adhoc

completed
2026-09-23T21:55:19.923434+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
213.4 s
total steps
304
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe overhead view shows two clear object classes: white plush animals clustered on the left and tan/brown plush animals in the center, with two empty turquoise baskets behind them. I’ll use the left basket for the white plushes and begin by hovering the left gripper over the most accessible white plush.
move_to
left_x0.3800left_y-0.0900left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8001, 0.6163, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0189, -0.025, 0.9993] state[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1839 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0023 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4855, -1.7983, 9.4017, 1.7949, -0.0464, 0.1392, -0.0611, -0.7043, -1.6068, 9.7983, 1.7314, -0.0464, 0.105, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.09,"left_z":0.16,"left_gripper":1.0},"note":"The overhead view shows two clear object classes: white plush animals clustered on the left and tan/brown plush animals in the center, with two empty turquoise baskets behind them. I’ll use the left basket for the white plushes and begin by hovering the left gripper over the most accessible white plush."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteAt the first hover the wrist camera looks directly into the left basket, so the white plush is closer to the base than my initial estimate and is mostly beneath the camera. I’ll retreat about 4 cm radially and lower slightly to center the gripper over it.
move_to
left_x0.3350left_y-0.1000left_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]: [-0.3897, 1.3033, 0.733, -0.091, -0.3309, -0.2478, 0.9995, -0.0193, 0.8032, 0.6132, -0.3843, -0.0189, -0.0261, 0.9993] state[eef_state]: left_x=0.3711 left_y=-0.0865 left_z=0.1394 left_yaw=0.0042 left_pitch=-0.056 left_roll=0.0157 left_gripper=0.9995 right_x=0.2959 right_y=0.0012 right_z=0.1808 right_yaw=-0.0032 right_pitch=-0.0122 right_roll=-0.0008 right_gripper=0.9993 state[joint_eff]: [-0.1436, -5.4222, 9.5248, 1.7998, -0.1538, 0.0464, -0.0611, 0.2256, -1.6205, 6.8444, 1.8486, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.1,"left_z":0.1},"note":"At the first hover the wrist camera looks directly into the left basket, so the white plush is closer to the base than my initial estimate and is mostly beneath the camera. I’ll retreat about 4 cm radially and lower slightly to center the gripper over it."})
tool
executing move_to over 3 steps (0.3s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteWhite fur is now visible at the lower-left edge of the wrist view, meaning the target is close to the fingertips but offset toward the arm’s left and slightly toward the base. I’ll shift the grasp point left and back by a few centimeters before descending.
move_to
left_x0.3200left_y-0.0700left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4969, 1.2732, 0.569, 0.0132, -0.3981, -0.3092, 0.9995, -0.02, 0.8051, 0.6132, -0.3847, -0.0185, -0.0261, 0.9993] state[eef_state]: left_x=0.34 left_y=-0.1024 left_z=0.1032 left_yaw=-0.0147 left_pitch=-0.0643 left_roll=0.0165 left_gripper=0.9995 right_x=0.296 right_y=0.0009 right_z=0.1802 right_yaw=-0.0043 right_pitch=-0.0145 right_roll=-0.0009 right_gripper=0.9993 state[joint_eff]: [-0.5402, -4.7521, 5.4222, 1.4139, -0.2857, -0.0171, -0.0171, 0.0342, -1.0462, 7.0222, 1.7949, -0.0366, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.07,"left_z":0.09},"note":"White fur is now visible at the lower-left edge of the wrist view, meaning the target is close to the fingertips but offset toward the arm’s left and slightly toward the base. I’ll shift the grasp point left and back by a few centimeters before descending."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe white plush is clearly visible now but remains well left of the jaw centerline and very near the fingertips. I’ll make a larger lateral correction toward it and a small radial retreat, keeping enough height to avoid dragging it.
move_to
left_x0.3050left_y-0.0200left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4068, 1.1625, 0.448, 0.0635, -0.3489, -0.2718, 0.9995, -0.02, 0.8062, 0.6132, -0.3851, -0.0189, -0.0261, 0.9993] state[eef_state]: left_x=0.3261 left_y=-0.0709 left_z=0.0962 left_yaw=0.0143 left_pitch=-0.042 left_roll=0.0019 left_gripper=0.9995 right_x=0.296 right_y=0.001 right_z=0.1798 right_yaw=-0.004 right_pitch=-0.016 right_roll=-0.0007 right_gripper=0.9993 state[joint_eff]: [0.1299, -3.7812, 6.8308, 1.5458, 0.0171, 0.0562, -0.0122, -0.1846, -0.841, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.02,"left_z":0.09},"note":"The white plush is clearly visible now but remains well left of the jaw centerline and very near the fingertips. I’ll make a larger lateral correction toward it and a small radial retreat, keeping enough height to avoid dragging it."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe lateral correction reveals several white/gray plush animals; one upright plush is now centered on the jaw column and reaches the fingertip line. I’ll descend to mid-body height while holding the current horizontal alignment.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1661, 0.9863, 0.3367, 0.0383, -0.1825, -0.1486, 0.9995, -0.02, 0.8089, 0.6132, -0.3855, -0.0189, -0.0261, 0.9993] state[eef_state]: left_x=0.3072 left_y=-0.0154 left_z=0.092 left_yaw=0.0506 left_pitch=-0.0358 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2962 right_y=0.001 right_z=0.179 right_yaw=-0.004 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9993 state[joint_eff]: [-0.0889, -2.6735, 6.3248, 1.6532, 0.0122, 0.1343, -0.0122, -0.1299, -1.5521, 7.0359, 1.7167, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The lateral correction reveals several white/gray plush animals; one upright plush is now centered on the jaw column and reaches the fingertip line. I’ll descend to mid-body height while holding the current horizontal alignment."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe descent stopped around 5.4 cm with the centered plush filling the gap between the jaws, consistent with contact at its body. I’ll close the gripper to secure this white/gray plush.
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]: [-0.1673, 1.2362, 0.2012, 0.4835, -0.2104, -0.1265, 0.9995, -0.02, 0.8139, 0.6132, -0.3855, -0.0189, -0.0257, 0.9993] state[eef_state]: left_x=0.3193 left_y=-0.0129 left_z=0.0543 left_yaw=0.0609 left_pitch=0.0257 left_roll=0.0182 left_gripper=0.9995 right_x=0.2965 right_y=0.001 right_z=0.1776 right_yaw=-0.0042 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9993 state[joint_eff]: [0.1162, -1.7026, 3.5487, 0.9206, 0.1734, -0.2271, -0.0122, -0.0889, -1.3607, 7.0222, 1.707, -0.0415, 0.0122, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped around 5.4 cm with the centered plush filling the gap between the jaws, consistent with contact at its body. I’ll close the gripper to secure this white/gray plush."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe settled gripper reading is essentially fully closed, so this was an empty close; the plush was still just beyond and slightly right of the fingertip gap despite appearing centered. I’ll reopen, advance about 2 cm, and shift slightly right for one corrected attempt.
move_to
left_gripper1.0000left_x0.3450left_y-0.0250left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1669, 1.2343, 0.1963, 0.5369, -0.2348, -0.1272, 0.0078, -0.02, 0.8188, 0.6132, -0.3866, -0.0189, -0.0261, 0.9993] state[eef_state]: left_x=0.3242 left_y=-0.0093 left_z=0.0646 left_yaw=0.0828 left_pitch=0.0776 left_roll=0.0176 left_gripper=0.0078 right_x=0.2967 right_y=0.001 right_z=0.176 right_yaw=-0.004 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9993 state[joint_eff]: [-0.0342, -3.0017, 6.188, 1.2088, 0.1734, -0.022, 0.8083, -0.1436, -1.3607, 7.2274, 1.7411, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.345,"left_y":-0.025,"left_z":0.06},"note":"The settled gripper reading is essentially fully closed, so this was an empty close; the plush was still just beyond and slightly right of the fingertip gap despite appearing centered. I’ll reopen, advance about 2 cm, and shift slightly right for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteAfter the correction, the gray-white plush body is centered directly between the open jaws at the fingertip line. I’ll close now for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2264, 1.3735, 0.2523, 0.6289, -0.2924, -0.149, 0.9953, -0.02, 0.8192, 0.6132, -0.3866, -0.0189, -0.0265, 0.9993] state[eef_state]: left_x=0.3433 left_y=-0.0232 left_z=0.0634 left_yaw=0.0835 left_pitch=0.0939 left_roll=0.0222 left_gripper=0.9953 right_x=0.2967 right_y=0.001 right_z=0.1759 right_yaw=-0.0038 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.9993 state[joint_eff]: [-0.3487, -2.6598, 6.4752, 1.5604, -0.0659, -0.1538, -0.1929, -0.1299, -1.4427, 7.0085, 1.746, -0.0073, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the correction, the gray-white plush body is centered directly between the open jaws at the fingertip line. I’ll close now for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe second close was also empty because the jaws landed in the narrow gap between adjacent white plushes, so I won’t repeat that alignment. I’ll park the left arm and switch to the isolated front tan spotted plush with the right arm, which should provide a clearer grasp.
move_to
left_x0.2970left_y0.0020left_z0.1840left_gripper1.0000right_x0.3200right_y0.2900right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.226, 1.38, 0.2543, 0.6445, -0.3069, -0.1497, 0.0106, -0.02, 0.8192, 0.6132, -0.3862, -0.0185, -0.0261, 0.9993] state[eef_state]: left_x=0.3452 left_y=-0.0209 left_z=0.0657 left_yaw=0.0968 left_pitch=0.1066 left_roll=0.0246 left_gripper=0.0106 right_x=0.2967 right_y=0.0009 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0301 right_roll=-0.0007 right_gripper=0.9993 state[joint_eff]: [-0.1299, -4.6154, 4.9709, 1.6044, 0.0611, -0.0122, 0.8571, -0.1573, -1.388, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0.002,"left_z":0.184,"left_gripper":1.0,"right_x":0.32,"right_y":0.29,"right_z":0.13,"right_gripper":1.0},"note":"The second close was also empty because the jaws landed in the narrow gap between adjacent white plushes, so I won’t repeat that alignment. I’ll park the left arm and switch to the isolated front tan spotted plush with the right arm, which should provide a clearer grasp."})
tool
executing move_to over 25 steps (2.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe right wrist view shows the front tan spotted plush very close to the fingertips but offset to the left of the jaw centerline. I’ll shift the right grasp point left by about 4 cm and slightly toward the base to center its torso.
move_to
right_x0.3100right_y0.3200right_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]: [-0.1471, 0.757, 0.4797, -0.2123, -0.2459, -0.1238, 0.9981, 1.0088, 1.7027, 1.0733, -0.2977, 0.7525, 0.6865, 0.9993] state[eef_state]: left_x=0.2971 left_y=0.0031 left_z=0.1706 left_yaw=0.1103 left_pitch=0.0899 left_roll=0.0228 left_gripper=0.9981 right_x=0.3163 right_y=0.2825 right_z=0.1189 right_yaw=0.0221 right_pitch=-0.0617 right_roll=-0.0324 right_gripper=0.9993 state[joint_eff]: [0.2667, -1.6889, 9.7573, 1.7021, 0.0317, 0.0806, -0.0317, 0.7179, -8.0752, 8.5812, 1.1111, 0.6667, 0.1294, -0.0806] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.32,"right_z":0.1},"note":"The right wrist view shows the front tan spotted plush very close to the fingertips but offset to the left of the jaw centerline. I’ll shift the right grasp point left by about 4 cm and slightly toward the base to center its torso."})
tool
executing move_to over 4 steps (0.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe tan plush’s torso is now centered between the jaws, with its head and body spanning the fingertip gap. I’ll descend to mid-body height before closing so the jaws engage the plush rather than pass above it.
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]: [-0.1463, 0.7609, 0.4843, -0.2386, -0.2394, -0.1268, 0.9981, 1.0664, 1.8221, 1.15, -0.2951, 0.7818, 0.7422, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.166 left_yaw=0.1068 left_pitch=0.0644 left_roll=0.0236 left_gripper=0.9981 right_x=0.3115 right_y=0.3142 right_z=0.1013 right_yaw=0.03 right_pitch=-0.0621 right_roll=-0.0338 right_gripper=0.9993 state[joint_eff]: [-0.2256, -1.3744, 6.7897, 2.0928, -0.1783, 0.0024, -0.0122, 0.4034, -8.1709, 7.5145, 0.9792, 0.4078, 0.0659, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.05},"note":"The tan plush’s torso is now centered between the jaws, with its head and body spanning the fingertip gap. I’ll descend to mid-body height before closing so the jaws engage the plush rather than pass above it."})
tool
executing move_to over 4 steps (0.4s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe commanded descent stopped at about 10 cm while the centered plush remained wedged between the jaws, indicating the gripper is resting on its thick body. I’ll close at this contact height.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.2462, -0.2394, -0.1276, 0.9981, 1.074, 1.8351, 1.1606, -0.2943, 0.7818, 0.7586, 0.9993] state[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1635 left_yaw=0.107 left_pitch=0.0552 left_roll=0.0253 left_gripper=0.9981 right_x=0.3105 right_y=0.3191 right_z=0.0998 right_yaw=0.0287 right_pitch=-0.0627 right_roll=-0.0218 right_gripper=0.9993 state[joint_eff]: [-0.0752, -1.1009, 7.2274, 1.8242, -0.1441, -0.0464, -0.0073, 0.3487, -8.1846, 7.3504, 0.9695, 0.3736, 0.0708, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The commanded descent stopped at about 10 cm while the centered plush remained wedged between the jaws, indicating the gripper is resting on its thick body. I’ll close at this contact height."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe gripper again settled nearly empty and the plush remains visible ahead of the jaws; its apparent contact was from the camera’s forward offset, not a true grasp. I’ll reopen and advance 4 cm radially while preserving the good lateral alignment.
move_to
right_gripper1.0000right_x0.3500right_y0.3200right_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]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1303, 0.9981, 1.0733, 1.8351, 1.1603, -0.2935, 0.7773, 0.7555, 0.011] state[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1085 left_pitch=0.0545 left_roll=0.0232 left_gripper=0.9981 right_x=0.3104 right_y=0.3194 right_z=0.0993 right_yaw=0.0324 right_pitch=-0.0658 right_roll=-0.022 right_gripper=0.011 state[joint_eff]: [-0.1573, -1.0872, 7.1043, 1.7851, -0.1343, -0.0269, -0.0073, 0.0342, -9.2513, 6.2017, 1.243, 0.3883, -0.0024, 0.9011] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.35,"right_y":0.32,"right_z":0.11},"note":"The gripper again settled nearly empty and the plush remains visible ahead of the jaws; its apparent contact was from the camera’s forward offset, not a true grasp. I’ll reopen and advance 4 cm radially while preserving the good lateral alignment."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteAfter advancing, the tan plush is now at the bottom of the wrist frame between the actual fingertip tips rather than ahead of them. I’ll descend onto its torso at this corrected horizontal position.
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]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 0.992, 1.8668, 1.2285, -0.2863, 0.7208, 0.6605, 0.9956] state[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3417 right_y=0.3163 right_z=0.105 right_yaw=0.0394 right_pitch=-0.0814 right_roll=-0.0368 right_gripper=0.9956 state[joint_eff]: [-0.0479, -1.1009, 7.0769, 1.7656, -0.105, -0.022, -0.0073, -1.0325, -8.253, 8.5675, 1.3748, 0.2906, -0.0513, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.05},"note":"After advancing, the tan plush is now at the bottom of the wrist frame between the actual fingertip tips rather than ahead of them. I’ll descend onto its torso at this corrected horizontal position."})
tool
executing move_to over 4 steps (0.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe corrected descent stopped at about 8 cm with the plush’s broad torso squarely spanning the open jaws. To reduce the chance of squeezing the rounded plush sideways, I’ll first close only to a moderate width.
move_to
right_gripper0.4500
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]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9982, 0.9958, 1.9217, 1.1561, -0.0811, 0.7246, 0.6624, 0.9965] state[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3471 right_y=0.3269 right_z=0.082 right_yaw=0.0434 right_pitch=-0.0339 right_roll=0.0266 right_gripper=0.9965 state[joint_eff]: [-0.0205, -0.9641, 7.2957, 1.7656, -0.0855, -0.0415, -0.0171, -0.2803, -6.5573, 3.8359, 0.6374, 0.2418, -0.0415, 0.0659] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"The corrected descent stopped at about 8 cm with the plush’s broad torso squarely spanning the open jaws. To reduce the chance of squeezing the rounded plush sideways, I’ll first close only to a moderate width."})
tool
executing move_to over 6 steps (0.6s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteAt the partial close the plush remains centered between both jaws rather than ejecting sideways, so the staged grasp is working. I’ll tighten to about 2.4 cm jaw spacing, enough to compress and hold the soft torso without forcing a full close.
move_to
right_gripper0.2500
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]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9981, 1.0, 1.9289, 1.1526, -0.025, 0.7227, 0.6647, 0.4552] state[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9981 right_x=0.3494 right_y=0.3347 right_z=0.085 right_yaw=0.0484 right_pitch=-0.0088 right_roll=0.0663 right_gripper=0.4552 state[joint_eff]: [-0.1299, -1.0188, 7.1043, 1.746, -0.149, -0.0317, -0.0171, -0.5265, -10.5504, 6.2974, 0.8718, 0.3053, -0.0562, 0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"At the partial close the plush remains centered between both jaws rather than ejecting sideways, so the staged grasp is working. I’ll tighten to about 2.4 cm jaw spacing, enough to compress and hold the soft torso without forcing a full close."})
tool
executing move_to over 3 steps (0.3s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe plush remains symmetrically compressed between the jaws at the tighter setting. I’ll lift it well clear of the table and verify that it moves with the gripper before transporting it.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0, 1.9285, 1.1526, -0.0132, 0.7254, 0.6613, 0.2552] state[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1632 left_yaw=0.1087 left_pitch=0.0542 left_roll=0.0229 left_gripper=0.9982 right_x=0.3506 right_y=0.3357 right_z=0.0871 right_yaw=0.0484 right_pitch=0.0 right_roll=0.0722 right_gripper=0.2552 state[joint_eff]: [-0.3761, -0.9094, 7.1043, 1.8095, -0.149, -0.0073, -0.0073, -0.253, -9.9761, 6.0786, 1.3407, 0.2027, 0.0122, 0.2759] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The plush remains symmetrically compressed between the jaws at the tighter setting. I’ll lift it well clear of the table and verify that it moves with the gripper before transporting it."})
tool
executing move_to over 6 steps (0.6s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe plush remains visible in the wrist camera after lifting, confirming it is still just ahead of the grasp point and was not held. I’ll reopen and advance another 3 cm until its torso passes beneath the fingertips, keeping the established lateral alignment.
move_to
right_gripper1.0000right_x0.3800right_y0.3400right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 1.0, 1.8629, 1.3041, -0.2741, 0.7029, 0.6605, 0.2553] state[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0534 left_roll=0.0231 left_gripper=0.9981 right_x=0.3489 right_y=0.3386 right_z=0.1343 right_yaw=0.0638 right_pitch=-0.0389 right_roll=0.0456 right_gripper=0.2553 state[joint_eff]: [-0.1709, -0.8274, 7.1043, 1.79, -0.1099, -0.0464, -0.0171, -0.3624, -13.5043, 9.2376, 1.37, 0.486, -0.0171, -0.0073] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.38,"right_y":0.34,"right_z":0.14},"note":"The plush remains visible in the wrist camera after lifting, confirming it is still just ahead of the grasp point and was not held. I’ll reopen and advance another 3 cm until its torso passes beneath the fingertips, keeping the established lateral alignment."})
tool
executing move_to over 8 steps (0.8s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe additional advance places the plush’s torso between the visible fingertip tips at the bottom of the frame, with a slight offset to the right. I’ll advance 2 cm more, correct that small lateral offset, and descend onto the torso in one short motion.
move_to
right_x0.3900right_y0.3250right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2474, -0.2394, -0.1307, 0.9982, 0.9455, 1.911, 1.3586, -0.2867, 0.6506, 0.6025, 0.9954] state[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0538 left_roll=0.023 left_gripper=0.9982 right_x=0.37 right_y=0.3359 right_z=0.1268 right_yaw=0.0763 right_pitch=-0.0718 right_roll=0.0175 right_gripper=0.9954 state[joint_eff]: [-0.0342, -1.0188, 7.0632, 1.7851, -0.0952, -0.022, -0.0073, -0.6632, -9.5795, 9.3744, 1.5702, 0.3443, -0.0122, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.325,"right_z":0.08},"note":"The additional advance places the plush’s torso between the visible fingertip tips at the bottom of the frame, with a slight offset to the right. I’ll advance 2 cm more, correct that small lateral offset, and descend onto the torso in one short motion."})
tool
executing move_to over 4 steps (0.4s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe tan plush torso now fills the actual jaw gap and both fingertip tips lie along its sides, indicating the grasp point has finally reached the object. I’ll begin with a controlled partial close to keep the soft body centered.
move_to
right_gripper0.4500
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]: [-0.1459, 0.765, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.8982, 1.9736, 1.2724, -0.1356, 0.617, 0.564, 0.9964] state[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.162 left_yaw=0.109 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3842 right_y=0.3241 right_z=0.0838 right_yaw=0.0735 right_pitch=-0.0885 right_roll=0.0049 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.1145, 7.241, 1.8193, -0.1392, -0.0366, -0.0171, -0.5128, -9.9487, 6.106, 1.3504, 0.1587, -0.0513, 0.0855] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"The tan plush torso now fills the actual jaw gap and both fingertip tips lie along its sides, indicating the grasp point has finally reached the object. I’ll begin with a controlled partial close to keep the soft body centered."})
tool
executing move_to over 6 steps (0.6s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe partial close has compressed the torso evenly between both jaws without pushing it away. I’ll tighten to a secure soft-object grip before lifting.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1459, 0.7647, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.98, 1.2686, -0.0917, 0.6189, 0.5571, 0.4566] state[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1622 left_yaw=0.109 left_pitch=0.0505 left_roll=0.0239 left_gripper=0.9981 right_x=0.3885 right_y=0.3275 right_z=0.0859 right_yaw=0.0758 right_pitch=-0.0646 right_roll=0.0231 right_gripper=0.4566 state[joint_eff]: [-0.1299, -1.0462, 7.2684, 1.7216, -0.1392, -0.0317, -0.0122, -0.212, -11.0701, 6.5299, 1.0183, 0.2222, 0.0415, 0.3736] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.2},"note":"The partial close has compressed the torso evenly between both jaws without pushing it away. I’ll tighten to a secure soft-object grip before lifting."})
tool
executing move_to over 3 steps (0.3s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe torso remains firmly centered and compressed at the tighter setting. I’ll lift vertically and check that the tan plush leaves the table and disappears from its wrist camera.
move_to
right_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]: [-0.1463, 0.765, 0.4824, -0.247, -0.2394, -0.131, 0.9981, 0.8963, 1.9793, 1.2686, -0.0692, 0.6189, 0.5526, 0.2074] state[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1622 left_yaw=0.1088 left_pitch=0.0505 left_roll=0.0236 left_gripper=0.9981 right_x=0.3907 right_y=0.3302 right_z=0.0896 right_yaw=0.0792 right_pitch=-0.0486 right_roll=0.0363 right_gripper=0.2074 state[joint_eff]: [-0.3487, -0.9504, 7.3231, 1.7753, -0.1294, -0.0806, -0.0073, -0.3077, -10.5778, 6.3795, 1.2283, 0.2369, 0.022, 0.398] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The torso remains firmly centered and compressed at the tighter setting. I’ll lift vertically and check that the tan plush leaves the table and disappears from its wrist camera."})
tool
executing move_to over 6 steps (0.6s)
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 tan plush is still visible after lifting, so the partial command alone does not prove it is held; the jaws may only be brushing its fur. I’ll close fully once to use the settled gripper width as a definitive grasp check.
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]: [-0.1459, 0.7658, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 0.8963, 1.9369, 1.4517, -0.3565, 0.6041, 0.5526, 0.2081] state[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1618 left_yaw=0.109 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.3896 right_y=0.3323 right_z=0.1367 right_yaw=0.0867 right_pitch=-0.0989 right_roll=-0.0013 right_gripper=0.2081 state[joint_eff]: [-0.1162, -1.0188, 7.2547, 1.7851, -0.105, -0.0464, -0.0122, -0.1709, -15.1316, 9.7026, 1.4579, 0.3443, -0.0415, 0.0659] 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":{"right_gripper":0.0},"note":"The tan plush is still visible after lifting, so the partial command alone does not prove it is held; the jaws may only be brushing its fur. I’ll close fully once to use the settled gripper width as a definitive grasp check."})
tool
executing move_to over 3 steps (0.3s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe full-close check settled at the empty threshold, confirming the broad plush torso is too compressible for this top grasp. I’ll switch to a controlled push: reopen and place the right gripper just behind the tan plush so it can be guided forward into the right basket.
move_to
right_gripper1.0000right_x0.3000right_y0.3300right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.9301, 1.4525, -0.3809, 0.5919, 0.5526, 0.035] state[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1619 left_yaw=0.1086 left_pitch=0.0494 left_roll=0.0242 left_gripper=0.9981 right_x=0.3862 right_y=0.3309 right_z=0.136 right_yaw=0.0941 right_pitch=-0.1171 right_roll=-0.007 right_gripper=0.035 state[joint_eff]: [-0.2393, -1.1145, 7.2547, 1.7558, -0.1392, -0.022, -0.0122, -0.1573, -9.9214, 6.7214, 1.6532, 0.3346, -0.1392, 1.2283] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.3,"right_y":0.33,"right_z":0.08},"note":"The full-close check settled at the empty threshold, confirming the broad plush torso is too compressible for this top grasp. I’ll switch to a controlled push: reopen and place the right gripper just behind the tan plush so it can be guided forward into the right basket."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
assistant
agent noteThe right gripper is now behind the tan plush, with the plush filling the forward view and both baskets directly ahead. I’ll lower to body-height contact so the open jaws act as a broad cradle for the push.
move_to
right_z0.0300
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]: [-0.1459, 0.7658, 0.4824, -0.247, -0.239, -0.1307, 0.9981, 1.0657, 1.8759, 1.1503, -0.2481, 0.701, 0.7002, 0.9951] state[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1087 left_pitch=0.0497 left_roll=0.0239 left_gripper=0.9981 right_x=0.3084 right_y=0.3296 right_z=0.0767 right_yaw=0.1002 right_pitch=-0.1223 right_roll=-0.0366 right_gripper=0.9951 state[joint_eff]: [-0.0752, -0.9778, 7.3094, 1.7656, -0.0464, -0.0708, -0.0073, 0.9231, -11.3162, 5.2718, 1.1551, 0.2759, 0.1441, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The right gripper is now behind the tan plush, with the plush filling the forward view and both baskets directly ahead. I’ll lower to body-height contact so the open jaws act as a broad cradle for the push."})
tool
executing move_to over 4 steps (0.4s)
step 170
assistant
agent noteThe lowered gripper has contacted the plush at about 5.6 cm, with its head centered between the open jaws. I’ll guide it diagonally forward and right toward the mouth of the right basket in a moderate first push.
move_to
right_x0.4200right_y0.2500right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0645, 1.9297, 1.0962, -0.1173, 0.7506, 0.6846, 0.9964] state[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1086 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3145 right_y=0.3261 right_z=0.0561 right_yaw=0.0787 right_pitch=-0.0761 right_roll=-0.0529 right_gripper=0.9964 state[joint_eff]: [-0.1436, -1.0735, 7.3915, 1.7265, -0.1001, -0.0659, -0.0073, -0.253, -6.2701, 4.2598, 1.2967, -0.4322, 0.2076, 0.1148] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.25,"right_z":0.055},"note":"The lowered gripper has contacted the plush at about 5.6 cm, with its head centered between the open jaws. I’ll guide it diagonally forward and right toward the mouth of the right basket in a moderate first push."})
tool
executing move_to over 9 steps (0.9s)
step 179
assistant
agent noteThe first push moved the tan plush into the channel between the right basket’s sidewalls, though contact also nudged the lightweight basket slightly. I’ll continue a shorter diagonal push toward the basket’s interior center.
move_to
right_x0.4600right_y0.2000right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.239, -0.1307, 0.9982, 0.7341, 1.9285, 1.0531, 0.1078, 0.5289, 0.3889, 0.9965] state[eef_state]: left_x=0.2938 left_y=0.0026 left_z=0.1616 left_yaw=0.1083 left_pitch=0.0482 left_roll=0.0243 left_gripper=0.9982 right_x=0.4105 right_y=0.2552 right_z=0.0552 right_yaw=0.0724 right_pitch=-0.0813 right_roll=-0.0417 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.1692, 7.2821, 1.7216, -0.0855, -0.0513, -0.0171, -0.9094, -8.7179, 6.5709, 1.5116, 0.3004, -0.0611, -0.0024] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.2,"right_z":0.055},"note":"The first push moved the tan plush into the channel between the right basket’s sidewalls, though contact also nudged the lightweight basket slightly. I’ll continue a shorter diagonal push toward the basket’s interior center."})
tool
executing move_to over 5 steps (0.5s)
step 184
assistant
agent noteThe basket slid away more readily than the plush, so continuing to push risks chasing the container. The plush’s narrower head is now deeply centered between the jaws from behind; I’ll try a direct close on this narrower section.
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]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.5568, 1.9285, 1.0523, 0.1707, 0.3904, 0.2707, 0.9965] state[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1616 left_yaw=0.1086 left_pitch=0.0483 left_roll=0.0245 left_gripper=0.9982 right_x=0.4523 right_y=0.2066 right_z=0.0582 right_yaw=0.0701 right_pitch=-0.0811 right_roll=-0.0244 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.1009, 7.2137, 1.7705, -0.1197, -0.0708, -0.0171, -0.4581, -7.9385, 6.9812, 1.6239, 0.3248, -0.0415, -0.0122] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The basket slid away more readily than the plush, so continuing to push risks chasing the container. The plush’s narrower head is now deeply centered between the jaws from behind; I’ll try a direct close on this narrower section."})
tool
executing move_to over 10 steps (1.0s)
step 194
assistant
agent noteThis close stopped at a substantial 0.287 jaw width, confirming a real grasp around the tan plush’s narrower head. I’ll lift and carry it over the shifted right basket, aiming at the basket’s current center.
move_to
right_x0.5000right_y0.1400right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.247, -0.2394, -0.1307, 0.9981, 0.5507, 1.9305, 1.0523, 0.1825, 0.3801, 0.2619, 0.287] state[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1618 left_yaw=0.1086 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.4546 right_y=0.2064 right_z=0.059 right_yaw=0.0774 right_pitch=-0.0754 right_roll=-0.021 right_gripper=0.287 state[joint_eff]: [-0.1846, -1.1145, 7.0632, 1.7802, -0.1245, -0.0513, -0.0171, 0.3624, -9.8803, 5.9009, 1.5409, 0.2125, 0.0073, 0.7009] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.14,"right_z":0.2},"note":"This close stopped at a substantial 0.287 jaw width, confirming a real grasp around the tan plush’s narrower head. I’ll lift and carry it over the shifted right basket, aiming at the basket’s current center."})
tool
executing move_to over 10 steps (1.0s)
step 204
assistant
agent noteThe overhead view confirms the tan plush lifted with the right gripper. It is just short and left of the shifted basket opening, so I’ll move a few centimeters farther forward and right to center it over the basket.
move_to
right_x0.5400right_y0.1000right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7704, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.3531, 1.8229, 1.388, -0.2916, 0.2192, 0.1337, 0.2893] state[eef_state]: left_x=0.294 left_y=0.0026 left_z=0.1607 left_yaw=0.1085 left_pitch=0.0449 left_roll=0.0253 left_gripper=0.9981 right_x=0.495 right_y=0.1453 right_z=0.1579 right_yaw=0.0802 right_pitch=-0.1436 right_roll=-0.0349 right_gripper=0.2893 state[joint_eff]: [-0.212, -1.2239, 7.3915, 1.7753, -0.1538, -0.0659, -0.0073, -0.6359, -13.3402, 9.9624, 1.6825, 0.0513, -0.0708, 0.232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.1,"right_z":0.17},"note":"The overhead view confirms the tan plush lifted with the right gripper. It is just short and left of the shifted basket opening, so I’ll move a few centimeters farther forward and right to center it over the basket."})
tool
executing move_to over 4 steps (0.4s)
step 208
assistant
agent noteThe tan plush is now aligned with the basket interior, visible directly in front of the basket’s back wall. I’ll lower it into the basket until the body is supported by the basket floor.
move_to
right_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]: [-0.1459, 0.7719, 0.482, -0.2501, -0.2394, -0.1307, 0.9981, 0.2432, 1.9163, 1.5246, -0.342, 0.1101, 0.0616, 0.2911] state[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.1595 left_yaw=0.1089 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5292 right_y=0.115 right_z=0.1579 right_yaw=0.1015 right_pitch=-0.1663 right_roll=-0.0193 right_gripper=0.2911 state[joint_eff]: [-0.1026, -1.2513, 7.3094, 1.7363, -0.1343, -0.0269, -0.0122, -1.6068, -10.2222, 9.1282, 1.4383, 0.3834, -0.0611, 0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The tan plush is now aligned with the basket interior, visible directly in front of the basket’s back wall. I’ll lower it into the basket until the body is supported by the basket floor."})
tool
executing move_to over 6 steps (0.6s)
step 214
assistant
agent noteAt this far reach the arm could not descend, and the dangling plush sits toward the left edge of the basket opening. I’ll shift the gripper rightward and slightly back so the plush hangs over the basket center before release.
move_to
right_x0.5200right_y0.0400right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7723, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.2165, 1.9228, 1.5421, -0.3439, 0.0952, 0.0402, 0.293] state[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5351 right_y=0.1042 right_z=0.1616 right_yaw=0.0992 right_pitch=-0.1586 right_roll=-0.0244 right_gripper=0.293 state[joint_eff]: [-0.1573, -1.1692, 7.2547, 1.7363, -0.105, -0.0513, -0.0073, -0.5949, -10.441, 9.4154, 1.5067, 0.1734, -0.0269, 0.1783] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.04,"right_z":0.17},"note":"At this far reach the arm could not descend, and the dangling plush sits toward the left edge of the basket opening. I’ll shift the gripper rightward and slightly back so the plush hangs over the basket center before release."})
tool
executing move_to over 6 steps (0.6s)
step 220
assistant
agent noteThe reach limit prevented the full lateral correction, but the tan plush is hanging over the basket opening with the basket floor directly below its body. I’ll release it into the right basket from this safe height.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.7727, 0.482, -0.2493, -0.2394, -0.1307, 0.9981, 0.1726, 1.89, 1.4849, -0.3168, 0.0216, -0.0002, 0.2945] state[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.529 right_y=0.092 right_z=0.1584 right_yaw=0.1402 right_pitch=-0.1597 right_roll=-0.0057 right_gripper=0.2945 state[joint_eff]: [-0.1026, -0.7453, 7.0632, 1.7216, -0.1099, -0.0562, -0.0073, -5.4085, -13.5316, 6.9538, 1.4237, 0.8962, -0.0904, 0.1538] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The reach limit prevented the full lateral correction, but the tan plush is hanging over the basket opening with the basket floor directly below its body. I’ll release it into the right basket from this safe height."})
tool
executing move_to over 8 steps (0.8s)
step 228
assistant
agent noteThe tan plush has been released at the right basket opening; I’ll clear the right arm and immediately address the remaining gray-white plush. Its head is already centered in the left wrist view, so I’ll lower the open left gripper just behind it for a head grasp.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3100left_y-0.0300left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1459, 0.778, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.1757, 1.879, 1.4605, -0.3149, 0.0151, -0.0074, 0.9957] state[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.1579 left_yaw=0.1088 left_pitch=0.035 left_roll=0.0279 left_gripper=0.9981 right_x=0.5233 right_y=0.0938 right_z=0.1538 right_yaw=0.1527 right_pitch=-0.1713 right_roll=-0.0072 right_gripper=0.9957 state[joint_eff]: [-0.1299, -1.5658, 7.2684, 1.7167, -0.105, -0.0611, -0.0073, -0.4034, -9.5248, 9.0462, 1.5458, 0.0513, -0.0122, -0.1538] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"left_x":0.31,"left_y":-0.03,"left_z":0.06,"left_gripper":1.0},"note":"The tan plush has been released at the right basket opening; I’ll clear the right arm and immediately address the remaining gray-white plush. Its head is already centered in the left wrist view, so I’ll lower the open left gripper just behind it for a head grasp."})
tool
executing move_to over 18 steps (1.8s)
step 246
assistant
agent noteAt the low left-arm pose, the gray-white plush fills the actual jaw gap and its narrower upper body is centered between the fingertips. I’ll close fully and use the settled width to verify this grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3225, 1.166, 0.2276, 0.358, -0.3985, -0.2104, 0.9988, -0.1234, 0.9913, 0.8001, -0.5343, -0.1844, -0.1932, 0.9965] state[eef_state]: left_x=0.3113 left_y=-0.028 left_z=0.065 left_yaw=0.1063 left_pitch=0.0329 left_roll=0.0507 left_gripper=0.9988 right_x=0.3119 right_y=-0.0024 right_z=0.1837 right_yaw=0.1242 right_pitch=-0.1484 right_roll=-0.0155 right_gripper=0.9965 state[joint_eff]: [-0.3624, -2.359, 4.5197, 1.5556, -0.0659, -0.2222, -0.1441, -0.4444, -2.947, 6.735, 1.6142, -0.1734, -0.0415, 0.0659] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the low left-arm pose, the gray-white plush fills the actual jaw gap and its narrower upper body is centered between the fingertips. I’ll close fully and use the settled width to verify this grasp."})
tool
executing move_to over 10 steps (1.0s)
step 256
assistant
agent noteThe gray-white plush also yielded an empty close, but it now lies directly between the low left gripper and the left basket. I’ll reopen and use the broad jaws to push it diagonally forward into that basket.
move_to
left_gripper1.0000left_x0.4400left_y-0.1300left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3241, 1.1687, 0.2195, 0.3874, -0.4187, -0.21, 0.011, -0.1303, 0.997, 0.7933, -0.548, -0.1917, -0.2092, 0.9965] state[eef_state]: left_x=0.3124 left_y=-0.0254 left_z=0.0676 left_yaw=0.1215 left_pitch=0.0544 left_roll=0.053 left_gripper=0.011 right_x=0.309 right_y=-0.0029 right_z=0.1768 right_yaw=0.1332 right_pitch=-0.1727 right_roll=-0.0162 right_gripper=0.9965 state[joint_eff]: [-0.0752, -3.0701, 6.4479, 1.4383, 0.0659, -0.0513, 0.8523, 0.4991, -2.8786, 7.5966, 1.6825, -0.0415, 0.0806, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.44,"left_y":-0.13,"left_z":0.06},"note":"The gray-white plush also yielded an empty close, but it now lies directly between the low left gripper and the left basket. I’ll reopen and use the broad jaws to push it diagonally forward into that basket."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteThe white push cleared the arm into the left basket but left the plush near its front edge. With limited remaining motion, I’ll prioritize the tan plush using the successful narrow-head grasp geometry, moving the right gripper low around its current upright position.
move_to
left_x0.3000left_y0.0000left_z0.1800right_x0.4200right_y0.1400right_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]: [-0.4992, 1.8317, 0.7673, 0.424, -0.5556, -0.3252, 0.9952, -0.1314, 1.0042, 0.7933, -0.5491, -0.1925, -0.2096, 0.9965] state[eef_state]: left_x=0.4292 left_y=-0.1238 left_z=0.0506 left_yaw=0.1166 left_pitch=0.03 left_roll=0.0596 left_gripper=0.9952 right_x=0.3092 right_y=-0.0032 right_z=0.1745 right_yaw=0.1333 right_pitch=-0.1807 right_roll=-0.0137 right_gripper=0.9965 state[joint_eff]: [-0.294, -8.5402, 7.0632, 1.5653, -0.2613, 0.0513, 0.022, -0.1162, -3.1248, 6.8855, 1.5556, -0.1099, -0.0269, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"right_x":0.42,"right_y":0.14,"right_z":0.07,"right_gripper":1.0},"note":"The white push cleared the arm into the left basket but left the plush near its front edge. With limited remaining motion, I’ll prioritize the tan plush using the successful narrow-head grasp geometry, moving the right gripper low around its current upright position."})
tool
executing move_to over 12 steps (1.2s)
step 278
assistant
agent noteThe right gripper is now low with the tan plush’s narrow torso filling the gap between the fingertips. I’ll close fully; a nonzero settled width will confirm the same successful soft head/torso grasp as before.
