 left_yaw=0.0284 left_pitch=-0.1841 left_roll=0.0364 left_gripper=0.9988 right_x=0.3034 right_y=-0.001 right_z=0.1789 right_yaw=0.0487 right_pitch=-0.2848 right_roll=-0.1856 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -2.0034, 6.0786, 1.5897, -0.4225, -0.1343, -0.1441, -0.2803, -3.8359, 6.612, 1.3797, -0.0269, 0.0024, -0.0708]",
      "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]: [-0.5014, 1.0729, 0.3973, -0.2466, -0.4042, -0.3931, 0.0107, 0.0334, 1.0435, 0.8886, -0.6907, 0.0769, -0.202, 0.9978]\nstate[eef_state]: left_x=0.2658 left_y=-0.0624 left_z=0.0524 left_yaw=0.0522 left_pitch=-0.2605 left_roll=0.0697 left_gripper=0.0107 right_x=0.302 right_y=0.0001 right_z=0.1775 right_yaw=0.0696 right_pitch=-0.2941 right_roll=-0.1888 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -3.0974, 7.3368, 1.1893, -0.3199, -0.0122, 0.4811, 0.0205, -2.7829, 6.7761, 1.5311, 0.022, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5011, 1.0115, 0.4942, -0.4168, -0.4034, -0.3946, 0.9953, 0.0334, 1.0435, 0.8886, -0.691, 0.0761, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2638 left_y=-0.0613 left_z=0.0799 left_yaw=0.0545 left_pitch=-0.2708 left_roll=0.0745 left_gripper=0.9953 right_x=0.3019 right_y=0.0002 right_z=0.1775 right_yaw=0.0705 right_pitch=-0.2945 right_roll=-0.1884 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -3.0701, 9.0188, 1.2625, -0.1587, -0.0317, -0.1538, -0.0205, -2.7556, 6.9812, 1.5116, 0.0024, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4798a920fea343787ff279cfaff1b5a34bd9b2ad418fc366f38b1a7d3e243a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c083da4883d8a0a3ae19237ec0a13f6c645d939d9695fab9582fd881970464b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5f6dcf76df10e289968ec8b626c458ea6287437592e52d526779ca8312922c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFA-aBIMy1vvJrcPeQUqNfL4v7LM5z1VrMAKnRMAQvjN2_dwgyKg9ezR33H1oh5W04L7xre2BzJboqzfLSu-Ya8eXEADVcVqmQDNAbHbTNV2m5QbjCYjD3aQlvYTR90a5_bB6vKPomjflAF9DSJu7MoB9X-NHo2EfYgEUxv0OLtKseTVCPiJ0nGdWT9V6ClSd5uxXHNox8CQWCIqNVPc4TUxMhrksIYS2O0ygihAV1oIZSmZj7-la46LqGiRzbUbOFy0BQ1Ea7eDZ6Ym-r68fpyz_OS57FiT6UFegMQfAUN4BO47jKgW7IAeiahj6etvBwQ42hP8hT1NscRrsn7unv0kzZJpsG150UzxUWMarRZN0dSJdMK2dRCxQKe25itytQgi3rJXxYb3fdgQWXROG_ljDuPYLhTrYkHb5X32-zQZNOik-WbdyibgL1o6x75IFgr2jrjz-iKCepoRAm9qli-A5ZN2q1GmCDGTpgYH54N1I3nZ_n_ksOQ0fW69K2-QhwDEcpTXrZVCb9DeLm5Nk0k9WfltVwifNFGkK-ZVfcyb855VF_yB6W9T29upQ4bE3UmhuXyx24kbNDLtLUvn28ZkNvUBlhAF5Ucm3n7cia-Xwevzz5ad7hDibZI9YudIdeZUmaXd_MrdYdhYAwMyhi12AHXWUs6G_tV1Xu8AxEGFnjoWCP3rKV2tL3IgxNVA7FXj3przzM3fcyUxut3SlrnB9WpZC0OEETcEIthcoJIrxg54w5mJEU00mHV2FyTjfZ5mwI06ReNNGhCx-TyQpzl5TlI7ops2NtDB9pwwXKLH6dmDx0-PNoj-nSX7g5WrqOnN4QzBAXjYICKMt9NRJgea6ZyXW3YHfw6FXQLJG9Wc6SLqJxXlIkaLQF0RIqxP9NOo98erO3IvGx0wIHF4kM96NWE2ixJggeY_Vzlbw-vCaZTHXqieWlvLQ8gvN8NVdmVNu9T-HBRsSL9CqyXBz-aJj3A1WVVQjXM731THNe1LnZWOU_LAqjQAaeKigX23mmcONHviJHwkXlm5Y8QxCWIKWZQZDhH2WZWRixLQ7iOf-O6MPfIjPY_uigmLnu3yPoglTrQ92-RoQCLqEzprbwZ33_JXngrSR1BYSf6GQCTE0PGAigXPjHQNCO1cRkeu652ZUQLGSGmfz3YR9Inc-cOuPAQUuIsIYfEP6fXQcC3JoChx46R5z0pgDnPPneUBlN61tam5agvZhtq0Eo2ujXZHhkzwAwb7HR132eGbCJS6pzPZHa89o1xjd8QNu4Qc9L9v",
  "id": "rs_05f62207e9a2b651016ab4503cdcb487d08590fa144d52d322",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 8 cm height the brown plush’s body is visibly bracketed by both fingertips, unlike the previous low attempt. I’m closing around the torso now.\"}",
  "call_id": "call_8yRLvG5Gj033y4lQ5JVoH4UF",
  "id": "fc_05f62207e9a2b651016ab4503d0c8487d0a6bd853cb9449cd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8yRLvG5Gj033y4lQ5JVoH4UF",
  "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]: [-0.5007, 1.0134, 0.4984, -0.4255, -0.403, -0.3969, 0.0101, 0.0334, 1.0481, 0.8886, -0.6952, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2633 left_y=-0.061 left_z=0.0798 left_yaw=0.0568 left_pitch=-0.2763 left_roll=0.0762 left_gripper=0.0101 right_x=0.3015 right_y=0.0006 right_z=0.1755 right_yaw=0.0725 right_pitch=-0.3032 right_roll=-0.1869 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -2.4547, 6.2017, 1.4139, -0.2808, 0.0269, 0.8767, -0.0342, -3.1795, 6.735, 1.5214, 0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7435ac8a79f70f64c29570f35e7b12b758100ae86b672930bf40b62ae17bf8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b2f2374346e95194e64730dd346364e9895003f2562b00c2ddd95bf8e686c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673c7f389397c9f75b46a7adf6ae501e443604259807c43c9d238628dd78ff39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.138 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]: [-0.5037, 1.0634, 0.4088, -0.263, -0.4122, -0.3889, 0.9983, 0.0334, 1.0435, 0.8886, -0.6907, 0.078, -0.2005, 0.9978]\nstate[eef_state]: left_x=0.2667 left_y=-0.0621 left_z=0.0571 left_yaw=0.0532 left_pitch=-0.2534 left_roll=0.0758 left_gripper=0.9983 right_x=0.302 right_y=-0.0001 right_z=0.1775 right_yaw=0.0677 right_pitch=-0.2939 right_roll=-0.1886 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -2.9607, 5.9556, 1.5653, -0.1685, 0.0611, -0.0659, 0.3214, -2.7829, 6.7761, 1.5263, 0.1441, 0.1734, -0.0122]",
      "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]: [-0.5011, 1.0115, 0.4942, -0.4168, -0.4034, -0.3946, 0.9953, 0.0334, 1.0435, 0.8886, -0.691, 0.0761, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2638 left_y=-0.0613 left_z=0.0799 left_yaw=0.0545 left_pitch=-0.2708 left_roll=0.0745 left_gripper=0.9953 right_x=0.3019 right_y=0.0002 right_z=0.1775 right_yaw=0.0705 right_pitch=-0.2945 right_roll=-0.1884 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -3.0701, 9.0188, 1.2625, -0.1587, -0.0317, -0.1538, -0.0205, -2.7556, 6.9812, 1.5116, 0.0024, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5007, 1.0134, 0.4984, -0.4255, -0.403, -0.3969, 0.0101, 0.0334, 1.0481, 0.8886, -0.6952, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2633 left_y=-0.061 left_z=0.0798 left_yaw=0.0568 left_pitch=-0.2763 left_roll=0.0762 left_gripper=0.0101 right_x=0.3015 right_y=0.0006 right_z=0.1755 right_yaw=0.0725 right_pitch=-0.3032 right_roll=-0.1869 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -2.4547, 6.2017, 1.4139, -0.2808, 0.0269, 0.8767, -0.0342, -3.1795, 6.735, 1.5214, 0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7435ac8a79f70f64c29570f35e7b12b758100ae86b672930bf40b62ae17bf8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b2f2374346e95194e64730dd346364e9895003f2562b00c2ddd95bf8e686c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673c7f389397c9f75b46a7adf6ae501e443604259807c43c9d238628dd78ff39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBFDlBM3vAhYx-6AvqhpkERoaKpt4IAHkjb_HxYTWtyIMV55AViawa7zWhEM4Al2RgekCReeWgNJeZUbA8U8lUa0zy71UTa6YH1GG5j12u5ctynS1y7xkMmv2XwOnkhFi_LvbBuht1ocoi_YZbUt_npySBXpu0ulHKgCwaoNBhHGwI3Gjocer3ZRTLa_EV2Z0ezT77bg3Yvi42NZ6qI-ii1umln_HVYZu3aKLbpSaNXejrvsho20J0sv5K1Qhz48-NRhzd2tgr1TXUWRJxkklcDxKlReGy93GjsgUTy4ZwrkViCYtlPKR0FDQzpEtdpBCPVawmSzevqVE5RnCPDOIhLVP1OPVEVy0MOaF9a0lGPSOZsab9nJMDokJdgFgAa2xRkbMmaV9soD0g2FnKAzGiqPknKuOCXQI_EHm4LcUu8IZXxJ261ZBFv1NspsJ0UB9EtAqHd8oMaPYnRjyWEf7LnVVMZlGIXrGV9l9de8Ceyg7snejKUxj5OBML5eDTEtjpTRo8gBWXPdw7p5A-OP1fnfh524oa6dLiFJwTIjiEl88GtFs4y_qVxND_sEwU9c9GEfKf9Kq_Ngd6VMy8ABEh6ZpTOwY4T5rM2rmkfd0HtkBVB16vKHA4xaepeWoqvuOT3ncPHOr2B9T2wtHScgEwRbqMOLNxUQ0zJP88DkE3HDocOqXQWWe9xzmOskLTRyKE5JXV5gUWZEtPug-6hA7bnFj_4kKAbzPIHAwrxSJWUhYQxE-J8_KS4fcCrSsqZEUCCYo8QEjMmak6OWMWDzb-nGVjDhdyLTolc7Hb5x-1bs1PW-QUI_vNkiSwODGMWLhovghW57k68lhVbS7voQoVUNVlmjmiIBYlgRltsbarmPgnHQga7BTxcureBzVyNI-4-mDHzBJecY7GWgfuRx5In0_8a9-xHOZmjDf-ysOLpr_Oid-YRo2rJHqx6-Oh6n2y9ewS4kV_zhlY3U_ovIUTlhv8IpecHDpGAbU8ZNvjYkRzQp5lrdbIcSuAfUzrVqgc2Xr1MDkRmPYb-7DwP5_owZPvlk4z7-u7A7NB-hLeO6Q1KFmo6JXBlRS5A9KVR6pMNUqOYq7Obyu_OxYEBcZIE2oImDyjVIxXqzvA96JHDcHqjOz1Wi-hsqofDa1r3qiZ_CGg3Fn8MK1zdghubNiZNtFYMLzoR2eqjpAIiujKLy6bT9lxiAbB7sYaDnP0kqWGiuQ8G_dv7fukkf23fKFxqloMr3gkHsWDFVHWyXwRV0TW6TzPPVsmyR5uOfZxB3DYW_FzPsDXmryjMbd0DG6B3V8Q453Pwg6KlvlgrWzalhIRBzPsarLb7lh00ypbNMTMZowdevFzPlvCaOUaF02uc5p8AOPGSsFWcgEwbgAQHfKsXTvuern_PmHMNgKpvsrQsUJOTkmr0IGZ-h3dzAI957mj9A9AZY_GJ_DdUf7JLQpaWUtmjwMfBGRNje8r-ivcxCUgiGOfO17VvG2q__AjFkUZ2lUJksI2JcmcGtWPFu3rexustowp9a4BTTG-XaKglihugU8FU0Pdr6o6R-vX8YOw7PCMy7RO5ofHMW6hOXr4HocKudatrv05svLryvkhMrrf9ykkOKTRpDrTNogSb6_E0Q7Uoust0KjtvkMP9B1sF0dapr6fS-fRn5NVRQ5oUY-fULpgU9BiXPfreLRow9iS_GInHJgkY3q9ICl46AeBj2eThcaiC_z290j2Ix3N8SslSog6xKfKcjE2iWlr3XJGuUycQR5a9mlcPSWzCkfiB4aqCyabsYg5BqdMtIoCfmz4JgZvcuyvDtH5qR_Ljir1fW-7e6aq0BpSoGLBqldE9ghUQQmqGsGKdSQ52bp77XLzRaVOwA2sGjVuiz2aiCL-XtM16pGHYi9QhuHLDBePvNDM_OVnq-aXBv_jhPW5v-8h0wtGNgr8zxPYVGNWa2F0idxdWweis4FaEpMumQiuFMRq1gMiz1WplyVTyvSn0tsu8QO1tDHxrLMI6WFpiBNI7BOD1H5FKPmfuGxpxl5MK5orneWFBup7p5qUuacJVY8sS29UX6y2KJHJkJFpNnwO5SyCq6yBuSDMVC70eic-FbcVaTAVLBiGY3yUZ_TDbQaI3A8_DQ3u_Y8HLQnMGeRcbbOWGLMLFtjuVER51Kh2UzvjgRy5Cmbc1mLKsso49S3jq5kPFIifLpZAow7PPM4cFNxvz_Dv90ZgvAJqlG5vl4arrobPT5V6K2Uh5Fm0Oy-iTNqhBLmd2M57tL3FS5vXieE0YN3i9se-ZPcWF83T0dpfqHfSai_mv5wOhhEq_H6z2saHt1I6WvauSoRmEES2AecJaO1eCEzVAHBBeM1eIjsiVK6sVmCjGZmRuDld9jX6Zqr0-wD0R8YMEVBNGWcuj35_7Bje_7L87_LAWrP7tFLYUq7S-tAkL0kCSWlHh",
