adhoc

completed
2026-09-23T22:04:49.702571+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
249.1 s
total steps
400
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two apparent classes: gray elephant-like plush toys and brown-and-white dog-like plush toys, with two empty turquoise baskets at the far side. I’ll use the left arm to approach the isolated gray toy on the left edge of the pile, keeping the gripper open and staying above it for a closer alignment check.
move_to
left_x0.3300left_y-0.0400left_z0.1200left_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, 0.8024, 0.617, -0.3809, -0.0219, -0.0257, 0.9995, -0.0208, 0.7975, 0.6109, -0.3855, -0.0189, -0.025, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1835 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5949, -1.935, 9.2786, 1.8046, -0.0024, 0.1001, -0.0611, -0.2803, -1.0462, 9.7846, 1.8339, -0.0806, 0.1441, -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":0.33,"left_y":-0.04,"left_z":0.12,"left_gripper":1.0},"note":"I see two apparent classes: gray elephant-like plush toys and brown-and-white dog-like plush toys, with two empty turquoise baskets at the far side. I’ll use the left arm to approach the isolated gray toy on the left edge of the pile, keeping the gripper open and staying above it for a closer alignment check."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe left gripper now overlaps the isolated gray plush in the overhead view; the wrist view shows gray material immediately beside and below the jaw region, while the nearby brown dog remains clearly to the right. I’ll descend in place to grasp the gray toy around its body.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2436, 1.066, 0.458, -0.0086, -0.1932, -0.1471, 0.9995, -0.0208, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3258 left_y=-0.0423 left_z=0.1117 left_yaw=-0.0151 left_pitch=-0.0374 left_roll=0.0001 left_gripper=0.9995 right_x=0.2949 right_y=0.0008 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0034 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.0342, -3.4256, 6.9265, 1.7998, -0.1148, 0.0562, -0.0611, -0.1983, -1.1829, 7.4462, 1.6874, -0.0415, -0.0024, -0.0122] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"The left gripper now overlaps the isolated gray plush in the overhead view; the wrist view shows gray material immediately beside and below the jaw region, while the nearby brown dog remains clearly to the right. I’ll descend in place to grasp the gray toy around its body."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteAt grasp height the gray plush is still well left of the wrist camera’s jaw column (around image column 110), so closing now would miss it. I’ll lift, shift the gripper toward the toy along the arm’s +y direction, and advance slightly because the toy is still ahead of the fingertip line.
move_to
left_x0.3600left_y0.0200left_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]: [-0.2474, 1.3254, 0.2874, 0.4664, -0.207, -0.1303, 0.9995, -0.0208, 0.8009, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.336 left_y=-0.0437 left_z=0.0563 left_yaw=-0.0166 left_pitch=0.0081 left_roll=0.0114 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0053 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.212, -2.7282, 3.3846, 1.1355, 0.0171, -0.1685, -0.0122, -0.3214, -1.0598, 7.0769, 1.707, -0.0562, -0.0122, -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":0.36,"left_y":0.02,"left_z":0.12},"note":"At grasp height the gray plush is still well left of the wrist camera’s jaw column (around image column 110), so closing now would miss it. I’ll lift, shift the gripper toward the toy along the arm’s +y direction, and advance slightly because the toy is still ahead of the fingertip line."})
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 centered on the wrist camera’s jaw column and reaches the fingertip region near the bottom of the frame. I’ll descend straight down to body height without changing the alignment.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0822, 1.2152, 0.4931, 0.141, 0.0402, 0.0204, 0.9995, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3569 left_y=0.0259 left_z=0.1074 left_yaw=0.024 left_pitch=-0.0145 left_roll=0.0051 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0061 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0889, -5.2171, 8.7043, 1.5165, 0.1832, 0.2369, -0.0122, -0.335, -1.347, 7.0359, 1.7656, -0.0611, -0.0659, -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_z":0.04},"note":"The gray plush is now centered on the wrist camera’s jaw column and reaches the fingertip region near the bottom of the frame. I’ll descend straight down to body height without changing the alignment."})
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 open jaws now straddle the centered gray plush at low height, with its body filling the space between the fingertips. I’ll close the gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0818, 1.4563, 0.3592, 0.5472, 0.0292, 0.0269, 0.9995, -0.0208, 0.8032, 0.6086, -0.3843, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3643 left_y=0.0283 left_z=0.0549 left_yaw=0.0295 left_pitch=0.0163 left_roll=0.0182 left_gripper=0.9995 right_x=0.2954 right_y=0.0008 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0069 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1436, -3.8222, 3.5077, 1.243, 0.2369, -0.1978, -0.0122, -0.294, -1.1966, 7.3778, 1.7411, -0.0464, -0.0269, -0.0122] 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_gripper":0.0},"note":"The open jaws now straddle the centered gray plush at low height, with its body filling the space between the fingertips. I’ll close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper settled at 0.008, which confirms the first close was empty even though the plush was centered; it likely closed just behind the rounded body. I’ll reopen and advance about 2 cm outward for the single recommended retry, staying low around the toy’s midsection.
move_to
left_gripper1.0000left_x0.3900left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0822, 1.4586, 0.3515, 0.5961, 0.0082, 0.0269, 0.0084, -0.0208, 0.8043, 0.6086, -0.3847, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.3676 left_y=0.0324 left_z=0.0616 left_yaw=0.0475 left_pitch=0.0547 left_roll=0.0305 left_gripper=0.0084 right_x=0.2954 right_y=0.0007 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0084 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.0342, -5.012, 6.0103, 1.2723, 0.1294, -0.0269, 0.8718, -0.3624, -1.1009, 7.0906, 1.746, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.39,"left_z":0.07},"note":"The gripper settled at 0.008, which confirms the first close was empty even though the plush was centered; it likely closed just behind the rounded body. I’ll reopen and advance about 2 cm outward for the single recommended retry, staying low around the toy’s midsection."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteAfter the outward adjustment, the gray toy’s thick central body is visibly centered between the open jaws rather than behind them. I’ll close once more at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0765, 1.5002, 0.4229, 0.5625, 0.0002, 0.0185, 0.9956, -0.0208, 0.8051, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3838 left_y=0.033 left_z=0.0667 left_yaw=0.0531 left_pitch=0.0509 left_roll=0.027 left_gripper=0.9956 right_x=0.2954 right_y=0.0008 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1983, -4.4513, 7.7333, 1.7411, -0.0366, -0.0122, -0.1832, -0.212, -1.3333, 7.0359, 1.7411, -0.0366, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the outward adjustment, the gray toy’s thick central body is visibly centered between the open jaws rather than behind them. I’ll close once more at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe second close also settled empty, so I won’t repeat that uncertain gray grasp; I’ll park and open the left arm to clear the overhead view. At the same time I’ll bring the right arm above the isolated front-right brown-and-white dog, keeping both arms well separated.
move_to
left_x0.3000left_y0.0000left_z0.1800left_gripper1.0000right_x0.3400right_y0.2800right_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]: [0.0765, 1.5002, 0.4248, 0.5663, -0.0029, 0.0139, 0.0115, -0.0208, 0.8051, 0.6086, -0.3851, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3848 left_y=0.0336 left_z=0.0683 left_yaw=0.0581 left_pitch=0.0567 left_roll=0.0246 left_gripper=0.0115 right_x=0.2954 right_y=0.0007 right_z=0.178 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.1573, -5.2855, 5.2034, 1.79, 0.0464, 0.0269, 0.652, -0.2393, -1.2786, 7.159, 1.7656, -0.0366, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.34,"right_y":0.28,"right_z":0.14,"right_gripper":1.0},"note":"The second close also settled empty, so I won’t repeat that uncertain gray grasp; I’ll park and open the left arm to clear the overhead view. At the same time I’ll bring the right arm above the isolated front-right brown-and-white dog, keeping both arms well separated."})
tool
executing move_to over 24 steps (2.4s)
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 noteThe right wrist view shows the brown-and-white dog low but left of the jaw column, so lateral alignment is the main error. I’ll shift the right gripper in +y toward the dog and advance slightly while remaining above it.
move_to
right_x0.3600right_y0.3400right_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]: [-0.1043, 0.7998, 0.5144, -0.2474, -0.149, -0.0734, 0.9981, 0.947, 1.6943, 1.0866, -0.2665, 0.7185, 0.6125, 0.9998] state[eef_state]: left_x=0.3005 left_y=-0.0015 left_z=0.1658 left_yaw=0.0475 left_pitch=0.0396 left_roll=0.0228 left_gripper=0.9981 right_x=0.3358 right_y=0.2737 right_z=0.1278 right_yaw=0.03 right_pitch=-0.0439 right_roll=-0.0339 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.6068, 10.2632, 1.8193, -0.1392, -0.0415, -0.0855, 0.4444, -8.2256, 8.5265, 1.2625, 0.5446, 0.2222, -0.0366] 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":{"right_x":0.36,"right_y":0.34,"right_z":0.13},"note":"The right wrist view shows the brown-and-white dog low but left of the jaw column, so lateral alignment is the main error. I’ll shift the right gripper in +y toward the dog and advance slightly while remaining above it."})
tool
executing move_to over 6 steps (0.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe dog moved toward the center in the wrist image but its body is still left of the jaw column. I’ll make one more modest +y shift, staying within the right arm’s limit, and advance a little to bring its torso under the fingertips.
move_to
right_x0.3800right_y0.3900right_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]: [-0.107, 0.804, 0.5205, -0.268, -0.1574, -0.0792, 0.9981, 0.9871, 1.9198, 1.3724, -0.3576, 0.7311, 0.6373, 0.9997] state[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1633 left_yaw=0.0548 left_pitch=0.0219 left_roll=0.0251 left_gripper=0.9981 right_x=0.3573 right_y=0.3335 right_z=0.1254 right_yaw=0.0472 right_pitch=-0.0541 right_roll=-0.0443 right_gripper=0.9997 state[joint_eff]: [0.0615, -1.6342, 6.5983, 1.9365, -0.0122, 0.0366, -0.0122, 0.5812, -9.4701, 8.2803, 1.033, 0.4518, 0.1783, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.39,"right_z":0.12},"note":"The dog moved toward the center in the wrist image but its body is still left of the jaw column. I’ll make one more modest +y shift, staying within the right arm’s limit, and advance a little to bring its torso under the fingertips."})
tool
executing move_to over 5 steps (0.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe dog’s thick torso is now centered between the right wrist’s open jaw wedges at the bottom of the frame. I’ll descend in place to grasp around the body rather than the narrow head or legs.
move_to
right_z0.0500
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]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1581, -0.0795, 0.9981, 1.0019, 2.1326, 1.6478, -0.4442, 0.73, 0.6483, 0.9997] state[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.1621 left_yaw=0.0553 left_pitch=0.0179 left_roll=0.0258 left_gripper=0.9981 right_x=0.3796 right_y=0.3818 right_z=0.1129 right_yaw=0.0556 right_pitch=-0.0687 right_roll=-0.0544 right_gripper=0.9997 state[joint_eff]: [-0.0068, -1.4838, 7.1726, 1.7216, -0.1001, -0.0415, -0.0073, 0.9504, -11.8769, 8.5128, 1.033, 0.525, 0.1685, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.05},"note":"The dog’s thick torso is now centered between the right wrist’s open jaw wedges at the bottom of the frame. I’ll descend in place to grasp around the body rather than the narrow head or legs."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe right arm stopped near z=0.11 rather than reaching the low target, but the dog’s raised plush torso visibly fills the gap between the jaws at this reachable pose. I’ll close here and judge the grasp from the settled opening.
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]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1577, -0.0795, 0.9981, 1.0088, 2.149, 1.6703, -0.4633, 0.7296, 0.6529, 0.9998] state[eef_state]: left_x=0.2987 left_y=-0.0007 left_z=0.1621 left_yaw=0.0549 left_pitch=0.0178 left_roll=0.0256 left_gripper=0.9981 right_x=0.378 right_y=0.386 right_z=0.1104 right_yaw=0.0595 right_pitch=-0.0764 right_roll=-0.0611 right_gripper=0.9998 state[joint_eff]: [-0.1299, -1.347, 7.1043, 1.7265, -0.0806, -0.0659, -0.0073, 0.2393, -11.8769, 8.9231, 1.1941, 0.4274, 0.0904, -0.0073] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right arm stopped near z=0.11 rather than reaching the low target, but the dog’s raised plush torso visibly fills the gap between the jaws at this reachable pose. I’ll close here and judge the grasp from the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe right gripper again closed empty; this target is near the right arm’s lateral reach limit and could not descend, so I’ll retract it rather than retry there. The parked left wrist already has the large gray elephant centered very close to its fingertip line, so I’ll lower the left arm in place to grasp that easier, central target.
move_to
right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000left_x0.3000left_y0.0000left_z0.0500left_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]: [-0.1074, 0.8059, 0.5198, -0.2699, -0.1581, -0.0795, 0.9981, 1.0077, 2.149, 1.6688, -0.4591, 0.7219, 0.6502, 0.0166] state[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.162 left_yaw=0.0553 left_pitch=0.0175 left_roll=0.0259 left_gripper=0.9981 right_x=0.378 right_y=0.3869 right_z=0.1096 right_yaw=0.0647 right_pitch=-0.0799 right_roll=-0.0574 right_gripper=0.0166 state[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.7167, -0.0952, -0.022, -0.0073, -0.1162, -12.2735, 6.8581, 1.1795, 0.3834, -0.0171, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.3,"left_y":0.0,"left_z":0.05,"left_gripper":1.0},"note":"The right gripper again closed empty; this target is near the right arm’s lateral reach limit and could not descend, so I’ll retract it rather than retry there. The parked left wrist already has the large gray elephant centered very close to its fingertip line, so I’ll lower the left arm in place to grasp that easier, central target."})
tool
executing move_to over 33 steps (3.3s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteWith the right arm parked, the overhead view clearly shows two gray elephants on the left and four brown/white dogs in the center. The nearer elephant is left of the left wrist’s jaw column, so I’ll lift slightly and shift to the left arm’s +y boundary to center its torso.
move_to
left_x0.3100left_y0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1062, 1.1027, 0.1574, 0.4259, -0.1696, -0.0746, 0.9988, -0.0196, 0.87, 0.6788, -0.4633, 0.0078, -0.0803, 0.9982] state[eef_state]: left_x=0.3069 left_y=0.0009 left_z=0.0631 left_yaw=0.0636 left_pitch=0.0545 left_roll=0.0299 left_gripper=0.9988 right_x=0.2975 right_y=-0.0036 right_z=0.1761 right_yaw=0.0087 right_pitch=-0.0836 right_roll=-0.0586 right_gripper=0.9982 state[joint_eff]: [-0.0068, -1.4564, 4.547, 1.37, 0.0611, -0.0952, -0.1441, -0.1983, -2.1538, 7.8701, 1.663, -0.1587, -0.0562, -0.0513] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.05,"left_z":0.1},"note":"With the right arm parked, the overhead view clearly shows two gray elephants on the left and four brown/white dogs in the center. The nearer elephant is left of the left wrist’s jaw column, so I’ll lift slightly and shift to the left arm’s +y boundary to center its torso."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe large gray elephant’s broad torso is now centered squarely between the open jaws in the wrist view. I’ll descend straight down to mid-body height for a secure side grasp.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1825, 0.9928, 0.2478, 0.2379, 0.0315, 0.0368, 0.9983, -0.0254, 0.8722, 0.6785, -0.4805, -0.0074, -0.1001, 0.9984] state[eef_state]: left_x=0.3075 left_y=0.0548 left_z=0.0915 left_yaw=0.1229 left_pitch=0.0588 left_roll=0.028 left_gripper=0.9983 right_x=0.2951 right_y=-0.0026 right_z=0.172 right_yaw=0.0267 right_pitch=-0.1036 right_roll=-0.064 right_gripper=0.9984 state[joint_eff]: [0.1709, -3.0017, 9.1145, 1.7216, 0.2564, 0.1148, -0.0611, 0.2393, -1.7846, 6.9675, 1.8291, 0.105, 0.1538, 0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"The large gray elephant’s broad torso is now centered squarely between the open jaws in the wrist view. I’ll descend straight down to mid-body height for a secure side grasp."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteAt the low pose the elephant’s plush torso fills the entire gap between the jaws, indicating the fingers are on either side of its body rather than above it. I’ll close now.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1509, 1.2858, 0.12, 0.543, 0.0254, 0.0265, 0.9982, -0.0257, 0.8753, 0.6785, -0.4828, -0.009, -0.0982, 0.9984] state[eef_state]: left_x=0.2947 left_y=0.0439 left_z=0.0201 left_yaw=0.1019 left_pitch=-0.0566 left_roll=0.0163 left_gripper=0.9982 right_x=0.2949 right_y=-0.0024 right_z=0.1707 right_yaw=0.0266 right_pitch=-0.1088 right_roll=-0.0613 right_gripper=0.9984 state[joint_eff]: [-0.1983, -4.3145, 4.6154, 1.9072, -0.1197, -0.0562, -0.022, -0.1436, -1.7299, 6.9402, 1.663, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the low pose the elephant’s plush torso fills the entire gap between the jaws, indicating the fingers are on either side of its body rather than above it. I’ll close now."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left gripper settled at 0.49, a secure roughly 4.7 cm hold on the gray elephant. I’ll lift it high and carry it over the left turquoise basket, which I’m assigning to the gray class.
move_to
left_x0.4700left_y-0.1100left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1509, 1.2881, 0.112, 0.5953, 0.0231, 0.0265, 0.4937, -0.0265, 0.8761, 0.6785, -0.4824, -0.009, -0.1009, 0.9984] state[eef_state]: left_x=0.299 left_y=0.045 left_z=0.0272 left_yaw=0.1039 left_pitch=-0.0147 left_roll=0.0196 left_gripper=0.4937 right_x=0.295 right_y=-0.0026 right_z=0.1706 right_yaw=0.0273 right_pitch=-0.1093 right_roll=-0.0634 right_gripper=0.9984 state[joint_eff]: [-0.0615, -3.1795, 5.5179, 1.2527, -0.0073, -0.0513, 0.8864, -0.0068, -1.7846, 6.9812, 1.6532, -0.0171, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.11,"left_z":0.22},"note":"The left gripper settled at 0.49, a secure roughly 4.7 cm hold on the gray elephant. I’ll lift it high and carry it over the left turquoise basket, which I’m assigning to the gray class."})
tool
executing move_to over 14 steps (1.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe held elephant is visibly centered over the left basket opening and remains secure. I’ll lower it inside the basket, stopping above the table so the basket walls clear the toy before release.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3786, 1.6394, 1.2728, -0.3119, -0.4, -0.2981, 0.4956, -0.0265, 0.8806, 0.6785, -0.4835, -0.009, -0.1013, 0.9984] state[eef_state]: left_x=0.4632 left_y=-0.1064 left_z=0.1976 left_yaw=0.1023 left_pitch=-0.0504 left_roll=0.0145 left_gripper=0.4956 right_x=0.2951 right_y=-0.0027 right_z=0.1691 right_yaw=0.0276 right_pitch=-0.115 right_roll=-0.0634 right_gripper=0.9984 state[joint_eff]: [-0.4855, -9.1829, 9.1009, 1.58, -0.3053, 0.1099, 0.5885, -0.1709, -2.0171, 7.1726, 1.6093, -0.0269, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The held elephant is visibly centered over the left basket opening and remains secure. I’ll lower it inside the basket, stopping above the table so the basket walls clear the toy before release."})
tool
executing move_to over 7 steps (0.7s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe elephant is lowered within the left basket’s walls, with its body centered over the basket floor. I’ll open the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3809, 1.7161, 1.0317, 0.0391, -0.4175, -0.3031, 0.4988, -0.0265, 0.8825, 0.6785, -0.4828, -0.009, -0.1013, 0.9984] state[eef_state]: left_x=0.4653 left_y=-0.1053 left_z=0.1257 left_yaw=0.1163 left_pitch=-0.016 left_roll=0.0044 left_gripper=0.4988 right_x=0.2953 right_y=-0.0027 right_z=0.1687 right_yaw=0.0276 right_pitch=-0.1162 right_roll=-0.0633 right_gripper=0.9984 state[joint_eff]: [0.253, -5.3128, 4.5607, 1.1453, 0.0855, 0.0464, 0.3248, -0.1846, -1.935, 6.9402, 1.663, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The elephant is lowered within the left basket’s walls, with its body centered over the basket floor. I’ll open the gripper to release it."})
tool
executing move_to over 6 steps (0.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe gripper is open after release, so I’ll retract the left arm to its home-height pose to verify the elephant stayed in the basket and to expose the remaining objects for the next pick.
move_to
left_x0.3000left_y0.0000left_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]: [-0.382, 1.7279, 1.0206, 0.0647, -0.4229, -0.3042, 0.9965, -0.0265, 0.8829, 0.6785, -0.4828, -0.009, -0.1013, 0.9984] state[eef_state]: left_x=0.4661 left_y=-0.1053 left_z=0.1208 left_yaw=0.1201 left_pitch=-0.0121 left_roll=0.005 left_gripper=0.9965 right_x=0.2953 right_y=-0.0027 right_z=0.1686 right_yaw=0.0276 right_pitch=-0.1166 right_roll=-0.0633 right_gripper=0.9984 state[joint_eff]: [0.0615, -9.5248, 7.3368, 1.4188, -0.1245, -0.0269, -0.1099, -0.0889, -1.812, 6.9675, 1.6044, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18},"note":"The gripper is open after release, so I’ll retract the left arm to its home-height pose to verify the elephant stayed in the basket and to expose the remaining objects for the next pick."})
tool
executing move_to over 13 steps (1.3s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteAfter retracting, I can see the gray elephant was released just left of the basket—the basket center is farther right in the overhead image than my first placement target. The dropped elephant is again centered under the left wrist, so I’ll lower at the proven +y grasp alignment to recover it.
move_to
left_x0.3000left_y0.0400left_z0.0500
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]: [-0.1608, 0.8742, 0.6376, -0.3191, -0.2638, -0.1905, 0.9979, -0.0261, 0.8867, 0.6785, -0.482, -0.0093, -0.1017, 0.9984] state[eef_state]: left_x=0.3114 left_y=-0.0002 left_z=0.1887 left_yaw=0.1499 left_pitch=0.0319 left_roll=-0.0152 left_gripper=0.9979 right_x=0.2957 right_y=-0.0025 right_z=0.1677 right_yaw=0.0285 right_pitch=-0.1196 right_roll=-0.0632 right_gripper=0.9984 state[joint_eff]: [0.1299, -1.5658, 6.5436, 1.8535, -0.0366, 0.1148, 0.1294, -0.0889, -1.7162, 6.9949, 1.6825, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.04,"left_z":0.05},"note":"After retracting, I can see the gray elephant was released just left of the basket—the basket center is farther right in the overhead image than my first placement target. The dropped elephant is again centered under the left wrist, so I’ll lower at the proven +y grasp alignment to recover it."})
tool
executing move_to over 9 steps (0.9s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteAt low height the elephant is centered laterally but sits just ahead of the fingertip line in the wrist view. I’ll advance the gripper a few centimeters under its torso before closing.
move_to
left_x0.3200
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]: [0.0834, 1.1156, 0.1444, 0.3233, -0.0803, -0.0811, 0.998, -0.0265, 0.889, 0.6785, -0.4828, -0.009, -0.1017, 0.9984] state[eef_state]: left_x=0.2856 left_y=0.0417 left_z=0.0323 left_yaw=0.1816 left_pitch=-0.0793 left_roll=-0.0071 left_gripper=0.998 right_x=0.2957 right_y=-0.0027 right_z=0.1669 right_yaw=0.0278 right_pitch=-0.1227 right_roll=-0.0632 right_gripper=0.9984 state[joint_eff]: [0.0615, -3.7538, 5.8872, 2.1514, 0.0708, 0.1148, 0.0024, -0.0752, -1.8667, 6.9402, 1.6093, -0.0415, -0.0464, -0.0073] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32},"note":"At low height the elephant is centered laterally but sits just ahead of the fingertip line in the wrist view. I’ll advance the gripper a few centimeters under its torso before closing."})
tool
executing move_to over 3 steps (0.3s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe elephant’s torso now fills the space directly ahead of and between both jaw tips at table height. I’ll close to recover it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0681, 1.3193, 0.2195, 0.4324, -0.078, -0.0868, 0.998, -0.0265, 0.8921, 0.6781, -0.4835, -0.009, -0.1013, 0.9984] state[eef_state]: left_x=0.3105 left_y=0.0386 left_z=0.0244 left_yaw=0.1677 left_pitch=-0.0988 left_roll=-0.0112 left_gripper=0.998 right_x=0.2956 right_y=-0.0027 right_z=0.1658 right_yaw=0.0276 right_pitch=-0.1269 right_roll=-0.0627 right_gripper=0.9984 state[joint_eff]: [-0.1299, -4.3282, 6.7761, 1.6093, -0.1538, -0.0611, -0.0122, -0.0205, -1.9214, 6.9675, 1.6679, -0.0317, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The elephant’s torso now fills the space directly ahead of and between both jaw tips at table height. I’ll close to recover it."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe close settled empty because the low jaws passed through the elephant’s leg gap; the wrist view shows its torso above the finger tips. I’ll reopen and raise to mid-torso height while keeping the lateral and radial alignment fixed.
move_to
left_gripper1.0000left_z0.0750
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]: [0.0666, 1.3323, 0.2234, 0.4324, -0.0853, -0.0891, 0.0102, -0.0265, 0.8932, 0.6773, -0.4828, -0.0086, -0.1017, 0.9984] state[eef_state]: left_x=0.3106 left_y=0.0394 left_z=0.022 left_yaw=0.1736 left_pitch=-0.1075 left_roll=-0.0075 left_gripper=0.0102 right_x=0.2957 right_y=-0.0027 right_z=0.1653 right_yaw=0.0275 right_pitch=-0.128 right_roll=-0.0632 right_gripper=0.9984 state[joint_eff]: [0.0342, -4.4239, 4.7795, 1.6435, 0.0269, 0.0024, 0.8913, -0.1983, -1.7983, 7.1043, 1.5946, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.075},"note":"The close settled empty because the low jaws passed through the elephant’s leg gap; the wrist view shows its torso above the finger tips. I’ll reopen and raise to mid-torso height while keeping the lateral and radial alignment fixed."})
tool
executing move_to over 10 steps (1.0s)
step 225
top_cam
camera top_cam step 225
assistant
agent noteAt the raised pose the elephant’s broad torso, rather than the leg gap, is centered between the open fingers. I’ll close at this height.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0666, 1.1023, 0.3359, 0.0864, -0.086, -0.0902, 0.9953, -0.0265, 0.8951, 0.6773, -0.4824, -0.009, -0.1017, 0.9984] state[eef_state]: left_x=0.3084 left_y=0.0394 left_z=0.0663 left_yaw=0.1749 left_pitch=-0.1108 left_roll=-0.0075 left_gripper=0.9953 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0279 right_pitch=-0.1295 right_roll=-0.0629 right_gripper=0.9984 state[joint_eff]: [-0.335, -3.535, 8.5402, 1.4042, -0.0904, 0.0024, -0.0562, -0.1983, -1.9214, 6.9675, 1.5946, -0.0073, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the raised pose the elephant’s broad torso, rather than the leg gap, is centered between the open fingers. I’ll close at this height."})
tool
executing move_to over 10 steps (1.0s)
step 235
assistant
agent noteA second empty close shows the jaws are passing under the elephant’s arched belly along its side-to-side orientation. I’ll reopen and rotate the gripper 90 degrees so the fingers close front-to-back across solid torso instead.
move_to
left_gripper1.0000left_z0.0800left_yaw1.5700
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]: [0.0666, 1.1053, 0.3439, 0.0719, -0.086, -0.0971, 0.0103, -0.0265, 0.8951, 0.6773, -0.4824, -0.0086, -0.1017, 0.9984] state[eef_state]: left_x=0.3083 left_y=0.0394 left_z=0.0659 left_yaw=0.1788 left_pitch=-0.1203 left_roll=-0.0119 left_gripper=0.0103 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0275 right_pitch=-0.1295 right_roll=-0.0631 right_gripper=0.9984 state[joint_eff]: [-0.1709, -2.8239, 5.6957, 1.7949, -0.0757, 0.0708, 0.9011, -0.1162, -1.6889, 7.0906, 1.6484, -0.0269, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.08,"left_yaw":1.57},"note":"A second empty close shows the jaws are passing under the elephant’s arched belly along its side-to-side orientation. I’ll reopen and rotate the gripper 90 degrees so the fingers close front-to-back across solid torso instead."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteThe rotated elephant is no longer centered enough for a safe close, so I’ll clear the left arm rather than disturb it further. I’ll bring the right arm to the nearer central dog at a smaller forward reach, which should allow the gripper to descend to the dog’s torso instead of stalling high as before.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000right_x0.2900right_y0.3000right_z0.0700right_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]: [-0.3248, 1.9182, 1.2469, -1.0576, -0.8295, -1.7638, 0.9954, -0.0265, 0.8997, 0.6739, -0.487, -0.009, -0.1017, 0.9984] state[eef_state]: left_x=0.3355 left_y=0.0283 left_z=0.068 left_yaw=1.3649 left_pitch=-0.1641 left_roll=0.0233 left_gripper=0.9954 right_x=0.2948 right_y=-0.0026 right_z=0.1612 right_yaw=0.028 right_pitch=-0.1421 right_roll=-0.0622 right_gripper=0.9984 state[joint_eff]: [0.3624, -9.6205, 5.1077, -0.7741, -0.486, -0.0513, -0.188, -0.0752, -2.0034, 7.4872, 1.6288, -0.0317, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.29,"right_y":0.3,"right_z":0.07,"right_gripper":1.0},"note":"The rotated elephant is no longer centered enough for a safe close, so I’ll clear the left arm rather than disturb it further. I’ll bring the right arm to the nearer central dog at a smaller forward reach, which should allow the gripper to descend to the dog’s torso instead of stalling high as before."})
tool
executing move_to over 26 steps (2.6s)
step 271
assistant
agent noteThe right arm successfully reached torso height; the dog’s body is close but left of the jaw column in the wrist view. I’ll shift +y just enough to center the solid body between the fingers while staying low.
move_to
right_y0.3500
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]: [-0.0525, 0.9569, 0.7429, -0.556, -0.128, -0.1055, 0.9988, 1.0672, 1.8004, 1.0481, -0.3386, 0.7155, 0.7738, 0.9986] state[eef_state]: left_x=0.2972 left_y=0.0106 left_z=0.1638 left_yaw=0.1017 left_pitch=-0.1963 left_roll=0.0207 left_gripper=0.9988 right_x=0.2884 right_y=0.2908 right_z=0.0652 right_yaw=0.0452 right_pitch=-0.1641 right_roll=-0.0855 right_gripper=0.9986 state[joint_eff]: [0.2393, -3.0974, 10.0171, 1.6093, 0.0952, 0.1343, -0.1441, 0.7043, -8.0205, 7.7333, 0.906, 0.5201, 0.1685, -0.149] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.35},"note":"The right arm successfully reached torso height; the dog’s body is close but left of the jaw column in the wrist view. I’ll shift +y just enough to center the solid body between the fingers while staying low."})
tool
executing move_to over 5 steps (0.5s)
step 276
assistant
agent noteThe dog is still left of center and slightly ahead of the fingertips, while the arm remains able to hold the low height. I’ll use the remaining lateral room and a small outward advance to put the torso under the jaw center.
move_to
right_x0.3200right_y0.3900
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]: [-0.0509, 0.9607, 0.7441, -0.5598, -0.1169, -0.1047, 0.9983, 1.1282, 1.9743, 1.2762, -0.4465, 0.73, 0.8322, 0.9985] state[eef_state]: left_x=0.297 left_y=0.0091 left_z=0.1624 left_yaw=0.0936 left_pitch=-0.2039 left_roll=0.0144 left_gripper=0.9983 right_x=0.2888 right_y=0.3426 right_z=0.0597 right_yaw=0.0588 right_pitch=-0.177 right_roll=-0.0957 right_gripper=0.9985 state[joint_eff]: [-0.1983, -2.5641, 6.9128, 1.5849, -0.2222, 0.0366, -0.0611, 0.6769, -9.6342, 7.7744, 0.7692, 0.5299, 0.1392, -0.0317] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.39},"note":"The dog is still left of center and slightly ahead of the fingertips, while the arm remains able to hold the low height. I’ll use the remaining lateral room and a small outward advance to put the torso under the jaw center."})
tool
executing move_to over 4 steps (0.4s)
step 280
assistant
agent noteThe right arm stopped at its reach limit before centering the dog, so I won’t close from an obvious miss. I’ll retract it and use the left arm, whose wrist view shows the same brown-and-white dog to the lower right and has better crossover reach to that spot.
move_to
right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000left_x0.2800left_y-0.1000left_z0.0700left_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]: [-0.0509, 0.9611, 0.7441, -0.5602, -0.1192, -0.1055, 0.9982, 1.137, 1.9884, 1.2968, -0.4637, 0.7296, 0.8474, 0.9985] state[eef_state]: left_x=0.2969 left_y=0.0095 left_z=0.1623 left_yaw=0.096 left_pitch=-0.2044 left_roll=0.0156 left_gripper=0.9982 right_x=0.2866 right_y=0.3471 right_z=0.0588 right_yaw=0.0577 right_pitch=-0.1817 right_roll=-0.0938 right_gripper=0.9985 state[joint_eff]: [-0.1846, -2.2085, 6.8581, 1.5165, -0.0611, -0.0562, -0.0171, 0.0068, -9.9761, 7.7333, 0.8425, 0.5006, 0.149, -0.0171] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.28,"left_y":-0.1,"left_z":0.07,"left_gripper":1.0},"note":"The right arm stopped at its reach limit before centering the dog, so I won’t close from an obvious miss. I’ll retract it and use the left arm, whose wrist view shows the same brown-and-white dog to the lower right and has better crossover reach to that spot."})
tool
executing move_to over 29 steps (2.9s)
step 309
assistant
agent noteThe left wrist now has a brown-and-white dog centered laterally, but its torso is still a few centimeters ahead of the fingertip line. I’ll advance straight outward at the current torso height before closing.
move_to
left_x0.3100
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]: [-0.6514, 1.1839, 0.5243, -0.2653, -0.503, -0.5701, 0.9987, 0.0105, 0.9474, 0.7437, -0.5922, 0.057, -0.0883, 0.9989] state[eef_state]: left_x=0.2814 left_y=-0.1029 left_z=0.0744 left_yaw=0.0762 left_pitch=-0.2088 left_roll=0.0066 left_gripper=0.9987 right_x=0.2905 right_y=-0.0034 right_z=0.1596 right_yaw=0.0014 right_pitch=-0.2257 right_roll=-0.0963 right_gripper=0.9989 state[joint_eff]: [-0.1573, -2.906, 5.3128, 1.453, -0.4518, -0.0269, -0.1441, -0.1573, -3.0838, 10.4, 1.4725, -0.1441, -0.0366, -0.1197] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31},"note":"The left wrist now has a brown-and-white dog centered laterally, but its torso is still a few centimeters ahead of the fingertip line. I’ll advance straight outward at the current torso height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 312
assistant
agent noteAfter the advance, the dog’s solid brown torso fills the gap between the two jaw tips at mid-body height. I’ll close the left gripper now.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5766, 1.2861, 0.5545, -0.2203, -0.4747, -0.5362, 0.9983, 0.0074, 0.9482, 0.7441, -0.5941, 0.0399, -0.1112, 0.9988] state[eef_state]: left_x=0.2975 left_y=-0.0929 left_z=0.0614 left_yaw=0.1157 left_pitch=-0.2448 left_roll=0.0315 left_gripper=0.9983 right_x=0.2903 right_y=-0.0013 right_z=0.1591 right_yaw=0.0259 right_pitch=-0.2291 right_roll=-0.1001 right_gripper=0.9988 state[joint_eff]: [-0.4581, -4.7521, 8.5265, 1.3016, -0.2369, 0.149, -0.0562, 0.1026, -1.8393, 6.8444, 1.5214, 0.0513, 0.1978, -0.022] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the advance, the dog’s solid brown torso fills the gap between the two jaw tips at mid-body height. I’ll close the left gripper now."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteThe close was empty because the low jaws again passed through the toy’s legs; the wrist view shows the dog’s torso above the closed tips. I’ll reopen and raise to about 10 cm so the fingers meet the body itself.
move_to
left_gripper1.0000left_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]: [-0.5728, 1.2968, 0.5598, -0.2161, -0.4713, -0.5392, 0.0108, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1093, 0.9986] state[eef_state]: left_x=0.2993 left_y=-0.0933 left_z=0.0606 left_yaw=0.1189 left_pitch=-0.2474 left_roll=0.0278 left_gripper=0.0108 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0238 right_pitch=-0.2298 right_roll=-0.0993 right_gripper=0.9986 state[joint_eff]: [-0.3761, -5.1214, 5.7368, 1.2723, -0.315, 0.0024, 0.7448, 0.0342, -2.2632, 6.8718, 1.4774, -0.0415, -0.0366, -0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.11},"note":"The close was empty because the low jaws again passed through the toy’s legs; the wrist view shows the dog’s torso above the closed tips. I’ll reopen and raise to about 10 cm so the fingers meet the body itself."})
tool
executing move_to over 10 steps (1.0s)
step 332
assistant
agent noteAt the raised pose the brown torso is centered directly between the open fingers, above the leg gap. I’ll close across the body at this height.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5728, 1.2289, 0.6781, -0.4301, -0.4709, -0.548, 0.9953, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1123, 0.9985] state[eef_state]: left_x=0.296 left_y=-0.0912 left_z=0.0947 left_yaw=0.1282 left_pitch=-0.2687 left_roll=0.0399 left_gripper=0.9953 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0255 right_pitch=-0.2299 right_roll=-0.1015 right_gripper=0.9985 state[joint_eff]: [-0.1026, -5.2718, 9.1282, 1.2186, -0.2662, 0.0659, -0.1343, -0.1573, -2.0991, 6.8308, 1.4872, -0.0122, 0.0171, -0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the raised pose the brown torso is centered directly between the open fingers, above the leg gap. I’ll close across the body at this height."})
tool
executing move_to over 10 steps (1.0s)
step 342
assistant
agent noteThe raised close still caught only the hanging tag below the dog, showing the torso remains farther outward than the fingertips despite appearing centered. I’ll reopen and advance about 6 cm at body height so the jaws reach the torso itself.
move_to
left_gripper1.0000left_x0.3600left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5728, 1.2247, 0.688, -0.4404, -0.4706, -0.5507, 0.0104, 0.0071, 0.9535, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985] state[eef_state]: left_x=0.2966 left_y=-0.0917 left_z=0.0982 left_yaw=0.1287 left_pitch=-0.2659 left_roll=0.0352 left_gripper=0.0104 right_x=0.2907 right_y=-0.0015 right_z=0.1578 right_yaw=0.0257 right_pitch=-0.2338 right_roll=-0.1017 right_gripper=0.9985 state[joint_eff]: [-0.3077, -3.5624, 5.6547, 1.326, -0.3101, 0.022, 0.8376, -0.1026, -2.2769, 6.8444, 1.5018, -0.0464, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.36,"left_z":0.1},"note":"The raised close still caught only the hanging tag below the dog, showing the torso remains farther outward than the fingertips despite appearing centered. I’ll reopen and advance about 6 cm at body height so the jaws reach the torso itself."})
tool
executing move_to over 10 steps (1.0s)
step 352
assistant
agent noteAfter the larger outward advance, the dog’s torso now fills the space at the actual fingertip line between both jaws, rather than sitting above the tag. I’ll close here.
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]: [-0.448, 1.4448, 0.8211, -0.3538, -0.4034, -0.4595, 0.9954, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985] state[eef_state]: left_x=0.3477 left_y=-0.0862 left_z=0.0868 left_yaw=0.1521 left_pitch=-0.3026 left_roll=0.052 left_gripper=0.9954 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985 state[joint_eff]: [0.4855, -5.7231, 9.0051, 1.2772, -0.1978, 0.1538, -0.2125, -0.1436, -2.3453, 6.8581, 1.5165, -0.022, -0.0122, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the larger outward advance, the dog’s torso now fills the space at the actual fingertip line between both jaws, rather than sitting above the tag. I’ll close here."})
tool
executing move_to over 10 steps (1.0s)
step 362
assistant
agent noteThe side-to-side close still slipped through the toy’s narrow underside despite reaching the body. I’ll rotate the open jaws 90 degrees at the same grasp point so they clamp the dog front-to-back across a solid cross-section.
move_to
left_gripper1.0000left_yaw1.5700
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]: [-0.4442, 1.4536, 0.823, -0.3527, -0.4, -0.4641, 0.0104, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985] state[eef_state]: left_x=0.3484 left_y=-0.0857 left_z=0.0846 left_yaw=0.1569 left_pitch=-0.3088 left_roll=0.0499 left_gripper=0.0104 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985 state[joint_eff]: [-0.4444, -6.4205, 6.2974, 1.2576, -0.2906, 0.0073, 0.6325, -0.2393, -2.2085, 7.0359, 1.5165, -0.0415, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_yaw":1.57},"note":"The side-to-side close still slipped through the toy’s narrow underside despite reaching the body. I’ll rotate the open jaws 90 degrees at the same grasp point so they clamp the dog front-to-back across a solid cross-section."})
tool
executing move_to over 10 steps (1.0s)
step 372
assistant
agent noteWith the gripper rotated, the dog’s body lies directly across the new closing direction between the fingertip wedges. I’ll close at this orientation.
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]: [-0.4995, 2.2024, 1.7912, -1.4181, -0.6056, -1.9759, 0.9954, 0.0071, 0.9596, 0.7441, -0.5938, 0.0406, -0.1131, 0.9985] state[eef_state]: left_x=0.3739 left_y=-0.0854 left_z=0.0742 left_yaw=1.3938 left_pitch=-0.3531 left_roll=0.0247 left_gripper=0.9954 right_x=0.2909 right_y=-0.0015 right_z=0.1561 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985 state[joint_eff]: [1.9487, -11.1521, 6.2974, -0.7888, -0.4078, -0.105, -0.188, -0.1299, -2.441, 6.8308, 1.4628, 0.0024, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"With the gripper rotated, the dog’s body lies directly across the new closing direction between the fingertip wedges. I’ll close at this orientation."})
tool
executing move_to over 10 steps (1.0s)
step 382
assistant
agent noteThe full close appears to squeeze the rounded plush out rather than retain it. I’ll reopen without moving, then use a partial close sized to the toy instead of forcing the jaws all the way together.