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]: [-0.2012, 0.8478, 0.5552, -0.2279, -0.3374, -0.168, 0.9966, 0.3733, 1.6615, 0.8597, 0.0219, 0.1776, 0.1078, 0.9986] state[eef_state]: left_x=0.3091 left_y=0.0003 left_z=0.1792 left_yaw=0.1558 left_pitch=0.0748 left_roll=0.0352 left_gripper=0.9966 right_x=0.4113 right_y=0.1314 right_z=0.0692 right_yaw=0.1473 right_pitch=-0.2028 right_roll=-0.0398 right_gripper=0.9986 state[joint_eff]: [0.0615, -1.0735, 9.5795, 1.663, -0.0952, 0.1245, 0.1343, 0.5675, -6.9402, 7.159, 1.1844, -0.0904, 0.2173, -0.1538] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right gripper is now low with the tan plush’s narrow torso filling the gap between the fingertips. I’ll close fully; a nonzero settled width will confirm the same successful soft head/torso grasp as before."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe gripper settled at 0.111, confirming the tan plush is securely held. Since it is already beside the right basket, I’ll lift and move it a short distance forward-right over the basket center.
move_to
right_x0.4900right_y0.0800right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2024, 0.8528, 0.5591, -0.2443, -0.3359, -0.1722, 0.9967, 0.3729, 1.6711, 0.8703, 0.0502, 0.1822, 0.0978, 0.1112] state[eef_state]: left_x=0.308 left_y=-0.0001 left_z=0.1761 left_yaw=0.1552 left_pitch=0.0582 left_roll=0.037 left_gripper=0.9967 right_x=0.4187 right_y=0.1333 right_z=0.0744 right_yaw=0.1497 right_pitch=-0.1736 right_roll=-0.0437 right_gripper=0.1112 state[joint_eff]: [-0.0752, -1.894, 6.8034, 1.8877, -0.1538, -0.0317, 0.0024, -0.1299, -8.5402, 5.4085, 1.2967, -0.0366, 0.0611, 0.8278] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.08,"right_z":0.16},"note":"The gripper settled at 0.111, confirming the tan plush is securely held. Since it is already beside the right basket, I’ll lift and move it a short distance forward-right over the basket center."})
tool
executing move_to over 6 steps (0.6s)
step 294
assistant
agent noteThe tan plush is lifted at the right basket’s opening with its body overlapping the basket interior in the overhead view. I’ll release it now so it drops into the right basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2024, 0.8566, 0.5591, -0.2485, -0.3359, -0.1722, 0.9967, 0.1822, 1.7386, 1.2499, -0.2874, 0.0391, -0.0246, 0.1138] state[eef_state]: left_x=0.3077 left_y=-0.0 left_z=0.1742 left_yaw=0.155 left_pitch=0.0507 left_roll=0.0398 left_gripper=0.9967 right_x=0.4772 right_y=0.0845 right_z=0.1377 right_yaw=0.1475 right_pitch=-0.2136 right_roll=-0.0379 right_gripper=0.1138 state[joint_eff]: [-0.0889, -1.9487, 7.0906, 1.7558, -0.1538, -0.0171, -0.0122, -0.7863, -8.9094, 9.894, 1.9756, 0.2515, -0.0855, 0.2613] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The tan plush is lifted at the right basket’s opening with its body overlapping the basket interior in the overhead view. I’ll release it now so it drops into the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 303
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]: [-0.2024, 0.8577, 0.5591, -0.2481, -0.3359, -0.1722, 0.9967, 0.1829, 1.7451, 1.2476, -0.3092, 0.0254, -0.0376, 0.9951] state[eef_state]: left_x=0.3079 left_y=-0.0001 left_z=0.1739 left_yaw=0.155 left_pitch=0.05 left_roll=0.04 left_gripper=0.9967 right_x=0.4726 right_y=0.0865 right_z=0.1299 right_yaw=0.1672 right_pitch=-0.2445 right_roll=-0.038 right_gripper=0.9951 state[joint_eff]: [-0.0342, -1.7709, 7.1863, 1.7167, -0.1441, -0.0464, -0.0122, -0.2256, -9.5521, 6.9675, 1.7314, 0.0904, 0.0611, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [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 · 7.978 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]: [-0.0189, 0.8001, 0.6163, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0189, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1839 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0023 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.7983, 9.4017, 1.7949, -0.0464, 0.1392, -0.0611, -0.7043, -1.6068, 9.7983, 1.7314, -0.0464, 0.105, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62204ed371dee9029f19b15d65a3f2291d7e4cef0b303ee4f3491c09521387e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d582fc5b82f5b0f571c7219f5d24c1f1eb4d7bfe3811448fdc3730b9d4e395e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfa00d2eae4ffcb0e2e4f5863cc34957aab420d823813de6d1f7257688a7196",
      "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 · 4.461 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "summary": [],
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}
{
  "content": [],
  "encrypted_content": "gAAAAABqtErda1LulYOitJXnnlCHJn0cjCRFVZtuB2yvXD0MoNCGMhG-YaTCpTL1KFFMK0bYBV0w97ldpjrKQhtOzrD8BpSjfkt2OrIHCGdiG91Rs92M55LvZRu1Dn69nnQKqkpbAzCCwm4LvKkDJ7yVs77e8IbGCUNhNzuHs_1A_lz8kGI50wWHcjRL-88SUxVQRDfD_nW1wP9lpqenQwBZbAwSSRG9_75M-Hs3P1D8IUByxoevS8GZ9eE6olRZRDbwP4Y6CAbdZcLfkNr3YABG2XC0SbBBxgb9FJM1LdgAgqwk7R9feTS2bySLawIx5d3wVmMrVSTOvVqOnJaCCi3lB8JNewUnRyYT0aN9JkCsTa1VOpWkUyl1T7VtaBSFlTuRl5ZJW9L-sbC7c4RC9llhx8YFDXjVg2LJAuIuCyC8x8wOuaIkJWLfJ1GsM8yvz2EylkQ5v4WXZMQHTjjN-YsltfBbnC3jZG79uQoQC10yd4RnUp8xvcBsHrNQSulcPFp_cSac22W5ZxVDMON5uOPvpir2glKZ9-IazjDgWM8hZaCe6yDrNfvOjvAMYvo798Ai6FFy3tyIzR_-Qlglc2isqhQa1Wxm7htXBpGiTziiKPU8iaQcW7wpDkHZ_AKBcSp5ppMzT9OVmZCEboRoBP5dauOiWkk7yW5RQADuk8Mmpo07odfWWhQ-b_q4N0MxveS0hzYsV7HYuIdIIzNjV9Che1X1Qv7RtAqxPzPsShFW2F64q0D9wFICOLFUVXkqB7oZEML-r77R39-yg1Up4SFRhGBbjEziW9OlsHr5Xn2wVSw1HhRQR1usidEv2PRTdiZ9Vnp3i3ajXJ4o0GplIeBpB_DMJHlrx5odH7K_n9OeXNQYBPOo4GRdR5lvQzYfzW5uSpcIyVjBpJGQebUQh1LQVShvzFCF66qlfWn4wXA7lXKtrR6A8Y9qqZrTwqfhVXYbmnH_xg2Yae1M5p3Wfy62ABuk1sfAkLUtT8gOzuaX0W_FYCZeC0E4l19ZbiTldYIYhS74v_UJoPmxlBim8jjNEWnnqHIlSrdsCpJKc5REvmsamtPSMVDuo9EqErcgYjSCf-E4iuYLarY8v6xIbXRWKobxKiTjuuflBzgqxxAL82imwjUzkBL3pmRaQzwLmALnREOiIWbmEcn6WVuhlnG_F21mxLHF7WCp0-bCIa-l-5QhNk7kGuTtmwXpJpdm4QNa0KSgWxJKWBzL5xw9PDNt0cZvz-iG10ltqdXTkDqPLLHxIWRZHaCvRdvEYCIDE_NbJI13D6ObugsDodjJJug4ZkC1FYYBaoG7E6SfC7d7ZtD7orA3zfc6JTtZDz9DHEnyAGJygUmCGSTdDsJpBid01up8ZcKX1lCUhyxnlmoEsz2GgoIfHfg=",
  "id": "rs_086b66efca9dd969016ab44adc947c87d0a5e64285b8ca9c37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.09,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The overhead view shows two clear object classes: white plush animals clustered on the left and tan/brown plush animals in the center, with two empty turquoise baskets behind them. I’ll use the left basket for the white plushes and begin by hovering the left gripper over the most accessible white plush.\"}",
  "call_id": "call_QJDwIJcK3npXdaRV3A4oOVo0",
  "id": "fc_086b66efca9dd969016ab44adcf9d887d09b90f807cb111124",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QJDwIJcK3npXdaRV3A4oOVo0",
  "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]: [-0.3897, 1.3033, 0.733, -0.091, -0.3309, -0.2478, 0.9995, -0.0193, 0.8032, 0.6132, -0.3843, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3711 left_y=-0.0865 left_z=0.1394 left_yaw=0.0042 left_pitch=-0.056 left_roll=0.0157 left_gripper=0.9995 right_x=0.2959 right_y=0.0012 right_z=0.1808 right_yaw=-0.0032 right_pitch=-0.0122 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.4222, 9.5248, 1.7998, -0.1538, 0.0464, -0.0611, 0.2256, -1.6205, 6.8444, 1.8486, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d695f341756ad0e393e21e1dcaf70c9bbc332a0b405e70b6004d4ade7e5df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cd02338a8a2ebd169010d7a0c158a9afaf3b39765dbc281cbe04751997c1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc977e9a4510f8f8b67bb09817161806867e7e287e75fa43e57ced969887801",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.065 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8001, 0.6163, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0189, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1839 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0023 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.7983, 9.4017, 1.7949, -0.0464, 0.1392, -0.0611, -0.7043, -1.6068, 9.7983, 1.7314, -0.0464, 0.105, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3897, 1.3033, 0.733, -0.091, -0.3309, -0.2478, 0.9995, -0.0193, 0.8032, 0.6132, -0.3843, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3711 left_y=-0.0865 left_z=0.1394 left_yaw=0.0042 left_pitch=-0.056 left_roll=0.0157 left_gripper=0.9995 right_x=0.2959 right_y=0.0012 right_z=0.1808 right_yaw=-0.0032 right_pitch=-0.0122 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.4222, 9.5248, 1.7998, -0.1538, 0.0464, -0.0611, 0.2256, -1.6205, 6.8444, 1.8486, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d695f341756ad0e393e21e1dcaf70c9bbc332a0b405e70b6004d4ade7e5df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cd02338a8a2ebd169010d7a0c158a9afaf3b39765dbc281cbe04751997c1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc977e9a4510f8f8b67bb09817161806867e7e287e75fa43e57ced969887801",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtErmlXyj0OArWK_wd7gb4UWV1uKh_Ik3TXoVeosr29Vef7szL6mC2fUbLpxMp8m6pYSa_ntDwnnUHwCx4U5_gM10pqIItJgOTyZmtjXeQHGyp5IPaeRKRlo5kLUL9U194d6TvLPVBMS1ot5nRR8nd_67swQcelsxHJtznWCNlcbLpHaql5iauGNginTZYL_WmY1QhHpNcHQuFHQM6lvdfCPs2uJDb826oP7_sLxKnVs_6BEW-SuvtGnvypIhHwAvwRdpSMvpkVZ4ERWi0ZLrngLwTaW9c6CLPXH6u4WWOH-ukXiCZxZbEb3oPw9yjrzVP7Y-58nZpNlF-2cGOkxdl0D1R627HNaake44f0jQ5WT2N18mqQ6hidydxF4r-EJogFNlg66loSltMExB9IzfNMHL_Ux4IZz0If2hW_m5J6yHMcnxZa_ypoBay5ymbaKM1tabAAX9W_ZQLbs2qnqmeUCB3ynRkaDeoni7ygXZqN1LU-0g9UvgdLSEZ53wev4Mq6lNypDswBTM31eQqchvPcOj79c2Ixh8HU5IiLdj2GyjWSA_KFSPx0Yt8o8POs04lqIRh8vg1zqVHkMeuKYW4NYhDLBpD9Z5B6_RcE9UCnE0_PfMN4dA9PEwmSjrQRCohC4zS-2bR7fXvf0WeYyPO2RyUsYXND8F11dNM_mx7HvTGZTW-bMOd91Vng3sk5B6h3-j-nxal62YicIlGPt4Dw2LXzCInu_uNxm3zbqKZmTr0QOMy4fYbA8FTWV2WuDTzPguRPPjT5-h-YD4I0JDD2rsLnOFILW1wxse6o1jOK44__epGLmclsaa4H1Mz7Zp4OgwDevQYzPjeeqXqORFGgqnCOFVtWUTvCXriAWYR_d5Nk9eJIVR1Dpm7rn98um2no4TIQ-iGbbWV0mQYvhJZEAPKPJka1PGVkY8HIqihOu7gJMl55iSG1fo0L2Ps9EdorfK7y1w1Uqv5kt5F9EjsYDp46HERDjz9qCi71rHtUnq_ZFo0_OCdOUWRvluJ32JfDPyBGtykN2VEgvB_yMCE2dCea4-uYqjXmjFyyhh1N3XS35Mg3bSiKQJwIS-e8YBAdqPDGBrNOeTDYH2roVnaxnOTndhiKuTzLCajPqYoqQ7C09kzqinVYmN441o0Gz714Pe6D54sRq100VQdP30sCWB7SceDfhw2iq-jihh7IvQtwMe281vmsqiZpVmUTOZtlWHd_auwjLnDEj3ameMbRuLG-5FNyWxBQDpMJtEpZtDhFMYgedCL2BBsIElfNQck3OjwpAqulV7ojCMKwSRvWpLv0OvJmqjfza_k-R5WEGvO-oNq090QUzQbKElq-yegSA3IiZX6joRjkjTJubQUIShalrPtFku1L-qSkBQAJzp1-42T91EysliYMOaHR4L8GTc2l8NCizOaVRVX-xfnPqtJC6zjcbfFTViqGVvVVwZ2_sc_qaDjmY65GBTeF_e4UrrPJ38vmitz2tNLjwBtaD3ZtgEgSlGGuVPtFs0cyRHD0kxtcAyzJa9HrcJMMZ0Auancx-AnH7K9LK27f3TB90Eerg9YRp4DORQDDlgkqh5GGLzE_zYq-qQXSq1O49GDCZFemzL5y0S0ciOsqMuRdz3JvJzfNF1GQYKGF9pg8WggvueWUYJV7nt_-wGi9lJlsUtYim14z0NYSxUVgiY4xwivKG41f1-TkjFV09ipa02iULGoo0YPzAx23Qgqb8F6UCOdj3WN-DEQIof9Z7ZTjqCEIlANg755GtEapvZBRLU4EgGdUcHsVRIQoT37oFLZ55FxLBNaqkCuYBhQn36GpOTf79Ghabpz4d4dA0_nO1yqhaMb-Hq95431-KUWqHwf1BgewGevvEx6hpf9qXyxwC1pYpz6B0so451pE8cJndV_2LbiJdbqgOAvBie96jDw7AGL7Uk58E-krlQSca8mj1n0m4jQtJokEbATip7970ZMocCS4Gh8VUxxjJTe29AMJx3Feyhknoli0wFF-3J0rIoVmgkBnPokbWjeSkcZhiXs4lIjvJsaKJh0Y1pzQVryyqXvATsHxSo1VgxxNVRgxjEEpJhNPEfzTrnsmm3oFCv2EK0jpKD1Aw0dRyycDJZzAEpw7oMzaH9Zun9hY6_F9FXU2E3IZt1mvvF5l-zMDPun6Y8c9Ck2-kaANYq_o4vD7YN",
  "id": "rs_086b66efca9dd969016ab44ae38fa887d08bdc54a66f419756",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.1,\"left_z\":0.1},\"note\":\"At the first hover the wrist camera looks directly into the left basket, so the white plush is closer to the base than my initial estimate and is mostly beneath the camera. I’ll retreat about 4 cm radially and lower slightly to center the gripper over it.\"}",
  "call_id": "call_0V56eU4ufHJGCg4jWxOTiqJq",
  "id": "fc_086b66efca9dd969016ab44ae5bcc487d09cfdd90deec21e4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0V56eU4ufHJGCg4jWxOTiqJq",
  "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]: [-0.4969, 1.2732, 0.569, 0.0132, -0.3981, -0.3092, 0.9995, -0.02, 0.8051, 0.6132, -0.3847, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.34 left_y=-0.1024 left_z=0.1032 left_yaw=-0.0147 left_pitch=-0.0643 left_roll=0.0165 left_gripper=0.9995 right_x=0.296 right_y=0.0009 right_z=0.1802 right_yaw=-0.0043 right_pitch=-0.0145 right_roll=-0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.7521, 5.4222, 1.4139, -0.2857, -0.0171, -0.0171, 0.0342, -1.0462, 7.0222, 1.7949, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b290bbb961e89bba6752bd15d27d397f346224b5bb7091807b433c7a406034a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4c5ef76f73f7002a354afab64d58bf7ff4e53d123b973514e1c410137084a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3cb0292dcb1623a4df293ad687ed98343734004bfa77c2242771d104568289",
      "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 · 4.729 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3897, 1.3033, 0.733, -0.091, -0.3309, -0.2478, 0.9995, -0.0193, 0.8032, 0.6132, -0.3843, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3711 left_y=-0.0865 left_z=0.1394 left_yaw=0.0042 left_pitch=-0.056 left_roll=0.0157 left_gripper=0.9995 right_x=0.2959 right_y=0.0012 right_z=0.1808 right_yaw=-0.0032 right_pitch=-0.0122 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.4222, 9.5248, 1.7998, -0.1538, 0.0464, -0.0611, 0.2256, -1.6205, 6.8444, 1.8486, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4969, 1.2732, 0.569, 0.0132, -0.3981, -0.3092, 0.9995, -0.02, 0.8051, 0.6132, -0.3847, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.34 left_y=-0.1024 left_z=0.1032 left_yaw=-0.0147 left_pitch=-0.0643 left_roll=0.0165 left_gripper=0.9995 right_x=0.296 right_y=0.0009 right_z=0.1802 right_yaw=-0.0043 right_pitch=-0.0145 right_roll=-0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.7521, 5.4222, 1.4139, -0.2857, -0.0171, -0.0171, 0.0342, -1.0462, 7.0222, 1.7949, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b290bbb961e89bba6752bd15d27d397f346224b5bb7091807b433c7a406034a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4c5ef76f73f7002a354afab64d58bf7ff4e53d123b973514e1c410137084a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3cb0292dcb1623a4df293ad687ed98343734004bfa77c2242771d104568289",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtErrIajZVhcsXfPdmb77KGeW6z8f1D0TcKRIq8IUXA3x6NokiRFP8nNK9XIxWnIK7PGVNyYMdfuiPr2YiWXe6dFwyeVnnYG1bEHAlyfqsrLZ_F1dILCY_zJOSjtbx-HUHWnXZLCzOHr2rOLg_KkmpcJ2J8mrzg5GYR8zbkLjPdV2htwAc4Af_1f7PYaTruELics5S_hAAMEKZVwzPl7q_3XoogBS5vbn2A4JOe32HztWTAKlwTpPCmm6LW0I0hcCSENbnyXKykertziMpYSm2QWk5JnOAkLzofGo9EPo-jcUE187Y2bd3x_9rrhqHgn17YOEHs-OSq4JGrbroZOoAXzpTnO0ywAQR3NRQ71oX__HHKBJfanJUFuv7lbXV8BXwdb4uiBwj9CaUnkGryutTsHlVaxtfaf3kH2-tzn5_avbe9ctLTFQAJj4dZ9IDFI-abqkUepPy1snidBrQt3tHOc8GoXozDCebczESB3vtbbbptzRKOrm1mqaODKJm4MAVQMx3vcixFW5Rmiz-fAGMdCv7SOh3f9TI9Hsk5PMKQUL0DRA8cV8yUmVslH8vd6Zfo6HjBL7C0xwE5H4OOPf_UjqUP39hFfvkOziGw0jfJIH3_nNZ8i3_Xux1RUAgqW_v5pguIBwwIdgg7R0hdStSGsvgOpBgV6CJUU9Ja-mJb6rLT9HoK1XD7bNnUS_VSqj-Ij-C89x9KTVP7MgHJKp5EEz2gdEINTFHXrwzdc3FSIQRuTNX-RrQ79ZWeSE_dhsPmJgv81rC3yqZOkOQ6oPiksl5LwCjGrcQWH47lPUN7dRXZT8I8ndPdOGW5kVS57S4Ta1zrP2XncZrFKD5m8kLwOmxoEiqo39LJXtuX3VR7ym3Er2umiubTc8n_MVOYF3crowu_VnpxMt-WhOsdzEJjFLwFKEmzFiodGqurJ_NvhHaxMs6tRZKWL_FKlyR7yV8zmBlYxtEoxqQUBH1RuAcDWPL_cpWa5BCTjhZM_25kcbIzyCASjYE9LSCgCb0Vz8EcN6prvLva16fjnYLF9xGxu6kToap1QsdrVbd5uaOR_I2rW3YiaAN0HvHCr_HLKa7ugghZG395D8F3TY-SQhCddl2SgdzUCydduW7qKNbmDZvKpIXd6xz9c6LCtIPV0RYF_-gIkV_cf-F114L6M0FBj5Msl5FAVr4-rPQhyQFMJYWEZdp1Vy-8KWMWhcrEpn6SxLj8EdWGsFRYWz-EI4ioxhuCDbNxAUwz5fGnnqXvMAIogA9TA_ZxHybjX1tGGtTpig3xPuQDYqKFrf9NcmdzjT6Osd367XUWSmGhcJZ_o6ydbh7FKtpRltEMqLDOFODwjnCjxxTwT9yDu4kAxf9nbOaoVTxYRq4_D9fxd0pG_f6hqZ2d6-axbuZm7tbnpcD1AYq8Q1mLHNaNzXDDE94NTE16Zng28op596gHUsGardvPa8Jw9v7_WefYCC-IcEZ9t4uLBjc0_rkLo0ccUiLzlBVjiSqlEaNyTQjO5RhnHaY4gFMv0bNRm0M3nWYB3WEdFpmnttGlZ5vXuJQnapyeBJcVQXrSmsg-47lM4jACJV2gQvA8hNFK08UxlIV4XI2ahBgsZY4WPRze_Jg8zsMRk_biqYJJ4zk4QcumZZAC8UtTjkm7f6KX92XwKRwZMDPIk3IJUEWZIlttta6CV6Kep_PNyg5eMc2VAWLL1UFPQQbkSpiLRD3lmzcYSdqusqM3dXAlH-s2GRUKmO0zeirAWoc_NnrDarF2BbkY7E2-bS1eCfQZdiNA1hCNrqWgwQmKFT95tZVWCKes5Tyt1M3z2PpLL-P-0ZpHTaaTq4L-cvjZPAiFCnJixJLliSDv1fY3sWZ631cap3LripiSpJYg7UEG0GzDJWr1S-985SltRqLPYXWMEth3CAIR-4qBEPWFkayXjocPU5yMTAjgAZ6Xt03iP3eJM_bu55huC8YiFTJ6PlgBwY7J6kFdH7tOppsGHl5CfNj7KryruvHMNT1KWPrjipS3UeQE_WwHrCzzfhSD9vPVnxobqY1mtv0Lz7vbvzpXid1AdcIOGekDalPD0o2rWtflhY2J2w1bdGf4EpzTDQqv5HFG69J2fTyX3TAGLDTygAjfHtShRNjDiceFfND4oiozvbJTB4F7XVea_aqZYCQ2sHb-uQV0d2P21XFVpGORmdaxAos6dERMB5rBJ03ifttjs9maikVP-9zs4m6PkAcfZxBLgLSge4bmKiV2ew8Cx421Wa3g_1HDa8Hxx_Pa4FZf_LSLnOZBlCAfguZLIK5UTwdxfWLe0UDRorLLPxoth8FcMFVKdz9Az-8MxhMA==",
  "id": "rs_086b66efca9dd969016ab44ae8310c87d092d68583e73171d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.07,\"left_z\":0.09},\"note\":\"White fur is now visible at the lower-left edge of the wrist view, meaning the target is close to the fingertips but offset toward the arm’s left and slightly toward the base. I’ll shift the grasp point left and back by a few centimeters before descending.\"}",
  "call_id": "call_CukV01SkZf31QMQZ2bGjV5W0",
  "id": "fc_086b66efca9dd969016ab44aea38e887d084e2d7f787f101c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CukV01SkZf31QMQZ2bGjV5W0",
  "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]: [-0.4068, 1.1625, 0.448, 0.0635, -0.3489, -0.2718, 0.9995, -0.02, 0.8062, 0.6132, -0.3851, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3261 left_y=-0.0709 left_z=0.0962 left_yaw=0.0143 left_pitch=-0.042 left_roll=0.0019 left_gripper=0.9995 right_x=0.296 right_y=0.001 right_z=0.1798 right_yaw=-0.004 right_pitch=-0.016 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -3.7812, 6.8308, 1.5458, 0.0171, 0.0562, -0.0122, -0.1846, -0.841, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8a621133ca040dbee7b13d67317e2580e9b311f4eea1f4bfcf2441df94fe5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d585e2d54d513f9cc78b4695dbe4f83b956d23fa34baf32bbe344651e3d43121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e926975c9df4989e2abffc45f5ef07b8125391b36f80f25fdd544614ef54aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.299 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8001, 0.6163, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0189, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1839 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2967 right_y=0.0023 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.7983, 9.4017, 1.7949, -0.0464, 0.1392, -0.0611, -0.7043, -1.6068, 9.7983, 1.7314, -0.0464, 0.105, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4969, 1.2732, 0.569, 0.0132, -0.3981, -0.3092, 0.9995, -0.02, 0.8051, 0.6132, -0.3847, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.34 left_y=-0.1024 left_z=0.1032 left_yaw=-0.0147 left_pitch=-0.0643 left_roll=0.0165 left_gripper=0.9995 right_x=0.296 right_y=0.0009 right_z=0.1802 right_yaw=-0.0043 right_pitch=-0.0145 right_roll=-0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.7521, 5.4222, 1.4139, -0.2857, -0.0171, -0.0171, 0.0342, -1.0462, 7.0222, 1.7949, -0.0366, -0.022, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4068, 1.1625, 0.448, 0.0635, -0.3489, -0.2718, 0.9995, -0.02, 0.8062, 0.6132, -0.3851, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3261 left_y=-0.0709 left_z=0.0962 left_yaw=0.0143 left_pitch=-0.042 left_roll=0.0019 left_gripper=0.9995 right_x=0.296 right_y=0.001 right_z=0.1798 right_yaw=-0.004 right_pitch=-0.016 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -3.7812, 6.8308, 1.5458, 0.0171, 0.0562, -0.0122, -0.1846, -0.841, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8a621133ca040dbee7b13d67317e2580e9b311f4eea1f4bfcf2441df94fe5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d585e2d54d513f9cc78b4695dbe4f83b956d23fa34baf32bbe344651e3d43121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e926975c9df4989e2abffc45f5ef07b8125391b36f80f25fdd544614ef54aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtErwHO6qCSjks1DS6TPZfjjOc79-HB9fm7SemBNOdGLWgO0KNyqdqXhYbHUBBfdp-gWsT1PajRi-lGewph3MR9CdgDbmWYXuhqkmrV4JzNsz9hD-mmJQHgCRR_zi4yJTn7sD3aVA_BM5T5v-8HKrbx4WtyW27GjGauta9piPmMOAS0Hf023omTQN8amM17NF3iaqeqwgXo1AmeDH1LwrGd3m05c4TNkM8rF7Q4jMrTPbECm4-M3NE0FQU-g6Ei3_HOSqG_EWfpQR_GkJ4Hk4gcPv0aePQ96ELInG3vBQdqSYncMHWfvqmEu_uYT0otOjL2ogeNKrMhIPZbtHhlMafuhQVBvN4fr9bCtE0bPWpw5-4E1A_w9NYgpIDihN72Zy-Om2dvZFnWie_53DJ4pg_C_d5vCCrv_aTEo5_aHEKdq68zkFLierPMTnq78I2thwnyoofXMyu5ieS9ZpW8GrBmG4voKwyR-GvIrMLoD_bhWn7eQlqdYUkHukoUKicGI5Wl-57aHzf_PNon9u3EIR2hYjPgXQu3dLgQOI4ThIhTZjJ-Gu3ugBg-whA91gvjSemjN689GafuFMh0fkBc0CS8y6A8Oeytoo3foAo5hMTHPHwSbHHhwQNIaj3raeIav62kH3xu_trrhXWXDgjlyDSMeeJZ0VmEnSJChTs_h1ToIkjUFRk6QmKHRGwyYhmC7Ve9PjZT3PSTuzy669fFx-Co3pMSRGItYVLvmnvWjfxrsKMbWgNzL2w9QLgY-2TeTJI5XgCOH40IsF0ZsA3ng14Lcw-bILnM65ubF5M7rg1PW3nU_cRv0D83uFZv4Uk2CoYDTbpEnugoKcgw7b4SHHLYNooa2-DZb4kYu5kZJyZvUtT9fiqhuyZaF4tvuCH0zmuVhyVFktDK5QKvQZb3TIeuTbUDetKbziEfY2IbmDYscSwphEhVbDT6UkuLI9ICiJDao9Iy5XsdaDdhiULhssa_JYJCVg0dke-CaxpIZckPQcmTvgNM-Qs7Oc67XaUzSsJGDMxW2lk3dMZlsK1i9yiRHP0Vp1CRLs0PNMkgMRx_lFIn_efnvKlfn1s3QIVwgCgce_Ap9WrviDuWNxUIatFp430mTeP-76QrZcJ5nF7NEpl4ts93XCGW_W90aF4z52sfvgTw7fzm41GBe0jyNm6LtLhHXPuuD5nD22xju_iX4kcPGj1aDZadT_EMKnH7lwPqXOK8Ae1v3m2eLhUEHDvzjgy2pF6zxBRAMvchostMPFaxM6OrEEWZh6slpPiZZ-0qRu_Jo-aAZemr9qKKJD1_hrBRYtMHfdJm-qqMT8cjeLw5XAFrWQHyalJhyeJBRkAK3CibCi0VyKuSHxzRZTFBCK9z1igV-uskQx8yL_7gRQREoVOctgA1llhV9IR0F8pn2l5if23a2MCDtbDpx19jhq9IvFKVyt-Ih6sbddsYbXXIoV-I5dzzvKSECa9kGeTH7jPHraHJ2OBcuiIc_2Jw0kGT2Id4KnyfNdVw3L_73ZCqJj9S6HbTM0Bpr-RoJZBHoD2W7e6d9Up8YT8YOEtDZ0M7ZXZkNc6Z4ms56zJfmG4yZ-BHmsiqCbN9-MveHsp9ouI6yvmG_Y2VZDXGNcs6R6tbcTGZ_wyl08ptTCKrzdYSsEfwzqrQkspJ8n6zEk02oAomcydXgRvYQi2zO5g7IJrajuSgDQ9e02SeewJTGNXLUuuXYiyVjCxPpp69lko2xyb7tgb9OHN4TVEaJ6AhoX97QzUSyn-sQG_K9ceS2I4KhDgMi7NCUEvmW_QGJiQb-H8dKEdLFjf--CSPs1GNP1GbcbwVnSZNCckepll260VWGW5CUESPFIjUovDp0yE98JP5qtg_5tJSBjD4ImAhg8akYGphMHcp1YiOdt39DgUBc8C_CZR413iYxvNfnvY-ywDWLmKOA2VFR1rxB3xQBbrhC8OlRHFWWIfmK99Jb8Zfc=",
  "id": "rs_086b66efca9dd969016ab44aedcb0887d09e968755c3114b52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.02,\"left_z\":0.09},\"note\":\"The white plush is clearly visible now but remains well left of the jaw centerline and very near the fingertips. I’ll make a larger lateral correction toward it and a small radial retreat, keeping enough height to avoid dragging it.\"}",
  "call_id": "call_Kh5zb3Y2sQFJVSZB8zVh5MPa",
  "id": "fc_086b66efca9dd969016ab44aef487487d09404b496cc543de9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kh5zb3Y2sQFJVSZB8zVh5MPa",
  "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]: [-0.1661, 0.9863, 0.3367, 0.0383, -0.1825, -0.1486, 0.9995, -0.02, 0.8089, 0.6132, -0.3855, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3072 left_y=-0.0154 left_z=0.092 left_yaw=0.0506 left_pitch=-0.0358 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2962 right_y=0.001 right_z=0.179 right_yaw=-0.004 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.6735, 6.3248, 1.6532, 0.0122, 0.1343, -0.0122, -0.1299, -1.5521, 7.0359, 1.7167, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffebd5fe89c22312c2dbbfaa313409ce26e0e39ba9fb04e61ba3030dbf59d759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac30635f10bb881534b160dde64cf6d94244d1cba4bc7d3da6fcd6b37be36880",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d01ef177aff803cf52aadaf23f3b63b1552a68840b4055c59720a837064dd07",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.368 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3897, 1.3033, 0.733, -0.091, -0.3309, -0.2478, 0.9995, -0.0193, 0.8032, 0.6132, -0.3843, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3711 left_y=-0.0865 left_z=0.1394 left_yaw=0.0042 left_pitch=-0.056 left_roll=0.0157 left_gripper=0.9995 right_x=0.2959 right_y=0.0012 right_z=0.1808 right_yaw=-0.0032 right_pitch=-0.0122 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -5.4222, 9.5248, 1.7998, -0.1538, 0.0464, -0.0611, 0.2256, -1.6205, 6.8444, 1.8486, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4068, 1.1625, 0.448, 0.0635, -0.3489, -0.2718, 0.9995, -0.02, 0.8062, 0.6132, -0.3851, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3261 left_y=-0.0709 left_z=0.0962 left_yaw=0.0143 left_pitch=-0.042 left_roll=0.0019 left_gripper=0.9995 right_x=0.296 right_y=0.001 right_z=0.1798 right_yaw=-0.004 right_pitch=-0.016 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -3.7812, 6.8308, 1.5458, 0.0171, 0.0562, -0.0122, -0.1846, -0.841, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 0.9863, 0.3367, 0.0383, -0.1825, -0.1486, 0.9995, -0.02, 0.8089, 0.6132, -0.3855, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3072 left_y=-0.0154 left_z=0.092 left_yaw=0.0506 left_pitch=-0.0358 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2962 right_y=0.001 right_z=0.179 right_yaw=-0.004 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.6735, 6.3248, 1.6532, 0.0122, 0.1343, -0.0122, -0.1299, -1.5521, 7.0359, 1.7167, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffebd5fe89c22312c2dbbfaa313409ce26e0e39ba9fb04e61ba3030dbf59d759",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac30635f10bb881534b160dde64cf6d94244d1cba4bc7d3da6fcd6b37be36880",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d01ef177aff803cf52aadaf23f3b63b1552a68840b4055c59720a837064dd07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEr0i3edVth-nTlWxPJY62R7SekjkIMtNBFgHcPtrvCPbQK1hVgWLRm1BesuJbbWp6WIYd7jaTba8Gv2sm5QZF0cauJvhzRjVesm17UlowMmEDl_qhDythInpb0yr6gsWcEmcMbGXVO6yHRqL2EsYiEkXe-FrGN4emiPj8MCy9N889jFnHx5YE0Oywiie3mIcmvl0j2QfGo2DyJak0QZU6Dy6cmmdU4w4QlPJQW0vKoDnCtGd6zkXE9Gx_5eCBfYC4DfhGcPd4AiqlnJ1sCo4MiimIH8Io3HS6btH8VlV0DlF3O06I3eyMKrM1O5vTgceGmAcFotRfW7rjG9a4d5_MtrNietG9Yo8UVzqhgEuFDv63MAYUMdUU1_6wHR-VwZZbABc7Kfj_NcJkSTt03JPcxAlGF6roWX2wY3C4l5KU8u_s5IMCwCnE5vs6evPLtFIhQxRwRYULGmTSNSEYFCkGaviqw9MCjvYBPY8tLMr-iuVq_9msGAQ0Do0VLNgSdy6JOTDmrUuMFG7f9UoPnQ_JpAC9S3jXC_DB2_Ox7XxsbaAZFj_bn4P1HHv9vMZXAYcACcY8gfoqgJIWBVxiG8ydwTxy3ldsqA3kDWcoWV18QgfX9dgGRr0mZHQlXGJ9N4st7wN6Ptd0pVQzHOOhBfJRVDzWYnPRSZQOLHVYIOxrVutY1u8aJiOrqaGh3Nmjmad3KbuNXjipueKPZ7U3CHOQX5PgNKYTemkXqwyAw6y_YQMPZqpHxbDWFubFMQzPsvlXvuy21zURQjEKUCxhGMFeCQrNWyftpYuKDPIlgh152isu2bvCDjmz2nx9UxJjbhnzTQNvdFF2ZXZ911Gy8TsvDqKrSc5pudJ5GvoBgk5NrCY9ZfK6NYAApiqrropCcLcVIMsL8heOkpgkuuHEC5MuNG5ZSFYOLHo78dQrgNdYnSvfcCyZqxw5ynSh5X3ILsTRX5BHLdDqEWg_njm57jGdTEWSE3xB1y_VNG_HIRfQLnwAKBLRQQfIFNpY7wvf-MczDNFKeS2szvut59f95X2LC7L_Fg2S9vtzHUKLg2eqwZL8w5Dgf_NIfd7GqNwouN8IJ7UTCSAlPBo3s_KfG24YT9cUT-7YgqKMolIzub_6SfIbWHMpR43llJFvvZSD2wfF_BWL-5AUP81_TjaplcF3BJdNoPylDx3xm7sRlY8nAYTOqMXz7N5lNgETWPVPSkkXaRDSo8jxdqJXX2CYqgYRRemQtzZxMPZKkWIcfod2Q30KbdXOszu5WlZBvF-w_FhHUEi02fkUcX_Fa0cz0GwaL4dswBAWw4r8QWdF-fdm3gTyTEDeyO6mVnPE0C8i2jV25gtDaEhcU7LMvrNxgd_sZ4qOkUsl0Q_P4vHWithRtvWU9G6KLgPhfqvw5P6ePuPJiJyA7ZddnuexlfQZRV0wkAQDUZ3XCg-ozGFm_rERSJLe0f8kek6T-CMG9rAW6efmXm9i6L4PjpTvB_edfUcm9_2nT2pEYixgkX1Iw_f-60i7bUDhk8URQkDfuKxGLwUOW7C-0YNk3h1f4nwb9NQeXCKnpQmIc8oiQYSH8sWhRqxV4IPsRxxmtn8WNplGl2eyrddowGfWmhcYS5PYhbtV36aZYI2moLaCvJpK7g_57m5yJUU_z3kQOCcDXJPQNC20QHLKQ9ikMD0-sUFd9MHBz0W_xpMnqNSR_zWN58tgDsriV8I43FRUY9A5wsE29uA-xM_op5XFk1O05ysOSp_g0VkbQypflSE6PrI_PoyTgZU9KzNfoGxDaB2kLZQQfTZzHOln2vBqJG2DdLYX8EsEAU-GgisPQDz_mYfbp4lR0l43ltSXKeMu_PJZ90voQ2VTcGbffGg1r53IqKg5jrRABFFaXxTECKzgJR2_Y76On7g7H6qcoLsZ0xP7KU7RMBw9UHBxApsvnlmeRJV1eh-TicXx037Pq3q0DJqu7CYFLS7rMkYM4sjhqvl167urplua4vW8csjws0NSGOTAiFw2wYywE3iyRpCMF1YCTxb0aHnQLdVulCY5Vma_gYTIUfE79tXxE2I_B55Tn8XWgo7YzVu62BiT9LneEj28ncoTVlGxWzT5HFJbdVosaWYmHwfJjGBfqNxobkoPRg8mh-tnEWogxbxmpWjEBBd0K5BMufdFKx2kC63oIbB5OKAOCD7N_a",
  "id": "rs_086b66efca9dd969016ab44af1fc7887d0b14a820e85ffe73d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The lateral correction reveals several white/gray plush animals; one upright plush is now centered on the jaw column and reaches the fingertip line. I’ll descend to mid-body height while holding the current horizontal alignment.\"}",
  "call_id": "call_Xzvr0RCCuP76fxMb5nMcGIcr",
  "id": "fc_086b66efca9dd969016ab44af3649087d0b7e4d2edbdb25e09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xzvr0RCCuP76fxMb5nMcGIcr",