  "id": "rs_05f62207e9a2b651016ab450418a0087d08af79c740743991c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The jaws again closed empty while the brown toy stayed in the wrist view, proving it is still a few centimetres beyond the fingertips despite appearing centered. I’m reopening, raising slightly, and advancing 4–5 cm radially so the grasp point reaches the torso.\"}",
  "call_id": "call_iJI57Q31EZZSqvLV0F1BkMII",
  "id": "fc_05f62207e9a2b651016ab45043c7a487d0b676cbb78d9dd058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iJI57Q31EZZSqvLV0F1BkMII",
  "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]: [-0.395, 1.1854, 0.6334, -0.3977, -0.345, -0.3214, 0.9952, 0.0334, 1.05, 0.8886, -0.6956, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2998 left_y=-0.0564 left_z=0.0872 left_yaw=0.0755 left_pitch=-0.3112 left_roll=0.0898 left_gripper=0.9952 right_x=0.3015 right_y=0.0006 right_z=0.1749 right_yaw=0.0725 right_pitch=-0.3055 right_roll=-0.1868 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -3.3709, 8.6632, 1.4872, -0.1929, 0.0757, -0.0513, -0.0342, -2.7966, 6.735, 1.4725, 0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36303e15d4fb18634af7581584ed22fd576737137f664ac83637edbc789f26e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca97cd3a7b5e3680a260f13d662cccb22ead7c6eb6936e7aec1a547f4e3387f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9cdbcc1e0e33b84b3725018ab878e5cca8b224646816dde5542c9e28146e62a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.267 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]: [-0.5014, 1.0729, 0.3973, -0.2466, -0.4042, -0.3931, 0.0107, 0.0334, 1.0435, 0.8886, -0.6907, 0.0769, -0.202, 0.9978]\nstate[eef_state]: left_x=0.2658 left_y=-0.0624 left_z=0.0524 left_yaw=0.0522 left_pitch=-0.2605 left_roll=0.0697 left_gripper=0.0107 right_x=0.302 right_y=0.0001 right_z=0.1775 right_yaw=0.0696 right_pitch=-0.2941 right_roll=-0.1888 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -3.0974, 7.3368, 1.1893, -0.3199, -0.0122, 0.4811, 0.0205, -2.7829, 6.7761, 1.5311, 0.022, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5007, 1.0134, 0.4984, -0.4255, -0.403, -0.3969, 0.0101, 0.0334, 1.0481, 0.8886, -0.6952, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2633 left_y=-0.061 left_z=0.0798 left_yaw=0.0568 left_pitch=-0.2763 left_roll=0.0762 left_gripper=0.0101 right_x=0.3015 right_y=0.0006 right_z=0.1755 right_yaw=0.0725 right_pitch=-0.3032 right_roll=-0.1869 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -2.4547, 6.2017, 1.4139, -0.2808, 0.0269, 0.8767, -0.0342, -3.1795, 6.735, 1.5214, 0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.395, 1.1854, 0.6334, -0.3977, -0.345, -0.3214, 0.9952, 0.0334, 1.05, 0.8886, -0.6956, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2998 left_y=-0.0564 left_z=0.0872 left_yaw=0.0755 left_pitch=-0.3112 left_roll=0.0898 left_gripper=0.9952 right_x=0.3015 right_y=0.0006 right_z=0.1749 right_yaw=0.0725 right_pitch=-0.3055 right_roll=-0.1868 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -3.3709, 8.6632, 1.4872, -0.1929, 0.0757, -0.0513, -0.0342, -2.7966, 6.735, 1.4725, 0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36303e15d4fb18634af7581584ed22fd576737137f664ac83637edbc789f26e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca97cd3a7b5e3680a260f13d662cccb22ead7c6eb6936e7aec1a547f4e3387f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9cdbcc1e0e33b84b3725018ab878e5cca8b224646816dde5542c9e28146e62a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBJZt6uR15nr4D1MKO1iGSZpsPobr3KrQtzAmyugIVtOKbIjnEH5rHmLGFSKa0rXavZRGv4DMbiUSwIkK-kaJ3ByMXFoVjJ1n9cd_ach0AmZginvxzpbpIUp5biry15Iuirm6CHFlAO-Qe0WVMzZTXTdMJVbAbcE6s7lAS7u8TfDwFjmkvaDY3Vl8WisSbpANLjSr3BJCbKlbF10DSA8tHHidZOxzKzt0sQIts69SKevEUSj4PnyWyTWCasMo_mMPZA1r9L9PKyJTCgDnXP0OfJ4arGS5pYvW6X5NSQeS-Z0XU7lCrukafuzx2FFw0RbEG9IKHXmCqgMEE8fj5OrhpuqDGdWR_dlz9YW04Um3BzCHySc_U28Dci3ktcynGW47LaepR4iXPM4EFF6Ow_sktGWapXtbmpRh0AeczxQ0-LNyaSOEUuTLkuIqpn7r6PyaMHxlsz6_c-3CVotL9Nl3hf-UvA8rCyU8Dm1PuvnAo0PIsfRTXoR6R_6FR4KYkR7ObHxNglN469aTyraLDjJsbYdxg26RCiuErEjgzsJa6a7vVvY3CH9EnNFPICmxGu2npR0-K1SRSWroEik_vi71Z_huQjYLTGTEKxz1p-cV4GDMag_xapQ5gATJQIdDa52WdZB_yMsgELXQRzbqzB04M4gcEQSULenHdTMx0gaXqaXgAo0fTUfpqpjBmznBBmWDnnRYuYjG2ZAr99L7W51GfWIPtycGVu3579_WgDUWNd7jq0Qm_qg_QAO6rBAQoqx5fewyJG3OvYK5pQ67XjsVafU-fy0Qanuur-uvmnpL8_Q2jhliOJuH0SmO5a3_k0C9nNO6sVTLw4P-r4Slt5KXCpbNZelK6LBxQ3qfLqJLbcmSrVL8f6m3SWITVOSKXLLL4BBk3tKFbHNLl8FkDVlugqTWIToNypSIZcqg-w7KbcL_YWO_1chLvZLb8bGO8W6_LbBF8VL4RTIqXIPTmyrzTqaONwXW_XlPSJUfwv7QUcMo63AZndyfi6DotnWyQZz02k_UPYnWg_9yxd-5R5zHA7j6hBJSMMTpN5hqGfCHWf6HTJJLo91Fx8cpxXZBwjQ-5fbkcdJ5Co8fvYJ0PX0IgvSUEPgC-jgeBbP7x97dhm63VK4qeTQAkVvwLUduMbpx9ykkDpcOWxHDCR8Qcv9C1u-tV0lYcDB6HSXJXj6kRh3S6fUxM0sO1rIrHyiZcq-kH7tF-2dkwZJipdFKjqSbrEtHQj8zisgdtSDDw0MmQa96JOQLLb1WVw6YWSgdXvUql7lcjxibMMqeinZKdqvkB8YwiZNSxsHJaFy4t6RGd2jwblmGR2ewvFgkGkZRqlJuz746KYBDWUkmJhKSJIC6HaP3r7TbsdYCs-d3D5JZAEd9u13_QHjs6ieaV9gWEHh6oW6dhm7o6_BJrfCjdbb6dF3iGX--xmNBPKltWIhl5MmTwUhz_NnQLugfDOqnV7hMrbygrwvqeZv0lyt2kUXYjGRvEMrOUsHqvtagZOOZJxWvblHPq5QKBcZP-0rVWCxAPqbOvDbnmxyidhjTVe-SwBYA==",
  "id": "rs_05f62207e9a2b651016ab45047875087d0b66915567b27deb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_z\":0.08},\"note\":\"After the radial advance, the brown torso has shifted down to the fingertip row between the open jaws, confirming the prior depth error. I’m making one final 2 cm forward adjustment at torso height before closing.\"}",
  "call_id": "call_MhZ7BPJRIqP3G2z0ytT7UYZ2",
  "id": "fc_05f62207e9a2b651016ab4504853c487d08ac0537258b41d4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhZ7BPJRIqP3G2z0ytT7UYZ2",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3679, 1.2564, 0.6559, -0.3599, -0.3325, -0.3092, 0.9966, 0.0334, 1.0508, 0.8886, -0.6971, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3116 left_y=-0.0545 left_z=0.08 left_yaw=0.087 left_pitch=-0.326 left_roll=0.0933 left_gripper=0.9966 right_x=0.3013 right_y=0.0006 right_z=0.1744 right_yaw=0.0727 right_pitch=-0.3077 right_roll=-0.1861 right_gripper=0.9978\nstate[joint_eff]: [0.2393, -4.2735, 7.7607, 1.1013, -0.1099, 0.0708, 0.1294, -0.0479, -2.7556, 6.7487, 1.4921, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabf9892641de6c802d57bebce8c21f47398b3a977bec55108c7951730d3d210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02f86b95483d47931f41dc27ca68c6b8a06d5243ffef4e671de8a96eb719ee4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcd909932f30aa6c2bec4aff00382ba0ae628bbfe3d841dcc2bc145104b427d",
      "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 · 3.783 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]: [-0.5011, 1.0115, 0.4942, -0.4168, -0.4034, -0.3946, 0.9953, 0.0334, 1.0435, 0.8886, -0.691, 0.0761, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2638 left_y=-0.0613 left_z=0.0799 left_yaw=0.0545 left_pitch=-0.2708 left_roll=0.0745 left_gripper=0.9953 right_x=0.3019 right_y=0.0002 right_z=0.1775 right_yaw=0.0705 right_pitch=-0.2945 right_roll=-0.1884 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -3.0701, 9.0188, 1.2625, -0.1587, -0.0317, -0.1538, -0.0205, -2.7556, 6.9812, 1.5116, 0.0024, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.395, 1.1854, 0.6334, -0.3977, -0.345, -0.3214, 0.9952, 0.0334, 1.05, 0.8886, -0.6956, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2998 left_y=-0.0564 left_z=0.0872 left_yaw=0.0755 left_pitch=-0.3112 left_roll=0.0898 left_gripper=0.9952 right_x=0.3015 right_y=0.0006 right_z=0.1749 right_yaw=0.0725 right_pitch=-0.3055 right_roll=-0.1868 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -3.3709, 8.6632, 1.4872, -0.1929, 0.0757, -0.0513, -0.0342, -2.7966, 6.735, 1.4725, 0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3679, 1.2564, 0.6559, -0.3599, -0.3325, -0.3092, 0.9966, 0.0334, 1.0508, 0.8886, -0.6971, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3116 left_y=-0.0545 left_z=0.08 left_yaw=0.087 left_pitch=-0.326 left_roll=0.0933 left_gripper=0.9966 right_x=0.3013 right_y=0.0006 right_z=0.1744 right_yaw=0.0727 right_pitch=-0.3077 right_roll=-0.1861 right_gripper=0.9978\nstate[joint_eff]: [0.2393, -4.2735, 7.7607, 1.1013, -0.1099, 0.0708, 0.1294, -0.0479, -2.7556, 6.7487, 1.4921, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabf9892641de6c802d57bebce8c21f47398b3a977bec55108c7951730d3d210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02f86b95483d47931f41dc27ca68c6b8a06d5243ffef4e671de8a96eb719ee4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcd909932f30aa6c2bec4aff00382ba0ae628bbfe3d841dcc2bc145104b427d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBLhgY8eEN1wVPUTC8JJb52Ic0C4xyUD-cXqg2-ZMmcYSxxSBJT8R7Q4BeLYufWoPMiBthZbfDzKHnUc1RXAJq4fCBEEXscEyw6y93BoUnGzN4NZGA0JwrKRH_Zk14Ue-sEMNB3ThNd6kSrEL5oizB3tFw8mgb2J_ezngHHUrv1Hc5X919xeVWLvv48zj7eNcsFR5R2Uk8H1-bpxM90nmXWPWGCtP3Nh2hZRi8i3fMW1MP3ug6l5I22knmthfSPCt07kiUrgR8WcazhK4wq1pRxT91FPYA-L_2JUOpDRe4suc0coLZdJI0vpcUw_M60VY5oMZ1SQtlYQHgK083WOZXXAdRupoxHrIhddVA7NOgjvWXKj9GzNS0waK2sD0Wxtw8gdqO2alo8Pjwy4L0fGSGd1wjuWyuZfJNQ4bH0dLNreP9GgU98jDUxSjWA7SC5uXZauz7x-7B2C9MasvnfTAxpd-NLwQZ3fqeJnkZIEexu4901RFJgFZAhdBGvtiuEL3c27nTCWnPZrzsnFK-3N7KMBO5FXnnVx-thrM1y84Bi1_83E3v7XWylpcA23joWdBbPt1vb-pvpQQUC0dTVgMhaph59JcGBvwEM2bmdpHJo8WkI4E5PVJfJ3x8QhAqUnn-lfdZ93L3UsSbLf1WlcADoeYXVVFRycZf607JrvLQqgeWRLgM0XG8PCzJKNRvINBx67NLN_LEkL8zMSN8fSlEd3yGJaa6vMGoHS35hKLjz7rVAB_6ncDib4cf4r2wFabjAgacoB_clJwa5wqVPgtzSnm7zz33YbaJ1rV5VjVraNafhd7i6xoA1VY50fagYHG4HJ9bSjBf_L7L8DA6w4X9ECgvxa6vfPqwQxvfh3oRYVSRG_RhslQ-dnPmnDm5fZDMWBH6-oVqHIOmQprZDwZj0OM3ZkpFGinvVDULGYYX06KdqBhH4334n9zKdXLEuB05wGtKMsdoPBJTVPsGtdzlYOXka6XxczzjwKX2h_kYvIMY6A0IbTg1Xct_aqa3gIU_X8yODNDnTALrZn--PjnGr3h28DV6NbCJGkcujwIWiW-dM3tdyb-7uPhfzLRKz5y1AIVx86TdgG4PwdfzNhexpt21n9hg2Wx2z4nh3dCCBtz2rRExMnHJHJJWhKsN5s4pWRac4uLcGLyLtRxC6FPvsUUR9UJdcvbkyHZA-l4bBLPyhLLaATnjSaATvMAPTtKP2UF14RLg_ypJQLPY6PDvfhg==",
