adhoc

completed
2026-09-23T21:14:05.063866+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
226 s
total steps
394
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 has two visible classes: gray/white plush animals and tan/brown spotted plush dogs, with two empty turquoise baskets. I’ll assign gray/white objects to the left basket and spotted dogs to the right, starting by positioning the left gripper above the nearest gray plush.
move_to
left_x0.3800left_y-0.1000left_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, 0.6155, -0.3801, -0.0216, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0219, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.6479, 9.6068, 1.7607, -0.022, 0.1832, -0.105, -0.5949, -1.6342, 9.8256, 1.7802, -0.105, 0.0415, -0.0317] 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":0.38,"left_y":-0.1,"left_z":0.16,"left_gripper":1.0},"note":"The table has two visible classes: gray/white plush animals and tan/brown spotted plush dogs, with two empty turquoise baskets. I’ll assign gray/white objects to the left basket and spotted dogs to the right, starting by positioning the left gripper above the nearest gray plush."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left wrist view shows the basket far ahead while the gray plush sits low and far left of the jaw column, so the first estimate overshot forward and inward. I’m backing the gripper toward the base and shifting it left to center that gray object before descending.
move_to
left_x0.3400left_y-0.0400left_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]: [-0.4271, 1.3186, 0.746, -0.0948, -0.3599, -0.2707, 0.9991, -0.0154, 0.8024, 0.6086, -0.3779, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3709 left_y=-0.0965 left_z=0.1398 left_yaw=0.0028 left_pitch=-0.0549 left_roll=0.0153 left_gripper=0.9991 right_x=0.2962 right_y=0.0011 right_z=0.1802 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.212, -5.559, 9.3197, 1.8437, -0.2027, 0.0122, -0.105, -0.3897, -1.5932, 7.2821, 1.8046, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.04,"left_z":0.15},"note":"The left wrist view shows the basket far ahead while the gray plush sits low and far left of the jaw column, so the first estimate overshot forward and inward. I’m backing the gripper toward the base and shifting it left to center that gray object before descending."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe gray plush is now close to the fingertips but remains about one plush-width left of the jaw column. I’m making a further leftward correction and a small backward/low approach so the jaws straddle its body rather than the neighboring spotted dog.
move_to
left_x0.3300left_y0.0150left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2405, 1.1088, 0.6498, -0.1673, -0.2348, -0.178, 0.9991, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3454 left_y=-0.0387 left_z=0.152 left_yaw=0.0356 left_pitch=-0.0434 left_roll=0.0062 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.212, -3.959, 6.3658, 1.6923, 0.0171, 0.1636, -0.0171, -0.3487, -1.4838, 7.0769, 1.7851, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":0.015,"left_z":0.12},"note":"The gray plush is now close to the fingertips but remains about one plush-width left of the jaw column. I’m making a further leftward correction and a small backward/low approach so the jaws straddle its body rather than the neighboring spotted dog."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe gray plush is now centered on the jaw column and its torso lies directly between the approaching fingers. I’m descending to mid-body height while keeping the lateral and radial alignment fixed.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0261, 1.0637, 0.4911, -0.0635, -0.0475, -0.0471, 0.9991, -0.0151, 0.8082, 0.6083, -0.3847, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3282 left_y=0.0206 left_z=0.1142 left_yaw=0.0747 left_pitch=-0.0722 left_roll=0.0052 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3487, -4.1641, 6.2974, 1.9853, 0.1636, 0.2173, -0.0171, -0.1162, -1.265, 7.0496, 1.7363, -0.0171, -0.0464, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The gray plush is now centered on the jaw column and its torso lies directly between the approaching fingers. I’m descending to mid-body height while keeping the lateral and radial alignment fixed."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe gray plush torso fills the space between the fingers at the intended grasp height. I’m closing fully around its soft midsection, then I’ll use the settled opening and 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]: [0.0227, 1.2911, 0.3038, 0.3405, -0.0418, -0.0525, 0.9991, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.3287 left_y=0.0184 left_z=0.0459 left_yaw=0.0693 left_pitch=-0.083 left_roll=-0.002 left_gripper=0.9991 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0068, -3.3573, 5.1487, 1.7265, -0.0904, -0.0122, -0.0122, -0.253, -1.2376, 7.0359, 1.707, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gray plush torso fills the space between the fingers at the intended grasp height. I’m closing fully around its soft midsection, then I’ll use the settled opening and a lift to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper settled at 0.20, well above the empty threshold, indicating a solid compressed-plush grasp. I’m lifting it to transport height and will confirm the gray animal moves with the left gripper.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0212, 1.2934, 0.297, 0.3614, -0.0444, -0.0597, 0.2, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3295 left_y=0.0184 left_z=0.0467 left_yaw=0.0739 left_pitch=-0.0711 left_roll=-0.0068 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0479, -3.9179, 6.106, 1.5311, -0.0171, 0.0366, 0.7692, -0.3214, -0.9231, 7.0906, 1.7265, -0.022, -0.0708, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The gripper settled at 0.20, well above the empty threshold, indicating a solid compressed-plush grasp. I’m lifting it to transport height and will confirm the gray animal moves with the left gripper."})
tool
executing move_to over 8 steps (0.8s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe overhead view confirms the gray plush rose with the left gripper. I’m carrying it high to the center of the left turquoise basket, keeping clear of the spotted-dog pile and basket rim.
move_to
left_x0.4500left_y-0.1500left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0212, 1.0256, 0.6621, -0.329, -0.0444, -0.0635, 0.2024, -0.0151, 0.8177, 0.6075, -0.392, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.323 left_y=0.0183 left_z=0.1494 left_yaw=0.0762 left_pitch=-0.1286 left_roll=-0.0067 left_gripper=0.2024 right_x=0.2951 right_y=0.0013 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1573, -4.041, 9.388, 1.746, -0.0708, -0.0073, 0.2418, -0.0752, -1.7983, 7.0769, 1.7998, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.15,"left_z":0.19},"note":"The overhead view confirms the gray plush rose with the left gripper. I’m carrying it high to the center of the left turquoise basket, keeping clear of the spotted-dog pile and basket rim."})
tool
executing move_to over 15 steps (1.5s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe carried plush is over the left basket but biased toward its left wall; the wrist view shows more basket interior to the right. I’m shifting inward to center it and lowering until the plush is safely inside the rim.
move_to
left_y-0.1900left_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]: [-0.4641, 1.676, 1.298, -0.4854, -0.4194, -0.4213, 0.204, -0.0147, 0.8211, 0.6067, -0.3931, -0.0116, -0.0223, 0.9998] state[eef_state]: left_x=0.4344 left_y=-0.133 left_z=0.1641 left_yaw=0.1074 left_pitch=-0.2048 left_roll=0.0298 left_gripper=0.204 right_x=0.295 right_y=0.0013 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.9778, -8.6906, 9.6889, 1.746, -0.0952, 0.1099, 0.1587, -0.2667, -1.6479, 7.0632, 1.6679, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.19,"left_z":0.14},"note":"The carried plush is over the left basket but biased toward its left wall; the wrist view shows more basket interior to the right. I’m shifting inward to center it and lowering until the plush is safely inside the rim."})
tool
executing move_to over 6 steps (0.6s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe gray plush now overlaps the basket interior rather than the outside edge. I’m lowering it a few centimeters so its weight is supported by the basket bottom before opening.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5831, 1.7943, 1.33, -0.482, -0.5194, -0.5323, 0.2069, -0.0147, 0.8211, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4302 left_y=-0.1744 left_z=0.1323 left_yaw=0.1352 left_pitch=-0.2203 left_roll=0.0638 left_gripper=0.2069 right_x=0.2951 right_y=0.0013 right_z=0.1712 right_yaw=0.0005 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-1.0188, -8.3761, 9.5248, 1.3651, 0.0513, 0.1734, 0.2857, -0.212, -1.3607, 7.2, 1.7021, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The gray plush now overlaps the basket interior rather than the outside edge. I’m lowering it a few centimeters so its weight is supported by the basket bottom before opening."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe overhead and wrist views reveal the plush is still against the near/outside edge rather than centered in the basket; its bulky body obscured that on the previous approach. I’m lifting and moving farther forward and inward over the true basket center before attempting release.
move_to
left_x0.5000left_y-0.2000left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5747, 1.845, 1.2087, -0.3439, -0.5259, -0.5495, 0.2076, -0.0143, 0.8211, 0.6067, -0.3927, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.4264 left_y=-0.1662 left_z=0.0838 left_yaw=0.1629 left_pitch=-0.2413 left_roll=0.0787 left_gripper=0.2076 right_x=0.2951 right_y=0.0015 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.9641, -9.1692, 6.3385, 1.5751, -0.3053, 0.1587, 0.0659, -0.1846, -1.2103, 7.0359, 1.707, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.2,"left_z":0.17},"note":"The overhead and wrist views reveal the plush is still against the near/outside edge rather than centered in the basket; its bulky body obscured that on the previous approach. I’m lifting and moving farther forward and inward over the true basket center before attempting release."})
tool
executing move_to over 6 steps (0.6s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteAt the farther-forward pose the wrist view still places the basket to the right of the held gray plush, so the remaining error is lateral rather than radial. I’m shifting the grasp point inward by about 10 cm while staying above the rim.
move_to
left_y-0.2900left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5453, 2.0792, 1.821, -0.7437, -0.5159, -0.5621, 0.209, -0.0143, 0.8249, 0.6067, -0.3946, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4927 left_y=-0.1928 left_z=0.1497 left_yaw=0.1959 left_pitch=-0.2624 left_roll=0.0786 left_gripper=0.209 right_x=0.295 right_y=0.0015 right_z=0.1697 right_yaw=0.0012 right_pitch=-0.0511 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.335, -12.465, 9.0462, 1.3797, -0.2271, 0.3248, 0.1343, -0.0752, -1.4838, 7.1179, 1.7411, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.29,"left_z":0.18},"note":"At the farther-forward pose the wrist view still places the basket to the right of the held gray plush, so the remaining error is lateral rather than radial. I’m shifting the grasp point inward by about 10 cm while staying above the rim."})
tool
executing move_to over 9 steps (0.9s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe basket edge has moved closer to the plush in the wrist view, confirming the correction direction, but the plush center is still left of the basket interior. I’m completing the lateral alignment with another small inward shift.
move_to
left_y-0.3500
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]: [-0.6983, 2.4847, 2.5935, -1.2308, -0.5762, -0.7563, 0.2118, -0.0147, 0.8265, 0.6067, -0.4015, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4937 left_y=-0.284 left_z=0.163 left_yaw=0.2156 left_pitch=-0.2961 left_roll=0.0732 left_gripper=0.2118 right_x=0.2941 right_y=0.0014 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.9915, -14.4068, 7.9248, 1.0232, -0.442, 0.3297, 0.2808, -0.3214, -1.5248, 7.0632, 1.7411, -0.0024, -0.0708, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.35},"note":"The basket edge has moved closer to the plush in the wrist view, confirming the correction direction, but the plush center is still left of the basket interior. I’m completing the lateral alignment with another small inward shift."})
tool
executing move_to over 6 steps (0.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe long diagonal reach is reducing tracking, and the gray plush is still just left of the basket interior. I’m shortening the radial reach slightly while moving to the arm’s inward limit, which should place the object over the near half of the left basket without forcing the awkward stretched pose.
move_to
left_x0.4500left_y-0.4000left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7666, 2.608, 2.7689, -1.3457, -0.6155, -0.8471, 0.2125, -0.0147, 0.8288, 0.6067, -0.408, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4767 left_y=-0.3125 left_z=0.1464 left_yaw=0.2358 left_pitch=-0.2983 left_roll=0.0864 left_gripper=0.2125 right_x=0.2933 right_y=0.0014 right_z=0.166 right_yaw=0.0009 right_pitch=-0.0683 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-1.4154, -13.2855, 8.1436, 1.1209, -0.2955, 0.1197, 0.0611, -0.3487, -1.6342, 7.1453, 1.7509, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.4,"left_z":0.17},"note":"The long diagonal reach is reducing tracking, and the gray plush is still just left of the basket interior. I’m shortening the radial reach slightly while moving to the arm’s inward limit, which should place the object over the near half of the left basket without forcing the awkward stretched pose."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe left arm cannot track farther inward at this long reach, so the held plush cannot be placed reliably from this arm. I’m lowering it gently onto the open table beside the basket; I’ll release it and use the right arm, whose frame reaches this basket naturally.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7944, 2.6308, 2.7995, -1.3727, -0.6319, -0.8989, 0.2139, -0.0143, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4679 left_y=-0.3224 left_z=0.143 left_yaw=0.2503 left_pitch=-0.2928 left_roll=0.0766 left_gripper=0.2139 right_x=0.2934 right_y=0.0015 right_z=0.1654 right_yaw=0.0013 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-1.0872, -17.6342, 6.653, 1.1013, -0.3199, 0.0464, 0.1343, -0.0342, -1.6068, 7.0085, 1.6972, -0.0269, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06},"note":"The left arm cannot track farther inward at this long reach, so the held plush cannot be placed reliably from this arm. I’m lowering it gently onto the open table beside the basket; I’ll release it and use the right arm, whose frame reaches this basket naturally."})
tool
executing move_to over 6 steps (0.6s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe descent stalled because the left arm is at a singular stretched pose, not because the plush touched down. I’m retreating radially while staying high, which should restore controllability before setting the object down.
move_to
left_x0.4000left_y-0.3200left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.794, 2.5702, 2.6617, -1.2915, -0.6327, -0.9031, 0.2161, -0.0147, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4678 left_y=-0.3219 left_z=0.139 left_yaw=0.2523 left_pitch=-0.2899 left_roll=0.0703 left_gripper=0.2161 right_x=0.2934 right_y=0.0014 right_z=0.1654 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0205, -18.8239, 6.6803, 1.6435, -0.3883, 0.0317, 0.2173, -0.1162, -1.388, 7.1863, 1.7607, -0.0708, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.32,"left_z":0.17},"note":"The descent stalled because the left arm is at a singular stretched pose, not because the plush touched down. I’m retreating radially while staying high, which should restore controllability before setting the object down."})
tool
executing move_to over 6 steps (0.6s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe radial retreat succeeded and the arm is no longer pinned at full extension. I’m now lowering the gray plush onto the clear tabletop near the baskets for a right-arm regrasp.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8909, 2.3592, 2.2883, -1.2526, -0.6357, -1.0035, 0.2174, -0.0147, 0.8345, 0.6067, -0.4084, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4035 left_y=-0.3266 left_z=0.135 left_yaw=0.2486 left_pitch=-0.3386 left_roll=0.1196 left_gripper=0.2174 right_x=0.2936 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0744 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.2803, -17.6752, 6.3521, 0.862, -0.6422, 0.022, 0.1294, -0.3487, -1.7573, 7.0222, 1.746, -0.0317, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06},"note":"The radial retreat succeeded and the arm is no longer pinned at full extension. I’m now lowering the gray plush onto the clear tabletop near the baskets for a right-arm regrasp."})
tool
executing move_to over 5 steps (0.5s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe arm stopped descending while the held plush visibly rests on the pile/table, indicating it is supported despite the high grasp-point readback caused by its hanging size. I’m opening the left gripper to leave it there for the right arm.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8955, 2.3337, 2.2791, -1.2678, -0.6365, -1.0225, 0.2175, -0.0147, 0.8345, 0.6067, -0.4088, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3988 left_y=-0.3242 left_z=0.1439 left_yaw=0.2547 left_pitch=-0.3362 left_roll=0.1062 left_gripper=0.2175 right_x=0.2935 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0748 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1436, -16.5675, 6.0513, 0.6667, -0.6764, -0.0659, 0.0073, -0.2667, -1.2513, 7.1179, 1.7021, -0.0562, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The arm stopped descending while the held plush visibly rests on the pile/table, indicating it is supported despite the high grasp-point readback caused by its hanging size. I’m opening the left gripper to leave it there for the right arm."})
tool
executing move_to over 8 steps (0.8s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe gray plush is released on the tabletop at a known shared location; converting frames puts it near right-arm y=+0.325. I’m parking the left arm to clear the view while bringing the right arm above that plush in the same safe, high motion.
move_to
left_x0.2960left_y0.0000left_z0.1840left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.4000right_y0.3250right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8955, 2.3341, 2.2791, -1.2675, -0.6285, -1.0332, 0.9949, -0.0143, 0.8345, 0.6067, -0.4091, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3981 left_y=-0.3252 left_z=0.1429 left_yaw=0.2576 left_pitch=-0.3427 left_roll=0.0959 left_gripper=0.9949 right_x=0.2935 right_y=0.0015 right_z=0.1642 right_yaw=0.0013 right_pitch=-0.0751 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1846, -13.135, 5.9556, 0.7253, -0.3932, 0.0855, -0.1099, -0.0342, -1.4974, 6.9949, 1.6581, -0.0122, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.0,"left_z":0.184,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"right_x":0.4,"right_y":0.325,"right_z":0.18,"right_gripper":1.0},"note":"The gray plush is released on the tabletop at a known shared location; converting frames puts it near right-arm y=+0.325. I’m parking the left arm to clear the view while bringing the right arm above that plush in the same safe, high motion."})
tool
executing move_to over 29 steps (2.9s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe right wrist camera clearly sees the released gray plush close by but left of the jaw column, with the basket farther ahead. I’m shifting the right gripper leftward in its frame and slightly back/down to center the plush for a clean regrasp.
move_to
right_x0.3800right_y0.3900right_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]: [-0.0631, 0.815, 0.6239, -0.3954, -0.1219, -0.1043, 0.9962, 0.8818, 1.9327, 1.581, -0.527, 0.6449, 0.5922, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0064 left_z=0.1808 left_yaw=0.0786 left_pitch=-0.0185 left_roll=-0.0039 left_gripper=0.9962 right_x=0.3964 right_y=0.3199 right_z=0.1683 right_yaw=0.0266 right_pitch=-0.1012 right_roll=-0.0166 right_gripper=0.9998 state[joint_eff]: [0.1299, -1.5248, 6.9949, 1.9072, -0.0024, 0.1001, 0.1294, 0.4855, -10.359, 9.2376, 1.1013, 0.5739, 0.1392, -0.0366] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.39,"right_z":0.13},"note":"The right wrist camera clearly sees the released gray plush close by but left of the jaw column, with the basket farther ahead. I’m shifting the right gripper leftward in its frame and slightly back/down to center the plush for a clean regrasp."})
tool
executing move_to over 6 steps (0.6s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe gray plush now spans the jaw opening, with its torso crossing the jaw column; the tan shape at the bottom is a neighboring spotted dog. I’m descending at the current alignment to grasp only the gray torso.
move_to
right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0624, 0.82, 0.6205, -0.4019, -0.1127, -0.1055, 0.9963, 0.9985, 2.1464, 1.7355, -0.5659, 0.6884, 0.6838, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0051 left_z=0.1765 left_yaw=0.0724 left_pitch=-0.0339 left_roll=-0.0079 left_gripper=0.9963 right_x=0.3772 right_y=0.3849 right_z=0.1196 right_yaw=0.0565 right_pitch=-0.1335 right_roll=-0.044 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.6889, 7.4462, 1.746, -0.1587, -0.0562, 0.0024, 0.3624, -11.9726, 9.1145, 1.0965, 0.6178, 0.2515, -0.0171] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"The gray plush now spans the jaw opening, with its torso crossing the jaw column; the tan shape at the bottom is a neighboring spotted dog. I’m descending at the current alignment to grasp only the gray torso."})
tool
executing move_to over 5 steps (0.5s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe descent stopped about 3 cm short while the gray torso remains between the fingers, consistent with contact on the thick plush. I’m closing the right gripper around it 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]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.1154, -0.1051, 0.9963, 1.0, 2.1757, 1.6154, -0.3531, 0.691, 0.6937, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0055 left_z=0.1754 left_yaw=0.0744 left_pitch=-0.0379 left_roll=-0.0055 left_gripper=0.9963 right_x=0.3811 right_y=0.3918 right_z=0.0867 right_yaw=0.0569 right_pitch=-0.0944 right_roll=0.0141 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.7656, -0.0708, -0.022, -0.0122, -0.3077, -8.8547, 4.6564, 0.8327, 0.2515, -0.1734, -0.0171] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped about 3 cm short while the gray torso remains between the fingers, consistent with contact on the thick plush. I’m closing the right gripper around it now."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe right gripper closed empty at 0.013 because the gray plush lies just beyond its +y limit. I’m parking and reopening the right arm while returning the left arm—whose workspace covers that point—above the gray plush.
move_to
right_x0.2960right_y0.0000right_z0.1840right_gripper1.0000left_x0.3800left_y-0.2000left_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]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.115, -0.1051, 0.9963, 1.0, 2.186, 1.6081, -0.3222, 0.6884, 0.691, 0.0126] state[eef_state]: left_x=0.2956 left_y=0.0054 left_z=0.1754 left_yaw=0.0741 left_pitch=-0.0379 left_roll=-0.0057 left_gripper=0.9963 right_x=0.3825 right_y=0.3947 right_z=0.0824 right_yaw=0.0611 right_pitch=-0.0883 right_roll=0.0241 right_gripper=0.0126 state[joint_eff]: [-0.0068, -1.4017, 7.1316, 1.7411, -0.0659, -0.0317, -0.0122, -0.0479, -13.1624, 7.1453, 1.033, 0.3394, 0.0269, 1.0916] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.0,"right_z":0.184,"right_gripper":1.0,"left_x":0.38,"left_y":-0.2,"left_z":0.16,"left_gripper":1.0},"note":"The right gripper closed empty at 0.013 because the gray plush lies just beyond its +y limit. I’m parking and reopening the right arm while returning the left arm—whose workspace covers that point—above the gray plush."})
tool
executing move_to over 33 steps (3.3s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe left wrist view now has the gray plush centered precisely on the jaw column, confirming the cross-frame estimate. I’m descending onto its torso for a second secure grasp.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7391, 1.5726, 1.0378, -0.2928, -0.6296, -0.577, 0.9983, -0.0639, 0.8783, 0.6796, -0.4686, -0.0639, -0.0338, 0.9982] state[eef_state]: left_x=0.3725 left_y=-0.1939 left_z=0.1462 left_yaw=0.0701 left_pitch=-0.0744 left_roll=0.0092 left_gripper=0.9983 right_x=0.2974 right_y=-0.0041 right_z=0.1733 right_yaw=0.0018 right_pitch=-0.1043 right_roll=0.0243 right_gripper=0.9982 state[joint_eff]: [-0.3624, -6.8855, 9.4427, 1.5604, -0.525, 0.105, -0.1832, -0.1846, -2.4, 9.3744, 1.6435, -0.1832, -0.1343, -0.0464] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The left wrist view now has the gray plush centered precisely on the jaw column, confirming the cross-frame estimate. I’m descending onto its torso for a second secure grasp."})
tool
executing move_to over 6 steps (0.6s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe gray plush torso is squarely between the lowered fingers with no spotted dog in the closing path. I’m closing the left gripper and will use its opening reading to confirm 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]: [-0.741, 1.7073, 0.8616, -0.0216, -0.6285, -0.5838, 0.9981, -0.0658, 0.8833, 0.6785, -0.4812, -0.075, -0.0486, 0.9984] state[eef_state]: left_x=0.3685 left_y=-0.1915 left_z=0.0677 left_yaw=0.0736 left_pitch=-0.1022 left_roll=0.032 left_gripper=0.9981 right_x=0.2956 right_y=-0.0026 right_z=0.1691 right_yaw=0.0174 right_pitch=-0.1222 right_roll=0.021 right_gripper=0.9984 state[joint_eff]: [0.0889, -7.3915, 4.8479, 1.3553, -0.2222, 0.0513, -0.0366, 0.0479, -1.8667, 7.0769, 1.7753, 0.0366, 0.0708, 0.0073] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gray plush torso is squarely between the lowered fingers with no spotted dog in the closing path. I’m closing the left gripper and will use its opening reading to confirm the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
assistant
agent noteThe left gripper again holds the gray plush securely at 0.196. Using the cleared overhead view, I’m carrying its grasp point above the center of the farther-left basket; this time I’ll release from above the rim rather than trying to descend in the stretched pose.
move_to
left_x0.5000left_y-0.3700left_z0.2100
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]: [-0.741, 1.7229, 0.8474, 0.0193, -0.6289, -0.5926, 0.1961, -0.0654, 0.8837, 0.6773, -0.4786, -0.0719, -0.049, 0.9984] state[eef_state]: left_x=0.3696 left_y=-0.1925 left_z=0.0626 left_yaw=0.0778 left_pitch=-0.0943 left_roll=0.0172 left_gripper=0.1961 right_x=0.2959 right_y=-0.0031 right_z=0.169 right_yaw=0.0154 right_pitch=-0.1213 right_roll=0.0186 right_gripper=0.9984 state[joint_eff]: [0.0068, -9.1282, 6.9812, 0.9695, -0.3053, 0.0171, 0.6764, -0.1299, -1.5932, 7.2684, 1.6288, -0.0904, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.37,"left_z":0.21},"note":"The left gripper again holds the gray plush securely at 0.196. Using the cleared overhead view, I’m carrying its grasp point above the center of the farther-left basket; this time I’ll release from above the rim rather than trying to descend in the stretched pose."})
tool
executing move_to over 16 steps (1.6s)
step 238
assistant
agent noteThe cleared overhead view shows the grasped item is actually a tan spotted dog—the gray plush remained on the table—so I’m assigning spotted dogs to this left basket instead. The dog is suspended over the basket interior now, and I’m releasing it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8158, 2.635, 2.6926, -1.0763, -0.6804, -0.7078, 0.1975, -0.0658, 0.8864, 0.6754, -0.482, -0.0719, -0.049, 0.9984] state[eef_state]: left_x=0.4952 left_y=-0.3589 left_z=0.1376 left_yaw=0.1153 left_pitch=-0.1631 left_roll=0.0803 left_gripper=0.1975 right_x=0.2952 right_y=-0.0031 right_z=0.1667 right_yaw=0.0151 right_pitch=-0.1292 right_roll=0.0193 right_gripper=0.9984 state[joint_eff]: [-0.6906, -14.2154, 6.5983, 0.5739, -0.3687, 0.2955, 0.1392, -0.1846, -1.9897, 7.1863, 1.6484, -0.0464, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The cleared overhead view shows the grasped item is actually a tan spotted dog—the gray plush remained on the table—so I’m assigning spotted dogs to this left basket instead. The dog is suspended over the basket interior now, and I’m releasing it there."})
tool
executing move_to over 9 steps (0.9s)
step 247
assistant
agent noteThe dog fell just outside the far basket because its body hung behind the grasp point at release. I’m parking the stretched left arm and bringing the right arm above that dog; the right arm can carry it into the nearer right basket without the same reach problem.
move_to
left_x0.2960left_y0.0000left_z0.1840right_x0.3700right_y0.2500right_z0.1400right_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]: [-0.8146, 2.6648, 2.6888, -1.1095, -0.6739, -0.7452, 0.9957, -0.0658, 0.8883, 0.6739, -0.482, -0.0719, -0.049, 0.9984] state[eef_state]: left_x=0.4911 left_y=-0.3548 left_z=0.1151 left_yaw=0.1429 left_pitch=-0.2047 left_roll=0.104 left_gripper=0.9957 right_x=0.2951 right_y=-0.0031 right_z=0.1655 right_yaw=0.0151 right_pitch=-0.1327 right_roll=0.0196 right_gripper=0.9984 state[joint_eff]: [-0.2256, -17.5248, 6.6256, 1.3895, -0.4664, 0.3053, -0.0317, -0.0752, -1.9761, 7.0769, 1.5946, -0.0855, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.296,"left_y":0.0,"left_z":0.184,"right_x":0.37,"right_y":0.25,"right_z":0.14,"right_gripper":1.0},"note":"The dog fell just outside the far basket because its body hung behind the grasp point at release. I’m parking the stretched left arm and bringing the right arm above that dog; the right arm can carry it into the nearer right basket without the same reach problem."})
tool
executing move_to over 32 steps (3.2s)
step 279
assistant
agent noteThe right wrist view now shows the spotted dog centered between the open jaws, directly in front of the nearer right basket. I’m descending to torso height while preserving that alignment.
move_to
right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2054, 1.0084, 0.857, -0.6418, -0.334, -0.2245, 0.9963, 0.791, 1.6791, 1.1347, -0.3481, 0.5327, 0.54, 0.9987] state[eef_state]: left_x=0.3031 left_y=-0.0003 left_z=0.189 left_yaw=0.1843 left_pitch=-0.1788 left_roll=0.086 left_gripper=0.9963 right_x=0.3627 right_y=0.2443 right_z=0.126 right_yaw=0.042 right_pitch=-0.1735 right_roll=-0.006 right_gripper=0.9987 state[joint_eff]: [-0.0068, -2.7009, 6.3111, 1.4383, -0.0855, 0.1099, 0.0562, 0.4171, -7.9658, 9.1419, 1.3602, 0.5006, 0.149, -0.1538] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"The right wrist view now shows the spotted dog centered between the open jaws, directly in front of the nearer right basket. I’m descending to torso height while preserving that alignment."})
tool
executing move_to over 5 steps (0.5s)
step 284
assistant
agent noteAt the lower pose the dog’s plush body fills the jaw opening, indicating the fingers are at the correct height. I’m closing around its midsection.
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]: [-0.2062, 1.0134, 0.8516, -0.6579, -0.3172, -0.2211, 0.9964, 0.7918, 1.7748, 0.9882, -0.1101, 0.5282, 0.5446, 0.9985] state[eef_state]: left_x=0.3 left_y=-0.0028 left_z=0.1821 left_yaw=0.1698 left_pitch=-0.2079 left_roll=0.0871 left_gripper=0.9964 right_x=0.3615 right_y=0.2445 right_z=0.0656 right_yaw=0.0431 right_pitch=-0.179 right_roll=-0.0029 right_gripper=0.9985 state[joint_eff]: [-0.0752, -2.988, 7.4462, 1.6386, -0.315, -0.0562, -0.0024, -0.1026, -6.4342, 5.0256, 1.16, 0.2027, -0.0806, -0.0317] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lower pose the dog’s plush body fills the jaw opening, indicating the fingers are at the correct height. I’m closing around its midsection."})
tool
executing move_to over 10 steps (1.0s)
step 294
assistant
agent noteThe right gripper settled at 0.287, confirming a secure grasp on the dog. I’m lifting and carrying it to the center of the nearer right basket, whose position is well inside this arm’s natural workspace.
move_to
right_x0.4800right_y0.0500right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6617, -0.3134, -0.2245, 0.9964, 0.7918, 1.7805, 0.9791, -0.0696, 0.5133, 0.5404, 0.2869] state[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1812 left_yaw=0.1688 left_pitch=-0.2127 left_roll=0.0835 left_gripper=0.9964 right_x=0.3632 right_y=0.2495 right_z=0.0647 right_yaw=0.0593 right_pitch=-0.1679 right_roll=0.0201 right_gripper=0.2869 state[joint_eff]: [-0.1026, -2.5094, 6.9402, 1.4628, -0.2125, -0.0073, -0.0122, -0.1846, -8.9504, 6.8171, 0.9695, 0.3101, 0.0269, 0.7448] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.05,"right_z":0.19},"note":"The right gripper settled at 0.287, confirming a secure grasp on the dog. I’m lifting and carrying it to the center of the nearer right basket, whose position is well inside this arm’s natural workspace."})
tool
executing move_to over 17 steps (1.7s)
step 311
assistant
agent noteThe overhead view confirms the right gripper is centered above the right basket with the spotted dog hanging inside its rim. I’m lowering a few centimeters so the dog is supported by the basket before release.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6624, -0.3134, -0.2245, 0.9964, 0.1371, 1.6634, 1.2991, -0.4343, 0.0071, 0.062, 0.2871] state[eef_state]: left_x=0.2993 left_y=-0.0033 left_z=0.1811 left_yaw=0.1689 left_pitch=-0.2134 left_roll=0.0838 left_gripper=0.9964 right_x=0.4622 right_y=0.0662 right_z=0.167 right_yaw=0.0901 right_pitch=-0.2378 right_roll=0.0496 right_gripper=0.2871 state[joint_eff]: [-0.0342, -2.5368, 6.7761, 1.4676, -0.188, -0.022, -0.0122, -1.2923, -7.3094, 9.853, 1.9609, 0.4029, -0.0806, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The overhead view confirms the right gripper is centered above the right basket with the spotted dog hanging inside its rim. I’m lowering a few centimeters so the dog is supported by the basket before release."})
tool
executing move_to over 4 steps (0.4s)
step 315
assistant
agent noteThe dog is now visibly nested inside the right basket and supported at the lower pose. I’m opening the gripper to complete the spotted-dog placement.
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]: [-0.2062, 1.0138, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1604, 1.6981, 1.137, -0.2951, -0.0544, 0.0502, 0.2872] state[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1811 left_yaw=0.1688 left_pitch=-0.213 left_roll=0.0836 left_gripper=0.9964 right_x=0.4465 right_y=0.0856 right_z=0.1082 right_yaw=0.1736 right_pitch=-0.2957 right_roll=0.0872 right_gripper=0.2872 state[joint_eff]: [-0.0205, -2.4821, 6.7624, 1.4725, -0.188, -0.0513, -0.0122, -2.0171, -7.3915, 7.3915, 1.9512, 0.8962, 0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The dog is now visibly nested inside the right basket and supported at the lower pose. I’m opening the gripper to complete the spotted-dog placement."})
tool
executing move_to over 8 steps (0.8s)
step 323
assistant
agent noteOne gray plush and one additional spotted dog remain on the table; the first dog is secure in the right basket. I’m parking the right arm and moving the left gripper directly to the now-separated gray plush, whose center is at the previously calibrated left-arm pose.
move_to
left_x0.3700left_y-0.1900left_z0.0700left_gripper1.0000right_x0.2960right_y0.0000right_z0.1840
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]: [-0.2062, 1.0145, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1795, 1.692, 1.1244, -0.1928, -0.0521, 0.0414, 0.9943] state[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1809 left_yaw=0.1689 left_pitch=-0.2138 left_roll=0.0839 left_gripper=0.9964 right_x=0.4596 right_y=0.0964 right_z=0.1232 right_yaw=0.1951 right_pitch=-0.1996 right_roll=0.0778 right_gripper=0.9943 state[joint_eff]: [-0.2393, -2.6325, 7.0632, 1.5067, -0.1832, -0.0708, -0.0122, -3.1111, -6.5026, 7.0496, 1.4921, 0.5397, 0.149, -0.3199] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":0.07,"left_gripper":1.0,"right_x":0.296,"right_y":0.0,"right_z":0.184},"note":"One gray plush and one additional spotted dog remain on the table; the first dog is secure in the right basket. I’m parking the right arm and moving the left gripper directly to the now-separated gray plush, whose center is at the previously calibrated left-arm pose."})
tool
executing move_to over 17 steps (1.7s)
step 340
assistant
agent noteThe separated gray plush is directly between the left fingers at torso height, with the remaining dog well behind it. I’m closing for a secure gray-only 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]: [-0.7311, 1.7542, 1.0168, -0.3496, -0.6109, -0.6899, 0.9983, -0.1898, 1.0122, 0.844, -0.6102, -0.2867, -0.2008, 0.9948] state[eef_state]: left_x=0.3602 left_y=-0.1821 left_z=0.0613 left_yaw=0.1594 left_pitch=-0.2536 left_roll=0.1108 left_gripper=0.9983 right_x=0.307 right_y=-0.0045 right_z=0.186 right_yaw=0.1575 right_pitch=-0.1786 right_roll=0.0641 right_gripper=0.9948 state[joint_eff]: [-0.2803, -8.4308, 7.747, 1.0574, -0.4957, 0.0562, -0.1832, -0.212, -2.9744, 7.0359, 1.5604, -0.2418, -0.0562, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The separated gray plush is directly between the left fingers at torso height, with the remaining dog well behind it. I’m closing for a secure gray-only grasp."})
tool
executing move_to over 10 steps (1.0s)
step 350
assistant
agent noteThe 0.011 reading shows the fingers slid beneath the very soft gray torso rather than clamping it. I’m reopening and raising to mid-torso height at the same centered pose for a higher regrasp.
move_to
left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7338, 1.7767, 1.0233, -0.3504, -0.606, -0.6964, 0.0106, -0.1955, 1.0168, 0.8429, -0.627, -0.2966, -0.2169, 0.9948] state[eef_state]: left_x=0.3599 left_y=-0.1842 left_z=0.0545 left_yaw=0.1608 left_pitch=-0.2671 left_roll=0.1169 left_gripper=0.0106 right_x=0.3043 right_y=-0.004 right_z=0.1817 right_yaw=0.1702 right_pitch=-0.1967 right_roll=0.0669 right_gripper=0.9948 state[joint_eff]: [-0.1436, -10.0171, 5.3402, 1.033, -0.3101, 0.0611, 0.8767, 0.4444, -2.9607, 7.0496, 1.6679, -0.0659, 0.1538, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_gripper":1.0},"note":"The 0.011 reading shows the fingers slid beneath the very soft gray torso rather than clamping it. I’m reopening and raising to mid-torso height at the same centered pose for a higher regrasp."})
tool
executing move_to over 10 steps (1.0s)
step 360
assistant
agent noteThe reopened view shows only the gray plush’s front paws between the fingers while its thicker torso is a few centimeters farther forward. I’m advancing the open jaws onto the torso and maintaining the higher grasp level.
move_to
left_x0.3900left_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]: [-0.7338, 1.7546, 1.0801, -0.4759, -0.6025, -0.7059, 0.9949, -0.1959, 1.0172, 0.8429, -0.6281, -0.2974, -0.2176, 0.9948] state[eef_state]: left_x=0.3554 left_y=-0.1808 left_z=0.0687 left_yaw=0.1746 left_pitch=-0.2977 left_roll=0.1463 left_gripper=0.9949 right_x=0.3041 right_y=-0.0039 right_z=0.1815 right_yaw=0.1709 right_pitch=-0.1979 right_roll=0.0674 right_gripper=0.9948 state[joint_eff]: [-0.1162, -10.9197, 8.294, 0.9353, -0.398, 0.0611, -0.1832, -0.1299, -2.6735, 7.1453, 1.4969, -0.1294, -0.0171, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_z":0.09},"note":"The reopened view shows only the gray plush’s front paws between the fingers while its thicker torso is a few centimeters farther forward. I’m advancing the open jaws onto the torso and maintaining the higher grasp level."})
tool
executing move_to over 3 steps (0.3s)
step 363
assistant
agent noteAfter the forward correction, the plush’s thick torso—not just its paws—fills the jaw opening. I’m closing at this higher, more secure contact point.
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]: [-0.6769, 1.8057, 1.1934, -0.5232, -0.577, -0.6762, 0.9962, -0.1959, 1.0195, 0.8429, -0.6285, -0.297, -0.2176, 0.9948] state[eef_state]: left_x=0.3809 left_y=-0.1779 left_z=0.0794 left_yaw=0.1962 left_pitch=-0.3089 left_roll=0.1391 left_gripper=0.9962 right_x=0.3042 right_y=-0.004 right_z=0.1808 right_yaw=0.1708 right_pitch=-0.2005 right_roll=0.0681 right_gripper=0.9948 state[joint_eff]: [-0.212, -8.7043, 7.6786, 0.8913, -0.3687, 0.2564, 0.1294, -0.0889, -2.7829, 7.0906, 1.4725, -0.1294, -0.0171, -0.0122] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the forward correction, the plush’s thick torso—not just its paws—fills the jaw opening. I’m closing at this higher, more secure contact point."})
tool
executing move_to over 10 steps (1.0s)
step 373
assistant
agent noteThe second empty close shows the parallel jaws are passing between the gray plush’s long legs; the position is correct but the closing axis is wrong. I’m reopening and rotating the gripper 90 degrees so the jaws close across the torso lengthwise rather than through the leg gap.
move_to
left_yaw1.5700left_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]: [-0.6773, 1.8095, 1.1961, -0.5304, -0.5758, -0.6815, 0.0104, -0.1959, 1.0195, 0.8429, -0.6289, -0.2974, -0.2184, 0.9948] state[eef_state]: left_x=0.3802 left_y=-0.1777 left_z=0.078 left_yaw=0.2002 left_pitch=-0.3146 left_roll=0.1415 left_gripper=0.0104 right_x=0.3041 right_y=-0.0039 right_z=0.1807 right_yaw=0.1716 right_pitch=-0.2008 right_roll=0.068 right_gripper=0.9948 state[joint_eff]: [-0.1573, -9.306, 5.8188, 1.0623, -0.2662, 0.0611, 0.8767, -0.1436, -2.6735, 6.8034, 1.5067, -0.1636, -0.0366, -0.0122] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":1.57,"left_gripper":1.0},"note":"The second empty close shows the parallel jaws are passing between the gray plush’s long legs; the position is correct but the closing axis is wrong. I’m reopening and rotating the gripper 90 degrees so the jaws close across the torso lengthwise rather than through the leg gap."})
tool
executing move_to over 10 steps (1.0s)
step 383
assistant
agent noteWith the gripper rotated, the gray torso now lies broadside across the jaw opening. I’m closing while lifting vertically so a successful cross-body grasp immediately clears the table.
move_to
left_gripper0.0000left_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]: [-0.5755, 2.4073, 1.9995, -1.5227, -0.5659, -2.0163, 0.9949, -0.1959, 1.0218, 0.8425, -0.6315, -0.2974, -0.2211, 0.9948] state[eef_state]: left_x=0.3784 left_y=-0.1283 left_z=0.0419 left_yaw=1.3892 left_pitch=-0.3546 left_roll=0.1182 left_gripper=0.9949 right_x=0.3038 right_y=-0.0039 right_z=0.1795 right_yaw=0.1734 right_pitch=-0.2056 right_roll=0.068 right_gripper=0.9948 state[joint_eff]: [2.2632, -11.3573, 4.9983, -0.8083, -0.3004, 0.0317, -0.0171, -0.1573, -2.865, 6.8171, 1.4823, -0.149, 0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"left_z":0.16},"note":"With the gripper rotated, the gray torso now lies broadside across the jaw opening. I’m closing while lifting vertically so a successful cross-body grasp immediately clears the table."})
tool
executing move_to over 10 steps (1.0s)
step 393
assistant
agent noteI placed one spotted dog into the right basket, but two objects remain on the table and the gray long-legged plush repeatedly let the parallel jaws close through its leg gap (empty readings around 0.01), including after a 90-degree wrist rotation. The task is therefore incomplete within the call budget.
give_up
hindsightThe basket centers are near the arms’ long-reach limits; bulky plush objects hang roughly 8–12 cm behind the Cartesian grasp point, so releasing with the grasp point merely over a basket edge drops them outside. For long-legged plushes, target the upper torso from the outset and use a rotated closing axis before descending; do not center on the visible leg gap. The nearer right basket is reliably reachable by the right arm around x≈0.46, y≈0.08, z≈0.11 for placement.