  "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]: [-0.1673, 1.2362, 0.2012, 0.4835, -0.2104, -0.1265, 0.9995, -0.02, 0.8139, 0.6132, -0.3855, -0.0189, -0.0257, 0.9993]\nstate[eef_state]: left_x=0.3193 left_y=-0.0129 left_z=0.0543 left_yaw=0.0609 left_pitch=0.0257 left_roll=0.0182 left_gripper=0.9995 right_x=0.2965 right_y=0.001 right_z=0.1776 right_yaw=-0.0042 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -1.7026, 3.5487, 0.9206, 0.1734, -0.2271, -0.0122, -0.0889, -1.3607, 7.0222, 1.707, -0.0415, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c058227a463379bf8f65ce63dfeaeea5a1cf34e79b690494afa1655ae38096",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a8aaa11e31b814dc6d968ecad1fb0fe24fb45f6650dc370408d4ac760d899f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eae1e5872691e4bf4cb6937ab65c25ad51289628eab3aaa9ced166ff360c917",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.965 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4969, 1.2732, 0.569, 0.0132, -0.3981, -0.3092, 0.9995, -0.02, 0.8051, 0.6132, -0.3847, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.34 left_y=-0.1024 left_z=0.1032 left_yaw=-0.0147 left_pitch=-0.0643 left_roll=0.0165 left_gripper=0.9995 right_x=0.296 right_y=0.0009 right_z=0.1802 right_yaw=-0.0043 right_pitch=-0.0145 right_roll=-0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.7521, 5.4222, 1.4139, -0.2857, -0.0171, -0.0171, 0.0342, -1.0462, 7.0222, 1.7949, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 0.9863, 0.3367, 0.0383, -0.1825, -0.1486, 0.9995, -0.02, 0.8089, 0.6132, -0.3855, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3072 left_y=-0.0154 left_z=0.092 left_yaw=0.0506 left_pitch=-0.0358 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2962 right_y=0.001 right_z=0.179 right_yaw=-0.004 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.6735, 6.3248, 1.6532, 0.0122, 0.1343, -0.0122, -0.1299, -1.5521, 7.0359, 1.7167, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 1.2362, 0.2012, 0.4835, -0.2104, -0.1265, 0.9995, -0.02, 0.8139, 0.6132, -0.3855, -0.0189, -0.0257, 0.9993]\nstate[eef_state]: left_x=0.3193 left_y=-0.0129 left_z=0.0543 left_yaw=0.0609 left_pitch=0.0257 left_roll=0.0182 left_gripper=0.9995 right_x=0.2965 right_y=0.001 right_z=0.1776 right_yaw=-0.0042 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -1.7026, 3.5487, 0.9206, 0.1734, -0.2271, -0.0122, -0.0889, -1.3607, 7.0222, 1.707, -0.0415, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c058227a463379bf8f65ce63dfeaeea5a1cf34e79b690494afa1655ae38096",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a8aaa11e31b814dc6d968ecad1fb0fe24fb45f6650dc370408d4ac760d899f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eae1e5872691e4bf4cb6937ab65c25ad51289628eab3aaa9ced166ff360c917",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEr33lLW4Tl84d1vXdIJ5F2hcXghYdaed5zx8fFpyHTmDO5V-qImkKDZR73QXE09tVrUlINRreQqP-0E_cqW45tag3QV_tm3fEMt48nIOFkk26Q5t_4d5l1Y1iwIAGpNpx7dS0hKA2K_xEOdnyi75-XGaYg3O2P1M82D28K3_peN2QZieaKNQLsjE70HXTgKchi28GxrrCMzq6GGYO-JCYYnaq_Yxltt5Y4FEeHJIJ5FOiHl2rdlhqCUp_VBOOYhJ7bfGP1upEYvM14eT1iWLaPKiDbgLv94WTUKr3fmxM8l8DLmsy51C5B5Vmq_qUG82TuSHfMu3NgQL8tjFtH75m3QxmW0N5-FPI7HzpFKL3F9qOzr2MaIDkvo1_KWMcZy9Gn0kme6jwdp0sNRX7n4mqCWOpP_nHUyagIjI7daEcJSUk3Ibi2aLhBxQB0_L74zort2MV_3bSuL6SqWLQ_zJvwc2WSuBnq2gmwXGbsRtv0P_mPBe2Re5BpwNLvd1jSABDIi8a4txNX0CQgopXXfNDICRFpwyj-l3lRb3EcpwNH-1ZziKU6D95l3qmVoCUzH8iaCFeESoRPtCTZ9LT1zzoP1b2ABVrwiBt4ioRSh5oMU7-SpPvnAKjPiwHEUfYnRCFBZCZlul6NsA04S87MaGvVnkt6-ALj2vLk4QbhJBecZiznjow6whjv9Er4dnZwJQHsXRqQkM_PaFL4rZGodtjRj-p1SJvIc8QIIB0FuiB6WeW9scQTz54VR422QW_vTzFOr9L_rRW8HJOHGcIpzwV5_WCNxzF4T2sAJXcEqHKLkVcTgT7AhMdaOYMV59gUu3MkcqgBMov4YKAILF8uXAnWmiKvXUujaEK2JmQe1wtk9a4HPY-ygz256Ot97kPl2WeJ4Ql9zOJnme8MAAF3wAqQrEDyN-kIXks8KY06sd1RFpJv1HoYL31B6RwmrXKBE5pFaZH_BT0PnLWVxaQvoAlhuDPHkuulkZqV_vRBDK_TMDEM6aq9uznbO-adHj-0AnQobEQurNQiPX6f8SaflGZddeu5uOaemNJHr6DsJQQRjOre-dWlcMUvhihHlbehYedGUp_rLM07nC-rdmTNJinALgiXkMgHUlcwO0EgWsa7jJK_d_VayXNBCsXT-MkBSGB4vlJTanoXOV8QCymRfxNFu_0b_-H0ZPEPonjdfsI4SlJa1EcU_9ZFwHstZCMsd58BBoNmd8b_U1vdqQ0yxa7C5hfeJWJIg-HTGpbvSmeDUIKexqxFRMHZq3_BWZLParVSEr05zy8MhQTW1d_xog-8ixbFtJXSj-wr3hNPTNB8q_g0=",
  "id": "rs_086b66efca9dd969016ab44af616e087d0bbca390c6564acdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped around 5.4 cm with the centered plush filling the gap between the jaws, consistent with contact at its body. I’ll close the gripper to secure this white/gray plush.\"}",
  "call_id": "call_Z5spmacLQohu2hnfDjlPFYoc",
  "id": "fc_086b66efca9dd969016ab44af6652087d0b135b36c1edb1d41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z5spmacLQohu2hnfDjlPFYoc",
  "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]: [-0.1669, 1.2343, 0.1963, 0.5369, -0.2348, -0.1272, 0.0078, -0.02, 0.8188, 0.6132, -0.3866, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3242 left_y=-0.0093 left_z=0.0646 left_yaw=0.0828 left_pitch=0.0776 left_roll=0.0176 left_gripper=0.0078 right_x=0.2967 right_y=0.001 right_z=0.176 right_yaw=-0.004 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -3.0017, 6.188, 1.2088, 0.1734, -0.022, 0.8083, -0.1436, -1.3607, 7.2274, 1.7411, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:943fa419a3ccc797713430abe69d23c04c6f955375240e5f1f2fbfb77b6bf9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a61fdcf8bf7494ef24f992a79be2f312810e546c103be9c184a3de4e9d0a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b113f809560b1916f3355e84a09de8ef19e2368502c8715bb7866f405bd5d34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 1.877 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4068, 1.1625, 0.448, 0.0635, -0.3489, -0.2718, 0.9995, -0.02, 0.8062, 0.6132, -0.3851, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3261 left_y=-0.0709 left_z=0.0962 left_yaw=0.0143 left_pitch=-0.042 left_roll=0.0019 left_gripper=0.9995 right_x=0.296 right_y=0.001 right_z=0.1798 right_yaw=-0.004 right_pitch=-0.016 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -3.7812, 6.8308, 1.5458, 0.0171, 0.0562, -0.0122, -0.1846, -0.841, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 1.2362, 0.2012, 0.4835, -0.2104, -0.1265, 0.9995, -0.02, 0.8139, 0.6132, -0.3855, -0.0189, -0.0257, 0.9993]\nstate[eef_state]: left_x=0.3193 left_y=-0.0129 left_z=0.0543 left_yaw=0.0609 left_pitch=0.0257 left_roll=0.0182 left_gripper=0.9995 right_x=0.2965 right_y=0.001 right_z=0.1776 right_yaw=-0.0042 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -1.7026, 3.5487, 0.9206, 0.1734, -0.2271, -0.0122, -0.0889, -1.3607, 7.0222, 1.707, -0.0415, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1669, 1.2343, 0.1963, 0.5369, -0.2348, -0.1272, 0.0078, -0.02, 0.8188, 0.6132, -0.3866, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3242 left_y=-0.0093 left_z=0.0646 left_yaw=0.0828 left_pitch=0.0776 left_roll=0.0176 left_gripper=0.0078 right_x=0.2967 right_y=0.001 right_z=0.176 right_yaw=-0.004 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -3.0017, 6.188, 1.2088, 0.1734, -0.022, 0.8083, -0.1436, -1.3607, 7.2274, 1.7411, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:943fa419a3ccc797713430abe69d23c04c6f955375240e5f1f2fbfb77b6bf9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a61fdcf8bf7494ef24f992a79be2f312810e546c103be9c184a3de4e9d0a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b113f809560b1916f3355e84a09de8ef19e2368502c8715bb7866f405bd5d34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEsGrsUCV_81uyw3iqh_OEkjMnzYC7dRiXEhbqGVSx_1kHL_Uf8OWQYO5RVPtyYu_Rbgtyw6XaJ9RJpdJdSuY14dJRwySY74hijwxwlp3-a9Q_t0U-AKDVQpdkJgtKvZoeJeGxrZS2P1EcUjSVXpPo1-pHroZzZRnJaMN1l0jqJta4SnLodjjj26uc_qSq9DYunlAr_jP5Bgytb8AT6AWO1KaRj3w2EQ0IFKHWsXNXkpLoQ67GSdHpvGLvwQFCMHBksCTNpCtOo9ooPoqvZn37kXPOmgR1j5SRH6PY9udkMB5XcF-QSq6XPsMyJX8R68pW4xlvs6EiSp-IWCgcPg3dLJ_GKOFsZjWdUF4DGfwxdzh_BGMXiGkd8sw49cZNHpihcOP9METqRi92BnsjqKpyptDAA76EhYjhQRWB3aEXMRSV07TFN1k4THGn9VS4yDWL8IBqOOUIFKf-QUhgNFPVgZ2t-wKxtUWC91ll5acqLLpxGAmTtKPm8Lth9i3F0t_beZje3uDV1bNkGZmyhPh828CSbKGVYYS53Sxt5yaH6ZscF5AfvTASEs7KX8-PoqR8i_Xpv2zpM1c1JnhR9oMEu6va4ubmhQOAFSL9JNBX8ZmgRUvKJwjrPKDKS8Dssn7PCadvzjajeOgcZnGv4My-a0zUIbv8HbqgHkXVF25Jd41kxHWukYN7jW9yOJUrl7U1V2OHZURQPnEq-4k773klb5xTPHai7C2sIIs25K2lVQ5gA0Gwb0ztjchnPpsSAcD33wbVubRGvN0bBTxnmRKg4kcI2gBVAhAX3GLnzxc0wg6o8-Jo_8UagAgGQ0hx2M1OglG6U6eUxsI-9W5zSs01a7RHD41yQNZ-XSaTZowHj1uG56H_Y1LQKLcONE7mgtYRynWrcY30cOuA3UmGjtuIs_aFbQZ2_z6uKyTSAR5zWEA9UDbh_adFMIFN5I97Yvl8vqUL-6c2is5eHRug9pbY9AajPygFRyGpALbY7V7hzdAWciM2YzyizBdOEjmTWXuJH2rNg0cWTPAY1I0uzji-DsPI5J3-L9f09qtHzGFgj5jJcijkwGtqVqGJHtkXcCQ4llIqSi24ScwjOcjC4W6KWEI-58mkIBDw1Wvlyl7gdMKi-8R3-XY13B_LpiGaMVIohXDr2sm04beK1tATQ0w_SY6Tp40p9nI9ZlNmocqYd9Y2g3mf0sOCS3VR4rrLPqUAgL7W8IdEcfj1_UIVU1myNj8Kv69qorFR84uDjqcuwy9VhmR_R_eKKoJAZ5whnL97Gpr-GpDo4jFWlmeqC4O41qsKaW69kAAu8iLtmsbAG0loZK_L3nyvtwJcoEQfesUG0hCm2UhwAYkwqukuNdoyex09GmjPM5ELsc6-yJ1D1teRo4jCrDAXwN3X8N672Vaoxjz-TRKOq0lspqk5rC6sr1NE3evPhd3lejViPxJgkuRcWuHEKwmfDKpzERF4OgELqcLORCqNnDvkHdocYs5OGEyHYPILNdJr0bu0JIOS7eNBCLAiMe_InSFv9wTqm-TiqWYXfgFfbHKmoWEeDfOYwQNgUWgzRUmK05JN9N0LBD5XEUCHiynpfmhRc-uVcsNRhRrz4hmNTnFet8RXXnNev17Nja5yuIcDznBHROi4LJ2O7T4me23x0PWQ5Cfu-9upF4llqFinZ8XslKDWmXPra4OpJSYYYFt9ze_K7wVH5kl14HUEzF5iorahV983M-GTED6enwJPU4JwC8sswoO6T4OstwVJK7_DP8MMlsyk0OTjNOrgPUgpPLEgAp_4vp7xiY0APvBxjDAk3bAP3EcqvKwKToBQVkpB4tmlp-Lxp7bV8ktBD1_NgLpRoy3LsSioPouXWvAIs1qKoStonncyCFnpBfk9eK47LoE2ClUffqXDrJcl36NHTN9sSJn4RQagXj_dgAj_gbzAi4XHI6NQDX7l5zAFJVmJT-0zbhg5-Wlyf5c-MLps1FHq7uYTrr5l2EV1rfREVSDfxZo1GCIN-G8rI1mKEbq4-VykY_m8tSulU35pwui-J0RFSrovrZqMi7c3TbJd-xljVLUzOC9Rnrhu7EqOIZC_pH4-nLZsYynRguTPPgNOpMK5ZBAaNiO5pVFOU-wJQPp_f8bn_El2MOR96kzluaHVWxX40xha21dDwTSXgE7TNCPT75SDWsTD0_E0vLr1d_VUbQ6W_SyuBpqfe8goe5rQYTry4xt2JX27Ganug2-2NzHd9_jVHQN75P3NbulO0QvAMNjUF3KeNmpqPObV_iBAusOIGbF2hUwECVme4Gtsa97djms4Wx1F7YvSsbcxwNMyUHe3NZQNDQbViHHY0qVGNS4vC9dTcSsmB9t7waQwg9tioxcjwPt7LGY3dnt26cr2C7duBlkCmmk3cZLjj8tl8qpTgZ0EaLI1IWP_KDIjoA6G0moJ5UvqSFJcKWdIsCwIic1VXyVJ4AOAN914nih1JSYNxxMdKqu2_mGWU8ndgQSvBWG5KXyxr6aE-LE-Bk3u5vl-mzD0W84Iy-yPkh84tjihBHZubmBNziAyboCiNU0WM_vAGvP0B4LRuN9x3QhxxxwrGjsmtYeOfuL1-ZXYl3gkWhwh2o91u-qmZk3fr7lMdT3x-XJ-5FLRjAOKrM4cFo9ErydX62vY_s1zlAAxSm5hxWwUM3D3kjrh2_BOo71zFF40lY2RyNUH_6NLDS3vL26wdJBlTWOg==",
  "id": "rs_086b66efca9dd969016ab44b02fb4487d0a2a52b947a9c732e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.345,\"left_y\":-0.025,\"left_z\":0.06},\"note\":\"The settled gripper reading is essentially fully closed, so this was an empty close; the plush was still just beyond and slightly right of the fingertip gap despite appearing centered. I’ll reopen, advance about 2 cm, and shift slightly right for one corrected attempt.\"}",
  "call_id": "call_zGDzZ747t6aYZHPAtsmBoU4o",
  "id": "fc_086b66efca9dd969016ab44b0592a487d0a5d020bfc986cb76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zGDzZ747t6aYZHPAtsmBoU4o",
  "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]: [-0.2264, 1.3735, 0.2523, 0.6289, -0.2924, -0.149, 0.9953, -0.02, 0.8192, 0.6132, -0.3866, -0.0189, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.3433 left_y=-0.0232 left_z=0.0634 left_yaw=0.0835 left_pitch=0.0939 left_roll=0.0222 left_gripper=0.9953 right_x=0.2967 right_y=0.001 right_z=0.1759 right_yaw=-0.0038 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -2.6598, 6.4752, 1.5604, -0.0659, -0.1538, -0.1929, -0.1299, -1.4427, 7.0085, 1.746, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96430c0de3cb50aa44c802c643e6eef171f5f2f8fc99e18e8c3e432d58c9406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3195615855b5e4bb98b23fa4555342dfd8e1d2e22a5c7aa169446ae269b9b24c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256020015f44b850895e1dfc8db15961b80f4d77b0ae4bf83e18146776fb199b",
      "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 · 5.942 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 0.9863, 0.3367, 0.0383, -0.1825, -0.1486, 0.9995, -0.02, 0.8089, 0.6132, -0.3855, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3072 left_y=-0.0154 left_z=0.092 left_yaw=0.0506 left_pitch=-0.0358 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2962 right_y=0.001 right_z=0.179 right_yaw=-0.004 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.6735, 6.3248, 1.6532, 0.0122, 0.1343, -0.0122, -0.1299, -1.5521, 7.0359, 1.7167, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1669, 1.2343, 0.1963, 0.5369, -0.2348, -0.1272, 0.0078, -0.02, 0.8188, 0.6132, -0.3866, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3242 left_y=-0.0093 left_z=0.0646 left_yaw=0.0828 left_pitch=0.0776 left_roll=0.0176 left_gripper=0.0078 right_x=0.2967 right_y=0.001 right_z=0.176 right_yaw=-0.004 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -3.0017, 6.188, 1.2088, 0.1734, -0.022, 0.8083, -0.1436, -1.3607, 7.2274, 1.7411, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.3735, 0.2523, 0.6289, -0.2924, -0.149, 0.9953, -0.02, 0.8192, 0.6132, -0.3866, -0.0189, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.3433 left_y=-0.0232 left_z=0.0634 left_yaw=0.0835 left_pitch=0.0939 left_roll=0.0222 left_gripper=0.9953 right_x=0.2967 right_y=0.001 right_z=0.1759 right_yaw=-0.0038 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -2.6598, 6.4752, 1.5604, -0.0659, -0.1538, -0.1929, -0.1299, -1.4427, 7.0085, 1.746, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96430c0de3cb50aa44c802c643e6eef171f5f2f8fc99e18e8c3e432d58c9406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3195615855b5e4bb98b23fa4555342dfd8e1d2e22a5c7aa169446ae269b9b24c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256020015f44b850895e1dfc8db15961b80f4d77b0ae4bf83e18146776fb199b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEsJBavyvaFh-K_vcb0nCqLMORQBWGzSjEv1EHPZvdPQ7E3pt_nMzNt8KGurdRWap8AOa8FYgQAgqwAx-qcKUpDMbm-9_UCgIvVcqbrYb3-lvZHjv1LEbsH39AbeA3hJtiihnbaDP5JS_ESeWphVff8iIp3n_4nSzEQua-tkig87bqqNOcJ_vhgb63_ZcjiQIBAvFbrOPan-WSqjhw3H4Zzv4R683mFKAHz8ex-_BY-2fEGlfm_oIOapEhfgFX7QxMsPBkJIX8y-IjGm_lQ_WEDKU1RPLEdXdgq6bomvlDUkZCDsoaavOALevHk0XocwcNQE9x2f1EAqMJzr_NBEAqK41yI2E-nImTMAcgKprkdVLQ1bErBXYCuH288QySxpv0HkAfWYvH2Fp2suj_R2q4yWK-fCbVTjbScn2W-Q1tiQ1mhb6wMLY1w-dYMZvcOAsMzxNDXFe9NDOdAo_RcX7sYbAgjX7NS8DHGzCuLghbcZ50XZ15JBI0s1sxBvLxNKq5k3UoJMpBzBXB8BLHJq97yfTWJnOrXciyfKccyHiThopBySA6aSWH_7JdmyNHLAibq-Zz7OXrEKvLwO3nHojxvj7hakDx0plUvp1zHz0Abdngq_RjzjO3NIQwoY79Wd-QBnyUvTuT3MMhtSVPob91QobrTownKDaUAWrgZa5q_1M9ov1NF03F8ngGEh7T20g4BXzeeHtBVQ9u4uUBnvIZKW1tKAtyEaR6EA8ZTnm_WVsfx6mbdz1QrBR3DnkplFJlq_mX1fcAK4ByHf7KyGPfTxorjFMcSIDche4aZgtREttlGZzH7kqTw-NRA9x6OSdmRs4riQQbAIFM4DHPkxFkG0WOHgY2c0nxTty7soo5Yg-sG_vOfBGo8xAPVWY36AFGjbcOUnV5M8h7cGVq-o37zR9Obn8DbzrCTIXQm21KfmDV3U2o5LQtklnUJE0nrxF7iElnoko7TDWKxRq5CAGDKH-G5oP0Q8JtQCsXIbMGlmIiQ3E34O8CkaXHnWWrTNhGkktksx_IO6qnTAi3Ih5ZGqmTjg0UF6l1mIF9MdL8JNfxXd8cE8cItCAgXipepDo02-BZZuwd6elnmgVSxbZbLtvIHj38SlZIEIGSABWQs4UrqQdBSllkNgEGzWto45yn7t4fv-9ghaV_4KrFvVgrWQUvSCzExz1qTCm1oGC4HoqWgkk_bpIhJ1HmBQET4PDnMxenXY3IXZKg91LyHvCrmeEnnudEeFyjprPRfhS78FGD_O386FBmuRMI5ziUac5Z-W",
  "id": "rs_086b66efca9dd969016ab44b087ef487d0bf00d9e8e776d3b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the correction, the gray-white plush body is centered directly between the open jaws at the fingertip line. I’ll close now for the corrected grasp.\"}",
  "call_id": "call_m9HyGdIDKG4BJjEt7HsNouqU",
  "id": "fc_086b66efca9dd969016ab44b08a03887d09898bd48aa70d068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m9HyGdIDKG4BJjEt7HsNouqU",
  "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]: [-0.226, 1.38, 0.2543, 0.6445, -0.3069, -0.1497, 0.0106, -0.02, 0.8192, 0.6132, -0.3862, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3452 left_y=-0.0209 left_z=0.0657 left_yaw=0.0968 left_pitch=0.1066 left_roll=0.0246 left_gripper=0.0106 right_x=0.2967 right_y=0.0009 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0301 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -4.6154, 4.9709, 1.6044, 0.0611, -0.0122, 0.8571, -0.1573, -1.388, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5c0bd69b3f5f523e13290158189384cdb648a40926ef3513d7261c41251809",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebc4ecfc706d0ba1cc2341005fb1568bcccb751d7d2f3caaf41329b160b7b5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1643d4dd9d27a55f7d3bc8647c305429d4c9ba88dda277b2883f91e4315c67d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.946 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 1.2362, 0.2012, 0.4835, -0.2104, -0.1265, 0.9995, -0.02, 0.8139, 0.6132, -0.3855, -0.0189, -0.0257, 0.9993]\nstate[eef_state]: left_x=0.3193 left_y=-0.0129 left_z=0.0543 left_yaw=0.0609 left_pitch=0.0257 left_roll=0.0182 left_gripper=0.9995 right_x=0.2965 right_y=0.001 right_z=0.1776 right_yaw=-0.0042 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -1.7026, 3.5487, 0.9206, 0.1734, -0.2271, -0.0122, -0.0889, -1.3607, 7.0222, 1.707, -0.0415, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.3735, 0.2523, 0.6289, -0.2924, -0.149, 0.9953, -0.02, 0.8192, 0.6132, -0.3866, -0.0189, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.3433 left_y=-0.0232 left_z=0.0634 left_yaw=0.0835 left_pitch=0.0939 left_roll=0.0222 left_gripper=0.9953 right_x=0.2967 right_y=0.001 right_z=0.1759 right_yaw=-0.0038 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -2.6598, 6.4752, 1.5604, -0.0659, -0.1538, -0.1929, -0.1299, -1.4427, 7.0085, 1.746, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 1.38, 0.2543, 0.6445, -0.3069, -0.1497, 0.0106, -0.02, 0.8192, 0.6132, -0.3862, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3452 left_y=-0.0209 left_z=0.0657 left_yaw=0.0968 left_pitch=0.1066 left_roll=0.0246 left_gripper=0.0106 right_x=0.2967 right_y=0.0009 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0301 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -4.6154, 4.9709, 1.6044, 0.0611, -0.0122, 0.8571, -0.1573, -1.388, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5c0bd69b3f5f523e13290158189384cdb648a40926ef3513d7261c41251809",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebc4ecfc706d0ba1cc2341005fb1568bcccb751d7d2f3caaf41329b160b7b5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1643d4dd9d27a55f7d3bc8647c305429d4c9ba88dda277b2883f91e4315c67d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEsQnFVqcR8VfXf65WmakwKAgBRpOpFZFlth8gld5am9ptDGZgUMVDJrU8gPSCgdqVL0lOFbee_BzlBGn0loAmVE8jzd-_hPe9Ns-YcQC6XdUv4BUXM_66ikuFc2JQhUpS5VhY1X1YPlR5Iwqc48puC7orBcXNNClbsJ4wZ_KLHW2yluYaxalylkEnm8kWFrKpAFV0fuqdPBH7HE-RrQ5EHuFOw5EZ7kmyi1yyAkXOX6ZAqYZz-m8fMxbrusH-twmq0SW_Hpm7ALfn7qZnV4pp9iIeD_UsXa35xRsERKcq_G6g8xmDfIsrXFMYWzCv-W5nUNDmGgH2wdX2OtyOcWNEYJjeL4Vkja3sGg6TYZezvOzd6p80ENiJGKm4y5KaNZK_e5W8Dyf52Y5mn6R5iqZ7p4m4xl8ptfIYdlkSSeU-8gFfAxgawkYZz-dCK7l-RQJV68jurICDRQs0XV_aj_bJYRepJ2EKpU0A28czF5dmmVg4pmq_CcPAqaoWMXH3soo1jiykfoqQzcmmRp9xnaeW3ZrTE60QB-vR10l5Hoo4w3N4M_u1ElRaIZtH7ixYEGSy7_3btDH7Qra1N_80O7oBGcOmVgOcM46SR-KxY4--yVuxadS6kCZ3rg1gUEB9T3xSJU9NTlkFyLUHxmm46TziqNJOqXkwL9s2ra_e7OtfBTpOr6QUsoR3iohR8x7JgYhSPKoWKYLXgsS4OZ9vLt9YB7K2xxnuIIpq_8ak3pl7C3D0LV4kj1fG2ovkCbh715G5LarneVyKwW2JFQBAvidasrk4n46AG5wU6-sWPOMwXdRcHllH7seeGvU3CeffJqsgvrxTbMd95ZuG8AWaXv2Wt8RojD52SnaOdlB3GQzKEvR_EWmiegdE0fkOIcyZUw5hwjpeQkXccvsaCqiWew5v7htMV5-HLjfX_QK1rDagATKgrAttX6w6F9-S6adyxd4VJa-7wMSjhPOyYxpN-6H7qhtflvNhHP53FA0Hqn9fEYzFMWkR0-LYe84uengOVNGjv8Eifyy6oG42zv6Gjraz2MkI0bWKmF6LOKSlZbyUZhpfvQIOfUtzI70yc4g9A9PlvdCHr1PiEaJ12fwaxF-SZZPUwYjZH4pK6lgpdkv_RXIKAqjnPuDpLxylMiNZX91yEWafbz0VNxdjoVCvWZKYXqpVkvgZ2jQHZ_zh5PBID6_5TTYuBBBheK_d-Jcacr3KTJfosObpbdIKJHtrLocqdy8mxnBeWW8vxdYrZUO3ieTHJ-6A7mWVn4ZcL2n3BBMTmkNDLDJ_wWohj9SuM03ppC3udHwsws3bOtGpGDov7NY6c7T6xOC1AZ0Fr8q1EENT2UJYJKADttweunMnRmBwlEW5ZS0iOszQJ7wpovzEGZRBRmWe9unJzDatLqMKXZXHeiWgOcuGXVwivFAwD6H2-bYwLhTgtymM54leXXlx-Q7qF6RDNJwW1Q18O27sAK4omHLGlAdHxHTj8mDs2dnCm77RNy8h3-EdZ0dF2KmCs_QuEAQBIYqqKtjAepfKe9e9A5DzpiDXDa_71XYy9Om-u2fxdJfe1MetBTMi-n8lRJ0ovEYA3oM6UCjWyv-DTa2mM91GHksz_kf0bO7XH0uVW5yzz-FrTDgV3uhFK2789y2ee4B7jAmTjHLBAOvu4ler3VvR1rltV4Z3dsAuOv6A1DN0i0Q90da2RjUgCt0cMhQXo9KXEensmzF97CTQQ3fUrmAfPcrx_D9rob4KlTDz8uLjAGpoGi1jnG4NsIosIRQRdjLlN8gAiJAQswF8vodVvpxtALwx9SjTfIKjxtTKRoDl1D80hyD3JFN9yKKcOZHkrTDdpHqZGqQ5qPPjibp4ugQDVidkL3ieM_4Ag7i3xdzfZndaJE80EfrZekkpLj-USqSLlRgJmuAIju29GN8gW7iLDZV5EgRkP00qrSsg5gFS2MjkfyU5h-37ytGZ638gDDlB-lkGqJPScZsAdVjwZlaxQl9heleFxlSVngjoo2owYzJwoUm2ZmVeQx8yD66YiOE8Qder4kik1VSGt00DIp7s3Y7k0klTMDNHTabDt0KiuVcF4kmDEyN7gJIzfAWUB0j6VyBdUVTgedvyiTcFdhjT9mMo9PCwVksrywrcMmR0JLoVIXYzNfh95XBE8j0UsskfZnvNxAEvGzUaDAIswJmb3sQcTYjbveIdWaaXUz7yN83ED_d_gSKaVVxkuNoA5lriUINoxSW-tH_NiuAFaLobYXq9-ExJR-8lq_XI66ODCqgnWYfJSb83R8IxmUKuxUbE5m_lSeKjZkwcj7mGtyX-I79yZpIcVjWrh-pz8O1N42JzuZP_NaZRWcKCjDVlZesFf_tiKD2MvumUWhG9OnNl_UygUY_WdT6ptdsKZa-RsdAbwvicxySk2YIGl6tEKjsSESh4S6RvYyZOIusSpd28FecPaP9yDRKknu6Hk-wGgpCip_TGpJSfFF_7EgX4Uq1aneGRMqzPajOyyHKURE7ka1eK2CJGpYQSSTa1cu0OFOq7AHbuWdCQdhDitMLqLc6pjZo5zGnb2tx1c6_eNd0ujInVOTvi9oIXrDyPHLfUj2B8xKQdqld0xX5GNSTxJzDvBdUiK2G5UBlwzQcpf4b7S1x5395W0TUpOVVynlTuqrcJdVwpv3wsL0Yb7QabalU2kQqL_Jbnznuzeav11y_zQY7rgqtm3RcHZVbhO91RuNxNBe0xBVn6xLEDWoxNkooghnLkaCjGe5aOZjTPmqMnuG1jZKmiNPF7kC8b-xBfxWB5OHd0GYWSYnN2n2aOVgTuw89vthM48Jgm_XYACdVY1LRcMAmzXwp_ZS1AzL0xChTHmvi4Ow9cdC5DjBrfmRqFi3uGCg_M-ELFgmxfjlE-L8qtvSTR1oQ6dTMVSvZlEwma1pAyvhZ6_gdxNhPFq7yCSflMp1e1C4EgBnnvV9A92rmZLp6kIu-_AdbH4ZPcHmc8gQi-tzs2HLU17Clq6FiwWzakWOGaYma7B2-FzwE9F_BWdNdmf24Ykt8roUzg==",
  "id": "rs_086b66efca9dd969016ab44b0bdcf487d0bbc2502fefbb62ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.002,\"left_z\":0.184,\"left_gripper\":1.0,\"right_x\":0.32,\"right_y\":0.29,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The second close was also empty because the jaws landed in the narrow gap between adjacent white plushes, so I won’t repeat that alignment. I’ll park the left arm and switch to the isolated front tan spotted plush with the right arm, which should provide a clearer grasp.\"}",
  "call_id": "call_uth3gjfNJB6FZll5PbUgxcaK",
  "id": "fc_086b66efca9dd969016ab44b0f480487d094f32c9b635ad0bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uth3gjfNJB6FZll5PbUgxcaK",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.1471, 0.757, 0.4797, -0.2123, -0.2459, -0.1238, 0.9981, 1.0088, 1.7027, 1.0733, -0.2977, 0.7525, 0.6865, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0031 left_z=0.1706 left_yaw=0.1103 left_pitch=0.0899 left_roll=0.0228 left_gripper=0.9981 right_x=0.3163 right_y=0.2825 right_z=0.1189 right_yaw=0.0221 right_pitch=-0.0617 right_roll=-0.0324 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -1.6889, 9.7573, 1.7021, 0.0317, 0.0806, -0.0317, 0.7179, -8.0752, 8.5812, 1.1111, 0.6667, 0.1294, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24248c2beab7b469edc85b2ce159f5eb3e171a5afbb802db04c4b5a00004b8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8510106b45cc6374e6010d2fbd769a030bb7f34106bb91fa4bfdb95bb9fad5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32d43e6809efff5a3136fdef9bd20aae111cd768e5c7fced5a4f15f212ebaba",
      "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 · 2.413 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1669, 1.2343, 0.1963, 0.5369, -0.2348, -0.1272, 0.0078, -0.02, 0.8188, 0.6132, -0.3866, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3242 left_y=-0.0093 left_z=0.0646 left_yaw=0.0828 left_pitch=0.0776 left_roll=0.0176 left_gripper=0.0078 right_x=0.2967 right_y=0.001 right_z=0.176 right_yaw=-0.004 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -3.0017, 6.188, 1.2088, 0.1734, -0.022, 0.8083, -0.1436, -1.3607, 7.2274, 1.7411, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 1.38, 0.2543, 0.6445, -0.3069, -0.1497, 0.0106, -0.02, 0.8192, 0.6132, -0.3862, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3452 left_y=-0.0209 left_z=0.0657 left_yaw=0.0968 left_pitch=0.1066 left_roll=0.0246 left_gripper=0.0106 right_x=0.2967 right_y=0.0009 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0301 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -4.6154, 4.9709, 1.6044, 0.0611, -0.0122, 0.8571, -0.1573, -1.388, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.757, 0.4797, -0.2123, -0.2459, -0.1238, 0.9981, 1.0088, 1.7027, 1.0733, -0.2977, 0.7525, 0.6865, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0031 left_z=0.1706 left_yaw=0.1103 left_pitch=0.0899 left_roll=0.0228 left_gripper=0.9981 right_x=0.3163 right_y=0.2825 right_z=0.1189 right_yaw=0.0221 right_pitch=-0.0617 right_roll=-0.0324 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -1.6889, 9.7573, 1.7021, 0.0317, 0.0806, -0.0317, 0.7179, -8.0752, 8.5812, 1.1111, 0.6667, 0.1294, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24248c2beab7b469edc85b2ce159f5eb3e171a5afbb802db04c4b5a00004b8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8510106b45cc6374e6010d2fbd769a030bb7f34106bb91fa4bfdb95bb9fad5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32d43e6809efff5a3136fdef9bd20aae111cd768e5c7fced5a4f15f212ebaba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEsczV3XYcGfRXeSQw4wTlD1NLgQGQTiYnFsSYIL6eEG4mRJX8cZSQqXflYedfW9OcZgmrgwRwV0yemU_SwIAzq347WIyNwjF6vYqriqF7bIKws_5lb9swSuOavPBTCQ2M164GtOU8XbsYzOzl3YzcWvNqMrIWWmAedcYpyTvYSZUquJ9HeNFHXrBGwvVJXuEPkHf4yOFOixkSWjBF53lJYNYrxMxefHfNkAT77tEU3iSWZ1tZA4XOzCRGaCUr0hVlw4_rqLTppzCI7E9z9MAf68n7z3qOWcnJ3Gdr_YiqPPnxtQZ81L5bEkVj9YNo6IrQKPYbdhbHHmcy8f62SPB8tw2tfrxc2ro9z52xlktX27Yp223bQS_v825FeEuTlwwBFLS2N4wR5RxLTcXcXiqN9CCaHxodNT3nCTR0o2evLBHE3oCKJ_uOC2Uw4ATeP_ZyeZ9SXPnV-oeU3VPUQ0ZZwSrgKFjGW79jco6sLY-Ph3pYHjboik-1r2CUE1iEHtc47j10bf5YxBkhdB0lk1JjtYizDOP5k4zYN-dB2ySlqYgVf5WRmjeVfnOWNsIiVZwFsGhfxQSR9nw6A_e1InYrzE1lfXqEwg-dbPYMNuT5g3_FVqZLB1Ig7JUZa5wCqBB9OZ27VuXoMe4y9YhiqMOaMxJYyHjmS_UDB8e2xPLqJxvnF48jCqFMlQvnaEK0goTZ7whJvewEBiMvqV3zb7FKqoQTTl3huazkMD_SxG3x8G75FgqmkOPrdyH9Metj2U0T1AQSoZe9jD5YURB-b9VwfG8ZnoF2j0SX8hfotl4YvSTIric5poKESs4WjpJSXKgfIgEkqEA8XbapPmCr9xEZ-JV3Lom__5174BLp5niSvBbtzUUuGS7MqFytGO0uGKLE8b8kiQEW3f1lfWDjNZaVLXJu39SPIOJWfJTD8ygp1b27hg6ZIMAIJmrSHDqjiTMgJ0hWNOjDv-J6ntmXPiYU8i6g_2YJnk5XM4MyP9bBRwnLABQZM5aIe42fmPMoEmqv7ZE0uz9qxYiyZ3jgusvFmaGwD5ul6D3vl94IhLKUX4pSTbRR_e6owzoOIiRg6UZpgWMaC16-BxV4CWfs96gcXyOPwKtU2V-KpjbNXT6pfn8lXTWvq1-WNPSGTZ5iY_Je3z7vqDKCLU9IFgDrheyDlsqalJDDZhkKgWqry6e5iiLjPflaApl_PPvv2Ru_ybBUCetSQOnimFtwj0zpDdA9JBY2E-nc9pdSepdCTQqVQFz97Yr_fDaeLMH-O8uR2dDaLNw7vWOq3icEhLWW3VRrNTVwV4Gyf_BM_LoS9wEV78wZa1b0WVJ2UfJX-m_1p-Jf1YO8fjAYw3ybiZtflRcmVLlIcQUkmqfwRS-5f7EaT0r3mFv1KxD6IeaO5EajLyRGvi2cBytR2g3RwLIkAMRWtJtba8jExwjzlrdM91Se_YHqQNksMVWsIPRzX-Fm8zpEu79ygYiz5avC_gn4XVvlxrmyDdTfuSH6opi0di5qa4I9E9KDFp8ia0DLRQXvjB1G5J_gR3La7hVwWt9vhOwmXPui5-3tDfWxawZXNijrttFzqVUX5SdEXcaQ0jrM5Sl1pPKZhmlTywCwhyOMeY18N_Ak7PgkfoGNf183t9UiGwatv9Qcd6_5dB2SObKlyBRaIOeRo_KVs0AQitcznkSEgWs6me-L8iG1Xr1XRLVAIYCgg=",
  "id": "rs_086b66efca9dd969016ab44b1adc0487d08fea34fb0504aafa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.32,\"right_z\":0.1},\"note\":\"The right wrist view shows the front tan spotted plush very close to the fingertips but offset to the left of the jaw centerline. I’ll shift the right grasp point left by about 4 cm and slightly toward the base to center its torso.\"}",
  "call_id": "call_Forw4lp3JZsb8K0uMtfSnVk6",
  "id": "fc_086b66efca9dd969016ab44b1bd5b887d0bdc6d68100e0e04e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Forw4lp3JZsb8K0uMtfSnVk6",
  "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]: [-0.1463, 0.7609, 0.4843, -0.2386, -0.2394, -0.1268, 0.9981, 1.0664, 1.8221, 1.15, -0.2951, 0.7818, 0.7422, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.166 left_yaw=0.1068 left_pitch=0.0644 left_roll=0.0236 left_gripper=0.9981 right_x=0.3115 right_y=0.3142 right_z=0.1013 right_yaw=0.03 right_pitch=-0.0621 right_roll=-0.0338 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 2.0928, -0.1783, 0.0024, -0.0122, 0.4034, -8.1709, 7.5145, 0.9792, 0.4078, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd043577075fa49ae557c227fddeef6cfbb878a9ff800f222749be745fe2eff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e521f94ae2fe4732122772c442bc974175c06f14cd15f6263b54a6e3a60169a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9debff1e5c59b395858d27ff44d03fd5403fd37061b40d87bfe038aeb2abb40e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.804 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.3735, 0.2523, 0.6289, -0.2924, -0.149, 0.9953, -0.02, 0.8192, 0.6132, -0.3866, -0.0189, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.3433 left_y=-0.0232 left_z=0.0634 left_yaw=0.0835 left_pitch=0.0939 left_roll=0.0222 left_gripper=0.9953 right_x=0.2967 right_y=0.001 right_z=0.1759 right_yaw=-0.0038 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -2.6598, 6.4752, 1.5604, -0.0659, -0.1538, -0.1929, -0.1299, -1.4427, 7.0085, 1.746, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.757, 0.4797, -0.2123, -0.2459, -0.1238, 0.9981, 1.0088, 1.7027, 1.0733, -0.2977, 0.7525, 0.6865, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0031 left_z=0.1706 left_yaw=0.1103 left_pitch=0.0899 left_roll=0.0228 left_gripper=0.9981 right_x=0.3163 right_y=0.2825 right_z=0.1189 right_yaw=0.0221 right_pitch=-0.0617 right_roll=-0.0324 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -1.6889, 9.7573, 1.7021, 0.0317, 0.0806, -0.0317, 0.7179, -8.0752, 8.5812, 1.1111, 0.6667, 0.1294, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4843, -0.2386, -0.2394, -0.1268, 0.9981, 1.0664, 1.8221, 1.15, -0.2951, 0.7818, 0.7422, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.166 left_yaw=0.1068 left_pitch=0.0644 left_roll=0.0236 left_gripper=0.9981 right_x=0.3115 right_y=0.3142 right_z=0.1013 right_yaw=0.03 right_pitch=-0.0621 right_roll=-0.0338 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 2.0928, -0.1783, 0.0024, -0.0122, 0.4034, -8.1709, 7.5145, 0.9792, 0.4078, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd043577075fa49ae557c227fddeef6cfbb878a9ff800f222749be745fe2eff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e521f94ae2fe4732122772c442bc974175c06f14cd15f6263b54a6e3a60169a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9debff1e5c59b395858d27ff44d03fd5403fd37061b40d87bfe038aeb2abb40e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEsfwT7KowUM1w91Cd-8bE6yaty-yw50_Z6NSGuRbonPauhf9nnpK7FZx008wQUMaA4GzRCkyHdbZTA9OavQ8_ckpPRYqWoTXkw-oJPSA09bsjTgyXUCBoqb2iXbqZ9CbSA7Z64yUVYtz1XqCr5D3sdU-xotYCM1KGbWkN5bqjS6pVZQ2xE21xpV0o2WcFvXEyVfM0i4QBuPQo7qwxGnDCBcqoxIJkWXcTq2w9sD9kjovSnY-Iy9dOXYi6K9rG7Yzx72U6pA4Z8siUSAKbQYXvjhTgd58Q-m14wWPrNxCs8v4SfLZy6NJFC2k843a6f9RWVleLfJoDxh7aG7ANNWELjyYjpmDU8C27kqnjqAwXNvVI-1TgMTjzF9h47TPM1dlDp6xEy1oEXQtna6Ydu9smqfghnD6FZDH-4HTUAOxjNIXNnDfGjh3tGphZQGrQ4FB76rMe46n-sulfL_7rOVq7cdPnqsMMl68BIRZ2FARYXirkRRgVZNdVsEZVWRRaecqGAHsFrV_4adTSOYg5MeQc8DFUlFbSeYfyz8h-x2s8jCWkOELRWyaqFIREuJBOtCkF2N3CQKeibgwyScT6dMQl0ym7G05mTYnUYhs1AIc1-8widpa0KTK91NUvki5wEAosdP_OQ1ghGHcx94qMkpHoOm-Gf_qk86tek6HYLsf0izkREuHLau7l0Bn-vO5Yo3-Zojnvn8UhzeiglBO4Gs0Z05LcqBDEhTOnxt-NIWyBIjW3sJdKUdnBcqXVT7VbAtoift1yT3sakuGCU0ylgbg0TJYES5LP9Gg0N5v1jo16mWH7lGk8pfIJ6E69Q4KjTkxZRUzlwk17CWNqIFZvNp6GaKw8wGzHicZp8mLmCsigen7mCyqb-wPNkNEzA-2_qPTLOk_OG1I5slgJRI8PlezcikyNa15rQMfeHrGiBCyTRJ7TiEoSWQu1dwRPqFZrZIgG6EwWphn1fAQHNMxEJb0b9Vz5loNQ1DkrlAg7rYx1ALfkf3AC5_Fe8cXqHtpZciGgeVC3OSSKAHrgS2N9HSN8vgNH7TzACeqPfXBfC-TcYJ3Iff2KTcYeaFi3gSKneKk3OQt9tqJmzBZ7uoTEGHIL1Mmrw_PKIyh6nOxCnoM7JDJl4BcME5ErpGr2vf0J5tHfw_LQh9cbeiC0jxkFrQFtwxp05sFgPjSYjspXDKvbXOb8cYTF0pHwQXh59wimmqv6a3vfNjPmj-oXCbpzWcTqEyxKPrWqULP6OlAfEVNZuIkeSrmmpZ24zcyD6fi_z6GDDQFeZ0vhgTm8Fj1iOQUN2h99yacH6FFt7iJFIYMNICzq1bb4BkWt48O2ffKoZ8xqEtQkqcbaP5QbIWCB7drR3sXIhBil5PvgPIWUK2FG6tehPJEYIF0zVqF4jfKMBTkPA_Y_ges-iMlRuzUXrtZIUaEsO8KSx9P1ZB7cX78yQtrzCz5eJWBTVnjqIaz__Vv_cWGNgRkfNBwCbULqCMhQZM4x3JYdJNRj7ohNtoGMCVB_z1pkHXmp0jEQIehLHMssZh_cPKaS1f1dB43jXXWP80ug==",