  "id": "rs_05f62207e9a2b651016ab4504a836c87d0808e13b9145700f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The brown torso is now at the very bottom of the wrist image, exactly between the fingertip tips rather than merely on the camera column. I’m closing with the corrected radial alignment.\"}",
  "call_id": "call_SjCd7m7jptAYecXjd6mzlfXT",
  "id": "fc_05f62207e9a2b651016ab4504aa4f887d0ba8f1c4846d2d0f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SjCd7m7jptAYecXjd6mzlfXT",
  "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]: [-0.35, 1.3163, 0.6575, -0.3233, -0.3283, -0.2874, 0.0103, 0.0334, 1.0546, 0.8886, -0.6956, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3174 left_y=-0.0514 left_z=0.0677 left_yaw=0.0925 left_pitch=-0.3484 left_roll=0.1144 left_gripper=0.0103 right_x=0.3018 right_y=0.0006 right_z=0.1736 right_yaw=0.0727 right_pitch=-0.31 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -5.5316, 7.7197, 1.3895, -0.1343, 0.0171, 0.8816, -0.1162, -3.0701, 6.8308, 1.4725, 0.0073, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7847e7debdcf2d3a443907d8e2aef01f77dbfad3dc9eddcfa00eb7c40450bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4812b6e31cc2839fe69762c6865665d37d83a4687042e37391cb4ffe22a21c54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef90b4711d9d50c4b74a1d0c335f1cced4fb944f0ab462a0b6b6a534098660b",
      "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 29 attempt 0 · /responses · status 200 · 5.681 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]: [-0.5007, 1.0134, 0.4984, -0.4255, -0.403, -0.3969, 0.0101, 0.0334, 1.0481, 0.8886, -0.6952, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2633 left_y=-0.061 left_z=0.0798 left_yaw=0.0568 left_pitch=-0.2763 left_roll=0.0762 left_gripper=0.0101 right_x=0.3015 right_y=0.0006 right_z=0.1755 right_yaw=0.0725 right_pitch=-0.3032 right_roll=-0.1869 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -2.4547, 6.2017, 1.4139, -0.2808, 0.0269, 0.8767, -0.0342, -3.1795, 6.735, 1.5214, 0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3679, 1.2564, 0.6559, -0.3599, -0.3325, -0.3092, 0.9966, 0.0334, 1.0508, 0.8886, -0.6971, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3116 left_y=-0.0545 left_z=0.08 left_yaw=0.087 left_pitch=-0.326 left_roll=0.0933 left_gripper=0.9966 right_x=0.3013 right_y=0.0006 right_z=0.1744 right_yaw=0.0727 right_pitch=-0.3077 right_roll=-0.1861 right_gripper=0.9978\nstate[joint_eff]: [0.2393, -4.2735, 7.7607, 1.1013, -0.1099, 0.0708, 0.1294, -0.0479, -2.7556, 6.7487, 1.4921, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.35, 1.3163, 0.6575, -0.3233, -0.3283, -0.2874, 0.0103, 0.0334, 1.0546, 0.8886, -0.6956, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3174 left_y=-0.0514 left_z=0.0677 left_yaw=0.0925 left_pitch=-0.3484 left_roll=0.1144 left_gripper=0.0103 right_x=0.3018 right_y=0.0006 right_z=0.1736 right_yaw=0.0727 right_pitch=-0.31 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -5.5316, 7.7197, 1.3895, -0.1343, 0.0171, 0.8816, -0.1162, -3.0701, 6.8308, 1.4725, 0.0073, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7847e7debdcf2d3a443907d8e2aef01f77dbfad3dc9eddcfa00eb7c40450bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4812b6e31cc2839fe69762c6865665d37d83a4687042e37391cb4ffe22a21c54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef90b4711d9d50c4b74a1d0c335f1cced4fb944f0ab462a0b6b6a534098660b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBQNJn4xXtSG723Cm8Gwqphukf2h0f91rJG3ofxYMNFxQlRy5s0N2dKVfldRGB99rvi0tDWaeN_6d61zuXMyRWmAEP6NV-I1WPgP__eDLKLzeV7yxhWNrLdx0wHHTrrjuwM2HJkgp7STGJOfc-Bzxg2WCLn_7AkITNjDH4o1vW-nmY7-lXO8nVMeGYTVhoNE4yWwbzRLu7RNL2j0pk2F7ot5k0QXOr7R_oypnM_AQpuC-SXRwXTuTNO3uy-RMNRXHn507SuWdOPPWZpMqmPZqMYUjVUJzxtE1yW82CeVXknBva3gPS3Xl8gKzDpAe5ZGDhRQXqFRbyVg4aj0sqj0NSNmOQJNuzpZ-TFioPD1XGjZb5aFkk5UMDblXYzyEKlemDFirPwrKAB-dJ6NsFhFQMWAnqBmfOhwrpajGNiAYOLB69aOIJ-v4UmxLPP2g8nUqm7zheiq4Xz6mFotwEGXAy8_81VAd_66CE8GjOWyUmVjJNHLQomz8bYP8AMiaoHe6f5nHd1IkmGsUEsGmhJJpry8rB3vzK9uNPejk8K7nSA8y32D41p6o0X-BkQrA7W3BpDFKc0Q1MJCzaxXLIKVxJ8XX8ZRFzn4rR5PdSkUXwbrQ_dzRQ4wuMvntPYkmljZR7CpoZQwoZqXGpsvSBKQMg7K_GIoB68ADW-lFc007BZrHWUm9GjjEwfp1nUQsBeCRBZqWGFo4lNlHzVx3YcdjMZGwmC6V-O-nFBlpfHGWwlybXiqXwCDPUOlgqFBJed0VOqupASWNqtpWuCnfi5gcVqAvCl1TY3QWTZFNZ_cgve92getJbFxCUyn6TGgrtssAwYMXj5RLsojelMHDgtVxEccpriIZbmPLvg1GHFrZIeuMHuwty5OM38ufqCMdPFVtcRaiJem7_YqSNKZfiPU0Ni-lMpGzueeLjjXeSOyHLAIicDhGidZvRRIuaUF94UN9bRd9NMmb3zRWkJVlMxe-IdAIlK3OogIA2kPrN0HiVz6a2CaWILj9nbL5USnNuRndnpMPxR5DogYLJpIYFsE0Nf6UsAQAb_d1wHYQ_DTlTtB12wtV_ZMMwpf1EQ4yNHEDrJn-jXeOuja4K5AH_fE4IAqJ9v51H8OamKu1iiOMm0-TjYUN8bFo8BCkxX3DamA6FYw2PCEZjbQWylZD0FqXs-LQXoPzmCIfZ6i06g-gLdRbQ50-XSn9cJjcoVB4EON4TzRP5d6xtU1b4WrpHtdPogeNYxccbR8_Ub7UCUl8_HaexRM2obQV8CW0mb203odY1f_mGA2JwRDe0zFAqRzC3VJmDRp_mqylgIL13Ji9URgEurTBoAERdIUlg5SLMvBqoyzDwyKClpIblnPMOMONK1xDvJeMIracxadsWmJROVw5u6n3mOXA49G65uGK5ZNXjkpe6k8ThoPK2DoimoBF5B5G6YeT0BRlEbfCe9VCH-N6rao7lOK8-UR6iKlGCZBE9B-G6ak4PBsnuQ8QYTdKZ_j0q5AU4FZmClnaXbc6g-kt1KOdWENGSyapaehlcTs8kfptUuP8LwW71AJp8XmtYbih7EhCsYcz7cED5ETz13XWSbLbNGnvEYKs5hlRZc-b07A4w1A5zrBfDCfPoKZsiE3i4nwS7tP0tqb2EM3jqcjLVmJLDn5IGQlhF1hl0DMJc-eRYBtLmx7-CLsR9WAKv8-Z7PDBHjkcNCz1MO1gAEHJostzCYufj9XEtvkD_f0ggHr_YFs5xvpam0ytsvra6ZfjlP8g3CzZh62WXZ1UgTRvsAt1Em-_KoQIb6FE7jU_3PTJ-EKWd9EUQkLHlUnC9GEgGmytXAEuTm7arJgfXG2MYcsfJn2fHcGUhJjDaMkeyrdCwq6EymrDtC6YYGP-6fHyAsz3A8TS9jGkmsN2_8IsNZxmUZKBH2iAh3J8mMmJZvag5NKQA1Ln4ZdCHXoBwXEheEBj31zWYWEgmMWDsGabbEE4rcrswry62Le4otN8_HCYR_QSmkaTBOgUEL0A7nNFchbYTeJwJkbJSSYIlCwbg=",
  "id": "rs_05f62207e9a2b651016ab4504dda5487d08537ee7c132a43dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The brown toy still remained visible after closing, so the wrist camera’s fingertip projection is farther below-frame than expected; depth, not lateral alignment, is the remaining error. I’m reopening and advancing another 3 cm while keeping torso height.\"}",
  "call_id": "call_JkX580GSCXWli2CaUd17TE6K",
  "id": "fc_05f62207e9a2b651016ab4504f6ba487d083585e09f35d1a12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JkX580GSCXWli2CaUd17TE6K",
  "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]: [-0.3122, 1.4006, 0.7902, -0.3786, -0.3111, -0.2611, 0.9951, 0.0334, 1.0546, 0.8886, -0.696, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.3426 left_y=-0.05 left_z=0.082 left_yaw=0.1021 left_pitch=-0.3624 left_roll=0.1206 left_gripper=0.9951 right_x=0.3017 right_y=0.0006 right_z=0.1735 right_yaw=0.0726 right_pitch=-0.3105 right_roll=-0.1866 right_gripper=0.9978\nstate[joint_eff]: [0.5128, -4.6838, 8.5812, 1.199, -0.1294, 0.0659, 0.0708, -0.0889, -2.8923, 6.7214, 1.4335, 0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922df25877a5ead44065febe2e59ab998ba32165c7a32e8b2d61afc30ae39caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d39ff15a2a6afccd3f491dbe37f03dfc33b523d89f767e721e03689050b57c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ced93e0f56a07818a35282d2e4602bd836cdf0a0f93447878ab9939eacbaf5",
      "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 30 attempt 0 · /responses · status 200 · 2.64 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]: [-0.395, 1.1854, 0.6334, -0.3977, -0.345, -0.3214, 0.9952, 0.0334, 1.05, 0.8886, -0.6956, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2998 left_y=-0.0564 left_z=0.0872 left_yaw=0.0755 left_pitch=-0.3112 left_roll=0.0898 left_gripper=0.9952 right_x=0.3015 right_y=0.0006 right_z=0.1749 right_yaw=0.0725 right_pitch=-0.3055 right_roll=-0.1868 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -3.3709, 8.6632, 1.4872, -0.1929, 0.0757, -0.0513, -0.0342, -2.7966, 6.735, 1.4725, 0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.35, 1.3163, 0.6575, -0.3233, -0.3283, -0.2874, 0.0103, 0.0334, 1.0546, 0.8886, -0.6956, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3174 left_y=-0.0514 left_z=0.0677 left_yaw=0.0925 left_pitch=-0.3484 left_roll=0.1144 left_gripper=0.0103 right_x=0.3018 right_y=0.0006 right_z=0.1736 right_yaw=0.0727 right_pitch=-0.31 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -5.5316, 7.7197, 1.3895, -0.1343, 0.0171, 0.8816, -0.1162, -3.0701, 6.8308, 1.4725, 0.0073, -0.0171, -0.0122]",