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]: [-0.4961, 2.2177, 1.7947, -1.4158, -0.5987, -1.9789, 0.0104, 0.0071, 0.96, 0.7441, -0.5934, 0.0406, -0.1131, 0.9985] state[eef_state]: left_x=0.3742 left_y=-0.0853 left_z=0.0688 left_yaw=1.4049 left_pitch=-0.3562 left_roll=0.0347 left_gripper=0.0104 right_x=0.291 right_y=-0.0015 right_z=0.156 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985 state[joint_eff]: [-0.5128, -12.7795, 4.9299, -0.2808, -0.4078, 0.022, 0.9011, -0.0752, -2.2632, 6.8171, 1.4725, -0.0317, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The full close appears to squeeze the rounded plush out rather than retain it. I’ll reopen without moving, then use a partial close sized to the toy instead of forcing the jaws all the way together."})
tool
executing move_to over 10 steps (1.0s)
step 392
assistant
agent noteThe reopened jaws visibly straddle the dog’s rounded head at the fingertip line. I’ll close only to a 3.3 cm gap so the soft toy is held without being expelled by a full squeeze.
move_to
left_gripper0.3500
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]: [-0.4961, 2.2181, 1.7939, -1.4059, -0.5983, -1.9827, 0.9954, 0.0071, 0.9653, 0.7441, -0.5919, 0.0406, -0.1127, 0.9985] state[eef_state]: left_x=0.3758 left_y=-0.0862 left_z=0.0679 left_yaw=1.4041 left_pitch=-0.3593 left_roll=0.0235 left_gripper=0.9954 right_x=0.2915 right_y=-0.0015 right_z=0.1549 right_yaw=0.0257 right_pitch=-0.2441 right_roll=-0.1015 right_gripper=0.9985 state[joint_eff]: [-0.1299, -11.5897, 5.2718, -0.2173, -0.4127, -0.022, -0.2076, -0.1573, -2.1812, 7.1726, 1.5556, -0.0269, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35},"note":"The reopened jaws visibly straddle the dog’s rounded head at the fingertip line. I’ll close only to a 3.3 cm gap so the soft toy is held without being expelled by a full squeeze."})
tool
executing move_to over 7 steps (0.7s)
step 399
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]: [-0.4957, 2.2181, 1.7931, -1.3972, -0.5983, -1.9827, 0.3545, 0.0071, 0.9649, 0.7441, -0.5934, 0.041, -0.1135, 0.9985] state[eef_state]: left_x=0.3773 left_y=-0.0868 left_z=0.0673 left_yaw=1.4016 left_pitch=-0.3619 left_roll=0.0154 left_gripper=0.3545 right_x=0.2912 right_y=-0.0016 right_z=0.1547 right_yaw=0.0258 right_pitch=-0.2453 right_roll=-0.1023 right_gripper=0.9985 state[joint_eff]: [-0.2393, -11.535, 5.3128, -0.3053, -0.2955, -0.0024, 0.1929, -0.0479, -1.9077, 6.8308, 1.5067, -0.0073, -0.0269, -0.0073] camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 16.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
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  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8024, 0.617, -0.3809, -0.0219, -0.0257, 0.9995, -0.0208, 0.7975, 0.6109, -0.3855, -0.0189, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1835 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.935, 9.2786, 1.8046, -0.0024, 0.1001, -0.0611, -0.2803, -1.0462, 9.7846, 1.8339, -0.0806, 0.1441, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35777faefe3b55c977b7dd866b449c1802dcb3af37d41052d22632480286800",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb9fd259ead1147c439d8e65c91ebb9719a7771e9d01aac74457fe58b375c259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ebdc965c72a595c5199929e7e0ff550a388976cc9ca70e40405db3fb985c160",
      "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 · 8.173 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE0ga40ywRaJktJHICs8t1yF3nTLMkSqYjM3qy8TCCwBqs125wMnYbrHJeuyRErEWgLX1sGm05yuKqOOEsIRlp55mhGf48NdjdAHuJBO9jxx1tmP95MUxSPSZ5LEBx067PUWMxhI0_9ILDBOSKy5S6CkcMheaMrf1GLSRIjh9RWBhoZfEjssxnnhFjqx3dhFZmA1zt_xLgVq1hrhh46N5dictLdtoKCCumiP0AcKOMmbq71ZDv2T1s69Z8lfGRprp6vEDCOBdlfSC8U_1rtpDEAwB_SlmsW30Qzn27acGY6ezhC7iHfIeMPP8wgKoiO0Z8XdCsj031M8qRfXr8bR9MD7oKTFpAii_VBguX4C1gl65QCFULCrOR9evy7jwnHU26UjCLw3F31mnXTUmb49rsUzIDCymwlYvHWrDEvJfNzzl6dOlj9mivMq0VzwAV5QhA5INivClrH2CP5rBYyUSoY4qbGdF9T3rppFvwBfIsEsjG3kuxr8oqN2uXLOLOmxkjtYL8aSknu2OEh6Z4ByIr9coZcYaAHXsGL6_5rJN0lVr4mvSBgoOwYhLtVtvWyBTdyGJSvbM0DQvpZHXWMvD5q2uomyrr7yQmr3biKGEouXHetSJUYxz2tN69fZRIxAgLS9iMgzmrkXqJgBZ_y-oH8gDhRoM951jPkutzda7oNhtw68QzEw7ykldu-GtGHcW1MUYGZtXRi6WDczUetpGr14Z5MbUA79u5rd48fQSDgRsJzZPNsoea_jQXYGkiKhY3-u4MqiVKpLacasAcaTcRhp9aOwoJuTiagC6vHKSXdZO7OFzg0sSGYL30yaXiyqzwEOsldp00gVRdEQ_D28LN4fJXSLvT5CS7lyDeqgfRPK37tGerquIp2F7RGQXpKySqY-ucKLh1elZd7olKo_5qoPdUkcgRKWBJaCCRShPgCb85g_MFCaA1GnGeY0N3cHjy6LxE0Rv8Z6KlRhGvb7A2i7xVJghKkJSck_dlw7s_1yBRKhDL5Mvwdp7BRqWctxYKxd1oj6sBHTjljB3cIYOSI6mdTP5RWb9_cKmUzR_HXl6D0LBoxgmZGLl9GNUvFbxDqRpj1qRHmE71zmKopmYDMeaNTw2F32YNJ7lNK1WoupXshEhOMbEC1KMJwF58c5M11MrsxiWMXcXam5pFzKXI4Cpl1be7yOK2JxYeGhGFkRqzdzxUBIva-D5GQ0beZpb6_lRt2MkfNg7-7qwNsShNsFPtumLc1hGtE_qHL03jDqb9CnLdEgki6M3PIoKOaucBUdN9n_h3VWyoux7w_EKhdgSPhouK9diNDz7ELPz6xVviijo9sBmC8rol6REstBfDwmSyc6o06y0J0x43yUws43CaBikMhtckF5inOsWYirvhtPH-Sa9M_kAU7Jc4m3p8ULzCx7Yby-4nIPTu4uNwNxTNKM--x3ra_OIv89l1cP3SPDyJqb0Q-qDzCIMeFIcU8BVzOP1UvRBbrrDYAh5tPD8BSDHxjgwadoyLy_g3GoivUlw_nuZ-pvEdqoq8hsl9cZ161a69vE_BmikuVU_RQAIbHg9uDSdByMhui6TVJMCjXeCnszGzIBoqt8zVnIPp5PGxAc6gt6I5g3kbXDifu8LiyjG23fxinuBIUwz8oYmtim9diMUp95Oh6xm2-EaSWY9f2v0O5kNQ1DImKuBJhdZiq03a6PAQP8CJ_HqnoCxpdTbe10QuXopnKUHz10tlOyyqDmK5o9AyLy5wRxRJ3YsSvLvwPfO6xMHzvsoEqzrsYJ2I9Mfw0BWJ6dipg1KICJ_3BIhHi_aTmoXGpxjXNXbjI42ulmEJ1qnlJN_Qu7FCWAvFC_X_TZR7NiQNS8Um0ZUgN1qe05sr-GQ4Y_jkUppDRT0eb7RMPC8s-J-bP21jApaugNH1BGi4sERNgMuSYqbT_-Z9HHvoF-eDim7NOzBBPZMqQ0fiaBXgUtSruiQmZB3VZ71a_VtDomeHIsOeVBlYduz34UVnBHzY2IeiE1_FHQ8E-bpc5DvlgU7-PAb465myU1_-vq_3s4oIbgQC1sJYYp4ssiX7Lr9SD3qJDUyqrt9Q6oMGxqQW8Q5hx5uWvKyB6EssiUTXHPR5oEjIMAwH2r8ssHsvR_fghOY4Sn3Nnh2SYFaxuiWYfLROtGCVPZaGJ-KLP6iSrFBcpoMzRWo59Fw4HgvK5DtbEjkuu3UzZoes84rvb7WRrPE1HgWEWdty9iTRaXnos8Skt1ONy2pMYfukiAiU3WuwiyRIvTpBElot8ZDkEDJIUZKQwmEShMl_2hlum5DKhyrcD0Mghs8KGR6sSFB1-Mh_F8nFSk-oa6LqFOxG_n4CQOZpYwlbj6GuJM0lLkg2yoTFgtMzUmrU7AOXv0v-E4incsz36hAPfUv596jmX0-GUFyTfj5Vaxn0vNXnS6uxP22PgrhJQdf4nf78JelXFqfVPB4Jrhefzdd4mrYH9Xy865jjVXH6zt77Bp-xglAErUNcvB8rPLMK7kIk8qeF1BoRQXEiAikbTu6vmNHoWgVtUshdKxF1Oy6lXIyUXU8AeI-xrqayzxtTvlhsY7oNBuB68sGnHmh25ObOy1sm56gFk6-27fkzq9hPOlgRdcMqc-3LCu4DK6hr19HJfzzT2lEj20WyQCW4XNV9oPRppMVsrL89-i-8P-2J9YiB-68UbW18YWgPcAw_1FhKEzJYOB2rs-_ZcmFeNb4zDSwRkkC9pW2zdgMnU7-7uZ40jXARVub0_sgPbnUyEoGOGVw7aN5vv1ShSZUZrLkA3KBkqQCdm_kHrnCHLBXCMwhS6UcGnqaAqi1X22PyrzxJUyWbTq-C1VDaTPziGhjnuocZR7IRmZNKo-4ka4Hua44w6UhpknDN-_FK4OEpZ20v9qvnqPJls6UsqCcRlZpAQ4QuF8LffP2h0KMoNVqXUhAnfG35APR5oY4jOyznAnAr22ZNDfu8ZbNqalcYcqw0F2eE9D7j2j2ese0lpUZTgJk10ApxqIjwqQqX8W5dGKpgErCPrmROyMJdQzi-N89FVhP9Fr-XnIv3tsXIi-GoruazWl_utMBKRYVPW5DqliIhXKK1WrgV0yZxscbayON0Ig4G1B9tL_MAir_mbrHN-fiPjBl8eVzS-l7EFaaCeq2HMqcd3VbwOpJ9d9gqP27PorMxQ4oHYG8XfAi6JjtwAOQKx9s4UnHumdKxS9g8DHre3xJUpNKvyNBZ4U4SoWsDuOr3p3oCcGZPHVulSoMr1-50X34aiuNwTd7SuP7c9TStxguWUYoENBYBlM2kQbkW4AK66bPd0Bgq_UAl4QraxyZ9Y57xKa8EeO4l2tcs9Y7QfjOhxieQzhwwq3wW-IJT39p_mH8gqX91HvAHYR0Wbgifa8qbybhhvwNvdknIgjBdCoZD6JCEBM0sVw4pTKnhubNMPZtyMH8Aa33nZHL4WB0f3DVsxov_0maY_9n0V9k2SUCmxIQkxOacWzlJ0kIww5DlT2jbol-_UhbRWhRam3onR-6KKkaMLoTwCSGn2kgfmRPqaBOEdM1TYjY1CXZzTttZ88-c2dRNUcoaUPFAk2P9eywsh7m_CEDhejcFXVSNDIwOh_-F9dpk5_juvHaPkBLE6blZtirdgvpQoW6odwB92WvvzAnGHZpTyISwnuarBpCER446ABXWXFRdeXBTn7Egar8wduSpNflh3oUBLlyAwPcjBrDSZ0drHMFnwZHiztkx7O8iTBjf5ZpSaENOM6Cfg8CA27_9PM3Xbc-pXtZSl2NVZgThBn-uTawXbiVA6BoJqsH8urQisoQ_Sk8-CeNVS3A52Ys_GtJGk-GURolKvBST3_ftPrFDM_L332MKpvcn8RYkvus663yo2j7z3Q5qVfFwuZgy8VrZpB-Z0KzN1EQO9ibAGOY3FEQmTGHBp9975aZuJtQTNIn8C-NjLW6PCkNKQh22rlseRmo_HxuZoc6mAKXv_3veZn26CAW-OcPRSu0dnlS8twy3WXTIYjwUbpZFn243JpT734xJMUFvUv2L286klC1_XKOpCmTbVGpQhCMjYD3cK98npbSin8BYIW4nTcl8_B7AfYsONQybnF7xoEtQn2X8z7",
  "id": "rs_0c84a2ee5d7ab45e016ab44d16cf8087d0b76ee5b054f03b28",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE0g1qvzZ7VIY3EF_pvjqgc01x1qQXvm6L91gbeccoVzddV8UGY9PFaXLZ4XHhCP9zvPr3gDnV3xgJVLhsF4dLbcedHDsNhkk4agRTX3rKUcB6N7S_EVdl2vdyqMxbh0aULY_eVPlMAHR_2ieMadlLJGPIurMzjhgmL81cMMN1j0utq6TmrZK_MzqyNWz4ZLZjyHwbVpbXpizg_bfUrqg4HmlG6j3GsT4n7iD_ZapduD0VTj057rHbaXJEvoOPosaKE9yXOg9KU7ZVBEyjjIa35oaLlssEu0mY_j35cilJ6LoaLqkoAbFGV9uDsMyUkVi_18BxKwp0Fg-BPcptPhPtpg7iWNQ_1nN-A8bwKe1KJoe_L7qdlZ-KGDg4NRncEpBuU8rybNnDzoKxRCx-01DRNyzPtOXTIMvwlnEVD-O8j6xUjhVFWzqGSOGHNRitrGeCT0vNpI8OoamF0NKlTC2wGQdHEY_uiwvtkynLP4BFm8DEq0DKyt6yv0vVZ7eidp_RdiCbUog3bkO2UoNNyU1GwmDBgD3u0a_bmtA2Q2NaC-Af0tdnMnTdm7msKE-WHBuJl5ny-Dqmsb5OStmpVn8x2unLjMcxjFs7lk2Ygs3bdJXfJ6FhNucaHxu8yOM_FPsfRnFyzoxJDED40Lc5TEFlsoMCG-_6-Zf1pglObgpwx-QqfqOEb3xgl3aJWSwmgSzFZ9hgBJoLaJqdXttkG8EM6JhVDW6bxtPYWYj9Z-P9XzBn5UsGmzmwZzhgkBs74ckn9BmltiLkTUfBL1LDjY1WWx6uvb4Izs9WopzwH35z7D7x5cld2Fw4NM700i2oUmNuYNh9MgdjbEL9250eYi9HVM_LWgYIDwAbp3ftoqHzQjZvrr6WvdXIB_JClv1DC8vbVeqwfFjy61Pt_z0xq8e1Cy6abYs3t7tTKvFyJeeCzpWITDttoGeYeFmUDFDV5ExM4sh_LV0LtDGOJAaKdjSRfG7xTk80P30hDUB7urbSZC4ZLmIb4_UOqYY1A9VrkB70pd62JD9GM3Yvz8tAStcvVWQefvi1JKtTw4iXZbr6aKJvrQzFvX5oEGWmZiUxgQdevSEDA5UpAZNI2Wm2k0rFS_jPBsR6PdKeMUK8yUGPw9QpEMr_NuqjGhYikYK9k36bDVsSlSC_mcZJk_VeArVACyjVWyj7pfn18uqZGlvH0JUz24u-WtK2rLVXxY4r5xIvrybFpOqp78bdWzBVjle_IOijX6M52NE4DtyeBpCr2F9cKGTU3zXXLOaPsJ_wC4iZhhpXgvjFrAgL8GCgFqLiD4wV2ynzDw-mBuHb66BUpbtryt-K3Ms86FZiV7vaj28u2OtDEo_gu2af7Q9Opb74g-4SMKUj55LxbCNzwkaCEIqk1KtSWeGh01Puz-anotHA2hREo2tWBSsdsbHL5PodaaR_ezvVuJwjTjxJEmhNyI7XT0QbGxZ9a7OHYSWiWX3wBGoIrilHhl3XPk6dAMERe2hO-E8lJmQSTNubVJxyrrMWUxx_y0g8-5UOKM0ZHJDqIIu7CwTQIsR-YqyDiQJJnnXALgZOh6J8MZPqAq_OxxDN9BdD3ENXkHl5KQ3qQxzdJfMZUAM3foIDLgBBOpM6QHKsey6S0TD7kEnm5R19CahpWymy3JAp36i1Yo2a_4ryoowbYdA1hiksQT8P4xYf3o-ti61jMOv4Nllhv65hmvnTJaMb-PefhwF2Ubwfq3UkWaDC41JEU6xvEpEEzXXldQ1gPLy4gjID-ZhXioSarbvdPXYDR9waW0Pbi94t_2W2HUal7RVuEGtiiA1obeB9SgfoWgck4NWZxMLF3PoGtxNnQJBJ5xeJQGoZFaHHoHSFNNlnqMyOiKizaUZAiM3Uxa6SLJEkTq-K6RwLsLAf5YBIQCbmpayxzlSrepuCxvFJbn7cSGElCEaGo0ONV0qrArcJ9_vdacsiyvVHtMOSwq81uQ4WTx8HTKztZ4AWKabL3onrVc7tc7DD7Utzhq41L3tg==",
  "id": "rs_0c84a2ee5d7ab45e016ab44d1cdad887d08836fe9b6a3cdfdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.04,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"I see two apparent classes: gray elephant-like plush toys and brown-and-white dog-like plush toys, with two empty turquoise baskets at the far side. I’ll use the left arm to approach the isolated gray toy on the left edge of the pile, keeping the gripper open and staying above it for a closer alignment check.\"}",
  "call_id": "call_92mE8XZ3O0Sevp8Yq4j1nmM6",
  "id": "fc_0c84a2ee5d7ab45e016ab44d1ebabc87d091acb854658db728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_92mE8XZ3O0Sevp8Yq4j1nmM6",
  "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]: [-0.2436, 1.066, 0.458, -0.0086, -0.1932, -0.1471, 0.9995, -0.0208, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.0423 left_z=0.1117 left_yaw=-0.0151 left_pitch=-0.0374 left_roll=0.0001 left_gripper=0.9995 right_x=0.2949 right_y=0.0008 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0034 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.4256, 6.9265, 1.7998, -0.1148, 0.0562, -0.0611, -0.1983, -1.1829, 7.4462, 1.6874, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3901e2384a522f3b98065e5dc69d5de387108c701cf68448c6b2c62d90973007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25278437ba9f0ab15eaa9503b4690e7c5d3335a326136e4e89f281ad4e27a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec56f6fd21450de6d69959177e69a00a11f34face4af223a46a40bef1a62aba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.486 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8024, 0.617, -0.3809, -0.0219, -0.0257, 0.9995, -0.0208, 0.7975, 0.6109, -0.3855, -0.0189, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1835 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.935, 9.2786, 1.8046, -0.0024, 0.1001, -0.0611, -0.2803, -1.0462, 9.7846, 1.8339, -0.0806, 0.1441, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2436, 1.066, 0.458, -0.0086, -0.1932, -0.1471, 0.9995, -0.0208, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.0423 left_z=0.1117 left_yaw=-0.0151 left_pitch=-0.0374 left_roll=0.0001 left_gripper=0.9995 right_x=0.2949 right_y=0.0008 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0034 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.4256, 6.9265, 1.7998, -0.1148, 0.0562, -0.0611, -0.1983, -1.1829, 7.4462, 1.6874, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3901e2384a522f3b98065e5dc69d5de387108c701cf68448c6b2c62d90973007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25278437ba9f0ab15eaa9503b4690e7c5d3335a326136e4e89f281ad4e27a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec56f6fd21450de6d69959177e69a00a11f34face4af223a46a40bef1a62aba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c84a2ee5d7ab45e016ab44d22f21087d09bf5d8a96a181b8b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE0qReAonHKxmCwhsRU_HTDXy4mVyf9fx9US3Ebpkqc5q43f9Qn_hF-tbW1nw8VB0chi3pYEeqyRKaFDWlkmFtShVL0LU0_RoJscC98N9w9KT5Pac3_8Taqbt-PrAHcfnGtsyTw5KOzpjmDhQzhipHNQNLsE8DQ8Y_DY_0gb2ime3GhuRL_7hxPB1PaBCYwZ_eovv-CE-u9wqLs1YXm-Lo1L3ZvfH8kE1qORCmtnkgeVUCeZE8eRkdmjJlvsm25rQnNYMvCxqp8nhzd1Crtze62o09-WEHeb8P40QOQjvlkE40kAopU7ZFnpKMAD4Ety531KxmBQpdihDjGGYilnPxuAqBJg7DpcUrJGkQE7eFrckr-EgEUsesslvaNrQqXe8DDui8OYh1l8RiT8FGQ1nnIOc2ynwwvA6fzjg0HyXRQuf14g-paNknpsnKGsWFD_6KuSVSgYic9v3yILUpWgFCPfjlHlAyUB3miiOBAn1NapzDWGOYvhePOytQFtdx5E_2bYuTtdqWxlKS0v7aRAQSv_Ec5QXuJIkGffoHVUcqIJvwgwgu5A9MlZlc6FpeKPtpDzJdta0ZCvCFgrdS5dwrsYtuB-i11tiCL6CkAk4rZfQ7nYl_XoAdC-zBNZ4QJHaqlwQjEczAVHRii7mqS2OWiS3smKHy4Wup1FNRGTs39Ie4RhsIpDR3n9RbgqAa3lx5vl17iK_yZxLGzJsdUCK8YqPVLxgd4j-zpo4P5x4atYyrCQeo48MlHAppGgZFmhp-pttXwWg5ZOrmv3UbO3U2T3RAAEt9E9pp6l1IzuCXhNQHPRdACZ9ZM3qDqPCJrwjuzomns9VrC4M9p7ragqQq5Iu8gdlW2b7KzuUlAJcmvSMKD_McKFaqVrIBRH6MQJP5yD83QMdGH8ZakA6g-jfl2pwWW-QchRks6Uwo_J6SlD7_Bp_mEDpbq-qJt5muc4M8VKz2CSHTGbWfrr0UJFBLaHzeL19dJK9_rVX9xksvvALj0ft1pUBgfVw8-tHlpiivmBPhjQ2A51EavmiMkm0CRE3abs-H8xbZKaqPF62FW5HQiC2ybcjnDzbsni_MXlSxDGSDdPr4KSAq7FMKfv-Vw3TemcfF93thWK9O8u6essSOiuFhaQ7ce7COqZrjzaeGhHc-FM7z_TbJg3YgkkAx7nHA3aOxRGTJyg__qNCTDTRYhssjpCcAq0qiHt3JBuGEMt3pGkM9MNx4Mk11WXFG_7-lUMY-qWp8x10d-W-dC0cAqoPWKhF0WHNYkHn1ZYuttE7SUbuZIqlnNSBLGCHxrPfEUNDByBtpA81ufjO9TWsIRhetvDh_V2r8jDcThOipEFi_PZ0aM6zaEPdxHOk-Ae_UUTnb8zQejJPuUc_m5CaizHdIgYRbxbU7RFO0u590no93FYzkLD250g2c1Esg39fla64GB3XT0qc0jrVeOz1TrZXaJkdN8GbRXZQYeGIH5_l1D6BWdVsyrIwvchN9sB_Xg3OHGKOGwCpEZOuuptUGy6p_TIyuS1N24bgEswmF1UfGjktqAf2l8x5LyaWDu4H1RimRYeZRvTDdrsI8jgv9i5EWlF-UYx6H8Wkc9OXWEEl4n_pPgHYNb5cGy-6wfhxw==",
  "id": "rs_0c84a2ee5d7ab45e016ab44d2833ac87d082f8cc2a9c713e58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The left gripper now overlaps the isolated gray plush in the overhead view; the wrist view shows gray material immediately beside and below the jaw region, while the nearby brown dog remains clearly to the right. I’ll descend in place to grasp the gray toy around its body.\"}",
  "call_id": "call_gQcTjAJBj8PU8eSOzcPj0635",
  "id": "fc_0c84a2ee5d7ab45e016ab44d293e9c87d097840d673f1bdbf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gQcTjAJBj8PU8eSOzcPj0635",
  "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]: [-0.2474, 1.3254, 0.2874, 0.4664, -0.207, -0.1303, 0.9995, -0.0208, 0.8009, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.336 left_y=-0.0437 left_z=0.0563 left_yaw=-0.0166 left_pitch=0.0081 left_roll=0.0114 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0053 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.7282, 3.3846, 1.1355, 0.0171, -0.1685, -0.0122, -0.3214, -1.0598, 7.0769, 1.707, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eafeb8a72980bfb2173f70db7e353ef55c4cf3cec2e17f45e13d77d263860cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f92767e6605b14d7d1d50f1c5166fb4e4c892737bd4bdafd64fcad1a314bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3109f96e5fa54c382150c4a6ba8ca35fe16923bec4093dbe7e6895c7ab2a732b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.36 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 13 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2436, 1.066, 0.458, -0.0086, -0.1932, -0.1471, 0.9995, -0.0208, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.0423 left_z=0.1117 left_yaw=-0.0151 left_pitch=-0.0374 left_roll=0.0001 left_gripper=0.9995 right_x=0.2949 right_y=0.0008 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0034 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.4256, 6.9265, 1.7998, -0.1148, 0.0562, -0.0611, -0.1983, -1.1829, 7.4462, 1.6874, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2474, 1.3254, 0.2874, 0.4664, -0.207, -0.1303, 0.9995, -0.0208, 0.8009, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.336 left_y=-0.0437 left_z=0.0563 left_yaw=-0.0166 left_pitch=0.0081 left_roll=0.0114 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0053 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.7282, 3.3846, 1.1355, 0.0171, -0.1685, -0.0122, -0.3214, -1.0598, 7.0769, 1.707, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eafeb8a72980bfb2173f70db7e353ef55c4cf3cec2e17f45e13d77d263860cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f92767e6605b14d7d1d50f1c5166fb4e4c892737bd4bdafd64fcad1a314bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3109f96e5fa54c382150c4a6ba8ca35fe16923bec4093dbe7e6895c7ab2a732b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE0wNvVFD8PTMg1ESjjSpF_nOi9-J8WuZWJPwl7lIVTm25ANSC35rsZyAylmGmHsvpmBPW1irx7oSYMfCU-9nkSaV2XtOnZ6DwPk7qVbwCJ2qmgzu7Gu1vOulEoCS59olXhecd6vc_bd1thd5wDR3qgQPqn5pZ-AEw-xlw8k4xdXBHaTDoiKWQFIb8KCav-aCvaQwqvWrm55ysUKlwtCX-iAE1S_bn_uGV0uvQ-4wcqGvvdpK-8STkUbWMiZ92O3_9SQhDiVOaVJjrddBqck3zEdM_mVdjT6B7C_8zHVX2w36tBTXOR7xofLzFTM6aYYycHIBWSJdF2VhOAjGgVY6uWfEzE7DB0S7OzXAMrTiOP5ly3r9tvtlK5D4fPOG3mq7Yohr-s8plygFVEbLjYafn68q8bozuft-OjeBk8vS91raMyhYrGaz12RtnqZBIwf-i6qZi1UmUV_ERxfaKaq_-cSXRN4mV4pczHt4q7N_866FE81VaWorRJknpwq7lgQg8dxkvNzPnDspkpzcliwtqHOxgcpiwYhyAiPdVN1RicvLZ3DopXDm-vtIbNneFDWbfG0IFWDCVCGlOWQ9cdlpbAsW31xM3cywYmlgSTbUe36pHg_uCS6CckIAn9v_qaKLWM5ez2J2TrvWsLt07wf088npb0CJRgTm276ixHkHsHAbkuLdtCdNtnPhQV9ZczBcIf8UmP2jC7n-isXR6iT7l9sj_7J1wO23VrTlkiI5KisL249ozOnpTKO6Qs-PDnvrVJRDWUK6zj_oR8pKJ9TdnYFAjqkmfSIbbM3k8WYCbJWRK66MRvBJVUjoOJ7XxacUy5BAdrPEa__LvDSQnRInf6uzLje2dSLBYVDazViD3YuFrgd0WE_IJK_pp9RihNxCNgUp71WBlvC6iV6NmjKhlkRqgL4ugKfAA0_d2xUVJrQnL2JtSKBqr5W4ugOZo1UEZsts70Sk6eaMO850SnKpaV7W0WMQ7uL_YOYcgv2j4mQ7PCyQD-vp6auNZ-RKFawfDxoC4c7a7NS-P1mQqmZquicyKZrtkP9ZiPXGz_bfAY_B2oGkRCcRZB7dJBhNTdpnYFlByk9DPfIXo7Bj6xwJ4rfIBGQouAp82RsgLRNe2hnxvddXGk3nJZjEBz4CUVvng-Cc3m5KLPuUBRL7Jfdm_SlIAfztm2hR8mcpqshOlhTHngl6hbeYAnIQIkK2vC9e208w2Kk-vwEuW_27CCpkGeLE_fcetuXEOISyVS6HY4ZdhC2haROMilRVRS4zeYRxGVsVXPdWHv_87rIgNB0YCS925gQLXj7JsYxdmHZGTYAZMfzp9dTy3WAphdunizyd-ednc1wEfHOQwGSMKp-0J4fjGVHEQYMHQlwahwwLCabOAArMMy-4uQ77pp1QrgyM0Y3mK50sbXsHylzT_gUbor8JsERaTJui32TuaDcRgEkSAYI2YIoyPQ_aHsrK-guXKqGDQOiez9II4sU8z7PNL84l4ATLiJxXAT-aOLlms5r0SuRrb2FAFjHSPbzbZ5aukSvTPky3URLt7M1bUEXrztwjaoxUWZ3IyVwizIT3rh09Qmdnx8TlRRihc3zRpHHKXikmNdY59GmMfHUtm822uPeoxQLU6HbWmMKGQVUdGOf4BRaR14ha1hm90E7OUf0yc8V7KSL5Gpa-MgjQBQD2J_RR-nsN0KU0s4YomewePR7dtgAIAZKYyaVekmB5ia-CcdCtUUHKh_hbOGcoPTf0MOX9Ki0VlfF-BKlkkkvj0aRgBZdgIoJ2z6Lq2P5gSWaC8LuqZ7-LPsapzYhDAZbiEyxdsnBVPiI9lTTG_kkCxqGBnx0Lr3Wa9YO_dhwK9qEPu8VbaR2iEurjLo3PrBFo9TqibajeFP7iH2qSOlOQOpDxs-OssmpblkPmYp6zeHwzc5QAQfeotTK8anlXRQ9mKRTn3dJe7ei8gDBy0Ologdoaw_r1qLsSa5ukTSTp9ElaLmNQoUi58wzTJc6bo6o_qZ48SUqfw0ddEI8xTYI-Vw6xByNkxjNkWpaLaSHZX0ho_vMit0Z05mfiHmx-Nr_qi91qTW5oTVqyM9EXIaYiXoPf03SQ6xYXrxAtmAnKXZE6I1H5nxH-AYFwQu9LDj_57PYY4f5UzXJRIA7gstf8qCAZIHN210xoFdxCPlAlOFpZswa-55CBVxl_jpIbstg9CTQ8DuuqwoLp5sOmoulK93omdLDd5Fk78ttwzASI3P-G746FID6YCTe0415KIUG65uEvCSqbpCtUFcy5pCzfyCHG_7u0mTZCsz-hQ0Up8HY30-3Y4ue0bQDDcHs3AQUporndUcUs-vNQ4y8aKtXTM0k205jqi49Vtq2eQ2oUuf38uHyNktLtVfWG3Z4AcHIflq-Zre6AA6tbNNpiW0JZgDRdQZU5M9zGSPPmJRcpngg8WAMBg112GuUDUb3fq47pQx7iS-KMrUdyhHtDlrbYtFsIRQPU4VAOCVdgu05NEKlmoH7",
  "id": "rs_0c84a2ee5d7ab45e016ab44d2cb6a487d09ed0bd4a77e7ab90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":0.02,\"left_z\":0.12},\"note\":\"At grasp height the gray plush is still well left of the wrist camera’s jaw column (around image column 110), so closing now would miss it. I’ll lift, shift the gripper toward the toy along the arm’s +y direction, and advance slightly because the toy is still ahead of the fingertip line.\"}",
  "call_id": "call_dMUbZotaElRWPawYkDL7bHwf",
  "id": "fc_0c84a2ee5d7ab45e016ab44d2fa2f087d08629a99f98a1c9c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dMUbZotaElRWPawYkDL7bHwf",
  "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]: [0.0822, 1.2152, 0.4931, 0.141, 0.0402, 0.0204, 0.9995, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3569 left_y=0.0259 left_z=0.1074 left_yaw=0.024 left_pitch=-0.0145 left_roll=0.0051 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0061 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.2171, 8.7043, 1.5165, 0.1832, 0.2369, -0.0122, -0.335, -1.347, 7.0359, 1.7656, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71b09b9b3c343e4263807770937022a4c9a6b0a39ea6df08aa0abbfcfedca2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbdd607b094a821f6291d763d9a2fe2cabac928276b65e7ba900dca95860a32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b11719639461685385ddb22de2991470877730ac3ef9afb02fafeb0e469b540",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 1.935 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 13 changed as sent

message 17 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, 0.8024, 0.617, -0.3809, -0.0219, -0.0257, 0.9995, -0.0208, 0.7975, 0.6109, -0.3855, -0.0189, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1835 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.935, 9.2786, 1.8046, -0.0024, 0.1001, -0.0611, -0.2803, -1.0462, 9.7846, 1.8339, -0.0806, 0.1441, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2474, 1.3254, 0.2874, 0.4664, -0.207, -0.1303, 0.9995, -0.0208, 0.8009, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.336 left_y=-0.0437 left_z=0.0563 left_yaw=-0.0166 left_pitch=0.0081 left_roll=0.0114 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0053 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.7282, 3.3846, 1.1355, 0.0171, -0.1685, -0.0122, -0.3214, -1.0598, 7.0769, 1.707, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0822, 1.2152, 0.4931, 0.141, 0.0402, 0.0204, 0.9995, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3569 left_y=0.0259 left_z=0.1074 left_yaw=0.024 left_pitch=-0.0145 left_roll=0.0051 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0061 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.2171, 8.7043, 1.5165, 0.1832, 0.2369, -0.0122, -0.335, -1.347, 7.0359, 1.7656, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71b09b9b3c343e4263807770937022a4c9a6b0a39ea6df08aa0abbfcfedca2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbdd607b094a821f6291d763d9a2fe2cabac928276b65e7ba900dca95860a32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b11719639461685385ddb22de2991470877730ac3ef9afb02fafeb0e469b540",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE01SHggZQT4dnwkPFdNIjwkbkjkrcpra0Jgm3Ld38vuZ5_kEjQDSyPmXQjQsy540tif735YfVniWnq07vgIyvdwgoTy7NwNWGBuOOMW-_WSWI8pjpZj_i7zlUC04xjuhZTYqDQOGB-wKwGv3vs27_uVvtyZAdTclZoU-zryH5WDa74rfFvMPmE9aiKR3eHxHSEokPK4enTRrii18YtlO_mo3Q_NL02nqpjj0D5HuXTtWKf-2jBsAAYuTek8QQym_yxhSjoykwwQf3-hESsCGG3AhP2cXtKB6T4fzkLREkog6WjePru6p5--sE2RVl8hQwl1v5Y85j2UpCX10dzTWdHfGwfYi5jtes7VK5CrVudIu-3VLMvGT2czNU5XB1fLPMLNW6Hs4Je0DhR35hRTWvLpkbUZYAErPXroGFrDEFh025Nb8BWTgUoSW_UTwsa46eEa5-if1wZc6oXpZiCa8o93KhM3WVBrKm_7RtSGcuhPvvssghNIxpKVUxNPup9rB8lQvBU2yXftgKrpMS0ugsMCxgeWIx9H6yPlEPN7KCVKanVUaO8JoAlC_DsyBwaUwBNU3bfythpuWUiY1UHO3zLQ2BkLShrhXbOIC-lcDMAy751IlpgBHrHknxqEzQ98GLWzGqY3v1oqPVTu7CkMuwt8suCXNrTl0SA9zUGHXxq7PPgxPH-W7rU5BOQMII2Zvd765kSZWLR17u083T_1ySZ0xFVGaXzmTaTyC_KHK_gpQVmCHyuZgsYV_5iB9BmhHI0Cf7wwt6uPf4OQO5ZF1rKZ2wQisu2LxNxSpv6bXjX1yP18kBxW0xjlEMAOA9WDAdQh_OqaBsovPHB97guUKRlQTld4lZCkhFtZ8HM6CJA8fjaSoJCV0kTGqO33wEMrbyt9DpUFHIGS17jWL8xeXSiuypiJoKJ2bBC7Gvuarv04B6gcktvrRh87cSVPs5xsCtwJoI5MIY3lgenGsT7IDhspDjtGUQsxKMJvvYtBJXaux3NlaVK0J3rfXi5vi0a5kFdkfou5XvOLc8HRK3obPM3iHYjcAYWGvZm_VoPZ6hUEen-_pnd9KHDiC4i9Wwl0DsSb0srci1xRa1IQrCkn6w4nzf2N-4QvHhyPs5S1B_tH8ix13QLGrQYYNeFmu_6WRE9WWuLs0vX1qJMiwQ--zw6ePW4gooNYfKaKA_VeZRR0hSqwdpfNVrttOkVRDZjrBY203zSLomv3fdgsioWv22uNhua-GriT_xyb4EU0ExEGg763QZBvv7eoo9bAFGk8j1i9ByWmWX9mehqdSTK09xm6LE0xcG3_kc0egIQF1Kq8re345F8ownVQoZT_KnwbpJYxyFl28BaRUFKWukwbM9zWrr2DDrZ2Rh02T9QZwXeNsWxqTQucjEpMTa7rA6eHbAnY",
  "id": "rs_0c84a2ee5d7ab45e016ab44d33b16887d09fb6d56684b965e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The gray plush is now centered on the wrist camera’s jaw column and reaches the fingertip region near the bottom of the frame. I’ll descend straight down to body height without changing the alignment.\"}",
  "call_id": "call_wvoh4Z8aNnZMU9LzOoLKk42P",
  "id": "fc_0c84a2ee5d7ab45e016ab44d34517087d0897ca8041b2c643a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wvoh4Z8aNnZMU9LzOoLKk42P",
  "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]: [0.0818, 1.4563, 0.3592, 0.5472, 0.0292, 0.0269, 0.9995, -0.0208, 0.8032, 0.6086, -0.3843, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0283 left_z=0.0549 left_yaw=0.0295 left_pitch=0.0163 left_roll=0.0182 left_gripper=0.9995 right_x=0.2954 right_y=0.0008 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0069 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.8222, 3.5077, 1.243, 0.2369, -0.1978, -0.0122, -0.294, -1.1966, 7.3778, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810d8c216f40c18356c8c11dd780e4c6a554a75a59d35cf720bd3b0893af537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52525082f2d480472c50a35923191e707d22345c0172aed3b32e933862acf2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3643ddeb6f4d800c2c06d2979f383803c50b02cafe2354e57c5410549d8c1fac",
      "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 · 3.709 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 17 changed as sent

message 21 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2436, 1.066, 0.458, -0.0086, -0.1932, -0.1471, 0.9995, -0.0208, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.0423 left_z=0.1117 left_yaw=-0.0151 left_pitch=-0.0374 left_roll=0.0001 left_gripper=0.9995 right_x=0.2949 right_y=0.0008 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0034 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.4256, 6.9265, 1.7998, -0.1148, 0.0562, -0.0611, -0.1983, -1.1829, 7.4462, 1.6874, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0822, 1.2152, 0.4931, 0.141, 0.0402, 0.0204, 0.9995, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3569 left_y=0.0259 left_z=0.1074 left_yaw=0.024 left_pitch=-0.0145 left_roll=0.0051 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0061 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.2171, 8.7043, 1.5165, 0.1832, 0.2369, -0.0122, -0.335, -1.347, 7.0359, 1.7656, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.4563, 0.3592, 0.5472, 0.0292, 0.0269, 0.9995, -0.0208, 0.8032, 0.6086, -0.3843, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0283 left_z=0.0549 left_yaw=0.0295 left_pitch=0.0163 left_roll=0.0182 left_gripper=0.9995 right_x=0.2954 right_y=0.0008 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0069 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.8222, 3.5077, 1.243, 0.2369, -0.1978, -0.0122, -0.294, -1.1966, 7.3778, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810d8c216f40c18356c8c11dd780e4c6a554a75a59d35cf720bd3b0893af537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52525082f2d480472c50a35923191e707d22345c0172aed3b32e933862acf2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3643ddeb6f4d800c2c06d2979f383803c50b02cafe2354e57c5410549d8c1fac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE04vEk2HmNoS8z4zLgLkCN8P7S946Surb0u-J_iR6N0YOGE3l9zlOzg0CYrI_zf9EWwFHmxblD6m3E-yTvojKiW_SDLQM3gEh0tHaI3YGu5RH9Dp2aQzUkRrmQUwsm6ow2h6u94_41lu2Jqqt0Df-J_vdCOhk_ud5xmqzsAeiBl6Jd_503NtFweQ7yn-eM1pbq4-I0sNtPZMSxLy8Kf4od421MyWklXFb5_wRkN9XAMIRYESMrAKADOYtQ6GbCWaHP1qcHU9DsQHaIjeTWN_L9FIbYX6ecFWJDdrvBKnYgQLEr0rZjlXVv0ZsKft2jImt1PrejV15doM7wOG8NmJ-I4FgeFJaiW-8cYKZMaHWgl8J--4wRo_9x5ExuEqLoz4lNRc0O359PdU5FFx3Xp60cIhM-cUCrg2ROw-b9DGAXavr-oAmANg4ru0ZabrGvpLVxSodrguoN_mgUMrpT3PfQ7SslImMm1AMZxMHeEuJWmNIbIXG5ms5_P9xsQrD6--zEesgZ4DkcchZN-iyTsHnlgwHtvO684CsklSC25ewpPYqF3vSAlOLK-pGVp1GOTRIc-nWjL5zu66lUxsixzVKdbzits4l24DUwnz9Y-iq1bWHl1I1AMXi_4x4NtilV631Xs2dJwQYCsF8ib9bGAtWDZPggDM0bqyy2jWoCq3_Mm-pRNfYL1XLCC0a-kGVOvscxfiO3Bfe9Qk4u0sbF-ZwLqrOjJeZdnOqC0dlROrTGnOczUblKjPsyXiDUspoZGHw7liDD8FHOYlJO6KvtJICCIywZ0OsMyFw98Gc-HnmfWsqdjmB2bsn5jf-uCOsZ3IwvPqy9K-0YtIbc6Db9ItrfZDvzyCAOBIXvHjUWgw5aB_8_vnJvkgbjvviab9vDtLgyR8BPRs4-_RCEPUzESX8voQyIZXSEaCBnMZdPUttDZOxWVUxdviseIUiBGDd9NZAW_0mSc3vvVvY5hCpGNyKTOY7cb5yGrerh0rZh3Lay8q9A_lpmNS6TbaKr6lW0oGPCDRGJsSH8yqvapA4WsTWb_pUybZ10gfoBsFyb_9-gCfRhBU124gUwZclGU1KNPbY7UAHFzR9ZE52mrY-CTNDyFx93K4MqDSdiPIXTbKQvkPrtMjqm8hZ9crsvMK_bfifouQyUzukdAZOMci-awiDyJdXS3e9frdebCJfSOayARL_ODtPFCTq7-f_DCc37Yd5FNOxdDSsPdvrl9l012dYxr_Wj80hE0DoUetys2ulFTXqI1NEKSEdyMRyUKGWcwc4LU",
  "id": "rs_0c84a2ee5d7ab45e016ab44d37413487d098a8f6a0312609fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The open jaws now straddle the centered gray plush at low height, with its body filling the space between the fingertips. I’ll close the gripper to secure it.\"}",
  "call_id": "call_rv86HUqOmsRliHZbylUBXER1",
  "id": "fc_0c84a2ee5d7ab45e016ab44d37843887d0a6802646f6a2ee8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rv86HUqOmsRliHZbylUBXER1",