  "id": "rs_086b66efca9dd969016ab44b1e0fac87d0a47f90782703205d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The tan plush’s torso is now centered between the jaws, with its head and body spanning the fingertip gap. I’ll descend to mid-body height before closing so the jaws engage the plush rather than pass above it.\"}",
  "call_id": "call_y2R3YCiLMQyPtKS0v5PKRE0T",
  "id": "fc_086b66efca9dd969016ab44b1ec00887d0a25420bcd87c3e96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y2R3YCiLMQyPtKS0v5PKRE0T",
  "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]: [-0.1463, 0.7609, 0.4824, -0.2462, -0.2394, -0.1276, 0.9981, 1.074, 1.8351, 1.1606, -0.2943, 0.7818, 0.7586, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1635 left_yaw=0.107 left_pitch=0.0552 left_roll=0.0253 left_gripper=0.9981 right_x=0.3105 right_y=0.3191 right_z=0.0998 right_yaw=0.0287 right_pitch=-0.0627 right_roll=-0.0218 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1009, 7.2274, 1.8242, -0.1441, -0.0464, -0.0073, 0.3487, -8.1846, 7.3504, 0.9695, 0.3736, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80dc7a57e6f2f39a5f6a6716a9a73c6ea7797f3e00bf4d56642ca7b1cd56af87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa0f95b6c35a0d224019e9a9eb87fb352894411dd9e395e2e09f15439c83b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe917a094fca3cbd1eca7c9b33caf74961eaf9b739b40443575ca16ca9c5795",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.17 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 1.38, 0.2543, 0.6445, -0.3069, -0.1497, 0.0106, -0.02, 0.8192, 0.6132, -0.3862, -0.0185, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.3452 left_y=-0.0209 left_z=0.0657 left_yaw=0.0968 left_pitch=0.1066 left_roll=0.0246 left_gripper=0.0106 right_x=0.2967 right_y=0.0009 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0301 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -4.6154, 4.9709, 1.6044, 0.0611, -0.0122, 0.8571, -0.1573, -1.388, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4843, -0.2386, -0.2394, -0.1268, 0.9981, 1.0664, 1.8221, 1.15, -0.2951, 0.7818, 0.7422, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.166 left_yaw=0.1068 left_pitch=0.0644 left_roll=0.0236 left_gripper=0.9981 right_x=0.3115 right_y=0.3142 right_z=0.1013 right_yaw=0.03 right_pitch=-0.0621 right_roll=-0.0338 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 2.0928, -0.1783, 0.0024, -0.0122, 0.4034, -8.1709, 7.5145, 0.9792, 0.4078, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.2462, -0.2394, -0.1276, 0.9981, 1.074, 1.8351, 1.1606, -0.2943, 0.7818, 0.7586, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1635 left_yaw=0.107 left_pitch=0.0552 left_roll=0.0253 left_gripper=0.9981 right_x=0.3105 right_y=0.3191 right_z=0.0998 right_yaw=0.0287 right_pitch=-0.0627 right_roll=-0.0218 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1009, 7.2274, 1.8242, -0.1441, -0.0464, -0.0073, 0.3487, -8.1846, 7.3504, 0.9695, 0.3736, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80dc7a57e6f2f39a5f6a6716a9a73c6ea7797f3e00bf4d56642ca7b1cd56af87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa0f95b6c35a0d224019e9a9eb87fb352894411dd9e395e2e09f15439c83b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe917a094fca3cbd1eca7c9b33caf74961eaf9b739b40443575ca16ca9c5795",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEsj1z7IaES6tSJApoWZpsPCWaQpv-RBk-Jgaz3oFFngmrhTLzuSDkmaYZKHSV23NMUZyZcu4fDF5Cgr477KrzttYtzYrMkUl_6JNU7PxudpIDfBs-GdCL2Zo0fnWkzyY15Ac_bziTah4CJgK_I4qM96YQVMDR-db6Lrm9hQ7LP3j7Dn0nfnUCl0EiggZTatgkMq_SXE7IUAJKvKyOYExZeHrLC9VHXggN_Z0CEvbnBJVAzbtvYAy5_oVWQUIh2cdyGHM3fTfiDoomjPhltYH6MWpvtEJzcXsviIRpYAwrFI2DGaHgh0XBacRBiop04CI9Po3fMR6ll84zzyVGaP1tPnYfAfg4DuHFlyKrl8GrsJiOtHpoGJGuvqAwv2IEGfGJbo5qLk8C8OTjjQicNa9F6kf3yWiX_hGkhsoq5d71q0C_M3OhC9D4g2KOml0lCG03dLJ5pEAvwzIjAdJ4Skn9DLqqhabE8rChYUzgDNpWDtYotdD4Hq_TjR1ii7WqHJMW0IY4gH07i9RJ1tkoFBVbwRt766Yo_NhgJgqHlzidCiARMjktuF1kpWf2XC0mTxCs8KjH2-k-I481bz9XCC4BIasIrZ7SJT4JnqmM0UqomTaukMIwEaeFk7Q6beNEkzQxHTOdgwvOvlk_gaSb9pPaKw3F-3GjGeP666C83RatbAxv7etl2L3IOBBmSTQvsKpPEy-Y-AlIBXuOXLuKR1UGtEFE44JR3Z2TBsI_OBTZ_hsVrYjL1kexE-3vGhfAR-btw3FgLgrdR9Eb-hSKmQeiX128WcNN3VguTSlbVAkfc0gf7UrU9gpdTw-BjaBKe5GMzgd8QL4rqTWv0COsqp5VtLYYKnKq6EBbwkZXH2tw4kUTggMyWr7859Uj-wArsKaV4hfo_uNUxaSTynIrWpLNyW1S2UA-y2uHFxadshBUfLKMmY8U0ZW5wnrDOpwQ2aq-iuoA9hHtyMaAFYjQbS_vss4fTP2F0y1TdCrUfZw_Prn68NVmm3bEy5euHCaqyO6Lpukf8iDi1tJG4hPdQCTrNu2NqYF5VV-9OnFWREjNaaadwgp7Cd-RBTX1r4DCy1KPX6A89x8Gzf7e85AR49KRyoNQTSo4nMqm01JjZEJT5sNP-wX7fid3yh3gfR2Ki-X1OVBOO9-T57ZiEjbwSdZ-6b_kxdP95StzmNX89qOjtUukmKNrS0tmH_cTbltf9ExFx1MxeHgJ8b9jX5GmhnF-MbsKigzhhfsFbEW4riIR5MsTE=",
  "id": "rs_086b66efca9dd969016ab44b22871087d09a847c629ee65e69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The commanded descent stopped at about 10 cm while the centered plush remained wedged between the jaws, indicating the gripper is resting on its thick body. I’ll close at this contact height.\"}",
  "call_id": "call_NQcyOcQ6eCs8rTNzhv6glfhB",
  "id": "fc_086b66efca9dd969016ab44b22c1e087d0840827d05726543a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NQcyOcQ6eCs8rTNzhv6glfhB",
  "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]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1303, 0.9981, 1.0733, 1.8351, 1.1603, -0.2935, 0.7773, 0.7555, 0.011]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1085 left_pitch=0.0545 left_roll=0.0232 left_gripper=0.9981 right_x=0.3104 right_y=0.3194 right_z=0.0993 right_yaw=0.0324 right_pitch=-0.0658 right_roll=-0.022 right_gripper=0.011\nstate[joint_eff]: [-0.1573, -1.0872, 7.1043, 1.7851, -0.1343, -0.0269, -0.0073, 0.0342, -9.2513, 6.2017, 1.243, 0.3883, -0.0024, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1a73c41984c91516a0de229cf595a1a877b80fc310fd45f9fcb1aa6a377772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95983951230643e81ec8b1c922e7d1822b4b8ffa67c56a2797a2cb6a621fc01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3012fd97082b5dfc4020681d31b42a107358f628e13e43683e2a0b79a631a548",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.116 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 0.757, 0.4797, -0.2123, -0.2459, -0.1238, 0.9981, 1.0088, 1.7027, 1.0733, -0.2977, 0.7525, 0.6865, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0031 left_z=0.1706 left_yaw=0.1103 left_pitch=0.0899 left_roll=0.0228 left_gripper=0.9981 right_x=0.3163 right_y=0.2825 right_z=0.1189 right_yaw=0.0221 right_pitch=-0.0617 right_roll=-0.0324 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -1.6889, 9.7573, 1.7021, 0.0317, 0.0806, -0.0317, 0.7179, -8.0752, 8.5812, 1.1111, 0.6667, 0.1294, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.2462, -0.2394, -0.1276, 0.9981, 1.074, 1.8351, 1.1606, -0.2943, 0.7818, 0.7586, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1635 left_yaw=0.107 left_pitch=0.0552 left_roll=0.0253 left_gripper=0.9981 right_x=0.3105 right_y=0.3191 right_z=0.0998 right_yaw=0.0287 right_pitch=-0.0627 right_roll=-0.0218 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1009, 7.2274, 1.8242, -0.1441, -0.0464, -0.0073, 0.3487, -8.1846, 7.3504, 0.9695, 0.3736, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1303, 0.9981, 1.0733, 1.8351, 1.1603, -0.2935, 0.7773, 0.7555, 0.011]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1085 left_pitch=0.0545 left_roll=0.0232 left_gripper=0.9981 right_x=0.3104 right_y=0.3194 right_z=0.0993 right_yaw=0.0324 right_pitch=-0.0658 right_roll=-0.022 right_gripper=0.011\nstate[joint_eff]: [-0.1573, -1.0872, 7.1043, 1.7851, -0.1343, -0.0269, -0.0073, 0.0342, -9.2513, 6.2017, 1.243, 0.3883, -0.0024, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1a73c41984c91516a0de229cf595a1a877b80fc310fd45f9fcb1aa6a377772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95983951230643e81ec8b1c922e7d1822b4b8ffa67c56a2797a2cb6a621fc01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3012fd97082b5dfc4020681d31b42a107358f628e13e43683e2a0b79a631a548",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEsquA3vZxoRXEEp7KOTtW7GczXaiHx7EA53DsE5lAJO6TSn9cWGn-ljJqshXiq4v4hGHNloFgE5jpbJnQMNpzd3IFoUf9b8qct7lQMhzg1zD271WssivVcqcIUHtGVVMrTKtLFknGtny0iMdtPQmiU_v0GI-f5DxyIFLIKK_JBUqLyOYd8sT2J5He2QStPbg4L8anpZND2KL2-7nBevtBT_X67-kP-wGjKq1O9iNhFtTAOuDj7t3l68Y4s7_eCuHAD3UIiqBftPQ7qTgWbm3kg8dvz9WeeR2wcvxebpnQf_wjALb4NtYyw0ABbcrwy68shN9JXvHVtq31q7_9y0I_xkbZUmfreivKlfWVXWT5BSgq4oT0Y7LD-IlR-de0bWxv1z2NbLEJbaivEpkoA_KEH8uySMAXCXD2upesGAHYO4SwEiokRyuqsPb3uYhIBh5CW4de3k_nDyQUQSLx0JnrllvENKAgxiQAc0ramZefDmDckvNvhLbi6ByfZGPkUxmPmNhN9RlaF77WtFRyfTKzVY_7jdWvncDbItA9R9tbsk3utqF_Cx9Ri61HpIwZojMpwTFKnWbP2mzQSVOrX_HiDJLiQ7NNPW3_Akv7ymW-mfqTNr_C0I2DX0Oy6v7vD_OsIqo2Ngcm8KmGDR-pB18LOoB0hyKQUsliXWJVtGpTTFLjqATJCRbSPuC-xfyDwZUG6-JpZ6r9ozo_Wiob0eego29xkfEzx1meOcf-MxKCPZWNp7MIVdd4mN9ftL7oSMwPufceDARS-I6n_YJMgRfGGqvyUwF91G9k2bX1NwkyuBbEMGQ2eOE4S9WYMH7eWMRLlUzdK_jOipkwQD-fcEYaUy31jZZw5CYM-CGNnXtUzgddmK8tUpuBGinik0S2Xa4HhBApfFVwfP7ZJewpna3MakNkJLLjxFvKvzJzladahvGVUImzlOIXuC2HvNaF2urKjLwmMTWLh4rLLn-xqm4tlzAknXuH05dhcESttufHITaVh9dVTvVJOESxdZn4955BFJIjxjeVL2L2z7NoAvcSxZlNucu6jYoSdYZ9zHc4mlOgonlz3SZCsFkg5JT2-CGCiGx0-cKLajyxAJvg68JK08KaiysMytSS1xr60WYyDiZXO6cP_DMVN2xFdbDO7_GYDIZCkNk0lqXedZ9Gcu8DW9o_I8rG0_YMVt7mUhs8EkOrNIjx_Iw_FCZeo3Fam2Y9mVqFxeOhP_NadkKIATmaXzHC9P9au-EOpEIYS3dloybh-0cTTIbh8WARsXKrVHTyIMSmeYmeHlMSrP7kI3quoBwNIguDbLMi3-oy4O95MedU7eVmM-z4k5eIS4R3KqBga_Rd5KL7nAEqV_n7E-SYsADoc2TJchNC9QDI--5PiKvrygmTxBflVjD30PflzvX-YzW5x-ylzhImnknqO8Jg3lzdjJNbdoknHgZQYaQeq55shDkOQqqHA16lSGKkWULjeOXl8UcYya1YHOZ7DmvdNOrspYkT8s73qR29cxeGM8IkRiOkW2bd0Y6YYpHfPsAs1OCxiA_giGi41GKBg9N273SMHx0Y_Pg4Y6b4txowi1Q8E2k3B_OJ7f-xOTNF0c0z6ArctdmHgFRkvKB2XR6kA213kxAA9UyMPd3YzJP0j89MFRNflfxIwtpY2YlsyB45EL7TqVDbhMB9naNqNbb9eTh4YQJiiIxQLYgK0YhgiNYxyVOs-vWDziHddqKUU_HPWlQqnWXbGZTg8VgywuaRIRl8dQv6b6e0mXFwvZMWk9DRK7_PCLlEpi-IdiWn94vqSBzwQK7prGKgPl037IF-zIcEVo5qlbJAYbQ7r_lEgyOPRGj0CtmO0RTeXNeXCn1CQFXz2tB7oLVs8ajCuJOjFpT42Lw47yfY1GlxBI0nO1Q9b4cLKzSfPdyYJceOghEAU-ofPDebaHA6AtkUeBw_QzjxEVGc5_WNSWkAfgqbI7-ELh9nhTAj9b6DHxrr0n2Kq-bMTV2GkIFDZo0nXifXGhS6_waB6tbbyP6AQgV2xQ4M8sDE1BbpKUZmUd3Lb50CUHwjaptD_SYwoThG-R6Bbs0FvuvakHT-uOfle11jH8YKHd6MVqYXJ3HVkn7vuMRw8gv-UwBHnpVCXPAKo6subhYUibpM-z5CQBP9uoSAX7wcfiaoSfs1IsDWhP2nx13qHb364TUK8F_5CsgIoqCcfzYI438n6rgtSS5eX5Tna5OAqYK4TkLYvnh3o-eVdzDxIjL4qUEqF8_O6Z2YU2bgsozzgfQbaxdZ7VNN1Yx1tDYteycqRj_Dhl5fNaWU8Sf61h8wEkSAOu1FDkyETrEfyKWPZNwwJMjfWjZMNA9maXSEpWMRXlM_DlzlpBouT97Vt0LKYy5O2piUyzDizh4KaXIM-ed6DgpaXbn1l9oIG8p7as8PyGEpbqTQYs-LYUMDr5aQy9crXOl18CNo7A31AsC-zbX1uCoFcvQAg-2ntnZPAEQ9krWIkYR4Yf1EU3ZlWZq5QNUVDIDlEVhHV8I8_tgF6U1jigw9K1w3j39iJXYDmN2TsKIYwquYYpIhEsymiif-j1sjSmJvz7j13NbJbG4Li2jzk_0Nr1cQ-UtpgGrcIWHAKwPf5zj0WI4GO5meGxxposJ4UMFkvXHrCql42YtTbOnQqiQEdEofdZHNRppXILA7pFzuUfcHt37RUMfLjX41EyJosMvUYRFi7s0PDvzXznc2xAdJ9HAXcFYtbMLbgfXloWw6tqgG6c8w93eRca6mGoNtwC-DdKSEIXemskR6dlhp9sFJC5Tzm059IBkE9r73ezRtzj6h3keeJUITAvN9vGelrWiS0G7ZMnoNzWR9Oq5perTs0jrpQ9KgDKB4VtuqsHzeBr9BDfqwu0yR0urCD8Cj9w9u2VKwrFxs7S94ENs3XJJTWDG_AW-90hyUJe_shwRnmQE32K_ul9QxBC4vDRMn9lGNbZmPhs0nNjOgjN-7VLwkoPHQqRHoPJiJkpNKWWiXAU-1wimV_ajaLwYxPl9MiI4TvBwXKA2st416TjeguKuMCZx6lU1cC1Oy2CvYq4kZT20WoDBHVUwYFCy4bFoN46KiWlc-2OTD1zvPxeMWVDzl2oU991TH-mz4a1pOOdmp3wnoS1VCmuJEdQbmq07Quu9HhHFxVfEE-nFFeqm7y5omVmuwGcycBUGm_NAx4OHUm1m3UvK4wdybF1VgnddfHI5jEfjGuNEK6p8Vw8SXzReW8BGNAi4hTyhKL2-OrwFKnYJl4-ufmFeoh5IRuDPR3WKgZ2frjqUIMCDnOp3FFz60i13NakUOdZsE_nHYVt-6kJUNIgOkT4X2Kjpkv_4v9FuEi_bqPTYk4vi07hbtnC1ovPx6-SHp9jqQdyYjzTY1SZxSe7qWOY7T2dGVxmIjXrUzMntmfTGMoouFDAOedIqJpSFCbSW2JIrwiCyBHsTLbqEkUmFCEZSX4uWeLov1PY2_nZ66B74DyTqA==",
  "id": "rs_086b66efca9dd969016ab44b25e32c87d0b37580544f76fa13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.35,\"right_y\":0.32,\"right_z\":0.11},\"note\":\"The gripper again settled nearly empty and the plush remains visible ahead of the jaws; its apparent contact was from the camera’s forward offset, not a true grasp. I’ll reopen and advance 4 cm radially while preserving the good lateral alignment.\"}",
  "call_id": "call_M32qIBLpUWYO1DGY2q0ARUQP",
  "id": "fc_086b66efca9dd969016ab44b29a36487d08c0be84e21b73cf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M32qIBLpUWYO1DGY2q0ARUQP",
  "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]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 0.992, 1.8668, 1.2285, -0.2863, 0.7208, 0.6605, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3417 right_y=0.3163 right_z=0.105 right_yaw=0.0394 right_pitch=-0.0814 right_roll=-0.0368 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.1009, 7.0769, 1.7656, -0.105, -0.022, -0.0073, -1.0325, -8.253, 8.5675, 1.3748, 0.2906, -0.0513, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f106e21fb4f0ccd81524ebc57fa5718d05e5bacfc84386f2520978e33fa26b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7722e4cdc52e32e96adf38d09b16acb961455a88183f10c3c594665109b2d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4083d94cd08492dd7d47d02f1c55fe5aaa3adff1196c36dbfb568958f1493ca0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 1.914 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4843, -0.2386, -0.2394, -0.1268, 0.9981, 1.0664, 1.8221, 1.15, -0.2951, 0.7818, 0.7422, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.166 left_yaw=0.1068 left_pitch=0.0644 left_roll=0.0236 left_gripper=0.9981 right_x=0.3115 right_y=0.3142 right_z=0.1013 right_yaw=0.03 right_pitch=-0.0621 right_roll=-0.0338 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 2.0928, -0.1783, 0.0024, -0.0122, 0.4034, -8.1709, 7.5145, 0.9792, 0.4078, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1303, 0.9981, 1.0733, 1.8351, 1.1603, -0.2935, 0.7773, 0.7555, 0.011]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1085 left_pitch=0.0545 left_roll=0.0232 left_gripper=0.9981 right_x=0.3104 right_y=0.3194 right_z=0.0993 right_yaw=0.0324 right_pitch=-0.0658 right_roll=-0.022 right_gripper=0.011\nstate[joint_eff]: [-0.1573, -1.0872, 7.1043, 1.7851, -0.1343, -0.0269, -0.0073, 0.0342, -9.2513, 6.2017, 1.243, 0.3883, -0.0024, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 0.992, 1.8668, 1.2285, -0.2863, 0.7208, 0.6605, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3417 right_y=0.3163 right_z=0.105 right_yaw=0.0394 right_pitch=-0.0814 right_roll=-0.0368 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.1009, 7.0769, 1.7656, -0.105, -0.022, -0.0073, -1.0325, -8.253, 8.5675, 1.3748, 0.2906, -0.0513, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f106e21fb4f0ccd81524ebc57fa5718d05e5bacfc84386f2520978e33fa26b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7722e4cdc52e32e96adf38d09b16acb961455a88183f10c3c594665109b2d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4083d94cd08492dd7d47d02f1c55fe5aaa3adff1196c36dbfb568958f1493ca0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEstaGvMn_OXewnnNrMRl4Tx3BAbcYchPl5i2t6MTwQLK6xrWEFQnNKFcElMglDn1g7Om0wbI-CUMv6pBohM4mZ7JUgUa1_TAD-LDDG1-xGggBmLFOkhlwodOU-YXt4Uqi0ZLhyATkDCmiAgrSP9JGuBDpRCt7j4p5xwfSVB5DKrQB--evqvCrVthmxOkeYT8vpztG86RRJtGYXdwlGoecWI_qnzBZlkkSoFdox9qMnqZcCfg34QShhjV0SwT3fD8dNb60V-Dp4uB4MD9PryfVP-PcIe3t5CvicW3Ur0mHSeo7IBCKx6MpuSc5W-yI-QRBCS3DqftlPbtgekhJRewPZrCmcVKTsofFkAYC0sBIfKLAC3vbxB49EP3rMANV76SWyKzdbcrXHt2gdQlw8UesLWF0Ej8OBn_kajLhHxo06cTSH65YnwkUoLj4xvI8wj3eyOUT02g6s0RwBE-2adH46RG9gukq5K3z3bfnPBRiWdEVu3xP5QM8NzPAqVYKbDg_3jJMVJfFpTsXxZ9jOb1BMdvrgHrWdSxftVB7KAepvQF-e7hta6dp0jwXr-_5Wa8F4VQaguuSZfJ64n586wQsDaF7Dxu0JaFt02NQ7jQqo-AUXBNR77d6rioWyxWeBT6lHIkCJRZAhIlEGh5dSUy-6Q0QRDMHMDv7-XnM_HGpd60cFrP79OkJky_bbd5yMXCLoXwQY9ErUMDdxmzHXqNwZZKH3tQRkbXz441MRA4i19ph9YKwlrTtPWv5ObPzQBgSoV2bW9Rrqw3KuCFdLZVJKHEbhF7GE8qOd_78imLhSskElzjsJ_UVEbX6b7Ube69rlv_8uEcBxnge03d0lNpZEJfC1T7vvMtNF0vDHGSBv3sXj6aKzSYWaSB9bz-XAgUjfepA9ulM2abHIANE9Kw4J8E-m6kEcUwjz9crYAhufhlAAYPHKslSCsWKBkA-R_kH-iaw599Meow4f3nJWPFKVmEWR3QJq7pkfGxZAWH0Org4JexMbsny3V67wBgSdsp1Hi53-7qcnTc2kK8YqXzjGU85Zo5zSPYj8chdz-siX0rXAYpxvCQNxKswtB4LSueGwM-TE8kcho3vS_icdGvUOAJkNACOZtOpEs3RMUr62_N-zwOG6lnm1_MSoxxtRdcMaXC7tq89ScCslqUhdV_LjFkNR9-xLt7aoLiCKsy5HUUBgw0z0YV8FD90fqlIoZtUjEdhBWuQrL_oEHmpPVh6we6CJD-kGSinET-OvYp4YRZZDg05Y3T0Kv4G2xiVOuCOQKm8VY-OBoz3JUTJKPPzW0N3uhZrEJSWAenIKjYSsva1RXAEP-c3OoP009tUZ87rEwN4GDxWgAo8pEOxYOsU1IoFNBYLLLh0BY1u_8abiDiXChnIEq_l5bcx477smrOZ8Q",
  "id": "rs_086b66efca9dd969016ab44b2ca18c87d0be50719a49655d89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"After advancing, the tan plush is now at the bottom of the wrist frame between the actual fingertip tips rather than ahead of them. I’ll descend onto its torso at this corrected horizontal position.\"}",
  "call_id": "call_7atZctXOzYr95liOcwdEAOdc",
  "id": "fc_086b66efca9dd969016ab44b2cefc087d094f1899cf234777d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7atZctXOzYr95liOcwdEAOdc",
  "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]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9982, 0.9958, 1.9217, 1.1561, -0.0811, 0.7246, 0.6624, 0.9965]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3471 right_y=0.3269 right_z=0.082 right_yaw=0.0434 right_pitch=-0.0339 right_roll=0.0266 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -0.9641, 7.2957, 1.7656, -0.0855, -0.0415, -0.0171, -0.2803, -6.5573, 3.8359, 0.6374, 0.2418, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0bcc8a7d3a350bc23e9242c5d5c01f7d75fa77566d9697a5429e7da7ceaba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e85100c17079f2d50793a2bbde7d7ec7ad714c51fee95dadd974212f43e099",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ebaa2c5ac51bdd3ba8689880fd5b732d19347c72ea844a3a5da1c3c3ee8ad2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.069 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.2462, -0.2394, -0.1276, 0.9981, 1.074, 1.8351, 1.1606, -0.2943, 0.7818, 0.7586, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1635 left_yaw=0.107 left_pitch=0.0552 left_roll=0.0253 left_gripper=0.9981 right_x=0.3105 right_y=0.3191 right_z=0.0998 right_yaw=0.0287 right_pitch=-0.0627 right_roll=-0.0218 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1009, 7.2274, 1.8242, -0.1441, -0.0464, -0.0073, 0.3487, -8.1846, 7.3504, 0.9695, 0.3736, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 0.992, 1.8668, 1.2285, -0.2863, 0.7208, 0.6605, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3417 right_y=0.3163 right_z=0.105 right_yaw=0.0394 right_pitch=-0.0814 right_roll=-0.0368 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.1009, 7.0769, 1.7656, -0.105, -0.022, -0.0073, -1.0325, -8.253, 8.5675, 1.3748, 0.2906, -0.0513, -0.1978]\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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9982, 0.9958, 1.9217, 1.1561, -0.0811, 0.7246, 0.6624, 0.9965]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3471 right_y=0.3269 right_z=0.082 right_yaw=0.0434 right_pitch=-0.0339 right_roll=0.0266 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -0.9641, 7.2957, 1.7656, -0.0855, -0.0415, -0.0171, -0.2803, -6.5573, 3.8359, 0.6374, 0.2418, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0bcc8a7d3a350bc23e9242c5d5c01f7d75fa77566d9697a5429e7da7ceaba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e85100c17079f2d50793a2bbde7d7ec7ad714c51fee95dadd974212f43e099",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ebaa2c5ac51bdd3ba8689880fd5b732d19347c72ea844a3a5da1c3c3ee8ad2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEsv94Viei3xxwdnSOV45q7KX6ZC870IhQcK990YggMPOm_8UVaPoIfM8dQ3jS7AMzglam73GQvvKGHpL0bo2hbtt4AsZmasQ0dLZvk0ChsVQHkqNApbOpxRQ0wojilgE1iTc8JcadcW48Pbwsh62KbGDWNBrEF_j2ZD0VIIlDbqvxEgvg-cPKFJYq7XhUjwqugKYwXpPKQbcPpQGh3z-uNtdoTjxEunKKBE8xdDmB7aPdm2iXk0MGXTUTaUHYf_cBZLUsIDjlOyD5rB3_67OkbBVXM1m3_KQ6mSIbJNpctmRnKKIRGvGh3qwM4E3YQGeXUByDeap5-T7q73hUxZ2-gNytCcJDz-lK8taEfojZY7HWBt21EuEmxF8FBWAKlKGLdfBXBpWU1jADDkFCwoZjTXspV-E_ypagX1eKRkwDwqc-g2x4IFVV0n8ZFbFdww-yNS5PU2vIhjj5VRovz93AA1vjA_k_9r6-1YizZZrLLFKvkGMLHERw8Lturm3_xVx-jLkmrA2UizwbIpJAu3IgCQksTZGBVM1ciS9GUhNCj2wt-3YESQGtpNJQcmVoh1G2zP7ZlBvLYMO8tAOdIAafV7swmEy9Et9sRS1A5OKAjJhhOghUY2e0Bw8pUONA4aW2U9Cd06gmJTbwsRxj8kAP72cfsIIngRKcO1ePs9kfd68KEsxPauujgUHsI7WRyT5OgHkzsvvsKc8HaTlDGq0XE2jkDlrjSn9M5GNcDKX3ohvS2iQXi0Hc59pHsx2NIfzKfmuzA13AaA0nPglZh7EHl7phUXfdsP6Y-KD5fXoZ2p5WZZ9z7-FzieBgxb7CsIluCt9lbsRk710eVSVLNxtnd4tOpW5tGRfi130FVXsrx_ihAsiXbrdEPI42Subwgzt5ynJc4zKfgaGK-NY0AQ7E9TgFFoW6jVlfoErIRAFgENebMr_tizt1jT5Lz2x4DGh48LV4bQvu2mFqqNRqMclGA8jWdMLaL26EYhIupIUF1y-NoTQRG3JBMVjaBSstbCIAIO3HlgtqOayTNmCotb35AVG9LIyv6pjX6J-nw1Dcc7mNaSUrNhtDcDuglS1sonoko17hy0n88uC-ObPu0CDgt42lQPebrtHdQ87QyEuLq1SahHKY4lnQhdUc0g9n3ns0jq2XHPZ8_oCJsDe5mUAOIBAQ3qtJSwfjUTDvY2oSUA-dB14bkPGrio53XaW9LfIkDYKcntG9PdxHWhE2fq-wY9oHxhZ3xlRoyT6ZgC5V0AYOIrhX1vljG5wP6uuol_vgtFybiLqHvG-LOPcNojEbiiaBbmKiMxX2pRcPFxUvANTQA=",
  "id": "rs_086b66efca9dd969016ab44b2efbb887d0967285600e1cf536",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The corrected descent stopped at about 8 cm with the plush’s broad torso squarely spanning the open jaws. To reduce the chance of squeezing the rounded plush sideways, I’ll first close only to a moderate width.\"}",
  "call_id": "call_QC3FW4erTiqQRhI7fpSvZIEc",
  "id": "fc_086b66efca9dd969016ab44b2f398887d08340d762ad70679b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QC3FW4erTiqQRhI7fpSvZIEc",
  "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]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9981, 1.0, 1.9289, 1.1526, -0.025, 0.7227, 0.6647, 0.4552]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9981 right_x=0.3494 right_y=0.3347 right_z=0.085 right_yaw=0.0484 right_pitch=-0.0088 right_roll=0.0663 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, -1.0188, 7.1043, 1.746, -0.149, -0.0317, -0.0171, -0.5265, -10.5504, 6.2974, 0.8718, 0.3053, -0.0562, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade477886f71f3cb2e786b3f70ab2c0b3e0b59dbbcb59796e42bbc6777d9c541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e455c80585f930e24b02cc922da9a86109ff2998288e86dc60b9bc111363e345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8dbe4de2e0e977976fb5ec5d60d64ac1bc306acae7ac77250e96f224889e78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.406 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1303, 0.9981, 1.0733, 1.8351, 1.1603, -0.2935, 0.7773, 0.7555, 0.011]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1085 left_pitch=0.0545 left_roll=0.0232 left_gripper=0.9981 right_x=0.3104 right_y=0.3194 right_z=0.0993 right_yaw=0.0324 right_pitch=-0.0658 right_roll=-0.022 right_gripper=0.011\nstate[joint_eff]: [-0.1573, -1.0872, 7.1043, 1.7851, -0.1343, -0.0269, -0.0073, 0.0342, -9.2513, 6.2017, 1.243, 0.3883, -0.0024, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9982, 0.9958, 1.9217, 1.1561, -0.0811, 0.7246, 0.6624, 0.9965]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3471 right_y=0.3269 right_z=0.082 right_yaw=0.0434 right_pitch=-0.0339 right_roll=0.0266 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -0.9641, 7.2957, 1.7656, -0.0855, -0.0415, -0.0171, -0.2803, -6.5573, 3.8359, 0.6374, 0.2418, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9981, 1.0, 1.9289, 1.1526, -0.025, 0.7227, 0.6647, 0.4552]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9981 right_x=0.3494 right_y=0.3347 right_z=0.085 right_yaw=0.0484 right_pitch=-0.0088 right_roll=0.0663 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, -1.0188, 7.1043, 1.746, -0.149, -0.0317, -0.0171, -0.5265, -10.5504, 6.2974, 0.8718, 0.3053, -0.0562, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade477886f71f3cb2e786b3f70ab2c0b3e0b59dbbcb59796e42bbc6777d9c541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e455c80585f930e24b02cc922da9a86109ff2998288e86dc60b9bc111363e345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8dbe4de2e0e977976fb5ec5d60d64ac1bc306acae7ac77250e96f224889e78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEszcHPd7vLmCEMfFLIuDHKHe5GTueJNNeEaTlU-5lGjoRLq98TC76bRwBzo1asEcwnWXnqzjxTqCiU3vzrUmc-60X7r7FqoxLFUD_IzFYBCa7173tt7BAhS8CoDkeL_gsvX2wQs1iCqm8sXuXwhRUJxtAJWsIfxJPz2K2n_gvLzzCU3h3URWN4pMYVUjHnku_axmTwki_Vl4ruF931LYzb4cWs0RUbaOSqHm1Ot4jxzcv8nTumt8PmMU6ogOuIBSxke_q93qPEH69TkTaHiXJrHw1opD0HiyZtqgKJGJV1ns6QbHPMlfvfoAQUj9uXjzwO92sS4NqD_QNTngLi8Za3BHdaDjMmWvcxgHp71htr3FyWjt3RYjHUB5j-2p6BHUA6t0wmDBaxXq637GGxnfWTVS3Jv6TYVXcD53s0zx7cjRnZJu0_d2Qx9DqKWEd4JxrhGFO08ycT6n3ZgxJGVvwcrmdX30lG1I-lSkv5XFfPYFKiLJz-WiSfo1jSjy9VakOc9IdBDxLV7W7zqjlYvDWtscH6umtHTs3vXk6gnxk_orXBmJlKhLZuTlHUTp0Yuy6dLV4JPeU43YfMQqJJFQfOrIwDe1vALn5CMd9YHmWfphF7TMqpcyFp5gxACM5J_uEoQeqn1o6FqAu5SE23NeQXhsbh06oZ57XFMj5w_NTX4ka9TbxyZR1OiDUJC5NOoYdzsqklopVZDB3otj6PHH1pk17l4cGCpjsH5TvnIaF_R_LHNFhiVcCD5vsjFTt0RgbaoUdBacgxL03ozT4DB8pUMpSn2RzPfpt-BKqxKU4TimeTlDB366iJAuB-NylM-0cL4wKCAOy0Xm-lzvI8EBOr197ORexO18QSQmkGnGKxyHlO0AMOoynhv7njLvp-M40GfR3a4ylwUWKe7vdsv4ERYVWxGzCRS4nGZkOT_PlQgo_P4C7laQ3gRNBvoPJwjhN7EqxjB6jcuyh5U1S8Tk6JAOtTJIgR8Iss1X17cwUn0ha7MdFKYp0wLKQXitTuAiWrpJCjgqArXeg4FV7sN22Ob38UU6_EmydOHvM5ZSf5Ss8U5vizDuYzJ_ITTQK4RCzEvlfWX6JQVU9ROW8rjLQfZuwrZXRcGDS7CuOud8blTsgFR6LKkPi_pEkQbheQiFo2X6Eppnelul8_wGVMHMX1NRUBnYlIENNo8C11W_rwBMijGAC1xw4Gin4adTSxqxCvVey2JGgANRogdVs1lCW6AnDSjEbQCABK7_9aN7i5UVFU7sp4XMPLfVL3I85pjBVcETZ0Hr20kv_HnGrWhFzXJnK6vfePaw3Jy4Z9ENGMHhxrqego9BZAhSa1zNgTf78lQL16TFu7Wjnxwgs2nr7TDh9MvrqOky0wbFVfzcz0uoWtGHGQMVkKB6WM_Hxna7PT7ONCumaYzbove15aqTZrkkBnqorxOu9zBK08grKP_fHbCBq8IHUA7APaKxvFJQPQ5lyRRgGK3LEirnp1-AvPe0Wn6Rj0xixiRKa5ihdsU9F8h44R7wBm9gNHO2VrDKHgu5gCS0BOOFeorVPZgja4He86etYcGSDZsfYweM_iHJk5NmZv5faQjcWEXtysYXjxnJI0ORtOfi2dWzLtU7FJTmLeMA0mnY5LZSqEtppZNBGqApEL5vz5bpZHOpyPbphowZbiQ9SNioGD5X1qEZyNJQg==",
  "id": "rs_086b66efca9dd969016ab44b31a40c87d0bd22fd2fda114968",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"At the partial close the plush remains centered between both jaws rather than ejecting sideways, so the staged grasp is working. I’ll tighten to about 2.4 cm jaw spacing, enough to compress and hold the soft torso without forcing a full close.\"}",
  "call_id": "call_FLG9rL7JRPUuxhEf4mIce8SI",
  "id": "fc_086b66efca9dd969016ab44b328a6487d0b864013e15d65690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FLG9rL7JRPUuxhEf4mIce8SI",
  "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]: [-0.1463, 0.7612, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0, 1.9285, 1.1526, -0.0132, 0.7254, 0.6613, 0.2552]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1632 left_yaw=0.1087 left_pitch=0.0542 left_roll=0.0229 left_gripper=0.9982 right_x=0.3506 right_y=0.3357 right_z=0.0871 right_yaw=0.0484 right_pitch=0.0 right_roll=0.0722 right_gripper=0.2552\nstate[joint_eff]: [-0.3761, -0.9094, 7.1043, 1.8095, -0.149, -0.0073, -0.0073, -0.253, -9.9761, 6.0786, 1.3407, 0.2027, 0.0122, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44e4c3583930db07bd5348e05878a2885a8ec1a84d9f8ee0dc6dd5c19459e69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49ef9d44f044c3c6e70d60005e7c779c8c296b5afb6e16ae35886e29c609763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986949586a8b7aa288c63669c4988a4c2f23a14c2bde831a9bbf8e12e46926ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.169 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7609, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 0.992, 1.8668, 1.2285, -0.2863, 0.7208, 0.6605, 0.9956]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3417 right_y=0.3163 right_z=0.105 right_yaw=0.0394 right_pitch=-0.0814 right_roll=-0.0368 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.1009, 7.0769, 1.7656, -0.105, -0.022, -0.0073, -1.0325, -8.253, 8.5675, 1.3748, 0.2906, -0.0513, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9981, 1.0, 1.9289, 1.1526, -0.025, 0.7227, 0.6647, 0.4552]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9981 right_x=0.3494 right_y=0.3347 right_z=0.085 right_yaw=0.0484 right_pitch=-0.0088 right_roll=0.0663 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, -1.0188, 7.1043, 1.746, -0.149, -0.0317, -0.0171, -0.5265, -10.5504, 6.2974, 0.8718, 0.3053, -0.0562, 0.2027]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0, 1.9285, 1.1526, -0.0132, 0.7254, 0.6613, 0.2552]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1632 left_yaw=0.1087 left_pitch=0.0542 left_roll=0.0229 left_gripper=0.9982 right_x=0.3506 right_y=0.3357 right_z=0.0871 right_yaw=0.0484 right_pitch=0.0 right_roll=0.0722 right_gripper=0.2552\nstate[joint_eff]: [-0.3761, -0.9094, 7.1043, 1.8095, -0.149, -0.0073, -0.0073, -0.253, -9.9761, 6.0786, 1.3407, 0.2027, 0.0122, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44e4c3583930db07bd5348e05878a2885a8ec1a84d9f8ee0dc6dd5c19459e69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49ef9d44f044c3c6e70d60005e7c779c8c296b5afb6e16ae35886e29c609763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986949586a8b7aa288c63669c4988a4c2f23a14c2bde831a9bbf8e12e46926ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEs2_gy64PTLudHE5o69YvwoiUI8Oa2797b_kgdw4H1sJjZs76PXctplSTgkNaKoKigclSASRtUe6LCrQIqicZPie6Ddq7FtTPFNoSQQOjWJ36e0-qepTy5CC-O1Sr-8HaRZPu1vs0fnBZQ0PI-Yk8NTJPB8263d5Z04IHu_R-VS36Je5TFUySXlE_LL5V7b_yyan6utTwNKxle-nxif34V1MP_EwL_liAMumt7R3NMBIBBhnHtlx31alPZ_s3imB2eDeSpRUBIqKgf2SS2okAKOQN5ob0D-6L_B_6YhO0-1ea4yi9dslfX0Su-qsr1MFZMuRwUMQra-Pyvc_hAbo9wuB1L--91poz4FEkf5_RHhSjUzupjDp808mntdLzMsu7i9fJDlGJXge9JALEgW5MJGWUxldBpP5itCSGByj6q6XjvGFcv6JAYr7t95BmQ4oDgEJjUVD5JilLC8YlLqSFWGIESnWOAWSAqAY7vsAVl57VwjK5sTKhBFIUjvqPvb_HxAGl_Q0if_kdqrNklZoqg5psx0bEOoMyzzSGDom9D4KvS0sfbZiaQWlNnj-IrE4H-BvdQ6K5ImUtIzjHV_yu3Xe63R1RIddj4rFBE8KrMaepYjr6d0heIFC5zsj4whRdjo5xJFL-s9rCgyMBb90JPqA3iaaVHKwYtBoT-UPfQJ6t_rpu_bfzWQyHd_TFFz_SpF-raynjQ5dMlG347q4ipMb6jpIduKUfDab6yFgAzBmlD-BoBOpshx5CfMcUDTjFpyaV-mjq8TiewsrvUcJdM7w8sXfHbDQe0RqgkdmwvvECXnm_OXgispi8wKn8rXwoBccU7i6cqTorGtP6GhwAfoJ8yS5EJTXmR5P9CIGV9cu3xXo9WubRMvPoHZ0e_I7JIhVsNatV2RQtDfRbSbdV7Q2ZNQ75ejjIv8LQjcqt4G-EPQNZkUFXBicfqNwBE3EjLunnBfFKBNWq2btd19EY5IQnePkVqyHrVteJDoqJyjW2l_o2ZedY8WGrbUse9bKwCgBQtrf8JAusscx2Ce4g7d0VaonrsPgo-mvGKvDt5bURYKXur9g_oSkBXQdNazPRJVizq8uXTTf-ObGzwsyVWSYXg08XuFqMf0gguL0lsxhKsRI7H6zGy87ORybXU8279DcJ3BYsiH1OQRKxsoK7quJh2VdVkxzcFoeBZ4DqzE1dMiSYVVYRAZFhv1J4OFuMStZsSfvvV9m7oyjrczb5_3T_VfMn5nJk9jVFZssVnwyF3Zn7pSBPIAkcgb6tzUGPWvTKUQk9QsN3zeBsos82GYk7kI-r_PIzCkxzp6mDLa_HyRSises0mX_O9Whc5LTo9Dv87tqaiEVh5IyOV0y1ObVQYmICyZXoSXRniHnctbUYh4xpLpp0WTYsXqch3Lr9mXTjt3othwcBGSyJqBDw-78g==",
