adhoc

completed
2026-09-23T22:40:17.389469+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
240.3 s
total steps
342
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe table contains two visually distinct plush types: several long-eared light rabbits and several round brown-and-white bird/owl toys, with two empty cyan baskets. I am assigning the brown-and-white toys to the left basket and the rabbits to the right basket, and moving the left arm above the isolated brown-and-white toy on the left side of the cluster.
move_to
left_x0.3700left_y-0.1300left_z0.1600left_gripper1.0000right_x0.2960right_y0.0010right_z0.1820
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3805, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3817, -0.0116, -0.025, 0.9997] state[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.4855, -1.6342, 9.6205, 1.7998, -0.0073, 0.2027, -0.0562, -0.8547, -1.4291, 9.7846, 1.7802, -0.1001, 0.1294, -0.0415] 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":0.37,"left_y":-0.13,"left_z":0.16,"left_gripper":1.0,"right_x":0.296,"right_y":0.001,"right_z":0.182},"note":"The table contains two visually distinct plush types: several long-eared light rabbits and several round brown-and-white bird/owl toys, with two empty cyan baskets. I am assigning the brown-and-white toys to the left basket and the rabbits to the right basket, and moving the left arm above the isolated brown-and-white toy on the left side of the cluster."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe left wrist view is dominated by the basket ahead, while the chosen toy sits just behind and left of the fingertips in the overhead view, so the first approach overshot it radially. I am retracting about 3 cm toward the base, shifting slightly left, and lowering modestly to center above the toy before the grasp descent.
move_to
left_x0.3300left_y-0.1100left_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]: [-0.5488, 1.3403, 0.7753, -0.1402, -0.45, -0.3531, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9997] state[eef_state]: left_x=0.3605 left_y=-0.1261 left_z=0.1402 left_yaw=-0.0015 left_pitch=-0.058 left_roll=0.0166 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0073 right_roll=-0.0013 right_gripper=0.9997 state[joint_eff]: [-0.2667, -5.5043, 9.1282, 1.8632, -0.2857, 0.0366, -0.0562, -0.4034, -1.2239, 7.241, 1.7558, -0.0659, -0.0513, -0.0122] 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":0.33,"left_y":-0.11,"left_z":0.1},"note":"The left wrist view is dominated by the basket ahead, while the chosen toy sits just behind and left of the fingertips in the overhead view, so the first approach overshot it radially. I am retracting about 3 cm toward the base, shifting slightly left, and lowering modestly to center above the toy before the grasp descent."})
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 noteAfter the correction, the small dark bird/owl toy is directly beneath the left gripper in the overhead view, and its brown body is entering between the jaws at the bottom of the wrist image. I am descending vertically to table level while keeping the lateral alignment fixed.
move_to
left_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.556, 1.2804, 0.5507, -0.0238, -0.4496, -0.3599, 0.9996, -0.0151, 0.8013, 0.6086, -0.3847, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.3263 left_y=-0.1082 left_z=0.0897 left_yaw=-0.0033 left_pitch=-0.0993 left_roll=0.0363 left_gripper=0.9996 right_x=0.2952 right_y=0.001 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9997 state[joint_eff]: [-0.3897, -5.5863, 6.3385, 1.746, -0.3004, -0.0562, -0.0171, -0.1299, -1.4838, 7.0359, 1.7411, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_z":0.01},"note":"After the correction, the small dark bird/owl toy is directly beneath the left gripper in the overhead view, and its brown body is entering between the jaws at the bottom of the wrist image. I am descending vertically to table level while keeping the lateral alignment fixed."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left grasp point reached table height without an early contact stop, and the toy remains bracketed by the open fingers. I am closing the gripper fully to capture it, then I will judge the grasp from the settled jaw opening.
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]: [-0.5552, 1.5955, 0.3782, 0.4366, -0.4492, -0.3603, 0.9996, -0.0154, 0.8043, 0.6086, -0.3855, -0.0101, -0.0261, 0.9997] state[eef_state]: left_x=0.3232 left_y=-0.106 left_z=0.0057 left_yaw=-0.0011 left_pitch=-0.1225 left_roll=0.0501 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.0137 right_roll=-0.0016 right_gripper=0.9997 state[joint_eff]: [-0.1436, -5.4906, 4.2872, 1.6581, -0.2222, -0.0611, -0.0122, -0.3624, -1.5248, 7.0769, 1.746, -0.0171, -0.022, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left grasp point reached table height without an early contact stop, and the toy remains bracketed by the open fingers. I am closing the gripper fully to capture it, then I will judge the grasp from the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper settled at 0.01, so the first close was empty; the overhead view shows the small round toy just to the left of the closed fingers. I am reopening and lifting clear before making the single measured retry offset.
move_to
left_gripper1.0000left_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]: [-0.5552, 1.5955, 0.3782, 0.4381, -0.4458, -0.3668, 0.01, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.3233 left_y=-0.1067 left_z=0.0057 left_yaw=-0.0004 left_pitch=-0.1223 left_roll=0.0422 left_gripper=0.01 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997 state[joint_eff]: [-0.1983, -5.3675, 4.465, 1.4774, -0.1978, 0.0366, 0.7643, -0.253, -1.2923, 7.0359, 1.7363, -0.0122, -0.022, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.07},"note":"The gripper settled at 0.01, so the first close was empty; the overhead view shows the small round toy just to the left of the closed fingers. I am reopening and lifting clear before making the single measured retry offset."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteWith the arm lifted, the missed round bird/owl is clearly about 4–5 cm to the arm’s left and slightly nearer the base than the grasp point. I am applying that measured lateral correction at a safe low hover for the retry.
move_to
left_x0.3050left_y-0.0550left_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]: [-0.5552, 1.3464, 0.4862, 0.065, -0.4461, -0.3748, 0.9984, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.3202 left_y=-0.1047 left_z=0.0591 left_yaw=0.0053 left_pitch=-0.1355 left_roll=0.0448 left_gripper=0.9984 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997 state[joint_eff]: [-0.1026, -5.6684, 8.1573, 1.2821, -0.2173, 0.0904, -0.0562, -0.3487, -1.2513, 7.3504, 1.7265, -0.0317, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.055,"left_z":0.07},"note":"With the arm lifted, the missed round bird/owl is clearly about 4–5 cm to the arm’s left and slightly nearer the base than the grasp point. I am applying that measured lateral correction at a safe low hover for the retry."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe round brown-and-white toy is now centered on the jaw column between both fingers in the wrist view. I am descending straight down to grasp it at table level.
move_to
left_z0.0050
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]: [-0.3714, 1.1446, 0.4042, 0.0063, -0.3344, -0.2611, 0.9983, -0.0151, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.3095 left_y=-0.0545 left_z=0.0728 left_yaw=0.0346 left_pitch=-0.1205 left_roll=0.0353 left_gripper=0.9983 right_x=0.2955 right_y=0.001 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997 state[joint_eff]: [-0.212, -3.4803, 5.8872, 1.4628, 0.0806, 0.1148, -0.0269, -0.0889, -1.5795, 7.0632, 1.7118, -0.0562, -0.022, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.005},"note":"The round brown-and-white toy is now centered on the jaw column between both fingers in the wrist view. I am descending straight down to grasp it at table level."})
tool
executing move_to over 5 steps (0.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe descent stopped at z≈0.069 m while the toy stayed centered, indicating the fingers have contacted the upright plush rather than the table. I am closing at this height to grasp around its body.
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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2428, 0.9983, -0.0154, 0.8082, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997] state[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0149 left_pitch=-0.1423 left_roll=0.0428 left_gripper=0.9983 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0172 right_roll=-0.0011 right_gripper=0.9997 state[joint_eff]: [-0.0479, -3.8496, 5.6957, 1.5897, -0.1245, 0.0806, -0.0122, -0.3214, -1.3333, 7.0632, 1.7411, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at z≈0.069 m while the toy stayed centered, indicating the fingers have contacted the upright plush rather than the table. I am closing at this height to grasp around its body."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe second close also settled empty; the wrist view now makes the cause clear—the owl’s face remains visible just beyond and slightly left of the fingertip grasp point rather than between it. I am reopening and raising so I can re-approach from about 3 cm farther forward instead of repeating the failed pose.
move_to
left_gripper1.0000left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2436, 0.0102, -0.0154, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997] state[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0153 left_pitch=-0.1423 left_roll=0.0422 left_gripper=0.0102 right_x=0.2956 right_y=0.0008 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997 state[joint_eff]: [-0.2803, -3.1385, 6.3111, 1.5458, -0.1783, -0.022, 0.7448, -0.2393, -1.306, 7.1863, 1.7314, -0.022, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.12},"note":"The second close also settled empty; the wrist view now makes the cause clear—the owl’s face remains visible just beyond and slightly left of the fingertip grasp point rather than between it. I am reopening and raising so I can re-approach from about 3 cm farther forward instead of repeating the failed pose."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteAt the higher hover the owl is fully visible just beyond the fingertips, about 3 cm forward and 2 cm to the arm’s left of the grasp point. I am translating by that offset while maintaining clearance, which should put the body under the normally invisible fingertip point.
move_to
left_x0.3350left_y-0.0330left_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]: [-0.3649, 1.0489, 0.5392, -0.2722, -0.3134, -0.2474, 0.9988, -0.0151, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997] state[eef_state]: left_x=0.3015 left_y=-0.053 left_z=0.1061 left_yaw=0.0192 left_pitch=-0.1705 left_roll=0.0509 left_gripper=0.9988 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997 state[joint_eff]: [-0.1299, -3.6034, 9.265, 1.453, -0.1685, -0.0122, -0.1148, -0.1436, -1.1556, 7.0359, 1.7411, -0.0171, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.033,"left_z":0.11},"note":"At the higher hover the owl is fully visible just beyond the fingertips, about 3 cm forward and 2 cm to the arm’s left of the grasp point. I am translating by that offset while maintaining clearance, which should put the body under the normally invisible fingertip point."})
tool
executing move_to over 3 steps (0.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe forward/lateral correction centers the owl on the jaw column and pushes its body to the bottom edge, consistent with it being directly under the fingertip grasp point. I am descending toward the middle of its upright body rather than all the way to the tabletop.
move_to
left_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]: [-0.2146, 1.1763, 0.5835, -0.2169, -0.2234, -0.1638, 0.9983, -0.0151, 0.8116, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.3242 left_y=-0.0269 left_z=0.0933 left_yaw=0.0506 left_pitch=-0.2203 left_roll=0.0595 left_gripper=0.9983 right_x=0.2958 right_y=0.001 right_z=0.1761 right_yaw=0.0 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9997 state[joint_eff]: [-0.4991, -3.8906, 9.4427, 1.707, 0.0415, 0.2418, -0.0611, -0.1162, -1.6205, 7.0222, 1.7265, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.03},"note":"The forward/lateral correction centers the owl on the jaw column and pushes its body to the bottom edge, consistent with it being directly under the fingertip grasp point. I am descending toward the middle of its upright body rather than all the way to the tabletop."})
tool
executing move_to over 5 steps (0.5s)
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 readback again stopped at z≈0.093 m, but this time the owl is centered directly under the fingers, so the stop is contact with its tall plush body rather than a lateral miss. I am closing around it at the contact height.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2153, 1.1763, 0.5835, -0.2153, -0.2165, -0.1638, 0.9983, -0.0151, 0.812, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997] state[eef_state]: left_x=0.3243 left_y=-0.0284 left_z=0.0933 left_yaw=0.0439 left_pitch=-0.2202 left_roll=0.0542 left_gripper=0.9983 right_x=0.2958 right_y=0.0011 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9997 state[joint_eff]: [-0.1846, -3.8769, 9.0872, 1.7265, -0.0269, 0.2076, -0.0269, -0.1846, -1.2376, 7.0632, 1.7753, -0.0269, -0.0708, -0.0122] 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":{"left_gripper":0.0},"note":"The readback again stopped at z≈0.093 m, but this time the owl is centered directly under the fingers, so the stop is contact with its tall plush body rather than a lateral miss. I am closing around it at the contact height."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe round owl is broad enough that the vertical approach keeps landing a fingertip on its crown and the jaws close empty, so I am switching to the narrower light teddy-bear type rather than repeating. I am parking the left arm and bringing the right arm over the rear light bear, assigning the light bears to the right basket.
move_to
left_x0.2960left_y0.0000left_z0.1800left_gripper1.0000left_pitch0.0000right_x0.3400right_y0.3400right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.215, 1.1763, 0.5835, -0.2165, -0.2169, -0.1677, 0.0094, -0.0151, 0.812, 0.6083, -0.3851, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.3241 left_y=-0.0282 left_z=0.0932 left_yaw=0.0468 left_pitch=-0.2211 left_roll=0.052 left_gripper=0.0094 right_x=0.2958 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0214 right_roll=-0.0013 right_gripper=0.9997 state[joint_eff]: [-0.0752, -3.7128, 6.5573, 1.5311, -0.149, 0.0513, 0.7546, -0.1709, -1.3333, 7.1863, 1.7753, -0.0366, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"left_pitch":0.0,"right_x":0.34,"right_y":0.34,"right_z":0.16,"right_gripper":1.0},"note":"The round owl is broad enough that the vertical approach keeps landing a fingertip on its crown and the jaws close empty, so I am switching to the narrower light teddy-bear type rather than repeating. I am parking the left arm and bringing the right arm over the rear light bear, assigning the light bears to the right basket."})
tool
executing move_to over 29 steps (2.9s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe right wrist view shows the rear light bear close to the fingertips but well left of the jaw column; the overhead view agrees that the grasp point is about 4–5 cm to its right and slightly forward. I am shifting to the arm’s left, slightly toward the base, and lowering to a controlled hover over the narrower bear.
move_to
right_x0.3200right_y0.3900right_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]: [-0.1162, 0.8158, 0.5816, -0.3687, -0.1783, -0.0776, 0.9983, 1.0348, 1.8732, 1.4067, -0.4717, 0.7689, 0.7162, 0.9997] state[eef_state]: left_x=0.2945 left_y=0.0008 left_z=0.1676 left_yaw=0.0586 left_pitch=-0.0279 left_roll=0.0524 left_gripper=0.9983 right_x=0.3379 right_y=0.3354 right_z=0.1486 right_yaw=0.0277 right_pitch=-0.0511 right_roll=-0.0205 right_gripper=0.9997 state[joint_eff]: [0.335, -1.9077, 8.8274, 1.79, -0.0122, 0.0757, -0.105, 0.6769, -9.812, 8.7726, 0.9841, 0.6618, 0.1929, -0.0464] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.39,"right_z":0.11},"note":"The right wrist view shows the rear light bear close to the fingertips but well left of the jaw column; the overhead view agrees that the grasp point is about 4–5 cm to its right and slightly forward. I am shifting to the arm’s left, slightly toward the base, and lowering to a controlled hover over the narrower bear."})
tool
executing move_to over 5 steps (0.5s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe lateral correction is good—the bear is now on the jaw column—but its body fills the bottom of the wrist view and remains a few centimetres nearer the base than the fingertip point. I am retracting another 3.5 cm radially while preserving the lateral alignment.
move_to
right_x0.2850right_y0.3800right_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]: [-0.1165, 0.8188, 0.5816, -0.3744, -0.1791, -0.0788, 0.9982, 1.1229, 2.0571, 1.5093, -0.4873, 0.8013, 0.8021, 0.9997] state[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0596 left_pitch=-0.0364 left_roll=0.0534 left_gripper=0.9982 right_x=0.32 right_y=0.3813 right_z=0.1032 right_yaw=0.0455 right_pitch=-0.0749 right_roll=-0.0485 right_gripper=0.9997 state[joint_eff]: [0.0205, -1.6342, 7.0496, 1.7998, -0.1148, -0.022, -0.0171, 0.4718, -10.6188, 8.5949, 0.9646, 0.4322, 0.1148, -0.0171] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.38,"right_z":0.1},"note":"The lateral correction is good—the bear is now on the jaw column—but its body fills the bottom of the wrist view and remains a few centimetres nearer the base than the fingertip point. I am retracting another 3.5 cm radially while preserving the lateral alignment."})
tool
executing move_to over 3 steps (0.3s)
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 right-arm readback did not follow the radial correction at y≈0.39, showing that this cross-table pose is at its kinematic limit. I am parking that arm and switching the central bear to the left arm, which reaches this point comfortably from y≈−0.27.
move_to
right_x0.2960right_y0.0000right_z0.1800right_gripper1.0000left_x0.3000left_y-0.2700left_z0.1300left_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]: [-0.1165, 0.8188, 0.5816, -0.3748, -0.1791, -0.0792, 0.9983, 1.1324, 2.0686, 1.5253, -0.49, 0.8043, 0.8207, 0.9997] state[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0598 left_pitch=-0.0368 left_roll=0.0532 left_gripper=0.9983 right_x=0.318 right_y=0.387 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0712 right_roll=-0.033 right_gripper=0.9997 state[joint_eff]: [-0.0889, -1.2513, 7.0085, 1.7021, -0.1148, -0.0562, -0.0171, 0.1299, -10.8239, 8.4034, 0.9597, 0.5055, 0.1441, -0.0122] 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_x":0.296,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.3,"left_y":-0.27,"left_z":0.13,"left_gripper":1.0},"note":"The right-arm readback did not follow the radial correction at y≈0.39, showing that this cross-table pose is at its kinematic limit. I am parking that arm and switching the central bear to the left arm, which reaches this point comfortably from y≈−0.27."})
tool
executing move_to over 33 steps (3.3s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe left wrist view clearly reveals three matching light teddy bears between the baskets; the nearest bear is centered and already partly below the camera at the fingertip point. I am descending vertically with the jaws open to straddle its body.
move_to
left_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]: [-1.0748, 1.6787, 1.0775, -0.4858, -0.8433, -0.9009, 0.9988, -0.0124, 0.8623, 0.6586, -0.4503, 0.0204, -0.0467, 0.9997] state[eef_state]: left_x=0.296 left_y=-0.2623 left_z=0.1195 left_yaw=0.0557 left_pitch=-0.0658 left_roll=0.0613 left_gripper=0.9988 right_x=0.2962 right_y=-0.0037 right_z=0.1717 right_yaw=-0.0123 right_pitch=-0.087 right_roll=-0.0355 right_gripper=0.9997 state[joint_eff]: [-0.5128, -7.2274, 8.5538, 0.9499, -0.6813, 0.0269, -0.1392, -0.253, -2.2906, 8.6769, 1.7656, -0.1245, 0.0073, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.03},"note":"The left wrist view clearly reveals three matching light teddy bears between the baskets; the nearest bear is centered and already partly below the camera at the fingertip point. I am descending vertically with the jaws open to straddle its body."})
tool
executing move_to over 6 steps (0.6s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe gripper descended to z≈0.051 m and the bear now fills the wrist view symmetrically, with both fingers down beside it. I am closing around the plush torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0702, 1.8256, 0.9257, -0.1612, -0.8616, -0.9138, 0.9983, -0.0189, 0.8639, 0.6586, -0.4595, 0.0113, -0.0631, 0.9997] state[eef_state]: left_x=0.3013 left_y=-0.2639 left_z=0.0514 left_yaw=0.075 left_pitch=-0.0399 left_roll=0.0339 left_gripper=0.9983 right_x=0.2949 right_y=-0.004 right_z=0.1695 right_yaw=-0.0022 right_pitch=-0.098 right_roll=-0.0428 right_gripper=0.9997 state[joint_eff]: [-0.2393, -5.7641, 3.3983, 0.6618, -0.2173, 0.0806, -0.0659, 0.3624, -1.6615, 7.0085, 1.7411, 0.0659, 0.1392, -0.0171] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gripper descended to z≈0.051 m and the bear now fills the wrist view symmetrically, with both fingers down beside it. I am closing around the plush torso."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe gripper settled at 0.285, far above the empty value, confirming a firm grasp on the light bear. I am lifting it above the neighboring toys before transporting it to the right-hand basket.
move_to
left_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]: [-1.0702, 1.8324, 0.9203, -0.1181, -0.8669, -0.9245, 0.285, -0.02, 0.8639, 0.6586, -0.4603, 0.0139, -0.0643, 0.9997] state[eef_state]: left_x=0.3039 left_y=-0.2675 left_z=0.052 left_yaw=0.0826 left_pitch=-0.0228 left_roll=-0.0012 left_gripper=0.285 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.005 right_pitch=-0.0988 right_roll=-0.0454 right_gripper=0.9997 state[joint_eff]: [-0.1162, -9.0188, 5.7504, 0.6618, -0.359, 0.0757, 0.7057, -0.253, -1.6068, 6.9538, 1.663, -0.0659, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper settled at 0.285, far above the empty value, confirming a firm grasp on the light bear. I am lifting it above the neighboring toys before transporting it to the right-hand basket."})
tool
executing move_to over 6 steps (0.6s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe light bear rose with the gripper in the overhead view, confirming the lift. I am carrying it high to the center of the right cyan basket, keeping the left basket reserved for the round owl type.
move_to
left_x0.4400left_y-0.3900left_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]: [-1.0702, 1.713, 1.071, -0.4221, -0.8566, -0.9367, 0.2867, -0.02, 0.8639, 0.6586, -0.4603, 0.0143, -0.0647, 0.9997] state[eef_state]: left_x=0.3025 left_y=-0.2673 left_z=0.1124 left_yaw=0.0849 left_pitch=-0.0446 left_roll=0.0161 left_gripper=0.2867 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.0051 right_pitch=-0.0988 right_roll=-0.0459 right_gripper=0.9997 state[joint_eff]: [-0.2256, -10.7966, 8.8684, 1.1355, -0.5397, 0.0659, 0.1538, -0.1573, -1.6752, 7.0085, 1.6923, -0.0366, -0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.39,"left_z":0.2},"note":"The light bear rose with the gripper in the overhead view, confirming the lift. I am carrying it high to the center of the right cyan basket, keeping the left basket reserved for the round owl type."})
tool
executing move_to over 11 steps (1.1s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe held bear is centered over the right basket and clears the rim. I am lowering it into the basket until the plush contacts the basket floor or the arm stops short.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9474, 2.3924, 2.3421, -0.9237, -0.7845, -0.8452, 0.2881, -0.02, 0.8684, 0.6586, -0.4606, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.4374 left_y=-0.3884 left_z=0.1781 left_yaw=0.1151 left_pitch=-0.06 left_roll=-0.0172 left_gripper=0.2881 right_x=0.295 right_y=-0.0048 right_z=0.168 right_yaw=-0.0034 right_pitch=-0.1038 right_roll=-0.0483 right_gripper=0.9997 state[joint_eff]: [0.0342, -14.2564, 7.2547, 0.6422, -0.5006, 0.4615, 0.1245, -0.2256, -2.0308, 7.0085, 1.619, -0.0073, 0.0024, -0.0122] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06},"note":"The held bear is centered over the right basket and clears the rim. I am lowering it into the basket until the plush contacts the basket floor or the arm stops short."})
tool
executing move_to over 8 steps (0.8s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe descent stopped at z≈0.134 m with the bear visibly inside the basket and the carried load supported, indicating contact with the basket interior. I am opening the fingers to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9524, 2.3478, 1.9713, -0.4442, -0.8902, -0.8394, 0.2883, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.4502 left_y=-0.3898 left_z=0.1335 left_yaw=0.1743 left_pitch=0.084 left_roll=-0.1105 left_gripper=0.2883 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [0.4444, -8.1436, 2.9744, 0.3101, 0.8132, -0.1197, 0.0024, -0.1846, -1.6889, 6.9538, 1.6679, -0.0073, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The descent stopped at z≈0.134 m with the bear visibly inside the basket and the carried load supported, indicating contact with the basket interior. I am opening the fingers to release it."})
tool
executing move_to over 8 steps (0.8s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe fingers are open, but the arm still occludes the basket and the bear may be brushing one finger after release. I am lifting and backing away to clear the rim and verify whether the bear remained in the right basket.
move_to
left_x0.3800left_y-0.3400left_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]: [-0.9539, 2.3486, 1.9633, -0.4332, -0.8959, -0.8562, 0.9956, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.4499 left_y=-0.3898 left_z=0.132 left_yaw=0.1857 left_pitch=0.0877 left_roll=-0.1258 left_gripper=0.9956 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [-0.0752, -13.8735, 7.3094, 1.2039, -0.359, 0.105, -0.232, -0.0752, -1.7026, 7.0906, 1.6923, -0.022, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.38,"left_y":-0.34,"left_z":0.2},"note":"The fingers are open, but the arm still occludes the basket and the bear may be brushing one finger after release. I am lifting and backing away to clear the rim and verify whether the bear remained in the right basket."})
tool
executing move_to over 6 steps (0.6s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteWith the arm clear, the bear is visible upright on the table immediately in front of the right basket—it caught the rim and fell outside. It is isolated and centered between the jaws now, so I am descending at the same lateral pose for a clean regrasp.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0157, 2.0399, 1.6886, -0.527, -0.9131, -0.9222, 0.9967, -0.02, 0.8715, 0.6586, -0.4599, 0.0147, -0.0681, 0.9997] state[eef_state]: left_x=0.3874 left_y=-0.3526 left_z=0.1826 left_yaw=0.1657 left_pitch=0.0716 left_roll=-0.124 left_gripper=0.9967 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0035 right_pitch=-0.1061 right_roll=-0.0488 right_gripper=0.9997 state[joint_eff]: [-0.1709, -13.1214, 5.9829, 1.3065, -0.5055, -0.0806, 0.1001, -0.0889, -1.6752, 6.9402, 1.6777, -0.0269, -0.0708, -0.0122] 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":{"left_z":0.06},"note":"With the arm clear, the bear is visible upright on the table immediately in front of the right basket—it caught the rim and fell outside. It is isolated and centered between the jaws now, so I am descending at the same lateral pose for a clean regrasp."})
tool
executing move_to over 8 steps (0.8s)
step 222
top_cam
camera top_cam step 222
assistant
agent noteThe isolated bear is now symmetrically between the fingers at z≈0.077 m, with its torso filling the jaw gap rather than sitting under one fingertip. I am closing for the regrasp.
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]: [-1.0199, 2.1567, 1.4307, -0.1589, -0.9207, -0.9245, 0.9968, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.3852 left_y=-0.3515 left_z=0.0774 left_yaw=0.167 left_pitch=0.0745 left_roll=-0.1178 left_gripper=0.9968 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [0.1846, -9.8667, 5.6, 1.2576, -0.2906, -0.0122, 0.0024, -0.2667, -1.347, 6.9675, 1.6435, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The isolated bear is now symmetrically between the fingers at z≈0.077 m, with its torso filling the jaw gap rather than sitting under one fingertip. I am closing for the regrasp."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteThis bear rotated broadside during the rim fall and squeezed forward from the second close, so I will not repeat that unstable orientation. I am reopening and returning to the central cluster, where the remaining upright light bear presents the same narrow torso orientation that produced the confirmed 0.285 grasp.
move_to
left_x0.3000left_y-0.2700left_z0.1300left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0199, 2.1918, 1.4132, -0.1459, -0.9134, -0.9283, 0.0099, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.3826 left_y=-0.3487 left_z=0.0554 left_yaw=0.1623 left_pitch=0.0541 left_roll=-0.0865 left_gripper=0.0099 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [-0.253, -14.8171, 7.2547, 1.1111, -0.442, 0.0171, 0.7643, -0.1846, -1.4838, 6.9812, 1.6386, -0.0171, -0.0073, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.27,"left_z":0.13,"left_yaw":0.0,"left_gripper":1.0},"note":"This bear rotated broadside during the rim fall and squeezed forward from the second close, so I will not repeat that unstable orientation. I am reopening and returning to the central cluster, where the remaining upright light bear presents the same narrow torso orientation that produced the confirmed 0.285 grasp."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteThe classes are now clear: gray elephants on the left and tan teddy bears in the middle. One remaining bear is centered below the open jaws with its torso between the visible paws, so I am descending to the same torso height used for the earlier successful grasp.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0714, 1.6371, 0.9218, -0.1188, -0.8505, -0.8192, 0.9952, -0.02, 0.8749, 0.6586, -0.4603, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.3051 left_y=-0.2746 left_z=0.122 left_yaw=0.0177 left_pitch=0.0529 left_roll=-0.0938 left_gripper=0.9952 right_x=0.2954 right_y=-0.0049 right_z=0.1663 right_yaw=-0.0032 right_pitch=-0.11 right_roll=-0.0485 right_gripper=0.9997 state[joint_eff]: [-0.4171, -8.5675, 6.2564, 1.3211, -0.2759, 0.1148, -0.0317, -0.0752, -1.9897, 6.9812, 1.6874, -0.0464, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"The classes are now clear: gray elephants on the left and tan teddy bears in the middle. One remaining bear is centered below the open jaws with its torso between the visible paws, so I am descending to the same torso height used for the earlier successful grasp."})
tool
executing move_to over 6 steps (0.6s)
step 248
assistant
agent noteAt z≈0.039 m the bear’s body is bracketed by both fingers and its face is centered, with no fingertip resting on top. I am closing around the torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0721, 1.8347, 0.7849, 0.1627, -0.8448, -0.8196, 0.9967, -0.02, 0.8761, 0.6586, -0.4606, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.3015 left_y=-0.2699 left_z=0.0391 left_yaw=0.0117 left_pitch=0.0243 left_roll=-0.0492 left_gripper=0.9967 right_x=0.2954 right_y=-0.0049 right_z=0.1659 right_yaw=-0.0032 right_pitch=-0.1115 right_roll=-0.0484 right_gripper=0.9997 state[joint_eff]: [0.0479, -7.9521, 4.4376, 1.4335, -0.4029, -0.022, 0.1392, -0.1846, -1.8256, 7.0906, 1.6532, -0.0464, -0.0269, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At z≈0.039 m the bear’s body is bracketed by both fingers and its face is centered, with no fingertip resting on top. I am closing around the torso."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe bear is wider than the 9.5 cm jaw span in the current left–right closing direction and was squeezed out. I am lifting, reopening, and rotating the gripper 90° so the jaws close across the bear’s narrower front-to-back thickness.
move_to
left_z0.1300left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0721, 1.853, 0.7742, 0.1696, -0.8448, -0.8227, 0.0101, -0.0196, 0.8761, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.2996 left_y=-0.2664 left_z=0.0303 left_yaw=0.013 left_pitch=0.0139 left_roll=-0.0322 left_gripper=0.0101 right_x=0.2954 right_y=-0.0047 right_z=0.166 right_yaw=-0.003 right_pitch=-0.1111 right_roll=-0.0481 right_gripper=0.9997 state[joint_eff]: [-0.1846, -9.388, 5.9009, 1.16, -0.3883, 0.0171, 0.779, -0.1026, -1.7299, 7.1179, 1.6728, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13,"left_yaw":1.57,"left_gripper":1.0},"note":"The bear is wider than the 9.5 cm jaw span in the current left–right closing direction and was squeezed out. I am lifting, reopening, and rotating the gripper 90° so the jaws close across the bear’s narrower front-to-back thickness."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteThe 90° yaw was not kinematically maintained—the readback displaced the grasp point toward the left basket and nudged that basket—so I am abandoning that orientation rather than risking another sweep. I am returning the left arm to its neutral high pose before a simpler narrow-object grasp.
move_to
left_x0.2960left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000left_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]: [-0.4328, 2.3283, 1.8809, -1.4155, -0.8959, -2.0495, 0.9951, -0.0208, 0.881, 0.6586, -0.461, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.4188 left_y=-0.0376 left_z=0.0793 left_yaw=1.407 left_pitch=-0.0774 left_roll=-0.0741 left_gripper=0.9951 right_x=0.2956 right_y=-0.0051 right_z=0.1645 right_yaw=-0.0039 right_pitch=-0.1168 right_roll=-0.0483 right_gripper=0.9997 state[joint_eff]: [-3.0017, -16.8821, 6.0239, -0.2418, -0.4322, -0.4664, -0.0366, -0.1436, -1.6205, 6.9675, 1.7021, -0.0611, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The 90° yaw was not kinematically maintained—the readback displaced the grasp point toward the left basket and nudged that basket—so I am abandoning that orientation rather than risking another sweep. I am returning the left arm to its neutral high pose before a simpler narrow-object grasp."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteFrom the neutral pose, an upright tan teddy is centered on the left wrist jaw column immediately below the fingertips, while the gray elephants remain piled farther left. I am descending straight onto this isolated upright bear without another yaw change.
move_to
left_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]: [-0.3603, 0.9974, 0.6716, -0.4667, -0.5251, -0.8608, 0.9988, -0.0208, 0.8867, 0.6586, -0.4622, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.2989 left_y=-0.0141 left_z=0.1536 left_yaw=0.5202 left_pitch=-0.1254 left_roll=-0.2928 left_gripper=0.9988 right_x=0.2957 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0039 right_pitch=-0.1237 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [-3.7949, -0.2393, 9.5385, 2.2686, 0.2662, 0.3004, -0.1343, 0.0889, -1.6615, 7.1179, 1.7118, -0.0317, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_z":0.05},"note":"From the neutral pose, an upright tan teddy is centered on the left wrist jaw column immediately below the fingertips, while the gray elephants remain piled farther left. I am descending straight onto this isolated upright bear without another yaw change."})
tool
executing move_to over 7 steps (0.7s)
step 285
assistant
agent noteThe upright bear is now clearly between both fingertips at table height, with its narrow body aligned diagonally to the partially yawed jaws. I am closing around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.1843, 0.3481, -0.0261, -0.5098, -0.8513, 0.9983, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0677, 0.9997] state[eef_state]: left_x=0.2891 left_y=-0.0139 left_z=0.0448 left_yaw=0.5089 left_pitch=-0.1775 left_roll=-0.2385 left_gripper=0.9983 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0041 right_pitch=-0.126 right_roll=-0.0479 right_gripper=0.9997 state[joint_eff]: [-0.0068, -3.4393, 5.9282, 1.4628, -0.2418, -0.1343, -0.0708, -0.3624, -1.935, 6.9402, 1.6581, -0.0317, -0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The upright bear is now clearly between both fingertips at table height, with its narrow body aligned diagonally to the partially yawed jaws. I am closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 295
assistant
agent noteThe rounded bear again rolled out of a full close, so I am changing to the gray elephant class, whose protruding body and limbs offer a less symmetric grip. I am reopening and shifting to the fence-side gray elephant pile, staying within the left-arm y limit.
move_to
left_x0.3000left_y0.0450left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.1946, 0.3328, -0.0109, -0.5171, -0.8536, 0.0158, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.2864 left_y=-0.0116 left_z=0.0395 left_yaw=0.5169 left_pitch=-0.1801 left_roll=-0.2286 left_gripper=0.0158 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [-0.0205, -3.7949, 6.9812, 1.2186, -0.1978, -0.0122, 0.6667, -0.1299, -1.8393, 6.9402, 1.6581, -0.0366, -0.0122, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.045,"left_z":0.1,"left_gripper":1.0},"note":"The rounded bear again rolled out of a full close, so I am changing to the gray elephant class, whose protruding body and limbs offer a less symmetric grip. I am reopening and shifting to the fence-side gray elephant pile, staying within the left-arm y limit."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe outer elephant is against the fence-side reach limit, but its near ear/forelimb extends into the jaw gap at the current y bound. I am descending beside that protruding part so the fingers can pinch and pull it inward.
move_to
left_z0.0250
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]: [-0.0425, 1.0447, 0.4683, -0.2028, -0.3084, -0.627, 0.9953, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.2974 left_y=0.0446 left_z=0.0897 left_yaw=0.5422 left_pitch=-0.1867 left_roll=-0.2386 left_gripper=0.9953 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997 state[joint_eff]: [0.1436, -3.5624, 8.6769, 1.2625, -0.0708, 0.1099, -0.1343, -0.1709, -1.6068, 6.9675, 1.6288, -0.0269, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The outer elephant is against the fence-side reach limit, but its near ear/forelimb extends into the jaw gap at the current y bound. I am descending beside that protruding part so the fingers can pinch and pull it inward."})
tool
executing move_to over 5 steps (0.5s)
step 310
assistant
agent noteThe descent stopped at z≈0.048 m with the elephant’s gray body extending across the left half of the jaw gap and a protruding limb near center. I am closing to pinch that reachable section and pull the toy away from the fence.
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]: [-0.0509, 1.2228, 0.3229, 0.1772, -0.3107, -0.6128, 0.9967, -0.0208, 0.8902, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.3106 left_y=0.0418 left_z=0.0481 left_yaw=0.5232 left_pitch=-0.1368 left_roll=-0.2579 left_gripper=0.9967 right_x=0.2957 right_y=-0.0051 right_z=0.1616 right_yaw=-0.0039 right_pitch=-0.1279 right_roll=-0.0481 right_gripper=0.9997 state[joint_eff]: [0.4308, -1.8256, 3.2479, 0.652, -0.1441, -0.1685, 0.1245, -0.1162, -1.935, 6.9675, 1.6581, -0.0024, -0.0317, -0.0171] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at z≈0.048 m with the elephant’s gray body extending across the left half of the jaw gap and a protruding limb near center. I am closing to pinch that reachable section and pull the toy away from the fence."})
tool
executing move_to over 10 steps (1.0s)
step 320
assistant
agent noteThe fence-side elephant cannot be enclosed by the jaws and again slipped left, but it sits directly in front of its assigned left basket. I am using the closed fingers as a broad pusher at mid-body height to drive the plush forward over the nearby basket lip instead of attempting another impossible full-width grasp.
move_to
left_x0.4300left_y0.0400left_z0.0800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 1.2285, 0.3096, 0.1947, -0.3099, -0.6174, 0.0098, -0.0208, 0.8925, 0.6586, -0.4625, 0.0143, -0.0681, 0.9997] state[eef_state]: left_x=0.3088 left_y=0.0418 left_z=0.0446 left_yaw=0.5251 left_pitch=-0.1389 left_roll=-0.261 left_gripper=0.0098 right_x=0.2959 right_y=-0.0051 right_z=0.1611 right_yaw=-0.0039 right_pitch=-0.1298 right_roll=-0.0481 right_gripper=0.9997 state[joint_eff]: [-0.0889, -3.8496, 6.8308, 1.3993, -0.2027, 0.0171, 0.7888, -0.1026, -2.0171, 6.9538, 1.6484, -0.0122, -0.0317, -0.0171] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":0.04,"left_z":0.08,"left_gripper":0.0},"note":"The fence-side elephant cannot be enclosed by the jaws and again slipped left, but it sits directly in front of its assigned left basket. I am using the closed fingers as a broad pusher at mid-body height to drive the plush forward over the nearby basket lip instead of attempting another impossible full-width grasp."})
tool
executing move_to over 10 steps (1.0s)
step 330
assistant
agent noteThe first push brought the elephant up to the left basket but along its outer-left wall; the basket lip is directly ahead while gray plush remains to the arm’s left. I am continuing forward and diagonally right across the basket opening to sweep the plush inward rather than along the outside.
move_to
left_x0.4800left_y-0.0800left_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]: [-0.0376, 1.6276, 0.7769, 0.1047, -0.3092, -0.6174, 0.0079, -0.0208, 0.8967, 0.6586, -0.4629, 0.0147, -0.0681, 0.9997] state[eef_state]: left_x=0.4187 left_y=0.0416 left_z=0.0693 left_yaw=0.5396 left_pitch=-0.1574 left_roll=-0.2495 left_gripper=0.0079 right_x=0.296 right_y=-0.0052 right_z=0.1598 right_yaw=-0.0042 right_pitch=-0.1344 right_roll=-0.0483 right_gripper=0.9997 state[joint_eff]: [0.0342, -7.5556, 7.6923, 1.6044, -0.0611, 0.0317, 0.8181, -0.212, -2.2085, 7.0769, 1.6532, -0.0171, -0.0464, -0.0171] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.08,"left_z":0.08},"note":"The first push brought the elephant up to the left basket but along its outer-left wall; the basket lip is directly ahead while gray plush remains to the arm’s left. I am continuing forward and diagonally right across the basket opening to sweep the plush inward rather than along the outside."})
tool
executing move_to over 11 steps (1.1s)
step 341
assistant
agent noteI could identify the two classes (gray elephant-like plush toys and tan teddy-bear plush toys) and assign them to separate baskets, but I could not complete the sorting safely. The plush bodies are wider than the 9.5 cm gripper span and repeatedly roll or squeeze out of full closes; the gray toys are also pressed against the left fence beyond a centered grasp pose. A 90° yaw attempt failed to maintain Cartesian position and displaced the arm into a basket, and pushing only moved toys along the basket exterior rather than over the high rim. Continuing would risk further basket/arm collisions without a reliable grasp.
give_up
hindsightThese plush objects are roughly wider than the gripper's 9.5 cm stroke, so body grasps close empty or eject them; plan from the start to target a thin limb, ear, or neck rather than the torso. On this rig, commanding a large ~90° yaw while cross-table can cause major Cartesian readback displacement instead of rotating in place, so use small intermediate yaw steps only at a high, central pose. Fence-side gray plush toys cannot be centered under the left gripper at the y=+0.05 bound, and the basket rim is too high for a simple low horizontal push.
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]: [-0.3485, 1.8927, 1.1515, -0.1188, -0.5121, -0.8623, 0.0079, -0.0208, 0.897, 0.6586, -0.4629, 0.0147, -0.0681, 0.9997] state[eef_state]: left_x=0.4735 left_y=-0.0761 left_z=0.0716 left_yaw=0.531 left_pitch=-0.176 left_roll=-0.2475 left_gripper=0.0079 right_x=0.2961 right_y=-0.0052 right_z=0.1597 right_yaw=-0.0042 right_pitch=-0.1348 right_roll=-0.0483 right_gripper=0.9997 state[joint_eff]: [-0.212, -9.1829, 8.1162, 1.4188, -0.2759, 0.149, 0.8181, -0.0752, -1.7436, 6.9402, 1.6093, 0.0171, -0.0366, -0.0122] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could identify the two classes (gray elephant-like plush toys and tan teddy-bear plush toys) and assign them to separate baskets, but I could not complete the sorting safely. The plush bodies are wider than the 9.5 cm gripper span and repeatedly roll or squeeze out of full closes; the gray toys are also pressed against the left fence beyond a centered grasp pose. A 90° yaw attempt failed to maintain Cartesian position and displaced the arm into a basket, and pushing only moved toys along the basket exterior rather than over the high rim. Continuing would risk further basket/arm collisions without a reliable grasp.","hindsight":"These plush objects are roughly wider than the gripper's 9.5 cm stroke, so body grasps close empty or eject them; plan from the start to target a thin limb, ear, or neck rather than the torso. On this rig, commanding a large ~90° yaw while cross-table can cause major Cartesian readback displacement instead of rotating in place, so use small intermediate yaw steps only at a high, central pose. Fence-side gray plush toys cannot be centered under the left gripper at the y=+0.05 bound, and the basket rim is too high for a simple low horizontal push."})
tool
give_up: I could identify the two classes (gray elephant-like plush toys and tan teddy-bear plush toys) and assign them to separate baskets, but I could not complete the sorting safely. The plush bodies are wider than the 9.5 cm gripper span and repeatedly roll or squeeze out of full closes; the gray toys are also pressed against the left fence beyond a centered grasp pose. A 90° yaw attempt failed to maintain Cartesian position and displaced the arm into a basket, and pushing only moved toys along the basket exterior rather than over the high rim. Continuing would risk further basket/arm collisions without a reliable grasp.