  "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]: [0.0822, 1.4586, 0.3515, 0.5961, 0.0082, 0.0269, 0.0084, -0.0208, 0.8043, 0.6086, -0.3847, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3676 left_y=0.0324 left_z=0.0616 left_yaw=0.0475 left_pitch=0.0547 left_roll=0.0305 left_gripper=0.0084 right_x=0.2954 right_y=0.0007 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0084 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.012, 6.0103, 1.2723, 0.1294, -0.0269, 0.8718, -0.3624, -1.1009, 7.0906, 1.746, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49756a744fbccd67e1a65f4ea26a337f15a4c47575a3cf2270a5c6e9dbe6a8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d23138aa9d6269867467c30c0f8069bb3f998f105ce412da4442f849d23038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1fe91e1fb11b27f2fde280dc90d401958655ce30880676bcbdacfa73f194d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.306 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2474, 1.3254, 0.2874, 0.4664, -0.207, -0.1303, 0.9995, -0.0208, 0.8009, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.336 left_y=-0.0437 left_z=0.0563 left_yaw=-0.0166 left_pitch=0.0081 left_roll=0.0114 left_gripper=0.9995 right_x=0.2951 right_y=0.0008 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0053 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.7282, 3.3846, 1.1355, 0.0171, -0.1685, -0.0122, -0.3214, -1.0598, 7.0769, 1.707, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.4563, 0.3592, 0.5472, 0.0292, 0.0269, 0.9995, -0.0208, 0.8032, 0.6086, -0.3843, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0283 left_z=0.0549 left_yaw=0.0295 left_pitch=0.0163 left_roll=0.0182 left_gripper=0.9995 right_x=0.2954 right_y=0.0008 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0069 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.8222, 3.5077, 1.243, 0.2369, -0.1978, -0.0122, -0.294, -1.1966, 7.3778, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0822, 1.4586, 0.3515, 0.5961, 0.0082, 0.0269, 0.0084, -0.0208, 0.8043, 0.6086, -0.3847, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3676 left_y=0.0324 left_z=0.0616 left_yaw=0.0475 left_pitch=0.0547 left_roll=0.0305 left_gripper=0.0084 right_x=0.2954 right_y=0.0007 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0084 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.012, 6.0103, 1.2723, 0.1294, -0.0269, 0.8718, -0.3624, -1.1009, 7.0906, 1.746, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49756a744fbccd67e1a65f4ea26a337f15a4c47575a3cf2270a5c6e9dbe6a8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d23138aa9d6269867467c30c0f8069bb3f998f105ce412da4442f849d23038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1fe91e1fb11b27f2fde280dc90d401958655ce30880676bcbdacfa73f194d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1G9jtk4Zyqg7dVvANbO7ysdbGroa1HA0M7SJICW5M6jhd1P8Nh7lhxl0adW7alv1OTrOMo2334DVCITBSoot61yn3994BY1TvkW4KmWfhFr7rELjBPbRmjZNXoZZIIi_vPi71-l6ThyzMRMjOGA_FlwZvWns9KnO8GYAHKoaI4kcYsFYz5GP095vaflvNN73BqSMRlm-P7TFar1xeOMW5xXagOJHQMVguRNeanDn0Gj5EM3eeBs30WfZfZV9lpkhikiAgTxHP5Man11635O5LFZ6bdbYpU2zlnXHBPFk16xzHvTkjpwITLY8Xv8CAs8VqtwQIdfSEH-ujgpbLgt6Vi0hmneu2f-OGvwgOTtQLGbRKJq6bLdVep62-CXDsm52we8mKXD8b9vl0W3NOe1EcRTrDU-O4Pu9jUod-bMv4r8YfYTjWxFaMbh3zp92wc1aVjlbepu9OU0Fwa8D06DvdEx1cS_-z09TtDTeCXcnYlmPc5uU8aiirkksZxhLm6GYgDOTh9hNVowwW0xeNK8uLI63J6IaVWc-dmRTNHIQPQR7VW4Kxh2niHnay5V2BwuEXiuZSUmMhJShe6m85EtSmhKssUTisvWg7TTqd6i6e7CJt3kaqRXmRzWB_jyA1tBOJA1Z9v3pumiSK_lXm-DUUouFTrsl4LU1mFWAJ_pO80SuAJ1Fxb_cJaL7XRVlV1pxYlXhx9Aj4dQJuopMRSHKsbKhhfoPGlhoCXv9XlGjRhutZnKxlNrr0jARV8EPLAh00EihWb2mfSdXeZ9ydHsGoqtMwUM89BhsBX6oEHDSOu0OEXDv5ZELtUes_ZvLRCE4-Lrs-ntFtjdLAc2oq7fvSyuvbZ08jpTK3Wuf0lxczsK89Kfoum4AjczcABoWIAxmSYlXym_xpzpGv6ZFxbgKyHYt88R3pzXka6cjJpgHcjlbBxN5g1EAMTKsiHdnL7azKApAxXYPzGEbZhWZ-XaX_wTdwBIw7MVIDDc6PoezWGPdRbsjOK9JILonoyUvRy0kscMrPIoRs5gTaVlvpVWUvfJWrQXNB8WwQOTvcEWCb3x15ozRtxMCjxSUSlMaYdWyvBU-ggLrNGInyXksNkPLrY9IFHLC-4_YnxKFiHh3ARKLWFFiWMXaWlOTgFJyB873lQrDlvk7UZlFyC8tn5YBuMqQv8QYdlYS02KjAsid6DghaequB0fmvo-qCbMjUIpe0I4U553SW9U1tiKQUiPvHIrwie_OxWI7LdOfe9GZUtjmp7m024357Tmx1ufTUUE140AYRqLWNU9H3U8Lo0pOC005vj9bMPGk0BybkNF1wqFjVW0JHre5xKB0Wl1JSkL__7UYh7xKbPd776inxXw-WsdK93JggoroFKkBXykDOWKoEP3McBtfJ8iiKSyMq97SygjRXLC9-DpQW8t_TPWtTA3MAP3EP92AbuXvjTOMrFC4ZvbY0Z_16lFcVAMyK6T30RIjp117_-Wu4IDVySuI-ymB-Ypc7Xdb_vZChyK3Muv9yCv653din7sCqkyISZ5K4CKTvUvPyr1PgB4kfMZe-OP22dClFxmEl9A8T_u_C5ntZt9QyysNcLEWPbuYuwWlJgGiu88TCpQURqILngb2N7jeHdo3Nm735kxeB63SraGaYH_pxMamSB5VuO90D0TedJ9SEC4PNGvh9kH4RPtuqax_81IkU0eg7rs0_zsoR59jaWLuunoJAtkxVXmPehRN6Al9seYBfN7_Z3BA_1A2kg4_X-tFVyCD1pDklN3FGxxp1tRWDQ-fYA-nU9jRL6MLPOLtAdkAf2zqErd-t6Isx9FZDN96pSnXPf1BRMl95esEcVY0R3j6Cd0MXfL3y6u7x6edqkQiYNW5PYRvpFS4mCDWAKLvQe1ClC6-p5xch7aVAZ19JZEB30bdV5R5ITuPd9rbkdgv81r_6EGgWEr-G6oUB4RWrus8FXkr-gnqKddlPIUYG0ocXuPvoa1pqhdhwWsU0sYYtae0Z3-Y0FLpy-yQvDLdz5ttJUPDtWb2kHdqeNdIHLIPJ73ya1evPlK6rcY3Q_M5WhAq7hhjIxjPP4yPKbSk3XxmNRLnjU4qO5oEvsnyx9IF_xt7L698A37Rk-UqkfOp4NkeOxZXyeafWO2F6Yxf4xKDE-zZMU0rBcnYy1ghCagD1k6Fclx1HKU0wBRLg42KfNsyl-uf9lqLzT0A==",
  "id": "rs_0c84a2ee5d7ab45e016ab44d435eb887d0a45b233a858f2fba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.39,\"left_z\":0.07},\"note\":\"The gripper settled at 0.008, which confirms the first close was empty even though the plush was centered; it likely closed just behind the rounded body. I’ll reopen and advance about 2 cm outward for the single recommended retry, staying low around the toy’s midsection.\"}",
  "call_id": "call_9LjWvoCS4ZJB9xz2fS8Ziwzz",
  "id": "fc_0c84a2ee5d7ab45e016ab44d4531fc87d094ea2239a6bda361",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9LjWvoCS4ZJB9xz2fS8Ziwzz",
  "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]: [0.0765, 1.5002, 0.4229, 0.5625, 0.0002, 0.0185, 0.9956, -0.0208, 0.8051, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=0.033 left_z=0.0667 left_yaw=0.0531 left_pitch=0.0509 left_roll=0.027 left_gripper=0.9956 right_x=0.2954 right_y=0.0008 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.4513, 7.7333, 1.7411, -0.0366, -0.0122, -0.1832, -0.212, -1.3333, 7.0359, 1.7411, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82936a8d103068fa7c7cb7af1a274ce0a519d24fc2255f332bd449062e4aaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ca0d58b2bbb0cbe446e675bea98927d7acf1dc45b35ac894b2a4921649878a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfae8d7e6607249b4983256cad0fb5a313eddb72861e22923a48a2065bd991c5",
      "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 · 5.436 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0822, 1.2152, 0.4931, 0.141, 0.0402, 0.0204, 0.9995, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3569 left_y=0.0259 left_z=0.1074 left_yaw=0.024 left_pitch=-0.0145 left_roll=0.0051 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0061 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.2171, 8.7043, 1.5165, 0.1832, 0.2369, -0.0122, -0.335, -1.347, 7.0359, 1.7656, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0822, 1.4586, 0.3515, 0.5961, 0.0082, 0.0269, 0.0084, -0.0208, 0.8043, 0.6086, -0.3847, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3676 left_y=0.0324 left_z=0.0616 left_yaw=0.0475 left_pitch=0.0547 left_roll=0.0305 left_gripper=0.0084 right_x=0.2954 right_y=0.0007 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0084 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.012, 6.0103, 1.2723, 0.1294, -0.0269, 0.8718, -0.3624, -1.1009, 7.0906, 1.746, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5002, 0.4229, 0.5625, 0.0002, 0.0185, 0.9956, -0.0208, 0.8051, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=0.033 left_z=0.0667 left_yaw=0.0531 left_pitch=0.0509 left_roll=0.027 left_gripper=0.9956 right_x=0.2954 right_y=0.0008 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.4513, 7.7333, 1.7411, -0.0366, -0.0122, -0.1832, -0.212, -1.3333, 7.0359, 1.7411, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82936a8d103068fa7c7cb7af1a274ce0a519d24fc2255f332bd449062e4aaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ca0d58b2bbb0cbe446e675bea98927d7acf1dc45b35ac894b2a4921649878a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfae8d7e6607249b4983256cad0fb5a313eddb72861e22923a48a2065bd991c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1JtgO5tooUK2SXT4oVjWMr-udCPQwMn8ZoqGVh2YxDiMWSZSUfNIsFQJW_9CrR611ZyZLFbepU-EpQiASW3m2Z4Ibzb5k18Iu87UtDjWBhfiu4IxpEG_VEHZbC9AUauekGWaDYvaGr-jP-BCsWZ5RLpaa41O4EzzmmHl08bsCgoN9VsE6Z3fGBoqvMYUINRmxjpU8wjm0d3FF7XlDiCsX3YT4pcmswbZ0TOeiUkVTUXxXMhvxPzP1dE4B1-YJnV41DjH5dSysXXbXkZXGftBa4Epg9uhVDLKMKgsspUPcyGnrGjRQ7Ia7nIQD4keMrOVSWY2J7-qGKnBteRsMLxf0R5WslIN_WNFReXfY6KGQWuCcUL3S9omLue4F936UywrOoUHGdRv0mQYD93X0mnuR7XuwF7-HRPTlIihZ-C3E4LGc-PmBoQH75aPaRg2U78-Ahgnh10K8D1MLAdlaivBsStpe3xiopZzv1X2fMm6dHkgKZUNJ0vfMOLYl0d_qeRjAxaEEGpKqIxM306fHeQT6bTR-TXhDjm1l6vbJzxNkX1jVvMWQg5xbp2tpbl3Hfip7zk4470XkU1Vjd1nyettKONMIp7IZravOtr6ubEHXl9JrONpc47n5X-OOh4c_TMKCqN3aUPX5ONSuH4CBlY3XT21XRrUqtxCB3gzpEO2DB4CjsM9Uers3e8BQjlVXx8rmSu7f6pOgUcMc9wVvJYlNbqdeTQm_nm3z309mhg4GyF3ioak3RUfKpET5gItZaYcna4jZ1Ag8gd-RT-38bddO8tKLjiFlQhAj-ayvpDfmTmlvKU-JPSFEoPEp890dCSH9tLG-rYv0npU7qr5IxQDVFwGp6Fk1kgHnbmECs_ddFX1eEErLpBk_lRJYJi1ctISnKZbfHajVYm8VA1MOb2KBhgLc9s5CR0U72vYuEYWDQtV-uU0MJfMSEGztK_t4r67Skvuf8gyZycL4zf4Qwa9ghyP6j70rcqcOWt28_fDVemh5TiCaeezJYzqIh73QALxD4J37SpTmOLyMIDsqquwCBvBQC9vg0dGnXl6zl-UsnJ913L2FYYc1wkwyN4y-SKm_vFLpUrvZovE9VgQ6-C10voo7Ar3WfZQQkMT6cZd2qP5Pu4p6grIw5QAn1Hi4wsYQqSebtd-IP4F88jqnT-8xRwnzHOeh2Loyur5s-B1c9uG91Zd6s5Pc7Y3VI-dvNs2GlMM3ewEQlY2bBDUMYpkxgjguh0OpVhxphVHnROvg-Kh8=",
  "id": "rs_0c84a2ee5d7ab45e016ab44d4853cc87d081700123ae5d2041",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the outward adjustment, the gray toy’s thick central body is visibly centered between the open jaws rather than behind them. I’ll close once more at this corrected position.\"}",
  "call_id": "call_em06xNPZP7V6Q6pVaoblhYap",
  "id": "fc_0c84a2ee5d7ab45e016ab44d487f9487d0aadb16bf394e6181",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_em06xNPZP7V6Q6pVaoblhYap",
  "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]: [0.0765, 1.5002, 0.4248, 0.5663, -0.0029, 0.0139, 0.0115, -0.0208, 0.8051, 0.6086, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3848 left_y=0.0336 left_z=0.0683 left_yaw=0.0581 left_pitch=0.0567 left_roll=0.0246 left_gripper=0.0115 right_x=0.2954 right_y=0.0007 right_z=0.178 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2855, 5.2034, 1.79, 0.0464, 0.0269, 0.652, -0.2393, -1.2786, 7.159, 1.7656, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452ab5a2271d0a4a116f80f91fcc4a80aa133611070c40d325cf08353e616ccc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15402f2f76e7959672de503ef25bd77a64d6919db6701669cd82c7eab50461f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa89bfebc139e29f9f845ddbdd8ed3bbac34c31dae95314620ad061c49677c88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.205 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.4563, 0.3592, 0.5472, 0.0292, 0.0269, 0.9995, -0.0208, 0.8032, 0.6086, -0.3843, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0283 left_z=0.0549 left_yaw=0.0295 left_pitch=0.0163 left_roll=0.0182 left_gripper=0.9995 right_x=0.2954 right_y=0.0008 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0069 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -3.8222, 3.5077, 1.243, 0.2369, -0.1978, -0.0122, -0.294, -1.1966, 7.3778, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5002, 0.4229, 0.5625, 0.0002, 0.0185, 0.9956, -0.0208, 0.8051, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=0.033 left_z=0.0667 left_yaw=0.0531 left_pitch=0.0509 left_roll=0.027 left_gripper=0.9956 right_x=0.2954 right_y=0.0008 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.4513, 7.7333, 1.7411, -0.0366, -0.0122, -0.1832, -0.212, -1.3333, 7.0359, 1.7411, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5002, 0.4248, 0.5663, -0.0029, 0.0139, 0.0115, -0.0208, 0.8051, 0.6086, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3848 left_y=0.0336 left_z=0.0683 left_yaw=0.0581 left_pitch=0.0567 left_roll=0.0246 left_gripper=0.0115 right_x=0.2954 right_y=0.0007 right_z=0.178 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2855, 5.2034, 1.79, 0.0464, 0.0269, 0.652, -0.2393, -1.2786, 7.159, 1.7656, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452ab5a2271d0a4a116f80f91fcc4a80aa133611070c40d325cf08353e616ccc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15402f2f76e7959672de503ef25bd77a64d6919db6701669cd82c7eab50461f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa89bfebc139e29f9f845ddbdd8ed3bbac34c31dae95314620ad061c49677c88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1PPw4vqJL7nJnXUUJC8ZrjnCh4Z1jLVhX9JcEDYVB-k7qLeIRnXKp3gplqjfC4c8qNfCnaEoc4H2ixe4I_s6APb8PRhMJNdBsMSG1ljRUiWn2MTeLvVR3nqYbE8Ut-RgFa5-6rgSNsKBxQjSwYQtotZIsmiRm6duVAM7Xkll8upTjeudThA9KJoSKAxaHLM72Ch2RRjNgdBHy3dK9LjyKBi-DmpS8Fx_DEoL_6QOEnI_VUkmOnVr1HZh6vRDNL8f3cCg2sub5hLR83-aweZ4YQCZcgTj5DJHNTWDXgeqF8ljiHWju3mNwQyXbaRh_xSw-ajdCO6vqyyJiFGSAyiDiJiuwmMR6y0CGZc3G6BUoz-wjmMZh_ZxrFgyqTkh-7_oSsqAjYijF_8I86HdUjzvbdsjt1xpYv-AB-ibwbNoWfGrpHaDU8fc6JzpDk0anh4688E6O7o4sEINx9tamdX2C7YIAEC2CGFBNWN9tMP1MXYJ3cDr-hgkvQf83-WphykGmc_PWdkcB3Vn_f9fGZR0ruyalZLEduz18IF0GBMfoILkRH3x_lnqtKA6uOoBdNHG86cgYGNPFSF8snHmlXtBErxFG5tTo8vqsmsZCvh0GzdApHmkAhpdMnMEXdgvAfBPhMWwh6o0oh5FvAJOIdeRIETEcVULTTKbyF3HU8Z3y0kDNioPbCiH1_nGzuXuNcveqWNOgNLdCDYOSS_KpO7aR5671mjUeXdPucMqlggVeAAUGAHE2mVlLPxM451cLbgYboe1W6Bx8k89DVJ6IL4CwPhQ5lutvUP3RB0fYSXVBRs9lJpJPQThdRpWTYFr4__8T3CEedB2KbSyMg4ACfSRzOCZqpV-BsBul0JDnzmMpciTjiPXTp4ITx50uZd6QMbjHefmiimuUi81iVFTR4jLSaoo1NUtQO5AhxHYYiO1RB-SAo2oYIZwtPJYhUoi50PBraqnq4cpM-dPsmNc8QEHHOGU6X4DP89FZbMp3q3VFL4jf3jKWrR1aZZagHD_uVtv0rGJ4jcWs0yY17o5YPxl3jZwjYxme-0jOvOSe9dDING5pWWvte_Q5xOgtlG5IOQh1KShft07OP7aElDhJIrwlr6_GUInQhlElC0Dj4LC7iMhhuozMbj44_L-pqCt_y2qJ84ujm7rn8BPdOVcbwPKvDjrVQQrUoB1VnEwe6ghjhjmlsVSYy7_jTxip8nlro-03K6YSYm29U-jS6o_bLXJIUvvMGlytZr4WE5CVdX4VZa9rkk2G92gNfAR7jQ4GTiR7SUQw5udMKGMW0W2doek3fxsmsSykbKv7tErGx2Yc4PuMrvWV9PE-pIfxHimWiobo9Rcum-9kv4VrnFP-LD0_AFXanA7I63ulz9PfMEKBV4zxFjZCiyl5WlF8H6GSJZtN_SzIiDp0iLs7Tq8y9sRZXCKKPwJ9vQbTbL_ELsLOxveIS-4YVA0hr8Sghk45JAUbsF_lVb86_PhHHvuDbLaOHGsgW43dyuvSCghfjsjWbv0DKlFRoHW0hQf8EdsGzGUrakPTrSz2mb5YecbI4edDZvic90tsDa1jV9jGcgHFhFMOve6TR46J3_cAHOI23CHHSV-2hl2sp55XPJ15qZHG0cHRR0Q7sot1r5MKH-yPTSSyXmWvXzw7kvOfait_JvzEN8Ntje62qSnGMLNqYanwMmhs13tw1x3KCz4wGu-7ddLbwEVkc4jRKWups9_9Qt7BSJ1D9MhSKK-CJ2usB8-UzJMq-DdUfokrAfzFnRbOW_tvKcFBhqnG_ON29vQXGF-TLTTSLZqvj2WEDtZMtlf5ZV2ndJNGNhFxsPWt1U7dEjhlK8HtzJgYYxTFKZtF9zsyam5G_53lbgdi-TgLGHmojQr1tpek7TRPYM-RS4UJgpwZvTjl112EoeZjP5bhPTlJdT0pX0mI_KLgHUfZEGKyG_gJGjmghnu8BTbKm3tSAsezh_9lSaeGa-sN2qPhyBQNC50Vi9vb_h52Q9sTvHX1xiXtVIIUDW02j7BqP8AQKvjbFhI_Dh8FKMXRVdHT0AzK4z2g9zGJT9Fx4yHnBoVEQpeTkqaHM9c70z8aYXDPh4h_HH9oa5rbxfvcKXPXfCN09nPtgDdgnw7GiQoiV1Oia8CJk-jzuJss7UZdz_fqxi47Rmtp6hWSGyVKAZENIY50flhl7y9asPVmQApgq-L2MHbhsfL5oUjJrSnjGESbrr4lZiQYL0cwug-mvjbXfCXQgivS1J_SNa9LwJPM5BMc2bJrnSipM5V3NZ7sUNqAaI91Uh0VhcncXSGfIW9sIuFdHOIHYE1cB4uPPwG-IqEVIShQcXjcb583XFe1tzGB1hIQpiPM0VtsIRGLC__3a5V5P_GrMJHr_q3CyIzOUKeCcDqJe3ZcZpk5IutZkrU9EGEFoXGx4HcAJJvYr48gssYUMVkK1Wvot9yMLVCheAJvxFN0nYnY70RskgOisbYRT-cXpicTm7yFva-_Wf_MDhXT8IBbgoxbHBUdMgK8lqMDZvncZPAtGCTNBxA3Fjvm8n5_ZeUjTDJqmkfXfy-t9e_1q0bjmXqflU7bSbwIEbsucZQcXBup6Bzw7pKKpbAB9XsTYFJckMP7JxWxeRLA1Arnj9jix8a9HIXYiu56zEyfW_x5QiM-1-s22pI0kj-buYmuYUBMsrAYHk2twrlzoXsZppV-6rbOxucicm0eW1ls8YHNhAT1SmkpThv30z1OsF0c4_rslRXo2PGNDZBVyHA_Gu5R1OQQsDAjULHznpuX_mBNw1mSh3tqpmad5_QH4YtrVnsAzcKFTj8bm3yuN6ILM86Vh0AMmB03MAnTqGlMA4xeybzra_NlufM4PlwAzyTB_86RB9H9GRpSoXwya9mEPHzPoJintiFtsGMMmmOS25wKOqOsI6VSnwK0QQgW5ef4yJntxJrybT6r5391tdU_cp8Ga6eiSufxIPNlDLqstF677eJeAZZaOtNMav100CcUmDBpy4lSzjzSyXs3bEFfBctXxltpBrSPNO7HRQUXcVOGTeC14VGNBFQO39gMZQu29tEMv6TPv3CQvASRZJTpZ",
  "id": "rs_0c84a2ee5d7ab45e016ab44d4b67b087d091f8f4651a21e994",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The second close also settled empty, so I won’t repeat that uncertain gray grasp; I’ll park and open the left arm to clear the overhead view. At the same time I’ll bring the right arm above the isolated front-right brown-and-white dog, keeping both arms well separated.\"}",
  "call_id": "call_j2Gy8dUrdlA2qQghlk3PLWEW",
  "id": "fc_0c84a2ee5d7ab45e016ab44d4e7f5087d09865b3a61199e1cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j2Gy8dUrdlA2qQghlk3PLWEW",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.7998, 0.5144, -0.2474, -0.149, -0.0734, 0.9981, 0.947, 1.6943, 1.0866, -0.2665, 0.7185, 0.6125, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.0015 left_z=0.1658 left_yaw=0.0475 left_pitch=0.0396 left_roll=0.0228 left_gripper=0.9981 right_x=0.3358 right_y=0.2737 right_z=0.1278 right_yaw=0.03 right_pitch=-0.0439 right_roll=-0.0339 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 10.2632, 1.8193, -0.1392, -0.0415, -0.0855, 0.4444, -8.2256, 8.5265, 1.2625, 0.5446, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10220966a14cd0f11f586c3364c3827f3fd5aeffbe16061cfd54014e8742fe10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48374c758b8a56d3845e85d2e22bc091dad16c6f95807e3be449ccbbd16a6288",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797c80ad42b3bfc4afc54d7f2b7c439f15029c1775da1fed2f14392579617f3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.907 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0822, 1.4586, 0.3515, 0.5961, 0.0082, 0.0269, 0.0084, -0.0208, 0.8043, 0.6086, -0.3847, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3676 left_y=0.0324 left_z=0.0616 left_yaw=0.0475 left_pitch=0.0547 left_roll=0.0305 left_gripper=0.0084 right_x=0.2954 right_y=0.0007 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0084 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.012, 6.0103, 1.2723, 0.1294, -0.0269, 0.8718, -0.3624, -1.1009, 7.0906, 1.746, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5002, 0.4248, 0.5663, -0.0029, 0.0139, 0.0115, -0.0208, 0.8051, 0.6086, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3848 left_y=0.0336 left_z=0.0683 left_yaw=0.0581 left_pitch=0.0567 left_roll=0.0246 left_gripper=0.0115 right_x=0.2954 right_y=0.0007 right_z=0.178 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2855, 5.2034, 1.79, 0.0464, 0.0269, 0.652, -0.2393, -1.2786, 7.159, 1.7656, -0.0366, -0.0562, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.7998, 0.5144, -0.2474, -0.149, -0.0734, 0.9981, 0.947, 1.6943, 1.0866, -0.2665, 0.7185, 0.6125, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.0015 left_z=0.1658 left_yaw=0.0475 left_pitch=0.0396 left_roll=0.0228 left_gripper=0.9981 right_x=0.3358 right_y=0.2737 right_z=0.1278 right_yaw=0.03 right_pitch=-0.0439 right_roll=-0.0339 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 10.2632, 1.8193, -0.1392, -0.0415, -0.0855, 0.4444, -8.2256, 8.5265, 1.2625, 0.5446, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10220966a14cd0f11f586c3364c3827f3fd5aeffbe16061cfd54014e8742fe10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48374c758b8a56d3845e85d2e22bc091dad16c6f95807e3be449ccbbd16a6288",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797c80ad42b3bfc4afc54d7f2b7c439f15029c1775da1fed2f14392579617f3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1eARcNZGxiglLm9cW_n7LFCOup-GYRLX6WEUsZRq_gLD3fiSeApsgYUS0WkAmQ8dNFDnXtTOkYn1GOhV-OcGf6zHSGksx2pZv_Pzj9fLUFJ1RZNFfDZeHnV3CMkMnGwFg89LCTn8yE1WQ32Y-JkP0FcJLObe4c-kKb88xq68e1rNzzntxqYZNi5kWCVo1BM9XOUDJ2vb82u8x2OnLVFKP0AwV7wUQlBPZVEqR7bdXq2uAwN-62EBtbsOmWK2FmtGKjaSJ_BwdNPASHmZovlbYtf6TgqV6Xm1xcajwucwskNZZOhQj4KBBBOr8Gel4d1a2IkWRFPSBgfJzfSm2GOtZ6vCxYzI7RT-CghUwbgAPB8Utt_ceT1khGGfbl4P0mhkGpV-OROtyWmN6Zx8_5kSyj8rPVWdzbiOJXdV4BoAXfHFDD0BmPoTZNrBzkHlggvTVvRfpaeF_t8c7aNBfZ4aN087CASkdCiAPzULuQXxYm2XSd4YL557AJKRRb3sMpIsbm2sjdx8u8VwA0K8-SXofAfKeYkpH0Z_c_4nD-lvVXvorR-i_RNrAxaKn7hEYD7nBD0-Me1rH0NZBxOp5WZxyV6UnFkdHBf5YbSs_G7O247izKBXvy7mTuUrNMajFGnoybHCwcXbWhIgCmW409_RQ3jOokJH3Uz5x_P54L9PDLAZrlluOUMzpbtuXYSBQUq2bSPYIniWIPDW-S9LNm1NjbjyaL2AYLlhE8cj2CLB7Yg08E6nUxDzGUfiYKOI_EJlU6eqIw5PW64W4tlY-HyHK_X4b_m3nVq8TzY2rKJJfAhIm0wUgZ1A0jDG3HyL8emLpG1zhVQnZHQ97KC-4AQEkPwhld0UqfQb1xq2Vhk_aWxR6vgXObitQ-4i2MLTrV7ndGUIFA10BMCHS1jcv9o2HOMb6M1EcqTAEan1kk4WV0YR-OpgEFDMOVYE2TkR41jtPbkCRnUF4I5Xyig483RCU59s5jA7NWU1NhYsAjsiEO8nMLjOWSBUGFFAoz6TR07AT3tBG1noL7prLbjAco9tOGMMSakuNVROZMr9auK4Tzksoz2zNg5lRAVfesD7tdfbtnB7mBH6kHCSxth0VIP6_6TPXcYtVAR5vO6valH8VGNt03Vm47IkqOybKEsn6cgDRqeS0mVcI0tXFmsgiJ0q4n1MkhplWKi-Txm4CztLIXCSfLldaBfUjcgy1kYWZR9zeGzf4fDugyl2pu4SX01p7iIKxwCGqs6xME-dIixweTNOBcJ4h5ZlMGCLADZDdmxV8sTzv3xT3fibjSuTiWZhPTXYUIIJJyDC-a8xdpdvGK02szqq38UxaLFGuPWmiU7HUV1-hteQ3V_1hQsBGyHi0oZvioOwStaG6L_gbg6ZxFd90IAHTpBgT-lCxvQPa7p4lLdASXpWfrdXNR_5T_p4MXkHK_g-K68q_WFc9g6xyGejaTbfzcMwFBdNPLv4LXQ3qckL7W-RHiAsy_bU4Nm3f6nq7wnqRSRkunMVyDaJnKXHGJm7sCMDkZLXLyMvgqoO-MjgDNe_jmRIpxeJYkt4lOKYG_LFAbvA1RYHr6yb3YzBkqklndCP7Hz143C93UaEjqDETn9YB_cPsZkQXcEnMFsj4GUUb3IdELT4PTNO8dTSjiea76QpLx2_4fUBqlADDXG_WjEJDoJ8ho8q3fmwgwa42BHh3X8yJmUEnuOFJUMBBhIPy_m3GRcVtimvoGv400",
  "id": "rs_0c84a2ee5d7ab45e016ab44d5c3de887d0a60aedd87834a593",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.34,\"right_z\":0.13},\"note\":\"The right wrist view shows the brown-and-white dog low but left of the jaw column, so lateral alignment is the main error. I’ll shift the right gripper in +y toward the dog and advance slightly while remaining above it.\"}",
  "call_id": "call_juXbjax6XjnnGqEo0ddbAgjP",
  "id": "fc_0c84a2ee5d7ab45e016ab44d5d48b087d0855b39ff75d1caf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_juXbjax6XjnnGqEo0ddbAgjP",
  "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]: [-0.107, 0.804, 0.5205, -0.268, -0.1574, -0.0792, 0.9981, 0.9871, 1.9198, 1.3724, -0.3576, 0.7311, 0.6373, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1633 left_yaw=0.0548 left_pitch=0.0219 left_roll=0.0251 left_gripper=0.9981 right_x=0.3573 right_y=0.3335 right_z=0.1254 right_yaw=0.0472 right_pitch=-0.0541 right_roll=-0.0443 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -1.6342, 6.5983, 1.9365, -0.0122, 0.0366, -0.0122, 0.5812, -9.4701, 8.2803, 1.033, 0.4518, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ceeb3f3dd0825d46f9cf92953ff9657b97b87d53b1f380f3fc3feab4cca41b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a599f7aa6896c27a75b8eea482ebf750c64ec705714682c63806ee3794be95c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8c8e13db9112cda53fa75ae84f5b15ba8165dca38513675634d7e273de6598",
      "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 · 2.503 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5002, 0.4229, 0.5625, 0.0002, 0.0185, 0.9956, -0.0208, 0.8051, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=0.033 left_z=0.0667 left_yaw=0.0531 left_pitch=0.0509 left_roll=0.027 left_gripper=0.9956 right_x=0.2954 right_y=0.0008 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.4513, 7.7333, 1.7411, -0.0366, -0.0122, -0.1832, -0.212, -1.3333, 7.0359, 1.7411, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.7998, 0.5144, -0.2474, -0.149, -0.0734, 0.9981, 0.947, 1.6943, 1.0866, -0.2665, 0.7185, 0.6125, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.0015 left_z=0.1658 left_yaw=0.0475 left_pitch=0.0396 left_roll=0.0228 left_gripper=0.9981 right_x=0.3358 right_y=0.2737 right_z=0.1278 right_yaw=0.03 right_pitch=-0.0439 right_roll=-0.0339 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 10.2632, 1.8193, -0.1392, -0.0415, -0.0855, 0.4444, -8.2256, 8.5265, 1.2625, 0.5446, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.804, 0.5205, -0.268, -0.1574, -0.0792, 0.9981, 0.9871, 1.9198, 1.3724, -0.3576, 0.7311, 0.6373, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1633 left_yaw=0.0548 left_pitch=0.0219 left_roll=0.0251 left_gripper=0.9981 right_x=0.3573 right_y=0.3335 right_z=0.1254 right_yaw=0.0472 right_pitch=-0.0541 right_roll=-0.0443 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -1.6342, 6.5983, 1.9365, -0.0122, 0.0366, -0.0122, 0.5812, -9.4701, 8.2803, 1.033, 0.4518, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ceeb3f3dd0825d46f9cf92953ff9657b97b87d53b1f380f3fc3feab4cca41b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a599f7aa6896c27a75b8eea482ebf750c64ec705714682c63806ee3794be95c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8c8e13db9112cda53fa75ae84f5b15ba8165dca38513675634d7e273de6598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1hkqJMRYVDyBFePn9rza11BzqolnbjRf0pdyYr3O-9Un3GylPsvABwHhYtZg3Oh6w8rL8VSAVpWiTblZDL3OvUM1RE-F1YQ2d_oRYetwd4CBWCqiFwiZdMi-j8yVeXJxi8dfIs8feYLtB5M9zfr2rAkFzvdS-n9dupjI4gM6n5rm8o6DTEM8kmaCEuI5m9UyVHGWqQ3wyIqtMdoKOUkbK_PIuLPy6fHz3zptvFKSM8ux2Yg6FCxl4wjyDRaKSazDjYDULaOLE2rc3wqqE69R_O2vu-3mIsEmXODHEojES9OEYies9O5RFf1OJXV0yMLw-8uXO0MS-ChmmHdTH9YobB3RUownY8rz2uDN2r5_h7e2r660-JKn23nU_ICd2beTIPUZdVJN-AOvH6k94SMgmUPLfjLihF0MlNwXP7xGeVYHlPcXzNmFoLXu58CLr_LBHdpITtwJOl355Silh_nRx4qLLZaElZbuc1Xhs1Zdv148h9cK2AA3oZRxJFnJe35HPaLSomjsJpgpqHXOGc90ipfX-Y-U0PDPBUipoZOXK1C2F0UZxhAVI-udvy5U7ShaNN-GR6HAyApD_fupK2Il-Yg_ScmCyWfyuxZunJw0Xx0V5xZh0UaCopFI18_Qqnl5arywJoSz_Bw44ImRD4dR4VenRFjEV35pcQ_OKBQs9RObeDPszPiUNa7omdnW01vdXqxn5wnTASxyE6n4W5hyY3y9NqkS7vvrMYlr30TCtosmNVl21k0BBUd5y2uO7Q5ab07KgEauCyZABtGOJiXf7a0cpUWHFiR0VPceq6tlOCN07JM1WoIm3KuieXH6FdBHYz8rpMV6qKp4gyhVFTyIkb5yslpLHsDves3gvx7CHnWxgSVTpPkzVYb3QxK6XDyfNK7mmvrvFSs_-SC_ki3BYBJw8Z-hJFT44O52e_h890zHBnpzX_XvRCK6_L8akNUn41vQPLWtz9z1fps07j00Xz9SH95w--nHe9VpfpxTnjEVBMRiIpHRsNIsvhKG-KXTFPZVxYdNUSNw5hSxQtMVEF7CUpbbIGxOP3dU63pfxm3jJO2xcPDcDjf5lwIdgVE0d2ROUZH6NbHkO3H-oEFxgXaBde4WKH_DhaKTTnZNf5ND7NthuUWarp__gC79dSjOBGE47ttGUvFTyFUeNKDbfhL4JfjFrtZimrnmm7lnw5m16Mb4ZnTkhsfZiiymeDKl1J9cIQuBCr6XJnmiuhlKJRPB1_QSKko8cEhhdKktkVyeU10yVvnJ8gAMntesIRJ6zPtlpRxL08T-sC70R5PneBJ5JcJGm-HuRORQI1ybTyzAl9v-uhw3tDqHeoYVR9U69Zt2Z9ymjXhKBQ9UR-Vsa59Ir89Ln_bjOkrBd5luvnoVRjDSOYGQumgIktIDzxKdDEIv5SD4DClp3Q5kfgSwlhZcdwKgNp4lRMLvpxKnyEkl_Ik0PTwpL1hZv63FHBZapxyx5p2zwu0Wl_ga1vAmktoBabosF8LgK4N1zQTGlk00o=",
  "id": "rs_0c84a2ee5d7ab45e016ab44d5fcd8887d0a527aa8be3e68683",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.39,\"right_z\":0.12},\"note\":\"The dog moved toward the center in the wrist image but its body is still left of the jaw column. I’ll make one more modest +y shift, staying within the right arm’s limit, and advance a little to bring its torso under the fingertips.\"}",
  "call_id": "call_MNDhxWKDte2a9RA6pEsaKARU",
  "id": "fc_0c84a2ee5d7ab45e016ab44d60cea887d084ac7ee3a71e54bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MNDhxWKDte2a9RA6pEsaKARU",
  "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]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1581, -0.0795, 0.9981, 1.0019, 2.1326, 1.6478, -0.4442, 0.73, 0.6483, 0.9997]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.1621 left_yaw=0.0553 left_pitch=0.0179 left_roll=0.0258 left_gripper=0.9981 right_x=0.3796 right_y=0.3818 right_z=0.1129 right_yaw=0.0556 right_pitch=-0.0687 right_roll=-0.0544 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -1.4838, 7.1726, 1.7216, -0.1001, -0.0415, -0.0073, 0.9504, -11.8769, 8.5128, 1.033, 0.525, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed352f82022ffb9cf37e20b1fb0260ab1bcd5adcd802d5bd87d509ad13e842a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0d77201db142380537d81bb0dcd68676673ed053986cd35068ec63c4cf7854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d42f1edf9e7fac735582a8ae8b924ed33fb97c99a7019ec573ea2d6163c27ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.569 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5002, 0.4248, 0.5663, -0.0029, 0.0139, 0.0115, -0.0208, 0.8051, 0.6086, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3848 left_y=0.0336 left_z=0.0683 left_yaw=0.0581 left_pitch=0.0567 left_roll=0.0246 left_gripper=0.0115 right_x=0.2954 right_y=0.0007 right_z=0.178 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.2855, 5.2034, 1.79, 0.0464, 0.0269, 0.652, -0.2393, -1.2786, 7.159, 1.7656, -0.0366, -0.0562, -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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.804, 0.5205, -0.268, -0.1574, -0.0792, 0.9981, 0.9871, 1.9198, 1.3724, -0.3576, 0.7311, 0.6373, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1633 left_yaw=0.0548 left_pitch=0.0219 left_roll=0.0251 left_gripper=0.9981 right_x=0.3573 right_y=0.3335 right_z=0.1254 right_yaw=0.0472 right_pitch=-0.0541 right_roll=-0.0443 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -1.6342, 6.5983, 1.9365, -0.0122, 0.0366, -0.0122, 0.5812, -9.4701, 8.2803, 1.033, 0.4518, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1581, -0.0795, 0.9981, 1.0019, 2.1326, 1.6478, -0.4442, 0.73, 0.6483, 0.9997]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.1621 left_yaw=0.0553 left_pitch=0.0179 left_roll=0.0258 left_gripper=0.9981 right_x=0.3796 right_y=0.3818 right_z=0.1129 right_yaw=0.0556 right_pitch=-0.0687 right_roll=-0.0544 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -1.4838, 7.1726, 1.7216, -0.1001, -0.0415, -0.0073, 0.9504, -11.8769, 8.5128, 1.033, 0.525, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed352f82022ffb9cf37e20b1fb0260ab1bcd5adcd802d5bd87d509ad13e842a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0d77201db142380537d81bb0dcd68676673ed053986cd35068ec63c4cf7854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d42f1edf9e7fac735582a8ae8b924ed33fb97c99a7019ec573ea2d6163c27ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1kvFknClhU1H6CalfsJxKGQfSjnFmEPKYmeY9YiALEegN0WDx4nKDh8HvFGXWXsACAL0wKi8KBfFyCi973SanTaY5NkgkQmS1tkoJgIWEyQabRd19yE79odXQJF34B9IGLoB6rcUd_Rv3Hn-MQNmMAu3etwNqUw3hkDqKAjP1Xu83pwYGDkrJBJH6ygRiQi9bFI2v8Sagob7eGoaHQWEvEixF16i8QkBGdMJWDAQlcE-zqfWrJ9WjATYo-LqMbGmayVcDUsAMNl1a6SF7vbwYJPJ9DMpG_V-orElCKwyoCcMfkQQxegv_3ELo_4PzIIplGr72ufMqrhnxMjcaVQWgvJTr8E5Ld90IVEURsGjoMyHMo17g0asBnLHHzkNWOz2ysZJK4uy9cDEsxd8Ydp8WLIx-YSdN7VQx-gS4MxLt_Lx5BtG44iPyqAl6cedmJY42nCXW8qh5_XvKDNmPDgRrCEZepLq4NSex5Tb3QcjlkN8nL_6v0WeeDc7rNR0JaKqcBg107oapFaKhYTMpUsd4p3oaNzcpK7QVU_elTNMS7syWefI0CgUqnlX30IF40O32RwDM5sLhq5-lDkMGmb9YsNwjqM_ys7ctsV1eNQoyQL2B5qwD3OIhQLeu9wvAqKyzkwQ_owlRoQX7mjQZfYboQlDDkA1nShxPHKmwyLkdLU02_IibxpMp4L23LbugFGTBkOZYdyzd6NuNARLfMzBA2mvxVlPYVLFVekioILGhMoPsaa_zN9CxzlxfwLiIFgc2eLfn9Ed2lUwk40hjXslaXWC6AnmaFMzyCTgFlIty_QgRFGOHGTqllaEKmE3CpRvSbSato1bhqBBs8rYLO5awKlm2gVMpvNzmLdjrFNhxu1Bn-pP_XOm5JgPYS2kxzsIKfP-OmZgyuDEwPjK65eAVLVCQdc8iP5JT078NsynIVVp4ldV63xC7e1tPliYn2qDp3ZhGyV7rkY3PrFLXfWXeuUFEoDmHvGrR3CC5z_qybP2ucx7qIHliTXNzeHK8TVBbfntMNQjYw6a0Jx6cK3wG0ZaKL1BbWjMUhoJNrUG_zV8VyCOTrUcYV-x5Jn0Sx6u_eKHC68mZ-mrebUs-JO-XYBWUmDpz8I_vVfsmapEj_McbCWyHxxCv8mIFftt-2oNgrGyTS0_nop8p1vS4WiV1m2FJCcY6AoEFeD7NclCJhJ7mbI4SUR6tvf0NvPDQvTFJ0x19yTKk9RkXO9iIf7Qt30ReE-O7qnRou4RGx7FZ_IPqJO98cZS7KJh1abhbU54qdivLKOLct52DFZNiIHth6rgExjIojOAPfKxG5K_zFwoYBxC0PxGBOYudnxURIA4qFw8c7lqWrsimSwpfftAD40rf0MFlnMoNUsnwXmY2UwcmPC9rQPKbP7Fw0aI_CiephFUYgUucO80Le5zfe-iyJtA==",