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]: [-0.6174, 2.4165, 2.0365, -1.5524, -0.5453, -2.0491, 0.0101, -0.1959, 1.0222, 0.8425, -0.6315, -0.2974, -0.2214, 0.9948] state[eef_state]: left_x=0.3722 left_y=-0.1475 left_z=0.0454 left_yaw=1.3767 left_pitch=-0.3694 left_roll=0.1071 left_gripper=0.0101 right_x=0.3038 right_y=-0.0039 right_z=0.1794 right_yaw=0.1736 right_pitch=-0.206 right_roll=0.0678 right_gripper=0.9948 state[joint_eff]: [-0.0615, -11.5761, 6.4479, -0.6227, -0.3932, -0.1538, 0.8034, -0.0615, -2.5094, 7.0222, 1.4823, -0.1636, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed one spotted dog into the right basket, but two objects remain on the table and the gray long-legged plush repeatedly let the parallel jaws close through its leg gap (empty readings around 0.01), including after a 90-degree wrist rotation. The task is therefore incomplete within the call budget.","hindsight":"The basket centers are near the arms’ long-reach limits; bulky plush objects hang roughly 8–12 cm behind the Cartesian grasp point, so releasing with the grasp point merely over a basket edge drops them outside. For long-legged plushes, target the upper torso from the outset and use a rotated closing axis before descending; do not center on the visible leg gap. The nearer right basket is reliably reachable by the right arm around x≈0.46, y≈0.08, z≈0.11 for placement."})
tool
give_up: I placed one spotted dog into the right basket, but two objects remain on the table and the gray long-legged plush repeatedly let the parallel jaws close through its leg gap (empty readings around 0.01), including after a 90-degree wrist rotation. The task is therefore incomplete within the call budget.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.08 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.6068, 1.7607, -0.022, 0.1832, -0.105, -0.5949, -1.6342, 9.8256, 1.7802, -0.105, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca56d58828b239420ea48ea8bb31be03043cb8e9eadb650b8424242781708a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db0165af05bde5e3d3f3ef9d979c36445cf3fee78dc3790cd1ceaf22baa1fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a1fbcda79804455d03ebd404c05ae1c36896cb703c2d6ccd277325573ae267",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 6.162 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0451b42ea712029b016ab4412bdd4887d0a6cdde41b727f52b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEE1NEib3rG_bT_WL4YS_jTfbTpaBNngfv6UaMRKQ1O_Jzvj2o22zCbri2KAVUyBt0cTqMdUDRjeuEfna3eRQci_olqnwAsDjKHHQMGtxC34NEhPJbYDi-_wVSTBQIIBYnzrqiJvst2DUw07JKG0Yi1DgHs_fDJ6sZNoDcvd_2HtkiRMyofo2LEa_oFYCLwyY7t-BlZfL54JHfqgLaXj_fIyTyxI7G_uwQBwdIl4oyQmEI5pS6mxByrQUfaFXzCWaq_rwnMS54zGINcJv90KZaRZA5dwbnPfn94c7hQl7qMg-SB9x75C6r-EF0yUcCsoXPDIckcAJeemnf2Dc23AJj7OGl-VqlFaFUpUXap3GNk_V3g-fc6rebDx7KHNtnOCgoIzRDI8ynL54a0SO5KczSpd5ydAmPuLswvSJeE8xCb0_DPRpmCqE3s3wzmpk3Ok70pKR0dQxVtMonuN5Tsbge1bLIovH3VLtfxr8cwONu8ni2IYxsFINYFNpz0s-cBxK0gtnsbMcWMLgutK4Q5ralZc7uCBFSOO2lZwMViI3VUih-jlwoQ43QV-RnZqa_mWTbSjTnFgPpHR62ib7ALYBiVeSHgqpTJUAYUjxhlvjXgZuHusE_WqX6QQOjCORFIvmJE583rtfxO-9p3vnpiym47j535oJUSZvO_lVdhNYtcVpTOir3DJsCiMbFfynAJ4nrOpS3_An_dTqq2uuqnW3Xx7AuDVENrHEhfQINitW2smj2TQKiU1K4NHL1fqPjL2NeVcOvaRzHUrWN5OTao-BjnKWhKp8a0pHO5PIO8bH8nxZ5XqwXcj9GcjKCyX_FdcJPurzJMQRMFFDJQWLlz_KE_AHTigL2uDhlULKAej2Fa7tLJ6cQP5ucbSBUtz4PQGo-MySy_3cLomJm98XWOXdyOfv0Yb7oCmqKm1nkJiyObibcszUX8GIigLvnUY1P3A6eqmTKvdK6X9LwTEGoMfQqxtN60obd9BV7FYurzhT1ksW4f-SegGqUkNtM8ybLEr1pIl4zYkyWgC70ZlTmfo_6_rKXtX3lO-gn56dDv6iXXKrfvyddOe3oKQtbVPVJc7th_-8Aq0XY3RotS-S1XL7Ba-jBdRtvVjsxH70jMGJUQTkAiScvv-7BA16IHdnL26z9rprSGqgpwzjZHBB3li-aVs5ypVq39l1AWH-OAHVqnXIM8nDrfJm3aSczctC42jTibzHkDUsXqyn01K4TnTojvkyxebQeYHTfx4q2eK7WrO70kXrV-nUbbALhAm5MR5R6rZQoGVvuD1QjmQ2yk7m3i0RIBNyst-3oH3JB1cG151I1X3QyrLF4dKMTzn0hBxHc-qa23_as-XRU_bBmdLrXmSU-yeXDl2JPy-unIPPJu2aFpeUESCAeADL3uH0xZ8BpHk1WLAlDDlPLLb-FCqA81kXrFBHyOyruO-TxAldU-rSywC5A4pRh2mpuHszB11ndY9Mf2gnBL88VCc-znA92CAnFIxVqYQeYLCv47NOzQRd_ejIgdAaJArMpNemGGGo2SIiUlNCjW7UD7t3wnac-Q9Y1pgDnH1HUHaujfNhNna9Lchq-hvu42FW_FA_aNBm6o71TGBQ1HMQS0EbynC6g6BVyQwCwjIrkURMiXyzaqYnxVkdCtMZ9hwa0JRm1tiNqTLtmzYmo2BljTGWEAhsumQ5tpGcPXatS9P04wZ739v3B8AYx_Uz-e5QHyFRgE6CCa35XKAVX5KIaCgZF63aO4FQsMSI_UR-ZshxkksxvMDR7fY5OyQBTPoxwqWzSaY-Gj_eAJYhS-cWOIr1Q73TwDOiYrnMfzq5AcwZEUnuocSrOqhpqBauPQI1UMksIRTYZpZG12fePJT7iEgOJACgixnku2oCFf6rbvJ7FPyGWx-DzoEc5dYFUw5murHFfFkFcdyqxqckh5SuDRibKg0Hq7qzK1vu-iEuV8NaPLcUBCBUg4FQbu6MXz36g54TFid8OW5RDOmZYoeEYITnoZkY29GURXf1Tx_HtvX1LLXTcj7Op1R4PEgB779Gto1BA21cBiwwHerZRuPVucmnAdMzBl-Z5jZyr1EvtDnA5X1ejtKINci7GC8kyYZQ66q5RUDP5FoEHkaFirmRzUe_3t_EXrRPROiedATMP7cervILrrZpJpVcXRGvlYxg7DJHKAYZl96G5s9t5HNiCULBB2iCB_mH9-XoGYvFGNf_P5LLte2dAMAh-QPLPAg7mZho9Hb0ifA2XdVjTq-c1Tkpz9GahqPmQfwThWrKjqnWangK9oo-GrI9voz9ihcHhxxHAw9O67NBF7PtMVvhmJj_sbL4xdyfFIOSoAeUAXGJ213EBz_UauccEESV3jRlpQ7w1KckZkxxNfd78y9BxXvGvKGb5u9azcsEjzUpcGI3icJWEp9Zg71gCs2jiJotMCXHet14du8jHcaZH3BwIjupQJqkTZBj18Ti8AFUrjKMpJxljO2ABUkJGXMlvpBBMvGl_qW0qRO7GYg-UhWsGuaZAYkdcXcDQ==",
  "id": "rs_0451b42ea712029b016ab44131d42887d0a2017788a69bc3b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.1,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The table has two visible classes: gray/white plush animals and tan/brown spotted plush dogs, with two empty turquoise baskets. I’ll assign gray/white objects to the left basket and spotted dogs to the right, starting by positioning the left gripper above the nearest gray plush.\"}",
  "call_id": "call_w0aM23RLe7gQeSMWENSdyupW",
  "id": "fc_0451b42ea712029b016ab441341ce087d0adff5a2ad9d7683f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w0aM23RLe7gQeSMWENSdyupW",
  "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]: [-0.4271, 1.3186, 0.746, -0.0948, -0.3599, -0.2707, 0.9991, -0.0154, 0.8024, 0.6086, -0.3779, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.0965 left_z=0.1398 left_yaw=0.0028 left_pitch=-0.0549 left_roll=0.0153 left_gripper=0.9991 right_x=0.2962 right_y=0.0011 right_z=0.1802 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.559, 9.3197, 1.8437, -0.2027, 0.0122, -0.105, -0.3897, -1.5932, 7.2821, 1.8046, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b63abb668938ff7d655669ca2d161376d7cfc31ffbef403b32f9f3809a340c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be395f5724529f2c9ed5dc5e5ba5adabad525c2130fd5c2a412cb6cdcc9a659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0bde7a4e1fe6ed73cea6f609f05d2f3fbf154496f37b4f22d2c1f6250d11e9",
      "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 2 attempt 0 · /responses · status 200 · 3.167 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.6068, 1.7607, -0.022, 0.1832, -0.105, -0.5949, -1.6342, 9.8256, 1.7802, -0.105, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4271, 1.3186, 0.746, -0.0948, -0.3599, -0.2707, 0.9991, -0.0154, 0.8024, 0.6086, -0.3779, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.0965 left_z=0.1398 left_yaw=0.0028 left_pitch=-0.0549 left_roll=0.0153 left_gripper=0.9991 right_x=0.2962 right_y=0.0011 right_z=0.1802 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.559, 9.3197, 1.8437, -0.2027, 0.0122, -0.105, -0.3897, -1.5932, 7.2821, 1.8046, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b63abb668938ff7d655669ca2d161376d7cfc31ffbef403b32f9f3809a340c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be395f5724529f2c9ed5dc5e5ba5adabad525c2130fd5c2a412cb6cdcc9a659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0bde7a4e1fe6ed73cea6f609f05d2f3fbf154496f37b4f22d2c1f6250d11e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFB394pJXmXfoNQ3y0HDDo2suSdzrgymZyRegax26RVwXU9GBFuzvzbFR8uXLaGSZ3A_lW9jHKI3T2mE7wB60QbWLcqgalG4vUdJOXenLYHwWLfKQsDvNwkZ2UlPtx9zLiHTHdEeKik0lLRFn8hlAIqa1nSaslDu72poJ5u3boF3CI-pWYq2KVrhcMz5xjI-4PRRxD-fJEVireh6lMU2VB1Wg5HTJSh04wwmV1eIlpER9fBjyr_zGgHAXEcoAJBvtMD1g_8nHo7ZuMRbebYkNnKOfmN8Ywsd6Ug-BYNvq56NVRXDCFZ7xd_HvVssQBzww5x-ce9QQDEjvUn9pP86iBFBiL-qVXsuvxC4tmmL6m4KFfkKWhlcxXX9JK2-odR4wLcBRAaOAz3zS-gr-JFCBAI5-GQrzDSuYkT4V6KUQEkcE6AgRnI3UiAlqGm9AHNurcL9M6SNd3HFBf9SpNt58dZSoHIvtP8kUFG0wb5awA3FRXSVGLeVgRPiKRsFFhJdD0ervM4pn9zgDz0D0HJyQ080nSZwVR6JOAXyVopvyc9I-s7HvVR1ccV8TVUiK3TbF-D3S6tFwjxMGUfzP4G2nxBKNGHovNv5CF5vFS0UTiAkSppnR1p64-xXIaWzGAEinVJdRUyrzXOgE3I_S9RRehil5baS1T2m8aWppQAOsBLsbYzxR7zb7MU5hk2HSR2X72YAoGkqMdjqMTSk42ZRiX8W1Axzj6sgsVaT8djJz5oVGaVIXtxU49czfq3nhv9ws0CWSkVu4WqG-hiQvb4DUzvc7fZ4Lo_hZ8ssTI5llhUOlnhcbA4b_op4np4joHBqCSorNXCKXYTnZB_GJ9k34X6HGs1GtST68ow3GlpzCnMPH6npwsUNQduLtufs_iVpzkQQ8aNnOd0Q8KAJZNQb8KAmecByexPx2mtxYKXWIp-JldLQ5c7OcMC8LkIWABZDCC6LnjCTDdhxAKocFPplQRlRxQ-ati4VnrAZryHnQG4a6dUGUtE55XNgJNOeLFd2hdsVeUVqKPpK1cPzRXgVFubUqc5LlQrt2Co0qY-43BUbpJ-xOvRaRpHvNbUXSi1_6h39yVtAAb6eiKVeBRjya6kZjRmzLpWmCoRUcwU31MuQszohB5AR9C29fV2ubH8-3lyuecUVqwhBtlv8_B_a3AxUigC39i3Il88XXu_KRw8TKmQadOGp6-pwnVQXkVzykcZjtATooT0Gp94kkqFe4FJAVjnCEiQWQU3tBJBVgZJiaOKKFoIRot_gtdd2EHRZz-fcDjDCMa_Sfby-L1Mi3D2iZwf7vEGBk4s6aaD5FFBilB0xCUQxFl7CP8eCeNc-v7pSjl6y77i6l3jcA5n-n0B0IzU9lXO8CuoRxeMfxmrdH45Tr9tzlRLYwv9d7SE1RYQWhlyG9p_SLYqplxFkkMZgdfIbrMU3amOpacQpR0_bTIXFm-6vlj5WJ1vhxIUSqZ1tM77cfZKhYbIhTryT66ZsaF7rQXIx8IHxlRKn5ML8h1myrmHSUCiCCG_fbj62enj5xMjzL8mzPMoiX0nuQCp021XpqffY5wMWppUOE-U1zyaQ3CrWfx6IEKvdE2zatQOezMZIqreiBu82pWww3SCT7fNDqad6_dsRjOitXD9hbdbdwvLJUfxTAUhP2JxUSGb4ZqtJZyPie-ozffNvsPKyXHkKZvMuD7xHD0SGQwgZ8Zy6nT4TKhA2M18otANHIXy-kP0mcty1yAtb0nB14jU4N1TW0WGGgNKAVXXtMfydxqXU1ulfoQ9UJxs4SgRXVUUy9g5J-dyKoDzCKqlATWY4H8G0KmDNd2R19LU-mKHEeDtAxMPsRsb3FcFu7TRgWFghVtJjCaqIL9qpIwEUa6yUkGHCqvUNlTf48Yxx54Q5zvZS-3vjv0tOPKv2xgmBskEXwLU4-1BMOo3YrPqE8xdbMNajEhYjVdQPmtnp9JKI5jB8-vh2B4M3UC5FlL-SzqnDguK9llu20sSsmn0pbpjLfBmRoIJle3QixslgZN6dWDIn5HcbEKHpBHnUvYNM_97HkGdZngV67r9oePXtMXUszPibRQNSnuoiv9tBVeNUavC60TI5qhYUn5SQwdrrcnPxvJifaT6rNnnpeK04rxfhF_5bi9r7StOu3Me_Ai6NjYQ-VMPTms6mKQdl9lLOmyp1Zx2w1Y4OJrckZou6BVJ96n5VQQUevDda8QS9LZi56l84RDGkGKD65HofPHHm8p7KT8F4qcOsOE2Je8Q3kKvyDUFbIjg0jK0eoOuBG-lfKvUgOi9_80t4flTzgJW2Vj8iFHKJ4wB7C88SHvahn2m63xWH05OH0qmcEmxxlVPycWIAQZJrPpolrslgq3ig8c1vB9hZT6X0rf6_Z1Fbmk7_OA6tpLC_DzgT2tiz6rJNNFXxaqLkrC67x-SoNWongCWDWx5SgwMZCJTu3WHy0_s6NyBW7TmoTlmSwx8GUkl2rff312zr5QTtxYj6D4GYynJohtfbBQojxEqxZokPspW4UkiuFqu_J-Xm6dpH09HExlPhDuPBIkyetVcHpqRdteWImg4lQd9w8IYwUWjrh-fI-uTBEZS3oJd4nhhBJWDEdRwtY3RQQl0isd4UMDbotBB",
  "id": "rs_0451b42ea712029b016ab4413d9d5c87d090efe70e66854973",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.04,\"left_z\":0.15},\"note\":\"The left wrist view shows the basket far ahead while the gray plush sits low and far left of the jaw column, so the first estimate overshot forward and inward. I’m backing the gripper toward the base and shifting it left to center that gray object before descending.\"}",
  "call_id": "call_t32CxIMq4Fhx0gLrizj2A2d5",
  "id": "fc_0451b42ea712029b016ab44140791087d08d21d78a267aad21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t32CxIMq4Fhx0gLrizj2A2d5",
  "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]: [-0.2405, 1.1088, 0.6498, -0.1673, -0.2348, -0.178, 0.9991, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3454 left_y=-0.0387 left_z=0.152 left_yaw=0.0356 left_pitch=-0.0434 left_roll=0.0062 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.959, 6.3658, 1.6923, 0.0171, 0.1636, -0.0171, -0.3487, -1.4838, 7.0769, 1.7851, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56722b33946098b4d7696f4fe4fd2db375c7ff5683541842391669875db3420f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6531353d9f813c19cf5cf4f1b75dc75905a0377772fba42e04ce5bc4b40664f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9219baf6033b5a994249fbb1f37b99db33818a4a5e17807da2d6290aae821a88",
      "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 · 3.255 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4271, 1.3186, 0.746, -0.0948, -0.3599, -0.2707, 0.9991, -0.0154, 0.8024, 0.6086, -0.3779, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.0965 left_z=0.1398 left_yaw=0.0028 left_pitch=-0.0549 left_roll=0.0153 left_gripper=0.9991 right_x=0.2962 right_y=0.0011 right_z=0.1802 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.559, 9.3197, 1.8437, -0.2027, 0.0122, -0.105, -0.3897, -1.5932, 7.2821, 1.8046, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2405, 1.1088, 0.6498, -0.1673, -0.2348, -0.178, 0.9991, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3454 left_y=-0.0387 left_z=0.152 left_yaw=0.0356 left_pitch=-0.0434 left_roll=0.0062 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.959, 6.3658, 1.6923, 0.0171, 0.1636, -0.0171, -0.3487, -1.4838, 7.0769, 1.7851, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56722b33946098b4d7696f4fe4fd2db375c7ff5683541842391669875db3420f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6531353d9f813c19cf5cf4f1b75dc75905a0377772fba42e04ce5bc4b40664f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9219baf6033b5a994249fbb1f37b99db33818a4a5e17807da2d6290aae821a88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFF8ibuCGW5c39JLrhcYMgSZLgRr4fdzR0cawLN9Sxswgg0RlLXCybT6mbfbMDggDZACf2mdrqXdoO7mD-rs8pl6AtXqK-oUOqPlkB7HyqhU8-WZ1UcNagUom9Ulv3bhUsoV7UkogdbKIL5brOg9iBshGVdfGzwENExIXudN1iuzyKhKB7xJ-eWmF1gNKv31gHBskUhTqIr6yxnXXZOVIKd-i5g-5L_wnFWNVTZZfYZn3Hu6GR2xmJZSSOXNnxBg6FBtqpbc9srFAJqpO2lTjMbN4fgEsXNyR-GH7uJ6hxA_jUqLT9WS8tCmQkvztNaC5kUx83K2XgSe6tSgphz9ubSf8PvYfig5WKDgxOSuLezxROm-RGTdeqfItlu7FP2PQdOccZtmviQxF3wXk8USHHKnk0HiXaedHJLxVFHE1EY_8GVb6sDt-OGpQ3kty2qEeV2J7k5Ztd_BYtyhyqxzHvlF0-6sG85uGChVbz-_kMeoajraXQwtqmyRlv0aUHGk339EC9a_iUw4nhkQ5FMPiDjNZ9D7bASs2gqQ3WCmIzrBzLujoK_6xAMXgprBbGpNMPOVdhyiiclNgOWeuxbb4_c_eHXu85HjT1Zt6efmtornoxzVPKAyNWrfIXuQ4LOlZgp8PpV4OfcBeQoa1iihLLDb0xHgyHYk7ROeUbba8Mg-nJz5qBXeoHU17cUWAsa9vfD0vEFWlb0zvnaEMBLCwLIHOLuqd6gqedImSfPG5G_-C3p5P5DwA9iuBL1_aTkET9VTamjORFu5uQXmQrjhr7JtNejnNuyjMxB3Uc1vKHkRZJ5_4oFoxmKTJPAMl6RFTkyIJWhKFsrXcduGLV_atDGVUpm3vMdsMVfHdqjMpdnZ4qLSdNCuZgiEaCJIT29El-zcXzq5x0kYuO01axvjdxQRMbS1Z5LoBV4JmtQdc2F06G5jB9COW3LyaIzOXR8oTDMEqwfGQqwsh5EPCAvewPJC921kfPF6clI6RCRD83QlbQPrvXNfeKl_kh5RcK7p935ukHDyZCvNTuJ4ACqloOTzrUy-ATVsbwet3qcpvmSGPAdPeKHFvYTt8ofVF6R6RjGP6Gw4G7msdWLxSdaiX-_9xharg98FRLobwgM9wDlk1lWWDLaTZNsHCvhXxgJx4xrax5dKvZVyKf06sdJO_VPox3WuatZGB0IgeF1I7gBNPC4GkyvVd1hqfJW_ybiExGD03iAL_MegTJsaANjWbalmrL3csmknyi5_KvQoP3keiwu7k4VEXRsFWexb3eqnhjH_1hjtqQQ6AF_Q2P3u1w7m41jaXHUbax2m98RYgPYpGnEYbTLQ0grEqXfHKn-LIZ5H_d2qCSF3ov4lV1cqmtpvMrL0bMiSNQI8Nm1epcSFgoVlA7JnZ18USDxdNoG0Xn5bdfhBBWTzWWQKrC1h5o7zeWfYUtrqcjFwTd5K3gGxYywlpk84mXqQ-77Gg7Nok6IPSuymt7-eioEpXlUbkE32YTXkBzRdUZTwtj-hxdXca3B5qIkkUJ1yFE0Att1MALa9awcPZnig92HZMsDyBwBfKfsBhbd3qWPyJ5ITkVVepogHT3uqj9NOQEXNo7YVBal26nJ3Qrz72yQ7eNPNvg2UANLfZ-GQrnnFAoOIsalkkqIUc1578W4uYvh6p6-Jbk1yXvbchEVTZOcZH_S1pE4b7yFzTN5wMMkF-797BWfblbvGgCSEMlQ8xvPugzOSfZHPwg-1G8AAS1iVzEDPAvQYvZvudWJ0Qq0p6CzgNT2oxg=",
  "id": "rs_0451b42ea712029b016ab4414321b887d08f22d838b30ae1e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.015,\"left_z\":0.12},\"note\":\"The gray plush is now close to the fingertips but remains about one plush-width left of the jaw column. I’m making a further leftward correction and a small backward/low approach so the jaws straddle its body rather than the neighboring spotted dog.\"}",
  "call_id": "call_xYJkd7SkmndjsPkcbztRwY6E",
  "id": "fc_0451b42ea712029b016ab44144669087d09c1222bf2ba992b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xYJkd7SkmndjsPkcbztRwY6E",
  "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]: [0.0261, 1.0637, 0.4911, -0.0635, -0.0475, -0.0471, 0.9991, -0.0151, 0.8082, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=0.0206 left_z=0.1142 left_yaw=0.0747 left_pitch=-0.0722 left_roll=0.0052 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.1641, 6.2974, 1.9853, 0.1636, 0.2173, -0.0171, -0.1162, -1.265, 7.0496, 1.7363, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a529967ec1e9ae8eed79c291163e3afc32148ab3fffe7e23628a2ea4559932f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29564d9452f15debf6a1f80a25dc307cf304cae1a89361994eb56b68789c0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828177bf931181ca3c41787df934b280c02c42327958f81fee54fb12a2554710",
      "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 4 attempt 0 · /responses · status 200 · 2.123 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.374, -0.0132, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2967 right_y=0.0013 right_z=0.1831 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.6068, 1.7607, -0.022, 0.1832, -0.105, -0.5949, -1.6342, 9.8256, 1.7802, -0.105, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2405, 1.1088, 0.6498, -0.1673, -0.2348, -0.178, 0.9991, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3454 left_y=-0.0387 left_z=0.152 left_yaw=0.0356 left_pitch=-0.0434 left_roll=0.0062 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.959, 6.3658, 1.6923, 0.0171, 0.1636, -0.0171, -0.3487, -1.4838, 7.0769, 1.7851, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0261, 1.0637, 0.4911, -0.0635, -0.0475, -0.0471, 0.9991, -0.0151, 0.8082, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=0.0206 left_z=0.1142 left_yaw=0.0747 left_pitch=-0.0722 left_roll=0.0052 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.1641, 6.2974, 1.9853, 0.1636, 0.2173, -0.0171, -0.1162, -1.265, 7.0496, 1.7363, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a529967ec1e9ae8eed79c291163e3afc32148ab3fffe7e23628a2ea4559932f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29564d9452f15debf6a1f80a25dc307cf304cae1a89361994eb56b68789c0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828177bf931181ca3c41787df934b280c02c42327958f81fee54fb12a2554710",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFJbZvuO24e_wC8j4EpcHFCh_DQ0VuE93l8zfP7viXBqWQjRSAqdKC5Ho80um_8j5mlLdqVA0p_AKFSaviO3LWJHa-ztHUASNv_dHEcxN2cr0b4ZyrEBjXVNLwLdtIs9b76JtACT1E9zKSKuKaoEhqzy7VRiWhnwvEn4BRs2uSOxlq9TEuhUSJK51d3A5m1Hd2GPrenWmfuEihiTI0inxHv0a6DJGoZVE8ieNNVvB7Oe5EpHuqtVm8PSsGvhfm_KZiR7d9ycVMHLYynNXz6C5evAXYgnW2fVI8Pmx7taMIP8xD7wgbxKl6lhdGCYWiCv1vCatAavXnDwYl4sDyZw8qb7NDoeg6FxHYLBcYRGBVzwrZ3uW4_cZf2vVZ4PfkNTdqQf09aKaJewndDSyoft1wr6SHmdHr6HgOtaHNauW1qqXegHedtaqiGSvQOOd4dWfkOQ8Deb0XPljyzogrFUh7YmECwGNuV6sGQvj_Z_HHz3zw2yhfYUT7Nxt7QSthKq_c2O_vElUR3BT-QMl_XhsqdbDGKpKJrwxWf8PZIzFDvnufSFSX-vKQye0EpCOK7zTZgmZA6XNDe9nc_TRroWYT36qt7DdgpOuOO44gXvgnwFGT2uRVJ6UJWemSjLP-lz3A6zALc-lDDcbXG5V25A0hhaiR_GvAGNXzz9VNKjuh-_qCF3MTNjV_Gu_JYZJsrNXjQ8Z4IwZ0XGbxF9vThzSGEVfXozBLTaIxCs5xnesWVeAV6T3XYLj1j_wfaIzjP4EDsGqBAroqsdkPkLm4WWbW2hnRTZ-1fsZYLvjtWuBzQqnvvaesN91wXg-G-QctvqZH8y2hU7Qu00hvj9paeIIZoR60BoAW3nZ7qOU1XUKUVwOAEJAg-LwSR3vFxXx1y5LA969WDOCDbS39dNiv0ZnUzCJ2TSXWE584864PdqCojVRWQfz0_TqTgcBl42UUZqG0N5bDBAeGr0jxsUwFZtYUmg2HhAnS0s1pdPTbhx1WflLs3ydQPT3YX0Epb0qo61N3IQENy1Hcs2-j455hwv4uMzuUbAqvScuqFpYPlmneahTOZzXwRPiIbcO6lp1BOSDhLppBYfEuY4uhV0lwPuVWDvXALdBeRxv9aDfeRdYxTutO5Q8vefpMBz8DUQFH5KfG_lPwj0OYbgB2pjsA2wD8hydAwV5luF1vxPVVEVXFQk-uam1I4J1RHciSIlVuSQsnl3uEE75NEyjmuIRXUBLmpAlKcC-GNgMsItBuPiPXDE3khDulylJ-fWr6L0IVAS0bAcZBldUB-E9SKgn2UVx5_QPEZYl5g7tY3mdy8m2qRNCmF5UdzaMgFeUiK40v_XUUxtvrvlovCtkHJ_BYQvj3WaIw_xhUeJZ5uBO2KIQme2R2Argr_B1TI5DxTQOY89_pSNMrO5D9hpkwj_3-573G09a9miF5X7DdIDPLt4VgM_0m6qcsosQOiytY6vsrhp0T91c0IIDRVFeIVRWTLQsUCX3WM0l6K3cSMIuOR9sStYEM65Z6r8UHzYBsIHDv868I2-L4leOu67KfR7C67c7kZ7cIYVkj3nemfLzh_iZrZc5Xyv74VnpwdIejU9SmajsMpfq_kR5VX1FgaxwE7VS8GXY0rTETI7dqj2vOEX1fUta3xG6XNTtJd5JUWgeW7Cm57",
  "id": "rs_0451b42ea712029b016ab44147456087d0a6ab3f6fed6daa1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The gray plush is now centered on the jaw column and its torso lies directly between the approaching fingers. I’m descending to mid-body height while keeping the lateral and radial alignment fixed.\"}",
  "call_id": "call_6EWpZ908ZrrVqxkyH0cVgxy4",
  "id": "fc_0451b42ea712029b016ab44148903887d09e82f6cea9bc7820",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6EWpZ908ZrrVqxkyH0cVgxy4",
  "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]: [0.0227, 1.2911, 0.3038, 0.3405, -0.0418, -0.0525, 0.9991, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=0.0184 left_z=0.0459 left_yaw=0.0693 left_pitch=-0.083 left_roll=-0.002 left_gripper=0.9991 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3573, 5.1487, 1.7265, -0.0904, -0.0122, -0.0122, -0.253, -1.2376, 7.0359, 1.707, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7fd5f4141edf4423d5b6c4c4af98b642a52841b3d1737461b7693240ed1ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12601fb98de5873a31f19950db84b6434e37d4eebee18679f497a7e061b7c5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65579a807c832f729abcaf259bb2b137a28af692dc009dafd9ff407e8d082900",
      "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 5 attempt 0 · /responses · status 200 · 2.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4271, 1.3186, 0.746, -0.0948, -0.3599, -0.2707, 0.9991, -0.0154, 0.8024, 0.6086, -0.3779, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.0965 left_z=0.1398 left_yaw=0.0028 left_pitch=-0.0549 left_roll=0.0153 left_gripper=0.9991 right_x=0.2962 right_y=0.0011 right_z=0.1802 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.559, 9.3197, 1.8437, -0.2027, 0.0122, -0.105, -0.3897, -1.5932, 7.2821, 1.8046, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0261, 1.0637, 0.4911, -0.0635, -0.0475, -0.0471, 0.9991, -0.0151, 0.8082, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=0.0206 left_z=0.1142 left_yaw=0.0747 left_pitch=-0.0722 left_roll=0.0052 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.1641, 6.2974, 1.9853, 0.1636, 0.2173, -0.0171, -0.1162, -1.265, 7.0496, 1.7363, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0227, 1.2911, 0.3038, 0.3405, -0.0418, -0.0525, 0.9991, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=0.0184 left_z=0.0459 left_yaw=0.0693 left_pitch=-0.083 left_roll=-0.002 left_gripper=0.9991 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3573, 5.1487, 1.7265, -0.0904, -0.0122, -0.0122, -0.253, -1.2376, 7.0359, 1.707, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7fd5f4141edf4423d5b6c4c4af98b642a52841b3d1737461b7693240ed1ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12601fb98de5873a31f19950db84b6434e37d4eebee18679f497a7e061b7c5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65579a807c832f729abcaf259bb2b137a28af692dc009dafd9ff407e8d082900",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFM3UmggOsieKhx8bFasKWAOGOo_zCTRENRzuHvyuOvj8yC38wuMfuRCmLyq9GsqcVcQTLENqHjaUK44MNtj-QJihVVpgaK0fJ6i5-q-fsjTEodOpI5NxK3uX-r3AmL0c60eslsYIzCC01BmsLaHBq1NUc2H2C0LhePtZV_zNBBq6XfiSMPGPb6GjUodLDVaaRTUZUem2gyHkdi53ps0SjAhXCFYdVY1CXuZdPHcpRitbllcRMsaingim-u7PS0ovTAt1D7bglp6sm06bUEgWMZQW3HdPqpWNP1H2GcWvMQrXO4oLIuv88XEODKUVzbGSBUWyqnJlaK3llE3unHLrUeRgkxnEunsZNraIPGhV_ZlKFfmAPi05OZ2jQVlA5-QBww1whHPjVmmdYx6zxsrRMveCJH7BKt94wLzG0dM9ZJElX7_61hWXwbSek0SvrRfkZx86vvn7qy4S-bTIIHi4KAbi_kLtp3dRedulWi-wKW9ezXuCK58C3VvQAfbAKaHWMOepfxQN8HBr6MjDDxDg5dJzVCXdkim1JhstxH6RfcS4JBVj1PvSiDzqAIBKCDREqAMOFuUqf1YyRzdxdYcFdwzIKoc43A4YJLJPsX-YL3DwvyERdehl9o84TpzvGDl-xskL6stC7gPfaceAH8eYTgW_-3teAUL3ZLzRdLs6dIF_Y4HONjBCU_lUv5uqtWDwk1Z192WP80WvVcb9l2uIeB7E_GgDVYLiX2nacJt5U5mwtGJK3ilvtupyw5v5t0_Ps7c7hhJ15l8cwNFFiUCSf95_fN7maBM89Dbp-vOj2Y8tlU_0dklx6vM6nBWcWMyUUsW6xEUGBm-PKLdOlJkb3nTvAGXLjrgnC3jFAHusTwIIvN0MZRB6kz5Fen-gUKj__tO1xYyS8bp2tOeRdO6pGerJTOtUuhlp9F_Nz7GtsTMFElBPbWHe-XWTZNBO5ANdL7O0zee1AxHLgGvtsplvJKR-nnBQGbBLADoR9tW6dX8aEr7yvo96ss2KdjQCEdKn-XOPNpTjMJ1mNeJWujaT_RD0jHVLrOIdxMtbxhjO6E2wiFzfIkkCR-JMCi0hh9S1U17qZblSnjbq79g_BiXH4H2bCFLA5FuH8x9_13dydp0hDKdSDco1paelsZZDaC-7XVHCTiMR0FGTP-6DVPQq5pRoYNwLVfXHyT5ksRgM4ZLSA=",
  "id": "rs_0451b42ea712029b016ab4414b9aa087d0a78c4b6356f412c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gray plush torso fills the space between the fingers at the intended grasp height. I’m closing fully around its soft midsection, then I’ll use the settled opening and a lift to verify the grasp.\"}",
  "call_id": "call_vdY7CzMoKSSYMr6xWyx0eLHH",
  "id": "fc_0451b42ea712029b016ab4414bacd487d0a204d0d305627c74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vdY7CzMoKSSYMr6xWyx0eLHH",
  "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]: [0.0212, 1.2934, 0.297, 0.3614, -0.0444, -0.0597, 0.2, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0184 left_z=0.0467 left_yaw=0.0739 left_pitch=-0.0711 left_roll=-0.0068 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.9179, 6.106, 1.5311, -0.0171, 0.0366, 0.7692, -0.3214, -0.9231, 7.0906, 1.7265, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e17641e25836dccec67b737a5a7fb45522963bdf232b44085581d2c356312d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b733f3d8ca61a92ec41305dcfd2a43e650fd1ab4b97429c137e189637e2ac6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62ba1ae8456c6ff83e5c8823cddec81513ea71bd9a029b84d180c2681550ae6",
      "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 · 3.369 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2405, 1.1088, 0.6498, -0.1673, -0.2348, -0.178, 0.9991, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3454 left_y=-0.0387 left_z=0.152 left_yaw=0.0356 left_pitch=-0.0434 left_roll=0.0062 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.959, 6.3658, 1.6923, 0.0171, 0.1636, -0.0171, -0.3487, -1.4838, 7.0769, 1.7851, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0227, 1.2911, 0.3038, 0.3405, -0.0418, -0.0525, 0.9991, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=0.0184 left_z=0.0459 left_yaw=0.0693 left_pitch=-0.083 left_roll=-0.002 left_gripper=0.9991 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3573, 5.1487, 1.7265, -0.0904, -0.0122, -0.0122, -0.253, -1.2376, 7.0359, 1.707, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0212, 1.2934, 0.297, 0.3614, -0.0444, -0.0597, 0.2, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0184 left_z=0.0467 left_yaw=0.0739 left_pitch=-0.0711 left_roll=-0.0068 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.9179, 6.106, 1.5311, -0.0171, 0.0366, 0.7692, -0.3214, -0.9231, 7.0906, 1.7265, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e17641e25836dccec67b737a5a7fb45522963bdf232b44085581d2c356312d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b733f3d8ca61a92ec41305dcfd2a43e650fd1ab4b97429c137e189637e2ac6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62ba1ae8456c6ff83e5c8823cddec81513ea71bd9a029b84d180c2681550ae6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFPslhZJrYLKWbS796FL0_XJuNRiHVyHBCsINGEW4qjJK3_bUQMSJggDcr_TCmHitA_F80CHo3J7HS0zA0-vDAr9KVyQ3BwGDEO5CtxsEp0DjegnGaPe_R6_jppn-h8ptDxoUA0p2sDhY96VyrG5XdSbEeW2NEH60nE-DVoqA8fTjR8KgvOXgpYONZHdRI26SWKY82GZWhThJNeDxoITJ_q_GlpcwgCAZh3_zCr13v4f-gXCtjbGsWmaCpN3NzW1wxnuS3whtpYB46OtN9-bpAb30wshmV636H86XFMYEa5YDJQQecPgiWnGLGo4x6c61GfwjFCYj39OkiIwewATOTYLMs2Dsdky3_fNf3wT_u1MDBoC260TXEsPeWWHrcabUMDF30Q_sWvQlV6aKE0jBrzDKtvFJ7pvzmMZNBdoidM5-Vd7USo-SBcyyDQwy3RFqy9HC4tmolNSn1yJMyQzvNAGNb9EXNVwH8F3NH5IwG4cfKvC4ivtlq5fsiHmPTJC4SYULFCkHVhD6E4M3IxbCrFCk6_gHyg3MQ6Ymg0gOo3i5r5sRV0i5jgS2LoO3-vTlOawYaZQZvf-o9otfJl4zSeC834x7fRNe8N4tzp_SGd6xvjroOEkXgDuSB0O5hYY1MGBGkrSwPS3GCD6cvs7OAdqx3Oc8wt5KyfjkeChX2fc9nXhTTSK8lOJoQRHxjIg7oedsa4TRkb15RZR7FNdGOgxoDg1Npba0BuS9xv6FXqxJDYgjufn4oV3tCO6ecZX-5rxoyRdJQ8qBfgf-jiSRYpdMqVpYfuhAfs-iBOIBdZX9_l538t8aB4gV5Er4eeHM7MacX6DaEBr84_wFDiSy-RUbCZJk-KRPYHydYPQhF6OJpKvBQEOMY6tijUm9BBoYn7aIB3xrOHgf1J6oCxaWBFKSu54e6xnKP1bmR48a8-S7ZcBNx9qjf6czchFlevfxcvhkvKghw9m4ChFt2ljtj2-Iy4WnUqMH9S0HKiCHMA26Sh2w8NbZRInfvK3yxwAkjMl_2leG8_57LWBE4bmsQ1IOU-S60IUixNRlloxFiI_XcECmG_qUIXZqIEc8Zue9lThWw7eWEsT5hY3HNHYSpu9RHdwjAFAylSrTMgE1imuGKrlKwT7JSbg9BB7kawuZ8ygYL6_-pU6tOGXCGakGkd9wtX42EGxbs-K0lD3Uf522FkHVzr8m6nqQiW9sNxhl4Ew_eRwGQdGbZVH8dcedRLMfX4QyhA15QJCtZ4kdXma22sWJm-bbmZUXtJBZlhQPFMRkuO0sooL-RMuRdd5SRdeA==",
  "id": "rs_0451b42ea712029b016ab4414ee84887d08c16dab5b3d2e58d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper settled at 0.20, well above the empty threshold, indicating a solid compressed-plush grasp. I’m lifting it to transport height and will confirm the gray animal moves with the left gripper.\"}",
  "call_id": "call_nDEJnaxCscg1cFF3SqrgsmbV",
  "id": "fc_0451b42ea712029b016ab4414f3c2487d0a5ab6f93e88022e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nDEJnaxCscg1cFF3SqrgsmbV",
