adhoc

completed
2026-09-23T21:08:58.496631+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
264.3 s
total steps
396
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 table holds a mixed central pile of plush animals, with a clearly gray elephant-like toy at the front-left and several tan/brown animals around it; I will sort gray elephants to the left basket and the other animal type to the right basket. I’m moving the left gripper above the isolated gray toy first so the wrist camera can refine the grasp.
move_to
left_x0.3100left_y-0.1800left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3794, -0.0216, -0.0296, 0.9996, -0.0208, 0.7982, 0.6109, -0.3775, -0.0113, -0.025, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0006 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4581, -1.6479, 9.265, 1.7656, -0.022, 0.1197, -0.0708, -0.4308, -1.6205, 9.7846, 1.7509, -0.105, 0.0904, -0.0513] 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":0.31,"left_y":-0.18,"left_z":0.16,"left_gripper":1.0},"note":"The table holds a mixed central pile of plush animals, with a clearly gray elephant-like toy at the front-left and several tan/brown animals around it; I will sort gray elephants to the left basket and the other animal type to the right basket. I’m moving the left gripper above the isolated gray toy first so the wrist camera can refine the grasp."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe first estimate put the gripper over the middle of the pile: the wrist view now shows the tan animals ahead, while the gray elephant is clearly left of the hand in the overhead view. I’m shifting the left arm about 15 cm toward its outer/left side and slightly forward to center that gray toy.
move_to
left_x0.3500left_y-0.0300left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8543, 1.2877, 0.7685, -0.2901, -0.6781, -0.5686, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9996] state[eef_state]: left_x=0.3044 left_y=-0.1753 left_z=0.1459 left_yaw=-0.0137 left_pitch=-0.0388 left_roll=0.0241 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0095 right_roll=-0.001 right_gripper=0.9996 state[joint_eff]: [-0.1299, -4.7658, 8.8274, 1.5556, -0.5397, -0.0366, -0.0708, -0.0342, -1.0325, 7.2821, 1.8535, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.03,"left_z":0.16},"note":"The first estimate put the gripper over the middle of the pile: the wrist view now shows the tan animals ahead, while the gray elephant is clearly left of the hand in the overhead view. I’m shifting the left arm about 15 cm toward its outer/left side and slightly forward to center that gray toy."})
tool
executing move_to over 13 steps (1.3s)
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 gray elephant is now at the bottom-left of the left wrist image, very close to the fingertips but still lateral to the jaw centerline. I’m making a small outer-side and slightly inward correction to put its torso between the open jaws before descending.
move_to
left_x0.3300left_y0.0300left_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]: [-0.1661, 1.1164, 0.6708, -0.1925, -0.1757, -0.115, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9996] state[eef_state]: left_x=0.3481 left_y=-0.0234 left_z=0.1526 left_yaw=0.0292 left_pitch=-0.0666 left_roll=0.0239 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9996 state[joint_eff]: [-0.3487, -4.5333, 6.9265, 1.9316, 0.1441, 0.1441, -0.0122, -0.1846, -1.2786, 7.2274, 1.7558, -0.0171, -0.0659, -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_x":0.33,"left_y":0.03,"left_z":0.15},"note":"The gray elephant is now at the bottom-left of the left wrist image, very close to the fingertips but still lateral to the jaw centerline. I’m making a small outer-side and slightly inward correction to put its torso between the open jaws before descending."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gray elephant’s torso is now centered between the jaws in the wrist view. I’m descending vertically to about mid-body height so the fingers can close around the plush without pinning it to the table.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.102, 1.0378, 0.6224, -0.2111, 0.0124, 0.0216, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0257, 0.9996] state[eef_state]: left_x=0.3323 left_y=0.0354 left_z=0.1509 left_yaw=0.0653 left_pitch=-0.0664 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0103 right_roll=-0.0008 right_gripper=0.9996 state[joint_eff]: [-0.2667, -3.9316, 6.4205, 1.6923, 0.1392, 0.1734, -0.0171, -0.2393, -1.1829, 7.2274, 1.707, -0.0464, -0.0366, -0.0171] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The gray elephant’s torso is now centered between the jaws in the wrist view. I’m descending vertically to about mid-body height so the fingers can close around the plush without pinning it to the table."})
tool
executing move_to over 8 steps (0.8s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe descent stopped around 5 cm with the elephant filling the space between both fingers, consistent with contact at its soft body. I’m closing the gripper fully and will use the settled opening plus a lift to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1009, 1.354, 0.3073, 0.4541, 0.0067, 0.0296, 0.9995, -0.0208, 0.799, 0.6083, -0.3847, -0.0105, -0.0257, 0.9996] state[eef_state]: left_x=0.3406 left_y=0.0369 left_z=0.0501 left_yaw=0.0648 left_pitch=-0.0328 left_roll=0.0339 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0107 right_roll=-0.0008 right_gripper=0.9996 state[joint_eff]: [-0.0342, -3.0017, 3.7128, 1.1013, 0.0269, -0.149, -0.0122, -0.0615, -0.8547, 7.0496, 1.79, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped around 5 cm with the elephant filling the space between both fingers, consistent with contact at its soft body. I’m closing the gripper fully and will use the settled opening plus a lift to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe gripper settled nearly fully closed, which normally indicates an empty grasp, but a soft plush can compress unusually far and the elephant still appears against the fingertips. I’m lifting about 7 cm to make the decisive overhead check before retrying.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1009, 1.3575, 0.3031, 0.5137, 0.0002, 0.0288, 0.0112, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3468 left_y=0.0387 left_z=0.0598 left_yaw=0.0707 left_pitch=0.019 left_roll=0.0385 left_gripper=0.0112 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0145 right_roll=-0.0011 right_gripper=0.9996 state[joint_eff]: [-0.0479, -4.4513, 5.9829, 1.1746, 0.0317, -0.0317, 1.033, -0.0889, -1.5521, 7.1179, 1.7118, -0.0073, -0.0513, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The gripper settled nearly fully closed, which normally indicates an empty grasp, but a soft plush can compress unusually far and the elephant still appears against the fingertips. I’m lifting about 7 cm to make the decisive overhead check before retrying."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe elephant remains visible in its own wrist camera after the lift, confirming the first close was empty. Following that depth cue, I’m reopening and advancing the fingertips 2 cm farther outward while returning to a safe hover for one corrected attempt.
move_to
left_x0.3600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1009, 1.1252, 0.4671, 0.0708, -0.0002, 0.0265, 0.0125, -0.0208, 0.8032, 0.6083, -0.3851, -0.0109, -0.0261, 0.9996] state[eef_state]: left_x=0.3402 left_y=0.0381 left_z=0.1113 left_yaw=0.0723 left_pitch=-0.0275 left_roll=0.0354 left_gripper=0.0125 right_x=0.2952 right_y=-0.0006 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9996 state[joint_eff]: [-0.3624, -4.6017, 9.2923, 1.8535, -0.0366, -0.0317, 0.8571, -0.0615, -1.3197, 7.0496, 1.7411, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.15,"left_gripper":1.0},"note":"The elephant remains visible in its own wrist camera after the lift, confirming the first close was empty. Following that depth cue, I’m reopening and advancing the fingertips 2 cm farther outward while returning to a safe hover for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe corrected hover puts the elephant just left of the jaw center but still within the open 9.5 cm span; this is the arm’s outer-side workspace limit. I’m using the available final lateral offset, advancing slightly, and descending to table level so the fingers close around the broad torso rather than above it.
move_to
left_x0.3700left_y0.0500left_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0948, 1.1522, 0.6167, -0.0837, -0.0036, 0.0105, 0.9988, -0.0208, 0.8078, 0.6083, -0.3851, -0.0105, -0.0265, 0.9996] state[eef_state]: left_x=0.3531 left_y=0.0378 left_z=0.1367 left_yaw=0.0776 left_pitch=-0.0592 left_roll=0.0234 left_gripper=0.9988 right_x=0.2955 right_y=-0.0007 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0199 right_roll=-0.0013 right_gripper=0.9996 state[joint_eff]: [-0.3897, -3.6171, 9.306, 1.7411, -0.1099, 0.0562, -0.1392, -0.0615, -1.6479, 7.0769, 1.7216, -0.0171, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":0.05,"left_z":0.01},"note":"The corrected hover puts the elephant just left of the jaw center but still within the open 9.5 cm span; this is the arm’s outer-side workspace limit. I’m using the available final lateral offset, advancing slightly, and descending to table level so the fingers close around the broad torso rather than above it."})
tool
executing move_to over 9 steps (0.9s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteAt table-level contact the elephant’s torso is now centered across the bottom of the wrist frame between the fingertips. I’m closing on this lower, broader section for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1356, 1.6569, 0.4072, 0.7578, 0.0082, 0.0338, 0.9985, -0.0208, 0.812, 0.6075, -0.3851, -0.0105, -0.0257, 0.9996] state[eef_state]: left_x=0.3907 left_y=0.0555 left_z=0.0451 left_yaw=0.0959 left_pitch=0.0678 left_roll=0.0405 left_gripper=0.9985 right_x=0.2957 right_y=-0.0007 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [0.3624, -3.5897, 2.4821, 1.1258, 0.1929, -0.0024, -0.0317, -0.0752, -1.4427, 7.2547, 1.7411, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table-level contact the elephant’s torso is now centered across the bottom of the wrist frame between the fingertips. I’m closing on this lower, broader section for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe settled opening is 0.039, exactly at the empty-versus-contact threshold for this gripper, so the reading alone is ambiguous for the compressible plush. I’m lifting clear to verify whether the elephant follows.
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]: [0.1135, 1.6421, 0.4164, 0.7811, -0.0223, 0.0219, 0.039, -0.0208, 0.8127, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3976 left_y=0.0529 left_z=0.0592 left_yaw=0.106 left_pitch=0.1151 left_roll=0.0449 left_gripper=0.039 right_x=0.2957 right_y=-0.0007 right_z=0.1754 right_yaw=-0.0 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9996 state[joint_eff]: [-0.2803, -4.9026, 3.7812, 1.5946, 0.0611, -0.0171, 1.16, -0.3624, -1.265, 7.1453, 1.7314, -0.0464, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The settled opening is 0.039, exactly at the empty-versus-contact threshold for this gripper, so the reading alone is ambiguous for the compressible plush. I’m lifting clear to verify whether the elephant follows."})
tool
executing move_to over 7 steps (0.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gray elephant stayed on the table after two attempts and lies at the outer workspace edge, so I’m deferring it rather than repeating the same failed geometry. The central pile shows two more elephant-shaped plushes and two dog-shaped plushes; I’m moving the left arm over the central elephants, which also clears the edge toy for later reassessment.
move_to
left_x0.3600left_y-0.2500left_z0.1700left_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]: [0.1051, 1.3067, 0.6117, 0.2028, -0.0299, 0.0074, 0.0407, -0.0208, 0.8146, 0.6075, -0.3851, -0.0101, -0.0261, 0.9996] state[eef_state]: left_x=0.3921 left_y=0.0503 left_z=0.1396 left_yaw=0.1118 left_pitch=0.0678 left_roll=0.0353 left_gripper=0.0407 right_x=0.2959 right_y=-0.0008 right_z=0.1748 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.001 right_gripper=0.9996 state[joint_eff]: [-0.5128, -6.5162, 9.306, 1.956, -0.1099, 0.0757, 1.033, -0.0889, -1.4974, 7.0359, 1.7118, -0.0073, -0.0611, -0.0171] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.25,"left_z":0.17,"left_gripper":1.0},"note":"The gray elephant stayed on the table after two attempts and lies at the outer workspace edge, so I’m deferring it rather than repeating the same failed geometry. The central pile shows two more elephant-shaped plushes and two dog-shaped plushes; I’m moving the left arm over the central elephants, which also clears the edge toy for later reassessment."})
tool
executing move_to over 27 steps (2.7s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe wrist view resolves the central tan object as a teddy bear, so the two classes are gray elephants and tan/brown bears. I’m keeping elephants assigned to the left basket and shifting the left gripper toward the adjacent gray cluster instead of disturbing this bear.
move_to
left_x0.3600left_y-0.1200left_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]: [-0.9226, 1.6772, 1.1297, -0.2943, -0.8543, -0.6754, 0.9984, -0.0208, 0.8158, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3581 left_y=-0.2462 left_z=0.1596 left_yaw=0.0941 left_pitch=0.048 left_roll=0.0368 left_gripper=0.9984 right_x=0.2959 right_y=-0.0007 right_z=0.1745 right_yaw=-0.0 right_pitch=-0.0286 right_roll=-0.0008 right_gripper=0.9996 state[joint_eff]: [-0.3624, -7.8017, 8.7453, 1.3162, -0.4469, 0.0317, -0.0415, -0.0615, -1.4564, 7.2547, 1.7021, -0.0171, -0.0513, -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":{"left_x":0.36,"left_y":-0.12,"left_z":0.16},"note":"The wrist view resolves the central tan object as a teddy bear, so the two classes are gray elephants and tan/brown bears. I’m keeping elephants assigned to the left basket and shifting the left gripper toward the adjacent gray cluster instead of disturbing this bear."})
tool
executing move_to over 12 steps (1.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe gray cluster is now clearly visible beneath the left basket, with an inner elephant at the bottom-left of the wrist frame. I’m shifting about 7 cm outward and 3 cm forward to center that inner elephant, which is better placed than the edge animal attempted earlier.
move_to
left_x0.3900left_y-0.0500left_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]: [-0.6167, 1.3487, 0.7689, -0.1093, -0.6464, -0.4229, 0.9982, -0.0208, 0.8185, 0.6075, -0.3847, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3595 left_y=-0.12 left_z=0.1514 left_yaw=0.1227 left_pitch=0.0271 left_roll=0.0465 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0 right_pitch=-0.0309 right_roll=-0.0007 right_gripper=0.9996 state[joint_eff]: [0.1026, -6.6803, 6.5162, 1.79, -0.1978, 0.1734, -0.0317, -0.0068, -1.4154, 7.159, 1.746, -0.0171, -0.0464, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.05,"left_z":0.16},"note":"The gray cluster is now clearly visible beneath the left basket, with an inner elephant at the bottom-left of the wrist frame. I’m shifting about 7 cm outward and 3 cm forward to center that inner elephant, which is better placed than the edge animal attempted earlier."})
tool
executing move_to over 7 steps (0.7s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteAn inner gray elephant is now centered under the jaw column, with its head and broad ears symmetrically framed. I’m descending straight down to body height, preserving this alignment for a low torso grasp.
move_to
left_z0.0150
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]: [-0.3275, 1.3315, 0.7532, -0.057, -0.4446, -0.26, 0.9982, -0.0208, 0.8185, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3857 left_y=-0.047 left_z=0.1487 left_yaw=0.1672 left_pitch=-0.0062 left_roll=0.0533 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1738 right_yaw=-0.0 right_pitch=-0.0313 right_roll=-0.0007 right_gripper=0.9996 state[joint_eff]: [-0.0479, -6.612, 6.8718, 2.0049, -0.1148, 0.1978, -0.0122, -0.0479, -1.388, 7.2, 1.7411, -0.0269, -0.0562, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015},"note":"An inner gray elephant is now centered under the jaw column, with its head and broad ears symmetrically framed. I’m descending straight down to body height, preserving this alignment for a low torso grasp."})
tool
executing move_to over 9 steps (0.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe descent stopped at about 4.4 cm with the elephant’s broad torso filling the gap between the fingertips. I’m closing now at this better-centered inner-cluster position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3275, 1.7084, 0.5041, 0.6262, -0.5083, -0.2333, 0.9982, -0.0208, 0.8246, 0.6075, -0.3855, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3963 left_y=-0.04 left_z=0.0438 left_yaw=0.2053 left_pitch=0.0604 left_roll=0.0798 left_gripper=0.9982 right_x=0.2964 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996 state[joint_eff]: [-0.1299, -3.8359, 2.2769, 0.7106, 0.7595, -0.359, -0.0171, -0.0752, -1.9214, 7.0085, 1.6874, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at about 4.4 cm with the elephant’s broad torso filling the gap between the fingertips. I’m closing now at this better-centered inner-cluster position."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe close again reached nearly empty, and the revealed wrist view shows that the lateral-closing jaws were slipping into the gap between two side-by-side elephants. I’m lifting, reopening, and rotating the gripper about 70 degrees so the jaws close across one elephant’s front-to-back thickness instead of along the gap.
move_to
left_z0.1600left_yaw1.2000left_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]: [-0.326, 1.7061, 0.4995, 0.6857, -0.5491, -0.2264, 0.0362, -0.0208, 0.8249, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.4007 left_y=-0.0343 left_z=0.0563 left_yaw=0.2391 left_pitch=0.12 left_roll=0.0742 left_gripper=0.0362 right_x=0.2965 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996 state[joint_eff]: [-0.4855, -6.4615, 5.3402, 1.1111, 0.2564, -0.0757, 0.9548, -0.1846, -1.4154, 7.0632, 1.7607, -0.022, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_yaw":1.2,"left_gripper":1.0},"note":"The close again reached nearly empty, and the revealed wrist view shows that the lateral-closing jaws were slipping into the gap between two side-by-side elephants. I’m lifting, reopening, and rotating the gripper about 70 degrees so the jaws close across one elephant’s front-to-back thickness instead of along the gap."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe large wrist rotation changed the achieved Cartesian pose and carried the hand forward over the left basket, rather than staying above the elephants. I’m holding the new yaw and deliberately bringing the grasp point back to the inner elephant cluster at a high clearance.
move_to
left_x0.3900left_y-0.0200left_z0.1600left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4988, 2.1414, 1.7451, -0.9134, -1.092, -1.6108, 0.9953, -0.0208, 0.8295, 0.6067, -0.3943, -0.0109, -0.0257, 0.9996] state[eef_state]: left_x=0.4725 left_y=-0.0748 left_z=0.1488 left_yaw=1.0995 left_pitch=0.0771 left_roll=-0.2826 left_gripper=0.9953 right_x=0.2953 right_y=-0.0006 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [0.4034, -11.9863, 5.8872, -0.0611, -0.5543, 0.0952, -0.0904, -0.2256, -1.6479, 7.0906, 1.7802, -0.022, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.02,"left_z":0.16,"left_yaw":1.1},"note":"The large wrist rotation changed the achieved Cartesian pose and carried the hand forward over the left basket, rather than staying above the elephants. I’m holding the new yaw and deliberately bringing the grasp point back to the inner elephant cluster at a high clearance."})
tool
executing move_to over 7 steps (0.7s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteWith the rotated jaw axis, the two closest elephants now occupy separate positions across the lower wrist frame instead of a single lateral gap. I’m moving a few centimetres inward and descending over the inner elephant to try a front-to-back pinch.
move_to
left_x0.3600left_y-0.0300left_z0.0200left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4808, 1.7859, 1.2655, -0.7788, -1.0771, -1.5806, 0.9966, -0.0208, 0.8314, 0.6064, -0.3996, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3927 left_y=-0.0254 left_z=0.1522 left_yaw=1.0987 left_pitch=0.0668 left_roll=-0.2664 left_gripper=0.9966 right_x=0.2946 right_y=-0.0007 right_z=0.1667 right_yaw=0.0 right_pitch=-0.0599 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [0.4718, -9.1829, 6.5162, 0.9597, -0.6325, 0.1294, 0.1245, -0.1709, -1.2923, 7.0222, 1.79, -0.0171, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.03,"left_z":0.02,"left_yaw":1.1},"note":"With the rotated jaw axis, the two closest elephants now occupy separate positions across the lower wrist frame instead of a single lateral gap. I’m moving a few centimetres inward and descending over the inner elephant to try a front-to-back pinch."})
tool
executing move_to over 9 steps (0.9s)
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 noteAt the descended pose, a single gray elephant’s body now fills the gap between the rotated fingers, with the neighboring elephant displaced to the side. I’m closing across this body on the new jaw axis.
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]: [-0.5468, 1.9312, 0.976, -0.4313, -1.1954, -1.6531, 0.9967, -0.0208, 0.8314, 0.6064, -0.4007, -0.0101, -0.0261, 0.9996] state[eef_state]: left_x=0.3676 left_y=-0.0272 left_z=0.0612 left_yaw=1.0871 left_pitch=0.1757 left_roll=-0.2487 left_gripper=0.9967 right_x=0.2945 right_y=-0.0007 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [0.4308, -4.588, 2.2496, 0.7839, 1.0183, -0.6276, -0.0024, -0.2256, -1.3607, 7.3094, 1.707, -0.0171, -0.022, -0.0122] 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":{"left_gripper":0.0},"note":"At the descended pose, a single gray elephant’s body now fills the gap between the rotated fingers, with the neighboring elephant displaced to the side. I’m closing across this body on the new jaw axis."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe gripper again closed empty; the elephant remained visible beyond the fingertips, showing that camera centering still left the grasp point short in depth. I’m reopening at a safe height and advancing 3 cm farther outward while preserving the rotated axis for one depth-corrected attempt.
move_to
left_x0.4000left_z0.1500left_gripper1.0000left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5503, 1.9289, 0.9714, -0.4313, -1.227, -1.6501, 0.0104, -0.0208, 0.8314, 0.6064, -0.4023, -0.0101, -0.0261, 0.9996] state[eef_state]: left_x=0.3667 left_y=-0.0256 left_z=0.0661 left_yaw=1.0878 left_pitch=0.2073 left_roll=-0.2456 left_gripper=0.0104 right_x=0.2942 right_y=-0.0007 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0626 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [0.3214, -8.2803, 5.1214, 0.5348, -0.2564, -0.0317, 0.8571, -0.1026, -1.4427, 6.9812, 1.7265, -0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_z":0.15,"left_gripper":1.0,"left_yaw":1.1},"note":"The gripper again closed empty; the elephant remained visible beyond the fingertips, showing that camera centering still left the grasp point short in depth. I’m reopening at a safe height and advancing 3 cm farther outward while preserving the rotated axis for one depth-corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteAfter the depth correction, the inner elephant is much closer to the bottom of the wrist image, where the rotated fingertips actually converge. I’m descending at this advanced position to engage its torso rather than its image projection.
move_to
left_z0.0150left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5045, 1.8828, 1.2037, -0.6384, -1.2114, -1.5658, 0.9951, -0.0208, 0.8314, 0.6064, -0.408, -0.0101, -0.0261, 0.9996] state[eef_state]: left_x=0.3989 left_y=-0.0273 left_z=0.1282 left_yaw=1.1001 left_pitch=0.1987 left_roll=-0.2371 left_gripper=0.9951 right_x=0.2934 right_y=-0.0007 right_z=0.1651 right_yaw=-0.0003 right_pitch=-0.0683 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [0.3761, -12.1094, 7.6786, 0.4567, -0.6276, 0.2271, 0.0513, -0.0615, -1.2239, 7.1726, 1.7558, -0.0122, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015,"left_yaw":1.1},"note":"After the depth correction, the inner elephant is much closer to the bottom of the wrist image, where the rotated fingertips actually converge. I’m descending at this advanced position to engage its torso rather than its image projection."})
tool
executing move_to over 8 steps (0.8s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteAt the advanced low pose, the nearer gray elephant’s fur now spans directly between the rotated finger tips rather than sitting beyond them. I’m closing across that body and will trust only a nonempty opening or a confirmed lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5163, 2.0823, 1.0866, -0.3183, -1.3338, -1.515, 0.9966, -0.0208, 0.8314, 0.6064, -0.4084, -0.0101, -0.0261, 0.9996] state[eef_state]: left_x=0.4005 left_y=-0.0258 left_z=0.0615 left_yaw=1.0939 left_pitch=0.3225 left_roll=-0.1952 left_gripper=0.9966 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0687 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [0.7726, -5.3265, 1.853, 1.2186, 1.0769, -0.6325, 0.1392, -0.1436, -1.4701, 7.0496, 1.6532, -0.0171, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the advanced low pose, the nearer gray elephant’s fur now spans directly between the rotated finger tips rather than sitting beyond them. I’m closing across that body and will trust only a nonempty opening or a confirmed lift."})
tool
executing move_to over 10 steps (1.0s)
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 gray elephants are too compressible and continue to slip through the fingertips despite corrected depth and jaw orientation, so I’m switching to the firmer tan teddy bears. I’m moving the right arm over the isolated front bear while leaving the left arm stationary over the elephant side.
move_to
right_x0.3500right_y0.2800right_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]: [-0.5163, 2.0796, 1.0843, -0.3187, -1.3434, -1.5166, 0.0103, -0.0208, 0.8314, 0.6064, -0.4084, -0.0105, -0.0261, 0.9996] state[eef_state]: left_x=0.3999 left_y=-0.025 left_z=0.0635 left_yaw=1.0973 left_pitch=0.3316 left_roll=-0.1971 left_gripper=0.0103 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=0.0 right_pitch=-0.0687 right_roll=0.0001 right_gripper=0.9996 state[joint_eff]: [-0.0479, -9.4154, 4.8752, 0.6325, -0.5397, 0.0122, 0.8571, -0.1709, -1.347, 7.0085, 1.7118, -0.0464, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_x":0.35,"right_y":0.28,"right_z":0.16,"right_gripper":1.0},"note":"The gray elephants are too compressible and continue to slip through the fingertips despite corrected depth and jaw orientation, so I’m switching to the firmer tan teddy bears. I’m moving the right arm over the isolated front bear while leaving the left arm stationary over the elephant side."})
tool
executing move_to over 24 steps (2.4s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteThe right wrist camera shows a tan bear close at bottom-left, while the right basket is farther ahead. I’m shifting the gripper leftward in its frame and slightly inward to center the bear’s torso between the jaws.
move_to
right_x0.3200right_y0.3600right_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]: [-0.5156, 2.0796, 1.0843, -0.3164, -1.3388, -1.5181, 0.011, 0.9127, 1.705, 1.214, -0.4187, 0.6655, 0.6193, 0.9996] state[eef_state]: left_x=0.4002 left_y=-0.0251 left_z=0.0628 left_yaw=1.0985 left_pitch=0.3269 left_roll=-0.2009 left_gripper=0.011 right_x=0.3453 right_y=0.2741 right_z=0.1462 right_yaw=0.0314 right_pitch=-0.1055 right_roll=-0.0257 right_gripper=0.9996 state[joint_eff]: [0.1436, -9.853, 4.6564, 0.5934, -0.6227, -0.022, 0.7741, 0.5402, -8.5538, 8.9504, 1.199, 0.5836, 0.1734, -0.0513] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.36,"right_z":0.16},"note":"The right wrist camera shows a tan bear close at bottom-left, while the right basket is farther ahead. I’m shifting the gripper leftward in its frame and slightly inward to center the bear’s torso between the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 255
assistant
agent noteThe bear’s torso is now centered on the right jaw column, with its head just to the left and the basket safely ahead. I’m descending to mid-body height for a firm torso grasp.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4988, 2.0796, 1.0843, -0.3161, -1.3384, -1.5177, 0.0109, 1.0592, 1.9194, 1.5349, -0.6895, 0.7601, 0.7803, 0.9993] state[eef_state]: left_x=0.4006 left_y=-0.0184 left_z=0.0628 left_yaw=1.1151 left_pitch=0.3266 left_roll=-0.2009 left_gripper=0.0109 right_x=0.3254 right_y=0.3382 right_z=0.1498 right_yaw=0.0177 right_pitch=-0.129 right_roll=-0.0813 right_gripper=0.9993 state[joint_eff]: [-1.5658, -9.8393, 4.6291, 0.6081, -0.5495, -0.022, 0.8327, 2.5778, -8.6906, 9.853, 1.6874, 0.1392, 0.0415, -0.0513] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The bear’s torso is now centered on the right jaw column, with its head just to the left and the basket safely ahead. I’m descending to mid-body height for a firm torso grasp."})
tool
executing move_to over 8 steps (0.8s)
step 263
assistant
agent noteAt the low pose the bear’s large torso fills the space between both right fingers, unlike the narrow elephant gaps. I’m closing around the torso now.
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]: [-0.4889, 2.0796, 1.0824, -0.3187, -1.3388, -1.5185, 0.0128, 1.0512, 2.0106, 1.2991, -0.3271, 0.783, 0.8165, 0.9991] state[eef_state]: left_x=0.4 left_y=-0.014 left_z=0.0624 left_yaw=1.124 left_pitch=0.3271 left_roll=-0.1969 left_gripper=0.0128 right_x=0.3316 right_y=0.3359 right_z=0.0682 right_yaw=-0.0187 right_pitch=-0.0929 right_roll=-0.0317 right_gripper=0.9991 state[joint_eff]: [-0.6906, -9.6615, 4.9846, 0.6618, -0.5836, -0.0513, 0.4469, 0.294, -6.735, 4.6427, 0.8864, 0.0708, -0.4078, -0.0269] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the low pose the bear’s large torso fills the space between both right fingers, unlike the narrow elephant gaps. I’m closing around the torso now."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteThe right gripper settled at 0.112, well above the empty threshold, indicating a real grasp on the bear. I’m lifting it clear to confirm motion before carrying it to the right basket.
move_to
right_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]: [-0.4854, 2.0796, 1.0821, -0.3199, -1.3388, -1.5185, 0.0149, 1.05, 2.0178, 1.2903, -0.3023, 0.7952, 0.8185, 0.1121] state[eef_state]: left_x=0.3999 left_y=-0.0125 left_z=0.0623 left_yaw=1.1269 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0149 right_x=0.3336 right_y=0.3352 right_z=0.066 right_yaw=-0.0269 right_pitch=-0.0794 right_roll=-0.0275 right_gripper=0.1121 state[joint_eff]: [-0.6496, -9.8256, 4.6291, 0.6471, -0.5495, -0.0464, 0.2173, 0.0068, -11.0701, 6.7214, 0.8913, 0.2027, -0.0659, 0.7839] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The right gripper settled at 0.112, well above the empty threshold, indicating a real grasp on the bear. I’m lifting it clear to confirm motion before carrying it to the right basket."})
tool
executing move_to over 7 steps (0.7s)
step 280
assistant
agent noteThe bear rose with the right gripper and remains securely compressed at a 0.114 opening. I’m carrying it high to the center of the right-hand basket, keeping well clear of the left arm and remaining toys.
move_to
right_x0.4800right_y0.0300right_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]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5177, 0.0171, 1.0496, 1.9575, 1.4769, -0.5983, 0.7654, 0.8158, 0.1142] state[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1284 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0171 right_x=0.3309 right_y=0.3378 right_z=0.1225 right_yaw=-0.0143 right_pitch=-0.1258 right_roll=-0.0605 right_gripper=0.1142 state[joint_eff]: [-0.4581, -9.8393, 4.5744, 0.6129, -0.6032, -0.0269, 0.2173, -0.0752, -13.7504, 8.9915, 0.7839, 0.5543, -0.0415, 0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.03,"right_z":0.2},"note":"The bear rose with the right gripper and remains securely compressed at a 0.114 opening. I’m carrying it high to the center of the right-hand basket, keeping well clear of the left arm and remaining toys."})
tool
executing move_to over 26 steps (2.6s)
step 306
assistant
agent noteThe held bear is directly beside and below the right basket rim in the wrist view, with the gripper centered over the basket interior. I’m lowering it into the basket before release so it cannot fall outside.
move_to
right_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]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5181, 0.0185, 0.1184, 1.6432, 1.2854, -0.4099, 0.1474, 0.0319, 0.1158] state[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0185 right_x=0.4652 right_y=0.0328 right_z=0.1758 right_yaw=-0.0278 right_pitch=-0.1947 right_roll=-0.066 right_gripper=0.1158 state[joint_eff]: [-0.0752, -9.812, 4.6017, 0.6325, -0.6227, -0.0122, 0.1294, -0.3214, -7.5829, 10.441, 1.8291, 0.0513, 0.022, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The held bear is directly beside and below the right basket rim in the wrist view, with the gripper centered over the basket interior. I’m lowering it into the basket before release so it cannot fall outside."})
tool
executing move_to over 6 steps (0.6s)
step 312
assistant
agent noteThe gripper has lowered to 9.8 cm with the bear supported inside the right basket footprint and below the rim. I’m opening to release it into the correct bear basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3202, -1.3388, -1.5181, 0.0199, 0.1165, 1.7126, 1.0557, -0.128, 0.1345, 0.0189, 0.1176] state[eef_state]: left_x=0.3999 left_y=-0.0117 left_z=0.0622 left_yaw=1.1285 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0199 right_x=0.4607 right_y=0.0337 right_z=0.0981 right_yaw=-0.0121 right_pitch=-0.2135 right_roll=-0.0687 right_gripper=0.1176 state[joint_eff]: [-0.0342, -9.8667, 4.6017, 0.7497, -0.5348, -0.0269, 0.1343, 0.0615, -6.3385, 6.0103, 1.5067, 0.0855, 0.1099, 0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The gripper has lowered to 9.8 cm with the bear supported inside the right basket footprint and below the rim. I’m opening to release it into the correct bear basket."})
tool
executing move_to over 9 steps (0.9s)
step 321
assistant
agent noteThe overhead view shows the released bear resting against the near edge of the right basket rather than fully inside it, and it remains between the open fingertips. I’m re-closing at the current low pose so I can move it deeper into the basket.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3202, -1.3388, -1.5181, 0.0215, 0.1158, 1.7222, 1.0416, -0.1032, 0.1421, 0.0143, 0.9953] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0215 right_x=0.4609 right_y=0.032 right_z=0.0927 right_yaw=-0.0168 right_pitch=-0.2119 right_roll=-0.0774 right_gripper=0.9953 state[joint_eff]: [-0.0889, -9.7846, 4.5744, 0.5836, -0.5885, -0.0073, 0.1587, -0.1846, -9.3197, 7.8017, 1.3114, -0.0464, -0.0122, -0.1978] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The overhead view shows the released bear resting against the near edge of the right basket rather than fully inside it, and it remains between the open fingertips. I’m re-closing at the current low pose so I can move it deeper into the basket."})
tool
executing move_to over 10 steps (1.0s)
step 331
assistant
agent noteThe re-grasp settled at 0.097, confirming the bear is held again. I’m lifting slightly and moving several centimetres forward and right into the basket’s interior rather than releasing at its near rim.
move_to
right_x0.5300right_y-0.0200right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4831, 2.0796, 1.0824, -0.3199, -1.3388, -1.5181, 0.0229, 0.1158, 1.721, 1.0405, -0.0959, 0.1375, 0.0059, 0.0971] state[eef_state]: left_x=0.4 left_y=-0.0117 left_z=0.0623 left_yaw=1.1291 left_pitch=0.3272 left_roll=-0.1953 left_gripper=0.0229 right_x=0.4619 right_y=0.0329 right_z=0.0939 right_yaw=-0.0081 right_pitch=-0.2055 right_roll=-0.0793 right_gripper=0.0971 state[joint_eff]: [-0.0615, -9.6752, 4.588, 0.6227, -0.6081, -0.022, 0.1294, -0.0342, -8.3897, 6.5299, 1.5263, 0.0611, 0.0562, 0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":-0.02,"right_z":0.14},"note":"The re-grasp settled at 0.097, confirming the bear is held again. I’m lifting slightly and moving several centimetres forward and right into the basket’s interior rather than releasing at its near rim."})
tool
executing move_to over 6 steps (0.6s)
step 337
assistant
agent noteThe bear is still pressed against the basket’s near wall, so the low transfer did not clear the rim. I’m raising it well above the rim while reaching farther forward over the basket floor before the next release.
move_to
right_x0.5600right_y-0.0200right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0234, -0.0223, 1.8893, 1.3849, -0.3637, 0.0387, -0.0898, 0.0985] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0234 right_x=0.5054 right_y=-0.0145 right_z=0.1088 right_yaw=-0.0085 right_pitch=-0.3055 right_roll=-0.0774 right_gripper=0.0985 state[joint_eff]: [0.0068, -9.812, 4.6154, 0.5885, -0.6178, -0.0317, 0.0415, -0.6632, -9.8803, 10.5504, 2.42, 0.0562, 0.1148, 0.1343] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":-0.02,"right_z":0.22},"note":"The bear is still pressed against the basket’s near wall, so the low transfer did not clear the rim. I’m raising it well above the rim while reaching farther forward over the basket floor before the next release."})
tool
executing move_to over 8 steps (0.8s)
step 345
assistant
agent noteThe raised gripper now projects over the basket interior, with the near rim below the held bear. I’m lowering vertically inside the basket footprint so the bear is supported by the basket floor.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0235, -0.0265, 2.1075, 2.0953, -0.8761, 0.0212, -0.1059, 0.0992] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5561 right_y=-0.0149 right_z=0.2046 right_yaw=0.0121 right_pitch=-0.3261 right_roll=-0.0733 right_gripper=0.0992 state[joint_eff]: [-0.0342, -9.853, 4.7932, 0.5934, -0.6178, -0.0122, -0.0024, -0.7453, -11.5761, 9.0051, 1.3651, 0.1343, 0.0904, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The raised gripper now projects over the basket interior, with the near rim below the held bear. I’m lowering vertically inside the basket footprint so the bear is supported by the basket floor."})
tool
executing move_to over 7 steps (0.7s)
step 352
assistant
agent noteThe arm has lowered as far forward as it can while keeping the bear over the basket opening; the basket floor and sidewalls surround the release area in the wrist view. I’m opening now so the bear drops into the basket rather than back against the outer rim.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3195, -1.3384, -1.5181, 0.0235, -0.0265, 2.048, 1.6993, -0.6464, 0.0174, -0.1093, 0.1006] state[eef_state]: left_x=0.4 left_y=-0.0119 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3268 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5261 right_y=-0.0134 right_z=0.1124 right_yaw=0.0194 right_pitch=-0.4329 right_roll=-0.0673 right_gripper=0.1006 state[joint_eff]: [-0.0342, -9.8667, 4.6291, 0.6276, -0.5885, -0.0366, -0.0073, -0.0342, -6.8444, 5.053, 2.7033, -0.0122, -0.0269, 0.1294] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The arm has lowered as far forward as it can while keeping the bear over the basket opening; the basket floor and sidewalls surround the release area in the wrist view. I’m opening now so the bear drops into the basket rather than back against the outer rim."})
tool
executing move_to over 9 steps (0.9s)
step 361
assistant
agent noteThe bear again settled at the basket’s front edge instead of dropping inside; it remains centered between the open fingers. I’m re-grasping once more so I can extend it past the front wall before the final release.
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]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.033, 2.0304, 1.6909, -0.6418, 0.0166, -0.1162, 0.9947] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.525 right_y=-0.0167 right_z=0.1187 right_yaw=0.0173 right_pitch=-0.4194 right_roll=-0.0715 right_gripper=0.9947 state[joint_eff]: [-0.0068, -9.8256, 4.6154, 0.6569, -0.5934, -0.0366, -0.0073, 0.4171, -10.0034, 7.7744, 1.2527, 0.0708, 0.0122, -0.1538] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The bear again settled at the basket’s front edge instead of dropping inside; it remains centered between the open fingers. I’m re-grasping once more so I can extend it past the front wall before the final release."})
tool
executing move_to over 10 steps (1.0s)
step 371
assistant
agent noteThe fingers have pinched the bear at the near wall, though the plush compresses to a small opening. I’m extending to the maximum forward reach at a rim-clearing height to carry its center of mass beyond the basket’s front edge.
move_to
right_x0.5900right_y-0.0200right_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]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.0284, 2.0354, 1.6909, -0.6357, 0.0128, -0.12, 0.0348] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.5264 right_y=-0.0136 right_z=0.117 right_yaw=0.0276 right_pitch=-0.4183 right_roll=-0.0704 right_gripper=0.0348 state[joint_eff]: [-0.1846, -9.8667, 4.9026, 0.6569, -0.5934, -0.0073, -0.0073, -0.6906, -11.8632, 6.8171, 1.2186, 0.0317, 0.0415, 0.7253] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":-0.02,"right_z":0.16},"note":"The fingers have pinched the bear at the near wall, though the plush compresses to a small opening. I’m extending to the maximum forward reach at a rim-clearing height to carry its center of mass beyond the basket’s front edge."})
tool
executing move_to over 5 steps (0.5s)
step 376
assistant
agent noteAt maximum reach the overhead view shows the bear beyond the front rim but offset to the basket’s right side. I’m correcting leftward into the basket center while maintaining forward reach and rim clearance.
move_to
right_x0.5800right_y0.0800right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4835, 2.0804, 1.0824, -0.3202, -1.3392, -1.5185, 0.0235, -0.0338, 2.3508, 2.3039, -0.9775, 0.0147, -0.1352, 0.0348] state[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0621 left_yaw=1.1287 left_pitch=0.3275 left_roll=-0.1945 left_gripper=0.0235 right_x=0.5811 right_y=-0.0186 right_z=0.1375 right_yaw=0.0308 right_pitch=-0.4632 right_roll=-0.0783 right_gripper=0.0348 state[joint_eff]: [-0.1709, -9.8803, 4.588, 0.5788, -0.5739, -0.0562, -0.0073, -0.4991, -14.2974, 9.0051, 1.4335, -0.1636, 0.0269, 1.0379] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.58,"right_y":0.08,"right_z":0.16},"note":"At maximum reach the overhead view shows the bear beyond the front rim but offset to the basket’s right side. I’m correcting leftward into the basket center while maintaining forward reach and rim clearance."})
tool
executing move_to over 9 steps (0.9s)
step 385
assistant
agent noteThe bear is laterally centered but hangs toward the near side of the grasp point. I’m combining a final forward-and-down motion with opening so the fingers guide it over the front wall and release it inside the basket.
move_to
right_x0.6000right_y0.0800right_z0.1000right_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]: [-0.4835, 2.0804, 1.0824, -0.3195, -1.3388, -1.5185, 0.0236, 0.1505, 2.4542, 2.5458, -1.1767, 0.1043, -0.0017, 0.0364] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0621 left_yaw=1.1288 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0236 right_x=0.5729 right_y=0.0719 right_z=0.1444 right_yaw=0.0479 right_pitch=-0.5155 right_roll=-0.0931 right_gripper=0.0364 state[joint_eff]: [-0.0342, -9.8667, 4.6974, 0.5934, -0.5934, -0.0562, -0.0073, 0.8957, -13.3949, 9.7846, 1.3602, 0.0366, 0.1734, 0.8034] camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.08,"right_z":0.1,"right_gripper":1.0},"note":"The bear is laterally centered but hangs toward the near side of the grasp point. I’m combining a final forward-and-down motion with opening so the fingers guide it over the front wall and release it inside the basket."})
tool
executing move_to over 10 steps (1.0s)
step 395
assistant
agent noteI could identify the two classes as gray elephant plushes and tan/brown teddy-bear plushes, but I could not complete the sorting. The elephants repeatedly compressed through or slipped between the jaws, and although I briefly grasped a bear, the basket was near maximum forward reach and the bear hung behind the grasp point, repeatedly landing against the near rim rather than inside. The remaining objects are still on the table, so declaring success would be incorrect.
give_up
hindsightFor these soft plushes, a visually centered wrist-camera target can still be several centimetres short of the fingertips; advance at least 3 cm beyond the apparent body before descending. Side-by-side elephants require a rotated jaw axis, but their fur can compress to an empty reading and slip through. The right basket interior requires roughly right_x 0.57-0.59 and right_y about 0.07-0.08; a bear held from its rear hangs several centimetres toward the base, so grasp its forward half or relocate the basket before transport. Large yaw changes on the left arm caused substantial Cartesian drift and should be done at high clearance with an explicit position target.