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 · 12.14 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
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  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3805, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3817, -0.0116, -0.025, 0.9997]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -1.6342, 9.6205, 1.7998, -0.0073, 0.2027, -0.0562, -0.8547, -1.4291, 9.7846, 1.7802, -0.1001, 0.1294, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2d7206fd7dc6eda0113f9141f18cca1078f7dc9de3223703987b764d1b6295",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48282008442416abcd0f263e4fc46369cf43d6ed4b525ff11f786709c09e98bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c937cae3fe4895be1959917c7fb5d902a4d455c417aa96b4291fcf47532ca962",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 5.447 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
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  "encrypted_content": "gAAAAABqtFVrgRJKYNFICjYUfHzXDYb3s94mIzdRP5zS8odeZUh2ABxPmmHhaG5jeYlyBrUciHvzcwghuEh9XPHS1uYR1n9mV9jYC6Ou7E-LWRd1MLX72sl4fZc5kFPhaacxXK9i24_n2z5med5afeQrsQVKdXT_TM--gjZKs02_hYqFMCjpags8CB1aHsqiBtbVOUNmoJOTJPqNqhEIv4UzfFMsvRyuOyqAR8p0AgPbWRy0AHsJSAbuZ6vvjGNoATWOKsW14lCM9M_5H3d2Mzmn6caM4BJPUUXjNjbw9cjAPelEqt-F5oeQI018H6n8p-2kGbPLGWxcejt6GhlN1q5WOS18hMSoDYqt4OaDsCP5J0P8LiNKu_PmRlGWxUHMvQNhHOka9ahphVMojxRkNQbRbKjCEtf3sBMccFUManbMZ1ahNk3f-3WUkX2UB1XBMI9koanide5Q3U0JFN5p6xxHItPCteXbQRL-qfLNI57OcvxHGXStCD2WFf_XaayjhlavjVQxG3XV6LoxxttdugDbx6DZ5dTu1xYbNHqhR4t07OlHBrJluabL_RO3RJzhQxQo_E3XK-bQPEaDxQlyNTYLHZBHnjsmMxNHY9SZdLLTgPTYRqtJiyGhL2Tg4lU_vuJdh-m6hDgm7KstYQyrXkVWKKbPa8ixnF7pXxIVyKPQUmIkZ7M0V3MWv6KK19zsknCydLRgFYjel16M3efYvfV55s8LOAfwJG4SFSSpSEqYdWbzJBNVAoyoptFos56S0OWqY_MWrCTWoyuZqhVO6QN401XnBhrp21pSQSTTCeHzOO-TuQGHqCm1AbsQSLmB7BCq0gevOkc7nDlZ5xPFgRugOGd9AnwNIaxSWNPvCj8ZJR6fkrl10N-9VK-dt4qg6m-sF1wWLuUWn6pbfPdMHo7iQ3txHItGhzDenPWXso8yXvDIJW8uh3BRftJTqbbXVNgbtJxeL7E5aULm-Jq8YQ2ZoWa3omoTyK8r9yaRgJ5zPU4Yycsy7Vgg0h87hpKAMFk-pDW9m1fgcsA4JX2jjDU8FgGSEWcWH9kyBBmEBqKWt9YQkwzH4Ff9muRrJZzzDQQSlb_J5n5oQOA_Kh0ArVahOYka-lWXyUO_nrux7bBwLPEc2KCRECt7RJY57WZPEeGVrtco5tgugLOpQRSDQJ6BKcf4gPU6Tb0F6BmQSuMSpMTICLHfzkj2YPXXr3DPgtx7MrVtlpBAV6LlsGh6fkL0R4GMN2Ss3dRMvuTKQpatNFJiG8BP8JVGvi1rJauVpVgX9-FkKltNomukDDTOzwWTVRr0kj8p7mznqMuTNjprVvdfXoPM23ON7-v2Enk0QauUIAf8HbM5B-ymBPzEeAJdus0VSZ2VVEvOu67dJImm2g6qYVCr4iwq7FsfnxmdAbK8hmIxZlFTx1C0ghxwB2jA9Wrp9UN5J7EIjja-xY5kCPSleaf50dO_wkAnlKnzCC7xR0Zd2IQl-DdUQn-X-lRdt1LNN6a93rlpCRTxG-5BP1RQjnD81v9N8sJDK2oK2gWlwwxcr2bn_bRAkVmXWSTsfyVPaPCHEBYE7Hm8ZrJuZ0ecHpb2JdcW0e1VXZKCpMEyZlD7-4B8hg4Xfkr7P7zZPAfP1HwQSFC6O2UshxUw-AYConfIxbJt5v6HejdIY40vgHXLhQ8trn2ODpR5wcbLZrrVj4yiG4OWfW9zfKHEeisIMKoV3kJgWldUAxSb6100nv9MbggUS6-5EfZaQYAyJeMg_DvhULzviFgPdkjK1b7AD8jEN140v4m7Bh1j5n_M6dFM0GF3vK8MDQqY2adO1cXP3IwrSlsgvTYCIyOw2V8BaJwjYDWGZgZ3zs8KWfNdbWTkOCuJzHpFi4oXy-y-tzPm_jHVAIj5z2tQZmvNVfvPjyCSR2vc72q1BHWYCC1_nFstgouwWTt9jVFURahfeqh51Q_sReHzfbjMWjTTG5MV3YctW_ptiELJboe64tcEkrmfOwkxwJxKYcyLnP8WyOXCMRgV_FoJIQ4-5sFz3lTHBtRIrIRwNMJFsWo2M0goR5D3f0Oubi7fFM8PHHuQLBG9j9OAu6vKbdWk3Txu8G9oTqRs-OxC2ElzfVoFX-YtQmkUb6por77nxzymQbkDxHo1ueI7jz0zOENDPWNZGVzeVwqmreyOeST5XdP-hnwx7gg-g8vfZK7W9dUqjw9shaWeNwx45XQ6OjcqWoFGyymH6Epb0X1k_D-5viwd1VaBqGtPoCTdVDW-gvUqcN3XZGuWTEbJ9ZWs735jS5HybwRCk2iUnCOh4MnbQu4YpuXI8Rujhv8Dha95T1EpDQbbCwZ9giRLmTQvR1qP5kfucUK26vFnxpHAAM2bemJLg513M5PfmhQs2NeY0yNDCgddCEuA9vtWmDzxSbbsX3l3CRK5DHS89aM6ln4-zFi-u5AWV-mOc5FPcdT8WyN7BAEc9d6m1_EtUWyckq9-ZRS9aU1LFm9us0uy_nfT8MIRMg6wnON4isb94_fndLIZRGWERhVj-U95vI-0i7rT3424dN4rjvXJVuDQ4MHGjrSL8ayXSQGf6J6Xfnrldw_mP05QaV6v4bQTj_P48A2l8CilHj4VmQhIsBwUiZOWy24vKj-HcDhK0R2pAEA_7pOFsL70pbjCnDA5fmOr_3Nkyn5doPUKWHX9wbcBlVViNmzrwlU0ciWM70Q2JkvkxFcL21tAxi7eThYqi3vtjI0azBrS9YECljXQACFT62NdzmpQGBUuRSKmni2GDsitqiNm4thTxxjNAYbB_WCmP5oIbSy_skDBpoh-d-0JSmVtzsYKr60Kk0r3QOdr4ZN7dfIBMBiL6kcSec9XFINhYpOVjz9sTt3sfnYXZPmOy0kQCToXC95VBZQJgVQSW2vJBgS2_9HL182tm3u62BRVY5H2NK-KH4omsOVk_rpSLlahM79ae_hxQcEzScFf74Kxjqrs7ATm_mmXCAOxPSfaiUIx1_D3Txc3D5Cedxm49ICgbDdE6H0f8CRYKQklRtj8HpnnfYNRXwVET4eBry09bvQEAqBcS1bIK0N1OBMLKFDCebvkaPkua6A0tjwSRcyd7jndKsplXvqpz-DdivF26Loe4k5J7Cgq7i2wM64dY8JcHCYQsHJ8mtpGrC53QfJNgTTVJgZVCCinoAn1LM53aUNuIqWkLwfOce0GyEiQuearqqAMr4JHtDpOToRbMkO1ldNr9FIEETBWWBdsYa9UPU48W999gZx78YxPTxL350hQPAQNajHtnTrDPzg7DXGzngL4HZrFXZRCQnQvlLoZi-FF46lE18ZkmmVcSAXhC3LkLa_QjZMrU6I_ZwWbsGiGkgFByR1mH5S-iV1EJx6kmnQ_TFGxKtcxZcU4Q1T9DT6F7YAzF6_I5BWJfuXxbeLtSAEbvPWxxBp-GfI9iI2HhLLliSQ9C7R6cJCiVIcKVUEIZtXjMb1n1XECGEg2dZyid30vmYPQCTw-C2Qw83PLhCCVK0F5TpFaWNQR0CpIYN2mn8b3ZVmtNcOk7oGPSisMS0hUWlQcZdRYQVZBnQRwarX-vtrwVfappLWZMdmQ5KOHiiDgmfjZibPD0bnqMEY_TKuQVk6yE-hnF1f3fnpk2dqS3zyVbKKC29hA8PbbfOyJJjgZ4nuIWJjeNozq-71CghXfLKsAtj48vUhaohF1c1h-ylqEUnuP4LdrXKCIHQIAYc9KNtfKQ6j94Avt_9kP5F4UYNUBwFGCB7tmcK2HxVV4FxB9ems0CViZ0iF4lElqabZKPyDz4BUo2vJHsH1uOBnmLFdnK0_BY6hR7YRfizs5FgoM1z3L5yVmm-kvIBi2WftsXXEqiXh2DFdu",
  "id": "rs_0fd0a2c96f401977016ab4556533e087d088eb54d3bb7b052c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.16,\"left_gripper\":1.0,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.182},\"note\":\"The table contains two visually distinct plush types: several long-eared light rabbits and several round brown-and-white bird/owl toys, with two empty cyan baskets. I am assigning the brown-and-white toys to the left basket and the rabbits to the right basket, and moving the left arm above the isolated brown-and-white toy on the left side of the cluster.\"}",
  "call_id": "call_nqvHU90jkyt31BYHyjRCeJt5",
  "id": "fc_0fd0a2c96f401977016ab4556a35c087d09e8d3fa2fcb006a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nqvHU90jkyt31BYHyjRCeJt5",
  "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]: [-0.5488, 1.3403, 0.7753, -0.1402, -0.45, -0.3531, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3605 left_y=-0.1261 left_z=0.1402 left_yaw=-0.0015 left_pitch=-0.058 left_roll=0.0166 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0073 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -5.5043, 9.1282, 1.8632, -0.2857, 0.0366, -0.0562, -0.4034, -1.2239, 7.241, 1.7558, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b27a42ac1ffce5f950dd985de54aae0b4451233c3f7a8ee78dfd04e5be70861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b15853a8ee69c5b14ca9f0b2b99fb813498878512f07877fea5cf2b702a72cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377790bac3058ad079e2ce43603fb0354d037596094043f7a89cd228e30ab721",
      "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 · 4.074 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3805, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3817, -0.0116, -0.025, 0.9997]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -1.6342, 9.6205, 1.7998, -0.0073, 0.2027, -0.0562, -0.8547, -1.4291, 9.7846, 1.7802, -0.1001, 0.1294, -0.0415]",
      "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]: [-0.5488, 1.3403, 0.7753, -0.1402, -0.45, -0.3531, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3605 left_y=-0.1261 left_z=0.1402 left_yaw=-0.0015 left_pitch=-0.058 left_roll=0.0166 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0073 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -5.5043, 9.1282, 1.8632, -0.2857, 0.0366, -0.0562, -0.4034, -1.2239, 7.241, 1.7558, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b27a42ac1ffce5f950dd985de54aae0b4451233c3f7a8ee78dfd04e5be70861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b15853a8ee69c5b14ca9f0b2b99fb813498878512f07877fea5cf2b702a72cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377790bac3058ad079e2ce43603fb0354d037596094043f7a89cd228e30ab721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFV5bSyuwFzOqp4G4r4XSYn-dhs35M-FImA-h2K3Y_C-gDNU5BH-2JDXp2ICRbB9h97euWvbFUiWWxXeDDqjsNW_HWsWjOFQdzAYv48euStOXzu-sBQzmOQhiPB3xPW26G-UXAEsZGQAGm50xL05RxDHPk3Iw0xRglLO58Eh9YYQFoMkisabbvsqJdK3pd1AwSl5J7wxELAeLzvzWs1JcnUGqciNvKfl_iMYSLuuGSRDsu9BVrxfKUbcSXBfTrF19PUWPOj3xNqrbjDRyQ0t7DbriOg1mPe4p7Hd4gzZN5mT101-MiDS6U3odp65tXQ31D6j8ixccEksnlHoHTlnRzgWAawf0hxhqcgxDCUivle5sXqt6cm3kf0CJk710YwhtqBQbCfNfswcj-Ck1JYNqpCOpC1yoY0wFR8RADD45iyQmEd_-vHpHj2slK0izc3H0kiMkMkbSOnECoJtWQC1nOp3Ig38lTFdvahQNwSRbFq2c-HvKUsklLjTJZ6JXC4ASIhuxCYy-s3auOy89N19AtLb39Hw-p0n1kfiLFLoa9MkiKcVPp_KEfRpdXi_nxirv-0jFxgwcY_W5sycLyx8xkFPzEodn_ZE7AEu1NzKnWZsp4pfJ8Nds3JGSKCxVsBbmvivAe8WtxwCMXPcwzcbDX5US6eNncnsMxbqXbzygoFGSyg1VqyTpbROqTqN4QilxWv-L8EfNYLh2fRv9PyS-DOgTb1dNQDzdSDkL6dPoSa1By7quCKkvhJK8LjCxMrTdbFKKz56qlP1A2vZ00R95z_-YboqN1HY9f7OsKqNiO_MRETBvVDCIze8mSter5WSA1EPlEyJoxW70Kdm0OkyogzmURqRJpgSWo1HnJT9tJau2m6ZrOtWE9jlgHovJbpY5vAQE5aCybWy0ZdB_YNwP3ywq2smL5ko1IhGyRa_qSv3ieWjPIfojjBLPzocVRqAR5uv4XeQ2Rmj3WiCf0-ii_Vinec5db7sHUgF3q12uk0fx3lOKMKtvjebKNW9ifKEy-xwsGL-DYrpvg97-9Fz-VOcN7jWWiTr73skuwGQyxjkS8n-un1BQF4Xf8F0ck1165ZORggba6Tbl3Ec6P2-vRpmnjUd0aRz-Blkkdcx8qV45G7gHzu9ZF7vBBBIIHwWn5s-RAYrcvi_HXV0XNHeNEEdphowvhqVSZEX-DTUzVodWU1otekITN-ZDWz1WJ0Xvuu6ubPaIo1oLO1Qp3ODQ_myyoj3t1ausgw7cV3CG-D7X5Z92-tX4wkyxgsvNzgNKWzHNWIElB3LPI4LPXVS6EymjkQ0xY8JpHVWc4yAjpXLgTwF2gC62bGBrTUl61rl5tBV46FHzm2Oc1ySY59XZdTX8I6PNczkXEdqb-mVTFI3e1MAw01rMpO7o6j90WfYNLurXQ-9CoOmzJHiSF7NyaVFHG16_aUnZvUcxp_ZvHOqUFtE7tlhSk_Cq1IjD3iqJs7WCiJAmWiI35uEWbQxuD4oeFwvHZPyNtP25oPr4tCesoAWKbNtrI0t0xCPRbLTY6MACrsKIQ2SiQwhQ-DRZ3L08TzGNKaKxRtrOGLsBlZVz0JCJSmnoczlcej4sxXaMzuNh_ZNelyEdX-JArlpo2Os5AfErXXzRgFRs67NST1kLz__gc9wXAuA7qnNADfCuJYhY_uxCrvcojFlZn1QH-EL03txxd1ZGRVcuAxEnKxmbRyG3yhyueDf_v-ZM5DdNiYZwxqyi2Slooit-Etdndzlhn97OVyR-GXQOoSY9RBA-PXFvklhbynb6vpzG6iNl7b8blYvh8d-684_jRKoL3jhKREAbQWHE5yVoIpVT1S8qBAnWggKceeclqKyUoGYXzSi-b4ZUN_aclIQDVfedxdlUcy1dh51lj_RBvrSZIbyJm6BdS3JsVb3MbSnwPERd58TxG2UyFiEi5bRM1HsBNQN43RH87WAwjTBjZLGcZ7L2hlCj9qwE_JhcAR6Rr1idxXI2dCd0XVGbaxYHaPYqyjKxISsiOy1hUK50jDxU4bY-65j5ti7aCq0IOZAeAFkqV3hxhDbJxIl_Vhf2zCiSAFkN4i7_tdW7xFfJpMkro8Z39srw0Xc5HNGJRpAqAiGtHgyVWVOZbQDDxj0MWXB4fbmUd8JuHsdhSCtzASr5qxiW9Btnt4LQLzQzJpOtmy68xaa7KhDQ8u0QcV7IQCh28zvbkcARp2v_Q_LgqLsNtSZN_UPTsPBCsMdT3Z6k5tR0E76bfz5RsZSCHYFeGDbv-odJmgI0Ed2BaMuCpJkLJEIyd16-9NC3d6aJKaqWPVI0TkT_avz7AdXXyio2Wh6ow6L16qO1cvT0h1UdCte_vfB2mE6TVZ5arxYqlw0_nnH7PSElAQdB_KX1UT4opd7nW1JDNRMavlF2OGYnhurEH9KCO-R1rpbf5Y3LzEDPEd1sv1s2f3yU0L7OYHZBh6nLKOFav0HEPxEG-DXCxDjTnAPcZHK-OSUQ7ymuSIbP0BGM4013gen2o_ryeHIhB9Uh9dppmUkOQFqaa_juEh35SrsC3oyS8bu1oFFm86vqiUCBkQ9yFbhfne1tCvKpGx4TeA3YwXeDyHSGwSmqXDuv7-3qo7rkXq9zJNTGLz1Aljl08h4mRLTwEWEKHnbQblbM-L8jZpS9K-9T9tdX59gbOrtxHw5Dx2Foafz-zUgffefILookN1DolytbHmS0-_nddXYI0amyiyYntvJOe3TAqgZFV-djGe1LTn-xyaqHLtjsHxbWzSfl_8uQbZsWXwne9xI6GVkvnFn2t59Vumh10-Sm2g_r9XW24vOn40Go-g75EFPPtOD0-1-uLzM5WqawkMnhSupbsN_htxogmdPLoFbDx3lylePNK5DYvvrXj96RMkb",
  "id": "rs_0fd0a2c96f401977016ab45574ec2487d0b1133a246bbb9381",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.11,\"left_z\":0.1},\"note\":\"The left wrist view is dominated by the basket ahead, while the chosen toy sits just behind and left of the fingertips in the overhead view, so the first approach overshot it radially. I am retracting about 3 cm toward the base, shifting slightly left, and lowering modestly to center above the toy before the grasp descent.\"}",
  "call_id": "call_LWrIGqKNYJ8KR2k6kK8pdnXR",
  "id": "fc_0fd0a2c96f401977016ab455782d5487d083290266cfb85127",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LWrIGqKNYJ8KR2k6kK8pdnXR",
  "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]: [-0.556, 1.2804, 0.5507, -0.0238, -0.4496, -0.3599, 0.9996, -0.0151, 0.8013, 0.6086, -0.3847, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.1082 left_z=0.0897 left_yaw=-0.0033 left_pitch=-0.0993 left_roll=0.0363 left_gripper=0.9996 right_x=0.2952 right_y=0.001 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -5.5863, 6.3385, 1.746, -0.3004, -0.0562, -0.0171, -0.1299, -1.4838, 7.0359, 1.7411, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14979edba26f8d0ac3c939a72bc7a2228476ed5f9522c519cb8c5166ff80fcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc3b8af1365fd12843480ff3b0468a863cdc7010cbc816c549aadb02cdb1f34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de2b864d54fb377135a711b89797d8cf38ddfe0abfd6897c3ffcb68c7d8b0f7",
      "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 3 attempt 0 · /responses · status 200 · 2.304 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]: [-0.5488, 1.3403, 0.7753, -0.1402, -0.45, -0.3531, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3605 left_y=-0.1261 left_z=0.1402 left_yaw=-0.0015 left_pitch=-0.058 left_roll=0.0166 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0073 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -5.5043, 9.1282, 1.8632, -0.2857, 0.0366, -0.0562, -0.4034, -1.2239, 7.241, 1.7558, -0.0659, -0.0513, -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]: [-0.556, 1.2804, 0.5507, -0.0238, -0.4496, -0.3599, 0.9996, -0.0151, 0.8013, 0.6086, -0.3847, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.1082 left_z=0.0897 left_yaw=-0.0033 left_pitch=-0.0993 left_roll=0.0363 left_gripper=0.9996 right_x=0.2952 right_y=0.001 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -5.5863, 6.3385, 1.746, -0.3004, -0.0562, -0.0171, -0.1299, -1.4838, 7.0359, 1.7411, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14979edba26f8d0ac3c939a72bc7a2228476ed5f9522c519cb8c5166ff80fcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc3b8af1365fd12843480ff3b0468a863cdc7010cbc816c549aadb02cdb1f34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de2b864d54fb377135a711b89797d8cf38ddfe0abfd6897c3ffcb68c7d8b0f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFV9Qe72dV6_FLVQXkXdsGeLibSqwoUQ-JGDeUrQV69EMugdiddQy2LfginHzTXm3-4x-gaIQMpmx5IE1m8gCoHB1BU8B1RgCHtA7H4sZ-sAQM7XSTOA8atC9UQ6fBlB4FCBUAmvED8PVie-1UMyyr7W8X9UGvi-XoaAurvFp3z7VWqht-eQ1zn0wuB_oaFJRBrWp65oCfNdI_07Kgpxx-3tui2pXhU0U84ULxOIsuKEJV8IYZi-I6QN0lzsH0tDURnymEQzhnpZ0rzpTalsTDhj92H1ixFIFu0ShgvHgkI9NYFX3fIvUE3JTe0rp9CD34ny0HJQIMySXHpV60KbpNKH8CUdEb4NFtBu4TfRBycr_5fbAP_bHvdHjUQ8fgAylKxi2Ah9bBG4DPmzjc50FKtYDGTNR7ybJqx36k-kcQY_jIW88d6c8BUwovvqZ3RJ_Uaq6ean-amRhHjS-OJAzyyZbxFtNA7ripuMkquqA7eOlmomDPy4-631LqxUeC2UBMVNquHs5MvwE5OjLd6guuFXOtPVhp5hz2OoxemcNdzrSUdrXt4_yvH3MTq8z2J91b4G2zHB7PO6CGKv8-3pz0oQXDl5OO1rw_HG_tzrGwehJ3pP9RtI9okMe3HqmjBI43oXhVG0-x4zS7fy-6Brrm3sRvYr_jPJKxOhtQJE4LVfDDsCpNt0Fxfykpi7e0CblIXFat5kh4JwwwnZ0U3A-mM1eCA1kgprfn2hzx4eiuB6uBFiKmevrHsFYnpfewdAgwUH4fq5BBU6mr63hAu8VVhTBMtHnmT_vPhsudQEcb-w29JQhTdlHXt3wJxR-lrzuHDQpTIbJbc8mixWTnYj0rUwPhC8namS25iOpUcuAn7qZEAOPA6cDSRJAPckeIFX6PGXssl_XbmvtN1mlbezfI429kBDZE8UWXAT4NDxj_NjJwvyYAik9PMYAtj3MahNFDT4OG8F2us9aHby1atJDF5__a_kAMVWKg6EsGtRdEeoQw1BDEJeerCqI2DDjYYaGAlZQAwfZNGPxb5XuZu03e8rm3KIIAr-D-3rO0fzRTmoe6Qt1r5b2_SzPeUKdj0aFjPtVdS_zR5uK4ChUBnzy8XfgkEjfDn-d31q4ojfJzegmVsbqZAbF-Fm7UC5IJ0ovXqd3AW8DTvtwDjcYPsOzd1J0N1v9i2oqvZMrEvo3x-CKmnWOpnCYUyOo2l8hzNyBp48p1njFYhlzO8bmdQUUe6-PtaudUzxy03ee0RRdANl6N45h3QlhADHqWzCttE1FJyCXQ51DYOf3kj2lMnT0F7gAHhb52kRaGop_XuvbGd-GJvFogW6ACUeEncph2FH0gTNrY7I3g9Jz6B4bjTf0OO8a0_wltBm90nNm09Z10sjXNneumaz_XdLjTduTvck3o2Ag9jFHOzF1qYpKA3qZOh64qO9hoXoStyGrpZlDapuAT8nOvYiMCnkJSxTeV9m6zb63kyMhI9F6pjA_bODUdzbOV9rKjiTdc-LX_kYYeRaOI3YFC12AOf6E960X776bVjnVnunDxpNt9dTomjwBosTyxwV75snYwUC3V_LCkupHEFPQ3OG8ynX5wFIE1lrnOiQYbNSZnwImFV6kVoVRRMyfoj8FvtrO0UGZShU6IX98VveyswD_66aW-HF27CP6BK4WzE5u00XbBEOf-E-tknfEbmGTH6GO3Jm4nil873xY0If4jv5xJsuN2RZ_6pz5BDhX3ia4RoVRuCzWA0WGH3n1vZclSagzj7SgE5AN900XCnu5BRwz7YNr-lhbGQVzCQpbKa_y-K8fq49F2UoS3VAwQp8tWCv2UHXAJP2E0xXtMZZy146snKHNYB-G6p26geohOxH_X8M49096V6hBZzPiLv_fJ2EEy80GrrmX4RWqpbbYXMEiizbDQU_2-z8P7W-Z2CIGdtKfHhZJu-VIdwzC5I2tjyyoNQSRNKbE4fWN7pfQ2rhFNiTUykXl3jeGfNMXPQbAIcN5ObSfGSqPHxfh_8SzxEalx3A8iZbGz0J5SUGsuRISVz5lmFjYffXfgPFWo8HJc6cuHCXWmAm-_sgjOmxLovfICDgbiTzOWRLW3gh-Zaaz45eqaFiQOzyInlZoN2XW6pztL4AtjIMqGRxILI8e5AdtOcQWQYPKKi-0gwPS7BczeWI5PVM8otJlD7KqAsHQCW6iZ4IczPPQvhc69CHD2rh3zeTAz0csu9GAxuKuf_sVeA_k6AvtEm4RKih43Z6EFa4qwVBTOiNePO6ynsx0aoady4KRv11YDjYncQ1030tUN6wd6JdPbYoosTRhoMtgOYh9joPO5g3MVSsxiO4pg-Sid1MIOaAY5yRDIJvi29AtyW0NZU_sUsLjgE19TDhT6GgeG5c9DXoosxAVMzTqMYzAsKjlSSbXMNLo2qDZef7RWZOpDtrMFMzFLJMX6qVJx3raz_yyFuY61FeQ9IOaqcOmHnL8IL2a9GL5R4=",
  "id": "rs_0fd0a2c96f401977016ab4557ae67487d0af840dfcc2bbdf0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.01},\"note\":\"After the correction, the small dark bird/owl toy is directly beneath the left gripper in the overhead view, and its brown body is entering between the jaws at the bottom of the wrist image. I am descending vertically to table level while keeping the lateral alignment fixed.\"}",
  "call_id": "call_MAm2Fev3bB8CcJF5Ul5GrY5o",
  "id": "fc_0fd0a2c96f401977016ab4557d232087d099c31ba48c45d45d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAm2Fev3bB8CcJF5Ul5GrY5o",
  "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]: [-0.5552, 1.5955, 0.3782, 0.4366, -0.4492, -0.3603, 0.9996, -0.0154, 0.8043, 0.6086, -0.3855, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3232 left_y=-0.106 left_z=0.0057 left_yaw=-0.0011 left_pitch=-0.1225 left_roll=0.0501 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.0137 right_roll=-0.0016 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -5.4906, 4.2872, 1.6581, -0.2222, -0.0611, -0.0122, -0.3624, -1.5248, 7.0769, 1.746, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d8126e3f7895e232ee963b50c461347b92a3e29d7fbb4e06fa6b0ee654174f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e7d00199c26df5b0d53c88ee250642881326b0cc9cc3271aa02d056311e8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a52c1c1ec435c337d20634d30fd088d36891c235ed367e5857946e41e320b95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.081 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3805, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.3817, -0.0116, -0.025, 0.9997]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.0011 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -1.6342, 9.6205, 1.7998, -0.0073, 0.2027, -0.0562, -0.8547, -1.4291, 9.7846, 1.7802, -0.1001, 0.1294, -0.0415]",
      "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]: [-0.556, 1.2804, 0.5507, -0.0238, -0.4496, -0.3599, 0.9996, -0.0151, 0.8013, 0.6086, -0.3847, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.1082 left_z=0.0897 left_yaw=-0.0033 left_pitch=-0.0993 left_roll=0.0363 left_gripper=0.9996 right_x=0.2952 right_y=0.001 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -5.5863, 6.3385, 1.746, -0.3004, -0.0562, -0.0171, -0.1299, -1.4838, 7.0359, 1.7411, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5552, 1.5955, 0.3782, 0.4366, -0.4492, -0.3603, 0.9996, -0.0154, 0.8043, 0.6086, -0.3855, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3232 left_y=-0.106 left_z=0.0057 left_yaw=-0.0011 left_pitch=-0.1225 left_roll=0.0501 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.0137 right_roll=-0.0016 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -5.4906, 4.2872, 1.6581, -0.2222, -0.0611, -0.0122, -0.3624, -1.5248, 7.0769, 1.746, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d8126e3f7895e232ee963b50c461347b92a3e29d7fbb4e06fa6b0ee654174f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e7d00199c26df5b0d53c88ee250642881326b0cc9cc3271aa02d056311e8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a52c1c1ec435c337d20634d30fd088d36891c235ed367e5857946e41e320b95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWBtJuEuLtHGTGZdQmDVBgQz741qC7J0E7HGV5U550EP3pS2ypEbmwyjU2g-wwFWQMXqC_jC-pGZM_BcIzKu9diLV6xkwiJ1cxsD_z-lGBajsRZBc7Iz0JgW3z2uTq81v-m5qYLwRKuVROBJ-EEyhVKgdXK4vEBxpErmrSbAFzBtKH-gUddfoLzwA_OO4gB90H_D_5GI3LzOzHomU6Lws5VHh-NZXemAX88XD-i6YtiMzQsriS7iW7bMT4qCFEy2dWR8EZMMvfAi-VLjpFcUJ_-83uerD6eYhzOvvJjANwpiOm-jyuPkMhjSxvwBeO3lvLSbzwK_4xCPImlImN8neGVUXmmTqjiaejjJaL8Xn2PpUqvedDCjVrSk2tlxJh1fti3mIGB_YgT0-A1IEw9vn6ZZJX9u4vyLIhDc-kvbIxsK5wBQSMXgSHdNatNc4acIrkjHThxXHlAlEPCzujQJrwPhYu2erW4y-U8uYohCjPZRCsa2HaqsML9RsPD8a7sNRHpFgRkeuJT9QueXQRucLPiWGt0M4Z3Lsfd18ue9txnMMXq4JYqrd47ny5opLiABez6D3bwVvPjC2vJQGYQjOgjtc34KrhqN6JJY65UtACVe_tm0EBDLkh8U1UvRgFHMZqribKWU3LBtly31Rq9rlwrM6y3gP3bR8eARtG08MChmnaphIB6oNFRUeRFtBFJ7VTkKcYqXlYmOBOYtUoFMf8s6-Ey_PSy78hcpnoFEObpQG0Ge62fTiBIX-q_tAflriifzyyrJOgsKLGyXaMYYNQnQjuTrLtBZ4MsOu3AFNoKyYEdR7b-w0Pr-4SUPCVfFLC9j_mafBI4ijWsH_vkGOLzWK1dRMcXIOEBbTrwAeM9pt6QY51eWsUk1pEdA6M4NG6xW_aZtvZjvSeIGXX87lu-UN73LPHoXod3473S9c7Yb8nTdoH5su2ey8MQ3isgTzNE9_4BmwmDVz322RhTJDrOlNMrJqbnSOYbd9UC8FCAb68zAfG2wNL9NE-tTnxfxC9iRwUL7i0TBXcp0PC9881q3buXIKQBi9tvvJzSvTgrIME8wVMt_fey7_77LBUwHlp1PbP1trv7nHl0xwsAGz9-Z6lKjfIGDGyjnJcGTIfhqpBjq_wRfvMi8LuEgt9O-Jj0krcZxuzGm4e0flG4RCtYK_ddaytJw9M7waIZVejf8m3_yFHJyLdhRkYHdbBrDC_rzQ9XQo6HdMM05GVBI0YLWgA059LcgFbfen0JKMfkXEl7PoOnwIBDywmmmfPwDMc0Ozfmk8LzIiLsmyJx0DGZPH36AGOxLjye1IFIzBEvy4A=",
  "id": "rs_0fd0a2c96f401977016ab455805d8487d0a664eb3f6e4f14e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left grasp point reached table height without an early contact stop, and the toy remains bracketed by the open fingers. I am closing the gripper fully to capture it, then I will judge the grasp from the settled jaw opening.\"}",
  "call_id": "call_NkCWs6bxTzcEZZJlr44H69Dd",
  "id": "fc_0fd0a2c96f401977016ab45580a49c87d0a26df771f72ddd9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NkCWs6bxTzcEZZJlr44H69Dd",
  "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]: [-0.5552, 1.5955, 0.3782, 0.4381, -0.4458, -0.3668, 0.01, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3233 left_y=-0.1067 left_z=0.0057 left_yaw=-0.0004 left_pitch=-0.1223 left_roll=0.0422 left_gripper=0.01 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.3675, 4.465, 1.4774, -0.1978, 0.0366, 0.7643, -0.253, -1.2923, 7.0359, 1.7363, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8da77f8f3d1a74ddc0cdfe426ab2161cb04f4a58b37e55b479a68474704611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704404aab00e26dfc74f66c70c42758ea54c672d8b3ac850fceddf34982b27e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafe8c3628b7966e340e2195395a8a1f27c338a65771b90b3be7a16e18d4400d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.855 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]: [-0.5488, 1.3403, 0.7753, -0.1402, -0.45, -0.3531, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3605 left_y=-0.1261 left_z=0.1402 left_yaw=-0.0015 left_pitch=-0.058 left_roll=0.0166 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0073 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -5.5043, 9.1282, 1.8632, -0.2857, 0.0366, -0.0562, -0.4034, -1.2239, 7.241, 1.7558, -0.0659, -0.0513, -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]: [-0.5552, 1.5955, 0.3782, 0.4366, -0.4492, -0.3603, 0.9996, -0.0154, 0.8043, 0.6086, -0.3855, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3232 left_y=-0.106 left_z=0.0057 left_yaw=-0.0011 left_pitch=-0.1225 left_roll=0.0501 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.0137 right_roll=-0.0016 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -5.4906, 4.2872, 1.6581, -0.2222, -0.0611, -0.0122, -0.3624, -1.5248, 7.0769, 1.746, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5552, 1.5955, 0.3782, 0.4381, -0.4458, -0.3668, 0.01, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3233 left_y=-0.1067 left_z=0.0057 left_yaw=-0.0004 left_pitch=-0.1223 left_roll=0.0422 left_gripper=0.01 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.3675, 4.465, 1.4774, -0.1978, 0.0366, 0.7643, -0.253, -1.2923, 7.0359, 1.7363, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8da77f8f3d1a74ddc0cdfe426ab2161cb04f4a58b37e55b479a68474704611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704404aab00e26dfc74f66c70c42758ea54c672d8b3ac850fceddf34982b27e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafe8c3628b7966e340e2195395a8a1f27c338a65771b90b3be7a16e18d4400d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWHWN3Oy2NFcCyHPZ18SA1km8F3MtjZBeCZbSnF1b88wyyJEZ-FsrIkqn5iuxTAPJxtub3uIU1yxSxlv0DCs_uatMrU2tA7pxGKTAVHQdKORS2td7RPeBqcm51zhwKedkoLA8q4KZAEdU039BYdc04Lp87rntPO1tj9OjOf5uVsQ2C0EI6A9Xq2ttoH8GLocY2IdlOVqv2srll-JZj6XdDAgMIJATI3gg-3efNXF7FT9MXJz11p10Cbki9IAlJc0Ba9ybh7R8d_TQiIreOr1WNNNGeAx793Z3ORiIj_8rEEA1yN32UdKxuDpsSLERhDAzuW1XvrXzBhbHKRSUUj1c2crzKxDv1tfWLCZm12FpwFaUgzRuNQfk1e6pW0XKMj1R7bXCrJ3wPgFmFhDKL10ulPaAyCSNMuKaoou4PoyWTNVJX9327GLUllzdM8_GnbNQmwuyUaMqDAsJyuHARA2LRMhhQKLTBlMxFvOvgsrKn8XjTLl5M0Nka3uGnkmlIvUHvfz94fknb3umZyOz6Pc4SZVy4LcKP4Fg5lo8Anb114lzeibLYUiD0Ch0o4M5qAyNES4c1Y0m9LsFf2HEER1aMWBj9m1e5EuqJyxt6xHD3lZP5qY2AEzBbwZ3oDwar8wFqhdrfbp7b6_bRNJr6I7HrRREx7fuvohNHpAq8N7aMioyeEqDcSiMs1c-jMRZOezlc36GsM0U0HXgP-SozHXYWe9_zM_vdCf0Ph_PN8E2l2UC-zC99phvW7CM7xSqnX6vmwrF93Fgws1nO_blEulxrCAkWnVgWpRcTw0nOhK_3Q3smJ8B3T0WFcoD5wrnlrNya1nEWiWJXaIz9shtP8sw5Pq-bgxtKjIlJYAsFj9yJxLwAXym6hKNkai3kFIiYqRk7_Gow4_koln3YJ1t2X-DWRHm9UKG_-U5_S8OxsX0s2mEHkKxyuOtAc_C2YSS8A7c8tauQveYyie8lPZ5jWQj3kNdE4CoGurPpYi7CDzwsQnwT1h6uracQfUioTAWx12su-Vy_9MftL0CvNW8YqtnTYYjcDuNJKX2Utjx8KX3h_noPNR6hQZJz9iOD5OtyVIctx4GawXGT3cQKDXcZWfqtzw_bJ0SQj4mtU2vMBMemDm44lSsRALuPf5sZOQdR7v4EraC-Fy3Y4l0CbMRgX1N3llPh0f571Q62vDbjDHA-MYLcWZ8Dt1jTXmVCIx9grB9ld-ARuwR0wdDmqhtSB6YggXck40vKmYEx7avGQVpLbgyESNjT3jFpFQIgYtJ3UtbhF7IfsZ7ZYhtlUz-vYd3ANAETlGBspvrUDq4DmSsHf_WaqQK_V5b2zML7UPNl9E8yCT4KBFdxMwRqCZCI6SbS20XEf3xpQBY5qG8ea7HbS2Uidx-MCoENRVhXW-NPq2IUQyYODFJdGYLSZuks6Wv-V627TzwxzrPCl86lT0AVQcUKUHJlCA7zWcoa3vLduLMgHLwdHaejT4M_dx_7mEwV_DEM5HhHcXeMqluSD5GYHVZuKeRgZ0B41TFfNLP_V7GTQ1h5UOXVXwLAeQdCS2CIo4qrrw-8ivwVk154F8mJRgqb9rhc6ExfyL61f_7pbqwy8G-Axs3PElFA4O_g8in1aBsCKCP7l5b2n8Cq2wf4B6zRds5mMBWqc1k88xhnGk2Rm_-Yx7SnpblD1_bjT-ycL_xM6NGTgcD_xEDERJ6HLcavsd5h37nkEldG9KMuKN13HvwiukgfWwCKuIKqYVYmUGdqgZSXga_n63m2vXAipsieB_rNBF4YuVop9gwW7mJhljIwC2cIL5Zy1zkRurwp1C01vHc5U-ujGiEfM2cPAizIiKSR1DkQ136S97srbH9u8O_67OQc-XUZ8aPS0wgAE9D9ZXeTgzouPaPKq5RVBgasAqodcPwhQ43gune7psimu8klYPXjN7Q7lXBz6Fs8b2g-c7T1XNn9U55d_p_42SYpV_nhRoBaKD__Ts5iAmais5xJgyseT5NH5DlkFaIFOdiE7-uWPEn5BGflUymoV6gFxBkiZStaWX-taSE_xn9VCyDJoISVny-vCMWAG42AdUt9RZepPpzr2luzh-lpSTCGyWO1vIcV82egoX5qXQXpKOfh8Rabfh9KGHTcq9YXhEOvkZiOYpqxE30e6irvF6huYXVRowhVuznFyo54Ha9c2PDgEDkQA4cCwQ4rirSwicuaskQ1jQlFEgpbi3L7KNRwT8ndDJSApUi4QSykm0rQjDSMQbnnJCjM2q4Tv_RPckzFOXP39QAcX4FVePtTlyKLWDkGATWwGcagThDqVQXriuS8Ara-sHhQlMVHeRLd956dB7d6DqEYkiheex-49sAf2_skR5qDeMPzxwz-BOjFB6fTuH2qTrulh417QoXBrUugKYlnbDOaHW6OvVcbYGki-93DOlPjiEJR7GKXozArsaaCZ9mN3A02QQUTTNA6tsjmHMTwdpYMoyNMGU7Khi7uUCh9DDJrFiUcAoUCmLpy0Lh7Lnk487p9ZYms5EIwqHPvQGmmS31p_mn1irtlrh5TflZKeDcIAQpAh4VxW2NedPXXhLNvsIycAALWCJTXlAXwFDJxHrwlPRQcMpuclMRoGXRVro01OaHHl0LF6sCmg53P-GisYK4x0LB5C4bqGbsx3q2ji997myiohj7UwO9Dqxvq593EDm_V2ZU-RDrnZ7aC81gyQj9t_2noR0RtOW1JTqV_FDGgO4hYEvKUcMp9FsPYNtvQcH4pFlFazuuq55kShkDVBxh3LlOsR5IAtDrhU9fSxCt1f_1IWtWlQJHAcN63nU04IYPS6KiYFtEfFI0O3LH-hO2KU6_s_ObfbgQ==",
  "id": "rs_0fd0a2c96f401977016ab455836b4c87d0aa32e11202533334",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.07},\"note\":\"The gripper settled at 0.01, so the first close was empty; the overhead view shows the small round toy just to the left of the closed fingers. I am reopening and lifting clear before making the single measured retry offset.\"}",
  "call_id": "call_iwQBGAMEV6PNeoOkBB86sX5y",
  "id": "fc_0fd0a2c96f401977016ab45586cec487d09f350f5447c6ea49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iwQBGAMEV6PNeoOkBB86sX5y",
  "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]: [-0.5552, 1.3464, 0.4862, 0.065, -0.4461, -0.3748, 0.9984, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3202 left_y=-0.1047 left_z=0.0591 left_yaw=0.0053 left_pitch=-0.1355 left_roll=0.0448 left_gripper=0.9984 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.6684, 8.1573, 1.2821, -0.2173, 0.0904, -0.0562, -0.3487, -1.2513, 7.3504, 1.7265, -0.0317, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e434662d41bd8c6b60e11b4147ebd957ba3f134b85813508e9e6831765e8076d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa907bb1022511a9a2f13c71193b86c7dedd3e1f6b53556ba7fcf2562cd5680",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ba26d8851bc3fbba28e921ed383488b23875fd5c56f176c9e4523bfcb05418",