      "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]: [-0.3122, 1.4006, 0.7902, -0.3786, -0.3111, -0.2611, 0.9951, 0.0334, 1.0546, 0.8886, -0.696, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.3426 left_y=-0.05 left_z=0.082 left_yaw=0.1021 left_pitch=-0.3624 left_roll=0.1206 left_gripper=0.9951 right_x=0.3017 right_y=0.0006 right_z=0.1735 right_yaw=0.0726 right_pitch=-0.3105 right_roll=-0.1866 right_gripper=0.9978\nstate[joint_eff]: [0.5128, -4.6838, 8.5812, 1.199, -0.1294, 0.0659, 0.0708, -0.0889, -2.8923, 6.7214, 1.4335, 0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922df25877a5ead44065febe2e59ab998ba32165c7a32e8b2d61afc30ae39caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d39ff15a2a6afccd3f491dbe37f03dfc33b523d89f767e721e03689050b57c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ced93e0f56a07818a35282d2e4602bd836cdf0a0f93447878ab9939eacbaf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_05f62207e9a2b651016ab45052719887d0b4c932a126254800",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.13,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The overhead view resolves the confusion: the gripper is physically left of the brown toy even though the wrist camera makes it look centered. I’m returning to the previously proven pickup coordinates (about x=0.26, y=-0.13), where the first grasp produced a clear 0.13 hold.\"}",
  "call_id": "call_90L4lDQW4UxDoPQ0ydyvXyqb",
  "id": "fc_05f62207e9a2b651016ab45055c5ac87d091abc567b1f29898",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_90L4lDQW4UxDoPQ0ydyvXyqb",
  "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]: [-0.775, 1.359, 0.6888, -0.4866, -0.4984, -0.6506, 0.9987, 0.0334, 1.0584, 0.8886, -0.6971, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2647 left_y=-0.136 left_z=0.0589 left_yaw=0.0422 left_pitch=-0.3771 left_roll=0.1203 left_gripper=0.9987 right_x=0.3017 right_y=0.0006 right_z=0.1723 right_yaw=0.073 right_pitch=-0.3154 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.4855, -4.9983, 5.6274, 0.8962, -0.569, -0.105, -0.1441, -0.1846, -3.2342, 7.1043, 1.5263, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f9b35770a8a64bfbcea0c0e87fa48bdfa813241f95b1e4db176d27c78e56f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7775842279fbc675936cf31c564e1066c8198978862d94685c9b121619f115bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87feab8091ce82d2539e217ed83dedf9d8469e01baa480a0731067efd81f425f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 4.52 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]: [-0.3679, 1.2564, 0.6559, -0.3599, -0.3325, -0.3092, 0.9966, 0.0334, 1.0508, 0.8886, -0.6971, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3116 left_y=-0.0545 left_z=0.08 left_yaw=0.087 left_pitch=-0.326 left_roll=0.0933 left_gripper=0.9966 right_x=0.3013 right_y=0.0006 right_z=0.1744 right_yaw=0.0727 right_pitch=-0.3077 right_roll=-0.1861 right_gripper=0.9978\nstate[joint_eff]: [0.2393, -4.2735, 7.7607, 1.1013, -0.1099, 0.0708, 0.1294, -0.0479, -2.7556, 6.7487, 1.4921, -0.0073, -0.022, -0.0122]",
      "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]: [-0.3122, 1.4006, 0.7902, -0.3786, -0.3111, -0.2611, 0.9951, 0.0334, 1.0546, 0.8886, -0.696, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.3426 left_y=-0.05 left_z=0.082 left_yaw=0.1021 left_pitch=-0.3624 left_roll=0.1206 left_gripper=0.9951 right_x=0.3017 right_y=0.0006 right_z=0.1735 right_yaw=0.0726 right_pitch=-0.3105 right_roll=-0.1866 right_gripper=0.9978\nstate[joint_eff]: [0.5128, -4.6838, 8.5812, 1.199, -0.1294, 0.0659, 0.0708, -0.0889, -2.8923, 6.7214, 1.4335, 0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.775, 1.359, 0.6888, -0.4866, -0.4984, -0.6506, 0.9987, 0.0334, 1.0584, 0.8886, -0.6971, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2647 left_y=-0.136 left_z=0.0589 left_yaw=0.0422 left_pitch=-0.3771 left_roll=0.1203 left_gripper=0.9987 right_x=0.3017 right_y=0.0006 right_z=0.1723 right_yaw=0.073 right_pitch=-0.3154 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.4855, -4.9983, 5.6274, 0.8962, -0.569, -0.105, -0.1441, -0.1846, -3.2342, 7.1043, 1.5263, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f9b35770a8a64bfbcea0c0e87fa48bdfa813241f95b1e4db176d27c78e56f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7775842279fbc675936cf31c564e1066c8198978862d94685c9b121619f115bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87feab8091ce82d2539e217ed83dedf9d8469e01baa480a0731067efd81f425f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_05f62207e9a2b651016ab450592ee087d0a11f5a80f916ae05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the proven coordinates the brown toy now fills the space directly between both jaws, matching the successful first pickup view. I’m closing around it.\"}",
  "call_id": "call_8xgh3QKTPUA8CHtGOoICUKEi",
  "id": "fc_05f62207e9a2b651016ab4505943bc87d0a7f7aa77cee975f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8xgh3QKTPUA8CHtGOoICUKEi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.3594, 0.688, -0.5003, -0.4942, -0.654, 0.0101, 0.0334, 1.0584, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2622 left_y=-0.1343 left_z=0.057 left_yaw=0.0462 left_pitch=-0.3898 left_roll=0.1271 left_gripper=0.0101 right_x=0.3017 right_y=0.0006 right_z=0.1722 right_yaw=0.0728 right_pitch=-0.3157 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -4.6974, 5.9966, 1.1013, -0.3004, 0.0171, 0.8669, -0.0752, -2.7966, 6.9812, 1.4579, 0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b393235664bca36500b72535d25bbab5f5e57de0895883ae36cef32ce33494d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f72257c1afdfd487aebe3ed0401f690f7d941a5aa2ef5960a9e953bdd29f12a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9f5197c73a204cb934f5df6f2c1d3c03b1070b46a46b477e265392b3e0f39e",
      "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 · 1.971 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]: [-0.35, 1.3163, 0.6575, -0.3233, -0.3283, -0.2874, 0.0103, 0.0334, 1.0546, 0.8886, -0.6956, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.3174 left_y=-0.0514 left_z=0.0677 left_yaw=0.0925 left_pitch=-0.3484 left_roll=0.1144 left_gripper=0.0103 right_x=0.3018 right_y=0.0006 right_z=0.1736 right_yaw=0.0727 right_pitch=-0.31 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -5.5316, 7.7197, 1.3895, -0.1343, 0.0171, 0.8816, -0.1162, -3.0701, 6.8308, 1.4725, 0.0073, -0.0171, -0.0122]",
      "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]: [-0.775, 1.359, 0.6888, -0.4866, -0.4984, -0.6506, 0.9987, 0.0334, 1.0584, 0.8886, -0.6971, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2647 left_y=-0.136 left_z=0.0589 left_yaw=0.0422 left_pitch=-0.3771 left_roll=0.1203 left_gripper=0.9987 right_x=0.3017 right_y=0.0006 right_z=0.1723 right_yaw=0.073 right_pitch=-0.3154 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.4855, -4.9983, 5.6274, 0.8962, -0.569, -0.105, -0.1441, -0.1846, -3.2342, 7.1043, 1.5263, -0.022, -0.0611, -0.0122]",