  "id": "rs_0c84a2ee5d7ab45e016ab44d63042c87d0a8a0e2be839fe64e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The dog’s thick torso is now centered between the right wrist’s open jaw wedges at the bottom of the frame. I’ll descend in place to grasp around the body rather than the narrow head or legs.\"}",
  "call_id": "call_fEZIy1dlxCmqjVSzqTu8lHu0",
  "id": "fc_0c84a2ee5d7ab45e016ab44d63a1cc87d0ab0fc399f60de771",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fEZIy1dlxCmqjVSzqTu8lHu0",
  "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]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1577, -0.0795, 0.9981, 1.0088, 2.149, 1.6703, -0.4633, 0.7296, 0.6529, 0.9998]\nstate[eef_state]: left_x=0.2987 left_y=-0.0007 left_z=0.1621 left_yaw=0.0549 left_pitch=0.0178 left_roll=0.0256 left_gripper=0.9981 right_x=0.378 right_y=0.386 right_z=0.1104 right_yaw=0.0595 right_pitch=-0.0764 right_roll=-0.0611 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.347, 7.1043, 1.7265, -0.0806, -0.0659, -0.0073, 0.2393, -11.8769, 8.9231, 1.1941, 0.4274, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de14d39a55f986b273e7f7b19e8e1052dcb3a8a4582db89091b39e66e21ffb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c34b01bf33ea73df70dfbf42fac6c7acfb890261f9e287f51df7b0186ca544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3f5036934710e8e345e8545a523ee6a283079bba17f00b3f0811ab8d03e730",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.962 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.7998, 0.5144, -0.2474, -0.149, -0.0734, 0.9981, 0.947, 1.6943, 1.0866, -0.2665, 0.7185, 0.6125, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.0015 left_z=0.1658 left_yaw=0.0475 left_pitch=0.0396 left_roll=0.0228 left_gripper=0.9981 right_x=0.3358 right_y=0.2737 right_z=0.1278 right_yaw=0.03 right_pitch=-0.0439 right_roll=-0.0339 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 10.2632, 1.8193, -0.1392, -0.0415, -0.0855, 0.4444, -8.2256, 8.5265, 1.2625, 0.5446, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1581, -0.0795, 0.9981, 1.0019, 2.1326, 1.6478, -0.4442, 0.73, 0.6483, 0.9997]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.1621 left_yaw=0.0553 left_pitch=0.0179 left_roll=0.0258 left_gripper=0.9981 right_x=0.3796 right_y=0.3818 right_z=0.1129 right_yaw=0.0556 right_pitch=-0.0687 right_roll=-0.0544 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -1.4838, 7.1726, 1.7216, -0.1001, -0.0415, -0.0073, 0.9504, -11.8769, 8.5128, 1.033, 0.525, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1577, -0.0795, 0.9981, 1.0088, 2.149, 1.6703, -0.4633, 0.7296, 0.6529, 0.9998]\nstate[eef_state]: left_x=0.2987 left_y=-0.0007 left_z=0.1621 left_yaw=0.0549 left_pitch=0.0178 left_roll=0.0256 left_gripper=0.9981 right_x=0.378 right_y=0.386 right_z=0.1104 right_yaw=0.0595 right_pitch=-0.0764 right_roll=-0.0611 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.347, 7.1043, 1.7265, -0.0806, -0.0659, -0.0073, 0.2393, -11.8769, 8.9231, 1.1941, 0.4274, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de14d39a55f986b273e7f7b19e8e1052dcb3a8a4582db89091b39e66e21ffb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c34b01bf33ea73df70dfbf42fac6c7acfb890261f9e287f51df7b0186ca544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3f5036934710e8e345e8545a523ee6a283079bba17f00b3f0811ab8d03e730",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1ox_P4Jq5GdnHPfFGEIRD4geTtVw1828BmmtHNooop-CcFenyQG-YmQ3x2D4lbD-hd56ZqNIkCQ_LEPgZzwejJLcR-NkjYcGlvDSjTm1xH12ta-OeBnlxGm2IoG8fAWWNPAMTl5A5sjoSxxhRPlE2VWonmbHFvhRo8WqyEG8yZxxL2uEcsRQG6rfd7uyycZHcAjWOX72i_SnJjWmG302Yewx1MjKQnzs8c1yxPNk3eEMosuOOOMFlhZ9-O6NX9Q3rLdtf63iDZCAjcEX2zQ_fTVzd__amnt8L1hVzExW98LkrKPgu9V2id4ura3eMr5vBkx7MdL-0RoIZKIT_RF2pVmFAgipFzh8_dHG4ysX2edyRZLuKscjZ2jf4kkKhcNJ2WHZc3d2aeEifp9ZK3FimXaHKiaw5z8hIH466D9cj64WxYVlZgyHtAfHHGN2rx3q6OAj6rWHyOVmIzWz2cT3deYmWet2Er8geyFI502SJxbrUi-85wU_Wsiw0vbCsyTikVNAUYUi8ux9wUbKwvwVNjWu5i4qe7MGJDOeLcIlEUxiFausbTYCPE4gad7F05xEq194OpDwNIi_x4Kw9Z9NDQCBmLgNpHSV50bsloJPQvPrFUgGHuIp58TX5G53q2Cc9ZgmbqMNn_PiGx7nDzVsQwJ6SQrkpDwvjKGpH7ezZ4uJ5unOUE8nwfToAWFyznYNsuSjcKUa3t4a2Bm9LJlsJDg9EoLI_nNuJ0gBU3vx60UOApPo-fkQUD_OZCBQevqgRp5L_fKwDF0jgjgDwS62KaIkTj3g_zIZ4IyquI0rItw6KNmlXLoOtelCJnctjXfhARXycEh0_VCQWTXQUFR8tHYwwhX6GAQgAxqGoKPMoAV-PF6QNVCOe4xum-Gq0ev96TSVcjudVgBGuUvB_wMo6_sVZdRSRf35odJaORBgLxh7XQIF4_4-_Gmv-vofG4G4mmvS2sAyy3zW-Xb1j53K8Ltg-vYgyxs6NROmrpP_zE41eO0-LAcOIcg4wixrumzOUbrCcpyvomltzXDPruDxHe0bNDZNqUAUb-6Wz9RArGsljQCJAWygl_N3OR7Re4Hapzaw31wSZx8PcdsZs-x6ZlkCCw9tMQS6d3nBxI8LKhFGAL1n4nO1WYX12Ql6obf6JmwfGX_WZyGF9JRf_TgV9usE6ITCsepsH7PZD9p4_Kic7nEmKe6P4XRpPsykX1UR-EbFI8i-mPNS8bbjACceXqTblb0HeiFImXwYt-1FC3gXREFyByAqSqfjkoWW1EJ-GRB3TkJv8fzcTp6JttE7L8cX8E1h_Qp3YSCpZstgmT-ouD_Mdo_o2meCGMgloyrDnkbE_zzWZbDzoGA41jqhqC4oLm8Wzns95x6ktk-YjfpAAVf4kJbRtxO1CwN33cQXIlmXWMYikz2OzFL-Z9mC5y8SkCEz4b4FvKU9Gfhq9W0rPNb2n2XJOIgdtMN7I2B7jp",
  "id": "rs_0c84a2ee5d7ab45e016ab44d66e16c87d0b1386d08f5b6b9b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right arm stopped near z=0.11 rather than reaching the low target, but the dog’s raised plush torso visibly fills the gap between the jaws at this reachable pose. I’ll close here and judge the grasp from the settled opening.\"}",
  "call_id": "call_RgznxZEbxLj0RNpBBrrVQlh2",
  "id": "fc_0c84a2ee5d7ab45e016ab44d67a2d487d0a014a22121a5f562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RgznxZEbxLj0RNpBBrrVQlh2",
  "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]: [-0.1074, 0.8059, 0.5198, -0.2699, -0.1581, -0.0795, 0.9981, 1.0077, 2.149, 1.6688, -0.4591, 0.7219, 0.6502, 0.0166]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.162 left_yaw=0.0553 left_pitch=0.0175 left_roll=0.0259 left_gripper=0.9981 right_x=0.378 right_y=0.3869 right_z=0.1096 right_yaw=0.0647 right_pitch=-0.0799 right_roll=-0.0574 right_gripper=0.0166\nstate[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.7167, -0.0952, -0.022, -0.0073, -0.1162, -12.2735, 6.8581, 1.1795, 0.3834, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c864324890c058633a18cf7a86160014364a19a3091e9375494bbe9b1f9512a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d107c45fb4a115c3479fc992fdae72655e76a95455c1b68fc6421152f5a8c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4e4d74d36b6c87309e6038a31b6de4da3d3c58cca208fa79fad380d9e632e6",
      "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 · 19.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.107, 0.804, 0.5205, -0.268, -0.1574, -0.0792, 0.9981, 0.9871, 1.9198, 1.3724, -0.3576, 0.7311, 0.6373, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1633 left_yaw=0.0548 left_pitch=0.0219 left_roll=0.0251 left_gripper=0.9981 right_x=0.3573 right_y=0.3335 right_z=0.1254 right_yaw=0.0472 right_pitch=-0.0541 right_roll=-0.0443 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -1.6342, 6.5983, 1.9365, -0.0122, 0.0366, -0.0122, 0.5812, -9.4701, 8.2803, 1.033, 0.4518, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1577, -0.0795, 0.9981, 1.0088, 2.149, 1.6703, -0.4633, 0.7296, 0.6529, 0.9998]\nstate[eef_state]: left_x=0.2987 left_y=-0.0007 left_z=0.1621 left_yaw=0.0549 left_pitch=0.0178 left_roll=0.0256 left_gripper=0.9981 right_x=0.378 right_y=0.386 right_z=0.1104 right_yaw=0.0595 right_pitch=-0.0764 right_roll=-0.0611 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.347, 7.1043, 1.7265, -0.0806, -0.0659, -0.0073, 0.2393, -11.8769, 8.9231, 1.1941, 0.4274, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2699, -0.1581, -0.0795, 0.9981, 1.0077, 2.149, 1.6688, -0.4591, 0.7219, 0.6502, 0.0166]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.162 left_yaw=0.0553 left_pitch=0.0175 left_roll=0.0259 left_gripper=0.9981 right_x=0.378 right_y=0.3869 right_z=0.1096 right_yaw=0.0647 right_pitch=-0.0799 right_roll=-0.0574 right_gripper=0.0166\nstate[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.7167, -0.0952, -0.022, -0.0073, -0.1162, -12.2735, 6.8581, 1.1795, 0.3834, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c864324890c058633a18cf7a86160014364a19a3091e9375494bbe9b1f9512a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d107c45fb4a115c3479fc992fdae72655e76a95455c1b68fc6421152f5a8c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4e4d74d36b6c87309e6038a31b6de4da3d3c58cca208fa79fad380d9e632e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1vAde2OpGOFPaae9zx_wMfnoqy5wq6XQ6D_Pbu8ns4o8-Ow0e0OJm0FKGaKC7owCIt3_upPmUgv7GiDZb7SPsqP_d5jQuyFMZQI-CWAMUOvo5ut4EwzO0ycJGLB1tmRcQeY4L__PZuSpsGg50cbgQO1zZmT_n3LINolze0g58s8oBnAKssa4LCwPtYsZmiuIb_BgQ3dKLRGEQJ8KyG7ZkzAwcrJhBzFT7THwofdi0u4IUR4z8jADCHc8G0fr6SRKFkMJXzAp0zZyehdKClbDhJLja2zmqzUNY3gLWCZ2P_8Gc8cq_jPPndqrPAgkh43w40ywNoY_pWXf5yh3ZWN8UWtNxytoyhM6KjYVXN1hQJN27Nrf1QLYPFQB7LE7e7CyzdnaOWKYskIZZ0hzMxvP6ixT51bUJQbRvbt-hnqswRHU6dxh4ytrkZdFN7PdrK0Sbb3CFEHyD0YFso-9Zg_AKVk18hqUwcQ5epjumxlJgBLI2wy1zmivOTL_mT7HW2AT3NJNdL8m9kjfiJYIpk-8eeBylQ3rJ66oblfFxA2Y8vFOk_nuZV8KoMwY6gx0tFolGebhVIhs083cjRO_qFHAYdRi5jeBjcnRtPzVbS6r2EsbIdQcJj7AMkTJ1kBlOeJSsyHCO3i0EAFcairWRCdVgBjf-zE85SpfUVZWRQUVQVPU4HqMY1kEPmmxeMpAzt6D8KEqzIo0FFWT9ArAAlt9fX0ms7Ywy-SY1T_7jyDOjgiS1l6THwZb2WfgRuDo1MkaRHEaTBBkEZlgVZ2aIddws4bmMNzEvsDfl5UweCkpsL_2-iik4118IMW0WeAawxPjHTSoCk6YUYsWkzpSJoy1DyjcEJ8DJ_e1Rh5kZiM3caPRNHCBT_70N7-SPki7gEcbwOPyXxMaVru0vyfLEUanGw7afrocBzq9ajajIHLnKM51G2IfNmZQj9Y6zY8CDNy6x1cjA1xdmyL68G8Zm2iw3VSCq73F05fOiqZgQdr0xD5elNFm8dj82jofnLi99akLnj4Dh1kwhwskfvDYNhtKSdml-miHkWFLhuGFnA_mlUsT0O5rtY1jfUmJvq4e0AM7QTMN58qlHKmntk-_8Nr_WCIzQsYeg64cHmzFexQBNlGW9b0zRoEKurNAPVPCMDj1MEYoyqr0lZjRlvsTqp61rE2nFhXWE6t1f8jEM7Iuv75TR5pjcMhbd6IBQIWPdJ1KI2cGQk8PHpyV0GqTa0houe6cGJa70Njg87lLDzRuDazGv5CwBBHTzM-1lSvyrpYUlbeWwHOkrV7WFKcIZ1jq8gdupYUFjZbdwGEOoD4JRMz1PuBlZXD4jDyKhTdxYm-ITKbmUjMwqU1tOtsHIkxpXWqrEHn4k8V7oKKY99Hh54hQKtRtEwTFuA8xKM3DRTEstXAbsVkPH7P2jtKSm7q1Qc7a1s8YDxKvLHUtxbJeWmfxhmcrn03ybweB5Xt5FjnP3WJ-FET2o50jK7XobSannXxd4MhSm-0tPXXXRNNUdcF7pPet4IqiWECVwWlx0029Wp7eCHr29WFb6bbu7hT_jz-y_zrK6UTnw06LpvfC8Tw-0hkthnlYx4UKkfD6oFP_JfXVeZHI5hdnBI_rIeCa1_be-CkVPonyI0lveohitgmbSueb8jdoCCG-GumQ8EwN4HevwfQtSFvT3b-FoO--Y69c3CT7AgAmOzQihXf4ELm9jwoVrzTbOy7Yok3beyHxwmA2A6S-PsanelRmOYiXgnYUveDdIoXR8c_A3BGUBM2XTJD6z4GHQOFz6X4VWvXkfIhj4Yb_gVS6sz7zQEA_vvYA2l09h_e_UHUgCdQQBB3iIXJFaMTD1pLc9O38eljWOCZN66k8Ol_M0QtgTfUuSN-NJDKOHfANSks_DlIiRfn_qdpMZy4391HVXVrxG65cYKseSHeuWboMXO736IqX25EliC4vvbQR7LaajWYoZtc6wKP81t3Npu8v20wuEklhxm-aY2PrH70-MfiVuxdHifoG8sp7gqBaKQhjNOZj12_sbcs0FyLlHXDA3cn_VpNIJmxbdhWdrKdBJayVm-e3RAdQwyS6qvh8dv205HSxvprvZJAh9GmlhvJ49K7B59_1yyMBEsJn3ePAx2Wu0WOp23x9aZpwKTNhWpmVCU3LfuPXdGj9z90eFXR74N1HYsUKU8hVDiaPHlbs2hxGeZkoWNbqgEMjlnGOe6mH3E0738hUTTdbiVKh7as4QaI4lvBwk0bPLCwcwbCL7roBbpTFKlDPMetUdaeM9nPScZiyuKKZQCGusezq-QKzFHIyRDkqlgJJbZL4YsHM4WTitBYVMKEEqcEpFvzwW2liW7b_2qL9I71L7hImFh_OvWxqgoHfxYHiNkdg8sy55j2xilcecafEPf2UWrGWPD59tNGNulk3D5raMrv9Kli3sz6GY9Q_YmdeMw10DwQEcgVEUK-nvgLv3j0ilCUK2mQLpVaRVDSy-6WlZZebY7Co8WvRNcu5fv57eznUQTpASvFAP4fZlrzinRfKpXAX01BRYxnW6MF7CjBT61ScU17qPBouYwFD7INP_T5qxZQ-21x_QfrA45NBgdmkACNXGaOX9iXEDbZiT3j03NArrPB7WRIfTYG-PLLMtMSGuKqPAOM0ADlFT2_m_x4A0-a5Z5m3P5tv-6M_f8ZACHsLo1B_uM0KNdrbtjlY2dQ0CQ9Qm1pIxd1ADkIa_7nvdo5DT7wUkqSqXwBUunwnHEiizfG-LRUSNjZJh14E5I-NBws7_ftKSPt4RIyrAm4JcxSCkQRgJH7llgCitYwHE28zwaF-pz7KqlGretp3p5V0KQsvFMtE5THV0-Xu5XwDv4_wze_tZXoxUJoYURvb-9jj5uHrjs5ee2DdfEnI4KXBazxLaJ56Q3VIb6O-iwtXGySEOdCJZTdDV7aGdxr5kCdS9Q3qR2hHq80LSKFK6Vr-8ZECqIiQFtOvkw1aibQSSY-vlyqMqeF3IOgtsX4U76NPzjkMmOjgO2IhINGVmQg4guJ2aAHuF1VClz68stspo9cf7atBCMLjJGOJ2VQpSrxsbW_sn7W5bOf-AW6q4jAqq1eb6qownYNumwQGQvvBX-SngVA3P_8Y25D3HtOM6iVdO1GPiaQgBJz-6y3JKugDhRQeTvzfmuMjBdfvsmL73zsVa5JcgppGZZUXfdQmmyitFk_tKt_4AIrry4D3Xq5-dUxgEttLeV_k4Ziqegwc5QqySyeOGpXBwcCzeRqywYyhKsAWgDBYp35AKg81GPn5JNh3HxvaJ9gZrU31q4lyxJQXI1u4P33M6TKOeHhCNPhMztDQUnTiwkOEKLxAnBG1H5onnCkEnEpJKf_w==",
  "id": "rs_0c84a2ee5d7ab45e016ab44d6a57dc87d0b0d01d3051583c12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The right gripper again closed empty; this target is near the right arm’s lateral reach limit and could not descend, so I’ll retract it rather than retry there. The parked left wrist already has the large gray elephant centered very close to its fingertip line, so I’ll lower the left arm in place to grasp that easier, central target.\"}",
  "call_id": "call_NrnEsWX5ViSvBDz9P1yR1V4f",
  "id": "fc_0c84a2ee5d7ab45e016ab44d6e3a1c87d09565479805427c2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NrnEsWX5ViSvBDz9P1yR1V4f",
  "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]: [-0.1062, 1.1027, 0.1574, 0.4259, -0.1696, -0.0746, 0.9988, -0.0196, 0.87, 0.6788, -0.4633, 0.0078, -0.0803, 0.9982]\nstate[eef_state]: left_x=0.3069 left_y=0.0009 left_z=0.0631 left_yaw=0.0636 left_pitch=0.0545 left_roll=0.0299 left_gripper=0.9988 right_x=0.2975 right_y=-0.0036 right_z=0.1761 right_yaw=0.0087 right_pitch=-0.0836 right_roll=-0.0586 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 4.547, 1.37, 0.0611, -0.0952, -0.1441, -0.1983, -2.1538, 7.8701, 1.663, -0.1587, -0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa270261011b347d2b2966b574051b2cd55deb603dba011edae9db341daa2854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ef4c91b3b5125bd16110ff2a3500f76719d11c18d8c807bded0ad311ad2182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cca82e9b6097b9967b40cdbaed813cfca9edc90368e1a70737e3f3ffe1a0ad",
      "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 · 2.595 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1581, -0.0795, 0.9981, 1.0019, 2.1326, 1.6478, -0.4442, 0.73, 0.6483, 0.9997]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.1621 left_yaw=0.0553 left_pitch=0.0179 left_roll=0.0258 left_gripper=0.9981 right_x=0.3796 right_y=0.3818 right_z=0.1129 right_yaw=0.0556 right_pitch=-0.0687 right_roll=-0.0544 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -1.4838, 7.1726, 1.7216, -0.1001, -0.0415, -0.0073, 0.9504, -11.8769, 8.5128, 1.033, 0.525, 0.1685, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2699, -0.1581, -0.0795, 0.9981, 1.0077, 2.149, 1.6688, -0.4591, 0.7219, 0.6502, 0.0166]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.162 left_yaw=0.0553 left_pitch=0.0175 left_roll=0.0259 left_gripper=0.9981 right_x=0.378 right_y=0.3869 right_z=0.1096 right_yaw=0.0647 right_pitch=-0.0799 right_roll=-0.0574 right_gripper=0.0166\nstate[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.7167, -0.0952, -0.022, -0.0073, -0.1162, -12.2735, 6.8581, 1.1795, 0.3834, -0.0171, 0.696]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 1.1027, 0.1574, 0.4259, -0.1696, -0.0746, 0.9988, -0.0196, 0.87, 0.6788, -0.4633, 0.0078, -0.0803, 0.9982]\nstate[eef_state]: left_x=0.3069 left_y=0.0009 left_z=0.0631 left_yaw=0.0636 left_pitch=0.0545 left_roll=0.0299 left_gripper=0.9988 right_x=0.2975 right_y=-0.0036 right_z=0.1761 right_yaw=0.0087 right_pitch=-0.0836 right_roll=-0.0586 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 4.547, 1.37, 0.0611, -0.0952, -0.1441, -0.1983, -2.1538, 7.8701, 1.663, -0.1587, -0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa270261011b347d2b2966b574051b2cd55deb603dba011edae9db341daa2854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ef4c91b3b5125bd16110ff2a3500f76719d11c18d8c807bded0ad311ad2182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cca82e9b6097b9967b40cdbaed813cfca9edc90368e1a70737e3f3ffe1a0ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2FteABefe7Cr9cVOZWgpOMFU1TK-LvI6sNgU3_6sJKNod7e_ImoQ9ePJ9R56U4KkchbuNu_Y3zoivOIi0pdpsvvWp18qbvxmFAHyCY1evLctLl2rVwlQsG2n9BLmlvDHWFCAAwXfho_iWpUL9tvjPTaGITzuUyJ82txxDl9taEtbKhOkd3AgCzINXB2TT25kFG-66j8SXlvXcsybI_e70jkaNrPMrDyAkc-PcGYIkVS8lQ3rDMd-tc0BzUZFb_dzHqE_NTJi-bHQKnJZJoilWGiVXCO8BIRCSfat5WLxId-N3UIU5iTzdLhBVUmcyMyX4ciyMyAroJbGw0M1uzkuBeNVC3NRHJ5LgSX5hpI9cq3eJjtO3OS6DvnVvBcJhHLKTwtgjT-TbjPXN2rkzCoVHXRSsMfTOyDUdI4YN6qckkWKbU158DT7_wAu1IW-qxCRWXS-ytjtp0KmT2hT5rVW1xH7Wqf5Mcp4XkoBWn8OmwYxolbaBWcz4eUFX11ptRqCiUJBScVpD_VJ5B3P2ch2prhyKfqfqY9p_PpoSt8_E4SdblYKbQzTck7Im3WvL1tXJOVi_24XR3INpDnkXO4drsFFWGqBcKJhDh5nC4ZbOD6rYPE86NQCu7HGVhalZLvBw_O2Pw3SWRMqBz3PgxlOZdSN4aJ6gKPyx_bnH9_y3juXFqUFIy3gYZd4dT7Lpy2oyNRyvkOB1Aaua45vPf1x1l7EsDzsfgWDcQb8LjWOQw3quBQBK2NW13vNGAD36-m9i2hpUgq64zdM-lSyLz__SH3QHttr9e2Daq6OICGN4wsG-KXk-D_H03X8tQhEz1Oh9ndTaibxFxwjiAtek_evc9Au6qlSfRnAmZOXM76sLwo-reD_GaAeLjodPyzPOu7mozqIzQKz-Jpt-DoWYJZxPMUhnsEd1vFy40WBTST3JIyct8I2vTdQ6hHWzcXjUP9G6RXYoBA5TtOpfXg8JS3ioXZqbTPIcF4GBvsS0dmu0xapU0WFBixl7a0EYad6G4C0YwDhWtK299kpz8_6wKb0JzE9E2DiMn0ICLzYlUFoQAN4QMXH4tkp3z5ZfcLGr1yp9CUKTWIAkmczhZhkTqlFIOQiy3kUIpbaw84pHX7yMVy_ZV-CFlf9lX4atE_vwpQUjqq_NLVtMWYfGKRH_Ant7H5WfpqiVZPqavMdOyMeLDCAhHp3lT4spbfuPGThFu19HanfCR3FF38aKnLei1mkyvwenyiVMbZe-pBiddpvrV6GuzqwsBlmFWWNp5joyHTb_13JmO_dwVaAoAt9AJMWNTe7P2GKQV-0zIzQYX7hIFHX0k6nxpK0kM_mLMQ6QmWANvzG6EOP6V0Qa2EIDBCoFvTuzlQYw7_Q1BMWmQ_wUH-r0j4uCIzd4YfDaF-Q680qK6bxCm_D9u-ynrnS9xhr_IOcPhG_1DqMY80kBpt1vP5f3jxOz5dLU09pvPLfhFZgtDHA8v0DNdwkghL9xadpgr4fVXueBgMyVy4Kb2xZLKYq9foHe3uP66FpnF4D9_Xz0GDg2UZk7zWlnncbGWxNh-s27ZLJ5BYwn-0OCy3EBHm_Y4d1O0H7zVhoeeXWw9I6joDBVDM-2M5N5q3QndHkaxQbQvszy2QGKWenh1aN8EqT182fdErw66IMW-YHgBcr71xnEk4oklHwHRFgH91xlVyuSHGn1v6ht00Juq2MmBLBcCAiUApPkkPlKm8JIHxZuE3vJ_82TYPBOIXBf4w86SwM-mnL35zpkbYLY05PveKJBtj7p3-YTKyFz7RN0ztEfSnQue78TVzAChQa3PQcen4Pq7Qut8DP4V1Hb674F0QC14woJOScp-utlqBgEhkeErTn2srFQ8dfo5JKpRIO34pWMpRdcaKSZk0WrhcguIAXmgE55uDUThy6ZN--0FSH-N6sP3trHk2dE4x-F4bEdkzzy6-NyG5dR00CPNvGw5RuGLzj51FEX9Qh6Elc0i_6fltj4R35RR5kC-htf3Ub7TOLBAd01J6XINQLbpZL2jcFF7eUbSPAm0MXr6sqTGvX4QjyYqnNZfBfpdLTSbLlor3gGCIkZUVEPS2_kFuoVA9zCx86FC4ozH91zSnDyMLTXwwAVJFZb-Bz_X_yoasNpOl40RtlOwfnQp32cuPzTlijjk6PTmfS-NxwPnjXjruoX-x66pFfSOIFi00jjj1dE3oVdsA_Uc8FNH7EZjfvXJu3cPMjaNZLM3D66Feqh3y-Uofr-5vJArFO9KhQxpb5aT4R5tdAIog9jpGKHJOiNtYfaMQX9X5AKZqTpvskeZiTPzjV8cBrsjD0xSlLccTgW9XDN2VvVpGNSBiac21mnPxWwIU3_ksY9rZsswFQZEm6sOyIuWmCv-YPbTFIcoQkfgHDP04K5HWLRGjBEcvzoMERiaIzLdgIraeCNZNYEf7NGTs8xCB20N6IVkKpWVIPFjaDSjhqI7zLLnceI-0kWyILvdfyIi6Dc8LeFes9roaTnmFy07GhGc-bttNEgrU7QdI1yLUtfyobsbzx_V-mxu5N6aWsPB_MHfKwZzWIYPFRMysG53ZeJA7DeyxVgorrAxjFmm6b1k7s1sdFmy1MMB4rHl94ptqapgOF-Fm8iKQMSi0pF39HZPA6uicdtQrbCIEqydSSiWEtIRJVw-XwQ1M5Vp_XNXfT2eM-F8Dl7_m7t4mkIW4tFcqnuVNjotsPbZwdhT6TLgiMCKA6Shgp2D2o-U5qDixyhX7mQIUZ8wvJEkLzCe0i7K42eq_4ZXEc4Ih19eBSTyJ4PzRY80tf5F9fMQ9duzoiKDu8G4K6Padvah",
  "id": "rs_0c84a2ee5d7ab45e016ab44d773e3487d0800c302582a131b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.05,\"left_z\":0.1},\"note\":\"With the right arm parked, the overhead view clearly shows two gray elephants on the left and four brown/white dogs in the center. The nearer elephant is left of the left wrist’s jaw column, so I’ll lift slightly and shift to the left arm’s +y boundary to center its torso.\"}",
  "call_id": "call_HzE90iGLR6IMJxHzSYP0izKy",
  "id": "fc_0c84a2ee5d7ab45e016ab44d7eafb087d0a04bb079bd35a7c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HzE90iGLR6IMJxHzSYP0izKy",
  "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]: [0.1825, 0.9928, 0.2478, 0.2379, 0.0315, 0.0368, 0.9983, -0.0254, 0.8722, 0.6785, -0.4805, -0.0074, -0.1001, 0.9984]\nstate[eef_state]: left_x=0.3075 left_y=0.0548 left_z=0.0915 left_yaw=0.1229 left_pitch=0.0588 left_roll=0.028 left_gripper=0.9983 right_x=0.2951 right_y=-0.0026 right_z=0.172 right_yaw=0.0267 right_pitch=-0.1036 right_roll=-0.064 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -3.0017, 9.1145, 1.7216, 0.2564, 0.1148, -0.0611, 0.2393, -1.7846, 6.9675, 1.8291, 0.105, 0.1538, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbaa83cc07d578b4f739a2cfab147f3ce41f178a5f965f7b3788414c430acdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae3685a5833792fbbb88094c8d6519c1e3cfdbcc702387c02d220223568a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca20735b7a971c24ff787a5861cfbcb57b367b54e8ec4c5ac8e3dd27016e754",
      "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 15 attempt 0 · /responses · status 200 · 3.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2695, -0.1577, -0.0795, 0.9981, 1.0088, 2.149, 1.6703, -0.4633, 0.7296, 0.6529, 0.9998]\nstate[eef_state]: left_x=0.2987 left_y=-0.0007 left_z=0.1621 left_yaw=0.0549 left_pitch=0.0178 left_roll=0.0256 left_gripper=0.9981 right_x=0.378 right_y=0.386 right_z=0.1104 right_yaw=0.0595 right_pitch=-0.0764 right_roll=-0.0611 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.347, 7.1043, 1.7265, -0.0806, -0.0659, -0.0073, 0.2393, -11.8769, 8.9231, 1.1941, 0.4274, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 1.1027, 0.1574, 0.4259, -0.1696, -0.0746, 0.9988, -0.0196, 0.87, 0.6788, -0.4633, 0.0078, -0.0803, 0.9982]\nstate[eef_state]: left_x=0.3069 left_y=0.0009 left_z=0.0631 left_yaw=0.0636 left_pitch=0.0545 left_roll=0.0299 left_gripper=0.9988 right_x=0.2975 right_y=-0.0036 right_z=0.1761 right_yaw=0.0087 right_pitch=-0.0836 right_roll=-0.0586 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 4.547, 1.37, 0.0611, -0.0952, -0.1441, -0.1983, -2.1538, 7.8701, 1.663, -0.1587, -0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1825, 0.9928, 0.2478, 0.2379, 0.0315, 0.0368, 0.9983, -0.0254, 0.8722, 0.6785, -0.4805, -0.0074, -0.1001, 0.9984]\nstate[eef_state]: left_x=0.3075 left_y=0.0548 left_z=0.0915 left_yaw=0.1229 left_pitch=0.0588 left_roll=0.028 left_gripper=0.9983 right_x=0.2951 right_y=-0.0026 right_z=0.172 right_yaw=0.0267 right_pitch=-0.1036 right_roll=-0.064 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -3.0017, 9.1145, 1.7216, 0.2564, 0.1148, -0.0611, 0.2393, -1.7846, 6.9675, 1.8291, 0.105, 0.1538, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbaa83cc07d578b4f739a2cfab147f3ce41f178a5f965f7b3788414c430acdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae3685a5833792fbbb88094c8d6519c1e3cfdbcc702387c02d220223568a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca20735b7a971c24ff787a5861cfbcb57b367b54e8ec4c5ac8e3dd27016e754",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2IJj_jobJSg1eIjTAe2JKcbdQZfNtPUsqj1ZR9OeEncVlQ6kWGKUDtLzi-T94NfjXj5A-ERhy6SofYKSisnNCwhEcsjwvI5qNoThp7i5WYrAi50XodA4rlohP9F6fgVNZ5_SlYLUQPxCu4NHkqeW3pe9-rEykypQfhJ-W_99070DaUpURPyhDLNMjdG440oOwchgfcRnlRF3PP3RA5lPILLv2oe1BoUdEzO9I8EzplqGkQF42fzKyh72fySIfZaQ8FbMOf5bzCpyRShne2d70hSFcAiv8UzqJNdRcHSXep-nfiRVzTGoIz6qafk77EyyOZRRRu9QA7qtxE83srodD9OR2tawmLsatU-cRNlTH5MZYZvUerxIfBtdSPAoTbD6CBFgX9ez4UIXGk1_hfsiBfTS_DKTbeUPPfsOh8i8bAN3qyQqlQBjPFhSsCdCH71jLsSFhfgr3O-RWIe2jZTo7jACrs6Ebuy0F9RvP7EcKJqsr7TQerfXk4BLyGQ0awJkma0i2W1zuaOdQrN7DrfB-Ii9OfIOZfLzAbP90zZAC99GKybH9f0A6c4g5mG7_PM3rbLSY_wAWX9129-Qchef1QWhXKXrTzNPrRe35DWbG3PPxBUby_478ziyb-CCh3_NVy9OsqfVQys1noBSYTrFBqM0bid7qG5mFtIgFotzsdsKQ5gZCcTpivqpy6LZR2OJ98VOoR_fdts5lFxtAKUP2wgGyIs8Z5hjRjwjaBRg_DrBqIFWdKfdBJ99Is2tnZ82mPQXrOgQB6qfxB57YZJqGi3v9FgcAJA9cXICHf0yNTzNm0RsuttE2aXVx858OloxRr8wzIPF2p4_F-AfPv139LmiA1apzW2wOMkJMHdp73UUsKF2ECB-Mn-T6BeCXvV2wzQtaPI41f8XhkhOQ_Jn2w_kwRjGAuY3-Zaq5AkvM7JKq3o716e0x9oxh_pUm09vKjwN8BzeKaJQebK8VZx4KE_A-NuBaY5Soosto4FITEM78_cC3OcNvVC8a-VhKk_KdwtLfXYotZFIy_roADFeJ1uGHcuAJdALUPEAE9WxY-XTL4HOe1mL_KqGgdVg3bMmrnG5ZkWChTUWYyj-sDYZzoP-Gpav5_CQ2nygGrX33LMGQEG7eDkNCrPEf-W4W-roChlVbFTVKWBYZqVjhpdjnXA1vJ5mlZ9SUbq-_m8sCa4Jqfhou6Av4btY9Ph9Gh6pjpe47xfNekdwYbjnGIde4pGQ8XKABPJPklun5GBa9TA3bTgfEL83MEf_64iSUDk6QI",
  "id": "rs_0c84a2ee5d7ab45e016ab44d87b0b887d0bab2b2d40a8120dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The large gray elephant’s broad torso is now centered squarely between the open jaws in the wrist view. I’ll descend straight down to mid-body height for a secure side grasp.\"}",
  "call_id": "call_3khnQyLvtGxoGMKiSOYWG2ki",
  "id": "fc_0c84a2ee5d7ab45e016ab44d87e82c87d0b79f5f69e51f5bde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3khnQyLvtGxoGMKiSOYWG2ki",
  "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]: [0.1509, 1.2858, 0.12, 0.543, 0.0254, 0.0265, 0.9982, -0.0257, 0.8753, 0.6785, -0.4828, -0.009, -0.0982, 0.9984]\nstate[eef_state]: left_x=0.2947 left_y=0.0439 left_z=0.0201 left_yaw=0.1019 left_pitch=-0.0566 left_roll=0.0163 left_gripper=0.9982 right_x=0.2949 right_y=-0.0024 right_z=0.1707 right_yaw=0.0266 right_pitch=-0.1088 right_roll=-0.0613 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -4.3145, 4.6154, 1.9072, -0.1197, -0.0562, -0.022, -0.1436, -1.7299, 6.9402, 1.663, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c28ec975f3a9ea7b3f8954efdf7f33330efbc57af748ff23545373ca17f3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf604c5e1d07ec1bb9acb1f9dc8d4feb340d5c8628c34ab1de880df844871736",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5b906fddb69acc0a4fe1bc83b3d708b5e57703e07c60909c9da96c296cbab2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.738 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1074, 0.8059, 0.5198, -0.2699, -0.1581, -0.0795, 0.9981, 1.0077, 2.149, 1.6688, -0.4591, 0.7219, 0.6502, 0.0166]\nstate[eef_state]: left_x=0.2987 left_y=-0.0006 left_z=0.162 left_yaw=0.0553 left_pitch=0.0175 left_roll=0.0259 left_gripper=0.9981 right_x=0.378 right_y=0.3869 right_z=0.1096 right_yaw=0.0647 right_pitch=-0.0799 right_roll=-0.0574 right_gripper=0.0166\nstate[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.7167, -0.0952, -0.022, -0.0073, -0.1162, -12.2735, 6.8581, 1.1795, 0.3834, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1825, 0.9928, 0.2478, 0.2379, 0.0315, 0.0368, 0.9983, -0.0254, 0.8722, 0.6785, -0.4805, -0.0074, -0.1001, 0.9984]\nstate[eef_state]: left_x=0.3075 left_y=0.0548 left_z=0.0915 left_yaw=0.1229 left_pitch=0.0588 left_roll=0.028 left_gripper=0.9983 right_x=0.2951 right_y=-0.0026 right_z=0.172 right_yaw=0.0267 right_pitch=-0.1036 right_roll=-0.064 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -3.0017, 9.1145, 1.7216, 0.2564, 0.1148, -0.0611, 0.2393, -1.7846, 6.9675, 1.8291, 0.105, 0.1538, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1509, 1.2858, 0.12, 0.543, 0.0254, 0.0265, 0.9982, -0.0257, 0.8753, 0.6785, -0.4828, -0.009, -0.0982, 0.9984]\nstate[eef_state]: left_x=0.2947 left_y=0.0439 left_z=0.0201 left_yaw=0.1019 left_pitch=-0.0566 left_roll=0.0163 left_gripper=0.9982 right_x=0.2949 right_y=-0.0024 right_z=0.1707 right_yaw=0.0266 right_pitch=-0.1088 right_roll=-0.0613 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -4.3145, 4.6154, 1.9072, -0.1197, -0.0562, -0.022, -0.1436, -1.7299, 6.9402, 1.663, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c28ec975f3a9ea7b3f8954efdf7f33330efbc57af748ff23545373ca17f3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf604c5e1d07ec1bb9acb1f9dc8d4feb340d5c8628c34ab1de880df844871736",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5b906fddb69acc0a4fe1bc83b3d708b5e57703e07c60909c9da96c296cbab2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2MZt0oDPqoHamTm6t8Q6g40JujvKNpXKub1slg95UckvL22Zgrum-SNwS8gbGs64Qs2KFW-uE4-RQsPqR3q8e7QDQfaGduYTjalrllXMpf-P4m8DliU8rHSj5Gl7P5rAqRjMEz6rTuDY88CzpEsgO-CEXK7kdhzae0E_fmrN43u7p9M00hkkTA0UOscBWRCldR3Vj010oZl5uiuCLEjLNas0BWFryVpPiWMFrC6RD6nYpuyYLNDtWakbncab7kqhczhZH0u4u2IouYJ1Q8B0J_RSFfh6HNCqi8yUJ203hdpY_mzHZuoZnJsFgkE7LfNFG3N94k0OexTG8YWj4jXgs5bzFQDmJX5ieItOdj_MRfSb_igiyUWufFSOxOHC0IaPOGyjx6YZVYhxixb2ImOt_HWYjrO77i26PnpPvcEH8NCeTBLfDtgBZ4_aAgieSp35V19MkkNN8I6v99vrp6HgFEBRwqHKgNLsfTrCmJQRx9egefed2AlA7xKR3kUzzZ5tUR27zrwOkKigNmHoTHCs9QRbkMk-OC1S4ZEsgEVmVV7C_Nnf0_JXc0Gt0d48DX8ZsygkHz5JsSHJ0NVbwPs6SpDYqBtRcGNJ1c3rGWbdF_7IGi5Re_Hk3qPhSLohSiYrTjfv7DRVD-ZJLX5cXLVo-yYOQdD3fuFhr5QL6lWAdh72Z9dToMC6FWPsOXBf4zYM5ELduPcf4bS7iJ4d04O9bm_RT1TQ0av32ITiyEH8HkaiMsJW0JAx5R1xWzes1FDYe9omsJHUex3B7OqkjKu14IcsTYzFs33NUlwDAsxsOCaxLfoxAZHYaFn6CVpAMwIW44uz6UQky88qrd93xS8O2ph9shGImbMhhm9l-gC8owt03TU1zPC89txVeIgcspgzZ__KH9-_7XRyqPKV8YBgFtDX5Spy08dA8OCV11PFOL_4HBP3UvgXTHVOAnAe8KU8TwvDMbamaP9KE8SSM_FXbC5y0kRrFrGQ54KwyC5H80p_qtSEatu2LhN_eQw-NicdYm2uXkObScxx-1zyrViuVtHXuog_2bjLZTtqG2xqNuEu6gfZAh43AVDD_qQ6p-iwVfrpVs5MJtLlfvCN5NjGTbqKpuDM3kC7rbtAWNKf-tXoSDiXkG_RSjkxbRo5PRbEg83e_j8_XO7_EovJKTl3g6AJZS2NW9PkqTMSG02R0vsVVdEyASxt3GebhjxxtpLyE1FMJj-DViIF9-Vac7ztT-qzvlRWvJDCVbXTZkT5snfbUBxb_zPlzlCRvaoZGAwkNtdJya-9-0g4dhXrD4v7p31uWN8_w0BF92Vrpe5AgGsa0=",
  "id": "rs_0c84a2ee5d7ab45e016ab44d8b93ec87d0a771d9aadfc05bca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low pose the elephant’s plush torso fills the entire gap between the jaws, indicating the fingers are on either side of its body rather than above it. I’ll close now.\"}",
  "call_id": "call_VFE2vSnYCMrGiTQzdXTox2li",
  "id": "fc_0c84a2ee5d7ab45e016ab44d8bfc9c87d08bccca372d39db6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VFE2vSnYCMrGiTQzdXTox2li",