  "id": "rs_086b66efca9dd969016ab44b34f50087d095190a4d33d69e6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The plush remains symmetrically compressed between the jaws at the tighter setting. I’ll lift it well clear of the table and verify that it moves with the gripper before transporting it.\"}",
  "call_id": "call_KQVpdBV1RIN3V9btjms7R1Rj",
  "id": "fc_086b66efca9dd969016ab44b357b7887d0bf3018b49c38c8a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KQVpdBV1RIN3V9btjms7R1Rj",
  "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]: [-0.1459, 0.7612, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 1.0, 1.8629, 1.3041, -0.2741, 0.7029, 0.6605, 0.2553]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0534 left_roll=0.0231 left_gripper=0.9981 right_x=0.3489 right_y=0.3386 right_z=0.1343 right_yaw=0.0638 right_pitch=-0.0389 right_roll=0.0456 right_gripper=0.2553\nstate[joint_eff]: [-0.1709, -0.8274, 7.1043, 1.79, -0.1099, -0.0464, -0.0171, -0.3624, -13.5043, 9.2376, 1.37, 0.486, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a211535723120a476faafd258964c4e92ff33a9a24c9d9463c0c98c9a9052e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4c07fdd77701fe9e991ca51d614ff83d4b9da24c49af96baf2e012dc9c983a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23102cea01fbb5085c57f15b995150fe6ceab19c009d105cb27171e86fa7cebd",
      "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 · 3.129 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9982, 0.9958, 1.9217, 1.1561, -0.0811, 0.7246, 0.6624, 0.9965]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9982 right_x=0.3471 right_y=0.3269 right_z=0.082 right_yaw=0.0434 right_pitch=-0.0339 right_roll=0.0266 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -0.9641, 7.2957, 1.7656, -0.0855, -0.0415, -0.0171, -0.2803, -6.5573, 3.8359, 0.6374, 0.2418, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0, 1.9285, 1.1526, -0.0132, 0.7254, 0.6613, 0.2552]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1632 left_yaw=0.1087 left_pitch=0.0542 left_roll=0.0229 left_gripper=0.9982 right_x=0.3506 right_y=0.3357 right_z=0.0871 right_yaw=0.0484 right_pitch=0.0 right_roll=0.0722 right_gripper=0.2552\nstate[joint_eff]: [-0.3761, -0.9094, 7.1043, 1.8095, -0.149, -0.0073, -0.0073, -0.253, -9.9761, 6.0786, 1.3407, 0.2027, 0.0122, 0.2759]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 1.0, 1.8629, 1.3041, -0.2741, 0.7029, 0.6605, 0.2553]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0534 left_roll=0.0231 left_gripper=0.9981 right_x=0.3489 right_y=0.3386 right_z=0.1343 right_yaw=0.0638 right_pitch=-0.0389 right_roll=0.0456 right_gripper=0.2553\nstate[joint_eff]: [-0.1709, -0.8274, 7.1043, 1.79, -0.1099, -0.0464, -0.0171, -0.3624, -13.5043, 9.2376, 1.37, 0.486, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a211535723120a476faafd258964c4e92ff33a9a24c9d9463c0c98c9a9052e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4c07fdd77701fe9e991ca51d614ff83d4b9da24c49af96baf2e012dc9c983a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23102cea01fbb5085c57f15b995150fe6ceab19c009d105cb27171e86fa7cebd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEs6SW1clrMC03_ucn6LzB2YKhLJhHnRdoVCKFtk3FjkIaTsyWFjNN_ja6v008xOUpoDPdkeErPo0kheRmqCc0NnlrOfRp_M33dwVAx1BqbXUIYhUcUtAoVwrxlfBo3dhVyHGdd1xMu5WlMfizWrQX2i89J-Se_hOP5a2SBr1ct5qTT6pHhMUHrdwtTBPBHkqTUUxI8QDuFWZJS4N45-hJNFafBOx0EfTkPek-1xXzrrdlO6xgR7uizQkOxG76xDADsWPulW68p11Cfg-8ZloGArJ7OuKGlvmIK7rdrRiHTJDP4ipajI75KDca2tZuaqkRIPkU4PMeyDq6uf3HpUfztNMtIEatAq2dF_u6ANwbCjcvAKiydKu5z-h0PP9mmEOEUx3ZUHfMIixa2-2DfjqNsFBLk2CFOu8D_IveEFYWIi0IQIgag83DXYGQ8KCSgcCbYhmwp8yDzco0iRIeHpAS8X5jSg3E9__611Y2OjU4vPcoRL6us9V6zFrDlbGidsaLMOlMjIU_STuLP2bE_gJjRDvDdVTn6pzYFjL1dESSv1l90d01yww7T8H392EA3wKdZnUxJkkihjMLl38tspvLpF5E61E6Xx8g02uWwHsndQXSfD7DPxBAXhfFkga454BuBKOuI4D5SGntdcwE3D9PuiSC3ZCWskfCUmtNFZXMeE1-mRKoDZKq5oU3tRctYpYh4BCAEHJ5O8-qrpu7-LjJbQhZ4nZp1FUlMK0cYhpiHwxlez-ce4nUrj1JvNwNAHO5DemVTAe0wgklOQg5d2u0S1p5qQlj_plPYA9zYEUa1FfkxhWlZhAy5St_t7W3ZHVOBiDEJaQU9n4YE7xSe2WqI16Yj6-uIEL1hs9tODEjAE5HLKIpQnsURqnNLkU2QWRp9XOEzX9ni_4g44ItNwSljmM5KxBoGy9Mattl3YZ6-HmXrixIHQMD6bEqIIS7tXkcc84CSkOttY9MnN98ghH2A0ifjfhCi08cvKKD3UzrK9AZcH_1QVQ_EAffpHcZKz_IT3GwxvSPk0d94oiFGarBwfOWGObubg2aFhaxtv7b1IEYw7Y2v9q0suUU52G5xyxHDin6ebxUCzIqOMnRtBk1IdIsgCsGJvgUKfCThBnwdTALG3BuLts-lfJzb-I_twreE8rAcmuFgCJJG_ty2Ig39jIKAjSSio7RvMCICnGiphe_4mgPAv_1qOAI061rIvQyML0gqvEEyXt2yxfdW4xoGE1aARBxP5StEdD2gD-nWmjcgwrzRSSNCFAkaK_cG4Xs0v4ZICet2YfMDryoPawTaWGo8xO6BrmANC7ueO5lMwEnzKNRslg03E2WrhkOoGx9zqdd_5Ov75-bJ6Fgc0_FLYjx2iR570b38podVEI5tdHQetEC5VabX0EzTbixJSpFSfagt6M4EnvRq0bUyrA0LMiHQih_uISVaGFc4cdMfClRXUntLLNZAIVGHHvYp_Gj64DGQk5dWvk3AR-EQbcgrlPffCX5veln9iDQo86xQejusGdJ2pR4NXSuNFe1teWmKgn48_2TeyQv7R6EuJiu0b6D-OXCbqVyWyJD1Tpz1mCAmbG47_KpaSS9PmmQd9Y0pw-IDEBuUQdj3nATaTt8sHpCUfEXxJXFpI9lA14W6GgcYhUw80a4FtbrmU_21vkSWjXWpzsNIOhYxz4mC1pCexkTdMXRHkXw8mqt-7zv0Fy7M4fU2NTQV1nh-qcECbMPaPjNcIV-91MnxSwt769n_pbTtT2in6VBzLWDuTkSUljUXV3zmsqClzezahnDePSyByya409vBRwaC_ok1ecDczCB7kQvRPlygpX4jes2Tfh38cVBqs_ub2JviTgcoKgapLB-phYO2RLVHs2tBa2eTTGNjb339yA-icSzfEthDhReuPEirs7-XubQ46SPvelX6Trc-Z1El3qnz4zrwBmlC1QjCWNe2X_i_oY0Qixc5LhWGlTnM655TAbf2EjQuH9ye_aGNDS9sRr6ERW9ei_AM_IVEKICQ4dU_aDWYFJDFFGU65G_lcr22BIkwmhmTKRbboxT-b2BvrFFG8oO8CqkAbRA==",
  "id": "rs_086b66efca9dd969016ab44b38310087d08f127407bcce1ce8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.38,\"right_y\":0.34,\"right_z\":0.14},\"note\":\"The plush remains visible in the wrist camera after lifting, confirming it is still just ahead of the grasp point and was not held. I’ll reopen and advance another 3 cm until its torso passes beneath the fingertips, keeping the established lateral alignment.\"}",
  "call_id": "call_XmtQ0E7xpX0PKUqiJH7SppLG",
  "id": "fc_086b66efca9dd969016ab44b39e16087d0ac08e34e1c13ca9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XmtQ0E7xpX0PKUqiJH7SppLG",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2474, -0.2394, -0.1307, 0.9982, 0.9455, 1.911, 1.3586, -0.2867, 0.6506, 0.6025, 0.9954]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0538 left_roll=0.023 left_gripper=0.9982 right_x=0.37 right_y=0.3359 right_z=0.1268 right_yaw=0.0763 right_pitch=-0.0718 right_roll=0.0175 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.0188, 7.0632, 1.7851, -0.0952, -0.022, -0.0073, -0.6632, -9.5795, 9.3744, 1.5702, 0.3443, -0.0122, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce6fef95e4b42aaeefa2ffea30f5d4c559ce612e6fb7eb83421d9b6444eae66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1803354b1660d3c90c51fd8cda83559e103656bf2dd5077c9a568f2844d6c358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec66dc9e85c0f38fcde0c491aa06af5ad3e34d39913916b3907dc625b66d8307",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.746 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.2466, -0.2394, -0.1307, 0.9981, 1.0, 1.9289, 1.1526, -0.025, 0.7227, 0.6647, 0.4552]\nstate[eef_state]: left_x=0.2937 left_y=0.0027 left_z=0.1633 left_yaw=0.1087 left_pitch=0.0545 left_roll=0.0228 left_gripper=0.9981 right_x=0.3494 right_y=0.3347 right_z=0.085 right_yaw=0.0484 right_pitch=-0.0088 right_roll=0.0663 right_gripper=0.4552\nstate[joint_eff]: [-0.1299, -1.0188, 7.1043, 1.746, -0.149, -0.0317, -0.0171, -0.5265, -10.5504, 6.2974, 0.8718, 0.3053, -0.0562, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 1.0, 1.8629, 1.3041, -0.2741, 0.7029, 0.6605, 0.2553]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0534 left_roll=0.0231 left_gripper=0.9981 right_x=0.3489 right_y=0.3386 right_z=0.1343 right_yaw=0.0638 right_pitch=-0.0389 right_roll=0.0456 right_gripper=0.2553\nstate[joint_eff]: [-0.1709, -0.8274, 7.1043, 1.79, -0.1099, -0.0464, -0.0171, -0.3624, -13.5043, 9.2376, 1.37, 0.486, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2474, -0.2394, -0.1307, 0.9982, 0.9455, 1.911, 1.3586, -0.2867, 0.6506, 0.6025, 0.9954]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0538 left_roll=0.023 left_gripper=0.9982 right_x=0.37 right_y=0.3359 right_z=0.1268 right_yaw=0.0763 right_pitch=-0.0718 right_roll=0.0175 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.0188, 7.0632, 1.7851, -0.0952, -0.022, -0.0073, -0.6632, -9.5795, 9.3744, 1.5702, 0.3443, -0.0122, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce6fef95e4b42aaeefa2ffea30f5d4c559ce612e6fb7eb83421d9b6444eae66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1803354b1660d3c90c51fd8cda83559e103656bf2dd5077c9a568f2844d6c358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec66dc9e85c0f38fcde0c491aa06af5ad3e34d39913916b3907dc625b66d8307",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEs-M2iv5tfzbWCSavHUTCga9ymNIuBA6k1idJrpYY8qQDRvCL7wYMlt10kw0H_zGpzFDqrCIL5frNJtFp5yqcY_6K2ZV4wkK5_Gr9BQO0MBcgNHZCxkcLgrHE4oaWZ6ePK4WrHaAg7uflSmll-iFuES423m3Mt0mQQn69JEmV53PfyVUS_5p18OJIq0C9lk132rywBdBnyUeJdMDyxnRf_dR_WCp7uDMBoin_QlHYan8u6ZPDbXjqrYw11DLc-WkKpGZkF5VKf9OzbevHKQeXIVtOzPBsF_3LfmGv9cU9Vd6Yf4Nc0IkGwvpEg4-1lw6-ntx_gIsU5_daBECA_PtA6E5ieQb9usMtdQ-IRoLX4qMRSCPPm0aX0jClmdY2BfTL4WEa5zDEOsAGodCF0ficd_X8V5lGT37_YRDW-m1Al5IoHPX_rUMnuKQg_I36zzy5RHMUaXNqVkWLYV2fbWp5wzeINWoT4Z7XVWFXflnwhjFZLiVHQ6sDnqt3h9quWxaLy7YhGwF615oJY19_dxtv1VVrTN3y26OUYR-cPzuebipTSOJHJRpf_q_-Hut9fUXWmGacSEjK9nvlMoiCcRZBAZkOch0oOsn-Boq6TCQHDQPhx8eDUXN3On51LTJ7fNlHLXaXjxiv_LF8abFVV2f7f3iHmnAvtbE7b4txZyWcungUGlaRJB9TTzzRmS_Rf1Zy4CvEe7WEctRqwdFsdxiXTXwSqzd77JYt9tWhm_UAaAjdjOa_QQW4MG2rgCgABKzFgjJIYC6WzhxLW27IDf-bqyJu5D1--bMs6Fm4G7RdXpLoZmszmi6PkDM9k38EICUOyRd3jEDo7UuY1eyPjyy_6sR3FmBWv11NWGOIGOgZzueX3bn4h149h8wWfTWFQIWb1sA5XMFLRDbqCMiE3OK0C0LVfD9Hho6CvMjEVEXogUy096etnhTz_OFhCnA4_linuqwVGSr2w1PMMxVC3kClIDw1yxgDAFSqvUTymEWDcKnNtteEmGYC4v7YPsP90qTCthWQwlhBIrBa_7V0YK55MSPlES4tMzAgNWXl8_zSDPph1e2YXABxUkG796_C9LExuVNd7a3G-0TIIxS_J7Oe13MUvxBvvFvtoAQ_rvJArBVTJOg4sd8GiE3QmvywAfkxa4byPuQPEZ8KtWmwBxn2txOhqWbuVsUEpb-xmWTmuLt64YoWGpd-HEPMJ6YzWTT7GAzmUr4FD3Ko0idPOT2ZFBXY7ATtBjtMe8TMGdKS4yhsc5_d1boTtSkdv-8Tb-dXwypEwlTYcQramj4k6h4Te-hweb0K4Ri-3_q3x8YBm-IfuQziXmyWVDlPqJqkU-VciZK7sdWcLaKxNvcFiqsz2YWlEUmYGPb5YSYNyqjLf9d1FQ0hOA-5tbmMnoq_81t_Npwk3UYEszlkaw4UC5JRxvXt2GC0R2mNAcJh-HcJjTPcbEyiDjT18i7WhES5oYgYtZvly5_blcQIh9QE9I9Yxv-7Kn6yyBiqsQde8tTymoA_vA5q9zGzM565yqv1-gXpoWzR35hVD4WSzPj1-ao_ncMwgRcJXDHvRodHDxRIDGhPjD6jjIJ-wwQK3RG-SRVNBmFF4sxjVqjtVg69BoGfosVzzzasQkkCKVAJmkogIbWzyeEma-APvlRoeW5d87JX9-GXgybnfqpo6miH3DCEsyUSxTHZ57HXp1QTN-8vAzPXuH4oAQTxWe2bKqWF5tjzUk",
  "id": "rs_086b66efca9dd969016ab44b3cbe1087d090d474a5d4e9705f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.325,\"right_z\":0.08},\"note\":\"The additional advance places the plush’s torso between the visible fingertip tips at the bottom of the frame, with a slight offset to the right. I’ll advance 2 cm more, correct that small lateral offset, and descend onto the torso in one short motion.\"}",
  "call_id": "call_ntSE3iSzpcnMyuaZyEc61y1Z",
  "id": "fc_086b66efca9dd969016ab44b3de16c87d0a06f7215e9901f67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ntSE3iSzpcnMyuaZyEc61y1Z",
  "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]: [-0.1459, 0.765, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.8982, 1.9736, 1.2724, -0.1356, 0.617, 0.564, 0.9964]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.162 left_yaw=0.109 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3842 right_y=0.3241 right_z=0.0838 right_yaw=0.0735 right_pitch=-0.0885 right_roll=0.0049 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.1145, 7.241, 1.8193, -0.1392, -0.0366, -0.0171, -0.5128, -9.9487, 6.106, 1.3504, 0.1587, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a163b2ff139f8345ebc68b16b994d5872da80a31b9c1d7e3772c3a66e7beaa5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0e463600b2ada909c801443676332de243c242d7da902c79309c326e1ac2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531367f0045aa4d524da5d9ee6cd7171c7024a3c82d9c37cc3e0beb36e794dea",
      "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 · 2.606 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7612, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0, 1.9285, 1.1526, -0.0132, 0.7254, 0.6613, 0.2552]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1632 left_yaw=0.1087 left_pitch=0.0542 left_roll=0.0229 left_gripper=0.9982 right_x=0.3506 right_y=0.3357 right_z=0.0871 right_yaw=0.0484 right_pitch=0.0 right_roll=0.0722 right_gripper=0.2552\nstate[joint_eff]: [-0.3761, -0.9094, 7.1043, 1.8095, -0.149, -0.0073, -0.0073, -0.253, -9.9761, 6.0786, 1.3407, 0.2027, 0.0122, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2474, -0.2394, -0.1307, 0.9982, 0.9455, 1.911, 1.3586, -0.2867, 0.6506, 0.6025, 0.9954]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0538 left_roll=0.023 left_gripper=0.9982 right_x=0.37 right_y=0.3359 right_z=0.1268 right_yaw=0.0763 right_pitch=-0.0718 right_roll=0.0175 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.0188, 7.0632, 1.7851, -0.0952, -0.022, -0.0073, -0.6632, -9.5795, 9.3744, 1.5702, 0.3443, -0.0122, -0.1734]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.765, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.8982, 1.9736, 1.2724, -0.1356, 0.617, 0.564, 0.9964]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.162 left_yaw=0.109 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3842 right_y=0.3241 right_z=0.0838 right_yaw=0.0735 right_pitch=-0.0885 right_roll=0.0049 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.1145, 7.241, 1.8193, -0.1392, -0.0366, -0.0171, -0.5128, -9.9487, 6.106, 1.3504, 0.1587, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a163b2ff139f8345ebc68b16b994d5872da80a31b9c1d7e3772c3a66e7beaa5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0e463600b2ada909c801443676332de243c242d7da902c79309c326e1ac2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531367f0045aa4d524da5d9ee6cd7171c7024a3c82d9c37cc3e0beb36e794dea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtDRHMQK87UN3VulbmgcesKpFB9MuHqHtOxsCy6Hamh-WJAvAjhPxv49-8RSulKyEkU_mSUyqwArXJ1EqSBse0hxwHmi0PvdPVPMcjLWpNlv5JHFWXG3Hm-C1Ehf-1omQTdcXogdDfg6ODG3iG6oxk_nBd2fwPf79koWDmbIn_m0F5pnWPkZHUfOqK4MdMnx9QH-dgwn0udge1LaghDaEvIjAsK5pPoT3DNFTLfTbYgVjx0HTNQlv8iI9sqxqtXRG6WrYt5MdQmO25x974XO86g5-IIAUdTmSzjfNhkziabHuBDdDZdTYgJ4Zt3xSGLNwjfb1MkMX5BS_yaPAoTO4pXINJC1QnLNwlkXHlhKHYyFSP0WrXCluj1KTMiHvE74UnvFOyu1A8oEHW2QY8P0PzheWvWSnw3lpAG8twpjv8NVOThFl6R4PiIhs28u4QrQdT7K2FdDYI3Wt3iVIeaZyl88xMJ57aLaY-Jg6JU4Rb5hZRUVTDD8GiCT5WlbYP2bcUaEODkyHcaWEVj_a3Aa4aw_1VxD2CLWAuDsS37nOe0qnoE_BwFpT_So3QXmLwQ_-5EANrmK6S1TS2pUx0blavud0uiTKMKCdYqRU97449IhEV8CZ8Bmrwp3UHi5CprOQVYNIGW3lUD4shTG59HFPZgT9suLBs6_dJHkpATMiWRRtBoMA_S5_nmPGu6UwM0vcNikDUarTx5aSLfaEaQwtCjfnLMqHw5aXoQQ1YIeZiMt6nx8KqUZxzK0HxkpFZw0Qipb7z2alS-wV-gB1CMu-rx1mH1qLXaBJYvAENjkHd9jUBPcTQuFDG0MhQQH4eOwRPb6-RE6Bz7_xJEoxr-0Dyilj4DiQ3foKQXM3DFHytEKYBnWfYVe126xGjXy0yqC3ze2CL6ql5j9VEUZmkANoRdSe_ff2C9XAiVZ8AWkuW1MrXR7H-bINexhS6nhyQMGCbuZKMfpeiLBsrjyCdQ-BrhuCbRrhmF6TQ9n3-Aj7avUcI7kzsYdpunwVe7x04uyIjAAwbMx8nIP78Qrhpn8NjGJmJT_v_J1e1ALNSfjw2Xz8oPq7y0cPOWMR9T-uYEIwgNbNFK411ONZSekrs2bEbKtO7XBP7shQU1NmCX2T3q_QAGappR7Nz2oTxxMPJn0CNvkHijlamcGqh3tPJmSnGYjbJ25MU8iHYsoaWe7a0RfpgpYQziHFN3Qm-JpjsG4eOVIy-RKcC9ee7zWbCtW9aGITSchCDNCxo-7OWpvUa72zd7mL16EB5zsXNuNziUFCn_Zc486tziUfUOFtC7EUwVoEXnSAORBfhbrAk9GbsBfl-9Aw-QH55t0lCoFUiknbkKqF9g6CKoshMtCD69hRY-Sqmi6ymoydKcpbEguNIhJiCDP0JQrCk6ODX8sbwvpSGjFvEu0q3V6M7go-qV1oo3Rbk7QcdBZjTBXE4GxSW0Iim3JjUeymxNjmX5jGM1QUJhBPGWivhvRUvVWANy_PAbOSn8iLHklCrypsmeEjq4lofCxdFor1drOnaYSeFoJk5Y5ukNAoGNfbm-QbKKH9UTK0mf9_El6K9C2FK2KWQc87UdSTknGuOnbL-mWpqfNYXuYeKujHEIzT3YnkjCuvFSaEuFyqMDnOeDNqMbK6E_6LID7PuEzX4bKVREr72Z3pai6XkZWe6llYZwAfdRdTPL35hFt-Lc78VXDOKj9YVlpIhsgRc4WdJYfVrbFBo_GAqlKyRq9sEzrXUvLfpnub1CyIFb-I9txZYC3mtK6ZlQ7ydj93i737xMxp89cT6bC8mgGFnmuXdc1GpfZDv0Eba_fb98xSMrNe5DGPsgvHITjygLkBJT4kqaxTV7ywz3wvzSib_ZH7kNEOSRNGPA99R9U9P-rwamHeOnLCCgr58UPkX0c7m2sdJriEyUEAQ_H85co69Afj5yjHbiKx9D9BXbUrTGedJGJ12NciG-6SouFOipBhDwYCFyYF7AeT-hIvj6DV6lVA6qbgecYs1kDRXCdiWntIA8ojllZdJQwuQqxPWJvmxluinZiMsrnjPQIxFx6jmbkxI1fAVk8M7ccNk4wEc6lhHkbHyT3Yea3zsatRiYQg-fcVUtDo2bGBmPpjVkSZOTAGPEGeJ_cnkeJeAvkyeYmc30stHXEHeOo8AjHWmNNCOli2ZOCPB7JQCSG4jDQkS5kaxC-N56BpHnqD32sb-ecnmr2Avz0qR7a4arYp9xihTJp1eMdeaOzvDw37cc_gD4ZM19w05CH34j8ucEVJZCOh7myJIScR2bybh4Rdw4K6z4zp1v66woGkupbw2e0jdLWMEpQJoaN8Q0eB5oSga5VCj3jl8cx-juZSM3bRNry__BgIpxI71TMpbhQWdsgYzF4E_JnAAZBqd8Y9XAGHH2YOsU_pDxN_6GHQSqLHePjjcLV7GRxUhUJv4GMkzY-Nwll4xVHBKnMImXSLWESdRBsfzRsTzQbJdGndEJb5y7XIs8b6ajbmCXXMWA7Pl0Zh8r_sDvc86p6Q4k6XU60hlVUI4lSvw4L5OH1OdAiiZRbOA9GyI2AJcjua1DdXQfh2uLBe-Y1RTyeYsogJshUxQJprZJ4NIOhgsf8d8cktztxij6rrPPFXvWRBMKjYbddfn06p3Tw9DzrNWhVcvN1W0Fs-FtpLRkc3uGf5JNLj2nIcxxW8SXUvEwJB-uUs_MTFJxi5f-qnBICzMU9doRsIJ1WErxomk1_2kjTqPz5ZFHL-JMTXiVoO5d43MP5sLHLoAQsVfznpA1tyrEZqQGshrEWWNRZIPj2KwPKx6sTThh5UHNlnpdT9QMiwfCG33_QurivY1O1XLhBP9-X1AtusSp_1sHQZN-oCG2UOlIjI3dKxTKey599wWP44Joyjh8qR1nrXTaYMzu2EFTWdK7gHHgiIjAVXYtk4pM0-X9UPXETm9AUk-HsIPNB1K-PP313by7zM6jmI4EKGakAMyAi1iFeVw4peK__UwIkYEIlbs17K2inWgpxQA3ZtR_D1vOU3c3rXBN8p9svJhXfQD33VsryxCQEG3TneJVoTi4P4IALEgbf2RVFsQbS4NcfXxDDMUOrsfFGTbFB4ly57xk7w==",
  "id": "rs_086b66efca9dd969016ab44b408c0887d0ac7538b856affbf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The tan plush torso now fills the actual jaw gap and both fingertip tips lie along its sides, indicating the grasp point has finally reached the object. I’ll begin with a controlled partial close to keep the soft body centered.\"}",
  "call_id": "call_y2KQq2Fhx1sKqBad8etiYVTC",
  "id": "fc_086b66efca9dd969016ab44b4317ec87d0b50d3a6f04bb49d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y2KQq2Fhx1sKqBad8etiYVTC",
  "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]: [-0.1459, 0.7647, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.98, 1.2686, -0.0917, 0.6189, 0.5571, 0.4566]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1622 left_yaw=0.109 left_pitch=0.0505 left_roll=0.0239 left_gripper=0.9981 right_x=0.3885 right_y=0.3275 right_z=0.0859 right_yaw=0.0758 right_pitch=-0.0646 right_roll=0.0231 right_gripper=0.4566\nstate[joint_eff]: [-0.1299, -1.0462, 7.2684, 1.7216, -0.1392, -0.0317, -0.0122, -0.212, -11.0701, 6.5299, 1.0183, 0.2222, 0.0415, 0.3736]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc6acd98a7e5054f33f5ff67f74092ecbf2d4a51b58e9b5e8c3a9454424cbff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586d846a6f16c229fbfc65df90ace434cfbdcd6e58808b01e5c2b53ef6385e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ba7fd66a7e839091212ffd58f84426b85c961d7cc2749aebf4bb147b1ba0e3",
      "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 · 1.908 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 1.0, 1.8629, 1.3041, -0.2741, 0.7029, 0.6605, 0.2553]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0534 left_roll=0.0231 left_gripper=0.9981 right_x=0.3489 right_y=0.3386 right_z=0.1343 right_yaw=0.0638 right_pitch=-0.0389 right_roll=0.0456 right_gripper=0.2553\nstate[joint_eff]: [-0.1709, -0.8274, 7.1043, 1.79, -0.1099, -0.0464, -0.0171, -0.3624, -13.5043, 9.2376, 1.37, 0.486, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.765, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.8982, 1.9736, 1.2724, -0.1356, 0.617, 0.564, 0.9964]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.162 left_yaw=0.109 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3842 right_y=0.3241 right_z=0.0838 right_yaw=0.0735 right_pitch=-0.0885 right_roll=0.0049 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.1145, 7.241, 1.8193, -0.1392, -0.0366, -0.0171, -0.5128, -9.9487, 6.106, 1.3504, 0.1587, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7647, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.98, 1.2686, -0.0917, 0.6189, 0.5571, 0.4566]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1622 left_yaw=0.109 left_pitch=0.0505 left_roll=0.0239 left_gripper=0.9981 right_x=0.3885 right_y=0.3275 right_z=0.0859 right_yaw=0.0758 right_pitch=-0.0646 right_roll=0.0231 right_gripper=0.4566\nstate[joint_eff]: [-0.1299, -1.0462, 7.2684, 1.7216, -0.1392, -0.0317, -0.0122, -0.212, -11.0701, 6.5299, 1.0183, 0.2222, 0.0415, 0.3736]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc6acd98a7e5054f33f5ff67f74092ecbf2d4a51b58e9b5e8c3a9454424cbff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586d846a6f16c229fbfc65df90ace434cfbdcd6e58808b01e5c2b53ef6385e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ba7fd66a7e839091212ffd58f84426b85c961d7cc2749aebf4bb147b1ba0e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtGj3ZOQs9iS_l_K5OtSQAFdwf3DF5e__JgiABVkCMATuuiNT6Pd2U-rjOiVbAcAvXuTOnPJ8AfW9BWjYBU7bF2v0Qhnu0tm_aT4QoliKZVcV_gDukOKjoObn7J--vH1ZAlDoLf7ZtQkeS0y1dE_PiCEITp7i9iE0Hd9L6bfyr1BIsDOeplv3FRU5ms_A16uP3Ke4oY6SC6NCOBmJ5j-8-2hVcLGaTqsugGtlEkKKKX1COKqGvSRyBnXEotqtf3jagEaatxPAgGZk8RBAzT7uUYzvlwMIEgfr2P-7x507vtMEtdmZ4_7TT_xIfapN1mK8B42Y0epV2xYkM8d5iwXwP3MjOQuvuTsDy6aovXXOtNQJHTlQ_1hrGLlIdvRgadnxbEeJDLjbZ8rxTQN6SVKC6WJIdrKKjGHa318HOMtTBapyZ1LIRaQJLDP2IbFIKp8gaIWL-Lq8ZMW9FTB4rSUWaXsJx1jaHJ_9DDqIQrC4TE3qzE_bMlSk3gv0m0j1a986BHZf8oFFdd_kuAdoLZtIf-WJCnM27Gi_3LWfXp7X-nlCqiSjP7eDD6ncnJYSHXNczPtqqTACLOh_Tp_crlq-eLAXFdKoB8D_eQJzYzcavgwjOMxS4JLAJisvPT9nE_2FUXDpRiaNMqzeShPZbUpebl55RwrqEQRj_iDlYC_xFfYWkREBhKLDr3ZB_6tmjXztgp_TN1Aaup9obClB94ZSizpALrWb4f9wN375lZu2yKiVw8CGkI_GHoodugMGwB3KXiWnc564JMao8K6FIe3F1MabSmkCmQHwIJ90oYCbZtodVQ4FqmLSeQh7vJZXCr5x8S1C5KHblmYpalyO_QxwDttJJdcK3eFYFztV5Xu0A5yff0IiF2qSn82Kpyb_wu2_eRFEAYTdP-e4JkVLg9Jck9mQd2bObTGIkPMFezEEnIAKeHdfpfbH7cLWMfJobbOqeLAydJzBjCZ0rOJL5hNoGBE2f4_fuQ_EDHMqjYRMAzGo7z8kmLtNFzzmD_jVm38iiBMSjG0_XUtRZ7GDzJyMfk_TLCzPUfKrBqISBOiKVhhf-SmgJ_uPFgvzU23OCh040rD1YzsuxPPro8Mq5V7WKtniRTEQ68ebNX90rP7U-cDCqwYUI9lQxMLBlLKb1skzS9IlsKnHET8J2A35xRNVqBN9aVVT2QPDf8fIRF317OIBkt7TjsuZ6WKz5smUhG7Plk-5OeXORnmNiVCSHKCZgmelsW39_JmWKZGKbMHhxltEE=",
  "id": "rs_086b66efca9dd969016ab44b4609ac87d08cfda22677d94af3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"The partial close has compressed the torso evenly between both jaws without pushing it away. I’ll tighten to a secure soft-object grip before lifting.\"}",
  "call_id": "call_DD4e0IxInI36qmA0WFB4TMJ7",
  "id": "fc_086b66efca9dd969016ab44b46327487d09009bd1229f7db09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DD4e0IxInI36qmA0WFB4TMJ7",
  "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]: [-0.1463, 0.765, 0.4824, -0.247, -0.2394, -0.131, 0.9981, 0.8963, 1.9793, 1.2686, -0.0692, 0.6189, 0.5526, 0.2074]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1622 left_yaw=0.1088 left_pitch=0.0505 left_roll=0.0236 left_gripper=0.9981 right_x=0.3907 right_y=0.3302 right_z=0.0896 right_yaw=0.0792 right_pitch=-0.0486 right_roll=0.0363 right_gripper=0.2074\nstate[joint_eff]: [-0.3487, -0.9504, 7.3231, 1.7753, -0.1294, -0.0806, -0.0073, -0.3077, -10.5778, 6.3795, 1.2283, 0.2369, 0.022, 0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92921872870eb1fb0134b4da9e67584004490bf8e4a1c9197f576e65c99ee2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dd53b4e958a205cce74e8b450b9a8229396382faeca3a716533dbaeadfb0ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929cd57074046b00de33c78a01a0a2e3ce113eebc9378fa95cf7d374b744fbbe",
      "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 · 8.137 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7612, 0.4824, -0.2474, -0.2394, -0.1307, 0.9982, 0.9455, 1.911, 1.3586, -0.2867, 0.6506, 0.6025, 0.9954]\nstate[eef_state]: left_x=0.2936 left_y=0.0028 left_z=0.1631 left_yaw=0.109 left_pitch=0.0538 left_roll=0.023 left_gripper=0.9982 right_x=0.37 right_y=0.3359 right_z=0.1268 right_yaw=0.0763 right_pitch=-0.0718 right_roll=0.0175 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.0188, 7.0632, 1.7851, -0.0952, -0.022, -0.0073, -0.6632, -9.5795, 9.3744, 1.5702, 0.3443, -0.0122, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7647, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.98, 1.2686, -0.0917, 0.6189, 0.5571, 0.4566]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1622 left_yaw=0.109 left_pitch=0.0505 left_roll=0.0239 left_gripper=0.9981 right_x=0.3885 right_y=0.3275 right_z=0.0859 right_yaw=0.0758 right_pitch=-0.0646 right_roll=0.0231 right_gripper=0.4566\nstate[joint_eff]: [-0.1299, -1.0462, 7.2684, 1.7216, -0.1392, -0.0317, -0.0122, -0.212, -11.0701, 6.5299, 1.0183, 0.2222, 0.0415, 0.3736]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.765, 0.4824, -0.247, -0.2394, -0.131, 0.9981, 0.8963, 1.9793, 1.2686, -0.0692, 0.6189, 0.5526, 0.2074]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1622 left_yaw=0.1088 left_pitch=0.0505 left_roll=0.0236 left_gripper=0.9981 right_x=0.3907 right_y=0.3302 right_z=0.0896 right_yaw=0.0792 right_pitch=-0.0486 right_roll=0.0363 right_gripper=0.2074\nstate[joint_eff]: [-0.3487, -0.9504, 7.3231, 1.7753, -0.1294, -0.0806, -0.0073, -0.3077, -10.5778, 6.3795, 1.2283, 0.2369, 0.022, 0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92921872870eb1fb0134b4da9e67584004490bf8e4a1c9197f576e65c99ee2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dd53b4e958a205cce74e8b450b9a8229396382faeca3a716533dbaeadfb0ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929cd57074046b00de33c78a01a0a2e3ce113eebc9378fa95cf7d374b744fbbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtJ2DJcQN_38MH_qIRs4fWbohS-Qo5xgZxAxv5Z7XENIgzd5gwaQHDEHK2aKCphtze6LhlHumql4ZPn-e23UI2BIBcJPexpxKIzL5MCcjg0EVc3eYtwIefC_siJ3o_d0yvdMY7gCMTrptkOacCptDlXg2fVOmBntMOfFtAaLuC56ouXvrqKlkN6eCzJn-OtgDUMXhZwGWz2gTfKk5yb5tAAzsvsLakZ71z2BXeRmz6bWy9OLohGokMO-pd44uKMH_aKAPBMPvaNw59ljACzEh2AF9pGHeW5F_GUWrylKFrHUyR4IXtv0N5vXBAHi3-G7bfqcdLQC25Cyv4nRyJ_gF5JGLS1WGSsWYF0LyDoVUqFu1q-JbvPxPGbjs6wtr3nomqQzF8kT36LYAn7jjGBeZ8d5EH_qUvpcFAf1B21joung4hj8HhcpxxBvMPHgxVEE6G5j13P56lKGge6ReZ0pEJ7exiqn0XM6Vzduau59IDbwLZlkPuxXkG2BCPbHWFlMt360ZN24mNbA4cS0YLZwi5kZ1Cs9YqK_MRUHWLVE7J4iAOUG9nEpvByFIMIa0fOuUwk4c7BIvAEm42qNh5Osu0FgO4Rk1QsKy6ZDcM4R6Pos0RhfzdCaNTcjSp60-lxHRUcK4ZkxEDH4IjxjILTCgxIQw6YG8vDENYRh95eIHqPwkpz11goXBwfEDLP8k8PhO3iGw39E8mc0NSHBK66xbHUHQUZe3gz0UdZozNAwrUDXXXedEur9fOlc8KaEvv90eDv3tIEDdQtM4UDHTfQQQjWi_h61KDboi3qv0lXeyYydrNXR6HwfW-a2U8-r7b89PKQOU-8SKtWCrAwyHucbWMnTY-NVWeJ11M2KEb2JGvexXHoa9fbTMcgAJ-U0nHO2KqUAu4ZA4zejzTcoad0ZGgpXAHNeX-cuD-F63D5xErvea9RzjRB-GQr4n7GuauQL8-zNgoKnUPPR8IsTFH1LU6HpPr-bHTbTENtO0kG8M9bXI96nI-xpRWyhbcedvKQq_5lk2E47v0YZt_8KRLsU2zzMOLzJXNLRDBJhDg6HUtGG5HyXbfuXyQqNSSzoCTyiIpsejkejnNxtBRJnyrZBve9kB7FwjKe5-_4Z6ka_q6bZLYNz-Yt5SUZovSp3vbIWBIF-kOmLRboSZsrLNx9jqW0eafuPcLjfOQrI52XOLFiPbxkWtuC921VOGhG_Mn24QfU2JJIuyJR_9HnkBexNCiUXw==",
  "id": "rs_086b66efca9dd969016ab44b48326087d0aaddd171c102b9b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The torso remains firmly centered and compressed at the tighter setting. I’ll lift vertically and check that the tan plush leaves the table and disappears from its wrist camera.\"}",
  "call_id": "call_uDexiOXukVfZlWeGqU6HUKAm",
  "id": "fc_086b66efca9dd969016ab44b48621c87d0a92dceb912788f86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uDexiOXukVfZlWeGqU6HUKAm",
  "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]: [-0.1459, 0.7658, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 0.8963, 1.9369, 1.4517, -0.3565, 0.6041, 0.5526, 0.2081]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1618 left_yaw=0.109 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.3896 right_y=0.3323 right_z=0.1367 right_yaw=0.0867 right_pitch=-0.0989 right_roll=-0.0013 right_gripper=0.2081\nstate[joint_eff]: [-0.1162, -1.0188, 7.2547, 1.7851, -0.105, -0.0464, -0.0122, -0.1709, -15.1316, 9.7026, 1.4579, 0.3443, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3eda31d7648e4f309b053894c35f20358509583ad586ad4c9dec7b97209a778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8024c2785b5dfeaa4eab1863fa14a31d0b992ce4cc9fa9109b04e24016205d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f475f9d611c7d265bfbae0402281d0e6840dc93ce8fc18a8362cf5d211fb347",