      "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]: [-0.7746, 1.3594, 0.688, -0.5003, -0.4942, -0.654, 0.0101, 0.0334, 1.0584, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2622 left_y=-0.1343 left_z=0.057 left_yaw=0.0462 left_pitch=-0.3898 left_roll=0.1271 left_gripper=0.0101 right_x=0.3017 right_y=0.0006 right_z=0.1722 right_yaw=0.0728 right_pitch=-0.3157 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -4.6974, 5.9966, 1.1013, -0.3004, 0.0171, 0.8669, -0.0752, -2.7966, 6.9812, 1.4579, 0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b393235664bca36500b72535d25bbab5f5e57de0895883ae36cef32ce33494d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f72257c1afdfd487aebe3ed0401f690f7d941a5aa2ef5960a9e953bdd29f12a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9f5197c73a204cb934f5df6f2c1d3c03b1070b46a46b477e265392b3e0f39e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBfwVi_co-kegNvz7U4zFnjoKVeeBGyZScn5TYx_s4UyvD6jM1dXgMblOlk3PmxXMTdJ0t4AseZ9D2953sBa7ml7CNI3C6EEFsr86sXq7rPAX7D1n4atJ2auJ8fGSgq73iRahJ_4jzNykSGwfhES-Fq6ZgJgrKC3fm3y_r76d_oWefHuDo4M33H7ANTJlyyL4tT5PA-bgKHolH_ZtndYRLckCW6dr_-m_WGHaDxQt0fTLhoJKoWby0Nl95nF67_tn6dvHqSIZecRXZivGQgNAt0b3DzcBvwmMsfGqw7VoXB7lAyuF0QpCKmnNeEFh1eynQ_WO5I16Tq4KKGAedvJ2zylCDV7P6TPM_OsAPwr6sRTGwEHBXc5RWSL6ohX3iDCiIcn1WX8JInV6ZXNisiic2kdv47n5_dLfwRRxPT07zwmCUlxc2Gl831VNHrZuBrKPqk3Ak-a_Z2kmJOMrMLTo6gK0NksKRvGieUZrFqT69WXJF_kTEOCXXZsCaJWriLeUydm9bnKxkPjW6-VO3NlXDVzeVEEMNkRukRHn3h2qc_z9qmAVDz4UTSlYEIxwZrwuozNIF-w1Yi6cRtDZPFWDmFWaCIKHiS_5cMZrlSxnjVUv9IKFZSoU9U-7o6GkmfwRXtRlalBp9q-U-E1hjm3klectUhD8CZ0_Gjbfs_4Gb9L8P3ZKuqyEC-F_x7djtqfTzsnN4EgSAOoWoHNvXV19KwaTpqmVZ-gPGoCCziI8V_9rChoXSslZ860p0QXwZonzMwCjcgskUtmDysjJjast4pyN_T1eeeL-rokBUBXGkeJiX7RABDZZQW5wv6t0zo9dGLWPOJuRN08MVLS6914N9r1yDKChEO_I1yD3Hbu1a65Uaw-I-eE6iLZZnt0odo8FSGTvl0Lx_3YOnfSjc3lVW-HXxtfwL47riyxss_DiggcP8hq9Da3KAHzkJGuVG2usY9I00Z7Q0rKv2N8ghft4XNTh8yRFhhZtgBK0mXV1-XesNXuszhXJwvUXI5F6uaS29O7s0eu0up8dGqSBpKrj6Ho0qgi2qZ1ChuyqBBNbECWJ3XmXJ_5SdoIG6-17mCUFTAmyV7yQHfIYHzYIdgDu5xnWKr5U617nl6k02HGX2C-64kpfJPScKkpUZk1vAqJvI9gRCLCAA1gWZLeP_-ytHxCr4rD-nJrclW5izNR2PrQu7bvsHsC9_sYFIfLHswfWTWnM1KMVMVlf3pG5ZOKMPS3kuCHFg6F2bVYOQPH2GfRbfPaoijDsxD7BK_GM3-kE6ktr52HJmtJm0vceMYE5bFBLcXz9qwL42JiUmd08_ag27jEID4JaktQwGsxGm6O9G25TvCkCW6tKWinr5aJ7Y92Hq4k_RXA_K98rQGeSXZ31xoAKKShiQIkAxbsmGCTKrFx54xt0RNlVZYAT7zet1x3GHUo3-Aw-mJeLXMdZdKsiRlhtgUVNJrCF_1rodvhakXYzCWNVIKcAN35XnN0K27MrR1j8sjyxzFElfA3t-hPnHua4W1GLPKYBow1P8Ct6ZTDTA_nhFjevY2K4QH7U9TrliFm4UZhj6i58OeTWA1lH7xq5OSB5Dp8omH1McfyH21-wS2GdM4X0MmhKwTr7mbBWfoIlxP4dHnaN8IsPVd87dhCyLu__VDu3rxKZIeWykdrJ6T7w8QijxGtNsF60suZqST-mPgKzWzGum6HGrYgJQ9zZ4JL7mx1bJQeyFk4GwGo6QYxA3I80y7pNLSTsEi-oZdFhDAxZbQK3O1YmMItw_r4K8f_qGksoRpPKpUay3x2LOpLDU0eh7whqHf-3Egh58AhsLhJ2Fge0DC2FFSKGqHAM6vsNtTkvOPS4uB8IbhFdJbon_JsMb5jwSjHtX5ey5YIDUxUfrcemiWGYR-O8pUA7L7SaO2lCW0tzdrCBLwngxv67SrKq55eFtlAFIKTgbcG9y4ixtMatkNR03RlFuXirlcH_8NnLaYGNngPorLrL--NMFNg93bollb2mX29Prw3SB86X4FgdAKUhSBsrlC0OTuHrOs5JPeuKd4trcvfwAOSEObI1tR46w1tTroXUwxAqdlyNt2dXw21eR6lZXPavjK0f7i0mDVvlbq7YzfWJ4DtpgEtYxtt19vdoW6PYPbIiq23feSiLNjF2mQBsvvLfZJX9nOBnAcivTlVA6wzipJgPv9aPM9avwf3qkusJc4BCEs8bT8ToSnNEislZc1zRWJyastwpNhSz-3H0sOfEAX2QvNDk_iFysBxpcd41dTq1fGgAFvr4KHqQNJ7LtGmK9ZHEVTAS1c9h8mROi2ZH8LH_P53Yr1s1jqH6T4-_oIz-1cagy4drOIQVk5JwwP9cASRr3Zw0-dxpcK0euLqbPaooai24wJd8qnu5PjBBGgtu2x5b6DDAmabsjdtyGpq3K1R1TdFOO-sb_MA6dPeUB_7-buRoMKajkNdn1K-fau3Owb33xeaM9EM8qJUrU=",
  "id": "rs_05f62207e9a2b651016ab4505c7c3c87d0bcb387013e97ede7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"left_gripper\":1.0},\"note\":\"The toy’s orientation changed after the first drop; at 6 cm the fingers now pass below its upright torso. I’m reopening and raising at the same verified horizontal location so the jaws meet the body rather than the floor beneath it.\"}",
  "call_id": "call_s0QVq9Uu4K2IuBKJMyCpW77M",
  "id": "fc_05f62207e9a2b651016ab4505ebcc487d0afabf10cbd8c0fc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s0QVq9Uu4K2IuBKJMyCpW77M",
  "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]: [-0.7746, 1.322, 0.778, -0.6487, -0.4938, -0.6552, 0.9952, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2604 left_y=-0.1327 left_z=0.0829 left_yaw=0.0531 left_pitch=-0.4042 left_roll=0.1428 left_gripper=0.9952 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.0752, -5.8872, 8.3487, 0.7839, -0.2906, 0.0122, 0.0464, -0.1162, -2.906, 6.7624, 1.453, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321e993f0f16977fb8bd0ca1d53bf30bd916fff8f84bf40237ec383a3891fec3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728268e7af2ab79dd711cd203a9dfc0a961c90114d7e6c63d1a55d55a23bfc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbc931038e7b5ee56f46bb179007835a13e7deaf14afd94dfa1a5785092f9a8",
      "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 · 3.06 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]: [-0.3122, 1.4006, 0.7902, -0.3786, -0.3111, -0.2611, 0.9951, 0.0334, 1.0546, 0.8886, -0.696, 0.0742, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.3426 left_y=-0.05 left_z=0.082 left_yaw=0.1021 left_pitch=-0.3624 left_roll=0.1206 left_gripper=0.9951 right_x=0.3017 right_y=0.0006 right_z=0.1735 right_yaw=0.0726 right_pitch=-0.3105 right_roll=-0.1866 right_gripper=0.9978\nstate[joint_eff]: [0.5128, -4.6838, 8.5812, 1.199, -0.1294, 0.0659, 0.0708, -0.0889, -2.8923, 6.7214, 1.4335, 0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7746, 1.3594, 0.688, -0.5003, -0.4942, -0.654, 0.0101, 0.0334, 1.0584, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2622 left_y=-0.1343 left_z=0.057 left_yaw=0.0462 left_pitch=-0.3898 left_roll=0.1271 left_gripper=0.0101 right_x=0.3017 right_y=0.0006 right_z=0.1722 right_yaw=0.0728 right_pitch=-0.3157 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -4.6974, 5.9966, 1.1013, -0.3004, 0.0171, 0.8669, -0.0752, -2.7966, 6.9812, 1.4579, 0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7746, 1.322, 0.778, -0.6487, -0.4938, -0.6552, 0.9952, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2604 left_y=-0.1327 left_z=0.0829 left_yaw=0.0531 left_pitch=-0.4042 left_roll=0.1428 left_gripper=0.9952 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.0752, -5.8872, 8.3487, 0.7839, -0.2906, 0.0122, 0.0464, -0.1162, -2.906, 6.7624, 1.453, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321e993f0f16977fb8bd0ca1d53bf30bd916fff8f84bf40237ec383a3891fec3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728268e7af2ab79dd711cd203a9dfc0a961c90114d7e6c63d1a55d55a23bfc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbc931038e7b5ee56f46bb179007835a13e7deaf14afd94dfa1a5785092f9a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBixd7uLRWQXwR6mTkQopkb4oVhWGVD1FtAlgMKgfvFFbIPHNPTaNXsWVSnea8xa906SxF5dHWoX15np0ou7q2ZIoJN0oPS2AVaCS5y0QwTm7_z3uvOUYrIXYUOdVyoCfvSQ3p-lfSw729CSBcRmgKdmjnqd5JoqjGGyVjyqHx_fyAhv8DsFRmnycaTkjXptmJV2bglF7RvlaZ9hqPE1T5iSqOZw53jwLu5LupHzwqJs7G1KF4aS5Xpm0EIQSuclnnR11uScCMQ2Ut0BBIsBaizsy9bNUGDvLsceSFr2qKD4epAXWXtlqOK0YpEx2dxi_eXGEloxeRP_WWRY8GJwiFl8e_88Ci-f6R_IZWG-MZdGeasU3p8fuOObC11OHMHRN2PVZpq9UwjLUjCdUf2CtI-hB-BgoDEGBwquLe1YhY_YO9epTfhrFNSc_04mabddM8_E2fhccMWwJ7q-Tq6xfL1t-hNnteCdQ7KglMzyNPyk_hd8PXJIv_pkl0SpH5lUU1p95m-4Cu3VyA26Kjm4rql61iel8o7t4fXlaXfG4o7ZF4_QESOQX-2GrTYy8El8GPVBLDeNrtaqTFWs3yCSSOkkF72WQM6_JeM719viBkWhQRsPJ1zhEohBOgPG4bQPi2-7JefJT5934tKvezTXhnVJmIJ0Lpl-TcJNnI3hK0I2aG_NWqtKIzRbXVAGMy4GwWXBeCEOjiItlaSnWq2UCd9tXPeoSvbPbtqzzdcrDCOQARtSTOyVLyP-XPJFp68RnvuzAjo-ka-Hml5istq0p5lNnFeXAo87YY5b5BM8fMNjOzWB9emK-8jQBsw6Aer-CpbX20Aeh5EUcxtNIIEI4GH-9CQnZgLbEth569iAroMcyRrx7jmVaWPepg2kbGJvNPfQt1a-QmX-XIuRVhBKL0UxA04no7gjUjRhHmrp8Cnc-CRgKD_9OGDhGbqw62BMO4fo_kdTiX26r6nShfdKk2wUDCSIK3O9Tpuhw4hFRStA9iaUOvbtMMK_8DFZq5fGmiXUazRlyDrUgWZBkZK2ZtJFx3XA9WN_itE-7MQZ-RE0gEbF01CcLJ6X8o8FgoAwNR_1oEdVIXFe-4eTdCn16w4Tyy37ZgP-VNTED4fJnU0nsDDomqctZpjeW7M_M8Ni7hZjKFWdubkWMRHNzBtXRkcDuL0dwhSRWWfPCVHCo1mB6piB4sB4P_X8j1MDY_uOjEY3k4xQ9bMZlDJVzp-3-VopIY4hKLz8OFvQsYijGx8527VNdWvmYwx6DG72_AZdoXsbInajS3jEZTbSNkBpK6UVQ==",
  "id": "rs_05f62207e9a2b651016ab45061c32087d093223cf6e98af135",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the higher pose, the brown plush’s torso is clearly suspended between the open fingertips rather than above them. I’m closing at this body height.\"}",
  "call_id": "call_SEMFqKg5bfGk4SHJfOljkxgn",
  "id": "fc_05f62207e9a2b651016ab45061fb1087d0bda0f588ca089319",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SEMFqKg5bfGk4SHJfOljkxgn",
  "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]: [-0.7746, 1.3201, 0.7837, -0.6582, -0.4938, -0.6586, 0.0102, 0.0334, 1.0588, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2602 left_y=-0.1324 left_z=0.0844 left_yaw=0.0557 left_pitch=-0.4053 left_roll=0.1422 left_gripper=0.0102 right_x=0.3017 right_y=0.0006 right_z=0.1721 right_yaw=0.0728 right_pitch=-0.3161 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -4.3009, 5.8325, 1.0085, -0.2857, 0.0366, 0.8767, -0.0615, -2.8103, 6.7487, 1.4383, 0.0171, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0a1e9ee51a0a7ad54ca5a0b659957812f9aefbd8d0e86909d2ecbaaa9824f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fb305173a1a4d87a896e23d102cdd1c218d6af0f493023e13c47ce24495189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a1bc63b5ff7637b9a90b29b59ea48c4fe6a842833f44c6b5708100e20953783",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.37 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]: [-0.775, 1.359, 0.6888, -0.4866, -0.4984, -0.6506, 0.9987, 0.0334, 1.0584, 0.8886, -0.6971, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2647 left_y=-0.136 left_z=0.0589 left_yaw=0.0422 left_pitch=-0.3771 left_roll=0.1203 left_gripper=0.9987 right_x=0.3017 right_y=0.0006 right_z=0.1723 right_yaw=0.073 right_pitch=-0.3154 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.4855, -4.9983, 5.6274, 0.8962, -0.569, -0.105, -0.1441, -0.1846, -3.2342, 7.1043, 1.5263, -0.022, -0.0611, -0.0122]",