  "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]: [0.1509, 1.2881, 0.112, 0.5953, 0.0231, 0.0265, 0.4937, -0.0265, 0.8761, 0.6785, -0.4824, -0.009, -0.1009, 0.9984]\nstate[eef_state]: left_x=0.299 left_y=0.045 left_z=0.0272 left_yaw=0.1039 left_pitch=-0.0147 left_roll=0.0196 left_gripper=0.4937 right_x=0.295 right_y=-0.0026 right_z=0.1706 right_yaw=0.0273 right_pitch=-0.1093 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.1795, 5.5179, 1.2527, -0.0073, -0.0513, 0.8864, -0.0068, -1.7846, 6.9812, 1.6532, -0.0171, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34802c4f8b34f0d162b315fb76047097db17046bb79bd29d36f85722215c39b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52dbf2f75a9066f5d143b0768225f097f12602af0b66d1e5a71a9f7c997bcbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4765fcf6536b752e28987a94ff18959a8f9763eec33e1514b0368defbca49971",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.866 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 1.1027, 0.1574, 0.4259, -0.1696, -0.0746, 0.9988, -0.0196, 0.87, 0.6788, -0.4633, 0.0078, -0.0803, 0.9982]\nstate[eef_state]: left_x=0.3069 left_y=0.0009 left_z=0.0631 left_yaw=0.0636 left_pitch=0.0545 left_roll=0.0299 left_gripper=0.9988 right_x=0.2975 right_y=-0.0036 right_z=0.1761 right_yaw=0.0087 right_pitch=-0.0836 right_roll=-0.0586 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 4.547, 1.37, 0.0611, -0.0952, -0.1441, -0.1983, -2.1538, 7.8701, 1.663, -0.1587, -0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1509, 1.2858, 0.12, 0.543, 0.0254, 0.0265, 0.9982, -0.0257, 0.8753, 0.6785, -0.4828, -0.009, -0.0982, 0.9984]\nstate[eef_state]: left_x=0.2947 left_y=0.0439 left_z=0.0201 left_yaw=0.1019 left_pitch=-0.0566 left_roll=0.0163 left_gripper=0.9982 right_x=0.2949 right_y=-0.0024 right_z=0.1707 right_yaw=0.0266 right_pitch=-0.1088 right_roll=-0.0613 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -4.3145, 4.6154, 1.9072, -0.1197, -0.0562, -0.022, -0.1436, -1.7299, 6.9402, 1.663, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1509, 1.2881, 0.112, 0.5953, 0.0231, 0.0265, 0.4937, -0.0265, 0.8761, 0.6785, -0.4824, -0.009, -0.1009, 0.9984]\nstate[eef_state]: left_x=0.299 left_y=0.045 left_z=0.0272 left_yaw=0.1039 left_pitch=-0.0147 left_roll=0.0196 left_gripper=0.4937 right_x=0.295 right_y=-0.0026 right_z=0.1706 right_yaw=0.0273 right_pitch=-0.1093 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.1795, 5.5179, 1.2527, -0.0073, -0.0513, 0.8864, -0.0068, -1.7846, 6.9812, 1.6532, -0.0171, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34802c4f8b34f0d162b315fb76047097db17046bb79bd29d36f85722215c39b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52dbf2f75a9066f5d143b0768225f097f12602af0b66d1e5a71a9f7c997bcbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4765fcf6536b752e28987a94ff18959a8f9763eec33e1514b0368defbca49971",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2S0f6ufVGGSZntbKukeyppbq08_enzXr0E_OUxcYgPlAlrWJDZzCdxeCYYhCkM6O9gYFCD2ngE5PtYVbf9O4hHR_JgQaEXxjR32PiTOMaqTulr9GAIwTsEbay3wtPg4ZCuXA9-caHDLdMbXgShpWAkN_UgxkHweAgY9v3ACwaFtknQvpx7OwGSyTkR6ECgHLAJV3jRjNOwATfrJDzMrNph3J1VqhRUgLpVv2FmHbRVp042sl28Ca1MjSVPAWB2YgtrzDBtORU1gvW0EkQnfxgioeDLw1ddNl41pTp6JeKbVnY1j6cQI1snBVQw241K_KeigsC2QCbLJ0BRoATz-ARxOsEY7K0cDKJMm5fzYXUbQHJn592krxccZ0RcA_O4vfsMgrWSYTVfUBybKRq9s1Y-dHwQN8GmLJ3Ks4raAtFktnJj_PMGhFKsF0eh7tIBiXmd2F-kyRfJnKdDMBOCwuAZ46kD1Ah6qZDn-vUj3mB8TCeHS6mkbtCzoxpr8ybtN7Rik5dVPCsXB0XMbe-Ie4qH9Kwq5Y61_K5vYzgFM-ZwpS2Bg8ddOVeTEjOrHxtwCQsrCxbQONIayiJ1L1VytoB_0NpSJ_K-A5VkWlZjY3adZv0vTBiJYFXeq5xLkcShPs0f-VrJBKEH7dW4JMXJE-XyNw2trS2w_mGqczNCV-tXYYzRBvFg4tBPrigWoqifWEwlnhsE4DrI3u0BcSoTpB6w778NLQ5K57jlwCML9LRS-IC-VZtvJX-2QIvawASsZjkZP9lwk3z1Ee39PjN_LfawJ2gaf7qUWQY9ky7RkwE0gJalo7mUPPvqdR964zrd1JiB5FqX8oYBqjCOzQaqmvcK8HI-9RrxtoZh7E9ZPTw0NHBxznxLggEILbM-A9C0vvJck66VEXk9UzBXypoSlAPBZpwhldEd0d0YZctHhRd4QI1gZB7Kzu_PQeHR2pOgvd5q8hRgLOkIll6OHpTGEXMDZBs4O6QtE-ob68cKmmTi7KEkONN10oLPK0_gUloEWIZnqZapUCClFC1YqmPBYDN5zj8La4_WJnlfkMsvGFsbwmAM7eCfk6vTy0WHs8C2jhPyfRQ12B1sp6opSyQsFqVgN0QWdcOehJxLiXf8vXcbKovh6nBhRz9_IUrPO8X8oQpIdHRXAnXzEI3iGLJFkjmM6Y9DN2PQCEat-JL35JxQybV9LXiymDdAiUxMFKuZkmnH4NZcfXvXGpooddpnAozl2UqdSnJkoh5EjUGAsnVoVdFdBS5VUqUGJ9JpdKOBMyM1NMqKH0bnKxda3VV5fU1_P4ibLBvcEm8bn3M1bHNvhpGNlLDiZBKotfasv7hG7CyWBIWXmiALsC8OFQmwUx5WDYIKOOaaD4pif1aUYyF41J5ivswKybMbxhEkn2wnjLWZRYUz9Z7NdIlhBmSWGqzjU_KLgEZKpkgcLboQmi5nuylcm7WPdFReNVVyAbAQTQnIr8OIZ7cDAoYmLwQTtpDUVlSqRUlSJcxoBRiJRZK5lWPTZfMEi7ERpeRTKp1JtskmmUtQjLUvzBna1TWa0HwVGiSd8DGG1ER_-MqDaY8FMT29UL5b07B7iP1diyh2u7fmtnKnP1iXXQ0TYK8cyGBw9kuq11qPGRBTvr0cFDrxDmv9-gvuxJpzirUTIr8vyrOHq82tqFPYV4qzss85_addsRpqBXSB_wYYbfV_JmsWRFboWDf16UIBPjTbeH63tcz6ER5UAeHnP4UBHphAu5_IICC75W5hiayaRSTi58ruTGhPkButTz_9J16GxO6KqeivdqkIG7SLQoes0HNhmZJgXP1Auo52-YjezSq-5dY2UQOqouY2Kuz4nFVZG0kwZs7DkUoWSsdoLF7G1vaMTT5TzFmJeXc9YkyAQB1iCaF0funCoVxApB6ww4RfQIWBp__cj5M675ouKNZRMStN6FajN1NuDm3MwLGUjF9vWoop14xLCuB39eAO_X9l1ruBiIOb4V8Tcqmy8no0pfwOgoiQ0WC5HFjMfbIGs4NfWkU6npxWnULF7qe35KMNdclfqyr6EygCG9wVFJ5bqYJ0yWVWxsOJ15_Apf5REj1MrOprg49y0KEhA82tzCrkoDhrODbqy3Fwed2fHr6dbIcbJIlGGtLRU3LTuVNQw0L-NiuqYIU-mFdAqUmdRIdUIwcmRna0fkQqFj5lD6CQ1WUhF_Rhu-8M_JsArQKAadVaGghQXh2-xnnvIPZANs5E6-zIeiBQ",
  "id": "rs_0c84a2ee5d7ab45e016ab44d8ee4e887d0898a21aa6a6e8198",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.11,\"left_z\":0.22},\"note\":\"The left gripper settled at 0.49, a secure roughly 4.7 cm hold on the gray elephant. I’ll lift it high and carry it over the left turquoise basket, which I’m assigning to the gray class.\"}",
  "call_id": "call_EVHj0vfIsfrFfIYYoP12mXE0",
  "id": "fc_0c84a2ee5d7ab45e016ab44d91e27c87d099ad768aa419f28c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EVHj0vfIsfrFfIYYoP12mXE0",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3786, 1.6394, 1.2728, -0.3119, -0.4, -0.2981, 0.4956, -0.0265, 0.8806, 0.6785, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4632 left_y=-0.1064 left_z=0.1976 left_yaw=0.1023 left_pitch=-0.0504 left_roll=0.0145 left_gripper=0.4956 right_x=0.2951 right_y=-0.0027 right_z=0.1691 right_yaw=0.0276 right_pitch=-0.115 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -9.1829, 9.1009, 1.58, -0.3053, 0.1099, 0.5885, -0.1709, -2.0171, 7.1726, 1.6093, -0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef70818f5e1b6545ec6c63774b84ac2e6955c714b4024c6af4d9f7bec4fa554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb329d352fada2f984a03a9c48fc56ea20c180ee6fcc1dce4a9677da30f10123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93728bf543c628d33ddd4ba73eeb81f9dd26720e47bc6870f55891c8da309341",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.214 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1825, 0.9928, 0.2478, 0.2379, 0.0315, 0.0368, 0.9983, -0.0254, 0.8722, 0.6785, -0.4805, -0.0074, -0.1001, 0.9984]\nstate[eef_state]: left_x=0.3075 left_y=0.0548 left_z=0.0915 left_yaw=0.1229 left_pitch=0.0588 left_roll=0.028 left_gripper=0.9983 right_x=0.2951 right_y=-0.0026 right_z=0.172 right_yaw=0.0267 right_pitch=-0.1036 right_roll=-0.064 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -3.0017, 9.1145, 1.7216, 0.2564, 0.1148, -0.0611, 0.2393, -1.7846, 6.9675, 1.8291, 0.105, 0.1538, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1509, 1.2881, 0.112, 0.5953, 0.0231, 0.0265, 0.4937, -0.0265, 0.8761, 0.6785, -0.4824, -0.009, -0.1009, 0.9984]\nstate[eef_state]: left_x=0.299 left_y=0.045 left_z=0.0272 left_yaw=0.1039 left_pitch=-0.0147 left_roll=0.0196 left_gripper=0.4937 right_x=0.295 right_y=-0.0026 right_z=0.1706 right_yaw=0.0273 right_pitch=-0.1093 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.1795, 5.5179, 1.2527, -0.0073, -0.0513, 0.8864, -0.0068, -1.7846, 6.9812, 1.6532, -0.0171, 0.0073, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3786, 1.6394, 1.2728, -0.3119, -0.4, -0.2981, 0.4956, -0.0265, 0.8806, 0.6785, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4632 left_y=-0.1064 left_z=0.1976 left_yaw=0.1023 left_pitch=-0.0504 left_roll=0.0145 left_gripper=0.4956 right_x=0.2951 right_y=-0.0027 right_z=0.1691 right_yaw=0.0276 right_pitch=-0.115 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -9.1829, 9.1009, 1.58, -0.3053, 0.1099, 0.5885, -0.1709, -2.0171, 7.1726, 1.6093, -0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef70818f5e1b6545ec6c63774b84ac2e6955c714b4024c6af4d9f7bec4fa554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb329d352fada2f984a03a9c48fc56ea20c180ee6fcc1dce4a9677da30f10123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93728bf543c628d33ddd4ba73eeb81f9dd26720e47bc6870f55891c8da309341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2WjuR9pGBGRbK8pI6JPJGKYdwSAqyrd44AG3gzaCpu_HD9Zpvgn8bXg-Q0fgevXjk_xjyvFKIaMX3l928jXuL49FSEfFYD6sBYkAbePq9q50075skacGyour8Uug8hSl5uw1kVZj4g_l3DSSHsGM2FmG9zTuR3GoZr-2hy578d_AG0GhglJw6_13XbjyLVMiDEYZK4iog4e66FDc6bgBXP3Xocuj6VXZ3Xk0l8oPPwW-3L_T-O6IgMbz_YecZVXUrYe4N86PMrw5jfaEdXWLcEyjuyOxYyrQlJl0ygk-ce7JE8v4h3wB3yz2NrzS5lnyT6kw6PCV_A6jFTvn63HDX71qdee9jM-rb3sM5TNUHYbxB0XRgqf2gR7rVA0EmMGVht5aGflfa78bC5sCmdoMuDj_g_4BYSCSlDlXXwjASSza_nbMP-KXBm3UakXffSDmSroSmXSe8GUMTuhFiKBJHEqDcM0nYSIzqXKqkx7_CmTr7vfj8uPQ_xfq7KvWBpxmAR9SZBLvoxvVb8R4ZOBxHISEpcMdkwWHs95US9Bqmz2yI2SEFka-RukzEiCDIx0XNAZUoJNqv67qEbCzrXv8vPGBwzQHyKRDtn6YWcYdj5Ok8k3zYcHFHrXQJnQ8hGBKAHbVDfUMiwcDNwFWdyQ7LrlYAJAeMusWs9t6inJG9f0iYT40G9EdZ6Pk6VuAa3OWg2JPcQao8XZuKNGY05ZCP8NDCQvr4apwaCgmDmbqGJgMz2w0fDZHXZl4s9Zd8zPCmQC56v7Tz1Vz-Jr1a0Hh3DB7OKUwdf15n4OpiI6BXSyyeXC3hMoytm60mT8H9enGvGOYmrBfT9X2LmJY66kMN6yXsuvbLzw1regcrZkd0ePEWnYnIhEMA6yosi6GUfrNZG5w-dI6QfPFYoD88T6PPC_AeS8ER3wYbMmAq_eH_dQpJ_9vteVYLek0RyFl9oOiqZecxQXMIbjI2hxE2jjuis1DNsn4deAYmBnra0fGDQW53zJ5utkcl6nHZu4mDlpScrDSrqyjJmolDEM3cX-wK7nQSmnZ4WLbEY9DVeoCTppLEwFBbMPPmAUVE1gyA9Xudd8IfuaaENk_OSkC6EeNKzcZI9yhZB4IQN4GutdQT-xMgU798BtUaaV4l1YcFP-cDy4y0SPPYHOPC9u9HPRGbcY5qrKbFm9bmPaOOeluQfya1K1tQln63Ez9WRBH-l6Y52ZR_jnS1xbBFLXbOHTfrPTvLDJwS_OnjJGx3cheKqCUa9q1UbDBhFMWxhC6GgBfGop1Fkh-G0OD6FzVlVbKwFuV6-37eKhM5MTCZXm2Cl5utBr3N9RXQy-d8Eh5fHEMxJiY7-ysHqEZVm-r2gMORTDXYBQGXA109IGQv43CJngEPdMnHEF9NlunVIGnlvaW1As4grn9shROQbOi-kik-oyNLagDj64XNW8JyKWRH_9SrabchlYVfXmUU7u_bWraq-z67jfICd_hoOxWZKmnqmSIbYepLlDaMAqq6aCYt014g=",
  "id": "rs_0c84a2ee5d7ab45e016ab44d94f34087d0a907808e327d1a0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The held elephant is visibly centered over the left basket opening and remains secure. I’ll lower it inside the basket, stopping above the table so the basket walls clear the toy before release.\"}",
  "call_id": "call_4kUAHaXTwmDkCrRQfLm8GiQ5",
  "id": "fc_0c84a2ee5d7ab45e016ab44d95c10c87d0bc5176f19e1a10e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4kUAHaXTwmDkCrRQfLm8GiQ5",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 1.7161, 1.0317, 0.0391, -0.4175, -0.3031, 0.4988, -0.0265, 0.8825, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4653 left_y=-0.1053 left_z=0.1257 left_yaw=0.1163 left_pitch=-0.016 left_roll=0.0044 left_gripper=0.4988 right_x=0.2953 right_y=-0.0027 right_z=0.1687 right_yaw=0.0276 right_pitch=-0.1162 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.253, -5.3128, 4.5607, 1.1453, 0.0855, 0.0464, 0.3248, -0.1846, -1.935, 6.9402, 1.663, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6130c17b3e2221eb98a444c7d581bedf34e2204435a18d26dbdd64ac844ac4a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3cc6d1891fd5cb9aed1394ee375131d2f2b1b3efa9a7e13683f41259237c71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a323f5172ec7cedda4e9705e7210ba4d48f98e402a3d2e1f2b14b60f82af0220",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.983 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1509, 1.2858, 0.12, 0.543, 0.0254, 0.0265, 0.9982, -0.0257, 0.8753, 0.6785, -0.4828, -0.009, -0.0982, 0.9984]\nstate[eef_state]: left_x=0.2947 left_y=0.0439 left_z=0.0201 left_yaw=0.1019 left_pitch=-0.0566 left_roll=0.0163 left_gripper=0.9982 right_x=0.2949 right_y=-0.0024 right_z=0.1707 right_yaw=0.0266 right_pitch=-0.1088 right_roll=-0.0613 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -4.3145, 4.6154, 1.9072, -0.1197, -0.0562, -0.022, -0.1436, -1.7299, 6.9402, 1.663, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3786, 1.6394, 1.2728, -0.3119, -0.4, -0.2981, 0.4956, -0.0265, 0.8806, 0.6785, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4632 left_y=-0.1064 left_z=0.1976 left_yaw=0.1023 left_pitch=-0.0504 left_roll=0.0145 left_gripper=0.4956 right_x=0.2951 right_y=-0.0027 right_z=0.1691 right_yaw=0.0276 right_pitch=-0.115 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -9.1829, 9.1009, 1.58, -0.3053, 0.1099, 0.5885, -0.1709, -2.0171, 7.1726, 1.6093, -0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 1.7161, 1.0317, 0.0391, -0.4175, -0.3031, 0.4988, -0.0265, 0.8825, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4653 left_y=-0.1053 left_z=0.1257 left_yaw=0.1163 left_pitch=-0.016 left_roll=0.0044 left_gripper=0.4988 right_x=0.2953 right_y=-0.0027 right_z=0.1687 right_yaw=0.0276 right_pitch=-0.1162 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.253, -5.3128, 4.5607, 1.1453, 0.0855, 0.0464, 0.3248, -0.1846, -1.935, 6.9402, 1.663, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6130c17b3e2221eb98a444c7d581bedf34e2204435a18d26dbdd64ac844ac4a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3cc6d1891fd5cb9aed1394ee375131d2f2b1b3efa9a7e13683f41259237c71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a323f5172ec7cedda4e9705e7210ba4d48f98e402a3d2e1f2b14b60f82af0220",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2aLqe0qXpuiDZv1O-JApnvsimpntYcv4jhvkdmgwpBQuWrLlXO1p19dJ4e3vz8PJzQx9p-uTzpq81NWMhn1dKF58LcUxBFNdjwnOB92WIQhGH-TKKtqvJJuj3VrSGrEZTNq5IkJA4UNbAU4YQQtuwpsbyFXb4iOF7VSeKkPnYF9V9_7jfRMieMFGHbfDLLDzz4lR7FWiXh3AeKKb6LIbHsqnDQYFouxH5hrO-yd3A4NjpjVXp7ZLfx90O2shLCavSuGCNGPfDNdY8P2z4onPwLcXNbq_XwAONVAQCtYk_IeYd43DdX5XGEIsUZmYrLxf59u8okuyUnz_MHdeevf0pvmyoTBxlsCnLKE496j1dIbr8sxy8AvWcbomMyKPltvZkKVrHwV50Uo15BkNnzywmk_c-B7joMSXivgTk_ELmI_RxT5mPIqxMkUFSKGAqvmmEqiqSISugpFgojo_IVnK_9mXDxFLF22_GmjROBZg_pyZtn96Ug9RJu_se0DnX8KKesG9V9cEQr-LjnDeO3e5yxPQ861QMn05BwrL4HDNOhrcuufjnjD84k5kCNO_qRnVwEueQZs6lWDGE9hJpJyIjbypNdywfjBbFqc5PQICQeaKeOnyWFQqvaHapX3rpEy19aZJ8mA3g7aYCSpcmrnhHqH7MsEzZyodp0uV--u9HUhcYjQqjOm1Sw8Bc_3iVV6z2-npAGyGmQRLCKcX9DCjEblb6_WP9umauOVflTLNWoRbz8sMDei1KeyRrIvVnZcba4JT8VDUv2WhtoawicIup4XISUcEA45lRG3jS8O0ys2HGcgV-q5NBP3VIJFSEIwK8MKSzAtGGBx56bxdFngmGhwOQWogTX9desa_TIl4siMYfYNXIZaKAoltOXi3kHQx-x7N2F8Oi17dNmETKujdLMRI5Oyl9et0rKwWfo7QxKgPJ72pF8fLoacwdzmRRS2YjgMlTkwSkvQ-Zm0EdCl8daHq-EtiMNBXfkgni5j5tQAcD2um5ILHk1FVpDFPR8LAcw7ezc2zGiE96upj1kF6iBsBEYdG-iAV8Y8T_CguUMzowPJaz-Y6AnxMyz0pRRIMLYsV2XvsuxcoDicPtJgKvUSeRab5lIeUpVY_twgWQ2mxOkWk52oy-wrUIyIAqXpko4jC-ufqPHA6DFjjdZ_CJf7ALXtbtqTJLqNOPQp-8Hv8JJ6C24cDjz0LLO_b5ysykxHkD3fs8qlYuQTwt_ARGsiRpMTLVBxgTFI2o8C5bLwZs=",
  "id": "rs_0c84a2ee5d7ab45e016ab44d9976c887d0b9ea865486a5a318",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The elephant is lowered within the left basket’s walls, with its body centered over the basket floor. I’ll open the gripper to release it.\"}",
  "call_id": "call_6KRSgV0K2E3SJvQN1K7dKLFn",
  "id": "fc_0c84a2ee5d7ab45e016ab44d99a5dc87d097afe2d85e9ae380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6KRSgV0K2E3SJvQN1K7dKLFn",
  "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]: [-0.382, 1.7279, 1.0206, 0.0647, -0.4229, -0.3042, 0.9965, -0.0265, 0.8829, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4661 left_y=-0.1053 left_z=0.1208 left_yaw=0.1201 left_pitch=-0.0121 left_roll=0.005 left_gripper=0.9965 right_x=0.2953 right_y=-0.0027 right_z=0.1686 right_yaw=0.0276 right_pitch=-0.1166 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -9.5248, 7.3368, 1.4188, -0.1245, -0.0269, -0.1099, -0.0889, -1.812, 6.9675, 1.6044, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961f429eb67e7bcd71603639c91ff74103934e3dd4de46297ec44fbf5aa7f6b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29fc2261e8fab5ce58c30acaf9225915011314925f91dbec644b6e0f662dd9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e2aee852a5fb5bd5b5c1dabb9bdc88f8c4ba648211135a1199733bc632ffc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 7.096 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1509, 1.2881, 0.112, 0.5953, 0.0231, 0.0265, 0.4937, -0.0265, 0.8761, 0.6785, -0.4824, -0.009, -0.1009, 0.9984]\nstate[eef_state]: left_x=0.299 left_y=0.045 left_z=0.0272 left_yaw=0.1039 left_pitch=-0.0147 left_roll=0.0196 left_gripper=0.4937 right_x=0.295 right_y=-0.0026 right_z=0.1706 right_yaw=0.0273 right_pitch=-0.1093 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.1795, 5.5179, 1.2527, -0.0073, -0.0513, 0.8864, -0.0068, -1.7846, 6.9812, 1.6532, -0.0171, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 1.7161, 1.0317, 0.0391, -0.4175, -0.3031, 0.4988, -0.0265, 0.8825, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4653 left_y=-0.1053 left_z=0.1257 left_yaw=0.1163 left_pitch=-0.016 left_roll=0.0044 left_gripper=0.4988 right_x=0.2953 right_y=-0.0027 right_z=0.1687 right_yaw=0.0276 right_pitch=-0.1162 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.253, -5.3128, 4.5607, 1.1453, 0.0855, 0.0464, 0.3248, -0.1846, -1.935, 6.9402, 1.663, -0.0366, -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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.382, 1.7279, 1.0206, 0.0647, -0.4229, -0.3042, 0.9965, -0.0265, 0.8829, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4661 left_y=-0.1053 left_z=0.1208 left_yaw=0.1201 left_pitch=-0.0121 left_roll=0.005 left_gripper=0.9965 right_x=0.2953 right_y=-0.0027 right_z=0.1686 right_yaw=0.0276 right_pitch=-0.1166 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -9.5248, 7.3368, 1.4188, -0.1245, -0.0269, -0.1099, -0.0889, -1.812, 6.9675, 1.6044, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961f429eb67e7bcd71603639c91ff74103934e3dd4de46297ec44fbf5aa7f6b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29fc2261e8fab5ce58c30acaf9225915011314925f91dbec644b6e0f662dd9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e2aee852a5fb5bd5b5c1dabb9bdc88f8c4ba648211135a1199733bc632ffc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2e7V6XbaMNmL_d5QoK5bMwIGk-bUTdXain50jD2avxMXn8L10jdpx7lX4PN1hPSJHHyE_Le96oqQVujLleq0BGdGoi1lplBmM9wGMo8fIEH-lJ6dAJJBtwKfkTRHHv_4LdTvcPVonTku8rF---NcYATyachxYxSjRgrjJnjf6b93be8wjOspqkdB4yhUXYurqA4jft1dyjpk8lTp1iGFR76gawGDpSMDaED4Er8dLOA1hn07YHLZbxTcmmzS6mi6xYqVYXjnFOpUfzsumQOGdG60j3Na7XcaCBScKzulM21Sxs1jxrZs3j0v89NvaBuH9GYoiMBljA_IZ5Kyovs1hcbh3ZDm2PM9i-pZjLwm0j6-cAMXirpxTAjKohevHctAw11lGi-Fpsogu3BCNPTsTP24_BwKIuzZV8E2Adndlltb6nD4menCofAQeMOe6Tx97-G1hfi7coZ70xuFeC3fGUIU4C479b6z2OBqg7x188acxyqQ4TkU2gQsHE8XlRNV_cyuHAJURTqmgJ3wT4CiCnX9Kz48Imu63i1l0sFDW7vfztDKWlYk8Q1y53wALuYzSF1T_rP5BZiQxPjRtgNTlnmUJu0nxP4fz5WVcT6QUrdFNcyykyvts1GiZJOMViWeV7ES4S1Le5vCqg-Xlka6EPbvkDT4oPNFCaeseTUmkjsSnvExtC2-fGJvMKHUy46jTRhacEnsNkuSyQHwu6ZsBeAYdhbepNctby3YOtu-Ixpgv_AZtljHxfsoWO7kaPI7faSAv1QnLXE4BkNkvjaNu2y6fnY4akgIhSl4-suh3kkv-H7GufEgyT6EZo_KmM46WMhjF0xARPwOHkBWEKG4R5gxvplPUnnKpsISCiW0Qd73cK3jLtGvGkrZk9J5o4faQN4vrOJ9GNuez2DBxz8sBsPwhTGxOhJp2Gq31ZS7zWIfjz7T3fGS3eOoGVRed_eUTJbSQR7IMMsHUiKy3Lx59HZVHQx2dYnClQuDSUMVlP_ANJP3silKVu7Rfr3XEmbpMZVuiVF4xz-2HxO577VtKgSeJTWJKZ39xO-4HkA3PGpGnKHo8cjqX8GEw34_M3Tif8P-6V08Wy2iEMOuw2KXI_ZkwtgJ7MZ6j2U4W4h0pn2Fb0APdKn_JtO8ZjFC-9Gcb5S-kZt7wDNidQ5ruzKS4KYaBt6F3pB5pRxN2iRd3CA6Uc5KcuWmsj1uJ1fK1NRuJcWugM7LPsLZtuB_Xry6v76FbEAg-uFdDc2DaoX8gwPUVvqGKRnZot1hHfmNkGphN8sIXKI8ORa_iVsBAF1Ajg3rbwDYPfRStVa2n1gV-YNsC06bzEFBp-lAxzszW9pCO102TGDT3szxYEStFPF8EoM_c2usLUfS98wPIgBIXwwXn64v45gwDfkVxN6kMvgYDM1m94HJ1KWPKGnJZ8eUUt1WZPRwrg51gtXT3qNYV9XO17MHOM8Cf6szwR3qgettWXHb0eS1hZklIsVwsO38emnHienrW6iQ4iQbPhK8eYPMOdo5pwq02oqTbCvSZ3OlURsgNzW9VwD4Hk_wpLiwYGUfRN9IWOmLYm37ioE6LlinLKBglZ7f7NfrSlJBlPZkokEl4GnV3oh9WVYEGSRD02TpZVIXgDmFa3VwIc3n9Wm-x7PSgPz0H7SBFJt5LBCEfp",
  "id": "rs_0c84a2ee5d7ab45e016ab44d9c8a9087d083396197026cf6d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18},\"note\":\"The gripper is open after release, so I’ll retract the left arm to its home-height pose to verify the elephant stayed in the basket and to expose the remaining objects for the next pick.\"}",
  "call_id": "call_HslXCI8KjS3MPsQwIkqbAIb2",
  "id": "fc_0c84a2ee5d7ab45e016ab44d9d656487d08e16dd27b9a765e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HslXCI8KjS3MPsQwIkqbAIb2",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8742, 0.6376, -0.3191, -0.2638, -0.1905, 0.9979, -0.0261, 0.8867, 0.6785, -0.482, -0.0093, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3114 left_y=-0.0002 left_z=0.1887 left_yaw=0.1499 left_pitch=0.0319 left_roll=-0.0152 left_gripper=0.9979 right_x=0.2957 right_y=-0.0025 right_z=0.1677 right_yaw=0.0285 right_pitch=-0.1196 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -1.5658, 6.5436, 1.8535, -0.0366, 0.1148, 0.1294, -0.0889, -1.7162, 6.9949, 1.6825, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab053899451cca6de031f2f1f48d9fadc07bfd0e76879e0cad88e95a52d4a50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67c2ca71e2d0a05804344f24557d26288b454a828079a6fb2fbc5a861e84b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c0de21280ec2280877a4c3ece3e6db5b7c5d4d74ed188ff8936482cc35ccb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.979 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3786, 1.6394, 1.2728, -0.3119, -0.4, -0.2981, 0.4956, -0.0265, 0.8806, 0.6785, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4632 left_y=-0.1064 left_z=0.1976 left_yaw=0.1023 left_pitch=-0.0504 left_roll=0.0145 left_gripper=0.4956 right_x=0.2951 right_y=-0.0027 right_z=0.1691 right_yaw=0.0276 right_pitch=-0.115 right_roll=-0.0634 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -9.1829, 9.1009, 1.58, -0.3053, 0.1099, 0.5885, -0.1709, -2.0171, 7.1726, 1.6093, -0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.382, 1.7279, 1.0206, 0.0647, -0.4229, -0.3042, 0.9965, -0.0265, 0.8829, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4661 left_y=-0.1053 left_z=0.1208 left_yaw=0.1201 left_pitch=-0.0121 left_roll=0.005 left_gripper=0.9965 right_x=0.2953 right_y=-0.0027 right_z=0.1686 right_yaw=0.0276 right_pitch=-0.1166 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -9.5248, 7.3368, 1.4188, -0.1245, -0.0269, -0.1099, -0.0889, -1.812, 6.9675, 1.6044, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8742, 0.6376, -0.3191, -0.2638, -0.1905, 0.9979, -0.0261, 0.8867, 0.6785, -0.482, -0.0093, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3114 left_y=-0.0002 left_z=0.1887 left_yaw=0.1499 left_pitch=0.0319 left_roll=-0.0152 left_gripper=0.9979 right_x=0.2957 right_y=-0.0025 right_z=0.1677 right_yaw=0.0285 right_pitch=-0.1196 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -1.5658, 6.5436, 1.8535, -0.0366, 0.1148, 0.1294, -0.0889, -1.7162, 6.9949, 1.6825, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab053899451cca6de031f2f1f48d9fadc07bfd0e76879e0cad88e95a52d4a50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67c2ca71e2d0a05804344f24557d26288b454a828079a6fb2fbc5a861e84b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c0de21280ec2280877a4c3ece3e6db5b7c5d4d74ed188ff8936482cc35ccb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2n2hVQBxG3Jfu-kd86MShDZhlw6cpT-Gc9FNlZFT9cZxsiPHBVw31h0VX9JDsdGiUcJw_t7HG4f48yOmebdk9UYIY86yEV4JQlo90-tA0KxwbnE91vSIq7MUdN_V4sRkiCbbihGRcpx3SLI702gYCxeyU6-goPjlrCGBxWQfmu_KaMFee62r9TzgcCRz5liI6_S3x0t96iBZkzGR475xaAylLeRuHfk4ywQG5w0w67BHb600kCQJGS_oiUX1fd0T_27hfLX3phKYE5Dy4EtnnC8neDtLV1is5TQnWg8bo6wEzxtBE_aRQi7LUbK3RfjuVmbcaWQ2GZQ5Ze0fYEIHcT6vna3_IuMsC1EcwC7nvMpKrjREhuAF4wjLqWSwYgYMpEEUYZJEtSQLnoV2kg6CTSUM753v8eB9swdSzDaeyelvRh2YqbmoNcbzJ23tAAzQ8fuOeV0Gd7oDL5cvGowPCS51_78RB7ULPx_qQeS-LILjcJhyP0zo5_86aOUH0uyB2hBdbKAVtee9I_hETYAZrIVD8fRFRBaDhuyPmTujM8eEEnDJdxd3B0V7lrvJidUMLVbFIIQ3U_0QJ-c4JH2zs16h2hS1pexZiValIWd_CBdPoKYSUEMVZACUg43p0ytOEkhvG5_-ALX9tHgC_NThEuLsta88JAvScYqhbovEt-fntkuxPbeFP49g0kk_tw_37G_Z1BjA9cmTEJ4Jfvbv_8LvY6QWmYhQSX1DqA_mabX6qUu3BlcAx1uZvv9UAquSDL9mdKxqZpYDpntI5KCS6sgaRm7NJjcB2UYZ_wF6nWJDfk67G_Lpp0kotGQ3Y7PcgxSYWFMPkqc2SNSXQ3lpfvaKtELAmZW74d3QAXl83iI4Kpfxmcw6a4uo9OUUUn2QU0zN0pjXydADp9ixlxilc5fhCtte8Sitt-TITDl98i_wBsZNdVzz14DM1fbwK5VnJeTxDiuMxEksTqZMsgOWS8S_1cygVhgV2lAETyWjGRy-3TMnyPiEUMwzPpLvGc0_WUhIbzNfSKn9oFfow6moCYXVR1fF_7HjldKbbwFghwivxuc_NYS2DY6yj2A8R4A7NAlisWlRGlGOF_Tx9uoszFOJTxyKnNaKefdV0iyVvIZ4SrLQSlyFx7ZPhynLV1BRgKoyIKmRZSiE7Zr4OKRdKiMWsF8a8PNabMVeiEMoLxU19AqkArDz1XBq_SWaH2nM_YQN0DR01mv_oeoeaylz90MiPoYh7JTqUMjss_xGsGejE1M3sWi8_-JRskGGNSO51ibeKwo2xNCHFE1un6y8nCYkRSWtt-MSyGxppnEHB4nY-WExLM_MFw5Gnogubh6J_htnEbBPiLiVX7S3R8FdSFr2S2y4Inlz7dkanmekk80QOz-dukeAHnvizV6eyJpgBrMWjwXw2d9SZ-BaXujDPfYYP3oG08VlKWxKCg8FASWlw-f_CH1VXeYvq5F_Eq9nNWThUL0MEDtICsm_4eS9nIQgSzrvOJsUoJz1m2frspthlXqnlK_AAYbvHlBmNE7kl9FMm-5ExQETGtTX50n6dIH9bNnT2yGZo3Qy4RLv0UxQbH_ELdlnXpuABZ3S5Gy_iw_cdZRuHHDTWiY7-gz_AFTWbcaRJcmhBO-xs-RHrRlx9FNZrJSYPOvmoNRhNHrCtTwTsn5x-70UOyR2FlZlpJUJFb5gshioQn4p78u6QkffYyaN_FG7R0rshOXBplusYjg4zn6hYmeIUItVuxal-nAWRQmEeBtVA95Yrn2u0pB_cIAQK1wFhDf3i5Fw6SAhjoLeYkn-12jL5QN-MLxehgxSxul4MviihMmUWqLkQdS7O0Lel1inxELKNfC-tBB3qRGHvsDC0uitLnhJjHxuain73-VbZJ1iU2J7-3bUpPDrON6ukFzbGSGmUpJKv2cTYVHtjdY5HsflkQzz2wxnv0douHlrFXqpvj1INBYgZNO8FvwEt_SR5me3kgWw5v25VPz-3fi2rE-G3JlkCgx7NCd06oT3ePqDCIdS8Vtt2y-zuuzil90j6ulzI2Qx4rrakjpUNzSPpyWIXBJF3zciZNO5QgV8HrJsCfoZfGA94KWTb2TowLi8Yj_fzsFd_g7XkYfOC4-qmdZu8YdYRcunXDwv7O-xBTetUlgRS5ZewUz1OPoVgdsJzbyJ78dzRiO1hyiI0ytVxLDDqBbGYG0gnsn0nyrEKXmcixFvRxUW-hmvYNscb4sVcnkCVXChfXAPec374un0cdF_H2_wvQ0TkXL1eSQQD3gSdiRaepRXPG2u2TzxdGn4AseQVn852tVPhRi8aWHldNvGtIWTVi4kEfJha3gKgou9EDl2Ro5R6JP2vhmV865YaPC-AVoh7QTq41-tPeM0zLkAvAZ3cezLxmuHJno-OzM3zF9lmrfZT9XElGlwRFJKpdYqBmuryOX8G3W2rbCEsZrSiJvbW01hx6l_NyyOqJWeSOOOvYcUB-x_cJiRNmPz2QCmGyXzaOK9n0VgoFFqqUZap9w11gh6lw9lqnFvQUa27IuRKdCRBOgUdg8t_oQifg2_XXNeYnV2ILHnmZ5EL5h3JMov_BPkMhCwQTRQvMvU6ZCKD_m5zpXVvmWfd1annHDPX-UuTKiCQJ2FWe-9RfxksnBAhx_y0G4tWWNgdbQPWz8DuxnvUT6yPsl7-4iM4IqIi1QweYyuXlSrFoTpYHJDbuK1ocV0OI4aSkBnaExptg5k67zVTQ1lKW0vXAlNNwwUm8P75f0aqcCuvR-paibNB1rKQqwGpAAqKc65W2PO35SngOjP6RGVQ32XbUDNEubRF823WjzzcT-voRRoKcZC0EOOpq8JfSBo2tdD2L7c6kQrvZ9S4RqSWda6uP4CGdwO10TV00vQy-D3WRj06VLgLtLZlw7GrpD5DX5Wa5VXpVMW627REnGKJ3Sk598luxSBlRqV_ugjXWpJ8xeV0SWPSvAtDmNr6Ma7cJny-jOLRe7j83edoDNfMd6eA_SgXt9llX-DK4cWIKwklrpDJRWt7_tk8m9n0pJtOoTbeIB4yBL7Vm3roGVd2btzeL7FV7tYKlsUphexbhLk8VpQVOHAJPF3qt7HIucuVbHLviLsSva6FBlSXZYzUSOusSAmQaJKZUsmsbOI3DzFUeyGTJ4_Luc5FB5dJrC_hormcHWtoCZAtb5JgKhrpOdMHi56RZj4K6sAST55dHqxskhPPv8V62A27t461-PdVWP2WmcEHQGh5xcpPq54ZAYUSPKp1xVoDHh7zoPUNoj_Bci1AAZbRFQe9pyLPkcAvOpCSE_dNEGZ7oqD82sAPwwpFfpnCdJd-i50gk0uclqna_1J2QlSHHJnIl-_41w1QC-K1XMVkJtKTIp8jNiiFqTBLZ9wwoZchpmSpQUqMPw0XmzsvaGcYSHp4H5-2a2CGSqRYIul3_V76nhB5goylkZdtiwcvz9Y0o3f3YyPLeDJVOhCBXAjtnAm65fGR2hbmkkWLtzlbZzhlO1-Ub7PiBjrUBDtXAQxICzQQQLEn4-kJVgep92s_h1NVDaKzGx-ftquA25kmHqt-uuyw6ZT2rLFdRvevmKEB03-Rt1hITR7uKccEfhpv8YCBIBTppwQ==",
  "id": "rs_0c84a2ee5d7ab45e016ab44da1826887d0863f3048f4f012fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.04,\"left_z\":0.05},\"note\":\"After retracting, I can see the gray elephant was released just left of the basket—the basket center is farther right in the overhead image than my first placement target. The dropped elephant is again centered under the left wrist, so I’ll lower at the proven +y grasp alignment to recover it.\"}",
  "call_id": "call_jUADYFObckiS49XHGyyxlfyc",
  "id": "fc_0c84a2ee5d7ab45e016ab44da619a087d0b29d8f0aa626b936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jUADYFObckiS49XHGyyxlfyc",
  "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]: [0.0834, 1.1156, 0.1444, 0.3233, -0.0803, -0.0811, 0.998, -0.0265, 0.889, 0.6785, -0.4828, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.2856 left_y=0.0417 left_z=0.0323 left_yaw=0.1816 left_pitch=-0.0793 left_roll=-0.0071 left_gripper=0.998 right_x=0.2957 right_y=-0.0027 right_z=0.1669 right_yaw=0.0278 right_pitch=-0.1227 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -3.7538, 5.8872, 2.1514, 0.0708, 0.1148, 0.0024, -0.0752, -1.8667, 6.9402, 1.6093, -0.0415, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c6e9e0b41ea3b430be38931a4740ae9cfcdbe75d42e78fe9e9c18a6c2d48ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eac6ca035a0068f83b58ed40a929699100cafd919b3708fd1cc8bd9ac2d8dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059a22ca5ab3ae694f46f73fcb0d458cd3eaf72ce41c938f73c515309a991534",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.676 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 1.7161, 1.0317, 0.0391, -0.4175, -0.3031, 0.4988, -0.0265, 0.8825, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4653 left_y=-0.1053 left_z=0.1257 left_yaw=0.1163 left_pitch=-0.016 left_roll=0.0044 left_gripper=0.4988 right_x=0.2953 right_y=-0.0027 right_z=0.1687 right_yaw=0.0276 right_pitch=-0.1162 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.253, -5.3128, 4.5607, 1.1453, 0.0855, 0.0464, 0.3248, -0.1846, -1.935, 6.9402, 1.663, -0.0366, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8742, 0.6376, -0.3191, -0.2638, -0.1905, 0.9979, -0.0261, 0.8867, 0.6785, -0.482, -0.0093, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3114 left_y=-0.0002 left_z=0.1887 left_yaw=0.1499 left_pitch=0.0319 left_roll=-0.0152 left_gripper=0.9979 right_x=0.2957 right_y=-0.0025 right_z=0.1677 right_yaw=0.0285 right_pitch=-0.1196 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -1.5658, 6.5436, 1.8535, -0.0366, 0.1148, 0.1294, -0.0889, -1.7162, 6.9949, 1.6825, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0834, 1.1156, 0.1444, 0.3233, -0.0803, -0.0811, 0.998, -0.0265, 0.889, 0.6785, -0.4828, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.2856 left_y=0.0417 left_z=0.0323 left_yaw=0.1816 left_pitch=-0.0793 left_roll=-0.0071 left_gripper=0.998 right_x=0.2957 right_y=-0.0027 right_z=0.1669 right_yaw=0.0278 right_pitch=-0.1227 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -3.7538, 5.8872, 2.1514, 0.0708, 0.1148, 0.0024, -0.0752, -1.8667, 6.9402, 1.6093, -0.0415, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c6e9e0b41ea3b430be38931a4740ae9cfcdbe75d42e78fe9e9c18a6c2d48ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eac6ca035a0068f83b58ed40a929699100cafd919b3708fd1cc8bd9ac2d8dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059a22ca5ab3ae694f46f73fcb0d458cd3eaf72ce41c938f73c515309a991534",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2sDH6b1WiUxPWZy2eNGdZP5eAYCx8ON3iV5e8aVaHCJ_6TFCsp3cPzPNICgJq8ixysS3XNFwuteSCKFpV3Tytb7gswlgjrl8hThVnHhqkouUoIvaL-5s3xRlD8JCCgRMtynuI_hxiCwEIZ3SZBSaJ33z495EBLyKmFIFOQgEtW7AxcWGa3ya_J4vFFfU8tzw-73Ve6xexwiNyCXgfOa3VCnJ80oRv9a9-kHHT2_F0QgX4WZipsQMO4YsUzQRPoGPGKM71qDxSHce1xITpNZhX5usvBNz7pCqh2mCrE5Ld2uG5gZk_XwEawDp6R4zTHTgqQIqJCPPFkgT7ZIqEzQkc1XnIlS1Rvq0aPlZLWE122TpOtAZFBVVp2JrKgilKdziaEsHlmkNpIT0NrHc73Dbvyhn1kgsuvKUcw_ACkhi4y_q7kRYughOrqGLD2nCPRLvKTfSCkuLkPjzTWmTggR3RYMAtft-7PsLNgo-9tJu6GSLukSeGC0kW6mXKDy9prFFJlFZTicgJCXnqdHgI3jvQdG9OOoXwYjECuz3vwbv3irWy6FsYaqE7JSS2BGYUEC8oFjMzPDFy3CXwpVgg-T7odWw8jFicLFaVmS6uvNdTBi6V0IURk8xCMrGm4VoRUuwl1oeuyj4yTFRHgOuapoIswR2OGPbOyaXvEduBsCt8NnTH1jX-OghbYkZ1HrNHykA8t9WHdJ1XHPY_YfE7i4VSzEPBUsgG8YjMbvz3yyFcZPNpi8_frHCNNWstJntQ8yeMV5OoDXJZxjnXfqSj2FNwj-4sG0hNwCsA6OhvPMwRjDtO_Acc_Ikr8MplUxaPYFRee5Cz7X21YK-Rs5jSorAIM19XAe4lggL6d3JRbGQAUq10PccMJnEIXDoxpuSAhtmW5OmJaNyLL4Zjx0iQDjUEp-aMXtr8Q-tFbENaGBOF73gRn7MSiLDHswBDVdySLUUCpfuK-3caP15CwjTav-410gvFQzJ7kiIlqOE3cZE-_FGLqTP3iH2QheMd636HBoXg72R_emwrRgZqPtlE90nXo35PJbqWksSjkzqlRIMsbN1RGWqubRAnV2dPQLiriElfx4p1l4Mbi0uTaFr4SiEeafXFbt1PiUF3_yer9F0JuJlUbxGbi7RY2gJZnu_35Z4eXQjSSzIbGFfEaqqPZvKRy1NByczrkOlKGV-JbEwr2RYnELKFB6lT-cszXKFo1XdzpfKBXds_k-_h8tj-m2R4iifwUO8fo4iJrmNujomx8Vc82BfAiJbwOiv79rHiFYapK99jTGIPrS1Nz3znJ-vktBr4ZJ9JTH5W6A8ziKSJs_xXQnhuqDUhhyHzhMO4iTE9DDSuweV7GhTbNQ1vG-Brenq07301ssGGVEbjpyjGNwLpJiBLClq06oo0HWVse6Rmnahzcvrhp0R-kW_KJj8xYljJGf01XSVKFuQQouCI2WoyAHQ146vJ6R0xl9qLRs05xl2lmXUa7-W9bh3-wMk6xY4Nz6Tk8DUQ80KL11uZF0qEynKqZ4_vZBisHo0KfcT078GzvbgpEaHXz2w3g4JowR4csfzQLQVv8S8FP7iKIcCrCL2t8HDDRY9vjJPRsAIPqaFo3zrfHNoD18eTvfUZtd8eBoYs9E1gUl_ZcpLLY4Q-Z0JiJ3dl_PHTMepQBkxIpT8eax2We87AjFb2SoWfyP6T-V7qszajbspYrVE3WGolICa4uLC9XfA_jSAoWHr0J9qx9zGdhJr8eEHQww9hlZkR9FRQ2xLU2uOu5rM8-Belr1mHvfShMlUidoTI5ngc7P0VGFBqD0anekXlig5WVeO6T6OOH_JkGjL7rMbvpJM8=",