      "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 · 7.209 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.765, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.8982, 1.9736, 1.2724, -0.1356, 0.617, 0.564, 0.9964]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.162 left_yaw=0.109 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3842 right_y=0.3241 right_z=0.0838 right_yaw=0.0735 right_pitch=-0.0885 right_roll=0.0049 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.1145, 7.241, 1.8193, -0.1392, -0.0366, -0.0171, -0.5128, -9.9487, 6.106, 1.3504, 0.1587, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.765, 0.4824, -0.247, -0.2394, -0.131, 0.9981, 0.8963, 1.9793, 1.2686, -0.0692, 0.6189, 0.5526, 0.2074]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1622 left_yaw=0.1088 left_pitch=0.0505 left_roll=0.0236 left_gripper=0.9981 right_x=0.3907 right_y=0.3302 right_z=0.0896 right_yaw=0.0792 right_pitch=-0.0486 right_roll=0.0363 right_gripper=0.2074\nstate[joint_eff]: [-0.3487, -0.9504, 7.3231, 1.7753, -0.1294, -0.0806, -0.0073, -0.3077, -10.5778, 6.3795, 1.2283, 0.2369, 0.022, 0.398]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7658, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 0.8963, 1.9369, 1.4517, -0.3565, 0.6041, 0.5526, 0.2081]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1618 left_yaw=0.109 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.3896 right_y=0.3323 right_z=0.1367 right_yaw=0.0867 right_pitch=-0.0989 right_roll=-0.0013 right_gripper=0.2081\nstate[joint_eff]: [-0.1162, -1.0188, 7.2547, 1.7851, -0.105, -0.0464, -0.0122, -0.1709, -15.1316, 9.7026, 1.4579, 0.3443, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3eda31d7648e4f309b053894c35f20358509583ad586ad4c9dec7b97209a778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8024c2785b5dfeaa4eab1863fa14a31d0b992ce4cc9fa9109b04e24016205d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f475f9d611c7d265bfbae0402281d0e6840dc93ce8fc18a8362cf5d211fb347",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_086b66efca9dd969016ab44b4abf3887d0a03d7cb5db47db10",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtR0we_txpDT760gciPd187C59UtilNieLBBmvFFt9Yd0N7Pz1I_K6V28RZRsykopGxSgPIZPblG6y6BUk5ckLUsQx3w0qxh4vATIVK5tIF_MePbb1q5OyqO9qoZwQ3p1rLPXVYz3WWPpChbftG_0Huydl5NPdbl_-WjlvGJ595k2-sZvxtJFYCOM_BCY4N0Jn2CJ2ow633W2yzW_OTSg4rcX6cL2uCU61d6GqrujwbbuUR9exfvlaZqgsRSUpkQWwLBXV9oNm3qPvpoxQwHobNr_2MS7jnYODJcj5AiOaToyu6yxQF96PxJ8p1P5sVx-gAA5OJAZLgZP4D6n5nRWI8uDF9LGkQkzid9VYoERRrFy1tQXEx2q-Aq-0zbP7OR19hhkjhDkDVs0jDojhcsBiUD5OIrAXlUE6gPwdeBiP3bna2gKHBtucCB4TF57duIoj7qKm6HN4WTsDjJJDwNBEf_8gfeOOFVjU0G6eM1x94DdiVLCQX0PlnHugv517Ke3JgrzxmReQ9GMA5Du2VUHubb6J2K7mbPyEcaTXWuSiK_EJkFi8vXtTJjT5leb0emA0dPG2YBGpzhkIACYdpbSzJIaREk554c28T_JxWr4sT9bJKGkYj449IJH52zJABekzuR_J6X-LTcAMTs7IBBdeIoCRRQ019NK6g6EvtE9kbPi--vDn21RUlddYkbROf-Bj0tBmyQcV1YBu23Xtx5h7NNdie85eca1DW9pb5yhpJ6KQu-2i5MEcgq5vU9KOQj9e_W0TNt0KaWthtLPPHPfP0uyLskn1WR3fgQpp3MgP1q12pZAVXDgfgjGcPO8VCzyVvKYC6oZRZIgDVoHoxwzjPOaGP1iABhqFPiM-cGtPhJmiFUsCofJb8gwi9JRTTpymfakOe26y38tw4cnMSkxQUdBpzsZrTz2MDD8xJ1bae_NQYHmnlG_Bn6hR32B5lZPYy_U2EuKiLXRYBvJkOBV_930pXAUI8PBZKk7Zx1_XsgFgcM7kSNpTUUL3jPe4LEjaLiHwdfxgHQgppiiTmtWVD9VcKbdB9mtG_bJIGaOc8y1ZtuCa7JCVPEYsYYR893VDlTGr-mEeRyH5VpGWsGu9zLdvkLD8Et2Z9xM7j1jlD4XOlAw-bfcKR3xsnS4_Gaff_xrdE6U9zqC7sedEKatYZTCnYbs0nERHX8dDk8WyFg5MR4swlRsVap4GOGw2cGQTISNCXlzOQnrwIQv0yzko3xURSlP1nMUFfaNhDjYqFanPIpM1z1tPibW0DrWNsOIRUdVoh46lHuxy8Mie8vU1SnX8ehqlCScdm1rNm-YdeeSD_mTiACiYz0AngYuSewZmqitLEwluegvvo3JjD-XFZ6S9SmHYawt-OjYYnd95_LHBM71UTCR5A9Rw8IN0dx6uLXfRKSeMpkG9L27JAPDi5KoG1BqWqVigCNSjJ4eUSgq8-Vl4aE3pYRhXxwzLBhqa8Azu7Y26TBCGavnDlXaoEQQ==",
  "id": "rs_086b66efca9dd969016ab44b50677887d090b7f8db65ecf4dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The tan plush is still visible after lifting, so the partial command alone does not prove it is held; the jaws may only be brushing its fur. I’ll close fully once to use the settled gripper width as a definitive grasp check.\"}",
  "call_id": "call_K4x6J1RyKZYhuTV8ivxPhhZX",
  "id": "fc_086b66efca9dd969016ab44b50f90087d0adb6bcda6508ab5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K4x6J1RyKZYhuTV8ivxPhhZX",
  "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]: [-0.1463, 0.7658, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.9301, 1.4525, -0.3809, 0.5919, 0.5526, 0.035]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1619 left_yaw=0.1086 left_pitch=0.0494 left_roll=0.0242 left_gripper=0.9981 right_x=0.3862 right_y=0.3309 right_z=0.136 right_yaw=0.0941 right_pitch=-0.1171 right_roll=-0.007 right_gripper=0.035\nstate[joint_eff]: [-0.2393, -1.1145, 7.2547, 1.7558, -0.1392, -0.022, -0.0122, -0.1573, -9.9214, 6.7214, 1.6532, 0.3346, -0.1392, 1.2283]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b34233d9eb7c6a57864d095f370dd467f8139f5e3f800b79cff96c74e16aa13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947f5f7ebdc797631d4d26d2bd577412c8fd74936bf65f748bf35efb5ceb527a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a97f1a14c3ee395e05b263fe9d5b427c0266d8c0fa5a4214b5ba5b0f5fdce73e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.248 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7647, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.98, 1.2686, -0.0917, 0.6189, 0.5571, 0.4566]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1622 left_yaw=0.109 left_pitch=0.0505 left_roll=0.0239 left_gripper=0.9981 right_x=0.3885 right_y=0.3275 right_z=0.0859 right_yaw=0.0758 right_pitch=-0.0646 right_roll=0.0231 right_gripper=0.4566\nstate[joint_eff]: [-0.1299, -1.0462, 7.2684, 1.7216, -0.1392, -0.0317, -0.0122, -0.212, -11.0701, 6.5299, 1.0183, 0.2222, 0.0415, 0.3736]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7658, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 0.8963, 1.9369, 1.4517, -0.3565, 0.6041, 0.5526, 0.2081]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1618 left_yaw=0.109 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.3896 right_y=0.3323 right_z=0.1367 right_yaw=0.0867 right_pitch=-0.0989 right_roll=-0.0013 right_gripper=0.2081\nstate[joint_eff]: [-0.1162, -1.0188, 7.2547, 1.7851, -0.105, -0.0464, -0.0122, -0.1709, -15.1316, 9.7026, 1.4579, 0.3443, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.9301, 1.4525, -0.3809, 0.5919, 0.5526, 0.035]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1619 left_yaw=0.1086 left_pitch=0.0494 left_roll=0.0242 left_gripper=0.9981 right_x=0.3862 right_y=0.3309 right_z=0.136 right_yaw=0.0941 right_pitch=-0.1171 right_roll=-0.007 right_gripper=0.035\nstate[joint_eff]: [-0.2393, -1.1145, 7.2547, 1.7558, -0.1392, -0.022, -0.0122, -0.1573, -9.9214, 6.7214, 1.6532, 0.3346, -0.1392, 1.2283]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b34233d9eb7c6a57864d095f370dd467f8139f5e3f800b79cff96c74e16aa13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947f5f7ebdc797631d4d26d2bd577412c8fd74936bf65f748bf35efb5ceb527a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a97f1a14c3ee395e05b263fe9d5b427c0266d8c0fa5a4214b5ba5b0f5fdce73e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_086b66efca9dd969016ab44b5332b087d0851fb818c391bc65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.3,\"right_y\":0.33,\"right_z\":0.08},\"note\":\"The full-close check settled at the empty threshold, confirming the broad plush torso is too compressible for this top grasp. I’ll switch to a controlled push: reopen and place the right gripper just behind the tan plush so it can be guided forward into the right basket.\"}",
  "call_id": "call_kNaoUeEifMa0HkudGWIrhn9P",
  "id": "fc_086b66efca9dd969016ab44b58009c87d0a95d199ab82d5f75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kNaoUeEifMa0HkudGWIrhn9P",
  "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]: [-0.1459, 0.7658, 0.4824, -0.247, -0.239, -0.1307, 0.9981, 1.0657, 1.8759, 1.1503, -0.2481, 0.701, 0.7002, 0.9951]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1087 left_pitch=0.0497 left_roll=0.0239 left_gripper=0.9981 right_x=0.3084 right_y=0.3296 right_z=0.0767 right_yaw=0.1002 right_pitch=-0.1223 right_roll=-0.0366 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -0.9778, 7.3094, 1.7656, -0.0464, -0.0708, -0.0073, 0.9231, -11.3162, 5.2718, 1.1551, 0.2759, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4644cdc766e58ec81ec68091ebe63f825cb77870273c278053054ec364df0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78841df0c5de914889ff7798757ffe9784b8f32b95576207e90a88dc473f865d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82fc3b6c1a8ee8a4c078f24d576d07f21081145cb915e06606aeebb3eae9663",
      "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 · 2.53 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 96 changed as sent

message 100 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.765, 0.4824, -0.247, -0.2394, -0.131, 0.9981, 0.8963, 1.9793, 1.2686, -0.0692, 0.6189, 0.5526, 0.2074]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1622 left_yaw=0.1088 left_pitch=0.0505 left_roll=0.0236 left_gripper=0.9981 right_x=0.3907 right_y=0.3302 right_z=0.0896 right_yaw=0.0792 right_pitch=-0.0486 right_roll=0.0363 right_gripper=0.2074\nstate[joint_eff]: [-0.3487, -0.9504, 7.3231, 1.7753, -0.1294, -0.0806, -0.0073, -0.3077, -10.5778, 6.3795, 1.2283, 0.2369, 0.022, 0.398]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.9301, 1.4525, -0.3809, 0.5919, 0.5526, 0.035]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1619 left_yaw=0.1086 left_pitch=0.0494 left_roll=0.0242 left_gripper=0.9981 right_x=0.3862 right_y=0.3309 right_z=0.136 right_yaw=0.0941 right_pitch=-0.1171 right_roll=-0.007 right_gripper=0.035\nstate[joint_eff]: [-0.2393, -1.1145, 7.2547, 1.7558, -0.1392, -0.022, -0.0122, -0.1573, -9.9214, 6.7214, 1.6532, 0.3346, -0.1392, 1.2283]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7658, 0.4824, -0.247, -0.239, -0.1307, 0.9981, 1.0657, 1.8759, 1.1503, -0.2481, 0.701, 0.7002, 0.9951]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1087 left_pitch=0.0497 left_roll=0.0239 left_gripper=0.9981 right_x=0.3084 right_y=0.3296 right_z=0.0767 right_yaw=0.1002 right_pitch=-0.1223 right_roll=-0.0366 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -0.9778, 7.3094, 1.7656, -0.0464, -0.0708, -0.0073, 0.9231, -11.3162, 5.2718, 1.1551, 0.2759, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4644cdc766e58ec81ec68091ebe63f825cb77870273c278053054ec364df0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78841df0c5de914889ff7798757ffe9784b8f32b95576207e90a88dc473f865d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82fc3b6c1a8ee8a4c078f24d576d07f21081145cb915e06606aeebb3eae9663",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtdwapDO8Yk1e1rqRX7dNt_erTXl1jkJg1_4WI30NXGXvMbvdYRdvi_8fdwHb4-9SVzm6yZJNbVIZ5gv3PbtWQ7NZmSKKOxIsIJ-fqkPenbxhTF5dz7nRQUssdWsAoLKQo3D1PVdifIQzkCUBSFRG_XquEoIafcoMpbJPrllXsApy7DSfVG3h8xZcA3Jj121huxfaKGsIgSwiKZc58TnaU1gP497lOHxl9BTHm_sthDIFL3J_XG4gaB3mbNfGUwx8cw4YyBzKbD_gmCPUle-iOw57pRKfPHJ0OfHYNseUPvb6xST6KrrNAgSyc6Flvg2OWfiB-9NIbiQby9xcbOaxe7xexzM-RUSCbQVZW0AIPAcQDo4YrOdjIGt_ayyqsx7DeHF2DTNf5WaFx3Eud7eHAnnmIOuhCmNC56PA1nyXi-gUwGrjcsQ4_zRCRDlxIUUt-59ON4EuVLvAl8f1qZXSe76eR5sQ_aKg3HX79mPV1Hi2JSakdEVy44iOSf911d7BGJOoU4VVLzBxfJOO3oq_kPmZ5lXAeBHLCz1MeYNYDTU2raCJbzcVZIsE6sXnoxMmgR-2fjWvzQcFBaOrQILRMZbidPhAX9jJc2Gnl5GRibTeOrndaMKFPtyE_ej7ciu6xpHy4PbFSHL2vzNuXB6asQ3sweYGKCgRFNwAhpQxNO5hG50QIImljMrkEJSP55SdDhRuhPk3xj10TLfZIyXktwhFjxU77brnEYMeZ18Rta6Kkfkbfcur-2ytxM1WIA80vwB6rZm5_tOGD3PbiIDehCXJ96H3J48bNIGVbucIvgefTy3Q9VK0CbUnHZAghKegUbLBXXxV7OwfAji11wP4hmqUrribYNTE_2YDJfENyFM9goNMizsabHv0zvXu2E-8aWec_-6RKKjSFIuWcOCpyHcaxKF38fuegD0hANqP1_-kbN-Gn2pi_SF5x9olQeTboU0IV4vKGydoHC3AcxTEwknCFClZIJXnSlUjrbfX5atu8mTue9-VBLsNYMtQ3xqV7w8anNhm8PPWq2iLLUWGqbKWcrV9uvI8CJcaR5iPfhDva2714UucMwWktwV0yuwOzGHGZd94ot9-G9ks8OFJPTKPSFEzDhSJ5X6Vvsjue9BGNEOL3SGvcersw6teLC5xyR8483EoBZj6Jq2V1WU-AG9lit6xHJyv6u-fRYSKB_v5J2yOHHP0B3oIIg1ixZmfCq7LsS4y1ZUAwrL7gswOvFleOddxJvuC9aYD7MEiIhXmyJCgsZZAxtyugmBvFLxobxDPN2Ib2UdEgxbASUJLAyJAyEak9jZPb4_DZsZjdZkRRp7kSvEAos_WiRyUnKM9CVpRYjnHTADz0rnkyoujr1mp959dIn9fe6-r17Y5-OfTrBFAlMpwsIsiTGV_zOcFGP",
  "id": "rs_086b66efca9dd969016ab44b5ba94887d08a4e91bafb9207ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The right gripper is now behind the tan plush, with the plush filling the forward view and both baskets directly ahead. I’ll lower to body-height contact so the open jaws act as a broad cradle for the push.\"}",
  "call_id": "call_CjfTGAWYo1y3lDCqJ7yQJHmz",
  "id": "fc_086b66efca9dd969016ab44b5c14b487d080c87b1df582863b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CjfTGAWYo1y3lDCqJ7yQJHmz",
  "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]: [-0.1463, 0.7658, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0645, 1.9297, 1.0962, -0.1173, 0.7506, 0.6846, 0.9964]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1086 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3145 right_y=0.3261 right_z=0.0561 right_yaw=0.0787 right_pitch=-0.0761 right_roll=-0.0529 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.0735, 7.3915, 1.7265, -0.1001, -0.0659, -0.0073, -0.253, -6.2701, 4.2598, 1.2967, -0.4322, 0.2076, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6516f974bed584a1991531f519864f1c18dbf9b9b17ba18b2d943fd0fbfefc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f76dfbf60182ae9e15154b1356c70a3a8d33d18e5e4522f24a943154a9ea73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864bf73cd9531cae5dbe7d320d8334d1c23bbb84f059916ef541b5b491712e30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.42 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7658, 0.4824, -0.2478, -0.2394, -0.1307, 0.9981, 0.8963, 1.9369, 1.4517, -0.3565, 0.6041, 0.5526, 0.2081]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1618 left_yaw=0.109 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.3896 right_y=0.3323 right_z=0.1367 right_yaw=0.0867 right_pitch=-0.0989 right_roll=-0.0013 right_gripper=0.2081\nstate[joint_eff]: [-0.1162, -1.0188, 7.2547, 1.7851, -0.105, -0.0464, -0.0122, -0.1709, -15.1316, 9.7026, 1.4579, 0.3443, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7658, 0.4824, -0.247, -0.239, -0.1307, 0.9981, 1.0657, 1.8759, 1.1503, -0.2481, 0.701, 0.7002, 0.9951]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1087 left_pitch=0.0497 left_roll=0.0239 left_gripper=0.9981 right_x=0.3084 right_y=0.3296 right_z=0.0767 right_yaw=0.1002 right_pitch=-0.1223 right_roll=-0.0366 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -0.9778, 7.3094, 1.7656, -0.0464, -0.0708, -0.0073, 0.9231, -11.3162, 5.2718, 1.1551, 0.2759, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0645, 1.9297, 1.0962, -0.1173, 0.7506, 0.6846, 0.9964]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1086 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3145 right_y=0.3261 right_z=0.0561 right_yaw=0.0787 right_pitch=-0.0761 right_roll=-0.0529 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.0735, 7.3915, 1.7265, -0.1001, -0.0659, -0.0073, -0.253, -6.2701, 4.2598, 1.2967, -0.4322, 0.2076, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6516f974bed584a1991531f519864f1c18dbf9b9b17ba18b2d943fd0fbfefc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f76dfbf60182ae9e15154b1356c70a3a8d33d18e5e4522f24a943154a9ea73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864bf73cd9531cae5dbe7d320d8334d1c23bbb84f059916ef541b5b491712e30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtg8_xSJwuDP3oSlKqKBZXAxDPTQIZQoDNod_ykeMDTkOWZGaIb1VTndVUwEWQaCPVNzviHKRtsyKmhLop578ymxMqJZtpekcLulrH5fbjmFE5zC3hHoqkJ9IXLChlFVpr51G0yZP8Zw_4cmIXGzUKR2toaTox8-1iZaXhJPRRLi3S_kUbMsqRzJMyZVA8n-aJduU9mLfwC2mnUS4PYaq9uPTzcO-IiL8Ha_KwGhPUIyo6vJHASZMDoHYHgLSA57bz1KY9-174mXGuxY7vD-1CDzR-GJjfV79opzGBGMenxkOJm9r0n-uCI5s45CcjFCoo8w0IZK674UUhVQHXFSlI6yfT4SNPe_W9ao8iVOyOAJcUVlPGJiE4dUpky9ZmR9M2rYcYBJouIZZ6sIR_Y11nP_oH0u4rYRxv2cPMsvXjw43mi54HjH5qO59TSsNx4Y91PhJnOtP33UnY2pYQI00xbMff37hYVBeF4pDAbY9R_U2b8CbKwyS2EVVE0sK0E912nqRt0meVs7c_q4VY-E0zN4QWjcxl6Rhvr9Rw0rY4_NvpraXdp7vcD5qHXM82oDK7ZDjfC-yRPNZIDzAJ5_08cREY_fcHvPml86wtO1Xf-MDclRSKoq15LNqI85py9yFBvU1sJPbQFuLlT6m9V11gBlnQ2o0ngMiYsUCUkfFdozfuUvWmt87DxiAC5kV0kBzD9tw7d18cxNjlg00VKxhK-ZqvVeUPkC783Rm1lyYLsAZU8P-Im7eqQ-imb9EqiL8tiGoffoBghG4gxTGa95a1-j-2CwCTIEesquMwRTJYye91US2J4pOey8PNZW3evwYVsvjxaTXVPvHM8thuzln7g6YySM1tstKZsDhaNbbe5twOq0SRLjYJKgRR2dH4yexwo3IRsy5zE68FSbe55r4J-NTWjGlnfnnXDZqELABEva86Nan8xuI5x0evm3wmr4tU0kAk1qtN8JbtbUVqh5LzPaONr2BX4ZyP2m9gM-wFqhzHBEZY-fGRwiyxgFgPvXZUtuhDD9KExwCx1ZbkLiITeisHedY6h89ZjkOB_lhWcqX2uvfu223gsA0XXbcmZHWdvy1ZOcAq283HTCdDLWoZG9pzXr6rnxJjtozv6CUqKkxMK0O9lO8y2Fevy_wOMbJ1R5KAqtQhVxB-pdiQqClYIfoB9XEr5BT69nQaO0uoohutTcJTkYRz39uOE2ftsy6ZF6uGnBneYZ_vKdb1g3XFBGeurGMUZpUUydOXOC0pysndE7edoVugNfWOSGlZOO8x9vsoIMFJ-QaqHEE4uKaOLAas0ZeCsE5gcWaDgE3NXJhIrgDPFYmeKea8f9xrNaxGOIlVdAzNBi6RLeA6EJqMbeigaYbwO9igzWowRQQA-UiA3r3uei95eaJOngyclCj1ZKrhs5EtOilCtK8c23Z6x5dleRO8FJ94f44aSr259jtAQuRJvIPq93WIVdGzUHZ09U4HHwbDsUZ_kGP3FPtb1Ys1N40hGztSl3bz8A5L0DG-0J7p47LZOW9ViOJa-8fFj",
  "id": "rs_086b66efca9dd969016ab44b5ee9b087d0b4f58f9fe0b9b6f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.25,\"right_z\":0.055},\"note\":\"The lowered gripper has contacted the plush at about 5.6 cm, with its head centered between the open jaws. I’ll guide it diagonally forward and right toward the mouth of the right basket in a moderate first push.\"}",
  "call_id": "call_DI2sMBqGyTZ62RPOJFXb1nDr",
  "id": "fc_086b66efca9dd969016ab44b5f694087d081a4dc750d0d5435",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DI2sMBqGyTZ62RPOJFXb1nDr",
  "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]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.239, -0.1307, 0.9982, 0.7341, 1.9285, 1.0531, 0.1078, 0.5289, 0.3889, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0026 left_z=0.1616 left_yaw=0.1083 left_pitch=0.0482 left_roll=0.0243 left_gripper=0.9982 right_x=0.4105 right_y=0.2552 right_z=0.0552 right_yaw=0.0724 right_pitch=-0.0813 right_roll=-0.0417 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.1692, 7.2821, 1.7216, -0.0855, -0.0513, -0.0171, -0.9094, -8.7179, 6.5709, 1.5116, 0.3004, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7ebff5b4eb65ce56e9bce6acbc04787c84946912adc23b6e68e88f7a9ba0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde32653ef8a78915bbc68da04b08e1bcfc4b21b8ac952bbda74376cf1a94727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4880785affbb553378817b4e859948e9e86931f7191fbc4e485564a4e96c63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.796 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.8963, 1.9301, 1.4525, -0.3809, 0.5919, 0.5526, 0.035]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1619 left_yaw=0.1086 left_pitch=0.0494 left_roll=0.0242 left_gripper=0.9981 right_x=0.3862 right_y=0.3309 right_z=0.136 right_yaw=0.0941 right_pitch=-0.1171 right_roll=-0.007 right_gripper=0.035\nstate[joint_eff]: [-0.2393, -1.1145, 7.2547, 1.7558, -0.1392, -0.022, -0.0122, -0.1573, -9.9214, 6.7214, 1.6532, 0.3346, -0.1392, 1.2283]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0645, 1.9297, 1.0962, -0.1173, 0.7506, 0.6846, 0.9964]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1086 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3145 right_y=0.3261 right_z=0.0561 right_yaw=0.0787 right_pitch=-0.0761 right_roll=-0.0529 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.0735, 7.3915, 1.7265, -0.1001, -0.0659, -0.0073, -0.253, -6.2701, 4.2598, 1.2967, -0.4322, 0.2076, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.239, -0.1307, 0.9982, 0.7341, 1.9285, 1.0531, 0.1078, 0.5289, 0.3889, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0026 left_z=0.1616 left_yaw=0.1083 left_pitch=0.0482 left_roll=0.0243 left_gripper=0.9982 right_x=0.4105 right_y=0.2552 right_z=0.0552 right_yaw=0.0724 right_pitch=-0.0813 right_roll=-0.0417 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.1692, 7.2821, 1.7216, -0.0855, -0.0513, -0.0171, -0.9094, -8.7179, 6.5709, 1.5116, 0.3004, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7ebff5b4eb65ce56e9bce6acbc04787c84946912adc23b6e68e88f7a9ba0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde32653ef8a78915bbc68da04b08e1bcfc4b21b8ac952bbda74376cf1a94727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4880785affbb553378817b4e859948e9e86931f7191fbc4e485564a4e96c63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEtkzk_5QhJlgBgbmw7bXBX743OO1vmOWfJxIByRWb25tM3G7BL97fj1YI1kBdUYa2XeXQS9cdD5QaGhJ99VEq0h2g-fXlR1gB7CLm6Hxo8OZvaR0ykUA9vefJCO5K076po7TRQc02AuHytfQKpM_Af4z8GJt2A52vQdARJpTxZRDe_8Qt2NWkvyx2Y0ZO-Q8Ry1JhrSen1wTWnp7z08wgw_UTcEWT-bm2OjH3LlpqWDHvqShquIjCqij6MoXbtueBHmxwahs9qVZUrTnRyXKS2gslHxkVSfImhLNCoIxPinv5P4LBpUe7AxwtSQBPU883xqNOFnlywbqrgfVHtQRxX5KrZI6IOD3HTlAawVSyGj1gVLFWauCZ2rbVG49CK_ETFUVXW6irlcAtUIxg4un3FtOxeCua1IOz9PHdE9Z8b3kbRgSbeAqH0BAbughII3zNuztCna7JQDD4DfUZ6-_1skqdmibF3aDvkY6E1J-ktjXRY7EY2X9fHVIHS5_2rrE7VFjsxwwTz1NuJfr8fDzFS1VzotJHaivDPscPsmPpaHXIwyadbFQ6fziFnmHWb8gHwvWOBpt1IbEAJW-T7p6DW0n3f-EHI5TuZCGvCzTUVs2xZDdE7v6w8i23bxdt434fsCvNVW3ehx4ZUFxBU0p8ruBujL7Sk-QUW2w9syVpLayDEQhAHFvegLW-BD6-7EqJrL_iLCcvLnbdxcRjmIwv1Q6x6xAN2gDWH95Qflm2g65J7hR_7qHJSjOX0wB04MUOnZ3VYThgNIQZMFCF5cms_Usfe6X_SB3M4G8zE_7GaLKf12P2yIxl4gRpjJIzcvUbCd4T4LbjZ7kIUim9GJ92F7Xz6-cPGJ2dOWHq7rzc2qYF_1NjFNUl-v98_Ndh8kyXpChBAPkL-VPUm2ORC3i4YyW-ZShbLFwW_qpKRykp9-exYMNposAU4VibVRclW0weaQyF1obg8tjFpoemSdaGvzQolSHPrz2HY_VXg-xqjfsH6sphhmYdmFAoaZhEfDGKwkKfJOIuCj_QM1ZfyoZPpsvHQd40pkWpzZt2drS-xgoLdQqqAP3E8L74Kd9hgLDCDwHmQjGdG-STiYylRNAUa9cah0kmMFXFOeGeIjTC04x_wJqay2ZKE47Eurb75-HeURNOhLFsoTzvCmqxe2oEfxb94HEL4mnE8LRNNYlMtkjHfmt_VZo-3Dmkw6OpUe_xTNArAtRw5GYDFGk96UeZJ9UNasNBhcEh61ONjAPVS8IoJug0BuIZf6DX_EwFGWER7TxCHdpB6z3pkQySfkBqm-2LUHhdtX7WLW4pqjw2LvF2Vvaix7nF_lIcQ0Mt5rsDJq4sLUZlfx6GtjJM5QUK6_TvnNV3avBnWkoo3FrZy84RSbadDhQDZsEpjk_ziVA70CrnDCI3DRgkudWI_G4ExsG7KzpjdpWGGfAWHuNnk2J-jJYZXoEHZqNW0WIl_AkHcv9n7Qr11SWrZnLQgHJsgVwr0yYhfJ64LHCgXOFvkYBCMqURDhgrQm_UE-DZEMj_LykdBuivgA02wDOJ2X6ZQ2afUflipDuovx09m-_ohhk_s_ZDqWqwox_8i6j3PG0AQK2Jfg9YkQev5GoAJy1LdU6bngCskr_eFt1UE5riOFX3uI0SaGpV0S8PeGnv5o4JaolBSar-uhtmgnHmXRdwLk9YidAoPqzB-lnip47G8ytaRsJJV2N2TVGNf-5CkgJR7OHg3YtxbYC7z99aqxyDvwVqVKk2NreVpk5RGUpsxqptwx2ZAuP7Ed01UKjHXxpvCIv4L4R93Vbxu5uAXVgqThfi5jvfGLCJr801nfEheNE1T7dfKeWRyjcf5AkZrfPE8R",
  "id": "rs_086b66efca9dd969016ab44b6249c087d0963a1ba8a83343d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.055},\"note\":\"The first push moved the tan plush into the channel between the right basket’s sidewalls, though contact also nudged the lightweight basket slightly. I’ll continue a shorter diagonal push toward the basket’s interior center.\"}",
  "call_id": "call_2mcRc2rgQpy1uafbN30C3Y9g",
  "id": "fc_086b66efca9dd969016ab44b6396e487d08f5e2f25b6d3da39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2mcRc2rgQpy1uafbN30C3Y9g",
  "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]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.5568, 1.9285, 1.0523, 0.1707, 0.3904, 0.2707, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1616 left_yaw=0.1086 left_pitch=0.0483 left_roll=0.0245 left_gripper=0.9982 right_x=0.4523 right_y=0.2066 right_z=0.0582 right_yaw=0.0701 right_pitch=-0.0811 right_roll=-0.0244 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1009, 7.2137, 1.7705, -0.1197, -0.0708, -0.0171, -0.4581, -7.9385, 6.9812, 1.6239, 0.3248, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654ef0abf76158ebcf8d280e38d971db56aa542ede2408dc58ec11031db94aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a6aa945d85e58efc9fe65ae087ba0d995a2937db9b68608f69064225d88cae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd2b96fbc02353167ebcef19787f8db5adc9e0f8c357cca268380ec8d4fb43e",
      "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 · 4.037 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7658, 0.4824, -0.247, -0.239, -0.1307, 0.9981, 1.0657, 1.8759, 1.1503, -0.2481, 0.701, 0.7002, 0.9951]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1087 left_pitch=0.0497 left_roll=0.0239 left_gripper=0.9981 right_x=0.3084 right_y=0.3296 right_z=0.0767 right_yaw=0.1002 right_pitch=-0.1223 right_roll=-0.0366 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -0.9778, 7.3094, 1.7656, -0.0464, -0.0708, -0.0073, 0.9231, -11.3162, 5.2718, 1.1551, 0.2759, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.239, -0.1307, 0.9982, 0.7341, 1.9285, 1.0531, 0.1078, 0.5289, 0.3889, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0026 left_z=0.1616 left_yaw=0.1083 left_pitch=0.0482 left_roll=0.0243 left_gripper=0.9982 right_x=0.4105 right_y=0.2552 right_z=0.0552 right_yaw=0.0724 right_pitch=-0.0813 right_roll=-0.0417 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.1692, 7.2821, 1.7216, -0.0855, -0.0513, -0.0171, -0.9094, -8.7179, 6.5709, 1.5116, 0.3004, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.5568, 1.9285, 1.0523, 0.1707, 0.3904, 0.2707, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1616 left_yaw=0.1086 left_pitch=0.0483 left_roll=0.0245 left_gripper=0.9982 right_x=0.4523 right_y=0.2066 right_z=0.0582 right_yaw=0.0701 right_pitch=-0.0811 right_roll=-0.0244 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1009, 7.2137, 1.7705, -0.1197, -0.0708, -0.0171, -0.4581, -7.9385, 6.9812, 1.6239, 0.3248, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654ef0abf76158ebcf8d280e38d971db56aa542ede2408dc58ec11031db94aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a6aa945d85e58efc9fe65ae087ba0d995a2937db9b68608f69064225d88cae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd2b96fbc02353167ebcef19787f8db5adc9e0f8c357cca268380ec8d4fb43e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_086b66efca9dd969016ab44b66092087d0a1dc9e9911acedb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The basket slid away more readily than the plush, so continuing to push risks chasing the container. The plush’s narrower head is now deeply centered between the jaws from behind; I’ll try a direct close on this narrower section.\"}",
  "call_id": "call_NR6TS5J0Q6td48DCkfajTyRO",
  "id": "fc_086b66efca9dd969016ab44b68c32487d09fc46bd49c3a4b4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NR6TS5J0Q6td48DCkfajTyRO",
  "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]: [-0.1463, 0.7666, 0.4824, -0.247, -0.2394, -0.1307, 0.9981, 0.5507, 1.9305, 1.0523, 0.1825, 0.3801, 0.2619, 0.287]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1618 left_yaw=0.1086 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.4546 right_y=0.2064 right_z=0.059 right_yaw=0.0774 right_pitch=-0.0754 right_roll=-0.021 right_gripper=0.287\nstate[joint_eff]: [-0.1846, -1.1145, 7.0632, 1.7802, -0.1245, -0.0513, -0.0171, 0.3624, -9.8803, 5.9009, 1.5409, 0.2125, 0.0073, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc15651715fd83d33706055681a4b435346e0e11be3bd931581787aeb49b3c39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7cc5bdd8ea5092054b01be600bac4a0a3c7298ac9da2d4d4e61ab0b5f9cca6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8947ed113366243845b61c10cdb4fac49cbfe38f16fc8d5bf2aebb293072230e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.86 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7658, 0.4824, -0.247, -0.2394, -0.1307, 0.9982, 1.0645, 1.9297, 1.0962, -0.1173, 0.7506, 0.6846, 0.9964]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.162 left_yaw=0.1086 left_pitch=0.0497 left_roll=0.0241 left_gripper=0.9982 right_x=0.3145 right_y=0.3261 right_z=0.0561 right_yaw=0.0787 right_pitch=-0.0761 right_roll=-0.0529 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.0735, 7.3915, 1.7265, -0.1001, -0.0659, -0.0073, -0.253, -6.2701, 4.2598, 1.2967, -0.4322, 0.2076, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.5568, 1.9285, 1.0523, 0.1707, 0.3904, 0.2707, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1616 left_yaw=0.1086 left_pitch=0.0483 left_roll=0.0245 left_gripper=0.9982 right_x=0.4523 right_y=0.2066 right_z=0.0582 right_yaw=0.0701 right_pitch=-0.0811 right_roll=-0.0244 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1009, 7.2137, 1.7705, -0.1197, -0.0708, -0.0171, -0.4581, -7.9385, 6.9812, 1.6239, 0.3248, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.247, -0.2394, -0.1307, 0.9981, 0.5507, 1.9305, 1.0523, 0.1825, 0.3801, 0.2619, 0.287]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1618 left_yaw=0.1086 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.4546 right_y=0.2064 right_z=0.059 right_yaw=0.0774 right_pitch=-0.0754 right_roll=-0.021 right_gripper=0.287\nstate[joint_eff]: [-0.1846, -1.1145, 7.0632, 1.7802, -0.1245, -0.0513, -0.0171, 0.3624, -9.8803, 5.9009, 1.5409, 0.2125, 0.0073, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc15651715fd83d33706055681a4b435346e0e11be3bd931581787aeb49b3c39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7cc5bdd8ea5092054b01be600bac4a0a3c7298ac9da2d4d4e61ab0b5f9cca6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8947ed113366243845b61c10cdb4fac49cbfe38f16fc8d5bf2aebb293072230e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEtuR1RMVyskblxUrjqR8lNrGNftpVJ7TsCxRfQTNE9TCIHXi5IQPlXE6ocpMcvDSmsICX0l6zAg2Fzn0QlVWgJLacD63sKD62hDtS05ge7_FVWkCDHWveGKOzkLCt-zrhO1D01D2xo7w-ShQh44zYTu-u6DqX0-uHMbd992rlnK4m2RbXzbxVjMMQi_6_w2VSq01IEgKc9p-emmXMGdxBwiQjr8qLvnWeR5GkotJ0SocwAmDmnHq85ZRVf3z3b0YIA40b_OecLeDKXCg59Jo8O_qr3226TAj3mr_a4I6LL8sKhWNvUkIKa5UOdCwT5OJ7kP8WFCUJniCAVjm0vfyK2NR2cGMBf4L6tpngkkA8-OS98j1EHgQnXQFMHmZqAfj3suaR_HyoIZLUKTuQCPuVfC7V_LEXpS6lDMlekJyoZTCgYcccIE_qglqO-TqtMk6JG7jhChRLuNUfprpC4z_nQKjf7uZag984-3qE3aMptxwn0IIZzRGc_GGya_adbTx6suI1xmxNZ68k4-1Y-b-Ih_8t9UoE6NmriG6MAnvRo4i01NpI4ZSaSMlfLaE80wYB4xyztpiDnW0kknhWJgf3YKuAw6cWWG5p8bBDmq1X6DX1Tg1IqOVHtAuIjygnK9gGNpNqEvpVz8q1dBP5KCM-z7I6Dv-LFZeSp4Jiu-Y6sZbMySXyiKTP5Ai475tPLC3ChePQZBf9p_P60MgAUEAksf4tPCOn2NphrHHzPkPKysaXUugSLSzPG8SjT95nSNqfn2h18VCvajd_uZ6Xws_KJHD1ySln7y4YK-4-zimEYjEyPvm7xab0M0JR7fQXPDsuhZUtzqGFCrNvq49dBcHT9cWcwFk8QqNZ3wGdq0lisVtn-h7Zs6N_yO8g7gyXi-L-fwwt_eIiWHIgga1Pbz5A-BLVTBN6lAqgQH0GhRU37K5ndviNiWmtRPTfbqzGv3ErCAvaJflYnvmqv7hg05_E04bozUTmIsB3Raa4azWuTXpBjMmbs0PApnyXjx4gTnqhwDfkOc7PDtEAi_7GEh17upMvsrPOecTAzF2Y5ToRGX7y4DAAtU7bx1VazlHrqvwOd9U2CId4ScupwnzXDOsRIn5_ZLnYd82iylZYpT5TplRxH2YecbT6NC9pSPS8q4MDzA8nuqna195r3inXGx8hB5adI_DNYkqDtz_lUbuQlsCpmOxHroDhaWgrz-bbKHRhsgPrfm2lkL26zNj8Cv-qMzeK80T1xWaYS67QdJS9zLn5pA4fVvXBlXKoaZAjeRs3h-NXka0PpzCeJ8XSMaLGPOA8taRPF4-yK3vUpwkzX-3zN8scqNBtksLd2pH3HGf1ZwawJTVheD8hu6r47N-Hu00rU8VhTmMK4VIcl2eJmU_JK3HpgjWaIuMURdPlQuDk8Ib7Jtpwyj9_v5fKQqosFFwMdeZ8EqAVsK-WbFR8cQ0FETChQS260Qs2YqORRRGpO92ed5rhh0jhZBdS-fOwWRg5YAyyV6piI7jRLMpGtoApAaPjJ9Al_uZY1dQ_vij974DBtbLXYhge3SMlurdwZEKawiLnOduTT-f-BVp2yCaeESQjakmlmb0h1puC1VOkCaxmmsmqpiamsUkZxb0U9JDzbIpHBNcGx-9i5Ha7hbUgoEpCiEE0Espf2ydP0Nmt21QydqFmcGNCoOmdGhjuymY5Bc9lyWYmcGHA63Yw_NXmCgG4iU1Eeqqd1EBRa787suFCZnSTGtsbJ2wYIhGNVX6-3xRQbS6LFa--drf0tPDsGKETjDUlqf-6-gm9JfVZNIxuG1-ppjSpfSi-0bIRYM8htZSF566lpWQkvbtfbigkXJ2-5j-7QbT611ajnO4UMciSQ41zI8o74g2d54TkuE_VFATBrbrLa4dz_vE-uS28UTblGMjrqbaRvPs381UqOVAde-lHk3ty09AMdyfhpTVcGWJMMDfFKxhqIXOGOjRgGslAkzdlCavCFIuCsKNOpF6sDn4lqQOi-zX31fI2_6ykSF2k8YTbURb1akcA0Pxq2kFlCCefQKZpnxI4SNFuHzVVKn7KvcgnFttQl_IOxr4lB5F0DJgl7jzINmFMVk1yG8oV3q7Ip_SknMTIlGncYQBxgZ-DlsDZH-dZihk5yroswgOhX5NO-hrOPSUn_U9X8=",