  "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]: [0.0212, 1.0256, 0.6621, -0.329, -0.0444, -0.0635, 0.2024, -0.0151, 0.8177, 0.6075, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=0.0183 left_z=0.1494 left_yaw=0.0762 left_pitch=-0.1286 left_roll=-0.0067 left_gripper=0.2024 right_x=0.2951 right_y=0.0013 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.041, 9.388, 1.746, -0.0708, -0.0073, 0.2418, -0.0752, -1.7983, 7.0769, 1.7998, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428fa8ccb4ff40f926e0ef14a46891e36314c69ab8c6e891a481a2a5a68a42f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f4f409df222aaf94efe04d1b2a713246efb7b37204c8152ccbb8d61542c56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4cfda43ab16defa84e91bd8c8eba9f0e6a5c83c67abb2d44dd192fec0a2f5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.301 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0261, 1.0637, 0.4911, -0.0635, -0.0475, -0.0471, 0.9991, -0.0151, 0.8082, 0.6083, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=0.0206 left_z=0.1142 left_yaw=0.0747 left_pitch=-0.0722 left_roll=0.0052 left_gripper=0.9991 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0005 right_pitch=-0.0229 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.1641, 6.2974, 1.9853, 0.1636, 0.2173, -0.0171, -0.1162, -1.265, 7.0496, 1.7363, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0212, 1.2934, 0.297, 0.3614, -0.0444, -0.0597, 0.2, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0184 left_z=0.0467 left_yaw=0.0739 left_pitch=-0.0711 left_roll=-0.0068 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.9179, 6.106, 1.5311, -0.0171, 0.0366, 0.7692, -0.3214, -0.9231, 7.0906, 1.7265, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0212, 1.0256, 0.6621, -0.329, -0.0444, -0.0635, 0.2024, -0.0151, 0.8177, 0.6075, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=0.0183 left_z=0.1494 left_yaw=0.0762 left_pitch=-0.1286 left_roll=-0.0067 left_gripper=0.2024 right_x=0.2951 right_y=0.0013 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.041, 9.388, 1.746, -0.0708, -0.0073, 0.2418, -0.0752, -1.7983, 7.0769, 1.7998, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428fa8ccb4ff40f926e0ef14a46891e36314c69ab8c6e891a481a2a5a68a42f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f4f409df222aaf94efe04d1b2a713246efb7b37204c8152ccbb8d61542c56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4cfda43ab16defa84e91bd8c8eba9f0e6a5c83c67abb2d44dd192fec0a2f5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFW5WCrqSu9FZv8O05rkA18ZNVQ7QVj9SzbSbCaXDgIGncZE5vks4We3wAVS_lGRPVUhaB7fn-aVMC3NBx54inocjY6GA4dUIr6xkzooEfupFUaWYAwPkUNP1jIzSUdQk41M_7czgw0Cxp4TDt0VZSyTjkbrvxhjzCxiLvhiSMrZQGiFUwwXP8Bvo3B4y5smqWTocXP9buz0W2NE_xByD7BrCJJw4JEcJ8O7twPoYA6p5n3gAvsZpl95hEXJIeCm5dx5az6w7KgWR9MpPW3_T9CtpfYX-b8EEjYHhJNn8cQhZmkl6genZQP3lszm5mK34kJwRgtyLkk_GqM7PJMcssoWeuDKofASw7j3SzlpRj1bOYw0BoPQX6Up9j5c_qi82B04cWIGtHxKfsd0H3pEVkDxVgNIKi26BbtlOfFFFRKlKQ7q5KwXSkyblLX8U5-X627DL8bIS1r-SEO5SEXFz_M43tgLTSYmR9Ss6t6gVyDujWBL7-6dFnJJ11b3Kq2Q7CqPHondrjSHzKWmZjNbRUzgfJSxOHaoLK70ZvQJQzvNp4Ny4uCae1ytThcjQP1qvbKrWECir6PYHkfnv-Po3lvqGST-bv_I8tnM8Xgx5p1xtwgKo2t7z2mTcaWaZFe0IECACEuSvuXNoIm2A4RLsIIK-58uHddXX82LeHvZsDr_M9UE3YPmr4KPG4Bp8A3E0t8bPLINoB8nK4g4aa8l2c_qTaeTNXuk69C1CNsLduac3pEEEiIimt4HEHJ-Pbw9vJyThPxqoQlWkNC9kD4DH8JWWuOPukZ_MskevIDfwiWQdDFSB2kr5L4YiKzt4aIrdm-LahUmNv4OC2AicMmeWJhJ-mH8nLEEyfSUYu-oh-IswnKmKJZJyHBOp8rQvjxRV67W8sSbWMBFOLGgu7Atrf6m6t5debCytqnZGVJsYBYiJ2ofxlfpNFTNyJNoJRXNsrATpsvWGHrhhKlW1AI_S8ZVVy8eVFOpTdw-kgBhhknxZJ4NjN3BqxptuTUJOSqfGNpEtvZxSYNwEUhRlI7LdM_x7pX-l0IT1mPt4O1outxWJm2amtD53YHs-9UlNpb6kJcW6MRMdhF-f6UFiuwl1zgW5BzSKMPbouwOr4njWXeXIaAYPbRddBXC-Ln9QBLW0hhYh3aid5xuA6COomP2pJvLtR_UtQmTbqgx-P8tAB2XVbRSmD8xbhv9p1AaLTKpFADvfpJbOVq5mCzkRZFk2rzuPlq-sxmX4Mdxm2C2bcq1tWqiTk-uqSfSAchorNH23Efq0NmbGsnuELkzwV0R2dubhJwQD6u5bHIqLvLyiSNM-VHaBxOx09tyWqIOqojvT64sUhJaKT1MCCPUcDHR31C4Yv4jUKrOUborGJxkhJpg9jrOZpsi_kZwtsllU42Qt3qC3OSfZ8YM8gKVRUdYxUaypewOG5FX6E0xlzKoabmeYiOUBfR57x_2lXBWVk5ndae7aL13YccqQpinwg2HqoSUB9xJ-1XickfCCI2PFsgKJr40XiwUtq3pDE2i2R1YVzRK0eDMCgWj1fM18BiWyAOIMYdSCr2vtbOAtmCTCNVsZUSEhCdUwhdRCBPpJzJ7ZGjtHQQxnwbG583C8sP8_1faIQ7zGduJoRgiI0KsSOgXD0mwecxLT2X9bmVwz2UTnbl9_c8mdOQqcOvx0fV5iAZaJoFjS96g9h7vHJ6eQUBInTM3z9fO_oBASohdEpUokPQUNATuqgwu6RCSzQj0dGLS1EXNnicNEseKUxm02_KaC9jemi5i29ZO3324e4Gp15NKCds173E9haPsqECv4nXWarARbSjEm_ZG4p-xsXzbILOaxwRvBQrhOy9Bc-Tx_gEb5KVrYq3ECXAq5ipGo_4hQ==",
  "id": "rs_0451b42ea712029b016ab44154754087d0b989412cdad313f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.15,\"left_z\":0.19},\"note\":\"The overhead view confirms the gray plush rose with the left gripper. I’m carrying it high to the center of the left turquoise basket, keeping clear of the spotted-dog pile and basket rim.\"}",
  "call_id": "call_Uq3R6VUI0ivsIT3xIUKT2Ihg",
  "id": "fc_0451b42ea712029b016ab44155c98887d08489e14ac8f1bef2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uq3R6VUI0ivsIT3xIUKT2Ihg",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.676, 1.298, -0.4854, -0.4194, -0.4213, 0.204, -0.0147, 0.8211, 0.6067, -0.3931, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.133 left_z=0.1641 left_yaw=0.1074 left_pitch=-0.2048 left_roll=0.0298 left_gripper=0.204 right_x=0.295 right_y=0.0013 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.9778, -8.6906, 9.6889, 1.746, -0.0952, 0.1099, 0.1587, -0.2667, -1.6479, 7.0632, 1.6679, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e6cad34fb4721d7da014d0034cf8c6693fdaa1f845cdd96507bd0af57d3fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5802d054c0ad3721d01dc0c37f4e57514030deffecb4f6464e0d6e0adb351f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd8775845392d7938d2b9108b1cb75c608726de7aa9f50d38ea88e5a2c61e73e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.592 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0227, 1.2911, 0.3038, 0.3405, -0.0418, -0.0525, 0.9991, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=0.0184 left_z=0.0459 left_yaw=0.0693 left_pitch=-0.083 left_roll=-0.002 left_gripper=0.9991 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.3573, 5.1487, 1.7265, -0.0904, -0.0122, -0.0122, -0.253, -1.2376, 7.0359, 1.707, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0212, 1.0256, 0.6621, -0.329, -0.0444, -0.0635, 0.2024, -0.0151, 0.8177, 0.6075, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=0.0183 left_z=0.1494 left_yaw=0.0762 left_pitch=-0.1286 left_roll=-0.0067 left_gripper=0.2024 right_x=0.2951 right_y=0.0013 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.041, 9.388, 1.746, -0.0708, -0.0073, 0.2418, -0.0752, -1.7983, 7.0769, 1.7998, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.676, 1.298, -0.4854, -0.4194, -0.4213, 0.204, -0.0147, 0.8211, 0.6067, -0.3931, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.133 left_z=0.1641 left_yaw=0.1074 left_pitch=-0.2048 left_roll=0.0298 left_gripper=0.204 right_x=0.295 right_y=0.0013 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.9778, -8.6906, 9.6889, 1.746, -0.0952, 0.1099, 0.1587, -0.2667, -1.6479, 7.0632, 1.6679, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e6cad34fb4721d7da014d0034cf8c6693fdaa1f845cdd96507bd0af57d3fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5802d054c0ad3721d01dc0c37f4e57514030deffecb4f6464e0d6e0adb351f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd8775845392d7938d2b9108b1cb75c608726de7aa9f50d38ea88e5a2c61e73e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFnYbUODANxXWDjjugXTzF5TgOVo_V9YnO4KlnvXyMKw7HZ-4dhcFDSquRBclV2LZKjiVOEkY9i6dhh3IusdTJtRuHolJPuOwjaD3Zuh_I9kKE0b5PjGUDIsbKpGijDUlSNZhksphab-O9mjm14whG-Rkf-FPNMqPH58tOnWFllickoQ1RBRgXXeUNv0eFgSXQymLNR6AxZKwn9aaleJBSv0JGXcCDeUdOAkchMvrQa-xUsg15He8upMHqWrUUk7dXXQJYiNb3N5AybeFFWMt8k8zIuhRmb7vawNun3Re6aT6NRUjTMbr5YkhsF-PmjzfhOyTAaj_NF-YlDXBEcBj6WL_ZyYBsiRq4dVx8__M0c1r7qVCUUOa2LuuKLBXdgZnpKbFY_BG-4XWsYAK1caCq3W-cELOZG1IE6GhwvmbV0MTfYYowiDxA1lUKCGZjFpiAEbPXHIAthfm2MtRE_1oKPARhMp4JUKIOUuEXafbFigdyv2I7rSYLUqHmfmtwnwHocPrMdWpO_LCcyPPyKm20aIQvnX0O1BoxCSkjSlZCfHFjOYItyr5tdiSqw2bVqYAOHNAJrQPVJykjMC_o09GDqGAeygXsD2Oph8kBvQwL1OCJ_hMoIyzylD05lNd-MIJG3DQVHZHbGWTaU04dBAtqYna1bn-pGGJRkmscrYbdmu0PBnAaHkKyz3nL_dprtsBWLEArFRdxAgrMdyGDgFc0FdjHTZwuA1hMqOnnErZp4mri7rV0WaXsgolyIXJZ0I5Nq3ngiGo10FYyeG-pNDyhXmvJhsxoj5YnmLYw81Rvn2L6CJs9OkH9eJWdHHbOJqvsKETlAnkGswIdurxhclWfZYTQDsfoOGEA5BpMHr4wT6F95WQ45gI-xZsbY56PAvEeUQEUEqctj-wFYMJ9pal-X7QrmQwoUof0UbLxA6ab1t8TzFH6DaH6Za0Tne5Pj5z1LnoyOUY1esC5_OlYX8cTZRUBZhSUTlUruH7AF-kJHPLfr5QDhIryFQ_kDT1QgYFlf2T2G6wmYu-TUEBdkLCOYkmB14Nlz3rmsJ326rVpki7ZdrIzbKM-yNndXYi6I2bHjf2JuO8wwRe19n3chKRvtZHFzoBpMFM4k3URoEdfHDo8oqz-XRLxMzVOyU08SreRDWt8Llsi2lzepueIbSlUTtCqyKb8PFpmg3hlLF0OIV4-nkVFp_iX9XKBToNCOtY5KRhjK-Tlm-NHX5dSldFL0PDQlRJ10E77gJFEkz3poCaRpkTPAvDuiVjQ8sOfu1ND1tVFG2l-yc6omvGSpEWui5EruSmGRWvYPIKJVhUzlPWmI6WbpxylX6dRxEvhyNDrsufbF24DzP4Nd1_I1DvouoXfGzTr2MRdyiJhUvLpOTnARxT9ql9nH_ta4gwzpBqyzAdyYOfRFREH29hBkRVGhwlcEMfpkw7hC-xUtrvkjxM4oymXrSUdhlmVMXVTeYX03R3zl1k86XTVqEwk-RCRjtJ3yr30FO18fapU6Ux3Ku1zmJxfLL-D0YYte79bRDEaIWCu4V1-AFtIRIlA6_zPagAyRM5AsKU-5d3epAPn78mHrTueFXYX7-5Ii6CylRV1QyhgKAg7BpV9VjWa7LJgmsI7jmT25Zn0NPBqItCZrd_N4gesBGJ6CvmkEiJ6RJrp1lqg8vCI5Nyr9RA_nsidWwBTMQvKzl_Laj71jsfHRsH-6jqyFqIlgo8bvwmwsO8CiVFepj74EDM4R_ww5c9nT3Q6MnaMyTCsDEyCZH19Yux1xgqSJu1pITLVZJI2SmzIwaGynXyeWqTlDFXtH5nafF4dyDrFPa_1J6p2e0SB_jlzvQu-OVIT3SBAuS3qL6DhVSGo23ySN-Nszg7J6ITG3Q0XGZFYpCydeFByZubf1t60i15grlKORM_lVhE1k5xCxPu2WEOjLSBqu5zf7L-d_ET_O0Z9nJNpJwE3Ipl1lrFC7cjF5jMR0Tj6ImXGxLNr6pKlVPwc0A_vozNzmBGqlAn01FlFGQrahKqCdOOetdTiKRxQKbC0T_Kjth7whXOgC4vIZCTR9O8nsg-Qo4qpKflygLpplIxyDdQj8SSOg0_A=",
  "id": "rs_0451b42ea712029b016ab44164aa9487d0b52e465c6ed9e1f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.19,\"left_z\":0.14},\"note\":\"The carried plush is over the left basket but biased toward its left wall; the wrist view shows more basket interior to the right. I’m shifting inward to center it and lowering until the plush is safely inside the rim.\"}",
  "call_id": "call_XQ7UFBJwur0sCGF3eAj36aiC",
  "id": "fc_0451b42ea712029b016ab441669bec87d0b9d827010392569b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XQ7UFBJwur0sCGF3eAj36aiC",
  "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]: [-0.5831, 1.7943, 1.33, -0.482, -0.5194, -0.5323, 0.2069, -0.0147, 0.8211, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.1744 left_z=0.1323 left_yaw=0.1352 left_pitch=-0.2203 left_roll=0.0638 left_gripper=0.2069 right_x=0.2951 right_y=0.0013 right_z=0.1712 right_yaw=0.0005 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -8.3761, 9.5248, 1.3651, 0.0513, 0.1734, 0.2857, -0.212, -1.3607, 7.2, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8d880b4ce752a1d8fa5565ff1ea86e38f63e1ef59287b7b245d6bb0cc34fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f23e0f56080edb175f6521910854c27ca88d9dff8dac9d07d8ff07184ae51302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffd51154d4dfa67009e51e0c4aadf81785658c11b53a60847319c0b43dea04a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.971 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0212, 1.2934, 0.297, 0.3614, -0.0444, -0.0597, 0.2, -0.0151, 0.812, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0184 left_z=0.0467 left_yaw=0.0739 left_pitch=-0.0711 left_roll=-0.0068 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.9179, 6.106, 1.5311, -0.0171, 0.0366, 0.7692, -0.3214, -0.9231, 7.0906, 1.7265, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.676, 1.298, -0.4854, -0.4194, -0.4213, 0.204, -0.0147, 0.8211, 0.6067, -0.3931, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.133 left_z=0.1641 left_yaw=0.1074 left_pitch=-0.2048 left_roll=0.0298 left_gripper=0.204 right_x=0.295 right_y=0.0013 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.9778, -8.6906, 9.6889, 1.746, -0.0952, 0.1099, 0.1587, -0.2667, -1.6479, 7.0632, 1.6679, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5831, 1.7943, 1.33, -0.482, -0.5194, -0.5323, 0.2069, -0.0147, 0.8211, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.1744 left_z=0.1323 left_yaw=0.1352 left_pitch=-0.2203 left_roll=0.0638 left_gripper=0.2069 right_x=0.2951 right_y=0.0013 right_z=0.1712 right_yaw=0.0005 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -8.3761, 9.5248, 1.3651, 0.0513, 0.1734, 0.2857, -0.212, -1.3607, 7.2, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8d880b4ce752a1d8fa5565ff1ea86e38f63e1ef59287b7b245d6bb0cc34fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f23e0f56080edb175f6521910854c27ca88d9dff8dac9d07d8ff07184ae51302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffd51154d4dfa67009e51e0c4aadf81785658c11b53a60847319c0b43dea04a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFq0uBGh_UrS9Lu6RZkynLtCF8rhJ45NhGLC3GRcTqmdgF4FWPksWZZ0YgD1CeD3Vzs3URZJZifRyn4oFdmu5yJdx0TuGUFqxWcIYOTlAezmUqi7EJrrTYVxZQEgL-mKw7NK6KuvWC24vVUNfyDz-jbF9Bl22FctPYdraBQ_r_H36A1yACd0WHMn69lqU2LGYEVu0BitUE6MdSexlYMC-3X3tloDKx_D5_i_KJ1js1_ngUo5IjLKnphwXtSC-lAlVr2-Z6SGpgnMk_8OAwFjy_moIs4MX6ZZ-p37Rs4XkY0GjuENycP2N0f9kVPqMPDmmU6pGqXtv3n4pfN_PISv74cKooKKadMHYK7blEArtvd7c-8Zsuy2r-pNafyuOWdwKPNsEU9VHIpdbhJwZHo0pCw6Hjh3doUzjhZ0GxI0qmxbIzzITYULG4rW4A3_2DEz0LGoZJpZ3jXKqCHubCYe4RSR4tXhtKujhkZTt8aRwm2ZX7rIGUP3S-f4HrKikHQpmqgNmGEstKJhevx-bsu_pqj_XTUWOfW-Q5Aefu-8rmEO_ceFinRqpUmqDDcGo8x7GX5DP-keXNTF3qkhg4z1QqYeTdZ5fzGDAf8aC7j83dkYDkHADHbyUYuK4WPYHz-hIF__8WMSW102_9-hQ5cGNz69fEFkposDpqq2uYDLLgV7THAGp_SYFZDsJPS7t7hcqSzYnNo84h68KshzLSVUpE8VDThB-XJqz6GEbnZXIKs6CO4mXb7UDycNPRUMUfp3xMdgPdXnViXpVk5GBSOQRQjhnVpU4DhAtu_dy1aXhel3IquJ2Y-6n7HimvaQRwg2L6cyKIkcDji2WDDiiarLyzVSw3RK-hEyVDa-3pgCoBQeFhRpiZnn_F2iPVHW5UjXVh4a-q49gbsXc6FXLx0B49G42vYhzJjmYq7OqDT4Fnh0msrlNMwXw4Dk4eZ9PXcJkcjmJUuUpU-9nluLUoVRX4pYr2f9rWVikwRTJCsAe3lyjW9eLRkUKtUlPBN-6g6MTTVAnLxZXDYgo6aW-Q3g9O46VWmq5nOvtRahubmQhuXNvi0WrS0rW4wkNOb0GojEFMR-ak6HqE3vxoaRPbHyUDzPXtEFt4rw2fwfslmZhXUqX5UZ5lQb863B-RZ4diYCZmMymROS9yoBCk_VzzGcX2miE3T2Px7yQ1id7f3ZEVsd0fzSDlnio6gTsIB1oLWxONC_YTb_PIRI3WDbLeeRr2E1OEJXlqWMhUZ9F-mfr0Z63vTi3h-QksJ4p8ujURipfxZ6Dvbk9qqROJO7sW76wr4fHYxNuspEEvdISj6jR3cuL6u_Zyn2yYBmxYjkWjWtFzy99lcNDixptD-2uifKgK7cTg9sxfJnoW16ztr0GKMPZuJhTexNmHkUJfgdaEc0YwIyDujiDOV5pmGixvCv-Ua-59InZAVwDmW9fjvIqt7vNU0oTHNAcVNJ3dyRZ-oir5Hf2-qrimAXoLNIyzYfmqu0A==",
  "id": "rs_0451b42ea712029b016ab44169566c87d0a0a521838d20ed34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The gray plush now overlaps the basket interior rather than the outside edge. I’m lowering it a few centimeters so its weight is supported by the basket bottom before opening.\"}",
  "call_id": "call_VnSJOHV0raMwuiG3wtOuV1AL",
  "id": "fc_0451b42ea712029b016ab44169ee2487d09ae0569021ef69aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VnSJOHV0raMwuiG3wtOuV1AL",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5747, 1.845, 1.2087, -0.3439, -0.5259, -0.5495, 0.2076, -0.0143, 0.8211, 0.6067, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.1662 left_z=0.0838 left_yaw=0.1629 left_pitch=-0.2413 left_roll=0.0787 left_gripper=0.2076 right_x=0.2951 right_y=0.0015 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -9.1692, 6.3385, 1.5751, -0.3053, 0.1587, 0.0659, -0.1846, -1.2103, 7.0359, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8b3038d31e4c505cf96d9a1488369ed8383baceff74dab2547634beb46188f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62a2db5719a62a5f521cf184ff7c1bfc0ec60e2f861c59e8b27b9b628ea0c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78ebcfba937e771ad950919acaec834fdbf079a423c584cc5e5975b9bf37239",
      "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 · 3.243 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0212, 1.0256, 0.6621, -0.329, -0.0444, -0.0635, 0.2024, -0.0151, 0.8177, 0.6075, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.323 left_y=0.0183 left_z=0.1494 left_yaw=0.0762 left_pitch=-0.1286 left_roll=-0.0067 left_gripper=0.2024 right_x=0.2951 right_y=0.0013 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.041, 9.388, 1.746, -0.0708, -0.0073, 0.2418, -0.0752, -1.7983, 7.0769, 1.7998, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5831, 1.7943, 1.33, -0.482, -0.5194, -0.5323, 0.2069, -0.0147, 0.8211, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.1744 left_z=0.1323 left_yaw=0.1352 left_pitch=-0.2203 left_roll=0.0638 left_gripper=0.2069 right_x=0.2951 right_y=0.0013 right_z=0.1712 right_yaw=0.0005 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -8.3761, 9.5248, 1.3651, 0.0513, 0.1734, 0.2857, -0.212, -1.3607, 7.2, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5747, 1.845, 1.2087, -0.3439, -0.5259, -0.5495, 0.2076, -0.0143, 0.8211, 0.6067, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.1662 left_z=0.0838 left_yaw=0.1629 left_pitch=-0.2413 left_roll=0.0787 left_gripper=0.2076 right_x=0.2951 right_y=0.0015 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -9.1692, 6.3385, 1.5751, -0.3053, 0.1587, 0.0659, -0.1846, -1.2103, 7.0359, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8b3038d31e4c505cf96d9a1488369ed8383baceff74dab2547634beb46188f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62a2db5719a62a5f521cf184ff7c1bfc0ec60e2f861c59e8b27b9b628ea0c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78ebcfba937e771ad950919acaec834fdbf079a423c584cc5e5975b9bf37239",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFvF6ZtWM1snMBWPMWdhYG90CAMkJaseN1Iz60uLvmisToi5DEoQDdkew4wMEBN69A8UW-eD68WdG-JBZHPG4xv2Co4AC6110sDK8I1k2DM72sMF_PkrGiklT5zCzcAxzBLcfXvov8kRh0QtKGjAHKkVe3TGxcmesCHm8Kod-uA1RnshNPONnYYmIBCf3kVF5jn_ps7wYgD09l5mZABg1hKOoV3uuanzjIfHWgYYh2U_osUZ4qNwqL1grtMyGw5-Ijo0MteevRUW2ZyrRcd5u4K6n5mExwKS7SK2QNwPzVRvpsvLrYBrmjBPYYv81lc--lWuALvCGcuxoScTo9GyYfOZOHxSKvKgUdVSsaB5qDNq4HwTvjSfRNcOZNx3Rin5YgHa3XkmqvywyzzDBbM3uVtQyhcQ6T2jzv6zG20KruIRenLJWP_TurK3r_iOWPj3ZZFhcxeWw-6zN6IS8EaiUoLxsgr3xJAdNmJ2XUdJdaDAs6Km1GMhqQdM8hMLiXrdt-VD7oo1cIXNzvujVyHmiFqj72z19lOFNV8-6p47REmV7BLXplq0OPeVwyJIcr4HuGW49zIYwop7xldceItzfhYu0Us0qTa4y1fk0l2D52vC1o6BYkx2AgrQ4R7MIicepw5fMdPRjXJCgAjDzreE96pRZXXTdaP5Zo25RcxDKWmHpuX8fJ5cHlWPZNpmF95ewJ3gE8a9DgWkv0BEBfGOfpSrYXm9TXy8kkzREki5O02EpLuu8BWrIkHNtf0rNVCEyaN6PTjrCOqZdGYX4K8bl7CqA-ZpRJmweb2GVgUHRnYs5BeR8biMPPnyslYp4PmNbKSrZsae1mUL1gm1Gq47irZ3Kz-d7-sKaKQz16fnpy3AbkfdGn0APVoQL3_QtZTL3mU2u1904NtS_pd-agq7L6Xr6NteFOFmEM8ro7rvnT1gmfYNqpmIMlgN0INhRFuMl0sXmIcsp0KlynTLPh0vPWxIPhCA4i-yytM9bsSr96jE-DbF7GOih5r_JrPBc5z-N2fxTrXLkcvgFnEv84-cNPFK6mqnI55VadkS1fBb5bXnzF20WHlZflNxRZAVrloKTQE7aehydEyG71mv1nYussxTbjEyiiOZHJS0sEGMltSGEPMZfKejj9IaiYo-lV6d31ZSq5whOHvz6V6117RiZTCBwo_q0MdlSIzow122QPKjepoWAKHas4a7nYl7WX9aznUjGSGDOhrQ3v3Kl6pmhMxLv5iuRKJNDXWgCrtHGFnxqAV9ya27xKfpNQA52NDptYwdV6fL75m_yNi4KR9kTkMGrB2lbNiDQsPcf9V887UgeBQLEakOh1Ij5VoyUazJMFx3xEprRJqFl0bPDNDwYncEYmtaU7y7I-CD0qK6h-nQwJMWZrxIuUmBPW6tLWz9ZwckB5YQ3PkVw0bhpk9JVB8yswusnO0zkGT9TyZQyFw8WjZe1sqB68LbXk-qo4tZ5W9Mks_d1p2j3_Z8ByaL8WfUedGexKUCSm6c8slwn4zadZBqRRc5q07luAZnqzXXCqAZIBwHJWX1J7Zz2ssTWdNbBcWC2MMuTDAWA-fu_lHTx9pjug4gPvCs5kliOd1geKSdpt-xIayNa4YeZiDdokj2ma9nn0B7OVxg5_FMNambzattlKoHhc7pMIL6hElT3ClJ70fZf-zB8Lfj3pScQXu18CviQ3-YOA84rfiIQlQVJ1Wnq8jy6WSNsUjiL5TTItIbI7lYnA_34H6da8-xeoTHzvhVjS4yRJCWgohM_b3cCIT-Rg8Bg7xq_qZMYOUQe0a62uXeLfOhmiQj67A9_bScWOG-_haZQIsASxBhlwsrMni2msYLz60uLRwX-G5_A3byoOYtcpwx8_Ofm-b2E0TZQW4rJk2rWt1fgZiptoiSHLUdQ8VxmOP6t-WhyqwNxAsI1AENXpcpXXinJoa-80UfVz0m_Q3kh3zOtt2CoZulr2j8VNjF3_3zo-DO2cNjAzBESg2WImEPWzZ2gdDUUvmZ0-U1K4zDtT831oGGJjJ1wPHCuYrW9clYx-ymq-NGAeH3cYAImDlYBprWmzwNxRQG6rmYorVhHcJPpSaQa1lZipk7SW3YvVLMdzQKEmxLjHSjnUyoT2GJ-geMzXk62neHklceBXLzPTPAgPt2lGUTiksfAPpq6sfQOHNuJw8amGvIY9fJrgcavxhN2JIN1sZP6zfxFx3GlmpesX6R9tyj1fzk04NHJ03lERWX5_XeeQbEJhDZeD1l44fQmmuWzO973EHxCiNlFZm64QgTciMXnYdpkiJ4aGT1TbKMBQSuCOBHCJ_foi2qQ4ir7Rff3f8aVWx4rGU_009JK2lx5rgoI1UPwyav70XpWQ6hNSSKeItH2CQi9yAlBrKrk2h6Zxh8OKKvSaKMdLosHyztcY2ZFu9M-5YvMPcIJiC24xXHGMbO6wzM66tqn9sJy3pnIWbChmEJvTGRk-asJTYQHYsDP8=",
  "id": "rs_0451b42ea712029b016ab4416c389c87d0a8061fae5dc7c123",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.2,\"left_z\":0.17},\"note\":\"The overhead and wrist views reveal the plush is still against the near/outside edge rather than centered in the basket; its bulky body obscured that on the previous approach. I’m lifting and moving farther forward and inward over the true basket center before attempting release.\"}",
  "call_id": "call_XvXpMP4ENOzCyv1ygZIEZU8v",
  "id": "fc_0451b42ea712029b016ab4416ef15087d0bb2f63b945158ce0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XvXpMP4ENOzCyv1ygZIEZU8v",
  "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]: [-0.5453, 2.0792, 1.821, -0.7437, -0.5159, -0.5621, 0.209, -0.0143, 0.8249, 0.6067, -0.3946, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4927 left_y=-0.1928 left_z=0.1497 left_yaw=0.1959 left_pitch=-0.2624 left_roll=0.0786 left_gripper=0.209 right_x=0.295 right_y=0.0015 right_z=0.1697 right_yaw=0.0012 right_pitch=-0.0511 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.465, 9.0462, 1.3797, -0.2271, 0.3248, 0.1343, -0.0752, -1.4838, 7.1179, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f9b509b47f1c4c962e4c2a83af5f57a50d44c65eb18aa16dee7d1a0a76f49b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e6a198a15b09cbfce58f40de246995174bfe6bba8b43f5dafab5d89b254be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0813e63e134c0afb6ad6c37f7ec13eb3c3bc062f5a7afd0e2ba2672d48e9bb87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.944 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 1.676, 1.298, -0.4854, -0.4194, -0.4213, 0.204, -0.0147, 0.8211, 0.6067, -0.3931, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.133 left_z=0.1641 left_yaw=0.1074 left_pitch=-0.2048 left_roll=0.0298 left_gripper=0.204 right_x=0.295 right_y=0.0013 right_z=0.1711 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.9778, -8.6906, 9.6889, 1.746, -0.0952, 0.1099, 0.1587, -0.2667, -1.6479, 7.0632, 1.6679, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5747, 1.845, 1.2087, -0.3439, -0.5259, -0.5495, 0.2076, -0.0143, 0.8211, 0.6067, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.1662 left_z=0.0838 left_yaw=0.1629 left_pitch=-0.2413 left_roll=0.0787 left_gripper=0.2076 right_x=0.2951 right_y=0.0015 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -9.1692, 6.3385, 1.5751, -0.3053, 0.1587, 0.0659, -0.1846, -1.2103, 7.0359, 1.707, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5453, 2.0792, 1.821, -0.7437, -0.5159, -0.5621, 0.209, -0.0143, 0.8249, 0.6067, -0.3946, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4927 left_y=-0.1928 left_z=0.1497 left_yaw=0.1959 left_pitch=-0.2624 left_roll=0.0786 left_gripper=0.209 right_x=0.295 right_y=0.0015 right_z=0.1697 right_yaw=0.0012 right_pitch=-0.0511 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.465, 9.0462, 1.3797, -0.2271, 0.3248, 0.1343, -0.0752, -1.4838, 7.1179, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f9b509b47f1c4c962e4c2a83af5f57a50d44c65eb18aa16dee7d1a0a76f49b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e6a198a15b09cbfce58f40de246995174bfe6bba8b43f5dafab5d89b254be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0813e63e134c0afb6ad6c37f7ec13eb3c3bc062f5a7afd0e2ba2672d48e9bb87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFzYkVsj3BxpIWbUHRi1zhV6DUnd2VxVimvja_LEi_L_BTwDeADl6BwfgA0gXHqDekSFjmlSXKWEFFCzIXZOUbC1GSpzvXdkqIw8qG-niPSslbXuePeCTsZOoZwIMMZkPikzgCpbmVJJMIzhdQoHYl5gSmiAuw4A5IWkp5-5EMppuFrtiPvslZMah4jAfKDbnJ-lWa3vONlbyf8qYi5N8ddhPhBqKNMFDIwIz6SY-IDjSb4hKlV0W4vFRF54MGCf7myzd0IHdSUc3z6TdHA0tN9qg-x9guo6hzrca3XRDLa6NcoA8bK51qZtZg3S2ablbtDV9HwumlBjgRhkMsTih_cN2seAC_TkBCgb2Cb0Wb8vgiC8cMo978qCDAr0klarh2gOnNzkO-S-I8v9f7YPyH0j7njVh09jPIz_UlNDAreuebXCVtZnvdcXkF0EFJLoXLj7-xtXk4j3qYNu5oZ24x8FkG5jpiogOmguVIFL-TE14iwugYhLpnn6xy-fU3u2PBTCLgzjinjG6mIqUVdIk6Siy9OZDEDXMzkYVeQj9TQVNxqlip6BS_073I3QGFf0CPL4GRqn0BxR0rFyQp31DXEXNKIKUWzaQD2Lot46rRGZqkAYg3KU9vNrxUqYrhThZ-jasn6P_A5KvLZwgNFs-QXh6No85Axo9LymPH7-mJZ4ipDewMIUlSYZmJJFZBLnd1Shi1wMacpNWR4kMkV3TOUJ_Arwna2MuliWLpnj8ccvSOfhNP_28ZO-pwv8IQOVlRtzWQdPf227BiMwWhPJZ2d9y28qGNegJiheiPp1XaVHSpokSh91OqID3wQeA-kyQ-gzdoeCrdi1p9ipdTT4Rap9hJQL7FTGRjK-oGAF1E1fqIUdGZB8JCt7QRHrM2iQ2vygMygr3Z9zMHwaIfn2LTfwI19MF_kySP2vKs8zP0dBvEIWTjsbp5qglIs7CPocuIw5eEVrQf0Y6tTty3tjrUjyXI0e-AolIyFSFNcV4h4MzILWQ3Lig7fH2RisIXF7xsue9ZqVsbpA2xbE6j4Sy1kkkX6jSLgTUbT6e_-mkqmXybJxK8nhGXfcieBDTVbUTlSrmHGlWKKA6Si9cfpuT85YRu-3AFaH-jciJHUWbULlK10j1-i-6sDeYbfces69vj-c1DKUaoMQvwoA4wzLqYYo2QWSX0rj1hXaZ9TGdQWIE4oRZGKisJT5szt22zL2kWBNyNiWNmE_Rh83NM0kKWfKxc10FZeqZqtyq4DXW8JsfGLxTGtHYEZRlM_ddLSQ4pILkGjtxgVHMPJptQOO-ltZooEjN-qAmoyvn-EMcTrQBJlvGnGVkqpTZWC_Q5VFLOE8NJnAbS2MdFGrkRZvgvmBvGVcoMTPtVVuAHTf4GNjtfmh8wHZARZafxY5j5ntvm0XlIGziBBsMQLWxPZts-B_EFiS4OGYn4pbvuSIk_Xg8vjok-kTNYtJj_b6nf07sEuCrZ4hL2nFpUXMfSTXtpw9grDVhxBVv-Kc7kKzXTw8TUfsMsiKBxpQmCicpJUVw75VYgvPIjqoZcOhL7qa_Ha2DCdh5zaQkkKP5NsdN3k-8aMFWBykmTomNwZpH29MwcOGxQAe66dwLx7cR7lsDv4-cP6YTVsuQWX96cHNytZ9z-G_4TzIIHcS5wOoPuCoOcAey2a4ZT_kfqT_xO_yUpTJG89jR_MTPHJWmzGrKIjhJls8WXEva3HQenNaMwlENLvH7wsW5F_ywI8WijLjkvsEaJTzhx9kmVJbCnAGGRfEpd-EpuQqQC33KsIQL1ixOCdYgw6mUWgioAFnYw-1Mc3rQ==",
  "id": "rs_0451b42ea712029b016ab44171961087d081eead07fbffd615",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.29,\"left_z\":0.18},\"note\":\"At the farther-forward pose the wrist view still places the basket to the right of the held gray plush, so the remaining error is lateral rather than radial. I’m shifting the grasp point inward by about 10 cm while staying above the rim.\"}",
  "call_id": "call_NhUc6BU80hvn5EO7KH3XfScq",
  "id": "fc_0451b42ea712029b016ab44172e43087d08e494e3c51cf135c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NhUc6BU80hvn5EO7KH3XfScq",
  "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]: [-0.6983, 2.4847, 2.5935, -1.2308, -0.5762, -0.7563, 0.2118, -0.0147, 0.8265, 0.6067, -0.4015, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4937 left_y=-0.284 left_z=0.163 left_yaw=0.2156 left_pitch=-0.2961 left_roll=0.0732 left_gripper=0.2118 right_x=0.2941 right_y=0.0014 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.9915, -14.4068, 7.9248, 1.0232, -0.442, 0.3297, 0.2808, -0.3214, -1.5248, 7.0632, 1.7411, -0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80cb8a2e271a1df77a37adad57cbfea027f4bb352079f4b52f54768c4bc7a7b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a604cbcda63d7f5b76ecfca52dd5460a7dc0dd01de593241a1aac486483545",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f560cda60236fa0217c1da899fb5896b586bf603cf703c7fea5f2f8d20189d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.76 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5831, 1.7943, 1.33, -0.482, -0.5194, -0.5323, 0.2069, -0.0147, 0.8211, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.1744 left_z=0.1323 left_yaw=0.1352 left_pitch=-0.2203 left_roll=0.0638 left_gripper=0.2069 right_x=0.2951 right_y=0.0013 right_z=0.1712 right_yaw=0.0005 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -8.3761, 9.5248, 1.3651, 0.0513, 0.1734, 0.2857, -0.212, -1.3607, 7.2, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5453, 2.0792, 1.821, -0.7437, -0.5159, -0.5621, 0.209, -0.0143, 0.8249, 0.6067, -0.3946, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4927 left_y=-0.1928 left_z=0.1497 left_yaw=0.1959 left_pitch=-0.2624 left_roll=0.0786 left_gripper=0.209 right_x=0.295 right_y=0.0015 right_z=0.1697 right_yaw=0.0012 right_pitch=-0.0511 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.465, 9.0462, 1.3797, -0.2271, 0.3248, 0.1343, -0.0752, -1.4838, 7.1179, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6983, 2.4847, 2.5935, -1.2308, -0.5762, -0.7563, 0.2118, -0.0147, 0.8265, 0.6067, -0.4015, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4937 left_y=-0.284 left_z=0.163 left_yaw=0.2156 left_pitch=-0.2961 left_roll=0.0732 left_gripper=0.2118 right_x=0.2941 right_y=0.0014 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.9915, -14.4068, 7.9248, 1.0232, -0.442, 0.3297, 0.2808, -0.3214, -1.5248, 7.0632, 1.7411, -0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80cb8a2e271a1df77a37adad57cbfea027f4bb352079f4b52f54768c4bc7a7b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a604cbcda63d7f5b76ecfca52dd5460a7dc0dd01de593241a1aac486483545",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f560cda60236fa0217c1da899fb5896b586bf603cf703c7fea5f2f8d20189d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEF3gBPyyl-ehZShrl93vqXci1EVFKLJZPsbhQtweDvx1gcCjZBTD_J-LAXHf2HrZF0dKRxG1o-idyylyfvIUkaQ4TOZZ_uKEz3aLdDRg6_CAkRc3767b7U9QZ4gHyhiTGGplEaif-epwAEPtLZnWUzcDIZQdbLVhYc819RsmsPOTTwsUWROjVtP0yBVGBESWYcDDcvoVTb7icvZZII80Q7DaZv5RquXN7h4B7K66a6zCt07gV8ri8HEv2gnvjvHKaQeYQiRRklpsufNkgHUQFJBs4WRIGqqitCGsAvigIuegqCKWXtyBYhHN4GiAebUga52-9z7tL0uZt5Dzr-cqic2_p0fdkkdqMSgRyYb1gBXZjx7qrotYf8aQQsc1FmffGVOTHiRbxNC8y3DSCEQgqxNuKr_RCtwwDA2rZVGxnU7pp7BeYOrNBq2x9PMck9MDb5e-xwP-AOf2LtYGFWRoBGdBmZhU1zAaN2B6A0wmbPtqGcFSxtN9OXwEONKqhHaKiNru8OU8u7ZkMnV-S5Ml34EuSr_2lL_OuWlx2GMddIwdaxyuG5bXR2xG3ueG9niiL22y7V5ff_B_aAV3m_pLcThyBQCDrX7fFu39OiiizEXhD6Ctf906-4UqPDj3UyqnbFR60UiCnU2peuG6PlA7zJrm9TfyHceFAT5zK4ETzrrH4KiSrMbndN9O35C2Sx4VR6c8ouoYOiv_tRYGeam9Vm5pry-RLHrjggOaA9FBkeWsle53tlz960T2T0gAEp2ptsU_czwqFguMyVjnVKCJRwxamWdJqhRu7WL4JexbdD66fPy_cd5vxv9wbkHtsDVFiuPKjGs71a7E-cOdDq3zIS-lUwkuTWMvZryItCaxMuA7ySc-xxlM2ZrUZVcXiJnJa_EllcLDO7CFrU4yYlJIkmeHVQR7IaZNdwaa-bupHQA0Nkk5PZzEi31hBLAQPgar9WDCZj_NZjAWR2ivuNALJGsID_4G8yyx4cALwCkuZlXUbOFBUGjWzruJGKEGD-t_m4ZIYOw5J0j-if5qBh-71W6jFwsAUbpnEFhEcvRWwc7kZrvy7WJkE8sNQE783RLHapfymt7wayyOqwVKjJoC5g-piKcrr8BqrEJ8X5fsjHVy15YyGDeBv2x1R3yBJ1S7A7rVvlwW0w_GGB62Y7pq1eVtVqoGlUv1bJsMPqIXs5wyPoOrsqMpZIydU_gLRJhibIrlD2Eqw2DfSbwUcQZ8dz6QI6Ci2hy7LRhlEvqa6npaepH1humqbi2s4YjSJvBWuO6-c1mSJ-OnBvxiGQqqJi7iDn6JJ2qjCkR7CLeoSLEpQTi9_aULrJTbFMKzhFyXcHG1Jgh4oPKV5p51xP6CrOZ0s1Ui19r-gnXbW2Rfo53JpgsVtbuMA8W-APGGWlZdjqiVaBLDdt67LNdViMKfPyhWCN-vloh4sBWbAG73_47NVcBhBXzC0I5pcdi0ElNA8PYAIvsbSe8DKlVh9MPaG0fm5p9SkDrsIWyaWzwCRT4a7MLpw7eiFUb60Fk1eIhvBhdtc5XJpwyS546NPIeOkeA7wDEq5szls9RhU4F9Pb6Qf4=",
  "id": "rs_0451b42ea712029b016ab44175eeb087d082f04d20e3b008bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.35},\"note\":\"The basket edge has moved closer to the plush in the wrist view, confirming the correction direction, but the plush center is still left of the basket interior. I’m completing the lateral alignment with another small inward shift.\"}",
  "call_id": "call_hLQLNtvnS9AjojpUaU3RANde",
  "id": "fc_0451b42ea712029b016ab44176c29087d0803dc2292b16cb9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hLQLNtvnS9AjojpUaU3RANde",