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]: [-0.4835, 2.0804, 1.0824, -0.3199, -1.3388, -1.5185, 0.0236, 0.1577, 2.6118, 2.6541, -1.153, 0.1013, -0.0071, 0.9954] state[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0621 left_yaw=1.1287 left_pitch=0.3271 left_roll=-0.1949 left_gripper=0.0236 right_x=0.594 right_y=0.08 right_z=0.0956 right_yaw=0.0599 right_pitch=-0.5415 right_roll=-0.0958 right_gripper=0.9954 state[joint_eff]: [-0.0615, -9.812, 4.6838, 0.6227, -0.6032, -0.0269, -0.0171, -0.3214, -13.7368, 8.759, 1.1453, 0.0806, 0.0513, -0.1783] camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could identify the two classes as gray elephant plushes and tan/brown teddy-bear plushes, but I could not complete the sorting. The elephants repeatedly compressed through or slipped between the jaws, and although I briefly grasped a bear, the basket was near maximum forward reach and the bear hung behind the grasp point, repeatedly landing against the near rim rather than inside. The remaining objects are still on the table, so declaring success would be incorrect.","hindsight":"For these soft plushes, a visually centered wrist-camera target can still be several centimetres short of the fingertips; advance at least 3 cm beyond the apparent body before descending. Side-by-side elephants require a rotated jaw axis, but their fur can compress to an empty reading and slip through. The right basket interior requires roughly right_x 0.57-0.59 and right_y about 0.07-0.08; a bear held from its rear hangs several centimetres toward the base, so grasp its forward half or relocate the basket before transport. Large yaw changes on the left arm caused substantial Cartesian drift and should be done at high clearance with an explicit position target."})
tool
give_up: I could identify the two classes as gray elephant plushes and tan/brown teddy-bear plushes, but I could not complete the sorting. The elephants repeatedly compressed through or slipped between the jaws, and although I briefly grasped a bear, the basket was near maximum forward reach and the bear hung behind the grasp point, repeatedly landing against the near rim rather than inside. The remaining objects are still on the table, so declaring success would be incorrect.
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 · 16.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3794, -0.0216, -0.0296, 0.9996, -0.0208, 0.7982, 0.6109, -0.3775, -0.0113, -0.025, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0006 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.6479, 9.265, 1.7656, -0.022, 0.1197, -0.0708, -0.4308, -1.6205, 9.7846, 1.7509, -0.105, 0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29d20c3c36f0652d41a279db60b32d3ac0cffe02a7b7d066e28c82f4f0428f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d16e36efd16f580537487bd2e09af3154ff19de3e09e54a05ef935992a19f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03714fac89f61aaad6062d9a6382c49c90c4bb7ddacecb7c07c9a568eb10809",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 6.05 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_052ec04fc5a6be40016ab43ff9ea5487d092104dedc891d313",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_052ec04fc5a6be40016ab43fff3dbc87d099cd981d9a80f5d4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEAILV-iuAlYvXBuUCsYPsl7XKgP49WOy889zPRgawWPAHbgUS6xij2WnjvMbBgZcgi4xDoXkmnsLuDNdDi1X_nJ8Gu1Ps7FKrtjEfKZ-agpMl_UPCU4LSisSU6MZBTf8AXoC07HDqgViEXPIcMBwO2OQs2mAXnhQj1mGNHyN67Ixb9tne6HekHFVm-mDMRYWNYWa_ohC4xUlWj4d7_wEsgiNsiLh0Usu_ICyqJZkpkWyy3BF1TuoAQ_sn2ayleE0MH64u6CLC9GsbgGjgoWBw0O4WvRVJK1RRA4nfiE9pirLQ5vHDipir05NI1V41YJY9JkKCc2csQOmjSUmAswmmKHaVM7pR6ra-CrvI9L0jtMya8BfF9dQWNg6hCMUrjyf1e2kCXkCgNecHVE3YmnlBQ0Bsn6jM0GxnWfSzon7zPsfuRf4bEBMQwpTDLnClXjwPgBAg3JLxkpYnm5EpqPCbp9c827aMeiKQ7STWuGVEGLi0rtXtB_Cov8P-ye_NqGccu1UlB314aQWGVdVXNbVYyQLJPfosBq6WUPqrVdpq9XwGAPNXzZgz1Rqw-Ce7JRm6TTjMKdqObo44y8HviZwBrkk4xfX9JrUa0rqR6zN2l84AG2Bm82ADHdnuU1d_5iX7MZ4rCmiKeA5eA6_XaQ48z-XuAkLPfEi_6nqgLEytWYeDzmQ7OUJ4wvsGP_U15sOtrSC4N7R8uSC_4ajmXRnK0cidrHZoYTEBW4KOMR3JAV3-zYk33mAynk-s_JbAoqM0kM0scR0VbvJKXqKlNtm-JnkJ5Manq9w4npKPpqPiRlzmdij-IrNCglmf-Ul_x9Ybq9t1XEvW31ONPNlEITNEBvs-4MaUAt_3KR_8QtG9AgfKP3A6HOGI_GoVj8Ips-kX9nXeQMHLM8nTyxl13qvkLextyWDm8Qpt1zNOCICVcc0C2ilfcSuViZdsqS-niOrl9xOW4H_BUsvD3g-h4VGDLU-kkANg9_vGGs20fh6qPgvhu8KEdvO0a8A8bGVxk1j8o6VOzWoYhS45uyfj20L4xawI7MZCJu68GUnkg_Tzo0r9_QKP89NpIUKDjwUU_HkELSz6FeYyiRJ0EbqHM7DBqvQ9tR8hSuU2S_nrI_PpNZMf7tIednmPPrxC-7ZJMqLxxpCQn7SaV8kEdbGDfYOZASnEh_BHxI1wtAdh1HIFnjVjxZn1lJ9zT7567Zzz_MOVRA6iesphcodqh1BCys602GtHqghl2QxG22zHG_WE5neBHI8lFYc-ZJlxTHi7kH-mRK94d-Lsm2O2hq3r5D3c8iufaIjjVK5SykYK15jKC1fcqgsoOfkqLu11jJIIu3SdATjhxd6wYqF3nYxHUIowRm0l_c8dk492P4MUfiNOVKur0-cKWUHq_3DfC2SqQqu8bOr_1TmtGP4QmF5CneWN37hh8zlx70rxgjEuMPA2ix58fZo5IU2LdqiXbg9XtAarC1IiRoRLLXlHuPNhfb43O30p9o0WP0Sk2AfEr42ZpCAP2-sFKtq9cHuvDEZTC4qhQ4LD12jS_65ctpkL6YdXofY6zpJYO8tRqZ6FPaSyz8XdtkM1dorPoaNXFJbue3hHxtadAN8AoNsK6Rl1p5uEMoCbNh2p5LcSCEJOWEtIMRwX8viJg3QSbPegBhZ6o1YzmiZhHzORTq5x-UfbFQfjtNq9iPrC-keDrNMI7-wNhpY_Kac50GR_6op8Xs5_051rMaNacjQ87-nuIWAIGE5kgK41pfHVSmpWs10NWkiRngYerMfYA1JHrZizLPCLAYtXdneb3X6fS53uCtJ_dc-YufixCFkILWtjKUclYCUYgOB0AuiRYOeuZ7FkVa0abFBcBtIynGMXkDmnW6qI94aoWe237FnJMwM9N5bD4lpFwCWvqCfymVH0jZhDbz3Mj87o_6_BjxXhEr3-0C7gi1mxUNAM1AIo5WdzdGRQM6lb7LHK797Pwj2jGP5py12qzeq7PV1QZvvCWIFlKHRDEZUoYdI9Hw4FXfgiDjAELeW7f-kxU6qEcTsgJehN_bOhXCYxs5ZpexGuYx6LOqvGvy-IJC_Vfvhk8FzSrtnKLK36gqCwyg5X1IUYh3mp1qhf37IIG3ZSlDw9EJ1AT_kbL_7x_ZDskIKLw2r7PtbiH16roLM8dTPj9I7oqw7_p4U6LdhpZF1-msos1jeRV9Zqj-uNdfKJtqFwVk00IcEtXPlgiV2pNFe1f2268l09jin_Mx0X3Stj57cBbpkTR9_reqH7bZZNkyQyrMcT090R32UN3hs4PEeyY3akTn7J-r_HJxKft5kK-S3ba6nuGqH6ZHRuOd9Z-tv-qNVmtg13nGmkkZgUMYc-B-MkG0WCz17O2G-8Foa0tU2bQ7uJocjo_TU_lJiHwDYE_NPGB7u9-4gMRQy3Ly68bvu42Gv_RbxaplZ_9sRUJO5JeivMc8ch06QxMqUBrRBXCPqdAnpZuFRB_tdINFI43WsKWWyQQY98VDCIs4t0LeRiSL6u9Hh8S_e76frNTxPRmr07sTfxXOncQuFEE=",
  "id": "rs_052ec04fc5a6be40016ab44004c0b087d09f238d2e936ec5e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The table holds a mixed central pile of plush animals, with a clearly gray elephant-like toy at the front-left and several tan/brown animals around it; I will sort gray elephants to the left basket and the other animal type to the right basket. I’m moving the left gripper above the isolated gray toy first so the wrist camera can refine the grasp.\"}",
  "call_id": "call_3fxtz6VHLWt0lAEUsJGmkGB5",
  "id": "fc_052ec04fc5a6be40016ab440076bc087d0a3cdd396727ad5cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3fxtz6VHLWt0lAEUsJGmkGB5",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.8543, 1.2877, 0.7685, -0.2901, -0.6781, -0.5686, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=-0.1753 left_z=0.1459 left_yaw=-0.0137 left_pitch=-0.0388 left_roll=0.0241 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0095 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -4.7658, 8.8274, 1.5556, -0.5397, -0.0366, -0.0708, -0.0342, -1.0325, 7.2821, 1.8535, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46da53c45140f00aa3073bbdd0396c583d56afc17af7b6cfb8c44eb09797944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618c7528819119a8955b5e8d2cb399642d0cbe309729fd12816ed854f3d84ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea69d3c6852a73efd4fb8723bc80825785e63b1760ffe4f251ef858c9febe52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.229 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3794, -0.0216, -0.0296, 0.9996, -0.0208, 0.7982, 0.6109, -0.3775, -0.0113, -0.025, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0006 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.6479, 9.265, 1.7656, -0.022, 0.1197, -0.0708, -0.4308, -1.6205, 9.7846, 1.7509, -0.105, 0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8543, 1.2877, 0.7685, -0.2901, -0.6781, -0.5686, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=-0.1753 left_z=0.1459 left_yaw=-0.0137 left_pitch=-0.0388 left_roll=0.0241 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0095 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -4.7658, 8.8274, 1.5556, -0.5397, -0.0366, -0.0708, -0.0342, -1.0325, 7.2821, 1.8535, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46da53c45140f00aa3073bbdd0396c583d56afc17af7b6cfb8c44eb09797944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618c7528819119a8955b5e8d2cb399642d0cbe309729fd12816ed854f3d84ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea69d3c6852a73efd4fb8723bc80825785e63b1760ffe4f251ef858c9febe52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEATeH-zq3TsLzDG0jVaMrjoglZzre2LVOSWLZ4GoqeT2tOvgMlxBteDGZAFfhoTD6sTJpYNDDPJ45HOUh2F2cI8MSLOSGFSfmtUy6VaMjNgFh0UBWZA7zDos3RXvfvQ6deg8SfVZBZcJnTLXB_oRjguwP9ccmdGXHhOSsk0oUTogeRV0fu9cdpp6fX8IfmrAdhCdOVmbyLyuNEv0VizRWqwNnj4EDy1_T9UISNAtdHVZqMUcTwQ4epnr3dmWnaup4-kTBiW7AOqKLdnw22iPBJJPRhbSt4k9AcbfTSvG6mM8VAJ2ECTGtuXbrffLADmKlM-zPxTqnyNdxO4RlvIdVJeLP-M2VfH8LGiUuj_P3yGtZfBy_dp9BqNaNlnU-HClUZSZYYQKaJn_M3koP6h6ILQQHGl1qyFA_AUThGQoNuk_rgGCI900AhtdjhO63BETrmY_48A4AUPZ0Efbrx11gqsNmpHLE3Jv8phyJVuSBu-EiTTymccG1f9PtTTEraCZOYmILHwPnR-K3_xEw9SY5EZiOeSdtfQleT92Kbn5jXm3mNA1vSMssiCdlQCMvf-qu7SJuJAXLX-wfaTBFzZTyywFLkbaOPgtabWJgVs9UkT5zIIMrjrTegBpLZFvThWxQrxRWeEcdR6fzCtGTxXsYCEjWzeUrbDihWQBJfJwkkae887iAhCH5bSuTZGwZiYfgbmu6YDRwZ3gsa7cp3SeHMwE6OaBakP9FJosBNwDL4x2w82YdilJyYNnVkEFmsbb1VE7-9X1tauvLiKsna__d29CcY9HKKqmbJZrQqn3s69gZO7UEilZl3ffXwDvfFYXkHszl5jTjS4boVW-CljIGEv8o6BbilXemPpn1y_-2t4FXFaCMExfbr2FY5VhZAQuyDlM6ydO1FTpZ-DJasf8paUmpdRQ-xIfPJQV12CA2UBRFqZu-yqRtL08_5ySc4O_1oj-o22By9ZalU_UAYVPL3RS4OfmZ00_C_3XQfYeKxS91zqLoCHypAQ1exoFPNXdrrCqMVtnglDZATTz0l7WSmPvrSsJRYbuC5AQWhT9yi4MhEDIBzCDIC_UUwmK-B5H7ruj4h0adNWbAMafALRaSTRo0DOiOWus6d9N0vxBHtEtoOqwOr1oFTVF8NwK7V6aNXh2BeKwsCufjiFOG8vnt2wgAVtEW5BdCjSz_gR9qVSws_VVn0T8hRzcvL5xbNCQ7r4sxNdvaVGtqcpnuvmO3DPnP07gN33bC9mmma5ncrFiqyckYt4_k48I_Al9Q64DE6zEJHcNbAlo6pcx3F6_FoAP47P5MxUDiPtsFaqbjIwZ9aLOqpXPbr1wx6VTSk_4h1wqKaK84p5eyhDkUNEKSBCP5n3JuspQF3BHikvEmqRsk7QUNXWG-UYGO5SLb2-awP6AQiKs9tlK4xs8g46KN6gCG3i7CD9ehddRXKQjW-qbChgwG803xaOIb0FgWo8_87ai9cY_ep8mWlKmuQPca0phidlCdbgD1KILyINJGdoGmiHS_daiGkPy-KPK3V0nBVKzhQvexhK_x1DNOslzPbymmKugBBHuh9KBm-stNaox-jndwEPjBhkajnvXqtg3So9KvPNkwXGO6nnQ4UMXVc90a9Rl_PZ1gTbYEV6NQ9YgDN428R0WtL4aq7yUl3H2GRTvdSS_n7SqNgr0XqHG4IPXniT5BbuWoRYONrtCYkV5PfTHv1NYzz6p4Dq83tUbyInB0FcXdMpZMlmBD_VUZ9r4hM8ntfaQzArjSfxTl2HI7mcymM0I-gL24ziK22PSN-Q-cpOr-Ez6wkrXV3wax2Oq7Y20S2oU2-01cX58BzalJQvTMx5rSxPy32a9g_XeU9URRRwF90SosIX51UbvAIQW5kQT6ysVmsa7_SWaGLc52SRgM5ceh5JLFo8FDetQVegLVp1Ay-EwNvKr7R_MMmVf8D1gT4CKyhchy8-iaZx6UwfBAa66NIQJgonNAdpiHsMtIyxfut_CPuQ4xHJNq1crDWHT1vmciXGj6Utlin-g7aBrDoZeuuwfTchtjmTpr0ziiKn2dJzdG2dk4B8pgqEiXfkWo5hcLUdMk_p-_STxGeO8R3XmLmf0S5WqoypY5grJUbjpihHO_FhI3uhV50AOhefKUKw6ynpVmYDEkJymfLXWFe5kj7kgavMLBZDTN74QslC0b94feGhC0_55usixKVWUAfzuiI1U5BWEwmbiAy_pAOxwt0R2uWtRD-k1TqV5x9p1T_R_TWLrYGyQVMfbW4ucf2mPFItVJ5mSvIX2zzGBK5JcH4vQDpe3AbIoQzyWGK5hyKablgZG6Fu2ljwPVH3oP-0ifJjuirORhfsRQLSpHCoxmQ1Px1YCyuDXkzEZUKDxXgzLyiD48JlqGkoO0CcoBljJ87WFP7Qa3XyBCanTt7b9WHT3nW9OzhMCXTqXdwxEjHoA2WQCs3dCGnclo29EeJgU20d9coaMKmOnmMzq-uvkSrDiAQJl1RtaKhkShJhIDIOnpsDcdkQfh5QUnn5ijJ18dbBshS5ngWoAr8Xzj7RrTPCYtqHPH-jkcoK4Hg6nfd0HxEs6JUx5PGD43UodtcApc21zEtL_--KC1lcFdvDhiL7ZP-9gx5FV2VHmq8yiUmcBjRz13JCut9jXOEnuceU27q3505nH8YlpO8OieoHA_nrAN8KAysu-wEPpRxX3gIjLZEk4SoHBvYYLy36LCVcMyY8iCeH3y3Q1xH7YR22ktrjiGzlA3oqQC9r_8JvlECYAby6873WEKm62sRdpfAzV9s1nfC7ObQoCvHUyjb77ApcjEU1r-9JyPBnTFBrjC1q2R0Z4HBlZycAdMYliwhzS_xtX1dggJuBAwEJaYlJudsc6RMxHV9jlUbOO0d6tdRbbnvlVZvQEV-j9hZhCOkGEybzmvhfH5aCpIKezzBYLqFr1bjJDCXKt9KzeihxzCzQ-e7P45wmX-EMk18ou4ypx4N9jMSiJmBPBmyTH1JLOrnukY4sDXFlEk9bxy-3vhetEbXe_DyvAjY7rgSpc5tzZw4Nx87VwEHe28oGbQxoOajtNyJYIGYmPF5BZ3Cb9sfvHWcjWbIVzRRL-rx109XLaj7LyztTWGvFBIaX3geLNUOeAeMxOJvXhovtInJAUeOn29uwsLLn2se5ZDZlHRuvn6jEzSA09GDWItfPI09tWvR-cJfQprbMbPIQ",
  "id": "rs_052ec04fc5a6be40016ab4400e94d887d0b6fa83728f9c47aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.03,\"left_z\":0.16},\"note\":\"The first estimate put the gripper over the middle of the pile: the wrist view now shows the tan animals ahead, while the gray elephant is clearly left of the hand in the overhead view. I’m shifting the left arm about 15 cm toward its outer/left side and slightly forward to center that gray toy.\"}",
  "call_id": "call_9d7jionbmLlBRw3c0LeGRRaf",
  "id": "fc_052ec04fc5a6be40016ab44012911087d0925eb902d20a0b2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9d7jionbmLlBRw3c0LeGRRaf",
  "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]: [-0.1661, 1.1164, 0.6708, -0.1925, -0.1757, -0.115, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3481 left_y=-0.0234 left_z=0.1526 left_yaw=0.0292 left_pitch=-0.0666 left_roll=0.0239 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.5333, 6.9265, 1.9316, 0.1441, 0.1441, -0.0122, -0.1846, -1.2786, 7.2274, 1.7558, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca4856dcc927ed247b12be5209e8abcd13fd225f16d1d849def13b6df28e028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e920a1004d0aa627aa250650c4c697ee8c8c7e595e981eb92415571deacb8f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ff5648cc4ae3b610df5114df27b0a66b660a6f15c3bf6106f3d2d635edead8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.72 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8543, 1.2877, 0.7685, -0.2901, -0.6781, -0.5686, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=-0.1753 left_z=0.1459 left_yaw=-0.0137 left_pitch=-0.0388 left_roll=0.0241 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0095 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -4.7658, 8.8274, 1.5556, -0.5397, -0.0366, -0.0708, -0.0342, -1.0325, 7.2821, 1.8535, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 1.1164, 0.6708, -0.1925, -0.1757, -0.115, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3481 left_y=-0.0234 left_z=0.1526 left_yaw=0.0292 left_pitch=-0.0666 left_roll=0.0239 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.5333, 6.9265, 1.9316, 0.1441, 0.1441, -0.0122, -0.1846, -1.2786, 7.2274, 1.7558, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca4856dcc927ed247b12be5209e8abcd13fd225f16d1d849def13b6df28e028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e920a1004d0aa627aa250650c4c697ee8c8c7e595e981eb92415571deacb8f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ff5648cc4ae3b610df5114df27b0a66b660a6f15c3bf6106f3d2d635edead8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEAagkpoprSfh7nfvj34WAcd3If8A0LdrVU2JsXMWC_7AW4TvSHtd1uSaIbOl6P7WsKJ7KvIl5u09c7j9y6R_0hv4dKmt1t86cdpKPP26-fcenS5GTyX9DPkCD_Vc5kWmAaXuJFWluG4-5BiEb0NTkpiALGNNx3MFm5AaJ7KG2KcVUhQHRrgf4uDFgPafiQAfMsABSIyC754OfIDyhztwTQ7bB5OgxaUmQxxQx1yQHZslQzx_wOREeHZEPAA1b5MccQri6hrcFPziR-RUYct6ImYn6Puhoqiw7GS1fOIzBHqephksRf_gagZNon03G623W6pYoB2xSw2lERXlG8jbb4vRUREw93Y-KEBtFLblI3akEQT81aasZh8GpSPmFM95ditePvG9s2qY_MD4s2UzNmJlSqkZDThgB4lH9JJRtUX2j7TJetHwHvWV7xOlw-Z9eMlprMOoPzz9o7rikSaAU5r9VaVw5YH68ZLkR7oDQacImXk681eSEEDI0a3ptXTlJ2oss7brnKv6tFghbadN9XbkwFTT4EGZY2QMIV8_0AVbX1QqXIQtYkmqXOJXyuPI8dqaPC7d0ueNvc5eUtrbMNTp8HYhew327xVrBsk6ytqhjqab05laDnJIoLpYB43OAnaXuu2KkqxlTBXpNMFU5vsSiVJzYWpMBrELI4KFAudawbPLlsWH3Sn4t91XBZTqjoFM8k6ldGqN-cfzs8ApdRgyoc0hws6VtsZ_RkREndAlcsnqrdip5tFDubulagL77pYMFm68GwgANqQlz0jwcG4DUsz8Vho11686a51Yb7KQ5FmgeKqu5ZkqT1n7itjLWjf-to6r3d1D0KUiNtV9zS8m6cwOGNjd5ZIey8JRr6hgRwEaiLOI0Wn1y9jDOEcMpSD_DubxkuaiyVAK-Oed2bXCfk4jWcEwznsfPDDgqDQrGPmLZ_7GrW1491Lmb4vHqxycSuj7pGjaM_ytjaBrA_ldHaiFqzsKjJ1WU6dixnmVWY5hGy7doXUgNzA3otdjzy6vazp1Erl7hOkXTiThtGuG55QLW1MOYqBqDtfsvRmRdpzIOj5QY_oLe2vVjtle5cmOcI667s3PdwcX6CTUv33RBkTLs0ZAwcYLRoVRWfKbSoH4wR8PiJZIGswT3-xHu13eZi9zQqEB0ZWWvn6XkPVdbTjWQFDSmY920puc0OIY8QHbpdvEZw89UuBO4j67orrM5X7w16gzIQXjLN95XIHv_dsaDMmiQhV8-cvKrZdrTk1wrinlqXj_Gd_ymlmjBvX_01UX-fXbYarz7ZycxgRSHeCCfzPPLkZwJEthUHoLxk5gY4gatwQa0YXnzHJUk9dLhoS0D5fBIzP6zjFSpYvSBWjNpaRjYiidg51J6P8eNSDP7k8C4tXSfWDettfwNxq09uMoOPf9C9M3oH2ZrR7PRcesnaejbjFUQxj9WTn1mxG3wRwT65g4ytoLEKpizoSIi6HY5n2VLO936iQrpya8gLUN7fPVwKoYE1wnWMIwsmrtxJzIU_UB1SIS-M1Ul5aI5X2yGRZcdZNxaQdH8E2c-ccnnqUd2w1qpwEHEjJpK6K85guSizVFwZ49R3pjZzJX8XJaW6PJDxL-E715d5KyMwCVg9kArmvbiF6VQhseCznWUFPZm6bwcfrWRIPIi1OyPwzgSIjL_-WZYcaxntuImwRSNd8dltsHbO-ZixX_ZU6d2SOiynmF79mHRMyeL_zpopihqr3uNlfLKQ105Z79AZ2oRf_wqLtPwS2Y2gWYIQoWzb5RWgwYQ2Mu1Cra2RSI4ZOICYb16pc2OCyXWRyD61V8xfjSLTy9BkoAYWvkRDDAkvQEqxcqRyRZAK8SGBCgro2QSZ0e8zDx6AlADLkB0fqjVH6KCbhW7cnrEYKwUVUqF4b4U7mF5VBwmiYscOFXv6so2xhR_z2CXllJii-526mEaCMPTS4tnDduKR7KWnAi8wbHBOAbECofAZx81oScLxuljYr08HUiwds2PGAlAWebns-LosWsaEKMakZ0yR2Qr2GI_xkMnym0yQ18j-Qxi5a1zLjY2c_zjsHr6oPwxqzCta6XvfdQIU4jJ7LJajjsTetgYNi8jErXo-TLD_Mw-yGfCamsqYxEZreGUFqNKI4vxYv-tIEBpKMlSU8kgm757y2Mtmnp8j-RrmxArfgYZ0KxN5PdTpTGetuZYyzf4c6nRaG92ticJWjGGcPqNGM-p047-5g6VK5h5S7LZhf",
  "id": "rs_052ec04fc5a6be40016ab440170ab087d0b8877c9bf1be6b7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.03,\"left_z\":0.15},\"note\":\"The gray elephant is now at the bottom-left of the left wrist image, very close to the fingertips but still lateral to the jaw centerline. I’m making a small outer-side and slightly inward correction to put its torso between the open jaws before descending.\"}",
  "call_id": "call_KluL6J639I6Iza1yhMN1ljks",
  "id": "fc_052ec04fc5a6be40016ab44019289087d086bf2020dd0e41aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KluL6J639I6Iza1yhMN1ljks",
  "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]: [0.102, 1.0378, 0.6224, -0.2111, 0.0124, 0.0216, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=0.0354 left_z=0.1509 left_yaw=0.0653 left_pitch=-0.0664 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0103 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.9316, 6.4205, 1.6923, 0.1392, 0.1734, -0.0171, -0.2393, -1.1829, 7.2274, 1.707, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd4452e93019c4cf8faa43d9e644cc239498aea71e6f132b659c6bc5b3a7f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64aec09f00973dfcf666c228602de7106310508bfacb32d9e8040b95adce4b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eef3f1e7e3c41efb86f309f04cccef6b99931295d72560c79accb75b2b62b64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.912 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 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, 0.7986, 0.6174, -0.3794, -0.0216, -0.0296, 0.9996, -0.0208, 0.7982, 0.6109, -0.3775, -0.0113, -0.025, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0006 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.6479, 9.265, 1.7656, -0.022, 0.1197, -0.0708, -0.4308, -1.6205, 9.7846, 1.7509, -0.105, 0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 1.1164, 0.6708, -0.1925, -0.1757, -0.115, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3481 left_y=-0.0234 left_z=0.1526 left_yaw=0.0292 left_pitch=-0.0666 left_roll=0.0239 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.5333, 6.9265, 1.9316, 0.1441, 0.1441, -0.0122, -0.1846, -1.2786, 7.2274, 1.7558, -0.0171, -0.0659, -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]: [0.102, 1.0378, 0.6224, -0.2111, 0.0124, 0.0216, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=0.0354 left_z=0.1509 left_yaw=0.0653 left_pitch=-0.0664 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0103 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.9316, 6.4205, 1.6923, 0.1392, 0.1734, -0.0171, -0.2393, -1.1829, 7.2274, 1.707, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd4452e93019c4cf8faa43d9e644cc239498aea71e6f132b659c6bc5b3a7f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64aec09f00973dfcf666c228602de7106310508bfacb32d9e8040b95adce4b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eef3f1e7e3c41efb86f309f04cccef6b99931295d72560c79accb75b2b62b64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEAd0NvJXhyIY-3e9Yct6y9pXvT5FCeoihl1UiN763iVfQ8kbAQEre_Cp77A6iB6xiJJ3WvIJp_tVY7vQS7LW-JEhGQA7APcxYoKBYEns69jzENnaXkY19921rAYFoqdr00nVQ8ZZVKAVYNWKB3hSeT-jNiviBRyQLpqFXjLfSXsvalZrhQGOn1Tch1X-UP6PMDr9SHDdisE_zdozZNOfciokZrjq07gEpsZz4Ym7X5W0J01Y6s43FUiFsJ9GW_ZdOHQIyx5sjKN7VM87yQ5QoxisFajgxuf35qaXiIIo0SffzMSQ9DH_RQgyiLRfE4Tp3jKguC23zX1eT1FdDn8gqIwac3XDuxkn8_H-1l-mPTmitwZbbRYgud5kiu5hbFYFJLAz7l53JnMYykQfC6776lnDsUtXsZpOZBVr9v64krRTHxmaeltmyaxKQ-x7hxDrvap6_Z35dq6IE5pYTxEwNO6whxahnyZiuZgjPco7HxytKfvwGB-mnsqospsmuqFQM-pPfctgxnrlC4I7knvr1izqOD4KZoY3xPzFPs7s_djbvqW5wXzP-gaNoLUdtayNkCSu7CXZ-ImrcTjZdj9hM-r9JGX4nmWoaGmMC2Q4lB6K_1cUa7nMdekp0CrAHkjPYSq45vU80zn6S0TcV8dbCo4BosyDMwITbw1tG95sbk9IPSkbLS7O2ibPaYfaE5edzo1OVUQqKndYpINKRZftpu0qRKkcOVzkKy1Y7dSLsLDsEjBOb5EKYPDZSU0FYSUR1eaWbk6EZlPcTzj8VcpoK-Pzd4xVx61LyGOMtFpbfkbNF4T18gtzQitsltTcmemltGTofo1bCI2hymjqk88Y9pnvZiW8zLs_daDfr7Vnn7X3ru_bLHWndg9J4dVE6cX0NIA0GU9CzgnAgEHJMagletrEFMy-szAqfrpOoK_twfLmrvdhmju7JtkwMFrf3LcV9SxVVprFHm-n1QcJw6NXEpRGKmmIEN5xqizphviKdBDR8mPZ8M8e8j-piLs4ZZ2w4yyAq1aJMboWcIuMrsHa0L_IFil-m3suAwz8BeywkokTJ7p0orebwAzs5Y2P1ZvGaeXGTvKhZwlDf0M2QvOcNWrH6WClHDIQId9DM9MGD-IRR2HTKvk78fpagXOacFQEwQcZ7bBCkcPc2ogrwIqZa8gML3J5aYORGAavK1RKVSEoGIuA3C2UmZKS5RW9Sy-iF89ATkc5aUE0rHq163gHgYm2WnmAdsMMfimF-RP0CDGBCrvtW78k7PCZekLC46hto9B1VY27uNXTfRJ0ivMZKwwYKNg3IsddA9NlZoMCzhUXhwBQjhv1OXLkh_18W4TrklLJSUbvx1Z6-26e64Wu2zeQ3lxFHuqAGwrmCeHcxp3DyAw_ztjPs926OjFVqOL0LMpfxnFh63FLUCieSuVvNtcv2AVSk0BcdYRnm7xBFozquhDKVdP-g1Nhe8Oy4XVgO9Q7v6QYWbL96zhSq_DYACW5bS5zPWj9zHkPy2Dmp5aLbra6sg-UzAi9MCnhYh1b5Kw",
  "id": "rs_052ec04fc5a6be40016ab4401c163487d080afd222490c4f56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The gray elephant’s torso is now centered between the jaws in the wrist view. I’m descending vertically to about mid-body height so the fingers can close around the plush without pinning it to the table.\"}",
  "call_id": "call_WDfpkWturqs4DSmMq3XTP45N",
  "id": "fc_052ec04fc5a6be40016ab4401cdb2c87d0a2bf8db52e837eda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WDfpkWturqs4DSmMq3XTP45N",
  "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]: [0.1009, 1.354, 0.3073, 0.4541, 0.0067, 0.0296, 0.9995, -0.0208, 0.799, 0.6083, -0.3847, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=0.0369 left_z=0.0501 left_yaw=0.0648 left_pitch=-0.0328 left_roll=0.0339 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0107 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.0017, 3.7128, 1.1013, 0.0269, -0.149, -0.0122, -0.0615, -0.8547, 7.0496, 1.79, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099073be10d2ac345d678b52c4d2a2436353940ad51747324046ac3aa1169b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b3be4532a7dbdbbd1502670cc9a811ff333dd2dff457cd14e69c3a27883b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5b595726bdaa32ff0fdc133ad6d6443523f06acd5c0d3e0a84be1d3c5e4786",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.648 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8543, 1.2877, 0.7685, -0.2901, -0.6781, -0.5686, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=-0.1753 left_z=0.1459 left_yaw=-0.0137 left_pitch=-0.0388 left_roll=0.0241 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0095 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -4.7658, 8.8274, 1.5556, -0.5397, -0.0366, -0.0708, -0.0342, -1.0325, 7.2821, 1.8535, -0.0317, -0.0513, -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]: [0.102, 1.0378, 0.6224, -0.2111, 0.0124, 0.0216, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=0.0354 left_z=0.1509 left_yaw=0.0653 left_pitch=-0.0664 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0103 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.9316, 6.4205, 1.6923, 0.1392, 0.1734, -0.0171, -0.2393, -1.1829, 7.2274, 1.707, -0.0464, -0.0366, -0.0171]",
      "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]: [0.1009, 1.354, 0.3073, 0.4541, 0.0067, 0.0296, 0.9995, -0.0208, 0.799, 0.6083, -0.3847, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=0.0369 left_z=0.0501 left_yaw=0.0648 left_pitch=-0.0328 left_roll=0.0339 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0107 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.0017, 3.7128, 1.1013, 0.0269, -0.149, -0.0122, -0.0615, -0.8547, 7.0496, 1.79, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099073be10d2ac345d678b52c4d2a2436353940ad51747324046ac3aa1169b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b3be4532a7dbdbbd1502670cc9a811ff333dd2dff457cd14e69c3a27883b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5b595726bdaa32ff0fdc133ad6d6443523f06acd5c0d3e0a84be1d3c5e4786",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEAiqXzumiUCiuvlsMoZlap2fLqbGHdw-W_P1tUB82gWcI_UUp1EJV0WOlyK-MkKnvZbAuVRgXRT_DGowQSLF9oioOY0WZ1HwNwDNJN-jEtEaQASxCnlJYVZNbvf7v_6jqj4WEbqKySuQaLuaEaQkeDM_Lga2hfWc1OxFIq9dW1VyY2lgyHk4UtwPtoyJNNU6f94KAh1jjUi0BCrsli3wnCL22CprxxYEsiJPUHHGQhZOWUrPly-GzBI3Tft4SKBSJfokFK04PypAy3U5mrqBIGleESwDmGL9S_DmmX6Mf8LzdOZEA4E-GWMaVGN-1Qei7FAVyuTaVn1buyZVBlJWhy5sAUFIRAtdE0zO0kgHCfcv30zWtF0_Uf_8dst_hnJqFOTqWwqQtFeCPuh-KzindhiGuIH6TkOpGbywJ_LH97vGwgQ_o3VSXRHlAkO1Wtteb5CPXW7OuwsecqbKk7wDV2_HcABlch3M3Z7WCBiltixMPxaaQdUguvAkh6mfLmhbSJV7Rfqo_9iZ5i_fRFLQgAhwAQYdGQACiFgk0Iwxou-QSIAgGG2Awl2cqunvBvw5xSwdyW0SsHct-kMgATZb0Ydkoua3YoGXFG2CHC-oQRvPeSAnEhTpaEOvkgzSWnpjshKs6jqdyP50CIXr-uLFYCgzdi05Y78M50q6n6mhEKbx_NwWezUJk6vsQ6irLEyZ0LJOnoOIKD2O6yveoLATa9u7sEONft-TyWaPmaP-1lBkkQh8l9noqMHZjEExMMVKtBeqz9L2dHhf49WOT6pzPQTVqQraBSQa7nsy7BNtLa0rIt5jlx4kWAzyXdquqKleNi1UNeJU8YAOkGDUU4plRvtpYQQvp1v8JlkglnGF8L1h-81htu7q2T-pCAkwS6_USdwTVSRj4fFa66lUFcHcYnDc-5za2wC3ZyUw6urc-ikefcXEL5a9p_SntzzyxHWRNCxHFkkZO-XVVfDMLgXD03yz9mEckELztGln-Q28kMynMN66hBO5nVN06ZOefYJ64PiwHxpJMDo8ULZvYc2Y-Ykd5kFar0mXqVi7PxDiEngVy99tQOpcAuK3FCncQK7jT-IqKzXZDolwI7OnPim8DUBNANt1BOtTXv6HuRi8vdbCCIr--_S4UgvrLmhxAsupBx4ugD2PsiN6UOK-hTZcYRVp0Q1-uM6ARjpLNk7LFyuZj-dzAXHAUYV7CDHHj1StOwHKJvMaud4-j5egc-aRCV2tYsiSMRXPpspcvMvXP5q47H3f-FuBH764gsOu75a5dunKiEZfVoC-Ug0KONkzXLx3D20_NEOEJLa1QvI5--UIc42g0L2VbsajAZN_lxmc1mt5gmD3_TAA_LqnriqG__RWg==",
  "id": "rs_052ec04fc5a6be40016ab44021724487d09fdf2969fb25ee9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped around 5 cm with the elephant filling the space between both fingers, consistent with contact at its soft body. I’m closing the gripper fully and will use the settled opening plus a lift to verify the grasp.\"}",
  "call_id": "call_cVjN3bnPgxcCPevhRxP9qyK2",
  "id": "fc_052ec04fc5a6be40016ab44021ca5c87d0b49b69d5c0e026d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cVjN3bnPgxcCPevhRxP9qyK2",
  "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]: [0.1009, 1.3575, 0.3031, 0.5137, 0.0002, 0.0288, 0.0112, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=0.0387 left_z=0.0598 left_yaw=0.0707 left_pitch=0.019 left_roll=0.0385 left_gripper=0.0112 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0145 right_roll=-0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4513, 5.9829, 1.1746, 0.0317, -0.0317, 1.033, -0.0889, -1.5521, 7.1179, 1.7118, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be13873b2c1d4f7a30b18d220e43cb21e2f5c68a40caac6e4c7b0773a8329bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810bdbba2d90054f06f67d6ad88c1079eefbdc7b121ac2f26ada8e19116fb63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2660a8e933db678b840a5965584f12b1f8939c36a9778f526698c0fd21d6c22a",
      "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 · 4.561 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 1.1164, 0.6708, -0.1925, -0.1757, -0.115, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3481 left_y=-0.0234 left_z=0.1526 left_yaw=0.0292 left_pitch=-0.0666 left_roll=0.0239 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.5333, 6.9265, 1.9316, 0.1441, 0.1441, -0.0122, -0.1846, -1.2786, 7.2274, 1.7558, -0.0171, -0.0659, -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]: [0.1009, 1.354, 0.3073, 0.4541, 0.0067, 0.0296, 0.9995, -0.0208, 0.799, 0.6083, -0.3847, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=0.0369 left_z=0.0501 left_yaw=0.0648 left_pitch=-0.0328 left_roll=0.0339 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0107 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.0017, 3.7128, 1.1013, 0.0269, -0.149, -0.0122, -0.0615, -0.8547, 7.0496, 1.79, -0.0317, -0.0513, -0.0171]",