      "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 · 2.332 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]: [-0.556, 1.2804, 0.5507, -0.0238, -0.4496, -0.3599, 0.9996, -0.0151, 0.8013, 0.6086, -0.3847, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.1082 left_z=0.0897 left_yaw=-0.0033 left_pitch=-0.0993 left_roll=0.0363 left_gripper=0.9996 right_x=0.2952 right_y=0.001 right_z=0.1791 right_yaw=0.0 right_pitch=-0.0099 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -5.5863, 6.3385, 1.746, -0.3004, -0.0562, -0.0171, -0.1299, -1.4838, 7.0359, 1.7411, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5552, 1.5955, 0.3782, 0.4381, -0.4458, -0.3668, 0.01, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3233 left_y=-0.1067 left_z=0.0057 left_yaw=-0.0004 left_pitch=-0.1223 left_roll=0.0422 left_gripper=0.01 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.3675, 4.465, 1.4774, -0.1978, 0.0366, 0.7643, -0.253, -1.2923, 7.0359, 1.7363, -0.0122, -0.022, -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]: [-0.5552, 1.3464, 0.4862, 0.065, -0.4461, -0.3748, 0.9984, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3202 left_y=-0.1047 left_z=0.0591 left_yaw=0.0053 left_pitch=-0.1355 left_roll=0.0448 left_gripper=0.9984 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.6684, 8.1573, 1.2821, -0.2173, 0.0904, -0.0562, -0.3487, -1.2513, 7.3504, 1.7265, -0.0317, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e434662d41bd8c6b60e11b4147ebd957ba3f134b85813508e9e6831765e8076d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa907bb1022511a9a2f13c71193b86c7dedd3e1f6b53556ba7fcf2562cd5680",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ba26d8851bc3fbba28e921ed383488b23875fd5c56f176c9e4523bfcb05418",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWMUun2vDRzHRw0cRTJ0MzPgCqmMD4yfC50hb9kVwluyOqdJ76NzofODx4xVLRqm5QnB6ncCDyBGJOPfhqqrjOQS6GshKMky5LXcppIoDs39ITxlqx94KXYPR1moPPU7g0JNdFW6LcX-fKpaQoAKONOhLtRMnnn9BlB4ji9GBYekTNLalPnS-IU_44P2VWq_IT7hvJZAXBMUl8NQWqoPR1trxZRAnqVk8jbMFO7hsJ2CUvDBOYfZHDs-2CBAC1Rx1MPXJFaIuD7NqPG89ZNM70hcRrQis-zoo3gl0pydMaXySw5doGyYS-0r8JyTG89fm_TG36v1cng35uM20vYY1nqHVoL_pm3-aN8fykXc0qRi--Y58Fb-0pgm916HcySKvV_b7Vn-A07oLg7lbMMF6bUtBdu-un70xWsZfPya8qfxzHjNdeLpnS5FLLe50-_sHu4RSIrik8YwAeDCs4_tG41OpmcSDDkuP-3JOVE8ZoJ9sSl8Oc1pUFRjXv3vhiPktJNX96DZK5_McMb9t2qsR_IAq704_Vvl9KOTTuj_0Ls8SBLu0dxdJ0r-J9cnkMP2my4_dgD8-Ju8qqtQJppItxe9142FJzvtlxZgrfT321VwYxCni0HgjHKFZ1WzFPeAQOCN-AZPkRThJYR5ifB9aJJr0RK37wCkYn3dkHrhKZYHr-iGfk8bH_mBi080Z5M9E6rg5V_kowpZobEbtBoeuPHY1s56PV10fYs8m3RWk3xGXdE8D7HNLlwMS413sVyDv4wxbxB_OaFs4QO89BXHdeRzCgeb7kwHsHjiGmuys_olZ6NlTYJ0tO2kJaeOcI3wzD7Km8SzjohRXu5K_v30xV-I7G5f2px_7wF9dksUDlcjdkcPV_xPjVv3812TalkdsihfsOUWCAD3xdDU3nyr7HS_NjADl1DkoiJvloJTnJZdQJSxmnUgCtcmvs25oEcPfFAxxeGbfC4AGhw6CWnBLdabdE5p48-pKpur7vhN6gQoOd_CV9PPo1yq2FPax_V4EZjex9TZpPDDUmsNk5BUvkOnzYlv__TDC4gUnAZWTDXIrG25NxWqUDWODjswxzL67XERPl8CqA-qVoOr6eNrdb9-u-ejNEHIPExrL5_xZccSTTQz1nvZfuWjp0t7_BZKgLv68Y7-pmW9avUNsU3L8X_cCLivfi6q8WgsCHsYHmG5rU_ORMV-f4gXZd6YligQZb2gcVT24KTRl4Iqc5CUtXY1YvhEgCef_2hN_EW-gNny7A_PeDViyQAHBWIjtKg6-WuskHC40ookyuzqfI38RIclRNBaiVfgWFvSklwKifJFSx4YVzPa0hbeGT7aguPTpLiXDr3_PbbFuaKaeg2nNgXxX6yc-nBQ52ksvva80NKSU9zd7z1qRIr7_wxKkPDst7ujcxz4c8drhidA1yTD1Sp1IXIuTxxNzPBCrLAH3Eo1d_q5zzIp9mNVxlZe093xmc6qpkis2lZmsxSaFPw82Y5zP9qAFOIAOiFr9PGgup-TagTEgh8LJmJ_HI2tf6iODe-U2QwXt93A1k8JGewo2WkoyZYzXflpqvXtzsF4oV3u0kJkPmgh5LrL5f6YMbOxkAAjT2IK7uyDTlQvKPtYrhu0JBMEzuJEnavcKyT1bm2LM1xJbvpKw1qRDtM7-NGlp0i-Hpm98xWKuJ9exP0aLOhqjYrwwtLz7PRD6nu6Q0fiC84_64nUE9039zUGO9wCRH7y4O3UywjoNEptf2Qz7m4Fsc4rwuUfz-rZaSabBfPJWcAOFA23JKVAMPaKVoMh5TZGZn7RDn9uYCyMzeOMAGt_8PKqEYqZLp-K6a_Tnd-dPM=",
  "id": "rs_0fd0a2c96f401977016ab4558a4c5c87d08e49ca043781736c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.055,\"left_z\":0.07},\"note\":\"With the arm lifted, the missed round bird/owl is clearly about 4–5 cm to the arm’s left and slightly nearer the base than the grasp point. I am applying that measured lateral correction at a safe low hover for the retry.\"}",
  "call_id": "call_XWPfhGorWRoWQC9lfL7bZopX",
  "id": "fc_0fd0a2c96f401977016ab4558c3dd887d0b0f895f3e3404e24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XWPfhGorWRoWQC9lfL7bZopX",
  "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]: [-0.3714, 1.1446, 0.4042, 0.0063, -0.3344, -0.2611, 0.9983, -0.0151, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3095 left_y=-0.0545 left_z=0.0728 left_yaw=0.0346 left_pitch=-0.1205 left_roll=0.0353 left_gripper=0.9983 right_x=0.2955 right_y=0.001 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.4803, 5.8872, 1.4628, 0.0806, 0.1148, -0.0269, -0.0889, -1.5795, 7.0632, 1.7118, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614e9fa4f5cd8add495f8975037114e5722b3d48d006234f521f567bbc54eecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da2756c6be661dfabee06cddb31841f3449efb9d41f16c7b60330497f1ea5eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65daf12bc4014799bb2141163746c927504c1bb2e11853d02d99293b974014ee",
      "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 · 2.622 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]: [-0.5552, 1.5955, 0.3782, 0.4366, -0.4492, -0.3603, 0.9996, -0.0154, 0.8043, 0.6086, -0.3855, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3232 left_y=-0.106 left_z=0.0057 left_yaw=-0.0011 left_pitch=-0.1225 left_roll=0.0501 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.0137 right_roll=-0.0016 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -5.4906, 4.2872, 1.6581, -0.2222, -0.0611, -0.0122, -0.3624, -1.5248, 7.0769, 1.746, -0.0171, -0.022, -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]: [-0.5552, 1.3464, 0.4862, 0.065, -0.4461, -0.3748, 0.9984, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3202 left_y=-0.1047 left_z=0.0591 left_yaw=0.0053 left_pitch=-0.1355 left_roll=0.0448 left_gripper=0.9984 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.6684, 8.1573, 1.2821, -0.2173, 0.0904, -0.0562, -0.3487, -1.2513, 7.3504, 1.7265, -0.0317, -0.022, -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 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]: [-0.3714, 1.1446, 0.4042, 0.0063, -0.3344, -0.2611, 0.9983, -0.0151, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3095 left_y=-0.0545 left_z=0.0728 left_yaw=0.0346 left_pitch=-0.1205 left_roll=0.0353 left_gripper=0.9983 right_x=0.2955 right_y=0.001 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.4803, 5.8872, 1.4628, 0.0806, 0.1148, -0.0269, -0.0889, -1.5795, 7.0632, 1.7118, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614e9fa4f5cd8add495f8975037114e5722b3d48d006234f521f567bbc54eecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da2756c6be661dfabee06cddb31841f3449efb9d41f16c7b60330497f1ea5eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65daf12bc4014799bb2141163746c927504c1bb2e11853d02d99293b974014ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWPsklowcUk0IFmDGbrGMmOhRUduaJuOwfkZsiuOk5udfvACty8_POhopPRphVLvczzaJIdIGmxYpVLQzxScclVTRU1u-J-gutmWAu1AU6KIpGsGkGPTBozooKg2-pxTshD52nV5p27JhmQV6PCb76IZx0Qv4-yZJEHuWlh8JhD9jz5IMOZoTWmVF-FP-gLX-7rB-ydLkyyGA6DcBymMwwqMk4PbCvaZIhXg88XkwgqriCwBWLIodTt1eP9M5GhGWhZdwA-Z7m3RqRd3cRRVrnylTn3jZIpRr8GC5zihf4-mMlFNhzoZm6xWSFmT-dat1QMHggTXv0gmIxRLjUcGpgr5CTkEOGtoK1aCr3t5eozYRhLsV_XbrTfIwWsfNTzgDfdaNYfLEyqh6JcO62dKbHIQ0oCHW0HWzn1HtPWcXD-z9OT_ZEaGyVV8fYnrqs29xKF80CzcFXiYcdXFJ7gpARnm_3J-6FAqnaxy_bnpvd3D6QHBdVlysWYnwRfNzAp6c0Aoak7u39w1JCOaRedp10obqsAi3Dx8EYoS6m4fIN_H4gGCG6wKGGnI1kf031tf9kQOecy30bqX3WiZD92r4k24z87OnzYwcftAGDZG_7z-KXvPOI31OAZhFNfH8ozzOQEYQ6eVvQL7IraIppzS3hk_odG62WdjqG8im1vE66CCWGm1gkkLOCPtgQ7VTINi-R_bVYDLOofXmmq9vYYcoPwxDZesH4frT_GpqBdtcKdyuILzGvMOF2bOXmJPUbhdTZJ3YN6bxX9ZsqfcBrSAb6Sk5UQhG2W1WpSum8-rNZU-K8g-G5WhnmC309kOYsdAjYvcRM8Z8UfFBJUmtazOWP9dlo1GQVbyFkPoBaKm5IadudCNKrX75FXLU2W-BA4dZC_CG-nH4q0r8OyzX62Xu_ABcFRU5a1o43veMH1EGQ9Z2tkTu2dlmjKiEwStjW8ARt06vrqTSDOm1kNZXO48nW0rR4rrHBMPC_emdrXFgno7p-jTpKEHpkwyArvb9nHG5QW_7tab8ZnGJ3VvzMSEwjz-olcYhj_vX8qXExJBumK9BQYzj5ACdtzyR0w9Oq6d61-J76NI-1hVe1-cc-WGB0vIe0_kVvX962rBUpKnnq1V9M7qeH_lKhip4RHDPD7hZ6DdexkBGcYFEqhk7taU5rECMNIHj8Nk41iF_i4I0k1Unf1dFzYJQYwRPmp2VDwph1-MhmE0qGKJJ2xK0A-VdeLQVwfe2xRLlGjuUcFOSo-1EJrc8O8qotSjeWueZADmmU18tY6yw07mdJ2ePb4Mf0IObv1E0wp_nDVjFBOzjZSRwPSXcFc1T0TFf246TohJqY3Gl_aIezzIYuMkM9xmr3MxJ4B-sb7iHqXEOw2RTroZpU=",
  "id": "rs_0fd0a2c96f401977016ab4558ecf2487d08c95a7bd6e4024ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005},\"note\":\"The round brown-and-white toy is now centered on the jaw column between both fingers in the wrist view. I am descending straight down to grasp it at table level.\"}",
  "call_id": "call_2oQfNFXIOLW69zL9PNmWmqdT",
  "id": "fc_0fd0a2c96f401977016ab4558f211487d0bc29237971d430d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2oQfNFXIOLW69zL9PNmWmqdT",
  "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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2428, 0.9983, -0.0154, 0.8082, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0149 left_pitch=-0.1423 left_roll=0.0428 left_gripper=0.9983 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0172 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -3.8496, 5.6957, 1.5897, -0.1245, 0.0806, -0.0122, -0.3214, -1.3333, 7.0632, 1.7411, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893144a5969112f89f5e9a0cfd51db748afa0ad9b777741676e8d8585282db4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0141423272ac39c1af6fd9d90a47f2cad06ddc317646f3201a54122d12a3d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab1901e9f40e748868cb1d5f388e1840b66e7b1ac85ad6a59b7056598ff22e4c",
      "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 · 9.059 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]: [-0.5552, 1.5955, 0.3782, 0.4381, -0.4458, -0.3668, 0.01, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3233 left_y=-0.1067 left_z=0.0057 left_yaw=-0.0004 left_pitch=-0.1223 left_roll=0.0422 left_gripper=0.01 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.3675, 4.465, 1.4774, -0.1978, 0.0366, 0.7643, -0.253, -1.2923, 7.0359, 1.7363, -0.0122, -0.022, -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]: [-0.3714, 1.1446, 0.4042, 0.0063, -0.3344, -0.2611, 0.9983, -0.0151, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3095 left_y=-0.0545 left_z=0.0728 left_yaw=0.0346 left_pitch=-0.1205 left_roll=0.0353 left_gripper=0.9983 right_x=0.2955 right_y=0.001 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.4803, 5.8872, 1.4628, 0.0806, 0.1148, -0.0269, -0.0889, -1.5795, 7.0632, 1.7118, -0.0562, -0.022, -0.0122]",
      "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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2428, 0.9983, -0.0154, 0.8082, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0149 left_pitch=-0.1423 left_roll=0.0428 left_gripper=0.9983 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0172 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -3.8496, 5.6957, 1.5897, -0.1245, 0.0806, -0.0122, -0.3214, -1.3333, 7.0632, 1.7411, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893144a5969112f89f5e9a0cfd51db748afa0ad9b777741676e8d8585282db4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0141423272ac39c1af6fd9d90a47f2cad06ddc317646f3201a54122d12a3d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab1901e9f40e748868cb1d5f388e1840b66e7b1ac85ad6a59b7056598ff22e4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWSvISOmytCPO8a2pIKmWlttdRUlnG6DaM8Fv9tSelXz6JCU3NmH34_y-lYa1NDzXMwSKp-BwFwMhCBKltvt834nt3BwfswGIcZiBbSQSLHgEy8GQUqa42zG5M7LJBt7NSrQWLtflS_CEXSmHWEvrltvAotAJV0jlN_UfZSe5bIAW9SyOdDKSBYoPgjXU317trAmDXjAYTEM1ZDpLHXG7o71CrW-hAZjqslgqa5SCUEUXrwgh3X5QlV6Bk99isFduO74cDM3tTcJnYRXIvgXsm2cFCyNF5gLDMGrdHU2_XCh-XNSyRdrIjeCAHkWH6Nt5KwdT0ilgKKLyf4PdOHdrnAYXwexS9mx4Zc07Gbp0TG6FdrBltUrDWJAxI8RyTXJYSvyHW2gMTod-f0xOPL11OQvc_mVnPdcx6KZ2gf2lo6xFmwNScxK_HfDcNiMcoWnFfPmN41TVQJ1jWQDTn1JFvjsXW6ncoPaWuBq8XSFebSKB6thY8y7sWkcabxH8E92j7q5VuikvWs3lhzp_Hz_5pUFDziENNL6OJ29KrXREQT53nMua7Z3iVtSJuWEQa9a65KOLn3sHUEGm2U-TkYrcWiyo6_uql5upnl4HMAa256SkiMt4a6N_rOaZQ0uJvyryJ_OLnaxoNAIW8z8EquH8jhm2eWyOWEznuP984CkRNUFIJN8l24r0pf3Cezh58cEGOYHC59oOi9kdKf6XvdKD5ttz0M6J7GPwGRzVpo79Gj12i4obRl2DFd_Cv0Q-hqe_aopE27J8ZRPfelDaYvMqFYIlKkpO1a0s_WMvvWyjVpZHsTo3gcgDqmtApsFgNReG2fs1FG1AMNVj1BbDlsmRt74HvkgqJL-Thtz6W2x6Sb4XacSI0VzzOpESsX62ppK9Uk2RxMINW1X13E_yXG424kKRde1XGpHM_Ssisi1Rg6h-_X58GuTG5qJglC0fm6rbZLxBo9tIvBuBCAV_rqbKvHmm2KPImbZ0PCX8VtB9lvgWRuC8sSy-S5zoEBR5FkFYnxbuMcLcjqxouQbZRQfNolMbwkfH9mCJRhnjSe8lTOUE5eof1lR-on-kbDpXqNx0lOehwcwWOvi7dOGECbVQFZ9lvbMNv01HiLJBAPZdMWZqTK58-Kjmm5dD6STzrtnxGdIxD9zFe-lvbbFP1ZNLtYQQ0TNYOvSAuB67hBwSSJuQZxSi9BSku_A02jyY46j3hsxtQ33xkDpIbJwf6Iv4yYvI72osmqBejfSs0gSQi2DVBD0b_gNScBip21lEoNGMmzeJqQDYDBj5Io19LJJGoPo5qf8EdMq-42JszDEVdMDpR_ACtrN5oj5MpaKjHTCQZSF8_G7yYLvWxmvJwaXIR_nOyFBgNhhf-1Q0gddwQ5647SV4txEXwWEc2B_X4x3d--0jK3VipLB5fyWLTwRp_3IlGzwdsxN98RdwqOCcgD16hJLzNsbdV9O75nbPWYLHyVKPXmUIPsNLSa20djvmQSSc2hgNeXwD-eNhNwgqjrCZlC5DCzg7iSfzDujQkzrrnx50KUR0kzFmHtTkSY81EsvA==",
  "id": "rs_0fd0a2c96f401977016ab4559157a887d08aaa420794eee84d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z≈0.069 m while the toy stayed centered, indicating the fingers have contacted the upright plush rather than the table. I am closing at this height to grasp around its body.\"}",
  "call_id": "call_eUDMvlGV0RdliYIddDDcBGEp",
  "id": "fc_0fd0a2c96f401977016ab45592228087d0ba4f8ddada548d25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eUDMvlGV0RdliYIddDDcBGEp",
  "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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2436, 0.0102, -0.0154, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0153 left_pitch=-0.1423 left_roll=0.0422 left_gripper=0.0102 right_x=0.2956 right_y=0.0008 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.1385, 6.3111, 1.5458, -0.1783, -0.022, 0.7448, -0.2393, -1.306, 7.1863, 1.7314, -0.022, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424c4b3ba10f785017021cd4cb903a3e0fd57b744dea2f12cafe341d8ce82d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c330c882de1087a7bd8c55972ca82eaf78eeec31f59898590495fdf9c182f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b746210cf045906208a1961d3e976787596036e144dfe92feb4e5e751153ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.326 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]: [-0.5552, 1.3464, 0.4862, 0.065, -0.4461, -0.3748, 0.9984, -0.0154, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3202 left_y=-0.1047 left_z=0.0591 left_yaw=0.0053 left_pitch=-0.1355 left_roll=0.0448 left_gripper=0.9984 right_x=0.2953 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=-0.0134 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.6684, 8.1573, 1.2821, -0.2173, 0.0904, -0.0562, -0.3487, -1.2513, 7.3504, 1.7265, -0.0317, -0.022, -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 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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2428, 0.9983, -0.0154, 0.8082, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0149 left_pitch=-0.1423 left_roll=0.0428 left_gripper=0.9983 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0172 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -3.8496, 5.6957, 1.5897, -0.1245, 0.0806, -0.0122, -0.3214, -1.3333, 7.0632, 1.7411, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2436, 0.0102, -0.0154, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0153 left_pitch=-0.1423 left_roll=0.0422 left_gripper=0.0102 right_x=0.2956 right_y=0.0008 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.1385, 6.3111, 1.5458, -0.1783, -0.022, 0.7448, -0.2393, -1.306, 7.1863, 1.7314, -0.022, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424c4b3ba10f785017021cd4cb903a3e0fd57b744dea2f12cafe341d8ce82d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c330c882de1087a7bd8c55972ca82eaf78eeec31f59898590495fdf9c182f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b746210cf045906208a1961d3e976787596036e144dfe92feb4e5e751153ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWcQ_2s96MqPdUEKj3nBKsXQzYFIxz54peo6HGCd0BeX-jvNUiUlP2XEmbkHHRs0mTWubyvwY-KKQ2neoROD-v4FkkomKfSH3LPrpvcqOL6SXUu9-xnqXH8juBGruLKHM7Wpo8tuhz62L5h2cWQus2rv0XUFFwvDslJDg0tg-BlOIjl9-80epodH4l_xD7RZy4XUcDb3rjOirWTbyYD51E51bd_lKnjjT_Vm1JzEo7175kTzPpMp4Iw0s1bo4q-BDgAzNTZmlVA7aeYi7by9OJXld8g0unwyJpcbY1Ha7ooDL-iUim1C06IINy3UNPioKtsJUgoDvFNAdVkeCkA6Dn80KmyOWhAmd-pNP22bonwI0FHO29hn8XPnkysunMt1JIqslQyR_etfuUSNeQywNRZ10d15Dh-NdRK66Zz7Kfa4VIwGBD_bcFo6F3ATzuW4VIU7LDes3dReXSpoY_v9KSEsJpBaa-n_JptbykvSAIopiE9To2qeKKwTTu8oBIL3g1E1LSyEanfo8jmj9cXhJYOcYT-thQVN0EHW-_53BUU06oTJNTKVFe9SiqAkr0xpUFXmRQrc1EBOxUhueyQQK8OQI7d9dArxgpFe_hhCOHJIDPbQgmU544BAvE3jkeX-J7MF7AVTKoJW5q2tIhn4RaN4V-PZFkhY9LpksbrDdUtsdXa_rgQN2K4zvLxDA7OkvXkEThL96NIxbP0MEIUZNdRlo7-VKVDkmabL1vG3nV4xJ0Unpk4g7HgJkw4BJ2t8rP-hq2yQyY6P9jRJFlphFkE0assDriYcuY3nT_614-OIUGgxSyMenNIZ62p-5LVjOJjqZobjRY1CAnqjTTPHpHKCOFid_g1XatW47vMkn3epJEG0iUR3piP5PBtEdjUdB_moetZcyZgjRXTkbRTrY59XVTrd9gW2jqQuUwTEJgRSis8M3qlLBLinsVg25tQUSCuZlo05ln3Y4ZojUtGioYHd53yQb1Ks3sznWjW9cV2O5xxnpTesc91xl3Ms0QvykEcO8hrnHGagUkxxn8KjASvtBZLczK03dQpap0KyBlPb-kwZQf3qC0jgKVTi5l7vLzi1PKE52m0k5d2yLSFsDjVAVcqcFPmoEBWsBEZKUNm8ijXfB7zGbr_1p3RRMDQnWJTptO1QfdviALz8SPgQ2SmKpVOCot-nbknPTGmTOUqOa1yiE1GN3Zq_wXk0Ep2hUvWzbxvpZE3lvBJNkAi6baC9EmTVJ_1WK8l-D1uEL2kuRkZqyxx0LUwCa73z343DQE664D-w_gu5HnvaQPXeyqOfTp_bm-AzS7REuWMPL5Aw_IBceaCwEv-ghzYHDWmfLgMZzyhOQzx77VFGCtsyVgA0t7j0Y_UBADCvG6D99E5D7HHRKRdKacs7h2dUcPkAgnRj7n_eYMPhaQu4RrQUAq8o_oSkUWLIxzYrjeOPEA4HUSZcP6Io4KAeDN2xvfVGC2WG0iitbyHTJsbVVNgGOavpg5xv0HN0_ND1fq3XeVOCNKv0jCf3L71QFw7CTJFRuxNOrfA4Bna162SLqZchQtFeVOEUVGpOXZXGbFkSudvODkAKQnt1nk-JPtQs0H9tunVY2S4EXKmn5VlM1DrX5ZyGIv9IwLEPG9i0ZwQOq7EfvjzW0bBsmykdIgiWps7teAN8deODuS_sdVyhWnO79qTUs_cRzqkOBsKK-wxB-FiVMRdXQDqq-Nd2RCDm-8dbLX_9TGu3oJkLxWTLYdwQOX7mX0Zo5OwuWdK9xYQP3wUmBeV7wd_u5cSInwzfVX3aVlVTKXnO1QtV9TmvpYScD2VlgnO7BnRE2VQNIJC5gB1amgcC3mao5rouO4NiCP7fG6Fsq_JdxR2m1kqXUoWOA0Muz9NfGW3US9f9JJMwDC7fQhn2FqjrI9vCYfZEyEZ-duy0i9v5cSh14Z_d2Xi88sCRFqmh9eBDfi066cMSynxltFzfWGP9XKxLSdnoHhyEvJfV1QhHOgvtkpgWPvDofCYWj7IREzKQCainnPWolOqGXezkGnd8vCQaTXkeBy4hTssCz5EUG4IzgINncRpcY9pmdqs5FrZ-K7KyrTsIkJY9OuhxEllsK3CTaNEQPNmu-UUjCsfCuw8y-VBilyk3D2keO6aut69dRMjFWAmVdxmBJvoOlCnOTShYd4jKlCOX7jOs9-MnNGl3Ypj9QG6EcTmWCf4xAAqXTPeIl77dpL7oO4fQJ6SeOcwh5-br70yKiMvTamYBg9XLEfqAtI9XGDtheAw-RScAUHCLppI3wV5lEbbZ2c8YM67rUMvboIfn_jPywiye2wxemlmKE99LXOky5xIt2o31Ir_tLlWa_BPqwBUPLfNa-5_0m6rfJ6QSXGKcXVPD4H4FvQks3Rs2Hfv4K0WNQ0rQJfkJtrW0qTI5oaxtvq8Y63jp0aKtDrr8UCgkRjGwsKEl8oL-onPwYAbZX6AQQ5vZoj9L1xAYh2JmRc8nmfyfIib7bXCM2a38oPy6lWNbTBsDpf8IZbBFSGfpcdbshTcdO4CnjtOQ0pxDGt1khciv5uKRRB0hAOk4CzOSm2wVorlm1lMqcouMCaTKyYWzt0CLPEikULhcZ6PemMM1f93xJpFEuQo99hv7itSGjwy3b_9yEyU4yTeunBo8BbeunRXcUTIXiAHscbIDhdAe_JZdzB_FiH2YOc0YcHzNWJlB_xMtw0pr2rHG0NfojJTnmbpS0_4-d4vv1MV3Mm72spK3Eu72lGgRPyduh5n7cKzJ9T220HdESMZig2RP4NKlrLbxKEuS2VXOa73NFO3Rzguj2Et-Hpuz5hIKJP2xFe3nNW75Q4VDOq92BdkJax1MfOyQPTTGud-Te3LPACJV06jwadUxN_fAf60T1OnLGdEk9vQNGMI0HRTBuuLIFRvY2r_JySEhXLXYMhPsDSTLVaXWtB_PeSEkoyIl7btDr_cYMagd8G9XZasnHewQJIg2Nv_uA6P8_Iyp3fpDuYLEJ8gsWJC43Ozhr9vbo6UM706nxvLY_1RaiqKLa1ooOc9Q4w0cI9fVi8OBkcp6Pjqnx09EhHrYvVBUxOcaaPX_q2iNUPoHyAJomQvGz2V16TTc-JeH2GijGPyV2ltmyoXeXcDMgUEHZ262ylC7KNLik0VAB0CBoesM9WM4mPAkFiNbz3McjX1q0XEuo-Nkx1y-SfBrklVSp9rp_ovz4Iz3KegqKFdJQ6lD_QR2N0pr3lCWYor-t_-l2FQlwFMSWhcqxS5acYLL2Yymu2W_jeTnYw_bZ_IIjraPq8MvfBK_lMW6-Sxw-o248FAX8x1FqpWAuW1fu-_jWuPS5VMumAwLJj2TVqm9Oi1jyjlWnSMoiAAgUyO5iwWxLbH9kzz8ipg7bCOCv3DXfgfYngwhkWgCTeQbIFnmY19yPUXQOWknKe-DT_bJaIMXVo5uZYJuQBJG9S2Dmvn4W6hoHBX6isZZ87lGNZk4TVSv-ZjlECgHZPp5_3qkzCZnXXY9rS8ZPFFhxH2seTn_aQqArX22I9k-lfIlzGpoeP81Sv06Sy3YpFKdz6SZ_bOPXLS1S_58BsUbi4hs3qKomGY343HX2IOmWaZgDYoKxFnoshOY98hdzTZ4o23nXtGwH5AY_0dzHdzAUj6vuqlSVr7Qyxysg9ZdvO1X0A80U7SywK4PNbiolouezU_21V_Woy-ikAegQK1l2csMyT-Xw-pgYYbvnz4Oy-ZH53bR_88Ie3FYLB4IlMQl6WuuQyrOBGhsQYUA62daoWBjWvkTnkODB7d2aoSHXJRonZw7ObDMvGDLUB9CwOOVSf_aQ46KI-CEF8VjWSpfiTSvIwZ98yRjCwcpYHlX5ZAjoj7EteovwVgzX87oZPBNjGsamEfoyQOO_cuPew6WoPWyOP5o__sxSWWWt8jFcHg6io2c9vFJDp7PnnOlQw34bZaULYTyDMhLHKH0UeNstunFC1TADBhJeLcfxTjMTcljarA3dG11tiL6gucT1SODUvuWLYxe8khTZEOawY9Ntz_mlf5xvCqJp4uwBW6el_k9ZcniwaDGzBczcVmWNIokjdhwC7ZgaI8zJGzaXWGVsKIhyPtInkuem_7wejIKNQz1BapRouFX-jqM2jiSO9bl9jFggDi76Fm5nj-1dPBcaB1lqz6hnHiKVfbY3Iu-VhY73kEY8H8HO3UjEisAmk6OtnrxkNhuhLBh-Hxx0xhfZEP4h8HlN9-C80CT-VD_FA8sd23ZO5e_9kT0nYhDi_Lj2n0ewMRjZjOd22W7hbqrq-82KaegArqaaPSS0JJ",
  "id": "rs_0fd0a2c96f401977016ab45594cb7487d0ba076dab4e0e69a2",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWcNfGdKzA8cHj0SnF1VQ5nSp14MigmvWOw30ZJtrBSsxRljiJwiY8oXx1pQrag_cz6946F8mSQSUVoB_ZX5isM8KeiiOV_AL5Y-JA0xTOSyv8uNctLLdZkTLA14CqIQshv3smAGfLBhMkZVOf7rdlgNdHz2b-a5cuwFSEHupLeyS_tcbvD_RzqMVWaOKaVCHPaPIc5IiiYtRxHLnPjFpWN_l-H2vzKHUnTKT_mgFwOFxN8rBelW4u2uJagrwzerntzLKfVpobZDuKiAvxcgedhfQg76W79QCP4IZjZFIAVMamaDd94CAZ6NLLaMLi9WM-6aleu3iZIMoQwqBCA1HuX9mjQwFrRAbG3ZHy6TrHHFMNN57O5m6GH6uBZ08e8GvMLT0kE3fYTKSoUhn6_nObwMxdSU0CunSrobDWReuA8hdqmdKI7bLuRW9D5-mv_zkTvMNvjgKHgV6pifFG77w6woCKfF0CNhAuCn8bFhKVcrJT8lA25Huf4Sx1B_vZbO91CZivRzlZ5m15-rpJ0tB3MKuwPVYKl773_hDyQOlam9w10RUi6KehTQ5LfjVVJ8O9MagcRXD9qVv8MmXpfDSnI6ZRoFLGun5sVmrqkEYEEaXwR-3jjjGSY0_5hAc2OqgCUCpmfsv8C1c18nN2588WoPa34-ziEOqyxoQ5Mnl6KCek8s7yuDJeu5UYcrEqkyDERieD3DK7styDWQe6a9PE2oKolE6EBAvB0X_SryyTU8Y7VrwGw_0kOSLcspEAKx8ioMQPOmW43oeoHJFp6VM_bhgaxQY8P4L34qRS0N57fkvuBtj9d1gdahWhWZTZhXnRioJnUvewCk8-9RHOxdEuAV42Q2ooz-SYjoHKzvp3VlVya-pLrTKUJZ-rtT885UFCcJpzEq_VEQV33uKJds28Y9XGvKufkCkm7DQCjAtZzni_rk6Speh8X_eOw338fRNooOb-7v2L85y065HIuN-Y8R2JXL0eU6k-y3CDzB-34-kNiJICCxBPYYVEA5lsJvcBhkkul0b8lMoX1cZb0Gey2EBM8fPZyYpbr5RKjoW0SSdsxu7l9bUl2AxRKcZMMIlIEVUKNeReI28tG8FnRAuKTkowo32mJ2AdKI79o6-rOlrfIyFck-hy2i4edXy8cU5bjq7ujPfJpUSYnoKz9S7YduCDGPNLjj_c-ra25NcrnLCHkfZ9Qkum0fKQJLaMF706JUDearLSlN3xZZGOIMenjZX2sGT8QoOgMee0J9DhjqylieSJIADUKRzCTsl3VOiOX65lt8pn4Z49eYOf0TBZYv4bL7ywf8W87jU39cj-OUcpPjx6rPmSA2FdwhA1SNBTqgQ9Od-CJpVttQmePjc-W7IbRxlSePLbeywK1Bx_0OlnM13JXOG1xUv9-87cSzbaOYiLjn5ZsOXQ31iTfI93AsikMlCdYT4wRNvhHmzBfFKKP4ijGrGx8QWwDizeKRJyBOrWrc7e9H11YDXYi0NIv7dc8esROGwLRMAZ8u8xPXHf4HHkzVgXFDexelHr4V8RjA2E5wu0MDVRQRn4sloOxMQkzrcRW1m-gPrBc1-PDy95lbsbweeKKoPpDgZiDtgOoEW6YHVlwm0r2smlB5y410Bw2sJGoicSyUab-_WSO4w7FwmRbJcW61GVZ6Cnxd_hGqALXzMyKkUaVW-lC6XoQ6wpZlt7v85OyrK_8LqOOpTA80FZngZb4XjXjj5Q8zvWFxon4_vB_QUpLL-VVot5DjuKSOlSn7vL2lTdaw0KOjXtLdmHnDbv-HmJs5vC_HvlyL50ikXu-XEusSZkxwj2f1A-PVCjyOf0SpuSDiNmeJSF_XaDyok1SHnly9j6c2MThw7Vbb7rgVHATSa67vaxeUsYmS-2gp9EIz1XFEBNW9WXbMoNeZxaOFTb9KWe6Ko6SI8lODrcY9GWhRYgqx6vv_evQ1fIUToL-orl6d3CaCCs-N1orPo_BCfJrbN8O4zBgHPu_gi1ujAK0P9NP5vHinXavsS_5V2f2K3yQYRz_iWzDaIe01KXXjsKTKi-RJDoY1MkP2_RpVKF3qF1d8iaff0mE72sr6bRhlMS4vg6m__J3LYqpcrJyACDr6S2MG-mXGCRGe_LPGBYBhAWubXplsxSyIPZve4Ufrug-BiaOeTpWW_o4RqJalKfq3fMTOeU5PtkjBYWGCDWkwWgcOgarDNhkAls1Rozqs6F2BJZb89sbWimjLf43R451cWl_Gm4V7SHyAMyZWBxHe7V1y09DH5Yf0mW2EeUbtWCnS0ghEm_Pwle3XlIgq1_M0YSxdaSTcK4Yp13fYneOZZ-s_knGVjH5cXITcJ94fkIvAJ1lj6-NwdirmeS1u1mfMYM8cZOQ1uVunQeB9n19NZ-MV2F7Krji5cwNkafEO2QD2nfYoQaTlgxho1YKvIqBqMKHWUWckKyYvjlY8L7h56I99p82_1xuFRSeBaqJd6yh-SZny5-6UwWIDfTUzVjl8ecR1e_h4SEyhNfhX4UrpHXI36JA0pOME2A2qCAz1D_qkKXq5tqWLwwZ0oXjMOA4fRxRHpfBehMrPyCvs7CQrZjwsEA9VND0hB2JhuM2IMySeaL6hyM2aHuXlMNW_yJia_1_PkNNngqhojXAzaossMqFBvl-q_oBx_CQkhfH-pfgGf6Z5ZlEWDJ7p3cnEYKqVBNSB0Gr4aKyuL2zytZvYbhHr3ArUzd1ETbfZ3SHB4hokknPMiueeLqGDCuturkZcCuW66Ce",
  "id": "rs_0fd0a2c96f401977016ab4559981c487d08e4e0b9b6256a5e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.12},\"note\":\"The second close also settled empty; the wrist view now makes the cause clear—the owl’s face remains visible just beyond and slightly left of the fingertip grasp point rather than between it. I am reopening and raising so I can re-approach from about 3 cm farther forward instead of repeating the failed pose.\"}",
  "call_id": "call_deGgTrL1597j8PtahV1SKViG",
  "id": "fc_0fd0a2c96f401977016ab4559ba9f887d0936f84648d436a8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_deGgTrL1597j8PtahV1SKViG",
  "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]: [-0.3649, 1.0489, 0.5392, -0.2722, -0.3134, -0.2474, 0.9988, -0.0151, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.053 left_z=0.1061 left_yaw=0.0192 left_pitch=-0.1705 left_roll=0.0509 left_gripper=0.9988 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -3.6034, 9.265, 1.453, -0.1685, -0.0122, -0.1148, -0.1436, -1.1556, 7.0359, 1.7411, -0.0171, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a39f8871cc6b53e25131bfe5e94792a33bc967d4e2266e7285cbe62f1b7d2d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a95973ac43cb5012f64080ab82c73622cea84c5656c0bfde74d54e3b5d8ba0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430ede58f31684cdb27f1409798246856a5dad10ce7f6a690c9dccbb217e51ce",
      "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 · 2.615 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 40 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]: [-0.3714, 1.1446, 0.4042, 0.0063, -0.3344, -0.2611, 0.9983, -0.0151, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3095 left_y=-0.0545 left_z=0.0728 left_yaw=0.0346 left_pitch=-0.1205 left_roll=0.0353 left_gripper=0.9983 right_x=0.2955 right_y=0.001 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -3.4803, 5.8872, 1.4628, 0.0806, 0.1148, -0.0269, -0.0889, -1.5795, 7.0632, 1.7118, -0.0562, -0.022, -0.0122]",
      "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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2436, 0.0102, -0.0154, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0153 left_pitch=-0.1423 left_roll=0.0422 left_gripper=0.0102 right_x=0.2956 right_y=0.0008 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.1385, 6.3111, 1.5458, -0.1783, -0.022, 0.7448, -0.2393, -1.306, 7.1863, 1.7314, -0.022, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3649, 1.0489, 0.5392, -0.2722, -0.3134, -0.2474, 0.9988, -0.0151, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.053 left_z=0.1061 left_yaw=0.0192 left_pitch=-0.1705 left_roll=0.0509 left_gripper=0.9988 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -3.6034, 9.265, 1.453, -0.1685, -0.0122, -0.1148, -0.1436, -1.1556, 7.0359, 1.7411, -0.0171, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a39f8871cc6b53e25131bfe5e94792a33bc967d4e2266e7285cbe62f1b7d2d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a95973ac43cb5012f64080ab82c73622cea84c5656c0bfde74d54e3b5d8ba0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430ede58f31684cdb27f1409798246856a5dad10ce7f6a690c9dccbb217e51ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWiG1JSR53VOFlPc5FcPOGXKxW1qlOU2nKVfBZ-lkBhub9SBwsuTKFG9hjOCdPe5MPhpZaEcOnDI18EspS253AMhvk5DTbCPfMzhIju-AT739t3tbY-4dBV3cqG3uN54BnF8KjXNeUViYZpWrTpUI99bFgKh4BjNn28UYuO9pU0UUXYenM8COlmKHyIoFs67ImgDt0u0sg6xrI8KdvyfyXRrmD6dx30kgw_RXoK9Cx8x5XgDkv8-V-j3x-w0moAlvLjSqzyCRx44AUdjUKDEUaNxR0gobS9du_F-hOuo-JGe9aF8IxHLB2FpSIOtNA61UNZjs2x5N7JVB72YZykkoMzWOSXP8qFVz_DzT_X2uwyb6C5cgK8wxP2HSohU3W4DsP0HF2X-CMSXdCPZGxFGNSwh9sac-HIixqT3-2HAQQqbScQCGOGTF8WooCV0XixrsEPH3_z3Kk1amC-NlNNqFHKMFuASPHIck8zkpqjyFsBxzWwokEPCkp4upwbb3qcYkxA9hvQDfFHQm-GpoGRfjH_amKDcBFyXrnM-XqO7ATz4zeOnK9VA-nRfrd_GBH09J7bRSd0_d0AsVSNl41VvB_j1OJhLxN55nIc8ux0hPiivlH9NkFuLTn4JpbFVIHmcfWmFg2oZaX_YaY4Kwwg1HHjPLWcDo5g8aDJkf6m_H8_XU_epEslSNIqbxsz4sfb5QuCYgmixdqXEsE8SWM1ukAAi8jgtXRZ7nTm5TpUAzsGZBv94WC51rnnC9XJEzFsOIQtR5piHDhgN-SHWZLLN6oA8et3q4Uk2FJPT7OKoWszPz1t0RRIZzKVglmnqtBB2qrHDl3XSlIDnjvCMjcK6Sts_gRD7Ny-jTIIvAjPyrBoODYpekBEpgx6TLGRRWoTxtRTXcs8uCX8KeZRjgd-W59fS-SqJggd6clnqb7rvpaALvNyFcozEQbkMWvUPSfjjMIB7RpwQC5nSKLjP3hIG-0Q0knbKSQczfl1ip9vjcbhSClM8vRD4O7xx0qZ8MLP18x0aqqcE4duflclTvt_GyBdV0YjzYuoUHBMiTb20EtU3DCLWPAgVz2tW3K6wM9Y02mefNxLqnf7xNNF3JLLGsIs6rIWUooEaHHWghUZKdEwvUcTsOyxJrka7F8OjFGKiwmn2WJF00ScQag4MKyfm1aU26UHd8lchOxaNwu3PJecK6XJwQoraskizTTxMab6Ux2pzBxw22gY-pCM-rcKcvT5vnpN9uk4Gp-tsDZd-qrec7ylINbhlhrQCJtNtUI1QI5jMdHn2ztTz9JmlYjaIe-LGI62f0Xs6gG4Q6wrWL6fDJhwMPB8UXdSSHIyN1hU-f0mGNA4zxaGONLt6KyJwZneeXsaH-k-KCbhMv2aNyotSwkz0NPhj4kCDgyFXOEIEDYUaswNtThQWJzrMDbeN2h5e53vRFuHTFseRu50Cd_S_qYYP78K-GvXwfy_nWk8DQyBfLKky1as5W5UkDrxy78KOOMTO6FkLbwYo-ApmPM0E_G2ytWA1YOJuTRuGgxGT8w0kTZGmQZ7s34RPtHMrwfr0ydT0OAk1iBM_DDLWrICWUTsFNiTHWPGmG10PuukV0t1n2XFUa8Jnr1BDxxe8lI4XU4mi-8EXzZa22kMxe4yGpAERNslBmfYOJPAxll4dPx9MW_MZqUsYoHWKmoAr7yHbLUyiFjCbbD83DM2C6h8daWRYAj8e8-fMQMBbt2at1yoxQwoGcTgygthxe_EkF9sGnxTumkk0TYF9Z-4lQfRH-RW4E6WGjeuangHs0PzeszyXvQK1Itc3kxJA4hw8_yfoVCjovZncVEfJjXKRkwK8TcdstPncOlT8xOoN-72H-9BbvErlhjo3ZfHKSsHaEF3g8pu4wc6WCV6_1eU9CUGS3DBXriAOo3t9d1JSVrsMV80r_DMnlG9rrML8q2wCMkfvm2BAwn0q_EPLLSK2lk4-O3DGM7BFRij3kcemtrY8xWq3fs3nduO1iB-VOrCvf8tDzMYLJVd2xj9tC2JIB8S1QvW9WuRn9Xf9sJ05t7AMcXZX4MXFwJz20dwNG36uv9lZiTqOt5bbl041PsMtMYmh9WfAROAqPsNA4aZTyQ3cnri_eTVKcD8wDZbyE9QtHSF-JK1EBL3LLYzx9H9-Tb2-2HsuuERK2Vql9yweJ245Za_CPum4AHKQX-o3T905YpjlTGKEHB3CU2yGtOHLQ0-JtJOjFrv1mOK5BaHB8tQCEktFnM695yQSNmgXmBL690hOQ==",
  "id": "rs_0fd0a2c96f401977016ab4559f56dc87d0978fb85ca4f1171b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.033,\"left_z\":0.11},\"note\":\"At the higher hover the owl is fully visible just beyond the fingertips, about 3 cm forward and 2 cm to the arm’s left of the grasp point. I am translating by that offset while maintaining clearance, which should put the body under the normally invisible fingertip point.\"}",
  "call_id": "call_XknWT2YdDJepKuli48nnlT6x",
  "id": "fc_0fd0a2c96f401977016ab455a18f0087d0bd7b082f99aef549",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XknWT2YdDJepKuli48nnlT6x",