  "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]: [-0.7666, 2.608, 2.7689, -1.3457, -0.6155, -0.8471, 0.2125, -0.0147, 0.8288, 0.6067, -0.408, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.3125 left_z=0.1464 left_yaw=0.2358 left_pitch=-0.2983 left_roll=0.0864 left_gripper=0.2125 right_x=0.2933 right_y=0.0014 right_z=0.166 right_yaw=0.0009 right_pitch=-0.0683 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.4154, -13.2855, 8.1436, 1.1209, -0.2955, 0.1197, 0.0611, -0.3487, -1.6342, 7.1453, 1.7509, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355c68766e29c7dc4fd462c1897401a7bb8231aa828f6c63e416be548513f047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66dc82897e97e5ce8e3b5173738d122707332e2895c931caa09ba4cc68e93d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ae7d320dc88d72fbd6efd8df9094bb681df3737ab0225bed975d5e2be10049",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 7.369 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5747, 1.845, 1.2087, -0.3439, -0.5259, -0.5495, 0.2076, -0.0143, 0.8211, 0.6067, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.1662 left_z=0.0838 left_yaw=0.1629 left_pitch=-0.2413 left_roll=0.0787 left_gripper=0.2076 right_x=0.2951 right_y=0.0015 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -9.1692, 6.3385, 1.5751, -0.3053, 0.1587, 0.0659, -0.1846, -1.2103, 7.0359, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6983, 2.4847, 2.5935, -1.2308, -0.5762, -0.7563, 0.2118, -0.0147, 0.8265, 0.6067, -0.4015, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4937 left_y=-0.284 left_z=0.163 left_yaw=0.2156 left_pitch=-0.2961 left_roll=0.0732 left_gripper=0.2118 right_x=0.2941 right_y=0.0014 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.9915, -14.4068, 7.9248, 1.0232, -0.442, 0.3297, 0.2808, -0.3214, -1.5248, 7.0632, 1.7411, -0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7666, 2.608, 2.7689, -1.3457, -0.6155, -0.8471, 0.2125, -0.0147, 0.8288, 0.6067, -0.408, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.3125 left_z=0.1464 left_yaw=0.2358 left_pitch=-0.2983 left_roll=0.0864 left_gripper=0.2125 right_x=0.2933 right_y=0.0014 right_z=0.166 right_yaw=0.0009 right_pitch=-0.0683 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.4154, -13.2855, 8.1436, 1.1209, -0.2955, 0.1197, 0.0611, -0.3487, -1.6342, 7.1453, 1.7509, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355c68766e29c7dc4fd462c1897401a7bb8231aa828f6c63e416be548513f047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66dc82897e97e5ce8e3b5173738d122707332e2895c931caa09ba4cc68e93d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ae7d320dc88d72fbd6efd8df9094bb681df3737ab0225bed975d5e2be10049",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEF7zAjxGBIxgMBPjDN5vf3tu4v1slOOQ7JcF1qHTnzP9qg_tLWM91pDApadO_NsgRSehD4ptyKmeFWFCAj7u6uSLbkCBBjLC1j00OrXleWipOfL1FVRubhk2lZ5KM78ibKoLndshyfUj0hQ1jlRgK05X8H_4PlRv29JVBEF5I-88eMIY_GPPJt4rc-Y16tFOgWkzl1vQRXTF_826bAdJn09f4ryXKzQMsHHUICsH96NqkRzTIglNCuNvLc2ATXYHDHFIJowVcDROOWHlonDS6SNOAw0OKgsUNE8WaFu4e1xSpnjwTxtr_xAtlM22AdXVPo_h8-tc4H4tN07AwLoZX8hawKfJYh5FwAS5BB6yQaIZdhANY_KFb9W8Bc832aKegjpbXjsgBzoUmI6dB_YfFQwbv8eRdktdkUKvP72caSfXUfxREfV93NJhCYT8XyauQlQozBKQmZZZOpnca-M6ffVju2Jy_grwNZqxOz6ocXiqj-iV6WumpXDPXnqkjO4cPh3BsDQ_tKKJaVxrZkToytlYXTF6lDXc2ovgG50uz-HfUwu4EmlHnz8_dZ12CnuQmVrkg3dZooEpwJ-9UV2R_i1V7u-o4yCDT3AhYrwRJjQczQyUUlDr9g0TtACEwYccc1GcaJ-DIHkrQkV1ER1h0Vn1AZJWtYadGPGIbjdT-ODvOLwEKmQgE8ACojB66Eu-WKSXRWWypyTAmxPWejTLS5kVtKr-WyaJWgtYaUp3Fn6i6Z974Q6-Kyzd5RfDAn4byu_nEQhHKU9f2ZedzUTdnFx7zUNlSXGop8Eb7hD-FpohRkfGz7-F_kGiWR91cdLa8omOS83RhVrCbqalLb3An6eZeMaZNwzvNno0qEYM1ly7iWhR7kE6_AJfBw-hvWa6S1ARBvgp2dwwACBWiP-ZGfxGYA536L6b0KlubUFdUXjAJBdvwf3i2MGNtviF1BkZhEAJXAm0vmhENSmYtQERB_gwLXuhXNqY0rlQqx2gmMMom2HvkUKu7csxMdZPtBe2dG52iBisuZgJtwkVQgqUX7iELYgSgJSJ3I6iP2IkEP8RNL8jnBO1VpcFwnwfH5TrtK5RkCvFNTAqhj7GQcZCtHXwOubFbFqjwuuB7ajKywkiyU0DIG_-y4FtfuxGxjDqhlgxrqKTrq77gLO6u1NvjC2uuB4YQ3BHFdcKrUmDUyR_yXH4KJPHZmmKU2M1dJkbW6Fy2PfwUnDVDqp3DyyjsTiVa4nxhA05_Cih9GYJQD1eSEsImX6KaJefS3J9mFS_oZprvz7dA9YnLMyB43-6xhcHLSfhqnoc81nkfeoG-HSXDrb7irLp4ivEpCIQiX1fEMWMgKhQOJEIb2n-OKpUcpZ1j2TCHlOa7W22cgDfTeVp4kSOlwFSnhdnKr9MY5elRaQo32JjzMdgmH_z1Uk6SoB2z-0l0krb3YomgCWKHrkeXQ3xzhUq4sxjYYZgACP7v6qNe_If14_Vj1gd8v6zB7N3z5c52UTlEbskNfjYMoHMKzE8JYPNVUbfLqCnB_6QCih1TMhSfZAdgawBJsRIbLlfE40aVSV_6LG3lFSw39xi0LQAFwLzJo_Uu-XOR9LhUeEDHZWAWZ4OOXITr5eNy5BlBMZO-SEdsa2LAzSutJEcRdx9b68Mc2-apRPqwgHo4wFrdz6xFfjzL0G66qohzqRmVuLy3mJ2Ozy76Alpo3OUm_l6m6jtsIQFbm7Oc-2ZHUpaS3mgMRby6U-2VT8bn7Xww==",
  "id": "rs_0451b42ea712029b016ab441798d7887d0806406927768765c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.4,\"left_z\":0.17},\"note\":\"The long diagonal reach is reducing tracking, and the gray plush is still just left of the basket interior. I’m shortening the radial reach slightly while moving to the arm’s inward limit, which should place the object over the near half of the left basket without forcing the awkward stretched pose.\"}",
  "call_id": "call_OQ2hjGjzmRJUfVQ0cExQqrpc",
  "id": "fc_0451b42ea712029b016ab4417ab22087d0b2571a7d1964c339",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OQ2hjGjzmRJUfVQ0cExQqrpc",
  "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]: [-0.7944, 2.6308, 2.7995, -1.3727, -0.6319, -0.8989, 0.2139, -0.0143, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4679 left_y=-0.3224 left_z=0.143 left_yaw=0.2503 left_pitch=-0.2928 left_roll=0.0766 left_gripper=0.2139 right_x=0.2934 right_y=0.0015 right_z=0.1654 right_yaw=0.0013 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -17.6342, 6.653, 1.1013, -0.3199, 0.0464, 0.1343, -0.0342, -1.6068, 7.0085, 1.6972, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6dec13165c8d4840d4d591337644a3db7eea30eba971b15a9d0b0317865857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c100f534eddda43b6603a79a611d15a41ac71bf59a847a178965553271d62fce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e23d0b3b5d808553baefd78f7135f48235c1067e5fc2b8549919c0872ad1e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.666 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5453, 2.0792, 1.821, -0.7437, -0.5159, -0.5621, 0.209, -0.0143, 0.8249, 0.6067, -0.3946, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4927 left_y=-0.1928 left_z=0.1497 left_yaw=0.1959 left_pitch=-0.2624 left_roll=0.0786 left_gripper=0.209 right_x=0.295 right_y=0.0015 right_z=0.1697 right_yaw=0.0012 right_pitch=-0.0511 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -12.465, 9.0462, 1.3797, -0.2271, 0.3248, 0.1343, -0.0752, -1.4838, 7.1179, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7666, 2.608, 2.7689, -1.3457, -0.6155, -0.8471, 0.2125, -0.0147, 0.8288, 0.6067, -0.408, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.3125 left_z=0.1464 left_yaw=0.2358 left_pitch=-0.2983 left_roll=0.0864 left_gripper=0.2125 right_x=0.2933 right_y=0.0014 right_z=0.166 right_yaw=0.0009 right_pitch=-0.0683 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.4154, -13.2855, 8.1436, 1.1209, -0.2955, 0.1197, 0.0611, -0.3487, -1.6342, 7.1453, 1.7509, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7944, 2.6308, 2.7995, -1.3727, -0.6319, -0.8989, 0.2139, -0.0143, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4679 left_y=-0.3224 left_z=0.143 left_yaw=0.2503 left_pitch=-0.2928 left_roll=0.0766 left_gripper=0.2139 right_x=0.2934 right_y=0.0015 right_z=0.1654 right_yaw=0.0013 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -17.6342, 6.653, 1.1013, -0.3199, 0.0464, 0.1343, -0.0342, -1.6068, 7.0085, 1.6972, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6dec13165c8d4840d4d591337644a3db7eea30eba971b15a9d0b0317865857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c100f534eddda43b6603a79a611d15a41ac71bf59a847a178965553271d62fce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e23d0b3b5d808553baefd78f7135f48235c1067e5fc2b8549919c0872ad1e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGDEIvnRxf6ZrYh2Dr-R7IKZpobayrkxO5Qp2DV8xPuPmTV1am-0ZcGfQkP-s0xaQ9K9VdelsYArS7j57KGPXv-2wM--4hMl3un56VdsDvucqTILwjNrRFv3eWpSx68BeGBM8Gfj0ydX0-975j_gjTv6SXflnOEXX0aj6CaOLPWtsOm6OCHwixAveYL-HsN4rzFPmzUFSVtey-R76AXELOOPRKh35AX5Av0hsF2MHFY1oZQdkb9dGDyPAr458yH6uNoycKPM6KotLjFhj74V3o9SOKzTvGuDXWbLR2WII33C4zsZwjNbCXa1knvtOZMG5FEpbXjFaupCX9asrPE5tgbcyP4Cy2TAS-OOzITDCMgpYU7cUwfKRq0CXgmFMokcNW_bfWgtdddPD9-aBDA9Iqglcrp5A1j1GXaYppgMKJ0-_x_W3MtWLVuLBfXSrOzpFiZkdiLTeDaHobhXLmigwOtCekPEmJlq_1qiNOVTuOJ9qtG4HXmicgjWApBSD9Og-ZPFwrBgsQHDUiDGJyzBeP25u6cmjzYfYKZL0Cn-EEfo7x2Sb--JiBFbLUCgw6EtAjU4yDgoqVQaer1rAq5UN6DWFffYIh-Ln-H02gZivKZ0ZJtKc7H2tbnMg8nWCm-uTDxYAA1OckOJQZBBbqJXqnmRhcGcty0SByMmYdhc6MKhE1BBon87JKPCNuTdF_iOp37p-60XxnRQCEcyawE4OQNfNkRhaVN6i7jK1TLudEENv2R55tn1XmXpr5xwmfHL2kV59M5f07QoMFBGE7QJBH_3K8M2er3EVC2D3WdD20pUjEmBLosgfwExtBcDUii3aXTdNqUKqFBBBrbz_qVbFKakxgZHzYXH__AUCB_0gXHS8tQW5Km6Kuh0nf47h6_ZOTcaKbP--kQ_kwrMeUpWspNH_UPUa2A0KUQyJ8wisPQWH3sX97OZvgV2q03RR17uHPm9eHh2eyHI75YuCdaT0MObUM5N2CbE9HcvtlDq5X0qEsKonT4NGiQUBcElar_Q8EJsQdBC5KwiU0U3e7azhtOmaigTVAp2pfT8kAc7iU3Xm6Nh7qD8rLwyf0cagsPoPni8a4Tmc4IvMe9j_1Ul0JOl4LOc1VryukpjkjFk2A6lFNaY-kohpJOcpUdY7yn7xcDXuGTM1M0nSjk58H95KWOKTGV_xpzqi1ry2BStF4znLC1o0v6Ebs8RpxmY0uPTOEMn5qFVniySRn-DXgzHlKdIluXtH-f_20cwbEUbLerXjUHCUszxv7-TeYcRYygXqNGrRWFa8QoEEthTV4E_p_Fizdxi5hRmD8_lvsCTDVoVJX4PN8IrbTFLgxiG3183OtUZgJCWDYCrwOFBfHgfYAMihOWlBGzOjNxQZgSskI7NreFW2USuPJPm4HjTJ_e4JnlDg8YbzcN0Onpavewad_GmWKUQD517QB63--Lm7QCsNX2np2byDhWYK4_hmJFsjBSOVC3tjvfgW3FWP_0P897hkcE8yb48OScchORRzUHwbP6ByM5RSsBVjqk6Wp5sE3Kuxj1LEPCuQTTuAXD0TkZn-sIOwcJsTEMRm1RIqbejPgb1oTV70LiEkhJVgGvApMcMBfqI34uFBOvw2qnrw8mtxBW3kg9SijuOWSrPC6dxwV3CDnnnCXsNvHiyZbecsI2RMk1BQZ5QUCmLHTx2Epc58BOYz2UHalgAxc2Wb8Sw3I0WXkJOgf0grS5xn4HecWr933LSAgd_6ZUI_07xU3XdjfR8-8IqHpi1zGpMO3y_NHeDQYM3fIAyBY-tBsX_ITAGMGHvJhs_t_4thatm1SIQ90BJ1QhK7UxLg5uOlSa-87AaJ_bbMT8ByF9Ppkqzr0X-Xjm-bPuvz24OlvZPvLLeBroya9XRcYNxhpLUGopxN_IfhCOiDXPGajojYiYnJE1v00mqbrJAt0E3HrtBW-IIJs5teWIp5qppdMjTVXu-pLnWNhdM1rpi-9qKj_HYwQAyn7OLjNiLouQZqV2tNxSXUP5mG64Z7mU7hE8xQrI9s7Yob3DMvxPWpp8qZZBZj_axYTaAp1KwSaydSUcftBBqjha1b73odJ0vNdv_UaqJvKvULUUmsqaUvWhTDe_cMCyYXwRUNj7pxNmPJaC3azLRij3rggCRl2unbwlaBzZDLB3SgNanaFrIZYwafEaIq0TyzXnM8q3cLX9atcKrT6_Pc1vf0NuN5rqfI9alHev3ZttevVWpsjKbzxBB7W39fNuMfCzhTkP8fcRrPW1rbE8gkLMyvJx1czvWbIJLgsD5QOATt0rbUcdCsqE7z2EkK-YCWOR6Wyhjcy8hLzb6iXJwT7wubn76J9ljGd6W0FsRhJnq9NrCRZgmga-yCDkEwa-CdFseaSIFOtRtPqX-AcrrAT0x6cw6zXBsyN1ogpKAJNZjVoq6mYKqY8fUFNfV6YBJQJ_LXQLiLYm1BzRCfTa4By9Fw2Yvd88hyMGDSByrxIYBB6frM1kETZcumaWJmmgNuTTp6AOcNRQ6DsfN8fBOAnKs9xj3GYOouSRBKkcEra_WrxpqW3YXmlxr1UdMq9vRl52VwyYjveTjHNgdLDjdpKzM31RzABbFnua3YE6u-fE6232FtTul9rS2rO7Rt1HSkzzOU7xYBspYttJeIwZyxSKe5B_D1AW4YiYAPeg8TSDHSk-lmB_aRzRADu1mNUoUmIz2i21tGyUsfZIo3Bc5ndOI2I2WesCpIH-LERpw0UE6xqkTF3W9skknq7A8sR0fe9dJLMxy38a_fitdZtYh8LOq0lyH55zc9-Eawcind4vill9vOJeX0-1hEDqTB9hKuKZILvA8lPQ227q4QT1EZi1tNp3CIj_D2YWZODtoRAzm_NSfFc5A4ssSmmexwwpU63cFT_HvmjGVIs3mn-39IrBhvhyCNH8pPyEkunM2dd-i-djeDlx_lYojrKzb4CF9W19Jjhem91GFGgtSiYQcKCsdGS6AWNavYfnFWNHfWvaDJW5fwEeGHEuPtFoivH2H_XOOuNCo-aDPZhiOuZr9uL8yU_4cnHXIH9fiTxG6sYnmEE128DM8UgT6tOoVPJFU5Mi364M1CDHhsqs1tcbriNaxbc8MFpGTFA1o8qsk9PvoQVFJjQ-KsPIRuC9ZFd2lCIz_Cyg73mgxXGBT3yeJokqLvC-s6Cshj3wemkE5FJskpQKlxZ_6_FAjLyXX1epT1GkYBsxq3hVMdrgyHaml9kW0k0ns-Kl6nsRCwc5akOY3L_Zbwdzy6LMwpyo9y6b1xC42XnH8ROuf4YIaZVHB8cV4_TkxNEwb1D4fyiLrrVW_dg6b2Rp42uX92T85ehq6WQheUS0n2WkPWBJDuLm1VmzqRAqlR9QN31ir2L4fdPu8B_t5M4vsWuhel5DpeudRbSF0Zpz-pczN3NY90ThKOhMoOcNatd4Lv8AY870tfvAUST3oa35-VGAgvYd8toPB2nbMLszer-PUi1fRmPPcdTE0hZV8SeZ5Ay5QAIIQUu794_gsrcTu_ZMUyv3ddb-zvNfnjSg9P28yqzXcjeiqyTs3QwJZyz1BsrGgDHAUog9O6Ms-nM-JOUVdZxoZa9Wq-F4NlOQVjkac-fEtdNQSNdzr1Y3MGhi_hALxRCjBvp0bvCjrz5u9L-KDrcIo9vsQss7C3XaGXYafOUZjoJS8BKCh4h2gIvwJnf3-CHYyM6Zan9c4AszY_JOWd4sa8cPqg5j8QvfJsoe6I9UMXVVeUAv5Voy_x7eK5Tf8xsKKrAPebIIkHwiR6Yf41JxqRIizxn8hYXauIRVLUbr6Xnd37X2A_bzMLWaZAWw-aVAOjKHijR-daFBEIe5OAisX1e3TxgZf_34NV6pgK-aGiZfKlVaEmIROnCUGCQSIu_pcK30Boz9D1iUBM_0dOfoWQciOtIRWzVJWmmaKofgASCGYvB5EFeN6kpzg2RLyoyWvCiOxI7WDXoS6IY4wdwe6il_PuTIRK8cjDRCGyWoyH5NjI4YBHzrg7x4Ol4yaeozu1IrrlhBOsTYfXgXYY3Qri03BQItc3tOJgYjtfh23RLKM-gNKFvwIJ28WWTr2MCSaK9nDDJdKAH9vh8L0q7AZUz7Ho9Q3bdVKv8ajsVjp9LegDdauTQxq8avyAgakCCJpqgsHmkV2ivdESTVKzaRNjrNqRtGIKVAWDPcicuOzM6yBhR_OBogVmbISMNWOtJ7aJjxP7CL01R15kI8aTtSZGyWn0F9_6y0cStC3EK1wozaZg6f08ucVnSsE6A_fBd8z40=",
  "id": "rs_0451b42ea712029b016ab4417dd12087d0bb0b3de2c12f9676",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"The left arm cannot track farther inward at this long reach, so the held plush cannot be placed reliably from this arm. I’m lowering it gently onto the open table beside the basket; I’ll release it and use the right arm, whose frame reaches this basket naturally.\"}",
  "call_id": "call_aZBfzDD8qALA1nWYhsUAcUBZ",
  "id": "fc_0451b42ea712029b016ab44183478887d0a620db04a18cbd1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aZBfzDD8qALA1nWYhsUAcUBZ",
  "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]: [-0.794, 2.5702, 2.6617, -1.2915, -0.6327, -0.9031, 0.2161, -0.0147, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4678 left_y=-0.3219 left_z=0.139 left_yaw=0.2523 left_pitch=-0.2899 left_roll=0.0703 left_gripper=0.2161 right_x=0.2934 right_y=0.0014 right_z=0.1654 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -18.8239, 6.6803, 1.6435, -0.3883, 0.0317, 0.2173, -0.1162, -1.388, 7.1863, 1.7607, -0.0708, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362b5d04647c50c7eac1a5557b97f246368857a5555fb6aa4d9c0354197b60a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167d226e59d797aad574391bdc39df1c4636197489d55cc27994b015b2264fdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d577d3dbfaccb2f17ec0fe781e14a5ba85eec71ae3ac11e379f1f7991cd3ecc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.004 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6983, 2.4847, 2.5935, -1.2308, -0.5762, -0.7563, 0.2118, -0.0147, 0.8265, 0.6067, -0.4015, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4937 left_y=-0.284 left_z=0.163 left_yaw=0.2156 left_pitch=-0.2961 left_roll=0.0732 left_gripper=0.2118 right_x=0.2941 right_y=0.0014 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.9915, -14.4068, 7.9248, 1.0232, -0.442, 0.3297, 0.2808, -0.3214, -1.5248, 7.0632, 1.7411, -0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7944, 2.6308, 2.7995, -1.3727, -0.6319, -0.8989, 0.2139, -0.0143, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4679 left_y=-0.3224 left_z=0.143 left_yaw=0.2503 left_pitch=-0.2928 left_roll=0.0766 left_gripper=0.2139 right_x=0.2934 right_y=0.0015 right_z=0.1654 right_yaw=0.0013 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -17.6342, 6.653, 1.1013, -0.3199, 0.0464, 0.1343, -0.0342, -1.6068, 7.0085, 1.6972, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.794, 2.5702, 2.6617, -1.2915, -0.6327, -0.9031, 0.2161, -0.0147, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4678 left_y=-0.3219 left_z=0.139 left_yaw=0.2523 left_pitch=-0.2899 left_roll=0.0703 left_gripper=0.2161 right_x=0.2934 right_y=0.0014 right_z=0.1654 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -18.8239, 6.6803, 1.6435, -0.3883, 0.0317, 0.2173, -0.1162, -1.388, 7.1863, 1.7607, -0.0708, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362b5d04647c50c7eac1a5557b97f246368857a5555fb6aa4d9c0354197b60a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167d226e59d797aad574391bdc39df1c4636197489d55cc27994b015b2264fdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d577d3dbfaccb2f17ec0fe781e14a5ba85eec71ae3ac11e379f1f7991cd3ecc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGHaT8o5RhpPPeDRlG-sATgq8mF15FcoV3s7BbYmsE7Q9iuFhZYWefUIDU_1EYF4tUb8paTW7B_rp_HaDi7_ipqdf_5Jp_aXnNomX-PLq8QyUiWp8VUXVQIcKLN0DgkLegYw_2sg7Pfw9AuctMWqzjmzXKFcNTEWttk-yZNFxf_lU3OHkePzx779G3K3qbsXon98863meo4khgskLFt39Ingw3Cr0a__vU11VjSYezmjxOe3ebOaefdDw60-PNqxpzMMf-CqxZIUYA0CVvETFIMnCzOFzhJeTS4TfdMCfAX9r2zjKWK2wv0_Op5Sbi1BB1fL1E2alFnQllPYjLIU76Ec8OVooTJ7JwErl9lSUVJ2-4T3EI2ij6pMWEW-J3ACx_0RLdT3HVaxgs_Ei5XbKYSZdnmZ7RdhA6MyfpXGGTSce0spTTvhqLMtJ33nLDithqHJzj-yWV20r_XFf8oVmbzV0PpjRgh0TVr2Ua7KLZ-D47nnZQQyAVxJpLN1XX_4B1SAD30yKGFyHUCc3K-lqjSvxRig6YYSDdn075V67HFxM-Z-Ir9Tt4XRfWmjqqASR49fSVatyR-Hg21Ap4uLvcyr760WCr2K1boe1HI-Xo8ihgHnjdf2LIGko4Z61wIbqFmrKbiBVuFzmjgoWZNzCNlKDSlGyg4VOgwzO7gHtOZfH1ti--w2WuCyDPfmT1QgX58pN83bPoB8J95KY7I964S-rV3uttxpB4TOzu3HQXD8FwLYlT94ZkMrgVl-_MsRv1LjBV_4NMf2umT_raEEnSErhsBTHjfbTJQBLHONYJJEh_vZ6dwKntuVZQR2AchU4jUFrU0eoBOLKSmMJwHTIrQn112W006feEEO2WntLhZR70wHf9E98cFIjSoqYO6-IgRu01PW_JumbDmq3k6_AI-8hFUH-QB_W9i2R1042oNdKuUeQKYwyNiKSIQ_PAXuFQdafcxWTUzh7-GjW4FfgbtaG1r0Ryc4Oo8WNDpfs1TJIVxfwov_LRmkXkAVwkgfBpOvufPozX80VNysa3ITwmsbzAs9fo_o9y0Gb7V-9jCSLCKBPh4PLuDY3oRxGd0-fxQ-13lyRHyAqi4qEDTNKyNGyDdVM2ozYFSrn0fTLLqrMB2uWazK4kFDAzkM6nYQEw3puXviRgi8PlXp7QXDcFmg6f-hwEA75sfcfVn05tniNbjaPHQoVvQfgeMT1EQF8Q1XoV7YNN2UsVI2FaV9KkNuSrTe44sBoCLmck5MkHuYYDvPIWZv-ylRpVUcA7umzE3Ci7_hN2Y4nRCY9neIj_tFr5wqw5Pc_2iS5wz5SzegSPmP7oG9pEiqkPpKZq2AY_Vt9bzgbwe4l6rVPfPPQoF6w==",
  "id": "rs_0451b42ea712029b016ab44185932887d0806d279a21a494fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.32,\"left_z\":0.17},\"note\":\"The descent stalled because the left arm is at a singular stretched pose, not because the plush touched down. I’m retreating radially while staying high, which should restore controllability before setting the object down.\"}",
  "call_id": "call_cIgYs5Lw53eeHEb2DLPHNZG3",
  "id": "fc_0451b42ea712029b016ab4418613fc87d09888303eeff3e2e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cIgYs5Lw53eeHEb2DLPHNZG3",
  "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]: [-0.8909, 2.3592, 2.2883, -1.2526, -0.6357, -1.0035, 0.2174, -0.0147, 0.8345, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.3266 left_z=0.135 left_yaw=0.2486 left_pitch=-0.3386 left_roll=0.1196 left_gripper=0.2174 right_x=0.2936 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0744 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -17.6752, 6.3521, 0.862, -0.6422, 0.022, 0.1294, -0.3487, -1.7573, 7.0222, 1.746, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ec868e1e36db7335bd743dde3ae9ac9cfe36572f6cae99eafcbf9f64556144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec321cfb478aef59b9ba0393220a997e29b0787434cf58de86f544f656999e88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1007698f4b57c12ec41fd7faae2dee0ecc4b373b430699bec86333a6f629f46e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.62 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7666, 2.608, 2.7689, -1.3457, -0.6155, -0.8471, 0.2125, -0.0147, 0.8288, 0.6067, -0.408, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.3125 left_z=0.1464 left_yaw=0.2358 left_pitch=-0.2983 left_roll=0.0864 left_gripper=0.2125 right_x=0.2933 right_y=0.0014 right_z=0.166 right_yaw=0.0009 right_pitch=-0.0683 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.4154, -13.2855, 8.1436, 1.1209, -0.2955, 0.1197, 0.0611, -0.3487, -1.6342, 7.1453, 1.7509, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.794, 2.5702, 2.6617, -1.2915, -0.6327, -0.9031, 0.2161, -0.0147, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4678 left_y=-0.3219 left_z=0.139 left_yaw=0.2523 left_pitch=-0.2899 left_roll=0.0703 left_gripper=0.2161 right_x=0.2934 right_y=0.0014 right_z=0.1654 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -18.8239, 6.6803, 1.6435, -0.3883, 0.0317, 0.2173, -0.1162, -1.388, 7.1863, 1.7607, -0.0708, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8909, 2.3592, 2.2883, -1.2526, -0.6357, -1.0035, 0.2174, -0.0147, 0.8345, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.3266 left_z=0.135 left_yaw=0.2486 left_pitch=-0.3386 left_roll=0.1196 left_gripper=0.2174 right_x=0.2936 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0744 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -17.6752, 6.3521, 0.862, -0.6422, 0.022, 0.1294, -0.3487, -1.7573, 7.0222, 1.746, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ec868e1e36db7335bd743dde3ae9ac9cfe36572f6cae99eafcbf9f64556144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec321cfb478aef59b9ba0393220a997e29b0787434cf58de86f544f656999e88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1007698f4b57c12ec41fd7faae2dee0ecc4b373b430699bec86333a6f629f46e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGJqPvZETTzKw8KrebxD1aqu5RMSpXPfqCI9soqcNB3LB-R1kDZdrhFSOYtPo1ddrCu7c5rdceTjHevDEbd4qJupDeqtBFuAz42_9IZi93FnmHDZIMLiK5qYC9cj8n4vAiUmYL4j3k_brAnEH_vUKdOr3HuQmAtwvO4G78M6qSB-jOBfOG4qXNxZVrrg0eqLEzsfxlel9e1-QhRFfG1vgwbHnGeVxDJpxU4EmoYxoeT6LbtlUlQpWWvgNRAVdCfJpZ-mCKJosPxJ_xemLzL7Zte2ePbO4eCMTQ9HIfCzNQ8uFYUdypCb8_bjl9RiNIwnN9nx7EfuawQLhFktIVE7KGIb74uykHoVUbVKYN2V69Ai5Rbsqu5f7Nkqdrh5VJIuX1ySY_KACZUGqBwSotc0TFfvhTMxGI-vlf4HzgNEZeW-8hFGI_5_FAQoqscIaBMRYaxmXhSorEBrz4ThYx0msEEhmR0tzaw4W8iIXTRjKlPhDmmSv1NBAZ9jxorsMZc-sJlJ4dQReAcb3qhpkGON23VANZnUBg2b3xT8EGFoBGNnbWIT8hXwlxRNvRpqpdhmmYkJu2LYd8nACavHl7aSAsLE3g3yCZ6qC6vdxE95FyHDfzBuaEq8pAd5J2CtfLn9srbDLDONGYQ58_N-85YR1NjwXE1_OxMj1X533VZ9hNtbxDEmoOZ78rJldAsZ42htl8NeGu-QrNGgiKQx0FUuHLX8By0TOVfVZ3TxsDVku_5Ci4zwi4_rOrqkN_fWn7jkbvwvCJaCyru224iWF7W8UPc00qlF3J75fp5SLh9-0mDTuDg4agV3g9EvAY8qsxEAM7OqU2USLYvSevTmZt-zEHahUzW9SscB8qmoU4NGaP_qf6H2dZH9PiEK1w8jULVjC04bwHI0vatGJ6pJK3f3lz15Yaak7VufbFatMWYiQInVht_bj0ag3qlV9Su9Qrn1xLTrpQkwz_TbfRvz-vCPJrGpUNwIH2h0eN7wyZk2bi8_j9Q4f9RZ4PNMO88DtJkbJIXeABbjXwtN1Icgkx3DGVqgsbIXlExlvJj_bsTqQV6wn0gaoWeLZFp7sm4URQumHTgPoHXANMTmfsr5QV1-Xf8XakOfD7pkm8dsawkR02tNObbpJH5LhFQCPZ_4VwVfne0m88Ee35PF0429RzemlMwgCiT2E3p6ruWoCMoSf1ad1I=",
  "id": "rs_0451b42ea712029b016ab44188fff887d0ae35165de2263265",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"The radial retreat succeeded and the arm is no longer pinned at full extension. I’m now lowering the gray plush onto the clear tabletop near the baskets for a right-arm regrasp.\"}",
  "call_id": "call_93uhXAhQdSar8r5pEJSLoSwx",
  "id": "fc_0451b42ea712029b016ab44189065487d09b8c28f8893a7fca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_93uhXAhQdSar8r5pEJSLoSwx",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3337, 2.2791, -1.2678, -0.6365, -1.0225, 0.2175, -0.0147, 0.8345, 0.6067, -0.4088, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.3242 left_z=0.1439 left_yaw=0.2547 left_pitch=-0.3362 left_roll=0.1062 left_gripper=0.2175 right_x=0.2935 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0748 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -16.5675, 6.0513, 0.6667, -0.6764, -0.0659, 0.0073, -0.2667, -1.2513, 7.1179, 1.7021, -0.0562, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989808afa64cf4bc355289996d6c247a6ad5b0582f5bb7a6c2a78cc86cd62d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d670c98cbb55fce056df05be875fe143a563393dc659bb4746dbcab357018d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62de026b12bae6fa35db7d3a495cc2bbe6e7c6f5ab57fd2f47c768acccdab598",
      "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 · 4.185 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7944, 2.6308, 2.7995, -1.3727, -0.6319, -0.8989, 0.2139, -0.0143, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4679 left_y=-0.3224 left_z=0.143 left_yaw=0.2503 left_pitch=-0.2928 left_roll=0.0766 left_gripper=0.2139 right_x=0.2934 right_y=0.0015 right_z=0.1654 right_yaw=0.0013 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -17.6342, 6.653, 1.1013, -0.3199, 0.0464, 0.1343, -0.0342, -1.6068, 7.0085, 1.6972, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8909, 2.3592, 2.2883, -1.2526, -0.6357, -1.0035, 0.2174, -0.0147, 0.8345, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.3266 left_z=0.135 left_yaw=0.2486 left_pitch=-0.3386 left_roll=0.1196 left_gripper=0.2174 right_x=0.2936 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0744 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -17.6752, 6.3521, 0.862, -0.6422, 0.022, 0.1294, -0.3487, -1.7573, 7.0222, 1.746, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3337, 2.2791, -1.2678, -0.6365, -1.0225, 0.2175, -0.0147, 0.8345, 0.6067, -0.4088, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.3242 left_z=0.1439 left_yaw=0.2547 left_pitch=-0.3362 left_roll=0.1062 left_gripper=0.2175 right_x=0.2935 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0748 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -16.5675, 6.0513, 0.6667, -0.6764, -0.0659, 0.0073, -0.2667, -1.2513, 7.1179, 1.7021, -0.0562, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989808afa64cf4bc355289996d6c247a6ad5b0582f5bb7a6c2a78cc86cd62d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d670c98cbb55fce056df05be875fe143a563393dc659bb4746dbcab357018d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62de026b12bae6fa35db7d3a495cc2bbe6e7c6f5ab57fd2f47c768acccdab598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGMiU48eujaOeWHyeN4WTac2_bqZWj-FzoJBf-YeTklJsC_UugHL9eE8zsgT5I4Z-YLDaUTDwDmQ5E3ueJ5uL3kfCHkVGyiQ3YTF_j2jdMvFQcuicDduLqpRKnL4v_8_juwFLuTp-cU1FdHQQGPss-A9HqUolUBVHa_Cbn5zQB6m_EFCPJVSONcbl2LEsz0Puw5ssQrx4328UNtuamBt8c3UgnV3H8NOtL0e5-CO_Fl3NXuTONMG_VgzFGbGdmmgRdkpDDXgXstsYcU6m4Vcj9Zz7paRBR4QSy2GKnI4wyJMZSIdY8L8RteNYozBGU991gqcclF9OCeSiMBFYu6UncKlLTxqDtEWC68dlvLx9sqmguy-Ft1vYxsUeJEptBX7q3wpKeSyKT1V3VxT1HpO22671ArvpmbGizaneSFf5J7qX5aamb-QSMxETj2YYDjKI3WmswO9BcP16lBIRv6sNycPkxboU-3AwwiYEXgE2E176NM3l1lixXugNDTrwx4AvbGEUDSBFbiU4Vi9TkZEgD4l8_AmdqK_LZQYat6EFyBQioKj_Tow6agFlwDqZDJoVgm8Yo-r9iGgeoi9lXVRYJSYKmFZ7uEsq9veaZosAeNEDYItP0FzZlkaGf9VZYlkNDGxSCSYkDt35plmUQ8cKBPb4DfMGW_WzilwM3fa2WCvzW9NM8nJmxz7cR4gBRUcRoF8FHPgjfryIl1cYId1ygLE0BQi30P9QQIlOx9s_e1qjebzdRTq0O-wWUbaEdxKfSYMfEsqx4aHzLAc2KquT6dIXN-Zx1yoSMLAYBhd0njD8fmVHz5VO09bWmf_8kFlChbln8vA_uSI08F3cDYKqr4R8x53yMkdWXVz_aEgctj8972piKQD_Mycan9skFxgtTNntyUSjgQIK5Wp3MZ47GFrNoFJbe9-M8doiQ-Qs6smFfcOydvfz1tBw6w3vQ6iP2kHnGDeOJ4-Co2u5KvUUUNJZcvhWc4H82Eme7x2VHZ8o-1lhFlN0ObnMbFEKGfH13bawwFRKNP-LuiZv-V8ajRxIr5wcZMBs3mRaI3hJKOnOj8LVbN4W7m9IMQ-KVjqcL3zm_SGzcxwHL11jLhen3WTWIOVz3h2fBbPaSpvrILJgJM9-kgrE9zSWTFtO7ykGAChDIO2XUKGiuRCjS7DLprcFKBhYU34s_DN1v4pcXcbEx5ZDaJkLmRUE5y5TtqDFc8Q-VRVj5EhMaxzfWAKBSdQAywAIlbSot4i26dTpLUesSVBJDtcRM3QBqa6uFNWyHa5H41fFumt0T3alKSNPc6SV65bDNPEgk8huHM1VWlEwuDR67aDQFLGJ_wT4HJaYFE8VXVY_AlMO9WHAN_In9p46kQmFidmCVfQC_X1s_3FnI=",
  "id": "rs_0451b42ea712029b016ab4418b4b6487d0b2e8f1767ee5f55b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The arm stopped descending while the held plush visibly rests on the pile/table, indicating it is supported despite the high grasp-point readback caused by its hanging size. I’m opening the left gripper to leave it there for the right arm.\"}",
  "call_id": "call_qrmN1HTb1rkdINNCm1Ipzv77",
  "id": "fc_0451b42ea712029b016ab4418bb32c87d0890da8139253240b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qrmN1HTb1rkdINNCm1Ipzv77",
  "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]: [-0.8955, 2.3341, 2.2791, -1.2675, -0.6285, -1.0332, 0.9949, -0.0143, 0.8345, 0.6067, -0.4091, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.3252 left_z=0.1429 left_yaw=0.2576 left_pitch=-0.3427 left_roll=0.0959 left_gripper=0.9949 right_x=0.2935 right_y=0.0015 right_z=0.1642 right_yaw=0.0013 right_pitch=-0.0751 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.135, 5.9556, 0.7253, -0.3932, 0.0855, -0.1099, -0.0342, -1.4974, 6.9949, 1.6581, -0.0122, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c621156929ed660cbff0eac3a13edfce7c8c4b961f4cf8e1687b799fe0d2c0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0afbd914ddeafd4d31eaf087ce0e006f159ac515e3cd870c103fa361957842a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50502fcbf8b7215c3d06f611383a7bfaf172a70c70a6dc438368b4805399bdb",
      "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 · 2.845 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.794, 2.5702, 2.6617, -1.2915, -0.6327, -0.9031, 0.2161, -0.0147, 0.8307, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4678 left_y=-0.3219 left_z=0.139 left_yaw=0.2523 left_pitch=-0.2899 left_roll=0.0703 left_gripper=0.2161 right_x=0.2934 right_y=0.0014 right_z=0.1654 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -18.8239, 6.6803, 1.6435, -0.3883, 0.0317, 0.2173, -0.1162, -1.388, 7.1863, 1.7607, -0.0708, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3337, 2.2791, -1.2678, -0.6365, -1.0225, 0.2175, -0.0147, 0.8345, 0.6067, -0.4088, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.3242 left_z=0.1439 left_yaw=0.2547 left_pitch=-0.3362 left_roll=0.1062 left_gripper=0.2175 right_x=0.2935 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0748 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -16.5675, 6.0513, 0.6667, -0.6764, -0.0659, 0.0073, -0.2667, -1.2513, 7.1179, 1.7021, -0.0562, -0.0659, -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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3341, 2.2791, -1.2675, -0.6285, -1.0332, 0.9949, -0.0143, 0.8345, 0.6067, -0.4091, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.3252 left_z=0.1429 left_yaw=0.2576 left_pitch=-0.3427 left_roll=0.0959 left_gripper=0.9949 right_x=0.2935 right_y=0.0015 right_z=0.1642 right_yaw=0.0013 right_pitch=-0.0751 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.135, 5.9556, 0.7253, -0.3932, 0.0855, -0.1099, -0.0342, -1.4974, 6.9949, 1.6581, -0.0122, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c621156929ed660cbff0eac3a13edfce7c8c4b961f4cf8e1687b799fe0d2c0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0afbd914ddeafd4d31eaf087ce0e006f159ac515e3cd870c103fa361957842a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50502fcbf8b7215c3d06f611383a7bfaf172a70c70a6dc438368b4805399bdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGRz4IUvMM718vzLBQIPe7RNE3LdzEIsfRCV772ssdi6agVx-Aro1BryEpdq-L6JetW0qbqGZpSSB_YeZgKwFhydlhppaYYKliGmYDPkGK6SmwXREoFXLXpa8DX3kIdnbEf-CzoxY8QbaNQK0sh70Km0SBGQlbgqAXs9hCfMfmDLxyaOcRFK9EUhys4uXvfLewcWL1ZFr3l_35d_VXrFphr7ZFb_HhuYY402S7XEb3KOKHR3Tc5xV3-ALohgQk4lOlZkRJ0apQN2nInZsamSSctQX4JlJlEguGYmAiz57XZg1Dsv85yZzQj1sdq_EUacuMxCmozVb2LHcxGezf29k_yp8_YPLYnoPsvf_-cX3rqWe5vQCA2liFwIhVL6Qcdiow7ynblvnnIEC1EIz3i9N8N27-vPsjk32327eWx-ZjlPsJRaU5Yi22LKJg1OWu8NItFZxmRCmRq6XYQ2c9fOLoSKqEVR7CMkeFZomlI-Q4I0fCC89BbnqNsqUOZNFh1mPw5URRL4bErTrvm-sM7gIW-WmEtyLFVBbFSQ5b0U-M169NtgN6iNwQ5itxF7xpWrSjukEMA0cxitOCL9oPifcHsn3KQP8psV8r3ZJDLGPawhk3BFt4ojc1Y7n85l24UdnWRQLGeEDkZc66yI59RvIqfHwxYUva2lKe6IyL6KDnU_ZRDQ_vPxnEvEHeYNn89YPlT-joZJ_yOj5WPYyO_3h4HuiN6Rh0bxoV5eh8sWIrpkEAQhcnhMMqvqKntTXDODQl4pZloSBA0wnWk23nuIZ5wwOt-lyHnvU16VtZHFJi350v8kbUnTdo5PfoUaLLT4m-jsAsa-KX9m2VdZaFgTekdeRXD59wyDh9-_L6c0lGXLremieM2DGf54HYwcy4J4QbqbCFGQ0WwVR2EI-ZTeEhIaOp42hpDy9sbQXJ_lMebSrd-RlGkEW_Ob99v6yOYUvCef3zCsERPa3eziQTXookbnjSQ8h320mjXcutv2YfcZ527uOxMw_44hzzYV9sVG2KVlnz7B-R89uWbDAdYej2ZF2XL7VNI2JbUQnSkjLg5mpYVLjucDD7upMd-Tk7tAOE2MIW1yQEN06qUl8bIP1bg7MAZ2Sd8r3Mz2iAxuD07bxsum6TfTO2OW8g3KbBcKAPzAK1RLE7toRY9pLYS-KA7ltTP0wPRh7m5QeeT-gyCwA5MhDJIjCKIUrf7Gt9NyDLH0xi_kdZDmf-RzdQneKo2NMjfGWOWaQUxz2ctZitiHXKWyoWhrXZWetCRTpZbAxZprYVR0SEnA8f6OoyqMk8nYALgNYszdE64_Nt6LeAguIZutLbeTZR5v3CCBdznrM-pKoH5jz3PWctFsCNadrQeCWNrTbV2ICtZfAuro3YSoLEgb5YMgLY1IumTD6AUKXPxnesBhPmKhTHEJNh3dhbMFNlFOJGALRHuZMJMnvtK3XzlPicC1-GCwVQsfvWLUHgxtrJF0_Az_xszq4QJBiXkdFCkC_rQfdl6VL_xHPhbizki-05dZQnbDZdHmNIEVCE9Liiu8Gn-xk7QBDlNGKi1J6jBWig7hMtOoj4bDiFDXmOTeUxgr4PEenkrluqfY8rFWguOR-10QMBccxCRLG-bkpFM-RR0Nmv8gLwHTWcVgyOseUUAzsoLKfc9GBFJKWwLq1Ou3opx0tMvFMXqnx6QjkKrcsXNtFHwliet7KHRzIQ-ZId84diCBL5BHXVWH01ogqlK9ADCu8ArkfQVcDwqzc2y9QLHctHlKH4_7EwPFkyGhefOyanEIVuRE3iOAKVppZii8xGIQF-NSedNaxmsvPe3x1p6TLLyJ8Vppvg8vis=",
  "id": "rs_0451b42ea712029b016ab4418f1a2887d0a70d4e14feaa1074",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.184,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"right_x\":0.4,\"right_y\":0.325,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The gray plush is released on the tabletop at a known shared location; converting frames puts it near right-arm y=+0.325. I’m parking the left arm to clear the view while bringing the right arm above that plush in the same safe, high motion.\"}",