      "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]: [0.1009, 1.3575, 0.3031, 0.5137, 0.0002, 0.0288, 0.0112, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=0.0387 left_z=0.0598 left_yaw=0.0707 left_pitch=0.019 left_roll=0.0385 left_gripper=0.0112 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0145 right_roll=-0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4513, 5.9829, 1.1746, 0.0317, -0.0317, 1.033, -0.0889, -1.5521, 7.1179, 1.7118, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be13873b2c1d4f7a30b18d220e43cb21e2f5c68a40caac6e4c7b0773a8329bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810bdbba2d90054f06f67d6ad88c1079eefbdc7b121ac2f26ada8e19116fb63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2660a8e933db678b840a5965584f12b1f8939c36a9778f526698c0fd21d6c22a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEAx8jUuD4ftC4OubQRsh_6dW05b95WwoPjswztCZGznmDN9xbtJ9qLruwRxPTIpG5_5iCNUtYFeiCvbjQc9PRHYAOhatB6qqQigpdfId5hyunvw5XPCeb2VNiuSbRZWkjI90LBgdiooRlrV7Y68rePvTMjNvGiL79tE8GZ6HikIstns4sgEM6aEMkB1ZT4cG3fosHkXlYKEho0A8PN_yqJ0bs0UOKfZ6gPkDgkv_C31LjQLY39aznYy4jRTaYRRFhyKXwg3f8Aakuc7K_vCPcZoDSxZEiBMDIreFTUInXJrpnyoH5yxF2Z6O7Fv0MQ1ETN2wZc_3k2BXhHer4-fAJwzSWGVGlNLuKRRVOA9-oXSo4cqV_9J_03awxxWSoQs6ZEo8du80kDeGXwC5vdPlBCyz-7IQiXsh1fIqKTogAqaOtjJp29jywHvLpfhXy2d-J2dhFJGi-be7x0MGe9Dg3f7SfDtYetsgWFIPHm-nqTtLz7revg-UzD0DSN6kyo7u6i9Da_qPDDNRsbQ_EDbKeyXtafYv-fnQ54Fs0pOtgYfta-L5AoeEaZ-JaCGpUX3vuMxmnpW1u_rjgTWc8Bc4I-DsSrHJY2NE4YwvvPUz7YOhtGC-bnzmdGtaxORcnQOHmEdq55Nd6w30f02ySYB-kqf8Tj98dEFqL9uVeryndywrfBj-9p4IOlu52jRNUYul67hRPxCr0X4_d4dWAxJOSFSnlNVd5LC203uu8amar0paZ1Kn7G8gkC4aiyLiveslErnUIFP1dzZT3ajnCgh0kjcAGsYLgli9JD5oFNm9tpWErARWuwk84uBmj4RLb7omF7jIipaR_XXY0P_z0YaFuwGk75dC4omX6QpzxS6_803APG85EdflJz1VXpHZggzxmNEUehDzId070YTOqM2wozWbt6uwUEB5b_GSHTj6N2TDo2MPN3zwNvGOSH75ULvqNMJyyXqAgUj8OtPzAfQyxpBDrlWavQMflc19UtokrbANnwWh6iRK_wsnXX8XktC6wbL3oBjnVseRJCOGwg7n3WO_OceooYwEmXLEuDTwpgfmNrgerLqOEsjt7Bl03xovHVC-sH8Mx3LxG_OEZ4AJR6IFCPxu3wDUjd5fcVFiBOjvj02nCl75A3x07QTq_oYvE8FWys8hODvCPW55p22tfbkLB0mcux_T7utaG31ge0YWxAyHUb4wlj7yVFINLEonerqYUfeG0ruQxhvyvLr0NReKZBoqGKVmCvSNRIP5UshLhbk-iHGGoG-LfS378DiljShOPgKWWxGXJQ_SsUFpntH1kWLJHX7Pq7pHhm8x3qbzDQ_2goF8QWVeP6sYdmUcKq_y-H5YPjl0TnD0WGhjDetK4HwKEjGBw8T4--J9PIboeqgDwzpRcvEpBCGnIoTaSMEVMpipATdBXB1xV-eaDEg_vORUpKOSAn_oYkFbHW1DWuwtGL4I86DyCLQAcbXUQomTBV2ZY8MaqGbBOMtpjBE9iz2cd_F8M11wICNMTFgH7F3uNdKr_cuQQDL5PRCdjNIelyUR-glbYQWXotWrV3sakzm1OmTV6qD6QKCV9LltteFzwwX2c-L-AO1-fc0e4jpedO0im9nahYVZy_9k7VNkJtknUdjkR7Nusbq-UPIR-q3rfyOQ0SaIvHd6KlG8K0AWM98dIScIo7V3BtdXCgGf_z_h1EfaG_NGgrDE0rUtaNxryeN1fdbpOk5OtgccRrqkx3t-10W-duOfoSh8YPuQ9Y4_WNW3dyVFnG3FOsQ2bS-fqWGYdq-YaqTXv7lJXLdTKOLEw6-cWT8hSI0WpN_kGEgGgXlJx35TH2XA1MbNQODFynEn2TvpMNvUyMtvw8Xa9ICyQR2RwaLV4HP8QJY7AGsVTEF1MqTtFqW2zeN7Z6FWDqkBcTS44X_ZZTHHKrg6ve1qnGXvrUBDzYsSq-SwqU6YRJTc0APJbPweWDZaTF-HEqWcmQM_6VGnQflFqYG1hPmC2IQypugdZsRX1utcXrxVv_kLbmyGFOCmqgGCefPCq9rgDlTqHqh4mSP5uOcVGtKChiLUoImBarUNVk8qUuwOQKT0RmUOKaXp7jFWDPC-2CTs9BtE1DqfTy93tgE-gUL4ndcYs_O2MC787KvJHguvubqxzP9Fjkt_MzlLye9x9KzDgLyMZc005wSFzFzwmwIFWXG0eV2HPufN8945QryayxPiNJftXYqEkeUoPcNNLZ5bdZ2Tj31Yqp4QhqILOL1Ch7BCzSVUVKAGT7Nioe8X7hcu6WgZJOC7cQL_i7y4vERkI_DI_cK8BS67Qs8TCtkBsPTocDL2uZ6kTSAJUOYe7Wfu-fMJdLwNgIv9yg=",
  "id": "rs_052ec04fc5a6be40016ab4402ea96487d099839e5b35a815e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The gripper settled nearly fully closed, which normally indicates an empty grasp, but a soft plush can compress unusually far and the elephant still appears against the fingertips. I’m lifting about 7 cm to make the decisive overhead check before retrying.\"}",
  "call_id": "call_9JMVSDt5yxfRlR7LXhAT70cC",
  "id": "fc_052ec04fc5a6be40016ab44030931087d08ac43362bd2ace31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9JMVSDt5yxfRlR7LXhAT70cC",
  "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]: [0.1009, 1.1252, 0.4671, 0.0708, -0.0002, 0.0265, 0.0125, -0.0208, 0.8032, 0.6083, -0.3851, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3402 left_y=0.0381 left_z=0.1113 left_yaw=0.0723 left_pitch=-0.0275 left_roll=0.0354 left_gripper=0.0125 right_x=0.2952 right_y=-0.0006 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -4.6017, 9.2923, 1.8535, -0.0366, -0.0317, 0.8571, -0.0615, -1.3197, 7.0496, 1.7411, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f640bcd2b710989f79e5e40ba3eaae602ebf3ec4f49d6762bd1d5862dcb3bf2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c2333d90efb07ae5ef9c4bdf46f14a9d3e5584062eba18d5cdab7e9283dcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcb16783f31ed3b226401e6bf6b06ac0947ad224df222792f6ceb657aab0283",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.704 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]: [0.102, 1.0378, 0.6224, -0.2111, 0.0124, 0.0216, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=0.0354 left_z=0.1509 left_yaw=0.0653 left_pitch=-0.0664 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0103 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.9316, 6.4205, 1.6923, 0.1392, 0.1734, -0.0171, -0.2393, -1.1829, 7.2274, 1.707, -0.0464, -0.0366, -0.0171]",
      "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]: [0.1009, 1.3575, 0.3031, 0.5137, 0.0002, 0.0288, 0.0112, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=0.0387 left_z=0.0598 left_yaw=0.0707 left_pitch=0.019 left_roll=0.0385 left_gripper=0.0112 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0145 right_roll=-0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4513, 5.9829, 1.1746, 0.0317, -0.0317, 1.033, -0.0889, -1.5521, 7.1179, 1.7118, -0.0073, -0.0513, -0.0122]",
      "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]: [0.1009, 1.1252, 0.4671, 0.0708, -0.0002, 0.0265, 0.0125, -0.0208, 0.8032, 0.6083, -0.3851, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3402 left_y=0.0381 left_z=0.1113 left_yaw=0.0723 left_pitch=-0.0275 left_roll=0.0354 left_gripper=0.0125 right_x=0.2952 right_y=-0.0006 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -4.6017, 9.2923, 1.8535, -0.0366, -0.0317, 0.8571, -0.0615, -1.3197, 7.0496, 1.7411, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f640bcd2b710989f79e5e40ba3eaae602ebf3ec4f49d6762bd1d5862dcb3bf2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c2333d90efb07ae5ef9c4bdf46f14a9d3e5584062eba18d5cdab7e9283dcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcb16783f31ed3b226401e6bf6b06ac0947ad224df222792f6ceb657aab0283",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEA3m4r9pQuzwoycM8AJ3yNqyGfeXNnxMoTJjM9qTbTmiVDk0SlZNmdraQ7nSJGXd5h95ZKYMtINvGkyI2UwyX836PVpHPtv7SxoNwfbfM2zKsnamrYd-Byiq_4u4VH-9SmwRYGCjmZ6xIXQv4BQCVRDChCmnpVQ0yTvs-cqDoBkBAK0LKvdsFnAudsT5L2d-YobH2IxWrY0Rd8hc1u9y8NvcNUm0RAtEZkm3ZpdMcs4Vo_2a2i9kRQrnPvVDPpAirMw4hTJYws_7Z0-9s0So_zXDgjYHOGe2WTHQ67Csps6jqEY7551lN4YaJ9bC4pfJqjgq7Tpt4J0uHItVwwyL0NPxZFlV09crgFVU3hQ6ae3XOuggNUnt7FkaPJRwEc402c2c6iSWSpvC09m8eYslzBxjcxhbJw7KFoHqItOkQ3Ryemt5H_d4nS5CkgWvLzP5s07GChDd3aIiYkXwO4jEKO8jtgIVkzt0ssMeu4ptCOrE1HhfHeprTZOZuzexh7IESwaks_xoiquYVtaze5FpLi20XapphyMqiT3wujzUN87mbOjDAXObxN4BJmynAaFxgd44nhTjf60DWCwS5j4ZhQbZtWPWub86KEXqaFq-q-q5H2n19zojG_bWRb1vDKOupix_fm2flSvAfQj3-XqPIPgCzvrE3yxJ8MingA9knl8A2DdneEwGb0-YO0Z9kNj3qZd3t1-8cbJ_yToOWuCtJfajTnKWuv0Z-UAs-hxShLDqoYY4dv3g5CrnLGX1h4zVwmpP7o-i26HGW6YaBM0CQTckDhlZ4Ghmvz93YTXHJ3Y8B3MBp9Dbb384zBlO-bVi5xosTzyA6sEwfSa3fR8Tdc4OgmxYiciSccguEffFGOYPhHzNOgEksLnMQ6Qn9l4FVz39bV8PyY6t_hnk28mzOAxnpn2pWItfOElQ8rXutCG9QS9Bs7WZHPF4glfdmN-re3iz0dRQglrdOZjxsXUa10A8zeCZs4LANZLKqTw0mGje3BG_ysRMVkpE2sVqNKZPhJxDoWeHvWLK2GspjMsmN23n4Wu9iH29fWc6fQqzZD--5DbeujOBftfBbF_NFfDSR-9vBCK6DIUeFEZAlUPb6OYwDD5lTHu1MrIgm046q0rZuwURZQS3jnSPblrUONmpNd3bYQWjcsqbGMpwEz4v08EsV5Q-jwky8vcv7sXY8bhBhmIaGmBKTHK1oVRHbPIioHZ0TC4L8WIBSUKBxg8D8sakNp1NqFr6PUuBpWctQCXD_pZJ2srxuk6MJtlCdONEVHLGSSxy1cT4HOJ6qbPkJjHfO8DwJ_7gVjT-nBrbI5lSHjXj2yzeqL7WQi8fUmWA8uqwhe1wcgl7SSLqrP86cimfqLGDdPGUGnf9xLua5gktgpjbNEGivwYtSpr-zcKv4bXXDArkL9AJY05jWREGrQftHGM8aKD9bV9Gms6CoSccABnz3qKm0I8osTPtm980K-Hz6LK4aKpjoDrm5WypgbZKwr5unaoeY5h484jrHY_ZktYfRg2b-husemyhI53uhwEZOzFcNdU3pOP1cb52gHAuhaSOE0PihTECvTUf92CdsRKiEu20aHqUJwa-v6nKffhDiQojpxDrs-nLWFGweYbF8FGngoIHomFZoNVb0sc41-mYAfWGTeJ_-ZXxmnu4uBf70R7I6qyd8I-QQBxRUEJQZiEQd4Cvu-BYDHLV3c3DD_NyqVwXUCkPV1vLjWm_EinOABPAvRXU9q7AWK_4Uflj4xKJdOIkLwET9Cz-XI5cSjbHFKhp_KVxn6doTt4ORXGce9_3sSBpiH8mZc5Umzh6zfDE7lldn_k1UXSpC5yMNlFQm28y83HP3boQFDDjpe5MAFIoiHNyi_SKyadNF2gmL2QwXqhyD76itCAqHT6VnKt6QxrZkLysx4WmmE5GbQ2wp8-xxUjWfASIwbBGP4eypt-2rkIMJz5pMlrGTiX5OCUb0U0li1Eridr4XrLKQY5LlFhN0NCIFRqlHASkZZQrxYGhTBnJy5PXEkc-PV3FLo_4DE1872fzQUraO8SvJEvkjw94ocTpb-q3vGPq6wcf9qWJTb4qHjN3k7aclmiWE-UM3_z-M3NYZ4vfcdwz1N_6rkmEd4Uvc-9IodFe3vrXwEgerAK_abwwJJD94UOrxHnhIuuqjdfv31Sq39UtDm0w4uvmieb803lKZaLtLRducpt4QBUGFcWa2UVaKd_hI8ISfFVPkxAPEum2dbBvDFKOttAWVEo7ManIXs-Te_Loqa-QlQiWLDaMjIh0yl_BgCDXhwR4bLEJUo1wXE6Q13g19pLzuDqpTCOJ8uV1mN6V9yQan4ZyT6RNnGkG0ZAcY1panKcZMCjuexZENb4sir2q1VDiNABUGPqxAY5TUCxtwUl6gIbMpBRIoe1pIJveTrnyshibRIB6Ytnz5RxbMj3DFTykPRGCRIjLlvPIeewyD3QocnczLZGrZj6qeebvyxOD7JYSXQqlE45iiId3qh4-nzhytsFLlIyj5cRVC4jCCL5j7hD1BMVfVbQTwV4qddZx2cjuWOr21DwChmvfVGK1zPMpZBpfnOaaxk-l_EEGqjqIJles6-gatfw9HpU3d0RuDu-95kIaJiQw4Z8fEdM",
  "id": "rs_052ec04fc5a6be40016ab440341af887d0a6149a13a625bdc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The elephant remains visible in its own wrist camera after the lift, confirming the first close was empty. Following that depth cue, I’m reopening and advancing the fingertips 2 cm farther outward while returning to a safe hover for one corrected attempt.\"}",
  "call_id": "call_3TMtebvs91nEiTxLlnpUoXlx",
  "id": "fc_052ec04fc5a6be40016ab440368ca887d08a4b0c3c33090250",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3TMtebvs91nEiTxLlnpUoXlx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0948, 1.1522, 0.6167, -0.0837, -0.0036, 0.0105, 0.9988, -0.0208, 0.8078, 0.6083, -0.3851, -0.0105, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3531 left_y=0.0378 left_z=0.1367 left_yaw=0.0776 left_pitch=-0.0592 left_roll=0.0234 left_gripper=0.9988 right_x=0.2955 right_y=-0.0007 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0199 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -3.6171, 9.306, 1.7411, -0.1099, 0.0562, -0.1392, -0.0615, -1.6479, 7.0769, 1.7216, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ac8045f1c44c5ae3a2be46d15e8405691b7ef7d5cbb80693fefd291f086533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ddce54fafb744829168d450f81aca4722f3bd1210a4f89a61d63ae613701e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40233785b12e87d4a8791ce92a823e4154fe103731742381bc5f7540eefedd2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.088 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]: [0.1009, 1.354, 0.3073, 0.4541, 0.0067, 0.0296, 0.9995, -0.0208, 0.799, 0.6083, -0.3847, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=0.0369 left_z=0.0501 left_yaw=0.0648 left_pitch=-0.0328 left_roll=0.0339 left_gripper=0.9995 right_x=0.295 right_y=-0.0007 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0107 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.0017, 3.7128, 1.1013, 0.0269, -0.149, -0.0122, -0.0615, -0.8547, 7.0496, 1.79, -0.0317, -0.0513, -0.0171]",
      "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]: [0.1009, 1.1252, 0.4671, 0.0708, -0.0002, 0.0265, 0.0125, -0.0208, 0.8032, 0.6083, -0.3851, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3402 left_y=0.0381 left_z=0.1113 left_yaw=0.0723 left_pitch=-0.0275 left_roll=0.0354 left_gripper=0.0125 right_x=0.2952 right_y=-0.0006 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -4.6017, 9.2923, 1.8535, -0.0366, -0.0317, 0.8571, -0.0615, -1.3197, 7.0496, 1.7411, -0.0513, -0.0708, -0.0122]",
      "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]: [0.0948, 1.1522, 0.6167, -0.0837, -0.0036, 0.0105, 0.9988, -0.0208, 0.8078, 0.6083, -0.3851, -0.0105, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3531 left_y=0.0378 left_z=0.1367 left_yaw=0.0776 left_pitch=-0.0592 left_roll=0.0234 left_gripper=0.9988 right_x=0.2955 right_y=-0.0007 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0199 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -3.6171, 9.306, 1.7411, -0.1099, 0.0562, -0.1392, -0.0615, -1.6479, 7.0769, 1.7216, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ac8045f1c44c5ae3a2be46d15e8405691b7ef7d5cbb80693fefd291f086533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ddce54fafb744829168d450f81aca4722f3bd1210a4f89a61d63ae613701e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40233785b12e87d4a8791ce92a823e4154fe103731742381bc5f7540eefedd2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBAQj4fzVys1scqrkurCOKSfHBmA1JcAjcloYzO7T9GN4TjctrnzRMd3ccSZ0sQiHA3GSSrGVVPsrb0Snd1svPH8bW6RxqTx3ROTZTE0S9Nmd31bYc_IujJXddjIpJWGPhD-28R7M_rfpb_ja3TW5jvGf1reby2GpkUWtO6Q_h62p9Wol2hqnv8a5D8VZpNw3C8EtYpZSfjE58FwXiaLlDGHq1ybvX7Ta5vB3ZH9DO3iHr3APtNDp3cgTpjKWj9ujqbO70LbkZhUotynXzguGPP4R2fJJi0ZZiti8504SYOz-4grZUOrB1f5nVfxG8QBi7smDmEfwxOZAtBSWIgIXEoFGznIrH-54aB2arAT4hnwca6HQavTddsq609Jklne4zmQITGWWmvgxUG_BzwZ8pNalUGXcee-TlhGMNzFkvppow5JAlztwUd0sB3IhiNW-2CQwO1k18_-dRqx4S8XhOz6AzlHdDzmZhklTMFE-BCYuLeXHraym38zYI8OquUfLKWQW4NQhUTgDTeLpt9WvABnqE808xs8ynjtWEswgVxqlrHth6GDm-RA9taIqJfV71ARSvhYkLMUHEg0YKH9x-m6I3-fg5NUQAke-rwmUgUgs4e0jvNEEqFUF1ef8sEUaH9U-z779qU8eMe47oWoPG9dHjzSiVLFPT3qCegndc0xl9SuMGR5aBWsPNl_iSL3ZQ5I96w9le0sKmVYfJHCYyXWlgPizYpG-O48VXz_G8GbtY2w7Vw61dO_64yfvrLZp8zcTye_-kTeXF9hx5Wm-fSLqTcewAe2F6oxZe9QFmyQk5wbCnCEPOt4aMgFjYddxs1CEpJA8XJD6-3545WbIjKbXbuHnUkhYXnslHpoJIW1wHPQPtzjYOFt5Ju_qIGbD279kZSsfPr2g0vCfbXu8JJA5ytbWC-gcNjfNDz1puy4atULoZqI4YAmMcq5zJSAeP99LdePv4V8iav-uyHdHc0AgKOAu815ycMLfTC-n17emzpU9htUAjvk41iBnnN1tPRmHXg6lZYGbjLyWRJpc3hRM8QwCMB2MFVqfcnx6UCWZDuCive0vOeA5VPm69HG3rm_NtWiuKkIiZjVZSa5-_mR2aZqY3ipYXY6z11CwGL7Le1-gsuYKjoybffDSqFs4aga9yOaA97iq8S-t1cIJb6TWs3rKhcJqY-sPD1d1DnUNUe7nWrO6bj3KDH-KnuyjEMCST9DVBVmOaFSowkz5XesY2Thl-dJ7YAvll56zUUMY1ck5NDB4H3nSFxsZlke6Yew40kQXSHCjhEF0CaR_bUKvptrTBPoAkk8TZKCPxVazuA5U2Ew7RIgOI-qOyi7Kd76ZhWwgF-D_-IwK83W24TqBnur-O-BUvLhKCSTpgVqVPAGbQJUnfNxsL_UszZCAvn7Ya5oc86Vfu95J1jmk-5Ol10-AAG9yWAWWu6j_CqpSNGl9w8BfaUaJvMIeh054xnPY2O8g2pSU5ok_v8ppM7PhAMD-6b01baPZlrCOlLnuRo2gKiJwMF-KdYBgfUvfJR71j1AczV7yVZjH9pIasuR_sVth4tpvRuVro6ThlOBpP0Lyzn1dSvI7svoJHa-ikya_NMIMMrSHk_XoQLkDa-mNu7rs_LtCF692AjfphBioTUk-irjJBp_1vEyFnL8nTjdFJalSm-6YXp_76q3w43lIUYsx_PGj5d3eJ_fkLgVHblSUqQTJCP3X0nJnrQXa0_gRGzGiiIRfZ3q5T-vv18hjOkr8vYGqYflh8WiflTCgOM_k-679YcDr45C56lGZbmmdGdeAh4fU-pw5uMiGAzMy_6FD0HlVgHjugB1UIg3raboeMCTJzbb4wqMoQAIp-9Qjb7ZIvJnD_fA5-KOD9g7Vy22rlRfEVAmnwYMO206pY8tTAqbb1w0AzhEQJi2-5Jp6EfYglUbrYb5HpuXU9_M9LC2-kzghGC1OH4QlIpycqJs1DVECphlqv6v4DZmOR7SrESQLqRuv9ILAHy3LzA2DUU2G_XAFOPdhlAmyCJfMStICN9l4I5Y8rf7n3Sj3uckQOQNUXJYuwts_uKeuTKnhUg22eeBwbwCk5lMPhfiH9WVOhENNuN11iAeurxQR4Fah5qkCOpa0xkduZqFOuRLQykJE6JEGeDXZcUTtXv0gRUwvtpLZMTvPfl7g_kt9ikFee0cXNtxqEcOyRj-QiWw9sTmpXiyHdlC5gBaPOd0_pitcPJpAFQh-qPjfj8jkEqvZce4qXi5mSEt0ZtCbpZSq7UI6arecGOFAmSHzEPfHCtvlp_tvDOfmYMGhayPOXc7yl4SrvuQNp2s7HGh23BK9SUnSjJXjP90He6YAFl_RWDoTcDpDZk97xzWsbPd-lmGgl8U02GY_sfgSV0ThbEQxwEsecWICGYDENjlcHKS5hXfTa3VXWhqXtsc2DM92Lfmn2xyTvXNukEj4aJwY1pkUq18my5A28a-UJ6slxIL0EAF8H4dH_V8BrxqpWVWy2gXslFW9nD4iP3gn4bYHegJy0SL9XWqHJsypOiyNm_90y4Wj8mK-hwOolbubYvsbkVBXijU1-9YNv473QT_NX-1kB0Xa7zGVtHZDj8GMOwm6mKYAOdLyu1bZsjoogAMDGwqd4JojYPxWnFaglUuLZDWMXox_MVqRmtX6kW7bx_34FCKh9SYTJ2ygFhWYQ-1B2qisK9Vq842KDXs7Q6XBlQlZx3p6EEmlduC0ZOMUGIZ44peL955D1UdOvp21VEUpdjeIKO0KcmiVZ8uxwY8eVL7Dd_JIK1Qnj1gm3KB5wbFZLiqoy2JnypwVZh6SSCIoUUM5dhoG_sqtQPpDjFFnh_WiYAO_R6KDUHYnDVi9Mnkd1jCWps3j6SrUjh4p-I7O3S",
  "id": "rs_052ec04fc5a6be40016ab4403ba78c87d0b8b7a919606e46c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.05,\"left_z\":0.01},\"note\":\"The corrected hover puts the elephant just left of the jaw center but still within the open 9.5 cm span; this is the arm’s outer-side workspace limit. I’m using the available final lateral offset, advancing slightly, and descending to table level so the fingers close around the broad torso rather than above it.\"}",
  "call_id": "call_J73wo1wffBKgo7OcKnah7tiz",
  "id": "fc_052ec04fc5a6be40016ab4403f192487d0a607b9b5891deb99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J73wo1wffBKgo7OcKnah7tiz",
  "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]: [0.1356, 1.6569, 0.4072, 0.7578, 0.0082, 0.0338, 0.9985, -0.0208, 0.812, 0.6075, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3907 left_y=0.0555 left_z=0.0451 left_yaw=0.0959 left_pitch=0.0678 left_roll=0.0405 left_gripper=0.9985 right_x=0.2957 right_y=-0.0007 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -3.5897, 2.4821, 1.1258, 0.1929, -0.0024, -0.0317, -0.0752, -1.4427, 7.2547, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ef6230ed13858dc6538923a25b911a36fd6c9aefc51d674dfa8f67814afe80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1470dd91540d8baae7ae95a14cd091897b8b1b734b9bf042789ac0c438ad0e03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fab3310f367313139973783075433754d036f4430c4000e4c50a7be430874c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.012 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]: [0.1009, 1.3575, 0.3031, 0.5137, 0.0002, 0.0288, 0.0112, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=0.0387 left_z=0.0598 left_yaw=0.0707 left_pitch=0.019 left_roll=0.0385 left_gripper=0.0112 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0145 right_roll=-0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4513, 5.9829, 1.1746, 0.0317, -0.0317, 1.033, -0.0889, -1.5521, 7.1179, 1.7118, -0.0073, -0.0513, -0.0122]",
      "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]: [0.0948, 1.1522, 0.6167, -0.0837, -0.0036, 0.0105, 0.9988, -0.0208, 0.8078, 0.6083, -0.3851, -0.0105, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3531 left_y=0.0378 left_z=0.1367 left_yaw=0.0776 left_pitch=-0.0592 left_roll=0.0234 left_gripper=0.9988 right_x=0.2955 right_y=-0.0007 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0199 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -3.6171, 9.306, 1.7411, -0.1099, 0.0562, -0.1392, -0.0615, -1.6479, 7.0769, 1.7216, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1356, 1.6569, 0.4072, 0.7578, 0.0082, 0.0338, 0.9985, -0.0208, 0.812, 0.6075, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3907 left_y=0.0555 left_z=0.0451 left_yaw=0.0959 left_pitch=0.0678 left_roll=0.0405 left_gripper=0.9985 right_x=0.2957 right_y=-0.0007 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -3.5897, 2.4821, 1.1258, 0.1929, -0.0024, -0.0317, -0.0752, -1.4427, 7.2547, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ef6230ed13858dc6538923a25b911a36fd6c9aefc51d674dfa8f67814afe80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1470dd91540d8baae7ae95a14cd091897b8b1b734b9bf042789ac0c438ad0e03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fab3310f367313139973783075433754d036f4430c4000e4c50a7be430874c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBF9knm_MLi8shiGf6ir5C-piIiBRfcQbUd8sM83R5fRw6yk-a031xs1kYbKgaLxMuRDK11rqKRrAV8DcF_sH4x248nAzuRtXsWipLQ1H4Bs79XR2fGXxHoLO2TDG0qTca4ZYVG1gctiyh42UEdRl5uUYEkb8JetNr9KxDWIsWMyBwsfprWMH7QfTOPRs21RUcKD5A0-5lf39ZiMyti9lD5UJ6EaqfC5Hnx57Bzxq-9S0M0jQzTa4Kp6Z9vkjKpFD5kGx8Eqgx_2wWaHiThhcZRI1Mxt7Yc27ibLCc2jUWsqjjUwwAR4Be4HlC6XddhQpUBpMLJf7rdGwEbl6GN7taOKT6O137d139H2zTE2umm3X_1I6KBy0F8a1Ex-VF8FZfR-yNVVRNfDxuUpmLECiNgLqcifOVP8BlXLclWB-kkG684qrIuR2FKQsQxGM0Us5UGmpUvg75TPhsdcEShdbpXrJn05mtztZYcKbxHR5gfXrCruNF1IBwuf3fihqezt7G8B8PTES7e_y0F1z8rw5mPJM4PAe-JC-KHbmLLRd1E3m5eFyLOhwj1qaiwoSNmZwll-jyiX3jr-fN51V-BUJb2_WY8AmRzryPZg992tS6nRcMYQuJPbLfWmtqfsuxvxNsmhwRXhU7I4Yi9pJKCvNaRnHlCuQ0mNWDC5jOTdmqpcPxWRnszT_S9fgFk6V60tSBN3PkKb_FAu7XOg4m59xP_O1210_RH9byNXUfyGj8eYa1pXTOEfBQmAOpt0xADK7jlDP-MW1dWQqFVQC128VYCBt4tzu5vdlAeJZzY5fR4YkBXLrDb-m9PAwerSCIUEf_POerRoDdBUQudKYyhOFMzTWMNeAwJGa0StmjUD9G586hHWXuWXQLZltxEyx52b3VByaZ0TVzEFwO6q8VVGavRt3z1P6k6VXMr1QFBLobIuKkiiIKOPt16hoJmwsrirpKgaFXSh4L-Kpmv-rSyopJIaXad0_C8JtWxo-_isPRI9os5D2O1SLHWbwxLR6hqbPttn4ujoLoBEUUq56ozawiGeRDzeBTywgCQ2mCml8Nks39cwlkBCHQe_tblgim0DeXWWUYHwgTK6fWWWjjAiDQfUeTCiosCmfv3pOW7kbi7RpQ1YwNeRTHSu3Zz2mLTIl-Gj8z-9g3grr4Zu10TIon9eHqVLmy8gIJkO85B6R6fqr49AlywVtwn1Al_0Wq-PlB2MrzS5_sH_JJq6a1LHtXGDi-xdcHNTjv568s_cJatNEMDj0fmQlnW1kTTYZnzaCdBohBrwzWzpatkVRn3q39AK-f2s5-_b6WjHZndXdTp8f6pnqnwklLAvEHvnPlng7ZI",
  "id": "rs_052ec04fc5a6be40016ab4404442d887d0a50fa3e0a00f00ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table-level contact the elephant’s torso is now centered across the bottom of the wrist frame between the fingertips. I’m closing on this lower, broader section for the corrected grasp.\"}",
  "call_id": "call_lL5a9XOmMG2lJx77d3pUvRRK",
  "id": "fc_052ec04fc5a6be40016ab4404479c887d08fd33cf2a86bf46d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lL5a9XOmMG2lJx77d3pUvRRK",
  "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]: [0.1135, 1.6421, 0.4164, 0.7811, -0.0223, 0.0219, 0.039, -0.0208, 0.8127, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=0.0529 left_z=0.0592 left_yaw=0.106 left_pitch=0.1151 left_roll=0.0449 left_gripper=0.039 right_x=0.2957 right_y=-0.0007 right_z=0.1754 right_yaw=-0.0 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.9026, 3.7812, 1.5946, 0.0611, -0.0171, 1.16, -0.3624, -1.265, 7.1453, 1.7314, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84fee29da2bc0e76ac9f898e6a7274ce73c896ca6068788d253960c31b72c901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f18aa5d6ce7da19e3483bf304ba9a9b19b6e4ccc87d77e3bbf5c2f36a557cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d06fce37b2b93183d1fb6936dca93498323386aeeab234b61f3bf1e4663f8d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 12.65 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]: [0.1009, 1.1252, 0.4671, 0.0708, -0.0002, 0.0265, 0.0125, -0.0208, 0.8032, 0.6083, -0.3851, -0.0109, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3402 left_y=0.0381 left_z=0.1113 left_yaw=0.0723 left_pitch=-0.0275 left_roll=0.0354 left_gripper=0.0125 right_x=0.2952 right_y=-0.0006 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -4.6017, 9.2923, 1.8535, -0.0366, -0.0317, 0.8571, -0.0615, -1.3197, 7.0496, 1.7411, -0.0513, -0.0708, -0.0122]",
      "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]: [0.1356, 1.6569, 0.4072, 0.7578, 0.0082, 0.0338, 0.9985, -0.0208, 0.812, 0.6075, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3907 left_y=0.0555 left_z=0.0451 left_yaw=0.0959 left_pitch=0.0678 left_roll=0.0405 left_gripper=0.9985 right_x=0.2957 right_y=-0.0007 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -3.5897, 2.4821, 1.1258, 0.1929, -0.0024, -0.0317, -0.0752, -1.4427, 7.2547, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1135, 1.6421, 0.4164, 0.7811, -0.0223, 0.0219, 0.039, -0.0208, 0.8127, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=0.0529 left_z=0.0592 left_yaw=0.106 left_pitch=0.1151 left_roll=0.0449 left_gripper=0.039 right_x=0.2957 right_y=-0.0007 right_z=0.1754 right_yaw=-0.0 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.9026, 3.7812, 1.5946, 0.0611, -0.0171, 1.16, -0.3624, -1.265, 7.1453, 1.7314, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84fee29da2bc0e76ac9f898e6a7274ce73c896ca6068788d253960c31b72c901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f18aa5d6ce7da19e3483bf304ba9a9b19b6e4ccc87d77e3bbf5c2f36a557cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d06fce37b2b93183d1fb6936dca93498323386aeeab234b61f3bf1e4663f8d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBJ-xXHeMOwNqEc18QrasfDV91d0iwwcuIvaZDmG1-zxZpuC8xEXsSIY2McD41K83Vnwkl7VprhNU7WXdj8-ArDC0_bQQmXK90FTuPkBWGDHKKrOXVNPf9LQlCz-qgJkdpWro7-tFKM47fRCJ5g4ArxFlhz7FVmTFqwtOaaSxqI6_1WuMZRRzb4ohOvf4oHj4hv-BNPYVCvqkrbi8UrXrW-ffciLuDAgOck2h5RNtXKlTGLfWmfOtWnTEb0r0VjWKgaw-bW0TIJEpWhwNRL4kxgZeNgeYol5HopOZLsAxADvYUEBtOEf5lu-M6aXeZVsClvfZJDodKOGGK9tx_e8-vWh1GmXf2BfWyoXFq05047xr76Nahv3AEpgl0oQdLvZ8rmwsfYb3mShaDjbkMRmlfqdBvC-459CsvBFFCbGFSZTcNOyu4SObTqOI4gnBXqOmAZ_fAA3fuxkumtXK38dn1wkBcDff8lJkqvCKb8WgzX7kQq9x0bIobcEmfVtp11dVnjdyIWOo-5A7g01tY5hvnVx7bUht-DKpuhfYd83lDlZv4KiJ64TIe2SVEQLKq7gcqM4I1uVdSfLdR0kXOiKY681x8IP6mp9QjbWWySUM7KeBJpTiywSFsm-xicySMjfqBqqnhzs8VOq_6rg7H5Xq8gOjDUIcxHOzb4NaDICp2quHFX3jrujEBO1spxIPrHaCMsPFypkLHukfGlyG9fI8JGAEV-U6YB7rokpL8cJ_yhequopY7Y8B0-Xl6PjEOJaJc1-GJRvxRPfVJtaBUjCQIftAZiOzpLVv9Mkws5QNghMyr_vWe64WiKNG3Ddeq-KkC5dsnbDvQVoMTFSBsfQui2ODr3VyTGl1v5hAaDjXjMoYGBK3rGrSomvI4TOq4hu4trXjx3FOfAZPShQS-cqJtXlpUSrFlR6ygVaNm-O-_ejTG8b5PqnsODb9C4cdHF_5k2U4iOvOj8RPTZ0H7ihdHO6bhnPcNqQuldnDPpirmZIEHrNIkpRtFnFuBvLScxkkdT9Q3j-vQeHvBPClNB6fC_IGNwKnP6BB11siA5MfVxM_1dpuT6AAnVVR5gE2aR7kBMgN8bfZJ0r2iv4EWqcKIkBxqadv9OAOjKb61DxEPmZrYiPRdbRmTeQbPMiJtVAhSrg0gnvX-adfEbrZTVl4qYwRkWiDHKybLyDvkBdlJ5Np49i8lQ0hImf-HM_q4WxVo8QFFtrYCsDS_BGJGyIofME7Qp9kjiYnT8hX06FNVSJqXWNSv4WZdw6_AGyyatXF3ilnBvmPhaYKrztyuT-OTjv-uJfRqh0xR7MEFOcX9TY5aXotfXMs24CvQwkidJMcpT",
  "id": "rs_052ec04fc5a6be40016ab440485b2887d0b18f25b6f4babe38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The settled opening is 0.039, exactly at the empty-versus-contact threshold for this gripper, so the reading alone is ambiguous for the compressible plush. I’m lifting clear to verify whether the elephant follows.\"}",
  "call_id": "call_l5Ziry26kaaBCK9apKOsjjie",
  "id": "fc_052ec04fc5a6be40016ab44048860c87d089ea0316fed36220",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l5Ziry26kaaBCK9apKOsjjie",
  "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]: [0.1051, 1.3067, 0.6117, 0.2028, -0.0299, 0.0074, 0.0407, -0.0208, 0.8146, 0.6075, -0.3851, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=0.0503 left_z=0.1396 left_yaw=0.1118 left_pitch=0.0678 left_roll=0.0353 left_gripper=0.0407 right_x=0.2959 right_y=-0.0008 right_z=0.1748 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 9.306, 1.956, -0.1099, 0.0757, 1.033, -0.0889, -1.4974, 7.0359, 1.7118, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aebad78316dee39247a12ab08d44a3705e4412e951f0fad3687a2271a555e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbac41f0a10f7a8b1bcd43768aef54de5aceea7e140a57401b7f1974019afae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb127a12c46f715bfd6c0dbc874b73e6d45a4aa40e2e2e03171c832e64d6b63e",
      "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 · 6.071 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]: [0.0948, 1.1522, 0.6167, -0.0837, -0.0036, 0.0105, 0.9988, -0.0208, 0.8078, 0.6083, -0.3851, -0.0105, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3531 left_y=0.0378 left_z=0.1367 left_yaw=0.0776 left_pitch=-0.0592 left_roll=0.0234 left_gripper=0.9988 right_x=0.2955 right_y=-0.0007 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0199 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -3.6171, 9.306, 1.7411, -0.1099, 0.0562, -0.1392, -0.0615, -1.6479, 7.0769, 1.7216, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1135, 1.6421, 0.4164, 0.7811, -0.0223, 0.0219, 0.039, -0.0208, 0.8127, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=0.0529 left_z=0.0592 left_yaw=0.106 left_pitch=0.1151 left_roll=0.0449 left_gripper=0.039 right_x=0.2957 right_y=-0.0007 right_z=0.1754 right_yaw=-0.0 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.9026, 3.7812, 1.5946, 0.0611, -0.0171, 1.16, -0.3624, -1.265, 7.1453, 1.7314, -0.0464, -0.0464, -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 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]: [0.1051, 1.3067, 0.6117, 0.2028, -0.0299, 0.0074, 0.0407, -0.0208, 0.8146, 0.6075, -0.3851, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=0.0503 left_z=0.1396 left_yaw=0.1118 left_pitch=0.0678 left_roll=0.0353 left_gripper=0.0407 right_x=0.2959 right_y=-0.0008 right_z=0.1748 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 9.306, 1.956, -0.1099, 0.0757, 1.033, -0.0889, -1.4974, 7.0359, 1.7118, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aebad78316dee39247a12ab08d44a3705e4412e951f0fad3687a2271a555e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbac41f0a10f7a8b1bcd43768aef54de5aceea7e140a57401b7f1974019afae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb127a12c46f715bfd6c0dbc874b73e6d45a4aa40e2e2e03171c832e64d6b63e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBXV185MfdD7BWcR-MtGBIUYypMFcRKvkILlgWHz4BrE5_yJxCFSrgnVLxu3asrOfGnSuh1L8vUGwstpoIz2N8sU5E2zUoxEWZtKqT40p-s3hS7C3bciQjAYNQ1STNrf23gU8nntjEKFg-GZ38ULIOXJzoCRkLB_NICYvVk0g-H4aDAm8Yv6T7R-Ao35N8u3EhM1FvxROEn9vsz1lwva2Oj5i4z-aVItIpozc8axYdh7FXIsCnojtBh6g-_oTDFDfwEnYKPh4ImNz3Q2XxpTz2-9vobELEJ3OlC3R4tKQE5r9D450Dj87mB7U-UUTt6RrElR8Gxp1tWJr_5_NTuVL-_iNKqJWcTWbXCLUCBYjPEnOYDZPnOUjSZTYxiOg9SGXUFND-JtsFX-RPyc-zWlmh3t3x4E3Ywg9H6ifbgM23A71prGezQfA2L_6actsLh3kGlML7jwF2kVnJ8078cZAixJBxKgG8Ddx7acxV4332c3v-5nEn-4J2zXfa25jKasKerWxMsrSZOTp6brJLs70L93qYWesESx95w6RWELHehOCQRKp1W-Jz8ORPkuJXUSR9LqL7WBTKb0XRr7FAjPPEimzKYaXbsKNi8XBvInOTIuNG2qGHEqrgV7LsYnXEJEiBcnGXOPLUd50WK_o8Ovw2gfBipPH37sn0SyVVkpcpTX_pdpX6fSaopZdXQIGaUf5feQ9goo5YnzzKyzH5W0NxE6UM5jJfi3rXhvPPcExndLkoxCtyL4MCazKZ8F2s2T3MZSbygPBNt5kE-ECU8Ef6YSFwKuRzb4maJB4vK0E4UFqx6M8JAcb4Bb_P9LrWfVVPxnoJbsGt81yzT6cg1tvk9nyGZ00d7ZohuPVmUv6e2AofGgyhLdJovhm-kv7rlSbIJ214dd9kop2U3UrcTQSxrjcORsaDMf0ADxjREwqGDNDqAPm1H1BQQmNymH1WHyPLa-XbDv3Qq3Gz7LxRkUdbzZGMpWFiVkBZm06BkQoB-KTUu93oLxdBJKa41k8gf38fE6SrEbVBZY5bbf4SLogRGOoQyparYgHQsRUM5hCvxLoeR0S7nkw4L0GtFIxaRBvCh9mXwYFCkH87WBJcvgWbkDPraE8h9JlB_-aYz6JEEGV-TkHSdLEzc_RfijOMCfdKcEENDM7KCmy8HAxly6tG3HryaFJ5Rdzjw0y1nj9vg6a4ZDYY7g59JtlO1Hxj8vKHy4nfej2XSIPT3MJXAEyHAbd3u258XC465qpp1o0pqXPf0g8czcvgsOi0LGAIjZmaUqFuLA0fxmQRhM_brsxx35E5K_FNKS23KX4KTaz2e1N8M14eCdz4A5Q_FABicM-uSUAESvirNEowiAV4lyfnhHMRL46oEvvo53NV8Eh2HneF6nV0exWWIJKE-NInhyRTSqTI-VcBu9aUM79WcbhKuwjnQG6uBJyPYD3OUBLcKVp_ZOQqexicP6pAI6MlYVbsGrX1TL_tJt5ik1SBqWUPMwnTbyzTTS9Nm8gIt2a0b7JaPTi7eBGAoswU2Xwkg1YEMv0xOcrgHvAlsxfG7hVS20-EB6sMKD4YcM5NXY2HWkvj1I1VDWy-epdq74WenuJoSvWkf38JefKySKRfxZFKAyVi-ZjAUEd5kVyHuu83EIfZzAkrb-Nhae8TC_nJGKYZsKb39vybldGAMCYMOSMw8alXl503358aK8ut6Pd1VW9dzjdIPWeuFFGnMmXJGjU4Z5ltxxmYgquuKJh47Nfs58u0D0MzSCgrX8oJc27IqYbtZBFYKewb8gSMrb4nfYgKxtvj6A3rKQg91dwdWLSEHD7Jxx4b1QagshEw79jeDzsHihQTtBt88AQYl4b2-9f4mvVBqimMVNCe6F1VrY7seNlFGwCLanuP67CvTPI9hiycZQm6zojyaFvYAcoF6g2WJj15JCAnr_DBiPSP9BzIgwQsd-Q2-s_92nI7YHAvBbrXzy9GuugUYakbSL255__qHFsdJX9XvnZanbJtIZU0N3hFeZrW62spbxd4uXp6sPC5Svsi8bjUxkx0HZNp6zjOC9CZ3j_UUorlBa16nqw0gz7NduzzVAWSFtVAbk3W72CN6-dlOQG6tAfh2a718TDXf-fVHn2Zw4a3Prx-yaPwQeA6ibSNx-lXuYJ_3sXDlRjH_tgFwwpWify7N2io3IT6UhP_yO8mwMwq1TiuQmXGuIXORVoIPEvO39MTV5Cl6XhcxnsYE7xxRZZU3eAhrIxdYHZ4Y0j-3H9sW-oGI1iBX828dV87M1DF8p6gDoVJBJpIol0M8uT2PyQXr4kurtbSqj_0XjgIzsSaEHgh3FL6jC8-PPO-pl_VFu7KxOO_N-g6PgpM4cONE-ess-PgZLmZgDCd9twvHhmf9ly10XXEX3AGEZxPoGlPfTIq1RFwmGA88ZpjlXKiD8wDt6C4yw-1woKRJif9l7NZFTcIdR1HFf-gLXQ-LpuhBnFrzmgU-BVx6gAbx1LXsxawdIvjSmV65ke9Q3LIRrBta3dabE96Ip7CLJyW-zCXmp4znfAuJ71xiU1QRneO3BY8XNpESkGgBNo262jLU8hYiCY96Mm1xRU9uIQ48qe1eyxG-pVvIpqq8qSJWwHpWKYpafK_SDGxWuJbVKS53QyivBUn20HbrHKZYZiNmEDm5ElGBQPfXRdQ668CavuKltnf7uDTippH0Vh9AfgPhqOY1zTW6tHQxOdog7z8ebt5_bzr2WfNQhqXefKK3J5s3xY2_DibKcx9qs4i7qz9Y7LhPDsN9hz1HQa8po-t3jq2DKD5NeMZfVeXQ8zUvk9E2wNRze6Ux80kRD2Z2t4cqOewnzBn_PmAhysH4NcYRf0iUR8AcS1C9dLOc7v232jDSTVGDF7ZZcdhf-SbDgYhUS179qRhVNzA3OnKNWRepb3I0GcFkOOEX4834tYzOQJVWYsymOA6b4LZobOdUjgcoBapVdZ6YF3WWUSoNGIlipEc1YyveIs7dityo8K2AbQ7CHBFQMRK8lqNYiU5UVwmSz54vbRYjSNpo4aTK7eak-4VZBu9RMOD6BKEoILjVksltUiwjfOQsqINx_qP9_Y4M-wwdXku_uGb5caeE5Fi4YnMfAIr-D27eX_B3eA0yM9Zsbrz60r385MDo1QCDqucgd7rFB3P1ezyj3chXaEB7kDkeHHiJoAuf72Wt6oz72XfELZr-sqdZNRw63IGZRr0PF5D25HhOVozbSDMkhaM9ZFmOSFB0TrACJ-sKOHdt2SoCAjFyvJ_sjx728UoGF_UKAjg8XXNZNXDKJatGasSa9xf7GxV8-rVYJTog9xJrmdVla71AhqRSB0Teso4lFF-y48wVVo1GZB65OZNk4KJBSZtieCZaDFYIyMuFvKvwsH2M7m_TmnNVfttBTm0C4r_FKbRQirtwlKjHaIyk9HfysKNRBVz88mqPYOxXxfguMuRB7IMtdsyPzT6_RedFMMiTU70ChoHetvUyNe7RG-1JZYpL1Dmea7Z8YdnM-Koe9by0epH_UE2uoxLOdwiagXsF_0jTrmoLWWIoSMYOi43qPhDbd4p-p1wG0DuJq45MWR9W4-odtJMXnJzHmoqPgKu8XhwUTtYl6rtONtJjPfnKMDHssvTgL7ZtKtOSri_9uufOOFppunBOsS_t5Fu-wTgW0brjTc8uVIf792kAMrTvNy4yO7_jWNtZcVFYaYGZPvyMrYI85_8gIXH7W9Tr3KME-cpaAXo_wJYdSeRBarwSGHvCDz5iOzXrHlWaSdCiBLQM7GcH8MlnHX2LPJUFzYoVvpSykpCDuq5eJsooFhlFQdU891FxjqUKwPMKd27l-HaEyYrppGXJbpNweOEV1Uw55h9-zVYPUbYaPbgxIsOwrBKBwET87j5-k3DfN5Cppo8Jv2s8LAFHGcd7sXBcKuN7uY2XU8Dz__wV5XxOwH1LvKU0fxcxFWVFJOA_6NjXUCc1Ufb__V0XvyLMa67bX4pDb7ySwBKj-0taXJeJPAFleMvtdZ7AVyom6GXPlA95MWh1nPiVGMt4J1w8BDPphsd0iN-6DNkCBy_ZstuTMv2yiu7L-HE2iD3cuTMzXaLCUWTiEsxtaGzJNconOemVfl3P3ZhHkt9SkSGGBgQl640J2zXInyRYG5n2URAzoL2C2aNhlDZ6dn8oB91H6nT23KIWaqr9J44SKeE-xs1ScNZRsPrVzHCp2EtPheYkdqgdUxfneg3itYbt92kXVGbcSa9QQeMrlscPzS9y_Hlb30foYvURrlUZKArRFrlluRkV8F8G2nfl7neIgZxalo4VfD2jM7mxDyivY6MI5A==",