  "id": "rs_0c84a2ee5d7ab45e016ab44daa0b7487d0a59293f72eb115f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32},\"note\":\"At low height the elephant is centered laterally but sits just ahead of the fingertip line in the wrist view. I’ll advance the gripper a few centimeters under its torso before closing.\"}",
  "call_id": "call_gXaPXWcR513ueDofCcybtjvy",
  "id": "fc_0c84a2ee5d7ab45e016ab44dab811887d0b488f9ecf5fd14f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gXaPXWcR513ueDofCcybtjvy",
  "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]: [0.0681, 1.3193, 0.2195, 0.4324, -0.078, -0.0868, 0.998, -0.0265, 0.8921, 0.6781, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.3105 left_y=0.0386 left_z=0.0244 left_yaw=0.1677 left_pitch=-0.0988 left_roll=-0.0112 left_gripper=0.998 right_x=0.2956 right_y=-0.0027 right_z=0.1658 right_yaw=0.0276 right_pitch=-0.1269 right_roll=-0.0627 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3282, 6.7761, 1.6093, -0.1538, -0.0611, -0.0122, -0.0205, -1.9214, 6.9675, 1.6679, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fb0d8e3acdf1bab3cd5bd79437ecd707a515008789e73b8ce36e7686c3363f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a8a5b3eeb3395b31976331309e750fcdaa38d72abe1a1524e8160c9b631630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc257f855a28ff057d28f1eac164461b1eab67de22ff7eeb9564d9b73bd2d6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.149 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.382, 1.7279, 1.0206, 0.0647, -0.4229, -0.3042, 0.9965, -0.0265, 0.8829, 0.6785, -0.4828, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.4661 left_y=-0.1053 left_z=0.1208 left_yaw=0.1201 left_pitch=-0.0121 left_roll=0.005 left_gripper=0.9965 right_x=0.2953 right_y=-0.0027 right_z=0.1686 right_yaw=0.0276 right_pitch=-0.1166 right_roll=-0.0633 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -9.5248, 7.3368, 1.4188, -0.1245, -0.0269, -0.1099, -0.0889, -1.812, 6.9675, 1.6044, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0834, 1.1156, 0.1444, 0.3233, -0.0803, -0.0811, 0.998, -0.0265, 0.889, 0.6785, -0.4828, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.2856 left_y=0.0417 left_z=0.0323 left_yaw=0.1816 left_pitch=-0.0793 left_roll=-0.0071 left_gripper=0.998 right_x=0.2957 right_y=-0.0027 right_z=0.1669 right_yaw=0.0278 right_pitch=-0.1227 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -3.7538, 5.8872, 2.1514, 0.0708, 0.1148, 0.0024, -0.0752, -1.8667, 6.9402, 1.6093, -0.0415, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0681, 1.3193, 0.2195, 0.4324, -0.078, -0.0868, 0.998, -0.0265, 0.8921, 0.6781, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.3105 left_y=0.0386 left_z=0.0244 left_yaw=0.1677 left_pitch=-0.0988 left_roll=-0.0112 left_gripper=0.998 right_x=0.2956 right_y=-0.0027 right_z=0.1658 right_yaw=0.0276 right_pitch=-0.1269 right_roll=-0.0627 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3282, 6.7761, 1.6093, -0.1538, -0.0611, -0.0122, -0.0205, -1.9214, 6.9675, 1.6679, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fb0d8e3acdf1bab3cd5bd79437ecd707a515008789e73b8ce36e7686c3363f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a8a5b3eeb3395b31976331309e750fcdaa38d72abe1a1524e8160c9b631630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc257f855a28ff057d28f1eac164461b1eab67de22ff7eeb9564d9b73bd2d6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2wCDw_4MPHnvCUehlKoBl0QRzxtr7766LmoD1P_LrQ1ONkN6YjIyj7q2E-w679awJJ1svBnsAc8QuJy-dAZ8u8HuEUfmku256MfDSDuGuUjDiK_xX0Uc66tWqcHVLQQeW-PoUVN_5Z33YkivSgTIa0bZnil-hc_hxWYKuVGvFFYVq9kMDYsHTDotHd2--fqVlOGTa1pPwAMP89foFkqLMBAMTVwXuxQ7PVoYbAnCig_NZk99Nk8brePLUddO7TJoXDt47an1SJqsicPbfzsDSSyVNCGajDhqPjrKFu7GzAM2Ki-rq1OXPk1zyRjvbuXCsVdfG8-3lVryoyBQu_2UO5zG9XGqczp5FGmyWSNelyfaBJE5_eIYAH3VC1z7kJ0Y3vBjp5qxC-gosGWiAVa5aaidfTPjo4BpOpFL49Wn4sSt_5-sZTlv7rBpjTCyEo23MMzQVEI-oiy3YB_DjlyfnNbHw-Ch5tOEsJ6VdgnVcOybsTS6WA4h9R1sTKvbye3JSpPxQLr3Su1Pgs0kkyUmfYyiHkF7pw0p2iesdFjI7V79it3I9NHJC6XIX8e2BVIssxPSarletrRk-aE9X4dw55US8R_AKyw9Vy7vmw77aR3GQZV_jqDfrSjlbhOIrMkpMeq6PUp9KBzNlEjszKbSUcMYmfSURJl4o-u1KvFLdQqIat6xYSoGaTDCaj8MmsSOfwJpInUpmOz8yYnnNy_3MrgD9hP4hHFzSOaQFbcdvIrwyUwrxVQOez0WgAaoBQefPmsZuXmxsJ-D1ojTORBO-KwATT6mo3gqaMEAzdshQMprzEy4w6T1uJYVqVrocx1oh9LdDy7t1JQgQZx3ZkBEHlofjKjmCW1gjClavKfKj6hxjEvw180SG-zNvkAiM_KYvboLGBdg_dfNEY6rKkeoc8-cE9Sf5GIAfcCXHT9uj17iGn3ASGQQoHMCBL4cstHr0QtsxTVkJnJnYL-va7t-cXSg7DlbXT5pzu2gHF8md0KZbrqoXc3uJ2d0Yu-b2JV-FtPXWCtVKVj9I4gYd_pYHzawPrxQYxzQvffgOV0oeZe_ysnDqqzXxSLr3DgQWk_PD9h8b9JF8Foea1NaJ8VfAiozjWlzBWsawWaEcdNCi9vuSXdIzV878VDTwjlwqSnr4OZoiq8i34ufl_Xba3UtVkhhGl_iw_1GpenXg-cg11aWubrxqXAH6IYFxXfzb5HMWpRUqIwbj0G2g-8l_onR-mx2aC6xTdZFLaXhEpscoH_if2LgCI9QYoN1MoYhVKoMjK",
  "id": "rs_0c84a2ee5d7ab45e016ab44daed2e487d0acceca8f1f2a7680",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The elephant’s torso now fills the space directly ahead of and between both jaw tips at table height. I’ll close to recover it.\"}",
  "call_id": "call_OUEeWsS7S6gtz4AMJvB8OKqD",
  "id": "fc_0c84a2ee5d7ab45e016ab44daf062087d095776b9d7a0de540",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OUEeWsS7S6gtz4AMJvB8OKqD",
  "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]: [0.0666, 1.3323, 0.2234, 0.4324, -0.0853, -0.0891, 0.0102, -0.0265, 0.8932, 0.6773, -0.4828, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3106 left_y=0.0394 left_z=0.022 left_yaw=0.1736 left_pitch=-0.1075 left_roll=-0.0075 left_gripper=0.0102 right_x=0.2957 right_y=-0.0027 right_z=0.1653 right_yaw=0.0275 right_pitch=-0.128 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -4.4239, 4.7795, 1.6435, 0.0269, 0.0024, 0.8913, -0.1983, -1.7983, 7.1043, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0e8dbe076e053c165f642f2f10fe0e1100a50358901af24d484a9ff9ad0da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9101b9317aafc1e086cef7bb778e39815d54721ddc468258d325e165a982b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80741baf9e69914db0030c30a27e6ed3b3d2c28a1d1044aab2bb5fb3802f821",
      "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 · 2.215 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.8742, 0.6376, -0.3191, -0.2638, -0.1905, 0.9979, -0.0261, 0.8867, 0.6785, -0.482, -0.0093, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3114 left_y=-0.0002 left_z=0.1887 left_yaw=0.1499 left_pitch=0.0319 left_roll=-0.0152 left_gripper=0.9979 right_x=0.2957 right_y=-0.0025 right_z=0.1677 right_yaw=0.0285 right_pitch=-0.1196 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -1.5658, 6.5436, 1.8535, -0.0366, 0.1148, 0.1294, -0.0889, -1.7162, 6.9949, 1.6825, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0681, 1.3193, 0.2195, 0.4324, -0.078, -0.0868, 0.998, -0.0265, 0.8921, 0.6781, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.3105 left_y=0.0386 left_z=0.0244 left_yaw=0.1677 left_pitch=-0.0988 left_roll=-0.0112 left_gripper=0.998 right_x=0.2956 right_y=-0.0027 right_z=0.1658 right_yaw=0.0276 right_pitch=-0.1269 right_roll=-0.0627 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3282, 6.7761, 1.6093, -0.1538, -0.0611, -0.0122, -0.0205, -1.9214, 6.9675, 1.6679, -0.0317, -0.0122, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.3323, 0.2234, 0.4324, -0.0853, -0.0891, 0.0102, -0.0265, 0.8932, 0.6773, -0.4828, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3106 left_y=0.0394 left_z=0.022 left_yaw=0.1736 left_pitch=-0.1075 left_roll=-0.0075 left_gripper=0.0102 right_x=0.2957 right_y=-0.0027 right_z=0.1653 right_yaw=0.0275 right_pitch=-0.128 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -4.4239, 4.7795, 1.6435, 0.0269, 0.0024, 0.8913, -0.1983, -1.7983, 7.1043, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0e8dbe076e053c165f642f2f10fe0e1100a50358901af24d484a9ff9ad0da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9101b9317aafc1e086cef7bb778e39815d54721ddc468258d325e165a982b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80741baf9e69914db0030c30a27e6ed3b3d2c28a1d1044aab2bb5fb3802f821",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE20Qm4n3M5clDKTYQZ-G7ZTWrvD6OiPKLmdBoySupi7x3VeTK9KsmENW2f0KS6PbZd0Mz4GQHcGSXyxblf_y9wJk-OUiPhXiaTrR0FAbwFbvTum0YPRPPGAPx6KT00Wpk2H4W2tDy3gIRfTqsjHGj2XwL7OknH7g9J2L8Nzs_BVdSyT0Gp2z-e55cdJSOu0iyEfH2lN3DGrd1FXVL2_0VakqL9WOXE4EEwwsxmMeHY0eEOjNQs9i_WJy6lR_5StEWmvHQOSTXFxVM-kzz-GCsU8YBPlToLNYyv1PvOL1ATAWLVoxW4vXatVuILyt0Gsfc0CATPh07ubSV2yKHX4LVcFxB_aapZpuf0IIlsQxb2lOUMOzQx4RIwOWJ0FwNJRkzF2L5Sr-Tuw8kY1QH31Mn8SypLmhNScu7OzhoG6bqmWG4r_5Lczyh6GbCDDGyBM9iSKcmR7LtUj2jW08ZG21PvQvB6CZQ3xPAn8jocUm3fShY_ZcKLmnmECdqgkKwkBr4ye4Px7FxegVFAdZGc4RZ4Fimnlmw_GuJcNVZA2372zk6XnBawxzIKHpjJVPG4jP8kuB9ptfpwThAAeb2Yb4OSe1wg58wPmLH-dLUlku506OdHkFlqlUSgTM-PRlwiQIuRFTCTHd5oqPsyW8c8jZvGF8xtOP59CXYSnmEd0Zo839u7Cd0yhJMGOYnuPALrO-chjnhQ1uUStlr5UhU0cB9_j-Hg9-NzvOr2dfVeAQsnjF3UVqc8c5Wdy4-Jxq6lI8nG7N9Y5-6tpm_uMJxQYkeqb2LXNK5C5nw__ogkutEHunT1z0zTHLotWJPB-g-nMqz0DZj_A5BwtmxPaanYnWXZozK7NeIaV8fwQesVEQkPUAlMeUmXEmWgMxjPkq5-c1ZixCTbd5rVaNfeZMMNzRZyY7ZazfMo8FWRikoy3lM-bR3TwuUZ7BYlD5S01BpdJw8PBmbG_IVEKaj0aSh4EEk1sP-8cGrX0Ph2XjgAr8FWwXMYVLhV_LuR6WvSXIKgPd1nIjsIeSmv9iRfN9LYnHhDkQo9BnJjFSHr98e-CzUyWopMaKxvCgWlel5-mJBxLD0ChnH49iAU8vaV6JoLrJHjYWn6Pl3AS--du-BOeg5aDMwvHMbzDOrd_90cSuTx0lAmZN-nbDSZXAq57mRdCznuJ-uASfzJ4iqOvKprvw5FbDWnhDG_bLWzE88o1NU8DVjF1WrqhDB1dNS4acUlIySJPyxFvm7K76Prad9vwangGPYjEC5sAUpxiyy5l-nm1U6VZ2J8-kUz_g0v4Dqr6hrlYRKU3JLrR5hcfHCk1-ytSj9_wFLxja4y9vV8o5yDjdHz385p2Ab9aVQGp9l3AJi9BOu_fVkHDoa_PnLrwhdwHAruCYRGj9pto3x_UakhUWujR0u1IURA9m654ZvAyBRMU070DmZoqK0tXDShHiyncnoydLC3CPmxUAB4kvTMl5ZX8v2aESTxF6-3rYNJngsFIWqMEx7pjzsGwfNEyO1X8lbbwtBegiDJExTgylUaJ1d4oHakb0ePK-LXEnPfm981s53ReqcVrtOOm2mX3bYlsDFvaGqmg2Fl4d6ExOBrn06wQVhlXo1GKUYCygzvZt3ZLV39N8QS0YGR5sIQpfdqvHyQAqFFsjgx017FMKzrcpA5CLGahqQ-OFTolLx9RLasuWQC_dDpGMak0HSIJEUzGnmsexlIEaouhkaLrtBHRr3o-PYSb2PXZnI6JwyqSQG8rjYB8PRsG9q6wZlKOkYlvDb_6hHp7wWuY310abz71O8Kxi0G2OpdVRrWIsPZkuCgdG1W-SdDLSLmXN5eLX5-GCws0B_2TvY4npFNKB6nDzUcOhcBYihF121oQcVjucQO8Q189wznypvvzkcz9tSRTyXms5vC-SZNMukfTvnx-KIGzFYYb6w1lAtei_361ouhc8A==",
  "id": "rs_0c84a2ee5d7ab45e016ab44db24dc487d086ea09fc528291f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.075},\"note\":\"The close settled empty because the low jaws passed through the elephant’s leg gap; the wrist view shows its torso above the finger tips. I’ll reopen and raise to mid-torso height while keeping the lateral and radial alignment fixed.\"}",
  "call_id": "call_JCOQns06WkPDoyqYBpwViXgw",
  "id": "fc_0c84a2ee5d7ab45e016ab44db37a5087d0975943b97f55ffee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JCOQns06WkPDoyqYBpwViXgw",
  "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]: [0.0666, 1.1023, 0.3359, 0.0864, -0.086, -0.0902, 0.9953, -0.0265, 0.8951, 0.6773, -0.4824, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3084 left_y=0.0394 left_z=0.0663 left_yaw=0.1749 left_pitch=-0.1108 left_roll=-0.0075 left_gripper=0.9953 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0279 right_pitch=-0.1295 right_roll=-0.0629 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -3.535, 8.5402, 1.4042, -0.0904, 0.0024, -0.0562, -0.1983, -1.9214, 6.9675, 1.5946, -0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3ee1427ec77352104a87e4e556d319e1c9393d74cb550b352079817e25fbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37dbf2bdbd77251136507f4e160632552979df165c0d8911e9f9e8c55a03c21b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:689a6686d0db4b40e6eb3f94befe273c3db48de2073c7ce740382613350bdb3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.202 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0834, 1.1156, 0.1444, 0.3233, -0.0803, -0.0811, 0.998, -0.0265, 0.889, 0.6785, -0.4828, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.2856 left_y=0.0417 left_z=0.0323 left_yaw=0.1816 left_pitch=-0.0793 left_roll=-0.0071 left_gripper=0.998 right_x=0.2957 right_y=-0.0027 right_z=0.1669 right_yaw=0.0278 right_pitch=-0.1227 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -3.7538, 5.8872, 2.1514, 0.0708, 0.1148, 0.0024, -0.0752, -1.8667, 6.9402, 1.6093, -0.0415, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.3323, 0.2234, 0.4324, -0.0853, -0.0891, 0.0102, -0.0265, 0.8932, 0.6773, -0.4828, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3106 left_y=0.0394 left_z=0.022 left_yaw=0.1736 left_pitch=-0.1075 left_roll=-0.0075 left_gripper=0.0102 right_x=0.2957 right_y=-0.0027 right_z=0.1653 right_yaw=0.0275 right_pitch=-0.128 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -4.4239, 4.7795, 1.6435, 0.0269, 0.0024, 0.8913, -0.1983, -1.7983, 7.1043, 1.5946, -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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1023, 0.3359, 0.0864, -0.086, -0.0902, 0.9953, -0.0265, 0.8951, 0.6773, -0.4824, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3084 left_y=0.0394 left_z=0.0663 left_yaw=0.1749 left_pitch=-0.1108 left_roll=-0.0075 left_gripper=0.9953 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0279 right_pitch=-0.1295 right_roll=-0.0629 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -3.535, 8.5402, 1.4042, -0.0904, 0.0024, -0.0562, -0.1983, -1.9214, 6.9675, 1.5946, -0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3ee1427ec77352104a87e4e556d319e1c9393d74cb550b352079817e25fbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37dbf2bdbd77251136507f4e160632552979df165c0d8911e9f9e8c55a03c21b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:689a6686d0db4b40e6eb3f94befe273c3db48de2073c7ce740382613350bdb3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0c84a2ee5d7ab45e016ab44db66a7487d0a3a2bb10d194f688",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the raised pose the elephant’s broad torso, rather than the leg gap, is centered between the open fingers. I’ll close at this height.\"}",
  "call_id": "call_X8VMGOW0dAfCOXSLwuPZdTq4",
  "id": "fc_0c84a2ee5d7ab45e016ab44db67c9c87d0a70dc1a5ac63b0f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X8VMGOW0dAfCOXSLwuPZdTq4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1053, 0.3439, 0.0719, -0.086, -0.0971, 0.0103, -0.0265, 0.8951, 0.6773, -0.4824, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3083 left_y=0.0394 left_z=0.0659 left_yaw=0.1788 left_pitch=-0.1203 left_roll=-0.0119 left_gripper=0.0103 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0275 right_pitch=-0.1295 right_roll=-0.0631 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -2.8239, 5.6957, 1.7949, -0.0757, 0.0708, 0.9011, -0.1162, -1.6889, 7.0906, 1.6484, -0.0269, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484c7ddc5b18a30bd1e72c52e2424406b6a6fd05fb78e60608aa69b8491d4d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c9121a2d6834c970d34a7d6b38b7c234b81ebd673694c38a9eda7359307d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bdcffd00d24306e6dbd730e9d51691b4f8271f82ceaa4e1c0e4d446630bac5",
      "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 · 6.622 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0681, 1.3193, 0.2195, 0.4324, -0.078, -0.0868, 0.998, -0.0265, 0.8921, 0.6781, -0.4835, -0.009, -0.1013, 0.9984]\nstate[eef_state]: left_x=0.3105 left_y=0.0386 left_z=0.0244 left_yaw=0.1677 left_pitch=-0.0988 left_roll=-0.0112 left_gripper=0.998 right_x=0.2956 right_y=-0.0027 right_z=0.1658 right_yaw=0.0276 right_pitch=-0.1269 right_roll=-0.0627 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3282, 6.7761, 1.6093, -0.1538, -0.0611, -0.0122, -0.0205, -1.9214, 6.9675, 1.6679, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1023, 0.3359, 0.0864, -0.086, -0.0902, 0.9953, -0.0265, 0.8951, 0.6773, -0.4824, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3084 left_y=0.0394 left_z=0.0663 left_yaw=0.1749 left_pitch=-0.1108 left_roll=-0.0075 left_gripper=0.9953 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0279 right_pitch=-0.1295 right_roll=-0.0629 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -3.535, 8.5402, 1.4042, -0.0904, 0.0024, -0.0562, -0.1983, -1.9214, 6.9675, 1.5946, -0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1053, 0.3439, 0.0719, -0.086, -0.0971, 0.0103, -0.0265, 0.8951, 0.6773, -0.4824, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3083 left_y=0.0394 left_z=0.0659 left_yaw=0.1788 left_pitch=-0.1203 left_roll=-0.0119 left_gripper=0.0103 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0275 right_pitch=-0.1295 right_roll=-0.0631 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -2.8239, 5.6957, 1.7949, -0.0757, 0.0708, 0.9011, -0.1162, -1.6889, 7.0906, 1.6484, -0.0269, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484c7ddc5b18a30bd1e72c52e2424406b6a6fd05fb78e60608aa69b8491d4d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c9121a2d6834c970d34a7d6b38b7c234b81ebd673694c38a9eda7359307d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bdcffd00d24306e6dbd730e9d51691b4f8271f82ceaa4e1c0e4d446630bac5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE29x1yQnAvHRBishK7afZYMbJigFVtypLPAA7j325NEO2kIXn9DMFvVoHa6DCnc_Y95IZEMMNvGQ8OksOsthtwNnRfh2XtSJR2Gor5Np1aSlV7HENQKloL40nwn_PwDrBhGl1zDeT9SwrQUZtVDHJ92fy--V0mhUsZS8BnsECIbCdi09Iz0sGmOhci0hQtUMRLaVhtGgXCwkvT0xVvpRQuMBEdnUvAp39wYjYux_ZKaHPpqF_treNlfUijipwz5XQ7P1lksPB_JmdlSuBG2078yZtaaV_oR9Ubnv7Aq1dp2dm5V7bPiWKWq0c6Zyi1MRTrTvu-3Gxwjdjk-AM9IC3sgmaqiigdHK241kwJB39y_Wn1stnBecegB9bTYyVoAB4Za_DIXVO_W_xGJuwbS7S2nHWXl8yqtiTYAsEegObbUV6UOTL-qn1tgkabhvbkdr7MG1vvbOh4RCoT2SX9jx9YCr8KKtzc9_0JOlJiClZ1eUbmiHrhcaEjxWisZf8RpiFZzhhV94thA934WnvegKZoAXLi_EYjw272LnO9t_QsRMO-BNYkRolVj_PfRQ6v394fgeDU3Hn22g8UhuGCzOg3f3OVHvyZsxhs0TShQE3qunwyCWUXs9Av7Ian6RNPA2uP2nvYhaTVctriMnA2TsFkip-U9WM9XBH2r-BhsqJpgkytn4-z55aJl-4bXbKMjF9by6Wddpdya6TfFS5HOHdQHZyqcndF7fbKBmky7S8YS830ksablZsxbVXPtZiPfI4CR98V4DXCtThD_2jfzZ19-E1UNDxlePnvhHIFLQBSVfw6GdnuWjtenW2OWPIvaAO1TXAx0L07NC3Jf07Rm9wymjawYSyBQzk5VhBqmMfnH9YJ_l5SQMmFAhtBW65X6Lc0BWco3bE9IP_YcMH8P55rbZgtAiwz_UWVpjZjECKuzaEmSecb_DJggwGQtW085x3oSlvlVz_YdviWYllF5WMNqeCPG8LPpwOZKIQDmRJwyHTqBr9P71LmMT4FBR3UGglWIIn6Epv4qQeQt7L0NF1QZxGftBg02I0ijRfhmTkcpt-cmtqZR2jSSrxMzgf1muK4nAliIN2jWbwYau1kJIFAh88E4eXNPANTcdAZYt7Wq_KlETP6mGk8T-TJJsHaghncy_GyBm7o28uKEOGbmbsAJzT-NrCz9bxRlXALiGdKqPDgmfbRDf2_tZ0BlMMkupHKjXM8YrXYXijBxPrXM2Ua5QoYPSyWzAQ-S2ruVP7RvSUh3ywDecU6C9j_lPSEdsyDmj6i9qpJ75AfEE1uZeKazlDIvRnPYX3s1-OfljcXVa5UFm45-3aDggz_AiC-WVbmHX9aXV8SMSmhKRgVLLM43pTUEXPkLxFZdE59W2cFh60CPbpLwUwbGG3JAjtR5xsIoQWSd3jigTBIcIfXSdg0mys7hEIoQD5-f_d5CCCWu9aYsKqdBwJPZsA9x2aMycbDWcG-ZZ_15dF9TxIqdZ3cPA_8EcM9mVQj9GTdOvdOoQTwf4YPSPIsXnu7Wms7ze-uxn9gwwBHnBmwsNnUh1882JYOGzIkoNioBVTGNlqi1C0hZGywtxVIRkUeKJRN46kKQxQ-tGdJ0fwlbx95sAnuhMmzaVVc0jtmze7NHj_HoK_2sIs9oCNsoLJk_A0qS44Sk146ZyVru6T9JXW4LbPQXxbuWDycF9d4HoYHkvQoyt6c5UMeLTCaYR3kgvEvUof4lkSBjMaavnOmVuhNSAJZuQ26J0sZKuZ9bDHTx4o3YL3z5_41fmbAN67E7dFfaT2Tco9e2lA7iJEClnt4DcAGEiW1g2IICbSsSJOIVhwuaxIDzhqSqhCibHITV-E92eZvq_L0Z2p7LFcAIWf_umY18T5IbtAfcCfyJBavAUFSMH6gSiV04vfD9k6Tzs0zAkCYNJH1hL_XGjOxOVnep92mhHm0jfDo50gp9pGbUPFTDCCL4O1wm-9fCLLzG2MHsoQbNk32E2_OuvKLhxRkTK1vub_LKV4Eepu_CrPvQlQuJcpUGhBpgJdlyd3AI-grWQVpRbr2O3Kz8FfHQ5H96XCzjwrVRKQMyG5AlDf0d8CIybCGCJym5IG1HEb4ZJiMjXCYI28prGoXKEJShy7bZEjSuFMAVtaHvor3bNA-I7te17kZ2VLJxY4zZkWwngEBmTvVMpXjoFVLLDEmd_zLU08mV4nA_fBDRCXH2YEuH_huhT86EeOIBU6fo20XSyZLNB_u5yUtDamQWsVbXjzQPsah-cRWfyAyDzKb_mtwvODktenXg8GGTgRtzuKX9kN_QDFwFmypuBvOs5wYeU4kmGqivKF6cc_7f1Ej0CryaBiDNKYa4VHVwswIzPEYUxePePHUSu2gV-gXmNPxOMZpDLqo0QmIvJUlY7nACUx5eDowt3NRY-uW5RWa9h91pfDnGJNrGgNFnoeZHBxXmSB5dnHsoudU1JipMwCkjV6NR9JvJYQg3VKUChE84VQHCWmmUBDHI6cj00_Hf35vtn4Td3aTNaHt-Cg94MBwJp84IkKQO00xH_BZfJYh0FVaKVlMi5Qc5lzAsEpfZEoeyagrqDxZ2Bbt04YSO8MWcgYVK8-8kpVGBIRxkG8uKcave7lch-vHSlD5Q12f1ZDNghc6hmEOvyCZ45Vs16D9cS_CR5CpZMeQj7cR-wFcYVd-9LAvI4LYsxA_L-vEM_-_NCuNaQcTVjVtrWXe6zzMQ6KdRWPPaMbHIZtgpvdsWzpb9Zhv81EiAYa1nCvfznhJGZjC-8JhYvM7qpj5LaTHzAt2gSP5zJaxYPJtkMfK4WCT_5GzOCO39",
  "id": "rs_0c84a2ee5d7ab45e016ab44db95dec87d0bd4896b655296210",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.08,\"left_yaw\":1.57},\"note\":\"A second empty close shows the jaws are passing under the elephant’s arched belly along its side-to-side orientation. I’ll reopen and rotate the gripper 90 degrees so the fingers close front-to-back across solid torso instead.\"}",
  "call_id": "call_xD47qgAJ0uS5ChlKBbGdeOJo",
  "id": "fc_0c84a2ee5d7ab45e016ab44dbc800087d0b37c21fa0066b093",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xD47qgAJ0uS5ChlKBbGdeOJo",
  "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]: [-0.3248, 1.9182, 1.2469, -1.0576, -0.8295, -1.7638, 0.9954, -0.0265, 0.8997, 0.6739, -0.487, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3355 left_y=0.0283 left_z=0.068 left_yaw=1.3649 left_pitch=-0.1641 left_roll=0.0233 left_gripper=0.9954 right_x=0.2948 right_y=-0.0026 right_z=0.1612 right_yaw=0.028 right_pitch=-0.1421 right_roll=-0.0622 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -9.6205, 5.1077, -0.7741, -0.486, -0.0513, -0.188, -0.0752, -2.0034, 7.4872, 1.6288, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8808013541d97ee3ca5324670c8c2bc27814683f77d50adb05bc13674af568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef05dad859e0eeb262787bcbe34492f0bd0a8a98658bad423e8a8f61d87dae0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae256d4cf514da5bf406bb4d0a29a9960179a28fc3bd6d0b300e82b160212480",
      "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 · 2.717 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.3323, 0.2234, 0.4324, -0.0853, -0.0891, 0.0102, -0.0265, 0.8932, 0.6773, -0.4828, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3106 left_y=0.0394 left_z=0.022 left_yaw=0.1736 left_pitch=-0.1075 left_roll=-0.0075 left_gripper=0.0102 right_x=0.2957 right_y=-0.0027 right_z=0.1653 right_yaw=0.0275 right_pitch=-0.128 right_roll=-0.0632 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -4.4239, 4.7795, 1.6435, 0.0269, 0.0024, 0.8913, -0.1983, -1.7983, 7.1043, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1053, 0.3439, 0.0719, -0.086, -0.0971, 0.0103, -0.0265, 0.8951, 0.6773, -0.4824, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3083 left_y=0.0394 left_z=0.0659 left_yaw=0.1788 left_pitch=-0.1203 left_roll=-0.0119 left_gripper=0.0103 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0275 right_pitch=-0.1295 right_roll=-0.0631 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -2.8239, 5.6957, 1.7949, -0.0757, 0.0708, 0.9011, -0.1162, -1.6889, 7.0906, 1.6484, -0.0269, -0.0757, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3248, 1.9182, 1.2469, -1.0576, -0.8295, -1.7638, 0.9954, -0.0265, 0.8997, 0.6739, -0.487, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3355 left_y=0.0283 left_z=0.068 left_yaw=1.3649 left_pitch=-0.1641 left_roll=0.0233 left_gripper=0.9954 right_x=0.2948 right_y=-0.0026 right_z=0.1612 right_yaw=0.028 right_pitch=-0.1421 right_roll=-0.0622 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -9.6205, 5.1077, -0.7741, -0.486, -0.0513, -0.188, -0.0752, -2.0034, 7.4872, 1.6288, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8808013541d97ee3ca5324670c8c2bc27814683f77d50adb05bc13674af568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef05dad859e0eeb262787bcbe34492f0bd0a8a98658bad423e8a8f61d87dae0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae256d4cf514da5bf406bb4d0a29a9960179a28fc3bd6d0b300e82b160212480",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3EqCCliB6pJ409WZXmS2ofomq35W4Fa_vaRKUhtSz4f4Qa5W-yKjqJcquIGoNGvNKaoRNTGfC-oCYLih3flSxgR_67Jo3NpMybiUmX63imIWnGnK0SMvA7KDa0wu0jumwYq0mVKdIZsE4y4nex5yiowIq89tS8s5H8RcQh-BkJtqL4pqXylXFy5Lb40k-q8drDu6CqNRr13WIokPbGndYqkBImTRdxdKH1vX4nSSB3OYynVvEixJvcyJ9jRfixl3yAPWRsAo7jmnGmucdTDHQhJszqZOeV0vEnwuvyNHWpzJoGIQnOUZ6AHwJ8uS5_B_w5mYQLvmzC4M3rw9E0LmdWhtksWPbrSProsRse-D0oX-a0hZ9mjvgbHvplCmbLS-1qiiMWgn-moo3bPOaAhST8-MfPxYdZy-tWNLgJ7qJEL9KnGUHnmhscYgjBFPxQVvMgrV_1kgSC2EWnYtO_yC1Hd7HQDqhMszMo-YxE43h-LyNBBBmt1q7jKCczNt-pmzoFfKllqs90xvL2jH1wOBmE-ZcLEXzEuHu0XKzqot2P29TzCLQ-yxojpiJVCbr9iK41kvbKcEG6goTuUnWmMls-MOTvnshij0myxEBJj9pEIRSg6UHcFOdr1JNnz0L10H1g2nfarM4_V8VvusRwx4WSIMJkfMhsRZp34dTcRczytAmnGiV9dtiiP4ExHEeChxeLgukLso5dqIvUqK6dg9LHdF-HEZ_zpv9wQ8CTcX5ynZCoEQI8-czCymD0bszbAMz0JCSCwLxDhoAZK2SXiDD4tsefSV-vCNeMIYtqWRhzPMTS-Z1wgJyfhEMVPVxJd1R4jk7-VwNYOETqnVnUCOiHGMLAKxvgNP5NDb9Pl_RAD05kKLfQFU7DnfH8Ui8rnuJ6MaTsXYbwup_uW8VeSJqo0SSyx1AulTv2gNOUNKBuHDXc3-NNNVlMFKLwbKaBwwHHo7faVZ0wwdVQmWGNgHgQp8O6UXb2J1yfHNGiX_258bHDfWQ36N21hR_EsW_6gQHzmbWEv1Lc6_7t5BIJl6EJiO8iYcqiW3hf3LkotISb1d7tqwYKmdU_e_WxDmcn-DxTfkuOR04m2s4eJFrObML1trFQVEBuCFHwsh4rB111FEu1kDhDdXRMQ7uAjMpMa6WPvRjj092ycNlb426W7WzprEDV3TIzvIxqcT0H6hVertqWqCY9ZsioN6TGOpBAcHnEGlAOtfrvbWYCYnTKAZcihv6hndqnDjrm8uv8YArUQE7GJuYMtrweS5NkNyJrFUVInm6ir1LoQWV4668DATQ7BvUxyzjGab9UHtlbxNqx3N3HiFHezjXS3mpc0YgyytT3iTOL6LzEHfuQ3cAWkTLQuNlsBWuoePGfTA_kL9Np2SZZNnDYDQoEkYaTg1gwKwc_JS7B9PqYvQ7JYkIguPNyugE5ApD6r0OijCQnTDghvCZHCtrTJg-L8Cr-Rkpj_moPLkQh15yiH-RA2LBEX4Ohgyknd4-VvC5vEqnS_77EPxZqF9NInpJsAD0FkvJ05QZmhhNfiRCj1qbebQUKsN--5BYbcpEaOfcbcZBHls7I3LQK07phqjNKbDj1xAJoS__UcpxsmNr3LVJSBZH47L19ZlsvGNmMJZxSBC1JmuIg35_okhl5UohrLPGLJ8kAE1anY1KMmnvQkfMfkowUIWvlUeq1M8F2vEBojlJ1i9XOsbxfH2WivwYrZvXXQuJvMUxnNgXo-GQZ1iuHFF9itZMh5c95Lx5bTg7W05s1s6pv_neaoS1hwhRbsDFurMoqPnoHvS7SS48hyL6RAS5F0NJs81Ko1tHN20JEhQp1uZ1GIahmwnhocbJni6heerrUlt47xAZ27aBnYJmN3yR_By9tOJvaXe6cKs5Xw58CUKfrE9qgIgi5SfXTiGRLdx9_kGkqgiBZot-Gz_Tv8DVkpwUwrPDgpgXtPoLIFJosuPAspqnMOJIsnE9JaJV1jBiCamgcb1Koap_7KHHFUlzjl_7aN4dRzObwSEKCFxEj3bqA4G5LBqEBRpWxrFj-cq0Ls-sAog1JMlWzqEyWlQ0OfEDATH9wFXV1mK_XVP__OO822EBeJB7LUZ_ekBaEBzuOL4zxyfkhr8eIEpEKfnGcw0jY2HD6jzuAjAYm2EexLNaY8jST5BpHUy8ST0jjX6WmrcL4HpIhl19xQs3Al5PTbHCRZ4efq_EgLKG3M59w2sBd089S8aEY_9OIXmBUxprxyN7zkUHrlqaZ1lhzCyeecdd7IjpzWIA_Jn-95Qasd1kCEQ1ORLqfCqHKkKO8hKl8mQhflgxHh93oy1QOGvQltZO0wsu_h4kRZg9C46ppgHHR_shD3faNY3epgMHBuv1wbNc29BcUhNDEIdfvtXupLXxetARAdFC2yKH2_DA0a7L61rk_VlJg-iGC_ud4tHFD7plQJ6tYuc08EULxcXP3abr8RzOdRjIv_HyAQtlBcL9rIOyIoZJI0rVA7jjS92WXUrRJOWJnrJ31dSpNkowfBUx_9SHe4wOGVPMm6xtW-WU5wo3HsT2Qo3nSeuW36SXFMjp2KQqOxfkvlLj57gzZ6lrkUdXH30xYMMGSVau-7hUKs5mL-rekWUYKSto3p5hjXwWvuUYIoStVwcKdk7hZ17j25xBHR5N9c9-0vk93Dgb6_xcCFT51xE0UTChDnglCCvhaWgsUxH-E96gfr1Ycg6naZvy-VhLi0jiRitnbML7G1jpofGAXu6ZwbbNhy9b6Znm5qfZ3MSbLGNnA_dZepo2vYdhipFL2Nzk02r1R1HblDv-4OAuK1P1hZskqYLINgkyQOHv5kKmpCm13DjvcySPs1GpVp3boFzggZB2YBFj9MF2-_1FqAS5FQmF7B1mVULRZxw_licvpGNme77ACKxF30NU8__cpax93aoJn6iigddOCDClT-WyzvGCoPbGq3CV7lJE5rngkLKvf0TSs3IS0jG_rJMjzwhZMqZKfbtZMNn3Xlq7b1-Nea392U2ZQtklah0-bEOtm0jWxVrIdKrirZ4oqhf6GeWTTQ30IR-sg1FxJLsVjwHAzvmO7sU3eHcrXNg8nc4ACktm56Mi8OsxkqnWl34D80DEYdyAAlYFMy3xsLY7_3xKmyOeEyO1lsSbYFr-WbWsbou70PRCmVLI7ckEQwESj3EkgmdH3nhZm0RToDHEYO5TuRCum_4v3FKOH",
  "id": "rs_0c84a2ee5d7ab45e016ab44dbf9ee087d080b860d08e57abbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.29,\"right_y\":0.3,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The rotated elephant is no longer centered enough for a safe close, so I’ll clear the left arm rather than disturb it further. I’ll bring the right arm to the nearer central dog at a smaller forward reach, which should allow the gripper to descend to the dog’s torso instead of stalling high as before.\"}",
  "call_id": "call_ZKWacwGhm8I56Eia7dYfKSXl",