  "call_id": "call_A1egmOevlWiOnaDv2a1e2bUa",
  "id": "fc_0451b42ea712029b016ab44190474c87d09da24e47b65d0a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A1egmOevlWiOnaDv2a1e2bUa",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.0631, 0.815, 0.6239, -0.3954, -0.1219, -0.1043, 0.9962, 0.8818, 1.9327, 1.581, -0.527, 0.6449, 0.5922, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0064 left_z=0.1808 left_yaw=0.0786 left_pitch=-0.0185 left_roll=-0.0039 left_gripper=0.9962 right_x=0.3964 right_y=0.3199 right_z=0.1683 right_yaw=0.0266 right_pitch=-0.1012 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.5248, 6.9949, 1.9072, -0.0024, 0.1001, 0.1294, 0.4855, -10.359, 9.2376, 1.1013, 0.5739, 0.1392, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255dfb57067ff6b16f7a106322b3d61803db87e985472096ba1151b0461e1720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ddf3314e6b8b10dcd850737e5ee73d900c708f31d277a3ab68d2c6cafd29eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed5609d37a9e4aa80f7ca983e9d68382416ef753c0cca7c7344922731f1e955",
      "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 · 2.766 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8909, 2.3592, 2.2883, -1.2526, -0.6357, -1.0035, 0.2174, -0.0147, 0.8345, 0.6067, -0.4084, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.3266 left_z=0.135 left_yaw=0.2486 left_pitch=-0.3386 left_roll=0.1196 left_gripper=0.2174 right_x=0.2936 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0744 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -17.6752, 6.3521, 0.862, -0.6422, 0.022, 0.1294, -0.3487, -1.7573, 7.0222, 1.746, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3341, 2.2791, -1.2675, -0.6285, -1.0332, 0.9949, -0.0143, 0.8345, 0.6067, -0.4091, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.3252 left_z=0.1429 left_yaw=0.2576 left_pitch=-0.3427 left_roll=0.0959 left_gripper=0.9949 right_x=0.2935 right_y=0.0015 right_z=0.1642 right_yaw=0.0013 right_pitch=-0.0751 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.135, 5.9556, 0.7253, -0.3932, 0.0855, -0.1099, -0.0342, -1.4974, 6.9949, 1.6581, -0.0122, -0.0659, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0631, 0.815, 0.6239, -0.3954, -0.1219, -0.1043, 0.9962, 0.8818, 1.9327, 1.581, -0.527, 0.6449, 0.5922, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0064 left_z=0.1808 left_yaw=0.0786 left_pitch=-0.0185 left_roll=-0.0039 left_gripper=0.9962 right_x=0.3964 right_y=0.3199 right_z=0.1683 right_yaw=0.0266 right_pitch=-0.1012 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.5248, 6.9949, 1.9072, -0.0024, 0.1001, 0.1294, 0.4855, -10.359, 9.2376, 1.1013, 0.5739, 0.1392, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255dfb57067ff6b16f7a106322b3d61803db87e985472096ba1151b0461e1720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ddf3314e6b8b10dcd850737e5ee73d900c708f31d277a3ab68d2c6cafd29eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed5609d37a9e4aa80f7ca983e9d68382416ef753c0cca7c7344922731f1e955",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGX2BwJgt0z8Gop36Y_8MBKSC0jzC546RNsC11iqd9FGtDOzpdowjn-tHsuTPU5GS_boStt9nxWHnwKrrGSgzLY04d2qCGLNNQEsba4z54W8vXIyO5dNSzjrKOATPp0CbU7bMZhy6lHEwpGOwXLQ9GSRoEwSiDpQyxHF5egGRcf09H6HYYH-1RafXxzwMC5-HFhJmAFR0XsTl_7YPbDtlaz75b-lJl_kEqlYjm65brh44dvD4FzyF6Ag2W9o8ho17JhfH3nq9s314SSQqfha24P4WvXgprSzYGAacy6-LKhRN7nCY8FqY-Tvusfmjp5TV86BxPjLrmUZ40ZxsOLjoif-poTIpp51jQPb3qsKiuFJagBCLSbFIkXnMkiqTNK44xgsfjh99nTNgkcKPHcnv8nXMzXLB0skhNDpz9dMF7-G-YYvSAcRoVLuztZ2E_XXP5Fe1-A8dfX7Owj-RtW9J0L-YaJBQruYzgaeJCYop4CI5if8ZaajSRtf0SzulpyJQeJbyC9ZrxsiIuYWxP83C5CX_i5x3rFZ1X-Xuj8JWKHh97RndHiJxPLn7JGn-ZLKvjCsBIXQ_qjuCdG2wVCB5VEHl_o84VTU4MPm04DwPwqCzRybg0NIDsgKqi0yYwYYE8HUHCAeHVYnLRF0mlX7wCjMmUWXS1PclJt_UwbkcqGo50YdmDSYRImw5xVb3_vvAsac2E3dPw89fZCVK4J8Do8A9AUzsj9oAGH5-yXXWCL8IwCkWWJmj62OjKk1bkKu31fJLUaG95Ci10b-h1qyS0NhkU5yaDjpwZu5Bhh5K8IASDRt56xqy8SiEVDfzznJn1F6tC7V46KH0Q1CswNapVnq3HlkSWUi_SSDOMGWWW6zXlEFvUnaHCG11_i-EsVrFvdaX3JKP7UpHUoNwCdGuVe0VteL11gg4bVzoj4t3uzT9wVR6a37C_4uPBRDR4W9kij0P_KPrTV-4X3ZsVSQGkPRvY_nK8suJgyobXbTcVbdppmkzLb2n9TdpexvQ5iVqXDFywwgTE0q7ekdbmCWlQIy7zynmoLf5uQaGtbZRdHeOljR1taMwjZAIhJXVB2GpId2BVpkonthQNyRpbOBwHmpMJN04TOTBdXKe4iwItJOTAbWcJMa8M_yIJ7jb-O5_-cFIynFfBIoDu7S_LyQC5DyEK-hw01JrUEmpPLuIGh1REb5GPPmzD6MF_Gd7U3d0rKNRMKd28OQ9LPMK01mBiFyRsOp5NuJVtYjmEq_eqjGesaz9rlkXSs-w8YTxR-3m7tP_IPqUjzHcWk2Biu47UtoYot3xvO446EolU8fpuc8zRWdz17xeBvvGJbA_jhCyA_1lf-6aCeT7MeZLLNVRaW2HFNIwIsifKO-HL8HhvGod5thF1ju69M450XlcUJHWzPDVsEAkI9J0yXdYuv0yjnDP1lDEE6q3bkEGIhTBaIFSSvDOeh5cY_-Yls_C1U6KamM9CfbZYawLc0SMBglIkM0xbcPat31KH8TkFcOjRJxthwdnh_b3FXDsASmKfqJ8UevraHIEDE4Moh-EDQExfnpA==",
  "id": "rs_0451b42ea712029b016ab44195b61087d08d1bd084d5cfb0c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.39,\"right_z\":0.13},\"note\":\"The right wrist camera clearly sees the released gray plush close by but left of the jaw column, with the basket farther ahead. I’m shifting the right gripper leftward in its frame and slightly back/down to center the plush for a clean regrasp.\"}",
  "call_id": "call_Rkl0DM9FU1MI2KMKEc0TT2nR",
  "id": "fc_0451b42ea712029b016ab4419681a887d0b20fa18f7121d411",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rkl0DM9FU1MI2KMKEc0TT2nR",
  "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]: [-0.0624, 0.82, 0.6205, -0.4019, -0.1127, -0.1055, 0.9963, 0.9985, 2.1464, 1.7355, -0.5659, 0.6884, 0.6838, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0051 left_z=0.1765 left_yaw=0.0724 left_pitch=-0.0339 left_roll=-0.0079 left_gripper=0.9963 right_x=0.3772 right_y=0.3849 right_z=0.1196 right_yaw=0.0565 right_pitch=-0.1335 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6889, 7.4462, 1.746, -0.1587, -0.0562, 0.0024, 0.3624, -11.9726, 9.1145, 1.0965, 0.6178, 0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0ad7af84888357cf6d8dc8e3e7eaa2b3342875c8debf5a595865be59b18204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b3f90c8f8c70ab5a470c54d00bf26ad9956f4aa338a5974246d0f601fd4018",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0ca9fa45b8b38dcb8447dc0b168cca29b40581a169c64f9d4e3073e338923e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.511 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3337, 2.2791, -1.2678, -0.6365, -1.0225, 0.2175, -0.0147, 0.8345, 0.6067, -0.4088, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.3242 left_z=0.1439 left_yaw=0.2547 left_pitch=-0.3362 left_roll=0.1062 left_gripper=0.2175 right_x=0.2935 right_y=0.0014 right_z=0.1643 right_yaw=0.0009 right_pitch=-0.0748 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -16.5675, 6.0513, 0.6667, -0.6764, -0.0659, 0.0073, -0.2667, -1.2513, 7.1179, 1.7021, -0.0562, -0.0659, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0631, 0.815, 0.6239, -0.3954, -0.1219, -0.1043, 0.9962, 0.8818, 1.9327, 1.581, -0.527, 0.6449, 0.5922, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0064 left_z=0.1808 left_yaw=0.0786 left_pitch=-0.0185 left_roll=-0.0039 left_gripper=0.9962 right_x=0.3964 right_y=0.3199 right_z=0.1683 right_yaw=0.0266 right_pitch=-0.1012 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.5248, 6.9949, 1.9072, -0.0024, 0.1001, 0.1294, 0.4855, -10.359, 9.2376, 1.1013, 0.5739, 0.1392, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.82, 0.6205, -0.4019, -0.1127, -0.1055, 0.9963, 0.9985, 2.1464, 1.7355, -0.5659, 0.6884, 0.6838, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0051 left_z=0.1765 left_yaw=0.0724 left_pitch=-0.0339 left_roll=-0.0079 left_gripper=0.9963 right_x=0.3772 right_y=0.3849 right_z=0.1196 right_yaw=0.0565 right_pitch=-0.1335 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6889, 7.4462, 1.746, -0.1587, -0.0562, 0.0024, 0.3624, -11.9726, 9.1145, 1.0965, 0.6178, 0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0ad7af84888357cf6d8dc8e3e7eaa2b3342875c8debf5a595865be59b18204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b3f90c8f8c70ab5a470c54d00bf26ad9956f4aa338a5974246d0f601fd4018",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0ca9fa45b8b38dcb8447dc0b168cca29b40581a169c64f9d4e3073e338923e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGaR-PTvxyUfqTzT_QvPdCwBl6UF12Cu6rYYRT-26IovrB-2L6rVn0CRQOTzwXDFdI1h7Bmfr9zdo8QxPWLgFeNlhoYPm3Gj-kjttzxHkUr1FPKYkQAd94ol5cz8TIEB_s0kuuG3yDstMQfM0ZNdWc2OsMSKld5tBShR-lRiio4YVLu9JtCA1alKnjXIIYGyVM-DYaM81IK3uKb_nfsyIIVcvAqhkF2KsbNzA2XDMERR2e9b0FBZLZbZD3k-jjd34AZxR4WTV9vuBTytRFzfE2GXliTnOTaNBq9NJLEa_118VcEDjCXKEzbGJGx_K7Cm2bP2K6Up3-Yh38RQ6NsHy48d-SXkQqYZOKukPbTB8vXewQBYGAhy6sl2BV3mz0O83gsHDn2GxkJbQ1J9gjYCgnSVJ1Dzq4cTRe9dIMpai7AF6kJ6ekQpoDvZO5jajvrSkQE2dOxFw_cWhPuhB6VUnxKtQUnpuk6aKUugM4BzJtYw2O7x-1F_4zGh0ICa3bDt53sF1eVDK_sod1201BQR2a9mT1DLwY7DZXRgzaB1OGRhim77a7Mo2kFHSG_UElfz_FOvHB1s1pcE5nMxZ_zpWap0k0DwuO-HF0MewyHg-HDgoed8EjwuGjMstHGNtOGnxwDUMO1LHLjkMyhVGYPdpbhVvBlX0opyaX_q4g0eA8uCFzbeqfR-7VDeYXiENjgDJMsNq3ledawzyUsXN0vePxvzqpR9acLeI4a9vnzjH8-kZl5puf-7V_44Wy5VXFBuOICmPO5hC_P9d48EBOj3aWHyFwh375829j-4a9vGipCN_72NLcub26sLmf35I-gBvCRbl-80uu8nyC2B_e2Y_QIBsBKt_ozSvp6spbgtJhurRw6MZcUXy2T_tLKsPYiJolrlIjAD5reyKiMRP3-sVJIR-CvSx4ONCxkiugdQyQC29GjBt78Bj6B5fpkVLP3Bs7YdOL31UV54dDn17CPalLEpYXlcDK-8UPlG4E829xqrgodyWbp9kQ6FG39VBy8uUD2jpI4LShH4LsyGstJMNpAVzpMmQ3R9J_N2ytzPuICdFk3w1wq6lnPirQMlugOShlQl57J1KVmELd0yiOzD9bHptxL5FEnkFEbc_AS2k-nKYQgSSWIae2RAH_yVXYjmwJozks0fvxLEioXz8C8qanKMfuij_LTN7O7o_0zJsmxVNB3ltqhHsYKUNsGH6g-rexkt9OHe3KIvKiDxqt6vEikFS23v0jZTOHMkYD8Bq29lKaTNRW6mjtb7Bt06xXKew6x1oG8L9Uh85aO49GtZTYkjDTz4DAADR73DGrYZmcZoytaw05LhQU537hGvs4i9AXJ5qUUpk3RpPO0fiDqvBrshjg8bNp2lDn7vgIYOpDehYg0enC3Ex-Qon1btXQ7O0EmTQXaQIgxHBXh9WvQEzF13V_fOruDQuP3vkiRsEdQH0komwsM25ncWzHggIiUwt3TTYpY8av56_RiedrJdCT4aMWK5R4F9e03_fAcak-O2AIanGtlncKxsXZpgMdGFDCvmrtl5VqIEg7smOgMBjflXDUvW5xgkLT0i049D-q2DiU=",
  "id": "rs_0451b42ea712029b016ab441996e2c87d09a2b5c51167fc871",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The gray plush now spans the jaw opening, with its torso crossing the jaw column; the tan shape at the bottom is a neighboring spotted dog. I’m descending at the current alignment to grasp only the gray torso.\"}",
  "call_id": "call_SFiY9ddy0JTDHExxLae5BWkV",
  "id": "fc_0451b42ea712029b016ab44199e78487d0ad72d56245049c21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SFiY9ddy0JTDHExxLae5BWkV",
  "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]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.1154, -0.1051, 0.9963, 1.0, 2.1757, 1.6154, -0.3531, 0.691, 0.6937, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0055 left_z=0.1754 left_yaw=0.0744 left_pitch=-0.0379 left_roll=-0.0055 left_gripper=0.9963 right_x=0.3811 right_y=0.3918 right_z=0.0867 right_yaw=0.0569 right_pitch=-0.0944 right_roll=0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.7656, -0.0708, -0.022, -0.0122, -0.3077, -8.8547, 4.6564, 0.8327, 0.2515, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b12df6163f355680a1f70a9f569526c9b43912a8066fc0a0774cec8157da18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1524c07b83ddc6d0da7883d44e6501ec7eb36a2bb9ff2856ea49d7ae227a0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4631454661973afcc65335f908d117fb6bfdf26eccff0ef529c68d17b6966cf",
      "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 · 9.961 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8955, 2.3341, 2.2791, -1.2675, -0.6285, -1.0332, 0.9949, -0.0143, 0.8345, 0.6067, -0.4091, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.3252 left_z=0.1429 left_yaw=0.2576 left_pitch=-0.3427 left_roll=0.0959 left_gripper=0.9949 right_x=0.2935 right_y=0.0015 right_z=0.1642 right_yaw=0.0013 right_pitch=-0.0751 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.135, 5.9556, 0.7253, -0.3932, 0.0855, -0.1099, -0.0342, -1.4974, 6.9949, 1.6581, -0.0122, -0.0659, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.82, 0.6205, -0.4019, -0.1127, -0.1055, 0.9963, 0.9985, 2.1464, 1.7355, -0.5659, 0.6884, 0.6838, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0051 left_z=0.1765 left_yaw=0.0724 left_pitch=-0.0339 left_roll=-0.0079 left_gripper=0.9963 right_x=0.3772 right_y=0.3849 right_z=0.1196 right_yaw=0.0565 right_pitch=-0.1335 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6889, 7.4462, 1.746, -0.1587, -0.0562, 0.0024, 0.3624, -11.9726, 9.1145, 1.0965, 0.6178, 0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.1154, -0.1051, 0.9963, 1.0, 2.1757, 1.6154, -0.3531, 0.691, 0.6937, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0055 left_z=0.1754 left_yaw=0.0744 left_pitch=-0.0379 left_roll=-0.0055 left_gripper=0.9963 right_x=0.3811 right_y=0.3918 right_z=0.0867 right_yaw=0.0569 right_pitch=-0.0944 right_roll=0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.7656, -0.0708, -0.022, -0.0122, -0.3077, -8.8547, 4.6564, 0.8327, 0.2515, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b12df6163f355680a1f70a9f569526c9b43912a8066fc0a0774cec8157da18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1524c07b83ddc6d0da7883d44e6501ec7eb36a2bb9ff2856ea49d7ae227a0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4631454661973afcc65335f908d117fb6bfdf26eccff0ef529c68d17b6966cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGdHTMwuKbNGmvIx-HeNXvAXhaKwsVmjwrIVM4er69VLUA9e7jEEnxrNUoPXHnk_PjfJNZ5P3Zen8EZNI35Nmx-0apwqwQ0b-WGvbTVn8KilZpRGvtMCejKTgFEofl_HjjpqKs0j5HDNJ6vaH8_Cj2UiVyxxb8RNVFbREghtrqH0uBO6qkssd5X0mo44HckjcJLtvvbxaX-tqjwgEYg_dOQreyZHCs6R90WVdABkJULzm8bVaa_vDrt7DPXLf_6eSXKuRbjJCFRytUrATE6roMWjjCoplL6tIag7hc4rHspfvhdo3aUwwGrVs6xHFYC07cHw7OFbk9xLx_vTWWNSyQ0PHnAt6NlHDsPxda9AOuXpbv4b_1Y_e_ITOfv5olxMsmL1C1o_aV-kLN3EggI44SCYrEkx619MLc-OppZ24Wab13CI69MZvUBrBG0xpvKhPtgteHjfc0xeb9hl7P-ZuLx0p_SR6OrSyc5YCvKw_aiijG0Q8iUzEkoKVojSi4cUh65K9bDr8c_8z_4tNeX9mLtZVuHJDzuyOltDL77H0zBdA5WKmWDUdXzLbLsoRvW0GBf6tTXGmy5RcdTjJ42fEcVjPMYFqo1n5J3Gry6zWrdpnbLVpLXH4D13gSYfpiDgAlmBNltNOBoTw5j7LAxkeHI89ZLmNx7RRUDDjwp-wb37hrIYgjt57L36pgDFhKLwLCH9VmAGf-DDG1YZTqZ5AC_oFTtKIc_ZZX9p2YAprLVuh-rEmsM-ElisRjvDnZA9OfV4DfowO70erZ0Buyhp7KNaw6cnvIKaYRyXVtzg-x4LyOI1-WwU8X-ZazSSOCAVdv5a3pJP7Af3rrdzBUNNll9I2L1ViZKREij0WFmPBtTFCiI_cdeXafrl1era3hMewgSrdsbx7UyQqlKHxNtkXho6r2SsTqC445Q6CVfyCkMeHREIsGXDXjOccu5ZhEV6bL4EquoINwSTGP3L_P-asLiMqDwhr8Sz-bwmjP2PSPm_HPoyTwSuErBE-Uo3uFU6fpypKj7FjytXbDWcKbWxH-cJT-2BwkWmuSlv94hGro36y3P9cVsH1ks6_kEdO5g1-IdO997TIs9NoO9k4tHizV2mt2qqgywRfo7K8KvoKIfry_DuPVYBob5WZ0CTpEGOt3TsexQfnkb4KIn_R2UmQmGB4ljg-CoqNJllCDZgRVesehcBLhh7_0mD8I5ZF2BhiAPRq2BnzYpHlNdLeC5y1A_lQFDL9h5hx9sQemSgWMst2w=",
  "id": "rs_0451b42ea712029b016ab4419c5a4887d0b4f0a6ca4048d015",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped about 3 cm short while the gray torso remains between the fingers, consistent with contact on the thick plush. I’m closing the right gripper around it now.\"}",
  "call_id": "call_laE7qGTqyaSaw08ha54FneIZ",
  "id": "fc_0451b42ea712029b016ab4419c7f4087d08228a05f972f2e6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_laE7qGTqyaSaw08ha54FneIZ",
  "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]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.115, -0.1051, 0.9963, 1.0, 2.186, 1.6081, -0.3222, 0.6884, 0.691, 0.0126]\nstate[eef_state]: left_x=0.2956 left_y=0.0054 left_z=0.1754 left_yaw=0.0741 left_pitch=-0.0379 left_roll=-0.0057 left_gripper=0.9963 right_x=0.3825 right_y=0.3947 right_z=0.0824 right_yaw=0.0611 right_pitch=-0.0883 right_roll=0.0241 right_gripper=0.0126\nstate[joint_eff]: [-0.0068, -1.4017, 7.1316, 1.7411, -0.0659, -0.0317, -0.0122, -0.0479, -13.1624, 7.1453, 1.033, 0.3394, 0.0269, 1.0916]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d89ac7f3ee512a486b332237d9dd5aa144a9861788750becfab811a77fd2172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c920ef472682c0c61e8721d97041761012caf1809081d29ab46819e91d0700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012b33173b2dadf0cdfaff0f874db866fa0dfaa206e35e58f7ec58e4ff825d6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.255 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0631, 0.815, 0.6239, -0.3954, -0.1219, -0.1043, 0.9962, 0.8818, 1.9327, 1.581, -0.527, 0.6449, 0.5922, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0064 left_z=0.1808 left_yaw=0.0786 left_pitch=-0.0185 left_roll=-0.0039 left_gripper=0.9962 right_x=0.3964 right_y=0.3199 right_z=0.1683 right_yaw=0.0266 right_pitch=-0.1012 right_roll=-0.0166 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.5248, 6.9949, 1.9072, -0.0024, 0.1001, 0.1294, 0.4855, -10.359, 9.2376, 1.1013, 0.5739, 0.1392, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.1154, -0.1051, 0.9963, 1.0, 2.1757, 1.6154, -0.3531, 0.691, 0.6937, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0055 left_z=0.1754 left_yaw=0.0744 left_pitch=-0.0379 left_roll=-0.0055 left_gripper=0.9963 right_x=0.3811 right_y=0.3918 right_z=0.0867 right_yaw=0.0569 right_pitch=-0.0944 right_roll=0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.7656, -0.0708, -0.022, -0.0122, -0.3077, -8.8547, 4.6564, 0.8327, 0.2515, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.115, -0.1051, 0.9963, 1.0, 2.186, 1.6081, -0.3222, 0.6884, 0.691, 0.0126]\nstate[eef_state]: left_x=0.2956 left_y=0.0054 left_z=0.1754 left_yaw=0.0741 left_pitch=-0.0379 left_roll=-0.0057 left_gripper=0.9963 right_x=0.3825 right_y=0.3947 right_z=0.0824 right_yaw=0.0611 right_pitch=-0.0883 right_roll=0.0241 right_gripper=0.0126\nstate[joint_eff]: [-0.0068, -1.4017, 7.1316, 1.7411, -0.0659, -0.0317, -0.0122, -0.0479, -13.1624, 7.1453, 1.033, 0.3394, 0.0269, 1.0916]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d89ac7f3ee512a486b332237d9dd5aa144a9861788750becfab811a77fd2172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c920ef472682c0c61e8721d97041761012caf1809081d29ab46819e91d0700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012b33173b2dadf0cdfaff0f874db866fa0dfaa206e35e58f7ec58e4ff825d6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGoEE2o7NOT0MhdhlQNjITQxM7nGArwvHaSJ76atfnzdbd1aSyvAXQWg93et3Q35PbJ5cgVtn3Bz4BueBLbdytqgZAq1_N6M_E1AqDQcpSOgiftMXxMBzEV7-pXysDD2YdLwiojBYWloRvycccIhaEsz1GYmkwAYtsPd4rl0uT_59jTPI1zClUUWZV5wTfaTnsecrCsxwA9v2dhWNB7UBlNyH4EePjx1VS-n_vhs9V88WOeOO-q0P9GsRHZVcSVuRP11qrvu0EUCFSXK7xZ3aFUEcO0H4C-u7srZPbiYnr-D7STPj4RQQaosdJx_3we-Fd8V0-rWIzbG-8e1xj4hxQh-FoRusBDjSHa6mXYvQ7tpADyrFAN2h1cOGYad7i0oEueLNHoj3t_6s3H2TrQ77i3YVQFQY71Emxyplr4uE9OccXyHyHaDm5M_R7oqcg2_Nz-pavaw57MRKlHLNwh-BrpJ2-7kTW-rDdz8tfkbAHE1W2WNkPbTU8sZpIKd6lAcRuy1UWNRbtxYtrzzfh4ShxJoPGzJ3faQrzjan7bcSq4cNZjPPTX31ckop6yClW7rd2fEsir8EjKPv6Zt3ykEVuTtboDwb0yoKY9AzavX_By0Lp-j6_ASBYyLktoEvAc3CFiFmi6SBB4da_Qksadv6XjsgzOPOGTttATm4jnApQivjsUchxqUxhsmaNsZVZgugFspL8F7b3OXPAj3gipHKCWBELnSG4eSpv46KSl9YZrSQMuokjNG0DG7A1-ohDTKzQX9_eWlV2KoiJzWLaeUA9ptTu5PdK8rFoEtxC5tePoW9CFPf0Y1kfH0nS5pWXweWrASv9Xotpc1VhT4QCX5bFciCdzde48HAnmbDAbv9KK-O2ockmmBqATLgC-MPhF3O2xH0XPPThRpof24y6EZDiT2CM7DpVbPcFX_hqoMnjz1ZEh38Cyf4XzOQSx-sSgI3CXWWsIHbcEsaoYplLYijiX-GdNsFUo1DaoaYXncWNfT3iT_fTZ3F75_asERkr92bMBLRTjT8MuYyrqQJBfBcfNo0hfQyFBxM71XJBUQ0ZRtJss9kXkp64CAGK9j56rE2GNrlvi76WGrCZUi0wgr7QBHvhTnro5R1l8zcXWIMBmcXMEpx4z6lPXiY3dog5c35pAqq1o82RbeCEopboKPQXl1TaM9IFP38_sKoZQWZxaZPhxXb8iQm5aqczv5FRFn-azO-uIK_8PcrHDAihe45tKBpY2HYIkFRXBSZk-oZr3yIlsJf-qjgkE91ZfiTuj19JDDac38yTaWWGRsTZvCYXsZ-9qr79xGbM2vkly8N9Tbe41Y8CDJJlgTed-ptgQDu-DhwJ-cX3Fgd16Nyr4Knf5RheivU2NAaYdsOx5U_396cHv5XmfMU7O51l2wl6Vzew9vUg6pY6GJpIiYpg2Gq2KxxmK9WFXDTU7uELzMDkMDawMuIXzGttm2An5LWIybSC8K6ZsJuhOienBLf-qGP6i0bSYSENePhyL0FsONtFnz7kVBtNRkjcF-0XGGkfR9qSv_6k_Ln4W-6o556yJ9UQBLByLTkOA7IVgcmKMKzEujtIBmzj1szM6CwKoLVTRSXuRAusunTlqFS_6lt3yjaxWI1KyC-YMs1CfzAtcO6VBdV7-yh_6ag8pFKcSuNUL3vHZ1ShFQY4aye7vU3hlc7qoMde-Z9tlo5hYfWCeJUdbo9ntRe-lly-u4sGliVsHk7C2fYWBO0FB6nVUBXEk0I-b6uQ6AxVbEomizcC5fU1OHKfRUslYO_CexZgPlprpaBrGnVM-Z8v1Hn3TIIyUe-Vg_tIO8TQE5WsoWgyArWi0KMX-KMijMki_6fb1BQJ9voi76O7VHJlqJVzM_QWZvcKRF64qpsD_BYIqjpyUJ0HuySvtQbLvFyywQB689tm6LhKiCkK2jXEBJ-PzGpYqhkY-rxbj4nnECHVWC5eUkqd6U_jdPg2yCU5V8U0qOzOPVbRRRUOxOcbT6GCzAuDZ3q7BeU0WG9i_KloQz56XKGd-zA7cm2BbY1NTiNGj8lYxlPHHbB_wtrkQ9pRipF5b4gbG2bYVX4LDqMp3Td1P9LXMKlViNvginBFYNguYqn5KKhy7NK2O98sciXXiiv6GMNROHJkq76NnliMnHsohkNNailfFIRgO_Bpj9UsyrXX6InKSUq70Df4yNr-c6tAJ4NeVtTkyr1YMukj_ocBggrL4uwzXOmXXOO4YLheDAfOKD5AIB2WfcPcvNddqzFlAJhshWis42CyIgqvsDSORkbwpIieJJZyK8lxHKwvRl1K16LTH5E0ogJFSny273W2smOF62Bkf1ZKxLdRFeLIfwJcCb847C9KJ0o6KoPDq-HXynglTxnn_oY5w96AagLYTGLWJpu9DHMMZLHCJ3rERL27U-tov8jZfvPA7g1K5IztC7077mdneKReUpDpfRHXspW0ofqDTgto9cZFU1BX3apDt9KtBnQ4kmd9iAhn-cZX40OeDH3RUfBCbG6ohzObHLhC4GDSDcn85eKEa0LVsUYuYuzzruWo1K3gZ4yIsnR8yPQStKteExEp3UycsN3EN88C1c3c50tkzf-sM1l8LHtV6VaNKHsw8nlEbUSXOgcMSSNMAdtqb1J1a9OlPgYzc12PPe5tF2EuHL4vBvB9PzLrd_dTvOB3-BwtGNPIOI-ZTN_n4NL_iB9haWbIHTdGL483MsYl09ELFVYb4ZBXz9YNcYECS28-0BG6cxRx67XUXEP996c7GQYxdmNIkKQVY2x8R4KhgJ2VvpiC77abscUusb9EKTURJeEPFfPEqnAltvZJKB4fbY8KmNL9aeOQUJCN8ghTKhgjY3F6zE4bvNgacauxd3yZOEfDAgWozBbeZw0SZMF-bNbuyxMxnKxDZyw7hYLi7WLMgPiQbV8NxVnLWowBZyGLnPVQrKcrARU-18x9lKSuRwdkNSpCOTzpjYzhBgFG2SpRzrz9pZKRPkJT2rYGlXN5tS04gXSUGIMocke8d3dXdxTTRAcuK5NWAd8iMK8t3aFhxOsQ6PU6Lms6c_xl9zsYW1N5q4PeMKctBuHyJpXRzBZ2PPMgKXiH_y7nXF7BK2Ei1AQ24gZjuYbdwrTK7ECFWwzRxZdHpbRcgqBeb-ZJ_ZNOZgaJA7MRtkM7a7Mh8oQpI56PYZI3QaMHcshx6Ck6N87QUtEpT_v_ah8vggQUZx1FCB4eUg4znjmo3lIoIQU2T0jMV_zqqI42YAF-X8lJhSzerXR4FgWQteT2NANNP3VtMroK52PUT1UDFThuwXA4Dru5vtr0jJg2nskrRU4GTNbRE2R0G4ReDOcc8B3JqgvIWqKcFAM3JNYsr4IsLICB-QWfi2E1SXBvcNgeB7CbzQYpeUp_8tb1gHuWD9tkM-3SCaVmfiq3oAAM5B54PxdPgOoalbmnTSIY8UQ6jzUtTgU86AbEiecTvO_aONdxTuyDMS5G2oJXbQwFUkpao0-QLHn_lud5w3o6WKqz1onOcy9XDi0zxDIQ2XIHvCJin0E5tDhivso0tfkOWA9IlTaQ7hAl0SJPOfENe6ok3NauHh43EGnqxt6ywrWLA_wNjDr-aQUk8xJWc_PGqusI8SzPKSFs6_GdZc-ZG8r2TNQ-IfiL1aRzc54i0PwzPTedvgwne4be_oqHNynx9yEpKeHOmeFkugysRH4C2foLOtaC0C-G_BWuGjuWQF4H_XmRyYZD43zSqakFaXKOpwfAwQR0AoqLsBuEtUkfhuPjmWPTynoCD5F22NIxM1WfNcfQVdsxLzulJGLewIKTTppJ6dBs6g24ql_K3GTW897vp6TQi8hfahtM1olbwc0Ti5mIUErHCsZ1TXRnjcWK_OUqdoLUH3Zf8XzaTkqlowHqq2nL1D7sSUPLCCoOPt1QqMremy6SoR_tOh6kh9if89hzOSrMUuKW515f-wKWziIWCJa4eubw5OoqUqUYNKWzHKs6Tml96DJwo9wkr-9GyVs_BXUCd64PUyHru0s3l5V1K5807La9VtDYPYXi92vY0jQT0Wo2hjkyZPaPh4eTab6LlD5diueJqCDNmx3o0RSCHz7daJi_kAbSIK31qLznqAcCWgKHp2wdmBhsrAsC8kOWNu4j1mooQOIHbj_mzJhM8iFYa_4fEJNSA6VerD2cHFnHUFhUTANQlvOVHWzMkG3esMoply5uR5W9QfPhg-dTdcFPUAfQIox1yNOACZptvQrYBUsV_KlZXH4a95u0zdw==",
  "id": "rs_0451b42ea712029b016ab4419f9d4887d08d8f3144d6cb2c9e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGoCaw2X5E8arrR3qtK9LNrKgbG0NPbPqhf1WXMAGJz0LCQ_oRd-HAoTDA_6UGE0KDcGQtR7JRkoLUh8Lsb1M7BUe0pc4E1SV3X4yScUcy0ysAhmsfMLpapKHeo5iS6jGdbvuUgbFIIaJBfD0reSqmPRxKE5ny7zuTrAFrTmDCRUrY1M8GghvQeEqvsz2gmsMTvfr-wO3eI6doi94EZQ5lexrfg6mhLZtUhlniXTfVc-ZX26-1VSnnb3He7fST1RZdXpX9-Covt_mUNTZFMIOWTjIxQPTWzdI7rka_69TGiXRJlIwuO2FRK1pWpuubbC7leOOk-3W3IaxroqE5cp1Jq0NyjodIFBso6UbFTkn5KpXmkIF1s02pbCVooJbQ1f3RYWDHdXQeXggoVy9eVTYRAm554IXrpKpGdxsFvJGcfxIGB-_E2yJP_5lD0VTMfI-3LQ9Ew3XVfHhtU6FTLkd0Y8j6pyHnmxTroSNPkcWQ1Dihc9FroSTe_UObCtLi-oD6-zISDDww9BchBOe0dEnN6O3-hp8mMf_M3p_dQJSlj2JKir5W8C2csePgR_HgJAlJudXvEiQ00A_L20jCG-IT3jObLgDAEcXUv9fAetoWhAzCXqrxrI5GCRT-EJtk6nqykH14IltfAq-8-Plw685HP0wyJS6H4f4WnsbhRA2xlaJ_6JIStuNyM60hz8L12gSRqH_wurPctKxQ6j1cfo0Hale7kdlw-5v08KZEY31fDcuwMur4uoGRfdnYtc0-Yy9YfeXA6bQ4RdBJk7_y8-SmnrHPZUzwPXKIWWCKi79CD6AROLdBwk_aEkM-8avIAWioTDCKueI_PrOqgyyKHhW--CJQLr9Ca18AM0wOWVaMqweuJI_Q78DSIgfuhDQaF4iVVdzqhij_1GD5w6C0rXV91G9SKwjW48hTD4yDLnR0na42oBiaFZi0sRL25UloYLfD9SD32BMcC0HGA3vSvFq5w8V5AIh15IvY8eiIGQoG3AaUIoDjiaS4DMwzniNZ4QJ_csAu3ZAojnK4c17SceFktx4UhnYU6JsI7EIOKJ9t3Nut5j1p0tENAO63TaHI2EmOCK5WxuymZZTsFxd60liwn7lhtYAxdVilWJo2p44kqXSWTGlhcHtEShIOmn-H47xgKeiEeXLLVETjfaLUjo72oVK3tkHtJN0N4Uqqsa1Gapn80LFhPhd9-HzpF1N2Ay3340YuWmqSv9eyJEyb-ce9zD3Cf6iptkn6JVxXfkxjYW0ah9y7TAVD0omeINA2NycnBEB7nFhm5oshbyWiG-l0XVUERyKwmYFJUDRP1gCjD_yqsszGSG9qpylneiDes1RX8ZRuggMwkWiArTZJC7a87nBzvHBMOsheg6PLzDtdoT-m-uNYJqayN9xDO7PDrZpYT8su7OnWauskc7vKomxU9rs7hKUnsKcRq4Ujiyx4YOvWIdRWLGnBC_g9Kk26ypwYTodbxfx1DIimNjdcoCblsOxmf0ZPo7y9z5gx3XZx_j2cbLhBCP3OKq1Yr9wxUJs0UXnV9yLabRyfYj7q1GDnz1dE6I99FWCH-30hKbPEvbXjNR2h9cMLPV_m6UQzX4dUqjGeTDciu1Cb1D4uZ8UC5nXwZXTMquvh36YBtVr08Wf_GAhWkCc3lL-I1nKc1LJCBLooRORUjhRYt8Z5FA7wLJRSIm1ArQussg2lTMhPzUTyf3TOZNJYzU0qLKfvXBSrsjnL2-Vi3DPGOzwHq7SgMYdMXx169aVciftNNM0SzgiNUVZB7sQ4HEa5hHsBPHCzxlHWB7eI3hyyV17LvVSJKDwsT1NZ02LRaQ6BVlcpC9Qo=",
  "id": "rs_0451b42ea712029b016ab441a5866c87d0b3d33f86f6e8962f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.184,\"right_gripper\":1.0,\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The right gripper closed empty at 0.013 because the gray plush lies just beyond its +y limit. I’m parking and reopening the right arm while returning the left arm—whose workspace covers that point—above the gray plush.\"}",
  "call_id": "call_aWusYFW4zNhZakMWdbj0MJKn",
  "id": "fc_0451b42ea712029b016ab441a6e92c87d0a891a78b044aeb50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aWusYFW4zNhZakMWdbj0MJKn",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7391, 1.5726, 1.0378, -0.2928, -0.6296, -0.577, 0.9983, -0.0639, 0.8783, 0.6796, -0.4686, -0.0639, -0.0338, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=-0.1939 left_z=0.1462 left_yaw=0.0701 left_pitch=-0.0744 left_roll=0.0092 left_gripper=0.9983 right_x=0.2974 right_y=-0.0041 right_z=0.1733 right_yaw=0.0018 right_pitch=-0.1043 right_roll=0.0243 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.8855, 9.4427, 1.5604, -0.525, 0.105, -0.1832, -0.1846, -2.4, 9.3744, 1.6435, -0.1832, -0.1343, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f315391ee0333527176ee3c31c4f8e9b3bbefeb7c9235754298ef463b59f7c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c9c22d83e47a5253b87699561d3310f754ecd4262a9039c6c648d59d4de0c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045041d62f5bb38a2bf4e5019bcd795e886f707550099fc2686bcbbe46c6a27c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 2.288 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.82, 0.6205, -0.4019, -0.1127, -0.1055, 0.9963, 0.9985, 2.1464, 1.7355, -0.5659, 0.6884, 0.6838, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0051 left_z=0.1765 left_yaw=0.0724 left_pitch=-0.0339 left_roll=-0.0079 left_gripper=0.9963 right_x=0.3772 right_y=0.3849 right_z=0.1196 right_yaw=0.0565 right_pitch=-0.1335 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6889, 7.4462, 1.746, -0.1587, -0.0562, 0.0024, 0.3624, -11.9726, 9.1145, 1.0965, 0.6178, 0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.115, -0.1051, 0.9963, 1.0, 2.186, 1.6081, -0.3222, 0.6884, 0.691, 0.0126]\nstate[eef_state]: left_x=0.2956 left_y=0.0054 left_z=0.1754 left_yaw=0.0741 left_pitch=-0.0379 left_roll=-0.0057 left_gripper=0.9963 right_x=0.3825 right_y=0.3947 right_z=0.0824 right_yaw=0.0611 right_pitch=-0.0883 right_roll=0.0241 right_gripper=0.0126\nstate[joint_eff]: [-0.0068, -1.4017, 7.1316, 1.7411, -0.0659, -0.0317, -0.0122, -0.0479, -13.1624, 7.1453, 1.033, 0.3394, 0.0269, 1.0916]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7391, 1.5726, 1.0378, -0.2928, -0.6296, -0.577, 0.9983, -0.0639, 0.8783, 0.6796, -0.4686, -0.0639, -0.0338, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=-0.1939 left_z=0.1462 left_yaw=0.0701 left_pitch=-0.0744 left_roll=0.0092 left_gripper=0.9983 right_x=0.2974 right_y=-0.0041 right_z=0.1733 right_yaw=0.0018 right_pitch=-0.1043 right_roll=0.0243 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.8855, 9.4427, 1.5604, -0.525, 0.105, -0.1832, -0.1846, -2.4, 9.3744, 1.6435, -0.1832, -0.1343, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f315391ee0333527176ee3c31c4f8e9b3bbefeb7c9235754298ef463b59f7c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c9c22d83e47a5253b87699561d3310f754ecd4262a9039c6c648d59d4de0c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045041d62f5bb38a2bf4e5019bcd795e886f707550099fc2686bcbbe46c6a27c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGtWklkTwOq2dDlYH13RQVgSeXbqDkLfJ0GfPRiZ4766P4N5JjObFUhFK4bRxxqF8zCjjXpSsEVsrQ2hZ4fankUyz8iF6bPEnG0td62fuAuopI38v8X7nJG8QQwQLwo3J1Fd_y_KcGMhzNujYCPzl6VEqOvpc9GXfHiwY2AAnvCTz2APNYcznlFmhiSOJm6JtVOsgQ20cd4LUdSQ3JA3NpJl7wYE8hHHHZ3LAUdsAD22WGtOWorv96ueAlPlM3fe_SUCr8tfL0zKweQluhztcKWiBq1ioDjcco-RdRuYC62CgnKsNgXy5NfZbr-KIgIiJhJR433a4TtD6wJgjguyW33dzXdlUO98gWTu6R9aKAz9QKaFXPYjjtpQv4wKaM9RS8cgAbdBaOwviueGwaUkgGxY479Nj1shtfXUAYZU_R2nuTzIchQHAdbGutbV-sNb4lWnhPIeYdRspqVNZzYGharAvWorrb8snDh_B8Q0DxNPxYOUcFtn-h2QHTw-dpJ5Zyb_KvZKAQ72_4eHlnVdcI83ftbUa5bCfLw8tH4J0Z1xPOCVdL6y2Y0xKJLQp7XjIxjd9TpS83weNBtq9CsMs-orJImLDxrrHCUF3woyUB8yUmJ8yVuws02HsZ2B1TRoB8BnbM_LvNR3ErKKZd5kgikJVceBt4_Mb-SAqlaCJOCCkH8nzFfPHOdnJR4U7IUrGlxx045Lusnf_gyjcCQ-AKq-AohQkxxOBCgx_PCsuqc7Bx9jzvB-_eA9BCkUMAIWfHO_oVLAeB2DVGPBEXGsBETeFTm4ixjHsRXB1ZJC4e42YbCeOpB7_lAOrMS--Yb5h21T_Ui1qaL1A4rFnBMz6XmRJbunY9YKx2zuLYIykcpasG3lOvbJLcyFCWA-VfuSjwXOMWBxwchRrStQ-IjlanvSuC2C6hIw9_nKzPIKmedoGIA3jT7gVO1jS7wKLIPfXgeN4OIzYuym2zI72Hq7xtVW90TXTn4kMWwcvSIfavbJYhdEZFMcDHQbxiFSNuIAidd8VCwrvm0Y7eJDZlzbIspTrNcmhL_op0p_y2fzCouc7NZgI27ENmS-ZfOm4663PxhTHlkoJg-JD3Z51Z5bQwI0rsifma2bO2Jt5cItWCp1-ocFGodHCnYSEdqh3qnZ8Xuvml2I62iJCNIqddl-MLH7x9pQ1cvd5odLsrF9eEp5A5C1sB3ZtkJZKQEAlDNU6R6MT3VAvHKCUYYsp1_ow-8taLgUNZX8SNslJKN1k8BIk_K9tlsVyxg77hZgtxvQL7TwbMEyqPDRU2maA3270-Hq2TWJZN0gqGmL6ndkvsY6N4=",
  "id": "rs_0451b42ea712029b016ab441accdec87d0a3f90fa56b538763",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The left wrist view now has the gray plush centered precisely on the jaw column, confirming the cross-frame estimate. I’m descending onto its torso for a second secure grasp.\"}",
  "call_id": "call_BcTCpvSVBZFJPASIpB3ZnqeI",
  "id": "fc_0451b42ea712029b016ab441ad21dc87d0bb9ed227847ec085",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BcTCpvSVBZFJPASIpB3ZnqeI",
  "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]: [-0.741, 1.7073, 0.8616, -0.0216, -0.6285, -0.5838, 0.9981, -0.0658, 0.8833, 0.6785, -0.4812, -0.075, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3685 left_y=-0.1915 left_z=0.0677 left_yaw=0.0736 left_pitch=-0.1022 left_roll=0.032 left_gripper=0.9981 right_x=0.2956 right_y=-0.0026 right_z=0.1691 right_yaw=0.0174 right_pitch=-0.1222 right_roll=0.021 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.3915, 4.8479, 1.3553, -0.2222, 0.0513, -0.0366, 0.0479, -1.8667, 7.0769, 1.7753, 0.0366, 0.0708, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1193cf75c4c6e4b43b4896164630a73f0c958c2d444bcedf71f3f921b630e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7bd3cd851978529d8b0296d59bd8e186f56a62c62a20b31f1b975c95557296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a0875bc5835ecc9d0128d3f4699bc0473f9eb5becadb2e0f07859d5096d61",