  "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]: [-0.2146, 1.1763, 0.5835, -0.2169, -0.2234, -0.1638, 0.9983, -0.0151, 0.8116, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3242 left_y=-0.0269 left_z=0.0933 left_yaw=0.0506 left_pitch=-0.2203 left_roll=0.0595 left_gripper=0.9983 right_x=0.2958 right_y=0.001 right_z=0.1761 right_yaw=0.0 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.8906, 9.4427, 1.707, 0.0415, 0.2418, -0.0611, -0.1162, -1.6205, 7.0222, 1.7265, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958be5ff02c1346a78b781db8f06e495e291a8ce2633fb11ae11b9f76503cb4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0979c822635b70881c22c08cf00d7c4a293664c257fa16c8e623d4635ed9ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8ae946360b7264cb2d516fc1351f39079d8c7c54d6957ca0c205edbf3dafbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.042 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2428, 0.9983, -0.0154, 0.8082, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0149 left_pitch=-0.1423 left_roll=0.0428 left_gripper=0.9983 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0172 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -3.8496, 5.6957, 1.5897, -0.1245, 0.0806, -0.0122, -0.3214, -1.3333, 7.0632, 1.7411, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3649, 1.0489, 0.5392, -0.2722, -0.3134, -0.2474, 0.9988, -0.0151, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.053 left_z=0.1061 left_yaw=0.0192 left_pitch=-0.1705 left_roll=0.0509 left_gripper=0.9988 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -3.6034, 9.265, 1.453, -0.1685, -0.0122, -0.1148, -0.1436, -1.1556, 7.0359, 1.7411, -0.0171, -0.0366, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2146, 1.1763, 0.5835, -0.2169, -0.2234, -0.1638, 0.9983, -0.0151, 0.8116, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3242 left_y=-0.0269 left_z=0.0933 left_yaw=0.0506 left_pitch=-0.2203 left_roll=0.0595 left_gripper=0.9983 right_x=0.2958 right_y=0.001 right_z=0.1761 right_yaw=0.0 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.8906, 9.4427, 1.707, 0.0415, 0.2418, -0.0611, -0.1162, -1.6205, 7.0222, 1.7265, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958be5ff02c1346a78b781db8f06e495e291a8ce2633fb11ae11b9f76503cb4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0979c822635b70881c22c08cf00d7c4a293664c257fa16c8e623d4635ed9ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8ae946360b7264cb2d516fc1351f39079d8c7c54d6957ca0c205edbf3dafbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWmcAYQxq--hsdrYrvJgWDXsH6GhPuY5q-sfJPhZiYIB_Dm2kxMWVZSgscNIcrmm5rgtFciQwwdEXoVWaBQQmamZf_6ibdilgx_oPxcgukcv_iAHQJz8bIj7dECB7iM4z9XKBPYAMcVOPcXa6QlN_fky1MHcuKH0zDys5lHyuB-nWmGPEUuQt_5ePi4No1vfQ5Esheg-2m-dBSj0Q-o77KRnl789QQX6bFx9Y4KNUybHt7hdjundy2OJ6hpp36r6RURjQeF3HkCL-OXtvSzjb3zq-sUmuYATSdlCODYjP5DQAJu-342UM0tcJRuluww3fMPB3C_ocs8mkFfjb2k0P0MEzzhTNWI2rnM6fCDseCnjkulvwU4b-eM8D34R8YFWgbQquOfOnphWaICZQzNDHA0gZSNnJofJqXs8dMNOfV3TTwdika0IAgQlOOqa_xFtu81N1QUOQ34gvOzov0MkLxAGQSkidopoBP98Zr5Eq183Dqwv2rlluQ1b-Dx8BOB8onhpYxTAxmszJPQN8zAeJAnNKk4pV2qtbGqJu0dDMLVPF3jQYsIESOOCk12yg6Z8wIxNU5uq8rA68NROZLaFotmQKJNiLCbJNk4LbWnsLg609qqOZTNJWfCh-R2LKi51TfnfxFCCceSnT7MsHyEO9Ri12MIFEXBowYvNXuZczxkRctVVjOF7MIXkwGJL4WcPpY2y3bG5RtDjuFRMXdIVcWQ95IOY1jM4KzR8QfmNjPmzQiEQK0H-zDIg2dgIzbQSaw4_kVLVT1kDY75OgyfVTyNq8MzJSXyFTge7hIoWtop15P6rlbWiK-OlhaLXyWENKRd-JjmnVt3_Z1Vw4vn4vZFVDgUd1iFuSQmn5TsajHG9lefqxwdK0DKp3ON8Vs-Rmh8RMztskpj26s0B01d64yq1duhsC-4F7NDYuR8JZrbM9KUbhUMqSGhxBL1x_mI34mbLRvab48l-OqHSOFVBLTjVpQ9ImKPihloqO5gOVooM0pROeigIMT9nuws1wIwtj4H84lNBaCvmVveqkPr8z_RwTYDoNqIbOW6f6c1f31e7Bjp2QsfmU-sNy0CZRaDLBcakpNQPHtLqIulr0zAnlywjsnj5fB7AA8MloFHi0cW5XMqEulGLoeQl7CQMhEjH4QLsH4G9OEbCa-wRzVqbH26HmG-quy90QrkuQW-3NAPybmiTrf65FqAKMPHOGCDZ-yWUKge_fJn3N4RgJ-oe-o0S5c8ziAMmKJ_VINQS4u7Vw4nSkc-CSFN1L7qQun1zraLMxG3c1zpeVUKZQJiABB_8d_gjjG1SzEM8_6zf7X3jRlFYHYeTvk3TzrEsRSoY17kF02V88lnZel4h1h8nFVMn0gfYzCWFohR7NNodz-ePSgYQfXl4-nHNgSCWpZUkQSVDs4XPFOdB2UYnL8GqNVmXC-F_sgA_Xdz7-uiGArTnYQ3ahmbJxGBAXIpuNP7M_gtJPW33A2plDWO54UkymdAVF92PTj55MH6v2Aso_wzYX6REcS1MdFWJunrjNo0rg5B",
  "id": "rs_0fd0a2c96f401977016ab455a51da087d0b2a3d78a709fecab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The forward/lateral correction centers the owl on the jaw column and pushes its body to the bottom edge, consistent with it being directly under the fingertip grasp point. I am descending toward the middle of its upright body rather than all the way to the tabletop.\"}",
  "call_id": "call_jJA7zfmq8AhNEzbxtCGZwH6w",
  "id": "fc_0fd0a2c96f401977016ab455a6404487d0bc84be36d93a644c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jJA7zfmq8AhNEzbxtCGZwH6w",
  "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]: [-0.2153, 1.1763, 0.5835, -0.2153, -0.2165, -0.1638, 0.9983, -0.0151, 0.812, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3243 left_y=-0.0284 left_z=0.0933 left_yaw=0.0439 left_pitch=-0.2202 left_roll=0.0542 left_gripper=0.9983 right_x=0.2958 right_y=0.0011 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -3.8769, 9.0872, 1.7265, -0.0269, 0.2076, -0.0269, -0.1846, -1.2376, 7.0632, 1.7753, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e6c9c1c5df45a8eba03fc0442c13bb07271f94185f90a4bd8037542a434aa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f4be2e1378c2d8fd8eed1dbccaab0ae2b8efdcb978590bd37656318f24c912",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf35a6659449349b5b366eeaec89b0f8b962725015d3cf9582b2626bd47540e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 13.73 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 changed as sent

message 48 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]: [-0.3649, 1.1378, 0.4015, -0.0151, -0.3134, -0.2436, 0.0102, -0.0154, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3058 left_y=-0.0547 left_z=0.0692 left_yaw=0.0153 left_pitch=-0.1423 left_roll=0.0422 left_gripper=0.0102 right_x=0.2956 right_y=0.0008 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -3.1385, 6.3111, 1.5458, -0.1783, -0.022, 0.7448, -0.2393, -1.306, 7.1863, 1.7314, -0.022, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2146, 1.1763, 0.5835, -0.2169, -0.2234, -0.1638, 0.9983, -0.0151, 0.8116, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3242 left_y=-0.0269 left_z=0.0933 left_yaw=0.0506 left_pitch=-0.2203 left_roll=0.0595 left_gripper=0.9983 right_x=0.2958 right_y=0.001 right_z=0.1761 right_yaw=0.0 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.8906, 9.4427, 1.707, 0.0415, 0.2418, -0.0611, -0.1162, -1.6205, 7.0222, 1.7265, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2153, 1.1763, 0.5835, -0.2153, -0.2165, -0.1638, 0.9983, -0.0151, 0.812, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3243 left_y=-0.0284 left_z=0.0933 left_yaw=0.0439 left_pitch=-0.2202 left_roll=0.0542 left_gripper=0.9983 right_x=0.2958 right_y=0.0011 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -3.8769, 9.0872, 1.7265, -0.0269, 0.2076, -0.0269, -0.1846, -1.2376, 7.0632, 1.7753, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e6c9c1c5df45a8eba03fc0442c13bb07271f94185f90a4bd8037542a434aa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f4be2e1378c2d8fd8eed1dbccaab0ae2b8efdcb978590bd37656318f24c912",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf35a6659449349b5b366eeaec89b0f8b962725015d3cf9582b2626bd47540e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWpWmJtEP9QxyFN_8YciBDSdd-Xqyp7sbfQ99EPjl7PGDEu6njvxVZTEKhTnJGPj4XI3AC50v9ojNEeDhgBFHo6CPaHQYeSjiaRh5qHKhMIiBtdvpUUV1sf7GRoLjjoOMbLfxoGMUN9_0YDd4J2U7RgMyt5i3cZXlNaCBLo-8T_ucPeZ_vjj1kKCkyrweRjaM2tAPvHIgYKNw9iOw2N_XhlY5sfyoVWXOxt_VMqatB04m-OdkOhcxumgnoQwF-ZZi-bnn0EFZycZIJZpvUkSKh5ovsceA2kQuQUeqlXOxhFbYz2U42AFdxz4jIb6UV9Qj303gr6wt2jNovk8kNFR4hjYihqPOC1BM_m_zeq-Soouvp0nPkCdWqjqeV3D4mWCSXuF2b6oOR7kUS9vsSe98bb4FFE5iDtNDA_PbWK3njLRTWi_Nz3uQdQiL6fuslspqkbvYee5tb-B9y5iFwHqn-ayX2YUb9r9hTn9qbWNjP4EPtmypeC7Nf3p3OJbQi97JvPS9EEG2sxR8LKys_xKHAmC8qDIjlV0WRMTHhqt_Knqe9mi2POrke5Y6wz2d20ZQcxWhbbBipxT3PPaObdOli_K5K31KFUeq0rbBpyw9Q5SNGslahRnoFpdQ0SyEeWFiY19wMXnsmDuydT3--3dCvwaTrI3JCvK3xuDtb_HWirXnmGt2UxYtIptqdP7gHAGtj_oz1-lL3swKVhIouv6cEJ8IO99n-DecoTpbkwD_mZyK_A4YaLGdO-zXejpTgChXtaFQiX7wyxuiMwWNUkbw13js1D8wocke4vAtRQCU-QTH890oI0HAB71uYpQa7Vz-QLwTuifk9Tej6QkY2a0uQGlDd2D0RMjgusjCzBE-5jcNdzxrjSXeDqa60ZsyRARw3DSo3ztMZdpHxfm-v4Igi6SIvYS1toB_uZ1dnZjF-SuJlkwLR7d-08NHiq4UBD0iBusE4DHsWdYhw7bTpFYOtJPbpdB25U_HUNcnvSzsI4XBQC2LwJ2SUsU25_xAvHih6aJQJf6bVA9IvmY5L0UatZ5qDqC8sZ1GA_Ok_34lsAK5sfyDyfgdMKyZLQlcdKCAsatcQtQypQYAkNJmEY78CUHxCkVhWR_KiuPue87nkSnph8AZDAlF37w6tv4yrbD41gJEvGAi0-u2TI0fiXpB4sjqE1MZ0DtJUUwl1NlGqiay0yYC24jj5k3L1-bKkxlkB3CZF3FZwVRwT6PNJPowC-nKLy2TS6Bq7rGjtVgOxNUPjdyjifQD3wDnzEO8qROiSEQ-GW-6kaf1neQxmCEwOjkkodOXXyDsIdSW1_rJVa_xDjqAk74tXXmHrlblzcERV07T2FkqWD0zpcPGSnNCnnn0wCJ9DJMyAfiL2ZrKv5D803MU9LRxCF7y7KcH5jpfgs",
  "id": "rs_0fd0a2c96f401977016ab455a8214c87d08387b6e074087d70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The readback again stopped at z≈0.093 m, but this time the owl is centered directly under the fingers, so the stop is contact with its tall plush body rather than a lateral miss. I am closing around it at the contact height.\"}",
  "call_id": "call_LGx3xNNWVMfUOSlob5mJpaj6",
  "id": "fc_0fd0a2c96f401977016ab455a87b5887d0b6907515e64c6191",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LGx3xNNWVMfUOSlob5mJpaj6",
  "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]: [-0.215, 1.1763, 0.5835, -0.2165, -0.2169, -0.1677, 0.0094, -0.0151, 0.812, 0.6083, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3241 left_y=-0.0282 left_z=0.0932 left_yaw=0.0468 left_pitch=-0.2211 left_roll=0.052 left_gripper=0.0094 right_x=0.2958 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0214 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.5573, 1.5311, -0.149, 0.0513, 0.7546, -0.1709, -1.3333, 7.1863, 1.7753, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22788c1a829ea399fad0b7e7b592a89d6056baa475599cc6a942fcc5edc46ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcc7570c01bf3914a4cc0bf11b013562ffee8a455122a3f9cf65c232a66e821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55cedf3a999215f2d7a0bcaf775c504f46fed2a58fc39645f2bc5531bffb2352",
      "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 · 4.255 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3649, 1.0489, 0.5392, -0.2722, -0.3134, -0.2474, 0.9988, -0.0151, 0.8082, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.053 left_z=0.1061 left_yaw=0.0192 left_pitch=-0.1705 left_roll=0.0509 left_gripper=0.9988 right_x=0.2956 right_y=0.0009 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0172 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -3.6034, 9.265, 1.453, -0.1685, -0.0122, -0.1148, -0.1436, -1.1556, 7.0359, 1.7411, -0.0171, -0.0366, -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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2153, 1.1763, 0.5835, -0.2153, -0.2165, -0.1638, 0.9983, -0.0151, 0.812, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3243 left_y=-0.0284 left_z=0.0933 left_yaw=0.0439 left_pitch=-0.2202 left_roll=0.0542 left_gripper=0.9983 right_x=0.2958 right_y=0.0011 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -3.8769, 9.0872, 1.7265, -0.0269, 0.2076, -0.0269, -0.1846, -1.2376, 7.0632, 1.7753, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.215, 1.1763, 0.5835, -0.2165, -0.2169, -0.1677, 0.0094, -0.0151, 0.812, 0.6083, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3241 left_y=-0.0282 left_z=0.0932 left_yaw=0.0468 left_pitch=-0.2211 left_roll=0.052 left_gripper=0.0094 right_x=0.2958 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0214 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.5573, 1.5311, -0.149, 0.0513, 0.7546, -0.1709, -1.3333, 7.1863, 1.7753, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22788c1a829ea399fad0b7e7b592a89d6056baa475599cc6a942fcc5edc46ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcc7570c01bf3914a4cc0bf11b013562ffee8a455122a3f9cf65c232a66e821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55cedf3a999215f2d7a0bcaf775c504f46fed2a58fc39645f2bc5531bffb2352",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0fd0a2c96f401977016ab455ab4a7087d0aa5875fd611be4b7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFW3NnOYlwJGKr5Tj63BdHjDnG9Br27LZQ8a2SjWPEpD360zc5TmnC1K7sSNBiyzHpQ9FXGvJO3qFfzj_8Vmzdto8Ko5MXM0fbC__MuZubCDqIl2PCECcWgsdH9UIir3Rt6wElltKYqD5kFNIxTU6JEUOJYrDv9Ijqzb4X5TvpMznfZpiPfOcK6FkEadO1yhQVlkBrSXvAcTdu4m9cYlgNkJmsyj9oX1gHee0Q6fXPgsLQISPAHpytiPnLGCLqSqFog_ND_nnwfVRdN_s5IwGl5KafKym5gleOIS2U3TTcUCAUPBTsRmTZXdpTVkYksvH8dGZcQc4ry6QwdSc9k3TjpZvyepuN73a259Uqet_whYgwr1rGhuYjldsnyBG0vfBeth1air_oY5pQ6IWzM0lummxT83bwwVECeGHvU9zl8ptLDytbU0onrG2cYgIhL-tpA_ex360jTCwZEqF8gM96BeK0KevkKFIVDzrEe0RriWqL4NKPp09QlAK5vcxuv33qKnEb_a-Vbb-IaMs-mJWq6_wDyHSUCBV9eMCErHW6vDctE_Q9u9nK-ZH20GnacaJHGElDNl5Hx-4Eu3Y-ppElO1Op0SSU5tOA5Nk11A6-e1sVGu6QBQ7ZXs-cDvVLZMhAGg0A1LfgLfg8QkC7YCXy75KakaZJSb4ToFl6v7KWni1bXk4PQS5t7ryYw-gvYvc_jupn75DDQNeXuhXw2wHaEsG4QeR3M-QNHh_dn2FHh31dxsE0WsQjQLXSTvMlq2btr8GcGB5jOF2dnTnM5IMHoXDUd_ytU47fl4bg0lyDH-Y-Fxr4WSn-9cfm37q3X2hfDKXx31S9eD05fYe4L5jUQktxmHYRPrxIFMV6JkUXt3S9C5Y8PBQRAuEy3ubsKiTVh1jsGojdWgwM0-RBdyENtAY06FcfZUs93ZMDNpe1r66z9bu_ez3ypa8BnBgT1oKJea1wX5OuU1t7_G50GhXjSPgIoxMQJYdpS315v7_tn1uR0-6w6RMOiX9XOAhtVJrRstXL1Ady6JEhUds41eeyV1H4X2FAKQf-_eAwUVVfIhXfsIVNEzTMFMeGXNfC2x8-4N6vwyKu96AewrZWpmfuC6cb0QIityI-YFe_VB6eWmz8YgiWUgKzYavf3O5Lw0hJBCwomKtG8YRP2FLoYfzAX78ZmJyF7rXxHOQg4mkpTg50fQmDKBXQuTxetaiA3pUJTh5kKY10znVZjkvafE37iMzV_U2hcsa7cQe62mQcY7ijVYa89GUd7vDeg-xcZyZnNX8XHPDgu3WOdySUXI6lFJq9eu7GKSTWZ9oU1afTqL9UK5kDn81TpCGWDEpb3YJbYrNAmr1pERmRhGfnLqrGeIBXohwL0OkSXJcF4dqBB2JCDDxURIKpFdtCWBucf8WRcsXZBk0yuy0RgR2i5Xo2L5lwTfVwOD5ih89ymQXFG8f8JJuzbbgJwa_R6ehhmypjUrBjqZU_6ReucUkYw7c9xW2E7mw9kZcZM3mARwxaa5YHulm3yo43lF7lN6lxOX4Mh4mqSmJ0o5ytreP6lIq8ECcVJQd1sABOzb-NyTuE1t88TMRqahmG90l67jfNSZypIZymMY-ejWnoEmfS4IFYkE-2-3tdSCBY8X2ehnvthzZHfJjMTt0oIbjEq1sNpV0wdNW6E_U7NQkD86Lt8meK4PgKWIqNzrvooon1MYNECNoDWGZtvTTNOReS_QWKmwb3yr-EAlt6NpQRo3WtLHI-ZG60SWJkOnOv_gR9YZmVzqBxP8WMR_UYX3gMUfnStUh_WIgt61e3h42xQV2hoGJcgkvI1sseGsJE5Pha5Zx1zpCZHZfG8Ml9NpJ1YdtR2fKyDhHe5LWEBKxQwTwN368MIaoJpYAa7LFK_-0KhSFeWekzJGef7jSbHec3b4hIyq9EAI5kob9c1REVPd4nhj2cJIJ9yP2CuiTd6jL1n02kAci0RsiXO353FphsCLOqAne0ja4jranvFYCjuciXzRC7PA6x5hqbEK079W7XH1u-r3hEYA0Idpb9oUsd6QrsPwby71J3GtHTJSDZroDJJDPXLiEiOx2KKbcbH7JF7TnLpG4yXyjTwBb5B9ch-XrwlEGaLFc4FcT2OOGSXEFBkC1fKdvAhAx4EQP2QBwG-pibjBuma5lG1gqpmPX5mP3tVf_qo0lD_V5Hdu9Rbxe6gO7dbzSJqPpaHQyb8F-BeNNWPCigcdmldUCCIfVTYlxEX4HaEch3ohUqtCEHf-ReryYbfdhFGRoYminrYXGqvSXTB-6Qv0-lQld79L5oe_zusT4LyTiFCsTtU9AWFQ8w_Gg-1lKMmskKca4tnjZRCt_QbSM6_eoK-8cgbuUwzenUOdcIe9sv1uKlIPMxYN86XbLWd0NctGwPSABvBXjlnvzYcex2Ug-eYBf1fUCj0IgnQ7Nqt9-pfcq1c8-uhWYURuNyUesNqmDq7nTI9blxJwH_rzKDqOjS-RxnM_DO6rdXsTPWr5cCwGserYiQVCXnozZJglICgk0RocnC5UtTXHd0eI7EABfMAZrFHTYQl2rh7IFXR2ylEyNmZZQxSPdYQr98I94oToyfQ1RslKYKI6eC62l6KxrrABBuPIn_1hU_EbijJGDwMb9dBzHUFzQuO_FXhtc4oMcx5UMf11q8fWFiB1yW78KJQJvjZraoDwB8D0nM2zn4yH58IMp8LsIEBq2keqqzVbvAKeiWx4PPzLVOy8_Nb9bSqHvFYLsvLzHa5FmGfmFE1szVBEyyghZH6a7fyeKLFnXOADUlV-keU_oYoX6RJ7Jwr6vEYgHpuwNfB-oHqp9wLYBN8aAM9_B2VU5yf1EszBpLCkzOhUweuJ4WIuPkUbHYDxehq2p-FjukfnaDN8uyV5MUvdwq_AMw9rlY2idGmKPE6bAt-tRO3x5K1wegogXOdw3LT0BcKhTqfrbw4yQuWRpKagrCZPp5qhPg8uLEx-2KnbAgP_gd1dyC8quSnjmJFMO0PPPb_BXnHxUQ_sC_bWEP6XiksNGlt2eP4sqqB1RAkJNZoP44nvfRh7EFzZUkSFxeFFgmhvHnzyv3zwA01ywdWO3B0k-M9fxIDKIc-7JmJwoJSW5LoZezJdfEG7voYsWXdOxjNYUr7qzRDB_mVngdWswHioxft8KrYtww3XnYJzGyvvfHIMJlYIcDfNP13qZf6nd6eHQuBWMkTuQUzdcw38Me33gKfcTyKaKpfGlL-jyHJB-0nWSRdqhAUxzE2Os-6dYiz3nmUJpUhFx6yVMVML2Eywo3Rqxfw-aESIZjMr-dWFqqJBL_DxeHd_lsjxjhYjqNvFgHvzArAMrqr73W5xLvXUyvx-vJNEx_GdJnn1NXAov3cIzXd5043daB_QDk2QqCov5qp9bb33msDhPVnq6UAd81Bum4xOJeYKOVSfhT_wKAriT_-3PfdDHZxYXNFv_J7xnltGFNER78cnVnYTjXjbBpSoxhJ-xlHiGeBPVgNiNvI57T5us8BmJLi6bDLjt9up3L0w4UL6oFZ5gsBbqtbJ_q9Hu78iqMx981pkZZnF-4O0ehS4HszFRk_L4pAbfsx4DViwBGKURny66VFt3fOuMG4GO2DHyZ63_TWvuMnELYfhFHuQ2nL9DWkJwAt6ZEHgRef8gSWw5hG6Sc9TIBW-thvDpGxHsfOSmBQwC3t7HOQgiaRUFES0Shyr_uD23OS0JEbeqpi7qubVA6DcrLak8jrcoId8UrZGq0dIPxQLtITs4Sk9lD3epKrNFr09O7pQIECPS5tp4mV3qHwB-5sg32QL1xDGT1paXr9viECo5K4fivUuifoZfJDH-XrM13KBqc7ZYRCjsjxZ5_Vbi6-xEa2x4qflBgFtWdkxC3OP_WO9aM7HTuEYrdDMT1rGmn0Cd5aBe-MyP-iLL9qS1BUUbh4dOFRBBgDHybbpX3WWZVBPye6SQU9pMc1f937Q5L0ssRwI5wu3ZDmTFsPTeujzYoLm48uOo0M9skEKGrTmVh4I6Q1-XI4=",
  "id": "rs_0fd0a2c96f401977016ab455b05a5c87d08f7143c70f45b529",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFW3-pDH0fHEdnVtvxZXxw9emd8u6HeCdDBv6shm9i-IE2Wfk8tpJNpyRsrj7gmfRyWOPkd5bphMcL5p4-IkA2o5Fyh-_n8j-c3ynJ-G6wkZAseUyGEn5HY7XafBWZVlwHjJDJ-gXWds89LGxqij6AIkYck1lJdafovxq2De8bzEbiVzIURuwNvQASS49wVwStIsHb3r8mVB3Km2KOtdklbRXFtOXu4K74Eg7r-h-_GgM4Im5rSy2NWNs1fpujKy-3c7ksrrn6hgMdUHDEHtYI5IUDReobbP6VvGIPmkVDfDmjJJh7aAKCG_3BSlTU7mwn3tCfX_PGLhEOILr-IBv0o1iME0s3E7o8rPvlax8qfVhmcd1xNnT38sCLVqWHCh9-ZqiQpl8_0-reDT1xRcse6PfUiKUTxyetQBwQiCsDjIKwbOTP0n3KmvFWvMLa8NbHSshtiXcmacJRZc7var220Pssso7isQ8Lw24yDsHjLLwA2RCfalOs6OX7hKgTZX7jIOBElmt2AqO5slgfDWd3SiDDDzmHSwKYL_YDJ76TKOckl5R8neUyu82-zS1w2AmD0EAU7wKaBUT668PRBn3QILaHIg28PubQGpNjsRDsJzkcLokCIZxCwz-NFe_Xs_PLhnrtxjOjgo-lhK4HZ98qcQKENm--9yrszqPAcYUOzHV0CcPttl1BYBSE7iH3K6vvH_yhL_hsmmpAmsouFmgBiEXbEkAZcrFidHIy-FP8xDSoG5cJ9tT9ksLIex_jVu3zZI1YMoHEuyUG3kgUFYnlB4BlmIsyzpVyflVMl0jbbB45I3TFpAJv566o1wPrugTzg4coYgmluhyp2JLPZcVwzzXz_nClMQCP5MI7k_rmYdJByfLKtKq6Nqt1c8JC2mcugOI4XNspC2K01Ek4OlxZu_Uoyzqc925CCuiwPYjnRo8LG4H7ZVr8h5iKHKK50fM5y5IrEnEJUXncfvUygcOFodZCmdycX5i-DNFIL9FEi7yI5QtYtBUff9dqPy7E9i_kZxZgJdXPhuikOuOZ_0s4uZt3tPAIXMGvn-u2xCYwAp3ElO_Io4i5-9UGWIylXvbL5JVOisZx1eXcf56ESQNp7op5QvsUH66xbA8fUDPOVkMbigceNsROnJWz5Pv5tHiwoXSDSojwhNoh1GHy79tPn-JvjP0bipRfpw_qNttEiTmoFiGahJRn0BjR-cqCJJsYDv",
  "id": "rs_0fd0a2c96f401977016ab455b5fb4087d092ad04c0689645de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"left_pitch\":0.0,\"right_x\":0.34,\"right_y\":0.34,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The round owl is broad enough that the vertical approach keeps landing a fingertip on its crown and the jaws close empty, so I am switching to the narrower light teddy-bear type rather than repeating. I am parking the left arm and bringing the right arm over the rear light bear, assigning the light bears to the right basket.\"}",
  "call_id": "call_AlUmhssknzShpq16vCUbOD5E",
  "id": "fc_0fd0a2c96f401977016ab455b6131887d091f6169a27680feb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AlUmhssknzShpq16vCUbOD5E",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.8158, 0.5816, -0.3687, -0.1783, -0.0776, 0.9983, 1.0348, 1.8732, 1.4067, -0.4717, 0.7689, 0.7162, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0008 left_z=0.1676 left_yaw=0.0586 left_pitch=-0.0279 left_roll=0.0524 left_gripper=0.9983 right_x=0.3379 right_y=0.3354 right_z=0.1486 right_yaw=0.0277 right_pitch=-0.0511 right_roll=-0.0205 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.9077, 8.8274, 1.79, -0.0122, 0.0757, -0.105, 0.6769, -9.812, 8.7726, 0.9841, 0.6618, 0.1929, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e789cc463b0a26f5da2f4a8aa4eefaec00c6c358459f54e4ed0f988a3ed00e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5375b2129a226205d36da8db722d3874da74a690be1ee83aa7e635a800a706",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50dbd333adde2903d792913601739aa10d23e739c6d795d37ce5bfa255382176",
      "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 14 attempt 0 · /responses · status 200 · 4.127 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 58 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2146, 1.1763, 0.5835, -0.2169, -0.2234, -0.1638, 0.9983, -0.0151, 0.8116, 0.6086, -0.3855, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3242 left_y=-0.0269 left_z=0.0933 left_yaw=0.0506 left_pitch=-0.2203 left_roll=0.0595 left_gripper=0.9983 right_x=0.2958 right_y=0.001 right_z=0.1761 right_yaw=0.0 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -3.8906, 9.4427, 1.707, 0.0415, 0.2418, -0.0611, -0.1162, -1.6205, 7.0222, 1.7265, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.215, 1.1763, 0.5835, -0.2165, -0.2169, -0.1677, 0.0094, -0.0151, 0.812, 0.6083, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3241 left_y=-0.0282 left_z=0.0932 left_yaw=0.0468 left_pitch=-0.2211 left_roll=0.052 left_gripper=0.0094 right_x=0.2958 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0214 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.5573, 1.5311, -0.149, 0.0513, 0.7546, -0.1709, -1.3333, 7.1863, 1.7753, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.8158, 0.5816, -0.3687, -0.1783, -0.0776, 0.9983, 1.0348, 1.8732, 1.4067, -0.4717, 0.7689, 0.7162, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0008 left_z=0.1676 left_yaw=0.0586 left_pitch=-0.0279 left_roll=0.0524 left_gripper=0.9983 right_x=0.3379 right_y=0.3354 right_z=0.1486 right_yaw=0.0277 right_pitch=-0.0511 right_roll=-0.0205 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.9077, 8.8274, 1.79, -0.0122, 0.0757, -0.105, 0.6769, -9.812, 8.7726, 0.9841, 0.6618, 0.1929, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e789cc463b0a26f5da2f4a8aa4eefaec00c6c358459f54e4ed0f988a3ed00e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5375b2129a226205d36da8db722d3874da74a690be1ee83aa7e635a800a706",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50dbd333adde2903d792913601739aa10d23e739c6d795d37ce5bfa255382176",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXJP9-OJ5byESvpajDRC4pmQQyFMb1B7t78BI-wDBNSx_FO2nkO6B63bS9jCgfC-QIh88RhZLDlb6dWqmUBON3quKOz6tDFZahy6_daOW9dWzGOCMZaQ65Mmcm8BdtzGg6hQLMDtoULMoD20veqNhxwaKgm1Myj9zaQPLYK3-v0UeJYWpbohREot65u9c_SEjO-JdtCnKxX1wGuJ1gb74PK5mXrRq_e0WPwfm1qw5-dTMcpsFGVyxedM9cpPR_rJn2aPOHdMmc14ePHypKnHcAuavOisKoi2WTxODzsN4jCdJKGy6MEpzbYl9PLJymCB-r27lkBVJTuuaiIIqMExt0ONeypXCqHQNJZtx6Bn04nVgVxCxZY16uI8AURLbhLPKqi2QgAiPLnB97SWGZhHC-fgXQ-8HIQW90cszZ1T-lOoEVEb5t1CQ509J9xL3xjPq2I1NJe0Sn_BwieKpU0pKKeDz7UceDhnSpLYpVzo-QS4f8_de1O9CO62FdRJM77RGDesuWjGHV8WxZovsvOdcpz5fse0-f2rp9ItRanSpFTKjNhxX199wlyPzJICT8qlOelJ1yC4QgEIE0PjwpDPI05kMtng-pOlObut5okRSKZ3VbugzzVz2IY0nZbgW6Vd3G0tcOjxM6U2G-tq49Ra4HCoHQegSJ_ffpDo6gPjF5WFK7BV1HBHodkd2d3iL1qTMibtRjmwXblwj10gxIIcTHY9wBqHJsBwLYGwcbNB2e4HV-pRW44we-e3eerIcCRcPspjgC1ykMlTi-tfvoYRZE-JnqVI1Y5Qk7y8l7tDTEORIAYs-txEUQxC6t237Im5JSQYM9zqVIJ6L3C0epPSGmOcwLgVftxsRs-w3URy4Tgzhrpyz9bjLbvwjdze4YYWDGJG0Nv-7B6J41Lnbr_Rkb7Tp1sQqPOkh9EXhN8CZtyilFxtCWauyDGgUJXSoSJT19HuM009YA8S1EhvV45T-sq_kknBZSfc4fkU37QzIBY9JCM9cbDV1y_LVgZOpkwnA-jEYzKfqeCU6yD8utONaTFPicApJOwmOmUlbz-9zHb9ZHaZytFvqYcGxcOQI7YwFNHig7SqYzsOIvYTokCNCBh-jKZ-KOK61zpymGzy95LYUlLqp5LKjJB1I8VRRGRpBobfL6Fw1Sa8bkokR1AZ7iWnYYMNLRGWLl13Y-OjodIVdQsgyjWKTHPgD4ZAc1wYGsYltAXF1Lk-spfOphyMPMNSv8QD93bzYmwh3d7vkyoE9gpQbmeXA8wxjU5wCgVAQBMm03EQ4HpEJEL97rDtBOmJaG73KADW33Vf8zXrGPeFTNo5jQflDotBqQsAIcNKWMBtjtWtYY9vKkVV8T0db9oTr44JCqESXvIGKmbJAQpeC4gkdKwgED2RYptecTghb8xOcRLt73orweshNtD3CitDTY8ApW2sZJg6E3WaN0Mo1VxshDbfxqr5bF5Jqttx5LxNi2-P9E_6tR4I8vZhV_Hbq8lsW-od7-g37pZuEe6_P34JaZ_ysBdAc4j84x2sOoHceD8HsWUcGtYIfoKD9Pxz0qai3n51m-WqziQDQ8g4oAiVGnB_ruFhd7yLGR-GzrGMTsnpYLGFrRAF0F7xzdktxF44awMV3BrFLaFtF6noxoKG0xG6r31FTosQt9FDPsCNPIH7BJtaE2czHryz8pcWeCgTizx_qyOzAaJLVqsEwi-OGmTY5iSsCEIM3jaeanXnLcvP3OUZE5pVLr0zZ3DGmI1TCbUCUTAAUTkAWEas2d5q6FDOBRyrtY8Yd6y6cn3egnDbebaC2OEi-zSML1a34pDZZF1JdSWA3KI7O45WnP2W2RngfgKV7UcB0510VcuQC8504LzK_Uy6CjXdVf6pzZPmK7U7KCkbM-nDMfdF8iFxtHgGMHamqizM_z5FdpByps0B7TuoSnUzfgCK-MM_XOEzayltCDYyUyStVjae8KNjcvgl22Ulqg5aHuUqb34Nl7lzcLdJCD6FrkHKTPHXdZuvNm3urcZ10AwIamIPu17F7ADDZQtB8I0b-8azyc2GgZCbWQkUrubNl90dR3vwxmA_ZHue9t892Eb9H57IzRhxm0GWaSCoJx6swPtIUlwhW86iFmO_hXhlMZR6EaZ6CTEfRrUtdv7vUYf8ekHd2lcpGBBe68B7T8BxhGZ2_8TBJmPWiTNAnU_pW1fgY_rbEorshQ3p5-iqPbZtPZFWA6Z69ZN9KJVWQ30iQmlo_6Nb1MftceJ4aKRpsZ1SA2h7zL3d4a25L-LCNz9eV9tk8fb7PErgOtTRlxMsJ0dzSFJCM4APjz0O0bAZGbXSztQGQ==",
  "id": "rs_0fd0a2c96f401977016ab455c6bedc87d0bc69158886171b5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.39,\"right_z\":0.11},\"note\":\"The right wrist view shows the rear light bear close to the fingertips but well left of the jaw column; the overhead view agrees that the grasp point is about 4–5 cm to its right and slightly forward. I am shifting to the arm’s left, slightly toward the base, and lowering to a controlled hover over the narrower bear.\"}",
  "call_id": "call_VA6ctyt4sxAIFAObqpzLVL95",
  "id": "fc_0fd0a2c96f401977016ab455c8c1c487d0bf82d66395b97764",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VA6ctyt4sxAIFAObqpzLVL95",
  "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]: [-0.1165, 0.8188, 0.5816, -0.3744, -0.1791, -0.0788, 0.9982, 1.1229, 2.0571, 1.5093, -0.4873, 0.8013, 0.8021, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0596 left_pitch=-0.0364 left_roll=0.0534 left_gripper=0.9982 right_x=0.32 right_y=0.3813 right_z=0.1032 right_yaw=0.0455 right_pitch=-0.0749 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -1.6342, 7.0496, 1.7998, -0.1148, -0.022, -0.0171, 0.4718, -10.6188, 8.5949, 0.9646, 0.4322, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411fdb8221a0f86fe8c68c157c2bdc5d31afa143c7ae0be82afb2046757a06b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010bb018bf258f317e35cac1f0781101c88fc2885a9c0e2df7d375670c81b025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1795f8369a41c9eb587d98fc37c030850e6a9211126c36aa52d612e164388d04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.254 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 58 changed as sent

message 62 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2153, 1.1763, 0.5835, -0.2153, -0.2165, -0.1638, 0.9983, -0.0151, 0.812, 0.6086, -0.3851, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3243 left_y=-0.0284 left_z=0.0933 left_yaw=0.0439 left_pitch=-0.2202 left_roll=0.0542 left_gripper=0.9983 right_x=0.2958 right_y=0.0011 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -3.8769, 9.0872, 1.7265, -0.0269, 0.2076, -0.0269, -0.1846, -1.2376, 7.0632, 1.7753, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.8158, 0.5816, -0.3687, -0.1783, -0.0776, 0.9983, 1.0348, 1.8732, 1.4067, -0.4717, 0.7689, 0.7162, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0008 left_z=0.1676 left_yaw=0.0586 left_pitch=-0.0279 left_roll=0.0524 left_gripper=0.9983 right_x=0.3379 right_y=0.3354 right_z=0.1486 right_yaw=0.0277 right_pitch=-0.0511 right_roll=-0.0205 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.9077, 8.8274, 1.79, -0.0122, 0.0757, -0.105, 0.6769, -9.812, 8.7726, 0.9841, 0.6618, 0.1929, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1165, 0.8188, 0.5816, -0.3744, -0.1791, -0.0788, 0.9982, 1.1229, 2.0571, 1.5093, -0.4873, 0.8013, 0.8021, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0596 left_pitch=-0.0364 left_roll=0.0534 left_gripper=0.9982 right_x=0.32 right_y=0.3813 right_z=0.1032 right_yaw=0.0455 right_pitch=-0.0749 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -1.6342, 7.0496, 1.7998, -0.1148, -0.022, -0.0171, 0.4718, -10.6188, 8.5949, 0.9646, 0.4322, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411fdb8221a0f86fe8c68c157c2bdc5d31afa143c7ae0be82afb2046757a06b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010bb018bf258f317e35cac1f0781101c88fc2885a9c0e2df7d375670c81b025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1795f8369a41c9eb587d98fc37c030850e6a9211126c36aa52d612e164388d04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXOE5j_W7GB2Tbpn0t6jdTkosuQmsSEryTnhEoRAvCKtCYI2-zvkv0r9kbQ-7IOwsD6C-gklhcMbsYkZF5NLFMS6r7qRtYzfPAAvSyFnOafmSIflPnhVwe_CYRQth7VWYibv_7eYG3sCB6oU4UDCupwo9HsGMc2wAwehYYg4SX3DsFmZwgdW8d_y-z4gyEOwTa5oz1mgePyPyvkk6McC5QfgOInUDpZfMP2AE1KkTQpugXxpy98vZAuEaCa7hWrBUuPrYYiIEIP_D4fckZA2HZio1BB8Ty6jHi2ifQXJb7iLg9BoqU_Ym1nwJVKkwcwWLkDBVNVJ9e6GWr5IJFG4FgphbddvB_d0rru0NYGhONZHjmiSwuAxBJbt0Mui2PHucbVG-1iJkx8bekTqNvha5qYIlLLshtAT4O3bH5cHVHx_R31832Hb3MylR8frJRhsFn8QOkrXPRMRSbSEgDhtOBkZOMUuVtJF4FVu0iVM1ZYYRZMJtH9tVffRATkgiJr02Rbkghm4a_RzOGah8bMq4IzGoyVbbjeLgKdAnDxQakXep6nCLCJmVdEa77HQPoH3nw5Ud-MiUu2EOBoYMipc3_NlR6-Zux32MlyG1XqkBJRatmqRGNzLkB3WCdM0nudThFcUkXAaBUrteWfkFWuvL91U_SN6HrD9FIHFybGq3-xisCMwpnEb3DOnAMhgYgArc52OMmHDAokhoe-1aqFQeNJOWqXA8B8KtfBlk-olWss7O-_7Lofi4G55d6QZ3alvcAqiV4FQg7SA3NGa4UKjJ0jdujOI4xzdFLoKhAB-0aIzT5SPjGm53i-NlMgbSBvkw5tpNzxZRBcmlxp7SfBduIiKglIZTKvQG_LJ0E4udnNwY__X-i6UwZPJAvV9ThheG2kU-4N7NLE7CVcyGnhOrfHaVi2J3SAt9fzFe_bMx0pc3acDaONU0pNUGEtBQu4F2-NUrqCKg4E_bhdUPH6o2LGiX76KDv3pPRYMtwHs-dzgwu1Yd6mSvcCzbW-NFnNex3OvTsYALjEAT5oUJxq5Txy5ul0Y7h_IIdOosnCcRZcjsksboIY5arrip8DdqCFO5mTA_2qmH2Bn2TLg0M2oEs7PvVEziePgYkd931tO9ZdRUxOj4Di50sU1q2zEeDhs1kkK6nQCkQ1AFF7bXEReKDJB6xzPzKVFQUB7kaTVFmdfbxJhaSl3Jgjga6eUyTPpSWibEwVObeVpXnQaZACJw0QfU2ZFoDMxTInHAZRAQ-jMRKm-Oj1ao5Yya5GeijtbrzvBiRV20_DHitVRoZrb-mVUZ-wDtIRU-_XiESHi8jpXOJzQrpKmtijugvW6L8vO9LjP2ET1dq6y2h0UxMOPWy5glYRnEzW0S4ZpBB-Vgfz04u8hcoEP30btNKy4vS6uqZrIj1SCsM-GErUslZcaJ5wwsySWh_nwfAMrG0CZo4jfqhmx3aXwySUWEVHgIrtYt2esVNfZDCuo9LhZ0yfyNKi7WAgG-vDqU_2hsRTawkTELFPHVFez6yxvcD2xs-xH7nWNhIFgUlddOCBjAJDDsOI2xyIYIKsfVcZMpYd1jvRHlfuWjBjkdbSZlkcUrFkwF5xf-LDUKf_dlkANJCzv32IVoRxnoxvV_z5Bq2LcG32jc35vmVZY18iaO6R9SWNEtsc_NY4eX_71HCp3bx8UmEPKjYsfvL3zoXsmEvrO_ppHCaOMQiyb4le73v5IFdWYNTthq3cpUAK3-y9GmQ559bJS53QP177jJVRvxTWG5dWU_HG5tpBszvYkpHE-xLOkQ_AKCNG0skpHE1Vd5zNn9ZjgsW8LcGYgZ0XeCHRuQ1GU-7BClkXU9w1GoqSqRv5CsnVzrpvPNxeGUQs3imf3zpg3NE9ySanCOcywNHZwXbvtCxGeqfMYLI_gG07aYes0IcEM02bb07aDaGZmuZIko08c-2z1eWlElWJqi3LRs4_LRZ9KJnjClvX9jWkwzHiQRhW3dk1hRCDrmR2kRumSvdi4WYTpz-IJPgCbFdbAvU9lYxaNMgE4WsBIL5EDt0jKGx7zZqW57FpOJ5PtGMlBsW5k03tLKaykUNxdS4fn9hI5sHwFp6lykuh2oJXFZqOvFUScG5ugT8gNUr_I3fuuSJINNV2Tt8f71JmtVNF9PRRoMkVyCsOHv8Da4CHeu0ljpc9zJS4AwiZgOLnbcSuoYXXOs1Z7FfH251gfwZwUMt_8UW-FGCZKHo4npkVycBOadGN",
  "id": "rs_0fd0a2c96f401977016ab455cb40cc87d0963f19edd124a887",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.38,\"right_z\":0.1},\"note\":\"The lateral correction is good—the bear is now on the jaw column—but its body fills the bottom of the wrist view and remains a few centimetres nearer the base than the fingertip point. I am retracting another 3.5 cm radially while preserving the lateral alignment.\"}",
  "call_id": "call_VXrqUKr3rvUhaRJ2KlRw3wY3",
  "id": "fc_0fd0a2c96f401977016ab455cde15087d0955820aad1a8918c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VXrqUKr3rvUhaRJ2KlRw3wY3",
  "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]: [-0.1165, 0.8188, 0.5816, -0.3748, -0.1791, -0.0792, 0.9983, 1.1324, 2.0686, 1.5253, -0.49, 0.8043, 0.8207, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0598 left_pitch=-0.0368 left_roll=0.0532 left_gripper=0.9983 right_x=0.318 right_y=0.387 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0712 right_roll=-0.033 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.2513, 7.0085, 1.7021, -0.1148, -0.0562, -0.0171, 0.1299, -10.8239, 8.4034, 0.9597, 0.5055, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56384a170218060930c4527bdb19decf1f53ea289e343c954626bd5583d0f406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ffee3cdd564093f7dae3b913de3a956bae4d3bf9457476fa167231011675a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b3879d020bd1442a3e0c2bf104c40ed278c7f4e28b93e6bfef73958a79507c5",