      "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]: [-0.7746, 1.322, 0.778, -0.6487, -0.4938, -0.6552, 0.9952, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2604 left_y=-0.1327 left_z=0.0829 left_yaw=0.0531 left_pitch=-0.4042 left_roll=0.1428 left_gripper=0.9952 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.0752, -5.8872, 8.3487, 0.7839, -0.2906, 0.0122, 0.0464, -0.1162, -2.906, 6.7624, 1.453, -0.0122, -0.0611, -0.0122]\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 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]: [-0.7746, 1.3201, 0.7837, -0.6582, -0.4938, -0.6586, 0.0102, 0.0334, 1.0588, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2602 left_y=-0.1324 left_z=0.0844 left_yaw=0.0557 left_pitch=-0.4053 left_roll=0.1422 left_gripper=0.0102 right_x=0.3017 right_y=0.0006 right_z=0.1721 right_yaw=0.0728 right_pitch=-0.3161 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -4.3009, 5.8325, 1.0085, -0.2857, 0.0366, 0.8767, -0.0615, -2.8103, 6.7487, 1.4383, 0.0171, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0a1e9ee51a0a7ad54ca5a0b659957812f9aefbd8d0e86909d2ecbaaa9824f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fb305173a1a4d87a896e23d102cdd1c218d6af0f493023e13c47ce24495189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a1bc63b5ff7637b9a90b29b59ea48c4fe6a842833f44c6b5708100e20953783",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBm0bG-FLSbaVq0KESyEm1C1g8X2YHHsZqcjL0OItILi_ckLwQBX9KMr7Je9AZdXByn02HaqabAqYoXPjGnEgmrWDvBsVZY1B8M-KZayJ0Kgvw2gcdE9xwAu-Pzn9g4v8VNL8a88RYsQYrsFAAqzPjXPKmhW2k3xJBx0A9aB07d2e45Pm5BKb8XPbuMfsHMIM0-ZpA05bQclyp6a4zcC6rFrnVhGT-D2Z77oSkfJkLzfrcVqMrh-iQaItBaXUyGk-yYvzf-A5lVEHVa2v5tDR_ShhXWgxbiEnzuMOrebjP-PJAqKVsPeQWMXXvHbEh1Ow0mux_mQ35jUYXRuelFgD-_DJALb3lCCo2I4YcQE9NThO6NH-cKxw7-C5Gv0W2YQCNUYWfCpvYKezjfCZxCBNhpLigW162cyKQpP0F1MIfA3sLhvhvAsm9tooVKRWuSYl4pZPTyusm1oT0kcJlE-DqeAAmqUARzyfcunGXPU7c3ZWBIBj4dZgz4sucq_fKoY1Hg4mb50AZ2RxcZ20TLtMRTgu3TX19xzoeDUSj9yOQqNAcxFMi-WhaIfXdmZl3JTsET9GXOgXLP7GDdgCz4PWAv2rkqJCFTNLDVLGcooWIqZWiBw-G4-BCns48hPmz5tlSqDX-fdQnnMb0R_bLv_p-q6B8vPFpcAyFkTWR6ZXwSp3iTEbBBLlyN3hVeU_-aGHtYPb41lmiO72fntDJjArVg6X7OQfyw14oh0U3ojivUv88gkjbqoccBTShK7PBicI8qjogJweOVIUb5e_og7Xphb2wsoy3ItdS7VbGFUC6oaFW4Xp4mK-qrGsYxBUakpXfVfTMvioIY9AKmDx-zDVOWsRMF13o8kZYc-LCJqLcNIjQfQ2Zn5spPpIMy-713xDc4xDxGz-Elti-TbDa9qDQRzcFUOYhPTOnkrs-BxWd21kaP6PnffdodstweBd3j9IpGSMsZbXOfRltdIQKE-Bt1KPG2hRamLGSdGsLDEyLLrqz-lFyxckChlcitYC2CGxwdrmk7dVBSSgZq02-y89_dCpL1Wnd4XhbQAfHv3Em1z0MSw2lFu-W4WnGQDqUE_nVnh9x9cx0UAatzOOUt70j6p04XZD04dX0-D0PkKvNaSEi9GUGh8e28BR-w-UfGO-c3thcE1Ujfc8KhePSzVtnypIoZTcivdnxgov28wkRi4ve3MVyOdyv4LmM5P-KLFyw_BrSbDKho-8AjkK9DPh6mRPQH5qUNw4igOHkn9YnWMHuM0eFA-9m65xkz6OBBfXnfDmErVfa43AO8_aMDInCI6NR_I_lyjypkrD5UjaIPlgOsxEoeiAIePN6JIz4G-O5MQsncYO0biUAu0v8Jh13rJeBJP7D7uCrTYpQhMs6bba-W_9MsaqZXY76bzSiDS-vaF89B1unq8Jvh6AnMkFjKqNP4km50sHWGZlf9hSJYtujbSPxe7Rxt0AFfZbY7Xjr7",
  "id": "rs_05f62207e9a2b651016ab45064cc0487d08a42f103bfa0230a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The body is laterally correct but still lies beyond the closed fingertip wedge, so the remaining miss is radial. I’m reopening and advancing about 5 cm at the correct y-coordinate, combining the successful lateral calibration with the needed depth correction.\"}",
  "call_id": "call_olwd85ybrmjjv7evbnN8bNpF",
  "id": "fc_05f62207e9a2b651016ab4506592f887d0afe63e42c19f5397",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_olwd85ybrmjjv7evbnN8bNpF",
  "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]: [-0.6437, 1.4399, 0.8993, -0.6384, -0.4438, -0.5449, 0.9953, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2989 left_y=-0.125 left_z=0.087 left_yaw=0.0824 left_pitch=-0.4365 left_roll=0.1632 left_gripper=0.9953 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.0728 right_pitch=-0.3165 right_roll=-0.1857 right_gripper=0.9978\nstate[joint_eff]: [0.2667, -5.2308, 9.2376, 1.0623, -0.1832, 0.149, -0.1441, -0.0889, -2.5504, 6.9265, 1.4188, 0.0073, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d485a6207b0c076b73615ee605df0645d4baa8f620ad0f4ad4720f64ab17d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0601be1d6d4c38f17d7ee2c68e052243e87c94995ed131b03ec2819e0717f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ae1935fdf81147558975f4d610fdd1fe6e934f220d0f2ace1354e762298729",
      "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 · 2.588 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]: [-0.7746, 1.3594, 0.688, -0.5003, -0.4942, -0.654, 0.0101, 0.0334, 1.0584, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2622 left_y=-0.1343 left_z=0.057 left_yaw=0.0462 left_pitch=-0.3898 left_roll=0.1271 left_gripper=0.0101 right_x=0.3017 right_y=0.0006 right_z=0.1722 right_yaw=0.0728 right_pitch=-0.3157 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -4.6974, 5.9966, 1.1013, -0.3004, 0.0171, 0.8669, -0.0752, -2.7966, 6.9812, 1.4579, 0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7746, 1.3201, 0.7837, -0.6582, -0.4938, -0.6586, 0.0102, 0.0334, 1.0588, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2602 left_y=-0.1324 left_z=0.0844 left_yaw=0.0557 left_pitch=-0.4053 left_roll=0.1422 left_gripper=0.0102 right_x=0.3017 right_y=0.0006 right_z=0.1721 right_yaw=0.0728 right_pitch=-0.3161 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -4.3009, 5.8325, 1.0085, -0.2857, 0.0366, 0.8767, -0.0615, -2.8103, 6.7487, 1.4383, 0.0171, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6437, 1.4399, 0.8993, -0.6384, -0.4438, -0.5449, 0.9953, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2989 left_y=-0.125 left_z=0.087 left_yaw=0.0824 left_pitch=-0.4365 left_roll=0.1632 left_gripper=0.9953 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.0728 right_pitch=-0.3165 right_roll=-0.1857 right_gripper=0.9978\nstate[joint_eff]: [0.2667, -5.2308, 9.2376, 1.0623, -0.1832, 0.149, -0.1441, -0.0889, -2.5504, 6.9265, 1.4188, 0.0073, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d485a6207b0c076b73615ee605df0645d4baa8f620ad0f4ad4720f64ab17d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0601be1d6d4c38f17d7ee2c68e052243e87c94995ed131b03ec2819e0717f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ae1935fdf81147558975f4d610fdd1fe6e934f220d0f2ace1354e762298729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBsXcS3_iMRA77Q_Olj8MuVD9oPkmE3oLsl07R4Hwqr1FAuNV4kIngS7nkfgjcjMmHdAwM2PshfVgUnfVFdIUDcPCc7pKgb7IB4ZO2GcUaEBClZIs6SChho-GvIVvHCLXNSwdRh08QbwvBlNq2CdGbPN5BgAcZsuhMatQE1qwBd1D8thMVdMIQ1D8a2rAoOImFw7DIB5qSFlwpkDzYAEEkQ9TRINXBg4DvuzS3eTtutPqxI1WdkJjjwRY1cmnr2iWm0sboizZDmmsCUtXh-P_7ROWaeAamMY8EX4wJTf7eEUjLGqENc0znuyDpZvk3s3b4Bg0gqG4HTRBdAKGmxto3_1SXrrOB6XLdK7s_VfbNUN3cDWnFk7B5svsg65YC9F4nkdqdahugORTp5BxSYolXMK_Jt-ochDOpfHesvWZ-gv9MHdUw7qz1yCvYZ1PnqIqvu_XrqmZU5vT8VPFwdv8NeWhlCJ5zRrZMJo_NVj9FfocaqWVaD_yPco8wL2E36GXuWVT8HoscoYDkYfdmGFV3Mg3n7va_0jziWwp0-bmT8Monup777L9LdvjIfAVJZvpWxuMO4xgizFqAqvjmLTozFN6OhE7qEvoee1wE86WmQSBUTREPqeqO8mE0gjz_jou_GCmBi6P_7PnKiFjdkwm-6oY1mfLmsULIem9phnoygdzSRTRNLnzeqaMIIMznoTEtqGNBp_Uc0nBUPsBBr34cXoYq9QGFq_GTqgMXyeqV0V8s6V5Y-AtiaN0ptxaxNpPVUqpIEQ24oMuLRZvvQT887zZCykWRIas9O7QIRkrZTeydNCDowftGMGIop2Qa_ehT280uC4PbEGBLJJytOzEsjLziW7hIOm2dWTxD4pfifQ6671XnfqrJI0_jmD-flgFNz09vu15KmG2-u-SZMyl5pOmk35w67VkhosWr9iVc-rxUTOlvI0dGkIi-E7AWKAAWHAY-jxC1hTpoXt5qtpj2WjegrxGy5yswbeebaL1a-wXG8R8LVfguordmrlPCXzx8zMoKlH6OUlkpcnQo8HTp8uOGdYF84vYfiYGU70Vb3MFKqoywhHwlsWmNizIsp-TjT6-GT-jT7eM6myS-MkzMmz_Nii6EL9bHP2a7h0nYGCi5P1RnaktTnrBFj8NnzJRZvH7aGFGRU0v26MILDy2_iGPt3hAaRJWxjVz_SpnYU-pIqFG9oE4XXjhV4GlmzTu7EL-5VxKlIDNxYiwSzdeYDxnsLZRrmAtpjILLe0h0lk_WRW2fqOzcGsD0PBrlJ5Ok-Qd6xQCiGkYBi20Rv2xH8Yix0PR1ixnstsi_c2NcQvsHogZegXSVxkMyx4RzAiwIVaBlGdkncsnSiD7g1bkZSQNwlmZqrIU9ZpyS2IQ0SKLlZgZ8O6D5T8EA9vmyGpo5IIXn1fnWQyMaYAJX94kQ9Yp2j9uhZJGCgwy86VLBxSEh4jyRfYpzhs8bCeAGBGuU6MzEGpXqW8ulNroJlPs9X1EJA9vjGGOaT_1GAkmO8jqNaf5DbmU6-cPkjXzDxI5owid7OxGYppFziVbXkOQWX0fg68rlDxYB1VOD3Le5jhawYFuasbVtLPFyIq1DsyuZvJzTMAKbkNOGnQuLMVThgrQ4nRZ9YpDCcw7pEd8-34SijwjhPgKPIsSHoo9KeYjfTblU_9y5SXU3u6LwLgJl_GUlJ3uHk4ZmL6P6DcrtMPBijRiFt1XwGMQOe34ucB3Y7bdScxGunix1hTRP6RJjUQQn4pICjgbOZKpXumscaDnUVw3YAqkZNi8k1ME5eDsinTmZZRqcb6BR_KDWclg5XsJHdB3GeneYwQ7X0OXCBmXohQinYCrkqBrgoWI02LjIgK2tHsEXzFsnu5Y49w20-3g==",
  "id": "rs_05f62207e9a2b651016ab4506a406c87d08a7b36302f19ea0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_z\":0.09},\"note\":\"The forward move brought the adjacent cream pawed plush—not the brown one—into the open jaws; it is one of the cream-class objects and can be sorted now. I’m shifting slightly right so its large paw/forelimb lies centrally between the fingers.\"}",
  "call_id": "call_IVXezVp5RbJvnwbmjpvlzZGX",
  "id": "fc_05f62207e9a2b651016ab4506bb73887d08bd1b7f0fdc87a6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IVXezVp5RbJvnwbmjpvlzZGX",