      "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 · 4.459 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.1154, -0.1051, 0.9963, 1.0, 2.1757, 1.6154, -0.3531, 0.691, 0.6937, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0055 left_z=0.1754 left_yaw=0.0744 left_pitch=-0.0379 left_roll=-0.0055 left_gripper=0.9963 right_x=0.3811 right_y=0.3918 right_z=0.0867 right_yaw=0.0569 right_pitch=-0.0944 right_roll=0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.7656, -0.0708, -0.022, -0.0122, -0.3077, -8.8547, 4.6564, 0.8327, 0.2515, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7391, 1.5726, 1.0378, -0.2928, -0.6296, -0.577, 0.9983, -0.0639, 0.8783, 0.6796, -0.4686, -0.0639, -0.0338, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=-0.1939 left_z=0.1462 left_yaw=0.0701 left_pitch=-0.0744 left_roll=0.0092 left_gripper=0.9983 right_x=0.2974 right_y=-0.0041 right_z=0.1733 right_yaw=0.0018 right_pitch=-0.1043 right_roll=0.0243 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.8855, 9.4427, 1.5604, -0.525, 0.105, -0.1832, -0.1846, -2.4, 9.3744, 1.6435, -0.1832, -0.1343, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 1.7073, 0.8616, -0.0216, -0.6285, -0.5838, 0.9981, -0.0658, 0.8833, 0.6785, -0.4812, -0.075, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3685 left_y=-0.1915 left_z=0.0677 left_yaw=0.0736 left_pitch=-0.1022 left_roll=0.032 left_gripper=0.9981 right_x=0.2956 right_y=-0.0026 right_z=0.1691 right_yaw=0.0174 right_pitch=-0.1222 right_roll=0.021 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.3915, 4.8479, 1.3553, -0.2222, 0.0513, -0.0366, 0.0479, -1.8667, 7.0769, 1.7753, 0.0366, 0.0708, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1193cf75c4c6e4b43b4896164630a73f0c958c2d444bcedf71f3f921b630e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7bd3cd851978529d8b0296d59bd8e186f56a62c62a20b31f1b975c95557296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a0875bc5835ecc9d0128d3f4699bc0473f9eb5becadb2e0f07859d5096d61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGwYc9LKgoByz88jJ0NCC90w4LeWb9hwZfKomYYaaoJUHg0E01HjgKXgQHlnF7mGuR19CKXaPLl8fLRLNCnhYoAivn_aLOHZu8-6sZh4HqDDHmNGLvp7n12-FxvH1WggCEC5hdPVcDuiuBoxjdzmizGub4iRchdssNOo6oOmney08F-jkWiEZybkPZOcd2kMkgW23PlSXio5W7bxbtRmEWOwHdVFdYLJH8y6XnHucgi0O5Tw_pc9pk9rRfkkNdNPrDGqM4pj8gWkUaSSo2CYb4iDRnUo1AiDexEa4E8Z6fqDes8l9anpBbVLryOvRvfkb8544O_JSrYK0EIki38Fes7kuhyiPuak07deMaqos1t69dsxvO-IbZ3wkIRie_IPvsaM0i2_7GCMLTQb48Itbvj3iLojVgQ4HobETMs5-Abr2--wcP7kfSNY6-5V6Ol3jjHxBRPLm4f0LnHdzeD6a_szQEKxKNEP0KI84vJDTSxlADQQ1v2IOvISP3W_LHJZYY7mYvdgBSZnHISBB7Zziqe7UwuVdqO_yl-7NURIROc-2YcU94rakOYXXAXnPxdRyPKZeUvnB8psGBvYeiAFHv2YGoM0uoE3EjQMTUmP53BnIaHCPThqFLvpCAVYhwkdiyB45a0IN-vRS0ala_WJC4NdqXpDoDDqPQN1h4I9DFBoxcKFfacTmqGebFfkB2fiiJVdw22v4WYq-HAKgX10cnDt94ZtE9Tzck9x5aN9Wi-Ytuf6tVFbBRwnyS5yIujFBOoj-KSdsOSTEzud6b-70AYTeL6KDC0q4-203klYp8H8oluFrheqndCVSZFinYJxbgy2x6vAgutB31R3_V8vSkYJ1zH0UEc5ngtgIQdDsZFJ59pgDuuJv6FfZ2bZXEVymYh0zNQMo4JB0QUWVRJAAoqKZNudAoQl0GlL-DJGLZsyZm7QtZs-Sz6niFhm7_6XppONVDAkMMet5DLyj4CixCJmJzcW1GbZjmyHvGLwuZzbvb8mRkM2k-VEQokCUWqIN18t3AwkX7mi2L0urlvmwBCiyCmmAG4b8Dxnx1OtkhKZq4xQdGWpVFRkdMsqbukiWJVXYQgeLaSXG-RVMKw9potNj9ddLz5m_HjXAiUYrz5j9WFu-_ILZj2SHHYhEbSd-pGfwZv9RbJV3nbXeFkGJeox00zrmaf2yg3i__Ra74Bjvk=",
  "id": "rs_0451b42ea712029b016ab441afafa887d08f2fc7b1166f94a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gray plush torso is squarely between the lowered fingers with no spotted dog in the closing path. I’m closing the left gripper and will use its opening reading to confirm the grasp.\"}",
  "call_id": "call_U9C913HPrXKLQfdXYY8ygZOS",
  "id": "fc_0451b42ea712029b016ab441afc8a487d08d0b23d549415152",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U9C913HPrXKLQfdXYY8ygZOS",
  "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]: [-0.741, 1.7229, 0.8474, 0.0193, -0.6289, -0.5926, 0.1961, -0.0654, 0.8837, 0.6773, -0.4786, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1925 left_z=0.0626 left_yaw=0.0778 left_pitch=-0.0943 left_roll=0.0172 left_gripper=0.1961 right_x=0.2959 right_y=-0.0031 right_z=0.169 right_yaw=0.0154 right_pitch=-0.1213 right_roll=0.0186 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -9.1282, 6.9812, 0.9695, -0.3053, 0.0171, 0.6764, -0.1299, -1.5932, 7.2684, 1.6288, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8701b3ffbf83909fc3b72a22a48dbc9b37ec62185ccd7dcb6a7671ea26cd61e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd8f209d69ada012d91d614eb0024d59c30880531ac9fa3cdec65a0b8397163",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b432e01a40447e928b4a26417c91f27f7d168df8dc4d3c00b39672f07604ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.953 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 96 changed as sent

message 100 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0624, 0.8238, 0.6205, -0.4023, -0.115, -0.1051, 0.9963, 1.0, 2.186, 1.6081, -0.3222, 0.6884, 0.691, 0.0126]\nstate[eef_state]: left_x=0.2956 left_y=0.0054 left_z=0.1754 left_yaw=0.0741 left_pitch=-0.0379 left_roll=-0.0057 left_gripper=0.9963 right_x=0.3825 right_y=0.3947 right_z=0.0824 right_yaw=0.0611 right_pitch=-0.0883 right_roll=0.0241 right_gripper=0.0126\nstate[joint_eff]: [-0.0068, -1.4017, 7.1316, 1.7411, -0.0659, -0.0317, -0.0122, -0.0479, -13.1624, 7.1453, 1.033, 0.3394, 0.0269, 1.0916]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 1.7073, 0.8616, -0.0216, -0.6285, -0.5838, 0.9981, -0.0658, 0.8833, 0.6785, -0.4812, -0.075, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3685 left_y=-0.1915 left_z=0.0677 left_yaw=0.0736 left_pitch=-0.1022 left_roll=0.032 left_gripper=0.9981 right_x=0.2956 right_y=-0.0026 right_z=0.1691 right_yaw=0.0174 right_pitch=-0.1222 right_roll=0.021 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.3915, 4.8479, 1.3553, -0.2222, 0.0513, -0.0366, 0.0479, -1.8667, 7.0769, 1.7753, 0.0366, 0.0708, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 1.7229, 0.8474, 0.0193, -0.6289, -0.5926, 0.1961, -0.0654, 0.8837, 0.6773, -0.4786, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1925 left_z=0.0626 left_yaw=0.0778 left_pitch=-0.0943 left_roll=0.0172 left_gripper=0.1961 right_x=0.2959 right_y=-0.0031 right_z=0.169 right_yaw=0.0154 right_pitch=-0.1213 right_roll=0.0186 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -9.1282, 6.9812, 0.9695, -0.3053, 0.0171, 0.6764, -0.1299, -1.5932, 7.2684, 1.6288, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8701b3ffbf83909fc3b72a22a48dbc9b37ec62185ccd7dcb6a7671ea26cd61e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd8f209d69ada012d91d614eb0024d59c30880531ac9fa3cdec65a0b8397163",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b432e01a40447e928b4a26417c91f27f7d168df8dc4d3c00b39672f07604ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEG23gCG-aMPM7MK40iYOn_CU-N0xI0_8WuCG0a1ah4jaxlFBTFj7Qp1-zUIVQOfAxVl7WP3bxkHHdJixqPcR2Hpcq9Oq9Mym9nfP2k7VIZWPgM1cpsgMrFFtJNZV_l-aFInPZOlyFzcXItide2aave8TwHma_FrbqKtrGKxNuhGKmQaMVUcS1LkYdJ1IYeGJq6S53VeEOblSAqWnHU9_DoBmZLNx-CVD8RNCbiWlfdKGGRDnrIDJXv88WKUg0Zl_hV4CF9c4ozZGoRGc2zVMk2Pzlr5kXVKXRr98mOPkai-9V4aUPjPjUr66GLvjs56Jf_-ZwmRzYDcSCIrGygfNW6kEwARs72t3VLvI8rNd6IX9aapMFgshUpHhrpovg6Oc3ytuqJZT2DSgbTs42ceE0CtuorBm-ElNwnz4Fbesv_u-MjJu_jVYaLPsV__NHOi6BbS33QjEwObNWz0Tr1H2k5qQz2zIRmdxLNskVurG7rau7sHpCZMIwvICXpVq_M0pEoJUWAQnXEdpU2ueLMS6fs6qw2zkTI7U-biGM3N0QQ_U8ZRvExEKkdwr14GuP7jWMbIABQ6V5t4LB0menFHZN1g_sh--XLNRMilAAnS2zCfB4QiGHECifuwkLanrDr-ZQJ1yI-M0LWqqQ1gBNyJbzh3Es4UJSnBm2Q78k_FeRPkxiz-p0zqgZvVPlLSpXkiz5VuVTTl8sCOz1NUuxDiRFJmtVT8IS0Kqjmi3y21Ohu6XADLQ2mAd2JFU_GF7-fD9eAyHGmIfwcNyke7n_mQiuwnIgloNqjrV5bzAewA-LvN0w_YQTYpgti3szJn6s9QLcMIlO-8CYxHv9sqqTTPFjnbPYyLDvAGZMj80YBAVdzuLVbxOqjYEpoC7EC3PYETf_dccsBxAEEIm3f_MxdxaOu15rP88df306KoVtMzAes5MAvfzra6kXPZsc9BwZEHYhX129Ad7tJpTyV-ODAHEVmOkN8IFm250-Qq2KDXate7sXZEw_UHw6skQDxT-PDAjxvsjnc4ObSaEIlNsQdgkgAp4Qak2zuFYYZElhHY0pzXEnhcoB8Pkbyk5QRXoHIuww90QeJJSmvmg44MBqZNfZHGJFYKyJlNHr7ciG-UBYiTQ3QNkOALYIVMe46Xx9MSgltdi0M4EOdOHRd7L0n7fyEDzkdJgRtynaYEWOOTJVtXlEma2V5551pmxurRlqnKoXp0DgLVmBqTZvUBFluugZftmnT-DX2vqVpLsHQblTlLMwu3QsiUDJwDm-xjagO6-bEpBBMhLZml8xOBBxfzANT4plf7kmJXjWZVYct5aDVUIuua6T_MeMuX27A-NsTpTGNAvcHAttWaZS9v7J8TBE6LTqPvBOk2WhUmOawEpPn6M-s8p6UG4FPxrWbcdEZm_5_OgolLon0JE_e4Jag8cg78scozIZRZ3oI8OXgmX7vVI7LobH6FEYsy8bng_LjEFNaNuxyEkqAnSP3-uL2XH3fOCLHZNiXnS5V7OPK6IsfPjC0SQich6OhaqBWoLjya4g0pUX3Y3wKPIHkBtzj9ULr_tfU0S1z0rMCabuWw1_ttcNe4_WvjRW1B9FQVKFMAm_sOxC4YlHKpOd6ygENc3lJRXSJkBC1y0e34N_QkPNnJkPbuT5cgresVyZPv_dWtUxH_joTEzrAO7F5BCzXrd72ql3c_qLytYJXNahVDFyUcoEj6KFlq_2I81ddEir6mORnULETf1_xHSc7m6Pn5Y3HefYnlaD-7HRaEPIH2L-gSutCkgSH__qPIndU13TpxB7FXD4oJ-K2DSpAFS5p9OYMgrO6IWqETq_EFtRZZUn23dlVNjoWpTJJQTUNeDLeZ-ETtrbqqfHityqFqEEYMjTaEkWpxzOYCBjgtdVODQqskv64xgeIMn9UP_se1DquottANptSYM0OASxQmNIntrQwHMQ3EU97Zwvu8XgqAZLGNShqktnzV13PBI-jIZC4DzMEGzrNaRzl9r1EnLxWhw-qfGIXISPXs5xdfWIVP-2xABv2rJoHK4WjIYyZFEk4UB6BEex4vek9wE8kfXuR0qnAgU3QQGtP7S6aYGhGMEKFBYZONUaHBy7Reo7UgM3PPjorKGUAmGhMdmLfx6vVw8jlJH0ApY__A64Pf-jTDpHH0p9FPTZvBChvwCpexQFszqS5iw6IyhOgDR8npg4Vzh0Nv6QuWc24tOyRTLMfBxLPAXf0bGry6VnnWu-54VW-NY5IbFQ0OOxdoqprc5YsukLNRlkDw2VF27Bz0-kdX9VF_0pDCH7XXFfGaGlWTWZf52OJaxa3rUY7B_k-gZf-5hnngZw==",
  "id": "rs_0451b42ea712029b016ab441b2ddf087d084fdb8406106582e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.37,\"left_z\":0.21},\"note\":\"The left gripper again holds the gray plush securely at 0.196. Using the cleared overhead view, I’m carrying its grasp point above the center of the farther-left basket; this time I’ll release from above the rim rather than trying to descend in the stretched pose.\"}",
  "call_id": "call_5EmgIDq1SZdcg96V8xlJoP5p",
  "id": "fc_0451b42ea712029b016ab441b510dc87d0b50f1b6d74ceff9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5EmgIDq1SZdcg96V8xlJoP5p",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8158, 2.635, 2.6926, -1.0763, -0.6804, -0.7078, 0.1975, -0.0658, 0.8864, 0.6754, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4952 left_y=-0.3589 left_z=0.1376 left_yaw=0.1153 left_pitch=-0.1631 left_roll=0.0803 left_gripper=0.1975 right_x=0.2952 right_y=-0.0031 right_z=0.1667 right_yaw=0.0151 right_pitch=-0.1292 right_roll=0.0193 right_gripper=0.9984\nstate[joint_eff]: [-0.6906, -14.2154, 6.5983, 0.5739, -0.3687, 0.2955, 0.1392, -0.1846, -1.9897, 7.1863, 1.6484, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88fa9d03c9e17884cb5acb67682d5b7c3549c90c6d0fbe3ccb189e412f41223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56e5b8dc8465953ea7b7d3ddefab828c7f6af58af8a961e7f5481da82d513ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1267f7f9b151b446186058a41aed6fc3b0c38f7980c6896f04ea26bac3a5b762",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 6.177 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7391, 1.5726, 1.0378, -0.2928, -0.6296, -0.577, 0.9983, -0.0639, 0.8783, 0.6796, -0.4686, -0.0639, -0.0338, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=-0.1939 left_z=0.1462 left_yaw=0.0701 left_pitch=-0.0744 left_roll=0.0092 left_gripper=0.9983 right_x=0.2974 right_y=-0.0041 right_z=0.1733 right_yaw=0.0018 right_pitch=-0.1043 right_roll=0.0243 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.8855, 9.4427, 1.5604, -0.525, 0.105, -0.1832, -0.1846, -2.4, 9.3744, 1.6435, -0.1832, -0.1343, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 1.7229, 0.8474, 0.0193, -0.6289, -0.5926, 0.1961, -0.0654, 0.8837, 0.6773, -0.4786, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1925 left_z=0.0626 left_yaw=0.0778 left_pitch=-0.0943 left_roll=0.0172 left_gripper=0.1961 right_x=0.2959 right_y=-0.0031 right_z=0.169 right_yaw=0.0154 right_pitch=-0.1213 right_roll=0.0186 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -9.1282, 6.9812, 0.9695, -0.3053, 0.0171, 0.6764, -0.1299, -1.5932, 7.2684, 1.6288, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8158, 2.635, 2.6926, -1.0763, -0.6804, -0.7078, 0.1975, -0.0658, 0.8864, 0.6754, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4952 left_y=-0.3589 left_z=0.1376 left_yaw=0.1153 left_pitch=-0.1631 left_roll=0.0803 left_gripper=0.1975 right_x=0.2952 right_y=-0.0031 right_z=0.1667 right_yaw=0.0151 right_pitch=-0.1292 right_roll=0.0193 right_gripper=0.9984\nstate[joint_eff]: [-0.6906, -14.2154, 6.5983, 0.5739, -0.3687, 0.2955, 0.1392, -0.1846, -1.9897, 7.1863, 1.6484, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88fa9d03c9e17884cb5acb67682d5b7c3549c90c6d0fbe3ccb189e412f41223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56e5b8dc8465953ea7b7d3ddefab828c7f6af58af8a961e7f5481da82d513ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1267f7f9b151b446186058a41aed6fc3b0c38f7980c6896f04ea26bac3a5b762",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEG7vdsNpRDVPS6bPjnLBh3YTfUV0M56AJ7XT_V2gDojgbhdYOhaNbt4HytYhpS_S--QvagB8lOSJ7nPnpHhqa0cyCth6FR4qwICU9lgirKSywY4cb6w8pQCxcLWq4Em7-mz6moIjrp7TDAh40E7QsPPoxfX0fHtcVLm5VcHmUMtX7BM78rx7TOFxRHa76C8hEWAStSYYQOZ2SxBC5zwUuKvS66iEvZPWlm2HWLXqkkiM3CMrb5zcmuoIYteLh0evgTBTqO71l8lLkVm5UgDHB7X59DKhTPcrj8cAs93V94HXF44qszt4RhWlj2-fWAmlQp4rECGyyjJLzzO4abrrXd2iunaqaU-nT2reLIVPngAjBwizAtBOWj1Q7l36IptL59-UKj8vxd64-nE-3XEo1emnDNq4lee-tSDIiPX5PGarFNdEiWcXULf1YFhkx5APmIh4e4l6a8B5ncJmQwSHrlRx6BaXkRfinnqmMWF_1bD77bXN_lqHhbz7mLPN3j2Yx3Z9k6dSui3mmn2mH-0CJZsESjjpYP1NByGRxlYGXU3jd2-s9OLWws25S7mZR9bJux0dCUmUxWv18q2qz5_OCRF5CZqwUJLhLdWheFJhsKiptjQLnSE4F-FptjqD7pF3713hhly0s1M_TBePl2R75oJUA7V5KS6FgGX6MWs9gmZVkxiQjuaIZI5uXH7TKBniXZsTEm-94R_PBmpd0gQhe_gHQxh9bP1_-GXTtlASUbRnmCZj8FQbS9bc0ATlmZXvavz_jzqOQ98ZODAN4RWgP4QTPxeo_cTlhay0_iYzZDGQbsunagxczPwm0wxjQkskVl2lG5VK-PFVUxpwBrr6DOUoHyQgImBFmAIPI9GRVJJCCU6dSggTr4SdYtI0vNr5nPwiwepzY3rPe30dZp1HNI-F3fXB2JF4fyw8pGjekZaFKQWZun5-03yfV3A9_1zpqS0SzmhRv5HpIoc7XWBM49M-Ck2Vrr2odtbnitNWLkOIociIogbOGTEkNWaZdjAJ4kLJY0ot6d4_OSRCjMz7wOJ_YPWSoYXtMSLOTJ0_3gC_kWpAz-BLb97141X6O9Z9_o60fyV_oIUzURudPx8kuu5y1JnXDsprnqg3BkLWEExjNcOAiN_7jxnpnc_I2dVHkyjqoN1pgEvbRflItQjHj5zBOkW92eCkYPISn_s7mUWmXkYFsTgOb29ggJQsnHT7QifD2niMo2YjIzxi8nKzUBI-H0lf_-VqV6CBSah2Gtes_047HhefbuCjJcH8f-aJPmb1XjaKoO8Hr9kSH4yCtl1z7rZ60gaarzgYJJVuDfuX-Fcm0HVn0yffuD1BK-vJ-rQJQ-CyKod_WyPUrL_OjZhKfwURPti0A7a7E0aDnAQOQGHufy3lr6uM8w3PbBBdfR7yoR-ojrxM6-zoPvzVtIc88BpCWdL0mrgAZuSl6t0Oim5S4UojUHushnxP_bi5Mg8X7HetKA52OQeUAjPQslEEGnrTFbuUURgaVG_h0QpWbb8H8zNhO470SLZPBgn76f_HBm3R-ASXnZZ1cyuo5jnV4ECWBM497CKTXe3REmKNRTmk5QKVjLpp60-W2J7wlYdneaamqp9ZbQTxPjWeY4whaqoe7752kXe8k21drstd92PFqZtboQurjJM7w8Ftvvq6TL0K4c38pyWt04LQa9hI64TUqzjJT0BW_q7iOISP47ISHf7vz7pmg17e4CdCWL_tUE5AyuYQIp-Gf9lyJFDcrNxHYG-VXEo8sukW-GehCLfmZbRMm2SMNjkoQHrBRb8vMUeARKppnXj14X2-IVaPLi4bXLSNd8bnRvGOU_ut-YtbAoqq1hLOTSj5rdjsYhPS0BDvxUtkuPAVfYiKWyse837Sxlxt3Zzsxf58wi5G_3Si7Upqf2lx5lk9efhwONQ7BrLLeFohOwjuLs79OcK7pph2eBAzelFP4Qw26r8EvxtQA0nsIHmFusOwtiIEFbZhKgXeh17_GpN_0wQ5c9yzoUMLeaei0XLYZ0eEAI3Jji4ACvEEQBq2h-t0hqD1kFIunCI97M_OviMlp5VCN0VHfpi5uQLq-OFvOK1erVQBz6KfOCbtRF61r_7CkNqnfDcmkaV46ZjztO7v83NA616FeosgJqFmC7Kg6YwjbkoAqU=",
  "id": "rs_0451b42ea712029b016ab441b9494087d0867fe78cefe6b15f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The cleared overhead view shows the grasped item is actually a tan spotted dog—the gray plush remained on the table—so I’m assigning spotted dogs to this left basket instead. The dog is suspended over the basket interior now, and I’m releasing it there.\"}",
  "call_id": "call_7YwLPTTHw6yxkda5rP68onY2",
  "id": "fc_0451b42ea712029b016ab441bb04e887d08a4f341662ed50eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7YwLPTTHw6yxkda5rP68onY2",
  "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]: [-0.8146, 2.6648, 2.6888, -1.1095, -0.6739, -0.7452, 0.9957, -0.0658, 0.8883, 0.6739, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4911 left_y=-0.3548 left_z=0.1151 left_yaw=0.1429 left_pitch=-0.2047 left_roll=0.104 left_gripper=0.9957 right_x=0.2951 right_y=-0.0031 right_z=0.1655 right_yaw=0.0151 right_pitch=-0.1327 right_roll=0.0196 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -17.5248, 6.6256, 1.3895, -0.4664, 0.3053, -0.0317, -0.0752, -1.9761, 7.0769, 1.5946, -0.0855, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b6135a2c4da35f274574a05cf20a909286b0ca3f1ec5f91402c6f0c74594de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46ebfa3f86b1bf8a694709d342fc9ce4b2b109452f2a9a31f03a1749ad594e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee7ae37bdb89b3bb45c77741a2b268a3a3c50cf099307120202753a115b36e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.439 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 1.7073, 0.8616, -0.0216, -0.6285, -0.5838, 0.9981, -0.0658, 0.8833, 0.6785, -0.4812, -0.075, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3685 left_y=-0.1915 left_z=0.0677 left_yaw=0.0736 left_pitch=-0.1022 left_roll=0.032 left_gripper=0.9981 right_x=0.2956 right_y=-0.0026 right_z=0.1691 right_yaw=0.0174 right_pitch=-0.1222 right_roll=0.021 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.3915, 4.8479, 1.3553, -0.2222, 0.0513, -0.0366, 0.0479, -1.8667, 7.0769, 1.7753, 0.0366, 0.0708, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8158, 2.635, 2.6926, -1.0763, -0.6804, -0.7078, 0.1975, -0.0658, 0.8864, 0.6754, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4952 left_y=-0.3589 left_z=0.1376 left_yaw=0.1153 left_pitch=-0.1631 left_roll=0.0803 left_gripper=0.1975 right_x=0.2952 right_y=-0.0031 right_z=0.1667 right_yaw=0.0151 right_pitch=-0.1292 right_roll=0.0193 right_gripper=0.9984\nstate[joint_eff]: [-0.6906, -14.2154, 6.5983, 0.5739, -0.3687, 0.2955, 0.1392, -0.1846, -1.9897, 7.1863, 1.6484, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 2.6648, 2.6888, -1.1095, -0.6739, -0.7452, 0.9957, -0.0658, 0.8883, 0.6739, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4911 left_y=-0.3548 left_z=0.1151 left_yaw=0.1429 left_pitch=-0.2047 left_roll=0.104 left_gripper=0.9957 right_x=0.2951 right_y=-0.0031 right_z=0.1655 right_yaw=0.0151 right_pitch=-0.1327 right_roll=0.0196 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -17.5248, 6.6256, 1.3895, -0.4664, 0.3053, -0.0317, -0.0752, -1.9761, 7.0769, 1.5946, -0.0855, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b6135a2c4da35f274574a05cf20a909286b0ca3f1ec5f91402c6f0c74594de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46ebfa3f86b1bf8a694709d342fc9ce4b2b109452f2a9a31f03a1749ad594e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee7ae37bdb89b3bb45c77741a2b268a3a3c50cf099307120202753a115b36e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHDVmbo-4XR0qXquhCwQDXHCP29Cbe2R9i1sgHcvgfPx_USbULhmG2Qs8hR9ipV1lRG1JVef_wZ52Q5e1HbHsljhKVIop9YFC8vB56O14XNgShFAErLLbraGT7b7gb5wlTWcccMHsR4ur_r6NupeCU0p-9Clz0240OGnU9947yczoa9ISBA3LRLJ6LK0zR69pfUDKqJCNxs3XrHsPRxgZFEltA1QDluKXK-YLrhALUeQeN-4su5uMvxdMeY4kpgUFoJVRQvBaOKo7dCs9sjggkOG8GwmNMn4ZGY4JtDvnIrrZTeeEv5pB-ujkFInfcDiDmWeUhHIcbDAmrZobRrytMcJdawEWJpdfMfAh-VBok87pYVO47YhShGsfx8ThcSmOui8CBt_PwTaBvz2ZyEzrsSEyM8BO8ytR0FvkgUUq3fZiZxatsHmBJshKkcIe5Pv1-RxvclKhtKnNgsjtgeE7ia_lJvbXefuAswKFVv7CPwBJUXleO1F9AVCBQ1tGvVuUyM96zzE2db64UK1ptja_CwICRV9wRiuuVr9fnHydbSEVI8telrsj7cP1p_HRqXfTGycvChw6fP4dmYybhiV7kuO3E0V-ChU7JeELxTbXsVRiiEspC_hLi9Mgzq1DlokxxgVIuMhyHRyLzyUKvJ6-_Majmfdzin2znRB0QOHQH-Y16vlOJKzwo6OcDXGckMPI1cSc6icZqqtY3XyBRmU_eWBUonCQtGRJErzdlk4tFPDZhjq-NGlQc3jQHe_eGsh7EDANEGh63K2zYMh35xKWIEg24-b3vRRQxvbNeRpAxfFPdSjwblySfDRdFAHvky8WFfFIVHW-OJx5PJQcy4ifLBJrVs2URnHK9eTthZHm_5vrB5LMUshgzXQWasXsphCPBcR5MQmouix62m56wGI6XEP7_51PsLIMBeCrGMeF-oOPLK3a3BIUAmC7M6vGMgtDeXAND9zzR55-nhXayvMOOU7tuH9xTNqWI1zVHdQw1MQmFnWq_vQk5HKkEgr6abAMdglbv-JVhXbD5o4eTKwr_qzSg3bQV1GEN1lJeIy097qGOvDlNfL2GwV6F8Jfj15bMTjpGrOmBIrG6WccgG1HcvlWeg6AMhCQpMgHF6Xd-7gAS_9SwNq2FGB4VNwHaPNf3C4hAqgeD3-zySoBWpf06zHBLTyBMb2td5xyYaFzggSjSokWZZKTYn_PsE_jLfDwfZKK_MJX8CD47GBUAzGcArmhrzEdLgtfBCLl8ElbxMeg76Fw5qMkZ_VuqW4INbZCtehlMrXQEx_E0E-WOpzKYZOhKwECFfyEyeNC8NoabFoSBiYGqxhkbNcxFNoL17Ua8XfLRwdiWeBS8MPAqnFWipq28Siw_C3-XF7DPQT_Xo5iHWRNRYSIPlhUQfgC1u204Vam9jk7bXgsar_gFjTYiYLuZUivvvaAZ8hbFUuTd7uIjoRjEzbM6qNSwKFBYLjlt_mC1PyTKd1m4LCBd2G5KgD19FtUg_ud6CmGsj3dhL5rLB30uar_L4RmAeiTRrNEGsCA96nWqDh9vk-U4rm3uJS8oChX_BpemUJ8x54fnUp_lpS3p1Veo7lC92Ae1f85wlm2_oGbDo1YnlgW6lEM0MgXMjM-SvlRGrxwaRvYHoPJ_R6Of0-ZvXjb1UuW9nuvx4M1pZ4L2bXfnNKbZTmVnOcQl7blkjTwGigwEnNiUzvdFa3SSQdRjsfW8UhwFn-iGaculIFgTwdpNR6wkVdwwfsK-NDGFQGUOkVmZT1Us52r0Hb1s0iXVyXAFGZfYFWQUMB1fVsiEY5-qoGYNUwA78zaRzdX6PzMHjLERZyyLBfiDiG1bBYn6koaJBurkqO4Nc0EygY6pgHbvbVlG2Mq6i_3uXwBg4dNydJRUuBnlTDN9rqpvsE56vUYFvFNxUDRwH7vdINRsi4oXWTDVMsqtHY79ZhMwWYOCJ3xICxC4cwIMr3hITGfr2_6kFcNqva-GDEwLPrUzWeR3eppT643pr21N_oNWTKXPBSu7IiPo4kyHqmrwi_xX6dC8XRWy2NYxG3SfPbdIi3Gguz0H4nPIzMAfQ3Q525BdkiGbbUUKlWF3-crKg_lCNMDs7j0mPQOCKP3FyurAhrY2nCswPXwUoHHWDqeIFaNC2yx_A35C4EMSIXyJFKSRVB8cOCuj0t_i3Hg0Sg4_aLUXV5vgriZyMcS-bGBi_xJV5SI8dteD9IPdjCj-vHQQFvF2UKFvZEKmV_SS81gnQ77rOWpj-7K1rEm5QALyp2n0n0nWe5fSwX9vJlJhySd9NxvmHuyQEvx1QS758JEbUc8SyEO7foFtzSHIhVtec3Recz3dYczdnsQl1VEZDkqspVAolUY6cIbxBjm6l7cQcdOHCgNo7CWiY3pZ-FewOTFOV0yyst-oSVF4ecBZV-tuDpmFzx0ZsldzJoydFx1troHPgtsv6wy1gL9-0-Tz_iavEF9QslP6cBukc5OFxw9vkhXxDZ6a1QMoPUp8OD0EPVsVA-XT5wACTgJWLQXZfWPFe8SMHgnKYdoVH7hPn7f2N1z6PdGNcwK196vtBq--BHNCXHQwmXSsbc8eb9cVNsGYNJa3MR5BVI-Keh_-m5SCvWJKQpBdAFkneo4Q1UZLImZlDZ3_Rdb5XAJyM7nVVE4HMgCAHkXYkopn8XrVQzBVKFPiQ4ouA6xM3BXVDNalX5TbyY2sb6f3mn-idG1waqdhWTcQOqAqMp27vldGeI5QIzYnU_mueOShREEq60KMlnF_yLuIrVPTmJisDoZ4t3QQiJcpCavGSGxFEQgAQfNotLL3RifT-_bjAxtXHlhPznj0-bUDgezTDAr56TjUJp_-snGvSVXgsvoFJ_SpmIRFg-kOfccsUaEbWCfwwKbPzE6zBXCgylySqWZxYlysHrqmmdW8287rrxBcoGWlfK_sJw3z-i5JQ1FSXbXs71-Z4K3tjwkGOHbTrQqxdHvf2hCZmx2qhIPfOrCkwQCLBdGtKTVOPr6zEKEPqsKQHmL2Ne7CF636wwiTLityTmje6BIryslIkdKcX4JRM7287hqTfCHlNAXr9RL8sTIX1-tVZMbbsCJNznLDyt8947XfpQcDCA3Qs7BpbqENwHCVv7_omr2RKIV1tEEgeBFlHp2DYMxKAAG_amB9OSYe841l9Qx8GiyXqz0cfq-DPsrYxRUSQ6HpZwrKu3Ato92a-IOxrVJsGfzWv_bmZX4EngAVyn59w2W8i4MmGVvE=",
  "id": "rs_0451b42ea712029b016ab441be9be087d08abc02475e4c0978",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.184,\"right_x\":0.37,\"right_y\":0.25,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The dog fell just outside the far basket because its body hung behind the grasp point at release. I’m parking the stretched left arm and bringing the right arm above that dog; the right arm can carry it into the nearer right basket without the same reach problem.\"}",
  "call_id": "call_1CiybEUGD3WRWujuklDzFDK5",
  "id": "fc_0451b42ea712029b016ab441c292e887d0b88baa1224a0c2b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1CiybEUGD3WRWujuklDzFDK5",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.2054, 1.0084, 0.857, -0.6418, -0.334, -0.2245, 0.9963, 0.791, 1.6791, 1.1347, -0.3481, 0.5327, 0.54, 0.9987]\nstate[eef_state]: left_x=0.3031 left_y=-0.0003 left_z=0.189 left_yaw=0.1843 left_pitch=-0.1788 left_roll=0.086 left_gripper=0.9963 right_x=0.3627 right_y=0.2443 right_z=0.126 right_yaw=0.042 right_pitch=-0.1735 right_roll=-0.006 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -2.7009, 6.3111, 1.4383, -0.0855, 0.1099, 0.0562, 0.4171, -7.9658, 9.1419, 1.3602, 0.5006, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7b944c549dc4a1dc83e2bebd6be45c5083010d97adc8a2a30ec96cc6e8bc2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2358aa86eb66203ddf73160a56d5842b23b1740271010c19be7f6b13bd0695d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfa0dbf3453e7884a354169191c0643c3ddbdc7736549e5f7b00edf0d787863",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 1.923 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 1.7229, 0.8474, 0.0193, -0.6289, -0.5926, 0.1961, -0.0654, 0.8837, 0.6773, -0.4786, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.3696 left_y=-0.1925 left_z=0.0626 left_yaw=0.0778 left_pitch=-0.0943 left_roll=0.0172 left_gripper=0.1961 right_x=0.2959 right_y=-0.0031 right_z=0.169 right_yaw=0.0154 right_pitch=-0.1213 right_roll=0.0186 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -9.1282, 6.9812, 0.9695, -0.3053, 0.0171, 0.6764, -0.1299, -1.5932, 7.2684, 1.6288, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 2.6648, 2.6888, -1.1095, -0.6739, -0.7452, 0.9957, -0.0658, 0.8883, 0.6739, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4911 left_y=-0.3548 left_z=0.1151 left_yaw=0.1429 left_pitch=-0.2047 left_roll=0.104 left_gripper=0.9957 right_x=0.2951 right_y=-0.0031 right_z=0.1655 right_yaw=0.0151 right_pitch=-0.1327 right_roll=0.0196 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -17.5248, 6.6256, 1.3895, -0.4664, 0.3053, -0.0317, -0.0752, -1.9761, 7.0769, 1.5946, -0.0855, -0.0562, -0.0073]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2054, 1.0084, 0.857, -0.6418, -0.334, -0.2245, 0.9963, 0.791, 1.6791, 1.1347, -0.3481, 0.5327, 0.54, 0.9987]\nstate[eef_state]: left_x=0.3031 left_y=-0.0003 left_z=0.189 left_yaw=0.1843 left_pitch=-0.1788 left_roll=0.086 left_gripper=0.9963 right_x=0.3627 right_y=0.2443 right_z=0.126 right_yaw=0.042 right_pitch=-0.1735 right_roll=-0.006 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -2.7009, 6.3111, 1.4383, -0.0855, 0.1099, 0.0562, 0.4171, -7.9658, 9.1419, 1.3602, 0.5006, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7b944c549dc4a1dc83e2bebd6be45c5083010d97adc8a2a30ec96cc6e8bc2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2358aa86eb66203ddf73160a56d5842b23b1740271010c19be7f6b13bd0695d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfa0dbf3453e7884a354169191c0643c3ddbdc7736549e5f7b00edf0d787863",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHJjC-L01WyMzUk1xKnf5Ai__EFSdPHXNGw_A6f5EOPeWjFRyBBhyFoGB3qmhmzergNSxo9ylTBwApisBKpIkvgQdAkg8PjtOkQMXd90w-bPiQGvF4yRWJqgLCz9s2VghQwCWtcxkFhBwjRtsxKjkom8DiOqDBFSjI3YDEuWnZxlnA4B5oRj8MlYK0f9rMnxnWr0Pp3H4ARSOzNsvso3EpTdAf_E0nYo-Qe6VJ2ha5YNFk5gvJ3IbtMvULtWcEojZfaydaa-WIxAj0v1CQGXYiJHa-KCKAltEnyOmFP3-omTugorIUjW5j_O4-44cYeQJWw7dDYPbM65MSvYAMnRIlGyoGr0bRsyjvzq_PC3roSzY_uTwnaUANfmk8MMpKdcGjbz8hIirMV_VpmmgBpzU8_J10gC-RwXMe6Hl9GNlxjS_llWyoG2fRI5EeBuWxTr8_KBN0oHJKeLUbRSStWjAF8H6MjuD0Sdgs4DK8X5JciNLMLy8ry8-3omHC_c8abLJRWJUiwDB-VLtVztGKxeeMfVNH8ptEnVRpYuHQc-2AyCavrJNFAN9CaWfXJx2OXlT0_C41d2gsUxBWTldlgJu2e4zYj_eSGlnliMGJId3QMLT0a0-XrIlR0w-8XZuOhpVaVTbiR4C15_rRPM4J8K6FQhEBThLderVTAo_4HV1JbTexHShKRv5qQ_E6gHrs5_Yj0pR8nvEUo8hc153pNLNwvQgBJyaulWBEG7JhA5fyIUoN04bJzwEleliTDbUgjLGIzdqCU4iQGtTKLk9IJzBKH_AmQojoSHI__2VLkRxIhEPoyXdq7EiITeyxvgT7-Wn26rN5nWYV89iK8OSjfVZH6OTdzaZ6LUsamVs0Q4QxZDXlcYR7g3hxQW5sD1EGQwvIQgj_vLk_A3x58axl_XZLGZ64XytzARbvwqqNRWHARqoutUw7s-taTpUWzZm2AKkDXiyfAId1w0a8W_VPFtH8TeKg9qZIzvz5T6wiVl1kSU8g0JTMVvdJys38UaumCUnv1CmuWov67MNsXbli8ZCA7OzEA9OS7JatNuy7cxyVQZH7cAP9cRV0rRDo1srf1YKYeYLQYNNVgfUJoHxZc_W2044pOwP97Zzk7uCETHfAgfx90m-t6zI3xPipl7HCC3pyhS_ZHaRnVCQDrA4u48OnkdwXQqjJS0EweZeg1qC874Eh2gCI4D8q_XDA2yCFiLQSV0FiR-NyxfdqtNfWzAeMhapJBYyOTJEkh0rvaaSZQeNT4xuoV6ychdic27A7vHEoTlL2gld27lxxe_BuGY6_285_yC9DKFuviFF1mETlVPFkoL6uyheDdHiaUZv084FsaKkS_vyN46x4EMxOqR4R35vVjNTU6y72ftRYJQ5mLGs6mky3HGzgoj0fghohBuoZABhsfZT3Wr4P0J7E7JPsyuR4viE-gBrX_RnnoFwoC768482spTsNSHfzR1vCbShljiq38IpIO_9VpwZI5CpDZw8TIMa7nk745yXOBrxjMz6Se2Jcpo4nEjAXxOhKsbZoO",
  "id": "rs_0451b42ea712029b016ab441c7caac87d09658c49a197e26c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The right wrist view now shows the spotted dog centered between the open jaws, directly in front of the nearer right basket. I’m descending to torso height while preserving that alignment.\"}",
  "call_id": "call_q2uvCe3ZpmOIatEmfdFbsu28",
  "id": "fc_0451b42ea712029b016ab441c8572087d0b0e8eda89d5b5e74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q2uvCe3ZpmOIatEmfdFbsu28",
  "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]: [-0.2062, 1.0134, 0.8516, -0.6579, -0.3172, -0.2211, 0.9964, 0.7918, 1.7748, 0.9882, -0.1101, 0.5282, 0.5446, 0.9985]\nstate[eef_state]: left_x=0.3 left_y=-0.0028 left_z=0.1821 left_yaw=0.1698 left_pitch=-0.2079 left_roll=0.0871 left_gripper=0.9964 right_x=0.3615 right_y=0.2445 right_z=0.0656 right_yaw=0.0431 right_pitch=-0.179 right_roll=-0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -2.988, 7.4462, 1.6386, -0.315, -0.0562, -0.0024, -0.1026, -6.4342, 5.0256, 1.16, 0.2027, -0.0806, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed311247576fc390dedace2c2121854ea713a82bbb25d0a9026a4d8bafefb9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f013e864c955dc7a6872b7c9da67e0026dac06e171f760c526f9c4c20d93883e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377af33155e906c9a0d4e96260899bc966efd591c0e45022ac284291fef3c282",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.235 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8158, 2.635, 2.6926, -1.0763, -0.6804, -0.7078, 0.1975, -0.0658, 0.8864, 0.6754, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4952 left_y=-0.3589 left_z=0.1376 left_yaw=0.1153 left_pitch=-0.1631 left_roll=0.0803 left_gripper=0.1975 right_x=0.2952 right_y=-0.0031 right_z=0.1667 right_yaw=0.0151 right_pitch=-0.1292 right_roll=0.0193 right_gripper=0.9984\nstate[joint_eff]: [-0.6906, -14.2154, 6.5983, 0.5739, -0.3687, 0.2955, 0.1392, -0.1846, -1.9897, 7.1863, 1.6484, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2054, 1.0084, 0.857, -0.6418, -0.334, -0.2245, 0.9963, 0.791, 1.6791, 1.1347, -0.3481, 0.5327, 0.54, 0.9987]\nstate[eef_state]: left_x=0.3031 left_y=-0.0003 left_z=0.189 left_yaw=0.1843 left_pitch=-0.1788 left_roll=0.086 left_gripper=0.9963 right_x=0.3627 right_y=0.2443 right_z=0.126 right_yaw=0.042 right_pitch=-0.1735 right_roll=-0.006 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -2.7009, 6.3111, 1.4383, -0.0855, 0.1099, 0.0562, 0.4171, -7.9658, 9.1419, 1.3602, 0.5006, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0134, 0.8516, -0.6579, -0.3172, -0.2211, 0.9964, 0.7918, 1.7748, 0.9882, -0.1101, 0.5282, 0.5446, 0.9985]\nstate[eef_state]: left_x=0.3 left_y=-0.0028 left_z=0.1821 left_yaw=0.1698 left_pitch=-0.2079 left_roll=0.0871 left_gripper=0.9964 right_x=0.3615 right_y=0.2445 right_z=0.0656 right_yaw=0.0431 right_pitch=-0.179 right_roll=-0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -2.988, 7.4462, 1.6386, -0.315, -0.0562, -0.0024, -0.1026, -6.4342, 5.0256, 1.16, 0.2027, -0.0806, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed311247576fc390dedace2c2121854ea713a82bbb25d0a9026a4d8bafefb9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f013e864c955dc7a6872b7c9da67e0026dac06e171f760c526f9c4c20d93883e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377af33155e906c9a0d4e96260899bc966efd591c0e45022ac284291fef3c282",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHLMezaJepvGQGiqc2hZ0OGy0N2ojV0XTAxpkaYLgOA-R4WwQB9Z2gQjvgPw1PymmAvAl8UqswRbVF0I9zYVwYx1eCNb78XbBuOF_Trrg8hs4qMj-2sxQxdoCi7h27Z2InbwnmHPCmBNi_1yQd5dcbO_eR90A4kZBb4-je0CyyeCXRVsRf-9bd1AVu6YJPDmVev3H9GkZqQjtXAy7e8-UUPwEfZojO2N3KiBsGqAmjEyT11-Ue0N9U6STetKJoh4NYyVckaPKj7d2qO7gcQxLle3bP6Mc3hJaNBS0qvpzb46nWa9_aZIEi8F26E8Qn1qa_nN045iEkyOnfICInInIapKpY6VzV-4C31piEldwGe042RBMqMK5tM9l1WiHBZBsfi4E6-IED7tNZKz3RBLHw503Nvtl0cSkWeMBvUnmL0SdDFa5nNwbCHfGFjgqb9XjX1ViYsQ54rZin0sjeqI8yUx4iyrswwYlC_EvSJzMtr0CK1ErD_VAup7KbVCiGx5IXpP1YCZRYhdmuLdXklQGYrEPphjrnZI6SIu0AriYIX0TZDO_99lYX0YRSsmqRLiY2Z1KTlzf5M_vVbtBUauJYaa18YhjREJPf4f5KvArkGxOfUMKy-1jWhwh6SWmYJKAGlw8nEHXskGE60fTFIuG56ZYhKxnTO00XEbmom-scXYnkb3QMHvao563IcT4STIwThC0_RYUThTGwXVVG789h4vrAFiliTniMdx_yVT2baEVRHLpdWhdkaltcMxXualL6SzYmabOlSIT0Sal073OLKC66aII8sZG1pXmsf6r4350m0MX01N78NR0RMA3z7MFFka4hZWQ1RdiIl1069jNi42zE3zxjPqnRcSvlsiTt0l8UDHClL8kjabPnz_8HL3sY0_eKCzJ9s8wirZsWeAthO51N5QyGfgc4Rh8HaAP7lQU0RevF-5wPkjekxm7DJJnX25hJBS-h2UMPoepzBhIW7nhYfFMZmyQ4k50pzooLtGmXm-ocF_WaAWFw0MIv0AbfNr_1NFiSWinPlxgGDTjoIYknX87eIXtC7KWD3adeDGX7iF0cGYYeuHqm8lZskKqI4NGTy6OBwbNqdaFEnUJVjFVXhtWivLMPZ3Tu9FXfGEz1WDZWOSNpU41wdv-kOod7e-6syr_HBEQXzoSclx_OzYGoi5rl5Pw07UlODZmMbJgQ=",