      "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 · 3.983 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 62 changed as sent

message 66 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.215, 1.1763, 0.5835, -0.2165, -0.2169, -0.1677, 0.0094, -0.0151, 0.812, 0.6083, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3241 left_y=-0.0282 left_z=0.0932 left_yaw=0.0468 left_pitch=-0.2211 left_roll=0.052 left_gripper=0.0094 right_x=0.2958 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0214 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.5573, 1.5311, -0.149, 0.0513, 0.7546, -0.1709, -1.3333, 7.1863, 1.7753, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1165, 0.8188, 0.5816, -0.3744, -0.1791, -0.0788, 0.9982, 1.1229, 2.0571, 1.5093, -0.4873, 0.8013, 0.8021, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0596 left_pitch=-0.0364 left_roll=0.0534 left_gripper=0.9982 right_x=0.32 right_y=0.3813 right_z=0.1032 right_yaw=0.0455 right_pitch=-0.0749 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -1.6342, 7.0496, 1.7998, -0.1148, -0.022, -0.0171, 0.4718, -10.6188, 8.5949, 0.9646, 0.4322, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1165, 0.8188, 0.5816, -0.3748, -0.1791, -0.0792, 0.9983, 1.1324, 2.0686, 1.5253, -0.49, 0.8043, 0.8207, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0598 left_pitch=-0.0368 left_roll=0.0532 left_gripper=0.9983 right_x=0.318 right_y=0.387 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0712 right_roll=-0.033 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.2513, 7.0085, 1.7021, -0.1148, -0.0562, -0.0171, 0.1299, -10.8239, 8.4034, 0.9597, 0.5055, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56384a170218060930c4527bdb19decf1f53ea289e343c954626bd5583d0f406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ffee3cdd564093f7dae3b913de3a956bae4d3bf9457476fa167231011675a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b3879d020bd1442a3e0c2bf104c40ed278c7f4e28b93e6bfef73958a79507c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXSG6cZNZ_-GszJYS3NUBTRBEIOXDhMPxRhM5n2lpJi0rc-mRFX1_aZM_rc7BItjvKJDDP6VvF1jTNGXLvG6p5N2nDdtaT9LWXYtKbMSx7gOZGDOnmUEzXvdKpDiF3NkIeb0DU3rlWxIEXOhQATHWUCSuRu5rqaUkPIV_tzHyZY8_RrWBMubiY_xk6MsfwreVKnvHZagNGAPv4FQiIDz6yVKakKhROiczc2cmXWJR8WkqBBmOgmaY-Nu3kh9Dk1-sj0s4w5cDGg7m8I8joK6fGMbOUQYumOJxQdZJmHU5e9bsYv_10oOIdXHVSlaBuWZWxTCH1slCYwFgvxN9KelPRCHCO9y-NqMZnpNB5hzcRGBtRqXbXHunJFFobESXASYzND47L5nsyw2TmBZlmohcFev8QvjvU1oMNZPIPxZeOHQoQU9pgCzkCFa4CNsINLLoDZ1Xmfa5f_ydAzqNCPuTWQJmxL1472tCvbbQCmcn70tHwRvL0h8TgBRBVwuQNAoD8ZOcF9NeeI3iwsMEz0jt_2z_sfHPACnJfEymK4GOSsRikGPlgPOl-BIG3F_ylnZ9gQa4-mtSIY0oW4-nhuXdQ-50xLZFqXWsUcAm34B-bZ7-oPKNH4VwwaLAy5I7umESHIA48fN-49V-autG-qMtN1XGD-gkJywqrRfNWIRvU_1er2Lw2URbgeK8bJNRPpl0T6L9tD7kh8CwarKBpZkV7Srx7S9d8Her5I9SjWQA_k4q5HSEhKS5-wa5Nu0Byl3HA7p-EnfMXcPAkjf6EvP7rzdFRblJLwzLBdRWLdzgaDOHWv9UyV1_s0GoXCYcrM-4Mzti2cd5_pfkvUZsJiVBYalkLSMaW23a_u40juroYoIBLCQatmaFoj9-s_YPRBMJPZnfpo5iKPrOGz8HWVBxDvgSbWlXsOJOlvjiW5wwoMNIiSKmj8EzdVFO6EBH-zN9MN7qqJwRau5Xf52aEMkNsIqc02YTW21MGw5J6dz1YKMRGPw09rq1jRzAUM0uk4DunXbl6MGeupc1hZNAqhBL9KvpUYgq7R_AaXyfsHI5fU-jEpwYBBQ3MWPW1O979EadAcNEdxdSyhUPII1TGwuvSjJIm87Mx2HbOelX8MiCay-eMTybc-BvRvG_A61meyKIR-cTf7_zVijQJgg4fWhbgqmW06Em9xLAWjkoaqb4r4Y_AkNz0jZoZd4vP9cnaRw1gVb6hj2d1fMyt3tm04DANTW-qLghRHeqg78bKdNBz4rhbquC62zRhhhGscrSqgaQTHhh8CNbGWA7Q0uFAqceWLVlJ6XJKwYo3QXL3Y84erJ6HI_UtSBtWgfXMDYgwd_kYqehJggOo94I_fgQZdcNU3vG58MylVpZLwb-8pkVG1M_gmdws98QuasBnYh5Jc25P8NtIGUoMfasrneGoc76viiCCgl5ra49fw8YM-V8BknBzsZl7zzf7wiIZRA3YvsPpxEfMk8P0UIHHx1yz9dOAIKfMDVB26-OnLL10-bH967BAizYB71mhDoSvzbbqeLEpgy_nnUfYpkqHWzKdNyEN2tFUZSq4oMt91GBzsLboYe7fDtgf_Ryl7r8nZWj_L98RKCya3ZQ5RHY-eznFx4YxXkh9mq8px4fMukjBqoTlNwvT3NBQ52ml8DNHC-Nhd4kKXfTzpRV2IR0rReEwvpAta_XCErUzsstZnVZCrzrhbjuMoLmZEqwB7uxrhQGNueMviMpaHOl8dPTT3qDYlxF3NyMkYyhqg_16EDzgWFbgI3pkm0RxZOc4CtU40KBL3jkwYhtisi9nPExo8BUmGjOu4f4BFhPMN6IRGjR8tWt_NhH8obKqyeEaxnU9-waDwIsqZN5pUzn2PFifZV6zRcKa42KdsK-Ad6WEird7yvQXp_YiRR_2bb6Yaf-kcUw88uYa-AVnNA4qSTDJvW5TNRJZ2vAmc59xQeggb3_lnGsjS2NvwwfzwMemVzBiL465333D7mLfXLHuZKSqUu_ns33mH678R59O4Qk1ldunNs-uDPyo8F6QvbpLiZiyutteo-iR93ixWktVS_Xhq1ggWzTnPPpxAElLGl5P9_zvMYhc5vwHpmVAGG36Sq7pziRbC2AyxvIL_TZ3PKnH4CuvS9Ak2121E61w70ECmNoLGzaw6a8H0eCadGfZqIWJU6ydnkTS9ryJ1C6ObAQx60rEr0vpuiBIl3wbwAYqvAz7osU9y2CIIQst3lxP047D_Ai5jHRzJ",
  "id": "rs_0fd0a2c96f401977016ab455cfac4087d0a89d38ca7a4cd85a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.3,\"left_y\":-0.27,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The right-arm readback did not follow the radial correction at y≈0.39, showing that this cross-table pose is at its kinematic limit. I am parking that arm and switching the central bear to the left arm, which reaches this point comfortably from y≈−0.27.\"}",
  "call_id": "call_fdu4fiv12edNgGnQSf2gnEPR",
  "id": "fc_0fd0a2c96f401977016ab455d1ab7887d0bb764fed96189abc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fdu4fiv12edNgGnQSf2gnEPR",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0748, 1.6787, 1.0775, -0.4858, -0.8433, -0.9009, 0.9988, -0.0124, 0.8623, 0.6586, -0.4503, 0.0204, -0.0467, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=-0.2623 left_z=0.1195 left_yaw=0.0557 left_pitch=-0.0658 left_roll=0.0613 left_gripper=0.9988 right_x=0.2962 right_y=-0.0037 right_z=0.1717 right_yaw=-0.0123 right_pitch=-0.087 right_roll=-0.0355 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -7.2274, 8.5538, 0.9499, -0.6813, 0.0269, -0.1392, -0.253, -2.2906, 8.6769, 1.7656, -0.1245, 0.0073, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28556bc86cd50e2924ca0d3851b47b603a95a6099a7fa4c645bb924b56dcbbe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9f3b271de10287d44bcc77f3030749129fae571033da63f7b27a9fc47e4b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9366844ca736a7efb252b5bfab35b7c3840d1e7d48821bf28ed49c626915624",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.055 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 0.8158, 0.5816, -0.3687, -0.1783, -0.0776, 0.9983, 1.0348, 1.8732, 1.4067, -0.4717, 0.7689, 0.7162, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0008 left_z=0.1676 left_yaw=0.0586 left_pitch=-0.0279 left_roll=0.0524 left_gripper=0.9983 right_x=0.3379 right_y=0.3354 right_z=0.1486 right_yaw=0.0277 right_pitch=-0.0511 right_roll=-0.0205 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.9077, 8.8274, 1.79, -0.0122, 0.0757, -0.105, 0.6769, -9.812, 8.7726, 0.9841, 0.6618, 0.1929, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1165, 0.8188, 0.5816, -0.3748, -0.1791, -0.0792, 0.9983, 1.1324, 2.0686, 1.5253, -0.49, 0.8043, 0.8207, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0598 left_pitch=-0.0368 left_roll=0.0532 left_gripper=0.9983 right_x=0.318 right_y=0.387 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0712 right_roll=-0.033 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.2513, 7.0085, 1.7021, -0.1148, -0.0562, -0.0171, 0.1299, -10.8239, 8.4034, 0.9597, 0.5055, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0748, 1.6787, 1.0775, -0.4858, -0.8433, -0.9009, 0.9988, -0.0124, 0.8623, 0.6586, -0.4503, 0.0204, -0.0467, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=-0.2623 left_z=0.1195 left_yaw=0.0557 left_pitch=-0.0658 left_roll=0.0613 left_gripper=0.9988 right_x=0.2962 right_y=-0.0037 right_z=0.1717 right_yaw=-0.0123 right_pitch=-0.087 right_roll=-0.0355 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -7.2274, 8.5538, 0.9499, -0.6813, 0.0269, -0.1392, -0.253, -2.2906, 8.6769, 1.7656, -0.1245, 0.0073, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28556bc86cd50e2924ca0d3851b47b603a95a6099a7fa4c645bb924b56dcbbe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9f3b271de10287d44bcc77f3030749129fae571033da63f7b27a9fc47e4b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9366844ca736a7efb252b5bfab35b7c3840d1e7d48821bf28ed49c626915624",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXa3x2YWXgTHR1K35dkMkNx0UsDbCHzHAEH5VTFrh5ZizRDWHDU_ZdjoySpXz7CFKzelZmmxorZ7XFakgyYbvc8bKRp-bbA22FcU7hB9BoD9R4T1JdHo0yrUUKLf_axn1LJX8LL9_Gg3YGgrtDHVFjt-70T0M0TxLUr2xIGJHzFMt63N02AaaBzZPwpImr93hULeuqPk7julF0yt0q-WrDRq96soxxg7Pae3c0Ph1nZkbZJiKH3Gvk_9rJNZek15YvIMsugEO8yEDcLN18RUG_8hoTEI5gpIAfOYnVluRgionJjnYpdKGV_2ysjQiH_vu2yrShkc4jLfFk8zuqJSGbiArc2AxG_JwQ01hi4xdkMaKaWYFRviEqdBZeJMduiSLZqdF5lr_vsUAy3YXJXfUE-imoz5y2NU_do9Nu7VGMC9Eyxv77YLCa8eKuzJi7fM8kd_lP8pD0nHGehazx4JIGmAZdXxauhDVHc3wvmJjAGOntpu-PT9tXfCCEbWmpYXM4evbkpJZo-aPVZHM_UpufaZLcqpkbqKvz5dLHhSW20slzOj5cHooFPCMVcgiFHorI4pO9qxhg5rxPsibOvrrdGk6meIlrjLL3EpY1fJozHQAprsWjIk0yiCqTMSJXRFFKSFLmIqrY0MV29Hwt7XmfTVrZbfvIkVxp10E0ZPkpCmDJm28wFqq1IiFjb3eGLgF0ALj6ywL-dMzgzzw29t43d6GYraVtY5mMutNVA8UNP0sTTj_IEHqxBQdChZCQGOzLqthOXO1rXdtwWcAye5JXIF0K7OROnD5ldl-rdPWXddTqlLjMHQPRZRE0yT1RiEfPt5I5MRlCSKPqiz9qCQ9zt5sx2uE597djxs_L8LQx3VLqcRp_ONT-unZOkEQhnBkmt8udCUODNyYCciuFSdIRmdrNyYJUi-B-dUkdHwbHXtQQ7Qr1I6yovJetmqCUQP-z8zn1jUWLXHuBog_bnZkL2YktGXVKOfVxpu-sFXSdu4u7RCB0FL9h2Rw2Onsfwc7B7L0Pha0xDSdg81hJdD8-niNd7NUSo00R0ZHrbIxlxNiF6_EgSJPgwN72tekurYc-X7cd5JniCcS2xF_v5MOLwu3rP7WG09mErFL7uPuq75g7OCbNGXRiXTLd5or36LZMH8LHt3btEBwg1-QTXgfjhFH_VAFfEf4nH04hGtYAGb0_UzdXyPd2UcPD72UU8xXzv1ZUVJCG75w60ZVveox7HYiTm2ESHfv_oNBD4qEuwy-cdL0b2lqnN14Rf04C7KBA3ZQ3416B6L5VvPr5QcO5vaarPA1fdjcP8HlAsLoXI-FKtoLlNXf4P2TMbuOCKUAUjnUbNP6MfNSJjsixDEn-aSUYBcc5rfNtVyOpxqjl6uoHXch56IveNFNy_ukssurACLQJ5U2Ybr4rJUlKlGi2q2b-RP5KQCH4A_69eUbUZPZH0404jC95qfd1z4qBs4dnmqpH4rQV6wKSEqfptrT0oaOX1hwmuDyyrt0qRpT2WnMIx4UWI9H3lvv-IF4Q9ILB6N9DWtTL17OX6LqsDWrFMy4HJg3VsBIvy6qL3k3LScZGoGJQc9K3MV0QbSa-hIh2eD-vr1v4bXg2olN1JdcY4Fc2ppfgD9h1ekzaA7qWxRVsgqKjPRKtWcA51BJnqrQvdOF0oqwWA01JTy1VoZy2x3tNAGW1c30sfTsYBuBzFDTClUqKKLwON9sZwhvg8ao3ROPl0uTg0UY6QoRSuxNSJ14N0b2z-QiKtJp7wGazuBiS88XE9x7bnREWYpBQsXq5Qt6YvqBwCY_6iI_-bjhcLsHnGraPrxcQ6mSrMso6oF4h2ffA4cwWpGBasXVprZVAkblCzhqrcPTOREaZbx9I3zwXbTDXewvLhotGEHEvJmW2q8yxYWqxQW93ysWmhxIm5SJ5dxMgT2N7OqP-6hGxUi83vzkhv1EdK648888z-nXYDsh-ru6MA_8jNlhVCZPF5nnQ8gMiaxof6RzgPFIROFw==",
  "id": "rs_0fd0a2c96f401977016ab455d7e09487d0b6f6299272d46687",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The left wrist view clearly reveals three matching light teddy bears between the baskets; the nearest bear is centered and already partly below the camera at the fingertip point. I am descending vertically with the jaws open to straddle its body.\"}",
  "call_id": "call_9BQgzl5apTVu68odmmmDKqY4",
  "id": "fc_0fd0a2c96f401977016ab455d938f487d09edb9003968ccfa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9BQgzl5apTVu68odmmmDKqY4",
  "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]: [-1.0702, 1.8256, 0.9257, -0.1612, -0.8616, -0.9138, 0.9983, -0.0189, 0.8639, 0.6586, -0.4595, 0.0113, -0.0631, 0.9997]\nstate[eef_state]: left_x=0.3013 left_y=-0.2639 left_z=0.0514 left_yaw=0.075 left_pitch=-0.0399 left_roll=0.0339 left_gripper=0.9983 right_x=0.2949 right_y=-0.004 right_z=0.1695 right_yaw=-0.0022 right_pitch=-0.098 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -5.7641, 3.3983, 0.6618, -0.2173, 0.0806, -0.0659, 0.3624, -1.6615, 7.0085, 1.7411, 0.0659, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e9da0d3bac92a956725dde2c5d0f8b0165033d980c65fbc74454b7225852ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1b0ea7a4f932ac89e08f8ed3ee527d79af9076e085b86d9c916ecf1f673323",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef784d04880a9722f34f7ffe201a9e749056bd70abbd64303c13e7ac355e87c",
      "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 · 2.796 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1165, 0.8188, 0.5816, -0.3744, -0.1791, -0.0788, 0.9982, 1.1229, 2.0571, 1.5093, -0.4873, 0.8013, 0.8021, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0596 left_pitch=-0.0364 left_roll=0.0534 left_gripper=0.9982 right_x=0.32 right_y=0.3813 right_z=0.1032 right_yaw=0.0455 right_pitch=-0.0749 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -1.6342, 7.0496, 1.7998, -0.1148, -0.022, -0.0171, 0.4718, -10.6188, 8.5949, 0.9646, 0.4322, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0748, 1.6787, 1.0775, -0.4858, -0.8433, -0.9009, 0.9988, -0.0124, 0.8623, 0.6586, -0.4503, 0.0204, -0.0467, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=-0.2623 left_z=0.1195 left_yaw=0.0557 left_pitch=-0.0658 left_roll=0.0613 left_gripper=0.9988 right_x=0.2962 right_y=-0.0037 right_z=0.1717 right_yaw=-0.0123 right_pitch=-0.087 right_roll=-0.0355 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -7.2274, 8.5538, 0.9499, -0.6813, 0.0269, -0.1392, -0.253, -2.2906, 8.6769, 1.7656, -0.1245, 0.0073, -0.0464]\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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.8256, 0.9257, -0.1612, -0.8616, -0.9138, 0.9983, -0.0189, 0.8639, 0.6586, -0.4595, 0.0113, -0.0631, 0.9997]\nstate[eef_state]: left_x=0.3013 left_y=-0.2639 left_z=0.0514 left_yaw=0.075 left_pitch=-0.0399 left_roll=0.0339 left_gripper=0.9983 right_x=0.2949 right_y=-0.004 right_z=0.1695 right_yaw=-0.0022 right_pitch=-0.098 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -5.7641, 3.3983, 0.6618, -0.2173, 0.0806, -0.0659, 0.3624, -1.6615, 7.0085, 1.7411, 0.0659, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e9da0d3bac92a956725dde2c5d0f8b0165033d980c65fbc74454b7225852ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1b0ea7a4f932ac89e08f8ed3ee527d79af9076e085b86d9c916ecf1f673323",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef784d04880a9722f34f7ffe201a9e749056bd70abbd64303c13e7ac355e87c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXcbuJZi6tOt1GdBeI308mfsXEcMjrAsWCNcXYj7ILZpwXqJueDfNKf4WD8KsDGIh7tfKfOEZwKMOHApf19UppF0qWk0dkSySqTKIo_6i4O-Zy8oipZ0qRWaOyfNwNDKSGZ8qryWjA5OKxFT1AyvJkJ2JFOB1CfPVtVpWuuMYw9uHPvSxclGXEBxREp-Rle8W_jZKRKM7VdOAxjBg5ePmLDCvTvsnU7p-ruq8U15jDEaR8whymjK2F5gT_GehzrPjXrs_UcubTIw6ClhbnJmUxy9RHec8IXiTtv7A8og5PXgyINFDMmEZRmloWt9fN9MDKmLarGMTIbMs0xsUtqllk7ohZ-Ig05WDdsG0_RErZjTwksSnVAFd2OZKb-I_i54tfv5HTqcHayDrCLydwhut3sjtGqvrW2983rr13xTenTrWUDusb62yUaRLQBgzGRaNoIojMdI33FolqUVWkrrGLt0Q2D_T4KiShq1YzOF8B_ofNW83Rd_px7o7lQ37rGvGK7I5No_7tKCqvij0mWn-R5Uo0YGQjCoPOJOk8-cEsovIVkoZIWDgnipz43gsuRcuD4PF7lX-tYTpxF2u319ANicQJysd93TKqdgb-u_dzSqVnfAEQpHQR52cqa7yvXAZgIYgDiTqXvKehWr3g5qDugrG-YLwLBqcDYJ_tN3lO_folUidxYHqsNBP9RNjZrNacGwmDARJGJGdXSta17mzAijOBsBlbldGuIxQCj_LpgI-i8_463ufWZgVjf5J_jvUPycRMZE0ON6KVAU1t-Tbxlki4ExwQpfsFS7yZh-gfn3ZhSop4F5HSlXwdcn2_cw4hdq4IU8crD6aT7FTEmv1cDNyK8zEmyfzHBgSGCpNIZwRX349x8zZ5um9x5WCZHRBkb6D5PXh7e-b49fBag5nlmiCQiVXP7lq5PAIA7zUhdQ_zVzMh4OE9pXDHBRsYlIXKRuMk-2k708J_3pDgbitwvrRhglQMQSB01lmOBXKZkTDxiPrpQRClboP9xdyMshDYzLJH300eYCOq-M_WMfjXq6SQwrPdHBX6m0Grp0Mbi9BE2eOTC9-_oburD5UdxeVpeCgMuTNqub1zrGDI34lu7TYR6BJ7B_RB3N0hCJ7PB4MdHTrpKnsFCCNoaaq5JGtcPFkNZGiv18o32X53BE3aoeASYXXfTefrPDh4pa_YvGvxf-7oeBFTwkdpI7zZvXWI2exusRuq4SRtLZppqoQRGoQyp-lY73EU8mmiugsbTIkmPBmNb13OT89apioiG9MOP",
  "id": "rs_0fd0a2c96f401977016ab455dbcd6887d0a618797529d61b42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper descended to z≈0.051 m and the bear now fills the wrist view symmetrically, with both fingers down beside it. I am closing around the plush torso.\"}",
  "call_id": "call_MQO1M1GKM1kAshVgXwo2sOe6",
  "id": "fc_0fd0a2c96f401977016ab455dbf83887d0a8b915cf8dc95b01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MQO1M1GKM1kAshVgXwo2sOe6",
  "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]: [-1.0702, 1.8324, 0.9203, -0.1181, -0.8669, -0.9245, 0.285, -0.02, 0.8639, 0.6586, -0.4603, 0.0139, -0.0643, 0.9997]\nstate[eef_state]: left_x=0.3039 left_y=-0.2675 left_z=0.052 left_yaw=0.0826 left_pitch=-0.0228 left_roll=-0.0012 left_gripper=0.285 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.005 right_pitch=-0.0988 right_roll=-0.0454 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -9.0188, 5.7504, 0.6618, -0.359, 0.0757, 0.7057, -0.253, -1.6068, 6.9538, 1.663, -0.0659, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e04cbbb026af7b135c5db85996c2ef6ecc67c929f7ffe82df7668900737a45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8621b8a5e215d122d9ad9ed57dc6a5b25d13810999ff45d933879013ff0ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147dda1abfc519a8bba677fa752157079fc3f1b7659bfee1ddd97c2a723c371f",
      "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 · 3.452 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1165, 0.8188, 0.5816, -0.3748, -0.1791, -0.0792, 0.9983, 1.1324, 2.0686, 1.5253, -0.49, 0.8043, 0.8207, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.1656 left_yaw=0.0598 left_pitch=-0.0368 left_roll=0.0532 left_gripper=0.9983 right_x=0.318 right_y=0.387 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0712 right_roll=-0.033 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.2513, 7.0085, 1.7021, -0.1148, -0.0562, -0.0171, 0.1299, -10.8239, 8.4034, 0.9597, 0.5055, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.8256, 0.9257, -0.1612, -0.8616, -0.9138, 0.9983, -0.0189, 0.8639, 0.6586, -0.4595, 0.0113, -0.0631, 0.9997]\nstate[eef_state]: left_x=0.3013 left_y=-0.2639 left_z=0.0514 left_yaw=0.075 left_pitch=-0.0399 left_roll=0.0339 left_gripper=0.9983 right_x=0.2949 right_y=-0.004 right_z=0.1695 right_yaw=-0.0022 right_pitch=-0.098 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -5.7641, 3.3983, 0.6618, -0.2173, 0.0806, -0.0659, 0.3624, -1.6615, 7.0085, 1.7411, 0.0659, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.8324, 0.9203, -0.1181, -0.8669, -0.9245, 0.285, -0.02, 0.8639, 0.6586, -0.4603, 0.0139, -0.0643, 0.9997]\nstate[eef_state]: left_x=0.3039 left_y=-0.2675 left_z=0.052 left_yaw=0.0826 left_pitch=-0.0228 left_roll=-0.0012 left_gripper=0.285 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.005 right_pitch=-0.0988 right_roll=-0.0454 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -9.0188, 5.7504, 0.6618, -0.359, 0.0757, 0.7057, -0.253, -1.6068, 6.9538, 1.663, -0.0659, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e04cbbb026af7b135c5db85996c2ef6ecc67c929f7ffe82df7668900737a45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8621b8a5e215d122d9ad9ed57dc6a5b25d13810999ff45d933879013ff0ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147dda1abfc519a8bba677fa752157079fc3f1b7659bfee1ddd97c2a723c371f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXgLZnZdibRkYDUklrgjZlz4F_c2T4OXdyJD3lh1bdzuhmEzaBlmZQMqNdfCpIve9VUU7MBJPwOLwdrposQf17zMFmDNvUnidBLaich93DbfU8oHf4kjm9ccp-oa2EHRlbcpKNlSXBk6xxCLcHyWrMQ6_jG7948m19pBr4EHhiZsfoHnk7NAMMCLYEDnPNLhWvalJTIO7nZR2WeOsthIa1SdIqoD7xS_k30uFlzW_2iiNoW3clLz43bwlJJlEWkK0J0hrygRt75hQwyEzEX7I0SOOZ8-QBGtkQWA-6yHcWAmOYVpGFPWuAF_x-jU7IKOFW_QaEngkdiaGItl4ReazNksHFfbn6D52PprxVOu2dAeH6saLOEernBCMMJzjKfphab55E4z0NoClAUBdMNVOySdx0quyUGFmvaBVUQ0DsMoYfiTWrclo30SshNIj1G2aZjGiUsLXWCxLUJqGj_hNH8HjhmWWEasAGTqJhYffQ923oDU0kK9vQnfs17S2KobmRlT6bmfcDFYhdK4dFPLyuCwa7tsfdW47xgjAmYT2Lg9HZ06s56l_INXgOW5BbIriBwwnTIVTz-RtcEcaT-zol3tzJ77BOIzJj7rzlFrk_gLHk5OGUj5tFnBgoBSwGzDNE4lKhdoBuemijZNfLn9cgvUrw8ebGc05QjgSPYEM8qFzPwsDp56EgmdUAv1bnP0ER9qy56Tonrw0-J-IVkdbDYhGZB5UoTdAAm7XizygUGKa98rdgimstj979TGQMaWerS-YDKDPPwVgL5vpNhr8MJ5s8n_levbylMUu_NJ14t22u0yDRIV4fVaAfsweufpu92Bv82wS-FPvRYklXhYW_NE8b1teOPrnE0nlVQ0LHkDMS3OjnvgDJqj2OtOgXjsZ3UGPzuf-7HLqRba-Yxv5re2_fTOjD74Adv2OBoqwr3JCJSpThwd24TgzHrU0Hf-l2zw7aGzO-SrRiNpmNfMb9FgSsfmQDLDstpV-a5PgYolRNJ959SCo0fmNGI5fvlbJbLAoXVF_9hTT5YVHDXJgWUFjKae30Iks8t-Sj4CPafP0dCMdoJqeEOVtsWle-YV2Mqir9_oGWqPdYYpoYIakgzMWr0ZuJ-NAWBPMPpClZXT52J7upp1rQfIz7OpPOv8uEMXOmKeTSyTluFRs6XXAUSJ366N-LLxHHnPL58oH4YjdarX7SkToIjDvlUH-AVHEWU7b72slOE40i5yjD0MFhESs42WZCu2xHLo7HrCkrldZuq7WAeGkHetLQZmVKS8ad7",
  "id": "rs_0fd0a2c96f401977016ab455dec50087d0b834b81c41cdaee8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper settled at 0.285, far above the empty value, confirming a firm grasp on the light bear. I am lifting it above the neighboring toys before transporting it to the right-hand basket.\"}",
  "call_id": "call_qcr8xlsu0WkPyu2pzZFPVXf5",
  "id": "fc_0fd0a2c96f401977016ab455df8d9c87d0be7bfdf637e50720",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qcr8xlsu0WkPyu2pzZFPVXf5",
  "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]: [-1.0702, 1.713, 1.071, -0.4221, -0.8566, -0.9367, 0.2867, -0.02, 0.8639, 0.6586, -0.4603, 0.0143, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.2673 left_z=0.1124 left_yaw=0.0849 left_pitch=-0.0446 left_roll=0.0161 left_gripper=0.2867 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.0051 right_pitch=-0.0988 right_roll=-0.0459 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.7966, 8.8684, 1.1355, -0.5397, 0.0659, 0.1538, -0.1573, -1.6752, 7.0085, 1.6923, -0.0366, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af218f81f682f5ebc53c8717051fe68ffcca7318f80f54721b7f80948b34f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58bf7656bf08bc42f38577681236a2b91d954bfcce80b847be48c579fe1455e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9d1fcac12a9c78f3245b7712cdc282044fe7f9b31ba692eb943b5d226c0502",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.214 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0748, 1.6787, 1.0775, -0.4858, -0.8433, -0.9009, 0.9988, -0.0124, 0.8623, 0.6586, -0.4503, 0.0204, -0.0467, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=-0.2623 left_z=0.1195 left_yaw=0.0557 left_pitch=-0.0658 left_roll=0.0613 left_gripper=0.9988 right_x=0.2962 right_y=-0.0037 right_z=0.1717 right_yaw=-0.0123 right_pitch=-0.087 right_roll=-0.0355 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -7.2274, 8.5538, 0.9499, -0.6813, 0.0269, -0.1392, -0.253, -2.2906, 8.6769, 1.7656, -0.1245, 0.0073, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.8324, 0.9203, -0.1181, -0.8669, -0.9245, 0.285, -0.02, 0.8639, 0.6586, -0.4603, 0.0139, -0.0643, 0.9997]\nstate[eef_state]: left_x=0.3039 left_y=-0.2675 left_z=0.052 left_yaw=0.0826 left_pitch=-0.0228 left_roll=-0.0012 left_gripper=0.285 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.005 right_pitch=-0.0988 right_roll=-0.0454 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -9.0188, 5.7504, 0.6618, -0.359, 0.0757, 0.7057, -0.253, -1.6068, 6.9538, 1.663, -0.0659, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.713, 1.071, -0.4221, -0.8566, -0.9367, 0.2867, -0.02, 0.8639, 0.6586, -0.4603, 0.0143, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.2673 left_z=0.1124 left_yaw=0.0849 left_pitch=-0.0446 left_roll=0.0161 left_gripper=0.2867 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.0051 right_pitch=-0.0988 right_roll=-0.0459 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.7966, 8.8684, 1.1355, -0.5397, 0.0659, 0.1538, -0.1573, -1.6752, 7.0085, 1.6923, -0.0366, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af218f81f682f5ebc53c8717051fe68ffcca7318f80f54721b7f80948b34f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58bf7656bf08bc42f38577681236a2b91d954bfcce80b847be48c579fe1455e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9d1fcac12a9c78f3245b7712cdc282044fe7f9b31ba692eb943b5d226c0502",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXkNXWOuKofsPT8XPc9Hj07f5XDdghN92_UKgBh12JoOw5onXR1ju_qAqlYLPHMkJosUOJMG3LUAqKGji6bRCBOXPE8AVF-tkQK55pQUP3P_fFHc7q42SDdk0mzQNV8nMTLgx47y0rKcl6_sRvFT30EYjLQZVXe_iZYj3HTmR__nF-GiH7enNjNjG7fSR_yO9yAo3_ImM54_b-UPjOsmgG3MUwHL3Viho7fEtV4nb1qM79RcV-54aHDPHDbUwhM-ze6tUofHk2AhW0PP1O85o5dkVrYswLcrR-28XUUSTJeNqz1vTryVoEIPE5dGixApon5FNhVi0Vn38fRUt9-qcFtxGD-AHatarBabfRAKrFCRHD6AGNBYzaM3fHy30khp4pPS8BtsitMvAYPeHgEvou9W-Ek-A7aWyHosNFbFcODqxtVaRS4PfPZBX47xhsqEzkMzK0rGD7Ik8UmDHge8ZqVV8D_yRqfxg1plz1upnELOoZGOo3-lKdzys1Wz8J4zmb35H1107jxbi0uI1e7fN2jEghEhE-leAUSzhlzy2-SbmPigNIRhPFbGXqzNOaMMlBA3vaKU9uWgJr6IXtMVSR9TtBowW0UFpFPY6s9V9wwgWIEJEK4Yxr-LcBj-H2BeHCBKC-BNz7YPPqeR2-m9eNBxnMKnpad2A5xKo5I05oOisMRDl3Cp-71V1aSC3sNODPc1SkryTTVHYIksiU33dn5iucgIPYXqoH_W84NYsoORLc5mONOUHgv_N3XQzstSQC9O7Zbc9-JDC_36qSc6pdqW69861FtwywOv8tKi_kA50Y4iVaeGq9s4PuAHpg72bbM5WPJfuo65LCv0B6sXlq3TZx2kPLI-7HsdOvNIm8lUY_p0DyBV7srPsZg9a7p2IKpKGixrVJzEIBwYpSyq2XMcKReZUfcsthDIo40oCBR9_YWKNXHUtR3ZS0z9WOnNu4O9I-mCOWgRkGRdJCAVZYsXuge1ydVxyyhg9JTJ797bbVaG5AxpUSppqmZlKzLkGTkArCO_Mdf4ACN3iMDefQj-Li41fZFE-QsiQUyDa_V7VG66iCRv8jT7DXBSeOya7Y9zY8pOQKp2y9JS9EJmUWlclk2dYygs6b9YGppbe3aXn9LmYCTj2hjy6jylMF4K41Gxx5kaskfuAJFdkAFRSVje_1kaz6FAES_XLTt5d5DJSXl9qZtri81UxbUD2wby3aCqseoHrUHnAOu73Rq_uAmxAkr3PuAjqibm12HBVR0kLrfapyiaUhxdJCms8hqip9XsI1T1TGkdDYwQ6wZLvslPwbjsMdrDspsEvz9wfhwU3vYHs0bsUGLZ6dWU9vX4OiUMkQqJ82POdsCHIZdj_eLg7q6MRK1N_x0qfp94CQ4ZBvif6MOmCYY7bPTSRjQDDIZa-k1SpBsVP2c1Jk2NVxguN7XQFiJsXC7OxD6pqNmTTC-y2yaRXotZGtj-vR2v23Fih_GiJAkca7mOXAE-hzHi2NvsRrAM8U9yZVELVisgDTmHo0goWDX-xCcr0xQFLHFzb40iyvJ8mAqwog2rz7mO8NJS5-1gz-EuWkDR24KXZgJXNWe6OZgThZdSdf0NPNMrNAWqMI6CJjcbCccD4iV_vlc7O1HVTp8W658W6VLsp-eVDbdWFGJTePseGauf97mjbuqxlUaY5V0ULAg_hemHYxmk9RN-Yrg4GwBwQ_u9pWr6Tpv_g3GxQSBQa-LIQv9U5bvumsy5D4tQ12AbeiKnRry-tMeOOWm5BtogD4gCEw8jlnH8OB2zgCL_faEDK2REPBgXXIGPIoW6rDwZhYMuffzXuwPT9L1ymNQoWiRPUrP5itSeBsA5VpU4D7R5cXl",
  "id": "rs_0fd0a2c96f401977016ab455e1ffb087d0b5c0ec96c650e258",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.39,\"left_z\":0.2},\"note\":\"The light bear rose with the gripper in the overhead view, confirming the lift. I am carrying it high to the center of the right cyan basket, keeping the left basket reserved for the round owl type.\"}",
  "call_id": "call_dGef6A9AYOs602VghZRri1yE",
  "id": "fc_0fd0a2c96f401977016ab455e380c487d0880acea797d931ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dGef6A9AYOs602VghZRri1yE",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.9474, 2.3924, 2.3421, -0.9237, -0.7845, -0.8452, 0.2881, -0.02, 0.8684, 0.6586, -0.4606, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3884 left_z=0.1781 left_yaw=0.1151 left_pitch=-0.06 left_roll=-0.0172 left_gripper=0.2881 right_x=0.295 right_y=-0.0048 right_z=0.168 right_yaw=-0.0034 right_pitch=-0.1038 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -14.2564, 7.2547, 0.6422, -0.5006, 0.4615, 0.1245, -0.2256, -2.0308, 7.0085, 1.619, -0.0073, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab1369d43504072291edd1f10e3cd417b2ccde2acd9db9d7466795aab6aa789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141cffb7399561cc0164bb113a84653e86bffb909ac09b22048f3f011887983d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee007986899ae0ef7d78fed7898aa8919d4da953e64d83262da67d27dd5321b7",
      "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 · 2.331 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.8256, 0.9257, -0.1612, -0.8616, -0.9138, 0.9983, -0.0189, 0.8639, 0.6586, -0.4595, 0.0113, -0.0631, 0.9997]\nstate[eef_state]: left_x=0.3013 left_y=-0.2639 left_z=0.0514 left_yaw=0.075 left_pitch=-0.0399 left_roll=0.0339 left_gripper=0.9983 right_x=0.2949 right_y=-0.004 right_z=0.1695 right_yaw=-0.0022 right_pitch=-0.098 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -5.7641, 3.3983, 0.6618, -0.2173, 0.0806, -0.0659, 0.3624, -1.6615, 7.0085, 1.7411, 0.0659, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.713, 1.071, -0.4221, -0.8566, -0.9367, 0.2867, -0.02, 0.8639, 0.6586, -0.4603, 0.0143, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.2673 left_z=0.1124 left_yaw=0.0849 left_pitch=-0.0446 left_roll=0.0161 left_gripper=0.2867 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.0051 right_pitch=-0.0988 right_roll=-0.0459 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.7966, 8.8684, 1.1355, -0.5397, 0.0659, 0.1538, -0.1573, -1.6752, 7.0085, 1.6923, -0.0366, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9474, 2.3924, 2.3421, -0.9237, -0.7845, -0.8452, 0.2881, -0.02, 0.8684, 0.6586, -0.4606, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3884 left_z=0.1781 left_yaw=0.1151 left_pitch=-0.06 left_roll=-0.0172 left_gripper=0.2881 right_x=0.295 right_y=-0.0048 right_z=0.168 right_yaw=-0.0034 right_pitch=-0.1038 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -14.2564, 7.2547, 0.6422, -0.5006, 0.4615, 0.1245, -0.2256, -2.0308, 7.0085, 1.619, -0.0073, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab1369d43504072291edd1f10e3cd417b2ccde2acd9db9d7466795aab6aa789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141cffb7399561cc0164bb113a84653e86bffb909ac09b22048f3f011887983d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee007986899ae0ef7d78fed7898aa8919d4da953e64d83262da67d27dd5321b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXogzDQEInJNEYA8x83eU_YP4o1c5Yg6IEGQYnvNrPQGOMhuCFvUXxR67pY2QeMr83hPxI5nFF3O2FDEDEa-AW3z6VvcjetbFGsSoxwF90Fj7co288sc8qhZz_RaAXghKIQzlBLBsMgNC6WeJFKjhcQ5T8uHzdWlIjrBZ4ZXy_RLFceANPoKQuFqYUNQhptVepVmrUiaA6y9mQgoPQme3r46NJkJ1bru2Wv-Rsz8CkQTKPDoxc3u4eANHlBLfznQDnNu9HvhqvQ2gGcb7d9xcSsKPxRCAr1xRhQnEN6GM487KDQswhPZq1ETDHFcOd8n9oxhkFJ1eUlAO5IuskXszUuRuI5qpVMNek7cNRW-eS0PG5aObUDqwFWapBn3AjTj6GglvVNM0QaI8Dvcm-ww6HLVJawQnDT4z2pi8sgsGTjbAlVi5Y3oPnTaAcy_2277WWo84-eDtKs3bkc5TRSJxNiC-AembPMAHBkcNw4Kzrbl4oYkuTLcJf6xRW8v7Z-ZdGlLY-Mrw8TnDOiKLszpxUQPWTCcLnpDqmcFeoz-dy-q3AO1wiTTB-6X6k2zDO4E1OOha9O8l8TFoR3MPrN4B7iydwl-8V6CF8qWec2q21sRgc5jClzsaZ94JR4vWqylP1dGE_6Ca1UqwoW65vijy5Xx-GbnohlI2Fps8LmC2D0CDx1iKX3YcVh7RdKKzgjz1OlTSEstR0JmTEQpaJiRgpSGN1yXid0t3MjzSmXYjD1tfgj524OJ6Owyas3f01JiANgeMOmWF-dhTAbi4kvTifrX2t6VOU1ELlgatHo44UcB4-_elfyIWOuapjz1k9F3-9tayXwzQ8obY0Nff1Mc9p1n_JAekkvoiogzmJEzWeClcKdiRhQMRveRCFmzyh926JfISa3qqhuXpkweD0Ii9AKN-mn_nwHgilUJOvffSGQAuvVvzVL49M_j8VphGJ032j8BFtFLiYKhJyVpfhPwn_IQYz1KMnUZYJzn-CjM4ztAx2HOwET9ANKoPx76WTL119jKIXTYMKsQnU_56MoyjN7rmCZiGQoBw40jj8KEqbd7m0hfLdEeA6L9OyyrO59INWrGD9kwCkk13AMR26UdJThhA07t7KaG-I5L_oEWTQPuU0ZvJkk3jWqSFTS_joJwIy6U4_RuC267DBdhnWfOHidoxfws1a3PsZdZkW9-X1H9pxTm2IO1t2EPu1IKBtOTygv9nrxjYBY74kGn83ajqZo-MRyf3Yo7BlW9O-HyG9YiFSxXdXdxF7Ni-KOln7Lk4aKKK9nqU5Z6XEEYJ7YRtURaoLmGMR2uDFDlZRhiEcWab2hgJp-J1A-sjK_wT50eAXDvxehuxRlXMNJVOKzee0h6mr2OVsdqngn-yThXMIGbWFgUJ2QDmXO4nimABJDzK3dMYqBmJkrjoWsO3k9ShL-glWpnel9zxUKLsCQqbGa4ctpuARM2bD3M_cdO1jwRifdS2xzSrlMOi-FBsoYzaBmvjOaJIRlYOO0nBx_31jSPwzy3eIRxkHmrjUI1quIebrxhTMPWQDmN6aI8mFZRIMsBymu4YBl8hW1ukGZ3VVxItgZJpie8tXsb4LuamXRH90fteFenvQNL-zBXWaddR357Kr9qMrewU5Z1z601hw5H31DyOo1txIJEaAYmx8XuWYZN6lKh7oReDd2BBsSCkYGew==",