  "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]: [-0.7849, 1.5799, 1.0264, -0.7059, -0.4732, -0.6727, 0.9966, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2942 left_y=-0.1751 left_z=0.082 left_yaw=0.063 left_pitch=-0.4618 left_roll=0.1726 left_gripper=0.9966 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.3658, 7.8291, 0.7204, -0.5055, -0.0513, 0.1245, -0.1709, -2.906, 6.735, 1.4628, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bad434b6a29e6988640ce9f47e8ff1159e55412c8fd7e9053a47c05915e7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cef1e32ca871cb16b2ee8f36f503a81fce865cdcba400ce0f4fc041facbae85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219ef2d178692f187cb67955362f4095947e77e0b55d611ac6f7b07e5c668ee3",
      "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 36 attempt 0 · /responses · status 200 · 3.368 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]: [-0.7746, 1.322, 0.778, -0.6487, -0.4938, -0.6552, 0.9952, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2604 left_y=-0.1327 left_z=0.0829 left_yaw=0.0531 left_pitch=-0.4042 left_roll=0.1428 left_gripper=0.9952 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.0752, -5.8872, 8.3487, 0.7839, -0.2906, 0.0122, 0.0464, -0.1162, -2.906, 6.7624, 1.453, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.6437, 1.4399, 0.8993, -0.6384, -0.4438, -0.5449, 0.9953, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2989 left_y=-0.125 left_z=0.087 left_yaw=0.0824 left_pitch=-0.4365 left_roll=0.1632 left_gripper=0.9953 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.0728 right_pitch=-0.3165 right_roll=-0.1857 right_gripper=0.9978\nstate[joint_eff]: [0.2667, -5.2308, 9.2376, 1.0623, -0.1832, 0.149, -0.1441, -0.0889, -2.5504, 6.9265, 1.4188, 0.0073, -0.0366, -0.0122]\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 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]: [-0.7849, 1.5799, 1.0264, -0.7059, -0.4732, -0.6727, 0.9966, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2942 left_y=-0.1751 left_z=0.082 left_yaw=0.063 left_pitch=-0.4618 left_roll=0.1726 left_gripper=0.9966 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.3658, 7.8291, 0.7204, -0.5055, -0.0513, 0.1245, -0.1709, -2.906, 6.735, 1.4628, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bad434b6a29e6988640ce9f47e8ff1159e55412c8fd7e9053a47c05915e7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cef1e32ca871cb16b2ee8f36f503a81fce865cdcba400ce0f4fc041facbae85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219ef2d178692f187cb67955362f4095947e77e0b55d611ac6f7b07e5c668ee3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBvUwW69Z4fXY_Jrtfw2Fw1i-taGP_5Jp0V5kQHjVQAXKoRbMtdC_9CO2Y5sGMkl0AwnIjOsxPhp2vcOR6WVt2P5eJJBw9BWJL2-x3n0PTZh-NWbC74slBFHm9zBsE64rhjJCHHvYQdH_patEMnwExAlDm14JM8JeOsCHJHF7WCEekz5NLXZt-tDRgc9J_kGzqHzWNLLYAjfdLW5oo7HV2En524lZoN4hvlYED_NsO_yp_0x9RQT2BnVU1aHJI9_ehtckce3BU1xrrwqC5ArCyU0dswJeDugmwMF76e382-uwwJR98ALeOIV_DwgZNbL4BJwTyNU2-d6N7jKDjbvwwnXRqMJvFyeFBgPaBQNRejhl9AJH_LRLsBF_BOM45-AimnUMl2vl-UOvuCec6JaZhmR9szMFoRP1o047W-W8HrBKWvBfTZqfcMyAvxztk26xx4pqDJ1FCFcYmlMdeD8HfuoB8DHLmCo_FKO_6_x5TkMa1VNZBqIKvvUUtnt9o2So6PZQ8FsQxwVPi6StumyqyPBwDEpD9yrLtVV2VhvdSjVBWhACkj1X6YKZoMSo3R4SqEmHkMtnozqPmEFwnO0KsU123ORkGtWn42qt-OXSaNOUH-ZSkDa0Sq7F63H6OBFwW5rp-OmUUl0p32e-rt7kWSHqKtpZsHXnk4SFfMqkrnWXYf8cPVsVY37ssKMqHwFz2xy6bslplUjCGm7u4GQdQjdHhKlZ72pIR0RvSIMMPuSWfY2r19tPbrHl92KZGYDpKwbhJXthR7BWZmeEqYvStxoeduhyw4x88jyGktkfaoFT9L_ogbNtPlS0aebGUjmHoC6CtKMA1_33dn1t4SCZBM6cB2zzXWQvn-Bj2rKsQpPk4Rt7ah86JGb3cplvZm4lQfLdIGZKC80pyEkuk2CLaV6UPbChtNTKiaG1HfD7eV0zvvsMdyliq8iurtXIPlvy7a0AyX0RY3jx-w1eAmvrGYjrrk5_cTpN6xtWo_anOvCTIUvFIEZeKz2hTqaZgYUoosrZ4xmlyoUsM2jJrjwGRVxyb6IqgGFjlLoDVwGW_V4Km-Rbt6-mGpRpqkp9V0Dtc096f5Kly7wcl0zinPjBcZ9XScqkLa4Toy32RMivQ6AJNGzvJ_xCdd_5iu38GvuSArZmW8s39N3dHQz7iCaFy0OIBtDY_i5WVq1t9ye-etP1USkv6MNcW-fRghZwNqpODiNJ26lyiPVXc3CwzfV6bFYp-9GhQOKz2ejvILwZ_upkcTWtjYG_eSj8Z7z8-jMotxPUx0CiiJkYvAFZ41iH6XD14Ra0vplR_YUvImJ-7nxe8mrNHEl7rLTG6AQURbfnDsMyqIpED4l8KzgO7328Shbv0r6qd23miG7-VRXchtd-h_W7PD8kg-M2wenKXt1TH7viZw9hPVt4CZX_Rk7GMv4Dw38Psgbs5djMwMVekVgHBqmdwBjux6lOGSeGfS-Kn8",
  "id": "rs_05f62207e9a2b651016ab4506e6cb887d09494dce4ac78fe97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.23},\"note\":\"The cream plush’s paw is now crossed by the right fingertip but remains slightly right of center. I’m making one more small rightward translation to center that padded forelimb in the closing path.\"}",
  "call_id": "call_rbyyN64iA8F3Wc4b98Th9cKF",
  "id": "fc_05f62207e9a2b651016ab4506f445487d0892f92bfb783eaee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rbyyN64iA8F3Wc4b98Th9cKF",
  "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]: [-0.8955, 1.7256, 1.1797, -0.7765, -0.4946, -0.7799, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2912 left_y=-0.2237 left_z=0.0784 left_yaw=0.0528 left_pitch=-0.4743 left_roll=0.18 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -7.241, 7.5692, 0.5641, -0.442, -0.1538, 0.0024, -0.1573, -2.7556, 6.7487, 1.4481, 0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf33f3e9a50faca0091241a5c4c9fa61fb7f42c90d460d75ac66ced4d331d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74b686e3d9539ad3f47c7d029c0557b020169e3a8b1ea3deede0f672bc7178c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364095e7d72e6663a10267025ddc550980a1dd0de2040416d3e7ca6fc5562671",
      "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 37 attempt 0 · /responses · status 200 · 2.474 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.3201, 0.7837, -0.6582, -0.4938, -0.6586, 0.0102, 0.0334, 1.0588, 0.8886, -0.6975, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2602 left_y=-0.1324 left_z=0.0844 left_yaw=0.0557 left_pitch=-0.4053 left_roll=0.1422 left_gripper=0.0102 right_x=0.3017 right_y=0.0006 right_z=0.1721 right_yaw=0.0728 right_pitch=-0.3161 right_roll=-0.1858 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -4.3009, 5.8325, 1.0085, -0.2857, 0.0366, 0.8767, -0.0615, -2.8103, 6.7487, 1.4383, 0.0171, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7849, 1.5799, 1.0264, -0.7059, -0.4732, -0.6727, 0.9966, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2942 left_y=-0.1751 left_z=0.082 left_yaw=0.063 left_pitch=-0.4618 left_roll=0.1726 left_gripper=0.9966 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.3658, 7.8291, 0.7204, -0.5055, -0.0513, 0.1245, -0.1709, -2.906, 6.735, 1.4628, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 1.7256, 1.1797, -0.7765, -0.4946, -0.7799, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2912 left_y=-0.2237 left_z=0.0784 left_yaw=0.0528 left_pitch=-0.4743 left_roll=0.18 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -7.241, 7.5692, 0.5641, -0.442, -0.1538, 0.0024, -0.1573, -2.7556, 6.7487, 1.4481, 0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf33f3e9a50faca0091241a5c4c9fa61fb7f42c90d460d75ac66ced4d331d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74b686e3d9539ad3f47c7d029c0557b020169e3a8b1ea3deede0f672bc7178c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364095e7d72e6663a10267025ddc550980a1dd0de2040416d3e7ca6fc5562671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBzpzte69Gg8IrFOKi1WTiynp0NFr8QkQb_OLloyGIxdorRDq1f1QbL-GdIOA7pLse11OSmkhlb6_WlikKalY4V8nWk_KLaD-0Zd_1AhjTnhpVzzk--B_RJal-v1oxUlYz1Yg1NtaMeXYgGSYAI5L40vA6Dr1kiGk8__y5480A4mzMCCqRf6WdiqJM1ykcZSkFB9wYzBxNhmmaxHsVpkYAxdIzlWgXjY5MdoRrVRdSkhFviyIVquBgSt0qaKrCduRCu3gHPGL0dv3Kf2n-zdOQK-zKLrjC6LBJbMclOvfPU_3xDAWNDTnYdJ4hbbT6ThiEJRx-hKuBXzdkDOtHQMuiDHrLW4JBpH5rj0jKuc5LEROfViH9jyENM0ARDZAvITt40RoimJyFFeG_pPCTtswMaECRF6I9iCMl2-IscslCc0Qb-NQIsqzPhRgNAj3-sdNi7Y7gbSpv7hVRzf70SNdCLReh9RkbP9jPH1Ez52EMaOnL40ZTWrZFiMqgConsw8YgI1IRtL02qvR2CfGaTZyDZfYR1JyG3LaAgwmSFfPLyPgCFbs1NHqliWRyx3dHXBKwU4SEFzNu5NZM1mJTmFPfHAvB-P4xTW0ntUAE1yr2OdkKW4_4rcS_ZZaxVwFyRbmu3BF_fHuHk_lvMvHKMR_9df_EYBCR9H9bPIVIiJ2BrYWcKNYvAGkalqeuiBE0t0ahXcdasBi0xpWgMB-xtAhu34v9do0ac9-JtDswn-or1hkE7PX8hj-Cx15yjSZJem69G6YcQu6agli1R4BMgiqQLLXr_q1NbT-Z3tV_txa3hPvnJOBP8Vgq8Hu7XUpObx8l-g3LNc9GRlnlUGjJi3O70CUuQXs_6Ol8ARAWMNBBOFzFynB2j62m4m0-0VVmWkzc4BQLSZ0m991ztx7iJWXOM3uLs-P5H1JeSC186At7kIpDNEHK-MXnYOiYv_FS0FrMH5R2qxkews8y9Esvdyjh4C77CIaPdYCpTGzO93Y2VHtlZgTOZ7W4aQAeOxaz33SDq4PqZBT1ZS1w5oHzrwBlODg4K_IZ09ID-66DGscrxByiYa8CzeUecnkCorBKvoAIhqI5nuyCwXahw0kcGdMiT0zvbWcGhFT1kd0SapXfvjyU3_xY9Os645fjND8O7hNUaqhZdJEwrq-RQC_JTcKncQyFHedN-yLY92WaI9H3duIkfiSGGbGUHCTk8ookBBVTueUZTiJrhG4temfrdnE3a2Tby2CelGYnDX3K-SJjzNuZreopK0ssZ1HQ7tS7i0vt1hHrG8oWBTmf7-cu0gRDdezCgXgmNuD_V2UrwmxsuEsXNDRsKi0H1XslnobS_hYO1yXTHLVa6dDtBqMqJnr8Xk4C8w8mKl0l4s5CAmfDUWUcHOeDC4SA2gxpxFOrL6IRLL5nkTfv3jAY5WyMrQfC65AVq7iFMiqpNIH6t-37VzIZKqFvjndKbsKY4vjbHGdHyrmdA_eN5D1Ad1Lxa0PFFyUxpmF_Z5z8ktDUS5LO7k5c21doJFIv1bZaPIV3dOOKQ",
  "id": "rs_05f62207e9a2b651016ab45071d45087d0b08ae81c55e9286a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.27},\"note\":\"The padded forelimb is moving left across the wrist image as expected and is now close to the jaw centerline. I’m applying the final small lateral correction before closing.\"}",
  "call_id": "call_0K7bwRZv3jr7lRw89p4OYfe1",
  "id": "fc_05f62207e9a2b651016ab45072699887d0b64754c182e18714",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0K7bwRZv3jr7lRw89p4OYfe1",