  "id": "rs_0451b42ea712029b016ab441cac1c887d0ba841a3ecb8224f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose the dog’s plush body fills the jaw opening, indicating the fingers are at the correct height. I’m closing around its midsection.\"}",
  "call_id": "call_ABK9rINxpEZRtap5NO0nGRDx",
  "id": "fc_0451b42ea712029b016ab441cad21887d093725deca5ca46c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ABK9rINxpEZRtap5NO0nGRDx",
  "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]: [-0.2062, 1.0138, 0.8516, -0.6617, -0.3134, -0.2245, 0.9964, 0.7918, 1.7805, 0.9791, -0.0696, 0.5133, 0.5404, 0.2869]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1812 left_yaw=0.1688 left_pitch=-0.2127 left_roll=0.0835 left_gripper=0.9964 right_x=0.3632 right_y=0.2495 right_z=0.0647 right_yaw=0.0593 right_pitch=-0.1679 right_roll=0.0201 right_gripper=0.2869\nstate[joint_eff]: [-0.1026, -2.5094, 6.9402, 1.4628, -0.2125, -0.0073, -0.0122, -0.1846, -8.9504, 6.8171, 0.9695, 0.3101, 0.0269, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733d540a7536eb29fdac2ea5a9bfe6b8e573a3d46b07b5cd92ad6a92aedc4262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d0f454f52bb22f575722637bef01ea63b0ff48ee9840ee101660b5e353eb31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc0e795c26acfa3ec1839dfe6c4770e7bdd4e155a675b4f8766e8c2d92f8010",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.472 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 2.6648, 2.6888, -1.1095, -0.6739, -0.7452, 0.9957, -0.0658, 0.8883, 0.6739, -0.482, -0.0719, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4911 left_y=-0.3548 left_z=0.1151 left_yaw=0.1429 left_pitch=-0.2047 left_roll=0.104 left_gripper=0.9957 right_x=0.2951 right_y=-0.0031 right_z=0.1655 right_yaw=0.0151 right_pitch=-0.1327 right_roll=0.0196 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -17.5248, 6.6256, 1.3895, -0.4664, 0.3053, -0.0317, -0.0752, -1.9761, 7.0769, 1.5946, -0.0855, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0134, 0.8516, -0.6579, -0.3172, -0.2211, 0.9964, 0.7918, 1.7748, 0.9882, -0.1101, 0.5282, 0.5446, 0.9985]\nstate[eef_state]: left_x=0.3 left_y=-0.0028 left_z=0.1821 left_yaw=0.1698 left_pitch=-0.2079 left_roll=0.0871 left_gripper=0.9964 right_x=0.3615 right_y=0.2445 right_z=0.0656 right_yaw=0.0431 right_pitch=-0.179 right_roll=-0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -2.988, 7.4462, 1.6386, -0.315, -0.0562, -0.0024, -0.1026, -6.4342, 5.0256, 1.16, 0.2027, -0.0806, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6617, -0.3134, -0.2245, 0.9964, 0.7918, 1.7805, 0.9791, -0.0696, 0.5133, 0.5404, 0.2869]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1812 left_yaw=0.1688 left_pitch=-0.2127 left_roll=0.0835 left_gripper=0.9964 right_x=0.3632 right_y=0.2495 right_z=0.0647 right_yaw=0.0593 right_pitch=-0.1679 right_roll=0.0201 right_gripper=0.2869\nstate[joint_eff]: [-0.1026, -2.5094, 6.9402, 1.4628, -0.2125, -0.0073, -0.0122, -0.1846, -8.9504, 6.8171, 0.9695, 0.3101, 0.0269, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733d540a7536eb29fdac2ea5a9bfe6b8e573a3d46b07b5cd92ad6a92aedc4262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d0f454f52bb22f575722637bef01ea63b0ff48ee9840ee101660b5e353eb31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc0e795c26acfa3ec1839dfe6c4770e7bdd4e155a675b4f8766e8c2d92f8010",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHPpotpxmRuFsJ6pVzBG3kUVq2ViMTIpSy4fTZHVu-qAKXxi0KIRkuAa3-b0uMt5mwspdldBoHoTHRT-d0lEBcW1pqWpGNih2iAmtBaHmx1t6IjxijXmaT6Bj6vYs0UlROBy0XV7qPdC7V136DRxAiSQU-r3QeGrLmWcXFSW4O_uvsV6krtXgEBDUnS69mLzMseSZBnG7LXdlTQaNgA9yA3qV4x_xbva_6Vww9OZ4rMO3ebQ5-xDq64ZUmsyhO4MYghez-6FPWcTGelcLZ6Il3rXJ9v-n0OYaA4AcCSeQAUIFoceTSSgEJHgA97DyefrD5q8cmVpF2BIht_1CjSdYDzdRrwIMkOC1nDK6AWEmM4kc9lAGmfDLNTs3U6biPX8qGSWnkU6UCIP65HgAhRDWYXFkhm05DMzILpbeRaAglV9O4SMD8b7dywoG0Xc2CLUYuqkcvbpCIl3CG2uoDVEAfhlCrirufqfbzNPsTkboh-4MlRiVmhL6ONVuHdgjjTr3hmRUAP75JFZ7V0zJ3FQdu7W9C-bhy9LviCZKi134eO4NJ_1patFaXcGYVOOkef8SMapVKmAbIARCjOJiKGaeROMpx991x3MwV8GikwBqkS6juXYqYdNneqGFhaq0rz6kyCBq7l69ZYeIoL_cFSz-X-mBS4kuP2Ou5HK0Xjhti10c2btdn3877W0M-YEgRUziaUu3vhevMxcRhrggKozmcxsIerF3wC22RaygIics7cyoVa3j9YkAOFDe47w2JPZBqLVXJ5zvWFp3Fdz5vNP67u4mWZ6KZZm3HfM8_kewJb78zRgKfhc2JghxrFnF-m40zmaH7k0NGhA4ZSx4qgKLvA6SXen-Ij_u74HQnXiQo-yqpF9CvgajXQCC0gSVrSpw0wpGg5j7idDnlHn63_x4-Nu16fnWYmtMbreLuALGq4XsRvcS8wowXM4qANHSb8zp9Io1Shlb3MKv5rIzONjWWr8g2AT0r1f2RxdMGESR0i4wdWgwkEy33AJ05jQ-vvhFsYxhNq3ABF3R3j9Bi9kJpKUrLZNw0Qa6298h3FhxHSNs91MRjYOurN9Tn-0voCGn0StKazMtzZmHVR1bCoLMo4aEIj2NxlEdITSlJjkHzxDfeowCwzBm0a0hfv0Arv6hp_2Pra3tTS5I87WvJZ9Y24AM5g8wxC540skUmKs9i8fQEl6KqBg3yf6WJFm9JxusruI8eqiGOvJSxjBsyrxsWM0_lUq2SdTw41UqxBpywUiZrbZGjGUoKuwvw89QdbyrjejhgeOhjw8Y5LuQB6eb1PDeZeI-ZYJmsSrc_k5HfjXmZk6JWZRsDhK51ppQQZFFJhEWB9Go_TMLMDXGcXYTvxl8uKpYE-fQ78Q5mo2lG170Zsds5u5Ukz2GutNsBD9P5BZiA5lHjrfJ9UUGjUBi3Yb_5WYNz-DPLNdV24wMLyyQYUm-55w2JDFX4gLXCNpO1hZFAs88Ub09J8wlZ7GEEui03nBQmLH4Qfsni3p6NGUAWwGmnuGZyRj5iz2mC7ehO_8dMuNZDXwGUojrn-GLOTSg==",
  "id": "rs_0451b42ea712029b016ab441ce0e7c87d08fdee0e5cb50433f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.05,\"right_z\":0.19},\"note\":\"The right gripper settled at 0.287, confirming a secure grasp on the dog. I’m lifting and carrying it to the center of the nearer right basket, whose position is well inside this arm’s natural workspace.\"}",
  "call_id": "call_b6dHObZhXGDbnYNdNNdIkviv",
  "id": "fc_0451b42ea712029b016ab441cec25487d0a965539af01bdce7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b6dHObZhXGDbnYNdNNdIkviv",
  "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]: [-0.2062, 1.0138, 0.8516, -0.6624, -0.3134, -0.2245, 0.9964, 0.1371, 1.6634, 1.2991, -0.4343, 0.0071, 0.062, 0.2871]\nstate[eef_state]: left_x=0.2993 left_y=-0.0033 left_z=0.1811 left_yaw=0.1689 left_pitch=-0.2134 left_roll=0.0838 left_gripper=0.9964 right_x=0.4622 right_y=0.0662 right_z=0.167 right_yaw=0.0901 right_pitch=-0.2378 right_roll=0.0496 right_gripper=0.2871\nstate[joint_eff]: [-0.0342, -2.5368, 6.7761, 1.4676, -0.188, -0.022, -0.0122, -1.2923, -7.3094, 9.853, 1.9609, 0.4029, -0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a116379b84c37d6805ba78ba79b8482aa81f5b401df80935a003166fde5c4aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6790c13efeb8775ef109e57839c19c6caba63e5e5c53e15425c4444fd54233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c075ed44133fc718bedfd4b0de730eab9ef9c5643fa78c996388f596a2af571",
      "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 · 2.834 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2054, 1.0084, 0.857, -0.6418, -0.334, -0.2245, 0.9963, 0.791, 1.6791, 1.1347, -0.3481, 0.5327, 0.54, 0.9987]\nstate[eef_state]: left_x=0.3031 left_y=-0.0003 left_z=0.189 left_yaw=0.1843 left_pitch=-0.1788 left_roll=0.086 left_gripper=0.9963 right_x=0.3627 right_y=0.2443 right_z=0.126 right_yaw=0.042 right_pitch=-0.1735 right_roll=-0.006 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -2.7009, 6.3111, 1.4383, -0.0855, 0.1099, 0.0562, 0.4171, -7.9658, 9.1419, 1.3602, 0.5006, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6617, -0.3134, -0.2245, 0.9964, 0.7918, 1.7805, 0.9791, -0.0696, 0.5133, 0.5404, 0.2869]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1812 left_yaw=0.1688 left_pitch=-0.2127 left_roll=0.0835 left_gripper=0.9964 right_x=0.3632 right_y=0.2495 right_z=0.0647 right_yaw=0.0593 right_pitch=-0.1679 right_roll=0.0201 right_gripper=0.2869\nstate[joint_eff]: [-0.1026, -2.5094, 6.9402, 1.4628, -0.2125, -0.0073, -0.0122, -0.1846, -8.9504, 6.8171, 0.9695, 0.3101, 0.0269, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6624, -0.3134, -0.2245, 0.9964, 0.1371, 1.6634, 1.2991, -0.4343, 0.0071, 0.062, 0.2871]\nstate[eef_state]: left_x=0.2993 left_y=-0.0033 left_z=0.1811 left_yaw=0.1689 left_pitch=-0.2134 left_roll=0.0838 left_gripper=0.9964 right_x=0.4622 right_y=0.0662 right_z=0.167 right_yaw=0.0901 right_pitch=-0.2378 right_roll=0.0496 right_gripper=0.2871\nstate[joint_eff]: [-0.0342, -2.5368, 6.7761, 1.4676, -0.188, -0.022, -0.0122, -1.2923, -7.3094, 9.853, 1.9609, 0.4029, -0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a116379b84c37d6805ba78ba79b8482aa81f5b401df80935a003166fde5c4aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6790c13efeb8775ef109e57839c19c6caba63e5e5c53e15425c4444fd54233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c075ed44133fc718bedfd4b0de730eab9ef9c5643fa78c996388f596a2af571",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHTBzcbhMXckxTASCuldbKx68MQR43bV0PTWKGdbn5hRDqrL0V5nDwWMhXmriwQ1NvD-YxHb2GMsE3TO6WbfShO8HHaqReKoSXFZ0FMjudpywnPLgZfSlm8KGF6euZ5bJm0A-M5E-2UKVbmqwEJcCCotsxRsXgdc_bwNB_lkGG1fEaHf97s1xEMHpxqD4YAOZlGHNCisA-WsCEeOi2rubUoqkFHen0wyJCsX3GI6zd76G95GqzSljdfbbHi6kyKvsAmxzd8rKE_15-uF5AaaYU9VRdeeV5oQyF4X8peXSOqG0OpBYRt_RZTeFehvDpGS9lcTt0SAxYyLjG96Pr3bGQ8llh8kJm2fsRxnfZrBkuaI62w7QGUV9ikU86CgrODoYBgWYnKYl97fKwtqjoL0vzMojIGMQs4Ke_XIG8NJY4NVH617964ZvyGqUTHhl_i8P-XKpUJNj04GUoLKjh5JBMqmTbHRT2Mo9UsxHoEm2QIbhiGoDg3kQWQN4NnvECfC9SuKhuwMPaKnRbjDaj7MvgC79AxKzn_2m5nt-PVF5w2ut5BnjpfiKyuEwtZxrf0XRiz1vBWbaT7MbU44jTWJbtFMUdKCUf_SiQW8hgbiUBD98Mqm_jSOS6zAseRVqL5QILHeR5TFgONAA1-bvFgkYCrr8-Eg_X62DxAn79vqy_lxDRHaHGOA_AYis2Mh-N7dR0wGZTCtUtA8y37e0GbeawgYBYp8ZIqMRuRihu6Pwh94BppqZ0zhzMC3vwTSBUodGwnh1rgRRNgfRNXbZuGkbLBngyC-uO8obMRsSSAd8DPjh8h4h7-HVISF-RotcLpP_Ivctg-9GeY2bOb2IxArHV9dQp-EAG44fQGrVbFU-HDOqgOL4hep4_N1yS9JGBCajClXHYzyWzpRPE7OlUQhosHEizscf5tTtcRf-Uk0gUEpuPczmAWAy6vNdbsMHwA66mTc8Foc8d5DNKAFwABPKXiabS7QhasKgg5GmKD5OeOnHr8rPXYTlFLUyCticN0OR4ZQAHiDnYp52nRwtMWLU8IIAIbBrPPiXw_mFttmbLJdqJFhuC3FgKXe3fGGQ-6Gb4H9Bf1ANwgKfeRUtOqauWah_Jfzvn961uX411tZfxHb2MqSQUR3EthZPWLxj4bSi1VPfC_wss98ok1SJaP1udt5ypnBbJksCAtWz0VE0YWNq_4EqRMID1f0YVPz2zvVf53A0xq-KJWBHJ6Z9t4X2UdDYLNwUGwW8HjFk_TjdlD--uOkhJYF5TsxZIR4OYpCkOqtX3fQFrvv1zCkus2rmx8-yj14i757CjavG60wVoDi-osBsICG4PoDvmhlHdrmaQrwK6YwxdSFZ8VxgdwRdkwoQyw9APohOXiWSNN3BISrJHjvJdnLZRDbHpFaRgtdtJI",
  "id": "rs_0451b42ea712029b016ab441d2805c87d08c019949f0ef50a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The overhead view confirms the right gripper is centered above the right basket with the spotted dog hanging inside its rim. I’m lowering a few centimeters so the dog is supported by the basket before release.\"}",
  "call_id": "call_0T6ofBBA8S7uffuHiitzgqo8",
  "id": "fc_0451b42ea712029b016ab441d2f69c87d0bbb0bde53f6172d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0T6ofBBA8S7uffuHiitzgqo8",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1604, 1.6981, 1.137, -0.2951, -0.0544, 0.0502, 0.2872]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1811 left_yaw=0.1688 left_pitch=-0.213 left_roll=0.0836 left_gripper=0.9964 right_x=0.4465 right_y=0.0856 right_z=0.1082 right_yaw=0.1736 right_pitch=-0.2957 right_roll=0.0872 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.4821, 6.7624, 1.4725, -0.188, -0.0513, -0.0122, -2.0171, -7.3915, 7.3915, 1.9512, 0.8962, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf219abf8f89bacb4fb017c4ba1649b092008770e031d2e5a45b38781efee2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6688b9a85a8e71beea07c98e1392c1a89deaca2a4ffcaca1a471d81baf48e3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfeb617401ac73e0e8f6669fb4a99214c502a8eb43ef8ec0b86fea6092d1310",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.697 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0134, 0.8516, -0.6579, -0.3172, -0.2211, 0.9964, 0.7918, 1.7748, 0.9882, -0.1101, 0.5282, 0.5446, 0.9985]\nstate[eef_state]: left_x=0.3 left_y=-0.0028 left_z=0.1821 left_yaw=0.1698 left_pitch=-0.2079 left_roll=0.0871 left_gripper=0.9964 right_x=0.3615 right_y=0.2445 right_z=0.0656 right_yaw=0.0431 right_pitch=-0.179 right_roll=-0.0029 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -2.988, 7.4462, 1.6386, -0.315, -0.0562, -0.0024, -0.1026, -6.4342, 5.0256, 1.16, 0.2027, -0.0806, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6624, -0.3134, -0.2245, 0.9964, 0.1371, 1.6634, 1.2991, -0.4343, 0.0071, 0.062, 0.2871]\nstate[eef_state]: left_x=0.2993 left_y=-0.0033 left_z=0.1811 left_yaw=0.1689 left_pitch=-0.2134 left_roll=0.0838 left_gripper=0.9964 right_x=0.4622 right_y=0.0662 right_z=0.167 right_yaw=0.0901 right_pitch=-0.2378 right_roll=0.0496 right_gripper=0.2871\nstate[joint_eff]: [-0.0342, -2.5368, 6.7761, 1.4676, -0.188, -0.022, -0.0122, -1.2923, -7.3094, 9.853, 1.9609, 0.4029, -0.0806, 0.0073]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1604, 1.6981, 1.137, -0.2951, -0.0544, 0.0502, 0.2872]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1811 left_yaw=0.1688 left_pitch=-0.213 left_roll=0.0836 left_gripper=0.9964 right_x=0.4465 right_y=0.0856 right_z=0.1082 right_yaw=0.1736 right_pitch=-0.2957 right_roll=0.0872 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.4821, 6.7624, 1.4725, -0.188, -0.0513, -0.0122, -2.0171, -7.3915, 7.3915, 1.9512, 0.8962, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf219abf8f89bacb4fb017c4ba1649b092008770e031d2e5a45b38781efee2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6688b9a85a8e71beea07c98e1392c1a89deaca2a4ffcaca1a471d81baf48e3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfeb617401ac73e0e8f6669fb4a99214c502a8eb43ef8ec0b86fea6092d1310",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHWPxVCRnezbwiIiTqROXBecvWh-GYDdloL6uvjoqCtLUcA11TzYajuu1M0_k2oefmFzr-WhXmNxVGikasWXqCLuS-gFmz_5TiHAq_dmIv-R_Gqg-tw4yegJbfOtSNPssjnIy-qsksoYA3Qso9q8WYCuivHnbUXhOKO-3ZAwi4moEQZxQb9I6IqGjm61zsjhA_DYVKZKXpvFFREynGd5Ec_sNf-OCjWcxZHRezlZ5R0E17smPYTAqLmNMAwAS5encHRUtg6nnex1zdJSBUjq1MT6veC22OUfEzmC4RCHuw0qna-1HgqFCCZdeMKfNSxLLGAs-2msrTbUCMyUXd_QxO4LoCyyeTe6Ch4NI9CrmrVPLm55eHXjJD4SxMfiU2q2OXhDjcJQzN3x8OftcGZoJQOqrKtrS6TTmhYB6hQiFDF6_iYAx-EiMwaERY2-SoxaSgC2mw9JTRRfejpmFFjTYhm7JRFvWSp_pb7TWBVtLE4yKN6o6MDdvI7J4bq47NrSQ_KH20BU-THfQcqCwNo8yEu1RXJQSSNVOsTIZhsNQvqLSkGPIh4xNu1lA8qrsNvfsJfeR9o6cu9tjq9pz24Npw6MI4bUwaA59uj7GaU5YSfjaP1lN_uTrepTBGKd1JzeeRm5S26JypiNECbLNKdtbKtZJjqfZvwFiN6_6cBnA7XX3XnANifER4b-fd848ixXYJTI5csX0RFrD1MS_TToixgWQzNponem-0KMSmheI1_AffcL8go8G1VXgGlEa4p-PoXeLM4-IK315xUFbp4wbYP8yQbULd4JZfFGa5k3tNJa0dV65C6Rn3Sm6Y9WmtNAdtZ2RdHtz6tuak_x8LUPooTMGR4cnXHlvCNq-2y3eKJoHDfcPwr1QPFVehMb9Nw4ZMHIxHopDV9oQyR6dR4ijXaUWXOWBGq1Pmsccruybzu9zFmzXwP3Kg4NviWTo9XUk1_Ncqn6YZ9wwc75uwzjCzY2nQF6ZjhQbdDTZmgm0OW6y7TJJsF2UTgFZAPDyZoN09NXWIgpLDWYKxDwzqAXZljLyrKxxcDW6sF9-SAv2sY-6210Z9g-0m0QM-aGNvq5k03CHKP9Mt32vrMJ3c_4avPZDma0sBJXtqUsX555XSk7u6va48e_swgiR0qs3PlMJVE445xXHM2CoFzNdj3S5v-2Tz9zq8coWrfwiVi26RLGk4=",
  "id": "rs_0451b42ea712029b016ab441d5c19c87d09a1a9c4973efb566",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The dog is now visibly nested inside the right basket and supported at the lower pose. I’m opening the gripper to complete the spotted-dog placement.\"}",
  "call_id": "call_J02xdc4VrvZQmIq97tkcmk63",
  "id": "fc_0451b42ea712029b016ab441d5dba887d0a593d9448d8a1365",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J02xdc4VrvZQmIq97tkcmk63",
  "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]: [-0.2062, 1.0145, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1795, 1.692, 1.1244, -0.1928, -0.0521, 0.0414, 0.9943]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1809 left_yaw=0.1689 left_pitch=-0.2138 left_roll=0.0839 left_gripper=0.9964 right_x=0.4596 right_y=0.0964 right_z=0.1232 right_yaw=0.1951 right_pitch=-0.1996 right_roll=0.0778 right_gripper=0.9943\nstate[joint_eff]: [-0.2393, -2.6325, 7.0632, 1.5067, -0.1832, -0.0708, -0.0122, -3.1111, -6.5026, 7.0496, 1.4921, 0.5397, 0.149, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfe2d4f6a332ac8593e06ac0d75ab03b29d3e6658ef18dc8c01e736b7351e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5e7ce80be3f25102a6eab659fd4bf486c94e64bc52690fca9829767452bdc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d668a5b251bc0863a80403af2f4ed8cc5027dffec933b788abf979f9f343736",
      "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 33 attempt 0 · /responses · status 200 · 2.414 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6617, -0.3134, -0.2245, 0.9964, 0.7918, 1.7805, 0.9791, -0.0696, 0.5133, 0.5404, 0.2869]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1812 left_yaw=0.1688 left_pitch=-0.2127 left_roll=0.0835 left_gripper=0.9964 right_x=0.3632 right_y=0.2495 right_z=0.0647 right_yaw=0.0593 right_pitch=-0.1679 right_roll=0.0201 right_gripper=0.2869\nstate[joint_eff]: [-0.1026, -2.5094, 6.9402, 1.4628, -0.2125, -0.0073, -0.0122, -0.1846, -8.9504, 6.8171, 0.9695, 0.3101, 0.0269, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1604, 1.6981, 1.137, -0.2951, -0.0544, 0.0502, 0.2872]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1811 left_yaw=0.1688 left_pitch=-0.213 left_roll=0.0836 left_gripper=0.9964 right_x=0.4465 right_y=0.0856 right_z=0.1082 right_yaw=0.1736 right_pitch=-0.2957 right_roll=0.0872 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.4821, 6.7624, 1.4725, -0.188, -0.0513, -0.0122, -2.0171, -7.3915, 7.3915, 1.9512, 0.8962, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0145, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1795, 1.692, 1.1244, -0.1928, -0.0521, 0.0414, 0.9943]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1809 left_yaw=0.1689 left_pitch=-0.2138 left_roll=0.0839 left_gripper=0.9964 right_x=0.4596 right_y=0.0964 right_z=0.1232 right_yaw=0.1951 right_pitch=-0.1996 right_roll=0.0778 right_gripper=0.9943\nstate[joint_eff]: [-0.2393, -2.6325, 7.0632, 1.5067, -0.1832, -0.0708, -0.0122, -3.1111, -6.5026, 7.0496, 1.4921, 0.5397, 0.149, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfe2d4f6a332ac8593e06ac0d75ab03b29d3e6658ef18dc8c01e736b7351e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5e7ce80be3f25102a6eab659fd4bf486c94e64bc52690fca9829767452bdc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d668a5b251bc0863a80403af2f4ed8cc5027dffec933b788abf979f9f343736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHfzd7NHupPTnu8J5J1Wgm5_5rcGfI40GIBQRtR9ANQP2vdDZxAUPbe0OmQvVdow9QKJxPtjOvIuMR0m-u46RBTS8UlS3LrOMHw4aNzEg3RxzQSgu9xDKOrJ2y3J-9cD5RVM0HwiqW-gCNGE_yxgtibApu6gZL9plYGI8UW3yClyjBXKw5rqNia1onA5MhqhBFwhrt_ja8lzJVsjcbLshj7XW4Hahmb1l-g5KWFqe6-86hbRAwI3WpZBffrJtRzq_CbiELsBrxM9TS6_bu0XhZ4ozCT9goqTQKYjrkebIgnuIRLDkWRCUSKbfX_jjpdZxhKSyC4yXIb23-Zq5BMUAe0SD_NW3hPUgySQIJikN-2zDijioSgNuseWAP98MSVdE-IX9dPiOZj_bHlvQf8WgQ6ikwla_tdoZv-M_C0Pn5gzTqDjeJZWqIpcxAJodxYXtER_aCClEzpGeL7q806Y1udWBo4r1leh5oCn0ddSD8P0ZKtgd7ORr_m_v7R8AUJYwV6bK-Qm2OlrhPEkDq_13i42Xu8KMN_Wxw-e-WH8TkPN9nMfr92Fpliga9woU1EKtnKrMD-q3KcVV50F36M6Y3bt7dE6oCW2uLBmywrpkEM-5P6YQEuc4X00Np2zl3YsDJeSQHQllIr635CiwgK-4n9MZwI_2jNyxKQ704Sk4aPHi5XPh5v6enbhMZ2aowkqp7fIZRZ0m4H5qcCNpqDVy-Ue5lpZ-uT3w5pQz0167vARcfrk6KdGHEedC9q1vRtgSf5FweuIHajYlWKn4PzF5ByswNvlrli0y7MGa-i50qbVlcAAWk_DRO9d4Jua6EQFWqtSfFM6oyu0VgLOMHL8oWcbL0UhVh_4HW8CVy95_VSRNV_2SpSz85AhEXzTnO-Qxf-1IRa9dWSZbJSITr03lbjZkYQmMJE0Mc_rzzaHCjow8jILcmMJspUODqdWUotWcJ5nwlcaTbCg6BkyHucjvII9VEikMj6KLI5gDQaaEOL-CUP3F5StUqsc8EMpZSwcUCZZEpIYZqUUsW0GEcSNFR50RNvm1nVwBopujJ97tNfygTN9ofUA38UKKX9uA9xqDydsFmAfv9BEcFWia7IiVwIDOq__amk_kIhAgGV3KDBJoaxgE_pHQIqqGK-ddZLYElDsSwKYLJIOTrOVK7Cg-Qcw--wkmtqf6MBnjzYxjrEIYrNdVKcLoEb40Axq0wcmRZs8Z3ujWSuIGoDb0T7GxqO3eyCfm2iaTYeqS-NG2_hOnD2tZS2oXX5uUbDjzrGhKpJT7HEwZLuG8maf1iBSJWoJ9RWFmj4NgHRPt8SpzXBPb8LMaGC4kTuScut4uionTWWIuUfhNk6oF3Y9NcNC2dcVw3irS0xHFsY02z_GU46WhIFJeq3B0mTxpKmCV3w-5_IcAHVfRyZG7VS-ahQCr5_GifljebklLp1gS5dXdU23nb4D1Esk61O7uOlXqH5poVB7dCyarq_DupvNru7g_0KgGBuOu-YzTNJKTHOc6aG9n9vRjJGJGADaw4YTKxKzS2_LGrTTgrwp1c0v3CbuNXel8r2vaaCcCSkQalXkIOiMbZS1WJcUEm-4ganybolnFnaTPrIH2dag5HhpWhvYFUsVXjpVR9He0TOL9znw69RkDdtv0BLTleJiuVOUjgwI0tah3Plq2_SXWCjLCUckrvBtg4-lBzOiuNcKJYFj6fj8zRn0QgLGyZSg6T5Zi8a-59EN0Lg6HFaUF8rKRz_stVeJO2iCxYrl2jT6sWnDKiq0b5Quplznz6l2CdaJv-LdjvsUUJiZ9kWzpXoFdMwudXh6F9ScOg_B74XBc-vJFzUmkmwBQhUb9yriVvTljKL4YuMiaiFLN_DPJY8WfLQjejKzh3lVQFQJqv8gHrlBkcjVi5VqL5OhWV0WLU6hZVQwlCIcKsxq3mroiQiIRWxFUY2XSmPL2zf905PB3jcrGt7sLRCuen2a1jhPgseRz9d-s8CiwHZ1TXTZai0RinaEmNXFnDQHOcWAg6rMr007jjlAIq4qt9QggGLllAw8ew4fEUcuhcdMdxopbiNWPvvt5EYLIrydI7r3FQw997fQXqtcafwkAQk8KTBIlvF81yvr-Gtdj4q0AUpF-iXcZ1nImaIyCA3Jd_T6GKNTWm61tWYletnVeXf04kC4Uo2NzpxnLz7KMPC3GtNx15x5pLIunTR1kbDk2VPpeVB06h10RDuIN8Wy6RzoLbLH8NLLULOfmCKWjADQAQ5aBBwZkuNLYdfCi2WvJf2pHFTdiEhIRYu8gUEnUGpOYLYw2SNmjCZmfsuCe0sqLRicQWf_wPIpFXel_iYpyOWI5TcOeNHxODrfBHD_MOeqlWMe-wXaV9hfA52g_u94KblmYJYkQmpvShEtaWaFvDKCkTbMosuAuCpZOnUBwvDoLDZFfmUalVfi5XlJrsfNtx4G4xdqjkLZETvaPLM3t3MIsu6pZkat6Aj9_YLpxrWsihcoPI4FH5eJxHrOdsxkJjcRrQJtMV-Nej8VdvfwhYdrQ09UsAU-WvW8dH5U8QPDARztLuKKP5Dvve6xoKkgodWLZPgO4nYFX3PfmkKdDI-MV1yFJhe8Ut_EEe2sMrUzGkbHc_7DoJnLmaaqu4sIdHgUiDgXg9pUYdvsJ7fpHLGsiBEUOi7x1PhYFs7O8PfFvX5e02MFzLOR-EvFCP_Z2_NX3cwQziIVq9nQrX261hk9XHnKJ_bA7nsm1miVgORMnerAixjgX9FnPH0Hcwy5YPVOBtsevnRZ3J5cKOiXzlZh0ksLZFZAjR4AYbO7HR1UPtJovHuXuAb2XlJhSPtlm-DQXbRzexzN4yOZyhKXGjHG0w6LpQG_BJ8AufhfRkzCORsEyuXQ2p8bDV43zBSIBjG2oVuqcKNhyNXNkXOrx98ecwPCuTNK9DuKmelEfHtnGKPAf3PYiJINIZl-ptpQt_pprDkv4X9KgbAMmyqJhNj7Is-O-m-AUw9vruLGNlzz86zMUVypauEZRzauhvAgnvb6AXEmV7ybpyDcCpV6pWAmJGAqBnsJVQaI3LnU2wl9AgS97j1sLIhtpHCUgWSMky7iHVmUoTSGgAwh37-4U7SEvssIkk1U-rnPg_TxUNhJmlI1ZLPO5OlK1Hi-qjzmLs1vP9h-l0pp9l1Ctb5C6by-OLyPCZgKh7ZUvoF44rkhGIIuQCIaee-SHj5DxQ2_qP7rezwlE1HPnpWhzaYz3t9VEJKqinmh0IQ05XPgT3aLc-dsLZO_vLgaxW_WOvE9GTjgC7wR7_MxqntdZKl1x7jvELdIW2Z3R1Y0LdaEDK6oSjKNWPtu02OXG-yQ7V27x0lbbo-Lcg4ITs3vNVbLpDoF4p0mrb-cI8DRyMJ22PdQIFQ8gdET7_XdpA9gKJMs2WVul8N6y0KIdwYXu2XfUlq1elBtNke4kQpAn1QScbIcWD6zQ1q6yqWIuF5QR9153Rk9zVAzrLGDzVmTmxnvQId36FwUPi5O5D6ijGKuU9UinEORPG4lYNqPtLiHiDmcw5AE15QYmrdb3FvfAVxOmK8jtiTY3tHNz48fY2AD3H-gXPzQa6tUeOpeUTGnZPrPqacPfKm-d86gJM71yqsxyWK-BFWwd6GqthilYrYt0a3W7RREY8lDb63C_qX1vEQ5gMw7o6OTFpZVeXLrEd0TL-CE2tmO4efe8j7CgCNiImdNLpspRvSq0feduIP1L5decAMBebM3hufWHY2JL6UyTaw-AIkm45HyQxabcxDacesfF8sojUniSu3rQM0N98lU_kU5BdyvGJuF23Wi9-GOyM4JfoPSDXt-VQ7CdTb3mOWwPf7BQqrwBnR1uTxqBMpl_9nHvZHzD6kP9Kg27YjxYjUJkf0MWa1fiaN59taGVb4CehU39Xk7DD6i0dCAb-AfjISysjFSq_68xqGvxfQrn07mKHkY3CChJYokVdpW7A-T8kMB2HY6_TE_TMdUoLyF6cPuuI-TlEi38HhUA==",
  "id": "rs_0451b42ea712029b016ab441d8f4b487d0b60230a43f172d88",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHfLbdgDTg0U43xHp9qeGL6-_SkArh6kr7xzW1Kf3qQ-sAPncb10oGfCGLrJWQz00y6b71tkXvxOHWdJm1Su766uXH-NLxZBXxZ_HxIrF_gfFA-NUwtKTSuxmYh_NtfvKXG_eZ6Y1b-E9NdL-dibeewU6hUT9VYaINIxRvYObDrGM6DXRPNiIICITpIxddsbWqQ9M1w8tUn5WsfSJUUh2dRfwQPaMQhhJ8_8jzoxJdftvTmDNLbqSov0HHPWZUqGjoOiqrOl1yUSlrB3Dc1k8eIJ1lGmR8a9oBMWNEjcMYvGK6crc5FzeXh91ujp8v55VHbDDRVkpjYyIHwUYeWr9Ui6nC7VIYypX5RzykDup4UkagXjlCVteZ9RExU-8WrQAg94qj5vopVji9L8jy3wyVC_4Wi0cQ3u9qEbsN6rLFFxOTjq0PuU31Wzn0XHfNFyZNf2m_yYLL-uUnoba1c42BGFzILHPVOrkIerQOvppdzLnM8SxCKk7uJYERx2d9QRUjrmWOkUEj5v0av8bCdlPgP1q7tpJGV2AyHv4qLJb20SR715sOf8L7j2jJg9NkMUW7DhRfDN9qrK8bo05N2Cf7XtrVHeXixddte4iX7X4E-v89_fkS_qCu7XpturVt1JiA1YmWik29GOukVP36tXNZkBykDUtZdS1JmpzdZ5jXt015H3ehr56FAyJwao7dwnywRh1zXr7nHeT6BSLxK6IpnHlne5wd7Oxr_JDnFkAksHhJTZGO-2bPR23CXxN_dKX9D7q7SUDOTKI7FXztkbWkCRtB49WGPNz8wStctBaKKelJmGeyWstqyuO5dK3j79nDrRmEH38o0b3oobznp2e-4R9gZbpAXKKJ6WTdpyJwaWu7wuI0UPB0CiKOAJDc85RYFRyvrS3dWdvKinrN5TlAybyyTvEpGfNGBrVsgc1nHC7ijf5TFPVvmKuBhu3mGoOuPNDS6a5B32EyxvwCiSnzKdxF-2kLkUasuZwxRU_StJVQtvQBZqxPBOkaU2qompPDIdgO5gBfgWfdj-IQwn5Osby3riZRKgPvN3RBWqxCvWEsKZb51yoi443nZOMm4hGzrrBYv9ChNTRynXUBfWi8cU32khJgwppFpaYZOQcVm9xkJWzuMENBEQ5eDUl0-Pq4HOyQEpzO-itZu7ykDBGeKObO6FYUdjMSuYCKwFar3KDvbOafFe5cy-Sp-9KQ2uyX901f724jlSdLY4mYgB7rMVqESve2Yf3hYen0ceVGrKtxcfQ3iOzYj-ztHCLYiHGudW7bo7hsAfV5jpoIPv3VChuCrAbJG-RBlDJDlo9usUvrhRHzSaQZjXzdNUQlGzAB2j3CaWvjga5Ov8Jf3HljtoQdG_vtAcztmoAJN3MUDgzlRl-u2BWMNh_RK66SnbiiGCMLGlIhVKtXjYuRsMcsWzrHfKU2SF0cSDN1B8knH21duA4FPOMjHo1O3QPJjwbrtFWcG9iNkwSlO4_rBN3Ma3S-u8l9hSRD39ODA1xOEuTA=",
  "id": "rs_0451b42ea712029b016ab441dd89f887d08eafb18fffd32af1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.07,\"left_gripper\":1.0,\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.184},\"note\":\"One gray plush and one additional spotted dog remain on the table; the first dog is secure in the right basket. I’m parking the right arm and moving the left gripper directly to the now-separated gray plush, whose center is at the previously calibrated left-arm pose.\"}",
  "call_id": "call_1YQcPhxRMIY8T7IdNckm3xjj",
  "id": "fc_0451b42ea712029b016ab441de58e087d08367e2a5e3077440",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1YQcPhxRMIY8T7IdNckm3xjj",
  "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]: [-0.7311, 1.7542, 1.0168, -0.3496, -0.6109, -0.6899, 0.9983, -0.1898, 1.0122, 0.844, -0.6102, -0.2867, -0.2008, 0.9948]\nstate[eef_state]: left_x=0.3602 left_y=-0.1821 left_z=0.0613 left_yaw=0.1594 left_pitch=-0.2536 left_roll=0.1108 left_gripper=0.9983 right_x=0.307 right_y=-0.0045 right_z=0.186 right_yaw=0.1575 right_pitch=-0.1786 right_roll=0.0641 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -8.4308, 7.747, 1.0574, -0.4957, 0.0562, -0.1832, -0.212, -2.9744, 7.0359, 1.5604, -0.2418, -0.0562, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0e08df4af98cff8c2d75f842e971dc35980fdb9f7bccf182298f6580911d35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8855eee4353cf16eccfb96930f376733ca50bb5c56f714b339291af1ceb27d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c569fbc7184d477ab86acab111ea89026b7beca8094f12977e178330094267fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.412 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 137 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6624, -0.3134, -0.2245, 0.9964, 0.1371, 1.6634, 1.2991, -0.4343, 0.0071, 0.062, 0.2871]\nstate[eef_state]: left_x=0.2993 left_y=-0.0033 left_z=0.1811 left_yaw=0.1689 left_pitch=-0.2134 left_roll=0.0838 left_gripper=0.9964 right_x=0.4622 right_y=0.0662 right_z=0.167 right_yaw=0.0901 right_pitch=-0.2378 right_roll=0.0496 right_gripper=0.2871\nstate[joint_eff]: [-0.0342, -2.5368, 6.7761, 1.4676, -0.188, -0.022, -0.0122, -1.2923, -7.3094, 9.853, 1.9609, 0.4029, -0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0145, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1795, 1.692, 1.1244, -0.1928, -0.0521, 0.0414, 0.9943]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1809 left_yaw=0.1689 left_pitch=-0.2138 left_roll=0.0839 left_gripper=0.9964 right_x=0.4596 right_y=0.0964 right_z=0.1232 right_yaw=0.1951 right_pitch=-0.1996 right_roll=0.0778 right_gripper=0.9943\nstate[joint_eff]: [-0.2393, -2.6325, 7.0632, 1.5067, -0.1832, -0.0708, -0.0122, -3.1111, -6.5026, 7.0496, 1.4921, 0.5397, 0.149, -0.3199]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7311, 1.7542, 1.0168, -0.3496, -0.6109, -0.6899, 0.9983, -0.1898, 1.0122, 0.844, -0.6102, -0.2867, -0.2008, 0.9948]\nstate[eef_state]: left_x=0.3602 left_y=-0.1821 left_z=0.0613 left_yaw=0.1594 left_pitch=-0.2536 left_roll=0.1108 left_gripper=0.9983 right_x=0.307 right_y=-0.0045 right_z=0.186 right_yaw=0.1575 right_pitch=-0.1786 right_roll=0.0641 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -8.4308, 7.747, 1.0574, -0.4957, 0.0562, -0.1832, -0.212, -2.9744, 7.0359, 1.5604, -0.2418, -0.0562, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0e08df4af98cff8c2d75f842e971dc35980fdb9f7bccf182298f6580911d35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8855eee4353cf16eccfb96930f376733ca50bb5c56f714b339291af1ceb27d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c569fbc7184d477ab86acab111ea89026b7beca8094f12977e178330094267fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHjbpHsoCYTcVo733UqICJF3-n8v0qbroikIZEuiMd9-aOb9VdRyJWxAXJ03KwbtwB2aVDT3oho3svz8Jod3uOQZ5mi-lPT3I0UiKfD9jgRHt-CL6--U_AOS84ei-l42mc1AZzHJt0SqMwwzdyyum175ir8yqsePpphcsmYLqxETTgZ_rz-mr73VdO4-8CL_NVmTlcRkoP2PHiptoa_cJK0BMMumXGnH0L5LALwHjt-oLW7A5ENT8UtEDarc--Y4ChD6fMYWvws3aU3AwEC-MVjYHCEzUSE5t1n1nGHNA6nu3oAdKI2ZGNJtVZqsjVNabfib6nv3aZjnnKC3cOm1Cuzcrhvdsd0Ob1nSbWsKWM6G-hLrwyawrjYMwghlARB5kv_k0Q0XHmUgcT_62MFFZ00nRXPnnm92inIFljaXHIgOUs1Mlhb_J8gISzw7OejCZ_ejuz3QgBr19t21aETq7p1Mj_NFi04ynRgiURE0Y5KgMd28U28b5ksNAJG93MLPnzTdeG2RovJhiG6SbP5PvntcORKNYWDOAj--OE2A1czlO2eR-Jj5SXmBhaDIP8RL2znyakp5e1X7sCCI6sGvfZbe1YULqTCTIfUdLyl3OK-5IgsKkoviTPaHVNO6Ifyo2NPGRROqrQUys47XiPEE_OGlRMn232K2qxD7E46icKsPERZg7whQ8I0gz7Vlkik1FycdV0aLQwczQ687q92rSWD9nYOaQod-pn5CzLHstsS0io0UBUBF5e04RsVS2fMagH_SRoI3Bcor2JKodSgmLxvbv-9Jgr0YSmit67jsjHBaT9lp2C8LdvvxOUFcIY6hbdijN9zRr-R7-7vsVzWn8e0_Fj37zQ8L91VOIgEfRwTjvQreVJvW70LKS4fywGKIcki8OzcMm40-s9NHZVMuN4oYfh9pQjPsII3AcmWgaiuCZBfe6Urauk4xZaWdQqw4OriR4VIFSPP7cuGzA4Rgu17mbJGfWCi4VWidiQDGhPq6_SmF1ZR0Urlxccsp9h5EFoTgwwRinkX6GGgP3axfY3i7MDRxoYcVG3qEO2L-HPPbtuwPy-Qw7C3FGN-gZsFiFetwFkdDTgKGNb3jynyupSUazoii1YxqLcmq2tetyCK9EKUfdmJf4rHeKIm5AYXbqAZy48HYbfpBzAHBS5I7cQog60PPinBEgpF8zrZajF5HNhPWraJeXqlaq3O8X_V_lQYcjWm1QbqXbPLCUchuyQgKg==",