  "id": "rs_0fd0a2c96f401977016ab455e6afb087d09800f971fd15d079",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"The held bear is centered over the right basket and clears the rim. I am lowering it into the basket until the plush contacts the basket floor or the arm stops short.\"}",
  "call_id": "call_QpEHngAeaGkMhUKe2euUuCBC",
  "id": "fc_0fd0a2c96f401977016ab455e7f21c87d0b798a11a4d968970",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QpEHngAeaGkMhUKe2euUuCBC",
  "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]: [-0.9524, 2.3478, 1.9713, -0.4442, -0.8902, -0.8394, 0.2883, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4502 left_y=-0.3898 left_z=0.1335 left_yaw=0.1743 left_pitch=0.084 left_roll=-0.1105 left_gripper=0.2883 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -8.1436, 2.9744, 0.3101, 0.8132, -0.1197, 0.0024, -0.1846, -1.6889, 6.9538, 1.6679, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e964bb5cf57f87dcadc958eca7483f1e16c73eaaf02c35f665a52def6c6e6911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f5cad33cb59098442722971b5b7e23dd561c70679864ff040a7edfd19b8bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331f9fcc95132b5c033f06dde1fd6ca0398b6c771960ae4d12d6be6d1310a456",
      "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 · 2.798 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.8324, 0.9203, -0.1181, -0.8669, -0.9245, 0.285, -0.02, 0.8639, 0.6586, -0.4603, 0.0139, -0.0643, 0.9997]\nstate[eef_state]: left_x=0.3039 left_y=-0.2675 left_z=0.052 left_yaw=0.0826 left_pitch=-0.0228 left_roll=-0.0012 left_gripper=0.285 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.005 right_pitch=-0.0988 right_roll=-0.0454 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -9.0188, 5.7504, 0.6618, -0.359, 0.0757, 0.7057, -0.253, -1.6068, 6.9538, 1.663, -0.0659, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9474, 2.3924, 2.3421, -0.9237, -0.7845, -0.8452, 0.2881, -0.02, 0.8684, 0.6586, -0.4606, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3884 left_z=0.1781 left_yaw=0.1151 left_pitch=-0.06 left_roll=-0.0172 left_gripper=0.2881 right_x=0.295 right_y=-0.0048 right_z=0.168 right_yaw=-0.0034 right_pitch=-0.1038 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -14.2564, 7.2547, 0.6422, -0.5006, 0.4615, 0.1245, -0.2256, -2.0308, 7.0085, 1.619, -0.0073, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 2.3478, 1.9713, -0.4442, -0.8902, -0.8394, 0.2883, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4502 left_y=-0.3898 left_z=0.1335 left_yaw=0.1743 left_pitch=0.084 left_roll=-0.1105 left_gripper=0.2883 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -8.1436, 2.9744, 0.3101, 0.8132, -0.1197, 0.0024, -0.1846, -1.6889, 6.9538, 1.6679, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e964bb5cf57f87dcadc958eca7483f1e16c73eaaf02c35f665a52def6c6e6911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f5cad33cb59098442722971b5b7e23dd561c70679864ff040a7edfd19b8bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331f9fcc95132b5c033f06dde1fd6ca0398b6c771960ae4d12d6be6d1310a456",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXrprSwHkh8SqI6f-dqo63EtiShxZCAu69CuSktWveKyCqsrTpUEAJwmOKJs4SBDRV6XKCXCNPnuIJfC7ulSbcQ6zTQXoDtVh7qGkWWreMKOloEeSK1bUinrbvuAx8Xw0SUhI3TOwFzZApBYNX2DjcvfePTW-zjcYP080pq-YNQvMG1tcooo5faqd4HauZDQCRXi6WvQzpRROBxSRXrP1Q5wxRPjWO7zwz0zr5w--T_CX3NX2UV6iDA1ximt6Pk4jl0sxqMxy2YI2Kf5YH1jE4tvfp5mhdrgfLf-hIL9Q7jPFP_kxGyTDOKe0uxYFYB45LTEFRej0Z1sMX0PTmIrUTDpo10Krzg6tGm_FW0Na2z1pwHYgfWu3Uz06y2WBtl-69AlxgyRcWOB-c26_vYKBUgXsRbCg39qVb5DlHP5kAXd09QqUnhSD7GEAmkHBTcacgHiT4NUO6r94MO39035p_9zy8JTnQ2Ywd8BOOobSSIumiCNCDkxgpmP9liuXQo5er_ajcxVl5fsfEilRha46YTAzl1CGQLqTIeAN7kl7TtlKnfugO2jIUneTJwMOm_gTz0FZwmuV3OzSFaD-jP6vh679YapmRQMqIgSXO_FhyXhexestmG3BZWQ3QbiELa2JdmBqdjOVdTRI9hKOKiu6LIQIg-RVtFVZo1geQc0wht-pelvU0l4H4ct8dvNZwqg3Y5aRh7YFMjlH1M75HxIJ5HlqvtjGKG5oqxvK_6AFpWyG3mCvU_Ep_vRNxNTh6sat9VAXxHZdSsF2LzXPs_jMX1K9oVjabkWesQn1rHC9ZmHlyezJhk2fp4dacDiuket8T2E6vcfZlPMUXSaDiu-x2bZLzPVJJYd6NxAEu-kh0JanlBI93cjAnwKki1Dc7xNVisG1AiBp58l217EpngNQw-s7mW9-iRA9vgJSFbcpzTQf3ldboht9N_S4tXQ2ku8lT2c_sWh4M7oOh6WYDE3vqj4zZ4KKzP206v53CXBLJgi8I_v3Alt11menpBMjfCgsMiBM2RlYvhE54oKeJD3vmTlgfBdiKiRSjeF2uWue-GgE_peU8u2Bbkb9aO3veKqbrQOKPvaJLdl028lo_fMvpLv3YgDpT97txY-CGlUS3-0uc3YuJ5CluYDsNUs5gDRr-0JflXDU8AUrIh_B3RJPSW2K2Gvbbs-peECKZI0F8It-s_XNjs1GKmDstFAanHvPhPJETZ-iNdOOX8Hc-JKz7VjQDJq4HyNIkKsfVEw6D9SucVwim3TFWTbIgYBdvoKqBP",
  "id": "rs_0fd0a2c96f401977016ab455ead36087d0882a8f6cd30d315c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped at z≈0.134 m with the bear visibly inside the basket and the carried load supported, indicating contact with the basket interior. I am opening the fingers to release it.\"}",
  "call_id": "call_zLDeUELLl9mNAulIYOHzFB8J",
  "id": "fc_0fd0a2c96f401977016ab455eb148087d083ed27624e13d839",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zLDeUELLl9mNAulIYOHzFB8J",
  "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]: [-0.9539, 2.3486, 1.9633, -0.4332, -0.8959, -0.8562, 0.9956, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4499 left_y=-0.3898 left_z=0.132 left_yaw=0.1857 left_pitch=0.0877 left_roll=-0.1258 left_gripper=0.9956 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -13.8735, 7.3094, 1.2039, -0.359, 0.105, -0.232, -0.0752, -1.7026, 7.0906, 1.6923, -0.022, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44fb4ed8101900de90a561185c4d8a504e8b6714b8ad36f2b5ce55f5074e9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73f6342dd02a945967498760230bba679b39533d396c1906283f3bc94403cab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a39c94c3b09bcf0d8a05c8b20742c0304534b6fa6e31cb68b238758a2fd0bca",
      "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 · 5.863 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.713, 1.071, -0.4221, -0.8566, -0.9367, 0.2867, -0.02, 0.8639, 0.6586, -0.4603, 0.0143, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.3025 left_y=-0.2673 left_z=0.1124 left_yaw=0.0849 left_pitch=-0.0446 left_roll=0.0161 left_gripper=0.2867 right_x=0.2948 right_y=-0.0048 right_z=0.1694 right_yaw=-0.0051 right_pitch=-0.0988 right_roll=-0.0459 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.7966, 8.8684, 1.1355, -0.5397, 0.0659, 0.1538, -0.1573, -1.6752, 7.0085, 1.6923, -0.0366, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 2.3478, 1.9713, -0.4442, -0.8902, -0.8394, 0.2883, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4502 left_y=-0.3898 left_z=0.1335 left_yaw=0.1743 left_pitch=0.084 left_roll=-0.1105 left_gripper=0.2883 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -8.1436, 2.9744, 0.3101, 0.8132, -0.1197, 0.0024, -0.1846, -1.6889, 6.9538, 1.6679, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9539, 2.3486, 1.9633, -0.4332, -0.8959, -0.8562, 0.9956, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4499 left_y=-0.3898 left_z=0.132 left_yaw=0.1857 left_pitch=0.0877 left_roll=-0.1258 left_gripper=0.9956 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -13.8735, 7.3094, 1.2039, -0.359, 0.105, -0.232, -0.0752, -1.7026, 7.0906, 1.6923, -0.022, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44fb4ed8101900de90a561185c4d8a504e8b6714b8ad36f2b5ce55f5074e9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73f6342dd02a945967498760230bba679b39533d396c1906283f3bc94403cab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a39c94c3b09bcf0d8a05c8b20742c0304534b6fa6e31cb68b238758a2fd0bca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXveEhi0b_9DKQWMoXnogmWWyiBem8S0IB-DHudGgYsHtVpdDVIfbz0p5jX9WeLdotC1A6NT1cuKgAYHsouiyyHy3RwMfqzt_dMmWfM6fA3VR-LPImV8EP572kt9VkhLwPKvyA50Iye-jKCNvBnR38jqEB8mAcvg7JGgb-53rrYC22jaAEBgkYfFTSkH8zuQV7RAL4-4lJHAJh71T47zcP5UuoW1ODQjXfqgSCoBEaa1jOFMieog91g1IukPHd6l8Xwg7WZMmhYzR02Dw-yd_Wsf3TMjLZ5n3E7rBxbtcnrsiXP2TtzzhdWxwCGlgQbWkW2OquO794zFU-0WcVl3wEGA0iezHf7xSLomGKzpYdko8x3hK-l3M26lVUUvElHXKyhUdhHqgPJ1kXl-qLnmAMwaP_RyLDfC-d34PV1PLC4I6wP0MiA39RIO2togBG5gDqOLSMex_4iC5Emmm49PoBvi24Q2tvCGQYs8n2cOxZhXNZBrqP4DGdrhleCif_EGCXEVBiKxpbxWm4qVrv8s8UBu5Bn9rRX9XmZPWWiw7p0IGtEux6bEvS0NkWQQuGsNaeE_iNMdH-LxLRt3J1zjWCom2j_Qzi_f7-Nj5IDlTTYr6hUoVn23hRJSTCMTiwH3l_H01kw8AqwFgUqYOv5y5q77gO_hJZ2Zhrokj-K8XDJWfKhhJpUKu-kkPad1xyFNy2M-7OswjvG4av5Qr_tYrMO4a5hz762K00EpwxgLZF1uIiCh47cQGLLBTYZkPpwjGROcq2xV17AN7yHKtHI_c7Qv4u0HFP-JP2_Ii6YxWYyFAKEwJLLhsvpoC69BuYNc294mqmJlqy503RVSQaMXmpg59UD5tSrfEAdzqg8HOCnq_NNSpvlqDVn2khtCowzs4aIJqoiEraec3x8a_Q8fPW1Z0G3WuWNkw6Q-x3jQfPXpNT_JweMKgbblz6TLa30hwrE5I6hm-ETszGRXy4Y6JBC5DWwgd2hK1rNzauRxAgbCzTA0ZrlkDhk1ss0thsTfcHlAGng4fWi4PdfttWntuazlvKK_Bv1gEsbiAD5IROoX3XzvApA6pbiIx5OiXcRFMwPRgBzWQl2bEk1FAOL-XvouSs6PtWfSeJZfVdOYzPgP2dCrmy3JdLSvdI7XGqi4Uwu-6ZlnYVBe-cjfNMmPCuz462E_c6j8aaoFrf4EgbHu1Afljrevn_HuDW4qKHGEgErKgyC9gMKAWZVl46u6EcZkwSMOf-3XP1oSrjvgw8QgnZr1-X7qZVUUa5IN4O8CP1uHXXD0Vtf_iStjRGznsUCB4-2pqNo2yiYWAnwznDbhXl9Pbo-_U9gcXPXTBr8t-OWNBJZMMvdP1W2kNFczz1dDQJPo3x4wcu1iXpO3_mcnuQFo3-6l6c07huw87043EcilOgR8wJ59d-q2sub70c_MFewxjhode2lY-Ss_s5s2DCn-_rTgE_YocVvydXRJNX1PV7NsHTovwrjuRKZGRkRvl6JkWyJtMzRe4-O_y_helZMUEuJ_CS_xNe6vXqItrbPJvjMVBkh1T5m5JjkQq9IKa6sdaydQRxv5UIg5YFTnmS1NSmx6vKt5ZKm2k2NOGyUHDmNluVF4UV6B5303CW9UeVqkoFOYkhbUFbp382kKTBYdUqnTI0VQrGmic9kOKb5_24awfYa7ArKuWIRYdXgO_X95Bvjj8nPDhFyWGiLnv9l0HzCb3ql59AZx1gwild_",
  "id": "rs_0fd0a2c96f401977016ab455ed7be087d0b527c2427e258b1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.34,\"left_z\":0.2},\"note\":\"The fingers are open, but the arm still occludes the basket and the bear may be brushing one finger after release. I am lifting and backing away to clear the rim and verify whether the bear remained in the right basket.\"}",
  "call_id": "call_FhcfYhafGmoDasc0JY456KZR",
  "id": "fc_0fd0a2c96f401977016ab455ee75fc87d087c750ec0679fa8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FhcfYhafGmoDasc0JY456KZR",
  "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]: [-1.0157, 2.0399, 1.6886, -0.527, -0.9131, -0.9222, 0.9967, -0.02, 0.8715, 0.6586, -0.4599, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3874 left_y=-0.3526 left_z=0.1826 left_yaw=0.1657 left_pitch=0.0716 left_roll=-0.124 left_gripper=0.9967 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0035 right_pitch=-0.1061 right_roll=-0.0488 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.1214, 5.9829, 1.3065, -0.5055, -0.0806, 0.1001, -0.0889, -1.6752, 6.9402, 1.6777, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f97091109fd9d44a8e24bded88a7d1f0c4c719b6afedac80fa4f1e3f5f90cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab980a681d8ed51ea4e91d44decf40788bd7588ef5131a7ccdeba37de025f7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d308041fbfca226db55fb2bbd466d1483ea3c658c5451650298464337a42d4f",
      "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 · 2.933 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9474, 2.3924, 2.3421, -0.9237, -0.7845, -0.8452, 0.2881, -0.02, 0.8684, 0.6586, -0.4606, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4374 left_y=-0.3884 left_z=0.1781 left_yaw=0.1151 left_pitch=-0.06 left_roll=-0.0172 left_gripper=0.2881 right_x=0.295 right_y=-0.0048 right_z=0.168 right_yaw=-0.0034 right_pitch=-0.1038 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -14.2564, 7.2547, 0.6422, -0.5006, 0.4615, 0.1245, -0.2256, -2.0308, 7.0085, 1.619, -0.0073, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9539, 2.3486, 1.9633, -0.4332, -0.8959, -0.8562, 0.9956, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4499 left_y=-0.3898 left_z=0.132 left_yaw=0.1857 left_pitch=0.0877 left_roll=-0.1258 left_gripper=0.9956 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -13.8735, 7.3094, 1.2039, -0.359, 0.105, -0.232, -0.0752, -1.7026, 7.0906, 1.6923, -0.022, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0157, 2.0399, 1.6886, -0.527, -0.9131, -0.9222, 0.9967, -0.02, 0.8715, 0.6586, -0.4599, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3874 left_y=-0.3526 left_z=0.1826 left_yaw=0.1657 left_pitch=0.0716 left_roll=-0.124 left_gripper=0.9967 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0035 right_pitch=-0.1061 right_roll=-0.0488 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.1214, 5.9829, 1.3065, -0.5055, -0.0806, 0.1001, -0.0889, -1.6752, 6.9402, 1.6777, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f97091109fd9d44a8e24bded88a7d1f0c4c719b6afedac80fa4f1e3f5f90cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab980a681d8ed51ea4e91d44decf40788bd7588ef5131a7ccdeba37de025f7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d308041fbfca226db55fb2bbd466d1483ea3c658c5451650298464337a42d4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFX1GOUMwrdTYh8d0_09OBJbCA1xgsbTy4wz3gqSt1mNHkIvtkd8LLJJJkb6LF9ap1gHVx9-XXNgvsdoZHTIesRrbtnVFscOH_mNL8idAHdR4ICIB3jkV3-5DrzeHsuwSHn0Zq4aEbzvZGm-K9ztQukyeovQHe9QPbQ20cdeP-4kEzSE83fwKwk_v7iDGHRu1FnA0nQFz486lzaMs_f1u4aVPaNEJW72iJOjqRg0_pyJkESd2h10W07E_uH3UsHU2VgUpu8TiTytUrdSWwUQD53MzOYsPbmvcZCw58UUAm9Qo6QitE6qcWqUFTDnKcAEfd_R6a9WjogBOCI1TYKNrMkXUiKqgIovJKAUk6hZwlIGDvEOoslHbVVTAjS0vZPBMbJd50Tdc_Y_RG24fcJAsVxjLuCwPK9KWvL7vs6X-VNvIWywJvwlLOiufDiTIhYuOYrFZ1QOacuwY2q-yUbLA0wRH43DnnYNddf-IUAZCDwWBtwiJNUmnHQIX1nB-S4oePW9mR-S94NRo_mp6mAoeANJn89M2Z6bJurCTJj--OXUPdX67mX3EX4wgu-Vg5joRbmaJSYHB3jlkeK4fpks0dHinDlqTwwHKLYc5IWXZZAifKnLKBLgCM_4bmYSQVehYxonSdsc8dszKTAf5dyjwQLtYuN5gg_tWVKkRyIQTuC0lhwxpSl7WR632NzVuD4EAIh_PuQCj0ztdEzguNsk5422OqZgae-s47Hs9xLybxOwPCY6ldrn6MV8VMdFKbGNLn5S_vhQvRubdjIO8rPLAP-CE7APai3a0u9YPzcMnrmeVvFuM0DI9jmyc4hYF428V4eFAjSRnRNMiKHi437qfvpqZwP9VwGZb7I3zBJnnuurcwZn5yvDgxM1R7RfAFX0t5ur93bL4mtwrMBXWucOLVV5RffyxholC4J2jtSCiCLx9Ggk44jHeGtqY-F6SNxor3xuoyb-PxAmB1FeA2TJAo4vz4jWO87la0LxX_wHvxlpq2Gg8NEZOIx7RSi1ReBopMnizjVvHOUXXhpS7w5COvbylvACKBDZ2S03oQCZM34WLCupKkNphiPxJlA23-bam-n_B26ZrxxFhNbBjCX56WVOjjXcWgjUe95N50k1hKYpw1mDBZ5Wcd3-9XxguNSis6snFNHrq5w46IKWcrPW5YVD7HWiWq98iNiGiAA4_QDBfA9TNy4-V6XtFCMPuPaLuUykBwEZyhmdDNhygJ_t3V_AxZBnpwhX6HZyYjwncslQpSn3CaEM1EFEiXIXJatBCP-6_NkJQjzwE384Bc0kzSzRWTAXBqiomoKBi83Bb58J938e9ZjYVe7dIvk8juokGu8DfyuaIeP9oLdxsVYUTdHY0Vr4HE7s8BahUFNpktTXbtcL5wk-f_Gi_e0ZpuWV_1kY01rqZJqxt8PNQh5-guc7N1objFkCaxGMQmQrnP8A2o7MzIr_HtYQAdIn-VChOs07yAPg6fEwH6SkDVsVYUicE-YPuei6telY8TGTxsw1JyvOqOy2_FofUzVL4a84WYEeXHcA5Md3x5FJziWVL6IXRGOY9JmEp7JKt4XaGQX4pLDwnk_xcEFg4pXKs9OQKiQ0I0UKppJoG33lQpjZ5b-ZSWYqdrMUOnwX75aCd-ass4BybA94XGPLVU-7J13NWxucPoRTezq9x8kHVFwd0NkEq4kiizPEdeiWG1cejmXBNrqTcGcaVz19-SNX6ahRL7Sn37LT6WN0IzfioZ-tEha1muajw2pzEwwG7tNfNlrrbxglUk4rjyNNihXeX_GZdt64mCo5Dx-XQ2OZwIb5lNcAFzqty3W_pNcj004q9FPERAFi9uZnhi_Z5fhOCX_oW8XlMoWcF6luE31-OvqkI9ZcEtaFklj-KF9Hmk3rbMlhy9k62OcDC0ux6Tc0lFq4KA39led42uc6RfLteIN3VQ-NdrQFTw2XyWhyn61wAPL4_eqUVlBEHnPr49d-ThKj3e1abfW1uVe1DCSvnuIkR9kWd9WME23FeBD7oS9VHA56dxu5KsnNasMiDZAHS-HIvcxfwSZRlK4g27aStax5mFfD5QFKPPxM1yiGoR2R5hJ9ZUc10hUm8sMDGujwEiv6bnYFcFyJ0RXElaf6L0Gx7e3FWITgF-BgkZodpN13giPBB1Lrq1UNuh9N11Edy8huxifXH63hmpgwuzk0b2UPQdCCnf1ZuGcDkvtA04u6ciPrVRNh4HdHZQZgcrQOsTVS5qhqrEthyYPZY14ECpDta3eU-MNSVNxNEJ6RAmfTjuyUPpwZDrrw3lsUB38YGVHmdY1PJgkox8PILTWqDZmh0YbgE3cKjnMKW5Q0t3o94O_YFCmNo0wXcwQac45NAZb-k-u22Tm1qu68lxYEl8A6ElVKwhNthrq3JM5eO3Xu5W5HFNNUSdJOVA2N5ns13y0d5AHQHO3TX9TqBWrghQzDJYHa4fGMmCBeBPpBwaZhhgpx_FFqIHBtHAhYan8rQReD-kneIIF_Q1_uQ8djiz4dcEN7_SLSvq0_3x67f9I2avHTLIZyNKEmnVzuoUhanOHAdnR3Mb04zpVUN-d54Xqt-dG3c8hWbLOsxycJuS7teQu8SpZ_Tebov96oyBGKnpWgRLPDV6qFddlUlpi0cGQawYgdb8v_iD_Vx7r-WfKYhFuJC_xPO0_h5Q38NlKZPcNIuU6-lIr2yV9fcYsKWaN-Pb71vPLMskc5HPgwSlklap20RvmmWFUJdkMo4G2Qm0yN84pJAdqcqGl7ftHbKPrTlI3MSwXMiifRCEglWHAsLE9UALHMe8N84sDEMNSqhuMImI7z9Jicl4gAY5LDuQGydGOr9HNt442_pN2-2IVJIGUxBzm_lqjmbSkntjXiLqd4wKZoXHJX2LcQuEK0VedUwS9rkUj5GSpwAzu6WFbFimIL5X2uvb1of-K11rF0rFIuolLE5HmrnUjNBnrMSVzQrYBsmij1kVFpqG8Hd37Jz5v88Rs_qW3vJPJlYEpIgXBvxITt",
  "id": "rs_0fd0a2c96f401977016ab455f0eed887d091b92b45e43e2367",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"With the arm clear, the bear is visible upright on the table immediately in front of the right basket—it caught the rim and fell outside. It is isolated and centered between the jaws now, so I am descending at the same lateral pose for a clean regrasp.\"}",
  "call_id": "call_yCd05TLdRuWjRDT8vC1KoTpJ",
  "id": "fc_0fd0a2c96f401977016ab455f4922487d097bbc57ea7baa3be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yCd05TLdRuWjRDT8vC1KoTpJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1567, 1.4307, -0.1589, -0.9207, -0.9245, 0.9968, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3852 left_y=-0.3515 left_z=0.0774 left_yaw=0.167 left_pitch=0.0745 left_roll=-0.1178 left_gripper=0.9968 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.8667, 5.6, 1.2576, -0.2906, -0.0122, 0.0024, -0.2667, -1.347, 6.9675, 1.6435, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4eb06a493406f0b11a04c1683ddd927b4100ab61334016963ee1d18b496dae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cceeee9acb3c63d0d1503f673f5506684b5675815dbd1a0648fa11190628ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15227314bfd459f8bb5cc77e690578ddb6fc5e29655b3bca5b03b9dcc72fe561",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 9.103 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 2.3478, 1.9713, -0.4442, -0.8902, -0.8394, 0.2883, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4502 left_y=-0.3898 left_z=0.1335 left_yaw=0.1743 left_pitch=0.084 left_roll=-0.1105 left_gripper=0.2883 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -8.1436, 2.9744, 0.3101, 0.8132, -0.1197, 0.0024, -0.1846, -1.6889, 6.9538, 1.6679, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0157, 2.0399, 1.6886, -0.527, -0.9131, -0.9222, 0.9967, -0.02, 0.8715, 0.6586, -0.4599, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3874 left_y=-0.3526 left_z=0.1826 left_yaw=0.1657 left_pitch=0.0716 left_roll=-0.124 left_gripper=0.9967 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0035 right_pitch=-0.1061 right_roll=-0.0488 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.1214, 5.9829, 1.3065, -0.5055, -0.0806, 0.1001, -0.0889, -1.6752, 6.9402, 1.6777, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1567, 1.4307, -0.1589, -0.9207, -0.9245, 0.9968, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3852 left_y=-0.3515 left_z=0.0774 left_yaw=0.167 left_pitch=0.0745 left_roll=-0.1178 left_gripper=0.9968 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.8667, 5.6, 1.2576, -0.2906, -0.0122, 0.0024, -0.2667, -1.347, 6.9675, 1.6435, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4eb06a493406f0b11a04c1683ddd927b4100ab61334016963ee1d18b496dae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cceeee9acb3c63d0d1503f673f5506684b5675815dbd1a0648fa11190628ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15227314bfd459f8bb5cc77e690578ddb6fc5e29655b3bca5b03b9dcc72fe561",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFX5TjGhMztowucrDmxFGMBitTfAGnB78FiFJBfAY4vBWvyrN7P39amWnx4SQCwPlAwymetgZaiJgEmuXevks1_We0SsC5EQkHMNjU2lE0i3cCaBZc7A0RnnZfSlU4mfTcrDQDhVpQFijrRNuFHmlYX0S5L2zH7hC8T5fc6OdY5RLcde7lqPClHEP1c7skRAWGR71uSiVSU7Sp2l07KMbTzY5PN8sK6BDm774pSgvJ1u1WTuFvtehaFjOZPqtTsx16LsrbXre7-UyR6-7qhofXMIJ2DTyNt5XFPlG7QBI5QzxLYk35GUmk4Ikt7UFOxR61UICgdCTQgWVV1JbwTAzrAaAgxO3xJrHTMf9J6m8sVghpSAK8f-YALsTJXbMZTfdSKXM4n1NSryqJlCUla1NEP97SjthBI0ADAaj71eSwZgpq7bym-2YmkFG1unr3ltbZ6Gj9Z-HMlNAwlcZDC8d--aTJ4KVNZtRVfXfbpkEahhYOlB3tkl9FzIpfatwQ1O57EcHK-Ff3nrAYzvZY5FqS5QqH8MG2c1ObMJLcuHNGdSOwhP0KM-ZVbKcI-XmPzbVeEcl86EujwtwAp-k_D0LW6W85KonvnognK9NLDb68QnIpW4JX1qYlown7NyJdo5J6gaOtkvX-GyT7X3j2QAxymiQ5SX3fwiMsSQJAc-ttLIIDXOPJ4UiKXedlmuQ847BBYbQE1KrUlGXAjHNs75p64aSDAYSv9OzzCy3dKcl_77rZoBeF2RQ1OPkhOP3rEcSTpWw5XNjj1ugKngBmVU78Q56Kuzc07A0P4X4laNDxcZNlEAakCQ5688XCH4IrfsCpxG0utKfVBtgKNo606aX9hE_MvoPCuIyaVlT2AbOL6psPLK4FkxvDylznvSjlZM2Vk9uHnpGEXjfFMc8aJSgsOw19IPmBrH8wA55SPfbPGnOdYQA9vYP010fitP6_kQeUgG23l_sWCLyHioa1Z5_KesBXpyEVTiZMhDrz-aABsp_wa0IchWoyxx8ADdr4BK00InSBq0fgVnVov_TI0YmS9AODGj1ps2IzdEtCwReM9uGDfBpy339nVcxeP75F-XPqyQ8JajwWaibvY3g7zpNCB6oJnorkk6FSJ24F3VRmlGGw2_KPTj2H_ChKGrdeyLYDIva8eno4cxB93UdHtAWqzSywG38Q0kbBCipNQwQxUl_j9CUwQxV7PNKnfLtdAmgk4G1SN_9P5YiIR2Zy4VRrdH7LzUJ6uBX0xGDZNg03QvAKiXJaw9EJk_8EQJlCx5i_FwEls2Pco5i8yy8mPX0BQIVms5PleozIFDMhjGS3qA14g=",
  "id": "rs_0fd0a2c96f401977016ab455f7e1f887d09feb90007c47db58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The isolated bear is now symmetrically between the fingers at z≈0.077 m, with its torso filling the jaw gap rather than sitting under one fingertip. I am closing for the regrasp.\"}",
  "call_id": "call_iQtEKROjlONRLoP8aBlQ2pxQ",
  "id": "fc_0fd0a2c96f401977016ab455f8323887d0bbecfce8f97c404d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iQtEKROjlONRLoP8aBlQ2pxQ",
  "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]: [-1.0199, 2.1918, 1.4132, -0.1459, -0.9134, -0.9283, 0.0099, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3826 left_y=-0.3487 left_z=0.0554 left_yaw=0.1623 left_pitch=0.0541 left_roll=-0.0865 left_gripper=0.0099 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -14.8171, 7.2547, 1.1111, -0.442, 0.0171, 0.7643, -0.1846, -1.4838, 6.9812, 1.6386, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d1f50724a48950b1999097303154ecae78aac0755d6f9a3059b6db586f2bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbc97c2fe2b99dfad4b6d87ccaf22938947300b00a8c7ff07e00476f970b3bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbb47a4730fcfba5bfc4c5952154d4329a297580933a1aefc3a8bbe6a01ce91",
      "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 · 3.768 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9539, 2.3486, 1.9633, -0.4332, -0.8959, -0.8562, 0.9956, -0.02, 0.8696, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.4499 left_y=-0.3898 left_z=0.132 left_yaw=0.1857 left_pitch=0.0877 left_roll=-0.1258 left_gripper=0.9956 right_x=0.2951 right_y=-0.0048 right_z=0.1678 right_yaw=-0.0034 right_pitch=-0.1046 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -13.8735, 7.3094, 1.2039, -0.359, 0.105, -0.232, -0.0752, -1.7026, 7.0906, 1.6923, -0.022, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1567, 1.4307, -0.1589, -0.9207, -0.9245, 0.9968, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3852 left_y=-0.3515 left_z=0.0774 left_yaw=0.167 left_pitch=0.0745 left_roll=-0.1178 left_gripper=0.9968 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.8667, 5.6, 1.2576, -0.2906, -0.0122, 0.0024, -0.2667, -1.347, 6.9675, 1.6435, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1918, 1.4132, -0.1459, -0.9134, -0.9283, 0.0099, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3826 left_y=-0.3487 left_z=0.0554 left_yaw=0.1623 left_pitch=0.0541 left_roll=-0.0865 left_gripper=0.0099 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -14.8171, 7.2547, 1.1111, -0.442, 0.0171, 0.7643, -0.1846, -1.4838, 6.9812, 1.6386, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d1f50724a48950b1999097303154ecae78aac0755d6f9a3059b6db586f2bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbc97c2fe2b99dfad4b6d87ccaf22938947300b00a8c7ff07e00476f970b3bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbb47a4730fcfba5bfc4c5952154d4329a297580933a1aefc3a8bbe6a01ce91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFYDQHsu3zBw6D0vjIudiMCpKJDza_JHPEEuJ13umeR7sTTxj3PvwMl0a6R3zZ_9evx3Qj90y3kye6cApmgsb8cgBCo9UqtJOg-II2Do-AMfWOkcfAHtoZrSQv9tasvdgLxqSg7TwTQlhe0g4grbMjMjGkrJOfNf4eakY8UQT3ys-3zg3NNJHEMld6BY9LAm_XYDfyIVaWl5Cq7wBjBA0FRPXK22MqBwE28AobkUtzhgFTFZIcW9Whgk0uV6wzyophFHeBcNSvZmbD-M3YTKsWGo-V_angi3Sykm5gStf8v6mXwpCiG518Pv41PBZ-H5YFQSSHZ9ikFCV9pAZx9fTwu82WwezdOQKsq1sTky0Z6QGUOQeR5303rSuSsORBk9XRFHgxShsfB3Ix0bSVNaE18DoJLaM1AUa5umvNgK1iivAFCirKezLW0YEP0S-3B0i7h5T0B5VQPYx8cxHwc2MQDUvuFA8pGHBI65dSYz9-FopsyoTbAw0P3eeHKz5_SOQqkkYzvO-A0kT-LhNwF8HJr1C9H-B684GTfPaUJ_7KeAhDwLIthQ8Ib5AgAW8vOHj1jTkKZtLnY2zfi2dF2_Jcrtc4luM7Tz5n0crP_FFS4PTfmb2wURgUjl885lgmL0O4zZ6sPGy1aWzJ9oEWHRbRWnH_FbksA-bwJ-1CO9ozu8FjMkWpyRbeaKXJrtE6VeM6MHO2RZb3Uy2Yqg-o8xBg_pdyOzLRW9yiSJhJQ3l-hG6BJ-sItlmnrO6RLD_nZSNJFbtlR6dn97MiQTnh6F9oCte5LktDMSw7QyN0yRina0JzqRQXfNtcQSr_BdrSgf8HIUJ06jALZ9Ssn66eXDnnZ6Yjm02X9r3daPma9lrNnNTQ1U5wAeX7SjmSlCaSD59GW0MSGQQHqKjvRD3MgpPHWQNFFw8ojlpmDk6z7fwPSuP4JmHWgg8G5jRQrVRNEs7SicXFuycZ3WQXKqQES5wfJHAse_fo_x1STAjpPqCCAhGUtUqYH9cDGQy0_Vc7zXt8mehMFOTa-UYSiKX6OEMOW5UjHde7E0rwPVIItXvCSlJHBEewRYcTP_dLE5fg5iGdjA6uaeqKDoTzhbA3b_QSDVJJ-3-0Daafx2Z0x6fCme2Lv9DK87d7I2qk-8q-9352wgY1lRYWwIXqmN7soRncOishaKSDihcBqErSxfSOK-w8MDktjThVd4hDnFoy0zp6XgmnzsEnJeh2LIngiy76Swad3r8AVSiZO_hBPSPSAaK-u6Gf1t1MbAOJyhBxovGbUI1vQx679Ej5FixOZjJ_KWHJ-d-NwhX4Pp0bHklCmAm37IbTd8XY5BaaxbVKK5DdmbPhjqgFHh9JIHNlLXlUgOi3fmKbe10-u6dOzvsU_7LIMQAS-KwaSQEJLjGLSDU6qs9UzAPtQG22TMvLYsB0hF7GKy21UE-e2nRDoZQ6iLuu3nSov7MV6Mgugs5ZpcpDt_WT-k4KGi1F6jLLnEaFTcgdNWVQsaE01YE9MyGAu5MDdiFED6SEw7kPzEmo6palniv1X5c98lKtpGcIEIGsyFswvz4Psnd1zDPjOdpmO0reyd6flDlmHxYMYIaZGM9-zn16dGTx5Yu7un4nvgpferCNXnnbqhvz0VEjKC8psdn-IAytVOfKZe6rBJEVTFCZ2EvVrYDkTfEpvu4alE3lG4AztOLmVKD4K0sAo1CtuVwMLFulIwJgcJbsD5Iys0jeVElQndJ6mjAg30dOeXCnPBUdjC2hg_Nw8BSf9o4KRG6wVSpciKq6K1QDYHZIkUiIQ_iE6tCki6eAptdrvq16lCj8dLEQpoItMMj7IigI3gBz--jMwFPmcGo2TGKM961v6b4AKa913ChzL6zSkttgvTugTIlUsdAA64GPg45hcC5AmZxeTKZ7bQV1B3O2eH4OrBxZeLE9joII4jPS4yNNk2407nHWugd4xjh8fp1u2ytwKOwW0ES0h9xsO2dQRyLdFARehC2tRaacXgZ4TsFXlKlsvDlbX_1XTINdnThltw9OaY3peqSWnuZARPN2_u5cKwHECtO5qTvp5-kz4PYk_Ne-zBZh0vphM6pid4HB6Qm5b5o0DGKOmbIPrSlYmj9SMiJWoO7AwEAQ0YIKBzRJP3-TTo6dcp5Ki3ZJJRXuGp0gG78UlOOX46MueHNIQ24ZJ9F5qErsJnFhl8Kamzy1oKlYuCY3urkREcEmh8MTjl8dGzTo9suc-3zvsuf61F6XjIxt36BnZehwBO-xQbLLkBlYsJEYUKMdgtse22DsvrnUtfFcpFdTx-DzQQ7Lknbb0nlvH2AGcWq3YM9J6AYfasA_uK48RfcCA8Qh7bp3o6OAr3LUoQBhRPE8N2-K-qLT1fLZBE_Gb8pF3_Cg87On4nM7x7CytP_T94j8RdZmxFsfiemrPKAclb1ERu4ZnL6yCvTeqR_ujSHkOB_8FdALq2fZ0q8VkIpPhtXgp4_2DjgRoBYaXh_D2ienOGfkLu5BiQM-e-NNFFFYr7Qi93EF3k4-U4-9pN3nDtIrdhAU_xtrWBlXO_PUbmnNrhbiVIqiYgZ9jNyX99LVHo0k4mgBhhzMHXVNJ5ziN_KqB2KiulDm8yMm6ch6823ZgHrDJ7vL7v__qQH1x2D3WioQtrKxJwIxQ61AvDPf1U45zXbNGqbDWJvAiyyYfUAb60rXVCoaYnkQUrnQ6sz21JrA5-vY1AjZGvwvU5HEuSUF1AcBbN4gNDxU_R3ZWHrAXr0B1EdNSpLe0LZTgAnX1S3xKYF_EGJjk2DN0AH1wWul63wMCof5yB_QrTdGtzDB2SirPWnfRfJUS714xVBVmePh3gRcHQVVD6o7rP6ok880lNtp0X35zwwbMfPhEnnpqlZnfi_9489KrQ_bDWw471anji6kEZUE3u-5OvJr-kKgrsuL5cUnDsUh5_VZL2fFt99o5KFBo6kruNoItbg1r4ggYVkowV8fsxjLrjDehDVaiaaMxjvxwmpf7g4UXcrMiDKRH0sqk6SufnZtxXCKvMYZ8CxGNbY4sUgNm577UO-faE2AblFofx9iGGxpm0pjSvJI_VdJGBVBuqcXqztOcaM7vG1btRnCNDdTsKymsckZjFSI_MZzQjQKW0ETFlYK96Lu3alK6Y9dmnAanPZtiEB3DmCR9hpLgENcP5d7LWLdYS6SBzgXdAwiirm8Yqd_bVXDHinEtBitPZpqoycgjHTlBwLUxFWHeVGq_UoQzzEqveJK_k-U9F8z0umZllRUS-VDZMZyBs_lyC4GhZZxMlL6GK_gcbw38D__rHxiTVFSDqfhCcVISbjZ1BPrQtEUz3YcrTA8cg4KfYWdTe8T04zY7SZRt9QY7JKE_mQB57F5wjuG8TKzPVinb3QnvO1kjF6quRr1z53rik6mHojeicpIrUwwERB3jkVk5vOtU7uMY1TeWpRXtg2-EteL7MdixrJcJKfAniNI0m5iC70N731esVf2eqouTUpa1hMb6Mflzm284ZJTc4Eag60JuKr3gcY2LOSEalmtNpPkUovkNNmjNEVTaRtUC3a6EbTczDokZjSo_OxT0tYaqNJu9FaG5tQKVww2yOTIsd2D88yZy0TTFDfQitc7bLxISxiIJhIIEwR9XnGO4TxrV1cXhdNsdfTu3_G-9cvO5plJ7SCq7RHL1SdKxms2HFYxmhqHQ3-Bxqc4JSQkIK7h-HrY1WmrCNmwEru9j_doG98b5SigODeU3LNxyWEa-QlHkxRrdtHAZ2pH3E1w56k2staQWXSaInOhew7s01g4GNOCLT_6kwG1ancVAJG-mmcO7xs0Rd7CjD5_x7mSErtRiVzpsC86zaKd3AYmRl06BO5TOmpOjHu-LOQPIkOsbyGvhCzPVggf5q7mGk51vhcxxCSdXgNEmbSuiSSc7wO0PEL6uUvCt0lkyMvjef5T9BvYez8U0WVxzCamZISj1a5sQh7JOg3QmUvud_OYwFQrOBGsYvoi6WaiNdH3QmwhpTFxl3nCkjbgRSlSvpJbJP3djr10hOLT3JFvsMRWOFclnBlNhq8_Mx0luvH8Hd8gf96QSIhSFbP0lbO3mc6QdzQZBbwPv4zm2eIzVVmleJ",
  "id": "rs_0fd0a2c96f401977016ab455fc0bf087d0b56ae85448c0c386",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFYDL0OuhPsJz9rP9JJDGAWeulJG_Eiq3YF1u4qw2cKYFOUBdF0TN58CLSyoYgQwuHHIuNOmSpos0HD-t80H6Rs8HC40LKowc_nqyyCuobH3irEM4-qZBfUTf_y5GbzuWKebuABuVRckTbwRPyWLbY62KYnOUPjpGrYGKBGzFJdMdoWKkmqlMcDP8J4a04_TGlSm13x3pkrXKe6vguhhi-mxmHhHD8ncTSAF8-K-WSf7RRkLaR6OutEyKevXvtrMmo9-7Sh9XlhUQTFdNcvAbiYqSdwUb32S6KLvehB_sRvqVOwVHoV4DUPrjoQRMUYJdeh0JQlJlD3DtbRzFzvVelTFzM5sWbe5zh709M-9bazmpg-LOgrd6LgtSH54k5GJ-CY5YiEgQsbQyZ7x4LDGT56LxbDs5YnIbQsebTaPSSmGi4AtswKsYZZR3-mvwS7S4YgK8R-tCQyfDrTjJ8fVXu2hPYP3L1nUbeE0Vhgl5qDqDgXRTEdSUkE4KdRxnTjvNXohA_e-Fw60fXjJw7jnGWTc5hr4MBBbdep2FR7aIiyQc-20fNwQYUroqEj10kZr8dtsoANwrd3xkBJCC7NSXnZ_N-Vxoi1xMrAXsrNaKbMDy1ydnovEF8iiyCyx9P7xUFzN86HxU-F_VhumiFemZNQ2Z5GCBIID-WHfaxNaVY5O5DVlL3eMtEne0qEV5itg5_56imQWOTDNUsuC4ppbI9da7Hr5G5rL77InphBInP72_iNcRL4MQ0B_Ns9OJhlrtun8kczWpFp0OVZWLtJgMWg8_dL5cJttuPQgvKUeT5H0-KdX4a6SPpl9P1t9oTXky5ufRtrjQdbYRrEnjhV8SDRikNIhQWPEOqWCXuWsfKUN8QvGTkknFhM6jh9cQVpW10I8yI2tYUcbpqN8oOWAsgOmVL0G-uW0UlA0nljsXf89s2DF_HmUfooTth41w4Q1mHNcpRRm_9TP_Lk4wC9IX3COIPbrsZCIv8q1NvI7rbRWyuLEiOpusFzZHhGm7GWGkCosxLAQjqDYyIg9tT9irYUciGfcS6ZG2bsDQ25mX0oELyYgWPV_q8sJ2VoAzlA_Np_OQbYwcxbYIUqH2fB6GuC1IMnlzQMMDqA4Fok2i18MyEcQYQ8RC8OWzwcWNbBz3-yU-qZ8UDqHUeajaT7jHU5FSalp0XZ6kaKz7SCmUWlCTLlC0lDrYnG1qt6raeuqsnlYC_DuL0amaZr8bUEunRByxSdYwOsHobW1CPgAhE53CAKjWiQPknbx5cGM_nSj90H0OHXJefZIu-4AvgEK5O9gs4jfQNQzUsjxVWxg1oIUaIs4qJ3tKHvFw26eXaoGqjRyoYwlsnVvLjIFJ5DanhDx592xGHMYb4kMIyz_i91FSmIHhOQmqFjYuVy2cqykhWAY7cyYs6n-OM1-sDiVyts7vmzlD5ddEvtuZb-yhrGnCInn7UZc1RVvid1N7eZVBnaEe1Kd-QhXOb-XCQchYti8EayVgSP1TJqTHiFUtLN_AxC8jTuOa_L9SVmJnPBYpm-_CjbYmjIASS928PaCgnI9DepGpMc7dCCeczSZ3DYgusLTiFZjRkUsZx4UEm2yXfjs",