  "id": "fc_0c84a2ee5d7ab45e016ab44dc3d4ac87d0a59c0ce58595ed34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZKWacwGhm8I56Eia7dYfKSXl",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0525, 0.9569, 0.7429, -0.556, -0.128, -0.1055, 0.9988, 1.0672, 1.8004, 1.0481, -0.3386, 0.7155, 0.7738, 0.9986]\nstate[eef_state]: left_x=0.2972 left_y=0.0106 left_z=0.1638 left_yaw=0.1017 left_pitch=-0.1963 left_roll=0.0207 left_gripper=0.9988 right_x=0.2884 right_y=0.2908 right_z=0.0652 right_yaw=0.0452 right_pitch=-0.1641 right_roll=-0.0855 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -3.0974, 10.0171, 1.6093, 0.0952, 0.1343, -0.1441, 0.7043, -8.0205, 7.7333, 0.906, 0.5201, 0.1685, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6742438f397f3d1fff21c5f86d01cbec4cfc85fd437c5eaf4ed4a8c718dd85f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cca514db55d432920e5ab6d228fdf9bb8eb34b2427c70f07465d60cde77e062",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28dc44518b001fe890f9c9f369ba6a27994579ecafcb322d318a015ba26cc17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.291 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1023, 0.3359, 0.0864, -0.086, -0.0902, 0.9953, -0.0265, 0.8951, 0.6773, -0.4824, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3084 left_y=0.0394 left_z=0.0663 left_yaw=0.1749 left_pitch=-0.1108 left_roll=-0.0075 left_gripper=0.9953 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0279 right_pitch=-0.1295 right_roll=-0.0629 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -3.535, 8.5402, 1.4042, -0.0904, 0.0024, -0.0562, -0.1983, -1.9214, 6.9675, 1.5946, -0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3248, 1.9182, 1.2469, -1.0576, -0.8295, -1.7638, 0.9954, -0.0265, 0.8997, 0.6739, -0.487, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3355 left_y=0.0283 left_z=0.068 left_yaw=1.3649 left_pitch=-0.1641 left_roll=0.0233 left_gripper=0.9954 right_x=0.2948 right_y=-0.0026 right_z=0.1612 right_yaw=0.028 right_pitch=-0.1421 right_roll=-0.0622 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -9.6205, 5.1077, -0.7741, -0.486, -0.0513, -0.188, -0.0752, -2.0034, 7.4872, 1.6288, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0525, 0.9569, 0.7429, -0.556, -0.128, -0.1055, 0.9988, 1.0672, 1.8004, 1.0481, -0.3386, 0.7155, 0.7738, 0.9986]\nstate[eef_state]: left_x=0.2972 left_y=0.0106 left_z=0.1638 left_yaw=0.1017 left_pitch=-0.1963 left_roll=0.0207 left_gripper=0.9988 right_x=0.2884 right_y=0.2908 right_z=0.0652 right_yaw=0.0452 right_pitch=-0.1641 right_roll=-0.0855 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -3.0974, 10.0171, 1.6093, 0.0952, 0.1343, -0.1441, 0.7043, -8.0205, 7.7333, 0.906, 0.5201, 0.1685, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6742438f397f3d1fff21c5f86d01cbec4cfc85fd437c5eaf4ed4a8c718dd85f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cca514db55d432920e5ab6d228fdf9bb8eb34b2427c70f07465d60cde77e062",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28dc44518b001fe890f9c9f369ba6a27994579ecafcb322d318a015ba26cc17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3KQOpYn9walIuacDLaIz-ZYCRMlE1WGWp-KYzPXL6EnQuPbM2G80UgTi91lYp6QgmpOvXkOlE9-yAxdG5cE8bwfA-AlOzMofjF0rxlVRk_cBxYb7xzl8Nb_H5b9LTmxXt80Gc-sgu__VqOkKNVW_Wa3am6Y2BuUn80cSCylqCC7VO7dXXJHTbDt09ikBS3qq4GP6hDxK13yF3nFwURYwXkGysJvOTH9O3SrCCym2X9bRzdgjIsySh2nBLNfVs1VKc9gPMpAzb_xvTnyf0BFxHZNQ_BoL6aMbAZBiiBrhNyd7Qmx5--ntbgSbVdw6T8SGVWsOg8jGcpyjCZrDWpq5WnFL9nFrMc7hrZ2pe84eQOvDpm_S1-UohOnOJY8HWm6euv5K14Qbgqr54_8ttp7z5cUHARydXfF5vrm_J13W9OzR3-P8brg79xau0L80cHPPKbMGx39Y6aPHyV9FfKbNOr4RZmeDS-GLlUeA_hF5TrbtZ86PaZEq-nDGKriU9oyyQYCfq0zq-UBMfxlraPsLLI6_CW5m15asxsavDntnqqhIdbcpk1hS5bZyUXwSAJsrF17GgMA_C9mHat3aeAeFMcwApceGfxPEFEApClkshZAzdzAt0C3q8-v19KX5Ji1IPrFMSLy3xrHcZOZ8NBa8xGTWSTcoR4CoSO4ddyPVeZOu9ht2ToNhQePL-lYOgM3nD_UQdcE4Sf1HGhfaYDFxa4t4m168m6bLfFZARj2crEIrJY0Y0cmaP6fTrrr3uU7TPBPXTNGkbS-gLTCtnCjUn9jFrn2oKvnbZaykiUyrpqYaLdfkaROQ0FZwz774cNpeF_0gzqen0kXB7kOUgqi7OCKTy9sCyv7RWTlsZrlDhtn0Lv1nXU-nwwkEHPjPvvnjvSpIM7puB_r-AS_ylihp16s-47tDWvZOgj31rkg4CZMfPc46nihV22dghv-ObVk28H7t6MmgiGlHSJlB9hg_cL072P9NqG1Sq-9Z5jqf3tIwDd0U61ITC0DlvCkYG9rlyHEE-Kt7lm0odd1aHQ328lnRGt4rRz6MTnqE8I8AVaJ9CkWGjRbMx5mbKZ_RO1WhQ1N7AlWN6PVx-YSNd9qyLawYKBNa1sQGwdERTXVpldUc1k32-NN9mwmai3bT71WrOODw3w8btqtAQLfvYbtq6R2nQZ2mN6-OfiaCQrM43mpwVC3h66eysWg_TmxUO6qZgc2UHjPTNqjcSDJkwRkH1oNQy0zH4wfgpUPzefgoYwXGv99leUjx9lzK6z99tk7BXvmdagT6U-Q000eyAXNgw1RVrD4ZMvOAsbgcC1X2h2x_o1kSnS0D8rP-x9vBzU2YJQ67OdM7Q9tYcpKFpl3Kd6n69qazh-J8Ooi7xz8svpNn_1ya4IvJfPvU8twA8ZnCvuiCa437kBqTGBmVObOZA-BczI_8W2ob_TJWo9WHermJo=",
  "id": "rs_0c84a2ee5d7ab45e016ab44dc8ac5487d0b4ae4cf029c51e76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.35},\"note\":\"The right arm successfully reached torso height; the dog’s body is close but left of the jaw column in the wrist view. I’ll shift +y just enough to center the solid body between the fingers while staying low.\"}",
  "call_id": "call_5zoHigbVDrOHthQH32WyHsKt",
  "id": "fc_0c84a2ee5d7ab45e016ab44dc963bc87d0b3f1f1e139358442",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5zoHigbVDrOHthQH32WyHsKt",
  "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]: [-0.0509, 0.9607, 0.7441, -0.5598, -0.1169, -0.1047, 0.9983, 1.1282, 1.9743, 1.2762, -0.4465, 0.73, 0.8322, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0091 left_z=0.1624 left_yaw=0.0936 left_pitch=-0.2039 left_roll=0.0144 left_gripper=0.9983 right_x=0.2888 right_y=0.3426 right_z=0.0597 right_yaw=0.0588 right_pitch=-0.177 right_roll=-0.0957 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -2.5641, 6.9128, 1.5849, -0.2222, 0.0366, -0.0611, 0.6769, -9.6342, 7.7744, 0.7692, 0.5299, 0.1392, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5f62c72dbd4e2894ceb2ba03b47c574f992eb0611c8e0806f3d0db5c47cdf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51b93c0ccee05d04738f64922de73e0870a4dd22fd15089713f779a60e402f36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9055658a4bf27e364573411916e5e942c9aa2b9adac1bec7bd6365d9554e73e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 4.566 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0666, 1.1053, 0.3439, 0.0719, -0.086, -0.0971, 0.0103, -0.0265, 0.8951, 0.6773, -0.4824, -0.0086, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3083 left_y=0.0394 left_z=0.0659 left_yaw=0.1788 left_pitch=-0.1203 left_roll=-0.0119 left_gripper=0.0103 right_x=0.2959 right_y=-0.0027 right_z=0.1648 right_yaw=0.0275 right_pitch=-0.1295 right_roll=-0.0631 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -2.8239, 5.6957, 1.7949, -0.0757, 0.0708, 0.9011, -0.1162, -1.6889, 7.0906, 1.6484, -0.0269, -0.0757, -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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0525, 0.9569, 0.7429, -0.556, -0.128, -0.1055, 0.9988, 1.0672, 1.8004, 1.0481, -0.3386, 0.7155, 0.7738, 0.9986]\nstate[eef_state]: left_x=0.2972 left_y=0.0106 left_z=0.1638 left_yaw=0.1017 left_pitch=-0.1963 left_roll=0.0207 left_gripper=0.9988 right_x=0.2884 right_y=0.2908 right_z=0.0652 right_yaw=0.0452 right_pitch=-0.1641 right_roll=-0.0855 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -3.0974, 10.0171, 1.6093, 0.0952, 0.1343, -0.1441, 0.7043, -8.0205, 7.7333, 0.906, 0.5201, 0.1685, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.9607, 0.7441, -0.5598, -0.1169, -0.1047, 0.9983, 1.1282, 1.9743, 1.2762, -0.4465, 0.73, 0.8322, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0091 left_z=0.1624 left_yaw=0.0936 left_pitch=-0.2039 left_roll=0.0144 left_gripper=0.9983 right_x=0.2888 right_y=0.3426 right_z=0.0597 right_yaw=0.0588 right_pitch=-0.177 right_roll=-0.0957 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -2.5641, 6.9128, 1.5849, -0.2222, 0.0366, -0.0611, 0.6769, -9.6342, 7.7744, 0.7692, 0.5299, 0.1392, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5f62c72dbd4e2894ceb2ba03b47c574f992eb0611c8e0806f3d0db5c47cdf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51b93c0ccee05d04738f64922de73e0870a4dd22fd15089713f779a60e402f36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9055658a4bf27e364573411916e5e942c9aa2b9adac1bec7bd6365d9554e73e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Ns6iWbNRXbsC5jDpSfneY-sv8UBbNrUKlTljgfQbJlRVj7YZnxWkhMy5i2xy67FV3p2IXACobHNVOr_OZqjlIbmUj5h0f-JpXZhGehTVM838csN8o3Q2gm-fWgfzjxAo3epTYT_WSloW4rIA01QZVIoDSbsuyMr6ZaeblbvGvP_oyLQM-NbaDgtWBFFuJeS9MB1GiXrDgMdvybpx0-0RpgJ--egxJP45pG3QO2Rfhztk3gnc3CZ6GGHxVArTbaG5L_DxRTxD_to8mNDYWQA7SpXv9UWQicz8R5BYkim7qLF1pHUSt5NWhpKvisJn2bPqC7eYRQHEZl9v8BI7aZLu_AAllzlkYzb1w0guKssg6lQb2Dflw227aHJ4aoAPNnVInqjqLo8zY_tNkTcp5mTCgxftRGFYVjTQPPSI3-V6Vni63UJ3sxiem9k5H2raTvTrmi_5ylBRFuoZUDLNrgfFxwUlXVAnm6IUURs3guI186NGu03-klIg0_C4PM4a1gLf4m7YA4WEHzVCmDwExxqZM3pdXdEHB66V67fcLRJU57vhwPrfv51eSSpX88j0rTA12mSCfeSE36zdDO0NM3b8oNotgcJyagtUiiCS8GZ0Z_oWYZWlAw5N_I9XqAsv_TvFMP4P-hHbCTOfe3RKF-0oBvH4Fs0fdThSRJLZAB3LBVWOA9AA409TIDyPt-7E7fpIlrPNfoOBzYPR_xS_l7jCKfbEOIdLN57wfM_7YmXYxCc12KUsZYcg57XdPTtmwTiQ11BAHWT9wVJKGaW2JQk8UtuCaeiWfrgu34C_YhR7N-RwsEPgVXcAVHiBHTr_iwfcFPsz78vz32dKTjtNKGL1vU4wjIaEDop1h8aW0TupB9YvOvFpis6Lr3eBSKhOSoY-c3Jjpov2u6KSvIH6TwnpOnIc-WaGme5Cuj5PI1ybh1ftgkdtOo-vGM8UlMKex_ER8Rzt3LBh6Ec68JJHcG1CDYeS3YcKKqr2Rn9dTnzb_lDAOr90KqEZRDn702wOLN6dazEenImM5iqh6w2ViAB8pLuIkq7u4m0fTiVbjGyEJSxkWQB5elWcD7RFcCZe_U2a1_Xi0xOiGamUdDG9tnvvX5CMl4DXh_w0N59h9H69STxe1GbVx1cF2lMEa9Z-4e3b6AoqD3rv1oFpg1lUGDq3FjSkQfx7lj4-wDrKDtdRn6qBiVAQe-5-ezylDDYPEhlKSKsdBDPky-af5t2Vj6CgstyNubqZUxqsiU223igOLk7LvRE6oLnI1ZJ5VoJOyWUqguxJcCAyH-AuFQoojwkATIWfVN5-PRDaeL-jRRMQBz0ZKkDf76L4s4BqowVqjx7O4Gr9HiVniwnHmC1jnueLUk2yp9TOBLn_F-vyoXPD2tRBHYcTUSvBp3phRwpos8BOo-8VC7rv4zgLa-E4rtKcODDrOUjgl6Q0sGWKcJyB1BQOwo3REjl7Up_jYrWMUs0LIUvSAbg3OAMeoIEA9-SxPXbr_RBMKwWGdiJY3X8nqZxTvJnM46k-BQd5Y-ENfSA3FQNCGXk3WsDT1PuYCsfTDfw==",
  "id": "rs_0c84a2ee5d7ab45e016ab44dcc311487d0b40eae8453c479c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.39},\"note\":\"The dog is still left of center and slightly ahead of the fingertips, while the arm remains able to hold the low height. I’ll use the remaining lateral room and a small outward advance to put the torso under the jaw center.\"}",
  "call_id": "call_pjXTNYn5WQEgfNFqMWHwoNOP",
  "id": "fc_0c84a2ee5d7ab45e016ab44dcce71487d08743343bd5b90f00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pjXTNYn5WQEgfNFqMWHwoNOP",
  "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]: [-0.0509, 0.9611, 0.7441, -0.5602, -0.1192, -0.1055, 0.9982, 1.137, 1.9884, 1.2968, -0.4637, 0.7296, 0.8474, 0.9985]\nstate[eef_state]: left_x=0.2969 left_y=0.0095 left_z=0.1623 left_yaw=0.096 left_pitch=-0.2044 left_roll=0.0156 left_gripper=0.9982 right_x=0.2866 right_y=0.3471 right_z=0.0588 right_yaw=0.0577 right_pitch=-0.1817 right_roll=-0.0938 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.2085, 6.8581, 1.5165, -0.0611, -0.0562, -0.0171, 0.0068, -9.9761, 7.7333, 0.8425, 0.5006, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edebdf1ef7fac39b908db6ce37b12fd8855e7d8bfc2d9d325114360cece06ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d75aa7d971de879f58886a62d6a8b5a67e8aebd5485c9e1ddfaa1b366e66f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe80a71b5696bcb7af7031690c926a6dddf5868edb2d484f25762af5f61add",
      "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 · 3.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3248, 1.9182, 1.2469, -1.0576, -0.8295, -1.7638, 0.9954, -0.0265, 0.8997, 0.6739, -0.487, -0.009, -0.1017, 0.9984]\nstate[eef_state]: left_x=0.3355 left_y=0.0283 left_z=0.068 left_yaw=1.3649 left_pitch=-0.1641 left_roll=0.0233 left_gripper=0.9954 right_x=0.2948 right_y=-0.0026 right_z=0.1612 right_yaw=0.028 right_pitch=-0.1421 right_roll=-0.0622 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -9.6205, 5.1077, -0.7741, -0.486, -0.0513, -0.188, -0.0752, -2.0034, 7.4872, 1.6288, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.9607, 0.7441, -0.5598, -0.1169, -0.1047, 0.9983, 1.1282, 1.9743, 1.2762, -0.4465, 0.73, 0.8322, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0091 left_z=0.1624 left_yaw=0.0936 left_pitch=-0.2039 left_roll=0.0144 left_gripper=0.9983 right_x=0.2888 right_y=0.3426 right_z=0.0597 right_yaw=0.0588 right_pitch=-0.177 right_roll=-0.0957 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -2.5641, 6.9128, 1.5849, -0.2222, 0.0366, -0.0611, 0.6769, -9.6342, 7.7744, 0.7692, 0.5299, 0.1392, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.9611, 0.7441, -0.5602, -0.1192, -0.1055, 0.9982, 1.137, 1.9884, 1.2968, -0.4637, 0.7296, 0.8474, 0.9985]\nstate[eef_state]: left_x=0.2969 left_y=0.0095 left_z=0.1623 left_yaw=0.096 left_pitch=-0.2044 left_roll=0.0156 left_gripper=0.9982 right_x=0.2866 right_y=0.3471 right_z=0.0588 right_yaw=0.0577 right_pitch=-0.1817 right_roll=-0.0938 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.2085, 6.8581, 1.5165, -0.0611, -0.0562, -0.0171, 0.0068, -9.9761, 7.7333, 0.8425, 0.5006, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edebdf1ef7fac39b908db6ce37b12fd8855e7d8bfc2d9d325114360cece06ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d75aa7d971de879f58886a62d6a8b5a67e8aebd5485c9e1ddfaa1b366e66f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe80a71b5696bcb7af7031690c926a6dddf5868edb2d484f25762af5f61add",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3STqwL23F03p1wfC4cgpNhBPNaQArBrNO77ZzOUwcNVgppk8K92zSrHJA8NfK6T10JzEEMw3dQHv6esovLm2awjeFqQVPHCbRW3J6EnUWfHYD_1HZcIknpKLaIhhRMeoWEPp9vPlstVmqUM8E7eGp1m_CcUzoxkxqGS1aAV6ycsZVr0ARXNPRds39-Wxj6uJCaD1PmGCDj9lBpYwDbwQySrkzZfM2jTmyEN2AZ8jDAtHEoD6tuykoDriMEXt4xhMOo1ZbjuHelxR0fI_RXbHHsjzLMs-YGck4yIWl2s33-NDAg9lRQITTdI6r2-ra2AV4vkmpkdQNHn4fdNhq2d2L5ZuGNdtzacSbrfCp2ADardDgWPZSDMHtFwE6xt3AmuznwrRlI0-KDRfo8ktK20MaTAKcwxqFnf2SzSwoX_9W8IKTCMlbgCDYxKcjwIC1MjlkRop6WBckXwwDyt3KFNFX8d05-Nrijp3wW-OHRNlvdNcNHp5Jkiad8jcVmaDyesN482RTCrM2N1D82ibfuMBVQHilQfbVl2GhaMbqUIKhufVgSrjE1UvzvZL-pQ0tUuBuZdk_zK4y97SV2I3s2zBZ9YvXRlLg5qS2mqmueMAcW-UqvpXXfoQnOjAQ7Q15YkxENM5zDL-_Xmhp66yU9HLoftUrw3sqi2xihj_tHfstbRXPmLJ1c4zU-E7ZpE9-LL_C4yUNOm29AyqjMx2WxATiIJWiPJRvNKYJlFCTyCnlyeIjLAYiiamTreKgvuROHk-ncYiMDLA6b3UiR-QQWVHntYliRMkrWf6YaAOU3oRJZbx8iCjwOqPDSv_k3kUDjgd3yB11t-tRIpCgn-caAp37noUpBUm3UjPZQG5sHxzczGLhk13DSqR8rBJHTiC1L7s6rgcHyVBVbWVKSzWDgJk_emHb29QmjvsUc5rEcYPUaluWLHWGzQvoNhbGxEg3DJTPxACzxf9kv9cNL1tHR78ae6KCqsXnS_So6SgbfZspyWIY4zGTXqlhG7q001OX3pgFv1R2Dt3klL_LwFrTNkVFUPRcY00Znw0Wl-hd1wbvD3u5SCdtUNh3tpdAaen65reOl9IARszkehgI-rGVEdTBRiiRYDkLYo_5CqHTYCPeIkYfMhJy8KIJ27V-gJ6ZtjdtK2FL2VPwvp70nXsUmPJsmtVgLqwOpOKkXcx9lvWNYyGCPR_KS7t57PxqA4dt87zkQi7D7eHD5ALe7rwHdqVVxCedvwEbjU_GMUOAMt7OLyE2TojTT_V8-uJ1mIiZ28QPZ-qMiok7TuJoBr_LXyY5N_qVv2v9xJmcKa3_2mDO6-nVuDwZu_-aXe5Ffa8bKYf1I636Mga0elDIZxq0Oruog95hL_HCozeoMHV2vZvPUOMXVQyH7tzU4FJIovDunZ64R0O-rtjfFKe42cXJtcK97IQZHaM8XNMHE8C5nu0ZcMup6x3Pe74NJdkfM54immdTHxFwSc-UGKZy3X5itGi6EMT7cfmOzna8X88OL9_uZ1F_zT_DrwV_Wfb_SBlP0zkrdoC3PER-v8a0X9KC8pRWnD-n6B4co0hvADLTOq9A-VbF3H4QBJstHkByt-M61-NYKUPPsBIxiO035aKE63KJzwj3-leXBsMKhfjGvUyHZvY4DtsXd1seMLs23IlYS6pNiFO_GhfcGKTT9vuWxusQEsbSVGJFKUOruvHd0Syp-KVkrU_Lh2CDUWAWOnIUdVuclpWCc-QN1pQEBij4H-qsvSO7F8fy6SLA7WcyZuoOKUsL1usjZQtdR1zOn0PFiY9PY",
  "id": "rs_0c84a2ee5d7ab45e016ab44dd04cb887d09abea456d5cb387c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The right arm stopped at its reach limit before centering the dog, so I won’t close from an obvious miss. I’ll retract it and use the left arm, whose wrist view shows the same brown-and-white dog to the lower right and has better crossover reach to that spot.\"}",
  "call_id": "call_QY5ckDj1FK9o2mk3jvKfxPJU",
  "id": "fc_0c84a2ee5d7ab45e016ab44dd1858487d0bdaaedb3f1867cf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QY5ckDj1FK9o2mk3jvKfxPJU",
  "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]: [-0.6514, 1.1839, 0.5243, -0.2653, -0.503, -0.5701, 0.9987, 0.0105, 0.9474, 0.7437, -0.5922, 0.057, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.2814 left_y=-0.1029 left_z=0.0744 left_yaw=0.0762 left_pitch=-0.2088 left_roll=0.0066 left_gripper=0.9987 right_x=0.2905 right_y=-0.0034 right_z=0.1596 right_yaw=0.0014 right_pitch=-0.2257 right_roll=-0.0963 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.906, 5.3128, 1.453, -0.4518, -0.0269, -0.1441, -0.1573, -3.0838, 10.4, 1.4725, -0.1441, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809445e048510512833dfa385064a10c22f82dd54397ce964b6e3262290c604c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5612ca86d5eeff1660dca8aae7ee0919d081aa5ca024b4f5956188aff7af248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ea4263ce7e8e5b21baf322c978715857095a4672faae479b87af7941aabf19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 1.864 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0525, 0.9569, 0.7429, -0.556, -0.128, -0.1055, 0.9988, 1.0672, 1.8004, 1.0481, -0.3386, 0.7155, 0.7738, 0.9986]\nstate[eef_state]: left_x=0.2972 left_y=0.0106 left_z=0.1638 left_yaw=0.1017 left_pitch=-0.1963 left_roll=0.0207 left_gripper=0.9988 right_x=0.2884 right_y=0.2908 right_z=0.0652 right_yaw=0.0452 right_pitch=-0.1641 right_roll=-0.0855 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -3.0974, 10.0171, 1.6093, 0.0952, 0.1343, -0.1441, 0.7043, -8.0205, 7.7333, 0.906, 0.5201, 0.1685, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.9611, 0.7441, -0.5602, -0.1192, -0.1055, 0.9982, 1.137, 1.9884, 1.2968, -0.4637, 0.7296, 0.8474, 0.9985]\nstate[eef_state]: left_x=0.2969 left_y=0.0095 left_z=0.1623 left_yaw=0.096 left_pitch=-0.2044 left_roll=0.0156 left_gripper=0.9982 right_x=0.2866 right_y=0.3471 right_z=0.0588 right_yaw=0.0577 right_pitch=-0.1817 right_roll=-0.0938 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.2085, 6.8581, 1.5165, -0.0611, -0.0562, -0.0171, 0.0068, -9.9761, 7.7333, 0.8425, 0.5006, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6514, 1.1839, 0.5243, -0.2653, -0.503, -0.5701, 0.9987, 0.0105, 0.9474, 0.7437, -0.5922, 0.057, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.2814 left_y=-0.1029 left_z=0.0744 left_yaw=0.0762 left_pitch=-0.2088 left_roll=0.0066 left_gripper=0.9987 right_x=0.2905 right_y=-0.0034 right_z=0.1596 right_yaw=0.0014 right_pitch=-0.2257 right_roll=-0.0963 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.906, 5.3128, 1.453, -0.4518, -0.0269, -0.1441, -0.1573, -3.0838, 10.4, 1.4725, -0.1441, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809445e048510512833dfa385064a10c22f82dd54397ce964b6e3262290c604c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5612ca86d5eeff1660dca8aae7ee0919d081aa5ca024b4f5956188aff7af248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ea4263ce7e8e5b21baf322c978715857095a4672faae479b87af7941aabf19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3ZSdYSQ70l5cQz3PYasTqvxcytQneQiEu0WS_6D1JLNZG6XuVircJgwBgVsebk3r0XaerrFQmedZMzQCOPfXXvf03zkftXoBg9jP6bL8s_mrZkORn7uvQZbTvlxVQsTWYoy3Cht26FUB-QCnQB6kRW1wOruqFEstOXxmIjZ3Cub8QSOoHVgk86ivs61KpLKutk61_f8O7gcz7UEs8kJRUoaHTjcTxnwBZ-Zf-lRzSEO59YmeW2YbgB_0tY5887qhFZcAdcMbaBO1JlEtB4WjdNMC-ufAEwj67-zICVyiYb03_2NN3p5qsXvBSHy3ogyJf6ro7JVmCDcPg1j7NIzuhX_Grl-DHy627Ud_8bbJmIbzb5J161Z0GHed1VsP0OvSHsXR4AYV-TwB12b8yuU4KWXCguiuwtjEX_maoBxr1FgJNPKrDoKlSxwmVxQV9-hiPYEDb9aOlO4562W9dMXgmcs9ehd38rjIM55zjceqkZicTLzwmg38NevF77Gr8XcBp_Ks3Qkvi0_NKq8yelBkk63h7yhCIfTka6Cocvf5daDg9THJlELktn7ty3PyDE5PCZIwB-5_q7bQoeNyTfxkD6hP8So186o4fwPKsDv_P870Y00klNvlFYJXHd__xtqTsgAC_MkF-OBdl-D-DQUHv6XVMhrMqj-YwFhZqP_NiAHp4w-OOM1ei0lWHpLatMnK_oU-_av6Eea2RQyXLvsTdykb5Y6rdZ3GtTFrVLCOqy2g7vcSJHpQaUPBcorwK2Zyjl2OOp897on24qPNeDTl5Pd2JDKqSPz_rCAVYGFoHBe8irLGJLljUXhiHOB8LFHnmhpvqRWK31PFLCY-MQ8KI3E6Ce8CrjFK2tynlSpGnipAZK5caSzmodva6ejEx_Zr4mPjRbyAh5PgJtGWlZ41SFWdpEFtmbaqtAdKH0Ji4J4dv40yVRP265h-Q7b83uchNrgASRNLTLybJIGm9lEEhYD44qtpBCsl5cSyjgYkk1xDLao_kfAE6agbqAMIJR5UIJ9tIigfiz6_dFvsiDEBFYdWUSwf_-t2HJuWafOTGgeQoljMSUyjh344L9o5JvCpkqjp-exQXWZDEwImJUXhwbPJUraHgVWssTz2PHuRVvxfAn9c4uHJz051JCR7TmVzsA_6x2oQ63vfohWc2cJ-8_tHId7U8W1ghOIV7V_K3qyunEDNwn0aJVY5xc56L6rM4c-sf1hRgMiW9SWQ5TYiyVVPkPS2VE-keBwt1DS8YXiv3TGUZyMpL2RyipS_QXdmyomqDdqrl1Q_BGW_lzp59E3n9k-QFGNei2zg5y5fUIRFg1_PLxO2HpytjHACSTTMWDRor7PqKqE0B9SHeIvTa2XMyUizwBFP9HRKOB_SggdhNaUJ57zF1PQTrXI9byDXnvQIwpPymPD2hHfsWNfcLD0kBNZ9ILZIT49nRhOqOeIxJiCvE3a35sR9mDVxLwfXu8gP6gLTLleV8ZtzKPfjVZaVfJ0cVNe09rJ-P4IjUAfVo=",
  "id": "rs_0c84a2ee5d7ab45e016ab44dd7703c87d0a367fe03f2b89336",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31},\"note\":\"The left wrist now has a brown-and-white dog centered laterally, but its torso is still a few centimeters ahead of the fingertip line. I’ll advance straight outward at the current torso height before closing.\"}",
  "call_id": "call_HKP3AmgpILRCfVWGvtvs9YUZ",
  "id": "fc_0c84a2ee5d7ab45e016ab44dd7fe9c87d089f7c55cc1c979af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HKP3AmgpILRCfVWGvtvs9YUZ",
  "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]: [-0.5766, 1.2861, 0.5545, -0.2203, -0.4747, -0.5362, 0.9983, 0.0074, 0.9482, 0.7441, -0.5941, 0.0399, -0.1112, 0.9988]\nstate[eef_state]: left_x=0.2975 left_y=-0.0929 left_z=0.0614 left_yaw=0.1157 left_pitch=-0.2448 left_roll=0.0315 left_gripper=0.9983 right_x=0.2903 right_y=-0.0013 right_z=0.1591 right_yaw=0.0259 right_pitch=-0.2291 right_roll=-0.1001 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -4.7521, 8.5265, 1.3016, -0.2369, 0.149, -0.0562, 0.1026, -1.8393, 6.8444, 1.5214, 0.0513, 0.1978, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec3bfb2a72882e1d1ba92bf67e1cd26eafd64c14b2c2c53535b4b5a0625a1ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caafc62ae782c65fdcaf5384b64782c22b1a65eca7c28abaad9abdda6b1927da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04db5d1f89795eda5a00f9ef9e7de1da80a93348751c74d94090cc10bd9fba1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.298 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.9607, 0.7441, -0.5598, -0.1169, -0.1047, 0.9983, 1.1282, 1.9743, 1.2762, -0.4465, 0.73, 0.8322, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0091 left_z=0.1624 left_yaw=0.0936 left_pitch=-0.2039 left_roll=0.0144 left_gripper=0.9983 right_x=0.2888 right_y=0.3426 right_z=0.0597 right_yaw=0.0588 right_pitch=-0.177 right_roll=-0.0957 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -2.5641, 6.9128, 1.5849, -0.2222, 0.0366, -0.0611, 0.6769, -9.6342, 7.7744, 0.7692, 0.5299, 0.1392, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6514, 1.1839, 0.5243, -0.2653, -0.503, -0.5701, 0.9987, 0.0105, 0.9474, 0.7437, -0.5922, 0.057, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.2814 left_y=-0.1029 left_z=0.0744 left_yaw=0.0762 left_pitch=-0.2088 left_roll=0.0066 left_gripper=0.9987 right_x=0.2905 right_y=-0.0034 right_z=0.1596 right_yaw=0.0014 right_pitch=-0.2257 right_roll=-0.0963 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.906, 5.3128, 1.453, -0.4518, -0.0269, -0.1441, -0.1573, -3.0838, 10.4, 1.4725, -0.1441, -0.0366, -0.1197]\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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5766, 1.2861, 0.5545, -0.2203, -0.4747, -0.5362, 0.9983, 0.0074, 0.9482, 0.7441, -0.5941, 0.0399, -0.1112, 0.9988]\nstate[eef_state]: left_x=0.2975 left_y=-0.0929 left_z=0.0614 left_yaw=0.1157 left_pitch=-0.2448 left_roll=0.0315 left_gripper=0.9983 right_x=0.2903 right_y=-0.0013 right_z=0.1591 right_yaw=0.0259 right_pitch=-0.2291 right_roll=-0.1001 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -4.7521, 8.5265, 1.3016, -0.2369, 0.149, -0.0562, 0.1026, -1.8393, 6.8444, 1.5214, 0.0513, 0.1978, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec3bfb2a72882e1d1ba92bf67e1cd26eafd64c14b2c2c53535b4b5a0625a1ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caafc62ae782c65fdcaf5384b64782c22b1a65eca7c28abaad9abdda6b1927da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04db5d1f89795eda5a00f9ef9e7de1da80a93348751c74d94090cc10bd9fba1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3bmxto2WGqvwtBKsNUy6Idybn8KVPfT7tnYa-_rGDjEgwKPVyl8tVNX7PRf0dWmEaalkcVbX6DxFjdjI3oDAABNOKSt1GHhT4eesJv1IqDrCB-GDApqmPwOMkcDVRfMZ5LsC7fXaQZj1Y61LtU2OxzD9v3UBmj2RJgwgPbzrNPYYyC5dO3D2NGRDMHs5qRJC-3y2GB7-olwWvhK5-k3t8RBh-wRfB4qsrutQCTZLCHg51vmy6YcIGXkaHgSsA-4E7Ivx4qjFa78ibQtsvlNgCVBWVsDFWVPcpXRli5vK96ZSUWjb6HbpZdLCuhHOD4n2ksyB7JzFHXmC4eEXpfaj6n8pSF2aT4qi02yjq2OniWWaskqBMEESn5yQclcdBWIaYCiqHhNL0fskPPvKNr27cyDUsM9wGjuQ8XHEoIsG1dZrCziCTySM_GHaAgsOctwrQhUHjFm7kjYIYl5jHRInZdZEygobP8xqWPFZBk3OLpp0L9vXs5qKfj7I0XbPdSXE6omAF0D5OxqouCopZmO3MLeRAiNRTJ_KtQv_gqI4ZwiPgooQAgS8Z1z82NEcv_guEtT0aZX3XzNazpl_f_UFBX21lmTpg_506iRMHO6nnYMkvbzDKpRI3ndFXF4e80qPXNtoS8BWdb-7hbEXGlnA_MJr6xFKq_PWjy104m_pxdQEh_416VoO233ALwJh9bI-_wxExP1vLNBl8DDF-XB3sg83SKPewVtFEA15XRnJmwrsXw6SEM8sEY_JsVslbnceW-MnFDPDCi8UYjri8WEpkRGKjJGZyMtkfUtiWWrfetrSyvfMUCw1wVi0p3rUc9YSueakfyyA2TBGYNx_ohMvcntaTPp2ZDZufXITnt04sA_L0LJJRhYRNy-LPJuFV3gqsDlgB3gK5EB31S2TPN2gYMrrJX2HQ1nVd7KRbCS27ybYBYCGqzR8uCUY6qGnwff0y8SqibWRDaZe6g-pZJo2HgtHRYQXRHPSENPjkGduRwTHppKoPG8qL1uFFyStWdaeVP24ENVshBtJ7d-1xTjhDfuOuWnlboMwiVILmww_2Ahvok5m1QvQJLvtfTzYVOMoKZbB7lc96r7BccXBnW2l4RaJzwO_zU9O4cWGQuU2yzvN1wO-EAMwZ7l1tCSIcd8jr4yi_wFOf_bjAQViWhfJwv0yCxcMzzVkGXoO1dqsSqj-3Xx4phNR8gkSXrhNXeFLKCkukmU5oNFnzxvRZWCg6_OhzhuS058OXV6lJ2e8zHYZs=",
  "id": "rs_0c84a2ee5d7ab45e016ab44dda454487d0a44d0893537eb89d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the advance, the dog’s solid brown torso fills the gap between the two jaw tips at mid-body height. I’ll close the left gripper now.\"}",
  "call_id": "call_kUIDOJk5p0j36VEhlX4N1VT9",
  "id": "fc_0c84a2ee5d7ab45e016ab44dda764087d0b6b26e7f28438c5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kUIDOJk5p0j36VEhlX4N1VT9",
  "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]: [-0.5728, 1.2968, 0.5598, -0.2161, -0.4713, -0.5392, 0.0108, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1093, 0.9986]\nstate[eef_state]: left_x=0.2993 left_y=-0.0933 left_z=0.0606 left_yaw=0.1189 left_pitch=-0.2474 left_roll=0.0278 left_gripper=0.0108 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0238 right_pitch=-0.2298 right_roll=-0.0993 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -5.1214, 5.7368, 1.2723, -0.315, 0.0024, 0.7448, 0.0342, -2.2632, 6.8718, 1.4774, -0.0415, -0.0366, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b03b8963adf3a7d4ca9f5826692407fcebaaf49796d3111306531530366959c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c59165a5b83de90c4c5e2b9a630f926676d16c9adb3e863723b2e362cc6c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77423818de67403e0d75d9c8a67d83f112491bd173a9fce0d643c281307ac929",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.202 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.9611, 0.7441, -0.5602, -0.1192, -0.1055, 0.9982, 1.137, 1.9884, 1.2968, -0.4637, 0.7296, 0.8474, 0.9985]\nstate[eef_state]: left_x=0.2969 left_y=0.0095 left_z=0.1623 left_yaw=0.096 left_pitch=-0.2044 left_roll=0.0156 left_gripper=0.9982 right_x=0.2866 right_y=0.3471 right_z=0.0588 right_yaw=0.0577 right_pitch=-0.1817 right_roll=-0.0938 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -2.2085, 6.8581, 1.5165, -0.0611, -0.0562, -0.0171, 0.0068, -9.9761, 7.7333, 0.8425, 0.5006, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5766, 1.2861, 0.5545, -0.2203, -0.4747, -0.5362, 0.9983, 0.0074, 0.9482, 0.7441, -0.5941, 0.0399, -0.1112, 0.9988]\nstate[eef_state]: left_x=0.2975 left_y=-0.0929 left_z=0.0614 left_yaw=0.1157 left_pitch=-0.2448 left_roll=0.0315 left_gripper=0.9983 right_x=0.2903 right_y=-0.0013 right_z=0.1591 right_yaw=0.0259 right_pitch=-0.2291 right_roll=-0.1001 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -4.7521, 8.5265, 1.3016, -0.2369, 0.149, -0.0562, 0.1026, -1.8393, 6.8444, 1.5214, 0.0513, 0.1978, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 1.2968, 0.5598, -0.2161, -0.4713, -0.5392, 0.0108, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1093, 0.9986]\nstate[eef_state]: left_x=0.2993 left_y=-0.0933 left_z=0.0606 left_yaw=0.1189 left_pitch=-0.2474 left_roll=0.0278 left_gripper=0.0108 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0238 right_pitch=-0.2298 right_roll=-0.0993 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -5.1214, 5.7368, 1.2723, -0.315, 0.0024, 0.7448, 0.0342, -2.2632, 6.8718, 1.4774, -0.0415, -0.0366, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b03b8963adf3a7d4ca9f5826692407fcebaaf49796d3111306531530366959c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c59165a5b83de90c4c5e2b9a630f926676d16c9adb3e863723b2e362cc6c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77423818de67403e0d75d9c8a67d83f112491bd173a9fce0d643c281307ac929",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3fG0dog8CWDcXeSnh1satIX-OoNmbPOTJXufAxOXzLWRIHYJDxEzMa1BjPbVt8oot_ODuCWcZEDxqybsv_TwuIB6sRkdYpHKmhK39tkaeGv__YVpHHCl7V06QvpffcWVAZ_pDYQ8I4AnvpYvpVOvsslXsrZfP__CFc-1aMFyaqwIwVHNQRm2bh9s7Iz9UC0trQKk4I4CBeRDdQErOHemICIck2MoANG6w7cHEYJckyJauviZE_86iPz9DD2E6WUzp67iFMKUiu7ED27f_fR7-hqtfFX4C8MV1qyQ5wsHlpTrl0Kejj55YXPvYNjjbH7lY2uRznmUJ9RF32_tlODamYkw5PM3RK3YBiHsXVGWmTMdietxKvnFscG4uk1e3U5o588ApogNH0KKXzKCXpdnjdc6xCsobkoEfycHpNJ4vOBIjCaZimwO1zuh0bZYavZ3lnAq6QJx_bG7B3tHUgB6SVW8c3sFNZgBXJtklXlBItwEcOJOx76ThokwnXwxLYdyVj8WsXeoMFDRNL_BtMaU3fmYt54_Pyp-nl-cbQ5h7udg7byMht4cZQ41v7skBGQvG9V985msYV_xuVpFuxMkzhV1tbhc9xc_zC0OIqNP50gZ8XWJvy00MSfCafSRF1-7tBXMm1pF_KqRaqVF-CLpVPdjSg92EwkXp7v1EH8rhFuItwq_MbMZrGPFA0O-0BbgH8TgjBdAcQ1L-MH0-oGgFvlI_l8YroLl2iQJ5vrRE7zKcRh0kp9tuNOwBXkCGbPHK_08I4DXBG0SPRCvWvo3ulsiCKkbI6foWxnawGHjWIA3Zwv0jXx6jC1ruipp5SHcL6l3hqD94NIp94cr_99C7zk0jjq98uq2Fj1BFVnLU3CAnOm3-myCtACrMuS48artFpARPj0683gLf4w4T1m2sIElU_y-OUE0nqmhC-q7s0z4yncpPWrcTZHbvrV3D6Tp19Q2_kt975HXlhevgjX7HYNH-WCk6Dco2bRqEyxkA363iliyW5xZbQJi7GYJBmy4Z4zMyMy7ITAIxlmFPwRtOo-bvNR75TGJoTo3ES4AP8ycpXfF89LtHbn-n3vtmSF4pMaKlGfi1-x0jQx-4Ogkp_-hYNutht5x8zOJgxbsyPmlHtlPHZKHfbLNKyEdhX7o_UU0YfcNqbEdA01F1BmF6pzlikx7xGva52ZB0X4TdB5P-C5z7AdwOFyWqqGZkr7B2jzNhkBvODOr4oSWS-jHDuUvDLrF2L1qgfXLZ_-tzDgQ7gt9fFpab32XAbltIt8PGkYtA1y6u4yG6mdf5KHAIQtWkj9osIrunjZt7EKRsLF7wLOhnQ0dWo9rbKDII8BDu3H6raPJhstmBCuv-bYC90sRS4h2iZ8Q29LVSo9p_Yc0J23rHJyu8UzJ6OTrRMbi53sJEJnOdhwqUmAhBSohVYJXZlcyq6doKUXo5CvYyH5VE=",
  "id": "rs_0c84a2ee5d7ab45e016ab44dddbffc87d0964bd569891b83f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.11},\"note\":\"The close was empty because the low jaws again passed through the toy’s legs; the wrist view shows the dog’s torso above the closed tips. I’ll reopen and raise to about 10 cm so the fingers meet the body itself.\"}",
  "call_id": "call_PuYzLaMzqz4n2IixnECulEQv",
  "id": "fc_0c84a2ee5d7ab45e016ab44dde6d7087d08a19c7f24a13a648",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PuYzLaMzqz4n2IixnECulEQv",