  "id": "rs_052ec04fc5a6be40016ab4404c918887d095b3ba73d06efe74",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBXH17mXGiRF6JcrL_ZQ4Xesj6j0rTC7YwdUusM3a_srrqNbV6BRY4-iaMvxmXvjE6SIjtZXbKRljk1PlcQqIdzEsik_HE9Qg0K2f6WEUfmFuQTnv3n95C__o1jCB8_74D8WHEz48e59jFadvzNNASzfS3MYdSteYhL_8riXZMWDWACW8EFMdSgEhpA2uyMP6UexvONqb2gMCm6iEUqAtXxjGVWbu16EjtRWAotA9XzDIQkXEblxhZVjZuAgL1TCHcV19tUGpD1-XyG4dawRp7LQsjlei8sI1g-pRl6F9tse1OZmdtvPT3QVw0yZ-qB-Uc8RYjsHP4QtWfIAQ0L1FtHw0FLODYiQZEn6rNNSqabwQIiUX9GuKMVgRU8t0x8E64hmR4-GWkbHmupI4sgQjl1AkWRLI17cY-CN5rbWpiJ-t_GQx9Mp6Uon2eqPs8VAiTcGHpa6zdxOsGQnd8yslxvBTzy4xioCGHBW3lngSt1jwXN3OYeRmGircX5WzGFRMunuprsAylajnKMS0n3JuCEN8LHe7-wcO6qMAjGN3-zIIrhQtNKvQCiw8gHnGPz0wTOfU1o1QyzhK_mJ6hdZh85127q5kxDJfNEVsxzxqXC2O7km4T4pShJ5sKcLYP9oRwZ-QGpxx-vItofXyQO0HRdj3rAhqxlBRQbRDzcXLWSeIPViZxaUMP6UmSJhRAch8PONP5aw_8Gx1dKMdspsNi1VGnTyCvqEv9sgugF1ooB4tgB-blSUAI9Kq4f0didUVSvL3KWDCwJmr2A-JvxDFvSM40ibvkhl3w34OfqmLuSwxdQIJ6TSXnQus5vN4maCyHwTnoKQRJPF4Rja2kFTGYizn1BpwFnfAUWlh8S3Qp-N8T2hOcJZhJInK7Zurk2KC358M9a4GlW76JNjXCCLkEfYGPV1J2Mc75zNhxHCNmaDeMudk-AE7CJOnNL7JDTxDbIHafhdqylFEu-x2ADg_48deY8cSNYLT-IcwWArUj78t0njENBWj3XGb4iV1QGnC1qjUd1NOkySF71sBs6iw5-ZgKL3bqAtLoVD4nNxmYTkI8LGbDyFzzYZSJAV3zuVoMQDAIKa6jMLZwhfKAKHb7zk89iFsDOKavlzUCJB-J04BZ1sz34wG9tIAzgrkp87sl6C1QxmgBZipSmkzIcgYT1C7Pb-kyPgG1ScKRgIZYriIVy4DN77kOI4Os8ERBh09IeUsTsdIJfL7XL7TziLuIKDDTxEs-G02YaMqTZUa3AfI3V1AzUxNJMKv4Xc-HcZYju4mi8ImWyHdtshEkpTwoQTGGYX0nZxvWoDGzLWe1G53nKLLPM_Uj-sjnk3dhEdujixK79P9xaQA9erWC5bibsdvFwwmxb7mgK5gCxt8cmtqyZ7Cxf2cqi8hoWN1zGScUjCxwBhNEtojMu6z9ANVDU-7VXFO9ydgHlqqp7VkW0b1Ljyfyf8CVyzJPUsh25kUM0t3xy4ef9qTT_1nItWtQNWqgpkvxdf0LQ42iB5wczGqksI5TJFZv0HnR3PQ-5FEWkKIv3JjBRmTWu6YhunlPHnvfuOIoT2SlMR20rQARlqhRCTcidnhmjxlNnPo0Q0cYDjSvcHTJjIieweQeY_UdIP8BfPnF8B19LI21qX6JRhF9D5JaLcPpEoOagbGYSIYwrkyusohGphnvBNBr1uiL6I1FZi8f2r2k69Alow7US-9ouWFa0SDm-jY5hvWYZHUDkvCVxh-49vsmCST-Zxp7Y0SfhXVUr15vtjN7o8RBBOhv9PB62kfgzYECLtjyzDX__R6evKqMZ72nKZhaUTym4DtjWk1egf-dSquVTD3VMrTRCPSebCUDXNgqRWpSXyROooKMc5Ncpwb2Gjr8XG6AvNdOIPDwmX_Z2_APsedEQ4hb1YtpzvbbYNCo1fgq7h3UldNdYVKSbAj3JXdJLjTHtrWVZNuq0UU5LsDo-jsDo0WA2CzUiUAnFwpR6eUXMwnjbWtV2SZb1efxOzwy24Y3Z0abDps_p3a62Pnnh_d0IRyNBt6x926ZuUpXZkNFiQxmlHyQppoQGJdVX3ePgTEYVOAxa4UzhISxoUj7B4U1anWm8_kmPk5CIAVET9Hpr6vl3td4mxp0wexaP1H4hKc2hSfwD2w_F7YavkV4Rla6hqtkSRKvXVc1PcYzMcke9SxdEKHao3Wa9nw6LJ0yXbEhdkUd7mIgHrYomvRtNHUJFhuQ-c9LTFC1UWRCGJVpOBhPy4hxzyz6u7Z-JNRwyj7l1A33zhgBMPZECtYd4v03U13jLa47jxxvlQKtbtsdEI1nqUw8Ez7OWlR-llxYV93Ymxq15rBXtNN8OXrY9UrHJKhzMO6H_ekId9Yfl__qcdmaWXvpIpLVxevQFUZoOb8x87regAoEzkuWKoMXlgbTB_yR5PJiaiZAxsDA5iqdEmAOO1bOniSQzf6FK___HXIkZSS7dRdNsv9TZJQL9gH8yS7L12fYTdThA_43AbGuOxIszFAZ1-bY8YAsCp6YzSHhslFOlhWOJ6U2CJdDV58KyWnOmLvQ6rIB8MKhAAp9FpXS7pXn1w3Mx-uyYZT8z9Iq8Qs-GH7FsXB5vuWHxSDq47PYdWy7UtDkZosofW4jDKKmmPbROj2_Dmxto2kkegGjErM2r5vY0KLt4Ti_ubQICZ-XxVe1lESddCnIfZesSIb-oWkUjIdJRbVpU31pGEpT7YPY6a1UowXsqgU8RGs_yu_rHPv9IgsWPGa6D9hBq2Znnys5ndhyOdXJJ7R72VTz3dtxNAbjbSe2jJhMM1LI3lnLPBYSpcMHEn1_v4Kbfs7WFd3v9Ga-rY1G19peXEDBry7tJQedalvq0h42YVDbX3owfZZ_XX6wwPbdVV3yf207NjGixD6yaV4agikZXvUmQ5v4QT6sMOTNaw9im8vSFOhLXjjoHrlWFc6Ak6FW5wLW9Ni44D-wdkCmB1qEuq_47ju6j44vr3kn9lpjNS_tXEVtR3OhUdO-ZvPmbPYFhScsZk3bn9h0fDvyGuiWOSkmGmqCKlyMTpNKJPI_Iu3_MRyn2qJtrR88suMsjH2NJgKArzoViR0f72fSZ7tI0QqzOdTEtcfMwAFWMJTLg5uTdmVX7j83HtgQNoLmUp4hxpRpVBp97MicDSOzPIikpDDj8H9X4muiD1Rr8rnpuri2nEiF2y_Quoj7CGjgBOwTztJrxA4bSUneAzdDDZ68fOrvTZ6hKsF45I1NXgPXGlKrSjYLXikjEzccuHpxD6b7_91G2uKoC6fvcDdNwv1GeywL6jSBhzFfHz2pNMpVyc6e59p_z5bMOofyvbQA0extq26QweXqjz9T6roy8ON77t7_dbR5Oh-tAPh-QxmMR-BHgGuXsXCMRGFVFiRkHdtVugVId1F1LDtD0uwz1N9v0TF4EHQ==",
  "id": "rs_052ec04fc5a6be40016ab44051e24087d08f6a0beed0dde96d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.25,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"The gray elephant stayed on the table after two attempts and lies at the outer workspace edge, so I’m deferring it rather than repeating the same failed geometry. The central pile shows two more elephant-shaped plushes and two dog-shaped plushes; I’m moving the left arm over the central elephants, which also clears the edge toy for later reassessment.\"}",
  "call_id": "call_midd3n9Lx4IvOAmMHxfGrEMB",
  "id": "fc_052ec04fc5a6be40016ab440562fc087d093d6e09cf4e5c51d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_midd3n9Lx4IvOAmMHxfGrEMB",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.9226, 1.6772, 1.1297, -0.2943, -0.8543, -0.6754, 0.9984, -0.0208, 0.8158, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.2462 left_z=0.1596 left_yaw=0.0941 left_pitch=0.048 left_roll=0.0368 left_gripper=0.9984 right_x=0.2959 right_y=-0.0007 right_z=0.1745 right_yaw=-0.0 right_pitch=-0.0286 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.8017, 8.7453, 1.3162, -0.4469, 0.0317, -0.0415, -0.0615, -1.4564, 7.2547, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c9efddf12de52bf5062806615edc590c29fa14c384781c53d7bf96176deaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc9b36ce790ef3722d2892b74ac13558bb884e71736ad11e1dee0b02214c9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02aa19c18d6c6edbb2a517fb86f8f265cbb8b4d2373b1e203acb722eff06cbed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.797 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 49 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]: [0.1356, 1.6569, 0.4072, 0.7578, 0.0082, 0.0338, 0.9985, -0.0208, 0.812, 0.6075, -0.3851, -0.0105, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3907 left_y=0.0555 left_z=0.0451 left_yaw=0.0959 left_pitch=0.0678 left_roll=0.0405 left_gripper=0.9985 right_x=0.2957 right_y=-0.0007 right_z=0.1756 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -3.5897, 2.4821, 1.1258, 0.1929, -0.0024, -0.0317, -0.0752, -1.4427, 7.2547, 1.7411, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1051, 1.3067, 0.6117, 0.2028, -0.0299, 0.0074, 0.0407, -0.0208, 0.8146, 0.6075, -0.3851, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=0.0503 left_z=0.1396 left_yaw=0.1118 left_pitch=0.0678 left_roll=0.0353 left_gripper=0.0407 right_x=0.2959 right_y=-0.0008 right_z=0.1748 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 9.306, 1.956, -0.1099, 0.0757, 1.033, -0.0889, -1.4974, 7.0359, 1.7118, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9226, 1.6772, 1.1297, -0.2943, -0.8543, -0.6754, 0.9984, -0.0208, 0.8158, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.2462 left_z=0.1596 left_yaw=0.0941 left_pitch=0.048 left_roll=0.0368 left_gripper=0.9984 right_x=0.2959 right_y=-0.0007 right_z=0.1745 right_yaw=-0.0 right_pitch=-0.0286 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.8017, 8.7453, 1.3162, -0.4469, 0.0317, -0.0415, -0.0615, -1.4564, 7.2547, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c9efddf12de52bf5062806615edc590c29fa14c384781c53d7bf96176deaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc9b36ce790ef3722d2892b74ac13558bb884e71736ad11e1dee0b02214c9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02aa19c18d6c6edbb2a517fb86f8f265cbb8b4d2373b1e203acb722eff06cbed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBk3kRjU8kZkrziu0oCjRNJGFUI44timuvGvhq4u5UgtztMFBBh-5vPb6jsn8oI5YbfLFMyOqGli4w0H3d2U_G6jnjQ-YGq7_-AXk1OkZ8v29e6bHAVpJukaVjAuGZQjsx0ZHa8oiZTqUhjhZEz76po65y892sknVKveRB25QZ2pobv43aVn5S-Xx4PwG9ItufbkUIXfH-tL1De4v1553qLU5gGa5fdZfkr_Q4IqBOLfeKPRa-H07pNRH9T-ZQl5sGG12r2EK6EoSxExao22crEhYmJ24NwvvX2nTUfwc2wn2FraiX5IwcwbheCXMyGVwSBapN809JlLinidgNS4_cQI5YuJbRpJv4gcmiEaqMx4QnVtDirB6Io2-9j-vhxC7S8Lz2qmD72-hy1zEHBzjvlbKRilJNrpZHSGZi8-vayMUpEKwiS7aArcCAxYy8_Sd5BdPoZpUNFm-5CzEa11m1ahYM94DbZ8BMZmEfzqdWa-jo9IP5pQ8M0O-nZBK0yDZT3G1WDJyuwZ9k9gPCC4kCv4U0kpHDogv0QRk96i_QqbNhgpqNfcvZkR2IuEZWtGL7HVgRNTqCS5Y8ZV4zds1BKVjZDXuQU_nMRi5BUK-i4nEFehol9GMVeDVoXLmAq7yBDlOSJwDwqTG9Oup7J3LcXBOL4PbAtrSJD9EqrXkXEuZ_TufoOSvBQI4IedkhNNGln08Ofv-1u5VNpE3VIntpHqVkX7kOWLXyFuTeD6iGuV8D-bH3erx0R8Fk6mcPiPI2GiHj1xc_wIXsfDe7vh9yY_aaz7ziEk8KaKGJvp5ogdZv2s68r6UEIrf_yZqWziz2oP_6t6EGRmAN7EfmcytjJCdNnUfwfQRVW1Br6GKvgGRg6_SfvFYOm1cAjnCRS18vhVMHO08Ot0Ggswja4-UU-uArG3kjhQcLnYp9b3ebKH2CihmksfTRun5jvCQ_lvD3w8XMDtKIxiemkiGj8o5LirGArOBnbxOri1io9QSALehPsDvnYn_92FXguawRPWrKtE8qoihaXV4EMBomPLeYdeLroGYKgACVFcVGauvlDf9EmgGjwGwRE4KLwjgPxO8uPnP-s3e8dYb-3kVMZm_ixkMORv_AbWP4S9vKDLdsqBjKBkvnyvUwAUkzt1UplKwg7q9yv580nsnQsBrH8lOAIRN3KNnQvWVp4_P7SgRpKekb3dGRboE4ku6p4PASgR7M_kLfA78XkVwCaDBBpMB0cxC8x9GqhSHDAPvGBXsUUo0k_3svxLPFjXpLgvC-FQhlj7UHZhDdTCSBAQzjF2afLT-rem9aodk4iaTT4dzpRiS2gddrytqPJdCCJn1HgHw87m_Y5TlVqmPNwYS8vYe3O-Jh7Gs_sZDc9XIsY_KQNtk3M0G2Tfw5XUXU7ALrN607DtpelkMwqpB4YF7_vGn56D68uz6QjYYuEgZ5rArD7kAqZjTZ7ps7bEciQB1nMCnLioq5ZzSV5HlyEwemVLewBp-OU2dqk3ARWGkP3U4IL7MGUj_o8acQvA0I8AY_N_JjGdutrnx-o7mDCXZe_GbOKe6mTg8pQLvR0rbku0-p-eqCQr2F_sQ2bM1cSt1CYke-w0lQl51uAz8gBFNWu0MN9GDWz1K6cfMhh9i7slAOwOdg1Lo-zeyvNKbeq3-TC5gbnmUa6HETpE19A1xGkCaD1jrbtCZbICyDBrol1BX9yie1boaaLAw6LBVG_7nAgR7DeEnFICYKv5O2HSmDlPZvy-3AADiKMp0_65p6GV8HhuB5IWZ48sUH_ZUQG8j7Kvhgm_sU_aLo1tRovGlnuU3do9mjx6d_ZTobCEjTlrNQylv_uPS7YJYzXYGGl-4T1CicdQc6OLZu9ZKUYumb5hvwNYixYmUq2Ba2fixvXg0EAgtTcxrFQ7QQ9q3MlfGoCP_MlkbSIfBisGy8DBcwul8eU4MsEVMif41FpzCvytEheCF5JuBMcsenHdyZFEW7jle1aH9KVLMF1pFBBCDuMRi1V1j1XKfC-iOx8BZoxW5lnVERLOhsblcIoWobi_5TmXja4wLggtW7bk8S-coIobfhVPel4HpEsR8-G0YPc1tQJSV19KqFNaElAbV-IV3ESJ1YjrItpCkkwlKHPV3J6ZGrkKM2rdqpJh4T9iSjR9F1c3JaRhftu0B0nJ0-GHAt_Rtiy-ZOkya0nNiZdvuirNhofoZHUqsnvQajlBGbV4BjO2d8zzqP3vXMImLsAlr1Ma7OxGqiZRMk7UOjFD1nOZWn-Eh6LfYhhmycl6GddTwnwpnBfVz-3aDLeGHCmKWqxc-VwZ7nBlZm1PJs2E5gOAGWsghzAvluaPYHa2ZA8r_XNi8l2AdAmAigFUimk9yU2uEeEnSRjJKtokUtFsyStCTSusXJhRqWx4rP2KgLujU4n5mJ75qrirVnnjKegafULmCVfR8iBSia-hUmFLm1gIJxvjwn08h1_5JBxTczCG_wEXvRMp-THzvkSq3buDF_MYN3tHoWTXMZ9Cag1IDI8kg7Wua2x5Q0m8UQntM0qIpcFqMJdkM65g4aB96i6-ZB-wWPM4P1_dJEGTFh4Zwhh1-MHWpLnmZ2nxX1Tbya3d4J8AGP40n1H6_a85EjJTcliHjXT4NLZJNHL0D4799vNKN687r3yzOeQ44K0uRIAaOzbU22qxU-NCf7pN_jh78WutIcHAsfmYN7nwHqzgb98becikWf0AvlV9ByQnRdHLcV1O1g3ZYJ0Y68_UoT965ocKFFwpc-wVRhxjfwvRmmm2syDnxw2Hmbd9HZndR1v-kJUqwRoZw5_qECzvRCDwIwRqblrReH_-sQgTqpgpsMRyLh-V_VO2BSWTW3TYEbz1lVIafT5D0TMLMuZZh-zOatvRZIN50b4Zfgi6FrCAQx9J6aOExF3D0j1DNCjPdLjADCNdMLXMLKRJhpzsRyUq0athaIzzALlUG7o_4E78nubH9tEO-6AsD8W1lsr3neiXxj8n2paICdIpjCMV15bh_ZYLnAk",
  "id": "rs_052ec04fc5a6be40016ab44060f72887d0a12dd42664912aef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.16},\"note\":\"The wrist view resolves the central tan object as a teddy bear, so the two classes are gray elephants and tan/brown bears. I’m keeping elephants assigned to the left basket and shifting the left gripper toward the adjacent gray cluster instead of disturbing this bear.\"}",
  "call_id": "call_RjtJyQLpIlPVLlZ9hmSUfvR0",
  "id": "fc_052ec04fc5a6be40016ab44063cc9c87d0bc9fedc7570e5e95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RjtJyQLpIlPVLlZ9hmSUfvR0",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "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]: [-0.6167, 1.3487, 0.7689, -0.1093, -0.6464, -0.4229, 0.9982, -0.0208, 0.8185, 0.6075, -0.3847, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.12 left_z=0.1514 left_yaw=0.1227 left_pitch=0.0271 left_roll=0.0465 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0 right_pitch=-0.0309 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.6803, 6.5162, 1.79, -0.1978, 0.1734, -0.0317, -0.0068, -1.4154, 7.159, 1.746, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c50c187bdf3c1d67e25f3f928f1707d216632627b6a125613b5836351e046f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d27f8e0a7f7f62f8949d026d8ef8a93e086a432e75dd9c01bdf52bc487ae5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c4cd84e5caa5c35bc583024878358b34555ffce865b67e9a2b2c1eb085522b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 3.941 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 49 changed as sent

message 53 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]: [0.1135, 1.6421, 0.4164, 0.7811, -0.0223, 0.0219, 0.039, -0.0208, 0.8127, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=0.0529 left_z=0.0592 left_yaw=0.106 left_pitch=0.1151 left_roll=0.0449 left_gripper=0.039 right_x=0.2957 right_y=-0.0007 right_z=0.1754 right_yaw=-0.0 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.9026, 3.7812, 1.5946, 0.0611, -0.0171, 1.16, -0.3624, -1.265, 7.1453, 1.7314, -0.0464, -0.0464, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9226, 1.6772, 1.1297, -0.2943, -0.8543, -0.6754, 0.9984, -0.0208, 0.8158, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.2462 left_z=0.1596 left_yaw=0.0941 left_pitch=0.048 left_roll=0.0368 left_gripper=0.9984 right_x=0.2959 right_y=-0.0007 right_z=0.1745 right_yaw=-0.0 right_pitch=-0.0286 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.8017, 8.7453, 1.3162, -0.4469, 0.0317, -0.0415, -0.0615, -1.4564, 7.2547, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6167, 1.3487, 0.7689, -0.1093, -0.6464, -0.4229, 0.9982, -0.0208, 0.8185, 0.6075, -0.3847, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.12 left_z=0.1514 left_yaw=0.1227 left_pitch=0.0271 left_roll=0.0465 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0 right_pitch=-0.0309 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.6803, 6.5162, 1.79, -0.1978, 0.1734, -0.0317, -0.0068, -1.4154, 7.159, 1.746, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c50c187bdf3c1d67e25f3f928f1707d216632627b6a125613b5836351e046f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d27f8e0a7f7f62f8949d026d8ef8a93e086a432e75dd9c01bdf52bc487ae5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c4cd84e5caa5c35bc583024878358b34555ffce865b67e9a2b2c1eb085522b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEBrr-PGm5qYpOUR9KBu70ouAjc7swuzgdyt6QVV1bVa9evmuOYZ88Y1Hb0gDqwDmtn0OcXnn7c9Zbv9WMInvloQ1_7xJeF5PbJ5_OKPethgL6CUmW9aLBjPesOl3TINm6teoMhcdIbzwtFX_4n2uTSmKWjAI71R-JBWTnU7SMkdsY3ykNqNI28-U4zDEsEnZZUMldAWDDIlbozl0lbZBmIP-I2dVadLPiUc9LoEq3ttMKvArbberNzhMQfPG2hl_aedF62AneM2zKUD13H7R14RnLQfvYFMWcR6jSVXF9sI6sfAqHGQcxAWeghC0IiSExJxEPMCY7t-eL306qaJNJV-Zr6w-8Q74PXMAh1GkL4ODFgV10Q1LvTAErKyxcpwHYo9tuITRSGlBvvbiStEuM6XdIzN7NC-2DNR0q2cYrNOePhxByopD0ayplCOt7QCJTMoP4FpqsoWSM0ueILprSO5Gff-wNnpzHWh54y6-EMiBW6Aoeb6P85AePDkD29g64BcA5EksBX_DimYzCa7Xfb7jtjl8EVO8p0IGv7sKcUEb4c6SJl7l26npotp_LSyIUW6o2dBASoa3ttSJPmmV6LpJUMTObW3e8VzOwaGcotGcS2mCu7U992ySF22F0FOSog64w6ZlN21ddUN41MeecYnlqXABBniNsDOYldOhxbThmIv3BbpeGIBT8RmZlIkv3BURSgm1-SaEWJsl9_YCiYBrNdynexEyGK5-W5AUAv6ENAfHa6mhQefJHj0xWsfp0_f5Ads0jer88fYlLEzjCcGraoR_miF02E8KUpJ9JOtKe7-pzNR4PGPmjf0nRIBiHWzXfmpWOlXb8SZjo2ZJImRZE5Nka9TcdfEy-Z02O2VG-_bMpDYXtwo6d5rAj2JP4TIQv6T07PtK1jqLaAXBIjhLYAqxW3vNE_BtqaHLiVhmieuBBp5M78rY-H7ahW6lXVQQFANE_7UNWJUNVWgt_AxaWtfN5qkzOjQM_XdlBdk6aNlmgyYhNkLVWOWsleyp9p7UrOsg51hPXmEetqKl2lTAJxfYqiUwXiQO3Pnp6cqCMr3TvgirX2pcXM7e96CUmVQu1YwZwo-W7Ghfvjtx3i8RHFOCYD3awHr4eK6s3HJ3VHtnOmGRmCiazMfDF6O-ib0J8xN14MH98bkAockdL57Dkx245S4SISRFOS9Kjb8apmzLvSL1_AGt9caZPkUMT8j7Dlzk7R3qTIAYUEtaniH4kX6FYShuSERmJ6OqTyRuHrHbahVkz132wf3TLkiOE-xefAS5y0tc-I8hHDqKOafLTuxRJxtrHP5RpEceUxhlHRvGDagkFAeFL5WWsmNu5PMIuwU9ckhqVrbEe2W3VFv1yoZtg2k7O0fDW6FAzgRtUdUyJbDRLonq9koOcxMu-TX2fZMAUYtYBAMtdEtHnrh94oLiVQnZSroVD48Gw1H_3w-q14eyIusUirkhYSoiUkaTjmEQaNY45PQQg3Q54X-VYx1mm0Bqhy2DKGU7klpPrle33Tf3x47OeGxaNzVEK0xj_c0S8sTOa6MUpRKmg6W1u65H6HMRgYcfrEOIa-S1TNhtqrhhfgcwIJbe3mEG0FYKF2roahyORS4_njs1oAHnwjZ4OfOkg9xdxDG5VP6gXzAL5-gkJjBfzN0tJb0XyVgcroVnzLhjcwzwzwDFfWB-7pCYpGcEB4jeJ63G79coOH5mq8Dg3yapxCqTG4vVSU9Lgry9DuHfEDsoamRPkrs24_ZvzV4BeRsRKw00PDVT_q1SuWxGofWw05XVnQIDvMe3AUvydlyUJSTY74e9V-nKQ8oS7hHLVXkavwO1PuQ0Gb-mvTi8W7hdBn5NciZMd7Uu5HZq47SDYd-GuHx7y0CS6D7ApGr1yI-B7VwvmZiUVfE3PYjcNM80Qxb-cjxJdhzaSoVJy9IhgsjEUHqcrMuyQsgZJN2ZmPHk3cdKKUfBpmP2pjyqey84u7SG40nh_s96ZbXW7TNKx80El1CD-M-V-piKeCYPllzZltpGlFUBzRu9ZCBq6QeFunFfDh5yDXmnEQkeNtMM2b4h-CWF5x5e1o8QR5ZtNNC4yAco4hjdngogQB1f1mN_x6zxk8_A5wm3wyd1gAENVy-05uIq5fCBuXdpw-8-a_PyMR5aF4-ZOk0AROwYogKOD6fhrwW8YO5pFIha7cTiwqdOv1vSKixUNg9fKjsHwFNaNuakAhYnuPF3xn3bAkCz0U0JqgON7cr44timWP9Sa2L8C2FKw1wKcLW6qxrEEM_trsbJPQkmHY3fGjol62oG94l--lHfj-6J98ZkJVAt688Mulf3MzQTm331c6sE3mAu8nfSpJz8qE7PJ-n0WAMI3DLmuSXVVEPXif-MPt2Eajn8pposEKC1Iel9QwGeNErDpQEPnWWJuaLTo3GjSd85mY7_4qLmsc0Jh-6LRBstKscNpEQJDuukjeSU9jY-Z9Kc4qw-4IdXTHWHQDzKhHRPbphj1MK-fbWQBsgz4_XGuJzbog8eVyGtJvPgDEfBVKh4vtm5Mbprn9H0rYdJAWOaCLCxeTkn-87-LXVQ_5uAcJtOV0qTs6TzNwzJzUadub7RinEvNZtWnGoyt0Sc2I5psoJniEPHfhWNfoXdww8tcYN8zxxgAy81jgJrVr_ELn6MGSMsa87v4crHDGcsvpKhvuJzflLLB0m0OGHOW-A4im8F9Gs3I8bXP_u4HMCyHThbRpAmV4uqHtojAxyaDhCSGengJSaxCOOTNz5HaVVZn4Zgr4Ir4YTDIMVEld_gwWdJURpc2RQkNZlkXLTcpHs869kLFmxURNC3DJwySniZgnDi9fh_rzQ1Q==",
  "id": "rs_052ec04fc5a6be40016ab44066dc6487d09e1a1fc6e490443c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.05,\"left_z\":0.16},\"note\":\"The gray cluster is now clearly visible beneath the left basket, with an inner elephant at the bottom-left of the wrist frame. I’m shifting about 7 cm outward and 3 cm forward to center that inner elephant, which is better placed than the edge animal attempted earlier.\"}",
  "call_id": "call_KgHiQKT69hzBuYxVPbhFQUo9",
  "id": "fc_052ec04fc5a6be40016ab4406a75a487d0baff07a8b3c3a7eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KgHiQKT69hzBuYxVPbhFQUo9",
  "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]: [-0.3275, 1.3315, 0.7532, -0.057, -0.4446, -0.26, 0.9982, -0.0208, 0.8185, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3857 left_y=-0.047 left_z=0.1487 left_yaw=0.1672 left_pitch=-0.0062 left_roll=0.0533 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1738 right_yaw=-0.0 right_pitch=-0.0313 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -6.612, 6.8718, 2.0049, -0.1148, 0.1978, -0.0122, -0.0479, -1.388, 7.2, 1.7411, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2be5e8707008b7a0751674ee29276d870b631be87927907a6c224cccaff61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb5071b6b39f26d2455ffdf9c59332e9bcb12de375b06da09816b2442c45636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e4742c64b79025c5e0afe2b48720c7b389d79654dfdea63ad720fc2fd6e3b77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.353 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 53 changed as sent

message 57 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]: [0.1051, 1.3067, 0.6117, 0.2028, -0.0299, 0.0074, 0.0407, -0.0208, 0.8146, 0.6075, -0.3851, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=0.0503 left_z=0.1396 left_yaw=0.1118 left_pitch=0.0678 left_roll=0.0353 left_gripper=0.0407 right_x=0.2959 right_y=-0.0008 right_z=0.1748 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 9.306, 1.956, -0.1099, 0.0757, 1.033, -0.0889, -1.4974, 7.0359, 1.7118, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6167, 1.3487, 0.7689, -0.1093, -0.6464, -0.4229, 0.9982, -0.0208, 0.8185, 0.6075, -0.3847, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.12 left_z=0.1514 left_yaw=0.1227 left_pitch=0.0271 left_roll=0.0465 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0 right_pitch=-0.0309 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.6803, 6.5162, 1.79, -0.1978, 0.1734, -0.0317, -0.0068, -1.4154, 7.159, 1.746, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.3315, 0.7532, -0.057, -0.4446, -0.26, 0.9982, -0.0208, 0.8185, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3857 left_y=-0.047 left_z=0.1487 left_yaw=0.1672 left_pitch=-0.0062 left_roll=0.0533 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1738 right_yaw=-0.0 right_pitch=-0.0313 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -6.612, 6.8718, 2.0049, -0.1148, 0.1978, -0.0122, -0.0479, -1.388, 7.2, 1.7411, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2be5e8707008b7a0751674ee29276d870b631be87927907a6c224cccaff61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb5071b6b39f26d2455ffdf9c59332e9bcb12de375b06da09816b2442c45636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e4742c64b79025c5e0afe2b48720c7b389d79654dfdea63ad720fc2fd6e3b77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_052ec04fc5a6be40016ab4406d791c87d0860b19118f78bb1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"An inner gray elephant is now centered under the jaw column, with its head and broad ears symmetrically framed. I’m descending straight down to body height, preserving this alignment for a low torso grasp.\"}",
  "call_id": "call_U6nNMC9KUJxyuHoCO6prXZbA",
  "id": "fc_052ec04fc5a6be40016ab4406f2fa087d087afb8ea732aaef6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U6nNMC9KUJxyuHoCO6prXZbA",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.7084, 0.5041, 0.6262, -0.5083, -0.2333, 0.9982, -0.0208, 0.8246, 0.6075, -0.3855, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.04 left_z=0.0438 left_yaw=0.2053 left_pitch=0.0604 left_roll=0.0798 left_gripper=0.9982 right_x=0.2964 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -3.8359, 2.2769, 0.7106, 0.7595, -0.359, -0.0171, -0.0752, -1.9214, 7.0085, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f278040aa2abbb8aa642df7a2bc10c0ddb186dfde4517c1d690eac6ce36d14b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca3c3b6a7d2408ab30f04dce6f46b810f24a4d56992e49f1cc9dd88270cb4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e60e6d5147a8f2454c815d3890dca971794cd8e7876de1b60b91ef66bce8828",
      "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 · 7.358 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9226, 1.6772, 1.1297, -0.2943, -0.8543, -0.6754, 0.9984, -0.0208, 0.8158, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.2462 left_z=0.1596 left_yaw=0.0941 left_pitch=0.048 left_roll=0.0368 left_gripper=0.9984 right_x=0.2959 right_y=-0.0007 right_z=0.1745 right_yaw=-0.0 right_pitch=-0.0286 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.8017, 8.7453, 1.3162, -0.4469, 0.0317, -0.0415, -0.0615, -1.4564, 7.2547, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.3315, 0.7532, -0.057, -0.4446, -0.26, 0.9982, -0.0208, 0.8185, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3857 left_y=-0.047 left_z=0.1487 left_yaw=0.1672 left_pitch=-0.0062 left_roll=0.0533 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1738 right_yaw=-0.0 right_pitch=-0.0313 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -6.612, 6.8718, 2.0049, -0.1148, 0.1978, -0.0122, -0.0479, -1.388, 7.2, 1.7411, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.7084, 0.5041, 0.6262, -0.5083, -0.2333, 0.9982, -0.0208, 0.8246, 0.6075, -0.3855, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.04 left_z=0.0438 left_yaw=0.2053 left_pitch=0.0604 left_roll=0.0798 left_gripper=0.9982 right_x=0.2964 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -3.8359, 2.2769, 0.7106, 0.7595, -0.359, -0.0171, -0.0752, -1.9214, 7.0085, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f278040aa2abbb8aa642df7a2bc10c0ddb186dfde4517c1d690eac6ce36d14b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca3c3b6a7d2408ab30f04dce6f46b810f24a4d56992e49f1cc9dd88270cb4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e60e6d5147a8f2454c815d3890dca971794cd8e7876de1b60b91ef66bce8828",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEBzWJmtoLCy3BEyR77WAzoxxTSWpWfB0qdqtu-f974Q1Nv5TEENnjSyW2-5mcZlzPuKP9mGhqed5eSKOtjeJGwPubEcjGEDnqRBVMgBhzJ9oCsFByYc5x1xW2JhsHfMu7FOk1u3bJgprdQpV2XsZplFVNa0ETV17AP7acZWD8dpyQYDyXK-V7QM3ZKkVMvWwM3rcdSRkGGrR2Ro_53Y-x1CybPeKhLZ9H8QgWYJ22NekHwSKZVACqw0vMe0POOZjjrxEePMOISI9GWikD-WA8PkbixgcSoiVdOp0F2cU9tIH9w_LjElZ14A5qt42XxQGuLSAnsjZd0paUahBxIwZ_D2PaV1iy_xP8NZF0gp8OMCBK3gvJgKsyB747MxB0zXpxryJAf2aS5ZuMMorDkIypR6leCNUlrxrUzZrn_TDQkmag1DBrn_1Xfd3JwYJlwxTl3Bz20MG6ehbXuNG4UIea9BihgUuDEXHGGoZLYeYrJhsYGCUpNrp0cEauOExG01ndeNwOxc5eWVCLwG8s1_5WcxzxNZ4dQjWGaiAbc18zsTokKveyYAg74SfR4BDUqCe6ahbztmTgeYV3OZNZF_6sQafwQXidDX0QoAtvhp6Bh3CwoHYbASkCBVj2IGxBqdJWM-gGaWw82LFV8B4A-mM3QSgmOpR8j7kkIRg6JSNiJf1ExFY1D3wfK2yp7xpd9EWA-0zViZ1_reDGFjUs_9EbHaaxuAosjBBcPzj9zmcyTL-qtweE11p6xpok4vg89-jKn4eQdr7oUjISmgzsGnnpIa4lOBL1NepQNugHpuC45MRnCTfmx4MA4-aRitBGwNZLdgKc_fIbCRaplyf6Hmv-Bk_EchnUGhFJN1xZrt25IxnY3xheIbH7MvzvTf4O3-1IOj-t1Cew1JrscMH4Ga4JyZr4ZymvGyT9tnSiBHWxKaAVECHoBrF_bM2JfxaFILt1I3M6Cl7CD5-lN7acE3umQZPQZP6xTPKF4-Ep_OR2qcP6TweP86LV1VxZX-a8VExsgejbqUbnvt4KSg42k1yLStCS44_VBhW5DmutjV6csfSpIIJMsZukpldDvtNIm9XgKtM5QqrsMU5xn2mjOpGLh31CfjumodU9FmuRlc2itHw60zZK2etybq3WkE2wnHGGJJyJxFLPzfXWQpN1_SuoSf6uYMwfRLimjsnx3ek0Qp89n8fjnqz4dsIrxzxiCU8R3tMxQr8_dBp_rrrPU2A_W7Ml9m9kRDO-kuYjZ5iLkRnzM=",
  "id": "rs_052ec04fc5a6be40016ab44072099887d0b7b519e9e94118b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at about 4.4 cm with the elephant’s broad torso filling the gap between the fingertips. I’m closing now at this better-centered inner-cluster position.\"}",
  "call_id": "call_sjaoMTaGRByriK32bNbJv03v",
  "id": "fc_052ec04fc5a6be40016ab44072442c87d0b7d0646eef4a70c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sjaoMTaGRByriK32bNbJv03v",
  "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]: [-0.326, 1.7061, 0.4995, 0.6857, -0.5491, -0.2264, 0.0362, -0.0208, 0.8249, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4007 left_y=-0.0343 left_z=0.0563 left_yaw=0.2391 left_pitch=0.12 left_roll=0.0742 left_gripper=0.0362 right_x=0.2965 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.4615, 5.3402, 1.1111, 0.2564, -0.0757, 0.9548, -0.1846, -1.4154, 7.0632, 1.7607, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d07612ee1687b57dc3cd8dd3a69ce44a86a09dba94e1bfd387139841ef5617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b781715be892d99a758fe49daaf335c450bcaf937765b6d0509f5ad3072655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa5fbfebb3f433ed9cac2b9b2ac0ae3b9b0ace293a8d6dc3483cbac4f96c28c",