  "id": "rs_086b66efca9dd969016ab44b6c13f487d0812daa9d39de6945",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.14,\"right_z\":0.2},\"note\":\"This close stopped at a substantial 0.287 jaw width, confirming a real grasp around the tan plush’s narrower head. I’ll lift and carry it over the shifted right basket, aiming at the basket’s current center.\"}",
  "call_id": "call_6OlUiwjUo81sw8voxyGBfmaT",
  "id": "fc_086b66efca9dd969016ab44b6de56087d08741946cdb6aaa69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6OlUiwjUo81sw8voxyGBfmaT",
  "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]: [-0.1463, 0.7704, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.3531, 1.8229, 1.388, -0.2916, 0.2192, 0.1337, 0.2893]\nstate[eef_state]: left_x=0.294 left_y=0.0026 left_z=0.1607 left_yaw=0.1085 left_pitch=0.0449 left_roll=0.0253 left_gripper=0.9981 right_x=0.495 right_y=0.1453 right_z=0.1579 right_yaw=0.0802 right_pitch=-0.1436 right_roll=-0.0349 right_gripper=0.2893\nstate[joint_eff]: [-0.212, -1.2239, 7.3915, 1.7753, -0.1538, -0.0659, -0.0073, -0.6359, -13.3402, 9.9624, 1.6825, 0.0513, -0.0708, 0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aacf6c73074394fefc04ac9e43d5de9cb24aea73789c56df3e5b57db7f4a001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6310015799bfb5a6c975c895a567e49e13276ffd68a182a964e03798c6f90f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29eb6f2d2115bc733919a72c7fcb9b3bcc857518cde8a0348b74eea1d4f86763",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.918 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.239, -0.1307, 0.9982, 0.7341, 1.9285, 1.0531, 0.1078, 0.5289, 0.3889, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0026 left_z=0.1616 left_yaw=0.1083 left_pitch=0.0482 left_roll=0.0243 left_gripper=0.9982 right_x=0.4105 right_y=0.2552 right_z=0.0552 right_yaw=0.0724 right_pitch=-0.0813 right_roll=-0.0417 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.1692, 7.2821, 1.7216, -0.0855, -0.0513, -0.0171, -0.9094, -8.7179, 6.5709, 1.5116, 0.3004, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.247, -0.2394, -0.1307, 0.9981, 0.5507, 1.9305, 1.0523, 0.1825, 0.3801, 0.2619, 0.287]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1618 left_yaw=0.1086 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.4546 right_y=0.2064 right_z=0.059 right_yaw=0.0774 right_pitch=-0.0754 right_roll=-0.021 right_gripper=0.287\nstate[joint_eff]: [-0.1846, -1.1145, 7.0632, 1.7802, -0.1245, -0.0513, -0.0171, 0.3624, -9.8803, 5.9009, 1.5409, 0.2125, 0.0073, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7704, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.3531, 1.8229, 1.388, -0.2916, 0.2192, 0.1337, 0.2893]\nstate[eef_state]: left_x=0.294 left_y=0.0026 left_z=0.1607 left_yaw=0.1085 left_pitch=0.0449 left_roll=0.0253 left_gripper=0.9981 right_x=0.495 right_y=0.1453 right_z=0.1579 right_yaw=0.0802 right_pitch=-0.1436 right_roll=-0.0349 right_gripper=0.2893\nstate[joint_eff]: [-0.212, -1.2239, 7.3915, 1.7753, -0.1538, -0.0659, -0.0073, -0.6359, -13.3402, 9.9624, 1.6825, 0.0513, -0.0708, 0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aacf6c73074394fefc04ac9e43d5de9cb24aea73789c56df3e5b57db7f4a001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6310015799bfb5a6c975c895a567e49e13276ffd68a182a964e03798c6f90f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29eb6f2d2115bc733919a72c7fcb9b3bcc857518cde8a0348b74eea1d4f86763",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEtz79eUQHIzVimE-pZ6vH6f8QOlneU9EEGYBCkGR0FH5FzbmvpeAXfUba31jxN2hhk5EzlEc-l639_EcjsNtEKRlZbBkawTxyuRVxQdW1x1diZs-3bV1nsuwE2YkX_JVjFeYx1erVh00ZdnZTs6lzp_sLpC_aG-QGuToJZIBi33Ox_aMST7pZcPXBAu59PUbWTU9tZPccY_C2mxZBa0klG2T13mS_rKeA5kepgQD6FWRMtRqELVaLYCbYS6p33lI4n4l3eDWa9TyYhrLAnStHfbPmJ2abw4TN1b_Pz06QSgnTkx6pyz9ZsYI1d4uLAzWrEuld1QMMnCM0BfsAi__pfSBFlsonj_vnLPo-piC7KIR1Hi3y6rnNPV-kf-UyoB4tpFZvrHhJ7DTo0OeaPihq-xu_3fvefZfhcGclcfUbdGxkDDsgex-PluKP21qDmDBaYkPKaH0z0Wa0hd0vC9gIE2u9tWpJAR9Od8lIbQmqyH93WI9dCIVkqYSghvQMQHn_BMqkIR3abWf-dwojGHbptAsupUOvOiQve6eFXm8dQl0HmiQclacOo4DejBgOQ4N2oWFzLp06Y442NtnpNtH2Cn-5UTmjyBPKS4aflVNLsSAi5-dJ3wuhlHB3ykOLQEGxMsg4DvUshToKHOBUOdOfQ7DZQ4AzUfpZ0JB-gMDQJEIsD5yyFffyY5AaU3G28Qo8T4k9RjWgy1Rwf1y40K399GYTe-bgFEqbN6oLPTuDmP6k2GH8H8G1TWmJjSdXuhTEBzrlSqSsrChuyziiPBM5VaevMNwxde3jNF0lNMZhDiiO5ujiQBczSPVHL3dmdU4ZAOX8ebrSSvfKnkpJF2Eh6a8v_I_Hms4DtbXLlS7NQvRkicVjzYEfVB4wwSQ6yrVaUXwdEQ5w1gjy3nzVRyd2R-ZiqW-7AZFmeRevecCd69Dz7Ni9pKsBFaOD8lSCeiDmben9w6B3I5QbCuQOVri6Qz7LVo8pbq7g7m5ODSySYb01howr2tsUP4HrWBxDdW-I_2trZiLZrVJUE_7S36INuc7N8BJkuXpPHy4xD4a--2FL8zA7p0QMAHTtKpSKJu4W57A1wwGVzC2ZHW5FKQv5I3_GY7onCOvCWUqL1lJBHqhMq1YtYD0HI6lC80PdpFRRTP8vcWy6hXPdSmdcdyS93Bac88CiJasRfhO3pyZKmGa41hnouqjoE-24Ibzrgrc3wS2K_8GnO6v-jrxfDh4v1CYVZNeGU96TN1KtMqK2D03ldWpXTUPmn7qZNhGYWPqixoJeqdlvxvz0N27Y5fuWa9r6t37UTF_oZ3pIZxXwZccpar0-NGlUCdxosY_Joxtjxk8kNP_2ah4n--vZbUKhScThC0NVCkKi8kAGtfQ0etgRpQbsMsuSSzcTn4RVg_-bwXWmNG3ZppCtwPvcsjPjWeWrOkGRJJUP5L9Xi1AfBD2AgBwrQ4PVbzvstRFzs2F-GFYNBvPC0IiGwFEXPcY_1cmARkjGpVs8LNJ8w5_dTIrjQBkCU0SXjJwZK8ILwEn-DncqtvjCCk5lpd3eoUz-A7SA==",
  "id": "rs_086b66efca9dd969016ab44b71349c87d098902cb993ab188c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.1,\"right_z\":0.17},\"note\":\"The overhead view confirms the tan plush lifted with the right gripper. It is just short and left of the shifted basket opening, so I’ll move a few centimeters farther forward and right to center it over the basket.\"}",
  "call_id": "call_b4vfuGKRjjzGkwHudPzIbykL",
  "id": "fc_086b66efca9dd969016ab44b72b2fc87d09f7b66ce7d8f616a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b4vfuGKRjjzGkwHudPzIbykL",
  "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]: [-0.1459, 0.7719, 0.482, -0.2501, -0.2394, -0.1307, 0.9981, 0.2432, 1.9163, 1.5246, -0.342, 0.1101, 0.0616, 0.2911]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.1595 left_yaw=0.1089 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5292 right_y=0.115 right_z=0.1579 right_yaw=0.1015 right_pitch=-0.1663 right_roll=-0.0193 right_gripper=0.2911\nstate[joint_eff]: [-0.1026, -1.2513, 7.3094, 1.7363, -0.1343, -0.0269, -0.0122, -1.6068, -10.2222, 9.1282, 1.4383, 0.3834, -0.0611, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3aa54ad9c937930ca724ae523763e7ebd3a905e48484aafec53ee6db2fe8ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580a663e335b6267c7c199427f8253cb2e9311e41fb196e43ac05512bd1b476a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14f4e918c1e572e4091fae1630da4865f732f9881376e6bbc88f71eba828627",
      "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 31 attempt 0 · /responses · status 200 · 3.547 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.2478, -0.2394, -0.1307, 0.9982, 0.5568, 1.9285, 1.0523, 0.1707, 0.3904, 0.2707, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1616 left_yaw=0.1086 left_pitch=0.0483 left_roll=0.0245 left_gripper=0.9982 right_x=0.4523 right_y=0.2066 right_z=0.0582 right_yaw=0.0701 right_pitch=-0.0811 right_roll=-0.0244 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1009, 7.2137, 1.7705, -0.1197, -0.0708, -0.0171, -0.4581, -7.9385, 6.9812, 1.6239, 0.3248, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7704, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.3531, 1.8229, 1.388, -0.2916, 0.2192, 0.1337, 0.2893]\nstate[eef_state]: left_x=0.294 left_y=0.0026 left_z=0.1607 left_yaw=0.1085 left_pitch=0.0449 left_roll=0.0253 left_gripper=0.9981 right_x=0.495 right_y=0.1453 right_z=0.1579 right_yaw=0.0802 right_pitch=-0.1436 right_roll=-0.0349 right_gripper=0.2893\nstate[joint_eff]: [-0.212, -1.2239, 7.3915, 1.7753, -0.1538, -0.0659, -0.0073, -0.6359, -13.3402, 9.9624, 1.6825, 0.0513, -0.0708, 0.232]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7719, 0.482, -0.2501, -0.2394, -0.1307, 0.9981, 0.2432, 1.9163, 1.5246, -0.342, 0.1101, 0.0616, 0.2911]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.1595 left_yaw=0.1089 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5292 right_y=0.115 right_z=0.1579 right_yaw=0.1015 right_pitch=-0.1663 right_roll=-0.0193 right_gripper=0.2911\nstate[joint_eff]: [-0.1026, -1.2513, 7.3094, 1.7363, -0.1343, -0.0269, -0.0122, -1.6068, -10.2222, 9.1282, 1.4383, 0.3834, -0.0611, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3aa54ad9c937930ca724ae523763e7ebd3a905e48484aafec53ee6db2fe8ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580a663e335b6267c7c199427f8253cb2e9311e41fb196e43ac05512bd1b476a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14f4e918c1e572e4091fae1630da4865f732f9881376e6bbc88f71eba828627",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEt2A0ZySq4xvs-LOuWgFKDI9qm3eMArA71knmDTijgbksYPcW0lG_xAtdXRD1uhU_CtrVHVnXbjFM5sGIxaRZcKB_e9iAtEuCjgXLF_NIhCwHyzFgcJPfPMmF168zTUsobBIHjAbD0jlwZknCi53pYpfkDs6xwxZH8Q1c_kZg9TNAlYQwSrwC-AqgtT5tq1vGeXRWvzvSRxYzOnv2mETSlVhnJ2nF-fBCcyamOeitXfq_dy4RVyhBRRWi9S-W7txUP96udOQ6BasBTgvyS24brRS2SVxxcwC0WRYUESXvfQcwKcPQtKE9b1PLdVo3wh3_JacEMBoRodw_H8H-BLM9TZ3RI3wiOfpxOLX8fja33e2vIH5y2ChXxgwPu1PDljJXlVvJwQjshFt3gqUXd3lLiuwqd3CNAUnnLoQh0pvhIIM_a4lauBVvh3SvTmf0GeYyxW4gNXLuqFFGT4UJC6HO3iNbc3K20POZn8JTFEJzC00_GUvDNfj2MGL9Jg0f3HGUbpkVa6-2bw5aUKjgb8ihEM1e2XZK2vD32eJFIctS-JnwsPRfgZP_RYb-1DD0769ZiwlbaQ_4-PyS5uctAuM9Q3mjYOpRp7fdLS55AAkDZCj7ELkjduwhZkW9XJlHqNU1p16xOv4IL9vQ_v-GVx5DifiBlULFAg83Fa6hf9lk7NuYZyDeW5SwAI7677Znc5ZookYWIOdBC1ewCnpyPVQj_lL6ExiGeTYHPkD4u0EYM2xeobz-U4m94TLsveG0rBAQTW4EzakxwEhFieTjeLN3W-F0-ncNSB8is3UC6szvmKj2vN6yyd4T7FZiv_h6FMskcryqfUqz1UvQ7bA2sWWUzJrAbjOmmqPT6mwybwSmCgadiGI4Ugnqn4Mln0kv3D48gGNkyd2FaX08_jYusSqJJiIOrsea-8fEVPWnTOQ2_dOQ5_abgr1hiR5sg_ulvO-CCnqIGlHUUrhpaGFVoVJosF5B-_5RMfKW3zktUBRi6wkIueWxAT1_4gVPm2AOosUnnGhVlXJIDUQvgjsqLGOuKs8dNEd_dUCa_-oSUsMr1MrK7_2zxceyiJzxmLnIb1396k5upnzq64sKLAs4UQGxpAYo2duFwxl7SuFyR9IcDIGryL6b5CTJDFnEGRHqTA86LO6B-lJhabiFw273H7GMoEhHLU5zd3L-ilJp5nuakvJl1p44rEVI6ZQeLz8Q-OIaHKDdrdKSUXwcHJ9dks43Dy2GHBDDvTSreVOpgqOni8PsNsvh8LZDLMmMAt6icTp2KkVJbHa5vHOm6922IroVnh3gOtnAojuZf7IshyIwmr0_WrkQQ4ITVvUhViDwE85wV7J8x6ItgFG2XVyLPKOiL0uSVEL-bHf5TTyu_LK_eZzDvgCUQJyzoQ2yp6umYOVEru9_pXyHRwhJDEmhpUbMJHBCCp3Adn5rfc9dXRmth6kUwmMJjArhx-cQjjji6sv67g",
  "id": "rs_086b66efca9dd969016ab44b75337887d0afe5171dc4eb87fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The tan plush is now aligned with the basket interior, visible directly in front of the basket’s back wall. I’ll lower it into the basket until the body is supported by the basket floor.\"}",
  "call_id": "call_Nu4vwi6bFbUxCSVg3PtiZHKK",
  "id": "fc_086b66efca9dd969016ab44b75d60c87d0bf952d48386f68c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nu4vwi6bFbUxCSVg3PtiZHKK",
  "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]: [-0.1463, 0.7723, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.2165, 1.9228, 1.5421, -0.3439, 0.0952, 0.0402, 0.293]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5351 right_y=0.1042 right_z=0.1616 right_yaw=0.0992 right_pitch=-0.1586 right_roll=-0.0244 right_gripper=0.293\nstate[joint_eff]: [-0.1573, -1.1692, 7.2547, 1.7363, -0.105, -0.0513, -0.0073, -0.5949, -10.441, 9.4154, 1.5067, 0.1734, -0.0269, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d568cfadfb4a1fe2688b6690dd6baead86d2420fcc5e923e7246801d1cbbf8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610905f522db12e24f9edd848581e19819fb307097bda4337a91f579f521b2a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192aea7f92cb68e9dcd5674ae5f62f23755849eae49dc6e6dcf48efba31bead8",
      "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 · 2.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7666, 0.4824, -0.247, -0.2394, -0.1307, 0.9981, 0.5507, 1.9305, 1.0523, 0.1825, 0.3801, 0.2619, 0.287]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1618 left_yaw=0.1086 left_pitch=0.049 left_roll=0.0243 left_gripper=0.9981 right_x=0.4546 right_y=0.2064 right_z=0.059 right_yaw=0.0774 right_pitch=-0.0754 right_roll=-0.021 right_gripper=0.287\nstate[joint_eff]: [-0.1846, -1.1145, 7.0632, 1.7802, -0.1245, -0.0513, -0.0171, 0.3624, -9.8803, 5.9009, 1.5409, 0.2125, 0.0073, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7719, 0.482, -0.2501, -0.2394, -0.1307, 0.9981, 0.2432, 1.9163, 1.5246, -0.342, 0.1101, 0.0616, 0.2911]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.1595 left_yaw=0.1089 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5292 right_y=0.115 right_z=0.1579 right_yaw=0.1015 right_pitch=-0.1663 right_roll=-0.0193 right_gripper=0.2911\nstate[joint_eff]: [-0.1026, -1.2513, 7.3094, 1.7363, -0.1343, -0.0269, -0.0122, -1.6068, -10.2222, 9.1282, 1.4383, 0.3834, -0.0611, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7723, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.2165, 1.9228, 1.5421, -0.3439, 0.0952, 0.0402, 0.293]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5351 right_y=0.1042 right_z=0.1616 right_yaw=0.0992 right_pitch=-0.1586 right_roll=-0.0244 right_gripper=0.293\nstate[joint_eff]: [-0.1573, -1.1692, 7.2547, 1.7363, -0.105, -0.0513, -0.0073, -0.5949, -10.441, 9.4154, 1.5067, 0.1734, -0.0269, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d568cfadfb4a1fe2688b6690dd6baead86d2420fcc5e923e7246801d1cbbf8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610905f522db12e24f9edd848581e19819fb307097bda4337a91f579f521b2a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192aea7f92cb68e9dcd5674ae5f62f23755849eae49dc6e6dcf48efba31bead8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEt6TYanlOhCg1sOopK85jXg4IeEcFZHvuTzaFp8v19dgijh95-HFpkNPRLkOhpKhPOBczuwdA4DNr8MGdI60ztQN89dkXJ2ELUBqrWwIxsEIj313ISh3zmojx_EpnIASXF0F4T0-kQUIfuRO6gRX_SeApsll5CVRlYM-jh35me01jr79YXwQW94LfE20rpAVBnMzG64jUDuZcg2QWBBTUuvLqMg7j-sLblJ72qkAuj4A8_2IKd2edSJgtuYox5MogkhBJNMJajEaK9222aaSEEqVnV9cHUg9744DjM_wlqWhGUe1E8jhNZIdZMJVonGGqPWfeJP4Cs5rBAQr9n05BWd35xhj4dz2bHoYNmtSM9sDkXkuQUT7_S8htQ01eEm9S84VcOKH1FTSiZJhKywerqwSQeZsuKzleRKSW5w1zJR1a8ikfEP2gh-Zxns7L__pk72XqGRawq-R4jzi2eaznrHz6KOSwtqLpi4m6XjqkqY2VpwxjpidlDziX7ZxrO6uYEnWuMHbicO7mHzxPhyxigMJ89OUkqD5D1GsTHY9cG-SYWfg4ztQ0GY94arDN7-aMxFu4eGEc7kD3hes47iVkkRJW-Ff1jY3jpNK5TGU3fEsvlBTGgkeYt4Eu2S3X09jw-gSnAj2OYDUk8RO-KD3Z3sN1b0Mx04DHYOs1GC3WzoVLr22uo2fAas2PhWKE-_74Y-sYpQUp6XzKiKsHesRMu5D0m1dkFtWhN3mmOTlPREkNrtoCzddOobVHWF0JQ_rRJJoFS6Qnsbac_AmvqIUuZMyoztsfHyI5GSn5D3mjEI-ndNpecnT9Y7ADKCHquxb2DHnxPa8ooPaWh0erNZDN41VzsLcN7vyVptVV6lT0l2vi_hTgzlvwLCoMYvsbaVumdDoP3jMQYtF4Gm0oZMNpL1zFCbe96pyN8Avw5HdnNjxMX32oNBsIU9gQ_dT51c7DsE0lMdoug_DLFeHLgmrurhfeMdLkAfo7pFxZ-K2o1hHPXjiyKO3PHfoTN4w6GGis_ZDLQLVCCGMP3ZxKv7QjzD3Mbr44VQz7RdqUBOWXdWTAgdXyq5hfNHODHTZNw-8BToVTNLRmYScFUlBQnO9E0DEyZVuHlaWTH4nZaQDRLeVSJbA0fxJy88qCHpZsz974OWocEGgxrK27G2niz7MndWsiujC-fhO5y-FN_OHHWZDP7nGkJkmRS44M0CRQ8clyC2kLvPXMmumzdeo8TgOj-mMsnIRT-XtO7ut4I9lcjbiLiDRGLzabLzC6sMB2jN3BoeM7pkOHPtjZzflST617_oFxkM62x7gH_kdbbBIkTMpCzsqD7UY7ToYQUCy2wAVP0bOBCYRnWjKcAg4fYJKNcXJq1FDaklshOWUX1XGhHCT7OJ-SVSpkO_W3qCw0dujIngmQFriRTpkaToIaz78e1FJzR33a0p_Q_xPbJIBzDd_Wb9QHnZfzjVJDqxieYZgrS5S-Fk--g1l0zDkMYtH_YosQITq2LlSnoMCMjMhDeV8S6aexY26wMUIsQmyonDS9VQnbnpYf7L2RlU4jO_YWZK5Q0kR4tTIb6XXr8qGe0KaqrV93qyZpXte_8g2S0ztROhbu3nMUVszB3yIgAeqYCSQkRBMSGJZYuarZrw4PF8d4Tqu3Oo8lbRD0WnCzsHmXPVCDqUrFQY5lo_cmr9f16A-80_z18OIksQzxk6OqPIvGnmDtFVnSCj0CmKX5PiNFLM9inG7TWxenGwzHtRMNcdYttqhxCf5TQoCXl5CweirQXoAfgXdATdSPyU0mkgH4sAo937uWG_Vxq9760kXyfmTEtTuaNdcGRNq-dasajZmyr947Qisbqk91lC_4ET71tK4dVaFUe9vVdVoxM4bmLGQ--7Vp-Tewxb_gzS1gdJxhqjlwPSRp892_3lP_CPmbd8Bb5US6_bCXramE5r1ezA4NUdtmSPIY2LxOMI7xvQYspW-DH01zSYTUbBTZXYt5dWxOvTqx25ZSKpRlIQ1Ne0dVrBxI6fBpg5wixurBB4WcJtaPGLc2-BrKXixDS2qVX57-L3u5yiIIMCoHc3zd1HdcVshXUUGj64wstrqkCm-RdUr0UiahzZ8fJsLlUreWQYb9K1WDeALX-U57ezYsaszHJaKKIU4a5s9__mXr7VKu8=",
  "id": "rs_086b66efca9dd969016ab44b7840b887d091f598f051a31fba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.04,\"right_z\":0.17},\"note\":\"At this far reach the arm could not descend, and the dangling plush sits toward the left edge of the basket opening. I’ll shift the gripper rightward and slightly back so the plush hangs over the basket center before release.\"}",
  "call_id": "call_4jzlVFlMDVwFDb3yU3qTcdms",
  "id": "fc_086b66efca9dd969016ab44b79fbc087d08592d92f44af64cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4jzlVFlMDVwFDb3yU3qTcdms",
  "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]: [-0.1463, 0.7727, 0.482, -0.2493, -0.2394, -0.1307, 0.9981, 0.1726, 1.89, 1.4849, -0.3168, 0.0216, -0.0002, 0.2945]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.529 right_y=0.092 right_z=0.1584 right_yaw=0.1402 right_pitch=-0.1597 right_roll=-0.0057 right_gripper=0.2945\nstate[joint_eff]: [-0.1026, -0.7453, 7.0632, 1.7216, -0.1099, -0.0562, -0.0073, -5.4085, -13.5316, 6.9538, 1.4237, 0.8962, -0.0904, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fb868cc1d57533f723758d8dfbde468af8d4616068ca96ed3cae1841af0507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dea922883d12873d82b0a2dad1feb3eb00501b44b7c605d390a3a4451d42eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d2f8aeebabccb4c72456612ee6a8914b52d2c13cf10223800ee550c3ae08a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 6.267 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7704, 0.4824, -0.2474, -0.2394, -0.1307, 0.9981, 0.3531, 1.8229, 1.388, -0.2916, 0.2192, 0.1337, 0.2893]\nstate[eef_state]: left_x=0.294 left_y=0.0026 left_z=0.1607 left_yaw=0.1085 left_pitch=0.0449 left_roll=0.0253 left_gripper=0.9981 right_x=0.495 right_y=0.1453 right_z=0.1579 right_yaw=0.0802 right_pitch=-0.1436 right_roll=-0.0349 right_gripper=0.2893\nstate[joint_eff]: [-0.212, -1.2239, 7.3915, 1.7753, -0.1538, -0.0659, -0.0073, -0.6359, -13.3402, 9.9624, 1.6825, 0.0513, -0.0708, 0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7723, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.2165, 1.9228, 1.5421, -0.3439, 0.0952, 0.0402, 0.293]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5351 right_y=0.1042 right_z=0.1616 right_yaw=0.0992 right_pitch=-0.1586 right_roll=-0.0244 right_gripper=0.293\nstate[joint_eff]: [-0.1573, -1.1692, 7.2547, 1.7363, -0.105, -0.0513, -0.0073, -0.5949, -10.441, 9.4154, 1.5067, 0.1734, -0.0269, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7727, 0.482, -0.2493, -0.2394, -0.1307, 0.9981, 0.1726, 1.89, 1.4849, -0.3168, 0.0216, -0.0002, 0.2945]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.529 right_y=0.092 right_z=0.1584 right_yaw=0.1402 right_pitch=-0.1597 right_roll=-0.0057 right_gripper=0.2945\nstate[joint_eff]: [-0.1026, -0.7453, 7.0632, 1.7216, -0.1099, -0.0562, -0.0073, -5.4085, -13.5316, 6.9538, 1.4237, 0.8962, -0.0904, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fb868cc1d57533f723758d8dfbde468af8d4616068ca96ed3cae1841af0507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dea922883d12873d82b0a2dad1feb3eb00501b44b7c605d390a3a4451d42eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d2f8aeebabccb4c72456612ee6a8914b52d2c13cf10223800ee550c3ae08a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEt9sTtJKeai88Km-dzR237m1sLFYP6orWsz3PJ-yGxHVypN-xovFI7533ZnmFQep9JJqdr9RpYLqydO1ttLpsZhKzVD9M9blLcCvr2fx1gCRM7ukTg2uOSXcW4jQ3U2CTt8g85Csy6GRhFKt8gKDTZ0tyAV9US8N0JfyyB9-m0vT76JT6RinMfFcenDjQPUS6tWQQJEQaBz22vKJRImr3kTFh_h18G3E-lxE_8ZjT54iUGyw7XMoDLhwOyNhi46o85EgYNiz70OaCsVlIdaDNVo2-hYPz1n7Rrsbcs_-4GPuxr8j867mWsVxj4qflR8xv1SwxWzX0kCSC_R4YKD3EfkRawy94SGebvXXJk7JNgrYA0H7xX96yPcArHzsG_Ln8jG6nvxOKkApGPxV7xG9Y-GI_5W054aQbVn6tFrTJUnCZaXeXWxuw16VIpUhVT5CkD5stlVFsD5BFa1ixcg6UuKs5NCiL_cFG7E-ggNQcTEDn6jz9chOridxhR2fIxzkLJSVCefAMiklLNkoskpO6swn3wvgggHh6xpIJEI12zeJJggRxYTyp-gX65dW2JzMrHIqVVrWQy4n-EhwRxiizmtNxBlgzFBce-97rnhif6sjX9hEJjRBtMbhdpdGY3RhaCh1dNteLMLbCkSKoKu-jMRNpnWliCov7g80LO9fAot9WHK2QPeWlq4o1COfrIDdKZ_cLNCQeEfFFllXqOflfk3_CCWBc9XQrzeNIcIezxG_bFmJXxF3LYKh3Ebg8jJY4Mk2w-YlpzPJjVHrbG4Ke9NJUnoRf24kBjIP5iCLoXU3vWLoxuBGr6Hc6TyAnCFsZxfHRuA-17WxGUCD4xbUpk6ekXweSH7GRwF3tzBJDOMwG-obaroBcrneEkirqushwyI5px4GVKJUPtows_FFznYNjOy-uyCDLZHQIu9h5uD1f3TZsfJ8z4d_A1MfyotxqGvsyy49kIKwtVIzqHxY1s9T_UvO35s4NM9ic-XBIAzM4fWA56uLB87aTdKxzu0gLpl5veA-FhyVThpZhCnPIg6Z2HOwZDbfE-xYVLVt1fyKJPp2ZAao6p4PBBE23bmB0G0TzH91Z_9xgbPOCckPsZ9fBDgpxn3tbuDf_81vUm4rs1SQfD2XP9n3jUyXVwUuYkVFrac0BfHpWJLRQGdAgT40z_kUA5IE6e7yp8uhYb_TaLC6CnZEMdkNX3_rTkwfwvxUNlk1JOn73l04WA9g25G4uyJNSeeRc1q2O09x3OlElw=",
  "id": "rs_086b66efca9dd969016ab44b7c88c487d0a1dafdb5a7778535",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The reach limit prevented the full lateral correction, but the tan plush is hanging over the basket opening with the basket floor directly below its body. I’ll release it into the right basket from this safe height.\"}",
  "call_id": "call_RKex22KzUvHDIqqmQ8TSBr6s",
  "id": "fc_086b66efca9dd969016ab44b7cc16887d08f8467e9ecefef32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RKex22KzUvHDIqqmQ8TSBr6s",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.778, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.1757, 1.879, 1.4605, -0.3149, 0.0151, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.1579 left_yaw=0.1088 left_pitch=0.035 left_roll=0.0279 left_gripper=0.9981 right_x=0.5233 right_y=0.0938 right_z=0.1538 right_yaw=0.1527 right_pitch=-0.1713 right_roll=-0.0072 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5658, 7.2684, 1.7167, -0.105, -0.0611, -0.0073, -0.4034, -9.5248, 9.0462, 1.5458, 0.0513, -0.0122, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a2187b0f3fd76fbfc92c3c5c532537185267f20b0f3cb8bda427c6a193ab4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1608341e29c9efaef28c5ed42971a0cd13cb53ee3859e1048bdfbfc3165d339a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886a8941f04986f8326273ef86dd57ead455359542ac9951ecc67365ccbc9bfc",
      "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 · 2.529 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.7719, 0.482, -0.2501, -0.2394, -0.1307, 0.9981, 0.2432, 1.9163, 1.5246, -0.342, 0.1101, 0.0616, 0.2911]\nstate[eef_state]: left_x=0.2937 left_y=0.0028 left_z=0.1595 left_yaw=0.1089 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5292 right_y=0.115 right_z=0.1579 right_yaw=0.1015 right_pitch=-0.1663 right_roll=-0.0193 right_gripper=0.2911\nstate[joint_eff]: [-0.1026, -1.2513, 7.3094, 1.7363, -0.1343, -0.0269, -0.0122, -1.6068, -10.2222, 9.1282, 1.4383, 0.3834, -0.0611, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7727, 0.482, -0.2493, -0.2394, -0.1307, 0.9981, 0.1726, 1.89, 1.4849, -0.3168, 0.0216, -0.0002, 0.2945]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.529 right_y=0.092 right_z=0.1584 right_yaw=0.1402 right_pitch=-0.1597 right_roll=-0.0057 right_gripper=0.2945\nstate[joint_eff]: [-0.1026, -0.7453, 7.0632, 1.7216, -0.1099, -0.0562, -0.0073, -5.4085, -13.5316, 6.9538, 1.4237, 0.8962, -0.0904, 0.1538]\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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.778, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.1757, 1.879, 1.4605, -0.3149, 0.0151, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.1579 left_yaw=0.1088 left_pitch=0.035 left_roll=0.0279 left_gripper=0.9981 right_x=0.5233 right_y=0.0938 right_z=0.1538 right_yaw=0.1527 right_pitch=-0.1713 right_roll=-0.0072 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5658, 7.2684, 1.7167, -0.105, -0.0611, -0.0073, -0.4034, -9.5248, 9.0462, 1.5458, 0.0513, -0.0122, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a2187b0f3fd76fbfc92c3c5c532537185267f20b0f3cb8bda427c6a193ab4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1608341e29c9efaef28c5ed42971a0cd13cb53ee3859e1048bdfbfc3165d339a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886a8941f04986f8326273ef86dd57ead455359542ac9951ecc67365ccbc9bfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEuEFEZdPDRSj2FR1Wo44wB2xy3Z7O7dyN2UkNJH8yrxUbxpk5-ztlRPN68u9Plp1lnLVJAh9Zzv3WniFxUa1Y8xCGAdBFKipEqsoeUj-pNibmletA8pQkj3Td7aBM2itWnbuvsMC1vgnfofWtl_kLthFBia6tzbNOyLIH7Mn3j8Eo4LoeebYMz37SwyLYhMz7tnCu_UBRp-TlRJXOm-kcVFyjwr3x47P-SM7UTdAvCPEWdQKKcNKQxORuWBDPuhH0-RB06z6ZwN9hBXZ0UjuJEtVss2QBv2rkJlrx5Mf-NK92gzXq87gkBKn6v8Y3m_PZLq4_KCfQue4zuigBXMvz4FHlLV-ZYtHpimxktb9GxaYhJlzy3fG__y7GoheRtkglZbStVIWDNDkgG6Xx74YNlkJeFY-69WqFM8fx5PYdnNIgrgce8CxoinSz_DuRsZLlHxprXyG3_Gt9_8YCVD7aUsVaz6LtJS_kCjx-Po6FRVgFXf6BEKbjdcJUlY1ZK11_aWGbLKtt0QMw_Ki4sqmgTK9dtuV6XBLfsL4fsC_dKGODprP7mhziLQR3bKCPNAvYXfZfjfF4jFyIji7T28D9iNXJPPKgTSOC8p7nOzWCkL1NPsCO-Ev7d8YhXErab-GVwR_bcATJJUd4JLvqt9xIKcvh1bkCd8Opt36laArJqJzlnQkCsVnltxbuDsI_vpfjA9orYfVDdpGz5fr_sQLpJUkKWSJ8U8TMz3A4CYWiLrC6zXzv8aZE1v___tgIbn5mR4v822MEoJAHz7JLnCxuWm4PHhiVHDQkuY_JVJP3SHIcNmfhuGWJtlmWZnUJ_DV4BxoyPM3_vMoJL2YgPnYBv0t_tjzz5Bnh6pajgIgcvEw9V3--hYQ8pN39BOH3u3MUr03DoZOTx30Hp4vs2hTOWAp36gqfoTO8-xHLe2xIY2Qh4YPyvFoHQUkGpairklCRBWHq2zDBbgf8vm3FGramJ5JzzjAyLS4H4pre-9MuXKciFJcVwQQSG8zx47PYfzZ7zAPuo59_kI6ekPyRJhDyzeKUMnRxsrCM7F_O0NjiVIQCj1sZq3J_1W8pIuYTlUy9g3DMASam6PtUdisvRgIREhF4FkURwtlWpZ8MB7dGfCaZEt1jzNT5T8NXJjSH05NnRuQSkXM0JsmGyYgXy2x3Unzi8Mu69khmiAF13XF7VHODZBCSEViw8Fd1RMFgY5kSkkTlmvup-s5iPvXiyV3jcMcsFERnFAbtRf1bhOXnOKFYAACOfJc957MdtaoNRn_XOfq-zL6EP_WO_vr8A8NYleveNbXY7yH85T246CJrg_zB34V_qmQrmS5d4S7XBn982xVmwzLUD9BqArCuKk8GB9r_oQDvMYRtFnjVAT4Q9NPqh-bZfx6amCTrwjLkXnwDTgRHaGVXJ5kxpRgbXMF_Q7UbdGUYO1vMec-JXRNez7hOHkmeLYsJUUN-MTMPKerDbv4HScBJpXjnA04QtykcewbM4RgrNWWHaZL7Ri1jmZDs4UIlXMzKGOQUmyqmFR1Xdz7iPBng1sPcEz6-ukuCpUSlz4A0X2z9JF4DSxuwatDtr2jEeQdTnwGSd87pOFaB2x9E9cyXVCuUCtWMeQmGNsHu2eKSC0liX9s-XNCHGx027Umo1RfewWSdOV7ByiKEWQVXQm4WGpep4q3DOmxnc1vVwO0ixVZtGqrYU5_58CnlX0bzWUYTtUMMShrJYJQaQ5O8gaTRvf0ewiE7cPYhLMpukpkWQDzwLYF68EyuPRpfaaLzGxmkUFBPdnwUbpgCr1ecm_ayxgB8UmTJTAcXuVEFY4HOoN_y-gI435duTdpuEFCqCNcRcX3OpeldorxU8G2ekLQ1ES21F9aswNrTdYu5QhFyFJN5QIBAne1arhiDRbRDUHbNWmrdIhovWdCKKdomFIxDsCWshSO1oRlOeTAzTPNGazsg255EOcFksOk1PLSZ2bam1szvGIRlUObe4SHRrp5-wyMeQ8wy7KNDlAMn8laxRJ5_uhvkv6TSnPCge8mqbs4TKBw_r6yZJXi9MP8PXQ_8X3m2tFdE5tHANXnKj3yY2EvDtOuk8pIWGXr_iaUs5voYeSoZ4cxbqq1CvPzgxFygkZLR58QckB5qLfZ3p0yRh4GDDAEK1mUXWcuf-Pm2jy2yT_qlRMjlgBDK9mkIlnAwcBlTJYKwRHaHkR-JV5ZBFRYb9WbLsEjD_WHP6pUffqhzqopC67oYAHMRYbNbc-bsQXOWXkCPOfx1Wyaq5li6KFhU4LYUpLQ7Dm3_obMWjm5laxj2lsExC2v89ULVnJO5OmLeXd7etTkTgVtittBot_C-OvZHGgbQxeAoHxkGDaU9JQwb9Kbq0CpZHhe10iuLZdpktfkc1rNcIUzo8RAY6rnrMGi4_hmC-7k4Nf31wKKxPMkE39s_PmpoXbmt8bDRcyBCaUPaCgUStch4hJkoHXAv5XZKxu1VFyDV6GGWCFa5hVpJDwqmhew265MspUE8J8WRRTNKh_UfCSZl7ZyT0um0Q7GXDcTqIk5aBJoGxWojoNZdJz_Fzd7-aqKCPPQua07MjxiJcB1xvz6sIz4kF5tmfjcbMyfytyrmg9RZnVoBV0vSL0gpP3y3O3QF58vjkl8xWKkxL46GJg9D35MRomef8oDA1sDmfuxMMdORid8wtr4-WostaQ6-3b4s2q7n5Mdpe-nyb-L7mrkRSLa8KIcphjZoBgEH406_1LroUK7Rrgx4Fw5dAu0HWF",
  "id": "rs_086b66efca9dd969016ab44b80827887d0b25caf69f05e4f1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.31,\"left_y\":-0.03,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The tan plush has been released at the right basket opening; I’ll clear the right arm and immediately address the remaining gray-white plush. Its head is already centered in the left wrist view, so I’ll lower the open left gripper just behind it for a head grasp.\"}",
  "call_id": "call_pZWykRhat7oXUFcMHz5xXscc",