  "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]: [-0.5728, 1.2289, 0.6781, -0.4301, -0.4709, -0.548, 0.9953, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.296 left_y=-0.0912 left_z=0.0947 left_yaw=0.1282 left_pitch=-0.2687 left_roll=0.0399 left_gripper=0.9953 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0255 right_pitch=-0.2299 right_roll=-0.1015 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2718, 9.1282, 1.2186, -0.2662, 0.0659, -0.1343, -0.1573, -2.0991, 6.8308, 1.4872, -0.0122, 0.0171, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f5a3c20063a504ba1057ebc271f9c737aee0d417276de1e8cc216446dd4b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14c1af4cb1aa9ac3716b760e5f3ff944d7bad97ba5b0fa5350af460a37589de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6866798f1892fa6e32d7325d2d2470836ead100239751cd8bfb131f9195703",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.927 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6514, 1.1839, 0.5243, -0.2653, -0.503, -0.5701, 0.9987, 0.0105, 0.9474, 0.7437, -0.5922, 0.057, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.2814 left_y=-0.1029 left_z=0.0744 left_yaw=0.0762 left_pitch=-0.2088 left_roll=0.0066 left_gripper=0.9987 right_x=0.2905 right_y=-0.0034 right_z=0.1596 right_yaw=0.0014 right_pitch=-0.2257 right_roll=-0.0963 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.906, 5.3128, 1.453, -0.4518, -0.0269, -0.1441, -0.1573, -3.0838, 10.4, 1.4725, -0.1441, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 1.2968, 0.5598, -0.2161, -0.4713, -0.5392, 0.0108, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1093, 0.9986]\nstate[eef_state]: left_x=0.2993 left_y=-0.0933 left_z=0.0606 left_yaw=0.1189 left_pitch=-0.2474 left_roll=0.0278 left_gripper=0.0108 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0238 right_pitch=-0.2298 right_roll=-0.0993 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -5.1214, 5.7368, 1.2723, -0.315, 0.0024, 0.7448, 0.0342, -2.2632, 6.8718, 1.4774, -0.0415, -0.0366, -0.0366]\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 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]: [-0.5728, 1.2289, 0.6781, -0.4301, -0.4709, -0.548, 0.9953, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.296 left_y=-0.0912 left_z=0.0947 left_yaw=0.1282 left_pitch=-0.2687 left_roll=0.0399 left_gripper=0.9953 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0255 right_pitch=-0.2299 right_roll=-0.1015 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2718, 9.1282, 1.2186, -0.2662, 0.0659, -0.1343, -0.1573, -2.0991, 6.8308, 1.4872, -0.0122, 0.0171, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f5a3c20063a504ba1057ebc271f9c737aee0d417276de1e8cc216446dd4b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14c1af4cb1aa9ac3716b760e5f3ff944d7bad97ba5b0fa5350af460a37589de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6866798f1892fa6e32d7325d2d2470836ead100239751cd8bfb131f9195703",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3irOah9gqdTNrVUBfmB5kNQQp1Oi_K8znX33_RMl0iMxqumjLx5M2fEpGYIj876Q3k_hED8PKbvVqdncx5GC-Pz00oiPmQGkZjcIF5mELNgl0utQAsLGpGLEgn4JIykoiUsRU0twXrN0wLflDKzknbvZqzS8umB8BgmwpMrZ_x-sLeDWpqZHxIlavSpb3cxjhuC25BUeNUdfSHdNAVdEJqmk7Fwj0O4KtwdPTz8zpESaPN9nfubHG54My6BzKJ9_MqHF8Q_QVPFZLlRg0n1TWPKAFGX1J6B6Qe6DLy1Xu5cZkOrMle00D_shEGDcnFD0msTCNH0ipTTUI9qgDB5ekm9fgOEVvsZMOuNKvLIqgFo419UJPtv-b0EqbdMAizqiGRhFeRP9ZAEG8vMZNODEJKp230KG0ibde6uP227X0b-sJpMuOU8ABbXpCs78J2Fe_QfxO3zqAhJJbJte1EiNOBJrlX-8j_oHNwUsa9Sp6PiiMqznuAJCHyybC9iyiK5HvkM8Zanu7eZTE_VB1eyTKUKiEk6HTUzj79culY8nVjhcmJSfsYsC8_zqrnFoeelyc3zdARE8-COcOxeunI3qc97H3ZZe1arPhbgR7oMNxuVakc_tCQIkIhyBhFgYlG_yBXz4Md00rITGiwDabpExWuGDoSjrheqFh6a0MN2yqzQg0_fUZs8a2GdeVZMSRL2uLyTjpB6ZHv6yMEnTcnzdWehtAD06IrIpBbt1P2Q3JVH9tiH5-3feptn--uFj9q5BNnbZ4FVtQtA15UiTRVW8CbBej4AHcqLHgqHYO8cS9QcofiRVed-jeU9N1FjoyVZhAnBUKk7_GD-pcsdCG9BbhPoOmW-Xq0IVmHXbVDpppjK64fffJyUJZBtlf3IFwea5P8jY6XSBiAE93w53PaYgN7q-I7jACRRyhgpoqDItCTbw2LyKDbAS4OYcWYUuF0A22v-SzB1rA51DhWO1respATIVbmC-AZVqlBv3M7KImXO_VGCHGzZ7Ikdn0MdFL7xScY1El83jTNjUHy2goQPWKOQOBSv4cl_a7xP5rcYVvaB-fhEVeFwVZ-2PGPGr0g2YX7DHM3jkbyt6Vd433dxkzXsNKWQWQBJwgm1ohNhXfRa6My0dB6cBxEwFoY6FcHjEO8mrWTsjcsNan9QpyOqmcBC8ifRR9_WLys5PVOrFFa76-eHUVcY-ZaW87zGdP9QmBBZjvoNJrVumqWY5io049RBQTYnA1nxPWJY1EloW6APlIpjbhSdZtXHc3ZjOkRy7Kmrl0_1B699zcEEhOuCRfSYQ==",
  "id": "rs_0c84a2ee5d7ab45e016ab44de18df087d0bd32193925ddc9b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the raised pose the brown torso is centered directly between the open fingers, above the leg gap. I’ll close across the body at this height.\"}",
  "call_id": "call_gK05z8bcq4HiNmIr6qjaUx9L",
  "id": "fc_0c84a2ee5d7ab45e016ab44de1b52887d0a2ecac0d29829a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gK05z8bcq4HiNmIr6qjaUx9L",
  "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]: [-0.5728, 1.2247, 0.688, -0.4404, -0.4706, -0.5507, 0.0104, 0.0071, 0.9535, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.2966 left_y=-0.0917 left_z=0.0982 left_yaw=0.1287 left_pitch=-0.2659 left_roll=0.0352 left_gripper=0.0104 right_x=0.2907 right_y=-0.0015 right_z=0.1578 right_yaw=0.0257 right_pitch=-0.2338 right_roll=-0.1017 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -3.5624, 5.6547, 1.326, -0.3101, 0.022, 0.8376, -0.1026, -2.2769, 6.8444, 1.5018, -0.0464, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6265921b0bbd561aba8f1f24af34828b1304c37d573198d367eecb94614376e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d20cb11f55e053b76af8c850ba756cfb1fc65dcee826bb8ee93102f2b89494d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da80156d1b7533ba70e7771b5beb7bfcb89b4a7bb4108f293b725babf865ea9",
      "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 · 1.896 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5766, 1.2861, 0.5545, -0.2203, -0.4747, -0.5362, 0.9983, 0.0074, 0.9482, 0.7441, -0.5941, 0.0399, -0.1112, 0.9988]\nstate[eef_state]: left_x=0.2975 left_y=-0.0929 left_z=0.0614 left_yaw=0.1157 left_pitch=-0.2448 left_roll=0.0315 left_gripper=0.9983 right_x=0.2903 right_y=-0.0013 right_z=0.1591 right_yaw=0.0259 right_pitch=-0.2291 right_roll=-0.1001 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -4.7521, 8.5265, 1.3016, -0.2369, 0.149, -0.0562, 0.1026, -1.8393, 6.8444, 1.5214, 0.0513, 0.1978, -0.022]",
      "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]: [-0.5728, 1.2289, 0.6781, -0.4301, -0.4709, -0.548, 0.9953, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.296 left_y=-0.0912 left_z=0.0947 left_yaw=0.1282 left_pitch=-0.2687 left_roll=0.0399 left_gripper=0.9953 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0255 right_pitch=-0.2299 right_roll=-0.1015 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2718, 9.1282, 1.2186, -0.2662, 0.0659, -0.1343, -0.1573, -2.0991, 6.8308, 1.4872, -0.0122, 0.0171, -0.022]\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 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]: [-0.5728, 1.2247, 0.688, -0.4404, -0.4706, -0.5507, 0.0104, 0.0071, 0.9535, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.2966 left_y=-0.0917 left_z=0.0982 left_yaw=0.1287 left_pitch=-0.2659 left_roll=0.0352 left_gripper=0.0104 right_x=0.2907 right_y=-0.0015 right_z=0.1578 right_yaw=0.0257 right_pitch=-0.2338 right_roll=-0.1017 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -3.5624, 5.6547, 1.326, -0.3101, 0.022, 0.8376, -0.1026, -2.2769, 6.8444, 1.5018, -0.0464, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6265921b0bbd561aba8f1f24af34828b1304c37d573198d367eecb94614376e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d20cb11f55e053b76af8c850ba756cfb1fc65dcee826bb8ee93102f2b89494d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da80156d1b7533ba70e7771b5beb7bfcb89b4a7bb4108f293b725babf865ea9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3nJMpjpIf8mptARP6-V4qx6cIuj76PKwIW94lIiERIJkFfNoRenPOE6iFK1HvrVlFLYANnNXEgF_Oo1Fzal0La-34uqEtcwKUPL_mMdzSOKjKgZJxV20JNj5wAxv-pblvf6nD0APfGYS0c3HRnB2vM8cTQBKOJGoD99sbMLY6ga-B8gGtFQXViPTTLpP88OB8NUT3NlcckB7cY9N4_SB5i6CSobQYi1nBVW8vDCwGpNxjDfjSEQxUQh-LTm2EQC2NE6dM1JAq3VBFeMUYrvUtURpbxekeZxDVZclnLnbHdU-g56LRkDEmCUWAJWSt1hDrOp8Tz3mClwmLFvU37nbIZgyUA9oXQrD_ofjQ3EjSveEVulc1ODUE8otVeyE7ZdUUrf2EFtvD7EnO5Q9JmCFYKKIzQwh4Y0i3w6cjZnrJaOjJmkGTwuUt0Pv73BbdJdc8DopjGr_HbbKM9yfqkYoGwk9XB-6AepFJkEqCIvNrWmO5kYT_STG0JopGc4cgHtMB6meu8fse09-tBq-wyiwM6m9OMKaX0UC0w4lmWUjaz839v2lBeNUj7NRLPGvgQCsBv8nAh8FqGvZDaI1k7TWn2tx-uelNbaDHcprRA56hYSKeFI7ygKUKMyJkNMNZHpqrD7BJX8LEHBfqA7PmvPfsiTaComuxpKz9JQVfRPSXH_xsdILLNdKQGr55k4VJWPZAaigP1c1q7B_Ss5mfjA_29vSosmavd1wKl7lO7z15lNr9y8IUoi6lak3VKsRgX0uw7Xf_EHidCIfg6oKuUeaG2KNju7Kc_I-epBsQviTiA4VCZasxzIfsvcn5g-8RQ7eKMUY-K2MnPVgKFWe25Zy6dq41cUBWxQX4BllHqtDLJgnVfehK1jw-jDBewjVs7hwhsThYzxnOqXveJ_GnY1b4APKHaff-MR5buU3QbyWnTWTH5tVN1_u26YGKQRZA3w98e3b3qtDHLJPkzK4QiXMcqeYMfTG1YKdz7wfRchzz4nYNgwwPgHDzPf2V0tjiDpng3W-4SEncZuANsF0AZGFEd9pTgGjI3bqCoKX5sjnmT3bHYI2n_w_PFdNa8KsUrAczbD_FDsDiSTB0yKKNJ0KCv3xz-O9IzE8bSFFwkKBQzgtJnNb8CXlsXzXLuk9oJvwriX9DJ7kxpGFO47ymeG6Jr2cel4BhORITezBByyLErs8l5XP_7gReoK2EQizWvO7mWNCB4FIhH9yk82jU8fvxFwReyK3VpTqqW0Sq_1h0MWl-oFFUsgoTvQUOa5h6-8Rjx5gkGI2yDXbFrhG7QGsquZtJ1YxkBgpJ2olWoNNob761ax4IIwbJshaVYLbM8a_wazkoe0JhZtv3z6H3gciozwC_Ddt6AqpKuMe92qHknDNVoj279Y79QUaMsWXIRyjDv6--N9d3HtuBs-Q9c7FhtzCe2Vq1RXpC5TfYm0EVrkbH7Fn8YRsWr0cv3BgBLAyLGfQMp0lBKqPZli_1qaCnGQ556fTjD-W69P9bsjh7xdd1ZNGV90MUCmEfFJsu90eena0eTXIKkj87mbqedEEfvRyvdd2qtGqqvEjmrnUzavxp3t7v9Gsomyqan248uKC0JbCMmDKaPzo63ERIDbp-1tymo0ZIsSGLemnAEJ_FVKz__wEyTy3yK6_E02oCvBSd_9OXm6DiuBvmTesvzKLITrQ==",
  "id": "rs_0c84a2ee5d7ab45e016ab44de568b087d089de931fc50b6d1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.36,\"left_z\":0.1},\"note\":\"The raised close still caught only the hanging tag below the dog, showing the torso remains farther outward than the fingertips despite appearing centered. I’ll reopen and advance about 6 cm at body height so the jaws reach the torso itself.\"}",
  "call_id": "call_qz2RsatI9fXMHOsAVpZKGyZa",
  "id": "fc_0c84a2ee5d7ab45e016ab44de648d887d0b75236a29554e316",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qz2RsatI9fXMHOsAVpZKGyZa",
  "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]: [-0.448, 1.4448, 0.8211, -0.3538, -0.4034, -0.4595, 0.9954, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3477 left_y=-0.0862 left_z=0.0868 left_yaw=0.1521 left_pitch=-0.3026 left_roll=0.052 left_gripper=0.9954 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -5.7231, 9.0051, 1.2772, -0.1978, 0.1538, -0.2125, -0.1436, -2.3453, 6.8581, 1.5165, -0.022, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bcd68cf205fe1e9aef096765ac91928da182b177ca7a467750da58c124f229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e306def4e44a9975f01171477c26e1b43175fd56af1d44d04323b712d771d41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43edf51e6531c1ead4f98d4e5fe04f6055d045afca46cbecb388e9f25829307d",
      "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 · 5.825 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 1.2968, 0.5598, -0.2161, -0.4713, -0.5392, 0.0108, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1093, 0.9986]\nstate[eef_state]: left_x=0.2993 left_y=-0.0933 left_z=0.0606 left_yaw=0.1189 left_pitch=-0.2474 left_roll=0.0278 left_gripper=0.0108 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0238 right_pitch=-0.2298 right_roll=-0.0993 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -5.1214, 5.7368, 1.2723, -0.315, 0.0024, 0.7448, 0.0342, -2.2632, 6.8718, 1.4774, -0.0415, -0.0366, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5728, 1.2247, 0.688, -0.4404, -0.4706, -0.5507, 0.0104, 0.0071, 0.9535, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.2966 left_y=-0.0917 left_z=0.0982 left_yaw=0.1287 left_pitch=-0.2659 left_roll=0.0352 left_gripper=0.0104 right_x=0.2907 right_y=-0.0015 right_z=0.1578 right_yaw=0.0257 right_pitch=-0.2338 right_roll=-0.1017 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -3.5624, 5.6547, 1.326, -0.3101, 0.022, 0.8376, -0.1026, -2.2769, 6.8444, 1.5018, -0.0464, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.448, 1.4448, 0.8211, -0.3538, -0.4034, -0.4595, 0.9954, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3477 left_y=-0.0862 left_z=0.0868 left_yaw=0.1521 left_pitch=-0.3026 left_roll=0.052 left_gripper=0.9954 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -5.7231, 9.0051, 1.2772, -0.1978, 0.1538, -0.2125, -0.1436, -2.3453, 6.8581, 1.5165, -0.022, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bcd68cf205fe1e9aef096765ac91928da182b177ca7a467750da58c124f229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e306def4e44a9975f01171477c26e1b43175fd56af1d44d04323b712d771d41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43edf51e6531c1ead4f98d4e5fe04f6055d045afca46cbecb388e9f25829307d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3qpMeaQOIJT03dSRCElwxmwAClrmzMALVxsxRSCXs6TbcnyJhRlKsxyhD8OAnm8_8WrDrTMoVCVm6wJCytTJ9H8osxe_lQiEkcM6rfmpOuzksdXDKMzHPiCoVgtHv4g2YuG0QQMHkf41wC6KkLofqSbLoi8s3gG0VXGdZbvOyN4QkAqZIELeFERLNY2xK8bCxuGkS67x84Ps68kBT40_axXcpTZh5S_jgsBxpRDYoRgSATcgT0yCi9mgznGdetxTE0sH3mu5jCiOwx9rpFjYQ2hdshEKLdaGBIMG0nSuMRvd3BLcUeeY9hZLa9RAJvcoFsgCmdCRY2ffh609xBjyWkWqQiKn0KEgMwjMONJuJ2x4DWWBsDV-sUqB2kD3OrBhDLc5skjh6sFeobt1RERLg4PSCLfMZeEd0GLv1ZR-mQyJ1j7Gj8NQYvTL-FzgFXLALLbj9qdwOoydbrctouquzQvikq4Ae2OkJzJ0AC0JoDT3SXz086D7YfPxgNrSyoho70Dolk2YAz-95FbN_3pWmg0Z5c5LdIC88IaDg0UDVTKluGYXuFghWJaWHeEPE8AlEuDNDhGgKFXjz0QzHKmjPkdVaaRp9EqViSJESJP-VqJf6T2PukxPEb6QcHrDDRey1yoJpBzsWoFDlWwUmCCsbCIkLold5fXqPvraVEN3a6F4ZxfTjVQGh8CiN4k0loRNmmfDanpRbs-SbGJyJ17h06cruDpzP8Smoxq1SAltroiOmnLWyUF988Z_qWpegIgD6ZzUzzLttfId06s9FSMZWnlsJP8a31iyeYm7241WiikwVM8LWz_Nnj6Y4VccIqwv5sRHXf3kp0P3mABBm2ETQujJd47JYE1hVnE5YJ85yjSZeFhuf_WrMObu4dssPvQbv3X7LdrVco_RH5lojI5S6Dyw2TuvrNWnq-kEVYWzlcW4p2d73BBP207aQM-56s8vmx41YTBDTC9BNWgeonzTqzxWhU1B3Olt3RomBKkHZ-pXUJYMcC5lXnbM6Cww2zoUbyBBlDwNPENE3CshvsB-IusPfw3i0C_i-7g9JCLIMCThUYzo97w99Vk4xwxTneBSDrrTPJ_8NQoCYI5-haPU_XdwtsocXxoemTgLJjo2dnnUqdvyr4e58nOe1-UNDnWQ7oJ7EpVEoTzmvyOCbv3AlVjPJ1WkFEnDQOgmjLV8XYT84D_3lc85LTB1pf-JWWOz_O6FfixpaPTztmV0Ny9OaCfQ==",
  "id": "rs_0c84a2ee5d7ab45e016ab44de9644c87d0ad1c083b9646c020",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the larger outward advance, the dog’s torso now fills the space at the actual fingertip line between both jaws, rather than sitting above the tag. I’ll close here.\"}",
  "call_id": "call_zRqsLKLS7GYSsSLos7oNA35l",
  "id": "fc_0c84a2ee5d7ab45e016ab44de97b4c87d083bc567ac436bc4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zRqsLKLS7GYSsSLos7oNA35l",
  "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]: [-0.4442, 1.4536, 0.823, -0.3527, -0.4, -0.4641, 0.0104, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3484 left_y=-0.0857 left_z=0.0846 left_yaw=0.1569 left_pitch=-0.3088 left_roll=0.0499 left_gripper=0.0104 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -6.4205, 6.2974, 1.2576, -0.2906, 0.0073, 0.6325, -0.2393, -2.2085, 7.0359, 1.5165, -0.0415, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32aaeef8924afe471d9699ba0c7c48e85d03e4633bcdf1bb372dea96272f9b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9c852124f5fead1297409b365370c70540d27cdde1e1f7e88059dc0bbd6862",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2021a5cfa2b7f53b276106e4527a963098832fc1c99530898bd6a7128ecc31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.539 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]: [-0.5728, 1.2289, 0.6781, -0.4301, -0.4709, -0.548, 0.9953, 0.0071, 0.9497, 0.7441, -0.5934, 0.0406, -0.1123, 0.9985]\nstate[eef_state]: left_x=0.296 left_y=-0.0912 left_z=0.0947 left_yaw=0.1282 left_pitch=-0.2687 left_roll=0.0399 left_gripper=0.9953 right_x=0.2905 right_y=-0.0015 right_z=0.1588 right_yaw=0.0255 right_pitch=-0.2299 right_roll=-0.1015 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -5.2718, 9.1282, 1.2186, -0.2662, 0.0659, -0.1343, -0.1573, -2.0991, 6.8308, 1.4872, -0.0122, 0.0171, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.448, 1.4448, 0.8211, -0.3538, -0.4034, -0.4595, 0.9954, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3477 left_y=-0.0862 left_z=0.0868 left_yaw=0.1521 left_pitch=-0.3026 left_roll=0.052 left_gripper=0.9954 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -5.7231, 9.0051, 1.2772, -0.1978, 0.1538, -0.2125, -0.1436, -2.3453, 6.8581, 1.5165, -0.022, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4442, 1.4536, 0.823, -0.3527, -0.4, -0.4641, 0.0104, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3484 left_y=-0.0857 left_z=0.0846 left_yaw=0.1569 left_pitch=-0.3088 left_roll=0.0499 left_gripper=0.0104 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -6.4205, 6.2974, 1.2576, -0.2906, 0.0073, 0.6325, -0.2393, -2.2085, 7.0359, 1.5165, -0.0415, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32aaeef8924afe471d9699ba0c7c48e85d03e4633bcdf1bb372dea96272f9b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9c852124f5fead1297409b365370c70540d27cdde1e1f7e88059dc0bbd6862",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2021a5cfa2b7f53b276106e4527a963098832fc1c99530898bd6a7128ecc31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3w6PuZ-_Y8F4Uf_0_bTEIhDKpN2xGQ5ALiHtgzd7z4M5oi166DNNbEttavGHbayMJqX2LhvMZYrHieQiWzyCg95kXXxfsHBkzeq-h-Nh3402Rv-wVMGt7s6bS4GKPWfcE0kP16K9bIn5W8dhHwU3Ogtse0te2qXZAGWDiQTc2PmszpBQi0VAXg7ONNGItQGX88t1cvZPHg961KcOxLvXa1327m_gwwgNsN_rzpU-CsaYlnpItjt9KjcaAmtd-NtYiWCqUlEa-7ta2okFLOs7I1ejb6dq_VLCHmEN8UC4-xl5t5tyAJniHwkqzBnC7ou5TkDOC8Q5p1EwsZG1J_2qsy908aWcZ14CzmNWjgh5viU_X-mIjV0NrbWDEUow0cEkgfvCvNRcCTfTOirfRlFZcjHbdtAQ-V97u-Y6fjj2ikqNWiSU3iU306qPIUiYN7Vvg894lvtPUzFg15fwVw3WJJ_WpOqlWahyKB6UD0Mg2ZHEVpTfb_E-P7VaBJ2idcQSAppfs5vEfCl0_PyuJYODOpnj2w5O9VcSs5WnsXpiVguG5iPefq-sBUBjrytQ9yF36xT7V-HM7M9j4_Hhsxjs5SaQJQpu3Z6lKzuea6-hGo7v3QAfRIQCSEegQJO8qFT08IP2N-23W4qhv7d7eUtQLHDYbDiAEadNrf-QK84QF6vWRSV1LC9AYu9QDRpc2Dm-3sxkLR6FSCj2DZRWOYkKZbODNTn99mC2TR3Xw5-5zgTohRkikfauvKVAxuJmRpIQzKBfKNZfTmlXLwiN5HO1FP8GEwq2zP1w-VdMfk1HaqtJg3_FsuMuIaEO3uh4Wuj5VAraxopiNS8JJBqL9O7OeT4HBMq2RMQ4rCqkCijCW7Rdp3APa72k4ZW8kTrv2hGBUloIdw9yAwd4K73IVK0NeHh_4hfR7iKFsI3DwWOxTu9fPMaUrPWThrCB-4ZPtRtnCxFgiR5DUlUxHiveRb1DDKQKy3QCdEKhDdhlwUsYyXnygo-zqslW3_h8FLL_Z0rQ5uaJ3S3E-8v9e6LxFT-3xb1DTIkWHBhz5jXnIlT0octLtt8WmkEWFX_jzqWybekr0GVTGWaw1CdmYx8XVw1D3Mam2np3ZfBUbtNX9CaZn7KmVFyUgTa2SZsmJaUX9CRhVbkxjlbwhXGAV1GEneUYNoXZSX4eyKnr9t0ZXAVdMMsnx7BQnWocsFTNjXm5VnntL4YvvrpbEx4qBb-9NfeLB6D-oISkMwXCdi0fA9jMhuip0zyaD1KBm1EXApYEUTv97wnDJ-O4SdcT3LUv5YjRy_xzEjSUd6coAgMwXBUOLQc454f4LGjwGRxGuXtBnT55jUf1o0jl3ksLim75qY6qo4VlxUxmxMzk15dy_g2cN4pOGPVabZd0AWJPt7TKFxBVUxr-jf8j2UgVjTt4pWF5H5Cm2rtMlHNtnpnJ5xy3pe8FyeoWxdNRV-dGVms6cC6RdcoUU7YcpWBFngsqPbzIVb-v-qsPytNqngwrErWj9DCfYPCHLY3sHjwxfyl910HEUGZ6wHahPFkYQzWp80ZZBwP0VDAG-BFLwwsEhOcoGns2GcVvfcgPRZZZoCg5MqiMBTlU4UmClQ75e08inqgYVwyvpABK6QWHYf2uxINKZBsyaxP7_ZNCsJ0c0tr5v8gnfYSQXsEyIO7qkjp-FZH931W8lJ2Jn9it9l2eB856lNxPaQuiFtxHu6ll5SAaLrBuNTPL0QJTP0LJLiueFQ27Q1jcCm3041B-NjmShdbJZCpfXWLRQ4yznFzcsp4fM9s_iCRiRmr6-YhCrT9DfYQYpdzK9P7TNditc_R1z5KcWbvkuH7nbw332IXlLWYR93GqywqgRqPxpHY_Bi-iBdD2WXaZBICPhJT6qsuTZzmMcV5W8X9NnrYu8pu_wAv6Mm5-_2dgzAHwOAJotZGjFQ1Br3gUJxfgMajoqFlRpWvyrG2THKjvdZb0YZC5QnxJC5Xc3F1lS5bFP9n3JNut0kja2HCo0WyFyQa3reja7Z9zMjqWwtdgEzmp9ofwQpJ5u6a32fZfXH-D0W0Thz4TnXJFFoJrVO5l9jezjMVKX8frV1tQJ0kwiwNe9expsOcyNQv2ixgV6WeHk1MArOvHIxSBr_9s38N3qvqfOA1MUUMs3kTjJpzygIYH8Cz93HD52trexFGZzFlKhO-1RsC6hrBmE1o-TXnTqoLhmiYtRwJtADggOdzUtxoVVPdpPtajeAFBoN_a84wt_e6haVJqHwzO-KRZMwKDSHpemfF2HiNjT2rBbp8JEN486tSPDCTAPr5CFveJFKRkENOsYzbzF-CB3Uha8c5p77exbDCdV35Jhh8UjCqoXI4Fyc8yb0B6WuzMdAUHn1QchYQ-ceqBW2nci2IOU9v_owfXn5UC59BaTonH2ajW3Jd20_Fb8BeE8SLYLTFx5paOpabWCQz0MkDdpyA7b8wRqMbF5w1xNzjGAc3_wSWJ7n_m2sU9ywmoLz0D2XC7t3bzgaFff6O3uGGekvXpANRanqcw0-l4VHbN7PP0ChKZrVm-cbYhTj8-cuqifaGLo9EZCZs5sXbAU3BqNLh6F0jaRbXZQxCRL_KYS24Boe7aeFUhc15ty3adY-PkkxJLqrte5iITsK8NAHQ0ttTUYoDaP3tK-Wi9qOGQ_bcgui0QMNcgn9Xf_9Q0BIFrePIy8naBIGwz9lIWgHlWlYjba4VZfW6HfSsHk47ZJxaFQhAiuMAAABQ-6cgxQosR7ltmPG_xBeAYM_ircx5KgDmdtts2IR_PfjVWZZU3hCDlHaOjtG3jFFJRyyo-92d7NiM5-6mwbuUsoxbJsiQncDTKYw263f8iGyx06cMJRHTusHjWhSIwSrRtAvSL1dJ1dJ-g_hM_MvxuomJoTFV0HGA8_1DgUDpBYdnTIHIx9Q9aDs9hFQvPoyLKnjseXeb7nDYBMXX7BGeniNYlBW-HjmK1_JndrsEi8p1HKmjm6TzOFCiaxThaRUzAZZCkZFc1kZ_RvEn9TFDLQ8VqPaA5KqO4lJ1TKWNA8Huf_0pcAxJwoVyJi2Gb7kr7EKn7DIPOCex9Sjqbq6Jo4CIPnS68yMV1oP2lp2J60G6nDhundgKnQ=",
  "id": "rs_0c84a2ee5d7ab45e016ab44dec51dc87d0b96b0243f5acae19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_yaw\":1.57},\"note\":\"The side-to-side close still slipped through the toy’s narrow underside despite reaching the body. I’ll rotate the open jaws 90 degrees at the same grasp point so they clamp the dog front-to-back across a solid cross-section.\"}",
  "call_id": "call_vVnRboDBsHOmacXd3SjvQl2X",
  "id": "fc_0c84a2ee5d7ab45e016ab44deff42487d09ac62971f3e6a489",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vVnRboDBsHOmacXd3SjvQl2X",
  "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]: [-0.4995, 2.2024, 1.7912, -1.4181, -0.6056, -1.9759, 0.9954, 0.0071, 0.9596, 0.7441, -0.5938, 0.0406, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3739 left_y=-0.0854 left_z=0.0742 left_yaw=1.3938 left_pitch=-0.3531 left_roll=0.0247 left_gripper=0.9954 right_x=0.2909 right_y=-0.0015 right_z=0.1561 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985\nstate[joint_eff]: [1.9487, -11.1521, 6.2974, -0.7888, -0.4078, -0.105, -0.188, -0.1299, -2.441, 6.8308, 1.4628, 0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee077098f973e9c7fdb26dc58470d2a3b077ebaafd07ab501aef7ee2ecfbe99f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa260f2ed8490fedd6af859d49399e3f4fb5309de2c69be356e2be14ceda1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91bce818617e241530ca8cb988460b7e88bed8fd38e8d957894357e8516b6c4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.84 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]: [-0.5728, 1.2247, 0.688, -0.4404, -0.4706, -0.5507, 0.0104, 0.0071, 0.9535, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.2966 left_y=-0.0917 left_z=0.0982 left_yaw=0.1287 left_pitch=-0.2659 left_roll=0.0352 left_gripper=0.0104 right_x=0.2907 right_y=-0.0015 right_z=0.1578 right_yaw=0.0257 right_pitch=-0.2338 right_roll=-0.1017 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -3.5624, 5.6547, 1.326, -0.3101, 0.022, 0.8376, -0.1026, -2.2769, 6.8444, 1.5018, -0.0464, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4442, 1.4536, 0.823, -0.3527, -0.4, -0.4641, 0.0104, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3484 left_y=-0.0857 left_z=0.0846 left_yaw=0.1569 left_pitch=-0.3088 left_roll=0.0499 left_gripper=0.0104 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -6.4205, 6.2974, 1.2576, -0.2906, 0.0073, 0.6325, -0.2393, -2.2085, 7.0359, 1.5165, -0.0415, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4995, 2.2024, 1.7912, -1.4181, -0.6056, -1.9759, 0.9954, 0.0071, 0.9596, 0.7441, -0.5938, 0.0406, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3739 left_y=-0.0854 left_z=0.0742 left_yaw=1.3938 left_pitch=-0.3531 left_roll=0.0247 left_gripper=0.9954 right_x=0.2909 right_y=-0.0015 right_z=0.1561 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985\nstate[joint_eff]: [1.9487, -11.1521, 6.2974, -0.7888, -0.4078, -0.105, -0.188, -0.1299, -2.441, 6.8308, 1.4628, 0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee077098f973e9c7fdb26dc58470d2a3b077ebaafd07ab501aef7ee2ecfbe99f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa260f2ed8490fedd6af859d49399e3f4fb5309de2c69be356e2be14ceda1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91bce818617e241530ca8cb988460b7e88bed8fd38e8d957894357e8516b6c4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE30e_NFPiTnK6D1xWhOI-ZqO00poJlMPz5QJWDeyVwzt6wmYj9ZFCkGUorvlBebGsiwtv3RheX4vrfJ6qQN2QMpuLOsF8bjPj-0eIF6r9Gzyp9aV2TTXEBGF8T-YQsNNb8ce9vPaLDtn8d3SzMMUfLA_JMUtXJiRqqOn5BeM6SgYCCz-TknNH0kZpuqGyGE-x1wIFi3Cc2pgYtOX4rN82-cBVZU4mUHMeNeRuoDD7SLseqMfBddl6fYIdRi_ADWOIoi3BgdM9i50hEZRHW9Nr5L5iXmGVhx9BkyLQxXddpoMaJnB8o-xEPBE4th3zseOGpDlx1gjDtroeXOOiBcLpYMJ3LrdpsObvXdAM-5HP5CS-Q-p_9xOPJ9W3ZzyfIJ_0uXpacZsXoGcK6bo9BoyZXBVCivjzCm0jfJXGRs5pE0gClLQ4StHydZiEVkNLmh4os3V6FUH6dXHRhrlhnG_tdGppz9qRCakpQhvryQJz1UkXpi76pjgHqIjDBhexIolqAZmOsZlQz3s-zBaO66ecmYjo8p6138GEqG9KjFEc3_LzyNaAm06v4U_qLm02CemWrQaBVuzwMKuXjbrGfSq014D1d6rn68WcAG4VOxhWwRqLkwuPa5zj_aaIrhcsP9NmZ00kXGCUoIfvGP9b5gqGjSv7BKE6OoTVCsIcTitX_dQCAb-SrbiWUFI-E-Ouu15_YkZrUN90eoU-6Bw5moCmfeigOvNZVAaxnbgIfLwMSnun8dKweaYWlS8Nqt6BFNdotmKp5wFRG8htbWZHMFhSL8FYvGSxWUchU3e6chECHZyLPhBfqaX9uwG0U73m6J0KmWgR8Ubz632OJ_w42_xLZlPGwIRTLHuzaQrRtbXLdd8fZv_I-UL95zDyLW1qLFXurgZhT8JM6rwt-iQvsj6e1qeXZN-UWA2DK6CJJaVqJNBaENu-MVMUJaArV5ugfOyz9JsTg8NXe0HMhIsUDAiEWWp1HWDTG2rhd6Cnu3uSqLxJkHH_fFoMkz4s1KnuIQrhB8ClWKUUo5vjYMkHiHUKRDf5FaBnbrkmO-Re_PZpsPxUlNtqTow4RRfGxVlrvwvozW7hpy4hwM-4oMPNVH4pvv03TkdKOSSttNKDZh-MHmOzVh5RkaoVB9rSCOyJ2SpY2SM6UqhV9ob4HFfdWMzsfjBbdf3FJVqrUE0kHMDC2sIYeU6G7S3q5ib-pOwAzzIVOO8Vu1b8JtX31LBlF8_TMU83uNwaxmX8KNE0UCeXN2KtlUe5_1Sz_RocvTSrhHyUyLWE-QYKNBKJ2HyZa5sZAzfA==",
  "id": "rs_0c84a2ee5d7ab45e016ab44df3721887d09b83fdcfab8b5004",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"With the gripper rotated, the dog’s body lies directly across the new closing direction between the fingertip wedges. I’ll close at this orientation.\"}",
  "call_id": "call_N173SnPiTvKaiDJrZFgRzV6D",
  "id": "fc_0c84a2ee5d7ab45e016ab44df39c5087d0b92e974a6dc536ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N173SnPiTvKaiDJrZFgRzV6D",
  "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]: [-0.4961, 2.2177, 1.7947, -1.4158, -0.5987, -1.9789, 0.0104, 0.0071, 0.96, 0.7441, -0.5934, 0.0406, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3742 left_y=-0.0853 left_z=0.0688 left_yaw=1.4049 left_pitch=-0.3562 left_roll=0.0347 left_gripper=0.0104 right_x=0.291 right_y=-0.0015 right_z=0.156 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -12.7795, 4.9299, -0.2808, -0.4078, 0.022, 0.9011, -0.0752, -2.2632, 6.8171, 1.4725, -0.0317, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba551953847ed7886c480c95669ad3896cc5c8e25867d3c3d7ab61b24bd9076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901158b404defec214a851e9daff0113991220f2bb7ab3f41852a3ebb0641131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33c0b0402548a7dd399d18b6f1f37ddbde7c4656d0ec80753eed5a50ad2215c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.997 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]: [-0.448, 1.4448, 0.8211, -0.3538, -0.4034, -0.4595, 0.9954, 0.0071, 0.9554, 0.7441, -0.5934, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3477 left_y=-0.0862 left_z=0.0868 left_yaw=0.1521 left_pitch=-0.3026 left_roll=0.052 left_gripper=0.9954 right_x=0.2908 right_y=-0.0015 right_z=0.1573 right_yaw=0.0257 right_pitch=-0.2357 right_roll=-0.1016 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -5.7231, 9.0051, 1.2772, -0.1978, 0.1538, -0.2125, -0.1436, -2.3453, 6.8581, 1.5165, -0.022, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4995, 2.2024, 1.7912, -1.4181, -0.6056, -1.9759, 0.9954, 0.0071, 0.9596, 0.7441, -0.5938, 0.0406, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3739 left_y=-0.0854 left_z=0.0742 left_yaw=1.3938 left_pitch=-0.3531 left_roll=0.0247 left_gripper=0.9954 right_x=0.2909 right_y=-0.0015 right_z=0.1561 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985\nstate[joint_eff]: [1.9487, -11.1521, 6.2974, -0.7888, -0.4078, -0.105, -0.188, -0.1299, -2.441, 6.8308, 1.4628, 0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4961, 2.2177, 1.7947, -1.4158, -0.5987, -1.9789, 0.0104, 0.0071, 0.96, 0.7441, -0.5934, 0.0406, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.3742 left_y=-0.0853 left_z=0.0688 left_yaw=1.4049 left_pitch=-0.3562 left_roll=0.0347 left_gripper=0.0104 right_x=0.291 right_y=-0.0015 right_z=0.156 right_yaw=0.0259 right_pitch=-0.2403 right_roll=-0.1018 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -12.7795, 4.9299, -0.2808, -0.4078, 0.022, 0.9011, -0.0752, -2.2632, 6.8171, 1.4725, -0.0317, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba551953847ed7886c480c95669ad3896cc5c8e25867d3c3d7ab61b24bd9076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901158b404defec214a851e9daff0113991220f2bb7ab3f41852a3ebb0641131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33c0b0402548a7dd399d18b6f1f37ddbde7c4656d0ec80753eed5a50ad2215c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c84a2ee5d7ab45e016ab44df74d4087d084fef13da6d8e8a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The full close appears to squeeze the rounded plush out rather than retain it. I’ll reopen without moving, then use a partial close sized to the toy instead of forcing the jaws all the way together.\"}",
  "call_id": "call_CWVrz68eSae4tmOZzoM59h1K",
  "id": "fc_0c84a2ee5d7ab45e016ab44df9219c87d0a87ef46a97c26577",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CWVrz68eSae4tmOZzoM59h1K",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4961, 2.2181, 1.7939, -1.4059, -0.5983, -1.9827, 0.9954, 0.0071, 0.9653, 0.7441, -0.5919, 0.0406, -0.1127, 0.9985]\nstate[eef_state]: left_x=0.3758 left_y=-0.0862 left_z=0.0679 left_yaw=1.4041 left_pitch=-0.3593 left_roll=0.0235 left_gripper=0.9954 right_x=0.2915 right_y=-0.0015 right_z=0.1549 right_yaw=0.0257 right_pitch=-0.2441 right_roll=-0.1015 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -11.5897, 5.2718, -0.2173, -0.4127, -0.022, -0.2076, -0.1573, -2.1812, 7.1726, 1.5556, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a018ee7098bf6bb3fb94ee7116c014ebafb7abced3ccd128f0a9a87ba39737",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b19284cccd3c806f56639d490ae5bdafe42b2ddd46d71ef3e533f6aa96e91e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62e0516bba9bfe1f7c5009b7ed2e30bf4d04f67c3b20d3f1bd8dfced96fe211",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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