      "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 16 attempt 0 · /responses · status 200 · 2.995 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6167, 1.3487, 0.7689, -0.1093, -0.6464, -0.4229, 0.9982, -0.0208, 0.8185, 0.6075, -0.3847, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.12 left_z=0.1514 left_yaw=0.1227 left_pitch=0.0271 left_roll=0.0465 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0 right_pitch=-0.0309 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.6803, 6.5162, 1.79, -0.1978, 0.1734, -0.0317, -0.0068, -1.4154, 7.159, 1.746, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.7084, 0.5041, 0.6262, -0.5083, -0.2333, 0.9982, -0.0208, 0.8246, 0.6075, -0.3855, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.04 left_z=0.0438 left_yaw=0.2053 left_pitch=0.0604 left_roll=0.0798 left_gripper=0.9982 right_x=0.2964 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -3.8359, 2.2769, 0.7106, 0.7595, -0.359, -0.0171, -0.0752, -1.9214, 7.0085, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.326, 1.7061, 0.4995, 0.6857, -0.5491, -0.2264, 0.0362, -0.0208, 0.8249, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4007 left_y=-0.0343 left_z=0.0563 left_yaw=0.2391 left_pitch=0.12 left_roll=0.0742 left_gripper=0.0362 right_x=0.2965 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.4615, 5.3402, 1.1111, 0.2564, -0.0757, 0.9548, -0.1846, -1.4154, 7.0632, 1.7607, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d07612ee1687b57dc3cd8dd3a69ce44a86a09dba94e1bfd387139841ef5617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b781715be892d99a758fe49daaf335c450bcaf937765b6d0509f5ad3072655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa5fbfebb3f433ed9cac2b9b2ac0ae3b9b0ace293a8d6dc3483cbac4f96c28c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEB7Z9IX7aetybuiZK9AsyWqs-oXFTyrA_i1a05r9-AtVH8XaB2Qpe6CmBUcFWjpVyZ11svfI5Iy2MX_ZJ9CgiescuBopkiU8mLuHPlJNREtyfDv6RIc-EEC9nGY946uv2ZdH7qEf1XB2Zko7RFR07nT7-88XIthqGxUEu5G3qJDgLql0Y36FgTXpynHFlqKM1afee9D68KL7ZjfNBZnsb_je3c-aboBF8YVKzx5ShRHLPW0bV6TBwUJAmimy7OYI0I0z6fuHSgaxUQCnZiJQsMaYxObSO4DrB2we3mNAcVVjbIl0HpX9DtSULbqQWYVZfxIoZWsOclpalmWdY86X20S2WYORpIjUp-93Ka5S_fqtxy2UFdZ7SrpXivTNTGWT3RkrkQ48pbvRQPkIqHkxKekWsdS_WRSu-qAgWa71xlMmiq7dDel7NmUYxqM6m-e8b34hkZeHUN7Ejyn9HTHwpVwkUjH-PCm7KBAc9BNIpmF70KRFJgsj9xWajj1TCxer4MIOmR1zdgEFSsp3SWO3jXlPDZ1RbJuHvwUt5UHd4UhSyJ94j9M8M2ww5J_YSiRIu8822NYd3t9iufYkyvGFFlAtqVil0crBh-PqdLL6_2kkzw2quVyPKDevd1w6rr5P0DO_4deRdzpRXID9V8VjBrFO9B7KxgldDyo8KXpUPP57vFz9wz2Gf5rrOtsLrP2c75r7BK1VJGB7tUZi1yB8M1YzssiGXqb-nfxQZJhGH5kYPPldoUv9hc0i9CWM5LQlgUe3diH0TfGX8Gtw4h-IxJvK5MNa8UHTrk4DHecvdP-s7j9o7dDMAtVCqTGVi1PjzCgX-myV7lKQQaHVgPLCtVBtFoxrLQuNNxDJ4t_JXoPRSV4zEx3sz4c4Sv17g4a_QmRcgXGDAmoSsusNKBKJNvXOHjgVmJu7c1b7L5XUHKmTfJA1lzDCTANEofduiGEKMpDQ7kMHbnE-bXMyAcoXRiT_l2FF-uSZly_uDi2IE0LZvVLd4yVAF2ZYxCJxyHO1n0fbUsZ9bXqZV9lm4OMdB-XedSNkj_GqasVkJqPFb1V3pDJq5WbSZTFsvQ2jJjlok8i14yyVaGEYe5la8qCzfMQ0H1rZtJZ4IzMzh14qEBiLJt745ObSw7tSXxqOy6GSrndUTrLUUgxLNt-2YrtzGwtkzX0_rVc3P3HrJTuxGO6eLYMaVlLuVcudFaeXbaoE-GPkP9o_NqobLh5-JLEK3JuRH9BfsJZjbUjTCh4IuCvyLSqIiHLk8i1mDQwiW_fCKw1k-GxRV2VIrOnIi3P8QVG6UZwwn_3c5JnkJYGzOrsRM8BCJw-nuBXCkp338JHtTBpOtByu2ogwJwKKp6bXgieNsHaFL3p6Q8btb2fptclU3ym7ixgB-s_N2iTratmyNeSdQxE6ltSItV5MigED7u5j5RLjmxF06Uu2mkX4G2_SHnjTUNsm11_p4nLBu4runQ4MXIoP4icBGdnEv1vCeWzN0-HjHIN_ELY9Qbk-MTdpH49ADa9-2Ma-sDki9pZvFbmm2LSCy-LT1cnZPsE6lMDx8IyiikLRQBb9No7n8KrePWQg0U47t6T_uggkeDTtE3cW3QwZ9Oin2WFyD9nxO4wPAJQR9WynEMKCGvdwp8G0ZLle83WIrDjF8LydfAgVqKdw8rWVat5Bk1etTdH8DJ7BuqEpGQWud8vO8N-O3Tg5HG5P_6T3VBJkMIKjEMdxRs53f9kcw8gFZfk0L3ZPuX6QWBqPNdu-r2fO42Ru6RRuPK48Gxil6kjpz3A97r78X0n2cEqGnp0PjPrg4Ppt6re-nqVkIggLEYry8wnReo5bIdMfm_DxI7_DBGvN0XWuyn0_Hou_C3yi8VgYkUnlKLeEsoj7nW_w8RLH6WY8CxtnjgEmJ8tqhrFbsJVpkBpwTJ-l_s0mh5vQ43fvNafTCxOXC90sheqT1o8B0QA2IAjxzUtLaeAiVy8TPnQEQzNZOzNmfxmWnv_Vis_wEQsuVf8uyoUC_Q7lSbhJ-FTObyllUtpu9hB6zBQAOV5wgiFCs0Mzsi7sFcnuNkHpgTeXPdnLwqqnMJ3TNo9WLDhnIcVkwA7om8V-qt1bbWC_JdcbeoIM_uSBJVUYzKkmjEtdrGpruE9Urn6mGA2rhCQMK696x6vm3hm-uVP1fjTq3COznshP1F_sg6ooh2GAe7WT9Cr_ef2RXdUTWOfuqowj_ed2dh-BYNKZ0SAS_HqEpFUcFdeZ2NVP_vOkmM8kpgQIGkc9hlay6_t465q0whU4kp6GzWfwWUDz0vgjaQbIQjr24AF1GsDMkHMAYMLP5EPdt0rU6w9khOT5g8nkiFgZ8bBGZb9pF9hc_vrhwr0EkImWQzT1KZ0xi0xd70CIUtlYfaIkYJHqtckbOaPvu4BPskC62buaKeB22kvRdngCq_IDMWSbNX0UpP4Jghg6JpV5QvQrpvEAIc9q5nwE1c7MgkRidWt79kj7P6YWwLmoYtGoBXZYPJBTgQGm2mVl7kLU9_mOgVkqZT0-SnC_07tpuwM6Gds5mFIMSydD-rb8SBXhnlcDyrj3Z40cMOxTOnKfNUJzF6RzN1g9thZ32jTY1J7FMcgH1scUXplIK424-B9o4BWUYShHOCaPgB962saHrqhKrUU9lCSz6AT0ff9HL7xQiGaV1dX_fnt3NH_svmXnYRxsNzxldsdtzP1issACQq-o3YnVh70XoX82f-7n7fiFWK80cg0IuFUBFUbsQCN2ZzpDQDQDhQ3STcafQoNdHnOSWddyGlvJN5G8nY5gos2CZgJB6jLFtoPDSh-JMYy2x9_UonEJyg-kKXbA5sWeHF6ryO9J9ozg5M3mokK-7_DNOEaR7bF-FOlzXZcXFtwr6peRiAUjPs31n26cCY9mTGbhpvvMutk4zggt-6x8j4-mrX6s89HLqeLTqiMeU9lA3LT4LjQVd8GokgEX7_PvMOSnD44MenGBDZNE34Ak0-PlRgDrkiA9G90ALzF5Kyge1IwSV2RWs953zELfZE1V7FlWNoCD_7RjbREuTi9UVHIuDVR8yy7QoVhqJf9A5A8C52oVZx-5ktPoIzufgeOPf5z9BmhdJg8PlUEYcx9zGDDyCIaTxxTA84qGU4NYx0hL424bv6UjyMvc4lhqB_6YOnnsRL0pLe-rUYu4-b7D6w06PNm_ih95V-WzZxYZg5_Q-LcK00fx3-0r8xkaDh7M4wUq5drn8lD0nfV3bjEctUHzSHPgoTcdpEUKAvT-bGB2TXHlaOi6VvuZFaxA2KNZ4n36BSDkJcd9_1n2rq_U44MQpv3cyK8yVqWpeD-IyCLW9OTsggClYUcjG9iWpx4Z_YvAcFxjcT_Zixg4plDOMAywm63gUZmWQSy8cO0M2KgIiLeOvkHCASwdA3mNg2TJJoGOE3zvy2DD22cyfUNjBF_ZyGIsJsitSkuFteifzi2G9J2EcpeO_OG2rSioK5R-C1SWpsYG_kNIkpJ0pHtQrUKzaReZSgZ-VcibVgn0wFa1rq_ekDOduRrvvPqfCSxc2PT3bUXrzm7WUeP0bJqTUel0CJu4ZjYwFSgBKFBesvvxCAklZRhyl-qfLV3EgqIR3HpBeEsqB4lfqAKatxGbgD_QczDwKc92CFqCBTdSVU7eGVcnMqCglG4SLXsHqNyan9_p2sCVbFE0PQwI7qhiW9IJmg=",
  "id": "rs_052ec04fc5a6be40016ab440757fa087d0a5d6c5d135528255",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_yaw\":1.2,\"left_gripper\":1.0},\"note\":\"The close again reached nearly empty, and the revealed wrist view shows that the lateral-closing jaws were slipping into the gap between two side-by-side elephants. I’m lifting, reopening, and rotating the gripper about 70 degrees so the jaws close across one elephant’s front-to-back thickness instead of along the gap.\"}",
  "call_id": "call_EoP09UuYdoDy6lhpMRyAMaul",
  "id": "fc_052ec04fc5a6be40016ab44079f89887d0b1b825a72b89ec55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EoP09UuYdoDy6lhpMRyAMaul",
  "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]: [-0.4988, 2.1414, 1.7451, -0.9134, -1.092, -1.6108, 0.9953, -0.0208, 0.8295, 0.6067, -0.3943, -0.0109, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4725 left_y=-0.0748 left_z=0.1488 left_yaw=1.0995 left_pitch=0.0771 left_roll=-0.2826 left_gripper=0.9953 right_x=0.2953 right_y=-0.0006 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -11.9863, 5.8872, -0.0611, -0.5543, 0.0952, -0.0904, -0.2256, -1.6479, 7.0906, 1.7802, -0.022, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641345116f551bff616598d7705520ba2cf1813b18323aa5bdb96149858f23d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42586a98f8585df02a9148c555e2bcc775d466a42b5d6eae7b817fc04188e659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb9fa1a4c1aec24c896a909763b126a6c0dd1f2171781736600b5968d33fe60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.953 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.3315, 0.7532, -0.057, -0.4446, -0.26, 0.9982, -0.0208, 0.8185, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3857 left_y=-0.047 left_z=0.1487 left_yaw=0.1672 left_pitch=-0.0062 left_roll=0.0533 left_gripper=0.9982 right_x=0.2961 right_y=-0.0007 right_z=0.1738 right_yaw=-0.0 right_pitch=-0.0313 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -6.612, 6.8718, 2.0049, -0.1148, 0.1978, -0.0122, -0.0479, -1.388, 7.2, 1.7411, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.326, 1.7061, 0.4995, 0.6857, -0.5491, -0.2264, 0.0362, -0.0208, 0.8249, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4007 left_y=-0.0343 left_z=0.0563 left_yaw=0.2391 left_pitch=0.12 left_roll=0.0742 left_gripper=0.0362 right_x=0.2965 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.4615, 5.3402, 1.1111, 0.2564, -0.0757, 0.9548, -0.1846, -1.4154, 7.0632, 1.7607, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4988, 2.1414, 1.7451, -0.9134, -1.092, -1.6108, 0.9953, -0.0208, 0.8295, 0.6067, -0.3943, -0.0109, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4725 left_y=-0.0748 left_z=0.1488 left_yaw=1.0995 left_pitch=0.0771 left_roll=-0.2826 left_gripper=0.9953 right_x=0.2953 right_y=-0.0006 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -11.9863, 5.8872, -0.0611, -0.5543, 0.0952, -0.0904, -0.2256, -1.6479, 7.0906, 1.7802, -0.022, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641345116f551bff616598d7705520ba2cf1813b18323aa5bdb96149858f23d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42586a98f8585df02a9148c555e2bcc775d466a42b5d6eae7b817fc04188e659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb9fa1a4c1aec24c896a909763b126a6c0dd1f2171781736600b5968d33fe60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEB_giYHXsWesUSbmCd7b-DYVpohqLaa1I4KSYpv-SoOiIFgDvOx6uOASH1OcBwkmKfBI7ZgugmxEifN380r_0sbr6OwHfulDaul4PAvOjOetWs6Ks7PjnsOvPrTOekWM64UvqUaleL4GIm6rkofGYQGfYsoTXhEPEfoiTzqZI2XCln_mHxZbBi9UnpDOSLZEwsYsKiw06IqSKthEasyFRfwTYvONqGi7wio4qL40gDGV2oOuRCPJ0iv2nqYbU3HQ38tqQxYnRGLokuIWRBkoLR1fG6-Q3iY3N1UYX60LUEiF2HYOxkfA80nJUSRG69r8TdaULDxXN9-W1LsFHX3vDrIGkEwNvmgpxnNadr4CFPmyP_eEZDIDUrRJ9iRLKbUetEfK0M-nx7KXkgpacmpjTZAqVasQVSYCkqmyEbhiCPhJgDLpL04eyULs9yhmCNDrHzdEVj51rsM8LAK923sClGCkQnHVc1cyAqm4323YviWqvCAMCblkYEoiA7blMpdVTlXwoXf9NT0dd969Kr9uzroCDJWH7SukJA9MK1ulR8a2_AUFPGvnIv_o-hBPr-1ZXm_U6qD2ElkFumg7wxoz7IOchE3LIP-9NXPD7xTO3GBYuLyQICmVvx1p6gk80yM_LdWTLR_frvbg9sF9TrcsSBjb1dPFaDomRSY94AyauRsl9Yy7Zpd2JXBvCKuMRQTSTB3yFolq9XpQielgzvDsYOqIL_8u_7wjeyaExmM9pRLXQCwfiYI4-XgizoVyeSCKFOBnkQGE1W8RnvZt1RnC3N-grzh-Snsz4jYFSDXg4gsFX583J35jtizRtj3s4_K4aBWtDYhTcvGnOs7hk1_lu2U_0KF6bg61b9-BNvGSYhlOMOkYwRb4Zi14N57E5p4C3pg7zJ3CF0MXkHFodu2cAo94Vx-Y0APaJsRkaodWqiwqKIHMKvdnFrpHwlWoi4FPJb_FQ5h119eOUjkhK1VYk6l--QydMSrRhoPVhjEwzoCMYIWfwvAQDwS4nru7c2LFqyg-gYJWGj4v-fm4F2Yhml6ZFR41GaGuY_yYxgaNwowJptHRk8smIEyyHHWf9OebZXqmDZ3OPRmp710DZc6CgS4KHAV8OehtvYeBHnW9xGo1M1z0F2LIuHDEHe3wZZMxzweHhaCATryUz8pKdygVDmyd2Dm96djU48ROHvfyiony2ZI2mSFdTlLQWzNxn7V026EwU91h70HkKHOLzwzcPRms2QBQV-8BPZp7aFwVPNwWc3jQkKRKD5_R6jNTdmeHm9kMlmUu0H6T8zkDc2BQZXIlVCzEBJ5BOdSXHN0gZUjgCbWZOpA2A6LbhzgbEYcFcuV4EpOzZKWeJS0zgo61ylKOoJsOLGxGU_-DWnCwd1Pnf7vSvQoLsORnIXfWKhtUC1kHKqrz8WGSxRe7by3MqaQ_xuvhwodB-StGxL5ODVeUUJKkdtj7xPPr1bINaMA30nL04R06LezF6a0yhLweMJBMLDitbfHDc6TLJ9vksqQ04lUIS2RziTipnPv3IBxwttAu0JpbBlkhVgEMkSD0ab8TqzwNvjHcPKriF7v7KnW_BAg0rgLHcesVB2F9uGskrPoHLr7QLsXkCcd9YZz6nMBdz8Dwvd8WGn4SUDu2lacQhU=",
  "id": "rs_052ec04fc5a6be40016ab4407d91d487d0993681592e37b8e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.02,\"left_z\":0.16,\"left_yaw\":1.1},\"note\":\"The large wrist rotation changed the achieved Cartesian pose and carried the hand forward over the left basket, rather than staying above the elephants. I’m holding the new yaw and deliberately bringing the grasp point back to the inner elephant cluster at a high clearance.\"}",
  "call_id": "call_Vi7xbkLc8O9ZrDMDIcT7FMR4",
  "id": "fc_052ec04fc5a6be40016ab4407e593887d0919f7d302035eb39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vi7xbkLc8O9ZrDMDIcT7FMR4",
  "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]: [-0.4808, 1.7859, 1.2655, -0.7788, -1.0771, -1.5806, 0.9966, -0.0208, 0.8314, 0.6064, -0.3996, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3927 left_y=-0.0254 left_z=0.1522 left_yaw=1.0987 left_pitch=0.0668 left_roll=-0.2664 left_gripper=0.9966 right_x=0.2946 right_y=-0.0007 right_z=0.1667 right_yaw=0.0 right_pitch=-0.0599 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -9.1829, 6.5162, 0.9597, -0.6325, 0.1294, 0.1245, -0.1709, -1.2923, 7.0222, 1.79, -0.0171, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f881a19d5acb5f7bc990261f15d6cb7ca4c404f067ff4c708baeaa95495e0241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f9980eab81130ad8dc9f8dd6347a3b79115f77b98451f8fe858724177ba90f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8e4388408e5531afbcd7b0990a72962f78cc6516e9555f9e33323dbf2dbca6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.648 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3275, 1.7084, 0.5041, 0.6262, -0.5083, -0.2333, 0.9982, -0.0208, 0.8246, 0.6075, -0.3855, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.04 left_z=0.0438 left_yaw=0.2053 left_pitch=0.0604 left_roll=0.0798 left_gripper=0.9982 right_x=0.2964 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -3.8359, 2.2769, 0.7106, 0.7595, -0.359, -0.0171, -0.0752, -1.9214, 7.0085, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4988, 2.1414, 1.7451, -0.9134, -1.092, -1.6108, 0.9953, -0.0208, 0.8295, 0.6067, -0.3943, -0.0109, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4725 left_y=-0.0748 left_z=0.1488 left_yaw=1.0995 left_pitch=0.0771 left_roll=-0.2826 left_gripper=0.9953 right_x=0.2953 right_y=-0.0006 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -11.9863, 5.8872, -0.0611, -0.5543, 0.0952, -0.0904, -0.2256, -1.6479, 7.0906, 1.7802, -0.022, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4808, 1.7859, 1.2655, -0.7788, -1.0771, -1.5806, 0.9966, -0.0208, 0.8314, 0.6064, -0.3996, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3927 left_y=-0.0254 left_z=0.1522 left_yaw=1.0987 left_pitch=0.0668 left_roll=-0.2664 left_gripper=0.9966 right_x=0.2946 right_y=-0.0007 right_z=0.1667 right_yaw=0.0 right_pitch=-0.0599 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -9.1829, 6.5162, 0.9597, -0.6325, 0.1294, 0.1245, -0.1709, -1.2923, 7.0222, 1.79, -0.0171, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f881a19d5acb5f7bc990261f15d6cb7ca4c404f067ff4c708baeaa95495e0241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f9980eab81130ad8dc9f8dd6347a3b79115f77b98451f8fe858724177ba90f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8e4388408e5531afbcd7b0990a72962f78cc6516e9555f9e33323dbf2dbca6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECFwwKGfZVSVfe86bgrD4zN8VbIStvi2yV-sEynOxJEhNTv8OQMAOJYj9bIH-C4SNblYh1dRmJ8ktz31FCGIkThFxZPZUBBjXcfcLYtHl09T03oj5czLI0lMBr6TFJOUXAgOdlbgLSixD7xvoD-NaBySX0xutxaytHPPIUGIXrrV7zk4KQl-lrMOkBYzQIpQCvbb1cyHEcAkcenwu7Um-c2lmf-hcpdMSr-r_LPW7LX3il1m03bt1mOitJqYkT5fwj9SZbqiC_1TgrcegNJuAaYIwCnroQQBAS_qDRm1i2o0kWKdn0uFwNtKlejAUDrdNoUOxn2xytSFovEWpnDZs-4Y-tMEaxCHok1Fs8v-6zNQl5DNIfKAoR4tKbo90hJftWhuxVwHpIy_KBl6bnAcLlzLoCRf31kV5ROsw9qOQ0AtqrB0groIAjt6MaGSCt9KZzegrII1I9fn8sFDYlbee4ZW-oUeBxJyiFudzumw1jAzx1eH8iI8vXsAYMGotsxVnHE2ZFdXWAE7hcvFONvKDXJzkRU7hnHxtZt9Sxem0E0QEUNl13ototHjk7CY95DL16BUlqxpjw_oTsHvRDa4ZYGXb59b4WpC3DLjshtcs9jsCPXnX913ACwyppakbhiI8127Ip_cbSBXIhz8zi2avwilU3Xh5lJbMdZQ-uG1J2hSWNMQXWgFXlN96g9ktxWBYcel-WYrctVkhJBq8SYb-B0X87B-xjblwAZA4LKPodQFKYTbGVTVcT8dYA7-KK-0ww4fjB_wvMKYJqEKDbjgrSoKFQpwpJ0A94vMkd82rGmlP3kKoxt1ekKFicxP0w7I-R_3klH2jVpNdU4P3Kv2b0S6avO_-RVGCBs4jMEAIj6u06t6WAwCvSLST0k5utYPi8oWst15KLXlQlaaEyySMnjH2x9f4_iCacWHVGc5UY1YDKQkc8AbPuSfu_8UJ8w83XOdEb-KOzy7WcJawVShN2imJaso_OFi_m0U2HSzgTfs2DHfZ7n56__IlwsoTXk8KcCMBD9BV87eRvpUNCnhtAFGebG6R-XDafnMpjDZOTe24XKdggkw6LTmtMpikcbGyonhbqUAxSKWMH8RHCn-OTA7sGVLjuoM2g3YnHTwNRmKtVomt-KfXVFen-NtH5vxi6wDq3jKb30vE30thVo3YFPrE_O8lpEnKBRhFeBM9qY1ytiK06AtGLq0HzefIjtrsRKN_3crX5V2rJfr11OL2-6B9r9Y1gO7rpwap2jZiRE7e4HsDdrLXsbyexzwFtEP29kIZk0SWPcDl0ZJqDAeZzSSdFPPH-3Au9rtwnbjO-83kStQpt_rpAfbWaCk_I5jq5XDOkHuVwDm4d8hsVKVS-KbNZLpD9TTsCv2eT3VGJV7Qf1_TLZ_sWcg45b-XfM2hvN7c5V3SgqeFgZsnvs_Ua99LfJUVrvejRMwY369hNtEiDQ41gyFfAkJF3ZnunYr0jPOoGU_4RYyGyXEuBc5dhUT1HXQBJIYyGkgljyRljNFUfO6RLGsgJ0pmWUPgMgXfXJ-LxCVgabT9M2EMtpdDvQ9ZTT2VVdrxbpPwqEyqTgjEoO8Tt9xmKbfsrsfz6s1ABBh0mSAtmS639bJDydfnEcv5F8btmIkzrViFIJ8oGQZXUgDZoVOOjGCZBA6QWboCCbWSrTyKfMnkpoIvtuVOdHkeSgtOS6BmUb07qckEoUORsjwvy3H6rbW1YjDr-V0jJah-YbwICNIPhpBCW5eun_NnZw759vH6AyleMnbyIYLy9NbcPQo94ybaby2c9DJId85Rr0-1hDpTZ_N4ZoCl_EBdiTAa6a-OBP8bYnAQ-erZx6CpGGsgiLkdNQl4MYIl_q0csnRchw-Nm-pV7yibipjqWqOFcrUP2-BIAke66KLGSjzdf8mAIv9sBEJOv-iL8hxAmVlnEN1aaUsWMyb5hI0HzpQbB6QTmhvWnOle4_DcV1dLNb6xU6USseKWO5oa9Xj4Sqx_HlCvtHov01bAoKEPJrLJFJlUXx-Qw_WxNOOs5bvnBZytKe-HB20bUCoahwRl_8PuprJIDKBoYEXy6CazISh_Q6MKdOqu5bDUdIfmlI3ogSxRV56sdFtqwNwaofQgU_3-VtnKb_cRLobmnksQm5Obd5FnmidG5nDnVQ4V5Iv5k2exP6QFswKiSqb8giqhiH7O-hP84QvIa-sAMlpw_ye2Ufz72iRAkSDA4l6n9uYMKyCUJykgTpfKaG2Fb2gobr-xeRLHVrrUW1tFRMjHEfiOg10-Hew14bq6tW65uFm0-y_6MOK_vq-0gBPLirolCvl3BAjjIdcqQ0WvIfteJx2FLvH9Z8zxtYxyDoz5AkJ0xTuTS2V6heubn0BdrlTBUlb-4185jfTJo19SC8Schqci5EifsjgasV2BxAENaJfMItnIwpQ3HFcVp3FnX9-4704RxgILiHlx49uO_lUOrATvweQ71Z9zBEBp69WF32-vZwMB9kSOE24shyEMtAxcJJirbeqD3tnrrQgg73tUALKJoWfb9uJq2iXePJAkPToQivzda4aWiNzoLBwoCH",
  "id": "rs_052ec04fc5a6be40016ab440812be487d0829708d3231ca8e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.03,\"left_z\":0.02,\"left_yaw\":1.1},\"note\":\"With the rotated jaw axis, the two closest elephants now occupy separate positions across the lower wrist frame instead of a single lateral gap. I’m moving a few centimetres inward and descending over the inner elephant to try a front-to-back pinch.\"}",
  "call_id": "call_ZuTbjXChoC2PRgU31HJBFLLG",
  "id": "fc_052ec04fc5a6be40016ab44083f11c87d0bc8ce6eeba689df4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZuTbjXChoC2PRgU31HJBFLLG",
  "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]: [-0.5468, 1.9312, 0.976, -0.4313, -1.1954, -1.6531, 0.9967, -0.0208, 0.8314, 0.6064, -0.4007, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.0272 left_z=0.0612 left_yaw=1.0871 left_pitch=0.1757 left_roll=-0.2487 left_gripper=0.9967 right_x=0.2945 right_y=-0.0007 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.588, 2.2496, 0.7839, 1.0183, -0.6276, -0.0024, -0.2256, -1.3607, 7.3094, 1.707, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c270374dac19b47f6b324db47e82b58f5418f51c69f0510fc9c220c68a345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed634ba66a778085eeabdf6f74f635637c529d2750fa31abf534557a6c2a884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f6c48e87054b5b0d6bc38f6011c2046e56e4ffe4e23a7bfdec2fc08a5ba63a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 7.167 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.326, 1.7061, 0.4995, 0.6857, -0.5491, -0.2264, 0.0362, -0.0208, 0.8249, 0.6075, -0.3851, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4007 left_y=-0.0343 left_z=0.0563 left_yaw=0.2391 left_pitch=0.12 left_roll=0.0742 left_gripper=0.0362 right_x=0.2965 right_y=-0.0007 right_z=0.172 right_yaw=-0.0 right_pitch=-0.0378 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.4615, 5.3402, 1.1111, 0.2564, -0.0757, 0.9548, -0.1846, -1.4154, 7.0632, 1.7607, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4808, 1.7859, 1.2655, -0.7788, -1.0771, -1.5806, 0.9966, -0.0208, 0.8314, 0.6064, -0.3996, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3927 left_y=-0.0254 left_z=0.1522 left_yaw=1.0987 left_pitch=0.0668 left_roll=-0.2664 left_gripper=0.9966 right_x=0.2946 right_y=-0.0007 right_z=0.1667 right_yaw=0.0 right_pitch=-0.0599 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -9.1829, 6.5162, 0.9597, -0.6325, 0.1294, 0.1245, -0.1709, -1.2923, 7.0222, 1.79, -0.0171, -0.0464, -0.0171]\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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5468, 1.9312, 0.976, -0.4313, -1.1954, -1.6531, 0.9967, -0.0208, 0.8314, 0.6064, -0.4007, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.0272 left_z=0.0612 left_yaw=1.0871 left_pitch=0.1757 left_roll=-0.2487 left_gripper=0.9967 right_x=0.2945 right_y=-0.0007 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.588, 2.2496, 0.7839, 1.0183, -0.6276, -0.0024, -0.2256, -1.3607, 7.3094, 1.707, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c270374dac19b47f6b324db47e82b58f5418f51c69f0510fc9c220c68a345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed634ba66a778085eeabdf6f74f635637c529d2750fa31abf534557a6c2a884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f6c48e87054b5b0d6bc38f6011c2046e56e4ffe4e23a7bfdec2fc08a5ba63a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECIIzlq22hWYecFJosIxqM5GaKKykofT8ifznP91b1GgWXmgR8Vn2woPV8ebL_eUNv1F5yqCRYIaojHwvbA7DmgLuUqFRdD9pnMrmw0SCtkntcVvP1HAAm-QpNJq-qXGUkvbaC3_jp5w0FX-XDW-947Nxoy9RMOPjUjmagcoOHT6Pf4T_4CcfcRPzZut1mQITzcrjZA6MUVxwhGOuTbVvtBKfXs74SxuXzJ1T3Jb7k8yB9P69mwyETH1pU6yI3PcyR1hbiP7SPW3QkpTYQTybplTZJyhrSFFP3WSbh7i7ig6Ujnj3OCHiGfAYtv0H1c8CwNcwhao91xnGKJ_8q0Nh6fJ47zPRBEARXLJTkhTfJMb4FpXX0uodaRjh6Cr7AJNxrkQHpPN8wFesd__ykwCX77M7l3SLVpW8BwDamCqPveKtWwL_gjKz5Mp7pXU0nC61JAZh2xWGsc32gOS01kaPjYFBLn_u_mLsV4O-VjSLcYb-QAIVHEdhUUsjXfC-vhwvkzcoACbCsfB-LNZwf3a5W3Rf9ENgZMTncyM46FgEr9dTErZZVgV3Aak7UjpPurHjaE6Ia6023AGvhs_PrI6ngoJdVoe9Jv6N-JANTnpZ-C0KEEOmJ4r50Dnundx2cbJqm-FgBlii-o2oK0aiMfxRm1D8lRsJqdwKP3RJsowofMTDXYzdrfhQYHCMrJu_pVDVsNleKXrsf2MWLpz4oaAU7CVUpAfljdYILCmYEbtXrbHwWNeueqE0BGEafE9KDAGRXtgPQBvYid1FQane_BhVuUs0-WUXRZ55PJUtOrLk5sAwhLQDIh2E4RLP155Ndb5b9fwagVhCyiowMf7hQa73eiDaB0y-iABSFHmcRV8ifjxrXbXU6_b4LIOapD0NM4V97wxwjhN15AHeyKixSkWs1aHltX7D7y3T8MhktnMBTFGuo9Dp_uqXfV8qsgE33TJFvCIe4bTBAvMP3MKucIOGrdQxgvEmp9IjBPNYBjeMDcCueIP6S0AWL3xyAM5CPMjny56qsYByf0tqBGg5w5eJzH-AbLuHG42YYhHpRBTs0Kv9KqcVuL9WAOcevcbsUvmzH852TVqmpMm84HJneB2ckTf9-lTnn9JLMmSk-jEdduv4rTPKnDsDHibANQ85cFWHpoCqyVySAspvbfJvKkk4sNw4kWpf9F94d-ueFpia5AnGtqv1QakB_QBwbE0KibwEU6ADe6tuhZ4Ze85-8wAhT5VYmixnS8iziUurjjie3asFaQDzGYM6LqqHR-tUb408vq",
  "id": "rs_052ec04fc5a6be40016ab440874bf487d08571c484e55c99b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the descended pose, a single gray elephant’s body now fills the gap between the rotated fingers, with the neighboring elephant displaced to the side. I’m closing across this body on the new jaw axis.\"}",
  "call_id": "call_aHQTonEivz8UsoeRKTz75O5N",
  "id": "fc_052ec04fc5a6be40016ab44087838087d085e54d2825148adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aHQTonEivz8UsoeRKTz75O5N",
  "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]: [-0.5503, 1.9289, 0.9714, -0.4313, -1.227, -1.6501, 0.0104, -0.0208, 0.8314, 0.6064, -0.4023, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3667 left_y=-0.0256 left_z=0.0661 left_yaw=1.0878 left_pitch=0.2073 left_roll=-0.2456 left_gripper=0.0104 right_x=0.2942 right_y=-0.0007 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0626 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -8.2803, 5.1214, 0.5348, -0.2564, -0.0317, 0.8571, -0.1026, -1.4427, 6.9812, 1.7265, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db63d8ca9186d7502b9619998c4a2a7acd42b5a870e543839032071856b1485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f2d7e76ba7f7244feb68aaaf4aa08408f0e6bb0233642843eea8cc6f390c43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb770704084605ec6bc4d6ac29ecab91ba49fe37cf9561bde9da3e22a9fc3d3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.912 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4988, 2.1414, 1.7451, -0.9134, -1.092, -1.6108, 0.9953, -0.0208, 0.8295, 0.6067, -0.3943, -0.0109, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4725 left_y=-0.0748 left_z=0.1488 left_yaw=1.0995 left_pitch=0.0771 left_roll=-0.2826 left_gripper=0.9953 right_x=0.2953 right_y=-0.0006 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -11.9863, 5.8872, -0.0611, -0.5543, 0.0952, -0.0904, -0.2256, -1.6479, 7.0906, 1.7802, -0.022, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5468, 1.9312, 0.976, -0.4313, -1.1954, -1.6531, 0.9967, -0.0208, 0.8314, 0.6064, -0.4007, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.0272 left_z=0.0612 left_yaw=1.0871 left_pitch=0.1757 left_roll=-0.2487 left_gripper=0.9967 right_x=0.2945 right_y=-0.0007 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.588, 2.2496, 0.7839, 1.0183, -0.6276, -0.0024, -0.2256, -1.3607, 7.3094, 1.707, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5503, 1.9289, 0.9714, -0.4313, -1.227, -1.6501, 0.0104, -0.0208, 0.8314, 0.6064, -0.4023, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3667 left_y=-0.0256 left_z=0.0661 left_yaw=1.0878 left_pitch=0.2073 left_roll=-0.2456 left_gripper=0.0104 right_x=0.2942 right_y=-0.0007 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0626 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -8.2803, 5.1214, 0.5348, -0.2564, -0.0317, 0.8571, -0.1026, -1.4427, 6.9812, 1.7265, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db63d8ca9186d7502b9619998c4a2a7acd42b5a870e543839032071856b1485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f2d7e76ba7f7244feb68aaaf4aa08408f0e6bb0233642843eea8cc6f390c43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb770704084605ec6bc4d6ac29ecab91ba49fe37cf9561bde9da3e22a9fc3d3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECQWVZQ6IXMBo-sqF5C7J--Ivw1H9aIfhNTr5mnDMQb9PLvZaIN8Pt7kRzbtnNcLnb6CWdzmNreVTE8cRC0YLgwPvHLq5zi7y8op-KcFPNz6vYYLSZqB8OsGUjjj1O-eipfhDYXEVHHjrt9w9z-G8Pc3566nXRa_A3bBLbyawd1QTebISmNiLPR3FdEyhjVNmpiwJ69nX2OHgDB_u-ePg70DVhC3T3B43k9sJlyEVZoIkZfFFBawEKvz9ArGH2PnKy02AcS52x3Jgi05AH5wt4o8E0JfPXT0VqX5XlSljAlFCX-5M9-X518LDueIPeGI_Si2hUwSMJGLA-7u7SBaT2kCk7tHltLgZdikpfzW6LrESYE013Angem4doTsuAlzGDlOWVuquAQeEhqehQuPbvrlbxHEB5npZpQ0EOyqoxaohyXFZOEUMR_crAYnnxAJfb0Kn81t6ggZvTmoEj-I6Hx_sxAFoSZKpEeJosQxPKhiM4egYw7sYF5p1wYDlWoCWV91B70L2-1zBZwQYnsiLZ_619Qq0L6ZADQ7-T3MtwzcndMfYfJjurcL5CNOtoi8zTxxJDKDMOwKlX3T3R4eP2NsZ1nhC03yMb_Yg330WESysSZsxMvJnOveiUNgPQpHl_8bu1E4SJ8NKjjuMroqvPju2F_uexoqpAp6PqNU693KCsU3pdRRPy532a5ZURsI1MQLyj3N5G1hYNwphbON3kakTm39UmdYwM8c7nZMzmdZmXNBCrpff8VThj7pzxjMqmCHrzlpNtnhK2Y8ZVEQ1comyJya7FzekgzVDrV621XTFIwH_OwYATvIZ5rH88hI9xYjndLFkIhHSy7KA7epBTlmpSuiRgMt5_JSjUPhn1pke-E5KY_zyeyj8BjPrOzNaYsSmfu4hBdPrgi_7SHniRDS3LrTRqW0H_9gEdStk5PvmMYqqV6wiaBc8RB4rBNjADSceFvksdFRAPDWhf1mLM6kTGMatmHZo-tJEuc8W6Rvy1ElsP9R9X7t7lRsqzJpLe6NOgddiBMNNC7GIZosBO4mVz_ydIhb4-hyQ1OSYoJco3NOHm_DOsCdeo0FonM2m5XegaS0MDUzzUbpGztLcw0uvUzoxEltHYIkxypdl7PrYOQzL-OVv-GxbipqHjNiUfftASx61sVw_8wEUDR6TNE_VyD-gt88l9H4UsSHoAQmYkMm26ZOxQC0Z_OSfN9fhl9JJPQA6GvRHt3kJx-yDUKlfcgW-XpLepvDB51kq1Psv6axGVrHyVb7mz7g_PKZdWsTIX-H2cFoPegtBZIvZP12Kt7RZk2IJwHxOAW1S3ApaRncKlS4qnCRNcxdFPO2YOZRrjFY_I6ROQyd6Ckyl5wCT70G64UAmjUpIXFZZkUXWOHQhbTk4KOQ8xPS0kzEY72tB7159jxXW4lpIrPSUQCpvUAzgX4B1P8htPMwiz8Fj0MYB6qLs_FJcUw0vwcbgxSWY27-hESyvpC5aVy0mJgqx4ao2xNgEQkGjUYDmE5uu7aMPD-8a9jkqrWHYN6SI09VM-025hNyxH2RMF2MiloL8JrdljTdz83WQkyNeZH3PfzV0L9vUaxixU85nz9vqGdxVGGORdm1bjv8X1xKmqyZ1fd19SmU8CLLp6JIXePpY0SL7JL9sE5g6RYmbQBDe32SwQKCGfdykpf5xfd6SYMdGaZL9i5jFowBbUgzXQcHlkBw4OfPTbDBP60EXnGvHwm3rYOFvt8A0GepCjM441OaSHEzM5HLnicRZ_qbnRP0jNMi-lMeaHviUw3nJnldQgucW81a_sAGV1mTiyn6AxbJ28K5bRba3Wn6sE4rjc-o8brYq_CYy3WGlup64wLLcWKdXJ90QU1OxX0ioYyXr7AHitasopMUMLxLr9EslUAiUlFk5-IKv2NdXWpxnvZx66pCBvaK0qKaqD213n5Lq6Nz-uOoa1XYZpBHsHbZieEjvPHsYhN9i1Mk69hWL6Nspz4ed-AFZ17SSyJiGB-3HUyWDxg1nxdTA7NJHtGmtGM0_03ahXVqrxxFVLPFWB8-ZCdsuMGI7xaWsdpW0cwVZYOswS9ARfmpURS2H-AnOKTAstuRLwAmPv-USpD3HAqNkV7hEbrWlwqBDJHRO_gEyKFMxeVaaGdBHoonDD8ERvl_ua9DIE7ndwlNX41g-cZ5OIAqA_7RIFFqJjUKkJyrNOMqvfuvhWbX8bqzaICQAtfZ3m7lxzpAG7XYZ2lba7Qu4I0CIIEXVl1DaPpvsjmOJMQK2ecrQStUDAMpfhK-9h0nd2dRzR20L1GsUkbP13fZVXqEdytmE04G7E78fqkqvkAa1mmXyAyJpGFUjFkwQlRxa_PBjs__t0rY3eizWIMGDmMqDXzOyIY9dVo8xvX9O6cUX0_NDGRsV8KcictrX6kYuXmYggwyaKwSmUvOhrYAopQ9ovGSCxRX2sb7nX3DlKSpdOho3ZOYgmQCFZK8jr1F2xZqmlGLrk1ZaZ7k4KG8NxB5Kj6J8uv9WQDZdTqFqY3MRVX4V5rgIn42SWXt9DYLxmUuIOapmsp_we7b9rwNn_phfXZKL-7AGoaaVj8xqGa--LbMlIht_WE6EAcsgap4dkx6_SYWuYzVQ08yOFbRM-DCZxR7VKa3q34WIyHa-2XYTm_IY3heW3Ds0nan8tnGdpZdV_-k49-cejOEOgcASxhKwzCiQ2tvTD57JIKH2trvVa6hkkOWu7GSHh808WtFmzmAXdMDU7Yeglbz-6YXjNF_5nloa4_2F5cMOhMFxSaP_-eeP_su367CX36TyVlLojgoN7RRmjzpc42mI7uRyjRyXxc_JKZAL4pGfBQaUFbx7UbqV2SUppuYihmbeXZ33xGw46OR-z2OPm7SRO1Gr8R4WxDQBuRo_DNW9G1BtY-43LU5iLC34vYH0IrUmPSMsMZp-jRXc6K_muOFTffeLlcDx2nhJCfdzmOhq9k62ynGoXB_Us4iHj3Es3V7r3v6bymeW-_RlcxvT59dwcCxPbkTJ2obbPs9jJbS33l7bSzCI7w9wT1XhCuYfWqdnMnb7HmVPNgejvCxMvXMBGrQBdK8rabuGYU9EqGTSBESCdr-lcVWIw5HlMU0j7D3CsFmbRikcu43v-UwPK5Bh2-9qWtYLL-bYS_0jEXuKxOZHjwEflUKWCbu61eJr9IpwoyWFg3-HusIzmSI8C0raJOaMDm3Mo6XiR73nY0OW8dTwUhmA==",
  "id": "rs_052ec04fc5a6be40016ab4408b780087d08d529896bc7a9bd0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.15,\"left_gripper\":1.0,\"left_yaw\":1.1},\"note\":\"The gripper again closed empty; the elephant remained visible beyond the fingertips, showing that camera centering still left the grasp point short in depth. I’m reopening at a safe height and advancing 3 cm farther outward while preserving the rotated axis for one depth-corrected attempt.\"}",
  "call_id": "call_vdy5WEf4QCSMp7KATXYJ8iby",
  "id": "fc_052ec04fc5a6be40016ab4408f8e7c87d0a02fb7dc1205b296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vdy5WEf4QCSMp7KATXYJ8iby",
  "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]: [-0.5045, 1.8828, 1.2037, -0.6384, -1.2114, -1.5658, 0.9951, -0.0208, 0.8314, 0.6064, -0.408, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.0273 left_z=0.1282 left_yaw=1.1001 left_pitch=0.1987 left_roll=-0.2371 left_gripper=0.9951 right_x=0.2934 right_y=-0.0007 right_z=0.1651 right_yaw=-0.0003 right_pitch=-0.0683 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -12.1094, 7.6786, 0.4567, -0.6276, 0.2271, 0.0513, -0.0615, -1.2239, 7.1726, 1.7558, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6229acf588ad9185b820cecc100892081cad25f31a323d4f5597bfcc1ec87f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a0ee171f997dc85b86b3f86fa8f72a4957413583a807c96923a8690b61cb7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ef64d8cfb2719d9dba55a482a459cd4327bf92c96003a444cfc4e1230a8d64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.47 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4808, 1.7859, 1.2655, -0.7788, -1.0771, -1.5806, 0.9966, -0.0208, 0.8314, 0.6064, -0.3996, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3927 left_y=-0.0254 left_z=0.1522 left_yaw=1.0987 left_pitch=0.0668 left_roll=-0.2664 left_gripper=0.9966 right_x=0.2946 right_y=-0.0007 right_z=0.1667 right_yaw=0.0 right_pitch=-0.0599 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -9.1829, 6.5162, 0.9597, -0.6325, 0.1294, 0.1245, -0.1709, -1.2923, 7.0222, 1.79, -0.0171, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5503, 1.9289, 0.9714, -0.4313, -1.227, -1.6501, 0.0104, -0.0208, 0.8314, 0.6064, -0.4023, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3667 left_y=-0.0256 left_z=0.0661 left_yaw=1.0878 left_pitch=0.2073 left_roll=-0.2456 left_gripper=0.0104 right_x=0.2942 right_y=-0.0007 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0626 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -8.2803, 5.1214, 0.5348, -0.2564, -0.0317, 0.8571, -0.1026, -1.4427, 6.9812, 1.7265, -0.0122, -0.0611, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.8828, 1.2037, -0.6384, -1.2114, -1.5658, 0.9951, -0.0208, 0.8314, 0.6064, -0.408, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.0273 left_z=0.1282 left_yaw=1.1001 left_pitch=0.1987 left_roll=-0.2371 left_gripper=0.9951 right_x=0.2934 right_y=-0.0007 right_z=0.1651 right_yaw=-0.0003 right_pitch=-0.0683 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -12.1094, 7.6786, 0.4567, -0.6276, 0.2271, 0.0513, -0.0615, -1.2239, 7.1726, 1.7558, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6229acf588ad9185b820cecc100892081cad25f31a323d4f5597bfcc1ec87f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a0ee171f997dc85b86b3f86fa8f72a4957413583a807c96923a8690b61cb7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ef64d8cfb2719d9dba55a482a459cd4327bf92c96003a444cfc4e1230a8d64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECVs-KHKIBV144occe_nL3qqNMiY4oC-YCrQZwrcX1uLZJzExjxLe6c8Ulg-3lkT33lQyYo3HVf10JPL1L3JmWIxdkJuw3CjKxoBJhq9nrYi7eyPu1j6UoyS-FNj4vVRNa_7YYp9goNFfix6L98h-1Welqy2NlEHfapn4h941tGknSssjfPffy_pP2yx3OgMApuBJLvy_vekn5peyawbGQ77pkD5k1gWHmpzNjVOpm6FtZsgfXaBAWQoZ0h3Nw22agpzbg2aiy4IaLACHBxOvKyok4C8cfvbkn8MhqDHA9YtMD2niVOfebeNGrEM_kzwtuTFUWjXcD1YBIwt0NIKeFVhC6RNGAsUgAZSAcMAmossxuS1qwS8HAaMQX71IlNqcxvSjVuJsNYrT9dpdcBdOMAMw5n0dW40wUJcT1J8kEuMW8gpQZeYbwqdTyEq76MwACK4NpBjh1mGTCd-C4md7wZbd-Z2nd-20D3MeEf6oY_LAuAtL_m-_wL9_zC9r4uKM37skuNCtm8gJ4oFC9cE8mQ4tpTZ7nkZ-vhF6i73EzS2q5rK_nuUCt69v14E9oFN_1UMmklbBaln7FwHTcHVE0ixdPtrpwhwU-2OFvK8d69L787XKbpraiU-KIRaJS-R38Nv-z8K_JB3AfCFuNZJvLVxUpmLFE1zCus-3vczW295V3fjvn6KlEtDtayNQdw7aoAnQBJRa9c_xZT0gw5u2-pE0zpkEFcLK420q4ygJTj9fUcA60cXRYovhnkHlo2JnxeErMRUG-8pOSV8mdUKVOtV04sym5O1K9Zf5go0g6W9SAi-3cj5qhc1FR68KLn8yrvzNIAThS8qN6hTGUF46xHf5zSUv-_eWFY5j7iscpBOaC1lb2eryIBIwl_gqVM2YVGaWQCu2_LOg6HqSeW4xh12mfooWx0_VQDrdht6jrtwOFBLv5G_iQO7oeArCXUzzEE3lAYjnv_oUu4CPb-fil2yVnsjRNs2MO0KuxeR6h-AxVXLmXASFqOTwevsA4SzDT_xy9ozfZUHiEJgazsv0DQ0pVzp0WNwT3K28e0NRlcrrjQEMoy0-fy1NDX8HhOaNhup1dQG4pNtmEby4MzNErUvDMOHPYgOAtB-woudSlau9zvmfq77npBTSwOP22Z_kqBboqNpsoDpAD1qqXhLtqDrpPFBNFZf_nEIc4k394LaCHX3X1LJUareT1owFQgavtMac864EznmcDFSeKRkS8xgI2HipqBTDCLCzaJlzMLoWtIlSMo0y8pim_ZQWDX21xX",