  "id": "fc_086b66efca9dd969016ab44b83641487d0a7887c66d196aee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pZWykRhat7oXUFcMHz5xXscc",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3225, 1.166, 0.2276, 0.358, -0.3985, -0.2104, 0.9988, -0.1234, 0.9913, 0.8001, -0.5343, -0.1844, -0.1932, 0.9965]\nstate[eef_state]: left_x=0.3113 left_y=-0.028 left_z=0.065 left_yaw=0.1063 left_pitch=0.0329 left_roll=0.0507 left_gripper=0.9988 right_x=0.3119 right_y=-0.0024 right_z=0.1837 right_yaw=0.1242 right_pitch=-0.1484 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.359, 4.5197, 1.5556, -0.0659, -0.2222, -0.1441, -0.4444, -2.947, 6.735, 1.6142, -0.1734, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0b9af9a4f76b04d68cc2baaac81c140abb113147cb15fe6d4cd936896b9547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077ebb885651ff3262e7b673f82fc96d7b0c5bca8e9d7a3cc967ba790dc220bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a282bf61788fea7293b0a8f59de4fd9efbb28070454c86d3246dc3e3d3bbb18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.519 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7723, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.2165, 1.9228, 1.5421, -0.3439, 0.0952, 0.0402, 0.293]\nstate[eef_state]: left_x=0.2938 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.5351 right_y=0.1042 right_z=0.1616 right_yaw=0.0992 right_pitch=-0.1586 right_roll=-0.0244 right_gripper=0.293\nstate[joint_eff]: [-0.1573, -1.1692, 7.2547, 1.7363, -0.105, -0.0513, -0.0073, -0.5949, -10.441, 9.4154, 1.5067, 0.1734, -0.0269, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.778, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.1757, 1.879, 1.4605, -0.3149, 0.0151, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.1579 left_yaw=0.1088 left_pitch=0.035 left_roll=0.0279 left_gripper=0.9981 right_x=0.5233 right_y=0.0938 right_z=0.1538 right_yaw=0.1527 right_pitch=-0.1713 right_roll=-0.0072 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5658, 7.2684, 1.7167, -0.105, -0.0611, -0.0073, -0.4034, -9.5248, 9.0462, 1.5458, 0.0513, -0.0122, -0.1538]\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 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3225, 1.166, 0.2276, 0.358, -0.3985, -0.2104, 0.9988, -0.1234, 0.9913, 0.8001, -0.5343, -0.1844, -0.1932, 0.9965]\nstate[eef_state]: left_x=0.3113 left_y=-0.028 left_z=0.065 left_yaw=0.1063 left_pitch=0.0329 left_roll=0.0507 left_gripper=0.9988 right_x=0.3119 right_y=-0.0024 right_z=0.1837 right_yaw=0.1242 right_pitch=-0.1484 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.359, 4.5197, 1.5556, -0.0659, -0.2222, -0.1441, -0.4444, -2.947, 6.735, 1.6142, -0.1734, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0b9af9a4f76b04d68cc2baaac81c140abb113147cb15fe6d4cd936896b9547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077ebb885651ff3262e7b673f82fc96d7b0c5bca8e9d7a3cc967ba790dc220bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a282bf61788fea7293b0a8f59de4fd9efbb28070454c86d3246dc3e3d3bbb18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEuIFnb5ebMdXSZG8CekmgwjGoHstiELxkKllg8sZxnAqy0MEnuN_vosfaYv_rkDzTkHH9HpQCp1obH26XyXAVB0uKCz35-jeEwUAweosA3oQ2sOhDPnq3RGo8uUKVgcCpnI_x4Dmo2KylEA9y2QH1lmuFTifvW_Wz-83vhmSyVZbYCfELPXv7Mqu37r-j09nIdIhQLGrmmiteegUU399DYFH42drs7HxvOvMCDCVJOmUqs3Rdav4ej7IU6-i2e3R0w2HkY21dEHur7giWO2jn1_Sdnzrv6Huypen2PHi7WA19ETQc8dMvQZQT1x5_nIy4pWaE8N4PMYklT-uUBb9sDhRWOempX8vnOHcXTp9Vr_hkxb3EAO-58o5rxIrqP7hoYcIMSCnDY2grVsHCyCem3KF5iJz-bJytx_mkD4SQyNT5qgWhpD0hSToLW_-0mUSc6FmW6iopeCSQEFlNe--IsVXROD-3qnFwXYsx0zBAQHV6oeDpqjgxJN03Gp7iz2ObN6NZGWaDANZZNDZhHHcfhhb1Zdgn8UR9WdgPE1VoL50oIHaAgK71mOAB84PexV3ZhdyydRB_tNAVudVBEsVF4w6qz4lIrX45JXpMTg65TIgz9u-0dyGq6YeZMWbJ8hCfR0K-_P4nTmyoQKC8xFB-gh3DwAUgVtIinjxpGIfvlBMuEc5LTrdZDeHehgmsc7SjnI3huO7wiXZ9lBJkLENLLMX9GbcWqK1dbvLKUBb47yQr771zy_uq90c2ZCzrSi_yTemrCejjixmf0YSAR67uEZCvyw-Rv_EF7nmH7Mv3HYxii2h9UNoQ7wuF9g8XK8KDc6ihjXz2lOluaC7tvTkzUMXWPgIEiq6fGup2DKuHeorqmP3FlWpo4MpvqjWKBvHuqzuy467lW6M9nw3eWOzHmXw9zQmwmQcF7A2ZO-h720Ex6iJtwd5DiQTY8ZGbFZrQlFZk8FejN1X8MVaV3iHzlRXrplYCbP0L0heWJPvU-RTBxwgVEuMlsrVf1SsPSzIfVbAHWbCj5xxcM3XJdmMVFYNNRd5wvc_eJZxT6dzZtMvz_tzdEyQhtQXpHxdkIX9rL2-y8zj9hu84ibZdXvCE5aWB5wgwEXKZ5mAW77QH-HF2KgK_uFviiFHC7LDX8PUMCicFpLSELq5N2YXaNBRjxnT8uD6xIumiBY-AjVsDYoWN-zsDRJGUNAHd3yUffV2EMQcXZs3pYf0R4cM06zcgHDCRPC7XnmsdkgVEPCNHjnmtcQSl0hYupAbgPZOBaRHTawsS8e1DC5SCFq1vwhM9xMettDSCD6zWYAVxXxRfUmjAUOfawbsfI6DdCO4hICzjk6LvnQryJZa5kLR2ylZlNyjuuLshA8D64eDIc6n8KZghvM7amclgyXekP_q1vzWruFV9fafVZh4c49blmHYzQtW_JLjg5s0Ft8W2sg0rXCh3lG3ngE2ls9GzQRSjhrCs66m7sBermP0PDO2PA51httZIztUHj_fsE43cTn7dcWEw4=",
  "id": "rs_086b66efca9dd969016ab44b87784c87d088386902c393445f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low left-arm pose, the gray-white plush fills the actual jaw gap and its narrower upper body is centered between the fingertips. I’ll close fully and use the settled width to verify this grasp.\"}",
  "call_id": "call_Tdk5avvwVaoH225hIZEWjDBM",
  "id": "fc_086b66efca9dd969016ab44b8814d487d0984637641c15ea01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tdk5avvwVaoH225hIZEWjDBM",
  "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]: [-0.3241, 1.1687, 0.2195, 0.3874, -0.4187, -0.21, 0.011, -0.1303, 0.997, 0.7933, -0.548, -0.1917, -0.2092, 0.9965]\nstate[eef_state]: left_x=0.3124 left_y=-0.0254 left_z=0.0676 left_yaw=0.1215 left_pitch=0.0544 left_roll=0.053 left_gripper=0.011 right_x=0.309 right_y=-0.0029 right_z=0.1768 right_yaw=0.1332 right_pitch=-0.1727 right_roll=-0.0162 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -3.0701, 6.4479, 1.4383, 0.0659, -0.0513, 0.8523, 0.4991, -2.8786, 7.5966, 1.6825, -0.0415, 0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863dfbfdee6bd40859da66b9ca5c0046a873545eb30367a1a27d2eeebee25ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d00138a17fbfb4fd121e6ba4b4d2d27b4203f08307f5459e10c8b2295dbfaf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bfa175fd1390f810a967babfc05b44b06cf2b90f546c466ca82663e555ba95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 8.339 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.7727, 0.482, -0.2493, -0.2394, -0.1307, 0.9981, 0.1726, 1.89, 1.4849, -0.3168, 0.0216, -0.0002, 0.2945]\nstate[eef_state]: left_x=0.2939 left_y=0.0027 left_z=0.1595 left_yaw=0.1085 left_pitch=0.0405 left_roll=0.0265 left_gripper=0.9981 right_x=0.529 right_y=0.092 right_z=0.1584 right_yaw=0.1402 right_pitch=-0.1597 right_roll=-0.0057 right_gripper=0.2945\nstate[joint_eff]: [-0.1026, -0.7453, 7.0632, 1.7216, -0.1099, -0.0562, -0.0073, -5.4085, -13.5316, 6.9538, 1.4237, 0.8962, -0.0904, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3225, 1.166, 0.2276, 0.358, -0.3985, -0.2104, 0.9988, -0.1234, 0.9913, 0.8001, -0.5343, -0.1844, -0.1932, 0.9965]\nstate[eef_state]: left_x=0.3113 left_y=-0.028 left_z=0.065 left_yaw=0.1063 left_pitch=0.0329 left_roll=0.0507 left_gripper=0.9988 right_x=0.3119 right_y=-0.0024 right_z=0.1837 right_yaw=0.1242 right_pitch=-0.1484 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.359, 4.5197, 1.5556, -0.0659, -0.2222, -0.1441, -0.4444, -2.947, 6.735, 1.6142, -0.1734, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.1687, 0.2195, 0.3874, -0.4187, -0.21, 0.011, -0.1303, 0.997, 0.7933, -0.548, -0.1917, -0.2092, 0.9965]\nstate[eef_state]: left_x=0.3124 left_y=-0.0254 left_z=0.0676 left_yaw=0.1215 left_pitch=0.0544 left_roll=0.053 left_gripper=0.011 right_x=0.309 right_y=-0.0029 right_z=0.1768 right_yaw=0.1332 right_pitch=-0.1727 right_roll=-0.0162 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -3.0701, 6.4479, 1.4383, 0.0659, -0.0513, 0.8523, 0.4991, -2.8786, 7.5966, 1.6825, -0.0415, 0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863dfbfdee6bd40859da66b9ca5c0046a873545eb30367a1a27d2eeebee25ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d00138a17fbfb4fd121e6ba4b4d2d27b4203f08307f5459e10c8b2295dbfaf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bfa175fd1390f810a967babfc05b44b06cf2b90f546c466ca82663e555ba95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEuNT1s6uyeuTxeMxPceP8itMF2xcisEcNxOXj55KMXxgY3Z9I1d8gLZ0ZfC1YXmn01x4Rj8zGZ1Nd7RACCTMJkgLzAGuaotTIS8-QGboqfTAg64EeXDo64lz11k8AAJ4HUiVlDI6QWESYBK6IIdx7SM1HEx6omWMclwy_FEwUhKoGKmMgMbhlJeSIjUZHv4CA80X8BBk2ZvsZmhUAyRGWSmCZgviKfKFll5u9kR6w2rlcK4sPHnlJzONjEYRU9FAXuei03JZ9__oCf9zVqWAK2nuD9A7lmjMspGDOkDyP6f0_NHYMk1B_kWgg7RNq8zu5H8Pa3AYqqq0-DicEkiBtIXuVEFjR6CvBMB8Fp2N0yye7m4PVO99_F1LOxd7L-_5s_QTmcoRq7DUgl4NCl3FwgZX5kxwJaBgOeo4S2SYAQWp0_TJfnYpRSYwxGtwGhKbhBy5pg1eD2fHDuZ7WtvrvUV3iLjdnFDDV5Vo9FjwV8k10tDQzuT0Wzuq68U0nDyPzvXKnsqfAckcrZGHQBFygVLOJ2h15Xm8wEP98EbJBg8FUAktjs0yYkdX5NULdUlqoLVnJOSvKRgKpd6jM47PlnyE_-dbfWh10pz_MZY5ySckSfbwmw7kY0f4a1omrVVMb22AsB20dk_RFEkwotQUhdPZomlqe4Ny2PqPbS4Jgxsx_oByeTXeftbEZwmiIkFtv7I_zxPLRKTb_qyCM1y7ykJTu2yoQTa-KejUFpTWjsFm5LeoxOOCX2F3gun7MYKjVJPegMZHUxaVxP7llNrBH9nIIGfTIMhD9rDFTfq7LNqR9O0zGcl_Y_ljPjhoxYGyfue8JviVEvDi9c5VCgmyiHFY5YhOTB877sy7n1i3DaezenYyXK3MssddiOHeU0xtXnX6EShTnwaMe685XozJaQ0yYnSM6djXsW1nCi3H7uinV4qywJ_VQcf8pSKun5-rf6iTIh-uI2L5wl5bDIPBkwMR3CHoPFrV4s2jfxBT5aqDJdzBay9RTOgucU7JXlPUseeyUrwJNDbwu2Jlu7kltK5NYLermUNZB6Rn2jnhO_Z78VjuVHvTXnZ5e-V25kaOfaTWSL_bUdTekE8PEY89plhrznTlmpmxOMfAN6AxKuLJRwwua4DGqCbT6mI2u0erdIsjjUJSHUNVVwrjftdcmuMkfSibKIqnNRWKR9JbhgMVvMFBcP1FuWzwq3MHPd4yHfbkZfiC1chU87E9WuxOxEYfCiu4P-yqbxot08nVDxJDme7b-GkIxIPOGpBxmU0RUSQmVOIR_W816IzuKPHfa7HWq5c2l5Kxvkn8rSvycq15q-d-RqZW1g3OSMPYllS3z5e9OQcEJETfdq91xDH4Ift53o_eZVdi5g1Q07347DT5-iFndgVA7mgJ76hTDhhPyyyjYPE8HfF2_uJZK3eplHQJAEcDvEI4VOd1yzh8YjBaOq927suOfUJkLfNix1sMihwzBo1sDrYN9mATkTgSRNfMTWbOXeD1XRlCos5bPy0PUtiWS6VxFcbehBoYd6XqVIgRJIlzvvMgo_Rru7JXvRQpVc-Vz8dRP-fwYgSQH7G5p9FWjdQ5R745gV3cBIYqvfY6I7KdTV_XsI_cxkGif-wPH6oBZMAclOeiBLl5fbBLbhwH71bHJdqPd-VI3Al-dS3N5AHZyBTuHZQ5-HHU4vivF_pB1WI9AUGL_azaycOgp0vPQ_GdFEQptrvy0m2S_Dst6gl2PnK1v-IxK5eECcstvdrBfpzyuyA_psMq6gFR0zwC8J-VhiWmw54dEVdVJKURzrOFRCP0Ay-gG7zGBW4lBenRrazSLOxXekboH8dUbmtbN_awxbqzU7ojQU-01692dUZOcNNGNI0StLZFAINmH79a4RbzGaltCYpiBHIsvMLO9HDGumNGc9vn-HZYPiZ",
  "id": "rs_086b66efca9dd969016ab44b8b0b8087d09ec509d5ab820ab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.44,\"left_y\":-0.13,\"left_z\":0.06},\"note\":\"The gray-white plush also yielded an empty close, but it now lies directly between the low left gripper and the left basket. I’ll reopen and use the broad jaws to push it diagonally forward into that basket.\"}",
  "call_id": "call_81YhcKKY4Q3UZVnhk7y74CPN",
  "id": "fc_086b66efca9dd969016ab44b8c6b3487d0ae6f0cc0da142f0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_81YhcKKY4Q3UZVnhk7y74CPN",
  "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]: [-0.4992, 1.8317, 0.7673, 0.424, -0.5556, -0.3252, 0.9952, -0.1314, 1.0042, 0.7933, -0.5491, -0.1925, -0.2096, 0.9965]\nstate[eef_state]: left_x=0.4292 left_y=-0.1238 left_z=0.0506 left_yaw=0.1166 left_pitch=0.03 left_roll=0.0596 left_gripper=0.9952 right_x=0.3092 right_y=-0.0032 right_z=0.1745 right_yaw=0.1333 right_pitch=-0.1807 right_roll=-0.0137 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -8.5402, 7.0632, 1.5653, -0.2613, 0.0513, 0.022, -0.1162, -3.1248, 6.8855, 1.5556, -0.1099, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f32aee4ae93a5b78afcf9dd162474b6ef23d03818cf07000e819cec656f190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01be3e256dba9d49d2c8eb58a80bbc913d982ff90d3f93cc665c65ea9f5ecf52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd4500c49c12e9a7f87e9a66dee62542418ed880b27cf6577c92113937c06d7",
      "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 · 2.939 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1459, 0.778, 0.482, -0.2497, -0.2394, -0.1307, 0.9981, 0.1757, 1.879, 1.4605, -0.3149, 0.0151, -0.0074, 0.9957]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.1579 left_yaw=0.1088 left_pitch=0.035 left_roll=0.0279 left_gripper=0.9981 right_x=0.5233 right_y=0.0938 right_z=0.1538 right_yaw=0.1527 right_pitch=-0.1713 right_roll=-0.0072 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5658, 7.2684, 1.7167, -0.105, -0.0611, -0.0073, -0.4034, -9.5248, 9.0462, 1.5458, 0.0513, -0.0122, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.1687, 0.2195, 0.3874, -0.4187, -0.21, 0.011, -0.1303, 0.997, 0.7933, -0.548, -0.1917, -0.2092, 0.9965]\nstate[eef_state]: left_x=0.3124 left_y=-0.0254 left_z=0.0676 left_yaw=0.1215 left_pitch=0.0544 left_roll=0.053 left_gripper=0.011 right_x=0.309 right_y=-0.0029 right_z=0.1768 right_yaw=0.1332 right_pitch=-0.1727 right_roll=-0.0162 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -3.0701, 6.4479, 1.4383, 0.0659, -0.0513, 0.8523, 0.4991, -2.8786, 7.5966, 1.6825, -0.0415, 0.0806, -0.0073]\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 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4992, 1.8317, 0.7673, 0.424, -0.5556, -0.3252, 0.9952, -0.1314, 1.0042, 0.7933, -0.5491, -0.1925, -0.2096, 0.9965]\nstate[eef_state]: left_x=0.4292 left_y=-0.1238 left_z=0.0506 left_yaw=0.1166 left_pitch=0.03 left_roll=0.0596 left_gripper=0.9952 right_x=0.3092 right_y=-0.0032 right_z=0.1745 right_yaw=0.1333 right_pitch=-0.1807 right_roll=-0.0137 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -8.5402, 7.0632, 1.5653, -0.2613, 0.0513, 0.022, -0.1162, -3.1248, 6.8855, 1.5556, -0.1099, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f32aee4ae93a5b78afcf9dd162474b6ef23d03818cf07000e819cec656f190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01be3e256dba9d49d2c8eb58a80bbc913d982ff90d3f93cc665c65ea9f5ecf52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd4500c49c12e9a7f87e9a66dee62542418ed880b27cf6577c92113937c06d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEuWryLNrpPSObjQkw8F5AzHgsUTxGOEIFKRJvtkqk0_l7eOL1VHOZLg6kMSHBofJMLNgjjipWNeKgkR7p-gf0Ys2Z3azcgyiYi0Kx_3V04_jq73o25xog-dEJ2VWrOkZcsjpbXcB8kJr6djSD0J0Sy-mnyKkt6AsuY9R-wijSMrApfUVCIMuj10-l2XPqVaVyRswDpknJWr66uWhbjFgQK4NHHgUC3u-djulobfB5wyeupeT07fj9toVZX4qYKPEos3GoC9APsBmOIsVQMIcunEt0y-dzlu3piA25riV8yGwRmatD3ma4CDNhpi0_14OnMs7Rv4oHeygJO4N8pDyhafXDMFxZXQLmji40Go8GS9Zd7I8FpErk6kAIuxQgAZPHE8MKex2gTORJh3ryikjtp2vyiou-sek2aoDGLGfL_DvA5hvqi1AG2wHtBJta4hGIaMmVNgtXDMcimmw8jkUuwW7q5oxtjlX3da2l4E4W0G_VDn-_mFdtCAiELWx6DUg0V0leVa2TPVBoHOpxikgPe9tSNnJ1DthtML_pVV8hHen4dM-b6UMk-dXKmgUCQUdzxHKU0K4ADxzjCxqFhybc7OgCk1CGYd3RS_9WHf-NtcjjV_u_211AJkxXUODG-cstXc9R3b2CXp2oHPzv7mLDuu5SldVxVYjkBCTMar7pStuSihxRKNB5Fij4Cj8Q-_2lIH7vgCzHFO2iTOBhHlpPMfneZqlNKkbq8RxoWT-jyvi6S7M6F0zutjzrTVWPs3uGsL5ENCdEld28E4A2Jx1bSHg1ZxRqympYG5eHXE0h0H67EurkVKrjjTjkFueSR_k1Wc9362PVisSCel3elvccl2js3do0lS3H_4UeW_XPjbdFUnK4fGqpMZ-U3Dn2yjBMudkXeETlPwXpsRX3Qe_Mgs3EVwiwP-w1qvKGHZbbfbmYaeZoZy_-4Ua1lXPvymAmurlUHQO5fwVXBrvyMb7UMH9X23WDKSlxvRXCpnl4zTXiOoBVItHXAxoC7EDa15tQ_59TpGF71X5O2_a0VA7h_tfHMbe44NwV0g0FfNCh9VQLEimhysEU0aPXLMydY6UKzmHrj3lvVsF0azFNEpcZTE289ZUZjzjOfXZoFYJ6krWPiE3MOKBX9p6hgR7Nd6_J3l8CEAIfxgzcFZJWQpuR8YdX8YRCwdgmUThlLS5HMbTrNSl4lxgm9MwBInKwPSog7ksbrlVlS9o9D3XDSEgzdKDJooC4LVLZqUyrgB-5JZq3LdBL6GSiqwi6ftuZ7u4Vp-0gGZMqVoe2skWehMa9KkfG4gpwOpzvTnZ7tBiLm8hS6yAL94lMM39n3yXeul4t5KzlPIxSI8YPO7TjAWFKpT3K-BVKdA6N-joXM_VOYUo8TX6jT5aJZo3J4DT5Ys04Q8qHrn6-JekrH1V22QjsFCyKeqmQqRhJg-WblUGcbT_ecB58VRSTWi2_FEO19HTj9X9n6Xp5GFFuE9mFDWzOuqNrGeo4gitPqAF8aHEmnBQHxFfq756phycIkuWtxpYidGcGkeD9Lz__enIl3dSF9w7mOco4Tv9QL7VII4uOuBQHJlljzaHZYgGDR58d1J9jwV56mJU0l7QaGri__ELJc4-rJta0rMwih4yf4Mkm4S6waMrwrVEMPTxQPCXMqYQNvPKRIyVvkn2HmQCRlvdmALBV_EdYYAl4ymEEULmcFC2T5REAXiJlNIQU9qyqoXUGFYH8cQzqGR49nyPpdLZswIsiGlOHFZOB6Q6G8GCoyUYmn5i-Pe0G4aICp7SaNVh0Sd7urgF2zIgdVob_keTY0I41mRJ08zUmJ3ozCvM0QgmX0S8O_GkirMTm8scmKHr4nUnhAY564AyZIsMWRHS7UdvR_en9FXMsbW8CLzlZQeWjy2zyWA71blhvGSGAabAccj9FtU4oKCyonl6FMh87RP3PD9VOCUtS0Qx_wPdjEZOHRUNtS_p6z9exDpOA-NAN2a8ijaUMogx2zEXmZVq_HnUPALt5lUDfBdRDjC--pEapjqm98Hx24XRcA-8yp9Yy5S0vDRT3v-DwtRJ7cWBzf94ApYmHqJ5YNhs73BxOxi49-7IW6Y4VcR66y6XQup2QRPJxHEOX4lXwlG5I3fWIeczsIxHlVp5RgIhc9bmAXgAOWDHRdpvMip1GU7i7hwsS30SYX9UrDNoBjgaIBDnlAvlOtCTWhF1wUPddA-mLX8PYJUEzUIq_PpIgIFUEKx9qzMayXb2tns6BL6gVE6P7FJLycSDip-bfHRcMg7tpMUYjPrSZfDslL3lfU3hzjkN4ok6w08G-2R8GaCKVe6d58d5Kq1t7qPtW6crPq4sRfrg6A54eWvQr7CSg0xe5krr_hm_xCSHcSz8TO9IOPGotCS52j7gfeFfpL16k6FIVx590kBF2S2NOKU9NwCuY6bCs8mTC8iKfLRojhDsBSN81JuTA4j8cwjmhhATM0aTFdlmggpxFZvMH6WAURshlHIUXHMNSfqlxpRFGK6GqbOVeWN2IDVsDJo9kmW3VfZIYoE8m8wfiTYs45j4AD44pjbbv9A-NbFHWe5_IixtJ6tXDrVefsXqyyoR4cWILW2Vq6iJHjEzMNFz4v3ecPJlVfVnqus32Nz5eUKpZq20PBTq4NYyRu1NH3Cqjz8O8SBq6eTXCCXUz2DTeXEM2_KwhBQ-Qxf4P7JJaWEg1Sdp59YnYw9-UpCZ2BoAX0dKYJN6S3530rdpsUF7xeGHuFxJLOsOyJV3B6pmVxysfl_vMik0yenBFqZbBeR4W2468pobDNfV5YvZH0mGB6hv1AbF-X7QAa4olJgBZPYCkvzuQa7IV6HBECxzFwe05z1b7PjRGdx8RFo80i--17goh8-UiRf2fQA2ugEquhIvfVlxvynldy2Us_AvTihIW3y4bjHGsefKPC4tVmPvws5Igw5ulghKPWEgP-Ye80LxkVGJ6vJaHtILJtt_9IkyQ_yqlQCWgTgM0HjFBDNzJfawaRMZWD1q72rkhRpGe-SmUWGV1NnEgs_QbMkmL_PkY7zRLEJCujZySY3jHxiBeOlK_gMYFUROyxdJMi37rASs9pKAyD-UDrx8gPIn-d9nw5DcVPG42jPpUSiw3lPve8edX-AruOL1zphHFTE3QhQkUcpEYEZG6QWcVt6qkPLRMDGN_M_CnuAhjaOxiHC3JA4Zo5Z_kDtOZ7-ve6FMoQIDoRNZwxmPs6T_BPIfdPDEbeUuiDgoeHvm5YVw5l8vDapZdmW4PmbKNEh6e7XXqEN1a4KjGyDCCUh905BIXyLwfcAEaD5kBkX2kevOWOumGTab5ekqLcbgipd02-R9ltXL8fqSxV8AWYETh555yPJh0-0jdlwWd1mRAej0-LMP6aIRmNuRso3_2Fr8l-5WSRy38A1RHKUlgE3Nn94Wu3_sCAi_JVDkO9ltCYxG_NrbrXwNBGk-diybSwj-CjvS_9YRF3x7X_1LEXRJa-2GHAuYCHrDIkXXKNhnB36UyZwg19Mvc-zN-PX8CzmtKKwtIGI9m6NVEMa6rcTBUaJTJxg4XsWP4-LJmI5rDXbmBnQaRrA_o_oCPRA_4X6kndS_gj1wV7TPZRIdyrQzBK6caUZ6u1Zd4HAW-XOOy9uS7DiSOBZUmbXPqzMYMCCm9VmChsMFjhV6WPHb3b5hZJ9Kv6dDrpkCMESDfhBX9bU_FYjoUq40MeDWXZ3nHGWPh6rDmssLuqctpnlkzRVBXY20OhRDykzYJBRop5B2GMzNBl18bzQ6zSqaVXFK8aRd9WR0Pkmn7TpOQlHi1llh46ky6p-zzg9a6VUI3b7NcMknvzPX4ZU5k4QRitMGzM1y3BMfWtxdMdnrA2GhbBXPw==",
  "id": "rs_086b66efca9dd969016ab44b8f601487d0bec7c1525a50cc4e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEuWsdfLdTnsU53xx7ffBiHCNb78REdeChB4CFKb6sKeSsVrvjynInDfMgjFJP-ffYR6EGzi3uLNmo2oVSXYzUmQSpefOdtrhVVQpXEFOic6RuVkdtnywwjNEf52hiWFa09OyLpDOHUzi9GK4-t-f4ApEPgWZ1xNNHXIeZ24rWwdv1EvxaleE8cq3zhLjmJfhAr4gk1T0cPiY3JzWAqZc5awxv56TgiCeCcgoQj-NHaO3P_wlM08HWfZ5mPD9WNhzYBePdp4ejMjEa8JsnFuKD_zVa-KysScnf8tn6Nw3IvR5SNynouHFyHnqFWzP8w_PDal5ajMgJM9gcmN1B5G2TePUXM5RwjornZ0B2iwU-OX9r78OTR7RHjg1cPDMTMqqZllOv8VVzK-0xiACK_sSCGOlZ46Mcup116lhvW8XZSLTOx8gOOieuhpkc5netDGAGr4QaZyQzTToYofH7O1R_OzrhA6OuWDGPe91FhbstSMtLFk1Du-MI7hvSmDcI1DErH0HC5WngrSRmwfXswjvtcEMz4tECVkT0Fu6eUvxTx5l-ADR6zfFJe1TyDxEgNfHhuGakNFz-8mR81L_MBiz9St2AFnAel7Egm_u96ifwsXvaydLWEog5StA03wsw5_XgHVUfvyHy5YOjmq1Lr937Aq5xyUSQx_ANNiLo-HKmu2_EpRZsQ7p_Ycz4kBcOjQeduIT4K75O_1mgcIBm_FWrFk96mn36xyd660CiamI1GRXcLbONawYxkMSAkS4GJ0whbJYkuLnD04aLxIuO66Gm4xUyaAyEqTOY6Vvsvn3i-8npOwdSK6zyzxVvqCAcYqdcCuGVcqUsyXGaJWCG_7pJ0f5rSZ7qfoZxq-oDlGL4KGFA6PS5J8aarD9EyHNaNgtjrHxCQJf6kHaFuVBBHEy9kPAlo8UIpUT9NiL7fOZIoS1YYZWIcsNlO17nlEI69b3yyLuRlLEVVw5355QI5ie4Qtp_N-8WtaEuSRACkU3PArwZg-hP3CFwB7dtZQGBKCRDSF8kXGPPV1GqOO9OIpDQ43HnqDY81TkeJSHzlyjYKmBYWCfxOUe0k2it1BXEMCo54QF5oNN2Zswl_kNLWIvEvvQDE0Lfu3qG_BbXrRu4N9puTc9LNPSLSt-_mcuQju5pB8P70EplaaHUTDssO5fsTPtYV3kKdJR8uupMT8dwK__tfk6XpwVkCvmFzN8MZVXSp050nnHmHT69rdwjHmgNEVgiGOrhxWKIsFaRT8ET7o2NWatuiqzlPYckeacIZdQe0-F5o-DZ1UJw7u0CFX24F1eNNznQlQUOqWbrifGQSJZDLsjwEzXFjIvq57N-X6WHpE_Vu--VlrHcQySyGvRf3UbOJubjjReI-aeEoL04uMeRDoM-VtpgjQ44Wxoo7T162kwCHCFo63AEZd6XDbsaPe49sCwY8qVucbJ7sQDpMkedHCeSiwomqkHwzbAysLoPMRb_YUkS8oI4yObHc9FPeKnTUty86n1qKdM_4DRKGjKabRL3TNp709LN1_MdT7G1ICBFi_LQuh63whvF2x_0auLQ==",
  "id": "rs_086b66efca9dd969016ab44b948b4887d0a4d73f3b8d0874d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.42,\"right_y\":0.14,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The white push cleared the arm into the left basket but left the plush near its front edge. With limited remaining motion, I’ll prioritize the tan plush using the successful narrow-head grasp geometry, moving the right gripper low around its current upright position.\"}",
  "call_id": "call_jKaTUvTKA1EfmKXz1fAy2Psm",
  "id": "fc_086b66efca9dd969016ab44b9571d887d0be8fb68ca8665c38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jKaTUvTKA1EfmKXz1fAy2Psm",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2012, 0.8478, 0.5552, -0.2279, -0.3374, -0.168, 0.9966, 0.3733, 1.6615, 0.8597, 0.0219, 0.1776, 0.1078, 0.9986]\nstate[eef_state]: left_x=0.3091 left_y=0.0003 left_z=0.1792 left_yaw=0.1558 left_pitch=0.0748 left_roll=0.0352 left_gripper=0.9966 right_x=0.4113 right_y=0.1314 right_z=0.0692 right_yaw=0.1473 right_pitch=-0.2028 right_roll=-0.0398 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.0735, 9.5795, 1.663, -0.0952, 0.1245, 0.1343, 0.5675, -6.9402, 7.159, 1.1844, -0.0904, 0.2173, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aebddb64953c10cd9376fb69dfc45bfd3029767ecad81b41dbcbcafed3c91c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358e72cce1bc22cf040039decd6fc805cc1d196a12cade3fa7ab142e8baa13f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb229f0f4b6303c501d72049c7575971dc060302a28e4dc29910a98d9423506",
      "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 38 attempt 0 · /responses · status 200 · 2.753 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3225, 1.166, 0.2276, 0.358, -0.3985, -0.2104, 0.9988, -0.1234, 0.9913, 0.8001, -0.5343, -0.1844, -0.1932, 0.9965]\nstate[eef_state]: left_x=0.3113 left_y=-0.028 left_z=0.065 left_yaw=0.1063 left_pitch=0.0329 left_roll=0.0507 left_gripper=0.9988 right_x=0.3119 right_y=-0.0024 right_z=0.1837 right_yaw=0.1242 right_pitch=-0.1484 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -2.359, 4.5197, 1.5556, -0.0659, -0.2222, -0.1441, -0.4444, -2.947, 6.735, 1.6142, -0.1734, -0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4992, 1.8317, 0.7673, 0.424, -0.5556, -0.3252, 0.9952, -0.1314, 1.0042, 0.7933, -0.5491, -0.1925, -0.2096, 0.9965]\nstate[eef_state]: left_x=0.4292 left_y=-0.1238 left_z=0.0506 left_yaw=0.1166 left_pitch=0.03 left_roll=0.0596 left_gripper=0.9952 right_x=0.3092 right_y=-0.0032 right_z=0.1745 right_yaw=0.1333 right_pitch=-0.1807 right_roll=-0.0137 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -8.5402, 7.0632, 1.5653, -0.2613, 0.0513, 0.022, -0.1162, -3.1248, 6.8855, 1.5556, -0.1099, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2012, 0.8478, 0.5552, -0.2279, -0.3374, -0.168, 0.9966, 0.3733, 1.6615, 0.8597, 0.0219, 0.1776, 0.1078, 0.9986]\nstate[eef_state]: left_x=0.3091 left_y=0.0003 left_z=0.1792 left_yaw=0.1558 left_pitch=0.0748 left_roll=0.0352 left_gripper=0.9966 right_x=0.4113 right_y=0.1314 right_z=0.0692 right_yaw=0.1473 right_pitch=-0.2028 right_roll=-0.0398 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.0735, 9.5795, 1.663, -0.0952, 0.1245, 0.1343, 0.5675, -6.9402, 7.159, 1.1844, -0.0904, 0.2173, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aebddb64953c10cd9376fb69dfc45bfd3029767ecad81b41dbcbcafed3c91c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358e72cce1bc22cf040039decd6fc805cc1d196a12cade3fa7ab142e8baa13f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb229f0f4b6303c501d72049c7575971dc060302a28e4dc29910a98d9423506",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEuaIl5jkPYit-XKPX-4XpwPzuAa8yS1RKl8wsgIbV037fdbLjToJsEJ3aqmM0avacHft_dkIyMud7nlGocNh5IGawYKMoeHt-k6hjgBoFeVS4K_1iFytiVYXtb5fqoWZm4nANfQ0kKuRcm91QEG4dWFQPREYu6MWS93yDYm1H532UzXEmIaMQw9tKyheqCrU9oACB0XekjQpGPxwfKVf_NwvB89NleuwPVQzMpcoSCZCvtmraD68V4UQfnoMZ_E8-H0GDR2l7ijlImxv4QdmiuqUSWpmgs_WeVSox1lQ2MHGXNi2UDO-eULXnwu2VuLxQ5oOelv_Dp7Jr39J3ONAmN6BHvLxqbQ1ywjeMVW8jhQ_IoFF1gmX9QlX-GMCMowBOp4aljHbYXy1DKdlEMW1cuaefizsVGwyOg14lk64gIPjRZcYl_hOCzHsYeRrkbpIVIPEtgfiy-ntaOKW4WLQqTKBpbmZYL02m-7OyvJQNOtgnd65oOF3Y07GxlxDLJhFB0nDmNJUKGAd5zzp-bxaL9c1qn0uNYcWBx82CtBontSv1NRQd_RmUhi-bTdZxMz8arWy_1h4-3_Sc1PWuYsmOR2U6P9it5zT87tmvnd52MSqsQ7pn3CY0CwzNX_rx0y3SpYnqeszzPelQcZpnEB57u0tzDXPO4LZlG0QDsEE9L5B_BOakEjiSmfAslVj_-T93G-SfhPeDXO-Y67AjwCbgnS6mWCxG8CUpAlLJmSWLVER01IRQCOkZ0hsh1TqZsy8EgGb76-bMe4C8zJAltXRoAbO-jBHxgcjud3UOMaKNZ1ytIXkahav-DJk82teiS1yIzre_56UxCk_nerrYZpmc2tPvKQOpw8xz8cs26xLvclEMbvtwPwFd2Q0yWGf7OPDbWaQoi1aKUUXrBeXrjtmo9yLG1xv-dNixc2tF8o5arAMcyVvaZafy5z1PzkITXNu_nQmgyccWnDJT6_onSJem1p7vnoosTnHeyrpxLCZRj7SWS9BQYrtw_3iSDvxcLmnmEOL_LVkOH7SNvZgUFooMEEBJb1jbiiybqpPmIqZo-I1qwBqgWnCVLC5-e0s8x0cI393do-hdD-ugeiKOVUOHDCsroOJqLQoXYlxF14lw2SPUCL4dCr_oVjlBEayMgzOUBEepVKBjrV3ZBRSSIBH_kfREBEQ55ccoDTaWrZfZTuU1Eecun0Ig0503Srs-V1kH0ZQWQFPn4IO92lFE1jbCqWb2CcnHCu1cmkpLlDjis2X4kOi3DHRIu4R_vcZJa0YoXK",
  "id": "rs_086b66efca9dd969016ab44b98e35087d0a7a0fadd7f31d015",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is now low with the tan plush’s narrow torso filling the gap between the fingertips. I’ll close fully; a nonzero settled width will confirm the same successful soft head/torso grasp as before.\"}",
  "call_id": "call_UmtlEaDXBU14zKBPj56PMSNY",
  "id": "fc_086b66efca9dd969016ab44b99217087d08f445f2e2f4ef905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UmtlEaDXBU14zKBPj56PMSNY",
  "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]: [-0.2024, 0.8528, 0.5591, -0.2443, -0.3359, -0.1722, 0.9967, 0.3729, 1.6711, 0.8703, 0.0502, 0.1822, 0.0978, 0.1112]\nstate[eef_state]: left_x=0.308 left_y=-0.0001 left_z=0.1761 left_yaw=0.1552 left_pitch=0.0582 left_roll=0.037 left_gripper=0.9967 right_x=0.4187 right_y=0.1333 right_z=0.0744 right_yaw=0.1497 right_pitch=-0.1736 right_roll=-0.0437 right_gripper=0.1112\nstate[joint_eff]: [-0.0752, -1.894, 6.8034, 1.8877, -0.1538, -0.0317, 0.0024, -0.1299, -8.5402, 5.4085, 1.2967, -0.0366, 0.0611, 0.8278]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2024b5a964226c22d7cb7b0a118b3fd8613966550fcfdd860417711bd4595d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c42a3c2cce64f33be128cdf46b25e41c4b30a5ef34ff31549b49a9f28a87d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79a973d5837b07f7024372a50e28523fe76d3b120cbe8d0bc3b6cc14b5bb288",
      "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 · 2.523 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.1687, 0.2195, 0.3874, -0.4187, -0.21, 0.011, -0.1303, 0.997, 0.7933, -0.548, -0.1917, -0.2092, 0.9965]\nstate[eef_state]: left_x=0.3124 left_y=-0.0254 left_z=0.0676 left_yaw=0.1215 left_pitch=0.0544 left_roll=0.053 left_gripper=0.011 right_x=0.309 right_y=-0.0029 right_z=0.1768 right_yaw=0.1332 right_pitch=-0.1727 right_roll=-0.0162 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -3.0701, 6.4479, 1.4383, 0.0659, -0.0513, 0.8523, 0.4991, -2.8786, 7.5966, 1.6825, -0.0415, 0.0806, -0.0073]\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]: [-0.2012, 0.8478, 0.5552, -0.2279, -0.3374, -0.168, 0.9966, 0.3733, 1.6615, 0.8597, 0.0219, 0.1776, 0.1078, 0.9986]\nstate[eef_state]: left_x=0.3091 left_y=0.0003 left_z=0.1792 left_yaw=0.1558 left_pitch=0.0748 left_roll=0.0352 left_gripper=0.9966 right_x=0.4113 right_y=0.1314 right_z=0.0692 right_yaw=0.1473 right_pitch=-0.2028 right_roll=-0.0398 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.0735, 9.5795, 1.663, -0.0952, 0.1245, 0.1343, 0.5675, -6.9402, 7.159, 1.1844, -0.0904, 0.2173, -0.1538]",
      "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]: [-0.2024, 0.8528, 0.5591, -0.2443, -0.3359, -0.1722, 0.9967, 0.3729, 1.6711, 0.8703, 0.0502, 0.1822, 0.0978, 0.1112]\nstate[eef_state]: left_x=0.308 left_y=-0.0001 left_z=0.1761 left_yaw=0.1552 left_pitch=0.0582 left_roll=0.037 left_gripper=0.9967 right_x=0.4187 right_y=0.1333 right_z=0.0744 right_yaw=0.1497 right_pitch=-0.1736 right_roll=-0.0437 right_gripper=0.1112\nstate[joint_eff]: [-0.0752, -1.894, 6.8034, 1.8877, -0.1538, -0.0317, 0.0024, -0.1299, -8.5402, 5.4085, 1.2967, -0.0366, 0.0611, 0.8278]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2024b5a964226c22d7cb7b0a118b3fd8613966550fcfdd860417711bd4595d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c42a3c2cce64f33be128cdf46b25e41c4b30a5ef34ff31549b49a9f28a87d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79a973d5837b07f7024372a50e28523fe76d3b120cbe8d0bc3b6cc14b5bb288",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEueG0dEkeyx-yzzJOnJ-Vr2A9-dzL4tLcLBrclDwJEQDRqcZw_aI_BkeIeShegzsUNRhDsS8zj_Ky48EvowG5MH8BZ1sFSj9TX6UigWY_XQHsijxRLh4l5OwNkLh0UbYaThi_2Ly3sTPAu6lKWII9ehH0IAVxuAHV_7JIKb7XRtoWATM8mCgUkNpYlJ5uVBBb2nLpSGAp9eOhLLbbX-26-Y8qHgNJiWqLpOw4fICNoc2uTTivhikSdgVPR-PksuPYcOUrSd9BkJawbWcdtvFdcurrxkK2J6z16Jtq3xZz3BaGY3ELSjiu4zuNMqLsb3l5tm_aDiCnM2H1qlro_wETq_ZG3HUIgQLBPlUXbiZIhrXgn1F-1flrvJqIK-534pjcqITe_FlQnIGdGHYClSN8r7u-NpSv7JbKGXzTVGO_ygF2ubF8EbzTTxWYoYLyYh7_0XWRVRlBINEZ54ckS28FUasrmsfSQUx3oc3Fgv6n87F6RrC30_hDgrjg6oIqCYxEK5p1jLBJo8ob07tJadCCqJHk2bJS71y5PHbMucFwiaQlifLB_FIZuJJneg2umMRJzU4QZHbJaWzzIGBkedgZnhlf82wYsMUYe9fyU_hbg6YlIv8qYfpA_sdwrmFUNNajCHmeZXLWrGxrwfQyOX6l3OKeArPorKRKIq1318b0uggQadh4FQYATTlAIcvTQRRiuvrISkWf6zQluaNBrbQyJQ1A_Q6J4K-5Rm6uDRw2KwnP0n9a-e1Db8UZL9YjRCxWLErs7vz081Hbf0le-Ys6pucyrKEmGlhKn_Nwku2QUBP4N18aq4hQx7Iu4i4hKyxQVm-DC00QkNKxZch6ypTzVJvyJ3GxJ-TcURR4pXNsszuOCYC7UnqskJrpxs32iovO9iGyC1W-nKWKPKo4-adjqKVQzXyc33JSkThRhi2SOGEKXbnYrb5vAQyZF5JmcvNY4267ubAyxeF-EQfW5kWKLCRfybRWBN9_aK4u_aNlSc5xypAgSTSZhKBJ_q9T_gilklWg4Z6AXKTcG4oqwZMm23MTr-6RgHydJOEuGXjdJKz2-XgRBsJd61rnfNZuAUDtWDLGfKm7RCKQgLz47O4-3w50lNsCmhpBtaSQo9KmbRuvlVLBkbfe8GHUtzSddXpqWwU8lgqUHjZtfv7n0EtID1-Vej25ZTXEOETEQOrKqcOnRmVQ0zKMxxGxbNCyTqQMM90AHRGDBMhJ0h888XsaIVzdQ5uqsobHxT0C6VB36RPKPaB8M40v1EB2IDP5q03CDgTSIfPVDK77PudGdlVzS8YlVazESno-Hgq9b5ZuZdfneaRcqge3w58_j9SbGB0ucsuxXBNTOkxecr4UzYPxKyVoTYw2J3lK69WvLJefbRKUkpXolB8pYvTUAgM5iatQ_Rb-TcMYSZ5o7bNvGu4pjmv0VOG5eRlL8lh-v_FDlR3otdrRa-RDX76ONe7L5OG4yVK5UYdAzsmHTekqwAtbQPMLMq24IJXxTZrv-P_rKxd67ncILjtwjHPmYpJLxrbXTuGUDDtmRi7bYBh_ZA7I2BQLWxH17UHxmb-8EQQQQZPFezYB9RjpEJmLY022NhvjKm",
  "id": "rs_086b66efca9dd969016ab44b9cc70c87d08fc53832798171b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.08,\"right_z\":0.16},\"note\":\"The gripper settled at 0.111, confirming the tan plush is securely held. Since it is already beside the right basket, I’ll lift and move it a short distance forward-right over the basket center.\"}",
  "call_id": "call_2RMo8PrhWKM6da3FsDn56tkC",
  "id": "fc_086b66efca9dd969016ab44b9d9d6487d0934db4d39c23fa0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2RMo8PrhWKM6da3FsDn56tkC",
  "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]: [-0.2024, 0.8566, 0.5591, -0.2485, -0.3359, -0.1722, 0.9967, 0.1822, 1.7386, 1.2499, -0.2874, 0.0391, -0.0246, 0.1138]\nstate[eef_state]: left_x=0.3077 left_y=-0.0 left_z=0.1742 left_yaw=0.155 left_pitch=0.0507 left_roll=0.0398 left_gripper=0.9967 right_x=0.4772 right_y=0.0845 right_z=0.1377 right_yaw=0.1475 right_pitch=-0.2136 right_roll=-0.0379 right_gripper=0.1138\nstate[joint_eff]: [-0.0889, -1.9487, 7.0906, 1.7558, -0.1538, -0.0171, -0.0122, -0.7863, -8.9094, 9.894, 1.9756, 0.2515, -0.0855, 0.2613]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8967394feef804b461b236aa23b23ad6383189784bade77f68534703fc71b509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05cb1beace4dd6771a029e7cb82c60aa8730f82b1a275fc2ca04d6ca51bcba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfea92d820de9fe9490f684aee675a483e4ae441a66f7c289506fdffe92c408a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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