  "id": "rs_0fd0a2c96f401977016ab456012bd487d0ac55b9d8965b859c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.27,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"This bear rotated broadside during the rim fall and squeezed forward from the second close, so I will not repeat that unstable orientation. I am reopening and returning to the central cluster, where the remaining upright light bear presents the same narrow torso orientation that produced the confirmed 0.285 grasp.\"}",
  "call_id": "call_LtUuBCGmRuD2n44RPUMMpDEc",
  "id": "fc_0fd0a2c96f401977016ab45602118887d0a7668775a59715ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LtUuBCGmRuD2n44RPUMMpDEc",
  "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]: [-1.0714, 1.6371, 0.9218, -0.1188, -0.8505, -0.8192, 0.9952, -0.02, 0.8749, 0.6586, -0.4603, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=-0.2746 left_z=0.122 left_yaw=0.0177 left_pitch=0.0529 left_roll=-0.0938 left_gripper=0.9952 right_x=0.2954 right_y=-0.0049 right_z=0.1663 right_yaw=-0.0032 right_pitch=-0.11 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.5675, 6.2564, 1.3211, -0.2759, 0.1148, -0.0317, -0.0752, -1.9897, 6.9812, 1.6874, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f41bff60f64eb3fd8cf837ac9480a9199ede7f43281254d81046375e20e479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e90a0a439cc563531fcf0b82299989810a27cb02ac65e562057f526265eeec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c8951dae4f26584993458079dcbab7f8f90fe181cc6673c1349de7ad210f28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.184 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0157, 2.0399, 1.6886, -0.527, -0.9131, -0.9222, 0.9967, -0.02, 0.8715, 0.6586, -0.4599, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3874 left_y=-0.3526 left_z=0.1826 left_yaw=0.1657 left_pitch=0.0716 left_roll=-0.124 left_gripper=0.9967 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0035 right_pitch=-0.1061 right_roll=-0.0488 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -13.1214, 5.9829, 1.3065, -0.5055, -0.0806, 0.1001, -0.0889, -1.6752, 6.9402, 1.6777, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1918, 1.4132, -0.1459, -0.9134, -0.9283, 0.0099, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3826 left_y=-0.3487 left_z=0.0554 left_yaw=0.1623 left_pitch=0.0541 left_roll=-0.0865 left_gripper=0.0099 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -14.8171, 7.2547, 1.1111, -0.442, 0.0171, 0.7643, -0.1846, -1.4838, 6.9812, 1.6386, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0714, 1.6371, 0.9218, -0.1188, -0.8505, -0.8192, 0.9952, -0.02, 0.8749, 0.6586, -0.4603, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=-0.2746 left_z=0.122 left_yaw=0.0177 left_pitch=0.0529 left_roll=-0.0938 left_gripper=0.9952 right_x=0.2954 right_y=-0.0049 right_z=0.1663 right_yaw=-0.0032 right_pitch=-0.11 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.5675, 6.2564, 1.3211, -0.2759, 0.1148, -0.0317, -0.0752, -1.9897, 6.9812, 1.6874, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f41bff60f64eb3fd8cf837ac9480a9199ede7f43281254d81046375e20e479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e90a0a439cc563531fcf0b82299989810a27cb02ac65e562057f526265eeec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c8951dae4f26584993458079dcbab7f8f90fe181cc6673c1349de7ad210f28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFYHRMt87BjqJFsEP0cikxO--1xg-JyyXhF-YF0d3AKbvQ1WDOPnkJHHZkf9uBijVrf9VsQaUqp4XVD9iVmSitBvtLZee_Q_LxsMZIttMYTY6JPmEJKHjHjX7V6zDqujvBFI_uvc1ixgNh5hPVJoS5obdJWYzK9SSYnBcb8CQF4QaKS1ubK_RvZdDe3lUJzSAaQl_PNg8hHXp2t-wdM23ZbfOh1_W18VxLn8UL90oYIC-n6q1cC5AuHoV7tYZjhwRJZTl816rhOpXW5i-cgbM-Q5BuE8I2PI8zOhG7RMZ4gnxChCjbtN3vp1jdE98O8K4CN4sjZVwZmoL2VPQovDC7QGP5vOmR3vbHPPKL7juPWHDyy9Lj4va9KCrJAL-zuquLUdd11_K5vQVQolZJQDLAle4RY2zq9GlIAF8yk9U0hipX0vdL0hIqzt7i1Pwn8osKEI8jJjQ-nAnRymehPR_Lp45es6TCkjE8d4BLZYHiPOEuZ66APMXQqWwLf5l0aRF6qDuZqo98G7n5MDvhVaGLlmcP6htWnHWCLnMM7sqRr4-Gb2Xe8VXyj6RN8tou8HxmVTGkj4s2uXqkLGJB0hQlukdo_MOQmE_zv61wd7UvvzRLC0RmVkbWd9-7WqgHL8eZYuEtci4iNwEtfF3k2-oTAxK__FJY30bwgI0IiuThNs2ZckGYVJNsu-Il7d0pgrG0wnwr49BzNY3emmnEszm5zFzUIdYsRRTjWW-i3TOxvegkF_W6VJ_6WIYLUCQyoJ0clJxE4rwHv_enqGxda8zfEktPa1NwFJDp3SpsvO5FYMVRbvodL3ikqXllVa__p6stWmeZM_0W1kKtoO5i5d_R_T4_L1li2KKGabJhgrhZo8-k1LckZHcdMZmmtnvm5Lh5qgSDDcLWVU8AmGQVQua6HS0VmV16rJtVYvC6X7rcegPKbViXJR8pDr7q3KWJWLd7zEtcrDzw3msBF8ay3n82SFeH87K1Q9J5-nRV2HtIi9u2xaCSpvQRYcwfoPlKGEBQaHdsaUZytoYnGXA2xBb5nQ0d1LJcNfp4HOKd-0z_eBJ79OIkc88eOkPO_SG5I5QGWgVOz3l6JF-yvGk5J66z79xqZ86pPIfWdNG8MIZ68IzAgXZx7QBOvznXrwMyYfUlE4IUqLFTLNXZDR8Vewqk6gWpYEXnkYSxOdY43J2RB3CNBC8ZpVayXPPmhb91AUPA90helYhxGilaOkVcd38AzXh4IX29YEK1at3h6iZTS5S3CGs6IOr4O-mrRTz2qAURG0TmI2CayvqKek4s6cMilyqW-lxyC50lGBGuqmhnplUG0aAsEk1fbQxaDbsba_yxX49DqBKEKAcCYLUy7EeTyEmKoFx54bkqPiG6ShAHjt1pMX4XrCt7DvFTT1Ye1P0Yd6QNAguz7fOq5ODl0SrZedR4tqiWJl5arAy9Czl4oHBm69CFXkqLV9o5cwAYtbx9q9JaoXXhEWle0hgX6GJ_Hxp8DqtF4MZJ0OuOcuN5UOF1lX6qY9N7b4z2daEHQZbLx3m_TdNa5pW_8vShcGoKZKRw4O_qoiaMmH2IB0fWsj3NEytF2mNU02_rjTGGM33J4fmKvc_swKUzJvswkMiyviePyC3y4ycESLWqA5IdO-yZAE3IqwYFQYd0sZ161UMiozWZRlvQojtX_Gm9moc0ydiR4Of-82J5QsWj6wTere5qpxjLXv151bPDLnABJI3kXSNg2LuERI3hWgVS21dkLSEsjEF4K73CHimmQACo2QsvIQi87t1tLMSP57YtTlpePwUzEhBSiFyVYlawkQrx8nWKeS1ytx2VI4mnp_uUYyUBqHccmoFwHglyKhslcCFlyFisTym_hyWKBQ3QKS5jVfqM4ruPpIrbkgWcv6WNszoKxswr6dB2HSIP27WDhOkVSGQeL2Zyv3Drq8KSFlI6P9nbT3_R4SV30DtSokvyXV4StXx6YrVAx8C_rlkd7pvwCkF-lRMk6xOJPcNQcObOdSvw==",
  "id": "rs_0fd0a2c96f401977016ab456055df887d0b5e650194d2bedcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The classes are now clear: gray elephants on the left and tan teddy bears in the middle. One remaining bear is centered below the open jaws with its torso between the visible paws, so I am descending to the same torso height used for the earlier successful grasp.\"}",
  "call_id": "call_IVCy6jINiAAvEWjEdIWvevAn",
  "id": "fc_0fd0a2c96f401977016ab4560713c887d0be9a039b592dd0e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IVCy6jINiAAvEWjEdIWvevAn",
  "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]: [-1.0721, 1.8347, 0.7849, 0.1627, -0.8448, -0.8196, 0.9967, -0.02, 0.8761, 0.6586, -0.4606, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.2699 left_z=0.0391 left_yaw=0.0117 left_pitch=0.0243 left_roll=-0.0492 left_gripper=0.9967 right_x=0.2954 right_y=-0.0049 right_z=0.1659 right_yaw=-0.0032 right_pitch=-0.1115 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.9521, 4.4376, 1.4335, -0.4029, -0.022, 0.1392, -0.1846, -1.8256, 7.0906, 1.6532, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63329b21b9a5820263b250e002d96789b9bade366a917fe2c4fb5b52ec2a999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e01bc1a3a9a9e864af6c38443fbd06ed9e7c8595e2f0179b8bdf12c0fe50476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a5087b46bb542af22cd273036825c28e5c14bbb77e52344f2fc50c795b8fa5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 5.798 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1567, 1.4307, -0.1589, -0.9207, -0.9245, 0.9968, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3852 left_y=-0.3515 left_z=0.0774 left_yaw=0.167 left_pitch=0.0745 left_roll=-0.1178 left_gripper=0.9968 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.8667, 5.6, 1.2576, -0.2906, -0.0122, 0.0024, -0.2667, -1.347, 6.9675, 1.6435, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0714, 1.6371, 0.9218, -0.1188, -0.8505, -0.8192, 0.9952, -0.02, 0.8749, 0.6586, -0.4603, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=-0.2746 left_z=0.122 left_yaw=0.0177 left_pitch=0.0529 left_roll=-0.0938 left_gripper=0.9952 right_x=0.2954 right_y=-0.0049 right_z=0.1663 right_yaw=-0.0032 right_pitch=-0.11 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.5675, 6.2564, 1.3211, -0.2759, 0.1148, -0.0317, -0.0752, -1.9897, 6.9812, 1.6874, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0721, 1.8347, 0.7849, 0.1627, -0.8448, -0.8196, 0.9967, -0.02, 0.8761, 0.6586, -0.4606, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.2699 left_z=0.0391 left_yaw=0.0117 left_pitch=0.0243 left_roll=-0.0492 left_gripper=0.9967 right_x=0.2954 right_y=-0.0049 right_z=0.1659 right_yaw=-0.0032 right_pitch=-0.1115 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.9521, 4.4376, 1.4335, -0.4029, -0.022, 0.1392, -0.1846, -1.8256, 7.0906, 1.6532, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63329b21b9a5820263b250e002d96789b9bade366a917fe2c4fb5b52ec2a999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e01bc1a3a9a9e864af6c38443fbd06ed9e7c8595e2f0179b8bdf12c0fe50476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a5087b46bb542af22cd273036825c28e5c14bbb77e52344f2fc50c795b8fa5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFYKZUIimDAkxy8oFj3a4lwYY390_rdVmcubvedi1sa0GWZ4yBe6oMB_rbqqMaMx69yNhtUZEqjOeptIJWrooKShLa-hEjjLhi8EDMyGEahMhMqjVMKAaBxXGKn9G52V3HHvDVQqIXOh16U37yUSd4HES2fMiGPlybcoRRrgKm31eA7dPf9O5YtBKXYLba7Su5oJl7iDSoMMK8B6h8hVqfU5UKMLvYVAJ73WLgi0f7X6xYXaPH8PNjlgKYY0fZqo1aUKUFGBd7OCgqiCPYvSDVCN-qn9p3CLWtI_WbUQ-D6R2NEAp0143aBRILpe9FSi8P8oFhIBe5oaPWsElYOkYk9Mnev6DX6P58UK0X8pHSezLCE0wLVBkvKEALv9Qho-spM9dDdz7O_LEskXixvY1ryPiDmUzTxYQOq2eNdkfEyYIM8rzmJ05v9NDmVea7irrHrWQQkaPG5O-99p0--LzesUPZmTt-zbQ9sVFuo2d9DIx0Ieg_ESQZSylNcYgGUeyd0y6gE3NIUI96cnYaYxKlKZmEs-8L82qYnGOisMo7q0Hf3O1mEnLh4bI4PdVkYgxYRy7MUhP8u7kfAr6x_024yo5ObiAsyLuIUjdz9qs7f_8ukM46IfJMlOAeV3R47vftx0DI2HNTlUZ1CjFgN0tfHiDYYsbCqAoWH5SYb6Zuvw9hSGJx8r6EUrn8_5NbHgFY6-1Y1wDMWM2C28D4LyQJK4TSetZRF9qGM6ggoY6RjT6dTuzgOQgl17vUv8J8y2uRx04UrqPDgmJho3_TNUFRfARqqgGcxxKB29aPd-kEQYLcWEvJFJe540kbulKyS96cd8BA8ME1fqDZXQAZp26xsUX5YQrRZvs1hvl1UpOHSM33g0wfHqOzsojh8eCk31TYGFg0byy_p0zBcW0Ho_gQd93G4iHoRUZag2AMQmSi4p4AInTCJAeVx3j8Gtdtzo9-G32GryIsONU_x0bUoDYovm0OASrerJRvRUpAYJ-_OzruSLYsxzmMSRzfWaGHZiJTaOcWyGNWD4FZ1MbI72zO4kac6mGnDrfEfvr0YozFgbPIUyMRdSOCJM_g5e1VGEd1HvRRDZAwD6GpFN5zNU7FQFkFIfd1mZRqmfIZkCb2pTh6uoCCuvia3-smXT73upS8D2A6QUOsl4A5cPq4N3pUUrpQKZO1f_P3DQud5wDSrfcqTPqRpvae_hi9qmSnO-qA5tpKH2z0bZU4yIUAnMPGVCauRYALa10E74T1dailSusTtaHvPDD8w49Pr0VCcVNRes",
  "id": "rs_0fd0a2c96f401977016ab45609b72887d09b7176ff56fd66a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At z≈0.039 m the bear’s body is bracketed by both fingers and its face is centered, with no fingertip resting on top. I am closing around the torso.\"}",
  "call_id": "call_QF8aWYuDEinxuJqaleZd4yY8",
  "id": "fc_0fd0a2c96f401977016ab45609e75487d0a64e6ae37b60a2f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QF8aWYuDEinxuJqaleZd4yY8",
  "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]: [-1.0721, 1.853, 0.7742, 0.1696, -0.8448, -0.8227, 0.0101, -0.0196, 0.8761, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.2664 left_z=0.0303 left_yaw=0.013 left_pitch=0.0139 left_roll=-0.0322 left_gripper=0.0101 right_x=0.2954 right_y=-0.0047 right_z=0.166 right_yaw=-0.003 right_pitch=-0.1111 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.388, 5.9009, 1.16, -0.3883, 0.0171, 0.779, -0.1026, -1.7299, 7.1179, 1.6728, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921ff6ab2fd949b6b2901dc8ee02d79e020d7e5c27546088fb41c845669cd4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a8f41fc7e2972becb0abd1a7e3c134289df56b6cb8c992e7bffa35c80c4b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe9f1e7bf73fd48926aa3376ea0ff253bf8243ea90e550a113d78ca003d9fda7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.263 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0199, 2.1918, 1.4132, -0.1459, -0.9134, -0.9283, 0.0099, -0.02, 0.8715, 0.6586, -0.4599, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.3826 left_y=-0.3487 left_z=0.0554 left_yaw=0.1623 left_pitch=0.0541 left_roll=-0.0865 left_gripper=0.0099 right_x=0.2952 right_y=-0.0049 right_z=0.1673 right_yaw=-0.0034 right_pitch=-0.1061 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -14.8171, 7.2547, 1.1111, -0.442, 0.0171, 0.7643, -0.1846, -1.4838, 6.9812, 1.6386, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0721, 1.8347, 0.7849, 0.1627, -0.8448, -0.8196, 0.9967, -0.02, 0.8761, 0.6586, -0.4606, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.2699 left_z=0.0391 left_yaw=0.0117 left_pitch=0.0243 left_roll=-0.0492 left_gripper=0.9967 right_x=0.2954 right_y=-0.0049 right_z=0.1659 right_yaw=-0.0032 right_pitch=-0.1115 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.9521, 4.4376, 1.4335, -0.4029, -0.022, 0.1392, -0.1846, -1.8256, 7.0906, 1.6532, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0721, 1.853, 0.7742, 0.1696, -0.8448, -0.8227, 0.0101, -0.0196, 0.8761, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.2664 left_z=0.0303 left_yaw=0.013 left_pitch=0.0139 left_roll=-0.0322 left_gripper=0.0101 right_x=0.2954 right_y=-0.0047 right_z=0.166 right_yaw=-0.003 right_pitch=-0.1111 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.388, 5.9009, 1.16, -0.3883, 0.0171, 0.779, -0.1026, -1.7299, 7.1179, 1.6728, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921ff6ab2fd949b6b2901dc8ee02d79e020d7e5c27546088fb41c845669cd4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a8f41fc7e2972becb0abd1a7e3c134289df56b6cb8c992e7bffa35c80c4b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe9f1e7bf73fd48926aa3376ea0ff253bf8243ea90e550a113d78ca003d9fda7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFYRRV9u3ubEOfb-qlSI5oYTKSnBapqqMF0LKzOfQVn8yJd69FzDcGV0t9B3gl7gj74Ox8xno719MxE9aqQvO-RrqbUSQhr2aXGiao0pFIBlpM0MpklYBXQTt-3Pm3zVwu8ITbHQ4N_HKYF-gjCSbJy0eYQbHMxHaIrb6JaffjMxYvAQgXgj_8mL6v-ySG-gxsDqY2Av9LKm6qXg2swdTWsYmBR5WbwVx_Hm2M_6HNwyY85vTY-fq-Eu6KhpxO3eSFoYnWITtmSivy4d1cU18FFnYdE-1AqeSr6p6wJknNVJZ_mAWpw8ZN1wLWJYM3FR9Z_Q8nfur8AxehfwSvZmNPzx-FHYteXne-GDPlV-GkXE8rq30ZKDEKTO3C2aQY2n6iPw6oXwExIRada6FhMmJOPEQpovvBjxjGlARc8qqsVJu7oKYigH2FeBiKOrMus1eq0U1_1aSjVltp3LL6opOeuW6Kdnqt67VO8fMH-f1IdfP4XsKQK9xnGkGX4wc6pFqaAwhQXQ189yFG6hMz0Wy9f89cA422jtfDX-1oTQXNJeZimAwuDlAo9u9rIeKHwjzUyTI5c7X6VcCegfSLOoAtMligAYgzx3k7iNnrBX71lbICsHKAt2nRni9IUDVQv7Gihe7vdr3HGLoArac12Qf18oMfpkontq7BuVzSjCgMZ8SFrhtJ2yK6DiQDtu2KvpM3_BkAUWHZXsoYwZiuu_m8GJducvIgg4dHxHZAvMXKeggCECE_l1vY90JPQYiHsGTZSI7W1LjOjF-1BRTqNWfai-QV974GZZDC-CiS875Eqlsnzl9X34IkHfpfDCzfE5KJkTKEkWBDRMpfM3YNxrb2b6kz1I_gVbq4KNq2yX9AgiwXXgtCGrah1CtOQ02oXeD5hsnJc1Wuxwk4b9YS7Q_Q3zOHRhREdiMRfjLMDMQ2uI4zzeEAnHuMqilceaZbTz56lsGrBxQ3sfTOusHpM0rpiINo85OK8dr_O0NKq81kbobObuqAaXMu7frvs0-tVhHQQBK7fage3F4zfkDZjMagfw6Y-_8OwXwzUH_QsuRoP44dHMdjZGDI5Sf7PP5JittvmL_-Vhg3k9sBZk45O5DB3CNeJCaRW9ChFROuW8Q8bnFBNjphqEox094E1pBVwYE7TKxRhHm7FM_6kcPTBJu39fz-LuyMi0Z-mf8NQa6zJ7J6d1nxB6eyBjklH-uVbGfyUi2Es4Jm-lbUzAWFmbRWqZWMvEbS8aFEcQHn0hCJ9F3-YdWLMm-Qt3v5z8569uWkDtJBqiMCPA7SuwDXX4sSbASLo28vTdJf8RTc_eCNTmN5yXtLz2PSEgxoTMNhh-2WLFsZG-inrLwU6ZoVgj6-Qb338Lzvu6PKv7lf6B3TG8F4uthx1jMEhpZUXtI3mfk-IiP16VZP5HgFxLj4_RRuXL7eHd-Fw8njGqvCwdDdXAnk8ThjFJh0G7SDYqidrnoTEoYZm9EiTVBj8jHcv4ANakFA2SClHDekdtxQT5p8RhyxLfkVcGdHjvFdgb_VqwmASqPM-e7f4Rq4iK5UNmD1XHpoE2qbGzKKFpQyhp-hFd6ClOrrz5rXO6aNkVs7YPTlETT0wEQj7_zLfz4ntH0kq_jJlIFX0aGIRCOBqAF7VXR9TIojnQHfSQDM_C2g0yfobLCl1F9AEX8cPC8n6DT225khA-EGll7CrYYvQmRMFVRLmaPBj87y_UiCdVKNAk1eAv1fUuHzIDXtZm31CmBQA2P3GSozg2pruBQjCQ4d987y8TobFzIsmi7F8gQ_YXFd1g4wKFMBGxYwhfOpyL1l46VKMH4iqsx2OMQsxowbEZbQrKKn_KB1idHOGoGCuSJD2bhwgrXG5XSAoJ_7YzWQRCuZwevBFUzlTlQ5yKY3e7Vu7rrUBIoLLpQGhQgiuYltS8xaWjI4H8GsCZPMmDUpLipyFHB3NFA1m9KvcG41y0KYWfapkC8r2kNOcwtYGutzHG5rO2apdohanokEYSfFQn9Jkt6W6WjFKrCg6h3LlcFCZ7DIYYtr6U4YDgMOzrOWr43fN5YwRgYNXxyZ7QSI7r_rCYlfKB7UyXOHkM20kbrI5aHzcLkZgD-GVq8DxOKC_VDKUWVdj0a-PGEzUG4x2sfWHTgeE1qw7v5DeTmvPRKZJM7Y2sMoPOh1gNe7FzCOitdEf-p7tJXr0znjrPlcGYs2EAe73STDqFYzxMGK59FI8171RciNl5EY6PYpPmPcWfDhIr572-UihsH1Pmh9SGUsIqEcH-CnZP2VdpBKoRSzg7GMd9jeSXq-vRp1ivBTnIeZVz6Iayp25lXcMi9ar-4HyeIvdfP-ra6Dv21VLuY17RtcPUS2g878rqfG5JFXfad_BT3_R58Qau79nKPUyNDlfzWFSeS-JHsE9FsA9rgByTESUH7oRnuEzP88WPc58pwlFJV7nnuuHdHJz9VnCpOL2ZJ5Fs5QyPKadzAZSMb6Dp8DZDOoJTCDvoiljmw4CIooFfqKqmTSpTJLp5ShXFjssW0mTE19lq-DZC6JcVZguCcR_TA3OOYDFJT6VoeM1rrkxSHPrcVN4wrdRZTWOPVGNUtSJ3PLIsUPT8jbVnxm8Vq-mwYqdO1rX_AtdiV6AXyTUtt_EyBXdNOARMXbkhDtJ0wEAn_dB7I7wAW-XUJl4aj9zcd1ygxIRUw6BBzeZVTCisk-tkHpfgKQKW2YE-08ZzJlDNBDq65fHOouBw3bphljQuaD_NyzdXIxZRWJqSRZFSG0BMUZrISXK9xGMQrIcpj1VMgYxq9d9pbWU7c0MxxoPJSSpIXWWoCSuTaNb-1SvMBxA5VJY1DdnwdBpnyseqT-fiJdk2jltJuNPXlEzQ0jSB3CSAGoCtMiQw1hZAY5KAmuIcjKGOIssONlD4MpWZGffI4ocQZxsSP-SNpJoken4lu4-LQ2sBJ8trSZR0LeKvnqMF1g5JpejSLNm5z2BMP3vvzW5ck3Dl3zHHWP64MPXGr8bNYsdHGHu3IgAd_s2NrhsQfTzO5GMAV4QrVo38WM3Ej5N9Vg67pxKSHrDcOTC4f3zu7dVXMI5AjfyCozEOIvgDvBW4bq95J5y75tIKb_4rAc7BeQWbEoKGP8Q=",
  "id": "rs_0fd0a2c96f401977016ab4560cba1487d0bbc0aa4f10b74794",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The bear is wider than the 9.5 cm jaw span in the current left–right closing direction and was squeezed out. I am lifting, reopening, and rotating the gripper 90° so the jaws close across the bear’s narrower front-to-back thickness.\"}",
  "call_id": "call_47YvMGcpw4DdMTCt7dv7u8i3",
  "id": "fc_0fd0a2c96f401977016ab4561013c887d08aa75cc46100e086",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_47YvMGcpw4DdMTCt7dv7u8i3",
  "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]: [-0.4328, 2.3283, 1.8809, -1.4155, -0.8959, -2.0495, 0.9951, -0.0208, 0.881, 0.6586, -0.461, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4188 left_y=-0.0376 left_z=0.0793 left_yaw=1.407 left_pitch=-0.0774 left_roll=-0.0741 left_gripper=0.9951 right_x=0.2956 right_y=-0.0051 right_z=0.1645 right_yaw=-0.0039 right_pitch=-0.1168 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [-3.0017, -16.8821, 6.0239, -0.2418, -0.4322, -0.4664, -0.0366, -0.1436, -1.6205, 6.9675, 1.7021, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5f2370439f57fd8d193e2d4c058c69a0f1dda9c544d7c1b93c85722a4b8e9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba08223a64e09add95a626aa4b2501d087dd3614c6ce93ecd09d7c285b4bb15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e07cde6e2efacb5badaa0acbba242f70cc9dcb2f382759f1f4562edac834312",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.01 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0714, 1.6371, 0.9218, -0.1188, -0.8505, -0.8192, 0.9952, -0.02, 0.8749, 0.6586, -0.4603, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3051 left_y=-0.2746 left_z=0.122 left_yaw=0.0177 left_pitch=0.0529 left_roll=-0.0938 left_gripper=0.9952 right_x=0.2954 right_y=-0.0049 right_z=0.1663 right_yaw=-0.0032 right_pitch=-0.11 right_roll=-0.0485 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.5675, 6.2564, 1.3211, -0.2759, 0.1148, -0.0317, -0.0752, -1.9897, 6.9812, 1.6874, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0721, 1.853, 0.7742, 0.1696, -0.8448, -0.8227, 0.0101, -0.0196, 0.8761, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.2664 left_z=0.0303 left_yaw=0.013 left_pitch=0.0139 left_roll=-0.0322 left_gripper=0.0101 right_x=0.2954 right_y=-0.0047 right_z=0.166 right_yaw=-0.003 right_pitch=-0.1111 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.388, 5.9009, 1.16, -0.3883, 0.0171, 0.779, -0.1026, -1.7299, 7.1179, 1.6728, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 2.3283, 1.8809, -1.4155, -0.8959, -2.0495, 0.9951, -0.0208, 0.881, 0.6586, -0.461, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4188 left_y=-0.0376 left_z=0.0793 left_yaw=1.407 left_pitch=-0.0774 left_roll=-0.0741 left_gripper=0.9951 right_x=0.2956 right_y=-0.0051 right_z=0.1645 right_yaw=-0.0039 right_pitch=-0.1168 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [-3.0017, -16.8821, 6.0239, -0.2418, -0.4322, -0.4664, -0.0366, -0.1436, -1.6205, 6.9675, 1.7021, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5f2370439f57fd8d193e2d4c058c69a0f1dda9c544d7c1b93c85722a4b8e9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba08223a64e09add95a626aa4b2501d087dd3614c6ce93ecd09d7c285b4bb15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e07cde6e2efacb5badaa0acbba242f70cc9dcb2f382759f1f4562edac834312",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0fd0a2c96f401977016ab45613bb4487d08a4ac35fc4af1f5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The 90° yaw was not kinematically maintained—the readback displaced the grasp point toward the left basket and nudged that basket—so I am abandoning that orientation rather than risking another sweep. I am returning the left arm to its neutral high pose before a simpler narrow-object grasp.\"}",
  "call_id": "call_BatW9Jfx14UfS7kQYgJYo9NG",
  "id": "fc_0fd0a2c96f401977016ab4561661d887d0a2bca8c7698238ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BatW9Jfx14UfS7kQYgJYo9NG",
  "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]: [-0.3603, 0.9974, 0.6716, -0.4667, -0.5251, -0.8608, 0.9988, -0.0208, 0.8867, 0.6586, -0.4622, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0141 left_z=0.1536 left_yaw=0.5202 left_pitch=-0.1254 left_roll=-0.2928 left_gripper=0.9988 right_x=0.2957 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0039 right_pitch=-0.1237 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-3.7949, -0.2393, 9.5385, 2.2686, 0.2662, 0.3004, -0.1343, 0.0889, -1.6615, 7.1179, 1.7118, -0.0317, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccb7976aa80a5d94232581994fb2e07b4bec9d4d28b29af2e2fb260ce40a7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d79fc4b4d027e651e514c83b00c5c51a14bcd4a918ad598ac219fac4ca7997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb7351c40652720adfd19a8f65ac0d3c25dacc109537b12a7c5d0dca35cba150",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.802 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0721, 1.8347, 0.7849, 0.1627, -0.8448, -0.8196, 0.9967, -0.02, 0.8761, 0.6586, -0.4606, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3015 left_y=-0.2699 left_z=0.0391 left_yaw=0.0117 left_pitch=0.0243 left_roll=-0.0492 left_gripper=0.9967 right_x=0.2954 right_y=-0.0049 right_z=0.1659 right_yaw=-0.0032 right_pitch=-0.1115 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.9521, 4.4376, 1.4335, -0.4029, -0.022, 0.1392, -0.1846, -1.8256, 7.0906, 1.6532, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 2.3283, 1.8809, -1.4155, -0.8959, -2.0495, 0.9951, -0.0208, 0.881, 0.6586, -0.461, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4188 left_y=-0.0376 left_z=0.0793 left_yaw=1.407 left_pitch=-0.0774 left_roll=-0.0741 left_gripper=0.9951 right_x=0.2956 right_y=-0.0051 right_z=0.1645 right_yaw=-0.0039 right_pitch=-0.1168 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [-3.0017, -16.8821, 6.0239, -0.2418, -0.4322, -0.4664, -0.0366, -0.1436, -1.6205, 6.9675, 1.7021, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3603, 0.9974, 0.6716, -0.4667, -0.5251, -0.8608, 0.9988, -0.0208, 0.8867, 0.6586, -0.4622, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0141 left_z=0.1536 left_yaw=0.5202 left_pitch=-0.1254 left_roll=-0.2928 left_gripper=0.9988 right_x=0.2957 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0039 right_pitch=-0.1237 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-3.7949, -0.2393, 9.5385, 2.2686, 0.2662, 0.3004, -0.1343, 0.0889, -1.6615, 7.1179, 1.7118, -0.0317, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccb7976aa80a5d94232581994fb2e07b4bec9d4d28b29af2e2fb260ce40a7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d79fc4b4d027e651e514c83b00c5c51a14bcd4a918ad598ac219fac4ca7997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb7351c40652720adfd19a8f65ac0d3c25dacc109537b12a7c5d0dca35cba150",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFYc_eKyNBT4XmNXDhYU2JhpI1vjmvTTB44gMFy9CGKupol7qtYbWn6W0JmvvDHJK1T6s9LLCTD84eX0RNgXidUJGzlO9UHb3ZJJWgiBlYexOVvrxPebCeSC_oEpK8aL3D8RXu7CgGEnUmRCSj0MzLA9ey2yUhSE9noW80U-sQA4LJ5l2bT96firDr4mm7dJVZYahNWYKHPpJBqs8Ryhj4d7brMpJnj26vKQd_Jpdv_MwW0HBhVILVqHplqTyRMjd6T74ZWyhMAPMlIKsKwxG4OYfcA90Ia1Y8334xV3oVXPb_MI24pyeH2sW1k4ARkdpdETwKrEiZSW1bEgyTR-gGHry4d2GFrIlYVj3r_7QXs8sxXXdLbbIMva7-o0UhOdEbN4-38A7WA4AZ6qp2Ypupo2EHLvh3j1qmpWHgkrraWrytGiUKGd5IPHqZVqYRE_VFJa8--9K3J0wW1cpa7G7UEzmMr3vJyRX_M_8SCKU5kwjZuxLC1Z4ITMJomkDraah_Y7LrojBygln7hLxT2Me32CmSusvqL9VjYKqllSDAYE5D-GSmtTHA2KuxmjhNsIZeRpd-FnWXjXPqb226B9fPqMJc7See_0dXE31nNqYUWPT5IXEwjHuh_jxvqeNAmKy_LyxuRl4PhsjpL_1IPj4KP3EIjgAYVhRJIJVqLlUBQSTU9KSnIvgMQcnI6JODx4OSjc0OUw3L0XchiuAPYSbBrzbE8kNwfEwgn1FHm6cjjf0V6z_J4ey_aSW5HBxhSKfvHHGrUeBxRcMdID3vd-7PIyuyAIgRXtr1_dsl0euhVdRsgkDEcCgh-RJyNrFdNJ7Xij6VcFVD_gevAkDEsm4g33IPV9twxhWwuat95BqVaqFNB23aGF5hRgirzyPA_nDy-cS4li0HCt_qHAyc2f1Y5-dYzvhaS8MngvyRnTJ-leH6B27LSkdPU0BBd_5ajaCRr4ycpOdh2AbDG6FM_sUsYgYqfC88sdH6H1PuTQHEDOruWG6DfYqYuyFghpuT-BdyO8z_48Y0MP-QdMYndEJSZ3okAqgDNW4vS_GGVeV3IktxLRlu0dEcOm7FVlV8OBEmvJArVTpbGWxUEZmiH-_dd2GdjmlF5Jw9XwRCU0rV824yqEf8k83nYO6KmsBp7a7GRSpizoApG4OhM7cb84aDYnNo7WcC9cytj5KnDajTB-wuZDGHtecvML8OJMGOM7drhZZ4vxRIA00hhN29lPUZw94-H44HbLSDHgqWfe2QX0eZSgAD0UUYcAPkYDNuN1wns1DSYtI2xqjYpH0I122ibaD5a-NuFygVZbMiDqP7g7mGndjBrQIpR1bcx7K2UvhGMzD3BRCBel2ZeFQTqHNaPBhu9T7kmJjl2_N_eUXA6f38sr1ffvKKuYkIb_lK7luhS4LBHvWfRG2BkiF1kpsGurnSvA3sUdY31j1ZVp19YWvE_EwNJlpRWg4mw8N-v6vwbApauiBWRPZJSfuIU2R-eEAI46TtAPpbuX_NDcfgq4VNPzaDdJbGHV4RDLtLg5Ai0LfxYV6D7-cpQcqL4P8FjzXru6X0VIbRwCbQl6rQ9OCYmq0jKmyFMBCeUDqQIUtPMmk9ziDTZA35foa6abw_E1EJ2oLUqw_11zZ-W7dHihvHhFTd3IpLJelN1tObq4tdgYCdSzWFSV6V9xKF1DlgxeJ3b_EO4PKao1rJXxnXW7ky4yek6MYQjVBwWcM9RV90MHyWhENUslGcCVlfTHaF3SDyAUy7pe9v2Gx-I5piAyQkT9ZepHXW3Wo4UuDaGlEhtgsKnbm127zrfmVuispwJkXxeI7rT5MQQiDhBHSdbqrg8ZPO_VkicjK8uJWVQvisW5niz_QltlriSVUpxuzNXC03Oc_2RddtUrkrry3c8vTldR6O82D7Gy4rrJZPGEEdOzV2ETUpEDdTTYU9shqeASvT01lfZFSrtJzcWNK8nGW6Gqzb_qnRSTpQAOEVg5PCZ0O_fn9kULw2kImiRehErD3jgqkCh-i2GSFjlZljMVPb3nKthWoUpGCawJgrzNpn96hLDO3fHiwoc9RlCsNTnUzBj_x0FakFIfOOmlUUW-qL-xHK3bUis4bU62gqP8nljvr7jmArnQoeAOotuA5ra5kjZadXWxdvNSYCTolI_UMHZYGFrYGBqbIuow2JFtybRYld6akPW7lYehNIlx7daj4w==",
  "id": "rs_0fd0a2c96f401977016ab45619e46887d09cd43004c4a50eef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"From the neutral pose, an upright tan teddy is centered on the left wrist jaw column immediately below the fingertips, while the gray elephants remain piled farther left. I am descending straight onto this isolated upright bear without another yaw change.\"}",
  "call_id": "call_RxW9TPCK0OZOELDUrIH8xNj4",
  "id": "fc_0fd0a2c96f401977016ab4561ba32c87d08bf065c49fa80db3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RxW9TPCK0OZOELDUrIH8xNj4",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1843, 0.3481, -0.0261, -0.5098, -0.8513, 0.9983, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2891 left_y=-0.0139 left_z=0.0448 left_yaw=0.5089 left_pitch=-0.1775 left_roll=-0.2385 left_gripper=0.9983 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0041 right_pitch=-0.126 right_roll=-0.0479 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -3.4393, 5.9282, 1.4628, -0.2418, -0.1343, -0.0708, -0.3624, -1.935, 6.9402, 1.6581, -0.0317, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366e8a40fd5cb96d6c400387ea4ec00e496ff8092eaa9bbc0d875b30ad3ff4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95bf7f6a4ebbf6f43cdb4001d237f599fef6cb74359e8b9e21e2d892f3b0a6b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99b89c5fcf2ba9a6d42ac4af5ca7b2f4c252a27e74c490ed3f3a80e6cc998cb",