  "id": "rs_052ec04fc5a6be40016ab440943a4087d096dd9c8ea198f46c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_yaw\":1.1},\"note\":\"After the depth correction, the inner elephant is much closer to the bottom of the wrist image, where the rotated fingertips actually converge. I’m descending at this advanced position to engage its torso rather than its image projection.\"}",
  "call_id": "call_Dq2uYCKY1OKg8nvaISkHHsUk",
  "id": "fc_052ec04fc5a6be40016ab4409472c087d0a83d30f5134ca3c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dq2uYCKY1OKg8nvaISkHHsUk",
  "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]: [-0.5163, 2.0823, 1.0866, -0.3183, -1.3338, -1.515, 0.9966, -0.0208, 0.8314, 0.6064, -0.4084, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4005 left_y=-0.0258 left_z=0.0615 left_yaw=1.0939 left_pitch=0.3225 left_roll=-0.1952 left_gripper=0.9966 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0687 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.7726, -5.3265, 1.853, 1.2186, 1.0769, -0.6325, 0.1392, -0.1436, -1.4701, 7.0496, 1.6532, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3363fa7938401bbe10f3e404ceb0e265c1c0a83fbbac8542f0a8958aee5e2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd00adb6433a7c75752954d43530106e312cf6ff20bb402eb3a812655e471a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7bf988e2d73cc96e5d3a2af1e4bc259be97c92a5a18af8765dce56d0cec341",
      "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 22 attempt 0 · /responses · status 200 · 3.606 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5468, 1.9312, 0.976, -0.4313, -1.1954, -1.6531, 0.9967, -0.0208, 0.8314, 0.6064, -0.4007, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.0272 left_z=0.0612 left_yaw=1.0871 left_pitch=0.1757 left_roll=-0.2487 left_gripper=0.9967 right_x=0.2945 right_y=-0.0007 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.588, 2.2496, 0.7839, 1.0183, -0.6276, -0.0024, -0.2256, -1.3607, 7.3094, 1.707, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.8828, 1.2037, -0.6384, -1.2114, -1.5658, 0.9951, -0.0208, 0.8314, 0.6064, -0.408, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.0273 left_z=0.1282 left_yaw=1.1001 left_pitch=0.1987 left_roll=-0.2371 left_gripper=0.9951 right_x=0.2934 right_y=-0.0007 right_z=0.1651 right_yaw=-0.0003 right_pitch=-0.0683 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -12.1094, 7.6786, 0.4567, -0.6276, 0.2271, 0.0513, -0.0615, -1.2239, 7.1726, 1.7558, -0.0122, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 2.0823, 1.0866, -0.3183, -1.3338, -1.515, 0.9966, -0.0208, 0.8314, 0.6064, -0.4084, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4005 left_y=-0.0258 left_z=0.0615 left_yaw=1.0939 left_pitch=0.3225 left_roll=-0.1952 left_gripper=0.9966 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0687 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.7726, -5.3265, 1.853, 1.2186, 1.0769, -0.6325, 0.1392, -0.1436, -1.4701, 7.0496, 1.6532, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3363fa7938401bbe10f3e404ceb0e265c1c0a83fbbac8542f0a8958aee5e2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd00adb6433a7c75752954d43530106e312cf6ff20bb402eb3a812655e471a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7bf988e2d73cc96e5d3a2af1e4bc259be97c92a5a18af8765dce56d0cec341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECZ6sk21VfimQFauQslHkq84BanGvJgZTqNGDCyfVx1CpM936AT2LFtq3rzyjJojsHqslMH2M_9NWezTSyGPd8vwUeTSyfLfVtbi7OhGNWf4sJyIrOT4d9p-Xk144pcJxbmfmNo1MRbJzebBvOdJpZwZmkWBWLEIYjXGXlABT0J8l9V5oQW6253usGadwk6N0Brm-05mnh3p3nOtA0PZPE7CXNbsS5L4cO1yS5L1l-FA-1e_8q9Ep1FMTyAzSnOQ087Lq-7Q_jegK75365jUJ9kpX5yu8hPFK3DzmlS2XFTz6Ae9B01XQ6dLWeFUDenYLb5-o_xbc8Rbw5SV0UDSi5vEpDiA6CVsiPSB5ieq_n1cl1x2K5KJPdIqhFumlwaiU_jo7peutRIMfwtRups0j9cW7SmtapUt-Zkepnbd2s5vXbQCgI-ZBK5z_e8T9-pIvn76NcmXyDHIXuMBwEJErmqkQl47s5NbSL8GP1Rl2qOQb6cR-jy-OyVVOEhoA7e83EvrDwr2YsLqHxGGK_d2pV9v_1M0682ovevwiDpCClHZkBCh1J5lsKRWccCHd4ERVGOnAjESuLFkGo3vBXG5rMLFEwzOhK0RXfDVrXzqSmKLQUJjmmiDYWkNuCvxA7bXbgqK1YVpqCxaT9U9zXOIs-yNL7JomSA7YXUZvXKOdZYmnZFlZH-_wYh7hX0kjxDAElcMx0aqmM1FGn6hykkz2Vx_BOotzqbDdU3bVUqUMVTuAOwhWiarC0VC_zfqg-J7HyxAg16CWz3Ea6VbN7KkDIz3UU9GyF4_pVoIpcMv1i9GRuvXIs1lRJA8m1KwItoeVHXUwBHI5DbILK-aProONyd5-MrqFAXl-xN3RnoAORBtsCKJDAEOtUPVe6kiQdOBXuonubO5ecfOtggZ7LZVX8H8VH7dB9QiPryXUXzpyiL9BNKDE6DUzEdf6TD-y3slkejSxvfndy4kJJdyhv88bAVGdQHV4L_8QtLS7DUA2BPfC1_Foj36byXsku12QjR1jI6ouMg3IaOF4nbDYLtTHRWBrpezg0SyMiMxnl_ogL6TVLGtyD7JW39s2WCG72Np4mKJvzIcL1ur6dS0diGl61sGCKoeaTFyyxt8m9S8PZqUQUyMj-jKdFG-SXAXSIKBr5DPeTEu4rTAPsD1RmBVrPiTqAbCzLi3ggHKs6Rqhw9D9Nnhcw90KcnQ0xf2OJ9MJ5sueVVoNnYHnQztswNoqqAau-3V1Bj49ozRN4yPs5v66CEZZE61jy3clSxIw-yEqrOuYvFL2F5eFSQa1GCUQ3TF7XOwTPcFap6brlopmbygIyisd-xqRrs9DqEbYz2NG2cfYfzCZuNSJ09Ej4xiGXUyA==",
  "id": "rs_052ec04fc5a6be40016ab440985ad487d0b1a47c213141d166",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the advanced low pose, the nearer gray elephant’s fur now spans directly between the rotated finger tips rather than sitting beyond them. I’m closing across that body and will trust only a nonempty opening or a confirmed lift.\"}",
  "call_id": "call_c67MO9ZsFX4ZJV2OAriq7owd",
  "id": "fc_052ec04fc5a6be40016ab44098a93487d0998a8215dbfea51a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c67MO9ZsFX4ZJV2OAriq7owd",
  "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]: [-0.5163, 2.0796, 1.0843, -0.3187, -1.3434, -1.5166, 0.0103, -0.0208, 0.8314, 0.6064, -0.4084, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3999 left_y=-0.025 left_z=0.0635 left_yaw=1.0973 left_pitch=0.3316 left_roll=-0.1971 left_gripper=0.0103 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=0.0 right_pitch=-0.0687 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.4154, 4.8752, 0.6325, -0.5397, 0.0122, 0.8571, -0.1709, -1.347, 7.0085, 1.7118, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41465ce1862c3961707527a4194dd45cad791163f8bcb3ea75a0a171c324ff7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c97163ec4f7341280a81f137da22cdd154dcd5ba2c173611773a41676bcd19bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451642801893724c33edc08ed808d7f87afa0e8a8066ee1f2a7595e02397f92f",
      "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 · 3.68 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5503, 1.9289, 0.9714, -0.4313, -1.227, -1.6501, 0.0104, -0.0208, 0.8314, 0.6064, -0.4023, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3667 left_y=-0.0256 left_z=0.0661 left_yaw=1.0878 left_pitch=0.2073 left_roll=-0.2456 left_gripper=0.0104 right_x=0.2942 right_y=-0.0007 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0626 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -8.2803, 5.1214, 0.5348, -0.2564, -0.0317, 0.8571, -0.1026, -1.4427, 6.9812, 1.7265, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 2.0823, 1.0866, -0.3183, -1.3338, -1.515, 0.9966, -0.0208, 0.8314, 0.6064, -0.4084, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4005 left_y=-0.0258 left_z=0.0615 left_yaw=1.0939 left_pitch=0.3225 left_roll=-0.1952 left_gripper=0.9966 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0687 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.7726, -5.3265, 1.853, 1.2186, 1.0769, -0.6325, 0.1392, -0.1436, -1.4701, 7.0496, 1.6532, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 2.0796, 1.0843, -0.3187, -1.3434, -1.5166, 0.0103, -0.0208, 0.8314, 0.6064, -0.4084, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3999 left_y=-0.025 left_z=0.0635 left_yaw=1.0973 left_pitch=0.3316 left_roll=-0.1971 left_gripper=0.0103 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=0.0 right_pitch=-0.0687 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.4154, 4.8752, 0.6325, -0.5397, 0.0122, 0.8571, -0.1709, -1.347, 7.0085, 1.7118, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41465ce1862c3961707527a4194dd45cad791163f8bcb3ea75a0a171c324ff7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c97163ec4f7341280a81f137da22cdd154dcd5ba2c173611773a41676bcd19bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451642801893724c33edc08ed808d7f87afa0e8a8066ee1f2a7595e02397f92f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECer2psgd7fcd42Vbkw2Xk0iYlUWht1RLGmUErBqzZxhIShQOy2XLKfyw-W-_0H2vwskW4wJ0AXbSnG4KMCVsTQCjt5tQ6tmktvjXgrUr44JoHiVwimAt88YlmE2OgCdHldSvcBxQO389pxSqF69Y80LO7JGNIRZolz5PDFqawTEyGfSIwy4W84Zz0NFMfWGOQt0jKgFnXq4bb9et4AtVXpzGx4rxEXunT9UomyB-ofCN-JCUF3VE1rLy94YHwDtBvir7zKiYAbO9cMS9F6NYQZfi81sUQ-YieFGBMibcUx_-4Gep1Fm0j85NxiAZGXsBCJOjmLx2hYp8NMny8cuznntYvM--bWplyywV-xrnHKb2KmlqI8reKJ9BVlin1QiqkOBy5OPCGDVyErIAMxKth39p3bSqXbdldkfwTsTKDdQ2_aUjGa1SQ-752xXLoiXp5nEUrgH5mF4g0UVTdNumPH6R8bIY21I6YX_dB4BOe2O7QUw2yW_pW7Y0POu5A5VFU7uEt9gJ_bnSec1wmFYmW7C3f4Bck6_zh9v3yP0ITTm8cgcZMefq6dYvFnOYwiLYEEKLkEQt0ZzQtyKp49dOUGlDAtaizJuAC90iw-K6PEfpRgbm5nPw-t5LWmZSN5zR3KTe35VTHBXlZ73BCvpfAFU91XLH6OR9AvZ4iDLWHksanVrvzNLHGeS6ISq3D2ZoPaeWt02fDDIyYL2swbwo_GA87l1jjQ4WC08GgEQfn-ka4o2d8W_QlclVcl004MIbF8GKHDwmNSUSz4rCCLUZa0qw7p-MU5pZUPAvWjAS4A84QSwkeRR9WEydREGrwMCKMGvQryj0cu1ZUl3NhE2gPtPUzXaRRoQ-FjwKIX82w6Sl4fnbAHX2yp6cBvv_43SxCuLR-Luz_rXZEMn78dWDhwOjRABRZPlFJAEXJzDx2w3ztj9lGfpo-qIKPsmiJpOCrBNXOpscvdkqbAtO3fcx9IolidSlDz_GaDtcCGwcL9IeHz8aojYSEeJmn65wXY6L3SycA6u3_7VqKvXC6DI56tuo4NEEVPOF5qh1SbYbGNfkK_oxhU2DOCyrE94mgflEPuX3R8iJbGvqhb_AdF1mSM0GAbeg-Xr8XxqwxPOaTmPyU_RnUcWGm5uc5_Bz50-6Rb2-2w67bDAp0SPZzKR2UxtvAh0b3J3ralnDvteVLBIvXbkj68jUMoXyOY-QxtTcFZW0AyukimHJzhZTPZrfTwe4ffNF91K19ogGhKaUqx_mFWyLRRvIoEPHEM1GuQDeIcQHp-CCLxjcAb1-v2lNUGX3TMEaAxzmG5DnqPXRvUrrEn4_OWMR0KY21qDDjAHcuIzjQmQ7U4KNIzJkP8hdOqLX_6HEYAd8r8rGQCrb1YZK_TRAK0NSlBsVNvQJBUszdqrjSxRl-DtOeuPrbDk-lkkKq5sDvRBSdIEk9Avwl3-_8-JBGnJj7oToC9_St_thoyxEslZ0UM-K5m6jeYzZrpEOafGHqbCEsItZyd2CoHQUNlkT37Guzz58kEYmQfAlWW_T_KvvWfGVlTawwUuagmOco53z5w_c9apsZAMQro375uNjXTmuxUpevJ3GiQCaUqQN1r1EKzwT7bT_HEu-QKLKHhOk3ZUwfajKzAX1eNK_30SEZuAN_F4MmXSk2226l8E3J9ghGRvNKvMgZaFjvsCaEI0fQ6pn2wQUfagSFtWY_Viyt-R9D91H_yDjn1ZN9Cer9aJc8Seo82oiANhO88ikWDlf-9-U-izYYFVY81LJiC7cRIsXOl4vYYgoK2Eh_aks_IHzJ5QvNRhsruWK2YBi2gYpu5_cCVaIcBd63zqSrhRTA5Uq-e3J37ti8K-6RLzzDtTw2N-V9dXrxRzv6UbnKBev62pNci6ehd3SJhk8S26MWMNgZE3HwwSfddtcifkI_lpszyZOOckyvtEbulPMqWMy_tWQ8ib0JXMIhQWtwswoSVdAmnlzLVA0RSXMmNnzQp-BcztS_s1um_Ds01otCc9mIAUQ9JSYeK6q23-2Gfp37cFPJMo95sX6X41KQKOL0vN-eJl0cr3PlP5eRIf4xo2YQ0SOdOr7kLtg6pLzK6xbtw4fBxB63g1zFOKoegMTpUwTWkEFLVrpDQdyu3GqDTmIm2bbzWcFbmmXoJxLpTEYz7QVeCgrbokZbwBhmp",
  "id": "rs_052ec04fc5a6be40016ab4409b9e6487d0847ea4003f4d636f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The gray elephants are too compressible and continue to slip through the fingertips despite corrected depth and jaw orientation, so I’m switching to the firmer tan teddy bears. I’m moving the right arm over the isolated front bear while leaving the left arm stationary over the elephant side.\"}",
  "call_id": "call_5O1ft6fePermhbbD2HL9hUtC",
  "id": "fc_052ec04fc5a6be40016ab4409d187487d0bfe73240ea625290",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5O1ft6fePermhbbD2HL9hUtC",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.5156, 2.0796, 1.0843, -0.3164, -1.3388, -1.5181, 0.011, 0.9127, 1.705, 1.214, -0.4187, 0.6655, 0.6193, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.0251 left_z=0.0628 left_yaw=1.0985 left_pitch=0.3269 left_roll=-0.2009 left_gripper=0.011 right_x=0.3453 right_y=0.2741 right_z=0.1462 right_yaw=0.0314 right_pitch=-0.1055 right_roll=-0.0257 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -9.853, 4.6564, 0.5934, -0.6227, -0.022, 0.7741, 0.5402, -8.5538, 8.9504, 1.199, 0.5836, 0.1734, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca1074cef61b3cafc42fec1ef1a2da367f8d8e03c33685aeaead2f409e6cb61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbeda0e192dc7757ee430761ca1bc57aaa2796f197346dd59213d0124eb04e07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ddc39dd0be40b7b919977ed6cf26936f19b8adb52e903bed09b43f95cb18b8",
      "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 · 4.265 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5045, 1.8828, 1.2037, -0.6384, -1.2114, -1.5658, 0.9951, -0.0208, 0.8314, 0.6064, -0.408, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.0273 left_z=0.1282 left_yaw=1.1001 left_pitch=0.1987 left_roll=-0.2371 left_gripper=0.9951 right_x=0.2934 right_y=-0.0007 right_z=0.1651 right_yaw=-0.0003 right_pitch=-0.0683 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -12.1094, 7.6786, 0.4567, -0.6276, 0.2271, 0.0513, -0.0615, -1.2239, 7.1726, 1.7558, -0.0122, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 2.0796, 1.0843, -0.3187, -1.3434, -1.5166, 0.0103, -0.0208, 0.8314, 0.6064, -0.4084, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3999 left_y=-0.025 left_z=0.0635 left_yaw=1.0973 left_pitch=0.3316 left_roll=-0.1971 left_gripper=0.0103 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=0.0 right_pitch=-0.0687 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.4154, 4.8752, 0.6325, -0.5397, 0.0122, 0.8571, -0.1709, -1.347, 7.0085, 1.7118, -0.0464, -0.0269, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5156, 2.0796, 1.0843, -0.3164, -1.3388, -1.5181, 0.011, 0.9127, 1.705, 1.214, -0.4187, 0.6655, 0.6193, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.0251 left_z=0.0628 left_yaw=1.0985 left_pitch=0.3269 left_roll=-0.2009 left_gripper=0.011 right_x=0.3453 right_y=0.2741 right_z=0.1462 right_yaw=0.0314 right_pitch=-0.1055 right_roll=-0.0257 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -9.853, 4.6564, 0.5934, -0.6227, -0.022, 0.7741, 0.5402, -8.5538, 8.9504, 1.199, 0.5836, 0.1734, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca1074cef61b3cafc42fec1ef1a2da367f8d8e03c33685aeaead2f409e6cb61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbeda0e192dc7757ee430761ca1bc57aaa2796f197346dd59213d0124eb04e07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ddc39dd0be40b7b919977ed6cf26936f19b8adb52e903bed09b43f95cb18b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECkiIntdf9xJn5TUKJMQNeu_w-taIftEPGobyqDx5qnJLFXJK_tZV_AlXiwB3aHwuMwcbQlpyWCULw8m-5X8iJ17BoFf5m6z3TxHWd5Zg-PuPcfdAsfHdGFeacpCp5iVQJ6IzmXg2Su0_Isysxts40LRPdOC4WuIRo52bHqks87w5-s938Ecs_RfiD3jpZARGEPiwIWSbId__2RVbYNogbFuar9QTekGS2yxEYWQxqc16P8olHHPXc6nbjOUsQBQsdMvKDmODo3rTO9ghdrPeG12FZCb_VMW0fe4hSJkIkC23kqj7LutrnRpFZ1Aq1GaK78mTk-Q3Gtp7vUoirkWXn7JvpAlcogHucBJ7hK2My0DTKYXNZrZaJvPsz-5txQrLP4VGNpdJazQHUmL_wavCQbZw15N6_m3bInaNTYXhIStQO4v7gHwZk2ga0iHkNZK0hmCEq72xCzJSr6hJqCoin_LPxqaZN42_jPOf50k80UyNyJRuFwYVTMjEJA5sd6LwSBM81n8Vuzjf9Tl3qXxk3vSTquawR9bDRtJPWCjnLcbZetcHsRcoTvK0_VEm4lpzeZIWjBJz9S528sokhjjTCS3gGQoP4Wap_rF7zMzUh5zDuyCmocn_HrgcHNWGcELiU8UEEYhqq3y3nRYSpZdljfc-J9cqJZIrd727MiNUG8mX9kOsSUPjaVjObahog-UdfeAr4SqrPKmV73jRy_xaDbzVQw0dQF07YQMNIIGJ0Lm3WpjGjQ3YZF83NcUUZkxRCCVgrwZPwTdqLZmBNMQxe5qFYQN72rSN_3Twm2MxJ7EDJcvFsEzYSbRg4U3nbFqfwB1lH8BBx347kWHqWM-U2AzrjikhqlnL41vkx1Ow9DbKbc7iejb415zdK1TXu6rpNEE3GfX0I-n8HFyQxJuPlj4ri5-A0ZQ7t3SCkUU4rBMKZsJ8TVEMf-QVESIDoTW7JAyFrP7HyuUzAWkj3HyWt3EGasgDTL2Hc9VIv5dMFwgE4wizkd1MaEUoyYgPzfJ2TASiWulMns5_GfE_S8hgsx6qkNf0T8Bx5dnUuJbk-UYMz_e-nKFHgQKf6jK6ag9GsgT5_Tb6NEWD114C0oYLHoAIWZf_2K3dOTwZaJheN6G0izhsptLzwq6sNA25O3zMiH4rLqANH8li2gE4AkH_cyT9-lALg5Wkuj62p70HMLvS7Oelcuc_t5jUxxQIyUnu9tVuHz_WKmf0WgqTI1-OSKkvYUKXzTWeBF9gSZDZZeFxpn7F8PXKRIXqbYfP9gLUEeQ-85bYghrS8bbi6dh4uk94CPIQrqF0fZZUGivSBKOi5M-zrhz9MsfMsgpH1357yhVgdnyj30S0wWZFpB3_M0W81jFIYg58Y9oP14GJLGW8F41LOie1fJ4eGsRHxosamx0PC2PcNGygS1bDmvJs9hJdOKbnK6XpnB_Lk3WCR-vbJwQGCOdBZ9BWuRd96GgKLj_VTeCjEJMTxMgrRq-M7WdzFTgNp89wlywenZ7S0FbB00QdrWObg4BwhU1bdv9W_9WS8iWrGCyZmw-j9493d8MffgurUMwMzDkI92D7Nj4TRRzHU19Bho03Hx3JmSsicv6nxbjIzZFmGHMUsj4TQsPqNANcnXv4DNtvoWhsPKIwLcUap-CqH1TkQWtUe53kA54ecld-C_syXWjuG8yJP6gjc84HBSwuthHFXieegQVlHzWengwxwazvglgx49oX4hxWXJKCRY_i_XQULveWN6r9enJGcJGc6L7HvZB1BA9ciIjEBtU6ZhabwF1AT_bpEpsQOBWGPS2c27NV8EqJD4IpWmpPdH8mE3xxfyV-2GDaFoyEuYpI2GWISslDl134WDY60-JaocB1wMHe3h7DfdfYq-2-dGDvkMJvjA_i3NpBKCO1A00XsSxdsI5dU4CdweiIvM5mroVQ_8YDZjawwnErJqGvl5V7_soo0jOIiinRBHODkqqHnhxM-btQirSq1ikkHsS53cNsJ38uMX5eNH2n5bmXpQrbdqmnVFrFIET6o=",
  "id": "rs_052ec04fc5a6be40016ab440a17fec87d095785f55e28b7d4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.36,\"right_z\":0.16},\"note\":\"The right wrist camera shows a tan bear close at bottom-left, while the right basket is farther ahead. I’m shifting the gripper leftward in its frame and slightly inward to center the bear’s torso between the jaws.\"}",
  "call_id": "call_XCgUAEpqstNza2ggd9c44s2W",
  "id": "fc_052ec04fc5a6be40016ab440a34e2c87d0b726cbb0dd10299a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XCgUAEpqstNza2ggd9c44s2W",
  "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]: [-0.4988, 2.0796, 1.0843, -0.3161, -1.3384, -1.5177, 0.0109, 1.0592, 1.9194, 1.5349, -0.6895, 0.7601, 0.7803, 0.9993]\nstate[eef_state]: left_x=0.4006 left_y=-0.0184 left_z=0.0628 left_yaw=1.1151 left_pitch=0.3266 left_roll=-0.2009 left_gripper=0.0109 right_x=0.3254 right_y=0.3382 right_z=0.1498 right_yaw=0.0177 right_pitch=-0.129 right_roll=-0.0813 right_gripper=0.9993\nstate[joint_eff]: [-1.5658, -9.8393, 4.6291, 0.6081, -0.5495, -0.022, 0.8327, 2.5778, -8.6906, 9.853, 1.6874, 0.1392, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d001679bd06e3c56c54de429a53ad2f94adeb3349d8d5bcef6c814474bde885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29173c1202c08bf38b767a638618fd80eb187747c1edc9f45ed40c0c5b35f6b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2528b76dc1825949c73567bdc145100967cda040aabd1dcc0dd31c61f20c2fc4",
      "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 · 1.882 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 2.0823, 1.0866, -0.3183, -1.3338, -1.515, 0.9966, -0.0208, 0.8314, 0.6064, -0.4084, -0.0101, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4005 left_y=-0.0258 left_z=0.0615 left_yaw=1.0939 left_pitch=0.3225 left_roll=-0.1952 left_gripper=0.9966 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0687 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.7726, -5.3265, 1.853, 1.2186, 1.0769, -0.6325, 0.1392, -0.1436, -1.4701, 7.0496, 1.6532, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5156, 2.0796, 1.0843, -0.3164, -1.3388, -1.5181, 0.011, 0.9127, 1.705, 1.214, -0.4187, 0.6655, 0.6193, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.0251 left_z=0.0628 left_yaw=1.0985 left_pitch=0.3269 left_roll=-0.2009 left_gripper=0.011 right_x=0.3453 right_y=0.2741 right_z=0.1462 right_yaw=0.0314 right_pitch=-0.1055 right_roll=-0.0257 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -9.853, 4.6564, 0.5934, -0.6227, -0.022, 0.7741, 0.5402, -8.5538, 8.9504, 1.199, 0.5836, 0.1734, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4988, 2.0796, 1.0843, -0.3161, -1.3384, -1.5177, 0.0109, 1.0592, 1.9194, 1.5349, -0.6895, 0.7601, 0.7803, 0.9993]\nstate[eef_state]: left_x=0.4006 left_y=-0.0184 left_z=0.0628 left_yaw=1.1151 left_pitch=0.3266 left_roll=-0.2009 left_gripper=0.0109 right_x=0.3254 right_y=0.3382 right_z=0.1498 right_yaw=0.0177 right_pitch=-0.129 right_roll=-0.0813 right_gripper=0.9993\nstate[joint_eff]: [-1.5658, -9.8393, 4.6291, 0.6081, -0.5495, -0.022, 0.8327, 2.5778, -8.6906, 9.853, 1.6874, 0.1392, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d001679bd06e3c56c54de429a53ad2f94adeb3349d8d5bcef6c814474bde885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29173c1202c08bf38b767a638618fd80eb187747c1edc9f45ed40c0c5b35f6b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2528b76dc1825949c73567bdc145100967cda040aabd1dcc0dd31c61f20c2fc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECp5grV0bb0rNM_yd2mwyKwg2Sug8ETVjAT6OkgPUYsKNs7GkKLegDh4MaYu9G-iZ_6ODmo83PWs3Z50YiYZ5cu0do3Am_t4W2HYxtN03jzjeV818JYLYgkqMKFlmDuGWlpDlIPleqz6-B1zrolzcf6mgeRpSML-Qvpa5_PugbeCBPyufsaCN2N5UL-BY8EJDvsuPVz-HGwNDnEAun7GloeyK3bKuWEPYmm89xvNaEUxHB4GMdvY61HLyq-Wdve9KGt_EWQSiHYI4VSvF0-KZvXaGaD38EARh_xcYBqSG4ZXyogIpm635N_d4XapeRpvRBV0a_drQvu36oGSeFqzVuQQHk_mf8B8jcNe8iNXHtgKf2X4F6vifdE2aZAuqGlVEdJuf0AiTHm9ED2O2VDZ0QOP0pboDA-JQ1viTiJY-b1JZ1X1us5jnNNS-WW0o8v-AkOLvFNLe57TrSvH2ibtRt9lmHJlQT__8l4i1o-8sM4m7s4j2o24lo8JW2pK6E9qCTv_ztCBIf1mMjrgHwNfOIiagG_sGtvBdeWyIIE4ZOu2dpPcxK0VBlAmqMlxHaJakfPparmWeLfl5hBOZ6Vob5jNzwoB6a9owpYbSrdLs-ViuzETJwUVmNRUg_eVOUDa8vh_PnFgDtnv9kYPE2IDjosL2xBlzmAq49j0_TskeHJLnchVFlETwVhI90qUW6pM4MeM9RRGM8suoMr_sYkEUb3hkYZBnVCng6vQgeDZJFudFIHJPdv9ICgjsU9XRhxNH4NLP5Vx9SlN25l9qEnBMYc7gblQSkUYcy5Rew5VoRwT8u0_xVcXKFSwiZW-MGVipG99cEiOxog3zpIQTh18NOxEzGPwcZBem1sw6egyGWvNjsTvZshbZxs4o8necitKh-EX1tbduMmTgpYNm9uDj7ZjRJUF2xsJqvkm91MOUXdJshrbLUfOPDGimEp_TCwaYvKncmEz2aPt6iyCMHOLuOleHDisAdko_KBW722MR-sIbNyImfkd_1g1RzDsVeBkCcIasUMkl8fvBN1YEAO8iJ6oxs_S9etjOaF6VwEDaVhYV4Pk-fBRbSq1ZoKBpHwpL29HynjESmia7iPf-BydrlLXNmB7EGrKHBi-ALnThwsMAuf9oIhmxfEj3zLVPlNF9vWpfwdMEp7ge07yyZ_Hs-0sg3rMyV-uEUiUPLl1KiMm6K67gk0LdnSWJeC5Qks7643K-f08CfMXUjxTSFeJEAWw0Uz0lG9jY--ei4VI3MlEySXGKmH7Dt60SXobEF4qVDPwqEa5lElrAh-NyDrqx3upBGCZKwEccZOhqkTv8FhbYmd_nKtjMd43d4QytQB7AnkDSPxfGcf9gKiMq9H0t0Mx_M1Xjfdme3ynR7UzACjykQWzfZkvbOyJfXp3uANXC8kSlkx1eu4LlZu8_xfeW5zZsUEfZuYpJquA8fPiFJ-HHiacef-OOyPj3GFJBRINV_72UmK5aQHM7zAcZmLj-w1ni8nkp2p0_3UIi4EzaGM2O7PBsApIeHDkj2_1P9MiRqd6J8rL1KZw7IcyADRu1A7oA==",
  "id": "rs_052ec04fc5a6be40016ab440a70db487d08b6f5437574ccc51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The bear’s torso is now centered on the right jaw column, with its head just to the left and the basket safely ahead. I’m descending to mid-body height for a firm torso grasp.\"}",
  "call_id": "call_dHNASIbEp9pzEc6BgvIMjQ8O",
  "id": "fc_052ec04fc5a6be40016ab440a82ad887d0a21d87338c83b535",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dHNASIbEp9pzEc6BgvIMjQ8O",
  "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]: [-0.4889, 2.0796, 1.0824, -0.3187, -1.3388, -1.5185, 0.0128, 1.0512, 2.0106, 1.2991, -0.3271, 0.783, 0.8165, 0.9991]\nstate[eef_state]: left_x=0.4 left_y=-0.014 left_z=0.0624 left_yaw=1.124 left_pitch=0.3271 left_roll=-0.1969 left_gripper=0.0128 right_x=0.3316 right_y=0.3359 right_z=0.0682 right_yaw=-0.0187 right_pitch=-0.0929 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -9.6615, 4.9846, 0.6618, -0.5836, -0.0513, 0.4469, 0.294, -6.735, 4.6427, 0.8864, 0.0708, -0.4078, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a58032a731aa1e76eb80d10d6062dcb3aade598636397994435cfd6f417e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28918df10e5b86a77ca5a25c623677e34fe6ceb955c45f94d0da05993753a2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4467a4d4c09e085f4d5b4af805d7f8854d93e92b2109debdef9a98e4869e6a4",
      "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 26 attempt 0 · /responses · status 200 · 3.378 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 2.0796, 1.0843, -0.3187, -1.3434, -1.5166, 0.0103, -0.0208, 0.8314, 0.6064, -0.4084, -0.0105, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3999 left_y=-0.025 left_z=0.0635 left_yaw=1.0973 left_pitch=0.3316 left_roll=-0.1971 left_gripper=0.0103 right_x=0.2934 right_y=-0.0007 right_z=0.165 right_yaw=0.0 right_pitch=-0.0687 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.4154, 4.8752, 0.6325, -0.5397, 0.0122, 0.8571, -0.1709, -1.347, 7.0085, 1.7118, -0.0464, -0.0269, -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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4988, 2.0796, 1.0843, -0.3161, -1.3384, -1.5177, 0.0109, 1.0592, 1.9194, 1.5349, -0.6895, 0.7601, 0.7803, 0.9993]\nstate[eef_state]: left_x=0.4006 left_y=-0.0184 left_z=0.0628 left_yaw=1.1151 left_pitch=0.3266 left_roll=-0.2009 left_gripper=0.0109 right_x=0.3254 right_y=0.3382 right_z=0.1498 right_yaw=0.0177 right_pitch=-0.129 right_roll=-0.0813 right_gripper=0.9993\nstate[joint_eff]: [-1.5658, -9.8393, 4.6291, 0.6081, -0.5495, -0.022, 0.8327, 2.5778, -8.6906, 9.853, 1.6874, 0.1392, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4889, 2.0796, 1.0824, -0.3187, -1.3388, -1.5185, 0.0128, 1.0512, 2.0106, 1.2991, -0.3271, 0.783, 0.8165, 0.9991]\nstate[eef_state]: left_x=0.4 left_y=-0.014 left_z=0.0624 left_yaw=1.124 left_pitch=0.3271 left_roll=-0.1969 left_gripper=0.0128 right_x=0.3316 right_y=0.3359 right_z=0.0682 right_yaw=-0.0187 right_pitch=-0.0929 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -9.6615, 4.9846, 0.6618, -0.5836, -0.0513, 0.4469, 0.294, -6.735, 4.6427, 0.8864, 0.0708, -0.4078, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a58032a731aa1e76eb80d10d6062dcb3aade598636397994435cfd6f417e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28918df10e5b86a77ca5a25c623677e34fe6ceb955c45f94d0da05993753a2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4467a4d4c09e085f4d5b4af805d7f8854d93e92b2109debdef9a98e4869e6a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtECr21zscHHFpHTvcDen3xr-eY8h69LgNfco2SjtKbSvCiT8wL6lP5Y2llz9fYD-X6cCKIDAPrJsN1jjURCQELy6d-N6YoUCvei3A6LR-GWp7pljkqeeuTynSmnbL80rmLw7BEs7s5aQZdaF5drpDyDdGsyqAdeHTXSlPsUNRUytI_rD4IYU2LDdpL5ynAtjDFg03gpvbXvFjuxBkjjjyfXL4PX5r6G0ucVyGaDN49OImUJX7Oo_-krSaAqUMrt2xLWusZpM65jkaQXZ8Ulf2ZIs2d841uJpDApS8RKhoM8NA9j6WXTfgSTRhMpSBG2fF9PSLxG_Cs2X6FdA1jAdi4pu91VMmmBdLbCN-OzyrQS_v-D4bHQj8ZbnPc9qdwhNJ-oh89k4wi1LvJoMwkNkvroaFsMhYVHHJ1Ap2k1tG7SR9qSOJ8dkEN0hiAe7ivTCm1xd3T1Ecfa-nwdDVqeK5lwy7zzyBhD6MffCqyT8gkkJ6V_i_4YohMANT8zV--66U6_tvsWGVcNThwDD35RJR1nQUyPS_hS22Zd0P85y0TicqUEMfcU1xmBNeuRhdA3Y4rpMr85U2x5P1E9Qkdlzl-n8vSzAEk6vRB-bv0vbuUVxutd9eNnOdlTu6izhd35NGd-MgA0x1-8SN7wdKuSZ610xtLRR_nP_am6GAcnK86KSrHxjMiqy0uQskRz7EFyVk8ZajfRx3Guypij59wnJISt5NUC6-oH1eqGQysRnPerrWoCx1iB2KDAWBAlKP1IVNyDWboBLSClDay9KPtE-nzo8l2plw_c9rOK4RS0IqyROs2cZ0ODzuMiFqUdA-v5QG-n_zxhZrRgEdffH1BT_bqxak77jIkA2FhDol8pDoEog1fX33ud5aU6YNbmIMPBS35cJ5rknMrLG-jq1yTF5mODo4lPlk5MFdbbRNWgdSlCNsLzHnCJUBeQkV6EFsOYTKift-vocw8HfcjLHq9lFmhCr1HvgWM7nVDTXVpkyE1hImFgHRwwaKN4K59KJmcNhQE1tmtMXhZxuJZps7o0GxjWcpKmS1RmmZvPGqriTmoRWVJ_TgO9e2yWr-nuzzgG05wz_8mzDWrAUEk7MzblXwgDwOspIcVpIbBQeii1CM4qnbeE--frOvcxXahsoU1EzEKcvSAzwSu7ow3988HsICAdiiRZ3jhT3K3sc6etxEQvU1pVwigomakZms37KTO5HRiMQVnW9jDMF3mKReSHXTwZJ5g==",
  "id": "rs_052ec04fc5a6be40016ab440aae7e887d08c859b184f1d5e3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose the bear’s large torso fills the space between both right fingers, unlike the narrow elephant gaps. I’m closing around the torso now.\"}",
  "call_id": "call_yHf3Hb4GdoBj3w5kYVpEiTDo",
  "id": "fc_052ec04fc5a6be40016ab440ab1e4087d0964f5c4542632f5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yHf3Hb4GdoBj3w5kYVpEiTDo",
  "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]: [-0.4854, 2.0796, 1.0821, -0.3199, -1.3388, -1.5185, 0.0149, 1.05, 2.0178, 1.2903, -0.3023, 0.7952, 0.8185, 0.1121]\nstate[eef_state]: left_x=0.3999 left_y=-0.0125 left_z=0.0623 left_yaw=1.1269 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0149 right_x=0.3336 right_y=0.3352 right_z=0.066 right_yaw=-0.0269 right_pitch=-0.0794 right_roll=-0.0275 right_gripper=0.1121\nstate[joint_eff]: [-0.6496, -9.8256, 4.6291, 0.6471, -0.5495, -0.0464, 0.2173, 0.0068, -11.0701, 6.7214, 0.8913, 0.2027, -0.0659, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249d22c327befa138d1791a538ed5d55927acc0b5b32d4a420271bb0d3214023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a919eb596a5c4126d3fe8317edb4ae928af93d0e51f6379d1a11bf044a197f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037258e27c9c5685840d98895a1364991b89d704b3913f6ff5185d7cbcb2eeb6",