  "id": "rs_0451b42ea712029b016ab441e2585887d0a2216e87f7d16cbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The separated gray plush is directly between the left fingers at torso height, with the remaining dog well behind it. I’m closing for a secure gray-only grasp.\"}",
  "call_id": "call_TzwOXtT1YusJBK8LzqWYSL4h",
  "id": "fc_0451b42ea712029b016ab441e27c5087d0b98d32bbdf73a85b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TzwOXtT1YusJBK8LzqWYSL4h",
  "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]: [-0.7338, 1.7767, 1.0233, -0.3504, -0.606, -0.6964, 0.0106, -0.1955, 1.0168, 0.8429, -0.627, -0.2966, -0.2169, 0.9948]\nstate[eef_state]: left_x=0.3599 left_y=-0.1842 left_z=0.0545 left_yaw=0.1608 left_pitch=-0.2671 left_roll=0.1169 left_gripper=0.0106 right_x=0.3043 right_y=-0.004 right_z=0.1817 right_yaw=0.1702 right_pitch=-0.1967 right_roll=0.0669 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -10.0171, 5.3402, 1.033, -0.3101, 0.0611, 0.8767, 0.4444, -2.9607, 7.0496, 1.6679, -0.0659, 0.1538, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7fb2f6306dc60482e84fd236a43d89266a6ebc123cb5b582d967809452fe97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcd694efc4f54355a673147213e7ae0ef5b31f6deae01344924ec09bba13a95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb08c032909b4018bb899556f8a5ee87a634457b1e1dd74d2b23b843be604e08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 4.289 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 137 changed as sent

message 141 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0138, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1604, 1.6981, 1.137, -0.2951, -0.0544, 0.0502, 0.2872]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1811 left_yaw=0.1688 left_pitch=-0.213 left_roll=0.0836 left_gripper=0.9964 right_x=0.4465 right_y=0.0856 right_z=0.1082 right_yaw=0.1736 right_pitch=-0.2957 right_roll=0.0872 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.4821, 6.7624, 1.4725, -0.188, -0.0513, -0.0122, -2.0171, -7.3915, 7.3915, 1.9512, 0.8962, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7311, 1.7542, 1.0168, -0.3496, -0.6109, -0.6899, 0.9983, -0.1898, 1.0122, 0.844, -0.6102, -0.2867, -0.2008, 0.9948]\nstate[eef_state]: left_x=0.3602 left_y=-0.1821 left_z=0.0613 left_yaw=0.1594 left_pitch=-0.2536 left_roll=0.1108 left_gripper=0.9983 right_x=0.307 right_y=-0.0045 right_z=0.186 right_yaw=0.1575 right_pitch=-0.1786 right_roll=0.0641 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -8.4308, 7.747, 1.0574, -0.4957, 0.0562, -0.1832, -0.212, -2.9744, 7.0359, 1.5604, -0.2418, -0.0562, 0.0366]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7338, 1.7767, 1.0233, -0.3504, -0.606, -0.6964, 0.0106, -0.1955, 1.0168, 0.8429, -0.627, -0.2966, -0.2169, 0.9948]\nstate[eef_state]: left_x=0.3599 left_y=-0.1842 left_z=0.0545 left_yaw=0.1608 left_pitch=-0.2671 left_roll=0.1169 left_gripper=0.0106 right_x=0.3043 right_y=-0.004 right_z=0.1817 right_yaw=0.1702 right_pitch=-0.1967 right_roll=0.0669 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -10.0171, 5.3402, 1.033, -0.3101, 0.0611, 0.8767, 0.4444, -2.9607, 7.0496, 1.6679, -0.0659, 0.1538, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7fb2f6306dc60482e84fd236a43d89266a6ebc123cb5b582d967809452fe97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcd694efc4f54355a673147213e7ae0ef5b31f6deae01344924ec09bba13a95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb08c032909b4018bb899556f8a5ee87a634457b1e1dd74d2b23b843be604e08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHoNTRq5XO0ZsIKNuI9rXxiDUwpvqtVD3YXMM6e_05uwLNfg-bBcwxxX0ArFGerjqcVwe55QVYmp0dAlM7q9M1QIbsCKLZ67lVFY5HduMwhC5gZEJPQLqLi1RWPro3UB8N9W-4cnAa3bbCOpoTJRntyoP49jcafY__NvjK4i-EtfmX8LIF8YYzjqfPTdnW9Lx3hP8LGvABrRruNSQrCh8_BX5qUQGlbDJjAR_ti7bhzFn9rwabLVrLyrp2K7i720DMkIcgEh84fu3OyPHJYOF7pdUOeGDN0q0eupFJb4z8Fm2pH5FlMjuSV78fmQId1Ycm5CjWlP35HwQ8d3V1TZO5a6SfWgieDDuopHbtEw9-dHRe8O7I7cCogkyU_Ssy9X-NbTy00VEE8vs3273KEHE_2mnA9UCTbVs-5Le_NYPGx74dPd1snONrwt2jraCbZW-Ob17U_pqC18WYIuaITK46rP29Oj-3tygdUx0TElGjWuQ_odFczwAsf5nhhrlNCG4yZSY_sg_4U1ErNfWkJ7WfCT9gMPi8Ud-07wp9wOhU8Opg59H16UrdImnrB2ncMAMyHePtLnf1Mptk5zCTLwD4OkPaTEvxnRWHiotM2eUyu8S3vXNvkjwq1rUpFOH4PtiEQhEaODZ5WX2M3v-EiZvIexSH6u7KsVUWKwZSc9RC5SuppK93zLLvnqkRtHCI8jU4gYXY6lw0B5dOsEWwWk05OWhoa6vGJdfe3DkpV_b44zkrq8-FlrB-vNZI75YTXva-4-QLUQy4ChqMThmhJx-msfS1fQKar_XX5WqucVUZijtyofMkkePhzAm95tDx93QkBabfzRoTa451k0jiYpmHtv1ZAQ6zrGS8SMYMul8PyvZsNfgqaxZyif-kmIPcP_10BnowOSDDTCFbhp1RB835Q9zmWSo9JAQv8XGVqHtRhUkVkcrPP1l6DMno-2frNckHhVflVi2gzKo04JZfaGI-M2RyHOkqPD6ahtj8ZZAgD4ZNlCtJGVwx63DpkxYlc2IgitXwlD8Zk25Narv0x6Jf67viOyR8Eq-5wiILvqy_CssNbTsb_PO30-DR4gg1QnG64SARdUNdadScBDMszxGAyniuv5BBNg8DaVx1COGOMcfsED-hDaXIukyUM_QJwjiS_k9hc3ccfj6sKSn72bk4n043Xr1Y4hkFlYPLL6X37pCmnV9OSsapMQJnCo_bl-LNAX3NVaRnAZynmVCWjCY0iLt_wYg_-N7p7P-i5395e9YzVpsrKT3iGQA8TBVwX00jQAWaDhPsu77ti_wzMwPFzpg5c3Pp6sRV4Kn6iZwQTFe_JDg7wljLrLZ4uu1NgcqA1bO63MKYcFLyAaB7NVznWL9K5oSyCHT0guIQ9yMEHnutTmBjk3Rp6IHQxyLZJYqc0QBIKn9osZEU6mlZW-uSO0r97oLqwSIapegHrSXQh3TrPQEqTYiLMmVELP1XkeQ7HF-AGEXFvLCkeEGI-6vSwedteiUlFXjms4DxO6cnp8XEXeO0pspDLQfbrMFUHk2X0f6nHSq_CTBON6jqODyDCkQ3OuVFCiblwn6-4B8_hbmSg82MrSy-sZwcaE9FNnOL6JVadnUVDeNad7zQ9SU-AkTQtUurh7_eyqVJ6w2-Ma1KhTd7DoCw9Mq-AT26XJGc54EbSkmuNunyHKEffxkkbAscct1g6pZzWPsSnASYsy_H-TMy0RMLC245sgfEXbVIC49k7QXeZ6d3HJpS6zO0bD3ufznW_wrH7dh_J6fzq0BLR_cMVCmgDJoGKcRG0O5yy6zkR3fDxOM5fyZ5gUIfCURcsaE8rtEqtvhSHsitt_c2rHN7Du50bErS1-dt1E0i0",
  "id": "rs_0451b42ea712029b016ab441e64d4887d0901e2da9ee61e661",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The 0.011 reading shows the fingers slid beneath the very soft gray torso rather than clamping it. I’m reopening and raising to mid-torso height at the same centered pose for a higher regrasp.\"}",
  "call_id": "call_sY20mKzZzmkfVHQ64X7aLhT2",
  "id": "fc_0451b42ea712029b016ab441e7eaf087d0b9b6d0011a508848",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sY20mKzZzmkfVHQ64X7aLhT2",
  "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]: [-0.7338, 1.7546, 1.0801, -0.4759, -0.6025, -0.7059, 0.9949, -0.1959, 1.0172, 0.8429, -0.6281, -0.2974, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3554 left_y=-0.1808 left_z=0.0687 left_yaw=0.1746 left_pitch=-0.2977 left_roll=0.1463 left_gripper=0.9949 right_x=0.3041 right_y=-0.0039 right_z=0.1815 right_yaw=0.1709 right_pitch=-0.1979 right_roll=0.0674 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -10.9197, 8.294, 0.9353, -0.398, 0.0611, -0.1832, -0.1299, -2.6735, 7.1453, 1.4969, -0.1294, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b204386ac9eabb1d91afabad5930d116396405c2f750281a2e3b601f4ec06bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d4438e963014b338a7cc74677ac7c80d53f62389ffa5ce47bb6ac950b8b79b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c8d40ffdb645e69b63207892832dd933b4af2a0d1fd09d85c9167b13ca1920",
      "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 · 2.113 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 141 changed as sent

message 145 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2062, 1.0145, 0.8516, -0.6621, -0.3134, -0.2245, 0.9964, 0.1795, 1.692, 1.1244, -0.1928, -0.0521, 0.0414, 0.9943]\nstate[eef_state]: left_x=0.2994 left_y=-0.0033 left_z=0.1809 left_yaw=0.1689 left_pitch=-0.2138 left_roll=0.0839 left_gripper=0.9964 right_x=0.4596 right_y=0.0964 right_z=0.1232 right_yaw=0.1951 right_pitch=-0.1996 right_roll=0.0778 right_gripper=0.9943\nstate[joint_eff]: [-0.2393, -2.6325, 7.0632, 1.5067, -0.1832, -0.0708, -0.0122, -3.1111, -6.5026, 7.0496, 1.4921, 0.5397, 0.149, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7338, 1.7767, 1.0233, -0.3504, -0.606, -0.6964, 0.0106, -0.1955, 1.0168, 0.8429, -0.627, -0.2966, -0.2169, 0.9948]\nstate[eef_state]: left_x=0.3599 left_y=-0.1842 left_z=0.0545 left_yaw=0.1608 left_pitch=-0.2671 left_roll=0.1169 left_gripper=0.0106 right_x=0.3043 right_y=-0.004 right_z=0.1817 right_yaw=0.1702 right_pitch=-0.1967 right_roll=0.0669 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -10.0171, 5.3402, 1.033, -0.3101, 0.0611, 0.8767, 0.4444, -2.9607, 7.0496, 1.6679, -0.0659, 0.1538, -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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7338, 1.7546, 1.0801, -0.4759, -0.6025, -0.7059, 0.9949, -0.1959, 1.0172, 0.8429, -0.6281, -0.2974, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3554 left_y=-0.1808 left_z=0.0687 left_yaw=0.1746 left_pitch=-0.2977 left_roll=0.1463 left_gripper=0.9949 right_x=0.3041 right_y=-0.0039 right_z=0.1815 right_yaw=0.1709 right_pitch=-0.1979 right_roll=0.0674 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -10.9197, 8.294, 0.9353, -0.398, 0.0611, -0.1832, -0.1299, -2.6735, 7.1453, 1.4969, -0.1294, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b204386ac9eabb1d91afabad5930d116396405c2f750281a2e3b601f4ec06bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d4438e963014b338a7cc74677ac7c80d53f62389ffa5ce47bb6ac950b8b79b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c8d40ffdb645e69b63207892832dd933b4af2a0d1fd09d85c9167b13ca1920",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHtnj6yZR_n52Qep4gckCvGBq3tx4Q7SPeNJAvkO97Y0AOPvm4V-klrAbg--ExaLb-czTpTchOC34XWj-RNTzOAvaYhTXs_ycRo-qOJfytKgTm7kJxhojBUHtvqdaMTU6PLdtItPsr1WGsxcelFdrexYmzs6uiczjdxA_-dsv4qzUb3R9eVOb3rir0PL5BF0VtL8Qc72zuhPbfwlcey-VXw4tAyse_e_wWFxWW3bF8m-8gm87M3VG35zIryqWRyScwU-IvZJw0Trvm7O-fAFULATmQT3O-lFv04hlQr-7VC3cwB7s9wgcHIRTCaH9SDDwtALtn3-AG24IA3hD-fVN8xMBD4jW66VIg8eoy7C48DkTbmHMWwwoz4XT40N8iQN0fykoJLbh138TI9gAaJzujwrsrU3nDZWpKTB4HNZWWLHn7hYUmUnf3L6Hu9b1bZeGGHm1vNO-hoiJLScUE3dLxkE3YTiA9u53d-Dws3vAkT2d--FHywF0ubrr1e_ciZodu6HTYLmx2DhbqvDLKym1SCpr2XZzRUz03s1iCM3FdQSkMpjbcQuxOImGynQaGz4cMyuHP-spW3utcyzXZR1KhAP21-YLXlinWDIxRlpTX03y7xJPh7sPZFVsZ60RhtrpabhJWN-IZFGYNbHdZJSNkgjYPb7v3tV2FfAi73Urrc_Z0yx9sdMaqjZuhjI_m-Yod102P7KIiYGaPQI4Nr_jQn9urM8YmePteyLTOfiUMwmpBaotXiDIWJLG4LOodsBZhsbk4BG5O1l3sDnZkiGf59CjEhZVgMIxm_c-pa4aE-Inai07ZPnXregLcNuQC4SPw7BCrEUYZJT1RBxC0RZfg0qcsMxbrCupJH2I74NJVyTQN1xNt0g2mH4qAjLYr2HGmfXjn7-3f4HyJN9x-pVC_uQ69S4opIT_LK9MaVLP9Dd80XSjBYt1WpJbILWwsPHSTPqv3FPxa8plZs8ghoPI_SJlXIDYDlP4K1wsTlAyy87AGiS0UBI3p9e4tSx1hOAy16hHbqJeq9c18V_QZNslHchI1RUVutQi-KYlDAnj4wf9YR3WszUHpzEqCe3LntukNY5bObtF1xh2KX1bTe4KR21TNmNCLi0XaroqqBKgptbovkWZqxmbiKpeMsJ6yGLDvlLi9I71CArXrXYAAuKk2Laypqzw_FLjThja4ZFoIWcs4p0sJb1oHQR8WNn9eZEh3STKJ2KUSrz02HV5Q-Aayi_gnmdj2-_SLESOZh7Zm3MkJ6HGfYv3LUkCnSqMeenJIGgdmY9mK9e49Xt0gHOLvNSGTn8Ezd2o5s_A7jehLP8tcMm2Cb2OeGPF4U9zT3y_wDE0Wf7SkiiTD1rV-01IGkJLDj4-wd1Ow1rDj75t_4MGcqD3grS5a7k3uBELKjWrO99Gi-T7GbIJBrOpOjNkMUpBsxmCPSwT3SnCLm_RaLVEMBHYLwhwR-PHwezxAhbpQCrKzA-UK3vewDavnD17Prq3f3g7qBv4wwWV0ylySpQKt7aD6wX4KIGSAKS2fuLdbLLGAiUEoQIUNCSSjhOadoOiSE0CwOKdb6DBz6RYWGYDNcZ4iacjYUBckUkRqTJEMXpv2u8WvpNDUazSkcTsIyAH0pgXYzX8moDvtp0aRZcjU=",
  "id": "rs_0451b42ea712029b016ab441ebee2c87d08e750d5ae1409a6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_z\":0.09},\"note\":\"The reopened view shows only the gray plush’s front paws between the fingers while its thicker torso is a few centimeters farther forward. I’m advancing the open jaws onto the torso and maintaining the higher grasp level.\"}",
  "call_id": "call_pzyga2GIveV3gusqUuPPbkuH",
  "id": "fc_0451b42ea712029b016ab441ed111087d0adde896a35e9d568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pzyga2GIveV3gusqUuPPbkuH",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.8057, 1.1934, -0.5232, -0.577, -0.6762, 0.9962, -0.1959, 1.0195, 0.8429, -0.6285, -0.297, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3809 left_y=-0.1779 left_z=0.0794 left_yaw=0.1962 left_pitch=-0.3089 left_roll=0.1391 left_gripper=0.9962 right_x=0.3042 right_y=-0.004 right_z=0.1808 right_yaw=0.1708 right_pitch=-0.2005 right_roll=0.0681 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -8.7043, 7.6786, 0.8913, -0.3687, 0.2564, 0.1294, -0.0889, -2.7829, 7.0906, 1.4725, -0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b22e3bd2534342a222e676c98aaf1dcdcf83cea905d8de00681acbc37371353",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13c0ced6dcf4ecc653e73ca56e3d058cd9b45a7dcd58ead818780e149d6641b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be708eec255480e617fb4484adcd036998589b34f4a36e32d3a3b215ff2cf02",
      "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 37 attempt 0 · /responses · status 200 · 7.679 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7311, 1.7542, 1.0168, -0.3496, -0.6109, -0.6899, 0.9983, -0.1898, 1.0122, 0.844, -0.6102, -0.2867, -0.2008, 0.9948]\nstate[eef_state]: left_x=0.3602 left_y=-0.1821 left_z=0.0613 left_yaw=0.1594 left_pitch=-0.2536 left_roll=0.1108 left_gripper=0.9983 right_x=0.307 right_y=-0.0045 right_z=0.186 right_yaw=0.1575 right_pitch=-0.1786 right_roll=0.0641 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -8.4308, 7.747, 1.0574, -0.4957, 0.0562, -0.1832, -0.212, -2.9744, 7.0359, 1.5604, -0.2418, -0.0562, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7338, 1.7546, 1.0801, -0.4759, -0.6025, -0.7059, 0.9949, -0.1959, 1.0172, 0.8429, -0.6281, -0.2974, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3554 left_y=-0.1808 left_z=0.0687 left_yaw=0.1746 left_pitch=-0.2977 left_roll=0.1463 left_gripper=0.9949 right_x=0.3041 right_y=-0.0039 right_z=0.1815 right_yaw=0.1709 right_pitch=-0.1979 right_roll=0.0674 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -10.9197, 8.294, 0.9353, -0.398, 0.0611, -0.1832, -0.1299, -2.6735, 7.1453, 1.4969, -0.1294, -0.0171, -0.0073]\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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.8057, 1.1934, -0.5232, -0.577, -0.6762, 0.9962, -0.1959, 1.0195, 0.8429, -0.6285, -0.297, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3809 left_y=-0.1779 left_z=0.0794 left_yaw=0.1962 left_pitch=-0.3089 left_roll=0.1391 left_gripper=0.9962 right_x=0.3042 right_y=-0.004 right_z=0.1808 right_yaw=0.1708 right_pitch=-0.2005 right_roll=0.0681 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -8.7043, 7.6786, 0.8913, -0.3687, 0.2564, 0.1294, -0.0889, -2.7829, 7.0906, 1.4725, -0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b22e3bd2534342a222e676c98aaf1dcdcf83cea905d8de00681acbc37371353",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13c0ced6dcf4ecc653e73ca56e3d058cd9b45a7dcd58ead818780e149d6641b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be708eec255480e617fb4484adcd036998589b34f4a36e32d3a3b215ff2cf02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHwHNhxi5Yj9tql6BMgmPHbGWCUpXD_IcG7axCwecH8Bs6IB0B2YxVnIGPWUPxWMVu6kjc6C3scuLReY2ggBAGFEiX-IQuVhZdAOmvaVS4CHM5JGJAqeX0eFXIuetS2CdNxIzj2SPg3OPQQgd6W1mUFyGNC4ZfNN2b3XD_wEcsS6DchE4iaDxADZby-jl8ultJnkmaPDxlO-Sgbc4R0s4B43lnUPuHAVXrvAaYUcqsxSTgMSRtRyyjf_Z9_ane6iGX2p_KnLHJZH8ti-C65mXenn2K269HL6E5ezu4wWQqlPPR1D4FtANFqjIpfzEVnbGajuz2wSNcxxz826rjLga6IOcI_rrpjl0LC96VT238sERcXqqPMMCkx8zZqurJ82d2a0vQD9kFNFH5m5V6E1PRfiwjPKhE5rAAI9eOfq5U6QzlJSfa9VIyhFBgo1399Mh0Vu4mcoxNM-bLLc0FQop4UWzOwNNXJNHeVSAQVx-kRDPhBYfL3igKQsK7tSnE8R-EE4H4P0YFxLPdoeieC38YXn62KjbSHol1YwO4CfiGuliu6YQrViS3SQQtBwekYXIodoqjp7jLLZhBnAzeq3Wy0NVBL2Hvv3you4AKKj7lBIlE0HIoVIfMXp8bjcNLCIeECd6JZfexjqp-sUz6XR9CAZ-2ln7dyfRLng4k1zO3d02J2EbXwZWzU-aeUMF8urfnnETzKbJ2I-j8SuUwSPz-_Xf6KGMFdwN7vzRc0MIbFUFxhX9gxJp_E7LH3U31-gOq08eTR6w858913iE2eE2ihaC4tkwgy9KWBM_7VQnu1Wmiuhnj0pedabJJkIHOviClrlP2uMMUt_VlXrDQMzjI0kC0trgh2EZPL07ffyAShdeSXVAoB44XrhV-ryP0GJISsyabT-Kpwa-7P72YYeugiNLyExWBGZ6GYeb2JeyDSdpyGee1KZMGeh6nA0MkqY9OYVrNwpRltwhwo-UErsIyIsPkZPKLNKo3pEygiVSo9tMxzThPJ-7hHEFwylpdgtsThDFSDTGTG4cMlxmTw6n7CUdDwZ-t2SOStUqMv-5y5lkm7b81SjpYrzW7AZeNkdahtCJg7i84hf3G2hbBFVsBHQ_FM9Db5hqTGoQDYGqWJcJWjrM1PiAtZx4pZVSG2oQ_qvJoZokaSelFmKH769CBpBK69Zwq_SKLTkvMvlhUdhGn9nwmjdTtwlp0H9VxGL-XT-Zkjv61kdhqNkJ6nDH9-QQ==",
  "id": "rs_0451b42ea712029b016ab441ef62e887d087873557533ff720",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the forward correction, the plush’s thick torso—not just its paws—fills the jaw opening. I’m closing at this higher, more secure contact point.\"}",
  "call_id": "call_JJRNoh2ZK0VagUKkhMaojvNF",
  "id": "fc_0451b42ea712029b016ab441ef7a6487d0a2c9f159bace16b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JJRNoh2ZK0VagUKkhMaojvNF",
  "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]: [-0.6773, 1.8095, 1.1961, -0.5304, -0.5758, -0.6815, 0.0104, -0.1959, 1.0195, 0.8429, -0.6289, -0.2974, -0.2184, 0.9948]\nstate[eef_state]: left_x=0.3802 left_y=-0.1777 left_z=0.078 left_yaw=0.2002 left_pitch=-0.3146 left_roll=0.1415 left_gripper=0.0104 right_x=0.3041 right_y=-0.0039 right_z=0.1807 right_yaw=0.1716 right_pitch=-0.2008 right_roll=0.068 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -9.306, 5.8188, 1.0623, -0.2662, 0.0611, 0.8767, -0.1436, -2.6735, 6.8034, 1.5067, -0.1636, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96f6947def1f804b155dfa5f3f0aa034743c47c7d1498e5c25dcb0c05f65f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1c05015f224c3f0f76a6fc30e61aaa7e55434649b9bb84e964d9fb3b0da310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaddfc70afb45e6b3abc10bbda0d79eb16ef0b7dcea9832dac044bb92ebe128b",
      "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 38 attempt 0 · /responses · status 200 · 2.078 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7338, 1.7767, 1.0233, -0.3504, -0.606, -0.6964, 0.0106, -0.1955, 1.0168, 0.8429, -0.627, -0.2966, -0.2169, 0.9948]\nstate[eef_state]: left_x=0.3599 left_y=-0.1842 left_z=0.0545 left_yaw=0.1608 left_pitch=-0.2671 left_roll=0.1169 left_gripper=0.0106 right_x=0.3043 right_y=-0.004 right_z=0.1817 right_yaw=0.1702 right_pitch=-0.1967 right_roll=0.0669 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -10.0171, 5.3402, 1.033, -0.3101, 0.0611, 0.8767, 0.4444, -2.9607, 7.0496, 1.6679, -0.0659, 0.1538, -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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.8057, 1.1934, -0.5232, -0.577, -0.6762, 0.9962, -0.1959, 1.0195, 0.8429, -0.6285, -0.297, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3809 left_y=-0.1779 left_z=0.0794 left_yaw=0.1962 left_pitch=-0.3089 left_roll=0.1391 left_gripper=0.9962 right_x=0.3042 right_y=-0.004 right_z=0.1808 right_yaw=0.1708 right_pitch=-0.2005 right_roll=0.0681 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -8.7043, 7.6786, 0.8913, -0.3687, 0.2564, 0.1294, -0.0889, -2.7829, 7.0906, 1.4725, -0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6773, 1.8095, 1.1961, -0.5304, -0.5758, -0.6815, 0.0104, -0.1959, 1.0195, 0.8429, -0.6289, -0.2974, -0.2184, 0.9948]\nstate[eef_state]: left_x=0.3802 left_y=-0.1777 left_z=0.078 left_yaw=0.2002 left_pitch=-0.3146 left_roll=0.1415 left_gripper=0.0104 right_x=0.3041 right_y=-0.0039 right_z=0.1807 right_yaw=0.1716 right_pitch=-0.2008 right_roll=0.068 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -9.306, 5.8188, 1.0623, -0.2662, 0.0611, 0.8767, -0.1436, -2.6735, 6.8034, 1.5067, -0.1636, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96f6947def1f804b155dfa5f3f0aa034743c47c7d1498e5c25dcb0c05f65f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1c05015f224c3f0f76a6fc30e61aaa7e55434649b9bb84e964d9fb3b0da310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaddfc70afb45e6b3abc10bbda0d79eb16ef0b7dcea9832dac044bb92ebe128b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEH4sg2FglBnyvuOPZsHQ5fZfGvnq3wYZJjFd-o2lxAuRPj7T8Iym9An-1IWPVYoemdwdmRf56odCVKKYI8NsY7xkH0Yo0ZRetscu6QkCPLxQ2fnreYgXOBgAFzZKUL8muCdIQ1Xs6iWO2QJ2EXO8oWfM2O1AwzWATvEYZnnJ5_3m3VEj8htAw419Kvv5xTNjpL4DJ4JERwzfLzrxcEbfh8-B2UEculjyLYt6BcgQhtm3OXkMY0bzkohlc9_5QxbDi2K0wKVCvaJtYdJsK2HExVd-sg_nYmxj89LlqEpUWjO0UTfAIyjPAFBDrqWV0RnM3rZSutJLpU_e0Yh_fw2jKO0SW9QNkyzHDFugnfgwmey1MZIamiTHJGJWNZneM9ob4uoD14y_pgG5x9jXQGNVSa9hX3YPmOkHB1UGrgG1svlj_WDFG1VFKi4tyV7VDt5HdO6D6QQvahHmTL4pPl1RdxeZP5ydA1O_XH_EFO66c6Z-kZL8E_mABKiZ3Q7VOXpwzLPeCPHi9KHfmwG0V-q7d6WmU_rWgvOJroYmLJtp8hmz-pbRtkjBhm7sNmZChA0y68cSHoY0nxu9d04QmQ9rW6_d8YlD7mGYOZR2bLzVgOG6hMrd3Z43StqY2f6udo9pWdNGwPKKRKpSrUzYI4zqYxxInqZ4Z-CG1XEujcCOuq6sAIm9C1NsIDBCS_tl-dmcbUKyBHdKCQjYzvHO9uXaUlPGLOEwbk7LpjqeXEwRSHhShCwDc-DK01ulVaPi8yZrWr-nNdvVMO7o6-XBJFB5t4OjZFIRwVG0wWAlaWZ3sS6-XlY6TW6bUF_e5e2AJD3Awi3HB9-jSPpnclGBtQ6z5-rPH9CQGwdEnk0cBdyD4dpXi4K7N4KS1MIimUHCfQ-FRokTuAwhJ4vg8tMRFRbHP-LFMuIZzu76imhagTn4GygvkVm3JeSkBADIi7iHjrmqotEZBH2FLV1p_xT892bMrz9gtQ-E-g0CjCyleIyr4NJoRR9KPM5TiGFOQTRSd8TDY2a6b8XfsgVlSXJWdid3Uwc9skZMMUCcvhb4DBpxdpCAksjztvTiokJeHHj7HY6Ab_OMx-Td2AaAp9O4gqTA6b9Fv0TxEj-4A5QyBX7P0LMISyxjLWMdA2japxdiYdKkxW0eaNhH_82wQwupkVJ8VDwoimQn5T3FVy6oc6A23_hm1lxTeJw6PHHwbgM-Fim2wNFtEA_CQRbo_McHwR8Male5u16jdHfNQ6AtwMMsoqIiv7fpqrrjdYxepxifMuhiV8i7-jqPO8zFawDPFsVJUmOjceeLtxhZ2rIev2t0AJkxnhxLkIFL_Nnf72T4hbOog6fgm5yA3wgdvNYcse2yj5QxIQ1UkvUo3Jn6Xa0V_YyDCAOo1VirgS7ags-0YBjKbtY8-jmm-j58WzfstyaFTCqHUHPjCOZ16TcKbX6qr2onN26WlWbAPGQ-46FkvUYQZIYmJa24icrnMnEqVPSwjlZBE7miwzjWd9ZbLU3zzwCFw0IRHirlN9K7HiZ3JUqFZkB60-GY52PabsQqSN-2u5xq-8mqe4S9oaNX6baqDJAlogPmnU9BjAlf9Gxrt6n_UVjeVg0Yz9rZ_Py-IKPRqOrsNrSr0ZnVTDjB8xMi1sGXACVxxkCr9MAmBz7mgjrhPiQH6PjrDJcaPAbKNVTDeL4P6ea_P_ks1k-3gcxuPDFCBY3sMbfrRteCOOOqi9fVY--wppsVWoJq7388luFcrWXNqszZNvyPGYpTfUc5p50z8UF02I3XZ62xl3Eui3WWwrTsusxRyKKcNnc5mL_HSyYnQPXBCRHEDOAkMWuJcM0UgXxH4Z_u-xl_eW0scwitHv7Ruj1zfYZLLKhMmkpryigFcgqDT9bkz_WEBtCyqYCyL-__ti9OQyMhP9WzaM10vtiaPuS9dAEIGOTHed-cOVO8bv52YOEH58FfQsAR7WxR8fm1eYDNpCsM1Y3Zw7xIyOSO-VoBm3tGcrPY1j_ySQsofbqSC8e-VbI_t3NYkFddeF5ldAK2mXP6hznhrYj1zEIVGKfiOKrziRg0z9bCoSqPR-DOg3xw1ZecFQSM7VFuEFkJNcPjJFkRT4AJwdJ3CXakokmX2HEa20ZH_zDBSfKgPJLwEPWc_EInHeVRJeYvYNtnaLeDCGrX3_VuzqbgeANRqk14XOMBkDTX61nZD6keLss0e2sEpEoCxDX8jwESlolnKVg4usCAuxfKwVyAQJz9KJXLvVVrn23cejI8Vlilbr8dnVwN57jUbY0Gaq3Rd-xDLB8MtAuIDw96lgkSd3k7EcwugTu7RKxx7PPgjuEi389VB_ktyEOeNxntZ9yQQTdwiWLnWmp0FLceNVuqTTAtCre3Rer12S5YO8BJkq6yMB1VCzwZytO_DHoeWMmh1CQu-FcC2XLsn4hJ4-K9K7DpD8mDszYx8soimPuniJM5iN-WI4TmRC5fXv8-pmZNJpQ6LN5U5ZAcQLTA-8Y9Szf_jOSAJfqUmQPU0nDqWt06Uc9BVLzOoThbF2P9bksV_Lj6Vlbh9HkRY0vikxgJR4owJ1xMUWJoFlihcKxIwUH-5038gmZfeBtKV54HUgoA0TqNHiaq8g2x5I9OsIyBncLf21P1EuKQ5ygBNz2Q2j4SwNG5LoPfSquQebNej6E3l-diCyom5fdJeMsZZlF7OEiaEbyRC7hV4V_SavpmpONItBs2iBzIiSIeJkDFlDGpI-ii56NB02XbuL0zpwOuhA_Du4kG7wgFEzRkCncoQXl_R24Mdr_-hunbKcQBPVGhl2a-5Z4NHc9x87NQqUd81R5qrhIAOkEQspO6bwbEKxcMbF6_n_V7ogaea5swi3_VKUk3Obbk_HPuyQYnTwxecXmMw9792dt56x9ieEG43N3oHCXiF-9ZsRw6vMm1d9XLePFTkah0sN1ej-fvZOMlFARGYoK53qZRZXEQ9EHisn8u4pTy_BPyFtER9615RA0VvM-0AKJQ09ZkOMeYYC8SAlWjhchIG-CriiXh5LofjY17gwdD3-9pde3JQSSvYQCxm0D2eH6xNFaiEz2nYun5JDAiqzOFKmxJrMHkOrQWAua3_gq4qxotayB3lmvgq2P6hmpwZDka556rv7bZxeT5Kns31yfyoNDkdpDSBDWZTdHcauyTBWVn0wkLO1POWs9c-C4Ob5mYi7fGEJQxFm_ng0kwMt6heGwr2Fsr1ZGO7NPhs3kHxWTrmMiIYA-B4Vzp492oc7Qs445rjAG2vvZj9cIu86eaf9vekI2wOcPZ5vcgkbVC0B7DbUZF8G3ytnz3dW2Akk95XpvtH6UlWNw7d3CNMR6CYpC6rrP6xEeEWxsTYMPB1L47QeNrwUd9X8WljwRlNTm065DwQiXUOAfkHojCB4dPKMrApvI4FiGfPGXcXxuz13Kq36JjoghRiy8JXsZuqfSeyD_nDht16TDLPWezYWrafhaXGXx117VQKrXoWFACrWdfsy29TeDsBLOUUplRMMiKP9Aj3D-651xM6Qjr3HSZP5sx4YJcVpp6tfIYrjFFTl091ZdpnywL0VcYa6cRsXAAMTx7lSNvf5M3oufcX6bR9D5E5XfqaLeNiosjSmgk9G5GZgPLbgBO0K6uF6ULf2EV-smekWUaq9B9LwSyjD8emPOaYnwwfjlM27r6SNeuepn_-lXNdzx2-rtUziuMFGJ2I05C8LO9ZA9wWXfTIJEJxjeWkH-WKmisB5uBxU06TclCuwore8iVptfj8sEECRz1ghP3ZTX_BxnYhI72nxAB1aU-XQbZDY62yaNdwtwGzHvMth6GHWQAG-X8d5haBiWug_cw19-KHNuPqs3ybUoDu5i_pZA9bm45w7ITHY9Bl6pGDCv9nCbC6tFnkPD02f3CvX_Z7KCS-DUXSyr1jgYVLUZLIsPjr3rNSELr5ec_PF2FOJWv_ehEsRQfROnqNbuhL-vbic-iyLJyAkG38ME5GNDsqi9NMvuHsgjX2oc_MCzljpLU0t7_C8zOCwcVJHIQZ43EMHZVjbdOhYHDKU9itzLCGKpO6tWjE1_rMFA3Sg3q_edVXp3IlsVq_X8yo115MZWtJyWwip2XUl9NkZSA6YDzjL7MpsxOCTGhCXryw03jBWyefsQbc532ESmUgA85KGM8bAPqpM_I9Ck10wps-4OB62Afzjtb6P-vtwyZcneKIkJmI5srx3wyVcBE-Cv4ZsWXAyurNwd677N5wqxglhTJyIECf6kj0wDtjtyaqB4Ygwgh3PEgV5GO-c=",
  "id": "rs_0451b42ea712029b016ab441f27aec87d0a1ba7bdc55937d9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The second empty close shows the parallel jaws are passing between the gray plush’s long legs; the position is correct but the closing axis is wrong. I’m reopening and rotating the gripper 90 degrees so the jaws close across the torso lengthwise rather than through the leg gap.\"}",
  "call_id": "call_4eV7PdO3lgHz5hW4vSVmTNsu",
  "id": "fc_0451b42ea712029b016ab441f806d487d09db7ad9bf1bcc7ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4eV7PdO3lgHz5hW4vSVmTNsu",
  "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]: [-0.5755, 2.4073, 1.9995, -1.5227, -0.5659, -2.0163, 0.9949, -0.1959, 1.0218, 0.8425, -0.6315, -0.2974, -0.2211, 0.9948]\nstate[eef_state]: left_x=0.3784 left_y=-0.1283 left_z=0.0419 left_yaw=1.3892 left_pitch=-0.3546 left_roll=0.1182 left_gripper=0.9949 right_x=0.3038 right_y=-0.0039 right_z=0.1795 right_yaw=0.1734 right_pitch=-0.2056 right_roll=0.068 right_gripper=0.9948\nstate[joint_eff]: [2.2632, -11.3573, 4.9983, -0.8083, -0.3004, 0.0317, -0.0171, -0.1573, -2.865, 6.8171, 1.4823, -0.149, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954753d5e1bb38c7b21d202a85cec89617a8eb0639e6d3c1b0209b1efca94f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8220100228bae890f8814f14c1355d20decf1e51012f335e49f2586ab6be57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a32ba14802a323ad8cd16aba5e81560f647724b07d6fe0609ce5b64c5d3a6ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 7.173 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7338, 1.7546, 1.0801, -0.4759, -0.6025, -0.7059, 0.9949, -0.1959, 1.0172, 0.8429, -0.6281, -0.2974, -0.2176, 0.9948]\nstate[eef_state]: left_x=0.3554 left_y=-0.1808 left_z=0.0687 left_yaw=0.1746 left_pitch=-0.2977 left_roll=0.1463 left_gripper=0.9949 right_x=0.3041 right_y=-0.0039 right_z=0.1815 right_yaw=0.1709 right_pitch=-0.1979 right_roll=0.0674 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -10.9197, 8.294, 0.9353, -0.398, 0.0611, -0.1832, -0.1299, -2.6735, 7.1453, 1.4969, -0.1294, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6773, 1.8095, 1.1961, -0.5304, -0.5758, -0.6815, 0.0104, -0.1959, 1.0195, 0.8429, -0.6289, -0.2974, -0.2184, 0.9948]\nstate[eef_state]: left_x=0.3802 left_y=-0.1777 left_z=0.078 left_yaw=0.2002 left_pitch=-0.3146 left_roll=0.1415 left_gripper=0.0104 right_x=0.3041 right_y=-0.0039 right_z=0.1807 right_yaw=0.1716 right_pitch=-0.2008 right_roll=0.068 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -9.306, 5.8188, 1.0623, -0.2662, 0.0611, 0.8767, -0.1436, -2.6735, 6.8034, 1.5067, -0.1636, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5755, 2.4073, 1.9995, -1.5227, -0.5659, -2.0163, 0.9949, -0.1959, 1.0218, 0.8425, -0.6315, -0.2974, -0.2211, 0.9948]\nstate[eef_state]: left_x=0.3784 left_y=-0.1283 left_z=0.0419 left_yaw=1.3892 left_pitch=-0.3546 left_roll=0.1182 left_gripper=0.9949 right_x=0.3038 right_y=-0.0039 right_z=0.1795 right_yaw=0.1734 right_pitch=-0.2056 right_roll=0.068 right_gripper=0.9948\nstate[joint_eff]: [2.2632, -11.3573, 4.9983, -0.8083, -0.3004, 0.0317, -0.0171, -0.1573, -2.865, 6.8171, 1.4823, -0.149, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954753d5e1bb38c7b21d202a85cec89617a8eb0639e6d3c1b0209b1efca94f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8220100228bae890f8814f14c1355d20decf1e51012f335e49f2586ab6be57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a32ba14802a323ad8cd16aba5e81560f647724b07d6fe0609ce5b64c5d3a6ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEH7uBXrXkU9tZ7LM-XX258KtssTx_Ngm9oJFQYkr2YI_tESVw1hYn1l6AEBA2iQAUISY11Z7Nyu3SBrf-L3C4Jtyfull0qafKBlKPas9tXqGeayXkeOHmvKbJdBIh0Bzfzh1pWO9H56j_C82-cflSUr7nf-kgpoWaXvAsKpoJVKsX63feKtERWn5n86ZgNuogm_qoYxV78znveG_PN8S6tblkMIu1UAF8aKBUbjbvu2kt-Cea1bgQ2ko6BWf3SoP4m1r5M6X0YWCXvpw-plpyXQ5LPl3MBqqiXsqpjDlvYb-zbJisL9bTKol-h7Z1owp6ksILbE4wY_M1k6W0Q2CdH2Bsf18eU0in6DBbH4nL7pHSNq_l45TuldpDVNkNa75xAG6KbF1ZMrEDbFFrbyULXdNuhwM6nk_jP5OPsRYK7Y6APM4Ei9leNhGJR0ZYo7H0RgG6lunV5k3vwut_a4xNBgmaAqDpHWB8TNInaFc0OwhxXqQ3EorzoqdHR2K7pZ2cPgEV-CUONYGx6n21PThvj5pWLN5Oq-TTRPOvdVw5Xy0RPM0pT2I34nDFuXPQp3gpHEDnl5cg1Iyo5QqTTeDrrNFhr14kTAXgNAdzPjbXx2W5EGdeRU6l1C4-v04VB_v7LxWt7ud5buuqtnqzh0SnFeSd__rADjTfubmP_Fw_MifJMPjLeimIApnIJlSqhZS4bRvL7iDADJTmYZZ1Lnj3edNyAeqsyYzol7f4MT9E3a8cnEmXmurE4uKZ9XMhedEnUXEgEbWHPtJeAI8fb3HcyA9WyjvvnegK0Y7wx-FIuEcU0GugSdQQuZn7uizOCCL_jGMjwL5wuXmDhsdSl8mZVPsCS35c2Gvopo-XzTeWU-ToF4WmueAzSU8sOa_ejl4FHnb2DDv09-njiVeKhBURF81Iy5AFGiRpKS_J7uBXOGh3Z7c8NjMI9klJNJ5Ig1h0NwneMYu0MMz_mowVzUf5JDOGXlfhzRStJP7Q_4KOMHWNkxy3sK9qNKcS40OXj8dS0zRfZUz1q6mr0NxcsGtatEJTVLLn1-LdGb-ZiNJQRLxTIbvPcaFVX9Y6sTkbh7gAah70R8Mp8mwffSc3bwN81ZZy_g793sx3Muz9OI5MMi1cEh_74ZHSDCwOyJ_ao8QfWk3X29y_IufAQxHinUVOaCTqW70--BzQ2GAsADq1IPnSZH-LbgYVnmnUTi95DSCnDSniKZpqIN2UgfKBDX_4xtfx4iN9hd14RSNNL7kKQ1TNI=",
  "id": "rs_0451b42ea712029b016ab441fafef087d090016f4592b2681c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"left_z\":0.16},\"note\":\"With the gripper rotated, the gray torso now lies broadside across the jaw opening. I’m closing while lifting vertically so a successful cross-body grasp immediately clears the table.\"}",
  "call_id": "call_4XWDH6lHBLAvWVXWuNK8OsTn",
  "id": "fc_0451b42ea712029b016ab441fb2db887d0810c041786a76e6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4XWDH6lHBLAvWVXWuNK8OsTn",
  "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]: [-0.6174, 2.4165, 2.0365, -1.5524, -0.5453, -2.0491, 0.0101, -0.1959, 1.0222, 0.8425, -0.6315, -0.2974, -0.2214, 0.9948]\nstate[eef_state]: left_x=0.3722 left_y=-0.1475 left_z=0.0454 left_yaw=1.3767 left_pitch=-0.3694 left_roll=0.1071 left_gripper=0.0101 right_x=0.3038 right_y=-0.0039 right_z=0.1794 right_yaw=0.1736 right_pitch=-0.206 right_roll=0.0678 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -11.5761, 6.4479, -0.6227, -0.3932, -0.1538, 0.8034, -0.0615, -2.5094, 7.0222, 1.4823, -0.1636, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b383ef7b3ebeebb623fca91f9c57979273149a1ab34c6f2405ac8954e72316ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d46ecbc609feb10f7b917a189510f00d5ce7e74b3ec58bc6818b4564b957ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2150d93507043127d22e57675ea392060b1329e24a55e3b1b9ce0130a9c866f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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