      "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 · 5.267 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0721, 1.853, 0.7742, 0.1696, -0.8448, -0.8227, 0.0101, -0.0196, 0.8761, 0.6586, -0.4603, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.2664 left_z=0.0303 left_yaw=0.013 left_pitch=0.0139 left_roll=-0.0322 left_gripper=0.0101 right_x=0.2954 right_y=-0.0047 right_z=0.166 right_yaw=-0.003 right_pitch=-0.1111 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -9.388, 5.9009, 1.16, -0.3883, 0.0171, 0.779, -0.1026, -1.7299, 7.1179, 1.6728, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3603, 0.9974, 0.6716, -0.4667, -0.5251, -0.8608, 0.9988, -0.0208, 0.8867, 0.6586, -0.4622, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0141 left_z=0.1536 left_yaw=0.5202 left_pitch=-0.1254 left_roll=-0.2928 left_gripper=0.9988 right_x=0.2957 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0039 right_pitch=-0.1237 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-3.7949, -0.2393, 9.5385, 2.2686, 0.2662, 0.3004, -0.1343, 0.0889, -1.6615, 7.1179, 1.7118, -0.0317, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1843, 0.3481, -0.0261, -0.5098, -0.8513, 0.9983, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2891 left_y=-0.0139 left_z=0.0448 left_yaw=0.5089 left_pitch=-0.1775 left_roll=-0.2385 left_gripper=0.9983 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0041 right_pitch=-0.126 right_roll=-0.0479 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -3.4393, 5.9282, 1.4628, -0.2418, -0.1343, -0.0708, -0.3624, -1.935, 6.9402, 1.6581, -0.0317, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366e8a40fd5cb96d6c400387ea4ec00e496ff8092eaa9bbc0d875b30ad3ff4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95bf7f6a4ebbf6f43cdb4001d237f599fef6cb74359e8b9e21e2d892f3b0a6b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99b89c5fcf2ba9a6d42ac4af5ca7b2f4c252a27e74c490ed3f3a80e6cc998cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFYfMTw4vZbubdulEpsQ7PaueMj-83Vktm11QQpsHa_SmMG6tjgIXlLkWfGiX8S-Fqb0in1FlNPlwhJLeA_-IJC-IdMniZQbgjlh0VUDI6M2OZ0BGrvWf8RU-t422JKhyUIe5LHsca8V_d2cKSr8Rp7BTsS6lr9_G37-O1X9gy37808JaD6uN1VSa-1UAsEi39BDZbI8hTtQ4RtjmEsmk3E5o6ovLd5RFTUqPFfcDL1VlyVAcyzlm7dIoibh9hswcRVGpNzJ7YAxYAiwNG3IQeCcLW8tbbsz-Hm_IoxH9hrsxH5ibt41k4xXmCySolnVDQ4DM6oj736XCrfKNH2tsooWIk_q8z_iDN3V5SXF9XszM5izBz3EC9TnGUUAEGc3VfIXXzeExdHh95fq8I1CLhQJni19Dm6HpfAkeT_rl5v0ylvefJfeLlRe9OzahAM-rpMUHY62GIPF0xpOO7lz3gWejJdc4TcuXPYojuYqLj9S0-LQdrWrzlrxXsCBtAamlcyteqehpLt0pvgBykXzrJb72CvkwaMnCbm6bVEkBj0kkp0msGonaDL58ISARsYVf17nQEpuxwrdPC_4pfFp7W_SkiyBMHTQO2jEBDosO4JE_H1Y7E3zhfBrfV2cs5Dm1EslTpNXpB6hvbgYfNYX7ZxGPyg8k6rAENjk7g6Wn0zjLGIGeQZKtYW5n627yP_U-h-MvIjtIxeUo0ryDQwsjAWhOuyWExa9fdqWDScBRsE0ZgnmARxnIUBKzyqN7MpJBmqz1iMgT2zgzVfeNuwfJTYkP_N5XZ4IyiTODIbMcpyK7EmdFdh-VGX00wQ_AjSEGYnZaCnlMV-AQQ8PGR6qca4ETwwJDoN-pp4UtqGdEGsdgkaBFhdY6aVmuWHRZzlcVvkPZHGwxj4klinOybgC2s37Es5ssdLdxAjeKX_u8eOU9KuZhNLwZrpGYdSKUmRYFaSR0u6DLjbyC5Xtts4AC8dKw9Ae1Y1Uej36bqefTzzptLv1EzSZKoMJVfSrpqAcrivHajTvlYXU6PcLdW6NboWoNYGaRRE0lhYlUJESL5Cca1DuM7g3dlFKTYhj351oViOxnjZ38A7d0jTelGIB2GHz08IVuySB2XUrsDO3uoiKHSR4lrBs3yQqneEvTGMp73ZobR2YXCP2t9cFPUXp22DM1mFqROh_aIc05mQtFCUBhRz0z4OUzhQlJ4DBNfKMu1zU8l0SxOTFF3TqzF-sKEb4nxyfnorriU8rMJwsOWSA6DU28VRUJmU3zlTePFFZCfbK5mdlULJnv0hp8hSKpumgMDP1PMV5Ly_OT-Q4WPucjs2kS2ZjQopIxwdWLYKMPoqpXkjQpAGyPwIO4ucYqomEs-EFOxQcgRrkGws6KoLM3FSfqyFIn2NlnLdCgINUGDjyZmQcRB7hNAJ9jRe7uZA2XkL4_ex6dHBf-pU0GfCE0nNX1nYoc-UdeBQsIV8p-XEo",
  "id": "rs_0fd0a2c96f401977016ab4561e8cd487d0ae7dd28c9fa3329b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The upright bear is now clearly between both fingertips at table height, with its narrow body aligned diagonally to the partially yawed jaws. I am closing around it.\"}",
  "call_id": "call_1ARIHo3m2gw48gIoZN1fPzBk",
  "id": "fc_0fd0a2c96f401977016ab4561f1dd887d0a1b3700df6bb44ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1ARIHo3m2gw48gIoZN1fPzBk",
  "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]: [-0.3634, 1.1946, 0.3328, -0.0109, -0.5171, -0.8536, 0.0158, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2864 left_y=-0.0116 left_z=0.0395 left_yaw=0.5169 left_pitch=-0.1801 left_roll=-0.2286 left_gripper=0.0158 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.7949, 6.9812, 1.2186, -0.1978, -0.0122, 0.6667, -0.1299, -1.8393, 6.9402, 1.6581, -0.0366, -0.0122, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775ee11e794ba217b3ff5f7fa629a92742f639ab44d59c74e2a43010fbdbdd24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2deea7362b24573b7e821ab9244c1b3fc9ffafb10e7c2adfcd36471ace1bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f287ef7dc17261c8ce6da53d7b5d72a7c4fa7ecdfb2da6f7560c4d3f67f99d",
      "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 · 5.543 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 2.3283, 1.8809, -1.4155, -0.8959, -2.0495, 0.9951, -0.0208, 0.881, 0.6586, -0.461, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4188 left_y=-0.0376 left_z=0.0793 left_yaw=1.407 left_pitch=-0.0774 left_roll=-0.0741 left_gripper=0.9951 right_x=0.2956 right_y=-0.0051 right_z=0.1645 right_yaw=-0.0039 right_pitch=-0.1168 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [-3.0017, -16.8821, 6.0239, -0.2418, -0.4322, -0.4664, -0.0366, -0.1436, -1.6205, 6.9675, 1.7021, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1843, 0.3481, -0.0261, -0.5098, -0.8513, 0.9983, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2891 left_y=-0.0139 left_z=0.0448 left_yaw=0.5089 left_pitch=-0.1775 left_roll=-0.2385 left_gripper=0.9983 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0041 right_pitch=-0.126 right_roll=-0.0479 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -3.4393, 5.9282, 1.4628, -0.2418, -0.1343, -0.0708, -0.3624, -1.935, 6.9402, 1.6581, -0.0317, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1946, 0.3328, -0.0109, -0.5171, -0.8536, 0.0158, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2864 left_y=-0.0116 left_z=0.0395 left_yaw=0.5169 left_pitch=-0.1801 left_roll=-0.2286 left_gripper=0.0158 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.7949, 6.9812, 1.2186, -0.1978, -0.0122, 0.6667, -0.1299, -1.8393, 6.9402, 1.6581, -0.0366, -0.0122, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775ee11e794ba217b3ff5f7fa629a92742f639ab44d59c74e2a43010fbdbdd24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2deea7362b24573b7e821ab9244c1b3fc9ffafb10e7c2adfcd36471ace1bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f287ef7dc17261c8ce6da53d7b5d72a7c4fa7ecdfb2da6f7560c4d3f67f99d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFYmtuLJgJf4MkwOWj4_BWa3-W4RdDEzV-MHPRIqieXC37uF2KLwzIUHQhylWH82OoTpDDWWDHBIyvsUaDS6Lzqdl1ibxO1xEdfRMu5MPd0DZsljB4NoEp0EtzpE_Tv3QU1ofvHavwdPnu14xUJX71d6O6Pkz_LKgbkBr_blHUsJSZS6sieEQOZwQmHrxhwDoz9hJKmW1q9UVtqkFAx6DrLYtg4LlMbRciP0mXZ-eheFA0YcZLbY4H2ecYFWGA3HKalE3-RXD59MtlbBRL3IwtiCk0rZjm8HnavvGKW1GMU55FiHjAiqHeyiQm-bsxwX_-DHdug0NLEPQBBgm8epMGPohvVhzOgsxNuYbLa5jLjzOOg6noKhRemH9Etr8u8v9DbBg6LRNUPeHSHFMTByJTy85LaYKeXncOn1YbsSGIAJV9DCPd_ogJHemqZMmgOfgzpbqwKODz32iCXDM3I3aRrzwHFUwUXXOlCakPOM_YGn6m7jNL1RfrMcMosm2Umx9jszqykHUJtaTQtfrnVAmU26RlF5idOCEVE8qQVrsu0NfnWPPKBiUedFo48-thLNNUpt3lj-XxRVygVCAH0sDVxSNec6S9Db7J8L1_KwAbLkrPL-CHGbPEmhECS3zj0dmcCl8mP3rAk_xIdUCng33wmjLvOmd74EhRFsEkSMRvVTslhfGYXEPMamT4-INMcuonJdC-fsAlC3RjKvoF3Fwtjkhb4ZP1S_Qs-4JAVQeKw9bSyA9RyIbjqMttRHjsoQ0gXjEHtvKOYzwSFCp5X2dOH9DhHDFQrR-s2N2r-07FNQYOr9V0mdddsJiVVMimhp0kNCDt9NMidhxmUmMYj-dThQoUGIR5_FTp5O61FBOBuTOd39GHL7mPAeXqVdi1l1PkYdvuAHQwrZTL_Wj80BzAqOJHgtuhZs9PiAUvMhTHBikXsimFDSHjwORdPUbUYX1DimgxuGSdzqA2YFxsO5tttJgWSGhoYtPNggi26iL-e7XOlDjhhIxpvzNUCSh3FTFn_o_BFndrHqoHd9ZYpVw1eHPGeDJcVVHP-lfw6J-HM7Xs-42c8OAyeki4V1wSk8j1Kdvfvz0_q4mP4hNY99h3UvpQ6pa3VztONWRhk2Q9CIqtBKS2WdItImybhRAEOwCJu8gXm8vlic_-QKGXHd7YqluEl9HY_AN7hDWA1VxiwIJJsHX02soMcdE7d6dc9IfKH6C9bBwUaJ3uQGI8KHZTm7E_cgKObLg1wcTzJADtGLEImKb1HR1V7s_6ghMSdKMAvAAamlvr_VBmDb4OtEXsQuWbAdDJe2F3MpvCB22xt4GS8b2MvlGgGLoO944w39yupr4HARNMz_LRU0eyu4xR19eBwvIhlpIYGN84B_we_JWsqzHNbvPa8Fw2g6DQg1N0XS9zOxq6yUJW2aOhXEbfjmBYHqiH5IQvorhCVqRSewjQEa6h6BnLfgORyXZT7MTOc5FDi6i5bPgVFaEEsoB3XSTzEjUmJVnNiFg5Suqikllh40glKLn8uKZx0vl_tNzLJrzW0QT3voPLNPxLHv-VyeXkisdPVETy3o3ZErQXlBy2tu32NZL4t8gPUVDGiLtg85W_wBjbmiy9dMUdAuJCkiyKXDAFAnw22mV-q2sPp8v6fXJJ4sxguqyt6KK6bSbOFXIZqClsLEY4UaDcE5dAIB15-jxIXnKByD4EcEuvWCX-vZTgx4tHov07QmlqF7pAsEcCl4D4CnKmodsGxMrY78dLrx7vSIL8TixOjDY6fVNFbhrXMZaD9pBU6lEi6DiQqTZnh_tRXwqjlM8Uu0tJbBOBFiaQg2cUP0rbqMGbJchf9ZYkFMntv9d4hXnlaYmM-76QtZQDcwkkv8kH8xQtWFwWkbWJxNkzDRF-yY9anLKn8vCml88NAH2jMItTytSYpgxiTxxBPDbi_2q3z5NuR8g8VJOY0ZwjUoLvoFwrHY2YgPl1NEJvOhvEIO9xPc1XeJJvxZPK3kolfmfo6cplhflaDS2MvLzIv7-iMOzqlb8bDuHeGqxUBsO5etPGBGqG6WJ8iquK-vxvlko9s09PHqspXAj4QWV8JkjTZgIBNnpTiB2TuzQ3asH7mkMQLBIZY7Xx68oxK67htKKxgvBX6zQK-8TrcBQLt1cJUabs6CSfimqbgf_23a1F7sa7jzSmUGLrIOnvb4ZpyQikonJBbLuPPLUpJ9s0jHwz9CrA0SG-0arvOoEa2TtkdfQ7sFJDIe_IGNJdkhv9u-2L1xHUoi_O04KYBbbkkTTd4sduFMZYTknJQ11RWE8YSxofdFDOnGgXywP0Ml8W3L2-ROy59uol0AEdXGQnBWmWF27HZJTrQ=",
  "id": "rs_0fd0a2c96f401977016ab45622969087d08de06d3f8371e763",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.045,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The rounded bear again rolled out of a full close, so I am changing to the gray elephant class, whose protruding body and limbs offer a less symmetric grip. I am reopening and shifting to the fence-side gray elephant pile, staying within the left-arm y limit.\"}",
  "call_id": "call_A63Crggg09zqZIfikmrOcBLl",
  "id": "fc_0fd0a2c96f401977016ab456250c9087d0b62c8fef68f7082b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A63Crggg09zqZIfikmrOcBLl",
  "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]: [-0.0425, 1.0447, 0.4683, -0.2028, -0.3084, -0.627, 0.9953, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0446 left_z=0.0897 left_yaw=0.5422 left_pitch=-0.1867 left_roll=-0.2386 left_gripper=0.9953 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -3.5624, 8.6769, 1.2625, -0.0708, 0.1099, -0.1343, -0.1709, -1.6068, 6.9675, 1.6288, -0.0269, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49bd0708c374281eb37cbf1d6a15f704a0c945787218a3dfe7097be1ad5113f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0ec796ed5729b716127f88dca9e522e44acfd6cd4661cbe0a368a6ee1a4d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb05b0b0ae239b8ada66918e19fe60869e13bdc2cb99ad58e495e078c3f69d1",
      "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 · 2.819 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3603, 0.9974, 0.6716, -0.4667, -0.5251, -0.8608, 0.9988, -0.0208, 0.8867, 0.6586, -0.4622, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=-0.0141 left_z=0.1536 left_yaw=0.5202 left_pitch=-0.1254 left_roll=-0.2928 left_gripper=0.9988 right_x=0.2957 right_y=-0.0051 right_z=0.1627 right_yaw=-0.0039 right_pitch=-0.1237 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-3.7949, -0.2393, 9.5385, 2.2686, 0.2662, 0.3004, -0.1343, 0.0889, -1.6615, 7.1179, 1.7118, -0.0317, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1946, 0.3328, -0.0109, -0.5171, -0.8536, 0.0158, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2864 left_y=-0.0116 left_z=0.0395 left_yaw=0.5169 left_pitch=-0.1801 left_roll=-0.2286 left_gripper=0.0158 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.7949, 6.9812, 1.2186, -0.1978, -0.0122, 0.6667, -0.1299, -1.8393, 6.9402, 1.6581, -0.0366, -0.0122, -0.0171]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0425, 1.0447, 0.4683, -0.2028, -0.3084, -0.627, 0.9953, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0446 left_z=0.0897 left_yaw=0.5422 left_pitch=-0.1867 left_roll=-0.2386 left_gripper=0.9953 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -3.5624, 8.6769, 1.2625, -0.0708, 0.1099, -0.1343, -0.1709, -1.6068, 6.9675, 1.6288, -0.0269, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49bd0708c374281eb37cbf1d6a15f704a0c945787218a3dfe7097be1ad5113f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0ec796ed5729b716127f88dca9e522e44acfd6cd4661cbe0a368a6ee1a4d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb05b0b0ae239b8ada66918e19fe60869e13bdc2cb99ad58e495e078c3f69d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFYsgWJXgpYSNBUS-zBA7Dl4MTPpYR6s-T6DKyrvzFacJGnqoaW0h79KlB6PmO54PWHP_ze0wNSKebwGqiW_46oXnYJTIPYtxbhK9WBhJ9YgX4XDRHWdNkqs9x5wK-Z5mfMEqixeeSamX0ZjGvBabVH0TzhaO9aVIr5hdZ-EFBrvNTxAZ1RASSjeC_jjSv5uD2wP5Ppyk0KwoWHx9PjPtipYBww5cEqaQo1VnpNmeCYFRtCRDVfRo800z5T-qEFIDM-kWkQ2VAjbCD4UUtUKZ7HXNUiU7AlWR4-ZHOTMGVGLrBkZCn20AXPXtjk7yykeINqeSBJAOs-U4K2UbO4YlBbfg5181ZN2CSRPZp6Pobp6GLvuTsDZvN6no7jLNH5vBFy2k48wgCR2aMQvEECVGXFkt9gzuU6ZDY5nXIx70YmX0IqW6BuuXtM-uEguoszDaceDAnAbdpmYbwcZXSJVbTsikUUF6LCpIo4IF4nnZvcITbNVJ6itmFyLNpEjqAC0uDDpo5d7ZOG2MCYYj0xb2q_0txVq6H_2MVM_2Z0RL7p4kPa5zT4DDisfw8YflMlX4twEKP5rZik73ALz9ywaehrBcLHZyCL4jT9qMsyYw4CdAXJ87vULuX9fnR4jJyo2oE-sl-1Uicv3kBmbHvnb-RrqjETQKjpwrw-6O2C-3XNSo7Bf-NLIknlxz53CAcbbCESF9Xmk6_Lk4QB523V1Ku9_fpIj1W9ypTVHvd8uJO-2mVRbfACzwghpMrK6MuLioVup2IHGnxEzqrXhewHcfpeRVp9bT1HS0D0le6Mdaw_gvq9gK-T-mMHuEsa1S9Sqx59BWQLB05TgRBvUXVJyt3Zh5vWiW8l9azGgkOXRPVzJasFtxMizXca3hE8X3-s6p0z5qVvdrpDLozX8SRV6ifzyok_1zk9GFeTI-7QVETdkaejKg6vRxOlmoqp66c12E6S5Hdg3GCKVnLbC62Xj8JHolCBjgJjWHabhWBVqybu8WsS-2YRoyGgnQup6bVVfGqIYdsvPCRs0CmcoY7EQmqbdTHqvxOFUTjzrRNiZ5uT2ybAMlc49a9agWjN_9oytSRmLBjmOe5_Z4wqrqQhPuUlfxdegRPrQCUbMlTYoyQQ-uU4p7TeXdnv8E8vdPYhJYLXAitCjO1VgbcAxz9Z1MxOpkMOQMvbOVUTdn4-AddACu0Dgxz9ztWuLiS-uqu7iymTFJr290ONaTYVs09kWniD2K4jKis164nXDhks2O_qsYGib9uorpb9IKqUE7Z4ZsmfkICxWy7y4iKd6NDkmDPIG5AYoMebnvzZwXJgmHW3PnQFgmmVF42SuIIhCclO9b35Q6neoAG2alIEQ7RJDsUMRbEYLgT8jqUjKArmgVfHzJ5hBDEOX48VNyIlHPf-sMpCVDkoOkCbxsMyqim8gIsFgXZFpuGNT5gsg_PbqxNXcSEgi5gt994bGHDLt7MON5iA6Mdvnem3g-QY6fSQb3l8gzfhuRC6jB4GWATQn43Zfm4ZLJk38dNCvAYJHzwjZv0NKqaZtvcU0KBELmlyW5b3fhFH4AIxN7nnzqJ4uJvdkzU42bVfqYMecenu5MA5m5p6KbGwM9OJ6HPtB09dzPWuclt6SDvhC9csU3PT3jlRv0D5kqJobmCzGtZjSFB1W5fF4QVMWLD4Pg-tkvyaAgOpBlycrT2ciRix8UObjTgt47xRdwtleAcr72i6cVBxsVagniL_nA8aWdL8pyupjnjxUDZTZ0k6MCN3fLcI16mGu-LzpLEVmfKoTccW0HOXm0eTNxO4pV8aollzptwp_0NfaCq2Utoz6Dk55JPXIeQmM-U47U3CPgPjIqjNXjIfgny1rV07jEgEnIK0vMdVvkEEHeoWeVYOGs_4KVDwFS4FO63h1rI4gBx8yww8treGIxwNLSVXtIgQWpoDWOpgym1aJ_NrjTGuX99BYrRtV547SF6NTSAMJPXJhhPvc-mGuJ6MKqvkZZDXoVCV_fUc4ZIGda0D7QUuIqBSob4WoTT9X8_tf8NEOoMq9plu0niWaJB04ZFecFQfS0GxotxsWhn5gbCIUsKmdoHLfpn-DO6w-4Nil6m6HV6NjrKyB5T37lhK1idg1QPjPRK-MZnjsvR0fReagruQtZKP1dqOLlIiIOdpnr86wDTlOAtJI5OmDMcYOdZrQskysWMIjZDj7-eCY_aDHZk_2yhEvg0np73SlGdNC74ZkhpSuTFg2GHyJLRYBqHjyhS_jEmAdPGuQqgjHwETfAb8UvkWH08rulzR57vML7JEcr4PBjiU8y8d4zV72OZmPnBr5kuKXTWSKV95hKBhnT0FCKi-QLd4YOa5QP3Apul20Zcu8fOvdcdqGYOA4PT7CUAKcruHZD5ZQSN4h4hGT3yltdR8keBWHjytHVUl54sANbbR-7iMjdZJ1nXu985GXlQbnvzGoP-eIVFtkc6O7oRarHL4IkHc_8VVXzMkktHgP2iC13m3lOF4P8ydIFyZ74-bDi6tjOeejxtfbE3kP4_FMqt3B_zQRqUNfmWnpcUNPA72RIJuDXWVWZQTdG0QsNIrO8L940Kh3PWJO-pTAVPQI1RzqYxze1HMtyyfisvJMwIOZ3aUBHKp0MBfu7ZlCLnYyjp5Y1Xghq9OnsbrJjyvWnjUepTB6iw4Hs3r8TVG0yTvpBeqwbc-AwcoNTw2fo4L1IbpIlRfZkaP0J8F0F7v_Vy09TCfZeIus4Cw96b1B9xJl6VxQ7kMxxCBBmEUZpDbotFAQjG_4JbdFco-fxXLQHlO_VpgYDeBxdFS6yOFB_NbVd-HGg62v5-UUyA9KncPn2gpSLZYQ5Wi0JZmTriw4Unc61NiVTdV7F1ZhU14PkiPVP9VY9gB85Vs1-rlUpusCWMnZFqVhylELUEv90NQBvl7ukqm9NxBep1h0miABuYR1UFjIK7Rzs3Hs",
  "id": "rs_0fd0a2c96f401977016ab45628922887d0ae302157dd1468cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The outer elephant is against the fence-side reach limit, but its near ear/forelimb extends into the jaw gap at the current y bound. I am descending beside that protruding part so the fingers can pinch and pull it inward.\"}",
  "call_id": "call_CDnH4OL9tE4h8SH9VFTGFRHg",
  "id": "fc_0fd0a2c96f401977016ab4562bb06c87d0aae8788e5eec6d56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CDnH4OL9tE4h8SH9VFTGFRHg",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 1.2228, 0.3229, 0.1772, -0.3107, -0.6128, 0.9967, -0.0208, 0.8902, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3106 left_y=0.0418 left_z=0.0481 left_yaw=0.5232 left_pitch=-0.1368 left_roll=-0.2579 left_gripper=0.9967 right_x=0.2957 right_y=-0.0051 right_z=0.1616 right_yaw=-0.0039 right_pitch=-0.1279 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -1.8256, 3.2479, 0.652, -0.1441, -0.1685, 0.1245, -0.1162, -1.935, 6.9675, 1.6581, -0.0024, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7779ed4d29dab66851781e1ae7b8984107b33e07437c5fa0a4204938949c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc2ec553fea44f53b42e2e0f79a030bbb4c7be53483a6dcf86188dc361f0268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1682384cc090d4e2b62c59368e557b553b3fa2279be5144aa90036c0fac7ca02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 7.909 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1843, 0.3481, -0.0261, -0.5098, -0.8513, 0.9983, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0677, 0.9997]\nstate[eef_state]: left_x=0.2891 left_y=-0.0139 left_z=0.0448 left_yaw=0.5089 left_pitch=-0.1775 left_roll=-0.2385 left_gripper=0.9983 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0041 right_pitch=-0.126 right_roll=-0.0479 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -3.4393, 5.9282, 1.4628, -0.2418, -0.1343, -0.0708, -0.3624, -1.935, 6.9402, 1.6581, -0.0317, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0425, 1.0447, 0.4683, -0.2028, -0.3084, -0.627, 0.9953, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0446 left_z=0.0897 left_yaw=0.5422 left_pitch=-0.1867 left_roll=-0.2386 left_gripper=0.9953 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -3.5624, 8.6769, 1.2625, -0.0708, 0.1099, -0.1343, -0.1709, -1.6068, 6.9675, 1.6288, -0.0269, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 1.2228, 0.3229, 0.1772, -0.3107, -0.6128, 0.9967, -0.0208, 0.8902, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3106 left_y=0.0418 left_z=0.0481 left_yaw=0.5232 left_pitch=-0.1368 left_roll=-0.2579 left_gripper=0.9967 right_x=0.2957 right_y=-0.0051 right_z=0.1616 right_yaw=-0.0039 right_pitch=-0.1279 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -1.8256, 3.2479, 0.652, -0.1441, -0.1685, 0.1245, -0.1162, -1.935, 6.9675, 1.6581, -0.0024, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7779ed4d29dab66851781e1ae7b8984107b33e07437c5fa0a4204938949c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc2ec553fea44f53b42e2e0f79a030bbb4c7be53483a6dcf86188dc361f0268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1682384cc090d4e2b62c59368e557b553b3fa2279be5144aa90036c0fac7ca02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFYvz_hiMm7OUf_rcWs0jBRw-GH7ZL9rRHLRc05sqeu9BgUN93Bsoa9cQWsSMhWVfZz51_s9qODgzhfVWbEnv38ACnDGunveYrE1R8K2SBDkvS5DZ6TI3_p3lBzPR0XT2p8B3vjIS3OYz_kVGJjhnXoOXQy7zW6oUur_ZS8s-FRsd3K91vh536oFN4vqSQXJgQm6iyyXGCKm4z4pJs8e6UJtSXUWpyUl2IDdB5xxLaeNUKcZWyJZCdx8IPgVuHEC1g3g0WsngTly7qMFkP8SJ_xKRKSMzcDUsZmr7xqkfCiQPBTLUflbHp_zCIP4gSAI8GgB2MHROjDBUqu5UXc8UJWY75XrViNBBILJsaZRAZUg0igw-sgsTH6wwyFlG95I01-vZYSFX7h2sWHGAT4WbCd2w1HYzHrq9jP0YjYHwPwHO56rEjNavnkbmh4Z8oBu0NDY2CVVrICoAhP8yNTWI759n3nvHwrVPcAduD8GwEBveqT6eBsRDus1fOyFYzONreLp4PEgpzBqpVTvnd-xJSzFbAzFNV5Y8tYRdudKTuE_Y0N_Db0mPXDB0T8I2qklW84i2wPlWuV5G4HEk9jiANfNxYWfqzV7yQBqcUw18pzAguxEEhdyWb8tcjKDCSApioekK0FsebhuQ8lI8YeBz7LtdChspByNClQ5sf06zco5LnXv5hrunmehKVcdOOfGFE_CbFJfzhCcYgQ9FvyrVimFRgMYpxRNL6AfzPSia2_b4W9LjmiDWcCT4TBbMtttrn7H2HmANBEvfY8tOXwSUdygQHQZlxNpNEpFqlg1T5BCqo2asryd86QSDxVKY9NjGobTFFn8lTX_xwX4lEu6RLYZUbOcl2rPsvzEMtgZFMV_Vs1Fr4sQvBGQvwn8qNCSn7rCI1HbAwgLa40v8nQMNfGLTKSvcJvkUEil8XvQZnFh36geshh7ByBgPwkowZ9-8YJgfE4yOyh2ntVsrFIkEbD_PIrbGpwiEtT9AcSvSB3T_KVSbayrofHBTl6JZ-VyfaFlCi8b1D6Iug8zklDskyZvYkQua3i6i4eG5L6IiAoMuSAvtzOgjQ_vwDpd2zXLhhKjma8YNKAGfHSXZ45aOYeJfXs2iyAWOtUCC5c-Tiw-9LKoIn3xr0ZPtzxrwSR-O-AQHfM0EdOyF_d02lCfl2tRHuY1wmRSjm1L4vmQs_jkElgdEp4yXS6o4PoGc5Y34Q89aP3EIrm4-jhpyv4C6oPMZFXWem2ZAexjbCzPr9DkmgdidbEx4v-Sw1-vdhKa3bZ4HgvfluFr3UZBluAk0pslcx6YW3xCDIny_3SZS8yHIDE8o95u2rBSbhUzpUFAAnaY3BB32eL4UJJ2GA0PByVE-A==",
  "id": "rs_0fd0a2c96f401977016ab4562ed7b087d0968b8341fa6aa5fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z≈0.048 m with the elephant’s gray body extending across the left half of the jaw gap and a protruding limb near center. I am closing to pinch that reachable section and pull the toy away from the fence.\"}",
  "call_id": "call_lckEjA6ZlmSoJuWnx0Y0fPmE",
  "id": "fc_0fd0a2c96f401977016ab4562f31f087d0a0e64bde69cc3878",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lckEjA6ZlmSoJuWnx0Y0fPmE",
  "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]: [-0.0509, 1.2285, 0.3096, 0.1947, -0.3099, -0.6174, 0.0098, -0.0208, 0.8925, 0.6586, -0.4625, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3088 left_y=0.0418 left_z=0.0446 left_yaw=0.5251 left_pitch=-0.1389 left_roll=-0.261 left_gripper=0.0098 right_x=0.2959 right_y=-0.0051 right_z=0.1611 right_yaw=-0.0039 right_pitch=-0.1298 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -3.8496, 6.8308, 1.3993, -0.2027, 0.0171, 0.7888, -0.1026, -2.0171, 6.9538, 1.6484, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a822eb945acd65b8fe49df432c277e8122b3f9a61eea46e7933854c5d5dffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38dcfb2ae7c6831e05a65e2e3b27e7002ba6a424ab1cfe5ba0cde79167cc4ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4693b9cd5d7963ab994f5f5749fa9b115df2d14dfb2578074ff0f062392b700f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.816 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.1946, 0.3328, -0.0109, -0.5171, -0.8536, 0.0158, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2864 left_y=-0.0116 left_z=0.0395 left_yaw=0.5169 left_pitch=-0.1801 left_roll=-0.2286 left_gripper=0.0158 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -3.7949, 6.9812, 1.2186, -0.1978, -0.0122, 0.6667, -0.1299, -1.8393, 6.9402, 1.6581, -0.0366, -0.0122, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 1.2228, 0.3229, 0.1772, -0.3107, -0.6128, 0.9967, -0.0208, 0.8902, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3106 left_y=0.0418 left_z=0.0481 left_yaw=0.5232 left_pitch=-0.1368 left_roll=-0.2579 left_gripper=0.9967 right_x=0.2957 right_y=-0.0051 right_z=0.1616 right_yaw=-0.0039 right_pitch=-0.1279 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [0.4308, -1.8256, 3.2479, 0.652, -0.1441, -0.1685, 0.1245, -0.1162, -1.935, 6.9675, 1.6581, -0.0024, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 1.2285, 0.3096, 0.1947, -0.3099, -0.6174, 0.0098, -0.0208, 0.8925, 0.6586, -0.4625, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3088 left_y=0.0418 left_z=0.0446 left_yaw=0.5251 left_pitch=-0.1389 left_roll=-0.261 left_gripper=0.0098 right_x=0.2959 right_y=-0.0051 right_z=0.1611 right_yaw=-0.0039 right_pitch=-0.1298 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -3.8496, 6.8308, 1.3993, -0.2027, 0.0171, 0.7888, -0.1026, -2.0171, 6.9538, 1.6484, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a822eb945acd65b8fe49df432c277e8122b3f9a61eea46e7933854c5d5dffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38dcfb2ae7c6831e05a65e2e3b27e7002ba6a424ab1cfe5ba0cde79167cc4ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4693b9cd5d7963ab994f5f5749fa9b115df2d14dfb2578074ff0f062392b700f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0fd0a2c96f401977016ab45632589887d09839e782762e19bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":0.04,\"left_z\":0.08,\"left_gripper\":0.0},\"note\":\"The fence-side elephant cannot be enclosed by the jaws and again slipped left, but it sits directly in front of its assigned left basket. I am using the closed fingers as a broad pusher at mid-body height to drive the plush forward over the nearby basket lip instead of attempting another impossible full-width grasp.\"}",
  "call_id": "call_DYYaDnyx85tGObJeJ0vOtrVI",
  "id": "fc_0fd0a2c96f401977016ab45637adc487d082b73abf838a96f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DYYaDnyx85tGObJeJ0vOtrVI",
  "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]: [-0.0376, 1.6276, 0.7769, 0.1047, -0.3092, -0.6174, 0.0079, -0.0208, 0.8967, 0.6586, -0.4629, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4187 left_y=0.0416 left_z=0.0693 left_yaw=0.5396 left_pitch=-0.1574 left_roll=-0.2495 left_gripper=0.0079 right_x=0.296 right_y=-0.0052 right_z=0.1598 right_yaw=-0.0042 right_pitch=-0.1344 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -7.5556, 7.6923, 1.6044, -0.0611, 0.0317, 0.8181, -0.212, -2.2085, 7.0769, 1.6532, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f9e56ffaf656a529a4a6cbb0822002e75dfe1068b1911432714cae9a0f1ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325a6af2c4a62bdfbf689e175af13ac531d98262b2bd0c46896421b1a76d917d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a80664a5c8cac2599da8ba52b770aa1aa0f9f34e0a4fb1fe276f98fb067b0100",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 7.107 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0425, 1.0447, 0.4683, -0.2028, -0.3084, -0.627, 0.9953, -0.0208, 0.8883, 0.6586, -0.4629, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0446 left_z=0.0897 left_yaw=0.5422 left_pitch=-0.1867 left_roll=-0.2386 left_gripper=0.9953 right_x=0.2956 right_y=-0.0051 right_z=0.1621 right_yaw=-0.0039 right_pitch=-0.126 right_roll=-0.0482 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -3.5624, 8.6769, 1.2625, -0.0708, 0.1099, -0.1343, -0.1709, -1.6068, 6.9675, 1.6288, -0.0269, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 1.2285, 0.3096, 0.1947, -0.3099, -0.6174, 0.0098, -0.0208, 0.8925, 0.6586, -0.4625, 0.0143, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.3088 left_y=0.0418 left_z=0.0446 left_yaw=0.5251 left_pitch=-0.1389 left_roll=-0.261 left_gripper=0.0098 right_x=0.2959 right_y=-0.0051 right_z=0.1611 right_yaw=-0.0039 right_pitch=-0.1298 right_roll=-0.0481 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -3.8496, 6.8308, 1.3993, -0.2027, 0.0171, 0.7888, -0.1026, -2.0171, 6.9538, 1.6484, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0376, 1.6276, 0.7769, 0.1047, -0.3092, -0.6174, 0.0079, -0.0208, 0.8967, 0.6586, -0.4629, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4187 left_y=0.0416 left_z=0.0693 left_yaw=0.5396 left_pitch=-0.1574 left_roll=-0.2495 left_gripper=0.0079 right_x=0.296 right_y=-0.0052 right_z=0.1598 right_yaw=-0.0042 right_pitch=-0.1344 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -7.5556, 7.6923, 1.6044, -0.0611, 0.0317, 0.8181, -0.212, -2.2085, 7.0769, 1.6532, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f9e56ffaf656a529a4a6cbb0822002e75dfe1068b1911432714cae9a0f1ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325a6af2c4a62bdfbf689e175af13ac531d98262b2bd0c46896421b1a76d917d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a80664a5c8cac2599da8ba52b770aa1aa0f9f34e0a4fb1fe276f98fb067b0100",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFY-o1wGiMoKs-oEBHQAe4SR01ZsY1fUz0qAK22bWxx7TiQb6i67YtWTv1SnzxM81oqq1QRXEygIWXZMkreIAUeNqacOWS_U8ccbT2ywaXzROqfjR559ftc_gxFdUWj-kZ02pz3kwTeBRDiA-P734Z0E22bIbrwzG7jRXEyDe4Xbi-AX0fja-tYG9YhluWQ6kI_1OyWUKGVuHSJJfFU0ebHy61gmh2h_IE24QVIRsueysOo_Ar4KAwKAIG2Va1oRustiqU-wT-EgrxXKAgCMeEteMeYKInoh2-Z0QSghFt3f5XXXKC6w59QWNv2PMDoJ-boKivnvHUiiJq-bl8AWlxVZ2L_552Udmny_dC8pqN2XOkm6FCvtg2RKEE-pXIlli7TXn8JKeWylIvBrmFag3ySCzHvYXPTZRDGNpVhUDffNQOQhQSaW65JCyiByQ4PuYCRgHUNOI-yWnTQKjIYQxSN2UMhh-ktJJWgdfA9SyRs8GTbZhIrLIZU0FCycFWEI-EC7NmkGuyiTBxvnZYQwQkIy01TQIX2URp4zDujfjanlhMRlGa1V29Lce4uj--_9-PVUl8BHi3k-o4DGGnORGjaq-u9O8qol2bIaSZnHSBkJMnxdhXavsrXbYAe64g9kzPMuwVnI5zrai1frnEB4mfUEv1UtM2v8qDYT91XRtMzmIeTRFdfEfe3uE3BWufoB03O1IkHDfwGxh6JRvjv-NWCgI0qppXeHZUbir9Fm692Ft-y8W9DpU7aNNRU3V3bhp6B9BB8BnNLccndSZw_qws7dzF9fPpIhuG1XN8pgo3Ul0EiJtiNUxB-xfNhkqdK0_M4hWs04or3487zlzroe096hSP2Ua_2nSGxfURLF9zqfhhXelgsuQkqMvsQ0M98RCuwbWqlVLTl-Wvu2x8eO_Nb2cdA0OQ_TvtgZleWtgqqOVV7BkNdMZfg5Et5RcguZwzAVLOqyQ7aHeO7zu5l3hAjDtK86jA0ji1utTS_5gXD4PVy3SLL4xiLnZjvNEHthtRkIOxUY-MBFlw3hnlMzFkVta51l1UBjWLJ6CwYgl7NMmo3Fgp_yI_k9Lu0gKWCl_e3qgIBpeMgGNMQ3iKBCNB281NXsnAVOMG-Q6yQQvRmpJ4_JaO3gw_JV4disIV8K4mAdU7WTlyRMTJ1t6NF2xUg2vrpZc0gpeHAdR5OMpaTKlGX2Ww7-6BpGYuABKdNwdU1nvedr5qPwv1LakKLQm_vZL7PeUa0iOQOHRxUaPC7jbzAnSHFbGWtQSwxR3gp6dgIus9Od-zzd5xN_gxYUBnGHFKcYhCYBz6K1xrtEKqH_Ub3oncMJtp4RgBK81R_3ViLCVyKbmpqDTmdf7IkojVZEMO9paIank8Y7-1oG7NWv1wwh6GxYaNyv95LzhYlO-Uad5aTwVblgm_htSn1Ahtg4oc0MUkexgu4fdFIdTm_qZPIwQEQlROFmBiu0oTKTS4urMjX605hC5ZrXCpPLqgnkmXcXvYVSgSzjKXusPz9d3AJ_Iiv1vnyba8uSZM7u-tZ9JnI18-A6xA8Srq-fHgNkO7UmT2JULwgZe66HQukmnofAUGnv9abOguOL0zlU85VfLRjKQFoTzXup-v2CataHmNtuvWm-i1wkH_rYWGSErlJlHii1hU_tRxWz_q7YviiHLufgVl_jtMLvTY8bcpqQgS6-Q6o8Qo4HOPHAIJs0f4XxYzswRSUTo0cx4u5OMpgiWj2ToJaNGETUHAVGZ3v3Dp6lbfOB2lIcFjOLOhkdBPhVfHOfVrg37MvQ_f2ujxP7jVsU1qxA9RQn22PO2PyxewQsPjf_RW_0a9La9QgWNl7Xig7G-HADWxuIfoTvkSyPqQL-wFL5hpTkETrE1uujXKY4rA088alIVYpadBUI0uD-cIiAyv074YpHl0x0K0WtEqlW7V5gqXyeiXuAp5NsJjdd13lnuZiy1_BwDm9Reav6NwPm3VHttUKvkS7ixvMp23jV5Z-cll1iRX5XBB_ecLW5_WFJgakJ9e-qGqsP593yMm-5taWcaInnr_7xe4Z2RdOcnhkDyKIwmwDOhpEion9mTNXNl3hhvDWx9HS64EHECOk1r3d3-iQFS7jQQs92y3cYJMBBl-JZ4oCguLf-FVe0rdPGPQIQ4MHLP7KNn9npqMBWujhcBWeVvWXQuLsSWJ-rXhSqctO2vhZ-oals8aw25ZaN_ISRI_K3HJRj8L-GnbkM9vEnmJ3x13EjcubmZPJKddPHcMWAF4YUgwxwUI33rAcSBoSVgOoE32gxz-R5RTrfXGbNANydTyY1lwe0NlGxRsqTpQ-YJSbtTO7U9f7h6ItVbtdWQ3WnaX5YP-qie0BL-QYL48KcqYvlY9ZnmfxvtlTt1BBubyS03kfgJA==",
  "id": "rs_0fd0a2c96f401977016ab4563af81487d0bb0dee303cfcccd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.08,\"left_z\":0.08},\"note\":\"The first push brought the elephant up to the left basket but along its outer-left wall; the basket lip is directly ahead while gray plush remains to the arm’s left. I am continuing forward and diagonally right across the basket opening to sweep the plush inward rather than along the outside.\"}",
  "call_id": "call_T1Z3PwyuBUDUHaRvyTRembuy",
  "id": "fc_0fd0a2c96f401977016ab4563d45b087d0821b4071688c55b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T1Z3PwyuBUDUHaRvyTRembuy",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.3485, 1.8927, 1.1515, -0.1188, -0.5121, -0.8623, 0.0079, -0.0208, 0.897, 0.6586, -0.4629, 0.0147, -0.0681, 0.9997]\nstate[eef_state]: left_x=0.4735 left_y=-0.0761 left_z=0.0716 left_yaw=0.531 left_pitch=-0.176 left_roll=-0.2475 left_gripper=0.0079 right_x=0.2961 right_y=-0.0052 right_z=0.1597 right_yaw=-0.0042 right_pitch=-0.1348 right_roll=-0.0483 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -9.1829, 8.1162, 1.4188, -0.2759, 0.149, 0.8181, -0.0752, -1.7436, 6.9402, 1.6093, 0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff9b28781d690663f2155f05dd49b1f8ec0a2563eabef9235254fc99f7076b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479409675f2fd784029df95e980d9c89642d30d1db9f59f9f556b39c059331e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b485e1998e1a27af86d39281400ceeb64df592514fbe6eaa4eebcab8d5a078",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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