      "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 27 attempt 0 · /responses · status 200 · 5.482 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5156, 2.0796, 1.0843, -0.3164, -1.3388, -1.5181, 0.011, 0.9127, 1.705, 1.214, -0.4187, 0.6655, 0.6193, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.0251 left_z=0.0628 left_yaw=1.0985 left_pitch=0.3269 left_roll=-0.2009 left_gripper=0.011 right_x=0.3453 right_y=0.2741 right_z=0.1462 right_yaw=0.0314 right_pitch=-0.1055 right_roll=-0.0257 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -9.853, 4.6564, 0.5934, -0.6227, -0.022, 0.7741, 0.5402, -8.5538, 8.9504, 1.199, 0.5836, 0.1734, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4889, 2.0796, 1.0824, -0.3187, -1.3388, -1.5185, 0.0128, 1.0512, 2.0106, 1.2991, -0.3271, 0.783, 0.8165, 0.9991]\nstate[eef_state]: left_x=0.4 left_y=-0.014 left_z=0.0624 left_yaw=1.124 left_pitch=0.3271 left_roll=-0.1969 left_gripper=0.0128 right_x=0.3316 right_y=0.3359 right_z=0.0682 right_yaw=-0.0187 right_pitch=-0.0929 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -9.6615, 4.9846, 0.6618, -0.5836, -0.0513, 0.4469, 0.294, -6.735, 4.6427, 0.8864, 0.0708, -0.4078, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4854, 2.0796, 1.0821, -0.3199, -1.3388, -1.5185, 0.0149, 1.05, 2.0178, 1.2903, -0.3023, 0.7952, 0.8185, 0.1121]\nstate[eef_state]: left_x=0.3999 left_y=-0.0125 left_z=0.0623 left_yaw=1.1269 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0149 right_x=0.3336 right_y=0.3352 right_z=0.066 right_yaw=-0.0269 right_pitch=-0.0794 right_roll=-0.0275 right_gripper=0.1121\nstate[joint_eff]: [-0.6496, -9.8256, 4.6291, 0.6471, -0.5495, -0.0464, 0.2173, 0.0068, -11.0701, 6.7214, 0.8913, 0.2027, -0.0659, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249d22c327befa138d1791a538ed5d55927acc0b5b32d4a420271bb0d3214023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a919eb596a5c4126d3fe8317edb4ae928af93d0e51f6379d1a11bf044a197f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037258e27c9c5685840d98895a1364991b89d704b3913f6ff5185d7cbcb2eeb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtECvfI9ZI84Uoiv7rXnUCiQ8isHLafjXu1OnJtzUv0pdKhXVH79Fy1pZlR-uRf3GMCCDvqOb1qabc74dHM1oRS_8YExmOWJH_tmnwxvdNFggLU_9XvGDj8blZr3V8Qzxbi19Oj4AnIglr3zXcoJJnSLOD1AmG8IdzYM1tplT2wX-M84vg-QsbSB9y2Z49mA_zLFhbbH3R8XhvVvNTMIjU7aE41ceFZWJENH6Ik5x1QzJtTfUX-kaTGICvLAtuGzXoVLxG5NwckGFbi3mkeu9wkV59jPKQoObF8LFxmZr-MTmGDi9g8KJum25-I1UQg5ckG6l9HgrG5vpHKkBsikJze9I_cNM5b7QuZasJ6zH5hs0Vzygc0ag_byRh7ZnLtsyBJn_6IJmR4JMSwWib43ldAy3tFCyO0aZw00a3KKkc_7J7BiBCThcepixgSxCc-0v5fBLrvtGJeWb2ylIaNJ6gtqE5kaz5f6hlghRjPGwU2FgT4nzNCG6Gw5VR3isslmKkD8wfKDrUSvqYq-ig4dRFRpf-8Ia5L2r9MnZm6jp4izxW18NICm6NK1YWtF0Owy9F9oGoI9O13BxCcP_LWpVfXMa19SZID67t0rIwq1SIb7Tdo0Sz3wSoO69JtfjGCfyW8xEpJHNqVvya00uDpTZ0XADLSYr0F5R1uzrv_FrvELa7wPnmBJtjR0cmGBEl2jQzkizhZYuvIZwEvmriVesXI4fbuoBzxYj6KCJFYWBymfVPlevveurk29jwuwH5dPbB1961AOsR-s_5_bZT5d8qPLK5SF3_lRSiz6eJRCHAvLSRzNWLmjvTtETMQ_Zn1ileM4EcR1ngEI_FlYfp77Yhdk8wzczgmH5J0wK-0JoQhqiYNQQfML0qP_N1ypH2mTvNOrtudc-WuccLJ0YPBYEjyhMQrv4O1qtdT_2u6lRJeYUSQOfDUpOpgdAwrnyKbJoOFrmE_kJvZ5ysPJrBqKe0sntD0umwdpeBl1llTEkwjsVwXQasjYrTEStfzpvkMqAfWDOb4_JPvBMG7qY8Zdrp_mRHNEBZF4h6se60y8QrsUFaI0HQ2h-Nf8wG8RFjOmPZhuKbCBWZdnSOFkbrE-7sxajsKIaAQn7iyzXPEao_l5MMlZzGJnPYObZ4vem8n8TY2KQgaHnXgx9nHNR6a1-IfYaXOnw898lYr2fJuyKrRHQU6TI0acLP5zvXlhqeuGWdJznqmf3KzjSee8onnAsvFNpw1QzQQcZuDk-XRpxSLoQtxHvAPUoxFlnFt-Qsg8Sb-aTOJPXF2NwkQogS-v1OfND4HksuWg6e4AC3D_eOxKk0ysNl8i7yoKH9hyPYCPmvCdLchAZ3QeNAeaE5c66WBIzqH8DUi2Vew_qjSIPokdJ8VdeIppFYPFD7hy0bvY5om_chaOTj9V3X9ZaoLqOafkojPcXW8V-yITNzKC3hXHc_UkpWVqeZz9hicj6vuxtWe1buK2Utqu7ecI4dTrL3TgYMijf_npIVwNdkLTB2hVAPxZihrsMYVTx7DyNVw6w1qlq45zdJpmDXIup01r_5D50OP1x2etZyrfPlglRXWyGJDP-zWjlhrgfC7MbD6HaeHpP",
  "id": "rs_052ec04fc5a6be40016ab440ae1f1087d092689e1e0c7d25c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right gripper settled at 0.112, well above the empty threshold, indicating a real grasp on the bear. I’m lifting it clear to confirm motion before carrying it to the right basket.\"}",
  "call_id": "call_8FVYO6Gb0hTo0i2T68egR4Be",
  "id": "fc_052ec04fc5a6be40016ab440aed49087d09dec45fb57d0d45f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8FVYO6Gb0hTo0i2T68egR4Be",
  "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]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5177, 0.0171, 1.0496, 1.9575, 1.4769, -0.5983, 0.7654, 0.8158, 0.1142]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1284 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0171 right_x=0.3309 right_y=0.3378 right_z=0.1225 right_yaw=-0.0143 right_pitch=-0.1258 right_roll=-0.0605 right_gripper=0.1142\nstate[joint_eff]: [-0.4581, -9.8393, 4.5744, 0.6129, -0.6032, -0.0269, 0.2173, -0.0752, -13.7504, 8.9915, 0.7839, 0.5543, -0.0415, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6110eecd176750e2dba8ca78ae69b395ee3ca3a2c1e0d962ff698e111ea2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3414e7c7e92afb7d416ec78ec75e5068928769ec1a3517b93071ee30b9bdf858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60893e45389f2b027546303da34369683df168d2bec4802422a998dada86e9b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.572 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4988, 2.0796, 1.0843, -0.3161, -1.3384, -1.5177, 0.0109, 1.0592, 1.9194, 1.5349, -0.6895, 0.7601, 0.7803, 0.9993]\nstate[eef_state]: left_x=0.4006 left_y=-0.0184 left_z=0.0628 left_yaw=1.1151 left_pitch=0.3266 left_roll=-0.2009 left_gripper=0.0109 right_x=0.3254 right_y=0.3382 right_z=0.1498 right_yaw=0.0177 right_pitch=-0.129 right_roll=-0.0813 right_gripper=0.9993\nstate[joint_eff]: [-1.5658, -9.8393, 4.6291, 0.6081, -0.5495, -0.022, 0.8327, 2.5778, -8.6906, 9.853, 1.6874, 0.1392, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4854, 2.0796, 1.0821, -0.3199, -1.3388, -1.5185, 0.0149, 1.05, 2.0178, 1.2903, -0.3023, 0.7952, 0.8185, 0.1121]\nstate[eef_state]: left_x=0.3999 left_y=-0.0125 left_z=0.0623 left_yaw=1.1269 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0149 right_x=0.3336 right_y=0.3352 right_z=0.066 right_yaw=-0.0269 right_pitch=-0.0794 right_roll=-0.0275 right_gripper=0.1121\nstate[joint_eff]: [-0.6496, -9.8256, 4.6291, 0.6471, -0.5495, -0.0464, 0.2173, 0.0068, -11.0701, 6.7214, 0.8913, 0.2027, -0.0659, 0.7839]\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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5177, 0.0171, 1.0496, 1.9575, 1.4769, -0.5983, 0.7654, 0.8158, 0.1142]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1284 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0171 right_x=0.3309 right_y=0.3378 right_z=0.1225 right_yaw=-0.0143 right_pitch=-0.1258 right_roll=-0.0605 right_gripper=0.1142\nstate[joint_eff]: [-0.4581, -9.8393, 4.5744, 0.6129, -0.6032, -0.0269, 0.2173, -0.0752, -13.7504, 8.9915, 0.7839, 0.5543, -0.0415, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6110eecd176750e2dba8ca78ae69b395ee3ca3a2c1e0d962ff698e111ea2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3414e7c7e92afb7d416ec78ec75e5068928769ec1a3517b93071ee30b9bdf858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60893e45389f2b027546303da34369683df168d2bec4802422a998dada86e9b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEC2ASE0IQWPhHV37YlhWpRV32NxK8bNOaPP-78Ur2XjBY_i8oC_IpPP1YmXxf_mcMYBgZ1UfEtm4A4xDmTpOhYXRGiogkTBCPQYVUDwDYV_uTWaX7m0YQmQqR92J459rSLXzAHYwBVZ9vZ2acjBi-V_8dB3281mIrAkQHR20sIZpfF22mMVSPNvrserVC89LJsFxi0CbZpi41pvCOAq47JS4m4-lYJ7G_FvYsV0EDDAMpT9X7QBzC-ZuOZlR7RcBzpU2RPgrQoOr0b5sAYowHTEnHU5lzn246ThWvQFF946ncZbKvhRqVhpbE5Mwn8a4FtgZzSnBQBQ-CxEytZKPV2mAWDBvZK-GRQ2TW6zzEEQiKaFAfSk6GRBnpnGBGoHlUrCVwZgnD3qnqstoLH1XrhR_EtsSMgu7UUgb7ZWKRPBCiLi_YqRiTcihVClQ9D3V7wm0P3WthauYdkEndf8bnkv9lEUemtvgJoV3FcVCU3eEfg1t4DSo-uCqGsTUya8tD8djdj0vB9F6gyGcqgUtt_ZOPtV2-oo-Hx4dMzVFYtVwWsQukIu6ErLK41rSz65fJaKnP0zL1erugqoO2prm1Qhf3Bish-ld9U2tn5HfpzLV0QA8aHn9RC9CHp19b3PKtWneA94qWSxT1IjNI0jfGkv1hWv1a0ZE6VdEy3bGq4liUIUZsbRykY2A-9K61OODhhgCH5mVSnzdTF8kHzLpkE8wbgGRwIf8C7-sdHE357DUe9GDTaoyBGlz_YiQNfUirlAXCXUtnWNvb11dyMZf1QKkawSg1fW8i9H-UnzM1FlSa759KsPjVwEanr74QHGaONlC6V9qL_yXJE_O3TPP0swXoUkFo-b5W_YAby2thxCsJGveP0nzvoePtxrcLdIPDhzS4cIt37I0mOfYexq9DvvHfx3LIDCsj_0r7WWPj38B6JEcEjwNroYnx5Mpq2sSFsJsNtoyOgrFJBMZPSzBbmlPkiJvab_dY_7m7J5XIoiKC469-8luPR3XhDQhpzczrNh81r1HaMElSjKiPTFa18q86APpgrcfMwEpbdioAZRAgPZPATsgi8_WKflHtT5PXw7J9B17-2UU-t5CYlU6rGOldmtDmVrNlj9K5xUQtRB6Bn0Khjp7ggdeuBZRlqahDi6sYW3tLlxikaWGMCw8m-9ZStTKfTHFsBb7IiwPSGG0SdKVgC3lb6Yx0hZT542y25wJXfN_j6BKBr8WKSLzKZ41Z9CB3MT5F6kc2qw0v3PW1jqNMfEWlP21Lgs5_M_7PvBT2g2C7Tm5508J_LovqXgSXEPDAjRLlujV_U2wLXY1pNxM1PoSrgiYTEj5NtJNUbs-cBYK8RAkDSn2Wr18TGs3AEGcg9Cqj6Zp0Id-WJKrApOt7gBPTh8JRxpoPPGH1hMrZNPUBsBig4HhqvFpTdRAbDo4oGjyYX586DlrseivYucEYp5ForaywIsMnWx0RvoRcPNQe8tZxkmellY2laUBZzwleWn7tZqQWCgW2Bv5EwaDiBqhTn_oZMvXF27UIQErsMvls7rAEGI1C55Vy_agyJKWs83Klwj-ei1J26g5zFEQs5huuaEQhug0bgpeyjow7QSDalnpTwXIvM0rZKf5wDiKVzVfraWNqbIddTbmHm86nLwt5txGrq6JmGwBXQI0aOPGXybzDVbCYRMryS8AeMu0qHqRKO-cT8F2yNIW23rKvMbSYfKDOxPNc6P7xNLjLyAFyTHdKRMNujLudZ26dcgs3xAm6uwNglYJhYwLJaiwQ7FWxYhlSPrsRxnu6ehkEiAmm64jgeDqCCKXD0-TzNdJAEiLTvbp-VrrEkV_9klmxxTnAjePBSQgjOr4jjfshBSb2KCNTS5wr0JKImd5A25newhx5LnAOtesWHFSoxDpxjsDisZZSvNisUEk_LiTpT3D2xPM6L09lPgKLSWsttyaEiYDpcopR1GzKyzLpPnGIBV9OFCt2vv1yzBcXtCYBTS9fZwB1kD_9V8X7qRPiLIZdj6DoLi7EC82u6VtUMNetkqCiq7mRhJnlyrYJFnD0C16hYP6K3Jud2Waf6ks9eH56yDvZWuIlpUEzyj4YV-j3PaFr8Q8YJrJe6CaRfxtyZcLoQsOWeGXG9MeMHeyDSSHDf7HNxxuJEYvoSUKrybEC8ymDRrQxLVJRwIvb6rvvuQ-g5rxxHvm-i8v9YNFmkejFoI-gNEzh_lz7JB3-kM-Uz7TSOxds5-76PebvH197877lgGt-dYcejibdQa8QuzBeWGj9SitLNbQ2SjabHYLs2NWavIyshjY9SAjdi_r9Aokl1D7l5mT4NOReLsAA==",
  "id": "rs_052ec04fc5a6be40016ab440b30e2487d08541181ad40fc6c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.03,\"right_z\":0.2},\"note\":\"The bear rose with the right gripper and remains securely compressed at a 0.114 opening. I’m carrying it high to the center of the right-hand basket, keeping well clear of the left arm and remaining toys.\"}",
  "call_id": "call_6NZOOZTELnSs44fUmkQtDWBR",
  "id": "fc_052ec04fc5a6be40016ab440b5405487d0bf70a83c006f7af4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6NZOOZTELnSs44fUmkQtDWBR",
  "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]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5181, 0.0185, 0.1184, 1.6432, 1.2854, -0.4099, 0.1474, 0.0319, 0.1158]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0185 right_x=0.4652 right_y=0.0328 right_z=0.1758 right_yaw=-0.0278 right_pitch=-0.1947 right_roll=-0.066 right_gripper=0.1158\nstate[joint_eff]: [-0.0752, -9.812, 4.6017, 0.6325, -0.6227, -0.0122, 0.1294, -0.3214, -7.5829, 10.441, 1.8291, 0.0513, 0.022, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e7221faca86c091f36612321e8e3367b9cf0ab48c065effdbec6ac3b9c9f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48be7cf9c9991c30065556a0c2c9ba346201a2b6f5c8e5a3cd02a2f2c73a21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c057dcd6e2870faee98478f6f2d0c0c9797712fd12f2ae8a14202fca33a893",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 1.774 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4889, 2.0796, 1.0824, -0.3187, -1.3388, -1.5185, 0.0128, 1.0512, 2.0106, 1.2991, -0.3271, 0.783, 0.8165, 0.9991]\nstate[eef_state]: left_x=0.4 left_y=-0.014 left_z=0.0624 left_yaw=1.124 left_pitch=0.3271 left_roll=-0.1969 left_gripper=0.0128 right_x=0.3316 right_y=0.3359 right_z=0.0682 right_yaw=-0.0187 right_pitch=-0.0929 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -9.6615, 4.9846, 0.6618, -0.5836, -0.0513, 0.4469, 0.294, -6.735, 4.6427, 0.8864, 0.0708, -0.4078, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5177, 0.0171, 1.0496, 1.9575, 1.4769, -0.5983, 0.7654, 0.8158, 0.1142]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1284 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0171 right_x=0.3309 right_y=0.3378 right_z=0.1225 right_yaw=-0.0143 right_pitch=-0.1258 right_roll=-0.0605 right_gripper=0.1142\nstate[joint_eff]: [-0.4581, -9.8393, 4.5744, 0.6129, -0.6032, -0.0269, 0.2173, -0.0752, -13.7504, 8.9915, 0.7839, 0.5543, -0.0415, 0.2076]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5181, 0.0185, 0.1184, 1.6432, 1.2854, -0.4099, 0.1474, 0.0319, 0.1158]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0185 right_x=0.4652 right_y=0.0328 right_z=0.1758 right_yaw=-0.0278 right_pitch=-0.1947 right_roll=-0.066 right_gripper=0.1158\nstate[joint_eff]: [-0.0752, -9.812, 4.6017, 0.6325, -0.6227, -0.0122, 0.1294, -0.3214, -7.5829, 10.441, 1.8291, 0.0513, 0.022, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e7221faca86c091f36612321e8e3367b9cf0ab48c065effdbec6ac3b9c9f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48be7cf9c9991c30065556a0c2c9ba346201a2b6f5c8e5a3cd02a2f2c73a21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c057dcd6e2870faee98478f6f2d0c0c9797712fd12f2ae8a14202fca33a893",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEC9IA5LRdHbRlowiZzLfD9vNkCT7mSeSYARkEWgPsqMSj5eHQW4zSzxobMXsAI4uRFhiDFnSXACe5TZNuNc94fSZPQdF4AbrLgFGE7HRBKpjWzS_OsYdteOvQscYbDnZruMJV4MHMdj6IMDFG0mjnxI7jMUckvKH5r9Ykh0vWRgynwJhxm7nEFThEwTyGumrPslWc6uf8edQfb9GI7uoUS5drN5nnreFWvStQdgRRiLm7pQlQGDka7WnuAfbwR10EQiObpBra5lFbdBSCJ9Xy7ZP665GH2mDr1m_hXjp4xy-Uk5F_rAhILPtStfMYvATBxdudCi4_4-95QsyieNN3vDMoDrt2ya3-_5RgGexmP3vM7wRreFjd4W7Id0JnCmTG3hImynN-l9eBiB7YoIFWKXoeG3Klc52sMjqNIgf3F2Z1Usl_kkoCSIMzX_9G-Fnjr0iWAC5PtYJlsLZ6VWxqZ90SLtWOkGfHf2zPtJh1ZcVAQj8o0XW26Ctqr5MxuZeubuZFFa8ClVX3MyOh6BV2AVBzDFXHc7YiZuB0E2CE1j_OiiKafljpTJYIagqSJQjZIleDmhAOdDN6TXP6be87alzsKhy-Uo-qgdhKQdjBJksVmxmRe7KXWwWbFB9Kxdbox4CpwCCAMoETWdUBJWeXJYlVKEeKB1Mn2xt0r4lAe5XICUZLCCt3vcaPF_jU4fEH7XsqBF4KRXBfCrbVgmA7nOLoLLVpDPVKNteiHSrhdmeP-7JiD6-cQqazemUkU_1IyKJfeyc3aGjKJhWvQaIfOt3xarMKzF9GqZjOq63g8PzDqWhbhPL0maHwdH7JZbYJyE0LJ_MUPIubOjYFX0H1jIH68pAO1LNIdrXnB6yYgf4KfaJo8x2OOts-LbKL4uQiJ9mtxYTH7GULjx6GUBRUPf9lT7EFkjjbXA0pugsSl5RJ5mLPlEs3BZlvJl8ytaEE8hzN1vBB_oxJh-315PxJTvDotC2hKlDERLJ_7B0LQ7-ZG_bGM-RzU3Prdo1f7oxpHdn5ZBb6UWHBe5i2ECzF6xECZMs2ODZi6kfAMBBeE8ycMt3ryrbU2dq5UPcxuhp6Ob87cXleePrKNntnpXAY-vP-pDrPlFbHLtAjS8MoSmvgsRSYk25vasHYHx5K0pTCFVdT6MWPhDNsVyIB_9KNPK26p0kBBOBATJbLupk7pbr71Su1_Pdci-ngC00_E5RTHodFTXQ4UqYiE4-_5ne2w04tThNBL9gsOV0BproauK-eBi21miLXiGrA-vGrjMAqToEe69vQSxQaiOs_FH7N_durI67eX2XVU8H7QP411ZPxqJG6ZUCRqhnT-OPyXf1jTkMNtiOCCLfiLCFVUSKR-7RmBtXeQK2l7c-5GxwdO8oelHXUUDVu0PEl7HcRlCct4WzdQBFKFXu94P4tskSl8Gry1od8tLE5mB-Z0DFcyiZh_iOUH7D5ou8brTYDUgDdQNJikcnUTWWIj0mNz0nLPB0WlAzdmRXWFa2vFXwgrKAjkm6ef8c9COsyHPDUsnJGWQ8s7umHX3GoTEBhvrTDnskQcVeVvb69Dc-rpcyUxhNY4=",
  "id": "rs_052ec04fc5a6be40016ab440bb70cc87d0b8c51a7238f1b032",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The held bear is directly beside and below the right basket rim in the wrist view, with the gripper centered over the basket interior. I’m lowering it into the basket before release so it cannot fall outside.\"}",
  "call_id": "call_LOr0UIl8Sp3vlDHD7iIGJYfy",
  "id": "fc_052ec04fc5a6be40016ab440bc207487d0804852dca2a6b5b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LOr0UIl8Sp3vlDHD7iIGJYfy",
  "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]: [-0.4835, 2.0796, 1.0821, -0.3202, -1.3388, -1.5181, 0.0199, 0.1165, 1.7126, 1.0557, -0.128, 0.1345, 0.0189, 0.1176]\nstate[eef_state]: left_x=0.3999 left_y=-0.0117 left_z=0.0622 left_yaw=1.1285 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0199 right_x=0.4607 right_y=0.0337 right_z=0.0981 right_yaw=-0.0121 right_pitch=-0.2135 right_roll=-0.0687 right_gripper=0.1176\nstate[joint_eff]: [-0.0342, -9.8667, 4.6017, 0.7497, -0.5348, -0.0269, 0.1343, 0.0615, -6.3385, 6.0103, 1.5067, 0.0855, 0.1099, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8371ad0ba29cbb35cb9817882eee1579b452839fea93524a3399c5fc84eea1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c639129e965d5fd1844c06f3375f78bf5449d8ecbd1513deee35c186b9f7764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dcbb64f8fc531683001822b364a5aae9e503d903565ec51150e876ca9ac7f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.58 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4854, 2.0796, 1.0821, -0.3199, -1.3388, -1.5185, 0.0149, 1.05, 2.0178, 1.2903, -0.3023, 0.7952, 0.8185, 0.1121]\nstate[eef_state]: left_x=0.3999 left_y=-0.0125 left_z=0.0623 left_yaw=1.1269 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0149 right_x=0.3336 right_y=0.3352 right_z=0.066 right_yaw=-0.0269 right_pitch=-0.0794 right_roll=-0.0275 right_gripper=0.1121\nstate[joint_eff]: [-0.6496, -9.8256, 4.6291, 0.6471, -0.5495, -0.0464, 0.2173, 0.0068, -11.0701, 6.7214, 0.8913, 0.2027, -0.0659, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5181, 0.0185, 0.1184, 1.6432, 1.2854, -0.4099, 0.1474, 0.0319, 0.1158]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0185 right_x=0.4652 right_y=0.0328 right_z=0.1758 right_yaw=-0.0278 right_pitch=-0.1947 right_roll=-0.066 right_gripper=0.1158\nstate[joint_eff]: [-0.0752, -9.812, 4.6017, 0.6325, -0.6227, -0.0122, 0.1294, -0.3214, -7.5829, 10.441, 1.8291, 0.0513, 0.022, 0.1538]\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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3202, -1.3388, -1.5181, 0.0199, 0.1165, 1.7126, 1.0557, -0.128, 0.1345, 0.0189, 0.1176]\nstate[eef_state]: left_x=0.3999 left_y=-0.0117 left_z=0.0622 left_yaw=1.1285 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0199 right_x=0.4607 right_y=0.0337 right_z=0.0981 right_yaw=-0.0121 right_pitch=-0.2135 right_roll=-0.0687 right_gripper=0.1176\nstate[joint_eff]: [-0.0342, -9.8667, 4.6017, 0.7497, -0.5348, -0.0269, 0.1343, 0.0615, -6.3385, 6.0103, 1.5067, 0.0855, 0.1099, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8371ad0ba29cbb35cb9817882eee1579b452839fea93524a3399c5fc84eea1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c639129e965d5fd1844c06f3375f78bf5449d8ecbd1513deee35c186b9f7764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dcbb64f8fc531683001822b364a5aae9e503d903565ec51150e876ca9ac7f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEC_m-QBgrXlX5yATyQW24SbnPyPC9Vx76wxFnJ_qW9Ua7EfS1XJe0qae4VDvUsuklNP9VNjtCeMUrF3M22AP8Fd5_MsjBFgwhkT8R8-49cvtKOYhiDYKTv2Qd6pvG4kpbONcYD-VcGP1oWeP5Zw87-G2qu9saPAi5Ge-wf__emjTIk_hu4DuS-N6xbVaib9GuVsok6TGGyXpX9XFCg1DspLXtFWO_IRbBJrUQFrMYhJv_WkGvpoI0jXmOsS_Ls4F7GttrndPRx-JzWT-dZtTOfR3_5xfFWDH9_i0FT6TEKopPDFjd5z1ph3ToA_cAdUWa5mqGIwLE-zucbe4_Dc271QUrzIOn6NeAHaQWatPugKK9_WHqF-0HiVjlIbThdL-a4X0z9yN9sBV78hbZkU-Bj4VePrS7iFv3rRBy81IeF4ESBvIppv-2KDBDNc34mKBpJrAhNdPjOw7pqojfOoJPxcpn4otH_ab3jipJw-lqIJytvSrilM0j2ylYfZZcswLWyBBZGIWDTbegePsbAHGZeVfajzZ48c5DBN95r9t-ymX_3BUYtTgOezoiug2CRxxvRz3i5GMEzpoBrQWTXienDETc1JS0qC_AR2LVkmZKBqXzPOpPoM5Uvd3YaSDzFdBqQmzdI0bV3aSd4p9wmW9eeXQJ4E-AetWd7s7wW7qKzslcAAdI5u9JhpJkZSKUzvvpAXTXxudpeMG-2HZaH9E0N2C4ZqFL9w47KQOCc7HLCZ-acXE_NMqkwNm7794HLmjPxgA5YC7MkT91qzGyMt7NQ_abn-1bkQ-CG180CbK_a9HYXNEXBNpTyQHniAfJGFOQ8CKYaVHv-MuAnoTVxXuAGoGZWd_gHE8diF_-WoS42zxi0O0IKih_z7nqYIHQauKKtM8L03ztTIM8U5wAvEsciEyNULTYbffKsiuopFTY6PBlv_m7rM089yjAw-TGDM1bRSItnGaRD7Fy8Vx12StTSQO_yE-jRj01iw_sCG8yWKkrqu1CgWEigT2ooEZLNyU2o__wZOJUn1YmGNlAt4cZ564DwGPnOPnOl6J-xIdVJsJw3-bjBr_ADNEgp848CzO5h65P2Ea4oMDpvwEyrwsjpP3VRLB7W3UzhWod1ZLCGvl9WuJ9plbbytNDaXmATpfEaFAkLQdHsQZ9YggIgabUdFuMz5r_gqrNEICc0bHvz8uUA=",
  "id": "rs_052ec04fc5a6be40016ab440becee087d0b3c7eaefadf40946",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper has lowered to 9.8 cm with the bear supported inside the right basket footprint and below the rim. I’m opening to release it into the correct bear basket.\"}",
  "call_id": "call_F5w8eGKjy3obs4yrFoECSTB2",
  "id": "fc_052ec04fc5a6be40016ab440bee88887d09f4cd16aa7b51dc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F5w8eGKjy3obs4yrFoECSTB2",
  "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]: [-0.4835, 2.0796, 1.0824, -0.3202, -1.3388, -1.5181, 0.0215, 0.1158, 1.7222, 1.0416, -0.1032, 0.1421, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0215 right_x=0.4609 right_y=0.032 right_z=0.0927 right_yaw=-0.0168 right_pitch=-0.2119 right_roll=-0.0774 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -9.7846, 4.5744, 0.5836, -0.5885, -0.0073, 0.1587, -0.1846, -9.3197, 7.8017, 1.3114, -0.0464, -0.0122, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff7d6d5fd92802e5209f7823630a0a02b5d1277fa08eb071d0d798ff9ecf4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d0d086e54fc99465091c8337ebe1dc51752ad623adbd9581990a6f587c9b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42df4a7b99935611edef1ef37bc443454d9e34a426145e009eb09b3949e1a782",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.679 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5177, 0.0171, 1.0496, 1.9575, 1.4769, -0.5983, 0.7654, 0.8158, 0.1142]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1284 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0171 right_x=0.3309 right_y=0.3378 right_z=0.1225 right_yaw=-0.0143 right_pitch=-0.1258 right_roll=-0.0605 right_gripper=0.1142\nstate[joint_eff]: [-0.4581, -9.8393, 4.5744, 0.6129, -0.6032, -0.0269, 0.2173, -0.0752, -13.7504, 8.9915, 0.7839, 0.5543, -0.0415, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3202, -1.3388, -1.5181, 0.0199, 0.1165, 1.7126, 1.0557, -0.128, 0.1345, 0.0189, 0.1176]\nstate[eef_state]: left_x=0.3999 left_y=-0.0117 left_z=0.0622 left_yaw=1.1285 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0199 right_x=0.4607 right_y=0.0337 right_z=0.0981 right_yaw=-0.0121 right_pitch=-0.2135 right_roll=-0.0687 right_gripper=0.1176\nstate[joint_eff]: [-0.0342, -9.8667, 4.6017, 0.7497, -0.5348, -0.0269, 0.1343, 0.0615, -6.3385, 6.0103, 1.5067, 0.0855, 0.1099, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3202, -1.3388, -1.5181, 0.0215, 0.1158, 1.7222, 1.0416, -0.1032, 0.1421, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0215 right_x=0.4609 right_y=0.032 right_z=0.0927 right_yaw=-0.0168 right_pitch=-0.2119 right_roll=-0.0774 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -9.7846, 4.5744, 0.5836, -0.5885, -0.0073, 0.1587, -0.1846, -9.3197, 7.8017, 1.3114, -0.0464, -0.0122, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff7d6d5fd92802e5209f7823630a0a02b5d1277fa08eb071d0d798ff9ecf4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d0d086e54fc99465091c8337ebe1dc51752ad623adbd9581990a6f587c9b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42df4a7b99935611edef1ef37bc443454d9e34a426145e009eb09b3949e1a782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_052ec04fc5a6be40016ab440c1e65087d0bfd2b3ff87668e24",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDI3d_nuB7vZ4DFssIDuqoCEDyCm__YrbOc-RC5sZYaE70I12C9uGbH31x9AUmNsXjwRonTi8IfAVpB1o5STtE3cjXbqNeHDAskSHBHuZdTYjZ9fNII8dyoDLuRX8GWdPAAHnvj_gP6OXykQhN3I1vOZHM2M2m_wiXVqF6ddy5Y8695W6Yym_f61YqOfFAuUZlyZt6sAMIytVA841x3mI6RFmlMT1SQyV09YoVgx4T5vMG_saFJxDcDTAOMVtdVxknRDaSrbjJWqKYXk82t8Mk3BCpSAVVo_DymKAE5XACelmhFYU73AW1FaSTvL_7xWoiOmj21IgieV_zqQVgdCsbZq4lgmgRoqR_Id8Z4lwRdmFkW1M2PSCl4FKbJ8GNfeC0xXN1V1LCWaKbpyWsxQ92kQBIvnmzTS3aNpUGoX68nryvSPJcX0ILZWa1Qx6O1T90R8XCMh4j1irWZsiyH6ZZlMTWtedDGifvU0JkRh46XGjos_ZV4rv21uIjGDCRNiA_Ks7-NWivjq58gM708dfdqrPm8QrfAXJlCXTECLMX86FxKvdwyJPG2WMJRQ1E--5fLrc3ACcCYEwaXHwVVfh0BpMrllYWM1DD0kSI3gWwcB_UIB3laqp7N-a1US5FobA0ynRGJmR1gqhd08daBSAoncMxuZ2xHvOX_W-FzqEIuvTpZ0SG0tP7m1hglZjYAX_QaFf2_gDvgKgr-CCx3cwcWOCuCjiRAGiyXsrscdUz0tQrodpOxmxxGz1mO7JKwhXVoEtp7qeVh2ex-PdHea5SThPfllfQ-OfweKvVyaf_Hudz7juNYe7Fcr-9L5K3vygI-bjYnZKCrsuReLFLLqjUjFYn0uijaa9lsXxaZpBbqWuaVrIzOMmDGCo1qre895cA_m7s0kSEDyMdvxigIejIhOH9HmQ8Tgo7SiDbTs0P8T-SHQ-vM4UR056Q8_2qQbQ7pOfWZTEp_EhV4T79VCtWiOhpNCbWB-NJZ_JzHjBqePUd30TwgxvE4FwbioCbEvLzc93LVEfFWe6np8DnHrsvmN0nZrm3hktJTxTOcpPQN4GPlrgoCYvWL-cZ_h02xexlHYGBYMb0ARfugm36OOte-v6qhsF6ioTjC6IFrvXTzeCxDAx3wpmx7-uYywir9DSDZu_mNf_JjCkE57qUW9G3YaK1SdBZP5B63-7BgIPqZc8dIVyci1Z24RPNhuGCtG_dW_aiwcCCrtk0o5Un8pNyLV25hSGwTTuVtXv9uNlimSM-g7mDUwUYBZw3bg4KTX2OxkzzZDPOA61xf24xGlX6EEpPzAoYrSmbKsUQ1Ez7bwZ2ue2r7a8cOtSrcASJ6EFXUhxOE55fBSrESHLUh6ahoEGNT1g64kVHVnVLCjFvheofHDS-bqCHCTa43_0xkLRM_y0OEUp2lQprbk8H4T7xUmiyN-HE5il5UGFQYl3HBy5__ixj-RhQzDNBL76sNJtI4sPmB0-BiIyAaCJdNCln5AOmzOKs2p8rZN9u0cz5Eak2kf0qA6HwmcZsP2nxaMKGvJ91Uched_SlUpspEBYy0iKgd0ARElEchrXfVKQ2zFCmzLqbx3JMDGESzbiqJ3NASSUz5b8PcPUcRtyiuYWD0FoelUH5x_ZQuqivIL43Qyrf3DlZZihG8zkztZpAAMx1TV7LIPGFRwVlW1yFsq8QOlwP7STHKhonWahzAeJO2M9v0OSw6Yf_YAVJdTNoFJvRDGq-w1FxGYIE9K5acOE5IAw==",
  "id": "rs_052ec04fc5a6be40016ab440c6f00487d0b99a33c9ce6437dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The overhead view shows the released bear resting against the near edge of the right basket rather than fully inside it, and it remains between the open fingertips. I’m re-closing at the current low pose so I can move it deeper into the basket.\"}",
  "call_id": "call_RRzbxttwctmzlwiiX1B2lHAk",
  "id": "fc_052ec04fc5a6be40016ab440c7fcec87d085ff00893b06e5b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RRzbxttwctmzlwiiX1B2lHAk",
  "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]: [-0.4831, 2.0796, 1.0824, -0.3199, -1.3388, -1.5181, 0.0229, 0.1158, 1.721, 1.0405, -0.0959, 0.1375, 0.0059, 0.0971]\nstate[eef_state]: left_x=0.4 left_y=-0.0117 left_z=0.0623 left_yaw=1.1291 left_pitch=0.3272 left_roll=-0.1953 left_gripper=0.0229 right_x=0.4619 right_y=0.0329 right_z=0.0939 right_yaw=-0.0081 right_pitch=-0.2055 right_roll=-0.0793 right_gripper=0.0971\nstate[joint_eff]: [-0.0615, -9.6752, 4.588, 0.6227, -0.6081, -0.022, 0.1294, -0.0342, -8.3897, 6.5299, 1.5263, 0.0611, 0.0562, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1dbc3b97d24ffcf147b963eb46f7913ba8b82be1975030e9e5b88c02e70346c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7985de2e156f52e8072c675c1a1c6467dc3f7a34c4a843bc30018b6238eb54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c71a0ac83f20d9adb7128f9d19fa44f26f1883a6809b6bc537af3ca07aafcb",
      "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 · 3.76 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 130 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3199, -1.3388, -1.5181, 0.0185, 0.1184, 1.6432, 1.2854, -0.4099, 0.1474, 0.0319, 0.1158]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0185 right_x=0.4652 right_y=0.0328 right_z=0.1758 right_yaw=-0.0278 right_pitch=-0.1947 right_roll=-0.066 right_gripper=0.1158\nstate[joint_eff]: [-0.0752, -9.812, 4.6017, 0.6325, -0.6227, -0.0122, 0.1294, -0.3214, -7.5829, 10.441, 1.8291, 0.0513, 0.022, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3202, -1.3388, -1.5181, 0.0215, 0.1158, 1.7222, 1.0416, -0.1032, 0.1421, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0215 right_x=0.4609 right_y=0.032 right_z=0.0927 right_yaw=-0.0168 right_pitch=-0.2119 right_roll=-0.0774 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -9.7846, 4.5744, 0.5836, -0.5885, -0.0073, 0.1587, -0.1846, -9.3197, 7.8017, 1.3114, -0.0464, -0.0122, -0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4831, 2.0796, 1.0824, -0.3199, -1.3388, -1.5181, 0.0229, 0.1158, 1.721, 1.0405, -0.0959, 0.1375, 0.0059, 0.0971]\nstate[eef_state]: left_x=0.4 left_y=-0.0117 left_z=0.0623 left_yaw=1.1291 left_pitch=0.3272 left_roll=-0.1953 left_gripper=0.0229 right_x=0.4619 right_y=0.0329 right_z=0.0939 right_yaw=-0.0081 right_pitch=-0.2055 right_roll=-0.0793 right_gripper=0.0971\nstate[joint_eff]: [-0.0615, -9.6752, 4.588, 0.6227, -0.6081, -0.022, 0.1294, -0.0342, -8.3897, 6.5299, 1.5263, 0.0611, 0.0562, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1dbc3b97d24ffcf147b963eb46f7913ba8b82be1975030e9e5b88c02e70346c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7985de2e156f52e8072c675c1a1c6467dc3f7a34c4a843bc30018b6238eb54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c71a0ac83f20d9adb7128f9d19fa44f26f1883a6809b6bc537af3ca07aafcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDMM_nKaY0Ry8DCwOgzjaGzDfArBsmPus-pCyulbrOy8nJhziNx_G5b-hpfg-noUlgPnfq5eT0_yF-cFKLRHzjNMf-ZjNY0wyx-rw-Akd15uEuadCir-goOMBLtpC9ZS32Cb566M2PyF43zGLG7zqdOYN-ZzwV6qzbhjxLQ00ABmNPcRLjdB6GLGZ3r9lqiLSWSsjA4JWA8hKhFViSJn68TSWAtAinVef5OZRIf6xrMPCODmFkWwutYFnaCHSXIgDRzmOjx2LgsCcbrk-2OEuM1ba5ImPrKWCEkRkh5mvPDapKpI2VN_2wIm7VA2Q8aAmDu4Jz9PqzuGIqG4vfXvoDFntSWu8ifuQ07XCRp6-c7gduLU77K3iOSsUjq25eK_avDlXIQVGimKauAWsam-fCi70O4ATNUaSMfTUfrdLF6dwFYoSz-Uhgk5T2gBWOQn4PnkXinHbhOz3pzdy1k-ADVIGekO3-n4gb0LBAhfFna9tKWtRgeB3w8urXDvvsacJfw2O6pu9PCBSFDxGalOjmEO4BROMdV9dwkR2P46R0zcxgLP70zp-h56nnHdF78YWFRAJZNtDL4B88AYgILyogQ8PylyovigeNpa9-8_Gwo239OI3gyaHmDxVkpRX55qdBq6Zji8hrq4AJ-KbD-hcIHwPugHgJzlnWbNghcjra-TQlduMOzZNT-Sbyv3qRJYeGXhq9inqcT4C3MeiDiHrJuQww_7l5sYdHmxqIo_wvcY4Thb8EtGlMNoXsRk9QvKC5OxP8bZPq3reC3V60f09Vhh9aPiRHwZK1PhiclMCcdouvs__MtgR3DJQsxwopnp28b80LYX3pGlnpmeRHLrPjH9uEJeSlAXHKxjs5WTCYRPJ3rWOevIzWbJ3HFmnsMGwHKuFzfrBEuwJNSGFPmtXz2dwMZFkPVkSgOc6kN9_5D3-JkRvIHY0qCneWtHVkU5GhbAjK8V5pu-0NGywmCadt7ExdfvifZyUMgmpil6XpWggamCJpPNflLuMggRzoySRfFhktgzXCDVQOuScsABsYba06D2LR-DforRUi_179uz6XmLXm90GHhKv_hoMvrPTDtfjsFQaNqU3WzzdS3BCh67c01ziOSDRSaNJP1I4vrDAI9-TrXpb8TbMrjARQbXjyDk72V47ZgWuoKyjqgp_cmshFUZsXVUzT8TKXS4NHim5fATwvhvYM8jTYUQEo0Z-HZuTfUD5SHeulonw660h0r7Zs0EErNiF2kdyjAd3_ROr1NUmXkBxbsWVSrS4-PsPBd_kziyqjOCDzjaQWtXvM76ya_mLxx64SDIlIU0C6Qkzl9ZSbDdh4L2FVZId59wCFM8iaYxD1R4V9EHWcwCgBiATkGuZxK58dMEheVcT5IhnL5AYj2Kp9XUetJLZ43axq-FSlz7-yy2sFWf0bzGaSlqA==",
  "id": "rs_052ec04fc5a6be40016ab440cb1a5087d091f19e0225e68daf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":-0.02,\"right_z\":0.14},\"note\":\"The re-grasp settled at 0.097, confirming the bear is held again. I’m lifting slightly and moving several centimetres forward and right into the basket’s interior rather than releasing at its near rim.\"}",
  "call_id": "call_RV6KBfg74WM2T4Dcbg2okNfK",
  "id": "fc_052ec04fc5a6be40016ab440cbc4e487d09daf230c1b5d1be0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RV6KBfg74WM2T4Dcbg2okNfK",
  "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]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0234, -0.0223, 1.8893, 1.3849, -0.3637, 0.0387, -0.0898, 0.0985]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0234 right_x=0.5054 right_y=-0.0145 right_z=0.1088 right_yaw=-0.0085 right_pitch=-0.3055 right_roll=-0.0774 right_gripper=0.0985\nstate[joint_eff]: [0.0068, -9.812, 4.6154, 0.5885, -0.6178, -0.0317, 0.0415, -0.6632, -9.8803, 10.5504, 2.42, 0.0562, 0.1148, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951462d14fd91839c8a08dec4ffeffb7d4a625bdb7c27e4e3bfce2c9546db6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d3995163e2faeca51db1d9642b9ae67075cabf90ed973354a770c525e4cf88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a619c287cf6a8e6c97b0b154cfe8526e86440b840a5ffd8f7b67880bae3d80",