  "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]: [-0.9066, 1.7367, 1.1908, -0.778, -0.4946, -0.8021, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.2289 left_z=0.0779 left_yaw=0.0555 left_pitch=-0.473 left_roll=0.1687 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -7.5145, 7.6786, 0.5983, -0.4664, -0.0659, -0.0122, -0.1709, -2.7145, 6.9675, 1.453, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a074db7484465117cc73f0d8a74f4d136e2e77d365b0baaafb65f82591247946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324e455fc1a5c81f9ac56829b7f57a57848700056d8d0b9a47a6908354ae14c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f95d1357adc158268a2ff8eaa3fe71d4f40ba1d6731f301253c1eaf40ccd89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 10.28 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6437, 1.4399, 0.8993, -0.6384, -0.4438, -0.5449, 0.9953, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2024, 0.9978]\nstate[eef_state]: left_x=0.2989 left_y=-0.125 left_z=0.087 left_yaw=0.0824 left_pitch=-0.4365 left_roll=0.1632 left_gripper=0.9953 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.0728 right_pitch=-0.3165 right_roll=-0.1857 right_gripper=0.9978\nstate[joint_eff]: [0.2667, -5.2308, 9.2376, 1.0623, -0.1832, 0.149, -0.1441, -0.0889, -2.5504, 6.9265, 1.4188, 0.0073, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 1.7256, 1.1797, -0.7765, -0.4946, -0.7799, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2912 left_y=-0.2237 left_z=0.0784 left_yaw=0.0528 left_pitch=-0.4743 left_roll=0.18 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -7.241, 7.5692, 0.5641, -0.442, -0.1538, 0.0024, -0.1573, -2.7556, 6.7487, 1.4481, 0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.7367, 1.1908, -0.778, -0.4946, -0.8021, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.2289 left_z=0.0779 left_yaw=0.0555 left_pitch=-0.473 left_roll=0.1687 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -7.5145, 7.6786, 0.5983, -0.4664, -0.0659, -0.0122, -0.1709, -2.7145, 6.9675, 1.453, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a074db7484465117cc73f0d8a74f4d136e2e77d365b0baaafb65f82591247946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324e455fc1a5c81f9ac56829b7f57a57848700056d8d0b9a47a6908354ae14c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f95d1357adc158268a2ff8eaa3fe71d4f40ba1d6731f301253c1eaf40ccd89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFB26ExtIGEHhtxqE6TaN_Ny-cpH-uc798BJziiDABUp09hZRhIKIyFkgJFml3jrpwAWZlqzRdW52huE0od5qC9QFCy6jfsglT1A5h16SQmE0zivoeos7hsjcZoFDUgLOkd5dbwHbEYWYw1IlPt_Q2utW2JOBssQeOgwQjYcVCKkN948GTt6okcUg8ZwWiG4MOFF_bB2GQMYBpCXbA3VJBrYKx-5_zy_Nl_ElNMDVdK_pnOKKlj_oPeAaVh_qTERX2uvz_C2YMHtpesGG0L06-ImqPBA4fKAw7DE0t1mvkRorxIksWFxHAGXA1SOmzQATFXdi4f8J-ejywQUtyX4xxrR2SnWwgsd_i4YPflR8BCrX78sozclW5l4Ody3SsGeOcxGLrNyVE-XuudsKAnKP2Fm3Z1c38QXK3VtO8dRDgDfN7qWoY3lNCM315BDR9ONxHt2zazeAGH_NGvcsTvHEdYolGTpjj255ujJU-Az7RxnNwm-hPrVvNC_uy1AgZiv31Qe5lHJiH3PjiMhpKnuYXunNh5SdXKVieKbXJgxoBGGWJJeAtgDPSQdxoUAhjQd_1srZWNBv1pGh-YcXkOhvhU0DFqaU0bTE4d8l61i4umwNSzHl-kIP9Mm99VYuPH6oEZGp_Yh8WQa7H0LNdbhwTOqe5D3PqzSrLpsqyuHRGgwuS0zj3TCiWUsaAu7E4S-pz75VkG2aam3qYuaUh0KjJQOCRCkAXxOxLuCZTf0Ljs8-eWXlKZAs_6IBbXokksN3lqZfL8A8X0cSgpKumKGMkBzsUHp8lLb_GonQhCuClYwmorPe3tvTKxRsMH1ufzycHOwA4Iw427uWyrtM1qFNGGfMNUVRn3oQiX2Lfv4koYCDlZawSLNtwENBSJZIqgCSaGo8Ed8fzkXFf-XN2ft7FL3h83D2MdsdJfnOMGTIpUozi7-iFA2jw2SXCx2h5j8JT4bqdQneNCxBlttrVFk4thHSlMVl_6SOC34ZJVvu4Aa9bGq0Vubg_NiK9Z8lRmGwT3706G8FSvjUDko3ygHeLHw7Xu66hd_Q7SC1LGtdEwbPF0RYVUEHRdbEnMi4zrBZIcAF3NVATL5DAGI6hnDDSx1BNoj_X4x1yhAI4-e2Ff45fzGMafVOMleVFbUgh0XakFy3m4LmouSh8NwiQwTsQrnxn1Y4zkLBWXJM-rcSvOJ203qFR3kr129q_txdlBtuCmnmVhO0rKn63tnXH5ERL_E3d02OqKEo9Qwna1FxWZcjt4ukzjKbE2wLNrNFqtnRjNJTBhd3hi8pdmXSxb5pKUzYmtBucqqwCegZLwTT6nU9H1ApdL9CEavLXRuEIwUIPqlIeZKnwwdejFibtREIUqIB-zWY2kplSQrYwoh_rh6kNDrZN1YwpxpAbStY36GcD0RJvl9lOn6GkH65zD29QbbNSM9AIoLWGigo1z-Epg3I80G89hxgP_SeGssGgPzK33dLFzJ_567z9HOrV4_rH46QwJlvzkcrQiXj_V9Lqpcmb4ZVj4uagYFwf7X0D651ngjvU7vnb67EKGUCIe0wZZdfhmUByDaH1ddGuh52US-YTk=",
  "id": "rs_05f62207e9a2b651016ab45075333487d09ec89d2111850e5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm has reached a contact/kinematic stop near y=-0.23, but the cream plush’s forelimb still lies within the open jaw span. I’m closing on that thinner limb rather than the oversized torso.\"}",
  "call_id": "call_rarYrPUUp5jeUajitmS5dkpB",
  "id": "fc_05f62207e9a2b651016ab45075e99487d09a7c3572620d30f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rarYrPUUp5jeUajitmS5dkpB",
  "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]: [-0.9066, 1.737, 1.1904, -0.7734, -0.4938, -0.8051, 0.0163, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2907 left_y=-0.2297 left_z=0.0778 left_yaw=0.0553 left_pitch=-0.4712 left_roll=0.1629 left_gripper=0.0163 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -7.9795, 6.0786, 0.6374, -0.3297, 0.0024, 0.7253, -0.0479, -2.7829, 7.1043, 1.4188, 0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961ef28cda9bedd500b9d4342f4627fc2f59b2c5276e1cea5e37792969d1d9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce5dced27489cdbdcc66b3fa016d6c0dd0b26c88e5ecbd879e9714a380fb646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd46dca9c3c9c51f5533e82b058ce932ad7800b12c5b2186070366457fbc6caf",
      "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 39 attempt 0 · /responses · status 200 · 4.716 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7849, 1.5799, 1.0264, -0.7059, -0.4732, -0.6727, 0.9966, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2942 left_y=-0.1751 left_z=0.082 left_yaw=0.063 left_pitch=-0.4618 left_roll=0.1726 left_gripper=0.9966 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.3658, 7.8291, 0.7204, -0.5055, -0.0513, 0.1245, -0.1709, -2.906, 6.735, 1.4628, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.7367, 1.1908, -0.778, -0.4946, -0.8021, 0.9967, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.2289 left_z=0.0779 left_yaw=0.0555 left_pitch=-0.473 left_roll=0.1687 left_gripper=0.9967 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -7.5145, 7.6786, 0.5983, -0.4664, -0.0659, -0.0122, -0.1709, -2.7145, 6.9675, 1.453, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.737, 1.1904, -0.7734, -0.4938, -0.8051, 0.0163, 0.0334, 1.0588, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.2907 left_y=-0.2297 left_z=0.0778 left_yaw=0.0553 left_pitch=-0.4712 left_roll=0.1629 left_gripper=0.0163 right_x=0.3016 right_y=0.0006 right_z=0.172 right_yaw=0.073 right_pitch=-0.3165 right_roll=-0.186 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -7.9795, 6.0786, 0.6374, -0.3297, 0.0024, 0.7253, -0.0479, -2.7829, 7.1043, 1.4188, 0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961ef28cda9bedd500b9d4342f4627fc2f59b2c5276e1cea5e37792969d1d9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce5dced27489cdbdcc66b3fa016d6c0dd0b26c88e5ecbd879e9714a380fb646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd46dca9c3c9c51f5533e82b058ce932ad7800b12c5b2186070366457fbc6caf",
      "type": "input_image"
    },
    {
      "text": "",
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  "summary": [],
  "type": "reasoning"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.4,\"left_z\":0.08,\"left_gripper\":0.0},\"note\":\"Repeated pinch attempts show these oversized plush bodies slip around the narrow fingertip contact, so I’m switching to a controlled push: the closed left tool is already behind the cream-class toys. I’m sweeping them diagonally forward-right into the right basket along a straight path, keeping the tool at mid-body height.\"}",
  "call_id": "call_kmx6AOG8DUwyVLveuCU5zulA",
  "id": "fc_05f62207e9a2b651016ab45080987887d08fa3aecca4b083cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kmx6AOG8DUwyVLveuCU5zulA",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7803, 2.7907, 2.891, -1.3487, -0.4706, -0.6949, 0.0185, 0.0334, 1.0615, 0.8886, -0.6979, 0.0738, -0.2028, 0.9978]\nstate[eef_state]: left_x=0.4694 left_y=-0.3469 left_z=0.0713 left_yaw=0.0748 left_pitch=-0.4544 left_roll=0.1485 left_gripper=0.0185 right_x=0.3018 right_y=0.0006 right_z=0.1713 right_yaw=0.073 right_pitch=-0.3192 right_roll=-0.1859 right_gripper=0.9978\nstate[joint_eff]: [-0.6632, -13.6684, 6.8581, 0.8962, -0.1636, 0.2125, 1.0281, -0.0889, -2.7829, 6.7761, 1.4237, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff5125d7abdcdfc59ef75e19039b752a16d10080bda9df97c0a4b9018de8d77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a152a888b7e587c5d0a581816081a4a41396f98d660b37f1978269bcd4fe496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cade6b82e1415c42376b99ce0496764b02f31e55c8346ece3a5c9dd34f3d897",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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