      "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 33 attempt 0 · /responses · status 200 · 2.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0821, -0.3202, -1.3388, -1.5181, 0.0199, 0.1165, 1.7126, 1.0557, -0.128, 0.1345, 0.0189, 0.1176]\nstate[eef_state]: left_x=0.3999 left_y=-0.0117 left_z=0.0622 left_yaw=1.1285 left_pitch=0.3272 left_roll=-0.1945 left_gripper=0.0199 right_x=0.4607 right_y=0.0337 right_z=0.0981 right_yaw=-0.0121 right_pitch=-0.2135 right_roll=-0.0687 right_gripper=0.1176\nstate[joint_eff]: [-0.0342, -9.8667, 4.6017, 0.7497, -0.5348, -0.0269, 0.1343, 0.0615, -6.3385, 6.0103, 1.5067, 0.0855, 0.1099, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4831, 2.0796, 1.0824, -0.3199, -1.3388, -1.5181, 0.0229, 0.1158, 1.721, 1.0405, -0.0959, 0.1375, 0.0059, 0.0971]\nstate[eef_state]: left_x=0.4 left_y=-0.0117 left_z=0.0623 left_yaw=1.1291 left_pitch=0.3272 left_roll=-0.1953 left_gripper=0.0229 right_x=0.4619 right_y=0.0329 right_z=0.0939 right_yaw=-0.0081 right_pitch=-0.2055 right_roll=-0.0793 right_gripper=0.0971\nstate[joint_eff]: [-0.0615, -9.6752, 4.588, 0.6227, -0.6081, -0.022, 0.1294, -0.0342, -8.3897, 6.5299, 1.5263, 0.0611, 0.0562, 0.0024]\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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0234, -0.0223, 1.8893, 1.3849, -0.3637, 0.0387, -0.0898, 0.0985]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0234 right_x=0.5054 right_y=-0.0145 right_z=0.1088 right_yaw=-0.0085 right_pitch=-0.3055 right_roll=-0.0774 right_gripper=0.0985\nstate[joint_eff]: [0.0068, -9.812, 4.6154, 0.5885, -0.6178, -0.0317, 0.0415, -0.6632, -9.8803, 10.5504, 2.42, 0.0562, 0.1148, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951462d14fd91839c8a08dec4ffeffb7d4a625bdb7c27e4e3bfce2c9546db6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d3995163e2faeca51db1d9642b9ae67075cabf90ed973354a770c525e4cf88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a619c287cf6a8e6c97b0b154cfe8526e86440b840a5ffd8f7b67880bae3d80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDQJrZDbYTpXgPzyRs096AXjtTLgDxFN8sBP_cGj7YfAeTPmhQ6qTIZ0znRoi63jF-eIGOfuImlrF36XYpcSmKfl_rTRcyp8Knqokw5zaxjnbeK3avSGn2j6PKzbYZvfwKqhqtj-Ox9jT--haNSuEFFW_xaaZbfFPaoutXdkWUzrTUUJuShWwLtsYIRjSyqXUNmtbYZT3ENJ8J4sVweJIgTGLHgLJDrW1jG49mUkGKOL_9bPb4z5jAYZtgPVYYzdbIagi7RcpuuDMrZim5sr8a4vqJSa9knzEsa9Y1MNWFcl9K6nDVpt2u1rpCYwSSEQ-bVPaS9xGWh8x9mCnKXFvtDY20r126hDTnDH4xteQm9tB4XF57d_qcbkByze4r8dh8bKhwtqZZzVMrHq7izJ6wLea8orwvqEuvTMy9NLXufw4h26CEtFBnPh5cQzHcrjIMoCqX0JPoCqa5kkBUxq6W0GBMOFqB4S8ktVvTLt3iZo3CWJmqK4o_7g5FFy_3mp3tRFkONjANZCQ5GtTCthOFa4si5aAyYgc0YoKaQqnzsIc0LiYE_rcPV_RI3KS_Nbb5yATd-xCsV8NxVqb_HjNXwjHllUwWG6yXKi_BoM4STCeHOtwbxFiQ64WpTKH7nrTzaR9_ZCAbGbXyISdIY6BA7mJzh07GOCvcvJsgQOdEvzheBnIZ-vJgQl2SRQKKJIvhtSkpvqXrei7XJFzw8AmmuYtyRozIIm2MFt_tTwnlxARt1riaYIf2_ZC6M2wHl5x4Aw0cHSHlch74ozu3Td5EAU0XiafR8QlPalGJ_q6nhAgHe6lzDgPNhI92k1GE1z9vJQznILpid2rRAYC_M-N-ivuV9inAV15vhgvnbgSfklmlItZkDwPc7h7h2LqXufwQH_E_CAOEhbEaeUYrY3KCZFcPQ4hVD5ZmxBbfqjNBky1Ak7GcL7HfA1oo3TDTZJx7Ion-_W8zHp0Dm2rfFwf-r7KOdw5tMZfZ2GsDY0WwcNg4JBJdJ5SzP9GasalEoUcnSkkh7oHIs5fnyLncU2XXeh7q6Ta6RLiubvqEipGQ25L7SgETHPXHh9YX5bD2NFai_5D3pQwfT5ruLqCXfAk6pXhzJSqhvqoZov8jBAQ0xQVLvBEataOaWBmCE7nDp5AgBC5rD1TgmpCbbdVVPbCdXjyj_egY7Klc4WYvnSw8IdoUiu1porkYc8XJ38d7XbARv4obY1Q-1t7gJ1mjvOoUkQ14NzuKeDV5pJ342RiUDnUXapJt1jjwmV6DadAcN3nnh085XmPhnhpAx1vMcAit-VW5CiiqMaPCZga3ctkl1M3NoXkuZjT5smZez0zdTNSswxEqy7sLG-rQf53W7Ixu7H60NJoKwTyQiFLBe_HZQiN4VeZHwwFEd5FflXRlblQjwkyWmXz5_JNhMuc7JGnQt0yrVfg-dj7_2ZeYY1-1RbKrjFzGp6PZcO0sactzo9bBRWE_WFLQOvcp6YYsslIvsIwUBzjOk592CKHiR6HmJEJsMFB_dHM7R2cnJ_O_By9M5JUlIV5mHTYxjPFqdCtOrNCNxnKusCkki7Ng38oCrxsh7AMgaTXLO4TXgn3gaPHdgZVf-_SuhH1g5LPvLNehXi-ttAx1iT4X7ChoYbyGhdVD4sigZFQs4qYU56PpH-LFFEintp4yfd_9VIRx7HyhTK9QJ6fKQsJfpk3Z6c0At3CpNMpblLafJmkQgUR__v3Mgb6s-uyfptfQZEuHxtvlHH7h3E5T0fJmO-vRoOH6lMWap-PWqAplvASrsnPxkHdVx_1PybyGY-zoi04e8NlhFi86CHbT6UmpjLGkhLLG0RxQ=",
  "id": "rs_052ec04fc5a6be40016ab440cee94c87d0bdbe8431cb450cd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":-0.02,\"right_z\":0.22},\"note\":\"The bear is still pressed against the basket’s near wall, so the low transfer did not clear the rim. I’m raising it well above the rim while reaching farther forward over the basket floor before the next release.\"}",
  "call_id": "call_FX5AHxJxV4ZInGMURGDuWoS2",
  "id": "fc_052ec04fc5a6be40016ab440d007e887d08e043806279acd64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FX5AHxJxV4ZInGMURGDuWoS2",
  "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]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0235, -0.0265, 2.1075, 2.0953, -0.8761, 0.0212, -0.1059, 0.0992]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5561 right_y=-0.0149 right_z=0.2046 right_yaw=0.0121 right_pitch=-0.3261 right_roll=-0.0733 right_gripper=0.0992\nstate[joint_eff]: [-0.0342, -9.853, 4.7932, 0.5934, -0.6178, -0.0122, -0.0024, -0.7453, -11.5761, 9.0051, 1.3651, 0.1343, 0.0904, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779fc11f167ffd46307ad0ab7db25b9d55f941c81172f804daa456821b849439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17450a9157436fb3b9dbfa046f36cfd4782ff3e2f4387302bad4f8e58364dfa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2115b1b5e67ab6a54015b18ea167b4daaf9dd213211e7eee0cae6092b2f047",
      "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 34 attempt 0 · /responses · status 200 · 3.409 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 134 changed as sent

message 138 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3202, -1.3388, -1.5181, 0.0215, 0.1158, 1.7222, 1.0416, -0.1032, 0.1421, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1286 left_pitch=0.3272 left_roll=-0.1949 left_gripper=0.0215 right_x=0.4609 right_y=0.032 right_z=0.0927 right_yaw=-0.0168 right_pitch=-0.2119 right_roll=-0.0774 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -9.7846, 4.5744, 0.5836, -0.5885, -0.0073, 0.1587, -0.1846, -9.3197, 7.8017, 1.3114, -0.0464, -0.0122, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0234, -0.0223, 1.8893, 1.3849, -0.3637, 0.0387, -0.0898, 0.0985]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0234 right_x=0.5054 right_y=-0.0145 right_z=0.1088 right_yaw=-0.0085 right_pitch=-0.3055 right_roll=-0.0774 right_gripper=0.0985\nstate[joint_eff]: [0.0068, -9.812, 4.6154, 0.5885, -0.6178, -0.0317, 0.0415, -0.6632, -9.8803, 10.5504, 2.42, 0.0562, 0.1148, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0235, -0.0265, 2.1075, 2.0953, -0.8761, 0.0212, -0.1059, 0.0992]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5561 right_y=-0.0149 right_z=0.2046 right_yaw=0.0121 right_pitch=-0.3261 right_roll=-0.0733 right_gripper=0.0992\nstate[joint_eff]: [-0.0342, -9.853, 4.7932, 0.5934, -0.6178, -0.0122, -0.0024, -0.7453, -11.5761, 9.0051, 1.3651, 0.1343, 0.0904, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779fc11f167ffd46307ad0ab7db25b9d55f941c81172f804daa456821b849439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17450a9157436fb3b9dbfa046f36cfd4782ff3e2f4387302bad4f8e58364dfa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2115b1b5e67ab6a54015b18ea167b4daaf9dd213211e7eee0cae6092b2f047",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDTZuTyhk1AWRWhun64FoLDzjG4GPUi7eO7lR2DrAr5tV6ydWc-XdnHLfweCeN2Gd_o-HPLzZV_a4tdQdbCmtlmNdyfYE3_lvhzgfI-MECF7iHeQ2HtDA-lZp8s-chTFVcxvPQyPA75d5lsq1Wk2v-C2F9WjtK70zbI6LVFremmR4G8aIAmzAZ409fmLjBxUmF5Xxc1qkr4ymGgUlsK8a-kG5YgI6sDvSmZUl0EdXEXfNcT0I0y8zgTMeMshwMhaVh7F61lV1XtlnbWXXfX0UfV8gHOswLlBZwb3t-1tPk1g8yj3SQndpr5ss8O31AVWm24m-jumHRT4KGOj9wpCptWLKIr1kLANH_SPSDrS_VflIwKN9ie7dy7NSXXq5d-0Lnk8gQZRf4bYiw_D-Ie7_9aoX8_lablGc-xtc4RZFLQaRdNiIHf5EIRjopw_A_LRJdAdzpcR_YJxNwAhR-us94dGRGbEw5SYzmBBDd7_NVLpJy4mN7k521VsoFWA_Lz_joKB3SKv4w9Fg2FZnCnTR3SINIT32wqTWNE3pbL_ZvhF863azXgVtr6KOMHROG5VgxY7ccPtg_xDQ2oW3MrsMELLSl1MeIa2SRV_wKKFQe6iaPJZ0xFrcwdWL6k4M-9v9AW0kyVAPfLM6Bbwn-WCBBcVm3DS_6ikeDu-yOUVpRgI0xmXF-QsvrvJS9Opoo_VG2slUygw6uMrMNkQ-HOt_jm-8sInTNd4eRNXEu8weuU_8HHHXAz4ZspHCRUShmo1ibw7uZN9l6tAXlKh7bnRWDuCr3m1ZbosnZVP5m3AKzXmpMtgCMUpIDZBQ7aV9TrY_ZunIhXRAjABCI4rARuOTi47gxdOGoefzFxEqpV_WNEp6an8PcUPBaHgHSLkwqw4pOw73pmok_dm2_kEtlGVL8_Uvk0jRYNOF0Qv0wg8QlONNb6g_WF1DK9kfA2q7-HMWqMpKDvifkAKOzo02eOSSEkHUSScELYFifVNKf254Yt_2bZR76Bnu1GICDa8Q5BwtYh12-BeyKEUvpOna-Q-HBqkfVnLemZpThhJ_D6Bx1ETVRA_mwtgvaZsudPbcUFSHPmP5zRnunuS7vd84sd6w798gsxFQCLtenCNvCIqH47D9faxCV8qfMhRMWCectWkuoljeHPa7L-2ZXs0zuYbamTZz5BvZG3nGFgBjLusXiZhW45dzbQcUuMek8Nb9lDkruIbocvoZDBhaQCVu1NnSCV5Obe0IK4O56FErHX8sFpNZkTtcFZzdGccW95oCD8tIJ9l7kvwgKj11BPM4KeFzo-DCfavxIXSCda3pxvZ-6VWNMHFhWmM8MDE7JfWYpAVUFZDFIpJk0m-XwHseD2PLO0P_aedySAgRAsOs3VqWqxjewdu175uXt7etm2vYcxGImLwkFuEZokwueTKxhNX_-4Z9ycEjXebkPztzTgAD1wRMDSnSP2mUkUtO4sNfy_orYdPCHyNsn9G4fb0u1MZpWM6c9ca3r42fnbHMwCUrsBixQ=",
  "id": "rs_052ec04fc5a6be40016ab440d2f45c87d0991610947627b16e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The raised gripper now projects over the basket interior, with the near rim below the held bear. I’m lowering vertically inside the basket footprint so the bear is supported by the basket floor.\"}",
  "call_id": "call_AWvbuL0KV8IE0a8a4SGQ0MiM",
  "id": "fc_052ec04fc5a6be40016ab440d347c887d094b0b55d44a9dfcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AWvbuL0KV8IE0a8a4SGQ0MiM",
  "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]: [-0.4835, 2.0796, 1.0824, -0.3195, -1.3384, -1.5181, 0.0235, -0.0265, 2.048, 1.6993, -0.6464, 0.0174, -0.1093, 0.1006]\nstate[eef_state]: left_x=0.4 left_y=-0.0119 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3268 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5261 right_y=-0.0134 right_z=0.1124 right_yaw=0.0194 right_pitch=-0.4329 right_roll=-0.0673 right_gripper=0.1006\nstate[joint_eff]: [-0.0342, -9.8667, 4.6291, 0.6276, -0.5885, -0.0366, -0.0073, -0.0342, -6.8444, 5.053, 2.7033, -0.0122, -0.0269, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3731be126bbe24e19daecde272471df28c53b7c5363cf1f1a7de2a8453882cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a0b7a296b7d2079d0d168018b7f81557a218605b007e14fea7246b46404667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4793198fe6b460f575dd397e46383766b4770382a3e01f017b72c5f1cf4dc80",
      "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 · 6.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4831, 2.0796, 1.0824, -0.3199, -1.3388, -1.5181, 0.0229, 0.1158, 1.721, 1.0405, -0.0959, 0.1375, 0.0059, 0.0971]\nstate[eef_state]: left_x=0.4 left_y=-0.0117 left_z=0.0623 left_yaw=1.1291 left_pitch=0.3272 left_roll=-0.1953 left_gripper=0.0229 right_x=0.4619 right_y=0.0329 right_z=0.0939 right_yaw=-0.0081 right_pitch=-0.2055 right_roll=-0.0793 right_gripper=0.0971\nstate[joint_eff]: [-0.0615, -9.6752, 4.588, 0.6227, -0.6081, -0.022, 0.1294, -0.0342, -8.3897, 6.5299, 1.5263, 0.0611, 0.0562, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0235, -0.0265, 2.1075, 2.0953, -0.8761, 0.0212, -0.1059, 0.0992]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5561 right_y=-0.0149 right_z=0.2046 right_yaw=0.0121 right_pitch=-0.3261 right_roll=-0.0733 right_gripper=0.0992\nstate[joint_eff]: [-0.0342, -9.853, 4.7932, 0.5934, -0.6178, -0.0122, -0.0024, -0.7453, -11.5761, 9.0051, 1.3651, 0.1343, 0.0904, 0.0659]\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 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3195, -1.3384, -1.5181, 0.0235, -0.0265, 2.048, 1.6993, -0.6464, 0.0174, -0.1093, 0.1006]\nstate[eef_state]: left_x=0.4 left_y=-0.0119 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3268 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5261 right_y=-0.0134 right_z=0.1124 right_yaw=0.0194 right_pitch=-0.4329 right_roll=-0.0673 right_gripper=0.1006\nstate[joint_eff]: [-0.0342, -9.8667, 4.6291, 0.6276, -0.5885, -0.0366, -0.0073, -0.0342, -6.8444, 5.053, 2.7033, -0.0122, -0.0269, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3731be126bbe24e19daecde272471df28c53b7c5363cf1f1a7de2a8453882cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a0b7a296b7d2079d0d168018b7f81557a218605b007e14fea7246b46404667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4793198fe6b460f575dd397e46383766b4770382a3e01f017b72c5f1cf4dc80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEDXmjbRocyyG1VQDLy3usN2cSdPt1HFuz6ZGseh-0ogGV8HvKYfjmX7EX1hQd9zZGnF6ZJH2mvVAVki1ed43xAuNVHKHJmvdKyooiRz-U3ur7Dvn9BB7rrSavw5rhucDXy1mhSJhaKjVs01TcUZgL5VeGtTGaXy4Ney9Z4BiRvUaDlU5eiSNe3DLmbFbCBeARsU0zKUqEorZzLDXQ8yZxqj1otPm2vv0Vk2qU388leUjkS008nzgRdxtp3YyKzmBVg7nqJqWV5m7W2Fk9mVfCrxG-rvK8MYPg5PaJmAAh-eiPxGmBUPL6915QzMHPYsGmWt8Yr87mfQ_0SV7XaPOhyPDAe9oxQIWswXeN0qmednqc7015RQJAbWfMe8RLcZSBv7DtgBle2fjZpnLkRYMts2j1IrTIP0BoBU2VGWIb-7JC5bAllxM-A84q4IzkXDCKA7oXhxjEMXITVK5B28Wp2fkQZeq6FGenSpc6mc84sUYctnGHsTX_-E6V5jxaol85pqJ7Djk84rU71KGLueUFE2LUSWomq4cMiBSVWHQ-AMXFvF5bmqOj1dnUEP5DIVGIOz2Kubwx3VjjpXkJzbrK1GQBs2xmZBqJ8iMp3OHDgg-SBUgP_qIm4Unmgd1yXMEnabHgRPO1OWs8zHof93E1jIaUZeKGDTYP5ZMNZ9fHjuNSJWcpmp5gd589TsfhhdA8x8Kj0qjClfbsyveMTNAucXTZlqsF3adM59GXp44Ga9XL91w0J4H_dXysq-sf8V9jY5ZZ-QKGofLZ_Fw65H-FFIdD73ENCW3mig6Zjxr13L_jpUmtLkY6wTG6thSmiPgQqomaztMXNcKpddWZY89nbwnM8SFFwm1Z77S0PBxyjrCao-D8-jGGxfQKc77OeWmNdiFY-ObjnNOPfXQ3MurCzf7kuYt38FskUkc5RobIjY4KGnJf9xtbuAjSlvDBqqzuH5jHpqR_F5eW4D6c6sUtq2QgCICT-tSYCPYl7iSb1u4qGkfZoctK-Xe6U5c2gpszn3zziVXWueFxSOoAQcf4MMhp0YhvzByGWYj82TYwPUCMjh8UrtJ_YL9eQVJAUB8Suve1qbTu0CWatYSMuTm3JzCkLxBzoCpr8hzdOMzQJW7_1HVBOStyMyalfW6UYwug_fjY26igQXG7MWkC44dvjaQGfG5vizYjymQICo6BQkUngHMnkhc2wVbsgQUBnpcDQ7V94grncAgUDUYhe3XehK_Hh0R6mm3FKxnEWP5zc9rfigZ43_tcSHYBIn947DYHoRHbaaBWsWS4alDE9WKm_CBrm3jM6tR5NEbV0VBvdval1Yc1jnughm7F5wZMvlC7IQdpsHjR1DCAzM0-o8SjaY2dGctEpjwGdHNKVcA6DOcmWEjFrYwTLDBGudLdy1hbpsK8Aksz9ONFieSNC57ZSZk-jrbHaUopk4h6if5AF1oVD5BizuPlM7zAfGF-aSuqjZG0DldciGFB9r5kqWbIrQXFefa61SUgcFtKygeO5XPiFdj1XKJppdFXUuCO_153aWaaxjNa0fazQqInGnsehODqoXeeIXuicAZolhwaQEuif7HYzrK8gzEDmYgy82iaKiB97W2lejjXG2KUZzbRlbLvZjZ0oqOX5stmtdh6a46ppGwfhHaN-wVLaEtfJ00gr3NVd90FrVn31zSW1xXvym1afVoqsyC22rmAW3LphFQrEkTqrTox9Pq60zT8abUwcOTWcnR6zUk7Lu5OfEVojIGCUYauVK7mBqJTZL-jkOvYEMjtW-fCsmk36uBaBW5fD98xzoOAEaL9ikdGDlpxHNqabDxX10tVXO-gzL0GhsQg4nZtsoCejwqkT3UuZMG5zw0WYlt3Ro4YaAcyGToK4UuInnsR4hm1lXDLnGM4mqrQp9gHEgHEv5AB0Mhapqrjq8XuSjNz2X8RAMURskjD-zrsLgkryBWmKMzLuKV-Tv5vw=",
  "id": "rs_052ec04fc5a6be40016ab440d5b1e887d0b9ea8684f36e1511",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The arm has lowered as far forward as it can while keeping the bear over the basket opening; the basket floor and sidewalls surround the release area in the wrist view. I’m opening now so the bear drops into the basket rather than back against the outer rim.\"}",
  "call_id": "call_a9fCFv3RjGt5VytbVtHMc5oC",
  "id": "fc_052ec04fc5a6be40016ab440d7078887d0a06b7fce9235346c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a9fCFv3RjGt5VytbVtHMc5oC",
  "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]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.033, 2.0304, 1.6909, -0.6418, 0.0166, -0.1162, 0.9947]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.525 right_y=-0.0167 right_z=0.1187 right_yaw=0.0173 right_pitch=-0.4194 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -9.8256, 4.6154, 0.6569, -0.5934, -0.0366, -0.0073, 0.4171, -10.0034, 7.7744, 1.2527, 0.0708, 0.0122, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616090f212c87c1742f7a2c1ad338db1442cd4cc2af1b0164ee93c63617ac8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08630decf221ee3357f859332823cb5fd535b7923603901c763a05ce2e2e4701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ee62ca0b245b40e3113b1ab9932b4d16721b17a0d0b32d22b0e545f6a846e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 2.673 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0234, -0.0223, 1.8893, 1.3849, -0.3637, 0.0387, -0.0898, 0.0985]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0234 right_x=0.5054 right_y=-0.0145 right_z=0.1088 right_yaw=-0.0085 right_pitch=-0.3055 right_roll=-0.0774 right_gripper=0.0985\nstate[joint_eff]: [0.0068, -9.812, 4.6154, 0.5885, -0.6178, -0.0317, 0.0415, -0.6632, -9.8803, 10.5504, 2.42, 0.0562, 0.1148, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3195, -1.3384, -1.5181, 0.0235, -0.0265, 2.048, 1.6993, -0.6464, 0.0174, -0.1093, 0.1006]\nstate[eef_state]: left_x=0.4 left_y=-0.0119 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3268 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5261 right_y=-0.0134 right_z=0.1124 right_yaw=0.0194 right_pitch=-0.4329 right_roll=-0.0673 right_gripper=0.1006\nstate[joint_eff]: [-0.0342, -9.8667, 4.6291, 0.6276, -0.5885, -0.0366, -0.0073, -0.0342, -6.8444, 5.053, 2.7033, -0.0122, -0.0269, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.033, 2.0304, 1.6909, -0.6418, 0.0166, -0.1162, 0.9947]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.525 right_y=-0.0167 right_z=0.1187 right_yaw=0.0173 right_pitch=-0.4194 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -9.8256, 4.6154, 0.6569, -0.5934, -0.0366, -0.0073, 0.4171, -10.0034, 7.7744, 1.2527, 0.0708, 0.0122, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616090f212c87c1742f7a2c1ad338db1442cd4cc2af1b0164ee93c63617ac8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08630decf221ee3357f859332823cb5fd535b7923603901c763a05ce2e2e4701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ee62ca0b245b40e3113b1ab9932b4d16721b17a0d0b32d22b0e545f6a846e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_052ec04fc5a6be40016ab440da0ad087d0bdba31a4fe686512",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The bear again settled at the basket’s front edge instead of dropping inside; it remains centered between the open fingers. I’m re-grasping once more so I can extend it past the front wall before the final release.\"}",
  "call_id": "call_7qoC9pDkSzANNSMVTmBCT8Ia",
  "id": "fc_052ec04fc5a6be40016ab440dea6e087d09ad292702ade9b1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7qoC9pDkSzANNSMVTmBCT8Ia",
  "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]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.0284, 2.0354, 1.6909, -0.6357, 0.0128, -0.12, 0.0348]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.5264 right_y=-0.0136 right_z=0.117 right_yaw=0.0276 right_pitch=-0.4183 right_roll=-0.0704 right_gripper=0.0348\nstate[joint_eff]: [-0.1846, -9.8667, 4.9026, 0.6569, -0.5934, -0.0073, -0.0073, -0.6906, -11.8632, 6.8171, 1.2186, 0.0317, 0.0415, 0.7253]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa6ea28a0d2899ce07c1635212b432a941bf051e98067be2577e839b814939a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba6d852714f9a177f5c45393149e742541d6e7925e33b8aad06dc5aaff3d668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e9a72980e4061f012bc3d78e05a20d04c7bc3dbca670d96acbea3c7c71bcc8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.91 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3388, -1.5185, 0.0235, -0.0265, 2.1075, 2.0953, -0.8761, 0.0212, -0.1059, 0.0992]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1289 left_pitch=0.3271 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5561 right_y=-0.0149 right_z=0.2046 right_yaw=0.0121 right_pitch=-0.3261 right_roll=-0.0733 right_gripper=0.0992\nstate[joint_eff]: [-0.0342, -9.853, 4.7932, 0.5934, -0.6178, -0.0122, -0.0024, -0.7453, -11.5761, 9.0051, 1.3651, 0.1343, 0.0904, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.033, 2.0304, 1.6909, -0.6418, 0.0166, -0.1162, 0.9947]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.525 right_y=-0.0167 right_z=0.1187 right_yaw=0.0173 right_pitch=-0.4194 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -9.8256, 4.6154, 0.6569, -0.5934, -0.0366, -0.0073, 0.4171, -10.0034, 7.7744, 1.2527, 0.0708, 0.0122, -0.1538]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.0284, 2.0354, 1.6909, -0.6357, 0.0128, -0.12, 0.0348]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.5264 right_y=-0.0136 right_z=0.117 right_yaw=0.0276 right_pitch=-0.4183 right_roll=-0.0704 right_gripper=0.0348\nstate[joint_eff]: [-0.1846, -9.8667, 4.9026, 0.6569, -0.5934, -0.0073, -0.0073, -0.6906, -11.8632, 6.8171, 1.2186, 0.0317, 0.0415, 0.7253]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa6ea28a0d2899ce07c1635212b432a941bf051e98067be2577e839b814939a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba6d852714f9a177f5c45393149e742541d6e7925e33b8aad06dc5aaff3d668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e9a72980e4061f012bc3d78e05a20d04c7bc3dbca670d96acbea3c7c71bcc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEDjkq0MTTQUOOaCj5yCfLCr77XqbPRJ99NKgF9IlLCsfJGVMGueELXPG_a1wRz13ghSexS8lap8ErFqfZlccogERR4-pqDgejkyy-nSBjKfnuUE5R_der7ACx7on_gbswiZX38zX_8ltzlIQXOhSEdtqlIh9NM3CMGSI4tKf1UWkVDLwvbUNwUe5uVzEaQcuZjCzJoMyt4pYkZc2QU-sMp4ByG8mHAzIXyT0uF0cPL0-Hd23t1qzknSyFhIqvERp-Zu3UP3oSgbFRACA8oY7wl5Dxi07YNJKkgzbxrRAihQw9RKzhN6tY8shbu1tiNA12qkvYUwSw8VDUQD1ylKOkSEMeE_BG-DD9N2NSl6zEgStxxG33x_ZWRRIpIsccPMcN1FfzL8IketaGSsNOYbeTNQVRIB4HZypBGxuCBH1Q4mAp25BnDg0lB_MyfvHRNVZPGm6czSTMiv-aiOLfUncFHqbSL-koVmBkTGmU92tLQoW4qh933h0Z0HZrSgoUwKzeI3ajOtRTpRHDCgOQVvtYVUgqMBkrVz1nvYTqPoF9jlQcVGn18fG7HkpFbFm_3wzQ3GdooqNwFE-V23iMgPyfsAXDUrEQrW1grz2YBOu2sO7Aax4DLUqxcXXyVZ3hLjnWtEKvMhVpLtmEIeIVJ6Jr3TfpAmtLVrPIID_WOF4yLHminP-C4McA_RxOfzPdOH7OqnlVzB0VNon7Je7Qr2xNkZWsa4QInCVwrmnpl4df2AqvFNBX_wdp8pKJEhdQnFxBL84Aayn0uSvBdGaVgr8tDgP4DEWqIOn7xHQGNaMYn6ThsTw3T6aEZN0Q-xMpaUEj-lrD1wxpC605r5s-9I9GvoJjy5lwm3sK2KKbpJbkoEHcLzcvq1ezdMqUO_JrFvKYV-5VxxwciUHqO1Cs_COHO6Y9OO8mkM1LVEQT0nDtPoFK6Dn9WxCIw1cN_uTmGkQMj9w_o72d945T_hfhFqrGqew85eyAtrBxXizVIsxnAUSYS4X7wmyc2ES7X8wB8iCCyfKFvGTuqE_PGLgOiRxBK2SZZlsiN_fCZFDmhoJquOHhls9aKqIEgeYAFF_Qw-xKE5jHXNeu9qjSCNeiG2OHESlMfd3F3Uz0g2Ny4Cga3TW1WZDiQsOQz-Ahi2IFJ_3ksIv6No-5CRPSreAn3BGZdtrSeoh8RsCmt1H4TYRTvpst0VLxss7q74vb-xg4VFk3gYjhaSTUpqehqkakMJdpPgt41aeu8m4pKxATSJBWF0t9h5zoTlVvYoKxQUNXO2kFc3QsJMXIrd4iXcNQE-1gZtpGeN0V0n7JRuOZg94eeb_gTculf9crNsSNocp6bwO4hO",
  "id": "rs_052ec04fc5a6be40016ab440e1af7487d0ba5c48281ef2ae72",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":-0.02,\"right_z\":0.16},\"note\":\"The fingers have pinched the bear at the near wall, though the plush compresses to a small opening. I’m extending to the maximum forward reach at a rim-clearing height to carry its center of mass beyond the basket’s front edge.\"}",
  "call_id": "call_1GfshJsF3d5Q9BB05dYnR2zh",
  "id": "fc_052ec04fc5a6be40016ab440e210b887d0a4327044650c7e08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1GfshJsF3d5Q9BB05dYnR2zh",
  "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]: [-0.4835, 2.0804, 1.0824, -0.3202, -1.3392, -1.5185, 0.0235, -0.0338, 2.3508, 2.3039, -0.9775, 0.0147, -0.1352, 0.0348]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0621 left_yaw=1.1287 left_pitch=0.3275 left_roll=-0.1945 left_gripper=0.0235 right_x=0.5811 right_y=-0.0186 right_z=0.1375 right_yaw=0.0308 right_pitch=-0.4632 right_roll=-0.0783 right_gripper=0.0348\nstate[joint_eff]: [-0.1709, -9.8803, 4.588, 0.5788, -0.5739, -0.0562, -0.0073, -0.4991, -14.2974, 9.0051, 1.4335, -0.1636, 0.0269, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794149819f83f8547286d2d6279211732cc2f0f1ee7420d1b9c2d4416bc324f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f80318ad884e9adb8edb5ed1530534539f31cfb9e57c39d6e1b900800daaf1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc65dc3389f2bb8d193a9a6898e90b7433a77d6c22b5f0b0c8c35ea7797d9d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 8.556 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3195, -1.3384, -1.5181, 0.0235, -0.0265, 2.048, 1.6993, -0.6464, 0.0174, -0.1093, 0.1006]\nstate[eef_state]: left_x=0.4 left_y=-0.0119 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3268 left_roll=-0.1957 left_gripper=0.0235 right_x=0.5261 right_y=-0.0134 right_z=0.1124 right_yaw=0.0194 right_pitch=-0.4329 right_roll=-0.0673 right_gripper=0.1006\nstate[joint_eff]: [-0.0342, -9.8667, 4.6291, 0.6276, -0.5885, -0.0366, -0.0073, -0.0342, -6.8444, 5.053, 2.7033, -0.0122, -0.0269, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.0284, 2.0354, 1.6909, -0.6357, 0.0128, -0.12, 0.0348]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.5264 right_y=-0.0136 right_z=0.117 right_yaw=0.0276 right_pitch=-0.4183 right_roll=-0.0704 right_gripper=0.0348\nstate[joint_eff]: [-0.1846, -9.8667, 4.9026, 0.6569, -0.5934, -0.0073, -0.0073, -0.6906, -11.8632, 6.8171, 1.2186, 0.0317, 0.0415, 0.7253]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0804, 1.0824, -0.3202, -1.3392, -1.5185, 0.0235, -0.0338, 2.3508, 2.3039, -0.9775, 0.0147, -0.1352, 0.0348]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0621 left_yaw=1.1287 left_pitch=0.3275 left_roll=-0.1945 left_gripper=0.0235 right_x=0.5811 right_y=-0.0186 right_z=0.1375 right_yaw=0.0308 right_pitch=-0.4632 right_roll=-0.0783 right_gripper=0.0348\nstate[joint_eff]: [-0.1709, -9.8803, 4.588, 0.5788, -0.5739, -0.0562, -0.0073, -0.4991, -14.2974, 9.0051, 1.4335, -0.1636, 0.0269, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794149819f83f8547286d2d6279211732cc2f0f1ee7420d1b9c2d4416bc324f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f80318ad884e9adb8edb5ed1530534539f31cfb9e57c39d6e1b900800daaf1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc65dc3389f2bb8d193a9a6898e90b7433a77d6c22b5f0b0c8c35ea7797d9d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_052ec04fc5a6be40016ab440e56b5887d08b2636b3c253baf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.08,\"right_z\":0.16},\"note\":\"At maximum reach the overhead view shows the bear beyond the front rim but offset to the basket’s right side. I’m correcting leftward into the basket center while maintaining forward reach and rim clearance.\"}",
  "call_id": "call_awfCsQNrt6yui8nj0UA70GcU",
  "id": "fc_052ec04fc5a6be40016ab440e66f5087d0be6fd56d35a08d46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_awfCsQNrt6yui8nj0UA70GcU",
  "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]: [-0.4835, 2.0804, 1.0824, -0.3195, -1.3388, -1.5185, 0.0236, 0.1505, 2.4542, 2.5458, -1.1767, 0.1043, -0.0017, 0.0364]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0621 left_yaw=1.1288 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0236 right_x=0.5729 right_y=0.0719 right_z=0.1444 right_yaw=0.0479 right_pitch=-0.5155 right_roll=-0.0931 right_gripper=0.0364\nstate[joint_eff]: [-0.0342, -9.8667, 4.6974, 0.5934, -0.5934, -0.0562, -0.0073, 0.8957, -13.3949, 9.7846, 1.3602, 0.0366, 0.1734, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b256aa4b0d4d5685eb31fdc1004d9b24e926f4e43450c1f5ea6920dd27d154d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b3fe768b72c82852780735c362a78bb50894cc42b85c8026660311f054f08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266c5721a7dc4c48a4dfea41abca7c5154b5bc2236286beb2c04df322b61f3f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 5.891 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0796, 1.0824, -0.3199, -1.3384, -1.5185, 0.0235, -0.033, 2.0304, 1.6909, -0.6418, 0.0166, -0.1162, 0.9947]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0623 left_yaw=1.1288 left_pitch=0.3267 left_roll=-0.1956 left_gripper=0.0235 right_x=0.525 right_y=-0.0167 right_z=0.1187 right_yaw=0.0173 right_pitch=-0.4194 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -9.8256, 4.6154, 0.6569, -0.5934, -0.0366, -0.0073, 0.4171, -10.0034, 7.7744, 1.2527, 0.0708, 0.0122, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0804, 1.0824, -0.3202, -1.3392, -1.5185, 0.0235, -0.0338, 2.3508, 2.3039, -0.9775, 0.0147, -0.1352, 0.0348]\nstate[eef_state]: left_x=0.3999 left_y=-0.0118 left_z=0.0621 left_yaw=1.1287 left_pitch=0.3275 left_roll=-0.1945 left_gripper=0.0235 right_x=0.5811 right_y=-0.0186 right_z=0.1375 right_yaw=0.0308 right_pitch=-0.4632 right_roll=-0.0783 right_gripper=0.0348\nstate[joint_eff]: [-0.1709, -9.8803, 4.588, 0.5788, -0.5739, -0.0562, -0.0073, -0.4991, -14.2974, 9.0051, 1.4335, -0.1636, 0.0269, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4835, 2.0804, 1.0824, -0.3195, -1.3388, -1.5185, 0.0236, 0.1505, 2.4542, 2.5458, -1.1767, 0.1043, -0.0017, 0.0364]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0621 left_yaw=1.1288 left_pitch=0.3271 left_roll=-0.1953 left_gripper=0.0236 right_x=0.5729 right_y=0.0719 right_z=0.1444 right_yaw=0.0479 right_pitch=-0.5155 right_roll=-0.0931 right_gripper=0.0364\nstate[joint_eff]: [-0.0342, -9.8667, 4.6974, 0.5934, -0.5934, -0.0562, -0.0073, 0.8957, -13.3949, 9.7846, 1.3602, 0.0366, 0.1734, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b256aa4b0d4d5685eb31fdc1004d9b24e926f4e43450c1f5ea6920dd27d154d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b3fe768b72c82852780735c362a78bb50894cc42b85c8026660311f054f08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266c5721a7dc4c48a4dfea41abca7c5154b5bc2236286beb2c04df322b61f3f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_052ec04fc5a6be40016ab440ed833887d0aefe8742a6f4b1d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.08,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The bear is laterally centered but hangs toward the near side of the grasp point. I’m combining a final forward-and-down motion with opening so the fingers guide it over the front wall and release it inside the basket.\"}",
  "call_id": "call_v4y8tavRb8CXLutMY8TITYv0",
  "id": "fc_052ec04fc5a6be40016ab440efdc7087d0baedc631918b8141",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v4y8tavRb8CXLutMY8TITYv0",
  "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]: [-0.4835, 2.0804, 1.0824, -0.3199, -1.3388, -1.5185, 0.0236, 0.1577, 2.6118, 2.6541, -1.153, 0.1013, -0.0071, 0.9954]\nstate[eef_state]: left_x=0.4 left_y=-0.0118 left_z=0.0621 left_yaw=1.1287 left_pitch=0.3271 left_roll=-0.1949 left_gripper=0.0236 right_x=0.594 right_y=0.08 right_z=0.0956 right_yaw=0.0599 right_pitch=-0.5415 right_roll=-0.0958 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.812, 4.6838, 0.6227, -0.6032, -0.0269, -0.0171, -0.3214, -13.7368, 8.759, 1.1453, 0.0806, 0.0513, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7479288a0c302255c5fb0b57e6b2d7b979cb4e1a8656c457960d3b4ace8c915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71922e727fd557e699570921a93ab7c539374d2c3a464d18cceafdb6553fdede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b39b3cfcb18c7fb45a3a392e8262b5ca6ec2d3cfc7c6068be36b7c8b151fd7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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